+ python -m lidar_slam --result /working/result.json --no-model /working/bb43672a-fa49-4450-9b16-01380da72ae4 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/bb43672a-fa49-4450-9b16-01380da72ae4 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 0.000371743 Adjusted end_distance from 9.223372036854776e+18 to 383.890371743 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.000371743 meters Centerline goodness : 0.982043 with order 1 Centerline is valid? [0, True] SLAMing on 0.060371743 meters Centerline goodness : 0.983296 with order 1 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:-0.00 [[ 9.99989700e-01 4.53862782e-03 0.00000000e+00 6.00590471e-02] [-4.53862782e-03 9.99989700e-01 0.00000000e+00 -3.60592381e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81979111e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12037174299999999 meters Centerline goodness : 0.984638 with order 1 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.02, Z:-0.00 [[ 9.99878114e-01 1.56127345e-02 0.00000000e+00 1.17586493e-01] [-1.56127345e-02 9.99878114e-01 0.00000000e+00 -1.60421416e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30689727e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.180371743 meters Centerline goodness : 0.986015 with order 1 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.01, Z:0.00 [[ 0.99973367 0.02307778 0. 0.17646805] [-0.02307778 0.99973367 0. -0.01309046] [ 0. 0. 1. 0.00435863] [ 0. 0. 0. 1. ]] SLAMing on 0.240371743 meters Centerline goodness : 0.985934 with order 1 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.01, Z:0.01 [[ 0.99963962 0.02684446 0. 0.23539596] [-0.02684446 0.99963962 0. -0.01008448] [ 0. 0. 1. 0.00672399] [ 0. 0. 0. 1. ]] SLAMing on 0.30037174299999997 meters Centerline goodness : 0.984803 with order 1 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.02, Z:0.01 [[ 0.99912584 0.04180382 0. 0.29218549] [-0.04180382 0.99912584 0. -0.020405 ] [ 0. 0. 1. 0.00657176] [ 0. 0. 0. 1. ]] SLAMing on 0.36037174299999997 meters Centerline goodness : 0.980427 with order 1 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.02, Z:0.01 [[ 0.99922023 0.03948324 0. 0.35141075] [-0.03948324 0.99922023 0. -0.01668458] [ 0. 0. 1. 0.00511504] [ 0. 0. 0. 1. ]] SLAMing on 0.42037174299999996 meters Centerline goodness : 0.985894 with order 1 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.03, Z:0.01 [[ 0.9989354 0.04613088 0. 0.40947533] [-0.04613088 0.9989354 0. -0.03089326] [ 0. 0. 1. 0.00892537] [ 0. 0. 0. 1. ]] SLAMing on 0.48037174299999996 meters Centerline goodness : 0.987187 with order 1 Centerline is valid? [True, True] Translation: X:0.47, Y:-0.04, Z:0.01 [[ 0.9991634 0.0408963 0. 0.4682543 ] [-0.0408963 0.9991634 0. -0.03753828] [ 0. 0. 1. 0.00842057] [ 0. 0. 0. 1. ]] SLAMing on 0.540371743 meters Centerline goodness : 0.987420 with order 1 Centerline is valid? [True, True] Translation: X:0.53, Y:-0.04, Z:0.01 [[ 0.99936252 0.03570088 0. 0.52647704] [-0.03570088 0.99936252 0. -0.04293126] [ 0. 0. 1. 0.01012333] [ 0. 0. 0. 1. ]] SLAMing on 0.600371743 meters Centerline goodness : 0.982754 with order 1 Centerline is valid? [True, True] Translation: X:0.59, Y:-0.05, Z:0.01 [[ 0.99969626 0.02464508 0. 0.58560082] [-0.02464508 0.99969626 0. -0.04578484] [ 0. 0. 1. 0.00759694] [ 0. 0. 0. 1. ]] SLAMing on 0.6603717429999999 meters Centerline goodness : 0.989661 with order 1 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.07, Z:0.01 [[ 0.99941264 0.03426922 0. 0.64303777] [-0.03426922 0.99941264 0. -0.07144226] [ 0. 0. 1. 0.00598844] [ 0. 0. 0. 1. ]] SLAMing on 0.720371743 meters Centerline goodness : 0.988022 with order 1 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.07, Z:0.01 [[ 0.99975547 0.02211315 0. 0.70182419] [-0.02211315 0.99975547 0. -0.06520729] [ 0. 0. 1. 0.01455065] [ 0. 0. 0. 1. ]] SLAMing on 0.780371743 meters Centerline goodness : 0.981177 with order 1 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.07, Z:0.01 [[ 0.99986876 0.01620095 0. 0.76040095] [-0.01620095 0.99986876 0. -0.06652758] [ 0. 0. 1. 0.01390676] [ 0. 0. 0. 1. ]] SLAMing on 0.840371743 meters Centerline goodness : 0.991147 with order 1 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.09, Z:0.00 [[ 0.99961802 0.02763716 0. 0.81810258] [-0.02763716 0.99961802 0. -0.08961426] [ 0. 0. 1. 0.00296342] [ 0. 0. 0. 1. ]] SLAMing on 0.9003717429999999 meters Centerline goodness : 0.992148 with order 1 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.09, Z:0.00 [[ 0.99966475 0.02589186 0. 0.87676326] [-0.02589186 0.99966475 0. -0.09465782] [ 0. 0. 1. 0.00150219] [ 0. 0. 0. 1. ]] SLAMing on 0.9603717429999999 meters Centerline goodness : 0.992338 with order 1 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.10, Z:0.00 [[ 0.99974917 0.02239634 0. 0.93527685] [-0.02239634 0.99974917 0. -0.09593847] [ 0. 0. 1. 0.00214526] [ 0. 0. 0. 1. ]] SLAMing on 1.020371743 meters Centerline goodness : 0.994611 with order 1 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.08, Z:0.02 [[ 0.99996669 0.00816181 0. 0.99600159] [-0.00816181 0.99996669 0. -0.0788063 ] [ 0. 0. 1. 0.01774081] [ 0. 0. 0. 1. ]] SLAMing on 1.0803717430000002 meters Centerline goodness : 0.984889 with order 1 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.08, Z:0.01 [[ 0.9999558 0.00940174 0. 1.05508709] [-0.00940174 0.9999558 0. -0.0780011 ] [ 0. 0. 1. 0.00892972] [ 0. 0. 0. 1. ]] SLAMing on 1.140371743 meters Centerline goodness : 0.985169 with order 1 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.08, Z:0.01 [[ 0.99994434 0.01055046 0. 1.11383623] [-0.01055046 0.99994434 0. -0.07906718] [ 0. 0. 1. 0.0095911 ] [ 0. 0. 0. 1. ]] SLAMing on 1.200371743 meters Centerline goodness : 0.985544 with order 1 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.08, Z:0.00 [[ 0.99993833 0.01110524 0. 1.17179176] [-0.01110524 0.99993833 0. -0.07607671] [ 0. 0. 1. 0.00352415] [ 0. 0. 0. 1. ]] SLAMing on 1.260371743 meters Centerline goodness : 0.984183 with order 1 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.07, Z:0.01 [[ 0.99996191 0.00872806 0. 1.23085857] [-0.00872806 0.99996191 0. -0.07482668] [ 0. 0. 1. 0.01458939] [ 0. 0. 0. 1. ]] SLAMing on 1.320371743 meters Centerline goodness : 0.993180 with order 1 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.09, Z:0.01 [[ 0.9999031 0.01392073 0. 1.28769828] [-0.01392073 0.9999031 0. -0.08610692] [ 0. 0. 1. 0.01358081] [ 0. 0. 0. 1. ]] SLAMing on 1.380371743 meters Centerline goodness : 0.984583 with order 1 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.07, Z:0.01 [[ 0.99999724 0.0023477 0. 1.34782115] [-0.0023477 0.99999724 0. -0.07424265] [ 0. 0. 1. 0.00981183] [ 0. 0. 0. 1. ]] SLAMing on 1.440371743 meters Centerline goodness : 0.993327 with order 1 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.08, Z:0.01 [[ 0.99999804 0.00198178 0. 1.40747067] [-0.00198178 0.99999804 0. -0.0755067 ] [ 0. 0. 1. 0.01319709] [ 0. 0. 0. 1. ]] SLAMing on 1.500371743 meters Centerline goodness : 0.994213 with order 1 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.08, Z:0.01 [[ 0.99997238 0.00743242 0. 1.46682254] [-0.00743242 0.99997238 0. -0.0770863 ] [ 0. 0. 1. 0.01024249] [ 0. 0. 0. 1. ]] SLAMing on 1.5603717430000001 meters Centerline goodness : 0.993045 with order 1 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.07, Z:0.02 [[ 0.9998318 0.01834058 0. 1.52555665] [-0.01834058 0.9998318 0. -0.07210381] [ 0. 0. 1. 0.01531594] [ 0. 0. 0. 1. ]] SLAMing on 1.620371743 meters Centerline goodness : 0.993253 with order 1 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.07, Z:0.02 [[ 0.99956621 0.02945137 0. 1.58442356] [-0.02945137 0.99956621 0. -0.06629141] [ 0. 0. 1. 0.01971534] [ 0. 0. 0. 1. ]] SLAMing on 1.680371743 meters Centerline goodness : 0.992938 with order 1 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.06, Z:0.02 [[ 0.99941097 0.03431796 0. 1.64258499] [-0.03431796 0.99941097 0. -0.06490757] [ 0. 0. 1. 0.0211076 ] [ 0. 0. 0. 1. ]] SLAMing on 1.740371743 meters Centerline goodness : 0.994006 with order 1 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.07, Z:0.02 [[ 0.99932887 0.03663082 0. 1.7014044 ] [-0.03663082 0.99932887 0. -0.06533342] [ 0. 0. 1. 0.02134537] [ 0. 0. 0. 1. ]] SLAMing on 1.800371743 meters Centerline goodness : 0.994418 with order 1 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.07, Z:0.02 [[ 0.9992926 0.03760724 0. 1.75963757] [-0.03760724 0.9992926 0. -0.06840867] [ 0. 0. 1. 0.01990912] [ 0. 0. 0. 1. ]] SLAMing on 1.860371743 meters Centerline goodness : 0.993210 with order 1 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.08, Z:0.02 [[ 0.99939224 0.03485907 0. 1.81791619] [-0.03485907 0.99939224 0. -0.07571226] [ 0. 0. 1. 0.02134488] [ 0. 0. 0. 1. ]] SLAMing on 1.920371743 meters Centerline goodness : 0.993665 with order 1 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.08, Z:0.02 [[ 0.99947772 0.0323154 0. 1.87668764] [-0.0323154 0.99947772 0. -0.08381873] [ 0. 0. 1. 0.02094042] [ 0. 0. 0. 1. ]] SLAMing on 1.980371743 meters Centerline goodness : 0.993654 with order 1 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.09, Z:0.02 [[ 0.99957481 0.02915811 0. 1.93376062] [-0.02915811 0.99957481 0. -0.09052082] [ 0. 0. 1. 0.02048142] [ 0. 0. 0. 1. ]] SLAMing on 2.040371743 meters Centerline goodness : 0.993667 with order 1 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.10, Z:0.02 [[ 0.99965504 0.026264 0. 1.9919095 ] [-0.026264 0.99965504 0. -0.09741584] [ 0. 0. 1. 0.01907518] [ 0. 0. 0. 1. ]] SLAMing on 2.100371743 meters Centerline goodness : 0.993304 with order 1 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.10, Z:0.02 [[ 0.99972097 0.02362152 0. 2.04979114] [-0.02362152 0.99972097 0. -0.10309722] [ 0. 0. 1. 0.01902276] [ 0. 0. 0. 1. ]] SLAMing on 2.1603717430000002 meters Centerline goodness : 0.993487 with order 1 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.11, Z:0.02 [[ 0.99975752 0.02202066 0. 2.10873842] [-0.02202066 0.99975752 0. -0.1085108 ] [ 0. 0. 1. 0.02035006] [ 0. 0. 0. 1. ]] SLAMing on 2.220371743 meters Centerline goodness : 0.993759 with order 1 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.11, Z:0.02 [[ 0.99977536 0.02119514 0. 2.1667831 ] [-0.02119514 0.99977536 0. -0.11178186] [ 0. 0. 1. 0.02401501] [ 0. 0. 0. 1. ]] SLAMing on 2.280371743 meters Centerline goodness : 0.993064 with order 1 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.12, Z:0.03 [[ 0.9997391 0.02284129 0. 2.22568147] [-0.02284129 0.9997391 0. -0.11728838] [ 0. 0. 1. 0.02625179] [ 0. 0. 0. 1. ]] SLAMing on 2.340371743 meters Centerline goodness : 0.993294 with order 1 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.12, Z:0.03 [[ 0.99968087 0.02526184 0. 2.28458817] [-0.02526184 0.99968087 0. -0.12275643] [ 0. 0. 1. 0.02809747] [ 0. 0. 0. 1. ]] SLAMing on 2.400371743 meters Centerline goodness : 0.992895 with order 1 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.13, Z:0.03 [[ 0.99956463 0.02950507 0. 2.34329412] [-0.02950507 0.99956463 0. -0.12802666] [ 0. 0. 1. 0.02707243] [ 0. 0. 0. 1. ]] SLAMing on 2.460371743 meters Centerline goodness : 0.992807 with order 1 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.13, Z:0.03 [[ 0.99937132 0.03545361 0. 2.40059898] [-0.03545361 0.99937132 0. -0.13497975] [ 0. 0. 1. 0.02664204] [ 0. 0. 0. 1. ]] SLAMing on 2.520371743 meters Centerline goodness : 0.992574 with order 1 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.14, Z:0.03 [[ 0.99926972 0.03821021 0. 2.45792872] [-0.03821021 0.99926972 0. -0.13864192] [ 0. 0. 1. 0.02691831] [ 0. 0. 0. 1. ]] SLAMing on 2.580371743 meters Centerline goodness : 0.992261 with order 1 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.14, Z:0.03 [[ 0.99911806 0.04198922 0. 2.51522451] [-0.04198922 0.99911806 0. -0.14459062] [ 0. 0. 1. 0.02778199] [ 0. 0. 0. 1. ]] SLAMing on 2.6403717429999998 meters Centerline goodness : 0.991619 with order 1 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.15, Z:0.03 [[ 0.99902424 0.04416513 0. 2.57272643] [-0.04416513 0.99902424 0. -0.150515 ] [ 0. 0. 1. 0.02695862] [ 0. 0. 0. 1. ]] SLAMing on 2.700371743 meters Centerline goodness : 0.991869 with order 1 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.16, Z:0.02 [[ 0.99880189 0.04893659 0. 2.63108011] [-0.04893659 0.99880189 0. -0.15858279] [ 0. 0. 1. 0.02299336] [ 0. 0. 0. 1. ]] SLAMing on 2.760371743 meters Centerline goodness : 0.992482 with order 1 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.16, Z:0.02 [[ 0.99886312 0.04767049 0. 2.68767129] [-0.04767049 0.99886312 0. -0.16458915] [ 0. 0. 1. 0.02467065] [ 0. 0. 0. 1. ]] SLAMing on 2.820371743 meters Centerline goodness : 0.992768 with order 1 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.17, Z:0.03 [[ 0.99896923 0.04539258 0. 2.74624259] [-0.04539258 0.99896923 0. -0.16828114] [ 0. 0. 1. 0.02829963] [ 0. 0. 0. 1. ]] SLAMing on 2.880371743 meters Centerline goodness : 0.992204 with order 1 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.18, Z:0.03 [[ 0.99892198 0.04642073 0. 2.80451409] [-0.04642073 0.99892198 0. -0.17766054] [ 0. 0. 1. 0.02633492] [ 0. 0. 0. 1. ]] SLAMing on 2.940371743 meters Centerline goodness : 0.992108 with order 1 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.18, Z:0.03 [[ 0.9989036 0.04681444 0. 2.86330288] [-0.04681444 0.9989036 0. -0.18377011] [ 0. 0. 1. 0.02595384] [ 0. 0. 0. 1. ]] SLAMing on 3.000371743 meters Centerline goodness : 0.992381 with order 1 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.19, Z:0.03 [[ 0.99899587 0.04480226 0. 2.92177161] [-0.04480226 0.99899587 0. -0.19132324] [ 0. 0. 1. 0.02800877] [ 0. 0. 0. 1. ]] SLAMing on 3.060371743 meters Centerline goodness : 0.993039 with order 1 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.20, Z:0.03 [[ 0.99900598 0.04457633 0. 2.98028187] [-0.04457633 0.99900598 0. -0.20190094] [ 0. 0. 1. 0.02802275] [ 0. 0. 0. 1. ]] SLAMing on 3.120371743 meters Centerline goodness : 0.992035 with order 1 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.21, Z:0.03 [[ 0.9989032 0.04682306 0. 3.03721024] [-0.04682306 0.9989032 0. -0.21050989] [ 0. 0. 1. 0.0271774 ] [ 0. 0. 0. 1. ]] SLAMing on 3.180371743 meters Centerline goodness : 0.991690 with order 1 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.22, Z:0.03 [[ 0.99882112 0.04854247 0. 3.09467313] [-0.04854247 0.99882112 0. -0.21606593] [ 0. 0. 1. 0.02693815] [ 0. 0. 0. 1. ]] SLAMing on 3.240371743 meters Centerline goodness : 0.993203 with order 1 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.21, Z:0.04 [[ 0.99892863 0.04627735 0. 3.15278378] [-0.04627735 0.99892863 0. -0.21434073] [ 0. 0. 1. 0.0365298 ] [ 0. 0. 0. 1. ]] SLAMing on 3.300371743 meters Centerline goodness : 0.991922 with order 1 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.23, Z:0.02 [[ 0.99814893 0.06081711 0. 3.21049767] [-0.06081711 0.99814893 0. -0.23348794] [ 0. 0. 1. 0.02475644] [ 0. 0. 0. 1. ]] SLAMing on 3.360371743 meters Centerline goodness : 0.993724 with order 1 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.23, Z:0.03 [[ 0.99845085 0.05564084 0. 3.26844934] [-0.05564084 0.99845085 0. -0.23144887] [ 0. 0. 1. 0.03459013] [ 0. 0. 0. 1. ]] SLAMing on 3.420371743 meters Centerline goodness : 0.991489 with order 1 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.26, Z:0.02 [[ 0.99775449 0.06697747 0. 3.32592843] [-0.06697747 0.99775449 0. -0.25677684] [ 0. 0. 1. 0.01955099] [ 0. 0. 0. 1. ]] SLAMing on 3.480371743 meters Centerline goodness : 0.993966 with order 1 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.25, Z:0.03 [[ 0.99847346 0.05523352 0. 3.38379297] [-0.05523352 0.99847346 0. -0.25211506] [ 0. 0. 1. 0.03169152] [ 0. 0. 0. 1. ]] SLAMing on 3.540371743 meters Centerline goodness : 0.991228 with order 1 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.28, Z:0.02 [[ 0.9979735 0.06363092 0. 3.4410597 ] [-0.06363092 0.9979735 0. -0.27804786] [ 0. 0. 1. 0.02096482] [ 0. 0. 0. 1. ]] SLAMing on 3.6003717429999997 meters Centerline goodness : 0.990293 with order 1 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.29, Z:0.02 [[ 0.99813472 0.06104977 0. 3.49916956] [-0.06104977 0.99813472 0. -0.29133333] [ 0. 0. 1. 0.02012167] [ 0. 0. 0. 1. ]] SLAMing on 3.660371743 meters Centerline goodness : 0.990876 with order 1 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.30, Z:0.02 [[ 0.99837906 0.0569144 0. 3.55643056] [-0.0569144 0.99837906 0. -0.29847911] [ 0. 0. 1. 0.02351617] [ 0. 0. 0. 1. ]] SLAMing on 3.720371743 meters Centerline goodness : 0.990894 with order 1 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.31, Z:0.02 [[ 0.99864661 0.05200909 0. 3.6141144 ] [-0.05200909 0.99864661 0. -0.30967826] [ 0. 0. 1. 0.02207883] [ 0. 0. 0. 1. ]] SLAMing on 3.780371743 meters Centerline goodness : 0.993552 with order 1 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.31, Z:0.03 [[ 0.99934315 0.03623907 0. 3.67226079] [-0.03623907 0.99934315 0. -0.30541948] [ 0. 0. 1. 0.02923054] [ 0. 0. 0. 1. ]] SLAMing on 3.840371743 meters Centerline goodness : 0.991747 with order 1 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.33, Z:0.03 [[ 0.99929517 0.03753891 0. 3.72931401] [-0.03753891 0.99929517 0. -0.32683778] [ 0. 0. 1. 0.02639863] [ 0. 0. 0. 1. ]] SLAMing on 3.900371743 meters Centerline goodness : 0.993712 with order 1 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.32, Z:0.03 [[ 0.99968387 0.0251429 0. 3.78708437] [-0.0251429 0.99968387 0. -0.3227312 ] [ 0. 0. 1. 0.03303215] [ 0. 0. 0. 1. ]] SLAMing on 3.960371743 meters Centerline goodness : 0.992061 with order 1 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.34, Z:0.03 [[ 0.99959457 0.02847274 0. 3.84427631] [-0.02847274 0.99959457 0. -0.34240327] [ 0. 0. 1. 0.02550477] [ 0. 0. 0. 1. ]] SLAMing on 4.020371742999999 meters Centerline goodness : 0.993605 with order 1 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.34, Z:0.03 [[ 0.99984075 0.01784563 0. 3.90273523] [-0.01784563 0.99984075 0. -0.33850591] [ 0. 0. 1. 0.03111623] [ 0. 0. 0. 1. ]] SLAMing on 4.080371743 meters Centerline goodness : 0.992987 with order 1 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.35, Z:0.02 [[ 0.99968941 0.02492169 0. 3.95948699] [-0.02492169 0.99968941 0. -0.3546249 ] [ 0. 0. 1. 0.02499529] [ 0. 0. 0. 1. ]] SLAMing on 4.140371742999999 meters Centerline goodness : 0.992656 with order 1 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.36, Z:0.02 [[ 0.99967937 0.02532123 0. 4.01818701] [-0.02532123 0.99967937 0. -0.36014908] [ 0. 0. 1. 0.02349546] [ 0. 0. 0. 1. ]] SLAMing on 4.200371743 meters Centerline goodness : 0.994530 with order 1 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.35, Z:0.03 [[ 0.99989719 0.01433909 0. 4.07633469] [-0.01433909 0.99989719 0. -0.35323048] [ 0. 0. 1. 0.03041833] [ 0. 0. 0. 1. ]] SLAMing on 4.260371742999999 meters Centerline goodness : 0.994478 with order 1 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.36, Z:0.03 [[ 0.99991157 0.01329826 0. 4.1346601 ] [-0.01329826 0.99991157 0. -0.35714239] [ 0. 0. 1. 0.02883247] [ 0. 0. 0. 1. ]] SLAMing on 4.320371743 meters Centerline goodness : 0.992293 with order 1 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.37, Z:0.02 [[ 0.99981439 0.01926605 0. 4.19159272] [-0.01926605 0.99981439 0. -0.37041259] [ 0. 0. 1. 0.01847779] [ 0. 0. 0. 1. ]] SLAMing on 4.3803717429999995 meters Centerline goodness : 0.994958 with order 1 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.36, Z:0.03 [[ 0.99997237 0.00743326 0. 4.25105073] [-0.00743326 0.99997237 0. -0.36123607] [ 0. 0. 1. 0.02758398] [ 0. 0. 0. 1. ]] SLAMing on 4.440371742999999 meters Centerline goodness : 0.994942 with order 1 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.36, Z:0.03 [[ 9.99998551e-01 1.70220464e-03 0.00000000e+00 4.30918534e+00] [-1.70220464e-03 9.99998551e-01 0.00000000e+00 -3.62929812e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82511978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.500371743 meters Centerline goodness : 0.994835 with order 1 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.36, Z:0.03 [[ 9.99999253e-01 -1.22216963e-03 0.00000000e+00 4.36851265e+00] [ 1.22216963e-03 9.99999253e-01 0.00000000e+00 -3.63128004e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95651449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.560371742999999 meters Centerline goodness : 0.992308 with order 1 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.37, Z:0.02 [[ 0.9999747 0.00711344 0. 4.42888526] [-0.00711344 0.9999747 0. -0.37223874] [ 0. 0. 1. 0.02350875] [ 0. 0. 0. 1. ]] SLAMing on 4.620371743 meters Centerline goodness : 0.992645 with order 1 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.38, Z:0.02 [[ 0.99994327 0.01065196 0. 4.48640936] [-0.01065196 0.99994327 0. -0.37554497] [ 0. 0. 1. 0.01810546] [ 0. 0. 0. 1. ]] SLAMing on 4.680371742999999 meters Centerline goodness : 0.992541 with order 1 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.37, Z:0.02 [[ 0.99989877 0.01422828 0. 4.54530103] [-0.01422828 0.99989877 0. -0.37213452] [ 0. 0. 1. 0.01850061] [ 0. 0. 0. 1. ]] SLAMing on 4.740371743 meters Centerline goodness : 0.992168 with order 1 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.37, Z:0.02 [[ 0.99980548 0.01972301 0. 4.60440675] [-0.01972301 0.99980548 0. -0.36905647] [ 0. 0. 1. 0.01658433] [ 0. 0. 0. 1. ]] SLAMing on 4.8003717429999995 meters Centerline goodness : 0.994429 with order 1 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.35, Z:0.03 [[ 0.99992815 0.01198693 0. 4.6636113 ] [-0.01198693 0.99992815 0. -0.35372454] [ 0. 0. 1. 0.02937304] [ 0. 0. 0. 1. ]] SLAMing on 4.860371742999999 meters Centerline goodness : 0.991798 with order 1 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.36, Z:0.02 [[ 0.99971377 0.02392445 0. 4.72194066] [-0.02392445 0.99971377 0. -0.36210587] [ 0. 0. 1. 0.0240449 ] [ 0. 0. 0. 1. ]] SLAMing on 4.920371743 meters Centerline goodness : 0.993441 with order 1 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.35, Z:0.03 [[ 0.9998414 0.01780954 0. 4.78174537] [-0.01780954 0.9998414 0. -0.34917248] [ 0. 0. 1. 0.03130562] [ 0. 0. 0. 1. ]] SLAMing on 4.980371742999999 meters Centerline goodness : 0.993964 with order 1 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.35, Z:0.03 [[ 0.99984325 0.01770523 0. 4.84038497] [-0.01770523 0.99984325 0. -0.34986915] [ 0. 0. 1. 0.02877878] [ 0. 0. 0. 1. ]] SLAMing on 5.040371743 meters Centerline goodness : 0.991358 with order 1 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.36, Z:0.01 [[ 0.99964444 0.02666454 0. 4.89791221] [-0.02666454 0.99964444 0. -0.36372109] [ 0. 0. 1. 0.01449394] [ 0. 0. 0. 1. ]] SLAMing on 5.100371742999999 meters Centerline goodness : 0.991125 with order 1 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.36, Z:0.02 [[ 0.99972545 0.02343118 0. 4.95683893] [-0.02343118 0.99972545 0. -0.36271207] [ 0. 0. 1. 0.01823435] [ 0. 0. 0. 1. ]] SLAMing on 5.160371743 meters Centerline goodness : 0.991074 with order 1 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.36, Z:0.02 [[ 0.99971891 0.02370863 0. 5.01527267] [-0.02370863 0.99971891 0. -0.36416773] [ 0. 0. 1. 0.01771338] [ 0. 0. 0. 1. ]] SLAMing on 5.220371742999999 meters Centerline goodness : 0.990908 with order 1 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.36, Z:0.02 [[ 0.99972408 0.02348973 0. 5.07298354] [-0.02348973 0.99972408 0. -0.36382712] [ 0. 0. 1. 0.01824514] [ 0. 0. 0. 1. ]] SLAMing on 5.280371742999999 meters Centerline goodness : 0.991393 with order 1 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.36, Z:0.02 [[ 0.99972739 0.02334839 0. 5.13120188] [-0.02334839 0.99972739 0. -0.36407687] [ 0. 0. 1. 0.01719395] [ 0. 0. 0. 1. ]] SLAMing on 5.3403717429999995 meters Centerline goodness : 0.991240 with order 1 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.36, Z:0.02 [[ 0.9997729 0.02131064 0. 5.19062591] [-0.02131064 0.9997729 0. -0.36267487] [ 0. 0. 1. 0.02153404] [ 0. 0. 0. 1. ]] SLAMing on 5.400371742999999 meters Centerline goodness : 0.991208 with order 1 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.36, Z:0.02 [[ 0.99985868 0.01681114 0. 5.24793504] [-0.01681114 0.99985868 0. -0.36388515] [ 0. 0. 1. 0.01808618] [ 0. 0. 0. 1. ]] SLAMing on 5.460371743 meters Centerline goodness : 0.991647 with order 1 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.36, Z:0.02 [[ 0.99985236 0.01718335 0. 5.30573935] [-0.01718335 0.99985236 0. -0.36229633] [ 0. 0. 1. 0.02156604] [ 0. 0. 0. 1. ]] SLAMing on 5.520371742999999 meters Centerline goodness : 0.991102 with order 1 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.36, Z:0.02 [[ 0.99978818 0.02058146 0. 5.36458859] [-0.02058146 0.99978818 0. -0.36388503] [ 0. 0. 1. 0.02003687] [ 0. 0. 0. 1. ]] SLAMing on 5.580371743 meters Centerline goodness : 0.992718 with order 1 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.35, Z:0.03 [[ 0.99989131 0.01474351 0. 5.4227472 ] [-0.01474351 0.99989131 0. -0.35342388] [ 0. 0. 1. 0.02694794] [ 0. 0. 0. 1. ]] SLAMing on 5.640371742999999 meters Centerline goodness : 0.993650 with order 1 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.35, Z:0.03 [[ 0.9998631 0.0165462 0. 5.48061803] [-0.0165462 0.9998631 0. -0.3515517 ] [ 0. 0. 1. 0.02790306] [ 0. 0. 0. 1. ]] SLAMing on 5.700371743 meters Centerline goodness : 0.991089 with order 1 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.36, Z:0.02 [[ 0.9996388 0.02687512 0. 5.53878174] [-0.02687512 0.9996388 0. -0.3642882 ] [ 0. 0. 1. 0.01705856] [ 0. 0. 0. 1. ]] SLAMing on 5.760371742999999 meters Centerline goodness : 0.991321 with order 1 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.36, Z:0.02 [[ 0.99963069 0.02717517 0. 5.5974337 ] [-0.02717517 0.99963069 0. -0.3615402 ] [ 0. 0. 1. 0.01819308] [ 0. 0. 0. 1. ]] SLAMing on 5.820371742999999 meters Centerline goodness : 0.991469 with order 1 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.36, Z:0.02 [[ 0.99955051 0.02997946 0. 5.65503164] [-0.02997946 0.99955051 0. -0.36074167] [ 0. 0. 1. 0.01880537] [ 0. 0. 0. 1. ]] SLAMing on 5.8803717429999995 meters Centerline goodness : 0.991391 with order 1 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.36, Z:0.02 [[ 0.99945304 0.03306986 0. 5.71162706] [-0.03306986 0.99945304 0. -0.360374 ] [ 0. 0. 1. 0.02103532] [ 0. 0. 0. 1. ]] SLAMing on 5.940371742999999 meters Centerline goodness : 0.991764 with order 1 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.36, Z:0.02 [[ 0.99931976 0.03687833 0. 5.76947363] [-0.03687833 0.99931976 0. -0.36063625] [ 0. 0. 1. 0.02312747] [ 0. 0. 0. 1. ]] SLAMing on 6.000371743 meters Centerline goodness : 0.991703 with order 1 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.36, Z:0.02 [[ 0.99910432 0.04231489 0. 5.82721275] [-0.04231489 0.99910432 0. -0.36148763] [ 0. 0. 1. 0.02299064] [ 0. 0. 0. 1. ]] SLAMing on 6.060371742999999 meters Centerline goodness : 0.991431 with order 1 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.36, Z:0.02 [[ 0.99903475 0.04392694 0. 5.88532514] [-0.04392694 0.99903475 0. -0.3636438 ] [ 0. 0. 1. 0.02205683] [ 0. 0. 0. 1. ]] SLAMing on 6.120371743 meters Centerline goodness : 0.991769 with order 1 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.37, Z:0.02 [[ 0.99903735 0.04386773 0. 5.94310204] [-0.04386773 0.99903735 0. -0.36723363] [ 0. 0. 1. 0.02259831] [ 0. 0. 0. 1. ]] SLAMing on 6.180371742999999 meters Centerline goodness : 0.992133 with order 1 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.37, Z:0.03 [[ 0.99925307 0.03864319 0. 6.00222367] [-0.03864319 0.99925307 0. -0.37124198] [ 0. 0. 1. 0.0251465 ] [ 0. 0. 0. 1. ]] SLAMing on 6.240371743 meters Centerline goodness : 0.991724 with order 1 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.38, Z:0.03 [[ 0.99954691 0.03009933 0. 6.05985876] [-0.03009933 0.99954691 0. -0.37634209] [ 0. 0. 1. 0.02572415] [ 0. 0. 0. 1. ]] SLAMing on 6.3003717429999995 meters Centerline goodness : 0.992489 with order 1 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.38, Z:0.02 [[ 0.99969383 0.02474379 0. 6.11873251] [-0.02474379 0.99969383 0. -0.38179192] [ 0. 0. 1. 0.02431457] [ 0. 0. 0. 1. ]] SLAMing on 6.360371742999999 meters Centerline goodness : 0.991846 with order 1 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.39, Z:0.02 [[ 0.99986008 0.01672795 0. 6.17768339] [-0.01672795 0.99986008 0. -0.38772736] [ 0. 0. 1. 0.02364298] [ 0. 0. 0. 1. ]] SLAMing on 6.420371743 meters Centerline goodness : 0.992861 with order 1 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.39, Z:0.02 [[ 0.99993065 0.01177675 0. 6.23568446] [-0.01177675 0.99993065 0. -0.39233684] [ 0. 0. 1. 0.02360142] [ 0. 0. 0. 1. ]] SLAMing on 6.480371742999999 meters Centerline goodness : 0.993454 with order 1 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.40, Z:0.02 [[ 0.9999765 0.00685533 0. 6.29422264] [-0.00685533 0.9999765 0. -0.39644303] [ 0. 0. 1. 0.0236363 ] [ 0. 0. 0. 1. ]] SLAMing on 6.540371743 meters Centerline goodness : 0.993617 with order 1 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.40, Z:0.02 [[ 0.99996846 0.00794196 0. 6.35294724] [-0.00794196 0.99996846 0. -0.39953735] [ 0. 0. 1. 0.02376646] [ 0. 0. 0. 1. ]] SLAMing on 6.600371742999999 meters Centerline goodness : 0.992871 with order 1 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.40, Z:0.02 [[ 0.99993051 0.01178876 0. 6.41081634] [-0.01178876 0.99993051 0. -0.4005842 ] [ 0. 0. 1. 0.02278823] [ 0. 0. 0. 1. ]] SLAMing on 6.660371743 meters Centerline goodness : 0.992703 with order 1 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.40, Z:0.02 [[ 0.99990822 0.01354806 0. 6.46818709] [-0.01354806 0.99990822 0. -0.40229778] [ 0. 0. 1. 0.02111196] [ 0. 0. 0. 1. ]] SLAMing on 6.720371742999999 meters Centerline goodness : 0.992639 with order 1 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.40, Z:0.02 [[ 0.9998457 0.01756633 0. 6.52625855] [-0.01756633 0.9998457 0. -0.40362193] [ 0. 0. 1. 0.01717246] [ 0. 0. 0. 1. ]] SLAMing on 6.780371742999999 meters Centerline goodness : 0.992938 with order 1 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.40, Z:0.02 [[ 0.99982213 0.01886011 0. 6.5850902 ] [-0.01886011 0.99982213 0. -0.40171626] [ 0. 0. 1. 0.01932695] [ 0. 0. 0. 1. ]] SLAMing on 6.8403717429999995 meters Centerline goodness : 0.992887 with order 1 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.40, Z:0.02 [[ 0.9998344 0.01819833 0. 6.6436238 ] [-0.01819833 0.9998344 0. -0.40082285] [ 0. 0. 1. 0.02475847] [ 0. 0. 0. 1. ]] SLAMing on 6.900371742999999 meters Centerline goodness : 0.993066 with order 1 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.40, Z:0.02 [[ 0.99977018 0.02143819 0. 6.70257376] [-0.02143819 0.99977018 0. -0.4046989 ] [ 0. 0. 1. 0.01972355] [ 0. 0. 0. 1. ]] SLAMing on 6.960371743 meters Centerline goodness : 0.993049 with order 1 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.41, Z:0.02 [[ 0.99975849 0.02197642 0. 6.76018417] [-0.02197642 0.99975849 0. -0.40720086] [ 0. 0. 1. 0.01944628] [ 0. 0. 0. 1. ]] SLAMing on 7.020371742999999 meters Centerline goodness : 0.993048 with order 1 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.41, Z:0.02 [[ 0.99974484 0.02258893 0. 6.81815048] [-0.02258893 0.99974484 0. -0.40834758] [ 0. 0. 1. 0.02090466] [ 0. 0. 0. 1. ]] SLAMing on 7.080371743 meters Centerline goodness : 0.992787 with order 1 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.41, Z:0.02 [[ 0.99977681 0.02112641 0. 6.8767346 ] [-0.02112641 0.99977681 0. -0.4088636 ] [ 0. 0. 1. 0.02269366] [ 0. 0. 0. 1. ]] SLAMing on 7.140371742999999 meters Centerline goodness : 0.992216 with order 1 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.41, Z:0.02 [[ 0.9997863 0.02067248 0. 6.93452704] [-0.02067248 0.9997863 0. -0.4116459 ] [ 0. 0. 1. 0.02035679] [ 0. 0. 0. 1. ]] SLAMing on 7.200371742999999 meters Centerline goodness : 0.993069 with order 1 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.41, Z:0.02 [[ 0.99980618 0.01968779 0. 6.99345769] [-0.01968779 0.99980618 0. -0.41339538] [ 0. 0. 1. 0.02096943] [ 0. 0. 0. 1. ]] SLAMing on 7.260371742999999 meters Centerline goodness : 0.993682 with order 1 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.41, Z:0.02 [[ 0.99981366 0.0193038 0. 7.05122171] [-0.0193038 0.99981366 0. -0.41407954] [ 0. 0. 1. 0.02067654] [ 0. 0. 0. 1. ]] SLAMing on 7.320371742999999 meters Centerline goodness : 0.992763 with order 1 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.42, Z:0.02 [[ 0.99976963 0.02146377 0. 7.10953505] [-0.02146377 0.99976963 0. -0.41661936] [ 0. 0. 1. 0.02114112] [ 0. 0. 0. 1. ]] SLAMing on 7.3803717429999995 meters Centerline goodness : 0.992946 with order 1 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.42, Z:0.02 [[ 0.99973023 0.0232265 0. 7.16861677] [-0.0232265 0.99973023 0. -0.41849192] [ 0. 0. 1. 0.02136815] [ 0. 0. 0. 1. ]] SLAMing on 7.440371742999999 meters Centerline goodness : 0.992663 with order 1 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.42, Z:0.02 [[ 0.99972895 0.02328143 0. 7.22539898] [-0.02328143 0.99972895 0. -0.41911067] [ 0. 0. 1. 0.02258525] [ 0. 0. 0. 1. ]] SLAMing on 7.500371743 meters Centerline goodness : 0.991909 with order 1 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.42, Z:0.02 [[ 0.99977028 0.02143312 0. 7.28255693] [-0.02143312 0.99977028 0. -0.42185373] [ 0. 0. 1. 0.01970621] [ 0. 0. 0. 1. ]] SLAMing on 7.560371742999999 meters Centerline goodness : 0.991806 with order 1 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.42, Z:0.02 [[ 0.99980831 0.01957922 0. 7.34101705] [-0.01957922 0.99980831 0. -0.4239823 ] [ 0. 0. 1. 0.02105674] [ 0. 0. 0. 1. ]] SLAMing on 7.620371743 meters Centerline goodness : 0.991896 with order 1 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.43, Z:0.02 [[ 0.99986708 0.01630401 0. 7.3990716 ] [-0.01630401 0.99986708 0. -0.42632124] [ 0. 0. 1. 0.02069571] [ 0. 0. 0. 1. ]] SLAMing on 7.680371742999999 meters Centerline goodness : 0.991929 with order 1 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.43, Z:0.02 [[ 0.99988249 0.01533012 0. 7.45787191] [-0.01533012 0.99988249 0. -0.42733525] [ 0. 0. 1. 0.0230655 ] [ 0. 0. 0. 1. ]] SLAMing on 7.740371742999999 meters Centerline goodness : 0.991318 with order 1 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.43, Z:0.02 [[ 0.99986074 0.01668833 0. 7.51607185] [-0.01668833 0.99986074 0. -0.42983004] [ 0. 0. 1. 0.02307717] [ 0. 0. 0. 1. ]] SLAMing on 7.8003717429999995 meters Centerline goodness : 0.991536 with order 1 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.43, Z:0.02 [[ 0.99985686 0.01691894 0. 7.57357494] [-0.01691894 0.99985686 0. -0.43238203] [ 0. 0. 1. 0.02162514] [ 0. 0. 0. 1. ]] SLAMing on 7.860371742999999 meters Centerline goodness : 0.991753 with order 1 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.44, Z:0.02 [[ 0.99987339 0.01591264 0. 7.63175487] [-0.01591264 0.99987339 0. -0.43655223] [ 0. 0. 1. 0.01940349] [ 0. 0. 0. 1. ]] SLAMing on 7.920371743 meters Centerline goodness : 0.992373 with order 1 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.44, Z:0.02 [[ 0.99990115 0.0140605 0. 7.6893448 ] [-0.0140605 0.99990115 0. -0.43930064] [ 0. 0. 1. 0.01983563] [ 0. 0. 0. 1. ]] SLAMing on 7.980371742999999 meters Centerline goodness : 0.992337 with order 1 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.45, Z:0.02 [[ 0.99991828 0.01278448 0. 7.74659048] [-0.01278448 0.99991828 0. -0.4451427 ] [ 0. 0. 1. 0.01703638] [ 0. 0. 0. 1. ]] SLAMing on 8.040371743 meters Centerline goodness : 0.992497 with order 1 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.45, Z:0.01 [[ 0.99991809 0.01279923 0. 7.80504288] [-0.01279923 0.99991809 0. -0.45179071] [ 0. 0. 1. 0.01393881] [ 0. 0. 0. 1. ]] SLAMing on 8.100371743 meters Centerline goodness : 0.992711 with order 1 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.46, Z:0.01 [[ 0.99990748 0.01360266 0. 7.86288939] [-0.01360266 0.99990748 0. -0.4554498 ] [ 0. 0. 1. 0.01378941] [ 0. 0. 0. 1. ]] SLAMing on 8.160371743 meters Centerline goodness : 0.992859 with order 1 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.46, Z:0.01 [[ 0.99987474 0.01582739 0. 7.92098557] [-0.01582739 0.99987474 0. -0.45918612] [ 0. 0. 1. 0.01302769] [ 0. 0. 0. 1. ]] SLAMing on 8.220371743 meters Centerline goodness : 0.993034 with order 1 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.46, Z:0.01 [[ 0.9997901 0.02048776 0. 7.97995718] [-0.02048776 0.9997901 0. -0.4619331 ] [ 0. 0. 1. 0.01450809] [ 0. 0. 0. 1. ]] SLAMing on 8.280371743 meters Centerline goodness : 0.992351 with order 1 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.46, Z:0.02 [[ 0.9996854 0.0250819 0. 8.03874318] [-0.0250819 0.9996854 0. -0.46426636] [ 0. 0. 1. 0.01539392] [ 0. 0. 0. 1. ]] SLAMing on 8.340371743 meters Centerline goodness : 0.992609 with order 1 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.47, Z:0.02 [[ 0.99953044 0.03064146 0. 8.09789733] [-0.03064146 0.99953044 0. -0.46613854] [ 0. 0. 1. 0.01596829] [ 0. 0. 0. 1. ]] SLAMing on 8.400371743000001 meters Centerline goodness : 0.992029 with order 1 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.47, Z:0.02 [[ 0.99929917 0.03743221 0. 8.15577029] [-0.03743221 0.99929917 0. -0.46954193] [ 0. 0. 1. 0.01507969] [ 0. 0. 0. 1. ]] SLAMing on 8.460371743 meters Centerline goodness : 0.992188 with order 1 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.47, Z:0.02 [[ 0.99910695 0.04225284 0. 8.21299638] [-0.04225284 0.99910695 0. -0.4738075 ] [ 0. 0. 1. 0.01535063] [ 0. 0. 0. 1. ]] SLAMing on 8.520371743 meters Centerline goodness : 0.991606 with order 1 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.48, Z:0.02 [[ 0.99877383 0.04950598 0. 8.27040224] [-0.04950598 0.99877383 0. -0.47815457] [ 0. 0. 1. 0.0193564 ] [ 0. 0. 0. 1. ]] SLAMing on 8.580371743 meters Centerline goodness : 0.991461 with order 1 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.48, Z:0.02 [[ 0.99874887 0.0500069 0. 8.32834243] [-0.0500069 0.99874887 0. -0.4822723 ] [ 0. 0. 1. 0.02394767] [ 0. 0. 0. 1. ]] SLAMing on 8.640371743000001 meters Centerline goodness : 0.991148 with order 1 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.49, Z:0.02 [[ 0.99871229 0.0507323 0. 8.38629089] [-0.0507323 0.99871229 0. -0.49053032] [ 0. 0. 1. 0.02000567] [ 0. 0. 0. 1. ]] SLAMing on 8.700371743 meters Centerline goodness : 0.990975 with order 1 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.50, Z:0.02 [[ 0.99889638 0.04696837 0. 8.44341966] [-0.04696837 0.99889638 0. -0.50088405] [ 0. 0. 1. 0.01674191] [ 0. 0. 0. 1. ]] SLAMing on 8.760371743 meters Centerline goodness : 0.990573 with order 1 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.51, Z:0.02 [[ 0.99908723 0.04271654 0. 8.50069468] [-0.04271654 0.99908723 0. -0.50836992] [ 0. 0. 1. 0.01641268] [ 0. 0. 0. 1. ]] SLAMing on 8.820371743 meters Centerline goodness : 0.991310 with order 1 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.51, Z:0.02 [[ 0.99939896 0.03466573 0. 8.55959096] [-0.03466573 0.99939896 0. -0.51479754] [ 0. 0. 1. 0.02167681] [ 0. 0. 0. 1. ]] SLAMing on 8.880371743 meters Centerline goodness : 0.992908 with order 1 Centerline is valid? [True, True] Translation: X:8.62, Y:-0.51, Z:0.03 [[ 0.99964012 0.02682605 0. 8.61746739] [-0.02682605 0.99964012 0. -0.51173072] [ 0. 0. 1. 0.02548642] [ 0. 0. 0. 1. ]] SLAMing on 8.940371743 meters Centerline goodness : 0.990356 with order 1 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.53, Z:0.02 [[ 0.99948736 0.03201575 0. 8.6754004 ] [-0.03201575 0.99948736 0. -0.53382027] [ 0. 0. 1. 0.01835386] [ 0. 0. 0. 1. ]] SLAMing on 9.000371743 meters Centerline goodness : 0.990159 with order 1 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.55, Z:0.02 [[ 0.99953629 0.03045002 0. 8.7335582 ] [-0.03045002 0.99953629 0. -0.54537271] [ 0. 0. 1. 0.01895428] [ 0. 0. 0. 1. ]] SLAMing on 9.060371743000001 meters Centerline goodness : 0.989467 with order 1 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.56, Z:0.02 [[ 0.99949749 0.03169798 0. 8.79073541] [-0.03169798 0.99949749 0. -0.55907821] [ 0. 0. 1. 0.01531138] [ 0. 0. 0. 1. ]] SLAMing on 9.120371743 meters Centerline goodness : 0.992666 with order 1 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.55, Z:0.02 [[ 0.99979747 0.02012504 0. 8.84872112] [-0.02012504 0.99979747 0. -0.55314428] [ 0. 0. 1. 0.02435792] [ 0. 0. 0. 1. ]] SLAMing on 9.180371743 meters Centerline goodness : 0.990168 with order 1 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.58, Z:0.01 [[ 0.99955378 0.02987026 0. 8.9059288 ] [-0.02987026 0.99955378 0. -0.57979145] [ 0. 0. 1. 0.01044227] [ 0. 0. 0. 1. ]] SLAMing on 9.240371743 meters Centerline goodness : 0.992599 with order 1 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.57, Z:0.02 [[ 0.99983916 0.01793459 0. 8.9645314 ] [-0.01793459 0.99983916 0. -0.57437156] [ 0. 0. 1. 0.02363138] [ 0. 0. 0. 1. ]] SLAMing on 9.300371743 meters Centerline goodness : 0.990353 with order 1 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.60, Z:0.01 [[ 0.99957422 0.02917841 0. 9.02123565] [-0.02917841 0.99957422 0. -0.59898769] [ 0. 0. 1. 0.00992274] [ 0. 0. 0. 1. ]] SLAMing on 9.360371743 meters Centerline goodness : 0.993799 with order 1 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.59, Z:0.02 [[ 0.9998386 0.0179658 0. 9.08054858] [-0.0179658 0.9998386 0. -0.59007886] [ 0. 0. 1. 0.02480288] [ 0. 0. 0. 1. ]] SLAMing on 9.420371743 meters Centerline goodness : 0.993533 with order 1 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.60, Z:0.03 [[ 0.99984619 0.01753869 0. 9.13784632] [-0.01753869 0.99984619 0. -0.59929442] [ 0. 0. 1. 0.02583449] [ 0. 0. 0. 1. ]] SLAMing on 9.480371743000001 meters Centerline goodness : 0.991133 with order 1 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.62, Z:0.02 [[ 0.99966838 0.02575126 0. 9.19613772] [-0.02575126 0.99966838 0. -0.61915069] [ 0. 0. 1. 0.01614587] [ 0. 0. 0. 1. ]] SLAMing on 9.540371743 meters Centerline goodness : 0.992311 with order 1 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.63, Z:0.02 [[ 0.99975986 0.0219139 0. 9.25389676] [-0.0219139 0.99975986 0. -0.62853717] [ 0. 0. 1. 0.01691445] [ 0. 0. 0. 1. ]] SLAMing on 9.600371743 meters Centerline goodness : 0.995290 with order 1 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.62, Z:0.03 [[ 9.99960479e-01 8.89052187e-03 0.00000000e+00 9.31154015e+00] [-8.89052187e-03 9.99960479e-01 0.00000000e+00 -6.23937982e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65339677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.660371743 meters Centerline goodness : 0.994341 with order 1 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.63, Z:0.03 [[ 9.99964223e-01 8.45890120e-03 0.00000000e+00 9.37058158e+00] [-8.45890120e-03 9.99964223e-01 0.00000000e+00 -6.30038705e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66091318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.720371743 meters Centerline goodness : 0.994826 with order 1 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.64, Z:0.03 [[ 9.99961191e-01 8.81006247e-03 0.00000000e+00 9.42826380e+00] [-8.81006247e-03 9.99961191e-01 0.00000000e+00 -6.35979945e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57941108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.780371743 meters Centerline goodness : 0.995479 with order 1 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.64, Z:0.03 [[ 9.99955631e-01 9.42002120e-03 0.00000000e+00 9.48676819e+00] [-9.42002120e-03 9.99955631e-01 0.00000000e+00 -6.40214629e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56521183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.840371743 meters Centerline goodness : 0.995156 with order 1 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.64, Z:0.03 [[ 0.99994732 0.01026475 0. 9.54573615] [-0.01026475 0.99994732 0. -0.64476518] [ 0. 0. 1. 0.02659414] [ 0. 0. 0. 1. ]] SLAMing on 9.900371743000001 meters Centerline goodness : 0.994475 with order 1 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.66, Z:0.02 [[ 0.99986556 0.01639731 0. 9.60403138] [-0.01639731 0.99986556 0. -0.65914183] [ 0. 0. 1. 0.0184097 ] [ 0. 0. 0. 1. ]] SLAMing on 9.960371743 meters Centerline goodness : 0.994072 with order 1 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.67, Z:0.01 [[ 0.99985102 0.0172609 0. 9.6621275 ] [-0.0172609 0.99985102 0. -0.66851942] [ 0. 0. 1. 0.01035032] [ 0. 0. 0. 1. ]] SLAMing on 10.020371743 meters Centerline goodness : 0.993391 with order 1 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.67, Z:0.01 [[ 9.99878652e-01 1.55781989e-02 0.00000000e+00 9.72046124e+00] [-1.55781989e-02 9.99878652e-01 0.00000000e+00 -6.74209727e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.45655437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.080371743 meters Centerline goodness : 0.993342 with order 1 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.68, Z:0.01 [[ 9.99897819e-01 1.42951872e-02 0.00000000e+00 9.77895480e+00] [-1.42951872e-02 9.99897819e-01 0.00000000e+00 -6.77856982e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.02060043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.140371743 meters Centerline goodness : 0.992888 with order 1 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.68, Z:0.01 [[ 9.99980631e-01 6.22390712e-03 0.00000000e+00 9.83882535e+00] [-6.22390712e-03 9.99980631e-01 0.00000000e+00 -6.78429581e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21577526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.200371743 meters Centerline goodness : 0.993630 with order 1 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.68, Z:0.01 [[ 9.99999828e-01 -5.85710580e-04 0.00000000e+00 9.89642940e+00] [ 5.85710580e-04 9.99999828e-01 0.00000000e+00 -6.81923512e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12130256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.260371743 meters Centerline goodness : 0.993790 with order 1 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.68, Z:0.01 [[ 9.99982659e-01 -5.88903216e-03 0.00000000e+00 9.95719787e+00] [ 5.88903216e-03 9.99982659e-01 0.00000000e+00 -6.83508630e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09033566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.320371743 meters Centerline goodness : 0.992607 with order 1 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.68, Z:0.01 [[ 9.99957517e-01 -9.21758259e-03 0.00000000e+00 1.00180086e+01] [ 9.21758259e-03 9.99957517e-01 0.00000000e+00 -6.84483673e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14093713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.380371743 meters Centerline goodness : 0.993262 with order 1 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.68, Z:0.01 [[ 0.99994806 -0.01019244 0. 10.07983984] [ 0.01019244 0.99994806 0. -0.68387702] [ 0. 0. 1. 0.01291346] [ 0. 0. 0. 1. ]] SLAMing on 10.440371743 meters Centerline goodness : 0.993199 with order 1 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.68, Z:0.01 [[ 9.99973702e-01 -7.25221699e-03 0.00000000e+00 1.01421511e+01] [ 7.25221699e-03 9.99973702e-01 0.00000000e+00 -6.84604120e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09123250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.500371743 meters Centerline goodness : 0.995740 with order 1 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.67, Z:0.02 [[ 0.99984119 -0.01782145 0. 10.20385462] [ 0.01782145 0.99984119 0. -0.67099098] [ 0. 0. 1. 0.02185407] [ 0. 0. 0. 1. ]] SLAMing on 10.560371743 meters Centerline goodness : 0.993814 with order 1 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.68, Z:0.02 [[ 0.99993232 -0.01163408 0. 10.26607981] [ 0.01163408 0.99993232 0. -0.67941722] [ 0. 0. 1. 0.01746677] [ 0. 0. 0. 1. ]] SLAMing on 10.620371743 meters Centerline goodness : 0.993839 with order 1 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.68, Z:0.02 [[ 0.99988543 -0.01513674 0. 10.32818941] [ 0.01513674 0.99988543 0. -0.6784926 ] [ 0. 0. 1. 0.017976 ] [ 0. 0. 0. 1. ]] SLAMing on 10.680371743 meters Centerline goodness : 0.993651 with order 1 Centerline is valid? [True, True] Translation: X:10.39, Y:-0.68, Z:0.02 [[ 0.99983599 -0.01811075 0. 10.39003054] [ 0.01811075 0.99983599 0. -0.67842678] [ 0. 0. 1. 0.01517333] [ 0. 0. 0. 1. ]] SLAMing on 10.740371743 meters Centerline goodness : 0.993423 with order 1 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.68, Z:0.01 [[ 0.99978516 -0.02072744 0. 10.45261244] [ 0.02072744 0.99978516 0. -0.67929327] [ 0. 0. 1. 0.01380424] [ 0. 0. 0. 1. ]] SLAMing on 10.800371743 meters Centerline goodness : 0.993592 with order 1 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.68, Z:0.01 [[ 0.99976351 -0.0217469 0. 10.51521407] [ 0.0217469 0.99976351 0. -0.68046103] [ 0. 0. 1. 0.01290444] [ 0. 0. 0. 1. ]] SLAMing on 10.860371743 meters Centerline goodness : 0.993335 with order 1 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.68, Z:0.01 [[ 0.99976818 -0.02153101 0. 10.57879707] [ 0.02153101 0.99976818 0. -0.68072485] [ 0. 0. 1. 0.01238907] [ 0. 0. 0. 1. ]] SLAMing on 10.920371743 meters Centerline goodness : 0.993444 with order 1 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.68, Z:0.01 [[ 0.9998054 -0.01972709 0. 10.64109878] [ 0.01972709 0.9998054 0. -0.67924693] [ 0. 0. 1. 0.01268377] [ 0. 0. 0. 1. ]] SLAMing on 10.980371743000001 meters Centerline goodness : 0.993298 with order 1 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.68, Z:0.01 [[ 0.99989247 -0.01466464 0. 10.70351722] [ 0.01466464 0.99989247 0. -0.67785513] [ 0. 0. 1. 0.01220114] [ 0. 0. 0. 1. ]] SLAMing on 11.040371743 meters Centerline goodness : 0.992878 with order 1 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.67, Z:0.01 [[ 0.99993792 -0.0111427 0. 10.76546503] [ 0.0111427 0.99993792 0. -0.67484561] [ 0. 0. 1. 0.0145758 ] [ 0. 0. 0. 1. ]] SLAMing on 11.100371743 meters Centerline goodness : 0.993349 with order 1 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.67, Z:0.02 [[ 9.99942371e-01 -1.07356769e-02 0.00000000e+00 1.08274789e+01] [ 1.07356769e-02 9.99942371e-01 0.00000000e+00 -6.74594361e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54998006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.160371743 meters Centerline goodness : 0.993175 with order 1 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.67, Z:0.02 [[ 0.99992946 -0.01187734 0. 10.88967042] [ 0.01187734 0.99992946 0. -0.67470626] [ 0. 0. 1. 0.01575139] [ 0. 0. 0. 1. ]] SLAMing on 11.220371743 meters Centerline goodness : 0.993146 with order 1 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.67, Z:0.01 [[ 0.99991905 -0.0127239 0. 10.95247491] [ 0.0127239 0.99991905 0. -0.67430004] [ 0. 0. 1. 0.01343941] [ 0. 0. 0. 1. ]] SLAMing on 11.280371743 meters Centerline goodness : 0.992787 with order 1 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.67, Z:0.01 [[ 0.9999095 -0.01345354 0. 11.01470496] [ 0.01345354 0.9999095 0. -0.67430513] [ 0. 0. 1. 0.01105949] [ 0. 0. 0. 1. ]] SLAMing on 11.340371743 meters Centerline goodness : 0.992793 with order 1 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.67, Z:0.01 [[ 9.99919647e-01 -1.26767646e-02 0.00000000e+00 1.10772126e+01] [ 1.26767646e-02 9.99919647e-01 0.00000000e+00 -6.74544246e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.60714175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.400371743000001 meters Centerline goodness : 0.993791 with order 1 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.66, Z:0.02 [[ 0.99980274 -0.01986134 0. 11.13925123] [ 0.01986134 0.99980274 0. -0.66252974] [ 0. 0. 1. 0.01585725] [ 0. 0. 0. 1. ]] SLAMing on 11.460371743 meters Centerline goodness : 0.993753 with order 1 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.66, Z:0.02 [[ 0.99981927 -0.01901105 0. 11.20120934] [ 0.01901105 0.99981927 0. -0.66336968] [ 0. 0. 1. 0.01732347] [ 0. 0. 0. 1. ]] SLAMing on 11.520371743 meters Centerline goodness : 0.991875 with order 1 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.67, Z:0.01 [[ 9.99943073e-01 -1.06700961e-02 0.00000000e+00 1.12626270e+01] [ 1.06700961e-02 9.99943073e-01 0.00000000e+00 -6.74145436e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.57742732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.580371743 meters Centerline goodness : 0.992384 with order 1 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.67, Z:0.01 [[ 9.99926167e-01 -1.21515938e-02 0.00000000e+00 1.13244714e+01] [ 1.21515938e-02 9.99926167e-01 0.00000000e+00 -6.73192032e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.89531684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.640371743 meters Centerline goodness : 0.991874 with order 1 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.67, Z:0.01 [[ 9.99896348e-01 -1.43976805e-02 0.00000000e+00 1.13855108e+01] [ 1.43976805e-02 9.99896348e-01 0.00000000e+00 -6.73398340e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04318884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.700371743 meters Centerline goodness : 0.992870 with order 1 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.67, Z:0.01 [[ 9.99922009e-01 -1.24890147e-02 0.00000000e+00 1.14486887e+01] [ 1.24890147e-02 9.99922009e-01 0.00000000e+00 -6.71716222e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07995644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.760371743 meters Centerline goodness : 0.992576 with order 1 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.67, Z:0.01 [[ 9.99979488e-01 -6.40489452e-03 0.00000000e+00 1.15114051e+01] [ 6.40489452e-03 9.99979488e-01 0.00000000e+00 -6.69913328e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38935869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.820371743 meters Centerline goodness : 0.993019 with order 1 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.67, Z:0.01 [[ 9.99998626e-01 -1.65778364e-03 0.00000000e+00 1.15727950e+01] [ 1.65778364e-03 9.99998626e-01 0.00000000e+00 -6.67999355e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00845429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.880371743 meters Centerline goodness : 0.992717 with order 1 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.67, Z:0.01 [[ 9.99990571e-01 4.34260298e-03 0.00000000e+00 1.16345636e+01] [-4.34260298e-03 9.99990571e-01 0.00000000e+00 -6.68515027e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00718477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.940371743 meters Centerline goodness : 0.992219 with order 1 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.67, Z:0.01 [[ 9.99933400e-01 1.15410281e-02 0.00000000e+00 1.16938267e+01] [-1.15410281e-02 9.99933400e-01 0.00000000e+00 -6.67480220e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.56808434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.000371743 meters Centerline goodness : 0.992699 with order 1 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.67, Z:0.01 [[ 9.99872944e-01 1.59403892e-02 0.00000000e+00 1.17518874e+01] [-1.59403892e-02 9.99872944e-01 0.00000000e+00 -6.68557517e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.16814283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.060371743 meters Centerline goodness : 0.993643 with order 1 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.67, Z:0.01 [[ 9.99816263e-01 1.91687209e-02 0.00000000e+00 1.18097262e+01] [-1.91687209e-02 9.99816263e-01 0.00000000e+00 -6.70393605e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51131106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.120371743 meters Centerline goodness : 0.992010 with order 1 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.67, Z:0.01 [[ 9.99765008e-01 2.16778570e-02 0.00000000e+00 1.18670518e+01] [-2.16778570e-02 9.99765008e-01 0.00000000e+00 -6.72270958e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33943026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.180371743 meters Centerline goodness : 0.991888 with order 1 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.67, Z:0.01 [[ 9.99641649e-01 2.67688954e-02 0.00000000e+00 1.19246100e+01] [-2.67688954e-02 9.99641649e-01 0.00000000e+00 -6.72609962e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.58425803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.240371743 meters Centerline goodness : 0.992106 with order 1 Centerline is valid? [True, True] Translation: X:11.98, Y:-0.67, Z:0.01 [[ 9.99580682e-01 2.89561675e-02 0.00000000e+00 1.19829545e+01] [-2.89561675e-02 9.99580682e-01 0.00000000e+00 -6.74691993e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.94942682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.300371743 meters Centerline goodness : 0.992278 with order 1 Centerline is valid? [True, True] Translation: X:12.04, Y:-0.68, Z:0.01 [[ 9.99586068e-01 2.87696593e-02 0.00000000e+00 1.20400231e+01] [-2.87696593e-02 9.99586068e-01 0.00000000e+00 -6.75526389e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.23815933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.360371743 meters Centerline goodness : 0.992041 with order 1 Centerline is valid? [True, True] Translation: X:12.10, Y:-0.68, Z:0.01 [[ 9.99538192e-01 3.03875419e-02 0.00000000e+00 1.20979299e+01] [-3.03875419e-02 9.99538192e-01 0.00000000e+00 -6.78830821e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.87645142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.420371743 meters Centerline goodness : 0.991488 with order 1 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.68, Z:0.01 [[ 9.99553005e-01 2.98963312e-02 0.00000000e+00 1.21553469e+01] [-2.98963312e-02 9.99553005e-01 0.00000000e+00 -6.82290956e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.92179654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.480371743000001 meters Centerline goodness : 0.991531 with order 1 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.69, Z:0.01 [[ 9.99613395e-01 2.78039566e-02 0.00000000e+00 1.22125609e+01] [-2.78039566e-02 9.99613395e-01 0.00000000e+00 -6.87404733e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18553806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.540371743 meters Centerline goodness : 0.991343 with order 1 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.69, Z:0.01 [[ 9.99717711e-01 2.37591762e-02 0.00000000e+00 1.22699858e+01] [-2.37591762e-02 9.99717711e-01 0.00000000e+00 -6.93683938e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29239700e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.600371743 meters Centerline goodness : 0.992082 with order 1 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.70, Z:0.01 [[ 9.99759932e-01 2.19107131e-02 0.00000000e+00 1.23274063e+01] [-2.19107131e-02 9.99759932e-01 0.00000000e+00 -6.98715846e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.38105064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.660371743 meters Centerline goodness : 0.990913 with order 1 Centerline is valid? [True, True] Translation: X:12.38, Y:-0.70, Z:0.01 [[ 9.99770309e-01 2.14319582e-02 0.00000000e+00 1.23849331e+01] [-2.14319582e-02 9.99770309e-01 0.00000000e+00 -7.04297263e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.85446316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.720371743 meters Centerline goodness : 0.990847 with order 1 Centerline is valid? [True, True] Translation: X:12.44, Y:-0.71, Z:0.01 [[ 9.99715829e-01 2.38382185e-02 0.00000000e+00 1.24431419e+01] [-2.38382185e-02 9.99715829e-01 0.00000000e+00 -7.07548008e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13797968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.780371743 meters Centerline goodness : 0.989744 with order 1 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.71, Z:0.01 [[ 9.99741337e-01 2.27433493e-02 0.00000000e+00 1.25019044e+01] [-2.27433493e-02 9.99741337e-01 0.00000000e+00 -7.13081605e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.00427181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.840371743 meters Centerline goodness : 0.990164 with order 1 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.72, Z:0.01 [[ 9.99681056e-01 2.52544201e-02 0.00000000e+00 1.25598367e+01] [-2.52544201e-02 9.99681056e-01 0.00000000e+00 -7.18536237e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.63983471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.900371743000001 meters Centerline goodness : 0.990622 with order 1 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.72, Z:0.01 [[ 9.99556551e-01 2.97775284e-02 0.00000000e+00 1.26179236e+01] [-2.97775284e-02 9.99556551e-01 0.00000000e+00 -7.24304299e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.09275385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.960371743 meters Centerline goodness : 0.990442 with order 1 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.73, Z:0.00 [[ 9.99428786e-01 3.37949854e-02 0.00000000e+00 1.26761661e+01] [-3.37949854e-02 9.99428786e-01 0.00000000e+00 -7.31603695e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69485301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.020371743 meters Centerline goodness : 0.989859 with order 1 Centerline is valid? [True, True] Translation: X:12.73, Y:-0.74, Z:0.00 [[ 9.99332038e-01 3.65441898e-02 0.00000000e+00 1.27324979e+01] [-3.65441898e-02 9.99332038e-01 0.00000000e+00 -7.36568143e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40107118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.080371743 meters Centerline goodness : 0.990544 with order 1 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.74, Z:0.00 [[ 9.98978220e-01 4.51942019e-02 0.00000000e+00 1.27906972e+01] [-4.51942019e-02 9.98978220e-01 0.00000000e+00 -7.43186416e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29799308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.140371743 meters Centerline goodness : 0.990440 with order 1 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.75, Z:0.00 [[ 9.98819317e-01 4.85795407e-02 0.00000000e+00 1.28484773e+01] [-4.85795407e-02 9.98819317e-01 0.00000000e+00 -7.51032388e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22996044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.200371743 meters Centerline goodness : 0.991081 with order 1 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.76, Z:-0.00 [[ 9.98946783e-01 4.58838096e-02 0.00000000e+00 1.29048046e+01] [-4.58838096e-02 9.98946783e-01 0.00000000e+00 -7.62080439e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84903941e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.260371743 meters Centerline goodness : 0.991296 with order 1 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.77, Z:-0.00 [[ 9.98914300e-01 4.65856357e-02 0.00000000e+00 1.29629002e+01] [-4.65856357e-02 9.98914300e-01 0.00000000e+00 -7.71493296e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45077553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.320371743 meters Centerline goodness : 0.993636 with order 1 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.77, Z:0.01 [[ 0.99955716 0.02975717 0. 13.02074738] [-0.02975717 0.99955716 0. -0.76619496] [ 0. 0. 1. 0.01324889] [ 0. 0. 0. 1. ]] SLAMing on 13.380371743 meters Centerline goodness : 0.993557 with order 1 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.78, Z:0.01 [[ 9.99709493e-01 2.41024631e-02 0.00000000e+00 1.30786626e+01] [-2.41024631e-02 9.99709493e-01 0.00000000e+00 -7.77380669e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22863277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.440371743 meters Centerline goodness : 0.993418 with order 1 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.79, Z:0.01 [[ 9.99819039e-01 1.90234106e-02 0.00000000e+00 1.31371998e+01] [-1.90234106e-02 9.99819039e-01 0.00000000e+00 -7.86114826e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16373340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.500371743 meters Centerline goodness : 0.992245 with order 1 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.81, Z:0.00 [[ 9.99812999e-01 1.93382152e-02 0.00000000e+00 1.31950494e+01] [-1.93382152e-02 9.99812999e-01 0.00000000e+00 -8.07113235e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97268647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.560371743 meters Centerline goodness : 0.993076 with order 1 Centerline is valid? [True, True] Translation: X:13.25, Y:-0.82, Z:0.00 [[ 9.99851405e-01 1.72385470e-02 0.00000000e+00 1.32535234e+01] [-1.72385470e-02 9.99851405e-01 0.00000000e+00 -8.17899039e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41796636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.620371743 meters Centerline goodness : 0.995073 with order 1 Centerline is valid? [True, True] Translation: X:13.31, Y:-0.81, Z:0.01 [[ 9.99984656e-01 5.53968744e-03 0.00000000e+00 1.33114732e+01] [-5.53968744e-03 9.99984656e-01 0.00000000e+00 -8.13648575e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28169237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.680371743 meters Centerline goodness : 0.993471 with order 1 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.83, Z:0.00 [[ 9.99903686e-01 1.38787044e-02 0.00000000e+00 1.33693085e+01] [-1.38787044e-02 9.99903686e-01 0.00000000e+00 -8.29809000e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14443965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.740371743 meters Centerline goodness : 0.995722 with order 1 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.82, Z:0.01 [[ 9.99967737e-01 8.03278441e-03 0.00000000e+00 1.34278410e+01] [-8.03278441e-03 9.99967737e-01 0.00000000e+00 -8.23249018e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17656106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.800371743 meters Centerline goodness : 0.993866 with order 1 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.84, Z:0.00 [[ 9.99727244e-01 2.33546026e-02 0.00000000e+00 1.34861562e+01] [-2.33546026e-02 9.99727244e-01 0.00000000e+00 -8.38172390e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65546011e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.860371743 meters Centerline goodness : 0.993015 with order 1 Centerline is valid? [True, True] Translation: X:13.54, Y:-0.84, Z:-0.00 [[ 9.99628185e-01 2.72670439e-02 0.00000000e+00 1.35439203e+01] [-2.72670439e-02 9.99628185e-01 0.00000000e+00 -8.41979917e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21888459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.920371743 meters Centerline goodness : 0.992720 with order 1 Centerline is valid? [True, True] Translation: X:13.60, Y:-0.85, Z:-0.01 [[ 9.99275251e-01 3.80653665e-02 0.00000000e+00 1.36033339e+01] [-3.80653665e-02 9.99275251e-01 0.00000000e+00 -8.49093125e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.44079059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.980371743 meters Centerline goodness : 0.992920 with order 1 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.85, Z:-0.00 [[ 9.99298312e-01 3.74550754e-02 0.00000000e+00 1.36610416e+01] [-3.74550754e-02 9.99298312e-01 0.00000000e+00 -8.51884307e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.58114123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.040371743 meters Centerline goodness : 0.992552 with order 1 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.85, Z:-0.00 [[ 9.99299899e-01 3.74127200e-02 0.00000000e+00 1.37202109e+01] [-3.74127200e-02 9.99299899e-01 0.00000000e+00 -8.54070763e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.50410403e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.100371743 meters Centerline goodness : 0.992640 with order 1 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.86, Z:-0.00 [[ 9.99386514e-01 3.50227763e-02 0.00000000e+00 1.37787111e+01] [-3.50227763e-02 9.99386514e-01 0.00000000e+00 -8.60109105e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53970854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.160371743 meters Centerline goodness : 0.993812 with order 1 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.87, Z:-0.00 [[ 9.99430390e-01 3.37475211e-02 0.00000000e+00 1.38376738e+01] [-3.37475211e-02 9.99430390e-01 0.00000000e+00 -8.66114569e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21440861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.220371743 meters Centerline goodness : 0.993487 with order 1 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.87, Z:-0.00 [[ 9.99438019e-01 3.35208461e-02 0.00000000e+00 1.38964822e+01] [-3.35208461e-02 9.99438019e-01 0.00000000e+00 -8.69544931e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60854035e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.280371743 meters Centerline goodness : 0.992783 with order 1 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.88, Z:-0.00 [[ 9.99397934e-01 3.46953832e-02 0.00000000e+00 1.39536375e+01] [-3.46953832e-02 9.99397934e-01 0.00000000e+00 -8.75723574e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.56200467e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.340371743 meters Centerline goodness : 0.992869 with order 1 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.88, Z:0.00 [[ 9.99373219e-01 3.54001427e-02 0.00000000e+00 1.40120916e+01] [-3.54001427e-02 9.99373219e-01 0.00000000e+00 -8.78347976e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98339384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.400371743 meters Centerline goodness : 0.994349 with order 1 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.87, Z:0.01 [[ 9.99677444e-01 2.53970217e-02 0.00000000e+00 1.40698775e+01] [-2.53970217e-02 9.99677444e-01 0.00000000e+00 -8.70767081e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26801652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.460371743 meters Centerline goodness : 0.993460 with order 1 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.89, Z:0.00 [[ 9.99577996e-01 2.90487602e-02 0.00000000e+00 1.41277174e+01] [-2.90487602e-02 9.99577996e-01 0.00000000e+00 -8.87550070e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95505521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.520371743 meters Centerline goodness : 0.993061 with order 1 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.89, Z:0.00 [[ 9.99655921e-01 2.62305221e-02 0.00000000e+00 1.41862463e+01] [-2.62305221e-02 9.99655921e-01 0.00000000e+00 -8.93524751e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52176949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.580371743 meters Centerline goodness : 0.992540 with order 1 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.90, Z:0.00 [[ 9.99718313e-01 2.37338203e-02 0.00000000e+00 1.42442319e+01] [-2.37338203e-02 9.99718313e-01 0.00000000e+00 -8.98733971e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99129649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.640371743 meters Centerline goodness : 0.993785 with order 1 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.90, Z:0.00 [[ 9.99731203e-01 2.31845232e-02 0.00000000e+00 1.43031192e+01] [-2.31845232e-02 9.99731203e-01 0.00000000e+00 -9.02886681e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37279206e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.700371743 meters Centerline goodness : 0.993101 with order 1 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.91, Z:0.00 [[ 9.99728636e-01 2.32949350e-02 0.00000000e+00 1.43609382e+01] [-2.32949350e-02 9.99728636e-01 0.00000000e+00 -9.09015668e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40893224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.760371743 meters Centerline goodness : 0.994593 with order 1 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.90, Z:0.01 [[ 9.99849159e-01 1.73683617e-02 0.00000000e+00 1.44192739e+01] [-1.73683617e-02 9.99849159e-01 0.00000000e+00 -9.03273259e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.12666250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.820371743 meters Centerline goodness : 0.992914 with order 1 Centerline is valid? [True, True] Translation: X:14.48, Y:-0.92, Z:0.00 [[ 9.99639906e-01 2.68339080e-02 0.00000000e+00 1.44776439e+01] [-2.68339080e-02 9.99639906e-01 0.00000000e+00 -9.17047219e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96525996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.880371743 meters Centerline goodness : 0.992507 with order 1 Centerline is valid? [True, True] Translation: X:14.53, Y:-0.92, Z:0.00 [[ 9.99600367e-01 2.82684534e-02 0.00000000e+00 1.45344490e+01] [-2.82684534e-02 9.99600367e-01 0.00000000e+00 -9.21276366e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.31653486e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.940371743 meters Centerline goodness : 0.992384 with order 1 Centerline is valid? [True, True] Translation: X:14.59, Y:-0.93, Z:-0.00 [[ 9.99652721e-01 2.63521716e-02 0.00000000e+00 1.45926652e+01] [-2.63521716e-02 9.99652721e-01 0.00000000e+00 -9.26265727e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17407408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.000371743 meters Centerline goodness : 0.992097 with order 1 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.93, Z:-0.00 [[ 9.99776641e-01 2.11345332e-02 0.00000000e+00 1.46500533e+01] [-2.11345332e-02 9.99776641e-01 0.00000000e+00 -9.30773380e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64175528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.060371743 meters Centerline goodness : 0.994173 with order 1 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.92, Z:0.00 [[ 9.99995050e-01 3.14649661e-03 0.00000000e+00 1.47085717e+01] [-3.14649661e-03 9.99995050e-01 0.00000000e+00 -9.24881720e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67165813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.120371743 meters Centerline goodness : 0.992290 with order 1 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.94, Z:-0.00 [[ 9.99975978e-01 6.93135769e-03 0.00000000e+00 1.47679986e+01] [-6.93135769e-03 9.99975978e-01 0.00000000e+00 -9.40262902e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.85456371e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.180371743 meters Centerline goodness : 0.994409 with order 1 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.93, Z:0.01 [[ 9.99999900e-01 4.48174788e-04 0.00000000e+00 1.48262996e+01] [-4.48174788e-04 9.99999900e-01 0.00000000e+00 -9.29727253e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29310284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.240371743 meters Centerline goodness : 0.992796 with order 1 Centerline is valid? [True, True] Translation: X:14.89, Y:-0.94, Z:-0.00 [[ 9.99887360e-01 1.50088836e-02 0.00000000e+00 1.48859287e+01] [-1.50088836e-02 9.99887360e-01 0.00000000e+00 -9.43512612e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41291376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.300371743 meters Centerline goodness : 0.992562 with order 1 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.94, Z:-0.01 [[ 9.99733988e-01 2.30641322e-02 0.00000000e+00 1.49451654e+01] [-2.30641322e-02 9.99733988e-01 0.00000000e+00 -9.44688840e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.37259562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.360371743 meters Centerline goodness : 0.992672 with order 1 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.95, Z:-0.01 [[ 9.99649724e-01 2.64656231e-02 0.00000000e+00 1.50038570e+01] [-2.64656231e-02 9.99649724e-01 0.00000000e+00 -9.45651290e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.39342266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.420371743 meters Centerline goodness : 0.994377 with order 1 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.93, Z:0.00 [[ 9.99830537e-01 1.84091680e-02 0.00000000e+00 1.50631443e+01] [-1.84091680e-02 9.99830537e-01 0.00000000e+00 -9.30115470e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70650021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.480371743 meters Centerline goodness : 0.995241 with order 1 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.93, Z:0.00 [[ 9.99727110e-01 2.33603359e-02 0.00000000e+00 1.51224214e+01] [-2.33603359e-02 9.99727110e-01 0.00000000e+00 -9.30893717e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23846489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.540371743 meters Centerline goodness : 0.994979 with order 1 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.93, Z:0.00 [[ 9.99603253e-01 2.81662142e-02 0.00000000e+00 1.51805244e+01] [-2.81662142e-02 9.99603253e-01 0.00000000e+00 -9.32271748e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49591421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.600371743 meters Centerline goodness : 0.993527 with order 1 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.95, Z:-0.01 [[ 9.98913780e-01 4.65967870e-02 0.00000000e+00 1.52386443e+01] [-4.65967870e-02 9.98913780e-01 0.00000000e+00 -9.46545569e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.26451347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.660371743 meters Centerline goodness : 0.993549 with order 1 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.95, Z:-0.01 [[ 9.98592344e-01 5.30408333e-02 0.00000000e+00 1.52973642e+01] [-5.30408333e-02 9.98592344e-01 0.00000000e+00 -9.49985790e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.20947533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.720371743 meters Centerline goodness : 0.993498 with order 1 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.95, Z:-0.00 [[ 9.98550766e-01 5.38179171e-02 0.00000000e+00 1.53557009e+01] [-5.38179171e-02 9.98550766e-01 0.00000000e+00 -9.53757177e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03960994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.780371743 meters Centerline goodness : 0.995359 with order 1 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.95, Z:0.00 [[ 9.99233099e-01 3.91562774e-02 0.00000000e+00 1.54132921e+01] [-3.91562774e-02 9.99233099e-01 0.00000000e+00 -9.47920025e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08155781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.840371743 meters Centerline goodness : 0.993489 with order 1 Centerline is valid? [True, True] Translation: X:15.47, Y:-0.97, Z:-0.00 [[ 9.99227789e-01 3.92915430e-02 0.00000000e+00 1.54712525e+01] [-3.92915430e-02 9.99227789e-01 0.00000000e+00 -9.68040947e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61237359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.900371743 meters Centerline goodness : 0.993554 with order 1 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.97, Z:-0.00 [[ 9.99461699e-01 3.28072030e-02 0.00000000e+00 1.55295513e+01] [-3.28072030e-02 9.99461699e-01 0.00000000e+00 -9.74166239e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39927605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.960371743 meters Centerline goodness : 0.994846 with order 1 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.97, Z:0.00 [[ 9.99897123e-01 1.43437933e-02 0.00000000e+00 1.55870592e+01] [-1.43437933e-02 9.99897123e-01 0.00000000e+00 -9.70910418e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14166393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.020371743 meters Centerline goodness : 0.993392 with order 1 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.99, Z:-0.00 [[ 9.99830478e-01 1.84123572e-02 0.00000000e+00 1.56455954e+01] [-1.84123572e-02 9.99830478e-01 0.00000000e+00 -9.88453537e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.00008986e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.080371742999997 meters Centerline goodness : 0.994578 with order 1 Centerline is valid? [True, True] Translation: X:15.70, Y:-0.98, Z:0.00 [[ 9.99991335e-01 4.16285605e-03 0.00000000e+00 1.57036516e+01] [-4.16285605e-03 9.99991335e-01 0.00000000e+00 -9.83618024e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44043616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.140371743 meters Centerline goodness : 0.993218 with order 1 Centerline is valid? [True, True] Translation: X:15.76, Y:-1.00, Z:-0.01 [[ 9.99918750e-01 1.27473191e-02 0.00000000e+00 1.57627226e+01] [-1.27473191e-02 9.99918750e-01 0.00000000e+00 -1.00167682e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.96006612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.200371742999998 meters Centerline goodness : 0.994480 with order 1 Centerline is valid? [True, True] Translation: X:15.82, Y:-0.99, Z:0.00 [[ 9.99998510e-01 1.72635886e-03 0.00000000e+00 1.58213626e+01] [-1.72635886e-03 9.99998510e-01 0.00000000e+00 -9.92488820e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33645088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.260371742999997 meters Centerline goodness : 0.992955 with order 1 Centerline is valid? [True, True] Translation: X:15.88, Y:-1.01, Z:-0.01 [[ 9.99958884e-01 9.06810352e-03 0.00000000e+00 1.58806470e+01] [-9.06810352e-03 9.99958884e-01 0.00000000e+00 -1.00746547e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.94723678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.320371743 meters Centerline goodness : 0.994597 with order 1 Centerline is valid? [True, True] Translation: X:15.94, Y:-1.00, Z:-0.00 [[ 9.99999585e-01 -9.11352331e-04 0.00000000e+00 1.59398449e+01] [ 9.11352331e-04 9.99999585e-01 0.00000000e+00 -9.98016986e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36251767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.380371742999998 meters Centerline goodness : 0.992871 with order 1 Centerline is valid? [True, True] Translation: X:16.00, Y:-1.01, Z:-0.01 [[ 9.99931185e-01 1.17313380e-02 0.00000000e+00 1.59997964e+01] [-1.17313380e-02 9.99931185e-01 0.00000000e+00 -1.01289799e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26476924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.440371742999996 meters Centerline goodness : 0.994692 with order 1 Centerline is valid? [True, True] Translation: X:16.06, Y:-1.00, Z:-0.00 [[ 9.99942237e-01 1.07481619e-02 0.00000000e+00 1.60581093e+01] [-1.07481619e-02 9.99942237e-01 0.00000000e+00 -9.95857349e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.68057193e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.500371743 meters Centerline goodness : 0.994924 with order 1 Centerline is valid? [True, True] Translation: X:16.12, Y:-1.00, Z:-0.00 [[ 9.99911737e-01 1.32859870e-02 0.00000000e+00 1.61172566e+01] [-1.32859870e-02 9.99911737e-01 0.00000000e+00 -9.97278372e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.12545706e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.560371742999997 meters Centerline goodness : 0.994266 with order 1 Centerline is valid? [True, True] Translation: X:16.18, Y:-1.00, Z:0.00 [[ 9.99834108e-01 1.82141917e-02 0.00000000e+00 1.61757290e+01] [-1.82141917e-02 9.99834108e-01 0.00000000e+00 -9.98275963e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.45146488e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.620371743 meters Centerline goodness : 0.992608 with order 1 Centerline is valid? [True, True] Translation: X:16.23, Y:-1.01, Z:-0.01 [[ 9.99400214e-01 3.46296575e-02 0.00000000e+00 1.62334765e+01] [-3.46296575e-02 9.99400214e-01 0.00000000e+00 -1.01228502e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.47276252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.680371743 meters Centerline goodness : 0.994736 with order 1 Centerline is valid? [True, True] Translation: X:16.29, Y:-1.00, Z:0.00 [[ 9.99680938e-01 2.52590927e-02 0.00000000e+00 1.62922749e+01] [-2.52590927e-02 9.99680938e-01 0.00000000e+00 -1.00265182e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76255145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.740371742999997 meters Centerline goodness : 0.992476 with order 1 Centerline is valid? [True, True] Translation: X:16.35, Y:-1.02, Z:-0.01 [[ 9.99417044e-01 3.41404819e-02 0.00000000e+00 1.63506255e+01] [-3.41404819e-02 9.99417044e-01 0.00000000e+00 -1.01999611e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.68565168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.800371743 meters Centerline goodness : 0.994513 with order 1 Centerline is valid? [True, True] Translation: X:16.41, Y:-1.01, Z:0.00 [[ 9.99867931e-01 1.62518081e-02 0.00000000e+00 1.64089766e+01] [-1.62518081e-02 9.99867931e-01 0.00000000e+00 -1.01370447e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12981605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.860371742999998 meters Centerline goodness : 0.994005 with order 1 Centerline is valid? [True, True] Translation: X:16.47, Y:-1.02, Z:0.00 [[ 9.99943439e-01 1.06357592e-02 0.00000000e+00 1.64677631e+01] [-1.06357592e-02 9.99943439e-01 0.00000000e+00 -1.01822719e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.88173529e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.920371742999997 meters Centerline goodness : 0.993976 with order 1 Centerline is valid? [True, True] Translation: X:16.53, Y:-1.02, Z:-0.00 [[ 9.99995390e-01 3.03631781e-03 0.00000000e+00 1.65253110e+01] [-3.03631781e-03 9.99995390e-01 0.00000000e+00 -1.02328170e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.10486727e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.980371743 meters Centerline goodness : 0.992513 with order 1 Centerline is valid? [True, True] Translation: X:16.58, Y:-1.04, Z:-0.01 [[ 9.99980180e-01 6.29592601e-03 0.00000000e+00 1.65848893e+01] [-6.29592601e-03 9.99980180e-01 0.00000000e+00 -1.03664499e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.18690216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.040371742999998 meters Centerline goodness : 0.993828 with order 1 Centerline is valid? [True, True] Translation: X:16.64, Y:-1.03, Z:-0.00 [[ 9.99986051e-01 -5.28187734e-03 0.00000000e+00 1.66437420e+01] [ 5.28187734e-03 9.99986051e-01 0.00000000e+00 -1.02820630e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01019412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.100371742999997 meters Centerline goodness : 0.994140 with order 1 Centerline is valid? [True, True] Translation: X:16.71, Y:-1.03, Z:-0.00 [[ 9.99948964e-01 -1.01029447e-02 0.00000000e+00 1.67062834e+01] [ 1.01029447e-02 9.99948964e-01 0.00000000e+00 -1.03021339e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44580770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.160371743 meters Centerline goodness : 0.994050 with order 1 Centerline is valid? [True, True] Translation: X:16.77, Y:-1.03, Z:-0.00 [[ 9.99865229e-01 -1.64171723e-02 0.00000000e+00 1.67693718e+01] [ 1.64171723e-02 9.99865229e-01 0.00000000e+00 -1.03036330e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35544428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.220371742999998 meters Centerline goodness : 0.992764 with order 1 Centerline is valid? [True, True] Translation: X:16.83, Y:-1.04, Z:-0.01 [[ 9.99929219e-01 -1.18977890e-02 0.00000000e+00 1.68315637e+01] [ 1.18977890e-02 9.99929219e-01 0.00000000e+00 -1.04062888e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.37325903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.280371743 meters Centerline goodness : 0.992208 with order 1 Centerline is valid? [True, True] Translation: X:16.89, Y:-1.04, Z:-0.01 [[ 9.99944672e-01 -1.05191572e-02 0.00000000e+00 1.68929551e+01] [ 1.05191572e-02 9.99944672e-01 0.00000000e+00 -1.04086106e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05379994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.340371743 meters Centerline goodness : 0.993441 with order 1 Centerline is valid? [True, True] Translation: X:16.96, Y:-1.04, Z:-0.01 [[ 9.99999746e-01 7.13056061e-04 0.00000000e+00 1.69554961e+01] [-7.13056061e-04 9.99999746e-01 0.00000000e+00 -1.03513599e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01544328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.400371742999997 meters Centerline goodness : 0.994837 with order 1 Centerline is valid? [True, True] Translation: X:17.02, Y:-1.02, Z:0.00 [[ 9.99999285e-01 -1.19551982e-03 0.00000000e+00 1.70155094e+01] [ 1.19551982e-03 9.99999285e-01 0.00000000e+00 -1.01793761e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01835839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.460371743 meters Centerline goodness : 0.995636 with order 1 Centerline is valid? [True, True] Translation: X:17.08, Y:-1.01, Z:0.00 [[ 9.99939045e-01 1.10410770e-02 0.00000000e+00 1.70751721e+01] [-1.10410770e-02 9.99939045e-01 0.00000000e+00 -1.01203573e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85826923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.520371743 meters Centerline goodness : 0.994969 with order 1 Centerline is valid? [True, True] Translation: X:17.13, Y:-1.01, Z:0.00 [[ 9.99807117e-01 1.96399862e-02 0.00000000e+00 1.71322400e+01] [-1.96399862e-02 9.99807117e-01 0.00000000e+00 -1.00678247e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79611906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.580371742999997 meters Centerline goodness : 0.993427 with order 1 Centerline is valid? [True, True] Translation: X:17.19, Y:-1.02, Z:-0.01 [[ 9.99544196e-01 3.01893920e-02 0.00000000e+00 1.71893102e+01] [-3.01893920e-02 9.99544196e-01 0.00000000e+00 -1.01723832e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67307799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.640371743 meters Centerline goodness : 0.994823 with order 1 Centerline is valid? [True, True] Translation: X:17.25, Y:-1.01, Z:0.00 [[ 9.99720975e-01 2.36214367e-02 0.00000000e+00 1.72490578e+01] [-2.36214367e-02 9.99720975e-01 0.00000000e+00 -1.00690842e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20801661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.700371742999998 meters Centerline goodness : 0.993688 with order 1 Centerline is valid? [True, True] Translation: X:17.31, Y:-1.02, Z:-0.01 [[ 9.99579107e-01 2.90105034e-02 0.00000000e+00 1.73072347e+01] [-2.90105034e-02 9.99579107e-01 0.00000000e+00 -1.01998839e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.18362331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.760371742999997 meters Centerline goodness : 0.993889 with order 1 Centerline is valid? [True, True] Translation: X:17.37, Y:-1.02, Z:-0.01 [[ 9.99616853e-01 2.76793794e-02 0.00000000e+00 1.73658753e+01] [-2.76793794e-02 9.99616853e-01 0.00000000e+00 -1.02372672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12275937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.820371743 meters Centerline goodness : 0.994224 with order 1 Centerline is valid? [True, True] Translation: X:17.42, Y:-1.02, Z:-0.01 [[ 9.99740722e-01 2.27703322e-02 0.00000000e+00 1.74248315e+01] [-2.27703322e-02 9.99740722e-01 0.00000000e+00 -1.02499320e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.34120428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.880371742999998 meters Centerline goodness : 0.994611 with order 1 Centerline is valid? [True, True] Translation: X:17.48, Y:-1.03, Z:-0.01 [[ 9.99868882e-01 1.61931954e-02 0.00000000e+00 1.74820841e+01] [-1.61931954e-02 9.99868882e-01 0.00000000e+00 -1.02837534e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.01153197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.940371742999996 meters Centerline goodness : 0.994578 with order 1 Centerline is valid? [True, True] Translation: X:17.54, Y:-1.03, Z:-0.00 [[ 9.99938655e-01 1.10763685e-02 0.00000000e+00 1.75408599e+01] [-1.10763685e-02 9.99938655e-01 0.00000000e+00 -1.03147843e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51585852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.000371743 meters Centerline goodness : 0.995384 with order 1 Centerline is valid? [True, True] Translation: X:17.60, Y:-1.02, Z:0.00 [[ 9.99998923e-01 -1.46789918e-03 0.00000000e+00 1.75991733e+01] [ 1.46789918e-03 9.99998923e-01 0.00000000e+00 -1.02352029e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54916307e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.060371742999997 meters Centerline goodness : 0.993968 with order 1 Centerline is valid? [True, True] Translation: X:17.66, Y:-1.03, Z:-0.01 [[ 9.99990828e-01 4.28302926e-03 0.00000000e+00 1.76605527e+01] [-4.28302926e-03 9.99990828e-01 0.00000000e+00 -1.03457373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.05475744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.120371743 meters Centerline goodness : 0.994259 with order 1 Centerline is valid? [True, True] Translation: X:17.72, Y:-1.04, Z:-0.01 [[ 9.99998269e-01 1.86037859e-03 0.00000000e+00 1.77188915e+01] [-1.86037859e-03 9.99998269e-01 0.00000000e+00 -1.03590185e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04987083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.180371743 meters Centerline goodness : 0.994529 with order 1 Centerline is valid? [True, True] Translation: X:17.78, Y:-1.04, Z:-0.01 [[ 9.99996645e-01 2.59044273e-03 0.00000000e+00 1.77789432e+01] [-2.59044273e-03 9.99996645e-01 0.00000000e+00 -1.03557357e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04477491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.240371742999997 meters Centerline goodness : 0.993960 with order 1 Centerline is valid? [True, True] Translation: X:17.84, Y:-1.03, Z:-0.01 [[ 9.99985096e-01 5.45958336e-03 0.00000000e+00 1.78383015e+01] [-5.45958336e-03 9.99985096e-01 0.00000000e+00 -1.03335360e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.46195143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.300371743 meters Centerline goodness : 0.995605 with order 1 Centerline is valid? [True, True] Translation: X:17.90, Y:-1.02, Z:-0.00 [[ 9.99999878e-01 4.94050275e-04 0.00000000e+00 1.78976319e+01] [-4.94050275e-04 9.99999878e-01 0.00000000e+00 -1.02203024e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23374556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.360371742999998 meters Centerline goodness : 0.993559 with order 1 Centerline is valid? [True, True] Translation: X:17.96, Y:-1.03, Z:-0.01 [[ 9.99952277e-01 9.76952234e-03 0.00000000e+00 1.79578397e+01] [-9.76952234e-03 9.99952277e-01 0.00000000e+00 -1.02982770e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.47641340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.420371742999997 meters Centerline goodness : 0.993827 with order 1 Centerline is valid? [True, True] Translation: X:18.02, Y:-1.03, Z:-0.01 [[ 9.99970118e-01 7.73067808e-03 0.00000000e+00 1.80154619e+01] [-7.73067808e-03 9.99970118e-01 0.00000000e+00 -1.03024764e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.89034623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.480371743 meters Centerline goodness : 0.993814 with order 1 Centerline is valid? [True, True] Translation: X:18.07, Y:-1.03, Z:-0.01 [[ 9.99990254e-01 4.41487463e-03 0.00000000e+00 1.80740876e+01] [-4.41487463e-03 9.99990254e-01 0.00000000e+00 -1.02861562e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.87971904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.540371742999998 meters Centerline goodness : 0.993969 with order 1 Centerline is valid? [True, True] Translation: X:18.13, Y:-1.03, Z:-0.01 [[ 9.99999780e-01 -6.63735235e-04 0.00000000e+00 1.81330465e+01] [ 6.63735235e-04 9.99999780e-01 0.00000000e+00 -1.02950897e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.03284804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.600371742999997 meters Centerline goodness : 0.995402 with order 1 Centerline is valid? [True, True] Translation: X:18.19, Y:-1.02, Z:-0.00 [[ 9.99949153e-01 -1.00842004e-02 0.00000000e+00 1.81946594e+01] [ 1.00842004e-02 9.99949153e-01 0.00000000e+00 -1.01716896e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24533550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.660371743 meters Centerline goodness : 0.994654 with order 1 Centerline is valid? [True, True] Translation: X:18.26, Y:-1.02, Z:-0.00 [[ 9.99966711e-01 -8.15942569e-03 0.00000000e+00 1.82569592e+01] [ 8.15942569e-03 9.99966711e-01 0.00000000e+00 -1.01604510e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60675812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.720371742999998 meters Centerline goodness : 0.994172 with order 1 Centerline is valid? [True, True] Translation: X:18.32, Y:-1.02, Z:-0.00 [[ 9.99999712e-01 7.58463291e-04 0.00000000e+00 1.83191813e+01] [-7.58463291e-04 9.99999712e-01 0.00000000e+00 -1.02197601e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.05092901e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.780371742999996 meters Centerline goodness : 0.993363 with order 1 Centerline is valid? [True, True] Translation: X:18.38, Y:-1.02, Z:-0.00 [[ 9.99933053e-01 1.15710843e-02 0.00000000e+00 1.83786061e+01] [-1.15710843e-02 9.99933053e-01 0.00000000e+00 -1.02095616e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.11301056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.840371743 meters Centerline goodness : 0.992998 with order 1 Centerline is valid? [True, True] Translation: X:18.44, Y:-1.02, Z:-0.00 [[ 9.99820431e-01 1.89500677e-02 0.00000000e+00 1.84366436e+01] [-1.89500677e-02 9.99820431e-01 0.00000000e+00 -1.01797331e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41822584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.900371742999997 meters Centerline goodness : 0.993130 with order 1 Centerline is valid? [True, True] Translation: X:18.50, Y:-1.02, Z:-0.00 [[ 9.99802399e-01 1.98787141e-02 0.00000000e+00 1.84957793e+01] [-1.98787141e-02 9.99802399e-01 0.00000000e+00 -1.01701183e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83065813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.960371743 meters Centerline goodness : 0.993133 with order 1 Centerline is valid? [True, True] Translation: X:18.55, Y:-1.02, Z:-0.01 [[ 9.99768159e-01 2.15320311e-02 0.00000000e+00 1.85529501e+01] [-2.15320311e-02 9.99768159e-01 0.00000000e+00 -1.02174764e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.25980924e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.020371743 meters Centerline goodness : 0.993197 with order 1 Centerline is valid? [True, True] Translation: X:18.61, Y:-1.02, Z:-0.01 [[ 9.99805716e-01 1.97111741e-02 0.00000000e+00 1.86104970e+01] [-1.97111741e-02 9.99805716e-01 0.00000000e+00 -1.02284972e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.64140173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.080371742999997 meters Centerline goodness : 0.993575 with order 1 Centerline is valid? [True, True] Translation: X:18.67, Y:-1.02, Z:-0.01 [[ 9.99805992e-01 1.96971826e-02 0.00000000e+00 1.86679269e+01] [-1.96971826e-02 9.99805992e-01 0.00000000e+00 -1.02456644e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.56888602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.140371743 meters Centerline goodness : 0.993474 with order 1 Centerline is valid? [True, True] Translation: X:18.72, Y:-1.03, Z:-0.00 [[ 9.99867382e-01 1.62855421e-02 0.00000000e+00 1.87246871e+01] [-1.62855421e-02 9.99867382e-01 0.00000000e+00 -1.02697161e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62030442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.200371742999998 meters Centerline goodness : 0.993615 with order 1 Centerline is valid? [True, True] Translation: X:18.78, Y:-1.03, Z:-0.00 [[ 9.99919290e-01 1.27048342e-02 0.00000000e+00 1.87832022e+01] [-1.27048342e-02 9.99919290e-01 0.00000000e+00 -1.02886262e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52151252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.260371742999997 meters Centerline goodness : 0.993159 with order 1 Centerline is valid? [True, True] Translation: X:18.84, Y:-1.03, Z:-0.00 [[ 9.99987764e-01 4.94687930e-03 0.00000000e+00 1.88414131e+01] [-4.94687930e-03 9.99987764e-01 0.00000000e+00 -1.03363511e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68687796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.320371743 meters Centerline goodness : 0.994000 with order 1 Centerline is valid? [True, True] Translation: X:18.90, Y:-1.03, Z:-0.01 [[ 9.99965572e-01 -8.29790408e-03 0.00000000e+00 1.89000575e+01] [ 8.29790408e-03 9.99965572e-01 0.00000000e+00 -1.03282994e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.01108589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.380371742999998 meters Centerline goodness : 0.991832 with order 1 Centerline is valid? [True, True] Translation: X:18.96, Y:-1.04, Z:-0.01 [[ 9.99974393e-01 -7.15630959e-03 0.00000000e+00 1.89619561e+01] [ 7.15630959e-03 9.99974393e-01 0.00000000e+00 -1.04417319e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35186026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.440371742999996 meters Centerline goodness : 0.991836 with order 1 Centerline is valid? [True, True] Translation: X:19.02, Y:-1.05, Z:-0.02 [[ 9.99926959e-01 -1.20862138e-02 0.00000000e+00 1.90246666e+01] [ 1.20862138e-02 9.99926959e-01 0.00000000e+00 -1.04649450e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60104024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.500371743 meters Centerline goodness : 0.992499 with order 1 Centerline is valid? [True, True] Translation: X:19.09, Y:-1.05, Z:-0.01 [[ 9.99932918e-01 -1.15826857e-02 0.00000000e+00 1.90870761e+01] [ 1.15826857e-02 9.99932918e-01 0.00000000e+00 -1.04501130e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39474350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.560371742999997 meters Centerline goodness : 0.992151 with order 1 Centerline is valid? [True, True] Translation: X:19.15, Y:-1.04, Z:-0.01 [[ 9.99949627e-01 -1.00371177e-02 0.00000000e+00 1.91495932e+01] [ 1.00371177e-02 9.99949627e-01 0.00000000e+00 -1.04268400e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.77648473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.620371743 meters Centerline goodness : 0.994277 with order 1 Centerline is valid? [True, True] Translation: X:19.21, Y:-1.03, Z:-0.00 [[ 9.99947312e-01 -1.02651314e-02 0.00000000e+00 1.92117002e+01] [ 1.02651314e-02 9.99947312e-01 0.00000000e+00 -1.03297040e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10932659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.680371743 meters Centerline goodness : 0.994435 with order 1 Centerline is valid? [True, True] Translation: X:19.27, Y:-1.03, Z:-0.01 [[ 9.99979838e-01 -6.35001188e-03 0.00000000e+00 1.92729832e+01] [ 6.35001188e-03 9.99979838e-01 0.00000000e+00 -1.03232156e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.28713181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.740371742999997 meters Centerline goodness : 0.992419 with order 1 Centerline is valid? [True, True] Translation: X:19.33, Y:-1.04, Z:-0.02 [[ 9.99999956e-01 2.97218355e-04 0.00000000e+00 1.93349725e+01] [-2.97218355e-04 9.99999956e-01 0.00000000e+00 -1.04078373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50186975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.800371743 meters Centerline goodness : 0.990842 with order 1 Centerline is valid? [True, True] Translation: X:19.39, Y:-1.04, Z:-0.02 [[ 9.99999247e-01 -1.22738938e-03 0.00000000e+00 1.93949689e+01] [ 1.22738938e-03 9.99999247e-01 0.00000000e+00 -1.03897957e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66109944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.860371742999998 meters Centerline goodness : 0.991321 with order 1 Centerline is valid? [True, True] Translation: X:19.46, Y:-1.04, Z:-0.02 [[ 9.99990735e-01 4.30456948e-03 0.00000000e+00 1.94565967e+01] [-4.30456948e-03 9.99990735e-01 0.00000000e+00 -1.03812662e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74443925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.920371742999997 meters Centerline goodness : 0.990539 with order 1 Centerline is valid? [True, True] Translation: X:19.52, Y:-1.04, Z:-0.01 [[ 9.99975073e-01 7.06063172e-03 0.00000000e+00 1.95158648e+01] [-7.06063172e-03 9.99975073e-01 0.00000000e+00 -1.03622157e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34318415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.980371743 meters Centerline goodness : 0.990574 with order 1 Centerline is valid? [True, True] Translation: X:19.57, Y:-1.03, Z:-0.01 [[ 9.99932581e-01 1.16117396e-02 0.00000000e+00 1.95741088e+01] [-1.16117396e-02 9.99932581e-01 0.00000000e+00 -1.03214319e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.99701634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.040371742999998 meters Centerline goodness : 0.991298 with order 1 Centerline is valid? [True, True] Translation: X:19.63, Y:-1.03, Z:-0.01 [[ 9.99904191e-01 1.38422537e-02 0.00000000e+00 1.96322039e+01] [-1.38422537e-02 9.99904191e-01 0.00000000e+00 -1.03211942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.33739588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.100371742999997 meters Centerline goodness : 0.992309 with order 1 Centerline is valid? [True, True] Translation: X:19.69, Y:-1.03, Z:-0.00 [[ 9.99927565e-01 1.20359828e-02 0.00000000e+00 1.96908409e+01] [-1.20359828e-02 9.99927565e-01 0.00000000e+00 -1.03059683e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32366188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.160371743 meters Centerline goodness : 0.992483 with order 1 Centerline is valid? [True, True] Translation: X:19.75, Y:-1.03, Z:-0.00 [[ 9.99943446e-01 1.06350735e-02 0.00000000e+00 1.97490250e+01] [-1.06350735e-02 9.99943446e-01 0.00000000e+00 -1.03195743e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.95560797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.220371742999998 meters Centerline goodness : 0.992821 with order 1 Centerline is valid? [True, True] Translation: X:19.81, Y:-1.03, Z:-0.01 [[ 9.99984698e-01 5.53211904e-03 0.00000000e+00 1.98071411e+01] [-5.53211904e-03 9.99984698e-01 0.00000000e+00 -1.03070741e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.57597137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.280371742999996 meters Centerline goodness : 0.990910 with order 1 Centerline is valid? [True, True] Translation: X:19.87, Y:-1.04, Z:-0.02 [[ 9.99974236e-01 7.17818948e-03 0.00000000e+00 1.98653831e+01] [-7.17818948e-03 9.99974236e-01 0.00000000e+00 -1.04142880e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51140635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.340371743 meters Centerline goodness : 0.992711 with order 1 Centerline is valid? [True, True] Translation: X:19.92, Y:-1.05, Z:-0.02 [[ 9.99969712e-01 7.78305612e-03 0.00000000e+00 1.99239060e+01] [-7.78305612e-03 9.99969712e-01 0.00000000e+00 -1.04539417e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65902001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.400371742999997 meters Centerline goodness : 0.992540 with order 1 Centerline is valid? [True, True] Translation: X:19.98, Y:-1.05, Z:-0.02 [[ 9.99970389e-01 7.69553145e-03 0.00000000e+00 1.99821182e+01] [-7.69553145e-03 9.99970389e-01 0.00000000e+00 -1.04816096e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58630345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.460371743 meters Centerline goodness : 0.992410 with order 1 Centerline is valid? [True, True] Translation: X:20.04, Y:-1.05, Z:-0.01 [[ 9.99973084e-01 7.33702858e-03 0.00000000e+00 2.00399098e+01] [-7.33702858e-03 9.99973084e-01 0.00000000e+00 -1.05070785e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12942438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.520371743 meters Centerline goodness : 0.993533 with order 1 Centerline is valid? [True, True] Translation: X:20.10, Y:-1.05, Z:-0.01 [[ 9.99985991e-01 5.29311745e-03 0.00000000e+00 2.00981280e+01] [-5.29311745e-03 9.99985991e-01 0.00000000e+00 -1.05438847e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.74200125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.580371742999997 meters Centerline goodness : 0.993413 with order 1 Centerline is valid? [True, True] Translation: X:20.16, Y:-1.06, Z:-0.01 [[ 9.99993810e-01 3.51854761e-03 0.00000000e+00 2.01569551e+01] [-3.51854761e-03 9.99993810e-01 0.00000000e+00 -1.05865559e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.83909477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.640371743 meters Centerline goodness : 0.992912 with order 1 Centerline is valid? [True, True] Translation: X:20.21, Y:-1.06, Z:-0.01 [[ 9.99999922e-01 -3.94619150e-04 0.00000000e+00 2.02149814e+01] [ 3.94619150e-04 9.99999922e-01 0.00000000e+00 -1.06407431e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22574482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.700371742999998 meters Centerline goodness : 0.992791 with order 1 Centerline is valid? [True, True] Translation: X:20.27, Y:-1.07, Z:-0.01 [[ 9.99996582e-01 -2.61448458e-03 0.00000000e+00 2.02749879e+01] [ 2.61448458e-03 9.99996582e-01 0.00000000e+00 -1.06870958e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27177315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.760371742999997 meters Centerline goodness : 0.993175 with order 1 Centerline is valid? [True, True] Translation: X:20.34, Y:-1.07, Z:-0.01 [[ 9.99986586e-01 -5.17957779e-03 0.00000000e+00 2.03362239e+01] [ 5.17957779e-03 9.99986586e-01 0.00000000e+00 -1.07354504e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20840853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.820371743 meters Centerline goodness : 0.992962 with order 1 Centerline is valid? [True, True] Translation: X:20.40, Y:-1.07, Z:-0.01 [[ 9.99954929e-01 -9.49425161e-03 0.00000000e+00 2.03978990e+01] [ 9.49425161e-03 9.99954929e-01 0.00000000e+00 -1.07218755e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.92685897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.880371742999998 meters Centerline goodness : 0.993119 with order 1 Centerline is valid? [True, True] Translation: X:20.46, Y:-1.08, Z:-0.01 [[ 9.99962874e-01 -8.61685761e-03 0.00000000e+00 2.04601952e+01] [ 8.61685761e-03 9.99962874e-01 0.00000000e+00 -1.07739874e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.02218879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.940371742999996 meters Centerline goodness : 0.993615 with order 1 Centerline is valid? [True, True] Translation: X:20.52, Y:-1.08, Z:-0.01 [[ 9.99940794e-01 -1.08815898e-02 0.00000000e+00 2.05215224e+01] [ 1.08815898e-02 9.99940794e-01 0.00000000e+00 -1.07915933e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.80280728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.000371743 meters Centerline goodness : 0.992203 with order 1 Centerline is valid? [True, True] Translation: X:20.58, Y:-1.09, Z:-0.01 [[ 9.99947473e-01 -1.02494728e-02 0.00000000e+00 2.05834108e+01] [ 1.02494728e-02 9.99947473e-01 0.00000000e+00 -1.08630066e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19180165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.060371742999997 meters Centerline goodness : 0.993204 with order 1 Centerline is valid? [True, True] Translation: X:20.65, Y:-1.09, Z:-0.01 [[ 9.99916610e-01 -1.29140328e-02 0.00000000e+00 2.06451185e+01] [ 1.29140328e-02 9.99916610e-01 0.00000000e+00 -1.08960468e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25955338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.120371742999996 meters Centerline goodness : 0.992608 with order 1 Centerline is valid? [True, True] Translation: X:20.71, Y:-1.09, Z:-0.02 [[ 9.99882662e-01 -1.53187003e-02 0.00000000e+00 2.07072614e+01] [ 1.53187003e-02 9.99882662e-01 0.00000000e+00 -1.09437236e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60996685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.180371743 meters Centerline goodness : 0.993713 with order 1 Centerline is valid? [True, True] Translation: X:20.77, Y:-1.10, Z:-0.02 [[ 9.99856180e-01 -1.69593542e-02 0.00000000e+00 2.07691112e+01] [ 1.69593542e-02 9.99856180e-01 0.00000000e+00 -1.09651066e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56342547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.240371742999997 meters Centerline goodness : 0.993707 with order 1 Centerline is valid? [True, True] Translation: X:20.83, Y:-1.10, Z:-0.02 [[ 9.99886172e-01 -1.50878181e-02 0.00000000e+00 2.08313346e+01] [ 1.50878181e-02 9.99886172e-01 0.00000000e+00 -1.10034603e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51139103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.300371743 meters Centerline goodness : 0.993935 with order 1 Centerline is valid? [True, True] Translation: X:20.89, Y:-1.10, Z:-0.01 [[ 9.99910493e-01 -1.33792865e-02 0.00000000e+00 2.08924845e+01] [ 1.33792865e-02 9.99910493e-01 0.00000000e+00 -1.10386329e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39142295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.360371742999998 meters Centerline goodness : 0.993848 with order 1 Centerline is valid? [True, True] Translation: X:20.95, Y:-1.11, Z:-0.01 [[ 9.99917343e-01 -1.28571982e-02 0.00000000e+00 2.09544441e+01] [ 1.28571982e-02 9.99917343e-01 0.00000000e+00 -1.10695356e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49116164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.420371742999997 meters Centerline goodness : 0.994625 with order 1 Centerline is valid? [True, True] Translation: X:21.02, Y:-1.11, Z:-0.02 [[ 9.99893274e-01 -1.46096290e-02 0.00000000e+00 2.10161450e+01] [ 1.46096290e-02 9.99893274e-01 0.00000000e+00 -1.11019595e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57141181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.480371743 meters Centerline goodness : 0.994880 with order 1 Centerline is valid? [True, True] Translation: X:21.08, Y:-1.12, Z:-0.02 [[ 9.99876401e-01 -1.57220739e-02 0.00000000e+00 2.10785297e+01] [ 1.57220739e-02 9.99876401e-01 0.00000000e+00 -1.11553980e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71839673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.540371742999998 meters Centerline goodness : 0.994581 with order 1 Centerline is valid? [True, True] Translation: X:21.14, Y:-1.12, Z:-0.02 [[ 9.99854466e-01 -1.70601121e-02 0.00000000e+00 2.11396857e+01] [ 1.70601121e-02 9.99854466e-01 0.00000000e+00 -1.11948357e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83450400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.600371742999997 meters Centerline goodness : 0.994731 with order 1 Centerline is valid? [True, True] Translation: X:21.20, Y:-1.12, Z:-0.02 [[ 9.99882758e-01 -1.53124008e-02 0.00000000e+00 2.12030679e+01] [ 1.53124008e-02 9.99882758e-01 0.00000000e+00 -1.12310987e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88079576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.660371743 meters Centerline goodness : 0.993941 with order 1 Centerline is valid? [True, True] Translation: X:21.26, Y:-1.13, Z:-0.02 [[ 9.99909289e-01 -1.34690100e-02 0.00000000e+00 2.12642972e+01] [ 1.34690100e-02 9.99909289e-01 0.00000000e+00 -1.12660268e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93720956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.720371742999998 meters Centerline goodness : 0.994479 with order 1 Centerline is valid? [True, True] Translation: X:21.33, Y:-1.13, Z:-0.02 [[ 9.99929710e-01 -1.18564200e-02 0.00000000e+00 2.13259598e+01] [ 1.18564200e-02 9.99929710e-01 0.00000000e+00 -1.13044220e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79451361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.780371742999996 meters Centerline goodness : 0.993901 with order 1 Centerline is valid? [True, True] Translation: X:21.39, Y:-1.14, Z:-0.02 [[ 9.99903862e-01 -1.38660302e-02 0.00000000e+00 2.13888976e+01] [ 1.38660302e-02 9.99903862e-01 0.00000000e+00 -1.13631597e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67272800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.840371743 meters Centerline goodness : 0.994896 with order 1 Centerline is valid? [True, True] Translation: X:21.45, Y:-1.14, Z:-0.02 [[ 9.99857054e-01 -1.69077178e-02 0.00000000e+00 2.14507798e+01] [ 1.69077178e-02 9.99857054e-01 0.00000000e+00 -1.14085266e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69683199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.900371742999997 meters Centerline goodness : 0.995693 with order 1 Centerline is valid? [True, True] Translation: X:21.51, Y:-1.14, Z:-0.01 [[ 9.99665316e-01 -2.58699892e-02 0.00000000e+00 2.15112629e+01] [ 2.58699892e-02 9.99665316e-01 0.00000000e+00 -1.14129720e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45686859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.960371743 meters Centerline goodness : 0.994920 with order 1 Centerline is valid? [True, True] Translation: X:21.57, Y:-1.15, Z:-0.02 [[ 9.99716502e-01 -2.38099908e-02 0.00000000e+00 2.15717476e+01] [ 2.38099908e-02 9.99716502e-01 0.00000000e+00 -1.15273921e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07745670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.020371743 meters Centerline goodness : 0.994697 with order 1 Centerline is valid? [True, True] Translation: X:21.63, Y:-1.16, Z:-0.02 [[ 9.99659662e-01 -2.60875436e-02 0.00000000e+00 2.16338597e+01] [ 2.60875436e-02 9.99659662e-01 0.00000000e+00 -1.15899852e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98815202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.080371742999997 meters Centerline goodness : 0.995484 with order 1 Centerline is valid? [True, True] Translation: X:21.70, Y:-1.16, Z:-0.02 [[ 9.99671853e-01 -2.56161192e-02 0.00000000e+00 2.16958402e+01] [ 2.56161192e-02 9.99671853e-01 0.00000000e+00 -1.16286901e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81325536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.140371743 meters Centerline goodness : 0.995046 with order 1 Centerline is valid? [True, True] Translation: X:21.76, Y:-1.17, Z:-0.02 [[ 9.99781546e-01 -2.09011962e-02 0.00000000e+00 2.17574880e+01] [ 2.09011962e-02 9.99781546e-01 0.00000000e+00 -1.16754725e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54251512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.200371742999998 meters Centerline goodness : 0.995420 with order 1 Centerline is valid? [True, True] Translation: X:21.82, Y:-1.17, Z:-0.01 [[ 9.99804418e-01 -1.97769183e-02 0.00000000e+00 2.18195408e+01] [ 1.97769183e-02 9.99804418e-01 0.00000000e+00 -1.17081218e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49651193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.260371742999997 meters Centerline goodness : 0.994600 with order 1 Centerline is valid? [True, True] Translation: X:21.88, Y:-1.18, Z:-0.01 [[ 9.99884043e-01 -1.52282931e-02 0.00000000e+00 2.18816395e+01] [ 1.52282931e-02 9.99884043e-01 0.00000000e+00 -1.17594146e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38251720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.320371743 meters Centerline goodness : 0.995083 with order 1 Centerline is valid? [True, True] Translation: X:21.94, Y:-1.18, Z:-0.01 [[ 9.99909550e-01 -1.34495957e-02 0.00000000e+00 2.19436327e+01] [ 1.34495957e-02 9.99909550e-01 0.00000000e+00 -1.18070618e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41954154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.380371742999998 meters Centerline goodness : 0.995076 with order 1 Centerline is valid? [True, True] Translation: X:22.01, Y:-1.19, Z:-0.02 [[ 9.99933566e-01 -1.15266070e-02 0.00000000e+00 2.20050480e+01] [ 1.15266070e-02 9.99933566e-01 0.00000000e+00 -1.18869897e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76019720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.440371742999996 meters Centerline goodness : 0.995261 with order 1 Centerline is valid? [True, True] Translation: X:22.07, Y:-1.19, Z:-0.02 [[ 9.99937868e-01 -1.11471962e-02 0.00000000e+00 2.20675220e+01] [ 1.11471962e-02 9.99937868e-01 0.00000000e+00 -1.19312207e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77655216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.500371743 meters Centerline goodness : 0.995144 with order 1 Centerline is valid? [True, True] Translation: X:22.13, Y:-1.20, Z:-0.02 [[ 9.99950697e-01 -9.92993434e-03 0.00000000e+00 2.21290803e+01] [ 9.92993434e-03 9.99950697e-01 0.00000000e+00 -1.19882357e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76921038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.560371742999997 meters Centerline goodness : 0.994198 with order 1 Centerline is valid? [True, True] Translation: X:22.19, Y:-1.21, Z:-0.02 [[ 9.99987497e-01 -5.00052252e-03 0.00000000e+00 2.21914835e+01] [ 5.00052252e-03 9.99987497e-01 0.00000000e+00 -1.20563521e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90297998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.620371742999996 meters Centerline goodness : 0.993818 with order 1 Centerline is valid? [True, True] Translation: X:22.25, Y:-1.21, Z:-0.02 [[ 9.99997722e-01 -2.13460348e-03 0.00000000e+00 2.22532338e+01] [ 2.13460348e-03 9.99997722e-01 0.00000000e+00 -1.20996752e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90874925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.680371743 meters Centerline goodness : 0.994345 with order 1 Centerline is valid? [True, True] Translation: X:22.31, Y:-1.21, Z:-0.02 [[ 9.99999977e-01 2.16151711e-04 0.00000000e+00 2.23142700e+01] [-2.16151711e-04 9.99999977e-01 0.00000000e+00 -1.21425580e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77854896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.740371742999997 meters Centerline goodness : 0.994525 with order 1 Centerline is valid? [True, True] Translation: X:22.37, Y:-1.22, Z:-0.02 [[ 9.99999937e-01 -3.56089369e-04 0.00000000e+00 2.23740737e+01] [ 3.56089369e-04 9.99999937e-01 0.00000000e+00 -1.21740056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68021378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.800371743 meters Centerline goodness : 0.994877 with order 1 Centerline is valid? [True, True] Translation: X:22.43, Y:-1.23, Z:-0.02 [[ 9.99999279e-01 -1.20096358e-03 0.00000000e+00 2.24347315e+01] [ 1.20096358e-03 9.99999279e-01 0.00000000e+00 -1.22535267e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71867726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.860371742999998 meters Centerline goodness : 0.995639 with order 1 Centerline is valid? [True, True] Translation: X:22.50, Y:-1.22, Z:-0.01 [[ 9.99909522e-01 -1.34516498e-02 0.00000000e+00 2.24951913e+01] [ 1.34516498e-02 9.99909522e-01 0.00000000e+00 -1.22166085e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05799093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.920371742999997 meters Centerline goodness : 0.994101 with order 1 Centerline is valid? [True, True] Translation: X:22.56, Y:-1.24, Z:-0.02 [[ 9.99966574e-01 -8.17626001e-03 0.00000000e+00 2.25567702e+01] [ 8.17626001e-03 9.99966574e-01 0.00000000e+00 -1.23786209e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77414878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.980371743 meters Centerline goodness : 0.996053 with order 1 Centerline is valid? [True, True] Translation: X:22.62, Y:-1.23, Z:-0.01 [[ 9.99816176e-01 -1.91732517e-02 0.00000000e+00 2.26177965e+01] [ 1.91732517e-02 9.99816176e-01 0.00000000e+00 -1.23491492e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25928394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.040371742999998 meters Centerline goodness : 0.995519 with order 1 Centerline is valid? [True, True] Translation: X:22.68, Y:-1.25, Z:-0.02 [[ 9.99923594e-01 -1.23614857e-02 0.00000000e+00 2.26796463e+01] [ 1.23614857e-02 9.99923594e-01 0.00000000e+00 -1.24845434e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54080773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.100371742999997 meters Centerline goodness : 0.994099 with order 1 Centerline is valid? [True, True] Translation: X:22.74, Y:-1.25, Z:-0.01 [[ 9.99953709e-01 -9.62184406e-03 0.00000000e+00 2.27417089e+01] [ 9.62184406e-03 9.99953709e-01 0.00000000e+00 -1.25209738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38708229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.160371743 meters Centerline goodness : 0.994368 with order 1 Centerline is valid? [True, True] Translation: X:22.80, Y:-1.26, Z:-0.01 [[ 9.99970634e-01 -7.66367541e-03 0.00000000e+00 2.28035328e+01] [ 7.66367541e-03 9.99970634e-01 0.00000000e+00 -1.25557297e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34775220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.220371742999998 meters Centerline goodness : 0.995697 with order 1 Centerline is valid? [True, True] Translation: X:22.86, Y:-1.25, Z:-0.01 [[ 9.99929817e-01 -1.18474244e-02 0.00000000e+00 2.28644017e+01] [ 1.18474244e-02 9.99929817e-01 0.00000000e+00 -1.24964763e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.04843181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.280371742999996 meters Centerline goodness : 0.995792 with order 1 Centerline is valid? [True, True] Translation: X:22.93, Y:-1.25, Z:-0.01 [[ 9.99923893e-01 -1.23372970e-02 0.00000000e+00 2.29268763e+01] [ 1.23372970e-02 9.99923893e-01 0.00000000e+00 -1.25212131e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.12726364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.340371743 meters Centerline goodness : 0.994124 with order 1 Centerline is valid? [True, True] Translation: X:22.99, Y:-1.26, Z:-0.02 [[ 9.99965817e-01 -8.26831146e-03 0.00000000e+00 2.29887517e+01] [ 8.26831146e-03 9.99965817e-01 0.00000000e+00 -1.26364180e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53688652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.400371742999997 meters Centerline goodness : 0.995572 with order 1 Centerline is valid? [True, True] Translation: X:23.05, Y:-1.26, Z:-0.01 [[ 9.99825474e-01 -1.86821219e-02 0.00000000e+00 2.30499068e+01] [ 1.86821219e-02 9.99825474e-01 0.00000000e+00 -1.25723150e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10728810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.460371743 meters Centerline goodness : 0.995015 with order 1 Centerline is valid? [True, True] Translation: X:23.11, Y:-1.26, Z:-0.01 [[ 9.99809380e-01 -1.95244414e-02 0.00000000e+00 2.31116596e+01] [ 1.95244414e-02 9.99809380e-01 0.00000000e+00 -1.26407635e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20968934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.520371743 meters Centerline goodness : 0.994963 with order 1 Centerline is valid? [True, True] Translation: X:23.17, Y:-1.26, Z:-0.01 [[ 9.99731054e-01 -2.31909552e-02 0.00000000e+00 2.31731928e+01] [ 2.31909552e-02 9.99731054e-01 0.00000000e+00 -1.26385482e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12033458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.580371742999997 meters Centerline goodness : 0.994195 with order 1 Centerline is valid? [True, True] Translation: X:23.24, Y:-1.26, Z:-0.01 [[ 9.99722257e-01 -2.35670952e-02 0.00000000e+00 2.32354240e+01] [ 2.35670952e-02 9.99722257e-01 0.00000000e+00 -1.26458652e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05947750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.640371743 meters Centerline goodness : 0.994041 with order 1 Centerline is valid? [True, True] Translation: X:23.30, Y:-1.26, Z:-0.01 [[ 9.99691930e-01 -2.48202755e-02 0.00000000e+00 2.32976538e+01] [ 2.48202755e-02 9.99691930e-01 0.00000000e+00 -1.26460687e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.91368515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.700371742999998 meters Centerline goodness : 0.994556 with order 1 Centerline is valid? [True, True] Translation: X:23.36, Y:-1.27, Z:-0.01 [[ 9.99679875e-01 -2.53011224e-02 0.00000000e+00 2.33608278e+01] [ 2.53011224e-02 9.99679875e-01 0.00000000e+00 -1.26582679e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00674145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.760371742999997 meters Centerline goodness : 0.994628 with order 1 Centerline is valid? [True, True] Translation: X:23.42, Y:-1.26, Z:-0.01 [[ 9.99619434e-01 -2.75859930e-02 0.00000000e+00 2.34226596e+01] [ 2.75859930e-02 9.99619434e-01 0.00000000e+00 -1.26435615e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03531813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.820371743 meters Centerline goodness : 0.994728 with order 1 Centerline is valid? [True, True] Translation: X:23.49, Y:-1.26, Z:-0.01 [[ 9.99593278e-01 -2.85180486e-02 0.00000000e+00 2.34857387e+01] [ 2.85180486e-02 9.99593278e-01 0.00000000e+00 -1.26406972e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11508800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.880371742999998 meters Centerline goodness : 0.994190 with order 1 Centerline is valid? [True, True] Translation: X:23.55, Y:-1.26, Z:-0.01 [[ 9.99533133e-01 -3.05535072e-02 0.00000000e+00 2.35479626e+01] [ 3.05535072e-02 9.99533133e-01 0.00000000e+00 -1.26427287e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01070206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.940371742999996 meters Centerline goodness : 0.994594 with order 1 Centerline is valid? [True, True] Translation: X:23.61, Y:-1.26, Z:-0.01 [[ 9.99472149e-01 -3.24872926e-02 0.00000000e+00 2.36112311e+01] [ 3.24872926e-02 9.99472149e-01 0.00000000e+00 -1.26467291e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.67778550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.000371743 meters Centerline goodness : 0.994485 with order 1 Centerline is valid? [True, True] Translation: X:23.67, Y:-1.27, Z:-0.01 [[ 9.99421692e-01 -3.40041462e-02 0.00000000e+00 2.36739207e+01] [ 3.40041462e-02 9.99421692e-01 0.00000000e+00 -1.26520931e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.48472607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.060371742999997 meters Centerline goodness : 0.994732 with order 1 Centerline is valid? [True, True] Translation: X:23.74, Y:-1.27, Z:-0.01 [[ 9.99394649e-01 -3.47898875e-02 0.00000000e+00 2.37359545e+01] [ 3.47898875e-02 9.99394649e-01 0.00000000e+00 -1.26596109e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.87824742e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.120371742999996 meters Centerline goodness : 0.994444 with order 1 Centerline is valid? [True, True] Translation: X:23.80, Y:-1.27, Z:-0.01 [[ 9.99390891e-01 -3.48976533e-02 0.00000000e+00 2.37986669e+01] [ 3.48976533e-02 9.99390891e-01 0.00000000e+00 -1.26721999e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.14845552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.180371743 meters Centerline goodness : 0.995107 with order 1 Centerline is valid? [True, True] Translation: X:23.86, Y:-1.27, Z:-0.01 [[ 9.99434759e-01 -3.36178956e-02 0.00000000e+00 2.38614110e+01] [ 3.36178956e-02 9.99434759e-01 0.00000000e+00 -1.26598192e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.85164731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.240371742999997 meters Centerline goodness : 0.994645 with order 1 Centerline is valid? [True, True] Translation: X:23.92, Y:-1.27, Z:-0.01 [[ 9.99481675e-01 -3.21928921e-02 0.00000000e+00 2.39234394e+01] [ 3.21928921e-02 9.99481675e-01 0.00000000e+00 -1.26732639e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.05883173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.300371743 meters Centerline goodness : 0.994478 with order 1 Centerline is valid? [True, True] Translation: X:23.99, Y:-1.27, Z:-0.01 [[ 9.99507076e-01 -3.13943424e-02 0.00000000e+00 2.39857395e+01] [ 3.13943424e-02 9.99507076e-01 0.00000000e+00 -1.26936863e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.66145208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.360371742999998 meters Centerline goodness : 0.994744 with order 1 Centerline is valid? [True, True] Translation: X:24.05, Y:-1.27, Z:-0.01 [[ 9.99526415e-01 -3.07724703e-02 0.00000000e+00 2.40485195e+01] [ 3.07724703e-02 9.99526415e-01 0.00000000e+00 -1.27088334e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.53616106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.420371742999997 meters Centerline goodness : 0.994441 with order 1 Centerline is valid? [True, True] Translation: X:24.11, Y:-1.27, Z:-0.01 [[ 9.99604367e-01 -2.81266550e-02 0.00000000e+00 2.41121119e+01] [ 2.81266550e-02 9.99604367e-01 0.00000000e+00 -1.26991695e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.20587777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.480371743 meters Centerline goodness : 0.994098 with order 1 Centerline is valid? [True, True] Translation: X:24.17, Y:-1.27, Z:-0.01 [[ 9.99721606e-01 -2.35947135e-02 0.00000000e+00 2.41730293e+01] [ 2.35947135e-02 9.99721606e-01 0.00000000e+00 -1.27042572e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.60153267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.540371742999998 meters Centerline goodness : 0.993673 with order 1 Centerline is valid? [True, True] Translation: X:24.24, Y:-1.27, Z:-0.01 [[ 9.99808287e-01 -1.95803374e-02 0.00000000e+00 2.42354363e+01] [ 1.95803374e-02 9.99808287e-01 0.00000000e+00 -1.27196403e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.83856910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.600371742999997 meters Centerline goodness : 0.993372 with order 1 Centerline is valid? [True, True] Translation: X:24.30, Y:-1.27, Z:-0.01 [[ 9.99874314e-01 -1.58541960e-02 0.00000000e+00 2.42986674e+01] [ 1.58541960e-02 9.99874314e-01 0.00000000e+00 -1.27223817e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.44242987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.660371743 meters Centerline goodness : 0.993449 with order 1 Centerline is valid? [True, True] Translation: X:24.36, Y:-1.27, Z:-0.01 [[ 9.99900728e-01 -1.40902491e-02 0.00000000e+00 2.43607454e+01] [ 1.40902491e-02 9.99900728e-01 0.00000000e+00 -1.27494673e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.89009270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.720371742999998 meters Centerline goodness : 0.993090 with order 1 Centerline is valid? [True, True] Translation: X:24.42, Y:-1.28, Z:-0.01 [[ 9.99908659e-01 -1.35157079e-02 0.00000000e+00 2.44232173e+01] [ 1.35157079e-02 9.99908659e-01 0.00000000e+00 -1.27698865e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.89915788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.780371742999996 meters Centerline goodness : 0.994051 with order 1 Centerline is valid? [True, True] Translation: X:24.49, Y:-1.28, Z:-0.01 [[ 9.99895392e-01 -1.44639288e-02 0.00000000e+00 2.44862875e+01] [ 1.44639288e-02 9.99895392e-01 0.00000000e+00 -1.27900097e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.00001533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.840371743 meters Centerline goodness : 0.993955 with order 1 Centerline is valid? [True, True] Translation: X:24.55, Y:-1.28, Z:-0.01 [[ 9.99856664e-01 -1.69307913e-02 0.00000000e+00 2.45473560e+01] [ 1.69307913e-02 9.99856664e-01 0.00000000e+00 -1.28027010e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.22158076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.900371742999997 meters Centerline goodness : 0.993703 with order 1 Centerline is valid? [True, True] Translation: X:24.61, Y:-1.28, Z:-0.01 [[ 9.99827788e-01 -1.85578774e-02 0.00000000e+00 2.46090597e+01] [ 1.85578774e-02 9.99827788e-01 0.00000000e+00 -1.28288894e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.58774430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.960371743 meters Centerline goodness : 0.993498 with order 1 Centerline is valid? [True, True] Translation: X:24.67, Y:-1.29, Z:-0.01 [[ 9.99806968e-01 -1.96475823e-02 0.00000000e+00 2.46704706e+01] [ 1.96475823e-02 9.99806968e-01 0.00000000e+00 -1.28567117e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.29702721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.020371743 meters Centerline goodness : 0.993463 with order 1 Centerline is valid? [True, True] Translation: X:24.73, Y:-1.29, Z:-0.01 [[ 9.99802548e-01 -1.98712293e-02 0.00000000e+00 2.47324363e+01] [ 1.98712293e-02 9.99802548e-01 0.00000000e+00 -1.28918345e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.92364215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.080371742999997 meters Centerline goodness : 0.993496 with order 1 Centerline is valid? [True, True] Translation: X:24.79, Y:-1.29, Z:-0.00 [[ 9.99819562e-01 -1.89958707e-02 0.00000000e+00 2.47944965e+01] [ 1.89958707e-02 9.99819562e-01 0.00000000e+00 -1.29169876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.63482329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.140371743 meters Centerline goodness : 0.993204 with order 1 Centerline is valid? [True, True] Translation: X:24.86, Y:-1.29, Z:-0.00 [[ 9.99807962e-01 -1.95969021e-02 0.00000000e+00 2.48561871e+01] [ 1.95969021e-02 9.99807962e-01 0.00000000e+00 -1.29394424e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55236937e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.200371742999998 meters Centerline goodness : 0.992889 with order 1 Centerline is valid? [True, True] Translation: X:24.92, Y:-1.30, Z:0.00 [[ 9.99774878e-01 -2.12177370e-02 0.00000000e+00 2.49181229e+01] [ 2.12177370e-02 9.99774878e-01 0.00000000e+00 -1.29691940e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36894118e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.260371742999997 meters Centerline goodness : 0.993230 with order 1 Centerline is valid? [True, True] Translation: X:24.98, Y:-1.30, Z:-0.00 [[ 9.99768672e-01 -2.15081862e-02 0.00000000e+00 2.49800251e+01] [ 2.15081862e-02 9.99768672e-01 0.00000000e+00 -1.30308196e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50235764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.320371743 meters Centerline goodness : 0.993491 with order 1 Centerline is valid? [True, True] Translation: X:25.04, Y:-1.31, Z:-0.00 [[ 9.99778624e-01 -2.10404907e-02 0.00000000e+00 2.50424690e+01] [ 2.10404907e-02 9.99778624e-01 0.00000000e+00 -1.30701550e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29039354e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.380371742999998 meters Centerline goodness : 0.992282 with order 1 Centerline is valid? [True, True] Translation: X:25.10, Y:-1.31, Z:-0.01 [[ 9.99806124e-01 -1.96904512e-02 0.00000000e+00 2.51030347e+01] [ 1.96904512e-02 9.99806124e-01 0.00000000e+00 -1.31175228e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.64491534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.440371742999996 meters Centerline goodness : 0.992660 with order 1 Centerline is valid? [True, True] Translation: X:25.16, Y:-1.32, Z:-0.01 [[ 9.99834670e-01 -1.81833233e-02 0.00000000e+00 2.51648923e+01] [ 1.81833233e-02 9.99834670e-01 0.00000000e+00 -1.31572525e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33864014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.500371743 meters Centerline goodness : 0.992624 with order 1 Centerline is valid? [True, True] Translation: X:25.23, Y:-1.32, Z:-0.00 [[ 9.99856006e-01 -1.69695760e-02 0.00000000e+00 2.52283060e+01] [ 1.69695760e-02 9.99856006e-01 0.00000000e+00 -1.31900697e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.86284744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.560371742999997 meters Centerline goodness : 0.992815 with order 1 Centerline is valid? [True, True] Translation: X:25.29, Y:-1.32, Z:-0.00 [[ 9.99881559e-01 -1.53905240e-02 0.00000000e+00 2.52917831e+01] [ 1.53905240e-02 9.99881559e-01 0.00000000e+00 -1.32163985e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46080817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.620371742999996 meters Centerline goodness : 0.992427 with order 1 Centerline is valid? [True, True] Translation: X:25.35, Y:-1.32, Z:-0.00 [[ 9.99870452e-01 -1.60959193e-02 0.00000000e+00 2.53533364e+01] [ 1.60959193e-02 9.99870452e-01 0.00000000e+00 -1.32393483e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.06112852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.680371743 meters Centerline goodness : 0.993113 with order 1 Centerline is valid? [True, True] Translation: X:25.42, Y:-1.33, Z:-0.00 [[ 9.99791788e-01 -2.04053848e-02 0.00000000e+00 2.54156459e+01] [ 2.04053848e-02 9.99791788e-01 0.00000000e+00 -1.32735107e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85693046e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.740371742999997 meters Centerline goodness : 0.993626 with order 1 Centerline is valid? [True, True] Translation: X:25.48, Y:-1.33, Z:-0.00 [[ 9.99729184e-01 -2.32714154e-02 0.00000000e+00 2.54776351e+01] [ 2.32714154e-02 9.99729184e-01 0.00000000e+00 -1.33147376e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64961493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.800371743 meters Centerline goodness : 0.994574 with order 1 Centerline is valid? [True, True] Translation: X:25.54, Y:-1.33, Z:-0.00 [[ 9.99470840e-01 -3.25275387e-02 0.00000000e+00 2.55383520e+01] [ 3.25275387e-02 9.99470840e-01 0.00000000e+00 -1.32804453e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02985594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.860371742999998 meters Centerline goodness : 0.994407 with order 1 Centerline is valid? [True, True] Translation: X:25.60, Y:-1.34, Z:-0.00 [[ 9.99527080e-01 -3.07508695e-02 0.00000000e+00 2.56005676e+01] [ 3.07508695e-02 9.99527080e-01 0.00000000e+00 -1.33763132e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26289598e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.920371742999997 meters Centerline goodness : 0.993928 with order 1 Centerline is valid? [True, True] Translation: X:25.66, Y:-1.34, Z:-0.00 [[ 9.99542737e-01 -3.02376603e-02 0.00000000e+00 2.56632574e+01] [ 3.02376603e-02 9.99542737e-01 0.00000000e+00 -1.34023372e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48634251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.980371743 meters Centerline goodness : 0.993914 with order 1 Centerline is valid? [True, True] Translation: X:25.73, Y:-1.34, Z:0.00 [[ 9.99631571e-01 -2.71426300e-02 0.00000000e+00 2.57256556e+01] [ 2.71426300e-02 9.99631571e-01 0.00000000e+00 -1.34080051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09087134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.040371742999998 meters Centerline goodness : 0.993989 with order 1 Centerline is valid? [True, True] Translation: X:25.79, Y:-1.34, Z:0.00 [[ 9.99683198e-01 -2.51694846e-02 0.00000000e+00 2.57873022e+01] [ 2.51694846e-02 9.99683198e-01 0.00000000e+00 -1.34400347e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72219822e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.100371742999997 meters Centerline goodness : 0.994160 with order 1 Centerline is valid? [True, True] Translation: X:25.85, Y:-1.35, Z:0.00 [[ 9.99793331e-01 -2.03296840e-02 0.00000000e+00 2.58491481e+01] [ 2.03296840e-02 9.99793331e-01 0.00000000e+00 -1.34558776e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09594734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.160371743 meters Centerline goodness : 0.993991 with order 1 Centerline is valid? [True, True] Translation: X:25.91, Y:-1.35, Z:0.00 [[ 9.99925431e-01 -1.22119693e-02 0.00000000e+00 2.59098098e+01] [ 1.22119693e-02 9.99925431e-01 0.00000000e+00 -1.34880871e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41891359e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.220371742999998 meters Centerline goodness : 0.993724 with order 1 Centerline is valid? [True, True] Translation: X:25.97, Y:-1.35, Z:-0.00 [[ 9.99977698e-01 -6.67857701e-03 0.00000000e+00 2.59718539e+01] [ 6.67857701e-03 9.99977698e-01 0.00000000e+00 -1.35197837e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99468330e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.280371742999996 meters Centerline goodness : 0.993450 with order 1 Centerline is valid? [True, True] Translation: X:26.03, Y:-1.35, Z:-0.00 [[ 9.99994539e-01 3.30487943e-03 0.00000000e+00 2.60336646e+01] [-3.30487943e-03 9.99994539e-01 0.00000000e+00 -1.35484016e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.09811950e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.340371743 meters Centerline goodness : 0.993330 with order 1 Centerline is valid? [True, True] Translation: X:26.09, Y:-1.36, Z:-0.00 [[ 9.99958284e-01 9.13402026e-03 0.00000000e+00 2.60918437e+01] [-9.13402026e-03 9.99958284e-01 0.00000000e+00 -1.35778325e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37375959e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.400371742999997 meters Centerline goodness : 0.993016 with order 1 Centerline is valid? [True, True] Translation: X:26.15, Y:-1.36, Z:0.00 [[ 9.99906890e-01 1.36459497e-02 0.00000000e+00 2.61502723e+01] [-1.36459497e-02 9.99906890e-01 0.00000000e+00 -1.36071535e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50951188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.460371742999996 meters Centerline goodness : 0.992489 with order 1 Centerline is valid? [True, True] Translation: X:26.21, Y:-1.36, Z:0.00 [[ 9.99840207e-01 1.78762671e-02 0.00000000e+00 2.62087397e+01] [-1.78762671e-02 9.99840207e-01 0.00000000e+00 -1.36473726e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72470609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.520371743 meters Centerline goodness : 0.994462 with order 1 Centerline is valid? [True, True] Translation: X:26.27, Y:-1.36, Z:0.01 [[ 9.99918900e-01 1.27355014e-02 0.00000000e+00 2.62674393e+01] [-1.27355014e-02 9.99918900e-01 0.00000000e+00 -1.35852307e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.91634664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.580371742999997 meters Centerline goodness : 0.992861 with order 1 Centerline is valid? [True, True] Translation: X:26.33, Y:-1.37, Z:0.00 [[ 9.99767705e-01 2.15531194e-02 0.00000000e+00 2.63266669e+01] [-2.15531194e-02 9.99767705e-01 0.00000000e+00 -1.37065651e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04059491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.640371743 meters Centerline goodness : 0.992621 with order 1 Centerline is valid? [True, True] Translation: X:26.38, Y:-1.37, Z:0.00 [[ 9.99695771e-01 2.46650775e-02 0.00000000e+00 2.63842794e+01] [-2.46650775e-02 9.99695771e-01 0.00000000e+00 -1.37480482e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51419195e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.700371742999998 meters Centerline goodness : 0.992693 with order 1 Centerline is valid? [True, True] Translation: X:26.44, Y:-1.38, Z:0.01 [[ 9.99582028e-01 2.89096811e-02 0.00000000e+00 2.64430928e+01] [-2.89096811e-02 9.99582028e-01 0.00000000e+00 -1.37948881e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24523850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.760371742999997 meters Centerline goodness : 0.992158 with order 1 Centerline is valid? [True, True] Translation: X:26.50, Y:-1.39, Z:0.01 [[ 9.99460192e-01 3.28530845e-02 0.00000000e+00 2.65011957e+01] [-3.28530845e-02 9.99460192e-01 0.00000000e+00 -1.38564645e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51800286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.820371743 meters Centerline goodness : 0.991407 with order 1 Centerline is valid? [True, True] Translation: X:26.56, Y:-1.39, Z:0.00 [[ 9.99377489e-01 3.52793916e-02 0.00000000e+00 2.65592963e+01] [-3.52793916e-02 9.99377489e-01 0.00000000e+00 -1.39223970e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36780558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.880371742999998 meters Centerline goodness : 0.992127 with order 1 Centerline is valid? [True, True] Translation: X:26.62, Y:-1.40, Z:0.00 [[ 9.99355185e-01 3.59056361e-02 0.00000000e+00 2.66178428e+01] [-3.59056361e-02 9.99355185e-01 0.00000000e+00 -1.39962793e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28110485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.940371742999996 meters Centerline goodness : 0.992932 with order 1 Centerline is valid? [True, True] Translation: X:26.68, Y:-1.41, Z:0.00 [[ 9.99434685e-01 3.36200879e-02 0.00000000e+00 2.66754582e+01] [-3.36200879e-02 9.99434685e-01 0.00000000e+00 -1.40554865e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72808656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.000371743 meters Centerline goodness : 0.992539 with order 1 Centerline is valid? [True, True] Translation: X:26.73, Y:-1.41, Z:0.00 [[ 9.99578340e-01 2.90368950e-02 0.00000000e+00 2.67339500e+01] [-2.90368950e-02 9.99578340e-01 0.00000000e+00 -1.41457459e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62591552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.060371742999997 meters Centerline goodness : 0.995054 with order 1 Centerline is valid? [True, True] Translation: X:26.79, Y:-1.41, Z:0.01 [[ 9.99881345e-01 1.54044264e-02 0.00000000e+00 2.67919051e+01] [-1.54044264e-02 9.99881345e-01 0.00000000e+00 -1.41235143e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31454922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.120371742999996 meters Centerline goodness : 0.994564 with order 1 Centerline is valid? [True, True] Translation: X:26.85, Y:-1.43, Z:0.01 [[ 9.99807743e-01 1.96080709e-02 0.00000000e+00 2.68510123e+01] [-1.96080709e-02 9.99807743e-01 0.00000000e+00 -1.42823003e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.61843069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.180371743 meters Centerline goodness : 0.995041 with order 1 Centerline is valid? [True, True] Translation: X:26.91, Y:-1.43, Z:0.01 [[ 9.99976955e-01 6.78887968e-03 0.00000000e+00 2.69087138e+01] [-6.78887968e-03 9.99976955e-01 0.00000000e+00 -1.42620694e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46534441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.240371742999997 meters Centerline goodness : 0.995958 with order 1 Centerline is valid? [True, True] Translation: X:26.97, Y:-1.43, Z:0.02 [[ 9.99993961e-01 3.47539981e-03 0.00000000e+00 2.69669069e+01] [-3.47539981e-03 9.99993961e-01 0.00000000e+00 -1.43200811e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50107482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.300371743 meters Centerline goodness : 0.994588 with order 1 Centerline is valid? [True, True] Translation: X:27.03, Y:-1.45, Z:0.01 [[ 9.99984536e-01 5.56124222e-03 0.00000000e+00 2.70258882e+01] [-5.56124222e-03 9.99984536e-01 0.00000000e+00 -1.44700997e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.75019335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.360371742999998 meters Centerline goodness : 0.995426 with order 1 Centerline is valid? [True, True] Translation: X:27.09, Y:-1.44, Z:0.02 [[ 9.99994812e-01 -3.22126524e-03 0.00000000e+00 2.70851210e+01] [ 3.22126524e-03 9.99994812e-01 0.00000000e+00 -1.44248203e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50380443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.420371742999997 meters Centerline goodness : 0.995564 with order 1 Centerline is valid? [True, True] Translation: X:27.15, Y:-1.45, Z:0.02 [[ 9.99986722e-01 -5.15327881e-03 0.00000000e+00 2.71461557e+01] [ 5.15327881e-03 9.99986722e-01 0.00000000e+00 -1.44586868e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63492234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.480371743 meters Centerline goodness : 0.993938 with order 1 Centerline is valid? [True, True] Translation: X:27.21, Y:-1.46, Z:0.01 [[ 9.99999927e-01 -3.83280274e-04 0.00000000e+00 2.72071841e+01] [ 3.83280274e-04 9.99999927e-01 0.00000000e+00 -1.45694333e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14970207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.540371742999998 meters Centerline goodness : 0.994680 with order 1 Centerline is valid? [True, True] Translation: X:27.27, Y:-1.46, Z:0.01 [[ 9.99988525e-01 -4.79067778e-03 0.00000000e+00 2.72674830e+01] [ 4.79067778e-03 9.99988525e-01 0.00000000e+00 -1.45811650e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27782414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.600371742999997 meters Centerline goodness : 0.995757 with order 1 Centerline is valid? [True, True] Translation: X:27.33, Y:-1.45, Z:0.02 [[ 9.99918647e-01 -1.27553332e-02 0.00000000e+00 2.73288161e+01] [ 1.27553332e-02 9.99918647e-01 0.00000000e+00 -1.45252902e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62983542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.660371743 meters Centerline goodness : 0.994329 with order 1 Centerline is valid? [True, True] Translation: X:27.39, Y:-1.46, Z:0.01 [[ 9.99944130e-01 -1.05705915e-02 0.00000000e+00 2.73910700e+01] [ 1.05705915e-02 9.99944130e-01 0.00000000e+00 -1.46089446e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23427890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.720371742999998 meters Centerline goodness : 0.994278 with order 1 Centerline is valid? [True, True] Translation: X:27.45, Y:-1.46, Z:0.01 [[ 9.99944148e-01 -1.05689048e-02 0.00000000e+00 2.74535492e+01] [ 1.05689048e-02 9.99944148e-01 0.00000000e+00 -1.46193874e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30866679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.780371742999996 meters Centerline goodness : 0.994786 with order 1 Centerline is valid? [True, True] Translation: X:27.51, Y:-1.46, Z:0.01 [[ 9.99954239e-01 -9.56655921e-03 0.00000000e+00 2.75148826e+01] [ 9.56655921e-03 9.99954239e-01 0.00000000e+00 -1.45998585e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45512131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.840371743 meters Centerline goodness : 0.994221 with order 1 Centerline is valid? [True, True] Translation: X:27.58, Y:-1.46, Z:0.01 [[ 9.99989273e-01 -4.63179717e-03 0.00000000e+00 2.75773077e+01] [ 4.63179717e-03 9.99989273e-01 0.00000000e+00 -1.45955001e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44244444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.900371742999997 meters Centerline goodness : 0.995403 with order 1 Centerline is valid? [True, True] Translation: X:27.64, Y:-1.45, Z:0.02 [[ 9.99986571e-01 -5.18244336e-03 0.00000000e+00 2.76388396e+01] [ 5.18244336e-03 9.99986571e-01 0.00000000e+00 -1.45041223e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02729554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.960371742999996 meters Centerline goodness : 0.995215 with order 1 Centerline is valid? [True, True] Translation: X:27.70, Y:-1.45, Z:0.02 [[ 9.99994621e-01 -3.27998732e-03 0.00000000e+00 2.77002349e+01] [ 3.27998732e-03 9.99994621e-01 0.00000000e+00 -1.45148741e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89971199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.020371743 meters Centerline goodness : 0.994897 with order 1 Centerline is valid? [True, True] Translation: X:27.76, Y:-1.45, Z:0.02 [[ 9.99999124e-01 1.32330088e-03 0.00000000e+00 2.77614778e+01] [-1.32330088e-03 9.99999124e-01 0.00000000e+00 -1.45152016e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09089136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.080371742999997 meters Centerline goodness : 0.993601 with order 1 Centerline is valid? [True, True] Translation: X:27.82, Y:-1.46, Z:0.01 [[ 9.99876861e-01 1.56927576e-02 0.00000000e+00 2.78205165e+01] [-1.56927576e-02 9.99876861e-01 0.00000000e+00 -1.46093270e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09057312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.140371743 meters Centerline goodness : 0.993658 with order 1 Centerline is valid? [True, True] Translation: X:27.88, Y:-1.45, Z:0.02 [[ 9.99910695e-01 1.33641750e-02 0.00000000e+00 2.78804015e+01] [-1.33641750e-02 9.99910695e-01 0.00000000e+00 -1.45032452e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10427843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.200371742999998 meters Centerline goodness : 0.992351 with order 1 Centerline is valid? [True, True] Translation: X:27.94, Y:-1.46, Z:0.01 [[ 9.99693309e-01 2.47646555e-02 0.00000000e+00 2.79385764e+01] [-2.47646555e-02 9.99693309e-01 0.00000000e+00 -1.46226307e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30826695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.260371742999997 meters Centerline goodness : 0.993951 with order 1 Centerline is valid? [True, True] Translation: X:28.00, Y:-1.46, Z:0.02 [[ 9.99720013e-01 2.36621104e-02 0.00000000e+00 2.79970380e+01] [-2.36621104e-02 9.99720013e-01 0.00000000e+00 -1.45527497e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16149012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.320371743 meters Centerline goodness : 0.994533 with order 1 Centerline is valid? [True, True] Translation: X:28.05, Y:-1.46, Z:0.02 [[ 9.99487228e-01 3.20200043e-02 0.00000000e+00 2.80543533e+01] [-3.20200043e-02 9.99487228e-01 0.00000000e+00 -1.45839030e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24711399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.380371742999998 meters Centerline goodness : 0.993016 with order 1 Centerline is valid? [True, True] Translation: X:28.11, Y:-1.47, Z:0.02 [[ 9.99036884e-01 4.38782989e-02 0.00000000e+00 2.81125777e+01] [-4.38782989e-02 9.99036884e-01 0.00000000e+00 -1.47187608e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55596335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.440371742999996 meters Centerline goodness : 0.994733 with order 1 Centerline is valid? [True, True] Translation: X:28.17, Y:-1.47, Z:0.02 [[ 9.99241673e-01 3.89368648e-02 0.00000000e+00 2.81701383e+01] [-3.89368648e-02 9.99241673e-01 0.00000000e+00 -1.47095168e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23675649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.500371743 meters Centerline goodness : 0.994778 with order 1 Centerline is valid? [True, True] Translation: X:28.23, Y:-1.48, Z:0.02 [[ 9.99340789e-01 3.63040922e-02 0.00000000e+00 2.82270861e+01] [-3.63040922e-02 9.99340789e-01 0.00000000e+00 -1.48023376e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15338584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.560371742999997 meters Centerline goodness : 0.995214 with order 1 Centerline is valid? [True, True] Translation: X:28.29, Y:-1.49, Z:0.02 [[ 9.99458162e-01 3.29147688e-02 0.00000000e+00 2.82857185e+01] [-3.29147688e-02 9.99458162e-01 0.00000000e+00 -1.48833686e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02371098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.620371742999996 meters Centerline goodness : 0.995306 with order 1 Centerline is valid? [True, True] Translation: X:28.34, Y:-1.50, Z:0.02 [[ 9.99630245e-01 2.71914320e-02 0.00000000e+00 2.83436578e+01] [-2.71914320e-02 9.99630245e-01 0.00000000e+00 -1.49988268e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94823550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.680371743 meters Centerline goodness : 0.995152 with order 1 Centerline is valid? [True, True] Translation: X:28.40, Y:-1.51, Z:0.02 [[ 9.99749582e-01 2.23779698e-02 0.00000000e+00 2.84016403e+01] [-2.23779698e-02 9.99749582e-01 0.00000000e+00 -1.51090643e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98406229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.740371742999997 meters Centerline goodness : 0.994305 with order 1 Centerline is valid? [True, True] Translation: X:28.46, Y:-1.53, Z:0.01 [[ 9.99622185e-01 2.74861134e-02 0.00000000e+00 2.84600559e+01] [-2.74861134e-02 9.99622185e-01 0.00000000e+00 -1.52932499e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12753998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.800371742999996 meters Centerline goodness : 0.995347 with order 1 Centerline is valid? [True, True] Translation: X:28.52, Y:-1.53, Z:0.02 [[ 9.99883774e-01 1.52459603e-02 0.00000000e+00 2.85187114e+01] [-1.52459603e-02 9.99883774e-01 0.00000000e+00 -1.52769346e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03182429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.860371742999998 meters Centerline goodness : 0.995406 with order 1 Centerline is valid? [True, True] Translation: X:28.58, Y:-1.54, Z:0.02 [[ 9.99966012e-01 8.24465218e-03 0.00000000e+00 2.85763847e+01] [-8.24465218e-03 9.99966012e-01 0.00000000e+00 -1.53759050e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96632352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.920371742999997 meters Centerline goodness : 0.993026 with order 1 Centerline is valid? [True, True] Translation: X:28.63, Y:-1.55, Z:0.01 [[ 9.99943323e-01 1.06465901e-02 0.00000000e+00 2.86348372e+01] [-1.06465901e-02 9.99943323e-01 0.00000000e+00 -1.55427195e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17738957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.980371743 meters Centerline goodness : 0.992841 with order 1 Centerline is valid? [True, True] Translation: X:28.69, Y:-1.56, Z:0.01 [[ 9.99993935e-01 3.48275992e-03 0.00000000e+00 2.86938301e+01] [-3.48275992e-03 9.99993935e-01 0.00000000e+00 -1.56190304e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.96235225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.040371742999998 meters Centerline goodness : 0.994528 with order 1 Centerline is valid? [True, True] Translation: X:28.75, Y:-1.56, Z:0.02 [[ 9.99958294e-01 -9.13290292e-03 0.00000000e+00 2.87535098e+01] [ 9.13290292e-03 9.99958294e-01 0.00000000e+00 -1.55595158e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88278319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.100371742999997 meters Centerline goodness : 0.993921 with order 1 Centerline is valid? [True, True] Translation: X:28.82, Y:-1.56, Z:0.02 [[ 9.99916229e-01 -1.29435263e-02 0.00000000e+00 2.88159575e+01] [ 1.29435263e-02 9.99916229e-01 0.00000000e+00 -1.55924869e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16754533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.160371743 meters Centerline goodness : 0.993020 with order 1 Centerline is valid? [True, True] Translation: X:28.88, Y:-1.57, Z:0.01 [[ 9.99992386e-01 -3.90227108e-03 0.00000000e+00 2.88771830e+01] [ 3.90227108e-03 9.99992386e-01 0.00000000e+00 -1.57137165e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49827512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.220371742999998 meters Centerline goodness : 0.994575 with order 1 Centerline is valid? [True, True] Translation: X:28.94, Y:-1.56, Z:0.02 [[ 9.99958337e-01 -9.12821938e-03 0.00000000e+00 2.89392854e+01] [ 9.12821938e-03 9.99958337e-01 0.00000000e+00 -1.56322083e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31930461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.280371742999996 meters Centerline goodness : 0.992568 with order 1 Centerline is valid? [True, True] Translation: X:29.00, Y:-1.58, Z:0.01 [[ 9.99998909e-01 1.47699961e-03 0.00000000e+00 2.90012952e+01] [-1.47699961e-03 9.99998909e-01 0.00000000e+00 -1.57572052e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41030801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.340371743 meters Centerline goodness : 0.994919 with order 1 Centerline is valid? [True, True] Translation: X:29.06, Y:-1.57, Z:0.02 [[ 9.99983692e-01 -5.71096881e-03 0.00000000e+00 2.90615160e+01] [ 5.71096881e-03 9.99983692e-01 0.00000000e+00 -1.56734232e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01882058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.400371742999997 meters Centerline goodness : 0.994377 with order 1 Centerline is valid? [True, True] Translation: X:29.12, Y:-1.57, Z:0.02 [[ 9.99989293e-01 -4.62742943e-03 0.00000000e+00 2.91232923e+01] [ 4.62742943e-03 9.99989293e-01 0.00000000e+00 -1.56972073e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98200153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.460371742999996 meters Centerline goodness : 0.993770 with order 1 Centerline is valid? [True, True] Translation: X:29.18, Y:-1.57, Z:0.02 [[ 9.99999819e-01 -6.01380038e-04 0.00000000e+00 2.91840750e+01] [ 6.01380038e-04 9.99999819e-01 0.00000000e+00 -1.57094145e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69825339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.520371743 meters Centerline goodness : 0.994297 with order 1 Centerline is valid? [True, True] Translation: X:29.24, Y:-1.57, Z:0.02 [[ 9.99979326e-01 6.43018918e-03 0.00000000e+00 2.92441988e+01] [-6.43018918e-03 9.99979326e-01 0.00000000e+00 -1.57171950e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76229042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.580371742999997 meters Centerline goodness : 0.992745 with order 1 Centerline is valid? [True, True] Translation: X:29.30, Y:-1.58, Z:0.01 [[ 9.99806480e-01 1.96724016e-02 0.00000000e+00 2.93021803e+01] [-1.96724016e-02 9.99806480e-01 0.00000000e+00 -1.58408444e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03767311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.640371743 meters Centerline goodness : 0.993011 with order 1 Centerline is valid? [True, True] Translation: X:29.36, Y:-1.59, Z:0.01 [[ 9.99681881e-01 2.52217422e-02 0.00000000e+00 2.93612368e+01] [-2.52217422e-02 9.99681881e-01 0.00000000e+00 -1.58794350e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00817596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.700371742999998 meters Centerline goodness : 0.993117 with order 1 Centerline is valid? [True, True] Translation: X:29.42, Y:-1.59, Z:0.01 [[ 9.99743245e-01 2.26593158e-02 0.00000000e+00 2.94195541e+01] [-2.26593158e-02 9.99743245e-01 0.00000000e+00 -1.59063539e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23016486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.760371742999997 meters Centerline goodness : 0.993617 with order 1 Centerline is valid? [True, True] Translation: X:29.48, Y:-1.59, Z:0.01 [[ 9.99903987e-01 1.38570309e-02 0.00000000e+00 2.94777920e+01] [-1.38570309e-02 9.99903987e-01 0.00000000e+00 -1.59490459e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25684486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.820371743 meters Centerline goodness : 0.994526 with order 1 Centerline is valid? [True, True] Translation: X:29.54, Y:-1.59, Z:0.02 [[ 9.99998782e-01 1.56046706e-03 0.00000000e+00 2.95355313e+01] [-1.56046706e-03 9.99998782e-01 0.00000000e+00 -1.58778488e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23337351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.880371742999998 meters Centerline goodness : 0.994413 with order 1 Centerline is valid? [True, True] Translation: X:29.59, Y:-1.59, Z:0.02 [[ 9.99986940e-01 -5.11082008e-03 0.00000000e+00 2.95945400e+01] [ 5.11082008e-03 9.99986940e-01 0.00000000e+00 -1.59438498e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71781412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.940371742999996 meters Centerline goodness : 0.994449 with order 1 Centerline is valid? [True, True] Translation: X:29.66, Y:-1.60, Z:0.02 [[ 9.99933392e-01 -1.15417038e-02 0.00000000e+00 2.96568791e+01] [ 1.15417038e-02 9.99933392e-01 0.00000000e+00 -1.59829800e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15151117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.000371743 meters Centerline goodness : 0.993425 with order 1 Centerline is valid? [True, True] Translation: X:29.72, Y:-1.61, Z:0.02 [[ 9.99979167e-01 -6.45481800e-03 0.00000000e+00 2.97190109e+01] [ 6.45481800e-03 9.99979167e-01 0.00000000e+00 -1.60974483e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55361606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.060371742999997 meters Centerline goodness : 0.993110 with order 1 Centerline is valid? [True, True] Translation: X:29.78, Y:-1.61, Z:0.02 [[ 9.99980169e-01 -6.29778156e-03 0.00000000e+00 2.97808205e+01] [ 6.29778156e-03 9.99980169e-01 0.00000000e+00 -1.61281657e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54084943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.120371742999996 meters Centerline goodness : 0.993242 with order 1 Centerline is valid? [True, True] Translation: X:29.84, Y:-1.62, Z:0.01 [[ 9.99989264e-01 -4.63373672e-03 0.00000000e+00 2.98429224e+01] [ 4.63373672e-03 9.99989264e-01 0.00000000e+00 -1.61663185e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48616024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.180371743 meters Centerline goodness : 0.993062 with order 1 Centerline is valid? [True, True] Translation: X:29.90, Y:-1.62, Z:0.01 [[ 9.99999243e-01 -1.23068246e-03 0.00000000e+00 2.99037667e+01] [ 1.23068246e-03 9.99999243e-01 0.00000000e+00 -1.62128951e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06264195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.240371742999997 meters Centerline goodness : 0.993321 with order 1 Centerline is valid? [True, True] Translation: X:29.96, Y:-1.62, Z:0.01 [[ 9.99999984e-01 1.80018421e-04 0.00000000e+00 2.99639221e+01] [-1.80018421e-04 9.99999984e-01 0.00000000e+00 -1.62303645e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03327457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.300371742999996 meters Centerline goodness : 0.993571 with order 1 Centerline is valid? [True, True] Translation: X:30.02, Y:-1.62, Z:0.01 [[ 9.99972258e-01 7.44874247e-03 0.00000000e+00 3.00242866e+01] [-7.44874247e-03 9.99972258e-01 0.00000000e+00 -1.62463002e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05165008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.360371742999998 meters Centerline goodness : 0.993840 with order 1 Centerline is valid? [True, True] Translation: X:30.08, Y:-1.63, Z:0.01 [[ 9.99934603e-01 1.14363322e-02 0.00000000e+00 3.00817539e+01] [-1.14363322e-02 9.99934603e-01 0.00000000e+00 -1.62660812e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24416348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.420371742999997 meters Centerline goodness : 0.994234 with order 1 Centerline is valid? [True, True] Translation: X:30.14, Y:-1.62, Z:0.02 [[ 9.99920443e-01 1.26138076e-02 0.00000000e+00 3.01401424e+01] [-1.26138076e-02 9.99920443e-01 0.00000000e+00 -1.61688420e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24764065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.480371743 meters Centerline goodness : 0.994667 with order 1 Centerline is valid? [True, True] Translation: X:30.20, Y:-1.62, Z:0.02 [[ 9.99768813e-01 2.15016391e-02 0.00000000e+00 3.01984516e+01] [-2.15016391e-02 9.99768813e-01 0.00000000e+00 -1.61895466e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40284527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.540371742999998 meters Centerline goodness : 0.995063 with order 1 Centerline is valid? [True, True] Translation: X:30.26, Y:-1.62, Z:0.02 [[ 9.99573896e-01 2.91894906e-02 0.00000000e+00 3.02563758e+01] [-2.91894906e-02 9.99573896e-01 0.00000000e+00 -1.62290459e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31918837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.600371742999997 meters Centerline goodness : 0.994538 with order 1 Centerline is valid? [True, True] Translation: X:30.31, Y:-1.63, Z:0.02 [[ 9.99403937e-01 3.45220388e-02 0.00000000e+00 3.03128114e+01] [-3.45220388e-02 9.99403937e-01 0.00000000e+00 -1.62733813e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26882117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.660371743 meters Centerline goodness : 0.994520 with order 1 Centerline is valid? [True, True] Translation: X:30.37, Y:-1.63, Z:0.02 [[ 9.99343171e-01 3.62384748e-02 0.00000000e+00 3.03703870e+01] [-3.62384748e-02 9.99343171e-01 0.00000000e+00 -1.63197918e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23461847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.720371742999998 meters Centerline goodness : 0.995083 with order 1 Centerline is valid? [True, True] Translation: X:30.43, Y:-1.64, Z:0.02 [[ 9.99361253e-01 3.57363272e-02 0.00000000e+00 3.04285687e+01] [-3.57363272e-02 9.99361253e-01 0.00000000e+00 -1.63964106e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18959501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.780371742999996 meters Centerline goodness : 0.994695 with order 1 Centerline is valid? [True, True] Translation: X:30.49, Y:-1.65, Z:0.02 [[ 9.99456200e-01 3.29743121e-02 0.00000000e+00 3.04868251e+01] [-3.29743121e-02 9.99456200e-01 0.00000000e+00 -1.64846966e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27713548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.840371743 meters Centerline goodness : 0.994420 with order 1 Centerline is valid? [True, True] Translation: X:30.54, Y:-1.66, Z:0.02 [[ 9.99507695e-01 3.13746480e-02 0.00000000e+00 3.05437197e+01] [-3.13746480e-02 9.99507695e-01 0.00000000e+00 -1.65520519e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21100997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.900371742999997 meters Centerline goodness : 0.993739 with order 1 Centerline is valid? [True, True] Translation: X:30.60, Y:-1.67, Z:0.02 [[ 9.99494356e-01 3.17967368e-02 0.00000000e+00 3.06016925e+01] [-3.17967368e-02 9.99494356e-01 0.00000000e+00 -1.66607993e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09146739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.960371742999996 meters Centerline goodness : 0.993589 with order 1 Centerline is valid? [True, True] Translation: X:30.66, Y:-1.68, Z:0.02 [[ 9.99397843e-01 3.46979908e-02 0.00000000e+00 3.06600624e+01] [-3.46979908e-02 9.99397843e-01 0.00000000e+00 -1.67731433e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05962044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.020371743 meters Centerline goodness : 0.991276 with order 1 Centerline is valid? [True, True] Translation: X:30.72, Y:-1.70, Z:0.01 [[ 9.98550484e-01 5.38231488e-02 0.00000000e+00 3.07182230e+01] [-5.38231488e-02 9.98550484e-01 0.00000000e+00 -1.70250896e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.63212357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.080371742999997 meters Centerline goodness : 0.993220 with order 1 Centerline is valid? [True, True] Translation: X:30.78, Y:-1.70, Z:0.02 [[ 9.98693801e-01 5.10949356e-02 0.00000000e+00 3.07769886e+01] [-5.10949356e-02 9.98693801e-01 0.00000000e+00 -1.69773471e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90863558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.140371743 meters Centerline goodness : 0.992083 with order 1 Centerline is valid? [True, True] Translation: X:30.84, Y:-1.71, Z:0.02 [[ 9.98385096e-01 5.68084544e-02 0.00000000e+00 3.08355117e+01] [-5.68084544e-02 9.98385096e-01 0.00000000e+00 -1.70709215e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00508187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.200371742999998 meters Centerline goodness : 0.992208 with order 1 Centerline is valid? [True, True] Translation: X:30.89, Y:-1.72, Z:0.02 [[ 9.98040880e-01 6.25651787e-02 0.00000000e+00 3.08927125e+01] [-6.25651787e-02 9.98040880e-01 0.00000000e+00 -1.72156328e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20445523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.260371742999997 meters Centerline goodness : 0.990825 with order 1 Centerline is valid? [True, True] Translation: X:30.95, Y:-1.74, Z:0.02 [[ 9.97923393e-01 6.44119763e-02 0.00000000e+00 3.09510143e+01] [-6.44119763e-02 9.97923393e-01 0.00000000e+00 -1.73831790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22907313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.320371743 meters Centerline goodness : 0.989921 with order 1 Centerline is valid? [True, True] Translation: X:31.01, Y:-1.75, Z:0.02 [[ 9.97985849e-01 6.34369361e-02 0.00000000e+00 3.10074780e+01] [-6.34369361e-02 9.97985849e-01 0.00000000e+00 -1.75341189e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06464292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.380371742999998 meters Centerline goodness : 0.988770 with order 1 Centerline is valid? [True, True] Translation: X:31.06, Y:-1.78, Z:0.02 [[ 9.98267706e-01 5.88352486e-02 0.00000000e+00 3.10643623e+01] [-5.88352486e-02 9.98267706e-01 0.00000000e+00 -1.77596177e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96886190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.440371742999996 meters Centerline goodness : 0.987204 with order 1 Centerline is valid? [True, True] Translation: X:31.12, Y:-1.80, Z:0.02 [[ 9.98596861e-01 5.29557276e-02 0.00000000e+00 3.11222705e+01] [-5.29557276e-02 9.98596861e-01 0.00000000e+00 -1.79765056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96185626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.500371743 meters Centerline goodness : 0.986640 with order 1 Centerline is valid? [True, True] Translation: X:31.18, Y:-1.81, Z:0.02 [[ 9.98804239e-01 4.88885591e-02 0.00000000e+00 3.11793910e+01] [-4.88885591e-02 9.98804239e-01 0.00000000e+00 -1.81338807e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99116915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.560371742999997 meters Centerline goodness : 0.987436 with order 1 Centerline is valid? [True, True] Translation: X:31.24, Y:-1.84, Z:0.02 [[ 9.99094511e-01 4.25459537e-02 0.00000000e+00 3.12366579e+01] [-4.25459537e-02 9.99094511e-01 0.00000000e+00 -1.83503149e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08753710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.620371742999996 meters Centerline goodness : 0.987714 with order 1 Centerline is valid? [True, True] Translation: X:31.29, Y:-1.85, Z:0.02 [[ 9.99374926e-01 3.53519081e-02 0.00000000e+00 3.12948752e+01] [-3.53519081e-02 9.99374926e-01 0.00000000e+00 -1.85384231e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22516238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.680371743 meters Centerline goodness : 0.989273 with order 1 Centerline is valid? [True, True] Translation: X:31.35, Y:-1.87, Z:0.02 [[ 9.99631760e-01 2.71356593e-02 0.00000000e+00 3.13532379e+01] [-2.71356593e-02 9.99631760e-01 0.00000000e+00 -1.87074477e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30116239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.740371742999997 meters Centerline goodness : 0.989791 with order 1 Centerline is valid? [True, True] Translation: X:31.41, Y:-1.88, Z:0.02 [[ 9.99713717e-01 2.39266499e-02 0.00000000e+00 3.14123040e+01] [-2.39266499e-02 9.99713717e-01 0.00000000e+00 -1.87757835e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31735092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.800371742999996 meters Centerline goodness : 0.992325 with order 1 Centerline is valid? [True, True] Translation: X:31.47, Y:-1.89, Z:0.03 [[ 9.99918855e-01 1.27390666e-02 0.00000000e+00 3.14704691e+01] [-1.27390666e-02 9.99918855e-01 0.00000000e+00 -1.89217973e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53354433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.860371742999998 meters Centerline goodness : 0.992401 with order 1 Centerline is valid? [True, True] Translation: X:31.53, Y:-1.90, Z:0.03 [[ 9.99999943e-01 3.38474427e-04 0.00000000e+00 3.15298161e+01] [-3.38474427e-04 9.99999943e-01 0.00000000e+00 -1.90300458e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79873938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.920371742999997 meters Centerline goodness : 0.992463 with order 1 Centerline is valid? [True, True] Translation: X:31.59, Y:-1.91, Z:0.03 [[ 9.99975501e-01 -6.99976264e-03 0.00000000e+00 3.15896948e+01] [ 6.99976264e-03 9.99975501e-01 0.00000000e+00 -1.90941356e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84030630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.980371743 meters Centerline goodness : 0.992716 with order 1 Centerline is valid? [True, True] Translation: X:31.65, Y:-1.92, Z:0.02 [[ 9.99983598e-01 -5.72745010e-03 0.00000000e+00 3.16506024e+01] [ 5.72745010e-03 9.99983598e-01 0.00000000e+00 -1.92400556e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69938930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.040371743 meters Centerline goodness : 0.992047 with order 1 Centerline is valid? [True, True] Translation: X:31.71, Y:-1.91, Z:0.03 [[ 9.99879391e-01 -1.55307330e-02 0.00000000e+00 3.17116982e+01] [ 1.55307330e-02 9.99879391e-01 0.00000000e+00 -1.91433408e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72037177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.100371743000004 meters Centerline goodness : 0.992511 with order 1 Centerline is valid? [True, True] Translation: X:31.77, Y:-1.91, Z:0.03 [[ 9.99860502e-01 -1.67025887e-02 0.00000000e+00 3.17729161e+01] [ 1.67025887e-02 9.99860502e-01 0.00000000e+00 -1.91095102e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65165396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.160371743 meters Centerline goodness : 0.991945 with order 1 Centerline is valid? [True, True] Translation: X:31.84, Y:-1.91, Z:0.03 [[ 9.99833520e-01 -1.82464145e-02 0.00000000e+00 3.18350612e+01] [ 1.82464145e-02 9.99833520e-01 0.00000000e+00 -1.91028163e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75672988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.220371743 meters Centerline goodness : 0.991578 with order 1 Centerline is valid? [True, True] Translation: X:31.90, Y:-1.91, Z:0.03 [[ 9.99776055e-01 -2.11622418e-02 0.00000000e+00 3.18978247e+01] [ 2.11622418e-02 9.99776055e-01 0.00000000e+00 -1.90556311e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88254061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.280371743 meters Centerline goodness : 0.990630 with order 1 Centerline is valid? [True, True] Translation: X:31.96, Y:-1.90, Z:0.03 [[ 9.99761926e-01 -2.18195090e-02 0.00000000e+00 3.19595527e+01] [ 2.18195090e-02 9.99761926e-01 0.00000000e+00 -1.89888130e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58583267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.340371743 meters Centerline goodness : 0.988859 with order 1 Centerline is valid? [True, True] Translation: X:32.02, Y:-1.90, Z:0.02 [[ 9.99957695e-01 -9.19831584e-03 0.00000000e+00 3.20217783e+01] [ 9.19831584e-03 9.99957695e-01 0.00000000e+00 -1.90209632e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55191986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.400371743 meters Centerline goodness : 0.986976 with order 1 Centerline is valid? [True, True] Translation: X:32.08, Y:-1.89, Z:0.01 [[ 9.99999914e-01 4.13568352e-04 0.00000000e+00 3.20825305e+01] [-4.13568352e-04 9.99999914e-01 0.00000000e+00 -1.89287269e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42498098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.460371743 meters Centerline goodness : 0.985298 with order 1 Centerline is valid? [True, True] Translation: X:32.14, Y:-1.88, Z:0.03 [[ 9.99995995e-01 2.83020619e-03 0.00000000e+00 3.21431071e+01] [-2.83020619e-03 9.99995995e-01 0.00000000e+00 -1.88127651e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51118456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.520371743 meters Centerline goodness : 0.987195 with order 1 Centerline is valid? [True, True] Translation: X:32.20, Y:-1.87, Z:0.03 [[ 9.99974394e-01 7.15619760e-03 0.00000000e+00 3.22031726e+01] [-7.15619760e-03 9.99974394e-01 0.00000000e+00 -1.86641547e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71105837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.580371743 meters Centerline goodness : 0.984349 with order 1 Centerline is valid? [True, True] Translation: X:32.26, Y:-1.87, Z:0.02 [[ 9.99842118e-01 1.77690413e-02 0.00000000e+00 3.22631865e+01] [-1.77690413e-02 9.99842118e-01 0.00000000e+00 -1.86788186e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41934981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.640371743 meters Centerline goodness : 0.984379 with order 1 Centerline is valid? [True, True] Translation: X:32.32, Y:-1.86, Z:0.02 [[ 9.99813937e-01 1.92896593e-02 0.00000000e+00 3.23225866e+01] [-1.92896593e-02 9.99813937e-01 0.00000000e+00 -1.86417522e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06812860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.700371743 meters Centerline goodness : 0.984172 with order 1 Centerline is valid? [True, True] Translation: X:32.38, Y:-1.86, Z:0.02 [[ 9.99812016e-01 1.93889678e-02 0.00000000e+00 3.23818208e+01] [-1.93889678e-02 9.99812016e-01 0.00000000e+00 -1.86406878e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87711921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.760371743 meters Centerline goodness : 0.987719 with order 1 Centerline is valid? [True, True] Translation: X:32.44, Y:-1.85, Z:0.03 [[ 9.99920295e-01 1.26254942e-02 0.00000000e+00 3.24409399e+01] [-1.26254942e-02 9.99920295e-01 0.00000000e+00 -1.85068221e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58610349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.820371743 meters Centerline goodness : 0.988063 with order 1 Centerline is valid? [True, True] Translation: X:32.50, Y:-1.85, Z:0.03 [[ 9.99900540e-01 1.41035271e-02 0.00000000e+00 3.24988000e+01] [-1.41035271e-02 9.99900540e-01 0.00000000e+00 -1.84928212e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69154926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.880371743 meters Centerline goodness : 0.987520 with order 1 Centerline is valid? [True, True] Translation: X:32.56, Y:-1.85, Z:0.03 [[ 9.99865547e-01 1.63977882e-02 0.00000000e+00 3.25574105e+01] [-1.63977882e-02 9.99865547e-01 0.00000000e+00 -1.84914709e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61817829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.940371743 meters Centerline goodness : 0.988626 with order 1 Centerline is valid? [True, True] Translation: X:32.62, Y:-1.85, Z:0.02 [[ 9.99778817e-01 2.10313230e-02 0.00000000e+00 3.26163154e+01] [-2.10313230e-02 9.99778817e-01 0.00000000e+00 -1.85001105e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46521821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.000371743 meters Centerline goodness : 0.985666 with order 1 Centerline is valid? [True, True] Translation: X:32.67, Y:-1.86, Z:0.02 [[ 9.99527205e-01 3.07468223e-02 0.00000000e+00 3.26746869e+01] [-3.07468223e-02 9.99527205e-01 0.00000000e+00 -1.86020380e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26183712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.060371743000005 meters Centerline goodness : 0.985731 with order 1 Centerline is valid? [True, True] Translation: X:32.73, Y:-1.87, Z:0.02 [[ 9.99415608e-01 3.41824804e-02 0.00000000e+00 3.27320339e+01] [-3.41824804e-02 9.99415608e-01 0.00000000e+00 -1.86811448e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79615590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.120371743 meters Centerline goodness : 0.988043 with order 1 Centerline is valid? [True, True] Translation: X:32.79, Y:-1.86, Z:0.03 [[ 9.99738643e-01 2.28614392e-02 0.00000000e+00 3.27907847e+01] [-2.28614392e-02 9.99738643e-01 0.00000000e+00 -1.86087877e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72273429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.180371743 meters Centerline goodness : 0.987558 with order 1 Centerline is valid? [True, True] Translation: X:32.85, Y:-1.87, Z:0.03 [[ 9.99808941e-01 1.95468953e-02 0.00000000e+00 3.28498557e+01] [-1.95468953e-02 9.99808941e-01 0.00000000e+00 -1.86697241e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70770907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.240371743000004 meters Centerline goodness : 0.984245 with order 1 Centerline is valid? [True, True] Translation: X:32.91, Y:-1.88, Z:0.03 [[ 9.99797538e-01 2.01216850e-02 0.00000000e+00 3.29076179e+01] [-2.01216850e-02 9.99797538e-01 0.00000000e+00 -1.88309850e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57548820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.300371743 meters Centerline goodness : 0.983686 with order 1 Centerline is valid? [True, True] Translation: X:32.97, Y:-1.89, Z:0.03 [[ 9.99907362e-01 1.36112996e-02 0.00000000e+00 3.29653900e+01] [-1.36112996e-02 9.99907362e-01 0.00000000e+00 -1.88726741e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65801185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.360371743 meters Centerline goodness : 0.986774 with order 1 Centerline is valid? [True, True] Translation: X:33.02, Y:-1.88, Z:0.02 [[ 9.99997083e-01 -2.41555528e-03 0.00000000e+00 3.30243202e+01] [ 2.41555528e-03 9.99997083e-01 0.00000000e+00 -1.88449645e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49517297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.420371743000004 meters Centerline goodness : 0.986703 with order 1 Centerline is valid? [True, True] Translation: X:33.08, Y:-1.89, Z:0.02 [[ 9.99925383e-01 -1.22159091e-02 0.00000000e+00 3.30848529e+01] [ 1.22159091e-02 9.99925383e-01 0.00000000e+00 -1.88976455e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45106352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.480371743 meters Centerline goodness : 0.983900 with order 1 Centerline is valid? [True, True] Translation: X:33.15, Y:-1.90, Z:0.02 [[ 9.99897823e-01 -1.42948594e-02 0.00000000e+00 3.31471003e+01] [ 1.42948594e-02 9.99897823e-01 0.00000000e+00 -1.89951256e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45116331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.540371743 meters Centerline goodness : 0.984041 with order 1 Centerline is valid? [True, True] Translation: X:33.21, Y:-1.90, Z:0.02 [[ 9.99860637e-01 -1.66945335e-02 0.00000000e+00 3.32095438e+01] [ 1.66945335e-02 9.99860637e-01 0.00000000e+00 -1.90192655e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21638905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.600371743000004 meters Centerline goodness : 0.983912 with order 1 Centerline is valid? [True, True] Translation: X:33.27, Y:-1.90, Z:0.02 [[ 9.99805631e-01 -1.97154728e-02 0.00000000e+00 3.32704665e+01] [ 1.97154728e-02 9.99805631e-01 0.00000000e+00 -1.89801641e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36158013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.660371743 meters Centerline goodness : 0.984235 with order 1 Centerline is valid? [True, True] Translation: X:33.33, Y:-1.90, Z:0.02 [[ 9.99833026e-01 -1.82734623e-02 0.00000000e+00 3.33330571e+01] [ 1.82734623e-02 9.99833026e-01 0.00000000e+00 -1.89793722e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41811634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.720371743 meters Centerline goodness : 0.984363 with order 1 Centerline is valid? [True, True] Translation: X:33.39, Y:-1.89, Z:0.02 [[ 9.99882464e-01 -1.53316238e-02 0.00000000e+00 3.33947821e+01] [ 1.53316238e-02 9.99882464e-01 0.00000000e+00 -1.89408219e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34567058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.780371743 meters Centerline goodness : 0.989121 with order 1 Centerline is valid? [True, True] Translation: X:33.46, Y:-1.88, Z:0.03 [[ 9.99912780e-01 -1.32072649e-02 0.00000000e+00 3.34575958e+01] [ 1.32072649e-02 9.99912780e-01 0.00000000e+00 -1.87564884e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51710924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.840371743 meters Centerline goodness : 0.986007 with order 1 Centerline is valid? [True, True] Translation: X:33.52, Y:-1.88, Z:0.03 [[ 9.99981775e-01 -6.03737370e-03 0.00000000e+00 3.35197824e+01] [ 6.03737370e-03 9.99981775e-01 0.00000000e+00 -1.87937528e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70317512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.900371743 meters Centerline goodness : 0.986181 with order 1 Centerline is valid? [True, True] Translation: X:33.58, Y:-1.87, Z:0.03 [[ 9.99987156e-01 -5.06823582e-03 0.00000000e+00 3.35815578e+01] [ 5.06823582e-03 9.99987156e-01 0.00000000e+00 -1.87362032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60176428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.960371743 meters Centerline goodness : 0.987257 with order 1 Centerline is valid? [True, True] Translation: X:33.64, Y:-1.87, Z:0.02 [[ 9.99989036e-01 -4.68279202e-03 0.00000000e+00 3.36430323e+01] [ 4.68279202e-03 9.99989036e-01 0.00000000e+00 -1.86875994e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46955576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.020371743 meters Centerline goodness : 0.990424 with order 1 Centerline is valid? [True, True] Translation: X:33.70, Y:-1.86, Z:0.03 [[ 9.99963227e-01 -8.57583743e-03 0.00000000e+00 3.37047074e+01] [ 8.57583743e-03 9.99963227e-01 0.00000000e+00 -1.85526576e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88994706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.080371743 meters Centerline goodness : 0.989619 with order 1 Centerline is valid? [True, True] Translation: X:33.77, Y:-1.86, Z:0.02 [[ 9.99986247e-01 5.24457339e-03 0.00000000e+00 3.37660591e+01] [-5.24457339e-03 9.99986247e-01 0.00000000e+00 -1.85760859e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47022854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.140371743 meters Centerline goodness : 0.990044 with order 1 Centerline is valid? [True, True] Translation: X:33.82, Y:-1.85, Z:0.03 [[ 9.99938341e-01 1.11047066e-02 0.00000000e+00 3.38248851e+01] [-1.11047066e-02 9.99938341e-01 0.00000000e+00 -1.85235095e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50496288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.200371743 meters Centerline goodness : 0.992606 with order 1 Centerline is valid? [True, True] Translation: X:33.88, Y:-1.84, Z:0.03 [[ 9.99968668e-01 7.91604489e-03 0.00000000e+00 3.38843692e+01] [-7.91604489e-03 9.99968668e-01 0.00000000e+00 -1.83884387e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22888163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.260371743 meters Centerline goodness : 0.991629 with order 1 Centerline is valid? [True, True] Translation: X:33.94, Y:-1.84, Z:0.03 [[ 9.99885192e-01 1.51526410e-02 0.00000000e+00 3.39425680e+01] [-1.51526410e-02 9.99885192e-01 0.00000000e+00 -1.84434239e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85619786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.320371743 meters Centerline goodness : 0.993280 with order 1 Centerline is valid? [True, True] Translation: X:34.00, Y:-1.84, Z:0.03 [[ 9.99987956e-01 4.90795799e-03 0.00000000e+00 3.40004214e+01] [-4.90795799e-03 9.99987956e-01 0.00000000e+00 -1.83538034e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04536626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.380371743 meters Centerline goodness : 0.991704 with order 1 Centerline is valid? [True, True] Translation: X:34.06, Y:-1.84, Z:0.03 [[ 9.99972370e-01 7.43364126e-03 0.00000000e+00 3.40595050e+01] [-7.43364126e-03 9.99972370e-01 0.00000000e+00 -1.84377480e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75678763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.440371743 meters Centerline goodness : 0.991371 with order 1 Centerline is valid? [True, True] Translation: X:34.12, Y:-1.84, Z:0.02 [[ 9.99999479e-01 1.02046751e-03 0.00000000e+00 3.41169453e+01] [-1.02046751e-03 9.99999479e-01 0.00000000e+00 -1.84358531e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34758031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.500371743 meters Centerline goodness : 0.991788 with order 1 Centerline is valid? [True, True] Translation: X:34.18, Y:-1.84, Z:0.02 [[ 9.99984316e-01 -5.60066087e-03 0.00000000e+00 3.41778824e+01] [ 5.60066087e-03 9.99984316e-01 0.00000000e+00 -1.84297659e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20882237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.560371743000005 meters Centerline goodness : 0.993654 with order 1 Centerline is valid? [True, True] Translation: X:34.24, Y:-1.83, Z:0.03 [[ 9.99873181e-01 -1.59254992e-02 0.00000000e+00 3.42391670e+01] [ 1.59254992e-02 9.99873181e-01 0.00000000e+00 -1.83313508e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69810875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.620371743 meters Centerline goodness : 0.993716 with order 1 Centerline is valid? [True, True] Translation: X:34.30, Y:-1.83, Z:0.03 [[ 9.99807133e-01 -1.96391600e-02 0.00000000e+00 3.43026361e+01] [ 1.96391600e-02 9.99807133e-01 0.00000000e+00 -1.83159285e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78566274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.680371743 meters Centerline goodness : 0.991785 with order 1 Centerline is valid? [True, True] Translation: X:34.36, Y:-1.84, Z:0.02 [[ 9.99885795e-01 -1.51127832e-02 0.00000000e+00 3.43644873e+01] [ 1.51127832e-02 9.99885795e-01 0.00000000e+00 -1.83640782e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47494170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.740371743000004 meters Centerline goodness : 0.992439 with order 1 Centerline is valid? [True, True] Translation: X:34.43, Y:-1.83, Z:0.02 [[ 9.99900581e-01 -1.41006433e-02 0.00000000e+00 3.44255469e+01] [ 1.41006433e-02 9.99900581e-01 0.00000000e+00 -1.83330022e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16818853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.800371743 meters Centerline goodness : 0.992197 with order 1 Centerline is valid? [True, True] Translation: X:34.49, Y:-1.83, Z:0.02 [[ 9.99908595e-01 -1.35204405e-02 0.00000000e+00 3.44883252e+01] [ 1.35204405e-02 9.99908595e-01 0.00000000e+00 -1.82750581e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26533509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.860371743 meters Centerline goodness : 0.993099 with order 1 Centerline is valid? [True, True] Translation: X:34.55, Y:-1.82, Z:0.02 [[ 9.99891465e-01 -1.47329008e-02 0.00000000e+00 3.45511845e+01] [ 1.47329008e-02 9.99891465e-01 0.00000000e+00 -1.82095542e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43452827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.920371743000004 meters Centerline goodness : 0.993415 with order 1 Centerline is valid? [True, True] Translation: X:34.61, Y:-1.82, Z:0.02 [[ 9.99871743e-01 -1.60155138e-02 0.00000000e+00 3.46124403e+01] [ 1.60155138e-02 9.99871743e-01 0.00000000e+00 -1.81627340e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38575767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.980371743 meters Centerline goodness : 0.994696 with order 1 Centerline is valid? [True, True] Translation: X:34.67, Y:-1.81, Z:0.03 [[ 9.99756346e-01 -2.20737197e-02 0.00000000e+00 3.46740801e+01] [ 2.20737197e-02 9.99756346e-01 0.00000000e+00 -1.80513421e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07874157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.040371743 meters Centerline goodness : 0.995111 with order 1 Centerline is valid? [True, True] Translation: X:34.74, Y:-1.80, Z:0.03 [[ 9.99815929e-01 -1.91861407e-02 0.00000000e+00 3.47370654e+01] [ 1.91861407e-02 9.99815929e-01 0.00000000e+00 -1.80005452e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20276324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.100371743000004 meters Centerline goodness : 0.993836 with order 1 Centerline is valid? [True, True] Translation: X:34.80, Y:-1.81, Z:0.02 [[ 9.99999619e-01 8.73290632e-04 0.00000000e+00 3.47986321e+01] [-8.73290632e-04 9.99999619e-01 0.00000000e+00 -1.80836762e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82110956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.160371743 meters Centerline goodness : 0.995387 with order 1 Centerline is valid? [True, True] Translation: X:34.86, Y:-1.79, Z:0.03 [[ 9.99995739e-01 -2.91913079e-03 0.00000000e+00 3.48585804e+01] [ 2.91913079e-03 9.99995739e-01 0.00000000e+00 -1.79210694e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14362953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.220371743 meters Centerline goodness : 0.992587 with order 1 Centerline is valid? [True, True] Translation: X:34.92, Y:-1.80, Z:0.02 [[ 9.99797296e-01 2.01337226e-02 0.00000000e+00 3.49190876e+01] [-2.01337226e-02 9.99797296e-01 0.00000000e+00 -1.79819663e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18780107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.280371743 meters Centerline goodness : 0.993447 with order 1 Centerline is valid? [True, True] Translation: X:34.98, Y:-1.78, Z:0.03 [[ 9.99582900e-01 2.88795166e-02 0.00000000e+00 3.49785574e+01] [-2.88795166e-02 9.99582900e-01 0.00000000e+00 -1.78381411e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24831287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.340371743 meters Centerline goodness : 0.991707 with order 1 Centerline is valid? [True, True] Translation: X:35.04, Y:-1.80, Z:0.02 [[ 9.98559079e-01 5.36634499e-02 0.00000000e+00 3.50368366e+01] [-5.36634499e-02 9.98559079e-01 0.00000000e+00 -1.79705381e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34567817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.400371743 meters Centerline goodness : 0.991331 with order 1 Centerline is valid? [True, True] Translation: X:35.10, Y:-1.80, Z:0.02 [[ 9.97943401e-01 6.41012411e-02 0.00000000e+00 3.50954234e+01] [-6.41012411e-02 9.97943401e-01 0.00000000e+00 -1.80468208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14745916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.460371743 meters Centerline goodness : 0.993226 with order 1 Centerline is valid? [True, True] Translation: X:35.15, Y:-1.80, Z:0.03 [[ 9.98399917e-01 5.65473748e-02 0.00000000e+00 3.51531054e+01] [-5.65473748e-02 9.98399917e-01 0.00000000e+00 -1.80230813e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17408461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.520371743 meters Centerline goodness : 0.992437 with order 1 Centerline is valid? [True, True] Translation: X:35.21, Y:-1.83, Z:0.02 [[ 9.97807807e-01 6.61783969e-02 0.00000000e+00 3.52107768e+01] [-6.61783969e-02 9.97807807e-01 0.00000000e+00 -1.83019362e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92204555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.580371743 meters Centerline goodness : 0.992553 with order 1 Centerline is valid? [True, True] Translation: X:35.27, Y:-1.84, Z:0.02 [[ 9.97959332e-01 6.38527398e-02 0.00000000e+00 3.52689503e+01] [-6.38527398e-02 9.97959332e-01 0.00000000e+00 -1.83649431e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04602578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.640371743 meters Centerline goodness : 0.994238 with order 1 Centerline is valid? [True, True] Translation: X:35.33, Y:-1.84, Z:0.03 [[ 9.98680913e-01 5.13462177e-02 0.00000000e+00 3.53253178e+01] [-5.13462177e-02 9.98680913e-01 0.00000000e+00 -1.84310248e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03275853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.700371743 meters Centerline goodness : 0.991636 with order 1 Centerline is valid? [True, True] Translation: X:35.38, Y:-1.87, Z:0.02 [[ 9.98392237e-01 5.66828144e-02 0.00000000e+00 3.53830095e+01] [-5.66828144e-02 9.98392237e-01 0.00000000e+00 -1.87281756e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46304294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.760371743 meters Centerline goodness : 0.993744 with order 1 Centerline is valid? [True, True] Translation: X:35.44, Y:-1.88, Z:0.03 [[ 9.99019124e-01 4.42808016e-02 0.00000000e+00 3.54401840e+01] [-4.42808016e-02 9.99019124e-01 0.00000000e+00 -1.88094342e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02084136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.820371743 meters Centerline goodness : 0.992461 with order 1 Centerline is valid? [True, True] Translation: X:35.50, Y:-1.90, Z:0.03 [[ 9.99277712e-01 3.80007184e-02 0.00000000e+00 3.54982668e+01] [-3.80007184e-02 9.99277712e-01 0.00000000e+00 -1.90014440e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92802954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.880371743 meters Centerline goodness : 0.991807 with order 1 Centerline is valid? [True, True] Translation: X:35.56, Y:-1.92, Z:0.03 [[ 9.99553139e-01 2.98918519e-02 0.00000000e+00 3.55568266e+01] [-2.98918519e-02 9.99553139e-01 0.00000000e+00 -1.91833878e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95491704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.940371743 meters Centerline goodness : 0.991243 with order 1 Centerline is valid? [True, True] Translation: X:35.61, Y:-1.93, Z:0.03 [[ 9.99676855e-01 2.54201766e-02 0.00000000e+00 3.56139052e+01] [-2.54201766e-02 9.99676855e-01 0.00000000e+00 -1.93088086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94483985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.000371743 meters Centerline goodness : 0.987399 with order 1 Centerline is valid? [True, True] Translation: X:35.67, Y:-1.96, Z:0.02 [[ 9.99560047e-01 2.96599616e-02 0.00000000e+00 3.56716912e+01] [-2.96599616e-02 9.99560047e-01 0.00000000e+00 -1.95819663e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23274650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.060371743 meters Centerline goodness : 0.989277 with order 1 Centerline is valid? [True, True] Translation: X:35.73, Y:-1.96, Z:0.03 [[ 9.99884879e-01 1.51732788e-02 0.00000000e+00 3.57292880e+01] [-1.51732788e-02 9.99884879e-01 0.00000000e+00 -1.95614110e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07958303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.120371743 meters Centerline goodness : 0.988521 with order 1 Centerline is valid? [True, True] Translation: X:35.79, Y:-1.97, Z:0.03 [[ 9.99936853e-01 1.12378562e-02 0.00000000e+00 3.57880307e+01] [-1.12378562e-02 9.99936853e-01 0.00000000e+00 -1.96685347e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27706148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.180371743 meters Centerline goodness : 0.988488 with order 1 Centerline is valid? [True, True] Translation: X:35.85, Y:-1.97, Z:0.03 [[ 9.99971702e-01 7.52300853e-03 0.00000000e+00 3.58452794e+01] [-7.52300853e-03 9.99971702e-01 0.00000000e+00 -1.97337495e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47238325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.240371743000004 meters Centerline goodness : 0.987903 with order 1 Centerline is valid? [True, True] Translation: X:35.90, Y:-1.98, Z:0.03 [[ 9.99983900e-01 5.67456646e-03 0.00000000e+00 3.59041972e+01] [-5.67456646e-03 9.99983900e-01 0.00000000e+00 -1.97787374e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44305533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.300371743 meters Centerline goodness : 0.988842 with order 1 Centerline is valid? [True, True] Translation: X:35.96, Y:-1.98, Z:0.03 [[ 9.99993638e-01 3.56704273e-03 0.00000000e+00 3.59636449e+01] [-3.56704273e-03 9.99993638e-01 0.00000000e+00 -1.98099834e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35806491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.360371743 meters Centerline goodness : 0.988056 with order 1 Centerline is valid? [True, True] Translation: X:36.02, Y:-1.98, Z:0.03 [[ 9.99997453e-01 2.25701198e-03 0.00000000e+00 3.60236615e+01] [-2.25701198e-03 9.99997453e-01 0.00000000e+00 -1.98240159e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34436988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.420371743000004 meters Centerline goodness : 0.986089 with order 1 Centerline is valid? [True, True] Translation: X:36.08, Y:-1.99, Z:0.04 [[ 9.99968211e-01 7.97352731e-03 0.00000000e+00 3.60830453e+01] [-7.97352731e-03 9.99968211e-01 0.00000000e+00 -1.98945769e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52752452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.480371743 meters Centerline goodness : 0.986109 with order 1 Centerline is valid? [True, True] Translation: X:36.14, Y:-1.99, Z:0.03 [[ 9.99999527e-01 9.72535144e-04 0.00000000e+00 3.61430652e+01] [-9.72535144e-04 9.99999527e-01 0.00000000e+00 -1.98766544e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25734362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.540371743 meters Centerline goodness : 0.989879 with order 1 Centerline is valid? [True, True] Translation: X:36.20, Y:-1.98, Z:0.03 [[ 9.99959922e-01 -8.95286292e-03 0.00000000e+00 3.62025589e+01] [ 8.95286292e-03 9.99959922e-01 0.00000000e+00 -1.97873270e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13815711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.600371743000004 meters Centerline goodness : 0.987929 with order 1 Centerline is valid? [True, True] Translation: X:36.26, Y:-1.98, Z:0.03 [[ 9.99953212e-01 -9.67334536e-03 0.00000000e+00 3.62642690e+01] [ 9.67334536e-03 9.99953212e-01 0.00000000e+00 -1.98035134e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09667729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.660371743 meters Centerline goodness : 0.989585 with order 1 Centerline is valid? [True, True] Translation: X:36.33, Y:-1.98, Z:0.03 [[ 9.99947535e-01 -1.02433969e-02 0.00000000e+00 3.63266043e+01] [ 1.02433969e-02 9.99947535e-01 0.00000000e+00 -1.97850478e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67724428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.720371743 meters Centerline goodness : 0.990316 with order 1 Centerline is valid? [True, True] Translation: X:36.39, Y:-1.98, Z:0.03 [[ 9.99916075e-01 -1.29554454e-02 0.00000000e+00 3.63891000e+01] [ 1.29554454e-02 9.99916075e-01 0.00000000e+00 -1.97503036e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59597732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.780371743 meters Centerline goodness : 0.991195 with order 1 Centerline is valid? [True, True] Translation: X:36.45, Y:-1.97, Z:0.03 [[ 9.99876448e-01 -1.57190346e-02 0.00000000e+00 3.64510610e+01] [ 1.57190346e-02 9.99876448e-01 0.00000000e+00 -1.96946921e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82195602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.840371743 meters Centerline goodness : 0.992316 with order 1 Centerline is valid? [True, True] Translation: X:36.51, Y:-1.96, Z:0.02 [[ 9.99906036e-01 -1.37083312e-02 0.00000000e+00 3.65123440e+01] [ 1.37083312e-02 9.99906036e-01 0.00000000e+00 -1.96106785e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47973432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.900371743 meters Centerline goodness : 0.993324 with order 1 Centerline is valid? [True, True] Translation: X:36.57, Y:-1.96, Z:0.03 [[ 9.99989505e-01 -4.58138872e-03 0.00000000e+00 3.65743383e+01] [ 4.58138872e-03 9.99989505e-01 0.00000000e+00 -1.95579074e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50302268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.960371743 meters Centerline goodness : 0.990667 with order 1 Centerline is valid? [True, True] Translation: X:36.63, Y:-1.96, Z:0.02 [[ 9.99943984e-01 1.05843471e-02 0.00000000e+00 3.66341525e+01] [-1.05843471e-02 9.99943984e-01 0.00000000e+00 -1.96414057e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69304324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.020371743 meters Centerline goodness : 0.993559 with order 1 Centerline is valid? [True, True] Translation: X:36.69, Y:-1.95, Z:0.02 [[ 9.99924421e-01 1.22944388e-02 0.00000000e+00 3.66922786e+01] [-1.22944388e-02 9.99924421e-01 0.00000000e+00 -1.95255005e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49401709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.080371743 meters Centerline goodness : 0.992333 with order 1 Centerline is valid? [True, True] Translation: X:36.75, Y:-1.95, Z:0.02 [[ 9.99800795e-01 1.99592000e-02 0.00000000e+00 3.67500583e+01] [-1.99592000e-02 9.99800795e-01 0.00000000e+00 -1.95437017e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49996700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.140371743 meters Centerline goodness : 0.993566 with order 1 Centerline is valid? [True, True] Translation: X:36.81, Y:-1.96, Z:0.02 [[ 9.99697106e-01 2.46109039e-02 0.00000000e+00 3.68089846e+01] [-2.46109039e-02 9.99697106e-01 0.00000000e+00 -1.96089067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35374819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.200371743 meters Centerline goodness : 0.993168 with order 1 Centerline is valid? [True, True] Translation: X:36.87, Y:-1.97, Z:0.02 [[ 9.99592565e-01 2.85430033e-02 0.00000000e+00 3.68664564e+01] [-2.85430033e-02 9.99592565e-01 0.00000000e+00 -1.97053871e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96058987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.260371743 meters Centerline goodness : 0.991981 with order 1 Centerline is valid? [True, True] Translation: X:36.92, Y:-1.98, Z:0.02 [[ 9.99450014e-01 3.31612688e-02 0.00000000e+00 3.69243336e+01] [-3.31612688e-02 9.99450014e-01 0.00000000e+00 -1.98360321e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79086262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.320371743 meters Centerline goodness : 0.991543 with order 1 Centerline is valid? [True, True] Translation: X:36.98, Y:-2.00, Z:0.02 [[ 9.99183994e-01 4.03899276e-02 0.00000000e+00 3.69815226e+01] [-4.03899276e-02 9.99183994e-01 0.00000000e+00 -1.99854847e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64120236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.380371743 meters Centerline goodness : 0.990596 with order 1 Centerline is valid? [True, True] Translation: X:37.04, Y:-2.02, Z:0.02 [[ 9.98841300e-01 4.81254309e-02 0.00000000e+00 3.70390764e+01] [-4.81254309e-02 9.98841300e-01 0.00000000e+00 -2.01521817e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52335077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.440371743 meters Centerline goodness : 0.987701 with order 1 Centerline is valid? [True, True] Translation: X:37.10, Y:-2.03, Z:0.02 [[ 9.98487481e-01 5.49795513e-02 0.00000000e+00 3.70975056e+01] [-5.49795513e-02 9.98487481e-01 0.00000000e+00 -2.02922757e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71267555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.500371743 meters Centerline goodness : 0.988023 with order 1 Centerline is valid? [True, True] Translation: X:37.16, Y:-2.04, Z:0.01 [[ 9.98643038e-01 5.20776541e-02 0.00000000e+00 3.71551857e+01] [-5.20776541e-02 9.98643038e-01 0.00000000e+00 -2.04290589e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37215865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.560371743 meters Centerline goodness : 0.985483 with order 1 Centerline is valid? [True, True] Translation: X:37.21, Y:-2.07, Z:0.01 [[ 9.98446647e-01 5.57161794e-02 0.00000000e+00 3.72130589e+01] [-5.57161794e-02 9.98446647e-01 0.00000000e+00 -2.06726612e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16579400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.620371743 meters Centerline goodness : 0.985034 with order 1 Centerline is valid? [True, True] Translation: X:37.27, Y:-2.09, Z:0.01 [[ 9.99011965e-01 4.44420325e-02 0.00000000e+00 3.72715107e+01] [-4.44420325e-02 9.99011965e-01 0.00000000e+00 -2.08842333e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31254352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.680371743 meters Centerline goodness : 0.986474 with order 1 Centerline is valid? [True, True] Translation: X:37.33, Y:-2.11, Z:0.01 [[ 9.99530101e-01 3.06525225e-02 0.00000000e+00 3.73295734e+01] [-3.06525225e-02 9.99530101e-01 0.00000000e+00 -2.10899581e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47342348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.740371743000004 meters Centerline goodness : 0.989794 with order 1 Centerline is valid? [True, True] Translation: X:37.39, Y:-2.12, Z:0.02 [[ 9.99942472e-01 1.07262378e-02 0.00000000e+00 3.73867536e+01] [-1.07262378e-02 9.99942472e-01 0.00000000e+00 -2.12178515e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76785914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.800371743 meters Centerline goodness : 0.990453 with order 1 Centerline is valid? [True, True] Translation: X:37.45, Y:-2.14, Z:0.02 [[ 9.99999827e-01 -5.87946248e-04 0.00000000e+00 3.74459667e+01] [ 5.87946248e-04 9.99999827e-01 0.00000000e+00 -2.13647555e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07574669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.860371743 meters Centerline goodness : 0.991297 with order 1 Centerline is valid? [True, True] Translation: X:37.51, Y:-2.15, Z:0.02 [[ 9.99938040e-01 -1.11317705e-02 0.00000000e+00 3.75063333e+01] [ 1.11317705e-02 9.99938040e-01 0.00000000e+00 -2.14679420e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16473766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.920371743000004 meters Centerline goodness : 0.991907 with order 1 Centerline is valid? [True, True] Translation: X:37.57, Y:-2.15, Z:0.02 [[ 9.99808069e-01 -1.95914361e-02 0.00000000e+00 3.75677058e+01] [ 1.95914361e-02 9.99808069e-01 0.00000000e+00 -2.15194992e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28436929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.980371743 meters Centerline goodness : 0.991076 with order 1 Centerline is valid? [True, True] Translation: X:37.63, Y:-2.15, Z:0.02 [[ 9.99713044e-01 -2.39547324e-02 0.00000000e+00 3.76288797e+01] [ 2.39547324e-02 9.99713044e-01 0.00000000e+00 -2.15312915e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42145763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.040371743 meters Centerline goodness : 0.991400 with order 1 Centerline is valid? [True, True] Translation: X:37.69, Y:-2.15, Z:0.02 [[ 9.99644167e-01 -2.66746797e-02 0.00000000e+00 3.76903982e+01] [ 2.66746797e-02 9.99644167e-01 0.00000000e+00 -2.15206987e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43559230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.100371743000004 meters Centerline goodness : 0.991531 with order 1 Centerline is valid? [True, True] Translation: X:37.75, Y:-2.15, Z:0.02 [[ 9.99475274e-01 -3.23910042e-02 0.00000000e+00 3.77528844e+01] [ 3.23910042e-02 9.99475274e-01 0.00000000e+00 -2.14779803e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42301186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.160371743 meters Centerline goodness : 0.991115 with order 1 Centerline is valid? [True, True] Translation: X:37.82, Y:-2.14, Z:0.02 [[ 9.99312285e-01 -3.70804261e-02 0.00000000e+00 3.78152309e+01] [ 3.70804261e-02 9.99312285e-01 0.00000000e+00 -2.14160998e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47283065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.220371743 meters Centerline goodness : 0.990544 with order 1 Centerline is valid? [True, True] Translation: X:37.88, Y:-2.13, Z:0.02 [[ 9.99209626e-01 -3.97507534e-02 0.00000000e+00 3.78767430e+01] [ 3.97507534e-02 9.99209626e-01 0.00000000e+00 -2.13457249e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46548690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.280371743 meters Centerline goodness : 0.990376 with order 1 Centerline is valid? [True, True] Translation: X:37.94, Y:-2.12, Z:0.02 [[ 9.99195876e-01 -4.00949014e-02 0.00000000e+00 3.79389765e+01] [ 4.00949014e-02 9.99195876e-01 0.00000000e+00 -2.12480055e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09239566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.340371743 meters Centerline goodness : 0.990680 with order 1 Centerline is valid? [True, True] Translation: X:38.00, Y:-2.12, Z:0.02 [[ 9.99273908e-01 -3.81006096e-02 0.00000000e+00 3.80010745e+01] [ 3.81006096e-02 9.99273908e-01 0.00000000e+00 -2.11952682e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98686861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.400371743 meters Centerline goodness : 0.988352 with order 1 Centerline is valid? [True, True] Translation: X:38.06, Y:-2.12, Z:0.02 [[ 9.99636000e-01 -2.69790174e-02 0.00000000e+00 3.80637140e+01] [ 2.69790174e-02 9.99636000e-01 0.00000000e+00 -2.11850632e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51786648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.460371743 meters Centerline goodness : 0.988657 with order 1 Centerline is valid? [True, True] Translation: X:38.13, Y:-2.11, Z:0.02 [[ 9.99662825e-01 -2.59660561e-02 0.00000000e+00 3.81250133e+01] [ 2.59660561e-02 9.99662825e-01 0.00000000e+00 -2.10583171e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03889673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.520371743 meters Centerline goodness : 0.989197 with order 1 Centerline is valid? [True, True] Translation: X:38.19, Y:-2.09, Z:0.02 [[ 9.99567507e-01 -2.94074553e-02 0.00000000e+00 3.81881380e+01] [ 2.94074553e-02 9.99567507e-01 0.00000000e+00 -2.08710109e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25746641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.580371743 meters Centerline goodness : 0.989774 with order 1 Centerline is valid? [True, True] Translation: X:38.25, Y:-2.09, Z:0.02 [[ 9.99740345e-01 -2.27869155e-02 0.00000000e+00 3.82501190e+01] [ 2.27869155e-02 9.99740345e-01 0.00000000e+00 -2.08999646e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06833783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.640371743 meters Centerline goodness : 0.987625 with order 1 Centerline is valid? [True, True] Translation: X:38.31, Y:-2.08, Z:0.02 [[ 9.99678104e-01 -2.53710258e-02 0.00000000e+00 3.83116593e+01] [ 2.53710258e-02 9.99678104e-01 0.00000000e+00 -2.08228048e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10009613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.700371743 meters Centerline goodness : 0.989977 with order 1 Centerline is valid? [True, True] Translation: X:38.38, Y:-2.07, Z:0.02 [[ 9.99370393e-01 -3.54798242e-02 0.00000000e+00 3.83755282e+01] [ 3.54798242e-02 9.99370393e-01 0.00000000e+00 -2.06706232e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15024850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.760371743 meters Centerline goodness : 0.991476 with order 1 Centerline is valid? [True, True] Translation: X:38.44, Y:-2.06, Z:0.02 [[ 9.99306104e-01 -3.72466248e-02 0.00000000e+00 3.84389773e+01] [ 3.72466248e-02 9.99306104e-01 0.00000000e+00 -2.05958183e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29419554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.820371743 meters Centerline goodness : 0.990770 with order 1 Centerline is valid? [True, True] Translation: X:38.50, Y:-2.06, Z:0.02 [[ 9.99575289e-01 -2.91417393e-02 0.00000000e+00 3.85017230e+01] [ 2.91417393e-02 9.99575289e-01 0.00000000e+00 -2.05961062e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05153050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.880371743 meters Centerline goodness : 0.991015 with order 1 Centerline is valid? [True, True] Translation: X:38.56, Y:-2.05, Z:0.02 [[ 9.99599197e-01 -2.83098248e-02 0.00000000e+00 3.85639913e+01] [ 2.83098248e-02 9.99599197e-01 0.00000000e+00 -2.05097303e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20659402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.940371743 meters Centerline goodness : 0.991584 with order 1 Centerline is valid? [True, True] Translation: X:38.63, Y:-2.04, Z:0.02 [[ 9.99555185e-01 -2.98233338e-02 0.00000000e+00 3.86270241e+01] [ 2.98233338e-02 9.99555185e-01 0.00000000e+00 -2.04404955e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13251177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.000371743 meters Centerline goodness : 0.992065 with order 1 Centerline is valid? [True, True] Translation: X:38.69, Y:-2.04, Z:0.02 [[ 9.99457878e-01 -3.29234034e-02 0.00000000e+00 3.86886269e+01] [ 3.29234034e-02 9.99457878e-01 0.00000000e+00 -2.03715587e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02135380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.060371743 meters Centerline goodness : 0.992310 with order 1 Centerline is valid? [True, True] Translation: X:38.75, Y:-2.03, Z:0.02 [[ 9.99345223e-01 -3.61818344e-02 0.00000000e+00 3.87511024e+01] [ 3.61818344e-02 9.99345223e-01 0.00000000e+00 -2.03039681e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09429172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.120371743 meters Centerline goodness : 0.992885 with order 1 Centerline is valid? [True, True] Translation: X:38.81, Y:-2.02, Z:0.02 [[ 9.99346358e-01 -3.61504761e-02 0.00000000e+00 3.88137316e+01] [ 3.61504761e-02 9.99346358e-01 0.00000000e+00 -2.02474783e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03428170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.180371743 meters Centerline goodness : 0.994754 with order 1 Centerline is valid? [True, True] Translation: X:38.88, Y:-2.01, Z:0.02 [[ 9.99194872e-01 -4.01199192e-02 0.00000000e+00 3.88757402e+01] [ 4.01199192e-02 9.99194872e-01 0.00000000e+00 -2.00771669e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47758453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.240371743000004 meters Centerline goodness : 0.993611 with order 1 Centerline is valid? [True, True] Translation: X:38.94, Y:-2.01, Z:0.02 [[ 9.99569537e-01 -2.93383697e-02 0.00000000e+00 3.89379101e+01] [ 2.93383697e-02 9.99569537e-01 0.00000000e+00 -2.00857594e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85905174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.300371743 meters Centerline goodness : 0.994028 with order 1 Centerline is valid? [True, True] Translation: X:39.00, Y:-2.01, Z:0.02 [[ 9.99591243e-01 -2.85892704e-02 0.00000000e+00 3.90008348e+01] [ 2.85892704e-02 9.99591243e-01 0.00000000e+00 -2.00542513e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87043328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.360371743 meters Centerline goodness : 0.994133 with order 1 Centerline is valid? [True, True] Translation: X:39.06, Y:-2.00, Z:0.02 [[ 9.99566534e-01 -2.94405179e-02 0.00000000e+00 3.90634168e+01] [ 2.94405179e-02 9.99566534e-01 0.00000000e+00 -2.00112138e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85484184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.420371743000004 meters Centerline goodness : 0.993499 with order 1 Centerline is valid? [True, True] Translation: X:39.12, Y:-2.00, Z:0.02 [[ 9.99506071e-01 -3.14263212e-02 0.00000000e+00 3.91249430e+01] [ 3.14263212e-02 9.99506071e-01 0.00000000e+00 -1.99805371e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93098803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.480371743 meters Centerline goodness : 0.993553 with order 1 Centerline is valid? [True, True] Translation: X:39.19, Y:-2.00, Z:0.02 [[ 9.99392132e-01 -3.48621028e-02 0.00000000e+00 3.91877913e+01] [ 3.48621028e-02 9.99392132e-01 0.00000000e+00 -1.99702921e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85013086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.540371743 meters Centerline goodness : 0.994285 with order 1 Centerline is valid? [True, True] Translation: X:39.25, Y:-1.99, Z:0.02 [[ 9.99301084e-01 -3.73810634e-02 0.00000000e+00 3.92500930e+01] [ 3.73810634e-02 9.99301084e-01 0.00000000e+00 -1.99378467e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80496089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.600371743000004 meters Centerline goodness : 0.993729 with order 1 Centerline is valid? [True, True] Translation: X:39.31, Y:-1.99, Z:0.02 [[ 9.99372147e-01 -3.54303777e-02 0.00000000e+00 3.93131369e+01] [ 3.54303777e-02 9.99372147e-01 0.00000000e+00 -1.99052415e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79799245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.660371743 meters Centerline goodness : 0.992778 with order 1 Centerline is valid? [True, True] Translation: X:39.38, Y:-1.99, Z:0.02 [[ 9.99409730e-01 -3.43539055e-02 0.00000000e+00 3.93760859e+01] [ 3.43539055e-02 9.99409730e-01 0.00000000e+00 -1.98660919e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89678074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.720371743 meters Centerline goodness : 0.992811 with order 1 Centerline is valid? [True, True] Translation: X:39.44, Y:-1.98, Z:0.02 [[ 9.99433519e-01 -3.36547242e-02 0.00000000e+00 3.94389834e+01] [ 3.36547242e-02 9.99433519e-01 0.00000000e+00 -1.98350753e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80887716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.780371743 meters Centerline goodness : 0.993177 with order 1 Centerline is valid? [True, True] Translation: X:39.50, Y:-1.98, Z:0.02 [[ 9.99446721e-01 -3.32603621e-02 0.00000000e+00 3.95012225e+01] [ 3.32603621e-02 9.99446721e-01 0.00000000e+00 -1.98107308e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71694907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.840371743 meters Centerline goodness : 0.994185 with order 1 Centerline is valid? [True, True] Translation: X:39.56, Y:-1.98, Z:0.02 [[ 9.99431533e-01 -3.37136486e-02 0.00000000e+00 3.95646104e+01] [ 3.37136486e-02 9.99431533e-01 0.00000000e+00 -1.97791459e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81611141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.900371743 meters Centerline goodness : 0.993802 with order 1 Centerline is valid? [True, True] Translation: X:39.63, Y:-1.98, Z:0.02 [[ 9.99418440e-01 -3.40995798e-02 0.00000000e+00 3.96282075e+01] [ 3.40995798e-02 9.99418440e-01 0.00000000e+00 -1.97742915e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85395586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.960371743 meters Centerline goodness : 0.993722 with order 1 Centerline is valid? [True, True] Translation: X:39.69, Y:-1.98, Z:0.02 [[ 9.99423133e-01 -3.39617602e-02 0.00000000e+00 3.96918112e+01] [ 3.39617602e-02 9.99423133e-01 0.00000000e+00 -1.97727509e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84065791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.020371743 meters Centerline goodness : 0.993579 with order 1 Centerline is valid? [True, True] Translation: X:39.75, Y:-1.98, Z:0.02 [[ 9.99353148e-01 -3.59622832e-02 0.00000000e+00 3.97547454e+01] [ 3.59622832e-02 9.99353148e-01 0.00000000e+00 -1.97651608e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86524965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.080371743 meters Centerline goodness : 0.993173 with order 1 Centerline is valid? [True, True] Translation: X:39.82, Y:-1.98, Z:0.02 [[ 9.99314529e-01 -3.70198860e-02 0.00000000e+00 3.98172037e+01] [ 3.70198860e-02 9.99314529e-01 0.00000000e+00 -1.97692461e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69737072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.140371743 meters Centerline goodness : 0.993322 with order 1 Centerline is valid? [True, True] Translation: X:39.88, Y:-1.98, Z:0.02 [[ 9.99361683e-01 -3.57243075e-02 0.00000000e+00 3.98797097e+01] [ 3.57243075e-02 9.99361683e-01 0.00000000e+00 -1.97690561e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65225886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.200371743 meters Centerline goodness : 0.992941 with order 1 Centerline is valid? [True, True] Translation: X:39.94, Y:-1.98, Z:0.02 [[ 9.99502850e-01 -3.15286190e-02 0.00000000e+00 3.99417014e+01] [ 3.15286190e-02 9.99502850e-01 0.00000000e+00 -1.97580974e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60394881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.260371743 meters Centerline goodness : 0.992314 with order 1 Centerline is valid? [True, True] Translation: X:40.00, Y:-1.98, Z:0.02 [[ 9.99586307e-01 -2.87613502e-02 0.00000000e+00 4.00041790e+01] [ 2.87613502e-02 9.99586307e-01 0.00000000e+00 -1.97573665e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85710861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.320371743 meters Centerline goodness : 0.992585 with order 1 Centerline is valid? [True, True] Translation: X:40.07, Y:-1.98, Z:0.02 [[ 9.99701064e-01 -2.44495864e-02 0.00000000e+00 4.00660000e+01] [ 2.44495864e-02 9.99701064e-01 0.00000000e+00 -1.97823574e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79006524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.380371743 meters Centerline goodness : 0.992915 with order 1 Centerline is valid? [True, True] Translation: X:40.13, Y:-1.98, Z:0.02 [[ 9.99840046e-01 -1.78852445e-02 0.00000000e+00 4.01291606e+01] [ 1.78852445e-02 9.99840046e-01 0.00000000e+00 -1.97794225e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85884995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.440371743 meters Centerline goodness : 0.993794 with order 1 Centerline is valid? [True, True] Translation: X:40.19, Y:-1.97, Z:0.02 [[ 9.99827764e-01 -1.85591568e-02 0.00000000e+00 4.01907345e+01] [ 1.85591568e-02 9.99827764e-01 0.00000000e+00 -1.97088333e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11626087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.500371743 meters Centerline goodness : 0.991790 with order 1 Centerline is valid? [True, True] Translation: X:40.25, Y:-1.98, Z:0.02 [[ 9.99982727e-01 -5.87759566e-03 0.00000000e+00 4.02520370e+01] [ 5.87759566e-03 9.99982727e-01 0.00000000e+00 -1.98196323e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51901346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.560371743 meters Centerline goodness : 0.991751 with order 1 Centerline is valid? [True, True] Translation: X:40.31, Y:-1.99, Z:0.01 [[ 9.99995154e-01 3.11318786e-03 0.00000000e+00 4.03127150e+01] [-3.11318786e-03 9.99995154e-01 0.00000000e+00 -1.98548815e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22035251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.620371743 meters Centerline goodness : 0.992113 with order 1 Centerline is valid? [True, True] Translation: X:40.37, Y:-1.99, Z:0.01 [[ 9.99888137e-01 1.49570711e-02 0.00000000e+00 4.03722403e+01] [-1.49570711e-02 9.99888137e-01 0.00000000e+00 -1.98950004e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09423855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.680371743 meters Centerline goodness : 0.991714 with order 1 Centerline is valid? [True, True] Translation: X:40.43, Y:-1.99, Z:0.01 [[ 9.99789726e-01 2.05061833e-02 0.00000000e+00 4.04295632e+01] [-2.05061833e-02 9.99789726e-01 0.00000000e+00 -1.99223143e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20084310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.740371743000004 meters Centerline goodness : 0.993887 with order 1 Centerline is valid? [True, True] Translation: X:40.49, Y:-1.98, Z:0.02 [[ 9.99835778e-01 1.81222646e-02 0.00000000e+00 4.04888958e+01] [-1.81222646e-02 9.99835778e-01 0.00000000e+00 -1.98488877e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30394538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.800371743 meters Centerline goodness : 0.994175 with order 1 Centerline is valid? [True, True] Translation: X:40.55, Y:-1.99, Z:0.02 [[ 9.99854548e-01 1.70553078e-02 0.00000000e+00 4.05467851e+01] [-1.70553078e-02 9.99854548e-01 0.00000000e+00 -1.99172808e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23349819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.860371743 meters Centerline goodness : 0.993844 with order 1 Centerline is valid? [True, True] Translation: X:40.60, Y:-2.00, Z:0.02 [[ 9.99961624e-01 8.76077005e-03 0.00000000e+00 4.06040816e+01] [-8.76077005e-03 9.99961624e-01 0.00000000e+00 -1.99957902e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93416964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.920371743000004 meters Centerline goodness : 0.992035 with order 1 Centerline is valid? [True, True] Translation: X:40.66, Y:-2.02, Z:0.01 [[ 9.99987567e-01 4.98665632e-03 0.00000000e+00 4.06615555e+01] [-4.98665632e-03 9.99987567e-01 0.00000000e+00 -2.01914462e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.33478836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.980371743 meters Centerline goodness : 0.992798 with order 1 Centerline is valid? [True, True] Translation: X:40.72, Y:-2.03, Z:0.01 [[ 9.99988194e-01 -4.85928045e-03 0.00000000e+00 4.07214969e+01] [ 4.85928045e-03 9.99988194e-01 0.00000000e+00 -2.02519515e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.81505509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.040371743 meters Centerline goodness : 0.992432 with order 1 Centerline is valid? [True, True] Translation: X:40.78, Y:-2.03, Z:0.01 [[ 9.99941692e-01 -1.07987520e-02 0.00000000e+00 4.07824318e+01] [ 1.07987520e-02 9.99941692e-01 0.00000000e+00 -2.02874768e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37973951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.100371743000004 meters Centerline goodness : 0.992695 with order 1 Centerline is valid? [True, True] Translation: X:40.85, Y:-2.03, Z:0.02 [[ 9.99880926e-01 -1.54316112e-02 0.00000000e+00 4.08452350e+01] [ 1.54316112e-02 9.99880926e-01 0.00000000e+00 -2.03138765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64907064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.160371743 meters Centerline goodness : 0.993850 with order 1 Centerline is valid? [True, True] Translation: X:40.91, Y:-2.04, Z:0.02 [[ 9.99794056e-01 -2.02940019e-02 0.00000000e+00 4.09079511e+01] [ 2.02940019e-02 9.99794056e-01 0.00000000e+00 -2.03519154e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56719039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.220371743 meters Centerline goodness : 0.993360 with order 1 Centerline is valid? [True, True] Translation: X:40.97, Y:-2.04, Z:0.01 [[ 9.99667825e-01 -2.57728308e-02 0.00000000e+00 4.09704254e+01] [ 2.57728308e-02 9.99667825e-01 0.00000000e+00 -2.03722593e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41955779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.280371743 meters Centerline goodness : 0.993779 with order 1 Centerline is valid? [True, True] Translation: X:41.03, Y:-2.04, Z:0.01 [[ 9.99656779e-01 -2.61977805e-02 0.00000000e+00 4.10338242e+01] [ 2.61977805e-02 9.99656779e-01 0.00000000e+00 -2.04064840e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30825835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.340371743 meters Centerline goodness : 0.994164 with order 1 Centerline is valid? [True, True] Translation: X:41.10, Y:-2.04, Z:0.01 [[ 9.99628465e-01 -2.72567625e-02 0.00000000e+00 4.10955888e+01] [ 2.72567625e-02 9.99628465e-01 0.00000000e+00 -2.04260504e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.28306555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.400371743 meters Centerline goodness : 0.993669 with order 1 Centerline is valid? [True, True] Translation: X:41.16, Y:-2.04, Z:0.01 [[ 9.99596793e-01 -2.83945778e-02 0.00000000e+00 4.11580295e+01] [ 2.83945778e-02 9.99596793e-01 0.00000000e+00 -2.03972403e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21519542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.460371743 meters Centerline goodness : 0.993784 with order 1 Centerline is valid? [True, True] Translation: X:41.22, Y:-2.04, Z:0.01 [[ 9.99618221e-01 -2.76299168e-02 0.00000000e+00 4.12209992e+01] [ 2.76299168e-02 9.99618221e-01 0.00000000e+00 -2.03844306e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39481045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.520371743 meters Centerline goodness : 0.992982 with order 1 Centerline is valid? [True, True] Translation: X:41.28, Y:-2.04, Z:0.02 [[ 9.99707666e-01 -2.41781229e-02 0.00000000e+00 4.12825172e+01] [ 2.41781229e-02 9.99707666e-01 0.00000000e+00 -2.03668519e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56256645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.580371743 meters Centerline goodness : 0.993014 with order 1 Centerline is valid? [True, True] Translation: X:41.35, Y:-2.04, Z:0.02 [[ 9.99797423e-01 -2.01274212e-02 0.00000000e+00 4.13456687e+01] [ 2.01274212e-02 9.99797423e-01 0.00000000e+00 -2.03516637e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65783598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.640371743 meters Centerline goodness : 0.992678 with order 1 Centerline is valid? [True, True] Translation: X:41.41, Y:-2.04, Z:0.02 [[ 9.99847530e-01 -1.74618636e-02 0.00000000e+00 4.14086206e+01] [ 1.74618636e-02 9.99847530e-01 0.00000000e+00 -2.03574096e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51947512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.700371743 meters Centerline goodness : 0.992866 with order 1 Centerline is valid? [True, True] Translation: X:41.47, Y:-2.04, Z:0.02 [[ 9.99840511e-01 -1.78592590e-02 0.00000000e+00 4.14719395e+01] [ 1.78592590e-02 9.99840511e-01 0.00000000e+00 -2.03609341e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58407059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.760371743 meters Centerline goodness : 0.992558 with order 1 Centerline is valid? [True, True] Translation: X:41.53, Y:-2.04, Z:0.02 [[ 9.99836458e-01 -1.80847364e-02 0.00000000e+00 4.15342274e+01] [ 1.80847364e-02 9.99836458e-01 0.00000000e+00 -2.03649659e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54567084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.820371743 meters Centerline goodness : 0.992654 with order 1 Centerline is valid? [True, True] Translation: X:41.60, Y:-2.04, Z:0.01 [[ 9.99867270e-01 -1.62924208e-02 0.00000000e+00 4.15969249e+01] [ 1.62924208e-02 9.99867270e-01 0.00000000e+00 -2.03735499e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26653299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.880371743 meters Centerline goodness : 0.992408 with order 1 Centerline is valid? [True, True] Translation: X:41.66, Y:-2.04, Z:0.01 [[ 9.99898028e-01 -1.42805651e-02 0.00000000e+00 4.16602471e+01] [ 1.42805651e-02 9.99898028e-01 0.00000000e+00 -2.03629613e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27235832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.940371743 meters Centerline goodness : 0.992869 with order 1 Centerline is valid? [True, True] Translation: X:41.72, Y:-2.03, Z:0.01 [[ 9.99922973e-01 -1.24116135e-02 0.00000000e+00 4.17223578e+01] [ 1.24116135e-02 9.99922973e-01 0.00000000e+00 -2.03495704e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42565073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.000371743 meters Centerline goodness : 0.992863 with order 1 Centerline is valid? [True, True] Translation: X:41.78, Y:-2.04, Z:0.01 [[ 9.99944772e-01 -1.05096384e-02 0.00000000e+00 4.17841482e+01] [ 1.05096384e-02 9.99944772e-01 0.00000000e+00 -2.03668845e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47968176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.060371743 meters Centerline goodness : 0.992395 with order 1 Centerline is valid? [True, True] Translation: X:41.85, Y:-2.04, Z:0.01 [[ 9.99904863e-01 -1.37936205e-02 0.00000000e+00 4.18464244e+01] [ 1.37936205e-02 9.99904863e-01 0.00000000e+00 -2.03827610e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37216296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.120371743 meters Centerline goodness : 0.992948 with order 1 Centerline is valid? [True, True] Translation: X:41.91, Y:-2.04, Z:0.01 [[ 9.99890035e-01 -1.48296088e-02 0.00000000e+00 4.19095329e+01] [ 1.48296088e-02 9.99890035e-01 0.00000000e+00 -2.04163694e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08912824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.180371743 meters Centerline goodness : 0.993055 with order 1 Centerline is valid? [True, True] Translation: X:41.97, Y:-2.04, Z:0.01 [[ 9.99875390e-01 -1.57862057e-02 0.00000000e+00 4.19722993e+01] [ 1.57862057e-02 9.99875390e-01 0.00000000e+00 -2.04259289e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.61951743e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.240371743 meters Centerline goodness : 0.992764 with order 1 Centerline is valid? [True, True] Translation: X:42.04, Y:-2.04, Z:0.01 [[ 9.99909850e-01 -1.34272840e-02 0.00000000e+00 4.20351008e+01] [ 1.34272840e-02 9.99909850e-01 0.00000000e+00 -2.04324889e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08555476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.300371743 meters Centerline goodness : 0.992631 with order 1 Centerline is valid? [True, True] Translation: X:42.10, Y:-2.05, Z:0.01 [[ 9.99934896e-01 -1.14107061e-02 0.00000000e+00 4.20980045e+01] [ 1.14107061e-02 9.99934896e-01 0.00000000e+00 -2.04520575e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24907112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.360371743 meters Centerline goodness : 0.992530 with order 1 Centerline is valid? [True, True] Translation: X:42.16, Y:-2.05, Z:0.01 [[ 9.99931510e-01 -1.17036331e-02 0.00000000e+00 4.21591905e+01] [ 1.17036331e-02 9.99931510e-01 0.00000000e+00 -2.04793135e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27672531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.420371743000004 meters Centerline goodness : 0.993321 with order 1 Centerline is valid? [True, True] Translation: X:42.22, Y:-2.05, Z:0.01 [[ 9.99928105e-01 -1.19910378e-02 0.00000000e+00 4.22219677e+01] [ 1.19910378e-02 9.99928105e-01 0.00000000e+00 -2.05239876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12105213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.480371743 meters Centerline goodness : 0.993368 with order 1 Centerline is valid? [True, True] Translation: X:42.28, Y:-2.06, Z:0.01 [[ 9.99926700e-01 -1.21076433e-02 0.00000000e+00 4.22831967e+01] [ 1.21076433e-02 9.99926700e-01 0.00000000e+00 -2.05745203e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.14346314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.540371743 meters Centerline goodness : 0.993125 with order 1 Centerline is valid? [True, True] Translation: X:42.35, Y:-2.06, Z:0.01 [[ 9.99943425e-01 -1.06370328e-02 0.00000000e+00 4.23450390e+01] [ 1.06370328e-02 9.99943425e-01 0.00000000e+00 -2.05991743e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.12840619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.600371743000004 meters Centerline goodness : 0.993710 with order 1 Centerline is valid? [True, True] Translation: X:42.41, Y:-2.06, Z:0.01 [[ 9.99970901e-01 -7.62876381e-03 0.00000000e+00 4.24076764e+01] [ 7.62876381e-03 9.99970901e-01 0.00000000e+00 -2.06099141e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01866926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.660371743 meters Centerline goodness : 0.992839 with order 1 Centerline is valid? [True, True] Translation: X:42.47, Y:-2.06, Z:0.01 [[ 9.99999529e-01 -9.70327865e-04 0.00000000e+00 4.24693786e+01] [ 9.70327865e-04 9.99999529e-01 0.00000000e+00 -2.06370979e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20678437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.720371743 meters Centerline goodness : 0.992770 with order 1 Centerline is valid? [True, True] Translation: X:42.53, Y:-2.07, Z:0.01 [[ 9.99998895e-01 1.48635550e-03 0.00000000e+00 4.25299058e+01] [-1.48635550e-03 9.99998895e-01 0.00000000e+00 -2.06601683e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32817208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.780371743 meters Centerline goodness : 0.993154 with order 1 Centerline is valid? [True, True] Translation: X:42.59, Y:-2.07, Z:0.01 [[ 9.99983395e-01 5.76284106e-03 0.00000000e+00 4.25895572e+01] [-5.76284106e-03 9.99983395e-01 0.00000000e+00 -2.06882605e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37749471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.840371743 meters Centerline goodness : 0.992440 with order 1 Centerline is valid? [True, True] Translation: X:42.65, Y:-2.07, Z:0.01 [[ 9.99974235e-01 7.17845431e-03 0.00000000e+00 4.26478981e+01] [-7.17845431e-03 9.99974235e-01 0.00000000e+00 -2.07128690e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35462992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.900371743 meters Centerline goodness : 0.992730 with order 1 Centerline is valid? [True, True] Translation: X:42.71, Y:-2.07, Z:0.01 [[ 9.99972141e-01 7.46434525e-03 0.00000000e+00 4.27068903e+01] [-7.46434525e-03 9.99972141e-01 0.00000000e+00 -2.07412402e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33471636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.960371743 meters Centerline goodness : 0.992632 with order 1 Centerline is valid? [True, True] Translation: X:42.77, Y:-2.08, Z:0.01 [[ 9.99983665e-01 5.71571856e-03 0.00000000e+00 4.27657112e+01] [-5.71571856e-03 9.99983665e-01 0.00000000e+00 -2.07785616e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41399715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.020371743 meters Centerline goodness : 0.992779 with order 1 Centerline is valid? [True, True] Translation: X:42.82, Y:-2.08, Z:0.02 [[ 9.99999795e-01 6.40888739e-04 0.00000000e+00 4.28229165e+01] [-6.40888739e-04 9.99999795e-01 0.00000000e+00 -2.08249923e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50032030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.080371743 meters Centerline goodness : 0.992701 with order 1 Centerline is valid? [True, True] Translation: X:42.88, Y:-2.09, Z:0.02 [[ 9.99997861e-01 -2.06819671e-03 0.00000000e+00 4.28827835e+01] [ 2.06819671e-03 9.99997861e-01 0.00000000e+00 -2.08732393e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55327334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.140371743 meters Centerline goodness : 0.992195 with order 1 Centerline is valid? [True, True] Translation: X:42.94, Y:-2.09, Z:0.02 [[ 9.99992427e-01 -3.89188058e-03 0.00000000e+00 4.29440200e+01] [ 3.89188058e-03 9.99992427e-01 0.00000000e+00 -2.09022997e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72018048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.200371743 meters Centerline goodness : 0.992321 with order 1 Centerline is valid? [True, True] Translation: X:43.01, Y:-2.09, Z:0.02 [[ 9.99985198e-01 -5.44092400e-03 0.00000000e+00 4.30062717e+01] [ 5.44092400e-03 9.99985198e-01 0.00000000e+00 -2.09377804e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78994622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.260371743 meters Centerline goodness : 0.993206 with order 1 Centerline is valid? [True, True] Translation: X:43.07, Y:-2.10, Z:0.02 [[ 9.99976589e-01 -6.84257799e-03 0.00000000e+00 4.30686175e+01] [ 6.84257799e-03 9.99976589e-01 0.00000000e+00 -2.09749486e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86419190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.320371743 meters Centerline goodness : 0.992966 with order 1 Centerline is valid? [True, True] Translation: X:43.13, Y:-2.10, Z:0.02 [[ 9.99954867e-01 -9.50076907e-03 0.00000000e+00 4.31307969e+01] [ 9.50076907e-03 9.99954867e-01 0.00000000e+00 -2.10118317e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84340071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.380371743 meters Centerline goodness : 0.993194 with order 1 Centerline is valid? [True, True] Translation: X:43.19, Y:-2.11, Z:0.02 [[ 9.99951822e-01 -9.81596984e-03 0.00000000e+00 4.31916502e+01] [ 9.81596984e-03 9.99951822e-01 0.00000000e+00 -2.10589299e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60776162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.440371743 meters Centerline goodness : 0.993319 with order 1 Centerline is valid? [True, True] Translation: X:43.25, Y:-2.11, Z:0.02 [[ 9.99958979e-01 -9.05762500e-03 0.00000000e+00 4.32540598e+01] [ 9.05762500e-03 9.99958979e-01 0.00000000e+00 -2.10828422e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68205952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.500371743 meters Centerline goodness : 0.992737 with order 1 Centerline is valid? [True, True] Translation: X:43.32, Y:-2.11, Z:0.02 [[ 9.99990743e-01 -4.30275586e-03 0.00000000e+00 4.33166755e+01] [ 4.30275586e-03 9.99990743e-01 0.00000000e+00 -2.11098979e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74146863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.560371743 meters Centerline goodness : 0.992693 with order 1 Centerline is valid? [True, True] Translation: X:43.38, Y:-2.11, Z:0.02 [[ 9.99999954e-01 3.02496670e-04 0.00000000e+00 4.33783941e+01] [-3.02496670e-04 9.99999954e-01 0.00000000e+00 -2.11443049e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60299216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.620371743 meters Centerline goodness : 0.992300 with order 1 Centerline is valid? [True, True] Translation: X:43.44, Y:-2.12, Z:0.01 [[ 9.99997567e-01 2.20610270e-03 0.00000000e+00 4.34385042e+01] [-2.20610270e-03 9.99997567e-01 0.00000000e+00 -2.11746773e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47736183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.680371743 meters Centerline goodness : 0.993189 with order 1 Centerline is valid? [True, True] Translation: X:43.50, Y:-2.12, Z:0.01 [[ 9.99999622e-01 8.69534814e-04 0.00000000e+00 4.34979372e+01] [-8.69534814e-04 9.99999622e-01 0.00000000e+00 -2.12035651e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38320587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.740371743 meters Centerline goodness : 0.993182 with order 1 Centerline is valid? [True, True] Translation: X:43.56, Y:-2.12, Z:0.01 [[ 9.99998981e-01 -1.42727424e-03 0.00000000e+00 4.35574219e+01] [ 1.42727424e-03 9.99998981e-01 0.00000000e+00 -2.12357511e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34454551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.800371743 meters Centerline goodness : 0.992507 with order 1 Centerline is valid? [True, True] Translation: X:43.62, Y:-2.13, Z:0.01 [[ 9.99995468e-01 -3.01069024e-03 0.00000000e+00 4.36189530e+01] [ 3.01069024e-03 9.99995468e-01 0.00000000e+00 -2.12598124e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42771679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.860371743 meters Centerline goodness : 0.992819 with order 1 Centerline is valid? [True, True] Translation: X:43.68, Y:-2.13, Z:0.01 [[ 9.99980067e-01 -6.31397806e-03 0.00000000e+00 4.36802685e+01] [ 6.31397806e-03 9.99980067e-01 0.00000000e+00 -2.12833295e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36821308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.920371743000004 meters Centerline goodness : 0.992686 with order 1 Centerline is valid? [True, True] Translation: X:43.74, Y:-2.13, Z:0.02 [[ 9.99950493e-01 -9.95042500e-03 0.00000000e+00 4.37426234e+01] [ 9.95042500e-03 9.99950493e-01 0.00000000e+00 -2.12980297e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59199562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.980371743 meters Centerline goodness : 0.992625 with order 1 Centerline is valid? [True, True] Translation: X:43.80, Y:-2.13, Z:0.02 [[ 9.99951587e-01 -9.83993214e-03 0.00000000e+00 4.38044810e+01] [ 9.83993214e-03 9.99951587e-01 0.00000000e+00 -2.13301818e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70997066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.040371743 meters Centerline goodness : 0.992223 with order 1 Centerline is valid? [True, True] Translation: X:43.87, Y:-2.13, Z:0.02 [[ 9.99934213e-01 -1.14703575e-02 0.00000000e+00 4.38670126e+01] [ 1.14703575e-02 9.99934213e-01 0.00000000e+00 -2.13367640e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86179538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.100371743000004 meters Centerline goodness : 0.992108 with order 1 Centerline is valid? [True, True] Translation: X:43.93, Y:-2.13, Z:0.02 [[ 9.99898086e-01 -1.42764580e-02 0.00000000e+00 4.39292256e+01] [ 1.42764580e-02 9.99898086e-01 0.00000000e+00 -2.13485767e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94929615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.160371743 meters Centerline goodness : 0.992847 with order 1 Centerline is valid? [True, True] Translation: X:43.99, Y:-2.14, Z:0.02 [[ 9.99867059e-01 -1.63053648e-02 0.00000000e+00 4.39913868e+01] [ 1.63053648e-02 9.99867059e-01 0.00000000e+00 -2.13530980e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14983531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.220371743 meters Centerline goodness : 0.992491 with order 1 Centerline is valid? [True, True] Translation: X:44.05, Y:-2.14, Z:0.02 [[ 9.99892075e-01 -1.46914334e-02 0.00000000e+00 4.40526524e+01] [ 1.46914334e-02 9.99892075e-01 0.00000000e+00 -2.13831666e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79184237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.280371743 meters Centerline goodness : 0.992161 with order 1 Centerline is valid? [True, True] Translation: X:44.11, Y:-2.14, Z:0.02 [[ 9.99908418e-01 -1.35335129e-02 0.00000000e+00 4.41149995e+01] [ 1.35335129e-02 9.99908418e-01 0.00000000e+00 -2.14240806e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53656249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.340371743 meters Centerline goodness : 0.992158 with order 1 Centerline is valid? [True, True] Translation: X:44.18, Y:-2.14, Z:0.02 [[ 9.99914678e-01 -1.30627657e-02 0.00000000e+00 4.41777019e+01] [ 1.30627657e-02 9.99914678e-01 0.00000000e+00 -2.14442373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71567088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.400371743 meters Centerline goodness : 0.991409 with order 1 Centerline is valid? [True, True] Translation: X:44.24, Y:-2.15, Z:0.02 [[ 9.99923731e-01 -1.23503843e-02 0.00000000e+00 4.42389074e+01] [ 1.23503843e-02 9.99923731e-01 0.00000000e+00 -2.14819142e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61173368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.460371743 meters Centerline goodness : 0.992024 with order 1 Centerline is valid? [True, True] Translation: X:44.30, Y:-2.15, Z:0.01 [[ 9.99932659e-01 -1.16050557e-02 0.00000000e+00 4.43012738e+01] [ 1.16050557e-02 9.99932659e-01 0.00000000e+00 -2.15339500e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41466812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.520371743 meters Centerline goodness : 0.991284 with order 1 Centerline is valid? [True, True] Translation: X:44.36, Y:-2.16, Z:0.01 [[ 9.99952920e-01 -9.70346149e-03 0.00000000e+00 4.43631785e+01] [ 9.70346149e-03 9.99952920e-01 0.00000000e+00 -2.16203026e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.29343724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.580371743 meters Centerline goodness : 0.991439 with order 1 Centerline is valid? [True, True] Translation: X:44.43, Y:-2.17, Z:0.01 [[ 9.99945235e-01 -1.04655412e-02 0.00000000e+00 4.44255617e+01] [ 1.04655412e-02 9.99945235e-01 0.00000000e+00 -2.16730679e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.53435440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.640371743 meters Centerline goodness : 0.991403 with order 1 Centerline is valid? [True, True] Translation: X:44.49, Y:-2.17, Z:0.01 [[ 9.99908462e-01 -1.35302202e-02 0.00000000e+00 4.44889060e+01] [ 1.35302202e-02 9.99908462e-01 0.00000000e+00 -2.17259886e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.80390507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.700371743 meters Centerline goodness : 0.991871 with order 1 Centerline is valid? [True, True] Translation: X:44.55, Y:-2.18, Z:0.01 [[ 9.99904128e-01 -1.38468506e-02 0.00000000e+00 4.45521494e+01] [ 1.38468506e-02 9.99904128e-01 0.00000000e+00 -2.17741515e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.61941163e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.760371743 meters Centerline goodness : 0.991604 with order 1 Centerline is valid? [True, True] Translation: X:44.62, Y:-2.18, Z:0.01 [[ 9.99931449e-01 -1.17088742e-02 0.00000000e+00 4.46153666e+01] [ 1.17088742e-02 9.99931449e-01 0.00000000e+00 -2.18208106e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94032710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.820371743 meters Centerline goodness : 0.990655 with order 1 Centerline is valid? [True, True] Translation: X:44.68, Y:-2.19, Z:0.01 [[ 9.99970898e-01 -7.62911110e-03 0.00000000e+00 4.46773161e+01] [ 7.62911110e-03 9.99970898e-01 0.00000000e+00 -2.18555669e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.30483103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.880371743 meters Centerline goodness : 0.991318 with order 1 Centerline is valid? [True, True] Translation: X:44.74, Y:-2.19, Z:0.01 [[ 9.99998122e-01 -1.93807228e-03 0.00000000e+00 4.47390289e+01] [ 1.93807228e-03 9.99998122e-01 0.00000000e+00 -2.18754851e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.49807595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.940371743 meters Centerline goodness : 0.991540 with order 1 Centerline is valid? [True, True] Translation: X:44.80, Y:-2.19, Z:0.00 [[ 9.99993480e-01 3.61096885e-03 0.00000000e+00 4.48000098e+01] [-3.61096885e-03 9.99993480e-01 0.00000000e+00 -2.19014121e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26554211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.000371743 meters Centerline goodness : 0.991691 with order 1 Centerline is valid? [True, True] Translation: X:44.86, Y:-2.19, Z:0.01 [[ 9.99988391e-01 4.81854570e-03 0.00000000e+00 4.48582543e+01] [-4.81854570e-03 9.99988391e-01 0.00000000e+00 -2.19113071e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76276945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.060371743 meters Centerline goodness : 0.991891 with order 1 Centerline is valid? [True, True] Translation: X:44.92, Y:-2.19, Z:0.01 [[ 9.99976541e-01 6.84963397e-03 0.00000000e+00 4.49170433e+01] [-6.84963397e-03 9.99976541e-01 0.00000000e+00 -2.19442765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27476785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.120371743 meters Centerline goodness : 0.991572 with order 1 Centerline is valid? [True, True] Translation: X:44.98, Y:-2.20, Z:0.00 [[ 9.99952813e-01 9.71449611e-03 0.00000000e+00 4.49753218e+01] [-9.71449611e-03 9.99952813e-01 0.00000000e+00 -2.19716485e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62819233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.180371743 meters Centerline goodness : 0.991672 with order 1 Centerline is valid? [True, True] Translation: X:45.03, Y:-2.20, Z:0.00 [[ 9.99918178e-01 1.27921117e-02 0.00000000e+00 4.50332340e+01] [-1.27921117e-02 9.99918178e-01 0.00000000e+00 -2.19912334e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62238874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.240371743 meters Centerline goodness : 0.991362 with order 1 Centerline is valid? [True, True] Translation: X:45.09, Y:-2.20, Z:0.00 [[ 9.99869241e-01 1.61709732e-02 0.00000000e+00 4.50912429e+01] [-1.61709732e-02 9.99869241e-01 0.00000000e+00 -2.20333805e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22019226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.300371743 meters Centerline goodness : 0.991459 with order 1 Centerline is valid? [True, True] Translation: X:45.15, Y:-2.21, Z:0.00 [[ 9.99764607e-01 2.16963190e-02 0.00000000e+00 4.51491975e+01] [-2.16963190e-02 9.99764607e-01 0.00000000e+00 -2.20533761e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62919843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.360371743 meters Centerline goodness : 0.991634 with order 1 Centerline is valid? [True, True] Translation: X:45.21, Y:-2.21, Z:0.00 [[ 9.99641839e-01 2.67618070e-02 0.00000000e+00 4.52065547e+01] [-2.67618070e-02 9.99641839e-01 0.00000000e+00 -2.20996551e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.91992890e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.420371743000004 meters Centerline goodness : 0.991999 with order 1 Centerline is valid? [True, True] Translation: X:45.26, Y:-2.21, Z:0.00 [[ 9.99583645e-01 2.88537019e-02 0.00000000e+00 4.52641978e+01] [-2.88537019e-02 9.99583645e-01 0.00000000e+00 -2.21383391e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.60081957e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.480371743 meters Centerline goodness : 0.991440 with order 1 Centerline is valid? [True, True] Translation: X:45.32, Y:-2.22, Z:-0.00 [[ 9.99525492e-01 3.08024601e-02 0.00000000e+00 4.53215135e+01] [-3.08024601e-02 9.99525492e-01 0.00000000e+00 -2.21924418e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66168256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.540371743 meters Centerline goodness : 0.991435 with order 1 Centerline is valid? [True, True] Translation: X:45.38, Y:-2.23, Z:-0.01 [[ 9.99566086e-01 2.94557095e-02 0.00000000e+00 4.53803890e+01] [-2.94557095e-02 9.99566086e-01 0.00000000e+00 -2.22716847e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.54680176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.600371743000004 meters Centerline goodness : 0.994119 with order 1 Centerline is valid? [True, True] Translation: X:45.44, Y:-2.22, Z:0.00 [[ 9.99908289e-01 1.35430198e-02 0.00000000e+00 4.54382201e+01] [-1.35430198e-02 9.99908289e-01 0.00000000e+00 -2.22087120e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08595696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.660371743 meters Centerline goodness : 0.992110 with order 1 Centerline is valid? [True, True] Translation: X:45.50, Y:-2.24, Z:-0.00 [[ 9.99870162e-01 1.61139261e-02 0.00000000e+00 4.54960980e+01] [-1.61139261e-02 9.99870162e-01 0.00000000e+00 -2.23936738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92470120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.720371743 meters Centerline goodness : 0.992834 with order 1 Centerline is valid? [True, True] Translation: X:45.56, Y:-2.25, Z:-0.00 [[ 9.99926321e-01 1.21388515e-02 0.00000000e+00 4.55550370e+01] [-1.21388515e-02 9.99926321e-01 0.00000000e+00 -2.24604948e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.85053294e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.780371743 meters Centerline goodness : 0.992849 with order 1 Centerline is valid? [True, True] Translation: X:45.61, Y:-2.25, Z:-0.00 [[ 9.99997678e-01 2.15502120e-03 0.00000000e+00 4.56127920e+01] [-2.15502120e-03 9.99997678e-01 0.00000000e+00 -2.25109000e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22219671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.840371743 meters Centerline goodness : 0.993139 with order 1 Centerline is valid? [True, True] Translation: X:45.67, Y:-2.26, Z:-0.00 [[ 9.99991430e-01 -4.13995986e-03 0.00000000e+00 4.56717980e+01] [ 4.13995986e-03 9.99991430e-01 0.00000000e+00 -2.25716220e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92410614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.900371743 meters Centerline goodness : 0.994085 with order 1 Centerline is valid? [True, True] Translation: X:45.73, Y:-2.26, Z:-0.00 [[ 9.99957079e-01 -9.26498473e-03 0.00000000e+00 4.57341290e+01] [ 9.26498473e-03 9.99957079e-01 0.00000000e+00 -2.26192495e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73763316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.960371743 meters Centerline goodness : 0.994118 with order 1 Centerline is valid? [True, True] Translation: X:45.80, Y:-2.27, Z:-0.00 [[ 9.99868188e-01 -1.62359506e-02 0.00000000e+00 4.57958655e+01] [ 1.62359506e-02 9.99868188e-01 0.00000000e+00 -2.26696916e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23607090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.020371743 meters Centerline goodness : 0.994361 with order 1 Centerline is valid? [True, True] Translation: X:45.86, Y:-2.27, Z:-0.00 [[ 9.99785667e-01 -2.07031556e-02 0.00000000e+00 4.58568075e+01] [ 2.07031556e-02 9.99785667e-01 0.00000000e+00 -2.27107677e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.25906946e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.080371743 meters Centerline goodness : 0.993720 with order 1 Centerline is valid? [True, True] Translation: X:45.92, Y:-2.27, Z:0.00 [[ 9.99789687e-01 -2.05080684e-02 0.00000000e+00 4.59190827e+01] [ 2.05080684e-02 9.99789687e-01 0.00000000e+00 -2.27497161e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14154363e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.140371743 meters Centerline goodness : 0.993457 with order 1 Centerline is valid? [True, True] Translation: X:45.98, Y:-2.28, Z:0.00 [[ 9.99826296e-01 -1.86380734e-02 0.00000000e+00 4.59797311e+01] [ 1.86380734e-02 9.99826296e-01 0.00000000e+00 -2.27727972e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35011095e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.200371743 meters Centerline goodness : 0.993485 with order 1 Centerline is valid? [True, True] Translation: X:46.04, Y:-2.28, Z:0.00 [[ 9.99899070e-01 -1.42073940e-02 0.00000000e+00 4.60414360e+01] [ 1.42073940e-02 9.99899070e-01 0.00000000e+00 -2.27986841e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12797947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.260371743 meters Centerline goodness : 0.993090 with order 1 Centerline is valid? [True, True] Translation: X:46.10, Y:-2.28, Z:0.00 [[ 9.99922828e-01 -1.24232878e-02 0.00000000e+00 4.61032811e+01] [ 1.24232878e-02 9.99922828e-01 0.00000000e+00 -2.28236071e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81282274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.320371743 meters Centerline goodness : 0.992525 with order 1 Centerline is valid? [True, True] Translation: X:46.17, Y:-2.28, Z:0.00 [[ 9.99988591e-01 -4.77688844e-03 0.00000000e+00 4.61652830e+01] [ 4.77688844e-03 9.99988591e-01 0.00000000e+00 -2.28458804e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.84992039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.380371743 meters Centerline goodness : 0.992576 with order 1 Centerline is valid? [True, True] Translation: X:46.23, Y:-2.29, Z:0.00 [[ 9.99998531e-01 1.71417704e-03 0.00000000e+00 4.62265147e+01] [-1.71417704e-03 9.99998531e-01 0.00000000e+00 -2.28541641e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40579701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.440371743 meters Centerline goodness : 0.992396 with order 1 Centerline is valid? [True, True] Translation: X:46.29, Y:-2.29, Z:0.00 [[ 9.99899469e-01 1.41792496e-02 0.00000000e+00 4.62864638e+01] [-1.41792496e-02 9.99899469e-01 0.00000000e+00 -2.28798124e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26852603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.500371743 meters Centerline goodness : 0.992134 with order 1 Centerline is valid? [True, True] Translation: X:46.34, Y:-2.29, Z:0.00 [[ 9.99771656e-01 2.13690391e-02 0.00000000e+00 4.63447262e+01] [-2.13690391e-02 9.99771656e-01 0.00000000e+00 -2.28942975e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40751395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.560371743 meters Centerline goodness : 0.991907 with order 1 Centerline is valid? [True, True] Translation: X:46.40, Y:-2.29, Z:0.00 [[ 9.99438341e-01 3.35112207e-02 0.00000000e+00 4.64025858e+01] [-3.35112207e-02 9.99438341e-01 0.00000000e+00 -2.29159524e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26164044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.620371743 meters Centerline goodness : 0.992123 with order 1 Centerline is valid? [True, True] Translation: X:46.46, Y:-2.30, Z:0.00 [[ 9.99131081e-01 4.16783203e-02 0.00000000e+00 4.64604324e+01] [-4.16783203e-02 9.99131081e-01 0.00000000e+00 -2.29574533e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10110586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.680371743 meters Centerline goodness : 0.991789 with order 1 Centerline is valid? [True, True] Translation: X:46.52, Y:-2.30, Z:-0.00 [[ 9.98925911e-01 4.63360032e-02 0.00000000e+00 4.65192282e+01] [-4.63360032e-02 9.98925911e-01 0.00000000e+00 -2.30239290e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49433268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.740371743 meters Centerline goodness : 0.991295 with order 1 Centerline is valid? [True, True] Translation: X:46.58, Y:-2.31, Z:-0.00 [[ 9.98940450e-01 4.60214835e-02 0.00000000e+00 4.65764987e+01] [-4.60214835e-02 9.98940450e-01 0.00000000e+00 -2.30744582e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55996036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.800371743 meters Centerline goodness : 0.991387 with order 1 Centerline is valid? [True, True] Translation: X:46.64, Y:-2.31, Z:0.00 [[ 9.99271842e-01 3.81547521e-02 0.00000000e+00 4.66352580e+01] [-3.81547521e-02 9.99271842e-01 0.00000000e+00 -2.31317051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.59805629e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.860371743 meters Centerline goodness : 0.993324 with order 1 Centerline is valid? [True, True] Translation: X:46.69, Y:-2.31, Z:0.01 [[ 9.99752169e-01 2.22620735e-02 0.00000000e+00 4.66936295e+01] [-2.22620735e-02 9.99752169e-01 0.00000000e+00 -2.30667074e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10047751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.920371743000004 meters Centerline goodness : 0.992128 with order 1 Centerline is valid? [True, True] Translation: X:46.75, Y:-2.33, Z:-0.00 [[ 9.99683006e-01 2.51771390e-02 0.00000000e+00 4.67513533e+01] [-2.51771390e-02 9.99683006e-01 0.00000000e+00 -2.33029170e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85150461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.980371743 meters Centerline goodness : 0.992811 with order 1 Centerline is valid? [True, True] Translation: X:46.81, Y:-2.33, Z:0.00 [[ 9.99838838e-01 1.79526545e-02 0.00000000e+00 4.68086779e+01] [-1.79526545e-02 9.99838838e-01 0.00000000e+00 -2.33118193e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78859582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.040371743 meters Centerline goodness : 0.993022 with order 1 Centerline is valid? [True, True] Translation: X:46.87, Y:-2.34, Z:0.00 [[ 9.99948349e-01 1.01636712e-02 0.00000000e+00 4.68660416e+01] [-1.01636712e-02 9.99948349e-01 0.00000000e+00 -2.33977524e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36874072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.100371743000004 meters Centerline goodness : 0.993085 with order 1 Centerline is valid? [True, True] Translation: X:46.92, Y:-2.35, Z:0.00 [[ 9.99995177e-01 3.10575942e-03 0.00000000e+00 4.69243355e+01] [-3.10575942e-03 9.99995177e-01 0.00000000e+00 -2.34840121e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25137754e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.160371743 meters Centerline goodness : 0.993916 with order 1 Centerline is valid? [True, True] Translation: X:46.98, Y:-2.35, Z:0.00 [[ 9.99997195e-01 -2.36860065e-03 0.00000000e+00 4.69829540e+01] [ 2.36860065e-03 9.99997195e-01 0.00000000e+00 -2.35369674e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17542317e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.220371743 meters Centerline goodness : 0.994162 with order 1 Centerline is valid? [True, True] Translation: X:47.04, Y:-2.36, Z:0.00 [[ 9.99978106e-01 -6.61719260e-03 0.00000000e+00 4.70443183e+01] [ 6.61719260e-03 9.99978106e-01 0.00000000e+00 -2.36012228e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89431533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.280371743 meters Centerline goodness : 0.993439 with order 1 Centerline is valid? [True, True] Translation: X:47.11, Y:-2.37, Z:0.00 [[ 9.99976617e-01 -6.83858122e-03 0.00000000e+00 4.71062289e+01] [ 6.83858122e-03 9.99976617e-01 0.00000000e+00 -2.36572176e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42601143e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.340371743 meters Centerline goodness : 0.994859 with order 1 Centerline is valid? [True, True] Translation: X:47.17, Y:-2.36, Z:0.01 [[ 9.99923051e-01 -1.24053365e-02 0.00000000e+00 4.71672715e+01] [ 1.24053365e-02 9.99923051e-01 0.00000000e+00 -2.35781959e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.40635000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.400371743 meters Centerline goodness : 0.992802 with order 1 Centerline is valid? [True, True] Translation: X:47.23, Y:-2.37, Z:0.00 [[ 9.99996505e-01 2.64382545e-03 0.00000000e+00 4.72274769e+01] [-2.64382545e-03 9.99996505e-01 0.00000000e+00 -2.37377658e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44600695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.460371743 meters Centerline goodness : 0.992262 with order 1 Centerline is valid? [True, True] Translation: X:47.29, Y:-2.38, Z:0.00 [[ 9.99971505e-01 7.54918261e-03 0.00000000e+00 4.72871525e+01] [-7.54918261e-03 9.99971505e-01 0.00000000e+00 -2.37712146e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81305292e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.520371743 meters Centerline goodness : 0.992691 with order 1 Centerline is valid? [True, True] Translation: X:47.35, Y:-2.38, Z:0.00 [[ 9.99870609e-01 1.60861956e-02 0.00000000e+00 4.73451319e+01] [-1.60861956e-02 9.99870609e-01 0.00000000e+00 -2.38212808e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54516168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.580371743 meters Centerline goodness : 0.993167 with order 1 Centerline is valid? [True, True] Translation: X:47.40, Y:-2.38, Z:0.00 [[ 9.99718744e-01 2.37156638e-02 0.00000000e+00 4.74035796e+01] [-2.37156638e-02 9.99718744e-01 0.00000000e+00 -2.38340634e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71146484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.640371743 meters Centerline goodness : 0.993138 with order 1 Centerline is valid? [True, True] Translation: X:47.46, Y:-2.39, Z:0.00 [[ 9.99672427e-01 2.55937198e-02 0.00000000e+00 4.74608475e+01] [-2.55937198e-02 9.99672427e-01 0.00000000e+00 -2.38606201e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44104278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.700371743 meters Centerline goodness : 0.993311 with order 1 Centerline is valid? [True, True] Translation: X:47.52, Y:-2.39, Z:0.00 [[ 9.99581231e-01 2.89372114e-02 0.00000000e+00 4.75184818e+01] [-2.89372114e-02 9.99581231e-01 0.00000000e+00 -2.39006288e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50315175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.760371743 meters Centerline goodness : 0.993068 with order 1 Centerline is valid? [True, True] Translation: X:47.58, Y:-2.39, Z:0.00 [[ 9.99522499e-01 3.08994303e-02 0.00000000e+00 4.75775493e+01] [-3.08994303e-02 9.99522499e-01 0.00000000e+00 -2.39371157e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24332674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.820371743 meters Centerline goodness : 0.994579 with order 1 Centerline is valid? [True, True] Translation: X:47.64, Y:-2.39, Z:0.02 [[ 9.99796937e-01 2.01515297e-02 0.00000000e+00 4.76360069e+01] [-2.01515297e-02 9.99796937e-01 0.00000000e+00 -2.38622738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80749751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.880371743 meters Centerline goodness : 0.995466 with order 1 Centerline is valid? [True, True] Translation: X:47.69, Y:-2.39, Z:0.02 [[ 9.99864302e-01 1.64735357e-02 0.00000000e+00 4.76946545e+01] [-1.64735357e-02 9.99864302e-01 0.00000000e+00 -2.39320519e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93943525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.940371743 meters Centerline goodness : 0.995428 with order 1 Centerline is valid? [True, True] Translation: X:47.75, Y:-2.40, Z:0.02 [[ 9.99964334e-01 8.44570606e-03 0.00000000e+00 4.77521697e+01] [-8.44570606e-03 9.99964334e-01 0.00000000e+00 -2.40089554e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58884074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.000371743 meters Centerline goodness : 0.995244 with order 1 Centerline is valid? [True, True] Translation: X:47.81, Y:-2.41, Z:0.01 [[ 9.99998190e-01 1.90274819e-03 0.00000000e+00 4.78109711e+01] [-1.90274819e-03 9.99998190e-01 0.00000000e+00 -2.40750089e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32602814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.060371743 meters Centerline goodness : 0.995197 with order 1 Centerline is valid? [True, True] Translation: X:47.87, Y:-2.41, Z:0.01 [[ 9.99980507e-01 -6.24386784e-03 0.00000000e+00 4.78708262e+01] [ 6.24386784e-03 9.99980507e-01 0.00000000e+00 -2.41472875e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44043598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.120371743 meters Centerline goodness : 0.995649 with order 1 Centerline is valid? [True, True] Translation: X:47.93, Y:-2.42, Z:0.02 [[ 9.99939824e-01 -1.09703514e-02 0.00000000e+00 4.79317280e+01] [ 1.09703514e-02 9.99939824e-01 0.00000000e+00 -2.41946770e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63675601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.180371743 meters Centerline goodness : 0.995099 with order 1 Centerline is valid? [True, True] Translation: X:47.99, Y:-2.42, Z:0.02 [[ 9.99922425e-01 -1.24556759e-02 0.00000000e+00 4.79933885e+01] [ 1.24556759e-02 9.99922425e-01 0.00000000e+00 -2.42455766e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85218469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.240371743 meters Centerline goodness : 0.993258 with order 1 Centerline is valid? [True, True] Translation: X:48.05, Y:-2.44, Z:0.01 [[ 9.99994148e-01 -3.42107015e-03 0.00000000e+00 4.80544732e+01] [ 3.42107015e-03 9.99994148e-01 0.00000000e+00 -2.43899453e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.50843924e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.300371743 meters Centerline goodness : 0.993528 with order 1 Centerline is valid? [True, True] Translation: X:48.12, Y:-2.44, Z:0.01 [[ 9.99993096e-01 -3.71591320e-03 0.00000000e+00 4.81153387e+01] [ 3.71591320e-03 9.99993096e-01 0.00000000e+00 -2.44095810e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.54088768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.360371743 meters Centerline goodness : 0.993469 with order 1 Centerline is valid? [True, True] Translation: X:48.18, Y:-2.45, Z:0.01 [[ 9.99998582e-01 -1.68374834e-03 0.00000000e+00 4.81766435e+01] [ 1.68374834e-03 9.99998582e-01 0.00000000e+00 -2.44533157e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.43748479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.420371743000004 meters Centerline goodness : 0.993837 with order 1 Centerline is valid? [True, True] Translation: X:48.24, Y:-2.44, Z:0.01 [[ 9.99999561e-01 -9.37243683e-04 0.00000000e+00 4.82383217e+01] [ 9.37243683e-04 9.99999561e-01 0.00000000e+00 -2.44460100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.44205739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.480371743 meters Centerline goodness : 0.993741 with order 1 Centerline is valid? [True, True] Translation: X:48.30, Y:-2.45, Z:0.01 [[ 9.99997502e-01 2.23528627e-03 0.00000000e+00 4.82991528e+01] [-2.23528627e-03 9.99997502e-01 0.00000000e+00 -2.44698805e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.99428877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.540371743 meters Centerline goodness : 0.995368 with order 1 Centerline is valid? [True, True] Translation: X:48.36, Y:-2.44, Z:0.02 [[ 9.99999509e-01 -9.91283908e-04 0.00000000e+00 4.83593064e+01] [ 9.91283908e-04 9.99999509e-01 0.00000000e+00 -2.43539094e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65189788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.600371743000004 meters Centerline goodness : 0.995339 with order 1 Centerline is valid? [True, True] Translation: X:48.42, Y:-2.43, Z:0.02 [[ 9.99987117e-01 5.07602361e-03 0.00000000e+00 4.84197432e+01] [-5.07602361e-03 9.99987117e-01 0.00000000e+00 -2.43492224e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88619485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.660371743 meters Centerline goodness : 0.993806 with order 1 Centerline is valid? [True, True] Translation: X:48.48, Y:-2.45, Z:0.01 [[ 9.99848273e-01 1.74192483e-02 0.00000000e+00 4.84783821e+01] [-1.74192483e-02 9.99848273e-01 0.00000000e+00 -2.44671788e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.66708820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.720371743 meters Centerline goodness : 0.995352 with order 1 Centerline is valid? [True, True] Translation: X:48.54, Y:-2.44, Z:0.02 [[ 9.99970874e-01 7.63230662e-03 0.00000000e+00 4.85363288e+01] [-7.63230662e-03 9.99970874e-01 0.00000000e+00 -2.43743047e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85117236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.780371743 meters Centerline goodness : 0.994498 with order 1 Centerline is valid? [True, True] Translation: X:48.59, Y:-2.45, Z:0.01 [[ 9.99917210e-01 1.28675062e-02 0.00000000e+00 4.85942384e+01] [-1.28675062e-02 9.99917210e-01 0.00000000e+00 -2.44949306e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05519331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.840371743 meters Centerline goodness : 0.994764 with order 1 Centerline is valid? [True, True] Translation: X:48.65, Y:-2.44, Z:0.02 [[ 1.00000000e+00 1.30874113e-05 0.00000000e+00 4.86527601e+01] [-1.30874113e-05 1.00000000e+00 0.00000000e+00 -2.44276246e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81403007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.900371743 meters Centerline goodness : 0.994624 with order 1 Centerline is valid? [True, True] Translation: X:48.71, Y:-2.44, Z:0.02 [[ 9.99990551e-01 -4.34714118e-03 0.00000000e+00 4.87121602e+01] [ 4.34714118e-03 9.99990551e-01 0.00000000e+00 -2.44477460e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76239728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.960371743 meters Centerline goodness : 0.994185 with order 1 Centerline is valid? [True, True] Translation: X:48.77, Y:-2.46, Z:0.01 [[ 9.99999971e-01 2.41865659e-04 0.00000000e+00 4.87730024e+01] [-2.41865659e-04 9.99999971e-01 0.00000000e+00 -2.45616557e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25175183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.020371743 meters Centerline goodness : 0.995536 with order 1 Centerline is valid? [True, True] Translation: X:48.83, Y:-2.45, Z:0.02 [[ 9.99958655e-01 -9.09326063e-03 0.00000000e+00 4.88331894e+01] [ 9.09326063e-03 9.99958655e-01 0.00000000e+00 -2.44872075e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94403937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.080371743 meters Centerline goodness : 0.995225 with order 1 Centerline is valid? [True, True] Translation: X:48.89, Y:-2.45, Z:0.02 [[ 9.99970739e-01 -7.64988739e-03 0.00000000e+00 4.88939394e+01] [ 7.64988739e-03 9.99970739e-01 0.00000000e+00 -2.45125878e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89503638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.140371743 meters Centerline goodness : 0.995151 with order 1 Centerline is valid? [True, True] Translation: X:48.96, Y:-2.45, Z:0.02 [[ 9.99981770e-01 -6.03811699e-03 0.00000000e+00 4.89556806e+01] [ 6.03811699e-03 9.99981770e-01 0.00000000e+00 -2.45223548e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91963297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.200371743 meters Centerline goodness : 0.994007 with order 1 Centerline is valid? [True, True] Translation: X:49.02, Y:-2.46, Z:0.01 [[ 9.99996879e-01 2.49848622e-03 0.00000000e+00 4.90169223e+01] [-2.49848622e-03 9.99996879e-01 0.00000000e+00 -2.46103789e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47764295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.260371743 meters Centerline goodness : 0.994663 with order 1 Centerline is valid? [True, True] Translation: X:49.08, Y:-2.45, Z:0.02 [[ 9.99999992e-01 -1.28984636e-04 0.00000000e+00 4.90772933e+01] [ 1.28984636e-04 9.99999992e-01 0.00000000e+00 -2.45470149e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95174357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.320371743 meters Centerline goodness : 0.995073 with order 1 Centerline is valid? [True, True] Translation: X:49.14, Y:-2.46, Z:0.02 [[ 9.99995265e-01 3.07747181e-03 0.00000000e+00 4.91373661e+01] [-3.07747181e-03 9.99995265e-01 0.00000000e+00 -2.45752771e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96124526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.380371743 meters Centerline goodness : 0.993263 with order 1 Centerline is valid? [True, True] Translation: X:49.20, Y:-2.47, Z:0.02 [[ 9.99889529e-01 1.48636947e-02 0.00000000e+00 4.91962685e+01] [-1.48636947e-02 9.99889529e-01 0.00000000e+00 -2.46749051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55309947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.440371743 meters Centerline goodness : 0.994236 with order 1 Centerline is valid? [True, True] Translation: X:49.25, Y:-2.47, Z:0.01 [[ 9.99843166e-01 1.77099609e-02 0.00000000e+00 4.92546619e+01] [-1.77099609e-02 9.99843166e-01 0.00000000e+00 -2.47058394e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39925239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.500371743 meters Centerline goodness : 0.995478 with order 1 Centerline is valid? [True, True] Translation: X:49.31, Y:-2.46, Z:0.02 [[ 9.99953174e-01 9.67728222e-03 0.00000000e+00 4.93126627e+01] [-9.67728222e-03 9.99953174e-01 0.00000000e+00 -2.46383768e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17797646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.560371743 meters Centerline goodness : 0.993826 with order 1 Centerline is valid? [True, True] Translation: X:49.37, Y:-2.48, Z:0.02 [[ 9.99893303e-01 1.46076219e-02 0.00000000e+00 4.93698172e+01] [-1.46076219e-02 9.99893303e-01 0.00000000e+00 -2.47759479e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50193837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.620371743 meters Centerline goodness : 0.994299 with order 1 Centerline is valid? [True, True] Translation: X:49.43, Y:-2.48, Z:0.02 [[ 9.99905004e-01 1.37834413e-02 0.00000000e+00 4.94280679e+01] [-1.37834413e-02 9.99905004e-01 0.00000000e+00 -2.48190370e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58944056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.680371743 meters Centerline goodness : 0.993229 with order 1 Centerline is valid? [True, True] Translation: X:49.49, Y:-2.49, Z:0.02 [[ 9.99955445e-01 9.43966529e-03 0.00000000e+00 4.94864474e+01] [-9.43966529e-03 9.99955445e-01 0.00000000e+00 -2.48709298e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71879133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.740371743 meters Centerline goodness : 0.993660 with order 1 Centerline is valid? [True, True] Translation: X:49.54, Y:-2.49, Z:0.02 [[ 9.99995834e-01 2.88664946e-03 0.00000000e+00 4.95449047e+01] [-2.88664946e-03 9.99995834e-01 0.00000000e+00 -2.49246135e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69053531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.800371743 meters Centerline goodness : 0.995233 with order 1 Centerline is valid? [True, True] Translation: X:49.60, Y:-2.49, Z:0.02 [[ 9.99946253e-01 -1.03678276e-02 0.00000000e+00 4.96046532e+01] [ 1.03678276e-02 9.99946253e-01 0.00000000e+00 -2.48887534e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21139344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.860371743 meters Centerline goodness : 0.995767 with order 1 Centerline is valid? [True, True] Translation: X:49.67, Y:-2.49, Z:0.02 [[ 9.99905363e-01 -1.37573358e-02 0.00000000e+00 4.96670636e+01] [ 1.37573358e-02 9.99905363e-01 0.00000000e+00 -2.49330729e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09932865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.920371743000004 meters Centerline goodness : 0.994788 with order 1 Centerline is valid? [True, True] Translation: X:49.73, Y:-2.50, Z:0.02 [[ 9.99867723e-01 -1.62646017e-02 0.00000000e+00 4.97290580e+01] [ 1.62646017e-02 9.99867723e-01 0.00000000e+00 -2.49745283e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02923633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.980371743 meters Centerline goodness : 0.994442 with order 1 Centerline is valid? [True, True] Translation: X:49.79, Y:-2.51, Z:0.01 [[ 9.99953914e-01 -9.60048916e-03 0.00000000e+00 4.97902239e+01] [ 9.60048916e-03 9.99953914e-01 0.00000000e+00 -2.50863573e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48189649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.040371743 meters Centerline goodness : 0.994078 with order 1 Centerline is valid? [True, True] Translation: X:49.85, Y:-2.51, Z:0.01 [[ 9.99983880e-01 -5.67792932e-03 0.00000000e+00 4.98514312e+01] [ 5.67792932e-03 9.99983880e-01 0.00000000e+00 -2.51069684e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42733787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.100371743000004 meters Centerline goodness : 0.994391 with order 1 Centerline is valid? [True, True] Translation: X:49.91, Y:-2.51, Z:0.01 [[ 9.99999737e-01 7.25391355e-04 0.00000000e+00 4.99132880e+01] [-7.25391355e-04 9.99999737e-01 0.00000000e+00 -2.50922675e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48084482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.160371743 meters Centerline goodness : 0.995432 with order 1 Centerline is valid? [True, True] Translation: X:49.97, Y:-2.50, Z:0.02 [[ 9.99999998e-01 -6.87349667e-05 0.00000000e+00 4.99741430e+01] [ 6.87349667e-05 9.99999998e-01 0.00000000e+00 -2.50012941e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20581751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.220371743 meters Centerline goodness : 0.995337 with order 1 Centerline is valid? [True, True] Translation: X:50.03, Y:-2.50, Z:0.02 [[ 9.99998408e-01 1.78422309e-03 0.00000000e+00 5.00345961e+01] [-1.78422309e-03 9.99998408e-01 0.00000000e+00 -2.50114171e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15618828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.280371743 meters Centerline goodness : 0.993978 with order 1 Centerline is valid? [True, True] Translation: X:50.09, Y:-2.51, Z:0.01 [[ 9.99944542e-01 1.05315291e-02 0.00000000e+00 5.00939148e+01] [-1.05315291e-02 9.99944542e-01 0.00000000e+00 -2.51169323e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31139455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.340371743 meters Centerline goodness : 0.994350 with order 1 Centerline is valid? [True, True] Translation: X:50.15, Y:-2.51, Z:0.01 [[ 9.99949686e-01 1.00311911e-02 0.00000000e+00 5.01522686e+01] [-1.00311911e-02 9.99949686e-01 0.00000000e+00 -2.51249266e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29535290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.400371743 meters Centerline goodness : 0.994757 with order 1 Centerline is valid? [True, True] Translation: X:50.21, Y:-2.50, Z:0.02 [[ 9.99999829e-01 5.84442674e-04 0.00000000e+00 5.02111044e+01] [-5.84442674e-04 9.99999829e-01 0.00000000e+00 -2.50349765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98502010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.460371743 meters Centerline goodness : 0.994170 with order 1 Centerline is valid? [True, True] Translation: X:50.27, Y:-2.52, Z:0.01 [[ 9.99988792e-01 4.73451374e-03 0.00000000e+00 5.02709112e+01] [-4.73451374e-03 9.99988792e-01 0.00000000e+00 -2.51522256e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28812463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.520371743 meters Centerline goodness : 0.996104 with order 1 Centerline is valid? [True, True] Translation: X:50.33, Y:-2.51, Z:0.02 [[ 9.99984398e-01 -5.58597565e-03 0.00000000e+00 5.03304619e+01] [ 5.58597565e-03 9.99984398e-01 0.00000000e+00 -2.50598456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00887167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.580371743 meters Centerline goodness : 0.994640 with order 1 Centerline is valid? [True, True] Translation: X:50.39, Y:-2.52, Z:0.01 [[ 9.99999985e-01 1.70732492e-04 0.00000000e+00 5.03914900e+01] [-1.70732492e-04 9.99999985e-01 0.00000000e+00 -2.51600354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37120287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.640371743 meters Centerline goodness : 0.996194 with order 1 Centerline is valid? [True, True] Translation: X:50.45, Y:-2.51, Z:0.02 [[ 9.99934422e-01 -1.14521692e-02 0.00000000e+00 5.04515203e+01] [ 1.14521692e-02 9.99934422e-01 0.00000000e+00 -2.50706169e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22429670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.700371743 meters Centerline goodness : 0.994356 with order 1 Centerline is valid? [True, True] Translation: X:50.51, Y:-2.52, Z:0.01 [[ 9.99981135e-01 -6.14241786e-03 0.00000000e+00 5.05135010e+01] [ 6.14241786e-03 9.99981135e-01 0.00000000e+00 -2.51951591e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10353460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.760371743 meters Centerline goodness : 0.994463 with order 1 Centerline is valid? [True, True] Translation: X:50.58, Y:-2.52, Z:0.01 [[ 9.99962629e-01 -8.64525885e-03 0.00000000e+00 5.05755835e+01] [ 8.64525885e-03 9.99962629e-01 0.00000000e+00 -2.51792983e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25737303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.820371743 meters