+ python -m lidar_slam --result /working/result.json --no-model /working/79aa1111-e3d9-4bb0-ac7b-251745de0001 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/79aa1111-e3d9-4bb0-ac7b-251745de0001 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 0.020714057 Adjusted end_distance from 9.223372036854776e+18 to 934.510714057 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.020714057 meters Centerline goodness : 0.163307 with order 1 Centerline is valid? [0, False] SLAMing on 0.080714057 meters Centerline goodness : 0.169360 with order 1 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 0.99999511 -0.00293747 -0.00107479 0.00457318] [ 0.0029341 0.99999083 -0.00311992 0.00688822] [ 0.00108394 0.00311675 0.99999456 -0.00195188] [ 0. 0. 0. 1. ]] SLAMing on 0.140714057 meters Centerline goodness : 0.173007 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.00 [[ 9.99952606e-01 -9.53151612e-03 -1.98406257e-03 2.09623185e-02] [ 9.52960149e-03 9.99954120e-01 -9.72232071e-04 1.18510102e-02] [ 1.99323838e-03 9.53278668e-04 9.99997559e-01 -2.99082102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20071405700000003 meters Centerline goodness : 0.171238 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.00 [[ 0.9999312 -0.01147278 -0.00244308 0.02295609] [ 0.01146751 0.99993191 -0.00216221 0.01605595] [ 0.00246772 0.00213404 0.99999468 -0.00356603] [ 0. 0. 0. 1. ]] SLAMing on 0.260714057 meters Centerline goodness : 0.177953 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.01 [[ 0.99990282 -0.01363139 -0.00292321 0.02639507] [ 0.01362027 0.99990006 -0.00378962 0.02201949] [ 0.00297457 0.00374944 0.99998855 -0.00516647] [ 0. 0. 0. 1. ]] SLAMing on 0.32071405700000005 meters Centerline goodness : 0.122865 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.01 [[ 0.99988302 -0.01493984 -0.00327984 0.02828999] [ 0.01492563 0.9998793 -0.00431497 0.02495224] [ 0.00334391 0.00426552 0.99998531 -0.00591758] [ 0. 0. 0. 1. ]] SLAMing on 0.38071405700000005 meters Centerline goodness : 0.200082 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.99978192 -0.02054524 -0.00374149 0.03216589] [ 0.02051167 0.99975088 -0.00880067 0.03054642] [ 0.00392137 0.008722 0.99995427 -0.00748083] [ 0. 0. 0. 1. ]] SLAMing on 0.44071405700000005 meters Centerline goodness : 0.197014 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.01 [[ 0.99967387 -0.02515278 -0.00441448 0.03644788] [ 0.02509604 0.99960728 -0.01246899 0.03580979] [ 0.00472638 0.01235414 0.99991251 -0.0087266 ] [ 0. 0. 0. 1. ]] SLAMing on 0.500714057 meters Centerline goodness : 0.205363 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.01 [[ 0.99959066 -0.02810248 -0.00536389 0.04195589] [ 0.02802056 0.99949806 -0.01478115 0.0395636 ] [ 0.00577659 0.0146248 0.99987637 -0.01080145] [ 0. 0. 0. 1. ]] SLAMing on 0.560714057 meters Centerline goodness : 0.212318 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:-0.01 [[ 0.99946798 -0.03202806 -0.00616183 0.04744974] [ 0.03191261 0.99932856 -0.01800036 0.04156207] [ 0.00673421 0.01779414 0.99981899 -0.01262262] [ 0. 0. 0. 1. ]] SLAMing on 0.620714057 meters Centerline goodness : 0.230367 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.05, Z:-0.02 [[ 0.99937657 -0.0346585 -0.00672735 0.05389293] [ 0.03451492 0.99919599 -0.02039815 0.04611747] [ 0.00742891 0.02015324 0.9997693 -0.01505134] [ 0. 0. 0. 1. ]] SLAMing on 0.680714057 meters Centerline goodness : 0.222531 with order 1 Centerline is valid? [False, False] Translation: X:0.09, Y:0.05, Z:-0.02 [[ 0.999427 -0.03364225 -0.00372559 0.09083346] [ 0.03354806 0.99917302 -0.02297394 0.04765789] [ 0.0044954 0.02283579 0.99972912 -0.01561628] [ 0. 0. 0. 1. ]] SLAMing on 0.740714057 meters Centerline goodness : 0.852455 with order 3 Centerline is valid? [False, False] Translation: X:0.13, Y:0.05, Z:-0.02 [[ 9.99398136e-01 -3.46832619e-02 -6.60514907e-04 1.27909924e-01] [ 3.46522421e-02 9.99025146e-01 -2.73492098e-02 4.87506190e-02] [ 1.60843081e-03 2.73098610e-02 9.99625722e-01 -1.66367991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.800714057 meters Centerline goodness : 0.856338 with order 3 Centerline is valid? [False, False] Translation: X:0.14, Y:0.05, Z:-0.02 [[ 9.99427390e-01 -3.38354739e-02 2.29216184e-04 1.39945057e-01] [ 3.38286016e-02 9.99034512e-01 -2.80297815e-02 5.21758030e-02] [ 7.19406060e-04 2.80214854e-02 9.99607062e-01 -2.19813416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.860714057 meters Centerline goodness : 0.861859 with order 3 Centerline is valid? [False, False] Translation: X:0.18, Y:0.06, Z:-0.02 [[ 9.99479271e-01 -3.22516205e-02 1.01019946e-03 1.79594357e-01] [ 3.22674375e-02 9.98990273e-01 -3.12609547e-02 5.58203843e-02] [-9.62989224e-07 3.12772728e-02 9.99510746e-01 -2.30064225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.920714057 meters Centerline goodness : 0.854337 with order 3 Centerline is valid? [False, False] Translation: X:0.18, Y:0.06, Z:-0.02 [[ 9.99484448e-01 -3.21020028e-02 5.46557382e-04 1.82208340e-01] [ 3.21034995e-02 9.99002729e-01 -3.10308421e-02 5.74794367e-02] [ 4.50139863e-04 3.10323905e-02 9.99518278e-01 -2.39533799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.980714057 meters Centerline goodness : 0.854053 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:0.06, Z:-0.03 [[ 9.99498552e-01 -3.16311697e-02 1.45400924e-03 1.93982524e-01] [ 3.16616118e-02 9.98978675e-01 -3.22358529e-02 6.22911364e-02] [-4.32866492e-04 3.22657245e-02 9.99479232e-01 -2.84119329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.040714057 meters Centerline goodness : 0.117130 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:0.07, Z:-0.03 [[ 0.99949847 -0.03152303 0.00301626 0.2335336 ] [ 0.03161388 0.99880001 -0.03740465 0.0673535 ] [-0.00183353 0.03748125 0.99929565 -0.02917708] [ 0. 0. 0. 1. ]] SLAMing on 1.100714057 meters Centerline goodness : 0.875425 with order 3 Centerline is valid? [False, False] Translation: X:0.25, Y:0.07, Z:-0.03 [[ 0.99932045 -0.03684119 -0.00116446 0.24699015] [ 0.03678251 0.99877499 -0.03309936 0.07234425] [ 0.00238245 0.03303403 0.99945139 -0.02878715] [ 0. 0. 0. 1. ]] SLAMing on 1.160714057 meters Centerline goodness : 0.879764 with order 3 Centerline is valid? [False, False] Translation: X:0.26, Y:0.08, Z:-0.03 [[ 9.99332015e-01 -3.65425130e-02 -4.09438099e-04 2.59654007e-01] [ 3.65066298e-02 9.98737375e-01 -3.45097476e-02 7.76273229e-02] [ 1.66999403e-03 3.44717484e-02 9.99404277e-01 -3.36338909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2207140570000001 meters Centerline goodness : 0.885659 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:0.08, Z:-0.04 [[ 9.99441312e-01 -3.34222384e-02 1.33077605e-04 2.72245626e-01] [ 3.34069947e-02 9.98848354e-01 -3.44374678e-02 8.26521630e-02] [ 1.01805291e-03 3.44226737e-02 9.99406846e-01 -3.79244645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.280714057 meters Centerline goodness : 0.891606 with order 3 Centerline is valid? [False, False] Translation: X:0.31, Y:0.09, Z:-0.04 [[ 0.99947536 -0.03227854 0.00266478 0.31198942] [ 0.03235732 0.99873309 -0.03853864 0.08585765] [-0.00141743 0.03860464 0.99925356 -0.03929561] [ 0. 0. 0. 1. ]] SLAMing on 1.340714057 meters Centerline goodness : 0.895678 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:0.09, Z:-0.04 [[ 0.99944734 -0.03302941 0.0037524 0.35276557] [ 0.0331634 0.99846689 -0.04431763 0.08831169] [-0.00228286 0.04441758 0.99901044 -0.04014921] [ 0. 0. 0. 1. ]] SLAMing on 1.400714057 meters Centerline goodness : 0.899857 with order 3 Centerline is valid? [False, False] Translation: X:0.37, Y:0.09, Z:-0.04 [[ 9.99342860e-01 -3.62389080e-02 7.68574493e-04 3.73982328e-01] [ 3.62412383e-02 9.98577863e-01 -3.91001742e-02 9.05754607e-02] [ 6.49466143e-04 3.91023340e-02 9.99235000e-01 -4.24875720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4607140570000001 meters Centerline goodness : 0.899781 with order 1 Centerline is valid? [False, False] Translation: X:0.39, Y:0.09, Z:-0.04 [[ 9.99130820e-01 -4.16736386e-02 -9.55394997e-04 3.89098953e-01] [ 4.16187404e-02 9.98578229e-01 -3.33076760e-02 9.14009266e-02] [ 2.34208870e-03 3.32389633e-02 9.99444689e-01 -4.46634896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5207140570000002 meters Centerline goodness : 0.902129 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:-0.05 [[ 0.99901433 -0.04432912 -0.00230016 0.39598966] [ 0.04421746 0.99837022 -0.03607922 0.09282771] [ 0.00389577 0.03594195 0.99934629 -0.04658673] [ 0. 0. 0. 1. ]] SLAMing on 1.580714057 meters Centerline goodness : 0.914093 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:0.09, Z:-0.05 [[ 0.99923541 -0.03905371 -0.00184689 0.42352864] [ 0.03893298 0.99825067 -0.04449526 0.0935649 ] [ 0.00358136 0.04438933 0.99900789 -0.04562952] [ 0. 0. 0. 1. ]] SLAMing on 1.640714057 meters Centerline goodness : 0.920165 with order 3 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:-0.05 [[ 0.99933214 -0.03642138 -0.00296043 0.42952628] [ 0.03626143 0.99842431 -0.04282531 0.09452161] [ 0.00451552 0.04268936 0.99907819 -0.04663117] [ 0. 0. 0. 1. ]] SLAMing on 1.7007140570000001 meters Centerline goodness : 0.923008 with order 1 Centerline is valid? [False, False] Translation: X:0.45, Y:0.09, Z:-0.05 [[ 0.99923364 -0.03887025 -0.00460834 0.45205425] [ 0.03867491 0.99857422 -0.03679372 0.09324375] [ 0.00603195 0.0365873 0.99931226 -0.05138355] [ 0. 0. 0. 1. ]] SLAMing on 1.7607140570000002 meters Centerline goodness : 0.928994 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:0.09, Z:-0.05 [[ 0.99914097 -0.04098585 -0.00612237 0.45782107] [ 0.04071697 0.99840986 -0.03898554 0.09364951] [ 0.00771049 0.03870276 0.99922102 -0.05244371] [ 0. 0. 0. 1. ]] SLAMing on 1.820714057 meters Centerline goodness : 0.934530 with order 1 Centerline is valid? [False, False] Translation: X:0.47, Y:0.09, Z:-0.05 [[ 0.99877982 -0.04927983 -0.00322131 0.46903177] [ 0.04914067 0.99820232 -0.03431207 0.09156378] [ 0.00490641 0.03411191 0.99940598 -0.0545943 ] [ 0. 0. 0. 1. ]] SLAMing on 1.880714057 meters Centerline goodness : 0.939458 with order 1 Centerline is valid? [False, False] Translation: X:0.47, Y:0.09, Z:-0.05 [[ 0.99856105 -0.05350198 -0.00365594 0.47118565] [ 0.05332598 0.99786063 -0.03782195 0.09033069] [ 0.00567167 0.03757257 0.99927781 -0.05468135] [ 0. 0. 0. 1. ]] SLAMing on 1.940714057 meters Centerline goodness : 0.943810 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:0.09, Z:-0.05 [[ 0.99809437 -0.06150746 -0.00494498 0.47511184] [ 0.06122062 0.99709073 -0.04541057 0.08943749] [ 0.00772369 0.0450213 0.99895617 -0.05361994] [ 0. 0. 0. 1. ]] SLAMing on 2.000714057 meters Centerline goodness : 0.947694 with order 2 Centerline is valid? [False, False] Translation: X:0.48, Y:0.09, Z:-0.05 [[ 0.99774259 -0.06691377 -0.00568084 0.47735936] [ 0.06655246 0.99655555 -0.04947534 0.08729675] [ 0.00897186 0.04898558 0.99875919 -0.05312258] [ 0. 0. 0. 1. ]] SLAMing on 2.060714057 meters Centerline goodness : 0.955569 with order 1 Centerline is valid? [False, True] Translation: X:0.48, Y:0.09, Z:-0.05 [[ 0.9974138 -0.07158948 -0.0063769 0.47941493] [ 0.07114737 0.99602617 -0.05357162 0.08656365] [ 0.01018673 0.05297937 0.99854365 -0.05238421] [ 0. 0. 0. 1. ]] SLAMing on 2.1207140570000003 meters Centerline goodness : 0.960608 with order 1 Centerline is valid? [True, True] Translation: X:0.54, Y:0.07, Z:-0.08 [[ 9.96937397e-01 -7.79933223e-02 -5.73312094e-03 5.40491550e-01] [ 7.79950022e-02 9.96953748e-01 6.96889549e-05 7.18007987e-02] [ 5.71022113e-03 -5.16630306e-04 9.99983563e-01 -7.66712204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1807140570000003 meters Centerline goodness : 0.962617 with order 1 Centerline is valid? [True, True] Translation: X:0.60, Y:0.07, Z:-0.08 [[ 9.97299754e-01 -7.32142900e-02 -5.73312026e-03 6.02820444e-01] [ 7.32158919e-02 9.97316113e-01 6.97453019e-05 7.09361192e-02] [ 5.71262685e-03 -4.89312485e-04 9.99983563e-01 -7.56866524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2407140570000004 meters Centerline goodness : 0.964883 with order 1 Centerline is valid? [True, True] Translation: X:0.66, Y:0.07, Z:-0.07 [[ 9.97470309e-01 -7.08527677e-02 -5.73310238e-03 6.64828093e-01] [ 7.08543390e-02 9.97486670e-01 7.11852381e-05 7.17673622e-02] [ 5.71364953e-03 -4.77220341e-04 9.99983563e-01 -7.33400092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3007140570000004 meters Centerline goodness : 0.970652 with order 1 Centerline is valid? [True, True] Translation: X:0.73, Y:0.07, Z:-0.07 [[ 9.97820038e-01 -6.57442332e-02 -5.73309728e-03 7.25831845e-01] [ 6.57457231e-02 9.97836407e-01 7.15936912e-05 7.12278380e-02] [ 5.71598631e-03 -4.48364246e-04 9.99983563e-01 -6.75999915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3607140570000005 meters Centerline goodness : 0.971360 with order 1 Centerline is valid? [True, True] Translation: X:0.79, Y:0.07, Z:-0.07 [[ 9.97984752e-01 -6.31946741e-02 -5.73309599e-03 7.86049237e-01] [ 6.31961227e-02 9.98001125e-01 7.16968368e-05 7.26154977e-02] [ 5.71710538e-03 -4.33861788e-04 9.99983563e-01 -6.91218535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4207140570000005 meters Centerline goodness : 0.975104 with order 1 Centerline is valid? [True, True] Translation: X:0.85, Y:0.08, Z:-0.07 [[ 9.98264579e-01 -5.86085414e-02 -5.73309536e-03 8.46361703e-01] [ 5.86099151e-02 9.98280959e-01 7.17465215e-05 7.58691637e-02] [ 5.71903498e-03 -4.07638244e-04 9.99983563e-01 -6.64165065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4807140570000006 meters Centerline goodness : 0.974406 with order 1 Centerline is valid? [True, True] Translation: X:0.91, Y:0.08, Z:-0.07 [[ 9.98154084e-01 -6.04612040e-02 -5.73309411e-03 9.06576304e-01] [ 6.04626087e-02 9.98170460e-01 7.18464142e-05 8.08655044e-02] [ 5.71826127e-03 -4.18351618e-04 9.99983563e-01 -7.15922126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.540714057 meters Centerline goodness : 0.980488 with order 1 Centerline is valid? [True, True] Translation: X:0.97, Y:0.08, Z:-0.06 [[ 9.98075080e-01 -6.17516550e-02 -5.73309388e-03 9.66403763e-01] [ 6.17530810e-02 9.98091455e-01 7.18647543e-05 8.36763714e-02] [ 5.71771425e-03 -4.25762631e-04 9.99983563e-01 -6.38334890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6007140570000002 meters Centerline goodness : 0.983043 with order 1 Centerline is valid? [True, True] Translation: X:1.03, Y:0.09, Z:-0.07 [[ 9.98049721e-01 -6.21601577e-02 -5.73309273e-03 1.02629845e+00] [ 6.21615909e-02 9.98066096e-01 7.19562963e-05 8.71699448e-02] [ 5.71753267e-03 -4.28194126e-04 9.99983563e-01 -6.92112913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6607140570000003 meters Centerline goodness : 0.987676 with order 1 Centerline is valid? [True, True] Translation: X:1.09, Y:0.09, Z:-0.06 [[ 9.97972214e-01 -6.33923622e-02 -5.73309273e-03 1.08735568e+00] [ 6.33938156e-02 9.97988587e-01 7.19562963e-05 8.77339924e-02] [ 5.71699963e-03 -4.35253008e-04 9.99983563e-01 -6.44260915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7207140570000004 meters Centerline goodness : 0.989048 with order 1 Centerline is valid? [True, True] Translation: X:1.15, Y:0.09, Z:-0.05 [[ 9.97588034e-01 -6.91754799e-02 -5.73309095e-03 1.14822903e+00] [ 6.91770289e-02 9.97604397e-01 7.20983542e-05 9.27749985e-02] [ 5.71436930e-03 -4.68522654e-04 9.99983563e-01 -5.36515266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7807140570000004 meters Centerline goodness : 0.991993 with order 1 Centerline is valid? [True, True] Translation: X:1.21, Y:0.09, Z:-0.05 [[ 9.98169935e-01 -6.01989352e-02 -5.73309020e-03 1.20814814e+00] [ 6.02003374e-02 9.98186312e-01 7.21580545e-05 9.33460573e-02] [ 5.71834832e-03 -4.17159965e-04 9.99983563e-01 -4.99576750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8407140570000005 meters Centerline goodness : 0.991565 with order 1 Centerline is valid? [True, True] Translation: X:1.27, Y:0.09, Z:-0.05 [[ 9.98020756e-01 -6.26234917e-02 -5.73308762e-03 1.27036475e+00] [ 6.26249347e-02 9.98037130e-01 7.23619951e-05 9.08735337e-02] [ 5.71730275e-03 -4.31253011e-04 9.99983563e-01 -5.17385062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9007140570000005 meters Centerline goodness : 0.992286 with order 1 Centerline is valid? [True, True] Translation: X:1.33, Y:0.09, Z:-0.05 [[ 9.97735288e-01 -6.70181085e-02 -5.73307146e-03 1.33256539e+00] [ 6.70196308e-02 9.97751654e-01 7.36205194e-05 9.43059194e-02] [ 5.71524763e-03 -4.57682123e-04 9.99983563e-01 -4.95421245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9607140570000006 meters Centerline goodness : 0.993198 with order 1 Centerline is valid? [True, True] Translation: X:1.39, Y:0.10, Z:-0.05 [[ 9.98124057e-01 -6.09548958e-02 -5.73306683e-03 1.39362624e+00] [ 6.09563207e-02 9.98140432e-01 7.39791553e-05 9.75046345e-02] [ 5.71789641e-03 -4.23307035e-04 9.99983563e-01 -4.77495724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0207140570000006 meters Centerline goodness : 0.994958 with order 1 Centerline is valid? [True, True] Translation: X:1.45, Y:0.10, Z:-0.04 [[ 9.98206149e-01 -5.95954300e-02 -5.73305184e-03 1.45428381e+00] [ 5.95968392e-02 9.98222526e-01 7.51232070e-05 9.75384432e-02] [ 5.71838449e-03 -4.16660216e-04 9.99983563e-01 -3.88135923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0807140570000002 meters Centerline goodness : 0.995840 with order 1 Centerline is valid? [True, True] Translation: X:1.52, Y:0.09, Z:-0.03 [[ 9.98289342e-01 -5.81852427e-02 -5.73305073e-03 1.51627363e+00] [ 5.81866292e-02 9.98305720e-01 7.52075715e-05 9.48913136e-02] [ 5.71896137e-03 -4.08665814e-04 9.99983563e-01 -3.03412760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1407140570000003 meters Centerline goodness : 0.996251 with order 1 Centerline is valid? [True, True] Translation: X:1.58, Y:0.09, Z:-0.03 [[ 9.98205428e-01 -5.96075210e-02 -5.73304547e-03 1.57855383e+00] [ 5.96089331e-02 9.98221804e-01 7.56066232e-05 9.27038869e-02] [ 5.71834427e-03 -4.17211666e-04 9.99983563e-01 -2.89009776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2007140570000003 meters Centerline goodness : 0.996888 with order 1 Centerline is valid? [True, True] Translation: X:1.64, Y:0.09, Z:-0.03 [[ 9.98102105e-01 -6.13132894e-02 -5.73302573e-03 1.64058951e+00] [ 6.13147379e-02 9.98118478e-01 7.70751307e-05 8.67289223e-02] [ 5.71751319e-03 -4.28447820e-04 9.99983563e-01 -2.84741252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2607140570000004 meters Centerline goodness : 0.996457 with order 1 Centerline is valid? [True, True] Translation: X:1.70, Y:0.08, Z:-0.04 [[ 9.98161836e-01 -6.03330973e-02 -5.73300767e-03 1.70299071e+00] [ 6.03345372e-02 9.98178209e-01 7.83958697e-05 7.76421496e-02] [ 5.71783346e-03 -4.24150130e-04 9.99983563e-01 -3.50533057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3207140570000004 meters Centerline goodness : 0.997350 with order 1 Centerline is valid? [True, True] Translation: X:1.76, Y:0.08, Z:-0.03 [[ 9.97652447e-01 -6.82402171e-02 -5.73298958e-03 1.76469672e+00] [ 6.82417942e-02 9.97668808e-01 7.96969761e-05 7.58639063e-02] [ 5.71418635e-03 -4.70739378e-04 9.99983563e-01 -2.94073977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3807140570000005 meters Centerline goodness : 0.997522 with order 1 Centerline is valid? [True, True] Translation: X:1.83, Y:0.07, Z:-0.03 [[ 9.97921965e-01 -6.41785326e-02 -5.73297149e-03 1.82746879e+00] [ 6.41800504e-02 9.97938332e-01 8.09774622e-05 6.84066792e-02] [ 5.71595500e-03 -4.48751588e-04 9.99983563e-01 -2.79102341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4407140570000005 meters Centerline goodness : 0.997672 with order 1 Centerline is valid? [True, True] Translation: X:1.89, Y:0.06, Z:-0.03 [[ 9.98029952e-01 -6.24767840e-02 -5.73295069e-03 1.88823846e+00] [ 6.24782821e-02 9.98046320e-01 8.24246593e-05 6.12168662e-02] [ 5.71660071e-03 -4.40447189e-04 9.99983563e-01 -2.98282383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5007140570000006 meters Centerline goodness : 0.997432 with order 1 Centerline is valid? [True, True] Translation: X:1.95, Y:0.05, Z:-0.03 [[ 9.98002504e-01 -6.29137172e-02 -5.73293374e-03 1.94762817e+00] [ 6.29152291e-02 9.98018871e-01 8.35868276e-05 5.39879051e-02] [ 5.71631730e-03 -4.44108703e-04 9.99983563e-01 -3.44094148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5607140570000007 meters Centerline goodness : 0.996238 with order 1 Centerline is valid? [True, True] Translation: X:2.01, Y:0.05, Z:-0.03 [[ 9.97931486e-01 -6.40303275e-02 -5.73293501e-03 2.00944324e+00] [ 6.40318573e-02 9.97947851e-01 8.34995427e-05 4.85604381e-02] [ 5.71582368e-03 -4.50417299e-04 9.99983563e-01 -2.95509473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6207140570000003 meters Centerline goodness : 0.996158 with order 1 Centerline is valid? [True, True] Translation: X:2.07, Y:0.04, Z:-0.03 [[ 9.97933467e-01 -6.39994432e-02 -5.73291844e-03 2.07027128e+00] [ 6.40009789e-02 9.97949832e-01 8.46226972e-05 4.38028723e-02] [ 5.71574919e-03 -4.51360213e-04 9.99983563e-01 -2.57200887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6807140570000003 meters Centerline goodness : 0.993930 with order 1 Centerline is valid? [True, True] Translation: X:2.13, Y:0.04, Z:-0.01 [[ 9.98145445e-01 -6.06036620e-02 -5.73291590e-03 2.13151614e+00] [ 6.06051429e-02 9.98161815e-01 8.47943607e-05 3.73122868e-02] [ 5.71723889e-03 -4.32081292e-04 9.99983563e-01 -5.41447009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7407140570000004 meters Centerline goodness : 0.993923 with order 1 Centerline is valid? [True, True] Translation: X:2.19, Y:0.03, Z:-0.01 [[ 9.98175537e-01 -6.01059992e-02 -5.73291303e-03 2.19417223e+00] [ 6.01074731e-02 9.98191908e-01 8.49874264e-05 3.29682438e-02] [ 5.71743914e-03 -4.29423286e-04 9.99983563e-01 -7.33919279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8007140570000004 meters Centerline goodness : 0.992906 with order 1 Centerline is valid? [True, True] Translation: X:2.26, Y:0.03, Z:-0.00 [[ 9.98256323e-01 -5.87490293e-02 -5.73289244e-03 2.25610697e+00] [ 5.87504888e-02 9.98272695e-01 8.63545434e-05 2.77545020e-02] [ 5.71791674e-03 -4.23014202e-04 9.99983563e-01 -8.81211483e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8607140570000005 meters Centerline goodness : 0.993515 with order 1 Centerline is valid? [True, True] Translation: X:2.32, Y:0.02, Z:-0.00 [[ 9.98305861e-01 -5.79011366e-02 -5.73288584e-03 2.31700020e+00] [ 5.79025847e-02 9.98322234e-01 8.67908371e-05 2.12371506e-02] [ 5.71824211e-03 -4.18592709e-04 9.99983563e-01 -4.20512108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9207140570000005 meters Centerline goodness : 0.991759 with order 1 Centerline is valid? [True, True] Translation: X:2.38, Y:0.01, Z:0.00 [[ 9.98377434e-01 -5.66536205e-02 -5.73286481e-03 2.37905188e+00] [ 5.66550559e-02 9.98393809e-01 8.81579546e-05 1.32307846e-02] [ 5.71866227e-03 -4.12810689e-04 9.99983563e-01 1.07898279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9807140570000006 meters Centerline goodness : 0.992506 with order 1 Centerline is valid? [True, True] Translation: X:2.44, Y:0.01, Z:0.00 [[ 9.98332883e-01 -5.74333531e-02 -5.73284133e-03 2.44078436e+00] [ 5.74348098e-02 9.98349255e-01 8.96595685e-05 1.18769088e-02] [ 5.71822842e-03 -4.18774747e-04 9.99983563e-01 1.89640955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.040714057000001 meters Centerline goodness : 0.993479 with order 1 Centerline is valid? [True, True] Translation: X:2.50, Y:0.02, Z:0.00 [[ 9.97587216e-01 -6.91872899e-02 -5.73282825e-03 2.50357461e+00] [ 6.91889441e-02 9.97603569e-01 9.04881493e-05 1.67655097e-02] [ 5.71282930e-03 -4.86918154e-04 9.99983563e-01 3.70300520e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.100714057 meters Centerline goodness : 0.991359 with order 1 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.00, Z:-0.00 [[ 9.98230776e-01 -5.91815189e-02 -5.73281626e-03 2.56473080e+00] [ 5.91830134e-02 9.98247145e-01 9.12412520e-05 -2.37191879e-03] [ 5.71736767e-03 -4.30365168e-04 9.99983563e-01 -1.16937091e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.160714057000001 meters Centerline goodness : 0.993367 with order 1 Centerline is valid? [True, True] Translation: X:2.63, Y:0.01, Z:0.01 [[ 9.97583004e-01 -6.92479996e-02 -5.73278986e-03 2.62718062e+00] [ 6.92496684e-02 9.97599356e-01 9.28714350e-05 8.13558423e-03] [ 5.71259631e-03 -4.89640762e-04 9.99983563e-01 6.89429830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.220714057 meters Centerline goodness : 0.992545 with order 1 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.00, Z:0.01 [[ 9.98237006e-01 -5.90763531e-02 -5.73277977e-03 2.68963703e+00] [ 5.90778586e-02 9.98253374e-01 9.34899450e-05 -3.69243342e-03] [ 5.71724370e-03 -4.32005475e-04 9.99983563e-01 8.37123058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.280714057000001 meters Centerline goodness : 0.992041 with order 1 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.01, Z:0.01 [[ 9.98413831e-01 -5.60085442e-02 -5.73275071e-03 2.75281821e+00] [ 5.60100094e-02 9.98430203e-01 9.52390466e-05 -7.89636355e-03] [ 5.71841725e-03 -4.16179403e-04 9.99983563e-01 9.73445258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3407140570000005 meters Centerline goodness : 0.992439 with order 1 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.01, Z:0.01 [[ 9.98509185e-01 -5.42820791e-02 -5.73272165e-03 2.81546945e+00] [ 5.42835259e-02 9.98525558e-01 9.69575355e-05 -9.56807541e-03] [ 5.71900602e-03 -4.08005333e-04 9.99983563e-01 1.05979920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.400714057000001 meters Centerline goodness : 0.992560 with order 1 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.01, Z:0.01 [[ 9.98618611e-01 -5.22303079e-02 -5.73269210e-03 2.87743154e+00] [ 5.22317309e-02 9.98634987e-01 9.86740086e-05 -8.88155531e-03] [ 5.71971313e-03 -3.97966132e-04 9.99983563e-01 1.37085705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.460714057000001 meters Centerline goodness : 0.991866 with order 1 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.01, Z:0.02 [[ 9.98901224e-01 -4.65132342e-02 -5.73266442e-03 2.94084783e+00] [ 4.65145724e-02 9.98917606e-01 1.00256710e-04 -7.17745430e-03] [ 5.72179616e-03 -3.66798985e-04 9.99983563e-01 1.59533034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.520714057 meters Centerline goodness : 0.993418 with order 1 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.01, Z:0.02 [[ 9.99071782e-01 -4.26932291e-02 -5.73263378e-03 3.00316746e+00] [ 4.26945145e-02 9.99088168e-01 1.01979201e-04 -5.82825629e-03] [ 5.72305276e-03 -3.46636558e-04 9.99983563e-01 1.93069732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.580714057000001 meters Centerline goodness : 0.993216 with order 1 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.01, Z:0.02 [[ 9.99015293e-01 -4.39952540e-02 -5.73260504e-03 3.06679631e+00] [ 4.39965698e-02 9.99031677e-01 1.03570052e-04 -5.43878754e-03] [ 5.72249743e-03 -3.55683023e-04 9.99983563e-01 2.09366010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.640714057 meters Centerline goodness : 0.993796 with order 1 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.00, Z:0.02 [[ 9.98992836e-01 -4.45022549e-02 -5.73257475e-03 3.13030339e+00] [ 4.45035885e-02 9.99009219e-01 1.05220008e-04 -3.70261059e-03] [ 5.72221250e-03 -3.60234182e-04 9.99983563e-01 2.16861920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.700714057000001 meters Centerline goodness : 0.995140 with order 1 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.00, Z:0.02 [[ 9.99020575e-01 -4.38751461e-02 -5.73254449e-03 3.19261432e+00] [ 4.38764787e-02 9.99036958e-01 1.06843589e-04 -1.42496208e-04] [ 5.72233603e-03 -3.58262810e-04 9.99983563e-01 2.33614454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.760714057 meters Centerline goodness : 0.995232 with order 1 Centerline is valid? [True, True] Translation: X:3.25, Y:0.00, Z:0.03 [[ 9.99040976e-01 -4.34081450e-02 -5.73251615e-03 3.25447758e+00] [ 4.34094785e-02 9.99057358e-01 1.08343270e-04 4.90870273e-04] [ 5.72240946e-03 -3.57084903e-04 9.99983563e-01 2.51292108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.820714057000001 meters Centerline goodness : 0.995502 with order 1 Centerline is valid? [True, True] Translation: X:3.32, Y:0.00, Z:0.03 [[ 9.98976934e-01 -4.48578128e-02 -5.73248880e-03 3.31621733e+00] [ 4.48591782e-02 9.98993314e-01 1.09771630e-04 2.81873661e-03] [ 5.72179387e-03 -3.66814063e-04 9.99983563e-01 2.53397915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8807140570000005 meters Centerline goodness : 0.995978 with order 1 Centerline is valid? [True, True] Translation: X:3.38, Y:0.00, Z:0.03 [[ 9.98994038e-01 -4.44752928e-02 -5.73246938e-03 3.37874694e+00] [ 4.44766577e-02 9.99010418e-01 1.10776500e-04 4.80743576e-03] [ 5.72186981e-03 -3.65626141e-04 9.99983563e-01 2.68795553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.940714057000001 meters Centerline goodness : 0.996968 with order 1 Centerline is valid? [True, True] Translation: X:3.44, Y:0.01, Z:0.03 [[ 9.99026032e-01 -4.37507427e-02 -5.73244196e-03 3.44176333e+00] [ 4.37521037e-02 9.99042412e-01 1.12177856e-04 7.28823853e-03] [ 5.72204477e-03 -3.62874994e-04 9.99983563e-01 2.86789464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.000714057000001 meters Centerline goodness : 0.996748 with order 1 Centerline is valid? [True, True] Translation: X:3.50, Y:0.01, Z:0.03 [[ 9.99109967e-01 -4.17901073e-02 -5.73240933e-03 3.50363801e+00] [ 4.17914456e-02 9.99126349e-01 1.13820991e-04 9.27672349e-03] [ 5.72264462e-03 -3.53285359e-04 9.99983563e-01 3.02355026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.060714057 meters Centerline goodness : 0.996488 with order 1 Centerline is valid? [True, True] Translation: X:3.57, Y:0.01, Z:0.03 [[ 9.98962336e-01 -4.51817662e-02 -5.73237977e-03 3.56570627e+00] [ 4.51831685e-02 9.98978712e-01 1.15290966e-04 1.14372379e-02] [ 5.72131631e-03 -3.74178414e-04 9.99983563e-01 2.78812428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.120714057000001 meters Centerline goodness : 0.996325 with order 1 Centerline is valid? [True, True] Translation: X:3.63, Y:0.01, Z:0.03 [[ 9.98881907e-01 -4.69262758e-02 -5.73234987e-03 3.62804292e+00] [ 4.69277151e-02 9.98898281e-01 1.16758880e-04 1.32701596e-02] [ 5.72055537e-03 -3.85634414e-04 9.99983563e-01 2.77548668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.180714057 meters Centerline goodness : 0.997225 with order 1 Centerline is valid? [True, True] Translation: X:3.69, Y:0.01, Z:0.03 [[ 9.98788024e-01 -4.88837760e-02 -5.73231971e-03 3.69022869e+00] [ 4.88852557e-02 9.98804394e-01 1.18220996e-04 1.47171169e-02] [ 5.71968703e-03 -3.98303630e-04 9.99983563e-01 2.91142524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.240714057000001 meters Centerline goodness : 0.996999 with order 1 Centerline is valid? [True, True] Translation: X:3.75, Y:0.02, Z:0.03 [[ 9.98820702e-01 -4.82114742e-02 -5.73228762e-03 3.75250142e+00] [ 4.82129517e-02 9.98837072e-01 1.19757235e-04 1.58203062e-02] [ 5.71984771e-03 -3.95986511e-04 9.99983563e-01 2.79124248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.300714057 meters Centerline goodness : 0.996765 with order 1 Centerline is valid? [True, True] Translation: X:3.81, Y:0.02, Z:0.02 [[ 9.98844981e-01 -4.77058169e-02 -5.73227831e-03 3.81481059e+00] [ 4.77072886e-02 9.98861352e-01 1.20201025e-04 1.53479870e-02] [ 5.72001698e-03 -3.93533646e-04 9.99983563e-01 2.28960952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.360714057000001 meters Centerline goodness : 0.997151 with order 1 Centerline is valid? [True, True] Translation: X:3.88, Y:0.02, Z:0.02 [[ 9.98973817e-01 -4.49272092e-02 -5.73224594e-03 3.87595210e+00] [ 4.49286441e-02 9.98990191e-01 1.21725367e-04 1.63387637e-02] [ 5.72098869e-03 -3.79142492e-04 9.99983563e-01 2.12618939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4207140570000005 meters Centerline goodness : 0.998532 with order 1 Centerline is valid? [True, True] Translation: X:3.94, Y:0.03, Z:0.03 [[ 9.98608485e-01 -5.24236126e-02 -5.73221611e-03 3.93874677e+00] [ 5.24251783e-02 9.98624847e-01 1.23114344e-04 2.77294944e-02] [ 5.71787934e-03 -4.23455480e-04 9.99983563e-01 3.35066740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.480714057000001 meters Centerline goodness : 0.997578 with order 1 Centerline is valid? [True, True] Translation: X:4.00, Y:0.03, Z:0.03 [[ 9.98654433e-01 -5.15409202e-02 -5.73218501e-03 4.00078035e+00] [ 5.15424796e-02 9.98670795e-01 1.24545877e-04 3.00920590e-02] [ 5.71814655e-03 -4.19829320e-04 9.99983563e-01 3.01251729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.540714057000001 meters Centerline goodness : 0.997749 with order 1 Centerline is valid? [True, True] Translation: X:4.06, Y:0.02, Z:0.02 [[ 9.98945858e-01 -4.55446560e-02 -5.73214781e-03 4.06170746e+00] [ 4.55461268e-02 9.98962229e-01 1.26234810e-04 2.29678240e-02] [ 5.72044983e-03 -3.87178871e-04 9.99983563e-01 2.48547125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.600714057 meters Centerline goodness : 0.997486 with order 1 Centerline is valid? [True, True] Translation: X:4.12, Y:0.03, Z:0.03 [[ 9.98655397e-01 -5.15222355e-02 -5.73211283e-03 4.12378313e+00] [ 5.15238132e-02 9.98671758e-01 1.27803687e-04 3.32026918e-02] [ 5.71791447e-03 -4.22972152e-04 9.99983563e-01 2.76697152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.660714057000001 meters Centerline goodness : 0.998083 with order 1 Centerline is valid? [True, True] Translation: X:4.19, Y:0.03, Z:0.03 [[ 9.98671496e-01 -5.12092356e-02 -5.73209974e-03 4.18573083e+00] [ 5.12108115e-02 9.98687857e-01 1.28388108e-04 3.49097162e-02] [ 5.71800375e-03 -4.21763023e-04 9.99983563e-01 3.19184836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.720714057 meters Centerline goodness : 0.997330 with order 1 Centerline is valid? [True, True] Translation: X:4.25, Y:0.03, Z:0.03 [[ 9.98738412e-01 -4.98871445e-02 -5.73206244e-03 4.24878085e+00] [ 4.98887081e-02 9.98754775e-01 1.30032506e-04 2.80162782e-02] [ 5.71843778e-03 -4.15833648e-04 9.99983563e-01 2.57905474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.780714057000001 meters Centerline goodness : 0.997710 with order 1 Centerline is valid? [True, True] Translation: X:4.31, Y:0.03, Z:0.03 [[ 9.98664076e-01 -5.13537535e-02 -5.73201298e-03 4.31148230e+00] [ 5.13553533e-02 9.98680434e-01 1.32177556e-04 2.98106718e-02] [ 5.71766140e-03 -4.26370528e-04 9.99983563e-01 2.76020570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8407140570000005 meters Centerline goodness : 0.998270 with order 1 Centerline is valid? [True, True] Translation: X:4.37, Y:0.03, Z:0.03 [[ 9.98696741e-01 -5.07145259e-02 -5.73199288e-03 4.37378545e+00] [ 5.07161203e-02 9.98713101e-01 1.33043602e-04 3.21905918e-02] [ 5.71786913e-03 -4.23574652e-04 9.99983563e-01 2.94857178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.900714057000001 meters Centerline goodness : 0.997675 with order 1 Centerline is valid? [True, True] Translation: X:4.44, Y:0.03, Z:0.03 [[ 9.98804587e-01 -4.85442193e-02 -5.73195303e-03 4.43617472e+00] [ 4.85457878e-02 9.98820949e-01 1.34738540e-04 3.23195178e-02] [ 5.71865399e-03 -4.12839647e-04 9.99983563e-01 2.52106556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.960714057000001 meters Centerline goodness : 0.997735 with order 1 Centerline is valid? [True, True] Translation: X:4.50, Y:0.03, Z:0.03 [[ 9.99134125e-01 -4.12085571e-02 -5.73191598e-03 4.49806314e+00] [ 4.12100142e-02 9.99150497e-01 1.36296711e-04 3.27506877e-02] [ 5.72143011e-03 -3.72391035e-04 9.99983563e-01 2.52062649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.020714057000001 meters Centerline goodness : 0.997407 with order 1 Centerline is valid? [True, True] Translation: X:4.56, Y:0.03, Z:0.03 [[ 9.99267380e-01 -3.78397848e-02 -5.73190776e-03 4.55975297e+00] [ 3.78411887e-02 9.99283756e-01 1.36641507e-04 3.47906235e-02] [ 5.72263183e-03 -3.53443604e-04 9.99983563e-01 2.66424535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.080714057000001 meters Centerline goodness : 0.997611 with order 1 Centerline is valid? [True, True] Translation: X:4.62, Y:0.04, Z:0.03 [[ 9.99379387e-01 -3.47561048e-02 -5.73187296e-03 4.62223715e+00] [ 3.47574665e-02 9.99395767e-01 1.38085938e-04 3.58314518e-02] [ 5.72361025e-03 -3.37225622e-04 9.99983563e-01 2.74763569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.140714057 meters Centerline goodness : 0.997426 with order 1 Centerline is valid? [True, True] Translation: X:4.68, Y:0.03, Z:0.02 [[ 9.99446685e-01 -3.27638387e-02 -5.73183351e-03 4.68381118e+00] [ 3.27651769e-02 9.99463068e-01 1.39704832e-04 3.36534054e-02] [ 5.72417863e-03 -3.27432071e-04 9.99983563e-01 2.28313275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.200714057000001 meters Centerline goodness : 0.997255 with order 1 Centerline is valid? [True, True] Translation: X:4.75, Y:0.03, Z:0.02 [[ 9.99482666e-01 -3.16472235e-02 -5.73179972e-03 4.74641478e+00] [ 3.16485513e-02 9.99499049e-01 1.41077467e-04 3.28111150e-02] [ 5.72446366e-03 -3.22407640e-04 9.99983563e-01 2.23997586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.260714057 meters Centerline goodness : 0.997627 with order 1 Centerline is valid? [True, True] Translation: X:4.81, Y:0.03, Z:0.02 [[ 9.99562257e-01 -2.90248512e-02 -5.73178459e-03 4.80916791e+00] [ 2.90261395e-02 9.99578643e-01 1.41689539e-04 3.27747346e-02] [ 5.72525695e-03 -3.07999094e-04 9.99983563e-01 2.04552121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.320714057000001 meters Centerline goodness : 0.997752 with order 1 Centerline is valid? [True, True] Translation: X:4.87, Y:0.03, Z:0.02 [[ 9.99615324e-01 -2.71357851e-02 -5.73177153e-03 4.87050172e+00] [ 2.71370454e-02 9.99631712e-01 1.42215953e-04 3.32585687e-02] [ 5.72580145e-03 -2.97704590e-04 9.99983563e-01 2.24634623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3807140570000005 meters Centerline goodness : 0.997991 with order 1 Centerline is valid? [True, True] Translation: X:4.93, Y:0.03, Z:0.02 [[ 9.99630751e-01 -2.65613978e-02 -5.73176378e-03 4.93240935e+00] [ 2.65626505e-02 9.99647140e-01 1.42527760e-04 3.14928208e-02] [ 5.72595553e-03 -2.94725970e-04 9.99983563e-01 1.90380640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.440714057000001 meters Centerline goodness : 0.997883 with order 1 Centerline is valid? [True, True] Translation: X:4.99, Y:0.03, Z:0.02 [[ 9.99716448e-01 -2.31121378e-02 -5.73175356e-03 4.99461999e+00] [ 2.31133363e-02 9.99732841e-01 1.42937575e-04 2.82981422e-02] [ 5.72691867e-03 -2.75376992e-04 9.99983563e-01 1.55386469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.500714057000001 meters Centerline goodness : 0.997253 with order 1 Centerline is valid? [True, True] Translation: X:5.06, Y:0.03, Z:0.01 [[ 9.99793566e-01 -1.94928671e-02 -5.73174320e-03 5.05713458e+00] [ 1.94940086e-02 9.99809963e-01 1.43351520e-04 2.57936924e-02] [ 5.72785963e-03 -2.55056578e-04 9.99983563e-01 1.35173222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.560714057000001 meters Centerline goodness : 0.997467 with order 1 Centerline is valid? [True, True] Translation: X:5.12, Y:0.02, Z:0.01 [[ 9.99798635e-01 -1.92311462e-02 -5.73173295e-03 5.11873928e+00] [ 1.92322857e-02 9.99815032e-01 1.43760261e-04 2.35024365e-02] [ 5.72790809e-03 -2.53965638e-04 9.99983563e-01 1.29505920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.620714057000001 meters Centerline goodness : 0.997660 with order 1 Centerline is valid? [True, True] Translation: X:5.18, Y:0.02, Z:0.01 [[ 9.99768754e-01 -2.07264399e-02 -5.73171349e-03 5.18178000e+00] [ 2.07276084e-02 9.99785150e-01 1.44531880e-04 2.07403449e-02] [ 5.72748640e-03 -2.63303170e-04 9.99983563e-01 1.25625893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.680714057 meters Centerline goodness : 0.997406 with order 1 Centerline is valid? [True, True] Translation: X:5.24, Y:0.02, Z:0.01 [[ 9.99759257e-01 -2.11796005e-02 -5.73169799e-03 5.24456550e+00] [ 2.11807799e-02 9.99775652e-01 1.45144196e-04 1.92615759e-02] [ 5.72733800e-03 -2.66511088e-04 9.99983563e-01 1.17974873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.740714057000001 meters Centerline goodness : 0.997245 with order 1 Centerline is valid? [True, True] Translation: X:5.31, Y:0.02, Z:0.01 [[ 9.99685666e-01 -2.44072998e-02 -5.73168248e-03 5.30716119e+00] [ 2.44085356e-02 9.99702057e-01 1.45754275e-04 1.68824886e-02] [ 5.72641729e-03 -2.85610435e-04 9.99983563e-01 1.23873239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.800714057 meters Centerline goodness : 0.997711 with order 1 Centerline is valid? [True, True] Translation: X:5.37, Y:0.01, Z:0.01 [[ 9.99554742e-01 -2.92825036e-02 -5.73167233e-03 5.36963519e+00] [ 2.92838216e-02 9.99571126e-01 1.46151970e-04 1.30003511e-02] [ 5.72493447e-03 -3.13932164e-04 9.99983563e-01 1.27748493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.860714057000001 meters Centerline goodness : 0.997678 with order 1 Centerline is valid? [True, True] Translation: X:5.43, Y:0.01, Z:0.01 [[ 9.99396641e-01 -3.42564157e-02 -5.73166168e-03 5.43113030e+00] [ 3.42578177e-02 9.99413018e-01 1.46568605e-04 8.21582854e-03] [ 5.72327638e-03 -3.42834393e-04 9.99983563e-01 1.48063188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9207140570000005 meters Centerline goodness : 0.997973 with order 1 Centerline is valid? [True, True] Translation: X:5.49, Y:0.00, Z:0.01 [[ 9.99352358e-01 -3.55248150e-02 -5.73162723e-03 5.49311037e+00] [ 3.55262454e-02 9.99368733e-01 1.47903622e-04 4.30627698e-03] [ 5.72275479e-03 -3.51431029e-04 9.99983563e-01 1.40117479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.980714057000001 meters Centerline goodness : 0.997684 with order 1 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.00, Z:0.01 [[ 9.99334690e-01 -3.60183990e-02 -5.73161690e-03 5.55476786e+00] [ 3.60198397e-02 9.99351064e-01 1.48302737e-04 -1.33544270e-03] [ 5.72255582e-03 -3.54655992e-04 9.99983563e-01 1.27608061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.040714057000001 meters Centerline goodness : 0.997511 with order 1 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.01, Z:0.01 [[ 9.99273328e-01 -3.76824095e-02 -5.73160594e-03 5.61559693e+00] [ 3.76838799e-02 9.99289699e-01 1.48725417e-04 -5.99166991e-03] [ 5.72193044e-03 -3.64606492e-04 9.99983563e-01 1.44448754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.100714057000001 meters Centerline goodness : 0.997888 with order 1 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.01, Z:0.01 [[ 9.99346546e-01 -3.56879634e-02 -5.73158531e-03 5.67790590e+00] [ 3.56894057e-02 9.99362919e-01 1.49515949e-04 -1.00199840e-02] [ 5.72259791e-03 -3.53975121e-04 9.99983563e-01 1.01567977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.160714057000001 meters Centerline goodness : 0.997966 with order 1 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.01, Z:0.02 [[ 9.99408586e-01 -3.39061432e-02 -5.73157427e-03 5.73944368e+00] [ 3.39075586e-02 9.99424962e-01 1.49938080e-04 -1.00730230e-02] [ 5.72319458e-03 -3.44193095e-04 9.99983563e-01 1.59309895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.220714057 meters Centerline goodness : 0.998245 with order 1 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.01, Z:0.02 [[ 9.99491546e-01 -3.13655611e-02 -5.73153902e-03 5.80140984e+00] [ 3.13669425e-02 9.99507925e-01 1.51273642e-04 -1.19579638e-02] [ 5.72397389e-03 -3.30977581e-04 9.99983563e-01 1.69272132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.280714057000001 meters Centerline goodness : 0.997728 with order 1 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.01, Z:0.02 [[ 9.99526430e-01 -3.02335095e-02 -5.73152819e-03 5.86350447e+00] [ 3.02348747e-02 9.99542810e-01 1.51683053e-04 -1.29103405e-02] [ 5.72432188e-03 -3.24903257e-04 9.99983563e-01 2.01340550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3407140570000005 meters Centerline goodness : 0.998222 with order 1 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.02, Z:0.02 [[ 9.99601945e-01 -2.76242806e-02 -5.73151749e-03 5.92429466e+00] [ 2.76256054e-02 9.99618329e-01 1.52086078e-04 -1.54763470e-02] [ 5.72512867e-03 -3.10362180e-04 9.99983563e-01 1.77346089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.400714057000001 meters Centerline goodness : 0.997890 with order 1 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.02, Z:0.02 [[ 9.99602077e-01 -2.76195062e-02 -5.73150957e-03 5.98690934e+00] [ 2.76208326e-02 9.99618460e-01 1.52383967e-04 -1.82386572e-02] [ 5.72511400e-03 -3.10632396e-04 9.99983563e-01 1.86065158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.460714057000001 meters Centerline goodness : 0.997886 with order 1 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.02, Z:0.02 [[ 9.99570512e-01 -2.87392056e-02 -5.73149900e-03 6.04894182e+00] [ 2.87405526e-02 9.99586893e-01 1.52780396e-04 -2.09429884e-02] [ 5.72474050e-03 -3.17441227e-04 9.99983563e-01 1.74444892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.520714057000001 meters Centerline goodness : 0.998256 with order 1 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.02, Z:0.02 [[ 9.99604693e-01 -2.75246688e-02 -5.73148770e-03 6.11065194e+00] [ 2.75259983e-02 9.99621076e-01 1.53203297e-04 -2.47779051e-02] [ 5.72509903e-03 -3.10907656e-04 9.99983563e-01 1.63060709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.580714057000001 meters Centerline goodness : 0.997590 with order 1 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.03, Z:0.02 [[ 9.99743192e-01 -2.19248778e-02 -5.73147663e-03 6.17222226e+00] [ 2.19261179e-02 9.99759582e-01 1.53616478e-04 -2.83357210e-02] [ 5.72673065e-03 -2.79246060e-04 9.99983563e-01 1.63498173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.640714057000001 meters Centerline goodness : 0.997451 with order 1 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.03, Z:0.01 [[ 9.99812987e-01 -1.84700097e-02 -5.73146843e-03 6.23481772e+00] [ 1.84711949e-02 9.99829381e-01 1.53921761e-04 -3.16221825e-02] [ 5.72764759e-03 -2.59760046e-04 9.99983563e-01 1.46388931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.700714057000001 meters Centerline goodness : 0.997921 with order 1 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.04, Z:0.01 [[ 9.99856708e-01 -1.59284119e-02 -5.73145142e-03 6.29757541e+00] [ 1.59295590e-02 9.99873105e-01 1.54552325e-04 -3.59951407e-02] [ 5.72826236e-03 -2.45829672e-04 9.99983563e-01 1.38171880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.760714057 meters Centerline goodness : 0.997853 with order 1 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.04, Z:0.01 [[ 9.99874018e-01 -1.48019843e-02 -5.73143442e-03 6.35824659e+00] [ 1.48031166e-02 9.99890416e-01 1.55180515e-04 -3.93358422e-02] [ 5.72850936e-03 -2.40004057e-04 9.99983563e-01 1.45992860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.820714057000001 meters Centerline goodness : 0.997676 with order 1 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.04, Z:0.02 [[ 9.99867649e-01 -1.52261721e-02 -5.73141506e-03 6.42081210e+00] [ 1.52273154e-02 9.99884046e-01 1.55892049e-04 -4.25635257e-02] [ 5.72837684e-03 -2.43145481e-04 9.99983563e-01 1.62867338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8807140570000005 meters Centerline goodness : 0.996939 with order 1 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.05, Z:0.02 [[ 9.99819632e-01 -1.81067543e-02 -5.73140425e-03 6.48241288e+00] [ 1.81079471e-02 9.99836025e-01 1.56288674e-04 -4.70041918e-02] [ 5.72763456e-03 -2.60044449e-04 9.99983563e-01 1.68997891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.940714057000001 meters Centerline goodness : 0.997369 with order 1 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.05, Z:0.02 [[ 9.99749810e-01 -2.16210284e-02 -5.73139586e-03 6.54461505e+00] [ 2.16222806e-02 9.99766199e-01 1.56595747e-04 -4.95066864e-02] [ 5.72667009e-03 -2.80482417e-04 9.99983563e-01 1.78702205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.000714057 meters Centerline goodness : 0.997351 with order 1 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.05, Z:0.02 [[ 9.99618285e-01 -2.70265602e-02 -5.73138461e-03 6.60634578e+00] [ 2.70279033e-02 9.99634667e-01 1.57006313e-04 -5.29334524e-02] [ 5.72504741e-03 -3.11853690e-04 9.99983563e-01 1.86547631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.060714057 meters Centerline goodness : 0.996120 with order 1 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.06, Z:0.02 [[ 9.99532654e-01 -3.00270869e-02 -5.73137317e-03 6.66751931e+00] [ 3.00284816e-02 9.99549031e-01 1.57422927e-04 -5.82549854e-02] [ 5.72406154e-03 -3.29453790e-04 9.99983563e-01 1.69901830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.120714057 meters Centerline goodness : 0.996762 with order 1 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.06, Z:0.02 [[ 9.99371628e-01 -3.49785743e-02 -5.73135077e-03 6.72980600e+00] [ 3.49800548e-02 9.99387998e-01 1.58234001e-04 -5.90298140e-02] [ 5.72230838e-03 -3.58617536e-04 9.99983563e-01 2.08165195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.180714057 meters Centerline goodness : 0.996924 with order 1 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.06, Z:0.02 [[ 9.99344612e-01 -3.57421121e-02 -5.73133935e-03 6.79291387e+00] [ 3.57436073e-02 9.99360981e-01 1.58646604e-04 -6.28124506e-02] [ 5.72200655e-03 -3.63401372e-04 9.99983563e-01 2.06643444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.240714057 meters Centerline goodness : 0.996310 with order 1 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.06, Z:0.02 [[ 9.99304842e-01 -3.68372897e-02 -5.73129195e-03 6.85655886e+00] [ 3.68388126e-02 9.99321208e-01 1.60340858e-04 -6.25076365e-02] [ 5.72149507e-03 -3.71363385e-04 9.99983563e-01 2.20528558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.300714057 meters Centerline goodness : 0.996155 with order 1 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.07, Z:0.02 [[ 9.99309577e-01 -3.67086153e-02 -5.73124448e-03 6.91942197e+00] [ 3.67101456e-02 9.99325942e-01 1.62020008e-04 -6.66480882e-02] [ 5.72143377e-03 -3.72302966e-04 9.99983563e-01 1.90481532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.360714057 meters Centerline goodness : 0.996111 with order 1 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.07, Z:0.02 [[ 9.99331491e-01 -3.61071178e-02 -5.73122676e-03 6.98236160e+00] [ 3.61086419e-02 9.99347857e-01 1.62644689e-04 -7.01177829e-02] [ 5.72161655e-03 -3.69482774e-04 9.99983563e-01 1.75650383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.420714057 meters Centerline goodness : 0.996594 with order 1 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.07, Z:0.02 [[ 9.99303528e-01 -3.68729099e-02 -5.73120854e-03 7.04455618e+00] [ 3.68744502e-02 9.99319893e-01 1.63284178e-04 -7.17628577e-02] [ 5.72128994e-03 -3.74505618e-04 9.99983563e-01 1.89271199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.480714057 meters Centerline goodness : 0.995881 with order 1 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.07, Z:0.02 [[ 9.99314097e-01 -3.65853637e-02 -5.73116361e-03 7.10794491e+00] [ 3.65869082e-02 9.99330461e-01 1.64846311e-04 -7.47779905e-02] [ 5.72129541e-03 -3.74418799e-04 9.99983563e-01 2.03184753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.540714057 meters Centerline goodness : 0.996700 with order 1 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.08, Z:0.02 [[ 9.99310567e-01 -3.66816540e-02 -5.73114603e-03 7.17118330e+00] [ 3.66832036e-02 9.99326931e-01 1.65455256e-04 -7.56621214e-02] [ 5.72121940e-03 -3.75577982e-04 9.99983563e-01 2.10773405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.600714057 meters Centerline goodness : 0.995772 with order 1 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.08, Z:0.02 [[ 9.99297490e-01 -3.70362093e-02 -5.73112732e-03 7.23334544e+00] [ 3.70377684e-02 9.99313853e-01 1.66100600e-04 -7.75458492e-02] [ 5.72104319e-03 -3.78252079e-04 9.99983563e-01 2.07902128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.660714057 meters Centerline goodness : 0.995108 with order 1 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.08, Z:0.02 [[ 9.99242177e-01 -3.84996968e-02 -5.73109662e-03 7.29558497e+00] [ 3.85012858e-02 9.99258537e-01 1.67153155e-04 -7.95574476e-02] [ 5.72041188e-03 -3.87681071e-04 9.99983563e-01 2.02567740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.720714057 meters Centerline goodness : 0.995506 with order 1 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.08, Z:0.02 [[ 9.99236632e-01 -3.86433421e-02 -5.73106637e-03 7.35829605e+00] [ 3.86449394e-02 9.99252991e-01 1.68184008e-04 -8.19028438e-02] [ 5.72028602e-03 -3.89532334e-04 9.99983563e-01 2.08427885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.780714057 meters Centerline goodness : 0.994914 with order 1 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.09, Z:0.02 [[ 9.99101773e-01 -4.19857455e-02 -5.73104793e-03 7.42025524e+00] [ 4.19874011e-02 9.99118126e-01 1.68810142e-04 -8.53430276e-02] [ 5.71890625e-03 -4.09290320e-04 9.99983563e-01 2.22644142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.840714057 meters Centerline goodness : 0.995454 with order 1 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.09, Z:0.02 [[ 9.99054390e-01 -4.30984980e-02 -5.73100237e-03 7.48361797e+00] [ 4.31001805e-02 9.99070741e-01 1.70342816e-04 -8.83827759e-02] [ 5.71833527e-03 -4.17188975e-04 9.99983563e-01 2.31122212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.900714057 meters Centerline goodness : 0.995691 with order 1 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.09, Z:0.02 [[ 9.99015697e-01 -4.39862770e-02 -5.73095196e-03 7.54622939e+00] [ 4.39879836e-02 9.99032045e-01 1.72022311e-04 -9.06035906e-02] [ 5.71783804e-03 -4.23946010e-04 9.99983563e-01 2.30466489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.960714057 meters Centerline goodness : 0.995953 with order 1 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.09, Z:0.02 [[ 9.99040028e-01 -4.34301568e-02 -5.73090464e-03 7.60978146e+00] [ 4.34318632e-02 9.99056376e-01 1.73584754e-04 -9.38173731e-02] [ 5.71795801e-03 -4.22321983e-04 9.99983563e-01 2.35446916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.020714057 meters Centerline goodness : 0.995207 with order 1 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.10, Z:0.03 [[ 9.98932362e-01 -4.58398668e-02 -5.73085362e-03 7.67086484e+00] [ 4.58416222e-02 9.98948705e-01 1.75252976e-04 -9.66406819e-02] [ 5.71679523e-03 -4.37777496e-04 9.99983563e-01 2.53486683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.080714057 meters Centerline goodness : 0.995346 with order 1 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.10, Z:0.03 [[ 9.98778628e-01 -4.90755433e-02 -5.73082879e-03 7.73401446e+00] [ 4.90773562e-02 9.98794965e-01 1.76061190e-04 -1.02162161e-01] [ 5.71528264e-03 -4.57100080e-04 9.99983563e-01 2.69577857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.140714057 meters Centerline goodness : 0.996631 with order 1 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.11, Z:0.03 [[ 9.98709534e-01 -5.04621112e-02 -5.73077893e-03 7.79604046e+00] [ 5.04639560e-02 9.98725867e-01 1.77669445e-04 -1.05040186e-01] [ 5.71451158e-03 -4.66637944e-04 9.99983563e-01 2.61459867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.200714057 meters Centerline goodness : 0.996566 with order 1 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.11, Z:0.03 [[ 9.98732307e-01 -5.00093782e-02 -5.73073398e-03 7.85883742e+00] [ 5.00112238e-02 9.98748640e-01 1.79107806e-04 -1.09443789e-01] [ 5.71460569e-03 -4.65481771e-04 9.99983563e-01 2.58983481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.260714057 meters Centerline goodness : 0.996887 with order 1 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.11, Z:0.03 [[ 9.98842746e-01 -4.77527861e-02 -5.73068059e-03 7.92226956e+00] [ 4.77546044e-02 9.98859082e-01 1.80799928e-04 -1.10413598e-01] [ 5.71550865e-03 -4.54257081e-04 9.99983563e-01 3.00091780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.320714057 meters Centerline goodness : 0.996486 with order 1 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.11, Z:0.03 [[ 9.98934699e-01 -4.57889415e-02 -5.73062761e-03 7.98557899e+00] [ 4.57907372e-02 9.98951037e-01 1.82463882e-04 -1.12767533e-01] [ 5.71626157e-03 -4.44679166e-04 9.99983563e-01 2.93514331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.380714057 meters Centerline goodness : 0.997379 with order 1 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.12, Z:0.03 [[ 9.98996179e-01 -4.44274065e-02 -5.73057333e-03 8.04685824e+00] [ 4.44291896e-02 9.99012519e-01 1.84153155e-04 -1.15040238e-01] [ 5.71673305e-03 -4.38573026e-04 9.99983563e-01 2.78266065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.440714057 meters Centerline goodness : 0.996909 with order 1 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.12, Z:0.03 [[ 9.99139678e-01 -4.10738942e-02 -5.73054662e-03 8.10954598e+00] [ 4.10756271e-02 9.99156023e-01 1.84980378e-04 -1.17289973e-01] [ 5.71811231e-03 -4.20207031e-04 9.99983563e-01 3.19855430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.500714057 meters Centerline goodness : 0.996636 with order 1 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.12, Z:0.03 [[ 9.99318370e-01 -3.64685631e-02 -5.73049641e-03 8.17071751e+00] [ 3.64702294e-02 9.99334722e-01 1.86522904e-04 -1.19026317e-01] [ 5.71988182e-03 -3.95388283e-04 9.99983563e-01 3.03335470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.560714057 meters Centerline goodness : 0.996511 with order 1 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.12, Z:0.03 [[ 9.99352473e-01 -3.55217650e-02 -5.73045017e-03 8.23238773e+00] [ 3.55234239e-02 9.99368826e-01 1.87932919e-04 -1.21852309e-01] [ 5.72015755e-03 -3.91376438e-04 9.99983563e-01 3.00127683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.620714057 meters Centerline goodness : 0.995512 with order 1 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.12, Z:0.03 [[ 9.99532806e-01 -3.00221857e-02 -5.73043616e-03 8.29474150e+00] [ 3.00237570e-02 9.99549168e-01 1.88359348e-04 -1.23671593e-01] [ 5.72219773e-03 -3.60320571e-04 9.99983563e-01 3.18735285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.680714057 meters Centerline goodness : 0.995835 with order 1 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.13, Z:0.03 [[ 9.99616389e-01 -2.70967948e-02 -5.73042239e-03 8.35557090e+00] [ 2.70983206e-02 9.99632755e-01 1.88777232e-04 -1.25369166e-01] [ 5.72320266e-03 -3.43989638e-04 9.99983563e-01 2.99516868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.740714057 meters Centerline goodness : 0.994064 with order 1 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.13, Z:0.03 [[ 9.99631922e-01 -2.65176144e-02 -5.73041223e-03 8.41852983e+00] [ 2.65191325e-02 9.99648288e-01 1.89085256e-04 -1.28431853e-01] [ 5.72338268e-03 -3.40981219e-04 9.99983563e-01 2.73162503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.800714057 meters Centerline goodness : 0.995133 with order 1 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.13, Z:0.03 [[ 9.99721373e-01 -2.28984483e-02 -5.73039133e-03 8.47934223e+00] [ 2.28999108e-02 9.99737745e-01 1.89716317e-04 -1.31638349e-01] [ 5.72454430e-03 -3.20888907e-04 9.99983563e-01 2.78781459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.860714057000001 meters Centerline goodness : 0.996087 with order 1 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.13, Z:0.03 [[ 9.99620284e-01 -2.69527459e-02 -5.73038113e-03 8.54191905e+00] [ 2.69542765e-02 9.99636649e-01 1.90023918e-04 -1.33750538e-01] [ 5.72317733e-03 -3.44410041e-04 9.99983563e-01 2.78613611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.920714057 meters Centerline goodness : 0.996341 with order 1 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.14, Z:0.03 [[ 9.99614072e-01 -2.71821651e-02 -5.73036009e-03 8.60470114e+00] [ 2.71837030e-02 9.99630437e-01 1.90656404e-04 -1.35094156e-01] [ 5.72305990e-03 -3.46355231e-04 9.99983563e-01 2.99422811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.980714057 meters Centerline goodness : 0.996752 with order 1 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.14, Z:0.03 [[ 9.99598076e-01 -2.77641948e-02 -5.73033942e-03 8.66753439e+00] [ 2.77657458e-02 9.99614439e-01 1.91275642e-04 -1.35782575e-01] [ 5.72281941e-03 -3.50305911e-04 9.99983563e-01 2.91803358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.040714057 meters Centerline goodness : 0.997371 with order 1 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.13, Z:0.03 [[ 9.99331987e-01 -3.60935368e-02 -5.73031847e-03 8.73004236e+00] [ 3.60952277e-02 9.99348337e-01 1.91901091e-04 -1.29316667e-01] [ 5.71965785e-03 -3.98610049e-04 9.99983563e-01 3.48564171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.100714057 meters Centerline goodness : 0.995911 with order 1 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.14, Z:0.03 [[ 9.99502604e-01 -3.10114304e-02 -5.73026967e-03 8.79188036e+00] [ 3.10130464e-02 9.99518961e-01 1.93347588e-04 -1.39767053e-01] [ 5.72151720e-03 -3.70964537e-04 9.99983563e-01 2.70259831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.160714057 meters Centerline goodness : 0.995546 with order 1 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.14, Z:0.03 [[ 9.99588880e-01 -2.80933418e-02 -5.73025532e-03 8.85436368e+00] [ 2.80949125e-02 9.99605241e-01 1.93771962e-04 -1.40358759e-01] [ 5.72254955e-03 -3.54683320e-04 9.99983563e-01 3.06132716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.220714057 meters Centerline goodness : 0.995232 with order 1 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.14, Z:0.03 [[ 9.99565832e-01 -2.89017469e-02 -5.73024100e-03 8.91720689e+00] [ 2.89033333e-02 9.99582193e-01 1.94194406e-04 -1.42615107e-01] [ 5.72223431e-03 -3.59733159e-04 9.99983563e-01 2.82443937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.280714057 meters Centerline goodness : 0.995816 with order 1 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.14, Z:0.03 [[ 9.99475549e-01 -3.18714742e-02 -5.73021942e-03 8.97950238e+00] [ 3.18731127e-02 9.99491904e-01 1.94829008e-04 -1.44577193e-01] [ 5.72109844e-03 -3.77366759e-04 9.99983563e-01 2.97977314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.340714057 meters Centerline goodness : 0.995889 with order 1 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.15, Z:0.02 [[ 9.99329900e-01 -3.61512771e-02 -5.73020508e-03 9.04199414e+00] [ 3.61529881e-02 9.99346248e-01 1.95249853e-04 -1.46375564e-01] [ 5.71940042e-03 -4.02283052e-04 9.99983563e-01 2.34707919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.400714057 meters Centerline goodness : 0.995711 with order 1 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.15, Z:0.03 [[ 9.99386785e-01 -3.45430122e-02 -5.73019002e-03 9.10300207e+00] [ 3.45446994e-02 9.99403135e-01 1.95690925e-04 -1.47863104e-01] [ 5.72001011e-03 -3.93518616e-04 9.99983563e-01 2.82793280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.460714057 meters Centerline goodness : 0.996296 with order 1 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.15, Z:0.03 [[ 9.99399326e-01 -3.41782461e-02 -5.73014144e-03 9.16474629e+00] [ 3.41799354e-02 9.99415676e-01 1.97103222e-04 -1.48666123e-01] [ 5.72005654e-03 -3.92840691e-04 9.99983563e-01 3.18690361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.520714057 meters Centerline goodness : 0.996683 with order 1 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.15, Z:0.03 [[ 9.99478110e-01 -3.17910982e-02 -5.73012681e-03 9.22744858e+00] [ 3.17927508e-02 9.99494463e-01 1.97527634e-04 -1.48195576e-01] [ 5.72095040e-03 -3.79601040e-04 9.99983563e-01 3.25700823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.580714057 meters Centerline goodness : 0.996117 with order 1 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.15, Z:0.04 [[ 9.99588503e-01 -2.81067662e-02 -5.73011154e-03 9.28984333e+00] [ 2.81083611e-02 9.99604862e-01 1.97969549e-04 -1.46998993e-01] [ 5.72228308e-03 -3.58952129e-04 9.99983563e-01 3.51866989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.640714057 meters Centerline goodness : 0.996765 with order 1 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.15, Z:0.03 [[ 9.99670657e-01 -2.50148573e-02 -5.73009635e-03 9.35226841e+00] [ 2.50164040e-02 9.99687021e-01 1.98408231e-04 -1.46278289e-01] [ 5.72333980e-03 -3.41689293e-04 9.99983563e-01 3.41036992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.700714057 meters Centerline goodness : 0.996270 with order 1 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.15, Z:0.04 [[ 9.99712766e-01 -2.32712671e-02 -5.73008134e-03 9.41495095e+00] [ 2.32727877e-02 9.99729132e-01 1.98841023e-04 -1.46556052e-01] [ 5.72390196e-03 -3.32138876e-04 9.99983563e-01 3.56859533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.760714057 meters Centerline goodness : 0.996818 with order 1 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.15, Z:0.04 [[ 9.99828479e-01 -1.76118893e-02 -5.73005922e-03 9.47752245e+00] [ 1.76133209e-02 9.99844854e-01 1.99476153e-04 -1.47829574e-01] [ 5.72565707e-03 -3.00367311e-04 9.99983563e-01 3.56289374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.820714057 meters Centerline goodness : 0.996916 with order 1 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.15, Z:0.04 [[ 9.99891544e-01 -1.35670992e-02 -5.73004463e-03 9.53964168e+00] [ 1.35684669e-02 9.99907924e-01 1.99894639e-04 -1.47940300e-01] [ 5.72680504e-03 -2.77620881e-04 9.99983563e-01 3.68195644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.880714057 meters Centerline goodness : 0.996877 with order 1 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.15, Z:0.04 [[ 9.99951342e-01 -8.02995103e-03 -5.73002935e-03 9.60109670e+00] [ 8.03123058e-03 9.99967729e-01 2.00331596e-04 -1.49859190e-01] [ 5.72823578e-03 -2.46341035e-04 9.99983563e-01 4.01219239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.940714057000001 meters Centerline goodness : 0.996592 with order 1 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.15, Z:0.04 [[ 9.99973077e-01 -4.58395380e-03 -5.73000367e-03 9.66303638e+00] [ 4.58518106e-03 9.99989468e-01 2.01063419e-04 -1.51113196e-01] [ 5.72902165e-03 -2.27331110e-04 9.99983563e-01 4.12492292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.000714057 meters Centerline goodness : 0.996444 with order 1 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.15, Z:0.04 [[ 9.99982810e-01 -1.24371905e-03 -5.72998861e-03 9.72465292e+00] [ 1.24489401e-03 9.99999205e-01 2.01491641e-04 -1.51725888e-01] [ 5.72973346e-03 -2.08621406e-04 9.99983563e-01 4.24715698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.060714057 meters Centerline goodness : 0.996109 with order 1 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.15, Z:0.04 [[ 9.99980797e-01 2.36092785e-03 -5.72997747e-03 9.78442553e+00] [-2.35981019e-03 9.99997195e-01 2.01807866e-04 -1.54981816e-01] [ 5.73043786e-03 -1.88282331e-04 9.99983563e-01 4.14929378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.120714057 meters Centerline goodness : 0.996641 with order 1 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.16, Z:0.04 [[ 9.99951588e-01 7.99934709e-03 -5.72998472e-03 9.84272946e+00] [-7.99832309e-03 9.99967993e-01 2.01601864e-04 -1.58592336e-01] [ 5.73141400e-03 -1.55761834e-04 9.99983563e-01 4.03997159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.180714057 meters Centerline goodness : 0.996778 with order 1 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.16, Z:0.04 [[ 9.99938166e-01 9.53051604e-03 -5.73003787e-03 9.90016799e+00] [-9.52952588e-03 9.99954573e-01 2.00079799e-04 -1.62267568e-01] [ 5.73168443e-03 -1.45462883e-04 9.99983563e-01 4.18257932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.240714057 meters Centerline goodness : 0.996217 with order 1 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.17, Z:0.04 [[ 9.99902353e-01 1.27456598e-02 -5.73005649e-03 9.95919788e+00] [-1.27447255e-02 9.99918763e-01 1.99545124e-04 -1.69180749e-01] [ 5.73213433e-03 -1.26497642e-04 9.99983563e-01 3.83731136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.300714057 meters Centerline goodness : 0.996409 with order 1 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.18, Z:0.04 [[ 9.99876809e-01 1.46127586e-02 -5.73010368e-03 1.00162214e+01] [-1.46118628e-02 9.99893221e-01 1.98180752e-04 -1.75723018e-01] [ 5.73238779e-03 -1.14428849e-04 9.99983563e-01 3.77367417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.360714057000001 meters Centerline goodness : 0.995617 with order 1 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.18, Z:0.04 [[ 9.99850995e-01 1.62835526e-02 -5.73012843e-03 1.00751791e+01] [-1.62826883e-02 9.99867409e-01 1.97462498e-04 -1.84211170e-01] [ 5.73258405e-03 -1.04131180e-04 9.99983563e-01 3.55303173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.420714057 meters Centerline goodness : 0.994758 with order 1 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.19, Z:0.03 [[ 9.99830464e-01 1.74988464e-02 -5.73014308e-03 1.01320095e+01] [-1.74980045e-02 9.99846879e-01 1.97036421e-04 -1.91042573e-01] [ 5.73271358e-03 -9.67369468e-05 9.99983563e-01 3.42887387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.480714057 meters Centerline goodness : 0.995079 with order 1 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.20, Z:0.04 [[ 9.99817892e-01 1.82029471e-02 -5.73016815e-03 1.01900764e+01] [-1.82021209e-02 9.99834308e-01 1.96304528e-04 -1.96532247e-01] [ 5.73279203e-03 -9.19675658e-05 9.99983563e-01 3.75307313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.540714057 meters Centerline goodness : 0.995889 with order 1 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.21, Z:0.04 [[ 9.99768249e-01 2.07512137e-02 -5.73018575e-03 1.02472856e+01] [-2.07504324e-02 9.99784667e-01 1.95789390e-04 -2.05777218e-01] [ 5.73301473e-03 -7.68401841e-05 9.99983563e-01 3.51734605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.600714057 meters Centerline goodness : 0.995163 with order 1 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.21, Z:0.04 [[ 9.99770761e-01 2.06298141e-02 -5.73021130e-03 1.03056516e+01] [-2.06290351e-02 9.99787180e-01 1.95038751e-04 -2.13616850e-01] [ 5.73301541e-03 -7.67853110e-05 9.99983563e-01 3.63869555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.660714057 meters Centerline goodness : 0.994063 with order 1 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.22, Z:0.04 [[ 9.99823919e-01 1.78688257e-02 -5.73022412e-03 1.03634146e+01] [-1.78680035e-02 9.99840336e-01 1.94661543e-04 -2.21754949e-01] [ 5.73278758e-03 -9.22396029e-05 9.99983563e-01 3.71380060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.720714057 meters Centerline goodness : 0.993833 with order 1 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.23, Z:0.04 [[ 9.99856401e-01 1.59480865e-02 -5.73023985e-03 1.04215650e+01] [-1.59472353e-02 9.99872816e-01 1.94197448e-04 -2.29202207e-01] [ 5.73260813e-03 -1.02788078e-04 9.99983563e-01 3.82734191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.780714057 meters Centerline goodness : 0.992352 with order 1 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.24, Z:0.04 [[ 9.99928016e-01 1.05417073e-02 -5.73025220e-03 1.04794307e+01] [-1.05407695e-02 9.99944426e-01 1.93832179e-04 -2.38017591e-01] [ 5.73197707e-03 -1.33416958e-04 9.99983563e-01 3.92854306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.840714057 meters Centerline goodness : 0.991456 with order 1 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.24, Z:0.04 [[ 9.99968910e-01 5.41689912e-03 -5.73026738e-03 1.05378520e+01] [-5.41587982e-03 9.99985315e-01 1.93382342e-04 -2.44548587e-01] [ 5.73123077e-03 -1.62341890e-04 9.99983563e-01 3.80240625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.900714057 meters Centerline goodness : 0.990643 with order 1 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.25, Z:0.04 [[ 9.99983493e-01 4.21089768e-04 -5.73028112e-03 1.05962520e+01] [-4.19990858e-04 9.99999893e-01 1.92974352e-04 -2.52506777e-01] [ 5.73036177e-03 -1.90564501e-04 9.99983563e-01 3.78803386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.960714057 meters Centerline goodness : 0.989701 with order 1 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.26, Z:0.04 [[ 9.99966968e-01 -5.76418419e-03 -5.73029471e-03 1.06557610e+01] [ 5.76538221e-03 9.99983362e-01 1.92570041e-04 -2.61711176e-01] [ 5.72908936e-03 -2.25601019e-04 9.99983563e-01 3.59832446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.020714057000001 meters Centerline goodness : 0.989273 with order 1 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.27, Z:0.04 [[ 9.99931994e-01 -1.01573149e-02 -5.73030173e-03 1.07169205e+01] [ 1.01585837e-02 9.99948382e-01 1.92360756e-04 -2.65290270e-01] [ 5.72805208e-03 -2.50559424e-04 9.99983563e-01 3.81222263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.080714057 meters Centerline goodness : 0.989710 with order 1 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.27, Z:0.04 [[ 9.99849448e-01 -1.63781883e-02 -5.73029437e-03 1.07784055e+01] [ 1.63795603e-02 9.99865827e-01 1.92579737e-04 -2.71229750e-01] [ 5.72637142e-03 -2.86410446e-04 9.99983563e-01 4.01040536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.140714057 meters Centerline goodness : 0.990722 with order 1 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.28, Z:0.04 [[ 9.99762929e-01 -2.10059352e-02 -5.73024669e-03 1.08409505e+01] [ 2.10073911e-02 9.99779302e-01 1.93988296e-04 -2.75328820e-01] [ 5.72490713e-03 -3.14319840e-04 9.99983563e-01 4.16506009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.200714057 meters Centerline goodness : 0.990401 with order 1 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.28, Z:0.04 [[ 9.99747697e-01 -2.17188073e-02 -5.73022513e-03 1.09032728e+01] [ 2.17202784e-02 9.99764068e-01 1.94623171e-04 -2.79382079e-01] [ 5.72464620e-03 -3.19036152e-04 9.99983563e-01 4.05366692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.260714057 meters Centerline goodness : 0.989620 with order 1 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.28, Z:0.04 [[ 9.99760599e-01 -2.11165667e-02 -5.73021056e-03 1.09642342e+01] [ 2.11180304e-02 9.99776971e-01 1.95051222e-04 -2.82813033e-01] [ 5.72481374e-03 -3.16015288e-04 9.99983563e-01 3.85718262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.320714057 meters Centerline goodness : 0.989231 with order 1 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.29, Z:0.04 [[ 9.99798646e-01 -1.92310224e-02 -5.73019978e-03 1.10261688e+01] [ 1.92324570e-02 9.99815020e-01 1.95367287e-04 -2.85531727e-01] [ 5.72538270e-03 -3.05533770e-04 9.99983563e-01 3.64661438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.380714057 meters Centerline goodness : 0.989753 with order 1 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.29, Z:0.04 [[ 9.99877162e-01 -1.45885292e-02 -5.73018464e-03 1.10875300e+01] [ 1.45898904e-02 9.99893543e-01 1.95810513e-04 -2.86056867e-01] [ 5.72671803e-03 -2.79389226e-04 9.99983563e-01 3.54073550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.440714057000001 meters Centerline goodness : 0.990236 with order 1 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.29, Z:0.04 [[ 9.99943439e-01 -8.96017386e-03 -5.73017343e-03 1.11496797e+01] [ 8.96144467e-03 9.99959826e-01 1.96137787e-04 -2.85431088e-01] [ 5.72818580e-03 -2.47477326e-04 9.99983563e-01 3.50430665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.500714057 meters Centerline goodness : 0.989931 with order 1 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.29, Z:0.03 [[ 9.99979551e-01 -2.83960492e-03 -5.73015877e-03 1.12115131e+01] [ 2.84077785e-03 9.99995946e-01 1.96565176e-04 -2.85094020e-01] [ 5.72957737e-03 -2.12839265e-04 9.99983563e-01 3.36774266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.560714057 meters Centerline goodness : 0.990138 with order 1 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.28, Z:0.04 [[ 9.99983284e-01 -7.72824834e-04 -5.73014420e-03 1.12721550e+01] [ 7.73966300e-04 9.99999681e-01 1.96988990e-04 -2.83997814e-01] [ 5.72999014e-03 -2.01420636e-04 9.99983563e-01 3.53643739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.620714057 meters Centerline goodness : 0.990665 with order 1 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.28, Z:0.03 [[ 9.99982936e-01 1.13717333e-03 -5.73014420e-03 1.13314129e+01] [-1.13606318e-03 9.99999335e-01 1.96988990e-04 -2.83618726e-01] [ 5.73036440e-03 -1.90475823e-04 9.99983563e-01 3.29436824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.680714057 meters Centerline goodness : 0.990802 with order 1 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.28, Z:0.03 [[ 9.99983186e-01 -8.91021077e-04 -5.73015137e-03 1.13907645e+01] [ 8.92163286e-04 9.99999583e-01 1.96780182e-04 -2.83099869e-01] [ 5.72997365e-03 -2.01889103e-04 9.99983563e-01 3.23663642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.740714057 meters Centerline goodness : 0.991191 with order 1 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.28, Z:0.03 [[ 9.99973335e-01 -4.52711013e-03 -5.73016227e-03 1.14501107e+01] [ 4.52831014e-03 9.99989728e-01 1.96462438e-04 -2.84096984e-01] [ 5.72921400e-03 -2.22405151e-04 9.99983563e-01 3.34141952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.800714057 meters Centerline goodness : 0.990426 with order 1 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.28, Z:0.03 [[ 9.99939716e-01 -9.36643003e-03 -5.73016585e-03 1.15113005e+01] [ 9.36770876e-03 9.99956103e-01 1.96357833e-04 -2.83599858e-01] [ 5.72807514e-03 -2.50024521e-04 9.99983563e-01 3.20200187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.860714057000001 meters Centerline goodness : 0.990931 with order 1 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.28, Z:0.03 [[ 9.99911537e-01 -1.20034418e-02 -5.73015881e-03 1.15738222e+01] [ 1.20047649e-02 9.99927921e-01 1.96563224e-04 -2.84374729e-01] [ 5.72738635e-03 -2.65335045e-04 9.99983563e-01 3.20615898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.920714057 meters Centerline goodness : 0.991743 with order 1 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.28, Z:0.04 [[ 9.99833004e-01 -1.73530835e-02 -5.73014439e-03 1.16364516e+01] [ 1.73544967e-02 9.99849380e-01 1.96982662e-04 -2.82313042e-01] [ 5.72586306e-03 -2.96393538e-04 9.99983563e-01 3.51122720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.980714057 meters Centerline goodness : 0.991310 with order 1 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.28, Z:0.04 [[ 9.99741015e-01 -2.20242694e-02 -5.73009261e-03 1.16974932e+01] [ 2.20257676e-02 9.99757384e-01 1.98477500e-04 -2.82248258e-01] [ 5.72433107e-03 -3.24635785e-04 9.99983563e-01 3.66905631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.040714057 meters Centerline goodness : 0.991318 with order 1 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.28, Z:0.04 [[ 9.99583377e-01 -2.82884910e-02 -5.73004510e-03 1.17595252e+01] [ 2.82900995e-02 9.99599735e-01 1.99839831e-04 -2.83479464e-01] [ 5.72209839e-03 -3.61860119e-04 9.99983563e-01 3.57986901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.100714057000001 meters Centerline goodness : 0.992608 with order 1 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.28, Z:0.04 [[ 9.99399201e-01 -3.41819196e-02 -5.72999156e-03 1.18221995e+01] [ 3.41836332e-02 9.99415549e-01 2.01363209e-04 -2.82302104e-01] [ 5.71975968e-03 -3.97114160e-04 9.99983563e-01 3.83171491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.160714057 meters Centerline goodness : 0.992390 with order 1 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.28, Z:0.04 [[ 9.99186161e-01 -3.99272153e-02 -5.72997723e-03 1.18856039e+01] [ 3.99290252e-02 9.99202498e-01 2.01770332e-04 -2.81501056e-01] [ 5.71735143e-03 -4.30398528e-04 9.99983563e-01 3.93197161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.220714057 meters Centerline goodness : 0.993703 with order 1 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.28, Z:0.04 [[ 9.98923386e-01 -4.60351740e-02 -5.72991850e-03 1.19481977e+01] [ 4.60370932e-02 9.98939710e-01 2.03424487e-04 -2.78705261e-01] [ 5.71447844e-03 -4.66994269e-04 9.99983563e-01 4.32998181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.280714057 meters Centerline goodness : 0.993576 with order 1 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.28, Z:0.04 [[ 9.98856919e-01 -4.74555050e-02 -5.72986622e-03 1.20112195e+01] [ 4.74574557e-02 9.98873239e-01 2.04886662e-04 -2.76896360e-01] [ 5.71368703e-03 -4.76577332e-04 9.99983563e-01 4.29817521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.340714057 meters Centerline goodness : 0.994830 with order 1 Centerline is valid? [True, True] Translation: X:12.07, Y:-0.28, Z:0.04 [[ 9.98893904e-01 -4.66705265e-02 -5.72980545e-03 1.20745832e+01] [ 4.66724740e-02 9.98910225e-01 2.06572032e-04 -2.75084294e-01] [ 5.71392043e-03 -4.73767740e-04 9.99983563e-01 4.27920983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.400714057 meters Centerline goodness : 0.994157 with order 1 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.27, Z:0.04 [[ 9.98940443e-01 -4.56635686e-02 -5.72974516e-03 1.21380993e+01] [ 4.56655090e-02 9.98956765e-01 2.08231130e-04 -2.73466766e-01] [ 5.71425911e-03 -4.69662227e-04 9.99983563e-01 4.43232764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.460714057 meters Centerline goodness : 0.995211 with order 1 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.27, Z:0.04 [[ 9.98908318e-01 -4.63610088e-02 -5.72968306e-03 1.22016045e+01] [ 4.63629704e-02 9.98924637e-01 2.09925986e-04 -2.71612052e-01] [ 5.71378919e-03 -4.75341939e-04 9.99983563e-01 4.30457661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.520714057000001 meters Centerline goodness : 0.995636 with order 1 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.27, Z:0.04 [[ 9.98894084e-01 -4.66667028e-02 -5.72962098e-03 1.22649662e+01] [ 4.66686789e-02 9.98910401e-01 2.11607012e-04 -2.72541772e-01] [ 5.71350299e-03 -4.78766835e-04 9.99983563e-01 4.22546745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.580714057 meters Centerline goodness : 0.995776 with order 1 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.27, Z:0.04 [[ 9.98869882e-01 -4.71818895e-02 -5.72955831e-03 1.23279367e+01] [ 4.71838836e-02 9.98886198e-01 2.13290379e-04 -2.71859122e-01] [ 5.71311327e-03 -4.83392148e-04 9.99983563e-01 4.35084779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.640714057 meters Centerline goodness : 0.995381 with order 1 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.27, Z:0.04 [[ 9.98796541e-01 -4.87097802e-02 -5.72949546e-03 1.23909211e+01] [ 4.87118087e-02 9.98812852e-01 2.14965618e-04 -2.72468129e-01] [ 5.71222277e-03 -4.93801002e-04 9.99983563e-01 4.27656724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.700714057 meters Centerline goodness : 0.995870 with order 1 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.27, Z:0.04 [[ 9.98792407e-01 -4.87944851e-02 -5.72943137e-03 1.24543135e+01] [ 4.87965247e-02 9.98808717e-01 2.16660399e-04 -2.73582504e-01] [ 5.71203416e-03 -4.95975101e-04 9.99983563e-01 3.99053823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.760714057 meters Centerline goodness : 0.995855 with order 1 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.27, Z:0.04 [[ 9.98823020e-01 -4.81637730e-02 -5.72936339e-03 1.25177251e+01] [ 4.81658125e-02 9.98839330e-01 2.18443297e-04 -2.73458970e-01] [ 5.71219244e-03 -4.94145637e-04 9.99983563e-01 3.99433280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.820714057 meters Centerline goodness : 0.995970 with order 1 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.28, Z:0.04 [[ 9.98851348e-01 -4.75726687e-02 -5.72929522e-03 1.25799185e+01] [ 4.75747086e-02 9.98867658e-01 2.20217080e-04 -2.75125426e-01] [ 5.71233138e-03 -4.92533678e-04 9.99983563e-01 4.00948888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.880714057 meters Centerline goodness : 0.996474 with order 1 Centerline is valid? [True, True] Translation: X:12.64, Y:-0.28, Z:0.04 [[ 9.98797402e-01 -4.86921475e-02 -5.72923221e-03 1.26432448e+01] [ 4.86942149e-02 9.98813708e-01 2.21844193e-04 -2.76092407e-01] [ 5.71163360e-03 -5.00557869e-04 9.99983563e-01 4.05908625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.940714057000001 meters Centerline goodness : 0.996264 with order 1 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.28, Z:0.04 [[ 9.98840413e-01 -4.78017289e-02 -5.72916526e-03 1.27068260e+01] [ 4.78037916e-02 9.98856720e-01 2.23560060e-04 -2.76401037e-01] [ 5.71192866e-03 -4.97176645e-04 9.99983563e-01 3.88039981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.000714057 meters Centerline goodness : 0.996723 with order 1 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.28, Z:0.04 [[ 9.99026451e-01 -4.37416056e-02 -5.72909642e-03 1.27684986e+01] [ 4.37436120e-02 9.99042765e-01 2.25310492e-04 -2.77985247e-01] [ 5.71375688e-03 -4.75702512e-04 9.99983563e-01 3.75867625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.060714057 meters Centerline goodness : 0.996842 with order 1 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.28, Z:0.04 [[ 9.99405021e-01 -3.40114967e-02 -5.72906298e-03 1.28312778e+01] [ 3.40133490e-02 9.99421353e-01 2.26157558e-04 -2.77160242e-01] [ 5.71805592e-03 -4.20887617e-04 9.99983563e-01 3.61853650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.120714057 meters Centerline goodness : 0.996620 with order 1 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.28, Z:0.04 [[ 9.99575305e-01 -2.85725112e-02 -5.72900123e-03 1.28946578e+01] [ 2.85742835e-02 9.99591646e-01 2.27711092e-04 -2.78271439e-01] [ 5.72015549e-03 -3.91316489e-04 9.99983563e-01 3.58875773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.180714057000001 meters Centerline goodness : 0.996020 with order 1 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.28, Z:0.03 [[ 9.99768594e-01 -2.07349102e-02 -5.72897406e-03 1.29560078e+01] [ 2.07365581e-02 9.99784948e-01 2.28392645e-04 -2.79136619e-01] [ 5.72300633e-03 -3.47138998e-04 9.99983563e-01 3.35628013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.240714057 meters Centerline goodness : 0.996757 with order 1 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.28, Z:0.03 [[ 9.99827413e-01 -1.76726966e-02 -5.72893920e-03 1.30182625e+01] [ 1.76742994e-02 9.99843771e-01 2.29263730e-04 -2.81264638e-01] [ 5.72399246e-03 -3.30479149e-04 9.99983563e-01 3.24723314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.300714057 meters Centerline goodness : 0.996596 with order 1 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.28, Z:0.03 [[ 9.99937064e-01 -9.64609444e-03 -5.72892167e-03 1.30795372e+01] [ 9.64756838e-03 9.99953435e-01 2.29700798e-04 -2.80397292e-01] [ 5.72643919e-03 -2.84956505e-04 9.99983563e-01 3.35634552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.360714057000001 meters Centerline goodness : 0.996552 with order 1 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.28, Z:0.03 [[ 9.99978177e-01 -3.29003860e-03 -5.72889299e-03 1.31416562e+01] [ 3.29141254e-03 9.99994557e-01 2.30413976e-04 -2.81610667e-01] [ 5.72810374e-03 -2.49265098e-04 9.99983563e-01 3.07657474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.420714057 meters Centerline goodness : 0.996725 with order 1 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.28, Z:0.03 [[ 9.99973879e-01 -4.40703203e-03 -5.72887618e-03 1.32027006e+01] [ 4.40842665e-03 9.99990256e-01 2.30831212e-04 -2.79790706e-01] [ 5.72780308e-03 -2.56080513e-04 9.99983563e-01 3.46578283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.480714057 meters Centerline goodness : 0.997099 with order 1 Centerline is valid? [True, True] Translation: X:13.26, Y:-0.28, Z:0.03 [[ 9.99966703e-01 -5.81151890e-03 -5.72886154e-03 1.32638646e+01] [ 5.81293859e-03 9.99983078e-01 2.31193918e-04 -2.82192291e-01] [ 5.72742101e-03 -2.64487740e-04 9.99983563e-01 3.01077910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.540714057 meters Centerline goodness : 0.997534 with order 1 Centerline is valid? [True, True] Translation: X:13.32, Y:-0.28, Z:0.03 [[ 9.99955022e-01 -7.55868465e-03 -5.72885281e-03 1.33247897e+01] [ 7.56013419e-03 9.99971395e-01 2.31410198e-04 -2.83704017e-01] [ 5.72693978e-03 -2.74710685e-04 9.99983563e-01 3.39613644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.600714057000001 meters Centerline goodness : 0.997185 with order 1 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.28, Z:0.04 [[ 9.99890885e-01 -1.36161499e-02 -5.72881825e-03 1.33871586e+01] [ 1.36177035e-02 9.99907248e-01 2.32262523e-04 -2.83940417e-01] [ 5.72512437e-03 -3.10250528e-04 9.99983563e-01 3.93188895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.660714057 meters Centerline goodness : 0.996610 with order 1 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.29, Z:0.04 [[ 9.99790823e-01 -1.96339320e-02 -5.72875814e-03 1.34500512e+01] [ 1.96355924e-02 9.99807176e-01 2.33735693e-04 -2.87886362e-01] [ 5.72306435e-03 -3.46174361e-04 9.99983563e-01 3.60192125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.720714057 meters Centerline goodness : 0.996901 with order 1 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.29, Z:0.03 [[ 9.99638045e-01 -2.62861393e-02 -5.72868853e-03 1.35132548e+01] [ 2.62879182e-02 9.99654385e-01 2.35429615e-04 -2.91821648e-01] [ 5.72052007e-03 -3.85939696e-04 9.99983563e-01 3.25842312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.780714057 meters Centerline goodness : 0.996305 with order 1 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.29, Z:0.04 [[ 9.99558201e-01 -2.91648197e-02 -5.72861540e-03 1.35743818e+01] [ 2.91666557e-02 9.99574534e-01 2.37195833e-04 -2.94185914e-01] [ 5.71926030e-03 -4.04175593e-04 9.99983563e-01 3.77928680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.840714057 meters Centerline goodness : 0.996724 with order 1 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.30, Z:0.04 [[ 9.99486092e-01 -3.15394355e-02 -5.72855668e-03 1.36367435e+01] [ 3.15413184e-02 9.99502420e-01 2.38605697e-04 -2.97916361e-01] [ 5.71818077e-03 -4.19169306e-04 9.99983563e-01 3.80265400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.900714057 meters Centerline goodness : 0.996047 with order 1 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.30, Z:0.04 [[ 9.99390707e-01 -3.44296132e-02 -5.72853880e-03 1.36984886e+01] [ 3.44315457e-02 9.99407030e-01 2.39034186e-04 -3.00585453e-01] [ 5.71691209e-03 -4.36130989e-04 9.99983563e-01 3.88381358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.960714057 meters Centerline goodness : 0.996730 with order 1 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.30, Z:0.04 [[ 9.99286852e-01 -3.73225403e-02 -5.72852083e-03 1.37616226e+01] [ 3.73245225e-02 9.99303169e-01 2.39463902e-04 -3.03171074e-01] [ 5.71559162e-03 -4.53107433e-04 9.99983563e-01 3.90914219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.020714057000001 meters Centerline goodness : 0.996186 with order 1 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.31, Z:0.04 [[ 9.99203796e-01 -3.94836557e-02 -5.72844292e-03 1.38231852e+01] [ 3.94856837e-02 9.99220107e-01 2.41313478e-04 -3.07594459e-01] [ 5.71444741e-03 -4.67312828e-04 9.99983563e-01 3.66164863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.080714057 meters Centerline goodness : 0.996305 with order 1 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.31, Z:0.04 [[ 9.99127609e-01 -4.13667433e-02 -5.72837057e-03 1.38848654e+01] [ 4.13688117e-02 9.99143915e-01 2.43018852e-04 -3.11176630e-01] [ 5.71341370e-03 -4.79782728e-04 9.99983563e-01 3.78950637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.140714057 meters Centerline goodness : 0.996183 with order 1 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.31, Z:0.04 [[ 9.99014148e-01 -4.40217987e-02 -5.72830264e-03 1.39476492e+01] [ 4.40239196e-02 9.99030447e-01 2.44609688e-04 -3.14732752e-01] [ 5.71198059e-03 -4.96550874e-04 9.99983563e-01 4.00402527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.200714057 meters Centerline goodness : 0.996322 with order 1 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.32, Z:0.04 [[ 9.99057617e-01 -4.30240142e-02 -5.72823050e-03 1.40110381e+01] [ 4.30261282e-02 9.99073917e-01 2.46287525e-04 -3.19113997e-01] [ 5.71232940e-03 -4.92519008e-04 9.99983563e-01 3.96269833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.260714057000001 meters Centerline goodness : 0.996390 with order 1 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.32, Z:0.04 [[ 9.99165449e-01 -4.04424664e-02 -5.72815551e-03 1.40743198e+01] [ 4.04445482e-02 9.99181754e-01 2.48019520e-04 -3.21020857e-01] [ 5.71343794e-03 -4.79485197e-04 9.99983563e-01 4.11215698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.320714057 meters Centerline goodness : 0.996114 with order 1 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.32, Z:0.04 [[ 9.99305464e-01 -3.68208989e-02 -5.72807798e-03 1.41362117e+01] [ 3.68229318e-02 9.99321775e-01 2.49797219e-04 -3.24264542e-01] [ 5.71499530e-03 -4.60548351e-04 9.99983563e-01 4.05011372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.380714057 meters Centerline goodness : 0.995613 with order 1 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.33, Z:0.04 [[ 9.99490657e-01 -3.13945441e-02 -5.72800574e-03 1.41980574e+01] [ 3.13964977e-02 9.99506977e-01 2.51443029e-04 -3.26805031e-01] [ 5.71728776e-03 -4.31154277e-04 9.99983563e-01 4.02679249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.440714057000001 meters Centerline goodness : 0.995090 with order 1 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.33, Z:0.04 [[ 9.99735620e-01 -2.22683680e-02 -5.72798548e-03 1.42602237e+01] [ 2.22701751e-02 9.99751957e-01 2.51903726e-04 -3.28115590e-01] [ 5.72095521e-03 -3.79400368e-04 9.99983563e-01 4.32437720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.500714057 meters Centerline goodness : 0.996011 with order 1 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.33, Z:0.05 [[ 9.99891532e-01 -1.35689224e-02 -5.72791075e-03 1.43226701e+01] [ 1.35705970e-02 9.99907883e-01 2.53591497e-04 -3.29732008e-01] [ 5.72394215e-03 -3.31295159e-04 9.99983563e-01 4.56419037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.560714057 meters Centerline goodness : 0.997288 with order 1 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.33, Z:0.05 [[ 9.99951552e-01 -8.00525699e-03 -5.72789194e-03 1.43849618e+01] [ 8.00684301e-03 9.99967912e-01 2.54015695e-04 -3.29882724e-01] [ 5.72567469e-03 -2.99865720e-04 9.99983563e-01 4.93224383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.620714057 meters Centerline goodness : 0.998145 with order 1 Centerline is valid? [True, True] Translation: X:14.45, Y:-0.33, Z:0.05 [[ 9.99969196e-01 -5.36635979e-03 -5.72787194e-03 1.44460959e+01] [ 5.36790520e-03 9.99985560e-01 2.54465854e-04 -3.30778607e-01] [ 5.72642368e-03 -2.85204689e-04 9.99983563e-01 4.98399861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.680714057000001 meters Centerline goodness : 0.997729 with order 1 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.33, Z:0.05 [[ 9.99975729e-01 -3.96653079e-03 -5.72785727e-03 1.45072249e+01] [ 3.96805518e-03 9.99992095e-01 2.54795688e-04 -3.34438997e-01] [ 5.72680134e-03 -2.77517958e-04 9.99983563e-01 4.93269651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.740714057 meters Centerline goodness : 0.997855 with order 1 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.34, Z:0.04 [[ 9.99974577e-01 -4.24710534e-03 -5.72784769e-03 1.45687701e+01] [ 4.24863555e-03 9.99990942e-01 2.55010807e-04 -3.38519363e-01] [ 5.72671275e-03 -2.79339862e-04 9.99983563e-01 4.47725723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.800714057 meters Centerline goodness : 0.997776 with order 1 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.34, Z:0.05 [[ 9.99983596e-01 1.72721203e-05 -5.72783772e-03 1.46289278e+01] [-1.58104362e-05 9.99999967e-01 2.55234698e-04 -3.42498193e-01] [ 5.72784194e-03 -2.55139952e-04 9.99983563e-01 4.66383645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.860714057000001 meters Centerline goodness : 0.998181 with order 1 Centerline is valid? [True, True] Translation: X:14.69, Y:-0.34, Z:0.05 [[ 9.99979731e-01 2.78009970e-03 -5.72783283e-03 1.46883913e+01] [-2.77868263e-03 9.99996107e-01 2.55344222e-04 -3.44644530e-01] [ 5.72852042e-03 -2.39423217e-04 9.99983563e-01 4.55272972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.920714057000001 meters Centerline goodness : 0.997675 with order 1 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.35, Z:0.05 [[ 9.99953417e-01 7.76882763e-03 -5.72784240e-03 1.47465225e+01] [-7.76749350e-03 9.99969800e-01 2.55129449e-04 -3.45017118e-01] [ 5.72965148e-03 -2.10626585e-04 9.99983563e-01 5.14383757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.980714057 meters Centerline goodness : 0.997491 with order 1 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.35, Z:0.05 [[ 9.99947788e-01 8.46237775e-03 -5.72791829e-03 1.48056501e+01] [-8.46106480e-03 9.99964172e-01 2.53414054e-04 -3.48840049e-01] [ 5.72985756e-03 -2.04936535e-04 9.99983563e-01 4.98202073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.040714057 meters Centerline goodness : 0.997287 with order 1 Centerline is valid? [True, True] Translation: X:14.86, Y:-0.35, Z:0.05 [[ 9.99865895e-01 1.53421602e-02 -5.72793724e-03 1.48627579e+01] [-1.53409625e-02 9.99882289e-01 2.52985094e-04 -3.52665028e-01] [ 5.73114433e-03 -1.65079098e-04 9.99983563e-01 5.31046938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.100714057 meters Centerline goodness : 0.997274 with order 1 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.36, Z:0.05 [[ 9.99681125e-01 2.45934851e-02 -5.72796956e-03 1.49210317e+01] [-2.45924433e-02 9.99697528e-01 2.52251044e-04 -3.58065587e-01] [ 5.73244075e-03 -1.11305840e-04 9.99983563e-01 4.96905080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.160714057 meters Centerline goodness : 0.997159 with order 1 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.36, Z:0.05 [[ 9.99566708e-01 2.88719033e-02 -5.72803170e-03 1.49791768e+01] [-2.88709399e-02 9.99583116e-01 2.50832019e-04 -3.62705048e-01] [ 5.73288578e-03 -8.53496760e-05 9.99983563e-01 4.82554104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.220714057000002 meters Centerline goodness : 0.997190 with order 1 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.37, Z:0.05 [[ 9.99173133e-01 4.02521973e-02 -5.72809476e-03 1.50380509e+01] [-4.02514291e-02 9.99189552e-01 2.49383606e-04 -3.68247209e-01] [ 5.73349068e-03 -1.86133993e-05 9.99983563e-01 4.79429202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.280714057 meters Centerline goodness : 0.996279 with order 1 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.38, Z:0.05 [[ 9.98604360e-01 5.25025670e-02 -5.72815924e-03 1.50966721e+01] [-5.25020087e-02 9.98620788e-01 2.47893720e-04 -3.76755992e-01] [ 5.73327395e-03 5.31921164e-05 9.99983563e-01 4.51293623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.340714057 meters Centerline goodness : 0.996323 with order 1 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.38, Z:0.05 [[ 9.98263983e-01 5.86191751e-02 -5.72822222e-03 1.51551899e+01] [-5.86187259e-02 9.98280414e-01 2.46429785e-04 -3.84535138e-01] [ 5.73281756e-03 8.97791099e-05 9.99983563e-01 4.90596131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.400714057000002 meters Centerline goodness : 0.994866 with order 1 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.39, Z:0.05 [[ 9.98164484e-01 6.02897173e-02 -5.72828637e-03 1.52130231e+01] [-6.02893042e-02 9.98180915e-01 2.44929571e-04 -3.92497101e-01] [ 5.73263286e-03 1.00874400e-04 9.99983563e-01 4.88735837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.460714057 meters Centerline goodness : 0.994329 with order 1 Centerline is valid? [True, True] Translation: X:15.27, Y:-0.41, Z:0.04 [[ 9.98244340e-01 5.89527189e-02 -5.72835905e-03 1.52715090e+01] [-5.89522936e-02 9.98260772e-01 2.43217595e-04 -4.05958882e-01] [ 5.73273447e-03 9.49093174e-05 9.99983563e-01 4.34765885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.520714057 meters Centerline goodness : 0.992833 with order 1 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.42, Z:0.04 [[ 9.98777534e-01 4.90980881e-02 -5.72842212e-03 1.53287612e+01] [-4.90975093e-02 9.98793961e-01 2.41723046e-04 -4.19974936e-01] [ 5.73338156e-03 3.98237099e-05 9.99983563e-01 4.01939469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.580714057 meters Centerline goodness : 0.991232 with order 1 Centerline is valid? [True, True] Translation: X:15.39, Y:-0.44, Z:0.04 [[ 9.99256111e-01 3.81367140e-02 -5.72844416e-03 1.53882204e+01] [-3.81359579e-02 9.99272531e-01 2.41199489e-04 -4.35169315e-01] [ 5.73347545e-03 -2.25603575e-05 9.99983563e-01 3.54676962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.640714057 meters Centerline goodness : 0.989535 with order 1 Centerline is valid? [True, True] Translation: X:15.44, Y:-0.45, Z:0.03 [[ 9.99698246e-01 2.38872690e-02 -5.72844645e-03 1.54442966e+01] [-2.38862792e-02 9.99714653e-01 2.41145248e-04 -4.50628421e-01] [ 5.73257215e-03 -1.04241210e-04 9.99983563e-01 3.36361220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.700714057 meters Centerline goodness : 0.986669 with order 1 Centerline is valid? [True, True] Translation: X:15.50, Y:-0.46, Z:0.03 [[ 9.99905560e-01 1.24921987e-02 -5.72847784e-03 1.55029129e+01] [-1.24910262e-02 9.99921955e-01 2.40397208e-04 -4.63495284e-01] [ 5.73103385e-03 -1.68819938e-04 9.99983563e-01 3.17391720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.760714057 meters Centerline goodness : 0.988994 with order 1 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.47, Z:0.03 [[ 9.99968266e-01 5.53632414e-03 -5.72849054e-03 1.55613568e+01] [-5.53503944e-03 9.99984653e-01 2.40094266e-04 -4.69063849e-01] [ 5.72973186e-03 -2.08379226e-04 9.99983563e-01 3.14979898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.820714057 meters Centerline goodness : 0.988972 with order 1 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.47, Z:0.05 [[ 9.99951622e-01 -7.99612569e-03 -5.72850888e-03 1.56206337e+01] [ 7.99762952e-03 9.99967990e-01 2.39655810e-04 -4.70688234e-01] [ 5.72640919e-03 -2.85458708e-04 9.99983563e-01 4.58786785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.880714057000002 meters Centerline goodness : 0.986505 with order 1 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.48, Z:0.04 [[ 9.99977747e-01 -3.41913919e-03 -5.72850891e-03 1.56821666e+01] [ 3.42056807e-03 9.99994121e-01 2.39655077e-04 -4.84701235e-01] [ 5.72765582e-03 -2.59244499e-04 9.99983563e-01 3.50539456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.940714057 meters Centerline goodness : 0.987049 with order 1 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.49, Z:0.04 [[ 9.99973218e-01 -4.55505593e-03 -5.72849313e-03 1.57426926e+01] [ 4.55650557e-03 9.99989590e-01 2.40031635e-04 -4.88545955e-01] [ 5.72734014e-03 -2.66127117e-04 9.99983563e-01 3.52937483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.000714057 meters Centerline goodness : 0.987100 with order 1 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.49, Z:0.04 [[ 9.99951796e-01 -7.97429533e-03 -5.72849313e-03 1.58037645e+01] [ 7.97580094e-03 9.99968164e-01 2.40031635e-04 -4.86620515e-01] [ 5.72639668e-03 -2.85709386e-04 9.99983563e-01 4.15507664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.060714057000002 meters Centerline goodness : 0.986512 with order 1 Centerline is valid? [True, True] Translation: X:15.87, Y:-0.49, Z:0.04 [[ 9.99950743e-01 -8.10533066e-03 -5.72848882e-03 1.58654584e+01] [ 8.10683900e-03 9.99967110e-01 2.40134415e-04 -4.90045937e-01] [ 5.72635405e-03 -2.86562524e-04 9.99983563e-01 3.95242459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.120714057 meters Centerline goodness : 0.987432 with order 1 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.49, Z:0.04 [[ 9.99939445e-01 -9.39629736e-03 -5.72847581e-03 1.59274614e+01] [ 9.39782860e-03 9.99955811e-01 2.40444478e-04 -4.91325285e-01] [ 5.72596338e-03 -2.94265151e-04 9.99983563e-01 4.03345522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.180714057 meters Centerline goodness : 0.987495 with order 1 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.49, Z:0.04 [[ 9.99906345e-01 -1.24292782e-02 -5.72845872e-03 1.59897149e+01] [ 1.24308614e-02 9.99922705e-01 2.40850898e-04 -4.91916666e-01] [ 5.72502234e-03 -3.12038017e-04 9.99983563e-01 3.99668269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.240714057 meters Centerline goodness : 0.988214 with order 1 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.49, Z:0.04 [[ 9.99839063e-01 -1.70009973e-02 -5.72839938e-03 1.60524154e+01] [ 1.70026633e-02 9.99855415e-01 2.42254078e-04 -4.93766454e-01] [ 5.72345258e-03 -3.39613136e-04 9.99983563e-01 3.89963754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.300714057 meters Centerline goodness : 0.989186 with order 1 Centerline is valid? [True, True] Translation: X:16.12, Y:-0.49, Z:0.04 [[ 9.99785021e-01 -1.99273006e-02 -5.72833984e-03 1.61156227e+01] [ 1.99290224e-02 9.99801368e-01 2.43653813e-04 -4.93616772e-01] [ 5.72234665e-03 -3.57761645e-04 9.99983563e-01 3.86916069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.360714057 meters Centerline goodness : 0.989558 with order 1 Centerline is valid? [True, True] Translation: X:16.18, Y:-0.49, Z:0.04 [[ 9.99746862e-01 -2.17577357e-02 -5.72831356e-03 1.61766116e+01] [ 2.17594910e-02 9.99763204e-01 2.44270216e-04 -4.93547522e-01] [ 5.72164235e-03 -3.68853569e-04 9.99983563e-01 3.89454483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.420714057 meters Centerline goodness : 0.988612 with order 1 Centerline is valid? [True, True] Translation: X:16.24, Y:-0.49, Z:0.04 [[ 9.99743533e-01 -2.19101606e-02 -5.72830061e-03 1.62397269e+01] [ 2.19119201e-02 9.99759875e-01 2.44573559e-04 -4.93924655e-01] [ 5.72156645e-03 -3.70028899e-04 9.99983563e-01 3.74575279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.480714057 meters Centerline goodness : 0.989201 with order 1 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.49, Z:0.04 [[ 9.99783361e-01 -2.00104496e-02 -5.72827411e-03 1.63018290e+01] [ 2.00121816e-02 9.99799706e-01 2.45192501e-04 -4.91946752e-01] [ 5.72222036e-03 -3.59774645e-04 9.99983563e-01 3.92103410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.540714057000002 meters Centerline goodness : 0.989891 with order 1 Centerline is valid? [True, True] Translation: X:16.36, Y:-0.49, Z:0.04 [[ 9.99844204e-01 -1.66959408e-02 -5.72823060e-03 1.63638013e+01] [ 1.66976243e-02 9.99860555e-01 2.46204781e-04 -4.90690755e-01] [ 5.72332121e-03 -3.41814266e-04 9.99983563e-01 3.73446966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.600714057 meters Centerline goodness : 0.989914 with order 1 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.49, Z:0.04 [[ 9.99898694e-01 -1.30303485e-02 -5.72821302e-03 1.64264986e+01] [ 1.30319744e-02 9.99915050e-01 2.46613227e-04 -4.88797434e-01] [ 5.72451295e-03 -3.21238169e-04 9.99983563e-01 3.83533486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.660714057 meters Centerline goodness : 0.990081 with order 1 Centerline is valid? [True, True] Translation: X:16.49, Y:-0.49, Z:0.04 [[ 9.99954033e-01 -7.68888225e-03 -5.72819526e-03 1.64892386e+01] [ 7.69042315e-03 9.99970398e-01 2.47025082e-04 -4.86387277e-01] [ 5.72612634e-03 -2.91065973e-04 9.99983563e-01 3.55268591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.720714057000002 meters Centerline goodness : 0.989407 with order 1 Centerline is valid? [True, True] Translation: X:16.55, Y:-0.49, Z:0.04 [[ 9.99980440e-01 -2.51164843e-03 -5.72817747e-03 1.65506211e+01] [ 2.51310694e-03 9.99996812e-01 2.47436891e-04 -4.85719803e-01] [ 5.72753773e-03 -2.61827573e-04 9.99983563e-01 3.53768165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.780714057 meters Centerline goodness : 0.990403 with order 1 Centerline is valid? [True, True] Translation: X:16.61, Y:-0.48, Z:0.03 [[ 9.99955899e-01 7.44235752e-03 -5.72816432e-03 1.66110617e+01] [-7.44106031e-03 9.99972284e-01 2.47740888e-04 -4.83557038e-01] [ 5.72984934e-03 -2.05106346e-04 9.99983563e-01 3.23552821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.840714057 meters Centerline goodness : 0.992244 with order 1 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.48, Z:0.04 [[ 9.99926351e-01 1.06995213e-02 -5.72817826e-03 1.66701151e+01] [-1.06982793e-02 9.99942741e-01 2.47418264e-04 -4.79695859e-01] [ 5.73049753e-03 -1.86118391e-04 9.99983563e-01 3.52562365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.900714057000002 meters Centerline goodness : 0.992806 with order 1 Centerline is valid? [True, True] Translation: X:16.73, Y:-0.48, Z:0.03 [[ 9.99910526e-01 1.20882978e-02 -5.72823992e-03 1.67293440e+01] [-1.20870868e-02 9.99926918e-01 2.45982359e-04 -4.79544107e-01] [ 5.73079480e-03 -1.76722617e-04 9.99983563e-01 3.42895783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.960714057 meters Centerline goodness : 0.993202 with order 1 Centerline is valid? [True, True] Translation: X:16.79, Y:-0.48, Z:0.04 [[ 9.99951959e-01 7.95405035e-03 -5.72825738e-03 1.67878842e+01] [-7.95277392e-03 9.99968346e-01 2.45575068e-04 -4.78444438e-01] [ 5.73002937e-03 -2.00007734e-04 9.99983563e-01 3.52828249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.020714057 meters Centerline goodness : 0.993834 with order 1 Centerline is valid? [True, True] Translation: X:16.85, Y:-0.48, Z:0.04 [[ 9.99983199e-01 8.87609214e-04 -5.72827472e-03 1.68463641e+01] [-8.86219326e-04 9.99999577e-01 2.45169976e-04 -4.78752781e-01] [ 5.72848991e-03 -2.40089349e-04 9.99983563e-01 3.67121874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.080714057 meters Centerline goodness : 0.993052 with order 1 Centerline is valid? [True, True] Translation: X:16.91, Y:-0.48, Z:0.04 [[ 9.99983110e-01 -9.83100688e-04 -5.72829229e-03 1.69050938e+01] [ 9.84518860e-04 9.99999485e-01 2.44758773e-04 -4.80858567e-01] [ 5.72804872e-03 -2.50394251e-04 9.99983563e-01 3.63259277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.140714057 meters Centerline goodness : 0.993517 with order 1 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.48, Z:0.04 [[ 9.99966128e-01 -5.91016447e-03 -5.72830985e-03 1.69648181e+01] [ 5.91166095e-03 9.99982496e-01 2.44347004e-04 -4.80986667e-01] [ 5.72676545e-03 -2.78202553e-04 9.99983563e-01 3.69098433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.200714057 meters Centerline goodness : 0.993620 with order 1 Centerline is valid? [True, True] Translation: X:17.03, Y:-0.48, Z:0.04 [[ 9.99948419e-01 -8.38726049e-03 -5.72831857e-03 1.70262405e+01] [ 8.38879635e-03 9.99964784e-01 2.44142553e-04 -4.83352233e-01] [ 5.72606915e-03 -2.92183657e-04 9.99983563e-01 3.51043853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.260714057 meters Centerline goodness : 0.993668 with order 1 Centerline is valid? [True, True] Translation: X:17.09, Y:-0.48, Z:0.03 [[ 9.99912402e-01 -1.19320906e-02 -5.72830993e-03 1.70884380e+01] [ 1.19336856e-02 9.99928761e-01 2.44345104e-04 -4.83637995e-01] [ 5.72498630e-03 -3.12683550e-04 9.99983563e-01 3.49752207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.320714057 meters Centerline goodness : 0.993657 with order 1 Centerline is valid? [True, True] Translation: X:17.15, Y:-0.48, Z:0.04 [[ 9.99869915e-01 -1.50778145e-02 -5.72824634e-03 1.71498200e+01] [ 1.50794695e-02 9.99886268e-01 2.45826805e-04 -4.84375090e-01] [ 5.72388832e-03 -3.32173742e-04 9.99983563e-01 3.70327530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.380714057000002 meters Centerline goodness : 0.993561 with order 1 Centerline is valid? [True, True] Translation: X:17.21, Y:-0.49, Z:0.04 [[ 9.99829809e-01 -1.75368538e-02 -5.72823281e-03 1.72118998e+01] [ 1.75385507e-02 9.99846157e-01 2.46141606e-04 -4.85882726e-01] [ 5.72303502e-03 -3.46564616e-04 9.99983563e-01 3.69349341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.440714057 meters Centerline goodness : 0.993789 with order 1 Centerline is valid? [True, True] Translation: X:17.27, Y:-0.49, Z:0.04 [[ 9.99801528e-01 -1.90812050e-02 -5.72821496e-03 1.72736376e+01] [ 1.90829296e-02 9.99817874e-01 2.46556310e-04 -4.86666605e-01] [ 5.72246711e-03 -3.55818498e-04 9.99983563e-01 3.76494710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.500714057 meters Centerline goodness : 0.993680 with order 1 Centerline is valid? [True, True] Translation: X:17.34, Y:-0.49, Z:0.04 [[ 9.99791847e-01 -1.95818738e-02 -5.72819744e-03 1.73362464e+01] [ 1.95836089e-02 9.99808192e-01 2.46962755e-04 -4.86964670e-01] [ 5.72226273e-03 -3.59090127e-04 9.99983563e-01 3.75938058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.560714057000002 meters Centerline goodness : 0.994432 with order 1 Centerline is valid? [True, True] Translation: X:17.40, Y:-0.49, Z:0.04 [[ 9.99757402e-01 -2.12679483e-02 -5.72817994e-03 1.73979662e+01] [ 2.12697132e-02 9.99773743e-01 2.47368056e-04 -4.87950228e-01] [ 5.72162289e-03 -3.69144789e-04 9.99983563e-01 3.75525010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.620714057 meters Centerline goodness : 0.993802 with order 1 Centerline is valid? [True, True] Translation: X:17.46, Y:-0.49, Z:0.04 [[ 9.99721118e-01 -2.29101344e-02 -5.72816685e-03 1.74588773e+01] [ 2.29119279e-02 9.99737457e-01 2.47670701e-04 -4.89418132e-01] [ 5.72098879e-03 -3.78844976e-04 9.99983563e-01 3.74338024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.680714057 meters Centerline goodness : 0.994352 with order 1 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.49, Z:0.04 [[ 9.99694385e-01 -2.40484020e-02 -5.72815397e-03 1.75216476e+01] [ 2.40502158e-02 9.99710721e-01 2.47968142e-04 -4.91683921e-01] [ 5.72053370e-03 -3.85655698e-04 9.99983563e-01 3.58033102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.740714057 meters Centerline goodness : 0.993914 with order 1 Centerline is valid? [True, True] Translation: X:17.58, Y:-0.49, Z:0.04 [[ 9.99685278e-01 -2.44240508e-02 -5.72812563e-03 1.75823702e+01] [ 2.44258745e-02 9.99701613e-01 2.48621229e-04 -4.92218397e-01] [ 5.72034409e-03 -3.88457460e-04 9.99983563e-01 3.67024943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.800714057 meters Centerline goodness : 0.994506 with order 1 Centerline is valid? [True, True] Translation: X:17.64, Y:-0.49, Z:0.04 [[ 9.99734549e-01 -2.23163750e-02 -5.72811631e-03 1.76444906e+01] [ 2.23181655e-02 9.99750888e-01 2.48835750e-04 -4.93864504e-01] [ 5.72113625e-03 -3.76610744e-04 9.99983563e-01 3.71701147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.860714057 meters Centerline goodness : 0.995767 with order 1 Centerline is valid? [True, True] Translation: X:17.71, Y:-0.50, Z:0.04 [[ 9.99802106e-01 -1.90509419e-02 -5.72809798e-03 1.77069608e+01] [ 1.90526814e-02 9.99818450e-01 2.49256850e-04 -4.96768466e-01] [ 5.72230947e-03 -3.58343149e-04 9.99983563e-01 3.63873749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.920714057 meters Centerline goodness : 0.995839 with order 1 Centerline is valid? [True, True] Translation: X:17.77, Y:-0.50, Z:0.04 [[ 9.99826441e-01 -1.77278364e-02 -5.72807980e-03 1.77700230e+01] [ 1.77295566e-02 9.99842788e-01 2.49673982e-04 -4.99462670e-01] [ 5.72275310e-03 -3.51186965e-04 9.99983563e-01 3.77954833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.980714057 meters Centerline goodness : 0.995786 with order 1 Centerline is valid? [True, True] Translation: X:17.83, Y:-0.50, Z:0.04 [[ 9.99851396e-01 -1.62596333e-02 -5.72805256e-03 1.78322180e+01] [ 1.62613331e-02 9.99867744e-01 2.50297452e-04 -5.02033444e-01] [ 5.72322525e-03 -3.43406027e-04 9.99983563e-01 3.65329240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.040714057000002 meters Centerline goodness : 0.995582 with order 1 Centerline is valid? [True, True] Translation: X:17.89, Y:-0.51, Z:0.04 [[ 9.99880273e-01 -1.43746017e-02 -5.72803288e-03 1.78939867e+01] [ 1.43762732e-02 9.99896625e-01 2.50746894e-04 -5.05747971e-01] [ 5.72383636e-03 -3.33064639e-04 9.99983563e-01 3.59618083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.100714057 meters Centerline goodness : 0.995766 with order 1 Centerline is valid? [True, True] Translation: X:17.96, Y:-0.51, Z:0.04 [[ 9.99897960e-01 -1.30866352e-02 -5.72801342e-03 1.79554092e+01] [ 1.30882882e-02 9.99914313e-01 2.51190810e-04 -5.07051908e-01] [ 5.72423536e-03 -3.26135068e-04 9.99983563e-01 3.81767414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.160714057 meters Centerline goodness : 0.996047 with order 1 Centerline is valid? [True, True] Translation: X:18.02, Y:-0.51, Z:0.04 [[ 9.99938242e-01 -9.52381330e-03 -5.72799912e-03 1.80179692e+01] [ 9.52540988e-03 9.99954601e-01 2.51516356e-04 -5.08906352e-01] [ 5.72534368e-03 -3.06062362e-04 9.99983563e-01 3.66871962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.220714057000002 meters Centerline goodness : 0.995667 with order 1 Centerline is valid? [True, True] Translation: X:18.08, Y:-0.51, Z:0.04 [[ 9.99955051e-01 -7.55557586e-03 -5.72798090e-03 1.80804563e+01] [ 7.55714260e-03 9.99971413e-01 2.51930645e-04 -5.11059368e-01] [ 5.72591367e-03 -2.95206490e-04 9.99983563e-01 3.54983703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.280714057 meters Centerline goodness : 0.996334 with order 1 Centerline is valid? [True, True] Translation: X:18.14, Y:-0.51, Z:0.03 [[ 9.99980775e-01 -2.37508255e-03 -5.72796202e-03 1.81413293e+01] [ 2.37656696e-03 9.99997144e-01 2.52359091e-04 -5.12679784e-01] [ 5.72734629e-03 -2.65967125e-04 9.99983563e-01 3.46707424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.340714057 meters Centerline goodness : 0.996166 with order 1 Centerline is valid? [True, True] Translation: X:18.20, Y:-0.51, Z:0.04 [[ 9.99978172e-01 3.29332988e-03 -5.72795262e-03 1.82015952e+01] [-3.29193706e-03 9.99994550e-01 2.52572285e-04 -5.13191800e-01] [ 5.72875321e-03 -2.33710712e-04 9.99983563e-01 3.52555765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.400714057000002 meters Centerline goodness : 0.995831 with order 1 Centerline is valid? [True, True] Translation: X:18.26, Y:-0.51, Z:0.04 [[ 9.99934069e-01 9.95227424e-03 -5.72795262e-03 1.82602361e+01] [-9.95099051e-03 9.99950456e-01 2.52572285e-04 -5.13361552e-01] [ 5.73018251e-03 -1.95556830e-04 9.99983563e-01 3.55414093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.460714057 meters Centerline goodness : 0.996460 with order 1 Centerline is valid? [True, True] Translation: X:18.32, Y:-0.52, Z:0.03 [[ 9.99825090e-01 1.78039028e-02 -5.72801827e-03 1.83173740e+01] [-1.78027564e-02 9.99841487e-01 2.51074637e-04 -5.16211233e-01] [ 5.73158041e-03 -1.49056208e-04 9.99983563e-01 3.34963145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.520714057 meters Centerline goodness : 0.996917 with order 1 Centerline is valid? [True, True] Translation: X:18.38, Y:-0.52, Z:0.03 [[ 9.99727732e-01 2.26197298e-02 -5.72805035e-03 1.83753707e+01] [-2.26186666e-02 9.99744134e-01 2.50340652e-04 -5.18242381e-01] [ 5.73224737e-03 -1.20711631e-04 9.99983563e-01 3.44623046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.580714057 meters Centerline goodness : 0.996560 with order 1 Centerline is valid? [True, True] Translation: X:18.43, Y:-0.52, Z:0.03 [[ 9.99634925e-01 2.64046606e-02 -5.72812489e-03 1.84333315e+01] [-2.64036693e-02 9.99651331e-01 2.48623189e-04 -5.22467238e-01] [ 5.73269249e-03 -9.72889076e-05 9.99983563e-01 3.31634215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.640714057 meters Centerline goodness : 0.995500 with order 1 Centerline is valid? [True, True] Translation: X:18.49, Y:-0.53, Z:0.03 [[ 9.99608363e-01 2.73917842e-02 -5.72814768e-03 1.84911263e+01] [-2.73908121e-02 9.99624771e-01 2.48097174e-04 -5.27861469e-01] [ 5.73279413e-03 -9.11013930e-05 9.99983563e-01 3.43609733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.700714057000003 meters Centerline goodness : 0.996298 with order 1 Centerline is valid? [True, True] Translation: X:18.55, Y:-0.53, Z:0.03 [[ 9.99733047e-01 2.23835502e-02 -5.72817003e-03 1.85503875e+01] [-2.23824989e-02 9.99749450e-01 2.47580087e-04 -5.32029415e-01] [ 5.73227655e-03 -1.19303235e-04 9.99983563e-01 3.49969596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.760714057 meters Centerline goodness : 0.995181 with order 1 Centerline is valid? [True, True] Translation: X:18.61, Y:-0.54, Z:0.04 [[ 9.99835885e-01 1.71869187e-02 -5.72817949e-03 1.86069218e+01] [-1.71857834e-02 9.99852283e-01 2.47360905e-04 -5.37463580e-01] [ 5.73158471e-03 -1.48877057e-04 9.99983563e-01 3.87322842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.820714057 meters Centerline goodness : 0.994572 with order 1 Centerline is valid? [True, True] Translation: X:18.66, Y:-0.54, Z:0.04 [[ 9.99936122e-01 9.74369182e-03 -5.72821194e-03 1.86644173e+01] [-9.74243881e-03 9.99952511e-01 2.46607197e-04 -5.44351845e-01] [ 5.73034278e-03 -1.90784690e-04 9.99983563e-01 4.34690355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.880714057000002 meters Centerline goodness : 0.993601 with order 1 Centerline is valid? [True, True] Translation: X:18.72, Y:-0.55, Z:0.04 [[ 9.99968611e-01 5.47394365e-03 -5.72823974e-03 1.87219035e+01] [-5.47262437e-03 9.99984995e-01 2.45959636e-04 -5.49425331e-01] [ 5.72950016e-03 -2.14603411e-04 9.99983563e-01 4.45605421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.940714057 meters Centerline goodness : 0.993310 with order 1 Centerline is valid? [True, True] Translation: X:18.78, Y:-0.55, Z:0.05 [[ 9.99983082e-01 1.01116741e-03 -5.72826252e-03 1.87799372e+01] [-1.00977807e-03 9.99999460e-01 2.45427927e-04 -5.54473206e-01] [ 5.72850760e-03 -2.39639501e-04 9.99983563e-01 4.55715740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.000714057 meters Centerline goodness : 0.992973 with order 1 Centerline is valid? [True, True] Translation: X:18.84, Y:-0.56, Z:0.04 [[ 9.99982553e-01 -1.44215004e-03 -5.72828485e-03 1.88384420e+01] [ 1.44357657e-03 9.99998928e-01 2.44905842e-04 -5.60275956e-01] [ 5.72792551e-03 -2.53170787e-04 9.99983563e-01 4.43545119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.060714057000002 meters Centerline goodness : 0.992903 with order 1 Centerline is valid? [True, True] Translation: X:18.90, Y:-0.56, Z:0.05 [[ 9.99963664e-01 -6.31325387e-03 -5.72830337e-03 1.88973377e+01] [ 6.31475767e-03 9.99980032e-01 2.44471890e-04 -5.64251082e-01] [ 5.72664557e-03 -2.80635854e-04 9.99983563e-01 4.76499266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.120714057 meters Centerline goodness : 0.992802 with order 1 Centerline is valid? [True, True] Translation: X:18.96, Y:-0.57, Z:0.04 [[ 9.99958379e-01 -7.10124876e-03 -5.72830789e-03 1.89593906e+01] [ 7.10276485e-03 9.99974745e-01 2.44365747e-04 -5.69126027e-01] [ 5.72642792e-03 -2.85042400e-04 9.99983563e-01 4.45630680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.180714057 meters Centerline goodness : 0.992634 with order 1 Centerline is valid? [True, True] Translation: X:19.02, Y:-0.57, Z:0.04 [[ 9.99957744e-01 -7.19011894e-03 -5.72828921e-03 1.90210246e+01] [ 7.19163898e-03 9.99974110e-01 2.44803013e-04 -5.72578550e-01] [ 5.72638074e-03 -2.85988457e-04 9.99983563e-01 4.26833324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.240714057 meters Centerline goodness : 0.992945 with order 1 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.58, Z:0.04 [[ 9.99966450e-01 -5.85548253e-03 -5.72825785e-03 1.90827375e+01] [ 5.85698491e-03 9.99982818e-01 2.45534613e-04 -5.75851597e-01] [ 5.72672170e-03 -2.79076695e-04 9.99983563e-01 4.11929344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.300714057 meters Centerline goodness : 0.992854 with order 1 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.58, Z:0.04 [[ 9.99972665e-01 -4.67502649e-03 -5.72823914e-03 1.91438711e+01] [ 4.67651203e-03 9.99989035e-01 2.45970359e-04 -5.78340391e-01] [ 5.72702641e-03 -2.72751814e-04 9.99983563e-01 4.06754265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.360714057 meters Centerline goodness : 0.993346 with order 1 Centerline is valid? [True, True] Translation: X:19.21, Y:-0.58, Z:0.04 [[ 9.99981428e-01 2.08100621e-03 -5.72820826e-03 1.92052172e+01] [-2.07962719e-03 9.99997807e-01 2.46687287e-04 -5.79896461e-01] [ 5.72870906e-03 -2.34770168e-04 9.99983563e-01 3.88913683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.420714057 meters Centerline goodness : 0.993199 with order 1 Centerline is valid? [True, True] Translation: X:19.26, Y:-0.58, Z:0.04 [[ 9.99918973e-01 1.13681226e-02 -5.72819893e-03 1.92635202e+01] [-1.13668945e-02 9.99935364e-01 2.46903758e-04 -5.81259458e-01] [ 5.73063552e-03 -1.81771919e-04 9.99983563e-01 3.77785596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.480714057 meters Centerline goodness : 0.993272 with order 1 Centerline is valid? [True, True] Translation: X:19.32, Y:-0.58, Z:0.04 [[ 9.99804534e-01 1.89230274e-02 -5.72826310e-03 1.93217647e+01] [-1.89219318e-02 9.99820934e-01 2.45406046e-04 -5.82388289e-01] [ 5.73188118e-03 -1.36968274e-04 9.99983563e-01 3.81777521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.540714057000002 meters Centerline goodness : 0.993912 with order 1 Centerline is valid? [True, True] Translation: X:19.38, Y:-0.58, Z:0.04 [[ 9.99759181e-01 2.11841217e-02 -5.72832615e-03 1.93797694e+01] [-2.11830717e-02 9.99775584e-01 2.43925220e-04 -5.84705728e-01] [ 5.73220796e-03 -1.22522934e-04 9.99983563e-01 3.55640707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.600714057 meters Centerline goodness : 0.994476 with order 1 Centerline is valid? [True, True] Translation: X:19.44, Y:-0.59, Z:0.04 [[ 9.99776681e-01 2.03414463e-02 -5.72834820e-03 1.94386808e+01] [-2.03403853e-02 9.99793083e-01 2.43406243e-04 -5.87020478e-01] [ 5.73211415e-03 -1.26835076e-04 9.99983563e-01 4.24015270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.660714057 meters Centerline goodness : 0.993833 with order 1 Centerline is valid? [True, True] Translation: X:19.50, Y:-0.59, Z:0.04 [[ 9.99867660e-01 1.52265359e-02 -5.72836523e-03 1.94959452e+01] [-1.52253934e-02 9.99884057e-01 2.43004813e-04 -5.89878119e-01] [ 5.73140119e-03 -1.55756039e-04 9.99983563e-01 4.45922127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.720714057000002 meters Centerline goodness : 0.994448 with order 1 Centerline is valid? [True, True] Translation: X:19.55, Y:-0.60, Z:0.04 [[ 9.99920589e-01 1.12250307e-02 -5.72838623e-03 1.95540855e+01] [-1.12238254e-02 9.99936981e-01 2.42508910e-04 -5.95998822e-01] [ 5.73074740e-03 -1.78195246e-04 9.99983563e-01 4.33417519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.780714057 meters Centerline goodness : 0.993628 with order 1 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.60, Z:0.04 [[ 9.99914372e-01 1.17658229e-02 -5.72841215e-03 1.96131359e+01] [-1.17646300e-02 9.99930765e-01 2.41894914e-04 -5.99953091e-01] [ 5.73086164e-03 -1.74481551e-04 9.99983563e-01 4.29631555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.840714057 meters Centerline goodness : 0.993551 with order 1 Centerline is valid? [True, True] Translation: X:19.67, Y:-0.60, Z:0.04 [[ 9.99867588e-01 1.52312888e-02 -5.72843034e-03 1.96703831e+01] [-1.52301552e-02 9.99883985e-01 2.41463403e-04 -6.04314443e-01] [ 5.73144356e-03 -1.54186547e-04 9.99983563e-01 4.27513563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.900714057000002 meters Centerline goodness : 0.993274 with order 1 Centerline is valid? [True, True] Translation: X:19.73, Y:-0.61, Z:0.04 [[ 9.99626486e-01 2.67221349e-02 -5.72845266e-03 1.97288610e+01] [-2.67211929e-02 9.99642896e-01 2.40932894e-04 -6.11251872e-01] [ 5.73284525e-03 -8.77718136e-05 9.99983563e-01 4.36271654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.960714057 meters Centerline goodness : 0.991943 with order 1 Centerline is valid? [True, True] Translation: X:19.79, Y:-0.62, Z:0.04 [[ 9.99419614e-01 3.35800467e-02 -5.72851290e-03 1.97860199e+01] [-3.35792255e-02 9.99436030e-01 2.39491999e-04 -6.17338058e-01] [ 5.73332434e-03 -4.69939750e-05 9.99983563e-01 4.26640062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.020714057 meters Centerline goodness : 0.991876 with order 1 Centerline is valid? [True, True] Translation: X:19.84, Y:-0.62, Z:0.04 [[ 9.99210468e-01 3.93144246e-02 -5.72853396e-03 1.98440240e+01] [-3.93137006e-02 9.99226889e-01 2.38987197e-04 -6.23712044e-01] [ 5.73350081e-03 -1.35886405e-05 9.99983563e-01 4.05684180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.080714057 meters Centerline goodness : 0.991049 with order 1 Centerline is valid? [True, True] Translation: X:19.90, Y:-0.63, Z:0.04 [[ 9.99012406e-01 4.40612627e-02 -5.72860405e-03 1.99016936e+01] [-4.40606263e-02 9.99028831e-01 2.37294909e-04 -6.33485419e-01] [ 5.73349612e-03 1.53453244e-05 9.99983563e-01 4.01943694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.140714057 meters Centerline goodness : 0.989542 with order 1 Centerline is valid? [True, True] Translation: X:19.96, Y:-0.64, Z:0.04 [[ 9.98946796e-01 4.55245119e-02 -5.72862549e-03 1.99599389e+01] [-4.55239026e-02 9.98963222e-01 2.36776350e-04 -6.41429963e-01] [ 5.73346530e-03 2.42624121e-05 9.99983563e-01 4.46590465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.200714057000003 meters Centerline goodness : 0.989158 with order 1 Centerline is valid? [True, True] Translation: X:20.02, Y:-0.65, Z:0.05 [[ 9.99036278e-01 4.35166450e-02 -5.72868357e-03 2.00182707e+01] [-4.35160109e-02 9.99052702e-01 2.35362581e-04 -6.51428296e-01] [ 5.73349899e-03 1.41536999e-05 9.99983563e-01 4.98708756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.260714057 meters Centerline goodness : 0.990307 with order 1 Centerline is valid? [True, True] Translation: X:20.08, Y:-0.66, Z:0.05 [[ 9.99444361e-01 3.28352092e-02 -5.72874511e-03 2.00757403e+01] [-3.28344081e-02 9.99460778e-01 2.33855070e-04 -6.59475108e-01] [ 5.73333473e-03 -4.56251763e-05 9.99983563e-01 4.76206131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.320714057 meters Centerline goodness : 0.988667 with order 1 Centerline is valid? [True, True] Translation: X:20.13, Y:-0.68, Z:0.05 [[ 9.99626812e-01 2.67098736e-02 -5.72876919e-03 2.01341467e+01] [-2.67089753e-02 9.99643224e-01 2.33263771e-04 -6.78240696e-01] [ 5.73295575e-03 -8.01671651e-05 9.99983563e-01 5.13875970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.380714057000002 meters Centerline goodness : 0.987912 with order 1 Centerline is valid? [True, True] Translation: X:20.19, Y:-0.69, Z:0.05 [[ 9.99812534e-01 1.84953342e-02 -5.72878825e-03 2.01910327e+01] [-1.84943038e-02 9.99828939e-01 2.32794699e-04 -6.92332037e-01] [ 5.73211389e-03 -1.26801108e-04 9.99983563e-01 5.08086093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.440714057 meters Centerline goodness : 0.987618 with order 1 Centerline is valid? [True, True] Translation: X:20.25, Y:-0.70, Z:0.05 [[ 9.99933615e-01 9.99735829e-03 -5.72881713e-03 2.02497182e+01] [-9.99619256e-03 9.99950010e-01 2.32081859e-04 -7.02035323e-01] [ 5.73085095e-03 -1.74800093e-04 9.99983563e-01 5.14954123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.500714057 meters Centerline goodness : 0.992334 with order 1 Centerline is valid? [True, True] Translation: X:20.31, Y:-0.70, Z:0.05 [[ 9.99972742e-01 -4.65789708e-03 -5.72883470e-03 2.03072609e+01] [ 4.65930047e-03 9.99989119e-01 2.31647237e-04 -6.98602773e-01] [ 5.72769337e-03 -2.58333285e-04 9.99983563e-01 4.71330090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.560714057000002 meters Centerline goodness : 0.987305 with order 1 Centerline is valid? [True, True] Translation: X:20.37, Y:-0.72, Z:0.05 [[ 9.99964768e-01 6.13536069e-03 -5.72885800e-03 2.03672662e+01] [-6.13413745e-03 9.99981159e-01 2.31069611e-04 -7.19693411e-01] [ 5.73016776e-03 -1.95919868e-04 9.99983563e-01 4.99078770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.620714057 meters Centerline goodness : 0.987560 with order 1 Centerline is valid? [True, True] Translation: X:20.42, Y:-0.73, Z:0.05 [[ 9.99970772e-01 5.06304667e-03 -5.72885800e-03 2.04246832e+01] [-5.06180585e-03 9.99987162e-01 2.31069611e-04 -7.27670843e-01] [ 5.72995437e-03 -2.02064491e-04 9.99983563e-01 4.79942410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.680714057 meters Centerline goodness : 0.986836 with order 1 Centerline is valid? [True, True] Translation: X:20.48, Y:-0.74, Z:0.04 [[ 9.99982693e-01 -1.33960319e-03 -5.72887925e-03 2.04830406e+01] [ 1.34094590e-03 9.99999074e-01 2.30541534e-04 -7.36535608e-01] [ 5.72856511e-03 -2.38219661e-04 9.99983563e-01 4.16980373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.740714057 meters Centerline goodness : 0.986394 with order 1 Centerline is valid? [True, True] Translation: X:20.54, Y:-0.74, Z:0.04 [[ 9.99960463e-01 6.80096251e-03 -5.72889575e-03 2.05423464e+01] [-6.79975555e-03 9.99976855e-01 2.30130678e-04 -7.41468298e-01] [ 5.73032827e-03 -1.91166488e-04 9.99983563e-01 4.20956245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.800714057 meters Centerline goodness : 0.990533 with order 1 Centerline is valid? [True, True] Translation: X:20.60, Y:-0.73, Z:0.04 [[ 9.99982151e-01 -1.69636794e-03 -5.72890429e-03 2.06003401e+01] [ 1.69771293e-03 9.99998532e-01 2.29918090e-04 -7.31852970e-01] [ 5.72850585e-03 -2.39640021e-04 9.99983563e-01 4.32625133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.860714057000003 meters Centerline goodness : 0.987717 with order 1 Centerline is valid? [True, True] Translation: X:20.66, Y:-0.74, Z:0.04 [[ 9.99886677e-01 1.39216636e-02 -5.72892519e-03 2.06590996e+01] [-1.39205776e-02 9.99903078e-01 2.29395946e-04 -7.37395848e-01] [ 5.73156351e-03 -1.49620003e-04 9.99983563e-01 4.08574794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.920714057 meters Centerline goodness : 0.981346 with order 1 Centerline is valid? [True, True] Translation: X:20.72, Y:-0.75, Z:0.04 [[ 9.99426066e-01 3.33873801e-02 -5.72893755e-03 2.07188129e+01] [-3.33866154e-02 9.99442485e-01 2.29086973e-04 -7.54053923e-01] [ 5.73339220e-03 -3.76856574e-05 9.99983563e-01 3.66405689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.980714057 meters Centerline goodness : 0.981545 with order 1 Centerline is valid? [True, True] Translation: X:20.78, Y:-0.76, Z:0.04 [[ 9.99099426e-01 4.20418271e-02 -5.72894886e-03 2.07763894e+01] [-4.20412062e-02 9.99115851e-01 2.28803828e-04 -7.58388912e-01] [ 5.73350295e-03 1.22541471e-05 9.99983563e-01 3.78160076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.040714057000002 meters Centerline goodness : 0.979436 with order 1 Centerline is valid? [True, True] Translation: X:20.84, Y:-0.77, Z:0.04 [[ 9.98581472e-01 5.29360178e-02 -5.72896940e-03 2.08352749e+01] [-5.29355791e-02 9.98597903e-01 2.28288363e-04 -7.66679913e-01] [ 5.73302150e-03 7.53017835e-05 9.99983563e-01 3.87089807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.100714057 meters Centerline goodness : 0.977685 with order 1 Centerline is valid? [True, True] Translation: X:20.89, Y:-0.77, Z:0.05 [[ 9.98558284e-01 5.33716303e-02 -5.72902466e-03 2.08924984e+01] [-5.33712068e-02 9.98574716e-01 2.26893007e-04 -7.72400770e-01] [ 5.73296882e-03 7.91990678e-05 9.99983563e-01 4.60753718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.160714057 meters Centerline goodness : 0.977509 with order 1 Centerline is valid? [True, True] Translation: X:20.95, Y:-0.78, Z:0.05 [[ 9.98590753e-01 5.27606439e-02 -5.72905578e-03 2.09512108e+01] [-5.27602148e-02 9.98607184e-01 2.26104552e-04 -7.81597558e-01] [ 5.73300568e-03 7.64802990e-05 9.99983563e-01 4.99910714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.220714057000002 meters Centerline goodness : 0.979513 with order 1 Centerline is valid? [True, True] Translation: X:21.01, Y:-0.79, Z:0.05 [[ 9.98644951e-01 5.17246521e-02 -5.72906811e-03 2.10088794e+01] [-5.17242078e-02 9.98661382e-01 2.25791538e-04 -7.92076024e-01] [ 5.73307807e-03 7.08459306e-05 9.99983563e-01 4.97781398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.280714057 meters Centerline goodness : 0.985691 with order 1 Centerline is valid? [True, True] Translation: X:21.07, Y:-0.79, Z:0.04 [[ 9.98985729e-01 4.46619615e-02 -5.72908846e-03 2.10663671e+01] [-4.46614040e-02 9.99002156e-01 2.25274147e-04 -7.91037381e-01] [ 5.73343291e-03 3.08234759e-05 9.99983563e-01 3.86095767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.340714057 meters Centerline goodness : 0.978338 with order 1 Centerline is valid? [True, True] Translation: X:21.12, Y:-0.82, Z:0.05 [[ 9.98477921e-01 5.48545196e-02 -5.72911192e-03 2.11234702e+01] [-5.48541332e-02 9.98494353e-01 2.24675853e-04 -8.15431437e-01] [ 5.73281039e-03 8.99315899e-05 9.99983563e-01 5.05370459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.400714057000002 meters Centerline goodness : 0.985803 with order 1 Centerline is valid? [True, True] Translation: X:21.18, Y:-0.82, Z:0.05 [[ 9.98843723e-01 4.77325111e-02 -5.72917710e-03 2.11808582e+01] [-4.77320172e-02 9.98860153e-01 2.23001229e-04 -8.19228569e-01] [ 5.73329113e-03 5.07218015e-05 9.99983563e-01 5.02136562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.460714057 meters Centerline goodness : 0.986076 with order 1 Centerline is valid? [True, True] Translation: X:21.24, Y:-0.84, Z:0.05 [[ 9.98672404e-01 5.11918619e-02 -5.72919301e-03 2.12386354e+01] [-5.11914272e-02 9.98688835e-01 2.22591860e-04 -8.38107892e-01] [ 5.73307598e-03 7.09892185e-05 9.99983563e-01 4.84670810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.520714057 meters Centerline goodness : 0.984604 with order 1 Centerline is valid? [True, True] Translation: X:21.30, Y:-0.86, Z:0.05 [[ 9.98544971e-01 5.36201226e-02 -5.72924900e-03 2.12964553e+01] [-5.36197362e-02 9.98561403e-01 2.21141155e-04 -8.57712475e-01] [ 5.73286454e-03 8.63814324e-05 9.99983563e-01 4.54691894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.580714057 meters Centerline goodness : 0.986895 with order 1 Centerline is valid? [True, True] Translation: X:21.35, Y:-0.87, Z:0.05 [[ 9.98804638e-01 4.85434933e-02 -5.72926478e-03 2.13543129e+01] [-4.85430257e-02 9.98821068e-01 2.20731567e-04 -8.68448489e-01] [ 5.73322545e-03 5.76481350e-05 9.99983563e-01 4.88444432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.640714057 meters Centerline goodness : 0.980913 with order 1 Centerline is valid? [True, True] Translation: X:21.41, Y:-0.90, Z:0.04 [[ 9.98073835e-01 6.17721238e-02 -5.72929428e-03 2.14136755e+01] [-6.17718783e-02 9.98090270e-01 2.19963171e-04 -8.96926196e-01] [ 5.73194047e-03 1.34369784e-04 9.99983563e-01 4.05921036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.700714057000003 meters Centerline goodness : 0.981644 with order 1 Centerline is valid? [True, True] Translation: X:21.47, Y:-0.92, Z:0.04 [[ 9.98011360e-01 6.27734022e-02 -5.72930438e-03 2.14709723e+01] [-6.27731747e-02 9.98027795e-01 2.19699800e-04 -9.15086388e-01] [ 5.73179633e-03 1.40383729e-04 9.99983563e-01 3.55350870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.760714057 meters Centerline goodness : 0.987580 with order 1 Centerline is valid? [True, True] Translation: X:21.53, Y:-0.91, Z:0.05 [[ 9.98860450e-01 4.73811727e-02 -5.72932420e-03 2.15311618e+01] [-4.73806949e-02 9.98876880e-01 2.19181894e-04 -9.12811437e-01] [ 5.73327457e-03 5.25272362e-05 9.99983563e-01 4.73081098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.820714057 meters Centerline goodness : 0.986282 with order 1 Centerline is valid? [True, True] Translation: X:21.59, Y:-0.93, Z:0.05 [[ 9.98865157e-01 4.72818501e-02 -5.72932812e-03 2.15889976e+01] [-4.72813712e-02 9.98881587e-01 2.19079360e-04 -9.33682032e-01] [ 5.73327884e-03 5.20597503e-05 9.99983563e-01 4.57079496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.880714057000002 meters Centerline goodness : 0.982522 with order 1 Centerline is valid? [True, True] Translation: X:21.65, Y:-0.96, Z:0.03 [[ 9.98510191e-01 5.42639261e-02 -5.72934404e-03 2.16482356e+01] [-5.42635645e-02 9.98526623e-01 2.18662185e-04 -9.60597838e-01] [ 5.73276803e-03 9.25582095e-05 9.99983563e-01 3.45758070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.940714057 meters Centerline goodness : 0.981262 with order 1 Centerline is valid? [True, True] Translation: X:21.71, Y:-0.97, Z:0.04 [[ 9.99013785e-01 4.40299088e-02 -5.72934473e-03 2.17065586e+01] [-4.40293789e-02 9.99030213e-01 2.18644116e-04 -9.74225480e-01] [ 5.73341536e-03 3.38310039e-05 9.99983563e-01 3.77239229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.000714057 meters Centerline goodness : 0.981360 with order 1 Centerline is valid? [True, True] Translation: X:21.77, Y:-0.99, Z:0.04 [[ 9.99463094e-01 3.22598392e-02 -5.72936081e-03 2.17653000e+01] [-3.22591183e-02 9.99479515e-01 2.18221836e-04 -9.86109304e-01] [ 5.73341857e-03 -3.32805437e-05 9.99983563e-01 3.83149559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.060714057000002 meters Centerline goodness : 0.981886 with order 1 Centerline is valid? [True, True] Translation: X:21.82, Y:-1.00, Z:0.04 [[ 9.99668659e-01 2.50947509e-02 -5.72937757e-03 2.18237264e+01] [-2.50939149e-02 9.99685074e-01 2.17780941e-04 -9.96077605e-01] [ 5.73303840e-03 -7.39362679e-05 9.99983563e-01 4.04428539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.120714057 meters Centerline goodness : 0.981946 with order 1 Centerline is valid? [True, True] Translation: X:21.88, Y:-1.00, Z:0.04 [[ 9.99750499e-01 2.15896879e-02 -5.72939367e-03 2.18828125e+01] [-2.15887967e-02 9.99766911e-01 2.17356727e-04 -1.00201407e+00] [ 5.73275087e-03 -9.36117804e-05 9.99983563e-01 4.41265557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.180714057 meters Centerline goodness : 0.985342 with order 1 Centerline is valid? [True, True] Translation: X:21.94, Y:-0.99, Z:0.05 [[ 9.99939224e-01 9.41919461e-03 -5.72940568e-03 2.19420116e+01] [-9.41810552e-03 9.99955625e-01 2.17039586e-04 -9.91184951e-01] [ 5.73119578e-03 -1.63066249e-04 9.99983563e-01 5.44992712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.240714057 meters Centerline goodness : 0.984378 with order 1 Centerline is valid? [True, True] Translation: X:22.00, Y:-1.00, Z:0.06 [[ 9.99938334e-01 9.51326647e-03 -5.72943273e-03 2.20008345e+01] [-9.51218302e-03 9.99954735e-01 2.16323003e-04 -9.95148322e-01] [ 5.73123133e-03 -1.61810250e-04 9.99983563e-01 5.67507690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.300714057 meters Centerline goodness : 0.984088 with order 1 Centerline is valid? [True, True] Translation: X:22.06, Y:-1.00, Z:0.05 [[ 9.99957264e-01 7.25556515e-03 -5.72944896e-03 2.20590888e+01] [-7.25444714e-03 9.99973663e-01 2.15892272e-04 -1.00269877e+00] [ 5.73086449e-03 -1.74319061e-04 9.99983563e-01 4.90868124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.360714057000003 meters Centerline goodness : 0.983773 with order 1 Centerline is valid? [True, True] Translation: X:22.12, Y:-1.00, Z:0.05 [[ 9.99944721e-01 8.81638214e-03 -5.72946494e-03 2.21166595e+01] [-8.81529216e-03 9.99961121e-01 2.15467593e-04 -1.00492473e+00] [ 5.73114183e-03 -1.64948775e-04 9.99983563e-01 4.99529102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.420714057 meters Centerline goodness : 0.983127 with order 1 Centerline is valid? [True, True] Translation: X:22.17, Y:-1.02, Z:0.03 [[ 9.99774682e-01 2.04391122e-02 -5.72948444e-03 2.21740881e+01] [-2.04382159e-02 9.99791095e-01 2.14947572e-04 -1.01914857e+00] [ 5.73268086e-03 -9.77987001e-05 9.99983563e-01 3.03993884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.480714057 meters Centerline goodness : 0.985345 with order 1 Centerline is valid? [True, True] Translation: X:22.23, Y:-1.00, Z:0.05 [[ 9.99953434e-01 7.76546033e-03 -5.72954794e-03 2.22336436e+01] [-7.76436586e-03 9.99969834e-01 2.13241447e-04 -1.00384168e+00] [ 5.73103102e-03 -1.68745211e-04 9.99983563e-01 4.90869622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.540714057000002 meters Centerline goodness : 0.982920 with order 1 Centerline is valid? [True, True] Translation: X:22.29, Y:-1.02, Z:0.04 [[ 9.99695462e-01 2.40032304e-02 -5.72956346e-03 2.22916182e+01] [-2.40024048e-02 9.99711878e-01 2.12823719e-04 -1.01846317e+00] [ 5.73302110e-03 -7.52356045e-05 9.99983563e-01 4.11347578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.600714057 meters Centerline goodness : 0.983024 with order 1 Centerline is valid? [True, True] Translation: X:22.35, Y:-1.02, Z:0.04 [[ 9.99718872e-01 2.30075874e-02 -5.72957883e-03 2.23500144e+01] [-2.30067478e-02 9.99735287e-01 2.12409055e-04 -1.02115642e+00] [ 5.73294916e-03 -8.05303653e-05 9.99983563e-01 3.96024525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.660714057 meters Centerline goodness : 0.983199 with order 1 Centerline is valid? [True, True] Translation: X:22.41, Y:-1.02, Z:0.04 [[ 9.99806521e-01 1.88173361e-02 -5.72959408e-03 2.24100672e+01] [-1.88164300e-02 9.99822933e-01 2.11997061e-04 -1.01993192e+00] [ 5.73256877e-03 -1.04145538e-04 9.99983563e-01 3.78679655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.720714057000002 meters Centerline goodness : 0.981490 with order 1 Centerline is valid? [True, True] Translation: X:22.47, Y:-1.02, Z:0.05 [[ 9.99656552e-01 2.55724561e-02 -5.72959907e-03 2.24694460e+01] [-2.55716618e-02 9.99672969e-01 2.11861910e-04 -1.01704680e+00] [ 5.73314315e-03 -6.52737768e-05 9.99983563e-01 4.96231471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.780714057 meters Centerline goodness : 0.981728 with order 1 Centerline is valid? [True, True] Translation: X:22.53, Y:-1.02, Z:0.05 [[ 9.99375231e-01 3.48757704e-02 -5.72964902e-03 2.25274618e+01] [-3.48751367e-02 9.99391655e-01 2.10502333e-04 -1.01962368e+00] [ 5.73350485e-03 -1.05485252e-05 9.99983563e-01 4.55921241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.840714057 meters Centerline goodness : 0.981907 with order 1 Centerline is valid? [True, True] Translation: X:22.59, Y:-1.02, Z:0.05 [[ 9.98794593e-01 4.87496937e-02 -5.72966792e-03 2.25864093e+01] [-4.87492911e-02 9.98811024e-01 2.09986586e-04 -1.01766689e+00] [ 5.73309227e-03 6.95837823e-05 9.99983563e-01 4.73996074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.900714057000002 meters Centerline goodness : 0.980159 with order 1 Centerline is valid? [True, True] Translation: X:22.64, Y:-1.02, Z:0.05 [[ 9.98386760e-01 5.64893566e-02 -5.72971873e-03 2.26445570e+01] [-5.64890894e-02 9.98403195e-01 2.08591044e-04 -1.02014886e+00] [ 5.73235266e-03 1.15412057e-04 9.99983563e-01 4.84631385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.960714057 meters Centerline goodness : 0.985951 with order 1 Centerline is valid? [True, True] Translation: X:22.70, Y:-1.01, Z:0.05 [[ 9.98425157e-01 5.58065981e-02 -5.72974161e-03 2.27039505e+01] [-5.58063232e-02 9.98441591e-01 2.07960557e-04 -1.01485089e+00] [ 5.73241790e-03 1.12122761e-04 9.99983563e-01 4.80709027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.020714057000003 meters Centerline goodness : 0.986749 with order 1 Centerline is valid? [True, True] Translation: X:22.76, Y:-1.02, Z:0.05 [[ 9.97905738e-01 6.44306442e-02 -5.72975651e-03 2.27628662e+01] [-6.44305137e-02 9.97922174e-01 2.07549249e-04 -1.02490421e+00] [ 5.73122361e-03 1.62056569e-04 9.99983563e-01 4.76251425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.080714057 meters Centerline goodness : 0.987769 with order 1 Centerline is valid? [True, True] Translation: X:22.82, Y:-1.04, Z:0.05 [[ 9.97301471e-01 7.31911602e-02 -5.72977136e-03 2.28209411e+01] [-7.31911764e-02 9.97317908e-01 2.07138503e-04 -1.03929357e+00] [ 5.72956429e-03 2.12789173e-04 9.99983563e-01 4.93551041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.140714057 meters Centerline goodness : 0.988056 with order 1 Centerline is valid? [True, True] Translation: X:22.88, Y:-1.05, Z:0.05 [[ 9.96920952e-01 7.82034882e-02 -5.72978598e-03 2.28795663e+01] [-7.82035893e-02 9.96937388e-01 2.06733304e-04 -1.05188234e+00] [ 5.72840514e-03 2.41993068e-04 9.99983563e-01 5.15129891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.200714057000003 meters Centerline goodness : 0.990987 with order 1 Centerline is valid? [True, True] Translation: X:22.94, Y:-1.07, Z:0.05 [[ 9.96404110e-01 8.45341310e-02 -5.72980044e-03 2.29376852e+01] [-8.45343388e-02 9.96420545e-01 2.06331773e-04 -1.07352207e+00] [ 5.72673296e-03 2.78775065e-04 9.99983563e-01 5.28296247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.260714057 meters Centerline goodness : 0.993150 with order 1 Centerline is valid? [True, True] Translation: X:22.99, Y:-1.10, Z:0.05 [[ 9.96298442e-01 8.57705341e-02 -5.72981485e-03 2.29949053e+01] [-8.57707647e-02 9.96314877e-01 2.05930943e-04 -1.09557841e+00] [ 5.72636258e-03 2.86281923e-04 9.99983563e-01 5.32904336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.320714057 meters Centerline goodness : 0.994999 with order 1 Centerline is valid? [True, True] Translation: X:23.05, Y:-1.12, Z:0.05 [[ 9.96420708e-01 8.43382555e-02 -5.72983608e-03 2.30524336e+01] [-8.43384658e-02 9.96437144e-01 2.05338381e-04 -1.11948391e+00] [ 5.72673938e-03 2.78642170e-04 9.99983563e-01 5.36385454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.380714057000002 meters Centerline goodness : 0.996956 with order 1 Centerline is valid? [True, True] Translation: X:23.11, Y:-1.14, Z:0.06 [[ 9.96632594e-01 8.17963430e-02 -5.72985801e-03 2.31100694e+01] [-8.17965149e-02 9.96649030e-01 2.04724747e-04 -1.14361260e+00] [ 5.72740316e-03 2.64647061e-04 9.99983563e-01 5.61202668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.440714057 meters Centerline goodness : 0.997768 with order 1 Centerline is valid? [True, True] Translation: X:23.17, Y:-1.17, Z:0.06 [[ 9.96816559e-01 7.95230528e-02 -5.72986904e-03 2.31666751e+01] [-7.95231890e-02 9.96832995e-01 2.04415484e-04 -1.16539868e+00] [ 5.72797826e-03 2.51892719e-04 9.99983563e-01 5.86325643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.500714057 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:23.22, Y:-1.19, Z:0.06 [[ 9.97168829e-01 7.49766331e-02 -5.72988739e-03 2.32244383e+01] [-7.49766973e-02 9.97185265e-01 2.03899717e-04 -1.18689250e+00] [ 5.72904699e-03 2.26285590e-04 9.99983563e-01 5.92354820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.560714057000002 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:23.28, Y:-1.20, Z:0.06 [[ 9.97551963e-01 6.96939665e-02 -5.72990217e-03 2.32832045e+01] [-6.96939460e-02 9.97568400e-01 2.03483481e-04 -1.20061418e+00] [ 5.73015091e-03 1.96354147e-04 9.99983563e-01 5.88317846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.620714057 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:23.34, Y:-1.22, Z:0.06 [[ 9.98365338e-01 5.68666944e-02 -5.72991677e-03 2.33408581e+01] [-5.68664650e-02 9.98381773e-01 2.03071597e-04 -1.21904072e+00] [ 5.73219247e-03 1.23100468e-04 9.99983563e-01 5.79314943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.680714057000003 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:23.40, Y:-1.24, Z:0.06 [[ 9.99205769e-01 3.94334776e-02 -5.72992751e-03 2.34012579e+01] [-3.94329632e-02 9.99222198e-01 2.02768117e-04 -1.23600518e+00] [ 5.73346661e-03 2.33409479e-05 9.99983563e-01 5.72155978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.740714057 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:23.46, Y:-1.25, Z:0.06 [[ 9.99601016e-01 2.76582077e-02 -5.72992751e-03 2.34616484e+01] [-2.76574997e-02 9.99617438e-01 2.02768117e-04 -1.24615660e+00] [ 5.73334366e-03 -4.42117477e-05 9.99983563e-01 5.76565600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.800714057 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:23.52, Y:-1.26, Z:0.06 [[ 9.99902536e-01 1.27312893e-02 -5.72992751e-03 2.35206704e+01] [-1.27303363e-02 9.99918945e-01 2.02768117e-04 -1.25666372e+00] [ 5.73204457e-03 -1.29804451e-04 9.99983563e-01 5.88633308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.860714057000003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:23.58, Y:-1.26, Z:0.06 [[ 9.99971975e-01 4.81840021e-03 -5.72993102e-03 2.35799918e+01] [-4.81731792e-03 9.99988376e-01 2.02669054e-04 -1.26376671e+00] [ 5.73084095e-03 -1.75060475e-04 9.99983563e-01 6.14104104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.920714057 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:23.64, Y:-1.26, Z:0.07 [[ 9.99979296e-01 2.92842471e-03 -5.72993834e-03 2.36386439e+01] [-2.92731262e-03 9.99995695e-01 2.02461894e-04 -1.26434535e+00] [ 5.73050656e-03 -1.85684382e-04 9.99983563e-01 6.51415036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.980714057 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:23.70, Y:-1.26, Z:0.06 [[ 9.99967351e-01 5.69770677e-03 -5.72994729e-03 2.36988098e+01] [-5.69664155e-03 9.99983754e-01 2.02208122e-04 -1.26311860e+00] [ 5.73100632e-03 -1.69560064e-04 9.99983563e-01 6.01797388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.040714057000002 meters Centerline goodness : 0.999648 with order 1 Centerline is valid? [True, True] Translation: X:23.76, Y:-1.26, Z:0.06 [[ 9.99938735e-01 9.47064384e-03 -5.72995676e-03 2.37571555e+01] [-9.46964205e-03 9.99955142e-01 2.01939378e-04 -1.25797752e+00] [ 5.73161222e-03 -1.47666367e-04 9.99983563e-01 6.16087157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.100714057 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:23.82, Y:-1.26, Z:0.06 [[ 9.99911600e-01 1.19983419e-02 -5.72997059e-03 2.38167112e+01] [-1.19973838e-02 9.99928008e-01 2.01546295e-04 -1.25543490e+00] [ 5.73197630e-03 -1.32783822e-04 9.99983563e-01 6.14021662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.160714057 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:23.88, Y:-1.25, Z:0.06 [[ 9.99863483e-01 1.54978257e-02 -5.72997988e-03 2.38760691e+01] [-1.54969266e-02 9.99879895e-01 2.01281815e-04 -1.24817982e+00] [ 5.73241111e-03 -1.12457259e-04 9.99983563e-01 5.86262702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.220714057000002 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:23.94, Y:-1.24, Z:0.06 [[ 9.99831027e-01 1.74666948e-02 -5.72999046e-03 2.39352567e+01] [-1.74658298e-02 9.99847441e-01 2.00980086e-04 -1.24049561e+00] [ 5.73262676e-03 -1.00867087e-04 9.99983563e-01 5.93667940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.280714057 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:23.99, Y:-1.23, Z:0.06 [[ 9.99832632e-01 1.73745730e-02 -5.73000486e-03 2.39947325e+01] [-1.73737087e-02 9.99849046e-01 2.00568627e-04 -1.23209435e+00] [ 5.73262469e-03 -1.00983623e-04 9.99983563e-01 5.86403425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.340714057 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:24.05, Y:-1.22, Z:0.06 [[ 9.99880255e-01 1.43750873e-02 -5.73001929e-03 2.40540022e+01] [-1.43741762e-02 9.99896666e-01 2.00155644e-04 -1.22480020e+00] [ 5.73230444e-03 -1.17767369e-04 9.99983563e-01 5.90783902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.400714057000002 meters Centerline goodness : 0.999731 with order 1 Centerline is valid? [True, True] Translation: X:24.11, Y:-1.22, Z:0.06 [[ 9.99924776e-01 1.08448096e-02 -5.73003378e-03 2.41133424e+01] [-1.08438430e-02 9.99941184e-01 1.99739975e-04 -1.22048419e+00] [ 5.73186290e-03 -1.37589363e-04 9.99983563e-01 5.93845119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.460714057 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:24.17, Y:-1.21, Z:0.06 [[ 9.99976854e-01 3.66860636e-03 -5.73004815e-03 2.41731030e+01] [-3.66752435e-03 9.99993255e-01 1.99326814e-04 -1.21269607e+00] [ 5.73074075e-03 -1.78307109e-04 9.99983563e-01 5.67222918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.520714057000003 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:24.23, Y:-1.21, Z:0.06 [[ 9.99966727e-01 -5.80608790e-03 -5.73005526e-03 2.42327361e+01] [ 5.80732409e-03 9.99983118e-01 1.99122300e-04 -1.20553184e+00] [ 5.72880240e-03 -2.32391963e-04 9.99983563e-01 5.95118841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.580714057 meters Centerline goodness : 0.998497 with order 1 Centerline is valid? [True, True] Translation: X:24.29, Y:-1.20, Z:0.06 [[ 9.99896559e-01 -1.31923553e-02 -5.73006242e-03 2.42929685e+01] [ 1.31937113e-02 9.99912939e-01 1.98916099e-04 -1.19526800e+00] [ 5.72693938e-03 -2.74496312e-04 9.99983563e-01 6.00845917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.640714057 meters Centerline goodness : 0.997829 with order 1 Centerline is valid? [True, True] Translation: X:24.35, Y:-1.18, Z:0.06 [[ 9.99835159e-01 -1.72284726e-02 -5.73006976e-03 2.43534795e+01] [ 1.72298936e-02 9.99851535e-01 1.98704346e-04 -1.18466322e+00] [ 5.72579567e-03 -2.97400084e-04 9.99983563e-01 5.87284053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.700714057000003 meters Centerline goodness : 0.997443 with order 1 Centerline is valid? [True, True] Translation: X:24.41, Y:-1.18, Z:0.06 [[ 9.99820439e-01 -1.80625677e-02 -5.73007725e-03 2.44144787e+01] [ 1.80640010e-02 9.99836813e-01 1.98488251e-04 -1.18227024e+00] [ 5.72555696e-03 -3.01960731e-04 9.99983563e-01 5.87988061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.760714057 meters Centerline goodness : 0.996844 with order 1 Centerline is valid? [True, True] Translation: X:24.47, Y:-1.17, Z:0.06 [[ 9.99797974e-01 -1.92659734e-02 -5.73007725e-03 2.44746570e+01] [ 1.92674265e-02 9.99814346e-01 1.98488251e-04 -1.16846703e+00] [ 5.72518937e-03 -3.08851993e-04 9.99983563e-01 5.91730131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.820714057 meters Centerline goodness : 0.994751 with order 1 Centerline is valid? [True, True] Translation: X:24.54, Y:-1.15, Z:0.06 [[ 9.99807629e-01 -1.87582356e-02 -5.73007644e-03 2.45359614e+01] [ 1.87596805e-02 9.99824002e-01 1.98511409e-04 -1.15300367e+00] [ 5.72534424e-03 -3.05967625e-04 9.99983563e-01 5.78773948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.880714057000002 meters Centerline goodness : 0.992873 with order 1 Centerline is valid? [True, True] Translation: X:24.60, Y:-1.15, Z:0.06 [[ 9.99827687e-01 -1.76567787e-02 -5.73007644e-03 2.45968065e+01] [ 1.76582055e-02 9.99844062e-01 1.98511409e-04 -1.14570625e+00] [ 5.72567784e-03 -2.99660071e-04 9.99983563e-01 5.66093791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.940714057 meters Centerline goodness : 0.990198 with order 1 Centerline is valid? [True, True] Translation: X:24.66, Y:-1.14, Z:0.05 [[ 9.99857935e-01 -1.58516727e-02 -5.73007644e-03 2.46573832e+01] [ 1.58530700e-02 9.99874312e-01 1.98511409e-04 -1.13674438e+00] [ 5.72620951e-03 -2.89322511e-04 9.99983563e-01 5.05676579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.000714057 meters Centerline goodness : 0.986888 with order 1 Centerline is valid? [True, True] Translation: X:24.72, Y:-1.12, Z:0.05 [[ 9.99781779e-01 -2.00888368e-02 -5.73007644e-03 2.47187665e+01] [ 2.00903035e-02 9.99798150e-01 1.98511409e-04 -1.12393647e+00] [ 5.72493196e-03 -3.13587065e-04 9.99983563e-01 4.63372723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.060714057000002 meters Centerline goodness : 0.984124 with order 1 Centerline is valid? [True, True] Translation: X:24.78, Y:-1.11, Z:0.04 [[ 9.99669225e-01 -2.50720176e-02 -5.73007644e-03 2.47805363e+01] [ 2.50735658e-02 9.99685589e-01 1.98511409e-04 -1.11246567e+00] [ 5.72329776e-03 -3.42119196e-04 9.99983563e-01 4.17421397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.120714057 meters Centerline goodness : 0.984001 with order 1 Centerline is valid? [True, True] Translation: X:24.84, Y:-1.10, Z:0.04 [[ 9.99563294e-01 -2.89894284e-02 -5.73006893e-03 2.48428207e+01] [ 2.89910420e-02 9.99579652e-01 1.98727951e-04 -1.10311699e+00] [ 5.72189930e-03 -3.64761834e-04 9.99983563e-01 4.28061265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.180714057000003 meters Centerline goodness : 0.982869 with order 1 Centerline is valid? [True, True] Translation: X:24.91, Y:-1.08, Z:0.05 [[ 9.99255019e-01 -3.81650826e-02 -5.73005398e-03 2.49052145e+01] [ 3.81668487e-02 9.99271361e-01 1.99158258e-04 -1.08057475e+00] [ 5.71827794e-03 -4.17707992e-04 9.99983563e-01 4.83391428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.240714057 meters Centerline goodness : 0.982175 with order 1 Centerline is valid? [True, True] Translation: X:24.97, Y:-1.08, Z:0.04 [[ 9.99499564e-01 -3.11092986e-02 -5.73000573e-03 2.49664101e+01] [ 3.11109572e-02 9.99515917e-01 2.00536884e-04 -1.07676297e+00] [ 5.72099337e-03 -3.78702491e-04 9.99983563e-01 4.16528541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.300714057 meters Centerline goodness : 0.983027 with order 1 Centerline is valid? [True, True] Translation: X:25.03, Y:-1.06, Z:0.04 [[ 9.99622858e-01 -2.68572157e-02 -5.72998279e-03 2.50288896e+01] [ 2.68588085e-02 9.99639217e-01 2.01190079e-04 -1.06486051e+00] [ 5.72251211e-03 -3.55014712e-04 9.99983563e-01 4.09422808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.360714057000003 meters Centerline goodness : 0.985976 with order 1 Centerline is valid? [True, True] Translation: X:25.09, Y:-1.04, Z:0.05 [[ 9.99569824e-01 -2.87634227e-02 -5.72996757e-03 2.50909538e+01] [ 2.87650491e-02 9.99586180e-01 2.01622622e-04 -1.04138884e+00] [ 5.72179704e-03 -3.66358687e-04 9.99983563e-01 4.89034364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.420714057 meters Centerline goodness : 0.987873 with order 1 Centerline is valid? [True, True] Translation: X:25.15, Y:-1.03, Z:0.05 [[ 9.99743892e-01 -2.18933406e-02 -5.72994623e-03 2.51533880e+01] [ 2.18948581e-02 9.99760258e-01 2.02227386e-04 -1.03374837e+00] [ 5.72414509e-03 -3.27631953e-04 9.99983563e-01 4.87032443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.480714057 meters Centerline goodness : 0.988106 with order 1 Centerline is valid? [True, True] Translation: X:25.21, Y:-1.02, Z:0.05 [[ 9.99871133e-01 -1.49962027e-02 -5.72993098e-03 2.52145725e+01] [ 1.49976097e-02 9.99887509e-01 2.02658492e-04 -1.02346078e+00] [ 5.72624731e-03 -2.88567644e-04 9.99983563e-01 4.82501494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.540714057000002 meters Centerline goodness : 0.989430 with order 1 Centerline is valid? [True, True] Translation: X:25.28, Y:-1.01, Z:0.05 [[ 9.99978190e-01 -3.28460719e-03 -5.72990538e-03 2.52751257e+01] [ 3.28582641e-03 9.99994581e-01 2.03379791e-04 -1.01227593e+00] [ 5.72920631e-03 -2.22202830e-04 9.99983563e-01 5.23255466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.600714057 meters Centerline goodness : 0.991189 with order 1 Centerline is valid? [True, True] Translation: X:25.34, Y:-1.01, Z:0.05 [[ 9.99983557e-01 -2.31598625e-04 -5.72990198e-03 2.53350598e+01] [ 2.32768336e-04 9.99999952e-01 2.03475549e-04 -1.01031575e+00] [ 5.72985458e-03 -2.04805943e-04 9.99983563e-01 4.97105387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.660714057 meters Centerline goodness : 0.986305 with order 1 Centerline is valid? [True, True] Translation: X:25.39, Y:-1.02, Z:0.05 [[ 9.99886086e-01 1.39636343e-02 -5.72990952e-03 2.53934136e+01] [-1.39626986e-02 9.99902496e-01 2.03263017e-04 -1.01589013e+00] [ 5.73218912e-03 -1.23234863e-04 9.99983563e-01 4.63156657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.720714057000002 meters Centerline goodness : 0.990087 with order 1 Centerline is valid? [True, True] Translation: X:25.45, Y:-1.00, Z:0.05 [[ 9.99927839e-01 1.05586421e-02 -5.72992078e-03 2.54517252e+01] [-1.05576524e-02 9.99944246e-01 2.02945090e-04 -1.00221386e+00] [ 5.73174414e-03 -1.42435934e-04 9.99983563e-01 5.18276765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.780714057 meters Centerline goodness : 0.985817 with order 1 Centerline is valid? [True, True] Translation: X:25.51, Y:-1.02, Z:0.04 [[ 9.99924506e-01 1.08696450e-02 -5.72993514e-03 2.55105855e+01] [-1.08686627e-02 9.99940914e-01 2.02538783e-04 -1.01505904e+00] [ 5.73179811e-03 -1.40246761e-04 9.99983563e-01 4.24504289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.840714057000003 meters Centerline goodness : 0.984404 with order 1 Centerline is valid? [True, True] Translation: X:25.57, Y:-1.01, Z:0.05 [[ 9.99967818e-01 5.61515017e-03 -5.72995076e-03 2.55693583e+01] [-5.61408423e-03 9.99984220e-01 2.02095885e-04 -1.01459338e+00] [ 5.73099515e-03 -1.69920955e-04 9.99983563e-01 4.66589983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.900714057000002 meters Centerline goodness : 0.984316 with order 1 Centerline is valid? [True, True] Translation: X:25.63, Y:-1.02, Z:0.05 [[ 9.99983311e-01 -7.38085628e-04 -5.72996589e-03 2.56277687e+01] [ 7.39253289e-04 9.99999706e-01 2.01666114e-04 -1.01538040e+00] [ 5.72981536e-03 -2.05898644e-04 9.99983563e-01 4.89515093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.960714057 meters Centerline goodness : 0.984541 with order 1 Centerline is valid? [True, True] Translation: X:25.69, Y:-1.02, Z:0.06 [[ 9.99972265e-01 -4.75782842e-03 -5.72998097e-03 2.56870102e+01] [ 4.75905952e-03 9.99988655e-01 2.01236577e-04 -1.01548976e+00] [ 5.72895852e-03 -2.28500316e-04 9.99983563e-01 5.58685727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.020714057000003 meters Centerline goodness : 0.984285 with order 1 Centerline is valid? [True, True] Translation: X:25.75, Y:-1.02, Z:0.06 [[ 9.99922511e-01 -1.10516938e-02 -5.72998887e-03 2.57469561e+01] [ 1.10530268e-02 9.99938893e-01 2.01011506e-04 -1.01692828e+00] [ 5.72741721e-03 -2.64329650e-04 9.99983563e-01 5.57985967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.080714057 meters Centerline goodness : 0.983988 with order 1 Centerline is valid? [True, True] Translation: X:25.81, Y:-1.02, Z:0.06 [[ 9.99865269e-01 -1.53821998e-02 -5.72998460e-03 2.58085161e+01] [ 1.53836044e-02 9.99881645e-01 2.01133208e-04 -1.01896659e+00] [ 5.72621255e-03 -2.89253926e-04 9.99983563e-01 5.52398024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.140714057 meters Centerline goodness : 0.983723 with order 1 Centerline is valid? [True, True] Translation: X:25.87, Y:-1.02, Z:0.05 [[ 9.99886299e-01 -1.39483504e-02 -5.72997699e-03 2.58692741e+01] [ 1.39497328e-02 9.99902677e-01 2.01349650e-04 -1.02067917e+00] [ 5.72661084e-03 -2.81258404e-04 9.99983563e-01 5.28720018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.200714057000003 meters Centerline goodness : 0.985676 with order 1 Centerline is valid? [True, True] Translation: X:25.93, Y:-1.02, Z:0.05 [[ 9.99919839e-01 -1.12908694e-02 -5.72996569e-03 2.59315612e+01] [ 1.12922101e-02 