Centerline goodness : 0.995701 with order 1 Centerline is valid? [True, True] Translation: X:50.64, Y:-2.51, Z:0.02 [[ 9.99871209e-01 -1.60488282e-02 0.00000000e+00 5.06373543e+01] [ 1.60488282e-02 9.99871209e-01 0.00000000e+00 -2.51045386e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99435854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.880371743 meters Centerline goodness : 0.995751 with order 1 Centerline is valid? [True, True] Translation: X:50.70, Y:-2.51, Z:0.02 [[ 9.99883491e-01 -1.52645111e-02 0.00000000e+00 5.07004313e+01] [ 1.52645111e-02 9.99883491e-01 0.00000000e+00 -2.50961715e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25213670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.940371743 meters Centerline goodness : 0.995458 with order 1 Centerline is valid? [True, True] Translation: X:50.76, Y:-2.51, Z:0.02 [[ 9.99907928e-01 -1.35696633e-02 0.00000000e+00 5.07614523e+01] [ 1.35696633e-02 9.99907928e-01 0.00000000e+00 -2.50998014e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14970756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.000371743 meters Centerline goodness : 0.993801 with order 1 Centerline is valid? [True, True] Translation: X:50.82, Y:-2.52, Z:0.02 [[ 9.99990747e-01 -4.30186316e-03 0.00000000e+00 5.08235726e+01] [ 4.30186316e-03 9.99990747e-01 0.00000000e+00 -2.51627964e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68232086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.060371743 meters Centerline goodness : 0.993580 with order 1 Centerline is valid? [True, True] Translation: X:50.89, Y:-2.51, Z:0.02 [[ 9.99999238e-01 1.23419694e-03 0.00000000e+00 5.08861287e+01] [-1.23419694e-03 9.99999238e-01 0.00000000e+00 -2.51378225e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72195576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.120371743 meters Centerline goodness : 0.993675 with order 1 Centerline is valid? [True, True] Translation: X:50.95, Y:-2.51, Z:0.02 [[ 9.99989479e-01 4.58713898e-03 0.00000000e+00 5.09454479e+01] [-4.58713898e-03 9.99989479e-01 0.00000000e+00 -2.51362753e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65075882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.180371743 meters Centerline goodness : 0.993039 with order 1 Centerline is valid? [True, True] Translation: X:51.00, Y:-2.51, Z:0.02 [[ 9.99955401e-01 9.44434157e-03 0.00000000e+00 5.10044682e+01] [-9.44434157e-03 9.99955401e-01 0.00000000e+00 -2.51228137e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56642550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.240371743 meters Centerline goodness : 0.992923 with order 1 Centerline is valid? [True, True] Translation: X:51.06, Y:-2.51, Z:0.02 [[ 9.99872088e-01 1.59939864e-02 0.00000000e+00 5.10624538e+01] [-1.59939864e-02 9.99872088e-01 0.00000000e+00 -2.51210567e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58910612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.300371743 meters Centerline goodness : 0.992713 with order 1 Centerline is valid? [True, True] Translation: X:51.12, Y:-2.51, Z:0.02 [[ 9.99823363e-01 1.87947552e-02 0.00000000e+00 5.11193340e+01] [-1.87947552e-02 9.99823363e-01 0.00000000e+00 -2.51246051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56559565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.360371743 meters Centerline goodness : 0.992193 with order 1 Centerline is valid? [True, True] Translation: X:51.18, Y:-2.51, Z:0.02 [[ 9.99789687e-01 2.05080813e-02 0.00000000e+00 5.11772533e+01] [-2.05080813e-02 9.99789687e-01 0.00000000e+00 -2.51243301e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70655377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.420371743 meters Centerline goodness : 0.993777 with order 1 Centerline is valid? [True, True] Translation: X:51.24, Y:-2.51, Z:0.02 [[ 9.99909791e-01 1.34316852e-02 0.00000000e+00 5.12352195e+01] [-1.34316852e-02 9.99909791e-01 0.00000000e+00 -2.50572622e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37288011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.480371743 meters Centerline goodness : 0.992065 with order 1 Centerline is valid? [True, True] Translation: X:51.29, Y:-2.52, Z:0.01 [[ 9.99822230e-01 1.88549452e-02 0.00000000e+00 5.12930138e+01] [-1.88549452e-02 9.99822230e-01 0.00000000e+00 -2.51871067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44603028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.540371743 meters Centerline goodness : 0.992237 with order 1 Centerline is valid? [True, True] Translation: X:51.35, Y:-2.52, Z:0.01 [[ 9.99886871e-01 1.50414597e-02 0.00000000e+00 5.13503890e+01] [-1.50414597e-02 9.99886871e-01 0.00000000e+00 -2.52221977e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42729880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.600371743000004 meters Centerline goodness : 0.992690 with order 1 Centerline is valid? [True, True] Translation: X:51.41, Y:-2.53, Z:0.01 [[ 9.99916650e-01 1.29109393e-02 0.00000000e+00 5.14086449e+01] [-1.29109393e-02 9.99916650e-01 0.00000000e+00 -2.52601692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43195062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.660371743 meters Centerline goodness : 0.992790 with order 1 Centerline is valid? [True, True] Translation: X:51.47, Y:-2.53, Z:0.01 [[ 9.99967202e-01 8.09901337e-03 0.00000000e+00 5.14661611e+01] [-8.09901337e-03 9.99967202e-01 0.00000000e+00 -2.53141269e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41470577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.720371743 meters Centerline goodness : 0.992536 with order 1 Centerline is valid? [True, True] Translation: X:51.53, Y:-2.54, Z:0.02 [[ 9.99990992e-01 4.24445064e-03 0.00000000e+00 5.15251727e+01] [-4.24445064e-03 9.99990992e-01 0.00000000e+00 -2.53584629e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51471193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.780371743 meters Centerline goodness : 0.992706 with order 1 Centerline is valid? [True, True] Translation: X:51.58, Y:-2.54, Z:0.02 [[ 9.99999673e-01 -8.08501436e-04 0.00000000e+00 5.15841500e+01] [ 8.08501436e-04 9.99999673e-01 0.00000000e+00 -2.54066897e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69946981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.840371743 meters Centerline goodness : 0.993179 with order 1 Centerline is valid? [True, True] Translation: X:51.64, Y:-2.54, Z:0.02 [[ 9.99999953e-01 3.06426883e-04 0.00000000e+00 5.16446364e+01] [-3.06426883e-04 9.99999953e-01 0.00000000e+00 -2.54430765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66338984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.900371743 meters Centerline goodness : 0.992863 with order 1 Centerline is valid? [True, True] Translation: X:51.70, Y:-2.55, Z:0.02 [[ 9.99999301e-01 1.18274972e-03 0.00000000e+00 5.17049777e+01] [-1.18274972e-03 9.99999301e-01 0.00000000e+00 -2.54834033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62629862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.960371743 meters Centerline goodness : 0.992627 with order 1 Centerline is valid? [True, True] Translation: X:51.76, Y:-2.55, Z:0.01 [[ 9.99989304e-01 4.62518981e-03 0.00000000e+00 5.17644310e+01] [-4.62518981e-03 9.99989304e-01 0.00000000e+00 -2.55212366e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39218317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.020371743 meters Centerline goodness : 0.993562 with order 1 Centerline is valid? [True, True] Translation: X:51.82, Y:-2.55, Z:0.01 [[ 9.99935582e-01 1.13504439e-02 0.00000000e+00 5.18234999e+01] [-1.13504439e-02 9.99935582e-01 0.00000000e+00 -2.55334460e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37673244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.080371743 meters Centerline goodness : 0.992666 with order 1 Centerline is valid? [True, True] Translation: X:51.88, Y:-2.56, Z:0.01 [[ 9.99864920e-01 1.64359829e-02 0.00000000e+00 5.18815143e+01] [-1.64359829e-02 9.99864920e-01 0.00000000e+00 -2.55503921e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32659380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.140371743 meters Centerline goodness : 0.993134 with order 1 Centerline is valid? [True, True] Translation: X:51.94, Y:-2.56, Z:0.01 [[ 9.99722254e-01 2.35672247e-02 0.00000000e+00 5.19396313e+01] [-2.35672247e-02 9.99722254e-01 0.00000000e+00 -2.55619600e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45174608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.200371743 meters Centerline goodness : 0.992105 with order 1 Centerline is valid? [True, True] Translation: X:52.00, Y:-2.56, Z:0.01 [[ 9.99601501e-01 2.82283468e-02 0.00000000e+00 5.19980046e+01] [-2.82283468e-02 9.99601501e-01 0.00000000e+00 -2.55955932e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47716933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.260371743 meters Centerline goodness : 0.995172 with order 1 Centerline is valid? [True, True] Translation: X:52.06, Y:-2.55, Z:0.03 [[ 9.99804594e-01 1.97679851e-02 0.00000000e+00 5.20564996e+01] [-1.97679851e-02 9.99804594e-01 0.00000000e+00 -2.55223974e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56993202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.320371743 meters Centerline goodness : 0.994000 with order 1 Centerline is valid? [True, True] Translation: X:52.11, Y:-2.56, Z:0.02 [[ 9.99861125e-01 1.66652319e-02 0.00000000e+00 5.21138820e+01] [-1.66652319e-02 9.99861125e-01 0.00000000e+00 -2.55827102e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49289995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.380371743 meters Centerline goodness : 0.993019 with order 1 Centerline is valid? [True, True] Translation: X:52.17, Y:-2.58, Z:0.01 [[ 9.99764664e-01 2.16937207e-02 0.00000000e+00 5.21709792e+01] [-2.16937207e-02 9.99764664e-01 0.00000000e+00 -2.57767828e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04253094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.440371743 meters Centerline goodness : 0.993046 with order 1 Centerline is valid? [True, True] Translation: X:52.23, Y:-2.58, Z:0.01 [[ 9.99906026e-01 1.37090721e-02 0.00000000e+00 5.22283561e+01] [-1.37090721e-02 9.99906026e-01 0.00000000e+00 -2.57949269e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45786552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.500371743 meters Centerline goodness : 0.993431 with order 1 Centerline is valid? [True, True] Translation: X:52.29, Y:-2.59, Z:0.01 [[ 9.99970018e-01 7.74357236e-03 0.00000000e+00 5.22873689e+01] [-7.74357236e-03 9.99970018e-01 0.00000000e+00 -2.58521847e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43149327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.560371743 meters Centerline goodness : 0.993016 with order 1 Centerline is valid? [True, True] Translation: X:52.34, Y:-2.59, Z:0.02 [[ 9.99994171e-01 3.41433491e-03 0.00000000e+00 5.23447066e+01] [-3.41433491e-03 9.99994171e-01 0.00000000e+00 -2.58849277e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70352835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.620371743 meters Centerline goodness : 0.993132 with order 1 Centerline is valid? [True, True] Translation: X:52.40, Y:-2.59, Z:0.02 [[ 9.99993229e-01 3.67996079e-03 0.00000000e+00 5.24044321e+01] [-3.67996079e-03 9.99993229e-01 0.00000000e+00 -2.59208494e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76356286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.680371743 meters Centerline goodness : 0.994669 with order 1 Centerline is valid? [True, True] Translation: X:52.46, Y:-2.59, Z:0.03 [[ 9.99999703e-01 7.70347394e-04 0.00000000e+00 5.24646820e+01] [-7.70347394e-04 9.99999703e-01 0.00000000e+00 -2.58667558e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59738521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.740371743 meters Centerline goodness : 0.994449 with order 1 Centerline is valid? [True, True] Translation: X:52.52, Y:-2.59, Z:0.03 [[ 9.99991100e-01 4.21904063e-03 0.00000000e+00 5.25247347e+01] [-4.21904063e-03 9.99991100e-01 0.00000000e+00 -2.58951187e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56955467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.800371743 meters Centerline goodness : 0.993643 with order 1 Centerline is valid? [True, True] Translation: X:52.58, Y:-2.59, Z:0.03 [[ 9.99969725e-01 7.78138513e-03 0.00000000e+00 5.25830480e+01] [-7.78138513e-03 9.99969725e-01 0.00000000e+00 -2.59202057e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55690604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.860371743 meters Centerline goodness : 0.992474 with order 1 Centerline is valid? [True, True] Translation: X:52.64, Y:-2.61, Z:0.01 [[ 9.99769451e-01 2.14719541e-02 0.00000000e+00 5.26410933e+01] [-2.14719541e-02 9.99769451e-01 0.00000000e+00 -2.60565102e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34055585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.920371743 meters Centerline goodness : 0.992151 with order 1 Centerline is valid? [True, True] Translation: X:52.70, Y:-2.61, Z:0.01 [[ 9.99691278e-01 2.48465144e-02 0.00000000e+00 5.26994360e+01] [-2.48465144e-02 9.99691278e-01 0.00000000e+00 -2.60878061e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35153872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.980371743 meters Centerline goodness : 0.994600 with order 1 Centerline is valid? [True, True] Translation: X:52.76, Y:-2.60, Z:0.02 [[ 9.99752857e-01 2.22311766e-02 0.00000000e+00 5.27581772e+01] [-2.22311766e-02 9.99752857e-01 0.00000000e+00 -2.60078091e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33611108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.040371743 meters Centerline goodness : 0.993636 with order 1 Centerline is valid? [True, True] Translation: X:52.82, Y:-2.60, Z:0.03 [[ 9.99603866e-01 2.81444561e-02 0.00000000e+00 5.28164955e+01] [-2.81444561e-02 9.99603866e-01 0.00000000e+00 -2.60479985e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52625257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.100371743000004 meters Centerline goodness : 0.993861 with order 1 Centerline is valid? [True, True] Translation: X:52.88, Y:-2.61, Z:0.03 [[ 9.99563774e-01 2.95340853e-02 0.00000000e+00 5.28750557e+01] [-2.95340853e-02 9.99563774e-01 0.00000000e+00 -2.60970331e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57404127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.160371743 meters Centerline goodness : 0.992781 with order 1 Centerline is valid? [True, True] Translation: X:52.93, Y:-2.63, Z:0.02 [[ 9.99328529e-01 3.66400238e-02 0.00000000e+00 5.29330361e+01] [-3.66400238e-02 9.99328529e-01 0.00000000e+00 -2.62717501e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69005490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.220371743 meters Centerline goodness : 0.992122 with order 1 Centerline is valid? [True, True] Translation: X:52.99, Y:-2.64, Z:0.01 [[ 9.99455905e-01 3.29832355e-02 0.00000000e+00 5.29916369e+01] [-3.29832355e-02 9.99455905e-01 0.00000000e+00 -2.63588533e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37202652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.280371743 meters Centerline goodness : 0.992866 with order 1 Centerline is valid? [True, True] Translation: X:53.05, Y:-2.64, Z:0.01 [[ 9.99596511e-01 2.84044821e-02 0.00000000e+00 5.30503091e+01] [-2.84044821e-02 9.99596511e-01 0.00000000e+00 -2.64245273e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47057444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.340371743 meters Centerline goodness : 0.993606 with order 1 Centerline is valid? [True, True] Translation: X:53.11, Y:-2.65, Z:0.02 [[ 9.99822111e-01 1.88612430e-02 0.00000000e+00 5.31080657e+01] [-1.88612430e-02 9.99822111e-01 0.00000000e+00 -2.65031088e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81273328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.400371743 meters Centerline goodness : 0.993530 with order 1 Centerline is valid? [True, True] Translation: X:53.17, Y:-2.66, Z:0.01 [[ 9.99892673e-01 1.46506881e-02 0.00000000e+00 5.31665242e+01] [-1.46506881e-02 9.99892673e-01 0.00000000e+00 -2.66108383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43806527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.460371743 meters Centerline goodness : 0.994745 with order 1 Centerline is valid? [True, True] Translation: X:53.22, Y:-2.66, Z:0.02 [[ 9.99996535e-01 -2.63255689e-03 0.00000000e+00 5.32240903e+01] [ 2.63255689e-03 9.99996535e-01 0.00000000e+00 -2.65675038e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47216673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.520371743 meters Centerline goodness : 0.995154 with order 1 Centerline is valid? [True, True] Translation: X:53.28, Y:-2.66, Z:0.03 [[ 9.99970628e-01 -7.66434400e-03 0.00000000e+00 5.32848185e+01] [ 7.66434400e-03 9.99970628e-01 0.00000000e+00 -2.66253573e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54132423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.580371743 meters Centerline goodness : 0.993003 with order 1 Centerline is valid? [True, True] Translation: X:53.35, Y:-2.68, Z:0.02 [[ 9.99976319e-01 -6.88200096e-03 0.00000000e+00 5.33464314e+01] [ 6.88200096e-03 9.99976319e-01 0.00000000e+00 -2.67738679e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01356459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.640371743 meters Centerline goodness : 0.994617 with order 1 Centerline is valid? [True, True] Translation: X:53.41, Y:-2.67, Z:0.02 [[ 9.99858964e-01 -1.67944111e-02 0.00000000e+00 5.34078850e+01] [ 1.67944111e-02 9.99858964e-01 0.00000000e+00 -2.67290914e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14814728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.700371743 meters Centerline goodness : 0.993143 with order 1 Centerline is valid? [True, True] Translation: X:53.47, Y:-2.69, Z:0.01 [[ 9.99976019e-01 -6.92539624e-03 0.00000000e+00 5.34695654e+01] [ 6.92539624e-03 9.99976019e-01 0.00000000e+00 -2.68687188e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12404438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.760371743 meters Centerline goodness : 0.993489 with order 1 Centerline is valid? [True, True] Translation: X:53.53, Y:-2.69, Z:0.01 [[ 9.99975098e-01 -7.05712736e-03 0.00000000e+00 5.35323311e+01] [ 7.05712736e-03 9.99975098e-01 0.00000000e+00 -2.68510979e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36510312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.820371743 meters Centerline goodness : 0.995429 with order 1 Centerline is valid? [True, True] Translation: X:53.59, Y:-2.67, Z:0.02 [[ 9.99902073e-01 -1.39944538e-02 0.00000000e+00 5.35946129e+01] [ 1.39944538e-02 9.99902073e-01 0.00000000e+00 -2.67280765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17436393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.880371743 meters Centerline goodness : 0.994711 with order 1 Centerline is valid? [True, True] Translation: X:53.66, Y:-2.67, Z:0.02 [[ 9.99921327e-01 -1.25435446e-02 0.00000000e+00 5.36570872e+01] [ 1.25435446e-02 9.99921327e-01 0.00000000e+00 -2.67207148e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25920245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.940371743 meters Centerline goodness : 0.992479 with order 1 Centerline is valid? [True, True] Translation: X:53.72, Y:-2.68, Z:0.01 [[ 9.99999879e-01 -4.91773228e-04 0.00000000e+00 5.37192109e+01] [ 4.91773228e-04 9.99999879e-01 0.00000000e+00 -2.68117810e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24932388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.000371743 meters Centerline goodness : 0.994146 with order 1 Centerline is valid? [True, True] Translation: X:53.78, Y:-2.67, Z:0.02 [[ 9.99960170e-01 -8.92511316e-03 0.00000000e+00 5.37801278e+01] [ 8.92511316e-03 9.99960170e-01 0.00000000e+00 -2.66556960e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10554073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.060371743 meters Centerline goodness : 0.992098 with order 1 Centerline is valid? [True, True] Translation: X:53.84, Y:-2.68, Z:0.01 [[ 9.99998584e-01 1.68306152e-03 0.00000000e+00 5.38423166e+01] [-1.68306152e-03 9.99998584e-01 0.00000000e+00 -2.67719757e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08199264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.120371743 meters Centerline goodness : 0.995034 with order 1 Centerline is valid? [True, True] Translation: X:53.90, Y:-2.66, Z:0.02 [[ 9.99978408e-01 -6.57144531e-03 0.00000000e+00 5.39028385e+01] [ 6.57144531e-03 9.99978408e-01 0.00000000e+00 -2.66178922e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02980577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.180371743 meters Centerline goodness : 0.993679 with order 1 Centerline is valid? [True, True] Translation: X:53.97, Y:-2.66, Z:0.02 [[ 9.99987826e-01 -4.93433699e-03 0.00000000e+00 5.39653164e+01] [ 4.93433699e-03 9.99987826e-01 0.00000000e+00 -2.65955419e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10981699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.240371743 meters Centerline goodness : 0.991430 with order 1 Centerline is valid? [True, True] Translation: X:54.03, Y:-2.67, Z:0.01 [[ 9.99990204e-01 4.42636935e-03 0.00000000e+00 5.40260310e+01] [-4.42636935e-03 9.99990204e-01 0.00000000e+00 -2.67054551e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38175779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.300371743 meters Centerline goodness : 0.991373 with order 1 Centerline is valid? [True, True] Translation: X:54.09, Y:-2.67, Z:0.01 [[ 9.99965673e-01 8.28573457e-03 0.00000000e+00 5.40850965e+01] [-8.28573457e-03 9.99965673e-01 0.00000000e+00 -2.67037493e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18058716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.360371743 meters Centerline goodness : 0.993958 with order 1 Centerline is valid? [True, True] Translation: X:54.14, Y:-2.66, Z:0.02 [[ 9.99998109e-01 1.94466549e-03 0.00000000e+00 5.41442305e+01] [-1.94466549e-03 9.99998109e-01 0.00000000e+00 -2.65684755e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07168676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.420371743 meters Centerline goodness : 0.991356 with order 1 Centerline is valid? [True, True] Translation: X:54.20, Y:-2.67, Z:0.01 [[ 9.99898133e-01 1.42731516e-02 0.00000000e+00 5.42037914e+01] [-1.42731516e-02 9.99898133e-01 0.00000000e+00 -2.67088253e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.74777510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.480371743 meters Centerline goodness : 0.990424 with order 1 Centerline is valid? [True, True] Translation: X:54.26, Y:-2.67, Z:0.01 [[ 9.99907186e-01 1.36242064e-02 0.00000000e+00 5.42617463e+01] [-1.36242064e-02 9.99907186e-01 0.00000000e+00 -2.67221999e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.92632949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.540371743 meters Centerline goodness : 0.993618 with order 1 Centerline is valid? [True, True] Translation: X:54.32, Y:-2.66, Z:0.02 [[ 9.99997688e-01 2.15043506e-03 0.00000000e+00 5.43205455e+01] [-2.15043506e-03 9.99997688e-01 0.00000000e+00 -2.66030258e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74279403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.600371743000004 meters Centerline goodness : 0.991232 with order 1 Centerline is valid? [True, True] Translation: X:54.38, Y:-2.67, Z:0.01 [[ 9.99980668e-01 6.21804998e-03 0.00000000e+00 5.43793403e+01] [-6.21804998e-03 9.99980668e-01 0.00000000e+00 -2.67219805e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18319663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.660371743 meters Centerline goodness : 0.991262 with order 1 Centerline is valid? [True, True] Translation: X:54.44, Y:-2.67, Z:0.01 [[ 9.99987071e-01 5.08514096e-03 0.00000000e+00 5.44384444e+01] [-5.08514096e-03 9.99987071e-01 0.00000000e+00 -2.67379983e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26668009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.720371743 meters Centerline goodness : 0.992592 with order 1 Centerline is valid? [True, True] Translation: X:54.50, Y:-2.66, Z:0.02 [[ 9.99979363e-01 -6.42440655e-03 0.00000000e+00 5.44977252e+01] [ 6.42440655e-03 9.99979363e-01 0.00000000e+00 -2.66486738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71253064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.780371743 meters Centerline goodness : 0.992031 with order 1 Centerline is valid? [True, True] Translation: X:54.56, Y:-2.68, Z:0.01 [[ 9.99996900e-01 -2.48986286e-03 0.00000000e+00 5.45596638e+01] [ 2.48986286e-03 9.99996900e-01 0.00000000e+00 -2.67653143e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26510380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.840371743 meters Centerline goodness : 0.992287 with order 1 Centerline is valid? [True, True] Translation: X:54.62, Y:-2.68, Z:0.01 [[ 9.99958100e-01 -9.15408490e-03 0.00000000e+00 5.46212434e+01] [ 9.15408490e-03 9.99958100e-01 0.00000000e+00 -2.67825051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27170417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.900371743 meters Centerline goodness : 0.992065 with order 1 Centerline is valid? [True, True] Translation: X:54.68, Y:-2.68, Z:0.01 [[ 9.99914832e-01 -1.30510426e-02 0.00000000e+00 5.46833426e+01] [ 1.30510426e-02 9.99914832e-01 0.00000000e+00 -2.68123194e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12131171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.960371743 meters Centerline goodness : 0.992974 with order 1 Centerline is valid? [True, True] Translation: X:54.75, Y:-2.68, Z:0.01 [[ 9.99832159e-01 -1.83208759e-02 0.00000000e+00 5.47469696e+01] [ 1.83208759e-02 9.99832159e-01 0.00000000e+00 -2.68105960e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15020855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.020371743 meters Centerline goodness : 0.993278 with order 1 Centerline is valid? [True, True] Translation: X:54.81, Y:-2.68, Z:0.01 [[ 9.99836943e-01 -1.80578943e-02 0.00000000e+00 5.48104502e+01] [ 1.80578943e-02 9.99836943e-01 0.00000000e+00 -2.68149995e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.35997447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.080371743 meters Centerline goodness : 0.992820 with order 1 Centerline is valid? [True, True] Translation: X:54.87, Y:-2.68, Z:0.00 [[ 9.99885682e-01 -1.51202786e-02 0.00000000e+00 5.48720197e+01] [ 1.51202786e-02 9.99885682e-01 0.00000000e+00 -2.68487289e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30913284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.140371743 meters Centerline goodness : 0.992808 with order 1 Centerline is valid? [True, True] Translation: X:54.94, Y:-2.68, Z:0.01 [[ 9.99846781e-01 -1.75047275e-02 0.00000000e+00 5.49353991e+01] [ 1.75047275e-02 9.99846781e-01 0.00000000e+00 -2.68199390e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.26134951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.200371743 meters Centerline goodness : 0.993323 with order 1 Centerline is valid? [True, True] Translation: X:55.00, Y:-2.68, Z:0.01 [[ 9.99809903e-01 -1.94976511e-02 0.00000000e+00 5.49968479e+01] [ 1.94976511e-02 9.99809903e-01 0.00000000e+00 -2.68264587e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.92667996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.260371743 meters Centerline goodness : 0.993478 with order 1 Centerline is valid? [True, True] Translation: X:55.06, Y:-2.68, Z:0.01 [[ 9.99819504e-01 -1.89989500e-02 0.00000000e+00 5.50599351e+01] [ 1.89989500e-02 9.99819504e-01 0.00000000e+00 -2.68287727e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08696697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.320371743 meters Centerline goodness : 0.993475 with order 1 Centerline is valid? [True, True] Translation: X:55.12, Y:-2.68, Z:0.01 [[ 9.99845850e-01 -1.75577870e-02 0.00000000e+00 5.51224617e+01] [ 1.75577870e-02 9.99845850e-01 0.00000000e+00 -2.68406218e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07571340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.380371743 meters Centerline goodness : 0.993320 with order 1 Centerline is valid? [True, True] Translation: X:55.19, Y:-2.68, Z:0.01 [[ 9.99946550e-01 -1.03391522e-02 0.00000000e+00 5.51853337e+01] [ 1.03391522e-02 9.99946550e-01 0.00000000e+00 -2.68325348e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17427158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.440371743 meters Centerline goodness : 0.992322 with order 1 Centerline is valid? [True, True] Translation: X:55.25, Y:-2.68, Z:0.01 [[ 9.99997692e-01 2.14851662e-03 0.00000000e+00 5.52467065e+01] [-2.14851662e-03 9.99997692e-01 0.00000000e+00 -2.68328733e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03546554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.500371743 meters Centerline goodness : 0.992144 with order 1 Centerline is valid? [True, True] Translation: X:55.31, Y:-2.68, Z:0.01 [[ 9.99968162e-01 7.97968824e-03 0.00000000e+00 5.53061215e+01] [-7.97968824e-03 9.99968162e-01 0.00000000e+00 -2.68225625e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28237008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.560371743 meters Centerline goodness : 0.991500 with order 1 Centerline is valid? [True, True] Translation: X:55.36, Y:-2.68, Z:0.01 [[ 9.99879779e-01 1.55057220e-02 0.00000000e+00 5.53639683e+01] [-1.55057220e-02 9.99879779e-01 0.00000000e+00 -2.68169730e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40986638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.620371743 meters Centerline goodness : 0.991979 with order 1 Centerline is valid? [True, True] Translation: X:55.42, Y:-2.68, Z:0.01 [[ 9.99788668e-01 2.05577244e-02 0.00000000e+00 5.54212276e+01] [-2.05577244e-02 9.99788668e-01 0.00000000e+00 -2.68220826e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.57224303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.680371743 meters Centerline goodness : 0.991624 with order 1 Centerline is valid? [True, True] Translation: X:55.48, Y:-2.68, Z:0.01 [[ 9.99735073e-01 2.30170330e-02 0.00000000e+00 5.54788058e+01] [-2.30170330e-02 9.99735073e-01 0.00000000e+00 -2.68290030e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.95517483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.740371743 meters Centerline goodness : 0.991010 with order 1 Centerline is valid? [True, True] Translation: X:55.54, Y:-2.69, Z:0.01 [[ 9.99629225e-01 2.72289014e-02 0.00000000e+00 5.55379017e+01] [-2.72289014e-02 9.99629225e-01 0.00000000e+00 -2.68550489e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01087009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.800371743 meters Centerline goodness : 0.991593 with order 1 Centerline is valid? [True, True] Translation: X:55.60, Y:-2.69, Z:0.01 [[ 9.99664622e-01 2.58967828e-02 0.00000000e+00 5.55966902e+01] [-2.58967828e-02 9.99664622e-01 0.00000000e+00 -2.68895011e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.69581303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.860371743 meters Centerline goodness : 0.991731 with order 1 Centerline is valid? [True, True] Translation: X:55.65, Y:-2.69, Z:0.01 [[ 9.99807403e-01 1.96254156e-02 0.00000000e+00 5.56547686e+01] [-1.96254156e-02 9.99807403e-01 0.00000000e+00 -2.69212940e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29716236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.920371743 meters Centerline goodness : 0.991993 with order 1 Centerline is valid? [True, True] Translation: X:55.71, Y:-2.70, Z:0.02 [[ 9.99963159e-01 8.58368614e-03 0.00000000e+00 5.57128909e+01] [-8.58368614e-03 9.99963159e-01 0.00000000e+00 -2.69564893e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55384140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.980371743 meters Centerline goodness : 0.992289 with order 1 Centerline is valid? [True, True] Translation: X:55.77, Y:-2.70, Z:0.02 [[ 9.99994597e-01 3.28715135e-03 0.00000000e+00 5.57711253e+01] [-3.28715135e-03 9.99994597e-01 0.00000000e+00 -2.70004999e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61177514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.040371743 meters Centerline goodness : 0.992217 with order 1 Centerline is valid? [True, True] Translation: X:55.83, Y:-2.70, Z:0.02 [[ 9.99988912e-01 -4.70917692e-03 0.00000000e+00 5.58306761e+01] [ 4.70917692e-03 9.99988912e-01 0.00000000e+00 -2.70364754e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71975030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.100371743000004 meters Centerline goodness : 0.991840 with order 1 Centerline is valid? [True, True] Translation: X:55.89, Y:-2.71, Z:0.02 [[ 9.99959740e-01 -8.97321508e-03 0.00000000e+00 5.58916832e+01] [ 8.97321508e-03 9.99959740e-01 0.00000000e+00 -2.70655617e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87592804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.160371743 meters Centerline goodness : 0.992283 with order 1 Centerline is valid? [True, True] Translation: X:55.95, Y:-2.71, Z:0.02 [[ 9.99925524e-01 -1.22043321e-02 0.00000000e+00 5.59548553e+01] [ 1.22043321e-02 9.99925524e-01 0.00000000e+00 -2.71071880e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96265855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.220371743 meters Centerline goodness : 0.992195 with order 1 Centerline is valid? [True, True] Translation: X:56.02, Y:-2.71, Z:0.02 [[ 9.99916762e-01 -1.29022731e-02 0.00000000e+00 5.60172983e+01] [ 1.29022731e-02 9.99916762e-01 0.00000000e+00 -2.71370711e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05892408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.280371743 meters Centerline goodness : 0.992637 with order 1 Centerline is valid? [True, True] Translation: X:56.08, Y:-2.72, Z:0.02 [[ 9.99939057e-01 -1.10400214e-02 0.00000000e+00 5.60796847e+01] [ 1.10400214e-02 9.99939057e-01 0.00000000e+00 -2.71571746e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89906503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.340371743 meters Centerline goodness : 0.992675 with order 1 Centerline is valid? [True, True] Translation: X:56.14, Y:-2.72, Z:0.02 [[ 9.99974314e-01 -7.16740046e-03 0.00000000e+00 5.61413915e+01] [ 7.16740046e-03 9.99974314e-01 0.00000000e+00 -2.71576578e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82523811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.400371743 meters Centerline goodness : 0.993029 with order 1 Centerline is valid? [True, True] Translation: X:56.20, Y:-2.72, Z:0.02 [[ 9.99993320e-01 -3.65509476e-03 0.00000000e+00 5.62027830e+01] [ 3.65509476e-03 9.99993320e-01 0.00000000e+00 -2.71690885e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72656413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.460371743 meters Centerline goodness : 0.992492 with order 1 Centerline is valid? [True, True] Translation: X:56.26, Y:-2.72, Z:0.02 [[ 9.99997718e-01 2.13653196e-03 0.00000000e+00 5.62639402e+01] [-2.13653196e-03 9.99997718e-01 0.00000000e+00 -2.71834608e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64156898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.520371743 meters Centerline goodness : 0.992409 with order 1 Centerline is valid? [True, True] Translation: X:56.32, Y:-2.72, Z:0.02 [[ 9.99993492e-01 3.60785843e-03 0.00000000e+00 5.63232114e+01] [-3.60785843e-03 9.99993492e-01 0.00000000e+00 -2.72008913e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65431160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.580371743 meters Centerline goodness : 0.992183 with order 1 Centerline is valid? [True, True] Translation: X:56.38, Y:-2.72, Z:0.02 [[ 9.99961268e-01 8.80133150e-03 0.00000000e+00 5.63820799e+01] [-8.80133150e-03 9.99961268e-01 0.00000000e+00 -2.71948728e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77353450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.640371743 meters Centerline goodness : 0.992065 with order 1 Centerline is valid? [True, True] Translation: X:56.44, Y:-2.72, Z:0.02 [[ 9.99924458e-01 1.22913830e-02 0.00000000e+00 5.64410800e+01] [-1.22913830e-02 9.99924458e-01 0.00000000e+00 -2.72013868e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82853428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.700371743 meters Centerline goodness : 0.991692 with order 1 Centerline is valid? [True, True] Translation: X:56.50, Y:-2.72, Z:0.02 [[ 9.99811790e-01 1.94006107e-02 0.00000000e+00 5.64993290e+01] [-1.94006107e-02 9.99811790e-01 0.00000000e+00 -2.72290372e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59157469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.760371743 meters Centerline goodness : 0.991247 with order 1 Centerline is valid? [True, True] Translation: X:56.56, Y:-2.72, Z:0.02 [[ 9.99707124e-01 2.42005612e-02 0.00000000e+00 5.65581131e+01] [-2.42005612e-02 9.99707124e-01 0.00000000e+00 -2.72374611e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53984141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.820371743 meters Centerline goodness : 0.991104 with order 1 Centerline is valid? [True, True] Translation: X:56.62, Y:-2.73, Z:0.02 [[ 9.99656160e-01 2.62214145e-02 0.00000000e+00 5.66164327e+01] [-2.62214145e-02 9.99656160e-01 0.00000000e+00 -2.72608882e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55241845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.880371743 meters Centerline goodness : 0.990176 with order 1 Centerline is valid? [True, True] Translation: X:56.67, Y:-2.73, Z:0.02 [[ 9.99604327e-01 2.81280910e-02 0.00000000e+00 5.66743872e+01] [-2.81280910e-02 9.99604327e-01 0.00000000e+00 -2.72891796e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58960822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.940371743 meters Centerline goodness : 0.990490 with order 1 Centerline is valid? [True, True] Translation: X:56.73, Y:-2.73, Z:0.02 [[ 9.99525388e-01 3.08058371e-02 0.00000000e+00 5.67335067e+01] [-3.08058371e-02 9.99525388e-01 0.00000000e+00 -2.73026782e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11411620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.000371743 meters Centerline goodness : 0.992192 with order 1 Centerline is valid? [True, True] Translation: X:56.79, Y:-2.73, Z:0.02 [[ 9.99580782e-01 2.89527215e-02 0.00000000e+00 5.67912453e+01] [-2.89527215e-02 9.99580782e-01 0.00000000e+00 -2.73069146e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20370586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.060371743 meters Centerline goodness : 0.991422 with order 1 Centerline is valid? [True, True] Translation: X:56.85, Y:-2.74, Z:0.02 [[ 9.99390675e-01 3.49038364e-02 0.00000000e+00 5.68497603e+01] [-3.49038364e-02 9.99390675e-01 0.00000000e+00 -2.74329117e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70046893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.120371743 meters Centerline goodness : 0.993529 with order 1 Centerline is valid? [True, True] Translation: X:56.91, Y:-2.74, Z:0.02 [[ 9.99680914e-01 2.52600627e-02 0.00000000e+00 5.69074655e+01] [-2.52600627e-02 9.99680914e-01 0.00000000e+00 -2.74309609e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27197772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.180371743 meters Centerline goodness : 0.993317 with order 1 Centerline is valid? [True, True] Translation: X:56.97, Y:-2.75, Z:0.02 [[ 9.99796222e-01 2.01869961e-02 0.00000000e+00 5.69663597e+01] [-2.01869961e-02 9.99796222e-01 0.00000000e+00 -2.75005352e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20550663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.240371743 meters Centerline goodness : 0.992626 with order 1 Centerline is valid? [True, True] Translation: X:57.02, Y:-2.77, Z:0.01 [[ 9.99840348e-01 1.78683387e-02 0.00000000e+00 5.70247894e+01] [-1.78683387e-02 9.99840348e-01 0.00000000e+00 -2.76807133e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28768109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.300371743 meters Centerline goodness : 0.993440 with order 1 Centerline is valid? [True, True] Translation: X:57.08, Y:-2.77, Z:0.02 [[ 9.99984488e-01 5.56998278e-03 0.00000000e+00 5.70832580e+01] [-5.56998278e-03 9.99984488e-01 0.00000000e+00 -2.77352354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62037210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.360371743 meters Centerline goodness : 0.992523 with order 1 Centerline is valid? [True, True] Translation: X:57.14, Y:-2.78, Z:0.01 [[ 9.99995528e-01 2.99074716e-03 0.00000000e+00 5.71419152e+01] [-2.99074716e-03 9.99995528e-01 0.00000000e+00 -2.78278705e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25506907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.420371743 meters Centerline goodness : 0.994165 with order 1 Centerline is valid? [True, True] Translation: X:57.20, Y:-2.79, Z:0.02 [[ 9.99981389e-01 -6.10095790e-03 0.00000000e+00 5.72016832e+01] [ 6.10095790e-03 9.99981389e-01 0.00000000e+00 -2.78857884e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72146121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.480371743 meters Centerline goodness : 0.994054 with order 1 Centerline is valid? [True, True] Translation: X:57.26, Y:-2.80, Z:0.02 [[ 9.99973970e-01 -7.21518620e-03 0.00000000e+00 5.72640922e+01] [ 7.21518620e-03 9.99973970e-01 0.00000000e+00 -2.79557411e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71503374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.540371743 meters Centerline goodness : 0.992316 with order 1 Centerline is valid? [True, True] Translation: X:57.33, Y:-2.80, Z:0.02 [[ 9.99971523e-01 -7.54672864e-03 0.00000000e+00 5.73262268e+01] [ 7.54672864e-03 9.99971523e-01 0.00000000e+00 -2.80383512e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59840857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.600371743 meters Centerline goodness : 0.993334 with order 1 Centerline is valid? [True, True] Translation: X:57.39, Y:-2.81, Z:0.02 [[ 9.99953775e-01 -9.61499986e-03 0.00000000e+00 5.73883159e+01] [ 9.61499986e-03 9.99953775e-01 0.00000000e+00 -2.80758917e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86728984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.660371743 meters Centerline goodness : 0.993122 with order 1 Centerline is valid? [True, True] Translation: X:57.45, Y:-2.81, Z:0.02 [[ 9.99969646e-01 -7.79143529e-03 0.00000000e+00 5.74491379e+01] [ 7.79143529e-03 9.99969646e-01 0.00000000e+00 -2.81238501e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58514364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.720371743 meters Centerline goodness : 0.994489 with order 1 Centerline is valid? [True, True] Translation: X:57.51, Y:-2.81, Z:0.02 [[ 9.99977441e-01 -6.71697284e-03 0.00000000e+00 5.75107005e+01] [ 6.71697284e-03 9.99977441e-01 0.00000000e+00 -2.80877080e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78221945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.780371743 meters Centerline goodness : 0.995589 with order 1 Centerline is valid? [True, True] Translation: X:57.57, Y:-2.81, Z:0.02 [[ 9.99999289e-01 -1.19260685e-03 0.00000000e+00 5.75728658e+01] [ 1.19260685e-03 9.99999289e-01 0.00000000e+00 -2.81028559e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09439391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.840371743 meters Centerline goodness : 0.993387 with order 1 Centerline is valid? [True, True] Translation: X:57.63, Y:-2.83, Z:0.01 [[ 9.99843095e-01 1.77139969e-02 0.00000000e+00 5.76325445e+01] [-1.77139969e-02 9.99843095e-01 0.00000000e+00 -2.82524700e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.92115086e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.900371743 meters Centerline goodness : 0.992267 with order 1 Centerline is valid? [True, True] Translation: X:57.69, Y:-2.83, Z:0.01 [[ 9.99604450e-01 2.81237310e-02 0.00000000e+00 5.76903091e+01] [-2.81237310e-02 9.99604450e-01 0.00000000e+00 -2.82653948e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.82638663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.960371743 meters Centerline goodness : 0.992577 with order 1 Centerline is valid? [True, True] Translation: X:57.75, Y:-2.83, Z:0.01 [[ 9.99366886e-01 3.55784736e-02 0.00000000e+00 5.77491059e+01] [-3.55784736e-02 9.99366886e-01 0.00000000e+00 -2.82747450e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.54695319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.020371743 meters Centerline goodness : 0.994465 with order 1 Centerline is valid? [True, True] Translation: X:57.81, Y:-2.81, Z:0.02 [[ 9.99718935e-01 2.37075943e-02 0.00000000e+00 5.78078210e+01] [-2.37075943e-02 9.99718935e-01 0.00000000e+00 -2.81419371e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39043242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.080371743 meters Centerline goodness : 0.992604 with order 1 Centerline is valid? [True, True] Translation: X:57.87, Y:-2.83, Z:0.01 [[ 9.99463124e-01 3.27637612e-02 0.00000000e+00 5.78658908e+01] [-3.27637612e-02 9.99463124e-01 0.00000000e+00 -2.83219441e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.19012908e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.140371743 meters Centerline goodness : 0.992974 with order 1 Centerline is valid? [True, True] Translation: X:57.92, Y:-2.84, Z:0.01 [[ 9.99666158e-01 2.58374251e-02 0.00000000e+00 5.79245289e+01] [-2.58374251e-02 9.99666158e-01 0.00000000e+00 -2.83868773e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.81070079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.200371743 meters Centerline goodness : 0.992578 with order 1 Centerline is valid? [True, True] Translation: X:57.98, Y:-2.85, Z:0.01 [[ 9.99851248e-01 1.72476627e-02 0.00000000e+00 5.79828893e+01] [-1.72476627e-02 9.99851248e-01 0.00000000e+00 -2.84683844e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58597014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.260371743 meters Centerline goodness : 0.994048 with order 1 Centerline is valid? [True, True] Translation: X:58.04, Y:-2.84, Z:0.02 [[ 9.99995948e-01 -2.84669974e-03 0.00000000e+00 5.80421894e+01] [ 2.84669974e-03 9.99995948e-01 0.00000000e+00 -2.83609179e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26335535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.320371743 meters Centerline goodness : 0.992514 with order 1 Centerline is valid? [True, True] Translation: X:58.10, Y:-2.85, Z:0.01 [[ 9.99999522e-01 -9.77978413e-04 0.00000000e+00 5.81031425e+01] [ 9.77978413e-04 9.99999522e-01 0.00000000e+00 -2.85415959e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03039685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.380371743 meters Centerline goodness : 0.993375 with order 1 Centerline is valid? [True, True] Translation: X:58.16, Y:-2.86, Z:0.01 [[ 9.99987408e-01 -5.01840547e-03 0.00000000e+00 5.81635407e+01] [ 5.01840547e-03 9.99987408e-01 0.00000000e+00 -2.85577472e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29250755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.440371743 meters Centerline goodness : 0.993628 with order 1 Centerline is valid? [True, True] Translation: X:58.22, Y:-2.86, Z:0.01 [[ 9.99980925e-01 -6.17651954e-03 0.00000000e+00 5.82245287e+01] [ 6.17651954e-03 9.99980925e-01 0.00000000e+00 -2.85775175e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46412000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.500371743 meters Centerline goodness : 0.994914 with order 1 Centerline is valid? [True, True] Translation: X:58.29, Y:-2.85, Z:0.02 [[ 9.99924403e-01 -1.22958820e-02 0.00000000e+00 5.82860531e+01] [ 1.22958820e-02 9.99924403e-01 0.00000000e+00 -2.85065327e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47711986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.560371743 meters Centerline goodness : 0.993708 with order 1 Centerline is valid? [True, True] Translation: X:58.35, Y:-2.86, Z:0.01 [[ 9.99989723e-01 -4.53356465e-03 0.00000000e+00 5.83473594e+01] [ 4.53356465e-03 9.99989723e-01 0.00000000e+00 -2.86315382e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49048045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.620371743 meters Centerline goodness : 0.995078 with order 1 Centerline is valid? [True, True] Translation: X:58.41, Y:-2.86, Z:0.02 [[ 9.99961441e-01 -8.78161471e-03 0.00000000e+00 5.84096316e+01] [ 8.78161471e-03 9.99961441e-01 0.00000000e+00 -2.85502449e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15375601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.680371743 meters Centerline goodness : 0.995568 with order 1 Centerline is valid? [True, True] Translation: X:58.47, Y:-2.86, Z:0.02 [[ 9.99980611e-01 -6.22712919e-03 0.00000000e+00 5.84718351e+01] [ 6.22712919e-03 9.99980611e-01 0.00000000e+00 -2.85710908e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89403533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.740371743 meters Centerline goodness : 0.994794 with order 1 Centerline is valid? [True, True] Translation: X:58.53, Y:-2.86, Z:0.02 [[ 9.99996981e-01 -2.45724360e-03 0.00000000e+00 5.85343523e+01] [ 2.45724360e-03 9.99996981e-01 0.00000000e+00 -2.85970914e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98347340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.800371743 meters Centerline goodness : 0.994634 with order 1 Centerline is valid? [True, True] Translation: X:58.60, Y:-2.86, Z:0.02 [[ 9.99999765e-01 6.85524960e-04 0.00000000e+00 5.85959621e+01] [-6.85524960e-04 9.99999765e-01 0.00000000e+00 -2.86143197e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08917481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.860371743 meters Centerline goodness : 0.994076 with order 1 Centerline is valid? [True, True] Translation: X:58.66, Y:-2.86, Z:0.02 [[ 9.99979821e-01 6.35275104e-03 0.00000000e+00 5.86559344e+01] [-6.35275104e-03 9.99979821e-01 0.00000000e+00 -2.86354803e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09044979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.920371743 meters Centerline goodness : 0.993804 with order 1 Centerline is valid? [True, True] Translation: X:58.71, Y:-2.87, Z:0.02 [[ 9.99945523e-01 1.04379551e-02 0.00000000e+00 5.87143070e+01] [-1.04379551e-02 9.99945523e-01 0.00000000e+00 -2.86602093e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08404870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.980371743 meters Centerline goodness : 0.993142 with order 1 Centerline is valid? [True, True] Translation: X:58.77, Y:-2.87, Z:0.02 [[ 9.99894555e-01 1.45216676e-02 0.00000000e+00 5.87725586e+01] [-1.45216676e-02 9.99894555e-01 0.00000000e+00 -2.86820834e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10624634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.040371743 meters Centerline goodness : 0.992940 with order 1 Centerline is valid? [True, True] Translation: X:58.83, Y:-2.87, Z:0.02 [[ 9.99879646e-01 1.55142918e-02 0.00000000e+00 5.88315107e+01] [-1.55142918e-02 9.99879646e-01 0.00000000e+00 -2.87189535e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12203854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.100371743 meters Centerline goodness : 0.993301 with order 1 Centerline is valid? [True, True] Translation: X:58.89, Y:-2.88, Z:0.02 [[ 9.99896232e-01 1.44057487e-02 0.00000000e+00 5.88900596e+01] [-1.44057487e-02 9.99896232e-01 0.00000000e+00 -2.87603950e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19712664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.160371743 meters Centerline goodness : 0.991090 with order 1 Centerline is valid? [True, True] Translation: X:58.95, Y:-2.89, Z:0.01 [[ 9.99794266e-01 2.02836067e-02 0.00000000e+00 5.89483930e+01] [-2.02836067e-02 9.99794266e-01 0.00000000e+00 -2.89489166e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.83249621e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.220371743 meters Centerline goodness : 0.991630 with order 1 Centerline is valid? [True, True] Translation: X:59.01, Y:-2.90, Z:0.00 [[ 9.99916023e-01 1.29594257e-02 0.00000000e+00 5.90067283e+01] [-1.29594257e-02 9.99916023e-01 0.00000000e+00 -2.90279913e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46682790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.280371743 meters Centerline goodness : 0.994942 with order 1 Centerline is valid? [True, True] Translation: X:59.07, Y:-2.89, Z:0.02 [[ 9.99971898e-01 -7.49682434e-03 0.00000000e+00 5.90656718e+01] [ 7.49682434e-03 9.99971898e-01 0.00000000e+00 -2.89203385e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84444329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.340371743 meters Centerline goodness : 0.993090 with order 1 Centerline is valid? [True, True] Translation: X:59.13, Y:-2.91, Z:0.01 [[ 9.99957743e-01 -9.19303024e-03 0.00000000e+00 5.91271356e+01] [ 9.19303024e-03 9.99957743e-01 0.00000000e+00 -2.90694191e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22487581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.400371743 meters Centerline goodness : 0.993283 with order 1 Centerline is valid? [True, True] Translation: X:59.19, Y:-2.91, Z:0.01 [[ 9.99896054e-01 -1.44180934e-02 0.00000000e+00 5.91898386e+01] [ 1.44180934e-02 9.99896054e-01 0.00000000e+00 -2.90976526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32098552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.460371743 meters Centerline goodness : 0.993677 with order 1 Centerline is valid? [True, True] Translation: X:59.25, Y:-2.91, Z:0.01 [[ 9.99866517e-01 -1.63385396e-02 0.00000000e+00 5.92526968e+01] [ 1.63385396e-02 9.99866517e-01 0.00000000e+00 -2.91283744e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26459093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.520371743 meters Centerline goodness : 0.993761 with order 1 Centerline is valid? [True, True] Translation: X:59.31, Y:-2.91, Z:0.01 [[ 9.99839584e-01 -1.79110711e-02 0.00000000e+00 5.93145422e+01] [ 1.79110711e-02 9.99839584e-01 0.00000000e+00 -2.91399833e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35636683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.580371743 meters Centerline goodness : 0.993794 with order 1 Centerline is valid? [True, True] Translation: X:59.38, Y:-2.91, Z:0.02 [[ 9.99941943e-01 -1.07754545e-02 0.00000000e+00 5.93774479e+01] [ 1.07754545e-02 9.99941943e-01 0.00000000e+00 -2.91443865e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64132049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.640371743 meters Centerline goodness : 0.993043 with order 1 Centerline is valid? [True, True] Translation: X:59.44, Y:-2.92, Z:0.01 [[ 9.99963832e-01 -8.50503150e-03 0.00000000e+00 5.94398223e+01] [ 8.50503150e-03 9.99963832e-01 0.00000000e+00 -2.91541261e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33671643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.700371743 meters Centerline goodness : 0.992563 with order 1 Centerline is valid? [True, True] Translation: X:59.50, Y:-2.92, Z:0.01 [[ 9.99967503e-01 8.06180424e-03 0.00000000e+00 5.95012976e+01] [-8.06180424e-03 9.99967503e-01 0.00000000e+00 -2.91756538e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.74389900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.760371743 meters Centerline goodness : 0.991783 with order 1 Centerline is valid? [True, True] Translation: X:59.56, Y:-2.91, Z:0.01 [[ 9.99811712e-01 1.94046430e-02 0.00000000e+00 5.95596991e+01] [-1.94046430e-02 9.99811712e-01 0.00000000e+00 -2.91317935e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35115403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.820371743 meters Centerline goodness : 0.991487 with order 1 Centerline is valid? [True, True] Translation: X:59.62, Y:-2.91, Z:0.02 [[ 9.99466654e-01 3.26559013e-02 0.00000000e+00 5.96176145e+01] [-3.26559013e-02 9.99466654e-01 0.00000000e+00 -2.91220217e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69745007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.880371743 meters Centerline goodness : 0.991103 with order 1 Centerline is valid? [True, True] Translation: X:59.68, Y:-2.92, Z:0.01 [[ 9.99270333e-01 3.81942580e-02 0.00000000e+00 5.96756625e+01] [-3.81942580e-02 9.99270333e-01 0.00000000e+00 -2.91612089e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.35021635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.940371743 meters Centerline goodness : 0.994057 with order 1 Centerline is valid? [True, True] Translation: X:59.73, Y:-2.91, Z:0.02 [[ 9.99579873e-01 2.89841073e-02 0.00000000e+00 5.97343031e+01] [-2.89841073e-02 9.99579873e-01 0.00000000e+00 -2.90737183e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72878966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.000371743 meters Centerline goodness : 0.991754 with order 1 Centerline is valid? [True, True] Translation: X:59.79, Y:-2.92, Z:0.01 [[ 9.99348869e-01 3.60809879e-02 0.00000000e+00 5.97920575e+01] [-3.60809879e-02 9.99348869e-01 0.00000000e+00 -2.92367846e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.81732669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.060371743 meters Centerline goodness : 0.993396 with order 1 Centerline is valid? [True, True] Translation: X:59.85, Y:-2.92, Z:0.02 [[ 9.99767872e-01 2.15453411e-02 0.00000000e+00 5.98498153e+01] [-2.15453411e-02 9.99767872e-01 0.00000000e+00 -2.91711238e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82605618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.120371743 meters Centerline goodness : 0.993951 with order 1 Centerline is valid? [True, True] Translation: X:59.91, Y:-2.92, Z:0.02 [[ 9.99839129e-01 1.79364325e-02 0.00000000e+00 5.99079991e+01] [-1.79364325e-02 9.99839129e-01 0.00000000e+00 -2.92332939e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91032777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.180371743 meters Centerline goodness : 0.992785 with order 1 Centerline is valid? [True, True] Translation: X:59.97, Y:-2.94, Z:0.01 [[ 9.99722187e-01 2.35700756e-02 0.00000000e+00 5.99653670e+01] [-2.35700756e-02 9.99722187e-01 0.00000000e+00 -2.94279920e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.21270150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.240371743 meters Centerline goodness : 0.993282 with order 1 Centerline is valid? [True, True] Translation: X:60.02, Y:-2.95, Z:0.01 [[ 9.99831987e-01 1.83302318e-02 0.00000000e+00 6.00243512e+01] [-1.83302318e-02 9.99831987e-01 0.00000000e+00 -2.94688543e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.46165603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.300371743 meters Centerline goodness : 0.993606 with order 1 Centerline is valid? [True, True] Translation: X:60.08, Y:-2.95, Z:0.01 [[ 9.99921898e-01 1.24979503e-02 0.00000000e+00 6.00833852e+01] [-1.24979503e-02 9.99921898e-01 0.00000000e+00 -2.95092207e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.98216638e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.360371743 meters Centerline goodness : 0.993898 with order 1 Centerline is valid? [True, True] Translation: X:60.14, Y:-2.96, Z:0.01 [[ 9.99990359e-01 4.39107443e-03 0.00000000e+00 6.01410974e+01] [-4.39107443e-03 9.99990359e-01 0.00000000e+00 -2.95618613e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.97646768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.420371743 meters Centerline goodness : 0.994745 with order 1 Centerline is valid? [True, True] Translation: X:60.20, Y:-2.96, Z:0.01 [[ 9.99996855e-01 -2.50785183e-03 0.00000000e+00 6.01997355e+01] [ 2.50785183e-03 9.99996855e-01 0.00000000e+00 -2.96015469e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07543791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.480371743 meters Centerline goodness : 0.994454 with order 1 Centerline is valid? [True, True] Translation: X:60.26, Y:-2.96, Z:0.01 [[ 9.99983928e-01 -5.66952625e-03 0.00000000e+00 6.02614923e+01] [ 5.66952625e-03 9.99983928e-01 0.00000000e+00 -2.96298244e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30424618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.540371743 meters Centerline goodness : 0.994640 with order 1 Centerline is valid? [True, True] Translation: X:60.32, Y:-2.97, Z:0.01 [[ 9.99981883e-01 -6.01941748e-03 0.00000000e+00 6.03239464e+01] [ 6.01941748e-03 9.99981883e-01 0.00000000e+00 -2.96674295e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30703704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.600371743 meters Centerline goodness : 0.994743 with order 1 Centerline is valid? [True, True] Translation: X:60.39, Y:-2.97, Z:0.01 [[ 9.99988120e-01 -4.87434229e-03 0.00000000e+00 6.03857095e+01] [ 4.87434229e-03 9.99988120e-01 0.00000000e+00 -2.96981642e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35343839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.660371743 meters Centerline goodness : 0.994602 with order 1 Centerline is valid? [True, True] Translation: X:60.45, Y:-2.97, Z:0.01 [[ 9.99996290e-01 -2.72395662e-03 0.00000000e+00 6.04467526e+01] [ 2.72395662e-03 9.99996290e-01 0.00000000e+00 -2.97459804e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09935176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.720371743 meters Centerline goodness : 0.994806 with order 1 Centerline is valid? [True, True] Translation: X:60.51, Y:-2.97, Z:0.02 [[ 9.99980399e-01 -6.26118675e-03 0.00000000e+00 6.05071760e+01] [ 6.26118675e-03 9.99980399e-01 0.00000000e+00 -2.96994582e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59573131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.780371743 meters Centerline goodness : 0.994346 with order 1 Centerline is valid? [True, True] Translation: X:60.57, Y:-2.98, Z:0.01 [[ 9.99996647e-01 2.58953030e-03 0.00000000e+00 6.05681862e+01] [-2.58953030e-03 9.99996647e-01 0.00000000e+00 -2.97973235e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20329001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.840371743 meters Centerline goodness : 0.994304 with order 1 Centerline is valid? [True, True] Translation: X:60.63, Y:-2.98, Z:0.01 [[ 9.99960308e-01 8.90973144e-03 0.00000000e+00 6.06276697e+01] [-8.90973144e-03 9.99960308e-01 0.00000000e+00 -2.98219579e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24468831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.900371743 meters Centerline goodness : 0.994011 with order 1 Centerline is valid? [True, True] Translation: X:60.68, Y:-2.98, Z:0.01 [[ 9.99894413e-01 1.45314463e-02 0.00000000e+00 6.06848002e+01] [-1.45314463e-02 9.99894413e-01 0.00000000e+00 -2.98305498e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19004441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.960371743 meters Centerline goodness : 0.994998 with order 1 Centerline is valid? [True, True] Translation: X:60.74, Y:-2.98, Z:0.02 [[ 9.99904035e-01 1.38535563e-02 0.00000000e+00 6.07436254e+01] [-1.38535563e-02 9.99904035e-01 0.00000000e+00 -2.97678003e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75860367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.020371743 meters Centerline goodness : 0.995059 with order 1 Centerline is valid? [True, True] Translation: X:60.80, Y:-2.99, Z:0.01 [[ 9.99734712e-01 2.30327136e-02 0.00000000e+00 6.08015700e+01] [-2.30327136e-02 9.99734712e-01 0.00000000e+00 -2.98750117e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07591078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.080371743 meters Centerline goodness : 0.993374 with order 1 Centerline is valid? [True, True] Translation: X:60.86, Y:-2.99, Z:0.01 [[ 9.99702618e-01 2.43859688e-02 0.00000000e+00 6.08601355e+01] [-2.43859688e-02 9.99702618e-01 0.00000000e+00 -2.99058494e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.61062373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.140371743 meters Centerline goodness : 0.995284 with order 1 Centerline is valid? [True, True] Translation: X:60.92, Y:-2.99, Z:0.01 [[ 9.99809789e-01 1.95034878e-02 0.00000000e+00 6.09193571e+01] [-1.95034878e-02 9.99809789e-01 0.00000000e+00 -2.99148896e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49178003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.200371743 meters Centerline goodness : 0.994173 with order 1 Centerline is valid? [True, True] Translation: X:60.98, Y:-3.00, Z:0.01 [[ 9.99856989e-01 1.69115610e-02 0.00000000e+00 6.09783737e+01] [-1.69115610e-02 9.99856989e-01 0.00000000e+00 -2.99536333e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36840615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.260371743 meters Centerline goodness : 0.994353 with order 1 Centerline is valid? [True, True] Translation: X:61.04, Y:-3.00, Z:0.01 [[ 9.99885128e-01 1.51568985e-02 0.00000000e+00 6.10374752e+01] [-1.51568985e-02 9.99885128e-01 0.00000000e+00 -2.99969222e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13640276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.320371743 meters Centerline goodness : 0.993505 with order 1 Centerline is valid? [True, True] Translation: X:61.10, Y:-3.00, Z:0.01 [[ 9.99957698e-01 9.19792981e-03 0.00000000e+00 6.10956272e+01] [-9.19792981e-03 9.99957698e-01 0.00000000e+00 -3.00472754e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00244713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.380371743 meters Centerline goodness : 0.995108 with order 1 Centerline is valid? [True, True] Translation: X:61.15, Y:-3.00, Z:0.02 [[ 9.99987638e-01 -4.97220858e-03 0.00000000e+00 6.11536523e+01] [ 4.97220858e-03 9.99987638e-01 0.00000000e+00 -2.99778489e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04400747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.440371743 meters Centerline goodness : 0.994840 with order 1 Centerline is valid? [True, True] Translation: X:61.22, Y:-3.01, Z:0.01 [[ 9.99999816e-01 -6.06690012e-04 0.00000000e+00 6.12158222e+01] [ 6.06690012e-04 9.99999816e-01 0.00000000e+00 -3.00773354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47880097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.500371743 meters Centerline goodness : 0.995169 with order 1 Centerline is valid? [True, True] Translation: X:61.28, Y:-3.00, Z:0.02 [[ 9.99987103e-01 -5.07883333e-03 0.00000000e+00 6.12767159e+01] [ 5.07883333e-03 9.99987103e-01 0.00000000e+00 -3.00273969e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90932987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.560371743 meters Centerline goodness : 0.994814 with order 1 Centerline is valid? [True, True] Translation: X:61.34, Y:-3.01, Z:0.02 [[ 9.99989939e-01 -4.48573039e-03 0.00000000e+00 6.13387131e+01] [ 4.48573039e-03 9.99989939e-01 0.00000000e+00 -3.00503077e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85631855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.620371743 meters Centerline goodness : 0.995114 with order 1 Centerline is valid? [True, True] Translation: X:61.40, Y:-3.01, Z:0.02 [[ 9.99980627e-01 -6.22459397e-03 0.00000000e+00 6.14006866e+01] [ 6.22459397e-03 9.99980627e-01 0.00000000e+00 -3.00676554e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95123845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.680371743 meters Centerline goodness : 0.994968 with order 1 Centerline is valid? [True, True] Translation: X:61.46, Y:-3.01, Z:0.02 [[ 9.99961114e-01 -8.81880501e-03 0.00000000e+00 6.14618814e+01] [ 8.81880501e-03 9.99961114e-01 0.00000000e+00 -3.00886552e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79030799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.740371743 meters Centerline goodness : 0.994959 with order 1 Centerline is valid? [True, True] Translation: X:61.52, Y:-3.01, Z:0.02 [[ 9.99948868e-01 -1.01124394e-02 0.00000000e+00 6.15243014e+01] [ 1.01124394e-02 9.99948868e-01 0.00000000e+00 -3.01058475e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76771445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.800371743 meters Centerline goodness : 0.993719 with order 1 Centerline is valid? [True, True] Translation: X:61.59, Y:-3.02, Z:0.01 [[ 9.99989071e-01 -4.67513586e-03 0.00000000e+00 6.15862477e+01] [ 4.67513586e-03 9.99989071e-01 0.00000000e+00 -3.01964144e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16942713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.860371743 meters Centerline goodness : 0.994704 with order 1 Centerline is valid? [True, True] Translation: X:61.65, Y:-3.01, Z:0.02 [[ 9.99950523e-01 -9.94748047e-03 0.00000000e+00 6.16480754e+01] [ 9.94748047e-03 9.99950523e-01 0.00000000e+00 -3.00981246e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97376158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.920371743 meters Centerline goodness : 0.993495 with order 1 Centerline is valid? [True, True] Translation: X:61.71, Y:-3.02, Z:0.01 [[ 9.99999829e-01 5.84448288e-04 0.00000000e+00 6.17097573e+01] [-5.84448288e-04 9.99999829e-01 0.00000000e+00 -3.01955100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21638383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.980371743 meters Centerline goodness : 0.993657 with order 1 Centerline is valid? [True, True] Translation: X:61.77, Y:-3.02, Z:0.01 [[ 9.99979824e-01 6.35234956e-03 0.00000000e+00 6.17700724e+01] [-6.35234956e-03 9.99979824e-01 0.00000000e+00 -3.01790010e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13184153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.040371743 meters Centerline goodness : 0.994978 with order 1 Centerline is valid? [True, True] Translation: X:61.83, Y:-3.01, Z:0.02 [[ 9.99993449e-01 3.61976555e-03 0.00000000e+00 6.18286883e+01] [-3.61976555e-03 9.99993449e-01 0.00000000e+00 -3.00607888e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99820790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.100371743 meters Centerline goodness : 0.993626 with order 1 Centerline is valid? [True, True] Translation: X:61.89, Y:-3.02, Z:0.01 [[ 9.99903698e-01 1.38778533e-02 0.00000000e+00 6.18881042e+01] [-1.38778533e-02 9.99903698e-01 0.00000000e+00 -3.01514631e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09225282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.160371743 meters Centerline goodness : 0.993399 with order 1 Centerline is valid? [True, True] Translation: X:61.95, Y:-3.02, Z:0.01 [[ 9.99845397e-01 1.75835958e-02 0.00000000e+00 6.19471144e+01] [-1.75835958e-02 9.99845397e-01 0.00000000e+00 -3.01891142e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53190954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.220371743 meters Centerline goodness : 0.993740 with order 1 Centerline is valid? [True, True] Translation: X:62.01, Y:-3.02, Z:0.00 [[ 9.99841536e-01 1.78017468e-02 0.00000000e+00 6.20057636e+01] [-1.78017468e-02 9.99841536e-01 0.00000000e+00 -3.02018922e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17648358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.280371743 meters Centerline goodness : 0.995319 with order 1 Centerline is valid? [True, True] Translation: X:62.06, Y:-3.01, Z:0.02 [[ 9.99985150e-01 5.44981323e-03 0.00000000e+00 6.20638798e+01] [-5.44981323e-03 9.99985150e-01 0.00000000e+00 -3.00888017e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64299151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.340371743 meters Centerline goodness : 0.993395 with order 1 Centerline is valid? [True, True] Translation: X:62.12, Y:-3.02, Z:0.01 [[ 9.99926333e-01 1.21379374e-02 0.00000000e+00 6.21225056e+01] [-1.21379374e-02 9.99926333e-01 0.00000000e+00 -3.02065158e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.03800215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.400371743 meters Centerline goodness : 0.993638 with order 1 Centerline is valid? [True, True] Translation: X:62.18, Y:-3.02, Z:0.01 [[ 9.99959088e-01 9.04552091e-03 0.00000000e+00 6.21811354e+01] [-9.04552091e-03 9.99959088e-01 0.00000000e+00 -3.01937204e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.03933686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.460371743 meters Centerline goodness : 0.992869 with order 1 Centerline is valid? [True, True] Translation: X:62.24, Y:-3.02, Z:0.01 [[ 9.99954823e-01 9.50538114e-03 0.00000000e+00 6.22391656e+01] [-9.50538114e-03 9.99954823e-01 0.00000000e+00 -3.02155313e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.58672718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.520371743 meters Centerline goodness : 0.993254 with order 1 Centerline is valid? [True, True] Translation: X:62.30, Y:-3.02, Z:0.01 [[ 9.99956539e-01 9.32314541e-03 0.00000000e+00 6.22976828e+01] [-9.32314541e-03 9.99956539e-01 0.00000000e+00 -3.02113513e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.86384833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.580371743 meters Centerline goodness : 0.993406 with order 1 Centerline is valid? [True, True] Translation: X:62.36, Y:-3.02, Z:0.01 [[ 9.99958376e-01 9.12399076e-03 0.00000000e+00 6.23569300e+01] [-9.12399076e-03 9.99958376e-01 0.00000000e+00 -3.01902443e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.57548431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.640371743 meters Centerline goodness : 0.994776 with order 1 Centerline is valid? [True, True] Translation: X:62.41, Y:-3.01, Z:0.02 [[ 9.99992311e-01 3.92141184e-03 0.00000000e+00 6.24148241e+01] [-3.92141184e-03 9.99992311e-01 0.00000000e+00 -3.00987884e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71216972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.700371743 meters Centerline goodness : 0.994245 with order 1 Centerline is valid? [True, True] Translation: X:62.47, Y:-3.01, Z:0.02 [[ 9.99982256e-01 5.95714318e-03 0.00000000e+00 6.24738844e+01] [-5.95714318e-03 9.99982256e-01 0.00000000e+00 -3.01098695e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81951490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.760371743 meters Centerline goodness : 0.993763 with order 1 Centerline is valid? [True, True] Translation: X:62.53, Y:-3.01, Z:0.02 [[ 9.99938086e-01 1.11276431e-02 0.00000000e+00 6.25331136e+01] [-1.11276431e-02 9.99938086e-01 0.00000000e+00 -3.01015744e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88393889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.820371743 meters Centerline goodness : 0.993662 with order 1 Centerline is valid? [True, True] Translation: X:62.59, Y:-3.02, Z:0.00 [[ 9.99694269e-01 2.47258734e-02 0.00000000e+00 6.25904904e+01] [-2.47258734e-02 9.99694269e-01 0.00000000e+00 -3.02459055e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39795546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.880371743 meters Centerline goodness : 0.994345 with order 1 Centerline is valid? [True, True] Translation: X:62.65, Y:-3.01, Z:0.02 [[ 9.99870658e-01 1.60831638e-02 0.00000000e+00 6.26483564e+01] [-1.60831638e-02 9.99870658e-01 0.00000000e+00 -3.01328318e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77848340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.940371743 meters Centerline goodness : 0.993062 with order 1 Centerline is valid? [True, True] Translation: X:62.71, Y:-3.03, Z:0.00 [[ 9.99634519e-01 2.70338206e-02 0.00000000e+00 6.27051196e+01] [-2.70338206e-02 9.99634519e-01 0.00000000e+00 -3.02963825e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89242900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.000371743 meters Centerline goodness : 0.992863 with order 1 Centerline is valid? [True, True] Translation: X:62.76, Y:-3.03, Z:0.00 [[ 9.99665645e-01 2.58572752e-02 0.00000000e+00 6.27635827e+01] [-2.58572752e-02 9.99665645e-01 0.00000000e+00 -3.03432355e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18862043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.060371743 meters Centerline goodness : 0.992952 with order 1 Centerline is valid? [True, True] Translation: X:62.82, Y:-3.04, Z:0.00 [[ 9.99777833e-01 2.10780768e-02 0.00000000e+00 6.28221838e+01] [-2.10780768e-02 9.99777833e-01 0.00000000e+00 -3.03896987e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36782785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.120371743 meters Centerline goodness : 0.993938 with order 1 Centerline is valid? [True, True] Translation: X:62.88, Y:-3.03, Z:0.02 [[ 9.99991021e-01 4.23771239e-03 0.00000000e+00 6.28806634e+01] [-4.23771239e-03 9.99991021e-01 0.00000000e+00 -3.03029677e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75505553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.180371743 meters Centerline goodness : 0.994076 with order 1 Centerline is valid? [True, True] Translation: X:62.94, Y:-3.03, Z:0.02 [[ 9.99999773e-01 6.73271208e-04 0.00000000e+00 6.29390384e+01] [-6.73271208e-04 9.99999773e-01 0.00000000e+00 -3.03426385e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76589431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.240371743 meters Centerline goodness : 0.993193 with order 1 Centerline is valid? [True, True] Translation: X:63.00, Y:-3.05, Z:0.00 [[ 9.99959255e-01 9.02704417e-03 0.00000000e+00 6.29989419e+01] [-9.02704417e-03 9.99959255e-01 0.00000000e+00 -3.05452940e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88366227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.300371743 meters Centerline goodness : 0.995046 with order 1 Centerline is valid? [True, True] Translation: X:63.06, Y:-3.04, Z:0.02 [[ 9.99937476e-01 -1.11822766e-02 0.00000000e+00 6.30575636e+01] [ 1.11822766e-02 9.99937476e-01 0.00000000e+00 -3.04478658e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70020871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.360371743 meters Centerline goodness : 0.995028 with order 1 Centerline is valid? [True, True] Translation: X:63.12, Y:-3.05, Z:0.02 [[ 9.99850467e-01 -1.72928723e-02 0.00000000e+00 6.31194011e+01] [ 1.72928723e-02 9.99850467e-01 0.00000000e+00 -3.05118184e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65859009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.420371743 meters Centerline goodness : 0.993504 with order 1 Centerline is valid? [True, True] Translation: X:63.18, Y:-3.07, Z:0.00 [[ 9.99960943e-01 -8.83809302e-03 0.00000000e+00 6.31805549e+01] [ 8.83809302e-03 9.99960943e-01 0.00000000e+00 -3.06801450e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03551562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.480371743 meters Centerline goodness : 0.993378 with order 1 Centerline is valid? [True, True] Translation: X:63.24, Y:-3.07, Z:0.00 [[ 9.99990364e-01 -4.38995080e-03 0.00000000e+00 6.32429536e+01] [ 4.38995080e-03 9.99990364e-01 0.00000000e+00 -3.07135106e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20039986e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.540371743 meters Centerline goodness : 0.994961 with order 1 Centerline is valid? [True, True] Translation: X:63.30, Y:-3.06, Z:0.02 [[ 9.99988669e-01 -4.76053948e-03 0.00000000e+00 6.33042972e+01] [ 4.76053948e-03 9.99988669e-01 0.00000000e+00 -3.05949811e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77341282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.600371743 meters Centerline goodness : 0.992733 with order 1 Centerline is valid? [True, True] Translation: X:63.36, Y:-3.08, Z:0.00 [[ 9.99843345e-01 1.76998611e-02 0.00000000e+00 6.33646958e+01] [-1.76998611e-02 9.99843345e-01 0.00000000e+00 -3.07795069e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53091922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.660371743 meters Centerline goodness : 0.994240 with order 1 Centerline is valid? [True, True] Translation: X:63.42, Y:-3.06, Z:0.02 [[ 9.99813807e-01 1.92964308e-02 0.00000000e+00 6.34233152e+01] [-1.92964308e-02 9.99813807e-01 0.00000000e+00 -3.06226336e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83647263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.720371743 meters Centerline goodness : 0.993484 with order 1 Centerline is valid? [True, True] Translation: X:63.48, Y:-3.06, Z:0.02 [[ 9.99536658e-01 3.04379433e-02 0.00000000e+00 6.34822951e+01] [-3.04379433e-02 9.99536658e-01 0.00000000e+00 -3.06342622e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77780961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.780371743 meters Centerline goodness : 0.993988 with order 1 Centerline is valid? [True, True] Translation: X:63.54, Y:-3.07, Z:0.02 [[ 9.99329560e-01 3.66118882e-02 0.00000000e+00 6.35414212e+01] [-3.66118882e-02 9.99329560e-01 0.00000000e+00 -3.06765214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64206291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.840371743 meters Centerline goodness : 0.993896 with order 1 Centerline is valid? [True, True] Translation: X:63.60, Y:-3.07, Z:0.02 [[ 9.99312542e-01 3.70734782e-02 0.00000000e+00 6.35990591e+01] [-3.70734782e-02 9.99312542e-01 0.00000000e+00 -3.07130694e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51830618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.900371743 meters Centerline goodness : 0.992349 with order 1 Centerline is valid? [True, True] Translation: X:63.66, Y:-3.09, Z:0.01 [[ 9.99126536e-01 4.17871343e-02 0.00000000e+00 6.36567706e+01] [-4.17871343e-02 9.99126536e-01 0.00000000e+00 -3.08689348e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.81547504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.960371743 meters Centerline goodness : 0.993975 with order 1 Centerline is valid? [True, True] Translation: X:63.72, Y:-3.08, Z:0.02 [[ 9.99589085e-01 2.86646212e-02 0.00000000e+00 6.37150930e+01] [-2.86646212e-02 9.99589085e-01 0.00000000e+00 -3.08250470e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73337422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.020371743 meters Centerline goodness : 0.995044 with order 1 Centerline is valid? [True, True] Translation: X:63.77, Y:-3.09, Z:0.02 [[ 9.99821335e-01 1.89023078e-02 0.00000000e+00 6.37731796e+01] [-1.89023078e-02 9.99821335e-01 0.00000000e+00 -3.09023190e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83710336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.080371743 meters Centerline goodness : 0.995043 with order 1 Centerline is valid? [True, True] Translation: X:63.83, Y:-3.10, Z:0.02 [[ 9.99966709e-01 8.15966220e-03 0.00000000e+00 6.38316546e+01] [-8.15966220e-03 9.99966709e-01 0.00000000e+00 -3.09775505e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94518036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.140371743 meters Centerline goodness : 0.994205 with order 1 Centerline is valid? [True, True] Translation: X:63.89, Y:-3.11, Z:0.01 [[ 9.99925602e-01 1.21979803e-02 0.00000000e+00 6.38898068e+01] [-1.21979803e-02 9.99925602e-01 0.00000000e+00 -3.11128495e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11354252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.200371743 meters Centerline goodness : 0.994442 with order 1 Centerline is valid? [True, True] Translation: X:63.95, Y:-3.12, Z:0.01 [[ 9.99991430e-01 4.14007670e-03 0.00000000e+00 6.39478214e+01] [-4.14007670e-03 9.99991430e-01 0.00000000e+00 -3.11653106e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18370950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.260371743 meters Centerline goodness : 0.994092 with order 1 Centerline is valid? [True, True] Translation: X:64.01, Y:-3.12, Z:0.01 [[ 9.99946201e-01 -1.03728483e-02 0.00000000e+00 6.40072251e+01] [ 1.03728483e-02 9.99946201e-01 0.00000000e+00 -3.12287328e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25694331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.320371743 meters Centerline goodness : 0.993866 with order 1 Centerline is valid? [True, True] Translation: X:64.07, Y:-3.13, Z:0.01 [[ 9.99912099e-01 -1.32587643e-02 0.00000000e+00 6.40693503e+01] [ 1.32587643e-02 9.99912099e-01 0.00000000e+00 -3.12823729e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.07736115e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.380371743 meters Centerline goodness : 0.993272 with order 1 Centerline is valid? [True, True] Translation: X:64.13, Y:-3.13, Z:0.01 [[ 9.99869558e-01 -1.61514041e-02 0.00000000e+00 6.41314051e+01] [ 1.61514041e-02 9.99869558e-01 0.00000000e+00 -3.13149298e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.03234707e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.440371743 meters Centerline goodness : 0.995645 with order 1 Centerline is valid? [True, True] Translation: X:64.19, Y:-3.12, Z:0.01 [[ 9.99662226e-01 -2.59891163e-02 0.00000000e+00 6.41932563e+01] [ 2.59891163e-02 9.99662226e-01 0.00000000e+00 -3.12156646e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43763543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.500371743 meters Centerline goodness : 0.995420 with order 1 Centerline is valid? [True, True] Translation: X:64.26, Y:-3.12, Z:0.01 [[ 9.99700709e-01 -2.44640906e-02 0.00000000e+00 6.42556565e+01] [ 2.44640906e-02 9.99700709e-01 0.00000000e+00 -3.12201002e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34202392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.560371743 meters Centerline goodness : 0.993424 with order 1 Centerline is valid? [True, True] Translation: X:64.32, Y:-3.13, Z:0.01 [[ 9.99915935e-01 -1.29662586e-02 0.00000000e+00 6.43172394e+01] [ 1.29662586e-02 9.99915935e-01 0.00000000e+00 -3.13033165e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06146664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.620371743 meters Centerline goodness : 0.992938 with order 1 Centerline is valid? [True, True] Translation: X:64.38, Y:-3.13, Z:0.01 [[ 9.99975652e-01 -6.97827416e-03 0.00000000e+00 6.43798601e+01] [ 6.97827416e-03 9.99975652e-01 0.00000000e+00 -3.12968641e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05951266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.680371743 meters Centerline goodness : 0.992415 with order 1 Centerline is valid? [True, True] Translation: X:64.44, Y:-3.13, Z:0.01 [[ 9.99994716e-01 -3.25082933e-03 0.00000000e+00 6.44418464e+01] [ 3.25082933e-03 9.99994716e-01 0.00000000e+00 -3.12988342e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.76412113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.740371743 meters Centerline goodness : 0.992373 with order 1 Centerline is valid? [True, True] Translation: X:64.50, Y:-3.13, Z:0.00 [[ 9.99995340e-01 3.05282385e-03 0.00000000e+00 6.45022794e+01] [-3.05282385e-03 9.99995340e-01 0.00000000e+00 -3.13253072e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67630125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.800371743 meters Centerline goodness : 0.992601 with order 1 Centerline is valid? [True, True] Translation: X:64.56, Y:-3.13, Z:0.01 [[ 9.99975265e-01 7.03349422e-03 0.00000000e+00 6.45620717e+01] [-7.03349422e-03 9.99975265e-01 0.00000000e+00 -3.13118332e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53329519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.860371743 meters Centerline goodness : 0.992566 with order 1 Centerline is valid? [True, True] Translation: X:64.62, Y:-3.13, Z:0.01 [[ 9.99927534e-01 1.20385538e-02 0.00000000e+00 6.46206796e+01] [-1.20385538e-02 9.99927534e-01 0.00000000e+00 -3.13033768e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.00270531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.920371743 meters Centerline goodness : 0.993429 with order 1 Centerline is valid? [True, True] Translation: X:64.68, Y:-3.13, Z:0.01 [[ 9.99924764e-01 1.22664570e-02 0.00000000e+00 6.46783127e+01] [-1.22664570e-02 9.99924764e-01 0.00000000e+00 -3.12898632e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.57770458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.980371743 meters Centerline goodness : 0.992643 with order 1 Centerline is valid? [True, True] Translation: X:64.74, Y:-3.13, Z:0.01 [[ 9.99888085e-01 1.49605084e-02 0.00000000e+00 6.47370114e+01] [-1.49605084e-02 9.99888085e-01 0.00000000e+00 -3.13023894e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.32008522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.040371743 meters Centerline goodness : 0.992095 with order 1 Centerline is valid? [True, True] Translation: X:64.80, Y:-3.13, Z:0.01 [[ 9.99913283e-01 1.31691472e-02 0.00000000e+00 6.47961139e+01] [-1.31691472e-02 9.99913283e-01 0.00000000e+00 -3.12961572e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02739961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.100371743 meters Centerline goodness : 0.993074 with order 1 Centerline is valid? [True, True] Translation: X:64.85, Y:-3.13, Z:0.01 [[ 9.99982277e-01 5.95362554e-03 0.00000000e+00 6.48539721e+01] [-5.95362554e-03 9.99982277e-01 0.00000000e+00 -3.12857676e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40376512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.160371743 meters Centerline goodness : 0.992935 with order 1 Centerline is valid? [True, True] Translation: X:64.91, Y:-3.13, Z:0.01 [[ 9.99993522e-01 -3.59945530e-03 0.00000000e+00 6.49139411e+01] [ 3.59945530e-03 9.99993522e-01 0.00000000e+00 -3.13060393e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27884909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.220371743 meters Centerline goodness : 0.992632 with order 1 Centerline is valid? [True, True] Translation: X:64.98, Y:-3.13, Z:0.01 [[ 9.99927943e-01 -1.20045511e-02 0.00000000e+00 6.49751946e+01] [ 1.20045511e-02 9.99927943e-01 0.00000000e+00 -3.13264630e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19226699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.280371743 meters Centerline goodness : 0.993096 with order 1 Centerline is valid? [True, True] Translation: X:65.04, Y:-3.13, Z:0.01 [[ 9.99839573e-01 -1.79116913e-02 0.00000000e+00 6.50383986e+01] [ 1.79116913e-02 9.99839573e-01 0.00000000e+00 -3.13363045e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13036962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.340371743 meters Centerline goodness : 0.992493 with order 1 Centerline is valid? [True, True] Translation: X:65.10, Y:-3.13, Z:0.01 [[ 9.99798169e-01 -2.00903206e-02 0.00000000e+00 6.51017038e+01] [ 2.00903206e-02 9.99798169e-01 0.00000000e+00 -3.13474882e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10624588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.400371743 meters Centerline goodness : 0.992627 with order 1 Centerline is valid? [True, True] Translation: X:65.16, Y:-3.14, Z:0.01 [[ 9.99793436e-01 -2.03245014e-02 0.00000000e+00 6.51643641e+01] [ 2.03245014e-02 9.99793436e-01 0.00000000e+00 -3.13593962e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03811736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.460371743 meters Centerline goodness : 0.992545 with order 1 Centerline is valid? [True, True] Translation: X:65.23, Y:-3.14, Z:0.01 [[ 9.99845796e-01 -1.75608510e-02 0.00000000e+00 6.52262267e+01] [ 1.75608510e-02 9.99845796e-01 0.00000000e+00 -3.13533734e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.97392752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.520371743 meters Centerline goodness : 0.992828 with order 1 Centerline is valid? [True, True] Translation: X:65.29, Y:-3.13, Z:0.01 [[ 9.99889054e-01 -1.48956220e-02 0.00000000e+00 6.52887269e+01] [ 1.48956220e-02 9.99889054e-01 0.00000000e+00 -3.13422749e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19043602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.580371743 meters Centerline goodness : 0.991957 with order 1 Centerline is valid? [True, True] Translation: X:65.35, Y:-3.13, Z:0.01 [[ 9.99991589e-01 -4.10144051e-03 0.00000000e+00 6.53513841e+01] [ 4.10144051e-03 9.99991589e-01 0.00000000e+00 -3.13276322e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20664711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.640371743 meters Centerline goodness : 0.991434 with order 1 Centerline is valid? [True, True] Translation: X:65.41, Y:-3.13, Z:0.01 [[ 9.99940598e-01 1.08995289e-02 0.00000000e+00 6.54118224e+01] [-1.08995289e-02 9.99940598e-01 0.00000000e+00 -3.13288670e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.04044485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.700371743 meters Centerline goodness : 0.993225 with order 1 Centerline is valid? [True, True] Translation: X:65.47, Y:-3.12, Z:0.02 [[ 9.99918680e-01 1.27527487e-02 0.00000000e+00 6.54700892e+01] [-1.27527487e-02 9.99918680e-01 0.00000000e+00 -3.11693070e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96426452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.760371743 meters Centerline goodness : 0.993601 with order 1 Centerline is valid? [True, True] Translation: X:65.53, Y:-3.12, Z:0.02 [[ 9.99823935e-01 1.87643104e-02 0.00000000e+00 6.55292058e+01] [-1.87643104e-02 9.99823935e-01 0.00000000e+00 -3.11708003e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05362283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.820371743 meters Centerline goodness : 0.990971 with order 1 Centerline is valid? [True, True] Translation: X:65.59, Y:-3.13, Z:0.01 [[ 9.99426320e-01 3.38678474e-02 0.00000000e+00 6.55886291e+01] [-3.38678474e-02 9.99426320e-01 0.00000000e+00 -3.13164454e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.83686529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.880371743 meters Centerline goodness : 0.990591 with order 1 Centerline is valid? [True, True] Translation: X:65.65, Y:-3.14, Z:0.01 [[ 9.99419032e-01 3.40822361e-02 0.00000000e+00 6.56474909e+01] [-3.40822361e-02 9.99419032e-01 0.00000000e+00 -3.13791183e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31453286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.940371743 meters Centerline goodness : 0.993059 with order 1 Centerline is valid? [True, True] Translation: X:65.71, Y:-3.13, Z:0.02 [[ 9.99899477e-01 1.41787057e-02 0.00000000e+00 6.57058198e+01] [-1.41787057e-02 9.99899477e-01 0.00000000e+00 -3.12756093e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07964336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.000371743 meters Centerline goodness : 0.993458 with order 1 Centerline is valid? [True, True] Translation: X:65.76, Y:-3.13, Z:0.02 [[ 9.99972942e-01 7.35636255e-03 0.00000000e+00 6.57645555e+01] [-7.35636255e-03 9.99972942e-01 0.00000000e+00 -3.13216964e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02243213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.060371743 meters Centerline goodness : 0.992954 with order 1 Centerline is valid? [True, True] Translation: X:65.82, Y:-3.14, Z:0.02 [[ 9.99999958e-01 2.90169221e-04 0.00000000e+00 6.58234662e+01] [-2.90169221e-04 9.99999958e-01 0.00000000e+00 -3.13770894e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04429366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.120371743 meters Centerline goodness : 0.990902 with order 1 Centerline is valid? [True, True] Translation: X:65.88, Y:-3.16, Z:0.01 [[ 9.99978114e-01 6.61598573e-03 0.00000000e+00 6.58831917e+01] [-6.61598573e-03 9.99978114e-01 0.00000000e+00 -3.15701450e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.18074284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.180371743 meters Centerline goodness : 0.991563 with order 1 Centerline is valid? [True, True] Translation: X:65.94, Y:-3.16, Z:0.01 [[ 9.99999909e-01 -4.27052352e-04 0.00000000e+00 6.59417330e+01] [ 4.27052352e-04 9.99999909e-01 0.00000000e+00 -3.15818963e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23606523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.240371743 meters Centerline goodness : 0.992228 with order 1 Centerline is valid? [True, True] Translation: X:66.00, Y:-3.16, Z:0.01 [[ 9.99997345e-01 -2.30438396e-03 0.00000000e+00 6.60019073e+01] [ 2.30438396e-03 9.99997345e-01 0.00000000e+00 -3.16181450e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37548555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.300371743 meters Centerline goodness : 0.993572 with order 1 Centerline is valid? [True, True] Translation: X:66.06, Y:-3.15, Z:0.02 [[ 9.99956622e-01 -9.31419867e-03 0.00000000e+00 6.60624272e+01] [ 9.31419867e-03 9.99956622e-01 0.00000000e+00 -3.15470771e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29775569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.360371743 meters Centerline goodness : 0.991863 with order 1 Centerline is valid? [True, True] Translation: X:66.12, Y:-3.17, Z:0.01 [[ 9.99997297e-01 2.32520396e-03 0.00000000e+00 6.61238654e+01] [-2.32520396e-03 9.99997297e-01 0.00000000e+00 -3.16846246e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34314640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.420371743 meters Centerline goodness : 0.991817 with order 1 Centerline is valid? [True, True] Translation: X:66.18, Y:-3.17, Z:0.01 [[ 9.99971613e-01 7.53485981e-03 0.00000000e+00 6.61832462e+01] [-7.53485981e-03 9.99971613e-01 0.00000000e+00 -3.16952809e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42030746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.480371743 meters Centerline goodness : 0.991342 with order 1 Centerline is valid? [True, True] Translation: X:66.24, Y:-3.17, Z:0.02 [[ 9.99886058e-01 1.50953700e-02 0.00000000e+00 6.62416033e+01] [-1.50953700e-02 9.99886058e-01 0.00000000e+00 -3.16990741e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56940529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.540371743 meters Centerline goodness : 0.991357 with order 1 Centerline is valid? [True, True] Translation: X:66.30, Y:-3.17, Z:0.02 [[ 9.99727361e-01 2.33496097e-02 0.00000000e+00 6.62997249e+01] [-2.33496097e-02 9.99727361e-01 0.00000000e+00 -3.17123493e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67588067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.600371743 meters Centerline goodness : 0.991414 with order 1 Centerline is valid? [True, True] Translation: X:66.36, Y:-3.17, Z:0.02 [[ 9.99622480e-01 2.74754025e-02 0.00000000e+00 6.63574445e+01] [-2.74754025e-02 9.99622480e-01 0.00000000e+00 -3.17456696e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54879912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.660371743 meters Centerline goodness : 0.991328 with order 1 Centerline is valid? [True, True] Translation: X:66.42, Y:-3.18, Z:0.01 [[ 9.99550134e-01 2.99921691e-02 0.00000000e+00 6.64165077e+01] [-2.99921691e-02 9.99550134e-01 0.00000000e+00 -3.17974676e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47386678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.720371743 meters Centerline goodness : 0.993597 with order 1 Centerline is valid? [True, True] Translation: X:66.47, Y:-3.17, Z:0.02 [[ 9.99811227e-01 1.94296451e-02 0.00000000e+00 6.64743479e+01] [-1.94296451e-02 9.99811227e-01 0.00000000e+00 -3.17233689e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32518056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.780371743 meters Centerline goodness : 0.993558 with order 1 Centerline is valid? [True, True] Translation: X:66.53, Y:-3.18, Z:0.02 [[ 9.99874943e-01 1.58145176e-02 0.00000000e+00 6.65314282e+01] [-1.58145176e-02 9.99874943e-01 0.00000000e+00 -3.17902145e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30389029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.840371743 meters Centerline goodness : 0.991081 with order 1 Centerline is valid? [True, True] Translation: X:66.59, Y:-3.20, Z:0.01 [[ 9.99782359e-01 2.08622885e-02 0.00000000e+00 6.65894097e+01] [-2.08622885e-02 9.99782359e-01 0.00000000e+00 -3.19892690e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19711833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.900371743 meters Centerline goodness : 0.991539 with order 1 Centerline is valid? [True, True] Translation: X:66.65, Y:-3.21, Z:0.01 [[ 9.99865510e-01 1.64000570e-02 0.00000000e+00 6.66474769e+01] [-1.64000570e-02 9.99865510e-01 0.00000000e+00 -3.20561521e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37508484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.960371743 meters Centerline goodness : 0.994499 with order 1 Centerline is valid? [True, True] Translation: X:66.71, Y:-3.20, Z:0.02 [[ 9.99982463e-01 5.92228458e-03 0.00000000e+00 6.67055929e+01] [-5.92228458e-03 9.99982463e-01 0.00000000e+00 -3.19913988e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10495739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.020371743 meters Centerline goodness : 0.992640 with order 1 Centerline is valid? [True, True] Translation: X:66.76, Y:-3.22, Z:0.02 [[ 9.99975271e-01 7.03264838e-03 0.00000000e+00 6.67641796e+01] [-7.03264838e-03 9.99975271e-01 0.00000000e+00 -3.21614590e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82684524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.080371743 meters Centerline goodness : 0.994283 with order 1 Centerline is valid? [True, True] Translation: X:66.82, Y:-3.22, Z:0.02 [[ 9.99991646e-01 -4.08764695e-03 0.00000000e+00 6.68231831e+01] [ 4.08764695e-03 9.99991646e-01 0.00000000e+00 -3.21505797e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25048713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.140371743 meters Centerline goodness : 0.992733 with order 1 Centerline is valid? [True, True] Translation: X:66.88, Y:-3.23, Z:0.01 [[ 9.99999235e-01 1.23721207e-03 0.00000000e+00 6.68840603e+01] [-1.23721207e-03 9.99999235e-01 0.00000000e+00 -3.23292996e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36853228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.200371743 meters Centerline goodness : 0.994802 with order 1 Centerline is valid? [True, True] Translation: X:66.94, Y:-3.23, Z:0.02 [[ 9.99976169e-01 -6.90379800e-03 0.00000000e+00 6.69436001e+01] [ 6.90379800e-03 9.99976169e-01 0.00000000e+00 -3.22820512e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10908616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.260371743 meters Centerline goodness : 0.993739 with order 1 Centerline is valid? [True, True] Translation: X:67.00, Y:-3.24, Z:0.02 [[ 9.99998013e-01 1.99346594e-03 0.00000000e+00 6.70041847e+01] [-1.99346594e-03 9.99998013e-01 0.00000000e+00 -3.24013253e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80440774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.320371743 meters Centerline goodness : 0.993248 with order 1 Centerline is valid? [True, True] Translation: X:67.06, Y:-3.25, Z:0.01 [[ 9.99952095e-01 9.78815202e-03 0.00000000e+00 6.70638061e+01] [-9.78815202e-03 9.99952095e-01 0.00000000e+00 -3.24934744e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04705414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.380371743 meters Centerline goodness : 0.994355 with order 1 Centerline is valid? [True, True] Translation: X:67.12, Y:-3.24, Z:0.02 [[ 9.99999970e-01 2.43293520e-04 0.00000000e+00 6.71215058e+01] [-2.43293520e-04 9.99999970e-01 0.00000000e+00 -3.24053186e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31608243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.440371743 meters Centerline goodness : 0.992291 with order 1 Centerline is valid? [True, True] Translation: X:67.18, Y:-3.26, Z:0.00 [[ 9.99901232e-01 1.40544385e-02 0.00000000e+00 6.71809793e+01] [-1.40544385e-02 9.99901232e-01 0.00000000e+00 -3.26109424e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83086921e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.500371743 meters Centerline goodness : 0.992050 with order 1 Centerline is valid? [True, True] Translation: X:67.24, Y:-3.27, Z:0.00 [[ 9.99928249e-01 1.19790025e-02 0.00000000e+00 6.72387319e+01] [-1.19790025e-02 9.99928249e-01 0.00000000e+00 -3.26727031e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96115764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.560371743 meters Centerline goodness : 0.994873 with order 1 Centerline is valid? [True, True] Translation: X:67.30, Y:-3.25, Z:0.02 [[ 9.99989306e-01 -4.62479181e-03 0.00000000e+00 6.72990952e+01] [ 4.62479181e-03 9.99989306e-01 0.00000000e+00 -3.25060041e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27906476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.620371743 meters Centerline goodness : 0.995635 with order 1 Centerline is valid? [True, True] Translation: X:67.36, Y:-3.25, Z:0.02 [[ 9.99969969e-01 -7.74984679e-03 0.00000000e+00 6.73607515e+01] [ 7.74984679e-03 9.99969969e-01 0.00000000e+00 -3.25378892e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29492396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.680371743 meters Centerline goodness : 0.995053 with order 1 Centerline is valid? [True, True] Translation: X:67.42, Y:-3.26, Z:0.02 [[ 9.99942735e-01 -1.07017569e-02 0.00000000e+00 6.74240863e+01] [ 1.07017569e-02 9.99942735e-01 0.00000000e+00 -3.25625758e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34947082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.740371743 meters Centerline goodness : 0.992622 with order 1 Centerline is valid? [True, True] Translation: X:67.48, Y:-3.28, Z:0.00 [[ 9.99986181e-01 5.25720516e-03 0.00000000e+00 6.74839713e+01] [-5.25720516e-03 9.99986181e-01 0.00000000e+00 -3.27768033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95114638e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.800371743 meters Centerline goodness : 0.991349 with order 1 Centerline is valid? [True, True] Translation: X:67.54, Y:-3.27, Z:0.01 [[ 9.99996039e-01 -2.81452018e-03 0.00000000e+00 6.75437652e+01] [ 2.81452018e-03 9.99996039e-01 0.00000000e+00 -3.27493622e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14907696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.860371743 meters Centerline goodness : 0.994155 with order 1 Centerline is valid? [True, True] Translation: X:67.60, Y:-3.26, Z:0.02 [[ 9.99872663e-01 -1.59580087e-02 0.00000000e+00 6.76045281e+01] [ 1.59580087e-02 9.99872663e-01 0.00000000e+00 -3.26255641e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32221412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.920371743 meters Centerline goodness : 0.991830 with order 1 Centerline is valid? [True, True] Translation: X:67.67, Y:-3.28, Z:0.00 [[ 9.99999068e-01 -1.36501761e-03 0.00000000e+00 6.76657832e+01] [ 1.36501761e-03 9.99999068e-01 0.00000000e+00 -3.28312299e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28172828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.980371743 meters Centerline goodness : 0.994063 with order 1 Centerline is valid? [True, True] Translation: X:67.73, Y:-3.26, Z:0.02 [[ 9.99832020e-01 -1.83284457e-02 0.00000000e+00 6.77264137e+01] [ 1.83284457e-02 9.99832020e-01 0.00000000e+00 -3.26369779e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24539570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.040371743 meters Centerline goodness : 0.991314 with order 1 Centerline is valid? [True, True] Translation: X:67.79, Y:-3.28, Z:0.01 [[ 9.99980042e-01 -6.31786907e-03 0.00000000e+00 6.77883076e+01] [ 6.31786907e-03 9.99980042e-01 0.00000000e+00 -3.28075324e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.17417386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.100371743 meters Centerline goodness : 0.990823 with order 1 Centerline is valid? [True, True] Translation: X:67.85, Y:-3.28, Z:0.01 [[ 9.99992453e-01 -3.88498185e-03 0.00000000e+00 6.78502829e+01] [ 3.88498185e-03 9.99992453e-01 0.00000000e+00 -3.27982271e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.90541471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.160371743 meters Centerline goodness : 0.993567 with order 1 Centerline is valid? [True, True] Translation: X:67.91, Y:-3.26, Z:0.02 [[ 9.99942764e-01 -1.06990327e-02 0.00000000e+00 6.79125934e+01] [ 1.06990327e-02 9.99942764e-01 0.00000000e+00 -3.26189191e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93233688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.220371743 meters Centerline goodness : 0.993639 with order 1 Centerline is valid? [True, True] Translation: X:67.97, Y:-3.26, Z:0.02 [[ 9.99956772e-01 -9.29802883e-03 0.00000000e+00 6.79743686e+01] [ 9.29802883e-03 9.99956772e-01 0.00000000e+00 -3.26272698e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23424567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.280371743 meters Centerline goodness : 0.993439 with order 1 Centerline is valid? [True, True] Translation: X:68.04, Y:-3.26, Z:0.02 [[ 9.99983960e-01 -5.66395821e-03 0.00000000e+00 6.80366583e+01] [ 5.66395821e-03 9.99983960e-01 0.00000000e+00 -3.26044408e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36039988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.340371743 meters Centerline goodness : 0.990898 with order 1 Centerline is valid? [True, True] Translation: X:68.10, Y:-3.28, Z:0.01 [[ 9.99978370e-01 6.57716094e-03 0.00000000e+00 6.80970342e+01] [-6.57716094e-03 9.99978370e-01 0.00000000e+00 -3.27682898e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.65817901e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.400371743 meters Centerline goodness : 0.990620 with order 1 Centerline is valid? [True, True] Translation: X:68.16, Y:-3.28, Z:0.01 [[ 9.99968982e-01 7.87626394e-03 0.00000000e+00 6.81558950e+01] [-7.87626394e-03 9.99968982e-01 0.00000000e+00 -3.27603132e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.59645980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.460371743 meters Centerline goodness : 0.990866 with order 1 Centerline is valid? [True, True] Translation: X:68.22, Y:-3.28, Z:0.00 [[ 9.99910658e-01 1.33669974e-02 0.00000000e+00 6.82153263e+01] [-1.33669974e-02 9.99910658e-01 0.00000000e+00 -3.28153564e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84810687e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.520371743 meters Centerline goodness : 0.991443 with order 1 Centerline is valid? [True, True] Translation: X:68.27, Y:-3.28, Z:0.00 [[ 9.99973995e-01 7.21170566e-03 0.00000000e+00 6.82749363e+01] [-7.21170566e-03 9.99973995e-01 0.00000000e+00 -3.27744103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.75565257e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.580371743 meters Centerline goodness : 0.991042 with order 1 Centerline is valid? [True, True] Translation: X:68.33, Y:-3.28, Z:0.01 [[ 9.99984646e-01 5.54154620e-03 0.00000000e+00 6.83340364e+01] [-5.54154620e-03 9.99984646e-01 0.00000000e+00 -3.27791008e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02874634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.640371743 meters Centerline goodness : 0.993268 with order 1 Centerline is valid? [True, True] Translation: X:68.39, Y:-3.26, Z:0.02 [[ 9.99959211e-01 -9.03192915e-03 0.00000000e+00 6.83936972e+01] [ 9.03192915e-03 9.99959211e-01 0.00000000e+00 -3.26075141e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32577239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.700371743 meters Centerline goodness : 0.991886 with order 1 Centerline is valid? [True, True] Translation: X:68.46, Y:-3.27, Z:0.01 [[ 9.99999741e-01 -7.20051463e-04 0.00000000e+00 6.84559800e+01] [ 7.20051463e-04 9.99999741e-01 0.00000000e+00 -3.27382410e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15350102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.760371743 meters Centerline goodness : 0.993407 with order 1 Centerline is valid? [True, True] Translation: X:68.52, Y:-3.26, Z:0.02 [[ 9.99901151e-01 -1.40601476e-02 0.00000000e+00 6.85165521e+01] [ 1.40601476e-02 9.99901151e-01 0.00000000e+00 -3.26199753e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39597638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.820371743 meters Centerline goodness : 0.992063 with order 1 Centerline is valid? [True, True] Translation: X:68.58, Y:-3.27, Z:0.01 [[ 9.99968446e-01 -7.94399617e-03 0.00000000e+00 6.85785256e+01] [ 7.94399617e-03 9.99968446e-01 0.00000000e+00 -3.27326039e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44210826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.880371743 meters Centerline goodness : 0.992164 with order 1 Centerline is valid? [True, True] Translation: X:68.64, Y:-3.27, Z:0.01 [[ 9.99980873e-01 -6.18492785e-03 0.00000000e+00 6.86403030e+01] [ 6.18492785e-03 9.99980873e-01 0.00000000e+00 -3.27335569e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27283605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.940371743 meters Centerline goodness : 0.991842 with order 1 Centerline is valid? [True, True] Translation: X:68.70, Y:-3.27, Z:0.01 [[ 9.99999849e-01 -5.49646329e-04 0.00000000e+00 6.87014714e+01] [ 5.49646329e-04 9.99999849e-01 0.00000000e+00 -3.27229255e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11144953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.000371743 meters Centerline goodness : 0.991865 with order 1 Centerline is valid? [True, True] Translation: X:68.76, Y:-3.27, Z:0.01 [[ 9.99986605e-01 5.17597302e-03 0.00000000e+00 6.87620993e+01] [-5.17597302e-03 9.99986605e-01 0.00000000e+00 -3.27261047e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.52395103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.060371743 meters Centerline goodness : 0.993771 with order 1 Centerline is valid? [True, True] Translation: X:68.82, Y:-3.26, Z:0.02 [[ 9.99999702e-01 7.72257811e-04 0.00000000e+00 6.88216706e+01] [-7.72257811e-04 9.99999702e-01 0.00000000e+00 -3.25681949e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27146695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.120371743 meters Centerline goodness : 0.991367 with order 1 Centerline is valid? [True, True] Translation: X:68.88, Y:-3.27, Z:0.02 [[ 9.99866395e-01 1.63460306e-02 0.00000000e+00 6.88811413e+01] [-1.63460306e-02 9.99866395e-01 0.00000000e+00 -3.26861616e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61844830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.180371743 meters Centerline goodness : 0.991761 with order 1 Centerline is valid? [True, True] Translation: X:68.94, Y:-3.27, Z:0.01 [[ 9.99845682e-01 1.75673534e-02 0.00000000e+00 6.89396642e+01] [-1.75673534e-02 9.99845682e-01 0.00000000e+00 -3.26841560e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23621654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.240371743 meters Centerline goodness : 0.992018 with order 1 Centerline is valid? [True, True] Translation: X:69.00, Y:-3.27, Z:0.01 [[ 9.99859702e-01 1.67503975e-02 0.00000000e+00 6.89984950e+01] [-1.67503975e-02 9.99859702e-01 0.00000000e+00 -3.26583784e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48191175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.300371743 meters Centerline goodness : 0.992884 with order 1 Centerline is valid? [True, True] Translation: X:69.06, Y:-3.27, Z:0.01 [[ 9.99844649e-01 1.76260694e-02 0.00000000e+00 6.90558521e+01] [-1.76260694e-02 9.99844649e-01 0.00000000e+00 -3.26721672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43456800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.360371743 meters Centerline goodness : 0.992351 with order 1 Centerline is valid? [True, True] Translation: X:69.11, Y:-3.27, Z:0.02 [[ 9.99864638e-01 1.64531525e-02 0.00000000e+00 6.91146110e+01] [-1.64531525e-02 9.99864638e-01 0.00000000e+00 -3.26767003e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59811830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.420371743 meters Centerline goodness : 0.991795 with order 1 Centerline is valid? [True, True] Translation: X:69.17, Y:-3.27, Z:0.01 [[ 9.99780072e-01 2.09715891e-02 0.00000000e+00 6.91736178e+01] [-2.09715891e-02 9.99780072e-01 0.00000000e+00 -3.27346870e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.58793496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.480371743 meters Centerline goodness : 0.993115 with order 1 Centerline is valid? [True, True] Translation: X:69.23, Y:-3.27, Z:0.01 [[ 9.99819006e-01 1.90251447e-02 0.00000000e+00 6.92324722e+01] [-1.90251447e-02 9.99819006e-01 0.00000000e+00 -3.27332748e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.93383035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.540371743 meters Centerline goodness : 0.991980 with order 1 Centerline is valid? [True, True] Translation: X:69.29, Y:-3.28, Z:0.01 [[ 9.99803163e-01 1.98402263e-02 0.00000000e+00 6.92910007e+01] [-1.98402263e-02 9.99803163e-01 0.00000000e+00 -3.27557341e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.27402695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.600371743 meters Centerline goodness : 0.991694 with order 1 Centerline is valid? [True, True] Translation: X:69.35, Y:-3.27, Z:0.01 [[ 9.99876536e-01 1.57134809e-02 0.00000000e+00 6.93497629e+01] [-1.57134809e-02 9.99876536e-01 0.00000000e+00 -3.27477160e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13149619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.660371743 meters Centerline goodness : 0.990964 with order 1 Centerline is valid? [True, True] Translation: X:69.41, Y:-3.28, Z:0.01 [[ 9.99915040e-01 1.30350625e-02 0.00000000e+00 6.94089656e+01] [-1.30350625e-02 9.99915040e-01 0.00000000e+00 -3.27685053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20440643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.720371743 meters Centerline goodness : 0.993432 with order 1 Centerline is valid? [True, True] Translation: X:69.47, Y:-3.27, Z:0.02 [[ 9.99998129e-01 1.93454800e-03 0.00000000e+00 6.94669964e+01] [-1.93454800e-03 9.99998129e-01 0.00000000e+00 -3.26790616e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05295501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.780371743 meters Centerline goodness : 0.991267 with order 1 Centerline is valid? [True, True] Translation: X:69.53, Y:-3.28, Z:0.01 [[ 9.99962269e-01 8.68681620e-03 0.00000000e+00 6.95259205e+01] [-8.68681620e-03 9.99962269e-01 0.00000000e+00 -3.28101522e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27201983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.840371743 meters Centerline goodness : 0.991504 with order 1 Centerline is valid? [True, True] Translation: X:69.58, Y:-3.29, Z:0.01 [[ 9.99968307e-01 7.96151685e-03 0.00000000e+00 6.95838105e+01] [-7.96151685e-03 9.99968307e-01 0.00000000e+00 -3.28519472e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12747839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.900371743 meters Centerline goodness : 0.991094 with order 1 Centerline is valid? [True, True] Translation: X:69.64, Y:-3.29, Z:0.01 [[ 9.99972740e-01 7.38372276e-03 0.00000000e+00 6.96411772e+01] [-7.38372276e-03 9.99972740e-01 0.00000000e+00 -3.28789894e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10493527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.960371743 meters Centerline goodness : 0.991023 with order 1 Centerline is valid? [True, True] Translation: X:69.70, Y:-3.29, Z:0.01 [[ 9.99978475e-01 6.56118167e-03 0.00000000e+00 6.96995206e+01] [-6.56118167e-03 9.99978475e-01 0.00000000e+00 -3.28845074e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28619100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.020371743 meters Centerline goodness : 0.990477 with order 1 Centerline is valid? [True, True] Translation: X:69.76, Y:-3.29, Z:0.01 [[ 9.99960871e-01 8.84624087e-03 0.00000000e+00 6.97576772e+01] [-8.84624087e-03 9.99960871e-01 0.00000000e+00 -3.29023707e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06912315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.080371743 meters Centerline goodness : 0.990712 with order 1 Centerline is valid? [True, True] Translation: X:69.82, Y:-3.29, Z:0.01 [[ 9.99910191e-01 1.34018599e-02 0.00000000e+00 6.98164597e+01] [-1.34018599e-02 9.99910191e-01 0.00000000e+00 -3.29392095e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.88952152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.140371743 meters Centerline goodness : 0.992637 with order 1 Centerline is valid? [True, True] Translation: X:69.88, Y:-3.28, Z:0.02 [[ 9.99994928e-01 3.18491667e-03 0.00000000e+00 6.98752659e+01] [-3.18491667e-03 9.99994928e-01 0.00000000e+00 -3.28076106e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00990021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.200371743 meters Centerline goodness : 0.992742 with order 1 Centerline is valid? [True, True] Translation: X:69.93, Y:-3.28, Z:0.02 [[ 9.99992006e-01 3.99837309e-03 0.00000000e+00 6.99347347e+01] [-3.99837309e-03 9.99992006e-01 0.00000000e+00 -3.28198696e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00492100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.260371743 meters Centerline goodness : 0.991010 with order 1 Centerline is valid? [True, True] Translation: X:69.99, Y:-3.30, Z:0.01 [[ 9.99899983e-01 1.41429586e-02 0.00000000e+00 6.99927162e+01] [-1.41429586e-02 9.99899983e-01 0.00000000e+00 -3.29637332e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.26470147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.320371743 meters Centerline goodness : 0.991064 with order 1 Centerline is valid? [True, True] Translation: X:70.05, Y:-3.30, Z:0.01 [[ 9.99886564e-01 1.50618263e-02 0.00000000e+00 7.00517048e+01] [-1.50618263e-02 9.99886564e-01 0.00000000e+00 -3.30117869e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.23277061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.380371743 meters Centerline goodness : 0.991477 with order 1 Centerline is valid? [True, True] Translation: X:70.11, Y:-3.30, Z:0.01 [[ 9.99927544e-01 1.20377234e-02 0.00000000e+00 7.01102679e+01] [-1.20377234e-02 9.99927544e-01 0.00000000e+00 -3.30192062e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13001245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.440371743 meters Centerline goodness : 0.993558 with order 1 Centerline is valid? [True, True] Translation: X:70.17, Y:-3.29, Z:0.02 [[ 9.99994700e-01 -3.25561054e-03 0.00000000e+00 7.01687766e+01] [ 3.25561054e-03 9.99994700e-01 0.00000000e+00 -3.29023729e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09377691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.500371743 meters Centerline goodness : 0.991425 with order 1 Centerline is valid? [True, True] Translation: X:70.23, Y:-3.30, Z:0.02 [[ 9.99977857e-01 6.65466590e-03 0.00000000e+00 7.02299776e+01] [-6.65466590e-03 9.99977857e-01 0.00000000e+00 -3.30282543e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73558444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.560371743 meters Centerline goodness : 0.991715 with order 1 Centerline is valid? [True, True] Translation: X:70.29, Y:-3.30, Z:0.01 [[ 9.99947563e-01 1.02407123e-02 0.00000000e+00 7.02883084e+01] [-1.02407123e-02 9.99947563e-01 0.00000000e+00 -3.30311877e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28894039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62037174299999 meters Centerline goodness : 0.992033 with order 1 Centerline is valid? [True, True] Translation: X:70.35, Y:-3.30, Z:0.02 [[ 9.99916096e-01 1.29537865e-02 0.00000000e+00 7.03476206e+01] [-1.29537865e-02 9.99916096e-01 0.00000000e+00 -3.30449199e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64163454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.680371743 meters Centerline goodness : 0.992383 with order 1 Centerline is valid? [True, True] Translation: X:70.41, Y:-3.31, Z:0.01 [[ 9.99911565e-01 1.32989270e-02 0.00000000e+00 7.04062964e+01] [-1.32989270e-02 9.99911565e-01 0.00000000e+00 -3.30591421e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08428779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.740371743 meters Centerline goodness : 0.992587 with order 1 Centerline is valid? [True, True] Translation: X:70.47, Y:-3.31, Z:0.01 [[ 9.99902241e-01 1.39824037e-02 0.00000000e+00 7.04654503e+01] [-1.39824037e-02 9.99902241e-01 0.00000000e+00 -3.30644504e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07221063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.800371743 meters Centerline goodness : 0.991983 with order 1 Centerline is valid? [True, True] Translation: X:70.52, Y:-3.31, Z:0.01 [[ 9.99875825e-01 1.57586474e-02 0.00000000e+00 7.05236417e+01] [-1.57586474e-02 9.99875825e-01 0.00000000e+00 -3.30675757e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25174749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.860371743 meters Centerline goodness : 0.992458 with order 1 Centerline is valid? [True, True] Translation: X:70.58, Y:-3.31, Z:0.01 [[ 9.99822784e-01 1.88255463e-02 0.00000000e+00 7.05811216e+01] [-1.88255463e-02 9.99822784e-01 0.00000000e+00 -3.30900834e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24656464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.920371743 meters Centerline goodness : 0.992369 with order 1 Centerline is valid? [True, True] Translation: X:70.64, Y:-3.31, Z:0.01 [[ 9.99779488e-01 2.09994059e-02 0.00000000e+00 7.06388749e+01] [-2.09994059e-02 9.99779488e-01 0.00000000e+00 -3.31136734e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38612823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.980371743 meters Centerline goodness : 0.993307 with order 1 Centerline is valid? [True, True] Translation: X:70.70, Y:-3.31, Z:0.02 [[ 9.99906813e-01 1.36515878e-02 0.00000000e+00 7.06967325e+01] [-1.36515878e-02 9.99906813e-01 0.00000000e+00 -3.30624478e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19807892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.040371743 meters Centerline goodness : 0.992881 with order 1 Centerline is valid? [True, True] Translation: X:70.75, Y:-3.32, Z:0.01 [[ 9.99869399e-01 1.61612277e-02 0.00000000e+00 7.07546626e+01] [-1.61612277e-02 9.99869399e-01 0.00000000e+00 -3.31876624e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40908183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.100371743 meters Centerline goodness : 0.994101 with order 1 Centerline is valid? [True, True] Translation: X:70.81, Y:-3.31, Z:0.02 [[ 9.99992967e-01 3.75052364e-03 0.00000000e+00 7.08125132e+01] [-3.75052364e-03 9.99992967e-01 0.00000000e+00 -3.31472432e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12882369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.160371743 meters Centerline goodness : 0.992899 with order 1 Centerline is valid? [True, True] Translation: X:70.87, Y:-3.33, Z:0.01 [[ 9.99953744e-01 9.61825284e-03 0.00000000e+00 7.08706069e+01] [-9.61825284e-03 9.99953744e-01 0.00000000e+00 -3.32883724e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.51306383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.220371743 meters Centerline goodness : 0.992455 with order 1 Centerline is valid? [True, True] Translation: X:70.93, Y:-3.33, Z:0.01 [[ 9.99996110e-01 2.78936604e-03 0.00000000e+00 7.09278015e+01] [-2.78936604e-03 9.99996110e-01 0.00000000e+00 -3.33167941e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.72533386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.280371743 meters Centerline goodness : 0.993050 with order 1 Centerline is valid? [True, True] Translation: X:70.99, Y:-3.33, Z:0.01 [[ 9.99998129e-01 -1.93437762e-03 0.00000000e+00 7.09870440e+01] [ 1.93437762e-03 9.99998129e-01 0.00000000e+00 -3.33120102e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34859820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.340371743 meters Centerline goodness : 0.992236 with order 1 Centerline is valid? [True, True] Translation: X:71.05, Y:-3.33, Z:0.01 [[ 9.99997178e-01 -2.37565550e-03 0.00000000e+00 7.10481281e+01] [ 2.37565550e-03 9.99997178e-01 0.00000000e+00 -3.33346599e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33395323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.400371743 meters Centerline goodness : 0.992953 with order 1 Centerline is valid? [True, True] Translation: X:71.11, Y:-3.33, Z:0.01 [[ 9.99997237e-01 -2.35081282e-03 0.00000000e+00 7.11081263e+01] [ 2.35081282e-03 9.99997237e-01 0.00000000e+00 -3.33456261e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44433649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.460371743 meters Centerline goodness : 0.992531 with order 1 Centerline is valid? [True, True] Translation: X:71.17, Y:-3.34, Z:0.02 [[ 9.99996415e-01 2.67764801e-03 0.00000000e+00 7.11689757e+01] [-2.67764801e-03 9.99996415e-01 0.00000000e+00 -3.33709899e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58836826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.520371743 meters Centerline goodness : 0.991801 with order 1 Centerline is valid? [True, True] Translation: X:71.23, Y:-3.34, Z:0.01 [[ 9.99999812e-01 6.13052440e-04 0.00000000e+00 7.12288894e+01] [-6.13052440e-04 9.99999812e-01 0.00000000e+00 -3.33696492e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17429031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.580371743 meters Centerline goodness : 0.991787 with order 1 Centerline is valid? [True, True] Translation: X:71.29, Y:-3.34, Z:0.01 [[ 9.99996330e-01 2.70926279e-03 0.00000000e+00 7.12891102e+01] [-2.70926279e-03 9.99996330e-01 0.00000000e+00 -3.33904761e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.56730390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.640371743 meters Centerline goodness : 0.991248 with order 1 Centerline is valid? [True, True] Translation: X:71.35, Y:-3.34, Z:0.01 [[ 9.99995085e-01 3.13531893e-03 0.00000000e+00 7.13487779e+01] [-3.13531893e-03 9.99995085e-01 0.00000000e+00 -3.33790663e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08959860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.700371743 meters Centerline goodness : 0.990723 with order 1 Centerline is valid? [True, True] Translation: X:71.41, Y:-3.34, Z:0.02 [[ 9.99974777e-01 7.10248159e-03 0.00000000e+00 7.14084655e+01] [-7.10248159e-03 9.99974777e-01 0.00000000e+00 -3.33518808e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75109250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.760371743 meters Centerline goodness : 0.990796 with order 1 Centerline is valid? [True, True] Translation: X:71.47, Y:-3.34, Z:0.01 [[ 9.99967690e-01 8.03853033e-03 0.00000000e+00 7.14667013e+01] [-8.03853033e-03 9.99967690e-01 0.00000000e+00 -3.33835783e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17632030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.820371743 meters Centerline goodness : 0.993234 with order 1 Centerline is valid? [True, True] Translation: X:71.52, Y:-3.33, Z:0.02 [[ 9.99998590e-01 1.67907025e-03 0.00000000e+00 7.15246831e+01] [-1.67907025e-03 9.99998590e-01 0.00000000e+00 -3.32654668e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38344735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.880371743 meters Centerline goodness : 0.990787 with order 1 Centerline is valid? [True, True] Translation: X:71.58, Y:-3.34, Z:0.01 [[ 9.99968921e-01 7.88395471e-03 0.00000000e+00 7.15843557e+01] [-7.88395471e-03 9.99968921e-01 0.00000000e+00 -3.33961271e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38157241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.940371743 meters Centerline goodness : 0.991083 with order 1 Centerline is valid? [True, True] Translation: X:71.64, Y:-3.34, Z:0.01 [[ 9.99993425e-01 3.62632475e-03 0.00000000e+00 7.16430706e+01] [-3.62632475e-03 9.99993425e-01 0.00000000e+00 -3.34084706e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30963134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.000371743 meters Centerline goodness : 0.991197 with order 1 Centerline is valid? [True, True] Translation: X:71.70, Y:-3.34, Z:0.01 [[ 9.99999705e-01 7.68357933e-04 0.00000000e+00 7.17013751e+01] [-7.68357933e-04 9.99999705e-01 0.00000000e+00 -3.34344027e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15763962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.060371743 meters Centerline goodness : 0.993250 with order 1 Centerline is valid? [True, True] Translation: X:71.76, Y:-3.34, Z:0.02 [[ 9.99957769e-01 -9.19023689e-03 0.00000000e+00 7.17613150e+01] [ 9.19023689e-03 9.99957769e-01 0.00000000e+00 -3.33773825e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58405947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12037174299999 meters Centerline goodness : 0.991446 with order 1 Centerline is valid? [True, True] Translation: X:71.82, Y:-3.35, Z:0.01 [[ 9.99994764e-01 -3.23596627e-03 0.00000000e+00 7.18229914e+01] [ 3.23596627e-03 9.99994764e-01 0.00000000e+00 -3.34670354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07027120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.180371743 meters Centerline goodness : 0.991591 with order 1 Centerline is valid? [True, True] Translation: X:71.88, Y:-3.35, Z:0.01 [[ 9.99999606e-01 -8.87261377e-04 0.00000000e+00 7.18845392e+01] [ 8.87261377e-04 9.99999606e-01 0.00000000e+00 -3.34837109e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03857882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.240371743 meters Centerline goodness : 0.991598 with order 1 Centerline is valid? [True, True] Translation: X:71.95, Y:-3.35, Z:0.01 [[ 9.99999562e-01 9.35929997e-04 0.00000000e+00 7.19452506e+01] [-9.35929997e-04 9.99999562e-01 0.00000000e+00 -3.34729320e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38618998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.300371743 meters Centerline goodness : 0.991699 with order 1 Centerline is valid? [True, True] Translation: X:72.01, Y:-3.35, Z:0.01 [[ 9.99969244e-01 7.84285835e-03 0.00000000e+00 7.20060459e+01] [-7.84285835e-03 9.99969244e-01 0.00000000e+00 -3.34795481e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38894728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.360371743 meters Centerline goodness : 0.991613 with order 1 Centerline is valid? [True, True] Translation: X:72.06, Y:-3.35, Z:0.01 [[ 9.99884908e-01 1.51713893e-02 0.00000000e+00 7.20642248e+01] [-1.51713893e-02 9.99884908e-01 0.00000000e+00 -3.35231349e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26156250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.420371743 meters Centerline goodness : 0.993261 with order 1 Centerline is valid? [True, True] Translation: X:72.12, Y:-3.35, Z:0.02 [[ 9.99974521e-01 7.13840677e-03 0.00000000e+00 7.21243117e+01] [-7.13840677e-03 9.99974521e-01 0.00000000e+00 -3.34545063e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57140654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.480371743 meters Centerline goodness : 0.992031 with order 1 Centerline is valid? [True, True] Translation: X:72.18, Y:-3.36, Z:0.00 [[ 9.99914219e-01 1.30978728e-02 0.00000000e+00 7.21825040e+01] [-1.30978728e-02 9.99914219e-01 0.00000000e+00 -3.36004616e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97795522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.540371743 meters Centerline goodness : 0.992144 with order 1 Centerline is valid? [True, True] Translation: X:72.24, Y:-3.36, Z:0.00 [[ 9.99942129e-01 1.07581542e-02 0.00000000e+00 7.22412289e+01] [-1.07581542e-02 9.99942129e-01 0.00000000e+00 -3.36289615e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95459209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.600371743 meters Centerline goodness : 0.991754 with order 1 Centerline is valid? [True, True] Translation: X:72.30, Y:-3.37, Z:0.00 [[ 9.99957668e-01 9.20123421e-03 0.00000000e+00 7.22998685e+01] [-9.20123421e-03 9.99957668e-01 0.00000000e+00 -3.36914962e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32491195e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.660371743 meters Centerline goodness : 0.994166 with order 1 Centerline is valid? [True, True] Translation: X:72.36, Y:-3.36, Z:0.01 [[ 9.99992230e-01 -3.94212526e-03 0.00000000e+00 7.23583891e+01] [ 3.94212526e-03 9.99992230e-01 0.00000000e+00 -3.36213227e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41896988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.720371743 meters Centerline goodness : 0.992710 with order 1 Centerline is valid? [True, True] Translation: X:72.42, Y:-3.38, Z:0.01 [[ 9.99999585e-01 9.10548251e-04 0.00000000e+00 7.24190100e+01] [-9.10548251e-04 9.99999585e-01 0.00000000e+00 -3.37594154e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.51357258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.780371743 meters Centerline goodness : 0.993467 with order 1 Centerline is valid? [True, True] Translation: X:72.48, Y:-3.37, Z:0.01 [[ 9.99928192e-01 -1.19837400e-02 0.00000000e+00 7.24795172e+01] [ 1.19837400e-02 9.99928192e-01 0.00000000e+00 -3.36921188e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46023254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.840371743 meters Centerline goodness : 0.993369 with order 1 Centerline is valid? [True, True] Translation: X:72.54, Y:-3.38, Z:0.01 [[ 9.99946731e-01 -1.03216269e-02 0.00000000e+00 7.25416827e+01] [ 1.03216269e-02 9.99946731e-01 0.00000000e+00 -3.38347225e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45101910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.900371743 meters Centerline goodness : 0.993037 with order 1 Centerline is valid? [True, True] Translation: X:72.60, Y:-3.39, Z:0.00 [[ 9.99938569e-01 -1.10841171e-02 0.00000000e+00 7.26040289e+01] [ 1.10841171e-02 9.99938569e-01 0.00000000e+00 -3.38722363e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39354543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.960371743 meters Centerline goodness : 0.993202 with order 1 Centerline is valid? [True, True] Translation: X:72.67, Y:-3.39, Z:0.00 [[ 9.99944941e-01 -1.04935843e-02 0.00000000e+00 7.26663828e+01] [ 1.04935843e-02 9.99944941e-01 0.00000000e+00 -3.38645546e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14195511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.020371743 meters Centerline goodness : 0.993003 with order 1 Centerline is valid? [True, True] Translation: X:72.73, Y:-3.39, Z:0.00 [[ 9.99974720e-01 -7.11048516e-03 0.00000000e+00 7.27280042e+01] [ 7.11048516e-03 9.99974720e-01 0.00000000e+00 -3.38806192e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08634873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.080371743 meters Centerline goodness : 0.993266 with order 1 Centerline is valid? [True, True] Translation: X:72.79, Y:-3.39, Z:0.00 [[ 9.99999578e-01 -9.18794960e-04 0.00000000e+00 7.27903059e+01] [ 9.18794960e-04 9.99999578e-01 0.00000000e+00 -3.38745753e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28918900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.140371743 meters Centerline goodness : 0.993047 with order 1 Centerline is valid? [True, True] Translation: X:72.85, Y:-3.39, Z:0.00 [[ 9.99993242e-01 3.67634171e-03 0.00000000e+00 7.28508507e+01] [-3.67634171e-03 9.99993242e-01 0.00000000e+00 -3.38630109e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26217223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.200371743 meters Centerline goodness : 0.993205 with order 1 Centerline is valid? [True, True] Translation: X:72.91, Y:-3.39, Z:0.00 [[ 9.99981548e-01 6.07482247e-03 0.00000000e+00 7.29094134e+01] [-6.07482247e-03 9.99981548e-01 0.00000000e+00 -3.38626072e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31951467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.260371743 meters Centerline goodness : 0.993296 with order 1 Centerline is valid? [True, True] Translation: X:72.97, Y:-3.39, Z:-0.00 [[ 9.99947236e-01 1.02725421e-02 0.00000000e+00 7.29679392e+01] [-1.02725421e-02 9.99947236e-01 0.00000000e+00 -3.38575013e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41742031e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.320371743 meters Centerline goodness : 0.993299 with order 1 Centerline is valid? [True, True] Translation: X:73.03, Y:-3.39, Z:0.00 [[ 9.99908297e-01 1.35424263e-02 0.00000000e+00 7.30254025e+01] [-1.35424263e-02 9.99908297e-01 0.00000000e+00 -3.38515982e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.78116716e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.380371743 meters Centerline goodness : 0.993090 with order 1 Centerline is valid? [True, True] Translation: X:73.08, Y:-3.39, Z:0.00 [[ 9.99830746e-01 1.83977828e-02 0.00000000e+00 7.30828498e+01] [-1.83977828e-02 9.99830746e-01 0.00000000e+00 -3.38545922e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.31218086e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.440371743 meters Centerline goodness : 0.992102 with order 1 Centerline is valid? [True, True] Translation: X:73.14, Y:-3.39, Z:-0.00 [[ 9.99774787e-01 2.12220253e-02 0.00000000e+00 7.31396896e+01] [-2.12220253e-02 9.99774787e-01 0.00000000e+00 -3.38776636e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96065522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.500371743 meters Centerline goodness : 0.992692 with order 1 Centerline is valid? [True, True] Translation: X:73.20, Y:-3.39, Z:-0.00 [[ 9.99749200e-01 2.23950321e-02 0.00000000e+00 7.31976779e+01] [-2.23950321e-02 9.99749200e-01 0.00000000e+00 -3.38877248e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44274417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.560371743 meters Centerline goodness : 0.992639 with order 1 Centerline is valid? [True, True] Translation: X:73.26, Y:-3.39, Z:-0.00 [[ 9.99791979e-01 2.03960687e-02 0.00000000e+00 7.32556869e+01] [-2.03960687e-02 9.99791979e-01 0.00000000e+00 -3.39044388e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69121362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62037174299999 meters Centerline goodness : 0.992803 with order 1 Centerline is valid? [True, True] Translation: X:73.31, Y:-3.39, Z:-0.00 [[ 9.99852858e-01 1.71540622e-02 0.00000000e+00 7.33136979e+01] [-1.71540622e-02 9.99852858e-01 0.00000000e+00 -3.39315212e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99932344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.680371743 meters Centerline goodness : 0.992368 with order 1 Centerline is valid? [True, True] Translation: X:73.37, Y:-3.40, Z:-0.00 [[ 9.99875066e-01 1.58067391e-02 0.00000000e+00 7.33726959e+01] [-1.58067391e-02 9.99875066e-01 0.00000000e+00 -3.39641149e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41365273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.740371743 meters Centerline goodness : 0.992567 with order 1 Centerline is valid? [True, True] Translation: X:73.43, Y:-3.40, Z:-0.00 [[ 9.99974566e-01 7.13217037e-03 0.00000000e+00 7.34314254e+01] [-7.13217037e-03 9.99974566e-01 0.00000000e+00 -3.39924903e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.93627538e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.800371743 meters Centerline goodness : 0.992763 with order 1 Centerline is valid? [True, True] Translation: X:73.49, Y:-3.40, Z:-0.00 [[ 9.99991480e-01 -4.12787244e-03 0.00000000e+00 7.34898546e+01] [ 4.12787244e-03 9.99991480e-01 0.00000000e+00 -3.40133528e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77434553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.860371743 meters Centerline goodness : 0.992338 with order 1 Centerline is valid? [True, True] Translation: X:73.55, Y:-3.40, Z:-0.00 [[ 9.99957740e-01 -9.19339445e-03 0.00000000e+00 7.35507195e+01] [ 9.19339445e-03 9.99957740e-01 0.00000000e+00 -3.40390028e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10174735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.920371743 meters Centerline goodness : 0.992216 with order 1 Centerline is valid? [True, True] Translation: X:73.61, Y:-3.40, Z:0.00 [[ 9.99889321e-01 -1.48777008e-02 0.00000000e+00 7.36141601e+01] [ 1.48777008e-02 9.99889321e-01 0.00000000e+00 -3.40402324e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02470259e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.980371743 meters Centerline goodness : 0.993109 with order 1 Centerline is valid? [True, True] Translation: X:73.68, Y:-3.40, Z:0.00 [[ 9.99886478e-01 -1.50675242e-02 0.00000000e+00 7.36760744e+01] [ 1.50675242e-02 9.99886478e-01 0.00000000e+00 -3.40469258e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39384743e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.040371743 meters Centerline goodness : 0.994257 with order 1 Centerline is valid? [True, True] Translation: X:73.74, Y:-3.40, Z:-0.00 [[ 9.99703939e-01 -2.43317667e-02 0.00000000e+00 7.37381699e+01] [ 2.43317667e-02 9.99703939e-01 0.00000000e+00 -3.39701002e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39654606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.100371743 meters Centerline goodness : 0.992935 with order 1 Centerline is valid? [True, True] Translation: X:73.80, Y:-3.40, Z:-0.00 [[ 9.99775233e-01 -2.12010324e-02 0.00000000e+00 7.38000580e+01] [ 2.12010324e-02 9.99775233e-01 0.00000000e+00 -3.40048919e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.61974845e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.160371743 meters Centerline goodness : 0.992336 with order 1 Centerline is valid? [True, True] Translation: X:73.86, Y:-3.40, Z:-0.00 [[ 9.99844990e-01 -1.76067155e-02 0.00000000e+00 7.38618338e+01] [ 1.76067155e-02 9.99844990e-01 0.00000000e+00 -3.40282951e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12291553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.220371743 meters Centerline goodness : 0.992038 with order 1 Centerline is valid? [True, True] Translation: X:73.92, Y:-3.40, Z:-0.00 [[ 9.99892107e-01 -1.46892502e-02 0.00000000e+00 7.39242898e+01] [ 1.46892502e-02 9.99892107e-01 0.00000000e+00 -3.40231632e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30922160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.280371743 meters Centerline goodness : 0.991704 with order 1 Centerline is valid? [True, True] Translation: X:73.99, Y:-3.40, Z:0.00 [[ 9.99958171e-01 -9.14642649e-03 0.00000000e+00 7.39852329e+01] [ 9.14642649e-03 9.99958171e-01 0.00000000e+00 -3.40065286e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16490547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.340371743 meters Centerline goodness : 0.991633 with order 1 Centerline is valid? [True, True] Translation: X:74.05, Y:-3.40, Z:0.00 [[ 9.99969353e-01 -7.82896641e-03 0.00000000e+00 7.40475400e+01] [ 7.82896641e-03 9.99969353e-01 0.00000000e+00 -3.40063511e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05437876e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.400371743 meters Centerline goodness : 0.991058 with order 1 Centerline is valid? [True, True] Translation: X:74.11, Y:-3.40, Z:0.00 [[ 9.99999631e-01 -8.58892777e-04 0.00000000e+00 7.41084870e+01] [ 8.58892777e-04 9.99999631e-01 0.00000000e+00 -3.40039688e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15674733e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.460371743 meters Centerline goodness : 0.991160 with order 1 Centerline is valid? [True, True] Translation: X:74.17, Y:-3.40, Z:-0.00 [[ 9.99973983e-01 7.21340767e-03 0.00000000e+00 7.41688437e+01] [-7.21340767e-03 9.99973983e-01 0.00000000e+00 -3.40241360e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22531412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.520371743 meters Centerline goodness : 0.991971 with order 1 Centerline is valid? [True, True] Translation: X:74.23, Y:-3.40, Z:0.00 [[ 9.99884028e-01 1.52292915e-02 0.00000000e+00 7.42262893e+01] [-1.52292915e-02 9.99884028e-01 0.00000000e+00 -3.40206923e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78803755e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.580371743 meters Centerline goodness : 0.993747 with order 1 Centerline is valid? [True, True] Translation: X:74.28, Y:-3.39, Z:0.00 [[ 9.99847604e-01 1.74576003e-02 0.00000000e+00 7.42843432e+01] [-1.74576003e-02 9.99847604e-01 0.00000000e+00 -3.39305801e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97556297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.640371743 meters Centerline goodness : 0.993517 with order 1 Centerline is valid? [True, True] Translation: X:74.34, Y:-3.39, Z:0.00 [[ 9.99719478e-01 2.36847185e-02 0.00000000e+00 7.43427827e+01] [-2.36847185e-02 9.99719478e-01 0.00000000e+00 -3.39420190e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72909695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.700371743 meters Centerline goodness : 0.990945 with order 1 Centerline is valid? [True, True] Translation: X:74.40, Y:-3.41, Z:-0.00 [[ 9.99487919e-01 3.19984233e-02 0.00000000e+00 7.44006215e+01] [-3.19984233e-02 9.99487919e-01 0.00000000e+00 -3.40876374e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44667361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.760371743 meters Centerline goodness : 0.990916 with order 1 Centerline is valid? [True, True] Translation: X:74.46, Y:-3.41, Z:-0.00 [[ 9.99549116e-01 3.00260542e-02 0.00000000e+00 7.44585619e+01] [-3.00260542e-02 9.99549116e-01 0.00000000e+00 -3.41447320e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53747731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.820371743 meters Centerline goodness : 0.991468 with order 1 Centerline is valid? [True, True] Translation: X:74.52, Y:-3.42, Z:-0.00 [[ 9.99663225e-01 2.59506714e-02 0.00000000e+00 7.45162355e+01] [-2.59506714e-02 9.99663225e-01 0.00000000e+00 -3.41997501e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16114831e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.880371743 meters Centerline goodness : 0.993274 with order 1 Centerline is valid? [True, True] Translation: X:74.57, Y:-3.42, Z:0.00 [[ 9.99970326e-01 7.70367281e-03 0.00000000e+00 7.45737102e+01] [-7.70367281e-03 9.99970326e-01 0.00000000e+00 -3.41762799e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56580651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.940371743 meters Centerline goodness : 0.993967 with order 1 Centerline is valid? [True, True] Translation: X:74.63, Y:-3.43, Z:0.00 [[ 9.99999848e-01 5.51532511e-04 0.00000000e+00 7.46322357e+01] [-5.51532511e-04 9.99999848e-01 0.00000000e+00 -3.42509540e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36501891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.000371743 meters Centerline goodness : 0.992342 with order 1 Centerline is valid? [True, True] Translation: X:74.69, Y:-3.45, Z:-0.01 [[ 9.99999935e-01 3.60016019e-04 0.00000000e+00 7.46920117e+01] [-3.60016019e-04 9.99999935e-01 0.00000000e+00 -3.44603096e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.43864868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.060371743 meters Centerline goodness : 0.992415 with order 1 Centerline is valid? [True, True] Translation: X:74.75, Y:-3.45, Z:-0.01 [[ 9.99988875e-01 -4.71695275e-03 0.00000000e+00 7.47525872e+01] [ 4.71695275e-03 9.99988875e-01 0.00000000e+00 -3.45366965e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.38348551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12037174299999 meters Centerline goodness : 0.992787 with order 1 Centerline is valid? [True, True] Translation: X:74.81, Y:-3.46, Z:-0.01 [[ 9.99978546e-01 -6.55033980e-03 0.00000000e+00 7.48137521e+01] [ 6.55033980e-03 9.99978546e-01 0.00000000e+00 -3.45807861e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.84523045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.180371743 meters Centerline goodness : 0.994013 with order 1 Centerline is valid? [True, True] Translation: X:74.88, Y:-3.45, Z:0.00 [[ 9.99926066e-01 -1.21598406e-02 0.00000000e+00 7.48760095e+01] [ 1.21598406e-02 9.99926066e-01 0.00000000e+00 -3.45324082e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13044783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.240371743 meters Centerline goodness : 0.993166 with order 1 Centerline is valid? [True, True] Translation: X:74.94, Y:-3.47, Z:-0.01 [[ 9.99994543e-01 -3.30364306e-03 0.00000000e+00 7.49379635e+01] [ 3.30364306e-03 9.99994543e-01 0.00000000e+00 -3.46765356e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.90548177e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.300371743 meters Centerline goodness : 0.992969 with order 1 Centerline is valid? [True, True] Translation: X:75.00, Y:-3.47, Z:-0.01 [[ 9.99989677e-01 -4.54369276e-03 0.00000000e+00 7.49995153e+01] [ 4.54369276e-03 9.99989677e-01 0.00000000e+00 -3.47252830e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.27469843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.360371743 meters Centerline goodness : 0.994711 with order 1 Centerline is valid? [True, True] Translation: X:75.06, Y:-3.47, Z:0.00 [[ 9.99923503e-01 -1.23688260e-02 0.00000000e+00 7.50615842e+01] [ 1.23688260e-02 9.99923503e-01 0.00000000e+00 -3.46628404e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94421291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.420371743 meters Centerline goodness : 0.992829 with order 1 Centerline is valid? [True, True] Translation: X:75.12, Y:-3.48, Z:-0.01 [[ 9.99980230e-01 -6.28804427e-03 0.00000000e+00 7.51233582e+01] [ 6.28804427e-03 9.99980230e-01 0.00000000e+00 -3.48078684e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.43394628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.480371743 meters Centerline goodness : 0.994603 with order 1 Centerline is valid? [True, True] Translation: X:75.19, Y:-3.47, Z:0.00 [[ 9.99918864e-01 -1.27383611e-02 0.00000000e+00 7.51864119e+01] [ 1.27383611e-02 9.99918864e-01 0.00000000e+00 -3.47373336e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24251765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.540371743 meters Centerline goodness : 0.993083 with order 1 Centerline is valid? [True, True] Translation: X:75.25, Y:-3.49, Z:-0.00 [[ 9.99994318e-01 -3.37096952e-03 0.00000000e+00 7.52479648e+01] [ 3.37096952e-03 9.99994318e-01 0.00000000e+00 -3.48772575e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.93135982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.600371743 meters Centerline goodness : 0.991883 with order 1 Centerline is valid? [True, True] Translation: X:75.31, Y:-3.49, Z:-0.01 [[ 9.99999511e-01 -9.88753438e-04 0.00000000e+00 7.53093367e+01] [ 9.88753438e-04 9.99999511e-01 0.00000000e+00 -3.49405624e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.57120523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.660371743 meters Centerline goodness : 0.994097 with order 1 Centerline is valid? [True, True] Translation: X:75.37, Y:-3.48, Z:0.00 [[ 9.99962678e-01 -8.63957752e-03 0.00000000e+00 7.53703617e+01] [ 8.63957752e-03 9.99962678e-01 0.00000000e+00 -3.48464941e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23540389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.720371743 meters Centerline goodness : 0.991339 with order 1 Centerline is valid? [True, True] Translation: X:75.43, Y:-3.50, Z:-0.00 [[ 9.99997673e-01 2.15732270e-03 0.00000000e+00 7.54311269e+01] [-2.15732270e-03 9.99997673e-01 0.00000000e+00 -3.49932095e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89950466e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.780371743 meters Centerline goodness : 0.994102 with order 1 Centerline is valid? [True, True] Translation: X:75.49, Y:-3.49, Z:0.00 [[ 9.99997058e-01 -2.42582669e-03 0.00000000e+00 7.54906703e+01] [ 2.42582669e-03 9.99997058e-01 0.00000000e+00 -3.49246076e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88297123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.840371743 meters Centerline goodness : 0.992128 with order 1 Centerline is valid? [True, True] Translation: X:75.55, Y:-3.51, Z:-0.00 [[ 9.99970527e-01 7.67756683e-03 0.00000000e+00 7.55516869e+01] [-7.67756683e-03 9.99970527e-01 0.00000000e+00 -3.50720737e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51980505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.900371743 meters Centerline goodness : 0.991941 with order 1 Centerline is valid? [True, True] Translation: X:75.61, Y:-3.51, Z:-0.00 [[ 9.99944270e-01 1.05573275e-02 0.00000000e+00 7.56097782e+01] [-1.05573275e-02 9.99944270e-01 0.00000000e+00 -3.51315924e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75275404e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.960371743 meters Centerline goodness : 0.993698 with order 1 Centerline is valid? [True, True] Translation: X:75.67, Y:-3.51, Z:0.00 [[ 9.99995017e-01 3.15698098e-03 0.00000000e+00 7.56678150e+01] [-3.15698098e-03 9.99995017e-01 0.00000000e+00 -3.50648732e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70774773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.020371743 meters Centerline goodness : 0.992262 with order 1 Centerline is valid? [True, True] Translation: X:75.73, Y:-3.52, Z:-0.00 [[ 9.99940395e-01 1.09181560e-02 0.00000000e+00 7.57272397e+01] [-1.09181560e-02 9.99940395e-01 0.00000000e+00 -3.52121925e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10822119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.080371743 meters Centerline goodness : 0.993557 with order 1 Centerline is valid? [True, True] Translation: X:75.79, Y:-3.52, Z:0.00 [[ 9.99997465e-01 2.25163700e-03 0.00000000e+00 7.57852459e+01] [-2.25163700e-03 9.99997465e-01 0.00000000e+00 -3.51786807e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81034602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.140371743 meters Centerline goodness : 0.994232 with order 1 Centerline is valid? [True, True] Translation: X:75.84, Y:-3.52, Z:0.00 [[ 9.99998886e-01 -1.49268770e-03 0.00000000e+00 7.58446214e+01] [ 1.49268770e-03 9.99998886e-01 0.00000000e+00 -3.52381959e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33489476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.200371743 meters Centerline goodness : 0.993277 with order 1 Centerline is valid? [True, True] Translation: X:75.91, Y:-3.54, Z:-0.00 [[ 9.99997441e-01 2.26221320e-03 0.00000000e+00 7.59054915e+01] [-2.26221320e-03 9.99997441e-01 0.00000000e+00 -3.53867311e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.45222129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.260371743 meters Centerline goodness : 0.995100 with order 1 Centerline is valid? [True, True] Translation: X:75.97, Y:-3.53, Z:0.00 [[ 9.99938484e-01 -1.10918105e-02 0.00000000e+00 7.59652039e+01] [ 1.10918105e-02 9.99938484e-01 0.00000000e+00 -3.53443202e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48692810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.320371743 meters Centerline goodness : 0.995226 with order 1 Centerline is valid? [True, True] Translation: X:76.03, Y:-3.54, Z:0.00 [[ 9.99889953e-01 -1.48351856e-02 0.00000000e+00 7.60286287e+01] [ 1.48351856e-02 9.99889953e-01 0.00000000e+00 -3.53782823e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62590455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.380371743 meters Centerline goodness : 0.994278 with order 1 Centerline is valid? [True, True] Translation: X:76.09, Y:-3.55, Z:-0.00 [[ 9.99935636e-01 -1.13456772e-02 0.00000000e+00 7.60906227e+01] [ 1.13456772e-02 9.99935636e-01 0.00000000e+00 -3.55236172e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28650399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.440371743 meters Centerline goodness : 0.996328 with order 1 Centerline is valid? [True, True] Translation: X:76.15, Y:-3.54, Z:0.00 [[ 9.99798270e-01 -2.00852777e-02 0.00000000e+00 7.61524618e+01] [ 2.00852777e-02 9.99798270e-01 0.00000000e+00 -3.54442398e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94708213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.500371743 meters Centerline goodness : 0.995251 with order 1 Centerline is valid? [True, True] Translation: X:76.21, Y:-3.55, Z:0.00 [[ 9.99912446e-01 -1.32325630e-02 0.00000000e+00 7.62146040e+01] [ 1.32325630e-02 9.99912446e-01 0.00000000e+00 -3.55202271e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.12360156e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.560371743 meters Centerline goodness : 0.994479 with order 1 Centerline is valid? [True, True] Translation: X:76.28, Y:-3.55, Z:-0.00 [[ 9.99944660e-01 -1.05202900e-02 0.00000000e+00 7.62766416e+01] [ 1.05202900e-02 9.99944660e-01 0.00000000e+00 -3.55089933e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04256384e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62037174299999 meters Centerline goodness : 0.995714 with order 1 Centerline is valid? [True, True] Translation: X:76.34, Y:-3.54, Z:0.00 [[ 9.99917554e-01 -1.28407586e-02 0.00000000e+00 7.63381955e+01] [ 1.28407586e-02 9.99917554e-01 0.00000000e+00 -3.54383998e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37287551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.680371743 meters Centerline goodness : 0.994282 with order 1 Centerline is valid? [True, True] Translation: X:76.40, Y:-3.55, Z:-0.00 [[ 9.99993537e-01 -3.59528157e-03 0.00000000e+00 7.63999137e+01] [ 3.59528157e-03 9.99993537e-01 0.00000000e+00 -3.54996873e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96300951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.740371743 meters Centerline goodness : 0.994304 with order 1 Centerline is valid? [True, True] Translation: X:76.46, Y:-3.55, Z:0.00 [[ 9.99981217e-01 -6.12908926e-03 0.00000000e+00 7.64610815e+01] [ 6.12908926e-03 9.99981217e-01 0.00000000e+00 -3.54673973e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38127408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.800371743 meters Centerline goodness : 0.994037 with order 1 Centerline is valid? [True, True] Translation: X:76.52, Y:-3.55, Z:-0.00 [[ 9.99990349e-01 -4.39349264e-03 0.00000000e+00 7.65233582e+01] [ 4.39349264e-03 9.99990349e-01 0.00000000e+00 -3.54791238e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.18545304e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.860371743 meters Centerline goodness : 0.993919 with order 1 Centerline is valid? [True, True] Translation: X:76.59, Y:-3.54, Z:0.00 [[ 9.99980573e-01 -6.23319583e-03 0.00000000e+00 7.65856337e+01] [ 6.23319583e-03 9.99980573e-01 0.00000000e+00 -3.54384416e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49001105e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.920371743 meters Centerline goodness : 0.993611 with order 1 Centerline is valid? [True, True] Translation: X:76.65, Y:-3.54, Z:-0.00 [[ 9.99984788e-01 -5.51584588e-03 0.00000000e+00 7.66478649e+01] [ 5.51584588e-03 9.99984788e-01 0.00000000e+00 -3.54418410e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.24929807e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.980371743 meters Centerline goodness : 0.994805 with order 1 Centerline is valid? [True, True] Translation: X:76.71, Y:-3.53, Z:0.00 [[ 9.99946108e-01 -1.03817610e-02 0.00000000e+00 7.67100601e+01] [ 1.03817610e-02 9.99946108e-01 0.00000000e+00 -3.53431477e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95881085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.040371743 meters Centerline goodness : 0.994545 with order 1 Centerline is valid? [True, True] Translation: X:76.77, Y:-3.53, Z:0.01 [[ 9.99965852e-01 -8.26405034e-03 0.00000000e+00 7.67724107e+01] [ 8.26405034e-03 9.99965852e-01 0.00000000e+00 -3.53160696e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71573673e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.100371743 meters Centerline goodness : 0.994005 with order 1 Centerline is valid? [True, True] Translation: X:76.83, Y:-3.53, Z:0.01 [[ 9.99976231e-01 -6.89478336e-03 0.00000000e+00 7.68347551e+01] [ 6.89478336e-03 9.99976231e-01 0.00000000e+00 -3.53154659e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49484339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.160371743 meters Centerline goodness : 0.992334 with order 1 Centerline is valid? [True, True] Translation: X:76.90, Y:-3.54, Z:-0.00 [[ 9.99997190e-01 2.37066604e-03 0.00000000e+00 7.68966855e+01] [-2.37066604e-03 9.99997190e-01 0.00000000e+00 -3.54084048e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47308935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.220371743 meters Centerline goodness : 0.992254 with order 1 Centerline is valid? [True, True] Translation: X:76.96, Y:-3.54, Z:-0.00 [[ 9.99992338e-01 3.91463342e-03 0.00000000e+00 7.69564150e+01] [-3.91463342e-03 9.99992338e-01 0.00000000e+00 -3.54062163e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53512760e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.280371743 meters Centerline goodness : 0.991574 with order 1 Centerline is valid? [True, True] Translation: X:77.01, Y:-3.54, Z:-0.01 [[ 9.99984613e-01 5.54734194e-03 0.00000000e+00 7.70149940e+01] [-5.54734194e-03 9.99984613e-01 0.00000000e+00 -3.54268810e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.64146090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.340371743 meters Centerline goodness : 0.992472 with order 1 Centerline is valid? [True, True] Translation: X:77.07, Y:-3.54, Z:-0.01 [[ 9.99987653e-01 4.96926590e-03 0.00000000e+00 7.70729566e+01] [-4.96926590e-03 9.99987653e-01 0.00000000e+00 -3.54252224e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.66790589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.400371743 meters Centerline goodness : 0.993181 with order 1 Centerline is valid? [True, True] Translation: X:77.13, Y:-3.53, Z:0.00 [[ 9.99994594e-01 -3.28803333e-03 0.00000000e+00 7.71328749e+01] [ 3.28803333e-03 9.99994594e-01 0.00000000e+00 -3.53108657e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06699443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.460371743 meters Centerline goodness : 0.993221 with order 1 Centerline is valid? [True, True] Translation: X:77.19, Y:-3.53, Z:0.00 [[ 9.99994910e-01 -3.19045171e-03 0.00000000e+00 7.71938179e+01] [ 3.19045171e-03 9.99994910e-01 0.00000000e+00 -3.53205437e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10374761e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.520371743 meters Centerline goodness : 0.993855 with order 1 Centerline is valid? [True, True] Translation: X:77.26, Y:-3.53, Z:0.00 [[ 9.99991522e-01 -4.11787321e-03 0.00000000e+00 7.72556075e+01] [ 4.11787321e-03 9.99991522e-01 0.00000000e+00 -3.53348287e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78270523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.580371743 meters Centerline goodness : 0.994112 with order 1 Centerline is valid? [True, True] Translation: X:77.32, Y:-3.53, Z:0.00 [[ 9.99987550e-01 -4.99005713e-03 0.00000000e+00 7.73164721e+01] [ 4.99005713e-03 9.99987550e-01 0.00000000e+00 -3.53455760e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87805696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.640371743 meters Centerline goodness : 0.994166 with order 1 Centerline is valid? [True, True] Translation: X:77.38, Y:-3.54, Z:0.00 [[ 9.99976547e-01 -6.84875933e-03 0.00000000e+00 7.73774449e+01] [ 6.84875933e-03 9.99976547e-01 0.00000000e+00 -3.53611864e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08890824e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.700371743 meters Centerline goodness : 0.991495 with order 1 Centerline is valid? [True, True] Translation: X:77.44, Y:-3.55, Z:-0.00 [[ 9.99997642e-01 2.17148315e-03 0.00000000e+00 7.74396627e+01] [-2.17148315e-03 9.99997642e-01 0.00000000e+00 -3.54738827e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.18444648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.760371743 meters Centerline goodness : 0.991271 with order 1 Centerline is valid? [True, True] Translation: X:77.50, Y:-3.55, Z:-0.00 [[ 9.99972364e-01 7.43443501e-03 0.00000000e+00 7.74989032e+01] [-7.43443501e-03 9.99972364e-01 0.00000000e+00 -3.54726395e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30126106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.820371743 meters Centerline goodness : 0.991266 with order 1 Centerline is valid? [True, True] Translation: X:77.56, Y:-3.55, Z:-0.00 [[ 9.99934424e-01 1.14519348e-02 0.00000000e+00 7.75555186e+01] [-1.14519348e-02 9.99934424e-01 0.00000000e+00 -3.54662065e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40738873e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.880371743 meters Centerline goodness : 0.990701 with order 1 Centerline is valid? [True, True] Translation: X:77.61, Y:-3.55, Z:-0.00 [[ 9.99744983e-01 2.25825092e-02 0.00000000e+00 7.76125567e+01] [-2.25825092e-02 9.99744983e-01 0.00000000e+00 -3.54707277e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69461116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.940371743 meters Centerline goodness : 0.993342 with order 1 Centerline is valid? [True, True] Translation: X:77.67, Y:-3.54, Z:0.00 [[ 9.99653263e-01 2.63316036e-02 0.00000000e+00 7.76717659e+01] [-2.63316036e-02 9.99653263e-01 0.00000000e+00 -3.53661219e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66175557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.000371743 meters Centerline goodness : 0.992744 with order 1 Centerline is valid? [True, True] Translation: X:77.73, Y:-3.54, Z:0.00 [[ 9.99490403e-01 3.19207516e-02 0.00000000e+00 7.77297138e+01] [-3.19207516e-02 9.99490403e-01 0.00000000e+00 -3.53765653e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65937156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.060371743 meters Centerline goodness : 0.990449 with order 1 Centerline is valid? [True, True] Translation: X:77.79, Y:-3.55, Z:-0.00 [[ 9.99030753e-01 4.40176572e-02 0.00000000e+00 7.77880756e+01] [-4.40176572e-02 9.99030753e-01 0.00000000e+00 -3.55037852e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96089343e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12037174299999 meters Centerline goodness : 0.992890 with order 1 Centerline is valid? [True, True] Translation: X:77.85, Y:-3.54, Z:0.00 [[ 9.99355957e-01 3.58841345e-02 0.00000000e+00 7.78473692e+01] [-3.58841345e-02 9.99355957e-01 0.00000000e+00 -3.54459013e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71623552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.180371743 meters Centerline goodness : 0.992515 with order 1 Centerline is valid? [True, True] Translation: X:77.91, Y:-3.55, Z:0.00 [[ 9.99490400e-01 3.19208556e-02 0.00000000e+00 7.79057937e+01] [-3.19208556e-02 9.99490400e-01 0.00000000e+00 -3.54963446e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55869311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.240371743 meters Centerline goodness : 0.990930 with order 1 Centerline is valid? [True, True] Translation: X:77.96, Y:-3.57, Z:-0.01 [[ 9.99489057e-01 3.19628686e-02 0.00000000e+00 7.79642870e+01] [-3.19628686e-02 9.99489057e-01 0.00000000e+00 -3.56948783e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.37493537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.300371743 meters Centerline goodness : 0.992772 with order 1 Centerline is valid? [True, True] Translation: X:78.02, Y:-3.56, Z:0.00 [[ 9.99857938e-01 1.68553809e-02 0.00000000e+00 7.80219194e+01] [-1.68553809e-02 9.99857938e-01 0.00000000e+00 -3.56266805e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37314567e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.360371743 meters Centerline goodness : 0.991512 with order 1 Centerline is valid? [True, True] Translation: X:78.08, Y:-3.58, Z:-0.00 [[ 9.99840715e-01 1.78478191e-02 0.00000000e+00 7.80804155e+01] [-1.78478191e-02 9.99840715e-01 0.00000000e+00 -3.58264776e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69562067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.420371743 meters Centerline goodness : 0.991557 with order 1 Centerline is valid? [True, True] Translation: X:78.14, Y:-3.59, Z:-0.00 [[ 9.99922204e-01 1.24734485e-02 0.00000000e+00 7.81395300e+01] [-1.24734485e-02 9.99922204e-01 0.00000000e+00 -3.58762528e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.06659760e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.480371743 meters Centerline goodness : 0.992330 with order 1 Centerline is valid? [True, True] Translation: X:78.20, Y:-3.59, Z:-0.00 [[ 9.99984580e-01 5.55329613e-03 0.00000000e+00 7.81979359e+01] [-5.55329613e-03 9.99984580e-01 0.00000000e+00 -3.59142210e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.18629806e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.540371743 meters Centerline goodness : 0.992151 with order 1 Centerline is valid? [True, True] Translation: X:78.26, Y:-3.60, Z:-0.00 [[ 9.99999826e-01 -5.89080731e-04 0.00000000e+00 7.82555485e+01] [ 5.89080731e-04 9.99999826e-01 0.00000000e+00 -3.59725851e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30831403e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.600371743 meters Centerline goodness : 0.992532 with order 1 Centerline is valid? [True, True] Translation: X:78.32, Y:-3.60, Z:-0.01 [[ 9.99997721e-01 -2.13475154e-03 0.00000000e+00 7.83156203e+01] [ 2.13475154e-03 9.99997721e-01 0.00000000e+00 -3.60401504e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.28192192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.660371743 meters Centerline goodness : 0.993868 with order 1 Centerline is valid? [True, True] Translation: X:78.38, Y:-3.60, Z:0.00 [[ 9.99921845e-01 -1.25021505e-02 0.00000000e+00 7.83763282e+01] [ 1.25021505e-02 9.99921845e-01 0.00000000e+00 -3.59773883e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47118257e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.720371743 meters Centerline goodness : 0.991939 with order 1 Centerline is valid? [True, True] Translation: X:78.44, Y:-3.61, Z:-0.00 [[ 9.99981141e-01 -6.14147922e-03 0.00000000e+00 7.84378382e+01] [ 6.14147922e-03 9.99981141e-01 0.00000000e+00 -3.61173750e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61631328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.780371743 meters Centerline goodness : 0.991181 with order 1 Centerline is valid? [True, True] Translation: X:78.50, Y:-3.62, Z:-0.01 [[ 9.99978533e-01 -6.55235375e-03 0.00000000e+00 7.84984300e+01] [ 6.55235375e-03 9.99978533e-01 0.00000000e+00 -3.61896981e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13932798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.840371743 meters Centerline goodness : 0.993359 with order 1 Centerline is valid? [True, True] Translation: X:78.56, Y:-3.61, Z:-0.00 [[ 9.99817773e-01 -1.90898173e-02 0.00000000e+00 7.85609967e+01] [ 1.90898173e-02 9.99817773e-01 0.00000000e+00 -3.60858998e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12454023e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.900371743 meters Centerline goodness : 0.991622 with order 1 Centerline is valid? [True, True] Translation: X:78.62, Y:-3.62, Z:-0.00 [[ 9.99905180e-01 -1.37706844e-02 0.00000000e+00 7.86228037e+01] [ 1.37706844e-02 9.99905180e-01 0.00000000e+00 -3.62045662e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57723808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.960371743 meters Centerline goodness : 0.991768 with order 1 Centerline is valid? [True, True] Translation: X:78.69, Y:-3.62, Z:-0.00 [[ 9.99844724e-01 -1.76218260e-02 0.00000000e+00 7.86854678e+01] [ 1.76218260e-02 9.99844724e-01 0.00000000e+00 -3.62316488e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.43953161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.020371743 meters Centerline goodness : 0.992395 with order 1 Centerline is valid? [True, True] Translation: X:78.75, Y:-3.63, Z:-0.00 [[ 9.99834278e-01 -1.82048658e-02 0.00000000e+00 7.87487355e+01] [ 1.82048658e-02 9.99834278e-01 0.00000000e+00 -3.62653018e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36038953e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.080371743 meters Centerline goodness : 0.993010 with order 1 Centerline is valid? [True, True] Translation: X:78.81, Y:-3.63, Z:-0.00 [[ 9.99837396e-01 -1.80327879e-02 0.00000000e+00 7.88113493e+01] [ 1.80327879e-02 9.99837396e-01 0.00000000e+00 -3.62844281e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.67750274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.140371743 meters Centerline goodness : 0.992682 with order 1 Centerline is valid? [True, True] Translation: X:78.87, Y:-3.63, Z:-0.00 [[ 9.99898491e-01 -1.42480838e-02 0.00000000e+00 7.88741491e+01] [ 1.42480838e-02 9.99898491e-01 0.00000000e+00 -3.63029195e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.10375976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.200371743 meters Centerline goodness : 0.993561 with order 1 Centerline is valid? [True, True] Translation: X:78.94, Y:-3.63, Z:-0.00 [[ 9.99965278e-01 -8.33325739e-03 0.00000000e+00 7.89351952e+01] [ 8.33325739e-03 9.99965278e-01 0.00000000e+00 -3.63109961e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65976156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.260371743 meters Centerline goodness : 0.993048 with order 1 Centerline is valid? [True, True] Translation: X:79.00, Y:-3.63, Z:-0.01 [[ 9.99998587e-01 -1.68103194e-03 0.00000000e+00 7.89966030e+01] [ 1.68103194e-03 9.99998587e-01 0.00000000e+00 -3.63396441e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.73244446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.320371743 meters Centerline goodness : 0.992125 with order 1 Centerline is valid? [True, True] Translation: X:79.06, Y:-3.64, Z:-0.01 [[ 9.99993857e-01 3.50501387e-03 0.00000000e+00 7.90582769e+01] [-3.50501387e-03 9.99993857e-01 0.00000000e+00 -3.63533386e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.49754339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.380371743 meters Centerline goodness : 0.992781 with order 1 Centerline is valid? [True, True] Translation: X:79.12, Y:-3.64, Z:-0.01 [[ 9.99986756e-01 5.14658575e-03 0.00000000e+00 7.91171600e+01] [-5.14658575e-03 9.99986756e-01 0.00000000e+00 -3.63950889e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13894618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.440371743 meters Centerline goodness : 0.990808 with order 1 Centerline is valid? [True, True] Translation: X:79.18, Y:-3.63, Z:-0.00 [[ 9.99992764e-01 -3.80407895e-03 0.00000000e+00 7.91763864e+01] [ 3.80407895e-03 9.99992764e-01 0.00000000e+00 -3.62925091e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76496369e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.500371743 meters Centerline goodness : 0.993008 with order 1 Centerline is valid? [True, True] Translation: X:79.24, Y:-3.64, Z:-0.01 [[ 9.99997017e-01 2.44268761e-03 0.00000000e+00 7.92377172e+01] [-2.44268761e-03 9.99997017e-01 0.00000000e+00 -3.64182947e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01391121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.560371743 meters Centerline goodness : 0.993023 with order 1 Centerline is valid? [True, True] Translation: X:79.30, Y:-3.64, Z:-0.01 [[ 9.99999730e-01 -7.34895481e-04 0.00000000e+00 7.92971757e+01] [ 7.34895481e-04 9.99999730e-01 0.00000000e+00 -3.64238651e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.29109691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62037174299999 meters Centerline goodness : 0.993356 with order 1 Centerline is valid? [True, True] Translation: X:79.36, Y:-3.64, Z:-0.01 [[ 9.99999699e-01 -7.75265234e-04 0.00000000e+00 7.93578102e+01] [ 7.75265234e-04 9.99999699e-01 0.00000000e+00 -3.64375804e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.21682089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.680371743 meters Centerline goodness : 0.993467 with order 1 Centerline is valid? [True, True] Translation: X:79.42, Y:-3.64, Z:-0.01 [[ 9.99999540e-01 9.59189184e-04 0.00000000e+00 7.94178208e+01] [-9.59189184e-04 9.99999540e-01 0.00000000e+00 -3.64240248e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.80722823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.740371743 meters Centerline goodness : 0.993155 with order 1 Centerline is valid? [True, True] Translation: X:79.48, Y:-3.64, Z:-0.01 [[ 9.99986940e-01 5.11079709e-03 0.00000000e+00 7.94780916e+01] [-5.11079709e-03 9.99986940e-01 0.00000000e+00 -3.64295380e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02967601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.800371743 meters Centerline goodness : 0.993522 with order 1 Centerline is valid? [True, True] Translation: X:79.54, Y:-3.64, Z:-0.01 [[ 9.99990460e-01 4.36807233e-03 0.00000000e+00 7.95370392e+01] [-4.36807233e-03 9.99990460e-01 0.00000000e+00 -3.64126212e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.61579734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.860371743 meters Centerline goodness : 0.993573 with order 1 Centerline is valid? [True, True] Translation: X:79.60, Y:-3.64, Z:-0.01 [[ 9.99998289e-01 1.84986965e-03 0.00000000e+00 7.95958485e+01] [-1.84986965e-03 9.99998289e-01 0.00000000e+00 -3.63865132e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.26753888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.920371743 meters Centerline goodness : 0.993433 with order 1 Centerline is valid? [True, True] Translation: X:79.66, Y:-3.64, Z:-0.01 [[ 9.99999185e-01 -1.27708499e-03 0.00000000e+00 7.96557454e+01] [ 1.27708499e-03 9.99999185e-01 0.00000000e+00 -3.63907720e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.50929016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.980371743 meters Centerline goodness : 0.993918 with order 1 Centerline is valid? [True, True] Translation: X:79.72, Y:-3.64, Z:-0.01 [[ 9.99964420e-01 -8.43562282e-03 0.00000000e+00 7.97157778e+01] [ 8.43562282e-03 9.99964420e-01 0.00000000e+00 -3.63806544e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.36799672e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.040371743 meters Centerline goodness : 0.993998 with order 1 Centerline is valid? [True, True] Translation: X:79.78, Y:-3.64, Z:-0.01 [[ 9.99938004e-01 -1.11349778e-02 0.00000000e+00 7.97786187e+01] [ 1.11349778e-02 9.99938004e-01 0.00000000e+00 -3.63832328e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.23808889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.100371743 meters Centerline goodness : 0.993266 with order 1 Centerline is valid? [True, True] Translation: X:79.84, Y:-3.64, Z:-0.01 [[ 9.99920071e-01 -1.26432118e-02 0.00000000e+00 7.98419666e+01] [ 1.26432118e-02 9.99920071e-01 0.00000000e+00 -3.63809884e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.60085549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.160371743 meters Centerline goodness : 0.993178 with order 1 Centerline is valid? [True, True] Translation: X:79.90, Y:-3.64, Z:-0.01 [[ 9.99929034e-01 -1.19132729e-02 0.00000000e+00 7.99034767e+01] [ 1.19132729e-02 9.99929034e-01 0.00000000e+00 -3.63855660e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07463502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.220371743 meters Centerline goodness : 0.993066 with order 1 Centerline is valid? [True, True] Translation: X:79.97, Y:-3.64, Z:-0.00 [[ 9.99938156e-01 -1.11213671e-02 0.00000000e+00 7.99658905e+01] [ 1.11213671e-02 9.99938156e-01 0.00000000e+00 -3.63893739e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.34159930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.280371743 meters Centerline goodness : 0.992829 with order 1 Centerline is valid? [True, True] Translation: X:80.03, Y:-3.64, Z:-0.00 [[ 9.99954931e-01 -9.49404279e-03 0.00000000e+00 8.00284483e+01] [ 9.49404279e-03 9.99954931e-01 0.00000000e+00 -3.63851606e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.73584083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.340371743 meters Centerline goodness : 0.993472 with order 1 Centerline is valid? [True, True] Translation: X:80.09, Y:-3.64, Z:-0.01 [[ 9.99967312e-01 -8.08545172e-03 0.00000000e+00 8.00905225e+01] [ 8.08545172e-03 9.99967312e-01 0.00000000e+00 -3.63821553e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.34926334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.400371743 meters Centerline goodness : 0.993656 with order 1 Centerline is valid? [True, True] Translation: X:80.15, Y:-3.64, Z:-0.01 [[ 9.99981489e-01 -6.08457244e-03 0.00000000e+00 8.01514709e+01] [ 6.08457244e-03 9.99981489e-01 0.00000000e+00 -3.63714854e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.52281398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.460371743 meters Centerline goodness : 0.993794 with order 1 Centerline is valid? [True, True] Translation: X:80.21, Y:-3.64, Z:-0.01 [[ 9.99991773e-01 -4.05641033e-03 0.00000000e+00 8.02138013e+01] [ 4.05641033e-03 9.99991773e-01 0.00000000e+00 -3.63733922e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.14684877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.520371743 meters Centerline goodness : 0.993328 with order 1 Centerline is valid? [True, True] Translation: X:80.28, Y:-3.64, Z:-0.00 [[ 9.99971176e-01 -7.59258167e-03 0.00000000e+00 8.02758158e+01] [ 7.59258167e-03 9.99971176e-01 0.00000000e+00 -3.63519455e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33877466e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.580371743 meters Centerline goodness : 0.993113 with order 1 Centerline is valid? [True, True] Translation: X:80.34, Y:-3.64, Z:-0.00 [[ 9.99966064e-01 -8.23832323e-03 0.00000000e+00 8.03376532e+01] [ 8.23832323e-03 9.99966064e-01 0.00000000e+00 -3.63529165e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.92511119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.640371743 meters Centerline goodness : 0.993302 with order 1 Centerline is valid? [True, True] Translation: X:80.40, Y:-3.64, Z:-0.00 [[ 9.99957230e-01 -9.24864979e-03 0.00000000e+00 8.04000226e+01] [ 9.24864979e-03 9.99957230e-01 0.00000000e+00 -3.63554720e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.53220955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.700371743 meters Centerline goodness : 0.993301 with order 1 Centerline is valid? [True, True] Translation: X:80.46, Y:-3.64, Z:-0.01 [[ 9.99980424e-01 -6.25717430e-03 0.00000000e+00 8.04626257e+01] [ 6.25717430e-03 9.99980424e-01 0.00000000e+00 -3.63660921e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.24517624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.760371743 meters Centerline goodness : 0.993266 with order 1 Centerline is valid? [True, True] Translation: X:80.52, Y:-3.64, Z:-0.00 [[ 9.99983753e-01 -5.70030105e-03 0.00000000e+00 8.05244836e+01] [ 5.70030105e-03 9.99983753e-01 0.00000000e+00 -3.63545648e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75208327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.820371743 meters Centerline goodness : 0.993120 with order 1 Centerline is valid? [True, True] Translation: X:80.59, Y:-3.64, Z:-0.01 [[ 9.99991976e-01 -4.00603290e-03 0.00000000e+00 8.05851742e+01] [ 4.00603290e-03 9.99991976e-01 0.00000000e+00 -3.63751638e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.25186383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.880371743 meters Centerline goodness : 0.992258 with order 1 Centerline is valid? [True, True] Translation: X:80.65, Y:-3.64, Z:-0.01 [[ 9.99991581e-01 -4.10341979e-03 0.00000000e+00 8.06472490e+01] [ 4.10341979e-03 9.99991581e-01 0.00000000e+00 -3.64010849e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.41296424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.940371743 meters Centerline goodness : 0.992434 with order 1 Centerline is valid? [True, True] Translation: X:80.71, Y:-3.64, Z:-0.01 [[ 9.99990424e-01 -4.37629543e-03 0.00000000e+00 8.07083737e+01] [ 4.37629543e-03 9.99990424e-01 0.00000000e+00 -3.64289658e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.19092674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.000371743 meters Centerline goodness : 0.993880 with order 1 Centerline is valid? [True, True] Translation: X:80.77, Y:-3.63, Z:0.00 [[ 9.99939036e-01 -1.10419546e-02 0.00000000e+00 8.07701763e+01] [ 1.10419546e-02 9.99939036e-01 0.00000000e+00 -3.63499144e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72781857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.060371743 meters Centerline goodness : 0.992896 with order 1 Centerline is valid? [True, True] Translation: X:80.83, Y:-3.64, Z:-0.00 [[ 9.99985986e-01 -5.29409619e-03 0.00000000e+00 8.08323648e+01] [ 5.29409619e-03 9.99985986e-01 0.00000000e+00 -3.64476168e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05735852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12037174299999 meters Centerline goodness : 0.993045 with order 1 Centerline is valid? [True, True] Translation: X:80.89, Y:-3.65, Z:-0.00 [[ 9.99973314e-01 -7.30554914e-03 0.00000000e+00 8.08941393e+01] [ 7.30554914e-03 9.99973314e-01 0.00000000e+00 -3.64585654e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81225951e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.180371743 meters Centerline goodness : 0.993839 with order 1 Centerline is valid? [True, True] Translation: X:80.96, Y:-3.65, Z:0.00 [[ 9.99942150e-01 -1.07561918e-02 0.00000000e+00 8.09562933e+01] [ 1.07561918e-02 9.99942150e-01 0.00000000e+00 -3.64800972e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52102292e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.240371743 meters Centerline goodness : 0.993224 with order 1 Centerline is valid? [True, True] Translation: X:81.02, Y:-3.65, Z:-0.00 [[ 9.99922484e-01 -1.24509241e-02 0.00000000e+00 8.10169821e+01] [ 1.24509241e-02 9.99922484e-01 0.00000000e+00 -3.65288669e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99003484e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.300371743 meters Centerline goodness : 0.993787 with order 1 Centerline is valid? [True, True] Translation: X:81.08, Y:-3.66, Z:-0.00 [[ 9.99895608e-01 -1.44490138e-02 0.00000000e+00 8.10776839e+01] [ 1.44490138e-02 9.99895608e-01 0.00000000e+00 -3.65661879e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58190789e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.360371743 meters Centerline goodness : 0.993570 with order 1 Centerline is valid? [True, True] Translation: X:81.14, Y:-3.66, Z:-0.00 [[ 9.99892213e-01 -1.46820540e-02 0.00000000e+00 8.11402165e+01] [ 1.46820540e-02 9.99892213e-01 0.00000000e+00 -3.65994160e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82669782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.420371743 meters Centerline goodness : 0.993979 with order 1 Centerline is valid? [True, True] Translation: X:81.20, Y:-3.66, Z:-0.00 [[ 9.99906596e-01 -1.36674660e-02 0.00000000e+00 8.12018846e+01] [ 1.36674660e-02 9.99906596e-01 0.00000000e+00 -3.66197230e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.90167967e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.480371743 meters Centerline goodness : 0.994259 with order 1 Centerline is valid? [True, True] Translation: X:81.26, Y:-3.66, Z:0.00 [[ 9.99926284e-01 -1.21419537e-02 0.00000000e+00 8.12643386e+01] [ 1.21419537e-02 9.99926284e-01 0.00000000e+00 -3.66396891e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78373291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.540371743 meters Centerline goodness : 0.993687 with order 1 Centerline is valid? [True, True] Translation: X:81.33, Y:-3.67, Z:0.00 [[ 9.99938802e-01 -1.10630768e-02 0.00000000e+00 8.13269252e+01] [ 1.10630768e-02 9.99938802e-01 0.00000000e+00 -3.66579965e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91414221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.600371743 meters Centerline goodness : 0.993909 with order 1 Centerline is valid? [True, True] Translation: X:81.39, Y:-3.67, Z:-0.00 [[ 9.99954331e-01 -9.55702125e-03 0.00000000e+00 8.13882608e+01] [ 9.55702125e-03 9.99954331e-01 0.00000000e+00 -3.66821962e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53541730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.660371743 meters Centerline goodness : 0.993634 with order 1 Centerline is valid? [True, True] Translation: X:81.45, Y:-3.67, Z:-0.00 [[ 9.99991521e-01 -4.11811273e-03 0.00000000e+00 8.14509187e+01] [ 4.11811273e-03 9.99991521e-01 0.00000000e+00 -3.67096765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.23121376e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.720371743 meters Centerline goodness : 0.992809 with order 1 Centerline is valid? [True, True] Translation: X:81.51, Y:-3.67, Z:0.00 [[ 9.99996091e-01 -2.79594769e-03 0.00000000e+00 8.15133182e+01] [ 2.79594769e-03 9.99996091e-01 0.00000000e+00 -3.67116195e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50467140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.780371743 meters Centerline goodness : 0.993164 with order 1 Centerline is valid? [True, True] Translation: X:81.58, Y:-3.67, Z:0.00 [[ 9.99993724e-01 -3.54283847e-03 0.00000000e+00 8.15751549e+01] [ 3.54283847e-03 9.99993724e-01 0.00000000e+00 -3.67317747e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83010263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.840371743 meters Centerline goodness : 0.993380 with order 1 Centerline is valid? [True, True] Translation: X:81.64, Y:-3.68, Z:-0.00 [[ 9.99991986e-01 -4.00358359e-03 0.00000000e+00 8.16375650e+01] [ 4.00358359e-03 9.99991986e-01 0.00000000e+00 -3.67768662e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.18468404e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.900371743 meters Centerline goodness : 0.993087 with order 1 Centerline is valid? [True, True] Translation: X:81.70, Y:-3.68, Z:0.00 [[ 9.99984262e-01 -5.61025633e-03 0.00000000e+00 8.16997425e+01] [ 5.61025633e-03 9.99984262e-01 0.00000000e+00 -3.67923611e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41734645e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.960371743 meters Centerline goodness : 0.992529 with order 1 Centerline is valid? [True, True] Translation: X:81.76, Y:-3.68, Z:0.00 [[ 9.99974467e-01 -7.14605175e-03 0.00000000e+00 8.17621075e+01] [ 7.14605175e-03 9.99974467e-01 0.00000000e+00 -3.68208957e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71161351e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.020371743 meters Centerline goodness : 0.992598 with order 1 Centerline is valid? [True, True] Translation: X:81.82, Y:-3.69, Z:0.00 [[ 9.99973116e-01 -7.33259888e-03 0.00000000e+00 8.18231056e+01] [ 7.33259888e-03 9.99973116e-01 0.00000000e+00 -3.68737306e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25787021e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.080371743 meters Centerline goodness : 0.992828 with order 1 Centerline is valid? [True, True] Translation: X:81.88, Y:-3.69, Z:0.00 [[ 9.99966905e-01 -8.13564003e-03 0.00000000e+00 8.18847217e+01] [ 8.13564003e-03 9.99966905e-01 0.00000000e+00 -3.69145703e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99270484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.140371743 meters Centerline goodness : 0.992165 with order 1 Centerline is valid? [True, True] Translation: X:81.95, Y:-3.70, Z:0.00 [[ 9.99951409e-01 -9.85795742e-03 0.00000000e+00 8.19469279e+01] [ 9.85795742e-03 9.99951409e-01 0.00000000e+00 -3.69523676e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46753476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.200371743 meters Centerline goodness : 0.992777 with order 1 Centerline is valid? [True, True] Translation: X:82.01, Y:-3.70, Z:0.00 [[ 9.99917666e-01 -1.28320718e-02 0.00000000e+00 8.20087893e+01] [ 1.28320718e-02 9.99917666e-01 0.00000000e+00 -3.70105521e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45987679e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.260371743 meters Centerline goodness : 0.992598 with order 1 Centerline is valid? [True, True] Translation: X:82.07, Y:-3.71, Z:-0.00 [[ 9.99865459e-01 -1.64031653e-02 0.00000000e+00 8.20696670e+01] [ 1.64031653e-02 9.99865459e-01 0.00000000e+00 -3.70726342e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07814891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.320371743 meters Centerline goodness : 0.993827 with order 1 Centerline is valid? [True, True] Translation: X:82.13, Y:-3.70, Z:0.00 [[ 9.99779912e-01 -2.09792247e-02 0.00000000e+00 8.21324980e+01] [ 2.09792247e-02 9.99779912e-01 0.00000000e+00 -3.70476051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97516996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.380371743 meters Centerline goodness : 0.992719 with order 1 Centerline is valid? [True, True] Translation: X:82.19, Y:-3.72, Z:0.00 [[ 9.99873941e-01 -1.58777190e-02 0.00000000e+00 8.21940301e+01] [ 1.58777190e-02 9.99873941e-01 0.00000000e+00 -3.71566772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.84024158e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.440371743 meters Centerline goodness : 0.993868 with order 1 Centerline is valid? [True, True] Translation: X:82.26, Y:-3.71, Z:0.01 [[ 9.99776893e-01 -2.11226162e-02 0.00000000e+00 8.22554031e+01] [ 2.11226162e-02 9.99776893e-01 0.00000000e+00 -3.71375746e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35827440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.500371743 meters Centerline goodness : 0.994163 with order 1 Centerline is valid? [True, True] Translation: X:82.32, Y:-3.72, Z:0.01 [[ 9.99769082e-01 -2.14891362e-02 0.00000000e+00 8.23176307e+01] [ 2.14891362e-02 9.99769082e-01 0.00000000e+00 -3.71741880e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.46846769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.560371743 meters Centerline goodness : 0.994497 with order 1 Centerline is valid? [True, True] Translation: X:82.38, Y:-3.72, Z:0.01 [[ 9.99776335e-01 -2.11489864e-02 0.00000000e+00 8.23799176e+01] [ 2.11489864e-02 9.99776335e-01 0.00000000e+00 -3.72185284e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91754452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62037174299999 meters Centerline goodness : 0.993026 with order 1 Centerline is valid? [True, True] Translation: X:82.44, Y:-3.73, Z:0.00 [[ 9.99866181e-01 -1.63590714e-02 0.00000000e+00 8.24413274e+01] [ 1.63590714e-02 9.99866181e-01 0.00000000e+00 -3.73223565e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66876787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.680371743 meters Centerline goodness : 0.994222 with order 1 Centerline is valid? [True, True] Translation: X:82.50, Y:-3.73, Z:0.01 [[ 9.99741402e-01 -2.27404526e-02 0.00000000e+00 8.25030808e+01] [ 2.27404526e-02 9.99741402e-01 0.00000000e+00 -3.73079603e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.61048947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.740371743 meters Centerline goodness : 0.993505 with order 1 Centerline is valid? [True, True] Translation: X:82.56, Y:-3.74, Z:-0.00 [[ 9.99853380e-01 -1.71236021e-02 0.00000000e+00 8.25643687e+01] [ 1.71236021e-02 9.99853380e-01 0.00000000e+00 -3.74426032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.78103507e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.800371743 meters Centerline goodness : 0.994594 with order 1 Centerline is valid? [True, True] Translation: X:82.63, Y:-3.74, Z:0.00 [[ 9.99685544e-01 -2.50761284e-02 0.00000000e+00 8.26259385e+01] [ 2.50761284e-02 9.99685544e-01 0.00000000e+00 -3.74077668e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77003563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.860371743 meters Centerline goodness : 0.994010 with order 1 Centerline is valid? [True, True] Translation: X:82.69, Y:-3.75, Z:0.00 [[ 9.99795250e-01 -2.02350816e-02 0.00000000e+00 8.26878629e+01] [ 2.02350816e-02 9.99795250e-01 0.00000000e+00 -3.74954647e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78753479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.920371743 meters Centerline goodness : 0.993576 with order 1 Centerline is valid? [True, True] Translation: X:82.75, Y:-3.76, Z:0.00 [[ 9.99870293e-01 -1.61058008e-02 0.00000000e+00 8.27494472e+01] [ 1.61058008e-02 9.99870293e-01 0.00000000e+00 -3.75596468e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65508728e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.980371743 meters Centerline goodness : 0.994116 with order 1 Centerline is valid? [True, True] Translation: X:82.81, Y:-3.76, Z:-0.00 [[ 9.99862592e-01 -1.65770338e-02 0.00000000e+00 8.28122747e+01] [ 1.65770338e-02 9.99862592e-01 0.00000000e+00 -3.75965702e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56127150e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.040371743 meters Centerline goodness : 0.993795 with order 1 Centerline is valid? [True, True] Translation: X:82.88, Y:-3.77, Z:-0.00 [[ 9.99845985e-01 -1.75500828e-02 0.00000000e+00 8.28752293e+01] [ 1.75500828e-02 9.99845985e-01 0.00000000e+00 -3.76565899e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10928427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.100371743 meters Centerline goodness : 0.992912 with order 1 Centerline is valid? [True, True] Translation: X:82.94, Y:-3.77, Z:-0.00 [[ 9.99836148e-01 -1.81018529e-02 0.00000000e+00 8.29383496e+01] [ 1.81018529e-02 9.99836148e-01 0.00000000e+00 -3.77181662e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37876226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.160371743 meters Centerline goodness : 0.995612 with order 1 Centerline is valid? [True, True] Translation: X:83.00, Y:-3.77, Z:0.00 [[ 9.99656565e-01 -2.62059589e-02 0.00000000e+00 8.30002644e+01] [ 2.62059589e-02 9.99656565e-01 0.00000000e+00 -3.76531578e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11837377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.220371743 meters Centerline goodness : 0.994256 with order 1 Centerline is valid? [True, True] Translation: X:83.06, Y:-3.78, Z:-0.00 [[ 9.99814336e-01 -1.92689829e-02 0.00000000e+00 8.30613844e+01] [ 1.92689829e-02 9.99814336e-01 0.00000000e+00 -3.77915261e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.37761342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.280371743 meters Centerline goodness : 0.994290 with order 1 Centerline is valid? [True, True] Translation: X:83.12, Y:-3.78, Z:-0.00 [[ 9.99809118e-01 -1.95378559e-02 0.00000000e+00 8.31233343e+01] [ 1.95378559e-02 9.99809118e-01 0.00000000e+00 -3.78105143e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.18876172e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.340371743 meters Centerline goodness : 0.994386 with order 1 Centerline is valid? [True, True] Translation: X:83.19, Y:-3.78, Z:-0.00 [[ 9.99860229e-01 -1.67189049e-02 0.00000000e+00 8.31857180e+01] [ 1.67189049e-02 9.99860229e-01 0.00000000e+00 -3.78295585e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.90139692e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.400371743 meters Centerline goodness : 0.994954 with order 1 Centerline is valid? [True, True] Translation: X:83.25, Y:-3.78, Z:0.00 [[ 9.99828707e-01 -1.85082761e-02 0.00000000e+00 8.32469217e+01] [ 1.85082761e-02 9.99828707e-01 0.00000000e+00 -3.78026913e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13566531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.460371743 meters Centerline goodness : 0.994869 with order 1 Centerline is valid? [True, True] Translation: X:83.31, Y:-3.78, Z:0.01 [[ 9.99857917e-01 -1.68566447e-02 0.00000000e+00 8.33089965e+01] [ 1.68566447e-02 9.99857917e-01 0.00000000e+00 -3.78445834e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11329279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.520371743 meters Centerline goodness : 0.995321 with order 1 Centerline is valid? [True, True] Translation: X:83.37, Y:-3.79, Z:0.01 [[ 9.99873168e-01 -1.59262970e-02 0.00000000e+00 8.33724109e+01] [ 1.59262970e-02 9.99873168e-01 0.00000000e+00 -3.78780501e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91044288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.580371743 meters Centerline goodness : 0.993281 with order 1 Centerline is valid? [True, True] Translation: X:83.43, Y:-3.80, Z:-0.00 [[ 9.99974229e-01 -7.17928287e-03 0.00000000e+00 8.34343301e+01] [ 7.17928287e-03 9.99974229e-01 0.00000000e+00 -3.80086593e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33693617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.640371743 meters Centerline goodness : 0.994219 with order 1 Centerline is valid? [True, True] Translation: X:83.50, Y:-3.81, Z:-0.00 [[ 9.99985210e-01 -5.43863892e-03 0.00000000e+00 8.34962895e+01] [ 5.43863892e-03 9.99985210e-01 0.00000000e+00 -3.80555703e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45012413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.700371743 meters Centerline goodness : 0.995127 with order 1 Centerline is valid? [True, True] Translation: X:83.56, Y:-3.80, Z:0.00 [[ 9.99947169e-01 -1.02790871e-02 0.00000000e+00 8.35582703e+01] [ 1.02790871e-02 9.99947169e-01 0.00000000e+00 -3.80105720e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55432192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.760371743 meters Centerline goodness : 0.994254 with order 1 Centerline is valid? [True, True] Translation: X:83.62, Y:-3.81, Z:-0.00 [[ 9.99999602e-01 -8.91920405e-04 0.00000000e+00 8.36195252e+01] [ 8.91920405e-04 9.99999602e-01 0.00000000e+00 -3.81268971e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51712063e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.820371743 meters Centerline goodness : 0.993598 with order 1 Centerline is valid? [True, True] Translation: X:83.68, Y:-3.82, Z:-0.00 [[ 9.99995590e-01 2.96985258e-03 0.00000000e+00 8.36799682e+01] [-2.96985258e-03 9.99995590e-01 0.00000000e+00 -3.81744710e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28657137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.880371743 meters Centerline goodness : 0.993439 with order 1 Centerline is valid? [True, True] Translation: X:83.74, Y:-3.82, Z:-0.00 [[ 9.99988107e-01 4.87716311e-03 0.00000000e+00 8.37393798e+01] [-4.87716311e-03 9.99988107e-01 0.00000000e+00 -3.81932766e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10369688e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.940371743 meters Centerline goodness : 0.993126 with order 1 Centerline is valid? [True, True] Translation: X:83.80, Y:-3.83, Z:-0.00 [[ 9.99981988e-01 6.00194217e-03 0.00000000e+00 8.37983751e+01] [-6.00194217e-03 9.99981988e-01 0.00000000e+00 -3.82517959e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.92934923e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.000371743 meters Centerline goodness : 0.993962 with order 1 Centerline is valid? [True, True] Translation: X:83.86, Y:-3.83, Z:-0.00 [[ 9.99989270e-01 4.63241612e-03 0.00000000e+00 8.38559284e+01] [-4.63241612e-03 9.99989270e-01 0.00000000e+00 -3.83121731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70175777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.060371743 meters Centerline goodness : 0.993671 with order 1 Centerline is valid? [True, True] Translation: X:83.92, Y:-3.83, Z:0.00 [[ 9.99999720e-01 -7.47945184e-04 0.00000000e+00 8.39151012e+01] [ 7.47945184e-04 9.99999720e-01 0.00000000e+00 -3.83324068e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49857501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12037174299999 meters Centerline goodness : 0.995634 with order 1 Centerline is valid? [True, True] Translation: X:83.98, Y:-3.83, Z:0.01 [[ 9.99947208e-01 -1.02752433e-02 0.00000000e+00 8.39757247e+01] [ 1.02752433e-02 9.99947208e-01 0.00000000e+00 -3.82941819e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28562442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.180371743 meters Centerline goodness : 0.994117 with order 1 Centerline is valid? [True, True] Translation: X:84.04, Y:-3.84, Z:-0.00 [[ 9.99974360e-01 -7.16100788e-03 0.00000000e+00 8.40374778e+01] [ 7.16100788e-03 9.99974360e-01 0.00000000e+00 -3.84307267e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91510815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.240371743 meters Centerline goodness : 0.994298 with order 1 Centerline is valid? [True, True] Translation: X:84.10, Y:-3.84, Z:0.00 [[ 9.99914552e-01 -1.30724133e-02 0.00000000e+00 8.41004588e+01] [ 1.30724133e-02 9.99914552e-01 0.00000000e+00 -3.84311470e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56188619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.300371743 meters Centerline goodness : 0.994932 with order 1 Centerline is valid? [True, True] Translation: X:84.16, Y:-3.85, Z:0.00 [[ 9.99861427e-01 -1.66471514e-02 0.00000000e+00 8.41626330e+01] [ 1.66471514e-02 9.99861427e-01 0.00000000e+00 -3.84689025e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39819026e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.360371743 meters Centerline goodness : 0.995661 with order 1 Centerline is valid? [True, True] Translation: X:84.23, Y:-3.84, Z:0.01 [[ 9.99632355e-01 -2.71137286e-02 0.00000000e+00 8.42255982e+01] [ 2.71137286e-02 9.99632355e-01 0.00000000e+00 -3.84038151e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.35210379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.420371743 meters Centerline goodness : 0.995315 with order 1 Centerline is valid? [True, True] Translation: X:84.29, Y:-3.85, Z:0.00 [[ 9.99639782e-01 -2.68385362e-02 0.00000000e+00 8.42873468e+01] [ 2.68385362e-02 9.99639782e-01 0.00000000e+00 -3.84763847e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63744840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48037174299999 meters Centerline goodness : 0.994700 with order 1 Centerline is valid? [True, True] Translation: X:84.35, Y:-3.85, Z:-0.00 [[ 9.99555686e-01 -2.98065462e-02 0.00000000e+00 8.43480094e+01] [ 2.98065462e-02 9.99555686e-01 0.00000000e+00 -3.85126015e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.70303705e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.540371743 meters Centerline goodness : 0.994489 with order 1 Centerline is valid? [True, True] Translation: X:84.41, Y:-3.85, Z:-0.00 [[ 9.99478589e-01 -3.22885380e-02 0.00000000e+00 8.44106232e+01] [ 3.22885380e-02 9.99478589e-01 0.00000000e+00 -3.85142471e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69102793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.600371743 meters Centerline goodness : 0.994216 with order 1 Centerline is valid? [True, True] Translation: X:84.47, Y:-3.85, Z:-0.00 [[ 9.99458611e-01 -3.29011531e-02 0.00000000e+00 8.44724631e+01] [ 3.29011531e-02 9.99458611e-01 0.00000000e+00 -3.85199613e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52318688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.660371743 meters Centerline goodness : 0.994317 with order 1 Centerline is valid? [True, True] Translation: X:84.53, Y:-3.85, Z:-0.00 [[ 9.99413072e-01 -3.42565514e-02 0.00000000e+00 8.45339474e+01] [ 3.42565514e-02 9.99413072e-01 0.00000000e+00 -3.85150330e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97057842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.720371743 meters Centerline goodness : 0.993813 with order 1 Centerline is valid? [True, True] Translation: X:84.60, Y:-3.85, Z:0.00 [[ 9.99554640e-01 -2.98416066e-02 0.00000000e+00 8.45966149e+01] [ 2.98416066e-02 9.99554640e-01 0.00000000e+00 -3.85126166e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.64574471e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.780371743 meters Centerline goodness : 0.993603 with order 1 Centerline is valid? [True, True] Translation: X:84.66, Y:-3.85, Z:-0.00 [[ 9.99587977e-01 -2.87032398e-02 0.00000000e+00 8.46576547e+01] [ 2.87032398e-02 9.99587977e-01 0.00000000e+00 -3.85073232e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.05030774e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.840371743 meters Centerline goodness : 0.992964 with order 1 Centerline is valid? [True, True] Translation: X:84.72, Y:-3.85, Z:0.00 [[ 9.99744953e-01 -2.25838092e-02 0.00000000e+00 8.47196842e+01] [ 2.25838092e-02 9.99744953e-01 0.00000000e+00 -3.84976087e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24967486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.900371743 meters Centerline goodness : 0.992519 with order 1 Centerline is valid? [True, True] Translation: X:84.78, Y:-3.85, Z:0.00 [[ 9.99739331e-01 -2.28313484e-02 0.00000000e+00 8.47808253e+01] [ 2.28313484e-02 9.99739331e-01 0.00000000e+00 -3.85016789e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69953209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.960371743 meters Centerline goodness : 0.993247 with order 1 Centerline is valid? [True, True] Translation: X:84.84, Y:-3.85, Z:0.00 [[ 9.99726640e-01 -2.33804465e-02 0.00000000e+00 8.48440829e+01] [ 2.33804465e-02 9.99726640e-01 0.00000000e+00 -3.85220970e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40376509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.020371743 meters Centerline goodness : 0.994487 with order 1 Centerline is valid? [True, True] Translation: X:84.91, Y:-3.85, Z:0.01 [[ 9.99562913e-01 -2.95631962e-02 0.00000000e+00 8.49051100e+01] [ 2.95631962e-02 9.99562913e-01 0.00000000e+00 -3.84567346e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.33778449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.080371743 meters Centerline goodness : 0.994450 with order 1 Centerline is valid? [True, True] Translation: X:84.97, Y:-3.85, Z:0.01 [[ 9.99595786e-01 -2.84299910e-02 0.00000000e+00 8.49670183e+01] [ 2.84299910e-02 9.99595786e-01 0.00000000e+00 -3.84702069e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.77142716e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.140371743 meters Centerline goodness : 0.994877 with order 1 Centerline is valid? [True, True] Translation: X:85.03, Y:-3.85, Z:0.01 [[ 9.99637804e-01 -2.69120973e-02 0.00000000e+00 8.50279319e+01] [ 2.69120973e-02 9.99637804e-01 0.00000000e+00 -3.84855192e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.33950781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.200371743 meters Centerline goodness : 0.993841 with order 1 Centerline is valid? [True, True] Translation: X:85.09, Y:-3.85, Z:0.01 [[ 9.99706605e-01 -2.42219663e-02 0.00000000e+00 8.50902928e+01] [ 2.42219663e-02 9.99706605e-01 0.00000000e+00 -3.84821072e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00168955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.260371743 meters Centerline goodness : 0.994671 with order 1 Centerline is valid? [True, True] Translation: X:85.15, Y:-3.85, Z:0.01 [[ 9.99726341e-01 -2.33932480e-02 0.00000000e+00 8.51533771e+01] [ 2.33932480e-02 9.99726341e-01 0.00000000e+00 -3.84994687e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00376753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.320371743 meters Centerline goodness : 0.993796 with order 1 Centerline is valid? [True, True] Translation: X:85.22, Y:-3.86, Z:0.01 [[ 9.99821155e-01 -1.89118317e-02 0.00000000e+00 8.52157026e+01] [ 1.89118317e-02 9.99821155e-01 0.00000000e+00 -3.85752041e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50422893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.380371743 meters Centerline goodness : 0.993567 with order 1 Centerline is valid? [True, True] Translation: X:85.28, Y:-3.86, Z:0.01 [[ 9.99765344e-01 -2.16623343e-02 0.00000000e+00 8.52773444e+01] [ 2.16623343e-02 9.99765344e-01 0.00000000e+00 -3.85796356e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.57739956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.440371743 meters Centerline goodness : 0.994446 with order 1 Centerline is valid? [True, True] Translation: X:85.34, Y:-3.86, Z:0.01 [[ 9.99650105e-01 -2.64512193e-02 0.00000000e+00 8.53389099e+01] [ 2.64512193e-02 9.99650105e-01 0.00000000e+00 -3.85569897e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01685776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.500371743 meters Centerline goodness : 0.994326 with order 1 Centerline is valid? [True, True] Translation: X:85.40, Y:-3.86, Z:0.01 [[ 9.99649798e-01 -2.64628239e-02 0.00000000e+00 8.54005694e+01] [ 2.64628239e-02 9.99649798e-01 0.00000000e+00 -3.85818611e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08636260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.560371743 meters Centerline goodness : 0.994230 with order 1 Centerline is valid? [True, True] Translation: X:85.46, Y:-3.87, Z:0.00 [[ 9.99798775e-01 -2.00601231e-02 0.00000000e+00 8.54625802e+01] [ 2.00601231e-02 9.99798775e-01 0.00000000e+00 -3.86809528e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76138757e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62037174299999 meters Centerline goodness : 0.994102 with order 1 Centerline is valid? [True, True] Translation: X:85.53, Y:-3.87, Z:0.00 [[ 9.99791567e-01 -2.04162098e-02 0.00000000e+00 8.55255265e+01] [ 2.04162098e-02 9.99791567e-01 0.00000000e+00 -3.87102720e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25644005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.680371743 meters Centerline goodness : 0.993787 with order 1 Centerline is valid? [True, True] Translation: X:85.59, Y:-3.87, Z:0.00 [[ 9.99783306e-01 -2.08168516e-02 0.00000000e+00 8.55888833e+01] [ 2.08168516e-02 9.99783306e-01 0.00000000e+00 -3.87461637e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50942545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.740371743 meters Centerline goodness : 0.993754 with order 1 Centerline is valid? [True, True] Translation: X:85.65, Y:-3.88, Z:0.00 [[ 9.99826442e-01 -1.86302256e-02 0.00000000e+00 8.56512954e+01] [ 1.86302256e-02 9.99826442e-01 0.00000000e+00 -3.87768679e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53528891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.800371743 meters Centerline goodness : 0.994610 with order 1 Centerline is valid? [True, True] Translation: X:85.71, Y:-3.87, Z:0.01 [[ 9.99748659e-01 -2.24191753e-02 0.00000000e+00 8.57130498e+01] [ 2.24191753e-02 9.99748659e-01 0.00000000e+00 -3.87190611e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.42800224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.860371743 meters Centerline goodness : 0.994093 with order 1 Centerline is valid? [True, True] Translation: X:85.77, Y:-3.88, Z:-0.00 [[ 9.99937936e-01 -1.11411004e-02 0.00000000e+00 8.57744620e+01] [ 1.11411004e-02 9.99937936e-01 0.00000000e+00 -3.88424011e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.38724423e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.920371743 meters Centerline goodness : 0.993774 with order 1 Centerline is valid? [True, True] Translation: X:85.84, Y:-3.89, Z:0.00 [[ 9.99945361e-01 -1.04535159e-02 0.00000000e+00 8.58357339e+01] [ 1.04535159e-02 9.99945361e-01 0.00000000e+00 -3.88506722e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52938736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98037174299999 meters Centerline goodness : 0.993442 with order 1 Centerline is valid? [True, True] Translation: X:85.90, Y:-3.89, Z:0.00 [[ 9.99965070e-01 -8.35818577e-03 0.00000000e+00 8.58963251e+01] [ 8.35818577e-03 9.99965070e-01 0.00000000e+00 -3.88907797e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99131619e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.040371743 meters Centerline goodness : 0.994494 with order 1 Centerline is valid? [True, True] Translation: X:85.96, Y:-3.88, Z:0.01 [[ 9.99801721e-01 -1.99127679e-02 0.00000000e+00 8.59593367e+01] [ 1.99127679e-02 9.99801721e-01 0.00000000e+00 -3.88235147e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00349611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.100371743 meters Centerline goodness : 0.993509 with order 1 Centerline is valid? [True, True] Translation: X:86.02, Y:-3.89, Z:0.01 [[ 9.99813847e-01 -1.92943537e-02 0.00000000e+00 8.60205059e+01] [ 1.92943537e-02 9.99813847e-01 0.00000000e+00 -3.89449830e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69316250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.160371743 meters Centerline goodness : 0.993873 with order 1 Centerline is valid? [True, True] Translation: X:86.08, Y:-3.90, Z:0.00 [[ 9.99708266e-01 -2.41533146e-02 0.00000000e+00 8.60831788e+01] [ 2.41533146e-02 9.99708266e-01 0.00000000e+00 -3.90128061e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.54567546e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.220371743 meters Centerline goodness : 0.994371 with order 1 Centerline is valid? [True, True] Translation: X:86.15, Y:-3.91, Z:-0.00 [[ 9.99734971e-01 -2.30214746e-02 0.00000000e+00 8.61454519e+01] [ 2.30214746e-02 9.99734971e-01 0.00000000e+00 -3.90834569e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64078287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.280371743 meters Centerline goodness : 0.994834 with order 1 Centerline is valid? [True, True] Translation: X:86.21, Y:-3.90, Z:0.00 [[ 9.99555368e-01 -2.98172069e-02 0.00000000e+00 8.62076133e+01] [ 2.98172069e-02 9.99555368e-01 0.00000000e+00 -3.90183520e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81161917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.340371743 meters Centerline goodness : 0.994195 with order 1 Centerline is valid? [True, True] Translation: X:86.27, Y:-3.91, Z:0.00 [[ 9.99751195e-01 -2.23057666e-02 0.00000000e+00 8.62688934e+01] [ 2.23057666e-02 9.99751195e-01 0.00000000e+00 -3.91197574e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15486787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.400371743 meters Centerline goodness : 0.993173 with order 1 Centerline is valid? [True, True] Translation: X:86.33, Y:-3.92, Z:-0.00 [[ 9.99866406e-01 -1.63453504e-02 0.00000000e+00 8.63310666e+01] [ 1.63453504e-02 9.99866406e-01 0.00000000e+00 -3.91863824e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23444137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.460371743 meters Centerline goodness : 0.993655 with order 1 Centerline is valid? [True, True] Translation: X:86.39, Y:-3.92, Z:-0.00 [[ 9.99825599e-01 -1.86754443e-02 0.00000000e+00 8.63920928e+01] [ 1.86754443e-02 9.99825599e-01 0.00000000e+00 -3.92075936e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00991530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.520371743 meters Centerline goodness : 0.993611 with order 1 Centerline is valid? [True, True] Translation: X:86.45, Y:-3.93, Z:-0.00 [[ 9.99834431e-01 -1.81964279e-02 0.00000000e+00 8.64546312e+01] [ 1.81964279e-02 9.99834431e-01 0.00000000e+00 -3.92549781e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56119334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.580371743 meters Centerline goodness : 0.994473 with order 1 Centerline is valid? [True, True] Translation: X:86.52, Y:-3.92, Z:0.00 [[ 9.99713535e-01 -2.39342533e-02 0.00000000e+00 8.65161559e+01] [ 2.39342533e-02 9.99713535e-01 0.00000000e+00 -3.92175191e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64908501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.640371743 meters Centerline goodness : 0.994689 with order 1 Centerline is valid? [True, True] Translation: X:86.58, Y:-3.93, Z:0.00 [[ 9.99748764e-01 -2.24144642e-02 0.00000000e+00 8.65774738e+01] [ 2.24144642e-02 9.99748764e-01 0.00000000e+00 -3.92516966e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41401653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.700371743 meters Centerline goodness : 0.993837 with order 1 Centerline is valid? [True, True] Translation: X:86.64, Y:-3.94, Z:-0.00 [[ 9.99875340e-01 -1.57894094e-02 0.00000000e+00 8.66394759e+01] [ 1.57894094e-02 9.99875340e-01 0.00000000e+00 -3.93590053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56933704e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.760371743 meters Centerline goodness : 0.993701 with order 1 Centerline is valid? [True, True] Translation: X:86.70, Y:-3.94, Z:0.00 [[ 9.99903298e-01 -1.39066153e-02 0.00000000e+00 8.67019108e+01] [ 1.39066153e-02 9.99903298e-01 0.00000000e+00 -3.94120460e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02409292e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.820371743 meters Centerline goodness : 0.993479 with order 1 Centerline is valid? [True, True] Translation: X:86.76, Y:-3.94, Z:0.00 [[ 9.99879886e-01 -1.54988173e-02 0.00000000e+00 8.67642862e+01] [ 1.54988173e-02 9.99879886e-01 0.00000000e+00 -3.94470813e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17351200e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.880371743 meters Centerline goodness : 0.994394 with order 1 Centerline is valid? [True, True] Translation: X:86.83, Y:-3.95, Z:0.00 [[ 9.99859448e-01 -1.67655498e-02 0.00000000e+00 8.68261722e+01] [ 1.67655498e-02 9.99859448e-01 0.00000000e+00 -3.95027243e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45175524e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.940371743 meters Centerline goodness : 0.994131 with order 1 Centerline is valid? [True, True] Translation: X:86.89, Y:-3.95, Z:-0.00 [[ 9.99805677e-01 -1.97131479e-02 0.00000000e+00 8.68890944e+01] [ 1.97131479e-02 9.99805677e-01 0.00000000e+00 -3.95442982e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07940039e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.000371743 meters Centerline goodness : 0.993714 with order 1 Centerline is valid? [True, True] Translation: X:86.95, Y:-3.96, Z:-0.00 [[ 9.99794090e-01 -2.02923162e-02 0.00000000e+00 8.69522915e+01] [ 2.02923162e-02 9.99794090e-01 0.00000000e+00 -3.95807788e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.54228957e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.060371743 meters Centerline goodness : 0.994000 with order 1 Centerline is valid? [True, True] Translation: X:87.01, Y:-3.96, Z:-0.00 [[ 9.99694559e-01 -2.47141587e-02 0.00000000e+00 8.70145026e+01] [ 2.47141587e-02 9.99694559e-01 0.00000000e+00 -3.96324476e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64096651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12037174299999 meters Centerline goodness : 0.994463 with order 1 Centerline is valid? [True, True] Translation: X:87.08, Y:-3.97, Z:-0.00 [[ 9.99597573e-01 -2.83670815e-02 0.00000000e+00 8.70768104e+01] [ 2.83670815e-02 9.99597573e-01 0.00000000e+00 -3.96646538e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.01087131e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.180371743 meters Centerline goodness : 0.993278 with order 1 Centerline is valid? [True, True] Translation: X:87.14, Y:-3.97, Z:-0.00 [[ 9.99627525e-01 -2.72912251e-02 0.00000000e+00 8.71387209e+01] [ 2.72912251e-02 9.99627525e-01 0.00000000e+00 -3.97002697e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52744897e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.240371743 meters Centerline goodness : 0.993934 with order 1 Centerline is valid? [True, True] Translation: X:87.20, Y:-3.97, Z:0.00 [[ 9.99718700e-01 -2.37175198e-02 0.00000000e+00 8.72016913e+01] [ 2.37175198e-02 9.99718700e-01 0.00000000e+00 -3.97179453e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84452428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.300371743 meters Centerline goodness : 0.993664 with order 1 Centerline is valid? [True, True] Translation: X:87.26, Y:-3.97, Z:0.01 [[ 9.99746831e-01 -2.25005220e-02 0.00000000e+00 8.72642966e+01] [ 2.25005220e-02 9.99746831e-01 0.00000000e+00 -3.97129374e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.06657803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.360371743 meters Centerline goodness : 0.993726 with order 1 Centerline is valid? [True, True] Translation: X:87.33, Y:-3.97, Z:0.00 [[ 9.99856018e-01 -1.69688661e-02 0.00000000e+00 8.73273989e+01] [ 1.69688661e-02 9.99856018e-01 0.00000000e+00 -3.97495441e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30944095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.420371743 meters Centerline goodness : 0.994685 with order 1 Centerline is valid? [True, True] Translation: X:87.39, Y:-3.97, Z:0.00 [[ 9.99864925e-01 -1.64356949e-02 0.00000000e+00 8.73887854e+01] [ 1.64356949e-02 9.99864925e-01 0.00000000e+00 -3.97068178e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79232255e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48037174299999 meters Centerline goodness : 0.993068 with order 1 Centerline is valid? [True, True] Translation: X:87.45, Y:-3.98, Z:0.00 [[ 9.99962572e-01 -8.65183059e-03 0.00000000e+00 8.74508902e+01] [ 8.65183059e-03 9.99962572e-01 0.00000000e+00 -3.97726462e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47709998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.540371743 meters Centerline goodness : 0.992900 with order 1 Centerline is valid? [True, True] Translation: X:87.51, Y:-3.98, Z:0.00 [[ 9.99996062e-01 -2.80635411e-03 0.00000000e+00 8.75123666e+01] [ 2.80635411e-03 9.99996062e-01 0.00000000e+00 -3.97845510e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.05301326e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.600371743 meters Centerline goodness : 0.993859 with order 1 Centerline is valid? [True, True] Translation: X:87.57, Y:-3.97, Z:0.00 [[ 9.99990648e-01 -4.32488412e-03 0.00000000e+00 8.75737825e+01] [ 4.32488412e-03 9.99990648e-01 0.00000000e+00 -3.97330162e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02083262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.660371743 meters Centerline goodness : 0.993572 with order 1 Centerline is valid? [True, True] Translation: X:87.64, Y:-3.98, Z:0.00 [[ 9.99993419e-01 -3.62785166e-03 0.00000000e+00 8.76356245e+01] [ 3.62785166e-03 9.99993419e-01 0.00000000e+00 -3.97583309e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36323704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.720371743 meters Centerline goodness : 0.992294 with order 1 Centerline is valid? [True, True] Translation: X:87.70, Y:-3.99, Z:-0.00 [[ 9.99995346e-01 3.05077210e-03 0.00000000e+00 8.76967512e+01] [-3.05077210e-03 9.99995346e-01 0.00000000e+00 -3.98545179e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61604686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.780371743 meters Centerline goodness : 0.993800 with order 1 Centerline is valid? [True, True] Translation: X:87.76, Y:-3.98, Z:0.00 [[ 9.99997812e-01 -2.09201972e-03 0.00000000e+00 8.77559904e+01] [ 2.09201972e-03 9.99997812e-01 0.00000000e+00 -3.97737527e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11212393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.840371743 meters Centerline goodness : 0.994109 with order 1 Centerline is valid? [True, True] Translation: X:87.82, Y:-3.98, Z:0.00 [[ 9.99999937e-01 -3.56095068e-04 0.00000000e+00 8.78175954e+01] [ 3.56095068e-04 9.99999937e-01 0.00000000e+00 -3.97883193e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95968427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.900371743 meters Centerline goodness : 0.992154 with order 1 Centerline is valid? [True, True] Translation: X:87.88, Y:-3.99, Z:-0.00 [[ 9.99970147e-01 7.72690777e-03 0.00000000e+00 8.78775505e+01] [-7.72690777e-03 9.99970147e-01 0.00000000e+00 -3.99032810e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60104830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.960371743 meters Centerline goodness : 0.992100 with order 1 Centerline is valid? [True, True] Translation: X:87.94, Y:-3.99, Z:0.00 [[ 9.99968082e-01 7.98972197e-03 0.00000000e+00 8.79363749e+01] [-7.98972197e-03 9.99968082e-01 0.00000000e+00 -3.98952983e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99440814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.020371743 meters Centerline goodness : 0.991910 with order 1 Centerline is valid? [True, True] Translation: X:87.99, Y:-3.99, Z:0.00 [[ 9.99940250e-01 1.09314657e-02 0.00000000e+00 8.79946049e+01] [-1.09314657e-02 9.99940250e-01 0.00000000e+00 -3.99300205e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10501567e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.080371743 meters Centerline goodness : 0.993248 with order 1 Centerline is valid? [True, True] Translation: X:88.05, Y:-3.99, Z:0.00 [[ 9.99967557e-01 8.05510840e-03 0.00000000e+00 8.80529778e+01] [-8.05510840e-03 9.99967557e-01 0.00000000e+00 -3.98699067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52657937e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.140371743 meters Centerline goodness : 0.992312 with order 1 Centerline is valid? [True, True] Translation: X:88.11, Y:-4.00, Z:0.00 [[ 9.99932608e-01 1.16094691e-02 0.00000000e+00 8.81115367e+01] [-1.16094691e-02 9.99932608e-01 0.00000000e+00 -3.99643021e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52873349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.200371743 meters Centerline goodness : 0.992932 with order 1 Centerline is valid? [True, True] Translation: X:88.17, Y:-4.00, Z:0.01 [[ 9.99965164e-01 8.34687379e-03 0.00000000e+00 8.81701543e+01] [-8.34687379e-03 9.99965164e-01 0.00000000e+00 -3.99980062e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.08300357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.260371743 meters Centerline goodness : 0.993524 with order 1 Centerline is valid? [True, True] Translation: X:88.23, Y:-4.00, Z:0.00 [[ 9.99999812e-01 6.13827115e-04 0.00000000e+00 8.82281170e+01] [-6.13827115e-04 9.99999812e-01 0.00000000e+00 -3.99889163e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91182535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.320371743 meters Centerline goodness : 0.992448 with order 1 Centerline is valid? [True, True] Translation: X:88.29, Y:-4.01, Z:0.00 [[ 9.99998204e-01 -1.89506879e-03 0.00000000e+00 8.82882072e+01] [ 1.89506879e-03 9.99998204e-01 0.00000000e+00 -4.00988874e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11524865e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.380371743 meters Centerline goodness : 0.992327 with order 1 Centerline is valid? [True, True] Translation: X:88.35, Y:-4.01, Z:0.00 [[ 9.99985282e-01 -5.42543290e-03 0.00000000e+00 8.83492737e+01] [ 5.42543290e-03 9.99985282e-01 0.00000000e+00 -4.01413573e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45724511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.440371743 meters Centerline goodness : 0.993072 with order 1 Centerline is valid? [True, True] Translation: X:88.41, Y:-4.02, Z:0.00 [[ 9.99978652e-01 -6.53418050e-03 0.00000000e+00 8.84117260e+01] [ 6.53418050e-03 9.99978652e-01 0.00000000e+00 -4.01678462e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05748045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.500371743 meters Centerline goodness : 0.993377 with order 1 Centerline is valid? [True, True] Translation: X:88.47, Y:-4.02, Z:0.00 [[ 9.99966209e-01 -8.22072992e-03 0.00000000e+00 8.84725204e+01] [ 8.22072992e-03 9.99966209e-01 0.00000000e+00 -4.01928322e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05373208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.560371743 meters Centerline goodness : 0.993397 with order 1 Centerline is valid? [True, True] Translation: X:88.53, Y:-4.02, Z:-0.00 [[ 9.99959498e-01 -9.00017000e-03 0.00000000e+00 8.85340059e+01] [ 9.00017000e-03 9.99959498e-01 0.00000000e+00 -4.02347559e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20287328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62037174299999 meters Centerline goodness : 0.993635 with order 1 Centerline is valid? [True, True] Translation: X:88.60, Y:-4.03, Z:-0.00 [[ 9.99931707e-01 -1.16868020e-02 0.00000000e+00 8.85959443e+01] [ 1.16868020e-02 9.99931707e-01 0.00000000e+00 -4.02519544e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.97416477e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.680371743 meters Centerline goodness : 0.993513 with order 1 Centerline is valid? [True, True] Translation: X:88.66, Y:-4.03, Z:0.00 [[ 9.99909818e-01 -1.34296659e-02 0.00000000e+00 8.86586825e+01] [ 1.34296659e-02 9.99909818e-01 0.00000000e+00 -4.02756651e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.23705712e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.740371743 meters Centerline goodness : 0.993622 with order 1 Centerline is valid? [True, True] Translation: X:88.72, Y:-4.03, Z:0.00 [[ 9.99853248e-01 -1.71313336e-02 0.00000000e+00 8.87212624e+01] [ 1.71313336e-02 9.99853248e-01 0.00000000e+00 -4.02982173e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84350902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.800371743 meters Centerline goodness : 0.993685 with order 1 Centerline is valid? [True, True] Translation: X:88.78, Y:-4.03, Z:0.00 [[ 9.99786968e-01 -2.06402277e-02 0.00000000e+00 8.87829190e+01] [ 2.06402277e-02 9.99786968e-01 0.00000000e+00 -4.03247738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36713746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.860371743 meters Centerline goodness : 0.993533 with order 1 Centerline is valid? [True, True] Translation: X:88.85, Y:-4.04, Z:-0.00 [[ 9.99742083e-01 -2.27105162e-02 0.00000000e+00 8.88452506e+01] [ 2.27105162e-02 9.99742083e-01 0.00000000e+00 -4.03618996e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03388511e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.920371743 meters Centerline goodness : 0.993312 with order 1 Centerline is valid? [True, True] Translation: X:88.91, Y:-4.04, Z:-0.00 [[ 9.99753007e-01 -2.22244363e-02 0.00000000e+00 8.89077464e+01] [ 2.22244363e-02 9.99753007e-01 0.00000000e+00 -4.03929999e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47307277e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98037174299999 meters Centerline goodness : 0.993234 with order 1 Centerline is valid? [True, True] Translation: X:88.97, Y:-4.04, Z:0.00 [[ 9.99766559e-01 -2.16062057e-02 0.00000000e+00 8.89710017e+01] [ 2.16062057e-02 9.99766559e-01 0.00000000e+00 -4.04155056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74152118e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.040371743 meters Centerline goodness : 0.992605 with order 1 Centerline is valid? [True, True] Translation: X:89.03, Y:-4.04, Z:-0.00 [[ 9.99855200e-01 -1.70170340e-02 0.00000000e+00 8.90336437e+01] [ 1.70170340e-02 9.99855200e-01 0.00000000e+00 -4.04326020e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96119758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.100371743 meters Centerline goodness : 0.992188 with order 1 Centerline is valid? [True, True] Translation: X:89.10, Y:-4.04, Z:-0.00 [[ 9.99968555e-01 -7.93022083e-03 0.00000000e+00 8.90950318e+01] [ 7.93022083e-03 9.99968555e-01 0.00000000e+00 -4.04482818e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.05539145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.160371743 meters Centerline goodness : 0.993527 with order 1 Centerline is valid? [True, True] Translation: X:89.16, Y:-4.04, Z:0.00 [[ 9.99989580e-01 -4.56509451e-03 0.00000000e+00 8.91558507e+01] [ 4.56509451e-03 9.99989580e-01 0.00000000e+00 -4.03551612e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37198679e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.220371743 meters Centerline goodness : 0.992131 with order 1 Centerline is valid? [True, True] Translation: X:89.22, Y:-4.05, Z:-0.00 [[ 9.99966406e-01 8.19677075e-03 0.00000000e+00 8.92168450e+01] [-8.19677075e-03 9.99966406e-01 0.00000000e+00 -4.04535297e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.85388187e-07] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.280371743 meters Centerline goodness : 0.992698 with order 1 Centerline is valid? [True, True] Translation: X:89.28, Y:-4.05, Z:0.00 [[ 9.99896529e-01 1.43851265e-02 0.00000000e+00 8.92752616e+01] [-1.43851265e-02 9.99896529e-01 0.00000000e+00 -4.04803459e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66768224e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.340371743 meters Centerline goodness : 0.992447 with order 1 Centerline is valid? [True, True] Translation: X:89.33, Y:-4.05, Z:0.00 [[ 9.99904866e-01 1.37934665e-02 0.00000000e+00 8.93330296e+01] [-1.37934665e-02 9.99904866e-01 0.00000000e+00 -4.04981056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58219113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.400371743 meters Centerline goodness : 0.993805 with order 1 Centerline is valid? [True, True] Translation: X:89.39, Y:-4.05, Z:0.01 [[ 9.99976887e-01 6.79889436e-03 0.00000000e+00 8.93921832e+01] [-6.79889436e-03 9.99976887e-01 0.00000000e+00 -4.04642497e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.00198522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.460371743 meters Centerline goodness : 0.992491 with order 1 Centerline is valid? [True, True] Translation: X:89.45, Y:-4.06, Z:-0.00 [[ 9.99950470e-01 9.95272775e-03 0.00000000e+00 8.94514464e+01] [-9.95272775e-03 9.99950470e-01 0.00000000e+00 -4.06023822e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.83315319e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.520371743 meters Centerline goodness : 0.992532 with order 1 Centerline is valid? [True, True] Translation: X:89.51, Y:-4.07, Z:-0.00 [[ 9.99979270e-01 6.43888984e-03 0.00000000e+00 8.95096680e+01] [-6.43888984e-03 9.99979270e-01 0.00000000e+00 -4.06569969e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.24560347e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.580371743 meters Centerline goodness : 0.992486 with order 1 Centerline is valid? [True, True] Translation: X:89.57, Y:-4.07, Z:0.00 [[ 9.99994289e-01 3.37967591e-03 0.00000000e+00 8.95685420e+01] [-3.37967591e-03 9.99994289e-01 0.00000000e+00 -4.06969668e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13501883e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.640371743 meters Centerline goodness : 0.992008 with order 1 Centerline is valid? [True, True] Translation: X:89.63, Y:-4.07, Z:0.00 [[ 9.99998678e-01 1.62603196e-03 0.00000000e+00 8.96269928e+01] [-1.62603196e-03 9.99998678e-01 0.00000000e+00 -4.07347473e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38444922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.700371743 meters Centerline goodness : 0.992460 with order 1 Centerline is valid? [True, True] Translation: X:89.69, Y:-4.07, Z:0.01 [[ 9.99999900e-01 4.46238345e-04 0.00000000e+00 8.96866703e+01] [-4.46238345e-04 9.99999900e-01 0.00000000e+00 -4.07339592e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.77413039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.760371743 meters Centerline goodness : 0.993748 with order 1 Centerline is valid? [True, True] Translation: X:89.75, Y:-4.07, Z:0.01 [[ 9.99985172e-01 -5.44574663e-03 0.00000000e+00 8.97462287e+01] [ 5.44574663e-03 9.99985172e-01 0.00000000e+00 -4.06932949e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.03078438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.820371743 meters Centerline goodness : 0.992315 with order 1 Centerline is valid? [True, True] Translation: X:89.81, Y:-4.08, Z:0.00 [[ 9.99998613e-01 1.66540689e-03 0.00000000e+00 8.98064492e+01] [-1.66540689e-03 9.99998613e-01 0.00000000e+00 -4.08153046e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20984162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.880371743 meters Centerline goodness : 0.994318 with order 1 Centerline is valid? [True, True] Translation: X:89.87, Y:-4.07, Z:0.01 [[ 9.99977528e-01 -6.70405417e-03 0.00000000e+00 8.98662028e+01] [ 6.70405417e-03 9.99977528e-01 0.00000000e+00 -4.07374572e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.45149992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.940371743 meters Centerline goodness : 0.993336 with order 1 Centerline is valid? [True, True] Translation: X:89.93, Y:-4.08, Z:0.01 [[ 9.99997564e-01 -2.20716131e-03 0.00000000e+00 8.99279838e+01] [ 2.20716131e-03 9.99997564e-01 0.00000000e+00 -4.08175232e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.69946813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.000371743 meters Centerline goodness : 0.993072 with order 1 Centerline is valid? [True, True] Translation: X:89.99, Y:-4.09, Z:0.00 [[ 9.99999995e-01 -1.02166807e-04 0.00000000e+00 8.99893937e+01] [ 1.02166807e-04 9.99999995e-01 0.00000000e+00 -4.08852662e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15029562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.060371743 meters Centerline goodness : 0.992802 with order 1 Centerline is valid? [True, True] Translation: X:90.05, Y:-4.09, Z:0.01 [[ 9.99988999e-01 -4.69056458e-03 0.00000000e+00 9.00500336e+01] [ 4.69056458e-03 9.99988999e-01 0.00000000e+00 -4.08968585e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.39555169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12037174299999 meters Centerline goodness : 0.993071 with order 1 Centerline is valid? [True, True] Translation: X:90.11, Y:-4.09, Z:0.01 [[ 9.99980438e-01 -6.25481271e-03 0.00000000e+00 9.01122784e+01] [ 6.25481271e-03 9.99980438e-01 0.00000000e+00 -4.09338051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64676262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.180371743 meters Centerline goodness : 0.993385 with order 1 Centerline is valid? [True, True] Translation: X:90.17, Y:-4.10, Z:0.01 [[ 9.99978153e-01 -6.61008891e-03 0.00000000e+00 9.01747702e+01] [ 6.61008891e-03 9.99978153e-01 0.00000000e+00 -4.09660910e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63690534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.240371743 meters Centerline goodness : 0.992769 with order 1 Centerline is valid? [True, True] Translation: X:90.24, Y:-4.10, Z:0.01 [[ 9.99987723e-01 -4.95521154e-03 0.00000000e+00 9.02372201e+01] [ 4.95521154e-03 9.99987723e-01 0.00000000e+00 -4.10024281e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.08178828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.300371743 meters Centerline goodness : 0.992581 with order 1 Centerline is valid? [True, True] Translation: X:90.30, Y:-4.10, Z:0.00 [[ 9.99995831e-01 -2.88742132e-03 0.00000000e+00 9.02977947e+01] [ 2.88742132e-03 9.99995831e-01 0.00000000e+00 -4.10410548e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92235377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.360371743 meters Centerline goodness : 0.992544 with order 1 Centerline is valid? [True, True] Translation: X:90.36, Y:-4.11, Z:0.01 [[ 9.99993222e-01 3.68190944e-03 0.00000000e+00 9.03590274e+01] [-3.68190944e-03 9.99993222e-01 0.00000000e+00 -4.10731146e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.83687879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.420371743 meters Centerline goodness : 0.992756 with order 1 Centerline is valid? [True, True] Translation: X:90.42, Y:-4.11, Z:0.01 [[ 9.99970464e-01 7.68572029e-03 0.00000000e+00 9.04178924e+01] [-7.68572029e-03 9.99970464e-01 0.00000000e+00 -4.10995081e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.37239544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48037174299999 meters Centerline goodness : 0.993347 with order 1 Centerline is valid? [True, True] Translation: X:90.48, Y:-4.11, Z:0.01 [[ 9.99949777e-01 1.00221900e-02 0.00000000e+00 9.04758471e+01] [-1.00221900e-02 9.99949777e-01 0.00000000e+00 -4.11434350e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.27912159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.540371743 meters Centerline goodness : 0.993043 with order 1 Centerline is valid? [True, True] Translation: X:90.53, Y:-4.12, Z:0.01 [[ 9.99926220e-01 1.21472193e-02 0.00000000e+00 9.05328841e+01] [-1.21472193e-02 9.99926220e-01 0.00000000e+00 -4.12210630e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50062152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.600371743 meters Centerline goodness : 0.993095 with order 1 Centerline is valid? [True, True] Translation: X:90.59, Y:-4.13, Z:0.00 [[ 9.99951407e-01 9.85820194e-03 0.00000000e+00 9.05916179e+01] [-9.85820194e-03 9.99951407e-01 0.00000000e+00 -4.12649254e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90347406e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.660371743 meters Centerline goodness : 0.993239 with order 1 Centerline is valid? [True, True] Translation: X:90.65, Y:-4.13, Z:0.00 [[ 9.99989067e-01 4.67610955e-03 0.00000000e+00 9.06507515e+01] [-4.67610955e-03 9.99989067e-01 0.00000000e+00 -4.12902671e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57733966e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.720371743 meters Centerline goodness : 0.992655 with order 1 Centerline is valid? [True, True] Translation: X:90.71, Y:-4.13, Z:0.00 [[ 9.99999444e-01 1.05438916e-03 0.00000000e+00 9.07092458e+01] [-1.05438916e-03 9.99999444e-01 0.00000000e+00 -4.13178817e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57550787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.780371743 meters Centerline goodness : 0.992371 with order 1 Centerline is valid? [True, True] Translation: X:90.77, Y:-4.14, Z:0.01 [[ 9.99999998e-01 -6.95211003e-05 0.00000000e+00 9.07685896e+01] [ 6.95211003e-05 9.99999998e-01 0.00000000e+00 -4.13579263e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44064763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.840371743 meters Centerline goodness : 0.993472 with order 1 Centerline is valid? [True, True] Translation: X:90.83, Y:-4.14, Z:0.01 [[ 9.99999986e-01 1.64880506e-04 0.00000000e+00 9.08293704e+01] [-1.64880506e-04 9.99999986e-01 0.00000000e+00 -4.13892013e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.63096188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.900371743 meters Centerline goodness : 0.994186 with order 1 Centerline is valid? [True, True] Translation: X:90.89, Y:-4.14, Z:0.01 [[ 9.99990990e-01 -4.24496244e-03 0.00000000e+00 9.08887629e+01] [ 4.24496244e-03 9.99990990e-01 0.00000000e+00 -4.13638037e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20402520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.960371743 meters Centerline goodness : 0.994122 with order 1 Centerline is valid? [True, True] Translation: X:90.95, Y:-4.14, Z:0.01 [[ 9.99996538e-01 -2.63141084e-03 0.00000000e+00 9.09512183e+01] [ 2.63141084e-03 9.99996538e-01 0.00000000e+00 -4.14102284e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28796312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.020371743 meters Centerline goodness : 0.993211 with order 1 Centerline is valid? [True, True] Translation: X:91.01, Y:-4.15, Z:0.01 [[ 9.99999478e-01 1.02218181e-03 0.00000000e+00 9.10124719e+01] [-1.02218181e-03 9.99999478e-01 0.00000000e+00 -4.15355328e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.43475497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.080371743 meters Centerline goodness : 0.992463 with order 1 Centerline is valid? [True, True] Translation: X:91.07, Y:-4.16, Z:0.00 [[ 9.99997602e-01 2.19015333e-03 0.00000000e+00 9.10730244e+01] [-2.19015333e-03 9.99997602e-01 0.00000000e+00 -4.15990125e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96350167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.140371743 meters Centerline goodness : 0.993888 with order 1 Centerline is valid? [True, True] Translation: X:91.13, Y:-4.16, Z:0.00 [[ 9.99989517e-01 4.57894157e-03 0.00000000e+00 9.11327380e+01] [-4.57894157e-03 9.99989517e-01 0.00000000e+00 -4.16356754e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61723683e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.200371743 meters Centerline goodness : 0.994986 with order 1 Centerline is valid? [True, True] Translation: X:91.19, Y:-4.16, Z:0.01 [[ 9.99995113e-01 3.12639325e-03 0.00000000e+00 9.11919151e+01] [-3.12639325e-03 9.99995113e-01 0.00000000e+00 -4.15640314e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.46348633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.260371743 meters Centerline goodness : 0.993360 with order 1 Centerline is valid? [True, True] Translation: X:91.25, Y:-4.17, Z:0.00 [[ 9.99865107e-01 1.64245859e-02 0.00000000e+00 9.12514753e+01] [-1.64245859e-02 9.99865107e-01 0.00000000e+00 -4.16738950e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83163280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.320371743 meters Centerline goodness : 0.994505 with order 1 Centerline is valid? [True, True] Translation: X:91.31, Y:-4.16, Z:0.01 [[ 9.99937570e-01 1.11739305e-02 0.00000000e+00 9.13099449e+01] [-1.11739305e-02 9.99937570e-01 0.00000000e+00 -4.16147364e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17460388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.380371743 meters Centerline goodness : 0.993826 with order 1 Centerline is valid? [True, True] Translation: X:91.37, Y:-4.18, Z:0.01 [[ 9.99849821e-01 1.73301686e-02 0.00000000e+00 9.13671502e+01] [-1.73301686e-02 9.99849821e-01 0.00000000e+00 -4.17560139e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04336326e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.440371743 meters Centerline goodness : 0.995036 with order 1 Centerline is valid? [True, True] Translation: X:91.43, Y:-4.17, Z:0.01 [[ 9.99993468e-01 3.61436360e-03 0.00000000e+00 9.14256439e+01] [-3.61436360e-03 9.99993468e-01 0.00000000e+00 -4.17273252e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04797765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.500371743 meters Centerline goodness : 0.993348 with order 1 Centerline is valid? [True, True] Translation: X:91.48, Y:-4.19, Z:-0.00 [[ 9.99993442e-01 3.62149330e-03 0.00000000e+00 9.14847536e+01] [-3.62149330e-03 9.99993442e-01 0.00000000e+00 -4.18965130e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.48107057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.560371743 meters Centerline goodness : 0.994093 with order 1 Centerline is valid? [True, True] Translation: X:91.54, Y:-4.19, Z:-0.00 [[ 9.99999108e-01 -1.33536086e-03 0.00000000e+00 9.15444837e+01] [ 1.33536086e-03 9.99999108e-01 0.00000000e+00 -4.19265128e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05260497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62037174299999 meters Centerline goodness : 0.993097 with order 1 Centerline is valid? [True, True] Translation: X:91.61, Y:-4.20, Z:-0.00 [[ 9.99981167e-01 -6.13719565e-03 0.00000000e+00 9.16054214e+01] [ 6.13719565e-03 9.99981167e-01 0.00000000e+00 -4.19543132e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57127950e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.680371743 meters Centerline goodness : 0.993158 with order 1 Centerline is valid? [True, True] Translation: X:91.67, Y:-4.19, Z:0.00 [[ 9.99935229e-01 -1.13814749e-02 0.00000000e+00 9.16683601e+01] [ 1.13814749e-02 9.99935229e-01 0.00000000e+00 -4.19334893e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01325917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.740371743 meters Centerline goodness : 0.993627 with order 1 Centerline is valid? [True, True] Translation: X:91.73, Y:-4.20, Z:0.00 [[ 9.99943692e-01 -1.06119230e-02 0.00000000e+00 9.17306624e+01] [ 1.06119230e-02 9.99943692e-01 0.00000000e+00 -4.19640214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35327336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.800371743 meters Centerline goodness : 0.993748 with order 1 Centerline is valid? [True, True] Translation: X:91.79, Y:-4.20, Z:0.00 [[ 9.99918614e-01 -1.27579242e-02 0.00000000e+00 9.17939391e+01] [ 1.27579242e-02 9.99918614e-01 0.00000000e+00 -4.19793683e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99631096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.860371743 meters Centerline goodness : 0.993313 with order 1 Centerline is valid? [True, True] Translation: X:91.86, Y:-4.20, Z:0.01 [[ 9.99852944e-01 -1.71490480e-02 0.00000000e+00 9.18572907e+01] [ 1.71490480e-02 9.99852944e-01 0.00000000e+00 -4.19953984e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.55611922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.920371743 meters Centerline goodness : 0.995259 with order 1 Centerline is valid? [True, True] Translation: X:91.92, Y:-4.20, Z:0.01 [[ 9.99667168e-01 -2.57983042e-02 0.00000000e+00 9.19185137e+01] [ 2.57983042e-02 9.99667168e-01 0.00000000e+00 -4.19600792e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.42659170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98037174299999 meters Centerline goodness : 0.994461 with order 1 Centerline is valid? [True, True] Translation: X:91.98, Y:-4.21, Z:0.00 [[ 9.99668065e-01 -2.57635225e-02 0.00000000e+00 9.19806934e+01] [ 2.57635225e-02 9.99668065e-01 0.00000000e+00 -4.20523120e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75806667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.040371743 meters Centerline goodness : 0.993952 with order 1 Centerline is valid? [True, True] Translation: X:92.04, Y:-4.21, Z:0.00 [[ 9.99572357e-01 -2.92421333e-02 0.00000000e+00 9.20425257e+01] [ 2.92421333e-02 9.99572357e-01 0.00000000e+00 -4.20531521e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92785955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.100371743 meters Centerline goodness : 0.994605 with order 1 Centerline is valid? [True, True] Translation: X:92.11, Y:-4.21, Z:0.00 [[ 9.99599943e-01 -2.82834455e-02 0.00000000e+00 9.21054942e+01] [ 2.82834455e-02 9.99599943e-01 0.00000000e+00 -4.20629667e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00238124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.160371743 meters Centerline goodness : 0.993970 with order 1 Centerline is valid? [True, True] Translation: X:92.17, Y:-4.20, Z:0.01 [[ 9.99762663e-01 -2.17857280e-02 0.00000000e+00 9.21675780e+01] [ 2.17857280e-02 9.99762663e-01 0.00000000e+00 -4.20353914e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.54040193e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.220371743 meters Centerline goodness : 0.994015 with order 1 Centerline is valid? [True, True] Translation: X:92.23, Y:-4.21, Z:0.01 [[ 9.99843146e-01 -1.77110824e-02 0.00000000e+00 9.22295268e+01] [ 1.77110824e-02 9.99843146e-01 0.00000000e+00 -4.20511332e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.88586768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.280371743 meters Centerline goodness : 0.993968 with order 1 Centerline is valid? [True, True] Translation: X:92.29, Y:-4.21, Z:0.01 [[ 9.99861792e-01 -1.66252006e-02 0.00000000e+00 9.22915677e+01] [ 1.66252006e-02 9.99861792e-01 0.00000000e+00 -4.20508330e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.57598122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.340371743 meters Centerline goodness : 0.993647 with order 1 Centerline is valid? [True, True] Translation: X:92.35, Y:-4.21, Z:0.01 [[ 9.99810266e-01 -1.94790385e-02 0.00000000e+00 9.23540843e+01] [ 1.94790385e-02 9.99810266e-01 0.00000000e+00 -4.20896585e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.64993631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.400371743 meters Centerline goodness : 0.993619 with order 1 Centerline is valid? [True, True] Translation: X:92.42, Y:-4.21, Z:0.01 [[ 9.99725140e-01 -2.34444852e-02 0.00000000e+00 9.24160893e+01] [ 2.34444852e-02 9.99725140e-01 0.00000000e+00 -4.21013451e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01841344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.460371743 meters Centerline goodness : 0.994145 with order 1 Centerline is valid? [True, True] Translation: X:92.48, Y:-4.21, Z:0.01 [[ 9.99664786e-01 -2.58904626e-02 0.00000000e+00 9.24773959e+01] [ 2.58904626e-02 9.99664786e-01 0.00000000e+00 -4.21062272e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15921282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.520371743 meters Centerline goodness : 0.994999 with order 1 Centerline is valid? [True, True] Translation: X:92.54, Y:-4.21, Z:0.01 [[ 9.99765194e-01 -2.16692828e-02 0.00000000e+00 9.25387341e+01] [ 2.16692828e-02 9.99765194e-01 0.00000000e+00 -4.21338726e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.54176610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.580371743 meters Centerline goodness : 0.994424 with order 1 Centerline is valid? [True, True] Translation: X:92.60, Y:-4.21, Z:0.01 [[ 9.99844483e-01 -1.76354873e-02 0.00000000e+00 9.26008414e+01] [ 1.76354873e-02 9.99844483e-01 0.00000000e+00 -4.21311568e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.37131997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.640371743 meters Centerline goodness : 0.995184 with order 1 Centerline is valid? [True, True] Translation: X:92.66, Y:-4.21, Z:0.01 [[ 9.99909510e-01 -1.34525537e-02 0.00000000e+00 9.26627185e+01] [ 1.34525537e-02 9.99909510e-01 0.00000000e+00 -4.21443168e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.31791225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.700371743 meters Centerline goodness : 0.994611 with order 1 Centerline is valid? [True, True] Translation: X:92.73, Y:-4.22, Z:0.01 [[ 9.99964523e-01 -8.42335255e-03 0.00000000e+00 9.27252392e+01] [ 8.42335255e-03 9.99964523e-01 0.00000000e+00 -4.21501405e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19496734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.760371743 meters Centerline goodness : 0.994817 with order 1 Centerline is valid? [True, True] Translation: X:92.79, Y:-4.22, Z:0.01 [[ 9.99972992e-01 -7.34946958e-03 0.00000000e+00 9.27860203e+01] [ 7.34946958e-03 9.99972992e-01 0.00000000e+00 -4.21642267e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.01487066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.820371743 meters Centerline goodness : 0.994460 with order 1 Centerline is valid? [True, True] Translation: X:92.85, Y:-4.22, Z:0.01 [[ 9.99990733e-01 -4.30519703e-03 0.00000000e+00 9.28474147e+01] [ 4.30519703e-03 9.99990733e-01 0.00000000e+00 -4.22419988e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44642284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.880371743 meters Centerline goodness : 0.995261 with order 1 Centerline is valid? [True, True] Translation: X:92.91, Y:-4.22, Z:0.01 [[ 9.99965100e-01 -8.35450881e-03 0.00000000e+00 9.29099937e+01] [ 8.35450881e-03 9.99965100e-01 0.00000000e+00 -4.22294816e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.89398862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.940371743 meters Centerline goodness : 0.994724 with order 1 Centerline is valid? [True, True] Translation: X:92.97, Y:-4.23, Z:0.01 [[ 9.99966694e-01 -8.16153745e-03 0.00000000e+00 9.29725361e+01] [ 8.16153745e-03 9.99966694e-01 0.00000000e+00 -4.22732124e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63257596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.000371743 meters Centerline goodness : 0.995142 with order 1 Centerline is valid? [True, True] Translation: X:93.03, Y:-4.23, Z:0.01 [[ 9.99981261e-01 -6.12191741e-03 0.00000000e+00 9.30344858e+01] [ 6.12191741e-03 9.99981261e-01 0.00000000e+00 -4.23001641e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.07941559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.060371743 meters Centerline goodness : 0.995172 with order 1 Centerline is valid? [True, True] Translation: X:93.10, Y:-4.23, Z:0.01 [[ 9.99991091e-01 -4.22113909e-03 0.00000000e+00 9.30951770e+01] [ 4.22113909e-03 9.99991091e-01 0.00000000e+00 -4.23257175e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.32182368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12037174299999 meters Centerline goodness : 0.994326 with order 1 Centerline is valid? [True, True] Translation: X:93.16, Y:-4.24, Z:0.00 [[ 9.99996887e-01 2.49534039e-03 0.00000000e+00 9.31557970e+01] [-2.49534039e-03 9.99996887e-01 0.00000000e+00 -4.24376170e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01981823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.180371743 meters Centerline goodness : 0.994609 with order 1 Centerline is valid? [True, True] Translation: X:93.21, Y:-4.24, Z:0.01 [[ 9.99999961e-01 2.80380313e-04 0.00000000e+00 9.32148908e+01] [-2.80380313e-04 9.99999961e-01 0.00000000e+00 -4.24484593e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42098386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.240371743 meters Centerline goodness : 0.994298 with order 1 Centerline is valid? [True, True] Translation: X:93.28, Y:-4.25, Z:0.00 [[ 9.99998245e-01 -1.87348909e-03 0.00000000e+00 9.32755521e+01] [ 1.87348909e-03 9.99998245e-01 0.00000000e+00 -4.24765132e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94787193e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.300371743 meters Centerline goodness : 0.995169 with order 1 Centerline is valid? [True, True] Translation: X:93.34, Y:-4.25, Z:0.01 [[ 9.99979061e-01 -6.47124896e-03 0.00000000e+00 9.33370875e+01] [ 6.47124896e-03 9.99979061e-01 0.00000000e+00 -4.24544699e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.44166000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.360371743 meters Centerline goodness : 0.994920 with order 1 Centerline is valid? [True, True] Translation: X:93.40, Y:-4.25, Z:0.01 [[ 9.99981426e-01 -6.09490053e-03 0.00000000e+00 9.33984906e+01] [ 6.09490053e-03 9.99981426e-01 0.00000000e+00 -4.24768654e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.72047772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.420371743 meters Centerline goodness : 0.994484 with order 1 Centerline is valid? [True, True] Translation: X:93.46, Y:-4.25, Z:0.01 [[ 9.99986295e-01 -5.23548931e-03 0.00000000e+00 9.34609814e+01] [ 5.23548931e-03 9.99986295e-01 0.00000000e+00 -4.24910875e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.55240566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48037174299999 meters Centerline goodness : 0.994230 with order 1 Centerline is valid? [True, True] Translation: X:93.52, Y:-4.25, Z:0.01 [[ 9.99987256e-01 -5.04860627e-03 0.00000000e+00 9.35218875e+01] [ 5.04860627e-03 9.99987256e-01 0.00000000e+00 -4.25144778e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.24132738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.540371743 meters Centerline goodness : 0.994517 with order 1 Centerline is valid? [True, True] Translation: X:93.58, Y:-4.25, Z:0.01 [[ 9.99984812e-01 -5.51145244e-03 0.00000000e+00 9.35835177e+01] [ 5.51145244e-03 9.99984812e-01 0.00000000e+00 -4.25429959e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.47075269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.600371743 meters Centerline goodness : 0.992411 with order 1 Centerline is valid? [True, True] Translation: X:93.64, Y:-4.26, Z:0.00 [[ 9.99999623e-01 8.68857235e-04 0.00000000e+00 9.36446042e+01] [-8.68857235e-04 9.99999623e-01 0.00000000e+00 -4.26276445e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85754852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.660371743 meters Centerline goodness : 0.992342 with order 1 Centerline is valid? [True, True] Translation: X:93.70, Y:-4.26, Z:0.00 [[ 9.99999992e-01 1.23344402e-04 0.00000000e+00 9.37043253e+01] [-1.23344402e-04 9.99999992e-01 0.00000000e+00 -4.26317308e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84573178e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.720371743 meters Centerline goodness : 0.992992 with order 1 Centerline is valid? [True, True] Translation: X:93.76, Y:-4.26, Z:0.00 [[ 9.99999985e-01 1.70804215e-04 0.00000000e+00 9.37648003e+01] [-1.70804215e-04 9.99999985e-01 0.00000000e+00 -4.26355273e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00719119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.780371743 meters Centerline goodness : 0.992767 with order 1 Centerline is valid? [True, True] Translation: X:93.82, Y:-4.26, Z:0.00 [[ 9.99998723e-01 -1.59790939e-03 0.00000000e+00 9.38245200e+01] [ 1.59790939e-03 9.99998723e-01 0.00000000e+00 -4.26348999e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00128277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.840371743 meters Centerline goodness : 0.993438 with order 1 Centerline is valid? [True, True] Translation: X:93.89, Y:-4.26, Z:0.00 [[ 9.99999855e-01 -5.38295457e-04 0.00000000e+00 9.38856409e+01] [ 5.38295457e-04 9.99999855e-01 0.00000000e+00 -4.26434055e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59566194e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.900371743 meters Centerline goodness : 0.993455 with order 1 Centerline is valid? [True, True] Translation: X:93.95, Y:-4.26, Z:0.00 [[ 9.99992236e-01 3.94046779e-03 0.00000000e+00 9.39465839e+01] [-3.94046779e-03 9.99992236e-01 0.00000000e+00 -4.26381975e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36839019e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.960371743 meters Centerline goodness : 0.992794 with order 1 Centerline is valid? [True, True] Translation: X:94.00, Y:-4.26, Z:0.01 [[ 9.99969249e-01 7.84223338e-03 0.00000000e+00 9.40048944e+01] [-7.84223338e-03 9.99969249e-01 0.00000000e+00 -4.26409003e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51441270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.020371743 meters Centerline goodness : 0.993953 with order 1 Centerline is valid? [True, True] Translation: X:94.06, Y:-4.27, Z:0.01 [[ 9.99950058e-01 9.99407569e-03 0.00000000e+00 9.40623530e+01] [-9.99407569e-03 9.99950058e-01 0.00000000e+00 -4.26509018e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.63657389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.080371743 meters Centerline goodness : 0.993154 with order 1 Centerline is valid? [True, True] Translation: X:94.12, Y:-4.27, Z:0.01 [[ 9.99954465e-01 9.54300185e-03 0.00000000e+00 9.41200244e+01] [-9.54300185e-03 9.99954465e-01 0.00000000e+00 -4.26836128e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.65946085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.140371743 meters Centerline goodness : 0.993298 with order 1 Centerline is valid? [True, True] Translation: X:94.18, Y:-4.27, Z:0.00 [[ 9.99951223e-01 9.87680851e-03 0.00000000e+00 9.41774008e+01] [-9.87680851e-03 9.99951223e-01 0.00000000e+00 -4.27335032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35920730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.200371743 meters Centerline goodness : 0.994127 with order 1 Centerline is valid? [True, True] Translation: X:94.24, Y:-4.27, Z:0.01 [[ 9.99986910e-01 5.11659342e-03 0.00000000e+00 9.42374587e+01] [-5.11659342e-03 9.99986910e-01 0.00000000e+00 -4.26897837e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.47992289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.260371743 meters Centerline goodness : 0.994506 with order 1 Centerline is valid? [True, True] Translation: X:94.30, Y:-4.27, Z:0.01 [[ 9.99983248e-01 5.78818458e-03 0.00000000e+00 9.42961747e+01] [-5.78818458e-03 9.99983248e-01 0.00000000e+00 -4.27121532e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.79219307e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.320371743 meters Centerline goodness : 0.993080 with order 1 Centerline is valid? [True, True] Translation: X:94.36, Y:-4.28, Z:0.00 [[ 9.99918092e-01 1.27987915e-02 0.00000000e+00 9.43555526e+01] [-1.27987915e-02 9.99918092e-01 0.00000000e+00 -4.28305894e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32495974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.380371743 meters Centerline goodness : 0.994137 with order 1 Centerline is valid? [True, True] Translation: X:94.41, Y:-4.28, Z:0.01 [[ 9.99956616e-01 9.31481950e-03 0.00000000e+00 9.44137454e+01] [-9.31481950e-03 9.99956616e-01 0.00000000e+00 -4.28486931e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.74057144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.440371743 meters Centerline goodness : 0.993979 with order 1 Centerline is valid? [True, True] Translation: X:94.47, Y:-4.29, Z:0.01 [[ 9.99966011e-01 8.24486254e-03 0.00000000e+00 9.44727662e+01] [-8.24486254e-03 9.99966011e-01 0.00000000e+00 -4.28868794e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.48050386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.500371743 meters Centerline goodness : 0.993557 with order 1 Centerline is valid? [True, True] Translation: X:94.53, Y:-4.29, Z:0.01 [[ 9.99978399e-01 6.57276371e-03 0.00000000e+00 9.45316136e+01] [-6.57276371e-03 9.99978399e-01 0.00000000e+00 -4.29225363e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12078860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.560371743 meters Centerline goodness : 0.993501 with order 1 Centerline is valid? [True, True] Translation: X:94.59, Y:-4.30, Z:0.01 [[ 9.99970649e-01 7.66160880e-03 0.00000000e+00 9.45901961e+01] [-7.66160880e-03 9.99970649e-01 0.00000000e+00 -4.29934840e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.41830021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62037174299999 meters Centerline goodness : 0.993305 with order 1 Centerline is valid? [True, True] Translation: X:94.65, Y:-4.30, Z:0.01 [[ 9.99974160e-01 7.18882175e-03 0.00000000e+00 9.46475252e+01] [-7.18882175e-03 9.99974160e-01 0.00000000e+00 -4.30351371e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40185622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.680371743 meters Centerline goodness : 0.993393 with order 1 Centerline is valid? [True, True] Translation: X:94.70, Y:-4.31, Z:0.00 [[ 9.99917771e-01 1.28238457e-02 0.00000000e+00 9.47046995e+01] [-1.28238457e-02 9.99917771e-01 0.00000000e+00 -4.30708137e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34769337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.740371743 meters Centerline goodness : 0.992509 with order 1 Centerline is valid? [True, True] Translation: X:94.76, Y:-4.31, Z:0.00 [[ 9.99891312e-01 1.47432472e-02 0.00000000e+00 9.47633939e+01] [-1.47432472e-02 9.99891312e-01 0.00000000e+00 -4.30989380e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20994093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.800371743 meters Centerline goodness : 0.993115 with order 1 Centerline is valid? [True, True] Translation: X:94.82, Y:-4.31, Z:0.00 [[ 9.99798910e-01 2.00534077e-02 0.00000000e+00 9.48219462e+01] [-2.00534077e-02 9.99798910e-01 0.00000000e+00 -4.31493446e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91187110e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.860371743 meters Centerline goodness : 0.993937 with order 1 Centerline is valid? [True, True] Translation: X:94.88, Y:-4.31, Z:0.01 [[ 9.99844945e-01 1.76092418e-02 0.00000000e+00 9.48798344e+01] [-1.76092418e-02 9.99844945e-01 0.00000000e+00 -4.31066367e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.73184432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.920371743 meters Centerline goodness : 0.993339 with order 1 Centerline is valid? [True, True] Translation: X:94.94, Y:-4.32, Z:0.00 [[ 9.99618537e-01 2.76184733e-02 0.00000000e+00 9.49383449e+01] [-2.76184733e-02 9.99618537e-01 0.00000000e+00 -4.32220181e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48959802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98037174299999 meters Centerline goodness : 0.992513 with order 1 Centerline is valid? [True, True] Translation: X:95.00, Y:-4.33, Z:0.00 [[ 9.99346163e-01 3.61558528e-02 0.00000000e+00 9.49959052e+01] [-3.61558528e-02 9.99346163e-01 0.00000000e+00 -4.33047303e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38091228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.040371743 meters Centerline goodness : 0.993459 with order 1 Centerline is valid? [True, True] Translation: X:95.05, Y:-4.33, Z:0.01 [[ 9.99525176e-01 3.08126952e-02 0.00000000e+00 9.50539427e+01] [-3.08126952e-02 9.99525176e-01 0.00000000e+00 -4.32785700e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15611880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.100371743 meters Centerline goodness : 0.993656 with order 1 Centerline is valid? [True, True] Translation: X:95.11, Y:-4.34, Z:0.01 [[ 9.99581576e-01 2.89253007e-02 0.00000000e+00 9.51126927e+01] [-2.89253007e-02 9.99581576e-01 0.00000000e+00 -4.33724742e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14764214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.160371743 meters Centerline goodness : 0.993961 with order 1 Centerline is valid? [True, True] Translation: X:95.17, Y:-4.35, Z:0.01 [[ 9.99762002e-01 2.18160512e-02 0.00000000e+00 9.51705264e+01] [-2.18160512e-02 9.99762002e-01 0.00000000e+00 -4.34934930e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15905252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.220371743 meters Centerline goodness : 0.994400 with order 1 Centerline is valid? [True, True] Translation: X:95.23, Y:-4.36, Z:0.01 [[ 9.99862471e-01 1.65842797e-02 0.00000000e+00 9.52278543e+01] [-1.65842797e-02 9.99862471e-01 0.00000000e+00 -4.35776984e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19598509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.280371743 meters Centerline goodness : 0.995249 with order 1 Centerline is valid? [True, True] Translation: X:95.29, Y:-4.37, Z:0.01 [[ 9.99958938e-01 9.06214855e-03 0.00000000e+00 9.52858370e+01] [-9.06214855e-03 9.99958938e-01 0.00000000e+00 -4.37008626e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01262558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.340371743 meters Centerline goodness : 0.993875 with order 1 Centerline is valid? [True, True] Translation: X:95.34, Y:-4.39, Z:0.00 [[ 9.99966770e-01 8.15218495e-03 0.00000000e+00 9.53426249e+01] [-8.15218495e-03 9.99966770e-01 0.00000000e+00 -4.39228866e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.75660679e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.400371743 meters Centerline goodness : 0.995323 with order 1 Centerline is valid? [True, True] Translation: X:95.40, Y:-4.39, Z:0.01 [[ 9.99991696e-01 -4.07535173e-03 0.00000000e+00 9.54019538e+01] [ 4.07535173e-03 9.99991696e-01 0.00000000e+00 -4.39444211e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.88671624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.460371743 meters Centerline goodness : 0.996167 with order 1 Centerline is valid? [True, True] Translation: X:95.46, Y:-4.41, Z:0.01 [[ 9.99958963e-01 -9.05940157e-03 0.00000000e+00 9.54627578e+01] [ 9.05940157e-03 9.99958963e-01 0.00000000e+00 -4.40509346e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.51056662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.520371743 meters Centerline goodness : 0.994759 with order 1 Centerline is valid? [True, True] Translation: X:95.52, Y:-4.42, Z:0.00 [[ 9.99977975e-01 -6.63698926e-03 0.00000000e+00 9.55239372e+01] [ 6.63698926e-03 9.99977975e-01 0.00000000e+00 -4.42022561e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86944239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.580371743 meters Centerline goodness : 0.995033 with order 1 Centerline is valid? [True, True] Translation: X:95.59, Y:-4.43, Z:0.00 [[ 9.99960548e-01 -8.88274953e-03 0.00000000e+00 9.55853861e+01] [ 8.88274953e-03 9.99960548e-01 0.00000000e+00 -4.42905166e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.84944394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.640371743 meters Centerline goodness : 0.994853 with order 1 Centerline is valid? [True, True] Translation: X:95.65, Y:-4.44, Z:0.01 [[ 9.99934067e-01 -1.14830937e-02 0.00000000e+00 9.56461118e+01] [ 1.14830937e-02 9.99934067e-01 0.00000000e+00 -4.43537346e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.12872543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.700371743 meters Centerline goodness : 0.995336 with order 1 Centerline is valid? [True, True] Translation: X:95.71, Y:-4.44, Z:0.01 [[ 9.99944312e-01 -1.05533612e-02 0.00000000e+00 9.57077123e+01] [ 1.05533612e-02 9.99944312e-01 0.00000000e+00 -4.43890825e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.02584087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.760371743 meters Centerline goodness : 0.994910 with order 1 Centerline is valid? [True, True] Translation: X:95.77, Y:-4.44, Z:0.01 [[ 9.99955920e-01 -9.38930345e-03 0.00000000e+00 9.57686512e+01] [ 9.38930345e-03 9.99955920e-01 0.00000000e+00 -4.44363934e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.63598095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.820371743 meters Centerline goodness : 0.995991 with order 1 Centerline is valid? [True, True] Translation: X:95.83, Y:-4.44, Z:0.01 [[ 9.99947601e-01 -1.02369276e-02 0.00000000e+00 9.58302449e+01] [ 1.02369276e-02 9.99947601e-01 0.00000000e+00 -4.43998513e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17230861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.880371743 meters Centerline goodness : 0.994959 with order 1 Centerline is valid? [True, True] Translation: X:95.89, Y:-4.45, Z:0.01 [[ 9.99999950e-01 -3.16038364e-04 0.00000000e+00 9.58918395e+01] [ 3.16038364e-04 9.99999950e-01 0.00000000e+00 -4.45192808e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17046031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.940371743 meters Centerline goodness : 0.994527 with order 1 Centerline is valid? [True, True] Translation: X:95.95, Y:-4.45, Z:0.01 [[ 9.99999697e-01 7.78418006e-04 0.00000000e+00 9.59523427e+01] [-7.78418006e-04 9.99999697e-01 0.00000000e+00 -4.45489458e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.84688409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.000371743 meters Centerline goodness : 0.994767 with order 1 Centerline is valid? [True, True] Translation: X:96.01, Y:-4.46, Z:0.00 [[ 9.99999445e-01 1.05393770e-03 0.00000000e+00 9.60113984e+01] [-1.05393770e-03 9.99999445e-01 0.00000000e+00 -4.46096319e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13974364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.060371743 meters Centerline goodness : 0.996086 with order 1 Centerline is valid? [True, True] Translation: X:96.07, Y:-4.46, Z:0.01 [[ 9.99989240e-01 -4.63888944e-03 0.00000000e+00 9.60722521e+01] [ 4.63888944e-03 9.99989240e-01 0.00000000e+00 -4.45509090e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21210241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12037174299999 meters Centerline goodness : 0.994737 with order 1 Centerline is valid? [True, True] Translation: X:96.13, Y:-4.47, Z:0.00 [[ 9.99992072e-01 3.98207123e-03 0.00000000e+00 9.61333614e+01] [-3.98207123e-03 9.99992072e-01 0.00000000e+00 -4.46913708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67855069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.180371743 meters Centerline goodness : 0.995994 with order 1 Centerline is valid? [True, True] Translation: X:96.19, Y:-4.46, Z:0.01 [[ 9.99999297e-01 1.18540157e-03 0.00000000e+00 9.61937225e+01] [-1.18540157e-03 9.99999297e-01 0.00000000e+00 -4.46354418e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05881568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.240371743 meters Centerline goodness : 0.994981 with order 1 Centerline is valid? [True, True] Translation: X:96.25, Y:-4.47, Z:0.00 [[ 9.99845710e-01 1.75657729e-02 0.00000000e+00 9.62532278e+01] [-1.75657729e-02 9.99845710e-01 0.00000000e+00 -4.47397339e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30284354e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.300371743 meters Centerline goodness : 0.995149 with order 1 Centerline is valid? [True, True] Translation: X:96.31, Y:-4.47, Z:0.00 [[ 9.99766832e-01 2.15935375e-02 0.00000000e+00 9.63118677e+01] [-2.15935375e-02 9.99766832e-01 0.00000000e+00 -4.47481104e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10614871e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.360371743 meters Centerline goodness : 0.994596 with order 1 Centerline is valid? [True, True] Translation: X:96.37, Y:-4.48, Z:0.00 [[ 9.99711599e-01 2.40149579e-02 0.00000000e+00 9.63707004e+01] [-2.40149579e-02 9.99711599e-01 0.00000000e+00 -4.47667303e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.16158132e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.420371743 meters Centerline goodness : 0.994635 with order 1 Centerline is valid? [True, True] Translation: X:96.43, Y:-4.48, Z:-0.00 [[ 9.99715046e-01 2.38710520e-02 0.00000000e+00 9.64282498e+01] [-2.38710520e-02 9.99715046e-01 0.00000000e+00 -4.48050058e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38599503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48037174299999 meters Centerline goodness : 0.995503 with order 1 Centerline is valid? [True, True] Translation: X:96.49, Y:-4.47, Z:0.01 [[ 9.99956515e-01 9.32563962e-03 0.00000000e+00 9.64861268e+01] [-9.32563962e-03 9.99956515e-01 0.00000000e+00 -4.47196165e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01557394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.540371743 meters Centerline goodness : 0.994936 with order 1 Centerline is valid? [True, True] Translation: X:96.54, Y:-4.49, Z:-0.00 [[ 9.99848887e-01 1.73839951e-02 0.00000000e+00 9.65439524e+01] [-1.73839951e-02 9.99848887e-01 0.00000000e+00 -4.48562095e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.79955817e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.600371743 meters Centerline goodness : 0.994732 with order 1 Centerline is valid? [True, True] Translation: X:96.60, Y:-4.49, Z:-0.00 [[ 9.99902010e-01 1.39989651e-02 0.00000000e+00 9.66019843e+01] [-1.39989651e-02 9.99902010e-01 0.00000000e+00 -4.48944631e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23010785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.660371743 meters Centerline goodness : 0.994667 with order 1 Centerline is valid? [True, True] Translation: X:96.66, Y:-4.49, Z:0.00 [[ 9.99983212e-01 5.79452454e-03 0.00000000e+00 9.66609331e+01] [-5.79452454e-03 9.99983212e-01 0.00000000e+00 -4.48896737e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05042852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.720371743 meters Centerline goodness : 0.996223 with order 1 Centerline is valid? [True, True] Translation: X:96.72, Y:-4.48, Z:0.01 [[ 9.99983101e-01 -5.81350269e-03 0.00000000e+00 9.67201405e+01] [ 5.81350269e-03 9.99983101e-01 0.00000000e+00 -4.48104424e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06476429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.780371743 meters Centerline goodness : 0.994045 with order 1 Centerline is valid? [True, True] Translation: X:96.78, Y:-4.49, Z:0.00 [[ 9.99999783e-01 -6.58918166e-04 0.00000000e+00 9.67819950e+01] [ 6.58918166e-04 9.99999783e-01 0.00000000e+00 -4.49388815e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81147170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.840371743 meters Centerline goodness : 0.995674 with order 1 Centerline is valid? [True, True] Translation: X:96.84, Y:-4.48, Z:0.01 [[ 9.99898733e-01 -1.42310694e-02 0.00000000e+00 9.68432416e+01] [ 1.42310694e-02 9.99898733e-01 0.00000000e+00 -4.48396500e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02781347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.900371743 meters Centerline goodness : 0.996137 with order 1 Centerline is valid? [True, True] Translation: X:96.90, Y:-4.48, Z:0.01 [[ 9.99885986e-01 -1.51001658e-02 0.00000000e+00 9.69040262e+01] [ 1.51001658e-02 9.99885986e-01 0.00000000e+00 -4.48468194e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00714399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.960371743 meters Centerline goodness : 0.996019 with order 1 Centerline is valid? [True, True] Translation: X:96.97, Y:-4.48, Z:0.01 [[ 9.99919527e-01 -1.26862184e-02 0.00000000e+00 9.69664434e+01] [ 1.26862184e-02 9.99919527e-01 0.00000000e+00 -4.48312755e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14446156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.020371743 meters Centerline goodness : 0.995339 with order 1 Centerline is valid? [True, True] Translation: X:97.03, Y:-4.48, Z:0.01 [[ 9.99961291e-01 -8.79870358e-03 0.00000000e+00 9.70288224e+01] [ 8.79870358e-03 9.99961291e-01 0.00000000e+00 -4.48241083e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28885680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.080371743 meters Centerline goodness : 0.995077 with order 1 Centerline is valid? [True, True] Translation: X:97.09, Y:-4.48, Z:0.01 [[ 9.99989960e-01 -4.48111104e-03 0.00000000e+00 9.70913174e+01] [ 4.48111104e-03 9.99989960e-01 0.00000000e+00 -4.48122995e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35809904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.140371743 meters Centerline goodness : 0.993063 with order 1 Centerline is valid? [True, True] Translation: X:97.15, Y:-4.49, Z:0.00 [[ 9.99960257e-01 8.91542215e-03 0.00000000e+00 9.71522281e+01] [-8.91542215e-03 9.99960257e-01 0.00000000e+00 -4.49388177e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04860000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.200371743 meters Centerline goodness : 0.992920 with order 1 Centerline is valid? [True, True] Translation: X:97.21, Y:-4.49, Z:0.00 [[ 9.99938776e-01 1.10654830e-02 0.00000000e+00 9.72114315e+01] [-1.10654830e-02 9.99938776e-01 0.00000000e+00 -4.49401995e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09317622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.260371743 meters Centerline goodness : 0.991831 with order 1 Centerline is valid? [True, True] Translation: X:97.27, Y:-4.50, Z:-0.00 [[ 9.99894217e-01 1.45449273e-02 0.00000000e+00 9.72689200e+01] [-1.45449273e-02 9.99894217e-01 0.00000000e+00 -4.49812783e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69582609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.320371743 meters Centerline goodness : 0.994668 with order 1 Centerline is valid? [True, True] Translation: X:97.33, Y:-4.48, Z:0.01 [[ 9.99991989e-01 4.00274837e-03 0.00000000e+00 9.73273748e+01] [-4.00274837e-03 9.99991989e-01 0.00000000e+00 -4.48465605e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09988244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.380371743 meters Centerline goodness : 0.991955 with order 1 Centerline is valid? [True, True] Translation: X:97.39, Y:-4.50, Z:-0.00 [[ 9.99878229e-01 1.56053687e-02 0.00000000e+00 9.73861525e+01] [-1.56053687e-02 9.99878229e-01 0.00000000e+00 -4.50111467e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47955344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.440371743 meters Centerline goodness : 0.995278 with order 1 Centerline is valid? [True, True] Translation: X:97.45, Y:-4.49, Z:0.01 [[ 9.99996704e-01 2.56734987e-03 0.00000000e+00 9.74450553e+01] [-2.56734987e-03 9.99996704e-01 0.00000000e+00 -4.48906056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.76057114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.500371743 meters Centerline goodness : 0.994762 with order 1 Centerline is valid? [True, True] Translation: X:97.51, Y:-4.49, Z:0.01 [[ 9.99992375e-01 -3.90518905e-03 0.00000000e+00 9.75050827e+01] [ 3.90518905e-03 9.99992375e-01 0.00000000e+00 -4.49084250e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05879691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.560371743 meters Centerline goodness : 0.994792 with order 1 Centerline is valid? [True, True] Translation: X:97.57, Y:-4.49, Z:0.01 [[ 9.99984647e-01 -5.54129733e-03 0.00000000e+00 9.75660297e+01] [ 5.54129733e-03 9.99984647e-01 0.00000000e+00 -4.49294170e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12847892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62037174299999 meters Centerline goodness : 0.991717 with order 1 Centerline is valid? [True, True] Translation: X:97.63, Y:-4.51, Z:0.00 [[ 9.99989593e-01 4.56213735e-03 0.00000000e+00 9.76265789e+01] [-4.56213735e-03 9.99989593e-01 0.00000000e+00 -4.50602925e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07157526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.680371743 meters Centerline goodness : 0.991622 with order 1 Centerline is valid? [True, True] Translation: X:97.68, Y:-4.51, Z:0.00 [[ 9.99975526e-01 6.99624405e-03 0.00000000e+00 9.76849518e+01] [-6.99624405e-03 9.99975526e-01 0.00000000e+00 -4.50738089e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82549669e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.740371743 meters Centerline goodness : 0.993111 with order 1 Centerline is valid? [True, True] Translation: X:97.74, Y:-4.49, Z:0.01 [[ 9.99989028e-01 4.68451819e-03 0.00000000e+00 9.77441724e+01] [-4.68451819e-03 9.99989028e-01 0.00000000e+00 -4.49298035e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19053719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.800371743 meters Centerline goodness : 0.990011 with order 1 Centerline is valid? [True, True] Translation: X:97.80, Y:-4.51, Z:-0.00 [[ 9.99606315e-01 2.80573398e-02 0.00000000e+00 9.78020591e+01] [-2.80573398e-02 9.99606315e-01 0.00000000e+00 -4.50692953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06933940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.860371743 meters Centerline goodness : 0.990226 with order 1 Centerline is valid? [True, True] Translation: X:97.86, Y:-4.51, Z:-0.00 [[ 9.99344949e-01 3.61893987e-02 0.00000000e+00 9.78597246e+01] [-3.61893987e-02 9.99344949e-01 0.00000000e+00 -4.50783365e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.40699224e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.920371743 meters Centerline goodness : 0.990100 with order 1 Centerline is valid? [True, True] Translation: X:97.92, Y:-4.51, Z:-0.00 [[ 9.99036667e-01 4.38832323e-02 0.00000000e+00 9.79183391e+01] [-4.38832323e-02 9.99036667e-01 0.00000000e+00 -4.50987023e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03412727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98037174299999 meters Centerline goodness : 0.990782 with order 1 Centerline is valid? [True, True] Translation: X:97.98, Y:-4.51, Z:-0.00 [[ 9.99093384e-01 4.25724166e-02 0.00000000e+00 9.79764913e+01] [-4.25724166e-02 9.99093384e-01 0.00000000e+00 -4.51351421e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.96578170e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.040371743 meters Centerline goodness : 0.989774 with order 1 Centerline is valid? [True, True] Translation: X:98.04, Y:-4.52, Z:-0.00 [[ 9.99191929e-01 4.01931424e-02 0.00000000e+00 9.80353786e+01] [-4.01931424e-02 9.99191929e-01 0.00000000e+00 -4.51828686e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20483466e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.100371743 meters Centerline goodness : 0.990562 with order 1 Centerline is valid? [True, True] Translation: X:98.09, Y:-4.52, Z:-0.00 [[ 9.99352307e-01 3.59856323e-02 0.00000000e+00 9.80934572e+01] [-3.59856323e-02 9.99352307e-01 0.00000000e+00 -4.52346536e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34262273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.160371743 meters Centerline goodness : 0.990297 with order 1 Centerline is valid? [True, True] Translation: X:98.15, Y:-4.53, Z:0.00 [[ 9.99583259e-01 2.88670730e-02 0.00000000e+00 9.81522803e+01] [-2.88670730e-02 9.99583259e-01 0.00000000e+00 -4.52764368e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70341850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.220371743 meters Centerline goodness : 0.993750 with order 1 Centerline is valid? [True, True] Translation: X:98.21, Y:-4.52, Z:0.02 [[ 9.99959258e-01 9.02672207e-03 0.00000000e+00 9.82102091e+01] [-9.02672207e-03 9.99959258e-01 0.00000000e+00 -4.51768915e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57506434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.280371743 meters Centerline goodness : 0.992254 with order 1 Centerline is valid? [True, True] Translation: X:98.27, Y:-4.53, Z:0.01 [[ 9.99979972e-01 6.32890035e-03 0.00000000e+00 9.82687082e+01] [-6.32890035e-03 9.99979972e-01 0.00000000e+00 -4.53440428e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09533615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.340371743 meters Centerline goodness : 0.993599 with order 1 Centerline is valid? [True, True] Translation: X:98.33, Y:-4.54, Z:0.01 [[ 9.99999248e-01 -1.22643183e-03 0.00000000e+00 9.83278720e+01] [ 1.22643183e-03 9.99999248e-01 0.00000000e+00 -4.53992907e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24388686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.400371743 meters Centerline goodness : 0.993557 with order 1 Centerline is valid? [True, True] Translation: X:98.39, Y:-4.54, Z:0.01 [[ 9.99980561e-01 -6.23519508e-03 0.00000000e+00 9.83882398e+01] [ 6.23519508e-03 9.99980561e-01 0.00000000e+00 -4.54422789e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20041619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.460371743 meters Centerline goodness : 0.993555 with order 1 Centerline is valid? [True, True] Translation: X:98.45, Y:-4.55, Z:0.01 [[ 9.99961487e-01 -8.77633998e-03 0.00000000e+00 9.84502355e+01] [ 8.77633998e-03 9.99961487e-01 0.00000000e+00 -4.54803656e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20141270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.520371743 meters Centerline goodness : 0.993431 with order 1 Centerline is valid? [True, True] Translation: X:98.51, Y:-4.55, Z:0.01 [[ 9.99966709e-01 -8.15966064e-03 0.00000000e+00 9.85112701e+01] [ 8.15966064e-03 9.99966709e-01 0.00000000e+00 -4.55189221e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06639921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.580371743 meters Centerline goodness : 0.994835 with order 1 Centerline is valid? [True, True] Translation: X:98.57, Y:-4.55, Z:0.01 [[ 9.99947023e-01 -1.02932265e-02 0.00000000e+00 9.85727013e+01] [ 