9.99936221e-01 2.01670661e-04 -1.01847353e+00] [ 5.72732320e-03 -2.66358472e-04 9.99983563e-01 5.39647963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.260714057 meters Centerline goodness : 0.984990 with order 1 Centerline is valid? [True, True] Translation: X:25.99, Y:-1.02, Z:0.05 [[ 9.99971643e-01 -4.88681872e-03 -5.72995052e-03 2.59917387e+01] [ 4.88805688e-03 9.99988033e-01 2.02100722e-04 -1.01845620e+00] [ 5.72889432e-03 -2.30103315e-04 9.99983563e-01 5.06254943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.320714057 meters Centerline goodness : 0.986067 with order 1 Centerline is valid? [True, True] Translation: X:26.05, Y:-1.02, Z:0.05 [[ 9.99968519e-01 -5.48903882e-03 -5.72994680e-03 2.60524110e+01] [ 5.49028745e-03 9.99984908e-01 2.02206324e-04 -1.01712080e+00] [ 5.72875040e-03 -2.33659013e-04 9.99983563e-01 5.42632459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.380714057000002 meters Centerline goodness : 0.985358 with order 1 Centerline is valid? [True, True] Translation: X:26.11, Y:-1.02, Z:0.05 [[ 9.99979518e-01 -2.85169072e-03 -5.72994680e-03 2.61124822e+01] [ 2.85289612e-03 9.99995910e-01 2.02206324e-04 -1.01609664e+00] [ 5.72934673e-03 -2.18549125e-04 9.99983563e-01 5.44508116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.440714057 meters Centerline goodness : 0.985187 with order 1 Centerline is valid? [True, True] Translation: X:26.17, Y:-1.02, Z:0.05 [[ 9.99982140e-01 -1.69907663e-03 -5.72994680e-03 2.61724450e+01] [ 1.70026314e-03 9.99998534e-01 2.02206324e-04 -1.01790557e+00] [ 5.72959483e-03 -2.11945130e-04 9.99983563e-01 5.25279253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.500714057 meters Centerline goodness : 0.985164 with order 1 Centerline is valid? [True, True] Translation: X:26.23, Y:-1.02, Z:0.05 [[ 9.99983093e-01 -9.90381788e-04 -5.72995053e-03 2.62318765e+01] [ 9.91556072e-04 9.99999488e-01 2.02100646e-04 -1.01685716e+00] [ 5.72974744e-03 -2.07778796e-04 9.99983563e-01 5.41193275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.560714057000002 meters Centerline goodness : 0.984936 with order 1 Centerline is valid? [True, True] Translation: X:26.29, Y:-1.02, Z:0.04 [[ 9.99980959e-01 -2.29102232e-03 -5.72995795e-03 2.62916809e+01] [ 2.29221672e-03 9.99997352e-01 2.01889903e-04 -1.01946277e+00] [ 5.72948025e-03 -2.15020364e-04 9.99983563e-01 4.36643569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.620714057 meters Centerline goodness : 0.985624 with order 1 Centerline is valid? [True, True] Translation: X:26.35, Y:-1.02, Z:0.04 [[ 9.99982198e-01 -1.66485079e-03 -5.72996565e-03 2.63516075e+01] [ 1.66603368e-03 9.99998592e-01 2.01671292e-04 -1.02133180e+00] [ 5.72962182e-03 -2.11214018e-04 9.99983563e-01 4.36238079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.680714057000003 meters Centerline goodness : 0.985410 with order 1 Centerline is valid? [True, True] Translation: X:26.41, Y:-1.02, Z:0.04 [[ 9.99982189e-01 1.67030493e-03 -5.72997320e-03 2.64115792e+01] [-1.66917796e-03 9.99998587e-01 2.01456416e-04 -1.02273897e+00] [ 5.73030160e-03 -1.91888483e-04 9.99983563e-01 3.87346429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.740714057 meters Centerline goodness : 0.985889 with order 1 Centerline is valid? [True, True] Translation: X:26.47, Y:-1.02, Z:0.04 [[ 9.99982333e-01 1.58146992e-03 -5.72998070e-03 2.64709141e+01] [-1.58034271e-03 9.99998731e-01 2.01242880e-04 -1.02418276e+00] [ 5.73029169e-03 -1.92183991e-04 9.99983563e-01 3.76958759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.800714057 meters Centerline goodness : 0.984900 with order 1 Centerline is valid? [True, True] Translation: X:26.53, Y:-1.02, Z:0.04 [[ 9.99979363e-01 -2.90523516e-03 -5.72999193e-03 2.65302423e+01] [ 2.90643409e-03 9.99995756e-01 2.00922746e-04 -1.02391320e+00] [ 5.72938388e-03 -2.17572443e-04 9.99983563e-01 4.17151299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.860714057000003 meters Centerline goodness : 0.988700 with order 1 Centerline is valid? [True, True] Translation: X:26.59, Y:-1.01, Z:0.06 [[ 9.99902342e-01 -1.27464933e-02 -5.72999931e-03 2.65898147e+01] [ 1.27478523e-02 9.99918723e-01 2.00711797e-04 -1.01416893e+00] [ 5.72697522e-03 -2.73737380e-04 9.99983563e-01 5.56336667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.920714057 meters Centerline goodness : 0.984227 with order 1 Centerline is valid? [True, True] Translation: X:26.65, Y:-1.02, Z:0.05 [[ 9.99889868e-01 -1.36901316e-02 -5.73000750e-03 2.66514651e+01] [ 1.36915047e-02 9.99906247e-01 2.00477953e-04 -1.02080943e+00] [ 5.72672572e-03 -2.78908299e-04 9.99983563e-01 5.39907787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.980714057 meters Centerline goodness : 0.991167 with order 1 Centerline is valid? [True, True] Translation: X:26.71, Y:-1.01, Z:0.04 [[ 9.99526740e-01 -3.02235534e-02 -5.72999458e-03 2.67129651e+01] [ 3.02251993e-02 9.99543094e-01 2.00846306e-04 -1.01055885e+00] [ 5.72130623e-03 -3.73941482e-04 9.99983563e-01 4.29472553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.040714057000002 meters Centerline goodness : 0.983041 with order 1 Centerline is valid? [True, True] Translation: X:26.77, Y:-1.01, Z:0.05 [[ 9.99482608e-01 -3.16493842e-02 -5.72994243e-03 2.67740932e+01] [ 3.16510619e-02 9.99498959e-01 2.02323238e-04 -1.00798418e+00] [ 5.72066809e-03 -3.83577320e-04 9.99983563e-01 5.20607481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.100714057 meters Centerline goodness : 0.980762 with order 1 Centerline is valid? [True, True] Translation: X:26.84, Y:-1.01, Z:0.05 [[ 9.99372783e-01 -3.49457957e-02 -5.72992633e-03 2.68352199e+01] [ 3.49475299e-02 9.99389128e-01 2.02778332e-04 -1.00724711e+00] [ 5.71933983e-03 -4.02897918e-04 9.99983563e-01 5.40419589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.160714057 meters Centerline goodness : 0.985130 with order 1 Centerline is valid? [True, True] Translation: X:26.90, Y:-1.02, Z:0.05 [[ 9.99660206e-01 -2.54291437e-02 -5.72991017e-03 2.68976245e+01] [ 2.54307248e-02 9.99676566e-01 2.03233942e-04 -1.02121355e+00] [ 5.72288886e-03 -3.48880653e-04 9.99983563e-01 4.51832071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.220714057000002 meters Centerline goodness : 0.987841 with order 1 Centerline is valid? [True, True] Translation: X:26.96, Y:-1.01, Z:0.05 [[ 9.99363344e-01 -3.52147128e-02 -5.72988292e-03 2.69603202e+01] [ 3.52164584e-02 9.99379687e-01 2.03999263e-04 -1.00938778e+00] [ 5.71914483e-03 -4.05655569e-04 9.99983563e-01 5.41947387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.280714057 meters Centerline goodness : 0.989626 with order 1 Centerline is valid? [True, True] Translation: X:27.02, Y:-1.01, Z:0.05 [[ 9.99316191e-01 -3.65283381e-02 -5.72986216e-03 2.70231782e+01] [ 3.65301084e-02 9.99332532e-01 2.04580859e-04 -1.00640072e+00] [ 5.71856466e-03 -4.13753451e-04 9.99983563e-01 5.04985748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.340714057000003 meters Centerline goodness : 0.985105 with order 1 Centerline is valid? [True, True] Translation: X:27.09, Y:-0.99, Z:0.05 [[ 9.98853129e-01 -4.75352142e-02 -5.72983280e-03 2.70854359e+01] [ 4.75371692e-02 9.98869449e-01 2.05399712e-04 -9.91426261e-01] [ 5.71359121e-03 -4.77544176e-04 9.99983563e-01 5.18637541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.400714057000002 meters Centerline goodness : 0.984877 with order 1 Centerline is valid? [True, True] Translation: X:27.15, Y:-0.99, Z:0.05 [[ 9.98849841e-01 -4.76042509e-02 -5.72981778e-03 2.71482882e+01] [ 4.76062093e-02 9.98866160e-01 2.05818044e-04 -9.87881275e-01] [ 5.71352327e-03 -4.78356225e-04 9.99983563e-01 5.01487216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.460714057 meters Centerline goodness : 0.982869 with order 1 Centerline is valid? [True, True] Translation: X:27.21, Y:-0.99, Z:0.05 [[ 9.98939612e-01 -4.56817406e-02 -5.72979750e-03 2.72101223e+01] [ 4.56836709e-02 9.98955935e-01 2.06381000e-04 -9.87639658e-01] [ 5.71438737e-03 -4.67920339e-04 9.99983563e-01 5.01408583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.520714057000003 meters Centerline goodness : 0.987959 with order 1 Centerline is valid? [True, True] Translation: X:27.27, Y:-1.00, Z:0.04 [[ 9.99561518e-01 -2.90506683e-02 -5.72977099e-03 2.72721725e+01] [ 2.90523308e-02 9.99577870e-01 2.07114415e-04 -1.00027069e+00] [ 5.72133547e-03 -3.73486802e-04 9.99983563e-01 3.95866155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.580714057 meters Centerline goodness : 0.987299 with order 1 Centerline is valid? [True, True] Translation: X:27.33, Y:-0.99, Z:0.05 [[ 9.99480976e-01 -3.17009175e-02 -5.72974897e-03 2.73334267e+01] [ 3.17026268e-02 9.99497324e-01 2.07721717e-04 -9.92529266e-01] [ 5.72028379e-03 -3.89261998e-04 9.99983563e-01 4.57936739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.640714057 meters Centerline goodness : 0.981428 with order 1 Centerline is valid? [True, True] Translation: X:27.40, Y:-0.97, Z:0.05 [[ 9.99008993e-01 -4.41384402e-02 -5.72974513e-03 2.73963459e+01] [ 4.41403534e-02 9.99025318e-01 2.07827716e-04 -9.74412737e-01] [ 5.71498726e-03 -4.60534733e-04 9.99983563e-01 4.81613535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.700714057000003 meters Centerline goodness : 0.992933 with order 1 Centerline is valid? [True, True] Translation: X:27.46, Y:-0.97, Z:0.04 [[ 9.98976735e-01 -4.48626093e-02 -5.72971726e-03 2.74573699e+01] [ 4.48645388e-02 9.98993058e-01 2.08593015e-04 -9.73241712e-01] [ 5.71458974e-03 -4.65440692e-04 9.99983563e-01 4.20226498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.760714057 meters Centerline goodness : 0.989684 with order 1 Centerline is valid? [True, True] Translation: X:27.52, Y:-0.98, Z:0.05 [[ 9.99339100e-01 -3.58961569e-02 -5.72970044e-03 2.75196045e+01] [ 3.58979424e-02 9.99355439e-01 2.09054131e-04 -9.76534765e-01] [ 5.71850306e-03 -4.14600424e-04 9.99983563e-01 5.01011290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.820714057 meters Centerline goodness : 0.989465 with order 1 Centerline is valid? [True, True] Translation: X:27.58, Y:-0.98, Z:0.05 [[ 9.99364283e-01 -3.51880651e-02 -5.72968412e-03 2.75809637e+01] [ 3.51898416e-02 9.99380624e-01 2.09500564e-04 -9.75263271e-01] [ 5.71876337e-03 -4.10994057e-04 9.99983563e-01 5.18268021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.880714057000002 meters Centerline goodness : 0.990031 with order 1 Centerline is valid? [True, True] Translation: X:27.64, Y:-0.97, Z:0.05 [[ 9.99418371e-01 -3.36168197e-02 -5.72963205e-03 2.76436898e+01] [ 3.36185786e-02 9.99434714e-01 2.10915102e-04 -9.65457594e-01] [ 5.71930287e-03 -4.03414513e-04 9.99983563e-01 5.40895872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.940714057 meters Centerline goodness : 0.990302 with order 1 Centerline is valid? [True, True] Translation: X:27.71, Y:-0.96, Z:0.05 [[ 9.99533609e-01 -2.99956083e-02 -5.72961580e-03 2.77052921e+01] [ 2.99973105e-02 9.99549957e-01 2.11355629e-04 -9.63307120e-01] [ 5.72069748e-03 -3.83130118e-04 9.99983563e-01 5.34105081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.000714057000003 meters Centerline goodness : 0.990281 with order 1 Centerline is valid? [True, True] Translation: X:27.77, Y:-0.96, Z:0.05 [[ 9.99623482e-01 -2.68340491e-02 -5.72960373e-03 2.77675227e+01] [ 2.68357014e-02 9.99639835e-01 2.11682250e-04 -9.60326189e-01] [ 5.72185984e-03 -3.65360483e-04 9.99983563e-01 5.22440800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.060714057000002 meters Centerline goodness : 0.990147 with order 1 Centerline is valid? [True, True] Translation: X:27.83, Y:-0.96, Z:0.05 [[ 9.99734480e-01 -2.23190742e-02 -5.72958391e-03 2.78284175e+01] [ 2.23206557e-02 9.99750841e-01 2.12217455e-04 -9.61101003e-01] [ 5.72341983e-03 -3.40049176e-04 9.99983563e-01 4.68037431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.120714057 meters Centerline goodness : 0.990269 with order 1 Centerline is valid? [True, True] Translation: X:27.89, Y:-0.96, Z:0.04 [[ 9.99879053e-01 -1.44586141e-02 -5.72957233e-03 2.78911978e+01] [ 1.44600687e-02 9.99895425e-01 2.12529575e-04 -9.57671924e-01] [ 5.72590028e-03 -2.95353879e-04 9.99983563e-01 4.27576296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.180714057000003 meters Centerline goodness : 0.989610 with order 1 Centerline is valid? [True, True] Translation: X:27.95, Y:-0.96, Z:0.04 [[ 9.99983103e-01 -9.82518439e-04 -5.72955699e-03 2.79528496e+01] [ 9.83754628e-04 9.99999493e-01 2.12942223e-04 -9.57238998e-01] [ 5.72934487e-03 -2.18575103e-04 9.99983563e-01 3.63959966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.240714057 meters Centerline goodness : 0.990022 with order 1 Centerline is valid? [True, True] Translation: X:28.01, Y:-0.96, Z:0.03 [[ 9.99895228e-01 1.32930662e-02 -5.72954942e-03 2.80126895e+01] [-1.32920629e-02 9.99911634e-01 2.13145856e-04 -9.56420575e-01] [ 5.73187648e-03 -1.36965993e-04 9.99983563e-01 3.22837873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.300714057 meters Centerline goodness : 0.989465 with order 1 Centerline is valid? [True, True] Translation: X:28.07, Y:-0.96, Z:0.03 [[ 9.99756697e-01 2.13006709e-02 -5.72955701e-03 2.80714820e+01] [-2.12998002e-02 9.99773111e-01 2.12941553e-04 -9.58157624e-01] [ 5.73279283e-03 -9.08513239e-05 9.99983563e-01 3.17031399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.360714057000003 meters Centerline goodness : 0.989725 with order 1 Centerline is valid? [True, True] Translation: X:28.13, Y:-0.96, Z:0.03 [[ 9.99732720e-01 2.23977932e-02 -5.72960890e-03 2.81297240e+01] [-2.23969486e-02 9.99749135e-01 2.11536067e-04 -9.60943355e-01] [ 5.73290948e-03 -8.31537712e-05 9.99983563e-01 3.16119572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.420714057 meters Centerline goodness : 0.989083 with order 1 Centerline is valid? [True, True] Translation: X:28.19, Y:-0.97, Z:0.03 [[ 9.99709615e-01 2.34063449e-02 -5.72962702e-03 2.81882474e+01] [-2.34055197e-02 9.99726031e-01 2.11044010e-04 -9.66018093e-01] [ 5.73299705e-03 -7.68778282e-05 9.99983563e-01 3.05115162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.480714057 meters Centerline goodness : 0.990408 with order 1 Centerline is valid? [True, True] Translation: X:28.25, Y:-0.97, Z:0.03 [[ 9.99706183e-01 2.35524772e-02 -5.72964144e-03 2.82470478e+01] [-2.35516567e-02 9.99722599e-01 2.10651936e-04 -9.69359553e-01] [ 5.73301341e-03 -7.56474953e-05 9.99983563e-01 3.10960598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.540714057000002 meters Centerline goodness : 0.987945 with order 1 Centerline is valid? [True, True] Translation: X:28.30, Y:-0.98, Z:0.03 [[ 9.99742239e-01 2.19687697e-02 -5.72965676e-03 2.83047996e+01] [-2.19679256e-02 9.99758654e-01 2.10234381e-04 -9.76084962e-01] [ 5.73289252e-03 -8.43115170e-05 9.99983563e-01 3.14752492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.600714057 meters Centerline goodness : 0.988275 with order 1 Centerline is valid? [True, True] Translation: X:28.36, Y:-0.99, Z:0.04 [[ 9.99890088e-01 1.36741351e-02 -5.72967560e-03 2.83642300e+01] [-1.36731577e-02 9.99906496e-01 2.09719559e-04 -9.85054822e-01] [ 5.73200759e-03 -1.31353751e-04 9.99983563e-01 3.62277866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.660714057 meters Centerline goodness : 0.989079 with order 1 Centerline is valid? [True, True] Translation: X:28.42, Y:-0.99, Z:0.04 [[ 9.99961432e-01 6.65615031e-03 -5.72968295e-03 2.84230004e+01] [-6.65505896e-03 9.99977833e-01 2.09518787e-04 -9.91500218e-01] [ 5.73095052e-03 -1.71379328e-04 9.99983563e-01 3.61526848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.720714057000002 meters Centerline goodness : 0.989173 with order 1 Centerline is valid? [True, True] Translation: X:28.48, Y:-1.00, Z:0.03 [[ 9.99983398e-01 -6.11126708e-04 -5.72969871e-03 2.84807491e+01] [ 6.12334750e-04 9.99999791e-01 2.09086751e-04 -1.00295731e+00] [ 5.72956973e-03 -2.12591773e-04 9.99983563e-01 3.16314907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.780714057 meters Centerline goodness : 0.990074 with order 1 Centerline is valid? [True, True] Translation: X:28.54, Y:-1.01, Z:0.04 [[ 9.99911635e-01 -1.19955449e-02 -5.72971425e-03 2.85405112e+01] [ 1.19969370e-02 9.99928012e-01 2.08660099e-04 -1.00881169e+00] [ 5.72679879e-03 -2.77380682e-04 9.99983563e-01 3.87823308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.840714057000003 meters Centerline goodness : 0.993782 with order 1 Centerline is valid? [True, True] Translation: X:28.60, Y:-1.00, Z:0.04 [[ 9.99443149e-01 -3.28719137e-02 -5.72971546e-03 2.86020965e+01] [ 3.28736473e-02 9.99459494e-01 2.08626723e-04 -1.00362111e+00] [ 5.71976056e-03 -3.96867194e-04 9.99983563e-01 4.25457100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.900714057000002 meters Centerline goodness : 0.990659 with order 1 Centerline is valid? [True, True] Translation: X:28.66, Y:-1.02, Z:0.04 [[ 9.99607237e-01 -2.74325064e-02 -5.72966451e-03 2.86633060e+01] [ 2.74341590e-02 9.99623591e-01 2.10016755e-04 -1.01949183e+00] [ 5.72174653e-03 -3.67122796e-04 9.99983563e-01 4.43484553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.960714057 meters Centerline goodness : 0.988723 with order 1 Centerline is valid? [True, True] Translation: X:28.72, Y:-1.03, Z:0.03 [[ 9.99776478e-01 -2.03510669e-02 -5.72964675e-03 2.87243786e+01] [ 2.03526064e-02 9.99792842e-01 2.10500150e-04 -1.03450001e+00] [ 5.72417591e-03 -3.27066344e-04 9.99983563e-01 3.32405395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.020714057000003 meters Centerline goodness : 0.993646 with order 1 Centerline is valid? [True, True] Translation: X:28.78, Y:-1.02, Z:0.04 [[ 9.99154928e-01 -4.07013540e-02 -5.72963750e-03 2.87846371e+01] [ 4.07032277e-02 9.99171258e-01 2.10751734e-04 -1.02277927e+00] [ 5.71631123e-03 -4.43788374e-04 9.99983563e-01 4.41735646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.080714057 meters Centerline goodness : 0.990584 with order 1 Centerline is valid? [True, True] Translation: X:28.85, Y:-1.03, Z:0.04 [[ 9.99368272e-01 -3.50746092e-02 -5.72963750e-03 2.88469589e+01] [ 3.50763910e-02 9.99384612e-01 2.10751734e-04 -1.03496314e+00] [ 5.71871951e-03 -4.11593602e-04 9.99983563e-01 4.06129579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.140714057 meters Centerline goodness : 0.991604 with order 1 Centerline is valid? [True, True] Translation: X:28.91, Y:-1.04, Z:0.04 [[ 9.99302648e-01 -3.68970167e-02 -5.72961057e-03 2.89095932e+01] [ 3.68988324e-02 9.99318984e-01 2.11481212e-04 -1.04104693e+00] [ 5.71790559e-03 -4.22749675e-04 9.99983563e-01 4.04700549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.200714057000003 meters Centerline goodness : 0.993158 with order 1 Centerline is valid? [True, True] Translation: X:28.97, Y:-1.04, Z:0.04 [[ 9.98824049e-01 -4.81424011e-02 -5.72958260e-03 2.89714665e+01] [ 4.81444048e-02 9.98840363e-01 2.12236393e-04 -1.03796170e+00] [ 5.71272080e-03 -4.87834158e-04 9.99983563e-01 4.03874596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.260714057 meters Centerline goodness : 0.992794 with order 1 Centerline is valid? [True, True] Translation: X:29.03, Y:-1.04, Z:0.04 [[ 9.98728317e-01 -5.00891315e-02 -5.72952444e-03 2.90332428e+01] [ 5.00911760e-02 9.98744626e-01 2.13794923e-04 -1.04126382e+00] [ 5.71162295e-03 -5.00521661e-04 9.99983563e-01 4.19147291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.320714057 meters Centerline goodness : 0.992830 with order 1 Centerline is valid? [True, True] Translation: X:29.10, Y:-1.04, Z:0.04 [[ 9.98608159e-01 -5.24301165e-02 -5.72950934e-03 2.90956921e+01] [ 5.24322015e-02 9.98624463e-01 2.14198892e-04 -1.04437276e+00] [ 5.71039772e-03 -5.14311549e-04 9.99983563e-01 4.21343020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.380714057000002 meters Centerline goodness : 0.990375 with order 1 Centerline is valid? [True, True] Translation: X:29.16, Y:-1.05, Z:0.04 [[ 9.98763170e-01 -4.93892969e-02 -5.72949446e-03 2.91580301e+01] [ 4.93913345e-02 9.98779480e-01 2.14596112e-04 -1.05385062e+00] [ 5.71190275e-03 -4.97318070e-04 9.99983563e-01 4.32162745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.440714057 meters Centerline goodness : 0.993816 with order 1 Centerline is valid? [True, True] Translation: X:29.22, Y:-1.05, Z:0.04 [[ 9.98092636e-01 -6.14675701e-02 -5.72947662e-03 2.92209622e+01] [ 6.14698075e-02 9.98108920e-01 2.15071535e-04 -1.04915650e+00] [ 5.70542180e-03 -5.66851141e-04 9.99983563e-01 4.10632932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.500714057000003 meters Centerline goodness : 0.993496 with order 1 Centerline is valid? [True, True] Translation: X:29.28, Y:-1.05, Z:0.04 [[ 9.97925466e-01 -6.41243927e-02 -5.72944280e-03 2.92839978e+01] [ 6.41266786e-02 9.97941743e-01 2.15968604e-04 -1.05105640e+00] [ 5.70380128e-03 -5.82930707e-04 9.99983563e-01 4.24839289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.560714057000002 meters Centerline goodness : 0.994344 with order 1 Centerline is valid? [True, True] Translation: X:29.35, Y:-1.05, Z:0.04 [[ 9.97740498e-01 -6.69408198e-02 -5.72937685e-03 2.93470621e+01] [ 6.69431615e-02 9.97756767e-01 2.17704392e-04 -1.05118476e+00] [ 5.70195121e-03 -6.00755088e-04 9.99983563e-01 4.31432085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.620714057 meters Centerline goodness : 0.991327 with order 1 Centerline is valid? [True, True] Translation: X:29.41, Y:-1.06, Z:0.04 [[ 9.98517916e-01 -5.41215870e-02 -5.72931143e-03 2.94076315e+01] [ 5.41237292e-02 9.98534213e-01 2.19412527e-04 -1.06041465e+00] [ 5.70903853e-03 -5.29179040e-04 9.99983563e-01 4.40479967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.680714057000003 meters Centerline goodness : 0.991470 with order 1 Centerline is valid? [True, True] Translation: X:29.47, Y:-1.06, Z:0.04 [[ 9.98726106e-01 -5.01332297e-02 -5.72925883e-03 2.94693653e+01] [ 5.01353146e-02 9.98742410e-01 2.20777464e-04 -1.06137250e+00] [ 5.71098549e-03 -5.07734411e-04 9.99983563e-01 4.49955031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.740714057 meters Centerline goodness : 0.991823 with order 1 Centerline is valid? [True, True] Translation: X:29.53, Y:-1.06, Z:0.03 [[ 9.98933002e-01 -4.58261218e-02 -5.72924188e-03 2.95328750e+01] [ 4.58281389e-02 9.98949314e-01 2.21216526e-04 -1.06244131e+00] [ 5.71308475e-03 -4.83540981e-04 9.99983563e-01 3.48628993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.800714057 meters Centerline goodness : 0.990914 with order 1 Centerline is valid? [True, True] Translation: X:29.59, Y:-1.06, Z:0.04 [[ 9.99356341e-01 -3.54129824e-02 -5.72921634e-03 2.95941648e+01] [ 3.54148331e-02 9.99372673e-01 2.21876128e-04 -1.05839752e+00] [ 5.71776495e-03 -4.24632556e-04 9.99983563e-01 4.17648476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.860714057000003 meters Centerline goodness : 0.990291 with order 1 Centerline is valid? [True, True] Translation: X:29.66, Y:-1.05, Z:0.04 [[ 9.99516072e-01 -3.05744898e-02 -5.72916218e-03 2.96550443e+01] [ 3.05762693e-02 9.99532412e-01 2.23265732e-04 -1.05464402e+00] [ 5.71965706e-03 -3.98334094e-04 9.99983563e-01 3.99022756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.920714057 meters Centerline goodness : 0.990865 with order 1 Centerline is valid? [True, True] Translation: X:29.72, Y:-1.05, Z:0.05 [[ 9.99764823e-01 -2.09159215e-02 -5.72915401e-03 2.97183166e+01] [ 2.09175443e-02 9.99781179e-01 2.23475312e-04 -1.04977464e+00] [ 5.72322616e-03 -3.43262588e-04 9.99983563e-01 4.65016822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.980714057 meters Centerline goodness : 0.989673 with order 1 Centerline is valid? [True, True] Translation: X:29.78, Y:-1.05, Z:0.05 [[ 9.99880116e-01 -1.43850782e-02 -5.72912963e-03 2.97798274e+01] [ 1.43865977e-02 9.99896482e-01 2.24098635e-04 -1.04897159e+00] [ 5.72531288e-03 -3.06494452e-04 9.99983563e-01 4.75541184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.040714057000002 meters Centerline goodness : 0.989624 with order 1 Centerline is valid? [True, True] Translation: X:29.84, Y:-1.05, Z:0.04 [[ 9.99937567e-01 -9.59371423e-03 -5.72911768e-03 2.98406886e+01] [ 9.59515703e-03 9.99953940e-01 2.24403666e-04 -1.05176986e+00] [ 5.72670093e-03 -2.79361440e-04 9.99983563e-01 4.37804229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.100714057 meters Centerline goodness : 0.989576 with order 1 Centerline is valid? [True, True] Translation: X:29.90, Y:-1.05, Z:0.04 [[ 9.99943148e-01 -8.99321240e-03 -5.72910602e-03 2.99031676e+01] [ 8.99464707e-03 9.99959522e-01 2.24700916e-04 -1.05327543e+00] [ 5.72685334e-03 -2.76219428e-04 9.99983563e-01 4.40295155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.160714057000003 meters Centerline goodness : 0.990123 with order 1 Centerline is valid? [True, True] Translation: X:29.97, Y:-1.05, Z:0.04 [[ 9.99940765e-01 -9.25442036e-03 -5.72909078e-03 2.99658673e+01] [ 9.25586152e-03 9.99957138e-01 2.25088862e-04 -1.05275494e+00] [ 5.72676215e-03 -2.78103199e-04 9.99983563e-01 4.47219904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.220714057000002 meters Centerline goodness : 0.989990 with order 1 Centerline is valid? [True, True] Translation: X:30.03, Y:-1.06, Z:0.04 [[ 9.99930650e-01 -1.02894562e-02 -5.72907388e-03 3.00265764e+01] [ 1.02909167e-02 9.99947022e-01 2.25518053e-04 -1.05551905e+00] [ 5.72644991e-03 -2.84459835e-04 9.99983563e-01 4.31469942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.280714057 meters Centerline goodness : 0.990578 with order 1 Centerline is valid? [True, True] Translation: X:30.09, Y:-1.06, Z:0.05 [[ 9.99916451e-01 -1.15874736e-02 -5.72906138e-03 3.00887831e+01] [ 1.15889572e-02 9.99932820e-01 2.25835255e-04 -1.05756648e+00] [ 5.72605964e-03 -2.92210234e-04 9.99983563e-01 4.51875849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.340714057000003 meters Centerline goodness : 0.990539 with order 1 Centerline is valid? [True, True] Translation: X:30.15, Y:-1.06, Z:0.04 [[ 9.99895072e-01 -1.33050046e-02 -5.72904465e-03 3.01503093e+01] [ 1.33065187e-02 9.99911439e-01 2.26258987e-04 -1.05977743e+00] [ 5.72552690e-03 -3.02468886e-04 9.99983563e-01 4.43680658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.400714057000002 meters Centerline goodness : 0.990784 with order 1 Centerline is valid? [True, True] Translation: X:30.21, Y:-1.06, Z:0.04 [[ 9.99901986e-01 -1.27748569e-02 -5.72903225e-03 3.02125758e+01] [ 1.27763642e-02 9.99918353e-01 2.26572516e-04 -1.06286739e+00] [ 5.72567006e-03 -2.99746511e-04 9.99983563e-01 4.34768946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.460714057 meters Centerline goodness : 0.990888 with order 1 Centerline is valid? [True, True] Translation: X:30.27, Y:-1.07, Z:0.05 [[ 9.99843385e-01 -1.67446474e-02 -5.72901482e-03 3.02742405e+01] [ 1.67462222e-02 9.99859746e-01 2.27012204e-04 -1.06501033e+00] [ 5.72441007e-03 -3.22916006e-04 9.99983563e-01 4.59000212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.520714057000003 meters Centerline goodness : 0.990740 with order 1 Centerline is valid? [True, True] Translation: X:30.34, Y:-1.07, Z:0.05 [[ 9.99747449e-01 -2.17305604e-02 -5.72895896e-03 3.03360171e+01] [ 2.17322248e-02 9.99763801e-01 2.28413434e-04 -1.06778666e+00] [ 5.72264223e-03 -3.52858771e-04 9.99983563e-01 4.88059667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.580714057 meters Centerline goodness : 0.991381 with order 1 Centerline is valid? [True, True] Translation: X:30.40, Y:-1.07, Z:0.05 [[ 9.99660331e-01 -2.54244333e-02 -5.72889695e-03 3.03978923e+01] [ 2.54261669e-02 9.99676676e-01 2.29958169e-04 -1.07168738e+00] [ 5.72119811e-03 -3.75543949e-04 9.99983563e-01 4.70333067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.640714057 meters Centerline goodness : 0.991611 with order 1 Centerline is valid? [True, True] Translation: X:30.46, Y:-1.07, Z:0.05 [[ 9.99584237e-01 -2.82583109e-02 -5.72887976e-03 3.04605144e+01] [ 2.82600932e-02 9.99600577e-01 2.30385698e-04 -1.07323160e+00] [ 5.72008120e-03 -3.92188589e-04 9.99983563e-01 5.04721062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.700714057000003 meters Centerline goodness : 0.991308 with order 1 Centerline is valid? [True, True] Translation: X:30.52, Y:-1.08, Z:0.05 [[ 9.99494138e-01 -3.12833459e-02 -5.72886246e-03 3.05219340e+01] [ 3.12851801e-02 9.99510472e-01 2.30815062e-04 -1.07755641e+00] [ 5.71883735e-03 -4.09926795e-04 9.99983563e-01 4.98611960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.760714057 meters Centerline goodness : 0.991719 with order 1 Centerline is valid? [True, True] Translation: X:30.58, Y:-1.08, Z:0.04 [[ 9.99317696e-01 -3.64872873e-02 -5.72884965e-03 3.05842539e+01] [ 3.64892083e-02 9.99334020e-01 2.31132563e-04 -1.08447593e+00] [ 5.71660095e-03 -4.40016049e-04 9.99983563e-01 4.32710044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.820714057000004 meters Centerline goodness : 0.991625 with order 1 Centerline is valid? [True, True] Translation: X:30.65, Y:-1.09, Z:0.04 [[ 9.99403267e-01 -3.40630307e-02 -5.72883187e-03 3.06452638e+01] [ 3.40649146e-02 9.99419596e-01 2.31572435e-04 -1.08878397e+00] [ 5.71761877e-03 -4.26586417e-04 9.99983563e-01 4.49020474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.880714057000002 meters Centerline goodness : 0.991207 with order 1 Centerline is valid? [True, True] Translation: X:30.71, Y:-1.09, Z:0.04 [[ 9.99440334e-01 -3.29575501e-02 -5.72881878e-03 3.07075951e+01] [ 3.29594178e-02 9.99456664e-01 2.31895869e-04 -1.09428999e+00] [ 5.71806338e-03 -4.20584616e-04 9.99983563e-01 4.39322258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.940714057 meters Centerline goodness : 0.991521 with order 1 Centerline is valid? [True, True] Translation: X:30.77, Y:-1.10, Z:0.04 [[ 9.99493026e-01 -3.13188726e-02 -5.72880115e-03 3.07685596e+01] [ 3.13207160e-02 9.99509359e-01 2.32330395e-04 -1.09951700e+00] [ 5.71871404e-03 -4.11642764e-04 9.99983563e-01 4.35192291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.000714057 meters Centerline goodness : 0.991083 with order 1 Centerline is valid? [True, True] Translation: X:30.83, Y:-1.10, Z:0.04 [[ 9.99442491e-01 -3.28920710e-02 -5.72878814e-03 3.08302649e+01] [ 3.28939420e-02 9.99458821e-01 2.32650744e-04 -1.10347240e+00] [ 5.71803548e-03 -4.20963464e-04 9.99983563e-01 4.21904460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.060714057 meters Centerline goodness : 0.990919 with order 1 Centerline is valid? [True, True] Translation: X:30.89, Y:-1.11, Z:0.05 [[ 9.99507799e-01 -3.08438170e-02 -5.72875614e-03 3.08931455e+01] [ 3.08456590e-02 9.99524132e-01 2.33436183e-04 -1.10589429e+00] [ 5.71882995e-03 -4.10028544e-04 9.99983563e-01 4.52332339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.120714057 meters Centerline goodness : 0.993545 with order 1 Centerline is valid? [True, True] Translation: X:30.95, Y:-1.10, Z:0.05 [[ 9.99283955e-01 -3.73999799e-02 -5.72872933e-03 3.09544081e+01] [ 3.74019328e-02 9.99300276e-01 2.34092176e-04 -1.09942035e+00] [ 5.71596576e-03 -4.48190105e-04 9.99983563e-01 4.60838216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.180714057 meters Centerline goodness : 0.993886 with order 1 Centerline is valid? [True, True] Translation: X:31.02, Y:-1.10, Z:0.05 [[ 9.99259613e-01 -3.80448183e-02 -5.72867254e-03 3.10160880e+01] [ 3.80467895e-02 9.99275931e-01 2.35473784e-04 -1.10342754e+00] [ 5.71556603e-03 -4.53257041e-04 9.99983563e-01 5.06787725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.240714057000005 meters Centerline goodness : 0.992983 with order 1 Centerline is valid? [True, True] Translation: X:31.08, Y:-1.12, Z:0.05 [[ 9.99482890e-01 -3.16407320e-02 -5.72865565e-03 3.10787465e+01] [ 3.16426009e-02 9.99499220e-01 2.35883982e-04 -1.11584389e+00] [ 5.71832331e-03 -4.17031568e-04 9.99983563e-01 4.87268611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.300714057 meters Centerline goodness : 0.994195 with order 1 Centerline is valid? [True, True] Translation: X:31.14, Y:-1.11, Z:0.05 [[ 9.99303056e-01 -3.68861231e-02 -5.72862878e-03 3.11406948e+01] [ 3.68880814e-02 9.99319375e-01 2.36534929e-04 -1.11052228e+00] [ 5.71600487e-03 -4.47688202e-04 9.99983563e-01 5.00174671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.360714057 meters Centerline goodness : 0.994241 with order 1 Centerline is valid? [True, True] Translation: X:31.20, Y:-1.11, Z:0.05 [[ 9.99349594e-01 -3.56029877e-02 -5.72856307e-03 3.12025975e+01] [ 3.56049341e-02 9.99365915e-01 2.38115721e-04 -1.11209245e+00] [ 5.71645304e-03 -4.41925959e-04 9.99983563e-01 5.01062228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.420714057000005 meters Centerline goodness : 0.993571 with order 1 Centerline is valid? [True, True] Translation: X:31.26, Y:-1.11, Z:0.05 [[ 9.99373981e-01 -3.49117328e-02 -5.72854543e-03 3.12634403e+01] [ 3.49136703e-02 9.99390303e-01 2.38539185e-04 -1.11457107e+00] [ 5.71672494e-03 -4.38394401e-04 9.99983563e-01 4.98079729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.480714057 meters Centerline goodness : 0.991726 with order 1 Centerline is valid? [True, True] Translation: X:31.33, Y:-1.11, Z:0.05 [[ 9.99171119e-01 -4.03021054e-02 -5.72853238e-03 3.13253394e+01] [ 4.03041327e-02 9.99187430e-01 2.38852383e-04 -1.11166879e+00] [ 5.71425129e-03 -4.69537932e-04 9.99983563e-01 4.64646952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.540714057 meters Centerline goodness : 0.991308 with order 1 Centerline is valid? [True, True] Translation: X:31.39, Y:-1.13, Z:0.05 [[ 9.99552979e-01 -2.93432624e-02 -5.72851146e-03 3.13854175e+01] [ 2.93451136e-02 9.99569311e-01 2.39352932e-04 -1.12861383e+00] [ 5.71902086e-03 -4.07349756e-04 9.99983563e-01 4.79640499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.600714057000005 meters Centerline goodness : 0.991662 with order 1 Centerline is valid? [True, True] Translation: X:31.45, Y:-1.13, Z:0.05 [[ 9.99555955e-01 -2.92416882e-02 -5.72849572e-03 3.14478085e+01] [ 2.92435399e-02 9.99572287e-01 2.39729195e-04 -1.12909466e+00] [ 5.71903548e-03 -4.07144238e-04 9.99983563e-01 4.83009472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.660714057 meters Centerline goodness : 0.990826 with order 1 Centerline is valid? [True, True] Translation: X:31.51, Y:-1.13, Z:0.04 [[ 9.99608680e-01 -2.73801211e-02 -5.72847796e-03 3.15098834e+01] [ 2.73819447e-02 9.99625015e-01 2.40152838e-04 -1.13361790e+00] [ 5.71975445e-03 -3.96915728e-04 9.99983563e-01 4.26678392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.720714057 meters Centerline goodness : 0.991352 with order 1 Centerline is valid? [True, True] Translation: X:31.57, Y:-1.12, Z:0.05 [[ 9.99026582e-01 -4.37386957e-02 -5.72846010e-03 3.15719516e+01] [ 4.37407889e-02 9.99042885e-01 2.40577912e-04 -1.11738181e+00] [ 5.71245474e-03 -4.90911094e-04 9.99983563e-01 4.63391172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.780714057000004 meters Centerline goodness : 0.987337 with order 1 Centerline is valid? [True, True] Translation: X:31.63, Y:-1.12, Z:0.05 [[ 9.99183256e-01 -4.00000737e-02 -5.72841822e-03 3.16349282e+01] [ 4.00021115e-02 9.99199566e-01 2.41571199e-04 -1.11847992e+00] [ 5.71417013e-03 -4.70522722e-04 9.99983563e-01 5.22684697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.840714057 meters Centerline goodness : 0.993694 with order 1 Centerline is valid? [True, True] Translation: X:31.70, Y:-1.12, Z:0.05 [[ 9.99181888e-01 -4.00342344e-02 -5.72837816e-03 3.16958140e+01] [ 4.00362782e-02 9.99198197e-01 2.42517422e-04 -1.12067495e+00] [ 5.71407613e-03 -4.71661957e-04 9.99983563e-01 4.91661272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.900714057 meters Centerline goodness : 0.993722 with order 1 Centerline is valid? [True, True] Translation: X:31.76, Y:-1.12, Z:0.06 [[ 9.99192879e-01 -3.97589740e-02 -5.72836096e-03 3.17576186e+01] [ 3.97610156e-02 9.99209189e-01 2.42922834e-04 -1.11874352e+00] [ 5.71417255e-03 -4.70492216e-04 9.99983563e-01 6.14074684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.960714057000004 meters Centerline goodness : 0.993727 with order 1 Centerline is valid? [True, True] Translation: X:31.82, Y:-1.12, Z:0.05 [[ 9.99281130e-01 -3.74754489e-02 -5.72832473e-03 3.18188657e+01] [ 3.74774581e-02 9.99297444e-01 2.43774198e-04 -1.11953616e+00] [ 5.71516471e-03 -4.58282006e-04 9.99983563e-01 5.10902689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.020714057 meters Centerline goodness : 0.992582 with order 1 Centerline is valid? [True, True] Translation: X:31.88, Y:-1.12, Z:0.05 [[ 9.99284435e-01 -3.73872173e-02 -5.72826275e-03 3.18808548e+01] [ 3.73892333e-02 9.99300748e-01 2.45222007e-04 -1.11951500e+00] [ 5.71508909e-03 -4.59221887e-04 9.99983563e-01 5.04191993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.080714057 meters Centerline goodness : 0.989696 with order 1 Centerline is valid? [True, True] Translation: X:31.94, Y:-1.13, Z:0.05 [[ 9.99651639e-01 -2.57640867e-02 -5.72824519e-03 3.19427207e+01] [ 2.57659152e-02 9.99667974e-01 2.45631571e-04 -1.13484810e+00] [ 5.72001479e-03 -3.93139483e-04 9.99983563e-01 4.98142454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.140714057000004 meters Centerline goodness : 0.993600 with order 1 Centerline is valid? [True, True] Translation: X:32.01, Y:-1.12, Z:0.06 [[ 9.99312235e-01 -3.66366537e-02 -5.72822681e-03 3.20063545e+01] [ 3.66386623e-02 9.99328549e-01 2.46059425e-04 -1.12163488e+00] [ 5.71536579e-03 -4.55764762e-04 9.99983563e-01 5.94662744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.200714057 meters Centerline goodness : 0.990796 with order 1 Centerline is valid? [True, True] Translation: X:32.07, Y:-1.13, Z:0.05 [[ 9.99625018e-01 -2.67770805e-02 -5.72815476e-03 3.20683053e+01] [ 2.67789376e-02 9.99641349e-01 2.47725589e-04 -1.13456854e+00] [ 5.71946698e-03 -4.01026595e-04 9.99983563e-01 4.89566915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.260714057 meters Centerline goodness : 0.992092 with order 1 Centerline is valid? [True, True] Translation: X:32.13, Y:-1.14, Z:0.04 [[ 9.99583697e-01 -2.82775770e-02 -5.72813659e-03 3.21306897e+01] [ 2.82794609e-02 9.99600025e-01 2.48144880e-04 -1.13755409e+00] [ 5.71882855e-03 -4.10030191e-04 9.99983563e-01 4.39017862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.320714057 meters Centerline goodness : 0.991101 with order 1 Centerline is valid? [True, True] Translation: X:32.19, Y:-1.14, Z:0.05 [[ 9.99637080e-01 -2.63229211e-02 -5.72811814e-03 3.21920816e+01] [ 2.63247755e-02 9.99653412e-01 2.48570113e-04 -1.14004023e+00] [ 5.71958975e-03 -3.99271327e-04 9.99983563e-01 4.82363478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.380714057 meters Centerline goodness : 0.991040 with order 1 Centerline is valid? [True, True] Translation: X:32.25, Y:-1.14, Z:0.05 [[ 9.99642285e-01 -2.61245089e-02 -5.72810453e-03 3.22546390e+01] [ 2.61263619e-02 9.99658617e-01 2.48883289e-04 -1.14259204e+00] [ 5.71964710e-03 -3.98448791e-04 9.99983563e-01 4.81755259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.440714057 meters Centerline goodness : 0.990459 with order 1 Centerline is valid? [True, True] Translation: X:32.32, Y:-1.15, Z:0.05 [[ 9.99686267e-01 -2.43835371e-02 -5.72808613e-03 3.23159844e+01] [ 2.43853640e-02 9.99702602e-01 2.49306122e-04 -1.14657300e+00] [ 5.72030364e-03 -3.88909372e-04 9.99983563e-01 4.88531312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.500714057 meters Centerline goodness : 0.990389 with order 1 Centerline is valid? [True, True] Translation: X:32.38, Y:-1.15, Z:0.05 [[ 9.99733413e-01 -2.23672281e-02 -5.72807248e-03 3.23784611e+01] [ 2.23690239e-02 9.99749751e-01 2.49619429e-04 -1.14870333e+00] [ 5.72105574e-03 -3.77684273e-04 9.99983563e-01 5.02301254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.560714057 meters Centerline goodness : 0.989565 with order 1 Centerline is valid? [True, True] Translation: X:32.44, Y:-1.15, Z:0.05 [[ 9.99800579e-01 -1.91308990e-02 -5.72805426e-03 3.24413765e+01] [ 1.91326442e-02 9.99816923e-01 2.50036784e-04 -1.15054310e+00] [ 5.72222215e-03 -3.59579745e-04 9.99983563e-01 5.22513357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.620714057 meters Centerline goodness : 0.990251 with order 1 Centerline is valid? [True, True] Translation: X:32.50, Y:-1.15, Z:0.06 [[ 9.99830472e-01 -1.74990501e-02 -5.72802686e-03 3.25036493e+01] [ 1.75007722e-02 9.99846818e-01 2.50662853e-04 -1.15209184e+00] [ 5.72276307e-03 -3.50865252e-04 9.99983563e-01 5.57357495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.680714057 meters Centerline goodness : 0.990892 with order 1 Centerline is valid? [True, True] Translation: X:32.57, Y:-1.15, Z:0.06 [[ 9.99886745e-01 -1.39171162e-02 -5.72800885e-03 3.25661478e+01] [ 1.39187821e-02 9.99903098e-01 2.51073694e-04 -1.15461019e+00] [ 5.72395957e-03 -3.30772166e-04 9.99983563e-01 5.61494773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.740714057000005 meters Centerline goodness : 0.991163 with order 1 Centerline is valid? [True, True] Translation: X:32.63, Y:-1.16, Z:0.06 [[ 9.99918932e-01 -1.13718964e-02 -5.72799109e-03 3.26283754e+01] [ 1.13735230e-02 9.99935288e-01 2.51478311e-04 -1.15647112e+00] [ 5.72476063e-03 -3.16605363e-04 9.99983563e-01 5.74623435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.800714057 meters Centerline goodness : 0.990911 with order 1 Centerline is valid? [True, True] Translation: X:32.69, Y:-1.16, Z:0.06 [[ 9.99933918e-01 -9.96749277e-03 -5.72797219e-03 3.26906045e+01] [ 9.96909885e-03 9.99950276e-01 2.51908035e-04 -1.15959443e+00] [ 5.72517648e-03 -3.08994109e-04 9.99983563e-01 5.85107144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.860714057 meters Centerline goodness : 0.991664 with order 1 Centerline is valid? [True, True] Translation: X:32.75, Y:-1.16, Z:0.06 [[ 9.99940543e-01 -9.27900994e-03 -5.72795353e-03 3.27531363e+01] [ 9.28060717e-03 9.99956902e-01 2.52331686e-04 -1.16281204e+00] [ 5.72536528e-03 -3.05475570e-04 9.99983563e-01 5.98515303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.920714057000005 meters Centerline goodness : 0.993831 with order 1 Centerline is valid? [True, True] Translation: X:32.81, Y:-1.16, Z:0.06 [[ 9.99787166e-01 -1.98195257e-02 -5.72793490e-03 3.28142996e+01] [ 1.98212977e-02 9.99803507e-01 2.52753731e-04 -1.15672941e+00] [ 5.72179994e-03 -3.66235039e-04 9.99983563e-01 6.31328580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.980714057 meters Centerline goodness : 0.990818 with order 1 Centerline is valid? [True, True] Translation: X:32.88, Y:-1.17, Z:0.06 [[ 9.99854507e-01 -1.60672204e-02 -5.72789822e-03 3.28759062e+01] [ 1.60689358e-02 9.99870854e-01 2.53582286e-04 -1.17059904e+00] [ 5.72308412e-03 -3.45586621e-04 9.99983563e-01 5.85370717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.040714057 meters Centerline goodness : 0.990942 with order 1 Centerline is valid? [True, True] Translation: X:32.94, Y:-1.18, Z:0.05 [[ 9.99841569e-01 -1.68531211e-02 -5.72787942e-03 3.29379667e+01] [ 1.68548517e-02 9.99857915e-01 2.54006300e-04 -1.17592729e+00] [ 5.72278477e-03 -3.50508616e-04 9.99983563e-01 5.45337730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.100714057000005 meters Centerline goodness : 0.991273 with order 1 Centerline is valid? [True, True] Translation: X:33.00, Y:-1.18, Z:0.05 [[ 9.99741188e-01 -2.20169896e-02 -5.72786076e-03 3.29998984e+01] [ 2.20188070e-02 9.99757524e-01 2.54426338e-04 -1.17927522e+00] [ 5.72087019e-03 -3.80481150e-04 9.99983563e-01 5.45688295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.160714057 meters Centerline goodness : 0.990300 with order 1 Centerline is valid? [True, True] Translation: X:33.06, Y:-1.18, Z:0.05 [[ 9.99691750e-01 -2.41577768e-02 -5.72779163e-03 3.30621354e+01] [ 2.41596381e-02 9.99708081e-01 2.55973271e-04 -1.18358703e+00] [ 5.71993583e-03 -3.94275740e-04 9.99983563e-01 5.40025608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.220714057 meters Centerline goodness : 0.989688 with order 1 Centerline is valid? [True, True] Translation: X:33.12, Y:-1.19, Z:0.05 [[ 9.99625831e-01 -2.67467970e-02 -5.72776927e-03 3.31238867e+01] [ 2.67487033e-02 9.99642157e-01 2.56472670e-04 -1.18812045e+00] [ 5.71885980e-03 -4.09587107e-04 9.99983563e-01 5.47906990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.280714057000004 meters Centerline goodness : 0.990546 with order 1 Centerline is valid? [True, True] Translation: X:33.18, Y:-1.19, Z:0.05 [[ 9.99517765e-01 -3.05193496e-02 -5.72775038e-03 3.31846309e+01] [ 3.05213200e-02 9.99534083e-01 2.56893879e-04 -1.19330293e+00] [ 5.71724149e-03 -4.31588498e-04 9.99983563e-01 5.31909665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.340714057 meters Centerline goodness : 0.989804 with order 1 Centerline is valid? [True, True] Translation: X:33.25, Y:-1.20, Z:0.05 [[ 9.99442457e-01 -3.28932984e-02 -5.72771326e-03 3.32471263e+01] [ 3.28953123e-02 9.99458770e-01 2.57718699e-04 -1.19732501e+00] [ 5.71613603e-03 -4.45989926e-04 9.99983563e-01 5.39513672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.400714057 meters Centerline goodness : 0.990589 with order 1 Centerline is valid? [True, True] Translation: X:33.31, Y:-1.20, Z:0.06 [[ 9.99207529e-01 -3.93891847e-02 -5.72769348e-03 3.33085688e+01] [ 3.93913071e-02 9.99223828e-01 2.58157642e-04 -1.19977754e+00] [ 5.71307918e-03 -4.83574392e-04 9.99983563e-01 5.55880766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.460714057000004 meters Centerline goodness : 0.990506 with order 1 Centerline is valid? [True, True] Translation: X:33.37, Y:-1.20, Z:0.06 [[ 9.99008238e-01 -4.41557943e-02 -5.72763004e-03 3.33711488e+01] [ 4.41580023e-02 9.99024526e-01 2.59557469e-04 -1.20478327e+00] [ 5.71058192e-03 -5.12220751e-04 9.99983563e-01 5.55658447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.520714057 meters Centerline goodness : 0.991809 with order 1 Centerline is valid? [True, True] Translation: X:33.43, Y:-1.21, Z:0.06 [[ 9.98896184e-01 -4.66219614e-02 -5.72760106e-03 3.34336995e+01] [ 4.66242132e-02 9.98912466e-01 2.60195378e-04 -1.20934517e+00] [ 5.70924129e-03 -5.26953064e-04 9.99983563e-01 5.58203276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.580714057 meters Centerline goodness : 0.990677 with order 1 Centerline is valid? [True, True] Translation: X:33.50, Y:-1.21, Z:0.06 [[ 9.98943378e-01 -4.55995898e-02 -5.72757200e-03 3.34964863e+01] [ 4.56018287e-02 9.98959661e-01 2.60833637e-04 -1.21267139e+00] [ 5.70971948e-03 -5.21745792e-04 9.99983563e-01 5.76393462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.640714057000004 meters Centerline goodness : 0.991601 with order 1 Centerline is valid? [True, True] Translation: X:33.56, Y:-1.21, Z:0.06 [[ 9.99035511e-01 -4.35343785e-02 -5.72754173e-03 3.35599994e+01] [ 4.35365874e-02 9.99051799e-01 2.61496526e-04 -1.21470367e+00] [ 5.71072678e-03 -5.10601937e-04 9.99983563e-01 5.94218073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.700714057 meters Centerline goodness : 0.991444 with order 1 Centerline is valid? [True, True] Translation: X:33.62, Y:-1.22, Z:0.05 [[ 9.99055684e-01 -4.30689724e-02 -5.72751126e-03 3.36225044e+01] [ 4.30711776e-02 9.99071972e-01 2.62162384e-04 -1.21744351e+00] [ 5.71090490e-03 -5.08605474e-04 9.99983563e-01 5.46848867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.760714057 meters Centerline goodness : 0.990720 with order 1 Centerline is valid? [True, True] Translation: X:33.68, Y:-1.22, Z:0.06 [[ 9.99382411e-01 -3.46697815e-02 -5.72743601e-03 3.36849965e+01] [ 3.46718589e-02 9.99398716e-01 2.63796076e-04 -1.21930170e+00] [ 5.71484644e-03 -4.62214012e-04 9.99983563e-01 5.87501140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.820714057 meters Centerline goodness : 0.989971 with order 1 Centerline is valid? [True, True] Translation: X:33.75, Y:-1.22, Z:0.06 [[ 9.99524987e-01 -3.02819725e-02 -5.72741641e-03 3.37480721e+01] [ 3.02839808e-02 9.99541300e-01 2.64220840e-04 -1.22327988e+00] [ 5.71678812e-03 -4.37544300e-04 9.99983563e-01 5.68055876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.880714057 meters Centerline goodness : 0.989915 with order 1 Centerline is valid? [True, True] Translation: X:33.81, Y:-1.22, Z:0.06 [[ 9.99644088e-01 -2.60556020e-02 -5.72738685e-03 3.38108243e+01] [ 2.60575449e-02 9.99660409e-01 2.64860185e-04 -1.22445428e+00] [ 5.71854079e-03 -4.14007558e-04 9.99983563e-01 5.74119575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.940714057 meters Centerline goodness : 0.989674 with order 1 Centerline is valid? [True, True] Translation: X:33.87, Y:-1.23, Z:0.06 [[ 9.99748611e-01 -2.16774444e-02 -5.72735747e-03 3.38743502e+01] [ 2.16793195e-02 9.99764941e-01 2.65493849e-04 -1.22527821e+00] [ 5.72025598e-03 -3.89592319e-04 9.99983563e-01 6.07546473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.000714057 meters Centerline goodness : 0.988091 with order 1 Centerline is valid? [True, True] Translation: X:33.94, Y:-1.23, Z:0.06 [[ 9.99784134e-01 -1.99720828e-02 -5.72732721e-03 3.39374369e+01] [ 1.99739337e-02 9.99800466e-01 2.66145223e-04 -1.22936568e+00] [ 5.72086893e-03 -3.80485025e-04 9.99983563e-01 6.00240813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.060714057000006 meters Centerline goodness : 0.987811 with order 1 Centerline is valid? [True, True] Translation: X:34.00, Y:-1.23, Z:0.06 [[ 9.99786831e-01 -1.98366160e-02 -5.72729727e-03 3.39991387e+01] [ 1.98384683e-02 9.99803163e-01 2.66787933e-04 -1.23369020e+00] [ 5.72087775e-03 -3.80351867e-04 9.99983563e-01 5.82812600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.120714057 meters Centerline goodness : 0.988131 with order 1 Centerline is valid? [True, True] Translation: X:34.06, Y:-1.24, Z:0.05 [[ 9.99772380e-01 -2.05520669e-02 -5.72727771e-03 3.40617267e+01] [ 2.05539333e-02 9.99788710e-01 2.67207207e-04 -1.23902200e+00] [ 5.72057593e-03 -3.84864469e-04 9.99983563e-01 5.24158990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.180714057 meters Centerline goodness : 0.988457 with order 1 Centerline is valid? [True, True] Translation: X:34.12, Y:-1.24, Z:0.06 [[ 9.99669352e-01 -2.50676115e-02 -5.72725355e-03 3.41231011e+01] [ 2.50695546e-02 9.99685673e-01 2.67724001e-04 -1.23996820e+00] [ 5.71874212e-03 -4.11215174e-04 9.99983563e-01 5.80476992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.240714057000005 meters Centerline goodness : 0.987921 with order 1 Centerline is valid? [True, True] Translation: X:34.19, Y:-1.24, Z:0.06 [[ 9.99618862e-01 -2.70061099e-02 -5.72723920e-03 3.41850175e+01] [ 2.70080864e-02 9.99635179e-01 2.68030595e-04 -1.24337219e+00] [ 5.71791132e-03 -4.22610210e-04 9.99983563e-01 6.05967047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.300714057 meters Centerline goodness : 0.987425 with order 1 Centerline is valid? [True, True] Translation: X:34.25, Y:-1.25, Z:0.06 [[ 9.99605560e-01 -2.74940535e-02 -5.72721920e-03 3.42469999e+01] [ 2.74960404e-02 9.99621876e-01 2.68457206e-04 -1.24797004e+00] [ 5.71767263e-03 -4.25827166e-04 9.99983563e-01 6.17486598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.360714057 meters Centerline goodness : 0.991308 with order 1 Centerline is valid? [True, True] Translation: X:34.31, Y:-1.24, Z:0.06 [[ 9.99267298e-01 -3.78426548e-02 -5.72719854e-03 3.43085211e+01] [ 3.78448130e-02 9.99283592e-01 2.68897349e-04 -1.24193989e+00] [ 5.71291974e-03 -4.85445085e-04 9.99983563e-01 6.35826138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.420714057000005 meters Centerline goodness : 0.988920 with order 1 Centerline is valid? [True, True] Translation: X:34.37, Y:-1.26, Z:0.05 [[ 9.99513632e-01 -3.06545045e-02 -5.72715794e-03 3.43698332e+01] [ 3.06565504e-02 9.99529941e-01 2.69759223e-04 -1.26089512e+00] [ 5.71619650e-03 -4.45202927e-04 9.99983563e-01 5.39937912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.480714057 meters Centerline goodness : 0.989219 with order 1 Centerline is valid? [True, True] Translation: X:34.43, Y:-1.26, Z:0.06 [[ 9.99553065e-01 -2.93405967e-02 -5.72713765e-03 3.44324262e+01] [ 2.93426236e-02 9.99569376e-01 2.70189262e-04 -1.26277929e+00] [ 5.71674390e-03 -4.38117750e-04 9.99983563e-01 6.38679682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.540714057 meters Centerline goodness : 0.989978 with order 1 Centerline is valid? [True, True] Translation: X:34.49, Y:-1.27, Z:0.06 [[ 9.99434746e-01 -3.31268618e-02 -5.72710662e-03 3.44933019e+01] [ 3.31289542e-02 9.99451049e-01 2.70845442e-04 -1.26719505e+00] [ 5.71499046e-03 -4.60425399e-04 9.99983563e-01 5.84489486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.600714057000005 meters Centerline goodness : 0.990089 with order 1 Centerline is valid? [True, True] Translation: X:34.56, Y:-1.27, Z:0.06 [[ 9.99525730e-01 -3.02574883e-02 -5.72704079e-03 3.45557552e+01] [ 3.02595418e-02 9.99542038e-01 2.72230278e-04 -1.27109932e+00] [ 5.71618102e-03 -4.45398798e-04 9.99983563e-01 6.38400787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.660714057 meters Centerline goodness : 0.990835 with order 1 Centerline is valid? [True, True] Translation: X:34.62, Y:-1.27, Z:0.06 [[ 9.99461092e-01 -3.23222489e-02 -5.72702106e-03 3.46191527e+01] [ 3.23243384e-02 9.99477395e-01 2.72644850e-04 -1.27489133e+00] [ 5.71521559e-03 -4.57620086e-04 9.99983563e-01 6.41339723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.720714057 meters Centerline goodness : 0.990827 with order 1 Centerline is valid? [True, True] Translation: X:34.68, Y:-1.28, Z:0.06 [[ 9.99437655e-01 -3.30389858e-02 -5.72699081e-03 3.46824660e+01] [ 3.30410906e-02 9.99453957e-01 2.73278821e-04 -1.28074265e+00] [ 5.71483477e-03 -4.62351167e-04 9.99983563e-01 6.16879722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.780714057000004 meters Centerline goodness : 0.992057 with order 1 Centerline is valid? [True, True] Translation: X:34.75, Y:-1.28, Z:0.06 [[ 9.99404459e-01 -3.40283451e-02 -5.72695981e-03 3.47456719e+01] [ 3.40304698e-02 9.99420758e-01 2.73926766e-04 -1.28392237e+00] [ 5.71432125e-03 -4.68654765e-04 9.99983563e-01 6.38401420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.840714057 meters Centerline goodness : 0.991304 with order 1 Centerline is valid? [True, True] Translation: X:34.81, Y:-1.29, Z:0.06 [[ 9.99353533e-01 -3.54925174e-02 -5.72692915e-03 3.48083355e+01] [ 3.54946695e-02 9.99369828e-01 2.74566415e-04 -1.28822462e+00] [ 5.71357514e-03 -4.77664374e-04 9.99983563e-01 5.86326727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.900714057 meters Centerline goodness : 0.991034 with order 1 Centerline is valid? [True, True] Translation: X:34.87, Y:-1.29, Z:0.06 [[ 9.99401819e-01 -3.41058293e-02 -5.72689749e-03 3.48700516e+01] [ 3.41079626e-02 9.99418116e-01 2.75225161e-04 -1.29098402e+00] [ 5.71417832e-03 -4.70393332e-04 9.99983563e-01 6.36566227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.960714057000004 meters Centerline goodness : 0.991693 with order 1 Centerline is valid? [True, True] Translation: X:34.93, Y:-1.30, Z:0.06 [[ 9.99376164e-01 -3.48494676e-02 -5.72687649e-03 3.49321961e+01] [ 3.48516155e-02 9.99392460e-01 2.75661487e-04 -1.29624750e+00] [ 5.71379052e-03 -4.75080417e-04 9.99983563e-01 5.67533656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.020714057 meters Centerline goodness : 0.991584 with order 1 Centerline is valid? [True, True] Translation: X:34.99, Y:-1.30, Z:0.06 [[ 9.99437753e-01 -3.30360638e-02 -5.72685535e-03 3.49941502e+01] [ 3.30381846e-02 9.99454052e-01 2.76099922e-04 -1.29742842e+00] [ 5.71460753e-03 -4.65149590e-04 9.99983563e-01 5.65894588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.080714057 meters Centerline goodness : 0.991922 with order 1 Centerline is valid? [True, True] Translation: X:35.06, Y:-1.30, Z:0.06 [[ 9.99614205e-01 -2.71780321e-02 -5.72682925e-03 3.50565140e+01] [ 2.71800605e-02 9.99630516e-01 2.76640268e-04 -1.29995013e+00] [ 5.71719474e-03 -4.32189106e-04 9.99983563e-01 6.00325001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.140714057000004 meters Centerline goodness : 0.991746 with order 1 Centerline is valid? [True, True] Translation: X:35.12, Y:-1.30, Z:0.06 [[ 9.99668666e-01 -2.50950441e-02 -5.72680900e-03 3.51189314e+01] [ 2.50970409e-02 9.99684981e-01 2.77058875e-04 -1.30278779e+00] [ 5.71805214e-03 -4.20693036e-04 9.99983563e-01 5.80653759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.200714057 meters Centerline goodness : 0.991566 with order 1 Centerline is valid? [True, True] Translation: X:35.18, Y:-1.31, Z:0.06 [[ 9.99751556e-01 -2.15413378e-02 -5.72678848e-03 3.51814039e+01] [ 2.15432790e-02 9.99767878e-01 2.77482210e-04 -1.30506418e+00] [ 5.71948183e-03 -4.00787073e-04 9.99983563e-01 5.57257657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.260714057 meters Centerline goodness : 0.991788 with order 1 Centerline is valid? [True, True] Translation: X:35.24, Y:-1.31, Z:0.05 [[ 9.99697326e-01 -2.39261267e-02 -5.72676713e-03 3.52427962e+01] [ 2.39281093e-02 9.99713643e-01 2.77922121e-04 -1.30661493e+00] [ 5.71847764e-03 -4.14868712e-04 9.99983563e-01 5.48875809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.320714057 meters Centerline goodness : 0.991628 with order 1 Centerline is valid? [True, True] Translation: X:35.31, Y:-1.31, Z:0.06 [[ 9.99757160e-01 -2.12796766e-02 -5.72673295e-03 3.53051515e+01] [ 2.12816200e-02 9.99773482e-01 2.78624688e-04 -1.30810388e+00] [ 5.71950670e-03 -4.00431182e-04 9.99983563e-01 5.59221383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.380714057 meters Centerline goodness : 0.991369 with order 1 Centerline is valid? [True, True] Translation: X:35.37, Y:-1.31, Z:0.06 [[ 9.99820632e-01 -1.80529134e-02 -5.72671245e-03 3.53669387e+01] [ 1.80548065e-02 9.99836960e-01 2.79045459e-04 -1.30899591e+00] [ 5.72074118e-03 -3.82390092e-04 9.99983563e-01 5.82488432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.440714057 meters Centerline goodness : 0.990314 with order 1 Centerline is valid? [True, True] Translation: X:35.43, Y:-1.31, Z:0.07 [[ 9.99885500e-01 -1.40068418e-02 -5.72669134e-03 3.54282829e+01] [ 1.40086713e-02 9.99901835e-01 2.79477995e-04 -1.31112266e+00] [ 5.72221457e-03 -3.59669331e-04 9.99983563e-01 6.53984262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.500714057 meters Centerline goodness : 0.991226 with order 1 Centerline is valid? [True, True] Translation: X:35.49, Y:-1.31, Z:0.07 [[ 9.99914088e-01 -1.17907605e-02 -5.72665506e-03 3.54903620e+01] [ 1.17925580e-02 9.99930426e-01 2.80219467e-04 -1.31471875e+00] [ 5.72295263e-03 -3.47727305e-04 9.99983563e-01 6.64729146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.560714057000006 meters Centerline goodness : 0.990465 with order 1 Centerline is valid? [True, True] Translation: X:35.55, Y:-1.32, Z:0.07 [[ 9.99932176e-01 -1.01414417e-02 -5.72663443e-03 3.55510016e+01] [ 1.01432146e-02 9.99948517e-01 2.80640413e-04 -1.31677366e+00] [ 5.72349351e-03 -3.38707861e-04 9.99983563e-01 6.93383157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.620714057 meters Centerline goodness : 0.990720 with order 1 Centerline is valid? [True, True] Translation: X:35.61, Y:-1.32, Z:0.07 [[ 9.99941067e-01 -9.22319690e-03 -5.72662427e-03 3.56130923e+01] [ 9.22495604e-03 9.99957410e-01 2.80847584e-04 -1.32113543e+00] [ 5.72379006e-03 -3.33658890e-04 9.99983563e-01 7.03956312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.680714057 meters Centerline goodness : 0.990674 with order 1 Centerline is valid? [True, True] Translation: X:35.68, Y:-1.33, Z:0.07 [[ 9.99967421e-01 -5.68884716e-03 -5.72660407e-03 3.56751029e+01] [ 5.69055088e-03 9.99983769e-01 2.81258933e-04 -1.32653137e+00] [ 5.72491108e-03 -3.13837302e-04 9.99983563e-01 7.09184274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.740714057000005 meters Centerline goodness : 0.990547 with order 1 Centerline is valid? [True, True] Translation: X:35.73, Y:-1.33, Z:0.07 [[ 9.99976551e-01 -3.75555980e-03 -5.72658338e-03 3.57349872e+01] [ 3.75723431e-03 9.99992902e-01 2.81679512e-04 -1.33042487e+00] [ 5.72548487e-03 -3.03189023e-04 9.99983563e-01 7.13369376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.800714057 meters Centerline goodness : 0.989620 with order 1 Centerline is valid? [True, True] Translation: X:35.79, Y:-1.34, Z:0.07 [[ 9.99983601e-01 -5.66702297e-05 -5.72657831e-03 3.57949380e+01] [ 5.82848324e-05 9.99999959e-01 2.81782453e-04 -1.33634570e+00] [ 5.72656211e-03 -2.82111605e-04 9.99983563e-01 6.88121720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.860714057 meters Centerline goodness : 0.989596 with order 1 Centerline is valid? [True, True] Translation: X:35.85, Y:-1.34, Z:0.07 [[ 9.99980008e-01 2.68123873e-03 -5.72657831e-03 3.58530886e+01] [-2.67966892e-03 9.99996370e-01 2.81782453e-04 -1.34418984e+00] [ 5.72731305e-03 -2.66431486e-04 9.99983563e-01 6.59598686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.920714057000005 meters Centerline goodness : 0.989765 with order 1 Centerline is valid? [True, True] Translation: X:35.91, Y:-1.35, Z:0.07 [[ 9.99976878e-01 3.66720553e-03 -5.72664740e-03 3.59119949e+01] [-3.66565992e-03 9.99993242e-01 2.80371401e-04 -1.34984328e+00] [ 5.72763688e-03 -2.59372977e-04 9.99983563e-01 6.76743195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.980714057 meters Centerline goodness : 0.989443 with order 1 Centerline is valid? [True, True] Translation: X:35.97, Y:-1.35, Z:0.07 [[ 9.99980212e-01 2.60374305e-03 -5.72671601e-03 3.59702148e+01] [-2.60218808e-03 9.99996575e-01 2.78962854e-04 -1.35457401e+00] [ 5.72742275e-03 -2.64055342e-04 9.99983563e-01 6.61630707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.040714057 meters Centerline goodness : 0.989270 with order 1 Centerline is valid? [True, True] Translation: X:36.03, Y:-1.36, Z:0.07 [[ 9.99983032e-01 -1.06792231e-03 -5.72673628e-03 3.60272127e+01] [ 1.06953497e-03 9.99999389e-01 2.78546048e-04 -1.36222724e+00] [ 5.72643532e-03 -2.84666267e-04 9.99983563e-01 6.51244129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.100714057000005 meters Centerline goodness : 0.990310 with order 1 Centerline is valid? [True, True] Translation: X:36.09, Y:-1.37, Z:0.06 [[ 9.99959540e-01 -6.93709582e-03 -5.72676329e-03 3.60864172e+01] [ 6.93880128e-03 9.99975888e-01 2.77989788e-04 -1.36949932e+00] [ 5.72469676e-03 -3.17715413e-04 9.99983563e-01 6.44241287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.160714057 meters Centerline goodness : 0.989869 with order 1 Centerline is valid? [True, True] Translation: X:36.15, Y:-1.37, Z:0.06 [[ 9.99946685e-01 -8.59252132e-03 -5.72677343e-03 3.61479364e+01] [ 8.59425264e-03 9.99963030e-01 2.77780722e-04 -1.37392226e+00] [ 5.72417487e-03 -3.26983250e-04 9.99983563e-01 6.43093910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.220714057 meters Centerline goodness : 0.990223 with order 1 Centerline is valid? [True, True] Translation: X:36.21, Y:-1.38, Z:0.07 [[ 9.99860189e-01 -1.57100980e-02 -5.72676295e-03 3.62084386e+01] [ 1.57119468e-02 9.99876521e-01 2.77996538e-04 -1.37910790e+00] [ 5.72168846e-03 -3.67936266e-04 9.99983563e-01 6.70637924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.280714057000004 meters Centerline goodness : 0.990024 with order 1 Centerline is valid? [True, True] Translation: X:36.27, Y:-1.38, Z:0.07 [[ 9.99792063e-01 -1.95713047e-02 -5.72672677e-03 3.62700901e+01] [ 1.95732208e-02 9.99808387e-01 2.78739887e-04 -1.38335668e+00] [ 5.72017415e-03 -3.90772414e-04 9.99983563e-01 6.81297155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.340714057 meters Centerline goodness : 0.990332 with order 1 Centerline is valid? [True, True] Translation: X:36.33, Y:-1.39, Z:0.07 [[ 9.99738194e-01 -2.21528463e-02 -5.72670112e-03 3.63323511e+01] [ 2.21548076e-02 9.99754513e-01 2.79265816e-04 -1.38738172e+00] [ 5.71910876e-03 -4.06066664e-04 9.99983563e-01 6.66928235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.400714057 meters Centerline goodness : 0.990649 with order 1 Centerline is valid? [True, True] Translation: X:36.39, Y:-1.39, Z:0.07 [[ 9.99704212e-01 -2.36367148e-02 -5.72668112e-03 3.63946713e+01] [ 2.36387026e-02 9.99720528e-01 2.79675440e-04 -1.39004863e+00] [ 5.71847006e-03 -4.14964027e-04 9.99983563e-01 6.96288754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.460714057000004 meters Centerline goodness : 0.990646 with order 1 Centerline is valid? [True, True] Translation: X:36.46, Y:-1.39, Z:0.07 [[ 9.99698398e-01 -2.38813363e-02 -5.72665628e-03 3.64575447e+01] [ 2.38833311e-02 9.99714713e-01 2.80183122e-04 -1.39195822e+00] [ 5.71833139e-03 -4.16870246e-04 9.99983563e-01 6.87907656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.520714057 meters Centerline goodness : 0.994267 with order 1 Centerline is valid? [True, True] Translation: X:36.52, Y:-1.38, Z:0.06 [[ 9.99393743e-01 -3.43416892e-02 -5.72662563e-03 3.65188652e+01] [ 3.43438581e-02 9.99410036e-01 2.80808242e-04 -1.38103997e+00] [ 5.71360369e-03 -4.77312418e-04 9.99983563e-01 6.45135215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.580714057 meters Centerline goodness : 0.994024 with order 1 Centerline is valid? [True, True] Translation: X:36.58, Y:-1.38, Z:0.06 [[ 9.99463805e-01 -3.22383113e-02 -5.72661555e-03 3.65814220e+01] [ 3.22404471e-02 9.99480102e-01 2.81013527e-04 -1.38247671e+00] [ 5.71457890e-03 -4.65491495e-04 9.99983563e-01 6.45761991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.640714057000004 meters Centerline goodness : 0.992097 with order 1 Centerline is valid? [True, True] Translation: X:36.64, Y:-1.39, Z:0.07 [[ 9.99708021e-01 -2.34750630e-02 -5.72658557e-03 3.66433675e+01] [ 2.34770593e-02 9.99724336e-01 2.81623133e-04 -1.38997634e+00] [ 5.71839584e-03 -4.15984294e-04 9.99983563e-01 7.01126157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.700714057 meters Centerline goodness : 0.990436 with order 1 Centerline is valid? [True, True] Translation: X:36.70, Y:-1.41, Z:0.05 [[ 9.99850944e-01 -1.62879371e-02 -5.72655788e-03 3.67049825e+01] [ 1.62898193e-02 9.99867272e-01 2.82185102e-04 -1.40521598e+00] [ 5.72120159e-03 -3.75427634e-04 9.99983563e-01 5.12360017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.760714057 meters Centerline goodness : 0.990332 with order 1 Centerline is valid? [True, True] Translation: X:36.77, Y:-1.40, Z:0.06 [[ 9.99854180e-01 -1.60880306e-02 -5.72653497e-03 3.67671195e+01] [ 1.60899122e-02 9.99870509e-01 2.82649248e-04 -1.40412243e+00] [ 5.72124617e-03 -3.74747477e-04 9.99983563e-01 6.02790879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.820714057 meters Centerline goodness : 0.994196 with order 1 Centerline is valid? [True, True] Translation: X:36.83, Y:-1.39, Z:0.06 [[ 9.99456575e-01 -3.24616954e-02 -5.72651472e-03 3.68302242e+01] [ 3.24638465e-02 9.99472870e-01 2.83058860e-04 -1.38978611e+00] [ 5.71430754e-03 -4.68809734e-04 9.99983563e-01 6.45714008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.880714057 meters Centerline goodness : 0.993648 with order 1 Centerline is valid? [True, True] Translation: X:36.89, Y:-1.39, Z:0.07 [[ 9.99368523e-01 -3.50679657e-02 -5.72644006e-03 3.68934679e+01] [ 3.50701678e-02 9.99384812e-01 2.84561305e-04 -1.39175350e+00] [ 5.71293824e-03 -4.85208825e-04 9.99983563e-01 6.64993899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.940714057 meters Centerline goodness : 0.994414 with order 1 Centerline is valid? [True, True] Translation: X:36.95, Y:-1.39, Z:0.07 [[ 9.99275473e-01 -3.76262734e-02 -5.72640932e-03 3.69549470e+01] [ 3.76285208e-02 9.99291756e-01 2.85178607e-04 -1.39428998e+00] [ 5.71162342e-03 -5.00448300e-04 9.99983563e-01 6.72200859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.000714057 meters Centerline goodness : 0.991921 with order 1 Centerline is valid? [True, True] Translation: X:37.02, Y:-1.41, Z:0.06 [[ 9.99558606e-01 -2.91513622e-02 -5.72639419e-03 3.70164586e+01] [ 2.91534731e-02 9.99574906e-01 2.85482133e-04 -1.41140903e+00] [ 5.71563774e-03 -4.52300402e-04 9.99983563e-01 6.21802496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.060714057000006 meters Centerline goodness : 0.990881 with order 1 Centerline is valid? [True, True] Translation: X:37.08, Y:-1.41, Z:0.07 [[ 9.99630696e-01 -2.65646342e-02 -5.72637314e-03 3.70791188e+01] [ 2.65667053e-02 9.99647002e-01 2.85903698e-04 -1.41399712e+00] [ 5.71675682e-03 -4.37928980e-04 9.99983563e-01 6.82056248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.120714057 meters Centerline goodness : 0.989241 with order 1 Centerline is valid? [True, True] Translation: X:37.14, Y:-1.42, Z:0.06 [[ 9.99708613e-01 -2.34499141e-02 -5.72634193e-03 3.71415745e+01] [ 2.34519379e-02 9.99724924e-01 2.86527462e-04 -1.41785884e+00] [ 5.71804771e-03 -4.20737787e-04 9.99983563e-01 6.45585544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.180714057 meters Centerline goodness : 0.989647 with order 1 Centerline is valid? [True, True] Translation: X:37.20, Y:-1.42, Z:0.07 [[ 9.99773518e-01 -2.04968692e-02 -5.72632071e-03 3.72037842e+01] [ 2.04988473e-02 9.99789835e-01 2.86950993e-04 -1.41823020e+00] [ 5.71923564e-03 -4.04268978e-04 9.99983563e-01 6.61137700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.240714057000005 meters Centerline goodness : 0.989394 with order 1 Centerline is valid? [True, True] Translation: X:37.27, Y:-1.42, Z:0.07 [[ 9.99853257e-01 -1.61454038e-02 -5.72629912e-03 3.72655846e+01] [ 1.61473133e-02 9.99869582e-01 2.87381208e-04 -1.42024044e+00] [ 5.72091242e-03 -3.79803382e-04 9.99983563e-01 6.53021784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.300714057 meters Centerline goodness : 0.989405 with order 1 Centerline is valid? [True, True] Translation: X:37.33, Y:-1.42, Z:0.07 [[ 9.99940759e-01 -9.25684025e-03 -5.72627757e-03 3.73268130e+01] [ 9.25863967e-03 9.99957096e-01 2.87810001e-04 -1.41982865e+00] [ 5.72336768e-03 -3.40810491e-04 9.99983563e-01 6.89753101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.360714057 meters Centerline goodness : 0.988958 with order 1 Centerline is valid? [True, True] Translation: X:37.39, Y:-1.42, Z:0.06 [[ 9.99982868e-01 1.21379066e-03 -5.72624342e-03 3.73881958e+01] [-1.21215853e-03 9.99999224e-01 2.88487680e-04 -1.42221027e+00] [ 5.72658914e-03 -2.81541623e-04 9.99983563e-01 6.44304232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.420714057000005 meters Centerline goodness : 0.990995 with order 1 Centerline is valid? [True, True] Translation: X:37.45, Y:-1.41, Z:0.08 [[ 9.99981114e-01 -2.23202401e-03 -5.72623273e-03 3.74474093e+01] [ 2.23371369e-03 9.99997464e-01 2.88699835e-04 -1.41304971e+00] [ 5.72557382e-03 -3.01485147e-04 9.99983563e-01 7.60084831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.480714057 meters Centerline goodness : 0.983853 with order 1 Centerline is valid? [True, True] Translation: X:37.51, Y:-1.41, Z:0.07 [[ 9.99966786e-01 -5.79975386e-03 -5.72625017e-03 3.75063684e+01] [ 5.80149989e-03 9.99983130e-01 2.88353420e-04 -1.41133471e+00] [ 5.72448119e-03 -3.21564682e-04 9.99983563e-01 7.43770604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.540714057 meters Centerline goodness : 0.982996 with order 1 Centerline is valid? [True, True] Translation: X:37.57, Y:-1.42, Z:0.07 [[ 9.99967465e-01 -5.68138659e-03 -5.72627252e-03 3.75667655e+01] [ 5.68312815e-03 9.99983809e-01 2.87908897e-04 -1.41555927e+00] [ 5.72454409e-03 -3.20442671e-04 9.99983563e-01 7.46227110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.600714057000005 meters Centerline goodness : 0.988867 with order 1 Centerline is valid? [True, True] Translation: X:37.63, Y:-1.43, Z:0.07 [[ 9.99967707e-01 5.63875757e-03 -5.72627252e-03 3.76263351e+01] [-5.63720114e-03 9.99984069e-01 2.87908897e-04 -1.43452035e+00] [ 5.72780475e-03 -2.55619450e-04 9.99983563e-01 6.83449442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.660714057 meters Centerline goodness : 0.992198 with order 1 Centerline is valid? [True, True] Translation: X:37.69, Y:-1.42, Z:0.08 [[ 9.99928156e-01 -1.05305509e-02 -5.72627252e-03 3.76855394e+01] [ 1.05323717e-02 9.99944492e-01 2.87908897e-04 -1.42453331e+00] [ 5.72292283e-03 -3.48199443e-04 9.99983563e-01 7.56051448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.720714057 meters Centerline goodness : 0.989517 with order 1 Centerline is valid? [True, True] Translation: X:37.75, Y:-1.44, Z:0.07 [[ 9.99982382e-01 1.56360259e-03 -5.72628829e-03 3.77459342e+01] [-1.56198129e-03 9.99998739e-01 2.87594892e-04 -1.43977650e+00] [ 5.72673075e-03 -2.78645470e-04 9.99983563e-01 7.45565494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.780714057000004 meters Centerline goodness : 0.989672 with order 1 Centerline is valid? [True, True] Translation: X:37.80, Y:-1.45, Z:0.07 [[ 9.99973741e-01 4.44158351e-03 -5.72627729e-03 3.78044416e+01] [-4.44000803e-03 9.99990102e-01 2.87813842e-04 -1.44613635e+00] [ 5.72749896e-03 -2.62381567e-04 9.99983563e-01 7.12915643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.840714057 meters Centerline goodness : 0.988718 with order 1 Centerline is valid? [True, True] Translation: X:37.86, Y:-1.45, Z:0.07 [[ 9.99963257e-01 6.37921376e-03 -5.72635206e-03 3.78624170e+01] [-6.37767854e-03 9.99979621e-01 2.86318410e-04 -1.44789321e+00] [ 5.72806185e-03 -2.49787057e-04 9.99983563e-01 7.47768139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.900714057 meters Centerline goodness : 0.988452 with order 1 Centerline is valid? [True, True] Translation: X:37.92, Y:-1.46, Z:0.06 [[ 9.99840638e-01 1.69087760e-02 -5.72637811e-03 3.79219373e+01] [-1.69074162e-02 9.99857019e-01 2.85796445e-04 -1.45555036e+00] [ 5.73039181e-03 -1.88932642e-04 9.99983563e-01 6.49874940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.960714057000004 meters Centerline goodness : 0.983849 with order 1 Centerline is valid? [True, True] Translation: X:37.98, Y:-1.44, Z:0.08 [[ 9.99943556e-01 8.94949636e-03 -5.72638853e-03 3.79823394e+01] [-8.94800739e-03 9.99959925e-01 2.85587482e-04 -1.44272018e+00] [ 5.72871491e-03 -2.34331596e-04 9.99983563e-01 7.87353135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.020714057 meters Centerline goodness : 0.989499 with order 1 Centerline is valid? [True, True] Translation: X:38.04, Y:-1.46, Z:0.07 [[ 9.99708347e-01 2.34612379e-02 -5.72639583e-03 3.80393721e+01] [-2.34599875e-02 9.99724736e-01 2.85440991e-04 -1.46156638e+00] [ 5.73151636e-03 -1.51016567e-04 9.99983563e-01 6.98125408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.080714057 meters Centerline goodness : 0.992980 with order 1 Centerline is valid? [True, True] Translation: X:38.10, Y:-1.45, Z:0.08 [[ 9.99894539e-01 1.33461499e-02 -5.72643229e-03 3.80999360e+01] [-1.33447379e-02 9.99910914e-01 2.84707683e-04 -1.44902461e+00] [ 5.72972190e-03 -2.08259919e-04 9.99983563e-01 7.67958288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.140714057000004 meters Centerline goodness : 0.989907 with order 1 Centerline is valid? [True, True] Translation: X:38.16, Y:-1.47, Z:0.06 [[ 9.99581695e-01 2.83486007e-02 -5.72644241e-03 3.81576395e+01] [-2.83474358e-02 9.99598090e-01 2.84504045e-04 -1.47152340e+00] [ 5.73220619e-03 -1.22055077e-04 9.99983563e-01 6.40695303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.200714057 meters Centerline goodness : 0.989936 with order 1 Centerline is valid? [True, True] Translation: X:38.22, Y:-1.48, Z:0.06 [[ 9.99496181e-01 3.12184452e-02 -5.72651556e-03 3.82158240e+01] [-3.12173359e-02 9.99512580e-01 2.83024033e-04 -1.47696110e+00] [ 5.73255991e-03 -1.04114881e-04 9.99983563e-01 6.39261601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.260714057 meters Centerline goodness : 0.990304 with order 1 Centerline is valid? [True, True] Translation: X:38.27, Y:-1.48, Z:0.06 [[ 9.99521732e-01 3.03893870e-02 -5.72653727e-03 3.82734042e+01] [-3.03882666e-02 9.99538130e-01 2.82584045e-04 -1.48179030e+00] [ 5.73247991e-03 -1.08429353e-04 9.99983563e-01 6.36438591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.320714057 meters Centerline goodness : 0.993677 with order 1 Centerline is valid? [True, True] Translation: X:38.33, Y:-1.47, Z:0.08 [[ 9.99908684e-01 1.22404840e-02 -5.72656910e-03 3.83311109e+01] [-1.22390698e-02 9.99925060e-01 2.81937603e-04 -1.47186405e+00] [ 5.72959100e-03 -2.11823979e-04 9.99983563e-01 7.62745887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.380714057000006 meters Centerline goodness : 0.989859 with order 1 Centerline is valid? [True, True] Translation: X:38.39, Y:-1.49, Z:0.07 [[ 9.99799179e-01 1.92043693e-02 -5.72661093e-03 3.83888567e+01] [-1.92030741e-02 9.99815564e-01 2.81085291e-04 -1.49358614e+00] [ 5.73095281e-03 -1.71060309e-04 9.99983563e-01 7.24758059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.440714057 meters Centerline goodness : 0.991046 with order 1 Centerline is valid? [True, True] Translation: X:38.45, Y:-1.50, Z:0.07 [[ 9.99865481e-01 1.53696063e-02 -5.72668326e-03 3.84478932e+01] [-1.53682567e-02 9.99881862e-01 2.79603851e-04 -1.50014412e+00] [ 5.73030412e-03 -1.91557101e-04 9.99983563e-01 7.09783178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.500714057 meters Centerline goodness : 0.991132 with order 1 Centerline is valid? [True, True] Translation: X:38.51, Y:-1.51, Z:0.06 [[ 9.99950808e-01 8.09850884e-03 -5.72669905e-03 3.85060247e+01] [-8.09704200e-03 9.99967179e-01 2.79280073e-04 -1.51119053e+00] [ 5.72877285e-03 -2.32897012e-04 9.99983563e-01 6.46373603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.560714057000006 meters Centerline goodness : 0.990822 with order 1 Centerline is valid? [True, True] Translation: X:38.56, Y:-1.52, Z:0.07 [[ 9.99959535e-01 6.93774027e-03 -5.72672017e-03 3.85645746e+01] [-6.93625690e-03 9.99975905e-01 2.78846434e-04 -1.51609136e+00] [ 5.72851674e-03 -2.39113149e-04 9.99983563e-01 7.06115786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.620714057 meters Centerline goodness : 0.990668 with order 1 Centerline is valid? [True, True] Translation: X:38.62, Y:-1.52, Z:0.08 [[ 9.99973979e-01 4.38709398e-03 -5.72674147e-03 3.86217132e+01] [-4.38557137e-03 9.99990345e-01 2.78408114e-04 -1.51968724e+00] [ 5.72790758e-03 -2.53285836e-04 9.99983563e-01 7.54780276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.680714057 meters Centerline goodness : 0.989614 with order 1 Centerline is valid? [True, True] Translation: X:38.68, Y:-1.53, Z:0.07 [[ 9.99962597e-01 6.48144632e-03 -5.72677274e-03 3.86805826e+01] [-6.47996167e-03 9.99978966e-01 2.77763445e-04 -1.52775263e+00] [ 5.72845260e-03 -2.40643788e-04 9.99983563e-01 7.31909916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.740714057000005 meters Centerline goodness : 0.989128 with order 1 Centerline is valid? [True, True] Translation: X:38.74, Y:-1.53, Z:0.07 [[ 9.99955328e-01 7.51964751e-03 -5.72684093e-03 3.87377745e+01] [-7.51818794e-03 9.99971700e-01 2.76350419e-04 -1.53111303e+00] [ 5.72875692e-03 -2.33282607e-04 9.99983563e-01 7.45613299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.800714057 meters Centerline goodness : 0.988965 with order 1 Centerline is valid? [True, True] Translation: X:38.80, Y:-1.54, Z:0.08 [[ 9.99950569e-01 8.12793877e-03 -5.72687167e-03 3.87967479e+01] [-8.12649281e-03 9.99966942e-01 2.75711864e-04 -1.53504976e+00] [ 5.72892332e-03 -2.29158853e-04 9.99983563e-01 7.55352458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.860714057 meters Centerline goodness : 0.988306 with order 1 Centerline is valid? [True, True] Translation: X:38.85, Y:-1.54, Z:0.08 [[ 9.99933242e-01 1.00356493e-02 -5.72689283e-03 3.88548043e+01] [-1.00342371e-02 9.99949618e-01 2.75271601e-04 -1.54065897e+00] [ 5.72936683e-03 -2.17788224e-04 9.99983563e-01 7.73068325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.920714057000005 meters Centerline goodness : 0.989273 with order 1 Centerline is valid? [True, True] Translation: X:38.91, Y:-1.54, Z:0.08 [[ 9.99900074e-01 1.29245774e-02 -5.72696659e-03 3.89123062e+01] [-1.29232213e-02 9.99916454e-01 2.73728353e-04 -1.54311553e+00] [ 5.73002595e-03 -1.99690143e-04 9.99983563e-01 7.71197303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.980714057 meters Centerline goodness : 0.989797 with order 1 Centerline is valid? [True, True] Translation: X:38.97, Y:-1.55, Z:0.08 [[ 9.99897887e-01 1.30926038e-02 -5.72699232e-03 3.89700536e+01] [-1.30912536e-02 9.99914269e-01 2.73189056e-04 -1.54717264e+00] [ 5.73007809e-03 -1.98187651e-04 9.99983563e-01 8.09226065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.040714057 meters Centerline goodness : 0.989278 with order 1 Centerline is valid? [True, True] Translation: X:39.03, Y:-1.55, Z:0.08 [[ 9.99896620e-01 1.31890387e-02 -5.72701685e-03 3.90291572e+01] [-1.31876930e-02 9.99913001e-01 2.72673766e-04 -1.55305531e+00] [ 5.73011492e-03 -1.97119437e-04 9.99983563e-01 7.92471735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.100714057000005 meters Centerline goodness : 0.988905 with order 1 Centerline is valid? [True, True] Translation: X:39.09, Y:-1.56, Z:0.08 [[ 9.99895723e-01 1.32568582e-02 -5.72705293e-03 3.90881704e+01] [-1.32555180e-02 9.99912105e-01 2.71914039e-04 -1.55861168e+00] [ 5.73015427e-03 -1.95970632e-04 9.99983563e-01 7.82256931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.160714057 meters Centerline goodness : 0.988636 with order 1 Centerline is valid? [True, True] Translation: X:39.15, Y:-1.56, Z:0.08 [[ 9.99922311e-01 1.10712742e-02 -5.72707253e-03 3.91458208e+01] [-1.10699005e-02 9.99938690e-01 2.71500481e-04 -1.56362149e+00] [ 5.72972726e-03 -2.08081265e-04 9.99983563e-01 7.75992696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.220714057 meters Centerline goodness : 0.988562 with order 1 Centerline is valid? [True, True] Translation: X:39.20, Y:-1.57, Z:0.08 [[ 9.99929988e-01 1.03547050e-02 -5.72709658e-03 3.92049472e+01] [-1.03533225e-02 9.99946366e-01 2.70992173e-04 -1.56900178e+00] [ 5.72959546e-03 -2.11678722e-04 9.99983563e-01 7.73447870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.280714057000004 meters Centerline goodness : 0.988946 with order 1 Centerline is valid? [True, True] Translation: X:39.26, Y:-1.57, Z:0.08 [[ 9.99902946e-01 1.27003660e-02 -5.72711145e-03 3.92637669e+01] [-1.26990237e-02 9.99919328e-01 2.70677571e-04 -1.57273402e+00] [ 5.73008714e-03 -1.97922576e-04 9.99983563e-01 7.69435889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.340714057 meters Centerline goodness : 0.989065 with order 1 Centerline is valid? [True, True] Translation: X:39.32, Y:-1.58, Z:0.07 [[ 9.99817573e-01 1.82214456e-02 -5.72713115e-03 3.93217993e+01] [-1.82201961e-02 9.99833962e-01 2.70260199e-04 -1.57916092e+00] [ 5.73110476e-03 -1.65861443e-04 9.99983563e-01 7.06049948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.400714057 meters Centerline goodness : 0.988300 with order 1 Centerline is valid? [True, True] Translation: X:39.38, Y:-1.58, Z:0.07 [[ 9.99686977e-01 2.43546173e-02 -5.72715031e-03 3.93806868e+01] [-2.43534708e-02 9.99703374e-01 2.69853434e-04 -1.58242227e+00] [ 5.73202367e-03 -1.30292976e-04 9.99983563e-01 7.38940354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.460714057000004 meters Centerline goodness : 0.989720 with order 1 Centerline is valid? [True, True] Translation: X:39.44, Y:-1.59, Z:0.07 [[ 9.99549120e-01 2.94746658e-02 -5.72722000e-03 3.94392373e+01] [-2.94736118e-02 9.99565523e-01 2.68366253e-04 -1.58778792e+00] [ 5.73264166e-03 -9.94433925e-05 9.99983563e-01 7.12182537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.520714057 