1.02932265e-02 9.99947023e-01 0.00000000e+00 -4.54682000e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41960776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.640371743 meters Centerline goodness : 0.993816 with order 1 Centerline is valid? [True, True] Translation: X:98.63, Y:-4.56, Z:0.01 [[ 9.99999963e-01 -2.72692107e-04 0.00000000e+00 9.86341093e+01] [ 2.72692107e-04 9.99999963e-01 0.00000000e+00 -4.55774123e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.91086627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.700371743 meters Centerline goodness : 0.994970 with order 1 Centerline is valid? [True, True] Translation: X:98.70, Y:-4.55, Z:0.01 [[ 9.99996037e-01 -2.81528943e-03 0.00000000e+00 9.86951959e+01] [ 2.81528943e-03 9.99996037e-01 0.00000000e+00 -4.55087293e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44856899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.760371743 meters Centerline goodness : 0.994440 with order 1 Centerline is valid? [True, True] Translation: X:98.76, Y:-4.55, Z:0.01 [[ 9.99993788e-01 3.52462515e-03 0.00000000e+00 9.87564246e+01] [-3.52462515e-03 9.99993788e-01 0.00000000e+00 -4.55220406e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37134055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.820371743 meters Centerline goodness : 0.993842 with order 1 Centerline is valid? [True, True] Translation: X:98.82, Y:-4.55, Z:0.01 [[ 9.99961274e-01 8.80062347e-03 0.00000000e+00 9.88156939e+01] [-8.80062347e-03 9.99961274e-01 0.00000000e+00 -4.55450093e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26993451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.880371743 meters Centerline goodness : 0.991861 with order 1 Centerline is valid? [True, True] Translation: X:98.87, Y:-4.57, Z:0.00 [[ 9.99687387e-01 2.50025825e-02 0.00000000e+00 9.88737025e+01] [-2.50025825e-02 9.99687387e-01 0.00000000e+00 -4.56580124e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03601464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.940371743 meters Centerline goodness : 0.992249 with order 1 Centerline is valid? [True, True] Translation: X:98.93, Y:-4.57, Z:0.00 [[ 9.99540146e-01 3.03232043e-02 0.00000000e+00 9.89323235e+01] [-3.03232043e-02 9.99540146e-01 0.00000000e+00 -4.56765239e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38682179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.000371743 meters Centerline goodness : 0.992891 with order 1 Centerline is valid? [True, True] Translation: X:98.99, Y:-4.57, Z:0.01 [[ 9.99537111e-01 3.04230829e-02 0.00000000e+00 9.89901306e+01] [-3.04230829e-02 9.99537111e-01 0.00000000e+00 -4.57044855e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.88348424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.060371743 meters Centerline goodness : 0.993250 with order 1 Centerline is valid? [True, True] Translation: X:99.05, Y:-4.57, Z:0.00 [[ 9.99542915e-01 3.02317945e-02 0.00000000e+00 9.90487423e+01] [-3.02317945e-02 9.99542915e-01 0.00000000e+00 -4.57495398e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28893499e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12037174299999 meters Centerline goodness : 0.994320 with order 1 Centerline is valid? [True, True] Translation: X:99.11, Y:-4.57, Z:0.01 [[ 9.99876849e-01 1.56935404e-02 0.00000000e+00 9.91068473e+01] [-1.56935404e-02 9.99876849e-01 0.00000000e+00 -4.56852654e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33061861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.180371743 meters Centerline goodness : 0.993906 with order 1 Centerline is valid? [True, True] Translation: X:99.16, Y:-4.58, Z:0.00 [[ 9.99842764e-01 1.77326623e-02 0.00000000e+00 9.91637064e+01] [-1.77326623e-02 9.99842764e-01 0.00000000e+00 -4.58311636e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28819592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.240371743 meters Centerline goodness : 0.993361 with order 1 Centerline is valid? [True, True] Translation: X:99.22, Y:-4.59, Z:0.00 [[ 9.99970689e-01 7.65642566e-03 0.00000000e+00 9.92215522e+01] [-7.65642566e-03 9.99970689e-01 0.00000000e+00 -4.58576887e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83155734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.300371743 meters Centerline goodness : 0.994223 with order 1 Centerline is valid? [True, True] Translation: X:99.28, Y:-4.59, Z:0.01 [[ 9.99999670e-01 8.12427174e-04 0.00000000e+00 9.92806466e+01] [-8.12427174e-04 9.99999670e-01 0.00000000e+00 -4.58863003e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06797310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.360371743 meters Centerline goodness : 0.994693 with order 1 Centerline is valid? [True, True] Translation: X:99.34, Y:-4.59, Z:0.01 [[ 9.99959027e-01 -9.05229945e-03 0.00000000e+00 9.93411016e+01] [ 9.05229945e-03 9.99959027e-01 0.00000000e+00 -4.59015361e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.78962279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.420371743 meters Centerline goodness : 0.994635 with order 1 Centerline is valid? [True, True] Translation: X:99.40, Y:-4.59, Z:0.01 [[ 9.99915232e-01 -1.30203388e-02 0.00000000e+00 9.94030951e+01] [ 1.30203388e-02 9.99915232e-01 0.00000000e+00 -4.59167053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.58629468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48037174299999 meters Centerline goodness : 0.995968 with order 1 Centerline is valid? [True, True] Translation: X:99.47, Y:-4.59, Z:0.01 [[ 9.99824772e-01 -1.87196698e-02 0.00000000e+00 9.94659920e+01] [ 1.87196698e-02 9.99824772e-01 0.00000000e+00 -4.58722886e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31637970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.540371743 meters Centerline goodness : 0.995421 with order 1 Centerline is valid? [True, True] Translation: X:99.53, Y:-4.59, Z:0.01 [[ 9.99841218e-01 -1.78196082e-02 0.00000000e+00 9.95292798e+01] [ 1.78196082e-02 9.99841218e-01 0.00000000e+00 -4.58926826e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34429684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.600371743 meters Centerline goodness : 0.995725 with order 1 Centerline is valid? [True, True] Translation: X:99.59, Y:-4.59, Z:0.01 [[ 9.99882454e-01 -1.53322297e-02 0.00000000e+00 9.95913881e+01] [ 1.53322297e-02 9.99882454e-01 0.00000000e+00 -4.59001747e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39716938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.660371743 meters Centerline goodness : 0.994877 with order 1 Centerline is valid? [True, True] Translation: X:99.65, Y:-4.59, Z:0.01 [[ 9.99968050e-01 -7.99364781e-03 0.00000000e+00 9.96531522e+01] [ 7.99364781e-03 9.99968050e-01 0.00000000e+00 -4.58883838e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36660621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.720371743 meters Centerline goodness : 0.994747 with order 1 Centerline is valid? [True, True] Translation: X:99.72, Y:-4.59, Z:0.01 [[ 9.99995542e-01 2.98610972e-03 0.00000000e+00 9.97154560e+01] [-2.98610972e-03 9.99995542e-01 0.00000000e+00 -4.58776012e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41395725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.780371743 meters Centerline goodness : 0.992191 with order 1 Centerline is valid? [True, True] Translation: X:99.77, Y:-4.60, Z:0.01 [[ 9.99746615e-01 2.25101267e-02 0.00000000e+00 9.97748740e+01] [-2.25101267e-02 9.99746615e-01 0.00000000e+00 -4.59676032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.45896889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.840371743 meters Centerline goodness : 0.991566 with order 1 Centerline is valid? [True, True] Translation: X:99.83, Y:-4.60, Z:0.00 [[ 9.99474080e-01 3.24278270e-02 0.00000000e+00 9.98328622e+01] [-3.24278270e-02 9.99474080e-01 0.00000000e+00 -4.59900457e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98310334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.900371743 meters Centerline goodness : 0.994142 with order 1 Centerline is valid? [True, True] Translation: X:99.89, Y:-4.59, Z:0.01 [[ 9.99680750e-01 2.52665342e-02 0.00000000e+00 9.98908322e+01] [-2.52665342e-02 9.99680750e-01 0.00000000e+00 -4.58943633e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38639900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.960371743 meters Centerline goodness : 0.993844 with order 1 Centerline is valid? [True, True] Translation: X:99.95, Y:-4.59, Z:0.01 [[ 9.99660703e-01 2.60476235e-02 0.00000000e+00 9.99477342e+01] [-2.60476235e-02 9.99660703e-01 0.00000000e+00 -4.59280944e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34942642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.020371743 meters Centerline goodness : 0.993760 with order 1 Centerline is valid? [True, True] Translation: X:100.01, Y:-4.60, Z:0.01 [[ 9.99732382e-01 2.31336092e-02 0.00000000e+00 1.00006337e+02] [-2.31336092e-02 9.99732382e-01 0.00000000e+00 -4.59833666e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49654287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.080371743 meters Centerline goodness : 0.992574 with order 1 Centerline is valid? [True, True] Translation: X:100.06, Y:-4.62, Z:0.00 [[ 9.99613677e-01 2.77938233e-02 0.00000000e+00 1.00064670e+02] [-2.77938233e-02 9.99613677e-01 0.00000000e+00 -4.61786358e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88009775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.140371743 meters Centerline goodness : 0.992557 with order 1 Centerline is valid? [True, True] Translation: X:100.12, Y:-4.62, Z:0.00 [[ 9.99672252e-01 2.56005612e-02 0.00000000e+00 1.00122216e+02] [-2.56005612e-02 9.99672252e-01 0.00000000e+00 -4.62269356e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97478408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.200371743 meters Centerline goodness : 0.992491 with order 1 Centerline is valid? [True, True] Translation: X:100.18, Y:-4.63, Z:0.00 [[ 9.99791561e-01 2.04165416e-02 0.00000000e+00 1.00180536e+02] [-2.04165416e-02 9.99791561e-01 0.00000000e+00 -4.63133590e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62148916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.260371743 meters Centerline goodness : 0.992996 with order 1 Centerline is valid? [True, True] Translation: X:100.24, Y:-4.64, Z:0.00 [[ 9.99864218e-01 1.64786478e-02 0.00000000e+00 1.00238077e+02] [-1.64786478e-02 9.99864218e-01 0.00000000e+00 -4.63686669e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09539848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.320371743 meters Centerline goodness : 0.993171 with order 1 Centerline is valid? [True, True] Translation: X:100.30, Y:-4.64, Z:0.00 [[ 9.99935944e-01 1.13185028e-02 0.00000000e+00 1.00296640e+02] [-1.13185028e-02 9.99935944e-01 0.00000000e+00 -4.64270959e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69214189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.380371743 meters Centerline goodness : 0.994095 with order 1 Centerline is valid? [True, True] Translation: X:100.35, Y:-4.65, Z:0.00 [[ 9.99995564e-01 2.97864370e-03 0.00000000e+00 1.00353707e+02] [-2.97864370e-03 9.99995564e-01 0.00000000e+00 -4.64944147e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33972790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.440371743 meters Centerline goodness : 0.995249 with order 1 Centerline is valid? [True, True] Translation: X:100.41, Y:-4.64, Z:0.01 [[ 9.99966223e-01 -8.21906846e-03 0.00000000e+00 1.00413922e+02] [ 8.21906846e-03 9.99966223e-01 0.00000000e+00 -4.64273532e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20119503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.500371743 meters Centerline goodness : 0.993941 with order 1 Centerline is valid? [True, True] Translation: X:100.48, Y:-4.65, Z:0.01 [[ 9.99994027e-01 -3.45636905e-03 0.00000000e+00 1.00475735e+02] [ 3.45636905e-03 9.99994027e-01 0.00000000e+00 -4.65364406e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.47148811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.560371743 meters Centerline goodness : 0.994187 with order 1 Centerline is valid? [True, True] Translation: X:100.54, Y:-4.66, Z:0.00 [[ 9.99997491e-01 -2.24007216e-03 0.00000000e+00 1.00536959e+02] [ 2.24007216e-03 9.99997491e-01 0.00000000e+00 -4.65694103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16430580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62037174299999 meters Centerline goodness : 0.993782 with order 1 Centerline is valid? [True, True] Translation: X:100.60, Y:-4.66, Z:0.01 [[ 9.99989111e-01 -4.66659933e-03 0.00000000e+00 1.00598028e+02] [ 4.66659933e-03 9.99989111e-01 0.00000000e+00 -4.65771316e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.69665026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.680371743 meters Centerline goodness : 0.994733 with order 1 Centerline is valid? [True, True] Translation: X:100.66, Y:-4.65, Z:0.01 [[ 9.99914217e-01 -1.30980247e-02 0.00000000e+00 1.00659887e+02] [ 1.30980247e-02 9.99914217e-01 0.00000000e+00 -4.64925157e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20490400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.740371743 meters Centerline goodness : 0.995185 with order 1 Centerline is valid? [True, True] Translation: X:100.72, Y:-4.65, Z:0.01 [[ 9.99883786e-01 -1.52451528e-02 0.00000000e+00 1.00721040e+02] [ 1.52451528e-02 9.99883786e-01 0.00000000e+00 -4.65006555e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22343805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.800371743 meters Centerline goodness : 0.995081 with order 1 Centerline is valid? [True, True] Translation: X:100.78, Y:-4.65, Z:0.01 [[ 9.99867845e-01 -1.62570754e-02 0.00000000e+00 1.00783429e+02] [ 1.62570754e-02 9.99867845e-01 0.00000000e+00 -4.65067589e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29003994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.860371743 meters Centerline goodness : 0.993263 with order 1 Centerline is valid? [True, True] Translation: X:100.84, Y:-4.66, Z:0.00 [[ 9.99963919e-01 -8.49477341e-03 0.00000000e+00 1.00844934e+02] [ 8.49477341e-03 9.99963919e-01 0.00000000e+00 -4.66146231e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57714202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.920371743 meters Centerline goodness : 0.994848 with order 1 Centerline is valid? [True, True] Translation: X:100.91, Y:-4.65, Z:0.01 [[ 9.99909973e-01 -1.34181543e-02 0.00000000e+00 1.00907430e+02] [ 1.34181543e-02 9.99909973e-01 0.00000000e+00 -4.65207502e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24402358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98037174299999 meters Centerline goodness : 0.992775 with order 1 Centerline is valid? [True, True] Translation: X:100.97, Y:-4.66, Z:0.00 [[ 9.99998293e-01 1.84790267e-03 0.00000000e+00 1.00968856e+02] [-1.84790267e-03 9.99998293e-01 0.00000000e+00 -4.66121452e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27317679e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.040371743 meters Centerline goodness : 0.992189 with order 1 Centerline is valid? [True, True] Translation: X:101.03, Y:-4.66, Z:0.00 [[ 9.99953962e-01 9.59547631e-03 0.00000000e+00 1.01028024e+02] [-9.59547631e-03 9.99953962e-01 0.00000000e+00 -4.65985049e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44851818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.100371743 meters Centerline goodness : 0.992045 with order 1 Centerline is valid? [True, True] Translation: X:101.09, Y:-4.66, Z:0.00 [[ 9.99824019e-01 1.87598042e-02 0.00000000e+00 1.01086614e+02] [-1.87598042e-02 9.99824019e-01 0.00000000e+00 -4.66067075e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08440318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.160371743 meters Centerline goodness : 0.991603 with order 1 Centerline is valid? [True, True] Translation: X:101.14, Y:-4.66, Z:0.00 [[ 9.99774823e-01 2.12203481e-02 0.00000000e+00 1.01144818e+02] [-2.12203481e-02 9.99774823e-01 0.00000000e+00 -4.65976874e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08986943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.220371743 meters Centerline goodness : 0.993664 with order 1 Centerline is valid? [True, True] Translation: X:101.20, Y:-4.65, Z:0.01 [[ 9.99870688e-01 1.60812731e-02 0.00000000e+00 1.01203017e+02] [-1.60812731e-02 9.99870688e-01 0.00000000e+00 -4.64901463e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49434968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.280371743 meters Centerline goodness : 0.992977 with order 1 Centerline is valid? [True, True] Translation: X:101.26, Y:-4.66, Z:0.01 [[ 9.99916781e-01 1.29008226e-02 0.00000000e+00 1.01261702e+02] [-1.29008226e-02 9.99916781e-01 0.00000000e+00 -4.65510267e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09932272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34037174299999 meters Centerline goodness : 0.992364 with order 1 Centerline is valid? [True, True] Translation: X:101.32, Y:-4.67, Z:0.01 [[ 9.99870990e-01 1.60624546e-02 0.00000000e+00 1.01319471e+02] [-1.60624546e-02 9.99870990e-01 0.00000000e+00 -4.66734654e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30092709e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.400371743 meters Centerline goodness : 0.992911 with order 1 Centerline is valid? [True, True] Translation: X:101.38, Y:-4.67, Z:0.00 [[ 9.99917949e-01 1.28099869e-02 0.00000000e+00 1.01377696e+02] [-1.28099869e-02 9.99917949e-01 0.00000000e+00 -4.67236728e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59011110e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.460371743 meters Centerline goodness : 0.992855 with order 1 Centerline is valid? [True, True] Translation: X:101.44, Y:-4.67, Z:0.01 [[ 9.99978958e-01 6.48716660e-03 0.00000000e+00 1.01436367e+02] [-6.48716660e-03 9.99978958e-01 0.00000000e+00 -4.67338078e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.11737824e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.520371743 meters Centerline goodness : 0.994908 with order 1 Centerline is valid? [True, True] Translation: X:101.49, Y:-4.67, Z:0.01 [[ 9.99974285e-01 -7.17143789e-03 0.00000000e+00 1.01494846e+02] [ 7.17143789e-03 9.99974285e-01 0.00000000e+00 -4.67071120e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13415539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.580371743 meters Centerline goodness : 0.994825 with order 1 Centerline is valid? [True, True] Translation: X:101.56, Y:-4.68, Z:0.01 [[ 9.99913009e-01 -1.31899418e-02 0.00000000e+00 1.01557571e+02] [ 1.31899418e-02 9.99913009e-01 0.00000000e+00 -4.67611656e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05583480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.640371743 meters Centerline goodness : 0.995129 with order 1 Centerline is valid? [True, True] Translation: X:101.62, Y:-4.68, Z:0.01 [[ 9.99888908e-01 -1.49054491e-02 0.00000000e+00 1.01619577e+02] [ 1.49054491e-02 9.99888908e-01 0.00000000e+00 -4.68007214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.43774951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.700371743 meters Centerline goodness : 0.993789 with order 1 Centerline is valid? [True, True] Translation: X:101.68, Y:-4.69, Z:0.00 [[ 9.99988893e-01 -4.71313575e-03 0.00000000e+00 1.01681364e+02] [ 4.71313575e-03 9.99988893e-01 0.00000000e+00 -4.69037592e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99777436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.760371743 meters Centerline goodness : 0.993710 with order 1 Centerline is valid? [True, True] Translation: X:101.74, Y:-4.69, Z:0.00 [[ 9.99999771e-01 -6.77386385e-04 0.00000000e+00 1.01743055e+02] [ 6.77386385e-04 9.99999771e-01 0.00000000e+00 -4.69002470e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48152985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.820371743 meters Centerline goodness : 0.993866 with order 1 Centerline is valid? [True, True] Translation: X:101.80, Y:-4.69, Z:0.00 [[ 9.99987521e-01 4.99574926e-03 0.00000000e+00 1.01804052e+02] [-4.99574926e-03 9.99987521e-01 0.00000000e+00 -4.68837287e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66102925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.880371743 meters Centerline goodness : 0.995567 with order 1 Centerline is valid? [True, True] Translation: X:101.86, Y:-4.68, Z:0.01 [[ 9.99992629e-01 3.83954057e-03 0.00000000e+00 1.01863437e+02] [-3.83954057e-03 9.99992629e-01 0.00000000e+00 -4.68077164e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.47335738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.940371743 meters Centerline goodness : 0.992922 with order 1 Centerline is valid? [True, True] Translation: X:101.92, Y:-4.68, Z:0.00 [[ 9.99857372e-01 1.68889388e-02 0.00000000e+00 1.01922185e+02] [-1.68889388e-02 9.99857372e-01 0.00000000e+00 -4.68487750e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66021324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.000371743 meters Centerline goodness : 0.993235 with order 1 Centerline is valid? [True, True] Translation: X:101.98, Y:-4.69, Z:0.00 [[ 9.99794986e-01 2.02481189e-02 0.00000000e+00 1.01979601e+02] [-2.02481189e-02 9.99794986e-01 0.00000000e+00 -4.68602608e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67584853e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.060371743 meters Centerline goodness : 0.993557 with order 1 Centerline is valid? [True, True] Translation: X:102.04, Y:-4.68, Z:0.01 [[ 9.99857640e-01 1.68730225e-02 0.00000000e+00 1.02038258e+02] [-1.68730225e-02 9.99857640e-01 0.00000000e+00 -4.67689885e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08106575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12037174299999 meters Centerline goodness : 0.991999 with order 1 Centerline is valid? [True, True] Translation: X:102.10, Y:-4.69, Z:0.00 [[ 9.99730667e-01 2.32075968e-02 0.00000000e+00 1.02096465e+02] [-2.32075968e-02 9.99730667e-01 0.00000000e+00 -4.68685103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68893093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.180371743 meters Centerline goodness : 0.992371 with order 1 Centerline is valid? [True, True] Translation: X:102.15, Y:-4.69, Z:0.00 [[ 9.99727337e-01 2.33506237e-02 0.00000000e+00 1.02154837e+02] [-2.33506237e-02 9.99727337e-01 0.00000000e+00 -4.68939239e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97276878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.240371743 meters Centerline goodness : 0.992015 with order 1 Centerline is valid? [True, True] Translation: X:102.21, Y:-4.69, Z:0.00 [[ 9.99748091e-01 2.24444879e-02 0.00000000e+00 1.02212323e+02] [-2.24444879e-02 9.99748091e-01 0.00000000e+00 -4.69241606e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98856309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.300371743 meters Centerline goodness : 0.992384 with order 1 Centerline is valid? [True, True] Translation: X:102.27, Y:-4.70, Z:0.00 [[ 9.99828746e-01 1.85061747e-02 0.00000000e+00 1.02269708e+02] [-1.85061747e-02 9.99828746e-01 0.00000000e+00 -4.69632379e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77182170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.360371743 meters Centerline goodness : 0.991805 with order 1 Centerline is valid? [True, True] Translation: X:102.33, Y:-4.70, Z:0.00 [[ 9.99891613e-01 1.47228530e-02 0.00000000e+00 1.02326719e+02] [-1.47228530e-02 9.99891613e-01 0.00000000e+00 -4.70127384e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25807358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.420371743 meters Centerline goodness : 0.991816 with order 1 Centerline is valid? [True, True] Translation: X:102.38, Y:-4.71, Z:0.00 [[ 9.99909668e-01 1.34408284e-02 0.00000000e+00 1.02384685e+02] [-1.34408284e-02 9.99909668e-01 0.00000000e+00 -4.70588929e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75902830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48037174299999 meters Centerline goodness : 0.993983 with order 1 Centerline is valid? [True, True] Translation: X:102.44, Y:-4.70, Z:0.01 [[ 9.99994423e-01 3.33961952e-03 0.00000000e+00 1.02443235e+02] [-3.33961952e-03 9.99994423e-01 0.00000000e+00 -4.69903846e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06085021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.540371743 meters Centerline goodness : 0.992705 with order 1 Centerline is valid? [True, True] Translation: X:102.50, Y:-4.71, Z:0.01 [[ 9.99978181e-01 6.60583294e-03 0.00000000e+00 1.02501860e+02] [-6.60583294e-03 9.99978181e-01 0.00000000e+00 -4.71426546e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61122229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.600371743 meters Centerline goodness : 0.992576 with order 1 Centerline is valid? [True, True] Translation: X:102.56, Y:-4.72, Z:0.00 [[ 9.99974521e-01 7.13844830e-03 0.00000000e+00 1.02560711e+02] [-7.13844830e-03 9.99974521e-01 0.00000000e+00 -4.72071619e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62908517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.660371743 meters Centerline goodness : 0.994141 with order 1 Centerline is valid? [True, True] Translation: X:102.62, Y:-4.71, Z:0.01 [[ 9.99996167e-01 -2.76878510e-03 0.00000000e+00 1.02619957e+02] [ 2.76878510e-03 9.99996167e-01 0.00000000e+00 -4.71375134e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.61300843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.720371743 meters Centerline goodness : 0.992466 with order 1 Centerline is valid? [True, True] Translation: X:102.68, Y:-4.73, Z:0.00 [[ 9.99976460e-01 6.86142648e-03 0.00000000e+00 1.02680909e+02] [-6.86142648e-03 9.99976460e-01 0.00000000e+00 -4.72648369e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51769088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.780371743 meters Centerline goodness : 0.991466 with order 1 Centerline is valid? [True, True] Translation: X:102.74, Y:-4.73, Z:0.00 [[ 9.99932905e-01 1.15838505e-02 0.00000000e+00 1.02738950e+02] [-1.15838505e-02 9.99932905e-01 0.00000000e+00 -4.72979208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68366527e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84037174299999 meters Centerline goodness : 0.991291 with order 1 Centerline is valid? [True, True] Translation: X:102.80, Y:-4.73, Z:-0.00 [[ 9.99872684e-01 1.59566998e-02 0.00000000e+00 1.02796127e+02] [-1.59566998e-02 9.99872684e-01 0.00000000e+00 -4.73250907e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42064112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.900371743 meters Centerline goodness : 0.990645 with order 1 Centerline is valid? [True, True] Translation: X:102.86, Y:-4.73, Z:-0.00 [[ 9.99815680e-01 1.91991209e-02 0.00000000e+00 1.02855173e+02] [-1.91991209e-02 9.99815680e-01 0.00000000e+00 -4.73364053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33010854e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.960371743 meters Centerline goodness : 0.990162 with order 1 Centerline is valid? [True, True] Translation: X:102.91, Y:-4.73, Z:0.00 [[ 9.99775929e-01 2.11681789e-02 0.00000000e+00 1.02912792e+02] [-2.11681789e-02 9.99775929e-01 0.00000000e+00 -4.73470370e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.48371355e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.020371743 meters Centerline goodness : 0.992737 with order 1 Centerline is valid? [True, True] Translation: X:102.97, Y:-4.72, Z:0.01 [[ 9.99945736e-01 1.04175791e-02 0.00000000e+00 1.02971394e+02] [-1.04175791e-02 9.99945736e-01 0.00000000e+00 -4.72457163e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.72357480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.080371743 meters Centerline goodness : 0.992950 with order 1 Centerline is valid? [True, True] Translation: X:103.03, Y:-4.73, Z:0.01 [[ 9.99989764e-01 4.52449882e-03 0.00000000e+00 1.03030550e+02] [-4.52449882e-03 9.99989764e-01 0.00000000e+00 -4.72857908e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01182755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.140371743 meters Centerline goodness : 0.991364 with order 1 Centerline is valid? [True, True] Translation: X:103.09, Y:-4.74, Z:0.01 [[ 9.99995676e-01 2.94085026e-03 0.00000000e+00 1.03088704e+02] [-2.94085026e-03 9.99995676e-01 0.00000000e+00 -4.74189352e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30728070e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.200371743 meters Centerline goodness : 0.992088 with order 1 Centerline is valid? [True, True] Translation: X:103.15, Y:-4.74, Z:0.01 [[ 9.99962641e-01 -8.64386844e-03 0.00000000e+00 1.03148701e+02] [ 8.64386844e-03 9.99962641e-01 0.00000000e+00 -4.74389423e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.42555775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.260371743 meters Centerline goodness : 0.992325 with order 1 Centerline is valid? [True, True] Translation: X:103.21, Y:-4.75, Z:0.01 [[ 9.99897388e-01 -1.43252912e-02 0.00000000e+00 1.03211343e+02] [ 1.43252912e-02 9.99897388e-01 0.00000000e+00 -4.74838120e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.06153129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.320371743 meters Centerline goodness : 0.992061 with order 1 Centerline is valid? [True, True] Translation: X:103.27, Y:-4.75, Z:0.01 [[ 9.99899500e-01 -1.41771021e-02 0.00000000e+00 1.03272294e+02] [ 1.41771021e-02 9.99899500e-01 0.00000000e+00 -4.75124596e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.21559468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.380371743 meters Centerline goodness : 0.992733 with order 1 Centerline is valid? [True, True] Translation: X:103.33, Y:-4.75, Z:0.01 [[ 9.99955925e-01 -9.38870482e-03 0.00000000e+00 1.03334202e+02] [ 9.38870482e-03 9.99955925e-01 0.00000000e+00 -4.75284563e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.65062046e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.440371743 meters Centerline goodness : 0.991763 with order 1 Centerline is valid? [True, True] Translation: X:103.40, Y:-4.76, Z:0.00 [[ 9.99998646e-01 -1.64555003e-03 0.00000000e+00 1.03396698e+02] [ 1.64555003e-03 9.99998646e-01 0.00000000e+00 -4.75619918e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32806135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.500371743 meters Centerline goodness : 0.991180 with order 1 Centerline is valid? [True, True] Translation: X:103.46, Y:-4.76, Z:-0.00 [[ 9.99975506e-01 6.99911174e-03 0.00000000e+00 1.03456658e+02] [-6.99911174e-03 9.99975506e-01 0.00000000e+00 -4.75878968e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.95720260e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.560371743 meters Centerline goodness : 0.990710 with order 1 Centerline is valid? [True, True] Translation: X:103.52, Y:-4.76, Z:-0.00 [[ 9.99894354e-01 1.45355001e-02 0.00000000e+00 1.03515024e+02] [-1.45355001e-02 9.99894354e-01 0.00000000e+00 -4.75995749e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80993329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62037174299999 meters Centerline goodness : 0.993004 with order 1 Centerline is valid? [True, True] Translation: X:103.57, Y:-4.75, Z:0.00 [[ 9.99963861e-01 8.50155686e-03 0.00000000e+00 1.03574055e+02] [-8.50155686e-03 9.99963861e-01 0.00000000e+00 -4.74668892e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52059310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.680371743 meters Centerline goodness : 0.992825 with order 1 Centerline is valid? [True, True] Translation: X:103.63, Y:-4.75, Z:0.00 [[ 9.99950477e-01 9.95207112e-03 0.00000000e+00 1.03632700e+02] [-9.95207112e-03 9.99950477e-01 0.00000000e+00 -4.74711419e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15910634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.740371743 meters Centerline goodness : 0.993554 with order 1 Centerline is valid? [True, True] Translation: X:103.69, Y:-4.75, Z:0.01 [[ 9.99954810e-01 9.50674175e-03 0.00000000e+00 1.03691865e+02] [-9.50674175e-03 9.99954810e-01 0.00000000e+00 -4.74792788e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61495303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.800371743 meters Centerline goodness : 0.989021 with order 1 Centerline is valid? [True, True] Translation: X:103.75, Y:-4.77, Z:-0.02 [[ 9.99740737e-01 2.27696894e-02 0.00000000e+00 1.03749556e+02] [-2.27696894e-02 9.99740737e-01 0.00000000e+00 -4.77401087e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55128336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.860371743 meters Centerline goodness : 0.990567 with order 1 Centerline is valid? [True, True] Translation: X:103.81, Y:-4.78, Z:-0.01 [[ 9.99872445e-01 1.59716528e-02 0.00000000e+00 1.03807903e+02] [-1.59716528e-02 9.99872445e-01 0.00000000e+00 -4.77625249e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27054817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.920371743 meters Centerline goodness : 0.991179 with order 1 Centerline is valid? [True, True] Translation: X:103.87, Y:-4.77, Z:-0.00 [[ 9.99995593e-01 2.96873646e-03 0.00000000e+00 1.03866594e+02] [-2.96873646e-03 9.99995593e-01 0.00000000e+00 -4.77353116e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.76793595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98037174299999 meters Centerline goodness : 0.991765 with order 1 Centerline is valid? [True, True] Translation: X:103.93, Y:-4.78, Z:-0.01 [[ 9.99993167e-01 -3.69662026e-03 0.00000000e+00 1.03925186e+02] [ 3.69662026e-03 9.99993167e-01 0.00000000e+00 -4.77771830e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15097936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.040371743 meters Centerline goodness : 0.991435 with order 1 Centerline is valid? [True, True] Translation: X:103.99, Y:-4.78, Z:-0.01 [[ 9.99970302e-01 -7.70684273e-03 0.00000000e+00 1.03986756e+02] [ 7.70684273e-03 9.99970302e-01 0.00000000e+00 -4.78187731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.74348596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.100371743 meters Centerline goodness : 0.992232 with order 1 Centerline is valid? [True, True] Translation: X:104.05, Y:-4.78, Z:-0.00 [[ 9.99978865e-01 -6.50152425e-03 0.00000000e+00 1.04049295e+02] [ 6.50152425e-03 9.99978865e-01 0.00000000e+00 -4.78230956e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.11196612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.160371743 meters Centerline goodness : 0.992144 with order 1 Centerline is valid? [True, True] Translation: X:104.11, Y:-4.79, Z:-0.00 [[ 9.99997579e-01 -2.20050446e-03 0.00000000e+00 1.04111761e+02] [ 2.20050446e-03 9.99997579e-01 0.00000000e+00 -4.78530019e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07653780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.220371743 meters Centerline goodness : 0.992227 with order 1 Centerline is valid? [True, True] Translation: X:104.17, Y:-4.78, Z:-0.00 [[ 9.99906679e-01 1.36613756e-02 0.00000000e+00 1.04172031e+02] [-1.36613756e-02 9.99906679e-01 0.00000000e+00 -4.78481071e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32972816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.280371743 meters Centerline goodness : 0.991949 with order 1 Centerline is valid? [True, True] Translation: X:104.23, Y:-4.79, Z:-0.00 [[ 9.99748193e-01 2.24399181e-02 0.00000000e+00 1.04229725e+02] [-2.24399181e-02 9.99748193e-01 0.00000000e+00 -4.78700184e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60526850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34037174299999 meters Centerline goodness : 0.991943 with order 1 Centerline is valid? [True, True] Translation: X:104.29, Y:-4.79, Z:-0.00 [[ 9.99527631e-01 3.07329482e-02 0.00000000e+00 1.04287496e+02] [-3.07329482e-02 9.99527631e-01 0.00000000e+00 -4.78861981e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44310762e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.400371743 meters Centerline goodness : 0.991348 with order 1 Centerline is valid? [True, True] Translation: X:104.35, Y:-4.79, Z:-0.00 [[ 9.99423117e-01 3.39622319e-02 0.00000000e+00 1.04345488e+02] [-3.39622319e-02 9.99423117e-01 0.00000000e+00 -4.79114925e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72131719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.460371743 meters Centerline goodness : 0.994375 with order 1 Centerline is valid? [True, True] Translation: X:104.40, Y:-4.78, Z:0.00 [[ 9.99754816e-01 2.21428853e-02 0.00000000e+00 1.04403473e+02] [-2.21428853e-02 9.99754816e-01 0.00000000e+00 -4.78075465e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68941058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.520371743 meters Centerline goodness : 0.994049 with order 1 Centerline is valid? [True, True] Translation: X:104.46, Y:-4.79, Z:0.00 [[ 9.99809564e-01 1.95149931e-02 0.00000000e+00 1.04460019e+02] [-1.95149931e-02 9.99809564e-01 0.00000000e+00 -4.78503033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23709904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.580371743 meters Centerline goodness : 0.990494 with order 1 Centerline is valid? [True, True] Translation: X:104.52, Y:-4.81, Z:-0.01 [[ 9.99552260e-01 2.99212156e-02 0.00000000e+00 1.04517262e+02] [-2.99212156e-02 9.99552260e-01 0.00000000e+00 -4.80942198e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02940338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.640371743 meters Centerline goodness : 0.991260 with order 1 Centerline is valid? [True, True] Translation: X:104.58, Y:-4.81, Z:-0.01 [[ 9.99739217e-01 2.28363244e-02 0.00000000e+00 1.04576110e+02] [-2.28363244e-02 9.99739217e-01 0.00000000e+00 -4.81316984e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.52956066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.700371743 meters Centerline goodness : 0.992198 with order 1 Centerline is valid? [True, True] Translation: X:104.63, Y:-4.82, Z:-0.00 [[ 9.99993613e-01 3.57415431e-03 0.00000000e+00 1.04634750e+02] [-3.57415431e-03 9.99993613e-01 0.00000000e+00 -4.81506723e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.81790858e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.760371743 meters Centerline goodness : 0.992737 with order 1 Centerline is valid? [True, True] Translation: X:104.69, Y:-4.82, Z:-0.00 [[ 9.99983342e-01 -5.77195658e-03 0.00000000e+00 1.04693848e+02] [ 5.77195658e-03 9.99983342e-01 0.00000000e+00 -4.82117317e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37696101e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.820371743 meters Centerline goodness : 0.993195 with order 1 Centerline is valid? [True, True] Translation: X:104.76, Y:-4.82, Z:0.00 [[ 9.99921001e-01 -1.25694824e-02 0.00000000e+00 1.04756262e+02] [ 1.25694824e-02 9.99921001e-01 0.00000000e+00 -4.82412266e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.92370824e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.880371743 meters Centerline goodness : 0.992894 with order 1 Centerline is valid? [True, True] Translation: X:104.82, Y:-4.83, Z:0.00 [[ 9.99887359e-01 -1.50089750e-02 0.00000000e+00 1.04819060e+02] [ 1.50089750e-02 9.99887359e-01 0.00000000e+00 -4.82525738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25071548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.940371743 meters Centerline goodness : 0.992562 with order 1 Centerline is valid? [True, True] Translation: X:104.88, Y:-4.83, Z:-0.00 [[ 9.99912752e-01 -1.32093836e-02 0.00000000e+00 1.04882348e+02] [ 1.32093836e-02 9.99912752e-01 0.00000000e+00 -4.82801462e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16389944e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.000371743 meters Centerline goodness : 0.992457 with order 1 Centerline is valid? [True, True] Translation: X:104.94, Y:-4.83, Z:-0.00 [[ 9.99954564e-01 -9.53259778e-03 0.00000000e+00 1.04943494e+02] [ 9.53259778e-03 9.99954564e-01 0.00000000e+00 -4.82899868e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50297443e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.060371743 meters Centerline goodness : 0.992540 with order 1 Centerline is valid? [True, True] Translation: X:105.01, Y:-4.83, Z:-0.00 [[ 9.99999922e-01 -3.96079592e-04 0.00000000e+00 1.05005575e+02] [ 3.96079592e-04 9.99999922e-01 0.00000000e+00 -4.83096396e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36512356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12037174299999 meters Centerline goodness : 0.992363 with order 1 Centerline is valid? [True, True] Translation: X:105.07, Y:-4.83, Z:0.00 [[ 9.99999075e-01 1.35994914e-03 0.00000000e+00 1.05065988e+02] [-1.35994914e-03 9.99999075e-01 0.00000000e+00 -4.82884981e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.71350750e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.180371743 meters Centerline goodness : 0.991777 with order 1 Centerline is valid? [True, True] Translation: X:105.13, Y:-4.83, Z:-0.00 [[ 9.99927235e-01 1.20633475e-02 0.00000000e+00 1.05126072e+02] [-1.20633475e-02 9.99927235e-01 0.00000000e+00 -4.83148256e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71687850e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.240371743 meters Centerline goodness : 0.991935 with order 1 Centerline is valid? [True, True] Translation: X:105.19, Y:-4.83, Z:-0.00 [[ 9.99892892e-01 1.46357511e-02 0.00000000e+00 1.05185179e+02] [-1.46357511e-02 9.99892892e-01 0.00000000e+00 -4.83221081e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00887343e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.300371743 meters Centerline goodness : 0.991356 with order 1 Centerline is valid? [True, True] Translation: X:105.24, Y:-4.83, Z:-0.00 [[ 9.99732910e-01 2.31107856e-02 0.00000000e+00 1.05242843e+02] [-2.31107856e-02 9.99732910e-01 0.00000000e+00 -4.83419445e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.64919886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.360371743 meters Centerline goodness : 0.991436 with order 1 Centerline is valid? [True, True] Translation: X:105.30, Y:-4.83, Z:-0.00 [[ 9.99761958e-01 2.18180648e-02 0.00000000e+00 1.05301578e+02] [-2.18180648e-02 9.99761958e-01 0.00000000e+00 -4.83304407e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77066632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.420371743 meters Centerline goodness : 0.991875 with order 1 Centerline is valid? [True, True] Translation: X:105.36, Y:-4.83, Z:-0.00 [[ 9.99857460e-01 1.68837158e-02 0.00000000e+00 1.05359022e+02] [-1.68837158e-02 9.99857460e-01 0.00000000e+00 -4.83390127e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33661989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48037174299999 meters Centerline goodness : 0.992007 with order 1 Centerline is valid? [True, True] Translation: X:105.42, Y:-4.83, Z:-0.00 [[ 9.99921027e-01 1.25674369e-02 0.00000000e+00 1.05417391e+02] [-1.25674369e-02 9.99921027e-01 0.00000000e+00 -4.83375159e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36094484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.540371743 meters Centerline goodness : 0.992948 with order 1 Centerline is valid? [True, True] Translation: X:105.48, Y:-4.83, Z:0.00 [[ 9.99985363e-01 -5.41059460e-03 0.00000000e+00 1.05475710e+02] [ 5.41059460e-03 9.99985363e-01 0.00000000e+00 -4.83020349e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87783652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.600371743 meters Centerline goodness : 0.993435 with order 1 Centerline is valid? [True, True] Translation: X:105.54, Y:-4.83, Z:0.01 [[ 9.99934389e-01 -1.14550094e-02 0.00000000e+00 1.05538183e+02] [ 1.14550094e-02 9.99934389e-01 0.00000000e+00 -4.83183459e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25184553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.660371743 meters Centerline goodness : 0.993461 with order 1 Centerline is valid? [True, True] Translation: X:105.60, Y:-4.83, Z:0.01 [[ 9.99876199e-01 -1.57348604e-02 0.00000000e+00 1.05601205e+02] [ 1.57348604e-02 9.99876199e-01 0.00000000e+00 -4.83253456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.84526110e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.720371743 meters Centerline goodness : 0.993293 with order 1 Centerline is valid? [True, True] Translation: X:105.66, Y:-4.83, Z:0.01 [[ 9.99873961e-01 -1.58764592e-02 0.00000000e+00 1.05662688e+02] [ 1.58764592e-02 9.99873961e-01 0.00000000e+00 -4.83297811e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42465604e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.780371743 meters Centerline goodness : 0.993327 with order 1 Centerline is valid? [True, True] Translation: X:105.73, Y:-4.83, Z:0.01 [[ 9.99882665e-01 -1.53185231e-02 0.00000000e+00 1.05725263e+02] [ 1.53185231e-02 9.99882665e-01 0.00000000e+00 -4.83108662e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.39092192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84037174299999 meters Centerline goodness : 0.993131 with order 1 Centerline is valid? [True, True] Translation: X:105.79, Y:-4.83, Z:0.01 [[ 9.99905462e-01 -1.37501899e-02 0.00000000e+00 1.05787767e+02] [ 1.37501899e-02 9.99905462e-01 0.00000000e+00 -4.82961701e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.21792990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.900371743 meters Centerline goodness : 0.992877 with order 1 Centerline is valid? [True, True] Translation: X:105.85, Y:-4.83, Z:0.01 [[ 9.99931330e-01 -1.17190180e-02 0.00000000e+00 1.05849067e+02] [ 1.17190180e-02 9.99931330e-01 0.00000000e+00 -4.82641584e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.31803453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.960371743 meters Centerline goodness : 0.993018 with order 1 Centerline is valid? [True, True] Translation: X:105.91, Y:-4.82, Z:0.01 [[ 9.99945914e-01 -1.04004545e-02 0.00000000e+00 1.05911378e+02] [ 1.04004545e-02 9.99945914e-01 0.00000000e+00 -4.82381912e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.90795584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.020371743 meters Centerline goodness : 0.993093 with order 1 Centerline is valid? [True, True] Translation: X:105.97, Y:-4.82, Z:0.01 [[ 9.99951745e-01 -9.82387555e-03 0.00000000e+00 1.05973380e+02] [ 9.82387555e-03 9.99951745e-01 0.00000000e+00 -4.82318198e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00723846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.080371743 meters Centerline goodness : 0.992995 with order 1 Centerline is valid? [True, True] Translation: X:106.03, Y:-4.82, Z:0.00 [[ 9.99980951e-01 -6.17228166e-03 0.00000000e+00 1.06034524e+02] [ 6.17228166e-03 9.99980951e-01 0.00000000e+00 -4.82421886e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94425547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.140371743 meters Centerline goodness : 0.992783 with order 1 Centerline is valid? [True, True] Translation: X:106.10, Y:-4.82, Z:0.01 [[ 9.99991677e-01 -4.08004131e-03 0.00000000e+00 1.06096824e+02] [ 4.08004131e-03 9.99991677e-01 0.00000000e+00 -4.82317692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.76828969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.200371743 meters Centerline goodness : 0.992266 with order 1 Centerline is valid? [True, True] Translation: X:106.16, Y:-4.83, Z:0.01 [[ 9.99993609e-01 3.57523727e-03 0.00000000e+00 1.06158113e+02] [-3.57523727e-03 9.99993609e-01 0.00000000e+00 -4.82533402e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94302889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.260371743 meters Centerline goodness : 0.992573 with order 1 Centerline is valid? [True, True] Translation: X:106.22, Y:-4.83, Z:0.01 [[ 9.99975836e-01 6.95181688e-03 0.00000000e+00 1.06217168e+02] [-6.95181688e-03 9.99975836e-01 0.00000000e+00 -4.82714625e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20736476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.320371743 meters Centerline goodness : 0.992139 with order 1 Centerline is valid? [True, True] Translation: X:106.27, Y:-4.83, Z:0.00 [[ 9.99977681e-01 6.68114128e-03 0.00000000e+00 1.06274933e+02] [-6.68114128e-03 9.99977681e-01 0.00000000e+00 -4.82962344e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97136025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.380371743 meters Centerline goodness : 0.992165 with order 1 Centerline is valid? [True, True] Translation: X:106.33, Y:-4.83, Z:0.00 [[ 9.99973100e-01 7.33476543e-03 0.00000000e+00 1.06333179e+02] [-7.33476543e-03 9.99973100e-01 0.00000000e+00 -4.83320578e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87629695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.440371743 meters Centerline goodness : 0.993293 with order 1 Centerline is valid? [True, True] Translation: X:106.39, Y:-4.83, Z:0.01 [[ 9.99986387e-01 5.21779743e-03 0.00000000e+00 1.06391328e+02] [-5.21779743e-03 9.99986387e-01 0.00000000e+00 -4.82729891e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01609398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.500371743 meters Centerline goodness : 0.991966 with order 1 Centerline is valid? [True, True] Translation: X:106.45, Y:-4.84, Z:0.00 [[ 9.99857082e-01 1.69060933e-02 0.00000000e+00 1.06449471e+02] [-1.69060933e-02 9.99857082e-01 0.00000000e+00 -4.83835294e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60585174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.560371743 meters Centerline goodness : 0.992010 with order 1 Centerline is valid? [True, True] Translation: X:106.51, Y:-4.84, Z:0.00 [[ 9.99632720e-01 2.71002919e-02 0.00000000e+00 1.06507452e+02] [-2.71002919e-02 9.99632720e-01 0.00000000e+00 -4.84310452e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94181596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62037174299999 meters Centerline goodness : 0.992319 with order 1 Centerline is valid? [True, True] Translation: X:106.57, Y:-4.85, Z:0.00 [[ 9.99450013e-01 3.31612976e-02 0.00000000e+00 1.06565507e+02] [-3.31612976e-02 9.99450013e-01 0.00000000e+00 -4.84689389e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53835294e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.680371743 meters Centerline goodness : 0.993821 with order 1 Centerline is valid? [True, True] Translation: X:106.62, Y:-4.84, Z:0.01 [[ 9.99338450e-01 3.63684294e-02 0.00000000e+00 1.06623178e+02] [-3.63684294e-02 9.99338450e-01 0.00000000e+00 -4.84299620e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.52921316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.740371743 meters Centerline goodness : 0.992480 with order 1 Centerline is valid? [True, True] Translation: X:106.68, Y:-4.86, Z:-0.00 [[ 9.98646759e-01 5.20062558e-02 0.00000000e+00 1.06680745e+02] [-5.20062558e-02 9.98646759e-01 0.00000000e+00 -4.86035301e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.75042780e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.800371743 meters Centerline goodness : 0.992946 with order 1 Centerline is valid? [True, True] Translation: X:106.74, Y:-4.87, Z:-0.00 [[ 9.98665165e-01 5.16515949e-02 0.00000000e+00 1.06739113e+02] [-5.16515949e-02 9.98665165e-01 0.00000000e+00 -4.86948014e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23939890e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.860371743 meters Centerline goodness : 0.992737 with order 1 Centerline is valid? [True, True] Translation: X:106.80, Y:-4.88, Z:-0.00 [[ 9.98947782e-01 4.58620526e-02 0.00000000e+00 1.06796917e+02] [-4.58620526e-02 9.98947782e-01 0.00000000e+00 -4.88340047e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.67194921e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.920371743 meters Centerline goodness : 0.994323 with order 1 Centerline is valid? [True, True] Translation: X:106.85, Y:-4.88, Z:0.01 [[ 9.99642181e-01 2.67490317e-02 0.00000000e+00 1.06854424e+02] [-2.67490317e-02 9.99642181e-01 0.00000000e+00 -4.87777126e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.63215452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98037174299999 meters Centerline goodness : 0.992511 with order 1 Centerline is valid? [True, True] Translation: X:106.91, Y:-4.91, Z:-0.01 [[ 9.99602645e-01 2.81877933e-02 0.00000000e+00 1.06912806e+02] [-2.81877933e-02 9.99602645e-01 0.00000000e+00 -4.90804614e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.61912057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.040371743 meters Centerline goodness : 0.992819 with order 1 Centerline is valid? [True, True] Translation: X:106.97, Y:-4.92, Z:-0.01 [[ 9.99936170e-01 1.12985021e-02 0.00000000e+00 1.06969546e+02] [-1.12985021e-02 9.99936170e-01 0.00000000e+00 -4.92021063e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.70532771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.100371743 meters Centerline goodness : 0.994820 with order 1 Centerline is valid? [True, True] Translation: X:107.03, Y:-4.93, Z:-0.00 [[ 9.99996084e-01 -2.79838990e-03 0.00000000e+00 1.07028084e+02] [ 2.79838990e-03 9.99996084e-01 0.00000000e+00 -4.92718573e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50999518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.160371743 meters Centerline goodness : 0.994579 with order 1 Centerline is valid? [True, True] Translation: X:107.09, Y:-4.94, Z:0.00 [[ 9.99959789e-01 -8.96774761e-03 0.00000000e+00 1.07089474e+02] [ 8.96774761e-03 9.99959789e-01 0.00000000e+00 -4.93570639e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28777612e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.220371743 meters Centerline goodness : 0.995151 with order 1 Centerline is valid? [True, True] Translation: X:107.15, Y:-4.94, Z:0.00 [[ 9.99932360e-01 -1.16307586e-02 0.00000000e+00 1.07151121e+02] [ 1.16307586e-02 9.99932360e-01 0.00000000e+00 -4.94415384e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60166106e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.280371743 meters Centerline goodness : 0.995084 with order 1 Centerline is valid? [True, True] Translation: X:107.21, Y:-4.95, Z:-0.00 [[ 9.99945204e-01 -1.04684811e-02 0.00000000e+00 1.07212901e+02] [ 1.04684811e-02 9.99945204e-01 0.00000000e+00 -4.95141059e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69554264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34037174299999 meters Centerline goodness : 0.994644 with order 1 Centerline is valid? [True, True] Translation: X:107.27, Y:-4.95, Z:-0.00 [[ 9.99946006e-01 -1.03916106e-02 0.00000000e+00 1.07273717e+02] [ 1.03916106e-02 9.99946006e-01 0.00000000e+00 -4.95434735e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61806296e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.400371743 meters Centerline goodness : 0.993719 with order 1 Centerline is valid? [True, True] Translation: X:107.34, Y:-4.96, Z:-0.00 [[ 9.99982071e-01 -5.98819037e-03 0.00000000e+00 1.07336071e+02] [ 5.98819037e-03 9.99982071e-01 0.00000000e+00 -4.96017705e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.54660511e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.460371743 meters Centerline goodness : 0.994235 with order 1 Centerline is valid? [True, True] Translation: X:107.40, Y:-4.96, Z:0.00 [[ 9.99983546e-01 -5.73656314e-03 0.00000000e+00 1.07398463e+02] [ 5.73656314e-03 9.99983546e-01 0.00000000e+00 -4.96221337e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57091475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.520371743 meters Centerline goodness : 0.994992 with order 1 Centerline is valid? [True, True] Translation: X:107.46, Y:-4.96, Z:0.01 [[ 9.99949286e-01 -1.00710131e-02 0.00000000e+00 1.07460415e+02] [ 1.00710131e-02 9.99949286e-01 0.00000000e+00 -4.95822774e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62804404e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.580371743 meters Centerline goodness : 0.994593 with order 1 Centerline is valid? [True, True] Translation: X:107.52, Y:-4.96, Z:0.01 [[ 9.99952475e-01 -9.74922545e-03 0.00000000e+00 1.07521997e+02] [ 9.74922545e-03 9.99952475e-01 0.00000000e+00 -4.96202129e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.91719230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.640371743 meters Centerline goodness : 0.995501 with order 1 Centerline is valid? [True, True] Translation: X:107.58, Y:-4.97, Z:0.01 [[ 9.99958919e-01 -9.06425810e-03 0.00000000e+00 1.07583178e+02] [ 9.06425810e-03 9.99958919e-01 0.00000000e+00 -4.96641249e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.72579120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.700371743 meters Centerline goodness : 0.994802 with order 1 Centerline is valid? [True, True] Translation: X:107.64, Y:-4.97, Z:0.01 [[ 9.99957007e-01 -9.27275953e-03 0.00000000e+00 1.07643993e+02] [ 9.27275953e-03 9.99957007e-01 0.00000000e+00 -4.97073864e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.62776193e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.760371743 meters Centerline goodness : 0.995069 with order 1 Centerline is valid? [True, True] Translation: X:107.71, Y:-4.98, Z:0.01 [[ 9.99932193e-01 -1.16451791e-02 0.00000000e+00 1.07705499e+02] [ 1.16451791e-02 9.99932193e-01 0.00000000e+00 -4.97762496e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.47724867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.820371743 meters Centerline goodness : 0.993093 with order 1 Centerline is valid? [True, True] Translation: X:107.77, Y:-4.99, Z:-0.00 [[ 9.99987508e-01 -4.99840344e-03 0.00000000e+00 1.07766866e+02] [ 4.99840344e-03 9.99987508e-01 0.00000000e+00 -4.99360153e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54709548e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.880371743 meters Centerline goodness : 0.993719 with order 1 Centerline is valid? [True, True] Translation: X:107.83, Y:-5.00, Z:0.00 [[ 9.99943228e-01 -1.06555916e-02 0.00000000e+00 1.07828110e+02] [ 1.06555916e-02 9.99943228e-01 0.00000000e+00 -4.99818654e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62113573e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.940371743 meters Centerline goodness : 0.994062 with order 1 Centerline is valid? [True, True] Translation: X:107.89, Y:-5.00, Z:-0.00 [[ 9.99938895e-01 -1.10546773e-02 0.00000000e+00 1.07890250e+02] [ 1.10546773e-02 9.99938895e-01 0.00000000e+00 -5.00189424e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.58157035e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.000371743 meters Centerline goodness : 0.993480 with order 1 Centerline is valid? [True, True] Translation: X:107.95, Y:-5.01, Z:0.00 [[ 9.99947503e-01 -1.02464823e-02 0.00000000e+00 1.07951354e+02] [ 1.02464823e-02 9.99947503e-01 0.00000000e+00 -5.00503370e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63402415e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.060371743 meters Centerline goodness : 0.995607 with order 1 Centerline is valid? [True, True] Translation: X:108.01, Y:-5.00, Z:0.01 [[ 9.99844103e-01 -1.76570286e-02 0.00000000e+00 1.08013090e+02] [ 1.76570286e-02 9.99844103e-01 0.00000000e+00 -4.99761623e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.90384537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12037174299999 meters Centerline goodness : 0.995153 with order 1 Centerline is valid? [True, True] Translation: X:108.07, Y:-5.00, Z:0.01 [[ 9.99834668e-01 -1.81834419e-02 0.00000000e+00 1.08074445e+02] [ 1.81834419e-02 9.99834668e-01 0.00000000e+00 -5.00161541e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.75485351e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.180371743 meters Centerline goodness : 0.995271 with order 1 Centerline is valid? [True, True] Translation: X:108.14, Y:-5.00, Z:0.01 [[ 9.99814743e-01 -1.92478613e-02 0.00000000e+00 1.08137445e+02] [ 1.92478613e-02 9.99814743e-01 0.00000000e+00 -5.00469792e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92889980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.240371743 meters Centerline goodness : 0.993974 with order 1 Centerline is valid? [True, True] Translation: X:108.20, Y:-5.02, Z:-0.00 [[ 9.99912294e-01 -1.32440029e-02 0.00000000e+00 1.08199265e+02] [ 1.32440029e-02 9.99912294e-01 0.00000000e+00 -5.01600741e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61812835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.300371743 meters Centerline goodness : 0.994287 with order 1 Centerline is valid? [True, True] Translation: X:108.26, Y:-5.02, Z:-0.00 [[ 9.99822499e-01 -1.88406449e-02 0.00000000e+00 1.08260715e+02] [ 1.88406449e-02 9.99822499e-01 0.00000000e+00 -5.01584109e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78503628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.360371743 meters Centerline goodness : 0.994640 with order 1 Centerline is valid? [True, True] Translation: X:108.32, Y:-5.01, Z:-0.00 [[ 9.99705214e-01 -2.42792947e-02 0.00000000e+00 1.08321878e+02] [ 2.42792947e-02 9.99705214e-01 0.00000000e+00 -5.01449709e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36601774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.420371743 meters Centerline goodness : 0.994388 with order 1 Centerline is valid? [True, True] Translation: X:108.38, Y:-5.01, Z:-0.00 [[ 9.99650810e-01 -2.64245852e-02 0.00000000e+00 1.08384177e+02] [ 2.64245852e-02 9.99650810e-01 0.00000000e+00 -5.01305590e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76003300e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48037174299999 meters Centerline goodness : 0.994114 with order 1 Centerline is valid? [True, True] Translation: X:108.45, Y:-5.01, Z:-0.00 [[ 9.99737867e-01 -2.28953518e-02 0.00000000e+00 1.08446728e+02] [ 2.28953518e-02 9.99737867e-01 0.00000000e+00 -5.01298851e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67535774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.540371743 meters Centerline goodness : 0.993984 with order 1 Centerline is valid? [True, True] Translation: X:108.51, Y:-5.01, Z:-0.01 [[ 9.99753437e-01 -2.22050935e-02 0.00000000e+00 1.08509616e+02] [ 2.22050935e-02 9.99753437e-01 0.00000000e+00 -5.01331246e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.94321035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.600371743 meters Centerline goodness : 0.993873 with order 1 Centerline is valid? [True, True] Translation: X:108.57, Y:-5.01, Z:-0.01 [[ 9.99743306e-01 -2.26565951e-02 0.00000000e+00 1.08572337e+02] [ 2.26565951e-02 9.99743306e-01 0.00000000e+00 -5.01136414e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.81435183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.660371743 meters Centerline goodness : 0.994493 with order 1 Centerline is valid? [True, True] Translation: X:108.64, Y:-5.01, Z:-0.00 [[ 9.99696174e-01 -2.46487340e-02 0.00000000e+00 1.08635814e+02] [ 2.46487340e-02 9.99696174e-01 0.00000000e+00 -5.00569070e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40035626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.720371743 meters Centerline goodness : 0.994305 with order 1 Centerline is valid? [True, True] Translation: X:108.70, Y:-5.00, Z:-0.00 [[ 9.99802408e-01 -1.98782456e-02 0.00000000e+00 1.08698984e+02] [ 1.98782456e-02 9.99802408e-01 0.00000000e+00 -5.00259996e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99540365e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.780371743 meters Centerline goodness : 0.993814 with order 1 Centerline is valid? [True, True] Translation: X:108.76, Y:-5.00, Z:0.00 [[ 9.99880563e-01 -1.54550613e-02 0.00000000e+00 1.08761242e+02] [ 1.54550613e-02 9.99880563e-01 0.00000000e+00 -4.99906214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56173497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84037174299999 meters Centerline goodness : 0.993114 with order 1 Centerline is valid? [True, True] Translation: X:108.82, Y:-5.00, Z:-0.00 [[ 9.99974977e-01 -7.07421154e-03 0.00000000e+00 1.08822834e+02] [ 7.07421154e-03 9.99974977e-01 0.00000000e+00 -4.99553267e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17584655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.900371743 meters Centerline goodness : 0.992692 with order 1 Centerline is valid? [True, True] Translation: X:108.88, Y:-4.99, Z:-0.00 [[ 9.99998614e-01 -1.66508137e-03 0.00000000e+00 1.08884967e+02] [ 1.66508137e-03 9.99998614e-01 0.00000000e+00 -4.99139570e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46944100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.960371743 meters Centerline goodness : 0.992672 with order 1 Centerline is valid? [True, True] Translation: X:108.95, Y:-4.99, Z:-0.00 [[ 9.99998102e-01 1.94808030e-03 0.00000000e+00 1.08945581e+02] [-1.94808030e-03 9.99998102e-01 0.00000000e+00 -4.98700959e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47800718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.020371743 meters Centerline goodness : 0.992968 with order 1 Centerline is valid? [True, True] Translation: X:109.01, Y:-4.98, Z:-0.00 [[ 9.99979412e-01 6.41688798e-03 0.00000000e+00 1.09005430e+02] [-6.41688798e-03 9.99979412e-01 0.00000000e+00 -4.98182580e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34377624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.080371743 meters Centerline goodness : 0.992582 with order 1 Centerline is valid? [True, True] Translation: X:109.06, Y:-4.98, Z:-0.00 [[ 9.99935915e-01 1.13210636e-02 0.00000000e+00 1.09063303e+02] [-1.13210636e-02 9.99935915e-01 0.00000000e+00 -4.97902776e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.56323493e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.140371743 meters Centerline goodness : 0.992236 with order 1 Centerline is valid? [True, True] Translation: X:109.12, Y:-4.97, Z:0.00 [[ 9.99872784e-01 1.59504450e-02 0.00000000e+00 1.09121825e+02] [-1.59504450e-02 9.99872784e-01 0.00000000e+00 -4.97489668e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04695903e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.200371743 meters Centerline goodness : 0.992332 with order 1 Centerline is valid? [True, True] Translation: X:109.18, Y:-4.97, Z:0.00 [[ 9.99886926e-01 1.50377707e-02 0.00000000e+00 1.09180291e+02] [-1.50377707e-02 9.99886926e-01 0.00000000e+00 -4.97253220e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38917317e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.260371743 meters Centerline goodness : 0.991873 with order 1 Centerline is valid? [True, True] Translation: X:109.24, Y:-4.97, Z:0.00 [[ 9.99955363e-01 9.44842076e-03 0.00000000e+00 1.09238995e+02] [-9.44842076e-03 9.99955363e-01 0.00000000e+00 -4.97266376e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94116403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.320371743 meters Centerline goodness : 0.992305 with order 1 Centerline is valid? [True, True] Translation: X:109.30, Y:-4.97, Z:0.00 [[ 9.99996955e-01 2.46784867e-03 0.00000000e+00 1.09297883e+02] [-2.46784867e-03 9.99996955e-01 0.00000000e+00 -4.97386684e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18111474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.380371743 meters Centerline goodness : 0.992477 with order 1 Centerline is valid? [True, True] Translation: X:109.36, Y:-4.98, Z:0.00 [[ 9.99999199e-01 -1.26531552e-03 0.00000000e+00 1.09356595e+02] [ 1.26531552e-03 9.99999199e-01 0.00000000e+00 -4.97678709e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98946632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.440371743 meters Centerline goodness : 0.992444 with order 1 Centerline is valid? [True, True] Translation: X:109.42, Y:-4.98, Z:0.00 [[ 9.99988373e-01 -4.82220529e-03 0.00000000e+00 1.09416629e+02] [ 4.82220529e-03 9.99988373e-01 0.00000000e+00 -4.97862285e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76418543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.500371743 meters Centerline goodness : 0.992141 with order 1 Centerline is valid? [True, True] Translation: X:109.48, Y:-4.98, Z:0.00 [[ 9.99982798e-01 -5.86540324e-03 0.00000000e+00 1.09479101e+02] [ 5.86540324e-03 9.99982798e-01 0.00000000e+00 -4.98229554e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58235934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.560371743 meters Centerline goodness : 0.992513 with order 1 Centerline is valid? [True, True] Translation: X:109.54, Y:-4.98, Z:0.00 [[ 9.99977111e-01 -6.76594749e-03 0.00000000e+00 1.09541523e+02] [ 6.76594749e-03 9.99977111e-01 0.00000000e+00 -4.98440845e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70582708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62037174299999 meters Centerline goodness : 0.993340 with order 1 Centerline is valid? [True, True] Translation: X:109.60, Y:-4.99, Z:0.00 [[ 9.99945519e-01 -1.04383555e-02 0.00000000e+00 1.09604357e+02] [ 1.04383555e-02 9.99945519e-01 0.00000000e+00 -4.98515600e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38157147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.680371743 meters Centerline goodness : 0.992863 with order 1 Centerline is valid? [True, True] Translation: X:109.67, Y:-4.99, Z:-0.00 [[ 9.99966164e-01 -8.22618628e-03 0.00000000e+00 1.09665959e+02] [ 8.22618628e-03 9.99966164e-01 0.00000000e+00 -4.99018882e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26166985e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.740371743 meters Centerline goodness : 0.993056 with order 1 Centerline is valid? [True, True] Translation: X:109.73, Y:-4.99, Z:0.00 [[ 9.99989388e-01 -4.60692504e-03 0.00000000e+00 1.09727994e+02] [ 4.60692504e-03 9.99989388e-01 0.00000000e+00 -4.99053708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07182709e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.800371743 meters Centerline goodness : 0.992231 with order 1 Centerline is valid? [True, True] Translation: X:109.79, Y:-4.99, Z:0.00 [[ 9.99999109e-01 -1.33482649e-03 0.00000000e+00 1.09789247e+02] [ 1.33482649e-03 9.99999109e-01 0.00000000e+00 -4.99099694e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03990861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.860371743 meters Centerline goodness : 0.992962 with order 1 Centerline is valid? [True, True] Translation: X:109.85, Y:-4.99, Z:0.00 [[ 9.99999999e-01 5.22110918e-05 0.00000000e+00 1.09850557e+02] [-5.22110918e-05 9.99999999e-01 0.00000000e+00 -4.99215038e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65204304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.920371743 meters Centerline goodness : 0.992326 with order 1 Centerline is valid? [True, True] Translation: X:109.91, Y:-5.00, Z:0.00 [[ 9.99980691e-01 6.21427581e-03 0.00000000e+00 1.09911195e+02] [-6.21427581e-03 9.99980691e-01 0.00000000e+00 -4.99539853e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08205917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98037174299999 meters Centerline goodness : 0.992730 with order 1 Centerline is valid? [True, True] Translation: X:109.97, Y:-4.99, Z:0.01 [[ 9.99988647e-01 4.76499742e-03 0.00000000e+00 1.09970223e+02] [-4.76499742e-03 9.99988647e-01 0.00000000e+00 -4.99314372e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.10966428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.040371743 meters Centerline goodness : 0.992281 with order 1 Centerline is valid? [True, True] Translation: X:110.03, Y:-5.00, Z:0.00 [[ 9.99980993e-01 6.16556277e-03 0.00000000e+00 1.10028879e+02] [-6.16556277e-03 9.99980993e-01 0.00000000e+00 -4.99666110e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64966215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.100371743 meters Centerline goodness : 0.991747 with order 1 Centerline is valid? [True, True] Translation: X:110.09, Y:-5.00, Z:0.01 [[ 9.99988176e-01 4.86291834e-03 0.00000000e+00 1.10087285e+02] [-4.86291834e-03 9.99988176e-01 0.00000000e+00 -4.99790251e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.96342853e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.160371743 meters Centerline goodness : 0.991934 with order 1 Centerline is valid? [True, True] Translation: X:110.15, Y:-5.00, Z:0.01 [[ 9.99975918e-01 6.94004180e-03 0.00000000e+00 1.10145346e+02] [-6.94004180e-03 9.99975918e-01 0.00000000e+00 -5.00120735e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61850252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.220371743 meters Centerline goodness : 0.991963 with order 1 Centerline is valid? [True, True] Translation: X:110.20, Y:-5.00, Z:0.01 [[ 9.99983535e-01 5.73836449e-03 0.00000000e+00 1.10204141e+02] [-5.73836449e-03 9.99983535e-01 0.00000000e+00 -5.00455047e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.44895869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.280371743 meters Centerline goodness : 0.991378 with order 1 Centerline is valid? [True, True] Translation: X:110.26, Y:-5.01, Z:0.01 [[ 9.99981649e-01 6.05823653e-03 0.00000000e+00 1.10262268e+02] [-6.05823653e-03 9.99981649e-01 0.00000000e+00 -5.00928841e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.58915470e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34037174299999 meters Centerline goodness : 0.991889 with order 1 Centerline is valid? [True, True] Translation: X:110.32, Y:-5.02, Z:0.01 [[ 9.99966852e-01 8.14213896e-03 0.00000000e+00 1.10319819e+02] [-8.14213896e-03 9.99966852e-01 0.00000000e+00 -5.01507180e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.21578981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.400371743 meters Centerline goodness : 0.991462 with order 1 Centerline is valid? [True, True] Translation: X:110.38, Y:-5.02, Z:0.01 [[ 9.99951486e-01 9.85019833e-03 0.00000000e+00 1.10378502e+02] [-9.85019833e-03 9.99951486e-01 0.00000000e+00 -5.01874349e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37015334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.460371743 meters Centerline goodness : 0.991930 with order 1 Centerline is valid? [True, True] Translation: X:110.44, Y:-5.02, Z:0.01 [[ 9.99904815e-01 1.37971509e-02 0.00000000e+00 1.10436005e+02] [-1.37971509e-02 9.99904815e-01 0.00000000e+00 -5.02381044e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11146990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.520371743 meters Centerline goodness : 0.992159 with order 1 Centerline is valid? [True, True] Translation: X:110.49, Y:-5.03, Z:0.00 [[ 9.99846075e-01 1.75449686e-02 0.00000000e+00 1.10493586e+02] [-1.75449686e-02 9.99846075e-01 0.00000000e+00 -5.03056643e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76410205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.580371743 meters Centerline goodness : 0.992558 with order 1 Centerline is valid? [True, True] Translation: X:110.55, Y:-5.03, Z:0.01 [[ 9.99915169e-01 1.30251965e-02 0.00000000e+00 1.10552733e+02] [-1.30251965e-02 9.99915169e-01 0.00000000e+00 -5.03268978e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.85155436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.640371743 meters Centerline goodness : 0.993413 with order 1 Centerline is valid? [True, True] Translation: X:110.61, Y:-5.04, Z:0.01 [[ 9.99930578e-01 1.17830190e-02 0.00000000e+00 1.10610730e+02] [-1.17830190e-02 9.99930578e-01 0.00000000e+00 -5.03893198e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31434670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.700371743 meters Centerline goodness : 0.992704 with order 1 Centerline is valid? [True, True] Translation: X:110.67, Y:-5.04, Z:0.01 [[ 9.99966009e-01 8.24508370e-03 0.00000000e+00 1.10669073e+02] [-8.24508370e-03 9.99966009e-01 0.00000000e+00 -5.04119721e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03982756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.760371743 meters Centerline goodness : 0.993168 with order 1 Centerline is valid? [True, True] Translation: X:110.73, Y:-5.05, Z:0.01 [[ 9.99994774e-01 3.23290574e-03 0.00000000e+00 1.10727441e+02] [-3.23290574e-03 9.99994774e-01 0.00000000e+00 -5.04709350e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02141450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.820371743 meters Centerline goodness : 0.993428 with order 1 Centerline is valid? [True, True] Translation: X:110.79, Y:-5.06, Z:0.01 [[ 9.99991362e-01 -4.15650483e-03 0.00000000e+00 1.10787058e+02] [ 4.15650483e-03 9.99991362e-01 0.00000000e+00 -5.05514811e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.72200928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.880371743 meters Centerline goodness : 0.993349 with order 1 Centerline is valid? [True, True] Translation: X:110.85, Y:-5.06, Z:0.00 [[ 9.99965514e-01 -8.30485441e-03 0.00000000e+00 1.10847623e+02] [ 8.30485441e-03 9.99965514e-01 0.00000000e+00 -5.06243166e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83275514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.940371743 meters Centerline goodness : 0.994453 with order 1 Centerline is valid? [True, True] Translation: X:110.91, Y:-5.06, Z:0.01 [[ 9.99931476e-01 -1.17065268e-02 0.00000000e+00 1.10910443e+02] [ 1.17065268e-02 9.99931476e-01 0.00000000e+00 -5.06128296e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82025867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.000371743 meters Centerline goodness : 0.994057 with order 1 Centerline is valid? [True, True] Translation: X:110.97, Y:-5.06, Z:0.01 [[ 9.99964537e-01 -8.42168586e-03 0.00000000e+00 1.10971252e+02] [ 8.42168586e-03 9.99964537e-01 0.00000000e+00 -5.06391863e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.57423740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.060371743 meters Centerline goodness : 0.993963 with order 1 Centerline is valid? [True, True] Translation: X:111.03, Y:-5.07, Z:0.01 [[ 9.99992759e-01 3.80558001e-03 0.00000000e+00 1.11032686e+02] [-3.80558001e-03 9.99992759e-01 0.00000000e+00 -5.07228087e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30476160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12037174299999 meters Centerline goodness : 0.994415 with order 1 Centerline is valid? [True, True] Translation: X:111.09, Y:-5.07, Z:0.01 [[ 9.99989287e-01 4.62891763e-03 0.00000000e+00 1.11091206e+02] [-4.62891763e-03 9.99989287e-01 0.00000000e+00 -5.06966743e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10392063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.180371743 meters Centerline goodness : 0.993648 with order 1 Centerline is valid? [True, True] Translation: X:111.15, Y:-5.08, Z:0.00 [[ 9.99887017e-01 1.50317406e-02 0.00000000e+00 1.11149148e+02] [-1.50317406e-02 9.99887017e-01 0.00000000e+00 -5.08206455e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55882163e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.240371743 meters Centerline goodness : 0.994030 with order 1 Centerline is valid? [True, True] Translation: X:111.21, Y:-5.09, Z:0.00 [[ 9.99839481e-01 1.79168295e-02 0.00000000e+00 1.11207395e+02] [-1.79168295e-02 9.99839481e-01 0.00000000e+00 -5.08647683e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80538940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.300371743 meters Centerline goodness : 0.993870 with order 1 Centerline is valid? [True, True] Translation: X:111.27, Y:-5.10, Z:-0.00 [[ 9.99705728e-01 2.42581540e-02 0.00000000e+00 1.11265345e+02] [-2.42581540e-02 9.99705728e-01 0.00000000e+00 -5.09676192e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.60248975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.360371743 meters Centerline goodness : 0.994922 with order 1 Centerline is valid? [True, True] Translation: X:111.32, Y:-5.09, Z:0.01 [[ 9.99865600e-01 1.63945482e-02 0.00000000e+00 1.11323797e+02] [-1.63945482e-02 9.99865600e-01 0.00000000e+00 -5.09296529e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.12169613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.420371743 meters Centerline goodness : 0.993352 with order 1 Centerline is valid? [True, True] Translation: X:111.38, Y:-5.11, Z:-0.00 [[ 9.99676930e-01 2.54172384e-02 0.00000000e+00 1.11382101e+02] [-2.54172384e-02 9.99676930e-01 0.00000000e+00 -5.10746116e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68918733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48037174299999 meters Centerline goodness : 0.994753 with order 1 Centerline is valid? [True, True] Translation: X:111.44, Y:-5.10, Z:0.01 [[ 9.99814640e-01 1.92532208e-02 0.00000000e+00 1.11439770e+02] [-1.92532208e-02 9.99814640e-01 0.00000000e+00 -5.10461619e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.26145376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.540371743 meters Centerline goodness : 0.994819 with order 1 Centerline is valid? [True, True] Translation: X:111.50, Y:-5.11, Z:0.01 [[ 9.99788146e-01 2.05830568e-02 0.00000000e+00 1.11498489e+02] [-2.05830568e-02 9.99788146e-01 0.00000000e+00 -5.11222089e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.23261294e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.600371743 meters Centerline goodness : 0.994737 with order 1 Centerline is valid? [True, True] Translation: X:111.56, Y:-5.12, Z:0.01 [[ 9.99788454e-01 2.05681250e-02 0.00000000e+00 1.11555881e+02] [-2.05681250e-02 9.99788454e-01 0.00000000e+00 -5.11697810e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.19302005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.660371743 meters Centerline goodness : 0.992950 with order 1 Centerline is valid? [True, True] Translation: X:111.61, Y:-5.14, Z:-0.00 [[ 9.99529023e-01 3.06876451e-02 0.00000000e+00 1.11613876e+02] [-3.06876451e-02 9.99529023e-01 0.00000000e+00 -5.13773897e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37293136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.720371743 meters Centerline goodness : 0.993213 with order 1 Centerline is valid? [True, True] Translation: X:111.67, Y:-5.15, Z:-0.01 [[ 9.99543865e-01 3.02003608e-02 0.00000000e+00 1.11671698e+02] [-3.02003608e-02 9.99543865e-01 0.00000000e+00 -5.14704457e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.52861693e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.780371743 meters Centerline goodness : 0.995171 with order 1 Centerline is valid? [True, True] Translation: X:111.73, Y:-5.14, Z:0.01 [[ 9.99822818e-01 1.88237510e-02 0.00000000e+00 1.11730722e+02] [-1.88237510e-02 9.99822818e-01 0.00000000e+00 -5.13871004e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.87406446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84037174299999 meters Centerline goodness : 0.993982 with order 1 Centerline is valid? [True, True] Translation: X:111.79, Y:-5.16, Z:0.00 [[ 9.99600175e-01 2.82752498e-02 0.00000000e+00 1.11788843e+02] [-2.82752498e-02 9.99600175e-01 0.00000000e+00 -5.15732027e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94435615e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.900371743 meters Centerline goodness : 0.994570 with order 1 Centerline is valid? [True, True] Translation: X:111.85, Y:-5.17, Z:0.00 [[ 9.99604771e-01 2.81122984e-02 0.00000000e+00 1.11845921e+02] [-2.81122984e-02 9.99604771e-01 0.00000000e+00 -5.16720789e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.68650377e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.960371743 meters Centerline goodness : 0.995416 with order 1 Centerline is valid? [True, True] Translation: X:111.90, Y:-5.16, Z:0.01 [[ 9.99838880e-01 1.79503086e-02 0.00000000e+00 1.11904134e+02] [-1.79503086e-02 9.99838880e-01 0.00000000e+00 -5.16482844e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.38559186e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.020371743 meters Centerline goodness : 0.995011 with order 1 Centerline is valid? [True, True] Translation: X:111.96, Y:-5.17, Z:0.01 [[ 9.99915497e-01 1.29999540e-02 0.00000000e+00 1.11962232e+02] [-1.29999540e-02 9.99915497e-01 0.00000000e+00 -5.17350289e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.56551936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.080371743 meters Centerline goodness : 0.992749 with order 1 Centerline is valid? [True, True] Translation: X:112.02, Y:-5.20, Z:-0.01 [[ 9.99895035e-01 1.44885623e-02 0.00000000e+00 1.12020242e+02] [-1.44885623e-02 9.99895035e-01 0.00000000e+00 -5.19799342e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.95070302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.140371743 meters Centerline goodness : 0.992772 with order 1 Centerline is valid? [True, True] Translation: X:112.08, Y:-5.21, Z:-0.01 [[ 9.99979759e-01 6.36253834e-03 0.00000000e+00 1.12078460e+02] [-6.36253834e-03 9.99979759e-01 0.00000000e+00 -5.20804001e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.76798544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.200371743 meters Centerline goodness : 0.991928 with order 1 Centerline is valid? [True, True] Translation: X:112.14, Y:-5.22, Z:-0.01 [[ 9.99991069e-01 -4.22625784e-03 0.00000000e+00 1.12138348e+02] [ 4.22625784e-03 9.99991069e-01 0.00000000e+00 -5.21522276e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.33417584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.260371743 meters Centerline goodness : 0.992099 with order 1 Centerline is valid? [True, True] Translation: X:112.20, Y:-5.22, Z:-0.00 [[ 9.99939043e-01 -1.10412771e-02 0.00000000e+00 1.12199866e+02] [ 1.10412771e-02 9.99939043e-01 0.00000000e+00 -5.21849827e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77960084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.320371743 meters Centerline goodness : 0.992490 with order 1 Centerline is valid? [True, True] Translation: X:112.26, Y:-5.22, Z:0.00 [[ 9.99802692e-01 -1.98639805e-02 0.00000000e+00 1.12262516e+02] [ 1.98639805e-02 9.99802692e-01 0.00000000e+00 -5.21801914e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57488632e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.380371743 meters Centerline goodness : 0.994612 with order 1 Centerline is valid? [True, True] Translation: X:112.32, Y:-5.21, Z:0.01 [[ 9.99402692e-01 -3.45580696e-02 0.00000000e+00 1.12324198e+02] [ 3.45580696e-02 9.99402692e-01 0.00000000e+00 -5.20624976e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.32432414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.440371743 meters Centerline goodness : 0.992798 with order 1 Centerline is valid? [True, True] Translation: X:112.39, Y:-5.22, Z:-0.00 [[ 9.99592391e-01 -2.85491301e-02 0.00000000e+00 1.12386467e+02] [ 2.85491301e-02 9.99592391e-01 0.00000000e+00 -5.21633420e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49138685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.500371743 meters Centerline goodness : 0.993447 with order 1 Centerline is valid? [True, True] Translation: X:112.45, Y:-5.21, Z:0.00 [[ 9.99637483e-01 -2.69240333e-02 0.00000000e+00 1.12448845e+02] [ 2.69240333e-02 9.99637483e-01 0.00000000e+00 -5.21452448e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02093847e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.560371743 meters Centerline goodness : 0.993849 with order 1 Centerline is valid? [True, True] Translation: X:112.51, Y:-5.21, Z:0.01 [[ 9.99525938e-01 -3.07879856e-02 0.00000000e+00 1.12511323e+02] [ 3.07879856e-02 9.99525938e-01 0.00000000e+00 -5.20503442e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.52262332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62037174299999 meters Centerline goodness : 0.993716 with order 1 Centerline is valid? [True, True] Translation: X:112.57, Y:-5.21, Z:0.01 [[ 9.99557041e-01 -2.97610793e-02 0.00000000e+00 1.12573793e+02] [ 2.97610793e-02 9.99557041e-01 0.00000000e+00 -5.20533025e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.12385580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.680371743 meters Centerline goodness : 0.993631 with order 1 Centerline is valid? [True, True] Translation: X:112.64, Y:-5.20, Z:0.00 [[ 9.99546752e-01 -3.01046685e-02 0.00000000e+00 1.12637280e+02] [ 3.01046685e-02 9.99546752e-01 0.00000000e+00 -5.20121775e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24962852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.740371743 meters Centerline goodness : 0.994156 with order 1 Centerline is valid? [True, True] Translation: X:112.70, Y:-5.20, Z:0.00 [[ 9.99502627e-01 -3.15356857e-02 0.00000000e+00 1.12700886e+02] [ 3.15356857e-02 9.99502627e-01 0.00000000e+00 -5.19934294e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54734593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.800371743 meters Centerline goodness : 0.994256 with order 1 Centerline is valid? [True, True] Translation: X:112.76, Y:-5.20, Z:0.00 [[ 9.99527806e-01 -3.07272793e-02 0.00000000e+00 1.12763897e+02] [ 3.07272793e-02 9.99527806e-01 0.00000000e+00 -5.19605282e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96131364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.860371743 meters Centerline goodness : 0.995350 with order 1 Centerline is valid? [True, True] Translation: X:112.83, Y:-5.18, Z:0.01 [[ 9.99370807e-01 -3.54681560e-02 0.00000000e+00 1.12826016e+02] [ 3.54681560e-02 9.99370807e-01 0.00000000e+00 -5.18251772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93441148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.920371743 meters Centerline goodness : 0.994888 with order 1 Centerline is valid? [True, True] Translation: X:112.89, Y:-5.18, Z:0.01 [[ 9.99522136e-01 -3.09111577e-02 0.00000000e+00 1.12888238e+02] [ 3.09111577e-02 9.99522136e-01 0.00000000e+00 -5.17944144e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.40127378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98037174299999 meters Centerline goodness : 0.995022 with order 1 Centerline is valid? [True, True] Translation: X:112.95, Y:-5.17, Z:0.01 [[ 9.99688487e-01 -2.49585250e-02 0.00000000e+00 1.12949475e+02] [ 2.49585250e-02 9.99688487e-01 0.00000000e+00 -5.17468033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.09995189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.040371743 meters Centerline goodness : 0.993273 with order 1 Centerline is valid? [True, True] Translation: X:113.01, Y:-5.18, Z:0.00 [[ 9.99894855e-01 -1.45009757e-02 0.00000000e+00 1.13011185e+02] [ 1.45009757e-02 9.99894855e-01 0.00000000e+00 -5.18155424e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96844543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.100371743 meters Centerline goodness : 0.992450 with order 1 Centerline is valid? [True, True] Translation: X:113.07, Y:-5.18, Z:0.00 [[ 9.99978451e-01 -6.56483025e-03 0.00000000e+00 1.13072949e+02] [ 6.56483025e-03 9.99978451e-01 0.00000000e+00 -5.17912828e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86554720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.160371743 meters Centerline goodness : 0.991969 with order 1 Centerline is valid? [True, True] Translation: X:113.14, Y:-5.18, Z:0.00 [[ 9.99998406e-01 1.78524404e-03 0.00000000e+00 1.13135747e+02] [-1.78524404e-03 9.99998406e-01 0.00000000e+00 -5.17548926e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84823930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.220371743 meters Centerline goodness : 0.991973 with order 1 Centerline is valid? [True, True] Translation: X:113.20, Y:-5.17, Z:-0.00 [[ 9.99968105e-01 7.98681820e-03 0.00000000e+00 1.13195773e+02] [-7.98681820e-03 9.99968105e-01 0.00000000e+00 -5.17428254e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26003988e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.280371743 meters Centerline goodness : 0.991710 with order 1 Centerline is valid? [True, True] Translation: X:113.25, Y:-5.17, Z:-0.00 [[ 9.99948202e-01 1.01780354e-02 0.00000000e+00 1.13254070e+02] [-1.01780354e-02 9.99948202e-01 0.00000000e+00 -5.17487103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36585272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34037174299999 meters Centerline goodness : 0.992171 with order 1 Centerline is valid? [True, True] Translation: X:113.31, Y:-5.17, Z:-0.00 [[ 9.99964793e-01 8.39124850e-03 0.00000000e+00 1.13313061e+02] [-8.39124850e-03 9.99964793e-01 0.00000000e+00 -5.17263489e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87893957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.400371743 meters Centerline goodness : 0.992131 with order 1 Centerline is valid? [True, True] Translation: X:113.37, Y:-5.17, Z:-0.00 [[ 9.99988839e-01 4.72461765e-03 0.00000000e+00 1.13372239e+02] [-4.72461765e-03 9.99988839e-01 0.00000000e+00 -5.17237701e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89348563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.460371743 meters Centerline goodness : 0.991237 with order 1 Centerline is valid? [True, True] Translation: X:113.43, Y:-5.17, Z:-0.00 [[ 9.99998046e-01 1.97693748e-03 0.00000000e+00 1.13431186e+02] [-1.97693748e-03 9.99998046e-01 0.00000000e+00 -5.17419160e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42458563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.520371743 meters Centerline goodness : 0.991410 with order 1 Centerline is valid? [True, True] Translation: X:113.49, Y:-5.17, Z:-0.00 [[ 9.99989094e-01 -4.67038386e-03 0.00000000e+00 1.13490998e+02] [ 4.67038386e-03 9.99989094e-01 0.00000000e+00 -5.17343773e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87365182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.580371743 meters Centerline goodness : 0.992076 with order 1 Centerline is valid? [True, True] Translation: X:113.55, Y:-5.17, Z:-0.00 [[ 9.99962300e-01 -8.68328040e-03 0.00000000e+00 1.13552779e+02] [ 8.68328040e-03 9.99962300e-01 0.00000000e+00 -5.17433116e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24975981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.640371743 meters Centerline goodness : 0.991944 with order 1 Centerline is valid? [True, True] Translation: X:113.62, Y:-5.17, Z:0.00 [[ 9.99924550e-01 -1.22839229e-02 0.00000000e+00 1.13615382e+02] [ 1.22839229e-02 9.99924550e-01 0.00000000e+00 -5.17272652e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63939294e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.700371743 meters Centerline goodness : 0.992361 with order 1 Centerline is valid? [True, True] Translation: X:113.68, Y:-5.17, Z:0.00 [[ 9.99934281e-01 -1.14644503e-02 0.00000000e+00 1.13677214e+02] [ 1.14644503e-02 9.99934281e-01 0.00000000e+00 -5.17356678e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71894413e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.760371743 meters Centerline goodness : 0.992180 with order 1 Centerline is valid? [True, True] Translation: X:113.74, Y:-5.18, Z:-0.00 [[ 9.99977037e-01 -6.77683842e-03 0.00000000e+00 1.13737914e+02] [ 6.77683842e-03 9.99977037e-01 0.00000000e+00 -5.17500118e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58470559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.820371743 meters Centerline goodness : 0.991672 with order 1 Centerline is valid? [True, True] Translation: X:113.80, Y:-5.18, Z:-0.01 [[ 9.99999963e-01 2.73253069e-04 0.00000000e+00 1.13800338e+02] [-2.73253069e-04 9.99999963e-01 0.00000000e+00 -5.17577504e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04362244e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.880371743 meters Centerline goodness : 0.991691 with order 1 Centerline is valid? [True, True] Translation: X:113.86, Y:-5.17, Z:-0.00 [[ 9.99975257e-01 7.03465406e-03 0.00000000e+00 1.13861211e+02] [-7.03465406e-03 9.99975257e-01 0.00000000e+00 -5.17386795e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33946755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.940371743 meters Centerline goodness : 0.991942 with order 1 Centerline is valid? [True, True] Translation: X:113.92, Y:-5.17, Z:-0.00 [[ 9.99933206e-01 1.15578608e-02 0.00000000e+00 1.13919431e+02] [-1.15578608e-02 9.99933206e-01 0.00000000e+00 -5.17399248e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73417243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.000371743 meters Centerline goodness : 0.991798 with order 1 Centerline is valid? [True, True] Translation: X:113.98, Y:-5.17, Z:-0.00 [[ 9.99841207e-01 1.78202351e-02 0.00000000e+00 1.13977710e+02] [-1.78202351e-02 9.99841207e-01 0.00000000e+00 -5.17381075e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.11010494e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.060371743 meters Centerline goodness : 0.991283 with order 1 Centerline is valid? [True, True] Translation: X:114.04, Y:-5.18, Z:-0.01 [[ 9.99635145e-01 2.70106694e-02 0.00000000e+00 1.14036150e+02] [-2.70106694e-02 9.99635145e-01 0.00000000e+00 -5.17956471e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.80994455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12037174299999 meters Centerline goodness : 0.990797 with order 1 Centerline is valid? [True, True] Translation: X:114.09, Y:-5.18, Z:-0.01 [[ 9.99517371e-01 3.10648552e-02 0.00000000e+00 1.14094871e+02] [-3.10648552e-02 9.99517371e-01 0.00000000e+00 -5.18334534e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.61293315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.180371743 meters Centerline goodness : 0.990616 with order 1 Centerline is valid? [True, True] Translation: X:114.15, Y:-5.18, Z:-0.01 [[ 9.99451219e-01 3.31249191e-02 0.00000000e+00 1.14153318e+02] [-3.31249191e-02 9.99451219e-01 0.00000000e+00 -5.18381826e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.45398870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.240371743 meters Centerline goodness : 0.991757 with order 1 Centerline is valid? [True, True] Translation: X:114.21, Y:-5.18, Z:-0.00 [[ 9.99510395e-01 3.12885043e-02 0.00000000e+00 1.14211855e+02] [-3.12885043e-02 9.99510395e-01 0.00000000e+00 -5.18329235e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30514203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.300371743 meters Centerline goodness : 0.991433 with order 1 Centerline is valid? [True, True] Translation: X:114.27, Y:-5.19, Z:-0.00 [[ 9.99550180e-01 2.99906209e-02 0.00000000e+00 1.14270239e+02] [-2.99906209e-02 9.99550180e-01 0.00000000e+00 -5.18744887e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53175732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.360371743 meters Centerline goodness : 0.991912 with order 1 Centerline is valid? [True, True] Translation: X:114.33, Y:-5.19, Z:-0.00 [[ 9.99556821e-01 2.97684746e-02 0.00000000e+00 1.14328586e+02] [-2.97684746e-02 9.99556821e-01 0.00000000e+00 -5.19408710e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59282051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.420371743 meters Centerline goodness : 0.992963 with order 1 Centerline is valid? [True, True] Translation: X:114.39, Y:-5.19, Z:-0.00 [[ 9.99849019e-01 1.73764077e-02 0.00000000e+00 1.14386200e+02] [-1.73764077e-02 9.99849019e-01 0.00000000e+00 -5.19463350e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03435326e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48037174299999 meters Centerline goodness : 0.992280 with order 1 Centerline is valid? [True, True] Translation: X:114.44, Y:-5.20, Z:0.00 [[ 9.99940896e-01 1.08722016e-02 0.00000000e+00 1.14444029e+02] [-1.08722016e-02 9.99940896e-01 0.00000000e+00 -5.20105395e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38166956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.540371743 meters Centerline goodness : 0.992920 with order 1 Centerline is valid? [True, True] Translation: X:114.50, Y:-5.21, Z:0.00 [[ 9.99986950e-01 5.10882020e-03 0.00000000e+00 1.14502229e+02] [-5.10882020e-03 9.99986950e-01 0.00000000e+00 -5.20588910e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62822618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.600371743 meters Centerline goodness : 0.992116 with order 1 Centerline is valid? [True, True] Translation: X:114.56, Y:-5.21, Z:-0.00 [[ 9.99988021e-01 4.89460219e-03 0.00000000e+00 1.14559281e+02] [-4.89460219e-03 9.99988021e-01 0.00000000e+00 -5.21408630e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10858689e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.660371743 meters Centerline goodness : 0.992053 with order 1 Centerline is valid? [True, True] Translation: X:114.62, Y:-5.21, Z:0.00 [[ 9.99999101e-01 -1.34060252e-03 0.00000000e+00 1.14618526e+02] [ 1.34060252e-03 9.99999101e-01 0.00000000e+00 -5.21313535e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23854067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.720371743 meters Centerline goodness : 0.992279 with order 1 Centerline is valid? [True, True] Translation: X:114.68, Y:-5.22, Z:0.00 [[ 9.99999723e-01 -7.44422427e-04 0.00000000e+00 1.14679675e+02] [ 7.44422427e-04 9.99999723e-01 0.00000000e+00 -5.21638140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87598416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.780371743 meters Centerline goodness : 0.992180 with order 1 Centerline is valid? [True, True] Translation: X:114.74, Y:-5.22, Z:0.00 [[ 9.99994934e-01 3.18313632e-03 0.00000000e+00 1.14740405e+02] [-3.18313632e-03 9.99994934e-01 0.00000000e+00 -5.21918494e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65657911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84037174299999 meters Centerline goodness : 0.994029 with order 1 Centerline is valid? [True, True] Translation: X:114.80, Y:-5.21, Z:0.00 [[ 9.99977486e-01 6.71028866e-03 0.00000000e+00 1.14799249e+02] [-6.71028866e-03 9.99977486e-01 0.00000000e+00 -5.21239611e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96057598e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.900371743 meters Centerline goodness : 0.993580 with order 1 Centerline is valid? [True, True] Translation: X:114.86, Y:-5.21, Z:0.01 [[ 9.99915070e-01 1.30327746e-02 0.00000000e+00 1.14858193e+02] [-1.30327746e-02 9.99915070e-01 0.00000000e+00 -5.21302738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93118892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.960371743 meters Centerline goodness : 0.991636 with order 1 Centerline is valid? [True, True] Translation: X:114.92, Y:-5.22, Z:-0.00 [[ 9.99569720e-01 2.93321642e-02 0.00000000e+00 1.14916344e+02] [-2.93321642e-02 9.99569720e-01 0.00000000e+00 -5.22392628e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68350899e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.020371743 meters Centerline goodness : 0.991477 with order 1 Centerline is valid? [True, True] Translation: X:114.97, Y:-5.23, Z:-0.00 [[ 9.99474747e-01 3.24072394e-02 0.00000000e+00 1.14974953e+02] [-3.24072394e-02 9.99474747e-01 0.00000000e+00 -5.22772086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82836981e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.080371743 meters Centerline goodness : 0.992502 with order 1 Centerline is valid? [True, True] Translation: X:115.03, Y:-5.23, Z:0.00 [[ 9.99502746e-01 3.15319147e-02 0.00000000e+00 1.15033026e+02] [-3.15319147e-02 9.99502746e-01 0.00000000e+00 -5.23080238e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87840906e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.140371743 meters Centerline goodness : 0.992237 with order 1 Centerline is valid? [True, True] Translation: X:115.09, Y:-5.24, Z:-0.00 [[ 9.99596398e-01 2.84084538e-02 0.00000000e+00 1.15090489e+02] [-2.84084538e-02 9.99596398e-01 0.00000000e+00 -5.23580841e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.27663353e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20037174299999 meters Centerline goodness : 0.992636 with order 1 Centerline is valid? [True, True] Translation: X:115.15, Y:-5.24, Z:-0.00 [[ 9.99741414e-01 2.27399599e-02 0.00000000e+00 1.15148152e+02] [-2.27399599e-02 9.99741414e-01 0.00000000e+00 -5.24066057e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.88207130e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.260371743 meters Centerline goodness : 0.992831 with order 1 Centerline is valid? [True, True] Translation: X:115.21, Y:-5.25, Z:0.00 [[ 9.99895310e-01 1.44696209e-02 0.00000000e+00 1.15206779e+02] [-1.44696209e-02 9.99895310e-01 0.00000000e+00 -5.24511702e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.17615513e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.320371743 meters Centerline goodness : 0.992592 with order 1 Centerline is valid? [True, True] Translation: X:115.27, Y:-5.25, Z:-0.00 [[ 9.99942681e-01 1.07067714e-02 0.00000000e+00 1.15265788e+02] [-1.07067714e-02 9.99942681e-01 0.00000000e+00 -5.25169837e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09340360e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.380371743 meters Centerline goodness : 0.992626 with order 1 Centerline is valid? [True, True] Translation: X:115.32, Y:-5.26, Z:0.00 [[ 9.99997331e-01 2.31046052e-03 0.00000000e+00 1.15324405e+02] [-2.31046052e-03 9.99997331e-01 0.00000000e+00 -5.25774099e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80210152e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.440371743 meters Centerline goodness : 0.993603 with order 1 Centerline is valid? [True, True] Translation: X:115.38, Y:-5.25, Z:0.01 [[ 9.99935863e-01 -1.13255864e-02 0.00000000e+00 1.15383723e+02] [ 1.13255864e-02 9.99935863e-01 0.00000000e+00 -5.25282104e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.14334876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.500371743 meters Centerline goodness : 0.993784 with order 1 Centerline is valid? [True, True] Translation: X:115.45, Y:-5.26, Z:0.01 [[ 9.99916252e-01 -1.29417678e-02 0.00000000e+00 1.15445978e+02] [ 1.29417678e-02 9.99916252e-01 0.00000000e+00 -5.25683930e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67340007e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.560371743 meters Centerline goodness : 0.994327 with order 1 Centerline is valid? [True, True] Translation: X:115.51, Y:-5.26, Z:0.01 [[ 9.99913575e-01 -1.31469693e-02 0.00000000e+00 1.15508303e+02] [ 1.31469693e-02 9.99913575e-01 0.00000000e+00 -5.26161008e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.99352081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62037174299999 meters Centerline goodness : 0.994830 with order 1 Centerline is valid? [True, True] Translation: X:115.57, Y:-5.27, Z:0.01 [[ 9.99928925e-01 -1.19224662e-02 0.00000000e+00 1.15570425e+02] [ 1.19224662e-02 9.99928925e-01 0.00000000e+00 -5.26508598e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.64064106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.680371743 meters Centerline goodness : 0.994647 with order 1 Centerline is valid? [True, True] Translation: X:115.63, Y:-5.27, Z:0.01 [[ 9.99959494e-01 -9.00062066e-03 0.00000000e+00 1.15631905e+02] [ 9.00062066e-03 9.99959494e-01 0.00000000e+00 -5.26801944e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40919203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.740371743 meters Centerline goodness : 0.994609 with order 1 Centerline is valid? [True, True] Translation: X:115.69, Y:-5.27, Z:0.00 [[ 1.00000000e+00 1.87219571e-05 0.00000000e+00 1.15694193e+02] [-1.87219571e-05 1.00000000e+00 0.00000000e+00 -5.26943487e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13881434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.800371743 meters Centerline goodness : 0.993027 with order 1 Centerline is valid? [True, True] Translation: X:115.75, Y:-5.28, Z:-0.00 [[ 9.99800438e-01 1.99770699e-02 0.00000000e+00 1.15753876e+02] [-1.99770699e-02 9.99800438e-01 0.00000000e+00 -5.27967983e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41984701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.860371743 meters Centerline goodness : 0.994162 with order 1 Centerline is valid? [True, True] Translation: X:115.81, Y:-5.28, Z:-0.01 [[ 9.99450558e-01 3.31448702e-02 0.00000000e+00 1.15812491e+02] [-3.31448702e-02 9.99450558e-01 0.00000000e+00 -5.28325522e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.83900348e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.920371743 meters Centerline goodness : 0.993196 with order 1 Centerline is valid? [True, True] Translation: X:115.87, Y:-5.28, Z:-0.00 [[ 9.99358764e-01 3.58058767e-02 0.00000000e+00 1.15871022e+02] [-3.58058767e-02 9.99358764e-01 0.00000000e+00 -5.28340998e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07698944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98037174299999 meters Centerline goodness : 0.993240 with order 1 Centerline is valid? [True, True] Translation: X:115.93, Y:-5.29, Z:-0.01 [[ 9.99278145e-01 3.79893388e-02 0.00000000e+00 1.15930117e+02] [-3.79893388e-02 9.99278145e-01 0.00000000e+00 -5.28902791e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22754197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.040371743 meters Centerline goodness : 0.993891 with order 1 Centerline is valid? [True, True] Translation: X:115.99, Y:-5.29, Z:-0.00 [[ 9.99578990e-01 2.90145108e-02 0.00000000e+00 1.15989189e+02] [-2.90145108e-02 9.99578990e-01 0.00000000e+00 -5.29206276e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56420987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.100371743 meters Centerline goodness : 0.993970 with order 1 Centerline is valid? [True, True] Translation: X:116.05, Y:-5.30, Z:-0.00 [[ 9.99771834e-01 2.13606967e-02 0.00000000e+00 1.16047395e+02] [-2.13606967e-02 9.99771834e-01 0.00000000e+00 -5.29634063e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21551773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.160371743 meters Centerline goodness : 0.995166 with order 1 Centerline is valid? [True, True] Translation: X:116.10, Y:-5.29, Z:0.01 [[ 9.99999509e-01 9.90876366e-04 0.00000000e+00 1.16104908e+02] [-9.90876366e-04 9.99999509e-01 0.00000000e+00 -5.29250425e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51493160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.220371743 meters Centerline goodness : 0.993964 with order 1 Centerline is valid? [True, True] Translation: X:116.16, Y:-5.31, Z:-0.00 [[ 9.99999922e-01 3.94441615e-04 0.00000000e+00 1.16164827e+02] [-3.94441615e-04 9.99999922e-01 0.00000000e+00 -5.30991724e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94180852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.280371743 meters Centerline goodness : 0.994776 with order 1 Centerline is valid? [True, True] Translation: X:116.23, Y:-5.31, Z:0.00 [[ 9.99958478e-01 -9.11273351e-03 0.00000000e+00 1.16225060e+02] [ 9.11273351e-03 9.99958478e-01 0.00000000e+00 -5.31088739e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.39254064e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34037174299999 meters Centerline goodness : 0.994399 with order 1 Centerline is valid? [True, True] Translation: X:116.29, Y:-5.31, Z:-0.00 [[ 9.99945134e-01 -1.04751387e-02 0.00000000e+00 1.16286376e+02] [ 1.04751387e-02 9.99945134e-01 0.00000000e+00 -5.31467987e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20165922e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.400371743 meters Centerline goodness : 0.995178 with order 1 Centerline is valid? [True, True] Translation: X:116.35, Y:-5.31, Z:0.01 [[ 9.99844222e-01 -1.76502775e-02 0.00000000e+00 1.16349178e+02] [ 1.76502775e-02 9.99844222e-01 0.00000000e+00 -5.30952518e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.05937215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.460371743 meters Centerline goodness : 0.994180 with order 1 Centerline is valid? [True, True] Translation: X:116.41, Y:-5.32, Z:0.00 [[ 9.99889009e-01 -1.48986410e-02 0.00000000e+00 1.16411569e+02] [ 1.48986410e-02 9.99889009e-01 0.00000000e+00 -5.31727233e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.91455133e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.520371743 meters Centerline goodness : 0.994493 with order 1 Centerline is valid? [True, True] Translation: X:116.47, Y:-5.32, Z:-0.00 [[ 9.99855018e-01 -1.70277268e-02 0.00000000e+00 1.16473186e+02] [ 1.70277268e-02 9.99855018e-01 0.00000000e+00 -5.31994095e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29360479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.580371743 meters Centerline goodness : 0.994396 with order 1 Centerline is valid? [True, True] Translation: X:116.54, Y:-5.32, Z:-0.00 [[ 9.99864620e-01 -1.64542303e-02 0.00000000e+00 1.16535802e+02] [ 1.64542303e-02 9.99864620e-01 0.00000000e+00 -5.32027629e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.91882358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.640371743 meters Centerline goodness : 0.993773 with order 1 Centerline is valid? [True, True] Translation: X:116.60, Y:-5.32, Z:-0.00 [[ 9.99889320e-01 -1.48777312e-02 0.00000000e+00 1.16598946e+02] [ 1.48777312e-02 9.99889320e-01 0.00000000e+00 -5.31921709e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.79696589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70037174299999 meters Centerline goodness : 0.994328 with order 1 Centerline is valid? [True, True] Translation: X:116.66, Y:-5.31, Z:0.00 [[ 9.99920511e-01 -1.26083788e-02 0.00000000e+00 1.16660883e+02] [ 1.26083788e-02 9.99920511e-01 0.00000000e+00 -5.31198649e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27291247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.760371743 meters Centerline goodness : 0.994210 with order 1 Centerline is valid? [True, True] Translation: X:116.72, Y:-5.31, Z:0.00 [[ 9.99986508e-01 -5.19453052e-03 0.00000000e+00 1.16723551e+02] [ 5.19453052e-03 9.99986508e-01 0.00000000e+00 -5.30818900e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20002204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.820371743 meters Centerline goodness : 0.994351 with order 1 Centerline is valid? [True, True] Translation: X:116.79, Y:-5.31, Z:0.00 [[ 9.99999110e-01 1.33406079e-03 0.00000000e+00 1.16785225e+02] [-1.33406079e-03 9.99999110e-01 0.00000000e+00 -5.30530660e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70892605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.880371743 meters Centerline goodness : 0.993122 with order 1 Centerline is valid? [True, True] Translation: X:116.84, Y:-5.31, Z:0.00 [[ 9.99990303e-01 4.40382038e-03 0.00000000e+00 1.16844358e+02] [-4.40382038e-03 9.99990303e-01 0.00000000e+00 -5.30522101e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20526591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.940371743 meters Centerline goodness : 0.992757 with order 1 Centerline is valid? [True, True] Translation: X:116.90, Y:-5.31, Z:-0.00 [[ 9.99947632e-01 1.02338898e-02 0.00000000e+00 1.16902598e+02] [-1.02338898e-02 9.99947632e-01 0.00000000e+00 -5.31246972e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.51892129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.000371743 meters Centerline goodness : 0.992551 with order 1 Centerline is valid? [True, True] Translation: X:116.96, Y:-5.31, Z:-0.00 [[ 9.99977742e-01 6.67199552e-03 0.00000000e+00 1.16961789e+02] [-6.67199552e-03 9.99977742e-01 0.00000000e+00 -5.31212085e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42962388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.060371743 meters Centerline goodness : 0.994194 with order 1 Centerline is valid? [True, True] Translation: X:117.02, Y:-5.31, Z:0.00 [[ 9.99993775e-01 -3.52839735e-03 0.00000000e+00 1.17021042e+02] [ 3.52839735e-03 9.99993775e-01 0.00000000e+00 -5.30721312e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11968247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12037174299999 meters Centerline goodness : 0.994006 with order 1 Centerline is valid? [True, True] Translation: X:117.08, Y:-5.32, Z:-0.00 [[ 9.99998656e-01 -1.63946179e-03 0.00000000e+00 1.17082463e+02] [ 1.63946179e-03 9.99998656e-01 0.00000000e+00 -5.31662211e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.92904092e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.180371743 meters Centerline goodness : 0.994058 with order 1 Centerline is valid? [True, True] Translation: X:117.14, Y:-5.31, Z:0.00 [[ 9.99944139e-01 -1.05697616e-02 0.00000000e+00 1.17144132e+02] [ 1.05697616e-02 9.99944139e-01 0.00000000e+00 -5.31438717e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39724646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.240371743 meters Centerline goodness : 0.994268 with order 1 Centerline is valid? [True, True] Translation: X:117.21, Y:-5.31, Z:0.01 [[ 9.99873690e-01 -1.58935017e-02 0.00000000e+00 1.17206063e+02] [ 1.58935017e-02 9.99873690e-01 0.00000000e+00 -5.31478896e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.91092945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.300371743 meters Centerline goodness : 0.994469 with order 1 Centerline is valid? [True, True] Translation: X:117.27, Y:-5.32, Z:0.01 [[ 9.99805517e-01 -1.97212671e-02 0.00000000e+00 1.17268463e+02] [ 1.97212671e-02 9.99805517e-01 0.00000000e+00 -5.31835841e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39846475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.360371743 meters Centerline goodness : 0.994577 with order 1 Centerline is valid? [True, True] Translation: X:117.33, Y:-5.32, Z:0.00 [[ 9.99783211e-01 -2.08213936e-02 0.00000000e+00 1.17329211e+02] [ 2.08213936e-02 9.99783211e-01 0.00000000e+00 -5.32237121e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73922424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.420371743 meters Centerline goodness : 0.994084 with order 1 Centerline is valid? [True, True] Translation: X:117.39, Y:-5.32, Z:0.00 [[ 9.99767836e-01 -2.15470326e-02 0.00000000e+00 1.17390879e+02] [ 2.15470326e-02 9.99767836e-01 0.00000000e+00 -5.32499126e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72750058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48037174299999 meters Centerline goodness : 0.995310 with order 1 Centerline is valid? [True, True] Translation: X:117.45, Y:-5.33, Z:-0.00 [[ 9.99742864e-01 -2.26761206e-02 0.00000000e+00 1.17452939e+02] [ 2.26761206e-02 9.99742864e-01 0.00000000e+00 -5.32647859e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.57927457e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.540371743 meters Centerline goodness : 0.993797 with order 1 Centerline is valid? [True, True] Translation: X:117.51, Y:-5.33, Z:-0.00 [[ 9.99796668e-01 -2.01648624e-02 0.00000000e+00 1.17514536e+02] [ 2.01648624e-02 9.99796668e-01 0.00000000e+00 -5.33214851e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35207808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.600371743 meters Centerline goodness : 0.993388 with order 1 Centerline is valid? [True, True] Translation: X:117.58, Y:-5.33, Z:-0.00 [[ 9.99804060e-01 -1.97950067e-02 0.00000000e+00 1.17576636e+02] [ 1.97950067e-02 9.99804060e-01 0.00000000e+00 -5.33373668e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.17677005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.660371743 meters Centerline goodness : 0.992666 with order 1 Centerline is valid? [True, True] Translation: X:117.64, Y:-5.34, Z:-0.00 [[ 9.99834850e-01 -1.81734295e-02 0.00000000e+00 1.17639347e+02] [ 1.81734295e-02 9.99834850e-01 0.00000000e+00 -5.33564929e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80399815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.720371743 meters Centerline goodness : 0.992485 with order 1 Centerline is valid? [True, True] Translation: X:117.70, Y:-5.34, Z:-0.00 [[ 9.99859910e-01 -1.67379943e-02 0.00000000e+00 1.17701014e+02] [ 1.67379943e-02 9.99859910e-01 0.00000000e+00 -5.33593335e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04766736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.780371743 meters Centerline goodness : 0.993238 with order 1 Centerline is valid? [True, True] Translation: X:117.76, Y:-5.34, Z:0.00 [[ 9.99885122e-01 -1.51572679e-02 0.00000000e+00 1.17763027e+02] [ 1.51572679e-02 9.99885122e-01 0.00000000e+00 -5.33696087e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.86760637e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84037174299999 meters Centerline goodness : 0.994284 with order 1 Centerline is valid? [True, True] Translation: X:117.82, Y:-5.34, Z:-0.00 [[ 9.99870707e-01 -1.60801170e-02 0.00000000e+00 1.17824644e+02] [ 1.60801170e-02 9.99870707e-01 0.00000000e+00 -5.33957891e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81377941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.900371743 meters Centerline goodness : 0.993212 with order 1 Centerline is valid? [True, True] Translation: X:117.89, Y:-5.34, Z:-0.00 [[ 9.99934441e-01 -1.14504502e-02 0.00000000e+00 1.17885790e+02] [ 1.14504502e-02 9.99934441e-01 0.00000000e+00 -5.33998832e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.00529506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.960371743 meters Centerline goodness : 0.993259 with order 1 Centerline is valid? [True, True] Translation: X:117.95, Y:-5.34, Z:-0.00 [[ 9.99933123e-01 -1.15650330e-02 0.00000000e+00 1.17947961e+02] [ 1.15650330e-02 9.99933123e-01 0.00000000e+00 -5.34037323e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05814179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.020371743 meters Centerline goodness : 0.993172 with order 1 Centerline is valid? [True, True] Translation: X:118.01, Y:-5.34, Z:0.00 [[ 9.99961799e-01 -8.74070170e-03 0.00000000e+00 1.18010014e+02] [ 8.74070170e-03 9.99961799e-01 0.00000000e+00 -5.33901232e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13348117e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.080371743 meters Centerline goodness : 0.992768 with order 1 Centerline is valid? [True, True] Translation: X:118.07, Y:-5.34, Z:0.00 [[ 9.99976797e-01 -6.81221243e-03 0.00000000e+00 1.18072569e+02] [ 6.81221243e-03 9.99976797e-01 0.00000000e+00 -5.34020405e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96103964e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.140371743 meters Centerline goodness : 0.992897 with order 1 Centerline is valid? [True, True] Translation: X:118.13, Y:-5.34, Z:-0.00 [[ 9.99983529e-01 -5.73952330e-03 0.00000000e+00 1.18134820e+02] [ 5.73952330e-03 9.99983529e-01 0.00000000e+00 -5.34171835e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.16665209e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20037174299999 meters Centerline goodness : 0.993351 with order 1 Centerline is valid? [True, True] Translation: X:118.20, Y:-5.35, Z:-0.01 [[ 9.99998070e-01 -1.96492631e-03 0.00000000e+00 1.18196898e+02] [ 1.96492631e-03 9.99998070e-01 0.00000000e+00 -5.34692229e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.78816361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.260371743 meters Centerline goodness : 0.992742 with order 1 Centerline is valid? [True, True] Translation: X:118.26, Y:-5.35, Z:-0.01 [[ 9.99999439e-01 -1.05931828e-03 0.00000000e+00 1.18258684e+02] [ 1.05931828e-03 9.99999439e-01 0.00000000e+00 -5.34750649e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07304572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.320371743 meters Centerline goodness : 0.992842 with order 1 Centerline is valid? [True, True] Translation: X:118.32, Y:-5.35, Z:-0.01 [[ 9.99996420e-01 2.67598291e-03 0.00000000e+00 1.18319251e+02] [-2.67598291e-03 9.99996420e-01 0.00000000e+00 -5.34880029e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.63109062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.380371743 meters Centerline goodness : 0.992068 with order 1 Centerline is valid? [True, True] Translation: X:118.38, Y:-5.35, Z:-0.01 [[ 9.99978208e-01 6.60175804e-03 0.00000000e+00 1.18378633e+02] [-6.60175804e-03 9.99978208e-01 0.00000000e+00 -5.35027427e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38541995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.440371743 meters Centerline goodness : 0.992369 with order 1 Centerline is valid? [True, True] Translation: X:118.44, Y:-5.35, Z:-0.00 [[ 9.99945176e-01 1.04711131e-02 0.00000000e+00 1.18436147e+02] [-1.04711131e-02 9.99945176e-01 0.00000000e+00 -5.34940251e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.28648766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.500371743 meters Centerline goodness : 0.991421 with order 1 Centerline is valid? [True, True] Translation: X:118.49, Y:-5.35, Z:-0.01 [[ 9.99880768e-01 1.54418493e-02 0.00000000e+00 1.18494103e+02] [-1.54418493e-02 9.99880768e-01 0.00000000e+00 -5.35385738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.29859056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.560371743 meters Centerline goodness : 0.992131 with order 1 Centerline is valid? [True, True] Translation: X:118.55, Y:-5.36, Z:-0.01 [[ 9.99838509e-01 1.79709706e-02 0.00000000e+00 1.18551701e+02] [-1.79709706e-02 9.99838509e-01 0.00000000e+00 -5.35830225e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.34151703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62037174299999 meters Centerline goodness : 0.992300 with order 1 Centerline is valid? [True, True] Translation: X:118.61, Y:-5.36, Z:-0.01 [[ 9.99843197e-01 1.77082333e-02 0.00000000e+00 1.18609368e+02] [-1.77082333e-02 9.99843197e-01 0.00000000e+00 -5.36410149e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.61389682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.680371743 meters Centerline goodness : 0.992612 with order 1 Centerline is valid? [True, True] Translation: X:118.67, Y:-5.37, Z:-0.01 [[ 9.99919250e-01 1.27080034e-02 0.00000000e+00 1.18666542e+02] [-1.27080034e-02 9.99919250e-01 0.00000000e+00 -5.37092353e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.78662635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.740371743 meters Centerline goodness : 0.992727 with order 1 Centerline is valid? [True, True] Translation: X:118.73, Y:-5.38, Z:-0.01 [[ 9.99963021e-01 8.59979624e-03 0.00000000e+00 1.18725463e+02] [-8.59979624e-03 9.99963021e-01 0.00000000e+00 -5.37751145e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05742695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.800371743 meters Centerline goodness : 0.994431 with order 1 Centerline is valid? [True, True] Translation: X:118.78, Y:-5.38, Z:-0.01 [[ 9.99980318e-01 -6.27400292e-03 0.00000000e+00 1.18784178e+02] [ 6.27400292e-03 9.99980318e-01 0.00000000e+00 -5.37733789e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.33890904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.860371743 meters Centerline goodness : 0.993312 with order 1 Centerline is valid? [True, True] Translation: X:118.85, Y:-5.40, Z:-0.01 [[ 9.99990241e-01 -4.41799890e-03 0.00000000e+00 1.18845422e+02] [ 4.41799890e-03 9.99990241e-01 0.00000000e+00 -5.39524309e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48655532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.920371743 meters Centerline goodness : 0.994233 with order 1 Centerline is valid? [True, True] Translation: X:118.91, Y:-5.39, Z:-0.00 [[ 9.99852075e-01 -1.71996665e-02 0.00000000e+00 1.18906435e+02] [ 1.71996665e-02 9.99852075e-01 0.00000000e+00 -5.39145468e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.55860834e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98037174299999 meters Centerline goodness : 0.994051 with order 1 Centerline is valid? [True, True] Translation: X:118.97, Y:-5.40, Z:-0.01 [[ 9.99888578e-01 -1.49275643e-02 0.00000000e+00 1.18968016e+02] [ 1.49275643e-02 9.99888578e-01 0.00000000e+00 -5.40378019e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.55655451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.040371743 meters Centerline goodness : 0.995158 with order 1 Centerline is valid? [True, True] Translation: X:119.03, Y:-5.41, Z:-0.01 [[ 9.99842163e-01 -1.77665424e-02 0.00000000e+00 1.19029684e+02] [ 1.77665424e-02 9.99842163e-01 0.00000000e+00 -5.40949409e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.99944727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.100371743 meters Centerline goodness : 0.994772 with order 1 Centerline is valid? [True, True] Translation: X:119.09, Y:-5.41, Z:-0.01 [[ 9.99877747e-01 -1.56361805e-02 0.00000000e+00 1.19092905e+02] [ 1.56361805e-02 9.99877747e-01 0.00000000e+00 -5.41494037e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09299175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.160371743 meters Centerline goodness : 0.994906 with order 1 Centerline is valid? [True, True] Translation: X:119.15, Y:-5.42, Z:-0.01 [[ 9.99917746e-01 -1.28257857e-02 0.00000000e+00 1.19154877e+02] [ 1.28257857e-02 9.99917746e-01 0.00000000e+00 -5.41783632e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18677859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.220371743 meters Centerline goodness : 0.994593 with order 1 Centerline is valid? [True, True] Translation: X:119.22, Y:-5.42, Z:-0.01 [[ 9.99977287e-01 -6.73987773e-03 0.00000000e+00 1.19216565e+02] [ 6.73987773e-03 9.99977287e-01 0.00000000e+00 -5.42096987e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41870636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.280371743 meters Centerline goodness : 0.994365 with order 1 Centerline is valid? [True, True] Translation: X:119.28, Y:-5.42, Z:-0.01 [[ 9.99999472e-01 1.02726082e-03 0.00000000e+00 1.19278570e+02] [-1.02726082e-03 9.99999472e-01 0.00000000e+00 -5.42288385e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45906622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34037174299999 meters Centerline goodness : 0.994215 with order 1 Centerline is valid? [True, True] Translation: X:119.34, Y:-5.42, Z:-0.01 [[ 9.99898455e-01 1.42505773e-02 0.00000000e+00 1.19338711e+02] [-1.42505773e-02 9.99898455e-01 0.00000000e+00 -5.42382190e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31426591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.400371743 meters Centerline goodness : 0.994847 with order 1 Centerline is valid? [True, True] Translation: X:119.40, Y:-5.41, Z:-0.00 [[ 9.99923951e-01 1.23325354e-02 0.00000000e+00 1.19397069e+02] [-1.23325354e-02 9.99923951e-01 0.00000000e+00 -5.41464637e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01428939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.460371743 meters Centerline goodness : 0.993057 with order 1 Centerline is valid? [True, True] Translation: X:119.45, Y:-5.43, Z:-0.01 [[ 9.99613678e-01 2.77937828e-02 0.00000000e+00 1.19454579e+02] [-2.77937828e-02 9.99613678e-01 0.00000000e+00 -5.42741268e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.91037308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.520371743 meters Centerline goodness : 0.992701 with order 1 Centerline is valid? [True, True] Translation: X:119.51, Y:-5.43, Z:-0.01 [[ 9.99418972e-01 3.40839819e-02 0.00000000e+00 1.19513608e+02] [-3.40839819e-02 9.99418972e-01 0.00000000e+00 -5.43298903e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30688107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.580371743 meters Centerline goodness : 0.992657 with order 1 Centerline is valid? [True, True] Translation: X:119.57, Y:-5.44, Z:-0.01 [[ 9.99355243e-01 3.59040257e-02 0.00000000e+00 1.19571737e+02] [-3.59040257e-02 9.99355243e-01 0.00000000e+00 -5.43941021e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39659159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.640371743 meters Centerline goodness : 0.992771 with order 1 Centerline is valid? [True, True] Translation: X:119.63, Y:-5.45, Z:-0.02 [[ 9.99370943e-01 3.54643112e-02 0.00000000e+00 1.19629850e+02] [-3.54643112e-02 9.99370943e-01 0.00000000e+00 -5.44602252e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58799198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70037174299999 meters Centerline goodness : 0.992295 with order 1 Centerline is valid? [True, True] Translation: X:119.69, Y:-5.45, Z:-0.02 [[ 9.99477898e-01 3.23099404e-02 0.00000000e+00 1.19688881e+02] [-3.23099404e-02 9.99477898e-01 0.00000000e+00 -5.45441653e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54765864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.760371743 meters Centerline goodness : 0.994346 with order 1 Centerline is valid? [True, True] Translation: X:119.75, Y:-5.45, Z:-0.00 [[ 9.99849274e-01 1.73617340e-02 0.00000000e+00 1.19746667e+02] [-1.73617340e-02 9.99849274e-01 0.00000000e+00 -5.44839996e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67668257e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.820371743 meters Centerline goodness : 0.995386 with order 1 Centerline is valid? [True, True] Translation: X:119.80, Y:-5.46, Z:-0.00 [[ 9.99954612e-01 9.52750349e-03 0.00000000e+00 1.19804193e+02] [-9.52750349e-03 9.99954612e-01 0.00000000e+00 -5.45736992e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.00709462e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.880371743 meters Centerline goodness : 0.995364 with order 1 Centerline is valid? [True, True] Translation: X:119.86, Y:-5.47, Z:-0.00 [[ 9.99999437e-01 -1.06129277e-03 0.00000000e+00 1.19862419e+02] [ 1.06129277e-03 9.99999437e-01 0.00000000e+00 -5.46758903e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.70799430e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.940371743 meters Centerline goodness : 0.995565 with order 1 Centerline is valid? [True, True] Translation: X:119.92, Y:-5.48, Z:-0.00 [[ 9.99961219e-01 -8.80678991e-03 0.00000000e+00 1.19922264e+02] [ 8.80678991e-03 9.99961219e-01 0.00000000e+00 -5.47589512e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43923315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.000371743 meters Centerline goodness : 0.995967 with order 1 Centerline is valid? [True, True] Translation: X:119.98, Y:-5.49, Z:-0.00 [[ 9.99814475e-01 -1.92617607e-02 0.00000000e+00 1.19983777e+02] [ 1.92617607e-02 9.99814475e-01 0.00000000e+00 -5.48574542e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23642668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.060371743 meters Centerline goodness : 0.994502 with order 1 Centerline is valid? [True, True] Translation: X:120.05, Y:-5.51, Z:-0.02 [[ 9.99875662e-01 -1.57689802e-02 0.00000000e+00 1.20045238e+02] [ 1.57689802e-02 9.99875662e-01 0.00000000e+00 -5.50600472e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76694464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12037174299999 meters Centerline goodness : 0.996268 with order 1 Centerline is valid? [True, True] Translation: X:120.11, Y:-5.50, Z:-0.01 [[ 9.99571130e-01 -2.92840722e-02 0.00000000e+00 1.20107362e+02] [ 2.92840722e-02 9.99571130e-01 0.00000000e+00 -5.49852080e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99758506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.180371743 meters Centerline goodness : 0.994559 with order 1 Centerline is valid? [True, True] Translation: X:120.17, Y:-5.51, Z:-0.02 [[ 9.99765281e-01 -2.16652674e-02 0.00000000e+00 1.20169285e+02] [ 2.16652674e-02 9.99765281e-01 0.00000000e+00 -5.51150931e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65763811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.240371743 meters Centerline goodness : 0.994753 with order 1 Centerline is valid? [True, True] Translation: X:120.23, Y:-5.51, Z:-0.02 [[ 9.99830910e-01 -1.83888950e-02 0.00000000e+00 1.20231983e+02] [ 1.83888950e-02 9.99830910e-01 0.00000000e+00 -5.51131241e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64734065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.300371743 meters Centerline goodness : 0.994443 with order 1 Centerline is valid? [True, True] Translation: X:120.29, Y:-5.51, Z:-0.02 [[ 9.99901055e-01 -1.40669842e-02 0.00000000e+00 1.20294169e+02] [ 1.40669842e-02 9.99901055e-01 0.00000000e+00 -5.51109698e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73752055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.360371743 meters Centerline goodness : 0.993821 with order 1 Centerline is valid? [True, True] Translation: X:120.35, Y:-5.51, Z:-0.02 [[ 9.99955052e-01 -9.48124130e-03 0.00000000e+00 1.20354965e+02] [ 9.48124130e-03 9.99955052e-01 0.00000000e+00 -5.51408736e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07233109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.420371743 meters Centerline goodness : 0.995543 with order 1 Centerline is valid? [True, True] Translation: X:120.42, Y:-5.50, Z:-0.01 [[ 9.99835528e-01 -1.81360624e-02 0.00000000e+00 1.20417986e+02] [ 1.81360624e-02 9.99835528e-01 0.00000000e+00 -5.49987566e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.56431602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48037174299999 meters Centerline goodness : 0.994409 with order 1 Centerline is valid? [True, True] Translation: X:120.48, Y:-5.51, Z:-0.02 [[ 9.99965297e-01 -8.33097620e-03 0.00000000e+00 1.20479555e+02] [ 8.33097620e-03 9.99965297e-01 0.00000000e+00 -5.51096753e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51099992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.540371743 meters Centerline goodness : 0.994312 with order 1 Centerline is valid? [True, True] Translation: X:120.54, Y:-5.51, Z:-0.02 [[ 9.99999206e-01 -1.25985702e-03 0.00000000e+00 1.20541052e+02] [ 1.25985702e-03 9.99999206e-01 0.00000000e+00 -5.51332071e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01195284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.600371743 meters Centerline goodness : 0.994928 with order 1 Centerline is valid? [True, True] Translation: X:120.60, Y:-5.50, Z:-0.00 [[ 9.99973209e-01 -7.31992550e-03 0.00000000e+00 1.20601781e+02] [ 7.31992550e-03 9.99973209e-01 0.00000000e+00 -5.49800577e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.74827149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.660371743 meters Centerline goodness : 0.993663 with order 1 Centerline is valid? [True, True] Translation: X:120.66, Y:-5.51, Z:-0.02 [[ 9.99960816e-01 8.85249127e-03 0.00000000e+00 1.20662753e+02] [-8.85249127e-03 9.99960816e-01 0.00000000e+00 -5.51151742e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69714923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.720371743 meters Centerline goodness : 0.992924 with order 1 Centerline is valid? [True, True] Translation: X:120.72, Y:-5.51, Z:-0.02 [[ 9.99884027e-01 1.52293215e-02 0.00000000e+00 1.20721236e+02] [-1.52293215e-02 9.99884027e-01 0.00000000e+00 -5.51127460e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65265243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.780371743 meters Centerline goodness : 0.993307 with order 1 Centerline is valid? [True, True] Translation: X:120.78, Y:-5.51, Z:-0.01 [[ 9.99835968e-01 1.81118117e-02 0.00000000e+00 1.20779889e+02] [-1.81118117e-02 9.99835968e-01 0.00000000e+00 -5.51036511e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35065528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84037174299999 meters Centerline goodness : 0.994738 with order 1 Centerline is valid? [True, True] Translation: X:120.84, Y:-5.50, Z:-0.00 [[ 9.99910113e-01 1.34076714e-02 0.00000000e+00 1.20838169e+02] [-1.34076714e-02 9.99910113e-01 0.00000000e+00 -5.49798225e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46966763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.900371743 meters Centerline goodness : 0.994394 with order 1 Centerline is valid? [True, True] Translation: X:120.90, Y:-5.50, Z:-0.00 [[ 9.99855994e-01 1.69703163e-02 0.00000000e+00 1.20895736e+02] [-1.69703163e-02 9.99855994e-01 0.00000000e+00 -5.49940380e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38590532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.960371743 meters Centerline goodness : 0.992508 with order 1 Centerline is valid? [True, True] Translation: X:120.95, Y:-5.52, Z:-0.01 [[ 9.99537352e-01 3.04151506e-02 0.00000000e+00 1.20952590e+02] [-3.04151506e-02 9.99537352e-01 0.00000000e+00 -5.51602840e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24122899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.020371743 meters Centerline goodness : 0.992379 with order 1 Centerline is valid? [True, True] Translation: X:121.01, Y:-5.52, Z:-0.01 [[ 9.99509609e-01 3.13136059e-02 0.00000000e+00 1.21011409e+02] [-3.13136059e-02 9.99509609e-01 0.00000000e+00 -5.52098146e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39354622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.080371743 meters Centerline goodness : 0.992950 with order 1 Centerline is valid? [True, True] Translation: X:121.07, Y:-5.53, Z:-0.01 [[ 9.99605059e-01 2.81020558e-02 0.00000000e+00 1.21070386e+02] [-2.81020558e-02 9.99605059e-01 0.00000000e+00 -5.52532860e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45246035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.140371743 meters Centerline goodness : 0.995473 with order 1 Centerline is valid? [True, True] Translation: X:121.13, Y:-5.52, Z:-0.00 [[ 9.99954576e-01 9.53128130e-03 0.00000000e+00 1.21128513e+02] [-9.53128130e-03 9.99954576e-01 0.00000000e+00 -5.51919436e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89522177e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20037174299999 meters Centerline goodness : 0.994145 with order 1 Centerline is valid? [True, True] Translation: X:121.19, Y:-5.54, Z:-0.02 [[ 9.99929885e-01 1.18416720e-02 0.00000000e+00 1.21186573e+02] [-1.18416720e-02 9.99929885e-01 0.00000000e+00 -5.54020157e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61965321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.260371743 meters Centerline goodness : 0.993822 with order 1 Centerline is valid? [True, True] Translation: X:121.25, Y:-5.54, Z:-0.01 [[ 9.99980699e-01 6.21309976e-03 0.00000000e+00 1.21245698e+02] [-6.21309976e-03 9.99980699e-01 0.00000000e+00 -5.54249698e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46634625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.320371743 meters Centerline goodness : 0.994514 with order 1 Centerline is valid? [True, True] Translation: X:121.31, Y:-5.55, Z:-0.01 [[ 9.99964986e-01 -8.36817009e-03 0.00000000e+00 1.21305229e+02] [ 8.36817009e-03 9.99964986e-01 0.00000000e+00 -5.54736017e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02843762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.380371743 meters Centerline goodness : 0.995039 with order 1 Centerline is valid? [True, True] Translation: X:121.37, Y:-5.55, Z:-0.01 [[ 9.99924549e-01 -1.22839899e-02 0.00000000e+00 1.21367775e+02] [ 1.22839899e-02 9.99924549e-01 0.00000000e+00 -5.55337334e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18682973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.440371743 meters Centerline goodness : 0.994518 with order 1 Centerline is valid? [True, True] Translation: X:121.43, Y:-5.56, Z:-0.01 [[ 9.99925561e-01 -1.22013102e-02 0.00000000e+00 1.21428969e+02] [ 1.22013102e-02 9.99925561e-01 0.00000000e+00 -5.55718198e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33430841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.500371743 meters Centerline goodness : 0.995604 with order 1 Centerline is valid? [True, True] Translation: X:121.49, Y:-5.55, Z:-0.01 [[ 9.99876405e-01 -1.57217621e-02 0.00000000e+00 1.21491095e+02] [ 1.57217621e-02 9.99876405e-01 0.00000000e+00 -5.55086088e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.16877336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.560371743 meters Centerline goodness : 0.995861 with order 1 Centerline is valid? [True, True] Translation: X:121.55, Y:-5.55, Z:-0.01 [[ 9.99961946e-01 -8.72388597e-03 0.00000000e+00 1.21552966e+02] [ 8.72388597e-03 9.99961946e-01 0.00000000e+00 -5.55146711e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.92136471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62037174299999 meters Centerline goodness : 0.995869 with order 1 Centerline is valid? [True, True] Translation: X:121.62, Y:-5.55, Z:-0.01 [[ 9.99999978e-01 2.08365854e-04 0.00000000e+00 1.21615698e+02] [-2.08365854e-04 9.99999978e-01 0.00000000e+00 -5.55143471e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.22757875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.680371743 meters Centerline goodness : 0.994145 with order 1 Centerline is valid? [True, True] Translation: X:121.68, Y:-5.56, Z:-0.01 [[ 9.99900360e-01 1.41162972e-02 0.00000000e+00 1.21675567e+02] [-1.41162972e-02 9.99900360e-01 0.00000000e+00 -5.56237205e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47756770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.740371743 meters Centerline goodness : 0.993568 with order 1 Centerline is valid? [True, True] Translation: X:121.73, Y:-5.57, Z:-0.02 [[ 9.99715206e-01 2.38643286e-02 0.00000000e+00 1.21734482e+02] [-2.38643286e-02 9.99715206e-01 0.00000000e+00 -5.56701989e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98464688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.800371743 meters Centerline goodness : 0.995492 with order 1 Centerline is valid? [True, True] Translation: X:121.79, Y:-5.55, Z:-0.01 [[ 9.99900340e-01 1.41177467e-02 0.00000000e+00 1.21792995e+02] [-1.41177467e-02 9.99900340e-01 0.00000000e+00 -5.55361762e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47621610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.860371743 meters Centerline goodness : 0.992739 with order 1 Centerline is valid? [True, True] Translation: X:121.85, Y:-5.57, Z:-0.02 [[ 9.99517941e-01 3.10464996e-02 0.00000000e+00 1.21849951e+02] [-3.10464996e-02 9.99517941e-01 0.00000000e+00 -5.56981010e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89841355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.920371743 meters Centerline goodness : 0.992517 with order 1 Centerline is valid? [True, True] Translation: X:121.91, Y:-5.57, Z:-0.02 [[ 9.99431150e-01 3.37250238e-02 0.00000000e+00 1.21907944e+02] [-3.37250238e-02 9.99431150e-01 0.00000000e+00 -5.57129623e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77945838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98037174299999 meters Centerline goodness : 0.995298 with order 1 Centerline is valid? [True, True] Translation: X:121.97, Y:-5.56, Z:-0.00 [[ 9.99814647e-01 1.92528423e-02 0.00000000e+00 1.21965874e+02] [-1.92528423e-02 9.99814647e-01 0.00000000e+00 -5.55826193e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81976881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.040371743 meters Centerline goodness : 0.995390 with order 1 Centerline is valid? [True, True] Translation: X:122.02, Y:-5.56, Z:-0.00 [[ 9.99871391e-01 1.60374826e-02 0.00000000e+00 1.22024077e+02] [-1.60374826e-02 9.99871391e-01 0.00000000e+00 -5.56158135e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57191761e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.100371743 meters Centerline goodness : 0.995381 with order 1 Centerline is valid? [True, True] Translation: X:122.08, Y:-5.57, Z:-0.00 [[ 9.99953518e-01 9.64166591e-03 0.00000000e+00 1.22082861e+02] [-9.64166591e-03 9.99953518e-01 0.00000000e+00 -5.56646627e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39698941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.160371743 meters Centerline goodness : 0.995480 with order 1 Centerline is valid? [True, True] Translation: X:122.14, Y:-5.57, Z:-0.00 [[ 9.99990783e-01 4.29344033e-03 0.00000000e+00 1.22141353e+02] [-4.29344033e-03 9.99990783e-01 0.00000000e+00 -5.57173625e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74257334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.220371743 meters Centerline goodness : 0.994204 with order 1 Centerline is valid? [True, True] Translation: X:122.20, Y:-5.58, Z:-0.00 [[ 9.99994261e-01 3.38787947e-03 0.00000000e+00 1.22199928e+02] [-3.38787947e-03 9.99994261e-01 0.00000000e+00 -5.58333612e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.01715435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.280371743 meters Centerline goodness : 0.995589 with order 1 Centerline is valid? [True, True] Translation: X:122.26, Y:-5.58, Z:-0.00 [[ 9.99990162e-01 -4.43568242e-03 0.00000000e+00 1.22258630e+02] [ 4.43568242e-03 9.99990162e-01 0.00000000e+00 -5.58183737e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.63683181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34037174299999 meters Centerline goodness : 0.994563 with order 1 Centerline is valid? [True, True] Translation: X:122.32, Y:-5.60, Z:-0.01 [[ 9.99998417e-01 -1.77942020e-03 0.00000000e+00 1.22319801e+02] [ 1.77942020e-03 9.99998417e-01 0.00000000e+00 -5.59689686e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22571367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.400371743 meters Centerline goodness : 0.994114 with order 1 Centerline is valid? [True, True] Translation: X:122.38, Y:-5.60, Z:-0.02 [[ 9.99999393e-01 1.10171730e-03 0.00000000e+00 1.22380601e+02] [-1.10171730e-03 9.99999393e-01 0.00000000e+00 -5.60364561e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72767235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.460371743 meters Centerline goodness : 0.995254 with order 1 Centerline is valid? [True, True] Translation: X:122.44, Y:-5.60, Z:-0.01 [[ 9.99997304e-01 2.32224403e-03 0.00000000e+00 1.22441116e+02] [-2.32224403e-03 9.99997304e-01 0.00000000e+00 -5.60282524e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24808277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.520371743 meters Centerline goodness : 0.994762 with order 1 Centerline is valid? [True, True] Translation: X:122.50, Y:-5.60, Z:-0.01 [[ 9.99960168e-01 8.92533697e-03 0.00000000e+00 1.22501025e+02] [-8.92533697e-03 9.99960168e-01 0.00000000e+00 -5.60169099e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.98019434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.580371743 meters Centerline goodness : 0.995592 with order 1 Centerline is valid? [True, True] Translation: X:122.56, Y:-5.60, Z:-0.00 [[ 9.99953048e-01 9.69027338e-03 0.00000000e+00 1.22558852e+02] [-9.69027338e-03 9.99953048e-01 0.00000000e+00 -5.59517442e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31575189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.640371743 meters Centerline goodness : 0.995262 with order 1 Centerline is valid? [True, True] Translation: X:122.62, Y:-5.60, Z:-0.00 [[ 9.99836901e-01 1.80602221e-02 0.00000000e+00 1.22616735e+02] [-1.80602221e-02 9.99836901e-01 0.00000000e+00 -5.59629211e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.89970220e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70037174299999 meters Centerline goodness : 0.995981 with order 1 Centerline is valid? [True, True] Translation: X:122.67, Y:-5.60, Z:-0.01 [[ 9.99705909e-01 2.42506767e-02 0.00000000e+00 1.22674264e+02] [-2.42506767e-02 9.99705909e-01 0.00000000e+00 -5.59769642e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.91481750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.760371743 meters Centerline goodness : 0.995424 with order 1 Centerline is valid? [True, True] Translation: X:122.73, Y:-5.60, Z:-0.01 [[ 9.99682152e-01 2.52110061e-02 0.00000000e+00 1.22732706e+02] [-2.52110061e-02 9.99682152e-01 0.00000000e+00 -5.59975195e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.02221907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.820371743 meters Centerline goodness : 0.994806 with order 1 Centerline is valid? [True, True] Translation: X:122.79, Y:-5.61, Z:-0.01 [[ 9.99477229e-01 3.23306178e-02 0.00000000e+00 1.22790715e+02] [-3.23306178e-02 9.99477229e-01 0.00000000e+00 -5.61487370e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40364048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.880371743 meters Centerline goodness : 0.995637 with order 1 Centerline is valid? [True, True] Translation: X:122.85, Y:-5.61, Z:-0.00 [[ 9.99792878e-01 2.03519112e-02 0.00000000e+00 1.22848986e+02] [-2.03519112e-02 9.99792878e-01 0.00000000e+00 -5.60780947e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27756529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.940371743 meters Centerline goodness : 0.996036 with order 1 Centerline is valid? [True, True] Translation: X:122.91, Y:-5.61, Z:-0.00 [[ 9.99852889e-01 1.71522942e-02 0.00000000e+00 1.22907188e+02] [-1.71522942e-02 9.99852889e-01 0.00000000e+00 -5.61259818e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62122741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.000371743 meters Centerline goodness : 0.996012 with order 1 Centerline is valid? [True, True] Translation: X:122.97, Y:-5.62, Z:-0.00 [[ 9.99849253e-01 1.73629438e-02 0.00000000e+00 1.22965959e+02] [-1.73629438e-02 9.99849253e-01 0.00000000e+00 -5.61843983e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35814171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.060371743 meters Centerline goodness : 0.996010 with order 1 Centerline is valid? [True, True] Translation: X:123.02, Y:-5.62, Z:-0.00 [[ 9.99798158e-01 2.00908561e-02 0.00000000e+00 1.23024891e+02] [-2.00908561e-02 9.99798158e-01 0.00000000e+00 -5.62269304e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60547745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12037174299999 meters Centerline goodness : 0.996008 with order 1 Centerline is valid? [True, True] Translation: X:123.08, Y:-5.63, Z:-0.00 [[ 9.99664204e-01 2.59129223e-02 0.00000000e+00 1.23083188e+02] [-2.59129223e-02 9.99664204e-01 0.00000000e+00 -5.62849185e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.89175250e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.180371743 meters Centerline goodness : 0.995985 with order 1 Centerline is valid? [True, True] Translation: X:123.14, Y:-5.63, Z:-0.00 [[ 9.99612937e-01 2.78204179e-02 0.00000000e+00 1.23140168e+02] [-2.78204179e-02 9.99612937e-01 0.00000000e+00 -5.63207790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04002460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.240371743 meters Centerline goodness : 0.993872 with order 1 Centerline is valid? [True, True] Translation: X:123.20, Y:-5.66, Z:-0.02 [[ 9.99049931e-01 4.35802271e-02 0.00000000e+00 1.23197696e+02] [-4.35802271e-02 9.99049931e-01 0.00000000e+00 -5.65594889e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72915909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.300371743 meters Centerline goodness : 0.996375 with order 1 Centerline is valid? [True, True] Translation: X:123.26, Y:-5.65, Z:-0.00 [[ 9.99567238e-01 2.94166172e-02 0.00000000e+00 1.23256156e+02] [-2.94166172e-02 9.99567238e-01 0.00000000e+00 -5.64803301e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78386977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.360371743 meters Centerline goodness : 0.995256 with order 1 Centerline is valid? [True, True] Translation: X:123.31, Y:-5.65, Z:-0.00 [[ 9.99583866e-01 2.88460387e-02 0.00000000e+00 1.23314796e+02] [-2.88460387e-02 9.99583866e-01 0.00000000e+00 -5.65472250e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64514967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.420371743 meters Centerline goodness : 0.995438 with order 1 Centerline is valid? [True, True] Translation: X:123.37, Y:-5.66, Z:-0.00 [[ 9.99565268e-01 2.94834615e-02 0.00000000e+00 1.23373235e+02] [-2.94834615e-02 9.99565268e-01 0.00000000e+00 -5.66242025e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48769143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48037174299999 meters Centerline goodness : 0.995287 with order 1 Centerline is valid? [True, True] Translation: X:123.43, Y:-5.67, Z:-0.00 [[ 9.99500435e-01 3.16050637e-02 0.00000000e+00 1.23431029e+02] [-3.16050637e-02 9.99500435e-01 0.00000000e+00 -5.66823127e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02447286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.540371743 meters Centerline goodness : 0.995101 with order 1 Centerline is valid? [True, True] Translation: X:123.49, Y:-5.68, Z:0.00 [[ 9.99417643e-01 3.41229246e-02 0.00000000e+00 1.23489629e+02] [-3.41229246e-02 9.99417643e-01 0.00000000e+00 -5.67603727e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.07200301e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.600371743 meters Centerline goodness : 0.994850 with order 1 Centerline is valid? [True, True] Translation: X:123.55, Y:-5.68, Z:-0.00 [[ 9.99352591e-01 3.59777413e-02 0.00000000e+00 1.23548624e+02] [-3.59777413e-02 9.99352591e-01 0.00000000e+00 -5.68230553e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.64018988e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.660371743 meters Centerline goodness : 0.994761 with order 1 Centerline is valid? [True, True] Translation: X:123.61, Y:-5.69, Z:-0.00 [[ 9.99352869e-01 3.59700249e-02 0.00000000e+00 1.23605962e+02] [-3.59700249e-02 9.99352869e-01 0.00000000e+00 -5.69046270e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20952524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.720371743 meters Centerline goodness : 0.994632 with order 1 Centerline is valid? [True, True] Translation: X:123.66, Y:-5.70, Z:-0.00 [[ 9.99367644e-01 3.55571615e-02 0.00000000e+00 1.23664572e+02] [-3.55571615e-02 9.99367644e-01 0.00000000e+00 -5.69612603e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.64366517e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.780371743 meters Centerline goodness : 0.994884 with order 1 Centerline is valid? [True, True] Translation: X:123.72, Y:-5.70, Z:-0.00 [[ 9.99397711e-01 3.47018108e-02 0.00000000e+00 1.23722042e+02] [-3.47018108e-02 9.99397711e-01 0.00000000e+00 -5.70354382e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30914005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84037174299999 meters Centerline goodness : 0.994212 with order 1 Centerline is valid? [True, True] Translation: X:123.78, Y:-5.71, Z:-0.00 [[ 9.99499822e-01 3.16244475e-02 0.00000000e+00 1.23780678e+02] [-3.16244475e-02 9.99499822e-01 0.00000000e+00 -5.71178708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01089815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.900371743 meters Centerline goodness : 0.994112 with order 1 Centerline is valid? [True, True] Translation: X:123.84, Y:-5.72, Z:0.00 [[ 9.99584539e-01 2.88227116e-02 0.00000000e+00 1.23839636e+02] [-2.88227116e-02 9.99584539e-01 0.00000000e+00 -5.71870478e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33599990e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.960371743 meters Centerline goodness : 0.992276 with order 1 Centerline is valid? [True, True] Translation: X:123.90, Y:-5.73, Z:-0.00 [[ 9.99449182e-01 3.31863320e-02 0.00000000e+00 1.23897372e+02] [-3.31863320e-02 9.99449182e-01 0.00000000e+00 -5.73434804e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94246484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.020371743 meters Centerline goodness : 0.993939 with order 1 Centerline is valid? [True, True] Translation: X:123.96, Y:-5.73, Z:0.00 [[ 9.99717247e-01 2.37786930e-02 0.00000000e+00 1.23956039e+02] [-2.37786930e-02 9.99717247e-01 0.00000000e+00 -5.73254864e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48196213e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.080371743 meters Centerline goodness : 0.993413 with order 1 Centerline is valid? [True, True] Translation: X:124.01, Y:-5.74, Z:-0.00 [[ 9.99764013e-01 2.17236925e-02 0.00000000e+00 1.24013477e+02] [-2.17236925e-02 9.99764013e-01 0.00000000e+00 -5.74218349e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.36463717e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.140371743 meters Centerline goodness : 0.993554 with order 1 Centerline is valid? [True, True] Translation: X:124.07, Y:-5.75, Z:-0.00 [[ 9.99772997e-01 2.13062066e-02 0.00000000e+00 1.24071618e+02] [-2.13062066e-02 9.99772997e-01 0.00000000e+00 -5.74907481e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97654640e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20037174299999 meters Centerline goodness : 0.993302 with order 1 Centerline is valid? [True, True] Translation: X:124.13, Y:-5.76, Z:0.00 [[ 9.99716901e-01 2.37932402e-02 0.00000000e+00 1.24128857e+02] [-2.37932402e-02 9.99716901e-01 0.00000000e+00 -5.75723440e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67010725e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.260371743 meters Centerline goodness : 0.992552 with order 1 Centerline is valid? [True, True] Translation: X:124.19, Y:-5.77, Z:0.00 [[ 9.99637589e-01 2.69200917e-02 0.00000000e+00 1.24186288e+02] [-2.69200917e-02 9.99637589e-01 0.00000000e+00 -5.76595770e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02493109e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.320371743 meters Centerline goodness : 0.992152 with order 1 Centerline is valid? [True, True] Translation: X:124.24, Y:-5.77, Z:0.00 [[ 9.99575818e-01 2.91236098e-02 0.00000000e+00 1.24244372e+02] [-2.91236098e-02 9.99575818e-01 0.00000000e+00 -5.77411222e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14468727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.380371743 meters Centerline goodness : 0.992474 with order 1 Centerline is valid? [True, True] Translation: X:124.30, Y:-5.78, Z:0.00 [[ 9.99617596e-01 2.76525051e-02 0.00000000e+00 1.24303254e+02] [-2.76525051e-02 9.99617596e-01 0.00000000e+00 -5.78380594e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26703381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.440371743 meters Centerline goodness : 0.991108 with order 1 Centerline is valid? [True, True] Translation: X:124.36, Y:-5.79, Z:0.00 [[ 9.99687813e-01 2.49855387e-02 0.00000000e+00 1.24362059e+02] [-2.49855387e-02 9.99687813e-01 0.00000000e+00 -5.79447507e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75061785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.500371743 meters Centerline goodness : 0.990947 with order 1 Centerline is valid? [True, True] Translation: X:124.42, Y:-5.80, Z:0.00 [[ 9.99750422e-01 2.23404136e-02 0.00000000e+00 1.24419255e+02] [-2.23404136e-02 9.99750422e-01 0.00000000e+00 -5.80340325e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00478473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.560371743 meters Centerline goodness : 0.990230 with order 1 Centerline is valid? [True, True] Translation: X:124.48, Y:-5.82, Z:0.00 [[ 9.99815903e-01 1.91874824e-02 0.00000000e+00 1.24478167e+02] [-1.91874824e-02 9.99815903e-01 0.00000000e+00 -5.81558123e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.59289861e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62037174299999 meters Centerline goodness : 0.989842 with order 1 Centerline is valid? [True, True] Translation: X:124.54, Y:-5.83, Z:0.00 [[ 9.99838561e-01 1.79680916e-02 0.00000000e+00 1.24535193e+02] [-1.79680916e-02 9.99838561e-01 0.00000000e+00 -5.82632558e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.29290907e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.680371743 meters Centerline goodness : 0.989589 with order 1 Centerline is valid? [True, True] Translation: X:124.59, Y:-5.84, Z:0.00 [[ 9.99851862e-01 1.72120600e-02 0.00000000e+00 1.24593392e+02] [-1.72120600e-02 9.99851862e-01 0.00000000e+00 -5.83637379e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84733607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.740371743 meters Centerline goodness : 0.989524 with order 1 Centerline is valid? [True, True] Translation: X:124.65, Y:-5.84, Z:0.00 [[ 9.99901329e-01 1.40474678e-02 0.00000000e+00 1.24652178e+02] [-1.40474678e-02 9.99901329e-01 0.00000000e+00 -5.84445633e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83380522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.800371743 meters Centerline goodness : 0.987170 with order 1 Centerline is valid? [True, True] Translation: X:124.71, Y:-5.87, Z:-0.00 [[ 9.99867066e-01 1.63049275e-02 0.00000000e+00 1.24710443e+02] [-1.63049275e-02 9.99867066e-01 0.00000000e+00 -5.86648630e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.30016751e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.860371743 meters Centerline goodness : 0.988903 with order 1 Centerline is valid? [True, True] Translation: X:124.77, Y:-5.86, Z:0.00 [[ 9.99993632e-01 3.56867339e-03 0.00000000e+00 1.24768910e+02] [-3.56867339e-03 9.99993632e-01 0.00000000e+00 -5.86320775e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49197713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.920371743 meters Centerline goodness : 0.989374 with order 1 Centerline is valid? [True, True] Translation: X:124.83, Y:-5.87, Z:0.01 [[ 9.99998771e-01 -1.56782696e-03 0.00000000e+00 1.24828172e+02] [ 1.56782696e-03 9.99998771e-01 0.00000000e+00 -5.87203719e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22419500e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98037174299999 meters Centerline goodness : 0.989828 with order 1 Centerline is valid? [True, True] Translation: X:124.89, Y:-5.88, Z:0.01 [[ 9.99987355e-01 -5.02892414e-03 0.00000000e+00 1.24888033e+02] [ 5.02892414e-03 9.99987355e-01 0.00000000e+00 -5.87880308e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.03649413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.040371743 meters Centerline goodness : 0.989540 with order 1 Centerline is valid? [True, True] Translation: X:124.95, Y:-5.88, Z:0.01 [[ 9.99970017e-01 -7.74369628e-03 0.00000000e+00 1.24948479e+02] [ 7.74369628e-03 9.99970017e-01 0.00000000e+00 -5.88268780e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58056230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.100371743 meters Centerline goodness : 0.987786 with order 1 Centerline is valid? [True, True] Translation: X:125.01, Y:-5.89, Z:0.01 [[ 9.99996300e-01 -2.72037396e-03 0.00000000e+00 1.25009093e+02] [ 2.72037396e-03 9.99996300e-01 0.00000000e+00 -5.89235362e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71150024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.160371743 meters Centerline goodness : 0.986996 with order 1 Centerline is valid? [True, True] Translation: X:125.07, Y:-5.90, Z:0.00 [[ 9.99999851e-01 -5.45413178e-04 0.00000000e+00 1.25069730e+02] [ 5.45413178e-04 9.99999851e-01 0.00000000e+00 -5.89969153e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.86078334e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.220371743 meters Centerline goodness : 0.990180 with order 1 Centerline is valid? [True, True] Translation: X:125.13, Y:-5.89, Z:0.00 [[ 9.99928014e-01 -1.19985965e-02 0.00000000e+00 1.25130672e+02] [ 1.19985965e-02 9.99928014e-01 0.00000000e+00 -5.89075561e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04286026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.280371743 meters Centerline goodness : 0.988724 with order 1 Centerline is valid? [True, True] Translation: X:125.19, Y:-5.89, Z:0.00 [[ 9.99893188e-01 -1.46154971e-02 0.00000000e+00 1.25191735e+02] [ 1.46154971e-02 9.99893188e-01 0.00000000e+00 -5.89250083e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10307750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34037174299999 meters Centerline goodness : 0.989354 with order 1 Centerline is valid? [True, True] Translation: X:125.25, Y:-5.89, Z:0.00 [[ 9.99784398e-01 -2.07643264e-02 0.00000000e+00 1.25254345e+02] [ 2.07643264e-02 9.99784398e-01 0.00000000e+00 -5.89426462e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84558779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.400371743 meters Centerline goodness : 0.986860 with order 1 Centerline is valid? [True, True] Translation: X:125.31, Y:-5.91, Z:0.00 [[ 9.99818499e-01 -1.90517433e-02 0.00000000e+00 1.25314679e+02] [ 1.90517433e-02 9.99818499e-01 0.00000000e+00 -5.90654073e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36363853e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.460371743 meters Centerline goodness : 0.988446 with order 1 Centerline is valid? [True, True] Translation: X:125.38, Y:-5.90, Z:0.00 [[ 9.99514969e-01 -3.11420496e-02 0.00000000e+00 1.25376102e+02] [ 3.11420496e-02 9.99514969e-01 0.00000000e+00 -5.89511407e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08508258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.520371743 meters Centerline goodness : 0.989910 with order 1 Centerline is valid? [True, True] Translation: X:125.44, Y:-5.89, Z:0.00 [[ 9.99376526e-01 -3.53066577e-02 0.00000000e+00 1.25437579e+02] [ 3.53066577e-02 9.99376526e-01 0.00000000e+00 -5.89267765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27325356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.580371743 meters Centerline goodness : 0.987124 with order 1 Centerline is valid? [True, True] Translation: X:125.50, Y:-5.90, Z:0.00 [[ 9.99540401e-01 -3.03147861e-02 0.00000000e+00 1.25499420e+02] [ 3.03147861e-02 9.99540401e-01 0.00000000e+00 -5.90102427e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95099610e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.640371743 meters Centerline goodness : 0.986713 with order 1 Centerline is valid? [True, True] Translation: X:125.56, Y:-5.90, Z:-0.00 [[ 9.99605774e-01 -2.80766067e-02 0.00000000e+00 1.25562112e+02] [ 2.80766067e-02 9.99605774e-01 0.00000000e+00 -5.89893078e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.81583189e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70037174299999 meters Centerline goodness : 0.989763 with order 1 Centerline is valid? [True, True] Translation: X:125.62, Y:-5.89, Z:0.00 [[ 9.99413198e-01 -3.42528767e-02 0.00000000e+00 1.25624138e+02] [ 3.42528767e-02 9.99413198e-01 0.00000000e+00 -5.88556424e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79464340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.760371743 meters Centerline goodness : 0.989826 with order 1 Centerline is valid? [True, True] Translation: X:125.69, Y:-5.88, Z:0.00 [[ 9.99570958e-01 -2.92899454e-02 0.00000000e+00 1.25686404e+02] [ 2.92899454e-02 9.99570958e-01 0.00000000e+00 -5.88134459e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44249691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.820371743 meters Centerline goodness : 0.989761 with order 1 Centerline is valid? [True, True] Translation: X:125.75, Y:-5.88, Z:0.01 [[ 9.99700018e-01 -2.44923181e-02 0.00000000e+00 1.25749259e+02] [ 2.44923181e-02 9.99700018e-01 0.00000000e+00 -5.87656340e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15397154e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.880371743 meters Centerline goodness : 0.990765 with order 1 Centerline is valid? [True, True] Translation: X:125.81, Y:-5.87, Z:0.01 [[ 9.99750082e-01 -2.23556251e-02 0.00000000e+00 1.25811065e+02] [ 2.23556251e-02 9.99750082e-01 0.00000000e+00 -5.87405327e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19812489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.940371743 meters Centerline goodness : 0.990382 with order 1 Centerline is valid? [True, True] Translation: X:125.87, Y:-5.87, Z:0.00 [[ 9.99789630e-01 -2.05108609e-02 0.00000000e+00 1.25872955e+02] [ 2.05108609e-02 9.99789630e-01 0.00000000e+00 -5.86941719e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43182632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.000371743 meters Centerline goodness : 0.990702 with order 1 Centerline is valid? [True, True] Translation: X:125.93, Y:-5.87, Z:0.01 [[ 9.99811755e-01 -1.94024376e-02 0.00000000e+00 1.25934960e+02] [ 1.94024376e-02 9.99811755e-01 0.00000000e+00 -5.86548975e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.10900587e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.060371743 meters Centerline goodness : 0.991111 with order 1 Centerline is valid? [True, True] Translation: X:126.00, Y:-5.86, Z:0.01 [[ 9.99824364e-01 -1.87414539e-02 0.00000000e+00 1.25996239e+02] [ 1.87414539e-02 9.99824364e-01 0.00000000e+00 -5.86240181e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.85042576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12037174299999 meters Centerline goodness : 0.987834 with order 1 Centerline is valid? [True, True] Translation: X:126.06, Y:-5.87, Z:0.01 [[ 9.99940502e-01 -1.09083847e-02 0.00000000e+00 1.26057684e+02] [ 1.09083847e-02 9.99940502e-01 0.00000000e+00 -5.87151377e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26917435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.180371743 meters Centerline goodness : 0.990736 with order 1 Centerline is valid? [True, True] Translation: X:126.12, Y:-5.86, Z:0.01 [[ 9.99870652e-01 -1.60834973e-02 0.00000000e+00 1.26119804e+02] [ 1.60834973e-02 9.99870652e-01 0.00000000e+00 -5.85992966e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.76178089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.240371743 meters Centerline goodness : 0.990687 with order 1 Centerline is valid? [True, True] Translation: X:126.18, Y:-5.86, Z:0.01 [[ 9.99871350e-01 -1.60400549e-02 0.00000000e+00 1.26181724e+02] [ 1.60400549e-02 9.99871350e-01 0.00000000e+00 -5.85748777e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.49113335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.300371743 meters Centerline goodness : 0.991744 with order 1 Centerline is valid? [True, True] Translation: X:126.24, Y:-5.86, Z:0.01 [[ 9.99850665e-01 -1.72814132e-02 0.00000000e+00 1.26242603e+02] [ 1.72814132e-02 9.99850665e-01 0.00000000e+00 -5.85794092e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.51121788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.360371743 meters Centerline goodness : 0.990155 with order 1 Centerline is valid? [True, True] Translation: X:126.30, Y:-5.87, Z:0.00 [[ 9.99947758e-01 -1.02216550e-02 0.00000000e+00 1.26304727e+02] [ 1.02216550e-02 9.99947758e-01 0.00000000e+00 -5.86789388e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.17723592e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.420371743 meters Centerline goodness : 0.992691 with order 1 Centerline is valid? [True, True] Translation: X:126.37, Y:-5.85, Z:0.01 [[ 9.99815188e-01 -1.92247239e-02 0.00000000e+00 1.26367005e+02] [ 1.92247239e-02 9.99815188e-01 0.00000000e+00 -5.85289945e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.27402622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48037174299999 meters Centerline goodness : 0.990001 with order 1 Centerline is valid? [True, True] Translation: X:126.43, Y:-5.86, Z:0.00 [[ 9.99956098e-01 -9.37030460e-03 0.00000000e+00 1.26428780e+02] [ 9.37030460e-03 9.99956098e-01 0.00000000e+00 -5.86345331e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43722682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.540371743 meters Centerline goodness : 0.993299 with order 1 Centerline is valid? [True, True] Translation: X:126.49, Y:-5.85, Z:0.01 [[ 9.99851342e-01 -1.72422049e-02 0.00000000e+00 1.26490524e+02] [ 1.72422049e-02 9.99851342e-01 0.00000000e+00 -5.84955318e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.41286066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.600371743 meters Centerline goodness : 0.993438 with order 1 Centerline is valid? [True, True] Translation: X:126.55, Y:-5.85, Z:0.01 [[ 9.99841565e-01 -1.78001131e-02 0.00000000e+00 1.26551795e+02] [ 1.78001131e-02 9.99841565e-01 0.00000000e+00 -5.84751719e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.61659866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.660371743 meters Centerline goodness : 0.994071 with order 1 Centerline is valid? [True, True] Translation: X:126.61, Y:-5.85, Z:0.01 [[ 9.99835057e-01 -1.81620064e-02 0.00000000e+00 1.26613083e+02] [ 1.81620064e-02 9.99835057e-01 0.00000000e+00 -5.84648215e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.45840249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.720371743 meters Centerline goodness : 0.994525 with order 1 Centerline is valid? [True, True] Translation: X:126.68, Y:-5.85, Z:0.01 [[ 9.99847328e-01 -1.74734516e-02 0.00000000e+00 1.26675484e+02] [ 1.74734516e-02 9.99847328e-01 0.00000000e+00 -5.84592366e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.83516996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.780371743 meters Centerline goodness : 0.991543 with order 1 Centerline is valid? [True, True] Translation: X:126.74, Y:-5.85, Z:0.00 [[ 9.99975043e-01 -7.06500931e-03 0.00000000e+00 1.26737358e+02] [ 7.06500931e-03 9.99975043e-01 0.00000000e+00 -5.85353973e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37660050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84037174299999 meters Centerline goodness : 0.993861 with order 1 Centerline is valid? [True, True] Translation: X:126.80, Y:-5.84, Z:0.01 [[ 9.99881840e-01 -1.53722355e-02 0.00000000e+00 1.26799134e+02] [ 1.53722355e-02 9.99881840e-01 0.00000000e+00 -5.83900449e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.75504125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.900371743 meters Centerline goodness : 0.992672 with order 1 Centerline is valid? [True, True] Translation: X:126.86, Y:-5.85, Z:0.01 [[ 9.99958945e-01 -9.06140734e-03 0.00000000e+00 1.26860940e+02] [ 9.06140734e-03 9.99958945e-01 0.00000000e+00 -5.84543636e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04669607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.960371743 meters Centerline goodness : 0.994300 with order 1 Centerline is valid? [True, True] Translation: X:126.92, Y:-5.83, Z:0.01 [[ 9.99933348e-01 -1.15455523e-02 0.00000000e+00 1.26923450e+02] [ 1.15455523e-02 9.99933348e-01 0.00000000e+00 -5.83309980e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43357222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.020371743 meters Centerline goodness : 0.993761 with order 1 Centerline is valid? [True, True] Translation: X:126.99, Y:-5.83, Z:0.01 [[ 9.99956816e-01 -9.29337464e-03 0.00000000e+00 1.26986023e+02] [ 9.29337464e-03 9.99956816e-01 0.00000000e+00 -5.83236450e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47900281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.080371743 meters Centerline goodness : 0.993938 with order 1 Centerline is valid? [True, True] Translation: X:127.05, Y:-5.83, Z:0.01 [[ 9.99982644e-01 -5.89163414e-03 0.00000000e+00 1.27048651e+02] [ 5.89163414e-03 9.99982644e-01 0.00000000e+00 -5.83137948e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48925318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.140371743 meters Centerline goodness : 0.992368 with order 1 Centerline is valid? [True, True] Translation: X:127.11, Y:-5.84, Z:0.01 [[ 9.99990355e-01 4.39206952e-03 0.00000000e+00 1.27109779e+02] [-4.39206952e-03 9.99990355e-01 0.00000000e+00 -5.83812308e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22783136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20037174299999 meters Centerline goodness : 0.992067 with order 1 Centerline is valid? [True, True] Translation: X:127.17, Y:-5.84, Z:0.01 [[ 9.99958595e-01 9.09991396e-03 0.00000000e+00 1.27169126e+02] [-9.09991396e-03 9.99958595e-01 0.00000000e+00 -5.83656159e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30199636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.260371743 meters Centerline goodness : 0.994194 with order 1 Centerline is valid? [True, True] Translation: X:127.23, Y:-5.83, Z:0.01 [[ 9.99980321e-01 6.27352201e-03 0.00000000e+00 1.27226971e+02] [-6.27352201e-03 9.99980321e-01 0.00000000e+00 -5.82928222e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38362041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.320371743 meters Centerline goodness : 0.995088 with order 1 Centerline is valid? [True, True] Translation: X:127.29, Y:-5.83, Z:0.01 [[ 9.99911655e-01 1.32921877e-02 0.00000000e+00 1.27285476e+02] [-1.32921877e-02 9.99911655e-01 0.00000000e+00 -5.82906476e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38377536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.380371743 meters Centerline goodness : 0.993018 with order 1 Centerline is valid? [True, True] Translation: X:127.34, Y:-5.84, Z:0.01 [[ 9.99658152e-01 2.61453532e-02 0.00000000e+00 1.27343413e+02] [-2.61453532e-02 9.99658152e-01 0.00000000e+00 -5.83949573e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18721949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.440371743 meters Centerline goodness : 0.992387 with order 1 Centerline is valid? [True, True] Translation: X:127.40, Y:-5.84, Z:0.01 [[ 9.99405757e-01 3.44692982e-02 0.00000000e+00 1.27401028e+02] [-3.44692982e-02 9.99405757e-01 0.00000000e+00 -5.84065189e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33530819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.500371743 meters Centerline goodness : 0.994275 with order 1 Centerline is valid? [True, True] Translation: X:127.46, Y:-5.84, Z:0.01 [[ 9.99441038e-01 3.34306951e-02 0.00000000e+00 1.27459160e+02] [-3.34306951e-02 9.99441038e-01 0.00000000e+00 -5.83615547e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45227394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.560371743 meters Centerline goodness : 0.994582 with order 1 Centerline is valid? [True, True] Translation: X:127.52, Y:-5.84, Z:0.02 [[ 9.99348685e-01 3.60860998e-02 0.00000000e+00 1.27517919e+02] [-3.60860998e-02 9.99348685e-01 0.00000000e+00 -5.84345675e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50320019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62037174299999 meters Centerline goodness : 0.994030 with order 1 Centerline is valid? [True, True] Translation: X:127.58, Y:-5.85, Z:0.02 [[ 9.99394714e-01 3.47879970e-02 0.00000000e+00 1.27576527e+02] [-3.47879970e-02 9.99394714e-01 0.00000000e+00 -5.84993401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64741737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.680371743 meters Centerline goodness : 0.992655 with order 1 Centerline is valid? [True, True] Translation: X:127.63, Y:-5.87, Z:0.01 [[ 9.99188586e-01 4.02761705e-02 0.00000000e+00 1.27633905e+02] [-4.02761705e-02 9.99188586e-01 0.00000000e+00 -5.87136415e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20833333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.740371743 meters Centerline goodness : 0.993068 with order 1 Centerline is valid? [True, True] Translation: X:127.69, Y:-5.87, Z:0.02 [[ 9.99655505e-01 2.62463580e-02 0.00000000e+00 1.27691808e+02] [-2.62463580e-02 9.99655505e-01 0.00000000e+00 -5.87088015e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54018292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.800371743 meters Centerline goodness : 0.993493 with order 1 Centerline is valid? [True, True] Translation: X:127.75, Y:-5.88, Z:0.01 [[ 9.99843806e-01 1.76737843e-02 0.00000000e+00 1.27749622e+02] [-1.76737843e-02 9.99843806e-01 0.00000000e+00 -5.88203928e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22535998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.860371743 meters Centerline goodness : 0.993200 with order 1 Centerline is valid? [True, True] Translation: X:127.81, Y:-5.89, Z:0.01 [[ 9.99945145e-01 1.04741113e-02 0.00000000e+00 1.27808427e+02] [-1.04741113e-02 9.99945145e-01 0.00000000e+00 -5.89088512e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07617939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.920371743 meters Centerline goodness : 0.992850 with order 1 Centerline is valid? [True, True] Translation: X:127.87, Y:-5.90, Z:0.01 [[ 9.99999652e-01 8.33930992e-04 0.00000000e+00 1.27866392e+02] [-8.33930992e-04 9.99999652e-01 0.00000000e+00 -5.90121292e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15872867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98037174299999 meters Centerline goodness : 0.992919 with order 1 Centerline is valid? [True, True] Translation: X:127.93, Y:-5.91, Z:0.01 [[ 9.99993748e-01 -3.53602541e-03 0.00000000e+00 1.27926930e+02] [ 3.53602541e-03 9.99993748e-01 0.00000000e+00 -5.90696806e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27168241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04037174299998 meters Centerline goodness : 0.992114 with order 1 Centerline is valid? [True, True] Translation: X:127.99, Y:-5.91, Z:0.01 [[ 9.99977717e-01 -6.67572760e-03 0.00000000e+00 1.27987591e+02] [ 6.67572760e-03 9.99977717e-01 0.00000000e+00 -5.91410548e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36759670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10037174299998 meters Centerline goodness : 0.988681 with order 1 Centerline is valid? [True, True] Translation: X:128.05, Y:-5.93, Z:0.02 [[ 9.99999632e-01 -8.57609807e-04 0.00000000e+00 1.28048756e+02] [ 8.57609807e-04 9.99999632e-01 0.00000000e+00 -5.92670354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05035471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16037174299998 meters Centerline goodness : 0.989303 with order 1 Centerline is valid? [True, True] Translation: X:128.11, Y:-5.93, Z:0.03 [[ 9.99997675e-01 -2.15641323e-03 0.00000000e+00 1.28109857e+02] [ 2.15641323e-03 9.99997675e-01 0.00000000e+00 -5.92525158e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85297127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.220371743 meters Centerline goodness : 0.992094 with order 1 Centerline is valid? [True, True] Translation: X:128.17, Y:-5.93, Z:0.01 [[ 9.99998920e-01 -1.46953120e-03 0.00000000e+00 1.28169502e+02] [ 1.46953120e-03 9.99998920e-01 0.00000000e+00 -5.92504648e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31164789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.280371743 meters Centerline goodness : 0.989817 with order 1 Centerline is valid? [True, True] Translation: X:128.23, Y:-5.93, Z:0.03 [[ 9.99998835e-01 -1.52614306e-03 0.00000000e+00 1.28230193e+02] [ 1.52614306e-03 9.99998835e-01 0.00000000e+00 -5.92807186e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28354704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.340371743 meters Centerline goodness : 0.988889 with order 1 Centerline is valid? [True, True] Translation: X:128.29, Y:-5.93, Z:0.03 [[ 9.99997658e-01 2.16439169e-03 0.00000000e+00 1.28291168e+02] [-2.16439169e-03 9.99997658e-01 0.00000000e+00 -5.93128413e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91589349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.400371743 meters Centerline goodness : 0.992923 with order 1 Centerline is valid? [True, True] Translation: X:128.35, Y:-5.93, Z:0.01 [[ 9.99992791e-01 3.79716825e-03 0.00000000e+00 1.28350397e+02] [-3.79716825e-03 9.99992791e-01 0.00000000e+00 -5.92868008e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31874011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.460371743 meters Centerline goodness : 0.989578 with order 1 Centerline is valid? [True, True] Translation: X:128.41, Y:-5.93, Z:0.02 [[ 9.99929033e-01 1.19133663e-02 0.00000000e+00 1.28410039e+02] [-1.19133663e-02 9.99929033e-01 0.00000000e+00 -5.93420944e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73433131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52037174299997 meters Centerline goodness : 0.992970 with order 1 Centerline is valid? [True, True] Translation: X:128.47, Y:-5.93, Z:0.01 [[ 9.99978894e-01 6.49705137e-03 0.00000000e+00 1.28468096e+02] [-6.49705137e-03 9.99978894e-01 0.00000000e+00 -5.92547237e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19943971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58037174299997 meters Centerline goodness : 0.993359 with order 1 Centerline is valid? [True, True] Translation: X:128.53, Y:-5.93, Z:0.01 [[ 9.99994556e-01 3.29964407e-03 0.00000000e+00 1.28527118e+02] [-3.29964407e-03 9.99994556e-01 0.00000000e+00 -5.92628862e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29502646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64037174299997 meters Centerline goodness : 0.991368 with order 1 Centerline is valid? [True, True] Translation: X:128.59, Y:-5.94, Z:0.01 [[ 9.99995575e-01 2.97479929e-03 0.00000000e+00 1.28586020e+02] [-2.97479929e-03 9.99995575e-01 0.00000000e+00 -5.93703437e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28764571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70037174299998 meters Centerline goodness : 0.990764 with order 1 Centerline is valid? [True, True] Translation: X:128.65, Y:-5.94, Z:0.01 [[ 9.99977038e-01 -6.77663444e-03 0.00000000e+00 1.28645879e+02] [ 6.77663444e-03 9.99977038e-01 0.00000000e+00 -5.93893695e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38480089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76037174299998 meters Centerline goodness : 0.992769 with order 1 Centerline is valid? [True, True] Translation: X:128.71, Y:-5.93, Z:0.02 [[ 9.99827541e-01 -1.85711940e-02 0.00000000e+00 1.28708539e+02] [ 1.85711940e-02 9.99827541e-01 0.00000000e+00 -5.93125528e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66770224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82037174299998 meters Centerline goodness : 0.991649 with order 1 Centerline is valid? [True, True] Translation: X:128.77, Y:-5.94, Z:0.01 [[ 9.99884938e-01 -1.51694048e-02 0.00000000e+00 1.28770224e+02] [ 1.51694048e-02 9.99884938e-01 0.00000000e+00 -5.94118106e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14773222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88037174299998 meters Centerline goodness : 0.993080 with order 1 Centerline is valid? [True, True] Translation: X:128.83, Y:-5.93, Z:0.02 [[ 9.99754104e-01 -2.21750205e-02 0.00000000e+00 1.28831661e+02] [ 2.21750205e-02 9.99754104e-01 0.00000000e+00 -5.93285585e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50680020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.940371743 meters Centerline goodness : 0.991813 with order 1 Centerline is valid? [True, True] Translation: X:128.89, Y:-5.94, Z:0.01 [[ 9.99934531e-01 -1.14426135e-02 0.00000000e+00 1.28893817e+02] [ 1.14426135e-02 9.99934531e-01 0.00000000e+00 -5.93855560e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16891249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.000371743 meters Centerline goodness : 0.992406 with order 1 Centerline is valid? [True, True] Translation: X:128.96, Y:-5.93, Z:0.01 [[ 9.99982138e-01 -5.97687747e-03 0.00000000e+00 1.28956269e+02] [ 5.97687747e-03 9.99982138e-01 0.00000000e+00 -5.93349651e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29778656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.060371743 meters Centerline goodness : 0.994595 with order 1 Centerline is valid? [True, True] Translation: X:129.02, Y:-5.92, Z:0.02 [[ 9.99926896e-01 -1.20913915e-02 0.00000000e+00 1.29017636e+02] [ 1.20913915e-02 9.99926896e-01 0.00000000e+00 -5.92196855e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82983012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.120371743 meters Centerline goodness : 0.992442 with order 1 Centerline is valid? [True, True] Translation: X:129.08, Y:-5.93, Z:0.01 [[ 9.99993957e-01 -3.47640194e-03 0.00000000e+00 1.29078861e+02] [ 3.47640194e-03 9.99993957e-01 0.00000000e+00 -5.93035346e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.30364007e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.180371743 meters Centerline goodness : 0.994808 with order 1 Centerline is valid? [True, True] Translation: X:129.14, Y:-5.92, Z:0.02 [[ 9.99889922e-01 -1.48372364e-02 0.00000000e+00 1.29139702e+02] [ 1.48372364e-02 9.99889922e-01 0.00000000e+00 -5.91658751e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66480626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.240371743 meters Centerline goodness : 0.994513 with order 1 Centerline is valid? [True, True] Translation: X:129.20, Y:-5.92, Z:0.02 [[ 9.99833101e-01 -1.82693813e-02 0.00000000e+00 1.29201748e+02] [ 1.82693813e-02 9.99833101e-01 0.00000000e+00 -5.91520819e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80464836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30037174299997 meters Centerline goodness : 0.993385 with order 1 Centerline is valid? [True, True] Translation: X:129.26, Y:-5.93, Z:0.01 [[ 9.99957839e-01 -9.18257476e-03 0.00000000e+00 1.29263688e+02] [ 9.18257476e-03 9.99957839e-01 0.00000000e+00 -5.92889074e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71427153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36037174299997 meters Centerline goodness : 0.994620 with order 1 Centerline is valid? [True, True] Translation: X:129.33, Y:-5.91, Z:0.02 [[ 9.99662829e-01 -2.59658986e-02 0.00000000e+00 1.29325353e+02] [ 2.59658986e-02 9.99662829e-01 0.00000000e+00 -5.91299344e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84810555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42037174299998 meters Centerline goodness : 0.993509 with order 1 Centerline is valid? [True, True] Translation: X:129.39, Y:-5.92, Z:0.01 [[ 9.99739592e-01 -2.28199063e-02 0.00000000e+00 1.29386823e+02] [ 2.28199063e-02 9.99739592e-01 0.00000000e+00 -5.92088014e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.85561352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48037174299998 meters Centerline goodness : 0.994970 with order 1 Centerline is valid? [True, True] Translation: X:129.45, Y:-5.91, Z:0.02 [[ 9.99531799e-01 -3.05970977e-02 0.00000000e+00 1.29448619e+02] [ 3.05970977e-02 9.99531799e-01 0.00000000e+00 -5.90639446e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70412565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54037174299998 meters Centerline goodness : 0.995250 with order 1 Centerline is valid? [True, True] Translation: X:129.51, Y:-5.90, Z:0.02 [[ 9.99567548e-01 -2.94060847e-02 0.00000000e+00 1.29510958e+02] [ 2.94060847e-02 9.99567548e-01 0.00000000e+00 -5.90464571e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68055375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60037174299998 meters Centerline goodness : 0.996310 with order 1 Centerline is valid? [True, True] Translation: X:129.57, Y:-5.90, Z:0.02 [[ 9.99624343e-01 -2.74075468e-02 0.00000000e+00 1.29574115e+02] [ 2.74075468e-02 9.99624343e-01 0.00000000e+00 -5.90249890e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68303106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66037174299998 meters Centerline goodness : 0.994659 with order 1 Centerline is valid? [True, True] Translation: X:129.64, Y:-5.91, Z:0.01 [[ 9.99890883e-01 -1.47723707e-02 0.00000000e+00 1.29635772e+02] [ 1.47723707e-02 9.99890883e-01 0.00000000e+00 -5.90706941e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.80076968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.720371743 meters Centerline goodness : 0.995672 with order 1 Centerline is valid? [True, True] Translation: X:129.70, Y:-5.89, Z:0.02 [[ 9.99876226e-01 -1.57331585e-02 0.00000000e+00 1.29697458e+02] [ 1.57331585e-02 9.99876226e-01 0.00000000e+00 -5.89381004e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96692516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.780371743 meters Centerline goodness : 0.995754 with order 1 Centerline is valid? [True, True] Translation: X:129.76, Y:-5.90, Z:0.02 [[ 9.99981516e-01 -6.08017301e-03 0.00000000e+00 1.29758675e+02] [ 6.08017301e-03 9.99981516e-01 0.00000000e+00 -5.89899376e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92773977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.840371743 meters Centerline goodness : 0.994892 with order 1 Centerline is valid? [True, True] Translation: X:129.82, Y:-5.90, Z:0.01 [[ 9.99999272e-01 -1.20693936e-03 0.00000000e+00 1.29819725e+02] [ 1.20693936e-03 9.99999272e-01 0.00000000e+00 -5.89843914e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40478620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.900371743 meters Centerline goodness : 0.995206 with order 1 Centerline is valid? [True, True] Translation: X:129.88, Y:-5.90, Z:0.01 [[ 9.99999991e-01 1.31716064e-04 0.00000000e+00 1.29880187e+02] [-1.31716064e-04 9.99999991e-01 0.00000000e+00 -5.89994910e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.32402295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.960371743 meters Centerline goodness : 0.996471 with order 1 Centerline is valid? [True, True] Translation: X:129.94, Y:-5.89, Z:0.02 [[ 9.99876817e-01 -1.56955480e-02 0.00000000e+00 1.29941579e+02] [ 1.56955480e-02 9.99876817e-01 0.00000000e+00 -5.88768143e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63040464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02037174299997 meters Centerline goodness : 0.995768 with order 1 Centerline is valid? [True, True] Translation: X:130.00, Y:-5.89, Z:0.02 [[ 9.99722767e-01 -2.35454838e-02 0.00000000e+00 1.30003912e+02] [ 2.35454838e-02 9.99722767e-01 0.00000000e+00 -5.88624314e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58589079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08037174299997 meters Centerline goodness : 0.995950 with order 1 Centerline is valid? [True, True] Translation: X:130.07, Y:-5.88, Z:0.02 [[ 9.99666087e-01 -2.58401612e-02 0.00000000e+00 1.30066316e+02] [ 2.58401612e-02 9.99666087e-01 0.00000000e+00 -5.88465695e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52152921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14037174299997 meters Centerline goodness : 0.994354 with order 1 Centerline is valid? [True, True] Translation: X:130.13, Y:-5.89, Z:0.01 [[ 9.99839741e-01 -1.79022820e-02 0.00000000e+00 1.30128569e+02] [ 1.79022820e-02 9.99839741e-01 0.00000000e+00 -5.89166358e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08696068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20037174299998 meters Centerline goodness : 0.994902 with order 1 Centerline is valid? [True, True] Translation: X:130.19, Y:-5.89, Z:0.01 [[ 9.99949819e-01 -1.00179771e-02 0.00000000e+00 1.30190884e+02] [ 1.00179771e-02 9.99949819e-01 0.00000000e+00 -5.89048732e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.94760454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26037174299998 meters Centerline goodness : 0.994979 with order 1 Centerline is valid? [True, True] Translation: X:130.25, Y:-5.89, Z:0.02 [[ 9.99925995e-01 -1.21657267e-02 0.00000000e+00 1.30252499e+02] [ 1.21657267e-02 9.99925995e-01 0.00000000e+00 -5.88637673e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54624357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32037174299998 meters Centerline goodness : 0.995566 with order 1 Centerline is valid? [True, True] Translation: X:130.32, Y:-5.88, Z:0.02 [[ 9.99908680e-01 -1.35140946e-02 0.00000000e+00 1.30316228e+02] [ 1.35140946e-02 9.99908680e-01 0.00000000e+00 -5.87688475e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86366795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38037174299998 meters Centerline goodness : 0.995358 with order 1 Centerline is valid? [True, True] Translation: X:130.38, Y:-5.88, Z:0.02 [[ 9.99923632e-01 -1.23584285e-02 0.00000000e+00 1.30378166e+02] [ 1.23584285e-02 9.99923632e-01 0.00000000e+00 -5.87713533e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74556686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.440371743 meters Centerline goodness : 0.994113 with order 1 Centerline is valid? [True, True] Translation: X:130.44, Y:-5.88, Z:0.01 [[ 9.99994034e-01 -3.45420854e-03 0.00000000e+00 1.30440592e+02] [ 3.45420854e-03 9.99994034e-01 0.00000000e+00 -5.88499810e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04109674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.500371743 meters Centerline goodness : 0.993634 with order 1 Centerline is valid? [True, True] Translation: X:130.50, Y:-5.88, Z:0.01 [[ 9.99999449e-01 -1.05001592e-03 0.00000000e+00 1.30502250e+02] [ 1.05001592e-03 9.99999449e-01 0.00000000e+00 -5.88284633e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27638285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.560371743 meters Centerline goodness : 0.993554 with order 1 Centerline is valid? [True, True] Translation: X:130.56, Y:-5.88, Z:0.01 [[ 9.99999961e-01 -2.77947110e-04 0.00000000e+00 1.30562468e+02] [ 2.77947110e-04 9.99999961e-01 0.00000000e+00 -5.88142855e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15549613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.620371743 meters Centerline goodness : 0.992843 with order 1 Centerline is valid? [True, True] Translation: X:130.62, Y:-5.88, Z:0.01 [[ 9.99999744e-01 7.15575917e-04 0.00000000e+00 1.30623229e+02] [-7.15575917e-04 9.99999744e-01 0.00000000e+00 -5.88173964e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.54441788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.680371743 meters Centerline goodness : 0.992833 with order 1 Centerline is valid? [True, True] Translation: X:130.68, Y:-5.88, Z:0.01 [[ 9.99999958e-01 2.91090542e-04 0.00000000e+00 1.30683398e+02] [-2.91090542e-04 9.99999958e-01 0.00000000e+00 -5.88422983e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.48496694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.740371743 meters Centerline goodness : 0.992655 with order 1 Centerline is valid? [True, True] Translation: X:130.74, Y:-5.89, Z:0.01 [[ 9.99989987e-01 -4.47509241e-03 0.00000000e+00 1.30744260e+02] [ 4.47509241e-03 9.99989987e-01 0.00000000e+00 -5.88526649e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.54430875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80037174299997 meters Centerline goodness : 0.993320 with order 1 Centerline is valid? [True, True] Translation: X:130.81, Y:-5.89, Z:0.01 [[ 9.99966256e-01 -8.21498225e-03 0.00000000e+00 1.30806771e+02] [ 8.21498225e-03 9.99966256e-01 0.00000000e+00 -5.88540027e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07708299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86037174299997 meters Centerline goodness : 0.992955 with order 1 Centerline is valid? [True, True] Translation: X:130.87, Y:-5.89, Z:0.01 [[ 9.99923987e-01 -1.23296659e-02 0.00000000e+00 1.30868815e+02] [ 1.23296659e-02 9.99923987e-01 0.00000000e+00 -5.88827601e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02659521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92037174299998 meters Centerline goodness : 0.993440 with order 1 Centerline is valid? [True, True] Translation: X:130.93, Y:-5.89, Z:0.01 [[ 9.99866560e-01 -1.63359135e-02 0.00000000e+00 1.30932097e+02] [ 1.63359135e-02 9.99866560e-01 0.00000000e+00 -5.88792676e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.98648381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98037174299998 meters Centerline goodness : 0.992654 with order 1 Centerline is valid? [True, True] Translation: X:130.99, Y:-5.89, Z:0.01 [[ 9.99845152e-01 -1.75975096e-02 0.00000000e+00 1.30994983e+02] [ 1.75975096e-02 9.99845152e-01 0.00000000e+00 -5.88824251e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.91023910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04037174299998 meters Centerline goodness : 0.993503 with order 1 Centerline is valid? [True, True] Translation: X:131.06, Y:-5.89, Z:0.01 [[ 9.99854059e-01 -1.70839322e-02 0.00000000e+00 1.31058359e+02] [ 1.70839322e-02 9.99854059e-01 0.00000000e+00 -5.88662109e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.75218698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10037174299998 meters Centerline goodness : 0.992951 with order 1 Centerline is valid? [True, True] Translation: X:131.12, Y:-5.89, Z:0.01 [[ 9.99847832e-01 -1.74445605e-02 0.00000000e+00 1.31120067e+02] [ 1.74445605e-02 9.99847832e-01 0.00000000e+00 -5.88563139e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01627471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16037174299998 meters Centerline goodness : 0.992486 with order 1 Centerline is valid? [True, True] Translation: X:131.18, Y:-5.88, Z:0.01 [[ 9.99883626e-01 -1.52556388e-02 0.00000000e+00 1.31183340e+02] [ 1.52556388e-02 9.99883626e-01 0.00000000e+00 -5.88348770e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.94887017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.220371743 meters Centerline goodness : 0.992564 with order 1 Centerline is valid? [True, True] Translation: X:131.25, Y:-5.89, Z:0.01 [[ 9.99917557e-01 -1.28405436e-02 0.00000000e+00 1.31245942e+02] [ 1.28405436e-02 9.99917557e-01 0.00000000e+00 -5.88520744e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.47218823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.280371743 meters Centerline goodness : 0.992459 with order 1 Centerline is valid? [True, True] Translation: X:131.31, Y:-5.88, Z:0.01 [[ 9.99849715e-01 -1.73363078e-02 0.00000000e+00 1.31309194e+02] [ 1.73363078e-02 9.99849715e-01 0.00000000e+00 -5.88330056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.13462614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.340371743 meters Centerline goodness : 0.992283 with order 1 Centerline is valid? [True, True] Translation: X:131.37, Y:-5.88, Z:0.01 [[ 9.99764927e-01 -2.16815741e-02 0.00000000e+00 1.31372549e+02] [ 2.16815741e-02 9.99764927e-01 0.00000000e+00 -5.88337071e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.76931356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.400371743 meters Centerline goodness : 0.992276 with order 1 Centerline is valid? [True, True] Translation: X:131.43, Y:-5.88, Z:0.01 [[ 9.99775706e-01 -2.11787255e-02 0.00000000e+00 1.31434800e+02] [ 2.11787255e-02 9.99775706e-01 0.00000000e+00 -5.88288327e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38245516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.460371743 meters Centerline goodness : 0.994179 with order 1 Centerline is valid? [True, True] Translation: X:131.50, Y:-5.88, Z:0.01 [[ 9.99714828e-01 -2.38801550e-02 0.00000000e+00 1.31496742e+02] [ 2.38801550e-02 9.99714828e-01 0.00000000e+00 -5.87656415e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.22669150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52037174299997 meters Centerline goodness : 0.992351 with order 1 Centerline is valid? [True, True] Translation: X:131.56, Y:-5.88, Z:0.00 [[ 9.99887676e-01 -1.49878126e-02 0.00000000e+00 1.31558558e+02] [ 1.49878126e-02 9.99887676e-01 0.00000000e+00 -5.88308105e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65576236e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58037174299997 meters Centerline goodness : 0.992497 with order 1 Centerline is valid? [True, True] Translation: X:131.62, Y:-5.88, Z:0.01 [[ 9.99919454e-01 -1.26919675e-02 0.00000000e+00 1.31620682e+02] [ 1.26919675e-02 9.99919454e-01 0.00000000e+00 -5.88247702e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.54137064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64037174299997 meters Centerline goodness : 0.992304 with order 1 Centerline is valid? [True, True] Translation: X:131.68, Y:-5.88, Z:0.01 [[ 9.99975499e-01 -7.00012975e-03 0.00000000e+00 1.31682901e+02] [ 7.00012975e-03 9.99975499e-01 0.00000000e+00 -5.88194949e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.61427156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70037174299998 meters Centerline goodness : 0.991954 with order 1 Centerline is valid? [True, True] Translation: X:131.75, Y:-5.88, Z:0.01 [[ 9.99998860e-01 -1.51027522e-03 0.00000000e+00 1.31745471e+02] [ 1.51027522e-03 9.99998860e-01 0.00000000e+00 -5.88142487e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.74275803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76037174299998 meters Centerline goodness : 0.992289 with order 1 Centerline is valid? [True, True] Translation: X:131.81, Y:-5.88, Z:0.01 [[ 9.99999940e-01 -3.45422184e-04 0.00000000e+00 1.31806236e+02] [ 3.45422184e-04 9.99999940e-01 0.00000000e+00 -5.88272134e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50593318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82037174299998 meters Centerline goodness : 0.992183 with order 1 Centerline is valid? [True, True] Translation: X:131.87, Y:-5.88, Z:0.01 [[ 9.99999953e-01 3.05857437e-04 0.00000000e+00 1.31866171e+02] [-3.05857437e-04 9.99999953e-01 0.00000000e+00 -5.88365232e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68866428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88037174299998 meters Centerline goodness : 0.992305 with order 1 Centerline is valid? [True, True] Translation: X:131.93, Y:-5.89, Z:0.01 [[ 9.99995722e-01 -2.92506965e-03 0.00000000e+00 1.31926750e+02] [ 2.92506965e-03 9.99995722e-01 0.00000000e+00 -5.88682488e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16010637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.940371743 meters Centerline goodness : 0.992316 with order 1 Centerline is valid? [True, True] Translation: X:131.99, Y:-5.89, Z:0.01 [[ 9.99988124e-01 -4.87357111e-03 0.00000000e+00 1.31988157e+02] [ 4.87357111e-03 9.99988124e-01 0.00000000e+00 -5.88888978e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41774340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.000371743 meters Centerline goodness : 0.992094 with order 1 Centerline is valid? [True, True] Translation: X:132.05, Y:-5.89, Z:0.01 [[ 9.99987104e-01 -5.07858360e-03 0.00000000e+00 1.32049667e+02] [ 5.07858360e-03 9.99987104e-01 0.00000000e+00 -5.89215088e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.87734891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.060371743 meters Centerline goodness : 0.992033 with order 1 Centerline is valid? [True, True] Translation: X:132.11, Y:-5.90, Z:0.01 [[ 9.99992395e-01 -3.89996208e-03 0.00000000e+00 1.32111635e+02] [ 3.89996208e-03 9.99992395e-01 0.00000000e+00 -5.89607536e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.99519922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.120371743 meters Centerline goodness : 0.992125 with order 1 Centerline is valid? [True, True] Translation: X:132.17, Y:-5.90, Z:0.01 [[ 9.99991737e-01 -4.06511693e-03 0.00000000e+00 1.32173682e+02] [ 4.06511693e-03 9.99991737e-01 0.00000000e+00 -5.90072840e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.85256540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.180371743 meters Centerline goodness : 0.991923 with order 1 Centerline is valid? [True, True] Translation: X:132.24, Y:-5.90, Z:0.01 [[ 9.99990839e-01 -4.28048606e-03 0.00000000e+00 1.32236120e+02] [ 4.28048606e-03 9.99990839e-01 0.00000000e+00 -5.90476390e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63692437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.240371743 meters Centerline goodness : 0.992015 with order 1 Centerline is valid? [True, True] Translation: X:132.30, Y:-5.91, Z:0.00 [[ 9.99988552e-01 -4.78500807e-03 0.00000000e+00 1.32297595e+02] [ 4.78500807e-03 9.99988552e-01 0.00000000e+00 -5.90957373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99927523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30037174299997 meters Centerline goodness : 0.992570 with order 1 Centerline is valid? [True, True] Translation: X:132.36, Y:-5.91, Z:0.00 [[ 9.99990220e-01 -4.42275980e-03 0.00000000e+00 1.32359759e+02] [ 4.42275980e-03 9.99990220e-01 0.00000000e+00 -5.91329459e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97878032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36037174299997 meters Centerline goodness : 0.992861 with order 1 Centerline is valid? [True, True] Translation: X:132.42, Y:-5.92, Z:0.00 [[ 9.99990730e-01 -4.30583843e-03 0.00000000e+00 1.32421802e+02] [ 4.30583843e-03 9.99990730e-01 0.00000000e+00 -5.91648827e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74561907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42037174299998 meters Centerline goodness : 0.991981 with order 1 Centerline is valid? [True, True] Translation: X:132.48, Y:-5.92, Z:0.00 [[ 9.99995033e-01 -3.15174688e-03 0.00000000e+00 1.32483388e+02] [ 3.15174688e-03 9.99995033e-01 0.00000000e+00 -5.92372991e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06913579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48037174299998 meters Centerline goodness : 0.991662 with order 1 Centerline is valid? [True, True] Translation: X:132.54, Y:-5.93, Z:0.00 [[ 9.99999714e-01 -7.56412868e-04 0.00000000e+00 1.32544145e+02] [ 7.56412868e-04 9.99999714e-01 0.00000000e+00 -5.93053683e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22239466e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54037174299998 meters Centerline goodness : 0.992188 with order 1 Centerline is valid? [True, True] Translation: X:132.60, Y:-5.93, Z:0.01 [[ 9.99998514e-01 -1.72393566e-03 0.00000000e+00 1.32604228e+02] [ 1.72393566e-03 9.99998514e-01 0.00000000e+00 -5.93173726e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18481171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60037174299998 meters Centerline goodness : 0.991699 with order 1 Centerline is valid? [True, True] Translation: X:132.66, Y:-5.94, Z:0.00 [[ 9.99999145e-01 -1.30759541e-03 0.00000000e+00 1.32664671e+02] [ 1.30759541e-03 9.99999145e-01 0.00000000e+00 -5.93747598e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70900984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66037174299998 meters Centerline goodness : 0.991763 with order 1 Centerline is valid? [True, True] Translation: X:132.73, Y:-5.94, Z:0.00 [[ 9.99999277e-01 -1.20256954e-03 0.00000000e+00 1.32725682e+02] [ 1.20256954e-03 9.99999277e-01 0.00000000e+00 -5.94307244e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36595482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.720371743 meters Centerline goodness : 0.992251 with order 1 Centerline is valid? [True, True] Translation: X:132.79, Y:-5.95, Z:0.00 [[ 9.99999500e-01 -9.99648652e-04 0.00000000e+00 1.32785573e+02] [ 9.99648652e-04 9.99999500e-01 0.00000000e+00 -5.94753723e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.64993093e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.780371743 meters Centerline goodness : 0.991749 with order 1 Centerline is valid? [True, True] Translation: X:132.85, Y:-5.95, Z:0.00 [[ 9.99998949e-01 -1.44991816e-03 0.00000000e+00 1.32845886e+02] [ 1.44991816e-03 9.99998949e-01 0.00000000e+00 -5.95050230e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76713644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.840371743 meters Centerline goodness : 0.991892 with order 1 Centerline is valid? [True, True] Translation: X:132.91, Y:-5.96, Z:0.00 [[ 9.99974069e-01 -7.20154513e-03 0.00000000e+00 1.32906513e+02] [ 7.20154513e-03 9.99974069e-01 0.00000000e+00 -5.95578905e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05122022e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.900371743 meters Centerline goodness : 0.992106 with order 1 Centerline is valid? [True, True] Translation: X:132.97, Y:-5.96, Z:0.00 [[ 9.99940955e-01 -1.08667511e-02 0.00000000e+00 1.32969150e+02] [ 1.08667511e-02 9.99940955e-01 0.00000000e+00 -5.95835688e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51778376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.960371743 meters Centerline goodness : 0.992379 with order 1 Centerline is valid? [True, True] Translation: X:133.03, Y:-5.96, Z:-0.00 [[ 9.99900086e-01 -1.41357167e-02 0.00000000e+00 1.33031619e+02] [ 1.41357167e-02 9.99900086e-01 0.00000000e+00 -5.96451120e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52871202e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02037174299997 meters Centerline goodness : 0.992577 with order 1 Centerline is valid? [True, True] Translation: X:133.09, Y:-5.97, Z:-0.00 [[ 9.99850355e-01 -1.72993720e-02 0.00000000e+00 1.33092920e+02] [ 1.72993720e-02 9.99850355e-01 0.00000000e+00 -5.96901972e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.70796608e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08037174299997 meters Centerline goodness : 0.992090 with order 1 Centerline is valid? [True, True] Translation: X:133.16, Y:-5.97, Z:-0.00 [[ 9.99878996e-01 -1.55561158e-02 0.00000000e+00 1.33155033e+02] [ 1.55561158e-02 9.99878996e-01 0.00000000e+00 -5.97386022e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16245619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14037174299997 meters Centerline goodness : 0.991368 with order 1 Centerline is valid? [True, True] Translation: X:133.22, Y:-5.98, Z:-0.00 [[ 9.99910366e-01 -1.33888062e-02 0.00000000e+00 1.33216584e+02] [ 1.33888062e-02 9.99910366e-01 0.00000000e+00 -5.97942241e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65508545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20037174299998 meters Centerline goodness : 0.991229 with order 1 Centerline is valid? [True, True] Translation: X:133.28, Y:-5.98, Z:-0.00 [[ 9.99920413e-01 -1.26161810e-02 0.00000000e+00 1.33278428e+02] [ 1.26161810e-02 9.99920413e-01 0.00000000e+00 -5.98415805e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.80007671e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26037174299998 meters Centerline goodness : 0.993425 with order 1 Centerline is valid? [True, True] Translation: X:133.34, Y:-5.98, Z:0.00 [[ 9.99829036e-01 -1.84905076e-02 0.00000000e+00 1.33341275e+02] [ 1.84905076e-02 9.99829036e-01 0.00000000e+00 -5.97827441e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87668144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32037174299998 meters Centerline goodness : 0.993019 with order 1 Centerline is valid? [True, True] Translation: X:133.40, Y:-5.98, Z:0.00 [[ 9.99856044e-01 -1.69673806e-02 0.00000000e+00 1.33403435e+02] [ 1.69673806e-02 9.99856044e-01 0.00000000e+00 -5.98406704e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67564254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38037174299998 meters Centerline goodness : 0.991304 with order 1 Centerline is valid? [True, True] Translation: X:133.47, Y:-6.00, Z:-0.01 [[ 9.99980601e-01 -6.22874640e-03 0.00000000e+00 1.33465196e+02] [ 6.22874640e-03 9.99980601e-01 0.00000000e+00 -6.00095791e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.78316737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.440371743 meters Centerline goodness : 0.991049 with order 1 Centerline is valid? [True, True] Translation: X:133.53, Y:-6.01, Z:-0.01 [[ 9.99989533e-01 -4.57531572e-03 0.00000000e+00 1.33526333e+02] [ 4.57531572e-03 9.99989533e-01 0.00000000e+00 -6.00740138e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.72185402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.500371743 meters Centerline goodness : 0.991297 with order 1 Centerline is valid? [True, True] Translation: X:133.59, Y:-6.02, Z:-0.01 [[ 9.99994549e-01 -3.30176225e-03 0.00000000e+00 1.33587893e+02] [ 3.30176225e-03 9.99994549e-01 0.00000000e+00 -6.01538178e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14296389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.560371743 meters Centerline goodness : 0.991803 with order 1 Centerline is valid? [True, True] Translation: X:133.65, Y:-6.02, Z:-0.01 [[ 9.99994833e-01 -3.21465409e-03 0.00000000e+00 1.33649087e+02] [ 3.21465409e-03 9.99994833e-01 0.00000000e+00 -6.02033521e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04275962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.620371743 meters Centerline goodness : 0.991517 with order 1 Centerline is valid? [True, True] Translation: X:133.71, Y:-6.03, Z:-0.01 [[ 9.99993851e-01 -3.50695219e-03 0.00000000e+00 1.33710644e+02] [ 3.50695219e-03 9.99993851e-01 0.00000000e+00 -6.02686482e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.63232992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.680371743 meters Centerline goodness : 0.992226 with order 1 Centerline is valid? [True, True] Translation: X:133.77, Y:-6.03, Z:-0.01 [[ 9.99993227e-01 -3.68058122e-03 0.00000000e+00 1.33771459e+02] [ 3.68058122e-03 9.99993227e-01 0.00000000e+00 -6.03213435e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03999166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.740371743 meters Centerline goodness : 0.993050 with order 1 Centerline is valid? [True, True] Translation: X:133.83, Y:-6.04, Z:-0.01 [[ 9.99998847e-01 -1.51885309e-03 0.00000000e+00 1.33832991e+02] [ 1.51885309e-03 9.99998847e-01 0.00000000e+00 -6.03651155e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.86664188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80037174299997 meters Centerline goodness : 0.994191 with order 1 Centerline is valid? [True, True] Translation: X:133.89, Y:-6.03, Z:-0.01 [[ 9.99963108e-01 -8.58971093e-03 0.00000000e+00 1.33894258e+02] [ 8.58971093e-03 9.99963108e-01 0.00000000e+00 -6.03105229e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.23960863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86037174299997 meters Centerline goodness : 0.993103 with order 1 Centerline is valid? [True, True] Translation: X:133.96, Y:-6.04, Z:-0.01 [[ 9.99993045e-01 -3.72959571e-03 0.00000000e+00 1.33956106e+02] [ 3.72959571e-03 9.99993045e-01 0.00000000e+00 -6.04414026e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.58625094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92037174299998 meters Centerline goodness : 0.993579 with order 1 Centerline is valid? [True, True] Translation: X:134.02, Y:-6.05, Z:-0.00 [[ 9.99982796e-01 -5.86577313e-03 0.00000000e+00 1.34016884e+02] [ 5.86577313e-03 9.99982796e-01 0.00000000e+00 -6.04782612e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80191151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98037174299998 meters Centerline goodness : 0.994004 with order 1 Centerline is valid? [True, True] Translation: X:134.08, Y:-6.05, Z:-0.00 [[ 9.99973970e-01 -7.21527647e-03 0.00000000e+00 1.34079338e+02] [ 7.21527647e-03 9.99973970e-01 0.00000000e+00 -6.05249636e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65974889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04037174299998 meters Centerline goodness : 0.993716 with order 1 Centerline is valid? [True, True] Translation: X:134.14, Y:-6.06, Z:-0.00 [[ 9.99960032e-01 -8.94065445e-03 0.00000000e+00 1.34140588e+02] [ 8.94065445e-03 9.99960032e-01 0.00000000e+00 -6.05735833e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08767395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10037174299998 meters Centerline goodness : 0.994140 with order 1 Centerline is valid? [True, True] Translation: X:134.20, Y:-6.06, Z:-0.00 [[ 9.99960487e-01 -8.88951820e-03 0.00000000e+00 1.34202217e+02] [ 8.88951820e-03 9.99960487e-01 0.00000000e+00 -6.06246114e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32372729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16037174299998 meters Centerline goodness : 0.995352 with order 1 Centerline is valid? [True, True] Translation: X:134.26, Y:-6.06, Z:-0.00 [[ 9.99873430e-01 -1.59098766e-02 0.00000000e+00 1.34264236e+02] [ 1.59098766e-02 9.99873430e-01 0.00000000e+00 -6.05981417e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60858280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.220371743 meters Centerline goodness : 0.995731 with order 1 Centerline is valid? [True, True] Translation: X:134.33, Y:-6.06, Z:-0.00 [[ 9.99861155e-01 -1.66634420e-02 0.00000000e+00 1.34327138e+02] [ 1.66634420e-02 9.99861155e-01 0.00000000e+00 -6.06390073e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91695063e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.280371743 meters Centerline goodness : 0.995919 with order 1 Centerline is valid? [True, True] Translation: X:134.39, Y:-6.07, Z:-0.00 [[ 9.99866461e-01 -1.63419636e-02 0.00000000e+00 1.34389140e+02] [ 1.63419636e-02 9.99866461e-01 0.00000000e+00 -6.06885278e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90056747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.340371743 meters Centerline goodness : 0.995596 with order 1 Centerline is valid? [True, True] Translation: X:134.45, Y:-6.07, Z:-0.00 [[ 9.99901392e-01 -1.40429835e-02 0.00000000e+00 1.34450798e+02] [ 1.40429835e-02 9.99901392e-01 0.00000000e+00 -6.07186371e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02668124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.400371743 meters Centerline goodness : 0.995597 with order 1 Centerline is valid? [True, True] Translation: X:134.51, Y:-6.07, Z:0.00 [[ 9.99944450e-01 -1.05402942e-02 0.00000000e+00 1.34512826e+02] [ 1.05402942e-02 9.99944450e-01 0.00000000e+00 -6.07403716e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43539834e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.460371743 meters Centerline goodness : 0.993689 with order 1 Centerline is valid? [True, True] Translation: X:134.57, Y:-6.09, Z:-0.01 [[ 9.99976985e-01 6.78449660e-03 0.00000000e+00 1.34573772e+02] [-6.78449660e-03 9.99976985e-01 0.00000000e+00 -6.09184300e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06666711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52037174299997 meters Centerline goodness : 0.994766 with order 1 Centerline is valid? [True, True] Translation: X:134.63, Y:-6.08, Z:0.00 [[ 9.99994439e-01 -3.33505958e-03 0.00000000e+00 1.34632866e+02] [ 3.33505958e-03 9.99994439e-01 0.00000000e+00 -6.07915360e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09037208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58037174299997 meters Centerline goodness : 0.994887 with order 1 Centerline is valid? [True, True] Translation: X:134.69, Y:-6.08, Z:0.00 [[ 9.99988777e-01 -4.73765623e-03 0.00000000e+00 1.34693721e+02] [ 4.73765623e-03 9.99988777e-01 0.00000000e+00 -6.08169772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59824656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64037174299997 meters Centerline goodness : 0.994993 with order 1 Centerline is valid? [True, True] Translation: X:134.76, Y:-6.09, Z:0.00 [[ 9.99978291e-01 -6.58927066e-03 0.00000000e+00 1.34755893e+02] [ 6.58927066e-03 9.99978291e-01 0.00000000e+00 -6.08565204e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57788896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70037174299998 meters Centerline goodness : 0.995032 with order 1 Centerline is valid? [True, True] Translation: X:134.82, Y:-6.09, Z:0.00 [[ 9.99964274e-01 -8.45285798e-03 0.00000000e+00 1.34818463e+02] [ 8.45285798e-03 9.99964274e-01 0.00000000e+00 -6.08952836e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39183111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76037174299998 meters Centerline goodness : 0.995095 with order 1 Centerline is valid? [True, True] Translation: X:134.88, Y:-6.09, Z:0.00 [[ 9.99947273e-01 -1.02689838e-02 0.00000000e+00 1.34879727e+02] [ 1.02689838e-02 9.99947273e-01 0.00000000e+00 -6.09036634e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.44142697e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82037174299998 meters Centerline goodness : 0.992916 with order 1 Centerline is valid? [True, True] Translation: X:134.94, Y:-6.10, Z:-0.01 [[ 9.99996702e-01 -2.56810053e-03 0.00000000e+00 1.34941154e+02] [ 2.56810053e-03 9.99996702e-01 0.00000000e+00 -6.10386344e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.45374939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88037174299998 meters Centerline goodness : 0.994820 with order 1 Centerline is valid? [True, True] Translation: X:135.00, Y:-6.09, Z:0.00 [[ 9.99931563e-01 -1.16991216e-02 0.00000000e+00 1.35002427e+02] [ 1.16991216e-02 9.99931563e-01 0.00000000e+00 -6.09429109e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35960452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.940371743 meters Centerline goodness : 0.994605 with order 1 Centerline is valid? [True, True] Translation: X:135.06, Y:-6.10, Z:0.00 [[ 9.99933695e-01 -1.15154399e-02 0.00000000e+00 1.35063637e+02] [ 1.15154399e-02 9.99933695e-01 0.00000000e+00 -6.09603557e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07649382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.000371743 meters Centerline goodness : 0.993217 with order 1 Centerline is valid? [True, True] Translation: X:135.13, Y:-6.11, Z:-0.01 [[ 9.99986906e-01 -5.11731952e-03 0.00000000e+00 1.35125329e+02] [ 5.11731952e-03 9.99986906e-01 0.00000000e+00 -6.10734038e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.75771104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.060371743 meters Centerline goodness : 0.994001 with order 1 Centerline is valid? [True, True] Translation: X:135.19, Y:-6.11, Z:-0.00 [[ 9.99970875e-01 -7.63213516e-03 0.00000000e+00 1.35187974e+02] [ 7.63213516e-03 9.99970875e-01 0.00000000e+00 -6.10756145e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.82091179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.120371743 meters Centerline goodness : 0.993147 with order 1 Centerline is valid? [True, True] Translation: X:135.25, Y:-6.11, Z:-0.01 [[ 9.99993243e-01 -3.67605475e-03 0.00000000e+00 1.35248785e+02] [ 3.67605475e-03 9.99993243e-01 0.00000000e+00 -6.11404518e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14531885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.180371743 meters Centerline goodness : 0.994490 with order 1 Centerline is valid? [True, True] Translation: X:135.31, Y:-6.10, Z:0.00 [[ 9.99912197e-01 -1.32513677e-02 0.00000000e+00 1.35310906e+02] [ 1.32513677e-02 9.99912197e-01 0.00000000e+00 -6.10368837e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35873575e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.240371743 meters Centerline goodness : 0.993228 with order 1 Centerline is valid? [True, True] Translation: X:135.37, Y:-6.11, Z:-0.01 [[ 9.99995875e-01 -2.87214864e-03 0.00000000e+00 1.35373025e+02] [ 2.87214864e-03 9.99995875e-01 0.00000000e+00 -6.11237589e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.06703574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30037174299997 meters Centerline goodness : 0.993049 with order 1 Centerline is valid? [True, True] Translation: X:135.43, Y:-6.11, Z:-0.01 [[ 9.99994516e-01 3.31176934e-03 0.00000000e+00 1.35434621e+02] [-3.31176934e-03 9.99994516e-01 0.00000000e+00 -6.11387195e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.72334243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36037174299997 meters Centerline goodness : 0.992475 with order 1 Centerline is valid? [True, True] Translation: X:135.49, Y:-6.12, Z:-0.01 [[ 9.99969392e-01 7.82398957e-03 0.00000000e+00 1.35493928e+02] [-7.82398957e-03 9.99969392e-01 0.00000000e+00 -6.11521526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05290867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42037174299998 meters Centerline goodness : 0.991711 with order 1 Centerline is valid? [True, True] Translation: X:135.55, Y:-6.12, Z:-0.01 [[ 9.99879958e-01 1.54941615e-02 0.00000000e+00 1.35552836e+02] [-1.54941615e-02 9.99879958e-01 0.00000000e+00 -6.11862998e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10348230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48037174299998 meters Centerline goodness : 0.994037 with order 1 Centerline is valid? [True, True] Translation: X:135.61, Y:-6.11, Z:-0.00 [[ 9.99994123e-01 3.42839308e-03 0.00000000e+00 1.35611280e+02] [-3.42839308e-03 9.99994123e-01 0.00000000e+00 -6.10673694e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.96700554e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54037174299998 meters Centerline goodness : 0.992131 with order 1 Centerline is valid? [True, True] Translation: X:135.67, Y:-6.12, Z:-0.01 [[ 9.99912139e-01 1.32557483e-02 0.00000000e+00 1.35670317e+02] [-1.32557483e-02 9.99912139e-01 0.00000000e+00 -6.12214208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.48135783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60037174299998 meters Centerline goodness : 0.992589 with order 1 Centerline is valid? [True, True] Translation: X:135.73, Y:-6.12, Z:-0.01 [[ 9.99962723e-01 8.63434356e-03 0.00000000e+00 1.35728910e+02] [-8.63434356e-03 9.99962723e-01 0.00000000e+00 -6.12371210e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.75293514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66037174299998 meters Centerline goodness : 0.993179 with order 1 Centerline is valid? [True, True] Translation: X:135.79, Y:-6.13, Z:-0.00 [[ 9.99993152e-01 3.70083362e-03 0.00000000e+00 1.35787765e+02] [-3.70083362e-03 9.99993152e-01 0.00000000e+00 -6.12657731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47961878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.720371743 meters Centerline goodness : 0.993319 with order 1 Centerline is valid? [True, True] Translation: X:135.85, Y:-6.13, Z:-0.01 [[ 9.99997373e-01 2.29208564e-03 0.00000000e+00 1.35847251e+02] [-2.29208564e-03 9.99997373e-01 0.00000000e+00 -6.13095365e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.00427487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.780371743 meters Centerline goodness : 0.994514 with order 1 Centerline is valid? [True, True] Translation: X:135.91, Y:-6.13, Z:-0.00 [[ 9.99972007e-01 -7.48236549e-03 0.00000000e+00 1.35906870e+02] [ 7.48236549e-03 9.99972007e-01 0.00000000e+00 -6.12758278e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16480679e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.840371743 meters Centerline goodness : 0.993903 with order 1 Centerline is valid? [True, True] Translation: X:135.97, Y:-6.14, Z:-0.00 [[ 9.99990180e-01 -4.43167131e-03 0.00000000e+00 1.35968718e+02] [ 4.43167131e-03 9.99990180e-01 0.00000000e+00 -6.13944408e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97122644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.900371743 meters Centerline goodness : 0.995664 with order 1 Centerline is valid? [True, True] Translation: X:136.03, Y:-6.14, Z:0.00 [[ 9.99904680e-01 -1.38068895e-02 0.00000000e+00 1.36030149e+02] [ 1.38068895e-02 9.99904680e-01 0.00000000e+00 -6.13637574e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.79663224e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.960371743 meters Centerline goodness : 0.995157 with order 1 Centerline is valid? [True, True] Translation: X:136.09, Y:-6.14, Z:0.00 [[ 9.99853944e-01 -1.70906653e-02 0.00000000e+00 1.36092142e+02] [ 1.70906653e-02 9.99853944e-01 0.00000000e+00 -6.14104021e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48351761e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02037174299997 meters Centerline goodness : 0.994414 with order 1 Centerline is valid? [True, True] Translation: X:136.15, Y:-6.15, Z:-0.00 [[ 9.99922273e-01 -1.24679000e-02 0.00000000e+00 1.36153708e+02] [ 1.24679000e-02 9.99922273e-01 0.00000000e+00 -6.15239169e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16620931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08037174299997 meters Centerline goodness : 0.994438 with order 1 Centerline is valid? [True, True] Translation: X:136.22, Y:-6.16, Z:-0.00 [[ 9.99911886e-01 -1.32747829e-02 0.00000000e+00 1.36215859e+02] [ 1.32747829e-02 9.99911886e-01 0.00000000e+00 -6.15505006e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79953280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14037174299997 meters Centerline goodness : 0.994196 with order 1 Centerline is valid? [True, True] Translation: X:136.28, Y:-6.16, Z:-0.00 [[ 9.99903314e-01 -1.39054990e-02 0.00000000e+00 1.36277717e+02] [ 1.39054990e-02 9.99903314e-01 0.00000000e+00 -6.15899984e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.84064963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20037174299998 meters Centerline goodness : 0.994430 with order 1 Centerline is valid? [True, True] Translation: X:136.34, Y:-6.16, Z:-0.01 [[ 9.99908682e-01 -1.35139647e-02 0.00000000e+00 1.36340261e+02] [ 1.35139647e-02 9.99908682e-01 0.00000000e+00 -6.16356312e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15342366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26037174299998 meters Centerline goodness : 0.993691 with order 1 Centerline is valid? [True, True] Translation: X:136.40, Y:-6.17, Z:-0.01 [[ 9.99931768e-01 -1.16815433e-02 0.00000000e+00 1.36402198e+02] [ 1.16815433e-02 9.99931768e-01 0.00000000e+00 -6.16745489e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.27072224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32037174299998 meters Centerline goodness : 0.994138 with order 1 Centerline is valid? [True, True] Translation: X:136.46, Y:-6.17, Z:-0.00 [[ 9.99940758e-01 -1.08848343e-02 0.00000000e+00 1.36464124e+02] [ 1.08848343e-02 9.99940758e-01 0.00000000e+00 -6.17004633e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83423654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38037174299998 meters Centerline goodness : 0.994962 with order 1 Centerline is valid? [True, True] Translation: X:136.53, Y:-6.16, Z:0.00 [[ 9.99842394e-01 -1.77535335e-02 0.00000000e+00 1.36525753e+02] [ 1.77535335e-02 9.99842394e-01 0.00000000e+00 -6.16454626e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04186664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.440371743 meters Centerline goodness : 0.994313 with order 1 Centerline is valid? [True, True] Translation: X:136.59, Y:-6.18, Z:-0.00 [[ 9.99903967e-01 -1.38584458e-02 0.00000000e+00 1.36587579e+02] [ 1.38584458e-02 9.99903967e-01 0.00000000e+00 -6.17524514e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58204704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.500371743 meters Centerline goodness : 0.994156 with order 1 Centerline is valid? [True, True] Translation: X:136.65, Y:-6.18, Z:-0.00 [[ 9.99898486e-01 -1.42484426e-02 0.00000000e+00 1.36649594e+02] [ 1.42484426e-02 9.99898486e-01 0.00000000e+00 -6.17877464e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32230061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.560371743 meters Centerline goodness : 0.994673 with order 1 Centerline is valid? [True, True] Translation: X:136.71, Y:-6.18, Z:-0.00 [[ 9.99802287e-01 -1.98843285e-02 0.00000000e+00 1.36711440e+02] [ 1.98843285e-02 9.99802287e-01 0.00000000e+00 -6.17993445e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79475209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.620371743 meters Centerline goodness : 0.995400 with order 1 Centerline is valid? [True, True] Translation: X:136.77, Y:-6.18, Z:-0.00 [[ 9.99714033e-01 -2.39134413e-02 0.00000000e+00 1.36772103e+02] [ 2.39134413e-02 9.99714033e-01 0.00000000e+00 -6.18300814e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.30288844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.680371743 meters Centerline goodness : 0.995114 with order 1 Centerline is valid? [True, True] Translation: X:136.83, Y:-6.19, Z:-0.01 [[ 9.99757078e-01 -2.20405348e-02 0.00000000e+00 1.36834656e+02] [ 2.20405348e-02 9.99757078e-01 0.00000000e+00 -6.19048507e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.95642569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.740371743 meters Centerline goodness : 0.995131 with order 1 Centerline is valid? [True, True] Translation: X:136.90, Y:-6.19, Z:-0.01 [[ 9.99714493e-01 -2.38941925e-02 0.00000000e+00 1.36896892e+02] [ 2.38941925e-02 9.99714493e-01 0.00000000e+00 -6.19038991e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72144758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80037174299997 meters Centerline goodness : 0.995351 with order 1 Centerline is valid? [True, True] Translation: X:136.96, Y:-6.19, Z:-0.00 [[ 9.99778338e-01 -2.10541087e-02 0.00000000e+00 1.36958743e+02] [ 2.10541087e-02 9.99778338e-01 0.00000000e+00 -6.18993416e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83086996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86037174299997 meters Centerline goodness : 0.995084 with order 1 Centerline is valid? [True, True] Translation: X:137.02, Y:-6.19, Z:-0.01 [[ 9.99848848e-01 -1.73862299e-02 0.00000000e+00 1.37020610e+02] [ 1.73862299e-02 9.99848848e-01 0.00000000e+00 -6.19072591e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.41090372e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92037174299998 meters Centerline goodness : 0.994720 with order 1 Centerline is valid? [True, True] Translation: X:137.08, Y:-6.19, Z:-0.00 [[ 9.99907271e-01 -1.36179464e-02 0.00000000e+00 1.37083456e+02] [ 1.36179464e-02 9.99907271e-01 0.00000000e+00 -6.18829124e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49138504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98037174299998 meters Centerline goodness : 0.994210 with order 1 Centerline is valid? [True, True] Translation: X:137.15, Y:-6.19, Z:-0.00 [[ 9.99922692e-01 -1.24342500e-02 0.00000000e+00 1.37145566e+02] [ 1.24342500e-02 9.99922692e-01 0.00000000e+00 -6.18960679e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73524950e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04037174299998 meters Centerline goodness : 0.994776 with order 1 Centerline is valid? [True, True] Translation: X:137.21, Y:-6.19, Z:0.00 [[ 9.99920106e-01 -1.26404867e-02 0.00000000e+00 1.37208248e+02] [ 1.26404867e-02 9.99920106e-01 0.00000000e+00 -6.18893364e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67923288e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10037174299998 meters Centerline goodness : 0.994956 with order 1 Centerline is valid? [True, True] Translation: X:137.27, Y:-6.19, Z:-0.00 [[ 9.99947778e-01 -1.02196699e-02 0.00000000e+00 1.37268980e+02] [ 1.02196699e-02 9.99947778e-01 0.00000000e+00 -6.19267990e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.01230480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16037174299998 meters Centerline goodness : 0.994301 with order 1 Centerline is valid? [True, True] Translation: X:137.33, Y:-6.20, Z:-0.01 [[ 9.99959518e-01 -8.99790613e-03 0.00000000e+00 1.37329566e+02] [ 8.99790613e-03 9.99959518e-01 0.00000000e+00 -6.19644607e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.84300688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.220371743 meters Centerline goodness : 0.994183 with order 1 Centerline is valid? [True, True] Translation: X:137.39, Y:-6.20, Z:-0.01 [[ 9.99985153e-01 -5.44924981e-03 0.00000000e+00 1.37391928e+02] [ 5.44924981e-03 9.99985153e-01 0.00000000e+00 -6.19852539e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.02882301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.280371743 meters Centerline goodness : 0.993644 with order 1 Centerline is valid? [True, True] Translation: X:137.45, Y:-6.20, Z:-0.01 [[ 9.99993447e-01 3.62021903e-03 0.00000000e+00 1.37453151e+02] [-3.62021903e-03 9.99993447e-01 0.00000000e+00 -6.20330048e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.45842613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.340371743 meters Centerline goodness : 0.994257 with order 1 Centerline is valid? [True, True] Translation: X:137.51, Y:-6.20, Z:-0.00 [[ 9.99990360e-01 4.39092857e-03 0.00000000e+00 1.37513166e+02] [-4.39092857e-03 9.99990360e-01 0.00000000e+00 -6.20443448e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56486175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.400371743 meters Centerline goodness : 0.995397 with order 1 Centerline is valid? [True, True] Translation: X:137.57, Y:-6.20, Z:0.00 [[ 9.99996953e-01 2.46857942e-03 0.00000000e+00 1.37572033e+02] [-2.46857942e-03 9.99996953e-01 0.00000000e+00 -6.20133651e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25173598e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.460371743 meters Centerline goodness : 0.995430 with order 1 Centerline is valid? [True, True] Translation: X:137.63, Y:-6.21, Z:-0.00 [[ 9.99996981e-01 2.45711604e-03 0.00000000e+00 1.37631166e+02] [-2.45711604e-03 9.99996981e-01 0.00000000e+00 -6.20544589e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80363025e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52037174299997 meters Centerline goodness : 0.995455 with order 1 Centerline is valid? [True, True] Translation: X:137.69, Y:-6.21, Z:-0.00 [[ 9.99999444e-01 1.05483144e-03 0.00000000e+00 1.37690147e+02] [-1.05483144e-03 9.99999444e-01 0.00000000e+00 -6.21247731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05600869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58037174299997 meters Centerline goodness : 0.995051 with order 1 Centerline is valid? [True, True] Translation: X:137.75, Y:-6.23, Z:-0.01 [[ 9.99992841e-01 3.78394214e-03 0.00000000e+00 1.37750091e+02] [-3.78394214e-03 9.99992841e-01 0.00000000e+00 -6.22805115e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.46126418e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64037174299997 meters Centerline goodness : 0.995781 with order 1 Centerline is valid? [True, True] Translation: X:137.81, Y:-6.23, Z:-0.00 [[ 9.99994751e-01 -3.23997388e-03 0.00000000e+00 1.37810077e+02] [ 3.23997388e-03 9.99994751e-01 0.00000000e+00 -6.22597554e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75242629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70037174299998 meters Centerline goodness : 0.994928 with order 1 Centerline is valid? [True, True] Translation: X:137.87, Y:-6.24, Z:-0.01 [[ 9.99999985e-01 -1.75925551e-04 0.00000000e+00 1.37871104e+02] [ 1.75925551e-04 9.99999985e-01 0.00000000e+00 -6.24122846e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.91038224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76037174299998 meters Centerline goodness : 0.996347 with order 1 Centerline is valid? [True, True] Translation: X:137.93, Y:-6.24, Z:-0.00 [[ 9.99965563e-01 -8.29899465e-03 0.00000000e+00 1.37931267e+02] [ 8.29899465e-03 9.99965563e-01 0.00000000e+00 -6.24167541e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10355712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82037174299998 meters Centerline goodness : 0.995472 with order 1 Centerline is valid? [True, True] Translation: X:137.99, Y:-6.25, Z:-0.01 [[ 9.99988179e-01 -4.86224749e-03 0.00000000e+00 1.37992389e+02] [ 4.86224749e-03 9.99988179e-01 0.00000000e+00 -6.25380007e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.09538814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88037174299998 meters Centerline goodness : 0.995092 with order 1 Centerline is valid? [True, True] Translation: X:138.05, Y:-6.26, Z:-0.01 [[ 9.99978161e-01 -6.60894174e-03 0.00000000e+00 1.38053506e+02] [ 6.60894174e-03 9.99978161e-01 0.00000000e+00 -6.26194197e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.82006562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.940371743 meters Centerline goodness : 0.994814 with order 1 Centerline is valid? [True, True] Translation: X:138.12, Y:-6.27, Z:-0.01 [[ 9.99966084e-01 -8.23598085e-03 0.00000000e+00 1.38115266e+02] [ 8.23598085e-03 9.99966084e-01 0.00000000e+00 -6.26863128e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.21020564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.000371743 meters Centerline goodness : 0.994785 with order 1 Centerline is valid? [True, True] Translation: X:138.18, Y:-6.27, Z:-0.01 [[ 9.99948729e-01 -1.01261812e-02 0.00000000e+00 1.38177634e+02] [ 1.01261812e-02 9.99948729e-01 0.00000000e+00 -6.27411777e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03530172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.060371743 meters Centerline goodness : 0.995223 with order 1 Centerline is valid? [True, True] Translation: X:138.24, Y:-6.28, Z:-0.01 [[ 9.99939158e-01 -1.10309184e-02 0.00000000e+00 1.38239644e+02] [ 1.10309184e-02 9.99939158e-01 0.00000000e+00 -6.28080765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29434965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.120371743 meters Centerline goodness : 0.995166 with order 1 Centerline is valid? [True, True] Translation: X:138.30, Y:-6.28, Z:-0.01 [[ 9.99932530e-01 -1.16161647e-02 0.00000000e+00 1.38302182e+02] [ 1.16161647e-02 9.99932530e-01 0.00000000e+00 -6.28481981e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26811588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.180371743 meters Centerline goodness : 0.994705 with order 1 Centerline is valid? [True, True] Translation: X:138.36, Y:-6.29, Z:-0.01 [[ 9.99942858e-01 -1.06901816e-02 0.00000000e+00 1.38363077e+02] [ 1.06901816e-02 9.99942858e-01 0.00000000e+00 -6.29033078e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40499994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.240371743 meters Centerline goodness : 0.995774 with order 1 Centerline is valid? [True, True] Translation: X:138.42, Y:-6.28, Z:-0.01 [[ 9.99869454e-01 -1.61578389e-02 0.00000000e+00 1.38424888e+02] [ 1.61578389e-02 9.99869454e-01 0.00000000e+00 -6.28490630e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.51153325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30037174299997 meters Centerline goodness : 0.994759 with order 1 Centerline is valid? [True, True] Translation: X:138.49, Y:-6.30, Z:-0.01 [[ 9.99938016e-01 -1.11339385e-02 0.00000000e+00 1.38486108e+02] [ 1.11339385e-02 9.99938016e-01 0.00000000e+00 -6.29602539e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.35232425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36037174299997 meters Centerline goodness : 0.996089 with order 1 Centerline is valid? [True, True] Translation: X:138.55, Y:-6.29, Z:-0.01 [[ 9.99831022e-01 -1.83827792e-02 0.00000000e+00 1.38547445e+02] [ 1.83827792e-02 9.99831022e-01 0.00000000e+00 -6.29315417e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.32411462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42037174299998 meters Centerline goodness : 0.995363 with order 1 Centerline is valid? [True, True] Translation: X:138.61, Y:-6.30, Z:-0.01 [[ 9.99908161e-01 -1.35524657e-02 0.00000000e+00 1.38609463e+02] [ 1.35524657e-02 9.99908161e-01 0.00000000e+00 -6.30490912e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18090399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48037174299998 meters Centerline goodness : 0.994978 with order 1 Centerline is valid? [True, True] Translation: X:138.67, Y:-6.31, Z:-0.01 [[ 9.99852206e-01 -1.71920298e-02 0.00000000e+00 1.38671782e+02] [ 1.71920298e-02 9.99852206e-01 0.00000000e+00 -6.30811403e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23848402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54037174299998 meters Centerline goodness : 0.995451 with order 1 Centerline is valid? [True, True] Translation: X:138.73, Y:-6.31, Z:-0.01 [[ 9.99808363e-01 -1.95764581e-02 0.00000000e+00 1.38734358e+02] [ 1.95764581e-02 9.99808363e-01 0.00000000e+00 -6.31210565e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27597733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60037174299998 meters Centerline goodness : 0.995197 with order 1 Centerline is valid? [True, True] Translation: X:138.80, Y:-6.31, Z:-0.01 [[ 9.99801962e-01 -1.99006697e-02 0.00000000e+00 1.38797022e+02] [ 1.99006697e-02 9.99801962e-01 0.00000000e+00 -6.31410013e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15839155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66037174299998 meters Centerline goodness : 0.995134 with order 1 Centerline is valid? [True, True] Translation: X:138.86, Y:-6.31, Z:-0.01 [[ 9.99851887e-01 -1.72105864e-02 0.00000000e+00 1.38858852e+02] [ 1.72105864e-02 9.99851887e-01 0.00000000e+00 -6.31489952e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16916876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.720371743 meters Centerline goodness : 0.994713 with order 1 Centerline is valid? [True, True] Translation: X:138.92, Y:-6.32, Z:-0.01 [[ 9.99893590e-01 -1.45879644e-02 0.00000000e+00 1.38921216e+02] [ 1.45879644e-02 9.99893590e-01 0.00000000e+00 -6.31545955e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.90251328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.780371743 meters Centerline goodness : 0.996173 with order 1 Centerline is valid? [True, True] Translation: X:138.98, Y:-6.31, Z:-0.00 [[ 9.99816563e-01 -1.91530789e-02 0.00000000e+00 1.38983769e+02] [ 1.91530789e-02 9.99816563e-01 0.00000000e+00 -6.30883535e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56338691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.840371743 meters Centerline goodness : 0.996318 with order 1 Centerline is valid? [True, True] Translation: X:139.05, Y:-6.31, Z:-0.00 [[ 9.99827631e-01 -1.85663097e-02 0.00000000e+00 1.39046667e+02] [ 1.85663097e-02 9.99827631e-01 0.00000000e+00 -6.30994362e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.09974343e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.900371743 meters Centerline goodness : 0.994937 with order 1 Centerline is valid? [True, True] Translation: X:139.11, Y:-6.32, Z:-0.01 [[ 9.99917505e-01 -1.28445877e-02 0.00000000e+00 1.39107574e+02] [ 1.28445877e-02 9.99917505e-01 0.00000000e+00 -6.32067507e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.81978802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.960371743 meters Centerline goodness : 0.994720 with order 1 Centerline is valid? [True, True] Translation: X:139.17, Y:-6.32, Z:-0.01 [[ 9.99905585e-01 -1.37412126e-02 0.00000000e+00 1.39168867e+02] [ 1.37412126e-02 9.99905585e-01 0.00000000e+00 -6.32268604e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.68624796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02037174299997 meters Centerline goodness : 0.996284 with order 1 Centerline is valid? [True, True] Translation: X:139.23, Y:-6.31, Z:-0.01 [[ 9.99844652e-01 -1.76258913e-02 0.00000000e+00 1.39231274e+02] [ 1.76258913e-02 9.99844652e-01 0.00000000e+00 -6.31454947e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.40466827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08037174299997 meters Centerline goodness : 0.996647 with order 1 Centerline is valid? [True, True] Translation: X:139.29, Y:-6.32, Z:-0.01 [[ 9.99883295e-01 -1.52773065e-02 0.00000000e+00 1.39293319e+02] [ 1.52773065e-02 9.99883295e-01 0.00000000e+00 -6.31625718e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.23475427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14037174299997 meters Centerline goodness : 0.995822 with order 1 Centerline is valid? [True, True] Translation: X:139.36, Y:-6.32, Z:-0.01 [[ 9.99949579e-01 -1.00419321e-02 0.00000000e+00 1.39355748e+02] [ 1.00419321e-02 9.99949579e-01 0.00000000e+00 -6.31826391e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.64185616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20037174299998 meters Centerline goodness : 0.995480 with order 1 Centerline is valid? [True, True] Translation: X:139.42, Y:-6.32, Z:-0.01 [[ 9.99991533e-01 -4.11511031e-03 0.00000000e+00 1.39417006e+02] [ 4.11511031e-03 9.99991533e-01 0.00000000e+00 -6.31848933e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.93118953e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26037174299998 meters Centerline goodness : 0.996185 with order 1 Centerline is valid? [True, True] Translation: X:139.48, Y:-6.32, Z:-0.00 [[ 9.99999191e-01 -1.27187626e-03 0.00000000e+00 1.39479347e+02] [ 1.27187626e-03 9.99999191e-01 0.00000000e+00 -6.31944104e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50765265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32037174299998 meters Centerline goodness : 0.995064 with order 1 Centerline is valid? [True, True] Translation: X:139.54, Y:-6.32, Z:-0.00 [[ 9.99997808e-01 2.09359181e-03 0.00000000e+00 1.39540116e+02] [-2.09359181e-03 9.99997808e-01 0.00000000e+00 -6.32177465e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.17965894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38037174299998 meters Centerline goodness : 0.994596 with order 1 Centerline is valid? [True, True] Translation: X:139.60, Y:-6.33, Z:-0.01 [[ 9.99967729e-01 8.03369786e-03 0.00000000e+00 1.39599694e+02] [-8.03369786e-03 9.99967729e-01 0.00000000e+00 -6.33039406e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.38825904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.440371743 meters Centerline goodness : 0.995789 with order 1 Centerline is valid? [True, True] Translation: X:139.66, Y:-6.33, Z:-0.00 [[ 9.99995947e-01 2.84707926e-03 0.00000000e+00 1.39657409e+02] [-2.84707926e-03 9.99995947e-01 0.00000000e+00 -6.32658075e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53374485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.500371743 meters Centerline goodness : 0.995633 with order 1 Centerline is valid? [True, True] Translation: X:139.72, Y:-6.33, Z:-0.00 [[ 9.99998141e-01 1.92797642e-03 0.00000000e+00 1.39717013e+02] [-1.92797642e-03 9.99998141e-01 0.00000000e+00 -6.33041037e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.01639322e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.560371743 meters Centerline goodness : 0.994204 with order 1 Centerline is valid? [True, True] Translation: X:139.78, Y:-6.35, Z:-0.02 [[ 9.99932361e-01 1.16307099e-02 0.00000000e+00 1.39776276e+02] [-1.16307099e-02 9.99932361e-01 0.00000000e+00 -6.34588685e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57037268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.620371743 meters Centerline goodness : 0.995350 with order 1 Centerline is valid? [True, True] Translation: X:139.84, Y:-6.33, Z:-0.00 [[ 9.99996267e-01 -2.73250542e-03 0.00000000e+00 1.39835702e+02] [ 2.73250542e-03 9.99996267e-01 0.00000000e+00 -6.33470487e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58151401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.680371743 meters Centerline goodness : 0.995058 with order 1 Centerline is valid? [True, True] Translation: X:139.90, Y:-6.34, Z:-0.01 [[ 9.99980782e-01 -6.19972347e-03 0.00000000e+00 1.39897009e+02] [ 6.19972347e-03 9.99980782e-01 0.00000000e+00 -6.33826039e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.69271131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74037174299997 meters Centerline goodness : 0.994539 with order 1 Centerline is valid? [True, True] Translation: X:139.96, Y:-6.34, Z:-0.01 [[ 9.99968371e-01 -7.95348333e-03 0.00000000e+00 1.39958316e+02] [ 7.95348333e-03 9.99968371e-01 0.00000000e+00 -6.33828150e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.05162801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80037174299997 meters Centerline goodness : 0.993874 with order 1 Centerline is valid? [True, True] Translation: X:140.02, Y:-6.35, Z:-0.01 [[ 9.99996872e-01 -2.50136964e-03 0.00000000e+00 1.40019671e+02] [ 2.50136964e-03 9.99996872e-01 0.00000000e+00 -6.34599014e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01827415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86037174299997 meters Centerline goodness : 0.995347 with order 1 Centerline is valid? [True, True] Translation: X:140.08, Y:-6.35, Z:-0.01 [[ 9.99999799e-01 -6.34115477e-04 0.00000000e+00 1.40080960e+02] [ 6.34115477e-04 9.99999799e-01 0.00000000e+00 -6.34536432e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.59269579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92037174299998 meters Centerline goodness : 0.994113 with order 1 Centerline is valid? [True, True] Translation: X:140.14, Y:-6.35, Z:-0.01 [[ 9.99998143e-01 1.92713946e-03 0.00000000e+00 1.40141106e+02] [-1.92713946e-03 9.99998143e-01 0.00000000e+00 -6.34502447e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.72862701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98037174299998 meters Centerline goodness : 0.994049 with order 1 Centerline is valid? [True, True] Translation: X:140.20, Y:-6.35, Z:-0.01 [[ 9.99997934e-01 2.03253685e-03 0.00000000e+00 1.40200641e+02] [-2.03253685e-03 9.99997934e-01 0.00000000e+00 -6.34631053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.74639389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04037174299998 meters Centerline goodness : 0.994540 with order 1 Centerline is valid? [True, True] Translation: X:140.26, Y:-6.35, Z:-0.01 [[ 9.99998768e-01 1.56964542e-03 0.00000000e+00 1.40260100e+02] [-1.56964542e-03 9.99998768e-01 0.00000000e+00 -6.34919247e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12548216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10037174299998 meters Centerline goodness : 0.995690 with order 1 Centerline is valid? [True, True] Translation: X:140.32, Y:-6.35, Z:-0.01 [[ 9.99999907e-01 -4.30262795e-04 0.00000000e+00 1.40319685e+02] [ 4.30262795e-04 9.99999907e-01 0.00000000e+00 -6.34967546e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10113503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16037174299998 meters Centerline goodness : 0.995710 with order 1 Centerline is valid? [True, True] Translation: X:140.38, Y:-6.34, Z:-0.01 [[ 9.99982688e-01 -5.88410854e-03 0.00000000e+00 1.40380491e+02] [ 5.88410854e-03 9.99982688e-01 0.00000000e+00 -6.34481798e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.30324787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.220371743 meters Centerline goodness : 0.994213 with order 1 Centerline is valid? [True, True] Translation: X:140.44, Y:-6.35, Z:-0.01 [[ 9.99996072e-01 2.80274554e-03 0.00000000e+00 1.40440937e+02] [-2.80274554e-03 9.99996072e-01 0.00000000e+00 -6.35455460e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01793981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.280371743 meters Centerline goodness : 0.994400 with order 1 Centerline is valid? [True, True] Translation: X:140.50, Y:-6.35, Z:-0.00 [[ 9.99998113e-01 1.94287519e-03 0.00000000e+00 1.40501135e+02] [-1.94287519e-03 9.99998113e-01 0.00000000e+00 -6.35161066e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41312242e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.340371743 meters Centerline goodness : 0.995489 with order 1 Centerline is valid? [True, True] Translation: X:140.56, Y:-6.35, Z:-0.00 [[ 9.99998156e-01 -1.92039687e-03 0.00000000e+00 1.40560524e+02] [ 1.92039687e-03 9.99998156e-01 0.00000000e+00 -6.34855603e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98316001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.400371743 meters Centerline goodness : 0.994868 with order 1 Centerline is valid? [True, True] Translation: X:140.62, Y:-6.35, Z:-0.00 [[ 9.99999068e-01 -1.36538680e-03 0.00000000e+00 1.40621716e+02] [ 1.36538680e-03 9.99999068e-01 0.00000000e+00 -6.35118809e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.57012117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.460371743 meters Centerline goodness : 0.994539 with order 1 Centerline is valid? [True, True] Translation: X:140.68, Y:-6.35, Z:-0.00 [[ 9.99999235e-01 -1.23666243e-03 0.00000000e+00 1.40682899e+02] [ 1.23666243e-03 9.99999235e-01 0.00000000e+00 -6.35389029e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82420672e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52037174299997 meters Centerline goodness : 0.993590 with order 1 Centerline is valid? [True, True] Translation: X:140.74, Y:-6.36, Z:-0.01 [[ 9.99989734e-01 4.53128156e-03 0.00000000e+00 1.40743035e+02] [-4.53128156e-03 9.99989734e-01 0.00000000e+00 -6.36234480e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.31451685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58037174299997 meters Centerline goodness : 0.995072 with order 1 Centerline is valid? [True, True] Translation: X:140.80, Y:-6.36, Z:-0.00 [[ 9.99997420e-01 2.27154249e-03 0.00000000e+00 1.40801656e+02] [-2.27154249e-03 9.99997420e-01 0.00000000e+00 -6.35780357e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.39889835e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64037174299997 meters Centerline goodness : 0.994981 with order 1 Centerline is valid? [True, True] Translation: X:140.86, Y:-6.36, Z:0.00 [[ 9.99990941e-01 4.25645233e-03 0.00000000e+00 1.40860934e+02] [-4.25645233e-03 9.99990941e-01 0.00000000e+00 -6.35937297e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32306694e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70037174299998 meters Centerline goodness : 0.994268 with order 1 Centerline is valid? [True, True] Translation: X:140.92, Y:-6.36, Z:0.00 [[ 9.99976826e-01 6.80783563e-03 0.00000000e+00 1.40920072e+02] [-6.80783563e-03 9.99976826e-01 0.00000000e+00 -6.36142821e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32268771e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76037174299998 meters Centerline goodness : 0.993685 with order 1 Centerline is valid? [True, True] Translation: X:140.98, Y:-6.36, Z:-0.00 [[ 9.99956177e-01 9.36185053e-03 0.00000000e+00 1.40977449e+02] [-9.36185053e-03 9.99956177e-01 0.00000000e+00 -6.36376841e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66622036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82037174299998 meters Centerline goodness : 0.993554 with order 1 Centerline is valid? [True, True] Translation: X:141.04, Y:-6.37, Z:-0.01 [[ 9.99917938e-01 1.28108076e-02 0.00000000e+00 1.41036343e+02] [-1.28108076e-02 9.99917938e-01 0.00000000e+00 -6.37080982e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.76383849e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88037174299998 meters Centerline goodness : 0.993663 with order 1 Centerline is valid? [True, True] Translation: X:141.09, Y:-6.37, Z:-0.01 [[ 9.99921387e-01 1.25387187e-02 0.00000000e+00 1.41094745e+02] [-1.25387187e-02 9.99921387e-01 0.00000000e+00 -6.37381601e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.76534824e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.940371743 meters Centerline goodness : 0.993328 with order 1 Centerline is valid? [True, True] Translation: X:141.15, Y:-6.38, Z:-0.01 [[ 9.99931686e-01 1.16885728e-02 0.00000000e+00 1.41153677e+02] [-1.16885728e-02 9.99931686e-01 0.00000000e+00 -6.37894277e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.50882512e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.000371743 meters Centerline goodness : 0.993453 with order 1 Centerline is valid? [True, True] Translation: X:141.21, Y:-6.38, Z:-0.01 [[ 9.99961440e-01 8.78166050e-03 0.00000000e+00 1.41212415e+02] [-8.78166050e-03 9.99961440e-01 0.00000000e+00 -6.38155719e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.01106565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.060371743 meters Centerline goodness : 0.994710 with order 1 Centerline is valid? [True, True] Translation: X:141.27, Y:-6.38, Z:-0.01 [[ 9.99999873e-01 -5.04487856e-04 0.00000000e+00 1.41270299e+02] [ 5.04487856e-04 9.99999873e-01 0.00000000e+00 -6.37978105e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.16531946e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.120371743 meters Centerline goodness : 0.993422 with order 1 Centerline is valid? [True, True] Translation: X:141.33, Y:-6.39, Z:-0.01 [[ 9.99992076e-01 -3.98101318e-03 0.00000000e+00 1.41330399e+02] [ 3.98101318e-03 9.99992076e-01 0.00000000e+00 -6.39048598e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.40924856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.180371743 meters Centerline goodness : 0.994110 with order 1 Centerline is valid? [True, True] Translation: X:141.39, Y:-6.39, Z:-0.01 [[ 9.99921144e-01 -1.25580565e-02 0.00000000e+00 1.41392083e+02] [ 1.25580565e-02 9.99921144e-01 0.00000000e+00 -6.38896455e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.90053533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24037174299997 meters Centerline goodness : 0.994521 with order 1 Centerline is valid? [True, True] Translation: X:141.45, Y:-6.39, Z:-0.01 [[ 9.99899540e-01 -1.41742994e-02 0.00000000e+00 1.41454803e+02] [ 1.41742994e-02 9.99899540e-01 0.00000000e+00 -6.39092041e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.21393074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30037174299997 meters Centerline goodness : 0.994131 with order 1 Centerline is valid? [True, True] Translation: X:141.52, Y:-6.39, Z:-0.01 [[ 9.99928560e-01 -1.19530011e-02 0.00000000e+00 1.41516088e+02] [ 1.19530011e-02 9.99928560e-01 0.00000000e+00 -6.39236452e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.23453116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36037174299997 meters Centerline goodness : 0.993195 with order 1 Centerline is valid? [True, True] Translation: X:141.58, Y:-6.40, Z:-0.00 [[ 9.99969304e-01 -7.83525861e-03 0.00000000e+00 1.41578408e+02] [ 7.83525861e-03 9.99969304e-01 0.00000000e+00 -6.39722891e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53292275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42037174299998 meters Centerline goodness : 0.993919 with order 1 Centerline is valid? [True, True] Translation: X:141.64, Y:-6.40, Z:-0.00 [[ 9.99998382e-01 -1.79898550e-03 0.00000000e+00 1.41640624e+02] [ 1.79898550e-03 9.99998382e-01 0.00000000e+00 -6.39927153e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00796618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48037174299998 meters Centerline goodness : 0.993310 with order 1 Centerline is valid? [True, True] Translation: X:141.70, Y:-6.40, Z:0.00 [[ 9.99992625e-01 3.84049254e-03 0.00000000e+00 1.41702236e+02] [-3.84049254e-03 9.99992625e-01 0.00000000e+00 -6.40036875e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.25705969e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54037174299998 meters Centerline goodness : 0.993453 with order 1 Centerline is valid? [True, True] Translation: X:141.76, Y:-6.40, Z:-0.00 [[ 9.99979460e-01 6.40934247e-03 0.00000000e+00 1.41760941e+02] [-6.40934247e-03 9.99979460e-01 0.00000000e+00 -6.40097617e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.86544471e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60037174299998 meters Centerline goodness : 0.993890 with order 1 Centerline is valid? [True, True] Translation: X:141.82, Y:-6.40, Z:-0.00 [[ 9.99973881e-01 7.22759431e-03 0.00000000e+00 1.41819979e+02] [-7.22759431e-03 9.99973881e-01 0.00000000e+00 -6.40379594e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24012485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66037174299998 meters Centerline goodness : 0.994067 with order 1 Centerline is valid? [True, True] Translation: X:141.88, Y:-6.40, Z:-0.00 [[ 9.99998475e-01 1.74654786e-03 0.00000000e+00 1.41878596e+02] [-1.74654786e-03 9.99998475e-01 0.00000000e+00 -6.40433922e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76936736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.720371743 meters Centerline goodness : 0.995040 with order 1 Centerline is valid? [True, True] Translation: X:141.94, Y:-6.40, Z:-0.00 [[ 9.99998303e-01 -1.84204572e-03 0.00000000e+00 1.41938668e+02] [ 1.84204572e-03 9.99998303e-01 0.00000000e+00 -6.40442946e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38074385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.780371743 meters Centerline goodness : 0.994699 with order 1 Centerline is valid? [True, True] Translation: X:142.00, Y:-6.41, Z:-0.00 [[ 9.99995479e-01 -3.00714120e-03 0.00000000e+00 1.41999541e+02] [ 3.00714120e-03 9.99995479e-01 0.00000000e+00 -6.40595265e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16401768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.840371743 meters Centerline goodness : 0.994503 with order 1 Centerline is valid? [True, True] Translation: X:142.06, Y:-6.41, Z:-0.00 [[ 9.99999840e-01 5.65044431e-04 0.00000000e+00 1.42060982e+02] [-5.65044431e-04 9.99999840e-01 0.00000000e+00 -6.40694120e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39457471e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.900371743 meters Centerline goodness : 0.995694 with order 1 Centerline is valid? [True, True] Translation: X:142.12, Y:-6.40, Z:-0.01 [[ 9.99996538e-01 2.63116768e-03 0.00000000e+00 1.42120951e+02] [-2.63116768e-03 9.99996538e-01 0.00000000e+00 -6.40224939e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.59999866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.960371743 meters Centerline goodness : 0.993478 with order 1 Centerline is valid? [True, True] Translation: X:142.18, Y:-6.41, Z:-0.00 [[ 9.99966067e-01 8.23806959e-03 0.00000000e+00 1.42180187e+02] [-8.23806959e-03 9.99966067e-01 0.00000000e+00 -6.41061430e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.64799481e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02037174299997 meters Centerline goodness : 0.992462 with order 1 Centerline is valid? [True, True] Translation: X:142.24, Y:-6.41, Z:-0.00 [[ 9.99953685e-01 9.62436146e-03 0.00000000e+00 1.42238920e+02] [-9.62436146e-03 9.99953685e-01 0.00000000e+00 -6.41346711e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32932009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08037174299997 meters Centerline goodness : 0.992710 with order 1 Centerline is valid? [True, True] Translation: X:142.30, Y:-6.42, Z:-0.00 [[ 9.99956354e-01 9.34291704e-03 0.00000000e+00 1.42296322e+02] [-9.34291704e-03 9.99956354e-01 0.00000000e+00 -6.41698730e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.69367343e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14037174299997 meters Centerline goodness : 0.993043 with order 1 Centerline is valid? [True, True] Translation: X:142.36, Y:-6.42, Z:-0.01 [[ 9.99958316e-01 9.13046130e-03 0.00000000e+00 1.42355487e+02] [-9.13046130e-03 9.99958316e-01 0.00000000e+00 -6.42042456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.76301962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20037174299998 meters Centerline goodness : 0.993065 with order 1 Centerline is valid? [True, True] Translation: X:142.41, Y:-6.42, Z:-0.01 [[ 9.99960472e-01 8.89124091e-03 0.00000000e+00 1.42414419e+02] [-8.89124091e-03 9.99960472e-01 0.00000000e+00 -6.42208137e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.55170262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26037174299998 meters Centerline goodness : 0.994648 with order 1 Centerline is valid? [True, True] Translation: X:142.47, Y:-6.42, Z:-0.01 [[ 9.99981752e-01 6.04113845e-03 0.00000000e+00 1.42472556e+02] [-6.04113845e-03 9.99981752e-01 0.00000000e+00 -6.41897666e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49001309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32037174299998 meters Centerline goodness : 0.993173 with order 1 Centerline is valid? [True, True] Translation: X:142.53, Y:-6.42, Z:-0.02 [[ 9.99971118e-01 7.60015980e-03 0.00000000e+00 1.42531179e+02] [-7.60015980e-03 9.99971118e-01 0.00000000e+00 -6.42148755e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51627668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38037174299998 meters Centerline goodness : 0.991909 with order 1 Centerline is valid? [True, True] Translation: X:142.59, Y:-6.43, Z:-0.01 [[ 9.99942620e-01 1.07124331e-02 0.00000000e+00 1.42589128e+02] [-1.07124331e-02 9.99942620e-01 0.00000000e+00 -6.42945896e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.83135607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.440371743 meters Centerline goodness : 0.992885 with order 1 Centerline is valid? [True, True] Translation: X:142.65, Y:-6.43, Z:-0.01 [[ 9.99959115e-01 9.04255569e-03 0.00000000e+00 1.42647493e+02] [-9.04255569e-03 9.99959115e-01 0.00000000e+00 -6.43133713e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.79683278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.500371743 meters Centerline goodness : 0.992954 with order 1 Centerline is valid? [True, True] Translation: X:142.71, Y:-6.44, Z:-0.01 [[ 9.99955728e-01 9.40967932e-03 0.00000000e+00 1.42706387e+02] [-9.40967932e-03 9.99955728e-01 0.00000000e+00 -6.43538605e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.06004291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.560371743 meters Centerline goodness : 0.992979 with order 1 Centerline is valid? [True, True] Translation: X:142.77, Y:-6.44, Z:-0.01 [[ 9.99950462e-01 9.95354050e-03 0.00000000e+00 1.42765173e+02] [-9.95354050e-03 9.99950462e-01 0.00000000e+00 -6.44028480e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08410221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.620371743 meters Centerline goodness : 0.992973 with order 1 Centerline is valid? [True, True] Translation: X:142.82, Y:-6.45, Z:-0.01 [[ 9.99962082e-01 8.70832293e-03 0.00000000e+00 1.42824062e+02] [-8.70832293e-03 9.99962082e-01 0.00000000e+00 -6.44704996e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47672967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.680371743 meters Centerline goodness : 0.993303 with order 1 Centerline is valid? [True, True] Translation: X:142.88, Y:-6.45, Z:-0.02 [[ 9.99965051e-01 8.36038248e-03 0.00000000e+00 1.42882616e+02] [-8.36038248e-03 9.99965051e-01 0.00000000e+00 -6.45310630e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79533604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74037174299997 meters Centerline goodness : 0.992997 with order 1 Centerline is valid? [True, True] Translation: X:142.94, Y:-6.46, Z:-0.02 [[ 9.99969420e-01 7.82036537e-03 0.00000000e+00 1.42940507e+02] [-7.82036537e-03 9.99969420e-01 0.00000000e+00 -6.46007114e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06907495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80037174299997 meters Centerline goodness : 0.992884 with order 1 Centerline is valid? [True, True] Translation: X:143.00, Y:-6.46, Z:-0.02 [[ 9.99971270e-01 7.58018504e-03 0.00000000e+00 1.42999266e+02] [-7.58018504e-03 9.99971270e-01 0.00000000e+00 -6.46379769e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00845487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86037174299997 meters Centerline goodness : 0.994208 with order 1 Centerline is valid? [True, True] Translation: X:143.06, Y:-6.46, Z:-0.01 [[ 9.99999417e-01 -1.08026803e-03 0.00000000e+00 1.43058752e+02] [ 1.08026803e-03 9.99999417e-01 0.00000000e+00 -6.45737964e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10228181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92037174299998 meters Centerline goodness : 0.992822 with order 1 Centerline is valid? [True, True] Translation: X:143.12, Y:-6.47, Z:-0.02 [[ 9.99980606e-01 6.22795515e-03 0.00000000e+00 1.43118947e+02] [-6.22795515e-03 9.99980606e-01 0.00000000e+00 -6.47232340e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76647201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98037174299998 meters Centerline goodness : 0.993393 with order 1 Centerline is valid? [True, True] Translation: X:143.18, Y:-6.48, Z:-0.02 [[ 9.99987544e-01 4.99111690e-03 0.00000000e+00 1.43177568e+02] [-4.99111690e-03 9.99987544e-01 0.00000000e+00 -6.47674349e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56528135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04037174299998 meters Centerline goodness : 0.993553 with order 1 Centerline is valid? [True, True] Translation: X:143.24, Y:-6.48, Z:-0.02 [[ 9.99995360e-01 3.04636752e-03 0.00000000e+00 1.43235382e+02] [-3.04636752e-03 9.99995360e-01 0.00000000e+00 -6.48300158e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78522450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10037174299998 meters Centerline goodness : 0.994774 with order 1 Centerline is valid? [True, True] Translation: X:143.30, Y:-6.48, Z:-0.01 [[ 9.99980066e-01 -6.31414418e-03 0.00000000e+00 1.43295570e+02] [ 6.31414418e-03 9.99980066e-01 0.00000000e+00 -6.47859938e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.24254575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16037174299998 meters Centerline goodness : 0.992537 with order 1 Centerline is valid? [True, True] Translation: X:143.36, Y:-6.49, Z:-0.02 [[ 9.99996458e-01 2.66158612e-03 0.00000000e+00 1.43356206e+02] [-2.66158612e-03 9.99996458e-01 0.00000000e+00 -6.49473796e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67121757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.220371743 meters Centerline goodness : 0.994489 with order 1 Centerline is valid? [True, True] Translation: X:143.42, Y:-6.49, Z:-0.01 [[ 9.99997950e-01 -2.02473008e-03 0.00000000e+00 1.43415712e+02] [ 2.02473008e-03 9.99997950e-01 0.00000000e+00 -6.49488495e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.57687555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.280371743 meters Centerline goodness : 0.993998 with order 1 Centerline is valid? [True, True] Translation: X:143.48, Y:-6.50, Z:-0.01 [[ 9.99994065e-01 -3.44528376e-03 0.00000000e+00 1.43475714e+02] [ 3.44528376e-03 9.99994065e-01 0.00000000e+00 -6.49840943e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.81586175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.340371743 meters Centerline goodness : 0.994588 with order 1 Centerline is valid? [True, True] Translation: X:143.54, Y:-6.50, Z:-0.01 [[ 9.99984750e-01 -5.52263466e-03 0.00000000e+00 1.43537259e+02] [ 5.52263466e-03 9.99984750e-01 0.00000000e+00 -6.50245618e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.19108430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.400371743 meters Centerline goodness : 0.994952 with order 1 Centerline is valid? [True, True] Translation: X:143.60, Y:-6.51, Z:-0.01 [[ 9.99949520e-01 -1.00477281e-02 0.00000000e+00 1.43598929e+02] [ 1.00477281e-02 9.99949520e-01 0.00000000e+00 -6.50716534e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.05572453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.460371743 meters Centerline goodness : 0.994824 with order 1 Centerline is valid? [True, True] Translation: X:143.66, Y:-6.51, Z:-0.01 [[ 9.99902084e-01 -1.39936583e-02 0.00000000e+00 1.43662262e+02] [ 1.39936583e-02 9.99902084e-01 0.00000000e+00 -6.51197975e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29289001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52037174299997 meters Centerline goodness : 0.995028 with order 1 Centerline is valid? [True, True] Translation: X:143.73, Y:-6.52, Z:-0.00 [[ 9.99858485e-01 -1.68228920e-02 0.00000000e+00 1.43725403e+02] [ 1.68228920e-02 9.99858485e-01 0.00000000e+00 -6.51638911e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51003810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58037174299997 meters Centerline goodness : 0.995189 with order 1 Centerline is valid? [True, True] Translation: X:143.79, Y:-6.52, Z:-0.01 [[ 9.99850025e-01 -1.73183948e-02 0.00000000e+00 1.43787017e+02] [ 1.73183948e-02 9.99850025e-01 0.00000000e+00 -6.52301905e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.53636987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64037174299997 meters Centerline goodness : 0.993987 with order 1 Centerline is valid? [True, True] Translation: X:143.85, Y:-6.53, Z:-0.01 [[ 9.99880157e-01 -1.54813032e-02 0.00000000e+00 1.43849572e+02] [ 1.54813032e-02 9.99880157e-01 0.00000000e+00 -6.52638097e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.02863793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70037174299998 meters Centerline goodness : 0.993908 with order 1 Centerline is valid? [True, True] Translation: X:143.91, Y:-6.53, Z:-0.01 [[ 9.99972978e-01 -7.35138101e-03 0.00000000e+00 1.43912019e+02] [ 7.35138101e-03 9.99972978e-01 0.00000000e+00 -6.53126435e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.49757975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76037174299998 meters Centerline goodness : 0.994206 with order 1 Centerline is valid? [True, True] Translation: X:143.97, Y:-6.53, Z:-0.01 [[ 9.99994815e-01 -3.22015606e-03 0.00000000e+00 1.43974178e+02] [ 3.22015606e-03 9.99994815e-01 0.00000000e+00 -6.53400572e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.57601451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82037174299998 meters Centerline goodness : 0.993866 with order 1 Centerline is valid? [True, True] Translation: X:144.04, Y:-6.54, Z:-0.01 [[ 9.99997230e-01 2.35376525e-03 0.00000000e+00 1.44035803e+02] [-2.35376525e-03 9.99997230e-01 0.00000000e+00 -6.53763806e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.00662337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88037174299998 meters Centerline goodness : 0.993881 with order 1 Centerline is valid? [True, True] Translation: X:144.10, Y:-6.54, Z:-0.01 [[ 9.99992910e-01 3.76556211e-03 0.00000000e+00 1.44095817e+02] [-3.76556211e-03 9.99992910e-01 0.00000000e+00 -6.54129159e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05009123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.940371743 meters Centerline goodness : 0.993457 with order 1 Centerline is valid? [True, True] Translation: X:144.15, Y:-6.55, Z:-0.01 [[ 9.99981503e-01 6.08227875e-03 0.00000000e+00 1.44154261e+02] [-6.08227875e-03 9.99981503e-01 0.00000000e+00 -6.54647668e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48783117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.000371743 meters Centerline goodness : 0.993730 with order 1 Centerline is valid? [True, True] Translation: X:144.21, Y:-6.55, Z:-0.01 [[ 9.99984586e-01 5.55235699e-03 0.00000000e+00 1.44213119e+02] [-5.55235699e-03 9.99984586e-01 0.00000000e+00 -6.54840790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21626479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.060371743 meters Centerline goodness : 0.993763 with order 1 Centerline is valid? [True, True] Translation: X:144.27, Y:-6.55, Z:-0.01 [[ 9.99987271e-01 5.04555633e-03 0.00000000e+00 1.44271395e+02] [-5.04555633e-03 9.99987271e-01 0.00000000e+00 -6.55143017e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.42544281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.120371743 meters Centerline goodness : 0.993849 with order 1 Centerline is valid? [True, True] Translation: X:144.33, Y:-6.55, Z:-0.01 [[ 9.99992320e-01 3.91906454e-03 0.00000000e+00 1.44330378e+02] [-3.91906454e-03 9.99992320e-01 0.00000000e+00 -6.55350037e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.77181309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.180371743 meters Centerline goodness : 0.994003 with order 1 Centerline is valid? [True, True] Translation: X:144.39, Y:-6.56, Z:-0.01 [[ 9.99994051e-01 3.44947995e-03 0.00000000e+00 1.44388573e+02] [-3.44947995e-03 9.99994051e-01 0.00000000e+00 -6.55808405e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.49537811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24037174299997 meters Centerline goodness : 0.994318 with order 1 Centerline is valid? [True, True] Translation: X:144.45, Y:-6.56, Z:-0.01 [[ 9.99999984e-01 1.81428675e-04 0.00000000e+00 1.44447622e+02] [-1.81428675e-04 9.99999984e-01 0.00000000e+00 -6.56356929e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.24234088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30037174299997 meters Centerline goodness : 0.995751 with order 1 Centerline is valid? [True, True] Translation: X:144.51, Y:-6.56, Z:-0.00 [[ 9.99957763e-01 -9.19088150e-03 0.00000000e+00 1.44507607e+02] [ 9.19088150e-03 9.99957763e-01 0.00000000e+00 -6.56080833e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29439926e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36037174299997 meters Centerline goodness : 0.995999 with order 1 Centerline is valid? [True, True] Translation: X:144.57, Y:-6.57, Z:-0.00 [[ 9.99961358e-01 -8.79106840e-03 0.00000000e+00 1.44568684e+02] [ 8.79106840e-03 9.99961358e-01 0.00000000e+00 -6.56766682e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57803912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42037174299998 meters Centerline goodness : 0.994447 with order 1 Centerline is valid? [True, True] Translation: X:144.63, Y:-6.58, Z:-0.01 [[ 9.99998183e-01 -1.90609995e-03 0.00000000e+00 1.44630244e+02] [ 1.90609995e-03 9.99998183e-01 0.00000000e+00 -6.58105236e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20212557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48037174299998 meters Centerline goodness : 0.994417 with order 1 Centerline is valid? [True, True] Translation: X:144.69, Y:-6.59, Z:-0.02 [[ 9.99999588e-01 9.07840267e-04 0.00000000e+00 1.44691540e+02] [-9.07840267e-04 9.99999588e-01 0.00000000e+00 -6.58707374e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60405878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54037174299998 meters Centerline goodness : 0.994666 with order 1 Centerline is valid? [True, True] Translation: X:144.75, Y:-6.59, Z:-0.01 [[ 9.99999532e-01 9.67986579e-04 0.00000000e+00 1.44750671e+02] [-9.67986579e-04 9.99999532e-01 0.00000000e+00 -6.58984735e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46339440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60037174299998 meters Centerline goodness : 0.996335 with order 1 Centerline is valid? [True, True] Translation: X:144.81, Y:-6.58, Z:-0.00 [[ 9.99977482e-01 -6.71092212e-03 0.00000000e+00 1.44811247e+02] [ 6.71092212e-03 9.99977482e-01 0.00000000e+00 -6.58233885e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.70226578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66037174299998 meters Centerline goodness : 0.994701 with order 1 Centerline is valid? [True, True] Translation: X:144.87, Y:-6.60, Z:-0.01 [[ 9.99998921e-01 1.46876490e-03 0.00000000e+00 1.44872675e+02] [-1.46876490e-03 9.99998921e-01 0.00000000e+00 -6.59577252e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08016694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.720371743 meters Centerline goodness : 0.994324 with order 1 Centerline is valid? [True, True] Translation: X:144.93, Y:-6.60, Z:-0.01 [[ 9.99999569e-01 -9.28754382e-04 0.00000000e+00 1.44932576e+02] [ 9.28754382e-04 9.99999569e-01 0.00000000e+00 -6.59943337e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.78768985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.780371743 meters Centerline goodness : 0.994789 with order 1 Centerline is valid? [True, True] Translation: X:144.99, Y:-6.60, Z:-0.01 [[ 9.99967994e-01 -8.00074661e-03 0.00000000e+00 1.44992959e+02] [ 8.00074661e-03 9.99967994e-01 0.00000000e+00 -6.60391837e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.82856514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.840371743 meters Centerline goodness : 0.995021 with order 1 Centerline is valid? [True, True] Translation: X:145.06, Y:-6.61, Z:-0.01 [[ 9.99929647e-01 -1.18617334e-02 0.00000000e+00 1.45055874e+02] [ 1.18617334e-02 9.99929647e-01 0.00000000e+00 -6.60869533e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13891826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.900371743 meters Centerline goodness : 0.995875 with order 1 Centerline is valid? [True, True] Translation: X:145.12, Y:-6.61, Z:-0.01 [[ 9.99719894e-01 -2.36671205e-02 0.00000000e+00 1.45117231e+02] [ 2.36671205e-02 9.99719894e-01 0.00000000e+00 -6.60535948e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.79808753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.960371743 meters Centerline goodness : 0.994427 with order 1 Centerline is valid? [True, True] Translation: X:145.18, Y:-6.62, Z:-0.01 [[ 9.99823929e-01 -1.87646460e-02 0.00000000e+00 1.45178749e+02] [ 1.87646460e-02 9.99823929e-01 0.00000000e+00 -6.61791464e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21033085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02037174299997 meters Centerline goodness : 0.996039 with order 1 Centerline is valid? [True, True] Translation: X:145.24, Y:-6.61, Z:-0.01 [[ 9.99692102e-01 -2.48133382e-02 0.00000000e+00 1.45240043e+02] [ 2.48133382e-02 9.99692102e-01 0.00000000e+00 -6.61199845e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.64353106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08037174299997 meters Centerline goodness : 0.995457 with order 1 Centerline is valid? [True, True] Translation: X:145.30, Y:-6.62, Z:-0.01 [[ 9.99739729e-01 -2.28139013e-02 0.00000000e+00 1.45301640e+02] [ 2.28139013e-02 9.99739729e-01 0.00000000e+00 -6.61649642e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.44000241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14037174299997 meters Centerline goodness : 0.995776 with order 1 Centerline is valid? [True, True] Translation: X:145.36, Y:-6.62, Z:-0.00 [[ 9.99784888e-01 -2.07407403e-02 0.00000000e+00 1.45362750e+02] [ 2.07407403e-02 9.99784888e-01 0.00000000e+00 -6.62046810e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59994439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20037174299998 meters Centerline goodness : 0.995725 with order 1 Centerline is valid? [True, True] Translation: X:145.43, Y:-6.62, Z:-0.00 [[ 9.99830409e-01 -1.84161206e-02 0.00000000e+00 1.45425117e+02] [ 1.84161206e-02 9.99830409e-01 0.00000000e+00 -6.62325940e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96730569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26037174299998 meters Centerline goodness : 0.996595 with order 1 Centerline is valid? [True, True] Translation: X:145.49, Y:-6.63, Z:-0.00 [[ 9.99863756e-01 -1.65066674e-02 0.00000000e+00 1.45487185e+02] [ 1.65066674e-02 9.99863756e-01 0.00000000e+00 -6.62702893e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78040112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32037174299998 meters Centerline goodness : 0.995543 with order 1 Centerline is valid? [True, True] Translation: X:145.55, Y:-6.63, Z:-0.00 [[ 9.99925640e-01 -1.21948392e-02 0.00000000e+00 1.45549208e+02] [ 1.21948392e-02 9.99925640e-01 0.00000000e+00 -6.62907990e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46708783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38037174299998 meters Centerline goodness : 0.995806 with order 1 Centerline is valid? [True, True] Translation: X:145.61, Y:-6.63, Z:-0.00 [[ 9.99967511e-01 -8.06083944e-03 0.00000000e+00 1.45611752e+02] [ 8.06083944e-03 9.99967511e-01 0.00000000e+00 -6.63012597e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.11893582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.440371743 meters Centerline goodness : 0.995569 with order 1 Centerline is valid? [True, True] Translation: X:145.67, Y:-6.63, Z:-0.00 [[ 9.99999935e-01 -3.59384575e-04 0.00000000e+00 1.45674484e+02] [ 3.59384575e-04 9.99999935e-01 0.00000000e+00 -6.62997404e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28707157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.500371743 meters Centerline goodness : 0.995053 with order 1 Centerline is valid? [True, True] Translation: X:145.73, Y:-6.63, Z:-0.00 [[ 9.99974760e-01 7.10482256e-03 0.00000000e+00 1.45734963e+02] [-7.10482256e-03 9.99974760e-01 0.00000000e+00 -6.62930826e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17201957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.560371743 meters Centerline goodness : 0.995092 with order 1 Centerline is valid? [True, True] Translation: X:145.79, Y:-6.63, Z:0.00 [[ 9.99893252e-01 1.46111153e-02 0.00000000e+00 1.45793424e+02] [-1.46111153e-02 9.99893252e-01 0.00000000e+00 -6.62787393e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12346011e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.620371743 meters Centerline goodness : 0.993173 with order 1 Centerline is valid? [True, True] Translation: X:145.85, Y:-6.64, Z:-0.01 [[ 9.99599841e-01 2.82870768e-02 0.00000000e+00 1.45851214e+02] [-2.82870768e-02 9.99599841e-01 0.00000000e+00 -6.64092232e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.17791914e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.680371743 meters Centerline goodness : 0.993122 with order 1 Centerline is valid? [True, True] Translation: X:145.91, Y:-6.64, Z:-0.00 [[ 9.99604040e-01 2.81382911e-02 0.00000000e+00 1.45910172e+02] [-2.81382911e-02 9.99604040e-01 0.00000000e+00 -6.63969903e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81008561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74037174299997 meters Centerline goodness : 0.994263 with order 1 Centerline is valid? [True, True] Translation: X:145.97, Y:-6.63, Z:0.00 [[ 9.99772519e-01 2.13286361e-02 0.00000000e+00 1.45968711e+02] [-2.13286361e-02 9.99772519e-01 0.00000000e+00 -6.63255946e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54221586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80037174299997 meters Centerline goodness : 0.994755 with order 1 Centerline is valid? [True, True] Translation: X:146.03, Y:-6.64, Z:-0.00 [[ 9.99807220e-01 1.96347230e-02 0.00000000e+00 1.46026354e+02] [-1.96347230e-02 9.99807220e-01 0.00000000e+00 -6.63678615e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.38507641e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86037174299997 meters Centerline goodness : 0.995302 with order 1 Centerline is valid? [True, True] Translation: X:146.08, Y:-6.64, Z:-0.00 [[ 9.99866183e-01 1.63589824e-02 0.00000000e+00 1.46084989e+02] [-1.63589824e-02 9.99866183e-01 0.00000000e+00 -6.64018127e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58251578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92037174299998 meters Centerline goodness : 0.995519 with order 1 Centerline is valid? [True, True] Translation: X:146.14, Y:-6.64, Z:-0.00 [[ 9.99924784e-01 1.22648071e-02 0.00000000e+00 1.46143814e+02] [-1.22648071e-02 9.99924784e-01 0.00000000e+00 -6.64333057e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38803774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98037174299998 meters Centerline goodness : 0.993638 with order 1 Centerline is valid? [True, True] Translation: X:146.20, Y:-6.66, Z:-0.02 [[ 9.99832297e-01 1.83133211e-02 0.00000000e+00 1.46202096e+02] [-1.83133211e-02 9.99832297e-01 0.00000000e+00 -6.65921452e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54165989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04037174299998 meters Centerline goodness : 0.995094 with order 1 Centerline is valid? [True, True] Translation: X:146.26, Y:-6.65, Z:-0.00 [[ 9.99981827e-01 6.02870064e-03 0.00000000e+00 1.46259988e+02] [-6.02870064e-03 9.99981827e-01 0.00000000e+00 -6.65259396e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97359971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10037174299998 meters Centerline goodness : 0.994975 with order 1 Centerline is valid? [True, True] Translation: X:146.32, Y:-6.66, Z:-0.00 [[ 9.99999525e-01 9.74869006e-04 0.00000000e+00 1.46318214e+02] [-9.74869006e-04 9.99999525e-01 0.00000000e+00 -6.65646890e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.74165162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16037174299998 meters Centerline goodness : 0.993835 with order 1 Centerline is valid? [True, True] Translation: X:146.38, Y:-6.67, Z:-0.01 [[ 9.99966644e-01 8.16767050e-03 0.00000000e+00 1.46378215e+02] [-8.16767050e-03 9.99966644e-01 0.00000000e+00 -6.67057984e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49928824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.220371743 meters Centerline goodness : 0.994831 with order 1 Centerline is valid? [True, True] Translation: X:146.44, Y:-6.67, Z:-0.01 [[ 9.99983332e-01 5.77365265e-03 0.00000000e+00 1.46436668e+02] [-5.77365265e-03 9.99983332e-01 0.00000000e+00 -6.67324460e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42290253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.280371743 meters Centerline goodness : 0.994303 with order 1 Centerline is valid? [True, True] Translation: X:146.50, Y:-6.67, Z:-0.01 [[ 9.99997719e-01 2.13575750e-03 0.00000000e+00 1.46495687e+02] [-2.13575750e-03 9.99997719e-01 0.00000000e+00 -6.67280227e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02279911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.340371743 meters Centerline goodness : 0.995053 with order 1 Centerline is valid? [True, True] Translation: X:146.56, Y:-6.67, Z:-0.01 [[ 9.99993620e-01 -3.57204576e-03 0.00000000e+00 1.46555203e+02] [ 3.57204576e-03 9.99993620e-01 0.00000000e+00 -6.67186070e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.82951062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.400371743 meters Centerline goodness : 0.994186 with order 1 Centerline is valid? [True, True] Translation: X:146.62, Y:-6.68, Z:-0.02 [[ 9.99998690e-01 1.61894495e-03 0.00000000e+00 1.46615939e+02] [-1.61894495e-03 9.99998690e-01 0.00000000e+00 -6.68387624e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61516078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.460371743 meters Centerline goodness : 0.995816 with order 1 Centerline is valid? [True, True] Translation: X:146.68, Y:-6.68, Z:-0.01 [[ 9.99942778e-01 -1.06976836e-02 0.00000000e+00 1.46676014e+02] [ 1.06976836e-02 9.99942778e-01 0.00000000e+00 -6.67745100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.06452690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52037174299997 meters Centerline goodness : 0.995272 with order 1 Centerline is valid? [True, True] Translation: X:146.74, Y:-6.69, Z:-0.01 [[ 9.99935267e-01 -1.13781533e-02 0.00000000e+00 1.46738009e+02] [ 1.13781533e-02 9.99935267e-01 0.00000000e+00 -6.68529151e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21697030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58037174299997 meters Centerline goodness : 0.994937 with order 1 Centerline is valid? [True, True] Translation: X:146.80, Y:-6.69, Z:-0.01 [[ 9.99908587e-01 -1.35209874e-02 0.00000000e+00 1.46799858e+02] [ 1.35209874e-02 9.99908587e-01 0.00000000e+00 -6.68661642e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25282989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64037174299997 meters Centerline goodness : 0.995808 with order 1 Centerline is valid? [True, True] Translation: X:146.86, Y:-6.68, Z:-0.01 [[ 9.99857303e-01 -1.68929785e-02 0.00000000e+00 1.46861542e+02] [ 1.68929785e-02 9.99857303e-01 0.00000000e+00 -6.68204591e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.02618532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70037174299998 meters Centerline goodness : 0.994797 with order 1 Centerline is valid? [True, True] Translation: X:146.92, Y:-6.69, Z:-0.02 [[ 9.99973238e-01 -7.31595754e-03 0.00000000e+00 1.46923830e+02] [ 7.31595754e-03 9.99973238e-01 0.00000000e+00 -6.68600249e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51683238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76037174299998 meters Centerline goodness : 0.995191 with order 1 Centerline is valid? [True, True] Translation: X:146.98, Y:-6.68, Z:-0.01 [[ 9.99958514e-01 -9.10881076e-03 0.00000000e+00 1.46984610e+02] [ 9.10881076e-03 9.99958514e-01 0.00000000e+00 -6.67747116e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.53154464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82037174299998 meters Centerline goodness : 0.993960 with order 1 Centerline is valid? [True, True] Translation: X:147.05, Y:-6.68, Z:-0.01 [[ 9.99999057e-01 1.37359093e-03 0.00000000e+00 1.47045260e+02] [-1.37359093e-03 9.99999057e-01 0.00000000e+00 -6.68068135e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31493569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88037174299998 meters Centerline goodness : 0.993788 with order 1 Centerline is valid? [True, True] Translation: X:147.11, Y:-6.68, Z:-0.01 [[ 9.99999970e-01 -2.46527309e-04 0.00000000e+00 1.47105246e+02] [ 2.46527309e-04 9.99999970e-01 0.00000000e+00 -6.67638407e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.32807196e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.940371743 meters Centerline goodness : 0.994324 with order 1 Centerline is valid? [True, True] Translation: X:147.17, Y:-6.67, Z:-0.00 [[ 9.99980525e-01 -6.24096736e-03 0.00000000e+00 1.47166145e+02] [ 6.24096736e-03 9.99980525e-01 0.00000000e+00 -6.67163876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.75046105e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.000371743 meters Centerline goodness : 0.994148 with order 1 Centerline is valid? [True, True] Translation: X:147.23, Y:-6.67, Z:-0.00 [[ 9.99965743e-01 -8.27726207e-03 0.00000000e+00 1.47227978e+02] [ 8.27726207e-03 9.99965743e-01 0.00000000e+00 -6.67352246e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.64768922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.060371743 meters Centerline goodness : 0.993945 with order 1 Centerline is valid? [True, True] Translation: X:147.29, Y:-6.68, Z:-0.00 [[ 9.99979539e-01 -6.39695616e-03 0.00000000e+00 1.47290527e+02] [ 6.39695616e-03 9.99979539e-01 0.00000000e+00 -6.67700359e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.82656090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.120371743 meters Centerline goodness : 0.993614 with order 1 Centerline is valid? [True, True] Translation: X:147.35, Y:-6.69, Z:-0.01 [[ 9.99993636e-01 3.56755294e-03 0.00000000e+00 1.47351328e+02] [-3.56755294e-03 9.99993636e-01 0.00000000e+00 -6.68546124e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00493355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.180371743 meters Centerline goodness : 0.994134 with order 1 Centerline is valid? [True, True] Translation: X:147.41, Y:-6.68, Z:-0.00 [[ 9.99997894e-01 2.05222908e-03 0.00000000e+00 1.47410602e+02] [-2.05222908e-03 9.99997894e-01 0.00000000e+00 -6.67790036e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55822681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24037174299997 meters Centerline goodness : 0.994512 with order 1 Centerline is valid? [True, True] Translation: X:147.47, Y:-6.68, Z:-0.00 [[ 9.99991263e-01 4.18006716e-03 0.00000000e+00 1.47470570e+02] [-4.18006716e-03 9.99991263e-01 0.00000000e+00 -6.67989306e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83036183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30037174299997 meters Centerline goodness : 0.993644 with order 1 Centerline is valid? [True, True] Translation: X:147.53, Y:-6.69, Z:-0.01 [[ 9.99960473e-01 8.89118242e-03 0.00000000e+00 1.47529112e+02] [-8.89118242e-03 9.99960473e-01 0.00000000e+00 -6.68839840e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.06315056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36037174299997 meters Centerline goodness : 0.994806 with order 1 Centerline is valid? [True, True] Translation: X:147.59, Y:-6.69, Z:-0.00 [[ 9.99999881e-01 -4.87831634e-04 0.00000000e+00 1.47587638e+02] [ 4.87831634e-04 9.99999881e-01 0.00000000e+00 -6.68534569e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59760655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42037174299998 meters Centerline goodness : 0.993431 with order 1 Centerline is valid? [True, True] Translation: X:147.65, Y:-6.70, Z:-0.01 [[ 9.99997118e-01 2.40095560e-03 0.00000000e+00 1.47647913e+02] [-2.40095560e-03 9.99997118e-01 0.00000000e+00 -6.69736258e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00867249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48037174299998 meters Centerline goodness : 0.994033 with order 1 Centerline is valid? [True, True] Translation: X:147.71, Y:-6.70, Z:-0.01 [[ 9.99989077e-01 -4.67394005e-03 0.00000000e+00 1.47707519e+02] [ 4.67394005e-03 9.99989077e-01 0.00000000e+00 -6.70282911e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.97440794e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54037174299998 meters Centerline goodness : 0.993612 with order 1 Centerline is valid? [True, True] Translation: X:147.77, Y:-6.71, Z:-0.01 [[ 9.99975258e-01 -7.03451402e-03 0.00000000e+00 1.47770005e+02] [ 7.03451402e-03 9.99975258e-01 0.00000000e+00 -6.70685086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.91842749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60037174299998 meters Centerline goodness : 0.993643 with order 1 Centerline is valid? [True, True] Translation: X:147.83, Y:-6.71, Z:-0.01 [[ 9.99969248e-01 -7.84242854e-03 0.00000000e+00 1.47832403e+02] [ 7.84242854e-03 9.99969248e-01 0.00000000e+00 -6.71155533e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22100398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66037174299998 meters Centerline goodness : 0.994662 with order 1 Centerline is valid? [True, True] Translation: X:147.89, Y:-6.71, Z:-0.00 [[ 9.99900838e-01 -1.40823807e-02 0.00000000e+00 1.47893878e+02] [ 1.40823807e-02 9.99900838e-01 0.00000000e+00 -6.70900825e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44059117e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.720371743 meters Centerline goodness : 0.994666 with order 1 Centerline is valid? [True, True] Translation: X:147.96, Y:-6.71, Z:-0.00 [[ 9.99886717e-01 -1.50517064e-02 0.00000000e+00 1.47955808e+02] [ 1.50517064e-02 9.99886717e-01 0.00000000e+00 -6.71426968e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54555550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.780371743 meters Centerline goodness : 0.994566 with order 1 Centerline is valid? [True, True] Translation: X:148.02, Y:-6.72, Z:-0.01 [[ 9.99847000e-01 -1.74922053e-02 0.00000000e+00 1.48017768e+02] [ 1.74922053e-02 9.99847000e-01 0.00000000e+00 -6.71942962e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.31380426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.840371743 meters Centerline goodness : 0.993710 with order 1 Centerline is valid? [True, True] Translation: X:148.08, Y:-6.73, Z:-0.01 [[ 9.99919317e-01 -1.27027490e-02 0.00000000e+00 1.48078919e+02] [ 1.27027490e-02 9.99919317e-01 0.00000000e+00 -6.73328993e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19581884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.900371743 meters Centerline goodness : 0.993979 with order 1 Centerline is valid? [True, True] Translation: X:148.14, Y:-6.74, Z:-0.01 [[ 9.99933919e-01 -1.14959489e-02 0.00000000e+00 1.48141413e+02] [ 1.14959489e-02 9.99933919e-01 0.00000000e+00 -6.73720237e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22511947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.960371743 meters Centerline goodness : 0.993970 with order 1 Centerline is valid? [True, True] Translation: X:148.20, Y:-6.74, Z:-0.01 [[ 9.99942979e-01 -1.06789145e-02 0.00000000e+00 1.48202594e+02] [ 1.06789145e-02 9.99942979e-01 0.00000000e+00 -6.74063431e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36952568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02037174299997 meters Centerline goodness : 0.993240 with order 1 Centerline is valid? [True, True] Translation: X:148.26, Y:-6.75, Z:-0.02 [[ 9.99981967e-01 -6.00550644e-03 0.00000000e+00 1.48264054e+02] [ 6.00550644e-03 9.99981967e-01 0.00000000e+00 -6.74601339e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51714803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08037174299997 meters Centerline goodness : 0.994614 with order 1 Centerline is valid? [True, True] Translation: X:148.33, Y:-6.74, Z:-0.00 [[ 9.99951321e-01 -9.86686551e-03 0.00000000e+00 1.48326266e+02] [ 9.86686551e-03 9.99951321e-01 0.00000000e+00 -6.74001082e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32034253e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14037174299997 meters Centerline goodness : 0.993316 with order 1 Centerline is valid? [True, True] Translation: X:148.39, Y:-6.75, Z:-0.01 [[ 9.99996880e-01 -2.49809252e-03 0.00000000e+00 1.48387157e+02] [ 2.49809252e-03 9.99996880e-01 0.00000000e+00 -6.75227849e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.55842647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20037174299998 meters Centerline goodness : 0.993742 with order 1 Centerline is valid? [True, True] Translation: X:148.45, Y:-6.76, Z:-0.01 [[ 9.99983726e-01 -5.70504586e-03 0.00000000e+00 1.48447744e+02] [ 5.70504586e-03 9.99983726e-01 0.00000000e+00 -6.75732882e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.46279823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26037174299998 meters Centerline goodness : 0.993691 with order 1 Centerline is valid? [True, True] Translation: X:148.51, Y:-6.76, Z:-0.01 [[ 9.99956928e-01 -9.28125448e-03 0.00000000e+00 1.48509395e+02] [ 9.28125448e-03 9.99956928e-01 0.00000000e+00 -6.76333411e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.58143452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32037174299998 meters Centerline goodness : 0.995362 with order 1 Centerline is valid? [True, True] Translation: X:148.57, Y:-6.76, Z:-0.00 [[ 9.99844709e-01 -1.76226467e-02 0.00000000e+00 1.48570704e+02] [ 1.76226467e-02 9.99844709e-01 0.00000000e+00 -6.76423098e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.64165975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38037174299998 meters Centerline goodness : 0.994810 with order 1 Centerline is valid? [True, True] Translation: X:148.63, Y:-6.78, Z:-0.01 [[ 9.99858372e-01 -1.68296065e-02 0.00000000e+00 1.48631871e+02] [ 1.68296065e-02 9.99858372e-01 0.00000000e+00 -6.77692423e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.57707194e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.440371743 meters Centerline goodness : 0.994817 with order 1 Centerline is valid? [True, True] Translation: X:148.69, Y:-6.78, Z:-0.01 [[ 9.99842293e-01 -1.77592103e-02 0.00000000e+00 1.48693771e+02] [ 1.77592103e-02 9.99842293e-01 0.00000000e+00 -6.78350626e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.52840939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.500371743 meters Centerline goodness : 0.994064 with order 1 Centerline is valid? [True, True] Translation: X:148.76, Y:-6.79, Z:-0.01 [[ 9.99874916e-01 -1.58162284e-02 0.00000000e+00 1.48755968e+02] [ 1.58162284e-02 9.99874916e-01 0.00000000e+00 -6.78935522e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.11677615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.560371743 meters Centerline goodness : 0.995066 with order 1 Centerline is valid? [True, True] Translation: X:148.82, Y:-6.79, Z:-0.00 [[ 9.99798365e-01 -2.00805596e-02 0.00000000e+00 1.48817738e+02] [ 2.00805596e-02 9.99798365e-01 0.00000000e+00 -6.78754349e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46694752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.620371743 meters Centerline goodness : 0.993522 with order 1 Centerline is valid? [True, True] Translation: X:148.88, Y:-6.80, Z:-0.01 [[ 9.99928965e-01 -1.19190596e-02 0.00000000e+00 1.48879399e+02] [ 1.19190596e-02 9.99928965e-01 0.00000000e+00 -6.80236313e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.42577315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.680371743 meters Centerline goodness : 0.993784 with order 1 Centerline is valid? [True, True] Translation: X:148.94, Y:-6.81, Z:-0.01 [[ 9.99914918e-01 -1.30443956e-02 0.00000000e+00 1.48939989e+02] [ 1.30443956e-02 9.99914918e-01 0.00000000e+00 -6.80979507e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13682565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74037174299997 meters Centerline goodness : 0.994348 with order 1 Centerline is valid? [True, True] Translation: X:149.00, Y:-6.82, Z:-0.01 [[ 9.99871674e-01 -1.60198748e-02 0.00000000e+00 1.49001355e+02] [ 1.60198748e-02 9.99871674e-01 0.00000000e+00 -6.81593576e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03831827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80037174299997 meters Centerline goodness : 0.993450 with order 1 Centerline is valid? [True, True] Translation: X:149.06, Y:-6.82, Z:-0.01 [[ 9.99869952e-01 -1.61269712e-02 0.00000000e+00 1.49063236e+02] [ 1.61269712e-02 9.99869952e-01 0.00000000e+00 -6.82179177e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14682662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86037174299997 meters Centerline goodness : 0.995340 with order 1 Centerline is valid? [True, True] Translation: X:149.12, Y:-6.82, Z:-0.00 [[ 9.99733852e-01 -2.30700254e-02 0.00000000e+00 1.49124878e+02] [ 2.30700254e-02 9.99733852e-01 0.00000000e+00 -6.81741200e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.22427843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92037174299998 meters Centerline goodness : 0.994626 with order 1 Centerline is valid? [True, True] Translation: X:149.19, Y:-6.83, Z:-0.01 [[ 9.99840861e-01 -1.78396202e-02 0.00000000e+00 1.49186355e+02] [ 1.78396202e-02 9.99840861e-01 0.00000000e+00 -6.83255895e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31376141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98037174299998 meters Centerline goodness : 0.993850 with order 1 Centerline is valid? [True, True] Translation: X:149.25, Y:-6.84, Z:-0.01 [[ 9.99839230e-01 -1.79308329e-02 0.00000000e+00 1.49248715e+02] [ 1.79308329e-02 9.99839230e-01 0.00000000e+00 -6.83854099e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43423376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04037174299998 meters Centerline goodness : 0.994596 with order 1 Centerline is valid? [True, True] Translation: X:149.31, Y:-6.85, Z:-0.01 [[ 9.99793901e-01 -2.03016003e-02 0.00000000e+00 1.49311125e+02] [ 2.03016003e-02 9.99793901e-01 0.00000000e+00 -6.84502400e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.98675315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10037174299998 meters Centerline goodness : 0.993872 with order 1 Centerline is valid? [True, True] Translation: X:149.37, Y:-6.85, Z:-0.01 [[ 9.99808447e-01 -1.95721428e-02 0.00000000e+00 1.49371895e+02] [ 1.95721428e-02 9.99808447e-01 0.00000000e+00 -6.85013271e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12972714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16037174299998 meters Centerline goodness : 0.995792 with order 1 Centerline is valid? [True, True] Translation: X:149.43, Y:-6.84, Z:-0.00 [[ 9.99680308e-01 -2.52840225e-02 0.00000000e+00 1.49433012e+02] [ 2.52840225e-02 9.99680308e-01 0.00000000e+00 -6.84322466e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76492570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.220371743 meters Centerline goodness : 0.994816 with order 1 Centerline is valid? [True, True] Translation: X:149.49, Y:-6.86, Z:-0.01 [[ 9.99933248e-01 -1.15542007e-02 0.00000000e+00 1.49493984e+02] [ 1.15542007e-02 9.99933248e-01 0.00000000e+00 -6.85830274e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08847860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.280371743 meters Centerline goodness : 0.994311 with order 1 Centerline is valid? [True, True] Translation: X:149.56, Y:-6.86, Z:-0.01 [[ 9.99991545e-01 -4.11214132e-03 0.00000000e+00 1.49556500e+02] [ 4.11214132e-03 9.99991545e-01 0.00000000e+00 -6.86120093e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19852522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.340371743 meters Centerline goodness : 0.994202 with order 1 Centerline is valid? [True, True] Translation: X:149.62, Y:-6.86, Z:-0.01 [[ 9.99999299e-01 1.18369371e-03 0.00000000e+00 1.49617500e+02] [-1.18369371e-03 9.99999299e-01 0.00000000e+00 -6.86226742e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05529370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.400371743 meters Centerline goodness : 0.996030 with order 1 Centerline is valid? [True, True] Translation: X:149.68, Y:-6.85, Z:-0.00 [[ 9.99999213e-01 -1.25443371e-03 0.00000000e+00 1.49677940e+02] [ 1.25443371e-03 9.99999213e-01 0.00000000e+00 -6.84905302e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34842377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.460371743 meters Centerline goodness : 0.995354 with order 1 Centerline is valid? [True, True] Translation: X:149.74, Y:-6.85, Z:0.00 [[ 9.99991450e-01 4.13511225e-03 0.00000000e+00 1.49738815e+02] [-4.13511225e-03 9.99991450e-01 0.00000000e+00 -6.84768449e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08609950e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52037174299997 meters Centerline goodness : 0.995770 with order 1 Centerline is valid? [True, True] Translation: X:149.80, Y:-6.85, Z:0.00 [[ 9.99985967e-01 5.29777107e-03 0.00000000e+00 1.49797935e+02] [-5.29777107e-03 9.99985967e-01 0.00000000e+00 -6.84653995e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46153679e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58037174299997 meters Centerline goodness : 0.994887 with order 1 Centerline is valid? [True, True] Translation: X:149.86, Y:-6.85, Z:-0.00 [[ 9.99994990e-01 3.16528064e-03 0.00000000e+00 1.49855748e+02] [-3.16528064e-03 9.99994990e-01 0.00000000e+00 -6.84566921e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93711081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64037174299997 meters Centerline goodness : 0.994796 with order 1 Centerline is valid? [True, True] Translation: X:149.92, Y:-6.85, Z:0.00 [[ 9.99999935e-01 3.60015354e-04 0.00000000e+00 1.49915457e+02] [-3.60015354e-04 9.99999935e-01 0.00000000e+00 -6.84734371e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.66953671e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70037174299998 meters Centerline goodness : 0.993077 with order 1 Centerline is valid? [True, True] Translation: X:149.97, Y:-6.86, Z:-0.01 [[ 9.99992617e-01 3.84268947e-03 0.00000000e+00 1.49974793e+02] [-3.84268947e-03 9.99992617e-01 0.00000000e+00 -6.85967508e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.28734736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76037174299998 meters Centerline goodness : 0.993532 with order 1 Centerline is valid? [True, True] Translation: X:150.03, Y:-6.86, Z:-0.01 [[ 9.99998383e-01 -1.79816708e-03 0.00000000e+00 1.50034481e+02] [ 1.79816708e-03 9.99998383e-01 0.00000000e+00 -6.85923915e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.29028175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82037174299998 meters Centerline goodness : 0.993187 with order 1 Centerline is valid? [True, True] Translation: X:150.10, Y:-6.86, Z:-0.01 [[ 9.99967387e-01 -8.07623495e-03 0.00000000e+00 1.50096257e+02] [ 8.07623495e-03 9.99967387e-01 0.00000000e+00 -6.86060774e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.66944370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88037174299998 meters Centerline goodness : 0.993757 with order 1 Centerline is valid? [True, True] Translation: X:150.16, Y:-6.86, Z:-0.01 [[ 9.99942690e-01 -1.07059251e-02 0.00000000e+00 1.50158518e+02] [ 1.07059251e-02 9.99942690e-01 0.00000000e+00 -6.86408983e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.47745585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.940371743 meters Centerline goodness : 0.993614 with order 1 Centerline is valid? [True, True] Translation: X:150.22, Y:-6.87, Z:-0.01 [[ 9.99895664e-01 -1.44451306e-02 0.00000000e+00 1.50221590e+02] [ 1.44451306e-02 9.99895664e-01 0.00000000e+00 -6.86742821e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.85942487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.000371743 meters Centerline goodness : 0.995317 with order 1 Centerline is valid? [True, True] Translation: X:150.28, Y:-6.86, Z:-0.00 [[ 9.99755725e-01 -2.21018235e-02 0.00000000e+00 1.50282954e+02] [ 2.21018235e-02 9.99755725e-01 0.00000000e+00 -6.85791475e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.47714669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.060371743 meters Centerline goodness : 0.993360 with order 1 Centerline is valid? [True, True] Translation: X:150.34, Y:-6.87, Z:-0.01 [[ 9.99919791e-01 -1.26654007e-02 0.00000000e+00 1.50344194e+02] [ 1.26654007e-02 9.99919791e-01 0.00000000e+00 -6.86923739e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.13975940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.120371743 meters Centerline goodness : 0.993610 with order 1 Centerline is valid? [True, True] Translation: X:150.41, Y:-6.87, Z:-0.00 [[ 9.99938125e-01 -1.11241438e-02 0.00000000e+00 1.50405222e+02] [ 1.11241438e-02 9.99938125e-01 0.00000000e+00 -6.86671765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87289537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.180371743 meters Centerline goodness : 0.993508 with order 1 Centerline is valid? [True, True] Translation: X:150.47, Y:-6.87, Z:-0.00 [[ 9.99977380e-01 -6.72607869e-03 0.00000000e+00 1.50467123e+02] [ 6.72607869e-03 9.99977380e-01 0.00000000e+00 -6.86839740e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23756206e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24037174299997 meters Centerline goodness : 0.992734 with order 1 Centerline is valid? [True, True] Translation: X:150.53, Y:-6.87, Z:-0.00 [[ 9.99995818e-01 -2.89200521e-03 0.00000000e+00 1.50528693e+02] [ 2.89200521e-03 9.99995818e-01 0.00000000e+00 -6.86969613e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81775071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30037174299997 meters Centerline goodness : 0.992785 with order 1 Centerline is valid? [True, True] Translation: X:150.59, Y:-6.87, Z:-0.00 [[ 9.99994191e-01 -3.40860925e-03 0.00000000e+00 1.50589685e+02] [ 3.40860925e-03 9.99994191e-01 0.00000000e+00 -6.87070434e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02746262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36037174299997 meters Centerline goodness : 0.992168 with order 1 Centerline is valid? [True, True] Translation: X:150.65, Y:-6.87, Z:-0.00 [[ 9.99999802e-01 -6.28604240e-04 0.00000000e+00 1.50651292e+02] [ 6.28604240e-04 9.99999802e-01 0.00000000e+00 -6.87212976e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51893482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42037174299998 meters Centerline goodness : 0.992446 with order 1 Centerline is valid? [True, True] Translation: X:150.71, Y:-6.87, Z:-0.00 [[ 9.99999992e-01 -1.22996779e-04 0.00000000e+00 1.50711366e+02] [ 1.22996779e-04 9.99999992e-01 0.00000000e+00 -6.87386523e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41457445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48037174299998 meters Centerline goodness : 0.991717 with order 1 Centerline is valid? [True, True] Translation: X:150.77, Y:-6.88, Z:-0.00 [[ 9.99999429e-01 1.06891731e-03 0.00000000e+00 1.50771968e+02] [-1.06891731e-03 9.99999429e-01 0.00000000e+00 -6.87716685e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.73755347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54037174299998 meters Centerline goodness : 0.992415 with order 1 Centerline is valid? [True, True] Translation: X:150.83, Y:-6.88, Z:-0.00 [[ 9.99994481e-01 3.32228863e-03 0.00000000e+00 1.50832246e+02] [-3.32228863e-03 9.99994481e-01 0.00000000e+00 -6.87813238e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34641445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60037174299998 meters Centerline goodness : 0.993459 with order 1 Centerline is valid? [True, True] Translation: X:150.89, Y:-6.87, Z:0.00 [[ 9.99997510e-01 -2.23153001e-03 0.00000000e+00 1.50891545e+02] [ 2.23153001e-03 9.99997510e-01 0.00000000e+00 -6.87084526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40958048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66037174299998 meters Centerline goodness : 0.992562 with order 1 Centerline is valid? [True, True] Translation: X:150.95, Y:-6.88, Z:-0.00 [[ 9.99966080e-01 8.23641938e-03 0.00000000e+00 1.50952172e+02] [-8.23641938e-03 9.99966080e-01 0.00000000e+00 -6.88242725e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02750734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.720371743 meters Centerline goodness : 0.991581 with order 1 Centerline is valid? [True, True] Translation: X:151.01, Y:-6.88, Z:-0.00 [[ 9.99913227e-01 1.31733782e-02 0.00000000e+00 1.51010228e+02] [-1.31733782e-02 9.99913227e-01 0.00000000e+00 -6.88457361e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.26550287e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.780371743 meters Centerline goodness : 0.992314 with order 1 Centerline is valid? [True, True] Translation: X:151.07, Y:-6.89, Z:-0.00 [[ 9.99816845e-01 1.91383411e-02 0.00000000e+00 1.51068328e+02] [-1.91383411e-02 9.99816845e-01 0.00000000e+00 -6.88947164e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16737342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.840371743 meters Centerline goodness : 0.993962 with order 1 Centerline is valid? [True, True] Translation: X:151.13, Y:-6.88, Z:0.00 [[ 9.99922700e-01 1.24335713e-02 0.00000000e+00 1.51126775e+02] [-1.24335713e-02 9.99922700e-01 0.00000000e+00 -6.88391716e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00223769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.900371743 meters Centerline goodness : 0.994414 with order 1 Centerline is valid? [True, True] Translation: X:151.19, Y:-6.89, Z:0.00 [[ 9.99905446e-01 1.37513110e-02 0.00000000e+00 1.51185042e+02] [-1.37513110e-02 9.99905446e-01 0.00000000e+00 -6.88775756e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65270958e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.960371743 meters Centerline goodness : 0.993742 with order 1 Centerline is valid? [True, True] Translation: X:151.24, Y:-6.89, Z:0.01 [[ 9.99899515e-01 1.41760307e-02 0.00000000e+00 1.51242563e+02] [-1.41760307e-02 9.99899515e-01 0.00000000e+00 -6.89129616e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59050492e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02037174299997 meters Centerline goodness : 0.993928 with order 1 Centerline is valid? [True, True] Translation: X:151.30, Y:-6.90, Z:0.01 [[ 9.99946723e-01 1.03223507e-02 0.00000000e+00 1.51301475e+02] [-1.03223507e-02 9.99946723e-01 0.00000000e+00 -6.89715334e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.08339592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08037174299997 meters Centerline goodness : 0.994223 with order 1 Centerline is valid? [True, True] Translation: X:151.36, Y:-6.90, Z:0.00 [[ 9.99983739e-01 5.70283604e-03 0.00000000e+00 1.51359751e+02] [-5.70283604e-03 9.99983739e-01 0.00000000e+00 -6.90138994e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88539068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14037174299997 meters Centerline goodness : 0.994369 with order 1 Centerline is valid? [True, True] Translation: X:151.42, Y:-6.91, Z:0.01 [[ 9.99996899e-01 -2.49023133e-03 0.00000000e+00 1.51417740e+02] [ 2.49023133e-03 9.99996899e-01 0.00000000e+00 -6.90685510e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16053383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20037174299998 meters Centerline goodness : 0.992424 with order 1 Centerline is valid? [True, True] Translation: X:151.48, Y:-6.92, Z:-0.00 [[ 9.99997615e-01 -2.18408837e-03 0.00000000e+00 1.51478439e+02] [ 2.18408837e-03 9.99997615e-01 0.00000000e+00 -6.92386293e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34628425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26037174299998 meters Centerline goodness : 0.992859 with order 1 Centerline is valid? [True, True] Translation: X:151.54, Y:-6.93, Z:-0.00 [[ 9.99954089e-01 -9.58224268e-03 0.00000000e+00 1.51539818e+02] [ 9.58224268e-03 9.99954089e-01 0.00000000e+00 -6.92895904e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96341758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32037174299998 meters Centerline goodness : 0.993606 with order 1 Centerline is valid? [True, True] Translation: X:151.60, Y:-6.93, Z:-0.00 [[ 9.99922550e-01 -1.24456801e-02 0.00000000e+00 1.51601508e+02] [ 1.24456801e-02 9.99922550e-01 0.00000000e+00 -6.93357170e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86571327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38037174299998 meters Centerline goodness : 0.993480 with order 1 Centerline is valid? [True, True] Translation: X:151.66, Y:-6.94, Z:-0.00 [[ 9.99912110e-01 -1.32579331e-02 0.00000000e+00 1.51663950e+02] [ 1.32579331e-02 9.99912110e-01 0.00000000e+00 -6.93818642e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22302453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.440371743 meters Centerline goodness : 0.993748 with order 1 Centerline is valid? [True, True] Translation: X:151.73, Y:-6.94, Z:0.00 [[ 9.99940296e-01 -1.09272733e-02 0.00000000e+00 1.51726500e+02] [ 1.09272733e-02 9.99940296e-01 0.00000000e+00 -6.94149962e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31238537e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.500371743 meters Centerline goodness : 0.993868 with order 1 Centerline is valid? [True, True] Translation: X:151.79, Y:-6.94, Z:-0.00 [[ 9.99981383e-01 -6.10188909e-03 0.00000000e+00 1.51788255e+02] [ 6.10188909e-03 9.99981383e-01 0.00000000e+00 -6.94456047e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40157492e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.560371743 meters Centerline goodness : 0.993421 with order 1 Centerline is valid? [True, True] Translation: X:151.85, Y:-6.95, Z:-0.00 [[ 9.99997092e-01 -2.41144455e-03 0.00000000e+00 1.51849981e+02] [ 2.41144455e-03 9.99997092e-01 0.00000000e+00 -6.94811194e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80866849e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.620371743 meters Centerline goodness : 0.992692 with order 1 Centerline is valid? [True, True] Translation: X:151.91, Y:-6.95, Z:-0.00 [[ 9.99997283e-01 2.33114355e-03 0.00000000e+00 1.51911404e+02] [-2.33114355e-03 9.99997283e-01 0.00000000e+00 -6.95105782e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46048328e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.680371743 meters Centerline goodness : 0.994218 with order 1 Centerline is valid? [True, True] Translation: X:151.97, Y:-6.94, Z:0.01 [[ 9.99997104e-01 -2.40655217e-03 0.00000000e+00 1.51971303e+02] [ 2.40655217e-03 9.99997104e-01 0.00000000e+00 -6.94401881e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.65702416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74037174299997 meters Centerline goodness : 0.994657 with order 1 Centerline is valid? [True, True] Translation: X:152.03, Y:-6.95, Z:0.01 [[ 9.99998072e-01 -1.96344294e-03 0.00000000e+00 1.52031194e+02] [ 1.96344294e-03 9.99998072e-01 0.00000000e+00 -6.94745423e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.72175417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80037174299997 meters Centerline goodness : 0.993711 with order 1 Centerline is valid? [True, True] Translation: X:152.09, Y:-6.96, Z:0.00 [[ 9.99989973e-01 4.47824690e-03 0.00000000e+00 1.52092354e+02] [-4.47824690e-03 9.99989973e-01 0.00000000e+00 -6.96054776e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44117974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86037174299997 meters Centerline goodness : 0.994199 with order 1 Centerline is valid? [True, True] Translation: X:152.15, Y:-6.96, Z:-0.00 [[ 9.99994201e-01 3.40571985e-03 0.00000000e+00 1.52151405e+02] [-3.40571985e-03 9.99994201e-01 0.00000000e+00 -6.96483142e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86786508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92037174299998 meters Centerline goodness : 0.994292 with order 1 Centerline is valid? [True, True] Translation: X:152.21, Y:-6.97, Z:-0.00 [[ 9.99994814e-01 3.22044292e-03 0.00000000e+00 1.52210755e+02] [-3.22044292e-03 9.99994814e-01 0.00000000e+00 -6.96824529e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33309901e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98037174299998 meters Centerline goodness : 0.994305 with order 1 Centerline is valid? [True, True] Translation: X:152.27, Y:-6.97, Z:-0.00 [[ 9.99996329e-01 2.70944501e-03 0.00000000e+00 1.52270904e+02] [-2.70944501e-03 9.99996329e-01 0.00000000e+00 -6.96942306e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29312078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04037174299998 meters Centerline goodness : 0.994522 with order 1 Centerline is valid? [True, True] Translation: X:152.33, Y:-6.96, Z:0.01 [[ 9.99997482e-01 -2.24395539e-03 0.00000000e+00 1.52329603e+02] [ 2.24395539e-03 9.99997482e-01 0.00000000e+00 -6.96397595e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67515850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10037174299998 meters Centerline goodness : 0.995387 with order 1 Centerline is valid? [True, True] Translation: X:152.39, Y:-6.97, Z:0.01 [[ 9.99999916e-01 4.10986931e-04 0.00000000e+00 1.52391070e+02] [-4.10986931e-04 9.99999916e-01 0.00000000e+00 -6.96772176e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.86690863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16037174299998 meters Centerline goodness : 0.993596 with order 1 Centerline is valid? [True, True] Translation: X:152.45, Y:-6.98, Z:0.00 [[ 9.99927320e-01 1.20563211e-02 0.00000000e+00 1.52450698e+02] [-1.20563211e-02 9.99927320e-01 0.00000000e+00 -6.98397122e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83271119e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.220371743 meters Centerline goodness : 0.993413 with order 1 Centerline is valid? [True, True] Translation: X:152.51, Y:-6.99, Z:0.00 [[ 9.99909818e-01 1.34296956e-02 0.00000000e+00 1.52509484e+02] [-1.34296956e-02 9.99909818e-01 0.00000000e+00 -6.98789843e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.15922536e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.280371743 meters Centerline goodness : 0.993508 with order 1 Centerline is valid? [True, True] Translation: X:152.57, Y:-6.99, Z:-0.00 [[ 9.99799409e-01 2.00285251e-02 0.00000000e+00 1.52567847e+02] [-2.00285251e-02 9.99799409e-01 0.00000000e+00 -6.99397294e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03513712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.340371743 meters Centerline goodness : 0.994432 with order 1 Centerline is valid? [True, True] Translation: X:152.63, Y:-6.99, Z:0.01 [[ 9.99801967e-01 1.99004058e-02 0.00000000e+00 1.52625834e+02] [-1.99004058e-02 9.99801967e-01 0.00000000e+00 -6.98746218e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.46463085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.400371743 meters Centerline goodness : 0.992653 with order 1 Centerline is valid? [True, True] Translation: X:152.68, Y:-7.01, Z:-0.01 [[ 9.99202339e-01 3.99335200e-02 0.00000000e+00 1.52683904e+02] [-3.99335200e-02 9.99202339e-01 0.00000000e+00 -7.00596593e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.69265699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.460371743 meters Centerline goodness : 0.994682 with order 1 Centerline is valid? [True, True] Translation: X:152.74, Y:-7.00, Z:0.01 [[ 9.99004961e-01 4.45991933e-02 0.00000000e+00 1.52742713e+02] [-4.45991933e-02 9.99004961e-01 0.00000000e+00 -6.99544005e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.23752330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52037174299997 meters Centerline goodness : 0.992489 with order 1 Centerline is valid? [True, True] Translation: X:152.80, Y:-7.01, Z:-0.01 [[ 9.97354794e-01 7.26871093e-02 0.00000000e+00 1.52800468e+02] [-7.26871093e-02 9.97354794e-01 0.00000000e+00 -7.01465475e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.34632931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58037174299997 meters Centerline goodness : 0.992271 with order 1 Centerline is valid? [True, True] Translation: X:152.86, Y:-7.02, Z:-0.00 [[ 9.96822785e-01 7.96513406e-02 0.00000000e+00 1.52859308e+02] [-7.96513406e-02 9.96822785e-01 0.00000000e+00 -7.02098340e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67517205e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64037174299997 meters Centerline goodness : 0.993024 with order 1 Centerline is valid? [True, True] Translation: X:152.92, Y:-7.03, Z:-0.00 [[ 9.96782153e-01 8.01582191e-02 0.00000000e+00 1.52917015e+02] [-8.01582191e-02 9.96782153e-01 0.00000000e+00 -7.03224109e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74295908e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70037174299998 meters Centerline goodness : 0.994900 with order 1 Centerline is valid? [True, True] Translation: X:152.98, Y:-7.04, Z:0.01 [[ 9.98151180e-01 6.07801159e-02 0.00000000e+00 1.52975034e+02] [-6.07801159e-02 9.98151180e-01 0.00000000e+00 -7.03642387e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.16083058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76037174299998 meters Centerline goodness : 0.996124 with order 1 Centerline is valid? [True, True] Translation: X:153.03, Y:-7.06, Z:0.01 [[ 9.99035596e-01 4.39076051e-02 0.00000000e+00 1.53032726e+02] [-4.39076051e-02 9.99035596e-01 0.00000000e+00 -7.05518821e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.18318672e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82037174299998 meters Centerline goodness : 0.995323 with order 1 Centerline is valid? [True, True] Translation: X:153.09, Y:-7.08, Z:0.00 [[ 9.99324033e-01 3.67624410e-02 0.00000000e+00 1.53090554e+02] [-3.67624410e-02 9.99324033e-01 0.00000000e+00 -7.08220430e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67360021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88037174299998 meters Centerline goodness : 0.994284 with order 1 Centerline is valid? [True, True] Translation: X:153.15, Y:-7.10, Z:0.00 [[ 9.99717024e-01 2.37880462e-02 0.00000000e+00 1.53147849e+02] [-2.37880462e-02 9.99717024e-01 0.00000000e+00 -7.09805381e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31190285e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.940371743 meters Centerline goodness : 0.993784 with order 1 Centerline is valid? [True, True] Translation: X:153.20, Y:-7.11, Z:0.01 [[ 9.99924360e-01 1.22993615e-02 0.00000000e+00 1.53204996e+02] [-1.22993615e-02 9.99924360e-01 0.00000000e+00 -7.10530355e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.17074687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.000371743 meters Centerline goodness : 0.993592 with order 1 Centerline is valid? [True, True] Translation: X:153.26, Y:-7.12, Z:0.00 [[ 9.99987097e-01 5.07996399e-03 0.00000000e+00 1.53263297e+02] [-5.07996399e-03 9.99987097e-01 0.00000000e+00 -7.12416769e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21377665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.060371743 meters Centerline goodness : 0.992759 with order 1 Centerline is valid? [True, True] Translation: X:153.32, Y:-7.13, Z:0.00 [[ 9.99999108e-01 1.33552692e-03 0.00000000e+00 1.53322860e+02] [-1.33552692e-03 9.99999108e-01 0.00000000e+00 -7.13187900e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19708812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.120371743 meters Centerline goodness : 0.994560 with order 1 Centerline is valid? [True, True] Translation: X:153.38, Y:-7.13, Z:0.00 [[ 9.99961472e-01 -8.77809268e-03 0.00000000e+00 1.53382903e+02] [ 8.77809268e-03 9.99961472e-01 0.00000000e+00 -7.13170704e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44898294e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.180371743 meters Centerline goodness : 0.992780 with order 1 Centerline is valid? [True, True] Translation: X:153.44, Y:-7.15, Z:-0.00 [[ 9.99995432e-01 -3.02245770e-03 0.00000000e+00 1.53444589e+02] [ 3.02245770e-03 9.99995432e-01 0.00000000e+00 -7.14568724e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30379702e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24037174299997 meters Centerline goodness : 0.993221 with order 1 Centerline is valid? [True, True] Translation: X:153.51, Y:-7.15, Z:0.00 [[ 9.99993301e-01 -3.66025286e-03 0.00000000e+00 1.53506389e+02] [ 3.66025286e-03 9.99993301e-01 0.00000000e+00 -7.14805003e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27808471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30037174299997 meters Centerline goodness : 0.993355 with order 1 Centerline is valid? [True, True] Translation: X:153.57, Y:-7.16, Z:-0.00 [[ 9.99999861e-01 5.27358911e-04 0.00000000e+00 1.53567266e+02] [-5.27358911e-04 9.99999861e-01 0.00000000e+00 -7.15560922e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34033379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36037174299997 meters Centerline goodness : 0.994351 with order 1 Centerline is valid? [True, True] Translation: X:153.63, Y:-7.15, Z:0.01 [[ 9.99972055e-01 -7.47593681e-03 0.00000000e+00 1.53626715e+02] [ 7.47593681e-03 9.99972055e-01 0.00000000e+00 -7.15020972e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.92406269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42037174299998 meters Centerline goodness : 0.993659 with order 1 Centerline is valid? [True, True] Translation: X:153.69, Y:-7.15, Z:0.01 [[ 9.99948128e-01 -1.01853664e-02 0.00000000e+00 1.53689343e+02] [ 1.01853664e-02 9.99948128e-01 0.00000000e+00 -7.15304027e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.98458409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48037174299998 meters Centerline goodness : 0.995104 with order 1 Centerline is valid? [True, True] Translation: X:153.75, Y:-7.16, Z:0.01 [[ 9.99921168e-01 -1.25562071e-02 0.00000000e+00 1.53749974e+02] [ 1.25562071e-02 9.99921168e-01 0.00000000e+00 -7.15714692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.05405843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54037174299998 meters Centerline goodness : 0.992762 with order 1 Centerline is valid? [True, True] Translation: X:153.81, Y:-7.17, Z:-0.00 [[ 9.99987870e-01 -4.92552104e-03 0.00000000e+00 1.53811140e+02] [ 4.92552104e-03 9.99987870e-01 0.00000000e+00 -7.17130875e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15388018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60037174299998 meters Centerline goodness : 0.994062 with order 1 Centerline is valid? [True, True] Translation: X:153.87, Y:-7.17, Z:0.00 [[ 9.99974352e-01 -7.16212913e-03 0.00000000e+00 1.53872288e+02] [ 7.16212913e-03 9.99974352e-01 0.00000000e+00 -7.17030907e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52213823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66037174299998 meters Centerline goodness : 0.994204 with order 1 Centerline is valid? [True, True] Translation: X:153.93, Y:-7.17, Z:0.00 [[ 9.99984958e-01 -5.48494094e-03 0.00000000e+00 1.53934489e+02] [ 5.48494094e-03 9.99984958e-01 0.00000000e+00 -7.17419453e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94382971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.720371743 meters Centerline goodness : 0.993230 with order 1 Centerline is valid? [True, True] Translation: X:154.00, Y:-7.17, Z:0.00 [[ 9.99994873e-01 -3.20205686e-03 0.00000000e+00 1.53996425e+02] [ 3.20205686e-03 9.99994873e-01 0.00000000e+00 -7.17471366e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60472270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.780371743 meters Centerline goodness : 0.993461 with order 1 Centerline is valid? [True, True] Translation: X:154.06, Y:-7.17, Z:0.01 [[ 9.99994273e-01 -3.38429096e-03 0.00000000e+00 1.54057551e+02] [ 3.38429096e-03 9.99994273e-01 0.00000000e+00 -7.17379943e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.80643824e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.840371743 meters Centerline goodness : 0.993976 with order 1 Centerline is valid? [True, True] Translation: X:154.12, Y:-7.17, Z:0.01 [[ 9.99936308e-01 -1.12862653e-02 0.00000000e+00 1.54118424e+02] [ 1.12862653e-02 9.99936308e-01 0.00000000e+00 -7.16841697e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04603769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.900371743 meters Centerline goodness : 0.993717 with order 1 Centerline is valid? [True, True] Translation: X:154.18, Y:-7.17, Z:0.01 [[ 9.99892712e-01 -1.46480093e-02 0.00000000e+00 1.54181514e+02] [ 1.46480093e-02 9.99892712e-01 0.00000000e+00 -7.17093737e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.79457893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.960371743 meters Centerline goodness : 0.994143 with order 1 Centerline is valid? [True, True] Translation: X:154.24, Y:-7.17, Z:0.01 [[ 9.99750636e-01 -2.23308397e-02 0.00000000e+00 1.54244688e+02] [ 2.23308397e-02 9.99750636e-01 0.00000000e+00 -7.17237637e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.88499909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02037174299997 meters Centerline goodness : 0.994713 with order 1 Centerline is valid? [True, True] Translation: X:154.31, Y:-7.17, Z:0.01 [[ 9.99552124e-01 -2.99257726e-02 0.00000000e+00 1.54306397e+02] [ 2.99257726e-02 9.99552124e-01 0.00000000e+00 -7.17383788e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.18152537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08037174299997 meters Centerline goodness : 0.992618 with order 1 Centerline is valid? [True, True] Translation: X:154.37, Y:-7.18, Z:0.01 [[ 9.99570921e-01 -2.92911818e-02 0.00000000e+00 1.54368514e+02] [ 2.92911818e-02 9.99570921e-01 0.00000000e+00 -7.18109286e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.83548528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14037174299997 meters Centerline goodness : 0.994089 with order 1 Centerline is valid? [True, True] Translation: X:154.43, Y:-7.18, Z:0.01 [[ 9.99338781e-01 -3.63593205e-02 0.00000000e+00 1.54430396e+02] [ 3.63593205e-02 9.99338781e-01 0.00000000e+00 -7.17511530e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.45353462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20037174299998 meters Centerline goodness : 0.992744 with order 1 Centerline is valid? [True, True] Translation: X:154.49, Y:-7.18, Z:0.00 [[ 9.99527951e-01 -3.07225355e-02 0.00000000e+00 1.54492699e+02] [ 3.07225355e-02 9.99527951e-01 0.00000000e+00 -7.18196894e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40627557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26037174299998 meters Centerline goodness : 0.993606 with order 1 Centerline is valid? [True, True] Translation: X:154.56, Y:-7.18, Z:0.01 [[ 9.99534309e-01 -3.05149978e-02 0.00000000e+00 1.54556044e+02] [ 3.05149978e-02 9.99534309e-01 0.00000000e+00 -7.17973195e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.42355878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32037174299998 meters Centerline goodness : 0.993636 with order 1 Centerline is valid? [True, True] Translation: X:154.62, Y:-7.18, Z:0.01 [[ 9.99525362e-01 -3.08066804e-02 0.00000000e+00 1.54618486e+02] [ 3.08066804e-02 9.99525362e-01 0.00000000e+00 -7.17915447e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.58463433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38037174299998 meters Centerline goodness : 0.993663 with order 1 Centerline is valid? [True, True] Translation: X:154.68, Y:-7.18, Z:0.01 [[ 9.99557345e-01 -2.97508527e-02 0.00000000e+00 1.54681796e+02] [ 2.97508527e-02 9.99557345e-01 0.00000000e+00 -7.17812137e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.72556861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.440371743 meters Centerline goodness : 0.994335 with order 1 Centerline is valid? [True, True] Translation: X:154.74, Y:-7.18, Z:0.01 [[ 9.99592390e-01 -2.85491431e-02 0.00000000e+00 1.54744883e+02] [ 2.85491431e-02 9.99592390e-01 0.00000000e+00 -7.17561577e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.67927807e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.500371743 meters Centerline goodness : 0.995250 with order 1 Centerline is valid? [True, True] Translation: X:154.81, Y:-7.17, Z:0.01 [[ 9.99480143e-01 -3.22404207e-02 0.00000000e+00 1.54806585e+02] [ 3.22404207e-02 9.99480143e-01 0.00000000e+00 -7.16670859e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.40426299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.560371743 meters Centerline goodness : 0.995790 with order 1 Centerline is valid? [True, True] Translation: X:154.87, Y:-7.17, Z:0.01 [[ 9.99479328e-01 -3.22656573e-02 0.00000000e+00 1.54869145e+02] [ 3.22656573e-02 9.99479328e-01 0.00000000e+00 -7.16505419e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.07616436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.620371743 meters Centerline goodness : 0.994865 with order 1 Centerline is valid? [True, True] Translation: X:154.93, Y:-7.17, Z:0.01 [[ 9.99577002e-01 -2.90829396e-02 0.00000000e+00 1.54931535e+02] [ 2.90829396e-02 9.99577002e-01 0.00000000e+00 -7.17083202e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.95476490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.680371743 meters Centerline goodness : 0.994283 with order 1 Centerline is valid? [True, True] Translation: X:154.99, Y:-7.17, Z:0.01 [[ 9.99589689e-01 -2.86435780e-02 0.00000000e+00 1.54993508e+02] [ 2.86435780e-02 9.99589689e-01 0.00000000e+00 -7.16978652e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.20239999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74037174299997 meters Centerline goodness : 0.996346 with order 1 Centerline is valid? [True, True] Translation: X:155.06, Y:-7.16, Z:0.01 [[ 9.99625776e-01 -2.73552014e-02 0.00000000e+00 1.55055744e+02] [ 2.73552014e-02 9.99625776e-01 0.00000000e+00 -7.16386821e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01525249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80037174299997 meters Centerline goodness : 0.995981 with order 1 Centerline is valid? [True, True] Translation: X:155.12, Y:-7.16, Z:0.01 [[ 9.99715711e-01 -2.38431698e-02 0.00000000e+00 1.55118578e+02] [ 2.38431698e-02 9.99715711e-01 0.00000000e+00 -7.16381636e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09666068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86037174299997 meters Centerline goodness : 0.995493 with order 1 Centerline is valid? [True, True] Translation: X:155.18, Y:-7.17, Z:0.01 [[ 9.99850949e-01 -1.72650066e-02 0.00000000e+00 1.55180611e+02] [ 1.72650066e-02 9.99850949e-01 0.00000000e+00 -7.16963769e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13594947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92037174299998 meters Centerline goodness : 0.995407 with order 1 Centerline is valid? [True, True] Translation: X:155.24, Y:-7.17, Z:0.01 [[ 9.99844577e-01 -1.76301333e-02 0.00000000e+00 1.55242486e+02] [ 1.76301333e-02 9.99844577e-01 0.00000000e+00 -7.17074163e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18457281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98037174299998 meters Centerline goodness : 0.995185 with order 1 Centerline is valid? [True, True] Translation: X:155.31, Y:-7.17, Z:0.01 [[ 9.99841432e-01 -1.78076109e-02 0.00000000e+00 1.55305871e+02] [ 1.78076109e-02 9.99841432e-01 0.00000000e+00 -7.17301124e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24384449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04037174299998 meters Centerline goodness : 0.995181 with order 1 Centerline is valid? [True, True] Translation: X:155.37, Y:-7.18, Z:0.01 [[ 9.99904727e-01 -1.38034981e-02 0.00000000e+00 1.55367369e+02] [ 1.38034981e-02 9.99904727e-01 0.00000000e+00 -7.17585876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.54968361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10037174299998 meters Centerline goodness : 0.995435 with order 1 Centerline is valid? [True, True] Translation: X:155.43, Y:-7.18, Z:0.01 [[ 9.99975530e-01 -6.99573374e-03 0.00000000e+00 1.55428206e+02] [ 6.99573374e-03 9.99975530e-01 0.00000000e+00 -7.17519483e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.26260685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16037174299998 meters Centerline goodness : 0.995651 with order 1 Centerline is valid? [True, True] Translation: X:155.49, Y:-7.17, Z:0.01 [[ 9.99999387e-01 -1.10764761e-03 0.00000000e+00 1.55490319e+02] [ 1.10764761e-03 9.99999387e-01 0.00000000e+00 -7.17292622e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22706124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.220371743 meters Centerline goodness : 0.996365 with order 1 Centerline is valid? [True, True] Translation: X:155.55, Y:-7.17, Z:0.01 [[ 9.99996784e-01 2.53609870e-03 0.00000000e+00 1.55551346e+02] [-2.53609870e-03 9.99996784e-01 0.00000000e+00 -7.16877961e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35547611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.280371743 meters Centerline goodness : 0.994468 with order 1 Centerline is valid? [True, True] Translation: X:155.61, Y:-7.18, Z:0.01 [[ 9.99950522e-01 9.94755317e-03 0.00000000e+00 1.55611018e+02] [-9.94755317e-03 9.99950522e-01 0.00000000e+00 -7.17584866e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22512779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.340371743 meters Centerline goodness : 0.994206 with order 1 Centerline is valid? [True, True] Translation: X:155.67, Y:-7.18, Z:0.01 [[ 9.99913407e-01 1.31597151e-02 0.00000000e+00 1.55668686e+02] [-1.31597151e-02 9.99913407e-01 0.00000000e+00 -7.18165099e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27573404e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.400371743 meters Centerline goodness : 0.995088 with order 1 Centerline is valid? [True, True] Translation: X:155.73, Y:-7.18, Z:0.01 [[ 9.99978289e-01 6.58957472e-03 0.00000000e+00 1.55726589e+02] [-6.58957472e-03 9.99978289e-01 0.00000000e+00 -7.17675169e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.60639618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.460371743 meters Centerline goodness : 0.995208 with order 1 Centerline is valid? [True, True] Translation: X:155.79, Y:-7.18, Z:0.01 [[ 9.99981434e-01 6.09353568e-03 0.00000000e+00 1.55785477e+02] [-6.09353568e-03 9.99981434e-01 0.00000000e+00 -7.17903714e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.83751209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52037174299997 meters Centerline goodness : 0.993508 with order 1 Centerline is valid? [True, True] Translation: X:155.84, Y:-7.19, Z:0.00 [[ 9.99917272e-01 1.28627355e-02 0.00000000e+00 1.55843419e+02] [-1.28627355e-02 9.99917272e-01 0.00000000e+00 -7.19237484e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77179546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58037174299997 meters Centerline goodness : 0.993068 with order 1 Centerline is valid? [True, True] Translation: X:155.90, Y:-7.20, Z:-0.00 [[ 9.99900004e-01 1.41414775e-02 0.00000000e+00 1.55902316e+02] [-1.41414775e-02 9.99900004e-01 0.00000000e+00 -7.19835824e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12920629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64037174299997 meters Centerline goodness : 0.993684 with order 1 Centerline is valid? [True, True] Translation: X:155.96, Y:-7.20, Z:0.00 [[ 9.99945947e-01 1.03972227e-02 0.00000000e+00 1.55961446e+02] [-1.03972227e-02 9.99945947e-01 0.00000000e+00 -7.20031028e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81462212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70037174299998 meters Centerline goodness : 0.995261 with order 1 Centerline is valid? [True, True] Translation: X:156.02, Y:-7.19, Z:0.01 [[ 9.99999874e-01 5.02819070e-04 0.00000000e+00 1.56019355e+02] [-5.02819070e-04 9.99999874e-01 0.00000000e+00 -7.19163370e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19798404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76037174299998 meters Centerline goodness : 0.994953 with order 1 Centerline is valid? [True, True] Translation: X:156.08, Y:-7.20, Z:0.01 [[ 9.99998981e-01 1.42754638e-03 0.00000000e+00 1.56080108e+02] [-1.42754638e-03 9.99998981e-01 0.00000000e+00 -7.19535509e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14818919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82037174299998 meters Centerline goodness : 0.995240 with order 1 Centerline is valid? [True, True] Translation: X:156.14, Y:-7.20, Z:0.01 [[ 9.99997636e-01 2.17434429e-03 0.00000000e+00 1.56139459e+02] [-2.17434429e-03 9.99997636e-01 0.00000000e+00 -7.19799028e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12735058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88037174299998 meters Centerline goodness : 0.994864 with order 1 Centerline is valid? [True, True] Translation: X:156.20, Y:-7.20, Z:0.01 [[ 9.99988528e-01 4.79005261e-03 0.00000000e+00 1.56199453e+02] [-4.79005261e-03 9.99988528e-01 0.00000000e+00 -7.20167033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12075320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.940371743 meters Centerline goodness : 0.993932 with order 1 Centerline is valid? [True, True] Translation: X:156.26, Y:-7.21, Z:0.01 [[ 9.99892411e-01 1.46685472e-02 0.00000000e+00 1.56257584e+02] [-1.46685472e-02 9.99892411e-01 0.00000000e+00 -7.21248630e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.78493374e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.000371743 meters Centerline goodness : 0.992778 with order 1 Centerline is valid? [True, True] Translation: X:156.32, Y:-7.21, Z:0.01 [[ 9.99811464e-01 1.94174036e-02 0.00000000e+00 1.56315602e+02] [-1.94174036e-02 9.99811464e-01 0.00000000e+00 -7.21475613e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12695239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.060371743 meters Centerline goodness : 0.993338 with order 1 Centerline is valid? [True, True] Translation: X:156.37, Y:-7.22, Z:0.01 [[ 9.99703920e-01 2.43325187e-02 0.00000000e+00 1.56374444e+02] [-2.43325187e-02 9.99703920e-01 0.00000000e+00 -7.21768486e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23550333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.120371743 meters Centerline goodness : 0.994257 with order 1 Centerline is valid? [True, True] Translation: X:156.43, Y:-7.21, Z:0.01 [[ 9.99698002e-01 2.45744746e-02 0.00000000e+00 1.56432811e+02] [-2.45744746e-02 9.99698002e-01 0.00000000e+00 -7.21370282e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13167668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.180371743 meters Centerline goodness : 0.994350 with order 1 Centerline is valid? [True, True] Translation: X:156.49, Y:-7.22, Z:0.01 [[ 9.99642284e-01 2.67451641e-02 0.00000000e+00 1.56491436e+02] [-2.67451641e-02 9.99642284e-01 0.00000000e+00 -7.21846789e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14794001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24037174299997 meters Centerline goodness : 0.994642 with order 1 Centerline is valid? [True, True] Translation: X:156.55, Y:-7.22, Z:0.01 [[ 9.99668177e-01 2.57592028e-02 0.00000000e+00 1.56548923e+02] [-2.57592028e-02 9.99668177e-01 0.00000000e+00 -7.22309252e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20833789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30037174299997 meters Centerline goodness : 0.994576 with order 1 Centerline is valid? [True, True] Translation: X:156.61, Y:-7.23, Z:0.01 [[ 9.99747759e-01 2.24592388e-02 0.00000000e+00 1.56607048e+02] [-2.24592388e-02 9.99747759e-01 0.00000000e+00 -7.22987208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30104498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36037174299997 meters Centerline goodness : 0.995163 with order 1 Centerline is valid? [True, True] Translation: X:156.67, Y:-7.24, Z:0.01 [[ 9.99837321e-01 1.80369514e-02 0.00000000e+00 1.56665495e+02] [-1.80369514e-02 9.99837321e-01 0.00000000e+00 -7.23660140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40076171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42037174299998 meters Centerline goodness : 0.995240 with order 1 Centerline is valid? [True, True] Translation: X:156.72, Y:-7.24, Z:0.01 [[ 9.99917706e-01 1.28288915e-02 0.00000000e+00 1.56723452e+02] [-1.28288915e-02 9.99917706e-01 0.00000000e+00 -7.24294801e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43688975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48037174299998 meters Centerline goodness : 0.994761 with order 1 Centerline is valid? [True, True] Translation: X:156.78, Y:-7.25, Z:0.01 [[ 9.99950864e-01 9.91308521e-03 0.00000000e+00 1.56781656e+02] [-9.91308521e-03 9.99950864e-01 0.00000000e+00 -7.24879518e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46564611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54037174299998 meters Centerline goodness : 0.994742 with order 1 Centerline is valid? [True, True] Translation: X:156.84, Y:-7.25, Z:0.01 [[ 9.99993460e-01 3.61653221e-03 0.00000000e+00 1.56839637e+02] [-3.61653221e-03 9.99993460e-01 0.00000000e+00 -7.25406197e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38389026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60037174299998 meters Centerline goodness : 0.995580 with order 1 Centerline is valid? [True, True] Translation: X:156.90, Y:-7.26, Z:0.01 [[ 9.99998464e-01 -1.75289513e-03 0.00000000e+00 1.56899261e+02] [ 1.75289513e-03 9.99998464e-01 0.00000000e+00 -7.25829047e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42483723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66037174299998 meters Centerline goodness : 0.995161 with order 1 Centerline is valid? [True, True] Translation: X:156.96, Y:-7.26, Z:0.02 [[ 9.99991614e-01 -4.09542439e-03 0.00000000e+00 1.56960388e+02] [ 4.09542439e-03 9.99991614e-01 0.00000000e+00 -7.26141548e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58947708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.720371743 meters Centerline goodness : 0.994600 with order 1 Centerline is valid? [True, True] Translation: X:157.02, Y:-7.27, Z:0.01 [[ 9.99990700e-01 4.31276013e-03 0.00000000e+00 1.57020877e+02] [-4.31276013e-03 9.99990700e-01 0.00000000e+00 -7.27319631e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.03772354e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.780371743 meters Centerline goodness : 0.994562 with order 1 Centerline is valid? [True, True] Translation: X:157.08, Y:-7.27, Z:0.01 [[ 9.99999988e-01 1.54766614e-04 0.00000000e+00 1.57079420e+02] [-1.54766614e-04 9.99999988e-01 0.00000000e+00 -7.27219168e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.61589111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.840371743 meters Centerline goodness : 0.994420 with order 1 Centerline is valid? [True, True] Translation: X:157.14, Y:-7.27, Z:0.01 [[ 9.99993953e-01 -3.47766768e-03 0.00000000e+00 1.57140291e+02] [ 3.47766768e-03 9.99993953e-01 0.00000000e+00 -7.27339087e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.01268481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.900371743 meters Centerline goodness : 0.994486 with order 1 Centerline is valid? [True, True] Translation: X:157.20, Y:-7.27, Z:0.01 [[ 9.99992784e-01 -3.79894266e-03 0.00000000e+00 1.57201971e+02] [ 3.79894266e-03 9.99992784e-01 0.00000000e+00 -7.27438457e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.30807187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.960371743 meters Centerline goodness : 0.994536 with order 1 Centerline is valid? [True, True] Translation: X:157.26, Y:-7.27, Z:0.01 [[ 9.99985598e-01 -5.36694012e-03 0.00000000e+00 1.57263237e+02] [ 5.36694012e-03 9.99985598e-01 0.00000000e+00 -7.27037125e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00218209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02037174299997 meters Centerline goodness : 0.994587 with order 1 Centerline is valid? [True, True] Translation: X:157.33, Y:-7.27, Z:0.01 [[ 9.99996937e-01 -2.47494486e-03 0.00000000e+00 1.57325924e+02] [ 2.47494486e-03 9.99996937e-01 0.00000000e+00 -7.27027564e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04758303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08037174299997 meters Centerline goodness : 0.995298 with order 1 Centerline is valid? [True, True] Translation: X:157.39, Y:-7.26, Z:0.02 [[ 9.99993479e-01 -3.61145720e-03 0.00000000e+00 1.57386981e+02] [ 3.61145720e-03 9.99993479e-01 0.00000000e+00 -7.25941611e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60971841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14037174299997 meters Centerline goodness : 0.993578 with order 1 Centerline is valid? [True, True] Translation: X:157.45, Y:-7.27, Z:0.01 [[ 9.99971990e-01 7.48455529e-03 0.00000000e+00 1.57448066e+02] [-7.48455529e-03 9.99971990e-01 0.00000000e+00 -7.26524333e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16793335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20037174299998 meters Centerline goodness : 0.994710 with order 1 Centerline is valid? [True, True] Translation: X:157.51, Y:-7.26, Z:0.02 [[ 9.99980055e-01 6.31581188e-03 0.00000000e+00 1.57506990e+02] [-6.31581188e-03 9.99980055e-01 0.00000000e+00 -7.25500552e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63464272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26037174299998 meters Centerline goodness : 0.994711 with order 1 Centerline is valid? [True, True] Translation: X:157.57, Y:-7.25, Z:0.02 [[ 9.99939597e-01 1.09910061e-02 0.00000000e+00 1.57565999e+02] [-1.09910061e-02 9.99939597e-01 0.00000000e+00 -7.25346623e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56105005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32037174299998 meters Centerline goodness : 0.992942 with order 1 Centerline is valid? [True, True] Translation: X:157.62, Y:-7.27, Z:0.00 [[ 9.99711658e-01 2.40125218e-02 0.00000000e+00 1.57623985e+02] [-2.40125218e-02 9.99711658e-01 0.00000000e+00 -7.26688437e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09586026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38037174299998 meters Centerline goodness : 0.994660 with order 1 Centerline is valid? [True, True] Translation: X:157.68, Y:-7.26, Z:0.01 [[ 9.99892514e-01 1.46615394e-02 0.00000000e+00 1.57682528e+02] [-1.46615394e-02 9.99892514e-01 0.00000000e+00 -7.25552501e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39979451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.440371743 meters Centerline goodness : 0.993488 with order 1 Centerline is valid? [True, True] Translation: X:157.74, Y:-7.27, Z:0.01 [[ 9.99787684e-01 2.06055243e-02 0.00000000e+00 1.57741030e+02] [-2.06055243e-02 9.99787684e-01 0.00000000e+00 -7.26783504e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01076511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.500371743 meters Centerline goodness : 0.992938 with order 1 Centerline is valid? [True, True] Translation: X:157.80, Y:-7.27, Z:0.01 [[ 9.99812454e-01 1.93663702e-02 0.00000000e+00 1.57799687e+02] [-1.93663702e-02 9.99812454e-01 0.00000000e+00 -7.26932538e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.59986474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.560371743 meters Centerline goodness : 0.993766 with order 1 Centerline is valid? [True, True] Translation: X:157.86, Y:-7.27, Z:0.01 [[ 9.99859162e-01 1.67826430e-02 0.00000000e+00 1.57857991e+02] [-1.67826430e-02 9.99859162e-01 0.00000000e+00 -7.27147773e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02270551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.620371743 meters Centerline goodness : 0.993473 with order 1 Centerline is valid? [True, True] Translation: X:157.92, Y:-7.28, Z:0.01 [[ 9.99928963e-01 1.19192290e-02 0.00000000e+00 1.57916022e+02] [-1.19192290e-02 9.99928963e-01 0.00000000e+00 -7.27612480e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22308683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.680371743 meters Centerline goodness : 0.994659 with order 1 Centerline is valid? [True, True] Translation: X:157.97, Y:-7.27, Z:0.01 [[ 9.99999790e-01 6.48106392e-04 0.00000000e+00 1.57974033e+02] [-6.48106392e-04 9.99999790e-01 0.00000000e+00 -7.27382397e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16009712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74037174299997 meters Centerline goodness : 0.995085 with order 1 Centerline is valid? [True, True] Translation: X:158.03, Y:-7.28, Z:0.01 [[ 9.99999677e-01 -8.03243182e-04 0.00000000e+00 1.58034550e+02] [ 8.03243182e-04 9.99999677e-01 0.00000000e+00 -7.27842862e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23754251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80037174299997 meters Centerline goodness : 0.994312 with order 1 Centerline is valid? [True, True] Translation: X:158.09, Y:-7.29, Z:0.01 [[ 9.99963753e-01 8.51426988e-03 0.00000000e+00 1.58094899e+02] [-8.51426988e-03 9.99963753e-01 0.00000000e+00 -7.28891524e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.71409427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86037174299997 meters Centerline goodness : 0.994978 with order 1 Centerline is valid? [True, True] Translation: X:158.15, Y:-7.29, Z:0.01 [[ 9.99926409e-01 1.21315969e-02 0.00000000e+00 1.58152988e+02] [-1.21315969e-02 9.99926409e-01 0.00000000e+00 -7.29210605e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.80201301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92037174299998 meters Centerline goodness : 0.993221 with order 1 Centerline is valid? [True, True] Translation: X:158.21, Y:-7.29, Z:0.01 [[ 9.99898207e-01 1.42679858e-02 0.00000000e+00 1.58211862e+02] [-1.42679858e-02 9.99898207e-01 0.00000000e+00 -7.28947470e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08586604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98037174299998 meters Centerline goodness : 0.993486 with order 1 Centerline is valid? [True, True] Translation: X:158.27, Y:-7.30, Z:0.01 [[ 9.99593365e-01 2.85149887e-02 0.00000000e+00 1.58269912e+02] [-2.85149887e-02 9.99593365e-01 0.00000000e+00 -7.29995872e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31708810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04037174299998 meters Centerline goodness : 0.994567 with order 1 Centerline is valid? [True, True] Translation: X:158.33, Y:-7.29, Z:0.01 [[ 9.99648773e-01 2.65015073e-02 0.00000000e+00 1.58329131e+02] [-2.65015073e-02 9.99648773e-01 0.00000000e+00 -7.29490510e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12087755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10037174299998 meters Centerline goodness : 0.992842 with order 1 Centerline is valid? [True, True] Translation: X:158.39, Y:-7.31, Z:0.00 [[ 9.99376365e-01 3.53112162e-02 0.00000000e+00 1.58386801e+02] [-3.53112162e-02 9.99376365e-01 0.00000000e+00 -7.31035522e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17683343e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16037174299998 meters Centerline goodness : 0.993705 with order 1 Centerline is valid? [True, True] Translation: X:158.44, Y:-7.32, Z:0.00 [[ 9.99382972e-01 3.51237080e-02 0.00000000e+00 1.58443453e+02] [-3.51237080e-02 9.99382972e-01 0.00000000e+00 -7.31652706e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78329757e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.220371743 meters Centerline goodness : 0.995222 with order 1 Centerline is valid? [True, True] Translation: X:158.50, Y:-7.31, Z:0.01 [[ 9.99758907e-01 2.19574226e-02 0.00000000e+00 1.58502574e+02] [-2.19574226e-02 9.99758907e-01 0.00000000e+00 -7.31324812e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.42844432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.280371743 meters Centerline goodness : 0.994907 with order 1 Centerline is valid? [True, True] Translation: X:158.56, Y:-7.32, Z:0.01 [[ 9.99806045e-01 1.96944548e-02 0.00000000e+00 1.58561005e+02] [-1.96944548e-02 9.99806045e-01 0.00000000e+00 -7.31958641e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.27050223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.340371743 meters Centerline goodness : 0.993587 with order 1 Centerline is valid? [True, True] Translation: X:158.62, Y:-7.34, Z:-0.00 [[ 9.99669970e-01 2.56895272e-02 0.00000000e+00 1.58619141e+02] [-2.56895272e-02 9.99669970e-01 0.00000000e+00 -7.33880209e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09129997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.400371743 meters Centerline goodness : 0.993936 with order 1 Centerline is valid? [True, True] Translation: X:158.68, Y:-7.35, Z:-0.00 [[ 9.99820085e-01 1.89683411e-02 0.00000000e+00 1.58676964e+02] [-1.89683411e-02 9.99820085e-01 0.00000000e+00 -7.34668872e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21113205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.460371743 meters Centerline goodness : 0.995252 with order 1 Centerline is valid? [True, True] Translation: X:158.74, Y:-7.35, Z:-0.00 [[ 9.99919621e-01 1.26787475e-02 0.00000000e+00 1.58735467e+02] [-1.26787475e-02 9.99919621e-01 0.00000000e+00 -7.35476939e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69636735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52037174299997 meters Centerline goodness : 0.994614 with order 1 Centerline is valid? [True, True] Translation: X:158.79, Y:-7.36, Z:-0.00 [[ 9.99949044e-01 1.00950037e-02 0.00000000e+00 1.58792620e+02] [-1.00950037e-02 9.99949044e-01 0.00000000e+00 -7.35988570e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.58381407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58037174299997 meters Centerline goodness : 0.994685 with order 1 Centerline is valid? [True, True] Translation: X:158.85, Y:-7.36, Z:-0.00 [[ 9.99959155e-01 9.03819428e-03 0.00000000e+00 1.58851040e+02] [-9.03819428e-03 9.99959155e-01 0.00000000e+00 -7.36392145e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40587469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64037174299997 meters Centerline goodness : 0.994685 with order 1 Centerline is valid? [True, True] Translation: X:158.91, Y:-7.37, Z:-0.00 [[ 9.99930535e-01 1.17866889e-02 0.00000000e+00 1.58908855e+02] [-1.17866889e-02 9.99930535e-01 0.00000000e+00 -7.36964263e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.48403582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70037174299998 meters Centerline goodness : 0.994636 with order 1 Centerline is valid? [True, True] Translation: X:158.97, Y:-7.37, Z:-0.00 [[ 9.99847390e-01 1.74699076e-02 0.00000000e+00 1.58967136e+02] [-1.74699076e-02 9.99847390e-01 0.00000000e+00 -7.37150070e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28367198e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76037174299998 meters Centerline goodness : 0.994555 with order 1 Centerline is valid? [True, True] Translation: X:159.03, Y:-7.37, Z:-0.00 [[ 9.99594251e-01 2.84839229e-02 0.00000000e+00 1.59025495e+02] [-2.84839229e-02 9.99594251e-01 0.00000000e+00 -7.37436767e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64826232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82037174299998 meters Centerline goodness : 0.994533 with order 1 Centerline is valid? [True, True] Translation: X:159.08, Y:-7.38, Z:-0.00 [[ 9.99453277e-01 3.30627655e-02 0.00000000e+00 1.59083824e+02] [-3.30627655e-02 9.99453277e-01 0.00000000e+00 -7.37694327e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.18330188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88037174299998 meters Centerline goodness : 0.993710 with order 1 Centerline is valid? [True, True] Translation: X:159.14, Y:-7.38, Z:-0.00 [[ 9.99356270e-01 3.58754241e-02 0.00000000e+00 1.59141789e+02] [-3.58754241e-02 9.99356270e-01 0.00000000e+00 -7.37977645e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00457364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.940371743 meters Centerline goodness : 0.994450 with order 1 Centerline is valid? [True, True] Translation: X:159.20, Y:-7.39, Z:-0.00 [[ 9.99212881e-01 3.96688663e-02 0.00000000e+00 1.59200295e+02] [-3.96688663e-02 9.99212881e-01 0.00000000e+00 -7.38582283e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26433794e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.000371743 meters Centerline goodness : 0.996103 with order 1 Centerline is valid? [True, True] Translation: X:159.26, Y:-7.38, Z:0.01 [[ 9.99631892e-01 2.71308084e-02 0.00000000e+00 1.59259489e+02] [-2.71308084e-02 9.99631892e-01 0.00000000e+00 -7.37850367e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10362684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.060371743 meters Centerline goodness : 0.996106 with order 1 Centerline is valid? [True, True] Translation: X:159.32, Y:-7.38, Z:0.01 [[ 9.99701300e-01 2.44399290e-02 0.00000000e+00 1.59317622e+02] [-2.44399290e-02 9.99701300e-01 0.00000000e+00 -7.38457012e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.75325097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.120371743 meters Centerline goodness : 0.995655 with order 1 Centerline is valid? [True, True] Translation: X:159.38, Y:-7.39, Z:0.01 [[ 9.99814533e-01 1.92587318e-02 0.00000000e+00 1.59375149e+02] [-1.92587318e-02 9.99814533e-01 0.00000000e+00 -7.39334807e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.87149494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.180371743 meters Centerline goodness : 0.995801 with order 1 Centerline is valid? [True, True] Translation: X:159.43, Y:-7.40, Z:0.01 [[ 9.99902283e-01 1.39794459e-02 0.00000000e+00 1.59433498e+02] [-1.39794459e-02 9.99902283e-01 0.00000000e+00 -7.40178320e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.60301535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24037174299997 meters Centerline goodness : 0.995976 with order 1 Centerline is valid? [True, True] Translation: X:159.49, Y:-7.41, Z:0.01 [[ 9.99962904e-01 8.61337864e-03 0.00000000e+00 1.59492454e+02] [-8.61337864e-03 9.99962904e-01 0.00000000e+00 -7.40965140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05135812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30037174299997 meters Centerline goodness : 0.993460 with order 1 Centerline is valid? [True, True] Translation: X:159.55, Y:-7.43, Z:-0.00 [[ 9.99916111e-01 1.29526654e-02 0.00000000e+00 1.59549206e+02] [-1.29526654e-02 9.99916111e-01 0.00000000e+00 -7.42946760e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36228567e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36037174299997 meters Centerline goodness : 0.993337 with order 1 Centerline is valid? [True, True] Translation: X:159.61, Y:-7.43, Z:-0.00 [[ 9.99931388e-01 1.17140786e-02 0.00000000e+00 1.59608227e+02] [-1.17140786e-02 9.99931388e-01 0.00000000e+00 -7.43469002e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77200031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42037174299998 meters Centerline goodness : 0.993409 with order 1 Centerline is valid? [True, True] Translation: X:159.67, Y:-7.44, Z:0.00 [[ 9.99983255e-01 5.78695445e-03 0.00000000e+00 1.59666863e+02] [-5.78695445e-03 9.99983255e-01 0.00000000e+00 -7.44027831e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.44568119e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48037174299998 meters Centerline goodness : 0.993192 with order 1 Centerline is valid? [True, True] Translation: X:159.73, Y:-7.44, Z:0.00 [[ 9.99993219e-01 3.68264500e-03 0.00000000e+00 1.59726016e+02] [-3.68264500e-03 9.99993219e-01 0.00000000e+00 -7.44417702e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.24527044e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54037174299998 meters Centerline goodness : 0.994645 with order 1 Centerline is valid? [True, True] Translation: X:159.79, Y:-7.43, Z:0.01 [[ 9.99932518e-01 -1.16171938e-02 0.00000000e+00 1.59785840e+02] [ 1.16171938e-02 9.99932518e-01 0.00000000e+00 -7.43394388e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20081413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60037174299998 meters Centerline goodness : 0.993840 with order 1 Centerline is valid? [True, True] Translation: X:159.85, Y:-7.44, Z:0.00 [[ 9.99969894e-01 -7.75960803e-03 0.00000000e+00 1.59847390e+02] [ 7.75960803e-03 9.99969894e-01 0.00000000e+00 -7.44488418e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88194783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66037174299998 meters Centerline goodness : 0.994276 with order 1 Centerline is valid? [True, True] Translation: X:159.91, Y:-7.44, Z:0.00 [[ 9.99901487e-01 -1.40362326e-02 0.00000000e+00 1.59910033e+02] [ 1.40362326e-02 9.99901487e-01 0.00000000e+00 -7.44301880e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43523671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.720371743 meters Centerline goodness : 0.994727 with order 1 Centerline is valid? [True, True] Translation: X:159.97, Y:-7.44, Z:0.01 [[ 9.99790351e-01 -2.04756715e-02 0.00000000e+00 1.59972947e+02] [ 2.04756715e-02 9.99790351e-01 0.00000000e+00 -7.44033256e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.68126530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.780371743 meters Centerline goodness : 0.994671 with order 1 Centerline is valid? [True, True] Translation: X:160.04, Y:-7.44, Z:0.01 [[ 9.99685710e-01 -2.50695167e-02 0.00000000e+00 1.60036102e+02] [ 2.50695167e-02 9.99685710e-01 0.00000000e+00 -7.43898687e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.82692526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.840371743 meters Centerline goodness : 0.995424 with order 1 Centerline is valid? [True, True] Translation: X:160.10, Y:-7.43, Z:0.01 [[ 9.99493294e-01 -3.18301151e-02 0.00000000e+00 1.60098384e+02] [ 3.18301151e-02 9.99493294e-01 0.00000000e+00 -7.43040310e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30160715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.900371743 meters Centerline goodness : 0.994240 with order 1 Centerline is valid? [True, True] Translation: X:160.16, Y:-7.43, Z:0.01 [[ 9.99580239e-01 -2.89714496e-02 0.00000000e+00 1.60160473e+02] [ 2.89714496e-02 9.99580239e-01 0.00000000e+00 -7.43323075e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.88305628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.960371743 meters Centerline goodness : 0.994603 with order 1 Centerline is valid? [True, True] Translation: X:160.22, Y:-7.43, Z:0.01 [[ 9.99570749e-01 -2.92970478e-02 0.00000000e+00 1.60223211e+02] [ 2.92970478e-02 9.99570749e-01 0.00000000e+00 -7.42997065e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.69524933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02037174299997 meters Centerline goodness : 0.994348 with order 1 Centerline is valid? [True, True] Translation: X:160.29, Y:-7.43, Z:0.00 [[ 9.99577369e-01 -2.90703299e-02 0.00000000e+00 1.60286663e+02] [ 2.90703299e-02 9.99577369e-01 0.00000000e+00 -7.43100893e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48834749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08037174299997 meters Centerline goodness : 0.994603 with order 1 Centerline is valid? [True, True] Translation: X:160.35, Y:-7.42, Z:0.01 [[ 9.99541824e-01 -3.02678527e-02 0.00000000e+00 1.60350160e+02] [ 3.02678527e-02 9.99541824e-01 0.00000000e+00 -7.42387340e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.87871065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14037174299997 meters Centerline goodness : 0.995344 with order 1 Centerline is valid? [True, True] Translation: X:160.41, Y:-7.42, Z:0.01 [[ 9.99580555e-01 -2.89605726e-02 0.00000000e+00 1.60412902e+02] [ 2.89605726e-02 9.99580555e-01 0.00000000e+00 -7.41835825e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.38727874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20037174299998 meters Centerline goodness : 0.994552 with order 1 Centerline is valid? [True, True] Translation: X:160.48, Y:-7.41, Z:0.01 [[ 9.99659587e-01 -2.60904317e-02 0.00000000e+00 1.60475329e+02] [ 2.60904317e-02 9.99659587e-01 0.00000000e+00 -7.41314296e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17034998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26037174299998 meters Centerline goodness : 0.995152 with order 1 Centerline is valid? [True, True] Translation: X:160.54, Y:-7.41, Z:0.01 [[ 9.99657494e-01 -2.61705000e-02 0.00000000e+00 1.60537855e+02] [ 2.61705000e-02 9.99657494e-01 0.00000000e+00 -7.41112653e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.77346165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32037174299998 meters Centerline goodness : 0.995191 with order 1 Centerline is valid? [True, True] Translation: X:160.60, Y:-7.41, Z:0.01 [[ 9.99678291e-01 -2.53636500e-02 0.00000000e+00 1.60599873e+02] [ 2.53636500e-02 9.99678291e-01 0.00000000e+00 -7.40632378e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.03624695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38037174299998 meters Centerline goodness : 0.994736 with order 1 Centerline is valid? [True, True] Translation: X:160.66, Y:-7.40, Z:0.00 [[ 9.99668440e-01 -2.57489792e-02 0.00000000e+00 1.60663257e+02] [ 2.57489792e-02 9.99668440e-01 0.00000000e+00 -7.40241379e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67359371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.440371743 meters Centerline goodness : 0.994193 with order 1 Centerline is valid? [True, True] Translation: X:160.73, Y:-7.40, Z:0.00 [[ 9.99720680e-01 -2.36339167e-02 0.00000000e+00 1.60726779e+02] [ 2.36339167e-02 9.99720680e-01 0.00000000e+00 -7.40378928e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83230442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.500371743 meters Centerline goodness : 0.993732 with order 1 Centerline is valid? [True, True] Translation: X:160.79, Y:-7.40, Z:0.00 [[ 9.99831984e-01 -1.83304128e-02 0.00000000e+00 1.60790462e+02] [ 1.83304128e-02 9.99831984e-01 0.00000000e+00 -7.40197391e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65316009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.560371743 meters Centerline goodness : 0.993381 with order 1 Centerline is valid? [True, True] Translation: X:160.85, Y:-7.40, Z:0.00 [[ 9.99921464e-01 -1.25325603e-02 0.00000000e+00 1.60852760e+02] [ 1.25325603e-02 9.99921464e-01 0.00000000e+00 -7.40012443e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96204130e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.620371743 meters Centerline goodness : 0.992660 with order 1 Centerline is valid? [True, True] Translation: X:160.92, Y:-7.40, Z:-0.00 [[ 9.99972008e-01 -7.48218814e-03 0.00000000e+00 1.60915476e+02] [ 7.48218814e-03 9.99972008e-01 0.00000000e+00 -7.39948999e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.40817389e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.680371743 meters Centerline goodness : 0.992834 with order 1 Centerline is valid? [True, True] Translation: X:160.98, Y:-7.40, Z:-0.00 [[ 9.99975331e-01 -7.02406844e-03 0.00000000e+00 1.60976653e+02] [ 7.02406844e-03 9.99975331e-01 0.00000000e+00 -7.40014237e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35929956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74037174299997 meters Centerline goodness : 0.993104 with order 1 Centerline is valid? [True, True] Translation: X:161.04, Y:-7.40, Z:-0.00 [[ 9.99990149e-01 -4.43875674e-03 0.00000000e+00 1.61038269e+02] [ 4.43875674e-03 9.99990149e-01 0.00000000e+00 -7.40447583e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14302367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80037174299997 meters Centerline goodness : 0.993743 with order 1 Centerline is valid? [True, True] Translation: X:161.10, Y:-7.40, Z:0.01 [[ 9.99937787e-01 -1.11545041e-02 0.00000000e+00 1.61100448e+02] [ 1.11545041e-02 9.99937787e-01 0.00000000e+00 -7.39502011e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28173536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86037174299997 meters Centerline goodness : 0.994142 with order 1 Centerline is valid? [True, True] Translation: X:161.16, Y:-7.40, Z:0.01 [[ 9.99930679e-01 -1.17744646e-02 0.00000000e+00 1.61162619e+02] [ 1.17744646e-02 9.99930679e-01 0.00000000e+00 -7.39636936e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33369988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92037174299998 meters Centerline goodness : 0.992674 with order 1 Centerline is valid? [True, True] Translation: X:161.22, Y:-7.41, Z:-0.00 [[ 9.99986168e-01 -5.25970413e-03 0.00000000e+00 1.61223720e+02] [ 5.25970413e-03 9.99986168e-01 0.00000000e+00 -7.40622408e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15882510e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98037174299998 meters Centerline goodness : 0.993120 with order 1 Centerline is valid? [True, True] Translation: X:161.29, Y:-7.41, Z:0.00 [[ 9.99990432e-01 -4.37446965e-03 0.00000000e+00 1.61286254e+02] [ 4.37446965e-03 9.99990432e-01 0.00000000e+00 -7.40929532e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27729212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04037174299998 meters Centerline goodness : 0.992495 with order 1 Centerline is valid? [True, True] Translation: X:161.35, Y:-7.41, Z:0.00 [[ 9.99989016e-01 -4.68705422e-03 0.00000000e+00 1.61347931e+02] [ 4.68705422e-03 9.99989016e-01 0.00000000e+00 -7.41401316e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53612727e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10037174299998 meters Centerline goodness : 0.992658 with order 1 Centerline is valid? [True, True] Translation: X:161.41, Y:-7.42, Z:-0.00 [[ 9.99990980e-01 -4.24745470e-03 0.00000000e+00 1.61409669e+02] [ 4.24745470e-03 9.99990980e-01 0.00000000e+00 -7.41817727e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.64015090e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16037174299998 meters Centerline goodness : 0.992945 with order 1 Centerline is valid? [True, True] Translation: X:161.47, Y:-7.42, Z:-0.00 [[ 9.99979301e-01 -6.43415701e-03 0.00000000e+00 1.61472184e+02] [ 6.43415701e-03 9.99979301e-01 0.00000000e+00 -7.42318545e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27329817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.220371743 meters Centerline goodness : 0.992606 with order 1 Centerline is valid? [True, True] Translation: X:161.53, Y:-7.43, Z:0.00 [[ 9.99950387e-01 -9.96108036e-03 0.00000000e+00 1.61534057e+02] [ 9.96108036e-03 9.99950387e-01 0.00000000e+00 -7.42696184e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11104410e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.280371743 meters Centerline goodness : 0.993103 with order 1 Centerline is valid? [True, True] Translation: X:161.60, Y:-7.43, Z:0.00 [[ 9.99945133e-01 -1.04752547e-02 0.00000000e+00 1.61595111e+02] [ 1.04752547e-02 9.99945133e-01 0.00000000e+00 -7.43095678e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24483406e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.340371743 meters Centerline goodness : 0.993391 with order 1 Centerline is valid? [True, True] Translation: X:161.66, Y:-7.44, Z:0.00 [[ 9.99925708e-01 -1.21893094e-02 0.00000000e+00 1.61657460e+02] [ 1.21893094e-02 9.99925708e-01 0.00000000e+00 -7.43502202e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24372120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.400371743 meters Centerline goodness : 0.992801 with order 1 Centerline is valid? [True, True] Translation: X:161.72, Y:-7.44, Z:0.00 [[ 9.99931150e-01 -1.17343632e-02 0.00000000e+00 1.61719343e+02] [ 1.17343632e-02 9.99931150e-01 0.00000000e+00 -7.43999148e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.29646510e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.460371743 meters Centerline goodness : 0.992946 with order 1 Centerline is valid? [True, True] Translation: X:161.78, Y:-7.44, Z:0.00 [[ 9.99952834e-01 -9.71238405e-03 0.00000000e+00 1.61781947e+02] [ 9.71238405e-03 9.99952834e-01 0.00000000e+00 -7.44252279e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29922216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52037174299997 meters Centerline goodness : 0.993061 with order 1 Centerline is valid? [True, True] Translation: X:161.84, Y:-7.45, Z:0.00 [[ 9.99970861e-01 -7.63388322e-03 0.00000000e+00 1.61843833e+02] [ 7.63388322e-03 9.99970861e-01 0.00000000e+00 -7.44538809e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77278793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58037174299997 meters Centerline goodness : 0.992627 with order 1 Centerline is valid? [True, True] Translation: X:161.90, Y:-7.45, Z:0.00 [[ 9.99986740e-01 -5.14980566e-03 0.00000000e+00 1.61904637e+02] [ 5.14980566e-03 9.99986740e-01 0.00000000e+00 -7.44881672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64921210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64037174299997 meters Centerline goodness : 0.992455 with order 1 Centerline is valid? [True, True] Translation: X:161.97, Y:-7.45, Z:0.00 [[ 9.99999085e-01 -1.35292166e-03 0.00000000e+00 1.61966374e+02] [ 1.35292166e-03 9.99999085e-01 0.00000000e+00 -7.45453716e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62021704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70037174299998 meters Centerline goodness : 0.992498 with order 1 Centerline is valid? [True, True] Translation: X:162.03, Y:-7.46, Z:0.00 [[ 9.99997467e-01 -2.25062536e-03 0.00000000e+00 1.62026371e+02] [ 2.25062536e-03 9.99997467e-01 0.00000000e+00 -7.45757110e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25634775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76037174299998 meters Centerline goodness : 0.991724 with order 1 Centerline is valid? [True, True] Translation: X:162.09, Y:-7.46, Z:-0.00 [[ 9.99993810e-01 3.51848911e-03 0.00000000e+00 1.62087230e+02] [-3.51848911e-03 9.99993810e-01 0.00000000e+00 -7.46395610e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86510716e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82037174299998 meters Centerline goodness : 0.991395 with order 1 Centerline is valid? [True, True] Translation: X:162.15, Y:-7.47, Z:-0.00 [[ 9.99977881e-01 6.65110908e-03 0.00000000e+00 1.62146185e+02] [-6.65110908e-03 9.99977881e-01 0.00000000e+00 -7.47025092e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78799299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88037174299998 meters Centerline goodness : 0.991687 with order 1 Centerline is valid? [True, True] Translation: X:162.20, Y:-7.48, Z:-0.01 [[ 9.99962058e-01 8.71105307e-03 0.00000000e+00 1.62204374e+02] [-8.71105307e-03 9.99962058e-01 0.00000000e+00 -7.47692044e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76555853e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.940371743 meters Centerline goodness : 0.991810 with order 1 Centerline is valid? [True, True] Translation: X:162.26, Y:-7.48, Z:-0.00 [[ 9.99991994e-01 4.00145832e-03 0.00000000e+00 1.62262841e+02] [-4.00145832e-03 9.99991994e-01 0.00000000e+00 -7.47897908e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.17284084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.000371743 meters Centerline goodness : 0.992407 with order 1 Centerline is valid? [True, True] Translation: X:162.32, Y:-7.48, Z:-0.00 [[ 9.99999972e-01 -2.37741256e-04 0.00000000e+00 1.62321049e+02] [ 2.37741256e-04 9.99999972e-01 0.00000000e+00 -7.48400660e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44745834e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.060371743 meters Centerline goodness : 0.992461 with order 1 Centerline is valid? [True, True] Translation: X:162.38, Y:-7.49, Z:-0.00 [[ 9.99995119e-01 -3.12448428e-03 0.00000000e+00 1.62381490e+02] [ 3.12448428e-03 9.99995119e-01 0.00000000e+00 -7.48937702e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.72135548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.120371743 meters Centerline goodness : 0.992736 with order 1 Centerline is valid? [True, True] Translation: X:162.44, Y:-7.50, Z:-0.00 [[ 9.99989939e-01 -4.48584724e-03 0.00000000e+00 1.62443051e+02] [ 4.48584724e-03 9.99989939e-01 0.00000000e+00 -7.49588639e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44104030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.180371743 meters Centerline goodness : 0.992455 with order 1 Centerline is valid? [True, True] Translation: X:162.50, Y:-7.50, Z:-0.00 [[ 9.99966140e-01 -8.22918072e-03 0.00000000e+00 1.62504075e+02] [ 8.22918072e-03 9.99966140e-01 0.00000000e+00 -7.50205314e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81172767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24037174299997 meters Centerline goodness : 0.992749 with order 1 Centerline is valid? [True, True] Translation: X:162.57, Y:-7.51, Z:-0.00 [[ 9.99966780e-01 -8.15101125e-03 0.00000000e+00 1.62565526e+02] [ 8.15101125e-03 9.99966780e-01 0.00000000e+00 -7.50821506e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57965892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30037174299997 meters Centerline goodness : 0.992275 with order 1 Centerline is valid? [True, True] Translation: X:162.63, Y:-7.51, Z:-0.00 [[ 9.99961883e-01 -8.73110987e-03 0.00000000e+00 1.62627944e+02] [ 8.73110987e-03 9.99961883e-01 0.00000000e+00 -7.51197181e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71801244e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36037174299997 meters Centerline goodness : 0.992662 with order 1 Centerline is valid? [True, True] Translation: X:162.69, Y:-7.52, Z:-0.00 [[ 9.99973211e-01 -7.31964411e-03 0.00000000e+00 1.62689957e+02] [ 7.31964411e-03 9.99973211e-01 0.00000000e+00 -7.51564160e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76512335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42037174299998 meters Centerline goodness : 0.992438 with order 1 Centerline is valid? [True, True] Translation: X:162.75, Y:-7.52, Z:-0.00 [[ 9.99989085e-01 -4.67231114e-03 0.00000000e+00 1.62751824e+02] [ 4.67231114e-03 9.99989085e-01 0.00000000e+00 -7.52045312e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.51938571e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48037174299998 meters Centerline goodness : 0.993111 with order 1 Centerline is valid? [True, True] Translation: X:162.81, Y:-7.52, Z:0.00 [[ 9.99997553e-01 -2.21245869e-03 0.00000000e+00 1.62814140e+02] [ 2.21245869e-03 9.99997553e-01 0.00000000e+00 -7.52425387e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92762923e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54037174299998 meters Centerline goodness : 0.993559 with order 1 Centerline is valid? [True, True] Translation: X:162.88, Y:-7.53, Z:0.00 [[ 9.99996995e-01 -2.45146110e-03 0.00000000e+00 1.62875810e+02] [ 2.45146110e-03 9.99996995e-01 0.00000000e+00 -7.52641002e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21193490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60037174299998 meters Centerline goodness : 0.993703 with order 1 Centerline is valid? [True, True] Translation: X:162.94, Y:-7.53, Z:0.00 [[ 9.99996481e-01 -2.65282582e-03 0.00000000e+00 1.62936043e+02] [ 2.65282582e-03 9.99996481e-01 0.00000000e+00 -7.53183050e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58485326e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66037174299998 meters Centerline goodness : 0.993716 with order 1 Centerline is valid? [True, True] Translation: X:163.00, Y:-7.53, Z:0.00 [[ 9.99975015e-01 -7.06884689e-03 0.00000000e+00 1.62997184e+02] [ 7.06884689e-03 9.99975015e-01 0.00000000e+00 -7.53430579e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10335432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.720371743 meters Centerline goodness : 0.994213 with order 1 Centerline is valid? [True, True] Translation: X:163.06, Y:-7.54, Z:0.00 [[ 9.99918122e-01 -1.27964919e-02 0.00000000e+00 1.63059687e+02] [ 1.27964919e-02 9.99918122e-01 0.00000000e+00 -7.53885198e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47144650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.780371743 meters Centerline goodness : 0.993949 with order 1 Centerline is valid? [True, True] Translation: X:163.12, Y:-7.54, Z:0.00 [[ 9.99804947e-01 -1.97501402e-02 0.00000000e+00 1.63122572e+02] [ 1.97501402e-02 9.99804947e-01 0.00000000e+00 -7.54316392e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98226545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.840371743 meters Centerline goodness : 0.994059 with order 1 Centerline is valid? [True, True] Translation: X:163.18, Y:-7.55, Z:0.00 [[ 9.99768549e-01 -2.15139262e-02 0.00000000e+00 1.63184539e+02] [ 2.15139262e-02 9.99768549e-01 0.00000000e+00 -7.55103666e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85280193e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.900371743 meters Centerline goodness : 0.994737 with order 1 Centerline is valid? [True, True] Translation: X:163.25, Y:-7.55, Z:0.00 [[ 9.99614266e-01 -2.77726445e-02 0.00000000e+00 1.63246583e+02] [ 2.77726445e-02 9.99614266e-01 0.00000000e+00 -7.55283883e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18581212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.960371743 meters Centerline goodness : 0.995048 with order 1 Centerline is valid? [True, True] Translation: X:163.31, Y:-7.56, Z:0.00 [[ 9.99547440e-01 -3.00818004e-02 0.00000000e+00 1.63307211e+02] [ 3.00818004e-02 9.99547440e-01 0.00000000e+00 -7.55716554e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99617605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02037174299997 meters Centerline goodness : 0.995086 with order 1 Centerline is valid? [True, True] Translation: X:163.37, Y:-7.56, Z:0.00 [[ 9.99535938e-01 -3.04616001e-02 0.00000000e+00 1.63369536e+02] [ 3.04616001e-02 9.99535938e-01 0.00000000e+00 -7.56312376e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75150015e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08037174299997 meters Centerline goodness : 0.995481 with order 1 Centerline is valid? [True, True] Translation: X:163.43, Y:-7.57, Z:0.00 [[ 9.99524233e-01 -3.08432640e-02 0.00000000e+00 1.63430644e+02] [ 3.08432640e-02 9.99524233e-01 0.00000000e+00 -7.56834546e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11594698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14037174299997 meters Centerline goodness : 0.995463 with order 1 Centerline is valid? [True, True] Translation: X:163.49, Y:-7.57, Z:0.00 [[ 9.99545405e-01 -3.01493560e-02 0.00000000e+00 1.63492124e+02] [ 3.01493560e-02 9.99545405e-01 0.00000000e+00 -7.57019660e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20087768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20037174299998 meters Centerline goodness : 0.995567 with order 1 Centerline is valid? [True, True] Translation: X:163.55, Y:-7.58, Z:0.00 [[ 9.99636378e-01 -2.69650132e-02 0.00000000e+00 1.63554097e+02] [ 2.69650132e-02 9.99636378e-01 0.00000000e+00 -7.57617310e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.10403309e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26037174299998 meters Centerline goodness : 0.995450 with order 1 Centerline is valid? [True, True] Translation: X:163.62, Y:-7.57, Z:0.00 [[ 9.99637671e-01 -2.69170265e-02 0.00000000e+00 1.63615603e+02] [ 2.69170265e-02 9.99637671e-01 0.00000000e+00 -7.57145493e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23987724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32037174299998 meters Centerline goodness : 0.994434 with order 1 Centerline is valid? [True, True] Translation: X:163.68, Y:-7.58, Z:0.00 [[ 9.99823482e-01 -1.87884351e-02 0.00000000e+00 1.63677066e+02] [ 1.87884351e-02 9.99823482e-01 0.00000000e+00 -7.58025969e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30909387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38037174299998 meters Centerline goodness : 0.993845 with order 1 Centerline is valid? [True, True] Translation: X:163.74, Y:-7.58, Z:0.00 [[ 9.99872871e-01 -1.59449881e-02 0.00000000e+00 1.63739827e+02] [ 1.59449881e-02 9.99872871e-01 0.00000000e+00 -7.58127970e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30012984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.440371743 meters Centerline goodness : 0.993908 with order 1 Centerline is valid? [True, True] Translation: X:163.80, Y:-7.58, Z:0.00 [[ 9.99893890e-01 -1.45673871e-02 0.00000000e+00 1.63802151e+02] [ 1.45673871e-02 9.99893890e-01 0.00000000e+00 -7.58243824e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68410469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.500371743 meters Centerline goodness : 0.994231 with order 1 Centerline is valid? [True, True] Translation: X:163.86, Y:-7.58, Z:0.00 [[ 9.99908592e-01 -1.35206528e-02 0.00000000e+00 1.63863366e+02] [ 1.35206528e-02 9.99908592e-01 0.00000000e+00 -7.58448697e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32878799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.560371743 meters Centerline goodness : 0.993905 with order 1 Centerline is valid? [True, True] Translation: X:163.93, Y:-7.59, Z:0.01 [[ 9.99905642e-01 -1.37370433e-02 0.00000000e+00 1.63925886e+02] [ 1.37370433e-02 9.99905642e-01 0.00000000e+00 -7.58639997e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44594504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.620371743 meters Centerline goodness : 0.993061 with order 1 Centerline is valid? [True, True] Translation: X:163.99, Y:-7.59, Z:0.00 [[ 9.99882889e-01 -1.53038916e-02 0.00000000e+00 1.63986682e+02] [ 1.53038916e-02 9.99882889e-01 0.00000000e+00 -7.59058953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86195389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.680371743 meters Centerline goodness : 0.994967 with order 1 Centerline is valid? [True, True] Translation: X:164.05, Y:-7.58, Z:0.01 [[ 9.99716638e-01 -2.38042878e-02 0.00000000e+00 1.64047875e+02] [ 2.38042878e-02 9.99716638e-01 0.00000000e+00 -7.58453419e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82221209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74037174299997 meters Centerline goodness : 0.994901 with order 1 Centerline is valid? [True, True] Translation: X:164.11, Y:-7.59, Z:0.01 [[ 9.99705566e-01 -2.42648116e-02 0.00000000e+00 1.64110316e+02] [ 2.42648116e-02 9.99705566e-01 0.00000000e+00 -7.58631958e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.89905311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80037174299997 meters Centerline goodness : 0.993104 with order 1 Centerline is valid? [True, True] Translation: X:164.17, Y:-7.60, Z:0.00 [[ 9.99891998e-01 -1.46966456e-02 0.00000000e+00 1.64171300e+02] [ 1.46966456e-02 9.99891998e-01 0.00000000e+00 -7.59871533e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97633228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86037174299997 meters Centerline goodness : 0.993455 with order 1 Centerline is valid? [True, True] Translation: X:164.23, Y:-7.60, Z:0.01 [[ 9.99944769e-01 -1.05099053e-02 0.00000000e+00 1.64233255e+02] [ 1.05099053e-02 9.99944769e-01 0.00000000e+00 -7.59900051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47067909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92037174299998 meters Centerline goodness : 0.994338 with order 1 Centerline is valid? [True, True] Translation: X:164.30, Y:-7.59, Z:0.01 [[ 9.99974440e-01 -7.14975407e-03 0.00000000e+00 1.64295378e+02] [ 7.14975407e-03 9.99974440e-01 0.00000000e+00 -7.58916571e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.86654306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98037174299998 meters Centerline goodness : 0.994087 with order 1 Centerline is valid? [True, True] Translation: X:164.36, Y:-7.59, Z:0.01 [[ 9.99999702e-01 7.72103173e-04 0.00000000e+00 1.64357006e+02] [-7.72103173e-04 9.99999702e-01 0.00000000e+00 -7.58957238e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.37771551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04037174299998 meters Centerline goodness : 0.994623 with order 1 Centerline is valid? [True, True] Translation: X:164.42, Y:-7.59, Z:0.01 [[ 9.99994099e-01 3.43526559e-03 0.00000000e+00 1.64417676e+02] [-3.43526559e-03 9.99994099e-01 0.00000000e+00 -7.59150142e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.89717045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10037174299998 meters Centerline goodness : 0.992883 with order 1 Centerline is valid? [True, True] Translation: X:164.48, Y:-7.60, Z:0.00 [[ 9.99936330e-01 1.12843543e-02 0.00000000e+00 1.64476520e+02] [-1.12843543e-02 9.99936330e-01 0.00000000e+00 -7.60338432e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33392606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16037174299998 meters Centerline goodness : 0.993188 with order 1 Centerline is valid? [True, True] Translation: X:164.53, Y:-7.60, Z:0.00 [[ 9.99963276e-01 8.57010885e-03 0.00000000e+00 1.64534267e+02] [-8.57010885e-03 9.99963276e-01 0.00000000e+00 -7.60458360e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89059761e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.220371743 meters Centerline goodness : 0.994426 with order 1 Centerline is valid? [True, True] Translation: X:164.59, Y:-7.60, Z:0.01 [[ 9.99997873e-01 -2.06242723e-03 0.00000000e+00 1.64593265e+02] [ 2.06242723e-03 9.99997873e-01 0.00000000e+00 -7.59880034e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14604319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.280371743 meters Centerline goodness : 0.994547 with order 1 Centerline is valid? [True, True] Translation: X:164.65, Y:-7.60, Z:0.01 [[ 9.99971545e-01 -7.54378938e-03 0.00000000e+00 1.64654077e+02] [ 7.54378938e-03 9.99971545e-01 0.00000000e+00 -7.60280816e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04872983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.340371743 meters Centerline goodness : 0.994720 with order 1 Centerline is valid? [True, True] Translation: X:164.72, Y:-7.61, Z:0.01 [[ 9.99934637e-01 -1.14333676e-02 0.00000000e+00 1.64716039e+02] [ 1.14333676e-02 9.99934637e-01 0.00000000e+00 -7.60678346e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01970002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.400371743 meters Centerline goodness : 0.994180 with order 1 Centerline is valid? [True, True] Translation: X:164.78, Y:-7.62, Z:0.01 [[ 9.99957145e-01 -9.25790315e-03 0.00000000e+00 1.64777540e+02] [ 9.25790315e-03 9.99957145e-01 0.00000000e+00 -7.61898082e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61633578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.460371743 meters Centerline goodness : 0.994060 with order 1 Centerline is valid? [True, True] Translation: X:164.84, Y:-7.62, Z:0.01 [[ 9.99927410e-01 -1.20488493e-02 0.00000000e+00 1.64840912e+02] [ 1.20488493e-02 9.99927410e-01 0.00000000e+00 -7.62155368e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.04831684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52037174299997 meters Centerline goodness : 0.994698 with order 1 Centerline is valid? [True, True] Translation: X:164.90, Y:-7.62, Z:0.01 [[ 9.99896434e-01 -1.43916774e-02 0.00000000e+00 1.64903796e+02] [ 1.43916774e-02 9.99896434e-01 0.00000000e+00 -7.62476064e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.77107353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58037174299997 meters Centerline goodness : 0.995087 with order 1 Centerline is valid? [True, True] Translation: X:164.97, Y:-7.63, Z:0.01 [[ 9.99891981e-01 -1.46978533e-02 0.00000000e+00 1.64966381e+02] [ 1.46978533e-02 9.99891981e-01 0.00000000e+00 -7.62841570e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.91438867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64037174299997 meters Centerline goodness : 0.994801 with order 1 Centerline is valid? [True, True] Translation: X:165.03, Y:-7.63, Z:0.01 [[ 9.99892460e-01 -1.46652288e-02 0.00000000e+00 1.65028803e+02] [ 1.46652288e-02 9.99892460e-01 0.00000000e+00 -7.63110027e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81297887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70037174299998 meters Centerline goodness : 0.994404 with order 1 Centerline is valid? [True, True] Translation: X:165.09, Y:-7.63, Z:0.01 [[ 9.99909516e-01 -1.34521081e-02 0.00000000e+00 1.65091417e+02] [ 1.34521081e-02 9.99909516e-01 0.00000000e+00 -7.63472022e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02391920e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76037174299998 meters Centerline goodness : 0.994566 with order 1 Centerline is valid? [True, True] Translation: X:165.15, Y:-7.64, Z:0.01 [[ 9.99920291e-01 -1.26258392e-02 0.00000000e+00 1.65154688e+02] [ 1.26258392e-02 9.99920291e-01 0.00000000e+00 -7.63720011e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41924962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82037174299998 meters Centerline goodness : 0.994518 with order 1 Centerline is valid? [True, True] Translation: X:165.22, Y:-7.64, Z:0.00 [[ 9.99929372e-01 -1.18849406e-02 0.00000000e+00 1.65215519e+02] [ 1.18849406e-02 9.99929372e-01 0.00000000e+00 -7.64099460e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95423127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88037174299998 meters Centerline goodness : 0.994567 with order 1 Centerline is valid? [True, True] Translation: X:165.28, Y:-7.64, Z:0.00 [[ 9.99919949e-01 -1.26529061e-02 0.00000000e+00 1.65278222e+02] [ 1.26529061e-02 9.99919949e-01 0.00000000e+00 -7.64464492e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85672494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.940371743 meters Centerline goodness : 0.994119 with order 1 Centerline is valid? [True, True] Translation: X:165.34, Y:-7.65, Z:0.00 [[ 9.99907592e-01 -1.35944063e-02 0.00000000e+00 1.65340856e+02] [ 1.35944063e-02 9.99907592e-01 0.00000000e+00 -7.64856115e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59407522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.000371743 meters Centerline goodness : 0.994556 with order 1 Centerline is valid? [True, True] Translation: X:165.40, Y:-7.65, Z:0.01 [[ 9.99891092e-01 -1.47582200e-02 0.00000000e+00 1.65402728e+02] [ 1.47582200e-02 9.99891092e-01 0.00000000e+00 -7.65213690e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69213095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.060371743 meters Centerline goodness : 0.993974 with order 1 Centerline is valid? [True, True] Translation: X:165.46, Y:-7.66, Z:0.00 [[ 9.99905581e-01 -1.37414883e-02 0.00000000e+00 1.65464370e+02] [ 1.37414883e-02 9.99905581e-01 0.00000000e+00 -7.65688311e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47833044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.120371743 meters Centerline goodness : 0.994425 with order 1 Centerline is valid? [True, True] Translation: X:165.53, Y:-7.66, Z:0.00 [[ 9.99912828e-01 -1.32036814e-02 0.00000000e+00 1.65527741e+02] [ 1.32036814e-02 9.99912828e-01 0.00000000e+00 -7.66007745e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76167118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.180371743 meters Centerline goodness : 0.993976 with order 1 Centerline is valid? [True, True] Translation: X:165.59, Y:-7.66, Z:0.00 [[ 9.99924880e-01 -1.22570155e-02 0.00000000e+00 1.65589633e+02] [ 1.22570155e-02 9.99924880e-01 0.00000000e+00 -7.66389640e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72826780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24037174299997 meters Centerline goodness : 0.993605 with order 1 Centerline is valid? [True, True] Translation: X:165.65, Y:-7.67, Z:0.00 [[ 9.99922862e-01 -1.24205281e-02 0.00000000e+00 1.65652060e+02] [ 1.24205281e-02 9.99922862e-01 0.00000000e+00 -7.66692081e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34536756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30037174299997 meters Centerline goodness : 0.994858 with order 1 Centerline is valid? [True, True] Translation: X:165.71, Y:-7.66, Z:0.01 [[ 9.99933774e-01 -1.15085616e-02 0.00000000e+00 1.65713156e+02] [ 1.15085616e-02 9.99933774e-01 0.00000000e+00 -7.66444884e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82628356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36037174299997 meters Centerline goodness : 0.994538 with order 1 Centerline is valid? [True, True] Translation: X:165.78, Y:-7.66, Z:0.01 [[ 9.99938082e-01 -1.11280076e-02 0.00000000e+00 1.65775058e+02] [ 1.11280076e-02 9.99938082e-01 0.00000000e+00 -7.66282829e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.49467668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42037174299998 meters Centerline goodness : 0.994313 with order 1 Centerline is valid? [True, True] Translation: X:165.84, Y:-7.67, Z:0.01 [[ 9.99963500e-01 -8.54388140e-03 0.00000000e+00 1.65837451e+02] [ 8.54388140e-03 9.99963500e-01 0.00000000e+00 -7.66525243e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34789919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48037174299998 meters Centerline goodness : 0.994083 with order 1 Centerline is valid? [True, True] Translation: X:165.90, Y:-7.67, Z:0.01 [[ 9.99974404e-01 -7.15486748e-03 0.00000000e+00 1.65899891e+02] [ 7.15486748e-03 9.99974404e-01 0.00000000e+00 -7.66947849e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22787660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54037174299998 meters Centerline goodness : 0.994082 with order 1 Centerline is valid? [True, True] Translation: X:165.96, Y:-7.67, Z:0.01 [[ 9.99980297e-01 -6.27735092e-03 0.00000000e+00 1.65960977e+02] [ 6.27735092e-03 9.99980297e-01 0.00000000e+00 -7.67367232e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.98124052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60037174299998 meters Centerline goodness : 0.993181 with order 1 Centerline is valid? [True, True] Translation: X:166.02, Y:-7.68, Z:0.01 [[ 9.99985040e-01 -5.46990654e-03 0.00000000e+00 1.66022084e+02] [ 5.46990654e-03 9.99985040e-01 0.00000000e+00 -7.67544092e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41331796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66037174299998 meters Centerline goodness : 0.992068 with order 1 Centerline is valid? [True, True] Translation: X:166.08, Y:-7.68, Z:0.01 [[ 9.99999966e-01 -2.59243416e-04 0.00000000e+00 1.66084367e+02] [ 2.59243416e-04 9.99999966e-01 0.00000000e+00 -7.68370711e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.94275688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.720371743 meters Centerline goodness : 0.991785 with order 1 Centerline is valid? [True, True] Translation: X:166.14, Y:-7.69, Z:0.00 [[ 9.99966400e-01 8.19753030e-03 0.00000000e+00 1.66144188e+02] [-8.19753030e-03 9.99966400e-01 0.00000000e+00 -7.69213037e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17478913e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.780371743 meters Centerline goodness : 0.990230 with order 1 Centerline is valid? [True, True] Translation: X:166.20, Y:-7.70, Z:-0.00 [[ 9.99890606e-01 1.47911022e-02 0.00000000e+00 1.66202413e+02] [-1.47911022e-02 9.99890606e-01 0.00000000e+00 -7.69733892e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55970843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.840371743 meters Centerline goodness : 0.990912 with order 1 Centerline is valid? [True, True] Translation: X:166.26, Y:-7.70, Z:0.00 [[ 9.99878668e-01 1.55772068e-02 0.00000000e+00 1.66260457e+02] [-1.55772068e-02 9.99878668e-01 0.00000000e+00 -7.69886601e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55138011e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.900371743 meters Centerline goodness : 0.992471 with order 1 Centerline is valid? [True, True] Translation: X:166.32, Y:-7.69, Z:0.01 [[ 9.99926872e-01 1.20934038e-02 0.00000000e+00 1.66319409e+02] [-1.20934038e-02 9.99926872e-01 0.00000000e+00 -7.69430353e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.91029603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.960371743 meters Centerline goodness : 0.991228 with order 1 Centerline is valid? [True, True] Translation: X:166.38, Y:-7.71, Z:-0.00 [[ 9.99707861e-01 2.41700630e-02 0.00000000e+00 1.66376031e+02] [-2.41700630e-02 9.99707861e-01 0.00000000e+00 -7.71213731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82068270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02037174299997 meters Centerline goodness : 0.993501 with order 1 Centerline is valid? [True, True] Translation: X:166.43, Y:-7.71, Z:0.01 [[ 9.99897878e-01 1.42910446e-02 0.00000000e+00 1.66434545e+02] [-1.42910446e-02 9.99897878e-01 0.00000000e+00 -7.70588118e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.74488612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08037174299997 meters Centerline goodness : 0.994508 with order 1 Centerline is valid? [True, True] Translation: X:166.49, Y:-7.72, Z:0.01 [[ 9.99932983e-01 1.15771357e-02 0.00000000e+00 1.66492277e+02] [-1.15771357e-02 9.99932983e-01 0.00000000e+00 -7.71523552e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.20090890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14037174299997 meters Centerline goodness : 0.992547 with order 1 Centerline is valid? [True, True] Translation: X:166.55, Y:-7.73, Z:0.00 [[ 9.99847961e-01 1.74371587e-02 0.00000000e+00 1.66549903e+02] [-1.74371587e-02 9.99847961e-01 0.00000000e+00 -7.73004103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96135091e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20037174299998 meters Centerline goodness : 0.993897 with order 1 Centerline is valid? [True, True] Translation: X:166.61, Y:-7.73, Z:0.01 [[ 9.99796852e-01 2.01557796e-02 0.00000000e+00 1.66608955e+02] [-2.01557796e-02 9.99796852e-01 0.00000000e+00 -7.73472672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.59541146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26037174299998 meters Centerline goodness : 0.995102 with order 1 Centerline is valid? [True, True] Translation: X:166.67, Y:-7.73, Z:0.01 [[ 9.99775881e-01 2.11704626e-02 0.00000000e+00 1.66667291e+02] [-2.11704626e-02 9.99775881e-01 0.00000000e+00 -7.73274106e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.94769115e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32037174299998 meters Centerline goodness : 0.995113 with order 1 Centerline is valid? [True, True] Translation: X:166.72, Y:-7.74, Z:0.01 [[ 9.99563904e-01 2.95296885e-02 0.00000000e+00 1.66724516e+02] [-2.95296885e-02 9.99563904e-01 0.00000000e+00 -7.73794959e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02201361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38037174299998 meters Centerline goodness : 0.994276 with order 1 Centerline is valid? [True, True] Translation: X:166.78, Y:-7.74, Z:0.01 [[ 9.99376319e-01 3.53125159e-02 0.00000000e+00 1.66782341e+02] [-3.53125159e-02 9.99376319e-01 0.00000000e+00 -7.74455018e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13149433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.440371743 meters Centerline goodness : 0.992142 with order 1 Centerline is valid? [True, True] Translation: X:166.84, Y:-7.76, Z:0.01 [[ 9.99080203e-01 4.28806298e-02 0.00000000e+00 1.66840798e+02] [-4.28806298e-02 9.99080203e-01 0.00000000e+00 -7.76114257e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.96971026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.500371743 meters Centerline goodness : 0.994799 with order 1 Centerline is valid? [True, True] Translation: X:166.90, Y:-7.76, Z:0.01 [[ 9.99584212e-01 2.88340567e-02 0.00000000e+00 1.66899423e+02] [-2.88340567e-02 9.99584212e-01 0.00000000e+00 -7.76191065e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26404607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.560371743 meters Centerline goodness : 0.994746 with order 1 Centerline is valid? [True, True] Translation: X:166.96, Y:-7.77, Z:0.01 [[ 9.99829701e-01 1.84545268e-02 0.00000000e+00 1.66956413e+02] [-1.84545268e-02 9.99829701e-01 0.00000000e+00 -7.77234061e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.56810045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.620371743 meters Centerline goodness : 0.993532 with order 1 Centerline is valid? [True, True] Translation: X:167.02, Y:-7.79, Z:0.01 [[ 9.99831250e-01 1.83703761e-02 0.00000000e+00 1.67015224e+02] [-1.83703761e-02 9.99831250e-01 0.00000000e+00 -7.78891915e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58930695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.680371743 meters Centerline goodness : 0.993417 with order 1 Centerline is valid? [True, True] Translation: X:167.07, Y:-7.80, Z:0.01 [[ 9.99963676e-01 8.52327594e-03 0.00000000e+00 1.67074008e+02] [-8.52327594e-03 9.99963676e-01 0.00000000e+00 -7.79604896e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.29541376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74037174299997 meters Centerline goodness : 0.993760 with order 1 Centerline is valid? [True, True] Translation: X:167.13, Y:-7.80, Z:0.01 [[ 9.99994555e-01 3.30008259e-03 0.00000000e+00 1.67131995e+02] [-3.30008259e-03 9.99994555e-01 0.00000000e+00 -7.80206207e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11354272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80037174299997 meters Centerline goodness : 0.994020 with order 1 Centerline is valid? [True, True] Translation: X:167.19, Y:-7.81, Z:0.01 [[ 9.99991177e-01 4.20078860e-03 0.00000000e+00 1.67191356e+02] [-4.20078860e-03 9.99991177e-01 0.00000000e+00 -7.80600009e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34568891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86037174299997 meters Centerline goodness : 0.993970 with order 1 Centerline is valid? [True, True] Translation: X:167.25, Y:-7.81, Z:0.01 [[ 9.99985619e-01 5.36299911e-03 0.00000000e+00 1.67249450e+02] [-5.36299911e-03 9.99985619e-01 0.00000000e+00 -7.81171598e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21609034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92037174299998 meters Centerline goodness : 0.994307 with order 1 Centerline is valid? [True, True] Translation: X:167.31, Y:-7.82, Z:0.01 [[ 9.99977890e-01 6.64970459e-03 0.00000000e+00 1.67308169e+02] [-6.64970459e-03 9.99977890e-01 0.00000000e+00 -7.81679955e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.37408692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98037174299998 meters Centerline goodness : 0.993727 with order 1 Centerline is valid? [True, True] Translation: X:167.37, Y:-7.82, Z:0.01 [[ 9.99979845e-01 6.34891307e-03 0.00000000e+00 1.67367204e+02] [-6.34891307e-03 9.99979845e-01 0.00000000e+00 -7.82018624e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.41290387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04037174299998 meters Centerline goodness : 0.993830 with order 1 Centerline is valid? [True, True] Translation: X:167.43, Y:-7.82, Z:0.01 [[ 9.99979366e-01 6.42394779e-03 0.00000000e+00 1.67425611e+02] [-6.42394779e-03 9.99979366e-01 0.00000000e+00 -7.82204114e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.51090898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10037174299998 meters Centerline goodness : 0.993768 with order 1 Centerline is valid? [True, True] Translation: X:167.48, Y:-7.82, Z:0.01 [[ 9.99942839e-01 1.06920093e-02 0.00000000e+00 1.67484169e+02] [-1.06920093e-02 9.99942839e-01 0.00000000e+00 -7.82404598e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.41894293e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16037174299998 meters Centerline goodness : 0.994881 with order 1 Centerline is valid? [True, True] Translation: X:167.54, Y:-7.81, Z:0.01 [[ 9.99894794e-01 1.45052216e-02 0.00000000e+00 1.67543409e+02] [-1.45052216e-02 9.99894794e-01 0.00000000e+00 -7.81488578e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31461971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.220371743 meters Centerline goodness : 0.994283 with order 1 Centerline is valid? [True, True] Translation: X:167.60, Y:-7.81, Z:0.01 [[ 9.99753765e-01 2.21903045e-02 0.00000000e+00 1.67601822e+02] [-2.21903045e-02 9.99753765e-01 0.00000000e+00 -7.81487683e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42849935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.280371743 meters Centerline goodness : 0.994653 with order 1 Centerline is valid? [True, True] Translation: X:167.66, Y:-7.81, Z:0.02 [[ 9.99468881e-01 3.25876617e-02 0.00000000e+00 1.67660284e+02] [-3.25876617e-02 9.99468881e-01 0.00000000e+00 -7.81402782e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50984980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.340371743 meters Centerline goodness : 0.992895 with order 1 Centerline is valid? [True, True] Translation: X:167.72, Y:-7.83, Z:0.01 [[ 9.99195503e-01 4.01042061e-02 0.00000000e+00 1.67719267e+02] [-4.01042061e-02 9.99195503e-01 0.00000000e+00 -7.82703876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.09675649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.400371743 meters Centerline goodness : 0.994263 with order 1 Centerline is valid? [True, True] Translation: X:167.78, Y:-7.84, Z:0.01 [[ 9.99574309e-01 2.91753586e-02 0.00000000e+00 1.67776732e+02] [-2.91753586e-02 9.99574309e-01 0.00000000e+00 -7.83514307e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.13280511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.460371743 meters Centerline goodness : 0.994599 with order 1 Centerline is valid? [True, True] Translation: X:167.84, Y:-7.84, Z:0.01 [[ 9.99734233e-01 2.30534703e-02 0.00000000e+00 1.67835428e+02] [-2.30534703e-02 9.99734233e-01 0.00000000e+00 -7.83995934e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.91155699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52037174299997 meters Centerline goodness : 0.995231 with order 1 Centerline is valid? [True, True] Translation: X:167.89, Y:-7.84, Z:0.01 [[ 9.99937970e-01 1.11380846e-02 0.00000000e+00 1.67893343e+02] [-1.11380846e-02 9.99937970e-01 0.00000000e+00 -7.83950399e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45405131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58037174299997 meters Centerline goodness : 0.996021 with order 1 Centerline is valid? [True, True] Translation: X:167.95, Y:-7.85, Z:0.02 [[ 9.99954612e-01 9.52758470e-03 0.00000000e+00 1.67950483e+02] [-9.52758470e-03 9.99954612e-01 0.00000000e+00 -7.84776087e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50411912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64037174299997 meters Centerline goodness : 0.995532 with order 1 Centerline is valid? [True, True] Translation: X:168.01, Y:-7.85, Z:0.01 [[ 9.99974225e-01 7.17976662e-03 0.00000000e+00 1.68009126e+02] [-7.17976662e-03 9.99974225e-01 0.00000000e+00 -7.85467931e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45284173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70037174299998 meters Centerline goodness : 0.996182 with order 1 Centerline is valid? [True, True] Translation: X:168.07, Y:-7.86, Z:0.01 [[ 9.99993649e-01 3.56384714e-03 0.00000000e+00 1.68067868e+02] [-3.56384714e-03 9.99993649e-01 0.00000000e+00 -7.86124863e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33261339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76037174299998 meters Centerline goodness : 0.996270 with order 1 Centerline is valid? [True, True] Translation: X:168.13, Y:-7.87, Z:0.01 [[ 9.99997587e-01 -2.19674187e-03 0.00000000e+00 1.68127431e+02] [ 2.19674187e-03 9.99997587e-01 0.00000000e+00 -7.86836333e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32082811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82037174299998 meters Centerline goodness : 0.995016 with order 1 Centerline is valid? [True, True] Translation: X:168.19, Y:-7.88, Z:0.01 [[ 9.99991916e-01 -4.02102098e-03 0.00000000e+00 1.68188421e+02] [ 4.02102098e-03 9.99991916e-01 0.00000000e+00 -7.87938907e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42293971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88037174299998 meters Centerline goodness : 0.994693 with order 1 Centerline is valid? [True, True] Translation: X:168.25, Y:-7.89, Z:0.01 [[ 9.99964672e-01 -8.40558007e-03 0.00000000e+00 1.68249209e+02] [ 8.40558007e-03 9.99964672e-01 0.00000000e+00 -7.88522612e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39056968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.940371743 meters Centerline goodness : 0.994707 with order 1 Centerline is valid? [True, True] Translation: X:168.31, Y:-7.89, Z:0.01 [[ 9.99930490e-01 -1.17904694e-02 0.00000000e+00 1.68310899e+02] [ 1.17904694e-02 9.99930490e-01 0.00000000e+00 -7.88830969e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49368376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.000371743 meters Centerline goodness : 0.994498 with order 1 Centerline is valid? [True, True] Translation: X:168.37, Y:-7.89, Z:0.01 [[ 9.99904300e-01 -1.38344325e-02 0.00000000e+00 1.68373441e+02] [ 1.38344325e-02 9.99904300e-01 0.00000000e+00 -7.89132386e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48850933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.060371743 meters Centerline goodness : 0.994430 with order 1 Centerline is valid? [True, True] Translation: X:168.43, Y:-7.90, Z:0.01 [[ 9.99883300e-01 -1.52769676e-02 0.00000000e+00 1.68434739e+02] [ 1.52769676e-02 9.99883300e-01 0.00000000e+00 -7.89643337e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20553064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.120371743 meters Centerline goodness : 0.994663 with order 1 Centerline is valid? [True, True] Translation: X:168.50, Y:-7.90, Z:0.01 [[ 9.99867089e-01 -1.63035000e-02 0.00000000e+00 1.68497169e+02] [ 1.63035000e-02 9.99867089e-01 0.00000000e+00 -7.89867389e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.90503408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.180371743 meters Centerline goodness : 0.993937 with order 1 Centerline is valid? [True, True] Translation: X:168.56, Y:-7.90, Z:0.01 [[ 9.99899465e-01 -1.41795307e-02 0.00000000e+00 1.68559846e+02] [ 1.41795307e-02 9.99899465e-01 0.00000000e+00 -7.90037531e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.77509901e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24037174299997 meters Centerline goodness : 0.993542 with order 1 Centerline is valid? [True, True] Translation: X:168.62, Y:-7.90, Z:0.01 [[ 9.99954694e-01 -9.51896243e-03 0.00000000e+00 1.68621855e+02] [ 9.51896243e-03 9.99954694e-01 0.00000000e+00 -7.89979104e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.36310104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30037174299997 meters Centerline goodness : 0.994235 with order 1 Centerline is valid? [True, True] Translation: X:168.68, Y:-7.90, Z:0.01 [[ 9.99999985e-01 1.71885555e-04 0.00000000e+00 1.68684303e+02] [-1.71885555e-04 9.99999985e-01 0.00000000e+00 -7.89951207e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.33739515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36037174299997 meters Centerline goodness : 0.993012 with order 1 Centerline is valid? [True, True] Translation: X:168.74, Y:-7.90, Z:0.01 [[ 9.99953966e-01 9.59507438e-03 0.00000000e+00 1.68744725e+02] [-9.59507438e-03 9.99953966e-01 0.00000000e+00 -7.89937757e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.30847739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42037174299998 meters Centerline goodness : 0.995152 with order 1 Centerline is valid? [True, True] Translation: X:168.80, Y:-7.88, Z:0.02 [[ 9.99981690e-01 6.05135328e-03 0.00000000e+00 1.68803548e+02] [-6.05135328e-03 9.99981690e-01 0.00000000e+00 -7.88493001e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95081660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48037174299998 meters Centerline goodness : 0.995017 with order 1 Centerline is valid? [True, True] Translation: X:168.86, Y:-7.89, Z:0.02 [[ 9.99952042e-01 9.79357989e-03 0.00000000e+00 1.68861968e+02] [-9.79357989e-03 9.99952042e-01 0.00000000e+00 -7.88701020e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90599627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54037174299998 meters Centerline goodness : 0.992911 with order 1 Centerline is valid? [True, True] Translation: X:168.92, Y:-7.90, Z:0.01 [[ 9.99663892e-01 2.59249539e-02 0.00000000e+00 1.68920060e+02] [-2.59249539e-02 9.99663892e-01 0.00000000e+00 -7.90481434e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02019873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60037174299998 meters Centerline goodness : 0.994353 with order 1 Centerline is valid? [True, True] Translation: X:168.98, Y:-7.89, Z:0.02 [[ 9.99849832e-01 1.73295804e-02 0.00000000e+00 1.68978148e+02] [-1.73295804e-02 9.99849832e-01 0.00000000e+00 -7.89344105e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97903158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66037174299998 meters Centerline goodness : 0.994297 with order 1 Centerline is valid? [True, True] Translation: X:169.04, Y:-7.90, Z:0.02 [[ 9.99836279e-01 1.80946281e-02 0.00000000e+00 1.69035894e+02] [-1.80946281e-02 9.99836279e-01 0.00000000e+00 -7.89771188e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86504739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.720371743 meters Centerline goodness : 0.992368 with order 1 Centerline is valid? [True, True] Translation: X:169.09, Y:-7.92, Z:0.00 [[ 9.99492547e-01 3.18535465e-02 0.00000000e+00 1.69092423e+02] [-3.18535465e-02 9.99492547e-01 0.00000000e+00 -7.92049906e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82311900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.780371743 meters Centerline goodness : 0.995035 with order 1 Centerline is valid? [True, True] Translation: X:169.15, Y:-7.91, Z:0.02 [[ 9.99779305e-01 2.10081078e-02 0.00000000e+00 1.69150641e+02] [-2.10081078e-02 9.99779305e-01 0.00000000e+00 -7.91096621e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08781608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.840371743 meters Centerline goodness : 0.994214 with order 1 Centerline is valid? [True, True] Translation: X:169.21, Y:-7.92, Z:0.02 [[ 9.99733032e-01 2.31055235e-02 0.00000000e+00 1.69208294e+02] [-2.31055235e-02 9.99733032e-01 0.00000000e+00 -7.91853869e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10043219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.900371743 meters Centerline goodness : 0.994768 with order 1 Centerline is valid? [True, True] Translation: X:169.27, Y:-7.92, Z:0.02 [[ 9.99743631e-01 2.26422886e-02 0.00000000e+00 1.69265917e+02] [-2.26422886e-02 9.99743631e-01 0.00000000e+00 -7.92333780e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08146673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96037174299997 meters Centerline goodness : 0.992700 with order 1 Centerline is valid? [True, True] Translation: X:169.32, Y:-7.95, Z:0.01 [[ 9.99550814e-01 2.99694798e-02 0.00000000e+00 1.69323819e+02] [-2.99694798e-02 9.99550814e-01 0.00000000e+00 -7.94707617e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.67617220e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02037174299997 meters Centerline goodness : 0.992274 with order 1 Centerline is valid? [True, True] Translation: X:169.38, Y:-7.96, Z:0.01 [[ 9.99792368e-01 2.03769498e-02 0.00000000e+00 1.69380631e+02] [-2.03769498e-02 9.99792368e-01 0.00000000e+00 -7.95746567e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.37001382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08037174299997 meters Centerline goodness : 0.992930 with order 1 Centerline is valid? [True, True] Translation: X:169.44, Y:-7.97, Z:0.01 [[ 9.99947216e-01 1.02745396e-02 0.00000000e+00 1.69438042e+02] [-1.02745396e-02 9.99947216e-01 0.00000000e+00 -7.96530802e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.27643155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14037174299997 meters Centerline goodness : 0.994686 with order 1 Centerline is valid? [True, True] Translation: X:169.50, Y:-7.96, Z:0.02 [[ 9.99956055e-01 -9.37485155e-03 0.00000000e+00 1.69496956e+02] [ 9.37485155e-03 9.99956055e-01 0.00000000e+00 -7.95948061e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59727645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20037174299998 meters Centerline goodness : 0.992383 with order 1 Centerline is valid? [True, True] Translation: X:169.56, Y:-7.98, Z:0.01 [[ 9.99953655e-01 -9.62743616e-03 0.00000000e+00 1.69558069e+02] [ 9.62743616e-03 9.99953655e-01 0.00000000e+00 -7.97776888e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.29537626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26037174299998 meters Centerline goodness : 0.992442 with order 1 Centerline is valid? [True, True] Translation: X:169.62, Y:-7.99, Z:0.00 [[ 9.99911124e-01 -1.33320549e-02 0.00000000e+00 1.69619279e+02] [ 1.33320549e-02 9.99911124e-01 0.00000000e+00 -7.98576953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07175860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32037174299998 meters Centerline goodness : 0.992266 with order 1 Centerline is valid? [True, True] Translation: X:169.68, Y:-7.99, Z:0.01 [[ 9.99767656e-01 -2.15553804e-02 0.00000000e+00 1.69682164e+02] [ 2.15553804e-02 9.99767656e-01 0.00000000e+00 -7.98553461e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34564831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38037174299998 meters Centerline goodness : 0.992981 with order 1 Centerline is valid? [True, True] Translation: X:169.75, Y:-7.99, Z:0.02 [[ 9.99708131e-01 -2.41588994e-02 0.00000000e+00 1.69745209e+02] [ 2.41588994e-02 9.99708131e-01 0.00000000e+00 -7.98751723e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69201561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.440371743 meters Centerline goodness : 0.993632 with order 1 Centerline is valid? [True, True] Translation: X:169.81, Y:-7.99, Z:0.02 [[ 9.99633600e-01 -2.70678126e-02 0.00000000e+00 1.69808581e+02] [ 2.70678126e-02 9.99633600e-01 0.00000000e+00 -7.99048447e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63929864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.500371743 meters Centerline goodness : 0.993325 with order 1 Centerline is valid? [True, True] Translation: X:169.87, Y:-7.99, Z:0.01 [[ 9.99524284e-01 -3.08416203e-02 0.00000000e+00 1.69870883e+02] [ 3.08416203e-02 9.99524284e-01 0.00000000e+00 -7.99315197e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30693546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.560371743 meters Centerline goodness : 0.992966 with order 1 Centerline is valid? [True, True] Translation: X:169.93, Y:-8.00, Z:0.01 [[ 9.99490681e-01 -3.19120389e-02 0.00000000e+00 1.69933773e+02] [ 3.19120389e-02 9.99490681e-01 0.00000000e+00 -7.99535631e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30281778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.620371743 meters Centerline goodness : 0.994694 with order 1 Centerline is valid? [True, True] Translation: X:170.00, Y:-7.99, Z:0.02 [[ 9.99218204e-01 -3.95345408e-02 0.00000000e+00 1.69995870e+02] [ 3.95345408e-02 9.99218204e-01 0.00000000e+00 -7.98725197e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58148603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.680371743 meters Centerline goodness : 0.993814 with order 1 Centerline is valid? [True, True] Translation: X:170.06, Y:-8.00, Z:0.01 [[ 9.99556073e-01 -2.97935670e-02 0.00000000e+00 1.70057405e+02] [ 2.97935670e-02 9.99556073e-01 0.00000000e+00 -7.99803141e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19625412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74037174299997 meters Centerline goodness : 0.993482 with order 1 Centerline is valid? [True, True] Translation: X:170.12, Y:-8.00, Z:0.01 [[ 9.99631312e-01 -2.71521643e-02 0.00000000e+00 1.70120803e+02] [ 2.71521643e-02 9.99631312e-01 0.00000000e+00 -7.99826426e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30065937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80037174299997 meters Centerline goodness : 0.993605 with order 1 Centerline is valid? [True, True] Translation: X:170.18, Y:-8.00, Z:0.01 [[ 9.99729483e-01 -2.32585539e-02 0.00000000e+00 1.70184118e+02] [ 2.32585539e-02 9.99729483e-01 0.00000000e+00 -7.99957068e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37134145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86037174299997 meters Centerline goodness : 0.993637 with order 1 Centerline is valid? [True, True] Translation: X:170.25, Y:-8.00, Z:0.01 [[ 9.99798563e-01 -2.00707338e-02 0.00000000e+00 1.70245879e+02] [ 2.00707338e-02 9.99798563e-01 0.00000000e+00 -7.99959135e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46982181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92037174299998 meters Centerline goodness : 0.993428 with order 1 Centerline is valid? [True, True] Translation: X:170.31, Y:-8.00, Z:0.01 [[ 9.99890887e-01 -1.47720667e-02 0.00000000e+00 1.70307496e+02] [ 1.47720667e-02 9.99890887e-01 0.00000000e+00 -7.99837711e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28398928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98037174299998 meters Centerline goodness : 0.994052 with order 1 Centerline is valid? [True, True] Translation: X:170.37, Y:-8.00, Z:0.01 [[ 9.99964787e-01 -8.39199255e-03 0.00000000e+00 1.70370191e+02] [ 8.39199255e-03 9.99964787e-01 0.00000000e+00 -7.99786022e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26102547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04037174299998 meters Centerline goodness : 0.993510 with order 1 Centerline is valid? [True, True] Translation: X:170.43, Y:-8.00, Z:0.01 [[ 9.99999107e-01 -1.33613839e-03 0.00000000e+00 1.70432171e+02] [ 1.33613839e-03 9.99999107e-01 0.00000000e+00 -7.99761548e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38346505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10037174299998 meters Centerline goodness : 0.993579 with order 1 Centerline is valid? [True, True] Translation: X:170.49, Y:-8.00, Z:0.01 [[ 9.99996218e-01 2.75038421e-03 0.00000000e+00 1.70492755e+02] [-2.75038421e-03 9.99996218e-01 0.00000000e+00 -7.99985400e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34297387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16037174299998 meters Centerline goodness : 0.993185 with order 1 Centerline is valid? [True, True] Translation: X:170.55, Y:-8.00, Z:0.01 [[ 9.99969364e-01 7.82755832e-03 0.00000000e+00 1.70552980e+02] [-7.82755832e-03 9.99969364e-01 0.00000000e+00 -7.99910519e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43369450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.220371743 meters Centerline goodness : 0.993045 with order 1 Centerline is valid? [True, True] Translation: X:170.61, Y:-8.00, Z:0.01 [[ 9.99912847e-01 1.32022259e-02 0.00000000e+00 1.70611865e+02] [-1.32022259e-02 9.99912847e-01 0.00000000e+00 -8.00402038e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.57089085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.280371743 meters Centerline goodness : 0.991856 with order 1 Centerline is valid? [True, True] Translation: X:170.67, Y:-8.01, Z:0.01 [[ 9.99882839e-01 1.53071632e-02 0.00000000e+00 1.70671154e+02] [-1.53071632e-02 9.99882839e-01 0.00000000e+00 -8.00687019e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.64080037e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.340371743 meters Centerline goodness : 0.994871 with order 1 Centerline is valid? [True, True] Translation: X:170.73, Y:-7.99, Z:0.02 [[ 9.99998835e-01 1.52641581e-03 0.00000000e+00 1.70729577e+02] [-1.52641581e-03 9.99998835e-01 0.00000000e+00 -7.99338672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63722482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.400371743 meters Centerline goodness : 0.991671 with order 1 Centerline is valid? [True, True] Translation: X:170.79, Y:-8.01, Z:0.01 [[ 9.99900026e-01 1.41399636e-02 0.00000000e+00 1.70788713e+02] [-1.41399636e-02 9.99900026e-01 0.00000000e+00 -8.01001696e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.58147646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46037174299997 meters Centerline goodness : 0.994490 with order 1 Centerline is valid? [True, True] Translation: X:170.85, Y:-8.00, Z:0.02 [[ 9.99950891e-01 9.91035819e-03 0.00000000e+00 1.70848455e+02] [-9.91035819e-03 9.99950891e-01 0.00000000e+00 -7.99700674e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83811932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52037174299997 meters Centerline goodness : 0.994424 with order 1 Centerline is valid? [True, True] Translation: X:170.91, Y:-8.00, Z:0.02 [[ 9.99868165e-01 1.62373900e-02 0.00000000e+00 1.70907353e+02] [-1.62373900e-02 9.99868165e-01 0.00000000e+00 -7.99861199e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98607796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58037174299997 meters Centerline goodness : 0.991044 with order 1 Centerline is valid? [True, True] Translation: X:170.97, Y:-8.02, Z:0.01 [[ 9.99505556e-01 3.14427035e-02 0.00000000e+00 1.70965586e+02] [-3.14427035e-02 9.99505556e-01 0.00000000e+00 -8.01625678e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31045174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64037174299997 meters Centerline goodness : 0.994240 with order 1 Centerline is valid? [True, True] Translation: X:171.02, Y:-8.01, Z:0.02 [[ 9.99802023e-01 1.98975868e-02 0.00000000e+00 1.71023790e+02] [-1.98975868e-02 9.99802023e-01 0.00000000e+00 -8.00620496e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17186679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70037174299998 meters Centerline goodness : 0.994282 with order 1 Centerline is valid? [True, True] Translation: X:171.08, Y:-8.01, Z:0.02 [[ 9.99865421e-01 1.64054533e-02 0.00000000e+00 1.71081969e+02] [-1.64054533e-02 9.99865421e-01 0.00000000e+00 -8.01467918e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91234317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76037174299998 meters Centerline goodness : 0.994430 with order 1 Centerline is valid? [True, True] Translation: X:171.14, Y:-8.02, Z:0.02 [[ 9.99956869e-01 9.28760492e-03 0.00000000e+00 1.71140693e+02] [-9.28760492e-03 9.99956869e-01 0.00000000e+00 -8.02273592e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78125398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82037174299998 meters Centerline goodness : 0.992101 with order 1 Centerline is valid? [True, True] Translation: X:171.20, Y:-8.04, Z:0.01 [[ 9.99789794e-01 2.05028852e-02 0.00000000e+00 1.71197978e+02] [-2.05028852e-02 9.99789794e-01 0.00000000e+00 -8.04320242e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.68795809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88037174299998 meters Centerline goodness : 0.995060 with order 1 Centerline is valid? [True, True] Translation: X:171.26, Y:-8.03, Z:0.02 [[ 9.99994427e-01 3.33848314e-03 0.00000000e+00 1.71256763e+02] [-3.33848314e-03 9.99994427e-01 0.00000000e+00 -8.03409969e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83706486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.940371743 meters Centerline goodness : 0.994931 with order 1 Centerline is valid? [True, True] Translation: X:171.32, Y:-8.04, Z:0.02 [[ 9.99999998e-01 -5.75767398e-05 0.00000000e+00 1.71316176e+02] [ 5.75767398e-05 9.99999998e-01 0.00000000e+00 -8.04098678e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01456285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.000371743 meters Centerline goodness : 0.992847 with order 1 Centerline is valid? [True, True] Translation: X:171.38, Y:-8.06, Z:0.01 [[ 9.99961250e-01 8.80334998e-03 0.00000000e+00 1.71375354e+02] [-8.80334998e-03 9.99961250e-01 0.00000000e+00 -8.06175968e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08779853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.060371743 meters Centerline goodness : 0.993203 with order 1 Centerline is valid? [True, True] Translation: X:171.43, Y:-8.07, Z:0.01 [[ 9.99954302e-01 9.56006439e-03 0.00000000e+00 1.71433670e+02] [-9.56006439e-03 9.99954302e-01 0.00000000e+00 -8.06763950e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06857064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.120371743 meters Centerline goodness : 0.992742 with order 1 Centerline is valid? [True, True] Translation: X:171.49, Y:-8.07, Z:0.01 [[ 9.99907181e-01 1.36246225e-02 0.00000000e+00 1.71492330e+02] [-1.36246225e-02 9.99907181e-01 0.00000000e+00 -8.07156125e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11903660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.180371743 meters Centerline goodness : 0.995278 with order 1 Centerline is valid? [True, True] Translation: X:171.55, Y:-8.06, Z:0.02 [[ 9.99898921e-01 1.42178633e-02 0.00000000e+00 1.71551267e+02] [-1.42178633e-02 9.99898921e-01 0.00000000e+00 -8.06077935e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07609450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24037174299997 meters Centerline goodness : 0.994714 with order 1 Centerline is valid? [True, True] Translation: X:171.61, Y:-8.06, Z:0.02 [[ 9.99709636e-01 2.40965337e-02 0.00000000e+00 1.71609505e+02] [-2.40965337e-02 9.99709636e-01 0.00000000e+00 -8.06402824e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09091995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30037174299997 meters Centerline goodness : 0.994414 with order 1 Centerline is valid? [True, True] Translation: X:171.67, Y:-8.07, Z:0.02 [[ 9.99125314e-01 4.18163541e-02 0.00000000e+00 1.71668037e+02] [-4.18163541e-02 9.99125314e-01 0.00000000e+00 -8.06659872e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16077760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36037174299997 meters Centerline goodness : 0.994635 with order 1 Centerline is valid? [True, True] Translation: X:171.73, Y:-8.07, Z:0.02 [[ 9.98338916e-01 5.76143123e-02 0.00000000e+00 1.71725497e+02] [-5.76143123e-02 9.98338916e-01 0.00000000e+00 -8.07217717e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24106800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42037174299998 meters Centerline goodness : 0.994520 with order 1 Centerline is valid? [True, True] Translation: X:171.78, Y:-8.08, Z:0.02 [[ 9.97694980e-01 6.78581396e-02 0.00000000e+00 1.71783115e+02] [-6.78581396e-02 9.97694980e-01 0.00000000e+00 -8.08284754e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22361284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48037174299998 meters Centerline goodness : 0.994680 with order 1 Centerline is valid? [True, True] Translation: X:171.84, Y:-8.10, Z:0.02 [[ 9.97576696e-01 6.95753961e-02 0.00000000e+00 1.71840753e+02] [-6.95753961e-02 9.97576696e-01 0.00000000e+00 -8.09804955e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28101655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54037174299998 meters Centerline goodness : 0.994691 with order 1 Centerline is valid? [True, True] Translation: X:171.90, Y:-8.11, Z:0.02 [[ 9.97820976e-01 6.59795382e-02 0.00000000e+00 1.71898334e+02] [-6.59795382e-02 9.97820976e-01 0.00000000e+00 -8.11149719e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24233249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60037174299998 meters Centerline goodness : 0.994640 with order 1 Centerline is valid? [True, True] Translation: X:171.96, Y:-8.13, Z:0.02 [[ 9.98332192e-01 5.77307034e-02 0.00000000e+00 1.71956283e+02] [-5.77307034e-02 9.98332192e-01 0.00000000e+00 -8.13273145e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98162337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66037174299998 meters Centerline goodness : 0.993326 with order 1 Centerline is valid? [True, True] Translation: X:172.01, Y:-8.15, Z:0.02 [[ 9.98572563e-01 5.34119447e-02 0.00000000e+00 1.72014269e+02] [-5.34119447e-02 9.98572563e-01 0.00000000e+00 -8.15459328e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06445122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.720371743 meters Centerline goodness : 0.992566 with order 1 Centerline is valid? [True, True] Translation: X:172.07, Y:-8.17, Z:0.02 [[ 9.98666238e-01 5.16308500e-02 0.00000000e+00 1.72071621e+02] [-5.16308500e-02 9.98666238e-01 0.00000000e+00 -8.17477638e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11813767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.780371743 meters Centerline goodness : 0.991328 with order 1 Centerline is valid? [True, True] Translation: X:172.13, Y:-8.19, Z:0.02 [[ 9.98930353e-01 4.62401419e-02 0.00000000e+00 1.72129949e+02] [-4.62401419e-02 9.98930353e-01 0.00000000e+00 -8.19433048e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00326079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.840371743 meters Centerline goodness : 0.990747 with order 1 Centerline is valid? [True, True] Translation: X:172.19, Y:-8.21, Z:0.02 [[ 9.99147150e-01 4.12913222e-02 0.00000000e+00 1.72186809e+02] [-4.12913222e-02 9.99147150e-01 0.00000000e+00 -8.20890005e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95879098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.900371743 meters Centerline goodness : 0.990739 with order 1 Centerline is valid? [True, True] Translation: X:172.24, Y:-8.23, Z:0.01 [[ 9.99465334e-01 3.26962557e-02 0.00000000e+00 1.72244935e+02] [-3.26962557e-02 9.99465334e-01 0.00000000e+00 -8.22693600e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39181550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96037174299997 meters Centerline goodness : 0.985935 with order 1 Centerline is valid? [True, True] Translation: X:172.30, Y:-8.26, Z:0.01 [[ 9.99312913e-01 3.70634816e-02 0.00000000e+00 1.72302621e+02] [-3.70634816e-02 9.99312913e-01 0.00000000e+00 -8.25716943e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23231991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02037174299997 meters Centerline goodness : 0.986624 with order 1 Centerline is valid? [True, True] Translation: X:172.36, Y:-8.27, Z:0.01 [[ 9.99506197e-01 3.14223185e-02 0.00000000e+00 1.72361449e+02] [-3.14223185e-02 9.99506197e-01 0.00000000e+00 -8.26666271e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26017941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08037174299997 meters Centerline goodness : 0.987570 with order 1 Centerline is valid? [True, True] Translation: X:172.42, Y:-8.27, Z:0.02 [[ 9.99919730e-01 1.26701940e-02 0.00000000e+00 1.72419081e+02] [-1.26701940e-02 9.99919730e-01 0.00000000e+00 -8.26809608e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94265244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14037174299997 meters Centerline goodness : 0.985957 with order 1 Centerline is valid? [True, True] Translation: X:172.48, Y:-8.29, Z:0.01 [[ 9.99769842e-01 2.14537470e-02 0.00000000e+00 1.72476463e+02] [-2.14537470e-02 9.99769842e-01 0.00000000e+00 -8.28845899e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34827056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20037174299998 meters Centerline goodness : 0.986479 with order 1 Centerline is valid? [True, True] Translation: X:172.53, Y:-8.30, Z:0.02 [[ 9.99927075e-01 1.20766478e-02 0.00000000e+00 1.72534885e+02] [-1.20766478e-02 9.99927075e-01 0.00000000e+00 -8.29519657e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66321516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26037174299998 meters Centerline goodness : 0.985552 with order 1 Centerline is valid? [True, True] Translation: X:172.59, Y:-8.30, Z:0.02 [[ 9.99976922e-01 6.79384199e-03 0.00000000e+00 1.72593750e+02] [-6.79384199e-03 9.99976922e-01 0.00000000e+00 -8.29536667e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07210492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32037174299998 meters Centerline goodness : 0.987556 with order 1 Centerline is valid? [True, True] Translation: X:172.65, Y:-8.29, Z:0.02 [[ 9.99999468e-01 1.03166922e-03 0.00000000e+00 1.72652538e+02] [-1.03166922e-03 9.99999468e-01 0.00000000e+00 -8.28951519e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18940211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38037174299998 meters Centerline goodness : 0.988766 with order 1 Centerline is valid? [True, True] Translation: X:172.71, Y:-8.29, Z:0.02 [[ 9.99989366e-01 4.61174287e-03 0.00000000e+00 1.72713070e+02] [-4.61174287e-03 9.99989366e-01 0.00000000e+00 -8.28881916e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40975001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.440371743 meters Centerline goodness : 0.985806 with order 1 Centerline is valid? [True, True] Translation: X:172.77, Y:-8.30, Z:0.02 [[ 9.99861529e-01 1.66409962e-02 0.00000000e+00 1.72772800e+02] [-1.66409962e-02 9.99861529e-01 0.00000000e+00 -8.29712235e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96450438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.500371743 meters Centerline goodness : 0.986771 with order 1 Centerline is valid? [True, True] Translation: X:172.83, Y:-8.30, Z:0.02 [[ 9.99663528e-01 2.59389807e-02 0.00000000e+00 1.72830521e+02] [-2.59389807e-02 9.99663528e-01 0.00000000e+00 -8.29503449e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80966741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.560371743 meters Centerline goodness : 0.988186 with order 1 Centerline is valid? [True, True] Translation: X:172.89, Y:-8.28, Z:0.02 [[ 9.99659079e-01 2.61098907e-02 0.00000000e+00 1.72889272e+02] [-2.61098907e-02 9.99659079e-01 0.00000000e+00 -8.28342008e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45558267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.620371743 meters Centerline goodness : 0.988989 with order 1 Centerline is valid? [True, True] Translation: X:172.95, Y:-8.28, Z:0.03 [[ 9.99435899e-01 3.35839875e-02 0.00000000e+00 1.72947848e+02] [-3.35839875e-02 9.99435899e-01 0.00000000e+00 -8.28390780e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73901275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.680371743 meters Centerline goodness : 0.985606 with order 1 Centerline is valid? [True, True] Translation: X:173.01, Y:-8.30, Z:0.02 [[ 9.98954962e-01 4.57054066e-02 0.00000000e+00 1.73005852e+02] [-4.57054066e-02 9.98954962e-01 0.00000000e+00 -8.29544943e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42642048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74037174299997 meters Centerline goodness : 0.989497 with order 1 Centerline is valid? [True, True] Translation: X:173.06, Y:-8.29, Z:0.03 [[ 9.99308164e-01 3.71913015e-02 0.00000000e+00 1.73063157e+02] [-3.71913015e-02 9.99308164e-01 0.00000000e+00 -8.28689539e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88435032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80037174299997 meters Centerline goodness : 0.986373 with order 1 Centerline is valid? [True, True] Translation: X:173.12, Y:-8.30, Z:0.02 [[ 9.98783415e-01 4.93121595e-02 0.00000000e+00 1.73120485e+02] [-4.93121595e-02 9.98783415e-01 0.00000000e+00 -8.30444760e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22480989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86037174299997 meters Centerline goodness : 0.988706 with order 1 Centerline is valid? [True, True] Translation: X:173.18, Y:-8.30, Z:0.03 [[ 9.99258090e-01 3.85132324e-02 0.00000000e+00 1.73178892e+02] [-3.85132324e-02 9.99258090e-01 0.00000000e+00 -8.30069401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83297020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92037174299998 meters Centerline goodness : 0.989623 with order 1 Centerline is valid? [True, True] Translation: X:173.24, Y:-8.31, Z:0.03 [[ 9.99318702e-01 3.69070636e-02 0.00000000e+00 1.73236648e+02] [-3.69070636e-02 9.99318702e-01 0.00000000e+00 -8.30758266e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12009809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98037174299998 meters Centerline goodness : 0.986237 with order 1 Centerline is valid? [True, True] Translation: X:173.29, Y:-8.33, Z:0.03 [[ 9.99204533e-01 3.98785716e-02 0.00000000e+00 1.73294855e+02] [-3.98785716e-02 9.99204533e-01 0.00000000e+00 -8.32615657e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70621681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04037174299998 meters Centerline goodness : 0.988286 with order 1 Centerline is valid? [True, True] Translation: X:173.35, Y:-8.32, Z:0.03 [[ 9.99693777e-01 2.47457429e-02 0.00000000e+00 1.73353136e+02] [-2.47457429e-02 9.99693777e-01 0.00000000e+00 -8.32339818e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99737664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10037174299998 meters Centerline goodness : 0.988900 with order 1 Centerline is valid? [True, True] Translation: X:173.41, Y:-8.33, Z:0.03 [[ 9.99927653e-01 1.20286552e-02 0.00000000e+00 1.73411073e+02] [-1.20286552e-02 9.99927653e-01 0.00000000e+00 -8.33436405e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88118537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16037174299998 meters Centerline goodness : 0.990937 with order 1 Centerline is valid? [True, True] Translation: X:173.47, Y:-8.34, Z:0.03 [[ 9.99990481e-01 -4.36334951e-03 0.00000000e+00 1.73470232e+02] [ 4.36334951e-03 9.99990481e-01 0.00000000e+00 -8.34243855e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80190469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.220371743 meters Centerline goodness : 0.989894 with order 1 Centerline is valid? [True, True] Translation: X:173.53, Y:-8.36, Z:0.03 [[ 9.99946888e-01 -1.03063603e-02 0.00000000e+00 1.73531044e+02] [ 1.03063603e-02 9.99946888e-01 0.00000000e+00 -8.35846720e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96367239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.280371743 meters Centerline goodness : 0.990469 with order 1 Centerline is valid? [True, True] Translation: X:173.59, Y:-8.35, Z:0.03 [[ 9.99713923e-01 -2.39180279e-02 0.00000000e+00 1.73592949e+02] [ 2.39180279e-02 9.99713923e-01 0.00000000e+00 -8.35384187e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24002038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.340371743 meters Centerline goodness : 0.990916 with order 1 Centerline is valid? [True, True] Translation: X:173.65, Y:-8.36, Z:0.03 [[ 9.99567046e-01 -2.94231348e-02 0.00000000e+00 1.73654808e+02] [ 2.94231348e-02 9.99567046e-01 0.00000000e+00 -8.35541064e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39021993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.400371743 meters Centerline goodness : 0.990671 with order 1 Centerline is valid? [True, True] Translation: X:173.72, Y:-8.35, Z:0.03 [[ 9.99521964e-01 -3.09167216e-02 0.00000000e+00 1.73716612e+02] [ 3.09167216e-02 9.99521964e-01 0.00000000e+00 -8.35293659e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23581588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46037174299997 meters Centerline goodness : 0.989136 with order 1 Centerline is valid? [True, True] Translation: X:173.78, Y:-8.35, Z:0.03 [[ 9.99534281e-01 -3.05159245e-02 0.00000000e+00 1.73779175e+02] [ 3.05159245e-02 9.99534281e-01 0.00000000e+00 -8.35390131e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29538127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52037174299997 meters Centerline goodness : 0.987380 with order 1 Centerline is valid? [True, True] Translation: X:173.84, Y:-8.36, Z:0.03 [[ 9.99622716e-01 -2.74667951e-02 0.00000000e+00 1.73841448e+02] [ 2.74667951e-02 9.99622716e-01 0.00000000e+00 -8.35736318e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75580702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58037174299997 meters Centerline goodness : 0.988492 with order 1 Centerline is valid? [True, True] Translation: X:173.90, Y:-8.34, Z:0.03 [[ 9.99334559e-01 -3.64751729e-02 0.00000000e+00 1.73903475e+02] [ 3.64751729e-02 9.99334559e-01 0.00000000e+00 -8.34139073e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93900570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64037174299997 meters Centerline goodness : 0.989210 with order 1 Centerline is valid? [True, True] Translation: X:173.97, Y:-8.33, Z:0.03 [[ 9.99265335e-01 -3.83247995e-02 0.00000000e+00 1.73966425e+02] [ 3.83247995e-02 9.99265335e-01 0.00000000e+00 -8.33292371e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93835324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70037174299998 meters Centerline goodness : 0.989207 with order 1 Centerline is valid? [True, True] Translation: X:174.03, Y:-8.32, Z:0.03 [[ 9.99396532e-01 -3.47357533e-02 0.00000000e+00 1.74029277e+02] [ 3.47357533e-02 9.99396532e-01 0.00000000e+00 -8.32337983e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98577201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76037174299998 meters Centerline goodness : 0.985379 with order 1 Centerline is valid? [True, True] Translation: X:174.09, Y:-8.33, Z:0.03 [[ 9.99747931e-01 -2.24516035e-02 0.00000000e+00 1.74091699e+02] [ 2.24516035e-02 9.99747931e-01 0.00000000e+00 -8.32711998e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86973035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82037174299998 meters Centerline goodness : 0.986437 with order 1 Centerline is valid? [True, True] Translation: X:174.15, Y:-8.31, Z:0.03 [[ 9.99933798e-01 -1.15065144e-02 0.00000000e+00 1.74154154e+02] [ 1.15065144e-02 9.99933798e-01 0.00000000e+00 -8.31484014e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44667113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88037174299998 meters Centerline goodness : 0.987075 with order 1 Centerline is valid? [True, True] Translation: X:174.22, Y:-8.30, Z:0.04 [[ 9.99999320e-01 1.16582001e-03 0.00000000e+00 1.74216734e+02] [-1.16582001e-03 9.99999320e-01 0.00000000e+00 -8.30466671e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71923150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.940371743 meters Centerline goodness : 0.987860 with order 1 Centerline is valid? [True, True] Translation: X:174.28, Y:-8.30, Z:0.04 [[ 9.99965105e-01 8.35393522e-03 0.00000000e+00 1.74276639e+02] [-8.35393522e-03 9.99965105e-01 0.00000000e+00 -8.30090856e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69526398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.000371743 meters Centerline goodness : 0.989976 with order 1 Centerline is valid? [True, True] Translation: X:174.34, Y:-8.29, Z:0.03 [[ 9.99692778e-01 2.47860927e-02 0.00000000e+00 1.74335639e+02] [-2.47860927e-02 9.99692778e-01 0.00000000e+00 -8.29196004e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28001114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.060371743 meters Centerline goodness : 0.992249 with order 1 Centerline is valid? [True, True] Translation: X:174.39, Y:-8.28, Z:0.04 [[ 9.99751790e-01 2.22791225e-02 0.00000000e+00 1.74393697e+02] [-2.22791225e-02 9.99751790e-01 0.00000000e+00 -8.28155431e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51631540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.120371743 meters Centerline goodness : 0.992814 with order 1 Centerline is valid? [True, True] Translation: X:174.45, Y:-8.28, Z:0.03 [[ 9.99699343e-01 2.45198459e-02 0.00000000e+00 1.74451188e+02] [-2.45198459e-02 9.99699343e-01 0.00000000e+00 -8.28151721e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42707793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.180371743 meters Centerline goodness : 0.992137 with order 1 Centerline is valid? [True, True] Translation: X:174.51, Y:-8.28, Z:0.03 [[ 9.99765023e-01 2.16771662e-02 0.00000000e+00 1.74509661e+02] [-2.16771662e-02 9.99765023e-01 0.00000000e+00 -8.28474753e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48446310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24037174299997 meters Centerline goodness : 0.992527 with order 1 Centerline is valid? [True, True] Translation: X:174.57, Y:-8.29, Z:0.03 [[ 9.99893048e-01 1.46250898e-02 0.00000000e+00 1.74567799e+02] [-1.46250898e-02 9.99893048e-01 0.00000000e+00 -8.29052266e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43538950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30037174299997 meters Centerline goodness : 0.989765 with order 1 Centerline is valid? [True, True] Translation: X:174.62, Y:-8.31, Z:0.03 [[ 9.99811194e-01 1.94313257e-02 0.00000000e+00 1.74624463e+02] [-1.94313257e-02 9.99811194e-01 0.00000000e+00 -8.30924477e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79828941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36037174299997 meters Centerline goodness : 0.988911 with order 1 Centerline is valid? [True, True] Translation: X:174.68, Y:-8.32, Z:0.03 [[ 9.99936457e-01 1.12730537e-02 0.00000000e+00 1.74683373e+02] [-1.12730537e-02 9.99936457e-01 0.00000000e+00 -8.31657541e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72565313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42037174299998 meters Centerline goodness : 0.990953 with order 1 Centerline is valid? [True, True] Translation: X:174.74, Y:-8.31, Z:0.03 [[ 9.99992928e-01 -3.76078157e-03 0.00000000e+00 1.74741893e+02] [ 3.76078157e-03 9.99992928e-01 0.00000000e+00 -8.31310513e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37015913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48037174299998 meters Centerline goodness : 0.991138 with order 1 Centerline is valid? [True, True] Translation: X:174.80, Y:-8.32, Z:0.03 [[ 9.99982858e-01 -5.85525038e-03 0.00000000e+00 1.74802842e+02] [ 5.85525038e-03 9.99982858e-01 0.00000000e+00 -8.31834418e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36883035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54037174299998 meters Centerline goodness : 0.991033 with order 1 Centerline is valid? [True, True] Translation: X:174.86, Y:-8.32, Z:0.03 [[ 9.99998823e-01 -1.53456647e-03 0.00000000e+00 1.74864075e+02] [ 1.53456647e-03 9.99998823e-01 0.00000000e+00 -8.32116843e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37503419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60037174299998 meters Centerline goodness : 0.988048 with order 1 Centerline is valid? [True, True] Translation: X:174.92, Y:-8.33, Z:0.03 [[ 9.99963639e-01 8.52762594e-03 0.00000000e+00 1.74924333e+02] [-8.52762594e-03 9.99963639e-01 0.00000000e+00 -8.33325509e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16707780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66037174299998 meters Centerline goodness : 0.988227 with order 1 Centerline is valid? [True, True] Translation: X:174.98, Y:-8.34, Z:0.03 [[ 9.99887345e-01 1.50099193e-02 0.00000000e+00 1.74982819e+02] [-1.50099193e-02 9.99887345e-01 0.00000000e+00 -8.33648268e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08943608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.720371743 meters Centerline goodness : 0.989980 with order 1 Centerline is valid? [True, True] Translation: X:175.04, Y:-8.33, Z:0.03 [[ 9.99859927e-01 1.67370045e-02 0.00000000e+00 1.75040961e+02] [-1.67370045e-02 9.99859927e-01 0.00000000e+00 -8.33213058e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48751987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.780371743 meters Centerline goodness : 0.987409 with order 1 Centerline is valid? [True, True] Translation: X:175.10, Y:-8.34, Z:0.03 [[ 9.99721715e-01 2.35900933e-02 0.00000000e+00 1.75098119e+02] [-2.35900933e-02 9.99721715e-01 0.00000000e+00 -8.34496703e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15229347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.840371743 meters Centerline goodness : 0.989390 with order 1 Centerline is valid? [True, True] Translation: X:175.16, Y:-8.34, Z:0.03 [[ 9.99869342e-01 1.61647699e-02 0.00000000e+00 1.75156443e+02] [-1.61647699e-02 9.99869342e-01 0.00000000e+00 -8.34216379e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34731356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.900371743 meters Centerline goodness : 0.989678 with order 1 Centerline is valid? [True, True] Translation: X:175.21, Y:-8.35, Z:0.03 [[ 9.99892149e-01 1.46863698e-02 0.00000000e+00 1.75214792e+02] [-1.46863698e-02 9.99892149e-01 0.00000000e+00 -8.34970820e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38263563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96037174299997 meters Centerline goodness : 0.988591 with order 1 Centerline is valid? [True, True] Translation: X:175.27, Y:-8.36, Z:0.03 [[ 9.99939849e-01 1.09681070e-02 0.00000000e+00 1.75272285e+02] [-1.09681070e-02 9.99939849e-01 0.00000000e+00 -8.35832105e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31217382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02037174299997 meters Centerline goodness : 0.986428 with order 1 Centerline is valid? [True, True] Translation: X:175.33, Y:-8.38, Z:0.02 [[ 9.99890819e-01 1.47766891e-02 0.00000000e+00 1.75330618e+02] [-1.47766891e-02 9.99890819e-01 0.00000000e+00 -8.37818746e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10613803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08037174299997 meters Centerline goodness : 0.989195 with order 1 Centerline is valid? [True, True] Translation: X:175.39, Y:-8.37, Z:0.03 [[ 9.99999733e-01 -7.30567552e-04 0.00000000e+00 1.75389920e+02] [ 7.30567552e-04 9.99999733e-01 0.00000000e+00 -8.37142140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09733720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14037174299997 meters Centerline goodness : 0.985417 with order 1 Centerline is valid? [True, True] Translation: X:175.45, Y:-8.39, Z:0.02 [[ 9.99997665e-01 2.16080123e-03 0.00000000e+00 1.75449546e+02] [-2.16080123e-03 9.99997665e-01 0.00000000e+00 -8.39117176e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06518904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20037174299998 meters Centerline goodness : 0.988151 with order 1 Centerline is valid? [True, True] Translation: X:175.51, Y:-8.38, Z:0.03 [[ 9.99897688e-01 -1.43043364e-02 0.00000000e+00 1.75509315e+02] [ 1.43043364e-02 9.99897688e-01 0.00000000e+00 -8.38216772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05366486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26037174299998 meters Centerline goodness : 0.985597 with order 1 Centerline is valid? [True, True] Translation: X:175.57, Y:-8.39, Z:0.03 [[ 9.99962097e-01 -8.70657949e-03 0.00000000e+00 1.75570603e+02] [ 8.70657949e-03 9.99962097e-01 0.00000000e+00 -8.39203417e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07153076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32037174299998 meters Centerline goodness : 0.986339 with order 1 Centerline is valid? [True, True] Translation: X:175.63, Y:-8.39, Z:0.03 [[ 9.99981478e-01 -6.08641078e-03 0.00000000e+00 1.75633252e+02] [ 6.08641078e-03 9.99981478e-01 0.00000000e+00 -8.39134624e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34878476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38037174299998 meters Centerline goodness : 0.989536 with order 1 Centerline is valid? [True, True] Translation: X:175.69, Y:-8.38, Z:0.03 [[ 9.99968282e-01 -7.96463333e-03 0.00000000e+00 1.75694943e+02] [ 7.96463333e-03 9.99968282e-01 0.00000000e+00 -8.38456261e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46425117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.440371743 meters Centerline goodness : 0.986704 with order 1 Centerline is valid? [True, True] Translation: X:175.76, Y:-8.39, Z:0.04 [[ 9.99998955e-01 -1.44562778e-03 0.00000000e+00 1.75756315e+02] [ 1.44562778e-03 9.99998955e-01 0.00000000e+00 -8.38822688e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65452525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.500371743 meters Centerline goodness : 0.987886 with order 1 Centerline is valid? [True, True] Translation: X:175.82, Y:-8.38, Z:0.04 [[ 9.99996305e-01 -2.71858939e-03 0.00000000e+00 1.75816752e+02] [ 2.71858939e-03 9.99996305e-01 0.00000000e+00 -8.38499229e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85408788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.560371743 meters Centerline goodness : 0.987246 with order 1 Centerline is valid? [True, True] Translation: X:175.88, Y:-8.38, Z:0.04 [[ 9.99999878e-01 4.94628746e-04 0.00000000e+00 1.75878067e+02] [-4.94628746e-04 9.99999878e-01 0.00000000e+00 -8.38244571e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80683029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.620371743 meters Centerline goodness : 0.990462 with order 1 Centerline is valid? [True, True] Translation: X:175.94, Y:-8.38, Z:0.04 [[ 9.99999876e-01 -4.98731776e-04 0.00000000e+00 1.75938237e+02] [ 4.98731776e-04 9.99999876e-01 0.00000000e+00 -8.37671610e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56792857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.680371743 meters Centerline goodness : 0.989068 with order 1 Centerline is valid? [True, True] Translation: X:176.00, Y:-8.38, Z:0.04 [[ 9.99976612e-01 6.83923593e-03 0.00000000e+00 1.75998709e+02] [-6.83923593e-03 9.99976612e-01 0.00000000e+00 -8.38175394e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62908842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74037174299997 meters Centerline goodness : 0.990767 with order 1 Centerline is valid? [True, True] Translation: X:176.06, Y:-8.37, Z:0.04 [[ 9.99999153e-01 1.30154776e-03 0.00000000e+00 1.76057520e+02] [-1.30154776e-03 9.99999153e-01 0.00000000e+00 -8.37388598e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63258735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80037174299997 meters Centerline goodness : 0.991406 with order 1 Centerline is valid? [True, True] Translation: X:176.12, Y:-8.37, Z:0.04 [[ 9.99999986e-01 -1.69898370e-04 0.00000000e+00 1.76117839e+02] [ 1.69898370e-04 9.99999986e-01 0.00000000e+00 -8.37243410e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67381141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86037174299997 meters Centerline goodness : 0.989565 with order 1 Centerline is valid? [True, True] Translation: X:176.18, Y:-8.38, Z:0.04 [[ 9.99995264e-01 3.07781459e-03 0.00000000e+00 1.76178448e+02] [-3.07781459e-03 9.99995264e-01 0.00000000e+00 -8.37868627e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55414578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92037174299998 meters Centerline goodness : 0.991733 with order 1 Centerline is valid? [True, True] Translation: X:176.24, Y:-8.37, Z:0.04 [[ 9.99991958e-01 -4.01036122e-03 0.00000000e+00 1.76238477e+02] [ 4.01036122e-03 9.99991958e-01 0.00000000e+00 -8.37171021e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99783989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98037174299998 meters Centerline goodness : 0.992206 with order 1 Centerline is valid? [True, True] Translation: X:176.30, Y:-8.37, Z:0.04 [[ 9.99994100e-01 -3.43514788e-03 0.00000000e+00 1.76300025e+02] [ 3.43514788e-03 9.99994100e-01 0.00000000e+00 -8.36882657e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09388139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04037174299998 meters Centerline goodness : 0.991108 with order 1 Centerline is valid? [True, True] Translation: X:176.36, Y:-8.37, Z:0.04 [[ 9.99981997e-01 6.00045631e-03 0.00000000e+00 1.76360999e+02] [-6.00045631e-03 9.99981997e-01 0.00000000e+00 -8.37304910e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82404891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10037174299998 meters Centerline goodness : 0.991346 with order 1 Centerline is valid? [True, True] Translation: X:176.42, Y:-8.37, Z:0.04 [[ 9.99958523e-01 9.10777522e-03 0.00000000e+00 1.76420061e+02] [-9.10777522e-03 9.99958523e-01 0.00000000e+00 -8.37260529e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78667643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16037174299998 meters Centerline goodness : 0.992457 with order 1 Centerline is valid? [True, True] Translation: X:176.48, Y:-8.38, Z:0.03 [[ 9.99926740e-01 1.21043253e-02 0.00000000e+00 1.76479205e+02] [-1.21043253e-02 9.99926740e-01 0.00000000e+00 -8.37572329e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41397816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.220371743 meters Centerline goodness : 0.991437 with order 1 Centerline is valid? [True, True] Translation: X:176.54, Y:-8.38, Z:0.04 [[ 9.99903564e-01 1.38874702e-02 0.00000000e+00 1.76538136e+02] [-1.38874702e-02 9.99903564e-01 0.00000000e+00 -8.37514490e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53362916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.280371743 meters Centerline goodness : 0.991625 with order 1 Centerline is valid? [True, True] Translation: X:176.60, Y:-8.38, Z:0.04 [[ 9.99882696e-01 1.53165022e-02 0.00000000e+00 1.76597041e+02] [-1.53165022e-02 9.99882696e-01 0.00000000e+00 -8.37567047e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58895647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.340371743 meters Centerline goodness : 0.993538 with order 1 Centerline is valid? [True, True] Translation: X:176.66, Y:-8.37, Z:0.04 [[ 9.99957674e-01 9.20054700e-03 0.00000000e+00 1.76655463e+02] [-9.20054700e-03 9.99957674e-01 0.00000000e+00 -8.37022135e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16909872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.400371743 meters Centerline goodness : 0.991426 with order 1 Centerline is valid? [True, True] Translation: X:176.71, Y:-8.38, Z:0.04 [[ 9.99907205e-01 1.36228053e-02 0.00000000e+00 1.76714174e+02] [-1.36228053e-02 9.99907205e-01 0.00000000e+00 -8.37987773e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82832609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46037174299997 meters Centerline goodness : 0.991546 with order 1 Centerline is valid? [True, True] Translation: X:176.77, Y:-8.38, Z:0.04 [[ 9.99948466e-01 1.01520823e-02 0.00000000e+00 1.76773207e+02] [-1.01520823e-02 9.99948466e-01 0.00000000e+00 -8.38416366e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63765185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52037174299997 meters Centerline goodness : 0.991767 with order 1 Centerline is valid? [True, True] Translation: X:176.83, Y:-8.39, Z:0.04 [[ 9.99985744e-01 5.33961396e-03 0.00000000e+00 1.76831637e+02] [-5.33961396e-03 9.99985744e-01 0.00000000e+00 -8.38795247e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55664949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58037174299997 meters Centerline goodness : 0.993194 with order 1 Centerline is valid? [True, True] Translation: X:176.89, Y:-8.38, Z:0.04 [[ 9.99984608e-01 -5.54822177e-03 0.00000000e+00 1.76890484e+02] [ 5.54822177e-03 9.99984608e-01 0.00000000e+00 -8.38470884e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04788707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64037174299997 meters Centerline goodness : 0.992510 with order 1 Centerline is valid? [True, True] Translation: X:176.95, Y:-8.39, Z:0.04 [[ 9.99975422e-01 -7.01103362e-03 0.00000000e+00 1.76953044e+02] [ 7.01103362e-03 9.99975422e-01 0.00000000e+00 -8.38746621e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23442925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70037174299998 meters Centerline goodness : 0.993077 with order 1 Centerline is valid? [True, True] Translation: X:177.02, Y:-8.39, Z:0.04 [[ 9.99960020e-01 -8.94189419e-03 0.00000000e+00 1.77015066e+02] [ 8.94189419e-03 9.99960020e-01 0.00000000e+00 -8.39048333e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41090352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76037174299998 meters Centerline goodness : 0.993405 with order 1 Centerline is valid? [True, True] Translation: X:177.08, Y:-8.40, Z:0.04 [[ 9.99940766e-01 -1.08841378e-02 0.00000000e+00 1.77077136e+02] [ 1.08841378e-02 9.99940766e-01 0.00000000e+00 -8.39528690e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40559053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82037174299998 meters Centerline goodness : 0.990792 with order 1 Centerline is valid? [True, True] Translation: X:177.14, Y:-8.41, Z:0.03 [[ 9.99998129e-01 -1.93454978e-03 0.00000000e+00 1.77138575e+02] [ 1.93454978e-03 9.99998129e-01 0.00000000e+00 -8.41262109e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12068063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88037174299998 meters Centerline goodness : 0.990499 with order 1 Centerline is valid? [True, True] Translation: X:177.20, Y:-8.42, Z:0.03 [[ 9.99995018e-01 -3.15673248e-03 0.00000000e+00 1.77198734e+02] [ 3.15673248e-03 9.99995018e-01 0.00000000e+00 -8.41685483e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06950587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.940371743 meters Centerline goodness : 0.990093 with order 1 Centerline is valid? [True, True] Translation: X:177.26, Y:-8.42, Z:0.03 [[ 9.99991760e-01 -4.05963922e-03 0.00000000e+00 1.77259948e+02] [ 4.05963922e-03 9.99991760e-01 0.00000000e+00 -8.41863263e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36351052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.000371743 meters Centerline goodness : 0.992350 with order 1 Centerline is valid? [True, True] Translation: X:177.32, Y:-8.41, Z:0.04 [[ 9.99936457e-01 -1.12730909e-02 0.00000000e+00 1.77321581e+02] [ 1.12730909e-02 9.99936457e-01 0.00000000e+00 -8.40983747e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25736158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.060371743 meters Centerline goodness : 0.992606 with order 1 Centerline is valid? [True, True] Translation: X:177.38, Y:-8.41, Z:0.04 [[ 9.99942744e-01 -1.07008661e-02 0.00000000e+00 1.77383826e+02] [ 1.07008661e-02 9.99942744e-01 0.00000000e+00 -8.41141010e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33332839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.120371743 meters Centerline goodness : 0.991037 with order 1 Centerline is valid? [True, True] Translation: X:177.45, Y:-8.42, Z:0.04 [[ 9.99973555e-01 -7.27247123e-03 0.00000000e+00 1.77445568e+02] [ 7.27247123e-03 9.99973555e-01 0.00000000e+00 -8.42370870e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86813374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.180371743 meters Centerline goodness : 0.990549 with order 1 Centerline is valid? [True, True] Translation: X:177.51, Y:-8.42, Z:0.04 [[ 9.99895150e-01 -1.44806218e-02 0.00000000e+00 1.77508119e+02] [ 1.44806218e-02 9.99895150e-01 0.00000000e+00 -8.42402717e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30915626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24037174299997 meters Centerline goodness : 0.993269 with order 1 Centerline is valid? [True, True] Translation: X:177.57, Y:-8.42, Z:0.04 [[ 9.99466545e-01 -3.26592469e-02 0.00000000e+00 1.77569295e+02] [ 3.26592469e-02 9.99466545e-01 0.00000000e+00 -8.41940698e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09757540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30037174299997 meters Centerline goodness : 0.991853 with order 1 Centerline is valid? [True, True] Translation: X:177.63, Y:-8.43, Z:0.04 [[ 9.99450020e-01 -3.31610702e-02 0.00000000e+00 1.77631528e+02] [ 3.31610702e-02 9.99450020e-01 0.00000000e+00 -8.42638215e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28733374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36037174299997 meters Centerline goodness : 0.991747 with order 1 Centerline is valid? [True, True] Translation: X:177.69, Y:-8.43, Z:0.04 [[ 9.99449406e-01 -3.31795894e-02 0.00000000e+00 1.77693710e+02] [ 3.31795894e-02 9.99449406e-01 0.00000000e+00 -8.42698858e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76772524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42037174299998 meters Centerline goodness : 0.992460 with order 1 Centerline is valid? [True, True] Translation: X:177.76, Y:-8.42, Z:0.04 [[ 9.99415740e-01 -3.41786316e-02 0.00000000e+00 1.77756001e+02] [ 3.41786316e-02 9.99415740e-01 0.00000000e+00 -8.42295674e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41705655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48037174299998 meters Centerline goodness : 0.992190 with order 1 Centerline is valid? [True, True] Translation: X:177.82, Y:-8.42, Z:0.04 [[ 9.99601594e-01 -2.82250629e-02 0.00000000e+00 1.77818306e+02] [ 2.82250629e-02 9.99601594e-01 0.00000000e+00 -8.42365672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02702598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54037174299998 meters Centerline goodness : 0.994501 with order 1 Centerline is valid? [True, True] Translation: X:177.88, Y:-8.41, Z:0.05 [[ 9.99520273e-01 -3.09713536e-02 0.00000000e+00 1.77879786e+02] [ 3.09713536e-02 9.99520273e-01 0.00000000e+00 -8.41033770e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66049531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60037174299998 meters Centerline goodness : 0.992651 with order 1 Centerline is valid? [True, True] Translation: X:177.94, Y:-8.41, Z:0.05 [[ 9.99627114e-01 -2.73062829e-02 0.00000000e+00 1.77941873e+02] [ 2.73062829e-02 9.99627114e-01 0.00000000e+00 -8.40929413e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57582066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66037174299998 meters Centerline goodness : 0.991776 with order 1 Centerline is valid? [True, True] Translation: X:178.00, Y:-8.41, Z:0.04 [[ 9.99835556e-01 -1.81345330e-02 0.00000000e+00 1.78003462e+02] [ 1.81345330e-02 9.99835556e-01 0.00000000e+00 -8.41458541e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99139748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.720371743 meters Centerline goodness : 0.992643 with order 1 Centerline is valid? [True, True] Translation: X:178.07, Y:-8.41, Z:0.04 [[ 9.99877983e-01 -1.56211384e-02 0.00000000e+00 1.78065189e+02] [ 1.56211384e-02 9.99877983e-01 0.00000000e+00 -8.40840354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16511406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.780371743 meters Centerline goodness : 0.992769 with order 1 Centerline is valid? [True, True] Translation: X:178.13, Y:-8.41, Z:0.04 [[ 9.99974297e-01 -7.16980107e-03 0.00000000e+00 1.78127695e+02] [ 7.16980107e-03 9.99974297e-01 0.00000000e+00 -8.40558102e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14882282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.840371743 meters Centerline goodness : 0.993160 with order 1 Centerline is valid? [True, True] Translation: X:178.19, Y:-8.40, Z:0.04 [[ 9.99999923e-01 -3.91999175e-04 0.00000000e+00 1.78189312e+02] [ 3.91999175e-04 9.99999923e-01 0.00000000e+00 -8.40338542e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30893296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.900371743 meters Centerline goodness : 0.992555 with order 1 Centerline is valid? [True, True] Translation: X:178.25, Y:-8.40, Z:0.04 [[ 9.99874156e-01 1.58641624e-02 0.00000000e+00 1.78249144e+02] [-1.58641624e-02 9.99874156e-01 0.00000000e+00 -8.40180105e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14998041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96037174299997 meters Centerline goodness : 0.993816 with order 1 Centerline is valid? [True, True] Translation: X:178.31, Y:-8.39, Z:0.05 [[ 9.99817064e-01 1.91269106e-02 0.00000000e+00 1.78308419e+02] [-1.91269106e-02 9.99817064e-01 0.00000000e+00 -8.39080179e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01789769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02037174299997 meters Centerline goodness : 0.994301 with order 1 Centerline is valid? [True, True] Translation: X:178.37, Y:-8.39, Z:0.05 [[ 9.99416674e-01 3.41513165e-02 0.00000000e+00 1.78365340e+02] [-3.41513165e-02 9.99416674e-01 0.00000000e+00 -8.38974518e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90361341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08037174299997 meters Centerline goodness : 0.994485 with order 1 Centerline is valid? [True, True] Translation: X:178.42, Y:-8.39, Z:0.05 [[ 9.98983879e-01 4.50689396e-02 0.00000000e+00 1.78423120e+02] [-4.50689396e-02 9.98983879e-01 0.00000000e+00 -8.39189908e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76283813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14037174299997 meters Centerline goodness : 0.992977 with order 1 Centerline is valid? [True, True] Translation: X:178.48, Y:-8.41, Z:0.03 [[ 9.97948485e-01 6.40220322e-02 0.00000000e+00 1.78480796e+02] [-6.40220322e-02 9.97948485e-01 0.00000000e+00 -8.41082906e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36877609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20037174299998 meters Centerline goodness : 0.994758 with order 1 Centerline is valid? [True, True] Translation: X:178.54, Y:-8.40, Z:0.05 [[ 9.98427367e-01 5.60606242e-02 0.00000000e+00 1.78538639e+02] [-5.60606242e-02 9.98427367e-01 0.00000000e+00 -8.40390065e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52069804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26037174299998 meters Centerline goodness : 0.992459 with order 1 Centerline is valid? [True, True] Translation: X:178.60, Y:-8.43, Z:0.04 [[ 9.97443156e-01 7.14643360e-02 0.00000000e+00 1.78596248e+02] [-7.14643360e-02 9.97443156e-01 0.00000000e+00 -8.42641731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67329666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32037174299998 meters Centerline goodness : 0.991892 with order 1 Centerline is valid? [True, True] Translation: X:178.65, Y:-8.44, Z:0.04 [[ 9.96967491e-01 7.78191646e-02 0.00000000e+00 1.78653802e+02] [-7.78191646e-02 9.96967491e-01 0.00000000e+00 -8.43970700e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67769068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38037174299998 meters Centerline goodness : 0.991356 with order 1 Centerline is valid? [True, True] Translation: X:178.71, Y:-8.45, Z:0.04 [[ 9.96711060e-01 8.10374197e-02 0.00000000e+00 1.78710421e+02] [-8.10374197e-02 9.96711060e-01 0.00000000e+00 -8.45195517e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61925937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.440371743 meters Centerline goodness : 0.993385 with order 1 Centerline is valid? [True, True] Translation: X:178.77, Y:-8.45, Z:0.04 [[ 9.97234447e-01 7.43199729e-02 0.00000000e+00 1.78768845e+02] [-7.43199729e-02 9.97234447e-01 0.00000000e+00 -8.45366524e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25250493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.500371743 meters Centerline goodness : 0.993316 with order 1 Centerline is valid? [True, True] Translation: X:178.83, Y:-8.47, Z:0.04 [[ 9.97185364e-01 7.49756606e-02 0.00000000e+00 1.78827328e+02] [-7.49756606e-02 9.97185364e-01 0.00000000e+00 -8.46817777e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28194696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.560371743 meters Centerline goodness : 0.990004 with order 1 Centerline is valid? [True, True] Translation: X:178.89, Y:-8.50, Z:0.04 [[ 9.96440060e-01 8.43042462e-02 0.00000000e+00 1.78885054e+02] [-8.43042462e-02 9.96440060e-01 0.00000000e+00 -8.50055073e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86611050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.620371743 meters Centerline goodness : 0.988236 with order 1 Centerline is valid? [True, True] Translation: X:178.94, Y:-8.52, Z:0.04 [[ 9.96536291e-01 8.31590098e-02 0.00000000e+00 1.78942246e+02] [-8.31590098e-02 9.96536291e-01 0.00000000e+00 -8.51723027e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77769487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.680371743 meters Centerline goodness : 0.990103 with order 1 Centerline is valid? [True, True] Translation: X:179.00, Y:-8.53, Z:0.04 [[ 9.97360332e-01 7.26110749e-02 0.00000000e+00 1.78998534e+02] [-7.26110749e-02 9.97360332e-01 0.00000000e+00 -8.53132140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22863974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74037174299997 meters Centerline goodness : 0.987816 with order 1 Centerline is valid? [True, True] Translation: X:179.06, Y:-8.56, Z:0.04 [[ 9.97487203e-01 7.08468804e-02 0.00000000e+00 1.79055716e+02] [-7.08468804e-02 9.97487203e-01 0.00000000e+00 -8.55520273e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19906835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80037174299997 meters Centerline goodness : 0.984892 with order 1 Centerline is valid? [True, True] Translation: X:179.11, Y:-8.59, Z:0.03 [[ 9.96881856e-01 7.89085829e-02 0.00000000e+00 1.79113651e+02] [-7.89085829e-02 9.96881856e-01 0.00000000e+00 -8.58646731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31650504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86037174299997 meters Centerline goodness : 0.988208 with order 1 Centerline is valid? [True, True] Translation: X:179.17, Y:-8.60, Z:0.04 [[ 9.98201668e-01 5.99452194e-02 0.00000000e+00 1.79170488e+02] [-5.99452194e-02 9.98201668e-01 0.00000000e+00 -8.60037996e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40227388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92037174299998 meters Centerline goodness : 0.988768 with order 1 Centerline is valid? [True, True] Translation: X:179.23, Y:-8.63, Z:0.05 [[ 9.98832551e-01 4.83066779e-02 0.00000000e+00 1.79227464e+02] [-4.83066779e-02 9.98832551e-01 0.00000000e+00 -8.62779516e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62608738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98037174299998 meters Centerline goodness : 0.991220 with order 1 Centerline is valid? [True, True] Translation: X:179.29, Y:-8.64, Z:0.05 [[ 9.99288726e-01 3.77099768e-02 0.00000000e+00 1.79285677e+02] [-3.77099768e-02 9.99288726e-01 0.00000000e+00 -8.64413729e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72223004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04037174299998 meters Centerline goodness : 0.993331 with order 1 Centerline is valid? [True, True] Translation: X:179.34, Y:-8.67, Z:0.05 [[ 9.99734693e-01 2.30335310e-02 0.00000000e+00 1.79342706e+02] [-2.30335310e-02 9.99734693e-01 0.00000000e+00 -8.66614422e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90418026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10037174299998 meters Centerline goodness : 0.994112 with order 1 Centerline is valid? [True, True] Translation: X:179.40, Y:-8.68, Z:0.05 [[ 9.99902748e-01 1.39461148e-02 0.00000000e+00 1.79401944e+02] [-1.39461148e-02 9.99902748e-01 0.00000000e+00 -8.68331107e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.08767843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16037174299998 meters Centerline goodness : 0.994768 with order 1 Centerline is valid? [True, True] Translation: X:179.46, Y:-8.69, Z:0.05 [[ 9.99945233e-01 1.04656674e-02 0.00000000e+00 1.79460119e+02] [-1.04656674e-02 9.99945233e-01 0.00000000e+00 -8.69459248e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01760705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.220371743 meters Centerline goodness : 0.995805 with order 1 Centerline is valid? [True, True] Translation: X:179.52, Y:-8.70, Z:0.05 [[ 9.99943919e-01 1.05904624e-02 0.00000000e+00 1.79519473e+02] [-1.05904624e-02 9.99943919e-01 0.00000000e+00 -8.70203628e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02600756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.280371743 meters Centerline goodness : 0.996326 with order 1 Centerline is valid? [True, True] Translation: X:179.58, Y:-8.71, Z:0.05 [[ 9.99944358e-01 1.05489798e-02 0.00000000e+00 1.79578782e+02] [-1.05489798e-02 9.99944358e-01 0.00000000e+00 -8.71097745e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97778432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.340371743 meters Centerline goodness : 0.996526 with order 1 Centerline is valid? [True, True] Translation: X:179.64, Y:-8.72, Z:0.05 [[ 9.99949198e-01 1.00797960e-02 0.00000000e+00 1.79637812e+02] [-1.00797960e-02 9.99949198e-01 0.00000000e+00 -8.71784424e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83458765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.400371743 meters Centerline goodness : 0.996680 with order 1 Centerline is valid? [True, True] Translation: X:179.70, Y:-8.72, Z:0.05 [[ 9.99943267e-01 1.06519192e-02 0.00000000e+00 1.79696945e+02] [-1.06519192e-02 9.99943267e-01 0.00000000e+00 -8.72210790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.75225619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46037174299997 meters Centerline goodness : 0.996315 with order 1 Centerline is valid? [True, True] Translation: X:179.76, Y:-8.73, Z:0.05 [[ 9.99865343e-01 1.64102612e-02 0.00000000e+00 1.79756940e+02] [-1.64102612e-02 9.99865343e-01 0.00000000e+00 -8.72703826e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78074289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52037174299997 meters Centerline goodness : 0.996522 with order 1 Centerline is valid? [True, True] Translation: X:179.82, Y:-8.73, Z:0.05 [[ 9.99729660e-01 2.32509718e-02 0.00000000e+00 1.79815433e+02] [-2.32509718e-02 9.99729660e-01 0.00000000e+00 -8.72944918e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89163660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58037174299997 meters Centerline goodness : 0.995975 with order 1 Centerline is valid? [True, True] Translation: X:179.87, Y:-8.73, Z:0.05 [[ 9.99632944e-01 2.70920212e-02 0.00000000e+00 1.79874161e+02] [-2.70920212e-02 9.99632944e-01 0.00000000e+00 -8.73263846e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88963281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64037174299997 meters Centerline goodness : 0.997205 with order 1 Centerline is valid? [True, True] Translation: X:179.93, Y:-8.74, Z:0.05 [[ 9.99627227e-01 2.73021359e-02 0.00000000e+00 1.79932448e+02] [-2.73021359e-02 9.99627227e-01 0.00000000e+00 -8.73555176e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01855737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70037174299998 meters Centerline goodness : 0.996453 with order 1 Centerline is valid? [True, True] Translation: X:179.99, Y:-8.74, Z:0.05 [[ 9.99587262e-01 2.87281343e-02 0.00000000e+00 1.79991542e+02] [-2.87281343e-02 9.99587262e-01 0.00000000e+00 -8.74119554e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85951206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76037174299998 meters Centerline goodness : 0.996810 with order 1 Centerline is valid? [True, True] Translation: X:180.05, Y:-8.75, Z:0.05 [[ 9.99560675e-01 2.96387920e-02 0.00000000e+00 1.80050164e+02] [-2.96387920e-02 9.99560675e-01 0.00000000e+00 -8.74715557e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02586941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82037174299998 meters Centerline goodness : 0.996684 with order 1 Centerline is valid? [True, True] Translation: X:180.11, Y:-8.75, Z:0.05 [[ 9.99531927e-01 3.05929301e-02 0.00000000e+00 1.80109089e+02] [-3.05929301e-02 9.99531927e-01 0.00000000e+00 -8.75176212e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11806165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88037174299998 meters Centerline goodness : 0.997106 with order 1 Centerline is valid? [True, True] Translation: X:180.17, Y:-8.76, Z:0.05 [[ 9.99478227e-01 3.22997386e-02 0.00000000e+00 1.80167970e+02] [-3.22997386e-02 9.99478227e-01 0.00000000e+00 -8.75836949e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.08495529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.940371743 meters Centerline goodness : 0.997115 with order 1 Centerline is valid? [True, True] Translation: X:180.23, Y:-8.77, Z:0.05 [[ 9.99427130e-01 3.38439295e-02 0.00000000e+00 1.80226886e+02] [-3.38439295e-02 9.99427130e-01 0.00000000e+00 -8.76539908e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83737432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.000371743 meters Centerline goodness : 0.997290 with order 1 Centerline is valid? [True, True] Translation: X:180.29, Y:-8.77, Z:0.05 [[ 9.99418968e-01 3.40841170e-02 0.00000000e+00 1.80286063e+02] [-3.40841170e-02 9.99418968e-01 0.00000000e+00 -8.77216576e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76989427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.060371743 meters Centerline goodness : 0.997837 with order 1 Centerline is valid? [True, True] Translation: X:180.35, Y:-8.78, Z:0.05 [[ 9.99463124e-01 3.27637703e-02 0.00000000e+00 1.80345618e+02] [-3.27637703e-02 9.99463124e-01 0.00000000e+00 -8.77909500e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93389841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.120371743 meters Centerline goodness : 0.997944 with order 1 Centerline is valid? [True, True] Translation: X:180.40, Y:-8.79, Z:0.05 [[ 9.99536672e-01 3.04375081e-02 0.00000000e+00 1.80404899e+02] [-3.04375081e-02 9.99536672e-01 0.00000000e+00 -8.78672387e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18670827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.180371743 meters Centerline goodness : 0.998739 with order 1 Centerline is valid? [True, True] Translation: X:180.46, Y:-8.79, Z:0.05 [[ 9.99650206e-01 2.64474165e-02 0.00000000e+00 1.80464378e+02] [-2.64474165e-02 9.99650206e-01 0.00000000e+00 -8.79402942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22645117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24037174299997 meters Centerline goodness : 0.998632 with order 1 Centerline is valid? [True, True] Translation: X:180.52, Y:-8.80, Z:0.05 [[ 9.99739693e-01 2.28154761e-02 0.00000000e+00 1.80523396e+02] [-2.28154761e-02 9.99739693e-01 0.00000000e+00 -8.80045242e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20072447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30037174299997 meters Centerline goodness : 0.998705 with order 1 Centerline is valid? [True, True] Translation: X:180.58, Y:-8.81, Z:0.05 [[ 9.99878740e-01 1.55725536e-02 0.00000000e+00 1.80582747e+02] [-1.55725536e-02 9.99878740e-01 0.00000000e+00 -8.80773242e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19125292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36037174299997 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:180.64, Y:-8.81, Z:0.05 [[ 9.99952413e-01 9.75557712e-03 0.00000000e+00 1.80642851e+02] [-9.75557712e-03 9.99952413e-01 0.00000000e+00 -8.81300224e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.12123874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42037174299998 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:180.70, Y:-8.82, Z:0.05 [[ 9.99996799e-01 2.53031704e-03 0.00000000e+00 1.80702731e+02] [-2.53031704e-03 9.99996799e-01 0.00000000e+00 -8.81764837e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18377898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48037174299998 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:180.76, Y:-8.82, Z:0.05 [[ 9.99958061e-01 -9.15836949e-03 0.00000000e+00 1.80763082e+02] [ 9.15836949e-03 9.99958061e-01 0.00000000e+00 -8.82138404e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39574419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54037174299998 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:180.82, Y:-8.82, Z:0.05 [[ 9.99825675e-01 -1.86713521e-02 0.00000000e+00 1.80823933e+02] [ 1.86713521e-02 9.99825675e-01 0.00000000e+00 -8.82162442e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.10544096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60037174299998 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:180.88, Y:-8.82, Z:0.05 [[ 9.99728968e-01 -2.32806741e-02 0.00000000e+00 1.80884096e+02] [ 2.32806741e-02 9.99728968e-01 0.00000000e+00 -8.82105169e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36664709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66037174299998 meters Centerline goodness : 0.998684 with order 1 Centerline is valid? [True, True] Translation: X:180.95, Y:-8.82, Z:0.05 [[ 9.99643229e-01 -2.67098236e-02 0.00000000e+00 1.80945144e+02] [ 2.67098236e-02 9.99643229e-01 0.00000000e+00 -8.81710430e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14867010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.720371743 meters Centerline goodness : 0.998475 with order 1 Centerline is valid? [True, True] Translation: X:181.01, Y:-8.81, Z:0.05 [[ 9.99616737e-01 -2.76835387e-02 0.00000000e+00 1.81006422e+02] [ 2.76835387e-02 9.99616737e-01 0.00000000e+00 -8.81327740e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20109673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.780371743 meters Centerline goodness : 0.998238 with order 1 Centerline is valid? [True, True] Translation: X:181.07, Y:-8.81, Z:0.05 [[ 9.99571588e-01 -2.92684118e-02 0.00000000e+00 1.81068507e+02] [ 2.92684118e-02 9.99571588e-01 0.00000000e+00 -8.80661933e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.13120534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.840371743 meters Centerline goodness : 0.998194 with order 1 Centerline is valid? [True, True] Translation: X:181.13, Y:-8.80, Z:0.05 [[ 9.99432520e-01 -3.36843897e-02 0.00000000e+00 1.81129842e+02] [ 3.36843897e-02 9.99432520e-01 0.00000000e+00 -8.79899283e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.00190420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.900371743 meters Centerline goodness : 0.998258 with order 1 Centerline is valid? [True, True] Translation: X:181.19, Y:-8.79, Z:0.05 [[ 9.99275668e-01 -3.80544336e-02 0.00000000e+00 1.81192087e+02] [ 3.80544336e-02 9.99275668e-01 0.00000000e+00 -8.79391580e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92136353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96037174299997 meters Centerline goodness : 0.997226 with order 1 Centerline is valid? [True, True] Translation: X:181.25, Y:-8.78, Z:0.05 [[ 9.98954033e-01 -4.57257109e-02 0.00000000e+00 1.81253500e+02] [ 4.57257109e-02 9.98954033e-01 0.00000000e+00 -8.78450895e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72709306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02037174299997 meters Centerline goodness : 0.996206 with order 1 Centerline is valid? [True, True] Translation: X:181.32, Y:-8.77, Z:0.05 [[ 9.98668959e-01 -5.15781931e-02 0.00000000e+00 1.81315987e+02] [ 5.15781931e-02 9.98668959e-01 0.00000000e+00 -8.77286571e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54295431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08037174299997 meters Centerline goodness : 0.994115 with order 1 Centerline is valid? [True, True] Translation: X:181.38, Y:-8.76, Z:0.05 [[ 9.98599073e-01 -5.29140029e-02 0.00000000e+00 1.81378768e+02] [ 5.29140029e-02 9.98599073e-01 0.00000000e+00 -8.75805283e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57098124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14037174299997 meters Centerline goodness : 0.992966 with order 1 Centerline is valid? [True, True] Translation: X:181.44, Y:-8.75, Z:0.05 [[ 9.98688864e-01 -5.11913451e-02 0.00000000e+00 1.81440600e+02] [ 5.11913451e-02 9.98688864e-01 0.00000000e+00 -8.75106356e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54021522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20037174299998 meters Centerline goodness : 0.991005 with order 1 Centerline is valid? [True, True] Translation: X:181.50, Y:-8.74, Z:0.05 [[ 9.98905310e-01 -4.67780128e-02 0.00000000e+00 1.81503698e+02] [ 4.67780128e-02 9.98905310e-01 0.00000000e+00 -8.73970939e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54356829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26037174299998 meters Centerline goodness : 0.989819 with order 1 Centerline is valid? [True, True] Translation: X:181.57, Y:-8.73, Z:0.05 [[ 9.99010614e-01 -4.44723933e-02 0.00000000e+00 1.81565800e+02] [ 4.44723933e-02 9.99010614e-01 0.00000000e+00 -8.73194707e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52869966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32037174299998 meters Centerline goodness : 0.987509 with order 1 Centerline is valid? [True, True] Translation: X:181.63, Y:-8.72, Z:0.04 [[ 9.99217431e-01 -3.95540935e-02 0.00000000e+00 1.81628905e+02] [ 3.95540935e-02 9.99217431e-01 0.00000000e+00 -8.72027382e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24141988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38037174299998 meters Centerline goodness : 0.985306 with order 1 Centerline is valid? [True, True] Translation: X:181.69, Y:-8.72, Z:0.04 [[ 9.99703892e-01 -2.43336992e-02 0.00000000e+00 1.81690830e+02] [ 2.43336992e-02 9.99703892e-01 0.00000000e+00 -8.71613327e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84332507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.440371743 meters Centerline goodness : 0.987564 with order 1 Centerline is valid? [True, True] Translation: X:181.75, Y:-8.70, Z:0.04 [[ 9.99705093e-01 -2.42842875e-02 0.00000000e+00 1.81752351e+02] [ 2.42842875e-02 9.99705093e-01 0.00000000e+00 -8.69933640e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17381507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.500371743 meters Centerline goodness : 0.983195 with order 1 Centerline is valid? [True, True] Translation: X:181.81, Y:-8.70, Z:0.04 [[ 9.99996791e-01 -2.53349672e-03 0.00000000e+00 1.81814740e+02] [ 2.53349672e-03 9.99996791e-01 0.00000000e+00 -8.69924404e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74622376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.560371743 meters Centerline goodness : 0.987038 with order 1 Centerline is valid? [True, True] Translation: X:181.88, Y:-8.68, Z:0.04 [[ 9.99998523e-01 1.71883036e-03 0.00000000e+00 1.81876012e+02] [-1.71883036e-03 9.99998523e-01 0.00000000e+00 -8.68091691e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24258921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.620371743 meters Centerline goodness : 0.987604 with order 1 Centerline is valid? [True, True] Translation: X:181.94, Y:-8.68, Z:0.04 [[ 9.99971265e-01 7.58087276e-03 0.00000000e+00 1.81935808e+02] [-7.58087276e-03 9.99971265e-01 0.00000000e+00 -8.67716059e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15960475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.680371743 meters Centerline goodness : 0.984960 with order 1 Centerline is valid? [True, True] Translation: X:181.99, Y:-8.68, Z:0.04 [[ 9.99794533e-01 2.02704898e-02 0.00000000e+00 1.81994006e+02] [-2.02704898e-02 9.99794533e-01 0.00000000e+00 -8.68330356e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86961074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74037174299997 meters Centerline goodness : 0.989381 with order 1 Centerline is valid? [True, True] Translation: X:182.05, Y:-8.67, Z:0.04 [[ 9.99919186e-01 1.27130451e-02 0.00000000e+00 1.82052062e+02] [-1.27130451e-02 9.99919186e-01 0.00000000e+00 -8.67254967e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21508689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80037174299997 meters Centerline goodness : 0.987338 with order 1 Centerline is valid? [True, True] Translation: X:182.11, Y:-8.68, Z:0.04 [[ 9.99857205e-01 1.68988043e-02 0.00000000e+00 1.82110048e+02] [-1.68988043e-02 9.99857205e-01 0.00000000e+00 -8.67559201e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26452695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86037174299997 meters Centerline goodness : 0.984629 with order 1 Centerline is valid? [True, True] Translation: X:182.17, Y:-8.69, Z:0.04 [[ 9.99562605e-01 2.95736138e-02 0.00000000e+00 1.82167778e+02] [-2.95736138e-02 9.99562605e-01 0.00000000e+00 -8.68777628e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07343811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92037174299998 meters Centerline goodness : 0.985070 with order 1 Centerline is valid? [True, True] Translation: X:182.23, Y:-8.69, Z:0.04 [[ 9.99274475e-01 3.80857282e-02 0.00000000e+00 1.82225887e+02] [-3.80857282e-02 9.99274475e-01 0.00000000e+00 -8.69170339e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18534256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98037174299998 meters Centerline goodness : 0.984128 with order 1 Centerline is valid? [True, True] Translation: X:182.28, Y:-8.70, Z:0.04 [[ 9.99079445e-01 4.28982863e-02 0.00000000e+00 1.82283667e+02] [-4.28982863e-02 9.99079445e-01 0.00000000e+00 -8.69672713e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31903858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04037174299998 meters Centerline goodness : 0.983998 with order 1 Centerline is valid? [True, True] Translation: X:182.34, Y:-8.71, Z:0.05 [[ 9.98896007e-01 4.69762465e-02 0.00000000e+00 1.82341680e+02] [-4.69762465e-02 9.98896007e-01 0.00000000e+00 -8.70578996e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54876281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10037174299998 meters Centerline goodness : 0.982844 with order 1 Centerline is valid? [True, True] Translation: X:182.40, Y:-8.71, Z:0.05 [[ 9.98808182e-01 4.88079432e-02 0.00000000e+00 1.82399149e+02] [-4.88079432e-02 9.98808182e-01 0.00000000e+00 -8.71487279e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68432652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16037174299998 meters Centerline goodness : 0.986395 with order 1 Centerline is valid? [True, True] Translation: X:182.46, Y:-8.72, Z:0.04 [[ 9.99076138e-01 4.29752241e-02 0.00000000e+00 1.82456435e+02] [-4.29752241e-02 9.99076138e-01 0.00000000e+00 -8.72329849e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36919062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.220371743 meters Centerline goodness : 0.986309 with order 1 Centerline is valid? [True, True] Translation: X:182.51, Y:-8.73, Z:0.04 [[ 9.99194036e-01 4.01407450e-02 0.00000000e+00 1.82513550e+02] [-4.01407450e-02 9.99194036e-01 0.00000000e+00 -8.73434357e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34939311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.280371743 meters Centerline goodness : 0.986543 with order 1 Centerline is valid? [True, True] Translation: X:182.57, Y:-8.75, Z:0.04 [[ 9.99442702e-01 3.33809008e-02 0.00000000e+00 1.82571814e+02] [-3.33809008e-02 9.99442702e-01 0.00000000e+00 -8.74539923e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25720307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.340371743 meters Centerline goodness : 0.987532 with order 1 Centerline is valid? [True, True] Translation: X:182.63, Y:-8.76, Z:0.04 [[ 9.99821894e-01 1.88727347e-02 0.00000000e+00 1.82629704e+02] [-1.88727347e-02 9.99821894e-01 0.00000000e+00 -8.76135225e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30041790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.400371743 meters Centerline goodness : 0.987999 with order 1 Centerline is valid? [True, True] Translation: X:182.69, Y:-8.78, Z:0.04 [[ 9.99994383e-01 3.35183345e-03 0.00000000e+00 1.82689075e+02] [-3.35183345e-03 9.99994383e-01 0.00000000e+00 -8.77615174e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49688694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46037174299997 meters Centerline goodness : 0.990022 with order 1 Centerline is valid? [True, True] Translation: X:182.75, Y:-8.78, Z:0.05 [[ 9.99981072e-01 -6.15263212e-03 0.00000000e+00 1.82747928e+02] [ 6.15263212e-03 9.99981072e-01 0.00000000e+00 -8.78474207e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55830535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52037174299997 meters Centerline goodness : 0.990478 with order 1 Centerline is valid? [True, True] Translation: X:182.81, Y:-8.80, Z:0.05 [[ 9.99893202e-01 -1.46144998e-02 0.00000000e+00 1.82808571e+02] [ 1.46144998e-02 9.99893202e-01 0.00000000e+00 -8.79618320e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51741140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58037174299997 meters Centerline goodness : 0.990835 with order 1 Centerline is valid? [True, True] Translation: X:182.87, Y:-8.80, Z:0.05 [[ 9.99802123e-01 -1.98925758e-02 0.00000000e+00 1.82870459e+02] [ 1.98925758e-02 9.99802123e-01 0.00000000e+00 -8.80488641e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61315746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64037174299997 meters Centerline goodness : 0.992153 with order 1 Centerline is valid? [True, True] Translation: X:182.93, Y:-8.81, Z:0.05 [[ 9.99740072e-01 -2.27988545e-02 0.00000000e+00 1.82932809e+02] [ 2.27988545e-02 9.99740072e-01 0.00000000e+00 -8.81069832e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73418170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70037174299998 meters Centerline goodness : 0.992248 with order 1 Centerline is valid? [True, True] Translation: X:182.99, Y:-8.82, Z:0.05 [[ 9.99762839e-01 -2.17776496e-02 0.00000000e+00 1.82993588e+02] [ 2.17776496e-02 9.99762839e-01 0.00000000e+00 -8.81590938e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74260840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76037174299998 meters Centerline goodness : 0.991893 with order 1 Centerline is valid? [True, True] Translation: X:183.06, Y:-8.82, Z:0.05 [[ 9.99855868e-01 -1.69777072e-02 0.00000000e+00 1.83055987e+02] [ 1.69777072e-02 9.99855868e-01 0.00000000e+00 -8.81901485e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72359667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82037174299998 meters Centerline goodness : 0.992731 with order 1 Centerline is valid? [True, True] Translation: X:183.12, Y:-8.82, Z:0.05 [[ 9.99935650e-01 -1.13444235e-02 0.00000000e+00 1.83117257e+02] [ 1.13444235e-02 9.99935650e-01 0.00000000e+00 -8.82052350e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73661815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88037174299998 meters Centerline goodness : 0.992092 with order 1 Centerline is valid? [True, True] Translation: X:183.18, Y:-8.82, Z:0.05 [[ 9.99998648e-01 -1.64436826e-03 0.00000000e+00 1.83178978e+02] [ 1.64436826e-03 9.99998648e-01 0.00000000e+00 -8.82147557e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86180285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.940371743 meters Centerline goodness : 0.991282 with order 1 Centerline is valid? [True, True] Translation: X:183.24, Y:-8.83, Z:0.04 [[ 9.99933261e-01 1.15530755e-02 0.00000000e+00 1.83238920e+02] [-1.15530755e-02 9.99933261e-01 0.00000000e+00 -8.82911431e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13624735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.000371743 meters Centerline goodness : 0.992225 with order 1 Centerline is valid? [True, True] Translation: X:183.30, Y:-8.82, Z:0.05 [[ 9.99955254e-01 9.45991158e-03 0.00000000e+00 1.83297675e+02] [-9.45991158e-03 9.99955254e-01 0.00000000e+00 -8.82422032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95605996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.060371743 meters Centerline goodness : 0.991890 with order 1 Centerline is valid? [True, True] Translation: X:183.36, Y:-8.83, Z:0.05 [[ 9.99937070e-01 1.12185903e-02 0.00000000e+00 1.83356876e+02] [-1.12185903e-02 9.99937070e-01 0.00000000e+00 -8.82650236e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96017330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.120371743 meters Centerline goodness : 0.992359 with order 1 Centerline is valid? [True, True] Translation: X:183.42, Y:-8.83, Z:0.05 [[ 9.99924925e-01 1.22533278e-02 0.00000000e+00 1.83416965e+02] [-1.22533278e-02 9.99924925e-01 0.00000000e+00 -8.82780435e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04872896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.180371743 meters Centerline goodness : 0.991919 with order 1 Centerline is valid? [True, True] Translation: X:183.48, Y:-8.83, Z:0.05 [[ 9.99939313e-01 1.10168072e-02 0.00000000e+00 1.83475213e+02] [-1.10168072e-02 9.99939313e-01 0.00000000e+00 -8.83282801e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.00879920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24037174299997 meters Centerline goodness : 0.992032 with order 1 Centerline is valid? [True, True] Translation: X:183.53, Y:-8.84, Z:0.05 [[ 9.99972670e-01 7.39318155e-03 0.00000000e+00 1.83534937e+02] [-7.39318155e-03 9.99972670e-01 0.00000000e+00 -8.83703638e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87652675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30037174299997 meters Centerline goodness : 0.991836 with order 1 Centerline is valid? [True, True] Translation: X:183.59, Y:-8.84, Z:0.05 [[ 9.99996491e-01 -2.64924155e-03 0.00000000e+00 1.83594429e+02] [ 2.64924155e-03 9.99996491e-01 0.00000000e+00 -8.84100338e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70827947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36037174299997 meters Centerline goodness : 0.991816 with order 1 Centerline is valid? [True, True] Translation: X:183.65, Y:-8.85, Z:0.05 [[ 9.99926814e-01 -1.20982458e-02 0.00000000e+00 1.83654830e+02] [ 1.20982458e-02 9.99926814e-01 0.00000000e+00 -8.84611222e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65721255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42037174299998 meters Centerline goodness : 0.992449 with order 1 Centerline is valid? [True, True] Translation: X:183.72, Y:-8.85, Z:0.05 [[ 9.99840770e-01 -1.78447263e-02 0.00000000e+00 1.83716145e+02] [ 1.78447263e-02 9.99840770e-01 0.00000000e+00 -8.84824408e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66808956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48037174299998 meters Centerline goodness : 0.992608 with order 1 Centerline is valid? [True, True] Translation: X:183.78, Y:-8.85, Z:0.05 [[ 9.99708697e-01 -2.41354828e-02 0.00000000e+00 1.83778635e+02] [ 2.41354828e-02 9.99708697e-01 0.00000000e+00 -8.85092818e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79251591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54037174299998 meters Centerline goodness : 0.991577 with order 1 Centerline is valid? [True, True] Translation: X:183.84, Y:-8.85, Z:0.05 [[ 9.99618438e-01 -2.76220807e-02 0.00000000e+00 1.83840193e+02] [ 2.76220807e-02 9.99618438e-01 0.00000000e+00 -8.85315553e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86669701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60037174299998 meters Centerline goodness : 0.991891 with order 1 Centerline is valid? [True, True] Translation: X:183.90, Y:-8.85, Z:0.05 [[ 9.99572793e-01 -2.92272543e-02 0.00000000e+00 1.83900969e+02] [ 2.92272543e-02 9.99572793e-01 0.00000000e+00 -8.85416365e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83718585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66037174299998 meters Centerline goodness : 0.991466 with order 1 Centerline is valid? [True, True] Translation: X:183.96, Y:-8.86, Z:0.05 [[ 9.99554194e-01 -2.98565413e-02 0.00000000e+00 1.83962947e+02] [ 2.98565413e-02 9.99554194e-01 0.00000000e+00 -8.85568024e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97772327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.720371743 meters Centerline goodness : 0.991328 with order 1 Centerline is valid? [True, True] Translation: X:184.03, Y:-8.85, Z:0.05 [[ 9.99542319e-01 -3.02514757e-02 0.00000000e+00 1.84025187e+02] [ 3.02514757e-02 9.99542319e-01 0.00000000e+00 -8.85483266e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89013974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.780371743 meters Centerline goodness : 0.991252 with order 1 Centerline is valid? [True, True] Translation: X:184.09, Y:-8.85, Z:0.05 [[ 9.99613966e-01 -2.77834414e-02 0.00000000e+00 1.84086953e+02] [ 2.77834414e-02 9.99613966e-01 0.00000000e+00 -8.85294469e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92577350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.840371743 meters Centerline goodness : 0.990775 with order 1 Centerline is valid? [True, True] Translation: X:184.15, Y:-8.85, Z:0.05 [[ 9.99716654e-01 -2.38036068e-02 0.00000000e+00 1.84148871e+02] [ 2.38036068e-02 9.99716654e-01 0.00000000e+00 -8.85240310e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98691254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.900371743 meters Centerline goodness : 0.988063 with order 1 Centerline is valid? [True, True] Translation: X:184.21, Y:-8.85, Z:0.05 [[ 9.99919918e-01 -1.26553012e-02 0.00000000e+00 1.84210224e+02] [ 1.26553012e-02 9.99919918e-01 0.00000000e+00 -8.85274759e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98105185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96037174299997 meters Centerline goodness : 0.987796 with order 1 Centerline is valid? [True, True] Translation: X:184.27, Y:-8.85, Z:0.05 [[ 9.99993711e-01 -3.54657920e-03 0.00000000e+00 1.84272254e+02] [ 3.54657920e-03 9.99993711e-01 0.00000000e+00 -8.84928158e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83285125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02037174299997 meters Centerline goodness : 0.986782 with order 1 Centerline is valid? [True, True] Translation: X:184.33, Y:-8.85, Z:0.04 [[ 9.99986615e-01 5.17402030e-03 0.00000000e+00 1.84333093e+02] [-5.17402030e-03 9.99986615e-01 0.00000000e+00 -8.85042422e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28601938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08037174299997 meters Centerline goodness : 0.987452 with order 1 Centerline is valid? [True, True] Translation: X:184.39, Y:-8.84, Z:0.05 [[ 9.99999589e-01 9.06309817e-04 0.00000000e+00 1.84393115e+02] [-9.06309817e-04 9.99999589e-01 0.00000000e+00 -8.84298663e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77817411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14037174299997 meters Centerline goodness : 0.987073 with order 1 Centerline is valid? [True, True] Translation: X:184.45, Y:-8.84, Z:0.05 [[ 9.99996494e-01 2.64786224e-03 0.00000000e+00 1.84453187e+02] [-2.64786224e-03 9.99996494e-01 0.00000000e+00 -8.84302074e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76579323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20037174299998 meters Centerline goodness : 0.987936 with order 1 Centerline is valid? [True, True] Translation: X:184.51, Y:-8.84, Z:0.05 [[ 9.99995856e-01 2.87905499e-03 0.00000000e+00 1.84513108e+02] [-2.87905499e-03 9.99995856e-01 0.00000000e+00 -8.84173393e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54189566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26037174299998 meters Centerline goodness : 0.987149 with order 1 Centerline is valid? [True, True] Translation: X:184.57, Y:-8.84, Z:0.04 [[ 9.99991639e-01 4.08919815e-03 0.00000000e+00 1.84573718e+02] [-4.08919815e-03 9.99991639e-01 0.00000000e+00 -8.84447490e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44260124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32037174299998 meters Centerline goodness : 0.986296 with order 1 Centerline is valid? [True, True] Translation: X:184.63, Y:-8.84, Z:0.04 [[ 9.99998067e-01 1.96598353e-03 0.00000000e+00 1.84633419e+02] [-1.96598353e-03 9.99998067e-01 0.00000000e+00 -8.84397351e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46438242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38037174299998 meters Centerline goodness : 0.986126 with order 1 Centerline is valid? [True, True] Translation: X:184.69, Y:-8.85, Z:0.04 [[ 9.99972900e-01 7.36204209e-03 0.00000000e+00 1.84694016e+02] [-7.36204209e-03 9.99972900e-01 0.00000000e+00 -8.85301652e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56966407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.440371743 meters Centerline goodness : 0.986116 with order 1 Centerline is valid? [True, True] Translation: X:184.75, Y:-8.84, Z:0.05 [[ 9.99996844e-01 -2.51231920e-03 0.00000000e+00 1.84753602e+02] [ 2.51231920e-03 9.99996844e-01 0.00000000e+00 -8.84331538e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65678518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.500371743 meters Centerline goodness : 0.984619 with order 1 Centerline is valid? [True, True] Translation: X:184.81, Y:-8.85, Z:0.04 [[ 9.99992250e-01 3.93710294e-03 0.00000000e+00 1.84813987e+02] [-3.93710294e-03 9.99992250e-01 0.00000000e+00 -8.85069917e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08984352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.560371743 meters Centerline goodness : 0.984730 with order 1 Centerline is valid? [True, True] Translation: X:184.87, Y:-8.85, Z:0.04 [[ 9.99985310e-01 5.42026262e-03 0.00000000e+00 1.84873212e+02] [-5.42026262e-03 9.99985310e-01 0.00000000e+00 -8.85190520e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88705822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.620371743 meters Centerline goodness : 0.985397 with order 1 Centerline is valid? [True, True] Translation: X:184.93, Y:-8.84, Z:0.05 [[ 9.99987083e-01 -5.08272761e-03 0.00000000e+00 1.84932615e+02] [ 5.08272761e-03 9.99987083e-01 0.00000000e+00 -8.84397780e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62196945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.680371743 meters Centerline goodness : 0.983734 with order 1 Centerline is valid? [True, True] Translation: X:184.99, Y:-8.85, Z:0.04 [[ 9.99998952e-01 1.44767654e-03 0.00000000e+00 1.84993754e+02] [-1.44767654e-03 9.99998952e-01 0.00000000e+00 -8.85203408e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86155410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74037174299997 meters Centerline goodness : 0.985379 with order 1 Centerline is valid? [True, True] Translation: X:185.05, Y:-8.84, Z:0.04 [[ 9.99997180e-01 -2.37494499e-03 0.00000000e+00 1.85053365e+02] [ 2.37494499e-03 9.99997180e-01 0.00000000e+00 -8.84440600e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44022667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80037174299997 meters Centerline goodness : 0.985973 with order 1 Centerline is valid? [True, True] Translation: X:185.11, Y:-8.84, Z:0.04 [[ 9.99991425e-01 4.14132074e-03 0.00000000e+00 1.85114138e+02] [-4.14132074e-03 9.99991425e-01 0.00000000e+00 -8.84317169e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43073755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86037174299997 meters Centerline goodness : 0.985956 with order 1 Centerline is valid? [True, True] Translation: X:185.17, Y:-8.84, Z:0.04 [[ 9.99925178e-01 1.22326804e-02 0.00000000e+00 1.85173973e+02] [-1.22326804e-02 9.99925178e-01 0.00000000e+00 -8.84159562e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41980594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92037174299998 meters Centerline goodness : 0.986040 with order 1 Centerline is valid? [True, True] Translation: X:185.23, Y:-8.84, Z:0.04 [[ 9.99863102e-01 1.65462118e-02 0.00000000e+00 1.85231729e+02] [-1.65462118e-02 9.99863102e-01 0.00000000e+00 -8.84296657e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48762854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98037174299998 meters Centerline goodness : 0.983394 with order 1 Centerline is valid? [True, True] Translation: X:185.29, Y:-8.86, Z:0.04 [[ 9.99717557e-01 2.37656660e-02 0.00000000e+00 1.85290411e+02] [-2.37656660e-02 9.99717557e-01 0.00000000e+00 -8.85779564e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61914594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04037174299998 meters Centerline goodness : 0.985694 with order 1 Centerline is valid? [True, True] Translation: X:185.35, Y:-8.85, Z:0.04 [[ 9.99968751e-01 7.90549249e-03 0.00000000e+00 1.85350070e+02] [-7.90549249e-03 9.99968751e-01 0.00000000e+00 -8.84862667e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48881287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10037174299998 meters Centerline goodness : 0.986017 with order 1 Centerline is valid? [True, True] Translation: X:185.41, Y:-8.85, Z:0.05 [[ 9.99999620e-01 -8.71312116e-04 0.00000000e+00 1.85409982e+02] [ 8.71312116e-04 9.99999620e-01 0.00000000e+00 -8.85205497e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53281370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16037174299998 meters Centerline goodness : 0.986815 with order 1 Centerline is valid? [True, True] Translation: X:185.47, Y:-8.86, Z:0.05 [[ 9.99974812e-01 -7.09758426e-03 0.00000000e+00 1.85469874e+02] [ 7.09758426e-03 9.99974812e-01 0.00000000e+00 -8.85642040e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54603496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.220371743 meters Centerline goodness : 0.986126 with order 1 Centerline is valid? [True, True] Translation: X:185.53, Y:-8.86, Z:0.05 [[ 9.99955808e-01 -9.40112732e-03 0.00000000e+00 1.85531295e+02] [ 9.40112732e-03 9.99955808e-01 0.00000000e+00 -8.85878088e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55533657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.280371743 meters Centerline goodness : 0.984570 with order 1 Centerline is valid? [True, True] Translation: X:185.59, Y:-8.87, Z:0.04 [[ 9.99999703e-01 -7.70281899e-04 0.00000000e+00 1.85591973e+02] [ 7.70281899e-04 9.99999703e-01 0.00000000e+00 -8.86960574e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91532840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.340371743 meters Centerline goodness : 0.985848 with order 1 Centerline is valid? [True, True] Translation: X:185.65, Y:-8.86, Z:0.05 [[ 9.99982161e-01 -5.97302777e-03 0.00000000e+00 1.85653312e+02] [ 5.97302777e-03 9.99982161e-01 0.00000000e+00 -8.85982176e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55343744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.400371743 meters Centerline goodness : 0.985465 with order 1 Centerline is valid? [True, True] Translation: X:185.71, Y:-8.86, Z:0.05 [[ 9.99999586e-01 -9.10446360e-04 0.00000000e+00 1.85714775e+02] [ 9.10446360e-04 9.99999586e-01 0.00000000e+00 -8.85966753e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60054778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46037174299997 meters Centerline goodness : 0.985855 with order 1 Centerline is valid? [True, True] Translation: X:185.78, Y:-8.86, Z:0.05 [[ 9.99994384e-01 3.35129871e-03 0.00000000e+00 1.85775569e+02] [-3.35129871e-03 9.99994384e-01 0.00000000e+00 -8.86082443e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55367141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52037174299997 meters Centerline goodness : 0.985100 with order 1 Centerline is valid? [True, True] Translation: X:185.84, Y:-8.86, Z:0.05 [[ 9.99947362e-01 1.02603158e-02 0.00000000e+00 1.85835175e+02] [-1.02603158e-02 9.99947362e-01 0.00000000e+00 -8.86175707e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53215534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58037174299997 meters Centerline goodness : 0.985961 with order 1 Centerline is valid? [True, True] Translation: X:185.89, Y:-8.86, Z:0.04 [[ 9.99890701e-01 1.47846263e-02 0.00000000e+00 1.85893128e+02] [-1.47846263e-02 9.99890701e-01 0.00000000e+00 -8.86325720e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45281167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64037174299997 meters Centerline goodness : 0.987246 with order 1 Centerline is valid? [True, True] Translation: X:185.95, Y:-8.87, Z:0.04 [[ 9.99926848e-01 1.20954279e-02 0.00000000e+00 1.85951500e+02] [-1.20954279e-02 9.99926848e-01 0.00000000e+00 -8.86675984e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28227904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70037174299998 meters Centerline goodness : 0.983972 with order 1 Centerline is valid? [True, True] Translation: X:186.01, Y:-8.88, Z:0.04 [[ 9.99893459e-01 1.45969694e-02 0.00000000e+00 1.86009301e+02] [-1.45969694e-02 9.99893459e-01 0.00000000e+00 -8.88085778e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42968564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76037174299998 meters Centerline goodness : 0.987358 with order 1 Centerline is valid? [True, True] Translation: X:186.07, Y:-8.88, Z:0.04 [[ 9.99988369e-01 -4.82296026e-03 0.00000000e+00 1.86069280e+02] [ 4.82296026e-03 9.99988369e-01 0.00000000e+00 -8.87773405e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25706329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82037174299998 meters Centerline goodness : 0.983477 with order 1 Centerline is valid? [True, True] Translation: X:186.13, Y:-8.90, Z:0.04 [[ 9.99993392e-01 -3.63550651e-03 0.00000000e+00 1.86129622e+02] [ 3.63550651e-03 9.99993392e-01 0.00000000e+00 -8.89500083e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70914016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88037174299998 meters Centerline goodness : 0.984775 with order 1 Centerline is valid? [True, True] Translation: X:186.19, Y:-8.90, Z:0.04 [[ 9.99890471e-01 -1.48002115e-02 0.00000000e+00 1.86189673e+02] [ 1.48002115e-02 9.99890471e-01 0.00000000e+00 -8.89995984e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56944387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.940371743 meters Centerline goodness : 0.986788 with order 1 Centerline is valid? [True, True] Translation: X:186.25, Y:-8.89, Z:0.04 [[ 9.99650624e-01 -2.64316160e-02 0.00000000e+00 1.86250856e+02] [ 2.64316160e-02 9.99650624e-01 0.00000000e+00 -8.89079949e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17108653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.000371743 meters Centerline goodness : 0.986956 with order 1 Centerline is valid? [True, True] Translation: X:186.31, Y:-8.89, Z:0.04 [[ 9.99641459e-01 -2.67759853e-02 0.00000000e+00 1.86313382e+02] [ 2.67759853e-02 9.99641459e-01 0.00000000e+00 -8.89300233e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21122523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.060371743 meters Centerline goodness : 0.986769 with order 1 Centerline is valid? [True, True] Translation: X:186.38, Y:-8.89, Z:0.04 [[ 9.99630729e-01 -2.71736362e-02 0.00000000e+00 1.86375186e+02] [ 2.71736362e-02 9.99630729e-01 0.00000000e+00 -8.89450899e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14163503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.120371743 meters Centerline goodness : 0.983755 with order 1 Centerline is valid? [True, True] Translation: X:186.44, Y:-8.91, Z:0.04 [[ 9.99873147e-01 -1.59276709e-02 0.00000000e+00 1.86436851e+02] [ 1.59276709e-02 9.99873147e-01 0.00000000e+00 -8.90703165e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68821178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.180371743 meters Centerline goodness : 0.983365 with order 1 Centerline is valid? [True, True] Translation: X:186.50, Y:-8.91, Z:0.04 [[ 9.99874185e-01 -1.58623476e-02 0.00000000e+00 1.86499550e+02] [ 1.58623476e-02 9.99874185e-01 0.00000000e+00 -8.90736802e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72443902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24037174299997 meters Centerline goodness : 0.983831 with order 1 Centerline is valid? [True, True] Translation: X:186.56, Y:-8.91, Z:0.03 [[ 9.99875945e-01 -1.57509878e-02 0.00000000e+00 1.86561920e+02] [ 1.57509878e-02 9.99875945e-01 0.00000000e+00 -8.90965118e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17919589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30037174299997 meters Centerline goodness : 0.987021 with order 1 Centerline is valid? [True, True] Translation: X:186.62, Y:-8.90, Z:0.04 [[ 9.99554313e-01 -2.98525691e-02 0.00000000e+00 1.86623869e+02] [ 2.98525691e-02 9.99554313e-01 0.00000000e+00 -8.89614033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89225707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36037174299997 meters Centerline goodness : 0.986261 with order 1 Centerline is valid? [True, True] Translation: X:186.69, Y:-8.89, Z:0.04 [[ 9.99407344e-01 -3.44232576e-02 0.00000000e+00 1.86686903e+02] [ 3.44232576e-02 9.99407344e-01 0.00000000e+00 -8.89413108e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11006010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42037174299998 meters Centerline goodness : 0.987872 with order 1 Centerline is valid? [True, True] Translation: X:186.75, Y:-8.89, Z:0.04 [[ 9.99185980e-01 -4.03407587e-02 0.00000000e+00 1.86749863e+02] [ 4.03407587e-02 9.99185980e-01 0.00000000e+00 -8.89132795e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15321201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48037174299998 meters Centerline goodness : 0.987765 with order 1 Centerline is valid? [True, True] Translation: X:186.81, Y:-8.89, Z:0.04 [[ 9.98997011e-01 -4.47769067e-02 0.00000000e+00 1.86812285e+02] [ 4.47769067e-02 9.98997011e-01 0.00000000e+00 -8.88898029e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01653162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54037174299998 meters Centerline goodness : 0.984723 with order 1 Centerline is valid? [True, True] Translation: X:186.87, Y:-8.89, Z:0.04 [[ 9.99233784e-01 -3.91387838e-02 0.00000000e+00 1.86873852e+02] [ 3.91387838e-02 9.99233784e-01 0.00000000e+00 -8.89496178e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88392650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60037174299998 meters Centerline goodness : 0.986130 with order 1 Centerline is valid? [True, True] Translation: X:186.93, Y:-8.89, Z:0.04 [[ 9.99149904e-01 -4.12246267e-02 0.00000000e+00 1.86934916e+02] [ 4.12246267e-02 9.99149904e-01 0.00000000e+00 -8.89004890e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18410503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66037174299998 meters Centerline goodness : 0.986915 with order 1 Centerline is valid? [True, True] Translation: X:187.00, Y:-8.88, Z:0.04 [[ 9.99334480e-01 -3.64773450e-02 0.00000000e+00 1.86998300e+02] [ 3.64773450e-02 9.99334480e-01 0.00000000e+00 -8.88253652e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27803799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.720371743 meters Centerline goodness : 0.990221 with order 1 Centerline is valid? [True, True] Translation: X:187.06, Y:-8.87, Z:0.04 [[ 9.99464631e-01 -3.27177538e-02 0.00000000e+00 1.87060491e+02] [ 3.27177538e-02 9.99464631e-01 0.00000000e+00 -8.86596883e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16249725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.780371743 meters Centerline goodness : 0.991817 with order 1 Centerline is valid? [True, True] Translation: X:187.12, Y:-8.86, Z:0.04 [[ 9.99671551e-01 -2.56279340e-02 0.00000000e+00 1.87122590e+02] [ 2.56279340e-02 9.99671551e-01 0.00000000e+00 -8.86021076e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13659923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.840371743 meters Centerline goodness : 0.992188 with order 1 Centerline is valid? [True, True] Translation: X:187.19, Y:-8.85, Z:0.04 [[ 9.99888193e-01 -1.49532846e-02 0.00000000e+00 1.87185296e+02] [ 1.49532846e-02 9.99888193e-01 0.00000000e+00 -8.85317466e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23882377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.900371743 meters Centerline goodness : 0.992913 with order 1 Centerline is valid? [True, True] Translation: X:187.25, Y:-8.84, Z:0.05 [[ 9.99965218e-01 -8.34040119e-03 0.00000000e+00 1.87248362e+02] [ 8.34040119e-03 9.99965218e-01 0.00000000e+00 -8.84392463e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51254061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96037174299997 meters Centerline goodness : 0.992783 with order 1 Centerline is valid? [True, True] Translation: X:187.31, Y:-8.84, Z:0.05 [[ 9.99986563e-01 -5.18395831e-03 0.00000000e+00 1.87310649e+02] [ 5.18395831e-03 9.99986563e-01 0.00000000e+00 -8.84083442e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52615151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02037174299997 meters Centerline goodness : 0.990981 with order 1 Centerline is valid? [True, True] Translation: X:187.37, Y:-8.84, Z:0.04 [[ 9.99999376e-01 1.11744133e-03 0.00000000e+00 1.87372347e+02] [-1.11744133e-03 9.99999376e-01 0.00000000e+00 -8.84333150e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43303778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08037174299997 meters Centerline goodness : 0.992965 with order 1 Centerline is valid? [True, True] Translation: X:187.43, Y:-8.84, Z:0.04 [[ 9.99993615e-01 -3.57359841e-03 0.00000000e+00 1.87432290e+02] [ 3.57359841e-03 9.99993615e-01 0.00000000e+00 -8.83504916e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37836132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14037174299997 meters Centerline goodness : 0.991686 with order 1 Centerline is valid? [True, True] Translation: X:187.49, Y:-8.84, Z:0.04 [[ 9.99994677e-01 3.26287431e-03 0.00000000e+00 1.87493415e+02] [-3.26287431e-03 9.99994677e-01 0.00000000e+00 -8.84055228e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20615414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20037174299998 meters Centerline goodness : 0.993401 with order 1 Centerline is valid? [True, True] Translation: X:187.55, Y:-8.83, Z:0.04 [[ 9.99998239e-01 -1.87685618e-03 0.00000000e+00 1.87553133e+02] [ 1.87685618e-03 9.99998239e-01 0.00000000e+00 -8.83025526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35936050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26037174299998 meters Centerline goodness : 0.994069 with order 1 Centerline is valid? [True, True] Translation: X:187.61, Y:-8.83, Z:0.05 [[ 9.99999703e-01 -7.70722117e-04 0.00000000e+00 1.87614661e+02] [ 7.70722117e-04 9.99999703e-01 0.00000000e+00 -8.83117195e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66165231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32037174299998 meters Centerline goodness : 0.993986 with order 1 Centerline is valid? [True, True] Translation: X:187.67, Y:-8.83, Z:0.05 [[ 9.99991266e-01 -4.17950738e-03 0.00000000e+00 1.87674876e+02] [ 4.17950738e-03 9.99991266e-01 0.00000000e+00 -8.83094918e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83669987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38037174299998 meters Centerline goodness : 0.994041 with order 1 Centerline is valid? [True, True] Translation: X:187.74, Y:-8.83, Z:0.05 [[ 9.99970376e-01 -7.69715384e-03 0.00000000e+00 1.87736495e+02] [ 7.69715384e-03 9.99970376e-01 0.00000000e+00 -8.83098530e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72562156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.440371743 meters Centerline goodness : 0.991308 with order 1 Centerline is valid? [True, True] Translation: X:187.80, Y:-8.84, Z:0.04 [[ 9.99998611e-01 -1.66656706e-03 0.00000000e+00 1.87797798e+02] [ 1.66656706e-03 9.99998611e-01 0.00000000e+00 -8.84169953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06523748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.500371743 meters Centerline goodness : 0.993084 with order 1 Centerline is valid? [True, True] Translation: X:187.86, Y:-8.83, Z:0.05 [[ 9.99938955e-01 -1.10492225e-02 0.00000000e+00 1.87858932e+02] [ 1.10492225e-02 9.99938955e-01 0.00000000e+00 -8.83293095e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73614334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.560371743 meters Centerline goodness : 0.990986 with order 1 Centerline is valid? [True, True] Translation: X:187.92, Y:-8.84, Z:0.04 [[ 9.99987906e-01 -4.91817377e-03 0.00000000e+00 1.87920951e+02] [ 4.91817377e-03 9.99987906e-01 0.00000000e+00 -8.84416730e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46605553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.620371743 meters Centerline goodness : 0.990778 with order 1 Centerline is valid? [True, True] Translation: X:187.98, Y:-8.85, Z:0.05 [[ 9.99961219e-01 -8.80683377e-03 0.00000000e+00 1.87981817e+02] [ 8.80683377e-03 9.99961219e-01 0.00000000e+00 -8.84519282e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65165073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.680371743 meters Centerline goodness : 0.993030 with order 1 Centerline is valid? [True, True] Translation: X:188.04, Y:-8.84, Z:0.05 [[ 9.99860498e-01 -1.67028544e-02 0.00000000e+00 1.88043910e+02] [ 1.67028544e-02 9.99860498e-01 0.00000000e+00 -8.83881998e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69060818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74037174299997 meters Centerline goodness : 0.990823 with order 1 Centerline is valid? [True, True] Translation: X:188.11, Y:-8.85, Z:0.04 [[ 9.99907798e-01 -1.35792485e-02 0.00000000e+00 1.88105338e+02] [ 1.35792485e-02 9.99907798e-01 0.00000000e+00 -8.84938533e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40812689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80037174299997 meters Centerline goodness : 0.990441 with order 1 Centerline is valid? [True, True] Translation: X:188.17, Y:-8.85, Z:0.04 [[ 9.99899092e-01 -1.42058200e-02 0.00000000e+00 1.88167579e+02] [ 1.42058200e-02 9.99899092e-01 0.00000000e+00 -8.85452047e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10008285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86037174299997 meters Centerline goodness : 0.990442 with order 1 Centerline is valid? [True, True] Translation: X:188.23, Y:-8.86, Z:0.04 [[ 9.99843888e-01 -1.76691974e-02 0.00000000e+00 1.88230286e+02] [ 1.76691974e-02 9.99843888e-01 0.00000000e+00 -8.85943138e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74790505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92037174299998 meters Centerline goodness : 0.990269 with order 1 Centerline is valid? [True, True] Translation: X:188.29, Y:-8.86, Z:0.04 [[ 9.99793021e-01 -2.03448952e-02 0.00000000e+00 1.88292063e+02] [ 2.03448952e-02 9.99793021e-01 0.00000000e+00 -8.86082009e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02058236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98037174299998 meters Centerline goodness : 0.991271 with order 1 Centerline is valid? [True, True] Translation: X:188.35, Y:-8.86, Z:0.04 [[ 9.99617796e-01 -2.76452923e-02 0.00000000e+00 1.88352800e+02] [ 2.76452923e-02 9.99617796e-01 0.00000000e+00 -8.86403963e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57965497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04037174299998 meters Centerline goodness : 0.991564 with order 1 Centerline is valid? [True, True] Translation: X:188.42, Y:-8.87, Z:0.04 [[ 9.99593549e-01 -2.85085258e-02 0.00000000e+00 1.88415463e+02] [ 2.85085258e-02 9.99593549e-01 0.00000000e+00 -8.86526909e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71002307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10037174299998 meters Centerline goodness : 0.992470 with order 1 Centerline is valid? [True, True] Translation: X:188.48, Y:-8.87, Z:0.04 [[ 9.99544985e-01 -3.01632747e-02 0.00000000e+00 1.88477663e+02] [ 3.01632747e-02 9.99544985e-01 0.00000000e+00 -8.86517024e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00023638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16037174299998 meters Centerline goodness : 0.992072 with order 1 Centerline is valid? [True, True] Translation: X:188.54, Y:-8.86, Z:0.04 [[ 9.99530181e-01 -3.06498992e-02 0.00000000e+00 1.88540378e+02] [ 3.06498992e-02 9.99530181e-01 0.00000000e+00 -8.86488277e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12941049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.220371743 meters Centerline goodness : 0.992593 with order 1 Centerline is valid? [True, True] Translation: X:188.60, Y:-8.86, Z:0.04 [[ 9.99627699e-01 -2.72848525e-02 0.00000000e+00 1.88603736e+02] [ 2.72848525e-02 9.99627699e-01 0.00000000e+00 -8.86261660e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11529405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.280371743 meters Centerline goodness : 0.994048 with order 1 Centerline is valid? [True, True] Translation: X:188.67, Y:-8.85, Z:0.05 [[ 9.99578387e-01 -2.90352946e-02 0.00000000e+00 1.88665507e+02] [ 2.90352946e-02 9.99578387e-01 0.00000000e+00 -8.84976136e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98974816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.340371743 meters Centerline goodness : 0.992108 with order 1 Centerline is valid? [True, True] Translation: X:188.73, Y:-8.86, Z:0.04 [[ 9.99888926e-01 -1.49042378e-02 0.00000000e+00 1.88727745e+02] [ 1.49042378e-02 9.99888926e-01 0.00000000e+00 -8.85931676e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60732549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.400371743 meters Centerline goodness : 0.991759 with order 1 Centerline is valid? [True, True] Translation: X:188.79, Y:-8.85, Z:0.04 [[ 9.99891106e-01 -1.47572697e-02 0.00000000e+00 1.88789845e+02] [ 1.47572697e-02 9.99891106e-01 0.00000000e+00 -8.85457750e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96612986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46037174299997 meters Centerline goodness : 0.993145 with order 1 Centerline is valid? [True, True] Translation: X:188.85, Y:-8.85, Z:0.04 [[ 9.99957668e-01 -9.20121810e-03 0.00000000e+00 1.88852003e+02] [ 9.20121810e-03 9.99957668e-01 0.00000000e+00 -8.85320410e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71616936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52037174299997 meters Centerline goodness : 0.992521 with order 1 Centerline is valid? [True, True] Translation: X:188.91, Y:-8.85, Z:0.04 [[ 9.99978365e-01 -6.57800717e-03 0.00000000e+00 1.88913841e+02] [ 6.57800717e-03 9.99978365e-01 0.00000000e+00 -8.85327107e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61695494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58037174299997 meters Centerline goodness : 0.992135 with order 1 Centerline is valid? [True, True] Translation: X:188.98, Y:-8.85, Z:0.04 [[ 9.99976548e-01 -6.84854374e-03 0.00000000e+00 1.88976066e+02] [ 6.84854374e-03 9.99976548e-01 0.00000000e+00 -8.85418468e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71198101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64037174299997 meters Centerline goodness : 0.992527 with order 1 Centerline is valid? [True, True] Translation: X:189.04, Y:-8.85, Z:0.04 [[ 9.99948192e-01 -1.01791115e-02 0.00000000e+00 1.89038851e+02] [ 1.01791115e-02 9.99948192e-01 0.00000000e+00 -8.85453278e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87857700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70037174299998 meters Centerline goodness : 0.992544 with order 1 Centerline is valid? [True, True] Translation: X:189.10, Y:-8.86, Z:0.04 [[ 9.99870915e-01 -1.60671532e-02 0.00000000e+00 1.89101575e+02] [ 1.60671532e-02 9.99870915e-01 0.00000000e+00 -8.85605047e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96447466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76037174299998 meters Centerline goodness : 0.992551 with order 1 Centerline is valid? [True, True] Translation: X:189.16, Y:-8.86, Z:0.04 [[ 9.99832044e-01 -1.83271220e-02 0.00000000e+00 1.89163911e+02] [ 1.83271220e-02 9.99832044e-01 0.00000000e+00 -8.85917296e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77965607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82037174299998 meters Centerline goodness : 0.993248 with order 1 Centerline is valid? [True, True] Translation: X:189.23, Y:-8.86, Z:0.04 [[ 9.99751692e-01 -2.22835204e-02 0.00000000e+00 1.89226646e+02] [ 2.22835204e-02 9.99751692e-01 0.00000000e+00 -8.85992973e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75524754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88037174299998 meters Centerline goodness : 0.993094 with order 1 Centerline is valid? [True, True] Translation: X:189.29, Y:-8.86, Z:0.04 [[ 9.99732395e-01 -2.31330729e-02 0.00000000e+00 1.89288893e+02] [ 2.31330729e-02 9.99732395e-01 0.00000000e+00 -8.86065349e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85851801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.940371743 meters Centerline goodness : 0.993602 with order 1 Centerline is valid? [True, True] Translation: X:189.35, Y:-8.86, Z:0.04 [[ 9.99772128e-01 -2.13469377e-02 0.00000000e+00 1.89351283e+02] [ 2.13469377e-02 9.99772128e-01 0.00000000e+00 -8.85911820e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16512378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.000371743 meters Centerline goodness : 0.993612 with order 1 Centerline is valid? [True, True] Translation: X:189.41, Y:-8.86, Z:0.04 [[ 9.99819725e-01 -1.89873069e-02 0.00000000e+00 1.89413090e+02] [ 1.89873069e-02 9.99819725e-01 0.00000000e+00 -8.86016425e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15673240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.060371743 meters Centerline goodness : 0.993470 with order 1 Centerline is valid? [True, True] Translation: X:189.48, Y:-8.86, Z:0.04 [[ 9.99811542e-01 -1.94133974e-02 0.00000000e+00 1.89475374e+02] [ 1.94133974e-02 9.99811542e-01 0.00000000e+00 -8.86007667e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32743891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.120371743 meters Centerline goodness : 0.993353 with order 1 Centerline is valid? [True, True] Translation: X:189.54, Y:-8.86, Z:0.04 [[ 9.99821462e-01 -1.88956056e-02 0.00000000e+00 1.89538527e+02] [ 1.88956056e-02 9.99821462e-01 0.00000000e+00 -8.86093172e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30941016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.180371743 meters Centerline goodness : 0.992768 with order 1 Centerline is valid? [True, True] Translation: X:189.60, Y:-8.86, Z:0.04 [[ 9.99832459e-01 -1.83044542e-02 0.00000000e+00 1.89601123e+02] [ 1.83044542e-02 9.99832459e-01 0.00000000e+00 -8.86187471e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22390766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24037174299997 meters Centerline goodness : 0.993190 with order 1 Centerline is valid? [True, True] Translation: X:189.66, Y:-8.86, Z:0.04 [[ 9.99824506e-01 -1.87338360e-02 0.00000000e+00 1.89663779e+02] [ 1.87338360e-02 9.99824506e-01 0.00000000e+00 -8.86168583e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36098547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30037174299997 meters Centerline goodness : 0.992950 with order 1 Centerline is valid? [True, True] Translation: X:189.73, Y:-8.86, Z:0.04 [[ 9.99831029e-01 -1.83824351e-02 0.00000000e+00 1.89726669e+02] [ 1.83824351e-02 9.99831029e-01 0.00000000e+00 -8.85900667e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44230270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36037174299997 meters Centerline goodness : 0.992962 with order 1 Centerline is valid? [True, True] Translation: X:189.79, Y:-8.86, Z:0.05 [[ 9.99849575e-01 -1.73443856e-02 0.00000000e+00 1.89788614e+02] [ 1.73443856e-02 9.99849575e-01 0.00000000e+00 -8.85764593e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50745017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42037174299998 meters Centerline goodness : 0.993173 with order 1 Centerline is valid? [True, True] Translation: X:189.85, Y:-8.86, Z:0.04 [[ 9.99847428e-01 -1.74676991e-02 0.00000000e+00 1.89851636e+02] [ 1.74676991e-02 9.99847428e-01 0.00000000e+00 -8.85859835e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49196104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48037174299998 meters Centerline goodness : 0.992527 with order 1 Centerline is valid? [True, True] Translation: X:189.91, Y:-8.86, Z:0.05 [[ 9.99768225e-01 -2.15289662e-02 0.00000000e+00 1.89913662e+02] [ 2.15289662e-02 9.99768225e-01 0.00000000e+00 -8.85640912e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54882616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54037174299998 meters Centerline goodness : 0.992887 with order 1 Centerline is valid? [True, True] Translation: X:189.98, Y:-8.86, Z:0.04 [[ 9.99682353e-01 -2.52030182e-02 0.00000000e+00 1.89976203e+02] [ 2.52030182e-02 9.99682353e-01 0.00000000e+00 -8.85712747e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33510196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60037174299998 meters Centerline goodness : 0.992303 with order 1 Centerline is valid? [True, True] Translation: X:190.04, Y:-8.86, Z:0.04 [[ 9.99629510e-01 -2.72184381e-02 0.00000000e+00 1.90038994e+02] [ 2.72184381e-02 9.99629510e-01 0.00000000e+00 -8.85806167e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27518313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66037174299998 meters Centerline goodness : 0.992240 with order 1 Centerline is valid? [True, True] Translation: X:190.10, Y:-8.86, Z:0.04 [[ 9.99500231e-01 -3.16115207e-02 0.00000000e+00 1.90101203e+02] [ 3.16115207e-02 9.99500231e-01 0.00000000e+00 -8.85753500e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15810767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.720371743 meters Centerline goodness : 0.992102 with order 1 Centerline is valid? [True, True] Translation: X:190.16, Y:-8.86, Z:0.04 [[ 9.99398003e-01 -3.46934064e-02 0.00000000e+00 1.90164436e+02] [ 3.46934064e-02 9.99398003e-01 0.00000000e+00 -8.85620201e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11914566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.780371743 meters Centerline goodness : 0.992281 with order 1 Centerline is valid? [True, True] Translation: X:190.23, Y:-8.86, Z:0.04 [[ 9.99311400e-01 -3.71042497e-02 0.00000000e+00 1.90227248e+02] [ 3.71042497e-02 9.99311400e-01 0.00000000e+00 -8.85708425e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08571779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.840371743 meters Centerline goodness : 0.992346 with order 1 Centerline is valid? [True, True] Translation: X:190.29, Y:-8.86, Z:0.04 [[ 9.99206897e-01 -3.98193016e-02 0.00000000e+00 1.90289180e+02] [ 3.98193016e-02 9.99206897e-01 0.00000000e+00 -8.85796701e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04297743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.900371743 meters Centerline goodness : 0.992908 with order 1 Centerline is valid? [True, True] Translation: X:190.35, Y:-8.86, Z:0.04 [[ 9.99084604e-01 -4.27779703e-02 0.00000000e+00 1.90351032e+02] [ 4.27779703e-02 9.99084604e-01 0.00000000e+00 -8.85788813e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13589338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96037174299997 meters Centerline goodness : 0.992165 with order 1 Centerline is valid? [True, True] Translation: X:190.41, Y:-8.86, Z:0.04 [[ 9.99081158e-01 -4.28583767e-02 0.00000000e+00 1.90413788e+02] [ 4.28583767e-02 9.99081158e-01 0.00000000e+00 -8.85763528e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14392413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02037174299997 meters Centerline goodness : 0.992045 with order 1 Centerline is valid? [True, True] Translation: X:190.48, Y:-8.86, Z:0.04 [[ 9.99252138e-01 -3.86673474e-02 0.00000000e+00 1.90476482e+02] [ 3.86673474e-02 9.99252138e-01 0.00000000e+00 -8.85726524e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05213119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08037174299997 meters Centerline goodness : 0.992366 with order 1 Centerline is valid? [True, True] Translation: X:190.54, Y:-8.85, Z:0.04 [[ 9.99345990e-01 -3.61606536e-02 0.00000000e+00 1.90538907e+02] [ 3.61606536e-02 9.99345990e-01 0.00000000e+00 -8.85373070e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24525306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14037174299997 meters Centerline goodness : 0.991947 with order 1 Centerline is valid? [True, True] Translation: X:190.60, Y:-8.85, Z:0.04 [[ 9.99397393e-01 -3.47109667e-02 0.00000000e+00 1.90602259e+02] [ 3.47109667e-02 9.99397393e-01 0.00000000e+00 -8.85389617e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20667068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20037174299998 meters Centerline goodness : 0.992037 with order 1 Centerline is valid? [True, True] Translation: X:190.67, Y:-8.85, Z:0.04 [[ 9.99426742e-01 -3.38553767e-02 0.00000000e+00 1.90665121e+02] [ 3.38553767e-02 9.99426742e-01 0.00000000e+00 -8.85306559e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29125045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26037174299998 meters Centerline goodness : 0.992131 with order 1 Centerline is valid? [True, True] Translation: X:190.73, Y:-8.85, Z:0.04 [[ 9.99485415e-01 -3.20765368e-02 0.00000000e+00 1.90727965e+02] [ 3.20765368e-02 9.99485415e-01 0.00000000e+00 -8.85221967e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26689083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32037174299998 meters Centerline goodness : 0.992092 with order 1 Centerline is valid? [True, True] Translation: X:190.79, Y:-8.85, Z:0.04 [[ 9.99557655e-01 -2.97404422e-02 0.00000000e+00 1.90789834e+02] [ 2.97404422e-02 9.99557655e-01 0.00000000e+00 -8.85451422e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97295692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38037174299998 meters Centerline goodness : 0.991307 with order 1 Centerline is valid? [True, True] Translation: X:190.85, Y:-8.85, Z:0.04 [[ 9.99723021e-01 -2.35346954e-02 0.00000000e+00 1.90851998e+02] [ 2.35346954e-02 9.99723021e-01 0.00000000e+00 -8.85489589e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10898749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.440371743 meters Centerline goodness : 0.990659 with order 1 Centerline is valid? [True, True] Translation: X:190.91, Y:-8.86, Z:0.04 [[ 9.99839960e-01 -1.78900509e-02 0.00000000e+00 1.90913694e+02] [ 1.78900509e-02 9.99839960e-01 0.00000000e+00 -8.85542534e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07949656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.500371743 meters Centerline goodness : 0.991239 with order 1 Centerline is valid? [True, True] Translation: X:190.97, Y:-8.85, Z:0.04 [[ 9.99917441e-01 -1.28495642e-02 0.00000000e+00 1.90974877e+02] [ 1.28495642e-02 9.99917441e-01 0.00000000e+00 -8.85456861e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22742513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.560371743 meters Centerline goodness : 0.992085 with order 1 Centerline is valid? [True, True] Translation: X:191.04, Y:-8.86, Z:0.04 [[ 9.99969538e-01 -7.80533587e-03 0.00000000e+00 1.91037045e+02] [ 7.80533587e-03 9.99969538e-01 0.00000000e+00 -8.85589129e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32117616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.620371743 meters Centerline goodness : 0.991400 with order 1 Centerline is valid? [True, True] Translation: X:191.10, Y:-8.86, Z:0.04 [[ 9.99999651e-01 -8.35626219e-04 0.00000000e+00 1.91099001e+02] [ 8.35626219e-04 9.99999651e-01 0.00000000e+00 -8.85633845e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45851215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.680371743 meters Centerline goodness : 0.990727 with order 1 Centerline is valid? [True, True] Translation: X:191.16, Y:-8.86, Z:0.05 [[ 9.99987009e-01 5.09717457e-03 0.00000000e+00 1.91159545e+02] [-5.09717457e-03 9.99987009e-01 0.00000000e+00 -8.85674955e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53468649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74037174299997 meters Centerline goodness : 0.990561 with order 1 Centerline is valid? [True, True] Translation: X:191.22, Y:-8.86, Z:0.04 [[ 9.99965447e-01 8.31289806e-03 0.00000000e+00 1.91218072e+02] [-8.31289806e-03 9.99965447e-01 0.00000000e+00 -8.85834343e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43159337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80037174299997 meters Centerline goodness : 0.993529 with order 1 Centerline is valid? [True, True] Translation: X:191.28, Y:-8.85, Z:0.05 [[ 9.99978922e-01 6.49277406e-03 0.00000000e+00 1.91276209e+02] [-6.49277406e-03 9.99978922e-01 0.00000000e+00 -8.85063172e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55055117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86037174299997 meters Centerline goodness : 0.990537 with order 1 Centerline is valid? [True, True] Translation: X:191.33, Y:-8.86, Z:0.04 [[ 9.99835517e-01 1.81366984e-02 0.00000000e+00 1.91334008e+02] [-1.81366984e-02 9.99835517e-01 0.00000000e+00 -8.86147858e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22924773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92037174299998 meters Centerline goodness : 0.990230 with order 1 Centerline is valid? [True, True] Translation: X:191.39, Y:-8.87, Z:0.04 [[ 9.99777225e-01 2.11068594e-02 0.00000000e+00 1.91391544e+02] [-2.11068594e-02 9.99777225e-01 0.00000000e+00 -8.86524914e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08958513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98037174299998 meters Centerline goodness : 0.989904 with order 1 Centerline is valid? [True, True] Translation: X:191.45, Y:-8.87, Z:0.04 [[ 9.99657251e-01 2.61797789e-02 0.00000000e+00 1.91450267e+02] [-2.61797789e-02 9.99657251e-01 0.00000000e+00 -8.86840748e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49349930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04037174299998 meters Centerline goodness : 0.991073 with order 1 Centerline is valid? [True, True] Translation: X:191.51, Y:-8.87, Z:0.05 [[ 9.99730401e-01 2.32190915e-02 0.00000000e+00 1.91508747e+02] [-2.32190915e-02 9.99730401e-01 0.00000000e+00 -8.86977875e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57434054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10037174299998 meters Centerline goodness : 0.991010 with order 1 Centerline is valid? [True, True] Translation: X:191.57, Y:-8.87, Z:0.04 [[ 9.99741307e-01 2.27446455e-02 0.00000000e+00 1.91566169e+02] [-2.27446455e-02 9.99741307e-01 0.00000000e+00 -8.87458400e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37359835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16037174299998 meters Centerline goodness : 0.991705 with order 1 Centerline is valid? [True, True] Translation: X:191.62, Y:-8.88, Z:0.04 [[ 9.99753460e-01 2.22040427e-02 0.00000000e+00 1.91623736e+02] [-2.22040427e-02 9.99753460e-01 0.00000000e+00 -8.87905954e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29294324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.220371743 meters Centerline goodness : 0.990587 with order 1 Centerline is valid? [True, True] Translation: X:191.68, Y:-8.88, Z:0.04 [[ 9.99745494e-01 2.25598479e-02 0.00000000e+00 1.91681590e+02] [-2.25598479e-02 9.99745494e-01 0.00000000e+00 -8.88340700e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34042090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.280371743 meters Centerline goodness : 0.990900 with order 1 Centerline is valid? [True, True] Translation: X:191.74, Y:-8.89, Z:0.05 [[ 9.99677348e-01 2.54008037e-02 0.00000000e+00 1.91739506e+02] [-2.54008037e-02 9.99677348e-01 0.00000000e+00 -8.88919262e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72091769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.340371743 meters Centerline goodness : 0.990879 with order 1 Centerline is valid? [True, True] Translation: X:191.80, Y:-8.89, Z:0.05 [[ 9.99577056e-01 2.90810619e-02 0.00000000e+00 1.91797701e+02] [-2.90810619e-02 9.99577056e-01 0.00000000e+00 -8.89170947e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73996687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.400371743 meters Centerline goodness : 0.990763 with order 1 Centerline is valid? [True, True] Translation: X:191.86, Y:-8.90, Z:0.05 [[ 9.99378858e-01 3.52405640e-02 0.00000000e+00 1.91856236e+02] [-3.52405640e-02 9.99378858e-01 0.00000000e+00 -8.89947578e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51551877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46037174299997 meters Centerline goodness : 0.990179 with order 1 Centerline is valid? [True, True] Translation: X:191.91, Y:-8.91, Z:0.05 [[ 9.99138678e-01 4.14957981e-02 0.00000000e+00 1.91914920e+02] [-4.14957981e-02 9.99138678e-01 0.00000000e+00 -8.90838067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85134884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52037174299997 meters Centerline goodness : 0.990398 with order 1 Centerline is valid? [True, True] Translation: X:191.97, Y:-8.92, Z:0.05 [[ 9.99103063e-01 4.23446540e-02 0.00000000e+00 1.91973282e+02] [-4.23446540e-02 9.99103063e-01 0.00000000e+00 -8.91606419e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98100818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58037174299997 meters Centerline goodness : 0.993058 with order 1 Centerline is valid? [True, True] Translation: X:192.03, Y:-8.91, Z:0.05 [[ 9.99528630e-01 3.07004511e-02 0.00000000e+00 1.92031181e+02] [-3.07004511e-02 9.99528630e-01 0.00000000e+00 -8.91265126e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18371673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64037174299997 meters Centerline goodness : 0.991180 with order 1 Centerline is valid? [True, True] Translation: X:192.09, Y:-8.93, Z:0.04 [[ 9.99374090e-01 3.53755190e-02 0.00000000e+00 1.92089314e+02] [-3.53755190e-02 9.99374090e-01 0.00000000e+00 -8.93487022e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44404927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70037174299998 meters Centerline goodness : 0.990476 with order 1 Centerline is valid? [True, True] Translation: X:192.15, Y:-8.94, Z:0.04 [[ 9.99467523e-01 3.26292864e-02 0.00000000e+00 1.92146879e+02] [-3.26292864e-02 9.99467523e-01 0.00000000e+00 -8.94245922e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48430510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76037174299998 meters Centerline goodness : 0.990376 with order 1 Centerline is valid? [True, True] Translation: X:192.21, Y:-8.95, Z:0.04 [[ 9.99384479e-01 3.50808226e-02 0.00000000e+00 1.92205347e+02] [-3.50808226e-02 9.99384479e-01 0.00000000e+00 -8.95148612e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19803198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82037174299998 meters Centerline goodness : 0.992440 with order 1 Centerline is valid? [True, True] Translation: X:192.26, Y:-8.95, Z:0.05 [[ 9.99711447e-01 2.40212905e-02 0.00000000e+00 1.92262876e+02] [-2.40212905e-02 9.99711447e-01 0.00000000e+00 -8.94688787e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20212886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88037174299998 meters Centerline goodness : 0.990052 with order 1 Centerline is valid? [True, True] Translation: X:192.32, Y:-8.97, Z:0.04 [[ 9.99464083e-01 3.27344904e-02 0.00000000e+00 1.92320802e+02] [-3.27344904e-02 9.99464083e-01 0.00000000e+00 -8.97032797e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21611742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.940371743 meters Centerline goodness : 0.992673 with order 1 Centerline is valid? [True, True] Translation: X:192.38, Y:-8.97, Z:0.05 [[ 9.99779591e-01 2.09945074e-02 0.00000000e+00 1.92378399e+02] [-2.09945074e-02 9.99779591e-01 0.00000000e+00 -8.96822922e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93213234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.000371743 meters Centerline goodness : 0.990479 with order 1 Centerline is valid? [True, True] Translation: X:192.44, Y:-8.99, Z:0.04 [[ 9.99635246e-01 2.70069416e-02 0.00000000e+00 1.92435716e+02] [-2.70069416e-02 9.99635246e-01 0.00000000e+00 -8.98851603e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17015752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.060371743 meters Centerline goodness : 0.992579 with order 1 Centerline is valid? [True, True] Translation: X:192.49, Y:-8.99, Z:0.05 [[ 9.99945974e-01 1.03947005e-02 0.00000000e+00 1.92494077e+02] [-1.03947005e-02 9.99945974e-01 0.00000000e+00 -8.98721483e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80366612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.120371743 meters Centerline goodness : 0.991784 with order 1 Centerline is valid? [True, True] Translation: X:192.55, Y:-9.01, Z:0.04 [[ 9.99948042e-01 1.01938244e-02 0.00000000e+00 1.92551359e+02] [-1.01938244e-02 9.99948042e-01 0.00000000e+00 -9.00947454e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98244311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.180371743 meters Centerline goodness : 0.993037 with order 1 Centerline is valid? [True, True] Translation: X:192.61, Y:-9.02, Z:0.04 [[ 9.99998322e-01 1.83179682e-03 0.00000000e+00 1.92610093e+02] [-1.83179682e-03 9.99998322e-01 0.00000000e+00 -9.01986412e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74858209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24037174299997 meters Centerline goodness : 0.992563 with order 1 Centerline is valid? [True, True] Translation: X:192.67, Y:-9.03, Z:0.04 [[ 9.99991662e-01 -4.08368564e-03 0.00000000e+00 1.92669148e+02] [ 4.08368564e-03 9.99991662e-01 0.00000000e+00 -9.02667452e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63069290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30037174299997 meters Centerline goodness : 0.992614 with order 1 Centerline is valid? [True, True] Translation: X:192.73, Y:-9.03, Z:0.04 [[ 9.99933455e-01 -1.15362702e-02 0.00000000e+00 1.92729906e+02] [ 1.15362702e-02 9.99933455e-01 0.00000000e+00 -9.03433133e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76448352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36037174299997 meters Centerline goodness : 0.993812 with order 1 Centerline is valid? [True, True] Translation: X:192.79, Y:-9.04, Z:0.04 [[ 9.99891031e-01 -1.47622901e-02 0.00000000e+00 1.92791952e+02] [ 1.47622901e-02 9.99891031e-01 0.00000000e+00 -9.04365077e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64621509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42037174299998 meters Centerline goodness : 0.993289 with order 1 Centerline is valid? [True, True] Translation: X:192.85, Y:-9.05, Z:0.04 [[ 9.99865198e-01 -1.64190764e-02 0.00000000e+00 1.92853454e+02] [ 1.64190764e-02 9.99865198e-01 0.00000000e+00 -9.04998362e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67131832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48037174299998 meters Centerline goodness : 0.995068 with order 1 Centerline is valid? [True, True] Translation: X:192.91, Y:-9.05, Z:0.04 [[ 9.99678720e-01 -2.53467418e-02 0.00000000e+00 1.92914234e+02] [ 2.53467418e-02 9.99678720e-01 0.00000000e+00 -9.04921482e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21065958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54037174299998 meters Centerline goodness : 0.994769 with order 1 Centerline is valid? [True, True] Translation: X:192.98, Y:-9.06, Z:0.04 [[ 9.99674347e-01 -2.55186275e-02 0.00000000e+00 1.92975863e+02] [ 2.55186275e-02 9.99674347e-01 0.00000000e+00 -9.05635881e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10890435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60037174299998 meters Centerline goodness : 0.993155 with order 1 Centerline is valid? [True, True] Translation: X:193.04, Y:-9.07, Z:0.03 [[ 9.99861404e-01 -1.66485276e-02 0.00000000e+00 1.93037391e+02] [ 1.66485276e-02 9.99861404e-01 0.00000000e+00 -9.07396879e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37800251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66037174299998 meters Centerline goodness : 0.993273 with order 1 Centerline is valid? [True, True] Translation: X:193.10, Y:-9.08, Z:0.03 [[ 9.99913294e-01 -1.31682780e-02 0.00000000e+00 1.93099721e+02] [ 1.31682780e-02 9.99913294e-01 0.00000000e+00 -9.08165970e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42558489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.720371743 meters Centerline goodness : 0.993266 with order 1 Centerline is valid? [True, True] Translation: X:193.16, Y:-9.09, Z:0.03 [[ 9.99948394e-01 -1.01591659e-02 0.00000000e+00 1.93160988e+02] [ 1.01591659e-02 9.99948394e-01 0.00000000e+00 -9.08877804e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29713067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.780371743 meters Centerline goodness : 0.992375 with order 1 Centerline is valid? [True, True] Translation: X:193.22, Y:-9.10, Z:0.03 [[ 9.99979039e-01 -6.47474833e-03 0.00000000e+00 1.93222817e+02] [ 6.47474833e-03 9.99979039e-01 0.00000000e+00 -9.09526935e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07068476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.840371743 meters Centerline goodness : 0.995537 with order 1 Centerline is valid? [True, True] Translation: X:193.28, Y:-9.09, Z:0.04 [[ 9.99939157e-01 -1.10309719e-02 0.00000000e+00 1.93283643e+02] [ 1.10309719e-02 9.99939157e-01 0.00000000e+00 -9.09156051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15991269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.900371743 meters Centerline goodness : 0.993219 with order 1 Centerline is valid? [True, True] Translation: X:193.34, Y:-9.11, Z:0.04 [[ 9.99999989e-01 1.49045782e-04 0.00000000e+00 1.93344233e+02] [-1.49045782e-04 9.99999989e-01 0.00000000e+00 -9.10650822e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50189463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96037174299997 meters Centerline goodness : 0.993350 with order 1 Centerline is valid? [True, True] Translation: X:193.40, Y:-9.11, Z:0.03 [[ 9.99998370e-01 1.80561781e-03 0.00000000e+00 1.93404853e+02] [-1.80561781e-03 9.99998370e-01 0.00000000e+00 -9.11254294e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49413139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02037174299997 meters Centerline goodness : 0.992399 with order 1 Centerline is valid? [True, True] Translation: X:193.46, Y:-9.12, Z:0.04 [[ 9.99995552e-01 -2.98254599e-03 0.00000000e+00 1.93464463e+02] [ 2.98254599e-03 9.99995552e-01 0.00000000e+00 -9.11807345e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76806004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08037174299997 meters Centerline goodness : 0.992628 with order 1 Centerline is valid? [True, True] Translation: X:193.53, Y:-9.12, Z:0.04 [[ 9.99975926e-01 -6.93877906e-03 0.00000000e+00 1.93525192e+02] [ 6.93877906e-03 9.99975926e-01 0.00000000e+00 -9.12253955e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84650911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14037174299997 meters Centerline goodness : 0.992442 with order 1 Centerline is valid? [True, True] Translation: X:193.59, Y:-9.13, Z:0.04 [[ 9.99935887e-01 -1.13234828e-02 0.00000000e+00 1.93587454e+02] [ 1.13234828e-02 9.99935887e-01 0.00000000e+00 -9.12691195e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88003037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20037174299998 meters Centerline goodness : 0.992128 with order 1 Centerline is valid? [True, True] Translation: X:193.65, Y:-9.13, Z:0.04 [[ 9.99893947e-01 -1.45634623e-02 0.00000000e+00 1.93649474e+02] [ 1.45634623e-02 9.99893947e-01 0.00000000e+00 -9.12964923e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11275536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26037174299998 meters Centerline goodness : 0.992353 with order 1 Centerline is valid? [True, True] Translation: X:193.71, Y:-9.13, Z:0.04 [[ 9.99858715e-01 -1.68092440e-02 0.00000000e+00 1.93711665e+02] [ 1.68092440e-02 9.99858715e-01 0.00000000e+00 -9.13100583e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34379315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32037174299998 meters Centerline goodness : 0.992764 with order 1 Centerline is valid? [True, True] Translation: X:193.77, Y:-9.13, Z:0.05 [[ 9.99866370e-01 -1.63475154e-02 0.00000000e+00 1.93773808e+02] [ 1.63475154e-02 9.99866370e-01 0.00000000e+00 -9.13129095e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63959356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38037174299998 meters Centerline goodness : 0.992000 with order 1 Centerline is valid? [True, True] Translation: X:193.84, Y:-9.13, Z:0.05 [[ 9.99874246e-01 -1.58585181e-02 0.00000000e+00 1.93836465e+02] [ 1.58585181e-02 9.99874246e-01 0.00000000e+00 -9.13341886e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68192336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.440371743 meters Centerline goodness : 0.994298 with order 1 Centerline is valid? [True, True] Translation: X:193.90, Y:-9.12, Z:0.05 [[ 9.99737098e-01 -2.29289246e-02 0.00000000e+00 1.93898357e+02] [ 2.29289246e-02 9.99737098e-01 0.00000000e+00 -9.12450912e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20641608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.500371743 meters Centerline goodness : 