meters Centerline goodness : 0.988516 with order 1 Centerline is valid? [True, True] Translation: X:39.50, Y:-1.59, Z:0.07 [[ 9.99279692e-01 3.75139468e-02 -5.72723999e-03 3.94980755e+01] [-3.75130273e-02 9.99296103e-01 2.67938927e-04 -1.59375028e+00] [ 5.73326005e-03 -5.28998189e-05 9.99983563e-01 7.40741802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.580714057 meters Centerline goodness : 0.992099 with order 1 Centerline is valid? [True, True] Translation: X:39.56, Y:-1.58, Z:0.08 [[ 9.99662000e-01 2.53591204e-02 -5.72725957e-03 3.95580391e+01] [-2.53580037e-02 9.99678398e-01 2.67519800e-04 -1.58377570e+00] [ 5.73220174e-03 -1.22197509e-04 9.99983563e-01 8.39335170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.640714057000004 meters Centerline goodness : 0.987196 with order 1 Centerline is valid? [True, True] Translation: X:39.62, Y:-1.61, Z:0.08 [[ 9.99226839e-01 3.88963117e-02 -5.72726955e-03 3.96154932e+01] [-3.88954184e-02 9.99243251e-01 2.67305944e-04 -1.60643031e+00] [ 5.73333266e-03 -4.43347277e-05 9.99983563e-01 7.50039672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.700714057 meters Centerline goodness : 0.986945 with order 1 Centerline is valid? [True, True] Translation: X:39.67, Y:-1.62, Z:0.08 [[ 9.99359326e-01 3.53289562e-02 -5.72728940e-03 3.96729376e+01] [-3.53280068e-02 9.99375736e-01 2.66880034e-04 -1.61516814e+00] [ 5.73314265e-03 -6.43753324e-05 9.99983563e-01 7.78500171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.760714057 meters Centerline goodness : 0.987613 with order 1 Centerline is valid? [True, True] Translation: X:39.73, Y:-1.62, Z:0.08 [[ 9.99489525e-01 3.14306837e-02 -5.72731318e-03 3.97314628e+01] [-3.14296733e-02 9.99505930e-01 2.66368719e-04 -1.62308482e+00] [ 5.73285564e-03 -8.62251621e-05 9.99983563e-01 7.63376243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.820714057 meters Centerline goodness : 0.988629 with order 1 Centerline is valid? [True, True] Translation: X:39.79, Y:-1.63, Z:0.07 [[ 9.99659895e-01 2.54419502e-02 -5.72733337e-03 3.97901800e+01] [-2.54408440e-02 9.99676294e-01 2.65933775e-04 -1.63014334e+00] [ 5.73224527e-03 -1.20135135e-04 9.99983563e-01 7.35671996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.880714057000006 meters Centerline goodness : 0.986813 with order 1 Centerline is valid? [True, True] Translation: X:39.85, Y:-1.64, Z:0.07 [[ 9.99729877e-01 2.25248823e-02 -5.72735297e-03 3.98482687e+01] [-2.25237306e-02 9.99746273e-01 2.65510929e-04 -1.63881904e+00] [ 5.73188040e-03 -1.36437853e-04 9.99983563e-01 7.27826194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.940714057 meters Centerline goodness : 0.987327 with order 1 Centerline is valid? [True, True] Translation: X:39.91, Y:-1.64, Z:0.08 [[ 9.99685197e-01 2.44275133e-02 -5.72738300e-03 3.99058543e+01] [-2.44263966e-02 9.99701596e-01 2.64861595e-04 -1.64399917e+00] [ 5.73214384e-03 -1.24878887e-04 9.99983563e-01 7.78740238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.000714057 meters Centerline goodness : 0.991201 with order 1 Centerline is valid? [True, True] Translation: X:39.96, Y:-1.64, Z:0.07 [[ 9.99913385e-01 1.18498985e-02 -5.72740767e-03 3.99639010e+01] [-1.18485787e-02 9.99929768e-01 2.64327167e-04 -1.63831395e+00] [ 5.73013767e-03 -1.96442632e-04 9.99983563e-01 7.46103167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.060714057000006 meters Centerline goodness : 0.987374 with order 1 Centerline is valid? [True, True] Translation: X:40.02, Y:-1.66, Z:0.08 [[ 9.99756114e-01 2.13286190e-02 -5.72743162e-03 4.00219504e+01] [-2.13274574e-02 9.99772509e-01 2.63807055e-04 -1.65580768e+00] [ 5.73175533e-03 -1.41591162e-04 9.99983563e-01 7.59566089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.120714057 meters Centerline goodness : 0.987704 with order 1 Centerline is valid? [True, True] Translation: X:40.08, Y:-1.67, Z:0.06 [[ 9.99827497e-01 1.76684249e-02 -5.72745096e-03 4.00805977e+01] [-1.76672057e-02 9.99843888e-01 2.63386553e-04 -1.66573237e+00] [ 5.73121046e-03 -1.62153064e-04 9.99983563e-01 6.41008042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.180714057 meters Centerline goodness : 0.987473 with order 1 Centerline is valid? [True, True] Translation: X:40.14, Y:-1.67, Z:0.06 [[ 9.99864501e-01 1.54329169e-02 -5.72747005e-03 4.01395317e+01] [-1.54316635e-02 9.99880890e-01 2.62970850e-04 -1.67082190e+00] [ 5.73084626e-03 -1.74550827e-04 9.99983563e-01 6.36325207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.240714057000005 meters Centerline goodness : 0.988074 with order 1 Centerline is valid? [True, True] Translation: X:40.20, Y:-1.67, Z:0.07 [[ 9.99940162e-01 9.32026820e-03 -5.72748880e-03 4.01979501e+01] [-9.31891698e-03 9.99956543e-01 2.62561775e-04 -1.67275692e+00] [ 5.72968705e-03 -2.09172071e-04 9.99983563e-01 6.88276298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.300714057 meters Centerline goodness : 0.987757 with order 1 Centerline is valid? [True, True] Translation: X:40.26, Y:-1.68, Z:0.07 [[ 9.99979220e-01 2.95904801e-03 -5.72750826e-03 4.02551519e+01] [-2.95759504e-03 9.99995592e-01 2.62136684e-04 -1.67789004e+00] [ 5.72825868e-03 -2.45191586e-04 9.99983563e-01 6.57584975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.360714057 meters Centerline goodness : 0.986355 with order 1 Centerline is valid? [True, True] Translation: X:40.31, Y:-1.68, Z:0.07 [[ 9.99980967e-01 2.29351749e-03 -5.72753228e-03 4.03145089e+01] [-2.29205663e-03 9.99997339e-01 2.61610725e-04 -1.67919490e+00] [ 5.72811705e-03 -2.48477917e-04 9.99983563e-01 7.23120504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.420714057000005 meters Centerline goodness : 0.986851 with order 1 Centerline is valid? [True, True] Translation: X:40.37, Y:-1.68, Z:0.07 [[ 9.99982740e-01 -1.30975603e-03 -5.72755680e-03 4.03738503e+01] [ 1.31127280e-03 9.99999106e-01 2.61072810e-04 -1.67923680e+00] [ 5.72720974e-03 -2.68578694e-04 9.99983563e-01 7.13832918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.480714057 meters Centerline goodness : 0.987054 with order 1 Centerline is valid? [True, True] Translation: X:40.43, Y:-1.68, Z:0.08 [[ 9.99982352e-01 -1.57799151e-03 -5.72757575e-03 4.04332270e+01] [ 1.57951029e-03 9.99998719e-01 2.60656387e-04 -1.67926919e+00] [ 5.72715710e-03 -2.69698551e-04 9.99983563e-01 7.56530859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.540714057 meters Centerline goodness : 0.986057 with order 1 Centerline is valid? [True, True] Translation: X:40.49, Y:-1.68, Z:0.08 [[ 9.99981994e-01 1.79079530e-03 -5.72759030e-03 4.04922891e+01] [-1.78933350e-03 9.99998365e-01 2.60336212e-04 -1.67899458e+00] [ 5.72804715e-03 -2.50082955e-04 9.99983563e-01 7.71818078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.600714057000005 meters Centerline goodness : 0.989537 with order 1 Centerline is valid? [True, True] Translation: X:40.55, Y:-1.67, Z:0.08 [[ 9.99974323e-01 -4.30668190e-03 -5.72765825e-03 4.05521513e+01] [ 4.30823491e-03 9.99990686e-01 2.58832577e-04 -1.66796766e+00] [ 5.72649020e-03 -2.83502029e-04 9.99983563e-01 8.14320068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.660714057 meters Centerline goodness : 0.986364 with order 1 Centerline is valid? [True, True] Translation: X:40.61, Y:-1.68, Z:0.08 [[ 9.99966984e-01 5.76408611e-03 -5.72765711e-03 4.06118826e+01] [-5.76269782e-03 9.99983362e-01 2.58857841e-04 -1.67571906e+00] [ 5.72905389e-03 -2.25842537e-04 9.99983563e-01 8.17151383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.720714057 meters Centerline goodness : 0.986233 with order 1 Centerline is valid? [True, True] Translation: X:40.67, Y:-1.68, Z:0.08 [[ 9.99956531e-01 7.35725781e-03 -5.72766217e-03 4.06690324e+01] [-7.35589625e-03 9.99972912e-01 2.58745824e-04 -1.67575680e+00] [ 5.72941068e-03 -2.16602488e-04 9.99983563e-01 7.90793788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.780714057000004 meters Centerline goodness : 0.987750 with order 1 Centerline is valid? [True, True] Translation: X:40.73, Y:-1.67, Z:0.07 [[ 9.99962757e-01 6.45586465e-03 -5.72769666e-03 4.07277036e+01] [-6.45449271e-03 9.99979136e-01 2.57980088e-04 -1.67458217e+00] [ 5.72924264e-03 -2.21001104e-04 9.99983563e-01 7.44687077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.840714057 meters Centerline goodness : 0.987369 with order 1 Centerline is valid? [True, True] Translation: X:40.79, Y:-1.67, Z:0.08 [[ 9.99973551e-01 4.48215776e-03 -5.72771648e-03 4.07867384e+01] [-4.48075601e-03 9.99989928e-01 2.57539362e-04 -1.67479314e+00] [ 5.72881312e-03 -2.31868051e-04 9.99983563e-01 7.50168199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.900714057 meters Centerline goodness : 0.987817 with order 1 Centerline is valid? [True, True] Translation: X:40.85, Y:-1.67, Z:0.07 [[ 9.99982355e-01 1.57550145e-03 -5.72773606e-03 4.08452172e+01] [-1.57405460e-03 9.99998728e-01 2.57103123e-04 -1.67479298e+00] [ 5.72813384e-03 -2.48082817e-04 9.99983563e-01 7.24875887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.960714057000004 meters Centerline goodness : 0.987965 with order 1 Centerline is valid? [True, True] Translation: X:40.90, Y:-1.67, Z:0.08 [[ 9.99981045e-01 -2.25876493e-03 -5.72775556e-03 4.09040333e+01] [ 2.26027206e-03 9.99997413e-01 2.56667953e-04 -1.67473024e+00] [ 5.72716099e-03 -2.69609374e-04 9.99983563e-01 7.53300553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.020714057 meters Centerline goodness : 0.987950 with order 1 Centerline is valid? [True, True] Translation: X:40.96, Y:-1.67, Z:0.08 [[ 9.99959413e-01 -6.95444915e-03 -5.72777486e-03 4.09624178e+01] [ 6.95603066e-03 9.99975774e-01 2.56236492e-04 -1.67382092e+00] [ 5.72585411e-03 -2.96068669e-04 9.99983563e-01 7.66043346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.080714057 meters Centerline goodness : 0.988363 with order 1 Centerline is valid? [True, True] Translation: X:41.02, Y:-1.67, Z:0.08 [[ 9.99887481e-01 -1.38642632e-02 -5.72778902e-03 4.10230908e+01] [ 1.38659559e-02 9.99903830e-01 2.55919579e-04 -1.67128052e+00] [ 5.72369004e-03 -3.35312053e-04 9.99983563e-01 7.93603925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.140714057000004 meters Centerline goodness : 0.989519 with order 1 Centerline is valid? [True, True] Translation: X:41.08, Y:-1.67, Z:0.08 [[ 9.99789163e-01 -1.97185516e-02 -5.72778902e-03 4.10842598e+01] [ 1.97203400e-02 9.99805502e-01 2.55919579e-04 -1.66920463e+00] [ 5.72162862e-03 -3.68819569e-04 9.99983563e-01 7.82120031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.200714057000006 meters Centerline goodness : 0.990625 with order 1 Centerline is valid? [True, True] Translation: X:41.15, Y:-1.66, Z:0.08 [[ 9.99656322e-01 -2.55818424e-02 -5.72772577e-03 4.11467245e+01] [ 2.55837346e-02 9.99672650e-01 2.57327518e-04 -1.66198843e+00] [ 5.71926788e-03 -4.03775696e-04 9.99983563e-01 8.19518671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.260714057 meters Centerline goodness : 0.991622 with order 1 Centerline is valid? [True, True] Translation: X:41.21, Y:-1.66, Z:0.08 [[ 9.99678447e-01 -2.47021709e-02 -5.72765605e-03 4.12096190e+01] [ 2.47040575e-02 9.99694775e-01 2.58870031e-04 -1.65792644e+00] [ 5.71951317e-03 -4.00283135e-04 9.99983563e-01 7.91301837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.320714057 meters Centerline goodness : 0.992267 with order 1 Centerline is valid? [True, True] Translation: X:41.27, Y:-1.65, Z:0.08 [[ 9.99738661e-01 -2.21314929e-02 -5.72763623e-03 4.12725629e+01] [ 2.21333401e-02 9.99754994e-01 2.59307885e-04 -1.65410268e+00] [ 5.72049405e-03 -3.86011838e-04 9.99983563e-01 7.98777005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.380714057000006 meters Centerline goodness : 0.991660 with order 1 Centerline is valid? [True, True] Translation: X:41.33, Y:-1.65, Z:0.08 [[ 9.99868310e-01 -1.51840782e-02 -5.72761144e-03 4.13337381e+01] [ 1.51858149e-02 9.99884655e-01 2.59854325e-04 -1.64698550e+00] [ 5.72300514e-03 -3.46798552e-04 9.99983563e-01 8.17598220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.440714057 meters Centerline goodness : 0.992200 with order 1 Centerline is valid? [True, True] Translation: X:41.40, Y:-1.64, Z:0.08 [[ 9.99946096e-01 -8.66024206e-03 -5.72759674e-03 4.13964195e+01] [ 8.66187398e-03 9.99962451e-01 2.60177832e-04 -1.64056895e+00] [ 5.72512847e-03 -3.09775529e-04 9.99983563e-01 8.23177716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.500714057 meters Centerline goodness : 0.992025 with order 1 Centerline is valid? [True, True] Translation: X:41.46, Y:-1.64, Z:0.08 [[ 9.99977562e-01 -3.47435562e-03 -5.72757753e-03 4.14583001e+01] [ 3.47590511e-03 9.99993925e-01 2.60600080e-04 -1.63819453e+00] [ 5.72663732e-03 -2.80502749e-04 9.99983563e-01 7.95886118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.560714057000006 meters Centerline goodness : 0.992009 with order 1 Centerline is valid? [True, True] Translation: X:41.52, Y:-1.63, Z:0.08 [[ 9.99982297e-01 1.61243168e-03 -5.72756810e-03 4.15186679e+01] [-1.61096426e-03 9.99998668e-01 2.60807256e-04 -1.63153434e+00] [ 5.72798100e-03 -2.51575731e-04 9.99983563e-01 7.89242160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.620714057 meters Centerline goodness : 0.992706 with order 1 Centerline is valid? [True, True] Translation: X:41.58, Y:-1.63, Z:0.07 [[ 9.99949231e-01 8.29035379e-03 -5.72757788e-03 4.15763689e+01] [-8.28899696e-03 9.99965612e-01 2.60592256e-04 -1.63236806e+00] [ 5.72954132e-03 -2.13103151e-04 9.99983563e-01 7.32207456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.680714057 meters Centerline goodness : 0.992608 with order 1 Centerline is valid? [True, True] Translation: X:41.64, Y:-1.63, Z:0.08 [[ 9.99917495e-01 1.14977333e-02 -5.72760220e-03 4.16350750e+01] [-1.14964321e-02 9.99933880e-01 2.60056518e-04 -1.62737474e+00] [ 5.73021355e-03 -1.94188072e-04 9.99983563e-01 7.52961112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.740714057000005 meters Centerline goodness : 0.991511 with order 1 Centerline is valid? [True, True] Translation: X:41.69, Y:-1.63, Z:0.07 [[ 9.99783735e-01 1.99919414e-02 -5.72767106e-03 4.16936610e+01] [-1.99907882e-02 9.99800131e-01 2.58531026e-04 -1.62854734e+00] [ 5.73169481e-03 -1.43974456e-04 9.99983563e-01 7.00150643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.800714057 meters Centerline goodness : 0.991736 with order 1 Centerline is valid? [True, True] Translation: X:41.75, Y:-1.63, Z:0.07 [[ 9.99743774e-01 2.18993347e-02 -5.72768553e-03 4.17511581e+01] [-2.18982146e-02 9.99760172e-01 2.58209907e-04 -1.63013738e+00] [ 5.73196650e-03 -1.32717660e-04 9.99983563e-01 6.96682642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.860714057 meters Centerline goodness : 0.991760 with order 1 Centerline is valid? [True, True] Translation: X:41.81, Y:-1.63, Z:0.07 [[ 9.99592843e-01 2.79525035e-02 -5.72770915e-03 4.18102982e+01] [-2.79514857e-02 9.99609248e-01 2.57684951e-04 -1.63240736e+00] [ 5.73267398e-03 -9.74820520e-05 9.99983563e-01 6.68200507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.920714057000005 meters Centerline goodness : 0.991121 with order 1 Centerline is valid? [True, True] Translation: X:41.87, Y:-1.64, Z:0.06 [[ 9.99518586e-01 3.04924312e-02 -5.72776959e-03 4.18693388e+01] [-3.04914629e-02 9.99534994e-01 2.56334363e-04 -1.63625716e+00] [ 5.73292241e-03 -8.15628863e-05 9.99983563e-01 6.47548450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.980714057 meters Centerline goodness : 0.991498 with order 1 Centerline is valid? [True, True] Translation: X:41.93, Y:-1.64, Z:0.07 [[ 9.99637272e-01 2.63157228e-02 -5.72778809e-03 4.19283661e+01] [-2.63146882e-02 9.99653676e-01 2.55920358e-04 -1.63571059e+00] [ 5.73253915e-03 -1.05102571e-04 9.99983563e-01 6.92115379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.040714057 meters Centerline goodness : 0.991799 with order 1 Centerline is valid? [True, True] Translation: X:41.99, Y:-1.64, Z:0.07 [[ 9.99626804e-01 2.67103839e-02 -5.72779244e-03 4.19876203e+01] [-2.67093563e-02 9.99643209e-01 2.55823111e-04 -1.63959367e+00] [ 5.73258194e-03 -1.02741990e-04 9.99983563e-01 6.83514521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.100714057000005 meters Centerline goodness : 0.991311 with order 1 Centerline is valid? [True, True] Translation: X:42.05, Y:-1.64, Z:0.07 [[ 9.99640365e-01 2.61979642e-02 -5.72780630e-03 4.20459509e+01] [-2.61969301e-02 9.99656769e-01 2.55512250e-04 -1.64309479e+00] [ 5.73253424e-03 -1.05369418e-04 9.99983563e-01 6.92250742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.160714057 meters Centerline goodness : 0.991958 with order 1 Centerline is valid? [True, True] Translation: X:42.10, Y:-1.65, Z:0.06 [[ 9.99650336e-01 2.58146994e-02 -5.72782474e-03 4.21046457e+01] [-2.58136613e-02 9.99666739e-01 2.55098243e-04 -1.65157949e+00] [ 5.73250117e-03 -1.07152916e-04 9.99983563e-01 6.04296537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.220714057 meters Centerline goodness : 0.992321 with order 1 Centerline is valid? [True, True] Translation: X:42.16, Y:-1.66, Z:0.06 [[ 9.99743583e-01 2.19079864e-02 -5.72784383e-03 4.21624743e+01] [-2.19068867e-02 9.99759983e-01 2.54668866e-04 -1.65589417e+00] [ 5.73204833e-03 -1.29124339e-04 9.99983563e-01 6.15215489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.280714057000004 meters Centerline goodness : 0.992577 with order 1 Centerline is valid? [True, True] Translation: X:42.22, Y:-1.66, Z:0.07 [[ 9.99882700e-01 1.42048540e-02 -5.72787799e-03 4.22221586e+01] [-1.42036324e-02 9.99899091e-01 2.53898272e-04 -1.65577547e+00] [ 5.73090658e-03 -1.72511816e-04 9.99983563e-01 7.35916292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.340714057 meters Centerline goodness : 0.992991 with order 1 Centerline is valid? [True, True] Translation: X:42.28, Y:-1.66, Z:0.07 [[ 9.99964094e-01 6.24519551e-03 -5.72788736e-03 4.22794735e+01] [-6.24384467e-03 9.99980475e-01 2.53686622e-04 -1.66141981e+00] [ 5.72935985e-03 -2.17913474e-04 9.99983563e-01 7.41832646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.400714057 meters Centerline goodness : 0.993279 with order 1 Centerline is valid? [True, True] Translation: X:42.34, Y:-1.67, Z:0.07 [[ 9.99981732e-01 1.93031983e-03 -5.72791024e-03 4.23377671e+01] [-1.92890128e-03 9.99998108e-01 2.53169117e-04 -1.66595638e+00] [ 5.72838810e-03 -2.42115919e-04 9.99983563e-01 7.36315824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.460714057000004 meters Centerline goodness : 0.992996 with order 1 Centerline is valid? [True, True] Translation: X:42.40, Y:-1.67, Z:0.06 [[ 9.99980054e-01 -2.66139587e-03 -5.72792859e-03 4.23959846e+01] [ 2.66288722e-03 9.99996423e-01 2.52753245e-04 -1.67475329e+00] [ 5.72723542e-03 -2.68001031e-04 9.99983563e-01 6.30668655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.520714057 meters Centerline goodness : 0.992613 with order 1 Centerline is valid? [True, True] Translation: X:42.46, Y:-1.67, Z:0.07 [[ 9.99953682e-01 -7.73464356e-03 -5.72794705e-03 4.24551841e+01] [ 7.73621553e-03 9.99970043e-01 2.52334244e-04 -1.67333090e+00] [ 5.72582374e-03 -2.96635190e-04 9.99983563e-01 7.46914398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.580714057 meters Centerline goodness : 0.993180 with order 1 Centerline is valid? [True, True] Translation: X:42.52, Y:-1.68, Z:0.07 [[ 9.99864303e-01 -1.54456133e-02 -5.72796081e-03 4.25162802e+01] [ 1.54473097e-02 9.99880651e-01 2.52021425e-04 -1.67657001e+00] [ 5.72338456e-03 -3.40468811e-04 9.99983563e-01 7.26778274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.640714057000004 meters Centerline goodness : 0.993426 with order 1 Centerline is valid? [True, True] Translation: X:42.58, Y:-1.68, Z:0.07 [[ 9.99831092e-01 -1.74636322e-02 -5.72795168e-03 4.25782097e+01] [ 1.74653627e-02 9.99847437e-01 2.52228703e-04 -1.67875334e+00] [ 5.72267298e-03 -3.52226853e-04 9.99983563e-01 7.20995724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.700714057000006 meters Centerline goodness : 0.992318 with order 1 Centerline is valid? [True, True] Translation: X:42.64, Y:-1.68, Z:0.07 [[ 9.99895265e-01 -1.32909390e-02 -5.72793318e-03 4.26396622e+01] [ 1.32926036e-02 9.99911618e-01 2.52648158e-04 -1.68262215e+00] [ 5.72406900e-03 -3.28760842e-04 9.99983563e-01 6.87326792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.760714057 meters Centerline goodness : 0.993064 with order 1 Centerline is valid? [True, True] Translation: X:42.70, Y:-1.68, Z:0.08 [[ 9.99782562e-01 -2.00504144e-02 -5.72792378e-03 4.27023963e+01] [ 2.00521907e-02 9.99798903e-01 2.52861096e-04 -1.67750659e+00] [ 5.72170194e-03 -3.67663535e-04 9.99983563e-01 7.93656212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.820714057 meters Centerline goodness : 0.992810 with order 1 Centerline is valid? [True, True] Translation: X:42.76, Y:-1.68, Z:0.08 [[ 9.99779416e-01 -2.02067121e-02 -5.72790547e-03 4.27640764e+01] [ 2.02084934e-02 9.99795755e-01 2.53275332e-04 -1.67869497e+00] [ 5.72161771e-03 -3.68971804e-04 9.99983563e-01 7.95427470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.880714057000006 meters Centerline goodness : 0.992586 with order 1 Centerline is valid? [True, True] Translation: X:42.83, Y:-1.68, Z:0.08 [[ 9.99735588e-01 -2.22698427e-02 -5.72788247e-03 4.28264781e+01] [ 2.22716606e-02 9.99751924e-01 2.53794372e-04 -1.67781411e+00] [ 5.72080955e-03 -3.81296720e-04 9.99983563e-01 7.97527188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.940714057 meters Centerline goodness : 0.993417 with order 1 Centerline is valid? [True, True] Translation: X:42.89, Y:-1.68, Z:0.08 [[ 9.99613018e-01 -2.72214325e-02 -5.72786405e-03 4.28894322e+01] [ 2.72233337e-02 9.99629344e-01 2.54209402e-04 -1.67639128e+00] [ 5.71882104e-03 -4.10042582e-04 9.99983563e-01 8.11632232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.000714057 meters Centerline goodness : 0.993238 with order 1 Centerline is valid? [True, True] Translation: X:42.95, Y:-1.68, Z:0.08 [[ 9.99497198e-01 -3.11856102e-02 -5.72783560e-03 4.29520790e+01] [ 3.11875798e-02 9.99513517e-01 2.54848798e-04 -1.67627705e+00] [ 5.71710149e-03 -4.33357989e-04 9.99983563e-01 7.76208209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.060714057000006 meters Centerline goodness : 0.992713 with order 1 Centerline is valid? [True, True] Translation: X:43.01, Y:-1.67, Z:0.08 [[ 9.99634228e-01 -2.64310827e-02 -5.72780721e-03 4.30138844e+01] [ 2.64329783e-02 9.99650555e-01 2.55485276e-04 -1.67379990e+00] [ 5.71905290e-03 -4.06794831e-04 9.99983563e-01 8.18840402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.120714057 meters Centerline goodness : 0.992486 with order 1 Centerline is valid? [True, True] Translation: X:43.08, Y:-1.67, Z:0.08 [[ 9.99661176e-01 -2.53914541e-02 -5.72779329e-03 4.30770923e+01] [ 2.53933345e-02 9.99677505e-01 2.55797000e-04 -1.67269289e+00] [ 5.71945104e-03 -4.01158100e-04 9.99983563e-01 8.48841162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.180714057 meters Centerline goodness : 0.992416 with order 1 Centerline is valid? [True, True] Translation: X:43.14, Y:-1.67, Z:0.08 [[ 9.99710034e-01 -2.33888845e-02 -5.72776401e-03 4.31400948e+01] [ 2.33907359e-02 9.99726366e-01 2.56450975e-04 -1.67142387e+00] [ 5.72019860e-03 -3.90353228e-04 9.99983563e-01 8.18086885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.240714057000005 meters Centerline goodness : 0.991874 with order 1 Centerline is valid? [True, True] Translation: X:43.20, Y:-1.67, Z:0.08 [[ 9.99882365e-01 -1.42284760e-02 -5.72773441e-03 4.32027661e+01] [ 1.42301814e-02 9.99898713e-01 2.57110407e-04 -1.66903727e+00] [ 5.72349597e-03 -3.38586861e-04 9.99983563e-01 8.34856657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.300714057 meters Centerline goodness : 0.992395 with order 1 Centerline is valid? [True, True] Translation: X:43.26, Y:-1.67, Z:0.08 [[ 9.99963322e-01 -6.36768221e-03 -5.72771488e-03 4.32640327e+01] [ 6.36926159e-03 9.99979683e-01 2.57544657e-04 -1.66785860e+00] [ 5.72595855e-03 -2.94016526e-04 9.99983563e-01 7.51980151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.360714057 meters Centerline goodness : 0.991123 with order 1 Centerline is valid? [True, True] Translation: X:43.33, Y:-1.67, Z:0.08 [[ 9.99940956e-01 9.23457466e-03 -5.72770043e-03 4.33250705e+01] [-9.23324890e-03 9.99957339e-01 2.57865579e-04 -1.66640726e+00] [ 5.72983736e-03 -2.04965070e-04 9.99983563e-01 7.93313758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.420714057000005 meters Centerline goodness : 0.991216 with order 1 Centerline is valid? [True, True] Translation: X:43.38, Y:-1.67, Z:0.08 [[ 9.99883353e-01 1.41588919e-02 -5.72769554e-03 4.33829947e+01] [-1.41576462e-02 9.99899742e-01 2.57974168e-04 -1.66691108e+00] [ 5.73077392e-03 -1.76853389e-04 9.99983563e-01 7.97141885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.480714057 meters Centerline goodness : 0.990953 with order 1 Centerline is valid? [True, True] Translation: X:43.44, Y:-1.67, Z:0.08 [[ 9.99744688e-01 2.18575391e-02 -5.72771947e-03 4.34414353e+01] [-2.18564227e-02 9.99761087e-01 2.57441755e-04 -1.66674154e+00] [ 5.73197809e-03 -1.32188569e-04 9.99983563e-01 7.95795450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.540714057 meters Centerline goodness : 0.994031 with order 1 Centerline is valid? [True, True] Translation: X:43.50, Y:-1.65, Z:0.09 [[ 9.99908759e-01 1.22338034e-02 -5.72778737e-03 4.34999852e+01] [-1.22325379e-02 9.99925147e-01 2.55922126e-04 -1.65483123e+00] [ 5.73048953e-03 -1.85833399e-04 9.99983563e-01 8.71292166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.600714057000005 meters Centerline goodness : 0.991589 with order 1 Centerline is valid? [True, True] Translation: X:43.56, Y:-1.67, Z:0.08 [[ 9.99460116e-01 3.23522445e-02 -5.72781104e-03 4.35590316e+01] [-3.23513120e-02 9.99476527e-01 2.55391156e-04 -1.67224281e+00] [ 5.73307517e-03 -6.99510722e-05 9.99983563e-01 7.91619648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.660714057 meters Centerline goodness : 0.992403 with order 1 Centerline is valid? [True, True] Translation: X:43.62, Y:-1.67, Z:0.08 [[ 9.99387647e-01 3.45184585e-02 -5.72782069e-03 4.36172789e+01] [-3.45175629e-02 9.99404059e-01 2.55174618e-04 -1.67289705e+00] [ 5.73321548e-03 -5.73079498e-05 9.99983563e-01 8.43912456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.720714057 meters Centerline goodness : 0.991606 with order 1 Centerline is valid? [True, True] Translation: X:43.67, Y:-1.68, Z:0.08 [[ 9.99075320e-01 4.26109836e-02 -5.72788947e-03 4.36743332e+01] [-4.26102299e-02 9.99091740e-01 2.53621227e-04 -1.68265379e+00] [ 5.73349411e-03 -9.32002169e-06 9.99983563e-01 8.07212148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.780714057000004 meters Centerline goodness : 0.991429 with order 1 Centerline is valid? [True, True] Translation: X:43.73, Y:-1.69, Z:0.08 [[ 9.99028675e-01 4.36909206e-02 -5.72791396e-03 4.37330785e+01] [-4.36901877e-02 9.99045096e-01 2.53066997e-04 -1.68631303e+00] [ 5.73350108e-03 -2.56755084e-06 9.99983563e-01 8.12133256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.840714057 meters Centerline goodness : 0.991063 with order 1 Centerline is valid? [True, True] Translation: X:43.79, Y:-1.70, Z:0.08 [[ 9.98836226e-01 4.78892865e-02 -5.72797835e-03 4.37917999e+01] [-4.78886311e-02 9.98852650e-01 2.51601080e-04 -1.69568178e+00] [ 5.73345535e-03 2.29967695e-05 9.99983563e-01 7.83033450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.900714057 meters Centerline goodness : 0.989898 with order 1 Centerline is valid? [True, True] Translation: X:43.85, Y:-1.71, Z:0.08 [[ 9.98856895e-01 4.74562118e-02 -5.72804198e-03 4.38490043e+01] [-4.74555576e-02 9.98873319e-01 2.50143972e-04 -1.70598456e+00] [ 5.73345919e-03 2.19693951e-05 9.99983563e-01 7.74226069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.960714057000004 meters Centerline goodness : 0.989881 with order 1 Centerline is valid? [True, True] Translation: X:43.91, Y:-1.71, Z:0.08 [[ 9.98992533e-01 4.45096406e-02 -5.72811475e-03 4.39073109e+01] [-4.45089476e-02 9.99008955e-01 2.48466459e-04 -1.71426264e+00] [ 5.73349708e-03 6.73622132e-06 9.99983563e-01 7.91284505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.020714057 meters Centerline goodness : 0.989258 with order 1 Centerline is valid? [True, True] Translation: X:43.96, Y:-1.73, Z:0.08 [[ 9.99287495e-01 3.73053650e-02 -5.72817802e-03 4.39634494e+01] [-3.73045620e-02 9.99303912e-01 2.46999133e-04 -1.72668000e+00] [ 5.73340510e-03 -3.31359728e-05 9.99983563e-01 7.94754852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.080714057 meters Centerline goodness : 0.990804 with order 1 Centerline is valid? [True, True] Translation: X:44.02, Y:-1.74, Z:0.07 [[ 9.99307839e-01 3.67563678e-02 -5.72820894e-03 4.40219544e+01] [-3.67555600e-02 9.99324256e-01 2.46279832e-04 -1.73947293e+00] [ 5.73339049e-03 -3.55658396e-05 9.99983563e-01 7.39007600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.140714057000004 meters Centerline goodness : 0.990600 with order 1 Centerline is valid? [True, True] Translation: X:44.08, Y:-1.75, Z:0.08 [[ 9.99562938e-01 2.90020912e-02 -5.72822743e-03 4.40813562e+01] [-2.90011584e-02 9.99579348e-01 2.45849002e-04 -1.74624498e+00] [ 5.73294798e-03 -7.96163197e-05 9.99983563e-01 7.94648558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.200714057000006 meters Centerline goodness : 0.991562 with order 1 Centerline is valid? [True, True] Translation: X:44.14, Y:-1.75, Z:0.08 [[ 9.99773382e-01 2.05029602e-02 -5.72823652e-03 4.41394521e+01] [-2.05018891e-02 9.99789784e-01 2.45637040e-04 -1.75481540e+00] [ 5.73206864e-03 -1.28141704e-04 9.99983563e-01 8.16119348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.260714057 meters Centerline goodness : 0.990746 with order 1 Centerline is valid? [True, True] Translation: X:44.20, Y:-1.77, Z:0.08 [[ 9.99892309e-01 1.35113729e-02 -5.72825927e-03 4.41963935e+01] [-1.35101903e-02 9.99908703e-01 2.45105564e-04 -1.76522355e+00] [ 5.73104801e-03 -1.67689296e-04 9.99983563e-01 8.09315297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.320714057 meters Centerline goodness : 0.990666 with order 1 Centerline is valid? [True, True] Translation: X:44.26, Y:-1.77, Z:0.08 [[ 9.99950920e-01 8.08357140e-03 -5.72828165e-03 4.42550619e+01] [-8.08230278e-03 9.99967308e-01 2.44581289e-04 -1.77382490e+00] [ 5.73007147e-03 -1.98271578e-04 9.99983563e-01 8.03650839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.380714057000006 meters Centerline goodness : 0.991459 with order 1 Centerline is valid? [True, True] Translation: X:44.31, Y:-1.78, Z:0.07 [[ 9.99979137e-01 2.98530048e-03 -5.72829992e-03 4.43124194e+01] [-2.98395077e-03 9.99995518e-01 2.44152681e-04 -1.78263095e+00] [ 5.72900311e-03 -2.27054622e-04 9.99983563e-01 7.31242001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.440714057 meters Centerline goodness : 0.991766 with order 1 Centerline is valid? [True, True] Translation: X:44.37, Y:-1.79, Z:0.07 [[ 9.99983517e-01 3.90228869e-04 -5.72832238e-03 4.43705439e+01] [-3.88839676e-04 9.99999895e-01 2.43624655e-04 -1.78756206e+00] [ 5.72841684e-03 -2.41393241e-04 9.99983563e-01 7.32074480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.500714057 meters Centerline goodness : 0.990601 with order 1 Centerline is valid? [True, True] Translation: X:44.43, Y:-1.79, Z:0.08 [[ 9.99979935e-01 -2.70457666e-03 -5.72834507e-03 4.44279643e+01] [ 2.70601347e-03 9.99996309e-01 2.43089905e-04 -1.79130931e+00] [ 5.72766647e-03 -2.58586006e-04 9.99983563e-01 7.79944533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.560714057000006 meters Centerline goodness : 0.990646 with order 1 Centerline is valid? [True, True] Translation: X:44.49, Y:-1.80, Z:0.07 [[ 9.99972849e-01 -4.63537180e-03 -5.72836740e-03 4.44877483e+01] [ 4.63683722e-03 9.99989220e-01 2.42562618e-04 -1.79549762e+00] [ 5.72718128e-03 -2.69117539e-04 9.99983563e-01 7.21690274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.620714057 meters Centerline goodness : 0.991773 with order 1 Centerline is valid? [True, True] Translation: X:44.55, Y:-1.80, Z:0.07 [[ 9.99967797e-01 -5.62059308e-03 -5.72837657e-03 4.45476460e+01] [ 5.62207338e-03 9.99984167e-01 2.42345649e-04 -1.79888360e+00] [ 5.72692375e-03 -2.74543198e-04 9.99983563e-01 7.18188317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.680714057 meters Centerline goodness : 0.990440 with order 1 Centerline is valid? [True, True] Translation: X:44.61, Y:-1.80, Z:0.08 [[ 9.99979254e-01 -2.94555136e-03 -5.72838566e-03 4.46079251e+01] [ 2.94698664e-03 9.99995628e-01 2.42130642e-04 -1.80015996e+00] [ 5.72764741e-03 -2.59007094e-04 9.99983563e-01 7.58925801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.740714057000005 meters Centerline goodness : 0.991379 with order 1 Centerline is valid? [True, True] Translation: X:44.67, Y:-1.80, Z:0.07 [[ 9.99983286e-01 -7.83281079e-04 -5.72838566e-03 4.46674184e+01] [ 7.84680948e-04 9.99999663e-01 2.42130642e-04 -1.80235211e+00] [ 5.72819408e-03 -2.46621550e-04 9.99983563e-01 7.26542066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.800714057 meters Centerline goodness : 0.991887 with order 1 Centerline is valid? [True, True] Translation: X:44.73, Y:-1.80, Z:0.07 [[ 9.99981035e-01 -2.26176308e-03 -5.72839482e-03 4.47273931e+01] [ 2.26318592e-03 9.99997410e-01 2.41913865e-04 -1.80190066e+00] [ 5.72783283e-03 -2.54873700e-04 9.99983563e-01 7.08786416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.860714057 meters Centerline goodness : 0.991705 with order 1 Centerline is valid? [True, True] Translation: X:44.79, Y:-1.80, Z:0.08 [[ 9.99983383e-01 6.47346942e-04 -5.72840389e-03 4.47865485e+01] [-6.45972974e-04 9.99999762e-01 2.41698740e-04 -1.80069182e+00] [ 5.72855899e-03 -2.37994329e-04 9.99983563e-01 7.71592694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.920714057000005 meters Centerline goodness : 0.991439 with order 1 Centerline is valid? [True, True] Translation: X:44.85, Y:-1.80, Z:0.08 [[ 9.99978244e-01 3.27047012e-03 -5.72841279e-03 4.48458285e+01] [-3.26914033e-03 9.99994627e-01 2.41487758e-04 -1.79870088e+00] [ 5.72917179e-03 -2.22755519e-04 9.99983563e-01 7.66216939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.980714057 meters Centerline goodness : 0.992734 with order 1 Centerline is valid? [True, True] Translation: X:44.90, Y:-1.80, Z:0.08 [[ 9.99970051e-01 5.20405607e-03 -5.72847670e-03 4.49045106e+01] [-5.20276669e-03 9.99986437e-01 2.39962051e-04 -1.79759088e+00] [ 5.72964778e-03 -2.10150936e-04 9.99983563e-01 7.74332224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.040714057 meters Centerline goodness : 0.992302 with order 1 Centerline is valid? [True, True] Translation: X:44.96, Y:-1.79, Z:0.09 [[ 9.99936551e-01 9.69933914e-03 -5.72853994e-03 4.49629089e+01] [-9.69813213e-03 9.99952944e-01 2.38442587e-04 -1.79222722e+00] [ 5.73058312e-03 -1.82871321e-04 9.99983563e-01 8.51604134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.100714057000005 meters Centerline goodness : 0.992449 with order 1 Centerline is valid? [True, True] Translation: X:45.02, Y:-1.79, Z:0.09 [[ 9.99784276e-01 1.99645949e-02 -5.72855766e-03 4.50209916e+01] [-1.99635587e-02 9.99800680e-01 2.38016172e-04 -1.78988266e+00] [ 5.73216774e-03 -1.23602429e-04 9.99983563e-01 8.94226969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.160714057 meters Centerline goodness : 0.994394 with order 1 Centerline is valid? [True, True] Translation: X:45.08, Y:-1.78, Z:0.08 [[ 9.99757303e-01 2.12724724e-02 -5.72862646e-03 4.50805492e+01] [-2.12714672e-02 9.99773709e-01 2.36348691e-04 -1.78205150e+00] [ 5.73235784e-03 -1.14435040e-04 9.99983563e-01 8.43904133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.220714057 meters Centerline goodness : 0.994150 with order 1 Centerline is valid? [True, True] Translation: X:45.14, Y:-1.78, Z:0.08 [[ 9.99588768e-01 2.80976515e-02 -5.72864352e-03 4.51382133e+01] [-2.80967607e-02 9.99605180e-01 2.35934447e-04 -1.78431443e+00] [ 5.73301094e-03 -7.48810974e-05 9.99983563e-01 8.38161942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.280714057000004 meters Centerline goodness : 0.990745 with order 1 Centerline is valid? [True, True] Translation: X:45.20, Y:-1.80, Z:0.08 [[ 9.98538400e-01 5.37424001e-02 -5.72871184e-03 4.51963760e+01] [-5.37419404e-02 9.98554830e-01 2.34263769e-04 -1.80288390e+00] [ 5.73302277e-03 7.39507214e-05 9.99983563e-01 7.50706686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.340714057 meters Centerline goodness : 0.991102 with order 1 Centerline is valid? [True, True] Translation: X:45.25, Y:-1.81, Z:0.07 [[ 9.97989858e-01 6.31143786e-02 -5.72872009e-03 4.52549840e+01] [-6.31140743e-02 9.98006292e-01 2.34061676e-04 -1.80949862e+00] [ 5.73207136e-03 1.27971687e-04 9.99983563e-01 7.40724539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.400714057 meters Centerline goodness : 0.991757 with order 1 Centerline is valid? [True, True] Translation: X:45.31, Y:-1.82, Z:0.07 [[ 9.97876720e-01 6.48785930e-02 -5.72878015e-03 4.53134878e+01] [-6.48783263e-02 9.97893155e-01 2.32582473e-04 -1.81962943e+00] [ 5.73180012e-03 1.39585032e-04 9.99983563e-01 7.35576537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.460714057000004 meters Centerline goodness : 0.994101 with order 1 Centerline is valid? [True, True] Translation: X:45.37, Y:-1.82, Z:0.08 [[ 9.98370165e-01 5.67819937e-02 -5.72879276e-03 4.53719355e+01] [-5.67815954e-02 9.98386597e-01 2.32271371e-04 -1.81509725e+00] [ 5.73273874e-03 9.33971854e-05 9.99983563e-01 7.96191726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.520714057000006 meters Centerline goodness : 0.991310 with order 1 Centerline is valid? [True, True] Translation: X:45.43, Y:-1.84, Z:0.08 [[ 9.97701815e-01 6.75149555e-02 -5.72881308e-03 4.54292689e+01] [-6.75147369e-02 9.97718250e-01 2.31769042e-04 -1.84079995e+00] [ 5.73138924e-03 1.55542915e-04 9.99983563e-01 8.14680284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.580714057 meters Centerline goodness : 0.994061 with order 1 Centerline is valid? [True, True] Translation: X:45.49, Y:-1.85, Z:0.08 [[ 9.98608207e-01 5.24292792e-02 -5.72887472e-03 4.54871025e+01] [-5.24288210e-02 9.98624637e-01 2.30235435e-04 -1.84880487e+00] [ 5.73306651e-03 7.04431525e-05 9.99983563e-01 7.93079287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.640714057000004 meters Centerline goodness : 0.993877 with order 1 Centerline is valid? [True, True] Translation: X:45.54, Y:-1.86, Z:0.08 [[ 9.98737439e-01 4.99069829e-02 -5.72889607e-03 4.55445207e+01] [-4.99064862e-02 9.98753869e-01 2.29702855e-04 -1.85676279e+00] [ 5.73322089e-03 5.64962312e-05 9.99983563e-01 7.97455586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.700714057000006 meters Centerline goodness : 0.993121 with order 1 Centerline is valid? [True, True] Translation: X:45.60, Y:-1.88, Z:0.08 [[ 9.99149142e-01 4.08432671e-02 -5.72892106e-03 4.56019447e+01] [-4.08426250e-02 9.99165566e-01 2.29078046e-04 -1.87654865e+00] [ 5.73349694e-03 5.10104162e-06 9.99983563e-01 7.93291244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.760714057 meters Centerline goodness : 0.992885 with order 1 Centerline is valid? [True, True] Translation: X:45.66, Y:-1.89, Z:0.08 [[ 9.99380734e-01 3.47178429e-02 -5.72894600e-03 4.56592117e+01] [-3.47171037e-02 9.99397154e-01 2.28452569e-04 -1.89021546e+00] [ 5.73342370e-03 -2.94186834e-05 9.99983563e-01 7.88464018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.820714057 meters Centerline goodness : 0.991572 with order 1 Centerline is valid? [True, True] Translation: X:45.72, Y:-1.91, Z:0.08 [[ 9.99596449e-01 2.78229618e-02 -5.72897056e-03 4.57163750e+01] [-2.78221129e-02 9.99612864e-01 2.27834881e-04 -1.90902218e+00] [ 5.73309171e-03 -6.83508717e-05 9.99983563e-01 7.90661253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.880714057000006 meters Centerline goodness : 0.990878 with order 1 Centerline is valid? [True, True] Translation: X:45.77, Y:-1.93, Z:0.08 [[ 9.99683117e-01 2.45121061e-02 -5.72899502e-03 4.57738122e+01] [-2.45112064e-02 9.99699529e-01 2.27218298e-04 -1.92575577e+00] [ 5.73284322e-03 -8.67217170e-05 9.99983563e-01 7.93012408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.940714057 meters Centerline goodness : 0.989114 with order 1 Centerline is valid? [True, True] Translation: X:45.83, Y:-1.94, Z:0.08 [[ 9.99682939e-01 2.45193883e-02 -5.72901911e-03 4.58317552e+01] [-2.45184922e-02 9.99699351e-01 2.26609224e-04 -1.93811910e+00] [ 5.73285300e-03 -8.60704645e-05 9.99983563e-01 8.01733518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.000714057 meters Centerline goodness : 0.988851 with order 1 Centerline is valid? [True, True] Translation: X:45.89, Y:-1.95, Z:0.09 [[ 9.99710798e-01 2.33559049e-02 -5.72904398e-03 4.58902356e+01] [-2.33549933e-02 9.99727209e-01 2.25978813e-04 -1.94824001e+00] [ 5.73275909e-03 -9.21116758e-05 9.99983563e-01 8.91856729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.060714057000006 meters Centerline goodness : 0.983565 with order 1 Centerline is valid? [True, True] Translation: X:45.95, Y:-1.98, Z:0.08 [[ 9.99402278e-01 3.40919970e-02 -5.72906032e-03 4.59480181e+01] [-3.40912641e-02 9.99418698e-01 2.25563570e-04 -1.97569710e+00] [ 5.73341993e-03 -3.01178373e-05 9.99983563e-01 8.31994793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.120714057 meters Centerline goodness : 0.987090 with order 1 Centerline is valid? [True, True] Translation: X:46.01, Y:-1.98, Z:0.08 [[ 9.99679647e-01 2.46532150e-02 -5.72911746e-03 4.60062065e+01] [-2.46523354e-02 9.99696060e-01 2.24102805e-04 -1.97961044e+00] [ 5.73290101e-03 -8.27948877e-05 9.99983563e-01 8.09795623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.180714057 meters Centerline goodness : 0.984627 with order 1 Centerline is valid? [True, True] Translation: X:46.06, Y:-2.00, Z:0.07 [[ 9.99412630e-01 3.37871541e-02 -5.72913751e-03 4.60640874e+01] [-3.37864275e-02 9.99429051e-01 2.23589225e-04 -2.00214128e+00] [ 5.73342090e-03 -2.98908067e-05 9.99983563e-01 7.45452617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.240714057000005 meters Centerline goodness : 0.983038 with order 1 Centerline is valid? [True, True] Translation: X:46.12, Y:-2.01, Z:0.07 [[ 9.99288038e-01 3.72906503e-02 -5.72919441e-03 4.61227587e+01] [-3.72899897e-02 9.99304462e-01 2.22121638e-04 -2.01067296e+00] [ 5.73349259e-03 -8.32189579e-06 9.99983563e-01 7.49284183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.300714057 meters Centerline goodness : 0.983602 with order 1 Centerline is valid? [True, True] Translation: X:46.18, Y:-2.02, Z:0.07 [[ 9.99349591e-01 3.56029623e-02 -5.72921120e-03 4.61799263e+01] [-3.56022764e-02 9.99366013e-01 2.21687571e-04 -2.02461002e+00] [ 5.73347169e-03 -1.75704221e-05 9.99983563e-01 7.34868429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.360714057 meters Centerline goodness : 0.983579 with order 1 Centerline is valid? [True, True] Translation: X:46.24, Y:-2.04, Z:0.07 [[ 9.99462769e-01 3.22699571e-02 -5.72923179e-03 4.62389454e+01] [-3.22692196e-02 9.99479189e-01 2.21154259e-04 -2.03680303e+00] [ 5.73338458e-03 -3.61576092e-05 9.99983563e-01 7.29446076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.420714057000005 meters Centerline goodness : 0.984622 with order 1 Centerline is valid? [True, True] Translation: X:46.30, Y:-2.04, Z:0.08 [[ 9.99650533e-01 2.58067469e-02 -5.72924394e-03 4.62967584e+01] [-2.58059049e-02 9.99666948e-01 2.20838930e-04 -2.04267282e+00] [ 5.73303494e-03 -7.29134291e-05 9.99983563e-01 7.79643768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.480714057 meters Centerline goodness : 0.984515 with order 1 Centerline is valid? [True, True] Translation: X:46.36, Y:-2.05, Z:0.08 [[ 9.99846890e-01 1.65339874e-02 -5.72925985e-03 4.63553944e+01] [-1.65329956e-02 9.99863296e-01 2.20425572e-04 -2.05364896e+00] [ 5.73212115e-03 -1.25669995e-04 9.99983563e-01 7.93488779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.540714057 meters Centerline goodness : 0.984812 with order 1 Centerline is valid? [True, True] Translation: X:46.41, Y:-2.06, Z:0.09 [[ 9.99983015e-01 1.06996562e-03 -5.72927641e-03 4.64140684e+01] [-1.06872273e-03 9.99999405e-01 2.19994190e-04 -2.05991161e+00] [ 5.72950839e-03 -2.13867445e-04 9.99983563e-01 8.54090027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.600714057000005 meters Centerline goodness : 0.985629 with order 1 Centerline is valid? [True, True] Translation: X:46.47, Y:-2.07, Z:0.07 [[ 9.99976477e-01 -3.77110580e-03 -5.72928733e-03 4.64729709e+01] [ 3.77242640e-03 9.99992860e-01 2.19709462e-04 -2.07257517e+00] [ 5.72841788e-03 -2.41317609e-04 9.99983563e-01 7.48023056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.660714057 meters Centerline goodness : 0.986741 with order 1 Centerline is valid? [True, True] Translation: X:46.53, Y:-2.07, Z:0.08 [[ 9.99928095e-01 -1.05346861e-02 -5.72929560e-03 4.65315967e+01] [ 1.05361163e-02 9.99944469e-01 2.19493469e-04 -2.07475044e+00] [ 5.72666516e-03 -2.79842211e-04 9.99983563e-01 7.71649011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.720714057 meters Centerline goodness : 0.986662 with order 1 Centerline is valid? [True, True] Translation: X:46.59, Y:-2.07, Z:0.09 [[ 9.99761530e-01 -2.10726963e-02 -5.72931215e-03 4.65912878e+01] [ 2.10742964e-02 9.99777888e-01 2.19060646e-04 -2.07031668e+00] [ 5.72342341e-03 -3.39749630e-04 9.99983563e-01 8.71820572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.780714057000004 meters Centerline goodness : 0.987274 with order 1 Centerline is valid? [True, True] Translation: X:46.65, Y:-2.07, Z:0.09 [[ 9.99691809e-01 -2.41549685e-02 -5.72932052e-03 4.66532015e+01] [ 2.41566178e-02 9.99708162e-01 2.18841520e-04 -2.06840632e+00] [ 5.72236238e-03 -3.57175081e-04 9.99983563e-01 8.61200205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.840714057 meters Centerline goodness : 0.985806 with order 1 Centerline is valid? [True, True] Translation: X:46.71, Y:-2.06, Z:0.09 [[ 9.99633097e-01 -2.64734951e-02 -5.72931225e-03 4.67147018e+01] [ 2.64751836e-02 9.99649447e-01 2.19057936e-04 -2.06395532e+00] [ 5.72150459e-03 -3.70662157e-04 9.99983563e-01 8.69222223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.900714057 meters Centerline goodness : 0.983844 with order 1 Centerline is valid? [True, True] Translation: X:46.78, Y:-2.06, Z:0.09 [[ 9.99615350e-01 -2.71353589e-02 -5.72930402e-03 4.67766875e+01] [ 2.71370594e-02 9.99631698e-01 2.19273015e-04 -2.06160275e+00] [ 5.72124385e-03 -3.74665135e-04 9.99983563e-01 8.75683232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.960714057000004 meters Centerline goodness : 0.987643 with order 1 Centerline is valid? [True, True] Translation: X:46.84, Y:-2.04, Z:0.09 [[ 9.99259694e-01 -3.80425982e-02 -5.72928758e-03 4.68397668e+01] [ 3.80444796e-02 9.99276023e-01 2.19701609e-04 -2.04417974e+00] [ 5.71678169e-03 -4.37506727e-04 9.99983563e-01 9.09938404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.020714057000006 meters Centerline goodness : 0.983277 with order 1 Centerline is valid? [True, True] Translation: X:46.90, Y:-2.05, Z:0.09 [[ 9.99532628e-01 -3.00283323e-02 -5.72922652e-03 4.69019038e+01] [ 3.00300916e-02 9.99548971e-01 2.21282584e-04 -2.04693323e+00] [ 5.71999772e-03 -3.93228360e-04 9.99983563e-01 8.56345423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.080714057 meters Centerline goodness : 0.983247 with order 1 Centerline is valid? [True, True] Translation: X:46.96, Y:-2.04, Z:0.09 [[ 9.99463320e-01 -3.22528882e-02 -5.72920973e-03 4.69639683e+01] [ 3.22546864e-02 9.99479658e-01 2.21716512e-04 -2.04252343e+00] [ 5.71907758e-03 -4.06391385e-04 9.99983563e-01 8.54583464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.140714057000004 meters Centerline goodness : 0.982113 with order 1 Centerline is valid? [True, True] Translation: X:47.03, Y:-2.03, Z:0.09 [[ 9.99359251e-01 -3.53307871e-02 -5.72919316e-03 4.70260030e+01] [ 3.53326380e-02 9.99375583e-01 2.22143830e-04 -2.03213731e+00] [ 5.71776723e-03 -4.24428999e-04 9.99983563e-01 8.56640076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.200714057000006 meters Centerline goodness : 0.982856 with order 1 Centerline is valid? [True, True] Translation: X:47.09, Y:-2.02, Z:0.09 [[ 9.99297271e-01 -3.70424286e-02 -5.72918090e-03 4.70890469e+01] [ 3.70443093e-02 9.99313599e-01 2.22459431e-04 -2.02360996e+00] [ 5.71700795e-03 -4.34536651e-04 9.99983563e-01 8.57131704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.260714057 meters Centerline goodness : 0.983872 with order 1 Centerline is valid? [True, True] Translation: X:47.15, Y:-2.01, Z:0.08 [[ 9.99232858e-01 -3.87410877e-02 -5.72916001e-03 4.71509783e+01] [ 3.87429992e-02 9.99249183e-01 2.22996150e-04 -2.01415058e+00] [ 5.71621935e-03 -4.44789922e-04 9.99983563e-01 8.12252491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.320714057 meters Centerline goodness : 0.982917 with order 1 Centerline is valid? [True, True] Translation: X:47.21, Y:-2.00, Z:0.09 [[ 9.99457354e-01 -3.24372366e-02 -5.72914763e-03 4.72139324e+01] [ 3.24390469e-02 9.99473691e-01 2.23313805e-04 -2.00224661e+00] [ 5.71888864e-03 -4.09040713e-04 9.99983563e-01 8.58036143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.380714057000006 meters Centerline goodness : 0.984666 with order 1 Centerline is valid? [True, True] Translation: X:47.28, Y:-2.00, Z:0.09 [[ 9.99698849e-01 -2.38618574e-02 -5.72913056e-03 4.72763487e+01] [ 2.38635300e-02 9.99715200e-01 2.23750939e-04 -1.99553148e+00] [ 5.72215979e-03 -3.60400835e-04 9.99983563e-01 9.20438470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.440714057 meters Centerline goodness : 0.985978 with order 1 Centerline is valid? [True, True] Translation: X:47.34, Y:-1.98, Z:0.10 [[ 9.99876656e-01 -1.46236136e-02 -5.72911350e-03 4.73379267e+01] [ 1.46251375e-02 9.99893022e-01 2.24186751e-04 -1.98268851e+00] [ 5.72522219e-03 -3.07948172e-04 9.99983563e-01 9.81256361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.500714057 meters Centerline goodness : 0.987571 with order 1 Centerline is valid? [True, True] Translation: X:47.40, Y:-1.97, Z:0.10 [[ 9.99978494e-01 -3.19199078e-03 -5.72910093e-03 4.73996012e+01] [ 3.19332933e-03 9.99994876e-01 2.24507752e-04 -1.97117070e+00] [ 5.72835494e-03 -2.42797829e-04 9.99983563e-01 9.79718175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.560714057000006 meters Centerline goodness : 0.990051 with order 1 Centerline is valid? [True, True] Translation: X:47.46, Y:-1.96, Z:0.10 [[ 9.99966546e-01 -5.83816374e-03 -5.72909247e-03 4.74583355e+01] [ 5.83954686e-03 9.99982924e-01 2.24723418e-04 -1.96270185e+00] [ 5.72768267e-03 -2.58171204e-04 9.99983563e-01 1.03241464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.620714057 meters Centerline goodness : 0.988921 with order 1 Centerline is valid? [True, True] Translation: X:47.52, Y:-1.96, Z:0.10 [[ 9.99925306e-01 1.07962721e-02 -5.72912191e-03 4.75185688e+01] [-1.07951659e-02 9.99941705e-01 2.23970153e-04 -1.96175488e+00] [ 5.73120598e-03 -1.62106602e-04 9.99983563e-01 1.00827971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.680714057 meters Centerline goodness : 0.989036 with order 1 Centerline is valid? [True, True] Translation: X:47.58, Y:-1.96, Z:0.10 [[ 9.99834039e-01 1.72936950e-02 -5.72913113e-03 4.75772703e+01] [-1.72926967e-02 9.99850445e-01 2.23734253e-04 -1.96048331e+00] [ 5.73214350e-03 -1.24624994e-04 9.99983563e-01 1.00920816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.740714057000005 meters Centerline goodness : 0.993679 with order 1 Centerline is valid? [True, True] Translation: X:47.64, Y:-1.95, Z:0.10 [[ 9.99815404e-01 1.83394159e-02 -5.72918723e-03 4.76352404e+01] [-1.83384431e-02 9.99831812e-01 2.22288220e-04 -1.94647410e+00] [ 5.73230029e-03 -1.17182813e-04 9.99983563e-01 9.88957061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.800714057 meters Centerline goodness : 0.991884 with order 1 Centerline is valid? [True, True] Translation: X:47.69, Y:-1.95, Z:0.11 [[ 9.99645166e-01 2.60138153e-02 -5.72920682e-03 4.76941767e+01] [-2.60129714e-02 9.99661581e-01 2.21782258e-04 -1.94922303e+00] [ 5.73303735e-03 -7.26698685e-05 9.99983563e-01 1.07787851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.860714057 meters Centerline goodness : 0.992671 with order 1 Centerline is valid? [True, True] Translation: X:47.75, Y:-1.95, Z:0.10 [[ 9.99533188e-01 3.00097022e-02 -5.72926496e-03 4.77529556e+01] [-3.00089326e-02 9.99549606e-01 2.20269953e-04 -1.95199007e+00] [ 5.73329477e-03 -4.82380026e-05 9.99983563e-01 1.02180528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.920714057000005 meters Centerline goodness : 0.992825 with order 1 Centerline is valid? [True, True] Translation: X:47.81, Y:-1.96, Z:0.10 [[ 9.99328268e-01 3.61965254e-02 -5.72928319e-03 4.78103614e+01] [-3.61958602e-02 9.99344691e-01 2.19794665e-04 -1.95598410e+00] [ 5.73348455e-03 -1.22706882e-05 9.99983563e-01 9.57576972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.980714057 meters Centerline goodness : 0.993419 with order 1 Centerline is valid? [True, True] Translation: X:47.87, Y:-1.96, Z:0.10 [[ 9.99230100e-01 3.88121518e-02 -5.72930568e-03 4.78683496e+01] [-3.88115329e-02 9.99246525e-01 2.19206949e-04 -1.96221895e+00] [ 5.73349668e-03 3.32495468e-06 9.99983563e-01 9.57847138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.040714057 meters Centerline goodness : 0.993250 with order 1 Centerline is valid? [True, True] Translation: X:47.93, Y:-1.97, Z:0.10 [[ 9.99143729e-01 4.09754010e-02 -5.72932897e-03 4.79263369e+01] [-4.09748212e-02 9.99160155e-01 2.18596445e-04 -1.97181375e+00] [ 5.73347430e-03 1.63489635e-05 9.99983563e-01 9.59462642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.100714057000005 meters Centerline goodness : 0.992386 with order 1 Centerline is valid? [True, True] Translation: X:47.98, Y:-1.98, Z:0.10 [[ 9.99080636e-01 4.24859568e-02 -5.72935308e-03 4.79848392e+01] [-4.24854054e-02 9.99097064e-01 2.17962788e-04 -1.98266357e+00] [ 5.73344020e-03 2.56514871e-05 9.99983563e-01 9.55330293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.160714057 meters Centerline goodness : 0.992424 with order 1 Centerline is valid? [True, True] Translation: X:48.04, Y:-2.00, Z:0.09 [[ 9.99093892e-01 4.21730801e-02 -5.72936898e-03 4.80435832e+01] [-4.21725260e-02 9.99110320e-01 2.17544045e-04 -1.99637635e+00] [ 5.73344617e-03 2.42750363e-05 9.99983563e-01 9.49620267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.220714057 meters Centerline goodness : 0.990658 with order 1 Centerline is valid? [True, True] Translation: X:48.10, Y:-2.01, Z:0.10 [[ 9.99153759e-01 4.07300811e-02 -5.72938461e-03 4.81012468e+01] [-4.07295056e-02 9.99170186e-01 2.17131632e-04 -2.00609211e+00] [ 5.73347407e-03 1.64071156e-05 9.99983563e-01 9.53948271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.280714057000004 meters Centerline goodness : 0.990986 with order 1 Centerline is valid? [True, True] Translation: X:48.16, Y:-2.02, Z:0.10 [[ 9.99287621e-01 3.73018112e-02 -5.72940773e-03 4.81590497e+01] [-3.73011829e-02 9.99304045e-01 2.16519716e-04 -2.02101100e+00] [ 5.73349690e-03 -2.65178608e-06 9.99983563e-01 9.58906799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.34071405700001 meters Centerline goodness : 0.989526 with order 1 Centerline is valid? [True, True] Translation: X:48.22, Y:-2.04, Z:0.09 [[ 9.99408583e-01 3.39066132e-02 -5.72943149e-03 4.82158755e+01] [-3.39059327e-02 9.99425005e-01 2.15889262e-04 -2.03596785e+00] [ 5.73345717e-03 -2.14998632e-05 9.99983563e-01 9.49770563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.400714057 meters Centerline goodness : 0.988304 with order 1 Centerline is valid? [True, True] Translation: X:48.27, Y:-2.05, Z:0.10 [[ 9.99489344e-01 3.14360381e-02 -5.72945868e-03 4.82733029e+01] [-3.14353212e-02 9.99505765e-01 2.15165223e-04 -2.04891821e+00] [ 5.73339092e-03 -3.49479737e-05 9.99983563e-01 9.50623051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.460714057000004 meters Centerline goodness : 0.987511 with order 1 Centerline is valid? [True, True] Translation: X:48.33, Y:-2.06, Z:0.09 [[ 9.99542004e-01 2.97145615e-02 -5.72948214e-03 4.83304923e+01] [-2.97138199e-02 9.99558424e-01 2.14538816e-04 -2.05812015e+00] [ 5.73332706e-03 -4.41957580e-05 9.99983563e-01 9.46873627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.520714057000006 meters Centerline goodness : 0.986728 with order 1 Centerline is valid? [True, True] Translation: X:48.39, Y:-2.07, Z:0.09 [[ 9.99703904e-01 2.36490289e-02 -5.72950548e-03 4.83880572e+01] [-2.36481913e-02 9.99720320e-01 2.13913611e-04 -2.07059359e+00] [ 5.73296190e-03 -7.83578302e-05 9.99983563e-01 9.44269478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.580714057 meters Centerline goodness : 0.981678 with order 1 Centerline is valid? [True, True] Translation: X:48.45, Y:-2.09, Z:0.10 [[ 9.99661038e-01 2.53964938e-02 -5.72952457e-03 4.84460661e+01] [-2.53956877e-02 9.99677455e-01 2.13400915e-04 -2.09339443e+00] [ 5.73309618e-03 -6.78233630e-05 9.99983563e-01 9.65036948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.640714057000004 meters Centerline goodness : 0.986517 with order 1 Centerline is valid? [True, True] Translation: X:48.51, Y:-2.09, Z:0.10 [[ 9.99962961e-01 6.42248860e-03 -5.72953982e-03 4.85051776e+01] [-6.42137354e-03 9.99979360e-01 2.12990747e-04 -2.09065547e+00] [ 5.73078950e-03 -1.76191343e-04 9.99983563e-01 9.83490300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.700714057000006 meters Centerline goodness : 0.983970 with order 1 Centerline is valid? [True, True] Translation: X:48.56, Y:-2.11, Z:0.09 [[ 9.99982065e-01 1.74392173e-03 -5.72955534e-03 4.85631300e+01] [-1.74273235e-03 9.99998459e-01 2.12572574e-04 -2.11082243e+00] [ 5.72991722e-03 -2.02583680e-04 9.99983563e-01 9.48636213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.760714057 meters Centerline goodness : 0.987978 with order 1 Centerline is valid? [True, True] Translation: X:48.62, Y:-2.11, Z:0.10 [[ 9.99834927e-01 -1.72421203e-02 -5.72957099e-03 4.86220804e+01] [ 1.72436183e-02 9.99851295e-01 2.12149683e-04 -2.10775183e+00] [ 5.72506107e-03 -3.10913198e-04 9.99983563e-01 9.90556145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.820714057 meters Centerline goodness : 0.987069 with order 1 Centerline is valid? [True, True] Translation: X:48.68, Y:-2.11, Z:0.10 [[ 9.99702855e-01 -2.36933310e-02 -5.72957937e-03 4.86820197e+01] [ 2.36949333e-02 9.99719213e-01 2.11923123e-04 -2.11233277e+00] [ 5.72294942e-03 -3.47622152e-04 9.99983563e-01 1.00836365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.880714057000006 meters Centerline goodness : 0.986410 with order 1 Centerline is valid? [True, True] Translation: X:48.74, Y:-2.11, Z:0.10 [[ 9.99575324e-01 -2.85717125e-02 -5.72957562e-03 4.87441346e+01] [ 2.85733952e-02 9.99591675e-01 2.12024533e-04 -2.11209556e+00] [ 5.72117819e-03 -3.75647919e-04 9.99983563e-01 1.00071421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.940714057 meters Centerline goodness : 0.986155 with order 1 Centerline is valid? [True, True] Translation: X:48.81, Y:-2.11, Z:0.10 [[ 9.99402935e-01 -3.40726636e-02 -5.72956033e-03 4.88060020e+01] [ 3.40744386e-02 9.99419275e-01 2.12437052e-04 -2.10902609e+00] [ 5.71899473e-03 -4.07541765e-04 9.99983563e-01 1.04115890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.000714057 meters Centerline goodness : 0.985826 with order 1 Centerline is valid? [True, True] Translation: X:48.87, Y:-2.11, Z:0.10 [[ 9.99430474e-01 -3.32550804e-02 -5.72955708e-03 4.88671617e+01] [ 3.32568425e-02 9.99446816e-01 2.12524473e-04 -2.10975193e+00] [ 5.71932006e-03 -4.02950412e-04 9.99983563e-01 9.88344572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.060714057000006 meters Centerline goodness : 0.984804 with order 1 Centerline is valid? [True, True] Translation: X:48.93, Y:-2.10, Z:0.10 [[ 9.99348248e-01 -3.56406038e-02 -5.72953305e-03 4.89299469e+01] [ 3.56424087e-02 9.99364585e-01 2.13170558e-04 -2.10486741e+00] [ 5.71829489e-03 -4.17245981e-04 9.99983563e-01 1.04133303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.120714057 meters Centerline goodness : 0.983936 with order 1 Centerline is valid? [True, True] Translation: X:48.99, Y:-2.10, Z:0.11 [[ 9.99258425e-01 -3.80758883e-02 -5.72951022e-03 4.89912798e+01] [ 3.80777364e-02 9.99274757e-01 2.13782275e-04 -2.10085809e+00] [ 5.71721499e-03 -4.31790519e-04 9.99983563e-01 1.07693862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.180714057 meters Centerline goodness : 0.985037 with order 1 Centerline is valid? [True, True] Translation: X:49.05, Y:-2.10, Z:0.10 [[ 9.99011645e-01 -4.40783980e-02 -5.72949646e-03 4.90539507e+01] [ 4.40803463e-02 9.99027966e-01 2.14150545e-04 -2.09590682e+00] [ 5.71448778e-03 -4.66497077e-04 9.99983563e-01 1.03231368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.240714057000005 meters Centerline goodness : 0.986051 with order 1 Centerline is valid? [True, True] Translation: X:49.12, Y:-2.09, Z:0.11 [[ 9.98906985e-01 -4.63897495e-02 -5.72947844e-03 4.91169149e+01] [ 4.63917383e-02 9.98923301e-01 2.14631600e-04 -2.08525389e+00] [ 5.71335280e-03 -4.80197469e-04 9.99983563e-01 1.06934325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.300714057 meters Centerline goodness : 0.986037 with order 1 Centerline is valid? [True, True] Translation: X:49.18, Y:-2.07, Z:0.11 [[ 9.98787805e-01 -4.88885788e-02 -5.72946000e-03 4.91798867e+01] [ 4.88906112e-02 9.98804116e-01 2.15122649e-04 -2.07264619e+00] [ 5.71209119e-03 -4.94978680e-04 9.99983563e-01 1.08165399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.360714057 meters Centerline goodness : 0.981958 with order 1 Centerline is valid? [True, True] Translation: X:49.24, Y:-2.06, Z:0.10 [[ 9.98971103e-01 -4.49878829e-02 -5.72944118e-03 4.92421858e+01] [ 4.49898545e-02 9.98987421e-01 2.15622633e-04 -2.06329640e+00] [ 5.71393926e-03 -4.73167505e-04 9.99983563e-01 1.04934535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.420714057000005 meters Centerline goodness : 0.989690 with order 1 Centerline is valid? [True, True] Translation: X:49.30, Y:-2.06, Z:0.10 [[ 9.99013112e-01 -4.40451661e-02 -5.72941363e-03 4.93034080e+01] [ 4.40471264e-02 9.99029431e-01 2.16352273e-04 -2.05707742e+00] [ 5.71432357e-03 -4.68502964e-04 9.99983563e-01 1.01427908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.480714057 meters Centerline goodness : 0.989441 with order 1 Centerline is valid? [True, True] Translation: X:49.37, Y:-2.05, Z:0.10 [[ 9.99118425e-01 -4.15878209e-02 -5.72939700e-03 4.93654560e+01] [ 4.15897435e-02 9.99134749e-01 2.16791823e-04 -2.05193158e+00] [ 5.71542373e-03 -4.54884856e-04 9.99983563e-01 1.04219013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.540714057 meters Centerline goodness : 0.990593 with order 1 Centerline is valid? [True, True] Translation: X:49.43, Y:-2.04, Z:0.11 [[ 9.99405394e-01 -3.40004899e-02 -5.72937447e-03 4.94277297e+01] [ 3.40022919e-02 9.99421731e-01 2.17385498e-04 -2.04082279e+00] [ 5.71867014e-03 -4.12068103e-04 9.99983563e-01 1.08474727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.600714057000005 meters Centerline goodness : 0.993103 with order 1 Centerline is valid? [True, True] Translation: X:49.49, Y:-2.03, Z:0.10 [[ 9.99481684e-01 -3.16786542e-02 -5.72935634e-03 4.94894233e+01] [ 3.16804210e-02 9.99498026e-01 2.17862251e-04 -2.02892113e+00] [ 5.71957877e-03 -3.99257751e-04 9.99983563e-01 1.04409660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.660714057 meters Centerline goodness : 0.992879 with order 1 Centerline is valid? [True, True] Translation: X:49.55, Y:-2.02, Z:0.11 [[ 9.99540620e-01 -2.97611231e-02 -5.72934302e-03 4.95525627e+01] [ 2.97628606e-02 9.99556964e-01 2.18212183e-04 -2.02332180e+00] [ 5.72031047e-03 -3.88633578e-04 9.99983563e-01 1.05885469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.720714057 meters Centerline goodness : 0.984764 with order 1 Centerline is valid? [True, True] Translation: X:49.61, Y:-2.02, Z:0.11 [[ 9.99603734e-01 -2.75599496e-02 -5.72931883e-03 4.96146793e+01] [ 2.75616546e-02 9.99620081e-01 2.18845444e-04 -2.01582880e+00] [ 5.72111078e-03 -3.76668229e-04 9.99983563e-01 1.06595654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.780714057000004 meters Centerline goodness : 0.990361 with order 1 Centerline is valid? [True, True] Translation: X:49.68, Y:-2.01, Z:0.12 [[ 9.99658345e-01 -2.55023126e-02 -5.72929152e-03 4.96763216e+01] [ 2.55039881e-02 9.99674696e-01 2.19557897e-04 -2.01329360e+00] [ 5.72182853e-03 -3.65602666e-04 9.99983563e-01 1.19084518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.84071405700001 meters Centerline goodness : 0.985673 with order 1 Centerline is valid? [True, True] Translation: X:49.74, Y:-2.00, Z:0.11 [[ 9.99447514e-01 -3.27390049e-02 -5.72926960e-03 4.97391822e+01] [ 3.27408020e-02 9.99463852e-01 2.20128625e-04 -2.00407862e+00] [ 5.71899107e-03 -4.07587889e-04 9.99983563e-01 1.07693910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.900714057 meters Centerline goodness : 0.991831 with order 1 Centerline is valid? [True, True] Translation: X:49.80, Y:-2.00, Z:0.12 [[ 9.99560356e-01 -2.90907313e-02 -5.72924224e-03 4.98003261e+01] [ 2.90924728e-02 9.99576700e-01 2.20838375e-04 -2.00458575e+00] [ 5.72039270e-03 -3.87419109e-04 9.99983563e-01 1.20776639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.960714057000004 meters Centerline goodness : 0.991880 with order 1 Centerline is valid? [True, True] Translation: X:49.86, Y:-2.00, Z:0.12 [[ 9.99538600e-01 -2.98289047e-02 -5.72922573e-03 4.98626162e+01] [ 2.98306607e-02 9.99554942e-01 2.21265893e-04 -1.99603485e+00] [ 5.72007577e-03 -3.92070389e-04 9.99983563e-01 1.24045470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.020714057000006 meters Centerline goodness : 0.991709 with order 1 Centerline is valid? [True, True] Translation: X:49.92, Y:-1.99, Z:0.11 [[ 9.99711962e-01 -2.33059953e-02 -5.72920933e-03 4.99236205e+01] [ 2.33076470e-02 9.99728315e-01 2.21689637e-04 -1.99479525e+00] [ 5.72248609e-03 -3.55160171e-04 9.99983563e-01 1.11238375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.080714057 meters Centerline goodness : 0.991783 with order 1 Centerline is valid? [True, True] Translation: X:49.99, Y:-1.99, Z:0.11 [[ 9.99751414e-01 -2.15472931e-02 -5.72918102e-03 4.99859376e+01] [ 2.15489202e-02 9.99767770e-01 2.22418842e-04 -1.98805723e+00] [ 5.72305801e-03 -3.45821216e-04 9.99983563e-01 1.14351751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.140714057000004 meters Centerline goodness : 0.992255 with order 1 Centerline is valid? [True, True] Translation: X:50.05, Y:-1.99, Z:0.11 [[ 9.99741849e-01 -2.19866418e-02 -5.72916488e-03 5.00482310e+01] [ 2.19882785e-02 9.99758204e-01 2.22833745e-04 -1.98704134e+00] [ 5.72288023e-03 -3.48750693e-04 9.99983563e-01 1.07855034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.200714057000006 meters Centerline goodness : 0.991636 with order 1 Centerline is valid? [True, True] Translation: X:50.11, Y:-1.98, Z:0.10 [[ 9.99800782e-01 -1.91199860e-02 -5.72914856e-03 5.01110680e+01] [ 1.91215782e-02 9.99817141e-01 2.23252570e-04 -1.98394158e+00] [ 5.72383235e-03 -3.32758456e-04 9.99983563e-01 1.04467730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.260714057 meters Centerline goodness : 0.991250 with order 1 Centerline is valid? [True, True] Translation: X:50.17, Y:-1.98, Z:0.11 [[ 9.99844770e-01 -1.66617195e-02 -5.72913237e-03 5.01734103e+01] [ 1.66632738e-02 9.99861133e-01 2.23667340e-04 -1.97837890e+00] [ 5.72461010e-03 -3.19098722e-04 9.99983563e-01 1.06670783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.320714057 meters Centerline goodness : 0.991968 with order 1 Centerline is valid? [True, True] Translation: X:50.23, Y:-1.98, Z:0.10 [[ 9.99734916e-01 -2.22996632e-02 -5.72911612e-03 5.02346336e+01] [ 2.23013121e-02 9.99751270e-01 2.24082814e-04 -1.97504344e+00] [ 5.72269414e-03 -3.51790220e-04 9.99983563e-01 1.04277309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.380714057000006 meters Centerline goodness : 0.991550 with order 1 Centerline is valid? [True, True] Translation: X:50.30, Y:-1.97, Z:0.11 [[ 9.99785759e-01 -1.98900325e-02 -5.72906395e-03 5.02966938e+01] [ 1.98916495e-02 9.99802116e-01 2.25408721e-04 -1.97363382e+00] [ 5.72344688e-03 -3.39320962e-04 9.99983563e-01 1.08108015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.440714057 meters Centerline goodness : 0.990806 with order 1 Centerline is valid? [True, True] Translation: X:50.36, Y:-1.98, Z:0.10 [[ 9.99790047e-01 -1.96733234e-02 -5.72904751e-03 5.03593849e+01] [ 1.96749393e-02 9.99806404e-01 2.25825792e-04 -1.97555780e+00] [ 5.72349565e-03 -3.38497041e-04 9.99983563e-01 9.78755788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.500714057 meters Centerline goodness : 0.991301 with order 1 Centerline is valid? [True, True] Translation: X:50.42, Y:-1.97, Z:0.10 [[ 9.99732656e-01 -2.24007957e-02 -5.72902292e-03 5.04206725e+01] [ 2.24024597e-02 9.99749008e-01 2.26447932e-04 -1.97146950e+00] [ 5.72251237e-03 -3.54731597e-04 9.99983563e-01 1.03151679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.560714057000006 meters Centerline goodness : 0.992317 with order 1 Centerline is valid? [True, True] Translation: X:50.48, Y:-1.97, Z:0.10 [[ 9.99654701e-01 -2.56448293e-02 -5.72901036e-03 5.04827200e+01] [ 2.56465482e-02 9.99671047e-01 2.26765268e-04 -1.96829113e+00] [ 5.72131043e-03 -3.73616307e-04 9.99983563e-01 1.01922628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.620714057 meters Centerline goodness : 0.991826 with order 1 Centerline is valid? [True, True] Translation: X:50.55, Y:-1.96, Z:0.11 [[ 9.99541854e-01 -2.97197161e-02 -5.72899283e-03 5.05452025e+01] [ 2.97215042e-02 9.99558193e-01 2.27207296e-04 -1.96124157e+00] [ 5.71970918e-03 -3.97377486e-04 9.99983563e-01 1.09543591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.680714057 meters Centerline goodness : 0.991749 with order 1 Centerline is valid? [True, True] Translation: X:50.61, Y:-1.96, Z:0.12 [[ 9.99618166e-01 -2.70314724e-02 -5.72897551e-03 5.06084731e+01] [ 2.70332191e-02 9.99634510e-01 2.27643292e-04 -1.95952364e+00] [ 5.72072809e-03 -3.82429020e-04 9.99983563e-01 1.15290348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.740714057000005 meters Centerline goodness : 0.991296 with order 1 Centerline is valid? [True, True] Translation: X:50.67, Y:-1.96, Z:0.11 [[ 9.99675022e-01 -2.48400889e-02 -5.72894951e-03 5.06709348e+01] [ 2.48418034e-02 9.99691369e-01 2.28295587e-04 -1.95774856e+00] [ 5.72151050e-03 -3.70538834e-04 9.99983563e-01 1.14451506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.800714057 meters Centerline goodness : 0.991339 with order 1 Centerline is valid? [True, True] Translation: X:50.73, Y:-1.96, Z:0.11 [[ 9.99728790e-01 -2.25726823e-02 -5.72890703e-03 5.07337752e+01] [ 2.25743658e-02 9.99745140e-01 2.29356673e-04 -1.95592200e+00] [ 5.72226977e-03 -3.58620912e-04 9.99983563e-01 1.12796260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.860714057 meters Centerline goodness : 0.990930 with order 1 Centerline is valid? [True, True] Translation: X:50.80, Y:-1.95, Z:0.11 [[ 9.99795854e-01 -1.93760360e-02 -5.72888193e-03 5.07966329e+01] [ 1.93776707e-02 9.99812209e-01 2.29981965e-04 -1.95323462e+00] [ 5.72334996e-03 -3.40947403e-04 9.99983563e-01 1.13854607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.920714057000005 meters Centerline goodness : 0.991493 with order 1 Centerline is valid? [True, True] Translation: X:50.86, Y:-1.95, Z:0.11 [[ 9.99821934e-01 -1.79799932e-02 -5.72885552e-03 5.08590272e+01] [ 1.79816089e-02 9.99838291e-01 2.30637973e-04 -1.94967725e+00] [ 5.72378224e-03 -3.33610943e-04 9.99983563e-01 1.13774899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.980714057 meters Centerline goodness : 0.991937 with order 1 Centerline is valid? [True, True] Translation: X:50.92, Y:-1.95, Z:0.11 [[ 9.99821563e-01 -1.80006344e-02 -5.72883377e-03 5.09214964e+01] [ 1.80022535e-02 9.99837920e-01 2.31176873e-04 -1.94757958e+00] [ 5.72374391e-03 -3.34267540e-04 9.99983563e-01 1.14665227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.040714057 meters Centerline goodness : 0.991858 with order 1 Centerline is valid? [True, True] Translation: X:50.98, Y:-1.95, Z:0.12 [[ 9.99803978e-01 -1.89522326e-02 -5.72881717e-03 5.09842835e+01] [ 1.89538696e-02 9.99820332e-01 2.31587644e-04 -1.94826056e+00] [ 5.72339878e-03 -3.40125501e-04 9.99983563e-01 1.16602967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.100714057000005 meters Centerline goodness : 0.992954 with order 1 Centerline is valid? [True, True] Translation: X:51.05, Y:-1.95, Z:0.12 [[ 9.99723304e-01 -2.28143773e-02 -5.72879056e-03 5.10464062e+01] [ 2.28160812e-02 9.99739652e-01 2.32244017e-04 -1.94572217e+00] [ 5.72200058e-03 -3.62888307e-04 9.99983563e-01 1.19545073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.160714057 meters Centerline goodness : 0.993287 with order 1 Centerline is valid? [True, True] Translation: X:51.11, Y:-1.95, Z:0.12 [[ 9.99662011e-01 -2.53583160e-02 -5.72877277e-03 5.11080381e+01] [ 2.53600641e-02 9.99678355e-01 2.32681958e-04 -1.94664676e+00] [ 5.72102972e-03 -3.77885359e-04 9.99983563e-01 1.19685181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.220714057 meters Centerline goodness : 0.992892 with order 1 Centerline is valid? [True, True] Translation: X:51.17, Y:-1.95, Z:0.12 [[ 9.99628383e-01 -2.66510124e-02 -5.72875071e-03 5.11715740e+01] [ 2.66527846e-02 9.99644724e-01 2.33223810e-04 -1.94820842e+00] [ 5.72049977e-03 -3.85824299e-04 9.99983563e-01 1.20865953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.280714057000004 meters Centerline goodness : 0.993483 with order 1 Centerline is valid? [True, True] Translation: X:51.23, Y:-1.95, Z:0.12 [[ 9.99634019e-01 -2.64387782e-02 -5.72872422e-03 5.12342508e+01] [ 2.64405507e-02 9.99650360e-01 2.33872604e-04 -1.94658327e+00] [ 5.72053793e-03 -3.85257634e-04 9.99983563e-01 1.22834862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.34071405700001 meters Centerline goodness : 0.992983 with order 1 Centerline is valid? [True, True] Translation: X:51.30, Y:-1.95, Z:0.12 [[ 9.99689690e-01 -2.42426563e-02 -5.72870634e-03 5.12967290e+01] [ 2.42443954e-02 9.99706034e-01 2.34309851e-04 -1.94814596e+00] [ 5.72134200e-03 -3.73126163e-04 9.99983563e-01 1.20634180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.400714057 meters Centerline goodness : 0.992618 with order 1 Centerline is valid? [True, True] Translation: X:51.36, Y:-1.95, Z:0.12 [[ 9.99713427e-01 -2.32431821e-02 -5.72868816e-03 5.13591647e+01] [ 2.32449074e-02 9.99729773e-01 2.34753415e-04 -1.95013500e+00] [ 5.72168370e-03 -3.67848967e-04 9.99983563e-01 1.21895858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.460714057000004 meters Centerline goodness : 0.993283 with order 1 Centerline is valid? [True, True] Translation: X:51.42, Y:-1.95, Z:0.12 [[ 9.99813362e-01 -1.84505603e-02 -5.72864301e-03 5.14217859e+01] [ 1.84522135e-02 9.99829716e-01 2.35850144e-04 -1.95028457e+00] [ 5.72331595e-03 -3.41512270e-04 9.99983563e-01 1.22019987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.520714057000006 meters Centerline goodness : 0.992094 with order 1 Centerline is valid? [True, True] Translation: X:51.48, Y:-1.95, Z:0.12 [[ 9.99881114e-01 -1.43157679e-02 -5.72862522e-03 5.14829105e+01] [ 1.43173558e-02 9.99897473e-01 2.36281532e-04 -1.95020388e+00] [ 5.72465533e-03 -3.18272207e-04 9.99983563e-01 1.22432068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.580714057 meters Centerline goodness : 0.992664 with order 1 Centerline is valid? [True, True] Translation: X:51.55, Y:-1.95, Z:0.12 [[ 9.99900989e-01 -1.28528244e-02 -5.72861197e-03 5.15453918e+01] [ 1.28543903e-02 9.99917351e-01 2.36602328e-04 -1.95175833e+00] [ 5.72509750e-03 -3.10216716e-04 9.99983563e-01 1.19533239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.640714057000004 meters Centerline goodness : 0.992480 with order 1 Centerline is valid? [True, True] Translation: X:51.61, Y:-1.95, Z:0.12 [[ 9.99899314e-01 -1.29824733e-02 -5.72859476e-03 5.16079654e+01] [ 1.29840437e-02 9.99915676e-01 2.37018164e-04 -1.95382121e+00] [ 5.72503462e-03 -3.11374624e-04 9.99983563e-01 1.16300949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.700714057000006 meters Centerline goodness : 0.992165 with order 1 Centerline is valid? [True, True] Translation: X:51.67, Y:-1.96, Z:0.11 [[ 9.99897813e-01 -1.30975896e-02 -5.72857623e-03 5.16688768e+01] [ 1.30991644e-02 9.99914174e-01 2.37465175e-04 -1.95633278e+00] [ 5.72497435e-03 -3.12480471e-04 9.99983563e-01 1.14149998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.760714057 meters Centerline goodness : 0.992825 with order 1 Centerline is valid? [True, True] Translation: X:51.73, Y:-1.96, Z:0.12 [[ 9.99888935e-01 -1.37586747e-02 -5.72856265e-03 5.17311912e+01] [ 1.37602621e-02 9.99905295e-01 2.37792357e-04 -1.95803418e+00] [ 5.72474842e-03 -3.16592470e-04 9.99983563e-01 1.15238453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.820714057 meters Centerline goodness : 0.993421 with order 1 Centerline is valid? [True, True] Translation: X:51.79, Y:-1.96, Z:0.12 [[ 9.99832808e-01 -1.73649208e-02 -5.72854587e-03 5.17924179e+01] [ 1.73665695e-02 9.99849161e-01 2.38195924e-04 -1.95798562e+00] [ 5.72354553e-03 -3.37641290e-04 9.99983563e-01 1.16610297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.880714057000006 meters Centerline goodness : 0.994073 with order 1 Centerline is valid? [True, True] Translation: X:51.86, Y:-1.96, Z:0.12 [[ 9.99710114e-01 -2.33853001e-02 -5.72853341e-03 5.18551348e+01] [ 2.33870490e-02 9.99726457e-01 2.38495365e-04 -1.95704923e+00] [ 5.72138912e-03 -3.72399720e-04 9.99983563e-01 1.19653254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.940714057 meters Centerline goodness : 0.993422 with order 1 Centerline is valid? [True, True] Translation: X:51.92, Y:-1.96, Z:0.11 [[ 9.99731076e-01 -2.24713243e-02 -5.72847206e-03 5.19182773e+01] [ 2.24730666e-02 9.99747420e-01 2.39959900e-04 -1.96155514e+00] [ 5.72163294e-03 -3.68631703e-04 9.99983563e-01 1.14281143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.000714057 meters Centerline goodness : 0.993675 with order 1 Centerline is valid? [True, True] Translation: X:51.98, Y:-1.96, Z:0.11 [[ 9.99785520e-01 -1.99022336e-02 -5.72844570e-03 5.19814307e+01] [ 1.99039375e-02 9.99801868e-01 2.40587496e-04 -1.96451531e+00] [ 5.72252248e-03 -3.54554520e-04 9.99983563e-01 1.12209469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.060714057000006 meters Centerline goodness : 0.994663 with order 1 Centerline is valid? [True, True] Translation: X:52.05, Y:-1.96, Z:0.12 [[ 9.99849361e-01 -1.63841677e-02 -5.72841927e-03 5.20450494e+01] [ 1.63858177e-02 9.99865714e-01 2.41215162e-04 -1.96380554e+00] [ 5.72369792e-03 -3.35043659e-04 9.99983563e-01 1.15458171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.120714057 meters Centerline goodness : 0.993483 with order 1 Centerline is valid? [True, True] Translation: X:52.11, Y:-1.97, Z:0.12 [[ 9.99934897e-01 -9.86850868e-03 -5.72839326e-03 5.21076385e+01] [ 9.87005557e-03 9.99951261e-01 2.41831316e-04 -1.96720555e+00] [ 5.72572754e-03 -2.98355132e-04 9.99983563e-01 1.16235195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.180714057 meters Centerline goodness : 0.993166 with order 1 Centerline is valid? [True, True] Translation: X:52.17, Y:-1.97, Z:0.12 [[ 9.99959119e-01 -6.99614735e-03 -5.72837085e-03 5.21690023e+01] [ 6.99765025e-03 9.99975487e-01 2.42360847e-04 -1.96841080e+00] [ 5.72653484e-03 -2.82436075e-04 9.99983563e-01 1.20405762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.240714057000005 meters Centerline goodness : 0.993900 with order 1 Centerline is valid? [True, True] Translation: X:52.23, Y:-1.97, Z:0.11 [[ 9.99964037e-01 -6.25388405e-03 -5.72835772e-03 5.22298890e+01] [ 6.25537658e-03 9.99980405e-01 2.42670882e-04 -1.97081848e+00] [ 5.72672784e-03 -2.78495189e-04 9.99983563e-01 1.14707585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.300714057 meters Centerline goodness : 0.992980 with order 1 Centerline is valid? [True, True] Translation: X:52.29, Y:-1.97, Z:0.11 [[ 9.99976685e-01 -3.71678986e-03 -5.72834895e-03 5.22905976e+01] [ 3.71824203e-03 9.99993058e-01 2.42877800e-04 -1.97437729e+00] [ 5.72740645e-03 -2.64171525e-04 9.99983563e-01 1.12619749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.360714057 meters Centerline goodness : 0.993187 with order 1 Centerline is valid? [True, True] Translation: X:52.35, Y:-1.98, Z:0.11 [[ 9.99981819e-01 1.88351508e-03 -5.72833458e-03 5.23508449e+01] [-1.88215269e-03 9.99998199e-01 2.43216094e-04 -1.97729063e+00] [ 5.72878237e-03 -2.32430072e-04 9.99983563e-01 1.11501507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.420714057000005 meters Centerline goodness : 0.992581 with order 1 Centerline is valid? [True, True] Translation: X:52.41, Y:-1.98, Z:0.12 [[ 9.99941144e-01 9.21380588e-03 -5.72833458e-03 5.24090953e+01] [-9.21256359e-03 9.99957534e-01 2.43216094e-04 -1.97925322e+00] [ 5.73033227e-03 -1.90429133e-04 9.99983563e-01 1.18054636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.480714057 meters Centerline goodness : 0.992887 with order 1 Centerline is valid? [True, True] Translation: X:52.47, Y:-1.98, Z:0.12 [[ 9.99904632e-01 1.25663260e-02 -5.72839842e-03 5.24677863e+01] [-1.25651473e-02 9.99921026e-01 2.41703237e-04 -1.98433442e+00] [ 5.73098334e-03 -1.69702017e-04 9.99983563e-01 1.19224782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.540714057 meters Centerline goodness : 0.993107 with order 1 Centerline is valid? [True, True] Translation: X:52.53, Y:-1.99, Z:0.12 [[ 9.99897002e-01 1.31594023e-02 -5.72846090e-03 5.25253222e+01] [-1.31582418e-02 9.99913398e-01 2.40213273e-04 -1.98723118e+00] [ 5.73112586e-03 -1.64812058e-04 9.99983563e-01 1.21225448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.600714057000005 meters Centerline goodness : 0.993635 with order 1 Centerline is valid? [True, True] Translation: X:52.58, Y:-1.99, Z:0.12 [[ 9.99925323e-01 1.07950596e-02 -5.72848275e-03 5.25843200e+01] [-1.07938634e-02 9.99941716e-01 2.39690891e-04 -1.99058248e+00] [ 5.73073635e-03 -1.77840531e-04 9.99983563e-01 1.19817819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66071405700001 meters Centerline goodness : 0.992556 with order 1 Centerline is valid? [True, True] Translation: X:52.64, Y:-2.00, Z:0.12 [[ 9.99923290e-01 1.09817025e-02 -5.72850002e-03 5.26422138e+01] [-1.09805117e-02 9.99939684e-01 2.39277624e-04 -1.99689771e+00] [ 5.73078217e-03 -1.76357408e-04 9.99983563e-01 1.19706596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.720714057 meters Centerline goodness : 0.994794 with order 1 Centerline is valid? [True, True] Translation: X:52.70, Y:-2.00, Z:0.12 [[ 9.99978014e-01 3.34012944e-03 -5.72852666e-03 5.27004738e+01] [-3.33881710e-03 9.99994398e-01 2.38637965e-04 -1.99612332e+00] [ 5.72929165e-03 -2.19506215e-04 9.99983563e-01 1.24271803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.780714057000004 meters Centerline goodness : 0.994438 with order 1 Centerline is valid? [True, True] Translation: X:52.76, Y:-2.00, Z:0.13 [[ 9.99980669e-01 