0.992889 with order 1 Centerline is valid? [True, True] Translation: X:193.96, Y:-9.13, Z:0.05 [[ 9.99882784e-01 -1.53107530e-02 0.00000000e+00 1.93960444e+02] [ 1.53107530e-02 9.99882784e-01 0.00000000e+00 -9.13145973e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89578822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.560371743 meters Centerline goodness : 0.992386 with order 1 Centerline is valid? [True, True] Translation: X:194.02, Y:-9.13, Z:0.05 [[ 9.99899053e-01 -1.42085813e-02 0.00000000e+00 1.94021959e+02] [ 1.42085813e-02 9.99899053e-01 0.00000000e+00 -9.13202671e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80514863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.620371743 meters Centerline goodness : 0.992543 with order 1 Centerline is valid? [True, True] Translation: X:194.08, Y:-9.13, Z:0.05 [[ 9.99932526e-01 -1.16164933e-02 0.00000000e+00 1.94084406e+02] [ 1.16164933e-02 9.99932526e-01 0.00000000e+00 -9.13048138e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90234304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.680371743 meters Centerline goodness : 0.993009 with order 1 Centerline is valid? [True, True] Translation: X:194.15, Y:-9.13, Z:0.05 [[ 9.99937844e-01 -1.11493152e-02 0.00000000e+00 1.94146152e+02] [ 1.11493152e-02 9.99937844e-01 0.00000000e+00 -9.13140868e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05740514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74037174299997 meters Centerline goodness : 0.993177 with order 1 Centerline is valid? [True, True] Translation: X:194.21, Y:-9.13, Z:0.05 [[ 9.99969451e-01 -7.81645214e-03 0.00000000e+00 1.94208820e+02] [ 7.81645214e-03 9.99969451e-01 0.00000000e+00 -9.12848809e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.26296731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80037174299997 meters Centerline goodness : 0.993363 with order 1 Centerline is valid? [True, True] Translation: X:194.27, Y:-9.13, Z:0.05 [[ 9.99978483e-01 -6.55995103e-03 0.00000000e+00 1.94270843e+02] [ 6.55995103e-03 9.99978483e-01 0.00000000e+00 -9.12858069e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30980421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86037174299997 meters Centerline goodness : 0.994844 with order 1 Centerline is valid? [True, True] Translation: X:194.33, Y:-9.12, Z:0.06 [[ 9.99922359e-01 -1.24610164e-02 0.00000000e+00 1.94332974e+02] [ 1.24610164e-02 9.99922359e-01 0.00000000e+00 -9.11978641e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61478297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92037174299998 meters Centerline goodness : 0.995051 with order 1 Centerline is valid? [True, True] Translation: X:194.39, Y:-9.12, Z:0.06 [[ 9.99913895e-01 -1.31225902e-02 0.00000000e+00 1.94394592e+02] [ 1.31225902e-02 9.99913895e-01 0.00000000e+00 -9.11927454e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54935888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98037174299998 meters Centerline goodness : 0.992837 with order 1 Centerline is valid? [True, True] Translation: X:194.46, Y:-9.13, Z:0.05 [[ 9.99975531e-01 -6.99551513e-03 0.00000000e+00 1.94455206e+02] [ 6.99551513e-03 9.99975531e-01 0.00000000e+00 -9.12823444e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96712891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04037174299998 meters Centerline goodness : 0.993621 with order 1 Centerline is valid? [True, True] Translation: X:194.52, Y:-9.12, Z:0.06 [[ 9.99944857e-01 -1.05015992e-02 0.00000000e+00 1.94517522e+02] [ 1.05015992e-02 9.99944857e-01 0.00000000e+00 -9.11922215e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72585733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10037174299998 meters Centerline goodness : 0.993124 with order 1 Centerline is valid? [True, True] Translation: X:194.58, Y:-9.13, Z:0.06 [[ 9.99985130e-01 -5.45344818e-03 0.00000000e+00 1.94578327e+02] [ 5.45344818e-03 9.99985130e-01 0.00000000e+00 -9.12583599e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.55762215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16037174299998 meters Centerline goodness : 0.992775 with order 1 Centerline is valid? [True, True] Translation: X:194.64, Y:-9.13, Z:0.05 [[ 9.99994908e-01 -3.19112130e-03 0.00000000e+00 1.94639969e+02] [ 3.19112130e-03 9.99994908e-01 0.00000000e+00 -9.12910110e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18951314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.220371743 meters Centerline goodness : 0.992182 with order 1 Centerline is valid? [True, True] Translation: X:194.70, Y:-9.13, Z:0.05 [[ 9.99988225e-01 -4.85285472e-03 0.00000000e+00 1.94701264e+02] [ 4.85285472e-03 9.99988225e-01 0.00000000e+00 -9.12917505e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17543896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.280371743 meters Centerline goodness : 0.990958 with order 1 Centerline is valid? [True, True] Translation: X:194.76, Y:-9.13, Z:0.05 [[ 9.99994819e-01 -3.21904766e-03 0.00000000e+00 1.94763399e+02] [ 3.21904766e-03 9.99994819e-01 0.00000000e+00 -9.13449504e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50224051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.340371743 meters Centerline goodness : 0.990942 with order 1 Centerline is valid? [True, True] Translation: X:194.82, Y:-9.13, Z:0.05 [[ 9.99978381e-01 -6.57557494e-03 0.00000000e+00 1.94824378e+02] [ 6.57557494e-03 9.99978381e-01 0.00000000e+00 -9.13326868e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82714096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.400371743 meters Centerline goodness : 0.990414 with order 1 Centerline is valid? [True, True] Translation: X:194.89, Y:-9.13, Z:0.05 [[ 9.99976304e-01 -6.88408406e-03 0.00000000e+00 1.94886874e+02] [ 6.88408406e-03 9.99976304e-01 0.00000000e+00 -9.13214785e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.08471086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46037174299997 meters Centerline goodness : 0.990365 with order 1 Centerline is valid? [True, True] Translation: X:194.95, Y:-9.13, Z:0.05 [[ 9.99971007e-01 -7.61480427e-03 0.00000000e+00 1.94947923e+02] [ 7.61480427e-03 9.99971007e-01 0.00000000e+00 -9.13179407e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20887584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52037174299997 meters Centerline goodness : 0.986456 with order 1 Centerline is valid? [True, True] Translation: X:195.01, Y:-9.13, Z:0.05 [[ 9.99952170e-01 -9.78051837e-03 0.00000000e+00 1.95010292e+02] [ 9.78051837e-03 9.99952170e-01 0.00000000e+00 -9.13292826e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.10638255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58037174299997 meters Centerline goodness : 0.984461 with order 1 Centerline is valid? [True, True] Translation: X:195.07, Y:-9.14, Z:0.05 [[ 9.99946578e-01 -1.03363549e-02 0.00000000e+00 1.95072686e+02] [ 1.03363549e-02 9.99946578e-01 0.00000000e+00 -9.13574797e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25883224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64037174299997 meters Centerline goodness : 0.987990 with order 1 Centerline is valid? [True, True] Translation: X:195.13, Y:-9.14, Z:0.05 [[ 9.99910150e-01 -1.34049245e-02 0.00000000e+00 1.95133352e+02] [ 1.34049245e-02 9.99910150e-01 0.00000000e+00 -9.14026768e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91339870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70037174299998 meters Centerline goodness : 0.987729 with order 1 Centerline is valid? [True, True] Translation: X:195.20, Y:-9.14, Z:0.05 [[ 9.99802710e-01 -1.98630620e-02 0.00000000e+00 1.95195976e+02] [ 1.98630620e-02 9.99802710e-01 0.00000000e+00 -9.14295329e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.08094774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76037174299998 meters Centerline goodness : 0.988373 with order 1 Centerline is valid? [True, True] Translation: X:195.26, Y:-9.15, Z:0.05 [[ 9.99671697e-01 -2.56222096e-02 0.00000000e+00 1.95258372e+02] [ 2.56222096e-02 9.99671697e-01 0.00000000e+00 -9.14556252e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24936957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82037174299998 meters Centerline goodness : 0.988935 with order 1 Centerline is valid? [True, True] Translation: X:195.32, Y:-9.15, Z:0.05 [[ 9.99569132e-01 -2.93521871e-02 0.00000000e+00 1.95320680e+02] [ 2.93521871e-02 9.99569132e-01 0.00000000e+00 -9.14786667e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40193640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88037174299998 meters Centerline goodness : 0.990165 with order 1 Centerline is valid? [True, True] Translation: X:195.38, Y:-9.15, Z:0.05 [[ 9.99539824e-01 -3.03337971e-02 0.00000000e+00 1.95382890e+02] [ 3.03337971e-02 9.99539824e-01 0.00000000e+00 -9.15045786e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49605263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.940371743 meters Centerline goodness : 0.991788 with order 1 Centerline is valid? [True, True] Translation: X:195.44, Y:-9.15, Z:0.05 [[ 9.99584036e-01 -2.88401787e-02 0.00000000e+00 1.95444824e+02] [ 2.88401787e-02 9.99584036e-01 0.00000000e+00 -9.15349239e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39564172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.000371743 meters Centerline goodness : 0.991397 with order 1 Centerline is valid? [True, True] Translation: X:195.51, Y:-9.16, Z:0.05 [[ 9.99694887e-01 -2.47008642e-02 0.00000000e+00 1.95507350e+02] [ 2.47008642e-02 9.99694887e-01 0.00000000e+00 -9.15604893e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27519460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.060371743 meters Centerline goodness : 0.990254 with order 1 Centerline is valid? [True, True] Translation: X:195.57, Y:-9.16, Z:0.05 [[ 9.99811162e-01 -1.94329817e-02 0.00000000e+00 1.95568292e+02] [ 1.94329817e-02 9.99811162e-01 0.00000000e+00 -9.15784544e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15993910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.120371743 meters Centerline goodness : 0.988146 with order 1 Centerline is valid? [True, True] Translation: X:195.63, Y:-9.16, Z:0.05 [[ 9.99878763e-01 -1.55711168e-02 0.00000000e+00 1.95630827e+02] [ 1.55711168e-02 9.99878763e-01 0.00000000e+00 -9.15917226e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18042573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.180371743 meters Centerline goodness : 0.987971 with order 1 Centerline is valid? [True, True] Translation: X:195.69, Y:-9.16, Z:0.05 [[ 9.99953295e-01 -9.66478840e-03 0.00000000e+00 1.95692621e+02] [ 9.66478840e-03 9.99953295e-01 0.00000000e+00 -9.16071799e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28289455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24037174299997 meters Centerline goodness : 0.988586 with order 1 Centerline is valid? [True, True] Translation: X:195.75, Y:-9.16, Z:0.06 [[ 9.99982705e-01 -5.88135577e-03 0.00000000e+00 1.95754573e+02] [ 5.88135577e-03 9.99982705e-01 0.00000000e+00 -9.16157932e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50800962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30037174299997 meters Centerline goodness : 0.987625 with order 1 Centerline is valid? [True, True] Translation: X:195.82, Y:-9.16, Z:0.05 [[ 9.99992730e-01 -3.81307558e-03 0.00000000e+00 1.95816616e+02] [ 3.81307558e-03 9.99992730e-01 0.00000000e+00 -9.16413479e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47337394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36037174299997 meters Centerline goodness : 0.989448 with order 1 Centerline is valid? [True, True] Translation: X:195.88, Y:-9.17, Z:0.05 [[ 9.99999958e-01 2.90543222e-04 0.00000000e+00 1.95877772e+02] [-2.90543222e-04 9.99999958e-01 0.00000000e+00 -9.16669013e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27409091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42037174299998 meters Centerline goodness : 0.988225 with order 1 Centerline is valid? [True, True] Translation: X:195.94, Y:-9.17, Z:0.05 [[ 9.99979363e-01 6.42438119e-03 0.00000000e+00 1.95938411e+02] [-6.42438119e-03 9.99979363e-01 0.00000000e+00 -9.17043423e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82069455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48037174299998 meters Centerline goodness : 0.986635 with order 1 Centerline is valid? [True, True] Translation: X:196.00, Y:-9.17, Z:0.05 [[ 9.99972074e-01 7.47339129e-03 0.00000000e+00 1.95997461e+02] [-7.47339129e-03 9.99972074e-01 0.00000000e+00 -9.17159033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24382184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54037174299998 meters Centerline goodness : 0.986562 with order 1 Centerline is valid? [True, True] Translation: X:196.06, Y:-9.17, Z:0.05 [[ 9.99976876e-01 6.80047949e-03 0.00000000e+00 1.96055148e+02] [-6.80047949e-03 9.99976876e-01 0.00000000e+00 -9.17320213e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35564200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60037174299998 meters Centerline goodness : 0.991077 with order 1 Centerline is valid? [True, True] Translation: X:196.11, Y:-9.17, Z:0.06 [[ 9.99999277e-01 -1.20284985e-03 0.00000000e+00 1.96114181e+02] [ 1.20284985e-03 9.99999277e-01 0.00000000e+00 -9.16582855e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.86852957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66037174299998 meters Centerline goodness : 0.987286 with order 1 Centerline is valid? [True, True] Translation: X:196.17, Y:-9.18, Z:0.06 [[ 9.99992704e-01 3.82005930e-03 0.00000000e+00 1.96174086e+02] [-3.82005930e-03 9.99992704e-01 0.00000000e+00 -9.17896265e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.55731085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.720371743 meters Centerline goodness : 0.987498 with order 1 Centerline is valid? [True, True] Translation: X:196.23, Y:-9.18, Z:0.05 [[ 9.99991574e-01 4.10503619e-03 0.00000000e+00 1.96233035e+02] [-4.10503619e-03 9.99991574e-01 0.00000000e+00 -9.18484853e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20010727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.780371743 meters Centerline goodness : 0.985672 with order 1 Centerline is valid? [True, True] Translation: X:196.29, Y:-9.19, Z:0.05 [[ 9.99999205e-01 1.26066078e-03 0.00000000e+00 1.96291571e+02] [-1.26066078e-03 9.99999205e-01 0.00000000e+00 -9.19066193e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72812915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.840371743 meters Centerline goodness : 0.986341 with order 1 Centerline is valid? [True, True] Translation: X:196.35, Y:-9.19, Z:0.05 [[ 9.99999988e-01 -1.56833738e-04 0.00000000e+00 1.96352353e+02] [ 1.56833738e-04 9.99999988e-01 0.00000000e+00 -9.19320942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97836613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.900371743 meters Centerline goodness : 0.986628 with order 1 Centerline is valid? [True, True] Translation: X:196.41, Y:-9.19, Z:0.06 [[ 9.99998689e-01 1.61896094e-03 0.00000000e+00 1.96412599e+02] [-1.61896094e-03 9.99998689e-01 0.00000000e+00 -9.19499813e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.52610663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96037174299997 meters Centerline goodness : 0.990948 with order 1 Centerline is valid? [True, True] Translation: X:196.47, Y:-9.18, Z:0.06 [[ 9.99947558e-01 -1.02411689e-02 0.00000000e+00 1.96473073e+02] [ 1.02411689e-02 9.99947558e-01 0.00000000e+00 -9.18399600e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69012510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02037174299997 meters Centerline goodness : 0.986048 with order 1 Centerline is valid? [True, True] Translation: X:196.53, Y:-9.20, Z:0.05 [[ 9.99999781e-01 -6.61831375e-04 0.00000000e+00 1.96533688e+02] [ 6.61831375e-04 9.99999781e-01 0.00000000e+00 -9.20069609e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15463649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08037174299997 meters Centerline goodness : 0.986873 with order 1 Centerline is valid? [True, True] Translation: X:196.59, Y:-9.20, Z:0.05 [[ 9.99999454e-01 -1.04501381e-03 0.00000000e+00 1.96594520e+02] [ 1.04501381e-03 9.99999454e-01 0.00000000e+00 -9.20171039e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98218076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14037174299997 meters Centerline goodness : 0.987660 with order 1 Centerline is valid? [True, True] Translation: X:196.65, Y:-9.20, Z:0.05 [[ 9.99997944e-01 -2.02798194e-03 0.00000000e+00 1.96654856e+02] [ 2.02798194e-03 9.99997944e-01 0.00000000e+00 -9.20367018e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07602600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20037174299998 meters Centerline goodness : 0.987648 with order 1 Centerline is valid? [True, True] Translation: X:196.72, Y:-9.21, Z:0.05 [[ 1.00000000e+00 7.18373146e-06 0.00000000e+00 1.96716201e+02] [-7.18373146e-06 1.00000000e+00 0.00000000e+00 -9.20573500e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01131661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26037174299998 meters Centerline goodness : 0.992031 with order 1 Centerline is valid? [True, True] Translation: X:196.78, Y:-9.19, Z:0.06 [[ 9.99929637e-01 -1.18625690e-02 0.00000000e+00 1.96777552e+02] [ 1.18625690e-02 9.99929637e-01 0.00000000e+00 -9.19203717e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71742578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32037174299998 meters Centerline goodness : 0.991848 with order 1 Centerline is valid? [True, True] Translation: X:196.84, Y:-9.19, Z:0.06 [[ 9.99926657e-01 -1.21111549e-02 0.00000000e+00 1.96839545e+02] [ 1.21111549e-02 9.99926657e-01 0.00000000e+00 -9.19333214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66048784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38037174299998 meters Centerline goodness : 0.987285 with order 1 Centerline is valid? [True, True] Translation: X:196.90, Y:-9.21, Z:0.05 [[ 9.99997038e-01 -2.43408130e-03 0.00000000e+00 1.96899626e+02] [ 2.43408130e-03 9.99997038e-01 0.00000000e+00 -9.20940278e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11043707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.440371743 meters Centerline goodness : 0.987004 with order 1 Centerline is valid? [True, True] Translation: X:196.96, Y:-9.21, Z:0.06 [[ 9.99998311e-01 1.83811296e-03 0.00000000e+00 1.96960432e+02] [-1.83811296e-03 9.99998311e-01 0.00000000e+00 -9.20969092e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75799428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.500371743 meters Centerline goodness : 0.987949 with order 1 Centerline is valid? [True, True] Translation: X:197.02, Y:-9.21, Z:0.06 [[ 9.99991269e-01 4.17879514e-03 0.00000000e+00 1.97019950e+02] [-4.17879514e-03 9.99991269e-01 0.00000000e+00 -9.20911075e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63339943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.560371743 meters Centerline goodness : 0.988538 with order 1 Centerline is valid? [True, True] Translation: X:197.08, Y:-9.21, Z:0.05 [[ 9.99992958e-01 3.75295566e-03 0.00000000e+00 1.97078942e+02] [-3.75295566e-03 9.99992958e-01 0.00000000e+00 -9.21052469e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.03780051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.620371743 meters Centerline goodness : 0.993199 with order 1 Centerline is valid? [True, True] Translation: X:197.14, Y:-9.20, Z:0.06 [[ 9.99996025e-01 -2.81945174e-03 0.00000000e+00 1.97139399e+02] [ 2.81945174e-03 9.99996025e-01 0.00000000e+00 -9.19644601e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.01986425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.680371743 meters Centerline goodness : 0.988282 with order 1 Centerline is valid? [True, True] Translation: X:197.20, Y:-9.21, Z:0.06 [[ 9.99945878e-01 1.04039079e-02 0.00000000e+00 1.97199288e+02] [-1.04039079e-02 9.99945878e-01 0.00000000e+00 -9.21086931e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84006853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74037174299997 meters Centerline goodness : 0.989441 with order 1 Centerline is valid? [True, True] Translation: X:197.26, Y:-9.21, Z:0.05 [[ 9.99951832e-01 9.81501864e-03 0.00000000e+00 1.97256623e+02] [-9.81501864e-03 9.99951832e-01 0.00000000e+00 -9.21121747e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33575347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80037174299997 meters Centerline goodness : 0.988980 with order 1 Centerline is valid? [True, True] Translation: X:197.31, Y:-9.21, Z:0.05 [[ 9.99855322e-01 1.70098439e-02 0.00000000e+00 1.97313992e+02] [-1.70098439e-02 9.99855322e-01 0.00000000e+00 -9.21152852e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15352000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86037174299997 meters Centerline goodness : 0.988464 with order 1 Centerline is valid? [True, True] Translation: X:197.37, Y:-9.21, Z:0.05 [[ 9.99773311e-01 2.12914457e-02 0.00000000e+00 1.97372901e+02] [-2.12914457e-02 9.99773311e-01 0.00000000e+00 -9.21401856e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46010067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92037174299998 meters Centerline goodness : 0.988333 with order 1 Centerline is valid? [True, True] Translation: X:197.43, Y:-9.22, Z:0.05 [[ 9.99771546e-01 2.13741891e-02 0.00000000e+00 1.97431171e+02] [-2.13741891e-02 9.99771546e-01 0.00000000e+00 -9.21661896e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.31272540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98037174299998 meters Centerline goodness : 0.988753 with order 1 Centerline is valid? [True, True] Translation: X:197.49, Y:-9.22, Z:0.05 [[ 9.99781256e-01 2.09150492e-02 0.00000000e+00 1.97489031e+02] [-2.09150492e-02 9.99781256e-01 0.00000000e+00 -9.21860067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40092751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04037174299998 meters Centerline goodness : 0.988483 with order 1 Centerline is valid? [True, True] Translation: X:197.55, Y:-9.22, Z:0.05 [[ 9.99784479e-01 2.07604335e-02 0.00000000e+00 1.97546160e+02] [-2.07604335e-02 9.99784479e-01 0.00000000e+00 -9.22241289e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40749475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10037174299998 meters Centerline goodness : 0.988583 with order 1 Centerline is valid? [True, True] Translation: X:197.60, Y:-9.23, Z:0.05 [[ 9.99783935e-01 2.07866342e-02 0.00000000e+00 1.97603119e+02] [-2.07866342e-02 9.99783935e-01 0.00000000e+00 -9.22577813e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07048761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16037174299998 meters Centerline goodness : 0.987543 with order 1 Centerline is valid? [True, True] Translation: X:197.66, Y:-9.23, Z:0.05 [[ 9.99723672e-01 2.35069996e-02 0.00000000e+00 1.97660845e+02] [-2.35069996e-02 9.99723672e-01 0.00000000e+00 -9.22943999e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.21816120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.220371743 meters Centerline goodness : 0.988212 with order 1 Centerline is valid? [True, True] Translation: X:197.72, Y:-9.23, Z:0.05 [[ 9.99627557e-01 2.72900595e-02 0.00000000e+00 1.97719579e+02] [-2.72900595e-02 9.99627557e-01 0.00000000e+00 -9.23415062e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01517980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.280371743 meters Centerline goodness : 0.987877 with order 1 Centerline is valid? [True, True] Translation: X:197.78, Y:-9.24, Z:0.05 [[ 9.99672961e-01 2.55728736e-02 0.00000000e+00 1.97777281e+02] [-2.55728736e-02 9.99672961e-01 0.00000000e+00 -9.23831992e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05307500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.340371743 meters Centerline goodness : 0.987899 with order 1 Centerline is valid? [True, True] Translation: X:197.83, Y:-9.24, Z:0.05 [[ 9.99776870e-01 2.11236898e-02 0.00000000e+00 1.97834874e+02] [-2.11236898e-02 9.99776870e-01 0.00000000e+00 -9.24203526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16625079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.400371743 meters Centerline goodness : 0.987584 with order 1 Centerline is valid? [True, True] Translation: X:197.89, Y:-9.25, Z:0.05 [[ 9.99891507e-01 1.47300489e-02 0.00000000e+00 1.97892490e+02] [-1.47300489e-02 9.99891507e-01 0.00000000e+00 -9.24717678e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37386804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46037174299997 meters Centerline goodness : 0.988451 with order 1 Centerline is valid? [True, True] Translation: X:197.95, Y:-9.25, Z:0.06 [[ 9.99933504e-01 1.15320257e-02 0.00000000e+00 1.97951692e+02] [-1.15320257e-02 9.99933504e-01 0.00000000e+00 -9.24964210e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50382562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52037174299997 meters Centerline goodness : 0.988011 with order 1 Centerline is valid? [True, True] Translation: X:198.01, Y:-9.25, Z:0.06 [[ 9.99973392e-01 7.29486512e-03 0.00000000e+00 1.98010168e+02] [-7.29486512e-03 9.99973392e-01 0.00000000e+00 -9.25438039e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59865632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58037174299997 meters Centerline goodness : 0.987785 with order 1 Centerline is valid? [True, True] Translation: X:198.07, Y:-9.26, Z:0.06 [[ 9.99990850e-01 4.27775939e-03 0.00000000e+00 1.98068803e+02] [-4.27775939e-03 9.99990850e-01 0.00000000e+00 -9.25986023e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59020853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64037174299997 meters Centerline goodness : 0.988014 with order 1 Centerline is valid? [True, True] Translation: X:198.13, Y:-9.26, Z:0.06 [[ 9.99997514e-01 2.22975895e-03 0.00000000e+00 1.98127039e+02] [-2.22975895e-03 9.99997514e-01 0.00000000e+00 -9.26401135e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53650208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70037174299998 meters Centerline goodness : 0.988160 with order 1 Centerline is valid? [True, True] Translation: X:198.19, Y:-9.27, Z:0.05 [[ 9.99998660e-01 1.63679916e-03 0.00000000e+00 1.98186018e+02] [-1.63679916e-03 9.99998660e-01 0.00000000e+00 -9.26930002e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45877074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76037174299998 meters Centerline goodness : 0.988348 with order 1 Centerline is valid? [True, True] Translation: X:198.25, Y:-9.27, Z:0.06 [[ 9.99997759e-01 2.11705287e-03 0.00000000e+00 1.98245341e+02] [-2.11705287e-03 9.99997759e-01 0.00000000e+00 -9.27193781e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92831209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82037174299998 meters Centerline goodness : 0.988751 with order 1 Centerline is valid? [True, True] Translation: X:198.30, Y:-9.28, Z:0.06 [[ 9.99999665e-01 8.19063809e-04 0.00000000e+00 1.98304624e+02] [-8.19063809e-04 9.99999665e-01 0.00000000e+00 -9.27578994e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.89670943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88037174299998 meters Centerline goodness : 0.988603 with order 1 Centerline is valid? [True, True] Translation: X:198.37, Y:-9.28, Z:0.05 [[ 9.99992182e-01 -3.95416454e-03 0.00000000e+00 1.98365440e+02] [ 3.95416454e-03 9.99992182e-01 0.00000000e+00 -9.27988693e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44965324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.940371743 meters Centerline goodness : 0.988582 with order 1 Centerline is valid? [True, True] Translation: X:198.43, Y:-9.28, Z:0.05 [[ 9.99983806e-01 -5.69107849e-03 0.00000000e+00 1.98426632e+02] [ 5.69107849e-03 9.99983806e-01 0.00000000e+00 -9.28187276e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46555978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.000371743 meters Centerline goodness : 0.988231 with order 1 Centerline is valid? [True, True] Translation: X:198.49, Y:-9.28, Z:0.06 [[ 9.99983396e-01 -5.76260026e-03 0.00000000e+00 1.98488381e+02] [ 5.76260026e-03 9.99983396e-01 0.00000000e+00 -9.28397099e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69393725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.060371743 meters Centerline goodness : 0.988863 with order 1 Centerline is valid? [True, True] Translation: X:198.55, Y:-9.29, Z:0.06 [[ 9.99975897e-01 -6.94305682e-03 0.00000000e+00 1.98550827e+02] [ 6.94305682e-03 9.99975897e-01 0.00000000e+00 -9.28665377e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68466992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.120371743 meters Centerline goodness : 0.987984 with order 1 Centerline is valid? [True, True] Translation: X:198.61, Y:-9.29, Z:0.06 [[ 9.99981832e-01 -6.02787219e-03 0.00000000e+00 1.98612595e+02] [ 6.02787219e-03 9.99981832e-01 0.00000000e+00 -9.28922121e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69792644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.180371743 meters Centerline goodness : 0.988287 with order 1 Centerline is valid? [True, True] Translation: X:198.67, Y:-9.29, Z:0.06 [[ 9.99980956e-01 -6.17149506e-03 0.00000000e+00 1.98674468e+02] [ 6.17149506e-03 9.99980956e-01 0.00000000e+00 -9.29234187e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71875552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24037174299997 meters Centerline goodness : 0.989474 with order 1 Centerline is valid? [True, True] Translation: X:198.74, Y:-9.30, Z:0.06 [[ 9.99989644e-01 -4.55099320e-03 0.00000000e+00 1.98736952e+02] [ 4.55099320e-03 9.99989644e-01 0.00000000e+00 -9.29603070e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.67984319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30037174299997 meters Centerline goodness : 0.992483 with order 1 Centerline is valid? [True, True] Translation: X:198.80, Y:-9.30, Z:0.06 [[ 9.99989804e-01 -4.51580253e-03 0.00000000e+00 1.98798000e+02] [ 4.51580253e-03 9.99989804e-01 0.00000000e+00 -9.29873610e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.57965700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36037174299997 meters Centerline goodness : 0.992481 with order 1 Centerline is valid? [True, True] Translation: X:198.86, Y:-9.30, Z:0.05 [[ 9.99996212e-01 2.75250025e-03 0.00000000e+00 1.98859716e+02] [-2.75250025e-03 9.99996212e-01 0.00000000e+00 -9.30434016e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.13940170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42037174299998 meters Centerline goodness : 0.992716 with order 1 Centerline is valid? [True, True] Translation: X:198.92, Y:-9.31, Z:0.06 [[ 9.99999566e-01 9.31387140e-04 0.00000000e+00 1.98918883e+02] [-9.31387140e-04 9.99999566e-01 0.00000000e+00 -9.30505131e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.57819066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48037174299998 meters Centerline goodness : 0.992816 with order 1 Centerline is valid? [True, True] Translation: X:198.98, Y:-9.31, Z:0.06 [[ 9.99996750e-01 2.54951616e-03 0.00000000e+00 1.98979730e+02] [-2.54951616e-03 9.99996750e-01 0.00000000e+00 -9.30648878e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63838682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54037174299998 meters Centerline goodness : 0.993362 with order 1 Centerline is valid? [True, True] Translation: X:199.04, Y:-9.31, Z:0.06 [[ 9.99998419e-01 1.77807902e-03 0.00000000e+00 1.99038520e+02] [-1.77807902e-03 9.99998419e-01 0.00000000e+00 -9.30787799e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.74642318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60037174299998 meters Centerline goodness : 0.992889 with order 1 Centerline is valid? [True, True] Translation: X:199.10, Y:-9.31, Z:0.06 [[ 9.99998548e-01 1.70415591e-03 0.00000000e+00 1.99098464e+02] [-1.70415591e-03 9.99998548e-01 0.00000000e+00 -9.31003058e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72263897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66037174299998 meters Centerline goodness : 0.992675 with order 1 Centerline is valid? [True, True] Translation: X:199.16, Y:-9.31, Z:0.06 [[ 9.99999980e-01 -2.01809256e-04 0.00000000e+00 1.99158434e+02] [ 2.01809256e-04 9.99999980e-01 0.00000000e+00 -9.31021979e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.97378410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.720371743 meters Centerline goodness : 0.992600 with order 1 Centerline is valid? [True, True] Translation: X:199.22, Y:-9.31, Z:0.06 [[ 9.99995562e-01 2.97915834e-03 0.00000000e+00 1.99218359e+02] [-2.97915834e-03 9.99995562e-01 0.00000000e+00 -9.31456224e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.51623767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.780371743 meters Centerline goodness : 0.992935 with order 1 Centerline is valid? [True, True] Translation: X:199.28, Y:-9.31, Z:0.06 [[ 9.99999998e-01 -7.05081363e-05 0.00000000e+00 1.99277427e+02] [ 7.05081363e-05 9.99999998e-01 0.00000000e+00 -9.31409644e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85303964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.840371743 meters Centerline goodness : 0.992919 with order 1 Centerline is valid? [True, True] Translation: X:199.34, Y:-9.32, Z:0.06 [[ 9.99999138e-01 -1.31297906e-03 0.00000000e+00 1.99337651e+02] [ 1.31297906e-03 9.99999138e-01 0.00000000e+00 -9.31617105e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88316108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.900371743 meters Centerline goodness : 0.994255 with order 1 Centerline is valid? [True, True] Translation: X:199.40, Y:-9.31, Z:0.07 [[ 9.99947212e-01 -1.02748719e-02 0.00000000e+00 1.99399387e+02] [ 1.02748719e-02 9.99947212e-01 0.00000000e+00 -9.30729470e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.73881161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96037174299997 meters Centerline goodness : 0.994667 with order 1 Centerline is valid? [True, True] Translation: X:199.46, Y:-9.31, Z:0.07 [[ 9.99946315e-01 -1.03617987e-02 0.00000000e+00 1.99461888e+02] [ 1.03617987e-02 9.99946315e-01 0.00000000e+00 -9.31022198e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.68165108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02037174299997 meters Centerline goodness : 0.992590 with order 1 Centerline is valid? [True, True] Translation: X:199.52, Y:-9.32, Z:0.06 [[ 9.99998357e-01 -1.81258293e-03 0.00000000e+00 1.99523470e+02] [ 1.81258293e-03 9.99998357e-01 0.00000000e+00 -9.32440875e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.74097924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08037174299997 meters Centerline goodness : 0.993538 with order 1 Centerline is valid? [True, True] Translation: X:199.58, Y:-9.33, Z:0.06 [[ 9.99999994e-01 -1.13375183e-04 0.00000000e+00 1.99584334e+02] [ 1.13375183e-04 9.99999994e-01 0.00000000e+00 -9.32653717e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84809790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14037174299997 meters Centerline goodness : 0.993611 with order 1 Centerline is valid? [True, True] Translation: X:199.65, Y:-9.33, Z:0.06 [[ 9.99987904e-01 4.91845016e-03 0.00000000e+00 1.99645108e+02] [-4.91845016e-03 9.99987904e-01 0.00000000e+00 -9.32801584e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.89344553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20037174299998 meters Centerline goodness : 0.993130 with order 1 Centerline is valid? [True, True] Translation: X:199.70, Y:-9.33, Z:0.06 [[ 9.99951394e-01 9.85949181e-03 0.00000000e+00 1.99702458e+02] [-9.85949181e-03 9.99951394e-01 0.00000000e+00 -9.32987119e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26378624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26037174299998 meters Centerline goodness : 0.993513 with order 1 Centerline is valid? [True, True] Translation: X:199.76, Y:-9.33, Z:0.06 [[ 9.99912427e-01 1.32340042e-02 0.00000000e+00 1.99761533e+02] [-1.32340042e-02 9.99912427e-01 0.00000000e+00 -9.33214341e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81483680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32037174299998 meters Centerline goodness : 0.993094 with order 1 Centerline is valid? [True, True] Translation: X:199.82, Y:-9.34, Z:0.06 [[ 9.99864390e-01 1.64681943e-02 0.00000000e+00 1.99819170e+02] [-1.64681943e-02 9.99864390e-01 0.00000000e+00 -9.33504101e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.74003178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38037174299998 meters Centerline goodness : 0.993257 with order 1 Centerline is valid? [True, True] Translation: X:199.88, Y:-9.34, Z:0.06 [[ 9.99853451e-01 1.71195035e-02 0.00000000e+00 1.99875682e+02] [-1.71195035e-02 9.99853451e-01 0.00000000e+00 -9.33890881e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54803831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.440371743 meters Centerline goodness : 0.992354 with order 1 Centerline is valid? [True, True] Translation: X:199.93, Y:-9.34, Z:0.06 [[ 9.99839629e-01 1.79085636e-02 0.00000000e+00 1.99934647e+02] [-1.79085636e-02 9.99839629e-01 0.00000000e+00 -9.34195882e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61432198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.500371743 meters Centerline goodness : 0.992190 with order 1 Centerline is valid? [True, True] Translation: X:199.99, Y:-9.35, Z:0.06 [[ 9.99876870e-01 1.56921772e-02 0.00000000e+00 1.99991996e+02] [-1.56921772e-02 9.99876870e-01 0.00000000e+00 -9.34537258e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73423127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.560371743 meters Centerline goodness : 0.992014 with order 1 Centerline is valid? [True, True] Translation: X:200.05, Y:-9.35, Z:0.06 [[ 9.99867607e-01 1.62717064e-02 0.00000000e+00 2.00050292e+02] [-1.62717064e-02 9.99867607e-01 0.00000000e+00 -9.35095099e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.57073476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.620371743 meters Centerline goodness : 0.991839 with order 1 Centerline is valid? [True, True] Translation: X:200.11, Y:-9.36, Z:0.05 [[ 9.99918466e-01 1.27695682e-02 0.00000000e+00 2.00108051e+02] [-1.27695682e-02 9.99918466e-01 0.00000000e+00 -9.35687538e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49503642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.680371743 meters Centerline goodness : 0.992232 with order 1 Centerline is valid? [True, True] Translation: X:200.17, Y:-9.36, Z:0.05 [[ 9.99917619e-01 1.28357262e-02 0.00000000e+00 2.00166344e+02] [-1.28357262e-02 9.99917619e-01 0.00000000e+00 -9.36319497e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36311134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74037174299997 meters Centerline goodness : 0.994410 with order 1 Centerline is valid? [True, True] Translation: X:200.22, Y:-9.36, Z:0.06 [[ 9.99997191e-01 2.37030236e-03 0.00000000e+00 2.00224434e+02] [-2.37030236e-03 9.99997191e-01 0.00000000e+00 -9.35687053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.30915214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80037174299997 meters Centerline goodness : 0.992628 with order 1 Centerline is valid? [True, True] Translation: X:200.28, Y:-9.37, Z:0.06 [[ 9.99951159e-01 9.88325153e-03 0.00000000e+00 2.00283814e+02] [-9.88325153e-03 9.99951159e-01 0.00000000e+00 -9.37374246e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50445026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86037174299997 meters Centerline goodness : 0.992342 with order 1 Centerline is valid? [True, True] Translation: X:200.34, Y:-9.38, Z:0.06 [[ 9.99973193e-01 7.32216284e-03 0.00000000e+00 2.00343000e+02] [-7.32216284e-03 9.99973193e-01 0.00000000e+00 -9.37702818e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65698420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92037174299998 meters Centerline goodness : 0.993334 with order 1 Centerline is valid? [True, True] Translation: X:200.40, Y:-9.38, Z:0.06 [[ 9.99999983e-01 1.82126404e-04 0.00000000e+00 2.00401592e+02] [-1.82126404e-04 9.99999983e-01 0.00000000e+00 -9.38023704e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90399753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98037174299998 meters Centerline goodness : 0.992754 with order 1 Centerline is valid? [True, True] Translation: X:200.46, Y:-9.39, Z:0.06 [[ 9.99996440e-01 -2.66815025e-03 0.00000000e+00 2.00461607e+02] [ 2.66815025e-03 9.99996440e-01 0.00000000e+00 -9.38668238e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.67880187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04037174299998 meters Centerline goodness : 0.994558 with order 1 Centerline is valid? [True, True] Translation: X:200.52, Y:-9.38, Z:0.06 [[ 9.99946171e-01 -1.03756783e-02 0.00000000e+00 2.00523527e+02] [ 1.03756783e-02 9.99946171e-01 0.00000000e+00 -9.38211872e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27788658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10037174299998 meters Centerline goodness : 0.992879 with order 1 Centerline is valid? [True, True] Translation: X:200.58, Y:-9.39, Z:0.06 [[ 9.99987150e-01 -5.06954570e-03 0.00000000e+00 2.00584785e+02] [ 5.06954570e-03 9.99987150e-01 0.00000000e+00 -9.39452311e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92200833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16037174299998 meters Centerline goodness : 0.993087 with order 1 Centerline is valid? [True, True] Translation: X:200.65, Y:-9.40, Z:0.06 [[ 9.99988604e-01 -4.77397951e-03 0.00000000e+00 2.00647355e+02] [ 4.77397951e-03 9.99988604e-01 0.00000000e+00 -9.39656103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13704112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.220371743 meters Centerline goodness : 0.992724 with order 1 Centerline is valid? [True, True] Translation: X:200.71, Y:-9.40, Z:0.06 [[ 9.99995875e-01 -2.87227769e-03 0.00000000e+00 2.00707924e+02] [ 2.87227769e-03 9.99995875e-01 0.00000000e+00 -9.40139099e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.89982468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.280371743 meters Centerline goodness : 0.992808 with order 1 Centerline is valid? [True, True] Translation: X:200.77, Y:-9.40, Z:0.06 [[ 9.99983376e-01 -5.76602447e-03 0.00000000e+00 2.00769058e+02] [ 5.76602447e-03 9.99983376e-01 0.00000000e+00 -9.40442433e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68781639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.340371743 meters Centerline goodness : 0.992082 with order 1 Centerline is valid? [True, True] Translation: X:200.83, Y:-9.41, Z:0.06 [[ 9.99982755e-01 -5.87274183e-03 0.00000000e+00 2.00831243e+02] [ 5.87274183e-03 9.99982755e-01 0.00000000e+00 -9.40896934e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72211994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.400371743 meters Centerline goodness : 0.992368 with order 1 Centerline is valid? [True, True] Translation: X:200.89, Y:-9.41, Z:0.06 [[ 9.99986296e-01 -5.23518034e-03 0.00000000e+00 2.00893365e+02] [ 5.23518034e-03 9.99986296e-01 0.00000000e+00 -9.41218659e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84058451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46037174299997 meters Centerline goodness : 0.992564 with order 1 Centerline is valid? [True, True] Translation: X:200.95, Y:-9.41, Z:0.06 [[ 9.99993987e-01 -3.46774908e-03 0.00000000e+00 2.00954426e+02] [ 3.46774908e-03 9.99993987e-01 0.00000000e+00 -9.41415927e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22010752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52037174299997 meters Centerline goodness : 0.991277 with order 1 Centerline is valid? [True, True] Translation: X:201.02, Y:-9.42, Z:0.06 [[ 9.99984463e-01 -5.57438575e-03 0.00000000e+00 2.01015741e+02] [ 5.57438575e-03 9.99984463e-01 0.00000000e+00 -9.41746760e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.18706363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58037174299997 meters Centerline goodness : 0.991852 with order 1 Centerline is valid? [True, True] Translation: X:201.08, Y:-9.42, Z:0.06 [[ 9.99984837e-01 -5.50691810e-03 0.00000000e+00 2.01077411e+02] [ 5.50691810e-03 9.99984837e-01 0.00000000e+00 -9.42195424e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14192012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64037174299997 meters Centerline goodness : 0.991613 with order 1 Centerline is valid? [True, True] Translation: X:201.14, Y:-9.43, Z:0.06 [[ 9.99978709e-01 -6.52545304e-03 0.00000000e+00 2.01139527e+02] [ 6.52545304e-03 9.99978709e-01 0.00000000e+00 -9.42730397e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19139216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70037174299998 meters Centerline goodness : 0.991720 with order 1 Centerline is valid? [True, True] Translation: X:201.20, Y:-9.43, Z:0.06 [[ 9.99977716e-01 -6.67594484e-03 0.00000000e+00 2.01201572e+02] [ 6.67594484e-03 9.99977716e-01 0.00000000e+00 -9.43246981e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00020087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76037174299998 meters Centerline goodness : 0.991283 with order 1 Centerline is valid? [True, True] Translation: X:201.26, Y:-9.44, Z:0.06 [[ 9.99986107e-01 -5.27121666e-03 0.00000000e+00 2.01263971e+02] [ 5.27121666e-03 9.99986107e-01 0.00000000e+00 -9.43898368e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.80765365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82037174299998 meters Centerline goodness : 0.991154 with order 1 Centerline is valid? [True, True] Translation: X:201.33, Y:-9.44, Z:0.06 [[ 9.99993577e-01 -3.58403403e-03 0.00000000e+00 2.01325858e+02] [ 3.58403403e-03 9.99993577e-01 0.00000000e+00 -9.44337412e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73674848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88037174299998 meters Centerline goodness : 0.993554 with order 1 Centerline is valid? [True, True] Translation: X:201.39, Y:-9.44, Z:0.06 [[ 9.99986139e-01 -5.26514807e-03 0.00000000e+00 2.01387867e+02] [ 5.26514807e-03 9.99986139e-01 0.00000000e+00 -9.43816005e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.67179149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.940371743 meters Centerline goodness : 0.991584 with order 1 Centerline is valid? [True, True] Translation: X:201.45, Y:-9.45, Z:0.05 [[ 9.99979515e-01 6.40073187e-03 0.00000000e+00 2.01448864e+02] [-6.40073187e-03 9.99979515e-01 0.00000000e+00 -9.45234764e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40613276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.000371743 meters Centerline goodness : 0.994215 with order 1 Centerline is valid? [True, True] Translation: X:201.51, Y:-9.45, Z:0.06 [[ 9.99999930e-01 3.74824157e-04 0.00000000e+00 2.01508500e+02] [-3.74824157e-04 9.99999930e-01 0.00000000e+00 -9.44513477e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.86655712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.060371743 meters Centerline goodness : 0.991218 with order 1 Centerline is valid? [True, True] Translation: X:201.57, Y:-9.46, Z:0.05 [[ 9.99906851e-01 1.36487851e-02 0.00000000e+00 2.01567827e+02] [-1.36487851e-02 9.99906851e-01 0.00000000e+00 -9.46335668e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67013487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.120371743 meters Centerline goodness : 0.990824 with order 1 Centerline is valid? [True, True] Translation: X:201.63, Y:-9.47, Z:0.05 [[ 9.99901548e-01 1.40319358e-02 0.00000000e+00 2.01626360e+02] [-1.40319358e-02 9.99901548e-01 0.00000000e+00 -9.46509858e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.26807009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18037174299997 meters Centerline goodness : 0.991449 with order 1 Centerline is valid? [True, True] Translation: X:201.68, Y:-9.47, Z:0.05 [[ 9.99886965e-01 1.50352030e-02 0.00000000e+00 2.01684816e+02] [-1.50352030e-02 9.99886965e-01 0.00000000e+00 -9.46959209e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24939309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24037174299997 meters Centerline goodness : 0.990963 with order 1 Centerline is valid? [True, True] Translation: X:201.74, Y:-9.48, Z:0.05 [[ 9.99883978e-01 1.52325769e-02 0.00000000e+00 2.01743678e+02] [-1.52325769e-02 9.99883978e-01 0.00000000e+00 -9.47689575e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90460344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30037174299997 meters Centerline goodness : 0.991104 with order 1 Centerline is valid? [True, True] Translation: X:201.80, Y:-9.48, Z:0.05 [[ 9.99880022e-01 1.54900493e-02 0.00000000e+00 2.01802241e+02] [-1.54900493e-02 9.99880022e-01 0.00000000e+00 -9.48245292e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50747058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36037174299997 meters Centerline goodness : 0.991087 with order 1 Centerline is valid? [True, True] Translation: X:201.86, Y:-9.48, Z:0.05 [[ 9.99959585e-01 8.99046051e-03 0.00000000e+00 2.01859737e+02] [-8.99046051e-03 9.99959585e-01 0.00000000e+00 -9.48452574e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79329005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42037174299998 meters Centerline goodness : 0.993553 with order 1 Centerline is valid? [True, True] Translation: X:201.92, Y:-9.47, Z:0.06 [[ 9.99983034e-01 -5.82504792e-03 0.00000000e+00 2.01919416e+02] [ 5.82504792e-03 9.99983034e-01 0.00000000e+00 -9.47359186e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75182289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48037174299998 meters Centerline goodness : 0.993519 with order 1 Centerline is valid? [True, True] Translation: X:201.98, Y:-9.48, Z:0.06 [[ 9.99969484e-01 -7.81225269e-03 0.00000000e+00 2.01981781e+02] [ 7.81225269e-03 9.99969484e-01 0.00000000e+00 -9.47682915e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90358330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54037174299998 meters Centerline goodness : 0.991013 with order 1 Centerline is valid? [True, True] Translation: X:202.04, Y:-9.49, Z:0.05 [[ 9.99997151e-01 2.38689281e-03 0.00000000e+00 2.02043493e+02] [-2.38689281e-03 9.99997151e-01 0.00000000e+00 -9.49432384e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61831901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60037174299998 meters Centerline goodness : 0.990577 with order 1 Centerline is valid? [True, True] Translation: X:202.10, Y:-9.50, Z:0.05 [[ 9.99999615e-01 8.77001939e-04 0.00000000e+00 2.02103482e+02] [-8.77001939e-04 9.99999615e-01 0.00000000e+00 -9.49632843e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60226802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66037174299998 meters Centerline goodness : 0.990251 with order 1 Centerline is valid? [True, True] Translation: X:202.16, Y:-9.50, Z:0.05 [[ 9.99999458e-01 1.04087647e-03 0.00000000e+00 2.02162829e+02] [-1.04087647e-03 9.99999458e-01 0.00000000e+00 -9.49923701e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.10794634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.720371743 meters Centerline goodness : 0.990875 with order 1 Centerline is valid? [True, True] Translation: X:202.22, Y:-9.50, Z:0.05 [[ 9.99995905e-01 -2.86187569e-03 0.00000000e+00 2.02223437e+02] [ 2.86187569e-03 9.99995905e-01 0.00000000e+00 -9.49834490e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87626517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.780371743 meters Centerline goodness : 0.990416 with order 1 Centerline is valid? [True, True] Translation: X:202.28, Y:-9.50, Z:0.05 [[ 9.99999997e-01 7.57652501e-05 0.00000000e+00 2.02284718e+02] [-7.57652501e-05 9.99999997e-01 0.00000000e+00 -9.50008614e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76187451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.840371743 meters Centerline goodness : 0.990463 with order 1 Centerline is valid? [True, True] Translation: X:202.35, Y:-9.50, Z:0.05 [[ 9.99989341e-01 4.61703488e-03 0.00000000e+00 2.02345487e+02] [-4.61703488e-03 9.99989341e-01 0.00000000e+00 -9.50195833e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54277289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.900371743 meters Centerline goodness : 0.990245 with order 1 Centerline is valid? [True, True] Translation: X:202.40, Y:-9.50, Z:0.05 [[ 9.99977493e-01 6.70924588e-03 0.00000000e+00 2.02403884e+02] [-6.70924588e-03 9.99977493e-01 0.00000000e+00 -9.50146861e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.12288645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96037174299997 meters Centerline goodness : 0.990534 with order 1 Centerline is valid? [True, True] Translation: X:202.46, Y:-9.50, Z:0.05 [[ 9.99990020e-01 4.46771398e-03 0.00000000e+00 2.02462792e+02] [-4.46771398e-03 9.99990020e-01 0.00000000e+00 -9.50253805e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63970822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02037174299997 meters Centerline goodness : 0.990462 with order 1 Centerline is valid? [True, True] Translation: X:202.52, Y:-9.51, Z:0.05 [[ 9.99989342e-01 4.61684088e-03 0.00000000e+00 2.02521992e+02] [-4.61684088e-03 9.99989342e-01 0.00000000e+00 -9.50515709e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51246230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08037174299997 meters Centerline goodness : 0.991590 with order 1 Centerline is valid? [True, True] Translation: X:202.58, Y:-9.51, Z:0.04 [[ 9.99983794e-01 5.69319037e-03 0.00000000e+00 2.02581161e+02] [-5.69319037e-03 9.99983794e-01 0.00000000e+00 -9.50539568e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47937609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14037174299997 meters Centerline goodness : 0.991358 with order 1 Centerline is valid? [True, True] Translation: X:202.64, Y:-9.50, Z:0.05 [[ 9.99959467e-01 9.00355343e-03 0.00000000e+00 2.02639821e+02] [-9.00355343e-03 9.99959467e-01 0.00000000e+00 -9.50416663e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52299797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20037174299998 meters Centerline goodness : 0.990547 with order 1 Centerline is valid? [True, True] Translation: X:202.70, Y:-9.51, Z:0.05 [[ 9.99923476e-01 1.23709835e-02 0.00000000e+00 2.02698059e+02] [-1.23709835e-02 9.99923476e-01 0.00000000e+00 -9.50578914e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68097272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26037174299998 meters Centerline goodness : 0.990699 with order 1 Centerline is valid? [True, True] Translation: X:202.76, Y:-9.50, Z:0.05 [[ 9.99907916e-01 1.35705549e-02 0.00000000e+00 2.02756795e+02] [-1.35705549e-02 9.99907916e-01 0.00000000e+00 -9.50352263e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64428632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32037174299998 meters Centerline goodness : 0.991725 with order 1 Centerline is valid? [True, True] Translation: X:202.82, Y:-9.50, Z:0.05 [[ 9.99842358e-01 1.77555341e-02 0.00000000e+00 2.02815583e+02] [-1.77555341e-02 9.99842358e-01 0.00000000e+00 -9.49942522e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.34641711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38037174299998 meters Centerline goodness : 0.993062 with order 1 Centerline is valid? [True, True] Translation: X:202.87, Y:-9.49, Z:0.05 [[ 9.99917653e-01 1.28330572e-02 0.00000000e+00 2.02874807e+02] [-1.28330572e-02 9.99917653e-01 0.00000000e+00 -9.49014707e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48266258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.440371743 meters Centerline goodness : 0.991833 with order 1 Centerline is valid? [True, True] Translation: X:202.93, Y:-9.50, Z:0.05 [[ 9.99789708e-01 2.05070681e-02 0.00000000e+00 2.02932599e+02] [-2.05070681e-02 9.99789708e-01 0.00000000e+00 -9.50268353e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69152407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.500371743 meters Centerline goodness : 0.991375 with order 1 Centerline is valid? [True, True] Translation: X:202.99, Y:-9.51, Z:0.05 [[ 9.99827721e-01 1.85614628e-02 0.00000000e+00 2.02990755e+02] [-1.85614628e-02 9.99827721e-01 0.00000000e+00 -9.50665197e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51754401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.560371743 meters Centerline goodness : 0.991605 with order 1 Centerline is valid? [True, True] Translation: X:203.05, Y:-9.51, Z:0.05 [[ 9.99919114e-01 1.27186852e-02 0.00000000e+00 2.03047898e+02] [-1.27186852e-02 9.99919114e-01 0.00000000e+00 -9.50927867e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66364282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.620371743 meters Centerline goodness : 0.991829 with order 1 Centerline is valid? [True, True] Translation: X:203.11, Y:-9.52, Z:0.04 [[ 9.99901886e-01 1.40078184e-02 0.00000000e+00 2.03106747e+02] [-1.40078184e-02 9.99901886e-01 0.00000000e+00 -9.51556513e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44042004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68037174299997 meters Centerline goodness : 0.992448 with order 1 Centerline is valid? [True, True] Translation: X:203.17, Y:-9.52, Z:0.05 [[ 9.99978854e-01 6.50321883e-03 0.00000000e+00 2.03165045e+02] [-6.50321883e-03 9.99978854e-01 0.00000000e+00 -9.51753470e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67129799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74037174299997 meters Centerline goodness : 0.992622 with order 1 Centerline is valid? [True, True] Translation: X:203.22, Y:-9.52, Z:0.05 [[ 9.99996562e-01 2.62214246e-03 0.00000000e+00 2.03224147e+02] [-2.62214246e-03 9.99996562e-01 0.00000000e+00 -9.52211939e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56040243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80037174299997 meters Centerline goodness : 0.992486 with order 1 Centerline is valid? [True, True] Translation: X:203.28, Y:-9.53, Z:0.05 [[ 9.99996884e-01 -2.49651797e-03 0.00000000e+00 2.03282820e+02] [ 2.49651797e-03 9.99996884e-01 0.00000000e+00 -9.52535731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59661124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86037174299997 meters Centerline goodness : 0.992370 with order 1 Centerline is valid? [True, True] Translation: X:203.34, Y:-9.53, Z:0.04 [[ 9.99980240e-01 -6.28646210e-03 0.00000000e+00 2.03343986e+02] [ 6.28646210e-03 9.99980240e-01 0.00000000e+00 -9.53063743e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42131900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92037174299998 meters Centerline goodness : 0.992285 with order 1 Centerline is valid? [True, True] Translation: X:203.41, Y:-9.53, Z:0.05 [[ 9.99969841e-01 -7.76646930e-03 0.00000000e+00 2.03405896e+02] [ 7.76646930e-03 9.99969841e-01 0.00000000e+00 -9.53345759e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58560906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98037174299998 meters Centerline goodness : 0.992678 with order 1 Centerline is valid? [True, True] Translation: X:203.47, Y:-9.54, Z:0.05 [[ 9.99991104e-01 -4.21803794e-03 0.00000000e+00 2.03468059e+02] [ 4.21803794e-03 9.99991104e-01 0.00000000e+00 -9.53589586e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61443112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04037174299998 meters Centerline goodness : 0.992286 with order 1 Centerline is valid? [True, True] Translation: X:203.53, Y:-9.54, Z:0.05 [[ 9.99999318e-01 -1.16759708e-03 0.00000000e+00 2.03529213e+02] [ 1.16759708e-03 9.99999318e-01 0.00000000e+00 -9.53758470e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73187157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10037174299998 meters Centerline goodness : 0.993229 with order 1 Centerline is valid? [True, True] Translation: X:203.59, Y:-9.54, Z:0.05 [[ 9.99979772e-01 6.36039741e-03 0.00000000e+00 2.03590152e+02] [-6.36039741e-03 9.99979772e-01 0.00000000e+00 -9.54092975e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58290593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16037174299998 meters Centerline goodness : 0.992632 with order 1 Centerline is valid? [True, True] Translation: X:203.65, Y:-9.54, Z:0.04 [[ 9.99914872e-01 1.30479711e-02 0.00000000e+00 2.03647421e+02] [-1.30479711e-02 9.99914872e-01 0.00000000e+00 -9.54327881e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48080537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.220371743 meters Centerline goodness : 0.992448 with order 1 Centerline is valid? [True, True] Translation: X:203.71, Y:-9.55, Z:0.04 [[ 9.99893293e-01 1.46082829e-02 0.00000000e+00 2.03705781e+02] [-1.46082829e-02 9.99893293e-01 0.00000000e+00 -9.54532626e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46252991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.280371743 meters Centerline goodness : 0.992453 with order 1 Centerline is valid? [True, True] Translation: X:203.76, Y:-9.55, Z:0.04 [[ 9.99759623e-01 2.19247786e-02 0.00000000e+00 2.03763290e+02] [-2.19247786e-02 9.99759623e-01 0.00000000e+00 -9.54892747e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17148512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.340371743 meters Centerline goodness : 0.994476 with order 1 Centerline is valid? [True, True] Translation: X:203.82, Y:-9.54, Z:0.05 [[ 9.99834650e-01 1.81844300e-02 0.00000000e+00 2.03822970e+02] [-1.81844300e-02 9.99834650e-01 0.00000000e+00 -9.53798950e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40919704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.400371743 meters Centerline goodness : 0.992616 with order 1 Centerline is valid? [True, True] Translation: X:203.88, Y:-9.55, Z:0.04 [[ 9.99297930e-01 3.74652691e-02 0.00000000e+00 2.03880004e+02] [-3.74652691e-02 9.99297930e-01 0.00000000e+00 -9.55398045e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34418645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46037174299997 meters Centerline goodness : 0.991754 with order 1 Centerline is valid? [True, True] Translation: X:203.94, Y:-9.56, Z:0.04 [[ 9.99070653e-01 4.31025563e-02 0.00000000e+00 2.03937833e+02] [-4.31025563e-02 9.99070653e-01 0.00000000e+00 -9.55959322e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45197652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52037174299997 meters Centerline goodness : 0.992797 with order 1 Centerline is valid? [True, True] Translation: X:204.00, Y:-9.56, Z:0.05 [[ 9.99096084e-01 4.25089877e-02 0.00000000e+00 2.03996392e+02] [-4.25089877e-02 9.99096084e-01 0.00000000e+00 -9.56386930e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70471510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58037174299997 meters Centerline goodness : 0.992499 with order 1 Centerline is valid? [True, True] Translation: X:204.05, Y:-9.57, Z:0.05 [[ 9.99272669e-01 3.81330916e-02 0.00000000e+00 2.04054914e+02] [-3.81330916e-02 9.99272669e-01 0.00000000e+00 -9.57108574e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70321780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64037174299997 meters Centerline goodness : 0.993269 with order 1 Centerline is valid? [True, True] Translation: X:204.11, Y:-9.58, Z:0.05 [[ 9.99495739e-01 3.17532330e-02 0.00000000e+00 2.04111984e+02] [-3.17532330e-02 9.99495739e-01 0.00000000e+00 -9.57658954e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77858725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70037174299998 meters Centerline goodness : 0.993142 with order 1 Centerline is valid? [True, True] Translation: X:204.17, Y:-9.59, Z:0.05 [[ 9.99701108e-01 2.44477957e-02 0.00000000e+00 2.04169976e+02] [-2.44477957e-02 9.99701108e-01 0.00000000e+00 -9.58549171e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04095430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76037174299998 meters Centerline goodness : 0.993275 with order 1 Centerline is valid? [True, True] Translation: X:204.23, Y:-9.60, Z:0.05 [[ 9.99830303e-01 1.84218422e-02 0.00000000e+00 2.04227239e+02] [-1.84218422e-02 9.99830303e-01 0.00000000e+00 -9.59609657e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.21139928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82037174299998 meters Centerline goodness : 0.992307 with order 1 Centerline is valid? [True, True] Translation: X:204.29, Y:-9.60, Z:0.06 [[ 9.99903536e-01 1.38895405e-02 0.00000000e+00 2.04285914e+02] [-1.38895405e-02 9.99903536e-01 0.00000000e+00 -9.60194100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50325262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88037174299998 meters Centerline goodness : 0.992495 with order 1 Centerline is valid? [True, True] Translation: X:204.34, Y:-9.61, Z:0.05 [[ 9.99958591e-01 9.10032023e-03 0.00000000e+00 2.04343693e+02] [-9.10032023e-03 9.99958591e-01 0.00000000e+00 -9.61176128e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44509585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.940371743 meters Centerline goodness : 0.991733 with order 1 Centerline is valid? [True, True] Translation: X:204.40, Y:-9.62, Z:0.05 [[ 9.99982722e-01 5.87833235e-03 0.00000000e+00 2.04401598e+02] [-5.87833235e-03 9.99982722e-01 0.00000000e+00 -9.61941118e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20387816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.000371743 meters Centerline goodness : 0.991334 with order 1 Centerline is valid? [True, True] Translation: X:204.46, Y:-9.63, Z:0.05 [[ 9.99998112e-01 1.94334501e-03 0.00000000e+00 2.04460227e+02] [-1.94334501e-03 9.99998112e-01 0.00000000e+00 -9.63060044e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78650683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.060371743 meters Centerline goodness : 0.991668 with order 1 Centerline is valid? [True, True] Translation: X:204.52, Y:-9.64, Z:0.04 [[ 9.99998640e-01 -1.64928276e-03 0.00000000e+00 2.04519354e+02] [ 1.64928276e-03 9.99998640e-01 0.00000000e+00 -9.63964858e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41820933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.120371743 meters Centerline goodness : 0.993022 with order 1 Centerline is valid? [True, True] Translation: X:204.58, Y:-9.63, Z:0.05 [[ 9.99943260e-01 -1.06525647e-02 0.00000000e+00 2.04580814e+02] [ 1.06525647e-02 9.99943260e-01 0.00000000e+00 -9.63358299e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36501942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18037174299997 meters Centerline goodness : 0.991493 with order 1 Centerline is valid? [True, True] Translation: X:204.64, Y:-9.65, Z:0.04 [[ 9.99999999e-01 -4.49240751e-05 0.00000000e+00 2.04641820e+02] [ 4.49240751e-05 9.99999999e-01 0.00000000e+00 -9.65301236e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33910470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24037174299997 meters Centerline goodness : 0.991233 with order 1 Centerline is valid? [True, True] Translation: X:204.70, Y:-9.66, Z:0.04 [[ 9.99999401e-01 1.09427929e-03 0.00000000e+00 2.04702249e+02] [-1.09427929e-03 9.99999401e-01 0.00000000e+00 -9.65796941e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37263980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30037174299997 meters Centerline goodness : 0.991528 with order 1 Centerline is valid? [True, True] Translation: X:204.76, Y:-9.66, Z:0.04 [[ 9.99998547e-01 1.70481616e-03 0.00000000e+00 2.04762115e+02] [-1.70481616e-03 9.99998547e-01 0.00000000e+00 -9.66376272e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09985113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36037174299997 meters Centerline goodness : 0.991540 with order 1 Centerline is valid? [True, True] Translation: X:204.82, Y:-9.67, Z:0.04 [[ 9.99999887e-01 4.75008534e-04 0.00000000e+00 2.04821735e+02] [-4.75008534e-04 9.99999887e-01 0.00000000e+00 -9.66835509e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97222948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42037174299998 meters Centerline goodness : 0.991862 with order 1 Centerline is valid? [True, True] Translation: X:204.88, Y:-9.67, Z:0.04 [[ 9.99993719e-01 3.54434382e-03 0.00000000e+00 2.04882184e+02] [-3.54434382e-03 9.99993719e-01 0.00000000e+00 -9.67470309e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59734670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48037174299998 meters Centerline goodness : 0.993747 with order 1 Centerline is valid? [True, True] Translation: X:204.94, Y:-9.66, Z:0.05 [[ 9.99979490e-01 -6.40457600e-03 0.00000000e+00 2.04942155e+02] [ 6.40457600e-03 9.99979490e-01 0.00000000e+00 -9.65676802e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15874112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54037174299998 meters Centerline goodness : 0.991484 with order 1 Centerline is valid? [True, True] Translation: X:205.00, Y:-9.67, Z:0.04 [[ 9.99946848e-01 1.03102045e-02 0.00000000e+00 2.05002721e+02] [-1.03102045e-02 9.99946848e-01 0.00000000e+00 -9.67466059e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00246186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60037174299998 meters Centerline goodness : 0.991270 with order 1 Centerline is valid? [True, True] Translation: X:205.06, Y:-9.67, Z:0.05 [[ 9.99848644e-01 1.73979630e-02 0.00000000e+00 2.05061269e+02] [-1.73979630e-02 9.99848644e-01 0.00000000e+00 -9.67291030e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50213673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66037174299998 meters Centerline goodness : 0.991036 with order 1 Centerline is valid? [True, True] Translation: X:205.12, Y:-9.67, Z:0.05 [[ 9.99719982e-01 2.36634333e-02 0.00000000e+00 2.05119166e+02] [-2.36634333e-02 9.99719982e-01 0.00000000e+00 -9.67288367e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80169886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.720371743 meters Centerline goodness : 0.991158 with order 1 Centerline is valid? [True, True] Translation: X:205.18, Y:-9.68, Z:0.05 [[ 9.99566240e-01 2.94504839e-02 0.00000000e+00 2.05177991e+02] [-2.94504839e-02 9.99566240e-01 0.00000000e+00 -9.67708036e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60078474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.780371743 meters Centerline goodness : 0.990805 with order 1 Centerline is valid? [True, True] Translation: X:205.24, Y:-9.68, Z:0.04 [[ 9.99567997e-01 2.93908033e-02 0.00000000e+00 2.05236615e+02] [-2.93908033e-02 9.99567997e-01 0.00000000e+00 -9.68072087e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44693099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.840371743 meters Centerline goodness : 0.990902 with order 1 Centerline is valid? [True, True] Translation: X:205.29, Y:-9.69, Z:0.04 [[ 9.99649798e-01 2.64628411e-02 0.00000000e+00 2.05293971e+02] [-2.64628411e-02 9.99649798e-01 0.00000000e+00 -9.68547383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12290596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.900371743 meters Centerline goodness : 0.992572 with order 1 Centerline is valid? [True, True] Translation: X:205.35, Y:-9.69, Z:0.04 [[ 9.99745046e-01 2.25796968e-02 0.00000000e+00 2.05352958e+02] [-2.25796968e-02 9.99745046e-01 0.00000000e+00 -9.68836666e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42360027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96037174299997 meters Centerline goodness : 0.991604 with order 1 Centerline is valid? [True, True] Translation: X:205.41, Y:-9.69, Z:0.04 [[ 9.99782431e-01 2.08588451e-02 0.00000000e+00 2.05412007e+02] [-2.08588451e-02 9.99782431e-01 0.00000000e+00 -9.69215097e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48473318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02037174299997 meters Centerline goodness : 0.991561 with order 1 Centerline is valid? [True, True] Translation: X:205.47, Y:-9.70, Z:0.04 [[ 9.99809064e-01 1.95406311e-02 0.00000000e+00 2.05470563e+02] [-1.95406311e-02 9.99809064e-01 0.00000000e+00 -9.69710017e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39325203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08037174299997 meters Centerline goodness : 0.991871 with order 1 Centerline is valid? [True, True] Translation: X:205.53, Y:-9.70, Z:0.04 [[ 9.99797960e-01 2.01007333e-02 0.00000000e+00 2.05529067e+02] [-2.01007333e-02 9.99797960e-01 0.00000000e+00 -9.70096589e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29330964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14037174299997 meters Centerline goodness : 0.992173 with order 1 Centerline is valid? [True, True] Translation: X:205.59, Y:-9.70, Z:0.05 [[ 9.99845478e-01 1.75789882e-02 0.00000000e+00 2.05588087e+02] [-1.75789882e-02 9.99845478e-01 0.00000000e+00 -9.70274958e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66366429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20037174299998 meters Centerline goodness : 0.991605 with order 1 Centerline is valid? [True, True] Translation: X:205.65, Y:-9.71, Z:0.05 [[ 9.99914008e-01 1.31139774e-02 0.00000000e+00 2.05647122e+02] [-1.31139774e-02 9.99914008e-01 0.00000000e+00 -9.70533196e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02932780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26037174299998 meters Centerline goodness : 0.991885 with order 1 Centerline is valid? [True, True] Translation: X:205.71, Y:-9.71, Z:0.05 [[ 9.99982251e-01 5.95798464e-03 0.00000000e+00 2.05705891e+02] [-5.95798464e-03 9.99982251e-01 0.00000000e+00 -9.70752097e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.13539663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32037174299998 meters Centerline goodness : 0.991424 with order 1 Centerline is valid? [True, True] Translation: X:205.76, Y:-9.71, Z:0.05 [[ 9.99999598e-01 8.96705969e-04 0.00000000e+00 2.05763440e+02] [-8.96705969e-04 9.99999598e-01 0.00000000e+00 -9.71072387e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.75145379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38037174299998 meters Centerline goodness : 0.991021 with order 1 Centerline is valid? [True, True] Translation: X:205.82, Y:-9.71, Z:0.05 [[ 9.99992442e-01 -3.88785968e-03 0.00000000e+00 2.05823995e+02] [ 3.88785968e-03 9.99992442e-01 0.00000000e+00 -9.71336029e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79390635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.440371743 meters Centerline goodness : 0.991050 with order 1 Centerline is valid? [True, True] Translation: X:205.89, Y:-9.72, Z:0.05 [[ 9.99983192e-01 -5.79782494e-03 0.00000000e+00 2.05885021e+02] [ 5.79782494e-03 9.99983192e-01 0.00000000e+00 -9.71522030e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79654106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.500371743 meters Centerline goodness : 0.990857 with order 1 Centerline is valid? [True, True] Translation: X:205.95, Y:-9.72, Z:0.05 [[ 9.99977773e-01 -6.66736785e-03 0.00000000e+00 2.05946301e+02] [ 6.66736785e-03 9.99977773e-01 0.00000000e+00 -9.71666631e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.84178455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.560371743 meters Centerline goodness : 0.990358 with order 1 Centerline is valid? [True, True] Translation: X:206.01, Y:-9.72, Z:0.04 [[ 9.99986789e-01 -5.14031136e-03 0.00000000e+00 2.06007041e+02] [ 5.14031136e-03 9.99986789e-01 0.00000000e+00 -9.72038501e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47318988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.620371743 meters Centerline goodness : 0.991493 with order 1 Centerline is valid? [True, True] Translation: X:206.07, Y:-9.72, Z:0.05 [[ 9.99977030e-01 -6.77789534e-03 0.00000000e+00 2.06068983e+02] [ 6.77789534e-03 9.99977030e-01 0.00000000e+00 -9.71961366e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63779796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68037174299997 meters Centerline goodness : 0.993871 with order 1 Centerline is valid? [True, True] Translation: X:206.13, Y:-9.71, Z:0.05 [[ 9.99912912e-01 -1.31972613e-02 0.00000000e+00 2.06130696e+02] [ 1.31972613e-02 9.99912912e-01 0.00000000e+00 -9.71109033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07541436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74037174299997 meters Centerline goodness : 0.992567 with order 1 Centerline is valid? [True, True] Translation: X:206.19, Y:-9.72, Z:0.04 [[ 9.99986703e-01 -5.15696319e-03 0.00000000e+00 2.06191935e+02] [ 5.15696319e-03 9.99986703e-01 0.00000000e+00 -9.72112818e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41963752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80037174299997 meters Centerline goodness : 0.992593 with order 1 Centerline is valid? [True, True] Translation: X:206.25, Y:-9.72, Z:0.05 [[ 9.99996755e-01 -2.54748849e-03 0.00000000e+00 2.06254086e+02] [ 2.54748849e-03 9.99996755e-01 0.00000000e+00 -9.71998268e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57106807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86037174299997 meters Centerline goodness : 0.991926 with order 1 Centerline is valid? [True, True] Translation: X:206.31, Y:-9.72, Z:0.04 [[ 9.99999910e-01 -4.25156401e-04 0.00000000e+00 2.06314196e+02] [ 4.25156401e-04 9.99999910e-01 0.00000000e+00 -9.71951414e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49191231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92037174299998 meters Centerline goodness : 0.992408 with order 1 Centerline is valid? [True, True] Translation: X:206.37, Y:-9.72, Z:0.05 [[ 9.99998720e-01 1.60007950e-03 0.00000000e+00 2.06374814e+02] [-1.60007950e-03 9.99998720e-01 0.00000000e+00 -9.71944344e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63316685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98037174299998 meters Centerline goodness : 0.992404 with order 1 Centerline is valid? [True, True] Translation: X:206.43, Y:-9.72, Z:0.04 [[ 9.99959580e-01 8.99102128e-03 0.00000000e+00 2.06434416e+02] [-8.99102128e-03 9.99959580e-01 0.00000000e+00 -9.71945593e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39106886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04037174299998 meters Centerline goodness : 0.991909 with order 1 Centerline is valid? [True, True] Translation: X:206.49, Y:-9.72, Z:0.04 [[ 9.99923017e-01 1.24080286e-02 0.00000000e+00 2.06492214e+02] [-1.24080286e-02 9.99923017e-01 0.00000000e+00 -9.71918077e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27966347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10037174299998 meters Centerline goodness : 0.991887 with order 1 Centerline is valid? [True, True] Translation: X:206.55, Y:-9.72, Z:0.04 [[ 9.99898727e-01 1.42314997e-02 0.00000000e+00 2.06551199e+02] [-1.42314997e-02 9.99898727e-01 0.00000000e+00 -9.72024501e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04023303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16037174299998 meters Centerline goodness : 0.994315 with order 1 Centerline is valid? [True, True] Translation: X:206.61, Y:-9.71, Z:0.05 [[ 9.99996104e-01 2.79144942e-03 0.00000000e+00 2.06609797e+02] [-2.79144942e-03 9.99996104e-01 0.00000000e+00 -9.70724822e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27390305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.220371743 meters Centerline goodness : 0.993984 with order 1 Centerline is valid? [True, True] Translation: X:206.67, Y:-9.71, Z:0.05 [[ 9.99997090e-01 2.41252659e-03 0.00000000e+00 2.06668376e+02] [-2.41252659e-03 9.99997090e-01 0.00000000e+00 -9.70742769e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27646114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.280371743 meters Centerline goodness : 0.991957 with order 1 Centerline is valid? [True, True] Translation: X:206.73, Y:-9.72, Z:0.04 [[ 9.99960143e-01 8.92818393e-03 0.00000000e+00 2.06727378e+02] [-8.92818393e-03 9.99960143e-01 0.00000000e+00 -9.71939796e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45377412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.340371743 meters Centerline goodness : 0.992884 with order 1 Centerline is valid? [True, True] Translation: X:206.79, Y:-9.72, Z:0.05 [[ 9.99986582e-01 5.18031154e-03 0.00000000e+00 2.06785703e+02] [-5.18031154e-03 9.99986582e-01 0.00000000e+00 -9.72082907e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70116454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.400371743 meters Centerline goodness : 0.991483 with order 1 Centerline is valid? [True, True] Translation: X:206.84, Y:-9.72, Z:0.05 [[ 9.99999921e-01 -3.96822634e-04 0.00000000e+00 2.06844551e+02] [ 3.96822634e-04 9.99999921e-01 0.00000000e+00 -9.72298212e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.75531173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46037174299997 meters Centerline goodness : 0.992628 with order 1 Centerline is valid? [True, True] Translation: X:206.90, Y:-9.72, Z:0.05 [[ 9.99985587e-01 -5.36893738e-03 0.00000000e+00 2.06904931e+02] [ 5.36893738e-03 9.99985587e-01 0.00000000e+00 -9.72380404e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93997917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52037174299997 meters Centerline goodness : 0.991917 with order 1 Centerline is valid? [True, True] Translation: X:206.97, Y:-9.73, Z:0.05 [[ 9.99982609e-01 -5.89752702e-03 0.00000000e+00 2.06967005e+02] [ 5.89752702e-03 9.99982609e-01 0.00000000e+00 -9.72718197e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81514195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58037174299997 meters Centerline goodness : 0.992363 with order 1 Centerline is valid? [True, True] Translation: X:207.03, Y:-9.73, Z:0.05 [[ 9.99977718e-01 -6.67565675e-03 0.00000000e+00 2.07029098e+02] [ 6.67565675e-03 9.99977718e-01 0.00000000e+00 -9.73063290e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79499412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64037174299997 meters Centerline goodness : 0.991686 with order 1 Centerline is valid? [True, True] Translation: X:207.09, Y:-9.73, Z:0.05 [[ 9.99987547e-01 -4.99064296e-03 0.00000000e+00 2.07089753e+02] [ 4.99064296e-03 9.99987547e-01 0.00000000e+00 -9.73339973e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68538688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70037174299998 meters Centerline goodness : 0.991725 with order 1 Centerline is valid? [True, True] Translation: X:207.15, Y:-9.73, Z:0.05 [[ 9.99996065e-01 -2.80539374e-03 0.00000000e+00 2.07151784e+02] [ 2.80539374e-03 9.99996065e-01 0.00000000e+00 -9.73393310e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.75032567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76037174299998 meters Centerline goodness : 0.992180 with order 1 Centerline is valid? [True, True] Translation: X:207.21, Y:-9.74, Z:0.05 [[ 9.99999559e-01 9.39101693e-04 0.00000000e+00 2.07213233e+02] [-9.39101693e-04 9.99999559e-01 0.00000000e+00 -9.73571216e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69022741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82037174299998 meters Centerline goodness : 0.991796 with order 1 Centerline is valid? [True, True] Translation: X:207.27, Y:-9.74, Z:0.05 [[ 9.99976378e-01 6.87342268e-03 0.00000000e+00 2.07272581e+02] [-6.87342268e-03 9.99976378e-01 0.00000000e+00 -9.73652569e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62914703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88037174299998 meters Centerline goodness : 0.994412 with order 1 Centerline is valid? [True, True] Translation: X:207.33, Y:-9.72, Z:0.06 [[ 9.99985369e-01 5.40939211e-03 0.00000000e+00 2.07331886e+02] [-5.40939211e-03 9.99985369e-01 0.00000000e+00 -9.72362763e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68744031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.940371743 meters Centerline goodness : 0.991820 with order 1 Centerline is valid? [True, True] Translation: X:207.39, Y:-9.74, Z:0.05 [[ 9.99827686e-01 1.85633480e-02 0.00000000e+00 2.07390057e+02] [-1.85633480e-02 9.99827686e-01 0.00000000e+00 -9.73879314e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91091328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.000371743 meters Centerline goodness : 0.991026 with order 1 Centerline is valid? [True, True] Translation: X:207.45, Y:-9.74, Z:0.05 [[ 9.99749339e-01 2.23888354e-02 0.00000000e+00 2.07447856e+02] [-2.23888354e-02 9.99749339e-01 0.00000000e+00 -9.74085871e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99540643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.060371743 meters Centerline goodness : 0.994236 with order 1 Centerline is valid? [True, True] Translation: X:207.51, Y:-9.73, Z:0.06 [[ 9.99919968e-01 1.26514197e-02 0.00000000e+00 2.07506000e+02] [-1.26514197e-02 9.99919968e-01 0.00000000e+00 -9.73056231e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61985320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.120371743 meters Centerline goodness : 0.991957 with order 1 Centerline is valid? [True, True] Translation: X:207.56, Y:-9.75, Z:0.05 [[ 9.99859907e-01 1.67381948e-02 0.00000000e+00 2.07564160e+02] [-1.67381948e-02 9.99859907e-01 0.00000000e+00 -9.74577508e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20832643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18037174299997 meters Centerline goodness : 0.994259 with order 1 Centerline is valid? [True, True] Translation: X:207.62, Y:-9.74, Z:0.06 [[ 9.99990857e-01 4.27615047e-03 0.00000000e+00 2.07623584e+02] [-4.27615047e-03 9.99990857e-01 0.00000000e+00 -9.73963504e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63786302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24037174299997 meters Centerline goodness : 0.993209 with order 1 Centerline is valid? [True, True] Translation: X:207.68, Y:-9.74, Z:0.06 [[ 9.99998858e-01 1.51103517e-03 0.00000000e+00 2.07682252e+02] [-1.51103517e-03 9.99998858e-01 0.00000000e+00 -9.74336846e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.60011815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30037174299997 meters Centerline goodness : 0.993959 with order 1 Centerline is valid? [True, True] Translation: X:207.74, Y:-9.75, Z:0.06 [[ 9.99996757e-01 -2.54692989e-03 0.00000000e+00 2.07741459e+02] [ 2.54692989e-03 9.99996757e-01 0.00000000e+00 -9.74764137e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54354942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36037174299997 meters Centerline goodness : 0.991398 with order 1 Centerline is valid? [True, True] Translation: X:207.80, Y:-9.76, Z:0.05 [[ 9.99998189e-01 1.90337452e-03 0.00000000e+00 2.07801930e+02] [-1.90337452e-03 9.99998189e-01 0.00000000e+00 -9.76446037e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89250695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42037174299998 meters Centerline goodness : 0.991618 with order 1 Centerline is valid? [True, True] Translation: X:207.86, Y:-9.77, Z:0.05 [[ 9.99999559e-01 9.39642573e-04 0.00000000e+00 2.07860943e+02] [-9.39642573e-04 9.99999559e-01 0.00000000e+00 -9.76965067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85319828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48037174299998 meters Centerline goodness : 0.993919 with order 1 Centerline is valid? [True, True] Translation: X:207.92, Y:-9.76, Z:0.06 [[ 9.99968230e-01 -7.97111840e-03 0.00000000e+00 2.07920677e+02] [ 7.97111840e-03 9.99968230e-01 0.00000000e+00 -9.76129311e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.57264998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54037174299998 meters Centerline goodness : 0.990742 with order 1 Centerline is valid? [True, True] Translation: X:207.98, Y:-9.78, Z:0.05 [[ 9.99996384e-01 2.68907121e-03 0.00000000e+00 2.07981648e+02] [-2.68907121e-03 9.99996384e-01 0.00000000e+00 -9.77904684e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61361047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60037174299998 meters Centerline goodness : 0.991300 with order 1 Centerline is valid? [True, True] Translation: X:208.04, Y:-9.78, Z:0.05 [[ 9.99998975e-01 1.43162346e-03 0.00000000e+00 2.08040233e+02] [-1.43162346e-03 9.99998975e-01 0.00000000e+00 -9.78194464e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72560992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66037174299998 meters Centerline goodness : 0.991675 with order 1 Centerline is valid? [True, True] Translation: X:208.10, Y:-9.78, Z:0.05 [[ 9.99993451e-01 3.61912489e-03 0.00000000e+00 2.08099998e+02] [-3.61912489e-03 9.99993451e-01 0.00000000e+00 -9.78326321e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93784505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.720371743 meters Centerline goodness : 0.994796 with order 1 Centerline is valid? [True, True] Translation: X:208.16, Y:-9.77, Z:0.06 [[ 9.99993453e-01 -3.61855227e-03 0.00000000e+00 2.08159073e+02] [ 3.61855227e-03 9.99993453e-01 0.00000000e+00 -9.77347450e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76599663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.780371743 meters Centerline goodness : 0.992190 with order 1 Centerline is valid? [True, True] Translation: X:208.22, Y:-9.79, Z:0.04 [[ 9.99958153e-01 9.14834332e-03 0.00000000e+00 2.08219969e+02] [-9.14834332e-03 9.99958153e-01 0.00000000e+00 -9.79141409e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32753249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.840371743 meters Centerline goodness : 0.994115 with order 1 Centerline is valid? [True, True] Translation: X:208.28, Y:-9.78, Z:0.06 [[ 9.99998494e-01 -1.73543995e-03 0.00000000e+00 2.08277998e+02] [ 1.73543995e-03 9.99998494e-01 0.00000000e+00 -9.77990014e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64364191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.900371743 meters Centerline goodness : 0.991532 with order 1 Centerline is valid? [True, True] Translation: X:208.34, Y:-9.80, Z:0.05 [[ 9.99949448e-01 1.00549040e-02 0.00000000e+00 2.08338599e+02] [-1.00549040e-02 9.99949448e-01 0.00000000e+00 -9.79647637e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73102233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96037174299997 meters Centerline goodness : 0.991319 with order 1 Centerline is valid? [True, True] Translation: X:208.40, Y:-9.80, Z:0.05 [[ 9.99928297e-01 1.19750078e-02 0.00000000e+00 2.08396930e+02] [-1.19750078e-02 9.99928297e-01 0.00000000e+00 -9.80017840e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70405059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02037174299997 meters Centerline goodness : 0.991305 with order 1 Centerline is valid? [True, True] Translation: X:208.46, Y:-9.80, Z:0.05 [[ 9.99877249e-01 1.56680208e-02 0.00000000e+00 2.08455511e+02] [-1.56680208e-02 9.99877249e-01 0.00000000e+00 -9.80437783e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67766677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08037174299997 meters Centerline goodness : 0.993553 with order 1 Centerline is valid? [True, True] Translation: X:208.51, Y:-9.80, Z:0.06 [[ 9.99982286e-01 5.95219518e-03 0.00000000e+00 2.08513551e+02] [-5.95219518e-03 9.99982286e-01 0.00000000e+00 -9.79652401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.77925351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14037174299997 meters Centerline goodness : 0.993012 with order 1 Centerline is valid? [True, True] Translation: X:208.57, Y:-9.80, Z:0.06 [[ 9.99986290e-01 5.23641113e-03 0.00000000e+00 2.08571311e+02] [-5.23641113e-03 9.99986290e-01 0.00000000e+00 -9.80276081e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68538855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20037174299998 meters Centerline goodness : 0.993693 with order 1 Centerline is valid? [True, True] Translation: X:208.63, Y:-9.81, Z:0.06 [[ 9.99989537e-01 4.57457649e-03 0.00000000e+00 2.08629802e+02] [-4.57457649e-03 9.99989537e-01 0.00000000e+00 -9.80794951e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75793883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26037174299998 meters Centerline goodness : 0.991484 with order 1 Centerline is valid? [True, True] Translation: X:208.69, Y:-9.83, Z:0.05 [[ 9.99904193e-01 1.38421366e-02 0.00000000e+00 2.08688037e+02] [-1.38421366e-02 9.99904193e-01 0.00000000e+00 -9.82660367e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62580616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32037174299998 meters Centerline goodness : 0.991837 with order 1 Centerline is valid? [True, True] Translation: X:208.75, Y:-9.83, Z:0.04 [[ 9.99917021e-01 1.28821656e-02 0.00000000e+00 2.08746184e+02] [-1.28821656e-02 9.99917021e-01 0.00000000e+00 -9.83173992e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49029939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38037174299998 meters Centerline goodness : 0.991238 with order 1 Centerline is valid? [True, True] Translation: X:208.81, Y:-9.84, Z:0.05 [[ 9.99929881e-01 1.18420256e-02 0.00000000e+00 2.08805354e+02] [-1.18420256e-02 9.99929881e-01 0.00000000e+00 -9.83538590e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73506320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.440371743 meters Centerline goodness : 0.991346 with order 1 Centerline is valid? [True, True] Translation: X:208.86, Y:-9.84, Z:0.05 [[ 9.99890230e-01 1.48164837e-02 0.00000000e+00 2.08862700e+02] [-1.48164837e-02 9.99890230e-01 0.00000000e+00 -9.84141957e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93699595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.500371743 meters Centerline goodness : 0.992140 with order 1 Centerline is valid? [True, True] Translation: X:208.92, Y:-9.85, Z:0.05 [[ 9.99832943e-01 1.82780341e-02 0.00000000e+00 2.08921202e+02] [-1.82780341e-02 9.99832943e-01 0.00000000e+00 -9.84596066e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81355447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.560371743 meters Centerline goodness : 0.991499 with order 1 Centerline is valid? [True, True] Translation: X:208.98, Y:-9.85, Z:0.05 [[ 9.99712436e-01 2.39800970e-02 0.00000000e+00 2.08978939e+02] [-2.39800970e-02 9.99712436e-01 0.00000000e+00 -9.85163191e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59264273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.620371743 meters Centerline goodness : 0.991817 with order 1 Centerline is valid? [True, True] Translation: X:209.04, Y:-9.86, Z:0.04 [[ 9.99517698e-01 3.10543262e-02 0.00000000e+00 2.09037374e+02] [-3.10543262e-02 9.99517698e-01 0.00000000e+00 -9.85795576e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34997839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68037174299997 meters Centerline goodness : 0.991442 with order 1 Centerline is valid? [True, True] Translation: X:209.10, Y:-9.86, Z:0.05 [[ 9.99437359e-01 3.35405167e-02 0.00000000e+00 2.09096267e+02] [-3.35405167e-02 9.99437359e-01 0.00000000e+00 -9.85932158e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72564494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74037174299997 meters Centerline goodness : 0.991744 with order 1 Centerline is valid? [True, True] Translation: X:209.16, Y:-9.86, Z:0.05 [[ 9.99337450e-01 3.63958960e-02 0.00000000e+00 2.09155319e+02] [-3.63958960e-02 9.99337450e-01 0.00000000e+00 -9.86404898e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81416020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80037174299997 meters Centerline goodness : 0.992221 with order 1 Centerline is valid? [True, True] Translation: X:209.21, Y:-9.87, Z:0.05 [[ 9.99277011e-01 3.80191325e-02 0.00000000e+00 2.09214281e+02] [-3.80191325e-02 9.99277011e-01 0.00000000e+00 -9.87150429e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53127949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86037174299997 meters Centerline goodness : 0.991444 with order 1 Centerline is valid? [True, True] Translation: X:209.27, Y:-9.88, Z:0.04 [[ 9.99374296e-01 3.53696984e-02 0.00000000e+00 2.09271951e+02] [-3.53696984e-02 9.99374296e-01 0.00000000e+00 -9.87815107e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40125875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92037174299998 meters Centerline goodness : 0.991999 with order 1 Centerline is valid? [True, True] Translation: X:209.33, Y:-9.88, Z:0.05 [[ 9.99434270e-01 3.36324332e-02 0.00000000e+00 2.09330200e+02] [-3.36324332e-02 9.99434270e-01 0.00000000e+00 -9.88116238e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52074627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98037174299998 meters Centerline goodness : 0.991461 with order 1 Centerline is valid? [True, True] Translation: X:209.39, Y:-9.89, Z:0.04 [[ 9.99610458e-01 2.79093403e-02 0.00000000e+00 2.09388316e+02] [-2.79093403e-02 9.99610458e-01 0.00000000e+00 -9.89102931e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21382189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04037174299998 meters Centerline goodness : 0.991443 with order 1 Centerline is valid? [True, True] Translation: X:209.45, Y:-9.90, Z:0.04 [[ 9.99807828e-01 1.96037646e-02 0.00000000e+00 2.09445542e+02] [-1.96037646e-02 9.99807828e-01 0.00000000e+00 -9.90034719e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21885732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10037174299998 meters Centerline goodness : 0.990630 with order 1 Centerline is valid? [True, True] Translation: X:209.50, Y:-9.91, Z:0.04 [[ 9.99878548e-01 1.55848915e-02 0.00000000e+00 2.09503849e+02] [-1.55848915e-02 9.99878548e-01 0.00000000e+00 -9.90732978e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97423182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16037174299998 meters Centerline goodness : 0.992723 with order 1 Centerline is valid? [True, True] Translation: X:209.56, Y:-9.90, Z:0.05 [[ 9.99998392e-01 1.79351292e-03 0.00000000e+00 2.09563128e+02] [-1.79351292e-03 9.99998392e-01 0.00000000e+00 -9.89919969e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25309404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.220371743 meters Centerline goodness : 0.990075 with order 1 Centerline is valid? [True, True] Translation: X:209.62, Y:-9.92, Z:0.04 [[ 9.99977516e-01 6.70584274e-03 0.00000000e+00 2.09621901e+02] [-6.70584274e-03 9.99977516e-01 0.00000000e+00 -9.91642173e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21268727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.280371743 meters Centerline goodness : 0.990186 with order 1 Centerline is valid? [True, True] Translation: X:209.68, Y:-9.92, Z:0.04 [[ 9.99999991e-01 -1.34105201e-04 0.00000000e+00 2.09679440e+02] [ 1.34105201e-04 9.99999991e-01 0.00000000e+00 -9.92128051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12982309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.340371743 meters Centerline goodness : 0.990052 with order 1 Centerline is valid? [True, True] Translation: X:209.74, Y:-9.92, Z:0.04 [[ 9.99982924e-01 -5.84396229e-03 0.00000000e+00 2.09740339e+02] [ 5.84396229e-03 9.99982924e-01 0.00000000e+00 -9.92291984e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40561789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.400371743 meters Centerline goodness : 0.989973 with order 1 Centerline is valid? [True, True] Translation: X:209.80, Y:-9.93, Z:0.04 [[ 9.99939313e-01 -1.10168196e-02 0.00000000e+00 2.09801143e+02] [ 1.10168196e-02 9.99939313e-01 0.00000000e+00 -9.92629919e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18367455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46037174299997 meters Centerline goodness : 0.990247 with order 1 Centerline is valid? [True, True] Translation: X:209.86, Y:-9.92, Z:0.05 [[ 9.99885392e-01 -1.51394689e-02 0.00000000e+00 2.09863363e+02] [ 1.51394689e-02 9.99885392e-01 0.00000000e+00 -9.92469831e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70408425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52037174299997 meters Centerline goodness : 0.990126 with order 1 Centerline is valid? [True, True] Translation: X:209.93, Y:-9.92, Z:0.05 [[ 9.99846160e-01 -1.75401294e-02 0.00000000e+00 2.09925233e+02] [ 1.75401294e-02 9.99846160e-01 0.00000000e+00 -9.92345727e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67401140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58037174299997 meters Centerline goodness : 0.990926 with order 1 Centerline is valid? [True, True] Translation: X:209.99, Y:-9.92, Z:0.04 [[ 9.99855401e-01 -1.70052153e-02 0.00000000e+00 2.09986956e+02] [ 1.70052153e-02 9.99855401e-01 0.00000000e+00 -9.92455401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49119303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64037174299997 meters Centerline goodness : 0.990919 with order 1 Centerline is valid? [True, True] Translation: X:210.05, Y:-9.92, Z:0.05 [[ 9.99845115e-01 -1.75996212e-02 0.00000000e+00 2.10050518e+02] [ 1.75996212e-02 9.99845115e-01 0.00000000e+00 -9.92167271e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68716633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70037174299998 meters Centerline goodness : 0.991427 with order 1 Centerline is valid? [True, True] Translation: X:210.11, Y:-9.92, Z:0.05 [[ 9.99859339e-01 -1.67720871e-02 0.00000000e+00 2.10113165e+02] [ 1.67720871e-02 9.99859339e-01 0.00000000e+00 -9.91896147e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74499851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76037174299998 meters Centerline goodness : 0.991657 with order 1 Centerline is valid? [True, True] Translation: X:210.18, Y:-9.92, Z:0.05 [[ 9.99884181e-01 -1.52192118e-02 0.00000000e+00 2.10175345e+02] [ 1.52192118e-02 9.99884181e-01 0.00000000e+00 -9.91531504e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78429543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82037174299998 meters Centerline goodness : 0.991627 with order 1 Centerline is valid? [True, True] Translation: X:210.24, Y:-9.91, Z:0.04 [[ 9.99960132e-01 -8.92943046e-03 0.00000000e+00 2.10237259e+02] [ 8.92943046e-03 9.99960132e-01 0.00000000e+00 -9.91452116e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36452831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88037174299998 meters Centerline goodness : 0.991545 with order 1 Centerline is valid? [True, True] Translation: X:210.30, Y:-9.91, Z:0.05 [[ 9.99968824e-01 -7.89622232e-03 0.00000000e+00 2.10299345e+02] [ 7.89622232e-03 9.99968824e-01 0.00000000e+00 -9.91064446e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64571657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.940371743 meters Centerline goodness : 0.991685 with order 1 Centerline is valid? [True, True] Translation: X:210.36, Y:-9.91, Z:0.05 [[ 9.99952088e-01 -9.78882951e-03 0.00000000e+00 2.10361716e+02] [ 9.78882951e-03 9.99952088e-01 0.00000000e+00 -9.90713325e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94105540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.000371743 meters Centerline goodness : 0.991889 with order 1 Centerline is valid? [True, True] Translation: X:210.42, Y:-9.91, Z:0.05 [[ 9.99928614e-01 -1.19484922e-02 0.00000000e+00 2.10423522e+02] [ 1.19484922e-02 9.99928614e-01 0.00000000e+00 -9.90705318e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97823538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.060371743 meters Centerline goodness : 0.991987 with order 1 Centerline is valid? [True, True] Translation: X:210.49, Y:-9.91, Z:0.05 [[ 9.99937646e-01 -1.11670872e-02 0.00000000e+00 2.10486320e+02] [ 1.11670872e-02 9.99937646e-01 0.00000000e+00 -9.90617670e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94559480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.120371743 meters Centerline goodness : 0.992018 with order 1 Centerline is valid? [True, True] Translation: X:210.55, Y:-9.91, Z:0.05 [[ 9.99929838e-01 -1.18456544e-02 0.00000000e+00 2.10547986e+02] [ 1.18456544e-02 9.99929838e-01 0.00000000e+00 -9.90597076e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01089023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18037174299997 meters Centerline goodness : 0.992018 with order 1 Centerline is valid? [True, True] Translation: X:210.61, Y:-9.91, Z:0.05 [[ 9.99915321e-01 -1.30134520e-02 0.00000000e+00 2.10609877e+02] [ 1.30134520e-02 9.99915321e-01 0.00000000e+00 -9.90627133e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.08349970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24037174299997 meters Centerline goodness : 0.994653 with order 1 Centerline is valid? [True, True] Translation: X:210.67, Y:-9.90, Z:0.05 [[ 9.99791467e-01 -2.04211062e-02 0.00000000e+00 2.10673129e+02] [ 2.04211062e-02 9.99791467e-01 0.00000000e+00 -9.89971254e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24153218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30037174299997 meters Centerline goodness : 0.994438 with order 1 Centerline is valid? [True, True] Translation: X:210.74, Y:-9.90, Z:0.05 [[ 9.99735050e-01 -2.30180290e-02 0.00000000e+00 2.10735622e+02] [ 2.30180290e-02 9.99735050e-01 0.00000000e+00 -9.90182128e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95280236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36037174299997 meters Centerline goodness : 0.992171 with order 1 Centerline is valid? [True, True] Translation: X:210.80, Y:-9.91, Z:0.04 [[ 9.99801141e-01 -1.99418828e-02 0.00000000e+00 2.10797518e+02] [ 1.99418828e-02 9.99801141e-01 0.00000000e+00 -9.90958633e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48827909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42037174299998 meters Centerline goodness : 0.992468 with order 1 Centerline is valid? [True, True] Translation: X:210.86, Y:-9.91, Z:0.05 [[ 9.99754344e-01 -2.21641933e-02 0.00000000e+00 2.10860839e+02] [ 2.21641933e-02 9.99754344e-01 0.00000000e+00 -9.90791735e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73452567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48037174299998 meters Centerline goodness : 0.993582 with order 1 Centerline is valid? [True, True] Translation: X:210.92, Y:-9.91, Z:0.05 [[ 9.99729507e-01 -2.32575173e-02 0.00000000e+00 2.10923016e+02] [ 2.32575173e-02 9.99729507e-01 0.00000000e+00 -9.90655376e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82162349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54037174299998 meters Centerline goodness : 0.992966 with order 1 Centerline is valid? [True, True] Translation: X:210.99, Y:-9.91, Z:0.05 [[ 9.99793632e-01 -2.03148485e-02 0.00000000e+00 2.10985150e+02] [ 2.03148485e-02 9.99793632e-01 0.00000000e+00 -9.90515758e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82162263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60037174299998 meters Centerline goodness : 0.993179 with order 1 Centerline is valid? [True, True] Translation: X:211.05, Y:-9.91, Z:0.05 [[ 9.99810929e-01 -1.94449619e-02 0.00000000e+00 2.11048732e+02] [ 1.94449619e-02 9.99810929e-01 0.00000000e+00 -9.90529976e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86215085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66037174299998 meters Centerline goodness : 0.993740 with order 1 Centerline is valid? [True, True] Translation: X:211.11, Y:-9.90, Z:0.05 [[ 9.99882942e-01 -1.53003962e-02 0.00000000e+00 2.11112180e+02] [ 1.53003962e-02 9.99882942e-01 0.00000000e+00 -9.90376854e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54434579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.720371743 meters Centerline goodness : 0.993876 with order 1 Centerline is valid? [True, True] Translation: X:211.17, Y:-9.90, Z:0.05 [[ 9.99884643e-01 -1.51888299e-02 0.00000000e+00 2.11173901e+02] [ 1.51888299e-02 9.99884643e-01 0.00000000e+00 -9.90248659e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67846564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.780371743 meters Centerline goodness : 0.993310 with order 1 Centerline is valid? [True, True] Translation: X:211.24, Y:-9.90, Z:0.04 [[ 9.99958728e-01 -9.08523316e-03 0.00000000e+00 2.11236541e+02] [ 9.08523316e-03 9.99958728e-01 0.00000000e+00 -9.90354570e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39944050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.840371743 meters Centerline goodness : 0.993515 with order 1 Centerline is valid? [True, True] Translation: X:211.30, Y:-9.90, Z:0.04 [[ 9.99976391e-01 -6.87148304e-03 0.00000000e+00 2.11298595e+02] [ 6.87148304e-03 9.99976391e-01 0.00000000e+00 -9.90491658e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47956605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.900371743 meters Centerline goodness : 0.995081 with order 1 Centerline is valid? [True, True] Translation: X:211.36, Y:-9.89, Z:0.05 [[ 9.99932630e-01 -1.16075302e-02 0.00000000e+00 2.11360321e+02] [ 1.16075302e-02 9.99932630e-01 0.00000000e+00 -9.89330169e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14869068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96037174299997 meters Centerline goodness : 0.993367 with order 1 Centerline is valid? [True, True] Translation: X:211.42, Y:-9.91, Z:0.04 [[ 9.99999369e-01 -1.12372422e-03 0.00000000e+00 2.11421781e+02] [ 1.12372422e-03 9.99999369e-01 0.00000000e+00 -9.90538940e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28492784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02037174299997 meters Centerline goodness : 0.992900 with order 1 Centerline is valid? [True, True] Translation: X:211.48, Y:-9.91, Z:0.04 [[ 9.99997079e-01 -2.41686357e-03 0.00000000e+00 2.11481775e+02] [ 2.41686357e-03 9.99997079e-01 0.00000000e+00 -9.90714892e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04136719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08037174299997 meters Centerline goodness : 0.993535 with order 1 Centerline is valid? [True, True] Translation: X:211.54, Y:-9.91, Z:0.04 [[ 9.99983228e-01 -5.79172472e-03 0.00000000e+00 2.11542992e+02] [ 5.79172472e-03 9.99983228e-01 0.00000000e+00 -9.90771094e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26345291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14037174299997 meters Centerline goodness : 0.993006 with order 1 Centerline is valid? [True, True] Translation: X:211.60, Y:-9.91, Z:0.04 [[ 9.99943546e-01 -1.06256508e-02 0.00000000e+00 2.11604547e+02] [ 1.06256508e-02 9.99943546e-01 0.00000000e+00 -9.91087036e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23072613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20037174299998 meters Centerline goodness : 0.993463 with order 1 Centerline is valid? [True, True] Translation: X:211.67, Y:-9.91, Z:0.04 [[ 9.99902593e-01 -1.39572716e-02 0.00000000e+00 2.11667659e+02] [ 1.39572716e-02 9.99902593e-01 0.00000000e+00 -9.91340697e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23732003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26037174299998 meters Centerline goodness : 0.993223 with order 1 Centerline is valid? [True, True] Translation: X:211.73, Y:-9.92, Z:0.04 [[ 9.99870788e-01 -1.60750323e-02 0.00000000e+00 2.11729524e+02] [ 1.60750323e-02 9.99870788e-01 0.00000000e+00 -9.91568363e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00659590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32037174299998 meters Centerline goodness : 0.993575 with order 1 Centerline is valid? [True, True] Translation: X:211.79, Y:-9.92, Z:0.04 [[ 9.99860857e-01 -1.66813552e-02 0.00000000e+00 2.11793003e+02] [ 1.66813552e-02 9.99860857e-01 0.00000000e+00 -9.91744851e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99244892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38037174299998 meters Centerline goodness : 0.993671 with order 1 Centerline is valid? [True, True] Translation: X:211.86, Y:-9.92, Z:0.04 [[ 9.99881468e-01 -1.53964528e-02 0.00000000e+00 2.11856262e+02] [ 1.53964528e-02 9.99881468e-01 0.00000000e+00 -9.91718461e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23850232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.440371743 meters Centerline goodness : 0.993987 with order 1 Centerline is valid? [True, True] Translation: X:211.92, Y:-9.92, Z:0.04 [[ 9.99892365e-01 -1.46717186e-02 0.00000000e+00 2.11918928e+02] [ 1.46717186e-02 9.99892365e-01 0.00000000e+00 -9.91716665e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44871534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.500371743 meters Centerline goodness : 0.993763 with order 1 Centerline is valid? [True, True] Translation: X:211.98, Y:-9.92, Z:0.05 [[ 9.99904504e-01 -1.38196884e-02 0.00000000e+00 2.11982431e+02] [ 1.38196884e-02 9.99904504e-01 0.00000000e+00 -9.91904153e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53639444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.560371743 meters Centerline goodness : 0.993203 with order 1 Centerline is valid? [True, True] Translation: X:212.05, Y:-9.92, Z:0.05 [[ 9.99884733e-01 -1.51829149e-02 0.00000000e+00 2.12045083e+02] [ 1.51829149e-02 9.99884733e-01 0.00000000e+00 -9.92112964e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52476592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.620371743 meters Centerline goodness : 0.994318 with order 1 Centerline is valid? [True, True] Translation: X:212.11, Y:-9.92, Z:0.04 [[ 9.99793504e-01 -2.03211658e-02 0.00000000e+00 2.12105982e+02] [ 2.03211658e-02 9.99793504e-01 0.00000000e+00 -9.92332689e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12950911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68037174299997 meters Centerline goodness : 0.994299 with order 1 Centerline is valid? [True, True] Translation: X:212.17, Y:-9.93, Z:0.04 [[ 9.99748699e-01 -2.24173964e-02 0.00000000e+00 2.12168613e+02] [ 2.24173964e-02 9.99748699e-01 0.00000000e+00 -9.92667496e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99246761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74037174299997 meters Centerline goodness : 0.994222 with order 1 Centerline is valid? [True, True] Translation: X:212.23, Y:-9.93, Z:0.04 [[ 9.99626613e-01 -2.73246242e-02 0.00000000e+00 2.12230875e+02] [ 2.73246242e-02 9.99626613e-01 0.00000000e+00 -9.92883849e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10830965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80037174299997 meters Centerline goodness : 0.994311 with order 1 Centerline is valid? [True, True] Translation: X:212.29, Y:-9.93, Z:0.04 [[ 9.99539984e-01 -3.03285455e-02 0.00000000e+00 2.12292384e+02] [ 3.03285455e-02 9.99539984e-01 0.00000000e+00 -9.93194034e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17510614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86037174299997 meters Centerline goodness : 0.994657 with order 1 Centerline is valid? [True, True] Translation: X:212.36, Y:-9.94, Z:0.04 [[ 9.99613509e-01 -2.77998841e-02 0.00000000e+00 2.12355663e+02] [ 2.77998841e-02 9.99613509e-01 0.00000000e+00 -9.93685621e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02694579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92037174299998 meters Centerline goodness : 0.995295 with order 1 Centerline is valid? [True, True] Translation: X:212.42, Y:-9.93, Z:0.05 [[ 9.99607694e-01 -2.80081840e-02 0.00000000e+00 2.12417096e+02] [ 2.80081840e-02 9.99607694e-01 0.00000000e+00 -9.93122374e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71121880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98037174299998 meters Centerline goodness : 0.994948 with order 1 Centerline is valid? [True, True] Translation: X:212.48, Y:-9.94, Z:0.05 [[ 9.99660697e-01 -2.60478493e-02 0.00000000e+00 2.12480485e+02] [ 2.60478493e-02 9.99660697e-01 0.00000000e+00 -9.93513180e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81837760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04037174299998 meters Centerline goodness : 0.994112 with order 1 Centerline is valid? [True, True] Translation: X:212.54, Y:-9.95, Z:0.04 [[ 9.99812034e-01 -1.93880730e-02 0.00000000e+00 2.12542248e+02] [ 1.93880730e-02 9.99812034e-01 0.00000000e+00 -9.94895297e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16519060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10037174299998 meters Centerline goodness : 0.993893 with order 1 Centerline is valid? [True, True] Translation: X:212.60, Y:-9.95, Z:0.05 [[ 9.99854943e-01 -1.70321339e-02 0.00000000e+00 2.12603093e+02] [ 1.70321339e-02 9.99854943e-01 0.00000000e+00 -9.95259992e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50147707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16037174299998 meters Centerline goodness : 0.994445 with order 1 Centerline is valid? [True, True] Translation: X:212.67, Y:-9.96, Z:0.04 [[ 9.99866109e-01 -1.63634830e-02 0.00000000e+00 2.12665502e+02] [ 1.63634830e-02 9.99866109e-01 0.00000000e+00 -9.95714591e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14562964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.220371743 meters Centerline goodness : 0.994429 with order 1 Centerline is valid? [True, True] Translation: X:212.73, Y:-9.96, Z:0.04 [[ 9.99900996e-01 -1.40712077e-02 0.00000000e+00 2.12727809e+02] [ 1.40712077e-02 9.99900996e-01 0.00000000e+00 -9.96145110e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38595165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.280371743 meters Centerline goodness : 0.994457 with order 1 Centerline is valid? [True, True] Translation: X:212.79, Y:-9.97, Z:0.04 [[ 9.99903680e-01 -1.38791452e-02 0.00000000e+00 2.12789805e+02] [ 1.38791452e-02 9.99903680e-01 0.00000000e+00 -9.96536214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27967809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.340371743 meters Centerline goodness : 0.994340 with order 1 Centerline is valid? [True, True] Translation: X:212.85, Y:-9.97, Z:0.04 [[ 9.99892371e-01 -1.46712516e-02 0.00000000e+00 2.12853058e+02] [ 1.46712516e-02 9.99892371e-01 0.00000000e+00 -9.97040051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18085567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.400371743 meters Centerline goodness : 0.994416 with order 1 Centerline is valid? [True, True] Translation: X:212.92, Y:-9.98, Z:0.04 [[ 9.99872035e-01 -1.59972918e-02 0.00000000e+00 2.12916018e+02] [ 1.59972918e-02 9.99872035e-01 0.00000000e+00 -9.97762946e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94755062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46037174299997 meters Centerline goodness : 0.993962 with order 1 Centerline is valid? [True, True] Translation: X:212.98, Y:-9.98, Z:0.04 [[ 9.99803936e-01 -1.98012672e-02 0.00000000e+00 2.12978559e+02] [ 1.98012672e-02 9.99803936e-01 0.00000000e+00 -9.98274551e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85860347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52037174299997 meters Centerline goodness : 0.995347 with order 1 Centerline is valid? [True, True] Translation: X:213.04, Y:-9.98, Z:0.04 [[ 9.99528063e-01 -3.07189179e-02 0.00000000e+00 2.13040234e+02] [ 3.07189179e-02 9.99528063e-01 0.00000000e+00 -9.97730498e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48349721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58037174299997 meters Centerline goodness : 0.994200 with order 1 Centerline is valid? [True, True] Translation: X:213.10, Y:-9.99, Z:0.04 [[ 9.99708181e-01 -2.41568316e-02 0.00000000e+00 2.13101252e+02] [ 2.41568316e-02 9.99708181e-01 0.00000000e+00 -9.99130789e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81391362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64037174299997 meters Centerline goodness : 0.994432 with order 1 Centerline is valid? [True, True] Translation: X:213.16, Y:-9.99, Z:0.04 [[ 9.99720865e-01 -2.36261036e-02 0.00000000e+00 2.13163580e+02] [ 2.36261036e-02 9.99720865e-01 0.00000000e+00 -9.99316118e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87722958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70037174299998 meters Centerline goodness : 0.994271 with order 1 Centerline is valid? [True, True] Translation: X:213.23, Y:-10.00, Z:0.04 [[ 9.99809648e-01 -1.95107108e-02 0.00000000e+00 2.13226877e+02] [ 1.95107108e-02 9.99809648e-01 0.00000000e+00 -9.99587721e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87990094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76037174299998 meters Centerline goodness : 0.994273 with order 1 Centerline is valid? [True, True] Translation: X:213.29, Y:-10.00, Z:0.04 [[ 9.99910051e-01 -1.34122757e-02 0.00000000e+00 2.13290217e+02] [ 1.34122757e-02 9.99910051e-01 0.00000000e+00 -9.99672126e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94906491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82037174299998 meters Centerline goodness : 0.994090 with order 1 Centerline is valid? [True, True] Translation: X:213.35, Y:-10.00, Z:0.04 [[ 9.99962615e-01 -8.64688465e-03 0.00000000e+00 2.13351714e+02] [ 8.64688465e-03 9.99962615e-01 0.00000000e+00 -9.99822758e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98310293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88037174299998 meters Centerline goodness : 0.993559 with order 1 Centerline is valid? [True, True] Translation: X:213.41, Y:-10.00, Z:0.04 [[ 9.99998659e-01 -1.63770156e-03 0.00000000e+00 2.13413003e+02] [ 1.63770156e-03 9.99998659e-01 0.00000000e+00 -9.99923254e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03028703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.940371743 meters Centerline goodness : 0.993506 with order 1 Centerline is valid? [True, True] Translation: X:213.47, Y:-10.00, Z:0.04 [[ 9.99991988e-01 4.00297681e-03 0.00000000e+00 2.13474084e+02] [-4.00297681e-03 9.99991988e-01 0.00000000e+00 -1.00007174e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05104780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.000371743 meters Centerline goodness : 0.993591 with order 1 Centerline is valid? [True, True] Translation: X:213.53, Y:-10.00, Z:0.04 [[ 9.99982922e-01 5.84427133e-03 0.00000000e+00 2.13532444e+02] [-5.84427133e-03 9.99982922e-01 0.00000000e+00 -1.00035923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77703312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.060371743 meters Centerline goodness : 0.992771 with order 1 Centerline is valid? [True, True] Translation: X:213.59, Y:-10.01, Z:0.04 [[ 9.99987852e-01 4.92907435e-03 0.00000000e+00 2.13589950e+02] [-4.92907435e-03 9.99987852e-01 0.00000000e+00 -1.00053282e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67311887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.120371743 meters Centerline goodness : 0.993179 with order 1 Centerline is valid? [True, True] Translation: X:213.65, Y:-10.01, Z:0.04 [[ 9.99992124e-01 3.96889642e-03 0.00000000e+00 2.13648695e+02] [-3.96889642e-03 9.99992124e-01 0.00000000e+00 -1.00077165e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71891327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18037174299997 meters Centerline goodness : 0.992895 with order 1 Centerline is valid? [True, True] Translation: X:213.71, Y:-10.01, Z:0.04 [[ 9.99993653e-01 3.56280304e-03 0.00000000e+00 2.13707868e+02] [-3.56280304e-03 9.99993653e-01 0.00000000e+00 -1.00110221e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92623864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24037174299997 meters Centerline goodness : 0.994479 with order 1 Centerline is valid? [True, True] Translation: X:213.77, Y:-10.01, Z:0.04 [[ 9.99999648e-01 8.38651532e-04 0.00000000e+00 2.13766619e+02] [-8.38651532e-04 9.99999648e-01 0.00000000e+00 -1.00129819e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27338065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30037174299997 meters Centerline goodness : 0.994041 with order 1 Centerline is valid? [True, True] Translation: X:213.83, Y:-10.02, Z:0.04 [[ 9.99997356e-01 -2.29948393e-03 0.00000000e+00 2.13826907e+02] [ 2.29948393e-03 9.99997356e-01 0.00000000e+00 -1.00177683e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08282528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36037174299997 meters Centerline goodness : 0.994234 with order 1 Centerline is valid? [True, True] Translation: X:213.89, Y:-10.02, Z:0.04 [[ 9.99991641e-01 -4.08880819e-03 0.00000000e+00 2.13887444e+02] [ 4.08880819e-03 9.99991641e-01 0.00000000e+00 -1.00237551e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70835263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42037174299998 meters Centerline goodness : 0.993292 with order 1 Centerline is valid? [True, True] Translation: X:213.95, Y:-10.03, Z:0.04 [[ 9.99988340e-01 -4.82907537e-03 0.00000000e+00 2.13949878e+02] [ 4.82907537e-03 9.99988340e-01 0.00000000e+00 -1.00271519e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71170683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48037174299998 meters Centerline goodness : 0.993568 with order 1 Centerline is valid? [True, True] Translation: X:214.01, Y:-10.03, Z:0.04 [[ 9.99992353e-01 -3.91069799e-03 0.00000000e+00 2.14010711e+02] [ 3.91069799e-03 9.99992353e-01 0.00000000e+00 -1.00295910e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70027860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54037174299998 meters Centerline goodness : 0.994130 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:-10.03, Z:0.04 [[ 9.99999407e-01 1.08911224e-03 0.00000000e+00 2.14073038e+02] [-1.08911224e-03 9.99999407e-01 0.00000000e+00 -1.00317990e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71488874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60037174299998 meters Centerline goodness : 0.993483 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:-10.03, Z:0.04 [[ 9.99954570e-01 9.53189937e-03 0.00000000e+00 2.14133703e+02] [-9.53189937e-03 9.99954570e-01 0.00000000e+00 -1.00349284e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61597872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66037174299998 meters Centerline goodness : 0.992949 with order 1 Centerline is valid? [True, True] Translation: X:214.19, Y:-10.04, Z:0.03 [[ 9.99882283e-01 1.53433888e-02 0.00000000e+00 2.14190533e+02] [-1.53433888e-02 9.99882283e-01 0.00000000e+00 -1.00368409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44732370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.720371743 meters Centerline goodness : 0.994753 with order 1 Centerline is valid? [True, True] Translation: X:214.25, Y:-10.03, Z:0.04 [[ 9.99917614e-01 1.28360602e-02 0.00000000e+00 2.14249683e+02] [-1.28360602e-02 9.99917614e-01 0.00000000e+00 -1.00281900e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21091207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.780371743 meters Centerline goodness : 0.992739 with order 1 Centerline is valid? [True, True] Translation: X:214.31, Y:-10.04, Z:0.03 [[ 9.99672742e-01 2.55814081e-02 0.00000000e+00 2.14306833e+02] [-2.55814081e-02 9.99672742e-01 0.00000000e+00 -1.00437367e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04123056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.840371743 meters Centerline goodness : 0.993329 with order 1 Centerline is valid? [True, True] Translation: X:214.37, Y:-10.05, Z:0.03 [[ 9.99602088e-01 2.82075501e-02 0.00000000e+00 2.14365306e+02] [-2.82075501e-02 9.99602088e-01 0.00000000e+00 -1.00470732e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19433547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.900371743 meters Centerline goodness : 0.992089 with order 1 Centerline is valid? [True, True] Translation: X:214.42, Y:-10.05, Z:0.03 [[ 9.99521828e-01 3.09211303e-02 0.00000000e+00 2.14424162e+02] [-3.09211303e-02 9.99521828e-01 0.00000000e+00 -1.00534937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89325911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96037174299997 meters Centerline goodness : 0.992535 with order 1 Centerline is valid? [True, True] Translation: X:214.48, Y:-10.06, Z:0.03 [[ 9.99489685e-01 3.19432122e-02 0.00000000e+00 2.14481416e+02] [-3.19432122e-02 9.99489685e-01 0.00000000e+00 -1.00593784e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86567607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02037174299997 meters Centerline goodness : 0.994648 with order 1 Centerline is valid? [True, True] Translation: X:214.54, Y:-10.05, Z:0.04 [[ 9.99777544e-01 2.10917448e-02 0.00000000e+00 2.14539969e+02] [-2.10917448e-02 9.99777544e-01 0.00000000e+00 -1.00508328e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17617746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08037174299997 meters Centerline goodness : 0.993337 with order 1 Centerline is valid? [True, True] Translation: X:214.60, Y:-10.07, Z:0.03 [[ 9.99617362e-01 2.76609744e-02 0.00000000e+00 2.14597638e+02] [-2.76609744e-02 9.99617362e-01 0.00000000e+00 -1.00662143e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41134905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14037174299997 meters Centerline goodness : 0.994703 with order 1 Centerline is valid? [True, True] Translation: X:214.66, Y:-10.06, Z:0.04 [[ 9.99842100e-01 1.77700546e-02 0.00000000e+00 2.14655496e+02] [-1.77700546e-02 9.99842100e-01 0.00000000e+00 -1.00636055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03554869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20037174299998 meters Centerline goodness : 0.995410 with order 1 Centerline is valid? [True, True] Translation: X:214.71, Y:-10.07, Z:0.04 [[ 9.99867219e-01 1.62955423e-02 0.00000000e+00 2.14714438e+02] [-1.62955423e-02 9.99867219e-01 0.00000000e+00 -1.00706951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97881599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26037174299998 meters Centerline goodness : 0.993574 with order 1 Centerline is valid? [True, True] Translation: X:214.77, Y:-10.09, Z:0.03 [[ 9.99689050e-01 2.49359696e-02 0.00000000e+00 2.14772656e+02] [-2.49359696e-02 9.99689050e-01 0.00000000e+00 -1.00875735e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24199740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32037174299998 meters Centerline goodness : 0.993483 with order 1 Centerline is valid? [True, True] Translation: X:214.83, Y:-10.09, Z:0.04 [[ 9.99713076e-01 2.39533881e-02 0.00000000e+00 2.14830544e+02] [-2.39533881e-02 9.99713076e-01 0.00000000e+00 -1.00905171e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58565079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38037174299998 meters Centerline goodness : 0.993745 with order 1 Centerline is valid? [True, True] Translation: X:214.89, Y:-10.10, Z:0.04 [[ 9.99710534e-01 2.40592529e-02 0.00000000e+00 2.14887909e+02] [-2.40592529e-02 9.99710534e-01 0.00000000e+00 -1.00951106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63462723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.440371743 meters Centerline goodness : 0.993837 with order 1 Centerline is valid? [True, True] Translation: X:214.95, Y:-10.10, Z:0.04 [[ 9.99730792e-01 2.32022509e-02 0.00000000e+00 2.14945860e+02] [-2.32022509e-02 9.99730792e-01 0.00000000e+00 -1.01005553e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72067184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.500371743 meters Centerline goodness : 0.993884 with order 1 Centerline is valid? [True, True] Translation: X:215.00, Y:-10.11, Z:0.03 [[ 9.99713795e-01 2.39233746e-02 0.00000000e+00 2.15004693e+02] [-2.39233746e-02 9.99713795e-01 0.00000000e+00 -1.01093164e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44665543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.560371743 meters Centerline goodness : 0.994997 with order 1 Centerline is valid? [True, True] Translation: X:215.06, Y:-10.11, Z:0.04 [[ 9.99822618e-01 1.88343611e-02 0.00000000e+00 2.15062133e+02] [-1.88343611e-02 9.99822618e-01 0.00000000e+00 -1.01085224e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04293013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.620371743 meters Centerline goodness : 0.993649 with order 1 Centerline is valid? [True, True] Translation: X:215.12, Y:-10.12, Z:0.03 [[ 9.99658473e-01 2.61330588e-02 0.00000000e+00 2.15119836e+02] [-2.61330588e-02 9.99658473e-01 0.00000000e+00 -1.01224382e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35170028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68037174299997 meters Centerline goodness : 0.993368 with order 1 Centerline is valid? [True, True] Translation: X:215.18, Y:-10.13, Z:0.03 [[ 9.99478871e-01 3.22798151e-02 0.00000000e+00 2.15178487e+02] [-3.22798151e-02 9.99478871e-01 0.00000000e+00 -1.01312694e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10642360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74037174299997 meters Centerline goodness : 0.993884 with order 1 Centerline is valid? [True, True] Translation: X:215.24, Y:-10.14, Z:0.03 [[ 9.99187542e-01 4.03020696e-02 0.00000000e+00 2.15235827e+02] [-4.03020696e-02 9.99187542e-01 0.00000000e+00 -1.01388600e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21327287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80037174299997 meters Centerline goodness : 0.992463 with order 1 Centerline is valid? [True, True] Translation: X:215.29, Y:-10.15, Z:0.03 [[ 9.98868301e-01 4.75617196e-02 0.00000000e+00 2.15294107e+02] [-4.75617196e-02 9.98868301e-01 0.00000000e+00 -1.01488149e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17493894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86037174299997 meters Centerline goodness : 0.995276 with order 1 Centerline is valid? [True, True] Translation: X:215.35, Y:-10.14, Z:0.04 [[ 9.99147204e-01 4.12900147e-02 0.00000000e+00 2.15352184e+02] [-4.12900147e-02 9.99147204e-01 0.00000000e+00 -1.01443131e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08378043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92037174299998 meters Centerline goodness : 0.995374 with order 1 Centerline is valid? [True, True] Translation: X:215.41, Y:-10.15, Z:0.04 [[ 9.99048664e-01 4.36092578e-02 0.00000000e+00 2.15408483e+02] [-4.36092578e-02 9.99048664e-01 0.00000000e+00 -1.01540006e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02375584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98037174299998 meters Centerline goodness : 0.995012 with order 1 Centerline is valid? [True, True] Translation: X:215.47, Y:-10.17, Z:0.04 [[ 9.99125538e-01 4.18109943e-02 0.00000000e+00 2.15466104e+02] [-4.18109943e-02 9.99125538e-01 0.00000000e+00 -1.01668112e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97042984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04037174299998 meters Centerline goodness : 0.994773 with order 1 Centerline is valid? [True, True] Translation: X:215.52, Y:-10.18, Z:0.04 [[ 9.99370369e-01 3.54804934e-02 0.00000000e+00 2.15523628e+02] [-3.54804934e-02 9.99370369e-01 0.00000000e+00 -1.01805919e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90487334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10037174299998 meters Centerline goodness : 0.992193 with order 1 Centerline is valid? [True, True] Translation: X:215.58, Y:-10.20, Z:0.04 [[ 9.99486294e-01 3.20491471e-02 0.00000000e+00 2.15580098e+02] [-3.20491471e-02 9.99486294e-01 0.00000000e+00 -1.02030842e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67713175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16037174299998 meters Centerline goodness : 0.991600 with order 1 Centerline is valid? [True, True] Translation: X:215.64, Y:-10.22, Z:0.04 [[ 9.99709371e-01 2.41075298e-02 0.00000000e+00 2.15637953e+02] [-2.41075298e-02 9.99709371e-01 0.00000000e+00 -1.02173638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58011227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.220371743 meters Centerline goodness : 0.992636 with order 1 Centerline is valid? [True, True] Translation: X:215.70, Y:-10.22, Z:0.04 [[ 9.99892547e-01 1.46592746e-02 0.00000000e+00 2.15696118e+02] [-1.46592746e-02 9.99892547e-01 0.00000000e+00 -1.02188722e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50854467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.280371743 meters Centerline goodness : 0.990467 with order 1 Centerline is valid? [True, True] Translation: X:215.75, Y:-10.24, Z:0.04 [[ 9.99860017e-01 1.67315961e-02 0.00000000e+00 2.15754520e+02] [-1.67315961e-02 9.99860017e-01 0.00000000e+00 -1.02374260e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77127419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.340371743 meters Centerline goodness : 0.993682 with order 1 Centerline is valid? [True, True] Translation: X:215.81, Y:-10.24, Z:0.03 [[ 9.99947575e-01 1.02394729e-02 0.00000000e+00 2.15811765e+02] [-1.02394729e-02 9.99947575e-01 0.00000000e+00 -1.02414649e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46994816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.400371743 meters Centerline goodness : 0.992870 with order 1 Centerline is valid? [True, True] Translation: X:215.87, Y:-10.25, Z:0.03 [[ 9.99955779e-01 9.40422942e-03 0.00000000e+00 2.15870087e+02] [-9.40422942e-03 9.99955779e-01 0.00000000e+00 -1.02520270e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36125649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46037174299997 meters Centerline goodness : 0.993842 with order 1 Centerline is valid? [True, True] Translation: X:215.93, Y:-10.26, Z:0.03 [[ 9.99950894e-01 9.91008836e-03 0.00000000e+00 2.15928677e+02] [-9.91008836e-03 9.99950894e-01 0.00000000e+00 -1.02589216e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29380717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52037174299997 meters Centerline goodness : 0.990122 with order 1 Centerline is valid? [True, True] Translation: X:215.99, Y:-10.28, Z:0.03 [[ 9.99828552e-01 1.85166799e-02 0.00000000e+00 2.15985906e+02] [-1.85166799e-02 9.99828552e-01 0.00000000e+00 -1.02752615e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38367014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58037174299997 meters Centerline goodness : 0.992632 with order 1 Centerline is valid? [True, True] Translation: X:216.04, Y:-10.27, Z:0.03 [[ 9.99822597e-01 1.88354732e-02 0.00000000e+00 2.16044255e+02] [-1.88354732e-02 9.99822597e-01 0.00000000e+00 -1.02743534e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25783939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64037174299997 meters Centerline goodness : 0.991831 with order 1 Centerline is valid? [True, True] Translation: X:216.10, Y:-10.28, Z:0.03 [[ 9.99622856e-01 2.74617306e-02 0.00000000e+00 2.16101307e+02] [-2.74617306e-02 9.99622856e-01 0.00000000e+00 -1.02812709e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38871400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70037174299998 meters Centerline goodness : 0.992314 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:-10.29, Z:0.03 [[ 9.99454048e-01 3.30394688e-02 0.00000000e+00 2.16159914e+02] [-3.30394688e-02 9.99454048e-01 0.00000000e+00 -1.02886592e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42572068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76037174299998 meters Centerline goodness : 0.991977 with order 1 Centerline is valid? [True, True] Translation: X:216.22, Y:-10.30, Z:0.03 [[ 9.99384414e-01 3.50826530e-02 0.00000000e+00 2.16217559e+02] [-3.50826530e-02 9.99384414e-01 0.00000000e+00 -1.02976092e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35699514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82037174299998 meters Centerline goodness : 0.990817 with order 1 Centerline is valid? [True, True] Translation: X:216.27, Y:-10.30, Z:0.03 [[ 9.99441192e-01 3.34260965e-02 0.00000000e+00 2.16274907e+02] [-3.34260965e-02 9.99441192e-01 0.00000000e+00 -1.03042584e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31983116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88037174299998 meters Centerline goodness : 0.991500 with order 1 Centerline is valid? [True, True] Translation: X:216.33, Y:-10.31, Z:0.03 [[ 9.99641968e-01 2.67569830e-02 0.00000000e+00 2.16332978e+02] [-2.67569830e-02 9.99641968e-01 0.00000000e+00 -1.03137084e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22203912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.940371743 meters Centerline goodness : 0.990854 with order 1 Centerline is valid? [True, True] Translation: X:216.39, Y:-10.32, Z:0.03 [[ 9.99818268e-01 1.90638642e-02 0.00000000e+00 2.16391566e+02] [-1.90638642e-02 9.99818268e-01 0.00000000e+00 -1.03245664e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23436344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.000371743 meters Centerline goodness : 0.987164 with order 1 Centerline is valid? [True, True] Translation: X:216.45, Y:-10.35, Z:0.03 [[ 9.99791571e-01 2.04160229e-02 0.00000000e+00 2.16448616e+02] [-2.04160229e-02 9.99791571e-01 0.00000000e+00 -1.03466843e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85123065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.060371743 meters Centerline goodness : 0.986759 with order 1 Centerline is valid? [True, True] Translation: X:216.51, Y:-10.35, Z:0.03 [[ 9.99879155e-01 1.55459371e-02 0.00000000e+00 2.16506713e+02] [-1.55459371e-02 9.99879155e-01 0.00000000e+00 -1.03538267e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71302429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.120371743 meters Centerline goodness : 0.985900 with order 1 Centerline is valid? [True, True] Translation: X:216.56, Y:-10.36, Z:0.03 [[ 9.99948009e-01 1.01970298e-02 0.00000000e+00 2.16564811e+02] [-1.01970298e-02 9.99948009e-01 0.00000000e+00 -1.03590880e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90646828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18037174299997 meters Centerline goodness : 0.988771 with order 1 Centerline is valid? [True, True] Translation: X:216.62, Y:-10.36, Z:0.03 [[ 9.99996159e-01 -2.77180073e-03 0.00000000e+00 2.16623569e+02] [ 2.77180073e-03 9.99996159e-01 0.00000000e+00 -1.03556298e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33292608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24037174299997 meters Centerline goodness : 0.985640 with order 1 Centerline is valid? [True, True] Translation: X:216.68, Y:-10.37, Z:0.03 [[ 9.99998922e-01 -1.46799539e-03 0.00000000e+00 2.16683918e+02] [ 1.46799539e-03 9.99998922e-01 0.00000000e+00 -1.03717075e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00297477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30037174299997 meters Centerline goodness : 0.988632 with order 1 Centerline is valid? [True, True] Translation: X:216.74, Y:-10.37, Z:0.03 [[ 9.99877902e-01 -1.56262838e-02 0.00000000e+00 2.16744205e+02] [ 1.56262838e-02 9.99877902e-01 0.00000000e+00 -1.03662249e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18478070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36037174299997 meters Centerline goodness : 0.985687 with order 1 Centerline is valid? [True, True] Translation: X:216.81, Y:-10.38, Z:0.03 [[ 9.99889023e-01 -1.48976867e-02 0.00000000e+00 2.16805902e+02] [ 1.48976867e-02 9.99889023e-01 0.00000000e+00 -1.03791726e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77956746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42037174299998 meters Centerline goodness : 0.989007 with order 1 Centerline is valid? [True, True] Translation: X:216.87, Y:-10.37, Z:0.03 [[ 9.99636020e-01 -2.69782925e-02 0.00000000e+00 2.16868210e+02] [ 2.69782925e-02 9.99636020e-01 0.00000000e+00 -1.03712839e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99718517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48037174299998 meters Centerline goodness : 0.988631 with order 1 Centerline is valid? [True, True] Translation: X:216.93, Y:-10.37, Z:0.03 [[ 9.99465251e-01 -3.26988117e-02 0.00000000e+00 2.16931217e+02] [ 3.26988117e-02 9.99465251e-01 0.00000000e+00 -1.03706601e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05759390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54037174299998 meters Centerline goodness : 0.986868 with order 1 Centerline is valid? [True, True] Translation: X:216.99, Y:-10.37, Z:0.03 [[ 9.99378199e-01 -3.52592454e-02 0.00000000e+00 2.16993416e+02] [ 3.52592454e-02 9.99378199e-01 0.00000000e+00 -1.03717022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32100278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60037174299998 meters Centerline goodness : 0.988934 with order 1 Centerline is valid? [True, True] Translation: X:217.05, Y:-10.37, Z:0.03 [[ 9.99305171e-01 -3.72716427e-02 0.00000000e+00 2.17054745e+02] [ 3.72716427e-02 9.99305171e-01 0.00000000e+00 -1.03683204e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15703325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66037174299998 meters Centerline goodness : 0.986778 with order 1 Centerline is valid? [True, True] Translation: X:217.12, Y:-10.37, Z:0.03 [[ 9.99457122e-01 -3.29463481e-02 0.00000000e+00 2.17117872e+02] [ 3.29463481e-02 9.99457122e-01 0.00000000e+00 -1.03697149e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42000892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.720371743 meters Centerline goodness : 0.987900 with order 1 Centerline is valid? [True, True] Translation: X:217.18, Y:-10.36, Z:0.03 [[ 9.99463187e-01 -3.27618283e-02 0.00000000e+00 2.17180195e+02] [ 3.27618283e-02 9.99463187e-01 0.00000000e+00 -1.03629711e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43018340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.780371743 meters Centerline goodness : 0.990847 with order 1 Centerline is valid? [True, True] Translation: X:217.24, Y:-10.35, Z:0.03 [[ 9.99311426e-01 -3.71035500e-02 0.00000000e+00 2.17243671e+02] [ 3.71035500e-02 9.99311426e-01 0.00000000e+00 -1.03512954e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27427460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.840371743 meters Centerline goodness : 0.989514 with order 1 Centerline is valid? [True, True] Translation: X:217.31, Y:-10.35, Z:0.03 [[ 9.99475156e-01 -3.23946522e-02 0.00000000e+00 2.17307186e+02] [ 3.23946522e-02 9.99475156e-01 0.00000000e+00 -1.03520379e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33119553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.900371743 meters Centerline goodness : 0.993946 with order 1 Centerline is valid? [True, True] Translation: X:217.37, Y:-10.34, Z:0.03 [[ 9.99346364e-01 -3.61503161e-02 0.00000000e+00 2.17369581e+02] [ 3.61503161e-02 9.99346364e-01 0.00000000e+00 -1.03356704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22183230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96037174299997 meters Centerline goodness : 0.993858 with order 1 Centerline is valid? [True, True] Translation: X:217.43, Y:-10.33, Z:0.03 [[ 9.99537447e-01 -3.04120230e-02 0.00000000e+00 2.17432569e+02] [ 3.04120230e-02 9.99537447e-01 0.00000000e+00 -1.03255209e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19315904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02037174299997 meters Centerline goodness : 0.991644 with order 1 Centerline is valid? [True, True] Translation: X:217.50, Y:-10.33, Z:0.03 [[ 9.99896222e-01 -1.44063962e-02 0.00000000e+00 2.17495315e+02] [ 1.44063962e-02 9.99896222e-01 0.00000000e+00 -1.03261267e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73939449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08037174299997 meters Centerline goodness : 0.991424 with order 1 Centerline is valid? [True, True] Translation: X:217.56, Y:-10.32, Z:0.03 [[ 9.99980203e-01 -6.29242194e-03 0.00000000e+00 2.17558154e+02] [ 6.29242194e-03 9.99980203e-01 0.00000000e+00 -1.03186662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50427725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14037174299997 meters Centerline goodness : 0.993171 with order 1 Centerline is valid? [True, True] Translation: X:217.62, Y:-10.30, Z:0.03 [[ 9.99919201e-01 -1.27118921e-02 0.00000000e+00 2.17620698e+02] [ 1.27118921e-02 9.99919201e-01 0.00000000e+00 -1.03007767e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40963372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20037174299998 meters Centerline goodness : 0.991430 with order 1 Centerline is valid? [True, True] Translation: X:217.68, Y:-10.31, Z:0.02 [[ 9.99985954e-01 5.30019024e-03 0.00000000e+00 2.17682081e+02] [-5.30019024e-03 9.99985954e-01 0.00000000e+00 -1.03087311e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13495101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26037174299998 meters Centerline goodness : 0.993501 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:-10.29, Z:0.03 [[ 9.99999484e-01 -1.01607898e-03 0.00000000e+00 2.17741468e+02] [ 1.01607898e-03 9.99999484e-01 0.00000000e+00 -1.02870970e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41049479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32037174299998 meters Centerline goodness : 0.994501 with order 1 Centerline is valid? [True, True] Translation: X:217.80, Y:-10.28, Z:0.03 [[ 9.99992883e-01 3.77275470e-03 0.00000000e+00 2.17802611e+02] [-3.77275470e-03 9.99992883e-01 0.00000000e+00 -1.02813639e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34928765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38037174299998 meters Centerline goodness : 0.994765 with order 1 Centerline is valid? [True, True] Translation: X:217.86, Y:-10.28, Z:0.03 [[ 9.99974780e-01 7.10206336e-03 0.00000000e+00 2.17862825e+02] [-7.10206336e-03 9.99974780e-01 0.00000000e+00 -1.02774595e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33504656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.440371743 meters Centerline goodness : 0.994535 with order 1 Centerline is valid? [True, True] Translation: X:217.92, Y:-10.28, Z:0.03 [[ 9.99965732e-01 8.27853278e-03 0.00000000e+00 2.17921518e+02] [-8.27853278e-03 9.99965732e-01 0.00000000e+00 -1.02765054e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40615372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.500371743 meters Centerline goodness : 0.995039 with order 1 Centerline is valid? [True, True] Translation: X:217.98, Y:-10.27, Z:0.04 [[ 9.99957085e-01 9.26438305e-03 0.00000000e+00 2.17980679e+02] [-9.26438305e-03 9.99957085e-01 0.00000000e+00 -1.02737955e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55210371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.560371743 meters Centerline goodness : 0.994768 with order 1 Centerline is valid? [True, True] Translation: X:218.04, Y:-10.28, Z:0.03 [[ 9.99952690e-01 9.72718800e-03 0.00000000e+00 2.18039486e+02] [-9.72718800e-03 9.99952690e-01 0.00000000e+00 -1.02753327e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44086290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.620371743 meters Centerline goodness : 0.992872 with order 1 Centerline is valid? [True, True] Translation: X:218.10, Y:-10.29, Z:0.02 [[ 9.99723288e-01 2.35233478e-02 0.00000000e+00 2.18097476e+02] [-2.35233478e-02 9.99723288e-01 0.00000000e+00 -1.02934881e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95523510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68037174299997 meters Centerline goodness : 0.995511 with order 1 Centerline is valid? [True, True] Translation: X:218.16, Y:-10.28, Z:0.03 [[ 9.99874750e-01 1.58266841e-02 0.00000000e+00 2.18157942e+02] [-1.58266841e-02 9.99874750e-01 0.00000000e+00 -1.02794299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29246036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74037174299997 meters Centerline goodness : 0.995333 with order 1 Centerline is valid? [True, True] Translation: X:218.22, Y:-10.28, Z:0.03 [[ 9.99822512e-01 1.88399664e-02 0.00000000e+00 2.18216063e+02] [-1.88399664e-02 9.99822512e-01 0.00000000e+00 -1.02834713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19153156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80037174299997 meters Centerline goodness : 0.992803 with order 1 Centerline is valid? [True, True] Translation: X:218.27, Y:-10.31, Z:0.02 [[ 9.99409722e-01 3.43541475e-02 0.00000000e+00 2.18273888e+02] [-3.43541475e-02 9.99409722e-01 0.00000000e+00 -1.03052047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73027304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86037174299997 meters Centerline goodness : 0.992528 with order 1 Centerline is valid? [True, True] Translation: X:218.33, Y:-10.31, Z:0.02 [[ 9.99480869e-01 3.22178935e-02 0.00000000e+00 2.18331739e+02] [-3.22178935e-02 9.99480869e-01 0.00000000e+00 -1.03098921e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99868704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92037174299998 meters Centerline goodness : 0.991567 with order 1 Centerline is valid? [True, True] Translation: X:218.39, Y:-10.32, Z:0.02 [[ 9.99528278e-01 3.07119017e-02 0.00000000e+00 2.18390536e+02] [-3.07119017e-02 9.99528278e-01 0.00000000e+00 -1.03199720e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98099873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98037174299998 meters Centerline goodness : 0.991605 with order 1 Centerline is valid? [True, True] Translation: X:218.45, Y:-10.33, Z:0.02 [[ 9.99651231e-01 2.64086414e-02 0.00000000e+00 2.18448187e+02] [-2.64086414e-02 9.99651231e-01 0.00000000e+00 -1.03271210e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84746124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04037174299998 meters Centerline goodness : 0.992226 with order 1 Centerline is valid? [True, True] Translation: X:218.51, Y:-10.34, Z:0.02 [[ 9.99864116e-01 1.64848027e-02 0.00000000e+00 2.18506400e+02] [-1.64848027e-02 9.99864116e-01 0.00000000e+00 -1.03352056e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82404357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10037174299998 meters Centerline goodness : 0.994166 with order 1 Centerline is valid? [True, True] Translation: X:218.56, Y:-10.33, Z:0.03 [[ 9.99969646e-01 -7.79148410e-03 0.00000000e+00 2.18564903e+02] [ 7.79148410e-03 9.99969646e-01 0.00000000e+00 -1.03293671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67210920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16037174299998 meters Centerline goodness : 0.991096 with order 1 Centerline is valid? [True, True] Translation: X:218.63, Y:-10.35, Z:0.02 [[ 9.99942740e-01 -1.07012581e-02 0.00000000e+00 2.18626074e+02] [ 1.07012581e-02 9.99942740e-01 0.00000000e+00 -1.03472512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25260850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.220371743 meters Centerline goodness : 0.990748 with order 1 Centerline is valid? [True, True] Translation: X:218.69, Y:-10.35, Z:0.02 [[ 9.99883592e-01 -1.52578975e-02 0.00000000e+00 2.18687593e+02] [ 1.52578975e-02 9.99883592e-01 0.00000000e+00 -1.03526494e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22819118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.280371743 meters Centerline goodness : 0.991554 with order 1 Centerline is valid? [True, True] Translation: X:218.75, Y:-10.36, Z:0.02 [[ 9.99910671e-01 -1.33660011e-02 0.00000000e+00 2.18749650e+02] [ 1.33660011e-02 9.99910671e-01 0.00000000e+00 -1.03579344e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97653316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.340371743 meters Centerline goodness : 0.991409 with order 1 Centerline is valid? [True, True] Translation: X:218.81, Y:-10.36, Z:0.02 [[ 9.99922198e-01 -1.24738758e-02 0.00000000e+00 2.18811795e+02] [ 1.24738758e-02 9.99922198e-01 0.00000000e+00 -1.03589507e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19491444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.400371743 meters Centerline goodness : 0.991461 with order 1 Centerline is valid? [True, True] Translation: X:218.87, Y:-10.36, Z:0.02 [[ 9.99947140e-01 -1.02818975e-02 0.00000000e+00 2.18872663e+02] [ 1.02818975e-02 9.99947140e-01 0.00000000e+00 -1.03603140e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13521701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46037174299997 meters Centerline goodness : 0.991747 with order 1 Centerline is valid? [True, True] Translation: X:218.94, Y:-10.36, Z:0.02 [[ 9.99979381e-01 -6.42165210e-03 0.00000000e+00 2.18935190e+02] [ 6.42165210e-03 9.99979381e-01 0.00000000e+00 -1.03608542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12102251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52037174299997 meters Centerline goodness : 0.994602 with order 1 Centerline is valid? [True, True] Translation: X:219.00, Y:-10.35, Z:0.03 [[ 9.99961271e-01 -8.80091155e-03 0.00000000e+00 2.18997874e+02] [ 8.80091155e-03 9.99961271e-01 0.00000000e+00 -1.03504414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70217600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58037174299997 meters Centerline goodness : 0.991871 with order 1 Centerline is valid? [True, True] Translation: X:219.06, Y:-10.36, Z:0.02 [[ 9.99920451e-01 1.26131708e-02 0.00000000e+00 2.19059287e+02] [-1.26131708e-02 9.99920451e-01 0.00000000e+00 -1.03598920e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00579357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64037174299997 meters Centerline goodness : 0.994319 with order 1 Centerline is valid? [True, True] Translation: X:219.12, Y:-10.35, Z:0.03 [[ 9.99967775e-01 8.02804255e-03 0.00000000e+00 2.19117171e+02] [-8.02804255e-03 9.99967775e-01 0.00000000e+00 -1.03489988e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77545835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70037174299998 meters Centerline goodness : 0.992467 with order 1 Centerline is valid? [True, True] Translation: X:219.18, Y:-10.36, Z:0.02 [[ 9.99752416e-01 2.22509845e-02 0.00000000e+00 2.19175402e+02] [-2.22509845e-02 9.99752416e-01 0.00000000e+00 -1.03641149e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66922939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76037174299998 meters Centerline goodness : 0.992369 with order 1 Centerline is valid? [True, True] Translation: X:219.23, Y:-10.36, Z:0.02 [[ 9.99791829e-01 2.04033972e-02 0.00000000e+00 2.19233151e+02] [-2.04033972e-02 9.99791829e-01 0.00000000e+00 -1.03644833e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78920042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82037174299998 meters Centerline goodness : 0.992375 with order 1 Centerline is valid? [True, True] Translation: X:219.29, Y:-10.37, Z:0.01 [[ 9.99727255e-01 2.33541290e-02 0.00000000e+00 2.19292361e+02] [-2.33541290e-02 9.99727255e-01 0.00000000e+00 -1.03684332e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41172355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88037174299998 meters Centerline goodness : 0.994527 with order 1 Centerline is valid? [True, True] Translation: X:219.35, Y:-10.36, Z:0.03 [[ 9.99906859e-01 1.36481971e-02 0.00000000e+00 2.19351133e+02] [-1.36481971e-02 9.99906859e-01 0.00000000e+00 -1.03561401e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50366689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.940371743 meters Centerline goodness : 0.994875 with order 1 Centerline is valid? [True, True] Translation: X:219.41, Y:-10.36, Z:0.03 [[ 9.99871813e-01 1.60111611e-02 0.00000000e+00 2.19410109e+02] [-1.60111611e-02 9.99871813e-01 0.00000000e+00 -1.03592287e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57114873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.000371743 meters Centerline goodness : 0.994648 with order 1 Centerline is valid? [True, True] Translation: X:219.47, Y:-10.36, Z:0.03 [[ 9.99785418e-01 2.07151636e-02 0.00000000e+00 2.19467416e+02] [-2.07151636e-02 9.99785418e-01 0.00000000e+00 -1.03630659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68000963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.060371743 meters Centerline goodness : 0.992341 with order 1 Centerline is valid? [True, True] Translation: X:219.53, Y:-10.38, Z:0.02 [[ 9.99271701e-01 3.81584437e-02 0.00000000e+00 2.19525579e+02] [-3.81584437e-02 9.99271701e-01 0.00000000e+00 -1.03828854e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57535547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.120371743 meters Centerline goodness : 0.992287 with order 1 Centerline is valid? [True, True] Translation: X:219.58, Y:-10.39, Z:0.02 [[ 9.99250830e-01 3.87011394e-02 0.00000000e+00 2.19583800e+02] [-3.87011394e-02 9.99250830e-01 0.00000000e+00 -1.03878097e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68195261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18037174299997 meters Centerline goodness : 0.992072 with order 1 Centerline is valid? [True, True] Translation: X:219.64, Y:-10.39, Z:0.02 [[ 9.99391223e-01 3.48881671e-02 0.00000000e+00 2.19641437e+02] [-3.48881671e-02 9.99391223e-01 0.00000000e+00 -1.03946109e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68043632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24037174299997 meters Centerline goodness : 0.994160 with order 1 Centerline is valid? [True, True] Translation: X:219.70, Y:-10.39, Z:0.02 [[ 9.99760434e-01 2.18877642e-02 0.00000000e+00 2.19699241e+02] [-2.18877642e-02 9.99760434e-01 0.00000000e+00 -1.03941125e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15581287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30037174299997 meters Centerline goodness : 0.993976 with order 1 Centerline is valid? [True, True] Translation: X:219.76, Y:-10.40, Z:0.02 [[ 9.99792675e-01 2.03619037e-02 0.00000000e+00 2.19757193e+02] [-2.03619037e-02 9.99792675e-01 0.00000000e+00 -1.04018507e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07279739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36037174299997 meters Centerline goodness : 0.993469 with order 1 Centerline is valid? [True, True] Translation: X:219.81, Y:-10.41, Z:0.02 [[ 9.99811479e-01 1.94166659e-02 0.00000000e+00 2.19814396e+02] [-1.94166659e-02 9.99811479e-01 0.00000000e+00 -1.04126745e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02757072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42037174299998 meters Centerline goodness : 0.994155 with order 1 Centerline is valid? [True, True] Translation: X:219.87, Y:-10.42, Z:0.02 [[ 9.99807440e-01 1.96235158e-02 0.00000000e+00 2.19871836e+02] [-1.96235158e-02 9.99807440e-01 0.00000000e+00 -1.04229871e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95585288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48037174299998 meters Centerline goodness : 0.993235 with order 1 Centerline is valid? [True, True] Translation: X:219.93, Y:-10.43, Z:0.02 [[ 9.99772149e-01 2.13459647e-02 0.00000000e+00 2.19930447e+02] [-2.13459647e-02 9.99772149e-01 0.00000000e+00 -1.04329352e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13583334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54037174299998 meters Centerline goodness : 0.986355 with order 1 Centerline is valid? [True, True] Translation: X:219.99, Y:-10.44, Z:0.02 [[ 9.99700771e-01 2.44615868e-02 0.00000000e+00 2.19988560e+02] [-2.44615868e-02 9.99700771e-01 0.00000000e+00 -1.04437129e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32427337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60037174299998 meters Centerline goodness : 0.992571 with order 1 Centerline is valid? [True, True] Translation: X:220.05, Y:-10.46, Z:0.02 [[ 9.99644970e-01 2.66445712e-02 0.00000000e+00 2.20045756e+02] [-2.66445712e-02 9.99644970e-01 0.00000000e+00 -1.04557178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11711090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66037174299998 meters Centerline goodness : 0.991757 with order 1 Centerline is valid? [True, True] Translation: X:220.10, Y:-10.47, Z:0.02 [[ 9.99572834e-01 2.92258537e-02 0.00000000e+00 2.20103596e+02] [-2.92258537e-02 9.99572834e-01 0.00000000e+00 -1.04689010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94295069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.720371743 meters Centerline goodness : 0.992134 with order 1 Centerline is valid? [True, True] Translation: X:220.16, Y:-10.48, Z:0.02 [[ 9.99537032e-01 3.04256851e-02 0.00000000e+00 2.20161030e+02] [-3.04256851e-02 9.99537032e-01 0.00000000e+00 -1.04791373e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88771561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.780371743 meters Centerline goodness : 0.988414 with order 1 Centerline is valid? [True, True] Translation: X:220.22, Y:-10.51, Z:0.01 [[ 9.99020341e-01 4.42533471e-02 0.00000000e+00 2.20218161e+02] [-4.42533471e-02 9.99020341e-01 0.00000000e+00 -1.05124335e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23203810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.840371743 meters Centerline goodness : 0.991275 with order 1 Centerline is valid? [True, True] Translation: X:220.28, Y:-10.51, Z:0.02 [[ 9.99379582e-01 3.52200485e-02 0.00000000e+00 2.20277319e+02] [-3.52200485e-02 9.99379582e-01 0.00000000e+00 -1.05088168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66882683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.900371743 meters Centerline goodness : 0.990216 with order 1 Centerline is valid? [True, True] Translation: X:220.33, Y:-10.52, Z:0.02 [[ 9.99303415e-01 3.73186900e-02 0.00000000e+00 2.20333928e+02] [-3.73186900e-02 9.99303415e-01 0.00000000e+00 -1.05242837e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68947165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96037174299997 meters Centerline goodness : 0.989542 with order 1 Centerline is valid? [True, True] Translation: X:220.39, Y:-10.54, Z:0.02 [[ 9.99264130e-01 3.83562086e-02 0.00000000e+00 2.20391177e+02] [-3.83562086e-02 9.99264130e-01 0.00000000e+00 -1.05411894e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77757249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02037174299997 meters Centerline goodness : 0.988347 with order 1 Centerline is valid? [True, True] Translation: X:220.45, Y:-10.56, Z:0.02 [[ 9.99274632e-01 3.80816258e-02 0.00000000e+00 2.20448162e+02] [-3.80816258e-02 9.99274632e-01 0.00000000e+00 -1.05584309e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87824616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08037174299997 meters Centerline goodness : 0.987383 with order 1 Centerline is valid? [True, True] Translation: X:220.51, Y:-10.58, Z:0.02 [[ 9.99105192e-01 4.22943773e-02 0.00000000e+00 2.20505058e+02] [-4.22943773e-02 9.99105192e-01 0.00000000e+00 -1.05849188e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88552406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14037174299997 meters Centerline goodness : 0.989522 with order 1 Centerline is valid? [True, True] Translation: X:220.56, Y:-10.59, Z:0.02 [[ 9.99517595e-01 3.10576432e-02 0.00000000e+00 2.20563020e+02] [-3.10576432e-02 9.99517595e-01 0.00000000e+00 -1.05928423e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66743182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20037174299998 meters Centerline goodness : 0.990825 with order 1 Centerline is valid? [True, True] Translation: X:220.62, Y:-10.61, Z:0.02 [[ 9.99684131e-01 2.51324219e-02 0.00000000e+00 2.20621428e+02] [-2.51324219e-02 9.99684131e-01 0.00000000e+00 -1.06093334e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68268986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26037174299998 meters Centerline goodness : 0.991501 with order 1 Centerline is valid? [True, True] Translation: X:220.68, Y:-10.62, Z:0.02 [[ 9.99828792e-01 1.85037164e-02 0.00000000e+00 2.20679759e+02] [-1.85037164e-02 9.99828792e-01 0.00000000e+00 -1.06236499e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89226803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32037174299998 meters Centerline goodness : 0.992957 with order 1 Centerline is valid? [True, True] Translation: X:220.74, Y:-10.63, Z:0.02 [[ 9.99886704e-01 1.50525231e-02 0.00000000e+00 2.20738466e+02] [-1.50525231e-02 9.99886704e-01 0.00000000e+00 -1.06335059e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00767294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38037174299998 meters Centerline goodness : 0.992594 with order 1 Centerline is valid? [True, True] Translation: X:220.80, Y:-10.64, Z:0.02 [[ 9.99929571e-01 1.18681689e-02 0.00000000e+00 2.20796819e+02] [-1.18681689e-02 9.99929571e-01 0.00000000e+00 -1.06417671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06034421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.440371743 meters Centerline goodness : 0.993339 with order 1 Centerline is valid? [True, True] Translation: X:220.85, Y:-10.65, Z:0.02 [[ 9.99973931e-01 7.22060804e-03 0.00000000e+00 2.20854745e+02] [-7.22060804e-03 9.99973931e-01 0.00000000e+00 -1.06500062e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19265917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.500371743 meters Centerline goodness : 0.992930 with order 1 Centerline is valid? [True, True] Translation: X:220.91, Y:-10.66, Z:0.02 [[ 9.99995077e-01 3.13771593e-03 0.00000000e+00 2.20914618e+02] [-3.13771593e-03 9.99995077e-01 0.00000000e+00 -1.06563033e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39359452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.560371743 meters Centerline goodness : 0.994155 with order 1 Centerline is valid? [True, True] Translation: X:220.97, Y:-10.66, Z:0.03 [[ 9.99997368e-01 -2.29431008e-03 0.00000000e+00 2.20974943e+02] [ 2.29431008e-03 9.99997368e-01 0.00000000e+00 -1.06603495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57708207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.620371743 meters Centerline goodness : 0.994585 with order 1 Centerline is valid? [True, True] Translation: X:221.04, Y:-10.66, Z:0.03 [[ 9.99975713e-01 -6.96952865e-03 0.00000000e+00 2.21035177e+02] [ 6.96952865e-03 9.99975713e-01 0.00000000e+00 -1.06638191e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64491995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68037174299997 meters Centerline goodness : 0.993495 with order 1 Centerline is valid? [True, True] Translation: X:221.10, Y:-10.67, Z:0.02 [[ 9.99951027e-01 -9.89665724e-03 0.00000000e+00 2.21096559e+02] [ 9.89665724e-03 9.99951027e-01 0.00000000e+00 -1.06665708e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48410360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74037174299997 meters Centerline goodness : 0.994392 with order 1 Centerline is valid? [True, True] Translation: X:221.16, Y:-10.67, Z:0.02 [[ 9.99909225e-01 -1.34737749e-02 0.00000000e+00 2.21157422e+02] [ 1.34737749e-02 9.99909225e-01 0.00000000e+00 -1.06658362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20850098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80037174299997 meters Centerline goodness : 0.993935 with order 1 Centerline is valid? [True, True] Translation: X:221.22, Y:-10.67, Z:0.02 [[ 9.99819805e-01 -1.89830749e-02 0.00000000e+00 2.21219047e+02] [ 1.89830749e-02 9.99819805e-01 0.00000000e+00 -1.06661111e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12659644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86037174299997 meters Centerline goodness : 0.993722 with order 1 Centerline is valid? [True, True] Translation: X:221.28, Y:-10.66, Z:0.02 [[ 9.99679715e-01 -2.53074756e-02 0.00000000e+00 2.21280449e+02] [ 2.53074756e-02 9.99679715e-01 0.00000000e+00 -1.06645756e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24177536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92037174299998 meters Centerline goodness : 0.991974 with order 1 Centerline is valid? [True, True] Translation: X:221.34, Y:-10.68, Z:0.01 [[ 9.99777107e-01 -2.11124838e-02 0.00000000e+00 2.21340468e+02] [ 2.11124838e-02 9.99777107e-01 0.00000000e+00 -1.06760183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04174305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98037174299998 meters Centerline goodness : 0.991774 with order 1 Centerline is valid? [True, True] Translation: X:221.40, Y:-10.65, Z:0.02 [[ 9.99438353e-01 -3.35108639e-02 0.00000000e+00 2.21402614e+02] [ 3.35108639e-02 9.99438353e-01 0.00000000e+00 -1.06542380e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17488571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04037174299998 meters Centerline goodness : 0.989868 with order 1 Centerline is valid? [True, True] Translation: X:221.46, Y:-10.66, Z:0.01 [[ 9.99773740e-01 -2.12713028e-02 0.00000000e+00 2.21463843e+02] [ 2.12713028e-02 9.99773740e-01 0.00000000e+00 -1.06623586e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.75823575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10037174299998 meters Centerline goodness : 0.987002 with order 1 Centerline is valid? [True, True] Translation: X:221.53, Y:-10.65, Z:0.01 [[ 9.99605263e-01 -2.80948206e-02 0.00000000e+00 2.21525019e+02] [ 2.80948206e-02 9.99605263e-01 0.00000000e+00 -1.06548719e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43191813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16037174299998 meters Centerline goodness : 0.988248 with order 1 Centerline is valid? [True, True] Translation: X:221.59, Y:-10.63, Z:0.02 [[ 9.99284853e-01 -3.78124709e-02 0.00000000e+00 2.21588647e+02] [ 3.78124709e-02 9.99284853e-01 0.00000000e+00 -1.06294695e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27729777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.220371743 meters Centerline goodness : 0.988707 with order 1 Centerline is valid? [True, True] Translation: X:221.65, Y:-10.62, Z:0.02 [[ 9.99205819e-01 -3.98463518e-02 0.00000000e+00 2.21651811e+02] [ 3.98463518e-02 9.99205819e-01 0.00000000e+00 -1.06193236e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03599579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.280371743 meters Centerline goodness : 0.984358 with order 1 Centerline is valid? [True, True] Translation: X:221.71, Y:-10.62, Z:0.02 [[ 9.99374573e-01 -3.53618892e-02 0.00000000e+00 2.21714011e+02] [ 3.53618892e-02 9.99374573e-01 0.00000000e+00 -1.06213558e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79841043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.340371743 meters Centerline goodness : 0.984805 with order 1 Centerline is valid? [True, True] Translation: X:221.78, Y:-10.61, Z:0.02 [[ 9.99237997e-01 -3.90310877e-02 0.00000000e+00 2.21776530e+02] [ 3.90310877e-02 9.99237997e-01 0.00000000e+00 -1.06096724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98227229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.400371743 meters Centerline goodness : 0.989011 with order 1 Centerline is valid? [True, True] Translation: X:221.84, Y:-10.59, Z:0.02 [[ 9.98981887e-01 -4.51130724e-02 0.00000000e+00 2.21840501e+02] [ 4.51130724e-02 9.98981887e-01 0.00000000e+00 -1.05877403e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18944569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46037174299997 meters Centerline goodness : 0.990266 with order 1 Centerline is valid? [True, True] Translation: X:221.90, Y:-10.58, Z:0.02 [[ 9.99204302e-01 -3.98843732e-02 0.00000000e+00 2.21903636e+02] [ 3.98843732e-02 9.99204302e-01 0.00000000e+00 -1.05753634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38899835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52037174299997 meters Centerline goodness : 0.992112 with order 1 Centerline is valid? [True, True] Translation: X:221.97, Y:-10.56, Z:0.03 [[ 9.99528259e-01 -3.07125188e-02 0.00000000e+00 2.21966278e+02] [ 3.07125188e-02 9.99528259e-01 0.00000000e+00 -1.05622839e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55000982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58037174299997 meters Centerline goodness : 0.990091 with order 1 Centerline is valid? [True, True] Translation: X:222.03, Y:-10.56, Z:0.02 [[ 9.99890296e-01 -1.48120151e-02 0.00000000e+00 2.22028591e+02] [ 1.48120151e-02 9.99890296e-01 0.00000000e+00 -1.05627100e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26691633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64037174299997 meters Centerline goodness : 0.992585 with order 1 Centerline is valid? [True, True] Translation: X:222.09, Y:-10.54, Z:0.03 [[ 9.99775097e-01 -2.12074501e-02 0.00000000e+00 2.22091054e+02] [ 2.12074501e-02 9.99775097e-01 0.00000000e+00 -1.05442656e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65955157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70037174299998 meters Centerline goodness : 0.990918 with order 1 Centerline is valid? [True, True] Translation: X:222.15, Y:-10.55, Z:0.02 [[ 9.99933492e-01 -1.15330936e-02 0.00000000e+00 2.22152771e+02] [ 1.15330936e-02 9.99933492e-01 0.00000000e+00 -1.05466521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24505635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76037174299998 meters Centerline goodness : 0.993708 with order 1 Centerline is valid? [True, True] Translation: X:222.22, Y:-10.52, Z:0.03 [[ 9.99775730e-01 -2.11775688e-02 0.00000000e+00 2.22215512e+02] [ 2.11775688e-02 9.99775730e-01 0.00000000e+00 -1.05236773e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51904242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82037174299998 meters Centerline goodness : 0.994222 with order 1 Centerline is valid? [True, True] Translation: X:222.28, Y:-10.52, Z:0.03 [[ 9.99739784e-01 -2.28114944e-02 0.00000000e+00 2.22278539e+02] [ 2.28114944e-02 9.99739784e-01 0.00000000e+00 -1.05198585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56748923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88037174299998 meters Centerline goodness : 0.990449 with order 1 Centerline is valid? [True, True] Translation: X:222.34, Y:-10.53, Z:0.01 [[ 9.99908256e-01 -1.35454305e-02 0.00000000e+00 2.22340650e+02] [ 1.35454305e-02 9.99908256e-01 0.00000000e+00 -1.05323061e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26312624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.940371743 meters Centerline goodness : 0.994183 with order 1 Centerline is valid? [True, True] Translation: X:222.40, Y:-10.51, Z:0.03 [[ 9.99499293e-01 -3.16411604e-02 0.00000000e+00 2.22404392e+02] [ 3.16411604e-02 9.99499293e-01 0.00000000e+00 -1.05094169e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58938539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.000371743 meters Centerline goodness : 0.994357 with order 1 Centerline is valid? [True, True] Translation: X:222.47, Y:-10.50, Z:0.02 [[ 9.99305849e-01 -3.72534607e-02 0.00000000e+00 2.22466326e+02] [ 3.72534607e-02 9.99305849e-01 0.00000000e+00 -1.05048092e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35257030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.060371743 meters Centerline goodness : 0.991627 with order 1 Centerline is valid? [True, True] Translation: X:222.53, Y:-10.52, Z:0.01 [[ 9.99597029e-01 -2.83862714e-02 0.00000000e+00 2.22527916e+02] [ 2.83862714e-02 9.99597029e-01 0.00000000e+00 -1.05198548e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15289101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.120371743 meters Centerline goodness : 0.992694 with order 1 Centerline is valid? [True, True] Translation: X:222.59, Y:-10.51, Z:0.02 [[ 9.99521593e-01 -3.09287204e-02 0.00000000e+00 2.22590617e+02] [ 3.09287204e-02 9.99521593e-01 0.00000000e+00 -1.05102498e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79053819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18037174299997 meters Centerline goodness : 0.992952 with order 1 Centerline is valid? [True, True] Translation: X:222.65, Y:-10.50, Z:0.02 [[ 9.99566943e-01 -2.94266379e-02 0.00000000e+00 2.22653907e+02] [ 2.94266379e-02 9.99566943e-01 0.00000000e+00 -1.05025008e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20378905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24037174299997 meters Centerline goodness : 0.993166 with order 1 Centerline is valid? [True, True] Translation: X:222.72, Y:-10.50, Z:0.02 [[ 9.99614210e-01 -2.77746565e-02 0.00000000e+00 2.22716116e+02] [ 2.77746565e-02 9.99614210e-01 0.00000000e+00 -1.04998506e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25687605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30037174299997 meters Centerline goodness : 0.995506 with order 1 Centerline is valid? [True, True] Translation: X:222.78, Y:-10.49, Z:0.03 [[ 9.99469032e-01 -3.25830198e-02 0.00000000e+00 2.22778874e+02] [ 3.25830198e-02 9.99469032e-01 0.00000000e+00 -1.04852164e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80932722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36037174299997 meters Centerline goodness : 0.993502 with order 1 Centerline is valid? [True, True] Translation: X:222.84, Y:-10.49, Z:0.02 [[ 9.99760960e-01 -2.18637540e-02 0.00000000e+00 2.22840860e+02] [ 2.18637540e-02 9.99760960e-01 0.00000000e+00 -1.04894099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16760168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42037174299998 meters Centerline goodness : 0.992877 with order 1 Centerline is valid? [True, True] Translation: X:222.90, Y:-10.48, Z:0.02 [[ 9.99863770e-01 -1.65058047e-02 0.00000000e+00 2.22903099e+02] [ 1.65058047e-02 9.99863770e-01 0.00000000e+00 -1.04841944e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36589158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48037174299998 meters Centerline goodness : 0.992385 with order 1 Centerline is valid? [True, True] Translation: X:222.97, Y:-10.48, Z:0.02 [[ 9.99960970e-01 -8.83508865e-03 0.00000000e+00 2.22965846e+02] [ 8.83508865e-03 9.99960970e-01 0.00000000e+00 -1.04802020e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25318768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54037174299998 meters Centerline goodness : 0.992720 with order 1 Centerline is valid? [True, True] Translation: X:223.03, Y:-10.48, Z:0.02 [[ 9.99993000e-01 3.74173963e-03 0.00000000e+00 2.23027870e+02] [-3.74173963e-03 9.99993000e-01 0.00000000e+00 -1.04779769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35882903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60037174299998 meters Centerline goodness : 0.992590 with order 1 Centerline is valid? [True, True] Translation: X:223.09, Y:-10.48, Z:0.02 [[ 9.99909342e-01 1.34650647e-02 0.00000000e+00 2.23086957e+02] [-1.34650647e-02 9.99909342e-01 0.00000000e+00 -1.04765714e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35431808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66037174299998 meters Centerline goodness : 0.994755 with order 1 Centerline is valid? [True, True] Translation: X:223.15, Y:-10.46, Z:0.03 [[ 9.99936133e-01 1.13017781e-02 0.00000000e+00 2.23146592e+02] [-1.13017781e-02 9.99936133e-01 0.00000000e+00 -1.04621407e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17443284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.720371743 meters Centerline goodness : 0.994729 with order 1 Centerline is valid? [True, True] Translation: X:223.21, Y:-10.46, Z:0.03 [[ 9.99925977e-01 1.21671961e-02 0.00000000e+00 2.23205418e+02] [-1.21671961e-02 9.99925977e-01 0.00000000e+00 -1.04643029e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16617005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.780371743 meters Centerline goodness : 0.993088 with order 1 Centerline is valid? [True, True] Translation: X:223.26, Y:-10.47, Z:0.03 [[ 9.99948645e-01 1.01344803e-02 0.00000000e+00 2.23263709e+02] [-1.01344803e-02 9.99948645e-01 0.00000000e+00 -1.04732313e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64691791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.840371743 meters Centerline goodness : 0.994564 with order 1 Centerline is valid? [True, True] Translation: X:223.32, Y:-10.47, Z:0.03 [[ 9.99999794e-01 6.41196139e-04 0.00000000e+00 2.23321475e+02] [-6.41196139e-04 9.99999794e-01 0.00000000e+00 -1.04734183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02729625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.900371743 meters Centerline goodness : 0.992380 with order 1 Centerline is valid? [True, True] Translation: X:223.38, Y:-10.49, Z:0.03 [[ 9.99994087e-01 3.43878254e-03 0.00000000e+00 2.23381184e+02] [-3.43878254e-03 9.99994087e-01 0.00000000e+00 -1.04929924e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62317047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96037174299997 meters Centerline goodness : 0.992882 with order 1 Centerline is valid? [True, True] Translation: X:223.44, Y:-10.50, Z:0.03 [[ 9.99999293e-01 1.18908824e-03 0.00000000e+00 2.23441026e+02] [-1.18908824e-03 9.99999293e-01 0.00000000e+00 -1.04970523e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70276875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02037174299997 meters Centerline goodness : 0.991525 with order 1 Centerline is valid? [True, True] Translation: X:223.50, Y:-10.50, Z:0.02 [[ 9.99997094e-01 2.41080326e-03 0.00000000e+00 2.23500889e+02] [-2.41080326e-03 9.99997094e-01 0.00000000e+00 -1.05045781e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40311872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08037174299997 meters Centerline goodness : 0.994780 with order 1 Centerline is valid? [True, True] Translation: X:223.56, Y:-10.50, Z:0.03 [[ 9.99954120e-01 -9.57899315e-03 0.00000000e+00 2.23560645e+02] [ 9.57899315e-03 9.99954120e-01 0.00000000e+00 -1.04950225e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34577780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14037174299997 meters Centerline goodness : 0.991235 with order 1 Centerline is valid? [True, True] Translation: X:223.62, Y:-10.50, Z:0.03 [[ 9.99958436e-01 -9.11732024e-03 0.00000000e+00 2.23622941e+02] [ 9.11732024e-03 9.99958436e-01 0.00000000e+00 -1.05030512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76370691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20037174299998 meters Centerline goodness : 0.994743 with order 1 Centerline is valid? [True, True] Translation: X:223.68, Y:-10.51, Z:0.03 [[ 9.99955689e-01 -9.41381365e-03 0.00000000e+00 2.23684345e+02] [ 9.41381365e-03 9.99955689e-01 0.00000000e+00 -1.05052021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97100778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26037174299998 meters Centerline goodness : 0.995316 with order 1 Centerline is valid? [True, True] Translation: X:223.75, Y:-10.51, Z:0.03 [[ 9.99956946e-01 -9.27937033e-03 0.00000000e+00 2.23746074e+02] [ 9.27937033e-03 9.99956946e-01 0.00000000e+00 -1.05084805e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05693555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32037174299998 meters Centerline goodness : 0.992208 with order 1 Centerline is valid? [True, True] Translation: X:223.81, Y:-10.53, Z:0.02 [[ 9.99993036e-01 3.73211230e-03 0.00000000e+00 2.23807218e+02] [-3.73211230e-03 9.99993036e-01 0.00000000e+00 -1.05255305e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21323952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38037174299998 meters Centerline goodness : 0.994573 with order 1 Centerline is valid? [True, True] Translation: X:223.87, Y:-10.51, Z:0.03 [[ 9.99980665e-01 -6.21853563e-03 0.00000000e+00 2.23866852e+02] [ 6.21853563e-03 9.99980665e-01 0.00000000e+00 -1.05129662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29846267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.440371743 meters Centerline goodness : 0.991676 with order 1 Centerline is valid? [True, True] Translation: X:223.93, Y:-10.53, Z:0.02 [[ 9.99976139e-01 6.90805418e-03 0.00000000e+00 2.23927459e+02] [-6.90805418e-03 9.99976139e-01 0.00000000e+00 -1.05302578e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28618937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.500371743 meters Centerline goodness : 0.994437 with order 1 Centerline is valid? [True, True] Translation: X:223.99, Y:-10.52, Z:0.04 [[ 9.99996790e-01 -2.53393812e-03 0.00000000e+00 2.23986420e+02] [ 2.53393812e-03 9.99996790e-01 0.00000000e+00 -1.05179170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55084422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.560371743 meters Centerline goodness : 0.995580 with order 1 Centerline is valid? [True, True] Translation: X:224.05, Y:-10.52, Z:0.04 [[ 9.99999559e-01 9.38880094e-04 0.00000000e+00 2.24047800e+02] [-9.38880094e-04 9.99999559e-01 0.00000000e+00 -1.05201811e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50127886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.620371743 meters Centerline goodness : 0.992580 with order 1 Centerline is valid? [True, True] Translation: X:224.11, Y:-10.53, Z:0.03 [[ 9.99873046e-01 1.59340137e-02 0.00000000e+00 2.24107329e+02] [-1.59340137e-02 9.99873046e-01 0.00000000e+00 -1.05346538e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04198168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68037174299997 meters Centerline goodness : 0.992587 with order 1 Centerline is valid? [True, True] Translation: X:224.17, Y:-10.54, Z:0.03 [[ 9.99669101e-01 2.57233110e-02 0.00000000e+00 2.24165468e+02] [-2.57233110e-02 9.99669101e-01 0.00000000e+00 -1.05388675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54706785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74037174299997 meters Centerline goodness : 0.992648 with order 1 Centerline is valid? [True, True] Translation: X:224.22, Y:-10.54, Z:0.03 [[ 9.99442992e-01 3.33722300e-02 0.00000000e+00 2.24223159e+02] [-3.33722300e-02 9.99442992e-01 0.00000000e+00 -1.05403052e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68803911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80037174299997 meters Centerline goodness : 0.992908 with order 1 Centerline is valid? [True, True] Translation: X:224.28, Y:-10.54, Z:0.03 [[ 9.99244584e-01 3.88620809e-02 0.00000000e+00 2.24281341e+02] [-3.88620809e-02 9.99244584e-01 0.00000000e+00 -1.05428630e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82692170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86037174299997 meters Centerline goodness : 0.993277 with order 1 Centerline is valid? [True, True] Translation: X:224.34, Y:-10.55, Z:0.03 [[ 9.99120029e-01 4.19424213e-02 0.00000000e+00 2.24340308e+02] [-4.19424213e-02 9.99120029e-01 0.00000000e+00 -1.05463296e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99543923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92037174299998 meters Centerline goodness : 0.993744 with order 1 Centerline is valid? [True, True] Translation: X:224.40, Y:-10.55, Z:0.03 [[ 9.99021046e-01 4.42374219e-02 0.00000000e+00 2.24398096e+02] [-4.42374219e-02 9.99021046e-01 0.00000000e+00 -1.05538818e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01225795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98037174299998 meters Centerline goodness : 0.993952 with order 1 Centerline is valid? [True, True] Translation: X:224.46, Y:-10.57, Z:0.03 [[ 9.99093712e-01 4.25647119e-02 0.00000000e+00 2.24455597e+02] [-4.25647119e-02 9.99093712e-01 0.00000000e+00 -1.05659329e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03912805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04037174299998 meters Centerline goodness : 0.993863 with order 1 Centerline is valid? [True, True] Translation: X:224.51, Y:-10.58, Z:0.03 [[ 9.99126294e-01 4.17929159e-02 0.00000000e+00 2.24514135e+02] [-4.17929159e-02 9.99126294e-01 0.00000000e+00 -1.05775743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85291915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10037174299998 meters Centerline goodness : 0.994613 with order 1 Centerline is valid? [True, True] Translation: X:224.57, Y:-10.58, Z:0.04 [[ 9.99582296e-01 2.89003976e-02 0.00000000e+00 2.24571236e+02] [-2.89003976e-02 9.99582296e-01 0.00000000e+00 -1.05823348e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51517590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16037174299998 meters Centerline goodness : 0.991519 with order 1 Centerline is valid? [True, True] Translation: X:224.63, Y:-10.60, Z:0.03 [[ 9.99348037e-01 3.61040415e-02 0.00000000e+00 2.24628652e+02] [-3.61040415e-02 9.99348037e-01 0.00000000e+00 -1.06049253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53570052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.220371743 meters Centerline goodness : 0.991984 with order 1 Centerline is valid? [True, True] Translation: X:224.69, Y:-10.62, Z:0.03 [[ 9.99498363e-01 3.16705421e-02 0.00000000e+00 2.24687288e+02] [-3.16705421e-02 9.99498363e-01 0.00000000e+00 -1.06154267e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81470308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.280371743 meters Centerline goodness : 0.990812 with order 1 Centerline is valid? [True, True] Translation: X:224.75, Y:-10.63, Z:0.03 [[ 9.99629338e-01 2.72247569e-02 0.00000000e+00 2.24745149e+02] [-2.72247569e-02 9.99629338e-01 0.00000000e+00 -1.06306488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10462835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.340371743 meters Centerline goodness : 0.991861 with order 1 Centerline is valid? [True, True] Translation: X:224.80, Y:-10.64, Z:0.03 [[ 9.99786621e-01 2.06570032e-02 0.00000000e+00 2.24803098e+02] [-2.06570032e-02 9.99786621e-01 0.00000000e+00 -1.06367512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22374566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.400371743 meters Centerline goodness : 0.991743 with order 1 Centerline is valid? [True, True] Translation: X:224.86, Y:-10.65, Z:0.03 [[ 9.99852087e-01 1.71989829e-02 0.00000000e+00 2.24861209e+02] [-1.71989829e-02 9.99852087e-01 0.00000000e+00 -1.06522516e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21695421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46037174299997 meters Centerline goodness : 0.991139 with order 1 Centerline is valid? [True, True] Translation: X:224.92, Y:-10.67, Z:0.03 [[ 9.99904200e-01 1.38416124e-02 0.00000000e+00 2.24919684e+02] [-1.38416124e-02 9.99904200e-01 0.00000000e+00 -1.06680850e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10821033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52037174299997 meters Centerline goodness : 0.987175 with order 1 Centerline is valid? [True, True] Translation: X:224.98, Y:-10.68, Z:0.04 [[ 9.99900415e-01 1.41124166e-02 0.00000000e+00 2.24978655e+02] [-1.41124166e-02 9.99900415e-01 0.00000000e+00 -1.06834578e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35708609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58037174299997 meters Centerline goodness : 0.989240 with order 1 Centerline is valid? [True, True] Translation: X:225.04, Y:-10.70, Z:0.04 [[ 9.99950034e-01 9.99644147e-03 0.00000000e+00 2.25037063e+02] [-9.99644147e-03 9.99950034e-01 0.00000000e+00 -1.06973582e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27294535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64037174299997 meters Centerline goodness : 0.992092 with order 1 Centerline is valid? [True, True] Translation: X:225.10, Y:-10.71, Z:0.03 [[ 9.99985540e-01 5.37779198e-03 0.00000000e+00 2.25096500e+02] [-5.37779198e-03 9.99985540e-01 0.00000000e+00 -1.07050453e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20118928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70037174299998 meters Centerline goodness : 0.991806 with order 1 Centerline is valid? [True, True] Translation: X:225.15, Y:-10.72, Z:0.03 [[ 9.99986227e-01 5.24847616e-03 0.00000000e+00 2.25154912e+02] [-5.24847616e-03 9.99986227e-01 0.00000000e+00 -1.07153806e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23239955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76037174299998 meters Centerline goodness : 0.990940 with order 1 Centerline is valid? [True, True] Translation: X:225.21, Y:-10.72, Z:0.03 [[ 9.99975827e-01 6.95302007e-03 0.00000000e+00 2.25214686e+02] [-6.95302007e-03 9.99975827e-01 0.00000000e+00 -1.07237295e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39546576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82037174299998 meters Centerline goodness : 0.988663 with order 1 Centerline is valid? [True, True] Translation: X:225.27, Y:-10.74, Z:0.04 [[ 9.99891391e-01 1.47378933e-02 0.00000000e+00 2.25273368e+02] [-1.47378933e-02 9.99891391e-01 0.00000000e+00 -1.07386982e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55098388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88037174299998 meters Centerline goodness : 0.990446 with order 1 Centerline is valid? [True, True] Translation: X:225.33, Y:-10.74, Z:0.03 [[ 9.99942478e-01 1.07257367e-02 0.00000000e+00 2.25331506e+02] [-1.07257367e-02 9.99942478e-01 0.00000000e+00 -1.07385053e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32013160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.940371743 meters Centerline goodness : 0.988150 with order 1 Centerline is valid? [True, True] Translation: X:225.39, Y:-10.76, Z:0.03 [[ 9.99680378e-01 2.52812478e-02 0.00000000e+00 2.25389818e+02] [-2.52812478e-02 9.99680378e-01 0.00000000e+00 -1.07573211e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00782705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.000371743 meters Centerline goodness : 0.986216 with order 1 Centerline is valid? [True, True] Translation: X:225.45, Y:-10.76, Z:0.03 [[ 9.99460813e-01 3.28341784e-02 0.00000000e+00 2.25447220e+02] [-3.28341784e-02 9.99460813e-01 0.00000000e+00 -1.07641690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00307029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.060371743 meters Centerline goodness : 0.985480 with order 1 Centerline is valid? [True, True] Translation: X:225.51, Y:-10.77, Z:0.03 [[ 9.99223561e-01 3.93989350e-02 0.00000000e+00 2.25505552e+02] [-3.93989350e-02 9.99223561e-01 0.00000000e+00 -1.07695745e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88804908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.120371743 meters Centerline goodness : 0.985354 with order 1 Centerline is valid? [True, True] Translation: X:225.56, Y:-10.78, Z:0.03 [[ 9.98945830e-01 4.59045687e-02 0.00000000e+00 2.25564477e+02] [-4.59045687e-02 9.98945830e-01 0.00000000e+00 -1.07750227e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42646206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18037174299997 meters Centerline goodness : 0.984377 with order 1 Centerline is valid? [True, True] Translation: X:225.62, Y:-10.78, Z:0.03 [[ 9.98598459e-01 5.29255877e-02 0.00000000e+00 2.25622383e+02] [-5.29255877e-02 9.98598459e-01 0.00000000e+00 -1.07846703e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38636271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24037174299997 meters Centerline goodness : 0.986776 with order 1 Centerline is valid? [True, True] Translation: X:225.68, Y:-10.79, Z:0.03 [[ 9.98759351e-01 4.97971761e-02 0.00000000e+00 2.25679207e+02] [-4.97971761e-02 9.98759351e-01 0.00000000e+00 -1.07889451e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36536348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30037174299997 meters Centerline goodness : 0.986099 with order 1 Centerline is valid? [True, True] Translation: X:225.74, Y:-10.80, Z:0.03 [[ 9.98847170e-01 4.80034447e-02 0.00000000e+00 2.25735182e+02] [-4.80034447e-02 9.98847170e-01 0.00000000e+00 -1.08046179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35000540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36037174299997 meters Centerline goodness : 0.983968 with order 1 Centerline is valid? [True, True] Translation: X:225.79, Y:-10.83, Z:0.03 [[ 9.98765764e-01 4.96683833e-02 0.00000000e+00 2.25793500e+02] [-4.96683833e-02 9.98765764e-01 0.00000000e+00 -1.08290701e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18010699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42037174299998 meters Centerline goodness : 0.983979 with order 1 Centerline is valid? [True, True] Translation: X:225.85, Y:-10.84, Z:0.03 [[ 9.98968084e-01 4.54176914e-02 0.00000000e+00 2.25851779e+02] [-4.54176914e-02 9.98968084e-01 0.00000000e+00 -1.08419032e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01213691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48037174299998 meters Centerline goodness : 0.987174 with order 1 Centerline is valid? [True, True] Translation: X:225.91, Y:-10.85, Z:0.03 [[ 9.99512283e-01 3.12281242e-02 0.00000000e+00 2.25909317e+02] [-3.12281242e-02 9.99512283e-01 0.00000000e+00 -1.08524399e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38691904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54037174299998 meters Centerline goodness : 0.989285 with order 1 Centerline is valid? [True, True] Translation: X:225.97, Y:-10.87, Z:0.03 [[ 9.99686911e-01 2.50215811e-02 0.00000000e+00 2.25967813e+02] [-2.50215811e-02 9.99686911e-01 0.00000000e+00 -1.08684237e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38264724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60037174299998 meters Centerline goodness : 0.991807 with order 1 Centerline is valid? [True, True] Translation: X:226.03, Y:-10.88, Z:0.03 [[ 9.99764067e-01 2.17211852e-02 0.00000000e+00 2.26025745e+02] [-2.17211852e-02 9.99764067e-01 0.00000000e+00 -1.08826441e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42307432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66037174299998 meters Centerline goodness : 0.991829 with order 1 Centerline is valid? [True, True] Translation: X:226.08, Y:-10.89, Z:0.03 [[ 9.99775991e-01 2.11652513e-02 0.00000000e+00 2.26083903e+02] [-2.11652513e-02 9.99775991e-01 0.00000000e+00 -1.08915399e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35494439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.720371743 meters Centerline goodness : 0.993021 with order 1 Centerline is valid? [True, True] Translation: X:226.14, Y:-10.90, Z:0.03 [[ 9.99732033e-01 2.31487182e-02 0.00000000e+00 2.26141723e+02] [-2.31487182e-02 9.99732033e-01 0.00000000e+00 -1.09037457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37627170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.780371743 meters Centerline goodness : 0.993672 with order 1 Centerline is valid? [True, True] Translation: X:226.20, Y:-10.91, Z:0.04 [[ 9.99679773e-01 2.53051740e-02 0.00000000e+00 2.26200775e+02] [-2.53051740e-02 9.99679773e-01 0.00000000e+00 -1.09106073e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52687242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.840371743 meters Centerline goodness : 0.994187 with order 1 Centerline is valid? [True, True] Translation: X:226.26, Y:-10.92, Z:0.04 [[ 9.99575196e-01 2.91449394e-02 0.00000000e+00 2.26258132e+02] [-2.91449394e-02 9.99575196e-01 0.00000000e+00 -1.09188134e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66964769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.900371743 meters Centerline goodness : 0.994215 with order 1 Centerline is valid? [True, True] Translation: X:226.32, Y:-10.93, Z:0.04 [[ 9.99502786e-01 3.15306241e-02 0.00000000e+00 2.26316312e+02] [-3.15306241e-02 9.99502786e-01 0.00000000e+00 -1.09269477e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88023835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96037174299997 meters Centerline goodness : 0.994261 with order 1 Centerline is valid? [True, True] Translation: X:226.37, Y:-10.93, Z:0.04 [[ 9.99497893e-01 3.16853531e-02 0.00000000e+00 2.26374897e+02] [-3.16853531e-02 9.99497893e-01 0.00000000e+00 -1.09327647e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90581915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02037174299997 meters Centerline goodness : 0.994632 with order 1 Centerline is valid? [True, True] Translation: X:226.43, Y:-10.94, Z:0.04 [[ 9.99537453e-01 3.04118486e-02 0.00000000e+00 2.26433441e+02] [-3.04118486e-02 9.99537453e-01 0.00000000e+00 -1.09429761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87060381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08037174299997 meters Centerline goodness : 0.995279 with order 1 Centerline is valid? [True, True] Translation: X:226.49, Y:-10.95, Z:0.04 [[ 9.99565264e-01 2.94835895e-02 0.00000000e+00 2.26492487e+02] [-2.94835895e-02 9.99565264e-01 0.00000000e+00 -1.09481263e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86301662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14037174299997 meters Centerline goodness : 0.996179 with order 1 Centerline is valid? [True, True] Translation: X:226.55, Y:-10.96, Z:0.04 [[ 9.99676870e-01 2.54195763e-02 0.00000000e+00 2.26551724e+02] [-2.54195763e-02 9.99676870e-01 0.00000000e+00 -1.09581857e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84107315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20037174299998 meters Centerline goodness : 0.996468 with order 1 Centerline is valid? [True, True] Translation: X:226.61, Y:-10.97, Z:0.04 [[ 9.99782080e-01 2.08756261e-02 0.00000000e+00 2.26611293e+02] [-2.08756261e-02 9.99782080e-01 0.00000000e+00 -1.09681173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61527091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26037174299998 meters Centerline goodness : 0.997148 with order 1 Centerline is valid? [True, True] Translation: X:226.67, Y:-10.98, Z:0.03 [[ 9.99866855e-01 1.63178332e-02 0.00000000e+00 2.26670762e+02] [-1.63178332e-02 9.99866855e-01 0.00000000e+00 -1.09775298e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46428476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32037174299998 meters Centerline goodness : 0.997852 with order 1 Centerline is valid? [True, True] Translation: X:226.73, Y:-10.99, Z:0.03 [[ 9.99938664e-01 1.10755684e-02 0.00000000e+00 2.26730187e+02] [-1.10755684e-02 9.99938664e-01 0.00000000e+00 -1.09861760e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47189485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38037174299998 meters Centerline goodness : 0.998170 with order 1 Centerline is valid? [True, True] Translation: X:226.79, Y:-10.99, Z:0.04 [[ 9.99994547e-01 3.30248847e-03 0.00000000e+00 2.26790774e+02] [-3.30248847e-03 9.99994547e-01 0.00000000e+00 -1.09934131e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54056859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.440371743 meters Centerline goodness : 0.998270 with order 1 Centerline is valid? [True, True] Translation: X:226.85, Y:-11.00, Z:0.04 [[ 9.99994361e-01 -3.35823937e-03 0.00000000e+00 2.26850981e+02] [ 3.35823937e-03 9.99994361e-01 0.00000000e+00 -1.09988288e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65347069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.500371743 meters Centerline goodness : 0.998651 with order 1 Centerline is valid? [True, True] Translation: X:226.91, Y:-11.00, Z:0.04 [[ 9.99917287e-01 -1.28615126e-02 0.00000000e+00 2.26911435e+02] [ 1.28615126e-02 9.99917287e-01 0.00000000e+00 -1.10036980e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59160209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.560371743 meters Centerline goodness : 0.998836 with order 1 Centerline is valid? [True, True] Translation: X:226.97, Y:-11.01, Z:0.04 [[ 9.99811467e-01 -1.94172746e-02 0.00000000e+00 2.26972296e+02] [ 1.94172746e-02 9.99811467e-01 0.00000000e+00 -1.10063517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57276628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.620371743 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:227.03, Y:-11.01, Z:0.04 [[ 9.99810110e-01 -1.94870154e-02 0.00000000e+00 2.27033712e+02] [ 1.94870154e-02 9.99810110e-01 0.00000000e+00 -1.10055076e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75766571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68037174299997 meters Centerline goodness : 0.997940 with order 1 Centerline is valid? [True, True] Translation: X:227.09, Y:-11.00, Z:0.04 [[ 9.99899255e-01 -1.41943304e-02 0.00000000e+00 2.27094462e+02] [ 1.41943304e-02 9.99899255e-01 0.00000000e+00 -1.10024410e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88628365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74037174299997 meters Centerline goodness : 0.998657 with order 1 Centerline is valid? [True, True] Translation: X:227.16, Y:-11.00, Z:0.04 [[ 9.99945122e-01 -1.04762764e-02 0.00000000e+00 2.27155628e+02] [ 1.04762764e-02 9.99945122e-01 0.00000000e+00 -1.10004230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94462106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80037174299997 meters Centerline goodness : 0.997567 with order 1 Centerline is valid? [True, True] Translation: X:227.22, Y:-11.00, Z:0.04 [[ 9.99976042e-01 -6.92215310e-03 0.00000000e+00 2.27217053e+02] [ 6.92215310e-03 9.99976042e-01 0.00000000e+00 -1.09961612e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71425812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86037174299997 meters Centerline goodness : 0.996774 with order 1 Centerline is valid? [True, True] Translation: X:227.28, Y:-10.99, Z:0.04 [[ 9.99969908e-01 -7.75774108e-03 0.00000000e+00 2.27277540e+02] [ 7.75774108e-03 9.99969908e-01 0.00000000e+00 -1.09917220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53060318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92037174299998 meters Centerline goodness : 0.997650 with order 1 Centerline is valid? [True, True] Translation: X:227.34, Y:-10.99, Z:0.04 [[ 9.99950396e-01 -9.96016954e-03 0.00000000e+00 2.27338959e+02] [ 9.96016954e-03 9.99950396e-01 0.00000000e+00 -1.09887849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63765448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98037174299998 meters Centerline goodness : 0.996917 with order 1 Centerline is valid? [True, True] Translation: X:227.40, Y:-10.98, Z:0.04 [[ 9.99909897e-01 -1.34238016e-02 0.00000000e+00 2.27400418e+02] [ 1.34238016e-02 9.99909897e-01 0.00000000e+00 -1.09849388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61725686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04037174299998 meters Centerline goodness : 0.996695 with order 1 Centerline is valid? [True, True] Translation: X:227.46, Y:-10.98, Z:0.04 [[ 9.99878450e-01 -1.55912178e-02 0.00000000e+00 2.27462023e+02] [ 1.55912178e-02 9.99878450e-01 0.00000000e+00 -1.09837685e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61324639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10037174299998 meters Centerline goodness : 0.996007 with order 1 Centerline is valid? [True, True] Translation: X:227.52, Y:-10.98, Z:0.03 [[ 9.99833016e-01 -1.82740513e-02 0.00000000e+00 2.27523534e+02] [ 1.82740513e-02 9.99833016e-01 0.00000000e+00 -1.09811466e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40304862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16037174299998 meters Centerline goodness : 0.995117 with order 1 Centerline is valid? [True, True] Translation: X:227.58, Y:-10.98, Z:0.03 [[ 9.99813715e-01 -1.93011602e-02 0.00000000e+00 2.27584744e+02] [ 1.93011602e-02 9.99813715e-01 0.00000000e+00 -1.09767627e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16325769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.220371743 meters Centerline goodness : 0.993903 with order 1 Centerline is valid? [True, True] Translation: X:227.65, Y:-10.97, Z:0.03 [[ 9.99815413e-01 -1.92129975e-02 0.00000000e+00 2.27647142e+02] [ 1.92129975e-02 9.99815413e-01 0.00000000e+00 -1.09720398e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90594262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.280371743 meters Centerline goodness : 0.994761 with order 1 Centerline is valid? [True, True] Translation: X:227.71, Y:-10.97, Z:0.03 [[ 9.99845045e-01 -1.76035756e-02 0.00000000e+00 2.27708922e+02] [ 1.76035756e-02 9.99845045e-01 0.00000000e+00 -1.09700749e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85782174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.340371743 meters Centerline goodness : 0.993967 with order 1 Centerline is valid? [True, True] Translation: X:227.77, Y:-10.96, Z:0.03 [[ 9.99925154e-01 -1.22346038e-02 0.00000000e+00 2.27770341e+02] [ 1.22346038e-02 9.99925154e-01 0.00000000e+00 -1.09649547e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84177494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.400371743 meters Centerline goodness : 0.992450 with order 1 Centerline is valid? [True, True] Translation: X:227.83, Y:-10.96, Z:0.03 [[ 9.99989003e-01 -4.68973017e-03 0.00000000e+00 2.27831592e+02] [ 4.68973017e-03 9.99989003e-01 0.00000000e+00 -1.09585304e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78189212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46037174299997 meters Centerline goodness : 0.991696 with order 1 Centerline is valid? [True, True] Translation: X:227.89, Y:-10.95, Z:0.03 [[ 9.99994547e-01 -3.30250264e-03 0.00000000e+00 2.27893215e+02] [ 3.30250264e-03 9.99994547e-01 0.00000000e+00 -1.09548260e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77833491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52037174299997 meters Centerline goodness : 0.990489 with order 1 Centerline is valid? [True, True] Translation: X:227.95, Y:-10.95, Z:0.03 [[ 9.99970817e-01 -7.63968930e-03 0.00000000e+00 2.27954302e+02] [ 7.63968930e-03 9.99970817e-01 0.00000000e+00 -1.09514960e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81141131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58037174299997 meters Centerline goodness : 0.988556 with order 1 Centerline is valid? [True, True] Translation: X:228.02, Y:-10.95, Z:0.03 [[ 9.99906145e-01 -1.37004273e-02 0.00000000e+00 2.28016005e+02] [ 1.37004273e-02 9.99906145e-01 0.00000000e+00 -1.09481665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81528603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64037174299997 meters Centerline goodness : 0.988417 with order 1 Centerline is valid? [True, True] Translation: X:228.08, Y:-10.95, Z:0.02 [[ 9.99932186e-01 -1.16457453e-02 0.00000000e+00 2.28077030e+02] [ 1.16457453e-02 9.99932186e-01 0.00000000e+00 -1.09538288e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24853623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70037174299998 meters Centerline goodness : 0.989051 with order 1 Centerline is valid? [True, True] Translation: X:228.14, Y:-10.94, Z:0.03 [[ 9.99855155e-01 -1.70196418e-02 0.00000000e+00 2.28140026e+02] [ 1.70196418e-02 9.99855155e-01 0.00000000e+00 -1.09448374e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65099218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76037174299998 meters Centerline goodness : 0.987838 with order 1 Centerline is valid? [True, True] Translation: X:228.20, Y:-10.95, Z:0.02 [[ 9.99950893e-01 -9.91016104e-03 0.00000000e+00 2.28200349e+02] [ 9.91016104e-03 9.99950893e-01 0.00000000e+00 -1.09502509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01036763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82037174299998 meters Centerline goodness : 0.987214 with order 1 Centerline is valid? [True, True] Translation: X:228.26, Y:-10.95, Z:0.02 [[ 9.99989451e-01 -4.59332515e-03 0.00000000e+00 2.28261757e+02] [ 4.59332515e-03 9.99989451e-01 0.00000000e+00 -1.09482239e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06268309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88037174299998 meters Centerline goodness : 0.987792 with order 1 Centerline is valid? [True, True] Translation: X:228.32, Y:-10.94, Z:0.02 [[ 9.99966691e-01 -8.16186986e-03 0.00000000e+00 2.28322542e+02] [ 8.16186986e-03 9.99966691e-01 0.00000000e+00 -1.09400961e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43350851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.940371743 meters Centerline goodness : 0.987350 with order 1 Centerline is valid? [True, True] Translation: X:228.38, Y:-10.94, Z:0.02 [[ 9.99984450e-01 -5.57666866e-03 0.00000000e+00 2.28384106e+02] [ 5.57666866e-03 9.99984450e-01 0.00000000e+00 -1.09396636e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39106840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.000371743 meters Centerline goodness : 0.987158 with order 1 Centerline is valid? [True, True] Translation: X:228.45, Y:-10.94, Z:0.02 [[ 9.99993272e-01 -3.66822230e-03 0.00000000e+00 2.28445081e+02] [ 3.66822230e-03 9.99993272e-01 0.00000000e+00 -1.09401777e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29364077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.060371743 meters Centerline goodness : 0.988107 with order 1 Centerline is valid? [True, True] Translation: X:228.51, Y:-10.94, Z:0.02 [[ 9.99999680e-01 7.99827695e-04 0.00000000e+00 2.28506315e+02] [-7.99827695e-04 9.99999680e-01 0.00000000e+00 -1.09414945e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31904643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.120371743 meters Centerline goodness : 0.987926 with order 1 Centerline is valid? [True, True] Translation: X:228.57, Y:-10.94, Z:0.03 [[ 9.99978072e-01 6.62230279e-03 0.00000000e+00 2.28566678e+02] [-6.62230279e-03 9.99978072e-01 0.00000000e+00 -1.09417790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54429029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18037174299997 meters Centerline goodness : 0.985733 with order 1 Centerline is valid? [True, True] Translation: X:228.63, Y:-10.95, Z:0.02 [[ 9.99832256e-01 1.83155658e-02 0.00000000e+00 2.28625751e+02] [-1.83155658e-02 9.99832256e-01 0.00000000e+00 -1.09548543e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25940934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24037174299997 meters Centerline goodness : 0.988081 with order 1 Centerline is valid? [True, True] Translation: X:228.69, Y:-10.95, Z:0.03 [[ 9.99934384e-01 1.14554450e-02 0.00000000e+00 2.28686169e+02] [-1.14554450e-02 9.99934384e-01 0.00000000e+00 -1.09478320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51030588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30037174299997 meters Centerline goodness : 0.986269 with order 1 Centerline is valid? [True, True] Translation: X:228.74, Y:-10.96, Z:0.02 [[ 9.99873088e-01 1.59313777e-02 0.00000000e+00 2.28743952e+02] [-1.59313777e-02 9.99873088e-01 0.00000000e+00 -1.09612088e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40259042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36037174299997 meters Centerline goodness : 0.988481 with order 1 Centerline is valid? [True, True] Translation: X:228.80, Y:-10.96, Z:0.02 [[ 9.99996719e-01 2.56174014e-03 0.00000000e+00 2.28802493e+02] [-2.56174014e-03 9.99996719e-01 0.00000000e+00 -1.09594298e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35598304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42037174299998 meters Centerline goodness : 0.988863 with order 1 Centerline is valid? [True, True] Translation: X:228.86, Y:-10.97, Z:0.02 [[ 9.99999506e-01 -9.94426920e-04 0.00000000e+00 2.28862317e+02] [ 9.94426920e-04 9.99999506e-01 0.00000000e+00 -1.09659674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24141162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48037174299998 meters Centerline goodness : 0.989005 with order 1 Centerline is valid? [True, True] Translation: X:228.92, Y:-10.97, Z:0.02 [[ 9.99998667e-01 1.63286575e-03 0.00000000e+00 2.28922568e+02] [-1.63286575e-03 9.99998667e-01 0.00000000e+00 -1.09716589e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33902527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54037174299998 meters Centerline goodness : 0.988780 with order 1 Centerline is valid? [True, True] Translation: X:228.98, Y:-10.98, Z:0.02 [[ 9.99946307e-01 1.03625390e-02 0.00000000e+00 2.28982675e+02] [-1.03625390e-02 9.99946307e-01 0.00000000e+00 -1.09758323e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36866662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60037174299998 meters Centerline goodness : 0.988515 with order 1 Centerline is valid? [True, True] Translation: X:229.04, Y:-10.98, Z:0.02 [[ 9.99870483e-01 1.60940152e-02 0.00000000e+00 2.29040946e+02] [-1.60940152e-02 9.99870483e-01 0.00000000e+00 -1.09794937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32549139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66037174299998 meters Centerline goodness : 0.988340 with order 1 Centerline is valid? [True, True] Translation: X:229.10, Y:-10.99, Z:0.02 [[ 9.99708681e-01 2.41361482e-02 0.00000000e+00 2.29098024e+02] [-2.41361482e-02 9.99708681e-01 0.00000000e+00 -1.09874995e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44274395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.720371743 meters Centerline goodness : 0.989231 with order 1 Centerline is valid? [True, True] Translation: X:229.16, Y:-10.99, Z:0.02 [[ 9.99653183e-01 2.63346611e-02 0.00000000e+00 2.29156475e+02] [-2.63346611e-02 9.99653183e-01 0.00000000e+00 -1.09938500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46710123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.780371743 meters Centerline goodness : 0.990488 with order 1 Centerline is valid? [True, True] Translation: X:229.21, Y:-11.00, Z:0.02 [[ 9.99633572e-01 2.70688166e-02 0.00000000e+00 2.29214599e+02] [-2.70688166e-02 9.99633572e-01 0.00000000e+00 -1.10030698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42496715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.840371743 meters Centerline goodness : 0.991043 with order 1 Centerline is valid? [True, True] Translation: X:229.27, Y:-11.01, Z:0.02 [[ 9.99701168e-01 2.44453548e-02 0.00000000e+00 2.29273463e+02] [-2.44453548e-02 9.99701168e-01 0.00000000e+00 -1.10119524e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33233032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.900371743 meters Centerline goodness : 0.991804 with order 1 Centerline is valid? [True, True] Translation: X:229.33, Y:-11.02, Z:0.02 [[ 9.99752373e-01 2.22529141e-02 0.00000000e+00 2.29332104e+02] [-2.22529141e-02 9.99752373e-01 0.00000000e+00 -1.10193408e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31196814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96037174299997 meters Centerline goodness : 0.991808 with order 1 Centerline is valid? [True, True] Translation: X:229.39, Y:-11.03, Z:0.03 [[ 9.99808458e-01 1.95716142e-02 0.00000000e+00 2.29390130e+02] [-1.95716142e-02 9.99808458e-01 0.00000000e+00 -1.10295521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50825877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02037174299997 meters Centerline goodness : 0.992570 with order 1 Centerline is valid? [True, True] Translation: X:229.45, Y:-11.04, Z:0.03 [[ 9.99690570e-01 2.48749603e-02 0.00000000e+00 2.29448206e+02] [-2.48749603e-02 9.99690570e-01 0.00000000e+00 -1.10363928e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82299266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08037174299997 meters Centerline goodness : 0.993181 with order 1 Centerline is valid? [True, True] Translation: X:229.51, Y:-11.04, Z:0.03 [[ 9.99463399e-01 3.27553740e-02 0.00000000e+00 2.29506443e+02] [-3.27553740e-02 9.99463399e-01 0.00000000e+00 -1.10426905e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88288136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14037174299997 meters Centerline goodness : 0.993224 with order 1 Centerline is valid? [True, True] Translation: X:229.56, Y:-11.05, Z:0.03 [[ 9.99241727e-01 3.89354695e-02 0.00000000e+00 2.29563591e+02] [-3.89354695e-02 9.99241727e-01 0.00000000e+00 -1.10501117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07375138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20037174299998 meters Centerline goodness : 0.993758 with order 1 Centerline is valid? [True, True] Translation: X:229.62, Y:-11.06, Z:0.03 [[ 9.99073273e-01 4.30417789e-02 0.00000000e+00 2.29622404e+02] [-4.30417789e-02 9.99073273e-01 0.00000000e+00 -1.10560395e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21001723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26037174299998 meters Centerline goodness : 0.994926 with order 1 Centerline is valid? [True, True] Translation: X:229.68, Y:-11.06, Z:0.03 [[ 9.98806266e-01 4.88471440e-02 0.00000000e+00 2.29680783e+02] [-4.88471440e-02 9.98806266e-01 0.00000000e+00 -1.10647342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39638823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32037174299998 meters Centerline goodness : 0.994805 with order 1 Centerline is valid? [True, True] Translation: X:229.74, Y:-11.08, Z:0.03 [[ 9.98630405e-01 5.23193485e-02 0.00000000e+00 2.29739119e+02] [-5.23193485e-02 9.98630405e-01 0.00000000e+00 -1.10760321e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31649106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38037174299998 meters Centerline goodness : 0.995254 with order 1 Centerline is valid? [True, True] Translation: X:229.80, Y:-11.09, Z:0.03 [[ 9.98499957e-01 5.47524918e-02 0.00000000e+00 2.29797908e+02] [-5.47524918e-02 9.98499957e-01 0.00000000e+00 -1.10893400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22030351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.440371743 meters Centerline goodness : 0.995726 with order 1 Centerline is valid? [True, True] Translation: X:229.86, Y:-11.10, Z:0.03 [[ 9.98389370e-01 5.67332877e-02 0.00000000e+00 2.29856301e+02] [-5.67332877e-02 9.98389370e-01 0.00000000e+00 -1.11003232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19510700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.500371743 meters Centerline goodness : 0.997404 with order 1 Centerline is valid? [True, True] Translation: X:229.91, Y:-11.12, Z:0.03 [[ 9.98187822e-01 6.01753505e-02 0.00000000e+00 2.29913436e+02] [-6.01753505e-02 9.98187822e-01 0.00000000e+00 -1.11215737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23656660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.560371743 meters Centerline goodness : 0.997154 with order 1 Centerline is valid? [True, True] Translation: X:229.97, Y:-11.13, Z:0.03 [[ 9.98201081e-01 5.99550049e-02 0.00000000e+00 2.29971463e+02] [-5.99550049e-02 9.98201081e-01 0.00000000e+00 -1.11339488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27124088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.620371743 meters Centerline goodness : 0.998595 with order 1 Centerline is valid? [True, True] Translation: X:230.03, Y:-11.15, Z:0.03 [[ 9.98359021e-01 5.72648734e-02 0.00000000e+00 2.30030666e+02] [-5.72648734e-02 9.98359021e-01 0.00000000e+00 -1.11524981e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31431124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68037174299997 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:230.09, Y:-11.17, Z:0.03 [[ 9.98702289e-01 5.09287475e-02 0.00000000e+00 2.30089793e+02] [-5.09287475e-02 9.98702289e-01 0.00000000e+00 -1.11715453e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36116668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74037174299997 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:230.15, Y:-11.18, Z:0.03 [[ 9.99007228e-01 4.45483734e-02 0.00000000e+00 2.30150059e+02] [-4.45483734e-02 9.99007228e-01 0.00000000e+00 -1.11849757e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44812726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80037174299997 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:230.21, Y:-11.20, Z:0.04 [[ 9.99502439e-01 3.15416260e-02 0.00000000e+00 2.30210207e+02] [-3.15416260e-02 9.99502439e-01 0.00000000e+00 -1.12034264e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52952520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86037174299997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:230.27, Y:-11.21, Z:0.04 [[ 9.99728252e-01 2.33114230e-02 0.00000000e+00 2.30271069e+02] [-2.33114230e-02 9.99728252e-01 0.00000000e+00 -1.12146887e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59978283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92037174299998 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:230.33, Y:-11.22, Z:0.04 [[ 9.99865761e-01 1.63847500e-02 0.00000000e+00 2.30332348e+02] [-1.63847500e-02 9.99865761e-01 0.00000000e+00 -1.12235871e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56990637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98037174299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.39, Y:-11.23, Z:0.04 [[ 9.99949725e-01 1.00273399e-02 0.00000000e+00 2.30393729e+02] [-1.00273399e-02 9.99949725e-01 0.00000000e+00 -1.12332848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59392700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04037174299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.45, Y:-11.24, Z:0.04 [[ 9.99966958e-01 8.12913211e-03 0.00000000e+00 2.30454441e+02] [-8.12913211e-03 9.99966958e-01 0.00000000e+00 -1.12404386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57422829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10037174299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.51, Y:-11.24, Z:0.04 [[ 9.99984537e-01 5.56101536e-03 0.00000000e+00 2.30514493e+02] [-5.56101536e-03 9.99984537e-01 0.00000000e+00 -1.12432795e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55321799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16037174299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.57, Y:-11.25, Z:0.04 [[ 9.99992315e-01 3.92048575e-03 0.00000000e+00 2.30574721e+02] [-3.92048575e-03 9.99992315e-01 0.00000000e+00 -1.12465862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57640083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.220371743 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.63, Y:-11.25, Z:0.04 [[ 9.99995245e-01 3.08391065e-03 0.00000000e+00 2.30634821e+02] [-3.08391065e-03 9.99995245e-01 0.00000000e+00 -1.12469724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63444670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.280371743 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.70, Y:-11.25, Z:0.04 [[ 9.99990801e-01 4.28936119e-03 0.00000000e+00 2.30695470e+02] [-4.28936119e-03 9.99990801e-01 0.00000000e+00 -1.12467863e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70942545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.340371743 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:230.76, Y:-11.24, Z:0.04 [[ 9.99960751e-01 8.85982893e-03 0.00000000e+00 2.30755745e+02] [-8.85982893e-03 9.99960751e-01 0.00000000e+00 -1.12444068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70574329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40037174299997 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:230.82, Y:-11.24, Z:0.04 [[ 9.99891819e-01 1.47088179e-02 0.00000000e+00 2.30816704e+02] [-1.47088179e-02 9.99891819e-01 0.00000000e+00 -1.12408608e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62807176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46037174299997 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:230.88, Y:-11.24, Z:0.04 [[ 9.99846414e-01 1.75256689e-02 0.00000000e+00 2.30877065e+02] [-1.75256689e-02 9.99846414e-01 0.00000000e+00 -1.12395136e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57781963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52037174299997 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:230.94, Y:-11.24, Z:0.04 [[ 9.99854561e-01 1.70545286e-02 0.00000000e+00 2.30937956e+02] [-1.70545286e-02 9.99854561e-01 0.00000000e+00 -1.12384836e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53424616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58037174299997 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:231.00, Y:-11.24, Z:0.03 [[ 9.99854283e-01 1.70708431e-02 0.00000000e+00 2.30998035e+02] [-1.70708431e-02 9.99854283e-01 0.00000000e+00 -1.12379588e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41128743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64037174299997 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:231.06, Y:-11.24, Z:0.03 [[ 9.99836372e-01 1.80894554e-02 0.00000000e+00 2.31058704e+02] [-1.80894554e-02 9.99836372e-01 0.00000000e+00 -1.12386113e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35742581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70037174299998 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:231.12, Y:-11.24, Z:0.04 [[ 9.99770712e-01 2.14131537e-02 0.00000000e+00 2.31119703e+02] [-2.14131537e-02 9.99770712e-01 0.00000000e+00 -1.12389341e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51076417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76037174299998 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:231.18, Y:-11.24, Z:0.04 [[ 9.99558233e-01 2.97210144e-02 0.00000000e+00 2.31179827e+02] [-2.97210144e-02 9.99558233e-01 0.00000000e+00 -1.12395593e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56525621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82037174299998 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:231.24, Y:-11.24, Z:0.04 [[ 9.99272271e-01 3.81435116e-02 0.00000000e+00 2.31239412e+02] [-3.81435116e-02 9.99272271e-01 0.00000000e+00 -1.12422105e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58604235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88037174299998 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:231.30, Y:-11.25, Z:0.04 [[ 9.99141488e-01 4.14280981e-02 0.00000000e+00 2.31299601e+02] [-4.14280981e-02 9.99141488e-01 0.00000000e+00 -1.12454483e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56446476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.940371743 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:231.36, Y:-11.25, Z:0.04 [[ 9.99075961e-01 4.29793509e-02 0.00000000e+00 2.31359391e+02] [-4.29793509e-02 9.99075961e-01 0.00000000e+00 -1.12518765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50987756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.000371743 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:231.42, Y:-11.26, Z:0.03 [[ 9.99139881e-01 4.14668353e-02 0.00000000e+00 2.31419874e+02] [-4.14668353e-02 9.99139881e-01 0.00000000e+00 -1.12602444e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45769572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.060371743 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:231.48, Y:-11.27, Z:0.03 [[ 9.99377715e-01 3.52729844e-02 0.00000000e+00 2.31480988e+02] [-3.52729844e-02 9.99377715e-01 0.00000000e+00 -1.12697525e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47907103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.120371743 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.54, Y:-11.28, Z:0.03 [[ 9.99689095e-01 2.49341794e-02 0.00000000e+00 2.31541681e+02] [-2.49341794e-02 9.99689095e-01 0.00000000e+00 -1.12818231e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40536167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18037174299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:231.60, Y:-11.29, Z:0.03 [[ 9.99842989e-01 1.77199733e-02 0.00000000e+00 2.31602286e+02] [-1.77199733e-02 9.99842989e-01 0.00000000e+00 -1.12896097e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49213047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24037174299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:231.66, Y:-11.30, Z:0.04 [[ 9.99985610e-01 5.36475853e-03 0.00000000e+00 2.31662030e+02] [-5.36475853e-03 9.99985610e-01 0.00000000e+00 -1.12988398e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60012227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30037174299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.72, Y:-11.30, Z:0.04 [[ 9.99999446e-01 1.05239523e-03 0.00000000e+00 2.31722052e+02] [-1.05239523e-03 9.99999446e-01 0.00000000e+00 -1.13037251e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63511171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36037174299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.78, Y:-11.31, Z:0.04 [[ 9.99991462e-01 -4.13226267e-03 0.00000000e+00 2.31782355e+02] [ 4.13226267e-03 9.99991462e-01 0.00000000e+00 -1.13065696e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70581834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42037174299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.84, Y:-11.31, Z:0.04 [[ 9.99981721e-01 -6.04624507e-03 0.00000000e+00 2.31841471e+02] [ 6.04624507e-03 9.99981721e-01 0.00000000e+00 -1.13051547e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60433992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48037174299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.90, Y:-11.30, Z:0.04 [[ 9.99981149e-01 -6.14022599e-03 0.00000000e+00 2.31902263e+02] [ 6.14022599e-03 9.99981149e-01 0.00000000e+00 -1.13040058e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56014833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54037174299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:231.96, Y:-11.30, Z:0.03 [[ 9.99986354e-01 -5.22409329e-03 0.00000000e+00 2.31962922e+02] [ 5.22409329e-03 9.99986354e-01 0.00000000e+00 -1.12994611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39080385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60037174299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.02, Y:-11.29, Z:0.03 [[ 9.99993989e-01 -3.46718321e-03 0.00000000e+00 2.32023070e+02] [ 3.46718321e-03 9.99993989e-01 0.00000000e+00 -1.12939107e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00971535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66037174299998 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:232.08, Y:-11.29, Z:0.03 [[ 9.99986817e-01 -5.13478345e-03 0.00000000e+00 2.32083596e+02] [ 5.13478345e-03 9.99986817e-01 0.00000000e+00 -1.12877152e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94680518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.720371743 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:232.14, Y:-11.28, Z:0.03 [[ 9.99982845e-01 -5.85743183e-03 0.00000000e+00 2.32144120e+02] [ 5.85743183e-03 9.99982845e-01 0.00000000e+00 -1.12802038e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95102996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.780371743 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.20, Y:-11.28, Z:0.03 [[ 9.99989171e-01 -4.65375898e-03 0.00000000e+00 2.32204836e+02] [ 4.65375898e-03 9.99989171e-01 0.00000000e+00 -1.12794687e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94237398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.840371743 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:232.27, Y:-11.27, Z:0.03 [[ 9.99982027e-01 5.99548570e-03 0.00000000e+00 2.32265882e+02] [-5.99548570e-03 9.99982027e-01 0.00000000e+00 -1.12672569e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14763651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90037174299997 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:232.33, Y:-11.26, Z:0.03 [[ 9.99904390e-01 1.38278920e-02 0.00000000e+00 2.32326526e+02] [-1.38278920e-02 9.99904390e-01 0.00000000e+00 -1.12626335e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20650137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96037174299997 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:232.39, Y:-11.26, Z:0.03 [[ 9.99721390e-01 2.36038539e-02 0.00000000e+00 2.32387591e+02] [-2.36038539e-02 9.99721390e-01 0.00000000e+00 -1.12551410e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29155357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02037174299997 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:232.45, Y:-11.25, Z:0.03 [[ 9.99601371e-01 2.82329263e-02 0.00000000e+00 2.32447784e+02] [-2.82329263e-02 9.99601371e-01 0.00000000e+00 -1.12507392e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33691932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08037174299997 meters Centerline goodness : 0.998578 with order 1 Centerline is valid? [True, True] Translation: X:232.51, Y:-11.25, Z:0.03 [[ 9.99641368e-01 2.67793857e-02 0.00000000e+00 2.32507213e+02] [-2.67793857e-02 9.99641368e-01 0.00000000e+00 -1.12489036e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30939152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14037174299997 meters Centerline goodness : 0.998744 with order 1 Centerline is valid? [True, True] Translation: X:232.57, Y:-11.25, Z:0.03 [[ 9.99837626e-01 1.80200362e-02 0.00000000e+00 2.32567536e+02] [-1.80200362e-02 9.99837626e-01 0.00000000e+00 -1.12492192e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26422513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20037174299998 meters Centerline goodness : 0.998559 with order 1 Centerline is valid? [True, True] Translation: X:232.63, Y:-11.25, Z:0.03 [[ 9.99948871e-01 1.01121558e-02 0.00000000e+00 2.32627030e+02] [-1.01121558e-02 9.99948871e-01 0.00000000e+00 -1.12511427e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19011560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26037174299998 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:232.69, Y:-11.25, Z:0.03 [[ 9.99999754e-01 -7.01973232e-04 0.00000000e+00 2.32686821e+02] [ 7.01973232e-04 9.99999754e-01 0.00000000e+00 -1.12528398e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99879217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32037174299998 meters Centerline goodness : 0.998836 with order 1 Centerline is valid? [True, True] Translation: X:232.75, Y:-11.25, Z:0.03 [[ 9.99961584e-01 -8.76530815e-03 0.00000000e+00 2.32746942e+02] [ 8.76530815e-03 9.99961584e-01 0.00000000e+00 -1.12532555e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89679519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38037174299998 meters Centerline goodness : 0.998752 with order 1 Centerline is valid? [True, True] Translation: X:232.81, Y:-11.25, Z:0.03 [[ 9.99901470e-01 -1.40374389e-02 0.00000000e+00 2.32807708e+02] [ 1.40374389e-02 9.99901470e-01 0.00000000e+00 -1.12521651e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76834895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.440371743 meters Centerline goodness : 0.998208 with order 1 Centerline is valid? [True, True] Translation: X:232.87, Y:-11.25, Z:0.03 [[ 9.99796840e-01 -2.01563758e-02 0.00000000e+00 2.32868957e+02] [ 2.01563758e-02 9.99796840e-01 0.00000000e+00 -1.12497667e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88293745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.500371743 meters Centerline goodness : 0.998120 with order 1 Centerline is valid? [True, True] Translation: X:232.93, Y:-11.25, Z:0.03 [[ 9.99554850e-01 -2.98345616e-02 0.00000000e+00 2.32930172e+02] [ 2.98345616e-02 9.99554850e-01 0.00000000e+00 -1.12450752e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85440032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.560371743 meters Centerline goodness : 0.997267 with order 1 Centerline is valid? [True, True] Translation: X:232.99, Y:-11.24, Z:0.03 [[ 9.99220577e-01 -3.94745286e-02 0.00000000e+00 2.32991365e+02] [ 3.94745286e-02 9.99220577e-01 0.00000000e+00 -1.12373698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80461904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.620371743 meters Centerline goodness : 0.996791 with order 1 Centerline is valid? [True, True] Translation: X:233.05, Y:-11.23, Z:0.03 [[ 9.99088941e-01 -4.26765445e-02 0.00000000e+00 2.33052889e+02] [ 4.26765445e-02 9.99088941e-01 0.00000000e+00 -1.12310669e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79559313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68037174299997 meters Centerline goodness : 0.995708 with order 1 Centerline is valid? [True, True] Translation: X:233.12, Y:-11.22, Z:0.03 [[ 9.99070138e-01 -4.31144824e-02 0.00000000e+00 2.33115579e+02] [ 4.31144824e-02 9.99070138e-01 0.00000000e+00 -1.12186142e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70725784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74037174299997 meters Centerline goodness : 0.994676 with order 1 Centerline is valid? [True, True] Translation: X:233.18, Y:-11.21, Z:0.03 [[ 9.99149564e-01 -4.12328676e-02 0.00000000e+00 2.33178003e+02] [ 4.12328676e-02 9.99149564e-01 0.00000000e+00 -1.12051746e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59046219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80037174299997 meters Centerline goodness : 0.992476 with order 1 Centerline is valid? [True, True] Translation: X:233.24, Y:-11.20, Z:0.02 [[ 9.99522436e-01 -3.09014464e-02 0.00000000e+00 2.33240529e+02] [ 3.09014464e-02 9.99522436e-01 0.00000000e+00 -1.11997943e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93616531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86037174299997 meters Centerline goodness : 0.990036 with order 1 Centerline is valid? [True, True] Translation: X:233.30, Y:-11.18, Z:0.02 [[ 9.99655320e-01 -2.62534033e-02 0.00000000e+00 2.33301969e+02] [ 2.62534033e-02 9.99655320e-01 0.00000000e+00 -1.11842081e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85969777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92037174299998 meters Centerline goodness : 0.990062 with order 1 Centerline is valid? [True, True] Translation: X:233.36, Y:-11.17, Z:0.02 [[ 9.99602118e-01 -2.82064727e-02 0.00000000e+00 2.33363988e+02] [ 2.82064727e-02 9.99602118e-01 0.00000000e+00 -1.11670772e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06995698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98037174299998 meters Centerline goodness : 0.987096 with order 1 Centerline is valid? [True, True] Translation: X:233.43, Y:-11.16, Z:0.02 [[ 9.99840839e-01 -1.78408789e-02 0.00000000e+00 2.33426885e+02] [ 1.78408789e-02 9.99840839e-01 0.00000000e+00 -1.11557732e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69543716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04037174299998 meters Centerline goodness : 0.987612 with order 1 Centerline is valid? [True, True] Translation: X:233.49, Y:-11.15, Z:0.01 [[ 9.99904869e-01 -1.37932009e-02 0.00000000e+00 2.33489242e+02] [ 1.37932009e-02 9.99904869e-01 0.00000000e+00 -1.11503117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39553951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10037174299998 meters Centerline goodness : 0.989086 with order 1 Centerline is valid? [True, True] Translation: X:233.55, Y:-11.13, Z:0.02 [[ 9.99801418e-01 -1.99279987e-02 0.00000000e+00 2.33552449e+02] [ 1.99279987e-02 9.99801418e-01 0.00000000e+00 -1.11296087e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86908039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16037174299998 meters Centerline goodness : 0.986502 with order 1 Centerline is valid? [True, True] Translation: X:233.61, Y:-11.13, Z:0.02 [[ 9.99909819e-01 -1.34295935e-02 0.00000000e+00 2.33614748e+02] [ 1.34295935e-02 9.99909819e-01 0.00000000e+00 -1.11294634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73785008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.220371743 meters Centerline goodness : 0.989854 with order 1 Centerline is valid? [True, True] Translation: X:233.68, Y:-11.11, Z:0.02 [[ 9.99744373e-01 -2.26094786e-02 0.00000000e+00 2.33677494e+02] [ 2.26094786e-02 9.99744373e-01 0.00000000e+00 -1.11119704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84353931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.280371743 meters Centerline goodness : 0.988048 with order 1 Centerline is valid? [True, True] Translation: X:233.74, Y:-11.11, Z:0.02 [[ 9.99849073e-01 -1.73732865e-02 0.00000000e+00 2.33739271e+02] [ 1.73732865e-02 9.99849073e-01 0.00000000e+00 -1.11144360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75423395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.340371743 meters Centerline goodness : 0.991141 with order 1 Centerline is valid? [True, True] Translation: X:233.80, Y:-11.10, Z:0.02 [[ 9.99703206e-01 -2.43618433e-02 0.00000000e+00 2.33802444e+02] [ 2.43618433e-02 9.99703206e-01 0.00000000e+00 -1.11006671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84100244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40037174299997 meters Centerline goodness : 0.992199 with order 1 Centerline is valid? [True, True] Translation: X:233.86, Y:-11.09, Z:0.02 [[ 9.99674630e-01 -2.55075293e-02 0.00000000e+00 2.33864205e+02] [ 2.55075293e-02 9.99674630e-01 0.00000000e+00 -1.10946565e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71252082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46037174299997 meters Centerline goodness : 0.985620 with order 1 Centerline is valid? [True, True] Translation: X:233.93, Y:-11.09, Z:0.01 [[ 9.99482663e-01 -3.21621878e-02 0.00000000e+00 2.33927105e+02] [ 3.21621878e-02 9.99482663e-01 0.00000000e+00 -1.10886015e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35306563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52037174299997 meters Centerline goodness : 0.991015 with order 1 Centerline is valid? [True, True] Translation: X:233.99, Y:-11.09, Z:0.02 [[ 9.99416130e-01 -3.41672098e-02 0.00000000e+00 2.33989242e+02] [ 3.41672098e-02 9.99416130e-01 0.00000000e+00 -1.10910543e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22379487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58037174299997 meters Centerline goodness : 0.991451 with order 1 Centerline is valid? [True, True] Translation: X:234.05, Y:-11.08, Z:0.02 [[ 9.99311315e-01 -3.71065518e-02 0.00000000e+00 2.34051501e+02] [ 3.71065518e-02 9.99311315e-01 0.00000000e+00 -1.10824542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38295565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64037174299997 meters Centerline goodness : 0.991495 with order 1 Centerline is valid? [True, True] Translation: X:234.11, Y:-11.08, Z:0.02 [[ 9.99373280e-01 -3.53983943e-02 0.00000000e+00 2.34114540e+02] [ 3.53983943e-02 9.99373280e-01 0.00000000e+00 -1.10771320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25656503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70037174299998 meters Centerline goodness : 0.991427 with order 1 Centerline is valid? [True, True] Translation: X:234.18, Y:-11.07, Z:0.02 [[ 9.99491838e-01 -3.18757786e-02 0.00000000e+00 2.34176968e+02] [ 3.18757786e-02 9.99491838e-01 0.00000000e+00 -1.10726976e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06742037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76037174299998 meters Centerline goodness : 0.991482 with order 1 Centerline is valid? [True, True] Translation: X:234.24, Y:-11.06, Z:0.02 [[ 9.99474466e-01 -3.24159146e-02 0.00000000e+00 2.34239491e+02] [ 3.24159146e-02 9.99474466e-01 0.00000000e+00 -1.10629663e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08412623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82037174299998 meters Centerline goodness : 0.990993 with order 1 Centerline is valid? [True, True] Translation: X:234.30, Y:-11.06, Z:0.02 [[ 9.99457051e-01 -3.29485071e-02 0.00000000e+00 2.34301388e+02] [ 3.29485071e-02 9.99457051e-01 0.00000000e+00 -1.10608435e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98968075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88037174299998 meters Centerline goodness : 0.992086 with order 1 Centerline is valid? [True, True] Translation: X:234.36, Y:-11.05, Z:0.02 [[ 9.99294696e-01 -3.75514334e-02 0.00000000e+00 2.34363568e+02] [ 3.75514334e-02 9.99294696e-01 0.00000000e+00 -1.10521054e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20276092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.940371743 meters Centerline goodness : 0.992394 with order 1 Centerline is valid? [True, True] Translation: X:234.43, Y:-11.05, Z:0.02 [[ 9.99071136e-01 -4.30913691e-02 0.00000000e+00 2.34426179e+02] [ 4.30913691e-02 9.99071136e-01 0.00000000e+00 -1.10455241e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92232226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.000371743 meters Centerline goodness : 0.994511 with order 1 Centerline is valid? [True, True] Translation: X:234.49, Y:-11.03, Z:0.01 [[ 9.98698536e-01 -5.10022948e-02 0.00000000e+00 2.34488482e+02] [ 5.10022948e-02 9.98698536e-01 0.00000000e+00 -1.10326124e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35596865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.060371743 meters Centerline goodness : 0.992903 with order 1 Centerline is valid? [True, True] Translation: X:234.55, Y:-11.03, Z:0.02 [[ 9.98829465e-01 -4.83704412e-02 0.00000000e+00 2.34552024e+02] [ 4.83704412e-02 9.98829465e-01 0.00000000e+00 -1.10314168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07990942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.120371743 meters Centerline goodness : 0.992879 with order 1 Centerline is valid? [True, True] Translation: X:234.61, Y:-11.03, Z:0.02 [[ 9.98915593e-01 -4.65579023e-02 0.00000000e+00 2.34614761e+02] [ 4.65579023e-02 9.98915593e-01 0.00000000e+00 -1.10293655e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07198700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18037174299997 meters Centerline goodness : 0.993914 with order 1 Centerline is valid? [True, True] Translation: X:234.68, Y:-11.02, Z:0.02 [[ 9.98985144e-01 -4.50408982e-02 0.00000000e+00 2.34678603e+02] [ 4.50408982e-02 9.98985144e-01 0.00000000e+00 -1.10217644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11454943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24037174299997 meters Centerline goodness : 0.993707 with order 1 Centerline is valid? [True, True] Translation: X:234.74, Y:-11.02, Z:0.02 [[ 9.99008788e-01 -4.45133923e-02 0.00000000e+00 2.34741323e+02] [ 4.45133923e-02 9.99008788e-01 0.00000000e+00 -1.10197887e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96881593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30037174299997 meters Centerline goodness : 0.993634 with order 1 Centerline is valid? [True, True] Translation: X:234.80, Y:-11.01, Z:0.02 [[ 9.99014899e-01 -4.43760230e-02 0.00000000e+00 2.34803477e+02] [ 4.43760230e-02 9.99014899e-01 0.00000000e+00 -1.10146881e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06100880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36037174299997 meters Centerline goodness : 0.994464 with order 1 Centerline is valid? [True, True] Translation: X:234.87, Y:-11.01, Z:0.02 [[ 9.99104252e-01 -4.23165922e-02 0.00000000e+00 2.34865582e+02] [ 4.23165922e-02 9.99104252e-01 0.00000000e+00 -1.10095657e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91136744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42037174299998 meters Centerline goodness : 0.993311 with order 1 Centerline is valid? [True, True] Translation: X:234.93, Y:-11.01, Z:0.02 [[ 9.99184206e-01 -4.03846775e-02 0.00000000e+00 2.34928256e+02] [ 4.03846775e-02 9.99184206e-01 0.00000000e+00 -1.10054703e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98138677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48037174299998 meters Centerline goodness : 0.993363 with order 1 Centerline is valid? [True, True] Translation: X:234.99, Y:-11.00, Z:0.02 [[ 9.99276354e-01 -3.80364177e-02 0.00000000e+00 2.34990515e+02] [ 3.80364177e-02 9.99276354e-01 0.00000000e+00 -1.10022766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08435774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54037174299998 meters Centerline goodness : 0.992097 with order 1 Centerline is valid? [True, True] Translation: X:235.05, Y:-11.00, Z:0.02 [[ 9.99372686e-01 -3.54151759e-02 0.00000000e+00 2.35052448e+02] [ 3.54151759e-02 9.99372686e-01 0.00000000e+00 -1.10025301e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02564269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60037174299998 meters Centerline goodness : 0.993054 with order 1 Centerline is valid? [True, True] Translation: X:235.11, Y:-11.00, Z:0.02 [[ 9.99473082e-01 -3.24585612e-02 0.00000000e+00 2.35114740e+02] [ 3.24585612e-02 9.99473082e-01 0.00000000e+00 -1.10017253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92982424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66037174299998 meters Centerline goodness : 0.992240 with order 1 Centerline is valid? [True, True] Translation: X:235.18, Y:-11.00, Z:0.02 [[ 9.99597913e-01 -2.83551076e-02 0.00000000e+00 2.35177107e+02] [ 2.83551076e-02 9.99597913e-01 0.00000000e+00 -1.09999691e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78811034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.720371743 meters Centerline goodness : 0.992766 with order 1 Centerline is valid? [True, True] Translation: X:235.24, Y:-11.00, Z:0.02 [[ 9.99674589e-01 -2.55091571e-02 0.00000000e+00 2.35238128e+02] [ 2.55091571e-02 9.99674589e-01 0.00000000e+00 -1.09975659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70637226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.780371743 meters Centerline goodness : 0.991817 with order 1 Centerline is valid? [True, True] Translation: X:235.30, Y:-11.00, Z:0.02 [[ 9.99743927e-01 -2.26291814e-02 0.00000000e+00 2.35300322e+02] [ 2.26291814e-02 9.99743927e-01 0.00000000e+00 -1.09977763e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54044327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.840371743 meters Centerline goodness : 0.991934 with order 1 Centerline is valid? [True, True] Translation: X:235.36, Y:-11.00, Z:0.02 [[ 9.99760225e-01 -2.18973027e-02 0.00000000e+00 2.35363389e+02] [ 2.18973027e-02 9.99760225e-01 0.00000000e+00 -1.09971140e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61971055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90037174299997 meters Centerline goodness : 0.991802 with order 1 Centerline is valid? [True, True] Translation: X:235.43, Y:-10.99, Z:0.02 [[ 9.99802719e-01 -1.98626236e-02 0.00000000e+00 2.35426657e+02] [ 1.98626236e-02 9.99802719e-01 0.00000000e+00 -1.09940528e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80813372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96037174299997 meters Centerline goodness : 0.992493 with order 1 Centerline is valid? [True, True] Translation: X:235.49, Y:-10.99, Z:0.02 [[ 9.99831483e-01 -1.83577141e-02 0.00000000e+00 2.35489214e+02] [ 1.83577141e-02 9.99831483e-01 0.00000000e+00 -1.09924908e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72908245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02037174299997 meters Centerline goodness : 0.992222 with order 1 Centerline is valid? [True, True] Translation: X:235.55, Y:-10.99, Z:0.02 [[ 9.99873563e-01 -1.59015339e-02 0.00000000e+00 2.35551283e+02] [ 1.59015339e-02 9.99873563e-01 0.00000000e+00 -1.09918363e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91136430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08037174299997 meters Centerline goodness : 0.992263 with order 1 Centerline is valid? [True, True] Translation: X:235.61, Y:-10.99, Z:0.01 [[ 9.99816015e-01 -1.91816759e-02 0.00000000e+00 2.35612650e+02] [ 1.91816759e-02 9.99816015e-01 0.00000000e+00 -1.09919170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45238705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14037174299997 meters Centerline goodness : 0.992355 with order 1 Centerline is valid? [True, True] Translation: X:235.67, Y:-10.99, Z:0.01 [[ 9.99818987e-01 -1.90261371e-02 0.00000000e+00 2.35674986e+02] [ 1.90261371e-02 9.99818987e-01 0.00000000e+00 -1.09925789e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45517031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20037174299998 meters Centerline goodness : 0.992012 with order 1 Centerline is valid? [True, True] Translation: X:235.74, Y:-10.99, Z:0.02 [[ 9.99854141e-01 -1.70791064e-02 0.00000000e+00 2.35736902e+02] [ 1.70791064e-02 9.99854141e-01 0.00000000e+00 -1.09913249e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50755944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26037174299998 meters Centerline goodness : 0.991372 with order 1 Centerline is valid? [True, True] Translation: X:235.80, Y:-10.99, Z:0.01 [[ 9.99916878e-01 -1.28932777e-02 0.00000000e+00 2.35799254e+02] [ 1.28932777e-02 9.99916878e-01 0.00000000e+00 -1.09906656e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38014459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32037174299998 meters Centerline goodness : 0.991208 with order 1 Centerline is valid? [True, True] Translation: X:235.86, Y:-10.99, Z:0.01 [[ 9.99963328e-01 -8.56400749e-03 0.00000000e+00 2.35861509e+02] [ 8.56400749e-03 9.99963328e-01 0.00000000e+00 -1.09916834e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40574430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38037174299998 meters Centerline goodness : 0.991619 with order 1 Centerline is valid? [True, True] Translation: X:235.92, Y:-10.99, Z:0.01 [[ 9.99964866e-01 -8.38251063e-03 0.00000000e+00 2.35922189e+02] [ 8.38251063e-03 9.99964866e-01 0.00000000e+00 -1.09940833e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11247494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.440371743 meters Centerline goodness : 0.991813 with order 1 Centerline is valid? [True, True] Translation: X:235.98, Y:-11.00, Z:0.01 [[ 9.99973283e-01 -7.30979163e-03 0.00000000e+00 2.35984288e+02] [ 7.30979163e-03 9.99973283e-01 0.00000000e+00 -1.09986904e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.32285501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.500371743 meters Centerline goodness : 0.991797 with order 1 Centerline is valid? [True, True] Translation: X:236.05, Y:-11.00, Z:0.01 [[ 9.99954563e-01 -9.53266135e-03 0.00000000e+00 2.36045222e+02] [ 9.53266135e-03 9.99954563e-01 0.00000000e+00 -1.10014398e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62027896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.560371743 meters Centerline goodness : 0.991968 with order 1 Centerline is valid? [True, True] Translation: X:236.11, Y:-11.01, Z:0.01 [[ 9.99973043e-01 -7.34259877e-03 0.00000000e+00 2.36107582e+02] [ 7.34259877e-03 9.99973043e-01 0.00000000e+00 -1.10054620e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67258327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.620371743 meters Centerline goodness : 0.991812 with order 1 Centerline is valid? [True, True] Translation: X:236.17, Y:-11.01, Z:0.01 [[ 9.99973823e-01 -7.23553354e-03 0.00000000e+00 2.36168948e+02] [ 7.23553354e-03 9.99973823e-01 0.00000000e+00 -1.10081081e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.31745418e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68037174299997 meters Centerline goodness : 0.992169 with order 1 Centerline is valid? [True, True] Translation: X:236.23, Y:-11.01, Z:0.01 [[ 9.99979370e-01 -6.42334738e-03 0.00000000e+00 2.36230110e+02] [ 6.42334738e-03 9.99979370e-01 0.00000000e+00 -1.10113455e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.98878660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74037174299997 meters Centerline goodness : 0.992675 with order 1 Centerline is valid? [True, True] Translation: X:236.29, Y:-11.01, Z:0.01 [[ 9.99980735e-01 -6.20728575e-03 0.00000000e+00 2.36292149e+02] [ 6.20728575e-03 9.99980735e-01 0.00000000e+00 -1.10148545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14965017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80037174299997 meters Centerline goodness : 0.992247 with order 1 Centerline is valid? [True, True] Translation: X:236.35, Y:-11.02, Z:0.01 [[ 9.99971683e-01 -7.52544670e-03 0.00000000e+00 2.36354058e+02] [ 7.52544670e-03 9.99971683e-01 0.00000000e+00 -1.10200257e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05510620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86037174299997 meters Centerline goodness : 0.992402 with order 1 Centerline is valid? [True, True] Translation: X:236.42, Y:-11.03, Z:0.01 [[ 9.99974959e-01 -7.07677637e-03 0.00000000e+00 2.36415654e+02] [ 7.07677637e-03 9.99974959e-01 0.00000000e+00 -1.10253168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.77591657e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92037174299998 meters Centerline goodness : 0.992691 with order 1 Centerline is valid? [True, True] Translation: X:236.48, Y:-11.03, Z:0.01 [[ 9.99958678e-01 -9.09081489e-03 0.00000000e+00 2.36477441e+02] [ 9.09081489e-03 9.99958678e-01 0.00000000e+00 -1.10288260e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11752562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98037174299998 meters Centerline goodness : 0.992819 with order 1 Centerline is valid? [True, True] Translation: X:236.54, Y:-11.03, Z:0.01 [[ 9.99961914e-01 -8.72754675e-03 0.00000000e+00 2.36539960e+02] [ 8.72754675e-03 9.99961914e-01 0.00000000e+00 -1.10313838e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34463605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04037174299998 meters Centerline goodness : 0.992942 with order 1 Centerline is valid? [True, True] Translation: X:236.60, Y:-11.03, Z:0.02 [[ 9.99975156e-01 -7.04899245e-03 0.00000000e+00 2.36602168e+02] [ 7.04899245e-03 9.99975156e-01 0.00000000e+00 -1.10320028e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73545969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10037174299998 meters Centerline goodness : 0.993103 with order 1 Centerline is valid? [True, True] Translation: X:236.66, Y:-11.03, Z:0.02 [[ 9.99997851e-01 -2.07334162e-03 0.00000000e+00 2.36663920e+02] [ 2.07334162e-03 9.99997851e-01 0.00000000e+00 -1.10339493e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81599688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16037174299998 meters Centerline goodness : 0.993907 with order 1 Centerline is valid? [True, True] Translation: X:236.72, Y:-11.03, Z:0.02 [[ 9.99998826e-01 -1.53246916e-03 0.00000000e+00 2.36724585e+02] [ 1.53246916e-03 9.99998826e-01 0.00000000e+00 -1.10281172e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22847889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.220371743 meters Centerline goodness : 0.992356 with order 1 Centerline is valid? [True, True] Translation: X:236.79, Y:-11.04, Z:0.02 [[ 9.99959212e-01 9.03183880e-03 0.00000000e+00 2.36785451e+02] [-9.03183880e-03 9.99959212e-01 0.00000000e+00 -1.10406868e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79043680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.280371743 meters Centerline goodness : 0.991933 with order 1 Centerline is valid? [True, True] Translation: X:236.84, Y:-11.04, Z:0.02 [[ 9.99927167e-01 1.20690208e-02 0.00000000e+00 2.36843418e+02] [-1.20690208e-02 9.99927167e-01 0.00000000e+00 -1.10411153e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01979791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.340371743 meters Centerline goodness : 0.992242 with order 1 Centerline is valid? [True, True] Translation: X:236.90, Y:-11.05, Z:0.02 [[ 9.99836082e-01 1.81054764e-02 0.00000000e+00 2.36902069e+02] [-1.81054764e-02 9.99836082e-01 0.00000000e+00 -1.10476645e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74333520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40037174299997 meters Centerline goodness : 0.991768 with order 1 Centerline is valid? [True, True] Translation: X:236.96, Y:-11.05, Z:0.02 [[ 9.99807800e-01 1.96051840e-02 0.00000000e+00 2.36960954e+02] [-1.96051840e-02 9.99807800e-01 0.00000000e+00 -1.10517347e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73974138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46037174299997 meters Centerline goodness : 0.993064 with order 1 Centerline is valid? [True, True] Translation: X:237.02, Y:-11.06, Z:0.01 [[ 9.99719517e-01 2.36830808e-02 0.00000000e+00 2.37019760e+02] [-2.36830808e-02 9.99719517e-01 0.00000000e+00 -1.10603296e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43827306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52037174299997 meters Centerline goodness : 0.992165 with order 1 Centerline is valid? [True, True] Translation: X:237.08, Y:-11.07, Z:0.01 [[ 9.99636628e-01 2.69557565e-02 0.00000000e+00 2.37078327e+02] [-2.69557565e-02 9.99636628e-01 0.00000000e+00 -1.10694073e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24771608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58037174299997 meters Centerline goodness : 0.992932 with order 1 Centerline is valid? [True, True] Translation: X:237.14, Y:-11.07, Z:0.01 [[ 9.99667172e-01 2.57981775e-02 0.00000000e+00 2.37136688e+02] [-2.57981775e-02 9.99667172e-01 0.00000000e+00 -1.10746586e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39583911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64037174299997 meters Centerline goodness : 0.993652 with order 1 Centerline is valid? [True, True] Translation: X:237.19, Y:-11.08, Z:0.01 [[ 9.99721122e-01 2.36152129e-02 0.00000000e+00 2.37194680e+02] [-2.36152129e-02 9.99721122e-01 0.00000000e+00 -1.10837329e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32249808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70037174299998 meters Centerline goodness : 0.993529 with order 1 Centerline is valid? [True, True] Translation: X:237.25, Y:-11.09, Z:0.01 [[ 9.99819732e-01 1.89869098e-02 0.00000000e+00 2.37251081e+02] [-1.89869098e-02 9.99819732e-01 0.00000000e+00 -1.10936673e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24136235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76037174299998 meters Centerline goodness : 0.993612 with order 1 Centerline is valid? [True, True] Translation: X:237.31, Y:-11.10, Z:0.01 [[ 9.99909452e-01 1.34569055e-02 0.00000000e+00 2.37308206e+02] [-1.34569055e-02 9.99909452e-01 0.00000000e+00 -1.11026336e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20797017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82037174299998 meters Centerline goodness : 0.995488 with order 1 Centerline is valid? [True, True] Translation: X:237.37, Y:-11.10, Z:0.02 [[ 9.99998519e-01 1.72129126e-03 0.00000000e+00 2.37366133e+02] [-1.72129126e-03 9.99998519e-01 0.00000000e+00 -1.10979606e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98795977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88037174299998 meters Centerline goodness : 0.995564 with order 1 Centerline is valid? [True, True] Translation: X:237.43, Y:-11.11, Z:0.02 [[ 9.99995322e-01 -3.05875361e-03 0.00000000e+00 2.37425490e+02] [ 3.05875361e-03 9.99995322e-01 0.00000000e+00 -1.11057913e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06830009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.940371743 meters Centerline goodness : 0.995053 with order 1 Centerline is valid? [True, True] Translation: X:237.49, Y:-11.11, Z:0.02 [[ 9.99976353e-01 -6.87697021e-03 0.00000000e+00 2.37486699e+02] [ 6.87697021e-03 9.99976353e-01 0.00000000e+00 -1.11123404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02438158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.000371743 meters Centerline goodness : 0.993240 with order 1 Centerline is valid? [True, True] Translation: X:237.55, Y:-11.13, Z:0.01 [[ 9.99999304e-01 -1.18010871e-03 0.00000000e+00 2.37548574e+02] [ 1.18010871e-03 9.99999304e-01 0.00000000e+00 -1.11280836e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21568615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.060371743 meters Centerline goodness : 0.993948 with order 1 Centerline is valid? [True, True] Translation: X:237.61, Y:-11.13, Z:0.01 [[ 9.99990877e-01 -4.27164041e-03 0.00000000e+00 2.37608394e+02] [ 4.27164041e-03 9.99990877e-01 0.00000000e+00 -1.11335156e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31231790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.120371743 meters Centerline goodness : 0.993154 with order 1 Centerline is valid? [True, True] Translation: X:237.67, Y:-11.14, Z:0.01 [[ 9.99946957e-01 -1.02996314e-02 0.00000000e+00 2.37670106e+02] [ 1.02996314e-02 9.99946957e-01 0.00000000e+00 -1.11382454e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46751957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18037174299997 meters Centerline goodness : 0.993112 with order 1 Centerline is valid? [True, True] Translation: X:237.73, Y:-11.14, Z:0.01 [[ 9.99897287e-01 -1.43322909e-02 0.00000000e+00 2.37732604e+02] [ 1.43322909e-02 9.99897287e-01 0.00000000e+00 -1.11447577e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38663506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24037174299997 meters Centerline goodness : 0.992931 with order 1 Centerline is valid? [True, True] Translation: X:237.80, Y:-11.15, Z:0.01 [[ 9.99859001e-01 -1.67921996e-02 0.00000000e+00 2.37795591e+02] [ 1.67921996e-02 9.99859001e-01 0.00000000e+00 -1.11490772e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37613172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30037174299997 meters Centerline goodness : 0.993351 with order 1 Centerline is valid? [True, True] Translation: X:237.86, Y:-11.15, Z:0.01 [[ 9.99787242e-01 -2.06269496e-02 0.00000000e+00 2.37856369e+02] [ 2.06269496e-02 9.99787242e-01 0.00000000e+00 -1.11522591e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46961320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36037174299997 meters Centerline goodness : 0.995381 with order 1 Centerline is valid? [True, True] Translation: X:237.92, Y:-11.15, Z:0.02 [[ 9.99620482e-01 -2.75479773e-02 0.00000000e+00 2.37917896e+02] [ 2.75479773e-02 9.99620482e-01 0.00000000e+00 -1.11461661e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73797947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42037174299998 meters Centerline goodness : 0.993848 with order 1 Centerline is valid? [True, True] Translation: X:237.98, Y:-11.16, Z:0.01 [[ 9.99869146e-01 -1.61768552e-02 0.00000000e+00 2.37979546e+02] [ 1.61768552e-02 9.99869146e-01 0.00000000e+00 -1.11589481e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08917326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48037174299998 meters Centerline goodness : 0.995112 with order 1 Centerline is valid? [True, True] Translation: X:238.04, Y:-11.15, Z:0.02 [[ 9.99755636e-01 -2.21058236e-02 0.00000000e+00 2.38040907e+02] [ 2.21058236e-02 9.99755636e-01 0.00000000e+00 -1.11501524e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78307180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54037174299998 meters Centerline goodness : 0.993733 with order 1 Centerline is valid? [True, True] Translation: X:238.10, Y:-11.16, Z:0.01 [[ 9.99983864e-01 -5.68074647e-03 0.00000000e+00 2.38102780e+02] [ 5.68074647e-03 9.99983864e-01 0.00000000e+00 -1.11631260e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09133921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60037174299998 meters Centerline goodness : 0.993334 with order 1 Centerline is valid? [True, True] Translation: X:238.16, Y:-11.17, Z:0.01 [[ 9.99998158e-01 1.91918978e-03 0.00000000e+00 2.38164014e+02] [-1.91918978e-03 9.99998158e-01 0.00000000e+00 -1.11674067e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.99902142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66037174299998 meters Centerline goodness : 0.993083 with order 1 Centerline is valid? [True, True] Translation: X:238.22, Y:-11.17, Z:0.01 [[ 9.99995037e-01 3.15054211e-03 0.00000000e+00 2.38223669e+02] [-3.15054211e-03 9.99995037e-01 0.00000000e+00 -1.11665230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18666026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.720371743 meters Centerline goodness : 0.994848 with order 1 Centerline is valid? [True, True] Translation: X:238.28, Y:-11.16, Z:0.02 [[ 9.99982878e-01 -5.85186427e-03 0.00000000e+00 2.38283329e+02] [ 5.85186427e-03 9.99982878e-01 0.00000000e+00 -1.11558180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06092099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.780371743 meters Centerline goodness : 0.995276 with order 1 Centerline is valid? [True, True] Translation: X:238.35, Y:-11.16, Z:0.02 [[ 9.99973004e-01 -7.34781126e-03 0.00000000e+00 2.38345893e+02] [ 7.34781126e-03 9.99973004e-01 0.00000000e+00 -1.11579952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91628557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.840371743 meters Centerline goodness : 0.992924 with order 1 Centerline is valid? [True, True] Translation: X:238.41, Y:-11.18, Z:-0.00 [[ 9.99983920e-01 5.67092273e-03 0.00000000e+00 2.38405032e+02] [-5.67092273e-03 9.99983920e-01 0.00000000e+00 -1.11816163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73940353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90037174299997 meters Centerline goodness : 0.993511 with order 1 Centerline is valid? [True, True] Translation: X:238.46, Y:-11.18, Z:0.00 [[ 9.99999913e-01 -4.17643302e-04 0.00000000e+00 2.38464578e+02] [ 4.17643302e-04 9.99999913e-01 0.00000000e+00 -1.11781133e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40947760e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96037174299997 meters Centerline goodness : 0.992966 with order 1 Centerline is valid? [True, True] Translation: X:238.52, Y:-11.18, Z:0.00 [[ 9.99999143e-01 -1.30891498e-03 0.00000000e+00 2.38524902e+02] [ 1.30891498e-03 9.99999143e-01 0.00000000e+00 -1.11793145e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01117865e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02037174299997 meters Centerline goodness : 0.995180 with order 1 Centerline is valid? [True, True] Translation: X:238.59, Y:-11.16, Z:0.02 [[ 9.99896409e-01 -1.43934459e-02 0.00000000e+00 2.38586691e+02] [ 1.43934459e-02 9.99896409e-01 0.00000000e+00 -1.11644189e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67652436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08037174299997 meters Centerline goodness : 0.995772 with order 1 Centerline is valid? [True, True] Translation: X:238.65, Y:-11.17, Z:0.02 [[ 9.99859019e-01 -1.67911490e-02 0.00000000e+00 2.38648958e+02] [ 1.67911490e-02 9.99859019e-01 0.00000000e+00 -1.11667707e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55818173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14037174299997 meters Centerline goodness : 0.995604 with order 1 Centerline is valid? [True, True] Translation: X:238.71, Y:-11.17, Z:0.01 [[ 9.99816472e-01 -1.91578208e-02 0.00000000e+00 2.38711413e+02] [ 1.91578208e-02 9.99816472e-01 0.00000000e+00 -1.11677867e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41779396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20037174299998 meters Centerline goodness : 0.993915 with order 1 Centerline is valid? [True, True] Translation: X:238.77, Y:-11.18, Z:0.00 [[ 9.99901528e-01 -1.40333231e-02 0.00000000e+00 2.38773453e+02] [ 1.40333231e-02 9.99901528e-01 0.00000000e+00 -1.11798464e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11262687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26037174299998 meters Centerline goodness : 0.995084 with order 1 Centerline is valid? [True, True] Translation: X:238.84, Y:-11.17, Z:0.01 [[ 9.99737476e-01 -2.29124239e-02 0.00000000e+00 2.38836629e+02] [ 2.29124239e-02 9.99737476e-01 0.00000000e+00 -1.11720029e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40584821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32037174299998 meters Centerline goodness : 0.994980 with order 1 Centerline is valid? [True, True] Translation: X:238.90, Y:-11.17, Z:0.01 [[ 9.99738940e-01 -2.28484524e-02 0.00000000e+00 2.38898361e+02] [ 2.28484524e-02 9.99738940e-01 0.00000000e+00 -1.11722182e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30558254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38037174299998 meters Centerline goodness : 0.995276 with order 1 Centerline is valid? [True, True] Translation: X:238.96, Y:-11.17, Z:0.01 [[ 9.99748739e-01 -2.24155975e-02 0.00000000e+00 2.38960633e+02] [ 2.24155975e-02 9.99748739e-01 0.00000000e+00 -1.11722856e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21862453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.440371743 meters Centerline goodness : 0.994303 with order 1 Centerline is valid? [True, True] Translation: X:239.02, Y:-11.18, Z:0.01 [[ 9.99858296e-01 -1.68341010e-02 0.00000000e+00 2.39022051e+02] [ 1.68341010e-02 9.99858296e-01 0.00000000e+00 -1.11810035e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.66977226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.500371743 meters Centerline goodness : 0.995315 with order 1 Centerline is valid? [True, True] Translation: X:239.08, Y:-11.17, Z:0.01 [[ 9.99765412e-01 -2.16591906e-02 0.00000000e+00 2.39083818e+02] [ 2.16591906e-02 9.99765412e-01 0.00000000e+00 -1.11741651e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24526936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.560371743 meters Centerline goodness : 0.993977 with order 1 Centerline is valid? [True, True] Translation: X:239.15, Y:-11.18, Z:0.01 [[ 9.99852307e-01 -1.71861800e-02 0.00000000e+00 2.39145989e+02] [ 1.71861800e-02 9.99852307e-01 0.00000000e+00 -1.11792291e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.06752244e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.620371743 meters Centerline goodness : 0.994476 with order 1 Centerline is valid? [True, True] Translation: X:239.21, Y:-11.18, Z:0.01 [[ 9.99849517e-01 -1.73477387e-02 0.00000000e+00 2.39208043e+02] [ 1.73477387e-02 9.99849517e-01 0.00000000e+00 -1.11795649e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.95998106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68037174299997 meters Centerline goodness : 0.994797 with order 1 Centerline is valid? [True, True] Translation: X:239.27, Y:-11.18, Z:0.01 [[ 9.99842891e-01 -1.77255006e-02 0.00000000e+00 2.39269742e+02] [ 1.77255006e-02 9.99842891e-01 0.00000000e+00 -1.11796106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07489940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74037174299997 meters Centerline goodness : 0.994678 with order 1 Centerline is valid? [True, True] Translation: X:239.33, Y:-11.18, Z:0.01 [[ 9.99853488e-01 -1.71173164e-02 0.00000000e+00 2.39332392e+02] [ 1.71173164e-02 9.99853488e-01 0.00000000e+00 -1.11809643e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14590043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80037174299997 meters Centerline goodness : 0.994912 with order 1 Centerline is valid? [True, True] Translation: X:239.39, Y:-11.18, Z:0.01 [[ 9.99829268e-01 -1.84779424e-02 0.00000000e+00 2.39393488e+02] [ 1.84779424e-02 9.99829268e-01 0.00000000e+00 -1.11833445e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02619550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86037174299997 meters Centerline goodness : 0.994748 with order 1 Centerline is valid? [True, True] Translation: X:239.46, Y:-11.19, Z:0.01 [[ 9.99809242e-01 -1.95314789e-02 0.00000000e+00 2.39456744e+02] [ 1.95314789e-02 9.99809242e-01 0.00000000e+00 -1.11855735e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.26042692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92037174299998 meters Centerline goodness : 0.994918 with order 1 Centerline is valid? [True, True] Translation: X:239.52, Y:-11.19, Z:0.01 [[ 9.99804177e-01 -1.97890680e-02 0.00000000e+00 2.39518830e+02] [ 1.97890680e-02 9.99804177e-01 0.00000000e+00 -1.11868826e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05835238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98037174299998 meters Centerline goodness : 0.994517 with order 1 Centerline is valid? [True, True] Translation: X:239.58, Y:-11.19, Z:0.01 [[ 9.99858338e-01 -1.68316384e-02 0.00000000e+00 2.39581390e+02] [ 1.68316384e-02 9.99858338e-01 0.00000000e+00 -1.11890654e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00674019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04037174299998 meters Centerline goodness : 0.993869 with order 1 Centerline is valid? [True, True] Translation: X:239.64, Y:-11.19, Z:0.01 [[ 9.99891249e-01 -1.47475584e-02 0.00000000e+00 2.39642658e+02] [ 1.47475584e-02 9.99891249e-01 0.00000000e+00 -1.11909444e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08754829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10037174299998 meters Centerline goodness : 0.993296 with order 1 Centerline is valid? [True, True] Translation: X:239.70, Y:-11.19, Z:0.01 [[ 9.99943514e-01 -1.06286339e-02 0.00000000e+00 2.39704744e+02] [ 1.06286339e-02 9.99943514e-01 0.00000000e+00 -1.11943459e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14315619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16037174299998 meters Centerline goodness : 0.993500 with order 1 Centerline is valid? [True, True] Translation: X:239.77, Y:-11.20, Z:0.01 [[ 9.99947584e-01 -1.02386040e-02 0.00000000e+00 2.39766593e+02] [ 1.02386040e-02 9.99947584e-01 0.00000000e+00 -1.11965253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41141711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.220371743 meters Centerline goodness : 0.992846 with order 1 Centerline is valid? [True, True] Translation: X:239.83, Y:-11.20, Z:0.01 [[ 9.99945854e-01 -1.04062042e-02 0.00000000e+00 2.39828845e+02] [ 1.04062042e-02 9.99945854e-01 0.00000000e+00 -1.12021013e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24297796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.280371743 meters Centerline goodness : 0.991816 with order 1 Centerline is valid? [True, True] Translation: X:239.89, Y:-11.21, Z:0.01 [[ 9.99930166e-01 -1.18179087e-02 0.00000000e+00 2.39890324e+02] [ 1.18179087e-02 9.99930166e-01 0.00000000e+00 -1.12092195e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.53533624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.340371743 meters Centerline goodness : 0.991607 with order 1 Centerline is valid? [True, True] Translation: X:239.95, Y:-11.21, Z:0.00 [[ 9.99935439e-01 -1.13629803e-02 0.00000000e+00 2.39952799e+02] [ 1.13629803e-02 9.99935439e-01 0.00000000e+00 -1.12141864e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27333912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40037174299997 meters Centerline goodness : 0.991780 with order 1 Centerline is valid? [True, True] Translation: X:240.01, Y:-11.22, Z:0.00 [[ 9.99950288e-01 -9.97100011e-03 0.00000000e+00 2.40014977e+02] [ 9.97100011e-03 9.99950288e-01 0.00000000e+00 -1.12185876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91167583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46037174299997 meters Centerline goodness : 0.991332 with order 1 Centerline is valid? [True, True] Translation: X:240.08, Y:-11.22, Z:0.00 [[ 9.99964854e-01 -8.38390256e-03 0.00000000e+00 2.40077545e+02] [ 8.38390256e-03 9.99964854e-01 0.00000000e+00 -1.12217164e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12302392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52037174299997 meters Centerline goodness : 0.990697 with order 1 Centerline is valid? [True, True] Translation: X:240.14, Y:-11.22, Z:0.00 [[ 9.99987180e-01 -5.06349104e-03 0.00000000e+00 2.40139171e+02] [ 5.06349104e-03 9.99987180e-01 0.00000000e+00 -1.12231475e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69505880e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58037174299997 meters Centerline goodness : 0.992166 with order 1 Centerline is valid? [True, True] Translation: X:240.20, Y:-11.22, Z:0.01 [[ 9.99999997e-01 7.09834725e-05 0.00000000e+00 2.40201583e+02] [-7.09834725e-05 9.99999997e-01 0.00000000e+00 -1.12248046e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22969510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64037174299997 meters Centerline goodness : 0.991793 with order 1 Centerline is valid? [True, True] Translation: X:240.26, Y:-11.23, Z:0.01 [[ 9.99999519e-01 -9.81099388e-04 0.00000000e+00 2.40262203e+02] [ 9.81099388e-04 9.99999519e-01 0.00000000e+00 -1.12255116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.51838846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70037174299998 meters Centerline goodness : 0.991684 with order 1 Centerline is valid? [True, True] Translation: X:240.32, Y:-11.23, Z:0.01 [[ 9.99999991e-01 1.37287557e-04 0.00000000e+00 2.40322275e+02] [-1.37287557e-04 9.99999991e-01 0.00000000e+00 -1.12314349e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82395715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76037174299998 meters Centerline goodness : 0.992368 with order 1 Centerline is valid? [True, True] Translation: X:240.38, Y:-11.24, Z:0.00 [[ 9.99999465e-01 -1.03488587e-03 0.00000000e+00 2.40382900e+02] [ 1.03488587e-03 9.99999465e-01 0.00000000e+00 -1.12351510e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63284209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82037174299998 meters Centerline goodness : 0.992409 with order 1 Centerline is valid? [True, True] Translation: X:240.44, Y:-11.24, Z:0.00 [[ 9.99997343e-01 -2.30542584e-03 0.00000000e+00 2.40443528e+02] [ 2.30542584e-03 9.99997343e-01 0.00000000e+00 -1.12371806e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42867527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88037174299998 meters Centerline goodness : 0.992254 with order 1 Centerline is valid? [True, True] Translation: X:240.50, Y:-11.24, Z:0.01 [[ 9.99998908e-01 -1.47762405e-03 0.00000000e+00 2.40504657e+02] [ 1.47762405e-03 9.99998908e-01 0.00000000e+00 -1.12403719e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59224850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.940371743 meters Centerline goodness : 0.992409 with order 1 Centerline is valid? [True, True] Translation: X:240.56, Y:-11.24, Z:0.01 [[ 9.99998687e-01 -1.62050310e-03 0.00000000e+00 2.40564834e+02] [ 1.62050310e-03 9.99998687e-01 0.00000000e+00 -1.12438817e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.30057600e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.000371743 meters Centerline goodness : 0.992456 with order 1 Centerline is valid? [True, True] Translation: X:240.63, Y:-11.25, Z:0.01 [[ 9.99997965e-01 -2.01726228e-03 0.00000000e+00 2.40626469e+02] [ 2.01726228e-03 9.99997965e-01 0.00000000e+00 -1.12468623e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.55808558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.060371743 meters Centerline goodness : 0.992068 with order 1 Centerline is valid? [True, True] Translation: X:240.69, Y:-11.25, Z:0.00 [[ 9.99999874e-01 -5.01317497e-04 0.00000000e+00 2.40688191e+02] [ 5.01317497e-04 9.99999874e-01 0.00000000e+00 -1.12502502e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16040058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.120371743 meters Centerline goodness : 0.994152 with order 1 Centerline is valid? [True, True] Translation: X:240.75, Y:-11.24, Z:0.01 [[ 9.99939696e-01 -1.09820337e-02 0.00000000e+00 2.40749369e+02] [ 1.09820337e-02 9.99939696e-01 0.00000000e+00 -1.12403952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.62733526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18037174299997 meters Centerline goodness : 0.993263 with order 1 Centerline is valid? [True, True] Translation: X:240.81, Y:-11.25, Z:0.00 [[ 9.99989307e-01 -4.62449957e-03 0.00000000e+00 2.40811184e+02] [ 4.62449957e-03 9.99989307e-01 0.00000000e+00 -1.12548313e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53030027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24037174299997 meters Centerline goodness : 0.993075 with order 1 Centerline is valid? [True, True] Translation: X:240.87, Y:-11.26, Z:0.01 [[ 9.99972829e-01 -7.37163941e-03 0.00000000e+00 2.40873428e+02] [ 7.37163941e-03 9.99972829e-01 0.00000000e+00 -1.12561447e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.56103157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30037174299997 meters Centerline goodness : 0.993116 with order 1 Centerline is valid? [True, True] Translation: X:240.93, Y:-11.26, Z:0.01 [[ 9.99967800e-01 -8.02487085e-03 0.00000000e+00 2.40934244e+02] [ 8.02487085e-03 9.99967800e-01 0.00000000e+00 -1.12581146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.09427629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36037174299997 meters Centerline goodness : 0.993195 with order 1 Centerline is valid? [True, True] Translation: X:241.00, Y:-11.26, Z:0.01 [[ 9.99976787e-01 -6.81355502e-03 0.00000000e+00 2.40996100e+02] [ 6.81355502e-03 9.99976787e-01 0.00000000e+00 -1.12609854e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.12387885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42037174299998 meters Centerline goodness : 0.993218 with order 1 Centerline is valid? [True, True] Translation: X:241.06, Y:-11.26, Z:0.01 [[ 9.99983407e-01 -5.76073798e-03 0.00000000e+00 2.41057259e+02] [ 5.76073798e-03 9.99983407e-01 0.00000000e+00 -1.12638562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.02951600e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48037174299998 meters Centerline goodness : 0.993696 with order 1 Centerline is valid? [True, True] Translation: X:241.12, Y:-11.26, Z:0.01 [[ 9.99986480e-01 -5.19995782e-03 0.00000000e+00 2.41119348e+02] [ 5.19995782e-03 9.99986480e-01 0.00000000e+00 -1.12648923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07706341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54037174299998 meters Centerline goodness : 0.993628 with order 1 Centerline is valid? [True, True] Translation: X:241.18, Y:-11.27, Z:0.01 [[ 9.99997608e-01 -2.18706459e-03 0.00000000e+00 2.41181311e+02] [ 2.18706459e-03 9.99997608e-01 0.00000000e+00 -1.12665727e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.72633305e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60037174299998 meters Centerline goodness : 0.993227 with order 1 Centerline is valid? [True, True] Translation: X:241.24, Y:-11.27, Z:0.01 [[ 9.99999119e-01 1.32772953e-03 0.00000000e+00 2.41241202e+02] [-1.32772953e-03 9.99999119e-01 0.00000000e+00 -1.12699071e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.63915314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66037174299998 meters Centerline goodness : 0.993205 with order 1 Centerline is valid? [True, True] Translation: X:241.30, Y:-11.27, Z:0.01 [[ 9.99984958e-01 5.48493628e-03 0.00000000e+00 2.41300962e+02] [-5.48493628e-03 9.99984958e-01 0.00000000e+00 -1.12724399e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.26017836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.720371743 meters Centerline goodness : 0.992891 with order 1 Centerline is valid? [True, True] Translation: X:241.36, Y:-11.28, Z:0.01 [[ 9.99965434e-01 8.31447038e-03 0.00000000e+00 2.41359470e+02] [-8.31447038e-03 9.99965434e-01 0.00000000e+00 -1.12768741e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15047778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.780371743 meters Centerline goodness : 0.992629 with order 1 Centerline is valid? [True, True] Translation: X:241.42, Y:-11.28, Z:0.00 [[ 9.99945092e-01 1.04791816e-02 0.00000000e+00 2.41418039e+02] [-1.04791816e-02 9.99945092e-01 0.00000000e+00 -1.12799077e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94563896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.840371743 meters Centerline goodness : 0.992494 with order 1 Centerline is valid? [True, True] Translation: X:241.48, Y:-11.28, Z:0.00 [[ 9.99945422e-01 1.04476293e-02 0.00000000e+00 2.41475660e+02] [-1.04476293e-02 9.99945422e-01 0.00000000e+00 -1.12833059e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.56876291e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90037174299997 meters Centerline goodness : 0.992921 with order 1 Centerline is valid? [True, True] Translation: X:241.53, Y:-11.29, Z:0.00 [[ 9.99969141e-01 7.85607749e-03 0.00000000e+00 2.41534110e+02] [-7.85607749e-03 9.99969141e-01 0.00000000e+00 -1.12858394e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32863828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96037174299997 meters Centerline goodness : 0.994456 with order 1 Centerline is valid? [True, True] Translation: X:241.59, Y:-11.28, Z:0.01 [[ 9.99999971e-01 -2.39102633e-04 0.00000000e+00 2.41593611e+02] [ 2.39102633e-04 9.99999971e-01 0.00000000e+00 -1.12772283e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.33122929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02037174299997 meters Centerline goodness : 0.995148 with order 1 Centerline is valid? [True, True] Translation: X:241.65, Y:-11.28, Z:0.01 [[ 9.99994165e-01 3.41602312e-03 0.00000000e+00 2.41653995e+02] [-3.41602312e-03 9.99994165e-01 0.00000000e+00 -1.12788065e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40899669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08037174299997 meters Centerline goodness : 0.994667 with order 1 Centerline is valid? [True, True] Translation: X:241.71, Y:-11.28, Z:0.01 [[ 9.99967098e-01 8.11189769e-03 0.00000000e+00 2.41712692e+02] [-8.11189769e-03 9.99967098e-01 0.00000000e+00 -1.12800268e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.54370447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14037174299997 meters Centerline goodness : 0.993778 with order 1 Centerline is valid? [True, True] Translation: X:241.77, Y:-11.28, Z:0.01 [[ 9.99851806e-01 1.72152959e-02 0.00000000e+00 2.41771746e+02] [-1.72152959e-02 9.99851806e-01 0.00000000e+00 -1.12803990e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.86770203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20037174299998 meters Centerline goodness : 0.991599 with order 1 Centerline is valid? [True, True] Translation: X:241.83, Y:-11.29, Z:0.01 [[ 9.99483870e-01 3.21246725e-02 0.00000000e+00 2.41830436e+02] [-3.21246725e-02 9.99483870e-01 0.00000000e+00 -1.12923862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.88057712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26037174299998 meters Centerline goodness : 0.991399 with order 1 Centerline is valid? [True, True] Translation: X:241.89, Y:-11.30, Z:0.01 [[ 9.99351996e-01 3.59942878e-02 0.00000000e+00 2.41888371e+02] [-3.59942878e-02 9.99351996e-01 0.00000000e+00 -1.12956616e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.67990262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32037174299998 meters Centerline goodness : 0.991105 with order 1 Centerline is valid? [True, True] Translation: X:241.95, Y:-11.30, Z:0.00 [[ 9.99282794e-01 3.78668451e-02 0.00000000e+00 2.41945926e+02] [-3.78668451e-02 9.99282794e-01 0.00000000e+00 -1.13033174e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97593516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38037174299998 meters Centerline goodness : 0.991544 with order 1 Centerline is valid? [True, True] Translation: X:242.00, Y:-11.31, Z:0.00 [[ 9.99302000e-01 3.73565750e-02 0.00000000e+00 2.42003724e+02] [-3.73565750e-02 9.99302000e-01 0.00000000e+00 -1.13103029e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42556898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.440371743 meters Centerline goodness : 0.993849 with order 1 Centerline is valid? [True, True] Translation: X:242.06, Y:-11.31, Z:0.01 [[ 9.99713348e-01 2.39420630e-02 0.00000000e+00 2.42062909e+02] [-2.39420630e-02 9.99713348e-01 0.00000000e+00 -1.13050849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26377163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.500371743 meters Centerline goodness : 0.992500 with order 1 Centerline is valid? [True, True] Translation: X:242.12, Y:-11.32, Z:0.00 [[ 9.99536334e-01 3.04485802e-02 0.00000000e+00 2.42120991e+02] [-3.04485802e-02 9.99536334e-01 0.00000000e+00 -1.13248533e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81774062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.560371743 meters Centerline goodness : 0.994756 with order 1 Centerline is valid? [True, True] Translation: X:242.18, Y:-11.32, Z:0.01 [[ 9.99833789e-01 1.82316961e-02 0.00000000e+00 2.42179673e+02] [-1.82316961e-02 9.99833789e-01 0.00000000e+00 -1.13203920e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00789586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.620371743 meters Centerline goodness : 0.994689 with order 1 Centerline is valid? [True, True] Translation: X:242.24, Y:-11.33, Z:0.01 [[ 9.99889764e-01 1.48478629e-02 0.00000000e+00 2.42238086e+02] [-1.48478629e-02 9.99889764e-01 0.00000000e+00 -1.13283636e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.60439331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68037174299997 meters Centerline goodness : 0.993046 with order 1 Centerline is valid? [True, True] Translation: X:242.30, Y:-11.35, Z:0.00 [[ 9.99793235e-01 2.03343901e-02 0.00000000e+00 2.42295852e+02] [-2.03343901e-02 9.99793235e-01 0.00000000e+00 -1.13495452e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63571313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74037174299997 meters Centerline goodness : 0.993088 with order 1 Centerline is valid? [True, True] Translation: X:242.35, Y:-11.35, Z:0.00 [[ 9.99866633e-01 1.63314412e-02 0.00000000e+00 2.42354829e+02] [-1.63314412e-02 9.99866633e-01 0.00000000e+00 -1.13538266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22991602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80037174299997 meters Centerline goodness : 0.995506 with order 1 Centerline is valid? [True, True] Translation: X:242.41, Y:-11.35, Z:0.01 [[ 9.99989203e-01 4.64692646e-03 0.00000000e+00 2.42413260e+02] [-4.64692646e-03 9.99989203e-01 0.00000000e+00 -1.13514594e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.64764733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86037174299997 meters Centerline goodness : 0.995021 with order 1 Centerline is valid? [True, True] Translation: X:242.47, Y:-11.36, Z:0.01 [[ 9.99999970e-01 -2.46579877e-04 0.00000000e+00 2.42471712e+02] [ 2.46579877e-04 9.99999970e-01 0.00000000e+00 -1.13600098e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.48873455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92037174299998 meters Centerline goodness : 0.993387 with order 1 Centerline is valid? [True, True] Translation: X:242.53, Y:-11.38, Z:0.01 [[ 9.99999123e-01 1.32410260e-03 0.00000000e+00 2.42531140e+02] [-1.32410260e-03 9.99999123e-01 0.00000000e+00 -1.13777766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09338030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98037174299998 meters Centerline goodness : 0.995740 with order 1 Centerline is valid? [True, True] Translation: X:242.59, Y:-11.37, Z:0.01 [[ 9.99947034e-01 -1.02922225e-02 0.00000000e+00 2.42591156e+02] [ 1.02922225e-02 9.99947034e-01 0.00000000e+00 -1.13742551e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.57963982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04037174299998 meters Centerline goodness : 0.993753 with order 1 Centerline is valid? [True, True] Translation: X:242.65, Y:-11.39, Z:0.01 [[ 9.99990633e-01 -4.32830062e-03 0.00000000e+00 2.42652657e+02] [ 4.32830062e-03 9.99990633e-01 0.00000000e+00 -1.13901627e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63923148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10037174299998 meters Centerline goodness : 0.993727 with order 1 Centerline is valid? [True, True] Translation: X:242.71, Y:-11.39, Z:0.01 [[ 9.99982921e-01 -5.84438739e-03 0.00000000e+00 2.42714348e+02] [ 5.84438739e-03 9.99982921e-01 0.00000000e+00 -1.13938575e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19879689e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16037174299998 meters Centerline goodness : 0.993197 with order 1 Centerline is valid? [True, True] Translation: X:242.78, Y:-11.40, Z:0.00 [[ 9.99986552e-01 -5.18606077e-03 0.00000000e+00 2.42776093e+02] [ 5.18606077e-03 9.99986552e-01 0.00000000e+00 -1.13995896e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00581455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.220371743 meters Centerline goodness : 0.996110 with order 1 Centerline is valid? [True, True] Translation: X:242.84, Y:-11.39, Z:0.01 [[ 9.99832389e-01 -1.83083217e-02 0.00000000e+00 2.42837681e+02] [ 1.83083217e-02 9.99832389e-01 0.00000000e+00 -1.13907937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.12180670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.280371743 meters Centerline goodness : 0.995886 with order 1 Centerline is valid? [True, True] Translation: X:242.90, Y:-11.39, Z:0.01 [[ 9.99783457e-01 -2.08096019e-02 0.00000000e+00 2.42899940e+02] [ 2.08096019e-02 9.99783457e-01 0.00000000e+00 -1.13942258e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27134572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.340371743 meters Centerline goodness : 0.993617 with order 1 Centerline is valid? [True, True] Translation: X:242.96, Y:-11.41, Z:-0.00 [[ 9.99890140e-01 -1.48225208e-02 0.00000000e+00 2.42961358e+02] [ 1.48225208e-02 9.99890140e-01 0.00000000e+00 -1.14105597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91650651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40037174299997 meters Centerline goodness : 0.994113 with order 1 Centerline is valid? [True, True] Translation: X:243.02, Y:-11.41, Z:-0.00 [[ 9.99829881e-01 -1.84447807e-02 0.00000000e+00 2.43024703e+02] [ 1.84447807e-02 9.99829881e-01 0.00000000e+00 -1.14135476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99160214e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46037174299997 meters Centerline goodness : 0.993729 with order 1 Centerline is valid? [True, True] Translation: X:243.09, Y:-11.42, Z:-0.00 [[ 9.99835540e-01 -1.81353997e-02 0.00000000e+00 2.43087528e+02] [ 1.81353997e-02 9.99835540e-01 0.00000000e+00 -1.14164640e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11686066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52037174299997 meters Centerline goodness : 0.995274 with order 1 Centerline is valid? [True, True] Translation: X:243.15, Y:-11.40, Z:0.01 [[ 9.99789284e-01 -2.05277285e-02 0.00000000e+00 2.43149768e+02] [ 2.05277285e-02 9.99789284e-01 0.00000000e+00 -1.14021806e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.79157115e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58037174299997 meters Centerline goodness : 0.995492 with order 1 Centerline is valid? [True, True] Translation: X:243.21, Y:-11.40, Z:0.01 [[ 9.99913405e-01 -1.31598790e-02 0.00000000e+00 2.43211852e+02] [ 1.31598790e-02 9.99913405e-01 0.00000000e+00 -1.14020063e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.45253090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64037174299997 meters Centerline goodness : 0.992335 with order 1 Centerline is valid? [True, True] Translation: X:243.27, Y:-11.41, Z:0.00 [[ 9.99945215e-01 1.04674037e-02 0.00000000e+00 2.43273457e+02] [-1.04674037e-02 9.99945215e-01 0.00000000e+00 -1.14117430e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67310555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70037174299998 meters Centerline goodness : 0.993045 with order 1 Centerline is valid? [True, True] Translation: X:243.33, Y:-11.41, Z:-0.00 [[ 9.99763311e-01 2.17559706e-02 0.00000000e+00 2.43331524e+02] [-2.17559706e-02 9.99763311e-01 0.00000000e+00 -1.14100912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04392383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76037174299998 meters Centerline goodness : 0.992477 with order 1 Centerline is valid? [True, True] Translation: X:243.39, Y:-11.41, Z:0.00 [[ 9.99614538e-01 2.77628428e-02 0.00000000e+00 2.43390465e+02] [-2.77628428e-02 9.99614538e-01 0.00000000e+00 -1.14077489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07397093e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82037174299998 meters Centerline goodness : 0.992534 with order 1 Centerline is valid? [True, True] Translation: X:243.45, Y:-11.41, Z:0.00 [[ 9.99194422e-01 4.01311166e-02 0.00000000e+00 2.43448448e+02] [-4.01311166e-02 9.99194422e-01 0.00000000e+00 -1.14095030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78818549e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88037174299998 meters Centerline goodness : 0.992182 with order 1 Centerline is valid? [True, True] Translation: X:243.51, Y:-11.41, Z:-0.00 [[ 9.98855120e-01 4.78377423e-02 0.00000000e+00 2.43505975e+02] [-4.78377423e-02 9.98855120e-01 0.00000000e+00 -1.14105812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26826677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.940371743 meters Centerline goodness : 0.994500 with order 1 Centerline is valid? [True, True] Translation: X:243.57, Y:-11.40, Z:0.00 [[ 9.99267233e-01 3.82752801e-02 0.00000000e+00 2.43565669e+02] [-3.82752801e-02 9.99267233e-01 0.00000000e+00 -1.14027337e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93819114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.000371743 meters Centerline goodness : 0.992150 with order 1 Centerline is valid? [True, True] Translation: X:243.62, Y:-11.42, Z:-0.01 [[ 9.98801503e-01 4.89444387e-02 0.00000000e+00 2.43622656e+02] [-4.89444387e-02 9.98801503e-01 0.00000000e+00 -1.14222172e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54715627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.060371743 meters Centerline goodness : 0.992244 with order 1 Centerline is valid? [True, True] Translation: X:243.68, Y:-11.43, Z:-0.00 [[ 9.98973603e-01 4.52961386e-02 0.00000000e+00 2.43681452e+02] [-4.52961386e-02 9.98973603e-01 0.00000000e+00 -1.14295923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44549792e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.120371743 meters Centerline goodness : 0.992009 with order 1 Centerline is valid? [True, True] Translation: X:243.74, Y:-11.44, Z:-0.00 [[ 9.99269177e-01 3.82244805e-02 0.00000000e+00 2.43739685e+02] [-3.82244805e-02 9.99269177e-01 0.00000000e+00 -1.14380853e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58997243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18037174299997 meters Centerline goodness : 0.992745 with order 1 Centerline is valid? [True, True] Translation: X:243.80, Y:-11.44, Z:-0.00 [[ 9.99406923e-01 3.44354879e-02 0.00000000e+00 2.43798329e+02] [-3.44354879e-02 9.99406923e-01 0.00000000e+00 -1.14440831e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85894730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24037174299997 meters Centerline goodness : 0.993036 with order 1 Centerline is valid? [True, True] Translation: X:243.86, Y:-11.45, Z:0.00 [[ 9.99682477e-01 2.51981197e-02 0.00000000e+00 2.43855984e+02] [-2.51981197e-02 9.99682477e-01 0.00000000e+00 -1.14519333e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33657128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30037174299997 meters Centerline goodness : 0.992994 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:-11.46, Z:0.00 [[ 9.99938310e-01 1.11074866e-02 0.00000000e+00 2.43914825e+02] [-1.11074866e-02 9.99938310e-01 0.00000000e+00 -1.14587438e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.38747515e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36037174299997 meters Centerline goodness : 0.994599 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:-11.47, Z:-0.00 [[ 9.99992192e-01 3.95176981e-03 0.00000000e+00 2.43972785e+02] [-3.95176981e-03 9.99992192e-01 0.00000000e+00 -1.14650176e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43746876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42037174299998 meters Centerline goodness : 0.994241 with order 1 Centerline is valid? [True, True] Translation: X:244.03, Y:-11.48, Z:-0.00 [[ 9.99990589e-01 -4.33832557e-03 0.00000000e+00 2.44032160e+02] [ 4.33832557e-03 9.99990589e-01 0.00000000e+00 -1.14751398e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.93893658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48037174299998 meters Centerline goodness : 0.994045 with order 1 Centerline is valid? [True, True] Translation: X:244.09, Y:-11.48, Z:0.00 [[ 9.99908580e-01 -1.35215180e-02 0.00000000e+00 2.44094730e+02] [ 1.35215180e-02 9.99908580e-01 0.00000000e+00 -1.14791701e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19614321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54037174299998 meters Centerline goodness : 0.993843 with order 1 Centerline is valid? [True, True] Translation: X:244.16, Y:-11.49, Z:-0.00 [[ 9.99913201e-01 -1.31753556e-02 0.00000000e+00 2.44156857e+02] [ 1.31753556e-02 9.99913201e-01 0.00000000e+00 -1.14851727e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76844809e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60037174299998 meters Centerline goodness : 0.994448 with order 1 Centerline is valid? [True, True] Translation: X:244.22, Y:-11.49, Z:0.00 [[ 9.99938464e-01 -1.10936277e-02 0.00000000e+00 2.44219029e+02] [ 1.10936277e-02 9.99938464e-01 0.00000000e+00 -1.14881231e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25552376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66037174299998 meters Centerline goodness : 0.993336 with order 1 Centerline is valid? [True, True] Translation: X:244.28, Y:-11.49, Z:0.00 [[ 9.99987455e-01 -5.00887985e-03 0.00000000e+00 2.44281338e+02] [ 5.00887985e-03 9.99987455e-01 0.00000000e+00 -1.14894758e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07906488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.720371743 meters Centerline goodness : 0.993887 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:-11.49, Z:0.00 [[ 9.99996657e-01 -2.58579123e-03 0.00000000e+00 2.44343701e+02] [ 2.58579123e-03 9.99996657e-01 0.00000000e+00 -1.14911872e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26670641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.780371743 meters Centerline goodness : 0.992974 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:-11.49, Z:0.00 [[ 9.99999681e-01 -7.98257269e-04 0.00000000e+00 2.44404016e+02] [ 7.98257269e-04 9.99999681e-01 0.00000000e+00 -1.14919470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05606665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.840371743 meters Centerline goodness : 0.995123 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:-11.48, Z:0.00 [[ 9.99965580e-01 -8.29687176e-03 0.00000000e+00 2.44464997e+02] [ 8.29687176e-03 9.99965580e-01 0.00000000e+00 -1.14847597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82846870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90037174299997 meters Centerline goodness : 0.993652 with order 1 Centerline is valid? [True, True] Translation: X:244.53, Y:-11.50, Z:-0.00 [[ 9.99969635e-01 -7.79290405e-03 0.00000000e+00 2.44527205e+02] [ 7.79290405e-03 9.99969635e-01 0.00000000e+00 -1.14954237e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05683391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96037174299997 meters Centerline goodness : 0.992982 with order 1 Centerline is valid? [True, True] Translation: X:244.59, Y:-11.50, Z:-0.00 [[ 9.99939807e-01 -1.09718920e-02 0.00000000e+00 2.44590238e+02] [ 1.09718920e-02 9.99939807e-01 0.00000000e+00 -1.14985537e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.20004343e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02037174299997 meters Centerline goodness : 0.992938 with order 1 Centerline is valid? [True, True] Translation: X:244.65, Y:-11.50, Z:-0.01 [[ 9.99875954e-01 -1.57504527e-02 0.00000000e+00 2.44652088e+02] [ 1.57504527e-02 9.99875954e-01 0.00000000e+00 -1.15000951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.34947827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08037174299997 meters Centerline goodness : 0.994341 with order 1 Centerline is valid? [True, True] Translation: X:244.71, Y:-11.49, Z:-0.00 [[ 9.99721755e-01 -2.35884080e-02 0.00000000e+00 2.44713937e+02] [ 2.35884080e-02 9.99721755e-01 0.00000000e+00 -1.14917654e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44705072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14037174299997 meters Centerline goodness : 0.994918 with order 1 Centerline is valid? [True, True] Translation: X:244.78, Y:-11.49, Z:-0.00 [[ 9.99706215e-01 -2.42380515e-02 0.00000000e+00 2.44775809e+02] [ 2.42380515e-02 9.99706215e-01 0.00000000e+00 -1.14937297e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00224128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20037174299998 meters Centerline goodness : 0.992797 with order 1 Centerline is valid? [True, True] Translation: X:244.84, Y:-11.50, Z:-0.01 [[ 9.99796766e-01 -2.01600086e-02 0.00000000e+00 2.44838034e+02] [ 2.01600086e-02 9.99796766e-01 0.00000000e+00 -1.15012836e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.47220836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26037174299998 meters Centerline goodness : 0.993458 with order 1 Centerline is valid? [True, True] Translation: X:244.90, Y:-11.50, Z:-0.00 [[ 9.99820055e-01 -1.89699150e-02 0.00000000e+00 2.44901430e+02] [ 1.89699150e-02 9.99820055e-01 0.00000000e+00 -1.15014254e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33779401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32037174299998 meters Centerline goodness : 0.992602 with order 1 Centerline is valid? [True, True] Translation: X:244.96, Y:-11.50, Z:-0.00 [[ 9.99898942e-01 -1.42163682e-02 0.00000000e+00 2.44962211e+02] [ 1.42163682e-02 9.99898942e-01 0.00000000e+00 -1.15017960e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21315836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38037174299998 meters Centerline goodness : 0.992066 with order 1 Centerline is valid? [True, True] Translation: X:245.02, Y:-11.50, Z:-0.00 [[ 9.99923892e-01 -1.23373530e-02 0.00000000e+00 2.45024543e+02] [ 1.23373530e-02 9.99923892e-01 0.00000000e+00 -1.15016169e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05016596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.440371743 meters Centerline goodness : 0.993273 with order 1 Centerline is valid? [True, True] Translation: X:245.09, Y:-11.50, Z:-0.01 [[ 9.99925897e-01 -1.21737572e-02 0.00000000e+00 2.45086798e+02] [ 1.21737572e-02 9.99925897e-01 0.00000000e+00 -1.15004567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.13147070e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.500371743 meters Centerline goodness : 0.993393 with order 1 Centerline is valid? [True, True] Translation: X:245.15, Y:-11.50, Z:-0.01 [[ 9.99968476e-01 -7.94020426e-03 0.00000000e+00 2.45147903e+02] [ 7.94020426e-03 9.99968476e-01 0.00000000e+00 -1.14997364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.15647507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.560371743 meters Centerline goodness : 0.993400 with order 1 Centerline is valid? [True, True] Translation: X:245.21, Y:-11.50, Z:-0.01 [[ 9.99994730e-01 -3.24652059e-03 0.00000000e+00 2.45210162e+02] [ 3.24652059e-03 9.99994730e-01 0.00000000e+00 -1.15008274e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.12585022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.620371743 meters Centerline goodness : 0.992747 with order 1 Centerline is valid? [True, True] Translation: X:245.27, Y:-11.50, Z:-0.01 [[ 9.99985207e-01 5.43920003e-03 0.00000000e+00 2.45270257e+02] [-5.43920003e-03 9.99985207e-01 0.00000000e+00 -1.15017081e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.18167765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68037174299997 meters Centerline goodness : 0.992777 with order 1 Centerline is valid? [True, True] Translation: X:245.33, Y:-11.50, Z:-0.01 [[ 9.99929865e-01 1.18433349e-02 0.00000000e+00 2.45329004e+02] [-1.18433349e-02 9.99929865e-01 0.00000000e+00 -1.15017499e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.93987635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74037174299997 meters Centerline goodness : 0.992439 with order 1 Centerline is valid? [True, True] Translation: X:245.39, Y:-11.50, Z:-0.01 [[ 9.99845133e-01 1.75986078e-02 0.00000000e+00 2.45387189e+02] [-1.75986078e-02 9.99845133e-01 0.00000000e+00 -1.15028227e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00813507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80037174299997 meters Centerline goodness : 0.994999 with order 1 Centerline is valid? [True, True] Translation: X:245.45, Y:-11.50, Z:-0.00 [[ 9.99869042e-01 1.61832684e-02 0.00000000e+00 2.45447634e+02] [-1.61832684e-02 9.99869042e-01 0.00000000e+00 -1.14953530e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.13274513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86037174299997 meters Centerline goodness : 0.992354 with order 1 Centerline is valid? [True, True] Translation: X:245.51, Y:-11.51, Z:-0.01 [[ 9.99666868e-01 2.58099505e-02 0.00000000e+00 2.45506805e+02] [-2.58099505e-02 9.99666868e-01 0.00000000e+00 -1.15092140e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20947967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92037174299998 meters Centerline goodness : 0.992604 with order 1 Centerline is valid? [True, True] Translation: X:245.57, Y:-11.51, Z:-0.01 [[ 9.99547365e-01 3.00843063e-02 0.00000000e+00 2.45565244e+02] [-3.00843063e-02 9.99547365e-01 0.00000000e+00 -1.15139319e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38315043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98037174299998 meters Centerline goodness : 0.992205 with order 1 Centerline is valid? [True, True] Translation: X:245.62, Y:-11.52, Z:-0.01 [[ 9.99536564e-01 3.04410453e-02 0.00000000e+00 2.45624201e+02] [-3.04410453e-02 9.99536564e-01 0.00000000e+00 -1.15174925e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.81912149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04037174299998 meters Centerline goodness : 0.994936 with order 1 Centerline is valid? [True, True] Translation: X:245.68, Y:-11.51, Z:0.00 [[ 9.99852157e-01 1.71948582e-02 0.00000000e+00 2.45683464e+02] [-1.71948582e-02 9.99852157e-01 0.00000000e+00 -1.15070706e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38392788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10037174299998 meters Centerline goodness : 0.994875 with order 1 Centerline is valid? [True, True] Translation: X:245.74, Y:-11.51, Z:0.00 [[ 9.99886744e-01 1.50498649e-02 0.00000000e+00 2.45740469e+02] [-1.50498649e-02 9.99886744e-01 0.00000000e+00 -1.15105683e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13773570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16037174299998 meters Centerline goodness : 0.994687 with order 1 Centerline is valid? [True, True] Translation: X:245.80, Y:-11.52, Z:0.00 [[ 9.99981804e-01 6.03246901e-03 0.00000000e+00 2.45799051e+02] [-6.03246901e-03 9.99981804e-01 0.00000000e+00 -1.15162327e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.68837615e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.220371743 meters Centerline goodness : 0.992741 with order 1 Centerline is valid? [True, True] Translation: X:245.86, Y:-11.53, Z:-0.01 [[ 9.99976520e-01 6.85267730e-03 0.00000000e+00 2.45857397e+02] [-6.85267730e-03 9.99976520e-01 0.00000000e+00 -1.15333970e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.72805547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.280371743 meters Centerline goodness : 0.993707 with order 1 Centerline is valid? [True, True] Translation: X:245.92, Y:-11.54, Z:-0.01 [[ 9.99984150e-01 -5.63023305e-03 0.00000000e+00 2.45916090e+02] [ 5.63023305e-03 9.99984150e-01 0.00000000e+00 -1.15389122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01774812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.340371743 meters Centerline goodness : 0.993383 with order 1 Centerline is valid? [True, True] Translation: X:245.98, Y:-11.54, Z:-0.01 [[ 9.99915063e-01 -1.30332666e-02 0.00000000e+00 2.45978399e+02] [ 1.30332666e-02 9.99915063e-01 0.00000000e+00 -1.15406838e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.60748356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40037174299997 meters Centerline goodness : 0.993717 with order 1 Centerline is valid? [True, True] Translation: X:246.04, Y:-11.54, Z:-0.01 [[ 9.99917051e-01 -1.28798698e-02 0.00000000e+00 2.46040685e+02] [ 1.28798698e-02 9.99917051e-01 0.00000000e+00 -1.15440570e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67583961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46037174299997 meters Centerline goodness : 0.993942 with order 1 Centerline is valid? [True, True] Translation: X:246.10, Y:-11.55, Z:-0.01 [[ 9.99915296e-01 -1.30153798e-02 0.00000000e+00 2.46102478e+02] [ 1.30153798e-02 9.99915296e-01 0.00000000e+00 -1.15460808e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.26717328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52037174299997 meters Centerline goodness : 0.993786 with order 1 Centerline is valid? [True, True] Translation: X:246.16, Y:-11.55, Z:-0.01 [[ 9.99899752e-01 -1.41593324e-02 0.00000000e+00 2.46164538e+02] [ 1.41593324e-02 9.99899752e-01 0.00000000e+00 -1.15497285e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.47742492e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58037174299997 meters Centerline goodness : 0.993705 with order 1 Centerline is valid? [True, True] Translation: X:246.23, Y:-11.55, Z:-0.01 [[ 9.99852157e-01 -1.71948691e-02 0.00000000e+00 2.46227463e+02] [ 1.71948691e-02 9.99852157e-01 0.00000000e+00 -1.15544390e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.81576069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64037174299997 meters Centerline goodness : 0.994010 with order 1 Centerline is valid? [True, True] Translation: X:246.29, Y:-11.56, Z:-0.01 [[ 9.99732704e-01 -2.31197183e-02 0.00000000e+00 2.46290337e+02] [ 2.31197183e-02 9.99732704e-01 0.00000000e+00 -1.15587254e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.81400917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70037174299998 meters Centerline goodness : 0.994288 with order 1 Centerline is valid? [True, True] Translation: X:246.35, Y:-11.56, Z:-0.01 [[ 9.99640476e-01 -2.68126776e-02 0.00000000e+00 2.46352374e+02] [ 2.68126776e-02 9.99640476e-01 0.00000000e+00 -1.15610229e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03470975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76037174299998 meters Centerline goodness : 0.994091 with order 1 Centerline is valid? [True, True] Translation: X:246.41, Y:-11.56, Z:-0.01 [[ 9.99642145e-01 -2.67503545e-02 0.00000000e+00 2.46414876e+02] [ 2.67503545e-02 9.99642145e-01 0.00000000e+00 -1.15622184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01327965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82037174299998 meters Centerline goodness : 0.993865 with order 1 Centerline is valid? [True, True] Translation: X:246.48, Y:-11.56, Z:-0.01 [[ 9.99725155e-01 -2.34438685e-02 0.00000000e+00 2.46476980e+02] [ 2.34438685e-02 9.99725155e-01 0.00000000e+00 -1.15623690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.71289169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88037174299998 meters Centerline goodness : 0.993898 with order 1 Centerline is valid? [True, True] Translation: X:246.54, Y:-11.56, Z:-0.00 [[ 9.99816372e-01 -1.91630550e-02 0.00000000e+00 2.46539646e+02] [ 1.91630550e-02 9.99816372e-01 0.00000000e+00 -1.15640659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.68634869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.940371743 meters Centerline goodness : 0.993736 with order 1 Centerline is valid? [True, True] Translation: X:246.60, Y:-11.57, Z:-0.01 [[ 9.99923126e-01 -1.23992581e-02 0.00000000e+00 2.46603116e+02] [ 1.23992581e-02 9.99923126e-01 0.00000000e+00 -1.15661739e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.07198812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.000371743 meters Centerline goodness : 0.993144 with order 1 Centerline is valid? [True, True] Translation: X:246.66, Y:-11.57, Z:-0.01 [[ 9.99947623e-01 -1.02347758e-02 0.00000000e+00 2.46664658e+02] [ 1.02347758e-02 9.99947623e-01 0.00000000e+00 -1.15693588e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.54215828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.060371743 meters Centerline goodness : 0.993934 with order 1 Centerline is valid? [True, True] Translation: X:246.73, Y:-11.57, Z:-0.01 [[ 9.99941990e-01 -1.07711422e-02 0.00000000e+00 2.46726438e+02] [ 1.07711422e-02 9.99941990e-01 0.00000000e+00 -1.15725117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.61718517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.120371743 meters Centerline goodness : 0.994010 with order 1 Centerline is valid? [True, True] Translation: X:246.79, Y:-11.58, Z:-0.01 [[ 9.99884645e-01 -1.51887135e-02 0.00000000e+00 2.46788531e+02] [ 1.51887135e-02 9.99884645e-01 0.00000000e+00 -1.15758742e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.05915909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18037174299997 meters Centerline goodness : 0.993675 with order 1 Centerline is valid? [True, True] Translation: X:246.85, Y:-11.58, Z:-0.01 [[ 9.99825771e-01 -1.86662245e-02 0.00000000e+00 2.46850624e+02] [ 1.86662245e-02 9.99825771e-01 0.00000000e+00 -1.15809163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.80776474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24037174299997 meters Centerline goodness : 0.993762 with order 1 Centerline is valid? [True, True] Translation: X:246.91, Y:-11.59, Z:-0.01 [[ 9.99831844e-01 -1.83380300e-02 0.00000000e+00 2.46913181e+02] [ 1.83380300e-02 9.99831844e-01 0.00000000e+00 -1.15856587e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.91335899e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30037174299997 meters Centerline goodness : 0.993787 with order 1 Centerline is valid? [True, True] Translation: X:246.97, Y:-11.59, Z:-0.01 [[ 9.99799643e-01 -2.00168462e-02 0.00000000e+00 2.46974883e+02] [ 2.00168462e-02 9.99799643e-01 0.00000000e+00 -1.15879784e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.80759583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36037174299997 meters Centerline goodness : 0.993352 with order 1 Centerline is valid? [True, True] Translation: X:247.04, Y:-11.59, Z:-0.01 [[ 9.99824744e-01 -1.87211297e-02 0.00000000e+00 2.47036826e+02] [ 1.87211297e-02 9.99824744e-01 0.00000000e+00 -1.15918523e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.09854818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42037174299998 meters Centerline goodness : 0.993716 with order 1 Centerline is valid? [True, True] Translation: X:247.10, Y:-11.60, Z:-0.01 [[ 9.99880309e-01 -1.54714846e-02 0.00000000e+00 2.47099644e+02] [ 1.54714846e-02 9.99880309e-01 0.00000000e+00 -1.15964232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17336066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48037174299998 meters Centerline goodness : 0.993503 with order 1 Centerline is valid? [True, True] Translation: X:247.16, Y:-11.60, Z:-0.01 [[ 9.99926382e-01 -1.21338353e-02 0.00000000e+00 2.47161498e+02] [ 1.21338353e-02 9.99926382e-01 0.00000000e+00 -1.15983786e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22023209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54037174299998 meters Centerline goodness : 0.994321 with order 1 Centerline is valid? [True, True] Translation: X:247.22, Y:-11.60, Z:-0.01 [[ 9.99959441e-01 -9.00649020e-03 0.00000000e+00 2.47224181e+02] [ 9.00649020e-03 9.99959441e-01 0.00000000e+00 -1.15997889e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06461344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60037174299998 meters Centerline goodness : 0.994096 with order 1 Centerline is valid? [True, True] Translation: X:247.29, Y:-11.60, Z:-0.01 [[ 9.99971623e-01 -7.53345675e-03 0.00000000e+00 2.47285107e+02] [ 7.53345675e-03 9.99971623e-01 0.00000000e+00 -1.16027744e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.58737982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66037174299998 meters Centerline goodness : 0.994026 with order 1 Centerline is valid? [True, True] Translation: X:247.35, Y:-11.61, Z:-0.01 [[ 9.99986492e-01 -5.19767967e-03 0.00000000e+00 2.47347492e+02] [ 5.19767967e-03 9.99986492e-01 0.00000000e+00 -1.16063838e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.78826122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.720371743 meters Centerline goodness : 0.993458 with order 1 Centerline is valid? [True, True] Translation: X:247.41, Y:-11.61, Z:-0.01 [[ 9.99994640e-01 -3.27408257e-03 0.00000000e+00 2.47409627e+02] [ 3.27408257e-03 9.99994640e-01 0.00000000e+00 -1.16098312e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.28132401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.780371743 meters Centerline goodness : 0.993414 with order 1 Centerline is valid? [True, True] Translation: X:247.47, Y:-11.61, Z:-0.01 [[ 9.99996383e-01 -2.68954896e-03 0.00000000e+00 2.47470384e+02] [ 2.68954896e-03 9.99996383e-01 0.00000000e+00 -1.16135840e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.57815569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.840371743 meters Centerline goodness : 0.994040 with order 1 Centerline is valid? [True, True] Translation: X:247.53, Y:-11.62, Z:-0.01 [[ 9.99995963e-01 -2.84147724e-03 0.00000000e+00 2.47532200e+02] [ 2.84147724e-03 9.99995963e-01 0.00000000e+00 -1.16157665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.41607775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90037174299997 meters Centerline goodness : 0.993746 with order 1 Centerline is valid? [True, True] Translation: X:247.59, Y:-11.62, Z:-0.01 [[ 9.99996748e-01 -2.55047634e-03 0.00000000e+00 2.47593630e+02] [ 2.55047634e-03 9.99996748e-01 0.00000000e+00 -1.16192916e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.91428307e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96037174299997 meters Centerline goodness : 0.993466 with order 1 Centerline is valid? [True, True] Translation: X:247.66, Y:-11.62, Z:-0.01 [[ 9.99984290e-01 -5.60541007e-03 0.00000000e+00 2.47655097e+02] [ 5.60541007e-03 9.99984290e-01 0.00000000e+00 -1.16228610e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.05536768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02037174299997 meters Centerline goodness : 0.994103 with order 1 Centerline is valid? [True, True] Translation: X:247.72, Y:-11.63, Z:-0.01 [[ 9.99983712e-01 -5.70758586e-03 0.00000000e+00 2.47716872e+02] [ 5.70758586e-03 9.99983712e-01 0.00000000e+00 -1.16258655e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.64627146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08037174299997 meters Centerline goodness : 0.993482 with order 1 Centerline is valid? [True, True] Translation: X:247.78, Y:-11.63, Z:-0.01 [[ 9.99983376e-01 -5.76609582e-03 0.00000000e+00 2.47779112e+02] [ 5.76609582e-03 9.99983376e-01 0.00000000e+00 -1.16314572e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.94672645e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14037174299997 meters Centerline goodness : 0.992883 with order 1 Centerline is valid? [True, True] Translation: X:247.84, Y:-11.64, Z:-0.01 [[ 9.99992342e-01 -3.91348637e-03 0.00000000e+00 2.47839702e+02] [ 3.91348637e-03 9.99992342e-01 0.00000000e+00 -1.16370514e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.45559970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20037174299998 meters Centerline goodness : 0.993302 with order 1 Centerline is valid? [True, True] Translation: X:247.90, Y:-11.64, Z:-0.01 [[ 9.99999155e-01 -1.30015588e-03 0.00000000e+00 2.47901371e+02] [ 1.30015588e-03 9.99999155e-01 0.00000000e+00 -1.16394492e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.14853503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26037174299998 meters Centerline goodness : 0.993623 with order 1 Centerline is valid? [True, True] Translation: X:247.96, Y:-11.64, Z:-0.00 [[ 9.99999900e-01 4.46621020e-04 0.00000000e+00 2.47963257e+02] [-4.46621020e-04 9.99999900e-01 0.00000000e+00 -1.16396197e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52910516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32037174299998 meters Centerline goodness : 0.993530 with order 1 Centerline is valid? [True, True] Translation: X:248.02, Y:-11.65, Z:-0.01 [[ 9.99971391e-01 7.56420443e-03 0.00000000e+00 2.48023678e+02] [-7.56420443e-03 9.99971391e-01 0.00000000e+00 -1.16451002e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.70458973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38037174299998 meters Centerline goodness : 0.994836 with order 1 Centerline is valid? [True, True] Translation: X:248.08, Y:-11.64, Z:0.00 [[ 9.99997258e-01 2.34171957e-03 0.00000000e+00 2.48081859e+02] [-2.34171957e-03 9.99997258e-01 0.00000000e+00 -1.16353364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83389222e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.440371743 meters Centerline goodness : 0.993022 with order 1 Centerline is valid? [True, True] Translation: X:248.14, Y:-11.65, Z:-0.00 [[ 9.99889523e-01 1.48640803e-02 0.00000000e+00 2.48141270e+02] [-1.48640803e-02 9.99889523e-01 0.00000000e+00 -1.16476632e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.55886031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.500371743 meters Centerline goodness : 0.995109 with order 1 Centerline is valid? [True, True] Translation: X:248.20, Y:-11.64, Z:0.00 [[ 9.99957074e-01 9.26552528e-03 0.00000000e+00 2.48200090e+02] [-9.26552528e-03 9.99957074e-01 0.00000000e+00 -1.16388507e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79529871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.560371743 meters Centerline goodness : 0.993638 with order 1 Centerline is valid? [True, True] Translation: X:248.26, Y:-11.65, Z:-0.00 [[ 9.99825964e-01 1.86558701e-02 0.00000000e+00 2.48257904e+02] [-1.86558701e-02 9.99825964e-01 0.00000000e+00 -1.16537832e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.37096382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.620371743 meters Centerline goodness : 0.992569 with order 1 Centerline is valid? [True, True] Translation: X:248.31, Y:-11.66, Z:-0.01 [[ 9.99809992e-01 1.94930521e-02 0.00000000e+00 2.48314192e+02] [-1.94930521e-02 9.99809992e-01 0.00000000e+00 -1.16603140e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.93270630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68037174299997 meters Centerline goodness : 0.992821 with order 1 Centerline is valid? [True, True] Translation: X:248.37, Y:-11.66, Z:-0.01 [[ 9.99817914e-01 1.90824097e-02 0.00000000e+00 2.48371794e+02] [-1.90824097e-02 9.99817914e-01 0.00000000e+00 -1.16635686e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.66268078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74037174299997 meters Centerline goodness : 0.993355 with order 1 Centerline is valid? [True, True] Translation: X:248.43, Y:-11.67, Z:-0.01 [[ 9.99849227e-01 1.73644279e-02 0.00000000e+00 2.48430081e+02] [-1.73644279e-02 9.99849227e-01 0.00000000e+00 -1.16657885e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.32658888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80037174299997 meters Centerline goodness : 0.994482 with order 1 Centerline is valid? [True, True] Translation: X:248.49, Y:-11.66, Z:0.00 [[ 9.99962798e-01 8.62570623e-03 0.00000000e+00 2.48488769e+02] [-8.62570623e-03 9.99962798e-01 0.00000000e+00 -1.16578336e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31976353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86037174299997 meters Centerline goodness : 0.993419 with order 1 Centerline is valid? [True, True] Translation: X:248.55, Y:-11.67, Z:-0.01 [[ 9.99846110e-01 1.75429726e-02 0.00000000e+00 2.48547403e+02] [-1.75429726e-02 9.99846110e-01 0.00000000e+00 -1.16725660e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.58125892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92037174299998 meters Centerline goodness : 0.993567 with order 1 Centerline is valid? [True, True] Translation: X:248.60, Y:-11.68, Z:-0.01 [[ 9.99792074e-01 2.03913891e-02 0.00000000e+00 2.48604981e+02] [-2.03913891e-02 9.99792074e-01 0.00000000e+00 -1.16753707e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.08667376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98037174299998 meters Centerline goodness : 0.993313 with order 1 Centerline is valid? [True, True] Translation: X:248.66, Y:-11.68, Z:-0.01 [[ 9.99740401e-01 2.27844386e-02 0.00000000e+00 2.48663807e+02] [-2.27844386e-02 9.99740401e-01 0.00000000e+00 -1.16796336e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.07541067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04037174299998 meters Centerline goodness : 0.995033 with order 1 Centerline is valid? [True, True] Translation: X:248.72, Y:-11.67, Z:0.00 [[ 9.99900156e-01 1.41307669e-02 0.00000000e+00 2.48722247e+02] [-1.41307669e-02 9.99900156e-01 0.00000000e+00 -1.16737338e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33476643e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10037174299998 meters Centerline goodness : 0.995717 with order 1 Centerline is valid? [True, True] Translation: X:248.78, Y:-11.68, Z:-0.00 [[ 9.99962647e-01 8.64315288e-03 0.00000000e+00 2.48779365e+02] [-8.64315288e-03 9.99962647e-01 0.00000000e+00 -1.16792765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46887303e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16037174299998 meters Centerline goodness : 0.994278 with order 1 Centerline is valid? [True, True] Translation: X:248.84, Y:-11.70, Z:-0.01 [[ 9.99947006e-01 1.02949345e-02 0.00000000e+00 2.48837225e+02] [-1.02949345e-02 9.99947006e-01 0.00000000e+00 -1.16960591e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.77334286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.220371743 meters Centerline goodness : 0.994377 with order 1 Centerline is valid? [True, True] Translation: X:248.90, Y:-11.70, Z:-0.01 [[ 9.99983979e-01 5.66046770e-03 0.00000000e+00 2.48895932e+02] [-5.66046770e-03 9.99983979e-01 0.00000000e+00 -1.17001715e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.63194505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.280371743 meters Centerline goodness : 0.994270 with order 1 Centerline is valid? [True, True] Translation: X:248.96, Y:-11.70, Z:-0.01 [[ 9.99991783e-01 4.05389086e-03 0.00000000e+00 2.48955038e+02] [-4.05389086e-03 9.99991783e-01 0.00000000e+00 -1.17049270e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.04162813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.340371743 meters Centerline goodness : 0.994339 with order 1 Centerline is valid? [True, True] Translation: X:249.01, Y:-11.70, Z:-0.00 [[ 9.99999968e-01 -2.54194732e-04 0.00000000e+00 2.49013868e+02] [ 2.54194732e-04 9.99999968e-01 0.00000000e+00 -1.17044331e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71536457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40037174299997 meters Centerline goodness : 0.995541 with order 1 Centerline is valid? [True, True] Translation: X:249.07, Y:-11.70, Z:0.00 [[ 9.99985122e-01 -5.45488781e-03 0.00000000e+00 2.49074443e+02] [ 5.45488781e-03 9.99985122e-01 0.00000000e+00 -1.16986199e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33873090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46037174299997 meters Centerline goodness : 0.994447 with order 1 Centerline is valid? [True, True] Translation: X:249.14, Y:-11.71, Z:-0.00 [[ 9.99998764e-01 1.57244108e-03 0.00000000e+00 2.49135500e+02] [-1.57244108e-03 9.99998764e-01 0.00000000e+00 -1.17066882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07866000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52037174299997 meters Centerline goodness : 0.994895 with order 1 Centerline is valid? [True, True] Translation: X:249.20, Y:-11.70, Z:0.00 [[ 9.99997983e-01 -2.00865774e-03 0.00000000e+00 2.49195910e+02] [ 2.00865774e-03 9.99997983e-01 0.00000000e+00 -1.16993213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03871283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58037174299997 meters Centerline goodness : 0.995404 with order 1 Centerline is valid? [True, True] Translation: X:249.26, Y:-11.70, Z:0.00 [[ 9.99999989e-01 1.48086536e-04 0.00000000e+00 2.49257305e+02] [-1.48086536e-04 9.99999989e-01 0.00000000e+00 -1.16991924e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57279968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64037174299997 meters Centerline goodness : 0.995408 with order 1 Centerline is valid? [True, True] Translation: X:249.32, Y:-11.70, Z:0.00 [[ 9.99998408e-01 1.78429627e-03 0.00000000e+00 2.49317892e+02] [-1.78429627e-03 9.99998408e-01 0.00000000e+00 -1.16993498e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17676313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70037174299998 meters Centerline goodness : 0.994651 with order 1 Centerline is valid? [True, True] Translation: X:249.38, Y:-11.71, Z:-0.00 [[ 9.99970871e-01 7.63266761e-03 0.00000000e+00 2.49377185e+02] [-7.63266761e-03 9.99970871e-01 0.00000000e+00 -1.17080363e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.38807497e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76037174299998 meters Centerline goodness : 0.993798 with order 1 Centerline is valid? [True, True] Translation: X:249.43, Y:-11.71, Z:0.00 [[ 9.99975443e-01 7.00812085e-03 0.00000000e+00 2.49434890e+02] [-7.00812085e-03 9.99975443e-01 0.00000000e+00 -1.17097589e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58050357e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82037174299998 meters Centerline goodness : 0.994636 with order 1 Centerline is valid? [True, True] Translation: X:249.49, Y:-11.71, Z:-0.00 [[ 9.99990131e-01 4.44277808e-03 0.00000000e+00 2.49493017e+02] [-4.44277808e-03 9.99990131e-01 0.00000000e+00 -1.17128756e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13911119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88037174299998 meters Centerline goodness : 0.994434 with order 1 Centerline is valid? [True, True] Translation: X:249.55, Y:-11.72, Z:-0.00 [[ 9.99997409e-01 -2.27618620e-03 0.00000000e+00 2.49552178e+02] [ 2.27618620e-03 9.99997409e-01 0.00000000e+00 -1.17150559e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.68072433e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.940371743 meters Centerline goodness : 0.993942 with order 1 Centerline is valid? [True, True] Translation: X:249.61, Y:-11.72, Z:-0.00 [[ 9.99997779e-01 -2.10767222e-03 0.00000000e+00 2.49612919e+02] [ 2.10767222e-03 9.99997779e-01 0.00000000e+00 -1.17196898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36396123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.000371743 meters Centerline goodness : 0.994292 with order 1 Centerline is valid? [True, True] Translation: X:249.67, Y:-11.72, Z:-0.00 [[ 9.99994479e-01 -3.32295703e-03 0.00000000e+00 2.49673125e+02] [ 3.32295703e-03 9.99994479e-01 0.00000000e+00 -1.17204844e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.53034459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.060371743 meters Centerline goodness : 0.995490 with order 1 Centerline is valid? [True, True] Translation: X:249.73, Y:-11.71, Z:0.00 [[ 9.99993214e-01 -3.68402254e-03 0.00000000e+00 2.49734245e+02] [ 3.68402254e-03 9.99993214e-01 0.00000000e+00 -1.17148432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95755475e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.120371743 meters Centerline goodness : 0.993924 with order 1 Centerline is valid? [True, True] Translation: X:249.79, Y:-11.72, Z:-0.00 [[ 9.99934340e-01 1.14592647e-02 0.00000000e+00 2.49794990e+02] [-1.14592647e-02 9.99934340e-01 0.00000000e+00 -1.17225826e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.03069961e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18037174299997 meters Centerline goodness : 0.995133 with order 1 Centerline is valid? [True, True] Translation: X:249.85, Y:-11.72, Z:0.01 [[ 9.99908728e-01 1.35106002e-02 0.00000000e+00 2.49853219e+02] [-1.35106002e-02 9.99908728e-01 0.00000000e+00 -1.17154164e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17847710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24037174299997 meters Centerline goodness : 0.993751 with order 1 Centerline is valid? [True, True] Translation: X:249.91, Y:-11.73, Z:-0.00 [[ 9.99777704e-01 2.10841920e-02 0.00000000e+00 2.49910912e+02] [-2.10841920e-02 9.99777704e-01 0.00000000e+00 -1.17285517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10851295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30037174299997 meters Centerline goodness : 0.994945 with order 1 Centerline is valid? [True, True] Translation: X:249.97, Y:-11.72, Z:0.00 [[ 9.99933984e-01 1.14903054e-02 0.00000000e+00 2.49970320e+02] [-1.14903054e-02 9.99933984e-01 0.00000000e+00 -1.17236769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47011741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36037174299997 meters Centerline goodness : 0.994573 with order 1 Centerline is valid? [True, True] Translation: X:250.03, Y:-11.74, Z:-0.00 [[ 9.99949176e-01 1.00819492e-02 0.00000000e+00 2.50028771e+02] [-1.00819492e-02 9.99949176e-01 0.00000000e+00 -1.17366744e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62503551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42037174299998 meters Centerline goodness : 0.995724 with order 1 Centerline is valid? [True, True] Translation: X:250.09, Y:-11.73, Z:0.00 [[ 9.99993782e-01 -3.52653533e-03 0.00000000e+00 2.50087494e+02] [ 3.52653533e-03 9.99993782e-01 0.00000000e+00 -1.17338753e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.69646196e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48037174299998 meters Centerline goodness : 0.995471 with order 1 Centerline is valid? [True, True] Translation: X:250.15, Y:-11.74, Z:-0.00 [[ 9.99948264e-01 -1.01719828e-02 0.00000000e+00 2.50148845e+02] [ 1.01719828e-02 9.99948264e-01 0.00000000e+00 -1.17384722e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71002654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54037174299998 meters Centerline goodness : 0.994352 with order 1 Centerline is valid? [True, True] Translation: X:250.21, Y:-11.75, Z:-0.00 [[ 9.99957062e-01 -9.26679959e-03 0.00000000e+00 2.50210726e+02] [ 9.26679959e-03 9.99957062e-01 0.00000000e+00 -1.17468767e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20727785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60037174299998 meters Centerline goodness : 0.994517 with order 1 Centerline is valid? [True, True] Translation: X:250.27, Y:-11.75, Z:-0.00 [[ 9.99953843e-01 -9.60786358e-03 0.00000000e+00 2.50272106e+02] [ 9.60786358e-03 9.99953843e-01 0.00000000e+00 -1.17497643e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71591232e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66037174299998 meters Centerline goodness : 0.994208 with order 1 Centerline is valid? [True, True] Translation: X:250.33, Y:-11.75, Z:0.00 [[ 9.99987545e-01 -4.99092390e-03 0.00000000e+00 2.50333835e+02] [ 4.99092390e-03 9.99987545e-01 0.00000000e+00 -1.17526990e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.97333697e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.720371743 meters Centerline goodness : 0.993703 with order 1 Centerline is valid? [True, True] Translation: X:250.40, Y:-11.76, Z:0.00 [[ 9.99998556e-01 -1.69947596e-03 0.00000000e+00 2.50395317e+02] [ 1.69947596e-03 9.99998556e-01 0.00000000e+00 -1.17551180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00157637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.780371743 meters Centerline goodness : 0.993471 with order 1 Centerline is valid? [True, True] Translation: X:250.46, Y:-11.76, Z:-0.00 [[ 9.99994276e-01 3.38346802e-03 0.00000000e+00 2.50456619e+02] [-3.38346802e-03 9.99994276e-01 0.00000000e+00 -1.17604185e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60211207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.840371743 meters Centerline goodness : 0.994900 with order 1 Centerline is valid? [True, True] Translation: X:250.52, Y:-11.75, Z:0.00 [[ 9.99994945e-01 -3.17960699e-03 0.00000000e+00 2.50515472e+02] [ 3.17960699e-03 9.99994945e-01 0.00000000e+00 -1.17537545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77225694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90037174299997 meters Centerline goodness : 0.992941 with order 1 Centerline is valid? [True, True] Translation: X:250.58, Y:-11.77, Z:-0.00 [[ 9.99998451e-01 1.76018720e-03 0.00000000e+00 2.50575827e+02] [-1.76018720e-03 9.99998451e-01 0.00000000e+00 -1.17658252e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65136213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96037174299997 meters Centerline goodness : 0.993446 with order 1 Centerline is valid? [True, True] Translation: X:250.64, Y:-11.77, Z:-0.00 [[ 9.99999944e-01 -3.34953911e-04 0.00000000e+00 2.50635795e+02] [ 3.34953911e-04 9.99999944e-01 0.00000000e+00 -1.17685441e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75655335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02037174299997 meters Centerline goodness : 0.994485 with order 1 Centerline is valid? [True, True] Translation: X:250.70, Y:-11.77, Z:-0.00 [[ 9.99991066e-01 -4.22704512e-03 0.00000000e+00 2.50695952e+02] [ 4.22704512e-03 9.99991066e-01 0.00000000e+00 -1.17702034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.69001954e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08037174299997 meters Centerline goodness : 0.994051 with order 1 Centerline is valid? [True, True] Translation: X:250.76, Y:-11.78, Z:-0.00 [[ 9.99976893e-01 -6.79806678e-03 0.00000000e+00 2.50757998e+02] [ 6.79806678e-03 9.99976893e-01 0.00000000e+00 -1.17751077e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34028639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14037174299997 meters Centerline goodness : 0.994175 with order 1 Centerline is valid? [True, True] Translation: X:250.82, Y:-11.78, Z:-0.00 [[ 9.99945043e-01 -1.04838547e-02 0.00000000e+00 2.50820123e+02] [ 1.04838547e-02 9.99945043e-01 0.00000000e+00 -1.17786012e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04291773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20037174299998 meters Centerline goodness : 0.995157 with order 1 Centerline is valid? [True, True] Translation: X:250.88, Y:-11.77, Z:0.00 [[ 9.99860908e-01 -1.66782962e-02 0.00000000e+00 2.50883161e+02] [ 1.66782962e-02 9.99860908e-01 0.00000000e+00 -1.17727488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65484850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26037174299998 meters Centerline goodness : 0.994374 with order 1 Centerline is valid? [True, True] Translation: X:250.95, Y:-11.78, Z:-0.00 [[ 9.99954730e-01 -9.51518951e-03 0.00000000e+00 2.50945049e+02] [ 9.51518951e-03 9.99954730e-01 0.00000000e+00 -1.17846856e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01185398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32037174299998 meters Centerline goodness : 0.994263 with order 1 Centerline is valid? [True, True] Translation: X:251.01, Y:-11.79, Z:-0.00 [[ 9.99986444e-01 -5.20681693e-03 0.00000000e+00 2.51006709e+02] [ 5.20681693e-03 9.99986444e-01 0.00000000e+00 -1.17880398e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84902268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38037174299998 meters Centerline goodness : 0.994374 with order 1 Centerline is valid? [True, True] Translation: X:251.07, Y:-11.79, Z:-0.00 [[ 9.99998643e-01 -1.64745274e-03 0.00000000e+00 2.51068262e+02] [ 1.64745274e-03 9.99998643e-01 0.00000000e+00 -1.17912191e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65247310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.440371743 meters Centerline goodness : 0.994024 with order 1 Centerline is valid? [True, True] Translation: X:251.13, Y:-11.79, Z:-0.00 [[ 9.99996393e-01 2.68592514e-03 0.00000000e+00 2.51129071e+02] [-2.68592514e-03 9.99996393e-01 0.00000000e+00 -1.17937860e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83436025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.500371743 meters Centerline goodness : 0.993984 with order 1 Centerline is valid? [True, True] Translation: X:251.19, Y:-11.80, Z:-0.00 [[ 9.99958444e-01 9.11650423e-03 0.00000000e+00 2.51188561e+02] [-9.11650423e-03 9.99958444e-01 0.00000000e+00 -1.17954226e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.02196803e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.560371743 meters Centerline goodness : 0.995091 with order 1 Centerline is valid? [True, True] Translation: X:251.25, Y:-11.79, Z:0.00 [[ 9.99948613e-01 1.01376034e-02 0.00000000e+00 2.51246418e+02] [-1.01376034e-02 9.99948613e-01 0.00000000e+00 -1.17889137e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77369553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.620371743 meters Centerline goodness : 0.993961 with order 1 Centerline is valid? [True, True] Translation: X:251.30, Y:-11.80, Z:0.00 [[ 9.99672852e-01 2.55771261e-02 0.00000000e+00 2.51304584e+02] [-2.55771261e-02 9.99672852e-01 0.00000000e+00 -1.18008711e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41785618e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68037174299997 meters Centerline goodness : 0.993704 with order 1 Centerline is valid? [True, True] Translation: X:251.36, Y:-11.80, Z:-0.00 [[ 9.99503224e-01 3.15167489e-02 0.00000000e+00 2.51362374e+02] [-3.15167489e-02 9.99503224e-01 0.00000000e+00 -1.18044726e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47065047e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74037174299997 meters Centerline goodness : 0.993528 with order 1 Centerline is valid? [True, True] Translation: X:251.42, Y:-11.81, Z:-0.00 [[ 9.99145215e-01 4.13381001e-02 0.00000000e+00 2.51420682e+02] [-4.13381001e-02 9.99145215e-01 0.00000000e+00 -1.18119113e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.45509845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80037174299997 meters Centerline goodness : 0.995382 with order 1 Centerline is valid? [True, True] Translation: X:251.48, Y:-11.81, Z:0.00 [[ 9.99348361e-01 3.60950575e-02 0.00000000e+00 2.51480208e+02] [-3.60950575e-02 9.99348361e-01 0.00000000e+00 -1.18061054e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29128106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86037174299997 meters Centerline goodness : 0.995968 with order 1 Centerline is valid? [True, True] Translation: X:251.54, Y:-11.82, Z:0.00 [[ 9.99249524e-01 3.87348609e-02 0.00000000e+00 2.51537498e+02] [-3.87348609e-02 9.99249524e-01 0.00000000e+00 -1.18150817e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44483755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92037174299998 meters Centerline goodness : 0.993043 with order 1 Centerline is valid? [True, True] Translation: X:251.59, Y:-11.84, Z:0.00 [[ 9.99077288e-01 4.29484794e-02 0.00000000e+00 2.51594887e+02] [-4.29484794e-02 9.99077288e-01 0.00000000e+00 -1.18363230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12411887e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98037174299998 meters Centerline goodness : 0.993524 with order 1 Centerline is valid? [True, True] Translation: X:251.65, Y:-11.85, Z:-0.00 [[ 9.99193896e-01 4.01442262e-02 0.00000000e+00 2.51652283e+02] [-4.01442262e-02 9.99193896e-01 0.00000000e+00 -1.18490575e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.03649261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04037174299998 meters Centerline goodness : 0.993743 with order 1 Centerline is valid? [True, True] Translation: X:251.71, Y:-11.86, Z:-0.00 [[ 9.99399512e-01 3.46498935e-02 0.00000000e+00 2.51710283e+02] [-3.46498935e-02 9.99399512e-01 0.00000000e+00 -1.18643218e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97700216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10037174299998 meters Centerline goodness : 0.995953 with order 1 Centerline is valid? [True, True] Translation: X:251.77, Y:-11.86, Z:0.00 [[ 9.99814526e-01 1.92591300e-02 0.00000000e+00 2.51767689e+02] [-1.92591300e-02 9.99814526e-01 0.00000000e+00 -1.18647850e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92058092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16037174299998 meters Centerline goodness : 0.995627 with order 1 Centerline is valid? [True, True] Translation: X:251.83, Y:-11.88, Z:0.00 [[ 9.99911969e-01 1.32685338e-02 0.00000000e+00 2.51826081e+02] [-1.32685338e-02 9.99911969e-01 0.00000000e+00 -1.18764910e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67613274e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.220371743 meters Centerline goodness : 0.995497 with order 1 Centerline is valid? [True, True] Translation: X:251.88, Y:-11.89, Z:0.00 [[ 9.99954982e-01 9.48857386e-03 0.00000000e+00 2.51884812e+02] [-9.48857386e-03 9.99954982e-01 0.00000000e+00 -1.18851943e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00462936e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.280371743 meters Centerline goodness : 0.995176 with order 1 Centerline is valid? [True, True] Translation: X:251.94, Y:-11.89, Z:0.00 [[ 9.99997405e-01 2.27793971e-03 0.00000000e+00 2.51942607e+02] [-2.27793971e-03 9.99997405e-01 0.00000000e+00 -1.18941358e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59272401e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.340371743 meters Centerline goodness : 0.993636 with order 1 Centerline is valid? [True, True] Translation: X:252.00, Y:-11.91, Z:-0.01 [[ 9.99991326e-01 4.16512192e-03 0.00000000e+00 2.52001801e+02] [-4.16512192e-03 9.99991326e-01 0.00000000e+00 -1.19122991e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.17527717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40037174299997 meters Centerline goodness : 0.995138 with order 1 Centerline is valid? [True, True] Translation: X:252.06, Y:-11.91, Z:-0.00 [[ 9.99937572e-01 -1.11737486e-02 0.00000000e+00 2.52061245e+02] [ 1.11737486e-02 9.99937572e-01 0.00000000e+00 -1.19087853e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.54061838e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46037174299997 meters Centerline goodness : 0.993710 with order 1 Centerline is valid? [True, True] Translation: X:252.12, Y:-11.93, Z:-0.01 [[ 9.99905352e-01 -1.37581450e-02 0.00000000e+00 2.52122418e+02] [ 1.37581450e-02 9.99905352e-01 0.00000000e+00 -1.19254555e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.27703599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52037174299997 meters Centerline goodness : 0.993444 with order 1 Centerline is valid? [True, True] Translation: X:252.19, Y:-11.93, Z:-0.01 [[ 9.99812833e-01 -1.93468117e-02 0.00000000e+00 2.52185564e+02] [ 1.93468117e-02 9.99812833e-01 0.00000000e+00 -1.19301146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.52146704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58037174299997 meters Centerline goodness : 0.993411 with order 1 Centerline is valid? [True, True] Translation: X:252.25, Y:-11.93, Z:-0.01 [[ 9.99771003e-01 -2.13995505e-02 0.00000000e+00 2.52248389e+02] [ 2.13995505e-02 9.99771003e-01 0.00000000e+00 -1.19332770e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.05930147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64037174299997 meters Centerline goodness : 0.993568 with order 1 Centerline is valid? [True, True] Translation: X:252.31, Y:-11.94, Z:-0.01 [[ 9.99753656e-01 -2.21952037e-02 0.00000000e+00 2.52311714e+02] [ 2.21952037e-02 9.99753656e-01 0.00000000e+00 -1.19355980e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.21759931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70037174299998 meters Centerline goodness : 0.994582 with order 1 Centerline is valid? [True, True] Translation: X:252.37, Y:-11.93, Z:-0.00 [[ 9.99611883e-01 -2.78582605e-02 0.00000000e+00 2.52373801e+02] [ 2.78582605e-02 9.99611883e-01 0.00000000e+00 -1.19265523e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41280865e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76037174299998 meters Centerline goodness : 0.994985 with order 1 Centerline is valid? [True, True] Translation: X:252.44, Y:-11.93, Z:-0.00 [[ 9.99643371e-01 -2.67044993e-02 0.00000000e+00 2.52435878e+02] [ 2.67044993e-02 9.99643371e-01 0.00000000e+00 -1.19270530e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83094283e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82037174299998 meters Centerline goodness : 0.995179 with order 1 Centerline is valid? [True, True] Translation: X:252.50, Y:-11.93, Z:0.00 [[ 9.99682856e-01 -2.51830738e-02 0.00000000e+00 2.52499173e+02] [ 2.51830738e-02 9.99682856e-01 0.00000000e+00 -1.19268770e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.73021536e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88037174299998 meters Centerline goodness : 0.995192 with order 1 Centerline is valid? [True, True] Translation: X:252.56, Y:-11.93, Z:-0.00 [[ 9.99700129e-01 -2.44877820e-02 0.00000000e+00 2.52560033e+02] [ 2.44877820e-02 9.99700129e-01 0.00000000e+00 -1.19262510e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66821058e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.940371743 meters Centerline goodness : 0.989288 with order 1 Centerline is valid? [True, True] Translation: X:252.62, Y:-11.93, Z:-0.00 [[ 9.99679764e-01 -2.53055179e-02 0.00000000e+00 2.52622166e+02] [ 2.53055179e-02 9.99679764e-01 0.00000000e+00 -1.19255219e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03713693e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.000371743 meters Centerline goodness : 0.994313 with order 1 Centerline is valid? [True, True] Translation: X:252.68, Y:-11.94, Z:-0.01 [[ 9.99843690e-01 -1.76803729e-02 0.00000000e+00 2.52684437e+02] [ 1.76803729e-02 9.99843690e-01 0.00000000e+00 -1.19392045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01680158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.060371743 meters Centerline goodness : 0.993947 with order 1 Centerline is valid? [True, True] Translation: X:252.75, Y:-11.93, Z:-0.00 [[ 9.99689844e-01 -2.49041352e-02 0.00000000e+00 2.52748272e+02] [ 2.49041352e-02 9.99689844e-01 0.00000000e+00 -1.19330882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.27626548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.120371743 meters Centerline goodness : 0.994866 with order 1 Centerline is valid? [True, True] Translation: X:252.81, Y:-11.94, Z:-0.00 [[ 9.99731209e-01 -2.31842778e-02 0.00000000e+00 2.52810550e+02] [ 2.31842778e-02 9.99731209e-01 0.00000000e+00 -1.19353433e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36200898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18037174299997 meters Centerline goodness : 0.994726 with order 1 Centerline is valid? [True, True] Translation: X:252.87, Y:-11.93, Z:0.00 [[ 9.99714676e-01 -2.38865452e-02 0.00000000e+00 2.52871664e+02] [ 2.38865452e-02 9.99714676e-01 0.00000000e+00 -1.19310451e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.72165080e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24037174299997 meters Centerline goodness : 0.996321 with order 1 Centerline is valid? [True, True] Translation: X:252.93, Y:-11.92, Z:0.00 [[ 9.99566674e-01 -2.94357740e-02 0.00000000e+00 2.52934803e+02] [ 2.94357740e-02 9.99566674e-01 0.00000000e+00 -1.19240979e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13427619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30037174299997 meters Centerline goodness : 0.995110 with order 1 Centerline is valid? [True, True] Translation: X:253.00, Y:-11.93, Z:0.00 [[ 9.99677605e-01 -2.53906646e-02 0.00000000e+00 2.52996422e+02] [ 2.53906646e-02 9.99677605e-01 0.00000000e+00 -1.19322262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17182912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36037174299997 meters Centerline goodness : 0.995103 with order 1 Centerline is valid? [True, True] Translation: X:253.06, Y:-11.93, Z:0.00 [[ 9.99631967e-01 -2.71280514e-02 0.00000000e+00 2.53058896e+02] [ 2.71280514e-02 9.99631967e-01 0.00000000e+00 -1.19336771e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07350082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42037174299998 meters Centerline goodness : 0.995019 with order 1 Centerline is valid? [True, True] Translation: X:253.12, Y:-11.93, Z:0.00 [[ 9.99634427e-01 -2.70372267e-02 0.00000000e+00 2.53120832e+02] [ 2.70372267e-02 9.99634427e-01 0.00000000e+00 -1.19334109e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01287978e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48037174299998 meters Centerline goodness : 0.995764 with order 1 Centerline is valid? [True, True] Translation: X:253.18, Y:-11.93, Z:-0.00 [[ 9.99625588e-01 -2.73620717e-02 0.00000000e+00 2.53182298e+02] [ 2.73620717e-02 9.99625588e-01 0.00000000e+00 -1.19295214e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15925705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54037174299998 meters Centerline goodness : 0.994807 with order 1 Centerline is valid? [True, True] Translation: X:253.24, Y:-11.93, Z:0.00 [[ 9.99823696e-01 -1.87770157e-02 0.00000000e+00 2.53244824e+02] [ 1.87770157e-02 9.99823696e-01 0.00000000e+00 -1.19332896e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71504192e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60037174299998 meters Centerline goodness : 0.995185 with order 1 Centerline is valid? [True, True] Translation: X:253.31, Y:-11.93, Z:0.00 [[ 9.99905094e-01 -1.37768654e-02 0.00000000e+00 2.53307267e+02] [ 1.37768654e-02 9.99905094e-01 0.00000000e+00 -1.19321492e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58611582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66037174299998 meters Centerline goodness : 0.994756 with order 1 Centerline is valid? [True, True] Translation: X:253.37, Y:-11.93, Z:0.00 [[ 9.99991163e-01 -4.20408704e-03 0.00000000e+00 2.53369816e+02] [ 4.20408704e-03 9.99991163e-01 0.00000000e+00 -1.19296252e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33441968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.720371743 meters Centerline goodness : 0.995099 with order 1 Centerline is valid? [True, True] Translation: X:253.43, Y:-11.93, Z:0.00 [[ 1.00000000e+00 -1.37031350e-05 0.00000000e+00 2.53430846e+02] [ 1.37031350e-05 1.00000000e+00 0.00000000e+00 -1.19333210e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32648141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.780371743 meters Centerline goodness : 0.995205 with order 1 Centerline is valid? [True, True] Translation: X:253.49, Y:-11.93, Z:0.01 [[ 9.99968457e-01 7.94263247e-03 0.00000000e+00 2.53492053e+02] [-7.94263247e-03 9.99968457e-01 0.00000000e+00 -1.19306066e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.78557548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.840371743 meters Centerline goodness : 0.994170 with order 1 Centerline is valid? [True, True] Translation: X:253.55, Y:-11.93, Z:0.00 [[ 9.99918049e-01 1.28021334e-02 0.00000000e+00 2.53549627e+02] [-1.28021334e-02 9.99918049e-01 0.00000000e+00 -1.19313497e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41664564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90037174299997 meters Centerline goodness : 0.994327 with order 1 Centerline is valid? [True, True] Translation: X:253.61, Y:-11.93, Z:0.00 [[ 9.99902690e-01 1.39503097e-02 0.00000000e+00 2.53608054e+02] [-1.39503097e-02 9.99902690e-01 0.00000000e+00 -1.19329362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37358562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96037174299997 meters Centerline goodness : 0.994021 with order 1 Centerline is valid? [True, True] Translation: X:253.67, Y:-11.93, Z:0.00 [[ 9.99942314e-01 1.07410226e-02 0.00000000e+00 2.53667191e+02] [-1.07410226e-02 9.99942314e-01 0.00000000e+00 -1.19336185e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02293384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02037174299997 meters Centerline goodness : 0.993491 with order 1 Centerline is valid? [True, True] Translation: X:253.73, Y:-11.93, Z:0.00 [[ 9.99978935e-01 6.49070606e-03 0.00000000e+00 2.53726153e+02] [-6.49070606e-03 9.99978935e-01 0.00000000e+00 -1.19341893e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45306069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08037174299997 meters Centerline goodness : 0.993824 with order 1 Centerline is valid? [True, True] Translation: X:253.79, Y:-11.93, Z:0.01 [[ 9.99997784e-01 2.10512956e-03 0.00000000e+00 2.53785525e+02] [-2.10512956e-03 9.99997784e-01 0.00000000e+00 -1.19347043e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25518567e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14037174299997 meters Centerline goodness : 0.993796 with order 1 Centerline is valid? [True, True] Translation: X:253.85, Y:-11.94, Z:0.01 [[ 9.99997685e-01 -2.15190935e-03 0.00000000e+00 2.53845079e+02] [ 2.15190935e-03 9.99997685e-01 0.00000000e+00 -1.19352744e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53777291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20037174299998 meters Centerline goodness : 0.993823 with order 1 Centerline is valid? [True, True] Translation: X:253.91, Y:-11.94, Z:0.00 [[ 9.99988701e-01 -4.75371938e-03 0.00000000e+00 2.53905846e+02] [ 4.75371938e-03 9.99988701e-01 0.00000000e+00 -1.19379912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50471974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26037174299998 meters Centerline goodness : 0.993796 with order 1 Centerline is valid? [True, True] Translation: X:253.97, Y:-11.94, Z:0.00 [[ 9.99969774e-01 -7.77501804e-03 0.00000000e+00 2.53968360e+02] [ 7.77501804e-03 9.99969774e-01 0.00000000e+00 -1.19429924e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02155139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32037174299998 meters Centerline goodness : 0.993235 with order 1 Centerline is valid? [True, True] Translation: X:254.03, Y:-11.95, Z:0.00 [[ 9.99937386e-01 -1.11903303e-02 0.00000000e+00 2.54029989e+02] [ 1.11903303e-02 9.99937386e-01 0.00000000e+00 -1.19462989e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83089707e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38037174299998 meters Centerline goodness : 0.994210 with order 1 Centerline is valid? [True, True] Translation: X:254.09, Y:-11.94, Z:0.01 [[ 9.99851434e-01 -1.72369054e-02 0.00000000e+00 2.54092371e+02] [ 1.72369054e-02 9.99851434e-01 0.00000000e+00 -1.19400714e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.32169603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.440371743 meters Centerline goodness : 0.994920 with order 1 Centerline is valid? [True, True] Translation: X:254.15, Y:-11.94, Z:0.01 [[ 9.99899356e-01 -1.41872121e-02 0.00000000e+00 2.54154053e+02] [ 1.41872121e-02 9.99899356e-01 0.00000000e+00 -1.19424812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.92559474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.500371743 meters Centerline goodness : 0.994250 with order 1 Centerline is valid? [True, True] Translation: X:254.22, Y:-11.95, Z:0.01 [[ 9.99979487e-01 -6.40513741e-03 0.00000000e+00 2.54216258e+02] [ 6.40513741e-03 9.99979487e-01 0.00000000e+00 -1.19486228e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03917127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.560371743 meters Centerline goodness : 0.995613 with order 1 Centerline is valid? [True, True] Translation: X:254.28, Y:-11.95, Z:0.01 [[ 9.99994260e-01 -3.38810430e-03 0.00000000e+00 2.54278766e+02] [ 3.38810430e-03 9.99994260e-01 0.00000000e+00 -1.19450792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00647720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.620371743 meters Centerline goodness : 0.993849 with order 1 Centerline is valid? [True, True] Translation: X:254.34, Y:-11.95, Z:0.01 [[ 9.99988301e-01 4.83716132e-03 0.00000000e+00 2.54340177e+02] [-4.83716132e-03 9.99988301e-01 0.00000000e+00 -1.19510692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38223413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68037174299997 meters Centerline goodness : 0.994894 with order 1 Centerline is valid? [True, True] Translation: X:254.40, Y:-11.95, Z:0.01 [[ 9.99986315e-01 5.23166221e-03 0.00000000e+00 2.54399194e+02] [-5.23166221e-03 9.99986315e-01 0.00000000e+00 -1.19486171e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30757651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74037174299997 meters Centerline goodness : 0.993664 with order 1 Centerline is valid? [True, True] Translation: X:254.46, Y:-11.96, Z:0.01 [[ 9.99810894e-01 1.94467469e-02 0.00000000e+00 2.54457217e+02] [-1.94467469e-02 9.99810894e-01 0.00000000e+00 -1.19617377e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25116691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80037174299997 meters Centerline goodness : 0.995294 with order 1 Centerline is valid? [True, True] Translation: X:254.52, Y:-11.96, Z:0.01 [[ 9.99692735e-01 2.47878010e-02 0.00000000e+00 2.54515411e+02] [-2.47878010e-02 9.99692735e-01 0.00000000e+00 -1.19639842e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.30515297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86037174299997 meters Centerline goodness : 0.993896 with order 1 Centerline is valid? [True, True] Translation: X:254.57, Y:-11.97, Z:0.01 [[ 9.99496696e-01 3.17230812e-02 0.00000000e+00 2.54573473e+02] [-3.17230812e-02 9.99496696e-01 0.00000000e+00 -1.19692677e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25124815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92037174299998 meters Centerline goodness : 0.994008 with order 1 Centerline is valid? [True, True] Translation: X:254.63, Y:-11.97, Z:0.01 [[ 9.99316255e-01 3.69732622e-02 0.00000000e+00 2.54629924e+02] [-3.69732622e-02 9.99316255e-01 0.00000000e+00 -1.19732814e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53065735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98037174299998 meters Centerline goodness : 0.993403 with order 1 Centerline is valid? [True, True] Translation: X:254.69, Y:-11.98, Z:0.00 [[ 9.99207419e-01 3.98061927e-02 0.00000000e+00 2.54687923e+02] [-3.98061927e-02 9.99207419e-01 0.00000000e+00 -1.19811856e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25054609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04037174299998 meters Centerline goodness : 0.993369 with order 1 Centerline is valid? [True, True] Translation: X:254.75, Y:-11.99, Z:0.00 [[ 9.99413890e-01 3.42326750e-02 0.00000000e+00 2.54746459e+02] [-3.42326750e-02 9.99413890e-01 0.00000000e+00 -1.19896621e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23592691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10037174299998 meters Centerline goodness : 0.993387 with order 1 Centerline is valid? [True, True] Translation: X:254.81, Y:-11.99, Z:0.01 [[ 9.99650487e-01 2.64367737e-02 0.00000000e+00 2.54805106e+02] [-2.64367737e-02 9.99650487e-01 0.00000000e+00 -1.19946473e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33555768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16037174299998 meters Centerline goodness : 0.993752 with order 1 Centerline is valid? [True, True] Translation: X:254.86, Y:-12.00, Z:0.00 [[ 9.99910150e-01 1.34049320e-02 0.00000000e+00 2.54862436e+02] [-1.34049320e-02 9.99910150e-01 0.00000000e+00 -1.20046418e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42869213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.220371743 meters Centerline goodness : 0.994300 with order 1 Centerline is valid? [True, True] Translation: X:254.92, Y:-12.01, Z:0.00 [[ 9.99952468e-01 9.74998388e-03 0.00000000e+00 2.54920485e+02] [-9.74998388e-03 9.99952468e-01 0.00000000e+00 -1.20110122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60691158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.280371743 meters Centerline goodness : 0.993776 with order 1 Centerline is valid? [True, True] Translation: X:254.98, Y:-12.02, Z:0.00 [[ 9.99964496e-01 8.42659008e-03 0.00000000e+00 2.54977669e+02] [-8.42659008e-03 9.99964496e-01 0.00000000e+00 -1.20207440e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06413983e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.340371743 meters Centerline goodness : 0.995190 with order 1 Centerline is valid? [True, True] Translation: X:255.04, Y:-12.02, Z:0.01 [[ 9.99999031e-01 -1.39209766e-03 0.00000000e+00 2.55035830e+02] [ 1.39209766e-03 9.99999031e-01 0.00000000e+00 -1.20185561e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17358261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40037174299997 meters Centerline goodness : 0.995195 with order 1 Centerline is valid? [True, True] Translation: X:255.10, Y:-12.02, Z:0.01 [[ 9.99996978e-01 -2.45839340e-03 0.00000000e+00 2.55097214e+02] [ 2.45839340e-03 9.99996978e-01 0.00000000e+00 -1.20241056e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.18706801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46037174299997 meters Centerline goodness : 0.994715 with order 1 Centerline is valid? [True, True] Translation: X:255.16, Y:-12.03, Z:0.00 [[ 9.99999782e-01 -6.60263201e-04 0.00000000e+00 2.55157816e+02] [ 6.60263201e-04 9.99999782e-01 0.00000000e+00 -1.20348665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29559411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52037174299997 meters Centerline goodness : 0.994798 with order 1 Centerline is valid? [True, True] Translation: X:255.22, Y:-12.03, Z:0.00 [[ 9.99985872e-01 -5.31559194e-03 0.00000000e+00 2.55217728e+02] [ 5.31559194e-03 9.99985872e-01 0.00000000e+00 -1.20343993e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36126050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58037174299997 meters Centerline goodness : 0.994314 with order 1 Centerline is valid? [True, True] Translation: X:255.28, Y:-12.05, Z:-0.00 [[ 9.99999417e-01 1.07957144e-03 0.00000000e+00 2.55278252e+02] [-1.07957144e-03 9.99999417e-01 0.00000000e+00 -1.20462080e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.93849735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64037174299997 meters Centerline goodness : 0.992226 with order 1 Centerline is valid? [True, True] Translation: X:255.34, Y:-12.04, Z:0.00 [[ 9.99977833e-01 -6.65829543e-03 0.00000000e+00 2.55337838e+02] [ 6.65829543e-03 9.99977833e-01 0.00000000e+00 -1.20394348e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74272756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70037174299998 meters Centerline goodness : 0.993502 with order 1 Centerline is valid? [True, True] Translation: X:255.40, Y:-12.05, Z:-0.00 [[ 9.99999379e-01 1.11444449e-03 0.00000000e+00 2.55399139e+02] [-1.11444449e-03 9.99999379e-01 0.00000000e+00 -1.20500783e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71154508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76037174299998 meters Centerline goodness : 0.994140 with order 1 Centerline is valid? [True, True] Translation: X:255.46, Y:-12.05, Z:0.00 [[ 9.99999576e-01 9.20685755e-04 0.00000000e+00 2.55458539e+02] [-9.20685755e-04 9.99999576e-01 0.00000000e+00 -1.20478825e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04509113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82037174299998 meters Centerline goodness : 0.994730 with order 1 Centerline is valid? [True, True] Translation: X:255.52, Y:-12.05, Z:0.00 [[ 9.99999621e-01 8.70893577e-04 0.00000000e+00 2.55519301e+02] [-8.70893577e-04 9.99999621e-01 0.00000000e+00 -1.20504023e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19291576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88037174299998 meters Centerline goodness : 0.994350 with order 1 Centerline is valid? [True, True] Translation: X:255.58, Y:-12.05, Z:0.00 [[ 9.99999515e-01 9.85037107e-04 0.00000000e+00 2.55579805e+02] [-9.85037107e-04 9.99999515e-01 0.00000000e+00 -1.20519997e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15463042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.940371743 meters Centerline goodness : 0.995200 with order 1 Centerline is valid? [True, True] Translation: X:255.64, Y:-12.05, Z:0.00 [[ 9.99994840e-01 3.21262250e-03 0.00000000e+00 2.55640453e+02] [-3.21262250e-03 9.99994840e-01 0.00000000e+00 -1.20531858e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51715864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.000371743 meters Centerline goodness : 0.995586 with order 1 Centerline is valid? [True, True] Translation: X:255.70, Y:-12.05, Z:0.00 [[ 9.99974176e-01 7.18661675e-03 0.00000000e+00 2.55699446e+02] [-7.18661675e-03 9.99974176e-01 0.00000000e+00 -1.20530161e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.88237716e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.060371743 meters Centerline goodness : 0.994577 with order 1 Centerline is valid? [True, True] Translation: X:255.76, Y:-12.06, Z:-0.01 [[ 9.99921476e-01 1.25316117e-02 0.00000000e+00 2.55758233e+02] [-1.25316117e-02 9.99921476e-01 0.00000000e+00 -1.20601015e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.24050380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.120371743 meters Centerline goodness : 0.995487 with order 1 Centerline is valid? [True, True] Translation: X:255.82, Y:-12.06, Z:-0.00 [[ 9.99973418e-01 7.29133606e-03 0.00000000e+00 2.55817699e+02] [-7.29133606e-03 9.99973418e-01 0.00000000e+00 -1.20569600e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.61775973e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18037174299997 meters Centerline goodness : 0.995900 with order 1 Centerline is valid? [True, True] Translation: X:255.88, Y:-12.06, Z:-0.00 [[ 9.99986497e-01 5.19674137e-03 0.00000000e+00 2.55876885e+02] [-5.19674137e-03 9.99986497e-01 0.00000000e+00 -1.20579270e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.28133403e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24037174299997 meters Centerline goodness : 0.994427 with order 1 Centerline is valid? [True, True] Translation: X:255.93, Y:-12.06, Z:-0.00 [[ 9.99997926e-01 2.03661698e-03 0.00000000e+00 2.55934200e+02] [-2.03661698e-03 9.99997926e-01 0.00000000e+00 -1.20605781e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55915928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30037174299997 meters Centerline goodness : 0.995369 with order 1 Centerline is valid? [True, True] Translation: X:255.99, Y:-12.06, Z:-0.00 [[ 9.99992131e-01 -3.96701056e-03 0.00000000e+00 2.55993670e+02] [ 3.96701056e-03 9.99992131e-01 0.00000000e+00 -1.20619952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.16856322e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36037174299997 meters Centerline goodness : 0.995433 with order 1 Centerline is valid? [True, True] Translation: X:256.06, Y:-12.07, Z:0.00 [[ 9.99904453e-01 -1.38233791e-02 0.00000000e+00 2.56056231e+02] [ 1.38233791e-02 9.99904453e-01 0.00000000e+00 -1.20657532e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70610029e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42037174299998 meters Centerline goodness : 0.995580 with order 1 Centerline is valid? [True, True] Translation: X:256.12, Y:-12.07, Z:-0.00 [[ 9.99806220e-01 -1.96855898e-02 0.00000000e+00 2.56119267e+02] [ 1.96855898e-02 9.99806220e-01 0.00000000e+00 -1.20683833e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.36682527e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48037174299998 meters Centerline goodness : 0.996147 with order 1 Centerline is valid? [True, True] Translation: X:256.18, Y:-12.07, Z:-0.00 [[ 9.99776682e-01 -2.11326009e-02 0.00000000e+00 2.56181001e+02] [ 2.11326009e-02 9.99776682e-01 0.00000000e+00 -1.20712555e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24088158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54037174299998 meters Centerline goodness : 0.995630 with order 1 Centerline is valid? [True, True] Translation: X:256.24, Y:-12.07, Z:-0.00 [[ 9.99820532e-01 -1.89447744e-02 0.00000000e+00 2.56244481e+02] [ 1.89447744e-02 9.99820532e-01 0.00000000e+00 -1.20727556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34410594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60037174299998 meters Centerline goodness : 0.995917 with order 1 Centerline is valid? [True, True] Translation: X:256.31, Y:-12.07, Z:-0.00 [[ 9.99882946e-01 -1.53001337e-02 0.00000000e+00 2.56307588e+02] [ 1.53001337e-02 9.99882946e-01 0.00000000e+00 -1.20740635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.54080085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66037174299998 meters Centerline goodness : 0.995132 with order 1 Centerline is valid? [True, True] Translation: X:256.37, Y:-12.07, Z:-0.00 [[ 9.99939058e-01 -1.10399306e-02 0.00000000e+00 2.56369629e+02] [ 1.10399306e-02 9.99939058e-01 0.00000000e+00 -1.20724786e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95573306e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.720371743 meters Centerline goodness : 0.995498 with order 1 Centerline is valid? [True, True] Translation: X:256.43, Y:-12.07, Z:0.00 [[ 9.99942527e-01 -1.07211406e-02 0.00000000e+00 2.56431191e+02] [ 1.07211406e-02 9.99942527e-01 0.00000000e+00 -1.20671934e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53061335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.780371743 meters Centerline goodness : 0.995443 with order 1 Centerline is valid? [True, True] Translation: X:256.49, Y:-12.07, Z:-0.00 [[ 9.99988184e-01 -4.86124560e-03 0.00000000e+00 2.56493279e+02] [ 4.86124560e-03 9.99988184e-01 0.00000000e+00 -1.20731217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.61663832e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.840371743 meters Centerline goodness : 0.995031 with order 1 Centerline is valid? [True, True] Translation: X:256.56, Y:-12.08, Z:-0.00 [[ 9.99999969e-01 -2.50489312e-04 0.00000000e+00 2.56555480e+02] [ 2.50489312e-04 9.99999969e-01 0.00000000e+00 -1.20767067e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55366106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90037174299997 meters Centerline goodness : 0.995014 with order 1 Centerline is valid? [True, True] Translation: X:256.62, Y:-12.08, Z:-0.00 [[ 9.99999628e-01 8.62328693e-04 0.00000000e+00 2.56615751e+02] [-8.62328693e-04 9.99999628e-01 0.00000000e+00 -1.20759753e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41922066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96037174299997 meters Centerline goodness : 0.995364 with order 1 Centerline is valid? [True, True] Translation: X:256.68, Y:-12.07, Z:0.00 [[ 9.99993698e-01 -3.55027926e-03 0.00000000e+00 2.56675839e+02] [ 3.55027926e-03 9.99993698e-01 0.00000000e+00 -1.20703763e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20298635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.020371743 meters Centerline goodness : 0.993944 with order 1 Centerline is valid? [True, True] Translation: X:256.74, Y:-12.08, Z:-0.00 [[ 9.99999846e-01 5.55732797e-04 0.00000000e+00 2.56736486e+02] [-5.55732797e-04 9.99999846e-01 0.00000000e+00 -1.20801362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34920320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.080371743 meters Centerline goodness : 0.993401 with order 1 Centerline is valid? [True, True] Translation: X:256.80, Y:-12.08, Z:-0.00 [[ 9.99999918e-01 4.05261580e-04 0.00000000e+00 2.56796528e+02] [-4.05261580e-04 9.99999918e-01 0.00000000e+00 -1.20826787e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.21921820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.140371743 meters Centerline goodness : 0.994213 with order 1 Centerline is valid? [True, True] Translation: X:256.86, Y:-12.09, Z:-0.00 [[ 9.99999993e-01 -1.22193849e-04 0.00000000e+00 2.56856642e+02] [ 1.22193849e-04 9.99999993e-01 0.00000000e+00 -1.20855470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90635977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.200371743 meters Centerline goodness : 0.995533 with order 1 Centerline is valid? [True, True] Translation: X:256.92, Y:-12.08, Z:-0.00 [[ 9.99979576e-01 -6.39122541e-03 0.00000000e+00 2.56916748e+02] [ 6.39122541e-03 9.99979576e-01 0.00000000e+00 -1.20838454e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61839515e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.260371743 meters Centerline goodness : 0.994984 with order 1 Centerline is valid? [True, True] Translation: X:256.98, Y:-12.09, Z:-0.00 [[ 9.99990489e-01 -4.36152458e-03 0.00000000e+00 2.56978501e+02] [ 4.36152458e-03 9.99990489e-01 0.00000000e+00 -1.20944291e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55988141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.320371743 meters Centerline goodness : 0.993817 with order 1 Centerline is valid? [True, True] Translation: X:257.04, Y:-12.10, Z:-0.00 [[ 9.99985023e-01 -5.47297463e-03 0.00000000e+00 2.57040979e+02] [ 5.47297463e-03 9.99985023e-01 0.00000000e+00 -1.20996355e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57435331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.380371743 meters Centerline goodness : 0.993755 with order 1 Centerline is valid? [True, True] Translation: X:257.10, Y:-12.10, Z:-0.00 [[ 9.99987992e-01 -4.90052009e-03 0.00000000e+00 2.57101691e+02] [ 4.90052009e-03 9.99987992e-01 0.00000000e+00 -1.21043434e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08773073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.440371743 meters Centerline goodness : 0.994457 with order 1 Centerline is valid? [True, True] Translation: X:257.16, Y:-12.11, Z:-0.00 [[ 9.99987826e-01 -4.93425304e-03 0.00000000e+00 2.57163544e+02] [ 4.93425304e-03 9.99987826e-01 0.00000000e+00 -1.21080232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80322552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.500371743 meters Centerline goodness : 0.994878 with order 1 Centerline is valid? [True, True] Translation: X:257.23, Y:-12.11, Z:-0.00 [[ 9.99990411e-01 -4.37924893e-03 0.00000000e+00 2.57225586e+02] [ 4.37924893e-03 9.99990411e-01 0.00000000e+00 -1.21138346e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20393505e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.560371743 meters Centerline goodness : 0.994495 with order 1 Centerline is valid? [True, True] Translation: X:257.29, Y:-12.12, Z:-0.00 [[ 9.99995240e-01 -3.08536979e-03 0.00000000e+00 2.57287698e+02] [ 3.08536979e-03 9.99995240e-01 0.00000000e+00 -1.21189292e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.82512043e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.620371743 meters Centerline goodness : 0.993972 with order 1 Centerline is valid? [True, True] Translation: X:257.35, Y:-12.12, Z:-0.00 [[ 9.99990016e-01 -4.46862073e-03 0.00000000e+00 2.57348972e+02] [ 4.46862073e-03 9.99990016e-01 0.00000000e+00 -1.21236069e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50247377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.680371743 meters Centerline goodness : 0.994173 with order 1 Centerline is valid? [True, True] Translation: X:257.41, Y:-12.13, Z:-0.00 [[ 9.99991761e-01 -4.05918325e-03 0.00000000e+00 2.57411369e+02] [ 4.05918325e-03 9.99991761e-01 0.00000000e+00 -1.21295609e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10518273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.740371743 meters Centerline goodness : 0.993420 with order 1 Centerline is valid? [True, True] Translation: X:257.47, Y:-12.14, Z:-0.00 [[ 9.99992629e-01 -3.83964362e-03 0.00000000e+00 2.57473273e+02] [ 3.83964362e-03 9.99992629e-01 0.00000000e+00 -1.21356122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.00375505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.800371743 meters Centerline goodness : 0.995538 with order 1 Centerline is valid? [True, True] Translation: X:257.53, Y:-12.14, Z:-0.00 [[ 9.99962373e-01 -8.67480155e-03 0.00000000e+00 2.57534520e+02] [ 8.67480155e-03 9.99962373e-01 0.00000000e+00 -1.21352464e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75448432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86037174300003 meters Centerline goodness : 0.995692 with order 1 Centerline is valid? [True, True] Translation: X:257.60, Y:-12.14, Z:-0.00 [[ 9.99984307e-01 -5.60223545e-03 0.00000000e+00 2.57596198e+02] [ 5.60223545e-03 9.99984307e-01 0.00000000e+00 -1.21420804e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97363327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92037174300003 meters Centerline goodness : 0.994637 with order 1 Centerline is valid? [True, True] Translation: X:257.66, Y:-12.15, Z:-0.01 [[ 9.99995273e-01 3.07480694e-03 0.00000000e+00 2.57656972e+02] [-3.07480694e-03 9.99995273e-01 0.00000000e+00 -1.21547575e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33419362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98037174300003 meters Centerline goodness : 0.994870 with order 1 Centerline is valid? [True, True] Translation: X:257.72, Y:-12.15, Z:-0.00 [[ 9.99999824e-01 5.93699376e-04 0.00000000e+00 2.57715836e+02] [-5.93699376e-04 9.99999824e-01 0.00000000e+00 -1.21495392e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.88097396e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.040371743 meters Centerline goodness : 0.995632 with order 1 Centerline is valid? [True, True] Translation: X:257.78, Y:-12.15, Z:-0.00 [[ 9.99983996e-01 5.65756581e-03 0.00000000e+00 2.57775774e+02] [-5.65756581e-03 9.99983996e-01 0.00000000e+00 -1.21536467e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06791403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.100371743 meters Centerline goodness : 0.994045 with order 1 Centerline is valid? [True, True] Translation: X:257.83, Y:-12.17, Z:-0.01 [[ 9.99897309e-01 1.43308004e-02 0.00000000e+00 2.57833562e+02] [-1.43308004e-02 9.99897309e-01 0.00000000e+00 -1.21659605e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.88952389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.160371743 meters Centerline goodness : 0.994172 with order 1 Centerline is valid? [True, True] Translation: X:257.89, Y:-12.17, Z:-0.01 [[ 9.99869973e-01 1.61256459e-02 0.00000000e+00 2.57891386e+02] [-1.61256459e-02 9.99869973e-01 0.00000000e+00 -1.21708634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.25666746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.220371743 meters Centerline goodness : 0.994106 with order 1 Centerline is valid? [True, True] Translation: X:257.95, Y:-12.18, Z:-0.01 [[ 9.99863219e-01 1.65391353e-02 0.00000000e+00 2.57949594e+02] [-1.65391353e-02 9.99863219e-01 0.00000000e+00 -1.21756488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.02467726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.280371743 meters Centerline goodness : 0.995113 with order 1 Centerline is valid? [True, True] Translation: X:258.01, Y:-12.17, Z:-0.00 [[ 9.99957872e-01 9.17902119e-03 0.00000000e+00 2.58007565e+02] [-9.17902119e-03 9.99957872e-01 0.00000000e+00 -1.21727333e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.70913929e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.340371743 meters Centerline goodness : 0.995598 with order 1 Centerline is valid? [True, True] Translation: X:258.07, Y:-12.18, Z:-0.00 [[ 9.99963290e-01 8.56849845e-03 0.00000000e+00 2.58066191e+02] [-8.56849845e-03 9.99963290e-01 0.00000000e+00 -1.21774242e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75451222e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.400371743 meters Centerline goodness : 0.995568 with order 1 Centerline is valid? [True, True] Translation: X:258.12, Y:-12.18, Z:0.00 [[ 9.99972965e-01 7.35324879e-03 0.00000000e+00 2.58124330e+02] [-7.35324879e-03 9.99972965e-01 0.00000000e+00 -1.21835577e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98442969e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.460371743 meters Centerline goodness : 0.996102 with order 1 Centerline is valid? [True, True] Translation: X:258.18, Y:-12.19, Z:-0.00 [[ 9.99989639e-01 4.55202972e-03 0.00000000e+00 2.58183134e+02] [-4.55202972e-03 9.99989639e-01 0.00000000e+00 -1.21906786e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39579027e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.520371743 meters Centerline goodness : 0.995636 with order 1 Centerline is valid? [True, True] Translation: X:258.24, Y:-12.20, Z:-0.00 [[ 9.99999910e-01 4.24397779e-04 0.00000000e+00 2.58242005e+02] [-4.24397779e-04 9.99999910e-01 0.00000000e+00 -1.21964517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75512159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.580371743 meters Centerline goodness : 0.995524 with order 1 Centerline is valid? [True, True] Translation: X:258.30, Y:-12.20, Z:-0.00 [[ 9.99998168e-01 -1.91394704e-03 0.00000000e+00 2.58302510e+02] [ 1.91394704e-03 9.99998168e-01 0.00000000e+00 -1.22014122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00181209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.640371743 meters Centerline goodness : 0.994393 with order 1 Centerline is valid? [True, True] Translation: X:258.36, Y:-12.22, Z:-0.01 [[ 9.99998920e-01 1.46981897e-03 0.00000000e+00 2.58362896e+02] [-1.46981897e-03 9.99998920e-01 0.00000000e+00 -1.22151313e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.07798730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.700371743 meters Centerline goodness : 0.995143 with order 1 Centerline is valid? [True, True] Translation: X:258.42, Y:-12.22, Z:-0.00 [[ 9.99999028e-01 -1.39450819e-03 0.00000000e+00 2.58422571e+02] [ 1.39450819e-03 9.99999028e-01 0.00000000e+00 -1.22172986e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.47298427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.760371743 meters Centerline goodness : 0.995796 with order 1 Centerline is valid? [True, True] Translation: X:258.48, Y:-12.22, Z:0.00 [[ 9.99993346e-01 -3.64794904e-03 0.00000000e+00 2.58482852e+02] [ 3.64794904e-03 9.99993346e-01 0.00000000e+00 -1.22182142e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04786897e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.820371743 meters Centerline goodness : 0.995848 with order 1 Centerline is valid? [True, True] Translation: X:258.54, Y:-12.22, Z:0.00 [[ 9.99997548e-01 -2.21430122e-03 0.00000000e+00 2.58543887e+02] [ 2.21430122e-03 9.99997548e-01 0.00000000e+00 -1.22193499e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80677030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.880371743 meters Centerline goodness : 0.995674 with order 1 Centerline is valid? [True, True] Translation: X:258.60, Y:-12.22, Z:0.00 [[ 9.99989814e-01 4.51358213e-03 0.00000000e+00 2.58604975e+02] [-4.51358213e-03 9.99989814e-01 0.00000000e+00 -1.22200982e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69533365e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.940371743 meters Centerline goodness : 0.995652 with order 1 Centerline is valid? [True, True] Translation: X:258.66, Y:-12.22, Z:0.00 [[ 9.99959554e-01 8.99388512e-03 0.00000000e+00 2.58664004e+02] [-8.99388512e-03 9.99959554e-01 0.00000000e+00 -1.22225960e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54628749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.000371743 meters Centerline goodness : 0.995071 with order 1 Centerline is valid? [True, True] Translation: X:258.72, Y:-12.23, Z:0.00 [[ 9.99907280e-01 1.36173372e-02 0.00000000e+00 2.58721303e+02] [-1.36173372e-02 9.99907280e-01 0.00000000e+00 -1.22260036e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90210138e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.060371743 meters Centerline goodness : 0.996001 with order 1 Centerline is valid? [True, True] Translation: X:258.78, Y:-12.22, Z:0.00 [[ 9.99944811e-01 1.05059348e-02 0.00000000e+00 2.58779544e+02] [-1.05059348e-02 9.99944811e-01 0.00000000e+00 -1.22232783e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38409780e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.120371743 meters Centerline goodness : 0.994453 with order 1 Centerline is valid? [True, True] Translation: X:258.84, Y:-12.23, Z:0.00 [[ 9.99872588e-01 1.59626761e-02 0.00000000e+00 2.58837833e+02] [-1.59626761e-02 9.99872588e-01 0.00000000e+00 -1.22316233e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25891272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.180371743 meters Centerline goodness : 0.995476 with order 1 Centerline is valid? [True, True] Translation: X:258.90, Y:-12.23, Z:0.00 [[ 9.99875378e-01 1.57869401e-02 0.00000000e+00 2.58896215e+02] [-1.57869401e-02 9.99875378e-01 0.00000000e+00 -1.22306437e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63752783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.240371743 meters Centerline goodness : 0.996236 with order 1 Centerline is valid? [True, True] Translation: X:258.96, Y:-12.24, Z:0.00 [[ 9.99818661e-01 1.90432682e-02 0.00000000e+00 2.58955219e+02] [-1.90432682e-02 9.99818661e-01 0.00000000e+00 -1.22364585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67808049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.300371743 meters Centerline goodness : 0.994645 with order 1 Centerline is valid? [True, True] Translation: X:259.01, Y:-12.25, Z:0.00 [[ 9.99650053e-01 2.64532116e-02 0.00000000e+00 2.59013258e+02] [-2.64532116e-02 9.99650053e-01 0.00000000e+00 -1.22496849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30799644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36037174300003 meters Centerline goodness : 0.994450 with order 1 Centerline is valid? [True, True] Translation: X:259.07, Y:-12.26, Z:-0.00 [[ 9.99488472e-01 3.19811540e-02 0.00000000e+00 2.59071891e+02] [-3.19811540e-02 9.99488472e-01 0.00000000e+00 -1.22611558e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55459272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42037174300003 meters Centerline goodness : 0.994018 with order 1 Centerline is valid? [True, True] Translation: X:259.13, Y:-12.28, Z:-0.01 [[ 9.99274844e-01 3.80760475e-02 0.00000000e+00 2.59130029e+02] [-3.80760475e-02 9.99274844e-01 0.00000000e+00 -1.22750096e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12492989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48037174300003 meters Centerline goodness : 0.995889 with order 1 Centerline is valid? [True, True] Translation: X:259.19, Y:-12.26, Z:0.00 [[ 9.99694862e-01 2.47018995e-02 0.00000000e+00 2.59188454e+02] [-2.47018995e-02 9.99694862e-01 0.00000000e+00 -1.22642565e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82250671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.540371743 meters Centerline goodness : 0.993076 with order 1 Centerline is valid? [True, True] Translation: X:259.25, Y:-12.29, Z:-0.01 [[ 9.99381512e-01 3.51652357e-02 0.00000000e+00 2.59246104e+02] [-3.51652357e-02 9.99381512e-01 0.00000000e+00 -1.22928185e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14107097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.600371743 meters Centerline goodness : 0.994686 with order 1 Centerline is valid? [True, True] Translation: X:259.31, Y:-12.29, Z:0.00 [[ 9.99877308e-01 1.56642599e-02 0.00000000e+00 2.59305550e+02] [-1.56642599e-02 9.99877308e-01 0.00000000e+00 -1.22879705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90068752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.660371743 meters Centerline goodness : 0.994582 with order 1 Centerline is valid? [True, True] Translation: X:259.36, Y:-12.30, Z:0.00 [[ 9.99940460e-01 1.09121842e-02 0.00000000e+00 2.59363683e+02] [-1.09121842e-02 9.99940460e-01 0.00000000e+00 -1.22978163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88382046e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.720371743 meters Centerline goodness : 0.994653 with order 1 Centerline is valid? [True, True] Translation: X:259.42, Y:-12.31, Z:0.00 [[ 9.99982605e-01 5.89834285e-03 0.00000000e+00 2.59421837e+02] [-5.89834285e-03 9.99982605e-01 0.00000000e+00 -1.23108416e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73854512e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.780371743 meters Centerline goodness : 0.992213 with order 1 Centerline is valid? [True, True] Translation: X:259.48, Y:-12.33, Z:0.00 [[ 9.99971151e-01 7.59589604e-03 0.00000000e+00 2.59479554e+02] [-7.59589604e-03 9.99971151e-01 0.00000000e+00 -1.23269073e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11935948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.840371743 meters Centerline goodness : 0.993439 with order 1 Centerline is valid? [True, True] Translation: X:259.54, Y:-12.33, Z:-0.00 [[ 9.99993364e-01 3.64314252e-03 0.00000000e+00 2.59537786e+02] [-3.64314252e-03 9.99993364e-01 0.00000000e+00 -1.23283839e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.83257380e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.900371743 meters Centerline goodness : 0.994453 with order 1 Centerline is valid? [True, True] Translation: X:259.60, Y:-12.34, Z:-0.00 [[ 9.99995639e-01 2.95327435e-03 0.00000000e+00 2.59596721e+02] [-2.95327435e-03 9.99995639e-01 0.00000000e+00 -1.23351745e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53793299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.960371743 meters Centerline goodness : 0.993787 with order 1 Centerline is valid? [True, True] Translation: X:259.66, Y:-12.34, Z:-0.00 [[ 9.99999617e-01 -8.75455104e-04 0.00000000e+00 2.59656035e+02] [ 8.75455104e-04 9.99999617e-01 0.00000000e+00 -1.23418756e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00992606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.020371743 meters Centerline goodness : 0.991823 with order 1 Centerline is valid? [True, True] Translation: X:259.72, Y:-12.35, Z:-0.00 [[ 9.99997970e-01 -2.01510019e-03 0.00000000e+00 2.59716250e+02] [ 2.01510019e-03 9.99997970e-01 0.00000000e+00 -1.23547688e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53444084e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.080371743 meters Centerline goodness : 0.991844 with order 1 Centerline is valid? [True, True] Translation: X:259.78, Y:-12.36, Z:-0.00 [[ 9.99989708e-01 -4.53693989e-03 0.00000000e+00 2.59776712e+02] [ 4.53693989e-03 9.99989708e-01 0.00000000e+00 -1.23615316e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.24936655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.140371743 meters Centerline goodness : 0.994353 with order 1 Centerline is valid? [True, True] Translation: X:259.84, Y:-12.36, Z:-0.00 [[ 9.99921222e-01 -1.25519207e-02 0.00000000e+00 2.59838524e+02] [ 1.25519207e-02 9.99921222e-01 0.00000000e+00 -1.23553563e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.83337777e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.200371743 meters Centerline goodness : 0.991734 with order 1 Centerline is valid? [True, True] Translation: X:259.90, Y:-12.37, Z:-0.00 [[ 9.99945064e-01 -1.04818274e-02 0.00000000e+00 2.59900380e+02] [ 1.04818274e-02 9.99945064e-01 0.00000000e+00 -1.23667400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18184705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.260371743 meters Centerline goodness : 0.992087 with order 1 Centerline is valid? [True, True] Translation: X:259.96, Y:-12.37, Z:-0.01 [[ 9.99960915e-01 -8.84126490e-03 0.00000000e+00 2.59962346e+02] [ 8.84126490e-03 9.99960915e-01 0.00000000e+00 -1.23708923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.87917839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.320371743 meters Centerline goodness : 0.992478 with order 1 Centerline is valid? [True, True] Translation: X:260.02, Y:-12.37, Z:-0.01 [[ 9.99990064e-01 -4.45783208e-03 0.00000000e+00 2.60024226e+02] [ 4.45783208e-03 9.99990064e-01 0.00000000e+00 -1.23726448e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.90656815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.380371743 meters Centerline goodness : 0.992548 with order 1 Centerline is valid? [True, True] Translation: X:260.09, Y:-12.38, Z:-0.01 [[ 9.99999436e-01 1.06224698e-03 0.00000000e+00 2.60085170e+02] [-1.06224698e-03 9.99999436e-01 0.00000000e+00 -1.23766820e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31999099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.440371743 meters Centerline goodness : 0.994213 with order 1 Centerline is valid? [True, True] Translation: X:260.15, Y:-12.36, Z:-0.00 [[ 9.99985718e-01 -5.34456999e-03 0.00000000e+00 2.60145719e+02] [ 5.34456999e-03 9.99985718e-01 0.00000000e+00 -1.23645549e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94728087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.500371743 meters Centerline goodness : 0.992046 with order 1 Centerline is valid? [True, True] Translation: X:260.21, Y:-12.38, Z:-0.01 [[ 9.99987049e-01 5.08934697e-03 0.00000000e+00 2.60206531e+02] [-5.08934697e-03 9.99987049e-01 0.00000000e+00 -1.23776357e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46008413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.560371743 meters Centerline goodness : 0.991958 with order 1 Centerline is valid? [True, True] Translation: X:260.26, Y:-12.38, Z:-0.02 [[ 9.99998216e-01 1.88877977e-03 0.00000000e+00 2.60264987e+02] [-1.88877977e-03 9.99998216e-01 0.00000000e+00 -1.23789034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50934939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.620371743 meters Centerline goodness : 0.992114 with order 1 Centerline is valid? [True, True] Translation: X:260.33, Y:-12.38, Z:-0.02 [[ 9.99999857e-01 5.34442536e-04 0.00000000e+00 2.60325172e+02] [-5.34442536e-04 9.99999857e-01 0.00000000e+00 -1.23791218e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51201595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.680371743 meters Centerline goodness : 0.992384 with order 1 Centerline is valid? [True, True] Translation: X:260.39, Y:-12.38, Z:-0.02 [[ 9.99998139e-01 1.92938635e-03 0.00000000e+00 2.60385737e+02] [-1.92938635e-03 9.99998139e-01 0.00000000e+00 -1.23811526e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65397744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.740371743 meters Centerline goodness : 0.992109 with order 1 Centerline is valid? [True, True] Translation: X:260.45, Y:-12.38, Z:-0.02 [[ 9.99979033e-01 6.47564167e-03 0.00000000e+00 2.60445963e+02] [-6.47564167e-03 9.99979033e-01 0.00000000e+00 -1.23818982e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76858695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.800371743 meters Centerline goodness : 0.992426 with order 1 Centerline is valid? [True, True] Translation: X:260.50, Y:-12.38, Z:-0.02 [[ 9.99936083e-01 1.13061582e-02 0.00000000e+00 2.60503423e+02] [-1.13061582e-02 9.99936083e-01 0.00000000e+00 -1.23822684e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74228548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86037174300003 meters Centerline goodness : 0.992300 with order 1 Centerline is valid? [True, True] Translation: X:260.56, Y:-12.38, Z:-0.02 [[ 9.99872628e-01 1.59601956e-02 0.00000000e+00 2.60562565e+02] [-1.59601956e-02 9.99872628e-01 0.00000000e+00 -1.23848445e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93558234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92037174300003 meters Centerline goodness : 0.992294 with order 1 Centerline is valid? [True, True] Translation: X:260.62, Y:-12.39, Z:-0.02 [[ 9.99885497e-01 1.51325438e-02 0.00000000e+00 2.60620578e+02] [-1.51325438e-02 9.99885497e-01 0.00000000e+00 -1.23879085e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05291921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98037174300003 meters Centerline goodness : 0.992040 with order 1 Centerline is valid? [True, True] Translation: X:260.68, Y:-12.39, Z:-0.02 [[ 9.99960020e-01 8.94193154e-03 0.00000000e+00 2.60679299e+02] [-8.94193154e-03 9.99960020e-01 0.00000000e+00 -1.23884861e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77082084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.040371743 meters Centerline goodness : 0.992738 with order 1 Centerline is valid? [True, True] Translation: X:260.74, Y:-12.39, Z:-0.02 [[ 9.99997415e-01 2.27365847e-03 0.00000000e+00 2.60737776e+02] [-2.27365847e-03 9.99997415e-01 0.00000000e+00 -1.23922194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83846638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.100371743 meters Centerline goodness : 0.992202 with order 1 Centerline is valid? [True, True] Translation: X:260.80, Y:-12.40, Z:-0.02 [[ 9.99999981e-01 1.94771282e-04 0.00000000e+00 2.60797631e+02] [-1.94771282e-04 9.99999981e-01 0.00000000e+00 -1.23976052e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15469758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.160371743 meters Centerline goodness : 0.992592 with order 1 Centerline is valid? [True, True] Translation: X:260.86, Y:-12.39, Z:-0.02 [[ 9.99985394e-01 -5.40479916e-03 0.00000000e+00 2.60858260e+02] [ 5.40479916e-03 9.99985394e-01 0.00000000e+00 -1.23949072e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51722035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.220371743 meters Centerline goodness : 0.994401 with order 1 Centerline is valid? [True, True] Translation: X:260.92, Y:-12.38, Z:-0.00 [[ 9.99877962e-01 -1.56224865e-02 0.00000000e+00 2.60920594e+02] [ 1.56224865e-02 9.99877962e-01 0.00000000e+00 -1.23812226e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.68215380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.280371743 meters Centerline goodness : 0.992658 with order 1 Centerline is valid? [True, True] Translation: X:260.98, Y:-12.39, Z:-0.01 [[ 9.99983069e-01 -5.81901243e-03 0.00000000e+00 2.60982244e+02] [ 5.81901243e-03 9.99983069e-01 0.00000000e+00 -1.23933111e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09158959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.340371743 meters Centerline goodness : 0.992437 with order 1 Centerline is valid? [True, True] Translation: X:261.04, Y:-12.40, Z:-0.01 [[ 9.99984572e-01 -5.55479739e-03 0.00000000e+00 2.61044075e+02] [ 5.55479739e-03 9.99984572e-01 0.00000000e+00 -1.23968071e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17821366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.400371743 meters Centerline goodness : 0.992176 with order 1 Centerline is valid? [True, True] Translation: X:261.11, Y:-12.40, Z:-0.01 [[ 9.99983208e-01 -5.79506148e-03 0.00000000e+00 2.61106724e+02] [ 5.79506148e-03 9.99983208e-01 0.00000000e+00 -1.23982404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27197551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.460371743 meters Centerline goodness : 0.992461 with order 1 Centerline is valid? [True, True] Translation: X:261.17, Y:-12.40, Z:-0.01 [[ 9.99979450e-01 -6.41091544e-03 0.00000000e+00 2.61168502e+02] [ 6.41091544e-03 9.99979450e-01 0.00000000e+00 -1.23997297e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30795917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.520371743 meters Centerline goodness : 0.992900 with order 1 Centerline is valid? [True, True] Translation: X:261.23, Y:-12.40, Z:-0.01 [[ 9.99968968e-01 -7.87798142e-03 0.00000000e+00 2.61230812e+02] [ 7.87798142e-03 9.99968968e-01 0.00000000e+00 -1.23988228e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25965220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.580371743 meters Centerline goodness : 0.993087 with order 1 Centerline is valid? [True, True] Translation: X:261.29, Y:-12.40, Z:-0.01 [[ 9.99956238e-01 -9.35527151e-03 0.00000000e+00 2.61293108e+02] [ 9.35527151e-03 9.99956238e-01 0.00000000e+00 -1.23987350e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36096218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.640371743 meters Centerline goodness : 0.993492 with order 1 Centerline is valid? [True, True] Translation: X:261.36, Y:-12.40, Z:-0.01 [[ 9.99915836e-01 -1.29738367e-02 0.00000000e+00 2.61355917e+02] [ 1.29738367e-02 9.99915836e-01 0.00000000e+00 -1.23978231e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34175615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.700371743 meters Centerline goodness : 0.993628 with order 1 Centerline is valid? [True, True] Translation: X:261.42, Y:-12.40, Z:-0.01 [[ 9.99881343e-01 -1.54045480e-02 0.00000000e+00 2.61418324e+02] [ 1.54045480e-02 9.99881343e-01 0.00000000e+00 -1.23975230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46260843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.760371743 meters Centerline goodness : 0.993684 with order 1 Centerline is valid? [True, True] Translation: X:261.48, Y:-12.40, Z:-0.01 [[ 9.99886738e-01 -1.50502735e-02 0.00000000e+00 2.61480477e+02] [ 1.50502735e-02 9.99886738e-01 0.00000000e+00 -1.23978603e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42059094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.820371743 meters Centerline goodness : 0.993838 with order 1 Centerline is valid? [True, True] Translation: X:261.54, Y:-12.40, Z:-0.01 [[ 9.99896518e-01 -1.43858927e-02 0.00000000e+00 2.61542490e+02] [ 1.43858927e-02 9.99896518e-01 0.00000000e+00 -1.23953932e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15246988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.880371743 meters Centerline goodness : 0.992736 with order 1 Centerline is valid? [True, True] Translation: X:261.60, Y:-12.40, Z:-0.01 [[ 9.99951030e-01 -9.89637106e-03 0.00000000e+00 2.61604310e+02] [ 9.89637106e-03 9.99951030e-01 0.00000000e+00 -1.23985084e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41087241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.940371743 meters Centerline goodness : 0.993096 with order 1 Centerline is valid? [True, True] Translation: X:261.67, Y:-12.40, Z:-0.01 [[ 9.99919328e-01 -1.27018976e-02 0.00000000e+00 2.61665639e+02] [ 1.27018976e-02 9.99919328e-01 0.00000000e+00 -1.23980269e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13001514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.000371743 meters Centerline goodness : 0.992476 with order 1 Centerline is valid? [True, True] Translation: X:261.73, Y:-12.40, Z:-0.01 [[ 9.99913470e-01 -1.31549687e-02 0.00000000e+00 2.61728012e+02] [ 1.31549687e-02 9.99913470e-01 0.00000000e+00 -1.23982142e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29267079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.060371743 meters Centerline goodness : 0.992992 with order 1 Centerline is valid? [True, True] Translation: X:261.79, Y:-12.40, Z:-0.01 [[ 9.99905114e-01 -1.37754216e-02 0.00000000e+00 2.61789463e+02] [ 1.37754216e-02 9.99905114e-01 0.00000000e+00 -1.23974765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27091222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.120371743 meters Centerline goodness : 0.992909 with order 1 Centerline is valid? [True, True] Translation: X:261.85, Y:-12.40, Z:-0.01 [[ 9.99901334e-01 -1.40471405e-02 0.00000000e+00 2.61852054e+02] [ 1.40471405e-02 9.99901334e-01 0.00000000e+00 -1.23975344e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10809271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.180371743 meters Centerline goodness : 0.993259 with order 1 Centerline is valid? [True, True] Translation: X:261.91, Y:-12.40, Z:-0.01 [[ 9.99882432e-01 -1.53336889e-02 0.00000000e+00 2.61914574e+02] [ 1.53336889e-02 9.99882432e-01 0.00000000e+00 -1.23969679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00547199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.240371743 meters Centerline goodness : 0.993387 with order 1 Centerline is valid? [True, True] Translation: X:261.98, Y:-12.40, Z:-0.01 [[ 9.99843303e-01 -1.77022578e-02 0.00000000e+00 2.61977346e+02] [ 1.77022578e-02 9.99843303e-01 0.00000000e+00 -1.23967888e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.88725903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.300371743 meters Centerline goodness : 0.993987 with order 1 Centerline is valid? [True, True] Translation: X:262.04, Y:-12.40, Z:-0.01 [[ 9.99853771e-01 -1.71008069e-02 0.00000000e+00 2.62039152e+02] [ 1.71008069e-02 9.99853771e-01 0.00000000e+00 -1.23973492e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.09594671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36037174300003 meters Centerline goodness : 0.993956 with order 1 Centerline is valid? [True, True] Translation: X:262.10, Y:-12.40, Z:-0.01 [[ 9.99851707e-01 -1.72210304e-02 0.00000000e+00 2.62100924e+02] [ 1.72210304e-02 9.99851707e-01 0.00000000e+00 -1.23971684e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.77919285e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42037174300003 meters Centerline goodness : 0.993192 with order 1 Centerline is valid? [True, True] Translation: X:262.16, Y:-12.40, Z:-0.01 [[ 9.99914003e-01 -1.31143885e-02 0.00000000e+00 2.62163258e+02] [ 1.31143885e-02 9.99914003e-01 0.00000000e+00 -1.23973232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.62199543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48037174300003 meters Centerline goodness : 0.994045 with order 1 Centerline is valid? [True, True] Translation: X:262.23, Y:-12.40, Z:-0.01 [[ 9.99939558e-01 -1.09945192e-02 0.00000000e+00 2.62225546e+02] [ 1.09945192e-02 9.99939558e-01 0.00000000e+00 -1.23969778e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.14233552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.540371743 meters Centerline goodness : 0.993738 with order 1 Centerline is valid? [True, True] Translation: X:262.29, Y:-12.40, Z:-0.01 [[ 9.99954642e-01 -9.52439874e-03 0.00000000e+00 2.62286679e+02] [ 9.52439874e-03 9.99954642e-01 0.00000000e+00 -1.23999535e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01335291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.600371743 meters Centerline goodness : 0.994350 with order 1 Centerline is valid? [True, True] Translation: X:262.35, Y:-12.40, Z:-0.01 [[ 9.99934574e-01 -1.14388952e-02 0.00000000e+00 2.62349236e+02] [ 1.14388952e-02 9.99934574e-01 0.00000000e+00 -1.24033457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17549255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.660371743 meters Centerline goodness : 0.994136 with order 1 Centerline is valid? [True, True] Translation: X:262.41, Y:-12.41, Z:-0.01 [[ 9.99923215e-01 -1.23920784e-02 0.00000000e+00 2.62411029e+02] [ 1.23920784e-02 9.99923215e-01 0.00000000e+00 -1.24061518e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22839388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.720371743 meters Centerline goodness : 0.994293 with order 1 Centerline is valid? [True, True] Translation: X:262.47, Y:-12.41, Z:-0.01 [[ 9.99911797e-01 -1.32814896e-02 0.00000000e+00 2.62472786e+02] [ 1.32814896e-02 9.99911797e-01 0.00000000e+00 -1.24082619e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40942187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.780371743 meters Centerline goodness : 0.993304 with order 1 Centerline is valid? [True, True] Translation: X:262.53, Y:-12.41, Z:-0.02 [[ 9.99929553e-01 -1.18696711e-02 0.00000000e+00 2.62534828e+02] [ 1.18696711e-02 9.99929553e-01 0.00000000e+00 -1.24109611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54877396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.840371743 meters Centerline goodness : 0.993797 with order 1 Centerline is valid? [True, True] Translation: X:262.60, Y:-12.41, Z:-0.02 [[ 9.99976136e-01 -6.90855279e-03 0.00000000e+00 2.62597079e+02] [ 6.90855279e-03 9.99976136e-01 0.00000000e+00 -1.24131182e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61958523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.900371743 meters Centerline goodness : 0.993849 with order 1 Centerline is valid? [True, True] Translation: X:262.66, Y:-12.42, Z:-0.02 [[ 9.99992452e-01 -3.88540358e-03 0.00000000e+00 2.62658389e+02] [ 3.88540358e-03 9.99992452e-01 0.00000000e+00 -1.24166939e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60717604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.960371743 meters Centerline goodness : 0.993029 with order 1 Centerline is valid? [True, True] Translation: X:262.72, Y:-12.42, Z:-0.02 [[ 9.99997841e-01 -2.07804611e-03 0.00000000e+00 2.62720778e+02] [ 2.07804611e-03 9.99997841e-01 0.00000000e+00 -1.24198581e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52012940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.020371743 meters Centerline goodness : 0.993305 with order 1 Centerline is valid? [True, True] Translation: X:262.78, Y:-12.42, Z:-0.01 [[ 9.99992922e-01 -3.76251456e-03 0.00000000e+00 2.62781536e+02] [ 3.76251456e-03 9.99992922e-01 0.00000000e+00 -1.24230242e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46612591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.080371743 meters Centerline goodness : 0.993846 with order 1 Centerline is valid? [True, True] Translation: X:262.84, Y:-12.43, Z:-0.02 [[ 9.99962979e-01 -8.60473646e-03 0.00000000e+00 2.62843105e+02] [ 8.60473646e-03 9.99962979e-01 0.00000000e+00 -1.24254042e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55908349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.140371743 meters Centerline goodness : 0.993875 with order 1 Centerline is valid? [True, True] Translation: X:262.91, Y:-12.43, Z:-0.02 [[ 9.99941512e-01 -1.08154075e-02 0.00000000e+00 2.62906040e+02] [ 1.08154075e-02 9.99941512e-01 0.00000000e+00 -1.24307847e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82785771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.200371743 meters Centerline goodness : 0.994173 with order 1 Centerline is valid? [True, True] Translation: X:262.97, Y:-12.43, Z:-0.02 [[ 9.99884167e-01 -1.52201225e-02 0.00000000e+00 2.62967066e+02] [ 1.52201225e-02 9.99884167e-01 0.00000000e+00 -1.24326018e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31320323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.260371743 meters Centerline goodness : 0.993557 with order 1 Centerline is valid? [True, True] Translation: X:263.03, Y:-12.44, Z:-0.02 [[ 9.99910756e-01 -1.33596135e-02 0.00000000e+00 2.63028908e+02] [ 1.33596135e-02 9.99910756e-01 0.00000000e+00 -1.24371747e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90617476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.320371743 meters Centerline goodness : 0.993929 with order 1 Centerline is valid? [True, True] Translation: X:263.09, Y:-12.44, Z:-0.02 [[ 9.99948801e-01 -1.01190766e-02 0.00000000e+00 2.63090327e+02] [ 1.01190766e-02 9.99948801e-01 0.00000000e+00 -1.24400460e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97470077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.380371743 meters Centerline goodness : 0.994467 with order 1 Centerline is valid? [True, True] Translation: X:263.15, Y:-12.44, Z:-0.02 [[ 9.99983575e-01 -5.73147078e-03 0.00000000e+00 2.63152525e+02] [ 5.73147078e-03 9.99983575e-01 0.00000000e+00 -1.24405751e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61046254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.440371743 meters Centerline goodness : 0.993519 with order 1 Centerline is valid? [True, True] Translation: X:263.21, Y:-12.44, Z:-0.02 [[ 9.99994222e-01 -3.39946482e-03 0.00000000e+00 2.63213797e+02] [ 3.39946482e-03 9.99994222e-01 0.00000000e+00 -1.24432224e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56135321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.500371743 meters Centerline goodness : 0.994008 with order 1 Centerline is valid? [True, True] Translation: X:263.27, Y:-12.45, Z:-0.02 [[ 9.99999989e-01 -1.45037544e-04 0.00000000e+00 2.63274805e+02] [ 1.45037544e-04 9.99999989e-01 0.00000000e+00 -1.24467939e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63282114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.560371743 meters Centerline goodness : 0.994157 with order 1 Centerline is valid? [True, True] Translation: X:263.33, Y:-12.45, Z:-0.02 [[ 9.99999007e-01 1.40911629e-03 0.00000000e+00 2.63334386e+02] [-1.40911629e-03 9.99999007e-01 0.00000000e+00 -1.24536838e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12356123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.620371743 meters Centerline goodness : 0.994476 with order 1 Centerline is valid? [True, True] Translation: X:263.39, Y:-12.46, Z:-0.02 [[ 9.99998423e-01 1.77574999e-03 0.00000000e+00 2.63393490e+02] [-1.77574999e-03 9.99998423e-01 0.00000000e+00 -1.24568353e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21553968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.680371743 meters Centerline goodness : 0.994452 with order 1 Centerline is valid? [True, True] Translation: X:263.45, Y:-12.46, Z:-0.02 [[ 9.99988733e-01 4.74690404e-03 0.00000000e+00 2.63452777e+02] [-4.74690404e-03 9.99988733e-01 0.00000000e+00 -1.24597539e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27649410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.740371743 meters Centerline goodness : 0.993899 with order 1 Centerline is valid? [True, True] Translation: X:263.51, Y:-12.46, Z:-0.03 [[ 9.99937976e-01 1.11375550e-02 0.00000000e+00 2.63510836e+02] [-1.11375550e-02 9.99937976e-01 0.00000000e+00 -1.24633927e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55817300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.800371743 meters Centerline goodness : 0.993097 with order 1 Centerline is valid? [True, True] Translation: X:263.57, Y:-12.46, Z:-0.02 [[ 9.99808740e-01 1.95571850e-02 0.00000000e+00 2.63569209e+02] [-1.95571850e-02 9.99808740e-01 0.00000000e+00 -1.24637257e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30969847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86037174300003 meters Centerline goodness : 0.993979 with order 1 Centerline is valid? [True, True] Translation: X:263.63, Y:-12.46, Z:-0.02 [[ 9.99667439e-01 2.57878265e-02 0.00000000e+00 2.63627611e+02] [-2.57878265e-02 9.99667439e-01 0.00000000e+00 -1.24643263e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03167779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92037174300003 meters Centerline goodness : 0.994215 with order 1 Centerline is valid? [True, True] Translation: X:263.68, Y:-12.47, Z:-0.02 [[ 9.99633805e-01 2.70602358e-02 0.00000000e+00 2.63684489e+02] [-2.70602358e-02 9.99633805e-01 0.00000000e+00 -1.24657376e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85227630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98037174300003 meters Centerline goodness : 0.994294 with order 1 Centerline is valid? [True, True] Translation: X:263.74, Y:-12.47, Z:-0.02 [[ 9.99672127e-01 2.56054444e-02 0.00000000e+00 2.63743463e+02] [-2.56054444e-02 9.99672127e-01 0.00000000e+00 -1.24665202e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69323960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.040371743 meters Centerline goodness : 0.993381 with order 1 Centerline is valid? [True, True] Translation: X:263.80, Y:-12.47, Z:-0.02 [[ 9.99703312e-01 2.43574878e-02 0.00000000e+00 2.63802019e+02] [-2.43574878e-02 9.99703312e-01 0.00000000e+00 -1.24726519e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99898114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.100371743 meters Centerline goodness : 0.994331 with order 1 Centerline is valid? [True, True] Translation: X:263.86, Y:-12.47, Z:-0.02 [[ 9.99874629e-01 1.58343134e-02 0.00000000e+00 2.63859574e+02] [-1.58343134e-02 9.99874629e-01 0.00000000e+00 -1.24732825e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64301811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.160371743 meters Centerline goodness : 0.994427 with order 1 Centerline is valid? [True, True] Translation: X:263.92, Y:-12.48, Z:-0.01 [[ 9.99930708e-01 1.17719942e-02 0.00000000e+00 2.63918046e+02] [-1.17719942e-02 9.99930708e-01 0.00000000e+00 -1.24760165e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42959058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.220371743 meters Centerline goodness : 0.994635 with order 1 Centerline is valid? [True, True] Translation: X:263.98, Y:-12.48, Z:-0.02 [[ 9.99965096e-01 8.35509693e-03 0.00000000e+00 2.63976034e+02] [-8.35509693e-03 9.99965096e-01 0.00000000e+00 -1.24823106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51077250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.280371743 meters Centerline goodness : 0.994562 with order 1 Centerline is valid? [True, True] Translation: X:264.03, Y:-12.49, Z:-0.02 [[ 9.99979587e-01 6.38942199e-03 0.00000000e+00 2.64033224e+02] [-6.38942199e-03 9.99979587e-01 0.00000000e+00 -1.24883797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73776633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.340371743 meters Centerline goodness : 0.993868 with order 1 Centerline is valid? [True, True] Translation: X:264.09, Y:-12.49, Z:-0.02 [[ 9.99985907e-01 5.30893980e-03 0.00000000e+00 2.64092049e+02] [-5.30893980e-03 9.99985907e-01 0.00000000e+00 -1.24928420e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65747912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.400371743 meters Centerline goodness : 0.993941 with order 1 Centerline is valid? [True, True] Translation: X:264.15, Y:-12.50, Z:-0.02 [[ 9.99999483e-01 1.01658872e-03 0.00000000e+00 2.64149440e+02] [-1.01658872e-03 9.99999483e-01 0.00000000e+00 -1.24995551e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80378017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.460371743 meters Centerline goodness : 0.994382 with order 1 Centerline is valid? [True, True] Translation: X:264.21, Y:-12.51, Z:-0.02 [[ 9.99990563e-01 -4.34435702e-03 0.00000000e+00 2.64209898e+02] [ 4.34435702e-03 9.99990563e-01 0.00000000e+00 -1.25053805e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69151946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.520371743 meters Centerline goodness : 0.994657 with order 1 Centerline is valid? [True, True] Translation: X:264.27, Y:-12.51, Z:-0.02 [[ 9.99969575e-01 -7.80058843e-03 0.00000000e+00 2.64271624e+02] [ 7.80058843e-03 9.99969575e-01 0.00000000e+00 -1.25121060e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83670662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.580371743 meters Centerline goodness : 0.994751 with order 1 Centerline is valid? [True, True] Translation: X:264.33, Y:-12.52, Z:-0.02 [[ 9.99975374e-01 -7.01788070e-03 0.00000000e+00 2.64333398e+02] [ 7.01788070e-03 9.99975374e-01 0.00000000e+00 -1.25178386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99761638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.640371743 meters Centerline goodness : 0.994850 with order 1 Centerline is valid? [True, True] Translation: X:264.40, Y:-12.52, Z:-0.02 [[ 9.99994781e-01 -3.23066145e-03 0.00000000e+00 2.64395742e+02] [ 3.23066145e-03 9.99994781e-01 0.00000000e+00 -1.25226138e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07054050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.700371743 meters Centerline goodness : 0.996346 with order 1 Centerline is valid? [True, True] Translation: X:264.46, Y:-12.52, Z:-0.02 [[ 9.99977767e-01 -6.66829698e-03 0.00000000e+00 2.64456846e+02] [ 6.66829698e-03 9.99977767e-01 0.00000000e+00 -1.25162403e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52149309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.760371743 meters Centerline goodness : 0.996567 with order 1 Centerline is valid? [True, True] Translation: X:264.52, Y:-12.52, Z:-0.01 [[ 9.99995602e-01 -2.96572944e-03 0.00000000e+00 2.64519146e+02] [ 2.96572944e-03 9.99995602e-01 0.00000000e+00 -1.25197317e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46091815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.820371743 meters Centerline goodness : 0.995129 with order 1 Centerline is valid? [True, True] Translation: X:264.58, Y:-12.53, Z:-0.02 [[ 9.99975930e-01 6.93828712e-03 0.00000000e+00 2.64579970e+02] [-6.93828712e-03 9.99975930e-01 0.00000000e+00 -1.25333776e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10834720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.880371743 meters Centerline goodness : 0.994942 with order 1 Centerline is valid? [True, True] Translation: X:264.64, Y:-12.54, Z:-0.02 [[ 9.99990882e-01 4.27037761e-03 0.00000000e+00 2.64637645e+02] [-4.27037761e-03 9.99990882e-01 0.00000000e+00 -1.25350879e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86845729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.940371743 meters Centerline goodness : 0.995080 with order 1 Centerline is valid? [True, True] Translation: X:264.70, Y:-12.54, Z:-0.02 [[ 9.99999631e-01 8.58788103e-04 0.00000000e+00 2.64696400e+02] [-8.58788103e-04 9.99999631e-01 0.00000000e+00 -1.25407353e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80736518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.000371743 meters Centerline goodness : 0.995179 with order 1 Centerline is valid? [True, True] Translation: X:264.76, Y:-12.55, Z:-0.02 [[ 9.99988258e-01 -4.84607717e-03 0.00000000e+00 2.64756676e+02] [ 4.84607717e-03 9.99988258e-01 0.00000000e+00 -1.25468111e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79244196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.060371743 meters Centerline goodness : 0.995018 with order 1 Centerline is valid? [True, True] Translation: X:264.82, Y:-12.55, Z:-0.02 [[ 9.99963553e-01 -8.53768444e-03 0.00000000e+00 2.64818210e+02] [ 8.53768444e-03 9.99963553e-01 0.00000000e+00 -1.25524487e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98931071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.120371743 meters Centerline goodness : 0.995013 with order 1 Centerline is valid? [True, True] Translation: X:264.88, Y:-12.56, Z:-0.02 [[ 9.99939490e-01 -1.10007301e-02 0.00000000e+00 2.64880834e+02] [ 1.10007301e-02 9.99939490e-01 0.00000000e+00 -1.25588845e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05391550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.180371743 meters Centerline goodness : 0.996470 with order 1 Centerline is valid? [True, True] Translation: X:264.94, Y:-12.55, Z:-0.01 [[ 9.99806724e-01 -1.96599898e-02 0.00000000e+00 2.64942041e+02] [ 1.96599898e-02 9.99806724e-01 0.00000000e+00 -1.25532168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33374241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.240371743 meters Centerline goodness : 0.995266 with order 1 Centerline is valid? [True, True] Translation: X:265.00, Y:-12.57, Z:-0.02 [[ 9.99943676e-01 -1.06133928e-02 0.00000000e+00 2.65003197e+02] [ 1.06133928e-02 9.99943676e-01 0.00000000e+00 -1.25673396e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01393808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.300371743 meters Centerline goodness : 0.996422 with order 1 Centerline is valid? [True, True] Translation: X:265.06, Y:-12.56, Z:-0.01 [[ 9.99847661e-01 -1.74543677e-02 0.00000000e+00 2.65064611e+02] [ 1.74543677e-02 9.99847661e-01 0.00000000e+00 -1.25589609e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27658067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36037174300003 meters Centerline goodness : 0.995757 with order 1 Centerline is valid? [True, True] Translation: X:265.13, Y:-12.57, Z:-0.02 [[ 9.99948547e-01 -1.01441317e-02 0.00000000e+00 2.65126567e+02] [ 1.01441317e-02 9.99948547e-01 0.00000000e+00 -1.25714610e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84995926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42037174300003 meters Centerline goodness : 0.995390 with order 1 Centerline is valid? [True, True] Translation: X:265.19, Y:-12.57, Z:-0.02 [[ 9.99948594e-01 -1.01394773e-02 0.00000000e+00 2.65188335e+02] [ 1.01394773e-02 9.99948594e-01 0.00000000e+00 -1.25738256e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74148510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48037174300003 meters Centerline goodness : 0.995927 with order 1 Centerline is valid? [True, True] Translation: X:265.25, Y:-12.58, Z:-0.02 [[ 9.99954292e-01 -9.56105695e-03 0.00000000e+00 2.65249668e+02] [ 9.56105695e-03 9.99954292e-01 0.00000000e+00 -1.25763122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90581761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.540371743 meters Centerline goodness : 0.994753 with order 1 Centerline is valid? [True, True] Translation: X:265.31, Y:-12.58, Z:-0.02 [[ 9.99948711e-01 -1.01279443e-02 0.00000000e+00 2.65312033e+02] [ 1.01279443e-02 9.99948711e-01 0.00000000e+00 -1.25779640e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88232913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.600371743 meters Centerline goodness : 0.994415 with order 1 Centerline is valid? [True, True] Translation: X:265.37, Y:-12.58, Z:-0.02 [[ 9.99937543e-01 -1.11762880e-02 0.00000000e+00 2.65373398e+02] [ 1.11762880e-02 9.99937543e-01 0.00000000e+00 -1.25794586e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92349390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.660371743 meters Centerline goodness : 0.994868 with order 1 Centerline is valid? [True, True] Translation: X:265.44, Y:-12.58, Z:-0.02 [[ 9.99919053e-01 -1.27235064e-02 0.00000000e+00 2.65436116e+02] [ 1.27235064e-02 9.99919053e-01 0.00000000e+00 -1.25800847e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90406373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.720371743 meters Centerline goodness : 0.995299 with order 1 Centerline is valid? [True, True] Translation: X:265.50, Y:-12.58, Z:-0.01 [[ 9.99844066e-01 -1.76590907e-02 0.00000000e+00 2.65498295e+02] [ 1.76590907e-02 9.99844066e-01 0.00000000e+00 -1.25787659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49037956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.780371743 meters Centerline goodness : 0.995744 with order 1 Centerline is valid? [True, True] Translation: X:265.56, Y:-12.58, Z:-0.01 [[ 9.99770769e-01 -2.14105005e-02 0.00000000e+00 2.65559780e+02] [ 2.14105005e-02 9.99770769e-01 0.00000000e+00 -1.25804301e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41637083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.840371743 meters Centerline goodness : 0.995600 with order 1 Centerline is valid? [True, True] Translation: X:265.62, Y:-12.58, Z:-0.01 [[ 9.99625148e-01 -2.73781495e-02 0.00000000e+00 2.65622262e+02] [ 2.73781495e-02 9.99625148e-01 0.00000000e+00 -1.25800724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11520899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.900371743 meters Centerline goodness : 0.995781 with order 1 Centerline is valid? [True, True] Translation: X:265.68, Y:-12.58, Z:-0.01 [[ 9.99590620e-01 -2.86110667e-02 0.00000000e+00 2.65684457e+02] [ 2.86110667e-02 9.99590620e-01 0.00000000e+00 -1.25837659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30281054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.960371743 meters Centerline goodness : 0.995759 with order 1 Centerline is valid? [True, True] Translation: X:265.75, Y:-12.59, Z:-0.01 [[ 9.99636418e-01 -2.69635408e-02 0.00000000e+00 2.65745448e+02] [ 2.69635408e-02 9.99636418e-01 0.00000000e+00 -1.25869167e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35439626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.020371743 meters Centerline goodness : 0.995507 with order 1 Centerline is valid? [True, True] Translation: X:265.81, Y:-12.59, Z:-0.01 [[ 9.99689336e-01 -2.49245098e-02 0.00000000e+00 2.65807149e+02] [ 2.49245098e-02 9.99689336e-01 0.00000000e+00 -1.25892418e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18245257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.080371743 meters Centerline goodness : 0.995296 with order 1 Centerline is valid? [True, True] Translation: X:265.87, Y:-12.59, Z:-0.01 [[ 9.99785223e-01 -2.07245835e-02 0.00000000e+00 2.65869381e+02] [ 2.07245835e-02 9.99785223e-01 0.00000000e+00 -1.25926848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25164228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.140371743 meters Centerline goodness : 0.995152 with order 1 Centerline is valid? [True, True] Translation: X:265.93, Y:-12.60, Z:-0.01 [[ 9.99837450e-01 -1.80298112e-02 0.00000000e+00 2.65932012e+02] [ 1.80298112e-02 9.99837450e-01 0.00000000e+00 -1.25957476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18552502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.200371743 meters Centerline goodness : 0.994769 with order 1 Centerline is valid? [True, True] Translation: X:265.99, Y:-12.60, Z:-0.01 [[ 9.99878705e-01 -1.55748511e-02 0.00000000e+00 2.65994246e+02] [ 1.55748511e-02 9.99878705e-01 0.00000000e+00 -1.25980763e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09658517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.260371743 meters Centerline goodness : 0.994089 with order 1 Centerline is valid? [True, True] Translation: X:266.06, Y:-12.60, Z:-0.01 [[ 9.99908737e-01 -1.35098806e-02 0.00000000e+00 2.66056793e+02] [ 1.35098806e-02 9.99908737e-01 0.00000000e+00 -1.26019774e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11028522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.320371743 meters Centerline goodness : 0.995125 with order 1 Centerline is valid? [True, True] Translation: X:266.12, Y:-12.61, Z:-0.01 [[ 9.99918595e-01 -1.27594092e-02 0.00000000e+00 2.66118239e+02] [ 1.27594092e-02 9.99918595e-01 0.00000000e+00 -1.26062545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28106911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.380371743 meters Centerline goodness : 0.995026 with order 1 Centerline is valid? [True, True] Translation: X:266.18, Y:-12.61, Z:-0.01 [[ 9.99927628e-01 -1.20307490e-02 0.00000000e+00 2.66179984e+02] [ 1.20307490e-02 9.99927628e-01 0.00000000e+00 -1.26078371e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22748842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.440371743 meters Centerline goodness : 0.994820 with order 1 Centerline is valid? [True, True] Translation: X:266.24, Y:-12.61, Z:-0.02 [[ 9.99973791e-01 -7.23992525e-03 0.00000000e+00 2.66241061e+02] [ 7.23992525e-03 9.99973791e-01 0.00000000e+00 -1.26145139e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67434280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.500371743 meters Centerline goodness : 0.994803 with order 1 Centerline is valid? [True, True] Translation: X:266.30, Y:-12.62, Z:-0.02 [[ 9.99982085e-01 -5.98576911e-03 0.00000000e+00 2.66302337e+02] [ 5.98576911e-03 9.99982085e-01 0.00000000e+00 -1.26172984e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68660266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.560371743 meters Centerline goodness : 0.996303 with order 1 Centerline is valid? [True, True] Translation: X:266.36, Y:-12.61, Z:-0.01 [[ 9.99943909e-01 -1.05914374e-02 0.00000000e+00 2.66364718e+02] [ 1.05914374e-02 9.99943909e-01 0.00000000e+00 -1.26088560e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.29266032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.620371743 meters Centerline goodness : 0.995040 with order 1 Centerline is valid? [True, True] Translation: X:266.43, Y:-12.62, Z:-0.01 [[ 9.99998838e-01 -1.52476657e-03 0.00000000e+00 2.66426434e+02] [ 1.52476657e-03 9.99998838e-01 0.00000000e+00 -1.26241898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33325737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.680371743 meters Centerline goodness : 0.994181 with order 1 Centerline is valid? [True, True] Translation: X:266.49, Y:-12.63, Z:-0.01 [[ 9.99999796e-01 -6.38288576e-04 0.00000000e+00 2.66488058e+02] [ 6.38288576e-04 9.99999796e-01 0.00000000e+00 -1.26295983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38258662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.740371743 meters Centerline goodness : 0.994107 with order 1 Centerline is valid? [True, True] Translation: X:266.55, Y:-12.63, Z:-0.01 [[ 9.99999946e-01 3.28256347e-04 0.00000000e+00 2.66547771e+02] [-3.28256347e-04 9.99999946e-01 0.00000000e+00 -1.26337336e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37768719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.800371743 meters Centerline goodness : 0.993133 with order 1 Centerline is valid? [True, True] Translation: X:266.61, Y:-12.64, Z:-0.02 [[ 9.99983169e-01 5.80193150e-03 0.00000000e+00 2.66607670e+02] [-5.80193150e-03 9.99983169e-01 0.00000000e+00 -1.26395491e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52861632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86037174300003 meters Centerline goodness : 0.993197 with order 1 Centerline is valid? [True, True] Translation: X:266.67, Y:-12.64, Z:-0.02 [[ 9.99950964e-01 9.90296399e-03 0.00000000e+00 2.66666164e+02] [-9.90296399e-03 9.99950964e-01 0.00000000e+00 -1.26439736e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56102986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92037174300003 meters Centerline goodness : 0.992068 with order 1 Centerline is valid? [True, True] Translation: X:266.72, Y:-12.65, Z:-0.02 [[ 9.99838067e-01 1.79955288e-02 0.00000000e+00 2.66724436e+02] [-1.79955288e-02 9.99838067e-01 0.00000000e+00 -1.26471759e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66456250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98037174300003 meters Centerline goodness : 0.991614 with order 1 Centerline is valid? [True, True] Translation: X:266.78, Y:-12.65, Z:-0.02 [[ 9.99686665e-01 2.50314184e-02 0.00000000e+00 2.66781871e+02] [-2.50314184e-02 9.99686665e-01 0.00000000e+00 -1.26500897e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68975179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.040371743 meters Centerline goodness : 0.991378 with order 1 Centerline is valid? [True, True] Translation: X:266.84, Y:-12.65, Z:-0.02 [[ 9.99673475e-01 2.55527655e-02 0.00000000e+00 2.66838329e+02] [-2.55527655e-02 9.99673475e-01 0.00000000e+00 -1.26547445e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86200239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.100371743 meters Centerline goodness : 0.990375 with order 1 Centerline is valid? [True, True] Translation: X:266.90, Y:-12.66, Z:-0.02 [[ 9.99605738e-01 2.80779107e-02 0.00000000e+00 2.66896786e+02] [-2.80779107e-02 9.99605738e-01 0.00000000e+00 -1.26603854e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66334994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.160371743 meters Centerline goodness : 0.991128 with order 1 Centerline is valid? [True, True] Translation: X:266.95, Y:-12.67, Z:-0.02 [[ 9.99691110e-01 2.48532641e-02 0.00000000e+00 2.66954030e+02] [-2.48532641e-02 9.99691110e-01 0.00000000e+00 -1.26678266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74628347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.220371743 meters Centerline goodness : 0.991806 with order 1 Centerline is valid? [True, True] Translation: X:267.01, Y:-12.67, Z:-0.01 [[ 9.99807352e-01 1.96279944e-02 0.00000000e+00 2.67013061e+02] [-1.96279944e-02 9.99807352e-01 0.00000000e+00 -1.26717848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49089361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.280371743 meters Centerline goodness : 0.991934 with order 1 Centerline is valid? [True, True] Translation: X:267.07, Y:-12.68, Z:-0.01 [[ 9.99921589e-01 1.25226093e-02 0.00000000e+00 2.67071487e+02] [-1.25226093e-02 9.99921589e-01 0.00000000e+00 -1.26784040e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30602220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.340371743 meters Centerline goodness : 0.995314 with order 1 Centerline is valid? [True, True] Translation: X:267.13, Y:-12.67, Z:-0.00 [[ 9.99997093e-01 -2.41127344e-03 0.00000000e+00 2.67129899e+02] [ 2.41127344e-03 9.99997093e-01 0.00000000e+00 -1.26735596e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.58537869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.400371743 meters Centerline goodness : 0.993380 with order 1 Centerline is valid? [True, True] Translation: X:267.19, Y:-12.69, Z:-0.01 [[ 9.99994497e-01 3.31764173e-03 0.00000000e+00 2.67190214e+02] [-3.31764173e-03 9.99994497e-01 0.00000000e+00 -1.26907076e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15140673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.460371743 meters Centerline goodness : 0.993288 with order 1 Centerline is valid? [True, True] Translation: X:267.25, Y:-12.70, Z:-0.01 [[ 9.99995925e-01 2.85495395e-03 0.00000000e+00 2.67249720e+02] [-2.85495395e-03 9.99995925e-01 0.00000000e+00 -1.26971031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15110667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.520371743 meters Centerline goodness : 0.993226 with order 1 Centerline is valid? [True, True] Translation: X:267.31, Y:-12.70, Z:-0.01 [[ 9.99996444e-01 2.66687499e-03 0.00000000e+00 2.67308507e+02] [-2.66687499e-03 9.99996444e-01 0.00000000e+00 -1.27016149e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18191488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.580371743 meters Centerline goodness : 0.993067 with order 1 Centerline is valid? [True, True] Translation: X:267.37, Y:-12.71, Z:-0.01 [[ 9.99969372e-01 7.82653893e-03 0.00000000e+00 2.67367391e+02] [-7.82653893e-03 9.99969372e-01 0.00000000e+00 -1.27087114e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39536230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.640371743 meters Centerline goodness : 0.993553 with order 1 Centerline is valid? [True, True] Translation: X:267.43, Y:-12.71, Z:-0.01 [[ 9.99977212e-01 6.75101184e-03 0.00000000e+00 2.67425381e+02] [-6.75101184e-03 9.99977212e-01 0.00000000e+00 -1.27109986e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12434699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.700371743 meters Centerline goodness : 0.994212 with order 1 Centerline is valid? [True, True] Translation: X:267.48, Y:-12.71, Z:-0.01 [[ 9.99968212e-01 7.97337046e-03 0.00000000e+00 2.67484037e+02] [-7.97337046e-03 9.99968212e-01 0.00000000e+00 -1.27137662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10352840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.760371743 meters Centerline goodness : 0.994359 with order 1 Centerline is valid? [True, True] Translation: X:267.54, Y:-12.72, Z:-0.01 [[ 9.99982846e-01 5.85730458e-03 0.00000000e+00 2.67541960e+02] [-5.85730458e-03 9.99982846e-01 0.00000000e+00 -1.27167480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08008874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.820371743 meters Centerline goodness : 0.994228 with order 1 Centerline is valid? [True, True] Translation: X:267.60, Y:-12.72, Z:-0.01 [[ 9.99993589e-01 3.58087756e-03 0.00000000e+00 2.67601080e+02] [-3.58087756e-03 9.99993589e-01 0.00000000e+00 -1.27193222e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79386838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.880371743 meters Centerline goodness : 0.994683 with order 1 Centerline is valid? [True, True] Translation: X:267.66, Y:-12.72, Z:-0.01 [[ 9.99998940e-01 1.45592785e-03 0.00000000e+00 2.67660653e+02] [-1.45592785e-03 9.99998940e-01 0.00000000e+00 -1.27241097e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.33987933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.940371743 meters Centerline goodness : 0.994442 with order 1 Centerline is valid? [True, True] Translation: X:267.72, Y:-12.73, Z:-0.01 [[ 9.99998594e-01 -1.67683689e-03 0.00000000e+00 2.67720051e+02] [ 1.67683689e-03 9.99998594e-01 0.00000000e+00 -1.27279244e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01110419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.000371743 meters Centerline goodness : 0.996409 with order 1 Centerline is valid? [True, True] Translation: X:267.78, Y:-12.72, Z:-0.01 [[ 9.99954558e-01 -9.53315078e-03 0.00000000e+00 2.67781000e+02] [ 9.53315078e-03 9.99954558e-01 0.00000000e+00 -1.27210016e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04514592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.060371743 meters Centerline goodness : 0.995131 with order 1 Centerline is valid? [True, True] Translation: X:267.84, Y:-12.73, Z:-0.01 [[ 9.99999762e-01 -6.90459760e-04 0.00000000e+00 2.67842204e+02] [ 6.90459760e-04 9.99999762e-01 0.00000000e+00 -1.27316101e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.78906446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.120371743 meters Centerline goodness : 0.994180 with order 1 Centerline is valid? [True, True] Translation: X:267.90, Y:-12.73, Z:-0.01 [[ 9.99993442e-01 3.62155950e-03 0.00000000e+00 2.67902772e+02] [-3.62155950e-03 9.99993442e-01 0.00000000e+00 -1.27339788e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04380726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.180371743 meters Centerline goodness : 0.994132 with order 1 Centerline is valid? [True, True] Translation: X:267.96, Y:-12.74, Z:-0.01 [[ 9.99987180e-01 5.06360464e-03 0.00000000e+00 2.67961816e+02] [-5.06360464e-03 9.99987180e-01 0.00000000e+00 -1.27356028e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14879480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.240371743 meters Centerline goodness : 0.994437 with order 1 Centerline is valid? [True, True] Translation: X:268.02, Y:-12.74, Z:-0.01 [[ 9.99985705e-01 5.34691626e-03 0.00000000e+00 2.68021046e+02] [-5.34691626e-03 9.99985705e-01 0.00000000e+00 -1.27375132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08252954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.300371743 meters Centerline goodness : 0.995356 with order 1 Centerline is valid? [True, True] Translation: X:268.08, Y:-12.74, Z:-0.01 [[ 9.99991655e-01 4.08539170e-03 0.00000000e+00 2.68079667e+02] [-4.08539170e-03 9.99991655e-01 0.00000000e+00 -1.27406055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.50513268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36037174300003 meters Centerline goodness : 0.996246 with order 1 Centerline is valid? [True, True] Translation: X:268.14, Y:-12.74, Z:-0.01 [[ 9.99975156e-01 -7.04886173e-03 0.00000000e+00 2.68139132e+02] [ 7.04886173e-03 9.99975156e-01 0.00000000e+00 -1.27367471e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30355089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42037174300003 meters Centerline goodness : 0.996461 with order 1 Centerline is valid? [True, True] Translation: X:268.20, Y:-12.74, Z:-0.01 [[ 9.99952238e-01 -9.77353899e-03 0.00000000e+00 2.68202302e+02] [ 9.77353899e-03 9.99952238e-01 0.00000000e+00 -1.27413665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.94264250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48037174300003 meters Centerline goodness : 0.996589 with order 1 Centerline is valid? [True, True] Translation: X:268.26, Y:-12.75, Z:-0.01 [[ 9.99910218e-01 -1.33998463e-02 0.00000000e+00 2.68264531e+02] [ 1.33998463e-02 9.99910218e-01 0.00000000e+00 -1.27457119e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03634547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.540371743 meters Centerline goodness : 0.995146 with order 1 Centerline is valid? [True, True] Translation: X:268.33, Y:-12.76, Z:-0.02 [[ 9.99963858e-01 -8.50190590e-03 0.00000000e+00 2.68325814e+02] [ 8.50190590e-03 9.99963858e-01 0.00000000e+00 -1.27574641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60903326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.600371743 meters Centerline goodness : 0.994604 with order 1 Centerline is valid? [True, True] Translation: X:268.39, Y:-12.76, Z:-0.02 [[ 9.99961480e-01 -8.77715690e-03 0.00000000e+00 2.68388212e+02] [ 8.77715690e-03 9.99961480e-01 0.00000000e+00 -1.27593435e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51483852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.660371743 meters Centerline goodness : 0.994281 with order 1 Centerline is valid? [True, True] Translation: X:268.45, Y:-12.76, Z:-0.02 [[ 9.99966278e-01 -8.21241927e-03 0.00000000e+00 2.68450508e+02] [ 8.21241927e-03 9.99966278e-01 0.00000000e+00 -1.27625676e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53890594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.720371743 meters Centerline goodness : 0.994589 with order 1 Centerline is valid? [True, True] Translation: X:268.51, Y:-12.76, Z:-0.01 [[ 9.99973254e-01 -7.31375710e-03 0.00000000e+00 2.68512966e+02] [ 7.31375710e-03 9.99973254e-01 0.00000000e+00 -1.27641980e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38227944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.780371743 meters Centerline goodness : 0.993651 with order 1 Centerline is valid? [True, True] Translation: X:268.58, Y:-12.76, Z:-0.01 [[ 9.99958159e-01 -9.14771521e-03 0.00000000e+00 2.68576357e+02] [ 9.14771521e-03 9.99958159e-01 0.00000000e+00 -1.27640700e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21521701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.840371743 meters Centerline goodness : 0.994482 with order 1 Centerline is valid? [True, True] Translation: X:268.64, Y:-12.77, Z:-0.01 [[ 9.99912528e-01 -1.32263614e-02 0.00000000e+00 2.68639099e+02] [ 1.32263614e-02 9.99912528e-01 0.00000000e+00 -1.27654578e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15459877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.900371743 meters Centerline goodness : 0.994208 with order 1 Centerline is valid? [True, True] Translation: X:268.70, Y:-12.77, Z:-0.01 [[ 9.99820794e-01 -1.89309434e-02 0.00000000e+00 2.68700357e+02] [ 1.89309434e-02 9.99820794e-01 0.00000000e+00 -1.27677936e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39614728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.960371743 meters Centerline goodness : 0.993957 with order 1 Centerline is valid? [True, True] Translation: X:268.76, Y:-12.77, Z:-0.01 [[ 9.99764482e-01 -2.17021067e-02 0.00000000e+00 2.68762108e+02] [ 2.17021067e-02 9.99764482e-01 0.00000000e+00 -1.27693497e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34938348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.020371743 meters Centerline goodness : 0.993944 with order 1 Centerline is valid? [True, True] Translation: X:268.83, Y:-12.77, Z:-0.01 [[ 9.99712585e-01 -2.39738779e-02 0.00000000e+00 2.68825304e+02] [ 2.39738779e-02 9.99712585e-01 0.00000000e+00 -1.27715868e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28003328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.080371743 meters Centerline goodness : 0.993920 with order 1 Centerline is valid? [True, True] Translation: X:268.89, Y:-12.77, Z:-0.01 [[ 9.99723786e-01 -2.35021513e-02 0.00000000e+00 2.68887522e+02] [ 2.35021513e-02 9.99723786e-01 0.00000000e+00 -1.27720085e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03839444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.140371743 meters Centerline goodness : 0.993769 with order 1 Centerline is valid? [True, True] Translation: X:268.95, Y:-12.77, Z:-0.01 [[ 9.99761334e-01 -2.18466285e-02 0.00000000e+00 2.68949541e+02] [ 2.18466285e-02 9.99761334e-01 0.00000000e+00 -1.27732994e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.72192969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.200371743 meters Centerline goodness : 0.993876 with order 1 Centerline is valid? [True, True] Translation: X:269.01, Y:-12.77, Z:-0.01 [[ 9.99799863e-01 -2.00058667e-02 0.00000000e+00 2.69012428e+02] [ 2.00058667e-02 9.99799863e-01 0.00000000e+00 -1.27731446e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.01639649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.260371743 meters Centerline goodness : 0.993597 with order 1 Centerline is valid? [True, True] Translation: X:269.07, Y:-12.77, Z:-0.01 [[ 9.99851439e-01 -1.72365651e-02 0.00000000e+00 2.69074501e+02] [ 1.72365651e-02 9.99851439e-01 0.00000000e+00 -1.27746729e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72226166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.320371743 meters Centerline goodness : 0.992574 with order 1 Centerline is valid? [True, True] Translation: X:269.14, Y:-12.78, Z:-0.01 [[ 9.99836587e-01 -1.80776013e-02 0.00000000e+00 2.69137758e+02] [ 1.80776013e-02 9.99836587e-01 0.00000000e+00 -1.27785171e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.70535989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.380371743 meters Centerline goodness : 0.992431 with order 1 Centerline is valid? [True, True] Translation: X:269.20, Y:-12.78, Z:-0.01 [[ 9.99744218e-01 -2.26163518e-02 0.00000000e+00 2.69198805e+02] [ 2.26163518e-02 9.99744218e-01 0.00000000e+00 -1.27830261e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.62051786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.440371743 meters Centerline goodness : 0.993339 with order 1 Centerline is valid? [True, True] Translation: X:269.26, Y:-12.79, Z:-0.01 [[ 9.99693352e-01 -2.47629191e-02 0.00000000e+00 2.69260698e+02] [ 2.47629191e-02 9.99693352e-01 0.00000000e+00 -1.27896601e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.98444219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.500371743 meters Centerline goodness : 0.992702 with order 1 Centerline is valid? [True, True] Translation: X:269.32, Y:-12.79, Z:-0.01 [[ 9.99689979e-01 -2.48987261e-02 0.00000000e+00 2.69323167e+02] [ 2.48987261e-02 9.99689979e-01 0.00000000e+00 -1.27949004e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.98475834e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.560371743 meters Centerline goodness : 0.992796 with order 1 Centerline is valid? [True, True] Translation: X:269.38, Y:-12.80, Z:-0.01 [[ 9.99741861e-01 -2.27202893e-02 0.00000000e+00 2.69384345e+02] [ 2.27202893e-02 9.99741861e-01 0.00000000e+00 -1.27992017e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.96100925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.620371743 meters Centerline goodness : 0.992577 with order 1 Centerline is valid? [True, True] Translation: X:269.45, Y:-12.80, Z:-0.01 [[ 9.99828017e-01 -1.85455387e-02 0.00000000e+00 2.69446866e+02] [ 1.85455387e-02 9.99828017e-01 0.00000000e+00 -1.28030026e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.32016968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.680371743 meters Centerline goodness : 0.993320 with order 1 Centerline is valid? [True, True] Translation: X:269.51, Y:-12.81, Z:-0.01 [[ 9.99869821e-01 -1.61351005e-02 0.00000000e+00 2.69508096e+02] [ 1.61351005e-02 9.99869821e-01 0.00000000e+00 -1.28069141e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.05928099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.740371743 meters Centerline goodness : 0.993810 with order 1 Centerline is valid? [True, True] Translation: X:269.57, Y:-12.81, Z:-0.01 [[ 9.99908440e-01 -1.35318672e-02 0.00000000e+00 2.69569993e+02] [ 1.35318672e-02 9.99908440e-01 0.00000000e+00 -1.28117025e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.43714535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.800371743 meters Centerline goodness : 0.992811 with order 1 Centerline is valid? [True, True] Translation: X:269.63, Y:-12.82, Z:-0.01 [[ 9.99942903e-01 -1.06859813e-02 0.00000000e+00 2.69631135e+02] [ 1.06859813e-02 9.99942903e-01 0.00000000e+00 -1.28173563e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.10489600e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86037174300003 meters Centerline goodness : 0.993352 with order 1 Centerline is valid? [True, True] Translation: X:269.69, Y:-12.82, Z:-0.01 [[ 9.99975714e-01 -6.96929115e-03 0.00000000e+00 2.69693065e+02] [ 6.96929115e-03 9.99975714e-01 0.00000000e+00 -1.28216628e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.02094020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92037174300003 meters Centerline goodness : 0.993244 with order 1 Centerline is valid? [True, True] Translation: X:269.75, Y:-12.82, Z:-0.01 [[ 9.99998659e-01 -1.63754698e-03 0.00000000e+00 2.69754637e+02] [ 1.63754698e-03 9.99998659e-01 0.00000000e+00 -1.28243500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.14461845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98037174300003 meters Centerline goodness : 0.993320 with order 1 Centerline is valid? [True, True] Translation: X:269.82, Y:-12.83, Z:-0.01 [[ 9.99981504e-01 6.08206435e-03 0.00000000e+00 2.69815854e+02] [-6.08206435e-03 9.99981504e-01 0.00000000e+00 -1.28268627e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.65753016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.040371743 meters Centerline goodness : 0.993436 with order 1 Centerline is valid? [True, True] Translation: X:269.87, Y:-12.83, Z:-0.01 [[ 9.99951560e-01 9.84259404e-03 0.00000000e+00 2.69874558e+02] [-9.84259404e-03 9.99951560e-01 0.00000000e+00 -1.28303378e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.51725886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.100371743 meters Centerline goodness : 0.993202 with order 1 Centerline is valid? [True, True] Translation: X:269.93, Y:-12.84, Z:-0.01 [[ 9.99902577e-01 1.39583761e-02 0.00000000e+00 2.69932139e+02] [-1.39583761e-02 9.99902577e-01 0.00000000e+00 -1.28352496e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08330850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.160371743 meters Centerline goodness : 0.992164 with order 1 Centerline is valid? [True, True] Translation: X:269.99, Y:-12.84, Z:-0.01 [[ 9.99883565e-01 1.52596140e-02 0.00000000e+00 2.69990758e+02] [-1.52596140e-02 9.99883565e-01 0.00000000e+00 -1.28402949e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08974144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.220371743 meters Centerline goodness : 0.992170 with order 1 Centerline is valid? [True, True] Translation: X:270.05, Y:-12.85, Z:-0.01 [[ 9.99899448e-01 1.41807293e-02 0.00000000e+00 2.70048472e+02] [-1.41807293e-02 9.99899448e-01 0.00000000e+00 -1.28451732e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19111596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.280371743 meters Centerline goodness : 0.992470 with order 1 Centerline is valid? [True, True] Translation: X:270.11, Y:-12.85, Z:-0.01 [[ 9.99914217e-01 1.30980519e-02 0.00000000e+00 2.70106929e+02] [-1.30980519e-02 9.99914217e-01 0.00000000e+00 -1.28507160e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37762787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.340371743 meters Centerline goodness : 0.992456 with order 1 Centerline is valid? [True, True] Translation: X:270.16, Y:-12.86, Z:-0.02 [[ 9.99912999e-01 1.31907308e-02 0.00000000e+00 2.70164176e+02] [-1.31907308e-02 9.99912999e-01 0.00000000e+00 -1.28574915e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77608322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.400371743 meters Centerline goodness : 0.992815 with order 1 Centerline is valid? [True, True] Translation: X:270.22, Y:-12.86, Z:-0.02 [[ 9.99926647e-01 1.21120425e-02 0.00000000e+00 2.70223090e+02] [-1.21120425e-02 9.99926647e-01 0.00000000e+00 -1.28624256e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77892682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.460371743 meters Centerline goodness : 0.992280 with order 1 Centerline is valid? [True, True] Translation: X:270.28, Y:-12.87, Z:-0.02 [[ 9.99933909e-01 1.14968100e-02 0.00000000e+00 2.70281204e+02] [-1.14968100e-02 9.99933909e-01 0.00000000e+00 -1.28679721e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83075694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.520371743 meters Centerline goodness : 0.992476 with order 1 Centerline is valid? [True, True] Translation: X:270.34, Y:-12.87, Z:-0.02 [[ 9.99968971e-01 7.87759938e-03 0.00000000e+00 2.70340187e+02] [-7.87759938e-03 9.99968971e-01 0.00000000e+00 -1.28732833e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79556190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.580371743 meters Centerline goodness : 0.993512 with order 1 Centerline is valid? [True, True] Translation: X:270.40, Y:-12.88, Z:-0.02 [[ 9.99994648e-01 3.27170313e-03 0.00000000e+00 2.70397958e+02] [-3.27170313e-03 9.99994648e-01 0.00000000e+00 -1.28773484e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68490022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.640371743 meters Centerline goodness : 0.992758 with order 1 Centerline is valid? [True, True] Translation: X:270.46, Y:-12.88, Z:-0.02 [[ 1.00000000e+00 -1.47545428e-05 0.00000000e+00 2.70457712e+02] [ 1.47545428e-05 1.00000000e+00 0.00000000e+00 -1.28832018e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67470229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.700371743 meters Centerline goodness : 0.993493 with order 1 Centerline is valid? [True, True] Translation: X:270.52, Y:-12.89, Z:-0.02 [[ 9.99999427e-01 -1.07077794e-03 0.00000000e+00 2.70517880e+02] [ 1.07077794e-03 9.99999427e-01 0.00000000e+00 -1.28885800e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63220685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.760371743 meters Centerline goodness : 0.992989 with order 1 Centerline is valid? [True, True] Translation: X:270.58, Y:-12.89, Z:-0.02 [[ 9.99999936e-01 3.57068796e-04 0.00000000e+00 2.70577894e+02] [-3.57068796e-04 9.99999936e-01 0.00000000e+00 -1.28932617e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63867522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.820371743 meters Centerline goodness : 0.993150 with order 1 Centerline is valid? [True, True] Translation: X:270.64, Y:-12.90, Z:-0.02 [[ 9.99998761e-01 1.57409788e-03 0.00000000e+00 2.70638233e+02] [-1.57409788e-03 9.99998761e-01 0.00000000e+00 -1.28962487e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77774563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.880371743 meters Centerline goodness : 0.993776 with order 1 Centerline is valid? [True, True] Translation: X:270.70, Y:-12.90, Z:-0.02 [[ 9.99996994e-01 2.45210816e-03 0.00000000e+00 2.70697885e+02] [-2.45210816e-03 9.99996994e-01 0.00000000e+00 -1.28991320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72000510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.940371743 meters Centerline goodness : 0.994111 with order 1 Centerline is valid? [True, True] Translation: X:270.76, Y:-12.90, Z:-0.02 [[ 9.99995668e-01 2.94349537e-03 0.00000000e+00 2.70757216e+02] [-2.94349537e-03 9.99995668e-01 0.00000000e+00 -1.29026074e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94988364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.000371743 meters Centerline goodness : 0.994040 with order 1 Centerline is valid? [True, True] Translation: X:270.82, Y:-12.91, Z:-0.02 [[ 9.99999663e-01 8.21150444e-04 0.00000000e+00 2.70816007e+02] [-8.21150444e-04 9.99999663e-01 0.00000000e+00 -1.29056424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17419705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.060371743 meters Centerline goodness : 0.994536 with order 1 Centerline is valid? [True, True] Translation: X:270.88, Y:-12.91, Z:-0.02 [[ 9.99999542e-01 -9.57549197e-04 0.00000000e+00 2.70876540e+02] [ 9.57549197e-04 9.99999542e-01 0.00000000e+00 -1.29088307e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32789938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.120371743 meters Centerline goodness : 0.994555 with order 1 Centerline is valid? [True, True] Translation: X:270.94, Y:-12.91, Z:-0.02 [[ 9.99993276e-01 -3.66705876e-03 0.00000000e+00 2.70937027e+02] [ 3.66705876e-03 9.99993276e-01 0.00000000e+00 -1.29094568e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14309912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.180371743 meters Centerline goodness : 0.994551 with order 1 Centerline is valid? [True, True] Translation: X:271.00, Y:-12.91, Z:-0.02 [[ 9.99997772e-01 -2.11102173e-03 0.00000000e+00 2.70997979e+02] [ 2.11102173e-03 9.99997772e-01 0.00000000e+00 -1.29108123e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01636146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.240371743 meters Centerline goodness : 0.995094 with order 1 Centerline is valid? [True, True] Translation: X:271.06, Y:-12.91, Z:-0.02 [[ 1.00000000e+00 2.21327974e-05 0.00000000e+00 2.71059309e+02] [-2.21327974e-05 1.00000000e+00 0.00000000e+00 -1.29120061e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92871895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.300371743 meters Centerline goodness : 0.994724 with order 1 Centerline is valid? [True, True] Translation: X:271.12, Y:-12.91, Z:-0.02 [[ 9.99993642e-01 -3.56606302e-03 0.00000000e+00 2.71118966e+02] [ 3.56606302e-03 9.99993642e-01 0.00000000e+00 -1.29110239e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62894100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36037174300003 meters Centerline goodness : 0.994854 with order 1 Centerline is valid? [True, True] Translation: X:271.18, Y:-12.91, Z:-0.02 [[ 9.99978576e-01 -6.54586416e-03 0.00000000e+00 2.71179866e+02] [ 6.54586416e-03 9.99978576e-01 0.00000000e+00 -1.29128635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75155008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42037174300003 meters Centerline goodness : 0.995549 with order 1 Centerline is valid? [True, True] Translation: X:271.24, Y:-12.91, Z:-0.02 [[ 9.99937468e-01 -1.11829943e-02 0.00000000e+00 2.71242104e+02] [ 1.11829943e-02 9.99937468e-01 0.00000000e+00 -1.29133024e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89652864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48037174300003 meters Centerline goodness : 0.994453 with order 1 Centerline is valid? [True, True] Translation: X:271.30, Y:-12.91, Z:-0.02 [[ 9.99930657e-01 -1.17762739e-02 0.00000000e+00 2.71304316e+02] [ 1.17762739e-02 9.99930657e-01 0.00000000e+00 -1.29146888e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81051193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.540371743 meters Centerline goodness : 0.995385 with order 1 Centerline is valid? [True, True] Translation: X:271.37, Y:-12.91, Z:-0.02 [[ 9.99912226e-01 -1.32491807e-02 0.00000000e+00 2.71367050e+02] [ 1.32491807e-02 9.99912226e-01 0.00000000e+00 -1.29148677e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73203907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.600371743 meters Centerline goodness : 0.995303 with order 1 Centerline is valid? [True, True] Translation: X:271.43, Y:-12.91, Z:-0.01 [[ 9.99904078e-01 -1.38504089e-02 0.00000000e+00 2.71428990e+02] [ 1.38504089e-02 9.99904078e-01 0.00000000e+00 -1.29133102e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36039483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.660371743 meters Centerline goodness : 0.995509 with order 1 Centerline is valid? [True, True] Translation: X:271.49, Y:-12.91, Z:-0.01 [[ 9.99922267e-01 -1.24683907e-02 0.00000000e+00 2.71491397e+02] [ 1.24683907e-02 9.99922267e-01 0.00000000e+00 -1.29127245e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21172032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.720371743 meters Centerline goodness : 0.995488 with order 1 Centerline is valid? [True, True] Translation: X:271.55, Y:-12.91, Z:-0.01 [[ 9.99934614e-01 -1.14354061e-02 0.00000000e+00 2.71552824e+02] [ 1.14354061e-02 9.99934614e-01 0.00000000e+00 -1.29142179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24342896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.780371743 meters Centerline goodness : 0.995427 with order 1 Centerline is valid? [True, True] Translation: X:271.62, Y:-12.92, Z:-0.01 [[ 9.99931570e-01 -1.16985347e-02 0.00000000e+00 2.71615987e+02] [ 1.16985347e-02 9.99931570e-01 0.00000000e+00 -1.29171787e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24770868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.840371743 meters Centerline goodness : 0.994846 with order 1 Centerline is valid? [True, True] Translation: X:271.68, Y:-12.92, Z:-0.01 [[ 9.99926594e-01 -1.21163640e-02 0.00000000e+00 2.71678949e+02] [ 1.21163640e-02 9.99926594e-01 0.00000000e+00 -1.29191782e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35863945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.900371743 meters Centerline goodness : 0.994957 with order 1 Centerline is valid? [True, True] Translation: X:271.74, Y:-12.92, Z:-0.01 [[ 9.99935426e-01 -1.13641828e-02 0.00000000e+00 2.71740981e+02] [ 1.13641828e-02 9.99935426e-01 0.00000000e+00 -1.29207723e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34075641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.960371743 meters Centerline goodness : 0.994338 with order 1 Centerline is valid? [True, True] Translation: X:271.80, Y:-12.92, Z:-0.01 [[ 9.99948914e-01 -1.01079210e-02 0.00000000e+00 2.71803145e+02] [ 1.01079210e-02 9.99948914e-01 0.00000000e+00 -1.29222459e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37846794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.020371743 meters Centerline goodness : 0.994598 with order 1 Centerline is valid? [True, True] Translation: X:271.87, Y:-12.92, Z:-0.01 [[ 9.99965739e-01 -8.27772871e-03 0.00000000e+00 2.71865425e+02] [ 8.27772871e-03 9.99965739e-01 0.00000000e+00 -1.29218764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18734225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.080371743 meters Centerline goodness : 0.994732 with order 1 Centerline is valid? [True, True] Translation: X:271.93, Y:-12.92, Z:-0.01 [[ 9.99977435e-01 -6.71785854e-03 0.00000000e+00 2.71927573e+02] [ 6.71785854e-03 9.99977435e-01 0.00000000e+00 -1.29216941e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.32042402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.140371743 meters Centerline goodness : 0.994713 with order 1 Centerline is valid? [True, True] Translation: X:271.99, Y:-12.92, Z:-0.01 [[ 9.99980793e-01 -6.19785662e-03 0.00000000e+00 2.71989370e+02] [ 6.19785662e-03 9.99980793e-01 0.00000000e+00 -1.29240819e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.10543990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.200371743 meters Centerline goodness : 0.994941 with order 1 Centerline is valid? [True, True] Translation: X:272.05, Y:-12.93, Z:-0.01 [[ 9.99985294e-01 -5.42329968e-03 0.00000000e+00 2.72050469e+02] [ 5.42329968e-03 9.99985294e-01 0.00000000e+00 -1.29276939e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.78653973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.260371743 meters Centerline goodness : 0.995102 with order 1 Centerline is valid? [True, True] Translation: X:272.11, Y:-12.93, Z:-0.01 [[ 9.99981364e-01 -6.10504271e-03 0.00000000e+00 2.72112914e+02] [ 6.10504271e-03 9.99981364e-01 0.00000000e+00 -1.29297405e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.89612475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.320371743 meters Centerline goodness : 0.994729 with order 1 Centerline is valid? [True, True] Translation: X:272.17, Y:-12.93, Z:-0.01 [[ 9.99999314e-01 -1.17169483e-03 0.00000000e+00 2.72174728e+02] [ 1.17169483e-03 9.99999314e-01 0.00000000e+00 -1.29349991e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06417190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.380371743 meters Centerline goodness : 0.994324 with order 1 Centerline is valid? [True, True] Translation: X:272.23, Y:-12.94, Z:-0.01 [[ 9.99999559e-01 9.39622174e-04 0.00000000e+00 2.72234771e+02] [-9.39622174e-04 9.99999559e-01 0.00000000e+00 -1.29365734e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.44163765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.440371743 meters Centerline goodness : 0.994914 with order 1 Centerline is valid? [True, True] Translation: X:272.30, Y:-12.94, Z:-0.00 [[ 9.99983698e-01 5.71003625e-03 0.00000000e+00 2.72295580e+02] [-5.71003625e-03 9.99983698e-01 0.00000000e+00 -1.29383463e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.89931108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.500371743 meters Centerline goodness : 0.994569 with order 1 Centerline is valid? [True, True] Translation: X:272.35, Y:-12.94, Z:-0.01 [[ 9.99942189e-01 1.07526475e-02 0.00000000e+00 2.72353717e+02] [-1.07526475e-02 9.99942189e-01 0.00000000e+00 -1.29423144e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.72543456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.560371743 meters Centerline goodness : 0.993703 with order 1 Centerline is valid? [True, True] Translation: X:272.41, Y:-12.95, Z:-0.01 [[ 9.99905151e-01 1.37727577e-02 0.00000000e+00 2.72412394e+02] [-1.37727577e-02 9.99905151e-01 0.00000000e+00 -1.29473576e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.29729932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.620371743 meters Centerline goodness : 0.993256 with order 1 Centerline is valid? [True, True] Translation: X:272.47, Y:-12.95, Z:-0.01 [[ 9.99915814e-01 1.29755677e-02 0.00000000e+00 2.72469995e+02] [-1.29755677e-02 9.99915814e-01 0.00000000e+00 -1.29505599e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.81455449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.680371743 meters Centerline goodness : 0.993996 with order 1 Centerline is valid? [True, True] Translation: X:272.53, Y:-12.96, Z:-0.01 [[ 9.99920212e-01 1.26320745e-02 0.00000000e+00 2.72528855e+02] [-1.26320745e-02 9.99920212e-01 0.00000000e+00 -1.29564193e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04963265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.740371743 meters Centerline goodness : 0.993257 with order 1 Centerline is valid? [True, True] Translation: X:272.59, Y:-12.96, Z:-0.01 [[ 9.99895361e-01 1.44660487e-02 0.00000000e+00 2.72587484e+02] [-1.44660487e-02 9.99895361e-01 0.00000000e+00 -1.29638700e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40885105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.800371743 meters Centerline goodness : 0.993569 with order 1 Centerline is valid? [True, True] Translation: X:272.64, Y:-12.97, Z:-0.01 [[ 9.99912276e-01 1.32453563e-02 0.00000000e+00 2.72644865e+02] [-1.32453563e-02 9.99912276e-01 0.00000000e+00 -1.29678111e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42449785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86037174300003 meters Centerline goodness : 0.994976 with order 1 Centerline is valid? [True, True] Translation: X:272.70, Y:-12.96, Z:-0.01 [[ 9.99967094e-01 8.11238581e-03 0.00000000e+00 2.72703558e+02] [-8.11238581e-03 9.99967094e-01 0.00000000e+00 -1.29606100e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.89362411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92037174300003 meters Centerline goodness : 0.995094 with order 1 Centerline is valid? [True, True] Translation: X:272.76, Y:-12.97, Z:-0.00 [[ 9.99909142e-01 1.34799027e-02 0.00000000e+00 2.72761418e+02] [-1.34799027e-02 9.99909142e-01 0.00000000e+00 -1.29651134e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.99234029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98037174300003 meters Centerline goodness : 0.994347 with order 1 Centerline is valid? [True, True] Translation: X:272.82, Y:-12.98, Z:-0.01 [[ 9.99732842e-01 2.31137477e-02 0.00000000e+00 2.72819896e+02] [-2.31137477e-02 9.99732842e-01 0.00000000e+00 -1.29762859e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.00442864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.040371743 meters Centerline goodness : 0.994760 with order 1 Centerline is valid? [True, True] Translation: X:272.88, Y:-12.98, Z:-0.01 [[ 9.99690598e-01 2.48738582e-02 0.00000000e+00 2.72878836e+02] [-2.48738582e-02 9.99690598e-01 0.00000000e+00 -1.29818571e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.85315398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.100371743 meters Centerline goodness : 0.994069 with order 1 Centerline is valid? [True, True] Translation: X:272.94, Y:-12.99, Z:-0.01 [[ 9.99795101e-01 2.02424178e-02 0.00000000e+00 2.72935497e+02] [-2.02424178e-02 9.99795101e-01 0.00000000e+00 -1.29894507e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.55731368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.160371743 meters Centerline goodness : 0.993947 with order 1 Centerline is valid? [True, True] Translation: X:272.99, Y:-13.00, Z:-0.01 [[ 9.99885144e-01 1.51558023e-02 0.00000000e+00 2.72994253e+02] [-1.51558023e-02 9.99885144e-01 0.00000000e+00 -1.30001163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07727285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.220371743 meters Centerline goodness : 0.995950 with order 1 Centerline is valid? [True, True] Translation: X:273.05, Y:-13.00, Z:-0.01 [[ 9.99999962e-01 2.74935934e-04 0.00000000e+00 2.73052198e+02] [-2.74935934e-04 9.99999962e-01 0.00000000e+00 -1.29993592e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.19346152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.280371743 meters Centerline goodness : 0.996040 with order 1 Centerline is valid? [True, True] Translation: X:273.11, Y:-13.01, Z:-0.01 [[ 9.99992632e-01 -3.83863192e-03 0.00000000e+00 2.73112255e+02] [ 3.83863192e-03 9.99992632e-01 0.00000000e+00 -1.30063457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.91798593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.340371743 meters Centerline goodness : 0.994476 with order 1 Centerline is valid? [True, True] Translation: X:273.17, Y:-13.02, Z:-0.01 [[ 9.99999953e-01 -3.06960284e-04 0.00000000e+00 2.73172689e+02] [ 3.06960284e-04 9.99999953e-01 0.00000000e+00 -1.30247595e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48712628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.400371743 meters Centerline goodness : 0.994805 with order 1 Centerline is valid? [True, True] Translation: X:273.23, Y:-13.03, Z:-0.01 [[ 9.99990689e-01 -4.31540477e-03 0.00000000e+00 2.73232829e+02] [ 4.31540477e-03 9.99990689e-01 0.00000000e+00 -1.30313861e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44560717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.460371743 meters Centerline goodness : 0.995128 with order 1 Centerline is valid? [True, True] Translation: X:273.29, Y:-13.04, Z:-0.01 [[ 9.99987129e-01 -5.07365501e-03 0.00000000e+00 2.73294224e+02] [ 5.07365501e-03 9.99987129e-01 0.00000000e+00 -1.30364626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42764191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.520371743 meters Centerline goodness : 0.995136 with order 1 Centerline is valid? [True, True] Translation: X:273.36, Y:-13.04, Z:-0.01 [[ 9.99982969e-01 -5.83629703e-03 0.00000000e+00 2.73356025e+02] [ 5.83629703e-03 9.99982969e-01 0.00000000e+00 -1.30413224e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26994857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.580371743 meters Centerline goodness : 0.994765 with order 1 Centerline is valid? [True, True] Translation: X:273.42, Y:-13.05, Z:-0.01 [[ 9.99974376e-01 -7.15876934e-03 0.00000000e+00 2.73417356e+02] [ 7.15876934e-03 9.99974376e-01 0.00000000e+00 -1.30473688e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29918777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.640371743 meters Centerline goodness : 0.994851 with order 1 Centerline is valid? [True, True] Translation: X:273.48, Y:-13.05, Z:-0.01 [[ 9.99944386e-01 -1.05462796e-02 0.00000000e+00 2.73480061e+02] [ 1.05462796e-02 9.99944386e-01 0.00000000e+00 -1.30514652e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07895794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.700371743 meters Centerline goodness : 0.994863 with order 1 Centerline is valid? [True, True] Translation: X:273.54, Y:-13.06, Z:-0.01 [[ 9.99913132e-01 -1.31806003e-02 0.00000000e+00 2.73543195e+02] [ 1.31806003e-02 9.99913132e-01 0.00000000e+00 -1.30567219e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10542188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.760371743 meters Centerline goodness : 0.995154 with order 1 Centerline is valid? [True, True] Translation: X:273.60, Y:-13.07, Z:-0.02 [[ 9.99896648e-01 -1.43768010e-02 0.00000000e+00 2.73604850e+02] [ 1.43768010e-02 9.99896648e-01 0.00000000e+00 -1.30650572e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50699690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.820371743 meters Centerline goodness : 0.995134 with order 1 Centerline is valid? [True, True] Translation: X:273.67, Y:-13.07, Z:-0.01 [[ 9.99871371e-01 -1.60387713e-02 0.00000000e+00 2.73667117e+02] [ 1.60387713e-02 9.99871371e-01 0.00000000e+00 -1.30697485e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37898249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.880371743 meters Centerline goodness : 0.995116 with order 1 Centerline is valid? [True, True] Translation: X:273.73, Y:-13.07, Z:-0.01 [[ 9.99921257e-01 -1.25491132e-02 0.00000000e+00 2.73729025e+02] [ 1.25491132e-02 9.99921257e-01 0.00000000e+00 -1.30739653e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04386642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.940371743 meters Centerline goodness : 0.995032 with order 1 Centerline is valid? [True, True] Translation: X:273.79, Y:-13.08, Z:-0.01 [[ 9.99967605e-01 -8.04917619e-03 0.00000000e+00 2.73791490e+02] [ 8.04917619e-03 9.99967605e-01 0.00000000e+00 -1.30780385e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10915977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.000371743 meters Centerline goodness : 0.994875 with order 1 Centerline is valid? [True, True] Translation: X:273.85, Y:-13.08, Z:-0.01 [[ 9.99999927e-01 -3.81361745e-04 0.00000000e+00 2.73853005e+02] [ 3.81361745e-04 9.99999927e-01 0.00000000e+00 -1.30807414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11248286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.060371743 meters Centerline goodness : 0.993973 with order 1 Centerline is valid? [True, True] Translation: X:273.91, Y:-13.08, Z:-0.01 [[ 9.99946395e-01 1.03540435e-02 0.00000000e+00 2.73913232e+02] [-1.03540435e-02 9.99946395e-01 0.00000000e+00 -1.30826788e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00645012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.120371743 meters Centerline goodness : 0.994526 with order 1 Centerline is valid? [True, True] Translation: X:273.97, Y:-13.08, Z:-0.01 [[ 9.99820369e-01 1.89533567e-02 0.00000000e+00 2.73971444e+02] [-1.89533567e-02 9.99820369e-01 0.00000000e+00 -1.30840796e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.48733401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.180371743 meters Centerline goodness : 0.994212 with order 1 Centerline is valid? [True, True] Translation: X:274.03, Y:-13.09, Z:-0.01 [[ 9.99762605e-01 2.17884011e-02 0.00000000e+00 2.74029758e+02] [-2.17884011e-02 9.99762605e-01 0.00000000e+00 -1.30866725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.51574515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.240371743 meters Centerline goodness : 0.993882 with order 1 Centerline is valid? [True, True] Translation: X:274.09, Y:-13.09, Z:-0.01 [[ 9.99775705e-01 2.11787709e-02 0.00000000e+00 2.74086794e+02] [-2.11787709e-02 9.99775705e-01 0.00000000e+00 -1.30901991e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.33467660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.300371743 meters Centerline goodness : 0.993987 with order 1 Centerline is valid? [True, True] Translation: X:274.14, Y:-13.09, Z:-0.01 [[ 9.99842466e-01 1.77494714e-02 0.00000000e+00 2.74144250e+02] [-1.77494714e-02 9.99842466e-01 0.00000000e+00 -1.30934186e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.13699005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36037174300003 meters Centerline goodness : 0.993723 with order 1 Centerline is valid? [True, True] Translation: X:274.20, Y:-13.10, Z:-0.01 [[ 9.99925930e-01 1.21710799e-02 0.00000000e+00 2.74202423e+02] [-1.21710799e-02 9.99925930e-01 0.00000000e+00 -1.30999500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.99438736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42037174300003 meters Centerline goodness : 0.993436 with order 1 Centerline is valid? [True, True] Translation: X:274.26, Y:-13.11, Z:-0.01 [[ 9.99989505e-01 4.58140081e-03 0.00000000e+00 2.74260647e+02] [-4.58140081e-03 9.99989505e-01 0.00000000e+00 -1.31054447e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05748432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48037174300003 meters Centerline goodness : 0.993537 with order 1 Centerline is valid? [True, True] Translation: X:274.32, Y:-13.11, Z:-0.01 [[ 9.99995624e-01 2.95823301e-03 0.00000000e+00 2.74319531e+02] [-2.95823301e-03 9.99995624e-01 0.00000000e+00 -1.31119692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43311818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.540371743 meters Centerline goodness : 0.993397 with order 1 Centerline is valid? [True, True] Translation: X:274.38, Y:-13.11, Z:-0.01 [[ 9.99992282e-01 -3.92892008e-03 0.00000000e+00 2.74379223e+02] [ 3.92892008e-03 9.99992282e-01 0.00000000e+00 -1.31134280e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10803237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.600371743 meters Centerline goodness : 0.994012 with order 1 Centerline is valid? [True, True] Translation: X:274.44, Y:-13.11, Z:-0.01 [[ 9.99984180e-01 -5.62494791e-03 0.00000000e+00 2.74440938e+02] [ 5.62494791e-03 9.99984180e-01 0.00000000e+00 -1.31149327e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.99766090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.660371743 meters Centerline goodness : 0.993952 with order 1 Centerline is valid? [True, True] Translation: X:274.50, Y:-13.12, Z:-0.01 [[ 9.99987192e-01 -5.06118352e-03 0.00000000e+00 2.74503050e+02] [ 5.06118352e-03 9.99987192e-01 0.00000000e+00 -1.31172415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01352648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.720371743 meters Centerline goodness : 0.994196 with order 1 Centerline is valid? [True, True] Translation: X:274.57, Y:-13.12, Z:-0.01 [[ 9.99986336e-01 -5.22756859e-03 0.00000000e+00 2.74565499e+02] [ 5.22756859e-03 9.99986336e-01 0.00000000e+00 -1.31187830e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01591973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.780371743 meters Centerline goodness : 0.994144 with order 1 Centerline is valid? [True, True] Translation: X:274.63, Y:-13.12, Z:-0.01 [[ 9.99991382e-01 -4.15152729e-03 0.00000000e+00 2.74628135e+02] [ 4.15152729e-03 9.99991382e-01 0.00000000e+00 -1.31191241e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.55977696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.840371743 meters Centerline goodness : 0.994287 with order 1 Centerline is valid? [True, True] Translation: X:274.69, Y:-13.12, Z:-0.01 [[ 9.99984492e-01 -5.56912073e-03 0.00000000e+00 2.74689642e+02] [ 5.56912073e-03 9.99984492e-01 0.00000000e+00 -1.31191913e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.14598460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.900371743 meters Centerline goodness : 0.994115 with order 1 Centerline is valid? [True, True] Translation: X:274.75, Y:-13.12, Z:-0.01 [[ 9.99958831e-01 -9.07395017e-03 0.00000000e+00 2.74752072e+02] [ 9.07395017e-03 9.99958831e-01 0.00000000e+00 -1.31197002e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.81497702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.960371743 meters Centerline goodness : 0.996150 with order 1 Centerline is valid? [True, True] Translation: X:274.81, Y:-13.11, Z:-0.01 [[ 9.99852608e-01 -1.71686600e-02 0.00000000e+00 2.74814059e+02] [ 1.71686600e-02 9.99852608e-01 0.00000000e+00 -1.31146578e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.47152170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.020371743 meters Centerline goodness : 0.994799 with order 1 Centerline is valid? [True, True] Translation: X:274.88, Y:-13.12, Z:-0.01 [[ 9.99864145e-01 -1.64830880e-02 0.00000000e+00 2.74875626e+02] [ 1.64830880e-02 9.99864145e-01 0.00000000e+00 -1.31223731e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.62943720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.080371743 meters Centerline goodness : 0.995138 with order 1 Centerline is valid? [True, True] Translation: X:274.94, Y:-13.12, Z:-0.01 [[ 9.99841960e-01 -1.77779523e-02 0.00000000e+00 2.74938009e+02] [ 1.77779523e-02 9.99841960e-01 0.00000000e+00 -1.31228321e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.52174225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.140371743 meters Centerline goodness : 0.994943 with order 1 Centerline is valid? [True, True] Translation: X:275.00, Y:-13.12, Z:-0.01 [[ 9.99870782e-01 -1.60754563e-02 0.00000000e+00 2.74999857e+02] [ 1.60754563e-02 9.99870782e-01 0.00000000e+00 -1.31239299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.13240842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.200371743 meters Centerline goodness : 0.994595 with order 1 Centerline is valid? [True, True] Translation: X:275.06, Y:-13.12, Z:-0.01 [[ 9.99899242e-01 -1.41952983e-02 0.00000000e+00 2.75063326e+02] [ 1.41952983e-02 9.99899242e-01 0.00000000e+00 -1.31226836e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.60031420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.260371743 meters Centerline goodness : 0.995145 with order 1 Centerline is valid? [True, True] Translation: X:275.13, Y:-13.12, Z:-0.01 [[ 9.99919988e-01 -1.26498351e-02 0.00000000e+00 2.75125599e+02] [ 1.26498351e-02 9.99919988e-01 0.00000000e+00 -1.31213776e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.32297829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.320371743 meters Centerline goodness : 0.994582 with order 1 Centerline is valid? [True, True] Translation: X:275.19, Y:-13.12, Z:-0.01 [[ 9.99944278e-01 -1.05565726e-02 0.00000000e+00 2.75187894e+02] [ 1.05565726e-02 9.99944278e-01 0.00000000e+00 -1.31237728e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.72299161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.380371743 meters Centerline goodness : 0.994728 with order 1 Centerline is valid? [True, True] Translation: X:275.25, Y:-13.13, Z:-0.01 [[ 9.99937868e-01 -1.11472213e-02 0.00000000e+00 2.75249893e+02] [ 1.11472213e-02 9.99937868e-01 0.00000000e+00 -1.31258290e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.79921142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.440371743 meters Centerline goodness : 0.994595 with order 1 Centerline is valid? [True, True] Translation: X:275.31, Y:-13.13, Z:-0.01 [[ 9.99950929e-01 -9.90658003e-03 0.00000000e+00 2.75312197e+02] [ 9.90658003e-03 9.99950929e-01 0.00000000e+00 -1.31294885e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.74724098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.500371743 meters Centerline goodness : 0.995858 with order 1 Centerline is valid? [True, True] Translation: X:275.37, Y:-13.12, Z:-0.00 [[ 9.99874582e-01 -1.58373169e-02 0.00000000e+00 2.75373050e+02] [ 1.58373169e-02 9.99874582e-01 0.00000000e+00 -1.31218521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.24695719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.560371743 meters Centerline goodness : 0.995645 with order 1 Centerline is valid? [True, True] Translation: X:275.44, Y:-13.12, Z:-0.00 [[ 9.99909761e-01 -1.34338772e-02 0.00000000e+00 2.75435790e+02] [ 1.34338772e-02 9.99909761e-01 0.00000000e+00 -1.31228403e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.96566840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.620371743 meters Centerline goodness : 0.993804 with order 1 Centerline is valid? [True, True] Translation: X:275.50, Y:-13.14, Z:-0.01 [[ 9.99996609e-01 -2.60410905e-03 0.00000000e+00 2.75496768e+02] [ 2.60410905e-03 9.99996609e-01 0.00000000e+00 -1.31357604e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07224155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.680371743 meters Centerline goodness : 0.993951 with order 1 Centerline is valid? [True, True] Translation: X:275.56, Y:-13.14, Z:-0.01 [[ 9.99999973e-01 2.33487410e-04 0.00000000e+00 2.75557922e+02] [-2.33487410e-04 9.99999973e-01 0.00000000e+00 -1.31363336e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05365483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.740371743 meters Centerline goodness : 0.993960 with order 1 Centerline is valid? [True, True] Translation: X:275.62, Y:-13.14, Z:-0.01 [[ 9.99997354e-01 2.30033267e-03 0.00000000e+00 2.75617183e+02] [-2.30033267e-03 9.99997354e-01 0.00000000e+00 -1.31377691e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40168110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.800371743 meters Centerline goodness : 0.993999 with order 1 Centerline is valid? [True, True] Translation: X:275.68, Y:-13.14, Z:-0.01 [[ 9.99997237e-01 2.35053268e-03 0.00000000e+00 2.75676719e+02] [-2.35053268e-03 9.99997237e-01 0.00000000e+00 -1.31358207e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.46689258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86037174300003 meters Centerline goodness : 0.994924 with order 1 Centerline is valid? [True, True] Translation: X:275.74, Y:-13.13, Z:-0.00 [[ 9.99973193e-01 -7.32206061e-03 0.00000000e+00 2.75737144e+02] [ 7.32206061e-03 9.99973193e-01 0.00000000e+00 -1.31256228e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81524978e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92037174300003 meters Centerline goodness : 0.994445 with order 1 Centerline is valid? [True, True] Translation: X:275.80, Y:-13.14, Z:-0.01 [[ 9.99990715e-01 -4.30937756e-03 0.00000000e+00 2.75798734e+02] [ 4.30937756e-03 9.99990715e-01 0.00000000e+00 -1.31403831e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.73178110e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98037174300003 meters Centerline goodness : 0.994736 with order 1 Centerline is valid? [True, True] Translation: X:275.86, Y:-13.14, Z:-0.01 [[ 9.99988575e-01 -4.78005924e-03 0.00000000e+00 2.75861105e+02] [ 4.78005924e-03 9.99988575e-01 0.00000000e+00 -1.31439514e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.12189617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.040371743 meters Centerline goodness : 0.994356 with order 1 Centerline is valid? [True, True] Translation: X:275.92, Y:-13.15, Z:-0.01 [[ 9.99986369e-01 -5.22135087e-03 0.00000000e+00 2.75922153e+02] [ 5.22135087e-03 9.99986369e-01 0.00000000e+00 -1.31455240e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.40239711e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.100371743 meters Centerline goodness : 0.994464 with order 1 Centerline is valid? [True, True] Translation: X:275.98, Y:-13.15, Z:-0.01 [[ 9.99987876e-01 -4.92415178e-03 0.00000000e+00 2.75984133e+02] [ 4.92415178e-03 9.99987876e-01 0.00000000e+00 -1.31488241e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.84216073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.160371743 meters Centerline goodness : 0.994499 with order 1 Centerline is valid? [True, True] Translation: X:276.05, Y:-13.15, Z:-0.01 [[ 9.99988801e-01 -4.73267202e-03 0.00000000e+00 2.76045709e+02] [ 4.73267202e-03 9.99988801e-01 0.00000000e+00 -1.31529219e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.92175482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.220371743 meters Centerline goodness : 0.994456 with order 1 Centerline is valid? [True, True] Translation: X:276.11, Y:-13.16, Z:-0.00 [[ 9.99984079e-01 -5.64278003e-03 0.00000000e+00 2.76107432e+02] [ 5.64278003e-03 9.99984079e-01 0.00000000e+00 -1.31556058e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.74263686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.280371743 meters Centerline goodness : 0.994925 with order 1 Centerline is valid? [True, True] Translation: X:276.17, Y:-13.16, Z:-0.00 [[ 9.99977905e-01 -6.64753930e-03 0.00000000e+00 2.76169610e+02] [ 6.64753930e-03 9.99977905e-01 0.00000000e+00 -1.31604826e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27156820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.340371743 meters Centerline goodness : 0.994285 with order 1 Centerline is valid? [True, True] Translation: X:276.23, Y:-13.17, Z:-0.01 [[ 9.99942676e-01 -1.07072713e-02 0.00000000e+00 2.76231133e+02] [ 1.07072713e-02 9.99942676e-01 0.00000000e+00 -1.31677002e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.00639013e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.400371743 meters Centerline goodness : 0.994770 with order 1 Centerline is valid? [True, True] Translation: X:276.29, Y:-13.17, Z:-0.00 [[ 9.99881548e-01 -1.53912239e-02 0.00000000e+00 2.76292787e+02] [ 1.53912239e-02 9.99881548e-01 0.00000000e+00 -1.31741761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.84069116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.460371743 meters Centerline goodness : 0.995628 with order 1 Centerline is valid? [True, True] Translation: X:276.35, Y:-13.18, Z:-0.01 [[ 9.99860971e-01 -1.66745029e-02 0.00000000e+00 2.76354412e+02] [ 1.66745029e-02 9.99860971e-01 0.00000000e+00 -1.31823860e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.89636654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.520371743 meters Centerline goodness : 0.995366 with order 1 Centerline is valid? [True, True] Translation: X:276.42, Y:-13.19, Z:-0.00 [[ 9.99878487e-01 -1.55888374e-02 0.00000000e+00 2.76416677e+02] [ 1.55888374e-02 9.99878487e-01 0.00000000e+00 -1.31863360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.73488253e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.580371743 meters Centerline goodness : 0.995020 with order 1 Centerline is valid? [True, True] Translation: X:276.48, Y:-13.19, Z:-0.01 [[ 9.99914918e-01 -1.30444101e-02 0.00000000e+00 2.76477370e+02] [ 1.30444101e-02 9.99914918e-01 0.00000000e+00 -1.31902758e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.64571814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.640371743 meters Centerline goodness : 0.994515 with order 1 Centerline is valid? [True, True] Translation: X:276.54, Y:-13.20, Z:-0.00 [[ 9.99975249e-01 -7.03573216e-03 0.00000000e+00 2.76539380e+02] [ 7.03573216e-03 9.99975249e-01 0.00000000e+00 -1.31950281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.25389061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.700371743 meters Centerline goodness : 0.994571 with order 1 Centerline is valid? [True, True] Translation: X:276.60, Y:-13.20, Z:-0.00 [[ 9.99995490e-01 -3.00339635e-03 0.00000000e+00 2.76601516e+02] [ 3.00339635e-03 9.99995490e-01 0.00000000e+00 -1.31971979e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16962751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.760371743 meters Centerline goodness : 0.993962 with order 1 Centerline is valid? [True, True] Translation: X:276.66, Y:-13.20, Z:-0.00 [[ 9.99992137e-01 3.96554251e-03 0.00000000e+00 2.76661832e+02] [-3.96554251e-03 9.99992137e-01 0.00000000e+00 -1.31995677e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54394143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.820371743 meters Centerline goodness : 0.994128 with order 1 Centerline is valid? [True, True] Translation: X:276.72, Y:-13.20, Z:0.00 [[ 9.99948221e-01 1.01761846e-02 0.00000000e+00 2.76720364e+02] [-1.01761846e-02 9.99948221e-01 0.00000000e+00 -1.31995702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10020350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.880371743 meters Centerline goodness : 0.995178 with order 1 Centerline is valid? [True, True] Translation: X:276.78, Y:-13.19, Z:0.01 [[ 9.99905554e-01 1.37434997e-02 0.00000000e+00 2.76778966e+02] [-1.37434997e-02 9.99905554e-01 0.00000000e+00 -1.31942572e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58028515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.940371743 meters Centerline goodness : 0.993752 with order 1 Centerline is valid? [True, True] Translation: X:276.84, Y:-13.20, Z:0.00 [[ 9.99754643e-01 2.21506896e-02 0.00000000e+00 2.76837264e+02] [-2.21506896e-02 9.99754643e-01 0.00000000e+00 -1.32039148e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67530385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.000371743 meters Centerline goodness : 0.993366 with order 1 Centerline is valid? [True, True] Translation: X:276.89, Y:-13.21, Z:0.00 [[ 9.99615801e-01 2.77173307e-02 0.00000000e+00 2.76894605e+02] [-2.77173307e-02 9.99615801e-01 0.00000000e+00 -1.32087680e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02900177e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.060371743 meters Centerline goodness : 0.993564 with order 1 Centerline is valid? [True, True] Translation: X:276.95, Y:-13.21, Z:0.00 [[ 9.99553858e-01 2.98678008e-02 0.00000000e+00 2.76953072e+02] [-2.98678008e-02 9.99553858e-01 0.00000000e+00 -1.32097572e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60024071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.120371743 meters Centerline goodness : 0.994115 with order 1 Centerline is valid? [True, True] Translation: X:277.01, Y:-13.21, Z:0.00 [[ 9.99376856e-01 3.52973145e-02 0.00000000e+00 2.77010910e+02] [-3.52973145e-02 9.99376856e-01 0.00000000e+00 -1.32136044e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42498346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.180371743 meters Centerline goodness : 0.993663 with order 1 Centerline is valid? [True, True] Translation: X:277.07, Y:-13.22, Z:0.00 [[ 9.99168998e-01 4.07592121e-02 0.00000000e+00 2.77068987e+02] [-4.07592121e-02 9.99168998e-01 0.00000000e+00 -1.32185764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77796683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.240371743 meters Centerline goodness : 0.992859 with order 1 Centerline is valid? [True, True] Translation: X:277.13, Y:-13.23, Z:-0.00 [[ 9.98885517e-01 4.71987606e-02 0.00000000e+00 2.77126703e+02] [-4.71987606e-02 9.98885517e-01 0.00000000e+00 -1.32279293e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.71207118e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.300371743 meters Centerline goodness : 0.993549 with order 1 Centerline is valid? [True, True] Translation: X:277.18, Y:-13.23, Z:0.00 [[ 9.98850653e-01 4.79309158e-02 0.00000000e+00 2.77184401e+02] [-4.79309158e-02 9.98850653e-01 0.00000000e+00 -1.32342046e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66902686e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36037174300003 meters Centerline goodness : 0.994998 with order 1 Centerline is valid? [True, True] Translation: X:277.24, Y:-13.23, Z:0.00 [[ 9.99302544e-01 3.73420178e-02 0.00000000e+00 2.77242692e+02] [-3.73420178e-02 9.99302544e-01 0.00000000e+00 -1.32347101e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98010575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42037174300003 meters Centerline goodness : 0.992603 with order 1 Centerline is valid? [True, True] Translation: X:277.30, Y:-13.26, Z:-0.00 [[ 9.99212022e-01 3.96904972e-02 0.00000000e+00 2.77300254e+02] [-3.96904972e-02 9.99212022e-01 0.00000000e+00 -1.32574602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52533022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48037174300003 meters Centerline goodness : 0.995265 with order 1 Centerline is valid? [True, True] Translation: X:277.36, Y:-13.26, Z:0.00 [[ 9.99737635e-01 2.29054870e-02 0.00000000e+00 2.77357694e+02] [-2.29054870e-02 9.99737635e-01 0.00000000e+00 -1.32587033e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36237368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.540371743 meters Centerline goodness : 0.995430 with order 1 Centerline is valid? [True, True] Translation: X:277.42, Y:-13.27, Z:0.00 [[ 9.99847839e-01 1.74441719e-02 0.00000000e+00 2.77415548e+02] [-1.74441719e-02 9.99847839e-01 0.00000000e+00 -1.32674972e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51526891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.600371743 meters Centerline goodness : 0.995272 with order 1 Centerline is valid? [True, True] Translation: X:277.47, Y:-13.28, Z:-0.00 [[ 9.99953508e-01 9.64272352e-03 0.00000000e+00 2.77473608e+02] [-9.64272352e-03 9.99953508e-01 0.00000000e+00 -1.32780220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38060482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.660371743 meters Centerline goodness : 0.995482 with order 1 Centerline is valid? [True, True] Translation: X:277.53, Y:-13.29, Z:-0.00 [[ 9.99991764e-01 4.05857050e-03 0.00000000e+00 2.77532467e+02] [-4.05857050e-03 9.99991764e-01 0.00000000e+00 -1.32877642e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21794757e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.720371743 meters Centerline goodness : 0.993811 with order 1 Centerline is valid? [True, True] Translation: X:277.59, Y:-13.31, Z:-0.00 [[ 9.99952523e-01 9.74427952e-03 0.00000000e+00 2.77591345e+02] [-9.74427952e-03 9.99952523e-01 0.00000000e+00 -1.33057203e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.45778245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.780371743 meters Centerline goodness : 0.993771 with order 1 Centerline is valid? [True, True] Translation: X:277.65, Y:-13.31, Z:-0.00 [[ 9.99908968e-01 1.34927897e-02 0.00000000e+00 2.77649983e+02] [-1.34927897e-02 9.99908968e-01 0.00000000e+00 -1.33121601e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.83975472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.840371743 meters Centerline goodness : 0.995566 with order 1 Centerline is valid? [True, True] Translation: X:277.71, Y:-13.31, Z:-0.00 [[ 9.99909690e-01 1.34391720e-02 0.00000000e+00 2.77708510e+02] [-1.34391720e-02 9.99909690e-01 0.00000000e+00 -1.33105995e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71268013e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.900371743 meters Centerline goodness : 0.995796 with order 1 Centerline is valid? [True, True] Translation: X:277.77, Y:-13.32, Z:-0.01 [[ 9.99813290e-01 1.93231803e-02 0.00000000e+00 2.77766359e+02] [-1.93231803e-02 9.99813290e-01 0.00000000e+00 -1.33184543e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.29522011e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.960371743 meters Centerline goodness : 0.995303 with order 1 Centerline is valid? [True, True] Translation: X:277.83, Y:-13.33, Z:-0.00 [[ 9.99758339e-01 2.19832692e-02 0.00000000e+00 2.77825337e+02] [-2.19832692e-02 9.99758339e-01 0.00000000e+00 -1.33253136e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.43498560e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.020371743 meters Centerline goodness : 0.995175 with order 1 Centerline is valid? [True, True] Translation: X:277.88, Y:-13.34, Z:-0.00 [[ 9.99797153e-01 2.01408275e-02 0.00000000e+00 2.77882792e+02] [-2.01408275e-02 9.99797153e-01 0.00000000e+00 -1.33382420e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.93264013e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.080371743 meters Centerline goodness : 0.994787 with order 1 Centerline is valid? [True, True] Translation: X:277.94, Y:-13.35, Z:-0.00 [[ 9.99899344e-01 1.41880831e-02 0.00000000e+00 2.77941164e+02] [-1.41880831e-02 9.99899344e-01 0.00000000e+00 -1.33480572e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.74800386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.140371743 meters Centerline goodness : 0.994079 with order 1 Centerline is valid? [True, True] Translation: X:278.00, Y:-13.36, Z:-0.01 [[ 9.99997441e-01 2.26231920e-03 0.00000000e+00 2.77999766e+02] [-2.26231920e-03 9.99997441e-01 0.00000000e+00 -1.33606327e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.10817827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.200371743 meters Centerline goodness : 0.994821 with order 1 Centerline is valid? [True, True] Translation: X:278.06, Y:-13.37, Z:-0.01 [[ 9.99968049e-01 -7.99381034e-03 0.00000000e+00 2.78058554e+02] [ 7.99381034e-03 9.99968049e-01 0.00000000e+00 -1.33723727e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.36301386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.260371743 meters Centerline goodness : 0.994093 with order 1 Centerline is valid? [True, True] Translation: X:278.12, Y:-13.38, Z:-0.01 [[ 9.99946159e-01 -1.03768371e-02 0.00000000e+00 2.78119808e+02] [ 1.03768371e-02 9.99946159e-01 0.00000000e+00 -1.33787783e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.75307111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.320371743 meters Centerline goodness : 0.993061 with order 1 Centerline is valid? [True, True] Translation: X:278.18, Y:-13.39, Z:-0.01 [[ 9.99999300e-01 -1.18302719e-03 0.00000000e+00 2.78180630e+02] [ 1.18302719e-03 9.99999300e-01 0.00000000e+00 -1.33932602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05782806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.380371743 meters Centerline goodness : 0.992880 with order 1 Centerline is valid? [True, True] Translation: X:278.24, Y:-13.40, Z:-0.01 [[ 9.99999640e-01 8.48206241e-04 0.00000000e+00 2.78240668e+02] [-8.48206241e-04 9.99999640e-01 0.00000000e+00 -1.33967911e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.29176982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.440371743 meters Centerline goodness : 0.991823 with order 1 Centerline is valid? [True, True] Translation: X:278.30, Y:-13.40, Z:-0.01 [[ 9.99995961e-01 2.84231527e-03 0.00000000e+00 2.78300862e+02] [-2.84231527e-03 9.99995961e-01 0.00000000e+00 -1.33987838e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.21715117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.500371743 meters Centerline goodness : 0.991427 with order 1 Centerline is valid? [True, True] Translation: X:278.36, Y:-13.40, Z:-0.01 [[ 9.99980256e-01 6.28392412e-03 0.00000000e+00 2.78359841e+02] [-6.28392412e-03 9.99980256e-01 0.00000000e+00 -1.34019070e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.91260272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.560371743 meters Centerline goodness : 0.991334 with order 1 Centerline is valid? [True, True] Translation: X:278.42, Y:-13.40, Z:-0.00 [[ 9.99921979e-01 1.24914385e-02 0.00000000e+00 2.78418918e+02] [-1.24914385e-02 9.99921979e-01 0.00000000e+00 -1.33982492e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19799400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.620371743 meters Centerline goodness : 0.990732 with order 1 Centerline is valid? [True, True] Translation: X:278.48, Y:-13.40, Z:-0.00 [[ 9.99712301e-01 2.39857166e-02 0.00000000e+00 2.78477995e+02] [-2.39857166e-02 9.99712301e-01 0.00000000e+00 -1.34001818e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36928777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.680371743 meters Centerline goodness : 0.992798 with order 1 Centerline is valid? [True, True] Translation: X:278.54, Y:-13.39, Z:0.00 [[ 9.99784587e-01 2.07552176e-02 0.00000000e+00 2.78535998e+02] [-2.07552176e-02 9.99784587e-01 0.00000000e+00 -1.33913761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45207649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.740371743 meters Centerline goodness : 0.993256 with order 1 Centerline is valid? [True, True] Translation: X:278.59, Y:-13.39, Z:0.00 [[ 9.99812442e-01 1.93670090e-02 0.00000000e+00 2.78593851e+02] [-1.93670090e-02 9.99812442e-01 0.00000000e+00 -1.33903665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86800098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.800371743 meters Centerline goodness : 0.992162 with order 1 Centerline is valid? [True, True] Translation: X:278.65, Y:-13.40, Z:-0.00 [[ 9.99705604e-01 2.42632305e-02 0.00000000e+00 2.78652398e+02] [-2.42632305e-02 9.99705604e-01 0.00000000e+00 -1.34034498e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89580289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86037174300003 meters Centerline goodness : 0.992104 with order 1 Centerline is valid? [True, True] Translation: X:278.71, Y:-13.39, Z:0.01 [[ 9.99979660e-01 6.37811528e-03 0.00000000e+00 2.78711209e+02] [-6.37811528e-03 9.99979660e-01 0.00000000e+00 -1.33939924e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18297094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92037174300003 meters Centerline goodness : 0.990763 with order 1 Centerline is valid? [True, True] Translation: X:278.77, Y:-13.41, Z:-0.00 [[ 9.99980257e-01 6.28376126e-03 0.00000000e+00 2.78769476e+02] [-6.28376126e-03 9.99980257e-01 0.00000000e+00 -1.34059216e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.77260088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.980371743 meters Centerline goodness : 0.990443 with order 1 Centerline is valid? [True, True] Translation: X:278.83, Y:-13.41, Z:-0.00 [[ 9.99992418e-01 3.89400601e-03 0.00000000e+00 2.78828176e+02] [-3.89400601e-03 9.99992418e-01 0.00000000e+00 -1.34084705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34795697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.040371743 meters Centerline goodness : 0.992705 with order 1 Centerline is valid? [True, True] Translation: X:278.89, Y:-13.40, Z:0.00 [[ 9.99976851e-01 -6.80427616e-03 0.00000000e+00 2.78887244e+02] [ 6.80427616e-03 9.99976851e-01 0.00000000e+00 -1.34011619e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99146051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.100371743 meters Centerline goodness : 0.992061 with order 1 Centerline is valid? [True, True] Translation: X:278.95, Y:-13.41, Z:-0.00 [[ 9.99999685e-01 -7.93314329e-04 0.00000000e+00 2.78948218e+02] [ 7.93314329e-04 9.99999685e-01 0.00000000e+00 -1.34095865e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.34764725e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.160371743 meters Centerline goodness : 0.992186 with order 1 Centerline is valid? [True, True] Translation: X:279.01, Y:-13.41, Z:-0.00 [[ 9.99976036e-01 6.92302921e-03 0.00000000e+00 2.79008739e+02] [-6.92302921e-03 9.99976036e-01 0.00000000e+00 -1.34125065e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72044507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.220371743 meters Centerline goodness : 0.992144 with order 1 Centerline is valid? [True, True] Translation: X:279.07, Y:-13.41, Z:0.00 [[ 9.99958119e-01 9.15204837e-03 0.00000000e+00 2.79068274e+02] [-9.15204837e-03 9.99958119e-01 0.00000000e+00 -1.34060231e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37538756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.280371743 meters Centerline goodness : 0.992367 with order 1 Centerline is valid? [True, True] Translation: X:279.13, Y:-13.41, Z:-0.00 [[ 9.99842114e-01 1.77692579e-02 0.00000000e+00 2.79126825e+02] [-1.77692579e-02 9.99842114e-01 0.00000000e+00 -1.34096517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68630449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.340371743 meters Centerline goodness : 0.995032 with order 1 Centerline is valid? [True, True] Translation: X:279.19, Y:-13.40, Z:0.01 [[ 9.99981789e-01 6.03506930e-03 0.00000000e+00 2.79185170e+02] [-6.03506930e-03 9.99981789e-01 0.00000000e+00 -1.33972086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.79961757e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.400371743 meters Centerline goodness : 0.994765 with order 1 Centerline is valid? [True, True] Translation: X:279.24, Y:-13.40, Z:0.01 [[ 9.99991967e-01 4.00823909e-03 0.00000000e+00 2.79244433e+02] [-4.00823909e-03 9.99991967e-01 0.00000000e+00 -1.33989540e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.38980099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.460371743 meters Centerline goodness : 0.995561 with order 1 Centerline is valid? [True, True] Translation: X:279.30, Y:-13.40, Z:0.01 [[ 9.99999120e-01 -1.32664383e-03 0.00000000e+00 2.79302692e+02] [ 1.32664383e-03 9.99999120e-01 0.00000000e+00 -1.34009766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39712887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.520371743 meters Centerline goodness : 0.995608 with order 1 Centerline is valid? [True, True] Translation: X:279.36, Y:-13.40, Z:0.01 [[ 9.99974444e-01 -7.14927679e-03 0.00000000e+00 2.79363180e+02] [ 7.14927679e-03 9.99974444e-01 0.00000000e+00 -1.34040591e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.03870514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.580371743 meters Centerline goodness : 0.992611 with order 1 Centerline is valid? [True, True] Translation: X:279.42, Y:-13.42, Z:-0.00 [[ 9.99999304e-01 -1.17951058e-03 0.00000000e+00 2.79424277e+02] [ 1.17951058e-03 9.99999304e-01 0.00000000e+00 -1.34191626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.09467964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.640371743 meters Centerline goodness : 0.993012 with order 1 Centerline is valid? [True, True] Translation: X:279.48, Y:-13.42, Z:-0.00 [[ 9.99995456e-01 -3.01453962e-03 0.00000000e+00 2.79484602e+02] [ 3.01453962e-03 9.99995456e-01 0.00000000e+00 -1.34204704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.25638184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.700371743 meters Centerline goodness : 0.993283 with order 1 Centerline is valid? [True, True] Translation: X:279.55, Y:-13.42, Z:0.00 [[ 9.99994514e-01 -3.31225667e-03 0.00000000e+00 2.79546034e+02] [ 3.31225667e-03 9.99994514e-01 0.00000000e+00 -1.34201158e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80521137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.760371743 meters Centerline goodness : 0.992764 with order 1 Centerline is valid? [True, True] Translation: X:279.61, Y:-13.42, Z:0.00 [[ 9.99985633e-01 -5.36046640e-03 0.00000000e+00 2.79607305e+02] [ 5.36046640e-03 9.99985633e-01 0.00000000e+00 -1.34218647e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11303071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.820371743 meters Centerline goodness : 0.992820 with order 1 Centerline is valid? [True, True] Translation: X:279.67, Y:-13.42, Z:0.01 [[ 9.99966807e-01 -8.14766692e-03 0.00000000e+00 2.79669437e+02] [ 8.14766692e-03 9.99966807e-01 0.00000000e+00 -1.34240983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.13145515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.880371743 meters Centerline goodness : 0.993375 with order 1 Centerline is valid? [True, True] Translation: X:279.73, Y:-13.43, Z:0.00 [[ 9.99923692e-01 -1.23535846e-02 0.00000000e+00 2.79732480e+02] [ 1.23535846e-02 9.99923692e-01 0.00000000e+00 -1.34289579e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77326059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.940371743 meters Centerline goodness : 0.992932 with order 1 Centerline is valid? [True, True] Translation: X:279.80, Y:-13.43, Z:0.00 [[ 9.99874104e-01 -1.58674280e-02 0.00000000e+00 2.79795487e+02] [ 1.58674280e-02 9.99874104e-01 0.00000000e+00 -1.34340297e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33307395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.000371743 meters Centerline goodness : 0.993188 with order 1 Centerline is valid? [True, True] Translation: X:279.86, Y:-13.44, Z:0.00 [[ 9.99859654e-01 -1.67532971e-02 0.00000000e+00 2.79857989e+02] [ 1.67532971e-02 9.99859654e-01 0.00000000e+00 -1.34375136e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98762573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.060371743 meters Centerline goodness : 0.993242 with order 1 Centerline is valid? [True, True] Translation: X:279.92, Y:-13.44, Z:0.00 [[ 9.99837587e-01 -1.80222005e-02 0.00000000e+00 2.79920201e+02] [ 1.80222005e-02 9.99837587e-01 0.00000000e+00 -1.34411706e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06818341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.120371743 meters Centerline goodness : 0.994736 with order 1 Centerline is valid? [True, True] Translation: X:279.98, Y:-13.43, Z:0.01 [[ 9.99696348e-01 -2.46416748e-02 0.00000000e+00 2.79982550e+02] [ 2.46416748e-02 9.99696348e-01 0.00000000e+00 -1.34334458e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71052323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.180371743 meters Centerline goodness : 0.994925 with order 1 Centerline is valid? [True, True] Translation: X:280.04, Y:-13.44, Z:0.01 [[ 9.99709289e-01 -2.41109416e-02 0.00000000e+00 2.80044740e+02] [ 2.41109416e-02 9.99709289e-01 0.00000000e+00 -1.34353419e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.07290033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.240371743 meters Centerline goodness : 0.992795 with order 1 Centerline is valid? [True, True] Translation: X:280.11, Y:-13.45, Z:0.00 [[ 9.99873740e-01 -1.58903829e-02 0.00000000e+00 2.80105760e+02] [ 1.58903829e-02 9.99873740e-01 0.00000000e+00 -1.34496256e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93300057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.300371743 meters Centerline goodness : 0.992842 with order 1 Centerline is valid? [True, True] Translation: X:280.17, Y:-13.45, Z:0.00 [[ 9.99866825e-01 -1.63197030e-02 0.00000000e+00 2.80168343e+02] [ 1.63197030e-02 9.99866825e-01 0.00000000e+00 -1.34524383e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08237123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36037174300003 meters Centerline goodness : 0.994641 with order 1 Centerline is valid? [True, True] Translation: X:280.23, Y:-13.45, Z:0.01 [[ 9.99714159e-01 -2.39081456e-02 0.00000000e+00 2.80230077e+02] [ 2.39081456e-02 9.99714159e-01 0.00000000e+00 -1.34451589e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.43986482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42037174300003 meters Centerline goodness : 0.992511 with order 1 Centerline is valid? [True, True] Translation: X:280.29, Y:-13.46, Z:0.01 [[ 9.99880698e-01 -1.54463259e-02 0.00000000e+00 2.80291024e+02] [ 1.54463259e-02 9.99880698e-01 0.00000000e+00 -1.34595810e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.07117148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.480371743 meters Centerline goodness : 0.993463 with order 1 Centerline is valid? [True, True] Translation: X:280.35, Y:-13.46, Z:0.00 [[ 9.99860895e-01 -1.66790709e-02 0.00000000e+00 2.80352680e+02] [ 1.66790709e-02 9.99860895e-01 0.00000000e+00 -1.34637552e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84201684e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.540371743 meters Centerline goodness : 0.993246 with order 1 Centerline is valid? [True, True] Translation: X:280.42, Y:-13.47, Z:-0.00 [[ 9.99915092e-01 -1.30310696e-02 0.00000000e+00 2.80415062e+02] [ 1.30310696e-02 9.99915092e-01 0.00000000e+00 -1.34676608e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96082754e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.600371743 meters Centerline goodness : 0.992509 with order 1 Centerline is valid? [True, True] Translation: X:280.48, Y:-13.47, Z:-0.01 [[ 9.99947034e-01 -1.02921688e-02 0.00000000e+00 2.80476094e+02] [ 1.02921688e-02 9.99947034e-01 0.00000000e+00 -1.34727739e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.70576850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.660371743 meters Centerline goodness : 0.992949 with order 1 Centerline is valid? [True, True] Translation: X:280.54, Y:-13.47, Z:-0.00 [[ 9.99999975e-01 -2.24380380e-04 0.00000000e+00 2.80537934e+02] [ 2.24380380e-04 9.99999975e-01 0.00000000e+00 -1.34734541e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36810268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.720371743 meters Centerline goodness : 0.992900 with order 1 Centerline is valid? [True, True] Translation: X:280.60, Y:-13.47, Z:-0.00 [[ 9.99993782e-01 3.52639660e-03 0.00000000e+00 2.80598044e+02] [-3.52639660e-03 9.99993782e-01 0.00000000e+00 -1.34748772e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51451728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.780371743 meters Centerline goodness : 0.992834 with order 1 Centerline is valid? [True, True] Translation: X:280.66, Y:-13.48, Z:-0.01 [[ 9.99988091e-01 4.88030064e-03 0.00000000e+00 2.80657671e+02] [-4.88030064e-03 9.99988091e-01 0.00000000e+00 -1.34779438e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.53989690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.840371743 meters Centerline goodness : 0.995038 with order 1 Centerline is valid? [True, True] Translation: X:280.72, Y:-13.47, Z:0.00 [[ 9.99985095e-01 -5.45992077e-03 0.00000000e+00 2.80716983e+02] [ 5.45992077e-03 9.99985095e-01 0.00000000e+00 -1.34653618e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59280102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.900371743 meters Centerline goodness : 0.994976 with order 1 Centerline is valid? [True, True] Translation: X:280.78, Y:-13.47, Z:0.00 [[ 9.99986989e-01 -5.10120936e-03 0.00000000e+00 2.80779430e+02] [ 5.10120936e-03 9.99986989e-01 0.00000000e+00 -1.34669231e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62869955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.960371743 meters Centerline goodness : 0.995436 with order 1 Centerline is valid? [True, True] Translation: X:280.84, Y:-13.47, Z:0.00 [[ 9.99991434e-01 -4.13899934e-03 0.00000000e+00 2.80841499e+02] [ 4.13899934e-03 9.99991434e-01 0.00000000e+00 -1.34694949e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12249198e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.020371743 meters Centerline goodness : 0.994894 with order 1 Centerline is valid? [True, True] Translation: X:280.90, Y:-13.47, Z:0.01 [[ 9.99999383e-01 -1.11084680e-03 0.00000000e+00 2.80903229e+02] [ 1.11084680e-03 9.99999383e-01 0.00000000e+00 -1.34706682e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62259170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.080371743 meters Centerline goodness : 0.994739 with order 1 Centerline is valid? [True, True] Translation: X:280.96, Y:-13.47, Z:0.01 [[ 9.99999037e-01 1.38757804e-03 0.00000000e+00 2.80963789e+02] [-1.38757804e-03 9.99999037e-01 0.00000000e+00 -1.34735541e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.14997599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.140371743 meters Centerline goodness : 0.995095 with order 1 Centerline is valid? [True, True] Translation: X:281.02, Y:-13.48, Z:0.01 [[ 9.99991947e-01 4.01327529e-03 0.00000000e+00 2.81023322e+02] [-4.01327529e-03 9.99991947e-01 0.00000000e+00 -1.34785111e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83355546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.200371743 meters Centerline goodness : 0.995168 with order 1 Centerline is valid? [True, True] Translation: X:281.08, Y:-13.48, Z:0.01 [[ 9.99976524e-01 6.85204320e-03 0.00000000e+00 2.81081384e+02] [-6.85204320e-03 9.99976524e-01 0.00000000e+00 -1.34821327e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.80660186e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.260371743 meters Centerline goodness : 0.991707 with order 1 Centerline is valid? [True, True] Translation: X:281.14, Y:-13.51, Z:-0.01 [[ 9.99655076e-01 2.62626843e-02 0.00000000e+00 2.81138736e+02] [-2.62626843e-02 9.99655076e-01 0.00000000e+00 -1.35059121e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.72757284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.320371743 meters Centerline goodness : 0.990930 with order 1 Centerline is valid? [True, True] Translation: X:281.20, Y:-13.51, Z:-0.01 [[ 9.99471145e-01 3.25181397e-02 0.00000000e+00 2.81197313e+02] [-3.25181397e-02 9.99471145e-01 0.00000000e+00 -1.35106821e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.91735050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.380371743 meters Centerline goodness : 0.990555 with order 1 Centerline is valid? [True, True] Translation: X:281.26, Y:-13.52, Z:-0.01 [[ 9.99175141e-01 4.06083392e-02 0.00000000e+00 2.81257444e+02] [-4.06083392e-02 9.99175141e-01 0.00000000e+00 -1.35178547e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.68655991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.440371743 meters Centerline goodness : 0.990763 with order 1 Centerline is valid? [True, True] Translation: X:281.32, Y:-13.53, Z:-0.01 [[ 9.99096560e-01 4.24978131e-02 0.00000000e+00 2.81316027e+02] [-4.24978131e-02 9.99096560e-01 0.00000000e+00 -1.35260644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15276869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.500371743 meters Centerline goodness : 0.991107 with order 1 Centerline is valid? [True, True] Translation: X:281.37, Y:-13.53, Z:-0.01 [[ 9.99270132e-01 3.81995278e-02 0.00000000e+00 2.81374403e+02] [-3.81995278e-02 9.99270132e-01 0.00000000e+00 -1.35326331e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07742769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.560371743 meters Centerline goodness : 0.990274 with order 1 Centerline is valid? [True, True] Translation: X:281.43, Y:-13.54, Z:-0.01 [[ 9.99418856e-01 3.40873983e-02 0.00000000e+00 2.81433126e+02] [-3.40873983e-02 9.99418856e-01 0.00000000e+00 -1.35423158e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27094506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.620371743 meters Centerline goodness : 0.990594 with order 1 Centerline is valid? [True, True] Translation: X:281.49, Y:-13.55, Z:-0.01 [[ 9.99665333e-01 2.58693162e-02 0.00000000e+00 2.81491303e+02] [-2.58693162e-02 9.99665333e-01 0.00000000e+00 -1.35490996e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02744391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.680371743 meters Centerline goodness : 0.991252 with order 1 Centerline is valid? [True, True] Translation: X:281.55, Y:-13.55, Z:-0.01 [[ 9.99793074e-01 2.03423224e-02 0.00000000e+00 2.81549243e+02] [-2.03423224e-02 9.99793074e-01 0.00000000e+00 -1.35526699e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.86662801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.740371743 meters Centerline goodness : 0.991406 with order 1 Centerline is valid? [True, True] Translation: X:281.61, Y:-13.56, Z:-0.01 [[ 9.99775832e-01 2.11727634e-02 0.00000000e+00 2.81608007e+02] [-2.11727634e-02 9.99775832e-01 0.00000000e+00 -1.35595834e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.22509722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.800371743 meters Centerline goodness : 0.991175 with order 1 Centerline is valid? [True, True] Translation: X:281.67, Y:-13.57, Z:-0.00 [[ 9.99674893e-01 2.54972143e-02 0.00000000e+00 2.81665596e+02] [-2.54972143e-02 9.99674893e-01 0.00000000e+00 -1.35668831e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.93030900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86037174300003 meters Centerline goodness : 0.993737 with order 1 Centerline is valid? [True, True] Translation: X:281.72, Y:-13.56, Z:0.01 [[ 9.99761750e-01 2.18275617e-02 0.00000000e+00 2.81724390e+02] [-2.18275617e-02 9.99761750e-01 0.00000000e+00 -1.35562208e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.13969119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92037174300003 meters Centerline goodness : 0.991361 with order 1 Centerline is valid? [True, True] Translation: X:281.78, Y:-13.58, Z:-0.00 [[ 9.99115725e-01 4.20448290e-02 0.00000000e+00 2.81781895e+02] [-4.20448290e-02 9.99115725e-01 0.00000000e+00 -1.35797300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.20578118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.980371743 meters Centerline goodness : 0.994255 with order 1 Centerline is valid? [True, True] Translation: X:281.84, Y:-13.57, Z:0.00 [[ 9.99479506e-01 3.22601339e-02 0.00000000e+00 2.81840678e+02] [-3.22601339e-02 9.99479506e-01 0.00000000e+00 -1.35700865e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61683889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.040371743 meters Centerline goodness : 0.993874 with order 1 Centerline is valid? [True, True] Translation: X:281.90, Y:-13.58, Z:0.00 [[ 9.99523137e-01 3.08787860e-02 0.00000000e+00 2.81899233e+02] [-3.08787860e-02 9.99523137e-01 0.00000000e+00 -1.35810064e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81475078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.100371743 meters Centerline goodness : 0.994058 with order 1 Centerline is valid? [True, True] Translation: X:281.96, Y:-13.59, Z:0.00 [[ 9.99615709e-01 2.77206513e-02 0.00000000e+00 2.81955617e+02] [-2.77206513e-02 9.99615709e-01 0.00000000e+00 -1.35892235e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63807402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.160371743 meters Centerline goodness : 0.992918 with order 1 Centerline is valid? [True, True] Translation: X:282.01, Y:-13.60, Z:0.00 [[ 9.99731231e-01 2.31833030e-02 0.00000000e+00 2.82013863e+02] [-2.31833030e-02 9.99731231e-01 0.00000000e+00 -1.35995358e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17923384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.220371743 meters Centerline goodness : 0.993217 with order 1 Centerline is valid? [True, True] Translation: X:282.07, Y:-13.61, Z:0.00 [[ 9.99783259e-01 2.08190906e-02 0.00000000e+00 2.82072662e+02] [-2.08190906e-02 9.99783259e-01 0.00000000e+00 -1.36081192e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32370014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.280371743 meters Centerline goodness : 0.993477 with order 1 Centerline is valid? [True, True] Translation: X:282.13, Y:-13.61, Z:0.00 [[ 9.99797754e-01 2.01109575e-02 0.00000000e+00 2.82131212e+02] [-2.01109575e-02 9.99797754e-01 0.00000000e+00 -1.36139812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56213817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.340371743 meters Centerline goodness : 0.993427 with order 1 Centerline is valid? [True, True] Translation: X:282.19, Y:-13.62, Z:0.00 [[ 9.99835692e-01 1.81270233e-02 0.00000000e+00 2.82189278e+02] [-1.81270233e-02 9.99835692e-01 0.00000000e+00 -1.36244887e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61032224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.400371743 meters Centerline goodness : 0.991026 with order 1 Centerline is valid? [True, True] Translation: X:282.25, Y:-13.65, Z:-0.00 [[ 9.99685530e-01 2.50767228e-02 0.00000000e+00 2.82245798e+02] [-2.50767228e-02 9.99685530e-01 0.00000000e+00 -1.36483172e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14380797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.460371743 meters Centerline goodness : 0.991743 with order 1 Centerline is valid? [True, True] Translation: X:282.30, Y:-13.66, Z:-0.00 [[ 9.99774896e-01 2.12169304e-02 0.00000000e+00 2.82304595e+02] [-2.12169304e-02 9.99774896e-01 0.00000000e+00 -1.36563345e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88536700e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.520371743 meters Centerline goodness : 0.992834 with order 1 Centerline is valid? [True, True] Translation: X:282.36, Y:-13.65, Z:0.00 [[ 9.99923993e-01 1.23291930e-02 0.00000000e+00 2.82362263e+02] [-1.23291930e-02 9.99923993e-01 0.00000000e+00 -1.36518059e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61010614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.580371743 meters Centerline goodness : 0.991340 with order 1 Centerline is valid? [True, True] Translation: X:282.42, Y:-13.67, Z:-0.00 [[ 9.99781714e-01 2.08931859e-02 0.00000000e+00 2.82419323e+02] [-2.08931859e-02 9.99781714e-01 0.00000000e+00 -1.36687359e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88759789e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.640371743 meters Centerline goodness : 0.991481 with order 1 Centerline is valid? [True, True] Translation: X:282.48, Y:-13.68, Z:-0.00 [[ 9.99753117e-01 2.22194647e-02 0.00000000e+00 2.82477979e+02] [-2.22194647e-02 9.99753117e-01 0.00000000e+00 -1.36754832e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15339629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.700371743 meters Centerline goodness : 0.991275 with order 1 Centerline is valid? [True, True] Translation: X:282.54, Y:-13.68, Z:-0.00 [[ 9.99736222e-01 2.29670827e-02 0.00000000e+00 2.82535293e+02] [-2.29670827e-02 9.99736222e-01 0.00000000e+00 -1.36788402e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65126157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.760371743 meters Centerline goodness : 0.992899 with order 1 Centerline is valid? [True, True] Translation: X:282.59, Y:-13.67, Z:-0.00 [[ 9.99901071e-01 1.40658331e-02 0.00000000e+00 2.82593794e+02] [-1.40658331e-02 9.99901071e-01 0.00000000e+00 -1.36738218e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19517476e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.820371743 meters Centerline goodness : 0.990033 with order 1 Centerline is valid? [True, True] Translation: X:282.65, Y:-13.69, Z:-0.00 [[ 9.99685610e-01 2.50734969e-02 0.00000000e+00 2.82651570e+02] [-2.50734969e-02 9.99685610e-01 0.00000000e+00 -1.36899066e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.02962201e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.880371743 meters Centerline goodness : 0.990837 with order 1 Centerline is valid? [True, True] Translation: X:282.71, Y:-13.70, Z:-0.00 [[ 9.99735253e-01 2.30092254e-02 0.00000000e+00 2.82709823e+02] [-2.30092254e-02 9.99735253e-01 0.00000000e+00 -1.36961253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.45221516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.940371743 meters Centerline goodness : 0.993620 with order 1 Centerline is valid? [True, True] Translation: X:282.77, Y:-13.69, Z:0.00 [[ 9.99929873e-01 1.18426853e-02 0.00000000e+00 2.82768044e+02] [-1.18426853e-02 9.99929873e-01 0.00000000e+00 -1.36878522e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23811426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.000371743 meters Centerline goodness : 0.993816 with order 1 Centerline is valid? [True, True] Translation: X:282.83, Y:-13.69, Z:0.01 [[ 9.99919991e-01 1.26495784e-02 0.00000000e+00 2.82826742e+02] [-1.26495784e-02 9.99919991e-01 0.00000000e+00 -1.36893860e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81492122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.060371743 meters Centerline goodness : 0.993638 with order 1 Centerline is valid? [True, True] Translation: X:282.88, Y:-13.69, Z:0.00 [[ 9.99915849e-01 1.29728630e-02 0.00000000e+00 2.82884769e+02] [-1.29728630e-02 9.99915849e-01 0.00000000e+00 -1.36949483e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34837960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.120371743 meters Centerline goodness : 0.993603 with order 1 Centerline is valid? [True, True] Translation: X:282.94, Y:-13.70, Z:0.00 [[ 9.99873450e-01 1.59086409e-02 0.00000000e+00 2.82942740e+02] [-1.59086409e-02 9.99873450e-01 0.00000000e+00 -1.36980871e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38082309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.180371743 meters Centerline goodness : 0.993699 with order 1 Centerline is valid? [True, True] Translation: X:283.00, Y:-13.70, Z:0.00 [[ 9.99850318e-01 1.73014685e-02 0.00000000e+00 2.83001898e+02] [-1.73014685e-02 9.99850318e-01 0.00000000e+00 -1.37004374e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49858262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.240371743 meters Centerline goodness : 0.993729 with order 1 Centerline is valid? [True, True] Translation: X:283.06, Y:-13.70, Z:0.00 [[ 9.99920814e-01 1.25843367e-02 0.00000000e+00 2.83059857e+02] [-1.25843367e-02 9.99920814e-01 0.00000000e+00 -1.37044428e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28491099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.300371743 meters Centerline goodness : 0.993259 with order 1 Centerline is valid? [True, True] Translation: X:283.12, Y:-13.71, Z:0.00 [[ 9.99990481e-01 4.36334738e-03 0.00000000e+00 2.83118239e+02] [-4.36334738e-03 9.99990481e-01 0.00000000e+00 -1.37119143e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53140206e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36037174300003 meters Centerline goodness : 0.993546 with order 1 Centerline is valid? [True, True] Translation: X:283.18, Y:-13.72, Z:0.00 [[ 9.99999200e-01 -1.26479387e-03 0.00000000e+00 2.83176254e+02] [ 1.26479387e-03 9.99999200e-01 0.00000000e+00 -1.37170309e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01680914e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42037174300003 meters Centerline goodness : 0.990339 with order 1 Centerline is valid? [True, True] Translation: X:283.24, Y:-13.73, Z:0.01 [[ 9.99981734e-01 -6.04415893e-03 0.00000000e+00 2.83236068e+02] [ 6.04415893e-03 9.99981734e-01 0.00000000e+00 -1.37295476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.66548521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.480371743 meters Centerline goodness : 0.992200 with order 1 Centerline is valid? [True, True] Translation: X:283.30, Y:-13.73, Z:0.00 [[ 9.99932727e-01 -1.15992140e-02 0.00000000e+00 2.83297430e+02] [ 1.15992140e-02 9.99932727e-01 0.00000000e+00 -1.37267881e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61051511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.540371743 meters Centerline goodness : 0.992500 with order 1 Centerline is valid? [True, True] Translation: X:283.36, Y:-13.73, Z:0.00 [[ 9.99935649e-01 -1.13445185e-02 0.00000000e+00 2.83359911e+02] [ 1.13445185e-02 9.99935649e-01 0.00000000e+00 -1.37284311e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61425392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.600371743 meters Centerline goodness : 0.993117 with order 1 Centerline is valid? [True, True] Translation: X:283.42, Y:-13.73, Z:0.00 [[ 9.99943489e-01 -1.06310367e-02 0.00000000e+00 2.83421741e+02] [ 1.06310367e-02 9.99943489e-01 0.00000000e+00 -1.37304401e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65311986e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.660371743 meters Centerline goodness : 0.992964 with order 1 Centerline is valid? [True, True] Translation: X:283.48, Y:-13.73, Z:0.00 [[ 9.99945442e-01 -1.04457347e-02 0.00000000e+00 2.83483936e+02] [ 1.04457347e-02 9.99945442e-01 0.00000000e+00 -1.37313000e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79183260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.720371743 meters Centerline goodness : 0.993523 with order 1 Centerline is valid? [True, True] Translation: X:283.55, Y:-13.73, Z:0.00 [[ 9.99955769e-01 -9.40529873e-03 0.00000000e+00 2.83545997e+02] [ 9.40529873e-03 9.99955769e-01 0.00000000e+00 -1.37321334e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47194810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.780371743 meters Centerline goodness : 0.993967 with order 1 Centerline is valid? [True, True] Translation: X:283.61, Y:-13.73, Z:0.00 [[ 9.99943538e-01 -1.06264413e-02 0.00000000e+00 2.83608165e+02] [ 1.06264413e-02 9.99943538e-01 0.00000000e+00 -1.37338635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77064818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.840371743 meters Centerline goodness : 0.993460 with order 1 Centerline is valid? [True, True] Translation: X:283.67, Y:-13.74, Z:0.00 [[ 9.99944430e-01 -1.05421442e-02 0.00000000e+00 2.83670063e+02] [ 1.05421442e-02 9.99944430e-01 0.00000000e+00 -1.37355876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95491630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.900371743 meters Centerline goodness : 0.990769 with order 1 Centerline is valid? [True, True] Translation: X:283.73, Y:-13.75, Z:0.01 [[ 1.00000000e+00 2.66779986e-05 0.00000000e+00 2.83731270e+02] [-2.66779986e-05 1.00000000e+00 0.00000000e+00 -1.37461719e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83574668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.960371743 meters Centerline goodness : 0.990906 with order 1 Centerline is valid? [True, True] Translation: X:283.79, Y:-13.74, Z:0.01 [[ 9.99999467e-01 -1.03214793e-03 0.00000000e+00 2.83791908e+02] [ 1.03214793e-03 9.99999467e-01 0.00000000e+00 -1.37448564e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02032473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.020371743 meters Centerline goodness : 0.990475 with order 1 Centerline is valid? [True, True] Translation: X:283.85, Y:-13.75, Z:-0.00 [[ 9.99964559e-01 8.41911782e-03 0.00000000e+00 2.83851906e+02] [-8.41911782e-03 9.99964559e-01 0.00000000e+00 -1.37489904e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14333011e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.080371743 meters Centerline goodness : 0.993380 with order 1 Centerline is valid? [True, True] Translation: X:283.91, Y:-13.73, Z:0.00 [[ 9.99993148e-01 3.70176176e-03 0.00000000e+00 2.83912008e+02] [-3.70176176e-03 9.99993148e-01 0.00000000e+00 -1.37337664e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.52640693e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.140371743 meters Centerline goodness : 0.994095 with order 1 Centerline is valid? [True, True] Translation: X:283.97, Y:-13.73, Z:0.01 [[ 9.99988535e-01 4.78857980e-03 0.00000000e+00 2.83971454e+02] [-4.78857980e-03 9.99988535e-01 0.00000000e+00 -1.37327713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.26899584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.200371743 meters Centerline goodness : 0.993586 with order 1 Centerline is valid? [True, True] Translation: X:284.03, Y:-13.73, Z:0.01 [[ 9.99979085e-01 6.46750105e-03 0.00000000e+00 2.84031148e+02] [-6.46750105e-03 9.99979085e-01 0.00000000e+00 -1.37322318e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36085540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.260371743 meters Centerline goodness : 0.991820 with order 1 Centerline is valid? [True, True] Translation: X:284.09, Y:-13.75, Z:-0.00 [[ 9.99835231e-01 1.81524133e-02 0.00000000e+00 2.84088829e+02] [-1.81524133e-02 9.99835231e-01 0.00000000e+00 -1.37459164e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.98423787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.320371743 meters Centerline goodness : 0.991644 with order 1 Centerline is valid? [True, True] Translation: X:284.15, Y:-13.74, Z:-0.00 [[ 9.99891248e-01 1.47476081e-02 0.00000000e+00 2.84148199e+02] [-1.47476081e-02 9.99891248e-01 0.00000000e+00 -1.37438263e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03291370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.380371743 meters Centerline goodness : 0.994498 with order 1 Centerline is valid? [True, True] Translation: X:284.21, Y:-13.73, Z:0.01 [[ 9.99999600e-01 8.93975423e-04 0.00000000e+00 2.84206790e+02] [-8.93975423e-04 9.99999600e-01 0.00000000e+00 -1.37306752e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33971443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.440371743 meters Centerline goodness : 0.991820 with order 1 Centerline is valid? [True, True] Translation: X:284.27, Y:-13.75, Z:-0.01 [[ 9.99925815e-01 1.21805032e-02 0.00000000e+00 2.84266468e+02] [-1.21805032e-02 9.99925815e-01 0.00000000e+00 -1.37497974e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.17299197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.500371743 meters Centerline goodness : 0.992151 with order 1 Centerline is valid? [True, True] Translation: X:284.32, Y:-13.75, Z:-0.01 [[ 9.99958822e-01 9.07489634e-03 0.00000000e+00 2.84324964e+02] [-9.07489634e-03 9.99958822e-01 0.00000000e+00 -1.37518575e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.63071524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.560371743 meters Centerline goodness : 0.993830 with order 1 Centerline is valid? [True, True] Translation: X:284.38, Y:-13.74, Z:0.01 [[ 9.99951687e-01 -9.82970663e-03 0.00000000e+00 2.84384505e+02] [ 9.82970663e-03 9.99951687e-01 0.00000000e+00 -1.37367464e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.55030689e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.620371743 meters Centerline goodness : 0.991922 with order 1 Centerline is valid? [True, True] Translation: X:284.45, Y:-13.75, Z:-0.00 [[ 9.99999058e-01 -1.37267542e-03 0.00000000e+00 2.84445675e+02] [ 1.37267542e-03 9.99999058e-01 0.00000000e+00 -1.37533619e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48282970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.680371743 meters Centerline goodness : 0.991474 with order 1 Centerline is valid? [True, True] Translation: X:284.51, Y:-13.75, Z:-0.00 [[ 9.99999509e-01 9.90511340e-04 0.00000000e+00 2.84506466e+02] [-9.90511340e-04 9.99999509e-01 0.00000000e+00 -1.37548631e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.08476947e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.740371743 meters Centerline goodness : 0.991631 with order 1 Centerline is valid? [True, True] Translation: X:284.57, Y:-13.76, Z:-0.01 [[ 9.99998608e-01 1.66879889e-03 0.00000000e+00 2.84567278e+02] [-1.66879889e-03 9.99998608e-01 0.00000000e+00 -1.37590628e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.02990630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.800371743 meters Centerline goodness : 0.994157 with order 1 Centerline is valid? [True, True] Translation: X:284.63, Y:-13.74, Z:0.01 [[ 9.99971668e-01 -7.52754495e-03 0.00000000e+00 2.84627620e+02] [ 7.52754495e-03 9.99971668e-01 0.00000000e+00 -1.37435668e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81542676e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86037174300003 meters Centerline goodness : 0.991334 with order 1 Centerline is valid? [True, True] Translation: X:284.69, Y:-13.76, Z:0.00 [[ 9.99955573e-01 9.42617477e-03 0.00000000e+00 2.84688381e+02] [-9.42617477e-03 9.99955573e-01 0.00000000e+00 -1.37581475e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46582115e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92037174300003 meters Centerline goodness : 0.994266 with order 1 Centerline is valid? [True, True] Translation: X:284.75, Y:-13.75, Z:0.01 [[ 9.99999969e-01 -2.48247271e-04 0.00000000e+00 2.84747638e+02] [ 2.48247271e-04 9.99999969e-01 0.00000000e+00 -1.37456567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.47774786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.980371743 meters Centerline goodness : 0.991921 with order 1 Centerline is valid? [True, True] Translation: X:284.81, Y:-13.76, Z:-0.00 [[ 9.99954621e-01 9.52660437e-03 0.00000000e+00 2.84807823e+02] [-9.52660437e-03 9.99954621e-01 0.00000000e+00 -1.37609959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27128899e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.040371743 meters Centerline goodness : 0.994044 with order 1 Centerline is valid? [True, True] Translation: X:284.87, Y:-13.75, Z:0.01 [[ 9.99996522e-01 -2.63735775e-03 0.00000000e+00 2.84867325e+02] [ 2.63735775e-03 9.99996522e-01 0.00000000e+00 -1.37496332e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.05647983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.100371743 meters Centerline goodness : 0.993953 with order 1 Centerline is valid? [True, True] Translation: X:284.93, Y:-13.75, Z:0.01 [[ 9.99995586e-01 -2.97132139e-03 0.00000000e+00 2.84929034e+02] [ 2.97132139e-03 9.99995586e-01 0.00000000e+00 -1.37501012e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04912096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.160371743 meters Centerline goodness : 0.990907 with order 1 Centerline is valid? [True, True] Translation: X:284.99, Y:-13.77, Z:0.00 [[ 9.99985950e-01 5.30085564e-03 0.00000000e+00 2.84989205e+02] [-5.30085564e-03 9.99985950e-01 0.00000000e+00 -1.37665298e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60616722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.220371743 meters Centerline goodness : 0.993184 with order 1 Centerline is valid? [True, True] Translation: X:285.05, Y:-13.76, Z:0.01 [[ 9.99985696e-01 -5.34858977e-03 0.00000000e+00 2.85048295e+02] [ 5.34858977e-03 9.99985696e-01 0.00000000e+00 -1.37566933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.56043371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.280371743 meters Centerline goodness : 0.993761 with order 1 Centerline is valid? [True, True] Translation: X:285.11, Y:-13.76, Z:0.01 [[ 9.99978242e-01 -6.59668210e-03 0.00000000e+00 2.85110823e+02] [ 6.59668210e-03 9.99978242e-01 0.00000000e+00 -1.37591220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.78505379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.340371743 meters Centerline goodness : 0.993428 with order 1 Centerline is valid? [True, True] Translation: X:285.17, Y:-13.76, Z:0.01 [[ 9.99973593e-01 -7.26732173e-03 0.00000000e+00 2.85173146e+02] [ 7.26732173e-03 9.99973593e-01 0.00000000e+00 -1.37624598e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.32952860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.400371743 meters Centerline goodness : 0.993294 with order 1 Centerline is valid? [True, True] Translation: X:285.24, Y:-13.76, Z:0.01 [[ 9.99965528e-01 -8.30312256e-03 0.00000000e+00 2.85235148e+02] [ 8.30312256e-03 9.99965528e-01 0.00000000e+00 -1.37649641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.78328794e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.460371743 meters Centerline goodness : 0.991633 with order 1 Centerline is valid? [True, True] Translation: X:285.30, Y:-13.78, Z:0.00 [[ 9.99999958e-01 2.89975746e-04 0.00000000e+00 2.85296097e+02] [-2.89975746e-04 9.99999958e-01 0.00000000e+00 -1.37811766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99235219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.520371743 meters Centerline goodness : 0.991569 with order 1 Centerline is valid? [True, True] Translation: X:285.36, Y:-13.78, Z:0.00 [[ 9.99998831e-01 1.52913771e-03 0.00000000e+00 2.85356284e+02] [-1.52913771e-03 9.99998831e-01 0.00000000e+00 -1.37838418e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09139170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.580371743 meters Centerline goodness : 0.991282 with order 1 Centerline is valid? [True, True] Translation: X:285.42, Y:-13.79, Z:-0.00 [[ 9.99992209e-01 3.94732879e-03 0.00000000e+00 2.85417076e+02] [-3.94732879e-03 9.99992209e-01 0.00000000e+00 -1.37880335e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86952452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.640371743 meters Centerline goodness : 0.991786 with order 1 Centerline is valid? [True, True] Translation: X:285.48, Y:-13.79, Z:0.00 [[ 9.99997772e-01 2.11082367e-03 0.00000000e+00 2.85476679e+02] [-2.11082367e-03 9.99997772e-01 0.00000000e+00 -1.37855634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69070542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.700371743 meters Centerline goodness : 0.992297 with order 1 Centerline is valid? [True, True] Translation: X:285.54, Y:-13.79, Z:-0.00 [[ 9.99993696e-01 3.55064371e-03 0.00000000e+00 2.85536505e+02] [-3.55064371e-03 9.99993696e-01 0.00000000e+00 -1.37893369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26132745e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.760371743 meters Centerline goodness : 0.994595 with order 1 Centerline is valid? [True, True] Translation: X:285.60, Y:-13.78, Z:0.01 [[ 9.99993414e-01 -3.62940983e-03 0.00000000e+00 2.85596127e+02] [ 3.62940983e-03 9.99993414e-01 0.00000000e+00 -1.37768428e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02082809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.820371743 meters Centerline goodness : 0.992506 with order 1 Centerline is valid? [True, True] Translation: X:285.66, Y:-13.79, Z:0.00 [[ 9.99931065e-01 1.17416397e-02 0.00000000e+00 2.85655784e+02] [-1.17416397e-02 9.99931065e-01 0.00000000e+00 -1.37886261e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79933068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.880371743 meters Centerline goodness : 0.992711 with order 1 Centerline is valid? [True, True] Translation: X:285.71, Y:-13.79, Z:0.00 [[ 9.99828184e-01 1.85365146e-02 0.00000000e+00 2.85714122e+02] [-1.85365146e-02 9.99828184e-01 0.00000000e+00 -1.37926237e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51357665e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.940371743 meters Centerline goodness : 0.992417 with order 1 Centerline is valid? [True, True] Translation: X:285.77, Y:-13.80, Z:-0.00 [[ 9.99731238e-01 2.31829930e-02 0.00000000e+00 2.85772102e+02] [-2.31829930e-02 9.99731238e-01 0.00000000e+00 -1.37968324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14154468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.000371743 meters Centerline goodness : 0.992206 with order 1 Centerline is valid? [True, True] Translation: X:285.83, Y:-13.80, Z:-0.00 [[ 9.99699830e-01 2.45000019e-02 0.00000000e+00 2.85831223e+02] [-2.45000019e-02 9.99699830e-01 0.00000000e+00 -1.37986679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34711400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.060371743 meters Centerline goodness : 0.994041 with order 1 Centerline is valid? [True, True] Translation: X:285.89, Y:-13.78, Z:0.01 [[ 9.99953086e-01 9.68633652e-03 0.00000000e+00 2.85890503e+02] [-9.68633652e-03 9.99953086e-01 0.00000000e+00 -1.37835368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38705290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.120371743 meters Centerline goodness : 0.992313 with order 1 Centerline is valid? [True, True] Translation: X:285.95, Y:-13.80, Z:-0.00 [[ 9.99778018e-01 2.10692665e-02 0.00000000e+00 2.85947123e+02] [-2.10692665e-02 9.99778018e-01 0.00000000e+00 -1.38018521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.28486551e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.180371743 meters Centerline goodness : 0.992070 with order 1 Centerline is valid? [True, True] Translation: X:286.01, Y:-13.80, Z:-0.00 [[ 9.99782217e-01 2.08691016e-02 0.00000000e+00 2.86006119e+02] [-2.08691016e-02 9.99782217e-01 0.00000000e+00 -1.38049695e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.71352822e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.240371743 meters Centerline goodness : 0.991503 with order 1 Centerline is valid? [True, True] Translation: X:286.06, Y:-13.81, Z:0.00 [[ 9.99796744e-01 2.01611349e-02 0.00000000e+00 2.86064003e+02] [-2.01611349e-02 9.99796744e-01 0.00000000e+00 -1.38082483e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59649273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.300371743 meters Centerline goodness : 0.991500 with order 1 Centerline is valid? [True, True] Translation: X:286.12, Y:-13.81, Z:0.01 [[ 9.99813142e-01 1.93308479e-02 0.00000000e+00 2.86122460e+02] [-1.93308479e-02 9.99813142e-01 0.00000000e+00 -1.38089081e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.96468119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36037174300003 meters Centerline goodness : 0.993788 with order 1 Centerline is valid? [True, True] Translation: X:286.18, Y:-13.80, Z:0.02 [[ 9.99922834e-01 1.24227832e-02 0.00000000e+00 2.86182273e+02] [-1.24227832e-02 9.99922834e-01 0.00000000e+00 -1.37997957e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78262631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42037174300003 meters Centerline goodness : 0.994352 with order 1 Centerline is valid? [True, True] Translation: X:286.24, Y:-13.80, Z:0.02 [[ 9.99886372e-01 1.50745752e-02 0.00000000e+00 2.86239824e+02] [-1.50745752e-02 9.99886372e-01 0.00000000e+00 -1.38044337e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78498937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.480371743 meters Centerline goodness : 0.992622 with order 1 Centerline is valid? [True, True] Translation: X:286.30, Y:-13.82, Z:0.01 [[ 9.99714896e-01 2.38773409e-02 0.00000000e+00 2.86298150e+02] [-2.38773409e-02 9.99714896e-01 0.00000000e+00 -1.38213735e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07784938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.540371743 meters Centerline goodness : 0.992326 with order 1 Centerline is valid? [True, True] Translation: X:286.36, Y:-13.83, Z:0.01 [[ 9.99738146e-01 2.28831481e-02 0.00000000e+00 2.86356166e+02] [-2.28831481e-02 9.99738146e-01 0.00000000e+00 -1.38282053e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08933730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.600371743 meters Centerline goodness : 0.992666 with order 1 Centerline is valid? [True, True] Translation: X:286.41, Y:-13.83, Z:0.01 [[ 9.99747859e-01 2.24548099e-02 0.00000000e+00 2.86413916e+02] [-2.24548099e-02 9.99747859e-01 0.00000000e+00 -1.38328108e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16486456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.660371743 meters Centerline goodness : 0.991705 with order 1 Centerline is valid? [True, True] Translation: X:286.47, Y:-13.84, Z:0.01 [[ 9.99740733e-01 2.27698542e-02 0.00000000e+00 2.86471279e+02] [-2.27698542e-02 9.99740733e-01 0.00000000e+00 -1.38402592e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26924116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.720371743 meters Centerline goodness : 0.991015 with order 1 Centerline is valid? [True, True] Translation: X:286.53, Y:-13.85, Z:0.01 [[ 9.99684933e-01 2.51005070e-02 0.00000000e+00 2.86530068e+02] [-2.51005070e-02 9.99684933e-01 0.00000000e+00 -1.38471611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05268050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.780371743 meters Centerline goodness : 0.991535 with order 1 Centerline is valid? [True, True] Translation: X:286.59, Y:-13.85, Z:0.01 [[ 9.99646178e-01 2.65992346e-02 0.00000000e+00 2.86587402e+02] [-2.65992346e-02 9.99646178e-01 0.00000000e+00 -1.38536975e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05014738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.840371743 meters Centerline goodness : 0.991484 with order 1 Centerline is valid? [True, True] Translation: X:286.65, Y:-13.86, Z:0.01 [[ 9.99694233e-01 2.47273278e-02 0.00000000e+00 2.86645407e+02] [-2.47273278e-02 9.99694233e-01 0.00000000e+00 -1.38599180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33386222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.900371743 meters Centerline goodness : 0.991727 with order 1 Centerline is valid? [True, True] Translation: X:286.70, Y:-13.86, Z:0.02 [[ 9.99790771e-01 2.04551671e-02 0.00000000e+00 2.86704475e+02] [-2.04551671e-02 9.99790771e-01 0.00000000e+00 -1.38638476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00381828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.960371743 meters Centerline goodness : 0.991459 with order 1 Centerline is valid? [True, True] Translation: X:286.76, Y:-13.87, Z:0.01 [[ 9.99769515e-01 2.14689655e-02 0.00000000e+00 2.86761831e+02] [-2.14689655e-02 9.99769515e-01 0.00000000e+00 -1.38724679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47327624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.020371743 meters Centerline goodness : 0.993081 with order 1 Centerline is valid? [True, True] Translation: X:286.82, Y:-13.87, Z:0.02 [[ 9.99968970e-01 7.87776624e-03 0.00000000e+00 2.86820124e+02] [-7.87776624e-03 9.99968970e-01 0.00000000e+00 -1.38693926e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01558330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.080371743 meters Centerline goodness : 0.990989 with order 1 Centerline is valid? [True, True] Translation: X:286.88, Y:-13.89, Z:0.01 [[ 9.99937921e-01 1.11424174e-02 0.00000000e+00 2.86877823e+02] [-1.11424174e-02 9.99937921e-01 0.00000000e+00 -1.38881932e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17753500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.140371743 meters Centerline goodness : 0.991593 with order 1 Centerline is valid? [True, True] Translation: X:286.94, Y:-13.89, Z:0.01 [[ 9.99978626e-01 6.53817799e-03 0.00000000e+00 2.86935958e+02] [-6.53817799e-03 9.99978626e-01 0.00000000e+00 -1.38934440e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25883493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.200371743 meters Centerline goodness : 0.991244 with order 1 Centerline is valid? [True, True] Translation: X:286.99, Y:-13.90, Z:0.01 [[ 9.99985668e-01 5.35379231e-03 0.00000000e+00 2.86994262e+02] [-5.35379231e-03 9.99985668e-01 0.00000000e+00 -1.38985873e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18976566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.260371743 meters Centerline goodness : 0.993528 with order 1 Centerline is valid? [True, True] Translation: X:287.05, Y:-13.89, Z:0.02 [[ 9.99989482e-01 -4.58650246e-03 0.00000000e+00 2.87053002e+02] [ 4.58650246e-03 9.99989482e-01 0.00000000e+00 -1.38908071e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92569875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.320371743 meters Centerline goodness : 0.990892 with order 1 Centerline is valid? [True, True] Translation: X:287.11, Y:-13.91, Z:0.01 [[ 9.99970180e-01 7.72266515e-03 0.00000000e+00 2.87113520e+02] [-7.72266515e-03 9.99970180e-01 0.00000000e+00 -1.39059073e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14415126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.380371743 meters Centerline goodness : 0.990362 with order 1 Centerline is valid? [True, True] Translation: X:287.17, Y:-13.91, Z:0.01 [[ 9.99975554e-01 6.99229546e-03 0.00000000e+00 2.87172814e+02] [-6.99229546e-03 9.99975554e-01 0.00000000e+00 -1.39072933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48616981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.440371743 meters Centerline goodness : 0.990772 with order 1 Centerline is valid? [True, True] Translation: X:287.23, Y:-13.91, Z:0.01 [[ 9.99979883e-01 6.34297484e-03 0.00000000e+00 2.87232004e+02] [-6.34297484e-03 9.99979883e-01 0.00000000e+00 -1.39109838e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28976211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.500371743 meters Centerline goodness : 0.993171 with order 1 Centerline is valid? [True, True] Translation: X:287.29, Y:-13.90, Z:0.02 [[ 9.99955520e-01 -9.43175549e-03 0.00000000e+00 2.87291167e+02] [ 9.43175549e-03 9.99955520e-01 0.00000000e+00 -1.39017665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02579416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.560371743 meters Centerline goodness : 0.990619 with order 1 Centerline is valid? [True, True] Translation: X:287.35, Y:-13.92, Z:0.01 [[ 9.99970333e-01 -7.70283510e-03 0.00000000e+00 2.87352514e+02] [ 7.70283510e-03 9.99970333e-01 0.00000000e+00 -1.39165731e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34314763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.620371743 meters Centerline goodness : 0.991155 with order 1 Centerline is valid? [True, True] Translation: X:287.41, Y:-13.92, Z:0.01 [[ 9.99935303e-01 -1.13749729e-02 0.00000000e+00 2.87414548e+02] [ 1.13749729e-02 9.99935303e-01 0.00000000e+00 -1.39191832e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33747670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.680371743 meters Centerline goodness : 0.991545 with order 1 Centerline is valid? [True, True] Translation: X:287.48, Y:-13.92, Z:0.01 [[ 9.99852404e-01 -1.71805321e-02 0.00000000e+00 2.87476728e+02] [ 1.71805321e-02 9.99852404e-01 0.00000000e+00 -1.39203827e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42962258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.740371743 meters Centerline goodness : 0.991693 with order 1 Centerline is valid? [True, True] Translation: X:287.54, Y:-13.92, Z:0.01 [[ 9.99760489e-01 -2.18852620e-02 0.00000000e+00 2.87538890e+02] [ 2.18852620e-02 9.99760489e-01 0.00000000e+00 -1.39211798e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47743109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.800371743 meters Centerline goodness : 0.992277 with order 1 Centerline is valid? [True, True] Translation: X:287.60, Y:-13.92, Z:0.01 [[ 9.99779343e-01 -2.10063149e-02 0.00000000e+00 2.87601227e+02] [ 2.10063149e-02 9.99779343e-01 0.00000000e+00 -1.39248753e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.43251815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86037174300003 meters Centerline goodness : 0.993493 with order 1 Centerline is valid? [True, True] Translation: X:287.66, Y:-13.91, Z:0.02 [[ 9.99429172e-01 -3.37835773e-02 0.00000000e+00 2.87663514e+02] [ 3.37835773e-02 9.99429172e-01 0.00000000e+00 -1.39086861e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20456433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92037174300003 meters Centerline goodness : 0.994316 with order 1 Centerline is valid? [True, True] Translation: X:287.73, Y:-13.91, Z:0.02 [[ 9.99457925e-01 -3.29219594e-02 0.00000000e+00 2.87726391e+02] [ 3.29219594e-02 9.99457925e-01 0.00000000e+00 -1.39066281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22945896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.980371743 meters Centerline goodness : 0.993383 with order 1 Centerline is valid? [True, True] Translation: X:287.79, Y:-13.90, Z:0.02 [[ 9.99458529e-01 -3.29036375e-02 0.00000000e+00 2.87788677e+02] [ 3.29036375e-02 9.99458529e-01 0.00000000e+00 -1.39026402e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19445174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.040371743 meters Centerline goodness : 0.993782 with order 1 Centerline is valid? [True, True] Translation: X:287.85, Y:-13.90, Z:0.02 [[ 9.99453810e-01 -3.30466579e-02 0.00000000e+00 2.87851686e+02] [ 3.30466579e-02 9.99453810e-01 0.00000000e+00 -1.39033918e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22433647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.100371743 meters Centerline goodness : 0.993701 with order 1 Centerline is valid? [True, True] Translation: X:287.91, Y:-13.90, Z:0.02 [[ 9.99384285e-01 -3.50863324e-02 0.00000000e+00 2.87913902e+02] [ 3.50863324e-02 9.99384285e-01 0.00000000e+00 -1.39001521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36141341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.160371743 meters Centerline goodness : 0.990562 with order 1 Centerline is valid? [True, True] Translation: X:287.98, Y:-13.91, Z:0.01 [[ 9.99693039e-01 -2.47755511e-02 0.00000000e+00 2.87975702e+02] [ 2.47755511e-02 9.99693039e-01 0.00000000e+00 -1.39139311e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04380288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.220371743 meters Centerline goodness : 0.991158 with order 1 Centerline is valid? [True, True] Translation: X:288.04, Y:-13.90, Z:0.02 [[ 9.99477325e-01 -3.23276380e-02 0.00000000e+00 2.88038843e+02] [ 3.23276380e-02 9.99477325e-01 0.00000000e+00 -1.39048963e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17411729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.280371743 meters Centerline goodness : 0.991591 with order 1 Centerline is valid? [True, True] Translation: X:288.10, Y:-13.90, Z:0.02 [[ 9.99332033e-01 -3.65443274e-02 0.00000000e+00 2.88101198e+02] [ 3.65443274e-02 9.99332033e-01 0.00000000e+00 -1.39015599e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14884966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.340371743 meters Centerline goodness : 0.991977 with order 1 Centerline is valid? [True, True] Translation: X:288.16, Y:-13.90, Z:0.02 [[ 9.99299130e-01 -3.74332560e-02 0.00000000e+00 2.88163396e+02] [ 3.74332560e-02 9.99299130e-01 0.00000000e+00 -1.38996463e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26667158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.400371743 meters Centerline goodness : 0.991662 with order 1 Centerline is valid? [True, True] Translation: X:288.23, Y:-13.90, Z:0.02 [[ 9.99250086e-01 -3.87203491e-02 0.00000000e+00 2.88226245e+02] [ 3.87203491e-02 9.99250086e-01 0.00000000e+00 -1.38965946e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33037974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.460371743 meters Centerline goodness : 0.991815 with order 1 Centerline is valid? [True, True] Translation: X:288.29, Y:-13.90, Z:0.02 [[ 9.99274431e-01 -3.80868965e-02 0.00000000e+00 2.88289925e+02] [ 3.80868965e-02 9.99274431e-01 0.00000000e+00 -1.38953156e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26896387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.520371743 meters Centerline goodness : 0.991570 with order 1 Centerline is valid? [True, True] Translation: X:288.35, Y:-13.89, Z:0.02 [[ 9.99289372e-01 -3.76928501e-02 0.00000000e+00 2.88352193e+02] [ 3.76928501e-02 9.99289372e-01 0.00000000e+00 -1.38927873e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36540033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.580371743 meters Centerline goodness : 0.991973 with order 1 Centerline is valid? [True, True] Translation: X:288.42, Y:-13.89, Z:0.02 [[ 9.99382015e-01 -3.51509210e-02 0.00000000e+00 2.88415059e+02] [ 3.51509210e-02 9.99382015e-01 0.00000000e+00 -1.38914421e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32858682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.640371743 meters Centerline goodness : 0.992861 with order 1 Centerline is valid? [True, True] Translation: X:288.48, Y:-13.89, Z:0.02 [[ 9.99438347e-01 -3.35110530e-02 0.00000000e+00 2.88477329e+02] [ 3.35110530e-02 9.99438347e-01 0.00000000e+00 -1.38905048e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27801413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.700371743 meters Centerline goodness : 0.993993 with order 1 Centerline is valid? [True, True] Translation: X:288.54, Y:-13.89, Z:0.03 [[ 9.99413391e-01 -3.42472439e-02 0.00000000e+00 2.88539708e+02] [ 3.42472439e-02 9.99413391e-01 0.00000000e+00 -1.38864067e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57144770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.760371743 meters Centerline goodness : 0.994946 with order 1 Centerline is valid? [True, True] Translation: X:288.60, Y:-13.88, Z:0.03 [[ 9.99369648e-01 -3.55008067e-02 0.00000000e+00 2.88601945e+02] [ 3.55008067e-02 9.99369648e-01 0.00000000e+00 -1.38810970e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60829814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.820371743 meters Centerline goodness : 0.994705 with order 1 Centerline is valid? [True, True] Translation: X:288.66, Y:-13.88, Z:0.03 [[ 9.99434238e-01 -3.36333728e-02 0.00000000e+00 2.88663832e+02] [ 3.36333728e-02 9.99434238e-01 0.00000000e+00 -1.38827435e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64880199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.880371743 meters Centerline goodness : 0.993283 with order 1 Centerline is valid? [True, True] Translation: X:288.73, Y:-13.89, Z:0.02 [[ 9.99675374e-01 -2.54783536e-02 0.00000000e+00 2.88725971e+02] [ 2.54783536e-02 9.99675374e-01 0.00000000e+00 -1.38905539e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32340588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.940371743 meters Centerline goodness : 0.993115 with order 1 Centerline is valid? [True, True] Translation: X:288.79, Y:-13.89, Z:0.02 [[ 9.99786442e-01 -2.06656787e-02 0.00000000e+00 2.88788394e+02] [ 2.06656787e-02 9.99786442e-01 0.00000000e+00 -1.38918578e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22510343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.000371743 meters Centerline goodness : 0.993147 with order 1 Centerline is valid? [True, True] Translation: X:288.85, Y:-13.89, Z:0.02 [[ 9.99837679e-01 -1.80170855e-02 0.00000000e+00 2.88851092e+02] [ 1.80170855e-02 9.99837679e-01 0.00000000e+00 -1.38927081e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45348345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.060371743 meters Centerline goodness : 0.992042 with order 1 Centerline is valid? [True, True] Translation: X:288.91, Y:-13.89, Z:0.02 [[ 9.99908817e-01 -1.35040181e-02 0.00000000e+00 2.88912297e+02] [ 1.35040181e-02 9.99908817e-01 0.00000000e+00 -1.38943936e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26342320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.120371743 meters Centerline goodness : 0.992431 with order 1 Centerline is valid? [True, True] Translation: X:288.97, Y:-13.90, Z:0.02 [[ 9.99999888e-01 4.73495286e-04 0.00000000e+00 2.88974615e+02] [-4.73495286e-04 9.99999888e-01 0.00000000e+00 -1.38990881e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72692266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.180371743 meters Centerline goodness : 0.992279 with order 1 Centerline is valid? [True, True] Translation: X:289.03, Y:-13.90, Z:0.02 [[ 9.99959994e-01 8.94484369e-03 0.00000000e+00 2.89034526e+02] [-8.94484369e-03 9.99959994e-01 0.00000000e+00 -1.38968720e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21175539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.240371743 meters Centerline goodness : 0.995544 with order 1 Centerline is valid? [True, True] Translation: X:289.09, Y:-13.89, Z:0.03 [[ 9.99957406e-01 9.22968432e-03 0.00000000e+00 2.89092666e+02] [-9.22968432e-03 9.99957406e-01 0.00000000e+00 -1.38881905e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87513694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.300371743 meters Centerline goodness : 0.995196 with order 1 Centerline is valid? [True, True] Translation: X:289.15, Y:-13.89, Z:0.03 [[ 9.99927712e-01 1.20237800e-02 0.00000000e+00 2.89151819e+02] [-1.20237800e-02 9.99927712e-01 0.00000000e+00 -1.38899236e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74574083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36037174300003 meters Centerline goodness : 0.993497 with order 1 Centerline is valid? [True, True] Translation: X:289.21, Y:-13.90, Z:0.01 [[ 9.99781436e-01 2.09064563e-02 0.00000000e+00 2.89210291e+02] [-2.09064563e-02 9.99781436e-01 0.00000000e+00 -1.39031990e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46420613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42037174300003 meters Centerline goodness : 0.994190 with order 1 Centerline is valid? [True, True] Translation: X:289.27, Y:-13.90, Z:0.01 [[ 9.99833793e-01 1.82314802e-02 0.00000000e+00 2.89267288e+02] [-1.82314802e-02 9.99833793e-01 0.00000000e+00 -1.39038766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49466486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.480371743 meters Centerline goodness : 0.994711 with order 1 Centerline is valid? [True, True] Translation: X:289.33, Y:-13.90, Z:0.02 [[ 9.99943543e-01 1.06259287e-02 0.00000000e+00 2.89325831e+02] [-1.06259287e-02 9.99943543e-01 0.00000000e+00 -1.39033163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44136413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.540371743 meters Centerline goodness : 0.993501 with order 1 Centerline is