2.41791875e-03 -5.72854839e-03 5.27581949e+01] [-2.41659429e-03 9.99997052e-01 2.38115352e-04 -2.00359257e+00] [ 5.72910724e-03 -2.24267172e-04 9.99983563e-01 1.25044044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.84071405700001 meters Centerline goodness : 0.992548 with order 1 Centerline is valid? [True, True] Translation: X:52.82, Y:-2.03, Z:0.11 [[ 9.99795056e-01 1.94172708e-02 -5.72856948e-03 5.28179119e+01] [-1.94162280e-02 9.99811459e-01 2.37606649e-04 -2.02762837e+00] [ 5.73210309e-03 -1.26330742e-04 9.99983563e-01 1.08171133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.900714057 meters Centerline goodness : 0.992628 with order 1 Centerline is valid? [True, True] Translation: X:52.88, Y:-2.03, Z:0.11 [[ 9.99828355e-01 1.76194171e-02 -5.72857195e-03 5.28768366e+01] [-1.76183451e-02 9.99844757e-01 2.37547107e-04 -2.03267421e+00] [ 5.73186807e-03 -1.36578376e-04 9.99983563e-01 1.09398055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.960714057000004 meters Centerline goodness : 0.992744 with order 1 Centerline is valid? [True, True] Translation: X:52.94, Y:-2.04, Z:0.11 [[ 9.99809460e-01 1.86608384e-02 -5.72858979e-03 5.29350566e+01] [-1.86597860e-02 9.99825863e-01 2.37116250e-04 -2.04280949e+00] [ 5.73201702e-03 -1.30176811e-04 9.99983563e-01 1.05108889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.020714057000006 meters Centerline goodness : 0.992993 with order 1 Centerline is valid? [True, True] Translation: X:52.99, Y:-2.05, Z:0.11 [[ 9.99866905e-01 1.52759675e-02 -5.72860758e-03 5.29942722e+01] [-1.52748620e-02 9.99883304e-01 2.36685583e-04 -2.04905657e+00] [ 5.73155468e-03 -1.49150391e-04 9.99983563e-01 1.07050167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.080714057 meters Centerline goodness : 0.993047 with order 1 Centerline is valid? [True, True] Translation: X:53.05, Y:-2.06, Z:0.11 [[ 9.99888919e-01 1.37598482e-02 -5.72861651e-03 5.30530930e+01] [-1.37587191e-02 9.99905316e-01 2.36469327e-04 -2.05532288e+00] [ 5.73132788e-03 -1.57624635e-04 9.99983563e-01 1.08244196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.140714057000004 meters Centerline goodness : 0.992916 with order 1 Centerline is valid? [True, True] Translation: X:53.11, Y:-2.06, Z:0.11 [[ 9.99881092e-01 1.43172831e-02 -5.72863456e-03 5.31120871e+01] [-1.43161656e-02 9.99897491e-01 2.36031304e-04 -2.06115200e+00] [ 5.73142664e-03 -1.53991157e-04 9.99983563e-01 1.12296945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.200714057000006 meters Centerline goodness : 0.993055 with order 1 Centerline is valid? [True, True] Translation: X:53.17, Y:-2.07, Z:0.12 [[ 9.99915053e-01 1.17076633e-02 -5.72866403e-03 5.31701284e+01] [-1.17065072e-02 9.99931449e-01 2.35313756e-04 -2.06950060e+00] [ 5.73102630e-03 -1.68231120e-04 9.99983563e-01 1.15037904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.260714057 meters Centerline goodness : 0.992747 with order 1 Centerline is valid? [True, True] Translation: X:53.23, Y:-2.07, Z:0.11 [[ 9.99938207e-01 9.52703861e-03 -5.72868184e-03 5.32290359e+01] [-9.52584917e-03 9.99954600e-01 2.34879340e-04 -2.07474680e+00] [ 5.73065947e-03 -1.80294267e-04 9.99983563e-01 1.11361183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.320714057 meters Centerline goodness : 0.992495 with order 1 Centerline is valid? [True, True] Translation: X:53.29, Y:-2.08, Z:0.11 [[ 9.99957663e-01 7.20092238e-03 -5.72869908e-03 5.32874994e+01] [-7.19969721e-03 9.99974054e-01 2.34458166e-04 -2.08111110e+00] [ 5.73023876e-03 -1.93203341e-04 9.99983563e-01 1.09919110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.380714057000006 meters Centerline goodness : 0.993244 with order 1 Centerline is valid? [True, True] Translation: X:53.35, Y:-2.09, Z:0.11 [[ 9.99980681e-01 2.41239981e-03 -5.72871694e-03 5.33453027e+01] [-2.41109868e-03 9.99997066e-01 2.34021020e-04 -2.08853100e+00] [ 5.72926468e-03 -2.20203997e-04 9.99983563e-01 1.14867263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.440714057 meters Centerline goodness : 0.993239 with order 1 Centerline is valid? [True, True] Translation: X:53.40, Y:-2.10, Z:0.11 [[ 9.99983418e-01 -5.87836554e-04 -5.72873884e-03 5.34042034e+01] [ 5.89183772e-04 9.99999799e-01 2.33483640e-04 -2.09620859e+00] [ 5.72860044e-03 -2.36855048e-04 9.99983563e-01 1.12463700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.500714057 meters Centerline goodness : 0.993366 with order 1 Centerline is valid? [True, True] Translation: X:53.46, Y:-2.10, Z:0.11 [[ 9.99978491e-01 -3.19359897e-03 -5.72875647e-03 5.34626917e+01] [ 3.19498640e-03 9.99994869e-01 2.33050280e-04 -2.10056416e+00] [ 5.72798280e-03 -2.51348566e-04 9.99983563e-01 1.14632915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.560714057000006 meters Centerline goodness : 0.993277 with order 1 Centerline is valid? [True, True] Translation: X:53.52, Y:-2.11, Z:0.11 [[ 9.99955042e-01 -7.55618270e-03 -5.72877404e-03 5.35218259e+01] [ 7.55763909e-03 9.99971414e-01 2.32617544e-04 -2.10676982e+00] [ 5.72685257e-03 -2.75903093e-04 9.99983563e-01 1.12965057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.620714057 meters Centerline goodness : 0.993258 with order 1 Centerline is valid? [True, True] Translation: X:53.58, Y:-2.11, Z:0.11 [[ 9.99949098e-01 -8.30558945e-03 -5.72878285e-03 5.35830493e+01] [ 8.30705687e-03 9.99965469e-01 2.32400319e-04 -2.11203423e+00] [ 5.72665481e-03 -2.79977815e-04 9.99983563e-01 1.13280333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.680714057 meters Centerline goodness : 0.993671 with order 1 Centerline is valid? [True, True] Translation: X:53.64, Y:-2.12, Z:0.11 [[ 9.99942180e-01 -9.10037498e-03 -5.72877399e-03 5.36443153e+01] [ 9.10185665e-03 9.99958550e-01 2.32618605e-04 -2.12003514e+00] [ 5.72641961e-03 -2.84747635e-04 9.99983563e-01 1.08574698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.740714057000005 meters Centerline goodness : 0.993436 with order 1 Centerline is valid? [True, True] Translation: X:53.71, Y:-2.12, Z:0.12 [[ 9.99852652e-01 -1.61819390e-02 -5.72876512e-03 5.37051684e+01] [ 1.61835378e-02 9.99869011e-01 2.32836816e-04 -2.11876793e+00] [ 5.72424696e-03 -3.25514195e-04 9.99983563e-01 1.15863793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.800714057 meters Centerline goodness : 0.993372 with order 1 Centerline is valid? [True, True] Translation: X:53.77, Y:-2.13, Z:0.11 [[ 9.99905526e-01 -1.24948369e-02 -5.72876071e-03 5.37660819e+01] [ 1.24963760e-02 9.99921890e-01 2.32945297e-04 -2.12664466e+00] [ 5.72540262e-03 -3.04512038e-04 9.99983563e-01 1.07839162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.860714057 meters Centerline goodness : 0.993966 with order 1 Centerline is valid? [True, True] Translation: X:53.83, Y:-2.12, Z:0.12 [[ 9.99852908e-01 -1.61661036e-02 -5.72875197e-03 5.38269886e+01] [ 1.61677040e-02 9.99869267e-01 2.33160096e-04 -2.12174381e+00] [ 5.72423374e-03 -3.25746566e-04 9.99983563e-01 1.21929995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.920714057000005 meters Centerline goodness : 0.993598 with order 1 Centerline is valid? [True, True] Translation: X:53.89, Y:-2.12, Z:0.12 [[ 9.99770865e-01 -2.06251895e-02 -5.72872191e-03 5.38894095e+01] [ 2.06268670e-02 9.99787216e-01 2.33896231e-04 -2.12173119e+00] [ 5.72267878e-03 -3.52008222e-04 9.99983563e-01 1.21931311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.980714057 meters Centerline goodness : 0.993445 with order 1 Centerline is valid? [True, True] Translation: X:53.95, Y:-2.12, Z:0.12 [[ 9.99782471e-01 -2.00547297e-02 -5.72865937e-03 5.39524584e+01] [ 2.00564066e-02 9.99798822e-01 2.35418143e-04 -2.12402392e+00] [ 5.72278564e-03 -3.50263254e-04 9.99983563e-01 1.18102621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.040714057 meters Centerline goodness : 0.993662 with order 1 Centerline is valid? [True, True] Translation: X:54.01, Y:-2.12, Z:0.13 [[ 9.99618807e-01 -2.70078400e-02 -5.72863180e-03 5.40144488e+01] [ 2.70096345e-02 9.99635145e-01 2.36087101e-04 -2.12082267e+00] [ 5.72016548e-03 -3.90725357e-04 9.99983563e-01 1.26801024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.100714057000005 meters Centerline goodness : 0.994462 with order 1 Centerline is valid? [True, True] Translation: X:54.08, Y:-2.12, Z:0.13 [[ 9.99464178e-01 -3.22263820e-02 -5.72856870e-03 5.40771186e+01] [ 3.22282704e-02 9.99480506e-01 2.37608257e-04 -2.12057326e+00] [ 5.71793549e-03 -4.22102803e-04 9.99983563e-01 1.27064525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16071405700001 meters Centerline goodness : 0.993959 with order 1 Centerline is valid? [True, True] Translation: X:54.14, Y:-2.12, Z:0.12 [[ 9.99332898e-01 -3.60685924e-02 -5.72855047e-03 5.41398880e+01] [ 3.60705460e-02 9.99349218e-01 2.38047019e-04 -2.12154006e+00] [ 5.71623641e-03 -4.44520160e-04 9.99983563e-01 1.23775320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.220714057 meters Centerline goodness : 0.994416 with order 1 Centerline is valid? [True, True] Translation: X:54.20, Y:-2.12, Z:0.12 [[ 9.99274381e-01 -3.76549475e-02 -5.72852292e-03 5.42010942e+01] [ 3.76569308e-02 9.99290698e-01 2.38708101e-04 -2.12276245e+00] [ 5.71547113e-03 -4.54253481e-04 9.99983563e-01 1.19000856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.280714057000004 meters Centerline goodness : 0.993618 with order 1 Centerline is valid? [True, True] Translation: X:54.26, Y:-2.12, Z:0.12 [[ 9.99280248e-01 -3.74989260e-02 -5.72850942e-03 5.42624006e+01] [ 3.75009086e-02 9.99296565e-01 2.39031802e-04 -2.12386891e+00] [ 5.71551635e-03 -4.53684067e-04 9.99983563e-01 1.18024479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.34071405700001 meters Centerline goodness : 0.994358 with order 1 Centerline is valid? [True, True] Translation: X:54.32, Y:-2.12, Z:0.12 [[ 9.99423599e-01 -3.34612439e-02 -5.72849627e-03 5.43249780e+01] [ 3.34631623e-02 9.99439923e-01 2.39346483e-04 -2.12196185e+00] [ 5.71727904e-03 -4.30902124e-04 9.99983563e-01 1.23750528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.400714057 meters Centerline goodness : 0.993188 with order 1 Centerline is valid? [True, True] Translation: X:54.39, Y:-2.12, Z:0.12 [[ 9.99459629e-01 -3.23671905e-02 -5.72847831e-03 5.43869080e+01] [ 3.23690935e-02 9.99475955e-01 2.39775441e-04 -2.12019128e+00] [ 5.71771548e-03 -4.25071523e-04 9.99983563e-01 1.19733449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.460714057000004 meters Centerline goodness : 0.994615 with order 1 Centerline is valid? [True, True] Translation: X:54.45, Y:-2.12, Z:0.12 [[ 9.99495265e-01 -3.12473936e-02 -5.72845986e-03 5.44494487e+01] [ 3.12492808e-02 9.99511593e-01 2.40215483e-04 -2.11789829e+00] [ 5.71815593e-03 -4.19104488e-04 9.99983563e-01 1.18589023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.520714057000006 meters Centerline goodness : 0.994173 with order 1 Centerline is valid? [True, True] Translation: X:54.51, Y:-2.12, Z:0.12 [[ 9.99591226e-01 -2.80100994e-02 -5.72843709e-03 5.45124673e+01] [ 2.80119368e-02 9.99607560e-01 2.40757304e-04 -2.11692137e+00] [ 5.71944538e-03 -4.01123507e-04 9.99983563e-01 1.23433992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.580714057 meters Centerline goodness : 0.993827 with order 1 Centerline is valid? [True, True] Translation: X:54.58, Y:-2.12, Z:0.12 [[ 9.99623195e-01 -2.68449748e-02 -5.72840943e-03 5.45761008e+01] [ 2.68467970e-02 9.99639531e-01 2.41413553e-04 -2.11662143e+00] [ 5.71986378e-03 -3.95112032e-04 9.99983563e-01 1.18098625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.640714057000004 meters Centerline goodness : 0.994775 with order 1 Centerline is valid? [True, True] Translation: X:54.64, Y:-2.12, Z:0.12 [[ 9.99618861e-01 -2.70058985e-02 -5.72838203e-03 5.46370522e+01] [ 2.70077269e-02 9.99635196e-01 2.42062022e-04 -2.11536528e+00] [ 5.71975519e-03 -3.96680341e-04 9.99983563e-01 1.20375251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.700714057000006 meters Centerline goodness : 0.994323 with order 1 Centerline is valid? [True, True] Translation: X:54.70, Y:-2.12, Z:0.12 [[ 9.99689143e-01 -2.42652616e-02 -5.72836866e-03 5.47001809e+01] [ 2.42670471e-02 9.99705482e-01 2.42378022e-04 -2.11734696e+00] [ 5.72080019e-03 -3.81313270e-04 9.99983563e-01 1.24953756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.760714057 meters Centerline goodness : 0.994857 with order 1 Centerline is valid? [True, True] Translation: X:54.76, Y:-2.12, Z:0.12 [[ 9.99491362e-01 -3.13720213e-02 -5.72834068e-03 5.47628712e+01] [ 3.13739267e-02 9.99507688e-01 2.43037524e-04 -2.11983508e+00] [ 5.71789597e-03 -4.22634446e-04 9.99983563e-01 1.23409817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.820714057 meters Centerline goodness : 0.994623 with order 1 Centerline is valid? [True, True] Translation: X:54.82, Y:-2.12, Z:0.12 [[ 9.99355677e-01 -3.54318626e-02 -5.72826593e-03 5.48241581e+01] [ 3.54338442e-02 9.99371994e-01 2.44786768e-04 -2.12282649e+00] [ 5.71599529e-03 -4.47603529e-04 9.99983563e-01 1.24250384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.880714057000006 meters Centerline goodness : 0.994185 with order 1 Centerline is valid? [True, True] Translation: X:54.89, Y:-2.13, Z:0.12 [[ 9.99228658e-01 -3.88494124e-02 -5.72822952e-03 5.48861842e+01] [ 3.88514547e-02 9.99244967e-01 2.45635773e-04 -2.12643862e+00] [ 5.71436172e-03 -4.67996354e-04 9.99983563e-01 1.24980523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.940714057 meters Centerline goodness : 0.995154 with order 1 Centerline is valid? [True, True] Translation: X:54.95, Y:-2.13, Z:0.12 [[ 9.99216694e-01 -3.91559133e-02 -5.72821058e-03 5.49478981e+01] [ 3.91579631e-02 9.99233003e-01 2.46076641e-04 -2.13104388e+00] [ 5.71418170e-03 -4.70188946e-04 9.99983563e-01 1.23963219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.000714057 meters Centerline goodness : 0.994602 with order 1 Centerline is valid? [True, True] Translation: X:55.01, Y:-2.13, Z:0.13 [[ 9.99271551e-01 -3.77300285e-02 -5.72819145e-03 5.50111684e+01] [ 3.77320575e-02 9.99287862e-01 2.46521228e-04 -2.13425963e+00] [ 5.71481093e-03 -4.62478099e-04 9.99983563e-01 1.27526750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.060714057000006 meters Centerline goodness : 0.994938 with order 1 Centerline is valid? [True, True] Translation: X:55.07, Y:-2.14, Z:0.13 [[ 9.99332008e-01 -3.60933022e-02 -5.72816292e-03 5.50729355e+01] [ 3.60953082e-02 9.99348321e-01 2.47182352e-04 -2.13696409e+00] [ 5.71550837e-03 -4.53777042e-04 9.99983563e-01 1.31116010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.120714057 meters Centerline goodness : 0.994127 with order 1 Centerline is valid? [True, True] Translation: X:55.14, Y:-2.14, Z:0.13 [[ 9.99428391e-01 -3.33178517e-02 -5.72813956e-03 5.51354900e+01] [ 3.33198155e-02 9.99444710e-01 2.47722584e-04 -2.14118326e+00] [ 5.71670520e-03 -4.38441537e-04 9.99983563e-01 1.29264779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.180714057 meters Centerline goodness : 0.993870 with order 1 Centerline is valid? [True, True] Translation: X:55.20, Y:-2.14, Z:0.13 [[ 9.99482474e-01 -3.16539624e-02 -5.72811091e-03 5.51986425e+01] [ 3.16559029e-02 9.99498795e-01 2.48383323e-04 -2.14466156e+00] [ 5.71737764e-03 -4.29583301e-04 9.99983563e-01 1.28764528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.240714057000005 meters Centerline goodness : 0.993542 with order 1 Centerline is valid? [True, True] Translation: X:55.26, Y:-2.15, Z:0.13 [[ 9.99597936e-01 -2.77697011e-02 -5.72808226e-03 5.52613702e+01] [ 2.77715819e-02 9.99614264e-01 2.49042124e-04 -2.14882340e+00] [ 5.71895691e-03 -4.08019898e-04 9.99983563e-01 1.27799787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.300714057 meters Centerline goodness : 0.993610 with order 1 Centerline is valid? [True, True] Translation: X:55.32, Y:-2.15, Z:0.13 [[ 9.99731234e-01 -2.24644199e-02 -5.72805391e-03 5.53244067e+01] [ 2.24662177e-02 9.99747571e-01 2.49692638e-04 -2.15264058e+00] [ 5.72099878e-03 -3.78313235e-04 9.99983563e-01 1.27071781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.360714057 meters Centerline goodness : 0.994696 with order 1 Centerline is valid? [True, True] Translation: X:55.39, Y:-2.15, Z:0.13 [[ 9.99841710e-01 -1.68447280e-02 -5.72802471e-03 5.53867820e+01] [ 1.68464377e-02 9.99858057e-01 2.50360532e-04 -2.15451559e+00] [ 5.72299441e-03 -3.46817714e-04 9.99983563e-01 1.27708150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.420714057000005 meters Centerline goodness : 0.995144 with order 1 Centerline is valid? [True, True] Translation: X:55.45, Y:-2.15, Z:0.13 [[ 9.99855858e-01 -1.59829145e-02 -5.72800075e-03 5.54491104e+01] [ 1.59846133e-02 9.99872206e-01 2.50907606e-04 -2.15066657e+00] [ 5.72325851e-03 -3.42431317e-04 9.99983563e-01 1.32099944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48071405700001 meters Centerline goodness : 0.993695 with order 1 Centerline is valid? [True, True] Translation: X:55.51, Y:-2.16, Z:0.12 [[ 9.99982440e-01 -1.51974365e-03 -5.72798202e-03 5.55108253e+01] [ 1.52120819e-03 9.99998811e-01 2.51334460e-04 -2.16374284e+00] [ 5.72759325e-03 -2.60043500e-04 9.99983563e-01 1.23550111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.540714057 meters Centerline goodness : 0.995034 with order 1 Centerline is valid? [True, True] Translation: X:55.57, Y:-2.16, Z:0.13 [[ 9.99959230e-01 -6.98061862e-03 -5.72796254e-03 5.55696476e+01] [ 6.98217508e-03 9.99975593e-01 2.51777715e-04 -2.15814400e+00] [ 5.72606517e-03 -2.91761087e-04 9.99983563e-01 1.31394519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.600714057000005 meters Centerline goodness : 0.995382 with order 1 Centerline is valid? [True, True] Translation: X:55.63, Y:-2.16, Z:0.13 [[ 9.99970313e-01 -5.15407204e-03 -5.72797132e-03 5.56307607e+01] [ 5.15559747e-03 9.99986678e-01 2.51577729e-04 -2.16236698e+00] [ 5.72659836e-03 -2.81101374e-04 9.99983563e-01 1.30946258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66071405700001 meters Centerline goodness : 0.992925 with order 1 Centerline is valid? [True, True] Translation: X:55.69, Y:-2.18, Z:0.11 [[ 9.99935561e-01 9.80125342e-03 -5.72796226e-03 5.56894804e+01] [-9.79997173e-03 9.99951947e-01 2.51783975e-04 -2.18268768e+00] [ 5.73015481e-03 -1.95633883e-04 9.99983563e-01 1.13619231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.720714057 meters Centerline goodness : 0.993839 with order 1 Centerline is valid? [True, True] Translation: X:55.75, Y:-2.19, Z:0.11 [[ 9.99895721e-01 1.32566194e-02 -5.72797135e-03 5.57486637e+01] [-1.32553956e-02 9.99912112e-01 2.51576908e-04 -2.18816774e+00] [ 5.73080299e-03 -1.75624148e-04 9.99983563e-01 1.11187053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.780714057000004 meters Centerline goodness : 0.993164 with order 1 Centerline is valid? [True, True] Translation: X:55.81, Y:-2.19, Z:0.12 [[ 9.99932247e-01 1.01336432e-02 -5.72803255e-03 5.58076037e+01] [-1.01323762e-02 9.99948635e-01 2.50175778e-04 -2.18945150e+00] [ 5.73027352e-03 -1.92120247e-04 9.99983563e-01 1.15855687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84071405700001 meters Centerline goodness : 0.993029 with order 1 Centerline is valid? [True, True] Translation: X:55.87, Y:-2.19, Z:0.12 [[ 9.99954380e-01 7.64376534e-03 -5.72804680e-03 5.58658817e+01] [-7.64245937e-03 9.99970765e-01 2.49848894e-04 -2.19122384e+00] [ 5.72978913e-03 -2.06061131e-04 9.99983563e-01 1.18494351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.900714057 meters Centerline goodness : 0.993677 with order 1 Centerline is valid? [True, True] Translation: X:55.92, Y:-2.19, Z:0.12 [[ 9.99952663e-01 7.86523382e-03 -5.72807018e-03 5.59245996e+01] [-7.86393456e-03 9.99969048e-01 2.49311871e-04 -2.19390803e+00] [ 5.72985378e-03 -2.04254900e-04 9.99983563e-01 1.18901967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.960714057000004 meters Centerline goodness : 0.992171 with order 1 Centerline is valid? [True, True] Translation: X:55.98, Y:-2.20, Z:0.11 [[ 9.99904450e-01 1.25809079e-02 -5.72808881e-03 5.59832598e+01] [-1.25796884e-02 9.99920842e-01 2.48883045e-04 -2.19952002e+00] [ 5.73076656e-03 -1.76801692e-04 9.99983563e-01 1.14863412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.020714057000006 meters Centerline goodness : 0.994609 with order 1 Centerline is valid? [True, True] Translation: X:56.04, Y:-2.18, Z:0.14 [[ 9.99983228e-01 8.56380825e-04 -5.72810715e-03 5.60419459e+01] [-8.54971619e-04 9.99999604e-01 2.48460262e-04 -2.18291342e+00] [ 5.72831765e-03 -2.43558726e-04 9.99983563e-01 1.39989180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.080714057 meters Centerline goodness : 0.992328 with order 1 Centerline is valid? [True, True] Translation: X:56.10, Y:-2.20, Z:0.13 [[ 9.99881495e-01 1.42893211e-02 -5.72812066e-03 5.61015041e+01] [-1.42881338e-02 9.99897889e-01 2.48148467e-04 -2.19900896e+00] [ 5.73108162e-03 -1.66274906e-04 9.99983563e-01 1.25493062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.140714057000004 meters Centerline goodness : 0.992553 with order 1 Centerline is valid? [True, True] Translation: X:56.16, Y:-2.20, Z:0.13 [[ 9.99871945e-01 1.49426577e-02 -5.72812543e-03 5.61606037e+01] [-1.49414818e-02 9.99888339e-01 2.48038315e-04 -2.19993294e+00] [ 5.73119217e-03 -1.62419870e-04 9.99983563e-01 1.26736297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.200714057000006 meters Centerline goodness : 0.992230 with order 1 Centerline is valid? [True, True] Translation: X:56.22, Y:-2.20, Z:0.12 [[ 9.99841086e-01 1.68817048e-02 -5.72814416e-03 5.62189347e+01] [-1.68805631e-02 9.99857482e-01 2.47604955e-04 -2.20283455e+00] [ 5.73150779e-03 -1.50871308e-04 9.99983563e-01 1.24923976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.260714057 meters Centerline goodness : 0.992180 with order 1 Centerline is valid? [True, True] Translation: X:56.28, Y:-2.21, Z:0.13 [[ 9.99815735e-01 1.83216818e-02 -5.72817220e-03 5.62755735e+01] [-1.83205675e-02 9.99832134e-01 2.46954593e-04 -2.20648079e+00] [ 5.73173525e-03 -1.41965723e-04 9.99983563e-01 1.25349995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.320714057 meters Centerline goodness : 0.992152 with order 1 Centerline is valid? [True, True] Translation: X:56.33, Y:-2.21, Z:0.12 [[ 9.99746426e-01 2.17777824e-02 -5.72820401e-03 5.63338783e+01] [-2.17767290e-02 9.99762829e-01 2.46214377e-04 -2.21008285e+00] [ 5.73220745e-03 -1.21410397e-04 9.99983563e-01 1.23942497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.380714057000006 meters Centerline goodness : 0.991597 with order 1 Centerline is valid? [True, True] Translation: X:56.39, Y:-2.21, Z:0.12 [[ 9.99620540e-01 2.69437208e-02 -5.72822236e-03 5.63928893e+01] [-2.69427546e-02 9.99636948e-01 2.45786763e-04 -2.21405746e+00] [ 5.73276513e-03 -9.13594077e-05 9.99983563e-01 1.24074735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.440714057 meters Centerline goodness : 0.991899 with order 1 Centerline is valid? [True, True] Translation: X:56.45, Y:-2.22, Z:0.12 [[ 9.99452435e-01 3.25886036e-02 -5.72828180e-03 5.64512413e+01] [-3.25877381e-02 9.99468849e-01 2.44393583e-04 -2.21925026e+00] [ 5.73320366e-03 -5.75880143e-05 9.99983563e-01 1.23178932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.500714057 meters Centerline goodness : 0.991605 with order 1 Centerline is valid? [True, True] Translation: X:56.51, Y:-2.22, Z:0.13 [[ 9.99432843e-01 3.31840063e-02 -5.72830043e-03 5.65106944e+01] [-3.31831531e-02 9.99449258e-01 2.43956224e-04 -2.22141547e+00] [ 5.73324105e-03 -5.37347928e-05 9.99983563e-01 1.27579325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.560714057000006 meters Centerline goodness : 0.991744 with order 1 Centerline is valid? [True, True] Translation: X:56.57, Y:-2.23, Z:0.12 [[ 9.99427019e-01 3.33589534e-02 -5.72830957e-03 5.65690167e+01] [-3.33581042e-02 9.99443434e-01 2.43741220e-04 -2.22794333e+00] [ 5.73325234e-03 -5.25160132e-05 9.99983563e-01 1.23146960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.620714057 meters Centerline goodness : 0.991765 with order 1 Centerline is valid? [True, True] Translation: X:56.63, Y:-2.24, Z:0.12 [[ 9.99484279e-01 3.15968814e-02 -5.72832778e-03 5.66274659e+01] [-3.15960058e-02 9.99500692e-01 2.43312610e-04 -2.23622611e+00] [ 5.73315550e-03 -6.21948510e-05 9.99983563e-01 1.15843811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.680714057 meters Centerline goodness : 0.991184 with order 1 Centerline is valid? [True, True] Translation: X:56.68, Y:-2.24, Z:0.12 [[ 9.99565316e-01 2.89199835e-02 -5.72834589e-03 5.66847582e+01] [-2.89190664e-02 9.99581727e-01 2.42885453e-04 -2.23692005e+00] [ 5.73297412e-03 -7.71214595e-05 9.99983563e-01 1.24774319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.740714057000005 meters Centerline goodness : 0.992057 with order 1 Centerline is valid? [True, True] Translation: X:56.74, Y:-2.24, Z:0.13 [[ 9.99675796e-01 2.48090500e-02 -5.72836817e-03 5.67430252e+01] [-2.48080684e-02 9.99692203e-01 2.42358907e-04 -2.24111563e+00] [ 5.73261769e-03 -1.00170584e-04 9.99983563e-01 1.26191719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.800714057 meters Centerline goodness : 0.992924 with order 1 Centerline is valid? [True, True] Translation: X:56.80, Y:-2.25, Z:0.13 [[ 9.99819031e-01 1.81408406e-02 -5.72838566e-03 5.68002548e+01] [-1.81397520e-02 9.99835432e-01 2.41944724e-04 -2.24546889e+00] [ 5.73183203e-03 -1.37989445e-04 9.99983563e-01 1.26810125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.860714057 meters Centerline goodness : 0.992541 with order 1 Centerline is valid? [True, True] Translation: X:56.86, Y:-2.25, Z:0.13 [[ 9.99912930e-01 1.18877030e-02 -5.72840714e-03 5.68586557e+01] [-1.18865147e-02 9.99929324e-01 2.41435131e-04 -2.24925995e+00] [ 5.73087239e-03 -1.73323313e-04 9.99983563e-01 1.28017458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.920714057000005 meters Centerline goodness : 0.993493 with order 1 Centerline is valid? [True, True] Translation: X:56.92, Y:-2.25, Z:0.13 [[ 9.99982899e-01 -1.17751625e-03 -5.72842430e-03 5.69177067e+01] [ 1.17891626e-03 9.99999276e-01 2.41027315e-04 -2.25194528e+00] [ 5.72813634e-03 -2.47776525e-04 9.99983563e-01 1.29177556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98071405700001 meters Centerline goodness : 0.993293 with order 1 Centerline is valid? [True, True] Translation: X:56.98, Y:-2.25, Z:0.13 [[ 9.99916893e-01 -1.15495382e-02 -5.72844143e-03 5.69776285e+01] [ 1.15511056e-02 9.99933255e-01 2.40619456e-04 -2.25412332e+00] [ 5.72528004e-03 -3.06769291e-04 9.99983563e-01 1.32851480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.040714057 meters Centerline goodness : 0.993235 with order 1 Centerline is valid? [True, True] Translation: X:57.04, Y:-2.26, Z:0.13 [[ 9.99841655e-01 -1.68478203e-02 -5.72845041e-03 5.70384996e+01] [ 1.68494733e-02 9.99858009e-01 2.40405462e-04 -2.25741471e+00] [ 5.72358671e-03 -3.36888767e-04 9.99983563e-01 1.33233644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.100714057000005 meters Centerline goodness : 0.992435 with order 1 Centerline is valid? [True, True] Translation: X:57.10, Y:-2.26, Z:0.13 [[ 9.99825446e-01 -1.77838082e-02 -5.72839224e-03 5.71011006e+01] [ 1.77854843e-02 9.99841797e-01 2.41783700e-04 -2.26028906e+00] [ 5.72318615e-03 -3.43623726e-04 9.99983563e-01 1.32348508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16071405700001 meters Centerline goodness : 0.995276 with order 1 Centerline is valid? [True, True] Translation: X:57.16, Y:-2.25, Z:0.14 [[ 9.99539284e-01 -2.98061280e-02 -5.72837461e-03 5.71639964e+01] [ 2.98080030e-02 9.99555613e-01 2.42200676e-04 -2.25072425e+00] [ 5.71860993e-03 -4.12840498e-04 9.99983563e-01 1.35153268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.220714057 meters Centerline goodness : 0.992843 with order 1 Centerline is valid? [True, True] Translation: X:57.22, Y:-2.27, Z:0.12 [[ 9.99893841e-01 -1.33974900e-02 -5.72831269e-03 5.72249852e+01] [ 1.33991050e-02 9.99910198e-01 2.43656373e-04 -2.26593116e+00] [ 5.72453389e-03 -3.20384771e-04 9.99983563e-01 1.22981089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.280714057000004 meters Centerline goodness : 0.995445 with order 1 Centerline is valid? [True, True] Translation: X:57.29, Y:-2.25, Z:0.13 [[ 9.99593139e-01 -2.79417717e-02 -5.72830341e-03 5.72865823e+01] [ 2.79436258e-02 9.99609471e-01 2.43874470e-04 -2.25014881e+00] [ 5.71925205e-03 -4.03844813e-04 9.99983563e-01 1.34117478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.34071405700001 meters Centerline goodness : 0.992693 with order 1 Centerline is valid? [True, True] Translation: X:57.35, Y:-2.26, Z:0.12 [[ 9.99882255e-01 -1.42360050e-02 -5.72827174e-03 5.73483047e+01] [ 1.42376393e-02 9.99898610e-01 2.44615918e-04 -2.26354966e+00] [ 5.72420860e-03 -3.26144182e-04 9.99983563e-01 1.24723240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.400714057 meters Centerline goodness : 0.993269 with order 1 Centerline is valid? [True, True] Translation: X:57.41, Y:-2.26, Z:0.13 [[ 9.99882019e-01 -1.42525450e-02 -5.72825371e-03 5.74104270e+01] [ 1.42541820e-02 9.99898374e-01 2.45037575e-04 -2.26082544e+00] [ 5.72417916e-03 -3.26660236e-04 9.99983563e-01 1.25301143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.460714057000004 meters Centerline goodness : 0.992371 with order 1 Centerline is valid? [True, True] Translation: X:57.47, Y:-2.26, Z:0.13 [[ 9.99891823e-01 -1.35473471e-02 -5.72823519e-03 5.74722638e+01] [ 1.35489750e-02 9.99908178e-01 2.45469604e-04 -2.25940124e+00] [ 5.72438375e-03 -3.23054765e-04 9.99983563e-01 1.26895669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.520714057000006 meters Centerline goodness : 0.992581 with order 1 Centerline is valid? [True, True] Translation: X:57.53, Y:-2.26, Z:0.13 [[ 9.99907476e-01 -1.23380230e-02 -5.72821657e-03 5.75344712e+01] [ 1.23396336e-02 9.99923834e-01 2.45903457e-04 -2.25753910e+00] [ 5.72474631e-03 -3.16564799e-04 9.99983563e-01 1.28084189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.580714057 meters Centerline goodness : 0.993000 with order 1 Centerline is valid? [True, True] Translation: X:57.60, Y:-2.26, Z:0.13 [[ 9.99915863e-01 -1.16384682e-02 -5.72819767e-03 5.75972145e+01] [ 1.16400698e-02 9.99932222e-01 2.46342834e-04 -2.25732283e+00] [ 5.72494237e-03 -3.12998728e-04 9.99983563e-01 1.30118884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.640714057000004 meters Centerline goodness : 0.992603 with order 1 Centerline is valid? [True, True] Translation: X:57.66, Y:-2.26, Z:0.13 [[ 9.99945832e-01 -8.69025187e-03 -5.72817903e-03 5.76594755e+01] [ 8.69180772e-03 9.99962195e-01 2.46775482e-04 -2.25734598e+00] [ 5.72581794e-03 -2.96550346e-04 9.99983563e-01 1.29436112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.700714057000006 meters Centerline goodness : 0.993049 with order 1 Centerline is valid? [True, True] Translation: X:57.72, Y:-2.26, Z:0.13 [[ 9.99972148e-01 -4.78451836e-03 -5.72816027e-03 5.77206821e+01] [ 4.78601278e-03 9.99988516e-01 2.47210153e-04 -2.25757166e+00] [ 5.72691171e-03 -2.74618316e-04 9.99983563e-01 1.31178518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.760714057 meters Centerline goodness : 0.992453 with order 1 Centerline is valid? [True, True] Translation: X:57.78, Y:-2.26, Z:0.13 [[ 9.99982987e-01 -1.10138500e-03 -5.72815083e-03 5.77801164e+01] [ 1.10282037e-03 9.99999361e-01 2.47428855e-04 -2.25800814e+00] [ 5.72787465e-03 -2.53741767e-04 9.99983563e-01 1.29382927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.820714057 meters Centerline goodness : 0.992585 with order 1 Centerline is valid? [True, True] Translation: X:57.84, Y:-2.26, Z:0.13 [[ 9.99983071e-01 -1.02267914e-03 -5.72814958e-03 5.78388690e+01] [ 1.02411339e-03 9.99999445e-01 2.47457799e-04 -2.25713546e+00] [ 5.72789333e-03 -2.53319884e-04 9.99983563e-01 1.28269725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.880714057000006 meters Centerline goodness : 0.992083 with order 1 Centerline is valid? [True, True] Translation: X:57.90, Y:-2.26, Z:0.13 [[ 9.99942978e-01 9.01269746e-03 -5.72821453e-03 5.78974241e+01] [-9.01143627e-03 9.99959366e-01 2.45944990e-04 -2.25904477e+00] [ 5.73019840e-03 -1.94311525e-04 9.99983563e-01 1.28800945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.940714057 meters Centerline goodness : 0.991769 with order 1 Centerline is valid? [True, True] Translation: X:57.96, Y:-2.26, Z:0.12 [[ 9.99863530e-01 1.54954708e-02 -5.72823306e-03 5.79555813e+01] [-1.54943183e-02 9.99879926e-01 2.45512680e-04 -2.26121899e+00] [ 5.73134958e-03 -1.56724108e-04 9.99983563e-01 1.24885075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.000714057 meters Centerline goodness : 0.991232 with order 1 Centerline is valid? [True, True] Translation: X:58.01, Y:-2.26, Z:0.12 [[ 9.99759431e-01 2.11723205e-02 -5.72826554e-03 5.80133071e+01] [-2.11712655e-02 9.99775834e-01 2.44752537e-04 -2.26224913e+00] [ 5.73216343e-03 -1.23419026e-04 9.99983563e-01 1.24478908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.060714057000006 meters Centerline goodness : 0.991610 with order 1 Centerline is valid? [True, True] Translation: X:58.07, Y:-2.26, Z:0.13 [[ 9.99711294e-01 2.33348580e-02 -5.72834038e-03 5.80712082e+01] [-2.33338486e-02 9.99727699e-01 2.42988153e-04 -2.26197645e+00] [ 5.73245064e-03 -1.09253773e-04 9.99983563e-01 1.29801554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.120714057 meters Centerline goodness : 0.991062 with order 1 Centerline is valid? [True, True] Translation: X:58.13, Y:-2.27, Z:0.13 [[ 9.99605058e-01 2.75120738e-02 -5.72836311e-03 5.81297440e+01] [-2.75111360e-02 9.99621468e-01 2.42451103e-04 -2.26523828e+00] [ 5.73286507e-03 -8.47615719e-05 9.99983563e-01 1.32632414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.180714057 meters Centerline goodness : 0.991206 with order 1 Centerline is valid? [True, True] Translation: X:58.19, Y:-2.27, Z:0.12 [[ 9.99616039e-01 2.71101291e-02 -5.72842604e-03 5.81868504e+01] [-2.71091933e-02 9.99632449e-01 2.40955129e-04 -2.27337628e+00] [ 5.73285287e-03 -8.55696030e-05 9.99983563e-01 1.24506481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.240714057000005 meters Centerline goodness : 0.990876 with order 1 Centerline is valid? [True, True] Translation: X:58.24, Y:-2.28, Z:0.13 [[ 9.99715265e-01 2.31640598e-02 -5.72846456e-03 5.82449481e+01] [-2.31630646e-02 9.99731671e-01 2.40035875e-04 -2.27825189e+00] [ 5.73248765e-03 -1.07278734e-04 9.99983563e-01 1.26183704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.300714057 meters Centerline goodness : 0.991779 with order 1 Centerline is valid? [True, True] Translation: X:58.30, Y:-2.29, Z:0.12 [[ 9.99695716e-01 2.39929149e-02 -5.72849582e-03 5.83038859e+01] [-2.39919375e-02 9.99712123e-01 2.39287435e-04 -2.28757960e+00] [ 5.73258792e-03 -1.01776910e-04 9.99983563e-01 1.21921861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.360714057 meters Centerline goodness : 0.994405 with order 1 Centerline is valid? [True, True] Translation: X:58.36, Y:-2.28, Z:0.14 [[ 9.99978687e-01 3.13217425e-03 -5.72850912e-03 5.83623340e+01] [-3.13085661e-03 9.99995070e-01 2.38968571e-04 -2.27548282e+00] [ 5.72922937e-03 -2.21028337e-04 9.99983563e-01 1.38427112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.420714057000005 meters Centerline goodness : 0.991352 with order 1 Centerline is valid? [True, True] Translation: X:58.42, Y:-2.30, Z:0.13 [[ 9.99878217e-01 1.45167441e-02 -5.72853939e-03 5.84213998e+01] [-1.45156172e-02 9.99894614e-01 2.38240620e-04 -2.29769649e+00] [ 5.73139417e-03 -1.55058322e-04 9.99983563e-01 1.29376374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48071405700001 meters Centerline goodness : 0.991771 with order 1 Centerline is valid? [True, True] Translation: X:58.48, Y:-2.30, Z:0.13 [[ 9.99975181e-01 4.10147036e-03 -5.72855032e-03 5.84808484e+01] [-4.10017426e-03 9.99991566e-01 2.37977604e-04 -2.30187235e+00] [ 5.72947806e-03 -2.14483643e-04 9.99983563e-01 1.27423435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.540714057 meters Centerline goodness : 0.992410 with order 1 Centerline is valid? [True, True] Translation: X:58.54, Y:-2.30, Z:0.13 [[ 9.99950711e-01 -8.10918378e-03 -5.72855941e-03 5.85393287e+01] [ 8.11067860e-03 9.99967080e-01 2.37758606e-04 -2.30451003e+00] [ 5.72644280e-03 -2.84209391e-04 9.99983563e-01 1.33088016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.600714057000005 meters Centerline goodness : 0.992440 with order 1 Centerline is valid? [True, True] Translation: X:58.60, Y:-2.31, Z:0.13 [[ 9.99892828e-01 -1.34727516e-02 -5.72857277e-03 5.86007151e+01] [ 1.34743324e-02 9.99909189e-01 2.37436375e-04 -2.30799010e+00] [ 5.72485363e-03 -3.14599622e-04 9.99983563e-01 1.34302159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66071405700001 meters Centerline goodness : 0.992794 with order 1 Centerline is valid? [True, True] Translation: X:58.66, Y:-2.31, Z:0.13 [[ 9.99826608e-01 -1.77182680e-02 -5.72856382e-03 5.86630518e+01] [ 1.77199195e-02 9.99842962e-01 2.37651949e-04 -2.31351020e+00] [ 5.72345344e-03 -3.39120432e-04 9.99983563e-01 1.32639266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.720714057 meters Centerline goodness : 0.992270 with order 1 Centerline is valid? [True, True] Translation: X:58.73, Y:-2.32, Z:0.13 [[ 9.99786507e-01 -1.98525556e-02 -5.72851942e-03 5.87250657e+01] [ 1.98542480e-02 9.99802856e-01 2.38717486e-04 -2.31688712e+00] [ 5.72265093e-03 -3.52401966e-04 9.99983563e-01 1.33005984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.780714057000004 meters Centerline goodness : 0.993092 with order 1 Centerline is valid? [True, True] Translation: X:58.79, Y:-2.32, Z:0.14 [[ 9.99781172e-01 -2.01194450e-02 -5.72850184e-03 5.87859138e+01] [ 2.01211442e-02 9.99797521e-01 2.39138569e-04 -2.31974804e+00] [ 5.72253060e-03 -3.54350250e-04 9.99983563e-01 1.35914693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.84071405700001 meters Centerline goodness : 0.993186 with order 1 Centerline is valid? [True, True] Translation: X:58.85, Y:-2.32, Z:0.13 [[ 9.99651176e-01 -2.57819867e-02 -5.72848885e-03 5.88482393e+01] [ 2.57837802e-02 9.99667514e-01 2.39449301e-04 -2.32135794e+00] [ 5.72041073e-03 -3.87067873e-04 9.99983563e-01 1.33305758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.900714057 meters Centerline goodness : 0.992345 with order 1 Centerline is valid? [True, True] Translation: X:58.91, Y:-2.32, Z:0.13 [[ 9.99606707e-01 -2.74520863e-02 -5.72842528e-03 5.89099283e+01] [ 2.74539158e-02 9.99623041e-01 2.40960559e-04 -2.32419652e+00] [ 5.71965103e-03 -3.98133497e-04 9.99983563e-01 1.32020006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.960714057000004 meters Centerline goodness : 0.992050 with order 1 Centerline is valid? [True, True] Translation: X:58.97, Y:-2.33, Z:0.14 [[ 9.99715992e-01 -2.31326730e-02 -5.72840255e-03 5.89716727e+01] [ 2.31344349e-02 9.99732334e-01 2.41499803e-04 -2.32551235e+00] [ 5.72128272e-03 -3.73954571e-04 9.99983563e-01 1.35401321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.020714057000006 meters Centerline goodness : 0.991260 with order 1 Centerline is valid? [True, True] Translation: X:59.03, Y:-2.33, Z:0.13 [[ 9.99748034e-01 -2.17037632e-02 -5.72838494e-03 5.90341666e+01] [ 2.17055042e-02 9.99764379e-01 2.41916826e-04 -2.32820680e+00] [ 5.72178470e-03 -3.66193354e-04 9.99983563e-01 1.34914989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.080714057 meters Centerline goodness : 0.992323 with order 1 Centerline is valid? [True, True] Translation: X:59.10, Y:-2.33, Z:0.14 [[ 9.99795764e-01 -1.93808179e-02 -5.72836667e-03 5.90953410e+01] [ 1.93825234e-02 9.99812112e-01 2.42348625e-04 -2.32620745e+00] [ 5.72259346e-03 -3.53329329e-04 9.99983563e-01 1.37691721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.140714057000004 meters Centerline goodness : 0.992146 with order 1 Centerline is valid? [True, True] Translation: X:59.16, Y:-2.32, Z:0.14 [[ 9.99879318e-01 -1.44407484e-02 -5.72835317e-03 5.91578656e+01] [ 1.44423749e-02 9.99895674e-01 2.42667310e-04 -2.32465840e+00] [ 5.72425126e-03 -3.25369048e-04 9.99983563e-01 1.38867417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.200714057000006 meters Centerline goodness : 0.992702 with order 1 Centerline is valid? [True, True] Translation: X:59.22, Y:-2.32, Z:0.14 [[ 9.99932458e-01 -1.01126480e-02 -5.72833472e-03 5.92200157e+01] [ 1.01142062e-02 9.99948821e-01 2.43102044e-04 -2.32394500e+00] [ 5.72558314e-03 -3.01023182e-04 9.99983563e-01 1.40012375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.260714057 meters Centerline goodness : 0.992343 with order 1 Centerline is valid? [True, True] Translation: X:59.28, Y:-2.32, Z:0.14 [[ 9.99953247e-01 -7.79037448e-03 -5.72831633e-03 5.92820512e+01] [ 7.79189710e-03 9.99969613e-01 2.43534702e-04 -2.32273619e+00] [ 5.72624503e-03 -2.88157768e-04 9.99983563e-01 1.37463567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.320714057 meters Centerline goodness : 0.991621 with order 1 Centerline is valid? [True, True] Translation: X:59.34, Y:-2.32, Z:0.14 [[ 9.99980096e-01 -2.64467052e-03 -5.72829787e-03 5.93424851e+01] [ 2.64611137e-03 9.99996469e-01 2.43968177e-04 -2.32371472e+00] [ 5.72763242e-03 -2.59121035e-04 9.99983563e-01 1.41703090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.380714057000006 meters Centerline goodness : 0.991539 with order 1 Centerline is valid? [True, True] Translation: X:59.40, Y:-2.33, Z:0.14 [[ 9.99981827e-01 1.87946468e-03 -5.72829335e-03 5.94017940e+01] [-1.87809731e-03 9.99998207e-01 2.44074206e-04 -2.32581167e+00] [ 5.72874180e-03 -2.33311478e-04 9.99983563e-01 1.39438210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.440714057 meters Centerline goodness : 0.991894 with order 1 Centerline is valid? [True, True] Translation: X:59.46, Y:-2.33, Z:0.14 [[ 9.99974545e-01 4.25390460e-03 -5.72830207e-03 5.94598611e+01] [-4.25257730e-03 9.99990928e-01 2.43869369e-04 -2.32561787e+00] [ 5.72928750e-03 -2.19503114e-04 9.99983563e-01 1.41062148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.500714057 meters Centerline goodness : 0.991117 with order 1 Centerline is valid? [True, True] Translation: X:59.52, Y:-2.33, Z:0.13 [[ 9.99944200e-01 8.87596663e-03 -5.72837463e-03 5.95173800e+01] [-8.87472489e-03 9.99960590e-01 2.42152938e-04 -2.32911013e+00] [ 5.73029821e-03 -1.91301677e-04 9.99983563e-01 1.32730843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.560714057000006 meters Centerline goodness : 0.991976 with order 1 Centerline is valid? [True, True] Translation: X:59.57, Y:-2.33, Z:0.15 [[ 9.99954157e-01 7.67260555e-03 -5.72844655e-03 5.95748209e+01] [-7.67135389e-03 9.99970546e-01 2.40439386e-04 -2.32521041e+00] [ 5.73012262e-03 -1.96483423e-04 9.99983563e-01 1.46496783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.620714057 meters Centerline goodness : 0.993742 with order 1 Centerline is valid? [True, True] Translation: X:59.63, Y:-2.32, Z:0.15 [[ 9.99983568e-01 2.19014625e-04 -5.72846162e-03 5.96333084e+01] [-2.17642901e-04 9.99999947e-01 2.40079876e-04 -2.31901395e+00] [ 5.72851390e-03 -2.38829172e-04 9.99983563e-01 1.45560747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.680714057 meters Centerline goodness : 0.993582 with order 1 Centerline is valid? [True, True] Translation: X:59.69, Y:-2.32, Z:0.15 [[ 9.99981153e-01 -2.20848341e-03 -5.72847890e-03 5.96917563e+01] [ 2.20989253e-03 9.99997529e-01 2.39666786e-04 -2.32235397e+00] [ 5.72793545e-03 -2.52321592e-04 9.99983563e-01 1.45425611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.740714057000005 meters Centerline goodness : 0.992067 with order 1 Centerline is valid? [True, True] Translation: X:59.75, Y:-2.33, Z:0.15 [[ 9.99982444e-01 -1.51511813e-03 -5.72849607e-03 5.97513850e+01] [ 1.51651354e-03 9.99998821e-01 2.39255610e-04 -2.33141420e+00] [ 5.72812682e-03 -2.47938752e-04 9.99983563e-01 1.53587482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80071405700001 meters Centerline goodness : 0.992605 with order 1 Centerline is valid? [True, True] Translation: X:59.81, Y:-2.34, Z:0.16 [[ 9.99959604e-01 -6.92643903e-03 -5.72850506e-03 5.98104117e+01] [ 6.92792182e-03 9.99975973e-01 2.39040195e-04 -2.33531389e+00] [ 5.72671172e-03 -2.78717174e-04 9.99983563e-01 1.55372138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.860714057 meters Centerline goodness : 0.992749 with order 1 Centerline is valid? [True, True] Translation: X:59.87, Y:-2.34, Z:0.15 [[ 9.99938378e-01 -9.50920495e-03 -5.72852263e-03 5.98706474e+01] [ 9.51072760e-03 9.99954744e-01 2.38618387e-04 -2.33937837e+00] [ 5.72599431e-03 -2.93086101e-04 9.99983563e-01 1.52505951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.920714057000005 meters Centerline goodness : 0.992865 with order 1 Centerline is valid? [True, True] Translation: X:59.93, Y:-2.35, Z:0.15 [[ 9.99892851e-01 -1.34710973e-02 -5.72851831e-03 5.99324084e+01] [ 1.34726854e-02 9.99909211e-01 2.38722020e-04 -2.34505084e+00] [ 5.72478238e-03 -3.15874966e-04 9.99983563e-01 1.51040148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98071405700001 meters Centerline goodness : 0.992773 with order 1 Centerline is valid? [True, True] Translation: X:59.99, Y:-2.35, Z:0.15 [[ 9.99811563e-01 -1.85478543e-02 -5.72845534e-03 5.99945706e+01] [ 1.85495340e-02 9.99827914e-01 2.40223564e-04 -2.34879112e+00] [ 5.72301392e-03 -3.46438474e-04 9.99983563e-01 1.48446096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.040714057 meters Centerline goodness : 0.993648 with order 1 Centerline is valid? [True, True] Translation: X:60.06, Y:-2.35, Z:0.15 [[ 9.99685778e-01 -2.44034895e-02 -5.72839137e-03 6.00557749e+01] [ 2.44052736e-02 9.99702118e-01 2.41739540e-04 -2.34748287e+00] [ 5.72078570e-03 -3.81466539e-04 9.99983563e-01 1.47652500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.100714057000005 meters Centerline goodness : 0.993101 with order 1 Centerline is valid? [True, True] Translation: X:60.12, Y:-2.36, Z:0.14 [[ 9.99786462e-01 -1.98548778e-02 -5.72833255e-03 6.01174616e+01] [ 1.98565954e-02 9.99802809e-01 2.43125298e-04 -2.35905700e+00] [ 5.72237575e-03 -3.56818563e-04 9.99983563e-01 1.44090853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16071405700001 meters Centerline goodness : 0.992938 with order 1 Centerline is valid? [True, True] Translation: X:60.18, Y:-2.36, Z:0.15 [[ 9.99724496e-01 -2.27622186e-02 -5.72831402e-03 6.01789415e+01] [ 2.27639863e-02 9.99740837e-01 2.43561294e-04 -2.36144337e+00] [ 5.72128546e-03 -3.73893453e-04 9.99983563e-01 1.46154463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.220714057 meters Centerline goodness : 0.993074 with order 1 Centerline is valid? [True, True] Translation: X:60.24, Y:-2.37, Z:0.15 [[ 9.99685618e-01 -2.44100632e-02 -5.72830035e-03 6.02405301e+01] [ 2.44118596e-02 9.99701956e-01 2.43882250e-04 -2.36592653e+00] [ 5.72063989e-03 -3.83644042e-04 9.99983563e-01 1.46116136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.280714057000004 meters Centerline goodness : 0.992911 with order 1 Centerline is valid? [True, True] Translation: X:60.30, Y:-2.37, Z:0.14 [[ 9.99700158e-01 -2.38071592e-02 -5.72828176e-03 6.03015386e+01] [ 2.38089483e-02 9.99716497e-01 2.44318049e-04 -2.37186157e+00] [ 5.72084126e-03 -3.80629157e-04 9.99983563e-01 1.43513613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.34071405700001 meters Centerline goodness : 0.993387 with order 1 Centerline is valid? [True, True] Translation: X:60.36, Y:-2.38, Z:0.15 [[ 9.99687680e-01 -2.43255007e-02 -5.72826804e-03 6.03638615e+01] [ 2.43273000e-02 9.99704018e-01 2.44639424e-04 -2.37536886e+00] [ 5.72062160e-03 -3.83916313e-04 9.99983563e-01 1.45820520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.400714057 meters Centerline goodness : 0.992884 with order 1 Centerline is valid? [True, True] Translation: X:60.43, Y:-2.38, Z:0.15 [[ 9.99660006e-01 -2.54373799e-02 -5.72825046e-03 6.04261136e+01] [ 2.54391998e-02 9.99676341e-01 2.45050328e-04 -2.37751261e+00] [ 5.72016302e-03 -3.90689120e-04 9.99983563e-01 1.50173419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.460714057000004 meters Centerline goodness : 0.993091 with order 1 Centerline is valid? [True, True] Translation: X:60.49, Y:-2.38, Z:0.15 [[ 9.99560731e-01 -2.90780406e-02 -5.72823191e-03 6.04874344e+01] [ 2.90799224e-02 9.99577059e-01 2.45483172e-04 -2.38097281e+00] [ 5.71867104e-03 -4.11951878e-04 9.99983563e-01 1.52817040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.520714057000006 meters Centerline goodness : 0.993375 with order 1 Centerline is valid? [True, True] Translation: X:60.55, Y:-2.38, Z:0.15 [[ 9.99448674e-01 -3.27037419e-02 -5.72821816e-03 6.05490838e+01] [ 3.27056848e-02 9.99464996e-01 2.45803665e-04 -2.38361587e+00] [ 5.71711484e-03 -4.33013445e-04 9.99983563e-01 1.54763014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.580714057 meters Centerline goodness : 0.993734 with order 1 Centerline is valid? [True, True] Translation: X:60.61, Y:-2.39, Z:0.15 [[ 9.99383687e-01 -3.46328582e-02 -5.72820015e-03 6.06108622e+01] [ 3.46348349e-02 9.99400004e-01 2.46222601e-04 -2.38742183e+00] [ 5.71623586e-03 -4.44466117e-04 9.99983563e-01 1.54868821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.640714057000004 meters Centerline goodness : 0.994465 with order 1 Centerline is valid? [True, True] Translation: X:60.67, Y:-2.39, Z:0.15 [[ 9.99321256e-01 -3.63897630e-02 -5.72818141e-03 6.06722104e+01] [ 3.63917709e-02 9.99337570e-01 2.46657760e-04 -2.39255069e+00] [ 5.71541107e-03 -4.54949009e-04 9.99983563e-01 1.52318170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.700714057000006 meters Centerline goodness : 0.995564 with order 1 Centerline is valid? [True, True] Translation: X:60.74, Y:-2.39, Z:0.15 [[ 9.99153437e-01 -4.07381589e-02 -5.72816752e-03 6.07351018e+01] [ 4.07402396e-02 9.99169741e-01 2.46979909e-04 -2.38983668e+00] [ 5.71335016e-03 -4.80137742e-04 9.99983563e-01 1.54741360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.760714057 meters Centerline goodness : 0.995363 with order 1 Centerline is valid? [True, True] Translation: X:60.80, Y:-2.39, Z:0.16 [[ 9.99237496e-01 -3.86214416e-02 -5.72813523e-03 6.07972470e+01] [ 3.86234920e-02 9.99253804e-01 2.47726582e-04 -2.39328277e+00] [ 5.71429336e-03 -4.68778275e-04 9.99983563e-01 1.55123952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.820714057 meters Centerline goodness : 0.993204 with order 1 Centerline is valid? [True, True] Translation: X:60.86, Y:-2.40, Z:0.15 [[ 9.99527807e-01 -3.01885995e-02 -5.72811755e-03 6.08588714e+01] [ 3.01905146e-02 9.99544132e-01 2.48134680e-04 -2.40459353e+00] [ 5.71801545e-03 -4.20952330e-04 9.99983563e-01 1.50865206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.880714057000006 meters Centerline goodness : 0.994081 with order 1 Centerline is valid? [True, True] Translation: X:60.92, Y:-2.41, Z:0.15 [[ 9.99593853e-01 -2.79162716e-02 -5.72809927e-03 6.09219196e+01] [ 2.79181520e-02 9.99610182e-01 2.48555962e-04 -2.40658065e+00] [ 5.71892760e-03 -4.08372958e-04 9.99983563e-01 1.53163514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.940714057 meters Centerline goodness : 0.993656 with order 1 Centerline is valid? [True, True] Translation: X:60.98, Y:-2.41, Z:0.15 [[ 9.99700098e-01 -2.38097511e-02 -5.72807102e-03 6.09839253e+01] [ 2.38115680e-02 9.99716433e-01 2.49205253e-04 -2.40900123e+00] [ 5.72051322e-03 -3.85524869e-04 9.99983563e-01 1.54700843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.000714057 meters Centerline goodness : 0.992549 with order 1 Centerline is valid? [True, True] Translation: X:61.05, Y:-2.41, Z:0.16 [[ 9.99764254e-01 -2.09433913e-02 -5.72805220e-03 6.10453085e+01] [ 2.09451639e-02 9.99780595e-01 2.49637269e-04 -2.41030471e+00] [ 5.72156718e-03 -3.69553410e-04 9.99983563e-01 1.56001401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.060714057000006 meters Centerline goodness : 0.993046 with order 1 Centerline is valid? [True, True] Translation: X:61.11, Y:-2.41, Z:0.16 [[ 9.99873844e-01 -1.48150260e-02 -5.72803824e-03 6.11077874e+01] [ 1.48167002e-02 9.99890195e-01 2.49957120e-04 -2.41262880e+00] [ 5.72370615e-03 -3.34796212e-04 9.99983563e-01 1.57874922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.120714057 meters Centerline goodness : 0.992685 with order 1 Centerline is valid? [True, True] Translation: X:61.17, Y:-2.42, Z:0.16 [[ 9.99951557e-01 -8.00464809e-03 -5.72801990e-03 6.11686639e+01] [ 8.00621330e-03 9.99967918e-01 2.50376628e-04 -2.41620330e+00] [ 5.72583196e-03 -2.96224248e-04 9.99983563e-01 1.58854561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.180714057 meters Centerline goodness : 0.990946 with order 1 Centerline is valid? [True, True] Translation: X:61.23, Y:-2.42, Z:0.16 [[ 9.99970669e-01 -5.08445752e-03 -5.72798875e-03 6.12299932e+01] [ 5.08597900e-03 9.99987035e-01 2.51087334e-04 -2.42087263e+00] [ 5.72663784e-03 -2.80212400e-04 9.99983563e-01 1.60732137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.240714057000005 meters Centerline goodness : 0.991934 with order 1 Centerline is valid? [True, True] Translation: X:61.29, Y:-2.42, Z:0.16 [[ 9.99983433e-01 -5.68579353e-04 -5.72797929e-03 6.12900061e+01] [ 5.70028144e-04 9.99999806e-01 2.51302886e-04 -2.42346045e+00] [ 5.72783529e-03 -2.54563832e-04 9.99983563e-01 1.63282737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30071405700001 meters Centerline goodness : 0.992181 with order 1 Centerline is valid? [True, True] Translation: X:61.35, Y:-2.43, Z:0.16 [[ 9.99983282e-01 -7.91608057e-04 -5.72797929e-03 6.13487398e+01] [ 7.93060499e-04 9.99999654e-01 2.51302886e-04 -2.42782042e+00] [ 5.72777838e-03 -2.55841318e-04 9.99983563e-01 1.62117028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.360714057 meters Centerline goodness : 0.992155 with order 1 Centerline is valid? [True, True] Translation: X:61.41, Y:-2.44, Z:0.15 [[ 9.99977563e-01 3.47318506e-03 -5.72799809e-03 6.14073184e+01] [-3.47180491e-03 9.99993942e-01 2.50873687e-04 -2.43876170e+00] [ 5.72883472e-03 -2.30981566e-04 9.99983563e-01 1.53951102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.420714057000005 meters Centerline goodness : 0.992589 with order 1 Centerline is valid? [True, True] Translation: X:61.47, Y:-2.44, Z:0.15 [[ 9.99973985e-01 4.38397058e-03 -5.72801197e-03 6.14650475e+01] [-4.38260717e-03 9.99990365e-01 2.50556453e-04 -2.44196866e+00] [ 5.72905521e-03 -2.25446308e-04 9.99983563e-01 1.54616130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48071405700001 meters Centerline goodness : 0.992261 with order 1 Centerline is valid? [True, True] Translation: X:61.52, Y:-2.44, Z:0.16 [[ 9.99981432e-01 2.07952431e-03 -5.72808670e-03 6.15226457e+01] [-2.07813299e-03 9.99997810e-01 2.48836087e-04 -2.44478104e+00] [ 5.72859162e-03 -2.36927741e-04 9.99983563e-01 1.55982871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.540714057 meters Centerline goodness : 0.992260 with order 1 Centerline is valid? [True, True] Translation: X:61.58, Y:-2.45, Z:0.16 [[ 9.99983387e-01 6.43329220e-04 -5.72811211e-03 6.15818072e+01] [-6.41917729e-04 9.99999763e-01 2.48249835e-04 -2.44904557e+00] [ 5.72827046e-03 -2.44568734e-04 9.99983563e-01 1.58995481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.600714057000005 meters Centerline goodness : 0.992327 with order 1 Centerline is valid? [True, True] Translation: X:61.64, Y:-2.45, Z:0.16 [[ 9.99983242e-01 -8.39815643e-04 -5.72812599e-03 6.16403793e+01] [ 8.41249588e-04 9.99999615e-01 2.47929174e-04 -2.45212227e+00] [ 5.72791557e-03 -2.52743803e-04 9.99983563e-01 1.61889616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66071405700001 meters Centerline goodness : 0.992010 with order 1 Centerline is valid? [True, True] Translation: X:61.70, Y:-2.46, Z:0.16 [[ 9.99983347e-01 7.02603435e-04 -5.72814456e-03 6.16993086e+01] [-7.01197206e-04 9.99999724e-01 2.47499349e-04 -2.45514634e+00] [ 5.72831687e-03 -2.43478669e-04 9.99983563e-01 1.63323905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.720714057 meters Centerline goodness : 0.993122 with order 1 Centerline is valid? [True, True] Translation: X:61.76, Y:-2.46, Z:0.16 [[ 9.99978463e-01 -3.20328269e-03 -5.72815824e-03 6.17578749e+01] [ 3.20475106e-03 9.99994834e-01 2.47182278e-04 -2.45912775e+00] [ 5.72733686e-03 -2.65534276e-04 9.99983563e-01 1.63197622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.780714057000004 meters Centerline goodness : 0.992522 with order 1 Centerline is valid? [True, True] Translation: X:61.82, Y:-2.46, Z:0.16 [[ 9.99962118e-01 -6.55367527e-03 -5.72817666e-03 6.18174344e+01] [ 6.55519604e-03 9.99978484e-01 2.46754668e-04 -2.46279046e+00] [ 5.72643626e-03 -2.84294641e-04 9.99983563e-01 1.63831697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.84071405700001 meters Centerline goodness : 0.992861 with order 1 Centerline is valid? [True, True] Translation: X:61.88, Y:-2.47, Z:0.16 [[ 9.99976582e-01 -3.74471409e-03 -5.72818120e-03 6.18776009e+01] [ 3.74618828e-03 9.99992953e-01 2.46649365e-04 -2.46974888e+00] [ 5.72721720e-03 -2.68102434e-04 9.99983563e-01 1.60443041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.900714057 meters Centerline goodness : 0.992675 with order 1 Centerline is valid? [True, True] Translation: X:61.94, Y:-2.47, Z:0.16 [[ 9.99896215e-01 -1.32191786e-02 -5.72818120e-03 6.19372662e+01] [ 1.32208078e-02 9.99912571e-01 2.46649365e-04 -2.47425228e+00] [ 5.72441988e-03 -3.22354949e-04 9.99983563e-01 1.59400428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.960714057000004 meters Centerline goodness : 0.993127 with order 1 Centerline is valid? [True, True] Translation: X:62.00, Y:-2.48, Z:0.17 [[ 9.99741786e-01 -2.19897581e-02 -5.72819021e-03 6.19986843e+01] [ 2.19915295e-02 9.99758127e-01 2.46439753e-04 -2.47513371e+00] [ 5.72138557e-03 -3.72347783e-04 9.99983563e-01 1.65007324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.020714057000006 meters Centerline goodness : 0.992511 with order 1 Centerline is valid? [True, True] Translation: X:62.06, Y:-2.48, Z:0.17 [[ 9.99713950e-01 -2.32208428e-02 -5.72813178e-03 6.20607792e+01] [ 2.32226420e-02 9.99730287e-01 2.47790597e-04 -2.47792972e+00] [ 5.72083292e-03 -3.80742070e-04 9.99983563e-01 1.65712499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.080714057 meters Centerline goodness : 0.993442 with order 1 Centerline is valid? [True, True] Translation: X:62.12, Y:-2.48, Z:0.16 [[ 9.99651532e-01 -2.57682457e-02 -5.72811292e-03 6.21229616e+01] [ 2.57700891e-02 9.99667865e-01 2.48225894e-04 -2.48219552e+00] [ 5.71981406e-03 -3.95753376e-04 9.99983563e-01 1.64584814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.140714057000004 meters Centerline goodness : 0.992757 with order 1 Centerline is valid? [True, True] Translation: X:62.19, Y:-2.49, Z:0.16 [[ 9.99637891e-01 -2.62921246e-02 -5.72808953e-03 6.21860037e+01] [ 2.62939796e-02 9.99654223e-01 2.48764267e-04 -2.48527572e+00] [ 5.71956835e-03 -3.99288457e-04 9.99983563e-01 1.64887797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.200714057000006 meters Centerline goodness : 0.993558 with order 1 Centerline is valid? [True, True] Translation: X:62.25, Y:-2.49, Z:0.16 [[ 9.99627467e-01 -2.66855221e-02 -5.72806114e-03 6.22483117e+01] [ 2.66873872e-02 9.99643797e-01 2.49416461e-04 -2.48700367e+00] [ 5.71936498e-03 -4.02190530e-04 9.99983563e-01 1.62129967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.260714057 meters Centerline goodness : 0.994881 with order 1 Centerline is valid? [True, True] Translation: X:62.31, Y:-2.48, Z:0.17 [[ 9.99350103e-01 -3.55887845e-02 -5.72804223e-03 6.23105952e+01] [ 3.55907975e-02 9.99366416e-01 2.49849916e-04 -2.47744990e+00] [ 5.71552118e-03 -4.53553130e-04 9.99983563e-01 1.69004947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.320714057 meters Centerline goodness : 0.995294 with order 1 Centerline is valid? [True, True] Translation: X:62.37, Y:-2.48, Z:0.17 [[ 9.99369977e-01 -3.50262692e-02 -5.72797652e-03 6.23731244e+01] [ 3.50282816e-02 9.99386290e-01 2.51347405e-04 -2.47808423e+00] [ 5.71565744e-03 -4.51830225e-04 9.99983563e-01 1.72129957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.380714057000006 meters Centerline goodness : 0.994873 with order 1 Centerline is valid? [True, True] Translation: X:62.43, Y:-2.48, Z:0.17 [[ 9.99453785e-01 -3.25472230e-02 -5.72795849e-03 6.24344859e+01] [ 3.25491972e-02 9.99470103e-01 2.51757553e-04 -2.47755668e+00] [ 5.71672925e-03 -4.38060490e-04 9.99983563e-01 1.72760148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.440714057 meters Centerline goodness : 0.995231 with order 1 Centerline is valid? [True, True] Translation: X:62.50, Y:-2.48, Z:0.17 [[ 9.99476362e-01 -3.18464039e-02 -5.72794515e-03 6.24971990e+01] [ 3.18483684e-02 9.99492680e-01 2.52060719e-04 -2.47782703e+00] [ 5.71701202e-03 -4.34354438e-04 9.99983563e-01 1.72168952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.500714057 meters Centerline goodness : 0.995448 with order 1 Centerline is valid? [True, True] Translation: X:62.56, Y:-2.48, Z:0.17 [[ 9.99437496e-01 -3.30436609e-02 -5.72791805e-03 6.25605241e+01] [ 3.30456485e-02 9.99453811e-01 2.52675139e-04 -2.47971888e+00] [ 5.71644021e-03 -4.41815774e-04 9.99983563e-01 1.71143990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.560714057000006 meters Centerline goodness : 0.994832 with order 1 Centerline is valid? [True, True] Translation: X:62.62, Y:-2.48, Z:0.17 [[ 9.99297837e-01 -3.70273574e-02 -5.72789107e-03 6.26225041e+01] [ 3.70294135e-02 9.99314144e-01 2.53285136e-04 -2.48017078e+00] [ 5.71458409e-03 -4.65207735e-04 9.99983563e-01 1.70509780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62071405700001 meters Centerline goodness : 0.993207 with order 1 Centerline is valid? [True, True] Translation: X:62.68, Y:-2.49, Z:0.16 [[ 9.99568407e-01 -2.88130330e-02 -5.72784685e-03 6.26839442e+01] [ 2.88149606e-02 9.99584730e-01 2.54281192e-04 -2.49312962e+00] [ 5.71814164e-03 -4.19219128e-04 9.99983563e-01 1.61462807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.680714057 meters Centerline goodness : 0.993814 with order 1 Centerline is valid? [True, True] Translation: X:62.75, Y:-2.49, Z:0.17 [[ 9.99367386e-01 -3.51001315e-02 -5.72782736e-03 6.27454942e+01] [ 3.51021643e-02 9.99383697e-01 2.54719504e-04 -2.48964961e+00] [ 5.71535660e-03 -4.55617502e-04 9.99983563e-01 1.66012808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.740714057000005 meters Centerline goodness : 0.993695 with order 1 Centerline is valid? [True, True] Translation: X:62.81, Y:-2.49, Z:0.17 [[ 9.99222265e-01 -3.90135525e-02 -5.72776541e-03 6.28082760e+01] [ 3.90156571e-02 9.99238567e-01 2.56105125e-04 -2.48811623e+00] [ 5.71341252e-03 -4.79378474e-04 9.99983563e-01 1.68886804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80071405700001 meters Centerline goodness : 0.993588 with order 1 Centerline is valid? [True, True] Translation: X:62.87, Y:-2.49, Z:0.17 [[ 9.99255879e-01 -3.81428956e-02 -5.72773730e-03 6.28716107e+01] [ 3.81449894e-02 9.99272182e-01 2.56732109e-04 -2.49098052e+00] [ 5.71377605e-03 -4.75025548e-04 9.99983563e-01 1.68921131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.860714057 meters Centerline goodness : 0.993374 with order 1 Centerline is valid? [True, True] Translation: X:62.93, Y:-2.49, Z:0.17 [[ 9.99193592e-01 -3.97411447e-02 -5.72770816e-03 6.29345675e+01] [ 3.97432683e-02 9.99209891e-01 2.57380709e-04 -2.49021807e+00] [ 5.71295404e-03 -4.84810997e-04 9.99983563e-01 1.68503916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.920714057000005 meters Centerline goodness : 0.993087 with order 1 Centerline is valid? [True, True] Translation: X:63.00, Y:-2.49, Z:0.17 [[ 9.99179562e-01 -4.00923385e-02 -5.72767961e-03 6.29981391e+01] [ 4.00944715e-02 9.99195860e-01 2.58014483e-04 -2.49117222e+00] [ 5.71272935e-03 -4.87451085e-04 9.99983563e-01 1.66641956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98071405700001 meters Centerline goodness : 0.993243 with order 1 Centerline is valid? [True, True] Translation: X:63.06, Y:-2.49, Z:0.17 [[ 9.99263626e-01 -3.79394167e-02 -5.72765125e-03 6.30602958e+01] [ 3.79415182e-02 9.99279928e-01 2.58642600e-04 -2.49073424e+00] [ 5.71371417e-03 -4.75767927e-04 9.99983563e-01 1.71957984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04071405700002 meters Centerline goodness : 0.994559 with order 1 Centerline is valid? [True, True] Translation: X:63.12, Y:-2.48, Z:0.17 [[ 9.98955564e-01 -4.53318434e-02 -5.72763227e-03 6.31223154e+01] [ 4.53340678e-02 9.98971849e-01 2.59062080e-04 -2.48332573e+00] [ 5.70999964e-03 -5.18448376e-04 9.99983563e-01 1.72093406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.100714057 meters Centerline goodness : 0.994494 with order 1 Centerline is valid? [True, True] Translation: X:63.18, Y:-2.49, Z:0.17 [[ 9.98944094e-01 -4.55838998e-02 -5.72757095e-03 6.31839293e+01] [ 4.55861360e-02 9.98960378e-01 2.60410922e-04 -2.48537850e+00] [ 5.70974589e-03 -5.21233781e-04 9.99983563e-01 1.71168652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.160714057 meters Centerline goodness : 0.994417 with order 1 Centerline is valid? [True, True] Translation: X:63.25, Y:-2.49, Z:0.17 [[ 9.99146173e-01 -4.09160111e-02 -5.72752437e-03 6.32454049e+01] [ 4.09181770e-02 9.99162466e-01 2.61431323e-04 -2.49409581e+00] [ 5.71203065e-03 -4.95567962e-04 9.99983563e-01 1.67397213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22071405700001 meters Centerline goodness : 0.993293 with order 1 Centerline is valid? [True, True] Translation: X:63.31, Y:-2.50, Z:0.16 [[ 9.99273916e-01 -3.76674660e-02 -5.72746041e-03 6.33079369e+01] [ 3.76695868e-02 9.99290215e-01 2.62825103e-04 -2.49707258e+00] [ 5.71349519e-03 -4.78385337e-04 9.99983563e-01 1.64888945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28071405700001 meters Centerline goodness : 0.993585 with order 1 Centerline is valid? [True, True] Translation: X:63.37, Y:-2.50, Z:0.17 [[ 9.99485727e-01 -3.15511808e-02 -5.72744017e-03 6.33693785e+01] [ 3.15532043e-02 9.99502039e-01 2.63265463e-04 -2.50020878e+00] [ 5.71628179e-03 -4.43849163e-04 9.99983563e-01 1.66416981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34071405700001 meters Centerline goodness : 0.995240 with order 1 Centerline is valid? [True, True] Translation: X:63.43, Y:-2.49, Z:0.17 [[ 9.99226774e-01 -3.88979395e-02 -5.72743003e-03 6.34314110e+01] [ 3.89000841e-02 9.99243071e-01 2.63485769e-04 -2.49051533e+00] [ 5.71284572e-03 -4.86079545e-04 9.99983563e-01 1.74600637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40071405700002 meters Centerline goodness : 0.993282 with order 1 Centerline is valid? [True, True] Translation: X:63.49, Y:-2.51, Z:0.16 [[ 9.99777123e-01 -2.03199996e-02 -5.72736596e-03 6.34916304e+01] [ 2.03218489e-02 9.99793455e-01 2.64871265e-04 -2.50610647e+00] [ 5.72080082e-03 -3.81202897e-04 9.99983563e-01 1.61368978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46071405700002 meters Centerline goodness : 0.994515 with order 1 Centerline is valid? [True, True] Translation: X:63.55, Y:-2.49, Z:0.17 [[ 9.99460829e-01 -3.23302922e-02 -5.72736477e-03 6.35522059e+01] [ 3.23323377e-02 9.99477138e-01 2.64896933e-04 -2.49206724e+00] [ 5.71580596e-03 -4.49933200e-04 9.99983563e-01 1.73358348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.520714057 meters Centerline goodness : 0.993703 with order 1 Centerline is valid? [True, True] Translation: X:63.61, Y:-2.49, Z:0.17 [[ 9.99575294e-01 -2.85732175e-02 -5.72736385e-03 6.36146096e+01] [ 2.85752018e-02 9.99591610e-01 2.64916824e-04 -2.49221700e+00] [ 5.71745533e-03 -4.28464890e-04 9.99983563e-01 1.73649100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58071405700001 meters Centerline goodness : 0.991010 with order 1 Centerline is valid? [True, True] Translation: X:63.68, Y:-2.51, Z:0.16 [[ 9.99882206e-01 -1.42397961e-02 -5.72734531e-03 6.36767262e+01] [ 1.42415486e-02 9.99898549e-01 2.65317033e-04 -2.50936694e+00] [ 5.72298621e-03 -3.46852047e-04 9.99983563e-01 1.57994898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64071405700001 meters Centerline goodness : 0.992074 with order 1 Centerline is valid? [True, True] Translation: X:63.74, Y:-2.51, Z:0.16 [[ 9.99809421e-01 -1.86633329e-02 -5.72732125e-03 6.37388943e+01] [ 1.86651607e-02 9.99825755e-01 2.65835482e-04 -2.50823954e+00] [ 5.72136192e-03 -3.72686191e-04 9.99983563e-01 1.64067122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70071405700001 meters Centerline goodness : 0.992351 with order 1 Centerline is valid? [True, True] Translation: X:63.80, Y:-2.51, Z:0.17 [[ 9.99705388e-01 -2.35867731e-02 -5.72725236e-03 6.38012035e+01] [ 2.35886897e-02 9.99721712e-01 2.67311378e-04 -2.50951530e+00] [ 5.71935353e-03 -4.02331003e-04 9.99983563e-01 1.68957643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76071405700002 meters Centerline goodness : 0.993191 with order 1 Centerline is valid? [True, True] Translation: X:63.86, Y:-2.51, Z:0.17 [[ 9.99670913e-01 -2.50052886e-02 -5.72723230e-03 6.38626628e+01] [ 2.50072308e-02 9.99687234e-01 2.67740619e-04 -2.51398585e+00] [ 5.71874608e-03 -4.10874729e-04 9.99983563e-01 1.69339707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82071405700002 meters Centerline goodness : 0.993355 with order 1 Centerline is valid? [True, True] Translation: X:63.93, Y:-2.52, Z:0.17 [[ 9.99631499e-01 -2.65342192e-02 -5.72720720e-03 6.39256655e+01] [ 2.65361893e-02 9.99647817e-01 2.68276367e-04 -2.52075156e+00] [ 5.71807167e-03 -4.20155761e-04 9.99983563e-01 1.68448222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.880714057 meters Centerline goodness : 0.993844 with order 1 Centerline is valid? [True, True] Translation: X:63.99, Y:-2.53, Z:0.17 [[ 9.99562575e-01 -2.90147955e-02 -5.72717761e-03 6.39882463e+01] [ 2.90168097e-02 9.99578888e-01 2.68906534e-04 -2.52869954e+00] [ 5.71696356e-03 -4.34973331e-04 9.99983563e-01 1.67582929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94071405700001 meters Centerline goodness : 0.993953 with order 1 Centerline is valid? [True, True] Translation: X:64.05, Y:-2.54, Z:0.17 [[ 9.99514482e-01 -3.06267761e-02 -5.72714767e-03 6.40495240e+01] [ 3.06288203e-02 9.99530791e-01 2.69542864e-04 -2.53606296e+00] [ 5.71620521e-03 -4.44827773e-04 9.99983563e-01 1.66598296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00071405700001 meters Centerline goodness : 0.994351 with order 1 Centerline is valid? [True, True] Translation: X:64.11, Y:-2.55, Z:0.17 [[ 9.99389986e-01 -3.44507646e-02 -5.72712317e-03 6.41117031e+01] [ 3.44528741e-02 9.99406287e-01 2.70062272e-04 -2.54579487e+00] [ 5.71441905e-03 -4.67213384e-04 9.99983563e-01 1.74653928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06071405700001 meters Centerline goodness : 0.993516 with order 1 Centerline is valid? [True, True] Translation: X:64.17, Y:-2.56, Z:0.17 [[ 9.99311308e-01 -3.66621040e-02 -5.72710362e-03 6.41743734e+01] [ 3.66642520e-02 9.99327604e-01 2.70476278e-04 -2.55814878e+00] [ 5.71333651e-03 -4.80269973e-04 9.99983563e-01 1.65278133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12071405700001 meters Centerline goodness : 0.995289 with order 1 Centerline is valid? [True, True] Translation: X:64.24, Y:-2.56, Z:0.17 [[ 9.98725361e-01 -5.01483267e-02 -5.72707305e-03 6.42362197e+01] [ 5.01506981e-02 9.98741625e-01 2.71122091e-04 -2.55689305e+00] [ 5.70626992e-03 -5.57993219e-04 9.99983563e-01 1.72926824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18071405700002 meters Centerline goodness : 0.992530 with order 1 Centerline is valid? [True, True] Translation: X:64.30, Y:-2.58, Z:0.16 [[ 9.99113884e-01 -4.16971077e-02 -5.72700306e-03 6.42976377e+01] [ 4.16993498e-02 9.99130167e-01 2.72592404e-04 -2.58391670e+00] [ 5.71065521e-03 -5.11163160e-04 9.99983563e-01 1.61862818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.240714057 meters Centerline goodness : 0.993123 with order 1 Centerline is valid? [True, True] Translation: X:64.36, Y:-2.60, Z:0.16 [[ 9.99008106e-01 -4.41588716e-02 -5.72698220e-03 6.43596663e+01] [ 4.41611563e-02 9.99024383e-01 2.73030012e-04 -2.59583539e+00] [ 5.70933816e-03 -5.25669352e-04 9.99983563e-01 1.64621668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30071405700001 meters Centerline goodness : 0.992256 with order 1 Centerline is valid? [True, True] Translation: X:64.42, Y:-2.61, Z:0.17 [[ 9.99231153e-01 -3.87853607e-02 -5.72696170e-03 6.44211772e+01] [ 3.87875602e-02 9.99247442e-01 2.73459422e-04 -2.60568312e+00] [ 5.71204560e-03 -4.95384046e-04 9.99983563e-01 1.70101263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36071405700001 meters Centerline goodness : 0.990374 with order 1 Centerline is valid? [True, True] Translation: X:64.48, Y:-2.61, Z:0.17 [[ 9.99369421e-01 -3.50423110e-02 -5.72693631e-03 6.44839589e+01] [ 3.50444525e-02 9.99385717e-01 2.73990132e-04 -2.61415815e+00] [ 5.71381710e-03 -4.74514707e-04 9.99983563e-01 1.71870146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42071405700001 meters Centerline goodness : 0.989545 with order 1 Centerline is valid? [True, True] Translation: X:64.55, Y:-2.63, Z:0.17 [[ 9.99465548e-01 -3.21841754e-02 -5.72690619e-03 6.45453274e+01] [ 3.21862739e-02 9.99481850e-01 2.74618167e-04 -2.62746124e+00] [ 5.71510043e-03 -4.58799168e-04 9.99983563e-01 1.68222639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48071405700001 meters Centerline goodness : 0.992065 with order 1 Centerline is valid? [True, True] Translation: X:64.61, Y:-2.63, Z:0.17 [[ 9.99476802e-01 -3.18327772e-02 -5.72688611e-03 6.46067833e+01] [ 3.18348723e-02 9.99493104e-01 2.75036243e-04 -2.62780980e+00] [ 5.71522801e-03 -4.57207033e-04 9.99983563e-01 1.70895148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54071405700002 meters Centerline goodness : 0.992093 with order 1 Centerline is valid? [True, True] Translation: X:64.67, Y:-2.64, Z:0.17 [[ 9.99686047e-01 -2.43928417e-02 -5.72687128e-03 6.46687496e+01] [ 2.43948172e-02 9.99702364e-01 2.75344792e-04 -2.63890011e+00] [ 5.71845031e-03 -4.14964325e-04 9.99983563e-01 1.71643952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.600714057 meters Centerline goodness : 0.991942 with order 1 Centerline is valid? [True, True] Translation: X:64.73, Y:-2.65, Z:0.17 [[ 9.99827663e-01 -1.76591952e-02 -5.72685125e-03 6.47293284e+01] [ 1.76610631e-02 9.99843993e-01 2.75760724e-04 -2.64993662e+00] [ 5.72108811e-03 -3.76855481e-04 9.99983563e-01 1.70736522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.660714057 meters Centerline goodness : 0.992626 with order 1 Centerline is valid? [True, True] Translation: X:64.79, Y:-2.66, Z:0.17 [[ 9.99894859e-01 -1.33219347e-02 -5.72683643e-03 6.47907921e+01] [ 1.33237336e-02 9.99911197e-01 2.76068135e-04 -2.65864857e+00] [ 5.72265011e-03 -3.52341951e-04 9.99983563e-01 1.70781272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72071405700001 meters Centerline goodness : 0.992100 with order 1 Centerline is valid? [True, True] Translation: X:64.85, Y:-2.67, Z:0.17 [[ 9.99912024e-01 -1.19644584e-02 -5.72681700e-03 6.48530207e+01] [ 1.19662373e-02 9.99928364e-01 2.76470620e-04 -2.66543094e+00] [ 5.72309893e-03 -3.44974749e-04 9.99983563e-01 1.71156595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78071405700001 meters Centerline goodness : 0.991955 with order 1 Centerline is valid? [True, True] Translation: X:64.91, Y:-2.68, Z:0.17 [[ 9.99909118e-01 -1.22048847e-02 -5.72679747e-03 6.49134815e+01] [ 1.22066699e-02 9.99925457e-01 2.76874608e-04 -2.67599132e+00] [ 5.72299136e-03 -3.46754571e-04 9.99983563e-01 1.71964663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84071405700001 meters Centerline goodness : 0.988946 with order 1 Centerline is valid? [True, True] Translation: X:64.97, Y:-2.69, Z:0.17 [[ 9.99957328e-01 -7.24882364e-03 -5.72678759e-03 6.49741247e+01] [ 7.25052899e-03 9.99973676e-01 2.77078674e-04 -2.69443451e+00] [ 5.72462835e-03 -3.18589090e-04 9.99983563e-01 1.72082154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90071405700002 meters Centerline goodness : 0.993458 with order 1 Centerline is valid? [True, True] Translation: X:65.03, Y:-2.69, Z:0.17 [[ 9.99832570e-01 -1.73791826e-02 -5.72677761e-03 6.50339919e+01] [ 1.73810546e-02 9.99848900e-01 2.77284879e-04 -2.69213936e+00] [ 5.72109331e-03 -3.76775887e-04 9.99983563e-01 1.73178479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96071405700002 meters Centerline goodness : 0.992873 with order 1 Centerline is valid? [True, True] Translation: X:65.10, Y:-2.70, Z:0.18 [[ 9.99769931e-01 -2.06709722e-02 -5.72677290e-03 6.50957013e+01] [ 2.06728986e-02 9.99786254e-01 2.77382153e-04 -2.70128341e+00] [ 5.71981507e-03 -3.95707332e-04 9.99983563e-01 1.75722011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.020714057 meters Centerline goodness : 0.991280 with order 1 Centerline is valid? [True, True] Translation: X:65.16, Y:-2.71, Z:0.18 [[ 9.99750656e-01 -2.15830862e-02 -5.72674476e-03 6.51578668e+01] [ 2.15850308e-02 9.99766977e-01 2.77961791e-04 -2.70748959e+00] [ 5.71941103e-03 -4.01504445e-04 9.99983563e-01 1.76947726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08071405700001 meters Centerline goodness : 0.989260 with order 1 Centerline is valid? [True, True] Translation: X:65.22, Y:-2.73, Z:0.16 [[ 9.99898184e-01 -1.30700903e-02 -5.72672170e-03 6.52174445e+01] [ 1.30718986e-02 9.99914520e-01 2.78436233e-04 -2.72828614e+00] [ 5.72259299e-03 -3.53267009e-04 9.99983563e-01 1.63326318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14071405700001 meters Centerline goodness : 0.992449 with order 1 Centerline is valid? [True, True] Translation: X:65.28, Y:-2.72, Z:0.17 [[ 9.99639589e-01 -2.62277710e-02 -5.72671603e-03 6.52797193e+01] [ 2.62297947e-02 9.99655901e-01 2.78552657e-04 -2.71544737e+00] [ 5.71743966e-03 -4.28662850e-04 9.99983563e-01 1.73787482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20071405700001 meters Centerline goodness : 0.992463 with order 1 Centerline is valid? [True, True] Translation: X:65.34, Y:-2.72, Z:0.17 [[ 9.99633853e-01 -2.64455030e-02 -5.72664995e-03 6.53422886e+01] [ 2.64475380e-02 9.99650164e-01 2.79904735e-04 -2.71831695e+00] [ 5.71724434e-03 -4.31258041e-04 9.99983563e-01 1.73984155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26071405700002 meters Centerline goodness : 0.992348 with order 1 Centerline is valid? [True, True] Translation: X:65.40, Y:-2.72, Z:0.17 [[ 9.99695135e-01 -2.40175438e-02 -5.72662960e-03 6.54035117e+01] [ 2.40195415e-02 9.99711450e-01 2.80320474e-04 -2.72085611e+00] [ 5.71824457e-03 -4.17786031e-04 9.99983563e-01 1.74536481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32071405700002 meters Centerline goodness : 0.991266 with order 1 Centerline is valid? [True, True] Translation: X:65.47, Y:-2.72, Z:0.18 [[ 9.99717614e-01 -2.30629227e-02 -5.72661454e-03 6.54655266e+01] [ 2.30649066e-02 9.99733930e-01 2.80627744e-04 -2.72348418e+00] [ 5.71861877e-03 -4.12632328e-04 9.99983563e-01 1.75062022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.380714057 meters Centerline goodness : 0.992305 with order 1 Centerline is valid? [True, True] Translation: X:65.53, Y:-2.72, Z:0.18 [[ 9.99845616e-01 -1.66117559e-02 -5.72659173e-03 6.55269902e+01] [ 1.66136371e-02 9.99861944e-01 2.81092393e-04 -2.72288861e+00] [ 5.72113171e-03 -3.76188513e-04 9.99983563e-01 1.75582710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44071405700001 meters Centerline goodness : 0.988463 with order 1 Centerline is valid? [True, True] Translation: X:65.59, Y:-2.74, Z:0.18 [[ 9.99982994e-01 1.10358897e-03 -5.72657458e-03 6.55877530e+01] [-1.10199531e-03 9.99999353e-01 2.81441447e-04 -2.73554485e+00] [ 5.72688147e-03 -2.75126002e-04 9.99983563e-01 1.75002794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50071405700001 meters Centerline goodness : 0.989408 with order 1 Centerline is valid? [True, True] Translation: X:65.65, Y:-2.74, Z:0.17 [[ 9.99936107e-01 9.74624677e-03 -5.72656456e-03 6.56477594e+01] [-9.74479338e-03 9.99952479e-01 2.81645122e-04 -2.73878093e+00] [ 5.72903741e-03 -2.25822938e-04 9.99983563e-01 1.70148827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56071405700001 meters Centerline goodness : 0.991632 with order 1 Centerline is valid? [True, True] Translation: X:65.71, Y:-2.72, Z:0.18 [[ 9.99969466e-01 -5.31737142e-03 -5.72656988e-03 6.57076735e+01] [ 5.31907065e-03 9.99985814e-01 2.81536907e-04 -2.72467715e+00] [ 5.72499161e-03 -3.11988340e-04 9.99983563e-01 1.77463455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62071405700001 meters Centerline goodness : 0.992820 with order 1 Centerline is valid? [True, True] Translation: X:65.77, Y:-2.73, Z:0.18 [[ 9.99941725e-01 -9.15166484e-03 -5.72657967e-03 6.57675759e+01] [ 9.15342561e-03 9.99958067e-01 2.81337560e-04 -2.72725937e+00] [ 5.72376483e-03 -3.33738987e-04 9.99983563e-01 1.77275486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68071405700002 meters Centerline goodness : 0.984311 with order 1 Centerline is valid? [True, True] Translation: X:65.83, Y:-2.73, Z:0.18 [[ 9.99934201e-01 -9.93981418e-03 -5.72658968e-03 6.58270480e+01] [ 9.94158666e-03 9.99950542e-01 2.81133726e-04 -2.73098860e+00] [ 5.72351204e-03 -3.38046616e-04 9.99983563e-01 1.83328660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.740714057 meters Centerline goodness : 0.990518 with order 1 Centerline is valid? [True, True] Translation: X:65.89, Y:-2.74, Z:0.18 [[ 9.99940678e-01 -9.26538473e-03 -5.72658968e-03 6.58881828e+01] [ 9.26714619e-03 9.99957020e-01 2.81133726e-04 -2.74446783e+00] [ 5.72373874e-03 -3.34186193e-04 9.99983563e-01 1.76567262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80071405700001 meters Centerline goodness : 0.990412 with order 1 Centerline is valid? [True, True] Translation: X:65.95, Y:-2.75, Z:0.18 [[ 9.99867857e-01 -1.52143133e-02 -5.72657528e-03 6.59481735e+01] [ 1.52161736e-02 9.99884188e-01 2.81426680e-04 -2.74729654e+00] [ 5.72163036e-03 -3.68526055e-04 9.99983563e-01 1.76724726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86071405700001 meters Centerline goodness : 0.990734 with order 1 Centerline is valid? [True, True] Translation: X:66.01, Y:-2.75, Z:0.18 [[ 9.99814496e-01 -1.83896908e-02 -5.72657528e-03 6.60093723e+01] [ 1.83916030e-02 9.99830821e-01 2.81426680e-04 -2.75032921e+00] [ 5.72043112e-03 -3.86695373e-04 9.99983563e-01 1.76250372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92071405700001 meters Centerline goodness : 0.990157 with order 1 Centerline is valid? [True, True] Translation: X:66.07, Y:-2.75, Z:0.18 [[ 9.99772362e-01 -2.05531348e-02 -5.72656001e-03 6.60708865e+01] [ 2.05550841e-02 9.99788682e-01 2.81737046e-04 -2.75212183e+00] [ 5.71955931e-03 -3.99382834e-04 9.99983563e-01 1.76079423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98071405700001 meters Centerline goodness : 0.989597 with order 1 Centerline is valid? [True, True] Translation: X:66.13, Y:-2.75, Z:0.18 [[ 9.99748927e-01 -2.16631049e-02 -5.72654521e-03 6.61328683e+01] [ 2.16650740e-02 9.99765245e-01 2.82037706e-04 -2.75307432e+00] [ 5.71909106e-03 -4.06032920e-04 9.99983563e-01 1.76387361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04071405700002 meters Centerline goodness : 0.989200 with order 1 Centerline is