valid? [True, True] Translation: X:289.38, Y:-13.91, Z:0.02 [[ 9.99985770e-01 5.33481005e-03 0.00000000e+00 2.89384374e+02] [-5.33481005e-03 9.99985770e-01 0.00000000e+00 -1.39077288e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30896384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.600371743 meters Centerline goodness : 0.993447 with order 1 Centerline is valid? [True, True] Translation: X:289.44, Y:-13.91, Z:0.02 [[ 9.99999996e-01 -8.71214029e-05 0.00000000e+00 2.89443103e+02] [ 8.71214029e-05 9.99999996e-01 0.00000000e+00 -1.39107681e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40337480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.660371743 meters Centerline goodness : 0.992607 with order 1 Centerline is valid? [True, True] Translation: X:289.50, Y:-13.91, Z:0.03 [[ 9.99984860e-01 -5.50273731e-03 0.00000000e+00 2.89503062e+02] [ 5.50273731e-03 9.99984860e-01 0.00000000e+00 -1.39138953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53830760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.720371743 meters Centerline goodness : 0.992807 with order 1 Centerline is valid? [True, True] Translation: X:289.57, Y:-13.92, Z:0.02 [[ 9.99957415e-01 -9.22866935e-03 0.00000000e+00 2.89565424e+02] [ 9.22866935e-03 9.99957415e-01 0.00000000e+00 -1.39196628e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29523458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.780371743 meters Centerline goodness : 0.992179 with order 1 Centerline is valid? [True, True] Translation: X:289.63, Y:-13.92, Z:0.02 [[ 9.99935026e-01 -1.13992831e-02 0.00000000e+00 2.89628860e+02] [ 1.13992831e-02 9.99935026e-01 0.00000000e+00 -1.39233919e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32235357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.840371743 meters Centerline goodness : 0.992637 with order 1 Centerline is valid? [True, True] Translation: X:289.69, Y:-13.93, Z:0.02 [[ 9.99928993e-01 -1.19167856e-02 0.00000000e+00 2.89690905e+02] [ 1.19167856e-02 9.99928993e-01 0.00000000e+00 -1.39279358e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23961207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.900371743 meters Centerline goodness : 0.991987 with order 1 Centerline is valid? [True, True] Translation: X:289.75, Y:-13.93, Z:0.02 [[ 9.99929659e-01 -1.18607078e-02 0.00000000e+00 2.89753034e+02] [ 1.18607078e-02 9.99929659e-01 0.00000000e+00 -1.39307959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24689735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.960371743 meters Centerline goodness : 0.992308 with order 1 Centerline is valid? [True, True] Translation: X:289.82, Y:-13.93, Z:0.02 [[ 9.99935483e-01 -1.13590889e-02 0.00000000e+00 2.89815768e+02] [ 1.13590889e-02 9.99935483e-01 0.00000000e+00 -1.39313396e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32726745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.020371743 meters Centerline goodness : 0.992584 with order 1 Centerline is valid? [True, True] Translation: X:289.88, Y:-13.93, Z:0.02 [[ 9.99920490e-01 -1.26100562e-02 0.00000000e+00 2.89878018e+02] [ 1.26100562e-02 9.99920490e-01 0.00000000e+00 -1.39334887e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35767666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.080371743 meters Centerline goodness : 0.992506 with order 1 Centerline is valid? [True, True] Translation: X:289.94, Y:-13.94, Z:0.03 [[ 9.99847343e-01 -1.74725686e-02 0.00000000e+00 2.89940064e+02] [ 1.74725686e-02 9.99847343e-01 0.00000000e+00 -1.39351794e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52795400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.140371743 meters Centerline goodness : 0.992631 with order 1 Centerline is valid? [True, True] Translation: X:290.00, Y:-13.94, Z:0.02 [[ 9.99775504e-01 -2.11882289e-02 0.00000000e+00 2.90001796e+02] [ 2.11882289e-02 9.99775504e-01 0.00000000e+00 -1.39397303e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37667568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.200371743 meters Centerline goodness : 0.992890 with order 1 Centerline is valid? [True, True] Translation: X:290.06, Y:-13.94, Z:0.03 [[ 9.99709946e-01 -2.40836845e-02 0.00000000e+00 2.90064304e+02] [ 2.40836845e-02 9.99709946e-01 0.00000000e+00 -1.39417807e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58783440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.260371743 meters Centerline goodness : 0.993133 with order 1 Centerline is valid? [True, True] Translation: X:290.13, Y:-13.94, Z:0.03 [[ 9.99771282e-01 -2.13865150e-02 0.00000000e+00 2.90127043e+02] [ 2.13865150e-02 9.99771282e-01 0.00000000e+00 -1.39418497e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63420278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.320371743 meters Centerline goodness : 0.993403 with order 1 Centerline is valid? [True, True] Translation: X:290.19, Y:-13.94, Z:0.03 [[ 9.99815112e-01 -1.92286932e-02 0.00000000e+00 2.90189405e+02] [ 1.92286932e-02 9.99815112e-01 0.00000000e+00 -1.39438965e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59956531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.380371743 meters Centerline goodness : 0.993847 with order 1 Centerline is valid? [True, True] Translation: X:290.25, Y:-13.94, Z:0.03 [[ 9.99826187e-01 -1.86439395e-02 0.00000000e+00 2.90251097e+02] [ 1.86439395e-02 9.99826187e-01 0.00000000e+00 -1.39432139e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53868802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.440371743 meters Centerline goodness : 0.994922 with order 1 Centerline is valid? [True, True] Translation: X:290.31, Y:-13.93, Z:0.03 [[ 9.99728898e-01 -2.32837007e-02 0.00000000e+00 2.90313022e+02] [ 2.32837007e-02 9.99728898e-01 0.00000000e+00 -1.39329090e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06051751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.500371743 meters Centerline goodness : 0.994878 with order 1 Centerline is valid? [True, True] Translation: X:290.38, Y:-13.93, Z:0.03 [[ 9.99723660e-01 -2.35075438e-02 0.00000000e+00 2.90375607e+02] [ 2.35075438e-02 9.99723660e-01 0.00000000e+00 -1.39336718e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03377177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.560371743 meters Centerline goodness : 0.993914 with order 1 Centerline is valid? [True, True] Translation: X:290.44, Y:-13.94, Z:0.03 [[ 9.99829878e-01 -1.84448953e-02 0.00000000e+00 2.90437629e+02] [ 1.84448953e-02 9.99829878e-01 0.00000000e+00 -1.39408922e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82234864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.620371743 meters Centerline goodness : 0.994048 with order 1 Centerline is valid? [True, True] Translation: X:290.50, Y:-13.94, Z:0.03 [[ 9.99794253e-01 -2.02842474e-02 0.00000000e+00 2.90499839e+02] [ 2.02842474e-02 9.99794253e-01 0.00000000e+00 -1.39412075e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01435602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.680371743 meters Centerline goodness : 0.994061 with order 1 Centerline is valid? [True, True] Translation: X:290.56, Y:-13.94, Z:0.03 [[ 9.99723231e-01 -2.35257550e-02 0.00000000e+00 2.90561436e+02] [ 2.35257550e-02 9.99723231e-01 0.00000000e+00 -1.39426051e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97567637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.740371743 meters Centerline goodness : 0.993489 with order 1 Centerline is valid? [True, True] Translation: X:290.62, Y:-13.94, Z:0.03 [[ 9.99679594e-01 -2.53122567e-02 0.00000000e+00 2.90623916e+02] [ 2.53122567e-02 9.99679594e-01 0.00000000e+00 -1.39436369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05983074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.800371743 meters Centerline goodness : 0.994637 with order 1 Centerline is valid? [True, True] Translation: X:290.69, Y:-13.94, Z:0.03 [[ 9.99582725e-01 -2.88855560e-02 0.00000000e+00 2.90685338e+02] [ 2.88855560e-02 9.99582725e-01 0.00000000e+00 -1.39366450e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14612713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86037174300003 meters Centerline goodness : 0.993390 with order 1 Centerline is valid? [True, True] Translation: X:290.75, Y:-13.94, Z:0.03 [[ 9.99734831e-01 -2.30275518e-02 0.00000000e+00 2.90747785e+02] [ 2.30275518e-02 9.99734831e-01 0.00000000e+00 -1.39432117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92414825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92037174300003 meters Centerline goodness : 0.992981 with order 1 Centerline is valid? [True, True] Translation: X:290.81, Y:-13.94, Z:0.03 [[ 9.99810430e-01 -1.94706187e-02 0.00000000e+00 2.90808946e+02] [ 1.94706187e-02 9.99810430e-01 0.00000000e+00 -1.39444443e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62763383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.980371743 meters Centerline goodness : 0.991855 with order 1 Centerline is valid? [True, True] Translation: X:290.87, Y:-13.94, Z:0.03 [[ 9.99887464e-01 -1.50019566e-02 0.00000000e+00 2.90870844e+02] [ 1.50019566e-02 9.99887464e-01 0.00000000e+00 -1.39441644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82247194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.040371743 meters Centerline goodness : 0.991065 with order 1 Centerline is valid? [True, True] Translation: X:290.93, Y:-13.95, Z:0.03 [[ 9.99954681e-01 -9.52027856e-03 0.00000000e+00 2.90932596e+02] [ 9.52027856e-03 9.99954681e-01 0.00000000e+00 -1.39461959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25275211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.100371743 meters Centerline goodness : 0.990541 with order 1 Centerline is valid? [True, True] Translation: X:290.99, Y:-13.95, Z:0.03 [[ 9.99956210e-01 -9.35833567e-03 0.00000000e+00 2.90994234e+02] [ 9.35833567e-03 9.99956210e-01 0.00000000e+00 -1.39496860e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78804991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.160371743 meters Centerline goodness : 0.990417 with order 1 Centerline is valid? [True, True] Translation: X:291.06, Y:-13.95, Z:0.03 [[ 9.99972833e-01 -7.37107787e-03 0.00000000e+00 2.91055635e+02] [ 7.37107787e-03 9.99972833e-01 0.00000000e+00 -1.39534122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06840494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.220371743 meters Centerline goodness : 0.990139 with order 1 Centerline is valid? [True, True] Translation: X:291.12, Y:-13.96, Z:0.02 [[ 9.99964299e-01 -8.44991913e-03 0.00000000e+00 2.91117361e+02] [ 8.44991913e-03 9.99964299e-01 0.00000000e+00 -1.39587783e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47581232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.280371743 meters Centerline goodness : 0.990217 with order 1 Centerline is valid? [True, True] Translation: X:291.18, Y:-13.96, Z:0.03 [[ 9.99968239e-01 -7.97005363e-03 0.00000000e+00 2.91178117e+02] [ 7.97005363e-03 9.99968239e-01 0.00000000e+00 -1.39619839e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97491477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.340371743 meters Centerline goodness : 0.991008 with order 1 Centerline is valid? [True, True] Translation: X:291.24, Y:-13.97, Z:0.03 [[ 9.99968239e-01 -7.97002301e-03 0.00000000e+00 2.91240051e+02] [ 7.97002301e-03 9.99968239e-01 0.00000000e+00 -1.39665732e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73317897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.400371743 meters Centerline goodness : 0.990833 with order 1 Centerline is valid? [True, True] Translation: X:291.30, Y:-13.97, Z:0.03 [[ 9.99995382e-01 -3.03892243e-03 0.00000000e+00 2.91302494e+02] [ 3.03892243e-03 9.99995382e-01 0.00000000e+00 -1.39718456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52817783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.460371743 meters Centerline goodness : 0.990601 with order 1 Centerline is valid? [True, True] Translation: X:291.36, Y:-13.98, Z:0.02 [[ 9.99999819e-01 -6.01627475e-04 0.00000000e+00 2.91363331e+02] [ 6.01627475e-04 9.99999819e-01 0.00000000e+00 -1.39763030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49226861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.520371743 meters Centerline goodness : 0.990550 with order 1 Centerline is valid? [True, True] Translation: X:291.42, Y:-13.98, Z:0.02 [[ 9.99995266e-01 3.07700687e-03 0.00000000e+00 2.91423228e+02] [-3.07700687e-03 9.99995266e-01 0.00000000e+00 -1.39812390e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49217648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.580371743 meters Centerline goodness : 0.990752 with order 1 Centerline is valid? [True, True] Translation: X:291.48, Y:-13.99, Z:0.02 [[ 9.99991115e-01 4.21550160e-03 0.00000000e+00 2.91482546e+02] [-4.21550160e-03 9.99991115e-01 0.00000000e+00 -1.39865091e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43297981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.640371743 meters Centerline goodness : 0.991013 with order 1 Centerline is valid? [True, True] Translation: X:291.54, Y:-13.99, Z:0.02 [[ 9.99994268e-01 3.38587384e-03 0.00000000e+00 2.91540800e+02] [-3.38587384e-03 9.99994268e-01 0.00000000e+00 -1.39918088e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45224158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.700371743 meters Centerline goodness : 0.990757 with order 1 Centerline is valid? [True, True] Translation: X:291.60, Y:-14.00, Z:0.02 [[ 9.99989498e-01 4.58294861e-03 0.00000000e+00 2.91599819e+02] [-4.58294861e-03 9.99989498e-01 0.00000000e+00 -1.40021652e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86091200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.760371743 meters Centerline goodness : 0.991512 with order 1 Centerline is valid? [True, True] Translation: X:291.66, Y:-14.01, Z:0.02 [[ 9.99999763e-01 6.87786125e-04 0.00000000e+00 2.91658343e+02] [-6.87786125e-04 9.99999763e-01 0.00000000e+00 -1.40078793e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12794025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.820371743 meters Centerline goodness : 0.991509 with order 1 Centerline is valid? [True, True] Translation: X:291.72, Y:-14.01, Z:0.02 [[ 9.99996253e-01 -2.73750135e-03 0.00000000e+00 2.91718182e+02] [ 2.73750135e-03 9.99996253e-01 0.00000000e+00 -1.40122454e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13857542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.880371743 meters Centerline goodness : 0.991973 with order 1 Centerline is valid? [True, True] Translation: X:291.78, Y:-14.02, Z:0.02 [[ 9.99992168e-01 -3.95768206e-03 0.00000000e+00 2.91779143e+02] [ 3.95768206e-03 9.99992168e-01 0.00000000e+00 -1.40221547e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07381111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.940371743 meters Centerline goodness : 0.994096 with order 1 Centerline is valid? [True, True] Translation: X:291.84, Y:-14.01, Z:0.03 [[ 9.99925414e-01 -1.22133894e-02 0.00000000e+00 2.91841523e+02] [ 1.22133894e-02 9.99925414e-01 0.00000000e+00 -1.40138876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46273747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.000371743 meters Centerline goodness : 0.991931 with order 1 Centerline is valid? [True, True] Translation: X:291.90, Y:-14.04, Z:0.02 [[ 9.99971268e-01 7.58040355e-03 0.00000000e+00 2.91902424e+02] [-7.58040355e-03 9.99971268e-01 0.00000000e+00 -1.40384081e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89578895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.060371743 meters Centerline goodness : 0.991581 with order 1 Centerline is valid? [True, True] Translation: X:291.96, Y:-14.05, Z:0.02 [[ 9.99904696e-01 1.38057216e-02 0.00000000e+00 2.91959155e+02] [-1.38057216e-02 9.99904696e-01 0.00000000e+00 -1.40451190e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75565685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.120371743 meters Centerline goodness : 0.990840 with order 1 Centerline is valid? [True, True] Translation: X:292.02, Y:-14.05, Z:0.03 [[ 9.99855414e-01 1.70044609e-02 0.00000000e+00 2.92018416e+02] [-1.70044609e-02 9.99855414e-01 0.00000000e+00 -1.40463306e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76137071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.180371743 meters Centerline goodness : 0.991224 with order 1 Centerline is valid? [True, True] Translation: X:292.08, Y:-14.05, Z:0.02 [[ 9.99838912e-01 1.79485200e-02 0.00000000e+00 2.92076738e+02] [-1.79485200e-02 9.99838912e-01 0.00000000e+00 -1.40502853e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26493931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.240371743 meters Centerline goodness : 0.990943 with order 1 Centerline is valid? [True, True] Translation: X:292.14, Y:-14.05, Z:0.03 [[ 9.99810122e-01 1.94864055e-02 0.00000000e+00 2.92135506e+02] [-1.94864055e-02 9.99810122e-01 0.00000000e+00 -1.40547635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55049625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.300371743 meters Centerline goodness : 0.990482 with order 1 Centerline is valid? [True, True] Translation: X:292.19, Y:-14.06, Z:0.02 [[ 9.99892315e-01 1.46751168e-02 0.00000000e+00 2.92192930e+02] [-1.46751168e-02 9.99892315e-01 0.00000000e+00 -1.40604132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43753988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36037174300003 meters Centerline goodness : 0.990928 with order 1 Centerline is valid? [True, True] Translation: X:292.25, Y:-14.07, Z:0.02 [[ 9.99927528e-01 1.20390421e-02 0.00000000e+00 2.92250080e+02] [-1.20390421e-02 9.99927528e-01 0.00000000e+00 -1.40653070e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34868127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42037174300003 meters Centerline goodness : 0.991080 with order 1 Centerline is valid? [True, True] Translation: X:292.31, Y:-14.07, Z:0.02 [[ 9.99973233e-01 7.31662208e-03 0.00000000e+00 2.92308592e+02] [-7.31662208e-03 9.99973233e-01 0.00000000e+00 -1.40695219e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43680082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.480371743 meters Centerline goodness : 0.991845 with order 1 Centerline is valid? [True, True] Translation: X:292.37, Y:-14.08, Z:0.02 [[ 9.99999527e-01 9.72636839e-04 0.00000000e+00 2.92366799e+02] [-9.72636839e-04 9.99999527e-01 0.00000000e+00 -1.40756289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09349469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.540371743 meters Centerline goodness : 0.991946 with order 1 Centerline is valid? [True, True] Translation: X:292.43, Y:-14.08, Z:0.03 [[ 9.99992940e-01 -3.75753252e-03 0.00000000e+00 2.92426352e+02] [ 3.75753252e-03 9.99992940e-01 0.00000000e+00 -1.40796847e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73605476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.600371743 meters Centerline goodness : 0.991907 with order 1 Centerline is valid? [True, True] Translation: X:292.49, Y:-14.09, Z:0.03 [[ 9.99988602e-01 -4.77445761e-03 0.00000000e+00 2.92487833e+02] [ 4.77445761e-03 9.99988602e-01 0.00000000e+00 -1.40861919e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64687831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.660371743 meters Centerline goodness : 0.992163 with order 1 Centerline is valid? [True, True] Translation: X:292.55, Y:-14.09, Z:0.02 [[ 9.99991990e-01 -4.00253970e-03 0.00000000e+00 2.92550011e+02] [ 4.00253970e-03 9.99991990e-01 0.00000000e+00 -1.40905164e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31061473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.720371743 meters Centerline goodness : 0.992605 with order 1 Centerline is valid? [True, True] Translation: X:292.61, Y:-14.09, Z:0.02 [[ 9.99998938e-01 -1.45739620e-03 0.00000000e+00 2.92610841e+02] [ 1.45739620e-03 9.99998938e-01 0.00000000e+00 -1.40931260e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49145307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.780371743 meters Centerline goodness : 0.992022 with order 1 Centerline is valid? [True, True] Translation: X:292.67, Y:-14.10, Z:0.02 [[ 9.99999970e-01 -2.45278479e-04 0.00000000e+00 2.92671564e+02] [ 2.45278479e-04 9.99999970e-01 0.00000000e+00 -1.40970854e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35729806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.840371743 meters Centerline goodness : 0.992179 with order 1 Centerline is valid? [True, True] Translation: X:292.73, Y:-14.10, Z:0.03 [[ 9.99984537e-01 5.56111270e-03 0.00000000e+00 2.92731880e+02] [-5.56111270e-03 9.99984537e-01 0.00000000e+00 -1.41009292e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79284348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.900371743 meters Centerline goodness : 0.991678 with order 1 Centerline is valid? [True, True] Translation: X:292.79, Y:-14.10, Z:0.02 [[ 9.99989183e-01 4.65118169e-03 0.00000000e+00 2.92790413e+02] [-4.65118169e-03 9.99989183e-01 0.00000000e+00 -1.41038762e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49044853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.960371743 meters Centerline goodness : 0.992059 with order 1 Centerline is valid? [True, True] Translation: X:292.85, Y:-14.11, Z:0.03 [[ 9.99995066e-01 3.14125131e-03 0.00000000e+00 2.92848985e+02] [-3.14125131e-03 9.99995066e-01 0.00000000e+00 -1.41085117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57910799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.020371743 meters Centerline goodness : 0.993500 with order 1 Centerline is valid? [True, True] Translation: X:292.91, Y:-14.11, Z:0.03 [[ 9.99986093e-01 -5.27395538e-03 0.00000000e+00 2.92908977e+02] [ 5.27395538e-03 9.99986093e-01 0.00000000e+00 -1.41066567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92724197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.080371743 meters Centerline goodness : 0.990431 with order 1 Centerline is valid? [True, True] Translation: X:292.97, Y:-14.12, Z:0.02 [[ 9.99967784e-01 8.02693243e-03 0.00000000e+00 2.92968309e+02] [-8.02693243e-03 9.99967784e-01 0.00000000e+00 -1.41237020e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12810302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.140371743 meters Centerline goodness : 0.983896 with order 1 Centerline is valid? [True, True] Translation: X:293.03, Y:-14.11, Z:0.03 [[ 9.99938451e-01 -1.10947435e-02 0.00000000e+00 2.93027422e+02] [ 1.10947435e-02 9.99938451e-01 0.00000000e+00 -1.41107644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68242396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.200371743 meters Centerline goodness : 0.991314 with order 1 Centerline is valid? [True, True] Translation: X:293.09, Y:-14.13, Z:0.03 [[ 9.99995063e-01 -3.14214959e-03 0.00000000e+00 2.93089207e+02] [ 3.14214959e-03 9.99995063e-01 0.00000000e+00 -1.41267243e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91617493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.260371743 meters Centerline goodness : 0.983020 with order 1 Centerline is valid? [True, True] Translation: X:293.15, Y:-14.12, Z:0.03 [[ 9.99896917e-01 -1.43580788e-02 0.00000000e+00 2.93150334e+02] [ 1.43580788e-02 9.99896917e-01 0.00000000e+00 -1.41218435e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10328400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.320371743 meters Centerline goodness : 0.992644 with order 1 Centerline is valid? [True, True] Translation: X:293.21, Y:-14.13, Z:0.03 [[ 9.99867929e-01 -1.62519331e-02 0.00000000e+00 2.93212742e+02] [ 1.62519331e-02 9.99867929e-01 0.00000000e+00 -1.41288468e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25980800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.380371743 meters Centerline goodness : 0.992399 with order 1 Centerline is valid? [True, True] Translation: X:293.27, Y:-14.14, Z:0.03 [[ 9.99908969e-01 -1.34927200e-02 0.00000000e+00 2.93273244e+02] [ 1.34927200e-02 9.99908969e-01 0.00000000e+00 -1.41373790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86474827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.440371743 meters Centerline goodness : 0.992046 with order 1 Centerline is valid? [True, True] Translation: X:293.34, Y:-14.14, Z:0.03 [[ 9.99934801e-01 -1.14190385e-02 0.00000000e+00 2.93335324e+02] [ 1.14190385e-02 9.99934801e-01 0.00000000e+00 -1.41416698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99059437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.500371743 meters Centerline goodness : 0.992875 with order 1 Centerline is valid? [True, True] Translation: X:293.40, Y:-14.14, Z:0.03 [[ 9.99912594e-01 -1.32213570e-02 0.00000000e+00 2.93397946e+02] [ 1.32213570e-02 9.99912594e-01 0.00000000e+00 -1.41427382e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27293201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.560371743 meters Centerline goodness : 0.992601 with order 1 Centerline is valid? [True, True] Translation: X:293.46, Y:-14.15, Z:0.03 [[ 9.99863120e-01 -1.65451454e-02 0.00000000e+00 2.93459196e+02] [ 1.65451454e-02 9.99863120e-01 0.00000000e+00 -1.41463804e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88154780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.620371743 meters Centerline goodness : 0.992920 with order 1 Centerline is valid? [True, True] Translation: X:293.52, Y:-14.15, Z:0.03 [[ 9.99904176e-01 -1.38433610e-02 0.00000000e+00 2.93521561e+02] [ 1.38433610e-02 9.99904176e-01 0.00000000e+00 -1.41457810e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18376529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.680371743 meters Centerline goodness : 0.992860 with order 1 Centerline is valid? [True, True] Translation: X:293.58, Y:-14.15, Z:0.03 [[ 9.99932702e-01 -1.16013145e-02 0.00000000e+00 2.93583513e+02] [ 1.16013145e-02 9.99932702e-01 0.00000000e+00 -1.41466009e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28626702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.740371743 meters Centerline goodness : 0.993053 with order 1 Centerline is valid? [True, True] Translation: X:293.65, Y:-14.15, Z:0.03 [[ 9.99971092e-01 -7.60363094e-03 0.00000000e+00 2.93645298e+02] [ 7.60363094e-03 9.99971092e-01 0.00000000e+00 -1.41488169e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24011304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.800371743 meters Centerline goodness : 0.995365 with order 1 Centerline is valid? [True, True] Translation: X:293.71, Y:-14.14, Z:0.03 [[ 9.99986755e-01 -5.14677955e-03 0.00000000e+00 2.93706655e+02] [ 5.14677955e-03 9.99986755e-01 0.00000000e+00 -1.41407317e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47906019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86037174300003 meters Centerline goodness : 0.994557 with order 1 Centerline is valid? [True, True] Translation: X:293.77, Y:-14.14, Z:0.03 [[ 9.99985775e-01 5.33385305e-03 0.00000000e+00 2.93767773e+02] [-5.33385305e-03 9.99985775e-01 0.00000000e+00 -1.41409731e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47244369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92037174300003 meters Centerline goodness : 0.994124 with order 1 Centerline is valid? [True, True] Translation: X:293.83, Y:-14.14, Z:0.03 [[ 9.99890595e-01 1.47918000e-02 0.00000000e+00 2.93825367e+02] [-1.47918000e-02 9.99890595e-01 0.00000000e+00 -1.41423738e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47312316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.980371743 meters Centerline goodness : 0.991705 with order 1 Centerline is valid? [True, True] Translation: X:293.88, Y:-14.15, Z:0.03 [[ 9.99621798e-01 2.75001979e-02 0.00000000e+00 2.93883961e+02] [-2.75001979e-02 9.99621798e-01 0.00000000e+00 -1.41527688e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47588333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.040371743 meters Centerline goodness : 0.992560 with order 1 Centerline is valid? [True, True] Translation: X:293.94, Y:-14.16, Z:0.03 [[ 9.99496716e-01 3.17224794e-02 0.00000000e+00 2.93942577e+02] [-3.17224794e-02 9.99496716e-01 0.00000000e+00 -1.41564011e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40200133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.100371743 meters Centerline goodness : 0.992220 with order 1 Centerline is valid? [True, True] Translation: X:294.00, Y:-14.16, Z:0.03 [[ 9.99427589e-01 3.38303890e-02 0.00000000e+00 2.94000343e+02] [-3.38303890e-02 9.99427589e-01 0.00000000e+00 -1.41642211e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93518106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.160371743 meters Centerline goodness : 0.992037 with order 1 Centerline is valid? [True, True] Translation: X:294.06, Y:-14.17, Z:0.03 [[ 9.99505879e-01 3.14324322e-02 0.00000000e+00 2.94058428e+02] [-3.14324322e-02 9.99505879e-01 0.00000000e+00 -1.41675963e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05998546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.220371743 meters Centerline goodness : 0.995018 with order 1 Centerline is valid? [True, True] Translation: X:294.12, Y:-14.16, Z:0.04 [[ 9.99803843e-01 1.98059224e-02 0.00000000e+00 2.94117724e+02] [-1.98059224e-02 9.99803843e-01 0.00000000e+00 -1.41615244e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79417852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.280371743 meters Centerline goodness : 0.992105 with order 1 Centerline is valid? [True, True] Translation: X:294.18, Y:-14.18, Z:0.03 [[ 9.99733575e-01 2.30820247e-02 0.00000000e+00 2.94175871e+02] [-2.30820247e-02 9.99733575e-01 0.00000000e+00 -1.41805161e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30360402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.340371743 meters Centerline goodness : 0.992324 with order 1 Centerline is valid? [True, True] Translation: X:294.23, Y:-14.19, Z:0.04 [[ 9.99862549e-01 1.65796082e-02 0.00000000e+00 2.94233996e+02] [-1.65796082e-02 9.99862549e-01 0.00000000e+00 -1.41857445e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66732527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.400371743 meters Centerline goodness : 0.993406 with order 1 Centerline is valid? [True, True] Translation: X:294.29, Y:-14.19, Z:0.04 [[ 9.99942893e-01 1.06869757e-02 0.00000000e+00 2.94292040e+02] [-1.06869757e-02 9.99942893e-01 0.00000000e+00 -1.41930692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60414424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.460371743 meters Centerline goodness : 0.993092 with order 1 Centerline is valid? [True, True] Translation: X:294.35, Y:-14.20, Z:0.04 [[ 9.99995060e-01 3.14313948e-03 0.00000000e+00 2.94350225e+02] [-3.14313948e-03 9.99995060e-01 0.00000000e+00 -1.41998834e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69418668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.520371743 meters Centerline goodness : 0.992906 with order 1 Centerline is valid? [True, True] Translation: X:294.41, Y:-14.20, Z:0.04 [[ 9.99999994e-01 1.13910040e-04 0.00000000e+00 2.94409239e+02] [-1.13910040e-04 9.99999994e-01 0.00000000e+00 -1.42045946e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72323158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.580371743 meters Centerline goodness : 0.993117 with order 1 Centerline is valid? [True, True] Translation: X:294.47, Y:-14.21, Z:0.04 [[ 9.99998325e-01 -1.83051625e-03 0.00000000e+00 2.94469921e+02] [ 1.83051625e-03 9.99998325e-01 0.00000000e+00 -1.42102764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62937234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.640371743 meters Centerline goodness : 0.992960 with order 1 Centerline is valid? [True, True] Translation: X:294.53, Y:-14.21, Z:0.04 [[ 9.99998607e-01 1.66901027e-03 0.00000000e+00 2.94531316e+02] [-1.66901027e-03 9.99998607e-01 0.00000000e+00 -1.42128399e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91807307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.700371743 meters Centerline goodness : 0.992923 with order 1 Centerline is valid? [True, True] Translation: X:294.59, Y:-14.21, Z:0.04 [[ 9.99959551e-01 8.99424270e-03 0.00000000e+00 2.94591078e+02] [-8.99424270e-03 9.99959551e-01 0.00000000e+00 -1.42137239e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25087599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.760371743 meters Centerline goodness : 0.994816 with order 1 Centerline is valid? [True, True] Translation: X:294.65, Y:-14.21, Z:0.05 [[ 9.99960774e-01 8.85724828e-03 0.00000000e+00 2.94649203e+02] [-8.85724828e-03 9.99960774e-01 0.00000000e+00 -1.42065880e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.75085106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.820371743 meters Centerline goodness : 0.994572 with order 1 Centerline is valid? [True, True] Translation: X:294.71, Y:-14.21, Z:0.05 [[ 9.99922434e-01 1.24549396e-02 0.00000000e+00 2.94707927e+02] [-1.24549396e-02 9.99922434e-01 0.00000000e+00 -1.42100359e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59249711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.880371743 meters Centerline goodness : 0.991952 with order 1 Centerline is valid? [True, True] Translation: X:294.77, Y:-14.23, Z:0.04 [[ 9.99753908e-01 2.21838425e-02 0.00000000e+00 2.94765753e+02] [-2.21838425e-02 9.99753908e-01 0.00000000e+00 -1.42252725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64015209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.940371743 meters Centerline goodness : 0.992124 with order 1 Centerline is valid? [True, True] Translation: X:294.82, Y:-14.23, Z:0.04 [[ 9.99710963e-01 2.40414250e-02 0.00000000e+00 2.94823227e+02] [-2.40414250e-02 9.99710963e-01 0.00000000e+00 -1.42280428e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91955343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.000371743 meters Centerline goodness : 0.995319 with order 1 Centerline is valid? [True, True] Translation: X:294.88, Y:-14.22, Z:0.05 [[ 9.99816724e-01 1.91446956e-02 0.00000000e+00 2.94881604e+02] [-1.91446956e-02 9.99816724e-01 0.00000000e+00 -1.42214068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72260885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.060371743 meters Centerline goodness : 0.992763 with order 1 Centerline is valid? [True, True] Translation: X:294.94, Y:-14.23, Z:0.04 [[ 9.99470428e-01 3.25401900e-02 0.00000000e+00 2.94940051e+02] [-3.25401900e-02 9.99470428e-01 0.00000000e+00 -1.42339930e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45787344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.120371743 meters Centerline goodness : 0.993095 with order 1 Centerline is valid? [True, True] Translation: X:295.00, Y:-14.24, Z:0.04 [[ 9.99261379e-01 3.84278182e-02 0.00000000e+00 2.94997020e+02] [-3.84278182e-02 9.99261379e-01 0.00000000e+00 -1.42386068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47101144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.180371743 meters Centerline goodness : 0.992638 with order 1 Centerline is valid? [True, True] Translation: X:295.05, Y:-14.24, Z:0.04 [[ 9.99202567e-01 3.99278102e-02 0.00000000e+00 2.95054432e+02] [-3.99278102e-02 9.99202567e-01 0.00000000e+00 -1.42442349e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47278321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.240371743 meters Centerline goodness : 0.992587 with order 1 Centerline is valid? [True, True] Translation: X:295.11, Y:-14.25, Z:0.04 [[ 9.99304310e-01 3.72947177e-02 0.00000000e+00 2.95111879e+02] [-3.72947177e-02 9.99304310e-01 0.00000000e+00 -1.42494223e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44213063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.300371743 meters Centerline goodness : 0.993119 with order 1 Centerline is valid? [True, True] Translation: X:295.17, Y:-14.26, Z:0.05 [[ 9.99654480e-01 2.62853717e-02 0.00000000e+00 2.95169835e+02] [-2.62853717e-02 9.99654480e-01 0.00000000e+00 -1.42574788e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57683160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36037174300003 meters Centerline goodness : 0.992465 with order 1 Centerline is valid? [True, True] Translation: X:295.23, Y:-14.27, Z:0.05 [[ 9.99863220e-01 1.65391051e-02 0.00000000e+00 2.95227809e+02] [-1.65391051e-02 9.99863220e-01 0.00000000e+00 -1.42664044e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73436704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42037174300003 meters Centerline goodness : 0.992450 with order 1 Centerline is valid? [True, True] Translation: X:295.29, Y:-14.28, Z:0.05 [[ 9.99974318e-01 7.16681093e-03 0.00000000e+00 2.95285014e+02] [-7.16681093e-03 9.99974318e-01 0.00000000e+00 -1.42754382e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72025315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.480371743 meters Centerline goodness : 0.992388 with order 1 Centerline is valid? [True, True] Translation: X:295.34, Y:-14.29, Z:0.05 [[ 9.99998931e-01 1.46225294e-03 0.00000000e+00 2.95343807e+02] [-1.46225294e-03 9.99998931e-01 0.00000000e+00 -1.42850539e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56480189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.540371743 meters Centerline goodness : 0.992593 with order 1 Centerline is valid? [True, True] Translation: X:295.40, Y:-14.29, Z:0.04 [[ 9.99996870e-01 -2.50190496e-03 0.00000000e+00 2.95403269e+02] [ 2.50190496e-03 9.99996870e-01 0.00000000e+00 -1.42911556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32814101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.600371743 meters Centerline goodness : 0.992711 with order 1 Centerline is valid? [True, True] Translation: X:295.46, Y:-14.30, Z:0.04 [[ 9.99964267e-01 -8.45363122e-03 0.00000000e+00 2.95464162e+02] [ 8.45363122e-03 9.99964267e-01 0.00000000e+00 -1.42978002e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27689092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.660371743 meters Centerline goodness : 0.992351 with order 1 Centerline is valid? [True, True] Translation: X:295.53, Y:-14.30, Z:0.04 [[ 9.99953056e-01 -9.68944506e-03 0.00000000e+00 2.95526494e+02] [ 9.68944506e-03 9.99953056e-01 0.00000000e+00 -1.43034638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14240641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.720371743 meters Centerline goodness : 0.992312 with order 1 Centerline is valid? [True, True] Translation: X:295.59, Y:-14.31, Z:0.04 [[ 9.99930767e-01 -1.17669439e-02 0.00000000e+00 2.95588780e+02] [ 1.17669439e-02 9.99930767e-01 0.00000000e+00 -1.43080448e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12955199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.780371743 meters Centerline goodness : 0.992250 with order 1 Centerline is valid? [True, True] Translation: X:295.65, Y:-14.31, Z:0.04 [[ 9.99927880e-01 -1.20098172e-02 0.00000000e+00 2.95651185e+02] [ 1.20098172e-02 9.99927880e-01 0.00000000e+00 -1.43127751e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22385025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.840371743 meters Centerline goodness : 0.991447 with order 1 Centerline is valid? [True, True] Translation: X:295.71, Y:-14.32, Z:0.04 [[ 9.99923605e-01 -1.23606027e-02 0.00000000e+00 2.95713099e+02] [ 1.23606027e-02 9.99923605e-01 0.00000000e+00 -1.43160514e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29449264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.900371743 meters Centerline goodness : 0.991828 with order 1 Centerline is valid? [True, True] Translation: X:295.78, Y:-14.32, Z:0.04 [[ 9.99932004e-01 -1.16613613e-02 0.00000000e+00 2.95775108e+02] [ 1.16613613e-02 9.99932004e-01 0.00000000e+00 -1.43183573e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40436119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.960371743 meters Centerline goodness : 0.992118 with order 1 Centerline is valid? [True, True] Translation: X:295.84, Y:-14.32, Z:0.04 [[ 9.99949255e-01 -1.00740865e-02 0.00000000e+00 2.95836800e+02] [ 1.00740865e-02 9.99949255e-01 0.00000000e+00 -1.43205493e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29618713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.020371743 meters Centerline goodness : 0.992236 with order 1 Centerline is valid? [True, True] Translation: X:295.90, Y:-14.32, Z:0.04 [[ 9.99952697e-01 -9.72640679e-03 0.00000000e+00 2.95899039e+02] [ 9.72640679e-03 9.99952697e-01 0.00000000e+00 -1.43232224e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26054990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.080371743 meters Centerline goodness : 0.992681 with order 1 Centerline is valid? [True, True] Translation: X:295.96, Y:-14.32, Z:0.04 [[ 9.99943135e-01 -1.06642897e-02 0.00000000e+00 2.95960106e+02] [ 1.06642897e-02 9.99943135e-01 0.00000000e+00 -1.43247093e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18330076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.140371743 meters Centerline goodness : 0.992277 with order 1 Centerline is valid? [True, True] Translation: X:296.02, Y:-14.33, Z:0.04 [[ 9.99937466e-01 -1.11831918e-02 0.00000000e+00 2.96021937e+02] [ 1.11831918e-02 9.99937466e-01 0.00000000e+00 -1.43251403e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26834735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.200371743 meters Centerline goodness : 0.992543 with order 1 Centerline is valid? [True, True] Translation: X:296.08, Y:-14.32, Z:0.04 [[ 9.99940998e-01 -1.08628434e-02 0.00000000e+00 2.96084305e+02] [ 1.08628434e-02 9.99940998e-01 0.00000000e+00 -1.43241704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47623511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.260371743 meters Centerline goodness : 0.992152 with order 1 Centerline is valid? [True, True] Translation: X:296.15, Y:-14.32, Z:0.05 [[ 9.99940120e-01 -1.09433208e-02 0.00000000e+00 2.96146956e+02] [ 1.09433208e-02 9.99940120e-01 0.00000000e+00 -1.43235267e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64945787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.320371743 meters Centerline goodness : 0.992972 with order 1 Centerline is valid? [True, True] Translation: X:296.21, Y:-14.32, Z:0.05 [[ 9.99926869e-01 -1.20936480e-02 0.00000000e+00 2.96209452e+02] [ 1.20936480e-02 9.99926869e-01 0.00000000e+00 -1.43218911e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94923236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.380371743 meters Centerline goodness : 0.992696 with order 1 Centerline is valid? [True, True] Translation: X:296.27, Y:-14.32, Z:0.05 [[ 9.99903692e-01 -1.38783001e-02 0.00000000e+00 2.96272176e+02] [ 1.38783001e-02 9.99903692e-01 0.00000000e+00 -1.43218416e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95063072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.440371743 meters Centerline goodness : 0.992603 with order 1 Centerline is valid? [True, True] Translation: X:296.33, Y:-14.32, Z:0.05 [[ 9.99869578e-01 -1.61501196e-02 0.00000000e+00 2.96333843e+02] [ 1.61501196e-02 9.99869578e-01 0.00000000e+00 -1.43213957e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63504202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.500371743 meters Centerline goodness : 0.992840 with order 1 Centerline is valid? [True, True] Translation: X:296.40, Y:-14.32, Z:0.05 [[ 9.99875498e-01 -1.57793903e-02 0.00000000e+00 2.96396596e+02] [ 1.57793903e-02 9.99875498e-01 0.00000000e+00 -1.43214990e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63572248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.560371743 meters Centerline goodness : 0.991709 with order 1 Centerline is valid? [True, True] Translation: X:296.46, Y:-14.32, Z:0.05 [[ 9.99902235e-01 -1.39828367e-02 0.00000000e+00 2.96459377e+02] [ 1.39828367e-02 9.99902235e-01 0.00000000e+00 -1.43199649e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58290780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.620371743 meters Centerline goodness : 0.992883 with order 1 Centerline is valid? [True, True] Translation: X:296.52, Y:-14.32, Z:0.05 [[ 9.99932674e-01 -1.16037747e-02 0.00000000e+00 2.96521823e+02] [ 1.16037747e-02 9.99932674e-01 0.00000000e+00 -1.43183362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68243021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.680371743 meters Centerline goodness : 0.991822 with order 1 Centerline is valid? [True, True] Translation: X:296.58, Y:-14.32, Z:0.05 [[ 9.99949155e-01 -1.00840405e-02 0.00000000e+00 2.96583837e+02] [ 1.00840405e-02 9.99949155e-01 0.00000000e+00 -1.43166939e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70128809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.740371743 meters Centerline goodness : 0.991661 with order 1 Centerline is valid? [True, True] Translation: X:296.65, Y:-14.31, Z:0.05 [[ 9.99940421e-01 -1.09157890e-02 0.00000000e+00 2.96646037e+02] [ 1.09157890e-02 9.99940421e-01 0.00000000e+00 -1.43149079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73525256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.800371743 meters Centerline goodness : 0.994173 with order 1 Centerline is valid? [True, True] Translation: X:296.71, Y:-14.30, Z:0.06 [[ 9.99772632e-01 -2.13233430e-02 0.00000000e+00 2.96707876e+02] [ 2.13233430e-02 9.99772632e-01 0.00000000e+00 -1.43024219e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.55206851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86037174300003 meters Centerline goodness : 0.992217 with order 1 Centerline is valid? [True, True] Translation: X:296.77, Y:-14.31, Z:0.05 [[ 9.99877240e-01 -1.56685958e-02 0.00000000e+00 2.96769368e+02] [ 1.56685958e-02 9.99877240e-01 0.00000000e+00 -1.43131827e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.00557299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92037174300003 meters Centerline goodness : 0.992466 with order 1 Centerline is valid? [True, True] Translation: X:296.83, Y:-14.31, Z:0.05 [[ 9.99845276e-01 -1.75904427e-02 0.00000000e+00 2.96832214e+02] [ 1.75904427e-02 9.99845276e-01 0.00000000e+00 -1.43132208e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05601424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.980371743 meters Centerline goodness : 0.992271 with order 1 Centerline is valid? [True, True] Translation: X:296.89, Y:-14.31, Z:0.05 [[ 9.99866706e-01 -1.63269872e-02 0.00000000e+00 2.96894725e+02] [ 1.63269872e-02 9.99866706e-01 0.00000000e+00 -1.43142040e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92773892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.040371743 meters Centerline goodness : 0.992557 with order 1 Centerline is valid? [True, True] Translation: X:296.96, Y:-14.31, Z:0.05 [[ 9.99904662e-01 -1.38082548e-02 0.00000000e+00 2.96956727e+02] [ 1.38082548e-02 9.99904662e-01 0.00000000e+00 -1.43112756e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14120146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.100371743 meters Centerline goodness : 0.991731 with order 1 Centerline is valid? [True, True] Translation: X:297.02, Y:-14.31, Z:0.05 [[ 9.99979267e-01 -6.43932970e-03 0.00000000e+00 2.97018610e+02] [ 6.43932970e-03 9.99979267e-01 0.00000000e+00 -1.43105488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.08622848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.160371743 meters Centerline goodness : 0.991992 with order 1 Centerline is valid? [True, True] Translation: X:297.08, Y:-14.31, Z:0.05 [[ 9.99994300e-01 -3.37643008e-03 0.00000000e+00 2.97080940e+02] [ 3.37643008e-03 9.99994300e-01 0.00000000e+00 -1.43108304e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06931179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.220371743 meters Centerline goodness : 0.991964 with order 1 Centerline is valid? [True, True] Translation: X:297.14, Y:-14.31, Z:0.05 [[ 9.99999816e-01 6.06587653e-04 0.00000000e+00 2.97142481e+02] [-6.06587653e-04 9.99999816e-01 0.00000000e+00 -1.43102647e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86106270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.280371743 meters Centerline goodness : 0.992218 with order 1 Centerline is valid? [True, True] Translation: X:297.20, Y:-14.31, Z:0.05 [[ 9.99998662e-01 -1.63558459e-03 0.00000000e+00 2.97202475e+02] [ 1.63558459e-03 9.99998662e-01 0.00000000e+00 -1.43087987e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92578204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.340371743 meters Centerline goodness : 0.992055 with order 1 Centerline is valid? [True, True] Translation: X:297.26, Y:-14.31, Z:0.05 [[ 9.99992328e-01 -3.91707693e-03 0.00000000e+00 2.97263916e+02] [ 3.91707693e-03 9.99992328e-01 0.00000000e+00 -1.43095794e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91870564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.400371743 meters Centerline goodness : 0.992836 with order 1 Centerline is valid? [True, True] Translation: X:297.33, Y:-14.31, Z:0.05 [[ 9.99962559e-01 -8.65335887e-03 0.00000000e+00 2.97326129e+02] [ 8.65335887e-03 9.99962559e-01 0.00000000e+00 -1.43109357e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.10964741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.460371743 meters Centerline goodness : 0.992300 with order 1 Centerline is valid? [True, True] Translation: X:297.39, Y:-14.31, Z:0.05 [[ 9.99924698e-01 -1.22718266e-02 0.00000000e+00 2.97387877e+02] [ 1.22718266e-02 9.99924698e-01 0.00000000e+00 -1.43134069e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06687402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.520371743 meters Centerline goodness : 0.992542 with order 1 Centerline is valid? [True, True] Translation: X:297.45, Y:-14.32, Z:0.05 [[ 9.99922010e-01 -1.24889228e-02 0.00000000e+00 2.97449875e+02] [ 1.24889228e-02 9.99922010e-01 0.00000000e+00 -1.43170516e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81810952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.580371743 meters Centerline goodness : 0.992769 with order 1 Centerline is valid? [True, True] Translation: X:297.51, Y:-14.32, Z:0.05 [[ 9.99928793e-01 -1.19335474e-02 0.00000000e+00 2.97512147e+02] [ 1.19335474e-02 9.99928793e-01 0.00000000e+00 -1.43188965e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56378351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.640371743 meters Centerline goodness : 0.992217 with order 1 Centerline is valid? [True, True] Translation: X:297.57, Y:-14.32, Z:0.04 [[ 9.99952833e-01 -9.71246258e-03 0.00000000e+00 2.97573369e+02] [ 9.71246258e-03 9.99952833e-01 0.00000000e+00 -1.43201999e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49063856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.700371743 meters Centerline goodness : 0.991635 with order 1 Centerline is valid? [True, True] Translation: X:297.64, Y:-14.32, Z:0.05 [[ 9.99968945e-01 7.88087174e-03 0.00000000e+00 2.97635635e+02] [-7.88087174e-03 9.99968945e-01 0.00000000e+00 -1.43156496e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58414348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.760371743 meters Centerline goodness : 0.991636 with order 1 Centerline is valid? [True, True] Translation: X:297.69, Y:-14.31, Z:0.05 [[ 9.99846283e-01 1.75331242e-02 0.00000000e+00 2.97693117e+02] [-1.75331242e-02 9.99846283e-01 0.00000000e+00 -1.43134299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74863278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.820371743 meters Centerline goodness : 0.991145 with order 1 Centerline is valid? [True, True] Translation: X:297.75, Y:-14.31, Z:0.05 [[ 9.99492310e-01 3.18609820e-02 0.00000000e+00 2.97751484e+02] [-3.18609820e-02 9.99492310e-01 0.00000000e+00 -1.43124107e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74249415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.880371743 meters Centerline goodness : 0.992087 with order 1 Centerline is valid? [True, True] Translation: X:297.81, Y:-14.31, Z:0.05 [[ 9.99355684e-01 3.58917264e-02 0.00000000e+00 2.97810726e+02] [-3.58917264e-02 9.99355684e-01 0.00000000e+00 -1.43073985e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46412938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.940371743 meters Centerline goodness : 0.991148 with order 1 Centerline is valid? [True, True] Translation: X:297.87, Y:-14.31, Z:0.06 [[ 9.99311589e-01 3.70991657e-02 0.00000000e+00 2.97868133e+02] [-3.70991657e-02 9.99311589e-01 0.00000000e+00 -1.43091479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.55015236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.000371743 meters Centerline goodness : 0.993803 with order 1 Centerline is valid? [True, True] Translation: X:297.93, Y:-14.30, Z:0.06 [[ 9.99547904e-01 3.00663967e-02 0.00000000e+00 2.97927596e+02] [-3.00663967e-02 9.99547904e-01 0.00000000e+00 -1.43044586e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.05277345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.060371743 meters Centerline goodness : 0.990446 with order 1 Centerline is valid? [True, True] Translation: X:297.99, Y:-14.32, Z:0.05 [[ 9.99370514e-01 3.54764184e-02 0.00000000e+00 2.97985681e+02] [-3.54764184e-02 9.99370514e-01 0.00000000e+00 -1.43211121e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18205950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.120371743 meters Centerline goodness : 0.992906 with order 1 Centerline is valid? [True, True] Translation: X:298.04, Y:-14.32, Z:0.06 [[ 9.99719333e-01 2.36908429e-02 0.00000000e+00 2.98043507e+02] [-2.36908429e-02 9.99719333e-01 0.00000000e+00 -1.43178210e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84293903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.180371743 meters Centerline goodness : 0.990518 with order 1 Centerline is valid? [True, True] Translation: X:298.10, Y:-14.34, Z:0.05 [[ 9.99441301e-01 3.34228476e-02 0.00000000e+00 2.98100900e+02] [-3.34228476e-02 9.99441301e-01 0.00000000e+00 -1.43368855e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.84966545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.240371743 meters Centerline goodness : 0.990123 with order 1 Centerline is valid? [True, True] Translation: X:298.16, Y:-14.34, Z:0.05 [[ 9.99293801e-01 3.75752404e-02 0.00000000e+00 2.98159390e+02] [-3.75752404e-02 9.99293801e-01 0.00000000e+00 -1.43446854e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85069134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.300371743 meters Centerline goodness : 0.992456 with order 1 Centerline is valid? [True, True] Translation: X:298.22, Y:-14.34, Z:0.06 [[ 9.99572120e-01 2.92502560e-02 0.00000000e+00 2.98217172e+02] [-2.92502560e-02 9.99572120e-01 0.00000000e+00 -1.43375419e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.07735173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36037174300003 meters Centerline goodness : 0.989578 with order 1 Centerline is valid? [True, True] Translation: X:298.27, Y:-14.36, Z:0.05 [[ 9.99249078e-01 3.87463578e-02 0.00000000e+00 2.98274784e+02] [-3.87463578e-02 9.99249078e-01 0.00000000e+00 -1.43620375e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66061038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42037174300003 meters Centerline goodness : 0.989950 with order 1 Centerline is valid? [True, True] Translation: X:298.33, Y:-14.37, Z:0.04 [[ 9.99301370e-01 3.73734062e-02 0.00000000e+00 2.98333198e+02] [-3.73734062e-02 9.99301370e-01 0.00000000e+00 -1.43724477e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43798589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.480371743 meters Centerline goodness : 0.990341 with order 1 Centerline is valid? [True, True] Translation: X:298.39, Y:-14.38, Z:0.04 [[ 9.99460597e-01 3.28407411e-02 0.00000000e+00 2.98392006e+02] [-3.28407411e-02 9.99460597e-01 0.00000000e+00 -1.43820155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42878883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.540371743 meters Centerline goodness : 0.990531 with order 1 Centerline is valid? [True, True] Translation: X:298.45, Y:-14.39, Z:0.04 [[ 9.99650295e-01 2.64440448e-02 0.00000000e+00 2.98449370e+02] [-2.64440448e-02 9.99650295e-01 0.00000000e+00 -1.43917902e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36741247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.600371743 meters Centerline goodness : 0.991380 with order 1 Centerline is valid? [True, True] Translation: X:298.51, Y:-14.40, Z:0.05 [[ 9.99739306e-01 2.28324331e-02 0.00000000e+00 2.98506640e+02] [-2.28324331e-02 9.99739306e-01 0.00000000e+00 -1.43968020e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53658856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.660371743 meters Centerline goodness : 0.991174 with order 1 Centerline is valid? [True, True] Translation: X:298.56, Y:-14.40, Z:0.05 [[ 9.99921399e-01 1.25377938e-02 0.00000000e+00 2.98564710e+02] [-1.25377938e-02 9.99921399e-01 0.00000000e+00 -1.44035088e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62975958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.720371743 meters Centerline goodness : 0.994162 with order 1 Centerline is valid? [True, True] Translation: X:298.62, Y:-14.40, Z:0.06 [[ 9.99988768e-01 -4.73953580e-03 0.00000000e+00 2.98623251e+02] [ 4.73953580e-03 9.99988768e-01 0.00000000e+00 -1.43972958e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65510548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.780371743 meters Centerline goodness : 0.991816 with order 1 Centerline is valid? [True, True] Translation: X:298.68, Y:-14.41, Z:0.05 [[ 9.99998402e-01 1.78756109e-03 0.00000000e+00 2.98682788e+02] [-1.78756109e-03 9.99998402e-01 0.00000000e+00 -1.44129339e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91398681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.840371743 meters Centerline goodness : 0.994431 with order 1 Centerline is valid? [True, True] Translation: X:298.74, Y:-14.40, Z:0.06 [[ 9.99975294e-01 -7.02939275e-03 0.00000000e+00 2.98743370e+02] [ 7.02939275e-03 9.99975294e-01 0.00000000e+00 -1.44042405e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69444907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.900371743 meters Centerline goodness : 0.992274 with order 1 Centerline is valid? [True, True] Translation: X:298.80, Y:-14.42, Z:0.05 [[ 9.99999999e-01 4.92145402e-05 0.00000000e+00 2.98804673e+02] [-4.92145402e-05 9.99999999e-01 0.00000000e+00 -1.44176200e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06092058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.960371743 meters Centerline goodness : 0.992252 with order 1 Centerline is valid? [True, True] Translation: X:298.87, Y:-14.42, Z:0.06 [[ 9.99998716e-01 1.60242261e-03 0.00000000e+00 2.98865401e+02] [-1.60242261e-03 9.99998716e-01 0.00000000e+00 -1.44179840e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.80952849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.020371743 meters Centerline goodness : 0.992935 with order 1 Centerline is valid? [True, True] Translation: X:298.92, Y:-14.42, Z:0.05 [[ 9.99999884e-01 -4.81416326e-04 0.00000000e+00 2.98924902e+02] [ 4.81416326e-04 9.99999884e-01 0.00000000e+00 -1.44201105e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97505794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.080371743 meters Centerline goodness : 0.992586 with order 1 Centerline is valid? [True, True] Translation: X:298.99, Y:-14.42, Z:0.05 [[ 9.99999154e-01 1.30092972e-03 0.00000000e+00 2.98985898e+02] [-1.30092972e-03 9.99999154e-01 0.00000000e+00 -1.44210762e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70913179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.140371743 meters Centerline goodness : 0.993217 with order 1 Centerline is valid? [True, True] Translation: X:299.05, Y:-14.42, Z:0.05 [[ 9.99992637e-01 3.83741523e-03 0.00000000e+00 2.99045978e+02] [-3.83741523e-03 9.99992637e-01 0.00000000e+00 -1.44202581e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69820908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.200371743 meters Centerline goodness : 0.992303 with order 1 Centerline is valid? [True, True] Translation: X:299.10, Y:-14.42, Z:0.04 [[ 9.99966203e-01 8.22151116e-03 0.00000000e+00 2.99104872e+02] [-8.22151116e-03 9.99966203e-01 0.00000000e+00 -1.44245281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26955943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.260371743 meters Centerline goodness : 0.992941 with order 1 Centerline is valid? [True, True] Translation: X:299.16, Y:-14.42, Z:0.05 [[ 9.99932918e-01 1.15827302e-02 0.00000000e+00 2.99164074e+02] [-1.15827302e-02 9.99932918e-01 0.00000000e+00 -1.44229687e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69327465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.320371743 meters Centerline goodness : 0.992298 with order 1 Centerline is valid? [True, True] Translation: X:299.22, Y:-14.43, Z:0.04 [[ 9.99849583e-01 1.73439038e-02 0.00000000e+00 2.99221750e+02] [-1.73439038e-02 9.99849583e-01 0.00000000e+00 -1.44256155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44230359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.380371743 meters Centerline goodness : 0.992292 with order 1 Centerline is valid? [True, True] Translation: X:299.28, Y:-14.43, Z:0.04 [[ 9.99758019e-01 2.19977934e-02 0.00000000e+00 2.99280866e+02] [-2.19977934e-02 9.99758019e-01 0.00000000e+00 -1.44277264e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22363575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.440371743 meters Centerline goodness : 0.992471 with order 1 Centerline is valid? [True, True] Translation: X:299.34, Y:-14.43, Z:0.04 [[ 9.99781571e-01 2.08999908e-02 0.00000000e+00 2.99339296e+02] [-2.08999908e-02 9.99781571e-01 0.00000000e+00 -1.44266390e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36521382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.500371743 meters Centerline goodness : 0.992807 with order 1 Centerline is valid? [True, True] Translation: X:299.40, Y:-14.43, Z:0.04 [[ 9.99810309e-01 1.94768320e-02 0.00000000e+00 2.99398075e+02] [-1.94768320e-02 9.99810309e-01 0.00000000e+00 -1.44285967e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46742265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.560371743 meters Centerline goodness : 0.992639 with order 1 Centerline is valid? [True, True] Translation: X:299.46, Y:-14.43, Z:0.05 [[ 9.99859307e-01 1.67739788e-02 0.00000000e+00 2.99457232e+02] [-1.67739788e-02 9.99859307e-01 0.00000000e+00 -1.44278246e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65344174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.620371743 meters Centerline goodness : 0.994365 with order 1 Centerline is valid? [True, True] Translation: X:299.51, Y:-14.42, Z:0.05 [[ 9.99953015e-01 9.69371822e-03 0.00000000e+00 2.99514486e+02] [-9.69371822e-03 9.99953015e-01 0.00000000e+00 -1.44197542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38880095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.680371743 meters Centerline goodness : 0.994480 with order 1 Centerline is valid? [True, True] Translation: X:299.57, Y:-14.42, Z:0.06 [[ 9.99933609e-01 1.15229296e-02 0.00000000e+00 2.99573537e+02] [-1.15229296e-02 9.99933609e-01 0.00000000e+00 -1.44214626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.52961569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.740371743 meters Centerline goodness : 0.992424 with order 1 Centerline is valid? [True, True] Translation: X:299.63, Y:-14.44, Z:0.05 [[ 9.99839267e-01 1.79287370e-02 0.00000000e+00 2.99630734e+02] [-1.79287370e-02 9.99839267e-01 0.00000000e+00 -1.44351135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77919171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.800371743 meters Centerline goodness : 0.992999 with order 1 Centerline is valid? [True, True] Translation: X:299.69, Y:-14.44, Z:0.05 [[ 9.99877427e-01 1.56566338e-02 0.00000000e+00 2.99687379e+02] [-1.56566338e-02 9.99877427e-01 0.00000000e+00 -1.44403953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53210003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86037174300003 meters Centerline goodness : 0.993288 with order 1 Centerline is valid? [True, True] Translation: X:299.75, Y:-14.45, Z:0.05 [[ 9.99955954e-01 9.38560739e-03 0.00000000e+00 2.99745952e+02] [-9.38560739e-03 9.99955954e-01 0.00000000e+00 -1.44461436e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50371901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92037174300003 meters Centerline goodness : 0.993338 with order 1 Centerline is valid? [True, True] Translation: X:299.80, Y:-14.45, Z:0.05 [[ 9.99996211e-01 2.75288070e-03 0.00000000e+00 2.99803195e+02] [-2.75288070e-03 9.99996211e-01 0.00000000e+00 -1.44500545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50134573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.980371743 meters Centerline goodness : 0.995695 with order 1 Centerline is valid? [True, True] Translation: X:299.86, Y:-14.45, Z:0.05 [[ 9.99965760e-01 -8.27522771e-03 0.00000000e+00 2.99862078e+02] [ 8.27522771e-03 9.99965760e-01 0.00000000e+00 -1.44476217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76239142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.040371743 meters Centerline goodness : 0.995452 with order 1 Centerline is valid? [True, True] Translation: X:299.92, Y:-14.45, Z:0.05 [[ 9.99944998e-01 -1.04880875e-02 0.00000000e+00 2.99924414e+02] [ 1.04880875e-02 9.99944998e-01 0.00000000e+00 -1.44531368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87151403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.100371743 meters Centerline goodness : 0.994064 with order 1 Centerline is valid? [True, True] Translation: X:299.99, Y:-14.47, Z:0.05 [[ 9.99986036e-01 -5.28474796e-03 0.00000000e+00 2.99986159e+02] [ 5.28474796e-03 9.99986036e-01 0.00000000e+00 -1.44656214e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58731006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.160371743 meters Centerline goodness : 0.994263 with order 1 Centerline is valid? [True, True] Translation: X:300.05, Y:-14.47, Z:0.05 [[ 9.99980310e-01 -6.27532586e-03 0.00000000e+00 3.00047689e+02] [ 6.27532586e-03 9.99980310e-01 0.00000000e+00 -1.44709289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51463890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.220371743 meters Centerline goodness : 0.993914 with order 1 Centerline is valid? [True, True] Translation: X:300.11, Y:-14.48, Z:0.04 [[ 9.99971759e-01 -7.51544644e-03 0.00000000e+00 3.00108277e+02] [ 7.51544644e-03 9.99971759e-01 0.00000000e+00 -1.44765925e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25344889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.280371743 meters Centerline goodness : 0.994033 with order 1 Centerline is valid? [True, True] Translation: X:300.17, Y:-14.48, Z:0.04 [[ 9.99953266e-01 -9.66778558e-03 0.00000000e+00 3.00171079e+02] [ 9.66778558e-03 9.99953266e-01 0.00000000e+00 -1.44848432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69716615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.340371743 meters Centerline goodness : 0.993665 with order 1 Centerline is valid? [True, True] Translation: X:300.23, Y:-14.49, Z:0.04 [[ 9.99920416e-01 -1.26159393e-02 0.00000000e+00 3.00233578e+02] [ 1.26159393e-02 9.99920416e-01 0.00000000e+00 -1.44897370e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65105113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.400371743 meters Centerline goodness : 0.993867 with order 1 Centerline is valid? [True, True] Translation: X:300.30, Y:-14.49, Z:0.04 [[ 9.99861698e-01 -1.66308427e-02 0.00000000e+00 3.00296377e+02] [ 1.66308427e-02 9.99861698e-01 0.00000000e+00 -1.44944542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74558587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.460371743 meters Centerline goodness : 0.993709 with order 1 Centerline is valid? [True, True] Translation: X:300.36, Y:-14.50, Z:0.04 [[ 9.99823226e-01 -1.88020241e-02 0.00000000e+00 3.00357209e+02] [ 1.88020241e-02 9.99823226e-01 0.00000000e+00 -1.44999657e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74841118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.520371743 meters Centerline goodness : 0.993604 with order 1 Centerline is valid? [True, True] Translation: X:300.42, Y:-14.51, Z:0.03 [[ 9.99849884e-01 -1.73265794e-02 0.00000000e+00 3.00418272e+02] [ 1.73265794e-02 9.99849884e-01 0.00000000e+00 -1.45068348e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44954697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.580371743 meters Centerline goodness : 0.994085 with order 1 Centerline is valid? [True, True] Translation: X:300.48, Y:-14.51, Z:0.03 [[ 9.99922472e-01 -1.24518735e-02 0.00000000e+00 3.00480651e+02] [ 1.24518735e-02 9.99922472e-01 0.00000000e+00 -1.45128532e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36887600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.640371743 meters Centerline goodness : 0.993788 with order 1 Centerline is valid? [True, True] Translation: X:300.54, Y:-14.52, Z:0.04 [[ 9.99949881e-01 -1.00117903e-02 0.00000000e+00 3.00542086e+02] [ 1.00117903e-02 9.99949881e-01 0.00000000e+00 -1.45158359e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50213321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.700371743 meters Centerline goodness : 0.995371 with order 1 Centerline is valid? [True, True] Translation: X:300.60, Y:-14.51, Z:0.04 [[ 9.99944716e-01 -1.05149749e-02 0.00000000e+00 3.00604523e+02] [ 1.05149749e-02 9.99944716e-01 0.00000000e+00 -1.45107603e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11595547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.760371743 meters Centerline goodness : 0.995131 with order 1 Centerline is valid? [True, True] Translation: X:300.67, Y:-14.51, Z:0.04 [[ 9.99969341e-01 -7.83048615e-03 0.00000000e+00 3.00666869e+02] [ 7.83048615e-03 9.99969341e-01 0.00000000e+00 -1.45146006e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11808342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.820371743 meters Centerline goodness : 0.992553 with order 1 Centerline is valid? [True, True] Translation: X:300.73, Y:-14.53, Z:0.04 [[ 9.99996389e-01 2.68738136e-03 0.00000000e+00 3.00727464e+02] [-2.68738136e-03 9.99996389e-01 0.00000000e+00 -1.45268566e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62192310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.880371743 meters Centerline goodness : 0.993174 with order 1 Centerline is valid? [True, True] Translation: X:300.79, Y:-14.53, Z:0.04 [[ 9.99977832e-01 6.65845367e-03 0.00000000e+00 3.00787075e+02] [-6.65845367e-03 9.99977832e-01 0.00000000e+00 -1.45307328e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69858336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.940371743 meters Centerline goodness : 0.993051 with order 1 Centerline is valid? [True, True] Translation: X:300.85, Y:-14.54, Z:0.04 [[ 9.99975122e-01 7.05381654e-03 0.00000000e+00 3.00845365e+02] [-7.05381654e-03 9.99975122e-01 0.00000000e+00 -1.45359743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59248535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.000371743 meters Centerline goodness : 0.995819 with order 1 Centerline is valid? [True, True] Translation: X:300.90, Y:-14.53, Z:0.04 [[ 9.99995475e-01 -3.00844807e-03 0.00000000e+00 3.00904466e+02] [ 3.00844807e-03 9.99995475e-01 0.00000000e+00 -1.45282207e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31025143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.060371743 meters Centerline goodness : 0.993110 with order 1 Centerline is valid? [True, True] Translation: X:300.96, Y:-14.55, Z:0.03 [[ 9.99981382e-01 6.10209192e-03 0.00000000e+00 3.00964468e+02] [-6.10209192e-03 9.99981382e-01 0.00000000e+00 -1.45462859e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18621038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.120371743 meters Centerline goodness : 0.992861 with order 1 Centerline is valid? [True, True] Translation: X:301.02, Y:-14.55, Z:0.03 [[ 9.99997037e-01 2.43432864e-03 0.00000000e+00 3.01023148e+02] [-2.43432864e-03 9.99997037e-01 0.00000000e+00 -1.45482644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33338732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.180371743 meters Centerline goodness : 0.994818 with order 1 Centerline is valid? [True, True] Translation: X:301.08, Y:-14.54, Z:0.04 [[ 9.99934122e-01 -1.14783139e-02 0.00000000e+00 3.01083437e+02] [ 1.14783139e-02 9.99934122e-01 0.00000000e+00 -1.45374630e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18529652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.240371743 meters Centerline goodness : 0.993175 with order 1 Centerline is valid? [True, True] Translation: X:301.14, Y:-14.55, Z:0.04 [[ 9.99949595e-01 -1.00402466e-02 0.00000000e+00 3.01144676e+02] [ 1.00402466e-02 9.99949595e-01 0.00000000e+00 -1.45489377e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02966152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.300371743 meters Centerline goodness : 0.995032 with order 1 Centerline is valid? [True, True] Translation: X:301.21, Y:-14.54, Z:0.04 [[ 9.99781673e-01 -2.08951388e-02 0.00000000e+00 3.01206627e+02] [ 2.08951388e-02 9.99781673e-01 0.00000000e+00 -1.45418234e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48730098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36037174300003 meters Centerline goodness : 0.994904 with order 1 Centerline is valid? [True, True] Translation: X:301.27, Y:-14.54, Z:0.05 [[ 9.99761786e-01 -2.18259194e-02 0.00000000e+00 3.01269757e+02] [ 2.18259194e-02 9.99761786e-01 0.00000000e+00 -1.45446898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52467507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42037174300003 meters Centerline goodness : 0.995045 with order 1 Centerline is valid? [True, True] Translation: X:301.33, Y:-14.55, Z:0.05 [[ 9.99715091e-01 -2.38691532e-02 0.00000000e+00 3.01331975e+02] [ 2.38691532e-02 9.99715091e-01 0.00000000e+00 -1.45452697e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58211414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.480371743 meters Centerline goodness : 0.993281 with order 1 Centerline is valid? [True, True] Translation: X:301.39, Y:-14.56, Z:0.04 [[ 9.99863901e-01 -1.64978836e-02 0.00000000e+00 3.01393149e+02] [ 1.64978836e-02 9.99863901e-01 0.00000000e+00 -1.45571026e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82963427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.540371743 meters Centerline goodness : 0.993371 with order 1 Centerline is valid? [True, True] Translation: X:301.45, Y:-14.56, Z:0.03 [[ 9.99888336e-01 -1.49437676e-02 0.00000000e+00 3.01454496e+02] [ 1.49437676e-02 9.99888336e-01 0.00000000e+00 -1.45596017e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32596317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.600371743 meters Centerline goodness : 0.993532 with order 1 Centerline is valid? [True, True] Translation: X:301.52, Y:-14.56, Z:0.04 [[ 9.99908072e-01 -1.35590137e-02 0.00000000e+00 3.01517323e+02] [ 1.35590137e-02 9.99908072e-01 0.00000000e+00 -1.45575654e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66889373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.660371743 meters Centerline goodness : 0.993432 with order 1 Centerline is valid? [True, True] Translation: X:301.58, Y:-14.56, Z:0.03 [[ 9.99942867e-01 -1.06893395e-02 0.00000000e+00 3.01578161e+02] [ 1.06893395e-02 9.99942867e-01 0.00000000e+00 -1.45594561e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43347083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.720371743 meters Centerline goodness : 0.993118 with order 1 Centerline is valid? [True, True] Translation: X:301.64, Y:-14.56, Z:0.04 [[ 9.99995560e-01 -2.98006239e-03 0.00000000e+00 3.01640210e+02] [ 2.98006239e-03 9.99995560e-01 0.00000000e+00 -1.45579381e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73414873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.780371743 meters Centerline goodness : 0.992869 with order 1 Centerline is valid? [True, True] Translation: X:301.70, Y:-14.56, Z:0.03 [[ 9.99997681e-01 2.15370703e-03 0.00000000e+00 3.01700349e+02] [-2.15370703e-03 9.99997681e-01 0.00000000e+00 -1.45572522e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20282149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.840371743 meters Centerline goodness : 0.992417 with order 1 Centerline is valid? [True, True] Translation: X:301.76, Y:-14.55, Z:0.03 [[ 9.99952649e-01 9.73142330e-03 0.00000000e+00 3.01760348e+02] [-9.73142330e-03 9.99952649e-01 0.00000000e+00 -1.45548006e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44014382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.900371743 meters Centerline goodness : 0.991771 with order 1 Centerline is valid? [True, True] Translation: X:301.82, Y:-14.56, Z:0.03 [[ 9.99876490e-01 1.57163858e-02 0.00000000e+00 3.01817682e+02] [-1.57163858e-02 9.99876490e-01 0.00000000e+00 -1.45550852e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29080538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.960371743 meters Centerline goodness : 0.993992 with order 1 Centerline is valid? [True, True] Translation: X:301.88, Y:-14.54, Z:0.04 [[ 9.99934654e-01 1.14318405e-02 0.00000000e+00 3.01876868e+02] [-1.14318405e-02 9.99934654e-01 0.00000000e+00 -1.45431482e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34893510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.020371743 meters Centerline goodness : 0.991297 with order 1 Centerline is valid? [True, True] Translation: X:301.93, Y:-14.56, Z:0.03 [[ 9.99624857e-01 2.73887730e-02 0.00000000e+00 3.01934930e+02] [-2.73887730e-02 9.99624857e-01 0.00000000e+00 -1.45573129e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20840270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.080371743 meters Centerline goodness : 0.993653 with order 1 Centerline is valid? [True, True] Translation: X:301.99, Y:-14.55, Z:0.04 [[ 9.99755590e-01 2.21079426e-02 0.00000000e+00 3.01993574e+02] [-2.21079426e-02 9.99755590e-01 0.00000000e+00 -1.45455583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42506892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.140371743 meters Centerline goodness : 0.992020 with order 1 Centerline is valid? [True, True] Translation: X:302.05, Y:-14.56, Z:0.04 [[ 9.99473316e-01 3.24513551e-02 0.00000000e+00 3.02052021e+02] [-3.24513551e-02 9.99473316e-01 0.00000000e+00 -1.45591361e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52906090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.200371743 meters Centerline goodness : 0.992036 with order 1 Centerline is valid? [True, True] Translation: X:302.11, Y:-14.56, Z:0.03 [[ 9.99490002e-01 3.19332970e-02 0.00000000e+00 3.02110616e+02] [-3.19332970e-02 9.99490002e-01 0.00000000e+00 -1.45637079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37738726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.260371743 meters Centerline goodness : 0.992718 with order 1 Centerline is valid? [True, True] Translation: X:302.17, Y:-14.57, Z:0.03 [[ 9.99549313e-01 3.00195014e-02 0.00000000e+00 3.02169020e+02] [-3.00195014e-02 9.99549313e-01 0.00000000e+00 -1.45668970e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42012877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.320371743 meters Centerline goodness : 0.994078 with order 1 Centerline is valid? [True, True] Translation: X:302.23, Y:-14.57, Z:0.04 [[ 9.99702410e-01 2.43944900e-02 0.00000000e+00 3.02227192e+02] [-2.43944900e-02 9.99702410e-01 0.00000000e+00 -1.45715103e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57279730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.380371743 meters Centerline goodness : 0.994291 with order 1 Centerline is valid? [True, True] Translation: X:302.28, Y:-14.58, Z:0.04 [[ 9.99859984e-01 1.67335908e-02 0.00000000e+00 3.02284316e+02] [-1.67335908e-02 9.99859984e-01 0.00000000e+00 -1.45773938e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71078810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.440371743 meters Centerline goodness : 0.993445 with order 1 Centerline is valid? [True, True] Translation: X:302.34, Y:-14.58, Z:0.04 [[ 9.99916842e-01 1.28961244e-02 0.00000000e+00 3.02342140e+02] [-1.28961244e-02 9.99916842e-01 0.00000000e+00 -1.45828256e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93915823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.500371743 meters Centerline goodness : 0.993028 with order 1 Centerline is valid? [True, True] Translation: X:302.40, Y:-14.59, Z:0.03 [[ 9.99973415e-01 7.29171858e-03 0.00000000e+00 3.02400880e+02] [-7.29171858e-03 9.99973415e-01 0.00000000e+00 -1.45895575e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42507850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.560371743 meters Centerline goodness : 0.992396 with order 1 Centerline is valid? [True, True] Translation: X:302.46, Y:-14.60, Z:0.03 [[ 9.99958272e-01 9.13531646e-03 0.00000000e+00 3.02458540e+02] [-9.13531646e-03 9.99958272e-01 0.00000000e+00 -1.45957679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38072455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.620371743 meters Centerline goodness : 0.992191 with order 1 Centerline is valid? [True, True] Translation: X:302.52, Y:-14.60, Z:0.03 [[ 9.99980312e-01 6.27504100e-03 0.00000000e+00 3.02517249e+02] [-6.27504100e-03 9.99980312e-01 0.00000000e+00 -1.45997079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13280590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.680371743 meters Centerline goodness : 0.990376 with order 1 Centerline is valid? [True, True] Translation: X:302.58, Y:-14.60, Z:0.03 [[ 9.99962212e-01 8.69334681e-03 0.00000000e+00 3.02575267e+02] [-8.69334681e-03 9.99962212e-01 0.00000000e+00 -1.46038607e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14051422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.740371743 meters Centerline goodness : 0.990642 with order 1 Centerline is valid? [True, True] Translation: X:302.63, Y:-14.61, Z:0.03 [[ 9.99957152e-01 9.25708306e-03 0.00000000e+00 3.02633056e+02] [-9.25708306e-03 9.99957152e-01 0.00000000e+00 -1.46085060e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22557589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.800371743 meters Centerline goodness : 0.990892 with order 1 Centerline is valid? [True, True] Translation: X:302.69, Y:-14.61, Z:0.03 [[ 9.99930264e-01 1.18096173e-02 0.00000000e+00 3.02690905e+02] [-1.18096173e-02 9.99930264e-01 0.00000000e+00 -1.46136963e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34996321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86037174300003 meters Centerline goodness : 0.993236 with order 1 Centerline is valid? [True, True] Translation: X:302.75, Y:-14.61, Z:0.04 [[ 9.99999953e-01 -3.07316858e-04 0.00000000e+00 3.02749301e+02] [ 3.07316858e-04 9.99999953e-01 0.00000000e+00 -1.46079807e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96676170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92037174300003 meters Centerline goodness : 0.990667 with order 1 Centerline is valid? [True, True] Translation: X:302.81, Y:-14.62, Z:0.03 [[ 9.99986257e-01 5.24274620e-03 0.00000000e+00 3.02808727e+02] [-5.24274620e-03 9.99986257e-01 0.00000000e+00 -1.46223711e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35869091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.980371743 meters Centerline goodness : 0.993172 with order 1 Centerline is valid? [True, True] Translation: X:302.87, Y:-14.62, Z:0.04 [[ 9.99987130e-01 -5.07338592e-03 0.00000000e+00 3.02867599e+02] [ 5.07338592e-03 9.99987130e-01 0.00000000e+00 -1.46184168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84773690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.040371743 meters Centerline goodness : 0.992894 with order 1 Centerline is valid? [True, True] Translation: X:302.93, Y:-14.63, Z:0.04 [[ 9.99983007e-01 -5.82978117e-03 0.00000000e+00 3.02929239e+02] [ 5.82978117e-03 9.99983007e-01 0.00000000e+00 -1.46296550e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02636831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.100371743 meters Centerline goodness : 0.992886 with order 1 Centerline is valid? [True, True] Translation: X:302.99, Y:-14.64, Z:0.04 [[ 9.99977296e-01 -6.73853173e-03 0.00000000e+00 3.02990481e+02] [ 6.73853173e-03 9.99977296e-01 0.00000000e+00 -1.46374986e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76736233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.160371743 meters Centerline goodness : 0.993193 with order 1 Centerline is valid? [True, True] Translation: X:303.05, Y:-14.64, Z:0.04 [[ 9.99922496e-01 -1.24499928e-02 0.00000000e+00 3.03053389e+02] [ 1.24499928e-02 9.99922496e-01 0.00000000e+00 -1.46430050e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13841999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.220371743 meters Centerline goodness : 0.993196 with order 1 Centerline is valid? [True, True] Translation: X:303.12, Y:-14.65, Z:0.04 [[ 9.99889096e-01 -1.48928201e-02 0.00000000e+00 3.03115723e+02] [ 1.48928201e-02 9.99889096e-01 0.00000000e+00 -1.46507774e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88293103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.280371743 meters Centerline goodness : 0.993336 with order 1 Centerline is valid? [True, True] Translation: X:303.18, Y:-14.65, Z:0.04 [[ 9.99873268e-01 -1.59200765e-02 0.00000000e+00 3.03177799e+02] [ 1.59200765e-02 9.99873268e-01 0.00000000e+00 -1.46548830e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89035084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.340371743 meters Centerline goodness : 0.992218 with order 1 Centerline is valid? [True, True] Translation: X:303.24, Y:-14.66, Z:0.04 [[ 9.99929928e-01 -1.18379960e-02 0.00000000e+00 3.03239074e+02] [ 1.18379960e-02 9.99929928e-01 0.00000000e+00 -1.46595525e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34366472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.400371743 meters Centerline goodness : 0.991527 with order 1 Centerline is valid? [True, True] Translation: X:303.30, Y:-14.66, Z:0.05 [[ 9.99942044e-01 -1.07661012e-02 0.00000000e+00 3.03300677e+02] [ 1.07661012e-02 9.99942044e-01 0.00000000e+00 -1.46644122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62107504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.460371743 meters Centerline goodness : 0.991755 with order 1 Centerline is valid? [True, True] Translation: X:303.36, Y:-14.67, Z:0.05 [[ 9.99943758e-01 -1.06056596e-02 0.00000000e+00 3.03362938e+02] [ 1.06056596e-02 9.99943758e-01 0.00000000e+00 -1.46680731e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86995571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.520371743 meters Centerline goodness : 0.993306 with order 1 Centerline is valid? [True, True] Translation: X:303.42, Y:-14.67, Z:0.05 [[ 9.99962871e-01 -8.61719972e-03 0.00000000e+00 3.03424968e+02] [ 8.61719972e-03 9.99962871e-01 0.00000000e+00 -1.46716657e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87364599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.580371743 meters Centerline goodness : 0.992353 with order 1 Centerline is valid? [True, True] Translation: X:303.49, Y:-14.68, Z:0.04 [[ 9.99926282e-01 -1.21421138e-02 0.00000000e+00 3.03486817e+02] [ 1.21421138e-02 9.99926282e-01 0.00000000e+00 -1.46766095e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31881643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.640371743 meters Centerline goodness : 0.992672 with order 1 Centerline is valid? [True, True] Translation: X:303.55, Y:-14.68, Z:0.04 [[ 9.99949048e-01 -1.00945812e-02 0.00000000e+00 3.03547626e+02] [ 1.00945812e-02 9.99949048e-01 0.00000000e+00 -1.46847651e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70985627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.700371743 meters Centerline goodness : 0.993067 with order 1 Centerline is valid? [True, True] Translation: X:303.61, Y:-14.69, Z:0.04 [[ 9.99950456e-01 -9.95418205e-03 0.00000000e+00 3.03610052e+02] [ 9.95418205e-03 9.99950456e-01 0.00000000e+00 -1.46881154e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17071151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.760371743 meters Centerline goodness : 0.994670 with order 1 Centerline is valid? [True, True] Translation: X:303.67, Y:-14.68, Z:0.05 [[ 9.99862922e-01 -1.65571007e-02 0.00000000e+00 3.03671161e+02] [ 1.65571007e-02 9.99862922e-01 0.00000000e+00 -1.46808545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54112278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.820371743 meters Centerline goodness : 0.994934 with order 1 Centerline is valid? [True, True] Translation: X:303.73, Y:-14.68, Z:0.05 [[ 9.99886238e-01 -1.50834515e-02 0.00000000e+00 3.03734061e+02] [ 1.50834515e-02 9.99886238e-01 0.00000000e+00 -1.46843595e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57206420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.880371743 meters Centerline goodness : 0.992314 with order 1 Centerline is valid? [True, True] Translation: X:303.79, Y:-14.70, Z:0.04 [[ 9.99993555e-01 -3.59013844e-03 0.00000000e+00 3.03794483e+02] [ 3.59013844e-03 9.99993555e-01 0.00000000e+00 -1.47007944e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28268035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.940371743 meters Centerline goodness : 0.992287 with order 1 Centerline is valid? [True, True] Translation: X:303.86, Y:-14.71, Z:0.04 [[ 9.99948882e-01 -1.01110603e-02 0.00000000e+00 3.03855505e+02] [ 1.01110603e-02 9.99948882e-01 0.00000000e+00 -1.47053715e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91231939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.000371743 meters Centerline goodness : 0.992476 with order 1 Centerline is valid? [True, True] Translation: X:303.92, Y:-14.71, Z:0.04 [[ 9.99897930e-01 -1.42874027e-02 0.00000000e+00 3.03917189e+02] [ 1.42874027e-02 9.99897930e-01 0.00000000e+00 -1.47103272e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77700507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.060371743 meters Centerline goodness : 0.992960 with order 1 Centerline is valid? [True, True] Translation: X:303.98, Y:-14.72, Z:0.04 [[ 9.99878628e-01 -1.55797403e-02 0.00000000e+00 3.03979591e+02] [ 1.55797403e-02 9.99878628e-01 0.00000000e+00 -1.47158596e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94968894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.120371743 meters Centerline goodness : 0.992764 with order 1 Centerline is valid? [True, True] Translation: X:304.04, Y:-14.72, Z:0.04 [[ 9.99895621e-01 -1.44481153e-02 0.00000000e+00 3.04041625e+02] [ 1.44481153e-02 9.99895621e-01 0.00000000e+00 -1.47191271e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14548133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.180371743 meters Centerline goodness : 0.992958 with order 1 Centerline is valid? [True, True] Translation: X:304.10, Y:-14.72, Z:0.04 [[ 9.99927664e-01 -1.20277548e-02 0.00000000e+00 3.04102491e+02] [ 1.20277548e-02 9.99927664e-01 0.00000000e+00 -1.47230703e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06478958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.240371743 meters Centerline goodness : 0.992241 with order 1 Centerline is valid? [True, True] Translation: X:304.16, Y:-14.73, Z:0.04 [[ 9.99999849e-01 5.49478341e-04 0.00000000e+00 3.04164002e+02] [-5.49478341e-04 9.99999849e-01 0.00000000e+00 -1.47293076e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56693684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.300371743 meters Centerline goodness : 0.991828 with order 1 Centerline is valid? [True, True] Translation: X:304.22, Y:-14.73, Z:0.04 [[ 9.99998809e-01 1.54368826e-03 0.00000000e+00 3.04224669e+02] [-1.54368826e-03 9.99998809e-01 0.00000000e+00 -1.47279606e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10617855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36037174300003 meters Centerline goodness : 0.991538 with order 1 Centerline is valid? [True, True] Translation: X:304.28, Y:-14.73, Z:0.04 [[ 9.99965607e-01 8.29362234e-03 0.00000000e+00 3.04284358e+02] [-8.29362234e-03 9.99965607e-01 0.00000000e+00 -1.47294559e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07024552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42037174300003 meters Centerline goodness : 0.991422 with order 1 Centerline is valid? [True, True] Translation: X:304.34, Y:-14.73, Z:0.04 [[ 9.99930547e-01 1.17856322e-02 0.00000000e+00 3.04342258e+02] [-1.17856322e-02 9.99930547e-01 0.00000000e+00 -1.47321517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96143282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.480371743 meters Centerline goodness : 0.993021 with order 1 Centerline is valid? [True, True] Translation: X:304.40, Y:-14.73, Z:0.04 [[ 9.99978911e-01 6.49435209e-03 0.00000000e+00 3.04401468e+02] [-6.49435209e-03 9.99978911e-01 0.00000000e+00 -1.47254690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44878234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.540371743 meters Centerline goodness : 0.990955 with order 1 Centerline is valid? [True, True] Translation: X:304.46, Y:-14.74, Z:0.04 [[ 9.99886013e-01 1.50984007e-02 0.00000000e+00 3.04459867e+02] [-1.50984007e-02 9.99886013e-01 0.00000000e+00 -1.47385422e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78621142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.600371743 meters Centerline goodness : 0.994472 with order 1 Centerline is valid? [True, True] Translation: X:304.52, Y:-14.72, Z:0.05 [[ 9.99999211e-01 -1.25642049e-03 0.00000000e+00 3.04519249e+02] [ 1.25642049e-03 9.99999211e-01 0.00000000e+00 -1.47236908e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05749871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.660371743 meters Centerline goodness : 0.992862 with order 1 Centerline is valid? [True, True] Translation: X:304.58, Y:-14.73, Z:0.04 [[ 9.99999680e-01 -8.00061047e-04 0.00000000e+00 3.04579783e+02] [ 8.00061047e-04 9.99999680e-01 0.00000000e+00 -1.47338848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45370648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.720371743 meters Centerline goodness : 0.993947 with order 1 Centerline is valid? [True, True] Translation: X:304.64, Y:-14.73, Z:0.05 [[ 9.99967502e-01 -8.06195124e-03 0.00000000e+00 3.04639945e+02] [ 8.06195124e-03 9.99967502e-01 0.00000000e+00 -1.47326681e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93590090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.780371743 meters Centerline goodness : 0.994216 with order 1 Centerline is valid? [True, True] Translation: X:304.70, Y:-14.74, Z:0.05 [[ 9.99933042e-01 -1.15719847e-02 0.00000000e+00 3.04701850e+02] [ 1.15719847e-02 9.99933042e-01 0.00000000e+00 -1.47372137e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15819768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.840371743 meters Centerline goodness : 0.990384 with order 1 Centerline is valid? [True, True] Translation: X:304.76, Y:-14.76, Z:0.04 [[ 9.99995353e-01 -3.04872649e-03 0.00000000e+00 3.04762386e+02] [ 3.04872649e-03 9.99995353e-01 0.00000000e+00 -1.47589602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97996523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.900371743 meters Centerline goodness : 0.994323 with order 1 Centerline is valid? [True, True] Translation: X:304.82, Y:-14.74, Z:0.05 [[ 9.99870858e-01 -1.60706915e-02 0.00000000e+00 3.04824994e+02] [ 1.60706915e-02 9.99870858e-01 0.00000000e+00 -1.47439867e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33121345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.960371743 meters Centerline goodness : 0.993439 with order 1 Centerline is valid? [True, True] Translation: X:304.89, Y:-14.75, Z:0.05 [[ 9.99871538e-01 -1.60283310e-02 0.00000000e+00 3.04887712e+02] [ 1.60283310e-02 9.99871538e-01 0.00000000e+00 -1.47473486e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.31023196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.020371743 meters Centerline goodness : 0.994235 with order 1 Centerline is valid? [True, True] Translation: X:304.95, Y:-14.75, Z:0.05 [[ 9.99867840e-01 -1.62573840e-02 0.00000000e+00 3.04950090e+02] [ 1.62573840e-02 9.99867840e-01 0.00000000e+00 -1.47504870e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18757772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.080371743 meters Centerline goodness : 0.993781 with order 1 Centerline is valid? [True, True] Translation: X:305.01, Y:-14.75, Z:0.05 [[ 9.99878005e-01 -1.56196832e-02 0.00000000e+00 3.05013461e+02] [ 1.56196832e-02 9.99878005e-01 0.00000000e+00 -1.47520530e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41365701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.140371743 meters Centerline goodness : 0.991833 with order 1 Centerline is valid? [True, True] Translation: X:305.07, Y:-14.76, Z:0.05 [[ 9.99957809e-01 -9.18584414e-03 0.00000000e+00 3.05074754e+02] [ 9.18584414e-03 9.99957809e-01 0.00000000e+00 -1.47649214e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20378775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.200371743 meters Centerline goodness : 0.991985 with order 1 Centerline is valid? [True, True] Translation: X:305.14, Y:-14.77, Z:0.05 [[ 9.99974487e-01 -7.14326202e-03 0.00000000e+00 3.05136795e+02] [ 7.14326202e-03 9.99974487e-01 0.00000000e+00 -1.47677495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17328728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.260371743 meters Centerline goodness : 0.992453 with order 1 Centerline is valid? [True, True] Translation: X:305.20, Y:-14.77, Z:0.06 [[ 9.99978419e-01 -6.56981386e-03 0.00000000e+00 3.05198603e+02] [ 6.56981386e-03 9.99978419e-01 0.00000000e+00 -1.47661486e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.57342040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.320371743 meters Centerline goodness : 0.992610 with order 1 Centerline is valid? [True, True] Translation: X:305.26, Y:-14.77, Z:0.06 [[ 9.99987552e-01 -4.98960950e-03 0.00000000e+00 3.05259496e+02] [ 4.98960950e-03 9.99987552e-01 0.00000000e+00 -1.47660949e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.52414540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.380371743 meters Centerline goodness : 0.994553 with order 1 Centerline is valid? [True, True] Translation: X:305.32, Y:-14.76, Z:0.06 [[ 9.99988742e-01 -4.74513247e-03 0.00000000e+00 3.05322309e+02] [ 4.74513247e-03 9.99988742e-01 0.00000000e+00 -1.47588300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.79861575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.440371743 meters Centerline goodness : 0.994459 with order 1 Centerline is valid? [True, True] Translation: X:305.38, Y:-14.76, Z:0.06 [[ 9.99999492e-01 -1.00782223e-03 0.00000000e+00 3.05384196e+02] [ 1.00782223e-03 9.99999492e-01 0.00000000e+00 -1.47597678e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85012737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.500371743 meters Centerline goodness : 0.994673 with order 1 Centerline is valid? [True, True] Translation: X:305.44, Y:-14.76, Z:0.06 [[ 9.99988211e-01 4.85574796e-03 0.00000000e+00 3.05444355e+02] [-4.85574796e-03 9.99988211e-01 0.00000000e+00 -1.47606166e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84251260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.560371743 meters Centerline goodness : 0.993376 with order 1 Centerline is valid? [True, True] Translation: X:305.50, Y:-14.77, Z:0.06 [[ 9.99885364e-01 1.51413228e-02 0.00000000e+00 3.05502561e+02] [-1.51413228e-02 9.99885364e-01 0.00000000e+00 -1.47729812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64312771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.620371743 meters Centerline goodness : 0.993631 with order 1 Centerline is valid? [True, True] Translation: X:305.56, Y:-14.78, Z:0.06 [[ 9.99866753e-01 1.63241012e-02 0.00000000e+00 3.05560537e+02] [-1.63241012e-02 9.99866753e-01 0.00000000e+00 -1.47753103e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72500345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.680371743 meters Centerline goodness : 0.994913 with order 1 Centerline is valid? [True, True] Translation: X:305.62, Y:-14.77, Z:0.06 [[ 9.99905063e-01 1.37791321e-02 0.00000000e+00 3.05619683e+02] [-1.37791321e-02 9.99905063e-01 0.00000000e+00 -1.47709175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75092256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.740371743 meters Centerline goodness : 0.990640 with order 1 Centerline is valid? [True, True] Translation: X:305.68, Y:-14.79, Z:0.05 [[ 9.99623821e-01 2.74265569e-02 0.00000000e+00 3.05679060e+02] [-2.74265569e-02 9.99623821e-01 0.00000000e+00 -1.47905276e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72830906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.800371743 meters Centerline goodness : 0.990313 with order 1 Centerline is valid? [True, True] Translation: X:305.74, Y:-14.79, Z:0.05 [[ 9.99653937e-01 2.63060124e-02 0.00000000e+00 3.05738169e+02] [-2.63060124e-02 9.99653937e-01 0.00000000e+00 -1.47922987e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49737679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86037174300003 meters Centerline goodness : 0.990285 with order 1 Centerline is valid? [True, True] Translation: X:305.80, Y:-14.80, Z:0.06 [[ 9.99589650e-01 2.86449393e-02 0.00000000e+00 3.05796886e+02] [-2.86449393e-02 9.99589650e-01 0.00000000e+00 -1.47962041e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68734601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92037174300003 meters Centerline goodness : 0.989948 with order 1 Centerline is valid? [True, True] Translation: X:305.86, Y:-14.81, Z:0.05 [[ 9.99363501e-01 3.56734305e-02 0.00000000e+00 3.05855359e+02] [-3.56734305e-02 9.99363501e-01 0.00000000e+00 -1.48056354e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22993506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.980371743 meters Centerline goodness : 0.987597 with order 1 Centerline is valid? [True, True] Translation: X:305.91, Y:-14.81, Z:0.05 [[ 9.99359622e-01 3.57819260e-02 0.00000000e+00 3.05913463e+02] [-3.57819260e-02 9.99359622e-01 0.00000000e+00 -1.48114068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35102811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.040371743 meters Centerline goodness : 0.987015 with order 1 Centerline is valid? [True, True] Translation: X:305.97, Y:-14.81, Z:0.05 [[ 9.99617946e-01 2.76398801e-02 0.00000000e+00 3.05971897e+02] [-2.76398801e-02 9.99617946e-01 0.00000000e+00 -1.48057082e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36541426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.100371743 meters Centerline goodness : 0.985090 with order 1 Centerline is valid? [True, True] Translation: X:306.03, Y:-14.82, Z:0.05 [[ 9.99610565e-01 2.79055130e-02 0.00000000e+00 3.06028832e+02] [-2.79055130e-02 9.99610565e-01 0.00000000e+00 -1.48169426e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30986133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.160371743 meters Centerline goodness : 0.981239 with order 1 Centerline is valid? [True, True] Translation: X:306.09, Y:-14.83, Z:0.05 [[ 9.99671498e-01 2.56299816e-02 0.00000000e+00 3.06086605e+02] [-2.56299816e-02 9.99671498e-01 0.00000000e+00 -1.48321327e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15755764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.220371743 meters Centerline goodness : 0.982610 with order 1 Centerline is valid? [True, True] Translation: X:306.14, Y:-14.84, Z:0.05 [[ 9.99852087e-01 1.71989476e-02 0.00000000e+00 3.06144007e+02] [-1.71989476e-02 9.99852087e-01 0.00000000e+00 -1.48410126e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14969140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.280371743 meters Centerline goodness : 0.981476 with order 1 Centerline is valid? [True, True] Translation: X:306.20, Y:-14.85, Z:0.05 [[ 9.99938422e-01 1.10974371e-02 0.00000000e+00 3.06202337e+02] [-1.10974371e-02 9.99938422e-01 0.00000000e+00 -1.48468049e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38740106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.340371743 meters Centerline goodness : 0.982890 with order 1 Centerline is valid? [True, True] Translation: X:306.26, Y:-14.85, Z:0.06 [[ 9.99999643e-01 8.44891007e-04 0.00000000e+00 3.06260890e+02] [-8.44891007e-04 9.99999643e-01 0.00000000e+00 -1.48524030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66729265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.400371743 meters Centerline goodness : 0.983400 with order 1 Centerline is valid? [True, True] Translation: X:306.32, Y:-14.86, Z:0.06 [[ 9.99968647e-01 -7.91865892e-03 0.00000000e+00 3.06320928e+02] [ 7.91865892e-03 9.99968647e-01 0.00000000e+00 -1.48595945e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92550551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.460371743 meters Centerline goodness : 0.982392 with order 1 Centerline is valid? [True, True] Translation: X:306.38, Y:-14.86, Z:0.06 [[ 9.99892570e-01 -1.46577044e-02 0.00000000e+00 3.06382127e+02] [ 1.46577044e-02 9.99892570e-01 0.00000000e+00 -1.48646921e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.01421315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.520371743 meters Centerline goodness : 0.981096 with order 1 Centerline is valid? [True, True] Translation: X:306.44, Y:-14.87, Z:0.06 [[ 9.99790028e-01 -2.04914355e-02 0.00000000e+00 3.06444152e+02] [ 2.04914355e-02 9.99790028e-01 0.00000000e+00 -1.48707520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13159615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.580371743 meters Centerline goodness : 0.983118 with order 1 Centerline is valid? [True, True] Translation: X:306.51, Y:-14.88, Z:0.06 [[ 9.99752384e-01 -2.22524169e-02 0.00000000e+00 3.06505579e+02] [ 2.22524169e-02 9.99752384e-01 0.00000000e+00 -1.48754109e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91550205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.640371743 meters Centerline goodness : 0.982879 with order 1 Centerline is valid? [True, True] Translation: X:306.57, Y:-14.88, Z:0.06 [[ 9.99710348e-01 -2.40669875e-02 0.00000000e+00 3.06567839e+02] [ 2.40669875e-02 9.99710348e-01 0.00000000e+00 -1.48759499e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.43705694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.700371743 meters Centerline goodness : 0.983749 with order 1 Centerline is valid? [True, True] Translation: X:306.63, Y:-14.88, Z:0.07 [[ 9.99751309e-01 -2.23006570e-02 0.00000000e+00 3.06628983e+02] [ 2.23006570e-02 9.99751309e-01 0.00000000e+00 -1.48771266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.54534290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.760371743 meters Centerline goodness : 0.982415 with order 1 Centerline is valid? [True, True] Translation: X:306.69, Y:-14.88, Z:0.06 [[ 9.99830704e-01 -1.84000866e-02 0.00000000e+00 3.06690882e+02] [ 1.84000866e-02 9.99830704e-01 0.00000000e+00 -1.48824390e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.42933786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.820371743 meters Centerline goodness : 0.984761 with order 1 Centerline is valid? [True, True] Translation: X:306.75, Y:-14.88, Z:0.06 [[ 9.99836970e-01 -1.80563907e-02 0.00000000e+00 3.06753636e+02] [ 1.80563907e-02 9.99836970e-01 0.00000000e+00 -1.48790877e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.42013428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.880371743 meters Centerline goodness : 0.983799 with order 1 Centerline is valid? [True, True] Translation: X:306.82, Y:-14.88, Z:0.06 [[ 9.99940342e-01 -1.09230191e-02 0.00000000e+00 3.06815833e+02] [ 1.09230191e-02 9.99940342e-01 0.00000000e+00 -1.48789592e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.43223197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.940371743 meters Centerline goodness : 0.981647 with order 1 Centerline is valid? [True, True] Translation: X:306.88, Y:-14.88, Z:0.06 [[ 9.99997762e-01 -2.11561618e-03 0.00000000e+00 3.06876712e+02] [ 2.11561618e-03 9.99997762e-01 0.00000000e+00 -1.48783126e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.36250091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.000371743 meters Centerline goodness : 0.976584 with order 1 Centerline is valid? [True, True] Translation: X:306.94, Y:-14.87, Z:0.06 [[ 9.99994401e-01 -3.34638167e-03 0.00000000e+00 3.06937677e+02] [ 3.34638167e-03 9.99994401e-01 0.00000000e+00 -1.48719489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00414931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.060371743 meters Centerline goodness : 0.977876 with order 1 Centerline is valid? [True, True] Translation: X:307.00, Y:-14.87, Z:0.06 [[ 9.99999860e-01 5.29729223e-04 0.00000000e+00 3.06999045e+02] [-5.29729223e-04 9.99999860e-01 0.00000000e+00 -1.48679738e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.34926194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.120371743 meters Centerline goodness : 0.977546 with order 1 Centerline is valid? [True, True] Translation: X:307.06, Y:-14.87, Z:0.06 [[ 9.99984628e-01 5.54476056e-03 0.00000000e+00 3.07058861e+02] [-5.54476056e-03 9.99984628e-01 0.00000000e+00 -1.48709353e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.47256435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.180371743 meters Centerline goodness : 0.976671 with order 1 Centerline is valid? [True, True] Translation: X:307.12, Y:-14.87, Z:0.06 [[ 9.99979163e-01 6.45543198e-03 0.00000000e+00 3.07118171e+02] [-6.45543198e-03 9.99979163e-01 0.00000000e+00 -1.48693235e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.28830847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.240371743 meters Centerline goodness : 0.978700 with order 1 Centerline is valid? [True, True] Translation: X:307.18, Y:-14.87, Z:0.06 [[ 9.99953068e-01 9.68820554e-03 0.00000000e+00 3.07176237e+02] [-9.68820554e-03 9.99953068e-01 0.00000000e+00 -1.48680629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26067360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.300371743 meters Centerline goodness : 0.982066 with order 1 Centerline is valid? [True, True] Translation: X:307.23, Y:-14.88, Z:0.07 [[ 9.99886245e-01 1.50830337e-02 0.00000000e+00 3.07234604e+02] [-1.50830337e-02 9.99886245e-01 0.00000000e+00 -1.48750985e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.86156387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36037174300003 meters Centerline goodness : 0.985476 with order 1 Centerline is valid? [True, True] Translation: X:307.29, Y:-14.87, Z:0.07 [[ 9.99935401e-01 1.13663140e-02 0.00000000e+00 3.07293791e+02] [-1.13663140e-02 9.99935401e-01 0.00000000e+00 -1.48711273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.91742723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42037174300003 meters Centerline goodness : 0.985763 with order 1 Centerline is valid? [True, True] Translation: X:307.35, Y:-14.88, Z:0.07 [[ 9.99839928e-01 1.78918266e-02 0.00000000e+00 3.07351079e+02] [-1.78918266e-02 9.99839928e-01 0.00000000e+00 -1.48826047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.08930801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.480371743 meters Centerline goodness : 0.980145 with order 1 Centerline is valid? [True, True] Translation: X:307.41, Y:-14.89, Z:0.06 [[ 9.99774454e-01 2.12377285e-02 0.00000000e+00 3.07407942e+02] [-2.12377285e-02 9.99774454e-01 0.00000000e+00 -1.48942086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76764300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.540371743 meters Centerline goodness : 0.982330 with order 1 Centerline is valid? [True, True] Translation: X:307.47, Y:-14.88, Z:0.07 [[ 9.99924866e-01 1.22581940e-02 0.00000000e+00 3.07467194e+02] [-1.22581940e-02 9.99924866e-01 0.00000000e+00 -1.48845953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.65318755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.600371743 meters Centerline goodness : 0.980914 with order 1 Centerline is valid? [True, True] Translation: X:307.53, Y:-14.89, Z:0.07 [[ 9.99822468e-01 1.88423027e-02 0.00000000e+00 3.07525588e+02] [-1.88423027e-02 9.99822468e-01 0.00000000e+00 -1.48894442e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71957830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.660371743 meters Centerline goodness : 0.977279 with order 1 Centerline is valid? [True, True] Translation: X:307.59, Y:-14.88, Z:0.06 [[ 9.99758090e-01 2.19945699e-02 0.00000000e+00 3.07585212e+02] [-2.19945699e-02 9.99758090e-01 0.00000000e+00 -1.48834470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.36494480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.720371743 meters Centerline goodness : 0.982556 with order 1 Centerline is valid? [True, True] Translation: X:307.64, Y:-14.90, Z:0.07 [[ 9.99339111e-01 3.63502570e-02 0.00000000e+00 3.07642089e+02] [-3.63502570e-02 9.99339111e-01 0.00000000e+00 -1.48955854e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.25207550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.780371743 meters Centerline goodness : 0.983055 with order 1 Centerline is valid? [True, True] Translation: X:307.70, Y:-14.90, Z:0.07 [[ 9.99044819e-01 4.36972574e-02 0.00000000e+00 3.07700186e+02] [-4.36972574e-02 9.99044819e-01 0.00000000e+00 -1.49021766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.31739101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.840371743 meters Centerline goodness : 0.982729 with order 1 Centerline is valid? [True, True] Translation: X:307.76, Y:-14.91, Z:0.07 [[ 9.98971922e-01 4.53332055e-02 0.00000000e+00 3.07757438e+02] [-4.53332055e-02 9.98971922e-01 0.00000000e+00 -1.49054589e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.24987262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.900371743 meters Centerline goodness : 0.983522 with order 1 Centerline is valid? [True, True] Translation: X:307.82, Y:-14.91, Z:0.07 [[ 9.98941814e-01 4.59918619e-02 0.00000000e+00 3.07816220e+02] [-4.59918619e-02 9.98941814e-01 0.00000000e+00 -1.49149096e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.20768366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.960371743 meters Centerline goodness : 0.981115 with order 1 Centerline is valid? [True, True] Translation: X:307.87, Y:-14.92, Z:0.07 [[ 9.99313138e-01 3.70574143e-02 0.00000000e+00 3.07874663e+02] [-3.70574143e-02 9.99313138e-01 0.00000000e+00 -1.49203020e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.00935111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.020371743 meters Centerline goodness : 0.984423 with order 1 Centerline is valid? [True, True] Translation: X:307.93, Y:-14.94, Z:0.07 [[ 9.99431623e-01 3.37109909e-02 0.00000000e+00 3.07932774e+02] [-3.37109909e-02 9.99431623e-01 0.00000000e+00 -1.49373890e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.72214459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.080371743 meters Centerline goodness : 0.979597 with order 1 Centerline is valid? [True, True] Translation: X:307.99, Y:-14.94, Z:0.07 [[ 9.99691411e-01 2.48411647e-02 0.00000000e+00 3.07990373e+02] [-2.48411647e-02 9.99691411e-01 0.00000000e+00 -1.49403491e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.73949160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.140371743 meters Centerline goodness : 0.980618 with order 1 Centerline is valid? [True, True] Translation: X:308.05, Y:-14.95, Z:0.07 [[ 9.99914835e-01 1.30507989e-02 0.00000000e+00 3.08048936e+02] [-1.30507989e-02 9.99914835e-01 0.00000000e+00 -1.49492334e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01862350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.200371743 meters Centerline goodness : 0.977860 with order 1 Centerline is valid? [True, True] Translation: X:308.11, Y:-14.96, Z:0.07 [[ 9.99965291e-01 8.33171790e-03 0.00000000e+00 3.08106064e+02] [-8.33171790e-03 9.99965291e-01 0.00000000e+00 -1.49585878e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.28089985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.260371743 meters Centerline goodness : 0.981143 with order 1 Centerline is valid? [True, True] Translation: X:308.16, Y:-14.97, Z:0.07 [[ 9.99999901e-01 -4.44953009e-04 0.00000000e+00 3.08164684e+02] [ 4.44953009e-04 9.99999901e-01 0.00000000e+00 -1.49651200e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.00211997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.320371743 meters Centerline goodness : 0.988555 with order 1 Centerline is valid? [True, True] Translation: X:308.22, Y:-14.98, Z:0.07 [[ 9.99993615e-01 -3.57362828e-03 0.00000000e+00 3.08224687e+02] [ 3.57362828e-03 9.99993615e-01 0.00000000e+00 -1.49757080e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.52299934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.380371743 meters Centerline goodness : 0.979369 with order 1 Centerline is valid? [True, True] Translation: X:308.29, Y:-14.98, Z:0.07 [[ 9.99997497e-01 2.23757028e-03 0.00000000e+00 3.08285247e+02] [-2.23757028e-03 9.99997497e-01 0.00000000e+00 -1.49827962e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.88915027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.440371743 meters Centerline goodness : 0.976863 with order 1 Centerline is valid? [True, True] Translation: X:308.34, Y:-14.99, Z:0.07 [[ 9.99980753e-01 6.20429298e-03 0.00000000e+00 3.08344136e+02] [-6.20429298e-03 9.99980753e-01 0.00000000e+00 -1.49902582e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.08366863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.500371743 meters Centerline goodness : 0.979516 with order 1 Centerline is valid? [True, True] Translation: X:308.40, Y:-14.99, Z:0.07 [[ 9.99974235e-01 7.17836567e-03 0.00000000e+00 3.08402994e+02] [-7.17836567e-03 9.99974235e-01 0.00000000e+00 -1.49933509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.79571465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.560371743 meters Centerline goodness : 0.979312 with order 1 Centerline is valid? [True, True] Translation: X:308.46, Y:-15.00, Z:0.07 [[ 9.99980823e-01 6.19303900e-03 0.00000000e+00 3.08461326e+02] [-6.19303900e-03 9.99980823e-01 0.00000000e+00 -1.49959087e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.86874691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.620371743 meters Centerline goodness : 0.988003 with order 1 Centerline is valid? [True, True] Translation: X:308.52, Y:-15.00, Z:0.06 [[ 9.99986886e-01 5.12138182e-03 0.00000000e+00 3.08519769e+02] [-5.12138182e-03 9.99986886e-01 0.00000000e+00 -1.50008132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.38516176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.680371743 meters Centerline goodness : 0.980909 with order 1 Centerline is valid? [True, True] Translation: X:308.58, Y:-15.00, Z:0.07 [[ 9.99976049e-01 6.92106203e-03 0.00000000e+00 3.08578688e+02] [-6.92106203e-03 9.99976049e-01 0.00000000e+00 -1.50014075e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.03292117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.740371743 meters Centerline goodness : 0.980317 with order 1 Centerline is valid? [True, True] Translation: X:308.64, Y:-15.00, Z:0.07 [[ 9.99956560e-01 9.32086685e-03 0.00000000e+00 3.08636334e+02] [-9.32086685e-03 9.99956560e-01 0.00000000e+00 -1.50041357e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02062132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.800371743 meters Centerline goodness : 0.977230 with order 1 Centerline is valid? [True, True] Translation: X:308.69, Y:-15.03, Z:0.06 [[ 9.99585876e-01 2.87763354e-02 0.00000000e+00 3.08694064e+02] [-2.87763354e-02 9.99585876e-01 0.00000000e+00 -1.50315455e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71956358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86037174300003 meters Centerline goodness : 0.978283 with order 1 Centerline is valid? [True, True] Translation: X:308.75, Y:-15.03, Z:0.06 [[ 9.99636323e-01 2.69670329e-02 0.00000000e+00 3.08752818e+02] [-2.69670329e-02 9.99636323e-01 0.00000000e+00 -1.50341715e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85284537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92037174300003 meters Centerline goodness : 0.989070 with order 1 Centerline is valid? [True, True] Translation: X:308.81, Y:-15.01, Z:0.07 [[ 9.99997106e-01 2.40587662e-03 0.00000000e+00 3.08813730e+02] [-2.40587662e-03 9.99997106e-01 0.00000000e+00 -1.50142733e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.72515519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.980371743 meters Centerline goodness : 0.977605 with order 1 Centerline is valid? [True, True] Translation: X:308.87, Y:-15.04, Z:0.06 [[ 9.99847415e-01 1.74684355e-02 0.00000000e+00 3.08872140e+02] [-1.74684355e-02 9.99847415e-01 0.00000000e+00 -1.50362289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.45354113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.040371743 meters Centerline goodness : 0.980882 with order 1 Centerline is valid? [True, True] Translation: X:308.93, Y:-15.02, Z:0.07 [[ 9.99989243e-01 -4.63834298e-03 0.00000000e+00 3.08931446e+02] [ 4.63834298e-03 9.99989243e-01 0.00000000e+00 -1.50191553e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.90155424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.100371743 meters Centerline goodness : 0.978653 with order 1 Centerline is valid? [True, True] Translation: X:308.99, Y:-15.02, Z:0.07 [[ 9.99966165e-01 -8.22614326e-03 0.00000000e+00 3.08993161e+02] [ 8.22614326e-03 9.99966165e-01 0.00000000e+00 -1.50224015e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.97131349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.160371743 meters Centerline goodness : 0.983622 with order 1 Centerline is valid? [True, True] Translation: X:309.06, Y:-15.03, Z:0.07 [[ 9.99967253e-01 -8.09274110e-03 0.00000000e+00 3.09055541e+02] [ 8.09274110e-03 9.99967253e-01 0.00000000e+00 -1.50277431e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.07845638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.220371743 meters Centerline goodness : 0.983095 with order 1 Centerline is valid? [True, True] Translation: X:309.12, Y:-15.03, Z:0.07 [[ 9.99981309e-01 -6.11405145e-03 0.00000000e+00 3.09118127e+02] [ 6.11405145e-03 9.99981309e-01 0.00000000e+00 -1.50269665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.38369565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.280371743 meters Centerline goodness : 0.984573 with order 1 Centerline is valid? [True, True] Translation: X:309.18, Y:-15.03, Z:0.08 [[ 9.99998798e-01 1.55019786e-03 0.00000000e+00 3.09179912e+02] [-1.55019786e-03 9.99998798e-01 0.00000000e+00 -1.50264303e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.71862936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.340371743 meters Centerline goodness : 0.979375 with order 1 Centerline is valid? [True, True] Translation: X:309.24, Y:-15.02, Z:0.07 [[ 9.99972724e-01 7.38589872e-03 0.00000000e+00 3.09239659e+02] [-7.38589872e-03 9.99972724e-01 0.00000000e+00 -1.50199159e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.28839456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.400371743 meters Centerline goodness : 0.983921 with order 1 Centerline is valid? [True, True] Translation: X:309.30, Y:-15.02, Z:0.07 [[ 9.99845167e-01 1.75966304e-02 0.00000000e+00 3.09298404e+02] [-1.75966304e-02 9.99845167e-01 0.00000000e+00 -1.50249472e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.49685531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.460371743 meters Centerline goodness : 0.980588 with order 1 Centerline is valid? [True, True] Translation: X:309.36, Y:-15.02, Z:0.07 [[ 9.99682570e-01 2.51944211e-02 0.00000000e+00 3.09356586e+02] [-2.51944211e-02 9.99682570e-01 0.00000000e+00 -1.50195702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.08354036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.520371743 meters Centerline goodness : 0.989368 with order 1 Centerline is valid? [True, True] Translation: X:309.42, Y:-15.01, Z:0.08 [[ 9.99497999e-01 3.16820059e-02 0.00000000e+00 3.09415689e+02] [-3.16820059e-02 9.99497999e-01 0.00000000e+00 -1.50143256e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.53708394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.580371743 meters Centerline goodness : 0.984157 with order 1 Centerline is valid? [True, True] Translation: X:309.47, Y:-15.03, Z:0.07 [[ 9.98947451e-01 4.58692804e-02 0.00000000e+00 3.09473716e+02] [-4.58692804e-02 9.98947451e-01 0.00000000e+00 -1.50280821e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.11335004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.640371743 meters Centerline goodness : 0.982600 with order 1 Centerline is valid? [True, True] Translation: X:309.53, Y:-15.03, Z:0.07 [[ 9.98630721e-01 5.23133097e-02 0.00000000e+00 3.09532711e+02] [-5.23133097e-02 9.98630721e-01 0.00000000e+00 -1.50317081e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.22636016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.700371743 meters Centerline goodness : 0.983810 with order 1 Centerline is valid? [True, True] Translation: X:309.59, Y:-15.04, Z:0.07 [[ 9.98653167e-01 5.18830681e-02 0.00000000e+00 3.09591669e+02] [-5.18830681e-02 9.98653167e-01 0.00000000e+00 -1.50356834e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.39272615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.760371743 meters Centerline goodness : 0.983566 with order 1 Centerline is valid? [True, True] Translation: X:309.65, Y:-15.05, Z:0.07 [[ 9.98777351e-01 4.94348324e-02 0.00000000e+00 3.09649726e+02] [-4.94348324e-02 9.98777351e-01 0.00000000e+00 -1.50463961e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.36507432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.820371743 meters Centerline goodness : 0.984626 with order 1 Centerline is valid? [True, True] Translation: X:309.71, Y:-15.06, Z:0.07 [[ 9.99004039e-01 4.46198322e-02 0.00000000e+00 3.09706358e+02] [-4.46198322e-02 9.99004039e-01 0.00000000e+00 -1.50588140e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.29182915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.880371743 meters Centerline goodness : 0.984474 with order 1 Centerline is valid? [True, True] Translation: X:309.76, Y:-15.07, Z:0.07 [[ 9.99326079e-01 3.67067819e-02 0.00000000e+00 3.09763440e+02] [-3.67067819e-02 9.99326079e-01 0.00000000e+00 -1.50687307e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.23640546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.940371743 meters Centerline goodness : 0.982013 with order 1 Centerline is valid? [True, True] Translation: X:309.82, Y:-15.09, Z:0.07 [[ 9.99459829e-01 3.28641126e-02 0.00000000e+00 3.09820596e+02] [-3.28641126e-02 9.99459829e-01 0.00000000e+00 -1.50851061e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.15551273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.000371743 meters Centerline goodness : 0.983751 with order 1 Centerline is valid? [True, True] Translation: X:309.88, Y:-15.09, Z:0.07 [[ 9.99610182e-01 2.79192280e-02 0.00000000e+00 3.09877430e+02] [-2.79192280e-02 9.99610182e-01 0.00000000e+00 -1.50926111e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.15539747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.060371743 meters Centerline goodness : 0.981713 with order 1 Centerline is valid? [True, True] Translation: X:309.93, Y:-15.11, Z:0.07 [[ 9.99744267e-01 2.26141881e-02 0.00000000e+00 3.09934592e+02] [-2.26141881e-02 9.99744267e-01 0.00000000e+00 -1.51065850e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.31352290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.120371743 meters Centerline goodness : 0.979754 with order 1 Centerline is valid? [True, True] Translation: X:309.99, Y:-15.11, Z:0.07 [[ 9.99892911e-01 1.46344312e-02 0.00000000e+00 3.09993827e+02] [-1.46344312e-02 9.99892911e-01 0.00000000e+00 -1.51095342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.12783578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.180371743 meters Centerline goodness : 0.977118 with order 1 Centerline is valid? [True, True] Translation: X:310.05, Y:-15.12, Z:0.07 [[ 9.99893516e-01 1.45930557e-02 0.00000000e+00 3.10052384e+02] [-1.45930557e-02 9.99893516e-01 0.00000000e+00 -1.51239894e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.23948890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.240371743 meters Centerline goodness : 0.982873 with order 1 Centerline is valid? [True, True] Translation: X:310.11, Y:-15.13, Z:0.07 [[ 9.99890124e-01 1.48235956e-02 0.00000000e+00 3.10109385e+02] [-1.48235956e-02 9.99890124e-01 0.00000000e+00 -1.51340142e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.39463979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.300371743 meters Centerline goodness : 0.982000 with order 1 Centerline is valid? [True, True] Translation: X:310.17, Y:-15.14, Z:0.07 [[ 9.99890479e-01 1.47996626e-02 0.00000000e+00 3.10167821e+02] [-1.47996626e-02 9.99890479e-01 0.00000000e+00 -1.51416112e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.39891062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36037174300003 meters Centerline goodness : 0.982361 with order 1 Centerline is valid? [True, True] Translation: X:310.23, Y:-15.15, Z:0.07 [[ 9.99915194e-01 1.30232207e-02 0.00000000e+00 3.10225810e+02] [-1.30232207e-02 9.99915194e-01 0.00000000e+00 -1.51500261e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.36585841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42037174300003 meters Centerline goodness : 0.981649 with order 1 Centerline is valid? [True, True] Translation: X:310.28, Y:-15.16, Z:0.07 [[ 9.99941811e-01 1.07876868e-02 0.00000000e+00 3.10284383e+02] [-1.07876868e-02 9.99941811e-01 0.00000000e+00 -1.51580048e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.31581057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.480371743 meters Centerline goodness : 0.983462 with order 1 Centerline is valid? [True, True] Translation: X:310.34, Y:-15.16, Z:0.07 [[ 9.99971273e-01 7.57983808e-03 0.00000000e+00 3.10343166e+02] [-7.57983808e-03 9.99971273e-01 0.00000000e+00 -1.51625817e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.46209944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.540371743 meters Centerline goodness : 0.983442 with order 1 Centerline is valid? [True, True] Translation: X:310.40, Y:-15.17, Z:0.08 [[ 9.99983661e-01 5.71641391e-03 0.00000000e+00 3.10402069e+02] [-5.71641391e-03 9.99983661e-01 0.00000000e+00 -1.51682760e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.55665376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.600371743 meters Centerline goodness : 0.976898 with order 1 Centerline is valid? [True, True] Translation: X:310.46, Y:-15.18, Z:0.07 [[ 9.99990490e-01 4.36110036e-03 0.00000000e+00 3.10460521e+02] [-4.36110036e-03 9.99990490e-01 0.00000000e+00 -1.51770769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.34252718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.660371743 meters Centerline goodness : 0.977816 with order 1 Centerline is valid? [True, True] Translation: X:310.52, Y:-15.18, Z:0.07 [[ 9.99996668e-01 2.58155040e-03 0.00000000e+00 3.10519701e+02] [-2.58155040e-03 9.99996668e-01 0.00000000e+00 -1.51831754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.21873871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.720371743 meters Centerline goodness : 0.978950 with order 1 Centerline is valid? [True, True] Translation: X:310.58, Y:-15.18, Z:0.07 [[ 9.99997320e-01 -2.31521846e-03 0.00000000e+00 3.10579878e+02] [ 2.31521846e-03 9.99997320e-01 0.00000000e+00 -1.51839323e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.95610365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.780371743 meters Centerline goodness : 0.979985 with order 1 Centerline is valid? [True, True] Translation: X:310.64, Y:-15.19, Z:0.07 [[ 9.99990570e-01 -4.34284810e-03 0.00000000e+00 3.10641660e+02] [ 4.34284810e-03 9.99990570e-01 0.00000000e+00 -1.51857204e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.84811494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.840371743 meters Centerline goodness : 0.979215 with order 1 Centerline is valid? [True, True] Translation: X:310.70, Y:-15.19, Z:0.07 [[ 9.99990532e-01 -4.35158557e-03 0.00000000e+00 3.10702532e+02] [ 4.35158557e-03 9.99990532e-01 0.00000000e+00 -1.51879978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.96481186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.900371743 meters Centerline goodness : 0.979796 with order 1 Centerline is valid? [True, True] Translation: X:310.76, Y:-15.19, Z:0.07 [[ 9.99976229e-01 -6.89505644e-03 0.00000000e+00 3.10764050e+02] [ 6.89505644e-03 9.99976229e-01 0.00000000e+00 -1.51880572e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.00172358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.960371743 meters Centerline goodness : 0.980394 with order 1 Centerline is valid? [True, True] Translation: X:310.83, Y:-15.19, Z:0.07 [[ 9.99981368e-01 -6.10432378e-03 0.00000000e+00 3.10826008e+02] [ 6.10432378e-03 9.99981368e-01 0.00000000e+00 -1.51874165e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.07150098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.020371743 meters Centerline goodness : 0.980135 with order 1 Centerline is valid? [True, True] Translation: X:310.89, Y:-15.19, Z:0.07 [[ 9.99995312e-01 -3.06187365e-03 0.00000000e+00 3.10888324e+02] [ 3.06187365e-03 9.99995312e-01 0.00000000e+00 -1.51877505e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.00059805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.080371743 meters Centerline goodness : 0.979458 with order 1 Centerline is valid? [True, True] Translation: X:310.95, Y:-15.19, Z:0.07 [[ 9.99996975e-01 2.45968536e-03 0.00000000e+00 3.10948910e+02] [-2.45968536e-03 9.99996975e-01 0.00000000e+00 -1.51862884e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.98514071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.140371743 meters Centerline goodness : 0.979346 with order 1 Centerline is valid? [True, True] Translation: X:311.01, Y:-15.18, Z:0.07 [[ 9.99965167e-01 8.34652326e-03 0.00000000e+00 3.11008419e+02] [-8.34652326e-03 9.99965167e-01 0.00000000e+00 -1.51830501e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.98645624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.200371743 meters Centerline goodness : 0.986084 with order 1 Centerline is valid? [True, True] Translation: X:311.07, Y:-15.18, Z:0.07 [[ 9.99966018e-01 8.24400686e-03 0.00000000e+00 3.11067881e+02] [-8.24400686e-03 9.99966018e-01 0.00000000e+00 -1.51772451e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50482590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.260371743 meters Centerline goodness : 0.986058 with order 1 Centerline is valid? [True, True] Translation: X:311.13, Y:-15.18, Z:0.07 [[ 9.99930621e-01 1.17793903e-02 0.00000000e+00 3.11126882e+02] [-1.17793903e-02 9.99930621e-01 0.00000000e+00 -1.51755325e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51190566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.320371743 meters Centerline goodness : 0.977988 with order 1 Centerline is valid? [True, True] Translation: X:311.19, Y:-15.17, Z:0.07 [[ 9.99783473e-01 2.08088134e-02 0.00000000e+00 3.11186133e+02] [-2.08088134e-02 9.99783473e-01 0.00000000e+00 -1.51727881e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02159286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.380371743 meters Centerline goodness : 0.977204 with order 1 Centerline is valid? [True, True] Translation: X:311.24, Y:-15.17, Z:0.07 [[ 9.99762114e-01 2.18109187e-02 0.00000000e+00 3.11244871e+02] [-2.18109187e-02 9.99762114e-01 0.00000000e+00 -1.51711106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.27262267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.440371743 meters Centerline goodness : 0.977276 with order 1 Centerline is valid? [True, True] Translation: X:311.30, Y:-15.17, Z:0.07 [[ 9.99876168e-01 1.57368419e-02 0.00000000e+00 3.11303940e+02] [-1.57368419e-02 9.99876168e-01 0.00000000e+00 -1.51702694e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.05144498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.500371743 meters Centerline goodness : 0.978651 with order 1 Centerline is valid? [True, True] Translation: X:311.36, Y:-15.17, Z:0.07 [[ 9.99944588e-01 1.05271924e-02 0.00000000e+00 3.11361275e+02] [-1.05271924e-02 9.99944588e-01 0.00000000e+00 -1.51730996e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.98116607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.560371743 meters Centerline goodness : 0.973257 with order 1 Centerline is valid? [True, True] Translation: X:311.42, Y:-15.19, Z:0.07 [[ 9.99921159e-01 1.25569214e-02 0.00000000e+00 3.11419579e+02] [-1.25569214e-02 9.99921159e-01 0.00000000e+00 -1.51917508e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.40094665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.620371743 meters Centerline goodness : 0.986288 with order 1 Centerline is valid? [True, True] Translation: X:311.48, Y:-15.18, Z:0.07 [[ 9.99939871e-01 -1.09660913e-02 0.00000000e+00 3.11479143e+02] [ 1.09660913e-02 9.99939871e-01 0.00000000e+00 -1.51769964e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.79280954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.680371743 meters Centerline goodness : 0.979359 with order 1 Centerline is valid? [True, True] Translation: X:311.54, Y:-15.18, Z:0.07 [[ 9.99860392e-01 -1.67091750e-02 0.00000000e+00 3.11540602e+02] [ 1.67091750e-02 9.99860392e-01 0.00000000e+00 -1.51783450e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.06302181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.740371743 meters Centerline goodness : 0.979382 with order 1 Centerline is valid? [True, True] Translation: X:311.60, Y:-15.18, Z:0.07 [[ 9.99718227e-01 -2.37374371e-02 0.00000000e+00 3.11602609e+02] [ 2.37374371e-02 9.99718227e-01 0.00000000e+00 -1.51798167e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.11004374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.800371743 meters Centerline goodness : 0.982315 with order 1 Centerline is valid? [True, True] Translation: X:311.66, Y:-15.18, Z:0.07 [[ 9.99678250e-01 -2.53652510e-02 0.00000000e+00 3.11664288e+02] [ 2.53652510e-02 9.99678250e-01 0.00000000e+00 -1.51813121e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.25076264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86037174300003 meters Centerline goodness : 0.982623 with order 1 Centerline is valid? [True, True] Translation: X:311.73, Y:-15.18, Z:0.07 [[ 9.99578076e-01 -2.90459839e-02 0.00000000e+00 3.11728009e+02] [ 2.90459839e-02 9.99578076e-01 0.00000000e+00 -1.51785202e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.98522252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92037174300003 meters Centerline goodness : 0.980277 with order 1 Centerline is valid? [True, True] Translation: X:311.79, Y:-15.18, Z:0.07 [[ 9.99666758e-01 -2.58141957e-02 0.00000000e+00 3.11790300e+02] [ 2.58141957e-02 9.99666758e-01 0.00000000e+00 -1.51829760e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.12190663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.980371743 meters Centerline goodness : 0.979975 with order 1 Centerline is valid? [True, True] Translation: X:311.85, Y:-15.18, Z:0.07 [[ 9.99604559e-01 -2.81198510e-02 0.00000000e+00 3.11852524e+02] [ 2.81198510e-02 9.99604559e-01 0.00000000e+00 -1.51806322e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.45683218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.040371743 meters Centerline goodness : 0.981582 with order 1 Centerline is valid? [True, True] Translation: X:311.91, Y:-15.18, Z:0.08 [[ 9.99459109e-01 -3.28860137e-02 0.00000000e+00 3.11913966e+02] [ 3.28860137e-02 9.99459109e-01 0.00000000e+00 -1.51763789e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.53913500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.100371743 meters Centerline goodness : 0.980453 with order 1 Centerline is valid? [True, True] Translation: X:311.98, Y:-15.18, Z:0.08 [[ 9.99338488e-01 -3.63673895e-02 0.00000000e+00 3.11975919e+02] [ 3.63673895e-02 9.99338488e-01 0.00000000e+00 -1.51762137e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.70934312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.160371743 meters Centerline goodness : 0.983059 with order 1 Centerline is valid? [True, True] Translation: X:312.04, Y:-15.17, Z:0.08 [[ 9.99135885e-01 -4.15630079e-02 0.00000000e+00 3.12038463e+02] [ 4.15630079e-02 9.99135885e-01 0.00000000e+00 -1.51712179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.55162851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.220371743 meters Centerline goodness : 0.983198 with order 1 Centerline is valid? [True, True] Translation: X:312.10, Y:-15.17, Z:0.07 [[ 9.99027439e-01 -4.40928101e-02 0.00000000e+00 3.12101902e+02] [ 4.40928101e-02 9.99027439e-01 0.00000000e+00 -1.51650476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.48319943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.280371743 meters Centerline goodness : 0.983261 with order 1 Centerline is valid? [True, True] Translation: X:312.16, Y:-15.16, Z:0.08 [[ 9.99019227e-01 -4.42784779e-02 0.00000000e+00 3.12164083e+02] [ 4.42784779e-02 9.99019227e-01 0.00000000e+00 -1.51620272e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.56953438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.340371743 meters Centerline goodness : 0.983667 with order 1 Centerline is valid? [True, True] Translation: X:312.23, Y:-15.16, Z:0.08 [[ 9.99171476e-01 -4.06984292e-02 0.00000000e+00 3.12226892e+02] [ 4.06984292e-02 9.99171476e-01 0.00000000e+00 -1.51609866e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.76584268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.400371743 meters Centerline goodness : 0.985641 with order 1 Centerline is valid? [True, True] Translation: X:312.29, Y:-15.15, Z:0.08 [[ 9.99272442e-01 -3.81390394e-02 0.00000000e+00 3.12290054e+02] [ 3.81390394e-02 9.99272442e-01 0.00000000e+00 -1.51534494e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.55769562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.460371743 meters Centerline goodness : 0.985654 with order 1 Centerline is valid? [True, True] Translation: X:312.35, Y:-15.15, Z:0.07 [[ 9.99455889e-01 -3.29837319e-02 0.00000000e+00 3.12352077e+02] [ 3.29837319e-02 9.99455889e-01 0.00000000e+00 -1.51512094e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.36435690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.520371743 meters Centerline goodness : 0.985374 with order 1 Centerline is valid? [True, True] Translation: X:312.41, Y:-15.15, Z:0.07 [[ 9.99560721e-01 -2.96372346e-02 0.00000000e+00 3.12414844e+02] [ 2.96372346e-02 9.99560721e-01 0.00000000e+00 -1.51460970e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.31011844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.580371743 meters Centerline goodness : 0.979535 with order 1 Centerline is valid? [True, True] Translation: X:312.48, Y:-15.15, Z:0.07 [[ 9.99783216e-01 -2.08211665e-02 0.00000000e+00 3.12477576e+02] [ 2.08211665e-02 9.99783216e-01 0.00000000e+00 -1.51540760e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.26823098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.640371743 meters Centerline goodness : 0.980543 with order 1 Centerline is valid? [True, True] Translation: X:312.54, Y:-15.15, Z:0.07 [[ 9.99832948e-01 -1.82777596e-02 0.00000000e+00 3.12541044e+02] [ 1.82777596e-02 9.99832948e-01 0.00000000e+00 -1.51487456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.39573413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.700371743 meters Centerline goodness : 0.979320 with order 1 Centerline is valid? [True, True] Translation: X:312.60, Y:-15.14, Z:0.08 [[ 9.99916042e-01 -1.29579603e-02 0.00000000e+00 3.12603696e+02] [ 1.29579603e-02 9.99916042e-01 0.00000000e+00 -1.51449007e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.62165897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.760371743 meters Centerline goodness : 0.979969 with order 1 Centerline is valid? [True, True] Translation: X:312.67, Y:-15.15, Z:0.08 [[ 9.99934163e-01 -1.14747549e-02 0.00000000e+00 3.12666043e+02] [ 1.14747549e-02 9.99934163e-01 0.00000000e+00 -1.51451727e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.58118132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.820371743 meters Centerline goodness : 0.980047 with order 1 Centerline is valid? [True, True] Translation: X:312.73, Y:-15.14, Z:0.08 [[ 9.99960686e-01 -8.86718516e-03 0.00000000e+00 3.12727993e+02] [ 8.86718516e-03 9.99960686e-01 0.00000000e+00 -1.51439204e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.73427526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.880371743 meters Centerline goodness : 0.981291 with order 1 Centerline is valid? [True, True] Translation: X:312.79, Y:-15.14, Z:0.08 [[ 9.99969025e-01 -7.87072081e-03 0.00000000e+00 3.12790602e+02] [ 7.87072081e-03 9.99969025e-01 0.00000000e+00 -1.51430936e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.57697686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.940371743 meters Centerline goodness : 0.980745 with order 1 Centerline is valid? [True, True] Translation: X:312.85, Y:-15.14, Z:0.08 [[ 9.99971120e-01 -7.59996384e-03 0.00000000e+00 3.12852954e+02] [ 7.59996384e-03 9.99971120e-01 0.00000000e+00 -1.51403615e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.63490139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.000371743 meters Centerline goodness : 0.981984 with order 1 Centerline is valid? [True, True] Translation: X:312.91, Y:-15.14, Z:0.08 [[ 9.99979657e-01 -6.37858515e-03 0.00000000e+00 3.12913854e+02] [ 6.37858515e-03 9.99979657e-01 0.00000000e+00 -1.51390224e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.58980595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.060371743 meters Centerline goodness : 0.982813 with order 1 Centerline is valid? [True, True] Translation: X:312.98, Y:-15.14, Z:0.08 [[ 9.99987083e-01 -5.08262002e-03 0.00000000e+00 3.12975742e+02] [ 5.08262002e-03 9.99987083e-01 0.00000000e+00 -1.51374297e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.58555686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.120371743 meters Centerline goodness : 0.982358 with order 1 Centerline is valid? [True, True] Translation: X:313.04, Y:-15.14, Z:0.08 [[ 9.99983005e-01 -5.83007719e-03 0.00000000e+00 3.13037937e+02] [ 5.83007719e-03 9.99983005e-01 0.00000000e+00 -1.51352802e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.87874829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.180371743 meters Centerline goodness : 0.983086 with order 1 Centerline is valid? [True, True] Translation: X:313.10, Y:-15.14, Z:0.08 [[ 9.99973500e-01 -7.28004455e-03 0.00000000e+00 3.13100504e+02] [ 7.28004455e-03 9.99973500e-01 0.00000000e+00 -1.51353892e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.99996287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.240371743 meters Centerline goodness : 0.982267 with order 1 Centerline is valid? [True, True] Translation: X:313.16, Y:-15.14, Z:0.08 [[ 9.99977556e-01 -6.69985095e-03 0.00000000e+00 3.13163121e+02] [ 6.69985095e-03 9.99977556e-01 0.00000000e+00 -1.51379776e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.72347909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.300371743 meters Centerline goodness : 0.982059 with order 1 Centerline is valid? [True, True] Translation: X:313.23, Y:-15.14, Z:0.08 [[ 9.99961997e-01 -8.71811192e-03 0.00000000e+00 3.13225947e+02] [ 8.71811192e-03 9.99961997e-01 0.00000000e+00 -1.51403859e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.55961001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36037174300003 meters Centerline goodness : 0.981210 with order 1 Centerline is valid? [True, True] Translation: X:313.29, Y:-15.14, Z:0.07 [[ 9.99948310e-01 -1.01674346e-02 0.00000000e+00 3.13288130e+02] [ 1.01674346e-02 9.99948310e-01 0.00000000e+00 -1.51435679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.36795146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42037174300003 meters Centerline goodness : 0.979065 with order 1 Centerline is valid? [True, True] Translation: X:313.35, Y:-15.15, Z:0.07 [[ 9.99965452e-01 -8.31227057e-03 0.00000000e+00 3.13349878e+02] [ 8.31227057e-03 9.99965452e-01 0.00000000e+00 -1.51478747e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.13845216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.480371743 meters Centerline goodness : 0.979394 with order 1 Centerline is valid? [True, True] Translation: X:313.41, Y:-15.15, Z:0.07 [[ 9.99963582e-01 -8.53426545e-03 0.00000000e+00 3.13412339e+02] [ 8.53426545e-03 9.99963582e-01 0.00000000e+00 -1.51504300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.19781531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.540371743 meters Centerline goodness : 0.978733 with order 1 Centerline is valid? [True, True] Translation: X:313.47, Y:-15.15, Z:0.07 [[ 9.99971569e-01 -7.54057810e-03 0.00000000e+00 3.13473058e+02] [ 7.54057810e-03 9.99971569e-01 0.00000000e+00 -1.51537337e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.92241212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.600371743 meters Centerline goodness : 0.979013 with order 1 Centerline is valid? [True, True] Translation: X:313.54, Y:-15.16, Z:0.07 [[ 9.99984153e-01 -5.62978135e-03 0.00000000e+00 3.13535531e+02] [ 5.62978135e-03 9.99984153e-01 0.00000000e+00 -1.51555642e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.17591985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.660371743 meters Centerline goodness : 0.979014 with order 1 Centerline is valid? [True, True] Translation: X:313.60, Y:-15.16, Z:0.07 [[ 9.99998943e-01 -1.45411246e-03 0.00000000e+00 3.13597737e+02] [ 1.45411246e-03 9.99998943e-01 0.00000000e+00 -1.51581921e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.18244124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.720371743 meters Centerline goodness : 0.978205 with order 1 Centerline is valid? [True, True] Translation: X:313.66, Y:-15.16, Z:0.07 [[ 9.99998967e-01 1.43761370e-03 0.00000000e+00 3.13658956e+02] [-1.43761370e-03 9.99998967e-01 0.00000000e+00 -1.51608082e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.05947665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.780371743 meters Centerline goodness : 0.979539 with order 1 Centerline is valid? [True, True] Translation: X:313.72, Y:-15.16, Z:0.07 [[ 9.99995774e-01 2.90708263e-03 0.00000000e+00 3.13718565e+02] [-2.90708263e-03 9.99995774e-01 0.00000000e+00 -1.51637637e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80113287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.840371743 meters Centerline goodness : 0.979337 with order 1 Centerline is valid? [True, True] Translation: X:313.78, Y:-15.17, Z:0.07 [[ 9.99995761e-01 2.91177984e-03 0.00000000e+00 3.13778463e+02] [-2.91177984e-03 9.99995761e-01 0.00000000e+00 -1.51653938e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.88602534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.900371743 meters Centerline goodness : 0.982280 with order 1 Centerline is valid? [True, True] Translation: X:313.84, Y:-15.17, Z:0.07 [[ 9.99999377e-01 1.11649479e-03 0.00000000e+00 3.13837830e+02] [-1.11649479e-03 9.99999377e-01 0.00000000e+00 -1.51673768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.58818187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.960371743 meters Centerline goodness : 0.982411 with order 1 Centerline is valid? [True, True] Translation: X:313.90, Y:-15.17, Z:0.07 [[ 9.99999768e-01 -6.80495101e-04 0.00000000e+00 3.13897243e+02] [ 6.80495101e-04 9.99999768e-01 0.00000000e+00 -1.51719433e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.64857050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.020371743 meters Centerline goodness : 0.982974 with order 1 Centerline is valid? [True, True] Translation: X:313.96, Y:-15.17, Z:0.07 [[ 9.99999978e-01 -2.07516764e-04 0.00000000e+00 3.13957943e+02] [ 2.07516764e-04 9.99999978e-01 0.00000000e+00 -1.51742663e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.85173041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.080371743 meters Centerline goodness : 0.981763 with order 1 Centerline is valid? [True, True] Translation: X:314.02, Y:-15.18, Z:0.07 [[ 9.99999881e-01 4.88704035e-04 0.00000000e+00 3.14018747e+02] [-4.88704035e-04 9.99999881e-01 0.00000000e+00 -1.51785113e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77827762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.140371743 meters Centerline goodness : 0.980861 with order 1 Centerline is valid? [True, True] Translation: X:314.08, Y:-15.18, Z:0.07 [[ 9.99998759e-01 1.57561578e-03 0.00000000e+00 3.14079515e+02] [-1.57561578e-03 9.99998759e-01 0.00000000e+00 -1.51831730e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.59921207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.200371743 meters Centerline goodness : 0.980785 with order 1 Centerline is valid? [True, True] Translation: X:314.14, Y:-15.19, Z:0.07 [[ 9.99987243e-01 5.05107113e-03 0.00000000e+00 3.14139152e+02] [-5.05107113e-03 9.99987243e-01 0.00000000e+00 -1.51861031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.83567227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.260371743 meters Centerline goodness : 0.980872 with order 1 Centerline is valid? [True, True] Translation: X:314.20, Y:-15.19, Z:0.07 [[ 9.99949796e-01 1.00202544e-02 0.00000000e+00 3.14198211e+02] [-1.00202544e-02 9.99949796e-01 0.00000000e+00 -1.51884071e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.03944442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.320371743 meters Centerline goodness : 0.981018 with order 1 Centerline is valid? [True, True] Translation: X:314.26, Y:-15.19, Z:0.07 [[ 9.99897775e-01 1.42982706e-02 0.00000000e+00 3.14256833e+02] [-1.42982706e-02 9.99897775e-01 0.00000000e+00 -1.51903714e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.31476642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.380371743 meters Centerline goodness : 0.984789 with order 1 Centerline is valid? [True, True] Translation: X:314.32, Y:-15.18, Z:0.08 [[ 9.99954139e-01 9.57704368e-03 0.00000000e+00 3.14315647e+02] [-9.57704368e-03 9.99954139e-01 0.00000000e+00 -1.51835971e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.59475139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.440371743 meters Centerline goodness : 0.976503 with order 1 Centerline is valid? [True, True] Translation: X:314.37, Y:-15.18, Z:0.07 [[ 9.99958695e-01 9.08895549e-03 0.00000000e+00 3.14374469e+02] [-9.08895549e-03 9.99958695e-01 0.00000000e+00 -1.51802967e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.41280994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.500371743 meters Centerline goodness : 0.983674 with order 1 Centerline is valid? [True, True] Translation: X:314.43, Y:-15.19, Z:0.08 [[ 9.99891657e-01 1.47198722e-02 0.00000000e+00 3.14432010e+02] [-1.47198722e-02 9.99891657e-01 0.00000000e+00 -1.51907509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.59062099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.560371743 meters Centerline goodness : 0.984946 with order 1 Centerline is valid? [True, True] Translation: X:314.49, Y:-15.19, Z:0.08 [[ 9.99965292e-01 8.33159860e-03 0.00000000e+00 3.14490912e+02] [-8.33159860e-03 9.99965292e-01 0.00000000e+00 -1.51896148e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.66419666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.620371743 meters Centerline goodness : 0.978233 with order 1 Centerline is valid? [True, True] Translation: X:314.55, Y:-15.19, Z:0.08 [[ 9.99999972e-01 -2.37784978e-04 0.00000000e+00 3.14549890e+02] [ 2.37784978e-04 9.99999972e-01 0.00000000e+00 -1.51934777e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.58785034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.680371743 meters Centerline goodness : 0.987164 with order 1 Centerline is valid? [True, True] Translation: X:314.61, Y:-15.20, Z:0.08 [[ 9.99958964e-01 -9.05929957e-03 0.00000000e+00 3.14609907e+02] [ 9.05929957e-03 9.99958964e-01 0.00000000e+00 -1.51987309e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.78061864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.740371743 meters Centerline goodness : 0.986485 with order 1 Centerline is valid? [True, True] Translation: X:314.67, Y:-15.20, Z:0.08 [[ 9.99929144e-01 -1.19040696e-02 0.00000000e+00 3.14671589e+02] [ 1.19040696e-02 9.99929144e-01 0.00000000e+00 -1.52029523e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.81698661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.800371743 meters Centerline goodness : 0.988067 with order 1 Centerline is valid? [True, True] Translation: X:314.73, Y:-15.21, Z:0.08 [[ 9.99826739e-01 -1.86142826e-02 0.00000000e+00 3.14733824e+02] [ 1.86142826e-02 9.99826739e-01 0.00000000e+00 -1.52086932e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.78129016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86037174300003 meters Centerline goodness : 0.985477 with order 1 Centerline is valid? [True, True] Translation: X:314.79, Y:-15.23, Z:0.08 [[ 9.99897237e-01 -1.43357849e-02 0.00000000e+00 3.14794880e+02] [ 1.43357849e-02 9.99897237e-01 0.00000000e+00 -1.52283487e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.41537383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92037174300003 meters Centerline goodness : 0.988426 with order 1 Centerline is valid? [True, True] Translation: X:314.86, Y:-15.22, Z:0.08 [[ 9.99734343e-01 -2.30487260e-02 0.00000000e+00 3.14857331e+02] [ 2.30487260e-02 9.99734343e-01 0.00000000e+00 -1.52220786e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.07911069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.980371743 meters Centerline goodness : 0.989171 with order 1 Centerline is valid? [True, True] Translation: X:314.92, Y:-15.23, Z:0.08 [[ 9.99696149e-01 -2.46497456e-02 0.00000000e+00 3.14920726e+02] [ 2.46497456e-02 9.99696149e-01 0.00000000e+00 -1.52255300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.12440180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.040371743 meters Centerline goodness : 0.989472 with order 1 Centerline is valid? [True, True] Translation: X:314.98, Y:-15.23, Z:0.08 [[ 9.99648781e-01 -2.65012051e-02 0.00000000e+00 3.14983841e+02] [ 2.65012051e-02 9.99648781e-01 0.00000000e+00 -1.52292546e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.30984593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.100371743 meters Centerline goodness : 0.988757 with order 1 Centerline is valid? [True, True] Translation: X:315.05, Y:-15.23, Z:0.08 [[ 9.99574662e-01 -2.91632610e-02 0.00000000e+00 3.15047497e+02] [ 2.91632610e-02 9.99574662e-01 0.00000000e+00 -1.52280149e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.05633149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.160371743 meters Centerline goodness : 0.980399 with order 1 Centerline is valid? [True, True] Translation: X:315.11, Y:-15.24, Z:0.08 [[ 9.99688897e-01 -2.49421201e-02 0.00000000e+00 3.15109047e+02] [ 2.49421201e-02 9.99688897e-01 0.00000000e+00 -1.52367983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.62566917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.220371743 meters Centerline goodness : 0.988844 with order 1 Centerline is valid? [True, True] Translation: X:315.17, Y:-15.24, Z:0.08 [[ 9.99621182e-01 -2.75225915e-02 0.00000000e+00 3.15171736e+02] [ 2.75225915e-02 9.99621182e-01 0.00000000e+00 -1.52370295e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.89463786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.280371743 meters Centerline goodness : 0.983458 with order 1 Centerline is valid? [True, True] Translation: X:315.23, Y:-15.26, Z:0.08 [[ 9.99828623e-01 -1.85128503e-02 0.00000000e+00 3.15233621e+02] [ 1.85128503e-02 9.99828623e-01 0.00000000e+00 -1.52577576e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.40599796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.340371743 meters Centerline goodness : 0.982365 with order 1 Centerline is valid? [True, True] Translation: X:315.30, Y:-15.26, Z:0.08 [[ 9.99789091e-01 -2.05371485e-02 0.00000000e+00 3.15295827e+02] [ 2.05371485e-02 9.99789091e-01 0.00000000e+00 -1.52642119e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.19078086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.400371743 meters Centerline goodness : 0.982674 with order 1 Centerline is valid? [True, True] Translation: X:315.36, Y:-15.27, Z:0.08 [[ 9.99658098e-01 -2.61474254e-02 0.00000000e+00 3.15358383e+02] [ 2.61474254e-02 9.99658098e-01 0.00000000e+00 -1.52700413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.14917701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.460371743 meters Centerline goodness : 0.981950 with order 1 Centerline is valid? [True, True] Translation: X:315.42, Y:-15.28, Z:0.08 [[ 9.99475626e-01 -3.23801426e-02 0.00000000e+00 3.15421017e+02] [ 3.23801426e-02 9.99475626e-01 0.00000000e+00 -1.52771621e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.09564777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.520371743 meters Centerline goodness : 0.982978 with order 1 Centerline is valid? [True, True] Translation: X:315.48, Y:-15.28, Z:0.08 [[ 9.99277121e-01 -3.80162576e-02 0.00000000e+00 3.15484149e+02] [ 3.80162576e-02 9.99277121e-01 0.00000000e+00 -1.52809199e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.05501136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.580371743 meters Centerline goodness : 0.981331 with order 1 Centerline is valid? [True, True] Translation: X:315.55, Y:-15.29, Z:0.08 [[ 9.99059331e-01 -4.33641815e-02 0.00000000e+00 3.15546852e+02] [ 4.33641815e-02 9.99059331e-01 0.00000000e+00 -1.52873513e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.24756575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.640371743 meters Centerline goodness : 0.982167 with order 1 Centerline is valid? [True, True] Translation: X:315.61, Y:-15.29, Z:0.08 [[ 9.98948854e-01 -4.58387054e-02 0.00000000e+00 3.15608739e+02] [ 4.58387054e-02 9.98948854e-01 0.00000000e+00 -1.52919997e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.25836498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.700371743 meters Centerline goodness : 0.982112 with order 1 Centerline is valid? [True, True] Translation: X:315.67, Y:-15.30, Z:0.08 [[ 9.99065616e-01 -4.32191468e-02 0.00000000e+00 3.15671792e+02] [ 4.32191468e-02 9.99065616e-01 0.00000000e+00 -1.52978091e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.23216450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.760371743 meters Centerline goodness : 0.981385 with order 1 Centerline is valid? [True, True] Translation: X:315.73, Y:-15.30, Z:0.08 [[ 9.99211030e-01 -3.97154464e-02 0.00000000e+00 3.15733626e+02] [ 3.97154464e-02 9.99211030e-01 0.00000000e+00 -1.53019902e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.35269399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.820371743 meters Centerline goodness : 0.981119 with order 1 Centerline is valid? [True, True] Translation: X:315.80, Y:-15.31, Z:0.08 [[ 9.99424523e-01 -3.39208194e-02 0.00000000e+00 3.15796264e+02] [ 3.39208194e-02 9.99424523e-01 0.00000000e+00 -1.53087473e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.21466643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.880371743 meters Centerline goodness : 0.980384 with order 1 Centerline is valid? [True, True] Translation: X:315.86, Y:-15.31, Z:0.08 [[ 9.99500723e-01 -3.15959491e-02 0.00000000e+00 3.15858194e+02] [ 3.15959491e-02 9.99500723e-01 0.00000000e+00 -1.53121457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.30583065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.940371743 meters Centerline goodness : 0.980176 with order 1 Centerline is valid? [True, True] Translation: X:315.92, Y:-15.32, Z:0.08 [[ 9.99622651e-01 -2.74691813e-02 0.00000000e+00 3.15920925e+02] [ 2.74691813e-02 9.99622651e-01 0.00000000e+00 -1.53167675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.38596678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.000371743 meters Centerline goodness : 0.984954 with order 1 Centerline is valid? [True, True] Translation: X:315.98, Y:-15.31, Z:0.09 [[ 9.99521696e-01 -3.09253897e-02 0.00000000e+00 3.15984470e+02] [ 3.09253897e-02 9.99521696e-01 0.00000000e+00 -1.53111340e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.69874444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.060371743 meters Centerline goodness : 0.984325 with order 1 Centerline is valid? [True, True] Translation: X:316.05, Y:-15.32, Z:0.09 [[ 9.99615931e-01 -2.77126585e-02 0.00000000e+00 3.16047412e+02] [ 2.77126585e-02 9.99615931e-01 0.00000000e+00 -1.53180243e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.72638030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.120371743 meters Centerline goodness : 0.979390 with order 1 Centerline is valid? [True, True] Translation: X:316.11, Y:-15.33, Z:0.09 [[ 9.99798891e-01 -2.00543435e-02 0.00000000e+00 3.16109556e+02] [ 2.00543435e-02 9.99798891e-01 0.00000000e+00 -1.53316487e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.69540029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.180371743 meters Centerline goodness : 0.984791 with order 1 Centerline is valid? [True, True] Translation: X:316.17, Y:-15.33, Z:0.09 [[ 9.99636851e-01 -2.69474563e-02 0.00000000e+00 3.16171443e+02] [ 2.69474563e-02 9.99636851e-01 0.00000000e+00 -1.53298688e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.81125222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.240371743 meters Centerline goodness : 0.980426 with order 1 Centerline is valid? [True, True] Translation: X:316.23, Y:-15.35, Z:0.09 [[ 9.99749073e-01 -2.24006733e-02 0.00000000e+00 3.16233041e+02] [ 2.24006733e-02 9.99749073e-01 0.00000000e+00 -1.53457688e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.04176833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.300371743 meters Centerline goodness : 0.981342 with order 1 Centerline is valid? [True, True] Translation: X:316.29, Y:-15.35, Z:0.09 [[ 9.99764197e-01 -2.17152097e-02 0.00000000e+00 3.16294472e+02] [ 2.17152097e-02 9.99764197e-01 0.00000000e+00 -1.53529151e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.77441167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36037174300003 meters Centerline goodness : 0.980664 with order 1 Centerline is valid? [True, True] Translation: X:316.36, Y:-15.36, Z:0.09 [[ 9.99734707e-01 -2.30329225e-02 0.00000000e+00 3.16356503e+02] [ 2.30329225e-02 9.99734707e-01 0.00000000e+00 -1.53614037e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.97881915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42037174300003 meters Centerline goodness : 0.980290 with order 1 Centerline is valid? [True, True] Translation: X:316.42, Y:-15.37, Z:0.09 [[ 9.99744075e-01 -2.26226405e-02 0.00000000e+00 3.16419210e+02] [ 2.26226405e-02 9.99744075e-01 0.00000000e+00 -1.53684999e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.85150302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.480371743 meters Centerline goodness : 0.979007 with order 1 Centerline is valid? [True, True] Translation: X:316.48, Y:-15.38, Z:0.09 [[ 9.99771533e-01 -2.13747861e-02 0.00000000e+00 3.16480658e+02] [ 2.13747861e-02 9.99771533e-01 0.00000000e+00 -1.53769218e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.94840928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.540371743 meters Centerline goodness : 0.978681 with order 1 Centerline is valid? [True, True] Translation: X:316.54, Y:-15.39, Z:0.09 [[ 9.99837469e-01 -1.80287375e-02 0.00000000e+00 3.16543392e+02] [ 1.80287375e-02 9.99837469e-01 0.00000000e+00 -1.53850038e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.56977062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.600371743 meters Centerline goodness : 0.978367 with order 1 Centerline is valid? [True, True] Translation: X:316.61, Y:-15.39, Z:0.09 [[ 9.99854086e-01 -1.70823501e-02 0.00000000e+00 3.16605817e+02] [ 1.70823501e-02 9.99854086e-01 0.00000000e+00 -1.53912571e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.53902981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.660371743 meters Centerline goodness : 0.977552 with order 1 Centerline is valid? [True, True] Translation: X:316.67, Y:-15.40, Z:0.09 [[ 9.99914567e-01 -1.30712873e-02 0.00000000e+00 3.16668095e+02] [ 1.30712873e-02 9.99914567e-01 0.00000000e+00 -1.53979721e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.52344659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.720371743 meters Centerline goodness : 0.977683 with order 1 Centerline is valid? [True, True] Translation: X:316.73, Y:-15.40, Z:0.09 [[ 9.99949025e-01 -1.00969191e-02 0.00000000e+00 3.16729290e+02] [ 1.00969191e-02 9.99949025e-01 0.00000000e+00 -1.54034001e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.65099259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.780371743 meters Centerline goodness : 0.977983 with order 1 Centerline is valid? [True, True] Translation: X:316.79, Y:-15.41, Z:0.09 [[ 9.99985532e-01 -5.37929000e-03 0.00000000e+00 3.16790772e+02] [ 5.37929000e-03 9.99985532e-01 0.00000000e+00 -1.54116374e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.75584023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.840371743 meters Centerline goodness : 0.977409 with order 1 Centerline is valid? [True, True] Translation: X:316.85, Y:-15.42, Z:0.09 [[ 9.99993872e-01 -3.50071757e-03 0.00000000e+00 3.16852687e+02] [ 3.50071757e-03 9.99993872e-01 0.00000000e+00 -1.54165596e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.74978507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.900371743 meters Centerline goodness : 0.976863 with order 1 Centerline is valid? [True, True] Translation: X:316.91, Y:-15.42, Z:0.09 [[ 9.99999984e-01 1.80048356e-04 0.00000000e+00 3.16914143e+02] [-1.80048356e-04 9.99999984e-01 0.00000000e+00 -1.54224566e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.66655875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.960371743 meters Centerline goodness : 0.977310 with order 1 Centerline is valid? [True, True] Translation: X:316.97, Y:-15.43, Z:0.08 [[ 9.99991372e-01 4.15402365e-03 0.00000000e+00 3.16974281e+02] [-4.15402365e-03 9.99991372e-01 0.00000000e+00 -1.54287794e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.43744235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.020371743 meters Centerline goodness : 0.976373 with order 1 Centerline is valid? [True, True] Translation: X:317.03, Y:-15.43, Z:0.08 [[ 9.99980324e-01 6.27304617e-03 0.00000000e+00 3.17034124e+02] [-6.27304617e-03 9.99980324e-01 0.00000000e+00 -1.54331602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.28003731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.080371743 meters Centerline goodness : 0.984364 with order 1 Centerline is valid? [True, True] Translation: X:317.09, Y:-15.42, Z:0.09 [[ 9.99990538e-01 -4.35007768e-03 0.00000000e+00 3.17093810e+02] [ 4.35007768e-03 9.99990538e-01 0.00000000e+00 -1.54245149e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.58144193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.140371743 meters Centerline goodness : 0.982430 with order 1 Centerline is valid? [True, True] Translation: X:317.16, Y:-15.43, Z:0.09 [[ 9.99992198e-01 -3.95022035e-03 0.00000000e+00 3.17155285e+02] [ 3.95022035e-03 9.99992198e-01 0.00000000e+00 -1.54328624e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.73658950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.200371743 meters Centerline goodness : 0.983364 with order 1 Centerline is valid? [True, True] Translation: X:317.22, Y:-15.43, Z:0.09 [[ 9.99982542e-01 -5.90901060e-03 0.00000000e+00 3.17216010e+02] [ 5.90901060e-03 9.99982542e-01 0.00000000e+00 -1.54346575e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.70862846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.260371743 meters Centerline goodness : 0.984870 with order 1 Centerline is valid? [True, True] Translation: X:317.28, Y:-15.44, Z:0.09 [[ 9.99969954e-01 -7.75179267e-03 0.00000000e+00 3.17278278e+02] [ 7.75179267e-03 9.99969954e-01 0.00000000e+00 -1.54380978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.80721571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.320371743 meters Centerline goodness : 0.979318 with order 1 Centerline is valid? [True, True] Translation: X:317.34, Y:-15.45, Z:0.09 [[ 9.99985161e-01 -5.44765924e-03 0.00000000e+00 3.17339298e+02] [ 5.44765924e-03 9.99985161e-01 0.00000000e+00 -1.54461432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.71540468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.380371743 meters Centerline goodness : 0.984860 with order 1 Centerline is valid? [True, True] Translation: X:317.40, Y:-15.44, Z:0.09 [[ 9.99905812e-01 -1.37246656e-02 0.00000000e+00 3.17401972e+02] [ 1.37246656e-02 9.99905812e-01 0.00000000e+00 -1.54402106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.81814026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.440371743 meters Centerline goodness : 0.973828 with order 1 Centerline is valid? [True, True] Translation: X:317.46, Y:-15.44, Z:0.09 [[ 9.99833225e-01 -1.82625915e-02 0.00000000e+00 3.17464381e+02] [ 1.82625915e-02 9.99833225e-01 0.00000000e+00 -1.54371963e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.96235851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.500371743 meters Centerline goodness : 0.979538 with order 1 Centerline is valid? [True, True] Translation: X:317.53, Y:-15.45, Z:0.09 [[ 9.99899437e-01 -1.41815514e-02 0.00000000e+00 3.17526522e+02] [ 1.41815514e-02 9.99899437e-01 0.00000000e+00 -1.54481805e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.03110171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.560371743 meters Centerline goodness : 0.980170 with order 1 Centerline is valid? [True, True] Translation: X:317.59, Y:-15.45, Z:0.09 [[ 9.99896018e-01 -1.44206058e-02 0.00000000e+00 3.17589016e+02] [ 1.44206058e-02 9.99896018e-01 0.00000000e+00 -1.54485332e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.88781675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.620371743 meters Centerline goodness : 0.980053 with order 1 Centerline is valid? [True, True] Translation: X:317.65, Y:-15.45, Z:0.09 [[ 9.99904169e-01 -1.38438696e-02 0.00000000e+00 3.17651190e+02] [ 1.38438696e-02 9.99904169e-01 0.00000000e+00 -1.54493431e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.01965742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.680371743 meters Centerline goodness : 0.984323 with order 1 Centerline is valid? [True, True] Translation: X:317.71, Y:-15.44, Z:0.09 [[ 9.99814624e-01 -1.92540403e-02 0.00000000e+00 3.17714296e+02] [ 1.92540403e-02 9.99814624e-01 0.00000000e+00 -1.54427926e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.88519350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.740371743 meters Centerline goodness : 0.983345 with order 1 Centerline is valid? [True, True] Translation: X:317.78, Y:-15.44, Z:0.09 [[ 9.99742631e-01 -2.26863935e-02 0.00000000e+00 3.17777071e+02] [ 2.26863935e-02 9.99742631e-01 0.00000000e+00 -1.54416639e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.88139579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.800371743 meters Centerline goodness : 0.985914 with order 1 Centerline is valid? [True, True] Translation: X:317.84, Y:-15.44, Z:0.09 [[ 9.99661087e-01 -2.60328747e-02 0.00000000e+00 3.17840107e+02] [ 2.60328747e-02 9.99661087e-01 0.00000000e+00 -1.54402247e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.71417132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86037174300003 meters Centerline goodness : 0.979254 with order 1 Centerline is valid? [True, True] Translation: X:317.90, Y:-15.43, Z:0.09 [[ 9.99433918e-01 -3.36428948e-02 0.00000000e+00 3.17902306e+02] [ 3.36428948e-02 9.99433918e-01 0.00000000e+00 -1.54305896e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.73054383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92037174300003 meters Centerline goodness : 0.984083 with order 1 Centerline is valid? [True, True] Translation: X:317.96, Y:-15.44, Z:0.09 [[ 9.99571948e-01 -2.92561377e-02 0.00000000e+00 3.17964460e+02] [ 2.92561377e-02 9.99571948e-01 0.00000000e+00 -1.54418794e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.12883963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.980371743 meters Centerline goodness : 0.990776 with order 1 Centerline is valid? [True, True] Translation: X:318.03, Y:-15.43, Z:0.09 [[ 9.99206447e-01 -3.98306052e-02 0.00000000e+00 3.18026563e+02] [ 3.98306052e-02 9.99206447e-01 0.00000000e+00 -1.54328165e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.59037619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.040371743 meters Centerline goodness : 0.979071 with order 1 Centerline is valid? [True, True] Translation: X:318.09, Y:-15.45, Z:0.09 [[ 9.99709250e-01 -2.41125418e-02 0.00000000e+00 3.18087322e+02] [ 2.41125418e-02 9.99709250e-01 0.00000000e+00 -1.54528405e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.55810462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.100371743 meters Centerline goodness : 0.980499 with order 1 Centerline is valid? [True, True] Translation: X:318.15, Y:-15.45, Z:0.08 [[ 9.99645884e-01 -2.66102702e-02 0.00000000e+00 3.18148373e+02] [ 2.66102702e-02 9.99645884e-01 0.00000000e+00 -1.54539555e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.48453554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.160371743 meters Centerline goodness : 0.981887 with order 1 Centerline is valid? [True, True] Translation: X:318.21, Y:-15.45, Z:0.09 [[ 9.99504816e-01 -3.14662264e-02 0.00000000e+00 3.18210330e+02] [ 3.14662264e-02 9.99504816e-01 0.00000000e+00 -1.54524384e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.88672551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.220371743 meters Centerline goodness : 0.981691 with order 1 Centerline is valid? [True, True] Translation: X:318.27, Y:-15.45, Z:0.09 [[ 9.99383461e-01 -3.51098050e-02 0.00000000e+00 3.18271446e+02] [ 3.51098050e-02 9.99383461e-01 0.00000000e+00 -1.54524598e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.35146391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.280371743 meters Centerline goodness : 0.974050 with order 1 Centerline is valid? [True, True] Translation: X:318.33, Y:-15.44, Z:0.09 [[ 9.99074327e-01 -4.30173167e-02 0.00000000e+00 3.18334300e+02] [ 4.30173167e-02 9.99074327e-01 0.00000000e+00 -1.54424245e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.01587257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.340371743 meters Centerline goodness : 0.982467 with order 1 Centerline is valid? [True, True] Translation: X:318.40, Y:-15.46, Z:0.09 [[ 9.99494498e-01 -3.17922638e-02 0.00000000e+00 3.18395499e+02] [ 3.17922638e-02 9.99494498e-01 0.00000000e+00 -1.54598040e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.89232442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.400371743 meters Centerline goodness : 0.982348 with order 1 Centerline is valid? [True, True] Translation: X:318.46, Y:-15.46, Z:0.09 [[ 9.99597503e-01 -2.83695779e-02 0.00000000e+00 3.18458239e+02] [ 2.83695779e-02 9.99597503e-01 0.00000000e+00 -1.54616622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.74622189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.460371743 meters Centerline goodness : 0.991523 with order 1 Centerline is valid? [True, True] Translation: X:318.52, Y:-15.45, Z:0.09 [[ 9.99246499e-01 -3.88128100e-02 0.00000000e+00 3.18520462e+02] [ 3.88128100e-02 9.99246499e-01 0.00000000e+00 -1.54461768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.55109237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.520371743 meters Centerline goodness : 0.978078 with order 1 Centerline is valid? [True, True] Translation: X:318.58, Y:-15.45, Z:0.09 [[ 9.99532926e-01 -3.05602735e-02 0.00000000e+00 3.18581307e+02] [ 3.05602735e-02 9.99532926e-01 0.00000000e+00 -1.54478611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.91679459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.580371743 meters Centerline goodness : 0.979343 with order 1 Centerline is valid? [True, True] Translation: X:318.64, Y:-15.45, Z:0.09 [[ 9.99588873e-01 -2.86720206e-02 0.00000000e+00 3.18643457e+02] [ 2.86720206e-02 9.99588873e-01 0.00000000e+00 -1.54463874e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.78641852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.640371743 meters Centerline goodness : 0.987139 with order 1 Centerline is valid? [True, True] Translation: X:318.71, Y:-15.45, Z:0.09 [[ 9.99868931e-01 -1.61901201e-02 0.00000000e+00 3.18705756e+02] [ 1.61901201e-02 9.99868931e-01 0.00000000e+00 -1.54517855e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.08085388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.700371743 meters Centerline goodness : 0.979355 with order 1 Centerline is valid? [True, True] Translation: X:318.77, Y:-15.44, Z:0.09 [[ 9.99888836e-01 -1.49102344e-02 0.00000000e+00 3.18768919e+02] [ 1.49102344e-02 9.99888836e-01 0.00000000e+00 -1.54443597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.09123884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.760371743 meters Centerline goodness : 0.979110 with order 1 Centerline is valid? [True, True] Translation: X:318.83, Y:-15.45, Z:0.09 [[ 9.99923969e-01 -1.23310966e-02 0.00000000e+00 3.18829702e+02] [ 1.23310966e-02 9.99923969e-01 0.00000000e+00 -1.54455555e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.10364767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.820371743 meters Centerline goodness : 0.987090 with order 1 Centerline is valid? [True, True] Translation: X:318.89, Y:-15.45, Z:0.09 [[ 9.99911599e-01 -1.32963824e-02 0.00000000e+00 3.18891390e+02] [ 1.32963824e-02 9.99911599e-01 0.00000000e+00 -1.54476637e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.06733758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.880371743 meters Centerline goodness : 0.980426 with order 1 Centerline is valid? [True, True] Translation: X:318.95, Y:-15.45, Z:0.09 [[ 9.99834983e-01 -1.81660891e-02 0.00000000e+00 3.18953870e+02] [ 1.81660891e-02 9.99834983e-01 0.00000000e+00 -1.54450441e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.82873953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.940371743 meters Centerline goodness : 0.986425 with order 1 Centerline is valid? [True, True] Translation: X:319.02, Y:-15.45, Z:0.09 [[ 9.99873651e-01 -1.58959758e-02 0.00000000e+00 3.19015257e+02] [ 1.58959758e-02 9.99873651e-01 0.00000000e+00 -1.54509101e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.07692248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.000371743 meters Centerline goodness : 0.977983 with order 1 Centerline is valid? [True, True] Translation: X:319.08, Y:-15.45, Z:0.09 [[ 9.99803572e-01 -1.98196362e-02 0.00000000e+00 3.19076880e+02] [ 1.98196362e-02 9.99803572e-01 0.00000000e+00 -1.54506039e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.99687190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.060371743 meters Centerline goodness : 0.980306 with order 1 Centerline is valid? [True, True] Translation: X:319.14, Y:-15.47, Z:0.09 [[ 9.99975137e-01 -7.05159442e-03 0.00000000e+00 3.19136422e+02] [ 7.05159442e-03 9.99975137e-01 0.00000000e+00 -1.54742265e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.72711339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.120371743 meters Centerline goodness : 0.981690 with order 1 Centerline is valid? [True, True] Translation: X:319.20, Y:-15.48, Z:0.09 [[ 9.99963766e-01 -8.51273156e-03 0.00000000e+00 3.19198391e+02] [ 8.51273156e-03 9.99963766e-01 0.00000000e+00 -1.54765385e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.73325277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.180371743 meters Centerline goodness : 0.980193 with order 1 Centerline is valid? [True, True] Translation: X:319.26, Y:-15.48, Z:0.08 [[ 9.99968422e-01 -7.94699285e-03 0.00000000e+00 3.19259194e+02] [ 7.94699285e-03 9.99968422e-01 0.00000000e+00 -1.54828072e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.19105407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.240371743 meters Centerline goodness : 0.986990 with order 1 Centerline is valid? [True, True] Translation: X:319.32, Y:-15.46, Z:0.09 [[ 9.99732709e-01 -2.31194657e-02 0.00000000e+00 3.19322580e+02] [ 2.31194657e-02 9.99732709e-01 0.00000000e+00 -1.54634489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.83615612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.300371743 meters Centerline goodness : 0.983926 with order 1 Centerline is valid? [True, True] Translation: X:319.38, Y:-15.48, Z:0.08 [[ 9.99971784e-01 -7.51208067e-03 0.00000000e+00 3.19383425e+02] [ 7.51208067e-03 9.99971784e-01 0.00000000e+00 -1.54832267e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.00620161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36037174300003 meters Centerline goodness : 0.983897 with order 1 Centerline is valid? [True, True] Translation: X:319.45, Y:-15.48, Z:0.08 [[ 9.99987456e-01 -5.00869733e-03 0.00000000e+00 3.19445851e+02] [ 5.00869733e-03 9.99987456e-01 0.00000000e+00 -1.54828964e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.30154276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42037174300003 meters Centerline goodness : 0.988458 with order 1 Centerline is valid? [True, True] Translation: X:319.51, Y:-15.47, Z:0.09 [[ 9.99860927e-01 -1.66771427e-02 0.00000000e+00 3.19508804e+02] [ 1.66771427e-02 9.99860927e-01 0.00000000e+00 -1.54676080e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.09745911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.480371743 meters Centerline goodness : 0.985165 with order 1 Centerline is valid? [True, True] Translation: X:319.57, Y:-15.48, Z:0.09 [[ 9.99990323e-01 -4.39935682e-03 0.00000000e+00 3.19569700e+02] [ 4.39935682e-03 9.99990323e-01 0.00000000e+00 -1.54819075e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.01985694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.540371743 meters Centerline goodness : 0.984526 with order 1 Centerline is valid? [True, True] Translation: X:319.63, Y:-15.48, Z:0.09 [[ 9.99996653e-01 -2.58739062e-03 0.00000000e+00 3.19631546e+02] [ 2.58739062e-03 9.99996653e-01 0.00000000e+00 -1.54831433e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.76303385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.600371743 meters Centerline goodness : 0.984867 with order 1 Centerline is valid? [True, True] Translation: X:319.69, Y:-15.48, Z:0.09 [[ 9.99999695e-01 7.81204927e-04 0.00000000e+00 3.19692835e+02] [-7.81204927e-04 9.99999695e-01 0.00000000e+00 -1.54833017e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.76729095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.660371743 meters Centerline goodness : 0.985289 with order 1 Centerline is valid? [True, True] Translation: X:319.75, Y:-15.48, Z:0.09 [[ 9.99986565e-01 5.18352721e-03 0.00000000e+00 3.19752182e+02] [-5.18352721e-03 9.99986565e-01 0.00000000e+00 -1.54849019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.75015836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.720371743 meters Centerline goodness : 0.985298 with order 1 Centerline is valid? [True, True] Translation: X:319.81, Y:-15.48, Z:0.09 [[ 9.99934152e-01 1.14756591e-02 0.00000000e+00 3.19810970e+02] [-1.14756591e-02 9.99934152e-01 0.00000000e+00 -1.54836742e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.80798856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.780371743 meters Centerline goodness : 0.986055 with order 1 Centerline is valid? [True, True] Translation: X:319.87, Y:-15.49, Z:0.09 [[ 9.99888012e-01 1.49653810e-02 0.00000000e+00 3.19868554e+02] [-1.49653810e-02 9.99888012e-01 0.00000000e+00 -1.54850360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.80997475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.840371743 meters Centerline goodness : 0.985558 with order 1 Centerline is valid? [True, True] Translation: X:319.93, Y:-15.48, Z:0.09 [[ 9.99794521e-01 2.02710598e-02 0.00000000e+00 3.19927329e+02] [-2.02710598e-02 9.99794521e-01 0.00000000e+00 -1.54843145e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.07201438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.900371743 meters Centerline goodness : 0.986561 with order 1 Centerline is valid? [True, True] Translation: X:319.99, Y:-15.48, Z:0.09 [[ 9.99631096e-01 2.71601029e-02 0.00000000e+00 3.19985770e+02] [-2.71601029e-02 9.99631096e-01 0.00000000e+00 -1.54836724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.14508619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.960371743 meters Centerline goodness : 0.986515 with order 1 Centerline is valid? [True, True] Translation: X:320.04, Y:-15.49, Z:0.09 [[ 9.99456984e-01 3.29505111e-02 0.00000000e+00 3.20044519e+02] [-3.29505111e-02 9.99456984e-01 0.00000000e+00 -1.54863557e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.01693115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.020371743 meters Centerline goodness : 0.987709 with order 1 Centerline is valid? [True, True] Translation: X:320.10, Y:-15.49, Z:0.09 [[ 9.99434183e-01 3.36350136e-02 0.00000000e+00 3.20102469e+02] [-3.36350136e-02 9.99434183e-01 0.00000000e+00 -1.54879601e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.94453039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.080371743 meters Centerline goodness : 0.986451 with order 1 Centerline is valid? [True, True] Translation: X:320.16, Y:-15.49, Z:0.09 [[ 9.99495232e-01 3.17691915e-02 0.00000000e+00 3.20160324e+02] [-3.17691915e-02 9.99495232e-01 0.00000000e+00 -1.54912650e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.10673858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.140371743 meters Centerline goodness : 0.986881 with order 1 Centerline is valid? [True, True] Translation: X:320.22, Y:-15.50, Z:0.09 [[ 9.99618687e-01 2.76130675e-02 0.00000000e+00 3.20218960e+02] [-2.76130675e-02 9.99618687e-01 0.00000000e+00 -1.54961812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.08033613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.200371743 meters Centerline goodness : 0.987153 with order 1 Centerline is valid? [True, True] Translation: X:320.28, Y:-15.50, Z:0.09 [[ 9.99807435e-01 1.96237696e-02 0.00000000e+00 3.20276804e+02] [-1.96237696e-02 9.99807435e-01 0.00000000e+00 -1.55007335e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.22170138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.260371743 meters Centerline goodness : 0.986125 with order 1 Centerline is valid? [True, True] Translation: X:320.34, Y:-15.51, Z:0.09 [[ 9.99945820e-01 1.04094413e-02 0.00000000e+00 3.20335367e+02] [-1.04094413e-02 9.99945820e-01 0.00000000e+00 -1.55056359e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.18927518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.320371743 meters Centerline goodness : 0.986459 with order 1 Centerline is valid? [True, True] Translation: X:320.39, Y:-15.51, Z:0.09 [[ 9.99990255e-01 4.41479232e-03 0.00000000e+00 3.20394297e+02] [-4.41479232e-03 9.99990255e-01 0.00000000e+00 -1.55096107e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.16684413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.380371743 meters Centerline goodness : 0.986590 with order 1 Centerline is valid? [True, True] Translation: X:320.45, Y:-15.51, Z:0.09 [[ 9.99995781e-01 -2.90489603e-03 0.00000000e+00 3.20452548e+02] [ 2.90489603e-03 9.99995781e-01 0.00000000e+00 -1.55115702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.40783901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.440371743 meters Centerline goodness : 0.986566 with order 1 Centerline is valid? [True, True] Translation: X:320.51, Y:-15.51, Z:0.09 [[ 9.99991097e-01 -4.21972581e-03 0.00000000e+00 3.20513821e+02] [ 4.21972581e-03 9.99991097e-01 0.00000000e+00 -1.55148305e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.43623421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.500371743 meters Centerline goodness : 0.987563 with order 1 Centerline is valid? [True, True] Translation: X:320.58, Y:-15.52, Z:0.09 [[ 9.99988358e-01 -4.82540314e-03 0.00000000e+00 3.20576198e+02] [ 4.82540314e-03 9.99988358e-01 0.00000000e+00 -1.55156740e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.48500955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.560371743 meters Centerline goodness : 0.987617 with order 1 Centerline is valid? [True, True] Translation: X:320.64, Y:-15.52, Z:0.10 [[ 9.99997107e-01 -2.40551294e-03 0.00000000e+00 3.20638897e+02] [ 2.40551294e-03 9.99997107e-01 0.00000000e+00 -1.55163963e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.50908069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.620371743 meters Centerline goodness : 0.987234 with order 1 Centerline is valid? [True, True] Translation: X:320.70, Y:-15.52, Z:0.10 [[ 9.99999565e-01 9.33248679e-04 0.00000000e+00 3.20699889e+02] [-9.33248679e-04 9.99999565e-01 0.00000000e+00 -1.55184305e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.52544699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.680371743 meters Centerline goodness : 0.987035 with order 1 Centerline is valid? [True, True] Translation: X:320.76, Y:-15.52, Z:0.10 [[ 9.99983896e-01 5.67518099e-03 0.00000000e+00 3.20759486e+02] [-5.67518099e-03 9.99983896e-01 0.00000000e+00 -1.55174503e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.71361547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.740371743 meters Centerline goodness : 0.988731 with order 1 Centerline is valid? [True, True] Translation: X:320.82, Y:-15.52, Z:0.10 [[ 9.99957487e-01 9.22088867e-03 0.00000000e+00 3.20817869e+02] [-9.22088867e-03 9.99957487e-01 0.00000000e+00 -1.55165214e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.68598369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.800371743 meters Centerline goodness : 0.989414 with order 1 Centerline is valid? [True, True] Translation: X:320.88, Y:-15.52, Z:0.09 [[ 9.99907676e-01 1.35882349e-02 0.00000000e+00 3.20877168e+02] [-1.35882349e-02 9.99907676e-01 0.00000000e+00 -1.55175038e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.48871586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86037174300003 meters Centerline goodness : 0.989727 with order 1 Centerline is valid? [True, True] Translation: X:320.93, Y:-15.52, Z:0.10 [[ 9.99915687e-01 1.29853033e-02 0.00000000e+00 3.20934601e+02] [-1.29853033e-02 9.99915687e-01 0.00000000e+00 -1.55172363e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.63255333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92037174300003 meters Centerline goodness : 0.990317 with order 1 Centerline is valid? [True, True] Translation: X:320.99, Y:-15.52, Z:0.09 [[ 9.99843184e-01 1.77089635e-02 0.00000000e+00 3.20993446e+02] [-1.77089635e-02 9.99843184e-01 0.00000000e+00 -1.55185224e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.35269041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.980371743 meters Centerline goodness : 0.990346 with order 1 Centerline is valid? [True, True] Translation: X:321.05, Y:-15.52, Z:0.09 [[ 9.99814825e-01 1.92436060e-02 0.00000000e+00 3.21051039e+02] [-1.92436060e-02 9.99814825e-01 0.00000000e+00 -1.55190080e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.34111895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.040371743 meters Centerline goodness : 0.990099 with order 1 Centerline is valid? [True, True] Translation: X:321.11, Y:-15.52, Z:0.09 [[ 9.99755247e-01 2.21234104e-02 0.00000000e+00 3.21109738e+02] [-2.21234104e-02 9.99755247e-01 0.00000000e+00 -1.55190968e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.29310791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.100371743 meters Centerline goodness : 0.991080 with order 1 Centerline is valid? [True, True] Translation: X:321.17, Y:-15.52, Z:0.09 [[ 9.99682870e-01 2.51825292e-02 0.00000000e+00 3.21168096e+02] [-2.51825292e-02 9.99682870e-01 0.00000000e+00 -1.55207672e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.23824177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.160371743 meters Centerline goodness : 0.990662 with order 1 Centerline is valid? [True, True] Translation: X:321.23, Y:-15.52, Z:0.09 [[ 9.99643992e-01 2.66812649e-02 0.00000000e+00 3.21226736e+02] [-2.66812649e-02 9.99643992e-01 0.00000000e+00 -1.55233610e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.22488258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.220371743 meters Centerline goodness : 0.989731 with order 1 Centerline is valid? [True, True] Translation: X:321.28, Y:-15.53, Z:0.09 [[ 9.99658507e-01 2.61317565e-02 0.00000000e+00 3.21284071e+02] [-2.61317565e-02 9.99658507e-01 0.00000000e+00 -1.55262847e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.36328305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.280371743 meters Centerline goodness : 0.989738 with order 1 Centerline is valid? [True, True] Translation: X:321.34, Y:-15.53, Z:0.09 [[ 9.99683736e-01 2.51481235e-02 0.00000000e+00 3.21342331e+02] [-2.51481235e-02 9.99683736e-01 0.00000000e+00 -1.55316034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.24146972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.340371743 meters Centerline goodness : 0.989703 with order 1 Centerline is valid? [True, True] Translation: X:321.40, Y:-15.54, Z:0.09 [[ 9.99684081e-01 2.51344110e-02 0.00000000e+00 3.21399469e+02] [-2.51344110e-02 9.99684081e-01 0.00000000e+00 -1.55371726e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.00156561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.400371743 meters Centerline goodness : 0.989207 with order 1 Centerline is valid? [True, True] Translation: X:321.46, Y:-15.54, Z:0.09 [[ 9.99647203e-01 2.65606709e-02 0.00000000e+00 3.21458283e+02] [-2.65606709e-02 9.99647203e-01 0.00000000e+00 -1.55425321e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.63781086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.460371743 meters Centerline goodness : 0.989116 with order 1 Centerline is valid? [True, True] Translation: X:321.52, Y:-15.55, Z:0.08 [[ 9.99629124e-01 2.72325826e-02 0.00000000e+00 3.21516400e+02] [-2.72325826e-02 9.99629124e-01 0.00000000e+00 -1.55494791e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.37654852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.520371743 meters Centerline goodness : 0.988838 with order 1 Centerline is valid? [True, True] Translation: X:321.57, Y:-15.56, Z:0.08 [[ 9.99524112e-01 3.08471897e-02 0.00000000e+00 3.21573301e+02] [-3.08471897e-02 9.99524112e-01 0.00000000e+00 -1.55580768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.33738491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.580371743 meters Centerline goodness : 0.989590 with order 1 Centerline is valid? [True, True] Translation: X:321.63, Y:-15.56, Z:0.08 [[ 9.99386900e-01 3.50117714e-02 0.00000000e+00 3.21631718e+02] [-3.50117714e-02 9.99386900e-01 0.00000000e+00 -1.55637641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.35895475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.640371743 meters Centerline goodness : 0.989100 with order 1 Centerline is valid? [True, True] Translation: X:321.69, Y:-15.57, Z:0.08 [[ 9.99224508e-01 3.93749042e-02 0.00000000e+00 3.21689962e+02] [-3.93749042e-02 9.99224508e-01 0.00000000e+00 -1.55711514e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.12751264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.700371743 meters Centerline goodness : 0.987825 with order 1 Centerline is valid? [True, True] Translation: X:321.75, Y:-15.58, Z:0.08 [[ 9.99005248e-01 4.45927682e-02 0.00000000e+00 3.21747672e+02] [-4.45927682e-02 9.99005248e-01 0.00000000e+00 -1.55801049e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.78722682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.760371743 meters Centerline goodness : 0.987428 with order 1 Centerline is valid? [True, True] Translation: X:321.80, Y:-15.59, Z:0.07 [[ 9.98759172e-01 4.98007757e-02 0.00000000e+00 3.21804805e+02] [-4.98007757e-02 9.98759172e-01 0.00000000e+00 -1.55901557e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.31078322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.820371743 meters Centerline goodness : 0.986014 with order 1 Centerline is valid? [True, True] Translation: X:321.86, Y:-15.60, Z:0.07 [[ 9.98491136e-01 5.49131185e-02 0.00000000e+00 3.21862711e+02] [-5.49131185e-02 9.98491136e-01 0.00000000e+00 -1.56011270e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.22218729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.880371743 meters Centerline goodness : 0.985679 with order 1 Centerline is valid? [True, True] Translation: X:321.92, Y:-15.61, Z:0.07 [[ 9.98505451e-01 5.46522204e-02 0.00000000e+00 3.21920681e+02] [-5.46522204e-02 9.98505451e-01 0.00000000e+00 -1.56092478e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.35291554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.940371743 meters Centerline goodness : 0.985172 with order 1 Centerline is valid? [True, True] Translation: X:321.98, Y:-15.62, Z:0.07 [[ 9.98614111e-01 5.26294285e-02 0.00000000e+00 3.21978766e+02] [-5.26294285e-02 9.98614111e-01 0.00000000e+00 -1.56176106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.32396658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.000371743 meters Centerline goodness : 0.983975 with order 1 Centerline is valid? [True, True] Translation: X:322.04, Y:-15.63, Z:0.07 [[ 9.98718131e-01 5.06171397e-02 0.00000000e+00 3.22037389e+02] [-5.06171397e-02 9.98718131e-01 0.00000000e+00 -1.56259042e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.44107002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.060371743 meters Centerline goodness : 0.985180 with order 1 Centerline is valid? [True, True] Translation: X:322.10, Y:-15.63, Z:0.08 [[ 9.98993941e-01 4.48453625e-02 0.00000000e+00 3.22095260e+02] [-4.48453625e-02 9.98993941e-01 0.00000000e+00 -1.56341837e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.92257772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.120371743 meters Centerline goodness : 0.984729 with order 1 Centerline is valid? [True, True] Translation: X:322.15, Y:-15.64, Z:0.08 [[ 9.99271405e-01 3.81662133e-02 0.00000000e+00 3.22154072e+02] [-3.81662133e-02 9.99271405e-01 0.00000000e+00 -1.56414906e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.49610743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.180371743 meters Centerline goodness : 0.984996 with order 1 Centerline is valid? [True, True] Translation: X:322.21, Y:-15.65, Z:0.08 [[ 9.99355410e-01 3.58993588e-02 0.00000000e+00 3.22211866e+02] [-3.58993588e-02 9.99355410e-01 0.00000000e+00 -1.56545053e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.27101004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.240371743 meters Centerline goodness : 0.984241 with order 1 Centerline is valid? [True, True] Translation: X:322.27, Y:-15.66, Z:0.08 [[ 9.99498172e-01 3.16765417e-02 0.00000000e+00 3.22270152e+02] [-3.16765417e-02 9.99498172e-01 0.00000000e+00 -1.56648508e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.25353203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.300371743 meters Centerline goodness : 0.983527 with order 1 Centerline is valid? [True, True] Translation: X:322.33, Y:-15.67, Z:0.08 [[ 9.99534133e-01 3.05207667e-02 0.00000000e+00 3.22328064e+02] [-3.05207667e-02 9.99534133e-01 0.00000000e+00 -1.56727310e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.23608920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36037174300003 meters Centerline goodness : 0.983868 with order 1 Centerline is valid? [True, True] Translation: X:322.39, Y:-15.68, Z:0.08 [[ 9.99539485e-01 3.03449836e-02 0.00000000e+00 3.22386477e+02] [-3.03449836e-02 9.99539485e-01 0.00000000e+00 -1.56807424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.06517435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42037174300003 meters Centerline goodness : 0.983480 with order 1 Centerline is valid? [True, True] Translation: X:322.44, Y:-15.69, Z:0.08 [[ 9.99552057e-01 2.99280034e-02 0.00000000e+00 3.22444135e+02] [-2.99280034e-02 9.99552057e-01 0.00000000e+00 -1.56913735e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.96970117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.480371743 meters Centerline goodness : 0.982762 with order 1 Centerline is valid? [True, True] Translation: X:322.50, Y:-15.70, Z:0.08 [[ 9.99558752e-01 2.97035597e-02 0.00000000e+00 3.22502574e+02] [-2.97035597e-02 9.99558752e-01 0.00000000e+00 -1.56973360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.11231473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.540371743 meters Centerline goodness : 0.981466 with order 1 Centerline is valid? [True, True] Translation: X:322.56, Y:-15.71, Z:0.08 [[ 9.99436559e-01 3.35643407e-02 0.00000000e+00 3.22560855e+02] [-3.35643407e-02 9.99436559e-01 0.00000000e+00 -1.57070283e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.94430238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.600371743 meters Centerline goodness : 0.985507 with order 1 Centerline is valid? [True, True] Translation: X:322.62, Y:-15.71, Z:0.08 [[ 9.99565443e-01 2.94775271e-02 0.00000000e+00 3.22618470e+02] [-2.94775271e-02 9.99565443e-01 0.00000000e+00 -1.57055571e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.15327195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.660371743 meters Centerline goodness : 0.985888 with order 1 Centerline is valid? [True, True] Translation: X:322.68, Y:-15.71, Z:0.09 [[ 9.99405670e-01 3.44718343e-02 0.00000000e+00 3.22676086e+02] [-3.44718343e-02 9.99405670e-01 0.00000000e+00 -1.57100809e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.67978847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.720371743 meters Centerline goodness : 0.983695 with order 1 Centerline is valid? [True, True] Translation: X:322.73, Y:-15.72, Z:0.09 [[ 9.99061461e-01 4.33150822e-02 0.00000000e+00 3.22734246e+02] [-4.33150822e-02 9.99061461e-01 0.00000000e+00 -1.57186259e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.58961193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.780371743 meters Centerline goodness : 0.982342 with order 1 Centerline is valid? [True, True] Translation: X:322.79, Y:-15.71, Z:0.08 [[ 9.99343756e-01 3.62223300e-02 0.00000000e+00 3.22792126e+02] [-3.62223300e-02 9.99343756e-01 0.00000000e+00 -1.57122055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.47762436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.840371743 meters Centerline goodness : 0.982644 with order 1 Centerline is valid? [True, True] Translation: X:322.85, Y:-15.72, Z:0.08 [[ 9.99392322e-01 3.48566542e-02 0.00000000e+00 3.22850900e+02] [-3.48566542e-02 9.99392322e-01 0.00000000e+00 -1.57222804e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.47993567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.900371743 meters Centerline goodness : 0.982855 with order 1 Centerline is valid? [True, True] Translation: X:322.91, Y:-15.73, Z:0.09 [[ 9.99488582e-01 3.19777099e-02 0.00000000e+00 3.22909825e+02] [-3.19777099e-02 9.99488582e-01 0.00000000e+00 -1.57296108e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.78039895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.960371743 meters Centerline goodness : 0.987031 with order 1 Centerline is valid? [True, True] Translation: X:322.97, Y:-15.74, Z:0.09 [[ 9.99542448e-01 3.02472416e-02 0.00000000e+00 3.22967430e+02] [-3.02472416e-02 9.99542448e-01 0.00000000e+00 -1.57438465e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.06193939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.020371743 meters Centerline goodness : 0.991870 with order 1 Centerline is valid? [True, True] Translation: X:323.02, Y:-15.75, Z:0.09 [[ 9.99820514e-01 1.89457068e-02 0.00000000e+00 3.23024881e+02] [-1.89457068e-02 9.99820514e-01 0.00000000e+00 -1.57496712e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.53945516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.080371743 meters Centerline goodness : 0.991373 with order 1 Centerline is valid? [True, True] Translation: X:323.08, Y:-15.76, Z:0.08 [[ 9.99875369e-01 1.57875188e-02 0.00000000e+00 3.23081850e+02] [-1.57875188e-02 9.99875369e-01 0.00000000e+00 -1.57606640e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.38881233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.140371743 meters Centerline goodness : 0.991580 with order 1 Centerline is valid? [True, True] Translation: X:323.14, Y:-15.77, Z:0.08 [[ 9.99862560e-01 1.65789534e-02 0.00000000e+00 3.23140674e+02] [-1.65789534e-02 9.99862560e-01 0.00000000e+00 -1.57706140e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.44404399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.200371743 meters Centerline goodness : 0.990922 with order 1 Centerline is valid? [True, True] Translation: X:323.20, Y:-15.78, Z:0.08 [[ 9.99795189e-01 2.02381036e-02 0.00000000e+00 3.23199268e+02] [-2.02381036e-02 9.99795189e-01 0.00000000e+00 -1.57788169e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.42661712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.260371743 meters Centerline goodness : 0.983266 with order 1 Centerline is valid? [True, True] Translation: X:323.26, Y:-15.80, Z:0.09 [[ 9.99155628e-01 4.10856510e-02 0.00000000e+00 3.23258199e+02] [-4.10856510e-02 9.99155628e-01 0.00000000e+00 -1.58026686e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.05304530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.320371743 meters Centerline goodness : 0.982969 with order 1 Centerline is valid? [True, True] Translation: X:323.32, Y:-15.81, Z:0.09 [[ 9.98945854e-01 4.59040489e-02 0.00000000e+00 3.23315512e+02] [-4.59040489e-02 9.98945854e-01 0.00000000e+00 -1.58104347e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.05244965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.380371743 meters Centerline goodness : 0.982933 with order 1 Centerline is valid? [True, True] Translation: X:323.37, Y:-15.82, Z:0.09 [[ 9.98785618e-01 4.92675283e-02 0.00000000e+00 3.23373460e+02] [-4.92675283e-02 9.98785618e-01 0.00000000e+00 -1.58213137e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.33955588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.440371743 meters Centerline goodness : 0.983737 with order 1 Centerline is valid? [True, True] Translation: X:323.43, Y:-15.83, Z:0.09 [[ 9.98733770e-01 5.03076244e-02 0.00000000e+00 3.23430536e+02] [-5.03076244e-02 9.98733770e-01 0.00000000e+00 -1.58312690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.28955456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.500371743 meters Centerline goodness : 0.983720 with order 1 Centerline is valid? [True, True] Translation: X:323.49, Y:-15.84, Z:0.09 [[ 9.98673803e-01 5.14843220e-02 0.00000000e+00 3.23489231e+02] [-5.14843220e-02 9.98673803e-01 0.00000000e+00 -1.58406464e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.17488248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.560371743 meters Centerline goodness : 0.982236 with order 1 Centerline is valid? [True, True] Translation: X:323.55, Y:-15.85, Z:0.09 [[ 9.98836502e-01 4.82249079e-02 0.00000000e+00 3.23545195e+02] [-4.82249079e-02 9.98836502e-01 0.00000000e+00 -1.58520564e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.40154922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.620371743 meters Centerline goodness : 0.979624 with order 1 Centerline is valid? [True, True] Translation: X:323.60, Y:-15.86, Z:0.10 [[ 9.99067837e-01 4.31677695e-02 0.00000000e+00 3.23603924e+02] [-4.31677695e-02 9.99067837e-01 0.00000000e+00 -1.58631910e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.65141283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.680371743 meters Centerline goodness : 0.979134 with order 1 Centerline is valid? [True, True] Translation: X:323.66, Y:-15.88, Z:0.09 [[ 9.99251231e-01 3.86907968e-02 0.00000000e+00 3.23662285e+02] [-3.86907968e-02 9.99251231e-01 0.00000000e+00 -1.58761580e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.40659372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.740371743 meters Centerline goodness : 0.977801 with order 1 Centerline is valid? [True, True] Translation: X:323.72, Y:-15.88, Z:0.10 [[ 9.99425084e-01 3.39042990e-02 0.00000000e+00 3.23720612e+02] [-3.39042990e-02 9.99425084e-01 0.00000000e+00 -1.58841984e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.59994824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.800371743 meters Centerline goodness : 0.979337 with order 1 Centerline is valid? [True, True] Translation: X:323.78, Y:-15.90, Z:0.09 [[ 9.99594920e-01 2.84604384e-02 0.00000000e+00 3.23778945e+02] [-2.84604384e-02 9.99594920e-01 0.00000000e+00 -1.58962059e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.21642594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86037174300003 meters Centerline goodness : 0.976152 with order 1 Centerline is valid? [True, True] Translation: X:323.84, Y:-15.91, Z:0.09 [[ 9.99716056e-01 2.38286966e-02 0.00000000e+00 3.23837217e+02] [-2.38286966e-02 9.99716056e-01 0.00000000e+00 -1.59059358e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.01821176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92037174300003 meters Centerline goodness : 0.977187 with order 1 Centerline is valid? [True, True] Translation: X:323.90, Y:-15.91, Z:0.09 [[ 9.99844427e-01 1.76386252e-02 0.00000000e+00 3.23895758e+02] [-1.76386252e-02 9.99844427e-01 0.00000000e+00 -1.59126211e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.32994913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.980371743 meters Centerline goodness : 0.977103 with order 1 Centerline is valid? [True, True] Translation: X:323.95, Y:-15.92, Z:0.10 [[ 9.99892718e-01 1.46476330e-02 0.00000000e+00 3.23954325e+02] [-1.46476330e-02 9.99892718e-01 0.00000000e+00 -1.59175893e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.66246580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.040371743 meters Centerline goodness : 0.976192 with order 1 Centerline is valid? [True, True] Translation: X:324.01, Y:-15.92, Z:0.10 [[ 9.99929208e-01 1.18986704e-02 0.00000000e+00 3.24012579e+02] [-1.18986704e-02 9.99929208e-01 0.00000000e+00 -1.59246978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.74292244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.100371743 meters Centerline goodness : 0.977193 with order 1 Centerline is valid? [True, True] Translation: X:324.07, Y:-15.93, Z:0.10 [[ 9.99950612e-01 9.93845835e-03 0.00000000e+00 3.24071677e+02] [-9.93845835e-03 9.99950612e-01 0.00000000e+00 -1.59295736e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.53586688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.160371743 meters Centerline goodness : 0.977650 with order 1 Centerline is valid? [True, True] Translation: X:324.13, Y:-15.93, Z:0.10 [[ 9.99966570e-01 8.17675766e-03 0.00000000e+00 3.24130413e+02] [-8.17675766e-03 9.99966570e-01 0.00000000e+00 -1.59340926e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.59420676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.220371743 meters Centerline goodness : 0.976744 with order 1 Centerline is valid? [True, True] Translation: X:324.19, Y:-15.94, Z:0.09 [[ 9.99960888e-01 8.84431386e-03 0.00000000e+00 3.24188065e+02] [-8.84431386e-03 9.99960888e-01 0.00000000e+00 -1.59392114e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.24875056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.280371743 meters Centerline goodness : 0.978299 with order 1 Centerline is valid? [True, True] Translation: X:324.25, Y:-15.94, Z:0.09 [[ 9.99979669e-01 6.37669657e-03 0.00000000e+00 3.24247313e+02] [-6.37669657e-03 9.99979669e-01 0.00000000e+00 -1.59411873e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.26401536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.340371743 meters Centerline goodness : 0.978304 with order 1 Centerline is valid? [True, True] Translation: X:324.31, Y:-15.94, Z:0.09 [[ 9.99986068e-01 5.27853811e-03 0.00000000e+00 3.24306547e+02] [-5.27853811e-03 9.99986068e-01 0.00000000e+00 -1.59415509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.08873917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.400371743 meters Centerline goodness : 0.979130 with order 1 Centerline is valid? [True, True] Translation: X:324.37, Y:-15.94, Z:0.09 [[ 9.99990044e-01 4.46230722e-03 0.00000000e+00 3.24365265e+02] [-4.46230722e-03 9.99990044e-01 0.00000000e+00 -1.59425132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.22802421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.460371743 meters Centerline goodness : 0.978318 with order 1 Centerline is valid? [True, True] Translation: X:324.42, Y:-15.94, Z:0.10 [[ 9.99995833e-01 2.88687177e-03 0.00000000e+00 3.24424720e+02] [-2.88687177e-03 9.99995833e-01 0.00000000e+00 -1.59413782e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.50847662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.520371743 meters Centerline goodness : 0.977699 with order 1 Centerline is valid? [True, True] Translation: X:324.48, Y:-15.94, Z:0.10 [[ 9.99999969e-01 2.50317699e-04 0.00000000e+00 3.24484444e+02] [-2.50317699e-04 9.99999969e-01 0.00000000e+00 -1.59400362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00034614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.580371743 meters Centerline goodness : 0.982813 with order 1 Centerline is valid? [True, True] Translation: X:324.54, Y:-15.93, Z:0.10 [[ 9.99972236e-01 -7.45170291e-03 0.00000000e+00 3.24544943e+02] [ 7.45170291e-03 9.99972236e-01 0.00000000e+00 -1.59339516e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.85039733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.640371743 meters Centerline goodness : 0.982517 with order 1 Centerline is valid? [True, True] Translation: X:324.61, Y:-15.93, Z:0.10 [[ 9.99922102e-01 -1.24815900e-02 0.00000000e+00 3.24607132e+02] [ 1.24815900e-02 9.99922102e-01 0.00000000e+00 -1.59343929e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.65430457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.700371743 meters Centerline goodness : 0.982303 with order 1 Centerline is valid? [True, True] Translation: X:324.67, Y:-15.93, Z:0.10 [[ 9.99867977e-01 -1.62489548e-02 0.00000000e+00 3.24669711e+02] [ 1.62489548e-02 9.99867977e-01 0.00000000e+00 -1.59348457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.75259187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.760371743 meters Centerline goodness : 0.982193 with order 1 Centerline is valid? [True, True] Translation: X:324.73, Y:-15.93, Z:0.10 [[ 9.99754910e-01 -2.21386576e-02 0.00000000e+00 3.24731612e+02] [ 2.21386576e-02 9.99754910e-01 0.00000000e+00 -1.59330324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.68502875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.820371743 meters Centerline goodness : 0.980740 with order 1 Centerline is valid? [True, True] Translation: X:324.79, Y:-15.93, Z:0.10 [[ 9.99816757e-01 -1.91429604e-02 0.00000000e+00 3.24793819e+02] [ 1.91429604e-02 9.99816757e-01 0.00000000e+00 -1.59309765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00090987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.880371743 meters Centerline goodness : 0.982547 with order 1 Centerline is valid? [True, True] Translation: X:324.86, Y:-15.92, Z:0.10 [[ 9.99930406e-01 -1.17975847e-02 0.00000000e+00 3.24856481e+02] [ 1.17975847e-02 9.99930406e-01 0.00000000e+00 -1.59240735e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00370845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.940371743 meters Centerline goodness : 0.987804 with order 1 Centerline is valid? [True, True] Translation: X:324.92, Y:-15.91, Z:0.10 [[ 9.99950490e-01 -9.95070617e-03 0.00000000e+00 3.24918119e+02] [ 9.95070617e-03 9.99950490e-01 0.00000000e+00 -1.59119018e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.54185901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.000371743 meters Centerline goodness : 0.982472 with order 1 Centerline is valid? [True, True] Translation: X:324.98, Y:-15.92, Z:0.10 [[ 9.99967453e-01 8.06807252e-03 0.00000000e+00 3.24979629e+02] [-8.06807252e-03 9.99967453e-01 0.00000000e+00 -1.59172235e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00437395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.060371743 meters Centerline goodness : 0.981621 with order 1 Centerline is valid? [True, True] Translation: X:325.04, Y:-15.92, Z:0.10 [[ 9.99885645e-01 1.51227377e-02 0.00000000e+00 3.25038068e+02] [-1.51227377e-02 9.99885645e-01 0.00000000e+00 -1.59162324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03550090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.120371743 meters Centerline goodness : 0.981790 with order 1 Centerline is valid? [True, True] Translation: X:325.10, Y:-15.91, Z:0.10 [[ 9.99865305e-01 1.64125230e-02 0.00000000e+00 3.25096545e+02] [-1.64125230e-02 9.99865305e-01 0.00000000e+00 -1.59136089e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03844892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.180371743 meters Centerline goodness : 0.983149 with order 1 Centerline is valid? [True, True] Translation: X:325.16, Y:-15.91, Z:0.10 [[ 9.99869285e-01 1.61682617e-02 0.00000000e+00 3.25155576e+02] [-1.61682617e-02 9.99869285e-01 0.00000000e+00 -1.59111745e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03088103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.240371743 meters Centerline goodness : 0.983977 with order 1 Centerline is valid? [True, True] Translation: X:325.21, Y:-15.91, Z:0.10 [[ 9.99929467e-01 1.18768999e-02 0.00000000e+00 3.25214435e+02] [-1.18768999e-02 9.99929467e-01 0.00000000e+00 -1.59118365e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02711246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.300371743 meters Centerline goodness : 0.982286 with order 1 Centerline is valid? [True, True] Translation: X:325.27, Y:-15.91, Z:0.10 [[ 9.99988338e-01 4.82953986e-03 0.00000000e+00 3.25273211e+02] [-4.82953986e-03 9.99988338e-01 0.00000000e+00 -1.59132885e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03510739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36037174300003 meters Centerline goodness : 0.977196 with order 1 Centerline is valid? [True, True] Translation: X:325.33, Y:-15.92, Z:0.10 [[ 9.99996240e-01 2.74241246e-03 0.00000000e+00 3.25331358e+02] [-2.74241246e-03 9.99996240e-01 0.00000000e+00 -1.59158148e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00490213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42037174300003 meters Centerline goodness : 0.980417 with order 1 Centerline is valid? [True, True] Translation: X:325.39, Y:-15.91, Z:0.10 [[ 9.99798475e-01 -2.00750814e-02 0.00000000e+00 3.25392162e+02] [ 2.00750814e-02 9.99798475e-01 0.00000000e+00 -1.59111340e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00612463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.480371743 meters Centerline goodness : 0.981070 with order 1 Centerline is valid? [True, True] Translation: X:325.45, Y:-15.92, Z:0.10 [[ 9.99523147e-01 -3.08784501e-02 0.00000000e+00 3.25454744e+02] [ 3.08784501e-02 9.99523147e-01 0.00000000e+00 -1.59150210e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.99893166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.540371743 meters Centerline goodness : 0.980432 with order 1 Centerline is valid? [True, True] Translation: X:325.52, Y:-15.92, Z:0.10 [[ 9.99367269e-01 -3.55676928e-02 0.00000000e+00 3.25516922e+02] [ 3.55676928e-02 9.99367269e-01 0.00000000e+00 -1.59194401e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01528752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.600371743 meters Centerline goodness : 0.983652 with order 1 Centerline is valid? [True, True] Translation: X:325.58, Y:-15.93, Z:0.10 [[ 9.99395050e-01 -3.47783501e-02 0.00000000e+00 3.25578337e+02] [ 3.47783501e-02 9.99395050e-01 0.00000000e+00 -1.59292773e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01956855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.660371743 meters Centerline goodness : 0.983213 with order 1 Centerline is valid? [True, True] Translation: X:325.64, Y:-15.93, Z:0.10 [[ 9.99371419e-01 -3.54509111e-02 0.00000000e+00 3.25641064e+02] [ 3.54509111e-02 9.99371419e-01 0.00000000e+00 -1.59329691e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01631509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.720371743 meters Centerline goodness : 0.982647 with order 1 Centerline is valid? [True, True] Translation: X:325.70, Y:-15.94, Z:0.10 [[ 9.99403753e-01 -3.45273651e-02 0.00000000e+00 3.25703205e+02] [ 3.45273651e-02 9.99403753e-01 0.00000000e+00 -1.59356979e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02234646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.780371743 meters Centerline goodness : 0.983408 with order 1 Centerline is valid? [True, True] Translation: X:325.77, Y:-15.94, Z:0.10 [[ 9.99503130e-01 -3.15197227e-02 0.00000000e+00 3.25765983e+02] [ 3.15197227e-02 9.99503130e-01 0.00000000e+00 -1.59365394e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01898167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.840371743 meters Centerline goodness : 0.983561 with order 1 Centerline is valid? [True, True] Translation: X:325.83, Y:-15.93, Z:0.10 [[ 9.99491387e-01 -3.18899113e-02 0.00000000e+00 3.25829480e+02] [ 3.18899113e-02 9.99491387e-01 0.00000000e+00 -1.59329956e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00288467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.900371743 meters Centerline goodness : 0.982501 with order 1 Centerline is valid? [True, True] Translation: X:325.89, Y:-15.93, Z:0.10 [[ 9.99567344e-01 -2.94129985e-02 0.00000000e+00 3.25891828e+02] [ 2.94129985e-02 9.99567344e-01 0.00000000e+00 -1.59335442e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00247531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.960371743 meters Centerline goodness : 0.982417 with order 1 Centerline is valid? [True, True] Translation: X:325.95, Y:-15.93, Z:0.10 [[ 9.99643346e-01 -2.67054448e-02 0.00000000e+00 3.25953855e+02] [ 2.67054448e-02 9.99643346e-01 0.00000000e+00 -1.59317637e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01531340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.020371743 meters Centerline goodness : 0.985615 with order 1 Centerline is valid? [True, True] Translation: X:326.02, Y:-15.93, Z:0.10 [[ 9.99571305e-01 -2.92780866e-02 0.00000000e+00 3.26017028e+02] [ 2.92780866e-02 9.99571305e-01 0.00000000e+00 -1.59261476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01623237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.080371743 meters Centerline goodness : 0.979600 with order 1 Centerline is valid? [True, True] Translation: X:326.08, Y:-15.92, Z:0.10 [[ 9.99536055e-01 -3.04577664e-02 0.00000000e+00 3.26079596e+02] [ 3.04577664e-02 9.99536055e-01 0.00000000e+00 -1.59186218e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00194350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.140371743 meters Centerline goodness : 0.982865 with order 1 Centerline is valid? [True, True] Translation: X:326.14, Y:-15.93, Z:0.10 [[ 9.99718035e-01 -2.37455282e-02 0.00000000e+00 3.26141285e+02] [ 2.37455282e-02 9.99718035e-01 0.00000000e+00 -1.59289538e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00570825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.200371743 meters Centerline goodness : 0.984694 with order 1 Centerline is valid? [True, True] Translation: X:326.20, Y:-15.92, Z:0.10 [[ 9.99802294e-01 -1.98839806e-02 0.00000000e+00 3.26203496e+02] [ 1.98839806e-02 9.99802294e-01 0.00000000e+00 -1.59234282e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00302462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.260371743 meters Centerline goodness : 0.985839 with order 1 Centerline is valid? [True, True] Translation: X:326.26, Y:-15.92, Z:0.10 [[ 9.99911224e-01 -1.33245977e-02 0.00000000e+00 3.26264684e+02] [ 1.33245977e-02 9.99911224e-01 0.00000000e+00 -1.59224212e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02249097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.320371743 meters Centerline goodness : 0.979720 with order 1 Centerline is valid? [True, True] Translation: X:326.33, Y:-15.91, Z:0.10 [[ 9.99940213e-01 -1.09348710e-02 0.00000000e+00 3.26327091e+02] [ 1.09348710e-02 9.99940213e-01 0.00000000e+00 -1.59138311e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02565382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.380371743 meters Centerline goodness : 0.981120 with order 1 Centerline is valid? [True, True] Translation: X:326.39, Y:-15.91, Z:0.10 [[ 9.99989246e-01 -4.63769652e-03 0.00000000e+00 3.26389226e+02] [ 4.63769652e-03 9.99989246e-01 0.00000000e+00 -1.59118197e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02348770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.440371743 meters Centerline goodness : 0.980122 with order 1 Centerline is valid? [True, True] Translation: X:326.45, Y:-15.91, Z:0.10 [[ 9.99999996e-01 9.32413469e-05 0.00000000e+00 3.26450094e+02] [-9.32413469e-05 9.99999996e-01 0.00000000e+00 -1.59141236e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03009845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.500371743 meters Centerline goodness : 0.984373 with order 1 Centerline is valid? [True, True] Translation: X:326.51, Y:-15.92, Z:0.10 [[ 9.99931874e-01 1.16724682e-02 0.00000000e+00 3.26510293e+02] [-1.16724682e-02 9.99931874e-01 0.00000000e+00 -1.59249691e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03061284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.560371743 meters Centerline goodness : 0.981616 with order 1 Centerline is valid? [True, True] Translation: X:326.57, Y:-15.91, Z:0.10 [[ 9.99999279e-01 1.20076557e-03 0.00000000e+00 3.26570177e+02] [-1.20076557e-03 9.99999279e-01 0.00000000e+00 -1.59115141e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00576399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.620371743 meters Centerline goodness : 0.982756 with order 1 Centerline is valid? [True, True] Translation: X:326.63, Y:-15.93, Z:0.10 [[ 9.99961534e-01 8.77095857e-03 0.00000000e+00 3.26628417e+02] [-8.77095857e-03 9.99961534e-01 0.00000000e+00 -1.59278596e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.88964867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.680371743 meters Centerline goodness : 0.981011 with order 1 Centerline is valid? [True, True] Translation: X:326.69, Y:-15.91, Z:0.10 [[ 9.99987786e-01 -4.94252001e-03 0.00000000e+00 3.26687831e+02] [ 4.94252001e-03 9.99987786e-01 0.00000000e+00 -1.59148727e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01225577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.740371743 meters Centerline goodness : 0.985011 with order 1 Centerline is valid? [True, True] Translation: X:326.75, Y:-15.93, Z:0.10 [[ 9.99986943e-01 -5.11010427e-03 0.00000000e+00 3.26749399e+02] [ 5.11010427e-03 9.99986943e-01 0.00000000e+00 -1.59267693e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02004481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.800371743 meters Centerline goodness : 0.983792 with order 1 Centerline is valid? [True, True] Translation: X:326.81, Y:-15.93, Z:0.10 [[ 9.99924496e-01 -1.22882841e-02 0.00000000e+00 3.26811905e+02] [ 1.22882841e-02 9.99924496e-01 0.00000000e+00 -1.59297161e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01832993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86037174300003 meters Centerline goodness : 0.982122 with order 1 Centerline is valid? [True, True] Translation: X:326.87, Y:-15.94, Z:0.10 [[ 9.99890225e-01 -1.48167986e-02 0.00000000e+00 3.26872548e+02] [ 1.48167986e-02 9.99890225e-01 0.00000000e+00 -1.59380643e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.84153737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92037174300003 meters Centerline goodness : 0.983603 with order 1 Centerline is valid? [True, True] Translation: X:326.94, Y:-15.94, Z:0.10 [[ 9.99811418e-01 -1.94198197e-02 0.00000000e+00 3.26935830e+02] [ 1.94198197e-02 9.99811418e-01 0.00000000e+00 -1.59375643e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01585010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.980371743 meters Centerline goodness : 0.984040 with order 1 Centerline is valid? [True, True] Translation: X:327.00, Y:-15.94, Z:0.10 [[ 9.99727052e-01 -2.33628168e-02 0.00000000e+00 3.26997674e+02] [ 2.33628168e-02 9.99727052e-01 0.00000000e+00 -1.59379318e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02602674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.040371743 meters Centerline goodness : 0.983818 with order 1 Centerline is valid? [True, True] Translation: X:327.06, Y:-15.94, Z:0.10 [[ 9.99737733e-01 -2.29011985e-02 0.00000000e+00 3.27059915e+02] [ 2.29011985e-02 9.99737733e-01 0.00000000e+00 -1.59387454e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03696817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.100371743 meters Centerline goodness : 0.984316 with order 1 Centerline is valid? [True, True] Translation: X:327.12, Y:-15.94, Z:0.10 [[ 9.99767069e-01 -2.15826019e-02 0.00000000e+00 3.27123304e+02] [ 2.15826019e-02 9.99767069e-01 0.00000000e+00 -1.59376151e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02675444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.160371743 meters Centerline goodness : 0.984830 with order 1 Centerline is valid? [True, True] Translation: X:327.19, Y:-15.94, Z:0.10 [[ 9.99791874e-01 -2.04011965e-02 0.00000000e+00 3.27186304e+02] [ 2.04011965e-02 9.99791874e-01 0.00000000e+00 -1.59381764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01109532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.220371743 meters Centerline goodness : 0.984829 with order 1 Centerline is valid? [True, True] Translation: X:327.25, Y:-15.94, Z:0.10 [[ 9.99815068e-01 -1.92309676e-02 0.00000000e+00 3.27248525e+02] [ 1.92309676e-02 9.99815068e-01 0.00000000e+00 -1.59389737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00120219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.280371743 meters Centerline goodness : 0.983483 with order 1 Centerline is valid? [True, True] Translation: X:327.31, Y:-15.94, Z:0.10 [[ 9.99840403e-01 -1.78652911e-02 0.00000000e+00 3.27311755e+02] [ 1.78652911e-02 9.99840403e-01 0.00000000e+00 -1.59386665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00125691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.340371743 meters Centerline goodness : 0.983989 with order 1 Centerline is valid? [True, True] Translation: X:327.37, Y:-15.94, Z:0.10 [[ 9.99891146e-01 -1.47545128e-02 0.00000000e+00 3.27373707e+02] [ 1.47545128e-02 9.99891146e-01 0.00000000e+00 -1.59377894e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.94166411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.400371743 meters Centerline goodness : 0.982086 with order 1 Centerline is valid? [True, True] Translation: X:327.44, Y:-15.94, Z:0.10 [[ 9.99928115e-01 -1.19902305e-02 0.00000000e+00 3.27435601e+02] [ 1.19902305e-02 9.99928115e-01 0.00000000e+00 -1.59402128e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02008357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.460371743 meters Centerline goodness : 0.982522 with order 1 Centerline is valid? [True, True] Translation: X:327.50, Y:-15.94, Z:0.10 [[ 9.99980739e-01 -6.20653049e-03 0.00000000e+00 3.27497896e+02] [ 6.20653049e-03 9.99980739e-01 0.00000000e+00 -1.59393046e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00278551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.520371743 meters Centerline goodness : 0.983110 with order 1 Centerline is valid? [True, True] Translation: X:327.56, Y:-15.94, Z:0.10 [[ 9.99992434e-01 -3.89005875e-03 0.00000000e+00 3.27560197e+02] [ 3.89005875e-03 9.99992434e-01 0.00000000e+00 -1.59402663e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01300740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.580371743 meters Centerline goodness : 0.982577 with order 1 Centerline is valid? [True, True] Translation: X:327.62, Y:-15.94, Z:0.10 [[ 9.99998797e-01 -1.55108043e-03 0.00000000e+00 3.27621337e+02] [ 1.55108043e-03 9.99998797e-01 0.00000000e+00 -1.59422319e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01062454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.640371743 meters Centerline goodness : 0.984242 with order 1 Centerline is valid? [True, True] Translation: X:327.68, Y:-15.94, Z:0.10 [[ 9.99998275e-01 1.85751883e-03 0.00000000e+00 3.27682612e+02] [-1.85751883e-03 9.99998275e-01 0.00000000e+00 -1.59429846e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00222719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.700371743 meters Centerline goodness : 0.984454 with order 1 Centerline is valid? [True, True] Translation: X:327.74, Y:-15.94, Z:0.10 [[ 9.99985101e-01 5.45865462e-03 0.00000000e+00 3.27742246e+02] [-5.45865462e-03 9.99985101e-01 0.00000000e+00 -1.59439410e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.88927478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.760371743 meters Centerline goodness : 0.985355 with order 1 Centerline is valid? [True, True] Translation: X:327.80, Y:-15.95, Z:0.10 [[ 9.99966446e-01 8.19190071e-03 0.00000000e+00 3.27800813e+02] [-8.19190071e-03 9.99966446e-01 0.00000000e+00 -1.59456912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00657897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.820371743 meters Centerline goodness : 0.985946 with order 1 Centerline is valid? [True, True] Translation: X:327.86, Y:-15.95, Z:0.10 [[ 9.99959879e-01 8.95773674e-03 0.00000000e+00 3.27858128e+02] [-8.95773674e-03 9.99959879e-01 0.00000000e+00 -1.59468516e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04046009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.880371743 meters Centerline goodness : 0.986507 with order 1 Centerline is valid? [True, True] Translation: X:327.92, Y:-15.95, Z:0.11 [[ 9.99929669e-01 1.18598658e-02 0.00000000e+00 3.27916352e+02] [-1.18598658e-02 9.99929669e-01 0.00000000e+00 -1.59481081e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07150150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.940371743 meters Centerline goodness : 0.985218 with order 1 Centerline is valid? [True, True] Translation: X:327.97, Y:-15.95, Z:0.11 [[ 9.99836302e-01 1.80933572e-02 0.00000000e+00 3.27973738e+02] [-1.80933572e-02 9.99836302e-01 0.00000000e+00 -1.59517557e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07817065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.000371743 meters Centerline goodness : 0.984307 with order 1 Centerline is valid? [True, True] Translation: X:328.03, Y:-15.96, Z:0.11 [[ 9.99700204e-01 2.44847467e-02 0.00000000e+00 3.28031825e+02] [-2.44847467e-02 9.99700204e-01 0.00000000e+00 -1.59573456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06585590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.060371743 meters Centerline goodness : 0.984890 with order 1 Centerline is valid? [True, True] Translation: X:328.09, Y:-15.96, Z:0.11 [[ 9.99668362e-01 2.57520075e-02 0.00000000e+00 3.28090382e+02] [-2.57520075e-02 9.99668362e-01 0.00000000e+00 -1.59598962e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07260318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.120371743 meters Centerline goodness : 0.983526 with order 1 Centerline is valid? [True, True] Translation: X:328.15, Y:-15.97, Z:0.11 [[ 9.99465726e-01 3.26842756e-02 0.00000000e+00 3.28147451e+02] [-3.26842756e-02 9.99465726e-01 0.00000000e+00 -1.59673412e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05198497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.180371743 meters Centerline goodness : 0.982640 with order 1 Centerline is valid? [True, True] Translation: X:328.21, Y:-15.97, Z:0.10 [[ 9.99287375e-01 3.77457681e-02 0.00000000e+00 3.28206007e+02] [-3.77457681e-02 9.99287375e-01 0.00000000e+00 -1.59744143e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04272904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.240371743 meters Centerline goodness : 0.983094 with order 1 Centerline is valid? [True, True] Translation: X:328.26, Y:-15.98, Z:0.11 [[ 9.99302662e-01 3.73388510e-02 0.00000000e+00 3.28264167e+02] [-3.73388510e-02 9.99302662e-01 0.00000000e+00 -1.59792783e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07485638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.300371743 meters Centerline goodness : 0.982932 with order 1 Centerline is valid? [True, True] Translation: X:328.32, Y:-15.99, Z:0.11 [[ 9.99384062e-01 3.50926803e-02 0.00000000e+00 3.28321640e+02] [-3.50926803e-02 9.99384062e-01 0.00000000e+00 -1.59867626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07052673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36037174300003 meters Centerline goodness : 0.984983 with order 1 Centerline is valid? [True, True] Translation: X:328.38, Y:-15.99, Z:0.11 [[ 9.99767315e-01 2.15711675e-02 0.00000000e+00 3.28380667e+02] [-2.15711675e-02 9.99767315e-01 0.00000000e+00 -1.59876321e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07702622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42037174300003 meters Centerline goodness : 0.983491 with order 1 Centerline is valid? [True, True] Translation: X:328.44, Y:-16.00, Z:0.11 [[ 9.99940006e-01 1.09537464e-02 0.00000000e+00 3.28437499e+02] [-1.09537464e-02 9.99940006e-01 0.00000000e+00 -1.60016242e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08432757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.480371743 meters Centerline goodness : 0.983860 with order 1 Centerline is valid? [True, True] Translation: X:328.50, Y:-16.01, Z:0.11 [[ 9.99999821e-01 5.98292735e-04 0.00000000e+00 3.28496503e+02] [-5.98292735e-04 9.99999821e-01 0.00000000e+00 -1.60077276e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09738532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.540371743 meters Centerline goodness : 0.984386 with order 1 Centerline is valid? [True, True] Translation: X:328.56, Y:-16.01, Z:0.11 [[ 9.99998733e-01 -1.59178750e-03 0.00000000e+00 3.28555860e+02] [ 1.59178750e-03 9.99998733e-01 0.00000000e+00 -1.60131132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10371005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.600371743 meters Centerline goodness : 0.985757 with order 1 Centerline is valid? [True, True] Translation: X:328.62, Y:-16.02, Z:0.11 [[ 9.99941176e-01 -1.08464118e-02 0.00000000e+00 3.28617182e+02] [ 1.08464118e-02 9.99941176e-01 0.00000000e+00 -1.60197271e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09451776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.660371743 meters Centerline goodness : 0.985768 with order 1 Centerline is valid? [True, True] Translation: X:328.68, Y:-16.02, Z:0.11 [[ 9.99843115e-01 -1.77128386e-02 0.00000000e+00 3.28679067e+02] [ 1.77128386e-02 9.99843115e-01 0.00000000e+00 -1.60246387e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06800266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.720371743 meters Centerline goodness : 0.986056 with order 1 Centerline is valid? [True, True] Translation: X:328.74, Y:-16.03, Z:0.11 [[ 9.99746098e-01 -2.25330638e-02 0.00000000e+00 3.28742030e+02] [ 2.25330638e-02 9.99746098e-01 0.00000000e+00 -1.60286558e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07142139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.780371743 meters Centerline goodness : 0.987105 with order 1 Centerline is valid? [True, True] Translation: X:328.80, Y:-16.03, Z:0.11 [[ 9.99742999e-01 -2.26701476e-02 0.00000000e+00 3.28804012e+02] [ 2.26701476e-02 9.99742999e-01 0.00000000e+00 -1.60329374e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06613142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.840371743 meters Centerline goodness : 0.988367 with order 1 Centerline is valid? [True, True] Translation: X:328.87, Y:-16.03, Z:0.11 [[ 9.99754679e-01 -2.21491014e-02 0.00000000e+00 3.28867522e+02] [ 2.21491014e-02 9.99754679e-01 0.00000000e+00 -1.60337897e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08410115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.900371743 meters Centerline goodness : 0.987312 with order 1 Centerline is valid? [True, True] Translation: X:328.93, Y:-16.04, Z:0.11 [[ 9.99781132e-01 -2.09209978e-02 0.00000000e+00 3.28930510e+02] [ 2.09209978e-02 9.99781132e-01 0.00000000e+00 -1.60351248e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08585535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.960371743 meters Centerline goodness : 0.986681 with order 1 Centerline is valid? [True, True] Translation: X:328.99, Y:-16.04, Z:0.11 [[ 9.99825880e-01 -1.86603800e-02 0.00000000e+00 3.28993444e+02] [ 1.86603800e-02 9.99825880e-01 0.00000000e+00 -1.60386585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08347441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.020371743 meters Centerline goodness : 0.987203 with order 1 Centerline is valid? [True, True] Translation: X:329.06, Y:-16.04, Z:0.11 [[ 9.99885322e-01 -1.51440885e-02 0.00000000e+00 3.29056832e+02] [ 1.51440885e-02 9.99885322e-01 0.00000000e+00 -1.60429642e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06227622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.080371743 meters Centerline goodness : 0.987699 with order 1 Centerline is valid? [True, True] Translation: X:329.12, Y:-16.04, Z:0.11 [[ 9.99862633e-01 -1.65745349e-02 0.00000000e+00 3.29118983e+02] [ 1.65745349e-02 9.99862633e-01 0.00000000e+00 -1.60404771e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06219635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.140371743 meters Centerline goodness : 0.987674 with order 1 Centerline is valid? [True, True] Translation: X:329.18, Y:-16.05, Z:0.11 [[ 9.99891421e-01 -1.47358496e-02 0.00000000e+00 3.29181883e+02] [ 1.47358496e-02 9.99891421e-01 0.00000000e+00 -1.60457659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10912096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.200371743 meters Centerline goodness : 0.992294 with order 1 Centerline is valid? [True, True] Translation: X:329.24, Y:-16.04, Z:0.11 [[ 9.99765561e-01 -2.16523023e-02 0.00000000e+00 3.29243393e+02] [ 2.16523023e-02 9.99765561e-01 0.00000000e+00 -1.60423125e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08927956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.260371743 meters Centerline goodness : 0.988384 with order 1 Centerline is valid? [True, True] Translation: X:329.31, Y:-16.05, Z:0.11 [[ 9.99835108e-01 -1.81592050e-02 0.00000000e+00 3.29305160e+02] [ 1.81592050e-02 9.99835108e-01 0.00000000e+00 -1.60486790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08431838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.320371743 meters Centerline goodness : 0.989319 with order 1 Centerline is valid? [True, True] Translation: X:329.37, Y:-16.05, Z:0.11 [[ 9.99832343e-01 -1.83108317e-02 0.00000000e+00 3.29366933e+02] [ 1.83108317e-02 9.99832343e-01 0.00000000e+00 -1.60530391e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07968664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.380371743 meters Centerline goodness : 0.989171 with order 1 Centerline is valid? [True, True] Translation: X:329.43, Y:-16.05, Z:0.11 [[ 9.99792659e-01 -2.03626801e-02 0.00000000e+00 3.29429660e+02] [ 2.03626801e-02 9.99792659e-01 0.00000000e+00 -1.60536163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06208168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.440371743 meters Centerline goodness : 0.987856 with order 1 Centerline is valid? [True, True] Translation: X:329.49, Y:-16.05, Z:0.11 [[ 9.99802729e-01 -1.98621192e-02 0.00000000e+00 3.29491627e+02] [ 1.98621192e-02 9.99802729e-01 0.00000000e+00 -1.60549025e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09622697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.500371743 meters Centerline goodness : 0.989416 with order 1 Centerline is valid? [True, True] Translation: X:329.55, Y:-16.05, Z:0.11 [[ 9.99860721e-01 -1.66894795e-02 0.00000000e+00 3.29553768e+02] [ 1.66894795e-02 9.99860721e-01 0.00000000e+00 -1.60546550e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13916533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.560371743 meters Centerline goodness : 0.986588 with order 1 Centerline is valid? [True, True] Translation: X:329.62, Y:-16.06, Z:0.12 [[ 9.99984473e-01 -5.57254402e-03 0.00000000e+00 3.29615304e+02] [ 5.57254402e-03 9.99984473e-01 0.00000000e+00 -1.60608217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16548063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.620371743 meters Centerline goodness : 0.985996 with order 1 Centerline is valid? [True, True] Translation: X:329.68, Y:-16.06, Z:0.11 [[ 9.99999514e-01 9.85441573e-04 0.00000000e+00 3.29677067e+02] [-9.85441573e-04 9.99999514e-01 0.00000000e+00 -1.60595880e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14717807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.680371743 meters Centerline goodness : 0.986258 with order 1 Centerline is valid? [True, True] Translation: X:329.74, Y:-16.06, Z:0.12 [[ 9.99984001e-01 5.65671786e-03 0.00000000e+00 3.29737230e+02] [-5.65671786e-03 9.99984001e-01 0.00000000e+00 -1.60598959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15074454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.740371743 meters Centerline goodness : 0.985698 with order 1 Centerline is valid? [True, True] Translation: X:329.80, Y:-16.06, Z:0.11 [[ 9.99911254e-01 1.33223184e-02 0.00000000e+00 3.29796453e+02] [-1.33223184e-02 9.99911254e-01 0.00000000e+00 -1.60594369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14269638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.800371743 meters Centerline goodness : 0.984825 with order 1 Centerline is valid? [True, True] Translation: X:329.85, Y:-16.06, Z:0.11 [[ 9.99810523e-01 1.94657932e-02 0.00000000e+00 3.29853707e+02] [-1.94657932e-02 9.99810523e-01 0.00000000e+00 -1.60600493e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13470528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86037174300003 meters Centerline goodness : 0.984627 with order 1 Centerline is valid? [True, True] Translation: X:329.91, Y:-16.06, Z:0.11 [[ 9.99683641e-01 2.51519068e-02 0.00000000e+00 3.29912157e+02] [-2.51519068e-02 9.99683641e-01 0.00000000e+00 -1.60626138e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11578294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92037174300003 meters Centerline goodness : 0.983708 with order 1 Centerline is valid? [True, True] Translation: X:329.97, Y:-16.06, Z:0.11 [[ 9.99619988e-01 2.75659018e-02 0.00000000e+00 3.29970280e+02] [-2.75659018e-02 9.99619988e-01 0.00000000e+00 -1.60644636e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11819695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.980371743 meters Centerline goodness : 0.984508 with order 1 Centerline is valid? [True, True] Translation: X:330.03, Y:-16.07, Z:0.11 [[ 9.99602654e-01 2.81874990e-02 0.00000000e+00 3.30028828e+02] [-2.81874990e-02 9.99602654e-01 0.00000000e+00 -1.60672369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12532595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.040371743 meters Centerline goodness : 0.984574 with order 1 Centerline is valid? [True, True] Translation: X:330.09, Y:-16.07, Z:0.11 [[ 9.99549000e-01 3.00299305e-02 0.00000000e+00 3.30087323e+02] [-3.00299305e-02 9.99549000e-01 0.00000000e+00 -1.60719168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11012032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.100371743 meters Centerline goodness : 0.984962 with order 1 Centerline is valid? [True, True] Translation: X:330.15, Y:-16.08, Z:0.11 [[ 9.99543521e-01 3.02117602e-02 0.00000000e+00 3.30146141e+02] [-3.02117602e-02 9.99543521e-01 0.00000000e+00 -1.60773324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09129340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.160371743 meters Centerline goodness : 0.984735 with order 1 Centerline is valid? [True, True] Translation: X:330.21, Y:-16.08, Z:0.11 [[ 9.99591476e-01 2.85811237e-02 0.00000000e+00 3.30205082e+02] [-2.85811237e-02 9.99591476e-01 0.00000000e+00 -1.60840661e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09188955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.220371743 meters Centerline goodness : 0.985285 with order 1 Centerline is valid? [True, True] Translation: X:330.26, Y:-16.09, Z:0.11 [[ 9.99735867e-01 2.29824995e-02 0.00000000e+00 3.30262609e+02] [-2.29824995e-02 9.99735867e-01 0.00000000e+00 -1.60909045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08456016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.280371743 meters Centerline goodness : 0.984889 with order 1 Centerline is valid? [True, True] Translation: X:330.32, Y:-16.10, Z:0.11 [[ 9.99896396e-01 1.43943755e-02 0.00000000e+00 3.30321394e+02] [-1.43943755e-02 9.99896396e-01 0.00000000e+00 -1.60960842e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09808405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.340371743 meters Centerline goodness : 0.985466 with order 1 Centerline is valid? [True, True] Translation: X:330.38, Y:-16.10, Z:0.11 [[ 9.99988279e-01 4.84163485e-03 0.00000000e+00 3.30380345e+02] [-4.84163485e-03 9.99988279e-01 0.00000000e+00 -1.61014328e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11181241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.400371743 meters Centerline goodness : 0.985141 with order 1 Centerline is valid? [True, True] Translation: X:330.44, Y:-16.11, Z:0.11 [[ 9.99999134e-01 -1.31571123e-03 0.00000000e+00 3.30439302e+02] [ 1.31571123e-03 9.99999134e-01 0.00000000e+00 -1.61052697e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11587971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.460371743 meters Centerline goodness : 0.986645 with order 1 Centerline is valid? [True, True] Translation: X:330.50, Y:-16.11, Z:0.11 [[ 9.99957348e-01 -9.23592667e-03 0.00000000e+00 3.30499377e+02] [ 9.23592667e-03 9.99957348e-01 0.00000000e+00 -1.61093631e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09959221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.520371743 meters Centerline goodness : 0.985793 with order 1 Centerline is valid? [True, True] Translation: X:330.56, Y:-16.11, Z:0.11 [[ 9.99913400e-01 -1.31602305e-02 0.00000000e+00 3.30561602e+02] [ 1.31602305e-02 9.99913400e-01 0.00000000e+00 -1.61132717e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11630506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.580371743 meters Centerline goodness : 0.987436 with order 1 Centerline is valid? [True, True] Translation: X:330.62, Y:-16.11, Z:0.11 [[ 9.99873953e-01 -1.58769796e-02 0.00000000e+00 3.30623952e+02] [ 1.58769796e-02 9.99873953e-01 0.00000000e+00 -1.61147765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09275903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.640371743 meters Centerline goodness : 0.986682 with order 1 Centerline is valid? [True, True] Translation: X:330.69, Y:-16.11, Z:0.11 [[ 9.99878506e-01 -1.55876279e-02 0.00000000e+00 3.30686158e+02] [ 1.55876279e-02 9.99878506e-01 0.00000000e+00 -1.61133377e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10775459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.700371743 meters Centerline goodness : 0.987155 with order 1 Centerline is valid? [True, True] Translation: X:330.75, Y:-16.11, Z:0.11 [[ 9.99902337e-01 -1.39755564e-02 0.00000000e+00 3.30748628e+02] [ 1.39755564e-02 9.99902337e-01 0.00000000e+00 -1.61138809e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14106577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.760371743 meters Centerline goodness : 0.987685 with order 1 Centerline is valid? [True, True] Translation: X:330.81, Y:-16.11, Z:0.11 [[ 9.99939701e-01 -1.09815506e-02 0.00000000e+00 3.30811253e+02] [ 1.09815506e-02 9.99939701e-01 0.00000000e+00 -1.61118121e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11438052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.820371743 meters Centerline goodness : 0.987190 with order 1 Centerline is valid? [True, True] Translation: X:330.87, Y:-16.11, Z:0.11 [[ 9.99964073e-01 -8.47659993e-03 0.00000000e+00 3.30873743e+02] [ 8.47659993e-03 9.99964073e-01 0.00000000e+00 -1.61108805e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06573270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.880371743 meters Centerline goodness : 0.985669 with order 1 Centerline is valid? [True, True] Translation: X:330.94, Y:-16.11, Z:0.11 [[ 9.99998101e-01 -1.94895225e-03 0.00000000e+00 3.30935616e+02] [ 1.94895225e-03 9.99998101e-01 0.00000000e+00 -1.61105956e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12988447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.940371743 meters Centerline goodness : 0.986595 with order 1 Centerline is valid? [True, True] Translation: X:331.00, Y:-16.11, Z:0.11 [[ 9.99999692e-01 7.84470109e-04 0.00000000e+00 3.30996976e+02] [-7.84470109e-04 9.99999692e-01 0.00000000e+00 -1.61074998e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13477981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.000371743 meters Centerline goodness : 0.987914 with order 1 Centerline is valid? [True, True] Translation: X:331.06, Y:-16.10, Z:0.12 [[ 9.99999157e-01 -1.29867608e-03 0.00000000e+00 3.31056366e+02] [ 1.29867608e-03 9.99999157e-01 0.00000000e+00 -1.61043583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15592158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.060371743 meters Centerline goodness : 0.986892 with order 1 Centerline is valid? [True, True] Translation: X:331.12, Y:-16.10, Z:0.11 [[ 9.99987447e-01 -5.01064803e-03 0.00000000e+00 3.31117189e+02] [ 5.01064803e-03 9.99987447e-01 0.00000000e+00 -1.61030899e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14781786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.120371743 meters Centerline goodness : 0.988054 with order 1 Centerline is valid? [True, True] Translation: X:331.18, Y:-16.10, Z:0.11 [[ 9.99974116e-01 -7.19490049e-03 0.00000000e+00 3.31180076e+02] [ 7.19490049e-03 9.99974116e-01 0.00000000e+00 -1.61013287e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12094248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.180371743 meters Centerline goodness : 0.988554 with order 1 Centerline is valid? [True, True] Translation: X:331.24, Y:-16.10, Z:0.11 [[ 9.99963140e-01 -8.58592148e-03 0.00000000e+00 3.31241787e+02] [ 8.58592148e-03 9.99963140e-01 0.00000000e+00 -1.60991468e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11320179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.240371743 meters Centerline goodness : 0.988025 with order 1 Centerline is valid? [True, True] Translation: X:331.30, Y:-16.10, Z:0.11 [[ 9.99984410e-01 -5.58381977e-03 0.00000000e+00 3.31304543e+02] [ 5.58381977e-03 9.99984410e-01 0.00000000e+00 -1.60975663e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11527176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.300371743 meters Centerline goodness : 0.988350 with order 1 Centerline is valid? [True, True] Translation: X:331.37, Y:-16.10, Z:0.11 [[ 9.99993725e-01 3.54270792e-03 0.00000000e+00 3.31366316e+02] [-3.54270792e-03 9.99993725e-01 0.00000000e+00 -1.60961576e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09725811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36037174300003 meters Centerline goodness : 0.988766 with order 1 Centerline is valid? [True, True] Translation: X:331.43, Y:-16.09, Z:0.11 [[ 9.99934498e-01 1.14454844e-02 0.00000000e+00 3.31425375e+02] [-1.14454844e-02 9.99934498e-01 0.00000000e+00 -1.60936949e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11964951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42037174300003 meters Centerline goodness : 0.989541 with order 1 Centerline is valid? [True, True] Translation: X:331.48, Y:-16.10, Z:0.11 [[ 9.99805518e-01 1.97212045e-02 0.00000000e+00 3.31484363e+02] [-1.97212045e-02 9.99805518e-01 0.00000000e+00 -1.60951322e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07728323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.480371743 meters Centerline goodness : 0.989171 with order 1 Centerline is valid? [True, True] Translation: X:331.54, Y:-16.09, Z:0.11 [[ 9.99531956e-01 3.05919813e-02 0.00000000e+00 3.31542225e+02] [-3.05919813e-02 9.99531956e-01 0.00000000e+00 -1.60917273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07510588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.540371743 meters Centerline goodness : 0.988217 with order 1 Centerline is valid? [True, True] Translation: X:331.60, Y:-16.09, Z:0.11 [[ 9.99370264e-01 3.54834621e-02 0.00000000e+00 3.31601032e+02] [-3.54834621e-02 9.99370264e-01 0.00000000e+00 -1.60925273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07581249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.600371743 meters Centerline goodness : 0.988063 with order 1 Centerline is valid? [True, True] Translation: X:331.66, Y:-16.09, Z:0.11 [[ 9.99362389e-01 3.57045494e-02 0.00000000e+00 3.31659154e+02] [-3.57045494e-02 9.99362389e-01 0.00000000e+00 -1.60938438e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10140539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.660371743 meters Centerline goodness : 0.989402 with order 1 Centerline is valid? [True, True] Translation: X:331.72, Y:-16.10, Z:0.11 [[ 9.99513947e-01 3.11748325e-02 0.00000000e+00 3.31718230e+02] [-3.11748325e-02 9.99513947e-01 0.00000000e+00 -1.60964948e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11349873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.720371743 meters Centerline goodness : 0.989839 with order 1 Centerline is valid? [True, True] Translation: X:331.78, Y:-16.10, Z:0.11 [[ 9.99589523e-01 2.86493573e-02 0.00000000e+00 3.31776549e+02] [-2.86493573e-02 9.99589523e-01 0.00000000e+00 -1.61000692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11125700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.780371743 meters Centerline goodness : 0.989369 with order 1 Centerline is valid? [True, True] Translation: X:331.84, Y:-16.11, Z:0.11 [[ 9.99631729e-01 2.71368214e-02 0.00000000e+00 3.31835001e+02] [-2.71368214e-02 9.99631729e-01 0.00000000e+00 -1.61064623e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11308386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.840371743 meters Centerline goodness : 0.990181 with order 1 Centerline is valid? [True, True] Translation: X:331.89, Y:-16.11, Z:0.12 [[ 9.99717820e-01 2.37545843e-02 0.00000000e+00 3.31893650e+02] [-2.37545843e-02 9.99717820e-01 0.00000000e+00 -1.61085174e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15986860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.900371743 meters Centerline goodness : 0.990422 with order 1 Centerline is valid? [True, True] Translation: X:331.95, Y:-16.12, Z:0.11 [[ 9.99661474e-01 2.60180160e-02 0.00000000e+00 3.31952337e+02] [-2.60180160e-02 9.99661474e-01 0.00000000e+00 -1.61150394e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12312272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.960371743 meters Centerline goodness : 0.988588 with order 1 Centerline is valid? [True, True] Translation: X:332.01, Y:-16.12, Z:0.11 [[ 9.99456526e-01 3.29644162e-02 0.00000000e+00 3.32009825e+02] [-3.29644162e-02 9.99456526e-01 0.00000000e+00 -1.61224545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11245894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.020371743 meters Centerline goodness : 0.988838 with order 1 Centerline is valid? [True, True] Translation: X:332.07, Y:-16.13, Z:0.11 [[ 9.99135632e-01 4.15690918e-02 0.00000000e+00 3.32068378e+02] [-4.15690918e-02 9.99135632e-01 0.00000000e+00 -1.61291208e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11729645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.080371743 meters Centerline goodness : 0.989663 with order 1 Centerline is valid? [True, True] Translation: X:332.13, Y:-16.14, Z:0.12 [[ 9.98948681e-01 4.58424727e-02 0.00000000e+00 3.32126369e+02] [-4.58424727e-02 9.98948681e-01 0.00000000e+00 -1.61352957e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15019327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.140371743 meters Centerline goodness : 0.989985 with order 1 Centerline is valid? [True, True] Translation: X:332.18, Y:-16.14, Z:0.12 [[ 9.98893546e-01 4.70285447e-02 0.00000000e+00 3.32184869e+02] [-4.70285447e-02 9.98893546e-01 0.00000000e+00 -1.61413571e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16456429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.200371743 meters Centerline goodness : 0.990278 with order 1 Centerline is valid? [True, True] Translation: X:332.24, Y:-16.14, Z:0.12 [[ 9.99276793e-01 3.80248708e-02 0.00000000e+00 3.32242324e+02] [-3.80248708e-02 9.99276793e-01 0.00000000e+00 -1.61400405e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18724212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.260371743 meters Centerline goodness : 0.990651 with order 1 Centerline is valid? [True, True] Translation: X:332.30, Y:-16.15, Z:0.12 [[ 9.99368598e-01 3.55303353e-02 0.00000000e+00 3.32300265e+02] [-3.55303353e-02 9.99368598e-01 0.00000000e+00 -1.61532609e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20161058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.320371743 meters Centerline goodness : 0.988589 with order 1 Centerline is valid? [True, True] Translation: X:332.36, Y:-16.17, Z:0.12 [[ 9.99329057e-01 3.66256043e-02 0.00000000e+00 3.32357558e+02] [-3.66256043e-02 9.99329057e-01 0.00000000e+00 -1.61695449e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19294427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.380371743 meters Centerline goodness : 0.987357 with order 1 Centerline is valid? [True, True] Translation: X:332.41, Y:-16.18, Z:0.12 [[ 9.99341503e-01 3.62844313e-02 0.00000000e+00 3.32414735e+02] [-3.62844313e-02 9.99341503e-01 0.00000000e+00 -1.61785028e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21290617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.440371743 meters Centerline goodness : 0.986210 with order 1 Centerline is valid? [True, True] Translation: X:332.47, Y:-16.19, Z:0.12 [[ 9.99457034e-01 3.29490109e-02 0.00000000e+00 3.32473318e+02] [-3.29490109e-02 9.99457034e-01 0.00000000e+00 -1.61909548e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24772381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.500371743 meters Centerline goodness : 0.981544 with order 1 Centerline is valid? [True, True] Translation: X:332.53, Y:-16.20, Z:0.13 [[ 9.99676280e-01 2.54427971e-02 0.00000000e+00 3.32531496e+02] [-2.54427971e-02 9.99676280e-01 0.00000000e+00 -1.62021369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26876216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.560371743 meters Centerline goodness : 0.986729 with order 1 Centerline is valid? [True, True] Translation: X:332.59, Y:-16.22, Z:0.12 [[ 9.99676885e-01 2.54190187e-02 0.00000000e+00 3.32588220e+02] [-2.54190187e-02 9.99676885e-01 0.00000000e+00 -1.62211196e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24845951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.620371743 meters Centerline goodness : 0.985083 with order 1 Centerline is valid? [True, True] Translation: X:332.65, Y:-16.24, Z:0.12 [[ 9.99675993e-01 2.54540423e-02 0.00000000e+00 3.32646054e+02] [-2.54540423e-02 9.99675993e-01 0.00000000e+00 -1.62407490e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24252648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.680371743 meters Centerline goodness : 0.987422 with order 1 Centerline is valid? [True, True] Translation: X:332.70, Y:-16.25, Z:0.12 [[ 9.99821311e-01 1.89036201e-02 0.00000000e+00 3.32704207e+02] [-1.89036201e-02 9.99821311e-01 0.00000000e+00 -1.62500912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22057454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.740371743 meters Centerline goodness : 0.987216 with order 1 Centerline is valid? [True, True] Translation: X:332.76, Y:-16.26, Z:0.12 [[ 9.99829055e-01 1.84894559e-02 0.00000000e+00 3.32762009e+02] [-1.84894559e-02 9.99829055e-01 0.00000000e+00 -1.62631439e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19632929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.800371743 meters Centerline goodness : 0.985845 with order 1 Centerline is valid? [True, True] Translation: X:332.82, Y:-16.28, Z:0.12 [[ 9.99851231e-01 1.72486609e-02 0.00000000e+00 3.32819697e+02] [-1.72486609e-02 9.99851231e-01 0.00000000e+00 -1.62788565e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22650132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86037174300003 meters Centerline goodness : 0.979741 with order 1 Centerline is valid? [True, True] Translation: X:332.88, Y:-16.29, Z:0.13 [[ 9.99939730e-01 1.09789245e-02 0.00000000e+00 3.32876991e+02] [-1.09789245e-02 9.99939730e-01 0.00000000e+00 -1.62867583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27029915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92037174300003 meters Centerline goodness : 0.984740 with order 1 Centerline is valid? [True, True] Translation: X:332.93, Y:-16.30, Z:0.12 [[ 9.99975448e-01 7.00735095e-03 0.00000000e+00 3.32934576e+02] [-7.00735095e-03 9.99975448e-01 0.00000000e+00 -1.63024681e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23774600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.980371743 meters Centerline goodness : 0.985536 with order 1 Centerline is valid? [True, True] Translation: X:332.99, Y:-16.31, Z:0.12 [[ 9.99993455e-01 -3.61797075e-03 0.00000000e+00 3.32994125e+02] [ 3.61797075e-03 9.99993455e-01 0.00000000e+00 -1.63103217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23161608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.040371743 meters Centerline goodness : 0.986314 with order 1 Centerline is valid? [True, True] Translation: X:333.06, Y:-16.31, Z:0.12 [[ 9.99933820e-01 -1.15046024e-02 0.00000000e+00 3.33055707e+02] [ 1.15046024e-02 9.99933820e-01 0.00000000e+00 -1.63140861e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20989850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.100371743 meters Centerline goodness : 0.984436 with order 1 Centerline is valid? [True, True] Translation: X:333.12, Y:-16.32, Z:0.12 [[ 9.99823413e-01 -1.87920868e-02 0.00000000e+00 3.33118759e+02] [ 1.87920868e-02 9.99823413e-01 0.00000000e+00 -1.63189628e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21318237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.160371743 meters Centerline goodness : 0.984836 with order 1 Centerline is valid? [True, True] Translation: X:333.18, Y:-16.32, Z:0.12 [[ 9.99755501e-01 -2.21119557e-02 0.00000000e+00 3.33180201e+02] [ 2.21119557e-02 9.99755501e-01 0.00000000e+00 -1.63210844e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21314907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.220371743 meters Centerline goodness : 0.984715 with order 1 Centerline is valid? [True, True] Translation: X:333.24, Y:-16.32, Z:0.12 [[ 9.99728632e-01 -2.32951326e-02 0.00000000e+00 3.33242542e+02] [ 2.32951326e-02 9.99728632e-01 0.00000000e+00 -1.63183764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22792359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.280371743 meters Centerline goodness : 0.985260 with order 1 Centerline is valid? [True, True] Translation: X:333.31, Y:-16.31, Z:0.13 [[ 9.99697148e-01 -2.46091758e-02 0.00000000e+00 3.33305234e+02] [ 2.46091758e-02 9.99697148e-01 0.00000000e+00 -1.63108167e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26064095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.340371743 meters Centerline goodness : 0.987409 with order 1 Centerline is valid? [True, True] Translation: X:333.37, Y:-16.31, Z:0.13 [[ 9.99683783e-01 -2.51462599e-02 0.00000000e+00 3.33367389e+02] [ 2.51462599e-02 9.99683783e-01 0.00000000e+00 -1.63066878e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28890584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.400371743 meters Centerline goodness : 0.987356 with order 1 Centerline is valid? [True, True] Translation: X:333.43, Y:-16.30, Z:0.13 [[ 9.99652678e-01 -2.63538204e-02 0.00000000e+00 3.33430571e+02] [ 2.63538204e-02 9.99652678e-01 0.00000000e+00 -1.62970718e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28937056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.460371743 meters Centerline goodness : 0.987177 with order 1 Centerline is valid? [True, True] Translation: X:333.49, Y:-16.29, Z:0.13 [[ 9.99660984e-01 -2.60368295e-02 0.00000000e+00 3.33494620e+02] [ 2.60368295e-02 9.99660984e-01 0.00000000e+00 -1.62870305e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26634883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.520371743 meters Centerline goodness : 0.988504 with order 1 Centerline is valid? [True, True] Translation: X:333.56, Y:-16.28, Z:0.12 [[ 9.99742767e-01 -2.26804056e-02 0.00000000e+00 3.33557573e+02] [ 2.26804056e-02 9.99742767e-01 0.00000000e+00 -1.62791434e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24263064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.580371743 meters Centerline goodness : 0.992471 with order 1 Centerline is valid? [True, True] Translation: X:333.62, Y:-16.27, Z:0.12 [[ 9.99691042e-01 -2.48559947e-02 0.00000000e+00 3.33621069e+02] [ 2.48559947e-02 9.99691042e-01 0.00000000e+00 -1.62651762e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21918033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.640371743 meters Centerline goodness : 0.988308 with order 1 Centerline is valid? [True, True] Translation: X:333.68, Y:-16.26, Z:0.12 [[ 9.99900534e-01 -1.41039499e-02 0.00000000e+00 3.33683387e+02] [ 1.41039499e-02 9.99900534e-01 0.00000000e+00 -1.62627788e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21339031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.700371743 meters Centerline goodness : 0.988666 with order 1 Centerline is valid? [True, True] Translation: X:333.75, Y:-16.26, Z:0.12 [[ 9.99924508e-01 -1.22873395e-02 0.00000000e+00 3.33745705e+02] [ 1.22873395e-02 9.99924508e-01 0.00000000e+00 -1.62581623e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24381903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.760371743 meters Centerline goodness : 0.990368 with order 1 Centerline is valid? [True, True] Translation: X:333.81, Y:-16.25, Z:0.13 [[ 9.99922656e-01 -1.24371044e-02 0.00000000e+00 3.33808562e+02] [ 1.24371044e-02 9.99922656e-01 0.00000000e+00 -1.62521495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27364169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.820371743 meters Centerline goodness : 0.987582 with order 1 Centerline is valid? [True, True] Translation: X:333.87, Y:-16.26, Z:0.12 [[ 9.99997044e-01 -2.43165390e-03 0.00000000e+00 3.33870482e+02] [ 2.43165390e-03 9.99997044e-01 0.00000000e+00 -1.62585385e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23099893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.880371743 meters Centerline goodness : 0.988411 with order 1 Centerline is valid? [True, True] Translation: X:333.93, Y:-16.26, Z:0.12 [[ 9.99996675e-01 -2.57889672e-03 0.00000000e+00 3.33932609e+02] [ 2.57889672e-03 9.99996675e-01 0.00000000e+00 -1.62553917e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20812079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.940371743 meters Centerline goodness : 0.989493 with order 1 Centerline is valid? [True, True] Translation: X:333.99, Y:-16.25, Z:0.12 [[ 9.99987016e-01 -5.09584763e-03 0.00000000e+00 3.33994434e+02] [ 5.09584763e-03 9.99987016e-01 0.00000000e+00 -1.62480876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20070665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.000371743 meters Centerline goodness : 0.990882 with order 1 Centerline is valid? [True, True] Translation: X:334.06, Y:-16.24, Z:0.12 [[ 9.99987792e-01 -4.94115936e-03 0.00000000e+00 3.34057179e+02] [ 4.94115936e-03 9.99987792e-01 0.00000000e+00 -1.62417799e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15339662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.060371743 meters Centerline goodness : 0.992003 with order 1 Centerline is valid? [True, True] Translation: X:334.12, Y:-16.24, Z:0.11 [[ 9.99994388e-01 -3.35019765e-03 0.00000000e+00 3.34119474e+02] [ 3.35019765e-03 9.99994388e-01 0.00000000e+00 -1.62354504e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11247651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.120371743 meters Centerline goodness : 0.992173 with order 1 Centerline is valid? [True, True] Translation: X:334.18, Y:-16.23, Z:0.11 [[ 9.99995260e-01 -3.07900235e-03 0.00000000e+00 3.34181689e+02] [ 3.07900235e-03 9.99995260e-01 0.00000000e+00 -1.62320227e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13151827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.180371743 meters Centerline goodness : 0.993381 with order 1 Centerline is valid? [True, True] Translation: X:334.24, Y:-16.23, Z:0.12 [[ 9.99999703e-01 7.70275894e-04 0.00000000e+00 3.34243840e+02] [-7.70275894e-04 9.99999703e-01 0.00000000e+00 -1.62276848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15609903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.240371743 meters Centerline goodness : 0.993376 with order 1 Centerline is valid? [True, True] Translation: X:334.30, Y:-16.23, Z:0.11 [[ 9.99988425e-01 4.81151347e-03 0.00000000e+00 3.34304701e+02] [-4.81151347e-03 9.99988425e-01 0.00000000e+00 -1.62264939e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13111178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.300371743 meters Centerline goodness : 0.993040 with order 1 Centerline is valid? [True, True] Translation: X:334.36, Y:-16.23, Z:0.11 [[ 9.99974921e-01 7.08213076e-03 0.00000000e+00 3.34363289e+02] [-7.08213076e-03 9.99974921e-01 0.00000000e+00 -1.62261756e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12641241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36037174300003 meters Centerline goodness : 0.993406 with order 1 Centerline is valid? [True, True] Translation: X:334.42, Y:-16.23, Z:0.11 [[ 9.99956622e-01 9.31423159e-03 0.00000000e+00 3.34420781e+02] [-9.31423159e-03 9.99956622e-01 0.00000000e+00 -1.62282095e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13786719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42037174300003 meters Centerline goodness : 0.993002 with order 1 Centerline is valid? [True, True] Translation: X:334.48, Y:-16.23, Z:0.11 [[ 9.99935156e-01 1.13878640e-02 0.00000000e+00 3.34480070e+02] [-1.13878640e-02 9.99935156e-01 0.00000000e+00 -1.62304861e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09016741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.480371743 meters Centerline goodness : 0.992843 with order 1 Centerline is valid? [True, True] Translation: X:334.54, Y:-16.23, Z:0.10 [[ 9.99976233e-01 6.89447548e-03 0.00000000e+00 3.34539443e+02] [-6.89447548e-03 9.99976233e-01 0.00000000e+00 -1.62329760e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04253990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.540371743 meters Centerline goodness : 0.993275 with order 1 Centerline is valid? [True, True] Translation: X:334.60, Y:-16.24, Z:0.10 [[ 9.99986221e-01 5.24956494e-03 0.00000000e+00 3.34597632e+02] [-5.24956494e-03 9.99986221e-01 0.00000000e+00 -1.62353833e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02906113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.600371743 meters Centerline goodness : 0.992128 with order 1 Centerline is valid? [True, True] Translation: X:334.66, Y:-16.24, Z:0.11 [[ 9.99925568e-01 1.22007351e-02 0.00000000e+00 3.34656562e+02] [-1.22007351e-02 9.99925568e-01 0.00000000e+00 -1.62394675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08073854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.660371743 meters Centerline goodness : 0.992676 with order 1 Centerline is valid? [True, True] Translation: X:334.72, Y:-16.24, Z:0.11 [[ 9.99860026e-01 1.67310359e-02 0.00000000e+00 3.34715706e+02] [-1.67310359e-02 9.99860026e-01 0.00000000e+00 -1.62430453e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08813721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.720371743 meters Centerline goodness : 0.992257 with order 1 Centerline is valid? [True, True] Translation: X:334.77, Y:-16.25, Z:0.11 [[ 9.99848150e-01 1.74263271e-02 0.00000000e+00 3.34773888e+02] [-1.74263271e-02 9.99848150e-01 0.00000000e+00 -1.62474545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08306812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.780371743 meters Centerline goodness : 0.992265 with order 1 Centerline is valid? [True, True] Translation: X:334.83, Y:-16.25, Z:0.11 [[ 9.99929348e-01 1.18869392e-02 0.00000000e+00 3.34830956e+02] [-1.18869392e-02 9.99929348e-01 0.00000000e+00 -1.62534619e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08095546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.840371743 meters Centerline goodness : 0.992099 with order 1 Centerline is valid? [True, True] Translation: X:334.89, Y:-16.26, Z:0.10 [[ 9.99929097e-01 1.19080483e-02 0.00000000e+00 3.34889847e+02] [-1.19080483e-02 9.99929097e-01 0.00000000e+00 -1.62606011e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03443538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.900371743 meters Centerline goodness : 0.990864 with order 1 Centerline is valid? [True, True] Translation: X:334.95, Y:-16.27, Z:0.10 [[ 9.99920888e-01 1.25784654e-02 0.00000000e+00 3.34947517e+02] [-1.25784654e-02 9.99920888e-01 0.00000000e+00 -1.62704003e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01566617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.960371743 meters Centerline goodness : 0.991112 with order 1 Centerline is valid? [True, True] Translation: X:335.01, Y:-16.28, Z:0.10 [[ 9.99917320e-01 1.28589849e-02 0.00000000e+00 3.35006390e+02] [-1.28589849e-02 9.99917320e-01 0.00000000e+00 -1.62779980e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02228745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.020371743 meters Centerline goodness : 0.990165 with order 1 Centerline is valid? [True, True] Translation: X:335.07, Y:-16.29, Z:0.10 [[ 9.99890950e-01 1.47677853e-02 0.00000000e+00 3.35065132e+02] [-1.47677853e-02 9.99890950e-01 0.00000000e+00 -1.62862104e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.87869956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.080371743 meters Centerline goodness : 0.989921 with order 1 Centerline is valid? [True, True] Translation: X:335.12, Y:-16.29, Z:0.10 [[ 9.99861165e-01 1.66628404e-02 0.00000000e+00 3.35123457e+02] [-1.66628404e-02 9.99861165e-01 0.00000000e+00 -1.62943959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03506258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.140371743 meters Centerline goodness : 0.990180 with order 1 Centerline is valid? [True, True] Translation: X:335.18, Y:-16.30, Z:0.10 [[ 9.99845542e-01 1.75753312e-02 0.00000000e+00 3.35181891e+02] [-1.75753312e-02 9.99845542e-01 0.00000000e+00 -1.62990747e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04451184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.200371743 meters Centerline goodness : 0.989782 with order 1 Centerline is valid? [True, True] Translation: X:335.24, Y:-16.31, Z:0.10 [[ 9.99795253e-01 2.02348983e-02 0.00000000e+00 3.35240872e+02] [-2.02348983e-02 9.99795253e-01 0.00000000e+00 -1.63063184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04183644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.260371743 meters Centerline goodness : 0.989957 with order 1 Centerline is valid? [True, True] Translation: X:335.30, Y:-16.31, Z:0.10 [[ 9.99735005e-01 2.30199980e-02 0.00000000e+00 3.35299159e+02] [-2.30199980e-02 9.99735005e-01 0.00000000e+00 -1.63132118e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01234797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.320371743 meters Centerline goodness : 0.988698 with order 1 Centerline is valid? [True, True] Translation: X:335.36, Y:-16.32, Z:0.10 [[ 9.99732593e-01 2.31244844e-02 0.00000000e+00 3.35358044e+02] [-2.31244844e-02 9.99732593e-01 0.00000000e+00 -1.63183809e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00669845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.380371743 meters Centerline goodness : 0.987513 with order 1 Centerline is valid? [True, True] Translation: X:335.42, Y:-16.33, Z:0.10 [[ 9.99681280e-01 2.52455739e-02 0.00000000e+00 3.35416545e+02] [-2.52455739e-02 9.99681280e-01 0.00000000e+00 -1.63284202e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.71740411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.440371743 meters Centerline goodness : 0.986837 with order 1 Centerline is valid? [True, True] Translation: X:335.47, Y:-16.34, Z:0.10 [[ 9.99752511e-01 2.22467225e-02 0.00000000e+00 3.35473503e+02] [-2.22467225e-02 9.99752511e-01 0.00000000e+00 -1.63359860e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.70365992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.500371743 meters Centerline goodness : 0.985523 with order 1 Centerline is valid? [True, True] Translation: X:335.53, Y:-16.34, Z:0.10 [[ 9.99824767e-01 1.87199081e-02 0.00000000e+00 3.35532245e+02] [-1.87199081e-02 9.99824767e-01 0.00000000e+00 -1.63443084e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.80506609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.560371743 meters Centerline goodness : 0.985394 with order 1 Centerline is valid? [True, True] Translation: X:335.59, Y:-16.35, Z:0.10 [[ 9.99867890e-01 1.62543094e-02 0.00000000e+00 3.35591024e+02] [-1.62543094e-02 9.99867890e-01 0.00000000e+00 -1.63514948e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.75968791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.620371743 meters Centerline goodness : 0.985466 with order 1 Centerline is valid? [True, True] Translation: X:335.65, Y:-16.36, Z:0.10 [[ 9.99937146e-01 1.12117436e-02 0.00000000e+00 3.35649948e+02] [-1.12117436e-02 9.99937146e-01 0.00000000e+00 -1.63579986e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.82748670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.680371743 meters Centerline goodness : 0.985992 with order 1 Centerline is valid? [True, True] Translation: X:335.71, Y:-16.36, Z:0.10 [[ 9.99963784e-01 8.51062969e-03 0.00000000e+00 3.35708493e+02] [-8.51062969e-03 9.99963784e-01 0.00000000e+00 -1.63642918e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.92181588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.740371743 meters Centerline goodness : 0.985280 with order 1 Centerline is valid? [True, True] Translation: X:335.77, Y:-16.37, Z:0.10 [[ 9.99981884e-01 6.01935429e-03 0.00000000e+00 3.35766394e+02] [-6.01935429e-03 9.99981884e-01 0.00000000e+00 -1.63700567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.87264012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.800371743 meters Centerline goodness : 0.985542 with order 1 Centerline is valid? [True, True] Translation: X:335.82, Y:-16.38, Z:0.10 [[ 9.99990700e-01 4.31267036e-03 0.00000000e+00 3.35824473e+02] [-4.31267036e-03 9.99990700e-01 0.00000000e+00 -1.63788433e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.91183969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86037174300003 meters Centerline goodness : 0.985561 with order 1 Centerline is valid? [True, True] Translation: X:335.88, Y:-16.39, Z:0.10 [[ 9.99999223e-01 1.24625295e-03 0.00000000e+00 3.35882598e+02] [-1.24625295e-03 9.99999223e-01 0.00000000e+00 -1.63872890e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.93111536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92037174300003 meters Centerline goodness : 0.984743 with order 1 Centerline is valid? [True, True] Translation: X:335.94, Y:-16.40, Z:0.10 [[ 9.99998987e-01 1.42338022e-03 0.00000000e+00 3.35941589e+02] [-1.42338022e-03 9.99998987e-01 0.00000000e+00 -1.63974898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.61406226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.980371743 meters Centerline goodness : 0.984918 with order 1 Centerline is valid? [True, True] Translation: X:336.00, Y:-16.41, Z:0.09 [[ 9.99997756e-01 2.11838989e-03 0.00000000e+00 3.36000760e+02] [-2.11838989e-03 9.99997756e-01 0.00000000e+00 -1.64059552e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.36056130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.040371743 meters Centerline goodness : 0.983455 with order 1 Centerline is valid? [True, True] Translation: X:336.06, Y:-16.41, Z:0.09 [[ 9.99999816e-01 6.06445954e-04 0.00000000e+00 3.36060119e+02] [-6.06445954e-04 9.99999816e-01 0.00000000e+00 -1.64136020e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.37212379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.100371743 meters Centerline goodness : 0.983564 with order 1 Centerline is valid? [True, True] Translation: X:336.12, Y:-16.42, Z:0.09 [[ 9.99999861e-01 5.26657701e-04 0.00000000e+00 3.36120048e+02] [-5.26657701e-04 9.99999861e-01 0.00000000e+00 -1.64209479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.12848941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.160371743 meters Centerline goodness : 0.982632 with order 1 Centerline is valid? [True, True] Translation: X:336.18, Y:-16.43, Z:0.09 [[ 9.99998018e-01 -1.99098028e-03 0.00000000e+00 3.36180244e+02] [ 1.99098028e-03 9.99998018e-01 0.00000000e+00 -1.64281205e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.99403258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.220371743 meters Centerline goodness : 0.982656 with order 1 Centerline is valid? [True, True] Translation: X:336.24, Y:-16.44, Z:0.09 [[ 9.99997013e-01 -2.44399351e-03 0.00000000e+00 3.36240916e+02] [ 2.44399351e-03 9.99997013e-01 0.00000000e+00 -1.64352818e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.27650831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.280371743 meters Centerline goodness : 0.983063 with order 1 Centerline is valid? [True, True] Translation: X:336.30, Y:-16.44, Z:0.09 [[ 9.99995484e-01 -3.00517727e-03 0.00000000e+00 3.36300695e+02] [ 3.00517727e-03 9.99995484e-01 0.00000000e+00 -1.64401755e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.28127089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.340371743 meters Centerline goodness : 0.982626 with order 1 Centerline is valid? [True, True] Translation: X:336.36, Y:-16.45, Z:0.09 [[ 9.99999995e-01 1.04438059e-04 0.00000000e+00 3.36362097e+02] [-1.04438059e-04 9.99999995e-01 0.00000000e+00 -1.64490848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.17141109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.400371743 meters Centerline goodness : 0.982108 with order 1 Centerline is valid? [True, True] Translation: X:336.42, Y:-16.46, Z:0.09 [[ 9.99991626e-01 4.09247140e-03 0.00000000e+00 3.36422557e+02] [-4.09247140e-03 9.99991626e-01 0.00000000e+00 -1.64589083e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.06483946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.460371743 meters Centerline goodness : 0.981062 with order 1 Centerline is valid? [True, True] Translation: X:336.48, Y:-16.47, Z:0.09 [[ 9.99990655e-01 4.32307761e-03 0.00000000e+00 3.36480964e+02] [-4.32307761e-03 9.99990655e-01 0.00000000e+00 -1.64671404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.92222643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.520371743 meters Centerline goodness : 0.982773 with order 1 Centerline is valid? [True, True] Translation: X:336.54, Y:-16.47, Z:0.09 [[ 9.99998443e-01 1.76442900e-03 0.00000000e+00 3.36539873e+02] [-1.76442900e-03 9.99998443e-01 0.00000000e+00 -1.64728400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.83862705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.580371743 meters Centerline goodness : 0.983333 with order 1 Centerline is valid? [True, True] Translation: X:336.60, Y:-16.48, Z:0.09 [[ 9.99989251e-01 -4.63654580e-03 0.00000000e+00 3.36599259e+02] [ 4.63654580e-03 9.99989251e-01 0.00000000e+00 -1.64787140e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.88360421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.640371743 meters Centerline goodness : 0.983343 with order 1 Centerline is valid? [True, True] Translation: X:336.66, Y:-16.49, Z:0.09 [[ 9.99940521e-01 -1.09066630e-02 0.00000000e+00 3.36661258e+02] [ 1.09066630e-02 9.99940521e-01 0.00000000e+00 -1.64852041e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.95073886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.700371743 meters Centerline goodness : 0.983930 with order 1 Centerline is valid? [True, True] Translation: X:336.72, Y:-16.49, Z:0.09 [[ 9.99899982e-01 -1.41430856e-02 0.00000000e+00 3.36724191e+02] [ 1.41430856e-02 9.99899982e-01 0.00000000e+00 -1.64927935e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.95149724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.760371743 meters Centerline goodness : 0.983158 with order 1 Centerline is valid? [True, True] Translation: X:336.79, Y:-16.50, Z:0.09 [[ 9.99892968e-01 -1.46305543e-02 0.00000000e+00 3.36786427e+02] [ 1.46305543e-02 9.99892968e-01 0.00000000e+00 -1.64985558e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.93023578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.820371743 meters Centerline goodness : 0.984273 with order 1 Centerline is valid? [True, True] Translation: X:336.85, Y:-16.51, Z:0.09 [[ 9.99823584e-01 -1.87829687e-02 0.00000000e+00 3.36848263e+02] [ 1.87829687e-02 9.99823584e-01 0.00000000e+00 -1.65069219e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.02851745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.880371743 meters Centerline goodness : 0.983558 with order 1 Centerline is valid? [True, True] Translation: X:336.91, Y:-16.51, Z:0.09 [[ 9.99769965e-01 -2.14479969e-02 0.00000000e+00 3.36910465e+02] [ 2.14479969e-02 9.99769965e-01 0.00000000e+00 -1.65125978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.34087840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.940371743 meters Centerline goodness : 0.982793 with order 1 Centerline is valid? [True, True] Translation: X:336.97, Y:-16.52, Z:0.09 [[ 9.99796865e-01 -2.01550991e-02 0.00000000e+00 3.36972447e+02] [ 2.01550991e-02 9.99796865e-01 0.00000000e+00 -1.65199158e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.15074058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.000371743 meters Centerline goodness : 0.983969 with order 1 Centerline is valid? [True, True] Translation: X:337.03, Y:-16.53, Z:0.09 [[ 9.99827587e-01 -1.85686889e-02 0.00000000e+00 3.37034900e+02] [ 1.85686889e-02 9.99827587e-01 0.00000000e+00 -1.65253552e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.99599757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.060371743 meters Centerline goodness : 0.983445 with order 1 Centerline is valid? [True, True] Translation: X:337.10, Y:-16.53, Z:0.09 [[ 9.99867772e-01 -1.62615619e-02 0.00000000e+00 3.37096710e+02] [ 1.62615619e-02 9.99867772e-01 0.00000000e+00 -1.65308309e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.81447280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.120371743 