valid? [True, True] Translation: X:66.20, Y:-2.75, Z:0.18 [[ 9.99751860e-01 -2.15273371e-02 -5.72652409e-03 6.61950690e+01] [ 2.15293064e-02 9.99768178e-01 2.82465857e-04 -2.75442423e+00] [ 5.71911581e-03 -4.05683857e-04 9.99983563e-01 1.77849516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.100714057 meters Centerline goodness : 0.991231 with order 1 Centerline is valid? [True, True] Translation: X:66.26, Y:-2.75, Z:0.18 [[ 9.99833082e-01 -1.73498155e-02 -5.72650256e-03 6.62565926e+01] [ 1.73517191e-02 9.99849408e-01 2.82901715e-04 -2.75352904e+00] [ 5.72073189e-03 -3.82219158e-04 9.99983563e-01 1.78267177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.160714057 meters Centerline goodness : 0.990482 with order 1 Centerline is valid? [True, True] Translation: X:66.32, Y:-2.75, Z:0.18 [[ 9.99898116e-01 -1.30753691e-02 -5.72648667e-03 6.63185533e+01] [ 1.30772047e-02 9.99914450e-01 2.83222850e-04 -2.75382766e+00] [ 5.72229353e-03 -3.58080432e-04 9.99983563e-01 1.76170355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22071405700001 meters Centerline goodness : 0.990760 with order 1 Centerline is valid? [True, True] Translation: X:66.38, Y:-2.75, Z:0.18 [[ 9.99934770e-01 -9.88247173e-03 -5.72646592e-03 6.63797644e+01] [ 9.88425758e-03 9.99951109e-01 2.83641838e-04 -2.75274746e+00] [ 5.72338287e-03 -3.40225200e-04 9.99983563e-01 1.78271726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28071405700001 meters Centerline goodness : 0.990564 with order 1 Centerline is valid? [True, True] Translation: X:66.44, Y:-2.75, Z:0.18 [[ 9.99919627e-01 -1.13114146e-02 -5.72645060e-03 6.64409562e+01] [ 1.13132255e-02 9.99935963e-01 2.83950754e-04 -2.75275831e+00] [ 5.72287201e-03 -3.48712559e-04 9.99983563e-01 1.78933331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34071405700001 meters Centerline goodness : 0.990387 with order 1 Centerline is valid? [True, True] Translation: X:66.50, Y:-2.75, Z:0.18 [[ 9.99901541e-01 -1.28107982e-02 -5.72644038e-03 6.65028817e+01] [ 1.28126349e-02 9.99917874e-01 2.84156750e-04 -2.75006142e+00] [ 5.72232982e-03 -3.57499562e-04 9.99983563e-01 1.84114336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40071405700002 meters Centerline goodness : 0.990710 with order 1 Centerline is valid? [True, True] Translation: X:66.56, Y:-2.75, Z:0.19 [[ 9.99873387e-01 -1.48464521e-02 -5.72642980e-03 6.65647465e+01] [ 1.48483232e-02 9.99889717e-01 2.84369771e-04 -2.74764020e+00] [ 5.72157639e-03 -3.69361647e-04 9.99983563e-01 1.85738427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46071405700002 meters Centerline goodness : 0.989905 with order 1 Centerline is valid? [True, True] Translation: X:66.63, Y:-2.75, Z:0.19 [[ 9.99846251e-01 -1.65735813e-02 -5.72639771e-03 6.66268466e+01] [ 1.65754843e-02 9.99862577e-01 2.85014596e-04 -2.74862555e+00] [ 5.72088705e-03 -3.79888591e-04 9.99983563e-01 1.85519542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.520714057 meters Centerline goodness : 0.991262 with order 1 Centerline is valid? [True, True] Translation: X:66.69, Y:-2.75, Z:0.18 [[ 9.99800344e-01 -1.91437050e-02 -5.72637681e-03 6.66889983e+01] [ 1.91456523e-02 9.99816664e-01 2.85433758e-04 -2.74835448e+00] [ 5.71986271e-03 -3.95011988e-04 9.99983563e-01 1.84088892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58071405700001 meters Centerline goodness : 0.992078 with order 1 Centerline is valid? [True, True] Translation: X:66.75, Y:-2.75, Z:0.18 [[ 9.99820511e-01 -1.80597351e-02 -5.72635614e-03 6.67507554e+01] [ 1.80616671e-02 9.99836834e-01 2.85847930e-04 -2.74950314e+00] [ 5.72025945e-03 -3.89224162e-04 9.99983563e-01 1.81702005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64071405700001 meters Centerline goodness : 0.991634 with order 1 Centerline is valid? [True, True] Translation: X:66.81, Y:-2.75, Z:0.18 [[ 9.99860192e-01 -1.57100147e-02 -5.72633566e-03 6.68118571e+01] [ 1.57119107e-02 9.99876519e-01 2.86257529e-04 -2.74989191e+00] [ 5.72113146e-03 -3.76189183e-04 9.99983563e-01 1.82762146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70071405700001 meters Centerline goodness : 0.992037 with order 1 Centerline is valid? [True, True] Translation: X:66.87, Y:-2.75, Z:0.18 [[ 9.99896338e-01 -1.32107273e-02 -5.72632054e-03 6.68743360e+01] [ 1.32125841e-02 9.99912669e-01 2.86559794e-04 -2.75046624e+00] [ 5.72203479e-03 -3.62189580e-04 9.99983563e-01 1.76526492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76071405700002 meters Centerline goodness : 0.991100 with order 1 Centerline is valid? [True, True] Translation: X:66.94, Y:-2.75, Z:0.18 [[ 9.99966416e-01 -5.86318254e-03 -5.72630080e-03 6.69353124e+01] [ 5.86492161e-03 9.99982760e-01 2.86953664e-04 -2.75137523e+00] [ 5.72451962e-03 -3.20528332e-04 9.99983563e-01 1.79501037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82071405700002 meters Centerline goodness : 0.992154 with order 1 Centerline is valid? [True, True] Translation: X:67.00, Y:-2.75, Z:0.18 [[ 9.99964729e-01 -6.14418929e-03 -5.72629104e-03 6.69953123e+01] [ 6.14593406e-03 9.99981072e-01 2.87148240e-04 -2.74742847e+00] [ 5.72441836e-03 -3.22331519e-04 9.99983563e-01 1.81428817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.880714057 meters Centerline goodness : 0.991067 with order 1 Centerline is valid? [True, True] Translation: X:67.05, Y:-2.75, Z:0.17 [[ 9.99972268e-01 -4.76159210e-03 -5.72629583e-03 6.70545981e+01] [ 4.76331373e-03 9.99988614e-01 2.87052639e-04 -2.75037126e+00] [ 5.72486381e-03 -3.14320822e-04 9.99983563e-01 1.74996427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94071405700001 meters Centerline goodness : 0.991875 with order 1 Centerline is valid? [True, True] Translation: X:67.11, Y:-2.74, Z:0.18 [[ 9.99920967e-01 -1.11924138e-02 -5.72630055e-03 6.71149423e+01] [ 1.11942400e-02 9.99937301e-01 2.86958488e-04 -2.74414433e+00] [ 5.72272976e-03 -3.51037392e-04 9.99983563e-01 1.84469509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00071405700001 meters Centerline goodness : 0.991950 with order 1 Centerline is valid? [True, True] Translation: X:67.18, Y:-2.74, Z:0.18 [[ 9.99896677e-01 -1.31849843e-02 -5.72631094e-03 6.71758409e+01] [ 1.31868419e-02 9.99913009e-01 2.86750996e-04 -2.74451910e+00] [ 5.72203200e-03 -3.62233326e-04 9.99983563e-01 1.83076067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06071405700001 meters Centerline goodness : 0.990883 with order 1 Centerline is valid? [True, True] Translation: X:67.24, Y:-2.74, Z:0.18 [[ 9.99856511e-01 -1.59426308e-02 -5.72629541e-03 6.72376931e+01] [ 1.59445351e-02 9.99872837e-01 2.87060920e-04 -2.74341538e+00] [ 5.72099073e-03 -3.78322848e-04 9.99983563e-01 1.84451260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12071405700001 meters Centerline goodness : 0.991903 with order 1 Centerline is valid? [True, True] Translation: X:67.30, Y:-2.74, Z:0.18 [[ 9.99806823e-01 -1.88023074e-02 -5.72627403e-03 6.72999490e+01] [ 1.88042608e-02 9.99823143e-01 2.87486669e-04 -2.74433079e+00] [ 5.71985589e-03 -3.95109483e-04 9.99983563e-01 1.77260565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18071405700002 meters Centerline goodness : 0.992573 with order 1 Centerline is valid? [True, True] Translation: X:67.36, Y:-2.74, Z:0.18 [[ 9.99726748e-01 -2.26636111e-02 -5.72625247e-03 6.73626470e+01] [ 2.26656301e-02 9.99743060e-01 2.87915460e-04 -2.74350187e+00] [ 5.71825597e-03 -4.17625907e-04 9.99983563e-01 1.80329933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.240714057 meters Centerline goodness : 0.992021 with order 1 Centerline is valid? [True, True] Translation: X:67.43, Y:-2.74, Z:0.18 [[ 9.99612738e-01 -2.72320482e-02 -5.72623047e-03 6.74259624e+01] [ 2.72341442e-02 9.99629040e-01 2.88352373e-04 -2.74312608e+00] [ 5.71625384e-03 -4.44189691e-04 9.99983563e-01 1.81190031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30071405700001 meters Centerline goodness : 0.992974 with order 1 Centerline is valid? [True, True] Translation: X:67.49, Y:-2.74, Z:0.18 [[ 9.99581738e-01 -2.83471417e-02 -5.72619741e-03 6.74883962e+01] [ 2.83492596e-02 9.99598037e-01 2.89007412e-04 -2.74342700e+00] [ 5.71570316e-03 -4.51219988e-04 9.99983563e-01 1.78649713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36071405700001 meters Centerline goodness : 0.992060 with order 1 Centerline is valid? [True, True] Translation: X:67.55, Y:-2.74, Z:0.18 [[ 9.99569689e-01 -2.87688717e-02 -5.72617537e-03 6.75504680e+01] [ 2.87709989e-02 9.99585987e-01 2.89443440e-04 -2.74415259e+00] [ 5.71547770e-03 -4.54066675e-04 9.99983563e-01 1.77477672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42071405700001 meters Centerline goodness : 0.992454 with order 1 Centerline is valid? [True, True] Translation: X:67.61, Y:-2.75, Z:0.18 [[ 9.99577795e-01 -2.84858343e-02 -5.72614816e-03 6.76124445e+01] [ 2.84879599e-02 9.99594094e-01 2.89980858e-04 -2.74536521e+00] [ 5.71556353e-03 -4.52984706e-04 9.99983563e-01 1.77098864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48071405700001 meters Centerline goodness : 0.992083 with order 1 Centerline is valid? [True, True] Translation: X:67.68, Y:-2.75, Z:0.18 [[ 9.99549917e-01 -2.94478193e-02 -5.72612581e-03 6.76750883e+01] [ 2.94499631e-02 9.99566214e-01 2.90421367e-04 -2.74619766e+00] [ 5.71508962e-03 -4.58924848e-04 9.99983563e-01 1.79024978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54071405700002 meters Centerline goodness : 0.991825 with order 1 Centerline is valid? [True, True] Translation: X:67.74, Y:-2.75, Z:0.18 [[ 9.99616863e-01 -2.70802371e-02 -5.72609253e-03 6.77369424e+01] [ 2.70823460e-02 9.99633164e-01 2.91076185e-04 -2.74749319e+00] [ 5.71610958e-03 -4.46040682e-04 9.99983563e-01 1.82135450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.600714057 meters Centerline goodness : 0.992265 with order 1 Centerline is valid? [True, True] Translation: X:67.80, Y:-2.75, Z:0.18 [[ 9.99525490e-01 -3.02656078e-02 -5.72607032e-03 6.77991960e+01] [ 3.02677712e-02 9.99541784e-01 2.91512399e-04 -2.74776447e+00] [ 5.71462374e-03 -4.64689460e-04 9.99983563e-01 1.78464012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.660714057 meters Centerline goodness : 0.993379 with order 1 Centerline is valid? [True, True] Translation: X:67.86, Y:-2.75, Z:0.18 [[ 9.99575551e-01 -2.85645097e-02 -5.72604814e-03 6.78611617e+01] [ 2.85666478e-02 9.99591847e-01 2.91947346e-04 -2.74812972e+00] [ 5.71537171e-03 -4.55397430e-04 9.99983563e-01 1.77072001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72071405700001 meters Centerline goodness : 0.993415 with order 1 Centerline is valid? [True, True] Translation: X:67.92, Y:-2.75, Z:0.18 [[ 9.99590774e-01 -2.80267250e-02 -5.72602070e-03 6.79245695e+01] [ 2.80288574e-02 9.99607072e-01 2.92484518e-04 -2.74839393e+00] [ 5.71557340e-03 -4.52858644e-04 9.99983563e-01 1.81246909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78071405700001 meters Centerline goodness : 0.992178 with order 1 Centerline is valid? [True, True] Translation: X:67.99, Y:-2.75, Z:0.18 [[ 9.99650466e-01 -2.58100379e-02 -5.72598722e-03 6.79871716e+01] [ 2.58121379e-02 9.99666768e-01 2.93138581e-04 -2.74958323e+00] [ 5.71651322e-03 -4.40836091e-04 9.99983563e-01 1.81642117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84071405700001 meters Centerline goodness : 0.993181 with order 1 Centerline is valid? [True, True] Translation: X:68.05, Y:-2.75, Z:0.18 [[ 9.99726323e-01 -2.26824470e-02 -5.72595366e-03 6.80500061e+01] [ 2.26844997e-02 9.99742630e-01 2.93792721e-04 -2.75017828e+00] [ 5.71781603e-03 -4.23602710e-04 9.99983563e-01 1.83482077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90071405700002 meters Centerline goodness : 0.993114 with order 1 Centerline is valid? [True, True] Translation: X:68.11, Y:-2.75, Z:0.19 [[ 9.99828264e-01 -1.76254381e-02 -5.72592034e-03 6.81113215e+01] [ 1.76274120e-02 9.99844582e-01 2.94440548e-04 -2.75181929e+00] [ 5.71984079e-03 -3.95323139e-04 9.99983563e-01 1.88483457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96071405700002 meters Centerline goodness : 0.992629 with order 1 Centerline is valid? [True, True] Translation: X:68.17, Y:-2.75, Z:0.19 [[ 9.99833815e-01 -1.73077203e-02 -5.72590395e-03 6.81734342e+01] [ 1.73096909e-02 9.99850133e-01 2.94758922e-04 -2.75386770e+00] [ 5.71994422e-03 -3.93823565e-04 9.99983563e-01 1.87721971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.020714057 meters Centerline goodness : 0.993682 with order 1 Centerline is valid? [True, True] Translation: X:68.24, Y:-2.76, Z:0.19 [[ 9.99831317e-01 -1.74514062e-02 -5.72588161e-03 6.82355284e+01] [ 1.74533815e-02 9.99847635e-01 2.95192406e-04 -2.75738820e+00] [ 5.71985766e-03 -3.95078608e-04 9.99983563e-01 1.86667953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08071405700001 meters Centerline goodness : 0.993787 with order 1 Centerline is valid? [True, True] Translation: X:68.30, Y:-2.76, Z:0.19 [[ 9.99840075e-01 -1.69422161e-02 -5.72585908e-03 6.82965727e+01] [ 1.69441856e-02 9.99856393e-01 2.95628799e-04 -2.76022859e+00] [ 5.72002820e-03 -3.92601540e-04 9.99983563e-01 1.88098831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14071405700001 meters Centerline goodness : 0.992465 with order 1 Centerline is valid? [True, True] Translation: X:68.36, Y:-2.76, Z:0.19 [[ 9.99881387e-01 -1.42977960e-02 -5.72584243e-03 6.83575780e+01] [ 1.42997242e-02 9.99897710e-01 2.95950818e-04 -2.76292513e+00] [ 5.72102529e-03 -3.77793681e-04 9.99983563e-01 1.87399843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20071405700001 meters Centerline goodness : 0.992866 with order 1 Centerline is valid? [True, True] Translation: X:68.42, Y:-2.77, Z:0.19 [[ 9.99893394e-01 -1.34319148e-02 -5.72582616e-03 6.84193089e+01] [ 1.34338306e-02 9.99909718e-01 2.96265316e-04 -2.76634892e+00] [ 5.72132981e-03 -3.73153511e-04 9.99983563e-01 1.87065677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26071405700002 meters Centerline goodness : 0.993369 with order 1 Centerline is valid? [True, True] Translation: X:68.48, Y:-2.77, Z:0.18 [[ 9.99926943e-01 -1.06453241e-02 -5.72580491e-03 6.84811967e+01] [ 1.06471967e-02 9.99943273e-01 2.96675482e-04 -2.76957156e+00] [ 5.72232189e-03 -3.57617579e-04 9.99983563e-01 1.83811481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32071405700002 meters Centerline goodness : 0.992575 with order 1 Centerline is valid? [True, True] Translation: X:68.54, Y:-2.77, Z:0.18 [[ 9.99946469e-01 -8.61826997e-03 -5.72578236e-03 6.85426297e+01] [ 8.62011202e-03 9.99962802e-01 2.97110022e-04 -2.77335669e+00] [ 5.72300880e-03 -3.46451003e-04 9.99983563e-01 1.83927441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.380714057 meters Centerline goodness : 0.993151 with order 1 Centerline is valid? [True, True] Translation: X:68.60, Y:-2.78, Z:0.18 [[ 9.99946706e-01 -8.59076608e-03 -5.72576568e-03 6.86034396e+01] [ 8.59260951e-03 9.99963039e-01 2.97431116e-04 -2.77655783e+00] [ 5.72299889e-03 -3.46614534e-04 9.99983563e-01 1.84314631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44071405700001 meters Centerline goodness : 0.993661 with order 1 Centerline is valid? [True, True] Translation: X:68.67, Y:-2.78, Z:0.18 [[ 9.99934376e-01 -9.92265049e-03 -5.72575472e-03 6.86650433e+01] [ 9.92451688e-03 9.99950706e-01 2.97641923e-04 -2.77791971e+00] [ 5.72251908e-03 -3.54447740e-04 9.99983563e-01 1.84696462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50071405700001 meters Centerline goodness : 0.993855 with order 1 Centerline is valid? [True, True] Translation: X:68.73, Y:-2.78, Z:0.19 [[ 9.99939605e-01 -9.38096283e-03 -5.72574352e-03 6.87270921e+01] [ 9.38282160e-03 9.99955936e-01 2.97857272e-04 -2.78232281e+00] [ 5.72269703e-03 -3.51562913e-04 9.99983563e-01 1.85012816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56071405700001 meters Centerline goodness : 0.993429 with order 1 Centerline is valid? [True, True] Translation: X:68.79, Y:-2.79, Z:0.19 [[ 9.99906967e-01 -1.23803270e-02 -5.72572135e-03 6.87883934e+01] [ 1.23822372e-02 9.99923293e-01 2.98282747e-04 -2.78576244e+00] [ 5.72158931e-03 -3.69152236e-04 9.99983563e-01 1.85557909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62071405700001 meters Centerline goodness : 0.993900 with order 1 Centerline is valid? [True, True] Translation: X:68.85, Y:-2.79, Z:0.18 [[ 9.99866680e-01 -1.52917473e-02 -5.72571010e-03 6.88507701e+01] [ 1.52937062e-02 9.99883000e-01 2.98498619e-04 -2.79083971e+00] [ 5.72047562e-03 -3.86026152e-04 9.99983563e-01 1.84872426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68071405700002 meters Centerline goodness : 0.992718 with order 1 Centerline is valid? [True, True] Translation: X:68.91, Y:-2.80, Z:0.18 [[ 9.99808197e-01 -1.87292602e-02 -5.72568747e-03 6.89113396e+01] [ 1.87312777e-02 9.99824510e-01 2.98932088e-04 -2.79679334e+00] [ 5.71908389e-03 -4.06124194e-04 9.99983563e-01 1.84592188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.740714057 meters Centerline goodness : 0.992633 with order 1 Centerline is valid? [True, True] Translation: X:68.97, Y:-2.80, Z:0.19 [[ 9.99743840e-01 -2.18968283e-02 -5.72567072e-03 6.89735461e+01] [ 2.18988993e-02 9.99760146e-01 2.99252440e-04 -2.80165286e+00] [ 5.71774472e-03 -4.24561670e-04 9.99983563e-01 1.85368436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80071405700001 meters Centerline goodness : 0.992672 with order 1 Centerline is valid? [True, True] Translation: X:69.04, Y:-2.80, Z:0.19 [[ 9.99729503e-01 -2.25419182e-02 -5.72564879e-03 6.90361234e+01] [ 2.25440021e-02 9.99745807e-01 2.99671548e-04 -2.80456740e+00] [ 5.71743820e-03 -4.28669526e-04 9.99983563e-01 1.85503103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86071405700001 meters Centerline goodness : 0.992821 with order 1 Centerline is valid? [True, True] Translation: X:69.10, Y:-2.81, Z:0.18 [[ 9.99805511e-01 -1.88721203e-02 -5.72562715e-03 6.90983092e+01] [ 1.88741467e-02 9.99821822e-01 3.00084481e-04 -2.80981141e+00] [ 5.71894374e-03 -4.08092445e-04 9.99983563e-01 1.83439081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92071405700001 meters Centerline goodness : 0.992384 with order 1 Centerline is valid? [True, True] Translation: X:69.16, Y:-2.81, Z:0.18 [[ 9.99826289e-01 -1.77372551e-02 -5.72560419e-03 6.91591352e+01] [ 1.77392654e-02 9.99842602e-01 3.00521933e-04 -2.81344114e+00] [ 5.71937255e-03 -4.02037741e-04 9.99983563e-01 1.79234872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98071405700001 meters Centerline goodness : 0.993175 with order 1 Centerline is valid? [True, True] Translation: X:69.22, Y:-2.82, Z:0.18 [[ 9.99896739e-01 -1.31806134e-02 -5.72558724e-03 6.92215145e+01] [ 1.31825512e-02 9.99913061e-01 3.00844399e-04 -2.81529949e+00] [ 5.72112415e-03 -3.76291181e-04 9.99983563e-01 1.80264563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04071405700002 meters Centerline goodness : 0.992676 with order 1 Centerline is valid? [True, True] Translation: X:69.28, Y:-2.82, Z:0.18 [[ 9.99940644e-01 -9.26967326e-03 -5.72556441e-03 6.92837990e+01] [ 9.27154972e-03 9.99956973e-01 3.01278244e-04 -2.81828764e+00] [ 5.72252531e-03 -3.54345216e-04 9.99983563e-01 1.79366400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10071405700002 meters Centerline goodness : 0.992405 with order 1 Centerline is valid? [True, True] Translation: X:69.35, Y:-2.82, Z:0.19 [[ 9.99960402e-01 -6.81274822e-03 -5.72554111e-03 6.93452768e+01] [ 6.81458708e-03 9.99976735e-01 3.01720457e-04 -2.81996911e+00] [ 5.72335236e-03 -3.40725708e-04 9.99983563e-01 1.86612637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.160714057 meters Centerline goodness : 0.993047 with order 1 Centerline is valid? [True, True] Translation: X:69.41, Y:-2.82, Z:0.18 [[ 9.99930908e-01 -1.02663355e-02 -5.72552389e-03 6.94060236e+01] [ 1.02682326e-02 9.99947235e-01 3.02046807e-04 -2.82192010e+00] [ 5.72212087e-03 -3.60816949e-04 9.99983563e-01 1.83802767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22071405700001 meters Centerline goodness : 0.993029 with order 1 Centerline is valid? [True, True] Translation: X:69.47, Y:-2.82, Z:0.19 [[ 9.99931768e-01 -1.01821977e-02 -5.72552389e-03 6.94678173e+01] [ 1.01840934e-02 9.99948095e-01 3.02046807e-04 -2.82413100e+00] [ 5.72215121e-03 -3.60335468e-04 9.99983563e-01 1.85283029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28071405700001 meters Centerline goodness : 0.993178 with order 1 Centerline is valid? [True, True] Translation: X:69.53, Y:-2.83, Z:0.18 [[ 9.99920882e-01 -1.12004089e-02 -5.72550107e-03 6.95291423e+01] [ 1.12023237e-02 9.99937206e-01 3.02478772e-04 -2.82839530e+00] [ 5.72175366e-03 -3.66593756e-04 9.99983563e-01 1.83084896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34071405700001 meters Centerline goodness : 0.994623 with order 1 Centerline is valid? [True, True] Translation: X:69.59, Y:-2.82, Z:0.20 [[ 9.99834836e-01 -1.72487770e-02 -5.72548421e-03 6.95903518e+01] [ 1.72507924e-02 9.99851148e-01 3.02797574e-04 -2.82129337e+00] [ 5.71940908e-03 -4.01516702e-04 9.99983563e-01 1.95387327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40071405700002 meters Centerline goodness : 0.993462 with order 1 Centerline is valid? [True, True] Translation: X:69.65, Y:-2.84, Z:0.18 [[ 9.99950676e-01 -8.11566985e-03 -5.72544138e-03 6.96521873e+01] [ 8.11754074e-03 9.99967006e-01 3.03605330e-04 -2.83899724e+00] [ 5.72278851e-03 -3.50066859e-04 9.99983563e-01 1.77781853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46071405700002 meters Centerline goodness : 0.993588 with order 1 Centerline is valid? [True, True] Translation: X:69.71, Y:-2.84, Z:0.18 [[ 9.99880099e-01 -1.43877631e-02 -5.72541841e-03 6.97136366e+01] [ 1.43897388e-02 9.99896416e-01 3.04037912e-04 -2.83863389e+00] [ 5.72045092e-03 -3.86388733e-04 9.99983563e-01 1.84658656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.520714057 meters Centerline goodness : 0.993298 with order 1 Centerline is valid? [True, True] Translation: X:69.78, Y:-2.84, Z:0.19 [[ 9.99864768e-01 -1.54164073e-02 -5.72540710e-03 6.97754545e+01] [ 1.54184010e-02 9.99881083e-01 3.04250686e-04 -2.84164071e+00] [ 5.72003580e-03 -3.92486164e-04 9.99983563e-01 1.86452439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58071405700001 meters Centerline goodness : 0.995076 with order 1 Centerline is valid? [True, True] Translation: X:69.84, Y:-2.84, Z:0.19 [[ 9.99718555e-01 -2.30224006e-02 -5.72538419e-03 6.98369582e+01] [ 2.30245209e-02 9.99734854e-01 3.04681211e-04 -2.83710528e+00] [ 5.71685164e-03 -4.36419687e-04 9.99983563e-01 1.87034617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64071405700001 meters Centerline goodness : 0.994304 with order 1 Centerline is valid? [True, True] Translation: X:69.90, Y:-2.85, Z:0.18 [[ 9.99852660e-01 -1.61826532e-02 -5.72531071e-03 6.98985046e+01] [ 1.61846698e-02 9.99868973e-01 3.06055861e-04 -2.85158640e+00] [ 5.71960774e-03 -3.98673030e-04 9.99983563e-01 1.82025704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70071405700001 meters Centerline goodness : 0.995587 with order 1 Centerline is valid? [True, True] Translation: X:69.96, Y:-2.84, Z:0.19 [[ 9.99659827e-01 -2.54450553e-02 -5.72528730e-03 6.99605256e+01] [ 2.54472254e-02 9.99676120e-01 3.06493093e-04 -2.84463149e+00] [ 5.71563426e-03 -4.52081508e-04 9.99983563e-01 1.88406347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76071405700002 meters Centerline goodness : 0.994303 with order 1 Centerline is valid? [True, True] Translation: X:70.02, Y:-2.86, Z:0.18 [[ 9.99755811e-01 -2.13434105e-02 -5.72521183e-03 7.00221059e+01] [ 2.13455217e-02 9.99772111e-01 3.07896360e-04 -2.85927528e+00] [ 5.71733556e-03 -4.30028808e-04 9.99983563e-01 1.84747534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82071405700002 meters Centerline goodness : 0.994392 with order 1 Centerline is valid? [True, True] Translation: X:70.08, Y:-2.86, Z:0.19 [[ 9.99747856e-01 -2.17128158e-02 -5.72518845e-03 7.00845828e+01] [ 2.17149355e-02 9.99764155e-01 3.08330612e-04 -2.86294288e+00] [ 5.71714347e-03 -4.32574966e-04 9.99983563e-01 1.90983674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.880714057 meters Centerline goodness : 0.994481 with order 1 Centerline is valid? [True, True] Translation: X:70.15, Y:-2.87, Z:0.19 [[ 9.99729636e-01 -2.25361324e-02 -5.72516521e-03 7.01464567e+01] [ 2.25382680e-02 9.99745933e-01 3.08761549e-04 -2.86566023e+00] [ 5.71675234e-03 -4.37713379e-04 9.99983563e-01 1.91336800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94071405700001 meters Centerline goodness : 0.994176 with order 1 Centerline is valid? [True, True] Translation: X:70.21, Y:-2.87, Z:0.19 [[ 9.99729602e-01 -2.25376679e-02 -5.72514194e-03 7.02085118e+01] [ 2.25398060e-02 9.99745898e-01 3.09192294e-04 -2.86988640e+00] [ 5.71671870e-03 -4.38152277e-04 9.99983563e-01 1.91227740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00071405700001 meters Centerline goodness : 0.994146 with order 1 Centerline is valid? [True, True] Translation: X:70.27, Y:-2.87, Z:0.19 [[ 9.99733197e-01 -2.23776036e-02 -5.72511308e-03 7.02713483e+01] [ 2.23797421e-02 9.99749494e-01 3.09725790e-04 -2.87452131e+00] [ 5.71674799e-03 -4.37769709e-04 9.99983563e-01 1.91885455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06071405700001 meters Centerline goodness : 0.994679 with order 1 Centerline is valid? [True, True] Translation: X:70.33, Y:-2.88, Z:0.19 [[ 9.99777763e-01 -2.02891257e-02 -5.72507786e-03 7.03331624e+01] [ 2.02912338e-02 9.99794064e-01 3.10375394e-04 -2.87940687e+00] [ 5.71760162e-03 -4.26475310e-04 9.99983563e-01 1.89631297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12071405700001 meters Centerline goodness : 0.993815 with order 1 Centerline is valid? [True, True] Translation: X:70.39, Y:-2.88, Z:0.19 [[ 9.99797410e-01 -1.92966785e-02 -5.72505478e-03 7.03949892e+01] [ 1.92987729e-02 9.99813713e-01 3.10800585e-04 -2.88181511e+00] [ 5.71799086e-03 -4.21224152e-04 9.99983563e-01 1.91544921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18071405700002 meters Centerline goodness : 0.993618 with order 1 Centerline is valid? [True, True] Translation: X:70.46, Y:-2.89, Z:0.19 [[ 9.99835998e-01 -1.71814101e-02 -5.72503138e-03 7.04565491e+01] [ 1.71834725e-02 9.99852305e-01 3.11231083e-04 -2.88641912e+00] [ 5.71883843e-03 -4.09555960e-04 9.99983563e-01 1.91750817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.240714057 meters Centerline goodness : 0.994662 with order 1 Centerline is valid? [True, True] Translation: X:70.52, Y:-2.89, Z:0.19 [[ 9.99859291e-01 -1.57677763e-02 -5.72500754e-03 7.05186951e+01] [ 1.57698181e-02 9.99875600e-01 3.11668933e-04 -2.89034222e+00] [ 5.71938103e-03 -4.01907405e-04 9.99983563e-01 1.91524312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30071405700001 meters Centerline goodness : 0.994542 with order 1 Centerline is valid? [True, True] Translation: X:70.58, Y:-2.89, Z:0.19 [[ 9.99870734e-01 -1.50246123e-02 -5.72498403e-03 7.05803816e+01] [ 1.50266444e-02 9.99887045e-01 3.12100237e-04 -2.89279197e+00] [ 5.71964818e-03 -3.98087192e-04 9.99983563e-01 1.93623982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36071405700001 meters Centerline goodness : 0.994303 with order 1 Centerline is valid? [True, True] Translation: X:70.64, Y:-2.90, Z:0.19 [[ 9.99909808e-01 -1.21491182e-02 -5.72496051e-03 7.06420970e+01] [ 1.21511059e-02 9.99926124e-01 3.12530968e-04 -2.89524783e+00] [ 5.72074060e-03 -3.82067382e-04 9.99983563e-01 1.94270070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42071405700001 meters Centerline goodness : 0.993527 with order 1 Centerline is valid? [True, True] Translation: X:70.70, Y:-2.90, Z:0.19 [[ 9.99919134e-01 -1.13556561e-02 -5.72493703e-03 7.07037785e+01] [ 1.13576333e-02 9.99935451e-01 3.12960653e-04 -2.89799439e+00] [ 5.72101361e-03 -3.77957080e-04 9.99983563e-01 1.94118132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48071405700001 meters Centerline goodness : 0.994588 with order 1 Centerline is valid? [True, True] Translation: X:70.77, Y:-2.90, Z:0.20 [[ 9.99954165e-01 -7.67416194e-03 -5.72491349e-03 7.07658724e+01] [ 7.67608144e-03 9.99970489e-01 3.13390525e-04 -2.89910421e+00] [ 5.72233954e-03 -3.57321063e-04 9.99983563e-01 1.96195336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54071405700002 meters Centerline goodness : 0.993596 with order 1 Centerline is valid? [True, True] Translation: X:70.83, Y:-2.90, Z:0.20 [[ 9.99980717e-01 -2.40632874e-03 -5.72488984e-03 7.08272129e+01] [ 2.40816468e-03 9.99997051e-01 3.13822062e-04 -2.90132576e+00] [ 5.72411780e-03 -3.27602488e-04 9.99983563e-01 1.96437444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60071405700002 meters Centerline goodness : 0.993342 with order 1 Centerline is valid? [True, True] Translation: X:70.89, Y:-2.90, Z:0.20 [[ 9.99982279e-01 1.63308319e-03 -5.72487809e-03 7.08864001e+01] [-1.63131203e-03 9.99998620e-01 3.14036265e-04 -2.90404384e+00] [ 5.72538304e-03 -3.04691638e-04 9.99983563e-01 1.97195243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.660714057 meters Centerline goodness : 0.993752 with order 1 Centerline is valid? [True, True] Translation: X:70.94, Y:-2.91, Z:0.20 [[ 9.99982015e-01 1.78743992e-03 -5.72488987e-03 7.09439993e+01] [-1.78567250e-03 9.99998356e-01 3.13821294e-04 -2.90822165e+00] [ 5.72544140e-03 -3.03592872e-04 9.99983563e-01 1.96670409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72071405700001 meters Centerline goodness : 0.992799 with order 1 Centerline is valid? [True, True] Translation: X:71.00, Y:-2.91, Z:0.19 [[ 9.99982577e-01 -1.43943003e-03 -5.72491875e-03 7.10021399e+01] [ 1.44124716e-03 9.99998912e-01 3.13293638e-04 -2.91378622e+00] [ 5.72446156e-03 -3.21539202e-04 9.99983563e-01 1.94236193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78071405700001 meters Centerline goodness : 0.993633 with order 1 Centerline is valid? [True, True] Translation: X:71.06, Y:-2.92, Z:0.20 [[ 9.99962919e-01 -6.43324040e-03 -5.72494052e-03 7.10606534e+01] [ 6.43513681e-03 9.99979245e-01 3.12895239e-04 -2.91754514e+00] [ 5.72280877e-03 -3.49724412e-04 9.99983563e-01 1.95227839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84071405700001 meters Centerline goodness : 0.992349 with order 1 Centerline is valid? [True, True] Translation: X:71.12, Y:-2.92, Z:0.20 [[ 9.99906838e-01 -1.23911243e-02 -5.72495655e-03 7.11209067e+01] [ 1.23931162e-02 9.99923154e-01 3.12601648e-04 -2.92162814e+00] [ 5.72064312e-03 -3.83522578e-04 9.99983563e-01 1.95945041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90071405700002 meters Centerline goodness : 0.992758 with order 1 Centerline is valid? [True, True] Translation: X:71.18, Y:-2.93, Z:0.20 [[ 9.99866583e-01 -1.52983834e-02 -5.72495136e-03 7.11831984e+01] [ 1.53004234e-02 9.99882893e-01 3.12696680e-04 -2.92616185e+00] [ 5.71949718e-03 -4.00249140e-04 9.99983563e-01 1.95469683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96071405700002 meters Centerline goodness : 0.991988 with order 1 Centerline is valid? [True, True] Translation: X:71.25, Y:-2.93, Z:0.20 [[ 9.99781554e-01 -2.01014849e-02 -5.72492921e-03 7.12456419e+01] [ 2.01036055e-02 9.99797853e-01 3.13101795e-04 -2.93095942e+00] [ 5.71747812e-03 -4.28125117e-04 9.99983563e-01 1.95143801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.020714057 meters Centerline goodness : 0.991904 with order 1 Centerline is valid? [True, True] Translation: X:71.31, Y:-2.93, Z:0.20 [[ 9.99735874e-01 -2.22577370e-02 -5.72489623e-03 7.13076554e+01] [ 2.22598962e-02 9.99752169e-01 3.13703562e-04 -2.93487564e+00] [ 5.71649509e-03 -4.41056301e-04 9.99983563e-01 1.97498787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08071405700001 meters Centerline goodness : 0.992277 with order 1 Centerline is valid? [True, True] Translation: X:71.37, Y:-2.94, Z:0.20 [[ 9.99682942e-01 -2.45202025e-02 -5.72487255e-03 7.13691590e+01] [ 2.45224010e-02 9.99699231e-01 3.14135098e-04 -2.93825656e+00] [ 5.71544803e-03 -4.54423119e-04 9.99983563e-01 1.95610336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14071405700001 meters Centerline goodness : 0.991663 with order 1 Centerline is valid? [True, True] Translation: X:71.43, Y:-2.94, Z:0.20 [[ 9.99715038e-01 -2.31747500e-02 -5.72485503e-03 7.14323147e+01] [ 2.31769284e-02 9.99731329e-01 3.14454179e-04 -2.94153150e+00] [ 5.71602953e-03 -4.47049126e-04 9.99983563e-01 1.96506962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20071405700001 meters Centerline goodness : 0.992842 with order 1 Centerline is valid? [True, True] Translation: X:71.49, Y:-2.94, Z:0.19 [[ 9.99711783e-01 -2.33147488e-02 -5.72481932e-03 7.14944990e+01] [ 2.33169331e-02 9.99728074e-01 3.15102816e-04 -2.94466456e+00] [ 5.71591605e-03 -4.48497227e-04 9.99983563e-01 1.92528823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26071405700002 meters Centerline goodness : 0.992244 with order 1 Centerline is valid? [True, True] Translation: X:71.56, Y:-2.95, Z:0.19 [[ 9.99648300e-01 -2.58940957e-02 -5.72476250e-03 7.15561714e+01] [ 2.58963279e-02 9.99664584e-01 3.16131911e-04 -2.94894924e+00] [ 5.71465637e-03 -4.64271054e-04 9.99983563e-01 1.90748945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32071405700002 meters Centerline goodness : 0.992812 with order 1 Centerline is valid? [True, True] Translation: X:71.62, Y:-2.95, Z:0.19 [[ 9.99649857e-01 -2.58338926e-02 -5.72473784e-03 7.16177800e+01] [ 2.58361264e-02 9.99666141e-01 3.16577755e-04 -2.95169045e+00] [ 5.71464815e-03 -4.64371957e-04 9.99983563e-01 1.90867481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.380714057 meters Centerline goodness : 0.993255 with order 1 Centerline is valid? [True, True] Translation: X:71.68, Y:-2.95, Z:0.19 [[ 9.99551589e-01 -2.93912940e-02 -5.72470772e-03 7.16804381e+01] [ 2.93935888e-02 9.99567865e-01 3.17121581e-04 -2.95266665e+00] [ 5.71291325e-03 -4.85249085e-04 9.99983563e-01 1.93551991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44071405700001 meters Centerline goodness : 0.993380 with order 1 Centerline is valid? [True, True] Translation: X:71.74, Y:-2.95, Z:0.20 [[ 9.99514246e-01 -3.06349528e-02 -5.72468324e-03 7.17417336e+01] [ 3.06372703e-02 9.99530518e-01 3.17562826e-04 -2.95321158e+00] [ 5.71226708e-03 -4.92797237e-04 9.99983563e-01 1.95773538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50071405700001 meters Centerline goodness : 0.995371 with order 1 Centerline is valid? [True, True] Translation: X:71.80, Y:-2.95, Z:0.19 [[ 9.99376475e-01 -3.48409195e-02 -5.72466514e-03 7.18039958e+01] [ 3.48433074e-02 9.99392737e-01 3.17888693e-04 -2.94777693e+00] [ 5.71011323e-03 -5.17156748e-04 9.99983563e-01 1.94264150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56071405700001 meters Centerline goodness : 0.992573 with order 1 Centerline is valid? [True, True] Translation: X:71.86, Y:-2.96, Z:0.19 [[ 9.99709548e-01 -2.34104288e-02 -5.72463537e-03 7.18646016e+01] [ 2.34126336e-02 9.99725836e-01 3.18423967e-04 -2.95900775e+00] [ 5.71561144e-03 -4.52360270e-04 9.99983563e-01 1.94892361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62071405700001 meters Centerline goodness : 0.992310 with order 1 Centerline is valid? [True, True] Translation: X:71.93, Y:-2.96, Z:0.19 [[ 9.99702367e-01 -2.37151099e-02 -5.72461897e-03 7.19274978e+01] [ 2.37173213e-02 9.99718654e-01 3.18718498e-04 -2.96332669e+00] [ 5.71544993e-03 -4.54396265e-04 9.99983563e-01 1.92863818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68071405700002 meters Centerline goodness : 0.992669 with order 1 Centerline is valid? [True, True] Translation: X:71.99, Y:-2.96, Z:0.20 [[ 9.99717439e-01 -2.30709953e-02 -5.72458287e-03 7.19884600e+01] [ 2.30731999e-02 9.99733727e-01 3.19365605e-04 -2.96148854e+00] [ 5.71569049e-03 -4.51359810e-04 9.99983563e-01 1.95521149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.740714057 meters Centerline goodness : 0.992056 with order 1 Centerline is valid? [True, True] Translation: X:72.05, Y:-2.97, Z:0.19 [[ 9.99807313e-01 -1.87767476e-02 -5.72456538e-03 7.20509649e+01] [ 1.87788840e-02 9.99823610e-01 3.19678890e-04 -2.96540596e+00] [ 5.71755309e-03 -4.27118241e-04 9.99983563e-01 1.89204704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80071405700001 meters Centerline goodness : 0.992504 with order 1 Centerline is valid? [True, True] Translation: X:72.11, Y:-2.96, Z:0.19 [[ 9.99761120e-01 -2.10934312e-02 -5.72452839e-03 7.21136455e+01] [ 2.10956092e-02 9.99777412e-01 3.20339890e-04 -2.96437626e+00] [ 5.71649710e-03 -4.41025781e-04 9.99983563e-01 1.94532261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86071405700001 meters Centerline goodness : 0.992414 with order 1 Centerline is valid? [True, True] Translation: X:72.18, Y:-2.96, Z:0.19 [[ 9.99811060e-01 -1.85761593e-02 -5.72450421e-03 7.21750297e+01] [ 1.85782987e-02 9.99827357e-01 3.20771398e-04 -2.96490943e+00] [ 5.71755721e-03 -4.27062341e-04 9.99983563e-01 1.94615700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92071405700001 meters Centerline goodness : 0.992293 with order 1 Centerline is valid? [True, True] Translation: X:72.24, Y:-2.96, Z:0.20 [[ 9.99917508e-01 -1.14981378e-02 -5.72448626e-03 7.22377763e+01] [ 1.15001636e-02 9.99933819e-01 3.21091367e-04 -2.96484183e+00] [ 5.72041546e-03 -3.86897408e-04 9.99983563e-01 1.98247300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98071405700001 meters Centerline goodness : 0.992575 with order 1 Centerline is valid? [True, True] Translation: X:72.30, Y:-2.96, Z:0.20 [[ 9.99933107e-01 -1.00505120e-02 -5.72446133e-03 7.22994459e+01] [ 1.00525167e-02 9.99949420e-01 3.21535208e-04 -2.96464028e+00] [ 5.72094020e-03 -3.79058943e-04 9.99983563e-01 2.03545274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04071405700002 meters Centerline goodness : 0.991408 with order 1 Centerline is valid? [True, True] Translation: X:72.36, Y:-2.97, Z:0.20 [[ 9.99981312e-01 -2.14607509e-03 -5.72444311e-03 7.23607102e+01] [ 2.14795263e-03 9.99997641e-01 3.21859183e-04 -2.96736911e+00] [ 5.72373888e-03 -3.34149001e-04 9.99983563e-01 2.03786161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10071405700002 meters Centerline goodness : 0.992465 with order 1 Centerline is valid? [True, True] Translation: X:72.42, Y:-2.97, Z:0.20 [[ 9.99951755e-01 7.98233421e-03 -5.72443092e-03 7.24198244e+01] [-7.98062091e-03 9.99968102e-01 3.22075824e-04 -2.97137025e+00] [ 5.72681925e-03 -2.76375773e-04 9.99983563e-01 2.00368137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.160714057 meters Centerline goodness : 0.992140 with order 1 Centerline is valid? [True, True] Translation: X:72.48, Y:-2.98, Z:0.20 [[ 9.99845604e-01 1.66132116e-02 -5.72444301e-03 7.24783142e+01] [-1.66116407e-02 9.99861965e-01 3.21860870e-04 -2.97614013e+00] [ 5.72899998e-03 -2.26718786e-04 9.99983563e-01 1.98433265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22071405700001 meters Centerline goodness : 0.990934 with order 1 Centerline is valid? [True, True] Translation: X:72.54, Y:-2.98, Z:0.20 [[ 9.99775169e-01 2.04166913e-02 -5.72452699e-03 7.25355111e+01] [-2.04151913e-02 9.99791537e-01 3.20360208e-04 -2.97891312e+00] [ 5.72987433e-03 -2.03420867e-04 9.99983563e-01 2.00445242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28071405700001 meters Centerline goodness : 0.993348 with order 1 Centerline is valid? [True, True] Translation: X:72.59, Y:-2.97, Z:0.21 [[ 9.99908200e-01 1.22809014e-02 -5.72456209e-03 7.25941538e+01] [-1.22792717e-02 9.99924556e-01 3.19731725e-04 -2.97242409e+00] [ 5.72805680e-03 -2.49408920e-04 9.99983563e-01 2.07539914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34071405700001 meters Centerline goodness : 0.991255 with order 1 Centerline is valid? [True, True] Translation: X:72.65, Y:-2.99, Z:0.20 [[ 9.99781940e-01 2.00823434e-02 -5.72459827e-03 7.26502796e+01] [-2.00808451e-02 9.99798309e-01 3.19082707e-04 -2.98803919e+00] [ 5.72985160e-03 -2.04058357e-04 9.99983563e-01 2.02613503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40071405700002 meters Centerline goodness : 0.991912 with order 1 Centerline is valid? [True, True] Translation: X:72.71, Y:-2.99, Z:0.20 [[ 9.99883291e-01 1.41644636e-02 -5.72463993e-03 7.27086096e+01] [-1.41628728e-02 9.99899651e-01 3.18333441e-04 -2.99287588e+00] [ 5.72857449e-03 -2.37218942e-04 9.99983563e-01 2.00717172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46071405700002 meters Centerline goodness : 0.991922 with order 1 Centerline is valid? [True, True] Translation: X:72.77, Y:-3.00, Z:0.21 [[ 9.99960759e-01 6.76082016e-03 -5.72466347e-03 7.27652976e+01] [-6.75911069e-03 9.99977106e-01 3.17909718e-04 -2.99881389e+00] [ 5.72668174e-03 -2.79203609e-04 9.99983563e-01 2.05040055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.520714057 meters Centerline goodness : 0.992589 with order 1 Centerline is valid? [True, True] Translation: X:72.82, Y:-3.01, Z:0.20 [[ 9.99971437e-01 -4.93487576e-03 -5.72470383e-03 7.28234394e+01] [ 4.93677215e-03 9.99987764e-01 3.17181256e-04 -3.00768401e+00] [ 5.72306853e-03 -3.45433755e-04 9.99983563e-01 2.01439810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58071405700001 meters Centerline goodness : 0.993552 with order 1 Centerline is valid? [True, True] Translation: X:72.88, Y:-3.02, Z:0.20 [[ 9.99934541e-01 -9.90667007e-03 -5.72472755e-03 7.28837534e+01] [ 9.90864517e-03 9.99950858e-01 3.16752492e-04 -3.01567504e+00] [ 5.72130826e-03 -3.73456051e-04 9.99983563e-01 2.03901260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64071405700001 meters Centerline goodness : 0.994145 with order 1 Centerline is valid? [True, True] Translation: X:72.94, Y:-3.02, Z:0.20 [[ 9.99904295e-01 -1.25948013e-02 -5.72472755e-03 7.29448563e+01] [ 1.25968203e-02 9.99920607e-01 3.16752492e-04 -3.02271290e+00] [ 5.72028361e-03 -3.88835541e-04 9.99983563e-01 2.04541210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70071405700001 meters Centerline goodness : 0.994563 with order 1 Centerline is valid? [True, True] Translation: X:73.01, Y:-3.03, Z:0.20 [[ 9.99864028e-01 -1.54645685e-02 -5.72471528e-03 7.30054706e+01] [ 1.54666355e-02 9.99880334e-01 3.16974047e-04 -3.02821050e+00] [ 5.71912836e-03 -4.05473032e-04 9.99983563e-01 2.00590238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76071405700002 meters Centerline goodness : 0.994126 with order 1 Centerline is valid? [True, True] Translation: X:73.07, Y:-3.03, Z:0.20 [[ 9.99900545e-01 -1.28890972e-02 -5.72469710e-03 7.30675212e+01] [ 1.28911241e-02 9.99916856e-01 3.17302108e-04 -3.03321075e+00] [ 5.72013139e-03 -3.91068332e-04 9.99983563e-01 2.01127241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82071405700002 meters Centerline goodness : 0.993966 with order 1 Centerline is valid? [True, True] Translation: X:73.13, Y:-3.04, Z:0.20 [[ 9.99917400e-01 -1.15074747e-02 -5.72467435e-03 7.31300354e+01] [ 1.15094814e-02 9.99933713e-01 3.17711977e-04 -3.03781847e+00] [ 5.72063882e-03 -3.83573767e-04 9.99983563e-01 2.02501316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.880714057 meters Centerline goodness : 0.994338 with order 1 Centerline is valid? [True, True] Translation: X:73.19, Y:-3.04, Z:0.20 [[ 9.99951784e-01 -7.97856706e-03 -5.72464559e-03 7.31912730e+01] [ 7.98051911e-03 9.99968105e-01 3.18229469e-04 -3.04227966e+00] [ 5.72192398e-03 -3.63899769e-04 9.99983563e-01 2.04677353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94071405700001 meters Centerline goodness : 0.994022 with order 1 Centerline is valid? [True, True] Translation: X:73.25, Y:-3.04, Z:0.21 [[ 9.99943023e-01 -9.00990229e-03 -5.72463388e-03 7.32513485e+01] [ 9.01187238e-03 9.99959342e-01 3.18439938e-04 -3.04445521e+00] [ 5.72153201e-03 -3.70011465e-04 9.99983563e-01 2.08413145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00071405700001 meters Centerline goodness : 0.993391 with order 1 Centerline is valid? [True, True] Translation: X:73.31, Y:-3.05, Z:0.21 [[ 9.99947643e-01 -8.48179396e-03 -5.72462809e-03 7.33125442e+01] [ 8.48375603e-03 9.99963962e-01 3.18543932e-04 -3.04725477e+00] [ 5.72171996e-03 -3.67093602e-04 9.99983563e-01 2.12042848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06071405700001 meters Centerline goodness : 0.994075 with order 1 Centerline is valid? [True, True] Translation: X:73.37, Y:-3.05, Z:0.21 [[ 9.99963666e-01 -6.31621186e-03 -5.72461594e-03 7.33728282e+01] [ 6.31813982e-03 9.99979990e-01 3.18762157e-04 -3.05069494e+00] [ 5.72248802e-03 -3.54919500e-04 9.99983563e-01 2.10408653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12071405700001 meters Centerline goodness : 0.993529 with order 1 Centerline is valid? [True, True] Translation: X:73.43, Y:-3.06, Z:0.21 [[ 9.99980759e-01 -2.38972580e-03 -5.72459632e-03 7.34332891e+01] [ 2.39159166e-03 9.99997089e-01 3.19114077e-04 -3.05537440e+00] [ 5.72381706e-03 -3.32798834e-04 9.99983563e-01 2.09518545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18071405700002 meters Centerline goodness : 0.992713 with order 1 Centerline is valid? [True, True] Translation: X:73.49, Y:-3.06, Z:0.21 [[ 9.99979684e-01 2.80356132e-03 -5.72459632e-03 7.34915626e+01] [-2.80178029e-03 9.99996024e-01 3.19114077e-04 -3.05841480e+00] [ 5.72546822e-03 -3.03068533e-04 9.99983563e-01 2.07453612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.240714057 meters Centerline goodness : 0.993339 with order 1 Centerline is valid? [True, True] Translation: X:73.55, Y:-3.06, Z:0.21 [[ 9.99965776e-01 5.97290363e-03 -5.72461390e-03 7.35483087e+01] [-5.97117620e-03 9.99982122e-01 3.18798367e-04 -3.06127518e+00] [ 5.72641571e-03 -2.84604778e-04 9.99983563e-01 2.06747414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30071405700001 meters Centerline goodness : 0.986303 with order 1 Centerline is valid? [True, True] Translation: X:73.61, Y:-3.05, Z:0.20 [[ 9.99980052e-01 2.66886414e-03 -5.72467677e-03 7.36075380e+01] [-2.66708918e-03 9.99996393e-01 3.17665388e-04 -3.05233894e+00] [ 5.72550393e-03 -3.02390827e-04 9.99983563e-01 2.04075920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36071405700001 meters Centerline goodness : 0.991415 with order 1 Centerline is valid? [True, True] Translation: X:73.66, Y:-3.07, Z:0.20 [[ 9.99844034e-01 1.67073467e-02 -5.72472818e-03 7.36640076e+01] [-1.67058066e-02 9.99860398e-01 3.16736315e-04 -3.07052438e+00] [ 5.72922082e-03 -2.21050713e-04 9.99983563e-01 2.02493414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42071405700001 meters Centerline goodness : 0.994374 with order 1 Centerline is valid? [True, True] Translation: X:73.72, Y:-3.06, Z:0.21 [[ 9.99976767e-01 3.70025043e-03 -5.72485122e-03 7.37233299e+01] [-3.69851042e-03 9.99993111e-01 3.14496587e-04 -3.05698816e+00] [ 5.72597549e-03 -2.93315858e-04 9.99983563e-01 2.10360102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48071405700001 meters Centerline goodness : 0.986508 with order 1 Centerline is valid? [True, True] Translation: X:73.78, Y:-3.06, Z:0.21 [[ 9.99979906e-01 2.72292780e-03 -5.72487357e-03 7.37823911e+01] [-2.72117415e-03 9.99996248e-01 3.14089149e-04 -3.05935479e+00] [ 5.72570733e-03 -2.98504459e-04 9.99983563e-01 2.08343102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54071405700002 meters Centerline goodness : 0.993922 with order 1 Centerline is valid? [True, True] Translation: X:73.84, Y:-3.07, Z:0.21 [[ 9.99983085e-01 -1.02690763e-03 -5.72488873e-03 7.38395395e+01] [ 1.02872098e-03 9.99999422e-01 3.13812681e-04 -3.06650724e+00] [ 5.72456316e-03 -3.19696686e-04 9.99983563e-01 2.10086772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60071405700002 meters Centerline goodness : 0.984556 with order 1 Centerline is valid? [True, True] Translation: X:73.90, Y:-3.07, Z:0.21 [[ 9.99955948e-01 -7.43823310e-03 -5.72492656e-03 7.38990009e+01] [ 7.44014720e-03 9.99972273e-01 3.13121002e-04 -3.07078518e+00] [ 5.72243875e-03 -3.55701505e-04 9.99983563e-01 2.05383721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.660714057 meters Centerline goodness : 0.991259 with order 1 Centerline is valid? [True, True] Translation: X:73.96, Y:-3.08, Z:0.20 [[ 9.99954219e-01 -7.66715808e-03 -5.72493425e-03 7.39590447e+01] [ 7.66907512e-03 9.99970543e-01 3.12980322e-04 -3.08290033e+00] [ 5.72236594e-03 -3.56870945e-04 9.99983563e-01 2.04506876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72071405700001 meters Centerline goodness : 0.993847 with order 1 Centerline is valid? [True, True] Translation: X:74.02, Y:-3.08, Z:0.21 [[ 9.99868137e-01 -1.51965293e-02 -5.72492655e-03 7.40200714e+01] [ 1.51985700e-02 9.99884446e-01 3.13121118e-04 -3.08082875e+00] [ 5.71950665e-03 -4.00090526e-04 9.99983563e-01 2.05529453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78071405700001 meters Centerline goodness : 0.990485 with order 1 Centerline is valid? [True, True] Translation: X:74.08, Y:-3.10, Z:0.21 [[ 9.99964387e-01 -6.20075183e-03 -5.72492132e-03 7.40807319e+01] [ 6.20264627e-03 9.99980714e-01 3.13216618e-04 -3.09556662e+00] [ 5.72286873e-03 -3.48715125e-04 9.99983563e-01 2.06552487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84071405700001 meters Centerline goodness : 0.990885 with order 1 Centerline is valid? [True, True] Translation: X:74.14, Y:-3.09, Z:0.21 [[ 9.99896509e-01 -1.31983870e-02 -5.72490980e-03 7.41414890e+01] [ 1.32003969e-02 9.99912822e-01 3.13426984e-04 -3.08773403e+00] [ 5.72027399e-03 -3.88965629e-04 9.99983563e-01 2.07405959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90071405700002 meters Centerline goodness : 0.982290 with order 1 Centerline is valid? [True, True] Translation: X:74.20, Y:-3.09, Z:0.21 [[ 9.99936124e-01 -9.74541052e-03 -5.72490980e-03 7.42023068e+01] [ 9.74736403e-03 9.99952444e-01 3.13426984e-04 -3.08836217e+00] [ 5.72158308e-03 -3.69209744e-04 9.99983563e-01 2.06290741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96071405700002 meters Centerline goodness : 0.992194 with order 1 Centerline is valid? [True, True] Translation: X:74.26, Y:-3.10, Z:0.21 [[ 9.99977210e-01 -3.57847413e-03 -5.72488566e-03 7.42631592e+01] [ 3.58032947e-03 9.99993541e-01 3.13867310e-04 -3.09910894e+00] [ 5.72372552e-03 -3.34357134e-04 9.99983563e-01 2.11491592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.020714057 meters Centerline goodness : 0.991852 with order 1 Centerline is valid? [True, True] Translation: X:74.32, Y:-3.10, Z:0.21 [[ 9.99974492e-01 -4.27105198e-03 -5.72486886e-03 7.43222177e+01] [ 4.27292037e-03 9.99990822e-01 3.14173572e-04 -3.10114602e+00] [ 5.72347446e-03 -3.38627467e-04 9.99983563e-01 2.08821415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08071405700001 meters Centerline goodness : 0.991844 with order 1 Centerline is valid? [True, True] Translation: X:74.38, Y:-3.10, Z:0.21 [[ 9.99948012e-01 -8.43798405e-03 -5.72486837e-03 7.43813822e+01] [ 8.43992053e-03 9.99964334e-01 3.14182468e-04 -3.10323454e+00] [ 5.72201312e-03 -3.62483568e-04 9.99983563e-01 2.07046292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14071405700001 meters Centerline goodness : 0.993687 with order 1 Centerline is valid? [True, True] Translation: X:74.44, Y:-3.10, Z:0.21 [[ 9.99862326e-01 -1.55741544e-02 -5.72488021e-03 7.44421581e+01] [ 1.55762060e-02 9.99878634e-01 3.13966449e-04 -3.09730231e+00] [ 5.71929565e-03 -4.03095138e-04 9.99983563e-01 2.08144170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20071405700001 meters Centerline goodness : 0.984373 with order 1 Centerline is valid? [True, True] Translation: X:74.50, Y:-3.10, Z:0.20 [[ 9.99868380e-01 -1.51804976e-02 -5.72487436e-03 7.45044630e+01] [ 1.51825435e-02 9.99884689e-01 3.14073112e-04 -3.09933268e+00] [ 5.71944644e-03 -4.00949928e-04 9.99983563e-01 2.02707894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26071405700002 meters Centerline goodness : 0.992907 with order 1 Centerline is valid? [True, True] Translation: X:74.57, Y:-3.11, Z:0.21 [[ 9.99936860e-01 -9.66961552e-03 -5.72483747e-03 7.45653226e+01] [ 9.67157530e-03 9.99953180e-01 3.14744207e-04 -3.10798071e+00] [ 5.72152597e-03 -3.70092531e-04 9.99983563e-01 2.05235046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32071405700002 meters Centerline goodness : 0.991001 with order 1 Centerline is valid? [True, True] Translation: X:74.63, Y:-3.11, Z:0.21 [[ 9.99933622e-01 -9.99887704e-03 -5.72481522e-03 7.46263177e+01] [ 1.00008445e-02 9.99949941e-01 3.15148357e-04 -3.10889673e+00] [ 5.72137751e-03 -3.72380425e-04 9.99983563e-01 2.08383311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.380714057 meters Centerline goodness : 0.989708 with order 1 Centerline is valid? [True, True] Translation: X:74.69, Y:-3.11, Z:0.21 [[ 9.99917651e-01 -1.14855407e-02 -5.72480301e-03 7.46874080e+01] [ 1.14875337e-02 9.99933966e-01 3.15369940e-04 -3.10972320e+00] [ 5.72080279e-03 -3.81107837e-04 9.99983563e-01 2.09436522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44071405700001 meters Centerline goodness : 0.989123 with order 1 Centerline is valid? [True, True] Translation: X:74.75, Y:-3.11, Z:0.21 [[ 9.99891411e-01 -1.35791606e-02 -5.72478491e-03 7.47481486e+01] [ 1.35811896e-02 9.99907722e-01 3.15698153e-04 -3.11250442e+00] [ 5.71996972e-03 -3.93413261e-04 9.99983563e-01 2.08958133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50071405700001 meters Centerline goodness : 0.988325 with order 1 Centerline is valid? [True, True] Translation: X:74.81, Y:-3.12, Z:0.21 [[ 9.99794318e-01 -1.94563102e-02 -5.72474646e-03 7.48107256e+01] [ 1.94584390e-02 9.99810617e-01 3.16393877e-04 -3.11631473e+00] [ 5.71750643e-03 -4.27723431e-04 9.99983563e-01 2.08545218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56071405700001 meters Centerline goodness : 0.989204 with order 1 Centerline is valid? [True, True] Translation: X:74.87, Y:-3.12, Z:0.21 [[ 9.99715686e-01 -2.31468112e-02 -5.72471794e-03 7.48723247e+01] [ 2.31490031e-02 9.99731976e-01 3.16909022e-04 -3.11829490e+00] [ 5.71584815e-03 -4.49340434e-04 9.99983563e-01 2.08749877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62071405700001 meters Centerline goodness : 0.988505 with order 1 Centerline is valid? [True, True] Translation: X:74.93, Y:-3.12, Z:0.21 [[ 9.99734418e-01 -2.23231157e-02 -5.72469555e-03 7.49341836e+01] [ 2.23252964e-02 9.99750709e-01 3.17312985e-04 -3.12249663e+00] [ 5.71618502e-03 -4.45034238e-04 9.99983563e-01 2.09312967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68071405700002 meters Centerline goodness : 0.989371 with order 1 Centerline is valid? [True, True] Translation: X:75.00, Y:-3.13, Z:0.21 [[ 9.99807107e-01 -1.87876926e-02 -5.72467352e-03 7.49962914e+01] [ 1.87898180e-02 9.99823405e-01 3.17709991e-04 -3.12519632e+00] [ 5.71769354e-03 -4.25214281e-04 9.99983563e-01 2.10869550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.740714057 meters Centerline goodness : 0.988736 with order 1 Centerline is valid? [True, True] Translation: X:75.06, Y:-3.13, Z:0.21 [[ 9.99905677e-01 -1.24846091e-02 -5.72464972e-03 7.50570680e+01] [ 1.24866342e-02 9.99921988e-01 3.18138189e-04 -3.12806223e+00] [ 5.72023130e-03 -3.89589788e-04 9.99983563e-01 2.08745196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80071405700001 meters Centerline goodness : 0.988505 with order 1 Centerline is valid? [True, True] Translation: X:75.12, Y:-3.13, Z:0.21 [[ 9.99979296e-01 -2.93875627e-03 -5.72463217e-03 7.51178935e+01] [ 2.94062733e-03 9.99995626e-01 3.18453811e-04 -3.13198424e+00] [ 5.72367127e-03 -3.35281228e-04 9.99983563e-01 2.07937338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86071405700001 meters Centerline goodness : 0.989974 with order 1 Centerline is valid? [True, True] Translation: X:75.18, Y:-3.14, Z:0.21 [[ 9.99982751e-01 1.31397670e-03 -5.72462022e-03 7.51770434e+01] [-1.31217388e-03 9.99999088e-01 3.18668384e-04 -3.13541121e+00] [ 5.72503373e-03 -3.11151190e-04 9.99983563e-01 2.05081090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92071405700001 meters Centerline goodness : 0.989110 with order 1 Centerline is valid? [True, True] Translation: X:75.24, Y:-3.14, Z:0.20 [[ 9.99982129e-01 1.72321608e-03 -5.72469873e-03 7.52359966e+01] [-1.72142803e-03 9.99998468e-01 3.17251777e-04 -3.13970605e+00] [ 5.72523665e-03 -3.07391451e-04 9.99983563e-01 2.04358212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98071405700001 meters Centerline goodness : 0.989400 with order 1 Centerline is valid? [True, True] Translation: X:75.29, Y:-3.14, Z:0.20 [[ 9.99978706e-01 3.13294025e-03 -5.72478158e-03 7.52948386e+01] [-3.13118381e-03 9.99995048e-01 3.15749624e-04 -3.14450614e+00] [ 5.72574245e-03 -2.97817557e-04 9.99983563e-01 2.02520752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04071405700002 meters Centerline goodness : 0.990538 with order 1 Centerline is valid? [True, True] Translation: X:75.35, Y:-3.15, Z:0.20 [[ 9.99975776e-01 3.95892170e-03 -5.72486372e-03 7.53534372e+01] [-3.95718731e-03 9.99992121e-01 3.14253154e-04 -3.14753051e+00] [ 5.72606272e-03 -2.91591184e-04 9.99983563e-01 2.03940573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10071405700002 meters Centerline goodness : 0.990820 with order 1 Centerline is valid? [True, True] Translation: X:75.41, Y:-3.15, Z:0.21 [[ 9.99976710e-01 3.71544376e-03 -5.72494614e-03 7.54107502e+01] [-3.71371400e-03 9.99993055e-01 3.12744477e-04 -3.15091068e+00] [ 5.72606837e-03 -2.91476381e-04 9.99983563e-01 2.08001494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.160714057 meters Centerline goodness : 0.990363 with order 1 Centerline is valid? [True, True] Translation: X:75.47, Y:-3.16, Z:0.20 [[ 9.99948867e-01 8.33592581e-03 -5.72497507e-03 7.54699344e+01] [-8.33427463e-03 9.99965221e-01 3.12214058e-04 -3.15873317e+00] [ 5.72737855e-03 -2.64484579e-04 9.99983563e-01 2.02317331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22071405700001 meters Centerline goodness : 0.990947 with order 1 Centerline is valid? [True, True] Translation: X:75.53, Y:-3.16, Z:0.20 [[ 9.99940884e-01 9.24406613e-03 -5.72498642e-03 7.55283496e+01] [-9.24243099e-03 9.99957239e-01 3.12005727e-04 -3.16397838e+00] [ 5.72762582e-03 -2.59074491e-04 9.99983563e-01 2.00180130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28071405700001 meters Centerline goodness : 0.992064 with order 1 Centerline is valid? [True, True] Translation: X:75.59, Y:-3.17, Z:0.20 [[ 9.99944341e-01 8.86227298e-03 -5.72500972e-03 7.55869021e+01] [-8.86063404e-03 9.99960695e-01 3.11577555e-04 -3.16766973e+00] [ 5.72754599e-03 -2.60832996e-04 9.99983563e-01 1.99343765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34071405700001 meters Centerline goodness : 0.991997 with order 1 Centerline is valid? [True, True] Translation: X:75.65, Y:-3.17, Z:0.20 [[ 9.99937073e-01 9.64744802e-03 -5.72503288e-03 7.56460144e+01] [-9.64582437e-03 9.99953430e-01 3.11151439e-04 -3.17089238e+00] [ 5.72776808e-03 -2.55909198e-04 9.99983563e-01 2.01179289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40071405700002 meters Centerline goodness : 0.992158 with order 1 Centerline is valid? [True, True] Translation: X:75.71, Y:-3.17, Z:0.21 [[ 9.99952623e-01 7.87251036e-03 -5.72505601e-03 7.57052956e+01] [-7.87086011e-03 9.99968976e-01 3.10725322e-04 -3.17173816e+00] [ 5.72732458e-03 -2.65649485e-04 9.99983563e-01 2.06660602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46071405700002 meters Centerline goodness : 0.992811 with order 1 Centerline is valid? [True, True] Translation: X:75.76, Y:-3.17, Z:0.21 [[ 9.99930257e-01 1.03297677e-02 -5.72507349e-03 7.57633926e+01] [-1.03281595e-02 9.99946615e-01 3.10402826e-04 -3.17497249e+00] [ 5.72797425e-03 -2.51251705e-04 9.99983563e-01 2.07338634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.520714057 meters Centerline goodness : 0.992453 with order 1 Centerline is valid? [True, True] Translation: X:75.82, Y:-3.18, Z:0.21 [[ 9.99944161e-01 8.88237370e-03 -5.72515291e-03 7.58224317e+01] [-8.88075021e-03 9.99960518e-01 3.08931125e-04 -3.17596363e+00] [ 5.72767091e-03 -2.58070222e-04 9.99983563e-01 2.12598884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58071405700001 meters Centerline goodness : 0.991553 with order 1 Centerline is valid? [True, True] Translation: X:75.88, Y:-3.18, Z:0.22 [[ 9.99969938e-01 5.22928161e-03 -5.72517525e-03 7.58806534e+01] [-5.22760075e-03 9.99986288e-01 3.08516602e-04 -3.17897812e+00] [ 5.72671006e-03 -2.78578397e-04 9.99983563e-01 2.15060177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64071405700001 meters Centerline goodness : 0.991818 with order 1 Centerline is valid? [True, True] Translation: X:75.94, Y:-3.19, Z:0.21 [[ 9.99982216e-01 1.67039893e-03 -5.72520392e-03 7.59385027e+01] [-1.66866293e-03 9.99998560e-01 3.07983665e-04 -3.18538065e+00] [ 5.72571013e-03 -2.98424753e-04 9.99983563e-01 2.12661065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70071405700001 meters Centerline goodness : 0.991637 with order 1 Centerline is valid? [True, True] Translation: X:76.00, Y:-3.19, Z:0.22 [[ 9.99971361e-01 -4.94959650e-03 -5.72523211e-03 7.59966795e+01] [ 4.95143767e-03 9.99987694e-01 3.07458654e-04 -3.18978563e+00] [ 5.72363986e-03 -3.35797979e-04 9.99983563e-01 2.15542830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76071405700002 meters Centerline goodness : 0.991376 with order 1 Centerline is valid? [True, True] Translation: X:76.06, Y:-3.20, Z:0.21 [[ 9.99963240e-01 -6.38273907e-03 -5.72526081e-03 7.60558765e+01] [ 6.38460059e-03 9.99979571e-01 3.06923371e-04 -3.19606557e+00] [ 5.72318483e-03 -3.43465593e-04 9.99983563e-01 2.09801859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82071405700002 meters Centerline goodness : 0.993072 with order 1 Centerline is valid? [True, True] Translation: X:76.12, Y:-3.20, Z:0.21 [[ 9.99963656e-01 -6.31723484e-03 -5.72526645e-03 7.61162407e+01] [ 6.31909469e-03 9.99979987e-01 3.06818031e-04 -3.19891153e+00] [ 5.72321363e-03 -3.42985381e-04 9.99983563e-01 2.11014704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.880714057 meters Centerline goodness : 0.993613 with order 1 Centerline is valid? [True, True] Translation: X:76.18, Y:-3.20, Z:0.22 [[ 9.99946783e-01 -8.58207810e-03 -5.72526645e-03 7.61764251e+01] [ 8.58397494e-03 9.99963110e-01 3.06818031e-04 -3.19928388e+00] [ 5.72242211e-03 -3.55947247e-04 9.99983563e-01 2.16193215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94071405700001 meters Centerline goodness : 0.992282 with order 1 Centerline is valid? [True, True] Translation: X:76.24, Y:-3.20, Z:0.22 [[ 9.99940605e-01 -9.27400048e-03 -5.72526645e-03 7.62367069e+01] [ 9.27590861e-03 9.99956931e-01 3.06818031e-04 -3.20324565e+00] [ 5.72217444e-03 -3.59906856e-04 9.99983563e-01 2.17367865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00071405700001 meters Centerline goodness : 0.992031 with order 1 Centerline is valid? [True, True] Translation: X:76.30, Y:-3.21, Z:0.22 [[ 9.99935318e-01 -9.82755245e-03 -5.72526126e-03 7.62980388e+01] [ 9.82947016e-03 9.99951642e-01 3.06914872e-04 -3.20715115e+00] [ 5.72196818e-03 -3.63171305e-04 9.99983563e-01 2.16837478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06071405700001 meters Centerline goodness : 0.993311 with order 1 Centerline is valid? [True, True] Translation: X:76.36, Y:-3.21, Z:0.21 [[ 9.99938400e-01 -9.50884528e-03 -5.72525111e-03 7.63597599e+01] [ 9.51075888e-03 9.99954725e-01 3.07104103e-04 -3.21149070e+00] [ 5.72207169e-03 -3.61536668e-04 9.99983563e-01 2.13781803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12071405700001 meters Centerline goodness : 0.993570 with order 1 Centerline is valid? [True, True] Translation: X:76.42, Y:-3.21, Z:0.21 [[ 9.99908292e-01 -1.22731020e-02 -5.72523455e-03 7.64212439e+01] [ 1.22750625e-02 9.99924611e-01 3.07412526e-04 -3.21349007e+00] [ 5.72103002e-03 -3.77661945e-04 9.99983563e-01 2.14288099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18071405700002 meters Centerline goodness : 0.992382 with order 1 Centerline is valid? [True, True] Translation: X:76.48, Y:-3.21, Z:0.21 [[ 9.99891532e-01 -1.35700224e-02 -5.72522347e-03 7.64822356e+01] [ 1.35720052e-02 9.99907849e-01 3.07618674e-04 -3.21447387e+00] [ 5.72052149e-03 -3.85288070e-04 9.99983563e-01 2.14719938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24071405700002 meters Centerline goodness : 0.991759 with order 1 Centerline is valid? [True, True] Translation: X:76.54, Y:-3.22, Z:0.22 [[ 9.99875631e-01 -1.46950306e-02 -5.72520695e-03 7.65439793e+01] [ 1.46970335e-02 9.99891945e-01 3.07925869e-04 -3.21640606e+00] [ 5.72006333e-03 -3.92031131e-04 9.99983563e-01 2.15333064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30071405700001 meters Centerline goodness : 0.992311 with order 1 Centerline is valid? [True, True] Translation: X:76.61, Y:-3.22, Z:0.22 [[ 9.99854354e-01 -1.60777013e-02 -5.72518451e-03 7.66067719e+01] [ 1.60797292e-02 9.99870665e-01 3.08342435e-04 -3.21667211e+00] [ 5.71948661e-03 -4.00356942e-04 9.99983563e-01 2.15603894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36071405700001 meters Centerline goodness : 0.992169 with order 1 Centerline is valid? [True, True] Translation: X:76.67, Y:-3.22, Z:0.22 [[ 9.99852016e-01 -1.62224456e-02 -5.72515611e-03 7.66692181e+01] [ 1.62244788e-02 9.99868327e-01 3.08868980e-04 -3.21741703e+00] [ 5.71939165e-03 -4.01710947e-04 9.99983563e-01 2.15794273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42071405700001 meters Centerline goodness : 0.992251 with order 1 Centerline is valid? [True, True] Translation: X:76.73, Y:-3.22, Z:0.21 [[ 9.99785858e-01 -1.98861834e-02 -5.72513258e-03 7.67322917e+01] [ 1.98882789e-02 9.99802161e-01 3.09304489e-04 -3.21639550e+00] [ 5.71784904e-03 -4.23101288e-04 9.99983563e-01 2.14916393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48071405700001 meters Centerline goodness : 0.992718 with order 1 Centerline is valid? [True, True] Translation: X:76.79, Y:-3.22, Z:0.21 [[ 9.99830181e-01 -1.75166243e-02 -5.72509698e-03 7.67936758e+01] [ 1.75186848e-02 9.99846488e-01 3.09962065e-04 -3.22208685e+00] [ 5.71878862e-03 -4.10205598e-04 9.99983563e-01 2.10935719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54071405700002 meters Centerline goodness : 0.992596 with order 1 Centerline is valid? [True, True] Translation: X:76.86, Y:-3.22, Z:0.21 [[ 9.99819993e-01 -1.80888106e-02 -5.72507950e-03 7.68558689e+01] [ 1.80908823e-02 9.99836298e-01 3.10284503e-04 -3.22363320e+00] [ 5.71852962e-03 -4.13800389e-04 9.99983563e-01 2.12913081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60071405700002 meters Centerline goodness : 0.993107 with order 1 Centerline is valid? [True, True] Translation: X:76.92, Y:-3.22, Z:0.21 [[ 9.99710783e-01 -2.33575194e-02 -5.72505679e-03 7.69176473e+01] [ 2.33596794e-02 9.99727077e-01 3.10702982e-04 -3.22393170e+00] [ 5.71623704e-03 -4.44348613e-04 9.99983563e-01 2.14127980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.660714057 meters Centerline goodness : 0.993415 with order 1 Centerline is valid? [True, True] Translation: X:76.98, Y:-3.23, Z:0.21 [[ 9.99646074e-01 -2.59798251e-02 -5.72498410e-03 7.69790916e+01] [ 2.59820354e-02 9.99662361e-01 3.12036734e-04 -3.22878993e+00] [ 5.71494446e-03 -4.60673036e-04 9.99983563e-01 2.08963500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72071405700001 meters Centerline goodness : 0.993469 with order 1 Centerline is valid? [True, True] Translation: X:77.04, Y:-3.23, Z:0.21 [[ 9.99557997e-01 -2.91725021e-02 -5.72495672e-03 7.70420556e+01] [ 2.91747673e-02 9.99574277e-01 3.12538153e-04 -3.22926442e+00] [ 5.71340196e-03 -4.79424290e-04 9.99983563e-01 2.10357858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78071405700001 meters Centerline goodness : 0.993356 with order 1 Centerline is valid? [True, True] Translation: X:77.10, Y:-3.23, Z:0.21 [[ 9.99690616e-01 -2.42053383e-02 -5.72492241e-03 7.71037628e+01] [ 2.42075261e-02 9.99706906e-01 3.13165436e-04 -3.23321243e+00] [ 5.71566419e-03 -4.51654756e-04 9.99983563e-01 2.13030462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84071405700001 meters Centerline goodness : 0.993626 with order 1 Centerline is valid? [True, True] Translation: X:77.17, Y:-3.23, Z:0.21 [[ 9.99699712e-01 -2.38267121e-02 -5.72489903e-03 7.71651871e+01] [ 2.38288962e-02 9.99716002e-01 3.13592246e-04 -3.23417803e+00] [ 5.71580130e-03 -4.49916103e-04 9.99983563e-01 2.13166503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90071405700002 meters Centerline goodness : 0.992425 with order 1 Centerline is valid? [True, True] Translation: X:77.23, Y:-3.24, Z:0.21 [[ 9.99759809e-01 -2.11553685e-02 -5.72488202e-03 7.72282114e+01] [ 2.11575108e-02 9.99776106e-01 3.13902521e-04 -3.23763798e+00] [ 5.71695952e-03 -4.34951378e-04 9.99983563e-01 2.12246889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96071405700002 meters Centerline goodness : 0.992034 with order 1 Centerline is valid? [True, True] Translation: X:77.29, Y:-3.24, Z:0.21 [[ 9.99758438e-01 -2.12200949e-02 -5.72484629e-03 7.72901942e+01] [ 2.12222420e-02 9.99774733e-01 3.14552751e-04 -3.24088815e+00] [ 5.71688183e-03 -4.35970841e-04 9.99983563e-01 2.10821676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.020714057 meters Centerline goodness : 0.992387 with order 1 Centerline is valid? [True, True] Translation: X:77.35, Y:-3.24, Z:0.21 [[ 9.99737243e-01 -2.21962129e-02 -5.72481718e-03 7.73517420e+01] [ 2.21983789e-02 9.99753536e-01 3.15081701e-04 -3.24259461e+00] [ 5.71641259e-03 -4.42080572e-04 9.99983563e-01 2.11748652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08071405700001 meters Centerline goodness : 0.992288 with order 1 Centerline is valid? [True, True] Translation: X:77.41, Y:-3.25, Z:0.21 [[ 9.99743715e-01 -2.19027745e-02 -5.72480102e-03 7.74149934e+01] [ 2.19049374e-02 9.99760008e-01 3.15374972e-04 -3.24672802e+00] [ 5.71651953e-03 -4.40695554e-04 9.99983563e-01 2.11744944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14071405700001 meters Centerline goodness : 0.992124 with order 1 Centerline is valid? [True, True] Translation: X:77.48, Y:-3.25, Z:0.21 [[ 9.99841681e-01 -1.68475565e-02 -5.72476467e-03 7.74763337e+01] [ 1.68496407e-02 9.99857985e-01 3.16033473e-04 -3.24855727e+00] [ 5.71862727e-03 -4.12443666e-04 9.99983563e-01 2.14027491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20071405700001 meters Centerline goodness : 0.992001 with order 1 Centerline is valid? [True, True] Translation: X:77.54, Y:-3.25, Z:0.21 [[ 9.99909109e-01 -1.22065617e-02 -5.72474678e-03 7.75390019e+01] [ 1.22085721e-02 9.99925423e-01 3.16357142e-04 -3.25068429e+00] [ 5.72045821e-03 -3.86219371e-04 9.99983563e-01 2.10990870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26071405700002 meters Centerline goodness : 0.991792 with order 1 Centerline is valid? [True, True] Translation: X:77.60, Y:-3.25, Z:0.21 [[ 9.99977050e-01 -3.62312166e-03 -5.72472268e-03 7.76011108e+01] [ 3.62499442e-03 9.99993380e-01 3.16792670e-04 -3.25301502e+00] [ 5.72353700e-03 -3.37537488e-04 9.99983563e-01 2.10514624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32071405700002 meters Centerline goodness : 0.990805 with order 1 Centerline is valid? [True, True] Translation: X:77.66, Y:-3.25, Z:0.21 [[ 9.99982898e-01 1.19608941e-03 -5.72469804e-03 7.76609164e+01] [-1.19429283e-03 9.99999237e-01 3.17237241e-04 -3.25465359e+00] [ 5.72507312e-03 -3.10394850e-04 9.99983563e-01 2.10901180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.380714057 meters Centerline goodness : 0.990210 with order 1 Centerline is valid? [True, True] Translation: X:77.72, Y:-3.26, Z:0.21 [[ 9.99960948e-01 6.73274814e-03 -5.72469763e-03 7.77190851e+01] [-6.73104201e-03 9.99977296e-01 3.17244725e-04 -3.25660007e+00] [ 5.72670358e-03 -2.78699156e-04 9.99983563e-01 2.10316643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44071405700001 meters Centerline goodness : 0.991043 with order 1 Centerline is valid? [True, True] Translation: X:77.78, Y:-3.26, Z:0.21 [[ 9.99933192e-01 1.00418310e-02 -5.72479026e-03 7.77772301e+01] [-1.00401885e-02 9.99949546e-01 3.15564348e-04 -3.25770770e+00] [ 5.72767026e-03 -2.58065292e-04 9.99983563e-01 2.10916956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50071405700001 meters Centerline goodness : 0.991065 with order 1 Centerline is valid? [True, True] Translation: X:77.84, Y:-3.26, Z:0.21 [[ 9.99891742e-01 1.35546877e-02 -5.72488577e-03 7.78354222e+01] [-1.35531127e-02 9.99908103e-01 3.13821998e-04 -3.26095300e+00] [ 5.72861343e-03 -2.36198002e-04 9.99983563e-01 2.10275835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56071405700001 meters Centerline goodness : 0.991267 with order 1 Centerline is valid? [True, True] Translation: X:77.89, Y:-3.26, Z:0.21 [[ 9.99859227e-01 1.57718117e-02 -5.72497991e-03 7.78919222e+01] [-1.57702828e-02 9.99875593e-01 3.12095136e-04 -3.26277947e+00] [ 5.72918998e-03 -2.21766649e-04 9.99983563e-01 2.10657164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62071405700001 meters Centerline goodness : 0.990667 with order 1 Centerline is valid? [True, True] Translation: X:77.95, Y:-3.26, Z:0.21 [[ 9.99827832e-01 1.76502284e-02 -5.72501995e-03 7.79496111e+01] [-1.76487345e-02 9.99844200e-01 3.11358768e-04 -3.26257699e+00] [ 5.72962355e-03 -2.10265805e-04 9.99983563e-01 2.12821838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68071405700002 meters Centerline goodness : 0.992072 with order 1 Centerline is valid? [True, True] Translation: X:78.01, Y:-3.26, Z:0.22 [[ 9.99840468e-01 1.69193007e-02 -5.72505511e-03 7.80073151e+01] [-1.69177985e-02 9.99856836e-01 3.10710922e-04 -3.26367941e+00] [ 5.72949250e-03 -2.13806024e-04 9.99983563e-01 2.17048485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74071405700002 meters Centerline goodness : 0.991663 with order 1 Centerline is valid? [True, True] Translation: X:78.07, Y:-3.27, Z:0.22 [[ 9.99804411e-01 1.89304755e-02 -5.72508400e-03 7.80662033e+01] [-1.89290094e-02 9.99820782e-01 3.10177706e-04 -3.26856572e+00] [ 5.72992978e-03 -2.01746870e-04 9.99983563e-01 2.15176705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80071405700001 meters Centerline goodness : 0.992561 with order 1 Centerline is valid? [True, True] Translation: X:78.12, Y:-3.27, Z:0.22 [[ 9.99851963e-01 1.62257515e-02 -5.72510716e-03 7.81237799e+01] [-1.62242435e-02 9.99868330e-01 3.09749714e-04 -3.27080417e+00] [ 5.72937926e-03 -2.16818327e-04 9.99983563e-01 2.16190077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86071405700001 meters Centerline goodness : 0.992155 with order 1 Centerline is valid? [True, True] Translation: X:78.18, Y:-3.28, Z:0.21 [[ 9.99886378e-01 1.39446614e-02 -5.72513542e-03 7.81820898e+01] [-1.39431191e-02 9.99902742e-01 3.09226405e-04 -3.27860739e+00] [ 5.72889067e-03 -2.29365025e-04 9.99983563e-01 2.13773231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92071405700001 meters Centerline goodness : 0.992250 with order 1 Centerline is valid? [True, True] Translation: X:78.24, Y:-3.28, Z:0.22 [[ 9.99936901e-01 9.66523932e-03 -5.72515851e-03 7.82412398e+01] [-9.66362940e-03 9.99953258e-01 3.08798410e-04 -3.28223137e+00] [ 5.72787552e-03 -2.53453115e-04 9.99983563e-01 2.17064716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98071405700001 meters Centerline goodness : 0.992244 with order 1 Centerline is valid? [True, True] Translation: X:78.30, Y:-3.29, Z:0.22 [[ 9.99927943e-01 1.05513540e-02 -5.72518146e-03 7.83002410e+01] [-1.05497610e-02 9.99944302e-01 3.08372283e-04 -3.28816463e+00] [ 5.72811633e-03 -2.47950766e-04 9.99983563e-01 2.15786495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04071405700002 meters Centerline goodness : 0.992652 with order 1 Centerline is valid? [True, True] Translation: X:78.36, Y:-3.29, Z:0.22 [[ 9.99948992e-01 8.32072860e-03 -5.72520469e-03 7.83576937e+01] [-8.31910159e-03 9.99965348e-01 3.07940394e-04 -3.29084090e+00] [ 5.72756859e-03 -2.60296127e-04 9.99983563e-01 2.16440173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10071405700002 meters Centerline goodness : 0.991753 with order 1 Centerline is valid? [True, True] Translation: X:78.42, Y:-3.30, Z:0.21 [[ 9.99894575e-01 1.33439055e-02 -5.72523309e-03 7.84159718e+01] [-1.33423637e-02 9.99910939e-01 3.07411448e-04 -3.29932521e+00] [ 5.72882527e-03 -2.30990897e-04 9.99983563e-01 2.11955358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.160714057 meters Centerline goodness : 0.992453 with order 1 Centerline is valid? [True, True] Translation: X:78.47, Y:-3.31, Z:0.21 [[ 9.99857471e-01 1.58826215e-02 -5.72531365e-03 7.84745518e+01] [-1.58811299e-02 9.99873840e-01 3.05903751e-04 -3.30751864e+00] [ 5.72944990e-03 -2.14935701e-04 9.99983563e-01 2.08307853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22071405700001 meters Centerline goodness : 0.992342 with order 1 Centerline is valid? [True, True] Translation: X:78.53, Y:-3.31, Z:0.21 [[ 9.99927454e-01 1.05974967e-02 -5.72533651e-03 7.85336209e+01] [-1.05959210e-02 9.99943815e-01 3.05475365e-04 -3.30779537e+00] [ 5.72825210e-03 -2.44787991e-04 9.99983563e-01 2.14964046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28071405700001 meters Centerline goodness : 0.992504 with order 1 Centerline is valid? [True, True] Translation: X:78.59, Y:-3.32, Z:0.21 [[ 9.99914380e-01 1.17665627e-02 -5.72535945e-03 7.85920566e+01] [-1.17650086e-02 9.99930743e-01 3.05044751e-04 -3.31659665e+00] [ 5.72855226e-03 -2.37659730e-04 9.99983563e-01 2.10622713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34071405700001 meters Centerline goodness : 0.993062 with order 1 Centerline is valid? [True, True] Translation: X:78.65, Y:-3.32, Z:0.22 [[ 9.99975469e-01 4.03499043e-03 -5.72538273e-03 7.86508358e+01] [-4.03331237e-03 9.99991820e-01 3.04607222e-04 -3.31761678e+00] [ 5.72656498e-03 -2.81507492e-04 9.99983563e-01 2.17290329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40071405700002 meters Centerline goodness : 0.992657 with order 1 Centerline is valid? [True, True] Translation: X:78.71, Y:-3.32, Z:0.22 [[ 9.99982602e-01 -1.41956630e-03 -5.72540637e-03 7.87079406e+01] [ 1.42133098e-03 9.99998944e-01 3.04162095e-04 -3.32321435e+00] [ 5.72496855e-03 -3.12294500e-04 9.99983563e-01 2.16416945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46071405700002 meters Centerline goodness : 0.992351 with order 1 Centerline is valid? [True, True] Translation: X:78.77, Y:-3.33, Z:0.22 [[ 9.99973555e-01 -4.48429527e-03 -5.72543551e-03 7.87670549e+01] [ 4.48610689e-03 9.99989891e-01 3.03612727e-04 -3.32826067e+00] [ 5.72401614e-03 -3.29289614e-04 9.99983563e-01 2.15747345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.520714057 meters Centerline goodness : 0.992319 with order 1 Centerline is valid? [True, True] Translation: X:78.83, Y:-3.33, Z:0.22 [[ 9.99963790e-01 -6.29577796e-03 -5.72545867e-03 7.88268465e+01] [ 6.29761667e-03 9.99980124e-01 3.03175192e-04 -3.33188116e+00] [ 5.72343615e-03 -3.39220958e-04 9.99983563e-01 2.16788396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58071405700001 meters Centerline goodness : 0.992899 with order 1 Centerline is valid? [True, True] Translation: X:78.89, Y:-3.33, Z:0.22 [[ 9.99961459e-01 -6.65573042e-03 -5.72547004e-03 7.88868287e+01] [ 6.65757379e-03 9.99977792e-01 3.02960484e-04 -3.33400362e+00] [ 5.72332646e-03 -3.41066547e-04 9.99983563e-01 2.18378438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64071405700001 meters Centerline goodness : 0.991850 with order 1 Centerline is valid? [True, True] Translation: X:78.95, Y:-3.34, Z:0.22 [[ 9.99965548e-01 -6.01009977e-03 -5.72547004e-03 7.89471167e+01] [ 6.01193259e-03 9.99981882e-01 3.02960484e-04 -3.33697045e+00] [ 5.72354548e-03 -3.37371187e-04 9.99983563e-01 2.17864700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70071405700001 meters Centerline goodness : 0.992872 with order 1 Centerline is valid? [True, True] Translation: X:79.01, Y:-3.34, Z:0.22 [[ 9.99958200e-01 -7.12857678e-03 -5.72547004e-03 7.90071033e+01] [ 7.13042787e-03 9.99974532e-01 3.02960484e-04 -3.33992123e+00] [ 5.72316454e-03 -3.43772872e-04 9.99983563e-01 2.19222526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76071405700002 meters Centerline goodness : 0.992566 with order 1 Centerline is valid? [True, True] Translation: X:79.07, Y:-3.34, Z:0.22 [[ 9.99947890e-01 -8.45202283e-03 -5.72547004e-03 7.90669683e+01] [ 8.45389554e-03 9.99964219e-01 3.02960484e-04 -3.34236642e+00] [ 5.72270454e-03 -3.51347223e-04 9.99983563e-01 2.22315425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82071405700002 meters Centerline goodness : 0.992976 with order 1 Centerline is valid? [True, True] Translation: X:79.13, Y:-3.34, Z:0.23 [[ 9.99925915e-01 -1.07416962e-02 -5.72546439e-03 7.91284073e+01] [ 1.07436069e-02 9.99942240e-01 3.03067216e-04 -3.34379771e+00] [ 5.72187823e-03 -3.64556903e-04 9.99983563e-01 2.26132273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.880714057 meters Centerline goodness : 0.994855 with order 1 Centerline is valid? [True, True] Translation: X:79.19, Y:-3.34, Z:0.23 [[ 9.99842222e-01 -1.68152097e-02 -5.72545307e-03 7.91894743e+01] [ 1.68172208e-02 9.99858535e-01 3.03280902e-04 -3.34166342e+00] [ 5.71954338e-03 -3.99519259e-04 9.99983563e-01 2.28158419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94071405700001 meters Centerline goodness : 0.995066 with order 1 Centerline is valid? [True, True] Translation: X:79.25, Y:-3.35, Z:0.23 [[ 9.99851698e-01 -1.62419675e-02 -5.72538009e-03 7.92505297e+01] [ 1.62439770e-02 9.99868011e-01 3.04652298e-04 -3.34564575e+00] [ 5.71967626e-03 -3.97610060e-04 9.99983563e-01 2.27889838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00071405700001 meters Centerline goodness : 0.992551 with order 1 Centerline is valid? [True, True] Translation: X:79.31, Y:-3.36, Z:0.22 [[ 9.99930537e-01 -1.03025297e-02 -5.72536454e-03 7.93124790e+01] [ 1.03044440e-02 9.99946861e-01 3.04944307e-04 -3.35686940e+00] [ 5.72191860e-03 -3.63919823e-04 9.99983563e-01 2.24404491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06071405700001 meters Centerline goodness : 0.993264 with order 1 Centerline is valid? [True, True] Translation: X:79.37, Y:-3.36, Z:0.22 [[ 9.99945646e-01 -8.71352575e-03 -5.72534163e-03 7.93746331e+01] [ 8.71541649e-03 9.99961973e-01 3.05373784e-04 -3.36111223e+00] [ 5.72246304e-03 -3.55255923e-04 9.99983563e-01 2.24583607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12071405700001 meters Centerline goodness : 0.994247 with order 1 Centerline is valid? [True, True] Translation: X:79.44, Y:-3.36, Z:0.23 [[ 9.99938529e-01 -9.49515667e-03 -5.72531869e-03 7.94360159e+01] [ 9.49706263e-03 9.99954855e-01 3.05803308e-04 -3.35862430e+00] [ 5.72215657e-03 -3.60158221e-04 9.99983563e-01 2.29757093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18071405700002 meters Centerline goodness : 0.993883 with order 1 Centerline is valid? [True, True] Translation: X:79.50, Y:-3.37, Z:0.23 [[ 9.99974523e-01 -4.26310264e-03 -5.72528072e-03 7.94974256e+01] [ 4.26492719e-03 9.99990858e-01 3.06512504e-04 -3.36699783e+00] [ 5.72392169e-03 -3.30922601e-04 9.99983563e-01 2.28744908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24071405700002 meters Centerline goodness : 0.994325 with order 1 Centerline is valid? [True, True] Translation: X:79.56, Y:-3.37, Z:0.23 [[ 9.99966838e-01 -5.79180544e-03 -5.72526901e-03 7.95572560e+01] [ 5.79365621e-03 9.99983170e-01 3.06731096e-04 -3.37073027e+00] [ 5.72339613e-03 -3.39891165e-04 9.99983563e-01 