meters Centerline goodness : 0.984779 with order 1 Centerline is valid? [True, True] Translation: X:337.16, Y:-16.53, Z:0.09 [[ 9.99851998e-01 -1.72041316e-02 0.00000000e+00 3.37158350e+02] [ 1.72041316e-02 9.99851998e-01 0.00000000e+00 -1.65342291e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.64094098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.180371743 meters Centerline goodness : 0.985083 with order 1 Centerline is valid? [True, True] Translation: X:337.22, Y:-16.54, Z:0.09 [[ 9.99839158e-01 -1.79348239e-02 0.00000000e+00 3.37220665e+02] [ 1.79348239e-02 9.99839158e-01 0.00000000e+00 -1.65376826e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.71172642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.240371743 meters Centerline goodness : 0.984370 with order 1 Centerline is valid? [True, True] Translation: X:337.28, Y:-16.54, Z:0.09 [[ 9.99844524e-01 -1.76331281e-02 0.00000000e+00 3.37281837e+02] [ 1.76331281e-02 9.99844524e-01 0.00000000e+00 -1.65420947e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.61303644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.300371743 meters Centerline goodness : 0.982699 with order 1 Centerline is valid? [True, True] Translation: X:337.34, Y:-16.55, Z:0.09 [[ 9.99848773e-01 -1.73905601e-02 0.00000000e+00 3.37343945e+02] [ 1.73905601e-02 9.99848773e-01 0.00000000e+00 -1.65479110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.02651828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36037174300003 meters Centerline goodness : 0.982682 with order 1 Centerline is valid? [True, True] Translation: X:337.40, Y:-16.55, Z:0.09 [[ 9.99844485e-01 -1.76353491e-02 0.00000000e+00 3.37404477e+02] [ 1.76353491e-02 9.99844485e-01 0.00000000e+00 -1.65534682e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.46983530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42037174300003 meters Centerline goodness : 0.983840 with order 1 Centerline is valid? [True, True] Translation: X:337.47, Y:-16.56, Z:0.10 [[ 9.99874210e-01 -1.58607672e-02 0.00000000e+00 3.37466608e+02] [ 1.58607672e-02 9.99874210e-01 0.00000000e+00 -1.65612445e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.54989461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.480371743 meters Centerline goodness : 0.982410 with order 1 Centerline is valid? [True, True] Translation: X:337.53, Y:-16.57, Z:0.10 [[ 9.99907507e-01 -1.36006171e-02 0.00000000e+00 3.37528728e+02] [ 1.36006171e-02 9.99907507e-01 0.00000000e+00 -1.65676704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.80474892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.540371743 meters Centerline goodness : 0.981477 with order 1 Centerline is valid? [True, True] Translation: X:337.59, Y:-16.57, Z:0.10 [[ 9.99934024e-01 -1.14868155e-02 0.00000000e+00 3.37589620e+02] [ 1.14868155e-02 9.99934024e-01 0.00000000e+00 -1.65738556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.70048300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.600371743 meters Centerline goodness : 0.984830 with order 1 Centerline is valid? [True, True] Translation: X:337.65, Y:-16.58, Z:0.10 [[ 9.99873384e-01 -1.59127853e-02 0.00000000e+00 3.37651585e+02] [ 1.59127853e-02 9.99873384e-01 0.00000000e+00 -1.65781643e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.50261598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.660371743 meters Centerline goodness : 0.985200 with order 1 Centerline is valid? [True, True] Translation: X:337.71, Y:-16.59, Z:0.09 [[ 9.99884514e-01 -1.51972987e-02 0.00000000e+00 3.37712002e+02] [ 1.51972987e-02 9.99884514e-01 0.00000000e+00 -1.65870774e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.48632174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.720371743 meters Centerline goodness : 0.989815 with order 1 Centerline is valid? [True, True] Translation: X:337.77, Y:-16.59, Z:0.09 [[ 9.99702013e-01 -2.44107661e-02 0.00000000e+00 3.37771982e+02] [ 2.44107661e-02 9.99702013e-01 0.00000000e+00 -1.65899374e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.28518366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.780371743 meters Centerline goodness : 0.989485 with order 1 Centerline is valid? [True, True] Translation: X:337.83, Y:-16.60, Z:0.09 [[ 9.99616552e-01 -2.76902210e-02 0.00000000e+00 3.37833044e+02] [ 2.76902210e-02 9.99616552e-01 0.00000000e+00 -1.66029463e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.44402742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.840371743 meters Centerline goodness : 0.989613 with order 1 Centerline is valid? [True, True] Translation: X:337.89, Y:-16.62, Z:0.10 [[ 9.99556328e-01 -2.97850072e-02 0.00000000e+00 3.37893221e+02] [ 2.97850072e-02 9.99556328e-01 0.00000000e+00 -1.66161086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.55053201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.900371743 meters Centerline goodness : 0.989574 with order 1 Centerline is valid? [True, True] Translation: X:337.95, Y:-16.62, Z:0.10 [[ 9.99622121e-01 -2.74884386e-02 0.00000000e+00 3.37954812e+02] [ 2.74884386e-02 9.99622121e-01 0.00000000e+00 -1.66245510e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.53983371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.960371743 meters Centerline goodness : 0.989178 with order 1 Centerline is valid? [True, True] Translation: X:338.02, Y:-16.63, Z:0.10 [[ 9.99744027e-01 -2.26247969e-02 0.00000000e+00 3.38016632e+02] [ 2.26247969e-02 9.99744027e-01 0.00000000e+00 -1.66322041e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.68641036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.020371743 meters Centerline goodness : 0.985618 with order 1 Centerline is valid? [True, True] Translation: X:338.08, Y:-16.65, Z:0.10 [[ 9.99958754e-01 -9.08242269e-03 0.00000000e+00 3.38077449e+02] [ 9.08242269e-03 9.99958754e-01 0.00000000e+00 -1.66486076e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03101409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.080371743 meters Centerline goodness : 0.983604 with order 1 Centerline is valid? [True, True] Translation: X:338.14, Y:-16.66, Z:0.11 [[ 9.99968332e-01 -7.95835776e-03 0.00000000e+00 3.38139413e+02] [ 7.95835776e-03 9.99968332e-01 0.00000000e+00 -1.66582629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06077648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.140371743 meters Centerline goodness : 0.983877 with order 1 Centerline is valid? [True, True] Translation: X:338.20, Y:-16.67, Z:0.11 [[ 9.99986404e-01 -5.21448738e-03 0.00000000e+00 3.38200343e+02] [ 5.21448738e-03 9.99986404e-01 0.00000000e+00 -1.66661216e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05483745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.200371743 meters Centerline goodness : 0.982852 with order 1 Centerline is valid? [True, True] Translation: X:338.26, Y:-16.67, Z:0.11 [[ 9.99989848e-01 -4.50599903e-03 0.00000000e+00 3.38261362e+02] [ 4.50599903e-03 9.99989848e-01 0.00000000e+00 -1.66743971e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07202496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.260371743 meters Centerline goodness : 0.983148 with order 1 Centerline is valid? [True, True] Translation: X:338.32, Y:-16.68, Z:0.10 [[ 9.99930168e-01 -1.18177076e-02 0.00000000e+00 3.38322029e+02] [ 1.18177076e-02 9.99930168e-01 0.00000000e+00 -1.66840266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02605469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.320371743 meters Centerline goodness : 0.981293 with order 1 Centerline is valid? [True, True] Translation: X:338.38, Y:-16.69, Z:0.11 [[ 9.99994538e-01 -3.30502502e-03 0.00000000e+00 3.38381570e+02] [ 3.30502502e-03 9.99994538e-01 0.00000000e+00 -1.66946065e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08041055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.380371743 meters Centerline goodness : 0.981247 with order 1 Centerline is valid? [True, True] Translation: X:338.44, Y:-16.70, Z:0.11 [[ 9.99994768e-01 -3.23492809e-03 0.00000000e+00 3.38442792e+02] [ 3.23492809e-03 9.99994768e-01 0.00000000e+00 -1.67001459e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10756618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.440371743 meters Centerline goodness : 0.981641 with order 1 Centerline is valid? [True, True] Translation: X:338.50, Y:-16.71, Z:0.11 [[ 9.99998914e-01 -1.47361114e-03 0.00000000e+00 3.38503223e+02] [ 1.47361114e-03 9.99998914e-01 0.00000000e+00 -1.67064204e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11230216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.500371743 meters Centerline goodness : 0.986279 with order 1 Centerline is valid? [True, True] Translation: X:338.56, Y:-16.71, Z:0.11 [[ 9.99935735e-01 -1.13369372e-02 0.00000000e+00 3.38563871e+02] [ 1.13369372e-02 9.99935735e-01 0.00000000e+00 -1.67056705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08608957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.560371743 meters Centerline goodness : 0.984951 with order 1 Centerline is valid? [True, True] Translation: X:338.63, Y:-16.71, Z:0.11 [[ 9.99915294e-01 -1.30155697e-02 0.00000000e+00 3.38626042e+02] [ 1.30155697e-02 9.99915294e-01 0.00000000e+00 -1.67116752e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10157895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.620371743 meters Centerline goodness : 0.980605 with order 1 Centerline is valid? [True, True] Translation: X:338.69, Y:-16.73, Z:0.12 [[ 9.99984532e-01 -5.56193275e-03 0.00000000e+00 3.38686576e+02] [ 5.56193275e-03 9.99984532e-01 0.00000000e+00 -1.67259561e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16138687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.680371743 meters Centerline goodness : 0.980789 with order 1 Centerline is valid? [True, True] Translation: X:338.75, Y:-16.73, Z:0.12 [[ 9.99982856e-01 -5.85560224e-03 0.00000000e+00 3.38747288e+02] [ 5.85560224e-03 9.99982856e-01 0.00000000e+00 -1.67316200e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18859698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.740371743 meters Centerline goodness : 0.979213 with order 1 Centerline is valid? [True, True] Translation: X:338.81, Y:-16.74, Z:0.12 [[ 9.99978725e-01 -6.52300428e-03 0.00000000e+00 3.38808678e+02] [ 6.52300428e-03 9.99978725e-01 0.00000000e+00 -1.67358114e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19440967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.800371743 meters Centerline goodness : 0.979501 with order 1 Centerline is valid? [True, True] Translation: X:338.87, Y:-16.74, Z:0.12 [[ 9.99982715e-01 -5.87968386e-03 0.00000000e+00 3.38869682e+02] [ 5.87968386e-03 9.99982715e-01 0.00000000e+00 -1.67423064e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19781753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86037174300003 meters Centerline goodness : 0.981081 with order 1 Centerline is valid? [True, True] Translation: X:338.93, Y:-16.74, Z:0.12 [[ 9.99963700e-01 -8.52050668e-03 0.00000000e+00 3.38930375e+02] [ 8.52050668e-03 9.99963700e-01 0.00000000e+00 -1.67442677e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22404699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.920371743 meters Centerline goodness : 0.984759 with order 1 Centerline is valid? [True, True] Translation: X:338.99, Y:-16.74, Z:0.12 [[ 9.99915146e-01 -1.30269091e-02 0.00000000e+00 3.38993302e+02] [ 1.30269091e-02 9.99915146e-01 0.00000000e+00 -1.67421933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24485231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.980371743 meters Centerline goodness : 0.980857 with order 1 Centerline is valid? [True, True] Translation: X:339.05, Y:-16.75, Z:0.12 [[ 9.99973645e-01 -7.26014434e-03 0.00000000e+00 3.39053976e+02] [ 7.26014434e-03 9.99973645e-01 0.00000000e+00 -1.67526295e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24852911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.040371743 meters Centerline goodness : 0.984281 with order 1 Centerline is valid? [True, True] Translation: X:339.12, Y:-16.75, Z:0.12 [[ 9.99889996e-01 -1.48322385e-02 0.00000000e+00 3.39115189e+02] [ 1.48322385e-02 9.99889996e-01 0.00000000e+00 -1.67513327e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21915571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.100371743 meters Centerline goodness : 0.982947 with order 1 Centerline is valid? [True, True] Translation: X:339.18, Y:-16.75, Z:0.13 [[ 9.99924611e-01 -1.22789073e-02 0.00000000e+00 3.39176623e+02] [ 1.22789073e-02 9.99924611e-01 0.00000000e+00 -1.67540232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25934309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.160371743 meters Centerline goodness : 0.984086 with order 1 Centerline is valid? [True, True] Translation: X:339.24, Y:-16.75, Z:0.13 [[ 9.99895179e-01 -1.44786585e-02 0.00000000e+00 3.39238504e+02] [ 1.44786585e-02 9.99895179e-01 0.00000000e+00 -1.67544468e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27798280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.220371743 meters Centerline goodness : 0.982232 with order 1 Centerline is valid? [True, True] Translation: X:339.30, Y:-16.76, Z:0.13 [[ 9.99852914e-01 -1.71507969e-02 0.00000000e+00 3.39299993e+02] [ 1.71507969e-02 9.99852914e-01 0.00000000e+00 -1.67607453e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26281259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.280371743 meters Centerline goodness : 0.980392 with order 1 Centerline is valid? [True, True] Translation: X:339.36, Y:-16.76, Z:0.13 [[ 9.99934703e-01 -1.14275762e-02 0.00000000e+00 3.39361169e+02] [ 1.14275762e-02 9.99934703e-01 0.00000000e+00 -1.67618792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28906955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.340371743 meters Centerline goodness : 0.979359 with order 1 Centerline is valid? [True, True] Translation: X:339.42, Y:-16.77, Z:0.13 [[ 9.99954936e-01 -9.49349803e-03 0.00000000e+00 3.39422021e+02] [ 9.49349803e-03 9.99954936e-01 0.00000000e+00 -1.67674318e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26101977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.400371743 meters Centerline goodness : 0.977297 with order 1 Centerline is valid? [True, True] Translation: X:339.48, Y:-16.77, Z:0.13 [[ 9.99914101e-01 -1.31068797e-02 0.00000000e+00 3.39483758e+02] [ 1.31068797e-02 9.99914101e-01 0.00000000e+00 -1.67702953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28458839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.460371743 meters Centerline goodness : 0.977514 with order 1 Centerline is valid? [True, True] Translation: X:339.55, Y:-16.77, Z:0.13 [[ 9.99942915e-01 -1.06848999e-02 0.00000000e+00 3.39545978e+02] [ 1.06848999e-02 9.99942915e-01 0.00000000e+00 -1.67705893e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29498219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.520371743 meters Centerline goodness : 0.978100 with order 1 Centerline is valid? [True, True] Translation: X:339.61, Y:-16.77, Z:0.12 [[ 9.99874619e-01 -1.58349795e-02 0.00000000e+00 3.39608719e+02] [ 1.58349795e-02 9.99874619e-01 0.00000000e+00 -1.67683608e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24790349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.580371743 meters Centerline goodness : 0.977211 with order 1 Centerline is valid? [True, True] Translation: X:339.67, Y:-16.77, Z:0.13 [[ 9.99929025e-01 -1.19140902e-02 0.00000000e+00 3.39670765e+02] [ 1.19140902e-02 9.99929025e-01 0.00000000e+00 -1.67680763e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27501793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.640371743 meters Centerline goodness : 0.980866 with order 1 Centerline is valid? [True, True] Translation: X:339.73, Y:-16.76, Z:0.13 [[ 9.99771371e-01 -2.13823824e-02 0.00000000e+00 3.39734013e+02] [ 2.13823824e-02 9.99771371e-01 0.00000000e+00 -1.67597347e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34643975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.700371743 meters Centerline goodness : 0.984025 with order 1 Centerline is valid? [True, True] Translation: X:339.80, Y:-16.76, Z:0.13 [[ 9.99671533e-01 -2.56286360e-02 0.00000000e+00 3.39795319e+02] [ 2.56286360e-02 9.99671533e-01 0.00000000e+00 -1.67552676e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32594941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.760371743 meters Centerline goodness : 0.985258 with order 1 Centerline is valid? [True, True] Translation: X:339.86, Y:-16.75, Z:0.14 [[ 9.99530452e-01 -3.06410680e-02 0.00000000e+00 3.39857776e+02] [ 3.06410680e-02 9.99530452e-01 0.00000000e+00 -1.67497142e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35670499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.820371743 meters Centerline goodness : 0.988082 with order 1 Centerline is valid? [True, True] Translation: X:339.92, Y:-16.74, Z:0.13 [[ 9.99356195e-01 -3.58775078e-02 0.00000000e+00 3.39920099e+02] [ 3.58775078e-02 9.99356195e-01 0.00000000e+00 -1.67413275e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30978148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.880371743 meters Centerline goodness : 0.983804 with order 1 Centerline is valid? [True, True] Translation: X:339.98, Y:-16.74, Z:0.14 [[ 9.99645627e-01 -2.66199431e-02 0.00000000e+00 3.39981625e+02] [ 2.66199431e-02 9.99645627e-01 0.00000000e+00 -1.67448302e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37197538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.940371743 meters Centerline goodness : 0.983158 with order 1 Centerline is valid? [True, True] Translation: X:340.04, Y:-16.74, Z:0.14 [[ 9.99804671e-01 -1.97641284e-02 0.00000000e+00 3.40043636e+02] [ 1.97641284e-02 9.99804671e-01 0.00000000e+00 -1.67385565e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35217664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.000371743 meters Centerline goodness : 0.983229 with order 1 Centerline is valid? [True, True] Translation: X:340.11, Y:-16.73, Z:0.14 [[ 9.99903218e-01 -1.39123702e-02 0.00000000e+00 3.40106148e+02] [ 1.39123702e-02 9.99903218e-01 0.00000000e+00 -1.67342149e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37484437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.060371743 meters Centerline goodness : 0.981465 with order 1 Centerline is valid? [True, True] Translation: X:340.17, Y:-16.73, Z:0.14 [[ 9.99942658e-01 -1.07089108e-02 0.00000000e+00 3.40168569e+02] [ 1.07089108e-02 9.99942658e-01 0.00000000e+00 -1.67301044e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38391098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.120371743 meters Centerline goodness : 0.983223 with order 1 Centerline is valid? [True, True] Translation: X:340.23, Y:-16.73, Z:0.14 [[ 9.99988298e-01 -4.83769579e-03 0.00000000e+00 3.40229553e+02] [ 4.83769579e-03 9.99988298e-01 0.00000000e+00 -1.67282588e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37533716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.180371743 meters Centerline goodness : 0.982938 with order 1 Centerline is valid? [True, True] Translation: X:340.29, Y:-16.73, Z:0.14 [[ 9.99997135e-01 -2.39390619e-03 0.00000000e+00 3.40291146e+02] [ 2.39390619e-03 9.99997135e-01 0.00000000e+00 -1.67283469e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37654205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.240371743 meters Centerline goodness : 0.983514 with order 1 Centerline is valid? [True, True] Translation: X:340.35, Y:-16.73, Z:0.14 [[ 9.99999175e-01 1.28439624e-03 0.00000000e+00 3.40351642e+02] [-1.28439624e-03 9.99999175e-01 0.00000000e+00 -1.67281782e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38594927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.300371743 meters Centerline goodness : 0.981046 with order 1 Centerline is valid? [True, True] Translation: X:340.41, Y:-16.73, Z:0.14 [[ 9.99982118e-01 5.98020407e-03 0.00000000e+00 3.40412329e+02] [-5.98020407e-03 9.99982118e-01 0.00000000e+00 -1.67311682e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39098032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36037174300003 meters Centerline goodness : 0.986708 with order 1 Centerline is valid? [True, True] Translation: X:340.47, Y:-16.72, Z:0.13 [[ 9.99999428e-01 1.06973965e-03 0.00000000e+00 3.40473057e+02] [-1.06973965e-03 9.99999428e-01 0.00000000e+00 -1.67238624e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32932507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.420371743 meters Centerline goodness : 0.980121 with order 1 Centerline is valid? [True, True] Translation: X:340.53, Y:-16.74, Z:0.13 [[ 9.99803640e-01 1.98162151e-02 0.00000000e+00 3.40532973e+02] [-1.98162151e-02 9.99803640e-01 0.00000000e+00 -1.67396182e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34612350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.480371743 meters Centerline goodness : 0.987553 with order 1 Centerline is valid? [True, True] Translation: X:340.59, Y:-16.73, Z:0.13 [[ 9.99920681e-01 1.25949457e-02 0.00000000e+00 3.40591734e+02] [-1.25949457e-02 9.99920681e-01 0.00000000e+00 -1.67302393e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31974158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.540371743 meters Centerline goodness : 0.979456 with order 1 Centerline is valid? [True, True] Translation: X:340.65, Y:-16.75, Z:0.14 [[ 9.99603562e-01 2.81552510e-02 0.00000000e+00 3.40650199e+02] [-2.81552510e-02 9.99603562e-01 0.00000000e+00 -1.67471562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38237604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.600371743 meters Centerline goodness : 0.988719 with order 1 Centerline is valid? [True, True] Translation: X:340.71, Y:-16.74, Z:0.13 [[ 9.99802012e-01 1.98981736e-02 0.00000000e+00 3.40708429e+02] [-1.98981736e-02 9.99802012e-01 0.00000000e+00 -1.67424155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33079892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.660371743 meters Centerline goodness : 0.988009 with order 1 Centerline is valid? [True, True] Translation: X:340.77, Y:-16.75, Z:0.13 [[ 9.99697957e-01 2.45763034e-02 0.00000000e+00 3.40766080e+02] [-2.45763034e-02 9.99697957e-01 0.00000000e+00 -1.67487206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33348757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.720371743 meters Centerline goodness : 0.987847 with order 1 Centerline is valid? [True, True] Translation: X:340.82, Y:-16.76, Z:0.13 [[ 9.99600381e-01 2.82679714e-02 0.00000000e+00 3.40823584e+02] [-2.82679714e-02 9.99600381e-01 0.00000000e+00 -1.67550720e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32217191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.780371743 meters Centerline goodness : 0.982367 with order 1 Centerline is valid? [True, True] Translation: X:340.88, Y:-16.77, Z:0.14 [[ 9.99367516e-01 3.55607634e-02 0.00000000e+00 3.40881590e+02] [-3.55607634e-02 9.99367516e-01 0.00000000e+00 -1.67655883e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36390899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.840371743 meters Centerline goodness : 0.981692 with order 1 Centerline is valid? [True, True] Translation: X:340.94, Y:-16.78, Z:0.14 [[ 9.99349531e-01 3.60626534e-02 0.00000000e+00 3.40939862e+02] [-3.60626534e-02 9.99349531e-01 0.00000000e+00 -1.67758562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39544939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.900371743 meters Centerline goodness : 0.986019 with order 1 Centerline is valid? [True, True] Translation: X:341.00, Y:-16.79, Z:0.14 [[ 9.99372172e-01 3.54296692e-02 0.00000000e+00 3.40998051e+02] [-3.54296692e-02 9.99372172e-01 0.00000000e+00 -1.67863716e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40305793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.960371743 meters Centerline goodness : 0.980850 with order 1 Centerline is valid? [True, True] Translation: X:341.06, Y:-16.80, Z:0.14 [[ 9.99350160e-01 3.60452284e-02 0.00000000e+00 3.41056543e+02] [-3.60452284e-02 9.99350160e-01 0.00000000e+00 -1.67975911e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35320276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.020371743 meters Centerline goodness : 0.980145 with order 1 Centerline is valid? [True, True] Translation: X:341.11, Y:-16.81, Z:0.14 [[ 9.99382192e-01 3.51458962e-02 0.00000000e+00 3.41113926e+02] [-3.51458962e-02 9.99382192e-01 0.00000000e+00 -1.68101538e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36030002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.080371743 meters Centerline goodness : 0.979699 with order 1 Centerline is valid? [True, True] Translation: X:341.17, Y:-16.82, Z:0.14 [[ 9.99373326e-01 3.53970999e-02 0.00000000e+00 3.41172467e+02] [-3.53970999e-02 9.99373326e-01 0.00000000e+00 -1.68234472e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37711379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.140371743 meters Centerline goodness : 0.985954 with order 1 Centerline is valid? [True, True] Translation: X:341.23, Y:-16.83, Z:0.14 [[ 9.99439512e-01 3.34762768e-02 0.00000000e+00 3.41231113e+02] [-3.34762768e-02 9.99439512e-01 0.00000000e+00 -1.68331650e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38543820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.200371743 meters Centerline goodness : 0.972949 with order 1 Centerline is valid? [True, True] Translation: X:341.29, Y:-16.86, Z:0.14 [[ 9.98775840e-01 4.94653465e-02 0.00000000e+00 3.41287072e+02] [-4.94653465e-02 9.98775840e-01 0.00000000e+00 -1.68622070e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35183528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.260371743 meters Centerline goodness : 0.984315 with order 1 Centerline is valid? [True, True] Translation: X:341.35, Y:-16.86, Z:0.14 [[ 9.99360634e-01 3.57536419e-02 0.00000000e+00 3.41345241e+02] [-3.57536419e-02 9.99360634e-01 0.00000000e+00 -1.68550513e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37917233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.320371743 meters Centerline goodness : 0.975221 with order 1 Centerline is valid? [True, True] Translation: X:341.40, Y:-16.90, Z:0.12 [[ 9.98413357e-01 5.63095718e-02 0.00000000e+00 3.41403406e+02] [-5.63095718e-02 9.98413357e-01 0.00000000e+00 -1.68950702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21786695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.380371743 meters Centerline goodness : 0.974006 with order 1 Centerline is valid? [True, True] Translation: X:341.46, Y:-16.90, Z:0.13 [[ 9.98547707e-01 5.38746368e-02 0.00000000e+00 3.41462583e+02] [-5.38746368e-02 9.98547707e-01 0.00000000e+00 -1.69000166e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25634972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.440371743 meters Centerline goodness : 0.982802 with order 1 Centerline is valid? [True, True] Translation: X:341.52, Y:-16.89, Z:0.14 [[ 9.99498584e-01 3.16635662e-02 0.00000000e+00 3.41523240e+02] [-3.16635662e-02 9.99498584e-01 0.00000000e+00 -1.68894881e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38303848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.500371743 meters Centerline goodness : 0.982492 with order 1 Centerline is valid? [True, True] Translation: X:341.58, Y:-16.90, Z:0.14 [[ 9.99561537e-01 2.96096934e-02 0.00000000e+00 3.41581926e+02] [-2.96096934e-02 9.99561537e-01 0.00000000e+00 -1.68987990e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37795814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.560371743 meters Centerline goodness : 0.974408 with order 1 Centerline is valid? [True, True] Translation: X:341.64, Y:-16.94, Z:0.12 [[ 9.98835948e-01 4.82363903e-02 0.00000000e+00 3.41640685e+02] [-4.82363903e-02 9.98835948e-01 0.00000000e+00 -1.69376704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19674507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.620371743 meters Centerline goodness : 0.982264 with order 1 Centerline is valid? [True, True] Translation: X:341.70, Y:-16.93, Z:0.13 [[ 9.99656421e-01 2.62114345e-02 0.00000000e+00 3.41700914e+02] [-2.62114345e-02 9.99656421e-01 0.00000000e+00 -1.69290625e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33492293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.680371743 meters Centerline goodness : 0.977494 with order 1 Centerline is valid? [True, True] Translation: X:341.76, Y:-16.95, Z:0.12 [[ 9.99077651e-01 4.29400467e-02 0.00000000e+00 3.41758476e+02] [-4.29400467e-02 9.99077651e-01 0.00000000e+00 -1.69548617e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23093033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.740371743 meters Centerline goodness : 0.979704 with order 1 Centerline is valid? [True, True] Translation: X:341.82, Y:-16.96, Z:0.13 [[ 9.99163432e-01 4.08954181e-02 0.00000000e+00 3.41817446e+02] [-4.08954181e-02 9.99163432e-01 0.00000000e+00 -1.69607112e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29297298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.800371743 meters Centerline goodness : 0.979530 with order 1 Centerline is valid? [True, True] Translation: X:341.87, Y:-16.97, Z:0.13 [[ 9.99241889e-01 3.89313102e-02 0.00000000e+00 3.41874668e+02] [-3.89313102e-02 9.99241889e-01 0.00000000e+00 -1.69674797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31996103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86037174300003 meters Centerline goodness : 0.978442 with order 1 Centerline is valid? [True, True] Translation: X:341.93, Y:-16.97, Z:0.14 [[ 9.98899245e-01 4.69073456e-02 0.00000000e+00 3.41932836e+02] [-4.69073456e-02 9.98899245e-01 0.00000000e+00 -1.69733250e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37963839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.920371743 meters Centerline goodness : 0.979332 with order 1 Centerline is valid? [True, True] Translation: X:341.99, Y:-16.98, Z:0.14 [[ 9.98290934e-01 5.84398052e-02 0.00000000e+00 3.41991264e+02] [-5.84398052e-02 9.98290934e-01 0.00000000e+00 -1.69808592e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38338715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.980371743 meters Centerline goodness : 0.983698 with order 1 Centerline is valid? [True, True] Translation: X:342.05, Y:-16.98, Z:0.14 [[ 9.98298380e-01 5.83124666e-02 0.00000000e+00 3.42048794e+02] [-5.83124666e-02 9.98298380e-01 0.00000000e+00 -1.69759243e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37058632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.040371743 meters Centerline goodness : 0.980302 with order 1 Centerline is valid? [True, True] Translation: X:342.11, Y:-16.99, Z:0.14 [[ 9.97221235e-01 7.44970388e-02 0.00000000e+00 3.42106343e+02] [-7.44970388e-02 9.97221235e-01 0.00000000e+00 -1.69913657e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39190595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.100371743 meters Centerline goodness : 0.980533 with order 1 Centerline is valid? [True, True] Translation: X:342.16, Y:-17.00, Z:0.15 [[ 9.96368444e-01 8.51464836e-02 0.00000000e+00 3.42164426e+02] [-8.51464836e-02 9.96368444e-01 0.00000000e+00 -1.69997806e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46312227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.160371743 meters Centerline goodness : 0.985803 with order 1 Centerline is valid? [True, True] Translation: X:342.22, Y:-17.00, Z:0.14 [[ 9.96395558e-01 8.48286019e-02 0.00000000e+00 3.42221971e+02] [-8.48286019e-02 9.96395558e-01 0.00000000e+00 -1.70013382e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42818537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.220371743 meters Centerline goodness : 0.983130 with order 1 Centerline is valid? [True, True] Translation: X:342.28, Y:-17.02, Z:0.15 [[ 9.95678710e-01 9.28649891e-02 0.00000000e+00 3.42280788e+02] [-9.28649891e-02 9.95678710e-01 0.00000000e+00 -1.70189690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54704130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.280371743 meters Centerline goodness : 0.988837 with order 1 Centerline is valid? [True, True] Translation: X:342.34, Y:-17.03, Z:0.14 [[ 9.95809031e-01 9.14569512e-02 0.00000000e+00 3.42338687e+02] [-9.14569512e-02 9.95809031e-01 0.00000000e+00 -1.70286900e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43931746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.340371743 meters Centerline goodness : 0.990738 with order 1 Centerline is valid? [True, True] Translation: X:342.40, Y:-17.04, Z:0.15 [[ 9.96033310e-01 8.89811572e-02 0.00000000e+00 3.42396307e+02] [-8.89811572e-02 9.96033310e-01 0.00000000e+00 -1.70446843e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45780262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.400371743 meters Centerline goodness : 0.992626 with order 1 Centerline is valid? [True, True] Translation: X:342.45, Y:-17.06, Z:0.15 [[ 9.96587190e-01 8.25467943e-02 0.00000000e+00 3.42454332e+02] [-8.25467943e-02 9.96587190e-01 0.00000000e+00 -1.70619419e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48487076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.460371743 meters Centerline goodness : 0.993574 with order 1 Centerline is valid? [True, True] Translation: X:342.51, Y:-17.07, Z:0.15 [[ 9.97057479e-01 7.66575786e-02 0.00000000e+00 3.42512574e+02] [-7.66575786e-02 9.97057479e-01 0.00000000e+00 -1.70741027e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49144433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.520371743 meters Centerline goodness : 0.995787 with order 1 Centerline is valid? [True, True] Translation: X:342.57, Y:-17.09, Z:0.15 [[ 9.97771137e-01 6.67289835e-02 0.00000000e+00 3.42569814e+02] [-6.67289835e-02 9.97771137e-01 0.00000000e+00 -1.70898985e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47788116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.580371743 meters Centerline goodness : 0.996213 with order 1 Centerline is valid? [True, True] Translation: X:342.63, Y:-17.10, Z:0.15 [[ 9.98380946e-01 5.68813304e-02 0.00000000e+00 3.42627820e+02] [-5.68813304e-02 9.98380946e-01 0.00000000e+00 -1.71049255e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49574495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.640371743 meters Centerline goodness : 0.997505 with order 1 Centerline is valid? [True, True] Translation: X:342.69, Y:-17.12, Z:0.15 [[ 9.98856758e-01 4.78035242e-02 0.00000000e+00 3.42685798e+02] [-4.78035242e-02 9.98856758e-01 0.00000000e+00 -1.71166370e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51174649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.700371743 meters Centerline goodness : 0.998128 with order 1 Centerline is valid? [True, True] Translation: X:342.75, Y:-17.13, Z:0.15 [[ 9.99144477e-01 4.13559531e-02 0.00000000e+00 3.42745355e+02] [-4.13559531e-02 9.99144477e-01 0.00000000e+00 -1.71255175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52571750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.760371743 meters Centerline goodness : 0.998392 with order 1 Centerline is valid? [True, True] Translation: X:342.80, Y:-17.13, Z:0.15 [[ 9.99301430e-01 3.73718057e-02 0.00000000e+00 3.42803804e+02] [-3.73718057e-02 9.99301430e-01 0.00000000e+00 -1.71306090e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53325918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.820371743 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:342.86, Y:-17.14, Z:0.15 [[ 9.99487116e-01 3.20235168e-02 0.00000000e+00 3.42863633e+02] [-3.20235168e-02 9.99487116e-01 0.00000000e+00 -1.71363126e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54109946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.880371743 meters Centerline goodness : 0.998622 with order 1 Centerline is valid? [True, True] Translation: X:342.92, Y:-17.14, Z:0.15 [[ 9.99608008e-01 2.79969852e-02 0.00000000e+00 3.42923160e+02] [-2.79969852e-02 9.99608008e-01 0.00000000e+00 -1.71404409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52192580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.940371743 meters Centerline goodness : 0.998826 with order 1 Centerline is valid? [True, True] Translation: X:342.98, Y:-17.14, Z:0.15 [[ 9.99707185e-01 2.41980090e-02 0.00000000e+00 3.42982666e+02] [-2.41980090e-02 9.99707185e-01 0.00000000e+00 -1.71426770e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54149957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.000371743 meters Centerline goodness : 0.998304 with order 1 Centerline is valid? [True, True] Translation: X:343.04, Y:-17.14, Z:0.16 [[ 9.99825276e-01 1.86927209e-02 0.00000000e+00 3.43042713e+02] [-1.86927209e-02 9.99825276e-01 0.00000000e+00 -1.71446864e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55111163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.060371743 meters Centerline goodness : 0.998436 with order 1 Centerline is valid? [True, True] Translation: X:343.10, Y:-17.15, Z:0.15 [[ 9.99919439e-01 1.26931513e-02 0.00000000e+00 3.43102150e+02] [-1.26931513e-02 9.99919439e-01 0.00000000e+00 -1.71456771e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54757864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.120371743 meters Centerline goodness : 0.998266 with order 1 Centerline is valid? [True, True] Translation: X:343.16, Y:-17.15, Z:0.15 [[ 9.99960850e-01 8.84867175e-03 0.00000000e+00 3.43161467e+02] [-8.84867175e-03 9.99960850e-01 0.00000000e+00 -1.71458955e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54724251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.180371743 meters Centerline goodness : 0.997317 with order 1 Centerline is valid? [True, True] Translation: X:343.22, Y:-17.14, Z:0.15 [[ 9.99992744e-01 3.80933415e-03 0.00000000e+00 3.43221756e+02] [-3.80933415e-03 9.99992744e-01 0.00000000e+00 -1.71426946e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52422682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.240371743 meters Centerline goodness : 0.996968 with order 1 Centerline is valid? [True, True] Translation: X:343.28, Y:-17.14, Z:0.15 [[ 9.99999946e-01 -3.27183625e-04 0.00000000e+00 3.43282003e+02] [ 3.27183625e-04 9.99999946e-01 0.00000000e+00 -1.71385048e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52779605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.300371743 meters Centerline goodness : 0.996821 with order 1 Centerline is valid? [True, True] Translation: X:343.34, Y:-17.14, Z:0.15 [[ 9.99999483e-01 -1.01720336e-03 0.00000000e+00 3.43342391e+02] [ 1.01720336e-03 9.99999483e-01 0.00000000e+00 -1.71390334e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53344981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36037174300003 meters Centerline goodness : 0.995750 with order 1 Centerline is valid? [True, True] Translation: X:343.40, Y:-17.13, Z:0.15 [[ 9.99996771e-01 -2.54120860e-03 0.00000000e+00 3.43403370e+02] [ 2.54120860e-03 9.99996771e-01 0.00000000e+00 -1.71326588e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53707687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.420371743 meters Centerline goodness : 0.994643 with order 1 Centerline is valid? [True, True] Translation: X:343.46, Y:-17.13, Z:0.15 [[ 9.99997595e-01 -2.19301749e-03 0.00000000e+00 3.43464734e+02] [ 2.19301749e-03 9.99997595e-01 0.00000000e+00 -1.71258375e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52702375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.480371743 meters Centerline goodness : 0.993486 with order 1 Centerline is valid? [True, True] Translation: X:343.53, Y:-17.12, Z:0.15 [[ 9.99998198e-01 -1.89853418e-03 0.00000000e+00 3.43525097e+02] [ 1.89853418e-03 9.99998198e-01 0.00000000e+00 -1.71222107e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51274557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.540371743 meters Centerline goodness : 0.992027 with order 1 Centerline is valid? [True, True] Translation: X:343.59, Y:-17.11, Z:0.15 [[ 9.99999684e-01 -7.95438251e-04 0.00000000e+00 3.43585795e+02] [ 7.95438251e-04 9.99999684e-01 0.00000000e+00 -1.71138567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49753574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.600371743 meters Centerline goodness : 0.991412 with order 1 Centerline is valid? [True, True] Translation: X:343.65, Y:-17.11, Z:0.15 [[ 9.99999962e-01 -2.74950323e-04 0.00000000e+00 3.43646601e+02] [ 2.74950323e-04 9.99999962e-01 0.00000000e+00 -1.71055183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49856204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.660371743 meters Centerline goodness : 0.990121 with order 1 Centerline is valid? [True, True] Translation: X:343.71, Y:-17.10, Z:0.15 [[ 9.99999645e-01 8.43127259e-04 0.00000000e+00 3.43707451e+02] [-8.43127259e-04 9.99999645e-01 0.00000000e+00 -1.70982117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47281747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.720371743 meters Centerline goodness : 0.987596 with order 1 Centerline is valid? [True, True] Translation: X:343.77, Y:-17.09, Z:0.15 [[ 9.99997994e-01 2.00306719e-03 0.00000000e+00 3.43768512e+02] [-2.00306719e-03 9.99997994e-01 0.00000000e+00 -1.70947644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46987851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.780371743 meters Centerline goodness : 0.983563 with order 1 Centerline is valid? [True, True] Translation: X:343.83, Y:-17.10, Z:0.14 [[ 9.99901665e-01 1.40235450e-02 0.00000000e+00 3.43828590e+02] [-1.40235450e-02 9.99901665e-01 0.00000000e+00 -1.70992612e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41810462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.840371743 meters Centerline goodness : 0.983936 with order 1 Centerline is valid? [True, True] Translation: X:343.89, Y:-17.08, Z:0.15 [[ 9.99955534e-01 9.43031467e-03 0.00000000e+00 3.43888512e+02] [-9.43031467e-03 9.99955534e-01 0.00000000e+00 -1.70839038e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46482898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.900371743 meters Centerline goodness : 0.979247 with order 1 Centerline is valid? [True, True] Translation: X:343.95, Y:-17.09, Z:0.14 [[ 9.99681275e-01 2.52457447e-02 0.00000000e+00 3.43947210e+02] [-2.52457447e-02 9.99681275e-01 0.00000000e+00 -1.70921721e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40134237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.960371743 meters Centerline goodness : 0.978079 with order 1 Centerline is valid? [True, True] Translation: X:344.01, Y:-17.09, Z:0.13 [[ 9.99531205e-01 3.06165155e-02 0.00000000e+00 3.44006363e+02] [-3.06165155e-02 9.99531205e-01 0.00000000e+00 -1.70928237e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34791550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.020371743 meters Centerline goodness : 0.977340 with order 1 Centerline is valid? [True, True] Translation: X:344.06, Y:-17.09, Z:0.14 [[ 9.99442009e-01 3.34016450e-02 0.00000000e+00 3.44064931e+02] [-3.34016450e-02 9.99442009e-01 0.00000000e+00 -1.70890128e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36409968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.080371743 meters Centerline goodness : 0.977506 with order 1 Centerline is valid? [True, True] Translation: X:344.12, Y:-17.09, Z:0.14 [[ 9.99212285e-01 3.96838743e-02 0.00000000e+00 3.44123460e+02] [-3.96838743e-02 9.99212285e-01 0.00000000e+00 -1.70892335e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35347521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.140371743 meters Centerline goodness : 0.975074 with order 1 Centerline is valid? [True, True] Translation: X:344.18, Y:-17.09, Z:0.14 [[ 9.99059618e-01 4.33575869e-02 0.00000000e+00 3.44182160e+02] [-4.33575869e-02 9.99059618e-01 0.00000000e+00 -1.70875657e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44017859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.200371743 meters Centerline goodness : 0.975542 with order 1 Centerline is valid? [True, True] Translation: X:344.24, Y:-17.09, Z:0.14 [[ 9.98910798e-01 4.66606612e-02 0.00000000e+00 3.44241141e+02] [-4.66606612e-02 9.98910798e-01 0.00000000e+00 -1.70903234e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44293043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.260371743 meters Centerline goodness : 0.975713 with order 1 Centerline is valid? [True, True] Translation: X:344.30, Y:-17.10, Z:0.14 [[ 9.98757074e-01 4.98428285e-02 0.00000000e+00 3.44300127e+02] [-4.98428285e-02 9.98757074e-01 0.00000000e+00 -1.70961413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38933555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.320371743 meters Centerline goodness : 0.975293 with order 1 Centerline is valid? [True, True] Translation: X:344.36, Y:-17.10, Z:0.14 [[ 9.98840090e-01 4.81505371e-02 0.00000000e+00 3.44358770e+02] [-4.81505371e-02 9.98840090e-01 0.00000000e+00 -1.70994666e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43704438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.380371743 meters Centerline goodness : 0.980337 with order 1 Centerline is valid? [True, True] Translation: X:344.42, Y:-17.09, Z:0.15 [[ 9.99267918e-01 3.82573802e-02 0.00000000e+00 3.44418193e+02] [-3.82573802e-02 9.99267918e-01 0.00000000e+00 -1.70942871e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46514489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.440371743 meters Centerline goodness : 0.980877 with order 1 Centerline is valid? [True, True] Translation: X:344.48, Y:-17.10, Z:0.15 [[ 9.99328177e-01 3.66496296e-02 0.00000000e+00 3.44475264e+02] [-3.66496296e-02 9.99328177e-01 0.00000000e+00 -1.71019729e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46978022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.500371743 meters Centerline goodness : 0.982326 with order 1 Centerline is valid? [True, True] Translation: X:344.53, Y:-17.11, Z:0.15 [[ 9.99397428e-01 3.47099452e-02 0.00000000e+00 3.44533684e+02] [-3.47099452e-02 9.99397428e-01 0.00000000e+00 -1.71116839e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47503117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.560371743 meters Centerline goodness : 0.984914 with order 1 Centerline is valid? [True, True] Translation: X:344.59, Y:-17.12, Z:0.15 [[ 9.99430318e-01 3.37496480e-02 0.00000000e+00 3.44591971e+02] [-3.37496480e-02 9.99430318e-01 0.00000000e+00 -1.71189594e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48538520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.620371743 meters Centerline goodness : 0.984030 with order 1 Centerline is valid? [True, True] Translation: X:344.65, Y:-17.14, Z:0.15 [[ 9.99122626e-01 4.18805330e-02 0.00000000e+00 3.44649500e+02] [-4.18805330e-02 9.99122626e-01 0.00000000e+00 -1.71406394e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45972453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.680371743 meters Centerline goodness : 0.987419 with order 1 Centerline is valid? [True, True] Translation: X:344.71, Y:-17.15, Z:0.15 [[ 9.99075450e-01 4.29912258e-02 0.00000000e+00 3.44707895e+02] [-4.29912258e-02 9.99075450e-01 0.00000000e+00 -1.71480708e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45095443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.740371743 meters Centerline goodness : 0.990024 with order 1 Centerline is valid? [True, True] Translation: X:344.77, Y:-17.15, Z:0.15 [[ 9.99171665e-01 4.06937879e-02 0.00000000e+00 3.44766419e+02] [-4.06937879e-02 9.99171665e-01 0.00000000e+00 -1.71502876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52595845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.800371743 meters Centerline goodness : 0.990554 with order 1 Centerline is valid? [True, True] Translation: X:344.82, Y:-17.16, Z:0.15 [[ 9.98963381e-01 4.55210145e-02 0.00000000e+00 3.44824146e+02] [-4.55210145e-02 9.98963381e-01 0.00000000e+00 -1.71601409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53746343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86037174300003 meters Centerline goodness : 0.990839 with order 1 Centerline is valid? [True, True] Translation: X:344.88, Y:-17.17, Z:0.15 [[ 9.98786425e-01 4.92511560e-02 0.00000000e+00 3.44882342e+02] [-4.92511560e-02 9.98786425e-01 0.00000000e+00 -1.71699619e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54098197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.920371743 meters Centerline goodness : 0.992646 with order 1 Centerline is valid? [True, True] Translation: X:344.94, Y:-17.18, Z:0.15 [[ 9.98699452e-01 5.09843648e-02 0.00000000e+00 3.44939964e+02] [-5.09843648e-02 9.98699452e-01 0.00000000e+00 -1.71811596e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54408773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.980371743 meters Centerline goodness : 0.993973 with order 1 Centerline is valid? [True, True] Translation: X:345.00, Y:-17.19, Z:0.16 [[ 9.98792213e-01 4.91336482e-02 0.00000000e+00 3.44998082e+02] [-4.91336482e-02 9.98792213e-01 0.00000000e+00 -1.71934135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56008960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.040371743 meters Centerline goodness : 0.994228 with order 1 Centerline is valid? [True, True] Translation: X:345.06, Y:-17.20, Z:0.16 [[ 9.98944318e-01 4.59374570e-02 0.00000000e+00 3.45056584e+02] [-4.59374570e-02 9.98944318e-01 0.00000000e+00 -1.72028519e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57528329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.100371743 meters Centerline goodness : 0.995274 with order 1 Centerline is valid? [True, True] Translation: X:345.11, Y:-17.22, Z:0.16 [[ 9.99172026e-01 4.06849115e-02 0.00000000e+00 3.45114050e+02] [-4.06849115e-02 9.99172026e-01 0.00000000e+00 -1.72161148e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58190587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.160371743 meters Centerline goodness : 0.996439 with order 1 Centerline is valid? [True, True] Translation: X:345.17, Y:-17.23, Z:0.16 [[ 9.99289759e-01 3.76825981e-02 0.00000000e+00 3.45171266e+02] [-3.76825981e-02 9.99289759e-01 0.00000000e+00 -1.72258071e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58432175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.220371743 meters Centerline goodness : 0.997293 with order 1 Centerline is valid? [True, True] Translation: X:345.23, Y:-17.23, Z:0.16 [[ 9.99369256e-01 3.55118422e-02 0.00000000e+00 3.45229356e+02] [-3.55118422e-02 9.99369256e-01 0.00000000e+00 -1.72347379e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60677783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.280371743 meters Centerline goodness : 0.997814 with order 1 Centerline is valid? [True, True] Translation: X:345.29, Y:-17.25, Z:0.16 [[ 9.99448678e-01 3.32015160e-02 0.00000000e+00 3.45288018e+02] [-3.32015160e-02 9.99448678e-01 0.00000000e+00 -1.72461044e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61990928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.340371743 meters Centerline goodness : 0.998267 with order 1 Centerline is valid? [True, True] Translation: X:345.35, Y:-17.26, Z:0.16 [[ 9.99571551e-01 2.92696807e-02 0.00000000e+00 3.45347275e+02] [-2.92696807e-02 9.99571551e-01 0.00000000e+00 -1.72564104e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62120923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.400371743 meters Centerline goodness : 0.999647 with order 1 Centerline is valid? [True, True] Translation: X:345.41, Y:-17.27, Z:0.16 [[ 9.99723262e-01 2.35244379e-02 0.00000000e+00 3.45405938e+02] [-2.35244379e-02 9.99723262e-01 0.00000000e+00 -1.72674403e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62042896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.460371743 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:345.47, Y:-17.28, Z:0.16 [[ 9.99868950e-01 1.61889458e-02 0.00000000e+00 3.45465586e+02] [-1.61889458e-02 9.99868950e-01 0.00000000e+00 -1.72779899e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63938379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.520371743 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:345.52, Y:-17.29, Z:0.16 [[ 9.99960037e-01 8.94005190e-03 0.00000000e+00 3.45524568e+02] [-8.94005190e-03 9.99960037e-01 0.00000000e+00 -1.72870716e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64344318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.580371743 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.58, Y:-17.30, Z:0.16 [[ 9.99996685e-01 2.57505439e-03 0.00000000e+00 3.45583489e+02] [-2.57505439e-03 9.99996685e-01 0.00000000e+00 -1.72958324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64648751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.640371743 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.64, Y:-17.30, Z:0.17 [[ 9.99999480e-01 -1.02015069e-03 0.00000000e+00 3.45642675e+02] [ 1.02015069e-03 9.99999480e-01 0.00000000e+00 -1.73021573e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65029921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.700371743 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:345.70, Y:-17.31, Z:0.17 [[ 9.99979459e-01 -6.40955550e-03 0.00000000e+00 3.45703399e+02] [ 6.40955550e-03 9.99979459e-01 0.00000000e+00 -1.73082220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65533267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.760371743 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:345.76, Y:-17.31, Z:0.17 [[ 9.99947750e-01 -1.02223683e-02 0.00000000e+00 3.45763438e+02] [ 1.02223683e-02 9.99947750e-01 0.00000000e+00 -1.73129014e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66009705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.820371743 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.82, Y:-17.31, Z:0.17 [[ 9.99925004e-01 -1.22468518e-02 0.00000000e+00 3.45824113e+02] [ 1.22468518e-02 9.99925004e-01 0.00000000e+00 -1.73149260e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66187966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.880371743 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:345.89, Y:-17.32, Z:0.17 [[ 9.99906109e-01 -1.37030083e-02 0.00000000e+00 3.45885052e+02] [ 1.37030083e-02 9.99906109e-01 0.00000000e+00 -1.73159440e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65901221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.940371743 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:345.95, Y:-17.32, Z:0.16 [[ 9.99891661e-01 -1.47195737e-02 0.00000000e+00 3.45945462e+02] [ 1.47195737e-02 9.99891661e-01 0.00000000e+00 -1.73172790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61546731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.000371743 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:346.01, Y:-17.32, Z:0.17 [[ 9.99819167e-01 -1.90166620e-02 0.00000000e+00 3.46006594e+02] [ 1.90166620e-02 9.99819167e-01 0.00000000e+00 -1.73152862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65994605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.060371743 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:346.07, Y:-17.32, Z:0.17 [[ 9.99785034e-01 -2.07336957e-02 0.00000000e+00 3.46067954e+02] [ 2.07336957e-02 9.99785034e-01 0.00000000e+00 -1.73152748e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66690333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.120371743 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:346.13, Y:-17.31, Z:0.17 [[ 9.99728977e-01 -2.32802979e-02 0.00000000e+00 3.46128610e+02] [ 2.32802979e-02 9.99728977e-01 0.00000000e+00 -1.73120076e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66259251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.180371743 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:346.19, Y:-17.31, Z:0.17 [[ 9.99674630e-01 -2.55075141e-02 0.00000000e+00 3.46188837e+02] [ 2.55075141e-02 9.99674630e-01 0.00000000e+00 -1.73074220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65935177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.240371743 meters Centerline goodness : 0.998748 with order 1 Centerline is valid? [True, True] Translation: X:346.25, Y:-17.30, Z:0.17 [[ 9.99630930e-01 -2.71662378e-02 0.00000000e+00 3.46251000e+02] [ 2.71662378e-02 9.99630930e-01 0.00000000e+00 -1.73013024e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65308744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.300371743 meters Centerline goodness : 0.998355 with order 1 Centerline is valid? [True, True] Translation: X:346.31, Y:-17.29, Z:0.17 [[ 9.99601964e-01 -2.82119398e-02 0.00000000e+00 3.46313627e+02] [ 2.82119398e-02 9.99601964e-01 0.00000000e+00 -1.72941240e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65082774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36037174300003 meters Centerline goodness : 0.997544 with order 1 Centerline is valid? [True, True] Translation: X:346.37, Y:-17.29, Z:0.17 [[ 9.99613706e-01 -2.77927816e-02 0.00000000e+00 3.46374370e+02] [ 2.77927816e-02 9.99613706e-01 0.00000000e+00 -1.72871347e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65042988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.420371743 meters Centerline goodness : 0.996304 with order 1 Centerline is valid? [True, True] Translation: X:346.44, Y:-17.28, Z:0.16 [[ 9.99633764e-01 -2.70617284e-02 0.00000000e+00 3.46436153e+02] [ 2.70617284e-02 9.99633764e-01 0.00000000e+00 -1.72785545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64884671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.480371743 meters Centerline goodness : 0.995029 with order 1 Centerline is valid? [True, True] Translation: X:346.50, Y:-17.27, Z:0.16 [[ 9.99657820e-01 -2.61580260e-02 0.00000000e+00 3.46497467e+02] [ 2.61580260e-02 9.99657820e-01 0.00000000e+00 -1.72739939e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63465107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.540371743 meters Centerline goodness : 0.993407 with order 1 Centerline is valid? [True, True] Translation: X:346.56, Y:-17.27, Z:0.16 [[ 9.99735486e-01 -2.29990890e-02 0.00000000e+00 3.46560569e+02] [ 2.29990890e-02 9.99735486e-01 0.00000000e+00 -1.72655215e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62716730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.600371743 meters Centerline goodness : 0.990567 with order 1 Centerline is valid? [True, True] Translation: X:346.62, Y:-17.26, Z:0.16 [[ 9.99904778e-01 -1.37997963e-02 0.00000000e+00 3.46622752e+02] [ 1.37997963e-02 9.99904778e-01 0.00000000e+00 -1.72607052e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61759961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.660371743 meters Centerline goodness : 0.989337 with order 1 Centerline is valid? [True, True] Translation: X:346.69, Y:-17.25, Z:0.16 [[ 9.99927659e-01 -1.20281841e-02 0.00000000e+00 3.46685067e+02] [ 1.20281841e-02 9.99927659e-01 0.00000000e+00 -1.72450099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59422250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.720371743 meters Centerline goodness : 0.984984 with order 1 Centerline is valid? [True, True] Translation: X:346.75, Y:-17.24, Z:0.15 [[ 9.99999966e-01 2.59832210e-04 0.00000000e+00 3.46746801e+02] [-2.59832210e-04 9.99999966e-01 0.00000000e+00 -1.72442419e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54168193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.780371743 meters Centerline goodness : 0.982414 with order 1 Centerline is valid? [True, True] Translation: X:346.81, Y:-17.25, Z:0.14 [[ 9.99943716e-01 1.06096228e-02 0.00000000e+00 3.46806678e+02] [-1.06096228e-02 9.99943716e-01 0.00000000e+00 -1.72461118e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37453238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.840371743 meters Centerline goodness : 0.977485 with order 1 Centerline is valid? [True, True] Translation: X:346.87, Y:-17.23, Z:0.14 [[ 9.99915830e-01 1.29743266e-02 0.00000000e+00 3.46866308e+02] [-1.29743266e-02 9.99915830e-01 0.00000000e+00 -1.72332701e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42466947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.900371743 meters Centerline goodness : 0.975904 with order 1 Centerline is valid? [True, True] Translation: X:346.92, Y:-17.23, Z:0.14 [[ 9.99894036e-01 1.45573325e-02 0.00000000e+00 3.46923934e+02] [-1.45573325e-02 9.99894036e-01 0.00000000e+00 -1.72296448e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40450569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.960371743 meters Centerline goodness : 0.974984 with order 1 Centerline is valid? [True, True] Translation: X:346.98, Y:-17.23, Z:0.13 [[ 9.99818329e-01 1.90606919e-02 0.00000000e+00 3.46983450e+02] [-1.90606919e-02 9.99818329e-01 0.00000000e+00 -1.72250577e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34055538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.020371743 meters Centerline goodness : 0.972615 with order 1 Centerline is valid? [True, True] Translation: X:347.04, Y:-17.22, Z:0.14 [[ 9.99848369e-01 1.74137620e-02 0.00000000e+00 3.47043625e+02] [-1.74137620e-02 9.99848369e-01 0.00000000e+00 -1.72163263e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39693842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.080371743 meters Centerline goodness : 0.971705 with order 1 Centerline is valid? [True, True] Translation: X:347.10, Y:-17.22, Z:0.15 [[ 9.99762132e-01 2.18100885e-02 0.00000000e+00 3.47102569e+02] [-2.18100885e-02 9.99762132e-01 0.00000000e+00 -1.72151507e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46554656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.140371743 meters Centerline goodness : 0.969480 with order 1 Centerline is valid? [True, True] Translation: X:347.16, Y:-17.21, Z:0.15 [[ 9.99769540e-01 2.14677952e-02 0.00000000e+00 3.47161687e+02] [-2.14677952e-02 9.99769540e-01 0.00000000e+00 -1.72103516e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52254384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.200371743 meters Centerline goodness : 0.972595 with order 1 Centerline is valid? [True, True] Translation: X:347.22, Y:-17.21, Z:0.15 [[ 9.99799212e-01 2.00383674e-02 0.00000000e+00 3.47219929e+02] [-2.00383674e-02 9.99799212e-01 0.00000000e+00 -1.72073091e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47635729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.260371743 meters Centerline goodness : 0.977244 with order 1 Centerline is valid? [True, True] Translation: X:347.28, Y:-17.19, Z:0.15 [[ 9.99961706e-01 8.75136790e-03 0.00000000e+00 3.47279444e+02] [-8.75136790e-03 9.99961706e-01 0.00000000e+00 -1.71940881e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54851632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.320371743 meters Centerline goodness : 0.971971 with order 1 Centerline is valid? [True, True] Translation: X:347.34, Y:-17.20, Z:0.15 [[ 9.99853254e-01 1.71309623e-02 0.00000000e+00 3.47337986e+02] [-1.71309623e-02 9.99853254e-01 0.00000000e+00 -1.72045546e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48324539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.380371743 meters Centerline goodness : 0.973473 with order 1 Centerline is valid? [True, True] Translation: X:347.40, Y:-17.20, Z:0.15 [[ 9.99840318e-01 1.78700347e-02 0.00000000e+00 3.47396831e+02] [-1.78700347e-02 9.99840318e-01 0.00000000e+00 -1.72043556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50448172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.440371743 meters Centerline goodness : 0.972632 with order 1 Centerline is valid? [True, True] Translation: X:347.45, Y:-17.21, Z:0.15 [[ 9.99749528e-01 2.23803891e-02 0.00000000e+00 3.47454394e+02] [-2.23803891e-02 9.99749528e-01 0.00000000e+00 -1.72058616e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51459932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.500371743 meters Centerline goodness : 0.972133 with order 1 Centerline is valid? [True, True] Translation: X:347.51, Y:-17.21, Z:0.15 [[ 9.99616727e-01 2.76839163e-02 0.00000000e+00 3.47512334e+02] [-2.76839163e-02 9.99616727e-01 0.00000000e+00 -1.72082819e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51721280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.560371743 meters Centerline goodness : 0.971906 with order 1 Centerline is valid? [True, True] Translation: X:347.57, Y:-17.21, Z:0.15 [[ 9.99299536e-01 3.74224216e-02 0.00000000e+00 3.47571328e+02] [-3.74224216e-02 9.99299536e-01 0.00000000e+00 -1.72119361e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48739106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.620371743 meters Centerline goodness : 0.982994 with order 1 Centerline is valid? [True, True] Translation: X:347.63, Y:-17.20, Z:0.15 [[ 9.99613551e-01 2.77983702e-02 0.00000000e+00 3.47631231e+02] [-2.77983702e-02 9.99613551e-01 0.00000000e+00 -1.71991685e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46689013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.680371743 meters Centerline goodness : 0.973604 with order 1 Centerline is valid? [True, True] Translation: X:347.69, Y:-17.22, Z:0.15 [[ 9.98725795e-01 5.04656886e-02 0.00000000e+00 3.47688893e+02] [-5.04656886e-02 9.98725795e-01 0.00000000e+00 -1.72211462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45661972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.740371743 meters Centerline goodness : 0.984191 with order 1 Centerline is valid? [True, True] Translation: X:347.75, Y:-17.21, Z:0.16 [[ 9.99430130e-01 3.37552322e-02 0.00000000e+00 3.47749003e+02] [-3.37552322e-02 9.99430130e-01 0.00000000e+00 -1.72055469e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56792216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.800371743 meters Centerline goodness : 0.971179 with order 1 Centerline is valid? [True, True] Translation: X:347.81, Y:-17.23, Z:0.16 [[ 9.98725187e-01 5.04777353e-02 0.00000000e+00 3.47805936e+02] [-5.04777353e-02 9.98725187e-01 0.00000000e+00 -1.72304398e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57417674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86037174300003 meters Centerline goodness : 0.970321 with order 1 Centerline is valid? [True, True] Translation: X:347.86, Y:-17.24, Z:0.16 [[ 9.98729275e-01 5.03967769e-02 0.00000000e+00 3.47862682e+02] [-5.03967769e-02 9.98729275e-01 0.00000000e+00 -1.72378170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61364240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.920371743 meters Centerline goodness : 0.972459 with order 1 Centerline is valid? [True, True] Translation: X:347.92, Y:-17.25, Z:0.15 [[ 9.98552913e-01 5.37780538e-02 0.00000000e+00 3.47920979e+02] [-5.37780538e-02 9.98552913e-01 0.00000000e+00 -1.72504146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51866424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.980371743 meters Centerline goodness : 0.972592 with order 1 Centerline is valid? [True, True] Translation: X:347.98, Y:-17.26, Z:0.14 [[ 9.98782836e-01 4.93238882e-02 0.00000000e+00 3.47977869e+02] [-4.93238882e-02 9.98782836e-01 0.00000000e+00 -1.72620690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44529715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.040371743 meters Centerline goodness : 0.973494 with order 1 Centerline is valid? [True, True] Translation: X:348.04, Y:-17.27, Z:0.16 [[ 9.98592155e-01 5.30443941e-02 0.00000000e+00 3.48035621e+02] [-5.30443941e-02 9.98592155e-01 0.00000000e+00 -1.72683971e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58767171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.100371743 meters Centerline goodness : 0.975047 with order 1 Centerline is valid? [True, True] Translation: X:348.09, Y:-17.28, Z:0.15 [[ 9.98662429e-01 5.17044803e-02 0.00000000e+00 3.48094247e+02] [-5.17044803e-02 9.98662429e-01 0.00000000e+00 -1.72834186e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54022050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.160371743 meters Centerline goodness : 0.976622 with order 1 Centerline is valid? [True, True] Translation: X:348.15, Y:-17.29, Z:0.16 [[ 9.98714027e-01 5.06980542e-02 0.00000000e+00 3.48152969e+02] [-5.06980542e-02 9.98714027e-01 0.00000000e+00 -1.72926295e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64588128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.220371743 meters Centerline goodness : 0.983325 with order 1 Centerline is valid? [True, True] Translation: X:348.21, Y:-17.29, Z:0.16 [[ 9.99026525e-01 4.41135192e-02 0.00000000e+00 3.48210922e+02] [-4.41135192e-02 9.99026525e-01 0.00000000e+00 -1.72924849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59116724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.280371743 meters Centerline goodness : 0.984872 with order 1 Centerline is valid? [True, True] Translation: X:348.27, Y:-17.31, Z:0.16 [[ 9.99127081e-01 4.17741146e-02 0.00000000e+00 3.48269708e+02] [-4.17741146e-02 9.99127081e-01 0.00000000e+00 -1.73051615e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60475673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.340371743 meters Centerline goodness : 0.983692 with order 1 Centerline is valid? [True, True] Translation: X:348.33, Y:-17.33, Z:0.16 [[ 9.99073751e-01 4.30306950e-02 0.00000000e+00 3.48327631e+02] [-4.30306950e-02 9.99073751e-01 0.00000000e+00 -1.73252737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63096622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.400371743 meters Centerline goodness : 0.986805 with order 1 Centerline is valid? [True, True] Translation: X:348.39, Y:-17.34, Z:0.16 [[ 9.99347280e-01 3.61249832e-02 0.00000000e+00 3.48386149e+02] [-3.61249832e-02 9.99347280e-01 0.00000000e+00 -1.73378829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55562010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.460371743 meters Centerline goodness : 0.990305 with order 1 Centerline is valid? [True, True] Translation: X:348.44, Y:-17.34, Z:0.16 [[ 9.99857719e-01 1.68683707e-02 0.00000000e+00 3.48444304e+02] [-1.68683707e-02 9.99857719e-01 0.00000000e+00 -1.73388093e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63713148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.520371743 meters Centerline goodness : 0.991537 with order 1 Centerline is valid? [True, True] Translation: X:348.50, Y:-17.35, Z:0.16 [[ 9.99975603e-01 6.98516374e-03 0.00000000e+00 3.48503570e+02] [-6.98516374e-03 9.99975603e-01 0.00000000e+00 -1.73470571e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64900056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.580371743 meters Centerline goodness : 0.991417 with order 1 Centerline is valid? [True, True] Translation: X:348.56, Y:-17.35, Z:0.16 [[ 9.99992425e-01 3.89218886e-03 0.00000000e+00 3.48562622e+02] [-3.89218886e-03 9.99992425e-01 0.00000000e+00 -1.73548285e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63886211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.640371743 meters Centerline goodness : 0.992087 with order 1 Centerline is valid? [True, True] Translation: X:348.62, Y:-17.36, Z:0.17 [[ 9.99999896e-01 4.56481555e-04 0.00000000e+00 3.48623409e+02] [-4.56481555e-04 9.99999896e-01 0.00000000e+00 -1.73592777e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66838599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.700371743 meters Centerline goodness : 0.992121 with order 1 Centerline is valid? [True, True] Translation: X:348.68, Y:-17.36, Z:0.17 [[ 9.99999240e-01 1.23305664e-03 0.00000000e+00 3.48683912e+02] [-1.23305664e-03 9.99999240e-01 0.00000000e+00 -1.73602037e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66132820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.760371743 meters Centerline goodness : 0.990818 with order 1 Centerline is valid? [True, True] Translation: X:348.74, Y:-17.37, Z:0.17 [[ 9.99965448e-01 8.31278115e-03 0.00000000e+00 3.48743808e+02] [-8.31278115e-03 9.99965448e-01 0.00000000e+00 -1.73686635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65849467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.820371743 meters Centerline goodness : 0.990636 with order 1 Centerline is valid? [True, True] Translation: X:348.80, Y:-17.37, Z:0.16 [[ 9.99935380e-01 1.13681915e-02 0.00000000e+00 3.48803090e+02] [-1.13681915e-02 9.99935380e-01 0.00000000e+00 -1.73688029e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63678825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.880371743 meters Centerline goodness : 0.991604 with order 1 Centerline is valid? [True, True] Translation: X:348.86, Y:-17.36, Z:0.16 [[ 9.99947965e-01 1.02013866e-02 0.00000000e+00 3.48862380e+02] [-1.02013866e-02 9.99947965e-01 0.00000000e+00 -1.73625082e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60761767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.940371743 meters Centerline goodness : 0.990987 with order 1 Centerline is valid? [True, True] Translation: X:348.92, Y:-17.36, Z:0.16 [[ 9.99916540e-01 1.29195121e-02 0.00000000e+00 3.48921979e+02] [-1.29195121e-02 9.99916540e-01 0.00000000e+00 -1.73608502e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60587364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.000371743 meters Centerline goodness : 0.991133 with order 1 Centerline is valid? [True, True] Translation: X:348.98, Y:-17.36, Z:0.16 [[ 9.99905762e-01 1.37283688e-02 0.00000000e+00 3.48980545e+02] [-1.37283688e-02 9.99905762e-01 0.00000000e+00 -1.73624665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61155611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.060371743 meters Centerline goodness : 0.990933 with order 1 Centerline is valid? [True, True] Translation: X:349.04, Y:-17.36, Z:0.16 [[ 9.99908425e-01 1.35329668e-02 0.00000000e+00 3.49039485e+02] [-1.35329668e-02 9.99908425e-01 0.00000000e+00 -1.73613703e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61520464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.120371743 meters Centerline goodness : 0.990071 with order 1 Centerline is valid? [True, True] Translation: X:349.10, Y:-17.36, Z:0.16 [[ 9.99950918e-01 9.90761214e-03 0.00000000e+00 3.49098054e+02] [-9.90761214e-03 9.99950918e-01 0.00000000e+00 -1.73587757e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61431980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.180371743 meters Centerline goodness : 0.989158 with order 1 Centerline is valid? [True, True] Translation: X:349.16, Y:-17.36, Z:0.16 [[ 9.99984850e-01 5.50447474e-03 0.00000000e+00 3.49157584e+02] [-5.50447474e-03 9.99984850e-01 0.00000000e+00 -1.73559024e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59331385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.240371743 meters Centerline goodness : 0.984271 with order 1 Centerline is valid? [True, True] Translation: X:349.22, Y:-17.36, Z:0.16 [[ 9.99956364e-01 9.34183789e-03 0.00000000e+00 3.49216642e+02] [-9.34183789e-03 9.99956364e-01 0.00000000e+00 -1.73645588e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55377675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.300371743 meters Centerline goodness : 0.982800 with order 1 Centerline is valid? [True, True] Translation: X:349.28, Y:-17.36, Z:0.15 [[ 9.99987792e-01 4.94115741e-03 0.00000000e+00 3.49276063e+02] [-4.94115741e-03 9.99987792e-01 0.00000000e+00 -1.73603638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53787959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36037174300003 meters Centerline goodness : 0.981519 with order 1 Centerline is valid? [True, True] Translation: X:349.34, Y:-17.36, Z:0.14 [[ 9.99982808e-01 5.86373584e-03 0.00000000e+00 3.49335851e+02] [-5.86373584e-03 9.99982808e-01 0.00000000e+00 -1.73577421e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43538891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.420371743 meters Centerline goodness : 0.979574 with order 1 Centerline is valid? [True, True] Translation: X:349.40, Y:-17.35, Z:0.15 [[ 9.99999992e-01 -1.26429159e-04 0.00000000e+00 3.49395971e+02] [ 1.26429159e-04 9.99999992e-01 0.00000000e+00 -1.73512830e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50822733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.480371743 meters Centerline goodness : 0.980945 with order 1 Centerline is valid? [True, True] Translation: X:349.46, Y:-17.33, Z:0.15 [[ 9.99891122e-01 -1.47561743e-02 0.00000000e+00 3.49457383e+02] [ 1.47561743e-02 9.99891122e-01 0.00000000e+00 -1.73258194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53850227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.540371743 meters Centerline goodness : 0.975541 with order 1 Centerline is valid? [True, True] Translation: X:349.52, Y:-17.34, Z:0.15 [[ 9.99986786e-01 -5.14085523e-03 0.00000000e+00 3.49518289e+02] [ 5.14085523e-03 9.99986786e-01 0.00000000e+00 -1.73354243e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45818430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.600371743 meters Centerline goodness : 0.980652 with order 1 Centerline is valid? [True, True] Translation: X:349.58, Y:-17.31, Z:0.15 [[ 9.99845195e-01 -1.75950660e-02 0.00000000e+00 3.49579816e+02] [ 1.75950660e-02 9.99845195e-01 0.00000000e+00 -1.73096543e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51080427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.660371743 meters Centerline goodness : 0.981889 with order 1 Centerline is valid? [True, True] Translation: X:349.64, Y:-17.30, Z:0.15 [[ 9.99879215e-01 -1.55420233e-02 0.00000000e+00 3.49641344e+02] [ 1.55420233e-02 9.99879215e-01 0.00000000e+00 -1.72975718e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48940625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.720371743 meters Centerline goodness : 0.983780 with order 1 Centerline is valid? [True, True] Translation: X:349.70, Y:-17.29, Z:0.15 [[ 9.99930890e-01 -1.17564880e-02 0.00000000e+00 3.49703737e+02] [ 1.17564880e-02 9.99930890e-01 0.00000000e+00 -1.72858005e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47056682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.780371743 meters Centerline goodness : 0.985351 with order 1 Centerline is valid? [True, True] Translation: X:349.77, Y:-17.28, Z:0.15 [[ 9.99948414e-01 -1.01572162e-02 0.00000000e+00 3.49765358e+02] [ 1.01572162e-02 9.99948414e-01 0.00000000e+00 -1.72752031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47070403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.840371743 meters Centerline goodness : 0.978175 with order 1 Centerline is valid? [True, True] Translation: X:349.83, Y:-17.28, Z:0.15 [[ 9.99991888e-01 4.02785791e-03 0.00000000e+00 3.49826328e+02] [-4.02785791e-03 9.99991888e-01 0.00000000e+00 -1.72786927e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50491875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.900371743 meters Centerline goodness : 0.978784 with order 1 Centerline is valid? [True, True] Translation: X:349.89, Y:-17.26, Z:0.16 [[ 9.99990745e-01 -4.30233412e-03 0.00000000e+00 3.49886954e+02] [ 4.30233412e-03 9.99990745e-01 0.00000000e+00 -1.72586654e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57554314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.960371743 meters Centerline goodness : 0.976041 with order 1 Centerline is valid? [True, True] Translation: X:349.95, Y:-17.26, Z:0.16 [[ 9.99999861e-01 -5.27069697e-04 0.00000000e+00 3.49947870e+02] [ 5.27069697e-04 9.99999861e-01 0.00000000e+00 -1.72561602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59423681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.020371743 meters Centerline goodness : 0.979445 with order 1 Centerline is valid? [True, True] Translation: X:350.01, Y:-17.25, Z:0.16 [[ 9.99998987e-01 1.42347238e-03 0.00000000e+00 3.50008900e+02] [-1.42347238e-03 9.99998987e-01 0.00000000e+00 -1.72472095e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58181068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.080371743 meters Centerline goodness : 0.979794 with order 1 Centerline is valid? [True, True] Translation: X:350.07, Y:-17.25, Z:0.16 [[ 9.99979889e-01 6.34201255e-03 0.00000000e+00 3.50068915e+02] [-6.34201255e-03 9.99979889e-01 0.00000000e+00 -1.72486535e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60597454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.140371743 meters Centerline goodness : 0.979940 with order 1 Centerline is valid? [True, True] Translation: X:350.13, Y:-17.24, Z:0.16 [[ 9.99992739e-01 -3.81071889e-03 0.00000000e+00 3.50128224e+02] [ 3.81071889e-03 9.99992739e-01 0.00000000e+00 -1.72357052e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61101247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.200371743 meters Centerline goodness : 0.987460 with order 1 Centerline is valid? [True, True] Translation: X:350.19, Y:-17.23, Z:0.15 [[ 9.99910595e-01 -1.33716979e-02 0.00000000e+00 3.50189437e+02] [ 1.33716979e-02 9.99910595e-01 0.00000000e+00 -1.72333787e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53703010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.260371743 meters Centerline goodness : 0.979447 with order 1 Centerline is valid? [True, True] Translation: X:350.25, Y:-17.23, Z:0.16 [[ 9.99840473e-01 -1.78613808e-02 0.00000000e+00 3.50252225e+02] [ 1.78613808e-02 9.99840473e-01 0.00000000e+00 -1.72299790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57845002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.320371743 meters Centerline goodness : 0.981731 with order 1 Centerline is valid? [True, True] Translation: X:350.31, Y:-17.23, Z:0.16 [[ 9.99856078e-01 -1.69653538e-02 0.00000000e+00 3.50313556e+02] [ 1.69653538e-02 9.99856078e-01 0.00000000e+00 -1.72329350e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59008600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.380371743 meters Centerline goodness : 0.982104 with order 1 Centerline is valid? [True, True] Translation: X:350.37, Y:-17.23, Z:0.16 [[ 9.99809673e-01 -1.95094488e-02 0.00000000e+00 3.50374799e+02] [ 1.95094488e-02 9.99809673e-01 0.00000000e+00 -1.72290240e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60157935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.440371743 meters Centerline goodness : 0.982692 with order 1 Centerline is valid? [True, True] Translation: X:350.44, Y:-17.23, Z:0.16 [[ 9.99784725e-01 -2.07485717e-02 0.00000000e+00 3.50436986e+02] [ 2.07485717e-02 9.99784725e-01 0.00000000e+00 -1.72252437e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58421191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.500371743 meters Centerline goodness : 0.981609 with order 1 Centerline is valid? [True, True] Translation: X:350.50, Y:-17.22, Z:0.16 [[ 9.99900598e-01 -1.40994192e-02 0.00000000e+00 3.50498217e+02] [ 1.40994192e-02 9.99900598e-01 0.00000000e+00 -1.72220952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59574992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.560371743 meters Centerline goodness : 0.983147 with order 1 Centerline is valid? [True, True] Translation: X:350.56, Y:-17.21, Z:0.16 [[ 9.99916727e-01 -1.29050261e-02 0.00000000e+00 3.50560660e+02] [ 1.29050261e-02 9.99916727e-01 0.00000000e+00 -1.72107589e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59647063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.620371743 meters Centerline goodness : 0.982482 with order 1 Centerline is valid? [True, True] Translation: X:350.62, Y:-17.21, Z:0.16 [[ 9.99967836e-01 -8.02037638e-03 0.00000000e+00 3.50623581e+02] [ 8.02037638e-03 9.99967836e-01 0.00000000e+00 -1.72063262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58960057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.680371743 meters Centerline goodness : 0.982588 with order 1 Centerline is valid? [True, True] Translation: X:350.69, Y:-17.20, Z:0.16 [[ 9.99980703e-01 -6.21242804e-03 0.00000000e+00 3.50686280e+02] [ 6.21242804e-03 9.99980703e-01 0.00000000e+00 -1.71996812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60003212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.740371743 meters Centerline goodness : 0.983526 with order 1 Centerline is valid? [True, True] Translation: X:350.75, Y:-17.19, Z:0.16 [[ 9.99995422e-01 -3.02593964e-03 0.00000000e+00 3.50748941e+02] [ 3.02593964e-03 9.99995422e-01 0.00000000e+00 -1.71929760e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59176334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.800371743 meters Centerline goodness : 0.985238 with order 1 Centerline is valid? [True, True] Translation: X:350.81, Y:-17.19, Z:0.16 [[ 9.99999767e-01 6.82822898e-04 0.00000000e+00 3.50810897e+02] [-6.82822898e-04 9.99999767e-01 0.00000000e+00 -1.71862417e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58773425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86037174300003 meters Centerline goodness : 0.983584 with order 1 Centerline is valid? [True, True] Translation: X:350.87, Y:-17.18, Z:0.16 [[ 9.99979921e-01 6.33702656e-03 0.00000000e+00 3.50870312e+02] [-6.33702656e-03 9.99979921e-01 0.00000000e+00 -1.71826129e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60787910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.920371743 meters Centerline goodness : 0.985752 with order 1 Centerline is valid? [True, True] Translation: X:350.93, Y:-17.18, Z:0.16 [[ 9.99981144e-01 6.14095983e-03 0.00000000e+00 3.50929308e+02] [-6.14095983e-03 9.99981144e-01 0.00000000e+00 -1.71810688e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59457811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.980371743 meters Centerline goodness : 0.985956 with order 1 Centerline is valid? [True, True] Translation: X:350.99, Y:-17.18, Z:0.16 [[ 9.99969069e-01 7.86512656e-03 0.00000000e+00 3.50987682e+02] [-7.86512656e-03 9.99969069e-01 0.00000000e+00 -1.71780299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61290998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.040371743 meters Centerline goodness : 0.984413 with order 1 Centerline is valid? [True, True] Translation: X:351.05, Y:-17.18, Z:0.16 [[ 9.99983669e-01 5.71505165e-03 0.00000000e+00 3.51046318e+02] [-5.71505165e-03 9.99983669e-01 0.00000000e+00 -1.71787511e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60330751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.100371743 meters Centerline goodness : 0.981128 with order 1 Centerline is valid? [True, True] Translation: X:351.11, Y:-17.17, Z:0.16 [[ 9.99947648e-01 -1.02323516e-02 0.00000000e+00 3.51105613e+02] [ 1.02323516e-02 9.99947648e-01 0.00000000e+00 -1.71669567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61727811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.160371743 meters Centerline goodness : 0.985017 with order 1 Centerline is valid? [True, True] Translation: X:351.17, Y:-17.18, Z:0.16 [[ 9.99938737e-01 -1.10689653e-02 0.00000000e+00 3.51167044e+02] [ 1.10689653e-02 9.99938737e-01 0.00000000e+00 -1.71766228e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59485078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.220371743 meters Centerline goodness : 0.985626 with order 1 Centerline is valid? [True, True] Translation: X:351.23, Y:-17.18, Z:0.16 [[ 9.99861052e-01 -1.66696338e-02 0.00000000e+00 3.51229453e+02] [ 1.66696338e-02 9.99861052e-01 0.00000000e+00 -1.71759622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58544849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.280371743 meters Centerline goodness : 0.986167 with order 1 Centerline is valid? [True, True] Translation: X:351.29, Y:-17.17, Z:0.16 [[ 9.99818449e-01 -1.90543589e-02 0.00000000e+00 3.51291570e+02] [ 1.90543589e-02 9.99818449e-01 0.00000000e+00 -1.71738473e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59147619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.340371743 meters Centerline goodness : 0.987047 with order 1 Centerline is valid? [True, True] Translation: X:351.35, Y:-17.17, Z:0.16 [[ 9.99790778e-01 -2.04548264e-02 0.00000000e+00 3.51354794e+02] [ 2.04548264e-02 9.99790778e-01 0.00000000e+00 -1.71729178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61085882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.400371743 meters Centerline goodness : 0.987199 with order 1 Centerline is valid? [True, True] Translation: X:351.42, Y:-17.17, Z:0.16 [[ 9.99770453e-01 -2.14252620e-02 0.00000000e+00 3.51417137e+02] [ 2.14252620e-02 9.99770453e-01 0.00000000e+00 -1.71690229e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61809111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.460371743 meters Centerline goodness : 0.981312 with order 1 Centerline is valid? [True, True] Translation: X:351.48, Y:-17.15, Z:0.16 [[ 9.99487926e-01 -3.19982085e-02 0.00000000e+00 3.51479879e+02] [ 3.19982085e-02 9.99487926e-01 0.00000000e+00 -1.71510631e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60589008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.520371743 meters Centerline goodness : 0.972240 with order 1 Centerline is valid? [True, True] Translation: X:351.54, Y:-17.14, Z:0.16 [[ 9.99476739e-01 -3.23457517e-02 0.00000000e+00 3.51541022e+02] [ 3.23457517e-02 9.99476739e-01 0.00000000e+00 -1.71447069e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62485278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.580371743 meters Centerline goodness : 0.988518 with order 1 Centerline is valid? [True, True] Translation: X:351.60, Y:-17.15, Z:0.16 [[ 9.99812857e-01 -1.93455659e-02 0.00000000e+00 3.51601487e+02] [ 1.93455659e-02 9.99812857e-01 0.00000000e+00 -1.71522532e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59253611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.640371743 meters Centerline goodness : 0.990864 with order 1 Centerline is valid? [True, True] Translation: X:351.66, Y:-17.14, Z:0.16 [[ 9.99832399e-01 -1.83077824e-02 0.00000000e+00 3.51664481e+02] [ 1.83077824e-02 9.99832399e-01 0.00000000e+00 -1.71414575e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58962926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.700371743 meters Centerline goodness : 0.991686 with order 1 Centerline is valid? [True, True] Translation: X:351.73, Y:-17.13, Z:0.16 [[ 9.99851493e-01 -1.72334271e-02 0.00000000e+00 3.51727687e+02] [ 1.72334271e-02 9.99851493e-01 0.00000000e+00 -1.71321627e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59356589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.760371743 meters Centerline goodness : 0.993219 with order 1 Centerline is valid? [True, True] Translation: X:351.79, Y:-17.13, Z:0.16 [[ 9.99863761e-01 -1.65063348e-02 0.00000000e+00 3.51789556e+02] [ 1.65063348e-02 9.99863761e-01 0.00000000e+00 -1.71261027e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60756517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.820371743 meters Centerline goodness : 0.994157 with order 1 Centerline is valid? [True, True] Translation: X:351.85, Y:-17.12, Z:0.16 [[ 9.99943313e-01 -1.06476184e-02 0.00000000e+00 3.51852227e+02] [ 1.06476184e-02 9.99943313e-01 0.00000000e+00 -1.71152851e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60218706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.880371743 meters Centerline goodness : 0.995164 with order 1 Centerline is valid? [True, True] Translation: X:351.92, Y:-17.11, Z:0.16 [[ 9.99999927e-01 3.81326915e-04 0.00000000e+00 3.51915120e+02] [-3.81326915e-04 9.99999927e-01 0.00000000e+00 -1.71059761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59178463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.940371743 meters Centerline goodness : 0.995295 with order 1 Centerline is valid? [True, True] Translation: X:351.98, Y:-17.10, Z:0.16 [[ 9.99926196e-01 1.21491587e-02 0.00000000e+00 3.51975472e+02] [-1.21491587e-02 9.99926196e-01 0.00000000e+00 -1.70982647e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59780959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.000371743 meters Centerline goodness : 0.995407 with order 1 Centerline is valid? [True, True] Translation: X:352.03, Y:-17.09, Z:0.16 [[ 9.99725621e-01 2.34239784e-02 0.00000000e+00 3.52033742e+02] [-2.34239784e-02 9.99725621e-01 0.00000000e+00 -1.70907201e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61773876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.060371743 meters Centerline goodness : 0.995338 with order 1 Centerline is valid? [True, True] Translation: X:352.09, Y:-17.09, Z:0.16 [[ 9.99494352e-01 3.17968493e-02 0.00000000e+00 3.52092465e+02] [-3.17968493e-02 9.99494352e-01 0.00000000e+00 -1.70901470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60593510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.120371743 meters Centerline goodness : 0.995652 with order 1 Centerline is valid? [True, True] Translation: X:352.15, Y:-17.09, Z:0.16 [[ 9.99433693e-01 3.36495769e-02 0.00000000e+00 3.52150118e+02] [-3.36495769e-02 9.99433693e-01 0.00000000e+00 -1.70920809e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61434968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.180371743 meters Centerline goodness : 0.994874 with order 1 Centerline is valid? [True, True] Translation: X:352.21, Y:-17.10, Z:0.16 [[ 9.99475250e-01 3.23917393e-02 0.00000000e+00 3.52207430e+02] [-3.23917393e-02 9.99475250e-01 0.00000000e+00 -1.70967506e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60099441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.240371743 meters Centerline goodness : 0.995198 with order 1 Centerline is valid? [True, True] Translation: X:352.27, Y:-17.10, Z:0.16 [[ 9.99583766e-01 2.88495275e-02 0.00000000e+00 3.52266212e+02] [-2.88495275e-02 9.99583766e-01 0.00000000e+00 -1.71032035e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57728503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.300371743 meters Centerline goodness : 0.995035 with order 1 Centerline is valid? [True, True] Translation: X:352.33, Y:-17.11, Z:0.16 [[ 9.99667002e-01 2.58047635e-02 0.00000000e+00 3.52325173e+02] [-2.58047635e-02 9.99667002e-01 0.00000000e+00 -1.71093873e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55629091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36037174300003 meters Centerline goodness : 0.994460 with order 1 Centerline is valid? [True, True] Translation: X:352.38, Y:-17.12, Z:0.16 [[ 9.99787283e-01 2.06249461e-02 0.00000000e+00 3.52383550e+02] [-2.06249461e-02 9.99787283e-01 0.00000000e+00 -1.71160101e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55500439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.420371743 meters Centerline goodness : 0.995075 with order 1 Centerline is valid? [True, True] Translation: X:352.44, Y:-17.12, Z:0.16 [[ 9.99881615e-01 1.53868446e-02 0.00000000e+00 3.52441036e+02] [-1.53868446e-02 9.99881615e-01 0.00000000e+00 -1.71225692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56429932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.480371743 meters Centerline goodness : 0.994323 with order 1 Centerline is valid? [True, True] Translation: X:352.50, Y:-17.13, Z:0.16 [[ 9.99947320e-01 1.02643581e-02 0.00000000e+00 3.52498159e+02] [-1.02643581e-02 9.99947320e-01 0.00000000e+00 -1.71281668e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61343688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.540371743 meters Centerline goodness : 0.995926 with order 1 Centerline is valid? [True, True] Translation: X:352.56, Y:-17.13, Z:0.16 [[ 9.99967482e-01 8.06440738e-03 0.00000000e+00 3.52556446e+02] [-8.06440738e-03 9.99967482e-01 0.00000000e+00 -1.71347504e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55190381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.600371743 meters Centerline goodness : 0.995106 with order 1 Centerline is valid? [True, True] Translation: X:352.61, Y:-17.14, Z:0.16 [[ 9.99993107e-01 3.71292731e-03 0.00000000e+00 3.52613609e+02] [-3.71292731e-03 9.99993107e-01 0.00000000e+00 -1.71402345e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55418158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.660371743 meters Centerline goodness : 0.994586 with order 1 Centerline is valid? [True, True] Translation: X:352.67, Y:-17.15, Z:0.15 [[ 9.99999952e-01 3.09907491e-04 0.00000000e+00 3.52672592e+02] [-3.09907491e-04 9.99999952e-01 0.00000000e+00 -1.71450507e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54137272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.720371743 meters Centerline goodness : 0.995073 with order 1 Centerline is valid? [True, True] Translation: X:352.73, Y:-17.15, Z:0.15 [[ 9.99997753e-01 -2.11967438e-03 0.00000000e+00 3.52732652e+02] [ 2.11967438e-03 9.99997753e-01 0.00000000e+00 -1.71482075e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52649352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.780371743 meters Centerline goodness : 0.995234 with order 1 Centerline is valid? [True, True] Translation: X:352.79, Y:-17.15, Z:0.15 [[ 9.99997450e-01 -2.25834913e-03 0.00000000e+00 3.52793824e+02] [ 2.25834913e-03 9.99997450e-01 0.00000000e+00 -1.71512989e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53053014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.840371743 meters Centerline goodness : 0.995636 with order 1 Centerline is valid? [True, True] Translation: X:352.86, Y:-17.15, Z:0.15 [[ 9.99998818e-01 -1.53735396e-03 0.00000000e+00 3.52855530e+02] [ 1.53735396e-03 9.99998818e-01 0.00000000e+00 -1.71523845e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53369954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.900371743 meters Centerline goodness : 0.995443 with order 1 Centerline is valid? [True, True] Translation: X:352.92, Y:-17.15, Z:0.15 [[ 9.99999820e-01 6.00286788e-04 0.00000000e+00 3.52915826e+02] [-6.00286788e-04 9.99999820e-01 0.00000000e+00 -1.71527178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54680980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.960371743 meters Centerline goodness : 0.994908 with order 1 Centerline is valid? [True, True] Translation: X:352.98, Y:-17.15, Z:0.15 [[ 9.99990993e-01 4.24420111e-03 0.00000000e+00 3.52976664e+02] [-4.24420111e-03 9.99990993e-01 0.00000000e+00 -1.71541542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52942795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.020371743 meters Centerline goodness : 0.995261 with order 1 Centerline is valid? [True, True] Translation: X:353.04, Y:-17.16, Z:0.15 [[ 9.99982038e-01 5.99360735e-03 0.00000000e+00 3.53035395e+02] [-5.99360735e-03 9.99982038e-01 0.00000000e+00 -1.71562354e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52635998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.080371743 meters Centerline goodness : 0.994754 with order 1 Centerline is valid? [True, True] Translation: X:353.09, Y:-17.16, Z:0.15 [[ 9.99979429e-01 6.41412497e-03 0.00000000e+00 3.53092896e+02] [-6.41412497e-03 9.99979429e-01 0.00000000e+00 -1.71594227e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53135936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.140371743 meters Centerline goodness : 0.994694 with order 1 Centerline is valid? [True, True] Translation: X:353.15, Y:-17.16, Z:0.15 [[ 9.99989704e-01 4.53775558e-03 0.00000000e+00 3.53151927e+02] [-4.53775558e-03 9.99989704e-01 0.00000000e+00 -1.71624216e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52139928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.200371743 meters Centerline goodness : 0.994850 with order 1 Centerline is valid? [True, True] Translation: X:353.21, Y:-17.17, Z:0.15 [[ 9.99990970e-01 4.24978931e-03 0.00000000e+00 3.53210490e+02] [-4.24978931e-03 9.99990970e-01 0.00000000e+00 -1.71659330e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50144941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.260371743 meters Centerline goodness : 0.994809 with order 1 Centerline is valid? [True, True] Translation: X:353.27, Y:-17.17, Z:0.15 [[ 9.99995115e-01 3.12564632e-03 0.00000000e+00 3.53269110e+02] [-3.12564632e-03 9.99995115e-01 0.00000000e+00 -1.71687456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50286933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.320371743 meters Centerline goodness : 0.994645 with order 1 Centerline is valid? [True, True] Translation: X:353.33, Y:-17.17, Z:0.15 [[ 9.99998756e-01 1.57726401e-03 0.00000000e+00 3.53327367e+02] [-1.57726401e-03 9.99998756e-01 0.00000000e+00 -1.71744832e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46356332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.380371743 meters Centerline goodness : 0.994850 with order 1 Centerline is valid? [True, True] Translation: X:353.39, Y:-17.18, Z:0.15 [[ 9.99998416e-01 1.78010696e-03 0.00000000e+00 3.53386543e+02] [-1.78010696e-03 9.99998416e-01 0.00000000e+00 -1.71791726e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45261290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.440371743 meters Centerline goodness : 0.993625 with order 1 Centerline is valid? [True, True] Translation: X:353.45, Y:-17.18, Z:0.15 [[ 9.99999499e-01 -1.00102311e-03 0.00000000e+00 3.53446134e+02] [ 1.00102311e-03 9.99999499e-01 0.00000000e+00 -1.71838150e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46795087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.500371743 meters Centerline goodness : 0.994275 with order 1 Centerline is valid? [True, True] Translation: X:353.51, Y:-17.19, Z:0.15 [[ 9.99988187e-01 -4.86062629e-03 0.00000000e+00 3.53507347e+02] [ 4.86062629e-03 9.99988187e-01 0.00000000e+00 -1.71897728e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48555164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.560371743 meters Centerline goodness : 0.995080 with order 1 Centerline is valid? [True, True] Translation: X:353.57, Y:-17.20, Z:0.15 [[ 9.99954053e-01 -9.58604443e-03 0.00000000e+00 3.53569054e+02] [ 9.58604443e-03 9.99954053e-01 0.00000000e+00 -1.71969542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48517338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.620371743 meters Centerline goodness : 0.994127 with order 1 Centerline is valid? [True, True] Translation: X:353.63, Y:-17.20, Z:0.15 [[ 9.99931359e-01 -1.17165404e-02 0.00000000e+00 3.53631399e+02] [ 1.17165404e-02 9.99931359e-01 0.00000000e+00 -1.72044776e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47339455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.680371743 meters Centerline goodness : 0.993739 with order 1 Centerline is valid? [True, True] Translation: X:353.69, Y:-17.21, Z:0.15 [[ 9.99952650e-01 -9.73126782e-03 0.00000000e+00 3.53693478e+02] [ 9.73126782e-03 9.99952650e-01 0.00000000e+00 -1.72134836e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46464596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.740371743 meters Centerline goodness : 0.993864 with order 1 Centerline is valid? [True, True] Translation: X:353.76, Y:-17.22, Z:0.15 [[ 9.99960500e-01 -8.88815323e-03 0.00000000e+00 3.53755794e+02] [ 8.88815323e-03 9.99960500e-01 0.00000000e+00 -1.72207825e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46451999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.800371743 meters Centerline goodness : 0.992235 with order 1 Centerline is valid? [True, True] Translation: X:353.82, Y:-17.23, Z:0.14 [[ 9.99979574e-01 -6.39160235e-03 0.00000000e+00 3.53817404e+02] [ 6.39160235e-03 9.99979574e-01 0.00000000e+00 -1.72321092e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43975779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86037174300003 meters Centerline goodness : 0.991771 with order 1 Centerline is valid? [True, True] Translation: X:353.88, Y:-17.24, Z:0.14 [[ 9.99986590e-01 -5.17882404e-03 0.00000000e+00 3.53878750e+02] [ 5.17882404e-03 9.99986590e-01 0.00000000e+00 -1.72418107e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44407669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.920371743 meters Centerline goodness : 0.991372 with order 1 Centerline is valid? [True, True] Translation: X:353.94, Y:-17.25, Z:0.14 [[ 9.99993072e-01 -3.72231497e-03 0.00000000e+00 3.53939851e+02] [ 3.72231497e-03 9.99993072e-01 0.00000000e+00 -1.72523886e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42232977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.980371743 meters Centerline goodness : 0.989899 with order 1 Centerline is valid? [True, True] Translation: X:354.00, Y:-17.26, Z:0.14 [[ 9.99988156e-01 -4.86703157e-03 0.00000000e+00 3.54000648e+02] [ 4.86703157e-03 9.99988156e-01 0.00000000e+00 -1.72628576e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42067382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.040371743 meters Centerline goodness : 0.990090 with order 1 Centerline is valid? [True, True] Translation: X:354.06, Y:-17.27, Z:0.14 [[ 9.99977680e-01 -6.68121119e-03 0.00000000e+00 3.54062196e+02] [ 6.68121119e-03 9.99977680e-01 0.00000000e+00 -1.72714521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43563567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.100371743 meters Centerline goodness : 0.989682 with order 1 Centerline is valid? [True, True] Translation: X:354.12, Y:-17.28, Z:0.14 [[ 9.99960067e-01 -8.93663362e-03 0.00000000e+00 3.54123956e+02] [ 8.93663362e-03 9.99960067e-01 0.00000000e+00 -1.72816779e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44668337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.160371743 meters Centerline goodness : 0.990103 with order 1 Centerline is valid? [True, True] Translation: X:354.19, Y:-17.29, Z:0.15 [[ 9.99946498e-01 -1.03441054e-02 0.00000000e+00 3.54186305e+02] [ 1.03441054e-02 9.99946498e-01 0.00000000e+00 -1.72885209e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45905274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.220371743 meters Centerline goodness : 0.988778 with order 1 Centerline is valid? [True, True] Translation: X:354.25, Y:-17.30, Z:0.14 [[ 9.99939733e-01 -1.09786571e-02 0.00000000e+00 3.54248567e+02] [ 1.09786571e-02 9.99939733e-01 0.00000000e+00 -1.72988340e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43579416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.280371743 meters Centerline goodness : 0.988749 with order 1 Centerline is valid? [True, True] Translation: X:354.31, Y:-17.31, Z:0.14 [[ 9.99951520e-01 -9.84673537e-03 0.00000000e+00 3.54310461e+02] [ 9.84673537e-03 9.99951520e-01 0.00000000e+00 -1.73051575e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43739068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.340371743 meters Centerline goodness : 0.986140 with order 1 Centerline is valid? [True, True] Translation: X:354.37, Y:-17.31, Z:0.14 [[ 9.99969155e-01 -7.85425186e-03 0.00000000e+00 3.54371815e+02] [ 7.85425186e-03 9.99969155e-01 0.00000000e+00 -1.73121189e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43612262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.400371743 meters Centerline goodness : 0.986247 with order 1 Centerline is valid? [True, True] Translation: X:354.43, Y:-17.32, Z:0.14 [[ 9.99974097e-01 -7.19758996e-03 0.00000000e+00 3.54433382e+02] [ 7.19758996e-03 9.99974097e-01 0.00000000e+00 -1.73192054e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41741535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.460371743 meters Centerline goodness : 0.988445 with order 1 Centerline is valid? [True, True] Translation: X:354.50, Y:-17.32, Z:0.15 [[ 9.99818960e-01 -1.90275417e-02 0.00000000e+00 3.54496189e+02] [ 1.90275417e-02 9.99818960e-01 0.00000000e+00 -1.73158140e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47078375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.520371743 meters Centerline goodness : 0.985740 with order 1 Centerline is valid? [True, True] Translation: X:354.56, Y:-17.33, Z:0.14 [[ 9.99882441e-01 -1.53331018e-02 0.00000000e+00 3.54557918e+02] [ 1.53331018e-02 9.99882441e-01 0.00000000e+00 -1.73312722e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43426528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.580371743 meters Centerline goodness : 0.984701 with order 1 Centerline is valid? [True, True] Translation: X:354.62, Y:-17.34, Z:0.14 [[ 9.99847137e-01 -1.74843316e-02 0.00000000e+00 3.54619385e+02] [ 1.74843316e-02 9.99847137e-01 0.00000000e+00 -1.73373749e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44191889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.640371743 meters Centerline goodness : 0.985757 with order 1 Centerline is valid? [True, True] Translation: X:354.68, Y:-17.34, Z:0.14 [[ 9.99845698e-01 -1.75664510e-02 0.00000000e+00 3.54682481e+02] [ 1.75664510e-02 9.99845698e-01 0.00000000e+00 -1.73423516e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43236484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.700371743 meters Centerline goodness : 0.985625 with order 1 Centerline is valid? [True, True] Translation: X:354.75, Y:-17.35, Z:0.14 [[ 9.99855949e-01 -1.69729318e-02 0.00000000e+00 3.54745778e+02] [ 1.69729318e-02 9.99855949e-01 0.00000000e+00 -1.73464177e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44520169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.760371743 meters Centerline goodness : 0.984667 with order 1 Centerline is valid? [True, True] Translation: X:354.81, Y:-17.35, Z:0.14 [[ 9.99881706e-01 -1.53809676e-02 0.00000000e+00 3.54808351e+02] [ 1.53809676e-02 9.99881706e-01 0.00000000e+00 -1.73502427e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44512456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.820371743 meters Centerline goodness : 0.984216 with order 1 Centerline is valid? [True, True] Translation: X:354.87, Y:-17.35, Z:0.15 [[ 9.99943316e-01 -1.06473096e-02 0.00000000e+00 3.54870467e+02] [ 1.06473096e-02 9.99943316e-01 0.00000000e+00 -1.73537726e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46184599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.880371743 meters Centerline goodness : 0.984128 with order 1 Centerline is valid? [True, True] Translation: X:354.93, Y:-17.36, Z:0.14 [[ 9.99998135e-01 -1.93144915e-03 0.00000000e+00 3.54931808e+02] [ 1.93144915e-03 9.99998135e-01 0.00000000e+00 -1.73584268e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43778431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.940371743 meters Centerline goodness : 0.988695 with order 1 Centerline is valid? [True, True] Translation: X:354.99, Y:-17.35, Z:0.15 [[ 9.99999979e-01 -2.03944318e-04 0.00000000e+00 3.54992755e+02] [ 2.03944318e-04 9.99999979e-01 0.00000000e+00 -1.73542912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47739328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.000371743 meters Centerline goodness : 0.987748 with order 1 Centerline is valid? [True, True] Translation: X:355.05, Y:-17.36, Z:0.15 [[ 9.99996016e-01 2.82266618e-03 0.00000000e+00 3.55052791e+02] [-2.82266618e-03 9.99996016e-01 0.00000000e+00 -1.73567084e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49900234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.060371743 meters Centerline goodness : 0.988469 with order 1 Centerline is valid? [True, True] Translation: X:355.11, Y:-17.36, Z:0.15 [[ 9.99985000e-01 5.47725467e-03 0.00000000e+00 3.55112307e+02] [-5.47725467e-03 9.99985000e-01 0.00000000e+00 -1.73601849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50010160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.120371743 meters Centerline goodness : 0.983241 with order 1 Centerline is valid? [True, True] Translation: X:355.17, Y:-17.36, Z:0.14 [[ 9.99996334e-01 -2.70768507e-03 0.00000000e+00 3.55171151e+02] [ 2.70768507e-03 9.99996334e-01 0.00000000e+00 -1.73552549e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44437552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.180371743 meters Centerline goodness : 0.982439 with order 1 Centerline is valid? [True, True] Translation: X:355.23, Y:-17.36, Z:0.14 [[ 9.99982727e-01 -5.87762996e-03 0.00000000e+00 3.55232117e+02] [ 5.87762996e-03 9.99982727e-01 0.00000000e+00 -1.73616373e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42863226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.240371743 meters Centerline goodness : 0.992710 with order 1 Centerline is valid? [True, True] Translation: X:355.29, Y:-17.37, Z:0.15 [[ 9.99919587e-01 -1.26814703e-02 0.00000000e+00 3.55294379e+02] [ 1.26814703e-02 9.99919587e-01 0.00000000e+00 -1.73690480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46228114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.300371743 meters Centerline goodness : 0.985484 with order 1 Centerline is valid? [True, True] Translation: X:355.35, Y:-17.39, Z:0.15 [[ 9.99975987e-01 -6.93010322e-03 0.00000000e+00 3.55354075e+02] [ 6.93010322e-03 9.99975987e-01 0.00000000e+00 -1.73900295e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47372612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36037174300003 meters Centerline goodness : 0.984520 with order 1 Centerline is valid? [True, True] Translation: X:355.42, Y:-17.40, Z:0.15 [[ 9.99881239e-01 -1.54113010e-02 0.00000000e+00 3.55417003e+02] [ 1.54113010e-02 9.99881239e-01 0.00000000e+00 -1.73955037e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49083070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.420371743 meters Centerline goodness : 0.985209 with order 1 Centerline is valid? [True, True] Translation: X:355.48, Y:-17.40, Z:0.15 [[ 9.99785647e-01 -2.07040984e-02 0.00000000e+00 3.55478949e+02] [ 2.07040984e-02 9.99785647e-01 0.00000000e+00 -1.74000857e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48449034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.480371743 meters Centerline goodness : 0.985295 with order 1 Centerline is valid? [True, True] Translation: X:355.54, Y:-17.41, Z:0.15 [[ 9.99645229e-01 -2.66348796e-02 0.00000000e+00 3.55540404e+02] [ 2.66348796e-02 9.99645229e-01 0.00000000e+00 -1.74058696e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48158662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.540371743 meters Centerline goodness : 0.985251 with order 1 Centerline is valid? [True, True] Translation: X:355.60, Y:-17.41, Z:0.15 [[ 9.99601126e-01 -2.82416078e-02 0.00000000e+00 3.55602597e+02] [ 2.82416078e-02 9.99601126e-01 0.00000000e+00 -1.74124955e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45963562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.600371743 meters Centerline goodness : 0.984355 with order 1 Centerline is valid? [True, True] Translation: X:355.66, Y:-17.42, Z:0.14 [[ 9.99638924e-01 -2.68704525e-02 0.00000000e+00 3.55664576e+02] [ 2.68704525e-02 9.99638924e-01 0.00000000e+00 -1.74179702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44818244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.660371743 meters Centerline goodness : 0.984965 with order 1 Centerline is valid? [True, True] Translation: X:355.73, Y:-17.42, Z:0.14 [[ 9.99681229e-01 -2.52475632e-02 0.00000000e+00 3.55727985e+02] [ 2.52475632e-02 9.99681229e-01 0.00000000e+00 -1.74216856e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44376953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.720371743 meters Centerline goodness : 0.985053 with order 1 Centerline is valid? [True, True] Translation: X:355.79, Y:-17.43, Z:0.15 [[ 9.99709209e-01 -2.41142500e-02 0.00000000e+00 3.55789880e+02] [ 2.41142500e-02 9.99709209e-01 0.00000000e+00 -1.74265064e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46213071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.780371743 meters Centerline goodness : 0.984252 with order 1 Centerline is valid? [True, True] Translation: X:355.85, Y:-17.43, Z:0.15 [[ 9.99702828e-01 -2.43773482e-02 0.00000000e+00 3.55851009e+02] [ 2.43773482e-02 9.99702828e-01 0.00000000e+00 -1.74305314e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45549840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.840371743 meters Centerline goodness : 0.984516 with order 1 Centerline is valid? [True, True] Translation: X:355.91, Y:-17.43, Z:0.14 [[ 9.99640176e-01 -2.68238303e-02 0.00000000e+00 3.55913440e+02] [ 2.68238303e-02 9.99640176e-01 0.00000000e+00 -1.74339068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44716786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.900371743 meters Centerline goodness : 0.984587 with order 1 Centerline is valid? [True, True] Translation: X:355.98, Y:-17.44, Z:0.14 [[ 9.99506132e-01 -3.14244012e-02 0.00000000e+00 3.55975501e+02] [ 3.14244012e-02 9.99506132e-01 0.00000000e+00 -1.74391227e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43186580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.960371743 meters Centerline goodness : 0.985757 with order 1 Centerline is valid? [True, True] Translation: X:356.04, Y:-17.44, Z:0.15 [[ 9.99422466e-01 -3.39813924e-02 0.00000000e+00 3.56037847e+02] [ 3.39813924e-02 9.99422466e-01 0.00000000e+00 -1.74428574e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45482235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.020371743 meters Centerline goodness : 0.984880 with order 1 Centerline is valid? [True, True] Translation: X:356.10, Y:-17.45, Z:0.15 [[ 9.99442083e-01 -3.33994410e-02 0.00000000e+00 3.56100149e+02] [ 3.33994410e-02 9.99442083e-01 0.00000000e+00 -1.74468480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46303516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.080371743 meters Centerline goodness : 0.985311 with order 1 Centerline is valid? [True, True] Translation: X:356.16, Y:-17.45, Z:0.15 [[ 9.99501481e-01 -3.15719646e-02 0.00000000e+00 3.56163287e+02] [ 3.15719646e-02 9.99501481e-01 0.00000000e+00 -1.74513748e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47411537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.140371743 meters Centerline goodness : 0.985633 with order 1 Centerline is valid? [True, True] Translation: X:356.23, Y:-17.46, Z:0.15 [[ 9.99493538e-01 -3.18224462e-02 0.00000000e+00 3.56226370e+02] [ 3.18224462e-02 9.99493538e-01 0.00000000e+00 -1.74560741e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50198201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.200371743 meters Centerline goodness : 0.985967 with order 1 Centerline is valid? [True, True] Translation: X:356.29, Y:-17.46, Z:0.15 [[ 9.99407442e-01 -3.44204181e-02 0.00000000e+00 3.56288335e+02] [ 3.44204181e-02 9.99407442e-01 0.00000000e+00 -1.74636126e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48001967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.260371743 meters Centerline goodness : 0.986784 with order 1 Centerline is valid? [True, True] Translation: X:356.35, Y:-17.47, Z:0.15 [[ 9.99284165e-01 -3.78306535e-02 0.00000000e+00 3.56350300e+02] [ 3.78306535e-02 9.99284165e-01 0.00000000e+00 -1.74677227e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48141944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.320371743 meters Centerline goodness : 0.988362 with order 1 Centerline is valid? [True, True] Translation: X:356.41, Y:-17.47, Z:0.14 [[ 9.98885541e-01 -4.71982595e-02 0.00000000e+00 3.56412671e+02] [ 4.71982595e-02 9.98885541e-01 0.00000000e+00 -1.74672652e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44160351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.380371743 meters Centerline goodness : 0.987615 with order 1 Centerline is valid? [True, True] Translation: X:356.48, Y:-17.47, Z:0.14 [[ 9.98771797e-01 -4.95469320e-02 0.00000000e+00 3.56475395e+02] [ 4.95469320e-02 9.98771797e-01 0.00000000e+00 -1.74722860e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43844181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.440371743 meters Centerline goodness : 0.985454 with order 1 Centerline is valid? [True, True] Translation: X:356.54, Y:-17.48, Z:0.14 [[ 9.99005590e-01 -4.45850894e-02 0.00000000e+00 3.56537724e+02] [ 4.45850894e-02 9.99005590e-01 0.00000000e+00 -1.74827435e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44781577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.500371743 meters Centerline goodness : 0.986173 with order 1 Centerline is valid? [True, True] Translation: X:356.60, Y:-17.49, Z:0.15 [[ 9.99150958e-01 -4.11990617e-02 0.00000000e+00 3.56599833e+02] [ 4.11990617e-02 9.99150958e-01 0.00000000e+00 -1.74880822e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46852776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.560371743 meters Centerline goodness : 0.986964 with order 1 Centerline is valid? [True, True] Translation: X:356.66, Y:-17.49, Z:0.15 [[ 9.99239805e-01 -3.89847772e-02 0.00000000e+00 3.56662215e+02] [ 3.89847772e-02 9.99239805e-01 0.00000000e+00 -1.74938579e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47833583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.620371743 meters Centerline goodness : 0.986174 with order 1 Centerline is valid? [True, True] Translation: X:356.72, Y:-17.50, Z:0.15 [[ 9.99278456e-01 -3.79811381e-02 0.00000000e+00 3.56724649e+02] [ 3.79811381e-02 9.99278456e-01 0.00000000e+00 -1.74999503e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49130399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.680371743 meters Centerline goodness : 0.986144 with order 1 Centerline is valid? [True, True] Translation: X:356.79, Y:-17.50, Z:0.15 [[ 9.99252832e-01 -3.86494093e-02 0.00000000e+00 3.56786502e+02] [ 3.86494093e-02 9.99252832e-01 0.00000000e+00 -1.75046601e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49003400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.740371743 meters Centerline goodness : 0.985216 with order 1 Centerline is valid? [True, True] Translation: X:356.85, Y:-17.51, Z:0.15 [[ 9.99312770e-01 -3.70673327e-02 0.00000000e+00 3.56849021e+02] [ 3.70673327e-02 9.99312770e-01 0.00000000e+00 -1.75144021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46650295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.800371743 meters Centerline goodness : 0.986031 with order 1 Centerline is valid? [True, True] Translation: X:356.91, Y:-17.52, Z:0.15 [[ 9.99360946e-01 -3.57449220e-02 0.00000000e+00 3.56911999e+02] [ 3.57449220e-02 9.99360946e-01 0.00000000e+00 -1.75220059e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46660474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86037174300003 meters Centerline goodness : 0.979180 with order 1 Centerline is valid? [True, True] Translation: X:356.97, Y:-17.54, Z:0.15 [[ 9.99670767e-01 -2.56584889e-02 0.00000000e+00 3.56973268e+02] [ 2.56584889e-02 9.99670767e-01 0.00000000e+00 -1.75389851e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49440799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.920371743 meters Centerline goodness : 0.988939 with order 1 Centerline is valid? [True, True] Translation: X:357.03, Y:-17.53, Z:0.14 [[ 9.99010461e-01 -4.44758323e-02 0.00000000e+00 3.57034823e+02] [ 4.44758323e-02 9.99010461e-01 0.00000000e+00 -1.75269790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42850132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.980371743 meters Centerline goodness : 0.988361 with order 1 Centerline is valid? [True, True] Translation: X:357.10, Y:-17.53, Z:0.14 [[ 9.98799014e-01 -4.89951910e-02 0.00000000e+00 3.57097063e+02] [ 4.89951910e-02 9.98799014e-01 0.00000000e+00 -1.75332540e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43215821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.040371743 meters Centerline goodness : 0.975285 with order 1 Centerline is valid? [True, True] Translation: X:357.16, Y:-17.54, Z:0.15 [[ 9.98688869e-01 -5.11912406e-02 0.00000000e+00 3.57158342e+02] [ 5.11912406e-02 9.98688869e-01 0.00000000e+00 -1.75399522e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46685646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.100371743 meters Centerline goodness : 0.976761 with order 1 Centerline is valid? [True, True] Translation: X:357.22, Y:-17.55, Z:0.15 [[ 9.98552339e-01 -5.37887215e-02 0.00000000e+00 3.57220839e+02] [ 5.37887215e-02 9.98552339e-01 0.00000000e+00 -1.75454699e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45901914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.160371743 meters Centerline goodness : 0.976691 with order 1 Centerline is valid? [True, True] Translation: X:357.28, Y:-17.57, Z:0.15 [[ 9.99217387e-01 -3.95552023e-02 0.00000000e+00 3.57282076e+02] [ 3.95552023e-02 9.99217387e-01 0.00000000e+00 -1.75699918e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47254680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.220371743 meters Centerline goodness : 0.989370 with order 1 Centerline is valid? [True, True] Translation: X:357.34, Y:-17.56, Z:0.14 [[ 9.98505762e-01 -5.46465251e-02 0.00000000e+00 3.57343083e+02] [ 5.46465251e-02 9.98505762e-01 0.00000000e+00 -1.75561641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41555012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.280371743 meters Centerline goodness : 0.980381 with order 1 Centerline is valid? [True, True] Translation: X:357.40, Y:-17.57, Z:0.15 [[ 9.99022683e-01 -4.42004494e-02 0.00000000e+00 3.57403937e+02] [ 4.42004494e-02 9.99022683e-01 0.00000000e+00 -1.75697369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50216893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.340371743 meters Centerline goodness : 0.989197 with order 1 Centerline is valid? [True, True] Translation: X:357.46, Y:-17.57, Z:0.14 [[ 9.98754182e-01 -4.99007465e-02 0.00000000e+00 3.57463793e+02] [ 4.99007465e-02 9.98754182e-01 0.00000000e+00 -1.75668586e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44135870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.400371743 meters Centerline goodness : 0.982204 with order 1 Centerline is valid? [True, True] Translation: X:357.52, Y:-17.58, Z:0.15 [[ 9.99294849e-01 -3.75473664e-02 0.00000000e+00 3.57524375e+02] [ 3.75473664e-02 9.99294849e-01 0.00000000e+00 -1.75790707e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50710353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.460371743 meters Centerline goodness : 0.982325 with order 1 Centerline is valid? [True, True] Translation: X:357.59, Y:-17.58, Z:0.15 [[ 9.99397692e-01 -3.47023610e-02 0.00000000e+00 3.57587150e+02] [ 3.47023610e-02 9.99397692e-01 0.00000000e+00 -1.75819989e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50663007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.520371743 meters Centerline goodness : 0.978138 with order 1 Centerline is valid? [True, True] Translation: X:357.65, Y:-17.58, Z:0.15 [[ 9.99574749e-01 -2.91602785e-02 0.00000000e+00 3.57649952e+02] [ 2.91602785e-02 9.99574749e-01 0.00000000e+00 -1.75799852e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46664642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.580371743 meters Centerline goodness : 0.978872 with order 1 Centerline is valid? [True, True] Translation: X:357.71, Y:-17.58, Z:0.14 [[ 9.99732858e-01 -2.31130589e-02 0.00000000e+00 3.57711146e+02] [ 2.31130589e-02 9.99732858e-01 0.00000000e+00 -1.75822755e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44419083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.640371743 meters Centerline goodness : 0.977913 with order 1 Centerline is valid? [True, True] Translation: X:357.77, Y:-17.59, Z:0.14 [[ 9.99916033e-01 -1.29586826e-02 0.00000000e+00 3.57772116e+02] [ 1.29586826e-02 9.99916033e-01 0.00000000e+00 -1.75884139e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42781597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.700371743 meters Centerline goodness : 0.978982 with order 1 Centerline is valid? [True, True] Translation: X:357.83, Y:-17.61, Z:0.14 [[ 9.99997794e-01 2.10030715e-03 0.00000000e+00 3.57832999e+02] [-2.10030715e-03 9.99997794e-01 0.00000000e+00 -1.76054584e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43109073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.760371743 meters Centerline goodness : 0.979083 with order 1 Centerline is valid? [True, True] Translation: X:357.89, Y:-17.60, Z:0.15 [[ 9.99995737e-01 -2.91986749e-03 0.00000000e+00 3.57892452e+02] [ 2.91986749e-03 9.99995737e-01 0.00000000e+00 -1.75970120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45968975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.820371743 meters Centerline goodness : 0.980547 with order 1 Centerline is valid? [True, True] Translation: X:357.95, Y:-17.61, Z:0.15 [[ 9.99988257e-01 4.84631333e-03 0.00000000e+00 3.57953237e+02] [-4.84631333e-03 9.99988257e-01 0.00000000e+00 -1.76141029e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48932154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.880371743 meters Centerline goodness : 0.980370 with order 1 Centerline is valid? [True, True] Translation: X:358.01, Y:-17.62, Z:0.15 [[ 9.99992520e-01 3.86777740e-03 0.00000000e+00 3.58011943e+02] [-3.86777740e-03 9.99992520e-01 0.00000000e+00 -1.76198390e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50042855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.940371743 meters Centerline goodness : 0.978573 with order 1 Centerline is valid? [True, True] Translation: X:358.07, Y:-17.62, Z:0.15 [[ 9.99899447e-01 -1.41808431e-02 0.00000000e+00 3.58072089e+02] [ 1.41808431e-02 9.99899447e-01 0.00000000e+00 -1.76152028e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46705388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.000371743 meters Centerline goodness : 0.980694 with order 1 Centerline is valid? [True, True] Translation: X:358.13, Y:-17.63, Z:0.14 [[ 9.99916746e-01 -1.29034930e-02 0.00000000e+00 3.58133141e+02] [ 1.29034930e-02 9.99916746e-01 0.00000000e+00 -1.76341099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42908995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.060371743 meters Centerline goodness : 0.979019 with order 1 Centerline is valid? [True, True] Translation: X:358.20, Y:-17.63, Z:0.14 [[ 9.99511106e-01 -3.12657657e-02 0.00000000e+00 3.58196710e+02] [ 3.12657657e-02 9.99511106e-01 0.00000000e+00 -1.76314464e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44606521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.120371743 meters Centerline goodness : 0.980575 with order 1 Centerline is valid? [True, True] Translation: X:358.26, Y:-17.65, Z:0.15 [[ 9.99573912e-01 -2.91889580e-02 0.00000000e+00 3.58258701e+02] [ 2.91889580e-02 9.99573912e-01 0.00000000e+00 -1.76516813e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45781794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.180371743 meters Centerline goodness : 0.982960 with order 1 Centerline is valid? [True, True] Translation: X:358.32, Y:-17.66, Z:0.14 [[ 9.99487932e-01 -3.19980393e-02 0.00000000e+00 3.58321710e+02] [ 3.19980393e-02 9.99487932e-01 0.00000000e+00 -1.76608655e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44412784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.240371743 meters Centerline goodness : 0.979238 with order 1 Centerline is valid? [True, True] Translation: X:358.38, Y:-17.67, Z:0.15 [[ 9.99590850e-01 -2.86030117e-02 0.00000000e+00 3.58384432e+02] [ 2.86030117e-02 9.99590850e-01 0.00000000e+00 -1.76744565e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48632243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.300371743 meters Centerline goodness : 0.982695 with order 1 Centerline is valid? [True, True] Translation: X:358.45, Y:-17.68, Z:0.15 [[ 9.99595320e-01 -2.84463685e-02 0.00000000e+00 3.58447305e+02] [ 2.84463685e-02 9.99595320e-01 0.00000000e+00 -1.76780935e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47132680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36037174300003 meters Centerline goodness : 0.983941 with order 1 Centerline is valid? [True, True] Translation: X:358.51, Y:-17.68, Z:0.15 [[ 9.99686708e-01 -2.50296881e-02 0.00000000e+00 3.58509100e+02] [ 2.50296881e-02 9.99686708e-01 0.00000000e+00 -1.76825640e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45661000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.420371743 meters Centerline goodness : 0.983330 with order 1 Centerline is valid? [True, True] Translation: X:358.57, Y:-17.69, Z:0.15 [[ 9.99781565e-01 -2.09002808e-02 0.00000000e+00 3.58571302e+02] [ 2.09002808e-02 9.99781565e-01 0.00000000e+00 -1.76890858e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46925736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.480371743 meters Centerline goodness : 0.984062 with order 1 Centerline is valid? [True, True] Translation: X:358.63, Y:-17.69, Z:0.15 [[ 9.99784777e-01 -2.07460814e-02 0.00000000e+00 3.58633353e+02] [ 2.07460814e-02 9.99784777e-01 0.00000000e+00 -1.76931566e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46501580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.540371743 meters Centerline goodness : 0.983569 with order 1 Centerline is valid? [True, True] Translation: X:358.70, Y:-17.70, Z:0.15 [[ 9.99853757e-01 -1.71015748e-02 0.00000000e+00 3.58695555e+02] [ 1.71015748e-02 9.99853757e-01 0.00000000e+00 -1.77007124e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46930285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.600371743 meters Centerline goodness : 0.979331 with order 1 Centerline is valid? [True, True] Translation: X:358.76, Y:-17.71, Z:0.15 [[ 9.99916446e-01 -1.29267812e-02 0.00000000e+00 3.58756291e+02] [ 1.29267812e-02 9.99916446e-01 0.00000000e+00 -1.77103623e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49942721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.660371743 meters Centerline goodness : 0.977821 with order 1 Centerline is valid? [True, True] Translation: X:358.82, Y:-17.72, Z:0.15 [[ 9.99914774e-01 -1.30554279e-02 0.00000000e+00 3.58817790e+02] [ 1.30554279e-02 9.99914774e-01 0.00000000e+00 -1.77176338e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45679733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.720371743 meters Centerline goodness : 0.983584 with order 1 Centerline is valid? [True, True] Translation: X:358.88, Y:-17.72, Z:0.15 [[ 9.99813201e-01 -1.93277803e-02 0.00000000e+00 3.58880708e+02] [ 1.93277803e-02 9.99813201e-01 0.00000000e+00 -1.77185103e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45307970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.780371743 meters Centerline goodness : 0.981182 with order 1 Centerline is valid? [True, True] Translation: X:358.94, Y:-17.72, Z:0.14 [[ 9.99646235e-01 -2.65971009e-02 0.00000000e+00 3.58941559e+02] [ 2.65971009e-02 9.99646235e-01 0.00000000e+00 -1.77181252e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41595109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.840371743 meters Centerline goodness : 0.979325 with order 1 Centerline is valid? [True, True] Translation: X:359.00, Y:-17.73, Z:0.14 [[ 9.99717253e-01 -2.37784463e-02 0.00000000e+00 3.59003745e+02] [ 2.37784463e-02 9.99717253e-01 0.00000000e+00 -1.77273881e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43287129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.900371743 meters Centerline goodness : 0.980933 with order 1 Centerline is valid? [True, True] Translation: X:359.07, Y:-17.73, Z:0.14 [[ 9.99602374e-01 -2.81974155e-02 0.00000000e+00 3.59066069e+02] [ 2.81974155e-02 9.99602374e-01 0.00000000e+00 -1.77285858e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44540012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.960371743 meters Centerline goodness : 0.982702 with order 1 Centerline is valid? [True, True] Translation: X:359.13, Y:-17.74, Z:0.14 [[ 9.99745168e-01 -2.25742809e-02 0.00000000e+00 3.59127891e+02] [ 2.25742809e-02 9.99745168e-01 0.00000000e+00 -1.77445843e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41898250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.020371743 meters Centerline goodness : 0.982000 with order 1 Centerline is valid? [True, True] Translation: X:359.19, Y:-17.75, Z:0.14 [[ 9.99735086e-01 -2.30164865e-02 0.00000000e+00 3.59189273e+02] [ 2.30164865e-02 9.99735086e-01 0.00000000e+00 -1.77505879e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42078321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.080371743 meters Centerline goodness : 0.980638 with order 1 Centerline is valid? [True, True] Translation: X:359.25, Y:-17.75, Z:0.14 [[ 9.99726412e-01 -2.33901738e-02 0.00000000e+00 3.59250784e+02] [ 2.33901738e-02 9.99726412e-01 0.00000000e+00 -1.77544021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44879367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.140371743 meters Centerline goodness : 0.982706 with order 1 Centerline is valid? [True, True] Translation: X:359.31, Y:-17.76, Z:0.15 [[ 9.99735462e-01 -2.30001522e-02 0.00000000e+00 3.59313217e+02] [ 2.30001522e-02 9.99735462e-01 0.00000000e+00 -1.77557967e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48258681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.200371743 meters Centerline goodness : 0.982749 with order 1 Centerline is valid? [True, True] Translation: X:359.38, Y:-17.76, Z:0.15 [[ 9.99705884e-01 -2.42517011e-02 0.00000000e+00 3.59375158e+02] [ 2.42517011e-02 9.99705884e-01 0.00000000e+00 -1.77599107e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47005824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.260371743 meters Centerline goodness : 0.982027 with order 1 Centerline is valid? [True, True] Translation: X:359.44, Y:-17.77, Z:0.15 [[ 9.99683779e-01 -2.51464063e-02 0.00000000e+00 3.59437528e+02] [ 2.51464063e-02 9.99683779e-01 0.00000000e+00 -1.77662518e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48626478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.320371743 meters Centerline goodness : 0.982873 with order 1 Centerline is valid? [True, True] Translation: X:359.50, Y:-17.77, Z:0.15 [[ 9.99579920e-01 -2.89824680e-02 0.00000000e+00 3.59500413e+02] [ 2.89824680e-02 9.99579920e-01 0.00000000e+00 -1.77724524e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49999451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.380371743 meters Centerline goodness : 0.988306 with order 1 Centerline is valid? [True, True] Translation: X:359.56, Y:-17.77, Z:0.14 [[ 9.98987642e-01 -4.49854651e-02 0.00000000e+00 3.59561552e+02] [ 4.49854651e-02 9.98987642e-01 0.00000000e+00 -1.77690378e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42743247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.440371743 meters Centerline goodness : 0.978762 with order 1 Centerline is valid? [True, True] Translation: X:359.62, Y:-17.77, Z:0.15 [[ 9.99123525e-01 -4.18590821e-02 0.00000000e+00 3.59622898e+02] [ 4.18590821e-02 9.99123525e-01 0.00000000e+00 -1.77745750e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46261271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.500371743 meters Centerline goodness : 0.981033 with order 1 Centerline is valid? [True, True] Translation: X:359.69, Y:-17.79, Z:0.15 [[ 9.99163895e-01 -4.08841177e-02 0.00000000e+00 3.59685859e+02] [ 4.08841177e-02 9.99163895e-01 0.00000000e+00 -1.77863972e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49288728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.560371743 meters Centerline goodness : 0.986518 with order 1 Centerline is valid? [True, True] Translation: X:359.75, Y:-17.78, Z:0.14 [[ 9.98694938e-01 -5.10726992e-02 0.00000000e+00 3.59746978e+02] [ 5.10726992e-02 9.98694938e-01 0.00000000e+00 -1.77839153e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42718752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.620371743 meters Centerline goodness : 0.978243 with order 1 Centerline is valid? [True, True] Translation: X:359.81, Y:-17.80, Z:0.15 [[ 9.99319029e-01 -3.68982087e-02 0.00000000e+00 3.59806581e+02] [ 3.68982087e-02 9.99319029e-01 0.00000000e+00 -1.78006276e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48134868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.680371743 meters Centerline goodness : 0.987053 with order 1 Centerline is valid? [True, True] Translation: X:359.87, Y:-17.79, Z:0.14 [[ 9.98839172e-01 -4.81695789e-02 0.00000000e+00 3.59867334e+02] [ 4.81695789e-02 9.98839172e-01 0.00000000e+00 -1.77941173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41430709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.740371743 meters Centerline goodness : 0.980729 with order 1 Centerline is valid? [True, True] Translation: X:359.93, Y:-17.81, Z:0.15 [[ 9.99222237e-01 -3.94324902e-02 0.00000000e+00 3.59927884e+02] [ 3.94324902e-02 9.99222237e-01 0.00000000e+00 -1.78073543e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49465689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.800371743 meters Centerline goodness : 0.981274 with order 1 Centerline is valid? [True, True] Translation: X:359.99, Y:-17.81, Z:0.15 [[ 9.99074190e-01 -4.30204914e-02 0.00000000e+00 3.59988968e+02] [ 4.30204914e-02 9.99074190e-01 0.00000000e+00 -1.78113811e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50397928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86037174300003 meters Centerline goodness : 0.986961 with order 1 Centerline is valid? [True, True] Translation: X:360.05, Y:-17.81, Z:0.14 [[ 9.98634556e-01 -5.22400651e-02 0.00000000e+00 3.60048587e+02] [ 5.22400651e-02 9.98634556e-01 0.00000000e+00 -1.78112002e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44183052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.920371743 meters Centerline goodness : 0.977526 with order 1 Centerline is valid? [True, True] Translation: X:360.11, Y:-17.81, Z:0.14 [[ 9.98831632e-01 -4.83256830e-02 0.00000000e+00 3.60109972e+02] [ 4.83256830e-02 9.98831632e-01 0.00000000e+00 -1.78149146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43989613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.980371743 meters Centerline goodness : 0.979898 with order 1 Centerline is valid? [True, True] Translation: X:360.17, Y:-17.83, Z:0.15 [[ 9.99124210e-01 -4.18427214e-02 0.00000000e+00 3.60170494e+02] [ 4.18427214e-02 9.99124210e-01 0.00000000e+00 -1.78267420e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48483555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.040371743 meters Centerline goodness : 0.977461 with order 1 Centerline is valid? [True, True] Translation: X:360.23, Y:-17.82, Z:0.15 [[ 9.98849045e-01 -4.79644098e-02 0.00000000e+00 3.60233018e+02] [ 4.79644098e-02 9.98849045e-01 0.00000000e+00 -1.78207029e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45388919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.100371743 meters Centerline goodness : 0.977277 with order 1 Centerline is valid? [True, True] Translation: X:360.29, Y:-17.82, Z:0.15 [[ 9.99008406e-01 -4.45219529e-02 0.00000000e+00 3.60294874e+02] [ 4.45219529e-02 9.99008406e-01 0.00000000e+00 -1.78232207e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45174338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.160371743 meters Centerline goodness : 0.980529 with order 1 Centerline is valid? [True, True] Translation: X:360.36, Y:-17.83, Z:0.15 [[ 9.99248612e-01 -3.87583675e-02 0.00000000e+00 3.60356610e+02] [ 3.87583675e-02 9.99248612e-01 0.00000000e+00 -1.78304264e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48922790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.220371743 meters Centerline goodness : 0.978162 with order 1 Centerline is valid? [True, True] Translation: X:360.42, Y:-17.82, Z:0.15 [[ 9.98882913e-01 -4.72538554e-02 0.00000000e+00 3.60418652e+02] [ 4.72538554e-02 9.98882913e-01 0.00000000e+00 -1.78247725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46309567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.280371743 meters Centerline goodness : 0.981492 with order 1 Centerline is valid? [True, True] Translation: X:360.48, Y:-17.83, Z:0.15 [[ 9.98700707e-01 -5.09597699e-02 0.00000000e+00 3.60480199e+02] [ 5.09597699e-02 9.98700707e-01 0.00000000e+00 -1.78335785e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51321588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.340371743 meters Centerline goodness : 0.980341 with order 1 Centerline is valid? [True, True] Translation: X:360.54, Y:-17.84, Z:0.15 [[ 9.98698877e-01 -5.09956274e-02 0.00000000e+00 3.60540830e+02] [ 5.09956274e-02 9.98698877e-01 0.00000000e+00 -1.78381248e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50869064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.400371743 meters Centerline goodness : 0.978856 with order 1 Centerline is valid? [True, True] Translation: X:360.60, Y:-17.84, Z:0.15 [[ 9.98587467e-01 -5.31325821e-02 0.00000000e+00 3.60602644e+02] [ 5.31325821e-02 9.98587467e-01 0.00000000e+00 -1.78393793e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54806178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.460371743 meters Centerline goodness : 0.979742 with order 1 Centerline is valid? [True, True] Translation: X:360.66, Y:-17.84, Z:0.16 [[ 9.98515780e-01 -5.44631700e-02 0.00000000e+00 3.60664934e+02] [ 5.44631700e-02 9.98515780e-01 0.00000000e+00 -1.78390102e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56152526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.520371743 meters Centerline goodness : 0.975382 with order 1 Centerline is valid? [True, True] Translation: X:360.73, Y:-17.85, Z:0.17 [[ 9.98496934e-01 -5.48075913e-02 0.00000000e+00 3.60727087e+02] [ 5.48075913e-02 9.98496934e-01 0.00000000e+00 -1.78461479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67624386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.580371743 meters Centerline goodness : 0.980969 with order 1 Centerline is valid? [True, True] Translation: X:360.79, Y:-17.84, Z:0.16 [[ 9.98217637e-01 -5.96787106e-02 0.00000000e+00 3.60789074e+02] [ 5.96787106e-02 9.98217637e-01 0.00000000e+00 -1.78435414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57178204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.640371743 meters Centerline goodness : 0.980006 with order 1 Centerline is valid? [True, True] Translation: X:360.85, Y:-17.85, Z:0.16 [[ 9.98221156e-01 -5.96198311e-02 0.00000000e+00 3.60850742e+02] [ 5.96198311e-02 9.98221156e-01 0.00000000e+00 -1.78469388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57385545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.700371743 meters Centerline goodness : 0.986043 with order 1 Centerline is valid? [True, True] Translation: X:360.91, Y:-17.84, Z:0.16 [[ 9.97652505e-01 -6.84797708e-02 0.00000000e+00 3.60910440e+02] [ 6.84797708e-02 9.97652505e-01 0.00000000e+00 -1.78442003e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56316739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.760371743 meters Centerline goodness : 0.985869 with order 1 Centerline is valid? [True, True] Translation: X:360.97, Y:-17.85, Z:0.16 [[ 9.97753578e-01 -6.69910321e-02 0.00000000e+00 3.60972198e+02] [ 6.69910321e-02 9.97753578e-01 0.00000000e+00 -1.78473936e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60363317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.820371743 meters Centerline goodness : 0.980031 with order 1 Centerline is valid? [True, True] Translation: X:361.03, Y:-17.86, Z:0.17 [[ 9.98529033e-01 -5.42196540e-02 0.00000000e+00 3.61032344e+02] [ 5.42196540e-02 9.98529033e-01 0.00000000e+00 -1.78599588e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65779219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.880371743 meters Centerline goodness : 0.986748 with order 1 Centerline is valid? [True, True] Translation: X:361.09, Y:-17.85, Z:0.16 [[ 9.97999106e-01 -6.32280412e-02 0.00000000e+00 3.61092346e+02] [ 6.32280412e-02 9.97999106e-01 0.00000000e+00 -1.78534460e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63189864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.940371743 meters Centerline goodness : 0.986085 with order 1 Centerline is valid? [True, True] Translation: X:361.16, Y:-17.86, Z:0.16 [[ 9.98141886e-01 -6.09325507e-02 0.00000000e+00 3.61155036e+02] [ 6.09325507e-02 9.98141886e-01 0.00000000e+00 -1.78572581e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63907802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.000371743 meters Centerline goodness : 0.987470 with order 1 Centerline is valid? [True, True] Translation: X:361.22, Y:-17.86, Z:0.17 [[ 9.98267745e-01 -5.88345882e-02 0.00000000e+00 3.61217397e+02] [ 5.88345882e-02 9.98267745e-01 0.00000000e+00 -1.78600813e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65394144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.060371743 meters Centerline goodness : 0.975765 with order 1 Centerline is valid? [True, True] Translation: X:361.28, Y:-17.88, Z:0.18 [[ 9.99240119e-01 -3.89767138e-02 0.00000000e+00 3.61276797e+02] [ 3.89767138e-02 9.99240119e-01 0.00000000e+00 -1.78782904e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75716624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.120371743 meters Centerline goodness : 0.979952 with order 1 Centerline is valid? [True, True] Translation: X:361.34, Y:-17.88, Z:0.18 [[ 9.99195247e-01 -4.01105655e-02 0.00000000e+00 3.61340303e+02] [ 4.01105655e-02 9.99195247e-01 0.00000000e+00 -1.78764052e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76271234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.180371743 meters Centerline goodness : 0.981440 with order 1 Centerline is valid? [True, True] Translation: X:361.40, Y:-17.88, Z:0.17 [[ 9.99407933e-01 -3.44061686e-02 0.00000000e+00 3.61403417e+02] [ 3.44061686e-02 9.99407933e-01 0.00000000e+00 -1.78801272e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74851291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.240371743 meters Centerline goodness : 0.982633 with order 1 Centerline is valid? [True, True] Translation: X:361.47, Y:-17.88, Z:0.17 [[ 9.99600091e-01 -2.82782426e-02 0.00000000e+00 3.61466124e+02] [ 2.82782426e-02 9.99600091e-01 0.00000000e+00 -1.78830401e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73628967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.300371743 meters Centerline goodness : 0.976525 with order 1 Centerline is valid? [True, True] Translation: X:361.53, Y:-17.90, Z:0.18 [[ 9.99766429e-01 -2.16121848e-02 0.00000000e+00 3.61527759e+02] [ 2.16121848e-02 9.99766429e-01 0.00000000e+00 -1.78950928e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77990510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36037174300003 meters Centerline goodness : 0.975170 with order 1 Centerline is valid? [True, True] Translation: X:361.59, Y:-17.90, Z:0.18 [[ 9.99631849e-01 -2.71323893e-02 0.00000000e+00 3.61589563e+02] [ 2.71323893e-02 9.99631849e-01 0.00000000e+00 -1.78951511e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76645950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.420371743 meters Centerline goodness : 0.984638 with order 1 Centerline is valid? [True, True] Translation: X:361.65, Y:-17.90, Z:0.17 [[ 9.99494968e-01 -3.17775061e-02 0.00000000e+00 3.61651037e+02] [ 3.17775061e-02 9.99494968e-01 0.00000000e+00 -1.79007804e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69359090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.480371743 meters Centerline goodness : 0.983925 with order 1 Centerline is valid? [True, True] Translation: X:361.71, Y:-17.91, Z:0.17 [[ 9.99625882e-01 -2.73513444e-02 0.00000000e+00 3.61714188e+02] [ 2.73513444e-02 9.99625882e-01 0.00000000e+00 -1.79086380e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71119129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.540371743 meters Centerline goodness : 0.974413 with order 1 Centerline is valid? [True, True] Translation: X:361.77, Y:-17.93, Z:0.18 [[ 9.99975043e-01 -7.06498750e-03 0.00000000e+00 3.61773027e+02] [ 7.06498750e-03 9.99975043e-01 0.00000000e+00 -1.79284789e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78451110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.600371743 meters Centerline goodness : 0.974524 with order 1 Centerline is valid? [True, True] Translation: X:361.83, Y:-17.94, Z:0.18 [[ 9.99998412e-01 -1.78187116e-03 0.00000000e+00 3.61833464e+02] [ 1.78187116e-03 9.99998412e-01 0.00000000e+00 -1.79373247e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75966331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.660371743 meters Centerline goodness : 0.975763 with order 1 Centerline is valid? [True, True] Translation: X:361.89, Y:-17.93, Z:0.18 [[ 9.99996456e-01 2.66249837e-03 0.00000000e+00 3.61893014e+02] [-2.66249837e-03 9.99996456e-01 0.00000000e+00 -1.79347076e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76197632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.720371743 meters Centerline goodness : 0.983189 with order 1 Centerline is valid? [True, True] Translation: X:361.95, Y:-17.94, Z:0.17 [[ 9.99995227e-01 3.08958488e-03 0.00000000e+00 3.61952240e+02] [-3.08958488e-03 9.99995227e-01 0.00000000e+00 -1.79404966e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70774262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.780371743 meters Centerline goodness : 0.979453 with order 1 Centerline is valid? [True, True] Translation: X:362.01, Y:-17.96, Z:0.17 [[ 9.99903541e-01 1.38891851e-02 0.00000000e+00 3.62010955e+02] [-1.38891851e-02 9.99903541e-01 0.00000000e+00 -1.79571626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68562252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.840371743 meters Centerline goodness : 0.982452 with order 1 Centerline is valid? [True, True] Translation: X:362.07, Y:-17.96, Z:0.17 [[ 9.99889960e-01 1.48346876e-02 0.00000000e+00 3.62068311e+02] [-1.48346876e-02 9.99889960e-01 0.00000000e+00 -1.79603777e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71205871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.900371743 meters Centerline goodness : 0.981831 with order 1 Centerline is valid? [True, True] Translation: X:362.13, Y:-17.97, Z:0.17 [[ 9.99812823e-01 1.93473194e-02 0.00000000e+00 3.62125412e+02] [-1.93473194e-02 9.99812823e-01 0.00000000e+00 -1.79720451e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71167867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.960371743 meters Centerline goodness : 0.981112 with order 1 Centerline is valid? [True, True] Translation: X:362.18, Y:-17.98, Z:0.17 [[ 9.99698392e-01 2.45586108e-02 0.00000000e+00 3.62182734e+02] [-2.45586108e-02 9.99698392e-01 0.00000000e+00 -1.79811826e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70156167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.020371743 meters Centerline goodness : 0.980036 with order 1 Centerline is valid? [True, True] Translation: X:362.24, Y:-17.99, Z:0.17 [[ 9.99457783e-01 3.29262794e-02 0.00000000e+00 3.62241156e+02] [-3.29262794e-02 9.99457783e-01 0.00000000e+00 -1.79928267e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73907073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.080371743 meters Centerline goodness : 0.972762 with order 1 Centerline is valid? [True, True] Translation: X:362.30, Y:-18.02, Z:0.18 [[ 9.98390254e-01 5.67177278e-02 0.00000000e+00 3.62298718e+02] [-5.67177278e-02 9.98390254e-01 0.00000000e+00 -1.80197501e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81651612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.140371743 meters Centerline goodness : 0.972342 with order 1 Centerline is valid? [True, True] Translation: X:362.36, Y:-18.03, Z:0.18 [[ 9.97928276e-01 6.43362784e-02 0.00000000e+00 3.62356419e+02] [-6.43362784e-02 9.97928276e-01 0.00000000e+00 -1.80338769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77954516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.200371743 meters Centerline goodness : 0.981737 with order 1 Centerline is valid? [True, True] Translation: X:362.41, Y:-18.03, Z:0.18 [[ 9.98327031e-01 5.78198923e-02 0.00000000e+00 3.62414667e+02] [-5.78198923e-02 9.98327031e-01 0.00000000e+00 -1.80348760e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77179657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.260371743 meters Centerline goodness : 0.982946 with order 1 Centerline is valid? [True, True] Translation: X:362.47, Y:-18.05, Z:0.18 [[ 9.97827065e-01 6.58873873e-02 0.00000000e+00 3.62471961e+02] [-6.58873873e-02 9.97827065e-01 0.00000000e+00 -1.80497836e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78841506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.320371743 meters Centerline goodness : 0.980095 with order 1 Centerline is valid? [True, True] Translation: X:362.53, Y:-18.07, Z:0.18 [[ 9.97195994e-01 7.48341493e-02 0.00000000e+00 3.62529897e+02] [-7.48341493e-02 9.97195994e-01 0.00000000e+00 -1.80663317e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76114148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.380371743 meters Centerline goodness : 0.983616 with order 1 Centerline is valid? [True, True] Translation: X:362.59, Y:-18.08, Z:0.19 [[ 9.97263182e-01 7.39333917e-02 0.00000000e+00 3.62588688e+02] [-7.39333917e-02 9.97263182e-01 0.00000000e+00 -1.80786531e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87277218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.440371743 meters Centerline goodness : 0.986241 with order 1 Centerline is valid? [True, True] Translation: X:362.65, Y:-18.10, Z:0.19 [[ 9.97506464e-01 7.05751703e-02 0.00000000e+00 3.62646319e+02] [-7.05751703e-02 9.97506464e-01 0.00000000e+00 -1.80957780e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90737629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.500371743 meters Centerline goodness : 0.991513 with order 1 Centerline is valid? [True, True] Translation: X:362.70, Y:-18.11, Z:0.19 [[ 9.98278679e-01 5.86487761e-02 0.00000000e+00 3.62703704e+02] [-5.86487761e-02 9.98278679e-01 0.00000000e+00 -1.81075659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85721286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.560371743 meters Centerline goodness : 0.992291 with order 1 Centerline is valid? [True, True] Translation: X:362.76, Y:-18.12, Z:0.19 [[ 9.98715656e-01 5.06659428e-02 0.00000000e+00 3.62761444e+02] [-5.06659428e-02 9.98715656e-01 0.00000000e+00 -1.81227209e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88270012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.620371743 meters Centerline goodness : 0.994831 with order 1 Centerline is valid? [True, True] Translation: X:362.82, Y:-18.13, Z:0.19 [[ 9.98928684e-01 4.62761784e-02 0.00000000e+00 3.62819529e+02] [-4.62761784e-02 9.98928684e-01 0.00000000e+00 -1.81328781e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89817052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.680371743 meters Centerline goodness : 0.995763 with order 1 Centerline is valid? [True, True] Translation: X:362.88, Y:-18.15, Z:0.19 [[ 9.99170801e-01 4.07149912e-02 0.00000000e+00 3.62877786e+02] [-4.07149912e-02 9.99170801e-01 0.00000000e+00 -1.81452626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91198110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.740371743 meters Centerline goodness : 0.996599 with order 1 Centerline is valid? [True, True] Translation: X:362.94, Y:-18.16, Z:0.19 [[ 9.99305090e-01 3.72738249e-02 0.00000000e+00 3.62935816e+02] [-3.72738249e-02 9.99305090e-01 0.00000000e+00 -1.81562660e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91201721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.800371743 meters Centerline goodness : 0.997069 with order 1 Centerline is valid? [True, True] Translation: X:362.99, Y:-18.16, Z:0.19 [[ 9.99377424e-01 3.52812129e-02 0.00000000e+00 3.62993487e+02] [-3.52812129e-02 9.99377424e-01 0.00000000e+00 -1.81632239e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93357567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86037174300003 meters Centerline goodness : 0.996853 with order 1 Centerline is valid? [True, True] Translation: X:363.05, Y:-18.17, Z:0.19 [[ 9.99456543e-01 3.29638956e-02 0.00000000e+00 3.63052486e+02] [-3.29638956e-02 9.99456543e-01 0.00000000e+00 -1.81691992e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94744710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.920371743 meters Centerline goodness : 0.997686 with order 1 Centerline is valid? [True, True] Translation: X:363.11, Y:-18.17, Z:0.20 [[ 9.99566025e-01 2.94577914e-02 0.00000000e+00 3.63110667e+02] [-2.94577914e-02 9.99566025e-01 0.00000000e+00 -1.81739217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95888850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.980371743 meters Centerline goodness : 0.997592 with order 1 Centerline is valid? [True, True] Translation: X:363.17, Y:-18.18, Z:0.20 [[ 9.99649080e-01 2.64899408e-02 0.00000000e+00 3.63170646e+02] [-2.64899408e-02 9.99649080e-01 0.00000000e+00 -1.81768209e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95552537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.040371743 meters Centerline goodness : 0.997031 with order 1 Centerline is valid? [True, True] Translation: X:363.23, Y:-18.18, Z:0.19 [[ 9.99745688e-01 2.25512658e-02 0.00000000e+00 3.63229795e+02] [-2.25512658e-02 9.99745688e-01 0.00000000e+00 -1.81778671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94299159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.100371743 meters Centerline goodness : 0.996970 with order 1 Centerline is valid? [True, True] Translation: X:363.29, Y:-18.18, Z:0.19 [[ 9.99876501e-01 1.57156554e-02 0.00000000e+00 3.63289905e+02] [-1.57156554e-02 9.99876501e-01 0.00000000e+00 -1.81779477e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93871742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.160371743 meters Centerline goodness : 0.996523 with order 1 Centerline is valid? [True, True] Translation: X:363.35, Y:-18.18, Z:0.19 [[ 9.99956304e-01 9.34822040e-03 0.00000000e+00 3.63349577e+02] [-9.34822040e-03 9.99956304e-01 0.00000000e+00 -1.81793151e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92940911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.220371743 meters Centerline goodness : 0.996697 with order 1 Centerline is valid? [True, True] Translation: X:363.41, Y:-18.18, Z:0.19 [[ 9.99999834e-01 -5.76457361e-04 0.00000000e+00 3.63409528e+02] [ 5.76457361e-04 9.99999834e-01 0.00000000e+00 -1.81778867e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93350689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.280371743 meters Centerline goodness : 0.994952 with order 1 Centerline is valid? [True, True] Translation: X:363.47, Y:-18.17, Z:0.19 [[ 9.99961292e-01 -8.79850266e-03 0.00000000e+00 3.63470209e+02] [ 8.79850266e-03 9.99961292e-01 0.00000000e+00 -1.81744344e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91819096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.340371743 meters Centerline goodness : 0.993934 with order 1 Centerline is valid? [True, True] Translation: X:363.53, Y:-18.17, Z:0.19 [[ 9.99944348e-01 -1.05499158e-02 0.00000000e+00 3.63531788e+02] [ 1.05499158e-02 9.99944348e-01 0.00000000e+00 -1.81684850e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92886138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.400371743 meters Centerline goodness : 0.992842 with order 1 Centerline is valid? [True, True] Translation: X:363.59, Y:-18.16, Z:0.19 [[ 9.99977897e-01 -6.64872548e-03 0.00000000e+00 3.63594174e+02] [ 6.64872548e-03 9.99977897e-01 0.00000000e+00 -1.81590114e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94386813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.460371743 meters Centerline goodness : 0.990785 with order 1 Centerline is valid? [True, True] Translation: X:363.66, Y:-18.15, Z:0.19 [[ 9.99998960e-01 -1.44215133e-03 0.00000000e+00 3.63656352e+02] [ 1.44215133e-03 9.99998960e-01 0.00000000e+00 -1.81497370e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92904173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.520371743 meters Centerline goodness : 0.988506 with order 1 Centerline is valid? [True, True] Translation: X:363.72, Y:-18.14, Z:0.19 [[ 9.99999582e-01 9.14555866e-04 0.00000000e+00 3.63717646e+02] [-9.14555866e-04 9.99999582e-01 0.00000000e+00 -1.81411907e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90549326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.580371743 meters Centerline goodness : 0.986939 with order 1 Centerline is valid? [True, True] Translation: X:363.78, Y:-18.14, Z:0.19 [[ 9.99999007e-01 1.40898247e-03 0.00000000e+00 3.63778443e+02] [-1.40898247e-03 9.99999007e-01 0.00000000e+00 -1.81366633e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90509630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.640371743 meters Centerline goodness : 0.980053 with order 1 Centerline is valid? [True, True] Translation: X:363.84, Y:-18.14, Z:0.19 [[ 9.99909086e-01 1.34840409e-02 0.00000000e+00 3.63839192e+02] [-1.34840409e-02 9.99909086e-01 0.00000000e+00 -1.81405122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87333618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.700371743 meters Centerline goodness : 0.977854 with order 1 Centerline is valid? [True, True] Translation: X:363.90, Y:-18.14, Z:0.18 [[ 9.99699361e-01 2.45191129e-02 0.00000000e+00 3.63898640e+02] [-2.45191129e-02 9.99699361e-01 0.00000000e+00 -1.81371320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78812477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.760371743 meters Centerline goodness : 0.981320 with order 1 Centerline is valid? [True, True] Translation: X:363.96, Y:-18.12, Z:0.19 [[ 9.99721975e-01 2.35790671e-02 0.00000000e+00 3.63958227e+02] [-2.35790671e-02 9.99721975e-01 0.00000000e+00 -1.81164140e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87332519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.820371743 meters Centerline goodness : 0.981594 with order 1 Centerline is valid? [True, True] Translation: X:364.02, Y:-18.11, Z:0.19 [[ 9.99247428e-01 3.87888973e-02 0.00000000e+00 3.64016538e+02] [-3.87888973e-02 9.99247428e-01 0.00000000e+00 -1.81131037e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87527051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.880371743 meters Centerline goodness : 0.981504 with order 1 Centerline is valid? [True, True] Translation: X:364.07, Y:-18.11, Z:0.19 [[ 9.98551808e-01 5.37985769e-02 0.00000000e+00 3.64074091e+02] [-5.37985769e-02 9.98551808e-01 0.00000000e+00 -1.81129349e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89225664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.940371743 meters Centerline goodness : 0.976177 with order 1 Centerline is valid? [True, True] Translation: X:364.13, Y:-18.13, Z:0.18 [[ 9.97091360e-01 7.62156201e-02 0.00000000e+00 3.64132139e+02] [-7.62156201e-02 9.97091360e-01 0.00000000e+00 -1.81328002e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82186587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.000371743 meters Centerline goodness : 0.981072 with order 1 Centerline is valid? [True, True] Translation: X:364.19, Y:-18.13, Z:0.19 [[ 9.97678761e-01 6.80961823e-02 0.00000000e+00 3.64190520e+02] [-6.80961823e-02 9.97678761e-01 0.00000000e+00 -1.81254398e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89953767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.060371743 meters Centerline goodness : 0.977523 with order 1 Centerline is valid? [True, True] Translation: X:364.25, Y:-18.15, Z:0.18 [[ 9.96722307e-01 8.08989673e-02 0.00000000e+00 3.64247805e+02] [-8.08989673e-02 9.96722307e-01 0.00000000e+00 -1.81488668e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81821817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.120371743 meters Centerline goodness : 0.982217 with order 1 Centerline is valid? [True, True] Translation: X:364.30, Y:-18.16, Z:0.18 [[ 9.96710946e-01 8.10388210e-02 0.00000000e+00 3.64304887e+02] [-8.10388210e-02 9.96710946e-01 0.00000000e+00 -1.81632262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83721948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.180371743 meters Centerline goodness : 0.985231 with order 1 Centerline is valid? [True, True] Translation: X:364.36, Y:-18.18, Z:0.19 [[ 9.96974695e-01 7.77268103e-02 0.00000000e+00 3.64362022e+02] [-7.77268103e-02 9.96974695e-01 0.00000000e+00 -1.81757778e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91724110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.240371743 meters Centerline goodness : 0.986465 with order 1 Centerline is valid? [True, True] Translation: X:364.42, Y:-18.18, Z:0.19 [[ 9.97010261e-01 7.72692643e-02 0.00000000e+00 3.64418415e+02] [-7.72692643e-02 9.97010261e-01 0.00000000e+00 -1.81837257e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92921140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.300371743 meters Centerline goodness : 0.990034 with order 1 Centerline is valid? [True, True] Translation: X:364.48, Y:-18.20, Z:0.20 [[ 9.97325464e-01 7.30884340e-02 0.00000000e+00 3.64476493e+02] [-7.30884340e-02 9.97325464e-01 0.00000000e+00 -1.81979493e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97403490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36037174300003 meters Centerline goodness : 0.992246 with order 1 Centerline is valid? [True, True] Translation: X:364.53, Y:-18.22, Z:0.20 [[ 9.97596336e-01 6.92932272e-02 0.00000000e+00 3.64533310e+02] [-6.92932272e-02 9.97596336e-01 0.00000000e+00 -1.82168836e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97324168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.420371743 meters Centerline goodness : 0.994345 with order 1 Centerline is valid? [True, True] Translation: X:364.59, Y:-18.24, Z:0.20 [[ 9.97846898e-01 6.55863433e-02 0.00000000e+00 3.64589762e+02] [-6.55863433e-02 9.97846898e-01 0.00000000e+00 -1.82357856e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97153531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.480371743 meters Centerline goodness : 0.995616 with order 1 Centerline is valid? [True, True] Translation: X:364.65, Y:-18.25, Z:0.20 [[ 9.98013561e-01 6.29994666e-02 0.00000000e+00 3.64647912e+02] [-6.29994666e-02 9.98013561e-01 0.00000000e+00 -1.82528525e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98709676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.540371743 meters Centerline goodness : 0.996378 with order 1 Centerline is valid? [True, True] Translation: X:364.71, Y:-18.26, Z:0.20 [[ 9.98057825e-01 6.22942830e-02 0.00000000e+00 3.64705492e+02] [-6.22942830e-02 9.98057825e-01 0.00000000e+00 -1.82639245e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98584663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.600371743 meters Centerline goodness : 0.996968 with order 1 Centerline is valid? [True, True] Translation: X:364.76, Y:-18.28, Z:0.20 [[ 9.98064295e-01 6.21905389e-02 0.00000000e+00 3.64763261e+02] [-6.21905389e-02 9.98064295e-01 0.00000000e+00 -1.82771736e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98547147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.660371743 meters Centerline goodness : 0.997962 with order 1 Centerline is valid? [True, True] Translation: X:364.82, Y:-18.29, Z:0.20 [[ 9.98030746e-01 6.27266333e-02 0.00000000e+00 3.64820460e+02] [-6.27266333e-02 9.98030746e-01 0.00000000e+00 -1.82885290e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97525729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.720371743 meters Centerline goodness : 0.998605 with order 1 Centerline is valid? [True, True] Translation: X:364.88, Y:-18.30, Z:0.20 [[ 9.98053451e-01 6.23643304e-02 0.00000000e+00 3.64879216e+02] [-6.23643304e-02 9.98053451e-01 0.00000000e+00 -1.82982244e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98802266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.780371743 meters Centerline goodness : 0.999345 with order 1 Centerline is valid? [True, True] Translation: X:364.94, Y:-18.31, Z:0.20 [[ 9.98103804e-01 6.15532010e-02 0.00000000e+00 3.64937796e+02] [-6.15532010e-02 9.98103804e-01 0.00000000e+00 -1.83053399e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99394251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.840371743 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:365.00, Y:-18.31, Z:0.20 [[ 9.98276368e-01 5.86881069e-02 0.00000000e+00 3.64996637e+02] [-5.86881069e-02 9.98276368e-01 0.00000000e+00 -1.83117339e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98892926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.900371743 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:365.06, Y:-18.32, Z:0.20 [[ 9.98610541e-01 5.26971301e-02 0.00000000e+00 3.65055377e+02] [-5.26971301e-02 9.98610541e-01 0.00000000e+00 -1.83179127e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98422106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.960371743 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:365.11, Y:-18.32, Z:0.20 [[ 9.99072992e-01 4.30483087e-02 0.00000000e+00 3.65114913e+02] [-4.30483087e-02 9.99072992e-01 0.00000000e+00 -1.83243751e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98970846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.020371743 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:365.17, Y:-18.33, Z:0.20 [[ 9.99500087e-01 3.16160693e-02 0.00000000e+00 3.65174449e+02] [-3.16160693e-02 9.99500087e-01 0.00000000e+00 -1.83328581e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00326187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.080371743 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:365.23, Y:-18.34, Z:0.20 [[ 9.99784653e-01 2.07520544e-02 0.00000000e+00 3.65234508e+02] [-2.07520544e-02 9.99784653e-01 0.00000000e+00 -1.83415345e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00666812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.140371743 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:365.29, Y:-18.35, Z:0.20 [[ 9.99937164e-01 1.12101936e-02 0.00000000e+00 3.65294032e+02] [-1.12101936e-02 9.99937164e-01 0.00000000e+00 -1.83492892e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99183076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.200371743 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:365.35, Y:-18.36, Z:0.19 [[ 9.99946531e-01 1.03409000e-02 0.00000000e+00 3.65354151e+02] [-1.03409000e-02 9.99946531e-01 0.00000000e+00 -1.83632871e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92837885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.260371743 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:365.41, Y:-18.36, Z:0.20 [[ 9.99979095e-01 6.46598595e-03 0.00000000e+00 3.65414502e+02] [-6.46598595e-03 9.99979095e-01 0.00000000e+00 -1.83592173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00799230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.320371743 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:365.47, Y:-18.36, Z:0.20 [[ 9.99930707e-01 1.17720195e-02 0.00000000e+00 3.65474493e+02] [-1.17720195e-02 9.99930707e-01 0.00000000e+00 -1.83614944e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02017491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.380371743 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:365.53, Y:-18.36, Z:0.20 [[ 9.99790041e-01 2.04908267e-02 0.00000000e+00 3.65534971e+02] [-2.04908267e-02 9.99790041e-01 0.00000000e+00 -1.83612586e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03158807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.440371743 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:365.59, Y:-18.36, Z:0.20 [[ 9.99599099e-01 2.83132613e-02 0.00000000e+00 3.65594937e+02] [-2.83132613e-02 9.99599099e-01 0.00000000e+00 -1.83606047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02357244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.500371743 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:365.66, Y:-18.36, Z:0.20 [[ 9.99515908e-01 3.11118778e-02 0.00000000e+00 3.65655039e+02] [-3.11118778e-02 9.99515908e-01 0.00000000e+00 -1.83595534e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02790672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.560371743 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:365.71, Y:-18.36, Z:0.20 [[ 9.99591518e-01 2.85796681e-02 0.00000000e+00 3.65714901e+02] [-2.85796681e-02 9.99591518e-01 0.00000000e+00 -1.83584055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01795528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.620371743 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:365.77, Y:-18.36, Z:0.20 [[ 9.99743303e-01 2.26567628e-02 0.00000000e+00 3.65774335e+02] [-2.26567628e-02 9.99743303e-01 0.00000000e+00 -1.83580919e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01220331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.680371743 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:365.83, Y:-18.36, Z:0.20 [[ 9.99846067e-01 1.75454258e-02 0.00000000e+00 3.65833695e+02] [-1.75454258e-02 9.99846067e-01 0.00000000e+00 -1.83581150e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01555272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.740371743 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:365.89, Y:-18.36, Z:0.20 [[ 9.99877091e-01 1.56781042e-02 0.00000000e+00 3.65893084e+02] [-1.56781042e-02 9.99877091e-01 0.00000000e+00 -1.83573939e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02719078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.800371743 meters Centerline goodness : 0.998421 with order 1 Centerline is valid? [True, True] Translation: X:365.95, Y:-18.36, Z:0.20 [[ 9.99844696e-01 1.76233661e-02 0.00000000e+00 3.65953101e+02] [-1.76233661e-02 9.99844696e-01 0.00000000e+00 -1.83562575e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01723794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86037174300003 meters Centerline goodness : 0.998259 with order 1 Centerline is valid? [True, True] Translation: X:366.01, Y:-18.36, Z:0.20 [[ 9.99772729e-01 2.13187935e-02 0.00000000e+00 3.66012988e+02] [-2.13187935e-02 9.99772729e-01 0.00000000e+00 -1.83556831e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01282786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.920371743 meters Centerline goodness : 0.998746 with order 1 Centerline is valid? [True, True] Translation: X:366.07, Y:-18.36, Z:0.20 [[ 9.99744993e-01 2.25820376e-02 0.00000000e+00 3.66072343e+02] [-2.25820376e-02 9.99744993e-01 0.00000000e+00 -1.83570984e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01415214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.980371743 meters Centerline goodness : 0.997848 with order 1 Centerline is valid? [True, True] Translation: X:366.13, Y:-18.36, Z:0.20 [[ 9.99752008e-01 2.22693243e-02 0.00000000e+00 3.66131599e+02] [-2.22693243e-02 9.99752008e-01 0.00000000e+00 -1.83566754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00037518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.040371743 meters Centerline goodness : 0.997994 with order 1 Centerline is valid? [True, True] Translation: X:366.19, Y:-18.36, Z:0.20 [[ 9.99822193e-01 1.88568702e-02 0.00000000e+00 3.66191545e+02] [-1.88568702e-02 9.99822193e-01 0.00000000e+00 -1.83596784e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00565224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.100371743 meters Centerline goodness : 0.998459 with order 1 Centerline is valid? [True, True] Translation: X:366.25, Y:-18.36, Z:0.20 [[ 9.99842712e-01 1.77355780e-02 0.00000000e+00 3.66250526e+02] [-1.77355780e-02 9.99842712e-01 0.00000000e+00 -1.83630658e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99949926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.160371743 meters Centerline goodness : 0.997940 with order 1 Centerline is valid? [True, True] Translation: X:366.31, Y:-18.37, Z:0.20 [[ 9.99914718e-01 1.30597199e-02 0.00000000e+00 3.66310031e+02] [-1.30597199e-02 9.99914718e-01 0.00000000e+00 -1.83659037e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00389740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.220371743 meters Centerline goodness : 0.998375 with order 1 Centerline is valid? [True, True] Translation: X:366.37, Y:-18.37, Z:0.20 [[ 9.99970777e-01 7.64488700e-03 0.00000000e+00 3.66369606e+02] [-7.64488700e-03 9.99970777e-01 0.00000000e+00 -1.83701931e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01350405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.280371743 meters Centerline goodness : 0.998580 with order 1 Centerline is valid? [True, True] Translation: X:366.43, Y:-18.37, Z:0.20 [[ 9.99996804e-01 2.52822728e-03 0.00000000e+00 3.66430095e+02] [-2.52822728e-03 9.99996804e-01 0.00000000e+00 -1.83739635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01493406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.340371743 meters Centerline goodness : 0.998829 with order 1 Centerline is valid? [True, True] Translation: X:366.49, Y:-18.38, Z:0.20 [[ 9.99999811e-01 -6.15207083e-04 0.00000000e+00 3.66490398e+02] [ 6.15207083e-04 9.99999811e-01 0.00000000e+00 -1.83757938e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02661360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.400371743 meters Centerline goodness : 0.998522 with order 1 Centerline is valid? [True, True] Translation: X:366.55, Y:-18.38, Z:0.20 [[ 9.99996573e-01 -2.61812769e-03 0.00000000e+00 3.66550812e+02] [ 2.61812769e-03 9.99996573e-01 0.00000000e+00 -1.83776857e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04316993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.460371743 meters Centerline goodness : 0.998188 with order 1 Centerline is valid? [True, True] Translation: X:366.61, Y:-18.38, Z:0.20 [[ 9.99992827e-01 -3.78748660e-03 0.00000000e+00 3.66611432e+02] [ 3.78748660e-03 9.99992827e-01 0.00000000e+00 -1.83778882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02616503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.520371743 meters Centerline goodness : 0.997747 with order 1 Centerline is valid? [True, True] Translation: X:366.67, Y:-18.38, Z:0.20 [[ 9.99986509e-01 -5.19435150e-03 0.00000000e+00 3.66672430e+02] [ 5.19435150e-03 9.99986509e-01 0.00000000e+00 -1.83783649e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03308466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.580371743 meters Centerline goodness : 0.998142 with order 1 Centerline is valid? [True, True] Translation: X:366.73, Y:-18.38, Z:0.20 [[ 9.99978741e-01 -6.52060992e-03 0.00000000e+00 3.66732794e+02] [ 6.52060992e-03 9.99978741e-01 0.00000000e+00 -1.83786952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04034491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.640371743 meters Centerline goodness : 0.997809 with order 1 Centerline is valid? [True, True] Translation: X:366.79, Y:-18.38, Z:0.20 [[ 9.99977364e-01 -6.72835840e-03 0.00000000e+00 3.66793768e+02] [ 6.72835840e-03 9.99977364e-01 0.00000000e+00 -1.83782049e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03183031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.700371743 meters Centerline goodness : 0.997618 with order 1 Centerline is valid? [True, True] Translation: X:366.86, Y:-18.38, Z:0.20 [[ 9.99941665e-01 -1.08012557e-02 0.00000000e+00 3.66855118e+02] [ 1.08012557e-02 9.99941665e-01 0.00000000e+00 -1.83789229e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04263173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.760371743 meters Centerline goodness : 0.996911 with order 1 Centerline is valid? [True, True] Translation: X:366.92, Y:-18.38, Z:0.20 [[ 9.99882387e-01 -1.53366465e-02 0.00000000e+00 3.66915210e+02] [ 1.53366465e-02 9.99882387e-01 0.00000000e+00 -1.83802470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01584048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.820371743 meters Centerline goodness : 0.996899 with order 1 Centerline is valid? [True, True] Translation: X:366.98, Y:-18.38, Z:0.20 [[ 9.99836043e-01 -1.81076424e-02 0.00000000e+00 3.66976174e+02] [ 1.81076424e-02 9.99836043e-01 0.00000000e+00 -1.83814114e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02712415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.880371743 meters Centerline goodness : 0.996170 with order 1 Centerline is valid? [True, True] Translation: X:367.04, Y:-18.38, Z:0.20 [[ 9.99822802e-01 -1.88245664e-02 0.00000000e+00 3.67038130e+02] [ 1.88245664e-02 9.99822802e-01 0.00000000e+00 -1.83782122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04886731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.940371743 meters Centerline goodness : 0.995408 with order 1 Centerline is valid? [True, True] Translation: X:367.10, Y:-18.39, Z:0.20 [[ 9.99922021e-01 -1.24880951e-02 0.00000000e+00 3.67098498e+02] [ 1.24880951e-02 9.99922021e-01 0.00000000e+00 -1.83855441e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00674917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.000371743 meters Centerline goodness : 0.994533 with order 1 Centerline is valid? [True, True] Translation: X:367.16, Y:-18.37, Z:0.20 [[ 9.99929664e-01 -1.18603069e-02 0.00000000e+00 3.67160141e+02] [ 1.18603069e-02 9.99929664e-01 0.00000000e+00 -1.83742885e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04477575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.060371743 meters Centerline goodness : 0.993731 with order 1 Centerline is valid? [True, True] Translation: X:367.22, Y:-18.37, Z:0.20 [[ 9.99984389e-01 -5.58769318e-03 0.00000000e+00 3.67220400e+02] [ 5.58769318e-03 9.99984389e-01 0.00000000e+00 -1.83708032e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03224307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.120371743 meters Centerline goodness : 0.992523 with order 1 Centerline is valid? [True, True] Translation: X:367.28, Y:-18.38, Z:0.20 [[ 9.99966211e-01 8.22049678e-03 0.00000000e+00 3.67280843e+02] [-8.22049678e-03 9.99966211e-01 0.00000000e+00 -1.83772520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95657311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.180371743 meters Centerline goodness : 0.992241 with order 1 Centerline is valid? [True, True] Translation: X:367.34, Y:-18.37, Z:0.20 [[ 9.99860089e-01 1.67272960e-02 0.00000000e+00 3.67341098e+02] [-1.67272960e-02 9.99860089e-01 0.00000000e+00 -1.83724671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97060811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.240371743 meters Centerline goodness : 0.991242 with order 1 Centerline is valid? [True, True] Translation: X:367.40, Y:-18.37, Z:0.20 [[ 9.99756387e-01 2.20718520e-02 0.00000000e+00 3.67399739e+02] [-2.20718520e-02 9.99756387e-01 0.00000000e+00 -1.83668226e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98655626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.300371743 meters Centerline goodness : 0.990770 with order 1 Centerline is valid? [True, True] Translation: X:367.46, Y:-18.36, Z:0.20 [[ 9.99591776e-01 2.85706254e-02 0.00000000e+00 3.67458389e+02] [-2.85706254e-02 9.99591776e-01 0.00000000e+00 -1.83640913e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96622634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36037174300003 meters Centerline goodness : 0.988917 with order 1 Centerline is valid? [True, True] Translation: X:367.52, Y:-18.37, Z:0.19 [[ 9.99475140e-01 3.23951176e-02 0.00000000e+00 3.67516409e+02] [-3.23951176e-02 9.99475140e-01 0.00000000e+00 -1.83656698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93512302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.420371743 meters Centerline goodness : 0.986909 with order 1 Centerline is valid? [True, True] Translation: X:367.58, Y:-18.36, Z:0.20 [[ 9.99590050e-01 2.86309471e-02 0.00000000e+00 3.67575588e+02] [-2.86309471e-02 9.99590050e-01 0.00000000e+00 -1.83618935e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98795306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.480371743 meters Centerline goodness : 0.988341 with order 1 Centerline is valid? [True, True] Translation: X:367.63, Y:-18.35, Z:0.20 [[ 9.99865218e-01 1.64178310e-02 0.00000000e+00 3.67634287e+02] [-1.64178310e-02 9.99865218e-01 0.00000000e+00 -1.83487333e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03963372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.540371743 meters Centerline goodness : 0.987531 with order 1 Centerline is valid? [True, True] Translation: X:367.69, Y:-18.35, Z:0.20 [[ 9.99916005e-01 1.29607978e-02 0.00000000e+00 3.67693591e+02] [-1.29607978e-02 9.99916005e-01 0.00000000e+00 -1.83492459e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02821995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.600371743 meters Centerline goodness : 0.985089 with order 1 Centerline is valid? [True, True] Translation: X:367.75, Y:-18.35, Z:0.21 [[ 9.99962243e-01 8.68981903e-03 0.00000000e+00 3.67752223e+02] [-8.68981903e-03 9.99962243e-01 0.00000000e+00 -1.83498056e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05045284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.660371743 meters Centerline goodness : 0.985855 with order 1 Centerline is valid? [True, True] Translation: X:367.81, Y:-18.35, Z:0.20 [[ 9.99965204e-01 8.34211638e-03 0.00000000e+00 3.67810755e+02] [-8.34211638e-03 9.99965204e-01 0.00000000e+00 -1.83511863e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04025969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.720371743 meters Centerline goodness : 0.982448 with order 1 Centerline is valid? [True, True] Translation: X:367.87, Y:-18.37, Z:0.19 [[ 9.99668735e-01 2.57375357e-02 0.00000000e+00 3.67869710e+02] [-2.57375357e-02 9.99668735e-01 0.00000000e+00 -1.83671724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89988934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.780371743 meters Centerline goodness : 0.979519 with order 1 Centerline is valid? [True, True] Translation: X:367.93, Y:-18.36, Z:0.20 [[ 9.99551224e-01 2.99558248e-02 0.00000000e+00 3.67928298e+02] [-2.99558248e-02 9.99551224e-01 0.00000000e+00 -1.83638774e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03327845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.840371743 meters Centerline goodness : 0.978312 with order 1 Centerline is valid? [True, True] Translation: X:367.99, Y:-18.36, Z:0.20 [[ 9.99518961e-01 3.10136616e-02 0.00000000e+00 3.67987305e+02] [-3.10136616e-02 9.99518961e-01 0.00000000e+00 -1.83635565e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00608237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.900371743 meters Centerline goodness : 0.977817 with order 1 Centerline is valid? [True, True] Translation: X:368.05, Y:-18.36, Z:0.20 [[ 9.99567391e-01 2.94114025e-02 0.00000000e+00 3.68046197e+02] [-2.94114025e-02 9.99567391e-01 0.00000000e+00 -1.83616923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03439245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.960371743 meters Centerline goodness : 0.977441 with order 1 Centerline is valid? [True, True] Translation: X:368.10, Y:-18.36, Z:0.20 [[ 9.99731056e-01 2.31908586e-02 0.00000000e+00 3.68104104e+02] [-2.31908586e-02 9.99731056e-01 0.00000000e+00 -1.83610689e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04576090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.020371743 meters Centerline goodness : 0.978587 with order 1 Centerline is valid? [True, True] Translation: X:368.16, Y:-18.36, Z:0.20 [[ 9.99791612e-01 2.04140343e-02 0.00000000e+00 3.68161501e+02] [-2.04140343e-02 9.99791612e-01 0.00000000e+00 -1.83646477e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01278988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.080371743 meters Centerline goodness : 0.982355 with order 1 Centerline is valid? [True, True] Translation: X:368.22, Y:-18.35, Z:0.20 [[ 9.99999816e-01 -6.06643407e-04 0.00000000e+00 3.68221145e+02] [ 6.06643407e-04 9.99999816e-01 0.00000000e+00 -1.83486709e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04197752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.140371743 meters Centerline goodness : 0.977647 with order 1 Centerline is valid? [True, True] Translation: X:368.28, Y:-18.37, Z:0.19 [[ 9.99982984e-01 5.83363038e-03 0.00000000e+00 3.68280954e+02] [-5.83363038e-03 9.99982984e-01 0.00000000e+00 -1.83684957e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88880222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.200371743 meters Centerline goodness : 0.981495 with order 1 Centerline is valid? [True, True] Translation: X:368.34, Y:-18.35, Z:0.20 [[ 9.99841833e-01 -1.77850623e-02 0.00000000e+00 3.68341141e+02] [ 1.77850623e-02 9.99841833e-01 0.00000000e+00 -1.83489475e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03402625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.260371743 meters Centerline goodness : 0.975932 with order 1 Centerline is valid? [True, True] Translation: X:368.40, Y:-18.36, Z:0.21 [[ 9.99910698e-01 -1.33639681e-02 0.00000000e+00 3.68403244e+02] [ 1.33639681e-02 9.99910698e-01 0.00000000e+00 -1.83598043e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07967180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.320371743 meters Centerline goodness : 0.980886 with order 1 Centerline is valid? [True, True] Translation: X:368.47, Y:-18.35, Z:0.20 [[ 9.99458356e-01 -3.29088699e-02 0.00000000e+00 3.68465785e+02] [ 3.29088699e-02 9.99458356e-01 0.00000000e+00 -1.83485952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01403677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.380371743 meters Centerline goodness : 0.974972 with order 1 Centerline is valid? [True, True] Translation: X:368.53, Y:-18.36, Z:0.20 [[ 9.99775182e-01 -2.12034244e-02 0.00000000e+00 3.68526646e+02] [ 2.12034244e-02 9.99775182e-01 0.00000000e+00 -1.83575595e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02555026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.440371743 meters Centerline goodness : 0.974028 with order 1 Centerline is valid? [True, True] Translation: X:368.59, Y:-18.36, Z:0.21 [[ 9.99780888e-01 -2.09326556e-02 0.00000000e+00 3.68589350e+02] [ 2.09326556e-02 9.99780888e-01 0.00000000e+00 -1.83569176e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05237853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.500371743 meters Centerline goodness : 0.974853 with order 1 Centerline is valid? [True, True] Translation: X:368.65, Y:-18.35, Z:0.21 [[ 9.99725881e-01 -2.34128921e-02 0.00000000e+00 3.68651910e+02] [ 2.34128921e-02 9.99725881e-01 0.00000000e+00 -1.83454757e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05256121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.560371743 meters Centerline goodness : 0.971688 with order 1 Centerline is valid? [True, True] Translation: X:368.71, Y:-18.36, Z:0.20 [[ 9.99954805e-01 -9.50726136e-03 0.00000000e+00 3.68713850e+02] [ 9.50726136e-03 9.99954805e-01 0.00000000e+00 -1.83580885e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04912167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.620371743 meters Centerline goodness : 0.981204 with order 1 Centerline is valid? [True, True] Translation: X:368.78, Y:-18.34, Z:0.20 [[ 9.99752592e-01 -2.22430924e-02 0.00000000e+00 3.68776392e+02] [ 2.22430924e-02 9.99752592e-01 0.00000000e+00 -1.83434493e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00281972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.680371743 meters Centerline goodness : 0.981695 with order 1 Centerline is valid? [True, True] Translation: X:368.84, Y:-18.34, Z:0.20 [[ 9.99795066e-01 -2.02441678e-02 0.00000000e+00 3.68838279e+02] [ 2.02441678e-02 9.99795066e-01 0.00000000e+00 -1.83438215e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01005280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.740371743 meters Centerline goodness : 0.972663 with order 1 Centerline is valid? [True, True] Translation: X:368.90, Y:-18.36, Z:0.20 [[ 9.99992098e-01 -3.97552963e-03 0.00000000e+00 3.68899831e+02] [ 3.97552963e-03 9.99992098e-01 0.00000000e+00 -1.83597443e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01954238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.800371743 meters Centerline goodness : 0.974812 with order 1 Centerline is valid? [True, True] Translation: X:368.96, Y:-18.36, Z:0.21 [[ 9.99950416e-01 -9.95817551e-03 0.00000000e+00 3.68961580e+02] [ 9.95817551e-03 9.99950416e-01 0.00000000e+00 -1.83565078e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05876235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86037174300003 meters Centerline goodness : 0.980663 with order 1 Centerline is valid? [True, True] Translation: X:369.02, Y:-18.35, Z:0.20 [[ 9.99719517e-01 -2.36830540e-02 0.00000000e+00 3.69023915e+02] [ 2.36830540e-02 9.99719517e-01 0.00000000e+00 -1.83477923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00750727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.920371743 meters Centerline goodness : 0.981985 with order 1 Centerline is valid? [True, True] Translation: X:369.08, Y:-18.35, Z:0.20 [[ 9.99676163e-01 -2.54473817e-02 0.00000000e+00 3.69084876e+02] [ 2.54473817e-02 9.99676163e-01 0.00000000e+00 -1.83502055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00324745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.980371743 meters Centerline goodness : 0.982706 with order 1 Centerline is valid? [True, True] Translation: X:369.15, Y:-18.35, Z:0.20 [[ 9.99635268e-01 -2.70061408e-02 0.00000000e+00 3.69147127e+02] [ 2.70061408e-02 9.99635268e-01 0.00000000e+00 -1.83532228e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99267911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.040371743 meters Centerline goodness : 0.983125 with order 1 Centerline is valid? [True, True] Translation: X:369.21, Y:-18.36, Z:0.20 [[ 9.99623653e-01 -2.74326880e-02 0.00000000e+00 3.69208360e+02] [ 2.74326880e-02 9.99623653e-01 0.00000000e+00 -1.83551369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98247255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.100371743 meters Centerline goodness : 0.981606 with order 1 Centerline is valid? [True, True] Translation: X:369.27, Y:-18.36, Z:0.20 [[ 9.99676754e-01 -2.54241484e-02 0.00000000e+00 3.69270525e+02] [ 2.54241484e-02 9.99676754e-01 0.00000000e+00 -1.83579320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99060060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.160371743 meters Centerline goodness : 0.983205 with order 1 Centerline is valid? [True, True] Translation: X:369.33, Y:-18.36, Z:0.20 [[ 9.99740167e-01 -2.27947119e-02 0.00000000e+00 3.69331412e+02] [ 2.27947119e-02 9.99740167e-01 0.00000000e+00 -1.83604288e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99456002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.220371743 meters Centerline goodness : 0.982078 with order 1 Centerline is valid? [True, True] Translation: X:369.39, Y:-18.36, Z:0.20 [[ 9.99820023e-01 -1.89715870e-02 0.00000000e+00 3.69393271e+02] [ 1.89715870e-02 9.99820023e-01 0.00000000e+00 -1.83620462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01919630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.280371743 meters Centerline goodness : 0.977698 with order 1 Centerline is valid? [True, True] Translation: X:369.46, Y:-18.36, Z:0.21 [[ 9.99933821e-01 -1.15045191e-02 0.00000000e+00 3.69455080e+02] [ 1.15045191e-02 9.99933821e-01 0.00000000e+00 -1.83648648e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06622796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.340371743 meters Centerline goodness : 0.983094 with order 1 Centerline is valid? [True, True] Translation: X:369.52, Y:-18.37, Z:0.20 [[ 9.99944876e-01 -1.04997902e-02 0.00000000e+00 3.69515319e+02] [ 1.04997902e-02 9.99944876e-01 0.00000000e+00 -1.83712789e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02753747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.400371743 meters Centerline goodness : 0.983729 with order 1 Centerline is valid? [True, True] Translation: X:369.58, Y:-18.38, Z:0.20 [[ 9.99960833e-01 -8.85053635e-03 0.00000000e+00 3.69577677e+02] [ 8.85053635e-03 9.99960833e-01 0.00000000e+00 -1.83757210e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02663771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.460371743 meters Centerline goodness : 0.982275 with order 1 Centerline is valid? [True, True] Translation: X:369.64, Y:-18.38, Z:0.20 [[ 9.99988572e-01 -4.78086698e-03 0.00000000e+00 3.69639639e+02] [ 4.78086698e-03 9.99988572e-01 0.00000000e+00 -1.83823367e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04624544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.520371743 meters Centerline goodness : 0.983464 with order 1 Centerline is valid? [True, True] Translation: X:369.70, Y:-18.39, Z:0.20 [[ 9.99997301e-01 -2.32319966e-03 0.00000000e+00 3.69701323e+02] [ 2.32319966e-03 9.99997301e-01 0.00000000e+00 -1.83864263e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04265057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.580371743 meters Centerline goodness : 0.982082 with order 1 Centerline is valid? [True, True] Translation: X:369.76, Y:-18.39, Z:0.20 [[ 9.99979287e-01 6.43632572e-03 0.00000000e+00 3.69761348e+02] [-6.43632572e-03 9.99979287e-01 0.00000000e+00 -1.83923588e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03049316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.640371743 meters Centerline goodness : 0.981538 with order 1 Centerline is valid? [True, True] Translation: X:369.82, Y:-18.40, Z:0.20 [[ 9.99946676e-01 1.03269492e-02 0.00000000e+00 3.69820926e+02] [-1.03269492e-02 9.99946676e-01 0.00000000e+00 -1.83983045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02619950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.700371743 meters Centerline goodness : 0.980685 with order 1 Centerline is valid? [True, True] Translation: X:369.88, Y:-18.41, Z:0.20 [[ 9.99872386e-01 1.59753342e-02 0.00000000e+00 3.69879513e+02] [-1.59753342e-02 9.99872386e-01 0.00000000e+00 -1.84065006e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04207077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.760371743 meters Centerline goodness : 0.980843 with order 1 Centerline is valid? [True, True] Translation: X:369.94, Y:-18.41, Z:0.20 [[ 9.99771867e-01 2.13591601e-02 0.00000000e+00 3.69936251e+02] [-2.13591601e-02 9.99771867e-01 0.00000000e+00 -1.84146988e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03861349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.820371743 meters Centerline goodness : 0.980320 with order 1 Centerline is valid? [True, True] Translation: X:369.99, Y:-18.42, Z:0.20 [[ 9.99674082e-01 2.55290139e-02 0.00000000e+00 3.69993802e+02] [-2.55290139e-02 9.99674082e-01 0.00000000e+00 -1.84242871e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03786791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.880371743 meters Centerline goodness : 0.979977 with order 1 Centerline is valid? [True, True] Translation: X:370.05, Y:-18.43, Z:0.21 [[ 9.99619389e-01 2.75876392e-02 0.00000000e+00 3.70051961e+02] [-2.75876392e-02 9.99619389e-01 0.00000000e+00 -1.84341550e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05831740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.940371743 meters Centerline goodness : 0.972002 with order 1 Centerline is valid? [True, True] Translation: X:370.11, Y:-18.46, Z:0.20 [[ 9.98940615e-01 4.60179082e-02 0.00000000e+00 3.70109293e+02] [-4.60179082e-02 9.98940615e-01 0.00000000e+00 -1.84568743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00762831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.000371743 meters Centerline goodness : 0.974375 with order 1 Centerline is valid? [True, True] Translation: X:370.17, Y:-18.47, Z:0.20 [[ 9.99073599e-01 4.30342216e-02 0.00000000e+00 3.70167205e+02] [-4.30342216e-02 9.99073599e-01 0.00000000e+00 -1.84679636e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98820842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.060371743 meters Centerline goodness : 0.974831 with order 1 Centerline is valid? [True, True] Translation: X:370.23, Y:-18.48, Z:0.20 [[ 9.99317056e-01 3.69516118e-02 0.00000000e+00 3.70225130e+02] [-3.69516118e-02 9.99317056e-01 0.00000000e+00 -1.84754712e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99421956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.120371743 meters Centerline goodness : 0.976439 with order 1 Centerline is valid? [True, True] Translation: X:370.28, Y:-18.48, Z:0.20 [[ 9.99492831e-01 3.18446322e-02 0.00000000e+00 3.70283633e+02] [-3.18446322e-02 9.99492831e-01 0.00000000e+00 -1.84815504e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97137816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.180371743 meters Centerline goodness : 0.977819 with order 1 Centerline is valid? [True, True] Translation: X:370.34, Y:-18.49, Z:0.19 [[ 9.99855421e-01 1.70040105e-02 0.00000000e+00 3.70342636e+02] [-1.70040105e-02 9.99855421e-01 0.00000000e+00 -1.84902777e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94672014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.240371743 meters Centerline goodness : 0.982265 with order 1 Centerline is valid? [True, True] Translation: X:370.40, Y:-18.48, Z:0.21 [[ 9.99980546e-01 -6.23753841e-03 0.00000000e+00 3.70402032e+02] [ 6.23753841e-03 9.99980546e-01 0.00000000e+00 -1.84777146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08221734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.300371743 meters Centerline goodness : 0.982549 with order 1 Centerline is valid? [True, True] Translation: X:370.46, Y:-18.48, Z:0.21 [[ 9.99922480e-01 -1.24512742e-02 0.00000000e+00 3.70463192e+02] [ 1.24512742e-02 9.99922480e-01 0.00000000e+00 -1.84806422e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10663521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36037174300003 meters Centerline goodness : 0.982632 with order 1 Centerline is valid? [True, True] Translation: X:370.53, Y:-18.48, Z:0.21 [[ 9.99666681e-01 -2.58171878e-02 0.00000000e+00 3.70525166e+02] [ 2.58171878e-02 9.99666681e-01 0.00000000e+00 -1.84825770e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12990079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.420371743 meters Centerline goodness : 0.982752 with order 1 Centerline is valid? [True, True] Translation: X:370.59, Y:-18.48, Z:0.21 [[ 9.99389308e-01 -3.49429690e-02 0.00000000e+00 3.70586130e+02] [ 3.49429690e-02 9.99389308e-01 0.00000000e+00 -1.84831466e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12487058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.480371743 meters Centerline goodness : 0.983634 with order 1 Centerline is valid? [True, True] Translation: X:370.65, Y:-18.48, Z:0.21 [[ 9.99203795e-01 -3.98970672e-02 0.00000000e+00 3.70647878e+02] [ 3.98970672e-02 9.99203795e-01 0.00000000e+00 -1.84849728e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11986565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.540371743 meters Centerline goodness : 0.982216 with order 1 Centerline is valid? [True, True] Translation: X:370.71, Y:-18.49, Z:0.21 [[ 9.98940800e-01 -4.60139007e-02 0.00000000e+00 3.70710217e+02] [ 4.60139007e-02 9.98940800e-01 0.00000000e+00 -1.84850408e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12343132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.600371743 meters Centerline goodness : 0.977951 with order 1 Centerline is valid? [True, True] Translation: X:370.77, Y:-18.49, Z:0.21 [[ 9.99197743e-01 -4.00483546e-02 0.00000000e+00 3.70771921e+02] [ 4.00483546e-02 9.99197743e-01 0.00000000e+00 -1.84928872e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13108765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.660371743 meters Centerline goodness : 0.980654 with order 1 Centerline is valid? [True, True] Translation: X:370.83, Y:-18.48, Z:0.21 [[ 9.98705106e-01 -5.08734851e-02 0.00000000e+00 3.70833805e+02] [ 5.08734851e-02 9.98705106e-01 0.00000000e+00 -1.84818265e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11689095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.720371743 meters Centerline goodness : 0.973188 with order 1 Centerline is valid? [True, True] Translation: X:370.90, Y:-18.49, Z:0.21 [[ 9.99290837e-01 -3.76539996e-02 0.00000000e+00 3.70895145e+02] [ 3.76539996e-02 9.99290837e-01 0.00000000e+00 -1.84947996e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13671019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.780371743 meters Centerline goodness : 0.980060 with order 1 Centerline is valid? [True, True] Translation: X:370.96, Y:-18.48, Z:0.21 [[ 9.98626405e-01 -5.23956320e-02 0.00000000e+00 3.70958644e+02] [ 5.23956320e-02 9.98626405e-01 0.00000000e+00 -1.84787235e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11899050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.840371743 meters Centerline goodness : 0.974600 with order 1 Centerline is valid? [True, True] Translation: X:371.02, Y:-18.48, Z:0.22 [[ 9.98824998e-01 -4.84626017e-02 0.00000000e+00 3.71020293e+02] [ 4.84626017e-02 9.98824998e-01 0.00000000e+00 -1.84771422e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15183205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.900371743 meters Centerline goodness : 0.974409 with order 1 Centerline is valid? [True, True] Translation: X:371.08, Y:-18.48, Z:0.21 [[ 9.98698530e-01 -5.10024044e-02 0.00000000e+00 3.71082321e+02] [ 5.10024044e-02 9.98698530e-01 0.00000000e+00 -1.84754402e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13380765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.960371743 meters Centerline goodness : 0.972274 with order 1 Centerline is valid? [True, True] Translation: X:371.14, Y:-18.49, Z:0.22 [[ 9.99161734e-01 -4.09368835e-02 0.00000000e+00 3.71143760e+02] [ 4.09368835e-02 9.99161734e-01 0.00000000e+00 -1.84894330e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17048737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.020371743 meters Centerline goodness : 0.972040 with order 1 Centerline is valid? [True, True] Translation: X:371.21, Y:-18.49, Z:0.22 [[ 9.99146289e-01 -4.13121398e-02 0.00000000e+00 3.71205845e+02] [ 4.13121398e-02 9.99146289e-01 0.00000000e+00 -1.84885350e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17876516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.080371743 meters Centerline goodness : 0.980906 with order 1 Centerline is valid? [True, True] Translation: X:371.27, Y:-18.47, Z:0.21 [[ 9.98629962e-01 -5.23278031e-02 0.00000000e+00 3.71269177e+02] [ 5.23278031e-02 9.98629962e-01 0.00000000e+00 -1.84732775e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11974153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.140371743 meters Centerline goodness : 0.971151 with order 1 Centerline is valid? [True, True] Translation: X:371.33, Y:-18.48, Z:0.22 [[ 9.99495020e-01 -3.17758603e-02 0.00000000e+00 3.71329339e+02] [ 3.17758603e-02 9.99495020e-01 0.00000000e+00 -1.84830298e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20403214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.200371743 meters Centerline goodness : 0.971083 with order 1 Centerline is valid? [True, True] Translation: X:371.39, Y:-18.48, Z:0.22 [[ 9.99758541e-01 -2.19740910e-02 0.00000000e+00 3.71391448e+02] [ 2.19740910e-02 9.99758541e-01 0.00000000e+00 -1.84808831e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17987387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.260371743 meters Centerline goodness : 0.971596 with order 1 Centerline is valid? [True, True] Translation: X:371.45, Y:-18.48, Z:0.22 [[ 9.99894314e-01 -1.45382742e-02 0.00000000e+00 3.71454328e+02] [ 1.45382742e-02 9.99894314e-01 0.00000000e+00 -1.84773919e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15766759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.320371743 meters Centerline goodness : 0.972015 with order 1 Centerline is valid? [True, True] Translation: X:371.52, Y:-18.47, Z:0.22 [[ 9.99978863e-01 -6.50181761e-03 0.00000000e+00 3.71517271e+02] [ 6.50181761e-03 9.99978863e-01 0.00000000e+00 -1.84733568e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18766202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.380371743 meters Centerline goodness : 0.974840 with order 1 Centerline is valid? [True, True] Translation: X:371.58, Y:-18.47, Z:0.22 [[ 9.99994261e-01 -3.38789989e-03 0.00000000e+00 3.71579855e+02] [ 3.38789989e-03 9.99994261e-01 0.00000000e+00 -1.84680546e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19069619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.440371743 meters Centerline goodness : 0.977476 with order 1 Centerline is valid? [True, True] Translation: X:371.64, Y:-18.45, Z:0.22 [[ 9.99962726e-01 -8.63405638e-03 0.00000000e+00 3.71640901e+02] [ 8.63405638e-03 9.99962726e-01 0.00000000e+00 -1.84545662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20144873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.500371743 meters Centerline goodness : 0.977200 with order 1 Centerline is valid? [True, True] Translation: X:371.70, Y:-18.45, Z:0.22 [[ 9.99994627e-01 -3.27815314e-03 0.00000000e+00 3.71702643e+02] [ 3.27815314e-03 9.99994627e-01 0.00000000e+00 -1.84548295e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21613147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.560371743 meters Centerline goodness : 0.977039 with order 1 Centerline is valid? [True, True] Translation: X:371.76, Y:-18.45, Z:0.22 [[ 9.99998045e-01 1.97756039e-03 0.00000000e+00 3.71763398e+02] [-1.97756039e-03 9.99998045e-01 0.00000000e+00 -1.84538897e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21352857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.620371743 meters Centerline goodness : 0.976140 with order 1 Centerline is valid? [True, True] Translation: X:371.82, Y:-18.47, Z:0.21 [[ 9.99806696e-01 1.96613968e-02 0.00000000e+00 3.71822796e+02] [-1.96613968e-02 9.99806696e-01 0.00000000e+00 -1.84693311e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14632132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.680371743 meters Centerline goodness : 0.976851 with order 1 Centerline is valid? [True, True] Translation: X:371.88, Y:-18.47, Z:0.21 [[ 9.99759126e-01 2.19474245e-02 0.00000000e+00 3.71881362e+02] [-2.19474245e-02 9.99759126e-01 0.00000000e+00 -1.84699207e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14094606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.740371743 meters Centerline goodness : 0.978587 with order 1 Centerline is valid? [True, True] Translation: X:371.94, Y:-18.47, Z:0.21 [[ 9.99772760e-01 2.13173081e-02 0.00000000e+00 3.71940023e+02] [-2.13173081e-02 9.99772760e-01 0.00000000e+00 -1.84698019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14954418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.800371743 meters Centerline goodness : 0.976401 with order 1 Centerline is valid? [True, True] Translation: X:372.00, Y:-18.46, Z:0.22 [[ 9.99906166e-01 1.36988994e-02 0.00000000e+00 3.71998584e+02] [-1.36988994e-02 9.99906166e-01 0.00000000e+00 -1.84616814e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22358921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86037174300003 meters Centerline goodness : 0.978835 with order 1 Centerline is valid? [True, True] Translation: X:372.06, Y:-18.46, Z:0.22 [[ 9.99928470e-01 1.19605195e-02 0.00000000e+00 3.72057527e+02] [-1.19605195e-02 9.99928470e-01 0.00000000e+00 -1.84644179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21664910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.920371743 meters Centerline goodness : 0.977611 with order 1 Centerline is valid? [True, True] Translation: X:372.12, Y:-18.47, Z:0.22 [[ 9.99936710e-01 1.12506152e-02 0.00000000e+00 3.72115900e+02] [-1.12506152e-02 9.99936710e-01 0.00000000e+00 -1.84682096e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22945775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.980371743 meters Centerline goodness : 0.982069 with order 1 Centerline is valid? [True, True] Translation: X:372.17, Y:-18.48, Z:0.22 [[ 9.99898649e-01 1.42369608e-02 0.00000000e+00 3.72172648e+02] [-1.42369608e-02 9.99898649e-01 0.00000000e+00 -1.84793881e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22003282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.040371743 meters Centerline goodness : 0.978168 with order 1 Centerline is valid? [True, True] Translation: X:372.23, Y:-18.48, Z:0.22 [[ 9.99965179e-01 8.34509166e-03 0.00000000e+00 3.72231504e+02] [-8.34509166e-03 9.99965179e-01 0.00000000e+00 -1.84790950e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22004313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.100371743 meters Centerline goodness : 0.977694 with order 1 Centerline is valid? [True, True] Translation: X:372.29, Y:-18.49, Z:0.22 [[ 9.99928819e-01 1.19313165e-02 0.00000000e+00 3.72290135e+02] [-1.19313165e-02 9.99928819e-01 0.00000000e+00 -1.84917450e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21222672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.160371743 meters Centerline goodness : 0.979371 with order 1 Centerline is valid? [True, True] Translation: X:372.35, Y:-18.50, Z:0.22 [[ 9.99919444e-01 1.26927211e-02 0.00000000e+00 3.72348039e+02] [-1.26927211e-02 9.99919444e-01 0.00000000e+00 -1.84977492e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21026195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.220371743 meters Centerline goodness : 0.976950 with order 1 Centerline is valid? [True, True] Translation: X:372.41, Y:-18.50, Z:0.22 [[ 9.99975091e-01 7.05818431e-03 0.00000000e+00 3.72406977e+02] [-7.05818431e-03 9.99975091e-01 0.00000000e+00 -1.84952948e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21331029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.280371743 meters Centerline goodness : 0.978286 with order 1 Centerline is valid? [True, True] Translation: X:372.47, Y:-18.50, Z:0.22 [[ 9.99979506e-01 6.40219497e-03 0.00000000e+00 3.72465885e+02] [-6.40219497e-03 9.99979506e-01 0.00000000e+00 -1.84992383e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21248035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.340371743 meters Centerline goodness : 0.974735 with order 1 Centerline is valid? [True, True] Translation: X:372.52, Y:-18.52, Z:0.22 [[ 9.99881831e-01 1.53728126e-02 0.00000000e+00 3.72523862e+02] [-1.53728126e-02 9.99881831e-01 0.00000000e+00 -1.85181390e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16197042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.400371743 meters Centerline goodness : 0.976800 with order 1 Centerline is valid? [True, True] Translation: X:372.58, Y:-18.52, Z:0.22 [[ 9.99929201e-01 1.18993010e-02 0.00000000e+00 3.72582087e+02] [-1.18993010e-02 9.99929201e-01 0.00000000e+00 -1.85220734e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16994954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.460371743 meters Centerline goodness : 0.975567 with order 1 Centerline is valid? [True, True] Translation: X:372.64, Y:-18.53, Z:0.22 [[ 9.99959774e-01 8.96940298e-03 0.00000000e+00 3.72639435e+02] [-8.96940298e-03 9.99959774e-01 0.00000000e+00 -1.85274464e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17656325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.520371743 meters Centerline goodness : 0.976844 with order 1 Centerline is valid? [True, True] Translation: X:372.70, Y:-18.53, Z:0.22 [[ 9.99993001e-01 3.74144054e-03 0.00000000e+00 3.72698383e+02] [-3.74144054e-03 9.99993001e-01 0.00000000e+00 -1.85321360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18795288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.580371743 meters Centerline goodness : 0.978392 with order 1 Centerline is valid? [True, True] Translation: X:372.76, Y:-18.53, Z:0.22 [[ 9.99959488e-01 -9.00121561e-03 0.00000000e+00 3.72758113e+02] [ 9.00121561e-03 9.99959488e-01 0.00000000e+00 -1.85272413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20519655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.640371743 meters Centerline goodness : 0.976252 with order 1 Centerline is valid? [True, True] Translation: X:372.82, Y:-18.53, Z:0.22 [[ 9.99928348e-01 -1.19707732e-02 0.00000000e+00 3.72820208e+02] [ 1.19707732e-02 9.99928348e-01 0.00000000e+00 -1.85340112e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22203350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.700371743 meters Centerline goodness : 0.977709 with order 1 Centerline is valid? [True, True] Translation: X:372.88, Y:-18.55, Z:0.22 [[ 9.99944372e-01 -1.05476302e-02 0.00000000e+00 3.72881410e+02] [ 1.05476302e-02 9.99944372e-01 0.00000000e+00 -1.85474534e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22390140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.760371743 meters Centerline goodness : 0.977204 with order 1 Centerline is valid? [True, True] Translation: X:372.94, Y:-18.54, Z:0.22 [[ 9.99741969e-01 -2.27155230e-02 0.00000000e+00 3.72943746e+02] [ 2.27155230e-02 9.99741969e-01 0.00000000e+00 -1.85438780e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21816943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.820371743 meters Centerline goodness : 0.975420 with order 1 Centerline is valid? [True, True] Translation: X:373.00, Y:-18.55, Z:0.22 [[ 9.99654387e-01 -2.62888983e-02 0.00000000e+00 3.73004316e+02] [ 2.62888983e-02 9.99654387e-01 0.00000000e+00 -1.85500285e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21590429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.880371743 meters Centerline goodness : 0.976965 with order 1 Centerline is valid? [True, True] Translation: X:373.07, Y:-18.55, Z:0.22 [[ 9.99404978e-01 -3.44918736e-02 0.00000000e+00 3.73066731e+02] [ 3.44918736e-02 9.99404978e-01 0.00000000e+00 -1.85527555e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23166613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.940371743 meters Centerline goodness : 0.976829 with order 1 Centerline is valid? [True, True] Translation: X:373.13, Y:-18.55, Z:0.22 [[ 9.99289627e-01 -3.76861002e-02 0.00000000e+00 3.73127693e+02] [ 3.76861002e-02 9.99289627e-01 0.00000000e+00 -1.85544468e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22568112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.000371743 meters Centerline goodness : 0.978703 with order 1 Centerline is valid? [True, True] Translation: X:373.19, Y:-18.56, Z:0.22 [[ 9.99412432e-01 -3.42752229e-02 0.00000000e+00 3.73189329e+02] [ 3.42752229e-02 9.99412432e-01 0.00000000e+00 -1.85626381e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24484923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.060371743 meters Centerline goodness : 0.977588 with order 1 Centerline is valid? [True, True] Translation: X:373.25, Y:-18.56, Z:0.22 [[ 9.99152236e-01 -4.11680665e-02 0.00000000e+00 3.73252461e+02] [ 4.11680665e-02 9.99152236e-01 0.00000000e+00 -1.85554189e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23450307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.120371743 meters Centerline goodness : 0.979416 with order 1 Centerline is valid? [True, True] Translation: X:373.31, Y:-18.56, Z:0.23 [[ 9.99356675e-01 -3.58641326e-02 0.00000000e+00 3.73313852e+02] [ 3.58641326e-02 9.99356675e-01 0.00000000e+00 -1.85611626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27389748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.180371743 meters Centerline goodness : 0.979152 with order 1 Centerline is valid? [True, True] Translation: X:373.38, Y:-18.56, Z:0.23 [[ 9.99383074e-01 -3.51208117e-02 0.00000000e+00 3.73376643e+02] [ 3.51208117e-02 9.99383074e-01 0.00000000e+00 -1.85630368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27776503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.240371743 meters Centerline goodness : 0.980459 with order 1 Centerline is valid? [True, True] Translation: X:373.44, Y:-18.56, Z:0.23 [[ 9.99304975e-01 -3.72768931e-02 0.00000000e+00 3.73440113e+02] [ 3.72768931e-02 9.99304975e-01 0.00000000e+00 -1.85602857e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27735300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.300371743 meters Centerline goodness : 0.982518 with order 1 Centerline is valid? [True, True] Translation: X:373.50, Y:-18.56, Z:0.23 [[ 9.99087755e-01 -4.27042988e-02 0.00000000e+00 3.73503732e+02] [ 4.27042988e-02 9.99087755e-01 0.00000000e+00 -1.85570766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27429788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36037174300003 meters Centerline goodness : 0.979622 with order 1 Centerline is valid? [True, True] Translation: X:373.57, Y:-18.56, Z:0.23 [[ 9.99172405e-01 -4.06756141e-02 0.00000000e+00 3.73566267e+02] [ 4.06756141e-02 9.99172405e-01 0.00000000e+00 -1.85603850e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25841172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.420371743 meters Centerline goodness : 0.981241 with order 1 Centerline is valid? [True, True] Translation: X:373.63, Y:-18.56, Z:0.23 [[ 9.98977083e-01 -4.52193344e-02 0.00000000e+00 3.73629620e+02] [ 4.52193344e-02 9.98977083e-01 0.00000000e+00 -1.85565655e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29918410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.480371743 meters Centerline goodness : 0.981586 with order 1 Centerline is valid? [True, True] Translation: X:373.69, Y:-18.56, Z:0.23 [[ 9.98917547e-01 -4.65159569e-02 0.00000000e+00 3.73692176e+02] [ 4.65159569e-02 9.98917547e-01 0.00000000e+00 -1.85575269e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31669743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.540371743 meters Centerline goodness : 0.980824 with order 1 Centerline is valid? [True, True] Translation: X:373.76, Y:-18.56, Z:0.23 [[ 9.98758572e-01 -4.98128066e-02 0.00000000e+00 3.73755146e+02] [ 4.98128066e-02 9.98758572e-01 0.00000000e+00 -1.85590773e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33135894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.600371743 meters Centerline goodness : 0.979832 with order 1 Centerline is valid? [True, True] Translation: X:373.82, Y:-18.56, Z:0.23 [[ 9.98432796e-01 -5.59638378e-02 0.00000000e+00 3.73817738e+02] [ 5.59638378e-02 9.98432796e-01 0.00000000e+00 -1.85615858e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32311722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.660371743 meters Centerline goodness : 0.980652 with order 1 Centerline is valid? [True, True] Translation: X:373.88, Y:-18.56, Z:0.23 [[ 9.98209512e-01 -5.98144672e-02 0.00000000e+00 3.73880913e+02] [ 5.98144672e-02 9.98209512e-01 0.00000000e+00 -1.85618589e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32883625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.720371743 meters Centerline goodness : 0.979881 with order 1 Centerline is valid? [True, True] Translation: X:373.94, Y:-18.56, Z:0.23 [[ 9.98145448e-01 -6.08741712e-02 0.00000000e+00 3.73942728e+02] [ 6.08741712e-02 9.98145448e-01 0.00000000e+00 -1.85626666e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30815204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.780371743 meters Centerline goodness : 0.980654 with order 1 Centerline is valid? [True, True] Translation: X:374.00, Y:-18.56, Z:0.23 [[ 9.98217094e-01 -5.96877901e-02 0.00000000e+00 3.74003613e+02] [ 5.96877901e-02 9.98217094e-01 0.00000000e+00 -1.85623342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32696244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.840371743 meters Centerline goodness : 0.981323 with order 1 Centerline is valid? [True, True] Translation: X:374.07, Y:-18.57, Z:0.23 [[ 9.98480429e-01 -5.51074600e-02 0.00000000e+00 3.74065957e+02] [ 5.51074600e-02 9.98480429e-01 0.00000000e+00 -1.85661497e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33578059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.900371743 meters Centerline goodness : 0.979885 with order 1 Centerline is valid? [True, True] Translation: X:374.13, Y:-18.57, Z:0.23 [[ 9.98960308e-01 -4.55884189e-02 0.00000000e+00 3.74128536e+02] [ 4.55884189e-02 9.98960308e-01 0.00000000e+00 -1.85697713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34557850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.960371743 meters Centerline goodness : 0.976939 with order 1 Centerline is valid? [True, True] Translation: X:374.19, Y:-18.56, Z:0.23 [[ 9.99337977e-01 -3.63814204e-02 0.00000000e+00 3.74191043e+02] [ 3.63814204e-02 9.99337977e-01 0.00000000e+00 -1.85588248e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32850929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.020371743 meters Centerline goodness : 0.973248 with order 1 Centerline is valid? [True, True] Translation: X:374.25, Y:-18.58, Z:0.24 [[ 9.99940175e-01 -1.09382833e-02 0.00000000e+00 3.74252220e+02] [ 1.09382833e-02 9.99940175e-01 0.00000000e+00 -1.85758294e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42569643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.080371743 meters Centerline goodness : 0.974834 with order 1 Centerline is valid? [True, True] Translation: X:374.31, Y:-18.58, Z:0.24 [[ 9.99997124e-01 2.39852725e-03 0.00000000e+00 3.74313419e+02] [-2.39852725e-03 9.99997124e-01 0.00000000e+00 -1.85753103e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43032051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.140371743 meters Centerline goodness : 0.974556 with order 1 Centerline is valid? [True, True] Translation: X:374.37, Y:-18.58, Z:0.24 [[ 9.99877116e-01 1.56764819e-02 0.00000000e+00 3.74373343e+02] [-1.56764819e-02 9.99877116e-01 0.00000000e+00 -1.85775459e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42417551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.200371743 meters Centerline goodness : 0.980994 with order 1 Centerline is valid? [True, True] Translation: X:374.43, Y:-18.57, Z:0.24 [[ 9.99898476e-01 1.42491457e-02 0.00000000e+00 3.74432637e+02] [-1.42491457e-02 9.99898476e-01 0.00000000e+00 -1.85679230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39622281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.260371743 meters Centerline goodness : 0.980069 with order 1 Centerline is valid? [True, True] Translation: X:374.49, Y:-18.58, Z:0.24 [[ 9.99742278e-01 2.27019272e-02 0.00000000e+00 3.74489845e+02] [-2.27019272e-02 9.99742278e-01 0.00000000e+00 -1.85755705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38506237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.320371743 meters Centerline goodness : 0.978260 with order 1 Centerline is valid? [True, True] Translation: X:374.55, Y:-18.59, Z:0.23 [[ 9.99443134e-01 3.33679882e-02 0.00000000e+00 3.74548453e+02] [-3.33679882e-02 9.99443134e-01 0.00000000e+00 -1.85872977e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31562890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.380371743 meters Centerline goodness : 0.979631 with order 1 Centerline is valid? [True, True] Translation: X:374.61, Y:-18.58, Z:0.24 [[ 9.99706155e-01 2.42405288e-02 0.00000000e+00 3.74608021e+02] [-2.42405288e-02 9.99706155e-01 0.00000000e+00 -1.85792956e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36618369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.440371743 meters Centerline goodness : 0.979065 with order 1 Centerline is valid? [True, True] Translation: X:374.67, Y:-18.59, Z:0.24 [[ 9.99610870e-01 2.78946129e-02 0.00000000e+00 3.74665646e+02] [-2.78946129e-02 9.99610870e-01 0.00000000e+00 -1.85868619e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35712660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.500371743 meters Centerline goodness : 0.979245 with order 1 Centerline is valid? [True, True] Translation: X:374.72, Y:-18.60, Z:0.23 [[ 9.99641584e-01 2.67713232e-02 0.00000000e+00 3.74723628e+02] [-2.67713232e-02 9.99641584e-01 0.00000000e+00 -1.85952303e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34167749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.560371743 meters Centerline goodness : 0.978846 with order 1 Centerline is valid? [True, True] Translation: X:374.78, Y:-18.60, Z:0.23 [[ 9.99664559e-01 2.58991987e-02 0.00000000e+00 3.74780591e+02] [-2.58991987e-02 9.99664559e-01 0.00000000e+00 -1.86048860e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34564697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.620371743 meters Centerline goodness : 0.974913 with order 1 Centerline is valid? [True, True] Translation: X:374.84, Y:-18.63, Z:0.22 [[ 9.99362170e-01 3.57106826e-02 0.00000000e+00 3.74839307e+02] [-3.57106826e-02 9.99362170e-01 0.00000000e+00 -1.86327050e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20746382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.680371743 meters Centerline goodness : 0.974565 with order 1 Centerline is valid? [True, True] Translation: X:374.90, Y:-18.64, Z:0.22 [[ 9.99607055e-01 2.80309633e-02 0.00000000e+00 3.74897348e+02] [-2.80309633e-02 9.99607055e-01 0.00000000e+00 -1.86422618e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20830188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.740371743 meters Centerline goodness : 0.978737 with order 1 Centerline is valid? [True, True] Translation: X:374.96, Y:-18.63, Z:0.23 [[ 9.99995168e-01 3.10878355e-03 0.00000000e+00 3.74958250e+02] [-3.10878355e-03 9.99995168e-01 0.00000000e+00 -1.86323398e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33249032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.800371743 meters Centerline goodness : 0.977594 with order 1 Centerline is valid? [True, True] Translation: X:375.02, Y:-18.64, Z:0.23 [[ 9.99983936e-01 -5.66818299e-03 0.00000000e+00 3.75017107e+02] [ 5.66818299e-03 9.99983936e-01 0.00000000e+00 -1.86415937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32676963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86037174300003 meters Centerline goodness : 0.976598 with order 1 Centerline is valid? [True, True] Translation: X:375.08, Y:-18.65, Z:0.23 [[ 9.99916781e-01 -1.29007869e-02 0.00000000e+00 3.75078391e+02] [ 1.29007869e-02 9.99916781e-01 0.00000000e+00 -1.86515782e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34178939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.920371743 meters Centerline goodness : 0.976650 with order 1 Centerline is valid? [True, True] Translation: X:375.14, Y:-18.66, Z:0.23 [[ 9.99769220e-01 -2.14826985e-02 0.00000000e+00 3.75140610e+02] [ 2.14826985e-02 9.99769220e-01 0.00000000e+00 -1.86566390e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34737456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.980371743 meters Centerline goodness : 0.972424 with order 1 Centerline is valid? [True, True] Translation: X:375.20, Y:-18.68, Z:0.23 [[ 9.99881685e-01 -1.53823349e-02 0.00000000e+00 3.75202076e+02] [ 1.53823349e-02 9.99881685e-01 0.00000000e+00 -1.86785319e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30509990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.040371743 meters Centerline goodness : 0.972816 with order 1 Centerline is valid? [True, True] Translation: X:375.26, Y:-18.68, Z:0.23 [[ 9.99729873e-01 -2.32418019e-02 0.00000000e+00 3.75262742e+02] [ 2.32418019e-02 9.99729873e-01 0.00000000e+00 -1.86806711e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30224577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.100371743 meters Centerline goodness : 0.976144 with order 1 Centerline is valid? [True, True] Translation: X:375.32, Y:-18.67, Z:0.23 [[ 9.99283904e-01 -3.78375336e-02 0.00000000e+00 3.75324374e+02] [ 3.78375336e-02 9.99283904e-01 0.00000000e+00 -1.86681999e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34651961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.160371743 meters Centerline goodness : 0.975103 with order 1 Centerline is valid? [True, True] Translation: X:375.39, Y:-18.67, Z:0.23 [[ 9.99154329e-01 -4.11172245e-02 0.00000000e+00 3.75386926e+02] [ 4.11172245e-02 9.99154329e-01 0.00000000e+00 -1.86698293e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34146218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.220371743 meters Centerline goodness : 0.977313 with order 1 Centerline is valid? [True, True] Translation: X:375.45, Y:-18.67, Z:0.23 [[ 9.99064703e-01 -4.32402394e-02 0.00000000e+00 3.75449044e+02] [ 4.32402394e-02 9.99064703e-01 0.00000000e+00 -1.86692063e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33770314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.280371743 meters Centerline goodness : 0.976573 with order 1 Centerline is valid? [True, True] Translation: X:375.51, Y:-18.68, Z:0.23 [[ 9.99587098e-01 -2.87338256e-02 0.00000000e+00 3.75509949e+02] [ 2.87338256e-02 9.99587098e-01 0.00000000e+00 -1.86820220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31543245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.340371743 meters Centerline goodness : 0.976850 with order 1 Centerline is valid? [True, True] Translation: X:375.57, Y:-18.67, Z:0.23 [[ 9.99385466e-01 -3.50526797e-02 0.00000000e+00 3.75572813e+02] [ 3.50526797e-02 9.99385466e-01 0.00000000e+00 -1.86686876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33471408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.400371743 meters Centerline goodness : 0.977659 with order 1 Centerline is valid? [True, True] Translation: X:375.63, Y:-18.68, Z:0.23 [[ 9.99780644e-01 -2.09443105e-02 0.00000000e+00 3.75633198e+02] [ 2.09443105e-02 9.99780644e-01 0.00000000e+00 -1.86775426e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31296694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.460371743 meters Centerline goodness : 0.976616 with order 1 Centerline is valid? [True, True] Translation: X:375.69, Y:-18.67, Z:0.24 [[ 9.99836028e-01 -1.81084949e-02 0.00000000e+00 3.75694996e+02] [ 1.81084949e-02 9.99836028e-01 0.00000000e+00 -1.86661941e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35391515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.520371743 meters Centerline goodness : 0.978473 with order 1 Centerline is valid? [True, True] Translation: X:375.76, Y:-18.67, Z:0.24 [[ 9.99969740e-01 -7.77944126e-03 0.00000000e+00 3.75756462e+02] [ 7.77944126e-03 9.99969740e-01 0.00000000e+00 -1.86728570e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35124336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.580371743 meters Centerline goodness : 0.982982 with order 1 Centerline is valid? [True, True] Translation: X:375.82, Y:-18.66, Z:0.24 [[ 9.99997405e-01 -2.27796538e-03 0.00000000e+00 3.75818550e+02] [ 2.27796538e-03 9.99997405e-01 0.00000000e+00 -1.86600496e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36383169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.640371743 meters Centerline goodness : 0.983695 with order 1 Centerline is valid? [True, True] Translation: X:375.88, Y:-18.66, Z:0.24 [[ 9.99989504e-01 -4.58166695e-03 0.00000000e+00 3.75880543e+02] [ 4.58166695e-03 9.99989504e-01 0.00000000e+00 -1.86563599e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36400993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.700371743 meters Centerline goodness : 0.982094 with order 1 Centerline is valid? [True, True] Translation: X:375.94, Y:-18.66, Z:0.24 [[ 9.99994151e-01 3.42033202e-03 0.00000000e+00 3.75941364e+02] [-3.42033202e-03 9.99994151e-01 0.00000000e+00 -1.86613992e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38366660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.760371743 meters Centerline goodness : 0.982375 with order 1 Centerline is valid? [True, True] Translation: X:376.00, Y:-18.66, Z:0.24 [[ 9.99999958e-01 -2.90680227e-04 0.00000000e+00 3.76000993e+02] [ 2.90680227e-04 9.99999958e-01 0.00000000e+00 -1.86570972e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36126111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.820371743 meters Centerline goodness : 0.983303 with order 1 Centerline is valid? [True, True] Translation: X:376.06, Y:-18.65, Z:0.24 [[ 9.99980577e-01 -6.23261144e-03 0.00000000e+00 3.76061470e+02] [ 6.23261144e-03 9.99980577e-01 0.00000000e+00 -1.86546877e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38373447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.880371743 meters Centerline goodness : 0.983570 with order 1 Centerline is valid? [True, True] Translation: X:376.12, Y:-18.65, Z:0.24 [[ 9.99904853e-01 -1.37943664e-02 0.00000000e+00 3.76123830e+02] [ 1.37943664e-02 9.99904853e-01 0.00000000e+00 -1.86529056e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40001184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.940371743 meters Centerline goodness : 0.986224 with order 1 Centerline is valid? [True, True] Translation: X:376.19, Y:-18.65, Z:0.24 [[ 9.99766004e-01 -2.16318756e-02 0.00000000e+00 3.76186148e+02] [ 2.16318756e-02 9.99766004e-01 0.00000000e+00 -1.86465607e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37970847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.000371743 meters Centerline goodness : 0.984422 with order 1 Centerline is valid? [True, True] Translation: X:376.25, Y:-18.65, Z:0.24 [[ 9.99823789e-01 -1.87720550e-02 0.00000000e+00 3.76249033e+02] [ 1.87720550e-02 9.99823789e-01 0.00000000e+00 -1.86496678e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39305478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.060371743 meters Centerline goodness : 0.986735 with order 1 Centerline is valid? [True, True] Translation: X:376.31, Y:-18.64, Z:0.24 [[ 9.99805043e-01 -1.97452665e-02 0.00000000e+00 3.76312326e+02] [ 1.97452665e-02 9.99805043e-01 0.00000000e+00 -1.86402926e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38729711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.120371743 meters Centerline goodness : 0.985879 with order 1 Centerline is valid? [True, True] Translation: X:376.37, Y:-18.64, Z:0.24 [[ 9.99982189e-01 -5.96846964e-03 0.00000000e+00 3.76373375e+02] [ 5.96846964e-03 9.99982189e-01 0.00000000e+00 -1.86428206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39988698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.180371743 meters Centerline goodness : 0.986133 with order 1 Centerline is valid? [True, True] Translation: X:376.44, Y:-18.64, Z:0.24 [[ 9.99992845e-01 3.78292625e-03 0.00000000e+00 3.76435160e+02] [-3.78292625e-03 9.99992845e-01 0.00000000e+00 -1.86407027e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38980559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.240371743 meters Centerline goodness : 0.987748 with order 1 Centerline is valid? [True, True] Translation: X:376.50, Y:-18.64, Z:0.24 [[ 9.99972042e-01 7.47761273e-03 0.00000000e+00 3.76495531e+02] [-7.47761273e-03 9.99972042e-01 0.00000000e+00 -1.86365723e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39748510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.300371743 meters Centerline goodness : 0.986066 with order 1 Centerline is valid? [True, True] Translation: X:376.55, Y:-18.64, Z:0.24 [[ 9.99813253e-01 1.93250954e-02 0.00000000e+00 3.76553844e+02] [-1.93250954e-02 9.99813253e-01 0.00000000e+00 -1.86379256e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40232559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36037174300003 meters Centerline goodness : 0.981996 with order 1 Centerline is valid? [True, True] Translation: X:376.61, Y:-18.63, Z:0.24 [[ 9.99883704e-01 1.52505147e-02 0.00000000e+00 3.76612770e+02] [-1.52505147e-02 9.99883704e-01 0.00000000e+00 -1.86313208e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41600184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.420371743 meters Centerline goodness : 0.980734 with order 1 Centerline is valid? [True, True] Translation: X:376.67, Y:-18.65, Z:0.25 [[ 9.99600231e-01 2.82732859e-02 0.00000000e+00 3.76670000e+02] [-2.82732859e-02 9.99600231e-01 0.00000000e+00 -1.86508480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45041793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.480371743 meters Centerline goodness : 0.987554 with order 1 Centerline is valid? [True, True] Translation: X:376.73, Y:-18.64, Z:0.24 [[ 9.99928351e-01 1.19704962e-02 0.00000000e+00 3.76729783e+02] [-1.19704962e-02 9.99928351e-01 0.00000000e+00 -1.86422211e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43483796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.540371743 meters Centerline goodness : 0.986658 with order 1 Centerline is valid? [True, True] Translation: X:376.79, Y:-18.65, Z:0.24 [[ 9.99973903e-01 7.22454240e-03 0.00000000e+00 3.76788198e+02] [-7.22454240e-03 9.99973903e-01 0.00000000e+00 -1.86521083e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44748357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.600371743 meters Centerline goodness : 0.987697 with order 1 Centerline is valid? [True, True] Translation: X:376.85, Y:-18.66, Z:0.24 [[ 9.99999404e-01 1.09148428e-03 0.00000000e+00 3.76845228e+02] [-1.09148428e-03 9.99999404e-01 0.00000000e+00 -1.86600702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42879005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.660371743 meters Centerline goodness : 0.986528 with order 1 Centerline is valid? [True, True] Translation: X:376.90, Y:-18.67, Z:0.24 [[ 9.99998792e-01 -1.55439326e-03 0.00000000e+00 3.76904822e+02] [ 1.55439326e-03 9.99998792e-01 0.00000000e+00 -1.86745404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43196172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.720371743 meters Centerline goodness : 0.984937 with order 1 Centerline is valid? [True, True] Translation: X:376.96, Y:-18.68, Z:0.24 [[ 9.99987281e-01 -5.04363309e-03 0.00000000e+00 3.76964885e+02] [ 5.04363309e-03 9.99987281e-01 0.00000000e+00 -1.86840779e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44403185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.780371743 meters Centerline goodness : 0.987007 with order 1 Centerline is valid? [True, True] Translation: X:377.03, Y:-18.69, Z:0.24 [[ 9.99892650e-01 -1.46522557e-02 0.00000000e+00 3.77025783e+02] [ 1.46522557e-02 9.99892650e-01 0.00000000e+00 -1.86870345e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43436186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.840371743 meters Centerline goodness : 0.986604 with order 1 Centerline is valid? [True, True] Translation: X:377.09, Y:-18.69, Z:0.24 [[ 9.99843497e-01 -1.76913059e-02 0.00000000e+00 3.77087480e+02] [ 1.76913059e-02 9.99843497e-01 0.00000000e+00 -1.86941569e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42555043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.900371743 meters Centerline goodness : 0.985979 with order 1 Centerline is valid? [True, True] Translation: X:377.15, Y:-18.70, Z:0.24 [[ 9.99843102e-01 -1.77135967e-02 0.00000000e+00 3.77149548e+02] [ 1.77135967e-02 9.99843102e-01 0.00000000e+00 -1.87011938e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42856811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.960371743 meters Centerline goodness : 0.978501 with order 1 Centerline is valid? [True, True] Translation: X:377.21, Y:-18.72, Z:0.25 [[ 9.99998579e-01 -1.68587343e-03 0.00000000e+00 3.77210745e+02] [ 1.68587343e-03 9.99998579e-01 0.00000000e+00 -1.87221569e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48765957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.020371743 meters Centerline goodness : 0.984025 with order 1 Centerline is valid? [True, True] Translation: X:377.27, Y:-18.72, Z:0.25 [[ 9.99993880e-01 -3.49849465e-03 0.00000000e+00 3.77272552e+02] [ 3.49849465e-03 9.99993880e-01 0.00000000e+00 -1.87184638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45044763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.080371743 meters Centerline goodness : 0.984594 with order 1 Centerline is valid? [True, True] Translation: X:377.33, Y:-18.72, Z:0.25 [[ 9.99999889e-01 4.71868055e-04 0.00000000e+00 3.77333580e+02] [-4.71868055e-04 9.99999889e-01 0.00000000e+00 -1.87202462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45725137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.140371743 meters Centerline goodness : 0.984161 with order 1 Centerline is valid? [True, True] Translation: X:377.39, Y:-18.72, Z:0.25 [[ 9.99976648e-01 6.83392972e-03 0.00000000e+00 3.77393499e+02] [-6.83392972e-03 9.99976648e-01 0.00000000e+00 -1.87242531e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47085848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.200371743 meters Centerline goodness : 0.987422 with order 1 Centerline is valid? [True, True] Translation: X:377.45, Y:-18.72, Z:0.24 [[ 9.99992565e-01 3.85610483e-03 0.00000000e+00 3.77451929e+02] [-3.85610483e-03 9.99992565e-01 0.00000000e+00 -1.87169557e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43421035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.260371743 meters Centerline goodness : 0.983527 with order 1 Centerline is valid? [True, True] Translation: X:377.51, Y:-18.73, Z:0.24 [[ 9.99846946e-01 1.74952815e-02 0.00000000e+00 3.77510851e+02] [-1.74952815e-02 9.99846946e-01 0.00000000e+00 -1.87293102e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43986991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.320371743 meters Centerline goodness : 0.984502 with order 1 Centerline is valid? [True, True] Translation: X:377.57, Y:-18.73, Z:0.24 [[ 9.99754137e-01 2.21735319e-02 0.00000000e+00 3.77569845e+02] [-2.21735319e-02 9.99754137e-01 0.00000000e+00 -1.87291392e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43852177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.380371743 meters Centerline goodness : 0.984234 with order 1 Centerline is valid? [True, True] Translation: X:377.63, Y:-18.73, Z:0.25 [[ 9.99669498e-01 2.57078544e-02 0.00000000e+00 3.77627760e+02] [-2.57078544e-02 9.99669498e-01 0.00000000e+00 -1.87302478e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45986680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.440371743 meters Centerline goodness : 0.979972 with order 1 Centerline is valid? [True, True] Translation: X:377.69, Y:-18.72, Z:0.25 [[ 9.99772591e-01 2.13252420e-02 0.00000000e+00 3.77686897e+02] [-2.13252420e-02 9.99772591e-01 0.00000000e+00 -1.87244677e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47174412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.500371743 meters Centerline goodness : 0.985043 with order 1 Centerline is valid? [True, True] Translation: X:377.75, Y:-18.73, Z:0.25 [[ 9.99718714e-01 2.37169241e-02 0.00000000e+00 3.77745824e+02] [-2.37169241e-02 9.99718714e-01 0.00000000e+00 -1.87308796e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47363161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.560371743 meters Centerline goodness : 0.981474 with order 1 Centerline is valid? [True, True] Translation: X:377.80, Y:-18.73, Z:0.25 [[ 9.99838135e-01 1.79917692e-02 0.00000000e+00 3.77802635e+02] [-1.79917692e-02 9.99838135e-01 0.00000000e+00 -1.87271221e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48368929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.620371743 meters Centerline goodness : 0.983155 with order 1 Centerline is valid? [True, True] Translation: X:377.86, Y:-18.74, Z:0.24 [[ 9.99721003e-01 2.36202602e-02 0.00000000e+00 3.77860893e+02] [-2.36202602e-02 9.99721003e-01 0.00000000e+00 -1.87404716e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44633738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.680371743 meters Centerline goodness : 0.984383 with order 1 Centerline is valid? [True, True] Translation: X:377.92, Y:-18.74, Z:0.24 [[ 9.99849962e-01 1.73220351e-02 0.00000000e+00 3.77919209e+02] [-1.73220351e-02 9.99849962e-01 0.00000000e+00 -1.87435979e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44423050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.740371743 meters Centerline goodness : 0.984912 with order 1 Centerline is valid? [True, True] Translation: X:377.98, Y:-18.75, Z:0.25 [[ 9.99951421e-01 9.85680161e-03 0.00000000e+00 3.77977962e+02] [-9.85680161e-03 9.99951421e-01 0.00000000e+00 -1.87456154e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45625551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.800371743 meters Centerline goodness : 0.984703 with order 1 Centerline is valid? [True, True] Translation: X:378.04, Y:-18.75, Z:0.25 [[ 9.99971309e-01 7.57503257e-03 0.00000000e+00 3.78035262e+02] [-7.57503257e-03 9.99971309e-01 0.00000000e+00 -1.87520575e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48580005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86037174300003 meters Centerline goodness : 0.987132 with order 1 Centerline is valid? [True, True] Translation: X:378.09, Y:-18.75, Z:0.25 [[ 9.99997392e-01 -2.28374758e-03 0.00000000e+00 3.78094255e+02] [ 2.28374758e-03 9.99997392e-01 0.00000000e+00 -1.87496271e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48278918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.920371743 meters Centerline goodness : 0.985337 with order 1 Centerline is valid? [True, True] Translation: X:378.15, Y:-18.76, Z:0.25 [[ 9.99994942e-01 -3.18060804e-03 0.00000000e+00 3.78154760e+02] [ 3.18060804e-03 9.99994942e-01 0.00000000e+00 -1.87575993e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48805286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.980371743 meters Centerline goodness : 0.986444 with order 1 Centerline is valid? [True, True] Translation: X:378.22, Y:-18.76, Z:0.25 [[ 9.99963160e-01 -8.58362721e-03 0.00000000e+00 3.78216493e+02] [ 8.58362721e-03 9.99963160e-01 0.00000000e+00 -1.87588102e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47041985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.040371743 meters Centerline goodness : 0.985110 with order 1 Centerline is valid? [True, True] Translation: X:378.28, Y:-18.76, Z:0.25 [[ 9.99957861e-01 -9.18019549e-03 0.00000000e+00 3.78278714e+02] [ 9.18019549e-03 9.99957861e-01 0.00000000e+00 -1.87637637e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46587674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.100371743 meters Centerline goodness : 0.987762 with order 1 Centerline is valid? [True, True] Translation: X:378.34, Y:-18.76, Z:0.25 [[ 9.99891276e-01 -1.47456959e-02 0.00000000e+00 3.78342040e+02] [ 1.47456959e-02 9.99891276e-01 0.00000000e+00 -1.87611026e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48605930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.160371743 meters Centerline goodness : 0.987235 with order 1 Centerline is valid? [True, True] Translation: X:378.40, Y:-18.77, Z:0.25 [[ 9.99941127e-01 -1.08509016e-02 0.00000000e+00 3.78404338e+02] [ 1.08509016e-02 9.99941127e-01 0.00000000e+00 -1.87673843e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49770206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.220371743 meters Centerline goodness : 0.981883 with order 1 Centerline is valid? [True, True] Translation: X:378.47, Y:-18.77, Z:0.25 [[ 9.99993482e-01 -3.61059280e-03 0.00000000e+00 3.78466303e+02] [ 3.61059280e-03 9.99993482e-01 0.00000000e+00 -1.87749208e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53365570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.280371743 meters Centerline goodness : 0.985531 with order 1 Centerline is valid? [True, True] Translation: X:378.53, Y:-18.77, Z:0.25 [[ 9.99988129e-01 -4.87249772e-03 0.00000000e+00 3.78527965e+02] [ 4.87249772e-03 9.99988129e-01 0.00000000e+00 -1.87693107e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49818832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.340371743 meters Centerline goodness : 0.985967 with order 1 Centerline is valid? [True, True] Translation: X:378.59, Y:-18.77, Z:0.25 [[ 9.99999541e-01 -9.58439187e-04 0.00000000e+00 3.78590239e+02] [ 9.58439187e-04 9.99999541e-01 0.00000000e+00 -1.87691845e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48602703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.400371743 meters Centerline goodness : 0.986082 with order 1 Centerline is valid? [True, True] Translation: X:378.65, Y:-18.77, Z:0.25 [[ 9.99996648e-01 2.58938526e-03 0.00000000e+00 3.78650339e+02] [-2.58938526e-03 9.99996648e-01 0.00000000e+00 -1.87710665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50401204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.460371743 meters Centerline goodness : 0.985927 with order 1 Centerline is valid? [True, True] Translation: X:378.71, Y:-18.77, Z:0.25 [[ 9.99984118e-01 5.63587855e-03 0.00000000e+00 3.78710268e+02] [-5.63587855e-03 9.99984118e-01 0.00000000e+00 -1.87725409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50914629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.520371743 meters Centerline goodness : 0.987108 with order 1 Centerline is valid? [True, True] Translation: X:378.77, Y:-18.77, Z:0.25 [[ 9.99993926e-01 3.48535515e-03 0.00000000e+00 3.78769543e+02] [-3.48535515e-03 9.99993926e-01 0.00000000e+00 -1.87734241e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48397842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.580371743 meters Centerline goodness : 0.985602 with order 1 Centerline is valid? [True, True] Translation: X:378.83, Y:-18.78, Z:0.25 [[ 9.99998087e-01 1.95580736e-03 0.00000000e+00 3.78829309e+02] [-1.95580736e-03 9.99998087e-01 0.00000000e+00 -1.87778037e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47461928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.640371743 meters Centerline goodness : 0.984847 with order 1 Centerline is valid? [True, True] Translation: X:378.89, Y:-18.78, Z:0.25 [[ 9.99998310e-01 -1.83835733e-03 0.00000000e+00 3.78889426e+02] [ 1.83835733e-03 9.99998310e-01 0.00000000e+00 -1.87796981e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47654987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.700371743 meters Centerline goodness : 0.985122 with order 1 Centerline is valid? [True, True] Translation: X:378.95, Y:-18.78, Z:0.25 [[ 9.99996546e-01 -2.62830162e-03 0.00000000e+00 3.78950983e+02] [ 2.62830162e-03 9.99996546e-01 0.00000000e+00 -1.87817400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49861565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.760371743 meters Centerline goodness : 0.985749 with order 1 Centerline is valid? [True, True] Translation: X:379.01, Y:-18.78, Z:0.25 [[ 9.99999279e-01 1.20059974e-03 0.00000000e+00 3.79012598e+02] [-1.20059974e-03 9.99999279e-01 0.00000000e+00 -1.87829758e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47674135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.820371743 meters Centerline goodness : 0.982112 with order 1 Centerline is valid? [True, True] Translation: X:379.07, Y:-18.79, Z:0.25 [[ 9.99953143e-01 9.68047141e-03 0.00000000e+00 3.79073196e+02] [-9.68047141e-03 9.99953143e-01 0.00000000e+00 -1.87899727e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53018664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.880371743 meters Centerline goodness : 0.987163 with order 1 Centerline is valid? [True, True] Translation: X:379.13, Y:-18.78, Z:0.25 [[ 9.99906313e-01 1.36881484e-02 0.00000000e+00 3.79131882e+02] [-1.36881484e-02 9.99906313e-01 0.00000000e+00 -1.87839895e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49208357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.940371743 meters Centerline goodness : 0.985559 with order 1 Centerline is valid? [True, True] Translation: X:379.19, Y:-18.79, Z:0.25 [[ 9.99709884e-01 2.40862700e-02 0.00000000e+00 3.79190167e+02] [-2.40862700e-02 9.99709884e-01 0.00000000e+00 -1.87859463e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50420439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.000371743 meters Centerline goodness : 0.986254 with order 1 Centerline is valid? [True, True] Translation: X:379.25, Y:-18.79, Z:0.25 [[ 9.99589234e-01 2.86594499e-02 0.00000000e+00 3.79249074e+02] [-2.86594499e-02 9.99589234e-01 0.00000000e+00 -1.87865659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50731252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.060371743 meters Centerline goodness : 0.985814 with order 1 Centerline is valid? [True, True] Translation: X:379.31, Y:-18.79, Z:0.25 [[ 9.99614699e-01 2.77570356e-02 0.00000000e+00 3.79307519e+02] [-2.77570356e-02 9.99614699e-01 0.00000000e+00 -1.87901725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51587754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.120371743 meters Centerline goodness : 0.986362 with order 1 Centerline is valid? [True, True] Translation: X:379.37, Y:-18.79, Z:0.25 [[ 9.99796286e-01 2.01838176e-02 0.00000000e+00 3.79366044e+02] [-2.01838176e-02 9.99796286e-01 0.00000000e+00 -1.87926996e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47562100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.180371743 meters Centerline goodness : 0.988654 with order 1 Centerline is valid? [True, True] Translation: X:379.42, Y:-18.79, Z:0.25 [[ 9.99957444e-01 9.22546924e-03 0.00000000e+00 3.79424360e+02] [-9.22546924e-03 9.99957444e-01 0.00000000e+00 -1.87906646e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49768881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.240371743 meters Centerline goodness : 0.987850 with order 1 Centerline is valid? [True, True] Translation: X:379.48, Y:-18.80, Z:0.25 [[ 9.99998852e-01 1.51530119e-03 0.00000000e+00 3.79483003e+02] [-1.51530119e-03 9.99998852e-01 0.00000000e+00 -1.87998771e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49542913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.300371743 meters Centerline goodness : 0.987134 with order 1 Centerline is valid? [True, True] Translation: X:379.54, Y:-18.81, Z:0.25 [[ 9.99986240e-01 -5.24590791e-03 0.00000000e+00 3.79542732e+02] [ 5.24590791e-03 9.99986240e-01 0.00000000e+00 -1.88051284e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47978967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36037174300003 meters Centerline goodness : 0.985881 with order 1 Centerline is valid? [True, True] Translation: X:379.61, Y:-18.81, Z:0.25 [[ 9.99966012e-01 -8.24470799e-03 0.00000000e+00 3.79605211e+02] [ 8.24470799e-03 9.99966012e-01 0.00000000e+00 -1.88097213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46881495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.420371743 meters Centerline goodness : 0.982839 with order 1 Centerline is valid? [True, True] Translation: X:379.67, Y:-18.82, Z:0.25 [[ 9.99988332e-01 -4.83074798e-03 0.00000000e+00 3.79666740e+02] [ 4.83074798e-03 9.99988332e-01 0.00000000e+00 -1.88164804e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45290346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.480371743 meters Centerline goodness : 0.987716 with order 1 Centerline is valid? [True, True] Translation: X:379.73, Y:-18.81, Z:0.25 [[ 9.99952491e-01 -9.74761517e-03 0.00000000e+00 3.79729633e+02] [ 9.74761517e-03 9.99952491e-01 0.00000000e+00 -1.88129489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46090158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.540371743 meters Centerline goodness : 0.984150 with order 1 Centerline is valid? [True, True] Translation: X:379.79, Y:-18.82, Z:0.24 [[ 9.99996884e-01 -2.49629562e-03 0.00000000e+00 3.79791031e+02] [ 2.49629562e-03 9.99996884e-01 0.00000000e+00 -1.88168047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44701574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.600371743 meters Centerline goodness : 0.983859 with order 1 Centerline is valid? [True, True] Translation: X:379.85, Y:-18.82, Z:0.25 [[ 9.99998781e-01 -1.56156933e-03 0.00000000e+00 3.79852330e+02] [ 1.56156933e-03 9.99998781e-01 0.00000000e+00 -1.88165049e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45955362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.660371743 meters Centerline goodness : 0.986157 with order 1 Centerline is valid? [True, True] Translation: X:379.91, Y:-18.81, Z:0.25 [[ 9.99998878e-01 -1.49823667e-03 0.00000000e+00 3.79914398e+02] [ 1.49823667e-03 9.99998878e-01 0.00000000e+00 -1.88131179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46734427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.720371743 meters Centerline goodness : 0.986490 with order 1 Centerline is valid? [True, True] Translation: X:379.98, Y:-18.81, Z:0.25 [[ 9.99992938e-01 -3.75825154e-03 0.00000000e+00 3.79975387e+02] [ 3.75825154e-03 9.99992938e-01 0.00000000e+00 -1.88104938e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48883548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.780371743 meters Centerline goodness : 0.985970 with order 1 Centerline is valid? [True, True] Translation: X:380.04, Y:-18.81, Z:0.25 [[ 9.99988059e-01 -4.88694592e-03 0.00000000e+00 3.80036626e+02] [ 4.88694592e-03 9.99988059e-01 0.00000000e+00 -1.88085517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45562534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.840371743 meters Centerline goodness : 0.987102 with order 1 Centerline is valid? [True, True] Translation: X:380.10, Y:-18.81, Z:0.25 [[ 9.99980286e-01 -6.27906742e-03 0.00000000e+00 3.80099278e+02] [ 6.27906742e-03 9.99980286e-01 0.00000000e+00 -1.88059856e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46548499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.900371743 meters Centerline goodness : 0.987292 with order 1 Centerline is valid? [True, True] Translation: X:380.16, Y:-18.80, Z:0.25 [[ 9.99973254e-01 -7.31373908e-03 0.00000000e+00 3.80161450e+02] [ 7.31373908e-03 9.99973254e-01 0.00000000e+00 -1.88040284e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48858324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.960371743 meters Centerline goodness : 0.987844 with order 1 Centerline is valid? [True, True] Translation: X:380.22, Y:-18.80, Z:0.25 [[ 9.99986602e-01 -5.17653480e-03 0.00000000e+00 3.80223706e+02] [ 5.17653480e-03 9.99986602e-01 0.00000000e+00 -1.87995896e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47691285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.020371743 meters Centerline goodness : 0.989168 with order 1 Centerline is valid? [True, True] Translation: X:380.29, Y:-18.80, Z:0.24 [[ 9.99999965e-01 2.64931739e-04 0.00000000e+00 3.80285507e+02] [-2.64931739e-04 9.99999965e-01 0.00000000e+00 -1.87960418e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44918974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.080371743 meters Centerline goodness : 0.991272 with order 1 Centerline is valid? [True, True] Translation: X:380.35, Y:-18.79, Z:0.25 [[ 9.99987763e-01 4.94706182e-03 0.00000000e+00 3.80345970e+02] [-4.94706182e-03 9.99987763e-01 0.00000000e+00 -1.87899766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47049765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.140371743 meters Centerline goodness : 0.991763 with order 1 Centerline is valid? [True, True] Translation: X:380.40, Y:-18.79, Z:0.25 [[ 9.99920370e-01 1.26195827e-02 0.00000000e+00 3.80404599e+02] [-1.26195827e-02 9.99920370e-01 0.00000000e+00 -1.87867535e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45131625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.200371743 meters Centerline goodness : 0.991635 with order 1 Centerline is valid? [True, True] Translation: X:380.46, Y:-18.79, Z:0.24 [[ 9.99852770e-01 1.71591875e-02 0.00000000e+00 3.80462648e+02] [-1.71591875e-02 9.99852770e-01 0.00000000e+00 -1.87859391e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44121328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.260371743 meters Centerline goodness : 0.993011 with order 1 Centerline is valid? [True, True] Translation: X:380.52, Y:-18.78, Z:0.24 [[ 9.99623169e-01 2.74503152e-02 0.00000000e+00 3.80520329e+02] [-2.74503152e-02 9.99623169e-01 0.00000000e+00 -1.87820097e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40214054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.320371743 meters Centerline goodness : 0.992556 with order 1 Centerline is valid? [True, True] Translation: X:380.58, Y:-18.78, Z:0.24 [[ 9.99589137e-01 2.86628034e-02 0.00000000e+00 3.80578118e+02] [-2.86628034e-02 9.99589137e-01 0.00000000e+00 -1.87829580e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39668070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.380371743 meters Centerline goodness : 0.993083 with order 1 Centerline is valid? [True, True] Translation: X:380.64, Y:-18.79, Z:0.23 [[ 9.99636180e-01 2.69723548e-02 0.00000000e+00 3.80636799e+02] [-2.69723548e-02 9.99636180e-01 0.00000000e+00 -1.87856912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34797311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.440371743 meters Centerline goodness : 0.992740 with order 1 Centerline is valid? [True, True] Translation: X:380.70, Y:-18.79, Z:0.23 [[ 9.99810095e-01 1.94877942e-02 0.00000000e+00 3.80695645e+02] [-1.94877942e-02 9.99810095e-01 0.00000000e+00 -1.87872133e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32839247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.500371743 meters Centerline goodness : 0.992337 with order 1 Centerline is valid? [True, True] Translation: X:380.75, Y:-18.79, Z:0.24 [[ 9.99969405e-01 7.82229531e-03 0.00000000e+00 3.80754059e+02] [-7.82229531e-03 9.99969405e-01 0.00000000e+00 -1.87897059e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36240574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.560371743 meters Centerline goodness : 0.992508 with order 1 Centerline is valid? [True, True] Translation: X:380.81, Y:-18.79, Z:0.24 [[ 9.99989563e-01 -4.56881467e-03 0.00000000e+00 3.80812399e+02] [ 4.56881467e-03 9.99989563e-01 0.00000000e+00 -1.87915122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36700904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.620371743 meters Centerline goodness : 0.993178 with order 1 Centerline is valid? [True, True] Translation: X:380.87, Y:-18.79, Z:0.24 [[ 9.99890467e-01 -1.48004436e-02 0.00000000e+00 3.80874432e+02] [ 1.48004436e-02 9.99890467e-01 0.00000000e+00 -1.87919649e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37010076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.680371743 meters Centerline goodness : 0.993349 with order 1 Centerline is valid? [True, True] Translation: X:380.94, Y:-18.79, Z:0.24 [[ 9.99817121e-01 -1.91239039e-02 0.00000000e+00 3.80936474e+02] [ 1.91239039e-02 9.99817121e-01 0.00000000e+00 -1.87930346e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35665198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.740371743 meters Centerline goodness : 0.994282 with order 1 Centerline is valid? [True, True] Translation: X:381.00, Y:-18.79, Z:0.24 [[ 9.99736467e-01 -2.29564124e-02 0.00000000e+00 3.80999276e+02] [ 2.29564124e-02 9.99736467e-01 0.00000000e+00 -1.87875724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40862479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.800371743 meters Centerline goodness : 0.995155 with order 1 Centerline is valid? [True, True] Translation: X:381.06, Y:-18.78, Z:0.24 [[ 9.99788386e-01 -2.05714172e-02 0.00000000e+00 3.81061958e+02] [ 2.05714172e-02 9.99788386e-01 0.00000000e+00 -1.87848658e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39459767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86037174300003 meters Centerline goodness : 0.995156 with order 1 Centerline is valid? [True, True] Translation: X:381.12, Y:-18.78, Z:0.24 [[ 9.99924110e-01 -1.23196723e-02 0.00000000e+00 3.81124530e+02] [ 1.23196723e-02 9.99924110e-01 0.00000000e+00 -1.87795370e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39512514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.920371743 meters Centerline goodness : 0.995585 with order 1 Centerline is valid? [True, True] Translation: X:381.19, Y:-18.77, Z:0.23 [[ 9.99995321e-01 -3.05912594e-03 0.00000000e+00 3.81187556e+02] [ 3.05912594e-03 9.99995321e-01 0.00000000e+00 -1.87717675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34117206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.980371743 meters Centerline goodness : 0.996371 with order 1 Centerline is valid? [True, True] Translation: X:381.25, Y:-18.76, Z:0.24 [[ 9.99983209e-01 5.79490870e-03 0.00000000e+00 3.81249953e+02] [-5.79490870e-03 9.99983209e-01 0.00000000e+00 -1.87643063e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36598264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.040371743 meters Centerline goodness : 0.996853 with order 1 Centerline is valid? [True, True] Translation: X:381.31, Y:-18.76, Z:0.23 [[ 9.99964199e-01 8.46166648e-03 0.00000000e+00 3.81307167e+02] [-8.46166648e-03 9.99964199e-01 0.00000000e+00 -1.87589589e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34575884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.100371743 meters Centerline goodness : 0.997629 with order 1 Centerline is valid? [True, True] Translation: X:381.37, Y:-18.76, Z:0.24 [[ 9.99975662e-01 6.97678928e-03 0.00000000e+00 3.81366514e+02] [-6.97678928e-03 9.99975662e-01 0.00000000e+00 -1.87561857e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37013910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.160371743 meters Centerline goodness : 0.997787 with order 1 Centerline is valid? [True, True] Translation: X:381.43, Y:-18.75, Z:0.24 [[ 9.99999851e-01 -5.45162100e-04 0.00000000e+00 3.81425006e+02] [ 5.45162100e-04 9.99999851e-01 0.00000000e+00 -1.87515395e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37627978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.220371743 meters Centerline goodness : 0.997912 with order 1 Centerline is valid? [True, True] Translation: X:381.49, Y:-18.75, Z:0.24 [[ 9.99986672e-01 -5.16284640e-03 0.00000000e+00 3.81485887e+02] [ 5.16284640e-03 9.99986672e-01 0.00000000e+00 -1.87512581e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37645729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.280371743 meters Centerline goodness : 0.997610 with order 1 Centerline is valid? [True, True] Translation: X:381.55, Y:-18.75, Z:0.24 [[ 9.99954990e-01 -9.48776010e-03 0.00000000e+00 3.81548074e+02] [ 9.48776010e-03 9.99954990e-01 0.00000000e+00 -1.87462705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38241869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.340371743 meters Centerline goodness : 0.997690 with order 1 Centerline is valid? [True, True] Translation: X:381.61, Y:-18.75, Z:0.24 [[ 9.99992385e-01 -3.90264624e-03 0.00000000e+00 3.81609597e+02] [ 3.90264624e-03 9.99992385e-01 0.00000000e+00 -1.87515820e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35588108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.400371743 meters Centerline goodness : 0.997329 with order 1 Centerline is valid? [True, True] Translation: X:381.67, Y:-18.75, Z:0.23 [[ 9.99999926e-01 3.83953450e-04 0.00000000e+00 3.81672076e+02] [-3.83953450e-04 9.99999926e-01 0.00000000e+00 -1.87537778e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33820628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.460371743 meters Centerline goodness : 0.997799 with order 1 Centerline is valid? [True, True] Translation: X:381.73, Y:-18.75, Z:0.23 [[ 9.99965274e-01 8.33375226e-03 0.00000000e+00 3.81732527e+02] [-8.33375226e-03 9.99965274e-01 0.00000000e+00 -1.87549660e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29511721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.520371743 meters Centerline goodness : 0.996958 with order 1 Centerline is valid? [True, True] Translation: X:381.79, Y:-18.76, Z:0.23 [[ 9.99917155e-01 1.28718240e-02 0.00000000e+00 3.81790231e+02] [-1.28718240e-02 9.99917155e-01 0.00000000e+00 -1.87574125e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28652852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.580371743 meters Centerline goodness : 0.997395 with order 1 Centerline is valid? [True, True] Translation: X:381.85, Y:-18.76, Z:0.23 [[ 9.99868932e-01 1.61900772e-02 0.00000000e+00 3.81848756e+02] [-1.61900772e-02 9.99868932e-01 0.00000000e+00 -1.87597493e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27361538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.640371743 meters Centerline goodness : 0.997644 with order 1 Centerline is valid? [True, True] Translation: X:381.91, Y:-18.75, Z:0.24 [[ 9.99952145e-01 9.78306768e-03 0.00000000e+00 3.81907193e+02] [-9.78306768e-03 9.99952145e-01 0.00000000e+00 -1.87542308e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35724418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.700371743 meters Centerline goodness : 0.996854 with order 1 Centerline is valid? [True, True] Translation: X:381.97, Y:-18.77, Z:0.23 [[ 9.99833003e-01 1.82747221e-02 0.00000000e+00 3.81966104e+02] [-1.82747221e-02 9.99833003e-01 0.00000000e+00 -1.87694601e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27667967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.760371743 meters Centerline goodness : 0.997624 with order 1 Centerline is valid? [True, True] Translation: X:382.03, Y:-18.76, Z:0.24 [[ 9.99935252e-01 1.13794201e-02 0.00000000e+00 3.82025470e+02] [-1.13794201e-02 9.99935252e-01 0.00000000e+00 -1.87639719e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35221128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.820371743 meters Centerline goodness : 0.996967 with order 1 Centerline is valid? [True, True] Translation: X:382.08, Y:-18.78, Z:0.22 [[ 9.99817488e-01 1.91047358e-02 0.00000000e+00 3.82082657e+02] [-1.91047358e-02 9.99817488e-01 0.00000000e+00 -1.87777205e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24252157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.880371743 meters Centerline goodness : 0.997248 with order 1 Centerline is valid? [True, True] Translation: X:382.14, Y:-18.78, Z:0.23 [[ 9.99855660e-01 1.69899613e-02 0.00000000e+00 3.82141219e+02] [-1.69899613e-02 9.99855660e-01 0.00000000e+00 -1.87801673e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30032475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.940371743 meters Centerline goodness : 0.997315 with order 1 Centerline is valid? [True, True] Translation: X:382.20, Y:-18.78, Z:0.23 [[ 9.99912674e-01 1.32153126e-02 0.00000000e+00 3.82200281e+02] [-1.32153126e-02 9.99912674e-01 0.00000000e+00 -1.87847915e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27532975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.000371743 meters Centerline goodness : 0.997202 with order 1 Centerline is valid? [True, True] Translation: X:382.26, Y:-18.79, Z:0.23 [[ 9.99975956e-01 6.93447421e-03 0.00000000e+00 3.82258317e+02] [-6.93447421e-03 9.99975956e-01 0.00000000e+00 -1.87887447e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33809894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.060371743 meters Centerline goodness : 0.997714 with order 1 Centerline is valid? [True, True] Translation: X:382.32, Y:-18.80, Z:0.23 [[ 9.99998078e-01 1.96074911e-03 0.00000000e+00 3.82317140e+02] [-1.96074911e-03 9.99998078e-01 0.00000000e+00 -1.87954110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33974931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.120371743 meters Centerline goodness : 0.997596 with order 1 Centerline is valid? [True, True] Translation: X:382.38, Y:-18.80, Z:0.23 [[ 9.99997847e-01 -2.07523805e-03 0.00000000e+00 3.82376272e+02] [ 2.07523805e-03 9.99997847e-01 0.00000000e+00 -1.88031894e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32224452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.180371743 meters Centerline goodness : 0.997474 with order 1 Centerline is valid? [True, True] Translation: X:382.44, Y:-18.81, Z:0.23 [[ 9.99990871e-01 -4.27286381e-03 0.00000000e+00 3.82437312e+02] [ 4.27286381e-03 9.99990871e-01 0.00000000e+00 -1.88087519e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31422003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.240371743 meters Centerline goodness : 0.997639 with order 1 Centerline is valid? [True, True] Translation: X:382.50, Y:-18.82, Z:0.23 [[ 9.99983317e-01 -5.77629173e-03 0.00000000e+00 3.82499568e+02] [ 5.77629173e-03 9.99983317e-01 0.00000000e+00 -1.88161479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28295023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.300371743 meters Centerline goodness : 0.997145 with order 1 Centerline is valid? [True, True] Translation: X:382.56, Y:-18.82, Z:0.23 [[ 9.99987539e-01 -4.99223346e-03 0.00000000e+00 3.82561226e+02] [ 4.99223346e-03 9.99987539e-01 0.00000000e+00 -1.88209896e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27832666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36037174300003 meters Centerline goodness : 0.997353 with order 1 Centerline is valid? [True, True] Translation: X:382.62, Y:-18.83, Z:0.23 [[ 9.99992435e-01 -3.88965831e-03 0.00000000e+00 3.82622911e+02] [ 3.88965831e-03 9.99992435e-01 0.00000000e+00 -1.88256776e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26859244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.420371743 meters Centerline goodness : 0.997986 with order 1 Centerline is valid? [True, True] Translation: X:382.68, Y:-18.83, Z:0.23 [[ 9.99995190e-01 -3.10155373e-03 0.00000000e+00 3.82684918e+02] [ 3.10155373e-03 9.99995190e-01 0.00000000e+00 -1.88303479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25654680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.480371743 meters Centerline goodness : 0.998279 with order 1 Centerline is valid? [True, True] Translation: X:382.75, Y:-18.84, Z:0.22 [[ 9.99998792e-01 -1.55426790e-03 0.00000000e+00 3.82745702e+02] [ 1.55426790e-03 9.99998792e-01 0.00000000e+00 -1.88375858e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23871005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.540371743 meters Centerline goodness : 0.998070 with order 1 Centerline is valid? [True, True] Translation: X:382.81, Y:-18.84, Z:0.23 [[ 9.99993227e-01 -3.68053847e-03 0.00000000e+00 3.82806802e+02] [ 3.68053847e-03 9.99993227e-01 0.00000000e+00 -1.88399107e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27347005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.600371743 meters Centerline goodness : 0.997867 with order 1 Centerline is valid? [True, True] Translation: X:382.87, Y:-18.85, Z:0.22 [[ 9.99991727e-01 -4.06768520e-03 0.00000000e+00 3.82868848e+02] [ 4.06768520e-03 9.99991727e-01 0.00000000e+00 -1.88456900e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24663715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.660371743 meters Centerline goodness : 0.997738 with order 1 Centerline is valid? [True, True] Translation: X:382.93, Y:-18.85, Z:0.23 [[ 9.99985324e-01 -5.41775633e-03 0.00000000e+00 3.82931081e+02] [ 5.41775633e-03 9.99985324e-01 0.00000000e+00 -1.88506105e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25137197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.720371743 meters Centerline goodness : 0.997486 with order 1 Centerline is valid? [True, True] Translation: X:382.99, Y:-18.86, Z:0.23 [[ 9.99983817e-01 -5.68916499e-03 0.00000000e+00 3.82991710e+02] [ 5.68916499e-03 9.99983817e-01 0.00000000e+00 -1.88602626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29712140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.780371743 meters Centerline goodness : 0.996641 with order 1 Centerline is valid? [True, True] Translation: X:383.05, Y:-18.87, Z:0.23 [[ 9.99978320e-01 -6.58480522e-03 0.00000000e+00 3.83053034e+02] [ 6.58480522e-03 9.99978320e-01 0.00000000e+00 -1.88668431e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30147232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.840371743 meters Centerline goodness : 0.997168 with order 1 Centerline is valid? [True, True] Translation: X:383.12, Y:-18.87, Z:0.22 [[ 9.99959789e-01 -8.96769430e-03 0.00000000e+00 3.83115079e+02] [ 8.96769430e-03 9.99959789e-01 0.00000000e+00 -1.88720222e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24331302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.900371743 meters Centerline goodness : 0.997079 with order 1 Centerline is valid? [True, True] Translation: X:383.18, Y:-18.88, Z:0.23 [[ 9.99973180e-01 -7.32388755e-03 0.00000000e+00 3.83176068e+02] [ 7.32388755e-03 9.99973180e-01 0.00000000e+00 -1.88818917e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25136791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.960371743 meters Centerline goodness : 0.996851 with order 1 Centerline is valid? [True, True] Translation: X:383.24, Y:-18.89, Z:0.22 [[ 9.99982016e-01 -5.99736628e-03 0.00000000e+00 3.83238242e+02] [ 5.99736628e-03 9.99982016e-01 0.00000000e+00 -1.88876170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22349014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.020371743 meters Centerline goodness : 0.996923 with order 1 Centerline is valid? [True, True] Translation: X:383.30, Y:-18.89, Z:0.22 [[ 9.99997556e-01 -2.21080372e-03 0.00000000e+00 3.83299972e+02] [ 2.21080372e-03 9.99997556e-01 0.00000000e+00 -1.88933232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19714072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.080371743 meters Centerline goodness : 0.996812 with order 1 Centerline is valid? [True, True] Translation: X:383.36, Y:-18.90, Z:0.22 [[ 9.99999999e-01 4.03833164e-05 0.00000000e+00 3.83360777e+02] [-4.03833164e-05 9.99999999e-01 0.00000000e+00 -1.88989970e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16309548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.140371743 meters Centerline goodness : 0.995941 with order 1 Centerline is valid? [True, True] Translation: X:383.42, Y:-18.91, Z:0.22 [[ 9.99955728e-01 9.40963691e-03 0.00000000e+00 3.83420752e+02] [-9.40963691e-03 9.99955728e-01 0.00000000e+00 -1.89054537e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15543069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.200371743 meters Centerline goodness : 0.996733 with order 1 Centerline is valid? [True, True] Translation: X:383.48, Y:-18.91, Z:0.22 [[ 9.99934939e-01 1.14069470e-02 0.00000000e+00 3.83478451e+02] [-1.14069470e-02 9.99934939e-01 0.00000000e+00 -1.89099776e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16650728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.260371743 meters Centerline goodness : 0.996160 with order 1 Centerline is valid? [True, True] Translation: X:383.54, Y:-18.92, Z:0.21 [[ 9.99956344e-01 9.34395460e-03 0.00000000e+00 3.83536698e+02] [-9.34395460e-03 9.99956344e-01 0.00000000e+00 -1.89154571e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10980096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.320371743 meters Centerline goodness : 0.997681 with order 1 Centerline is valid? [True, True] Translation: X:383.59, Y:-18.91, Z:0.22 [[ 9.99999979e-01 2.03936174e-04 0.00000000e+00 3.83594417e+02] [-2.03936174e-04 9.99999979e-01 0.00000000e+00 -1.89103522e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17964889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.380371743 meters Centerline goodness : 0.996272 with order 1 Centerline is valid? [True, True] Translation: X:383.65, Y:-18.93, Z:0.20 [[ 9.99985112e-01 5.45670898e-03 0.00000000e+00 3.83653687e+02] [-5.45670898e-03 9.99985112e-01 0.00000000e+00 -1.89334691e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01849162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.440371743 meters Centerline goodness : 0.995468 with order 1 Centerline is valid? [True, True] Translation: X:383.71, Y:-18.94, Z:0.21 [[ 9.99996193e-01 -2.75949226e-03 0.00000000e+00 3.83712089e+02] [ 2.75949226e-03 9.99996193e-01 0.00000000e+00 -1.89401696e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10333947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.500371743 meters Centerline goodness : 0.995139 with order 1 Centerline is valid? [True, True] Translation: X:383.77, Y:-18.95, Z:0.20 [[ 9.99956096e-01 -9.37048590e-03 0.00000000e+00 3.83772577e+02] [ 9.37048590e-03 9.99956096e-01 0.00000000e+00 -1.89520841e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04059889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.560371743 meters Centerline goodness : 0.994040 with order 1 Centerline is valid? [True, True] Translation: X:383.83, Y:-18.96, Z:0.20 [[ 9.99898362e-01 -1.42571253e-02 0.00000000e+00 3.83834759e+02] [ 1.42571253e-02 9.99898362e-01 0.00000000e+00 -1.89630063e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01787314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.620371743 meters Centerline goodness : 0.994009 with order 1 Centerline is valid? [True, True] Translation: X:383.90, Y:-18.97, Z:0.20 [[ 9.99887521e-01 -1.49981675e-02 0.00000000e+00 3.83896714e+02] [ 1.49981675e-02 9.99887521e-01 0.00000000e+00 -1.89710277e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99033116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.680371743 meters Centerline goodness : 0.992955 with order 1 Centerline is valid? [True, True] Translation: X:383.96, Y:-18.98, Z:0.20 [[ 9.99919331e-01 -1.27016383e-02 0.00000000e+00 3.83957396e+02] [ 1.27016383e-02 9.99919331e-01 0.00000000e+00 -1.89800783e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97225825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.740371743 meters Centerline goodness : 0.992629 with order 1 Centerline is valid? [True, True] Translation: X:384.02, Y:-18.99, Z:0.19 [[ 9.99961892e-01 -8.73004217e-03 0.00000000e+00 3.84018735e+02] [ 8.73004217e-03 9.99961892e-01 0.00000000e+00 -1.89894439e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92552719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.800371743 meters Centerline goodness : 0.991237 with order 1 Centerline is valid? [True, True] Translation: X:384.08, Y:-19.00, Z:0.19 [[ 9.99974993e-01 -7.07195980e-03 0.00000000e+00 3.84079766e+02] [ 7.07195980e-03 9.99974993e-01 0.00000000e+00 -1.89996287e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88689234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86037174300003 meters Centerline goodness : 0.993257 with order 1 Centerline is valid? [True, True] Translation: X:384.14, Y:-18.99, Z:0.20 [[ 9.99815391e-01 -1.92141817e-02 0.00000000e+00 3.84140906e+02] [ 1.92141817e-02 9.99815391e-01 0.00000000e+00 -1.89929702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02438468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.920371743 meters Centerline goodness : 0.993319 with order 1 Centerline is valid? [True, True] Translation: X:384.20, Y:-19.00, Z:0.20 [[ 9.99764437e-01 -2.17041761e-02 0.00000000e+00 3.84202470e+02] [ 2.17041761e-02 9.99764437e-01 0.00000000e+00 -1.89984108e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02924344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.980371743 meters Centerline goodness : 0.990936 with order 1 Centerline is valid? [True, True] Translation: X:384.26, Y:-19.02, Z:0.19 [[ 9.99866984e-01 -1.63099569e-02 0.00000000e+00 3.84262299e+02] [ 1.63099569e-02 9.99866984e-01 0.00000000e+00 -1.90176051e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88963054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.040371743 meters Centerline goodness : 0.984812 with order 1 Centerline is valid? [True, True] Translation: X:384.32, Y:-19.00, Z:0.21 [[ 9.99329817e-01 -3.66048861e-02 0.00000000e+00 3.84324093e+02] [ 3.66048861e-02 9.99329817e-01 0.00000000e+00 -1.90017220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07060741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.100371743 meters Centerline goodness : 0.986086 with order 1 Centerline is valid? [True, True] Translation: X:384.39, Y:-19.02, Z:0.20 [[ 9.99596005e-01 -2.84222805e-02 0.00000000e+00 3.84385262e+02] [ 2.84222805e-02 9.99596005e-01 0.00000000e+00 -1.90200870e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02678890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.160371743 meters Centerline goodness : 0.982887 with order 1 Centerline is valid? [True, True] Translation: X:384.45, Y:-19.02, Z:0.20 [[ 9.99488514e-01 -3.19798492e-02 0.00000000e+00 3.84447354e+02] [ 3.19798492e-02 9.99488514e-01 0.00000000e+00 -1.90161027e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03222195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.220371743 meters Centerline goodness : 0.146005 with order 1 Centerline is valid? [True, False] Translation: X:384.45, Y:-19.02, Z:0.20 [[ 9.99394117e-01 -3.48050034e-02 1.05039363e-04 3.84448894e+02] [ 3.48051521e-02 9.99387018e-01 -3.76694303e-03 -1.90150669e+01] [ 2.61334893e-05 3.76831661e-03 9.99992900e-01 2.02284951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.280371743 meters Centerline goodness : 0.159746 with order 1 Centerline is valid? [False, False] Translation: X:384.45, Y:-19.01, Z:0.20 [[ 9.99311983e-01 -3.70883806e-02 1.11589957e-04 3.84451251e+02] [ 3.70883155e-02 9.99290521e-01 -6.55069702e-03 -1.90144212e+01] [ 1.31443958e-04 6.55032871e-03 9.99978538e-01 2.00303339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.340371743 meters Centerline goodness : 0.166596 with order 1 Centerline is valid? [False, False] Translation: X:384.45, Y:-19.01, Z:0.20 [[ 9.99323415e-01 -3.67778195e-02 3.23695689e-04 3.84451987e+02] [ 3.67791009e-02 9.99305375e-01 -6.00544787e-03 -1.90149486e+01] [-1.02603564e-04 6.01328991e-03 9.99981915e-01 1.98896303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.400371743 meters Centerline goodness : 0.145875 with order 1 Centerline is valid? [False, False] Translation: X:384.45, Y:-19.01, Z:0.20 [[ 9.99201027e-01 -3.99644759e-02 3.86203525e-04 3.84453865e+02] [ 3.99663419e-02 9.99155074e-01 -9.58274113e-03 -1.90143649e+01] [-2.90798469e-06 9.59051991e-03 9.99954010e-01 1.97361987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.460371743 meters Centerline goodness : 0.165875 with order 1 Centerline is valid? [False, False] Translation: X:384.46, Y:-19.01, Z:0.20 [[ 9.99055023e-01 -4.34621774e-02 3.15174060e-04 3.84455658e+02] [ 4.34625113e-02 9.98965922e-01 -1.33452617e-02 -1.90133148e+01] [ 2.65165985e-04 1.33463490e-02 9.99910898e-01 1.96256283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.520371743 meters Centerline goodness : 0.154751 with order 1 Centerline is valid? [False, False] Translation: X:384.46, Y:-19.01, Z:0.19 [[ 9.98905466e-01 -4.67732079e-02 3.69842686e-04 3.84457480e+02] [ 4.67728301e-02 9.98764817e-01 -1.67673078e-02 -1.90122231e+01] [ 4.14874909e-04 1.67662540e-02 9.99859350e-01 1.94784602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.580371743 meters Centerline goodness : 0.164675 with order 1 Centerline is valid? [False, False] Translation: X:384.46, Y:-19.01, Z:0.19 [[ 9.98710403e-01 -5.07667488e-02 5.17025444e-04 3.84458455e+02] [ 5.07665854e-02 9.98496733e-01 -2.06646402e-02 -1.90106526e+01] [ 5.32828381e-04 2.06642388e-02 9.99786330e-01 1.94222552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.640371743 meters Centerline goodness : 0.157726 with order 1 Centerline is valid? [False, False] Translation: X:384.47, Y:-19.01, Z:0.19 [[ 9.98331679e-01 -5.75107037e-02 5.13593134e-03 3.84470462e+02] [ 5.75818414e-02 9.98228317e-01 -1.49853109e-02 -1.90107640e+01] [-4.26501632e-03 1.52560470e-02 9.99874523e-01 1.88364546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.700371743 meters Centerline goodness : 0.146122 with order 1 Centerline is valid? [False, False] Translation: X:384.47, Y:-19.01, Z:0.19 [[ 9.98249845e-01 -5.89173670e-02 5.09810550e-03 3.84471711e+02] [ 5.89898492e-02 9.98138574e-01 -1.54785245e-02 -1.90090564e+01] [-4.17666185e-03 1.57521711e-02 9.99867203e-01 1.87089462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.760371743 meters Centerline goodness : 0.152822 with order 1 Centerline is valid? [False, False] Translation: X:384.48, Y:-19.01, Z:0.18 [[ 9.97991270e-01 -6.25273156e-02 1.01862147e-02 3.84484262e+02] [ 6.26022804e-02 9.98012478e-01 -7.21447790e-03 -1.90076578e+01] [-9.71486745e-03 7.83766623e-03 9.99922093e-01 1.80556169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.820371743 meters Centerline goodness : 0.159900 with order 1 Centerline is valid? [False, False] Translation: X:384.49, Y:-19.00, Z:0.18 [[ 9.97914726e-01 -6.37666510e-02 1.00006906e-02 3.84485738e+02] [ 6.38477498e-02 9.97927497e-01 -8.01097797e-03 -1.90028692e+01] [-9.46913086e-03 8.63279448e-03 9.99917902e-01 1.79649166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.880371743 meters Centerline goodness : 0.155227 with order 1 Centerline is valid? [False, False] Translation: X:384.50, Y:-19.00, Z:0.18 [[ 9.97612734e-01 -6.84828163e-02 8.88468725e-03 3.84501215e+02] [ 6.85159672e-02 9.97643944e-01 -3.48175159e-03 -1.89991430e+01] [-8.62531428e-03 4.08218266e-03 9.99954469e-01 1.77782614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5014.24 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%| | 0/12798 [00:00