2.27839572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30071405700001 meters Centerline goodness : 0.994578 with order 1 Centerline is valid? [True, True] Translation: X:79.62, Y:-3.38, Z:0.23 [[ 9.99954218e-01 -7.66695562e-03 -5.72527476e-03 7.96176698e+01] [ 7.66883640e-03 9.99970547e-01 3.06623689e-04 -3.37561155e+00] [ 5.72275527e-03 -3.50515847e-04 9.99983563e-01 2.26501301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36071405700001 meters Centerline goodness : 0.993500 with order 1 Centerline is valid? [True, True] Translation: X:79.68, Y:-3.38, Z:0.23 [[ 9.99898820e-01 -1.30219203e-02 -5.72527476e-03 7.96787432e+01] [ 1.30238885e-02 9.99915139e-01 3.06623689e-04 -3.37977138e+00] [ 5.72079608e-03 -3.81158005e-04 9.99983563e-01 2.27602749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42071405700001 meters Centerline goodness : 0.994071 with order 1 Centerline is valid? [True, True] Translation: X:79.74, Y:-3.38, Z:0.23 [[ 9.99898417e-01 -1.30528365e-02 -5.72526289e-03 7.97401133e+01] [ 1.30548064e-02 9.99914735e-01 3.06845265e-04 -3.38473344e+00] [ 5.72076953e-03 -3.81556294e-04 9.99983563e-01 2.26100100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48071405700001 meters Centerline goodness : 0.993446 with order 1 Centerline is valid? [True, True] Translation: X:79.80, Y:-3.39, Z:0.23 [[ 9.99904950e-01 -1.25424219e-02 -5.72524531e-03 7.98010119e+01] [ 1.25443854e-02 9.99921269e-01 3.07172880e-04 -3.38848249e+00] [ 5.72094187e-03 -3.78963367e-04 9.99983563e-01 2.31430498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54071405700002 meters Centerline goodness : 0.993520 with order 1 Centerline is valid? [True, True] Translation: X:79.86, Y:-3.39, Z:0.23 [[ 9.99845539e-01 -1.66168691e-02 -5.72520949e-03 7.98631005e+01] [ 1.66189029e-02 9.99861849e-01 3.07839055e-04 -3.39228254e+00] [ 5.71930323e-03 -4.02938207e-04 9.99983563e-01 2.29883524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60071405700002 meters Centerline goodness : 0.994135 with order 1 Centerline is valid? [True, True] Translation: X:79.93, Y:-3.40, Z:0.23 [[ 9.99835466e-01 -1.72123075e-02 -5.72512733e-03 7.99250605e+01] [ 1.72143596e-02 9.99851774e-01 3.09359663e-04 -3.39692412e+00] [ 5.71895392e-03 -4.07863163e-04 9.99983563e-01 2.33457099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.660714057 meters Centerline goodness : 0.993747 with order 1 Centerline is valid? [True, True] Translation: X:79.99, Y:-3.40, Z:0.23 [[ 9.99746708e-01 -2.17656327e-02 -5.72510380e-03 7.99867361e+01] [ 2.17677616e-02 9.99763006e-01 3.09794345e-04 -3.40327572e+00] [ 5.71700412e-03 -4.34338571e-04 9.99983563e-01 2.31990049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72071405700001 meters Centerline goodness : 0.993437 with order 1 Centerline is valid? [True, True] Translation: X:80.05, Y:-3.41, Z:0.23 [[ 9.99730275e-01 -2.25078092e-02 -5.72507472e-03 8.00484609e+01] [ 2.25099533e-02 9.99746571e-01 3.10330960e-04 -3.40905275e+00] [ 5.71663895e-03 -4.39118420e-04 9.99983563e-01 2.32733438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78071405700001 meters Centerline goodness : 0.993694 with order 1 Centerline is valid? [True, True] Translation: X:80.11, Y:-3.41, Z:0.23 [[ 9.99665993e-01 -2.52017044e-02 -5.72505177e-03 8.01109352e+01] [ 2.52038948e-02 9.99682283e-01 3.10753752e-04 -3.41400908e+00] [ 5.71540130e-03 -4.54943560e-04 9.99983563e-01 2.29705047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84071405700001 meters Centerline goodness : 0.994073 with order 1 Centerline is valid? [True, True] Translation: X:80.17, Y:-3.42, Z:0.23 [[ 9.99664277e-01 -2.52696973e-02 -5.72502194e-03 8.01725880e+01] [ 2.52718918e-02 9.99680566e-01 3.11302345e-04 -3.41842379e+00] [ 5.71532666e-03 -4.55879969e-04 9.99983563e-01 2.28851340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90071405700002 meters Centerline goodness : 0.994139 with order 1 Centerline is valid? [True, True] Translation: X:80.23, Y:-3.42, Z:0.23 [[ 9.99703883e-01 -2.36510147e-02 -5.72499827e-03 8.02343747e+01] [ 2.36531854e-02 9.99720176e-01 3.11737019e-04 -3.42330806e+00] [ 5.71602338e-03 -4.47059154e-04 9.99983563e-01 2.29198990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96071405700002 meters Centerline goodness : 0.994395 with order 1 Centerline is valid? [True, True] Translation: X:80.29, Y:-3.43, Z:0.23 [[ 9.99794775e-01 -1.94327793e-02 -5.72497405e-03 8.02948920e+01] [ 1.94348837e-02 9.99811076e-01 3.12181154e-04 -3.42675361e+00] [ 5.71782592e-03 -4.23381292e-04 9.99983563e-01 2.32715838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.020714057 meters Centerline goodness : 0.993661 with order 1 Centerline is valid? [True, True] Translation: X:80.36, Y:-3.43, Z:0.23 [[ 9.99804495e-01 -1.89260609e-02 -5.72496213e-03 8.03570645e+01] [ 1.89281583e-02 9.99820798e-01 3.12399522e-04 -3.43071912e+00] [ 5.71802371e-03 -4.20701436e-04 9.99983563e-01 2.33794359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08071405700001 meters Centerline goodness : 0.994568 with order 1 Centerline is valid? [True, True] Translation: X:80.42, Y:-3.44, Z:0.23 [[ 9.99806784e-01 -1.88047578e-02 -5.72493864e-03 8.04193347e+01] [ 1.88068556e-02 9.99823087e-01 3.12829445e-04 -3.43521961e+00] [ 5.71804314e-03 -4.20437096e-04 9.99983563e-01 2.31815120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14071405700001 meters Centerline goodness : 0.993857 with order 1 Centerline is valid? [True, True] Translation: X:80.48, Y:-3.44, Z:0.23 [[ 9.99782492e-01 -2.00547544e-02 -5.72491464e-03 8.04813573e+01] [ 2.00568751e-02 9.99798792e-01 3.13268124e-04 -3.43801993e+00] [ 5.71748022e-03 -4.28023884e-04 9.99983563e-01 2.31914397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20071405700001 meters Centerline goodness : 0.994204 with order 1 Centerline is valid? [True, True] Translation: X:80.54, Y:-3.44, Z:0.23 [[ 9.99776684e-01 -2.03422716e-02 -5.72489091e-03 8.05429580e+01] [ 2.03443995e-02 9.99792982e-01 3.13701149e-04 -3.44031213e+00] [ 5.71732436e-03 -4.30100562e-04 9.99983563e-01 2.32554584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26071405700002 meters Centerline goodness : 0.993828 with order 1 Centerline is valid? [True, True] Translation: X:80.61, Y:-3.44, Z:0.23 [[ 9.99705475e-01 -2.35836657e-02 -5.72486153e-03 8.06051600e+01] [ 2.35858495e-02 9.99721766e-01 3.14236444e-04 -3.44139992e+00] [ 5.71585783e-03 -4.49169616e-04 9.99983563e-01 2.33150239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32071405700002 meters Centerline goodness : 0.993781 with order 1 Centerline is valid? [True, True] Translation: X:80.67, Y:-3.44, Z:0.24 [[ 9.99808368e-01 -1.87203897e-02 -5.72483816e-03 8.06677683e+01] [ 1.87224967e-02 9.99824669e-01 3.14661492e-04 -3.44203111e+00] [ 5.71794384e-03 -4.21784456e-04 9.99983563e-01 2.40114731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.380714057 meters Centerline goodness : 0.994589 with order 1 Centerline is valid? [True, True] Translation: X:80.73, Y:-3.44, Z:0.24 [[ 9.99690317e-01 -2.42176963e-02 -5.72481437e-03 8.07295555e+01] [ 2.42198953e-02 9.99706606e-01 3.15093886e-04 -3.44104051e+00] [ 5.71550389e-03 -4.53650711e-04 9.99983563e-01 2.36121181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44071405700001 meters Centerline goodness : 0.994961 with order 1 Centerline is valid? [True, True] Translation: X:80.79, Y:-3.45, Z:0.24 [[ 9.99656222e-01 -2.55864246e-02 -5.72473791e-03 8.07919409e+01] [ 2.55886538e-02 9.99672507e-01 3.16476808e-04 -3.44500213e+00] [ 5.71476559e-03 -4.62856347e-04 9.99983563e-01 2.36271919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50071405700001 meters Centerline goodness : 0.994384 with order 1 Centerline is valid? [True, True] Translation: X:80.85, Y:-3.45, Z:0.23 [[ 9.99631177e-01 -2.65469049e-02 -5.72471564e-03 8.08539770e+01] [ 2.65491520e-02 9.99647459e-01 3.16879146e-04 -3.44903435e+00] [ 5.71428529e-03 -4.68748619e-04 9.99983563e-01 2.34524050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56071405700001 meters Centerline goodness : 0.995109 with order 1 Centerline is valid? [True, True] Translation: X:80.92, Y:-3.45, Z:0.23 [[ 9.99666012e-01 -2.52010517e-02 -5.72469354e-03 8.09158557e+01] [ 2.52032792e-02 9.99682297e-01 3.17277942e-04 -3.45262368e+00] [ 5.71487905e-03 -4.61453024e-04 9.99983563e-01 2.33896276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62071405700001 meters Centerline goodness : 0.994169 with order 1 Centerline is valid? [True, True] Translation: X:80.98, Y:-3.46, Z:0.23 [[ 9.99899683e-01 -1.29558025e-02 -5.72467082e-03 8.09770235e+01] [ 1.29578327e-02 9.99915993e-01 3.17687466e-04 -3.46304891e+00] [ 5.72007401e-03 -3.91834923e-04 9.99983563e-01 2.34070343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68071405700002 meters Centerline goodness : 0.993700 with order 1 Centerline is valid? [True, True] Translation: X:81.04, Y:-3.46, Z:0.24 [[ 9.99955059e-01 -7.55697978e-03 -5.72465226e-03 8.10390641e+01] [ 7.55892377e-03 9.99971380e-01 3.18021525e-04 -3.46142466e+00] [ 5.72208514e-03 -3.61279443e-04 9.99983563e-01 2.39717676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74071405700002 meters Centerline goodness : 0.994523 with order 1 Centerline is valid? [True, True] Translation: X:81.10, Y:-3.46, Z:0.24 [[ 9.99983477e-01 5.23994048e-04 -5.72462802e-03 8.10997315e+01] [-5.22179529e-04 9.99999813e-01 3.18457190e-04 -3.46290516e+00] [ 5.72479382e-03 -3.15462645e-04 9.99983563e-01 2.44399071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80071405700001 meters Centerline goodness : 0.994425 with order 1 Centerline is valid? [True, True] Translation: X:81.16, Y:-3.47, Z:0.24 [[ 9.99981149e-01 2.22051247e-03 -5.72462206e-03 8.11576894e+01] [-2.21872505e-03 9.99997488e-01 3.18564258e-04 -3.46617515e+00] [ 5.72531506e-03 -3.05856891e-04 9.99983563e-01 2.43667840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86071405700001 meters Centerline goodness : 0.995812 with order 1 Centerline is valid? [True, True] Translation: X:81.22, Y:-3.46, Z:0.24 [[ 9.99958653e-01 -7.06547928e-03 -5.72465115e-03 8.12170645e+01] [ 7.06741535e-03 9.99974975e-01 3.18040767e-04 -3.46268630e+00] [ 5.72226078e-03 -3.58486105e-04 9.99983563e-01 2.40004002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92071405700001 meters Centerline goodness : 0.994550 with order 1 Centerline is valid? [True, True] Translation: X:81.28, Y:-3.48, Z:0.24 [[ 9.99968923e-01 -5.42042955e-03 -5.72466257e-03 8.12769328e+01] [ 5.42233760e-03 9.99985249e-01 3.17834936e-04 -3.47505744e+00] [ 5.72285533e-03 -3.48866112e-04 9.99983563e-01 2.43126498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98071405700001 meters Centerline goodness : 0.994268 with order 1 Centerline is valid? [True, True] Translation: X:81.34, Y:-3.48, Z:0.24 [[ 9.99964466e-01 -6.18831263e-03 -5.72466257e-03 8.13367288e+01] [ 6.19023322e-03 9.99980790e-01 3.17834936e-04 -3.48281237e+00] [ 5.72258574e-03 -3.53260638e-04 9.99983563e-01 2.35866920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04071405700002 meters Centerline goodness : 0.994176 with order 1 Centerline is valid? [True, True] Translation: X:81.40, Y:-3.48, Z:0.24 [[ 9.99891399e-01 -1.35800903e-02 -5.72466493e-03 8.13965379e+01] [ 1.35821313e-02 9.99907708e-01 3.17792450e-04 -3.48266394e+00] [ 5.71982094e-03 -3.95511088e-04 9.99983563e-01 2.41013681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10071405700002 meters Centerline goodness : 0.994244 with order 1 Centerline is valid? [True, True] Translation: X:81.46, Y:-3.49, Z:0.24 [[ 9.99871683e-01 -1.49614526e-02 -5.72465499e-03 8.14590428e+01] [ 1.49635171e-02 9.99887990e-01 3.17971460e-04 -3.48673145e+00] [ 5.71925646e-03 -4.03591632e-04 9.99983563e-01 2.39862000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.160714057 meters Centerline goodness : 0.995036 with order 1 Centerline is valid? [True, True] Translation: X:81.52, Y:-3.49, Z:0.24 [[ 9.99837674e-01 -1.70837502e-02 -5.72463125e-03 8.15208753e+01] [ 1.70858518e-02 9.99853975e-01 3.18398250e-04 -3.49070745e+00] [ 5.71835588e-03 -4.16156766e-04 9.99983563e-01 2.39039761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22071405700001 meters Centerline goodness : 0.994660 with order 1 Centerline is valid? [True, True] Translation: X:81.58, Y:-3.49, Z:0.24 [[ 9.99811168e-01 -1.85703142e-02 -5.72460740e-03 8.15822935e+01] [ 1.85724425e-02 9.99827466e-01 3.18826445e-04 -3.49273102e+00] [ 5.71769901e-03 -4.25086182e-04 9.99983563e-01 2.39306344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28071405700001 meters Centerline goodness : 0.994741 with order 1 Centerline is valid? [True, True] Translation: X:81.64, Y:-3.50, Z:0.23 [[ 9.99811638e-01 -1.85450075e-02 -5.72458970e-03 8.16440513e+01] [ 1.85471371e-02 9.99827936e-01 3.19144021e-04 -3.50033148e+00] [ 5.71768618e-03 -4.25258656e-04 9.99983563e-01 2.32306973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34071405700001 meters Centerline goodness : 0.994150 with order 1 Centerline is valid? [True, True] Translation: X:81.71, Y:-3.50, Z:0.23 [[ 9.99704589e-01 -2.36212681e-02 -5.72456476e-03 8.17057188e+01] [ 2.36234830e-02 9.99720876e-01 3.19590772e-04 -3.50206278e+00] [ 5.71541775e-03 -4.54730520e-04 9.99983563e-01 2.34388018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40071405700002 meters Centerline goodness : 0.994624 with order 1 Centerline is valid? [True, True] Translation: X:81.77, Y:-3.50, Z:0.24 [[ 9.99682108e-01 -2.45542908e-02 -5.72447364e-03 8.17689773e+01] [ 2.45565301e-02 9.99698391e-01 3.21214596e-04 -3.50412803e+00] [ 5.71485989e-03 -4.61685693e-04 9.99983563e-01 2.35759049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46071405700002 meters Centerline goodness : 0.994602 with order 1 Centerline is valid? [True, True] Translation: X:81.83, Y:-3.50, Z:0.24 [[ 9.99708146e-01 -2.34702636e-02 -5.72443609e-03 8.18310812e+01] [ 2.34724891e-02 9.99724431e-01 3.21882459e-04 -3.50475766e+00] [ 5.71530395e-03 -4.56155279e-04 9.99983563e-01 2.38810384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.520714057 meters Centerline goodness : 0.994496 with order 1 Centerline is valid? [True, True] Translation: X:81.89, Y:-3.51, Z:0.24 [[ 9.99731915e-01 -2.24350162e-02 -5.72441106e-03 8.18932818e+01] [ 2.24372273e-02 9.99748202e-01 3.22326954e-04 -3.50670756e+00] [ 5.71573825e-03 -4.50680455e-04 9.99983563e-01 2.39399180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58071405700001 meters Centerline goodness : 0.995005 with order 1 Centerline is valid? [True, True] Translation: X:81.96, Y:-3.51, Z:0.24 [[ 9.99736500e-01 -2.22297464e-02 -5.72438019e-03 8.19560165e+01] [ 2.22319573e-02 9.99752787e-01 3.22874168e-04 -3.50942390e+00] [ 5.71578764e-03 -4.50053267e-04 9.99983563e-01 2.42905350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64071405700001 meters Centerline goodness : 0.995081 with order 1 Centerline is valid? [True, True] Translation: X:82.02, Y:-3.51, Z:0.24 [[ 9.99712794e-01 -2.32714608e-02 -5.72434284e-03 8.20182752e+01] [ 2.32736924e-02 9.99729079e-01 3.23535147e-04 -3.51291891e+00] [ 5.71526285e-03 -4.56668820e-04 9.99983563e-01 2.44429160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70071405700001 meters Centerline goodness : 0.994996 with order 1 Centerline is valid? [True, True] Translation: X:82.08, Y:-3.52, Z:0.24 [[ 9.99710057e-01 -2.33887482e-02 -5.72431785e-03 8.20805848e+01] [ 2.33909842e-02 9.99726341e-01 3.23976563e-04 -3.51770155e+00] [ 5.71517394e-03 -4.57780058e-04 9.99983563e-01 2.43351911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76071405700002 meters Centerline goodness : 0.994236 with order 1 Centerline is valid? [True, True] Translation: X:82.14, Y:-3.52, Z:0.24 [[ 9.99709582e-01 -2.34090513e-02 -5.72428700e-03 8.21423993e+01] [ 2.34112908e-02 9.99725866e-01 3.24520831e-04 -3.52358771e+00] [ 5.71512105e-03 -4.58439532e-04 9.99983563e-01 2.42958918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82071405700002 meters Centerline goodness : 0.994621 with order 1 Centerline is valid? [True, True] Translation: X:82.21, Y:-3.53, Z:0.25 [[ 9.99682111e-01 -2.45542151e-02 -5.72426238e-03 8.22052195e+01] [ 2.45564757e-02 9.99698391e-01 3.24954577e-04 -3.52848885e+00] [ 5.71455688e-03 -4.65418987e-04 9.99983563e-01 2.45381415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.880714057 meters Centerline goodness : 0.995293 with order 1 Centerline is valid? [True, True] Translation: X:82.27, Y:-3.53, Z:0.24 [[ 9.99648946e-01 -2.58692503e-02 -5.72422540e-03 8.22662861e+01] [ 2.58715360e-02 9.99665223e-01 3.25604656e-04 -3.53175474e+00] [ 5.71388591e-03 -4.73584855e-04 9.99983563e-01 2.44635913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94071405700001 meters Centerline goodness : 0.994745 with order 1 Centerline is valid? [True, True] Translation: X:82.33, Y:-3.54, Z:0.25 [[ 9.99512930e-01 -3.06779469e-02 -5.72420724e-03 8.23279718e+01] [ 3.06803127e-02 9.99529195e-01 3.25923526e-04 -3.53798034e+00] [ 5.71151359e-03 -5.01385246e-04 9.99983563e-01 2.47432566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00071405700001 meters Centerline goodness : 0.995311 with order 1 Centerline is valid? [True, True] Translation: X:82.39, Y:-3.55, Z:0.25 [[ 9.99400741e-01 -3.41378532e-02 -5.72418318e-03 8.23896371e+01] [ 3.41402776e-02 9.99416998e-01 3.26345523e-04 -3.54570822e+00] [ 5.70970524e-03 -5.21575161e-04 9.99983563e-01 2.46538518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06071405700001 meters Centerline goodness : 0.995032 with order 1 Centerline is valid? [True, True] Translation: X:82.45, Y:-3.55, Z:0.24 [[ 9.99396570e-01 -3.42597373e-02 -5.72415933e-03 8.24504200e+01] [ 3.42621662e-02 9.99412826e-01 3.26763354e-04 -3.55439152e+00] [ 5.70960343e-03 -5.22688274e-04 9.99983563e-01 2.43666570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12071405700001 meters Centerline goodness : 0.994845 with order 1 Centerline is valid? [True, True] Translation: X:82.51, Y:-3.56, Z:0.25 [[ 9.99487994e-01 -3.14798932e-02 -5.72414181e-03 8.25129595e+01] [ 3.14822785e-02 9.99504257e-01 3.27070073e-04 -3.55843716e+00] [ 5.71100797e-03 -5.07111637e-04 9.99983563e-01 2.47967158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18071405700002 meters Centerline goodness : 0.994509 with order 1 Centerline is valid? [True, True] Translation: X:82.57, Y:-3.56, Z:0.25 [[ 9.99650067e-01 -2.58259334e-02 -5.72410718e-03 8.25749180e+01] [ 2.58282302e-02 9.99666342e-01 3.27674996e-04 -3.56076400e+00] [ 5.71373477e-03 -4.75403889e-04 9.99983563e-01 2.54936730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24071405700002 meters Centerline goodness : 0.993785 with order 1 Centerline is valid? [True, True] Translation: X:82.64, Y:-3.56, Z:0.25 [[ 9.99796768e-01 -1.93302421e-02 -5.72408228e-03 8.26357770e+01] [ 1.93324355e-02 9.99813057e-01 3.28109357e-04 -3.56441284e+00] [ 5.71666977e-03 -4.38703126e-04 9.99983563e-01 2.54796549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30071405700001 meters Centerline goodness : 0.993456 with order 1 Centerline is valid? [True, True] Translation: X:82.70, Y:-3.57, Z:0.25 [[ 9.99858810e-01 -1.57985989e-02 -5.72404132e-03 8.26980440e+01] [ 1.58007389e-02 9.99875106e-01 3.28822362e-04 -3.56850964e+00] [ 5.71813149e-03 -4.19220018e-04 9.99983563e-01 2.54684100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36071405700001 meters Centerline goodness : 0.995346 with order 1 Centerline is valid? [True, True] Translation: X:82.76, Y:-3.57, Z:0.25 [[ 9.99836393e-01 -1.71587448e-02 -5.72401586e-03 8.27598651e+01] [ 1.71609094e-02 9.99852687e-01 3.29265059e-04 -3.56546227e+00] [ 5.71752286e-03 -4.27440507e-04 9.99983563e-01 2.50463119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42071405700001 meters Centerline goodness : 0.993317 with order 1 Centerline is valid? [True, True] Translation: X:82.82, Y:-3.58, Z:0.26 [[ 9.99902760e-01 -1.27163702e-02 -5.72399698e-03 8.28208046e+01] [ 1.27184643e-02 9.99919063e-01 3.29592934e-04 -3.57719921e+00] [ 5.71934247e-03 -4.02361336e-04 9.99983563e-01 2.57274841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48071405700001 meters Centerline goodness : 0.994103 with order 1 Centerline is valid? [True, True] Translation: X:82.88, Y:-3.58, Z:0.26 [[ 9.99889851e-01 -1.36938497e-02 -5.72398433e-03 8.28826204e+01] [ 1.36959610e-02 9.99906152e-01 3.29812462e-04 -3.58091297e+00] [ 5.71893074e-03 -4.08171600e-04 9.99983563e-01 2.63685719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54071405700002 meters Centerline goodness : 0.993058 with order 1 Centerline is valid? [True, True] Translation: X:82.94, Y:-3.59, Z:0.26 [[ 9.99796743e-01 -1.93315655e-02 -5.72395953e-03 8.29444406e+01] [ 1.93337711e-02 9.99813031e-01 3.30242262e-04 -3.59069376e+00] [ 5.71650522e-03 -4.40840862e-04 9.99983563e-01 2.60599927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60071405700002 meters Centerline goodness : 0.992831 with order 1 Centerline is valid? [True, True] Translation: X:83.01, Y:-3.60, Z:0.26 [[ 9.99642627e-01 -2.61123618e-02 -5.72387352e-03 8.30063388e+01] [ 2.61146863e-02 9.99658898e-01 3.31726327e-04 -3.59759129e+00] [ 5.71325894e-03 -4.81084938e-04 9.99983563e-01 2.62304217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.660714057 meters Centerline goodness : 0.994330 with order 1 Centerline is valid? [True, True] Translation: X:83.07, Y:-3.61, Z:0.26 [[ 9.99558917e-01 -2.91411979e-02 -5.72378729e-03 8.30670693e+01] [ 2.91435801e-02 9.99575180e-01 3.33207578e-04 -3.60523508e+00] [ 5.71164564e-03 -4.99872259e-04 9.99983563e-01 2.62361223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72071405700001 meters Centerline goodness : 0.993703 with order 1 Centerline is valid? [True, True] Translation: X:83.13, Y:-3.61, Z:0.27 [[ 9.99361436e-01 -3.52697981e-02 -5.72376897e-03 8.31286271e+01] [ 3.52722817e-02 9.99377684e-01 3.33521999e-04 -3.61180465e+00] [ 5.70844372e-03 -5.35199415e-04 9.99983563e-01 2.66957727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78071405700001 meters Centerline goodness : 0.995781 with order 1 Centerline is valid? [True, True] Translation: X:83.19, Y:-3.62, Z:0.25 [[ 9.99219744e-01 -3.90786644e-02 -5.72374962e-03 8.31885498e+01] [ 3.90812118e-02 9.99235982e-01 3.33853755e-04 -3.61633315e+00] [ 5.70633001e-03 -5.57284335e-04 9.99983563e-01 2.51821966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84071405700001 meters Centerline goodness : 0.993380 with order 1 Centerline is valid? [True, True] Translation: X:83.25, Y:-3.63, Z:0.27 [[ 9.99325401e-01 -3.62764629e-02 -5.72375493e-03 8.32490503e+01] [ 3.62789642e-02 9.99341646e-01 3.33762653e-04 -3.62670155e+00] [ 5.70787895e-03 -5.41189398e-04 9.99983563e-01 2.69852903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90071405700002 meters Centerline goodness : 0.993546 with order 1 Centerline is valid? [True, True] Translation: X:83.31, Y:-3.63, Z:0.27 [[ 9.99260074e-01 -3.80334607e-02 -5.72374228e-03 8.33105975e+01] [ 3.80359918e-02 9.99276314e-01 3.33979411e-04 -3.63300883e+00] [ 5.70689770e-03 -5.51440506e-04 9.99983563e-01 2.67122938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96071405700002 meters Centerline goodness : 0.994042 with order 1 Centerline is valid? [True, True] Translation: X:83.37, Y:-3.64, Z:0.25 [[ 9.99389019e-01 -3.44793950e-02 -5.72371541e-03 8.33700831e+01] [ 3.44818710e-02 9.99405268e-01 3.34439357e-04 -3.63566492e+00] [ 5.70878006e-03 -5.31599437e-04 9.99983563e-01 2.53915346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.020714057 meters Centerline goodness : 0.994693 with order 1 Centerline is valid? [True, True] Translation: X:83.43, Y:-3.64, Z:0.25 [[ 9.99448862e-01 -3.26988099e-02 -5.72370933e-03 8.34320786e+01] [ 3.27012576e-02 9.99465115e-01 3.34543336e-04 -3.64126049e+00] [ 5.70970863e-03 -5.21531450e-04 9.99983563e-01 2.53951222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08071405700001 meters Centerline goodness : 0.994388 with order 1 Centerline is valid? [True, True] Translation: X:83.49, Y:-3.65, Z:0.25 [[ 9.99538608e-01 -2.98297006e-02 -5.72368447e-03 8.34934404e+01] [ 2.98321040e-02 9.99554868e-01 3.34968056e-04 -3.64861583e+00] [ 5.71114468e-03 -5.05563055e-04 9.99983563e-01 2.51814966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14071405700001 meters Centerline goodness : 0.993380 with order 1 Centerline is valid? [True, True] Translation: X:83.55, Y:-3.66, Z:0.26 [[ 9.99705481e-01 -2.35836923e-02 -5.72366006e-03 8.35546331e+01] [ 2.35859965e-02 9.99721755e-01 3.35384735e-04 -3.65955564e+00] [ 5.71415787e-03 -4.70284183e-04 9.99983563e-01 2.58922742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20071405700001 meters Centerline goodness : 0.992739 with order 1 Centerline is valid? [True, True] Translation: X:83.62, Y:-3.66, Z:0.26 [[ 9.99808474e-01 -1.87151240e-02 -5.72364167e-03 8.36154578e+01] [ 1.87173506e-02 9.99824759e-01 3.35698293e-04 -3.66441904e+00] [ 5.71635601e-03 -4.42765405e-04 9.99983563e-01 2.59495479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26071405700002 meters Centerline goodness : 0.993500 with order 1 Centerline is valid? [True, True] Translation: X:83.68, Y:-3.67, Z:0.26 [[ 9.99890763e-01 -1.36272694e-02 -5.72362369e-03 8.36776613e+01] [ 1.36294148e-02 9.99907059e-01 3.36004565e-04 -3.66847320e+00] [ 5.71851290e-03 -4.13977503e-04 9.99983563e-01 2.64472447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32071405700002 meters Centerline goodness : 0.992743 with order 1 Centerline is valid? [True, True] Translation: X:83.74, Y:-3.68, Z:0.26 [[ 9.99973275e-01 -4.54866463e-03 -5.72359853e-03 8.37382489e+01] [ 4.55066450e-03 9.99989589e-01 3.36432497e-04 -3.67543574e+00] [ 5.72200863e-03 -3.62469683e-04 9.99983563e-01 2.62371249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38071405700002 meters Centerline goodness : 0.992156 with order 1 Centerline is valid? [True, True] Translation: X:83.80, Y:-3.69, Z:0.25 [[ 9.99982462e-01 1.52215279e-03 -5.72359237e-03 8.37976701e+01] [-1.52025141e-03 9.99998788e-01 3.36537387e-04 -3.68913639e+00] [ 5.72409769e-03 -3.27830186e-04 9.99983563e-01 2.45354143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44071405700001 meters Centerline goodness : 0.993138 with order 1 Centerline is valid? [True, True] Translation: X:83.86, Y:-3.69, Z:0.25 [[ 9.99965993e-01 -5.93747895e-03 -5.72360485e-03 8.38562686e+01] [ 5.93950086e-03 9.99982304e-01 3.36324881e-04 -3.69107910e+00] [ 5.72150665e-03 -3.70308799e-04 9.99983563e-01 2.50609747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50071405700001 meters Centerline goodness : 0.992758 with order 1 Centerline is valid? [True, True] Translation: X:83.92, Y:-3.70, Z:0.25 [[ 9.99935277e-01 -9.83267898e-03 -5.72363022e-03 8.39155836e+01] [ 9.83476196e-03 9.99951581e-01 3.35892680e-04 -3.69561811e+00] [ 5.72005036e-03 -3.92161481e-04 9.99983563e-01 2.50735597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56071405700001 meters Centerline goodness : 0.993663 with order 1 Centerline is valid? [True, True] Translation: X:83.98, Y:-3.70, Z:0.25 [[ 9.99891596e-01 -1.35660047e-02 -5.72364308e-03 8.39766731e+01] [ 1.35681472e-02 9.99907892e-01 3.35673327e-04 -3.69966252e+00] [ 5.71856214e-03 -4.13296171e-04 9.99983563e-01 2.53923123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62071405700001 meters Centerline goodness : 0.993415 with order 1 Centerline is valid? [True, True] Translation: X:84.04, Y:-3.70, Z:0.26 [[ 9.99890988e-01 -1.36107078e-02 -5.72363016e-03 8.40383325e+01] [ 1.36128524e-02 9.99907284e-01 3.35893462e-04 -3.70263149e+00] [ 5.71852775e-03 -4.13771779e-04 9.99983563e-01 2.60071690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68071405700002 meters Centerline goodness : 0.993451 with order 1 Centerline is valid? [True, True] Translation: X:84.10, Y:-3.70, Z:0.27 [[ 9.99831446e-01 -1.74447859e-02 -5.72360468e-03 8.41004086e+01] [ 1.74469954e-02 9.99847733e-01 3.36327209e-04 -3.70301805e+00] [ 5.71686600e-03 -4.36130224e-04 9.99983563e-01 2.65563538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74071405700002 meters Centerline goodness : 0.993380 with order 1 Centerline is valid? [True, True] Translation: X:84.16, Y:-3.71, Z:0.27 [[ 9.99846212e-01 -1.65768807e-02 -5.72358511e-03 8.41625317e+01] [ 1.65790780e-02 9.99862501e-01 3.36659786e-04 -3.70669007e+00] [ 5.71721736e-03 -4.31499776e-04 9.99983563e-01 2.69135397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80071405700001 meters Centerline goodness : 0.993441 with order 1 Centerline is valid? [True, True] Translation: X:84.22, Y:-3.71, Z:0.27 [[ 9.99787756e-01 -1.97909943e-02 -5.72355946e-03 8.42235899e+01] [ 1.97932464e-02 9.99804038e-01 3.37095421e-04 -3.71125482e+00] [ 5.71576640e-03 -4.50311697e-04 9.99983563e-01 2.66927087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86071405700001 meters Centerline goodness : 0.993805 with order 1 Centerline is valid? [True, True] Translation: X:84.28, Y:-3.71, Z:0.27 [[ 9.99701056e-01 -2.37705791e-02 -5.72354644e-03 8.42842946e+01] [ 2.37728973e-02 9.99717328e-01 3.37316353e-04 -3.71231031e+00] [ 5.71391034e-03 -4.73280795e-04 9.99983563e-01 2.71526081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92071405700001 meters Centerline goodness : 0.993721 with order 1 Centerline is valid? [True, True] Translation: X:84.35, Y:-3.71, Z:0.28 [[ 9.99739544e-01 -2.20926321e-02 -5.72353372e-03 8.43457045e+01] [ 2.20949242e-02 9.99755820e-01 3.37532048e-04 -3.71401980e+00] [ 5.71467917e-03 -4.63905180e-04 9.99983563e-01 2.76507090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98071405700001 meters Centerline goodness : 0.993717 with order 1 Centerline is valid? [True, True] Translation: X:84.41, Y:-3.72, Z:0.27 [[ 9.99824066e-01 -1.78627611e-02 -5.72351506e-03 8.44067058e+01] [ 1.78649861e-02 9.99840351e-01 3.37848052e-04 -3.71665151e+00] [ 5.71656641e-03 -4.40039130e-04 9.99983563e-01 2.73077941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04071405700002 meters Centerline goodness : 0.993603 with order 1 Centerline is valid? [True, True] Translation: X:84.47, Y:-3.72, Z:0.27 [[ 9.99870143e-01 -1.50644597e-02 -5.72349677e-03 8.44687036e+01] [ 1.50666409e-02 9.99886435e-01 3.38157659e-04 -3.72018051e+00] [ 5.71775262e-03 -4.24347618e-04 9.99983563e-01 2.71554037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10071405700002 meters Centerline goodness : 0.993489 with order 1 Centerline is valid? [True, True] Translation: X:84.53, Y:-3.72, Z:0.27 [[ 9.99928036e-01 -1.05434471e-02 -5.72347056e-03 8.45293207e+01] [ 1.05455571e-02 9.99944337e-01 3.38600768e-04 -3.72120804e+00] [ 5.71958195e-03 -3.98933586e-04 9.99983563e-01 2.73683827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.160714057 meters Centerline goodness : 0.993249 with order 1 Centerline is valid? [True, True] Translation: X:84.59, Y:-3.73, Z:0.27 [[ 9.99948088e-01 -8.42986294e-03 -5.72345422e-03 8.45900020e+01] [ 8.43194004e-03 9.99964393e-01 3.38876732e-04 -3.72828191e+00] [ 5.72039374e-03 -3.87118963e-04 9.99983563e-01 2.68265896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22071405700001 meters Centerline goodness : 0.993756 with order 1 Centerline is valid? [True, True] Translation: X:84.65, Y:-3.73, Z:0.27 [[ 9.99811007e-01 -1.85793586e-02 -5.72343719e-03 8.46499603e+01] [ 1.85816027e-02 9.99827290e-01 3.39164120e-04 -3.73164948e+00] [ 5.71614724e-03 -4.45450656e-04 9.99983563e-01 2.70160249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28071405700001 meters Centerline goodness : 0.993620 with order 1 Centerline is valid? [True, True] Translation: X:84.71, Y:-3.74, Z:0.27 [[ 9.99722073e-01 -2.28696147e-02 -5.72343719e-03 8.47124394e+01] [ 2.28719286e-02 9.99738346e-01 3.39164120e-04 -3.73524456e+00] [ 5.71418307e-03 -4.69975904e-04 9.99983563e-01 2.69228336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34071405700001 meters Centerline goodness : 0.993338 with order 1 Centerline is valid? [True, True] Translation: X:84.77, Y:-3.74, Z:0.27 [[ 9.99580677e-01 -2.83850717e-02 -5.72341129e-03 8.47737889e+01] [ 2.83874779e-02 9.99596937e-01 3.39600572e-04 -3.73958044e+00] [ 5.71146481e-03 -5.01931381e-04 9.99983563e-01 2.66601625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40071405700002 meters Centerline goodness : 0.992954 with order 1 Centerline is valid? [True, True] Translation: X:84.84, Y:-3.75, Z:0.26 [[ 9.99752059e-01 -2.15189027e-02 -5.72339213e-03 8.48352573e+01] [ 2.15211990e-02 9.99768334e-01 3.39923235e-04 -3.74632304e+00] [ 5.71475144e-03 -4.63013215e-04 9.99983563e-01 2.63419912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46071405700002 meters Centerline goodness : 0.993716 with order 1 Centerline is valid? [True, True] Translation: X:84.90, Y:-3.75, Z:0.27 [[ 9.99734710e-01 -2.23103922e-02 -5.72335310e-03 8.48970012e+01] [ 2.23127052e-02 9.99750983e-01 3.40579105e-04 -3.74641195e+00] [ 5.71432943e-03 -4.68192243e-04 9.99983563e-01 2.66975770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.520714057 meters Centerline goodness : 0.993274 with order 1 Centerline is valid? [True, True] Translation: X:84.96, Y:-3.75, Z:0.27 [[ 9.99749192e-01 -2.16517343e-02 -5.72331463e-03 8.49590771e+01] [ 2.16540402e-02 9.99765466e-01 3.41224291e-04 -3.75076677e+00] [ 5.71458422e-03 -4.65071594e-04 9.99983563e-01 2.66010529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58071405700001 meters Centerline goodness : 0.993624 with order 1 Centerline is valid? [True, True] Translation: X:85.02, Y:-3.75, Z:0.27 [[ 9.99710060e-01 -2.33888937e-02 -5.72328973e-03 8.50211991e+01] [ 2.33912302e-02 9.99726329e-01 3.41641477e-04 -3.75447906e+00] [ 5.71373282e-03 -4.75417209e-04 9.99983563e-01 2.65824174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64071405700001 meters Centerline goodness : 0.993633 with order 1 Centerline is valid? [True, True] Translation: X:85.08, Y:-3.76, Z:0.26 [[ 9.99676423e-01 -2.47849604e-02 -5.72326322e-03 8.50831998e+01] [ 2.47873221e-02 9.99692689e-01 3.42085024e-04 -3.75995475e+00] [ 5.71302583e-03 -4.83838702e-04 9.99983563e-01 2.60023141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70071405700001 meters Centerline goodness : 0.993306 with order 1 Centerline is valid? [True, True] Translation: X:85.15, Y:-3.76, Z:0.26 [[ 9.99691753e-01 -2.41587258e-02 -5.72323049e-03 8.51453567e+01] [ 2.41610805e-02 9.99708020e-01 3.42631642e-04 -3.76311697e+00] [ 5.71328188e-03 -4.80805459e-04 9.99983563e-01 2.62955611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76071405700002 meters Centerline goodness : 0.992518 with order 1 Centerline is valid? [True, True] Translation: X:85.21, Y:-3.77, Z:0.26 [[ 9.99729426e-01 -2.25459636e-02 -5.72320391e-03 8.52068667e+01] [ 2.25482945e-02 9.99745696e-01 3.43075185e-04 -3.76733383e+00] [ 5.71401351e-03 -4.72030844e-04 9.99983563e-01 2.61459614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82071405700002 meters Centerline goodness : 0.992681 with order 1 Centerline is valid? [True, True] Translation: X:85.27, Y:-3.77, Z:0.26 [[ 9.99789638e-01 -1.96958186e-02 -5.72316173e-03 8.52677271e+01] [ 1.96981072e-02 9.99805914e-01 3.43777338e-04 -3.77123999e+00] [ 5.71527997e-03 -4.56440473e-04 9.99983563e-01 2.61294801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88071405700002 meters Centerline goodness : 0.992389 with order 1 Centerline is valid? [True, True] Translation: X:85.33, Y:-3.77, Z:0.26 [[ 9.99825406e-01 -1.77877028e-02 -5.72314321e-03 8.53302006e+01] [ 1.77899620e-02 9.99841687e-01 3.44085392e-04 -3.77420466e+00] [ 5.71611667e-03 -4.45839817e-04 9.99983563e-01 2.60451682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94071405700001 meters Centerline goodness : 0.992654 with order 1 Centerline is valid? [True, True] Translation: X:85.39, Y:-3.78, Z:0.26 [[ 9.99828487e-01 -1.76137216e-02 -5.72311660e-03 8.53923411e+01] [ 1.76159805e-02 9.99844767e-01 3.44527367e-04 -3.77779481e+00] [ 5.71615978e-03 -4.45286586e-04 9.99983563e-01 2.59602053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00071405700001 meters Centerline goodness : 0.992718 with order 1 Centerline is valid? [True, True] Translation: X:85.45, Y:-3.78, Z:0.26 [[ 9.99807928e-01 -1.87444209e-02 -5.72308998e-03 8.54534807e+01] [ 1.87467008e-02 9.99824206e-01 3.44968940e-04 -3.78198042e+00] [ 5.71561765e-03 -4.52191736e-04 9.99983563e-01 2.58596156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06071405700001 meters Centerline goodness : 0.992593 with order 1 Centerline is valid? [True, True] Translation: X:85.51, Y:-3.78, Z:0.26 [[ 9.99800947e-01 -1.91131832e-02 -5.72305046e-03 8.55143108e+01] [ 1.91154728e-02 9.99817223e-01 3.45623490e-04 -3.78278178e+00] [ 5.71539845e-03 -4.54953508e-04 9.99983563e-01 2.62470637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12071405700001 meters Centerline goodness : 0.992693 with order 1 Centerline is valid? [True, True] Translation: X:85.58, Y:-3.79, Z:0.26 [[ 9.99833024e-01 -1.73542947e-02 -5.72303204e-03 8.55768645e+01] [ 1.73565573e-02 9.99849304e-01 3.45928071e-04 -3.78513286e+00] [ 5.71616627e-03 -4.45202443e-04 9.99983563e-01 2.64731970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18071405700002 meters Centerline goodness : 0.992647 with order 1 Centerline is valid? [True, True] Translation: X:85.64, Y:-3.79, Z:0.27 [[ 9.99859892e-01 -1.57303434e-02 -5.72300562e-03 8.56384904e+01] [ 1.57325821e-02 9.99876175e-01 3.46364688e-04 -3.78617783e+00] [ 5.71684854e-03 -4.36353815e-04 9.99983563e-01 2.66756163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24071405700002 meters Centerline goodness : 0.992533 with order 1 Centerline is valid? [True, True] Translation: X:85.70, Y:-3.79, Z:0.26 [[ 9.99928323e-01 -1.05165200e-02 -5.72298611e-03 8.57005242e+01] [ 1.05186756e-02 9.99944617e-01 3.46686686e-04 -3.78973540e+00] [ 5.71902322e-03 -4.06860071e-04 9.99983563e-01 2.64817745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30071405700001 meters Centerline goodness : 0.993110 with order 1 Centerline is valid? [True, True] Translation: X:85.76, Y:-3.79, Z:0.27 [[ 9.99872591e-01 -1.49013507e-02 -5.72295989e-03 8.57613486e+01] [ 1.49035802e-02 9.99888875e-01 3.47119082e-04 -3.79062723e+00] [ 5.71715138e-03 -4.32367448e-04 9.99983563e-01 2.69654039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36071405700001 meters Centerline goodness : 0.991704 with order 1 Centerline is valid? [True, True] Translation: X:85.82, Y:-3.80, Z:0.26 [[ 9.99958779e-01 -7.04893050e-03 -5.72294698e-03 8.58222088e+01] [ 7.05103326e-03 9.99975081e-01 3.47331795e-04 -3.80067443e+00] [ 5.72035605e-03 -3.87670167e-04 9.99983563e-01 2.61814864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42071405700001 meters Centerline goodness : 0.992299 with order 1 Centerline is valid? [True, True] Translation: X:85.88, Y:-3.80, Z:0.26 [[ 9.99943050e-01 -9.00800174e-03 -5.72293360e-03 8.58819078e+01] [ 9.01013769e-03 9.99959347e-01 3.47552026e-04 -3.80282767e+00] [ 5.71957020e-03 -3.99096653e-04 9.99983563e-01 2.62778516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48071405700001 meters Centerline goodness : 0.992264 with order 1 Centerline is valid? [True, True] Translation: X:85.94, Y:-3.80, Z:0.27 [[ 9.99920400e-01 -1.12446093e-02 -5.72294008e-03 8.59421886e+01] [ 1.12467811e-02 9.99936693e-01 3.47445321e-04 -3.80072941e+00] [ 5.71867089e-03 -4.11782319e-04 9.99983563e-01 2.70677460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54071405700002 meters Centerline goodness : 0.991430 with order 1 Centerline is valid? [True, True] Translation: X:86.00, Y:-3.80, Z:0.27 [[ 9.99931929e-01 -1.01678157e-02 -5.72293453e-03 8.60034029e+01] [ 1.01699705e-02 9.99948224e-01 3.47536726e-04 -3.80238481e+00] [ 5.71910453e-03 -4.05715144e-04 9.99983563e-01 2.71354203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60071405700002 meters Centerline goodness : 0.991157 with order 1 Centerline is valid? [True, True] Translation: X:86.06, Y:-3.80, Z:0.27 [[ 9.99925670e-01 -1.07657761e-02 -5.72292171e-03 8.60645875e+01] [ 1.07679418e-02 9.99941964e-01 3.47747725e-04 -3.80410234e+00] [ 5.71884580e-03 -4.09345965e-04 9.99983563e-01 2.70480810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.660714057 meters Centerline goodness : 0.990988 with order 1 Centerline is valid? [True, True] Translation: X:86.13, Y:-3.81, Z:0.27 [[ 9.99909970e-01 -1.21367742e-02 -5.72287925e-03 8.61258131e+01] [ 1.21389662e-02 9.99926259e-01 3.48445102e-04 -3.80722146e+00] [ 5.71822824e-03 -4.17883569e-04 9.99983563e-01 2.70400776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72071405700001 meters Centerline goodness : 0.991335 with order 1 Centerline is valid? [True, True] Translation: X:86.19, Y:-3.81, Z:0.27 [[ 9.99892746e-01 -1.34812946e-02 -5.72286660e-03 8.61883711e+01] [ 1.34835097e-02 9.99909033e-01 3.48652681e-04 -3.80839470e+00] [ 5.71764572e-03 -4.25779614e-04 9.99983563e-01 2.69839595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78071405700001 meters Centerline goodness : 0.990610 with order 1 Centerline is valid? [True, True] Translation: X:86.25, Y:-3.81, Z:0.27 [[ 9.99915234e-01 -1.16950682e-02 -5.72284002e-03 8.62506910e+01] [ 1.16972567e-02 9.99931524e-01 3.49088455e-04 -3.80900832e+00] [ 5.71836553e-03 -4.16000393e-04 9.99983563e-01 2.68777091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84071405700001 meters Centerline goodness : 0.991400 with order 1 Centerline is valid? [True, True] Translation: X:86.31, Y:-3.81, Z:0.27 [[ 9.99933185e-01 -1.00436465e-02 -5.72281323e-03 8.63125373e+01] [ 1.00458105e-02 9.99949478e-01 3.49527170e-04 -3.81004483e+00] [ 5.71901357e-03 -4.06994114e-04 9.99983563e-01 2.66889538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90071405700002 meters Centerline goodness : 0.993474 with order 1 Centerline is valid? [True, True] Translation: X:86.37, Y:-3.80, Z:0.27 [[ 9.99825900e-01 -1.77600442e-02 -5.72278683e-03 8.63746480e+01] [ 1.77623364e-02 9.99842176e-01 3.49958739e-04 -3.79840425e+00] [ 5.71566836e-03 -4.51547877e-04 9.99983563e-01 2.73838769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96071405700002 meters Centerline goodness : 0.990188 with order 1 Centerline is valid? [True, True] Translation: X:86.44, Y:-3.81, Z:0.27 [[ 9.99972858e-01 -4.64056280e-03 -5.72270294e-03 8.64364790e+01] [ 4.64264904e-03 9.99989161e-01 3.51325349e-04 -3.81324450e+00] [ 5.72101056e-03 -3.77884314e-04 9.99983563e-01 2.69068217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.020714057 meters Centerline goodness : 0.991136 with order 1 Centerline is valid? [True, True] Translation: X:86.50, Y:-3.82, Z:0.27 [[ 9.99968713e-01 -5.46109295e-03 -5.72267588e-03 8.64959180e+01] [ 5.46319508e-03 9.99985015e-01 3.51765592e-04 -3.81684847e+00] [ 5.72066909e-03 -3.83018681e-04 9.99983563e-01 2.66402763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08071405700001 meters Centerline goodness : 0.991044 with order 1 Centerline is valid? [True, True] Translation: X:86.55, Y:-3.82, Z:0.27 [[ 9.99948816e-01 -8.34364034e-03 -5.72268250e-03 8.65549793e+01] [ 8.34578884e-03 9.99965111e-01 3.51657829e-04 -3.81959109e+00] [ 5.71954873e-03 -3.99400129e-04 9.99983563e-01 2.66659252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14071405700001 meters Centerline goodness : 0.992485 with order 1 Centerline is valid? [True, True] Translation: X:86.62, Y:-3.82, Z:0.26 [[ 9.99891129e-01 -1.36007824e-02 -5.72268897e-03 8.66165056e+01] [ 1.36030159e-02 9.99907413e-01 3.51552490e-04 -3.82216276e+00] [ 5.71737773e-03 -4.29360045e-04 9.99983563e-01 2.60941907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20071405700001 meters Centerline goodness : 0.991967 with order 1 Centerline is valid? [True, True] Translation: X:86.68, Y:-3.82, Z:0.26 [[ 9.99877624e-01 -1.45598020e-02 -5.72267585e-03 8.66783873e+01] [ 1.45620523e-02 9.99893906e-01 3.51765885e-04 -3.82471085e+00] [ 5.71694707e-03 -4.35056742e-04 9.99983563e-01 2.61769826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26071405700002 meters Centerline goodness : 0.992248 with order 1 Centerline is valid? [True, True] Translation: X:86.74, Y:-3.82, Z:0.27 [[ 9.99879896e-01 -1.44029517e-02 -5.72264893e-03 8.67407748e+01] [ 1.44052020e-02 9.99896178e-01 3.52203358e-04 -3.82356889e+00] [ 5.71698202e-03 -4.34596970e-04 9.99983563e-01 2.69534860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32071405700002 meters Centerline goodness : 0.991983 with order 1 Centerline is valid? [True, True] Translation: X:86.80, Y:-3.82, Z:0.27 [[ 9.99917813e-01 -1.14724903e-02 -5.72262150e-03 8.68021211e+01] [ 1.14746954e-02 9.99934101e-01 3.52648374e-04 -3.82469433e+00] [ 5.71819863e-03 -4.18284730e-04 9.99983563e-01 2.67407834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38071405700002 meters Centerline goodness : 0.991995 with order 1 Centerline is valid? [True, True] Translation: X:86.86, Y:-3.83, Z:0.27 [[ 9.99953256e-01 -7.79339676e-03 -5.72260122e-03 8.68643952e+01] [ 7.79554381e-03 9.99969552e-01 3.52977276e-04 -3.82655680e+00] [ 5.71967608e-03 -3.97571565e-04 9.99983563e-01 2.68682120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44071405700001 meters Centerline goodness : 0.993578 with order 1 Centerline is valid? [True, True] Translation: X:86.93, Y:-3.82, Z:0.28 [[ 9.99923098e-01 -1.10023042e-02 -5.72257502e-03 8.69257289e+01] [ 1.10045059e-02 9.99939386e-01 3.53401497e-04 -3.81690270e+00] [ 5.71833992e-03 -4.16348430e-04 9.99983563e-01 2.76587045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50071405700001 meters Centerline goodness : 0.990990 with order 1 Centerline is valid? [True, True] Translation: X:86.99, Y:-3.83, Z:0.27 [[ 9.99977500e-01 3.50034886e-03 -5.72256862e-03 8.69863922e+01] [-3.49838298e-03 9.99993818e-01 3.53505077e-04 -3.83157612e+00] [ 5.72377063e-03 -3.33477386e-04 9.99983563e-01 2.67436832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56071405700001 meters Centerline goodness : 0.991524 with order 1 Centerline is valid? [True, True] Translation: X:87.04, Y:-3.83, Z:0.27 [[ 9.99928471e-01 1.05026690e-02 -5.72255583e-03 8.70439262e+01] [-1.05008163e-02 9.99944802e-01 3.53712071e-04 -3.83260364e+00] [ 5.72595487e-03 -2.93595263e-04 9.99983563e-01 2.69605551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62071405700001 meters Centerline goodness : 0.991055 with order 1 Centerline is valid? [True, True] Translation: X:87.10, Y:-3.84, Z:0.27 [[ 9.99815866e-01 1.83162813e-02 -5.72266267e-03 8.71013253e+01] [-1.83145662e-02 9.99832212e-01 3.51974984e-04 -3.83650733e+00] [ 5.72814935e-03 -2.47102089e-04 9.99983563e-01 2.68215346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68071405700002 meters Centerline goodness : 0.991788 with order 1 Centerline is valid? [True, True] Translation: X:87.16, Y:-3.84, Z:0.27 [[ 9.99709834e-01 2.33986657e-02 -5.72276867e-03 8.71588640e+01] [-2.33970436e-02 9.99726190e-01 3.50242885e-04 -3.84184248e+00] [ 5.72939694e-03 -2.16245389e-04 9.99983563e-01 2.66681156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74071405700002 meters Centerline goodness : 0.994045 with order 1 Centerline is valid? [True, True] Translation: X:87.22, Y:-3.83, Z:0.28 [[ 9.99868973e-01 1.51421546e-02 -5.72287263e-03 8.72168028e+01] [-1.51404072e-02 9.99885317e-01 3.48535877e-04 -3.83495692e+00] [ 5.72749390e-03 -2.61843587e-04 9.99983563e-01 2.77242873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80071405700001 meters Centerline goodness : 0.991721 with order 1 Centerline is valid? [True, True] Translation: X:87.27, Y:-3.86, Z:0.27 [[ 9.99731862e-01 2.24377320e-02 -5.72290452e-03 8.72742841e+01] [-2.24361069e-02 9.99748218e-01 3.48011587e-04 -3.85507490e+00] [ 5.72927218e-03 -2.19518574e-04 9.99983563e-01 2.67946793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86071405700001 meters Centerline goodness : 0.992834 with order 1 Centerline is valid? [True, True] Translation: X:87.33, Y:-3.86, Z:0.27 [[ 9.99859942e-01 1.57271565e-02 -5.72299552e-03 8.73324827e+01] [-1.57254303e-02 9.99876288e-01 3.46508463e-04 -3.86127700e+00] [ 5.72773711e-03 -2.56463365e-04 9.99983563e-01 2.70369401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92071405700001 meters Centerline goodness : 0.992131 with order 1 Centerline is valid? [True, True] Translation: X:87.39, Y:-3.87, Z:0.27 [[ 9.99947722e-01 8.47351913e-03 -5.72302143e-03 8.73913925e+01] [-8.47167681e-03 9.99964055e-01 3.46080016e-04 -3.86670543e+00] [ 5.72574823e-03 -2.97578335e-04 9.99983563e-01 2.71819005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98071405700001 meters Centerline goodness : 0.992364 with order 1 Centerline is valid? [True, True] Translation: X:87.45, Y:-3.87, Z:0.27 [[ 9.99976866e-01 3.67605366e-03 -5.72304731e-03 8.74500622e+01] [-3.67413544e-03 9.99993191e-01 3.45651567e-04 -3.87327191e+00] [ 5.72427897e-03 -3.24616319e-04 9.99983563e-01 2.70920200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04071405700002 meters Centerline goodness : 0.992472 with order 1 Centerline is valid? [True, True] Translation: X:87.51, Y:-3.88, Z:0.27 [[ 9.99962983e-01 -6.42483073e-03 -5.72307309e-03 8.75087390e+01] [ 6.42691130e-03 9.99979288e-01 3.45224149e-04 -3.87598489e+00] [ 5.72073655e-03 -3.81993053e-04 9.99983563e-01 2.74938522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10071405700002 meters Centerline goodness : 0.993260 with order 1 Centerline is valid? [True, True] Translation: X:87.57, Y:-3.88, Z:0.28 [[ 9.99940070e-01 -9.33283662e-03 -5.72309914e-03 8.75687211e+01] [ 9.33496213e-03 9.99956369e-01 3.44791842e-04 -3.88084270e+00] [ 5.71963155e-03 -3.98196093e-04 9.99983563e-01 2.75351101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.160714057 meters Centerline goodness : 0.992224 with order 1 Centerline is valid? [True, True] Translation: X:87.63, Y:-3.89, Z:0.27 [[ 9.99910792e-01 -1.20687381e-02 -5.72309914e-03 8.76296726e+01] [ 1.20709082e-02 9.99927084e-01 3.44791842e-04 -3.88512930e+00] [ 5.71852063e-03 -4.13844088e-04 9.99983563e-01 2.74397309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22071405700001 meters Centerline goodness : 0.992494 with order 1 Centerline is valid? [True, True] Translation: X:87.69, Y:-3.89, Z:0.28 [[ 9.99877246e-01 -1.45856066e-02 -5.72308602e-03 8.76914422e+01] [ 1.45878189e-02 9.99893533e-01 3.45009473e-04 -3.88791762e+00] [ 5.71744452e-03 -4.28454464e-04 9.99983563e-01 2.75508627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28071405700001 meters Centerline goodness : 0.992446 with order 1 Centerline is valid? [True, True] Translation: X:87.75, Y:-3.89, Z:0.28 [[ 9.99883345e-01 -1.41613536e-02 -5.72305951e-03 8.77526798e+01] [ 1.41635615e-02 9.99899632e-01 3.45448705e-04 -3.88915646e+00] [ 5.71759307e-03 -4.26467311e-04 9.99983563e-01 2.78992912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34071405700001 meters Centerline goodness : 0.992165 with order 1 Centerline is valid? [True, True] Translation: X:87.82, Y:-3.89, Z:0.28 [[ 9.99820225e-01 -1.80766269e-02 -5.72304008e-03 8.78153565e+01] [ 1.80789004e-02 9.99836504e-01 3.45770283e-04 -3.89169130e+00] [ 5.71585402e-03 -4.49174394e-04 9.99983563e-01 2.76820893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40071405700002 meters Centerline goodness : 0.991084 with order 1 Centerline is valid? [True, True] Translation: X:87.88, Y:-3.89, Z:0.28 [[ 9.99807448e-01 -1.87700467e-02 -5.72294790e-03 8.78765380e+01] [ 1.87723402e-02 9.99823724e-01 3.47289206e-04 -3.89386380e+00] [ 5.71542045e-03 -4.54655459e-04 9.99983563e-01 2.76726289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46071405700002 meters Centerline goodness : 0.991224 with order 1 Centerline is valid? [True, True] Translation: X:87.94, Y:-3.89, Z:0.28 [[ 9.99793962e-01 -1.94751495e-02 -5.72290536e-03 8.79389506e+01] [ 1.94774584e-02 9.99810236e-01 3.47988931e-04 -3.89471922e+00] [ 5.71504222e-03 -4.59384883e-04 9.99983563e-01 2.77616246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.520714057 meters Centerline goodness : 0.990808 with order 1 Centerline is valid? [True, True] Translation: X:88.00, Y:-3.90, Z:0.28 [[ 9.99806509e-01 -1.88200013e-02 -5.72287967e-03 8.80009898e+01] [ 1.88223019e-02 9.99822784e-01 3.48410785e-04 -3.89533470e+00] [ 5.71530840e-03 -4.56061140e-04 9.99983563e-01 2.79966507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58071405700001 meters Centerline goodness : 0.992096 with order 1 Centerline is valid? [True, True] Translation: X:88.06, Y:-3.90, Z:0.28 [[ 9.99813320e-01 -1.84546384e-02 -5.72285302e-03 8.80630303e+01] [ 1.84569356e-02 9.99829595e-01 3.48848027e-04 -3.89867014e+00] [ 5.71543996e-03 -4.54409234e-04 9.99983563e-01 2.80429185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64071405700001 meters Centerline goodness : 0.991677 with order 1 Centerline is valid? [True, True] Translation: X:88.13, Y:-3.90, Z:0.28 [[ 9.99842109e-01 -1.68227816e-02 -5.72282617e-03 8.81255254e+01] [ 1.68250547e-02 9.99858388e-01 3.49287885e-04 -3.90123064e+00] [ 5.71613976e-03 -4.45519599e-04 9.99983563e-01 2.79587230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70071405700001 meters Centerline goodness : 0.991651 with order 1 Centerline is valid? [True, True] Translation: X:88.19, Y:-3.90, Z:0.28 [[ 9.99844900e-01 -1.66561246e-02 -5.72279896e-03 8.81866401e+01] [ 1.66583976e-02 9.99861178e-01 3.49733119e-04 -3.90357614e+00] [ 5.71617932e-03 -4.45011535e-04 9.99983563e-01 2.77657392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76071405700002 meters Centerline goodness : 0.993411 with order 1 Centerline is valid? [True, True] Translation: X:88.25, Y:-3.89, Z:0.28 [[ 9.99708191e-01 -2.34687530e-02 -5.72277888e-03 8.82498488e+01] [ 2.34711387e-02 9.99724454e-01 3.50061403e-04 -3.89364551e+00] [ 5.71298649e-03 -4.84279389e-04 9.99983563e-01 2.83760970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82071405700002 meters Centerline goodness : 0.993918 with order 1 Centerline is valid? [True, True] Translation: X:88.31, Y:-3.90, Z:0.28 [[ 9.99688100e-01 -2.43095456e-02 -5.72269060e-03 8.83120999e+01] [ 2.43119531e-02 9.99704359e-01 3.51498724e-04 -3.89579825e+00] [ 5.71245396e-03 -4.90518877e-04 9.99983563e-01 2.83229063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88071405700002 meters Centerline goodness : 0.991415 with order 1 Centerline is valid? [True, True] Translation: X:88.37, Y:-3.91, Z:0.28 [[ 9.99848017e-01 -1.64679710e-02 -5.72266458e-03 8.83738488e+01] [ 1.64702534e-02 9.99864294e-01 3.51921801e-04 -3.90983853e+00] [ 5.71609255e-03 -4.46122050e-04 9.99983563e-01 2.76292854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94071405700001 meters Centerline goodness : 0.991238 with order 1 Centerline is valid? [True, True] Translation: X:88.44, Y:-3.91, Z:0.28 [[ 9.99825741e-01 -1.77690277e-02 -5.72263778e-03 8.84360325e+01] [ 1.77713337e-02 9.99842015e-01 3.52357171e-04 -3.90863432e+00] [ 5.71547264e-03 -4.53994675e-04 9.99983563e-01 2.80100099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00071405700001 meters Centerline goodness : 0.992216 with order 1 Centerline is valid? [True, True] Translation: X:88.50, Y:-3.91, Z:0.28 [[ 9.99820338e-01 -1.80705237e-02 -5.72261089e-03 8.84981537e+01] [ 1.80728370e-02 9.99836611e-01 3.52793317e-04 -3.90927607e+00] [ 5.71530071e-03 -4.56153747e-04 9.99983563e-01 2.80653954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06071405700001 meters Centerline goodness : 0.991276 with order 1 Centerline is valid? [True, True] Translation: X:88.56, Y:-3.91, Z:0.28 [[ 9.99850775e-01 -1.62996672e-02 -5.72258425e-03 8.85606545e+01] [ 1.63019542e-02 9.99867052e-01 3.53224870e-04 -3.91071265e+00] [ 5.71606600e-03 -4.46461467e-04 9.99983563e-01 2.80177687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12071405700001 meters Centerline goodness : 0.991261 with order 1 Centerline is valid? [True, True] Translation: X:88.62, Y:-3.91, Z:0.28 [[ 9.99877650e-01 -1.45580699e-02 -5.72255725e-03 8.86216021e+01] [ 1.45603310e-02 9.99893930e-01 3.53661698e-04 -3.91069009e+00] [ 5.71680163e-03 -4.36940756e-04 9.99983563e-01 2.80452731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18071405700002 meters Centerline goodness : 0.990349 with order 1 Centerline is valid? [True, True] Translation: X:88.68, Y:-3.91, Z:0.28 [[ 9.99937547e-01 -9.59972210e-03 -5.72251231e-03 8.86840152e+01] [ 9.60190661e-03 9.99953838e-01 3.54387504e-04 -3.91098091e+00] [ 5.71884612e-03 -4.09312400e-04 9.99983563e-01 2.79655819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24071405700002 meters Centerline goodness : 0.991275 with order 1 Centerline is valid? [True, True] Translation: X:88.75, Y:-3.91, Z:0.28 [[ 9.99981849e-01 -1.88563357e-03 -5.72248609e-03 8.87458883e+01] [ 1.88769475e-03 9.99998155e-01 3.54810337e-04 -3.91053799e+00] [ 5.72180649e-03 -3.65606204e-04 9.99983563e-01 2.79663426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30071405700001 meters Centerline goodness : 0.991099 with order 1 Centerline is valid? [True, True] Translation: X:88.81, Y:-3.91, Z:0.28 [[ 9.99957317e-01 7.25382055e-03 -5.72247263e-03 8.88050475e+01] [-7.25190725e-03 9.99973642e-01 3.55027241e-04 -3.91142683e+00] [ 5.72489710e-03 -3.13513246e-04 9.99983563e-01 2.78392793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36071405700001 meters Centerline goodness : 0.991462 with order 1 Centerline is valid? [True, True] Translation: X:88.86, Y:-3.91, Z:0.28 [[ 9.99866453e-01 1.53077633e-02 -5.72256633e-03 8.88633770e+01] [-1.53059902e-02 9.99882794e-01 3.53510466e-04 -3.91186778e+00] [ 5.72730707e-03 -2.65873711e-04 9.99983563e-01 2.76898029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42071405700001 meters Centerline goodness : 0.992516 with order 1 Centerline is valid? [True, True] Translation: X:88.92, Y:-3.90, Z:0.29 [[ 9.99910275e-01 1.21116891e-02 -5.72267156e-03 8.89218950e+01] [-1.21098736e-02 9.99926611e-01 3.51798641e-04 -3.89967125e+00] [ 5.72651246e-03 -2.82466247e-04 9.99983563e-01 2.86400951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48071405700001 meters Centerline goodness : 0.992929 with order 1 Centerline is valid? [True, True] Translation: X:88.98, Y:-3.90, Z:0.29 [[ 9.99846477e-01 1.65611774e-02 -5.72270374e-03 8.89794591e+01] [-1.65594376e-02 9.99862821e-01 3.51274370e-04 -3.90124894e+00] [ 5.72773623e-03 -2.56455686e-04 9.99983563e-01 2.87556425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54071405700002 meters Centerline goodness : 0.992703 with order 1 Centerline is valid? [True, True] Translation: X:89.04, Y:-3.90, Z:0.29 [[ 9.99790715e-01 1.96411666e-02 -5.72280282e-03 8.90375021e+01] [-1.96394864e-02 9.99807066e-01 3.49652832e-04 -3.90316612e+00] [ 5.72856628e-03 -2.37186747e-04 9.99983564e-01 2.88580255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60071405700002 meters Centerline goodness : 0.993303 with order 1 Centerline is valid? [True, True] Translation: X:89.10, Y:-3.91, Z:0.29 [[ 9.99618438e-01 2.70227190e-02 -5.72283970e-03 8.90959591e+01] [-2.70211630e-02 9.99634801e-01 3.49048195e-04 -3.90541574e+00] [ 5.73018195e-03 -1.94277227e-04 9.99983564e-01 2.90163950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.660714057 meters Centerline goodness : 0.991160 with order 1 Centerline is valid? [True, True] Translation: X:89.15, Y:-3.92, Z:0.29 [[ 9.99319759e-01 3.64316713e-02 -5.72292733e-03 8.91542597e+01] [-3.64302777e-02 9.99336137e-01 3.47605401e-04 -3.91853571e+00] [ 5.73179193e-03 -1.38881114e-04 9.99983564e-01 2.85540617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72071405700001 meters Centerline goodness : 0.991596 with order 1 Centerline is valid? [True, True] Translation: X:89.21, Y:-3.92, Z:0.29 [[ 9.99286887e-01 3.73224387e-02 -5.72301780e-03 8.92121609e+01] [-3.73210682e-02 9.99303266e-01 3.46109414e-04 -3.92231824e+00] [ 5.73194803e-03 -1.32273461e-04 9.99983564e-01 2.88884175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78071405700001 meters Centerline goodness : 0.991587 with order 1 Centerline is valid? [True, True] Translation: X:89.27, Y:-3.93, Z:0.29 [[ 9.99356755e-01 3.54022954e-02 -5.72312221e-03 8.92693531e+01] [-3.54009034e-02 9.99373132e-01 3.44374241e-04 -3.93109224e+00] [ 5.73172621e-03 -1.41549027e-04 9.99983564e-01 2.87028660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84071405700001 meters Centerline goodness : 0.991753 with order 1 Centerline is valid? [True, True] Translation: X:89.33, Y:-3.94, Z:0.28 [[ 9.99482880e-01 3.16420116e-02 -5.72322481e-03 8.93264369e+01] [-3.16405678e-02 9.99499253e-01 3.42660701e-04 -3.94389588e+00] [ 5.73120139e-03 -1.61397422e-04 9.99983564e-01 2.81727432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90071405700002 meters Centerline goodness : 0.993912 with order 1 Centerline is valid? [True, True] Translation: X:89.38, Y:-3.94, Z:0.29 [[ 9.99873488e-01 1.48409133e-02 -5.72325614e-03 8.93835849e+01] [-1.48391975e-02 9.99889835e-01 3.42136605e-04 -3.94124502e+00] [ 5.72770325e-03 -2.57164792e-04 9.99983564e-01 2.92368373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96071405700002 meters Centerline goodness : 0.992819 with order 1 Centerline is valid? [True, True] Translation: X:89.44, Y:-3.96, Z:0.28 [[ 9.99828920e-01 1.75890429e-02 -5.72329813e-03 8.94404184e+01] [-1.75873761e-02 9.99845272e-01 3.41432690e-04 -3.96385652e+00] [ 5.72841805e-03 -2.40716480e-04 9.99983564e-01 2.82595516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.020714057 meters Centerline goodness : 0.992182 with order 1 Centerline is valid? [True, True] Translation: X:89.50, Y:-3.98, Z:0.28 [[ 9.99897590e-01 1.31168656e-02 -5.72333691e-03 8.94974695e+01] [-1.31151294e-02 9.99913935e-01 3.40781353e-04 -3.97594319e+00] [ 5.72731431e-03 -2.65684150e-04 9.99983564e-01 2.80178441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08071405700001 meters Centerline goodness : 0.993272 with order 1 Centerline is valid? [True, True] Translation: X:89.56, Y:-3.98, Z:0.28 [[ 9.99951510e-01 8.01382136e-03 -5.72337979e-03 8.95564312e+01] [-8.01200590e-03 9.99967846e-01 3.40059630e-04 -3.98141411e+00] [ 5.72592094e-03 -2.94187388e-04 9.99983564e-01 2.84601612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14071405700001 meters Centerline goodness : 0.993059 with order 1 Centerline is valid? [True, True] Translation: X:89.62, Y:-3.99, Z:0.29 [[ 9.99982618e-01 1.41674991e-03 -5.72340518e-03 8.96150839e+01] [-1.41482915e-03 9.99998941e-01 3.39631766e-04 -3.99039391e+00] [ 5.72388030e-03 -3.31528222e-04 9.99983564e-01 2.86940252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20071405700001 meters Centerline goodness : 0.993536 with order 1 Centerline is valid? [True, True] Translation: X:89.67, Y:-4.00, Z:0.29 [[ 9.99980464e-01 -2.51276481e-03 -5.72343062e-03 8.96735470e+01] [ 2.51474725e-03 9.99996780e-01 3.39202485e-04 -3.99713152e+00] [ 5.72255986e-03 -3.53588839e-04 9.99983564e-01 2.87874912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26071405700002 meters Centerline goodness : 0.993611 with order 1 Centerline is valid? [True, True] Translation: X:89.73, Y:-4.00, Z:0.29 [[ 9.99971057e-01 -5.01261590e-03 -5.72345688e-03 8.97330645e+01] [ 5.01463660e-03 9.99987369e-01 3.38758827e-04 -4.00251646e+00] [ 5.72168652e-03 -3.67450078e-04 9.99983564e-01 2.88587622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32071405700002 meters Centerline goodness : 0.995136 with order 1 Centerline is valid? [True, True] Translation: X:89.79, Y:-4.00, Z:0.29 [[ 9.99878556e-01 -1.44953591e-02 -5.72346981e-03 8.97924622e+01] [ 1.44975332e-02 9.99894848e-01 3.38540243e-04 -3.99851547e+00] [ 5.71796072e-03 -4.21475323e-04 9.99983564e-01 2.93416840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38071405700002 meters Centerline goodness : 0.993790 with order 1 Centerline is valid? [True, True] Translation: X:89.85, Y:-4.01, Z:0.29 [[ 9.99953017e-01 -7.82345564e-03 -5.72346125e-03 8.98535926e+01] [ 7.82552175e-03 9.99969323e-01 3.38684959e-04 -4.01366210e+00] [ 5.72063598e-03 -3.83458117e-04 9.99983564e-01 2.86832669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44071405700001 meters Centerline goodness : 0.995323 with order 1 Centerline is valid? [True, True] Translation: X:89.91, Y:-4.01, Z:0.29 [[ 9.99835885e-01 -1.71885176e-02 -5.72343526e-03 8.99142262e+01] [ 1.71907388e-02 9.99852171e-01 3.39123525e-04 -4.00690433e+00] [ 5.71676014e-03 -4.37457951e-04 9.99983564e-01 2.92677642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50071405700001 meters Centerline goodness : 0.995113 with order 1 Centerline is valid? [True, True] Translation: X:89.98, Y:-4.01, Z:0.29 [[ 9.99836554e-01 -1.71495516e-02 -5.72342890e-03 8.99766818e+01] [ 1.71517728e-02 9.99852840e-01 3.39230831e-04 -4.01050254e+00] [ 5.71676899e-03 -4.37342337e-04 9.99983564e-01 2.93247787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56071405700001 meters Centerline goodness : 0.994533 with order 1 Centerline is valid? [True, True] Translation: X:90.04, Y:-4.01, Z:0.30 [[ 9.99828406e-01 -1.76181804e-02 -5.72340625e-03 9.00390502e+01] [ 1.76204115e-02 9.99844691e-01 3.39612579e-04 -4.01307002e+00] [ 5.71653400e-03 -4.40403077e-04 9.99983564e-01 2.95090112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62071405700001 meters Centerline goodness : 0.993565 with order 1 Centerline is valid? [True, True] Translation: X:90.10, Y:-4.03, Z:0.29 [[ 9.99932473e-01 -1.01139935e-02 -5.72338232e-03 9.01002543e+01] [ 1.01161046e-02 9.99948773e-01 3.40015364e-04 -4.02567999e+00] [ 5.71965022e-03 -3.97890738e-04 9.99983564e-01 2.90330977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68071405700002 meters Centerline goodness : 0.992432 with order 1 Centerline is valid? [True, True] Translation: X:90.16, Y:-4.03, Z:0.29 [[ 9.99927317e-01 -1.06115256e-02 -5.72335605e-03 9.01616704e+01] [ 1.06136473e-02 9.99943616e-01 3.40456958e-04 -4.02706665e+00] [ 5.71942058e-03 -4.01177894e-04 9.99983564e-01 2.93217723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74071405700002 meters Centerline goodness : 0.995156 with order 1 Centerline is valid? [True, True] Translation: X:90.22, Y:-4.02, Z:0.30 [[ 9.99879083e-01 -1.44590093e-02 -5.72334308e-03 9.02234176e+01] [ 1.44611949e-02 9.99895373e-01 3.40674939e-04 -4.01953971e+00] [ 5.71781844e-03 -4.23400125e-04 9.99983564e-01 2.97779012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80071405700001 meters Centerline goodness : 0.994773 with order 1 Centerline is valid? [True, True] Translation: X:90.28, Y:-4.02, Z:0.30 [[ 9.99908958e-01 -1.22196623e-02 -5.72329153e-03 9.02846075e+01] [ 1.22218163e-02 9.99925252e-01 3.41538714e-04 -4.02238013e+00] [ 5.71869024e-03 -4.11456637e-04 9.99983564e-01 2.96488991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86071405700001 meters Centerline goodness : 0.994087 with order 1 Centerline is valid? [True, True] Translation: X:90.35, Y:-4.03, Z:0.29 [[ 9.99971682e-01 -4.88656343e-03 -5.72327347e-03 9.03451940e+01] [ 4.88859964e-03 9.99987992e-01 3.41841100e-04 -4.03272689e+00] [ 5.72153432e-03 -3.69810212e-04 9.99983564e-01 2.93831126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92071405700001 meters Centerline goodness : 0.993827 with order 1 Centerline is valid? [True, True] Translation: X:90.40, Y:-4.04, Z:0.29 [[ 9.99972655e-01 -4.68332144e-03 -5.72326061e-03 9.04043125e+01] [ 4.68535556e-03 9.99988965e-01 3.42056260e-04 -4.03511834e+00] [ 5.72159550e-03 -3.68862418e-04 9.99983564e-01 2.93690502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98071405700001 meters Centerline goodness : 0.994031 with order 1 Centerline is valid? [True, True] Translation: X:90.46, Y:-4.04, Z:0.30 [[ 9.99975673e-01 -3.98713044e-03 -5.72326692e-03 9.04635269e+01] [ 3.98915260e-03 9.99991985e-01 3.41950660e-04 -4.03695647e+00] [ 5.72185765e-03 -3.64773327e-04 9.99983564e-01 2.96115712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04071405700002 meters Centerline goodness : 0.994022 with order 1 Centerline is valid? [True, True] Translation: X:90.52, Y:-4.04, Z:0.30 [[ 9.99981070e-01 -2.25895748e-03 -5.72327977e-03 9.05232169e+01] [ 2.26095022e-03 9.99997386e-01 3.41735441e-04 -4.03950424e+00] [ 5.72249284e-03 -3.54669023e-04 9.99983564e-01 2.95570100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10071405700002 meters Centerline goodness : 0.993634 with order 1 Centerline is valid? [True, True] Translation: X:90.58, Y:-4.04, Z:0.30 [[ 9.99983612e-01 -1.41228471e-04 -5.72329283e-03 9.05821920e+01] [ 1.43185408e-04 9.99999931e-01 3.41516644e-04 -4.04268811e+00] [ 5.72324420e-03 -3.42330539e-04 9.99983564e-01 2.99545155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.160714057 meters Centerline goodness : 0.993434 with order 1 Centerline is valid? [True, True] Translation: X:90.64, Y:-4.05, Z:0.30 [[ 9.99982984e-01 1.12910403e-03 -5.72331202e-03 9.06412619e+01] [-1.12716966e-03 9.99999307e-01 3.41194675e-04 -4.04648701e+00] [ 5.72369330e-03 -3.34737725e-04 9.99983564e-01 2.98161573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22071405700001 meters Centerline goodness : 0.993495 with order 1 Centerline is valid? [True, True] Translation: X:90.70, Y:-4.05, Z:0.29 [[ 9.99982517e-01 1.48597651e-03 -5.72340177e-03 9.06991217e+01] [-1.48405660e-03 9.99998841e-01 3.39682415e-04 -4.05056801e+00] [ 5.72389990e-03 -3.31182624e-04 9.99983564e-01 2.92655333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28071405700001 meters Centerline goodness : 0.993681 with order 1 Centerline is valid? [True, True] Translation: X:90.76, Y:-4.05, Z:0.29 [[ 9.99967152e-01 5.73905193e-03 -5.72343299e-03 9.07569366e+01] [-5.73720447e-03 9.99983485e-01 3.39155582e-04 -4.05418920e+00] [ 5.72528490e-03 -3.06307937e-04 9.99983564e-01 2.94684507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34071405700001 meters Centerline goodness : 0.993263 with order 1 Centerline is valid? [True, True] Translation: X:90.82, Y:-4.06, Z:0.30 [[ 9.99921896e-01 1.11104646e-02 -5.72353413e-03 9.08152520e+01] [-1.11087147e-02 9.99938239e-01 3.37440152e-04 -4.05704029e+00] [ 5.72692976e-03 -2.73832689e-04 9.99983564e-01 2.99855330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40071405700002 meters Centerline goodness : 0.992947 with order 1 Centerline is valid? [True, True] Translation: X:90.87, Y:-4.06, Z:0.30 [[ 9.99861311e-01 1.56396807e-02 -5.72359688e-03 9.08738908e+01] [-1.56380109e-02 9.99877662e-01 3.36372418e-04 -4.06223422e+00] [ 5.72815742e-03 -2.46820096e-04 9.99983564e-01 2.98536753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46071405700002 meters Centerline goodness : 0.994578 with order 1 Centerline is valid? [True, True] Translation: X:90.93, Y:-4.06, Z:0.30 [[ 9.99976013e-01 3.90031854e-03 -5.72368506e-03 9.09321277e+01] [-3.89846553e-03 9.99992345e-01 3.34865150e-04 -4.05651778e+00] [ 5.72494733e-03 -3.12543529e-04 9.99983564e-01 3.00828271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52071405700002 meters Centerline goodness : 0.995402 with order 1 Centerline is valid? [True, True] Translation: X:90.99, Y:-4.06, Z:0.30 [[ 9.99980800e-01 2.37477474e-03 -5.72371579e-03 9.09904454e+01] [-2.37289982e-03 9.99997129e-01 3.34339031e-04 -4.06092658e+00] [ 5.72449334e-03 -3.20750808e-04 9.99983564e-01 3.00118020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58071405700001 meters Centerline goodness : 0.993005 with order 1 Centerline is valid? [True, True] Translation: X:91.05, Y:-4.08, Z:0.29 [[ 9.99867975e-01 1.52076057e-02 -5.72373990e-03 9.10478330e+01] [-1.52059429e-02 9.99884327e-01 3.33925890e-04 -4.07946363e+00] [ 5.72815603e-03 -2.46846941e-04 9.99983564e-01 2.93882284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64071405700001 meters Centerline goodness : 0.993633 with order 1 Centerline is valid? [True, True] Translation: X:91.11, Y:-4.08, Z:0.30 [[ 9.99901318e-01 1.28293462e-02 -5.72377156e-03 9.11068265e+01] [-1.28276476e-02 9.99917667e-01 3.33382261e-04 -4.08092732e+00] [ 5.72757738e-03 -2.59926838e-04 9.99983564e-01 2.99263084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70071405700001 meters Centerline goodness : 0.994887 with order 1 Centerline is valid? [True, True] Translation: X:91.17, Y:-4.07, Z:0.30 [[ 9.99980895e-01 2.33400422e-03 -5.72379629e-03 9.11653838e+01] [-2.33213652e-03 9.99997225e-01 3.32957215e-04 -4.07471111e+00] [ 5.72455753e-03 -3.19602179e-04 9.99983564e-01 3.03484931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76071405700002 meters Centerline goodness : 0.994371 with order 1 Centerline is valid? [True, True] Translation: X:91.22, Y:-4.08, Z:0.30 [[ 9.99982221e-01 1.67219055e-03 -5.72382671e-03 9.12240376e+01] [-1.67031503e-03 9.99998550e-01 3.32433347e-04 -4.08046682e+00] [ 5.72437430e-03 -3.22866843e-04 9.99983564e-01 3.04490533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82071405700002 meters Centerline goodness : 0.994369 with order 1 Centerline is valid? [True, True] Translation: X:91.28, Y:-4.08, Z:0.30 [[ 9.99983253e-01 8.55701683e-04 -5.72385095e-03 9.12818626e+01] [-8.53815216e-04 9.99999580e-01 3.32015453e-04 -4.08495874e+00] [ 5.72413266e-03 -3.27122782e-04 9.99983564e-01 3.03886640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88071405700002 meters Centerline goodness : 0.993887 with order 1 Centerline is valid? [True, True] Translation: X:91.34, Y:-4.09, Z:0.30 [[ 9.99983455e-01 -5.72508954e-04 -5.72388070e-03 9.13409041e+01] [ 5.74415809e-04 9.99999780e-01 3.31501858e-04 -4.09022366e+00] [ 5.72368965e-03 -3.34784261e-04 9.99983564e-01 3.04303361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94071405700001 meters Centerline goodness : 0.994185 with order 1 Centerline is valid? [True, True] Translation: X:91.40, Y:-4.10, Z:0.30 [[ 9.99983232e-01 -8.79096285e-04 -5.72390470e-03 9.13984811e+01] [ 8.81005779e-04 9.99999557e-01 3.31086854e-04 -4.09571448e+00] [ 5.72361111e-03 -3.36124095e-04 9.99983564e-01 3.03492572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00071405700001 meters Centerline goodness : 0.991911 with order 1 Centerline is valid? [True, True] Translation: X:91.46, Y:-4.11, Z:0.30 [[ 9.99950358e-01 8.15582177e-03 -5.72393416e-03 9.14565602e+01] [-8.15406276e-03 9.99966700e-01 3.30576751e-04 -4.11036175e+00] [ 5.72643968e-03 -2.83887022e-04 9.99983564e-01 3.02230346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06071405700001 meters Centerline goodness : 0.992791 with order 1 Centerline is valid? [True, True] Translation: X:91.51, Y:-4.11, Z:0.31 [[ 9.99886411e-01 1.39427283e-02 -5.72402208e-03 9.15143050e+01] [-1.39410726e-02 9.99902764e-01 3.29047417e-04 -4.11454431e+00] [ 5.72805332e-03 -2.49211033e-04 9.99983564e-01 3.05599089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12071405700001 meters Centerline goodness : 0.992765 with order 1 Centerline is valid? [True, True] Translation: X:91.57, Y:-4.12, Z:0.30 [[ 9.99885021e-01 1.40421108e-02 -5.72405275e-03 9.15717826e+01] [-1.40404598e-02 9.99901374e-01 3.28513011e-04 -4.12075660e+00] [ 5.72810122e-03 -2.48106906e-04 9.99983564e-01 3.04017838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18071405700002 meters Centerline goodness : 0.994591 with order 1 Centerline is valid? [True, True] Translation: X:91.63, Y:-4.11, Z:0.31 [[ 9.99959820e-01 6.89872718e-03 -5.72408951e-03 9.16296523e+01] [-6.89696308e-03 9.99976162e-01 3.27871176e-04 -4.11498112e+00] [ 5.72621495e-03 -2.88379169e-04 9.99983564e-01 3.08374869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24071405700002 meters Centerline goodness : 0.994788 with order 1 Centerline is valid? [True, True] Translation: X:91.69, Y:-4.12, Z:0.31 [[ 9.99973991e-01 4.38771718e-03 -5.72411957e-03 9.16876676e+01] [-4.38591505e-03 9.99990328e-01 3.27345531e-04 -4.12259474e+00] [ 5.72550051e-03 -3.02231515e-04 9.99983564e-01 3.05959585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30071405700001 meters Centerline goodness : 0.995250 with order 1 Centerline is valid? [True, True] Translation: X:91.74, Y:-4.13, Z:0.31 [[ 9.99982462e-01 1.51968543e-03 -5.72414322e-03 9.17448580e+01] [-1.51783882e-03 9.99998795e-01 3.26931436e-04 -4.12972015e+00] [ 5.72463316e-03 -3.18237376e-04 9.99983564e-01 3.05607524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36071405700001 meters Centerline goodness : 0.994635 with order 1 Centerline is valid? [True, True] Translation: X:91.80, Y:-4.13, Z:0.31 [[ 9.99982894e-01 1.20220244e-03 -5.72417228e-03 9.18031356e+01] [-1.20035355e-03 9.99999226e-01 3.26421792e-04 -4.13379557e+00] [ 5.72456028e-03 -3.19545178e-04 9.99983564e-01 3.05772157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42071405700001 meters Centerline goodness : 0.993404 with order 1 Centerline is valid? [True, True] Translation: X:91.86, Y:-4.15, Z:0.30 [[ 9.99940383e-01 9.29863055e-03 -5.72419531e-03 9.18611428e+01] [-9.29691626e-03 9.99956730e-01 3.26017534e-04 -4.14957394e+00] [ 5.72697914e-03 -2.72780734e-04 9.99983564e-01 3.01614979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48071405700001 meters Centerline goodness : 0.995683 with order 1 Centerline is valid? [True, True] Translation: X:91.92, Y:-4.14, Z:0.31 [[ 9.99970564e-01 5.10916372e-03 -5.72427464e-03 9.19190944e+01] [-5.10738894e-03 9.99986905e-01 3.24618664e-04 -4.14317913e+00] [ 5.72585821e-03 -2.95373012e-04 9.99983564e-01 3.08511790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54071405700002 meters Centerline goodness : 0.995525 with order 1 Centerline is valid? [True, True] Translation: X:91.98, Y:-4.15, Z:0.31 [[ 9.99959129e-01 6.99806291e-03 -5.72430229e-03 9.19775438e+01] [-6.99632179e-03 9.99975473e-01 3.24130269e-04 -4.14725650e+00] [ 5.72643018e-03 -2.84067961e-04 9.99983564e-01 3.09775287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60071405700002 meters Centerline goodness : 0.995147 with order 1 Centerline is valid? [True, True] Translation: X:92.03, Y:-4.15, Z:0.31 [[ 9.99942137e-01 9.10786881e-03 -5.72437874e-03 9.20349761e+01] [-9.10616993e-03 9.99958486e-01 3.22774467e-04 -4.15197505e+00] [ 5.72708089e-03 -2.70628625e-04 9.99983564e-01 3.09768204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.660714057 meters Centerline goodness : 0.995052 with order 1 Centerline is valid? [True, True] Translation: X:92.09, Y:-4.16, Z:0.31 [[ 9.99948205e-01 8.41532870e-03 -5.72441406e-03 9.20934465e+01] [-8.41362208e-03 9.99964553e-01 3.22146824e-04 -4.15797456e+00] [ 5.72692212e-03 -2.73967082e-04 9.99983564e-01 3.07569822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72071405700001 meters Centerline goodness : 0.995745 with order 1 Centerline is valid? [True, True] Translation: X:92.15, Y:-4.17, Z:0.31 [[ 9.99957652e-01 7.20593636e-03 -5.72443527e-03 9.21506796e+01] [-7.20421212e-03 9.99973998e-01 3.21769558e-04 -4.16508671e+00] [ 5.72660507e-03 -2.80515885e-04 9.99983564e-01 3.05851597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78071405700001 meters Centerline goodness : 0.993411 with order 1 Centerline is valid? [True, True] Translation: X:92.21, Y:-4.18, Z:0.31 [[ 9.99821477e-01 1.80067926e-02 -5.72446136e-03 9.22082603e+01] [-1.80052477e-02 9.99837841e-01 3.21304780e-04 -4.18145742e+00] [ 5.72931875e-03 -2.18177075e-04 9.99983564e-01 3.06604295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84071405700001 meters Centerline goodness : 0.993625 with order 1 Centerline is valid? [True, True] Translation: X:92.27, Y:-4.19, Z:0.31 [[ 9.99739746e-01 2.20832404e-02 -5.72454731e-03 9.22661307e+01] [-2.20817710e-02 9.99756117e-01 3.19765960e-04 -4.18522606e+00] [ 5.73021266e-03 -1.93274597e-04 9.99983564e-01 3.07368269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90071405700002 meters Centerline goodness : 0.994888 with order 1 Centerline is valid? [True, True] Translation: X:92.33, Y:-4.18, Z:0.32 [[ 9.99815316e-01 1.83456499e-02 -5.72457717e-03 9.23257077e+01] [-1.83441224e-02 9.99831681e-01 3.19230505e-04 -4.17781672e+00] [ 5.72947011e-03 -2.14159204e-04 9.99983564e-01 3.16115351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96071405700002 meters Centerline goodness : 0.995170 with order 1 Centerline is valid? [True, True] Translation: X:92.38, Y:-4.18, Z:0.32 [[ 9.99620796e-01 2.69349685e-02 -5.72460186e-03 9.23831857e+01] [-2.69335842e-02 9.99637174e-01 3.18787163e-04 -4.18275938e+00] [ 5.73111135e-03 -1.64482232e-04 9.99983564e-01 3.21726791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02071405700002 meters Centerline goodness : 0.992661 with order 1 Centerline is valid? [True, True] Translation: X:92.44, Y:-4.20, Z:0.31 [[ 9.99164741e-01 4.04604398e-02 -5.72470161e-03 9.24397201e+01] [-4.04592875e-02 9.99181138e-01 3.16985614e-04 -4.20053567e+00] [ 5.73283925e-03 -8.51035000e-05 9.99983564e-01 3.14217662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08071405700001 meters Centerline goodness : 0.993176 with order 1 Centerline is valid? [True, True] Translation: X:92.50, Y:-4.21, Z:0.32 [[ 9.99231168e-01 3.87853066e-02 -5.72479911e-03 9.24980042e+01] [-3.87841370e-02 9.99247563e-01 3.15214986e-04 -4.20858543e+00] [ 5.73271726e-03 -9.29412451e-05 9.99983564e-01 3.17023552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14071405700001 meters Centerline goodness : 0.992744 with order 1 Centerline is valid? [True, True] Translation: X:92.56, Y:-4.22, Z:0.32 [[ 9.99439192e-01 3.29928374e-02 -5.72482241e-03 9.25550989e+01] [-3.29915752e-02 9.99455580e-01 3.14791295e-04 -4.21833871e+00] [ 5.73209156e-03 -1.25743849e-04 9.99983564e-01 3.15223170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20071405700001 meters Centerline goodness : 0.992764 with order 1 Centerline is valid? [True, True] Translation: X:92.61, Y:-4.23, Z:0.31 [[ 9.99690464e-01 2.42116003e-02 -5.72485768e-03 9.26119317e+01] [-2.42101979e-02 9.99706841e-01 3.14148457e-04 -4.22804364e+00] [ 5.73078542e-03 -1.75451279e-04 9.99983564e-01 3.14249980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26071405700002 meters Centerline goodness : 0.994691 with order 1 Centerline is valid? [True, True] Translation: X:92.67, Y:-4.23, Z:0.31 [[ 9.99964635e-01 6.16075228e-03 -5.72489818e-03 9.26712296e+01] [-6.15905871e-03 9.99980984e-01 3.13408591e-04 -4.22861161e+00] [ 5.72672015e-03 -2.78137523e-04 9.99983564e-01 3.13953404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32071405700002 meters Centerline goodness : 0.987692 with order 1 Centerline is valid? [True, True] Translation: X:92.73, Y:-4.24, Z:0.31 [[ 9.99983530e-01 -4.06621152e-04 -5.72491473e-03 9.27300156e+01] [ 4.08420330e-04 9.99999868e-01 3.13106089e-04 -4.23595080e+00] [ 5.72478665e-03 -3.15439104e-04 9.99983564e-01 3.14916561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38071405700002 meters Centerline goodness : 0.995307 with order 1 Centerline is valid? [True, True] Translation: X:92.79, Y:-4.24, Z:0.32 [[ 9.99957605e-01 -7.21201578e-03 -5.72496889e-03 9.27883607e+01] [ 7.21392044e-03 9.99973931e-01 3.12112558e-04 -4.23862933e+00] [ 5.72256869e-03 -3.53398796e-04 9.99983564e-01 3.21286683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44071405700001 meters Centerline goodness : 0.994665 with order 1 Centerline is valid? [True, True] Translation: X:92.85, Y:-4.25, Z:0.32 [[ 9.99885661e-01 -1.39960493e-02 -5.72500020e-03 9.28477465e+01] [ 1.39980614e-02 9.99901974e-01 3.11537293e-04 -4.24788993e+00] [ 5.72007871e-03 -3.91640577e-04 9.99983564e-01 3.15920365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50071405700001 meters Centerline goodness : 0.987743 with order 1 Centerline is valid? [True, True] Translation: X:92.91, Y:-4.25, Z:0.31 [[ 9.99814648e-01 -1.83819023e-02 -5.72500595e-03 9.29089966e+01] [ 1.83839853e-02 9.99830952e-01 3.11431558e-04 -4.25431784e+00] [ 5.71831344e-03 -4.16622258e-04 9.99983564e-01 3.11644756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56071405700001 meters Centerline goodness : 0.993321 with order 1 Centerline is valid? [True, True] Translation: X:92.97, Y:-4.26, Z:0.31 [[ 9.99725398e-01 -2.27233984e-02 -5.72497769e-03 9.29707593e+01] [ 2.27255552e-02 9.99741693e-01 3.11950168e-04 -4.26195411e+00] [ 5.71641032e-03 -4.41967802e-04 9.99983564e-01 3.13713060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62071405700001 meters Centerline goodness : 0.985113 with order 1 Centerline is valid? [True, True] Translation: X:93.03, Y:-4.26, Z:0.31 [[ 9.99638022e-01 -2.62878340e-02 -5.72494535e-03 9.30322446e+01] [ 2.62900522e-02 9.99654308e-01 3.12542570e-04 -4.26236320e+00] [ 5.71475021e-03 -4.62938549e-04 9.99983564e-01 3.10404688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68071405700002 meters Centerline goodness : 0.992018 with order 1 Centerline is valid? [True, True] Translation: X:93.09, Y:-4.28, Z:0.31 [[ 9.99854344e-01 -1.60784554e-02 -5.72491245e-03 9.30941954e+01] [ 1.60805106e-02 9.99870651e-01 3.13144116e-04 -4.27614191e+00] [ 5.71913706e-03 -4.05158020e-04 9.99983564e-01 3.06606592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74071405700002 meters Centerline goodness : 0.992794 with order 1 Centerline is valid? [True, True] Translation: X:93.16, Y:-4.27, Z:0.31 [[ 9.99802763e-01 -1.90173788e-02 -5.72487887e-03 9.31552143e+01] [ 1.90194854e-02 9.99819064e-01 3.13756826e-04 -4.27218486e+00] [ 5.71787620e-03 -4.22579191e-04 9.99983564e-01 3.07793542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80071405700001 meters Centerline goodness : 0.992737 with order 1 Centerline is valid? [True, True] Translation: X:93.22, Y:-4.27, Z:0.31 [[ 9.99860855e-01 -1.56683534e-02 -5.72486732e-03 9.32167047e+01] [ 1.56704067e-02 9.99877162e-01 3.13967426e-04 -4.26758157e+00] [ 5.71924473e-03 -4.03634737e-04 9.99983564e-01 3.13046208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86071405700001 meters Centerline goodness : 0.992972 with order 1 Centerline is valid? [True, True] Translation: X:93.28, Y:-4.27, Z:0.32 [[ 9.99882669e-01 -1.42082334e-02 -5.72485045e-03 9.32787538e+01] [ 1.42102645e-02 9.99898980e-01 3.14274601e-04 -4.26585863e+00] [ 5.71980684e-03 -3.95589366e-04 9.99983564e-01 3.15453868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92071405700001 meters Centerline goodness : 0.994631 with order 1 Centerline is valid? [True, True] Translation: X:93.34, Y:-4.26, Z:0.31 [[ 9.99933286e-01 -1.00324621e-02 -5.72482809e-03 9.33409150e+01] [ 1.00344275e-02 9.99949604e-01 3.14681528e-04 -4.26099426e+00] [ 5.72138255e-03 -3.72105906e-04 9.99983564e-01 3.12346978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98071405700001 meters Centerline goodness : 0.995292 with order 1 Centerline is valid? [True, True] Translation: X:93.40, Y:-4.25, Z:0.32 [[ 9.99939440e-01 -9.39904392e-03 -5.72480358e-03 9.34015247e+01] [ 9.40100146e-03 9.99955760e-01 3.15126714e-04 -4.25028337e+00] [ 5.72158842e-03 -3.68926517e-04 9.99983564e-01 3.15667305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04071405700002 meters Centerline goodness : 0.994474 with order 1 Centerline is valid? [True, True] Translation: X:93.46, Y:-4.26, Z:0.32 [[ 9.99974725e-01 -4.21623800e-03 -5.72479755e-03 9.34628038e+01] [ 4.21811156e-03 9.99991054e-01 3.15236180e-04 -4.25556521e+00] [ 5.72341723e-03 -3.39376047e-04 9.99983564e-01 3.16506349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10071405700002 meters Centerline goodness : 0.994049 with order 1 Centerline is valid? [True, True] Translation: X:93.52, Y:-4.25, Z:0.31 [[ 9.99983574e-01 2.80592268e-04 -5.72478540e-03 9.35224881e+01] [-2.78790900e-04 9.99999911e-01 3.15456760e-04 -4.25357894e+00] [ 5.72487340e-03 -3.13855560e-04 9.99983564e-01 3.13049683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.160714057 meters Centerline goodness : 0.994699 with order 1 Centerline is valid? [True, True] Translation: X:93.58, Y:-4.25, Z:0.31 [[ 9.99982933e-01 -1.16643728e-03 -5.72479737e-03 9.35816360e+01] [ 1.16826105e-03 9.99999268e-01 3.15239371e-04 -4.25428541e+00] [ 5.72442547e-03 -3.21922048e-04 9.99983564e-01 3.11945645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22071405700001 meters Centerline goodness : 0.994350 with order 1 Centerline is valid? [True, True] Translation: X:93.64, Y:-4.26, Z:0.31 [[ 9.99977864e-01 -3.39089293e-03 -5.72482099e-03 9.36396363e+01] [ 3.39275057e-03 9.99994195e-01 3.14809795e-04 -4.25555669e+00] [ 5.72372027e-03 -3.34225716e-04 9.99983564e-01 3.10681112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28071405700001 meters Centerline goodness : 0.995564 with order 1 Centerline is valid? [True, True] Translation: X:93.70, Y:-4.25, Z:0.31 [[ 9.99909410e-01 -1.21818390e-02 -5.72485000e-03 9.36995656e+01] [ 1.21838371e-02 9.99925725e-01 3.14281346e-04 -4.24965160e+00] [ 5.72059626e-03 -3.84003515e-04 9.99983564e-01 3.14249874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34071405700001 meters Centerline goodness : 0.993216 with order 1 Centerline is valid? [True, True] Translation: X:93.76, Y:-4.26, Z:0.31 [[ 9.99933084e-01 -1.00525764e-02 -5.72486105e-03 9.37615221e+01] [ 1.00545387e-02 9.99949403e-01 3.14079933e-04 -4.25729966e+00] [ 5.72141408e-03 -3.71619753e-04 9.99983564e-01 3.12818279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40071405700002 meters Centerline goodness : 0.992902 with order 1 Centerline is valid? [True, True] Translation: X:93.82, Y:-4.26, Z:0.31 [[ 9.99900138e-01 -1.29205141e-02 -5.72483706e-03 9.38226749e+01] [ 1.29225256e-02 9.99916451e-01 3.14516689e-04 -4.25762671e+00] [ 5.72029504e-03 -3.88464634e-04 9.99983564e-01 3.14759720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46071405700002 meters Centerline goodness : 0.993027 with order 1 Centerline is valid? [True, True] Translation: X:93.89, Y:-4.26, Z:0.32 [[ 9.99861316e-01 -1.56388948e-02 -5.72482532e-03 9.38853722e+01] [ 1.56409519e-02 9.99877623e-01 3.14730257e-04 -4.25728230e+00] [ 5.71920270e-03 -4.04228327e-04 9.99983564e-01 3.16848761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52071405700002 meters Centerline goodness : 0.993170 with order 1 Centerline is valid? [True, True] Translation: X:93.95, Y:-4.26, Z:0.32 [[ 9.99824380e-01 -1.78447493e-02 -5.72480205e-03 9.39473096e+01] [ 1.78468448e-02 9.99840683e-01 3.15152896e-04 -4.25905972e+00] [ 5.71826616e-03 -4.17267202e-04 9.99983564e-01 3.15218227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58071405700001 meters Centerline goodness : 0.993621 with order 1 Centerline is valid? [True, True] Translation: X:94.01, Y:-4.26, Z:0.31 [[ 9.99750764e-01 -2.15786385e-02 -5.72477898e-03 9.40088804e+01] [ 2.15807972e-02 9.99767058e-01 3.15571355e-04 -4.26036977e+00] [ 5.71663584e-03 -4.39037997e-04 9.99983564e-01 3.13963936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64071405700001 meters Centerline goodness : 0.995345 with order 1 Centerline is valid? [True, True] Translation: X:94.07, Y:-4.26, Z:0.31 [[ 9.99588293e-01 -2.81153342e-02 -5.72474086e-03 9.40709850e+01] [ 2.81176033e-02 9.99604572e-01 3.16261346e-04 -4.25536919e+00] [ 5.71358535e-03 -4.77097131e-04 9.99983564e-01 3.10465454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70071405700001 meters Centerline goodness : 0.993639 with order 1 Centerline is valid? [True, True] Translation: X:94.13, Y:-4.26, Z:0.31 [[ 9.99635023e-01 -2.64016862e-02 -5.72471842e-03 9.41337767e+01] [ 2.64039298e-02 9.99651305e-01 3.16667163e-04 -4.26159795e+00] [ 5.71436169e-03 -4.67706649e-04 9.99983564e-01 3.13744861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76071405700002 meters Centerline goodness : 0.993371 with order 1 Centerline is valid? [True, True] Translation: X:94.20, Y:-4.26, Z:0.31 [[ 9.99722363e-01 -2.28566159e-02 -5.72468499e-03 9.41956571e+01] [ 2.28588051e-02 9.99738653e-01 3.17270276e-04 -4.26238629e+00] [ 5.71593714e-03 -4.48041648e-04 9.99983564e-01 3.13011249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82071405700002 meters Centerline goodness : 0.993426 with order 1 Centerline is valid? [True, True] Translation: X:94.26, Y:-4.26, Z:0.32 [[ 9.99669556e-01 -2.50600728e-02 -5.72466055e-03 9.42578315e+01] [ 2.50623004e-02 9.99685841e-01 3.17710672e-04 -4.26215768e+00] [ 5.71490024e-03 -4.61078849e-04 9.99983564e-01 3.16025878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88071405700002 meters Centerline goodness : 0.993403 with order 1 Centerline is valid? [True, True] Translation: X:94.32, Y:-4.26, Z:0.32 [[ 9.99763534e-01 -2.09786756e-02 -5.72463651e-03 9.43197716e+01] [ 2.09808392e-02 9.99779827e-01 3.18143195e-04 -4.26126757e+00] [ 5.71670188e-03 -4.38175643e-04 9.99983564e-01 3.19640532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94071405700001 meters Centerline goodness : 0.993950 with order 1 Centerline is valid? [True, True] Translation: X:94.38, Y:-4.26, Z:0.32 [[ 9.99822623e-01 -1.79430127e-02 -5.72461224e-03 9.43823220e+01] [ 1.79451293e-02 9.99838922e-01 3.18579348e-04 -4.26149119e+00] [ 5.71797386e-03 -4.21251747e-04 9.99983564e-01 3.18656069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00071405700001 meters Centerline goodness : 0.993122 with order 1 Centerline is valid? [True, True] Translation: X:94.44, Y:-4.26, Z:0.32 [[ 9.99909632e-01 -1.21637635e-02 -5.72458830e-03 9.44443905e+01] [ 1.21657883e-02 9.99925943e-01 3.19009007e-04 -4.26264074e+00] [ 5.72028400e-03 -3.88624308e-04 9.99983564e-01 3.18129562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06071405700001 meters Centerline goodness : 0.993038 with order 1 Centerline is valid? [True, True] Translation: X:94.51, Y:-4.26, Z:0.32 [[ 9.99970184e-01 -5.18278605e-03 -5.72456475e-03 9.45056930e+01] [ 5.18469932e-03 9.99986508e-01 3.19430985e-04 -4.26264808e+00] [ 5.72283197e-03 -3.49101608e-04 9.99983564e-01 3.17945866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12071405700001 meters Centerline goodness : 0.991100 with order 1 Centerline is valid? [True, True] Translation: X:94.57, Y:-4.26, Z:0.32 [[ 9.99971145e-01 4.99395122e-03 -5.72455298e-03 9.45665852e+01] [-4.99220298e-03 9.99987488e-01 3.19641839e-04 -4.26276818e+00] [ 5.72607762e-03 -2.91054486e-04 9.99983564e-01 3.16759301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18071405700002 meters Centerline goodness : 0.991349 with order 1 Centerline is valid? [True, True] Translation: X:94.62, Y:-4.26, Z:0.32 [[ 9.99915067e-01 1.17085068e-02 -5.72455298e-03 9.46242539e+01] [-1.17068684e-02 9.99931421e-01 3.19641839e-04 -4.26278069e+00] [ 5.72790292e-03 -2.52598103e-04 9.99983564e-01 3.18147140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24071405700002 meters Centerline goodness : 0.991714 with order 1 Centerline is valid? [True, True] Translation: X:94.68, Y:-4.26, Z:0.32 [[ 9.99880946e-01 1.43290758e-02 -5.72459681e-03 9.46825294e+01] [-1.43274847e-02 9.99897305e-01 3.18854920e-04 -4.26473456e+00] [ 5.72857782e-03 -2.36797886e-04 9.99983564e-01 3.18131633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30071405700001 meters Centerline goodness : 0.990947 with order 1 Centerline is valid? [True, True] Translation: X:94.74, Y:-4.27, Z:0.32 [[ 9.99846490e-01 1.65597265e-02 -5.72463844e-03 9.47407505e+01] [-1.65581762e-02 9.99862853e-01 3.18105721e-04 -4.26903137e+00] [ 5.72912107e-03 -2.23267317e-04 9.99983564e-01 3.15048505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36071405700001 meters Centerline goodness : 0.991170 with order 1 Centerline is valid? [True, True] Translation: X:94.80, Y:-4.27, Z:0.32 [[ 9.99861725e-01 1.56127989e-02 -5.72467186e-03 9.47982922e+01] [-1.56112365e-02 9.99878087e-01 3.17503072e-04 -4.27162765e+00] [ 5.72893106e-03 -2.28089963e-04 9.99983564e-01 3.15963378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42071405700001 meters Centerline goodness : 0.990969 with order 1 Centerline is valid? [True, True] Translation: X:94.86, Y:-4.28, Z:0.31 [[ 9.99912166e-01 1.19535878e-02 -5.72469927e-03 9.48553100e+01] [-1.19519684e-02 9.99928522e-01 3.17008192e-04 -4.27669098e+00] [ 5.72807946e-03 -2.48558924e-04 9.99983564e-01 3.09866900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48071405700001 meters Centerline goodness : 0.990902 with order 1 Centerline is valid? [True, True] Translation: X:94.91, Y:-4.28, Z:0.31 [[ 9.99949548e-01 8.25400240e-03 -5.72473700e-03 9.49125021e+01] [-8.25232639e-03 9.99965899e-01 3.16325253e-04 -4.28028841e+00] [ 5.72715273e-03 -2.69066895e-04 9.99983564e-01 3.13463654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54071405700002 meters Centerline goodness : 0.991407 with order 1 Centerline is valid? [True, True] Translation: X:94.97, Y:-4.28, Z:0.32 [[ 9.99977557e-01 3.48042194e-03 -5.72478055e-03 9.49715115e+01] [-3.47867241e-03 9.99993900e-01 3.15535219e-04 -4.28293585e+00] [ 5.72584382e-03 -2.95613501e-04 9.99983564e-01 3.15668615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60071405700002 meters Centerline goodness : 0.992351 with order 1 Centerline is valid? [True, True] Translation: X:95.03, Y:-4.29, Z:0.32 [[ 9.99980114e-01 -2.64545552e-03 -5.72480395e-03 9.50296473e+01] [ 2.64730271e-03 9.99996446e-01 3.15110098e-04 -4.28667717e+00] [ 5.72394999e-03 -3.30259120e-04 9.99983564e-01 3.15859970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.660714057 meters Centerline goodness : 0.992792 with order 1 Centerline is valid? [True, True] Translation: X:95.09, Y:-4.29, Z:0.32 [[ 9.99891814e-01 -1.35494172e-02 -5.72483273e-03 9.50894885e+01] [ 1.35514394e-02 9.99908126e-01 3.14586364e-04 -4.29071107e+00] [ 5.72004430e-03 -3.92132054e-04 9.99983564e-01 3.15296097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72071405700001 meters Centerline goodness : 0.993384 with order 1 Centerline is valid? [True, True] Translation: X:95.15, Y:-4.29, Z:0.31 [[ 9.99862644e-01 -1.55537268e-02 -5.72484429e-03 9.51517539e+01] [ 1.55557804e-02 9.99878952e-01 3.14375718e-04 -4.29491385e+00] [ 5.71926160e-03 -4.03386958e-04 9.99983564e-01 3.13702647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78071405700001 meters Centerline goodness : 0.993835 with order 1 Centerline is valid? [True, True] Translation: X:95.21, Y:-4.30, Z:0.32 [[ 9.99879838e-01 -1.44060839e-02 -5.72482082e-03 9.52127119e+01] [ 1.44081212e-02 9.99896148e-01 3.14802571e-04 -4.29728592e+00] [ 5.71969122e-03 -3.97248656e-04 9.99983564e-01 3.16291714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84071405700001 meters Centerline goodness : 0.993529 with order 1 Centerline is valid? [True, True] Translation: X:95.27, Y:-4.30, Z:0.32 [[ 9.99870422e-01 -1.50454315e-02 -5.72480342e-03 9.52747020e+01] [ 1.50474811e-02 9.99886731e-01 3.15118646e-04 -4.29955560e+00] [ 5.71941388e-03 -4.01221686e-04 9.99983564e-01 3.18166035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90071405700002 meters Centerline goodness : 0.993720 with order 1 Centerline is valid? [True, True] Translation: X:95.34, Y:-4.30, Z:0.32 [[ 9.99876240e-01 -1.46537042e-02 -5.72478062e-03 9.53369076e+01] [ 1.46557498e-02 9.99892549e-01 3.15532309e-04 -4.30260996e+00] [ 5.71954177e-03 -3.99394211e-04 9.99983564e-01 3.18989600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96071405700002 meters Centerline goodness : 0.994235 with order 1 Centerline is valid? [True, True] Translation: X:95.40, Y:-4.30, Z:0.32 [[ 9.99841947e-01 -1.68317668e-02 -5.72475801e-03 9.53976569e+01] [ 1.68338503e-02 9.99858251e-01 3.15942011e-04 -4.30375416e+00] [ 5.71862867e-03 -4.12261795e-04 9.99983564e-01 3.21004396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02071405700002 meters Centerline goodness : 0.994313 with order 1 Centerline is valid? [True, True] Translation: X:95.46, Y:-4.31, Z:0.32 [[ 9.99830213e-01 -1.75149443e-02 -5.72474125e-03 9.54598277e+01] [ 1.75170406e-02 9.99846515e-01 3.16245416e-04 -4.30777566e+00] [ 5.71832357e-03 -4.16472247e-04 9.99983564e-01 3.22499044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08071405700001 meters Centerline goodness : 0.994562 with order 1 Centerline is valid? [True, True] Translation: X:95.52, Y:-4.31, Z:0.32 [[ 9.99787495e-01 -1.98038685e-02 -5.72471927e-03 9.55215565e+01] [ 1.98060044e-02 9.99803792e-01 3.16642790e-04 -4.31041082e+00] [ 5.71732528e-03 -4.29959317e-04 9.99983564e-01 3.23256722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14071405700001 meters Centerline goodness : 0.993950 with order 1 Centerline is valid? [True, True] Translation: X:95.58, Y:-4.31, Z:0.32 [[ 9.99799269e-01 -1.92002591e-02 -5.72469771e-03 9.55841235e+01] [ 1.92023874e-02 9.99815567e-01 3.17032103e-04 -4.31271993e+00] [ 5.71755479e-03 -4.26896328e-04 9.99983564e-01 3.24886150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20071405700001 meters Centerline goodness : 0.993418 with order 1 Centerline is valid? [True, True] Translation: X:95.65, Y:-4.32, Z:0.32 [[ 9.99867830e-01 -1.52167802e-02 -5.72467458e-03 9.56452685e+01] [ 1.52188459e-02 9.99884136e-01 3.17449212e-04 -4.31694189e+00] [ 5.71918075e-03 -4.04530195e-04 9.99983564e-01 3.23789512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26071405700002 meters Centerline goodness : 0.994411 with order 1 Centerline is valid? [True, True] Translation: X:95.71, Y:-4.32, Z:0.33 [[ 9.99889072e-01 -1.37503129e-02 -5.72465754e-03 9.57070002e+01] [ 1.37523564e-02 9.99905381e-01 3.17756215e-04 -4.31552893e+00] [ 5.71974664e-03 -3.96448498e-04 9.99983564e-01 3.26221335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32071405700002 meters Centerline goodness : 0.993278 with order 1 Centerline is valid? [True, True] Translation: X:95.77, Y:-4.32, Z:0.33 [[ 9.99947260e-01 -8.52676409e-03 -5.72464591e-03 9.57688747e+01] [ 8.52872359e-03 9.99963579e-01 3.17965668e-04 -4.31774936e+00] [ 5.72172619e-03 -3.66772821e-04 9.99983564e-01 3.30077371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38071405700002 meters Centerline goodness : 0.993547 with order 1 Centerline is valid? [True, True] Translation: X:95.83, Y:-4.32, Z:0.33 [[ 9.99956655e-01 -7.34275108e-03 -5.72462214e-03 9.58306073e+01] [ 7.34469369e-03 9.99972977e-01 3.18393115e-04 -4.31868473e+00] [ 5.72212956e-03 -3.60424910e-04 9.99983564e-01 3.28647476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44071405700001 meters Centerline goodness : 0.993271 with order 1 Centerline is valid? [True, True] Translation: X:95.89, Y:-4.32, Z:0.33 [[ 9.99946901e-01 -8.56882954e-03 -5.72461030e-03 9.58907611e+01] [ 8.57079338e-03 9.99963219e-01 3.18605859e-04 -4.32135426e+00] [ 5.72166966e-03 -3.67653394e-04 9.99983564e-01 3.27261568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50071405700001 meters Centerline goodness : 0.994096 with order 1 Centerline is valid? [True, True] Translation: X:95.95, Y:-4.32, Z:0.32 [[ 9.99901106e-01 -1.28454996e-02 -5.72459248e-03 9.59517113e+01] [ 1.28475351e-02 9.99917416e-01 3.18925567e-04 -4.32265314e+00] [ 5.72002297e-03 -3.92440930e-04 9.99983564e-01 3.23242760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56071405700001 meters Centerline goodness : 0.993721 with order 1 Centerline is valid? [True, True] Translation: X:96.01, Y:-4.33, Z:0.33 [[ 9.99900011e-01 -1.29304571e-02 -5.72458678e-03 9.60139204e+01] [ 1.29324945e-02 9.99916321e-01 3.19027970e-04 -4.32554545e+00] [ 5.71998257e-03 -3.93029258e-04 9.99983564e-01 3.28364270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62071405700001 meters Centerline goodness : 0.995077 with order 1 Centerline is valid? [True, True] Translation: X:96.08, Y:-4.33, Z:0.33 [[ 9.99863458e-01 -1.55014629e-02 -5.72456282e-03 9.60756081e+01] [ 1.55035447e-02 9.99879762e-01 3.19457249e-04 -4.32603649e+00] [ 5.71892246e-03 -4.08164645e-04 9.99983564e-01 3.30097604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68071405700002 meters Centerline goodness : 0.996253 with order 1 Centerline is valid? [True, True] Translation: X:96.14, Y:-4.32, Z:0.33 [[ 9.99812671e-01 -1.84892640e-02 -5.72454519e-03 9.61370113e+01] [ 1.84913963e-02 9.99828968e-01 3.19772923e-04 -4.32303733e+00] [ 5.71765374e-03 -4.25567854e-04 9.99983564e-01 3.28071863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74071405700002 meters Centerline goodness : 0.995642 with order 1 Centerline is valid? [True, True] Translation: X:96.20, Y:-4.33, Z:0.33 [[ 9.99825140e-01 -1.78022076e-02 -5.72450782e-03 9.61989649e+01] [ 1.78043325e-02 9.99841439e-01 3.20440444e-04 -4.32860245e+00] [ 5.71789559e-03 -4.22305452e-04 9.99983564e-01 3.33617588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80071405700001 meters Centerline goodness : 0.995240 with order 1 Centerline is valid? [True, True] Translation: X:96.26, Y:-4.33, Z:0.34 [[ 9.99784542e-01 -1.99524173e-02 -5.72448410e-03 9.62611042e+01] [ 1.99545796e-02 9.99800836e-01 3.20863655e-04 -4.33134051e+00] [ 5.71694198e-03 -4.35024196e-04 9.99983564e-01 3.35072103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86071405700001 meters Centerline goodness : 0.996001 with order 1 Centerline is valid? [True, True] Translation: X:96.32, Y:-4.33, Z:0.34 [[ 9.99717271e-01 -2.30783002e-02 -5.72446038e-03 9.63227816e+01] [ 2.30805159e-02 9.99733558e-01 3.21286221e-04 -4.33464630e+00] [ 5.71552041e-03 -4.53318883e-04 9.99983564e-01 3.36512377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92071405700001 meters Centerline goodness : 0.995943 with order 1 Centerline is valid? [True, True] Translation: X:96.39, Y:-4.34, Z:0.34 [[ 9.99664044e-01 -2.52790260e-02 -5.72443706e-03 9.63855897e+01] [ 2.52812798e-02 9.99680326e-01 3.21701225e-04 -4.33954740e+00] [ 5.71447481e-03 -4.66314243e-04 9.99983564e-01 3.36636320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98071405700001 meters Centerline goodness : 0.996485 with order 1 Centerline is valid? [True, True] Translation: X:96.45, Y:-4.34, Z:0.33 [[ 9.99612544e-01 -2.72395577e-02 -5.72440087e-03 9.64469218e+01] [ 2.72418472e-02 9.99628820e-01 3.22343890e-04 -4.34273948e+00] [ 5.71349558e-03 -4.78162250e-04 9.99983564e-01 3.29841722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04071405700002 meters Centerline goodness : 0.996623 with order 1 Centerline is valid? [True, True] Translation: X:96.51, Y:-4.35, Z:0.33 [[ 9.99549018e-01 -2.94786723e-02 -5.72438308e-03 9.65100547e+01] [ 2.94810000e-02 9.99565289e-01 3.22659499e-04 -4.34862954e+00] [ 5.71238306e-03 -4.91274523e-04 9.99983564e-01 3.31566716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10071405700002 meters Centerline goodness : 0.994975 with order 1 Centerline is valid? [True, True] Translation: X:96.57, Y:-4.36, Z:0.33 [[ 9.99669506e-01 -2.50621320e-02 -5.72434903e-03 9.65718685e+01] [ 2.50643912e-02 9.99685787e-01 3.23262509e-04 -4.36252535e+00] [ 5.71444871e-03 -4.66632996e-04 9.99983564e-01 3.28818946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.160714057 meters Centerline goodness : 0.996253 with order 1 Centerline is valid? [True, True] Translation: X:96.63, Y:-4.36, Z:0.33 [[ 9.99483980e-01 -3.16070457e-02 -5.72432430e-03 9.66322730e+01] [ 3.16094140e-02 9.99500245e-01 3.23699863e-04 -4.36046724e+00] [ 5.71123234e-03 -5.04475364e-04 9.99983564e-01 3.30270092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22071405700001 meters Centerline goodness : 0.995170 with order 1 Centerline is valid? [True, True] Translation: X:96.69, Y:-4.38, Z:0.32 [[ 9.99751101e-01 -2.15631186e-02 -5.72431828e-03 9.66922075e+01] [ 2.15653239e-02 9.99767389e-01 3.23806213e-04 -4.38161847e+00] [ 5.71600447e-03 -4.47172395e-04 9.99983564e-01 3.22096746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28071405700001 meters Centerline goodness : 0.994826 with order 1 Centerline is valid? [True, True] Translation: X:96.75, Y:-4.39, Z:0.32 [[ 9.99777913e-01 -2.02819361e-02 -5.72430320e-03 9.67544583e+01] [ 2.02841221e-02 9.99794204e-01 3.24072686e-04 -4.38742131e+00] [ 5.71655233e-03 -4.40113179e-04 9.99983564e-01 3.23304173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34071405700001 meters Centerline goodness : 0.994879 with order 1 Centerline is valid? [True, True] Translation: X:96.82, Y:-4.40, Z:0.32 [[ 9.99788612e-01 -1.97475259e-02 -5.72427885e-03 9.68164210e+01] [ 1.97497056e-02 9.99804903e-01 3.24502083e-04 -4.39590761e+00] [ 5.71675395e-03 -4.37486309e-04 9.99983564e-01 3.22727463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40071405700002 meters Centerline goodness : 0.996098 with order 1 Centerline is valid? [True, True] Translation: X:96.88, Y:-4.39, Z:0.33 [[ 9.99533564e-01 -2.99981301e-02 -5.72425476e-03 9.68777587e+01] [ 3.00004791e-02 9.99549832e-01 3.24926613e-04 -4.38787005e+00] [ 5.71193069e-03 -4.96505441e-04 9.99983564e-01 3.34428487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46071405700002 meters Centerline goodness : 0.995247 with order 1 Centerline is valid? [True, True] Translation: X:96.94, Y:-4.40, Z:0.34 [[ 9.99803325e-01 -1.89880205e-02 -5.72424279e-03 9.69385854e+01] [ 1.89901914e-02 9.99819617e-01 3.25137295e-04 -4.40095015e+00] [ 5.71703652e-03 -4.33777814e-04 9.99983564e-01 3.35231795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52071405700002 meters Centerline goodness : 0.994912 with order 1 Centerline is valid? [True, True] Translation: X:97.00, Y:-4.41, Z:0.34 [[ 9.99830380e-01 -1.75055568e-02 -5.72423040e-03 9.70001416e+01] [ 1.75077049e-02 9.99846675e-01 3.25355309e-04 -4.40727368e+00] [ 5.71765721e-03 -4.25518259e-04 9.99983564e-01 3.36846198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58071405700001 meters Centerline goodness : 0.994621 with order 1 Centerline is valid? [True, True] Translation: X:97.06, Y:-4.41, Z:0.34 [[ 9.99849168e-01 -1.63974218e-02 -5.72420537e-03 9.70609227e+01] [ 1.63995543e-02 9.99865465e-01 3.25795024e-04 -4.41217654e+00] [ 5.71809307e-03 -4.19620301e-04 9.99983564e-01 3.37476154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64071405700001 meters Centerline goodness : 0.994379 with order 1 Centerline is valid? [True, True] Translation: X:97.12, Y:-4.42, Z:0.33 [[ 9.99899814e-01 -1.29459136e-02 -5.72416376e-03 9.71229611e+01] [ 1.29479940e-02 9.99916118e-01 3.26524457e-04 -4.41922376e+00] [ 5.71945645e-03 -4.00608181e-04 9.99983564e-01 3.34505554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70071405700001 meters Centerline goodness : 0.994502 with order 1 Centerline is valid? [True, True] Translation: X:97.18, Y:-4.42, Z:0.34 [[ 9.99889935e-01 -1.36876955e-02 -5.72413892e-03 9.71844640e+01] [ 1.36897904e-02 9.99906237e-01 3.26959309e-04 -4.42299918e+00] [ 5.71912689e-03 -4.05285584e-04 9.99983564e-01 3.38350512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76071405700002 meters Centerline goodness : 0.994692 with order 1 Centerline is valid? [True, True] Translation: X:97.25, Y:-4.43, Z:0.34 [[ 9.99915700e-01 -1.16544683e-02 -5.72412068e-03 9.72465786e+01] [ 1.16565319e-02 9.99932007e-01 3.27278349e-04 -4.42918205e+00] [ 5.71991723e-03 -3.93974155e-04 9.99983564e-01 3.38379717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82071405700002 meters Centerline goodness : 0.994296 with order 1 Centerline is valid? [True, True] Translation: X:97.31, Y:-4.44, Z:0.34 [[ 9.99944095e-01 -8.89056804e-03 -5.72409686e-03 9.73081284e+01] [ 8.89258893e-03 9.99960406e-01 3.27694481e-04 -4.43598822e+00] [ 5.72095683e-03 -3.78578201e-04 9.99983564e-01 3.36584905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88071405700002 meters Centerline goodness : 0.994061 with order 1 Centerline is valid? [True, True] Translation: X:97.37, Y:-4.44, Z:0.33 [[ 9.99955651e-01 -7.47871102e-03 -5.72407269e-03 9.73689520e+01] [ 7.48071128e-03 9.99971965e-01 3.28116059e-04 -4.44491682e+00] [ 5.72145834e-03 -3.70921642e-04 9.99983564e-01 3.28895563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94071405700001 meters Centerline goodness : 0.995436 with order 1 Centerline is valid? [True, True] Translation: X:97.43, Y:-4.44, Z:0.34 [[ 9.99888925e-01 -1.37612798e-02 -5.72406072e-03 9.74297443e+01] [ 1.37633837e-02 9.99905226e-01 3.28324838e-04 -4.43968389e+00] [ 5.71900006e-03 -4.07070814e-04 9.99983564e-01 3.38863446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00071405700001 meters Centerline goodness : 0.996002 with order 1 Centerline is valid? [True, True] Translation: X:97.49, Y:-4.44, Z:0.34 [[ 9.99840581e-01 -1.69129471e-02 -5.72406072e-03 9.74900674e+01] [ 1.69151023e-02 9.99856876e-01 3.28324838e-04 -4.44398144e+00] [ 5.71768853e-03 -4.25095570e-04 9.99983564e-01 3.37631995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06071405700001 meters Centerline goodness : 0.995523 with order 1 Centerline is valid? [True, True] Translation: X:97.55, Y:-4.45, Z:0.34 [[ 9.99836271e-01 -1.71658659e-02 -5.72405393e-03 9.75521410e+01] [ 1.71680259e-02 9.99852565e-01 3.28443159e-04 -4.45006052e+00] [ 5.71757199e-03 -4.26660089e-04 9.99983564e-01 3.38017848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12071405700001 meters Centerline goodness : 0.995689 with order 1 Centerline is valid? [True, True] Translation: X:97.61, Y:-4.45, Z:0.34 [[ 9.99835941e-01 -1.71850730e-02 -5.72403076e-03 9.76144006e+01] [ 1.71872356e-02 9.99852234e-01 3.28846408e-04 -4.45434010e+00] [ 5.71753370e-03 -4.27172723e-04 9.99983564e-01 3.38668108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18071405700002 meters Centerline goodness : 0.993533 with order 1 Centerline is valid? [True, True] Translation: X:97.67, Y:-4.48, Z:0.33 [[ 9.99976997e-01 -3.63878830e-03 -5.72400783e-03 9.76749503e+01] [ 3.64073234e-03 9.99993318e-01 3.29245156e-04 -4.47563802e+00] [ 5.72277153e-03 -3.50077163e-04 9.99983564e-01 3.34149498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24071405700002 meters Centerline goodness : 0.993713 with order 1 Centerline is valid? [True, True] Translation: X:97.73, Y:-4.48, Z:0.33 [[ 9.99941099e-01 -9.22139479e-03 -5.72398875e-03 9.77328039e+01] [ 9.22343180e-03 9.99957409e-01 3.29576413e-04 -4.48402076e+00] [ 5.72070581e-03 -3.82351821e-04 9.99983564e-01 3.28771977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.30071405700001 meters Centerline goodness : 0.993391 with order 1 Centerline is valid? [True, True] Translation: X:97.79, Y:-4.49, Z:0.33 [[ 9.99949490e-01 -8.26156300e-03 -5.72400720e-03 9.77929144e+01] [ 8.26358252e-03 9.99965802e-01 3.29255817e-04 -4.49245188e+00] [ 5.72109128e-03 -3.76539992e-04 9.99983564e-01 3.28565293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36071405700001 meters Centerline goodness : 0.993614 with order 1 Centerline is valid? [True, True] Translation: X:97.85, Y:-4.49, Z:0.33 [[ 9.99915410e-01 -1.16794093e-02 -5.72398556e-03 9.78535710e+01] [ 1.16814867e-02 9.99931715e-01 3.29631601e-04 -4.49245043e+00] [ 5.71974479e-03 -3.96468379e-04 9.99983564e-01 3.34630897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42071405700001 meters Centerline goodness : 0.995618 with order 1 Centerline is valid? [True, True] Translation: X:97.91, Y:-4.48, Z:0.34 [[ 9.99657420e-01 -2.55397463e-02 -5.72398556e-03 9.79149678e+01] [ 2.55420495e-02 9.99673694e-01 3.29631601e-04 -4.48230183e+00] [ 5.71369908e-03 -4.75720999e-04 9.99983564e-01 3.41609760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48071405700001 meters Centerline goodness : 0.995426 with order 1 Centerline is valid? [True, True] Translation: X:97.98, Y:-4.49, Z:0.34 [[ 9.99693645e-01 -2.40801041e-02 -5.72397318e-03 9.79769767e+01] [ 2.40823848e-02 9.99709923e-01 3.29846435e-04 -4.48705640e+00] [ 5.71437005e-03 -4.67592309e-04 9.99983564e-01 3.42071079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54071405700002 meters Centerline goodness : 0.995487 with order 1 Centerline is valid? [True, True] Translation: X:98.04, Y:-4.49, Z:0.34 [[ 9.99756235e-01 -2.13238793e-02 -5.72394982e-03 9.80394977e+01] [ 2.13261174e-02 9.99772518e-01 3.30251313e-04 -4.49072350e+00] [ 5.71560548e-03 -4.52240435e-04 9.99983564e-01 3.44054293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60071405700002 meters Centerline goodness : 0.995572 with order 1 Centerline is valid? [True, True] Translation: X:98.10, Y:-4.49, Z:0.34 [[ 9.99819569e-01 -1.81125841e-02 -5.72392578e-03 9.81017962e+01] [ 1.81147723e-02 9.99835859e-01 3.30667386e-04 -4.49409395e+00] [ 5.71699701e-03 -4.34295336e-04 9.99983564e-01 3.43859105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66071405700002 meters Centerline goodness : 0.995368 with order 1 Centerline is valid? [True, True] Translation: X:98.16, Y:-4.50, Z:0.34 [[ 9.99895409e-01 -1.32819053e-02 -5.72390207e-03 9.81644539e+01] [ 1.32840171e-02 9.99911709e-01 3.31077244e-04 -4.49554508e+00] [ 5.71899937e-03 -4.07079029e-04 9.99983564e-01 3.44264889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72071405700001 meters Centerline goodness : 0.993878 with order 1 Centerline is valid? [True, True] Translation: X:98.22, Y:-4.51, Z:0.34 [[ 9.99983396e-01 -6.67479572e-04 -5.72387834e-03 9.82236989e+01] [ 6.69387893e-04 9.99999721e-01 3.31487100e-04 -4.50927097e+00] [ 5.72365548e-03 -3.35313091e-04 9.99983564e-01 3.35927924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78071405700001 meters Centerline goodness : 0.994021 with order 1 Centerline is valid? [True, True] Translation: X:98.28, Y:-4.51, Z:0.34 [[ 9.99983595e-01 2.15204108e-04 -5.72387834e-03 9.82824000e+01] [-2.13310199e-04 9.99999922e-01 3.31487100e-04 -4.50900131e+00] [ 5.72394923e-03 -3.30260700e-04 9.99983564e-01 3.40704818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84071405700001 meters Centerline goodness : 0.994986 with order 1 Centerline is valid? [True, True] Translation: X:98.34, Y:-4.50, Z:0.35 [[ 9.99962036e-01 -6.56980369e-03 -5.72396323e-03 9.83417453e+01] [ 6.57179994e-03 9.99978351e-01 3.30014678e-04 -4.50100233e+00] [ 5.72167118e-03 -3.67618891e-04 9.99983564e-01 3.45290063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90071405700002 meters Centerline goodness : 0.995550 with order 1 Centerline is valid? [True, True] Translation: X:98.40, Y:-4.50, Z:0.35 [[ 9.99971005e-01 -5.02248119e-03 -5.72398102e-03 9.84010449e+01] [ 5.02445043e-03 9.99987323e-01 3.29705810e-04 -4.50386054e+00] [ 5.72225252e-03 -3.58456109e-04 9.99983564e-01 3.45164312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96071405700002 meters Centerline goodness : 0.994940 with order 1 Centerline is valid? [True, True] Translation: X:98.46, Y:-4.51, Z:0.35 [[ 9.99979392e-01 -2.90724750e-03 -5.72398652e-03 9.84609493e+01] [ 2.90918168e-03 9.99995714e-01 3.29610369e-04 -4.50704995e+00] [ 5.72300372e-03 -3.46255693e-04 9.99983564e-01 3.46186343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02071405700002 meters Centerline goodness : 0.995086 with order 1 Centerline is valid? [True, True] Translation: X:98.52, Y:-4.51, Z:0.35 [[ 9.99983414e-01 -6.38581804e-04 -5.72399738e-03 9.85210262e+01] [ 6.40477869e-04 9.99999741e-01 3.29421520e-04 -4.50847765e+00] [ 5.72378554e-03 -3.33082150e-04 9.99983564e-01 3.48723528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08071405700001 meters Centerline goodness : 0.995450 with order 1 Centerline is valid? [True, True] Translation: X:98.58, Y:-4.51, Z:0.35 [[ 9.99983573e-01 -2.99720006e-04 -5.72400902e-03 9.85796587e+01] [ 3.01609384e-04 9.99999900e-01 3.29219238e-04 -4.51047949e+00] [ 5.72390977e-03 -3.30940245e-04 9.99983564e-01 3.47801488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14071405700001 meters Centerline goodness : 0.993413 with order 1 Centerline is valid? [True, True] Translation: X:98.64, Y:-4.52, Z:0.34 [[ 9.99959017e-01 7.01424292e-03 -5.72409008e-03 9.86373612e+01] [-7.01248109e-03 9.99975359e-01 3.27803737e-04 -4.52454385e+00] [ 5.72624833e-03 -2.87650229e-04 9.99983564e-01 3.40157252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20071405700001 meters Centerline goodness : 0.994069 with order 1 Centerline is valid? [True, True] Translation: X:98.70, Y:-4.52, Z:0.35 [[ 9.99982052e-01 -1.76907640e-03 -5.72417000e-03 9.86960263e+01] [ 1.77097370e-03 9.99998379e-01 3.26402094e-04 -4.52460468e+00] [ 5.72358329e-03 -3.36533591e-04 9.99983564e-01 3.45743244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26071405700002 meters Centerline goodness : 0.993504 with order 1 Centerline is valid? [True, True] Translation: X:98.75, Y:-4.53, Z:0.34 [[ 9.99976291e-01 -3.82769971e-03 -5.72421005e-03 9.87544387e+01] [ 3.82962660e-03 9.99992614e-01 3.25698352e-04 -4.52962676e+00] [ 5.72292109e-03 -3.47612217e-04 9.99983564e-01 3.38384635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32071405700002 meters Centerline goodness : 0.994005 with order 1 Centerline is valid? [True, True] Translation: X:98.81, Y:-4.53, Z:0.34 [[ 9.99943402e-01 -8.96809350e-03 -5.72423465e-03 9.88130330e+01] [ 8.97010180e-03 9.99959715e-01 3.25265335e-04 -4.52933387e+00] [ 5.72108704e-03 -3.76593893e-04 9.99983564e-01 3.41208109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38071405700002 meters Centerline goodness : 0.994393 with order 1 Centerline is valid? [True, True] Translation: X:98.87, Y:-4.53, Z:0.35 [[ 9.99899136e-01 -1.29980916e-02 -5.72425204e-03 9.88747237e+01] [ 1.30001639e-02 9.99915441e-01 3.24958978e-04 -4.53013820e+00] [ 5.71954416e-03 -3.99342416e-04 9.99983564e-01 3.46789604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44071405700001 meters Centerline goodness : 0.994031 with order 1 Centerline is valid? [True, True] Translation: X:98.94, Y:-4.53, Z:0.35 [[ 9.99846874e-01 -1.65366889e-02 -5.72423956e-03 9.89360221e+01] [ 1.65388201e-02 9.99863171e-01 3.25178690e-04 -4.53117575e+00] [ 5.71807894e-03 -4.19801065e-04 9.99983564e-01 3.48106321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50071405700001 meters Centerline goodness : 0.994393 with order 1 Centerline is valid? [True, True] Translation: X:99.00, Y:-4.53, Z:0.35 [[ 9.99810087e-01 -1.86285429e-02 -5.72422109e-03 9.89984504e+01] [ 1.86307101e-02 9.99826380e-01 3.25503551e-04 -4.53448970e+00] [ 5.71716359e-03 -4.32088037e-04 9.99983564e-01 3.45437593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56071405700001 meters Centerline goodness : 0.993852 with order 1 Centerline is valid? [True, True] Translation: X:99.06, Y:-4.54, Z:0.35 [[ 9.99799313e-01 -1.91980940e-02 -5.72419864e-03 9.90604282e+01] [ 1.92002727e-02 9.99815605e-01 3.25897794e-04 -4.53561569e+00] [ 5.71688651e-03 -4.35738565e-04 9.99983564e-01 3.45175757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62071405700001 meters Centerline goodness : 0.995782 with order 1 Centerline is valid? [True, True] Translation: X:99.12, Y:-4.53, Z:0.35 [[ 9.99612918e-01 -2.72258784e-02 -5.72417533e-03 9.91237424e+01] [ 2.72281902e-02 9.99629191e-01 3.26306680e-04 -4.52582619e+00] [ 5.71316877e-03 -4.82039307e-04 9.99983564e-01 3.51309948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68071405700002 meters Centerline goodness : 0.993389 with order 1 Centerline is valid? [True, True] Translation: X:99.18, Y:-4.54, Z:0.34 [[ 9.99801285e-01 -1.90951506e-02 -5.72413476e-03 9.91849010e+01] [ 1.90973340e-02 9.99817576e-01 3.27016984e-04 -4.54015963e+00] [ 5.71684610e-03 -4.36267714e-04 9.99983564e-01 3.42057699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74071405700002 meters Centerline goodness : 0.994063 with order 1 Centerline is valid? [True, True] Translation: X:99.25, Y:-4.54, Z:0.35 [[ 9.99710360e-01 -2.33758539e-02 -5.72411125e-03 9.92474849e+01] [ 2.33781094e-02 9.99726641e-01 3.27427981e-04 -4.53991250e+00] [ 5.71489260e-03 -4.61152044e-04 9.99983564e-01 3.45092907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80071405700001 meters Centerline goodness : 0.994178 with order 1 Centerline is valid? [True, True] Translation: X:99.31, Y:-4.54, Z:0.34 [[ 9.99658017e-01 -2.55163447e-02 -5.72408780e-03 9.93101108e+01] [ 2.55186374e-02 9.99674293e-01 3.27837419e-04 -4.54264413e+00] [ 5.71385821e-03 -4.73796226e-04 9.99983564e-01 3.44748018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86071405700001 meters Centerline goodness : 0.994004 with order 1 Centerline is valid? [True, True] Translation: X:99.37, Y:-4.54, Z:0.34 [[ 9.99578804e-01 -2.84508209e-02 -5.72405178e-03 9.93716837e+01] [ 2.84531649e-02 9.99595073e-01 3.28465142e-04 -4.54463103e+00] [ 5.71238885e-03 -4.91194183e-04 9.99983564e-01 3.43824727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92071405700001 meters Centerline goodness : 0.993720 with order 1 Centerline is valid? [True, True] Translation: X:99.43, Y:-4.55, Z:0.34 [[ 9.99584778e-01 -2.82401517e-02 -5.72403406e-03 9.94347531e+01] [ 2.82424940e-02 9.99601047e-01 3.28773538e-04 -4.54682054e+00] [ 5.71246583e-03 -4.90298021e-04 9.99983564e-01 3.44502188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98071405700001 meters Centerline goodness : 0.993691 with order 1 Centerline is valid? [True, True] Translation: X:99.50, Y:-4.55, Z:0.35 [[ 9.99597209e-01 -2.77966978e-02 -5.72399822e-03 9.94965806e+01] [ 2.77990364e-02 9.99613478e-01 3.29396375e-04 -4.54969048e+00] [ 5.71262964e-03 -4.88385332e-04 9.99983564e-01 3.45018858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04071405700002 meters Centerline goodness : 0.993968 with order 1 Centerline is valid? [True, True] Translation: X:99.56, Y:-4.55, Z:0.34 [[ 9.99611481e-01 -2.72786147e-02 -5.72396873e-03 9.95585183e+01] [ 2.72809478e-02 9.99627751e-01 3.29907977e-04 -4.55232562e+00] [ 5.71283856e-03 -4.85935093e-04 9.99983564e-01 3.43675300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10071405700002 meters Centerline goodness : 0.993778 with order 1 Centerline is valid? [True, True] Translation: X:99.62, Y:-4.55, Z:0.35 [[ 9.99690286e-01 -2.42191646e-02 -5.72394514e-03 9.96209061e+01] [ 2.42214503e-02 9.99706563e-01 3.30316891e-04 -4.55381568e+00] [ 5.71426552e-03 -4.68856839e-04 9.99983564e-01 3.45033831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16071405700002 meters Centerline goodness : 0.993302 with order 1 Centerline is valid? [True, True] Translation: X:99.68, Y:-4.56, Z:0.35 [[ 9.99754511e-01 -2.14045473e-02 -5.72392005e-03 9.96816766e+01] [ 2.14067896e-02 9.99770794e-01 3.30751046e-04 -4.55644288e+00] [ 5.71552851e-03 -4.53200602e-04 9.99983564e-01 3.45347950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22071405700001 meters Centerline goodness : 0.993148 with order 1 Centerline is valid? [True, True] Translation: X:99.74, Y:-4.56, Z:0.34 [[ 9.99786479e-01 -1.98553044e-02 -5.72387595e-03 9.97441440e+01] [ 1.98575258e-02 9.99802765e-01 3.31512504e-04 -4.56039390e+00] [ 5.71616472e-03 -4.45103733e-04 9.99983564e-01 3.43398227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28071405700001 meters Centerline goodness : 0.993688 with order 1 Centerline is valid? [True, True] Translation: X:99.80, Y:-4.56, Z:0.34 [[ 9.99825116e-01 -1.78037942e-02 -5.72385190e-03 9.98048145e+01] [ 1.78059845e-02 9.99841406e-01 3.31927244e-04 -4.56242656e+00] [ 5.71703456e-03 -4.33788013e-04 9.99983564e-01 3.41178605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34071405700001 meters Centerline goodness : 0.993032 with order 1 Centerline is valid? [True, True] Translation: X:99.87, Y:-4.57, Z:0.34 [[ 9.99830209e-01 -1.75154218e-02 -5.72384002e-03 9.98669361e+01] [ 1.75176086e-02 9.99846500e-01 3.32131941e-04 -4.56671580e+00] [ 5.71714398e-03 -4.32343537e-04 9.99983564e-01 3.43100539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40071405700002 meters Centerline goodness : 0.993071 with order 1 Centerline is valid? [True, True] Translation: X:99.93, Y:-4.57, Z:0.34 [[ 9.99825343e-01 -1.77910704e-02 -5.72381606e-03 9.99289639e+01] [ 1.77932640e-02 9.99841632e-01 3.32544221e-04 -4.57147966e+00] [ 5.71699328e-03 -4.34331510e-04 9.99983564e-01 3.42230251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46071405700002 meters Centerline goodness : 0.992902 with order 1 Centerline is valid? [True, True] Translation: X:99.99, Y:-4.57, Z:0.34 [[ 9.99828190e-01 -1.76303388e-02 -5.72379217e-03 9.99906212e+01] [ 1.76325321e-02 9.99844479e-01 3.32954977e-04 -4.57386949e+00] [ 5.71703189e-03 -4.33822722e-04 9.99983564e-01 3.41498942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52071405700002 meters Centerline goodness : 0.993187 with order 1 Centerline is valid? [True, True] Translation: X:100.05, Y:-4.58, Z:0.34 [[ 9.99837724e-01 -1.70811238e-02 -5.72377418e-03 1.00052588e+02] [ 1.70833099e-02 9.99854014e-01 3.33264043e-04 -4.57644536e+00] [ 5.71724606e-03 -4.30990970e-04 9.99983564e-01 3.41076127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58071405700001 meters Centerline goodness : 0.993001 with order 1 Centerline is valid? [True, True] Translation: X:100.11, Y:-4.58, Z:0.34 [[ 9.99870062e-01 -1.50697799e-02 -5.72374974e-03 1.00114223e+02] [ 1.50719357e-02 9.99886356e-01 3.33683239e-04 -4.57757071e+00] [ 5.71807074e-03 -4.19907868e-04 9.99983564e-01 3.44156343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64071405700001 meters Centerline goodness : 0.993384 with order 1 Centerline is valid? [True, True] Translation: X:100.18, Y:-4.58, Z:0.35 [[ 9.99911572e-01 -1.20036517e-02 -5.72373170e-03 1.00176703e+02] [ 1.20057592e-02 9.99927872e-01 3.33992302e-04 -4.57573407e+00] [ 5.71930974e-03 -4.02680512e-04 9.99983564e-01 3.49538582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70071405700001 meters Centerline goodness : 0.993114 with order 1 Centerline is valid? [True, True] Translation: X:100.24, Y:-4.58, Z:0.35 [[ 9.99947082e-01 -8.54820480e-03 -5.72370694e-03 1.00238523e+02] [ 8.55025841e-03 9.99963390e-01 3.34416054e-04 -4.57743226e+00] [ 5.72063874e-03 -3.83337531e-04 9.99983564e-01 3.50750918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76071405700002 meters Centerline goodness : 0.992819 with order 1 Centerline is valid? [True, True] Translation: X:100.30, Y:-4.58, Z:0.35 [[ 9.99961224e-01 -6.69256613e-03 -5.72368271e-03 1.00299916e+02] [ 6.69459184e-03 9.99977535e-01 3.34830385e-04 -4.57797115e+00] [ 5.72131325e-03 -3.73135121e-04 9.99983564e-01 3.52687149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82071405700002 meters Centerline goodness : 0.992774 with order 1 Centerline is valid? [True, True] Translation: X:100.36, Y:-4.58, Z:0.35 [[ 9.99938265e-01 -9.52395497e-03 -5.72367067e-03 1.00360531e+02] [ 9.52602802e-03 9.99954570e-01 3.35035999e-04 -4.57577196e+00] [ 5.72021978e-03 -3.89539162e-04 9.99983564e-01 3.51347697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88071405700002 meters Centerline goodness : 0.993606 with order 1 Centerline is valid? [True, True] Translation: X:100.42, Y:-4.58, Z:0.35 [[ 9.99927055e-01 -1.06359571e-02 -5.72367067e-03 1.00421843e+02] [ 1.06380483e-02 9.99943358e-01 3.35035999e-04 -4.57890301e+00] [ 5.71978304e-03 -3.95900245e-04 9.99983564e-01 3.51112448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94071405700001 meters Centerline goodness : 0.993529 with order 1 Centerline is valid? [True, True] Translation: X:100.48, Y:-4.58, Z:0.35 [[ 9.99896365e-01 -1.32098207e-02 -5.72364986e-03 1.00483622e+02] [ 1.32119558e-02 9.99912662e-01 3.35391152e-04 -4.58247394e+00] [ 5.71871951e-03 -4.10977003e-04 9.99983564e-01 3.49202579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00071405700001 meters Centerline goodness : 0.984955 with order 1 Centerline is valid? [True, True] Translation: X:100.55, Y:-4.59, Z:0.35 [[ 9.99870441e-01 -1.50446628e-02 -5.72362269e-03 1.00546028e+02] [ 1.50468305e-02 9.99886734e-01 3.35854182e-04 -4.58781856e+00] [ 5.71792158e-03 -4.21933050e-04 9.99983564e-01 3.45168488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06071405700001 meters Centerline goodness : 0.993237 with order 1 Centerline is valid? [True, True] Translation: X:100.61, Y:-4.60, Z:0.34 [[ 9.99955014e-01 -7.56373365e-03 -5.72357872e-03 1.00606324e+02] [ 7.56578366e-03 9.99971322e-01 3.36601876e-04 -4.60409765e+00] [ 5.72086861e-03 -3.79890092e-04 9.99983564e-01 3.42559161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12071405700001 meters Centerline goodness : 0.992581 with order 1 Centerline is valid? [True, True] Translation: X:100.67, Y:-4.61, Z:0.34 [[ 9.99976933e-01 -3.65701226e-03 -5.72355219e-03 1.00666278e+02] [ 3.65900111e-03 9.99993249e-01 3.37052343e-04 -4.60827293e+00] [ 5.72228095e-03 -3.57987052e-04 9.99983564e-01 3.44679640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18071405700002 meters Centerline goodness : 0.992950 with order 1 Centerline is valid? [True, True] Translation: X:100.73, Y:-4.61, Z:0.34 [[ 9.99968551e-01 -5.48984991e-03 -5.72354625e-03 1.00725440e+02] [ 5.49186924e-03 9.99984863e-01 3.37153153e-04 -4.61293766e+00] [ 5.72160869e-03 -3.68575517e-04 9.99983564e-01 3.40456943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24071405700002 meters Centerline goodness : 0.993791 with order 1 Centerline is valid? [True, True] Translation: X:100.79, Y:-4.62, Z:0.34 [[ 9.99943787e-01 -8.92545796e-03 -5.72355894e-03 1.00785061e+02] [ 8.92753209e-03 9.99960092e-01 3.36937709e-04 -4.61626122e+00] [ 5.72032320e-03 -3.88016025e-04 9.99983564e-01 3.44430927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30071405700001 meters Centerline goodness : 0.994385 with order 1 Centerline is valid? [True, True] Translation: X:100.85, Y:-4.62, Z:0.35 [[ 9.99893181e-01 -1.34486916e-02 -5.72355252e-03 1.00846445e+02] [ 1.34508401e-02 9.99909477e-01 3.37046573e-04 -4.61825034e+00] [ 5.71850157e-03 -4.13997159e-04 9.99983564e-01 3.45126774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36071405700001 meters Centerline goodness : 0.994110 with order 1 Centerline is valid? [True, True] Translation: X:100.91, Y:-4.62, Z:0.35 [[ 9.99892522e-01 -1.34976460e-02 -5.72353953e-03 1.00908643e+02] [ 1.34997965e-02 9.99908817e-01 3.37267128e-04 -4.62177422e+00] [ 5.71846532e-03 -4.14497498e-04 9.99983564e-01 3.45545058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42071405700001 meters Centerline goodness : 0.995907 with order 1 Centerline is valid? [True, True] Translation: X:100.97, Y:-4.62, Z:0.35 [[ 9.99796217e-01 -1.93588853e-02 -5.72351374e-03 1.00970614e+02] [ 1.93611338e-02 9.99812499e-01 3.37704225e-04 -4.61632220e+00] [ 5.71590299e-03 -4.48449122e-04 9.99983564e-01 3.49544184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48071405700001 meters Centerline goodness : 0.994625 with order 1 Centerline is valid? [True, True] Translation: X:101.03, Y:-4.63, Z:0.35 [[ 9.99848266e-01 -1.64525863e-02 -5.72343157e-03 1.01032643e+02] [ 1.64547954e-02 9.99864553e-01 3.39091074e-04 -4.62626984e+00] [ 5.71707743e-03 -4.33217518e-04 9.99983564e-01 3.52834806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54071405700002 meters Centerline goodness : 0.995658 with order 1 Centerline is valid? [True, True] Translation: X:101.09, Y:-4.63, Z:0.35 [[ 9.99734110e-01 -2.23372176e-02 -5.72340544e-03 1.01094557e+02] [ 2.23395250e-02 9.99750384e-01 3.39531572e-04 -4.62545113e+00] [ 5.71439260e-03 -4.67299453e-04 9.99983564e-01 3.49966700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60071405700002 meters Centerline goodness : 0.995028 with order 1 Centerline is valid? [True, True] Translation: X:101.16, Y:-4.64, Z:0.35 [[ 9.99740099e-01 -2.20675907e-02 -5.72330914e-03 1.01156627e+02] [ 2.20699029e-02 9.99756372e-01 3.41147246e-04 -4.63632864e+00] [ 5.71438648e-03 -4.67371459e-04 9.99983564e-01 3.51148668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66071405700002 meters Centerline goodness : 0.995143 with order 1 Centerline is valid? [True, True] Translation: X:101.22, Y:-4.64, Z:0.35 [[ 9.99776902e-01 -2.03320186e-02 -5.72328330e-03 1.01218219e+02] [ 2.03343050e-02 9.99793178e-01 3.41580100e-04 -4.64423020e+00] [ 5.71515459e-03 -4.57882882e-04 9.99983564e-01 3.46392636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72071405700001 meters Centerline goodness : 0.995329 with order 1 Centerline is valid? [True, True] Translation: X:101.28, Y:-4.65, Z:0.35 [[ 9.99787149e-01 -1.98217202e-02 -5.72325732e-03 1.01280282e+02] [ 1.98240008e-02 9.99803427e-01 3.42014885e-04 -4.64797066e+00] [ 5.71535296e-03 -4.55399945e-04 9.99983564e-01 3.48671973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78071405700001 meters Centerline goodness : 0.995398 with order 1 Centerline is valid? [True, True] Translation: X:101.34, Y:-4.64, Z:0.35 [[ 9.99709827e-01 -2.33988416e-02 -5.72323139e-03 1.01342264e+02] [ 2.34011828e-02 9.99726096e-01 3.42448168e-04 -4.64466577e+00] [ 5.71365089e-03 -4.76279183e-04 9.99983564e-01 3.50017427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84071405700001 meters Centerline goodness : 0.995980 with order 1 Centerline is valid? [True, True] Translation: X:101.40, Y:-4.65, Z:0.35 [[ 9.99760747e-01 -2.11114434e-02 -5.72320590e-03 1.01404682e+02] [ 2.11137498e-02 9.99777021e-01 3.42873689e-04 -4.64816428e+00] [ 5.71469119e-03 -4.63629993e-04 9.99983564e-01 3.52043524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90071405700002 meters Centerline goodness : 0.995079 with order 1 Centerline is valid? [True, True] Translation: X:101.47, Y:-4.66, Z:0.35 [[ 9.99847654e-01 -1.64897993e-02 -5.72318295e-03 1.01466295e+02] [ 1.64920327e-02 9.99863938e-01 3.43256436e-04 -4.65762039e+00] [ 5.71674401e-03 -4.37591063e-04 9.99983564e-01 3.52945489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96071405700002 meters Centerline goodness : 0.994166 with order 1 Centerline is valid? [True, True] Translation: X:101.53, Y:-4.66, Z:0.35 [[ 9.99903648e-01 -1.26467784e-02 -5.72315767e-03 1.01528082e+02] [ 1.26489516e-02 9.99919940e-01 3.43677355e-04 -4.66359724e+00] [ 5.71835306e-03 -4.16036185e-04 9.99983564e-01 3.50458165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02071405700002 meters Centerline goodness : 0.995642 with order 1 Centerline is valid? [True, True] Translation: X:101.59, Y:-4.66, Z:0.35 [[ 9.99877115e-01 -1.45945360e-02 -5.72313125e-03 1.01589378e+02] [ 1.45967434e-02 9.99893403e-01 3.44116738e-04 -4.66430077e+00] [ 5.71749896e-03 -4.27613530e-04 9.99983564e-01 3.54567751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08071405700001 meters Centerline goodness : 0.994509 with order 1 Centerline is valid? [True, True] Translation: X:101.65, Y:-4.67, Z:0.35 [[ 9.99961820e-01 -6.60333865e-03 -5.72311175e-03 1.01650705e+02] [ 6.60541766e-03 9.99978125e-01 3.44440781e-04 -4.67186517e+00] [ 5.72071209e-03 -3.82231174e-04 9.99983564e-01 3.48196884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14071405700001 meters Centerline goodness : 0.995255 with order 1 Centerline is valid? [True, True] Translation: X:101.71, Y:-4.67, Z:0.35 [[ 9.99956168e-01 -7.41001038e-03 -5.72309235e-03 1.01711131e+02] [ 7.41210438e-03 9.99972471e-01 3.44762786e-04 -4.67115751e+00] [ 5.72038010e-03 -3.87167832e-04 9.99983564e-01 3.52536412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20071405700001 meters Centerline goodness : 0.994880 with order 1 Centerline is valid? [True, True] Translation: X:101.77, Y:-4.67, Z:0.35 [[ 9.99975909e-01 -3.92775277e-03 -5.72308604e-03 1.01771928e+02] [ 3.92979059e-03 9.99992219e-01 3.44867523e-04 -4.67356468e+00] [ 5.72168695e-03 -3.67349745e-04 9.99983564e-01 3.52668000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26071405700002 meters Centerline goodness : 0.995076 with order 1 Centerline is valid? [True, True] Translation: X:101.83, Y:-4.68, Z:0.35 [[ 9.99980677e-01 -2.42732868e-03 -5.72308604e-03 1.01830927e+02] [ 2.42934202e-03 9.99996990e-01 3.44867523e-04 -4.67590185e+00] [ 5.72223170e-03 -3.58764193e-04 9.99983564e-01 3.52728511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32071405700002 meters Centerline goodness : 0.996179 with order 1 Centerline is valid? [True, True] Translation: X:101.89, Y:-4.67, Z:0.36 [[ 9.99970561e-01 -5.11114736e-03 -5.72309253e-03 1.01890545e+02] [ 5.11320386e-03 9.99986868e-01 3.44759848e-04 -4.66975792e+00] [ 5.72125525e-03 -3.74013037e-04 9.99983564e-01 3.55954141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38071405700002 meters Centerline goodness : 0.995412 with order 1 Centerline is valid? [True, True] Translation: X:101.95, Y:-4.68, Z:0.36 [[ 9.99977523e-01 3.49265763e-03 -5.72310491e-03 1.01950066e+02] [-3.49074268e-03 9.99993848e-01 3.44554093e-04 -4.67738131e+00] [ 5.72427311e-03 -3.24568462e-04 9.99983564e-01 3.58077983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44071405700001 meters Centerline goodness : 0.994646 with order 1 Centerline is valid? [True, True] Translation: X:102.01, Y:-4.68, Z:0.35 [[ 9.99974894e-01 4.17828851e-03 -5.72311156e-03 1.02007718e+02] [-4.17638538e-03 9.99991220e-01 3.44443720e-04 -4.67933731e+00] [ 5.72450049e-03 -3.20533153e-04 9.99983564e-01 3.52912885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50071405700001 meters Centerline goodness : 0.994882 with order 1 Centerline is valid? [True, True] Translation: X:102.07, Y:-4.68, Z:0.36 [[ 9.99982042e-01 1.77784686e-03 -5.72315055e-03 1.02066142e+02] [-1.77590825e-03 9.99998364e-01 3.43794508e-04 -4.67994807e+00] [ 5.72375241e-03 -3.33624544e-04 9.99983564e-01 3.55952181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56071405700001 meters Centerline goodness : 0.995476 with order 1 Centerline is valid? [True, True] Translation: X:102.12, Y:-4.68, Z:0.36 [[ 9.99967824e-01 -5.62105780e-03 -5.72317653e-03 1.02124649e+02] [ 5.62311465e-03 9.99984131e-01 3.43361570e-04 -4.67680132e+00] [ 5.72115565e-03 -3.75532600e-04 9.99983564e-01 3.61933401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62071405700001 meters Centerline goodness : 0.994910 with order 1 Centerline is valid? [True, True] Translation: X:102.18, Y:-4.68, Z:0.36 [[ 9.99977038e-01 -3.62895140e-03 -5.72320211e-03 1.02184529e+02] [ 3.63097332e-03 9.99993349e-01 3.42934564e-04 -4.68450743e+00] [ 5.72191956e-03 -3.63707484e-04 9.99983564e-01 3.62629047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68071405700002 meters Centerline goodness : 0.994908 with order 1 Centerline is valid? [True, True] Translation: X:102.24, Y:-4.69, Z:0.36 [[ 9.99981553e-01 -2.03453755e-03 -5.72320211e-03 1.02243775e+02] [ 2.03653347e-03 9.99997867e-01 3.42934564e-04 -4.68746927e+00] [ 5.72249220e-03 -3.54583731e-04 9.99983564e-01 3.62139559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74071405700002 meters Centerline goodness : 0.994283 with order 1 Centerline is valid? [True, True] Translation: X:102.30, Y:-4.69, Z:0.36 [[ 9.99980054e-01 2.67123239e-03 -5.72321485e-03 1.02302116e+02] [-2.66931449e-03 9.99996379e-01 3.42721864e-04 -4.69433862e+00] [ 5.72410962e-03 -3.27437968e-04 9.99983564e-01 3.58126044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80071405700001 meters Centerline goodness : 0.993977 with order 1 Centerline is valid? [True, True] Translation: X:102.36, Y:-4.70, Z:0.36 [[ 9.99958556e-01 7.08025439e-03 -5.72330313e-03 1.02360156e+02] [-7.07841693e-03 9.99974889e-01 3.41241298e-04 -4.69695272e+00] [ 5.72557549e-03 -3.00715230e-04 9.99983564e-01 3.59881011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86071405700001 meters Centerline goodness : 0.992140 with order 1 Centerline is valid? [True, True] Translation: X:102.42, Y:-4.71, Z:0.35 [[ 9.99750415e-01 2.15951384e-02 -5.72340530e-03 1.02417637e+02] [-2.15935481e-02 9.99766775e-01 3.39518964e-04 -4.71051322e+00] [ 5.72940241e-03 -2.15845597e-04 9.99983564e-01 3.45977107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92071405700001 meters Centerline goodness : 0.993361 with order 1 Centerline is valid? [True, True] Translation: X:102.48, Y:-4.71, Z:0.36 [[ 9.99600617e-01 2.76739614e-02 -5.72343650e-03 1.02476306e+02] [-2.76724736e-02 9.99616986e-01 3.38992185e-04 -4.70626710e+00] [ 5.73062560e-03 -1.80475152e-04 9.99983564e-01 3.59890077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98071405700001 meters Centerline goodness : 0.994724 with order 1 Centerline is valid? [True, True] Translation: X:102.53, Y:-4.70, Z:0.37 [[ 9.99494029e-01 3.12878289e-02 -5.72352462e-03 1.02534266e+02] [-3.12864088e-02 9.99510404e-01 3.37497844e-04 -4.69862730e+00] [ 5.73128197e-03 -1.58258549e-04 9.99983564e-01 3.69063019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04071405700002 meters Centerline goodness : 0.992561 with order 1 Centerline is valid? [True, True] Translation: X:102.59, Y:-4.72, Z:0.36 [[ 9.99173969e-01 4.02320954e-02 -5.72355555e-03 1.02591912e+02] [-4.02308250e-02 9.99190356e-01 3.36972478e-04 -4.72437245e+00] [ 5.73247861e-03 -1.06430766e-04 9.99983564e-01 3.61757696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10071405700002 meters Centerline goodness : 0.991841 with order 1 Centerline is valid? [True, True] Translation: X:102.65, Y:-4.73, Z:0.36 [[ 9.99215344e-01 3.91910227e-02 -5.72364361e-03 1.02650168e+02] [-3.91897438e-02 9.99231731e-01 3.35469897e-04 -4.73312831e+00] [ 5.73239372e-03 -1.10898541e-04 9.99983564e-01 3.60577710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16071405700002 meters Centerline goodness : 0.993662 with order 1 Centerline is valid? [True, True] Translation: X:102.71, Y:-4.74, Z:0.37 [[ 9.99784133e-01 1.99731261e-02 -5.72373239e-03 1.02708004e+02] [-1.99715411e-02 9.99800493e-01 3.33948412e-04 -4.73655452e+00] [ 5.72926045e-03 -2.19564567e-04 9.99983564e-01 3.67133988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22071405700001 meters Centerline goodness : 0.992637 with order 1 Centerline is valid? [True, True] Translation: X:102.77, Y:-4.76, Z:0.37 [[ 9.99743409e-01 2.19169737e-02 -5.72376342e-03 1.02765494e+02] [-2.19154236e-02 9.99759773e-01 3.33415553e-04 -4.75778331e+00] [ 5.72969588e-03 -2.07891301e-04 9.99983564e-01 3.70631788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28071405700001 meters Centerline goodness : 0.994601 with order 1 Centerline is valid? [True, True] Translation: X:102.82, Y:-4.76, Z:0.37 [[ 9.99964069e-01 6.25285234e-03 -5.72378819e-03 1.02823328e+02] [-6.25104847e-03 9.99980407e-01 3.32989903e-04 -4.75981764e+00] [ 5.72575818e-03 -2.97198261e-04 9.99983564e-01 3.68800778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34071405700001 meters Centerline goodness : 0.995334 with order 1 Centerline is valid? [True, True] Translation: X:102.88, Y:-4.77, Z:0.37 [[ 9.99979271e-01 2.94871668e-03 -5.72381842e-03 1.02881208e+02] [-2.94686180e-03 9.99995603e-01 3.32469397e-04 -4.77138618e+00] [ 5.72477361e-03 -3.15595204e-04 9.99983564e-01 3.67529814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40071405700002 meters Centerline goodness : 0.993598 with order 1 Centerline is valid? [True, True] Translation: X:102.94, Y:-4.79, Z:0.36 [[ 9.99928419e-01 1.05068372e-02 -5.72384219e-03 1.02938812e+02] [-1.05051081e-02 9.99944765e-01 3.32059638e-04 -4.79456658e+00] [ 5.72701493e-03 -2.71906288e-04 9.99983564e-01 3.60154828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46071405700002 meters Centerline goodness : 0.993113 with order 1 Centerline is valid? [True, True] Translation: X:103.00, Y:-4.80, Z:0.37 [[ 9.99953302e-01 7.78653595e-03 -5.72392700e-03 1.02997775e+02] [-7.78477083e-03 9.99969644e-01 3.30591348e-04 -4.79891555e+00] [ 5.72632740e-03 -2.86016450e-04 9.99983564e-01 3.68766329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52071405700002 meters Centerline goodness : 0.993663 with order 1 Centerline is valid? [True, True] Translation: X:103.06, Y:-4.81, Z:0.37 [[ 9.99953391e-01 7.77512001e-03 -5.72395160e-03 1.03055851e+02] [-7.77335714e-03 9.99969732e-01 3.30164706e-04 -4.80503444e+00] [ 5.72634543e-03 -2.85654997e-04 9.99983564e-01 3.68516678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58071405700001 meters Centerline goodness : 0.993445 with order 1 Centerline is valid? [True, True] Translation: X:103.11, Y:-4.81, Z:0.37 [[ 9.99937491e-01 9.60465448e-03 -5.72397625e-03 1.03112437e+02] [-9.60292396e-03 9.99953836e-01 3.29736799e-04 -4.81412494e+00] [ 5.72687902e-03 -2.74749279e-04 9.99983564e-01 3.65952332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64071405700001 meters Centerline goodness : 0.993432 with order 1 Centerline is valid? [True, True] Translation: X:103.17, Y:-4.82, Z:0.37 [[ 9.99935736e-01 9.78568231e-03 -5.72401859e-03 1.03170826e+02] [-9.78395895e-03 9.99952082e-01 3.29000164e-04 -4.81663187e+00] [ 5.72696380e-03 -2.72975458e-04 9.99983564e-01 3.70635457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70071405700001 meters Centerline goodness : 0.995147 with order 1 Centerline is valid? [True, True] Translation: X:103.23, Y:-4.82, Z:0.37 [[ 9.99955388e-01 7.51382831e-03 -5.72404234e-03 1.03229605e+02] [-7.51207018e-03 9.99971730e-01 3.28586430e-04 -4.81646247e+00] [ 5.72634947e-03 -2.85572363e-04 9.99983564e-01 3.65781614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76071405700002 meters Centerline goodness : 0.995491 with order 1 Centerline is valid? [True, True] Translation: X:103.29, Y:-4.82, Z:0.36 [[ 9.99944331e-01 8.86395937e-03 -5.72406581e-03 1.03287642e+02] [-8.86222564e-03 9.99960676e-01 3.28177083e-04 -4.82173209e+00] [ 5.72674967e-03 -2.77430851e-04 9.99983564e-01 3.64328962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82071405700002 meters Centerline goodness : 0.993647 with order 1 Centerline is valid? [True, True] Translation: X:103.35, Y:-4.83, Z:0.36 [[ 9.99858166e-01 1.58392771e-02 -5.72409487e-03 1.03345558e+02] [-1.58376603e-02 9.99874523e-01 3.27669517e-04 -4.83332972e+00] [ 5.72856667e-03 -2.36966772e-04 9.99983564e-01 3.62324767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88071405700002 meters Centerline goodness : 0.995174 with order 1 Centerline is valid? [True, True] Translation: X:103.40, Y:-4.83, Z:0.36 [[ 9.99949889e-01 8.21304616e-03 -5.72418331e-03 1.03404270e+02] [-8.21131356e-03 9.99966233e-01 3.26117131e-04 -4.82694852e+00] [ 5.72666844e-03 -2.79097725e-04 9.99983564e-01 3.64497227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94071405700001 meters Centerline goodness : 0.992946 with order 1 Centerline is valid? [True, True] Translation: X:103.46, Y:-4.84, Z:0.36 [[ 9.99876402e-01 1.46428629e-02 -5.72420789e-03 1.03462558e+02] [-1.46412379e-02 9.99892758e-01 3.25685125e-04 -4.83806954e+00] [ 5.72836298e-03 -2.41835382e-04 9.99983564e-01 3.64627296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00071405700001 meters Centerline goodness : 0.991246 with order 1 Centerline is valid? [True, True] Translation: X:103.52, Y:-4.84, Z:0.37 [[ 9.99792842e-01 1.95321732e-02 -5.72429427e-03 1.03521797e+02] [-1.95306369e-02 9.99809206e-01 3.24159798e-04 -4.83787666e+00] [ 5.72953365e-03 -2.12293532e-04 9.99983564e-01 3.66161037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06071405700001 meters Centerline goodness : 0.992180 with order 1 Centerline is valid? [True, True] Translation: X:103.58, Y:-4.84, Z:0.36 [[ 9.99647722e-01 2.59164636e-02 -5.72437960e-03 1.03580128e+02] [-2.59150406e-02 9.99664097e-01 3.22645820e-04 -4.83730925e+00] [ 5.73081860e-03 -1.74184630e-04 9.99983564e-01 3.57433243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12071405700001 meters Centerline goodness : 0.992567 with order 1 Centerline is valid? [True, True] Translation: X:103.64, Y:-4.84, Z:0.36 [[ 9.99393020e-01 3.43630774e-02 -5.72447643e-03 1.03639526e+02] [-3.43618026e-02 9.99409407e-01 3.20918654e-04 -4.83554888e+00] [ 5.73212335e-03 -1.24020534e-04 9.99983564e-01 3.60230721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18071405700002 meters Centerline goodness : 0.993073 with order 1 Centerline is valid? [True, True] Translation: X:103.70, Y:-4.83, Z:0.36 [[ 9.99355109e-01 3.54484932e-02 -5.72455457e-03 1.03698372e+02] [-3.54472443e-02 9.99371498e-01 3.19518685e-04 -4.83420719e+00] [ 5.73228313e-03 -1.16392947e-04 9.99983564e-01 3.59749652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24071405700002 meters Centerline goodness : 0.993397 with order 1 Centerline is valid? [True, True] Translation: X:103.76, Y:-4.84, Z:0.37 [[ 9.99419110e-01 3.35957159e-02 -5.72457931e-03 1.03755696e+02] [-3.35944391e-02 9.99435497e-01 3.19074689e-04 -4.83534955e+00] [ 5.73206731e-03 -1.26575310e-04 9.99983564e-01 3.65573787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30071405700001 meters Centerline goodness : 0.993561 with order 1 Centerline is valid? [True, True] Translation: X:103.81, Y:-4.84, Z:0.37 [[ 9.99613125e-01 2.72181808e-02 -5.72460963e-03 1.03813755e+02] [-2.72168026e-02 9.99629503e-01 3.18529887e-04 -4.83878575e+00] [ 5.73115848e-03 -1.62601086e-04 9.99983564e-01 3.66432999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36071405700001 meters Centerline goodness : 0.992952 with order 1 Centerline is valid? [True, True] Translation: X:103.87, Y:-4.84, Z:0.36 [[ 9.99852319e-01 1.62039850e-02 -5.72464590e-03 1.03871366e+02] [-1.62024302e-02 9.99868681e-01 3.17876732e-04 -4.84377561e+00] [ 5.72904501e-03 -2.25076611e-04 9.99983564e-01 3.60685279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42071405700001 meters Centerline goodness : 0.994922 with order 1 Centerline is valid? [True, True] Translation: X:103.93, Y:-4.84, Z:0.37 [[ 9.99977791e-01 3.41261751e-03 -5.72468774e-03 1.03929866e+02] [-3.41085782e-03 9.99994133e-01 3.17121446e-04 -4.84041205e+00] [ 5.72573636e-03 -2.97588307e-04 9.99983564e-01 3.68689616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48071405700001 meters Centerline goodness : 0.995370 with order 1 Centerline is valid? [True, True] Translation: X:103.99, Y:-4.84, Z:0.37 [[ 9.99976853e-01 -3.67705248e-03 -5.72474969e-03 1.03987196e+02] [ 3.67892158e-03 9.99993183e-01 3.15999015e-04 -4.84210825e+00] [ 5.72354872e-03 -3.37052606e-04 9.99983564e-01 3.67074497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54071405700002 meters Centerline goodness : 0.987740 with order 1 Centerline is valid? [True, True] Translation: X:104.05, Y:-4.84, Z:0.37 [[ 9.99982152e-01 -1.70974494e-03 -5.72478425e-03 1.04046315e+02] [ 1.71157834e-03 9.99998486e-01 3.15371734e-04 -4.84394716e+00] [ 5.72423637e-03 -3.25164522e-04 9.99983564e-01 3.70210194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60071405700002 meters Centerline goodness : 0.986727 with order 1 Centerline is valid? [True, True] Translation: X:104.10, Y:-4.85, Z:0.37 [[ 9.99982642e-01 -1.39369729e-03 -5.72488289e-03 1.04104564e+02] [ 1.39551524e-03 9.99998977e-01 3.13570928e-04 -4.84811973e+00] [ 5.72444001e-03 -3.21554646e-04 9.99983564e-01 3.72357777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66071405700002 meters Centerline goodness : 0.986301 with order 1 Centerline is valid? [True, True] Translation: X:104.16, Y:-4.85, Z:0.37 [[ 9.99983469e-01 -5.35106393e-04 -5.72499380e-03 1.04163367e+02] [ 5.36898688e-04 9.99999807e-01 3.11532670e-04 -4.85233575e+00] [ 5.72482599e-03 -3.14601261e-04 9.99983564e-01 3.74623659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72071405700001 meters Centerline goodness : 0.995080 with order 1 Centerline is valid? [True, True] Translation: X:104.22, Y:-4.86, Z:0.37 [[ 9.99975496e-01 -4.02880502e-03 -5.72510280e-03 1.04220876e+02] [ 4.03064288e-03 9.99991829e-01 3.09516578e-04 -4.85800966e+00] [ 5.72380903e-03 -3.32584838e-04 9.99983564e-01 3.70225277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78071405700001 meters Centerline goodness : 0.992455 with order 1 Centerline is valid? [True, True] Translation: X:104.28, Y:-4.88, Z:0.37 [[ 9.99945518e-01 8.72829246e-03 -5.72514100e-03 1.04279320e+02] [-8.72666716e-03 9.99961874e-01 3.08808378e-04 -4.87700210e+00] [ 5.72761809e-03 -2.58830154e-04 9.99983564e-01 3.66298289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84071405700001 meters Centerline goodness : 0.995661 with order 1 Centerline is valid? [True, True] Translation: X:104.34, Y:-4.87, Z:0.37 [[ 9.99919269e-01 -1.13436474e-02 -5.72515261e-03 1.04337771e+02] [ 1.13455994e-02 9.99935589e-01 3.08592851e-04 -4.86918019e+00] [ 5.72128328e-03 -3.73523226e-04 9.99983564e-01 3.66875378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90071405700002 meters Centerline goodness : 0.994827 with order 1 Centerline is valid? [True, True] Translation: X:104.40, Y:-4.87, Z:0.37 [[ 9.99861474e-01 -1.56286342e-02 -5.72518078e-03 1.04398656e+02] [ 1.56306531e-02 9.99877786e-01 3.08069312e-04 -4.87459032e+00] [ 5.71966639e-03 -3.97514951e-04 9.99983564e-01 3.68080470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96071405700002 meters Centerline goodness : 0.991487 with order 1 Centerline is valid? [True, True] Translation: X:104.46, Y:-4.89, Z:0.37 [[ 9.99978938e-01 -3.05702746e-03 -5.72516939e-03 1.04459449e+02] [ 3.05884240e-03 9.99995274e-01 3.08280990e-04 -4.89464731e+00] [ 5.72419991e-03 -3.25786888e-04 9.99983564e-01 3.66526073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02071405700002 meters Centerline goodness : 0.991486 with order 1 Centerline is valid? [True, True] Translation: X:104.52, Y:-4.90, Z:0.37 [[ 9.99973840e-01 -4.42067992e-03 -5.72515770e-03 1.04519068e+02] [ 4.42251837e-03 9.99990173e-01 3.08497876e-04 -4.90172801e+00] [ 5.72373767e-03 -3.33809420e-04 9.99983564e-01 3.65673059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08071405700001 meters Centerline goodness : 0.995568 with order 1 Centerline is valid? [True, True] Translation: X:104.58, Y:-4.89, Z:0.37 [[ 9.99732146e-01 -2.24245307e-02 -5.72516941e-03 1.04578914e+02] [ 2.24266617e-02 9.99748443e-01 3.08280399e-04 -4.89261621e+00] [ 5.71681616e-03 -4.36594262e-04 9.99983564e-01 3.68913926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14071405700001 meters Centerline goodness : 0.995348 with order 1 Centerline is valid? [True, True] Translation: X:104.64, Y:-4.90, Z:0.37 [[ 9.99664290e-01 -2.52691332e-02 -5.72517518e-03 1.04640022e+02] [ 2.52713100e-02 9.99680582e-01 3.08173253e-04 -4.89834874e+00] [ 5.71555918e-03 -4.52752473e-04 9.99983564e-01 3.67294539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20071405700001 meters Centerline goodness : 0.994987 with order 1 Centerline is valid? [True, True] Translation: X:104.70, Y:-4.91, Z:0.37 [[ 9.99570251e-01 -2.87495455e-02 -5.72515894e-03 1.04701767e+02] [ 2.87517807e-02 9.99586535e-01 3.08474679e-04 -4.90565585e+00] [ 5.71392327e-03 -4.72950626e-04 9.99983564e-01 3.66527719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26071405700002 meters Centerline goodness : 0.994777 with order 1 Centerline is valid? [True, True] Translation: X:104.76, Y:-4.91, Z:0.37 [[ 9.99598627e-01 -2.77454181e-02 -5.72513659e-03 1.04764775e+02] [ 2.77476393e-02 9.99614912e-01 3.08888763e-04 -4.90995710e+00] [ 5.71436167e-03 -4.67623808e-04 9.99983564e-01 3.67147285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32071405700002 meters Centerline goodness : 0.995253 with order 1 Centerline is valid? [True, True] Translation: X:104.83, Y:-4.91, Z:0.37 [[ 9.99698751e-01 -2.38669522e-02 -5.72510329e-03 1.04827154e+02] [ 2.38691137e-02 9.99715044e-01 3.09504891e-04 -4.91220962e+00] [ 5.71608495e-03 -4.46064794e-04 9.99983564e-01 3.67932064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38071405700002 meters Centerline goodness : 0.994632 with order 1 Centerline is valid? [True, True] Translation: X:104.89, Y:-4.91, Z:0.37 [[ 9.99782867e-01 -2.00360203e-02 -5.72508122e-03 1.04889793e+02] [ 2.00381216e-02 9.99799169e-01 3.09912603e-04 -4.91388350e+00] [ 5.71772202e-03 -4.24565185e-04 9.99983564e-01 3.68004985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44071405700001 meters Centerline goodness : 0.994538 with order 1 Centerline is valid? [True, True] Translation: X:104.95, Y:-4.92, Z:0.37 [[ 9.99813750e-01 -1.84306733e-02 -5.72505932e-03 1.04951538e+02] [ 1.84327508e-02 9.99830054e-01 3.10316468e-04 -4.91615063e+00] [ 5.71836703e-03 -4.15787263e-04 9.99983564e-01 3.69646463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50071405700001 meters Centerline goodness : 0.987600 with order 1 Centerline is valid? [True, True] Translation: X:105.01, Y:-4.92, Z:0.37 [[ 9.99781975e-01 -2.00804926e-02 -5.72503698e-03 1.05013685e+02] [ 2.00825993e-02 9.99798276e-01 3.10728096e-04 -4.91764364e+00] [ 5.71764253e-03 -4.25633973e-04 9.99983564e-01 3.65390145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56071405700001 meters Centerline goodness : 0.995302 with order 1 Centerline is valid? [True, True] Translation: X:105.08, Y:-4.92, Z:0.37 [[ 9.99780631e-01 -2.01473177e-02 -5.72500006e-03 1.05075885e+02] [ 2.01494294e-02 9.99796931e-01 3.11406892e-04 -4.92207163e+00] [ 5.71756348e-03 -4.26694064e-04 9.99983564e-01 3.68014233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62071405700001 meters Centerline goodness : 0.994956 with order 1 Centerline is valid? [True, True] Translation: X:105.14, Y:-4.92, Z:0.37 [[ 9.99767378e-01 -2.07945811e-02 -5.72497101e-03 1.05138337e+02] [ 2.07967063e-02 9.99783676e-01 3.11940053e-04 -4.92452539e+00] [ 5.71724590e-03 -4.30928030e-04 9.99983564e-01 3.67961423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68071405700002 meters Centerline goodness : 0.994671 with order 1 Centerline is valid? [True, True] Translation: X:105.20, Y:-4.93, Z:0.37 [[ 9.99744818e-01 -2.18523015e-02 -5.72494901e-03 1.05199889e+02] [ 2.18544463e-02 9.99761114e-01 3.12343324e-04 -4.92864012e+00] [ 5.71675598e-03 -4.37379211e-04 9.99983564e-01 3.69186917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74071405700002 meters Centerline goodness : 0.992678 with order 1 Centerline is valid? [True, True] Translation: X:105.26, Y:-4.94, Z:0.36 [[ 9.99876686e-01 -1.46232181e-02 -5.72492331e-03 1.05261404e+02] [ 1.46252477e-02 9.99892996e-01 3.12813728e-04 -4.94234608e+00] [ 5.71973637e-03 -3.96503575e-04 9.99983564e-01 3.63435268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80071405700002 meters Centerline goodness : 0.993466 with order 1 Centerline is valid? [True, True] Translation: X:105.32, Y:-4.94, Z:0.37 [[ 9.99712284e-01 -2.32932354e-02 -5.72489747e-03 1.05324423e+02] [ 2.32954090e-02 9.99728576e-01 3.13285779e-04 -4.93546443e+00] [ 5.71604616e-03 -4.46559470e-04 9.99983564e-01 3.72622033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86071405700001 meters Centerline goodness : 0.992905 with order 1 Centerline is valid? [True, True] Translation: X:105.39, Y:-4.95, Z:0.36 [[ 9.99770274e-01 -2.06549213e-02 -5.72480727e-03 1.05386504e+02] [ 2.06570613e-02 9.99786571e-01 3.14925528e-04 -4.94597325e+00] [ 5.71708066e-03 -4.33110876e-04 9.99983564e-01 3.62991189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92071405700001 meters Centerline goodness : 0.993149 with order 1 Centerline is valid? [True, True] Translation: X:105.45, Y:-4.94, Z:0.37 [[ 9.99512860e-01 -3.06801247e-02 -5.72478084e-03 1.05448734e+02] [ 3.06824307e-02 9.99529134e-01 3.15405184e-04 -4.93544603e+00] [ 5.71240857e-03 -4.90901729e-04 9.99983564e-01 3.74035568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98071405700001 meters Centerline goodness : 0.992859 with order 1 Centerline is valid? [True, True] Translation: X:105.51, Y:-4.94, Z:0.37 [[ 9.99651875e-01 -2.57556977e-02 -5.72468270e-03 1.05510132e+02] [ 2.57579336e-02 9.99668159e-01 3.17176609e-04 -4.94487343e+00] [ 5.71461391e-03 -4.64522189e-04 9.99983564e-01 3.69903076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04071405700002 meters Centerline goodness : 0.992636 with order 1 Centerline is valid? [True, True] Translation: X:105.57, Y:-4.94, Z:0.37 [[ 9.99421378e-01 -3.35281527e-02 -5.72465491e-03 1.05573646e+02] [ 3.35305180e-02 9.99437644e-01 3.17677333e-04 -4.93663193e+00] [ 5.71078448e-03 -5.09444162e-04 9.99983564e-01 3.73207615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10071405700002 meters Centerline goodness : 0.993559 with order 1 Centerline is valid? [True, True] Translation: X:105.64, Y:-4.94, Z:0.38 [[ 9.99608153e-01 -2.74001809e-02 -5.72461146e-03 1.05636163e+02] [ 2.74024509e-02 9.99624432e-01 3.18458474e-04 -4.93999074e+00] [ 5.71373565e-03 -4.75202072e-04 9.99983564e-01 3.76627996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16071405700002 meters Centerline goodness : 0.993446 with order 1 Centerline is valid? [True, True] Translation: X:105.70, Y:-4.94, Z:0.38 [[ 9.99814056e-01 -1.84141792e-02 -5.72456685e-03 1.05698402e+02] [ 1.84163073e-02 9.99830354e-01 3.19258216e-04 -4.94497435e+00] [ 5.71771683e-03 -4.24624235e-04 9.99983564e-01 3.80024188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22071405700001 meters Centerline goodness : 0.993529 with order 1 Centerline is valid? [True, True] Translation: X:105.76, Y:-4.95, Z:0.37 [[ 9.99893705e-01 -1.34092793e-02 -5.72453777e-03 1.05758958e+02] [ 1.34113288e-02 9.99910013e-01 3.19778938e-04 -4.95069914e+00] [ 5.71973463e-03 -3.96518605e-04 9.99983564e-01 3.74827097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28071405700001 meters Centerline goodness : 0.992608 with order 1 Centerline is valid? [True, True] Translation: X:105.82, Y:-4.95, Z:0.37 [[ 9.99908747e-01 -1.22363633e-02 -5.72449709e-03 1.05820761e+02] [ 1.22383978e-02 9.99925057e-01 3.20505450e-04 -4.95195845e+00] [ 5.72014626e-03 -3.90534875e-04 9.99983564e-01 3.74787843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34071405700001 meters Centerline goodness : 0.992650 with order 1 Centerline is valid? [True, True] Translation: X:105.88, Y:-4.96, Z:0.37 [[ 9.99934764e-01 -9.88424840e-03 -5.72447260e-03 1.05881785e+02] [ 9.88624701e-03 9.99951078e-01 3.20942178e-04 -4.95804592e+00] [ 5.72102028e-03 -3.77514791e-04 9.99983564e-01 3.68442921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40071405700002 meters Centerline goodness : 0.992095 with order 1 Centerline is valid? [True, True] Translation: X:105.94, Y:-4.96, Z:0.37 [[ 9.99934126e-01 -9.94853474e-03 -5.72446054e-03 1.05941638e+02] [ 9.95053562e-03 9.99950441e-01 3.21157170e-04 -4.96067991e+00] [ 5.72098180e-03 -3.78097463e-04 9.99983564e-01 3.66169057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46071405700002 meters Centerline goodness : 0.993163 with order 1 Centerline is valid? [True, True] Translation: X:106.00, Y:-4.95, Z:0.38 [[ 9.99906830e-01 -1.23919863e-02 -5.72444862e-03 1.06002769e+02] [ 1.23940283e-02 9.99923139e-01 3.21369514e-04 -4.95430502e+00] [ 5.72002623e-03 -3.92288551e-04 9.99983564e-01 3.77065092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52071405700002 meters Centerline goodness : 0.992809 with order 1 Centerline is valid? [True, True] Translation: X:106.06, Y:-4.95, Z:0.38 [[ 9.99977356e-01 -3.53814792e-03 -5.72443379e-03 1.06064556e+02] [ 3.54004689e-03 9.99993682e-01 3.21633505e-04 -4.95463320e+00] [ 5.72325964e-03 -3.41890986e-04 9.99983564e-01 3.78183832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58071405700001 meters Centerline goodness : 0.993269 with order 1 Centerline is valid? [True, True] Translation: X:106.12, Y:-4.96, Z:0.38 [[ 9.99983457e-01 5.62802527e-04 -5.72442213e-03 1.06123443e+02] [-5.60969336e-04 9.99999791e-01 3.21840853e-04 -4.95518664e+00] [ 5.72460207e-03 -3.18624304e-04 9.99983564e-01 3.80573214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64071405700001 meters Centerline goodness : 0.995033 with order 1 Centerline is valid? [True, True] Translation: X:106.18, Y:-4.95, Z:0.38 [[ 9.99983613e-01 6.61391780e-05 -5.72443932e-03 1.06182918e+02] [-6.42996210e-05 9.99999946e-01 3.21534903e-04 -4.94864226e+00] [ 5.72446028e-03 -3.21161555e-04 9.99983564e-01 3.80648803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70071405700001 meters Centerline goodness : 0.992673 with order 1 Centerline is valid? [True, True] Translation: X:106.24, Y:-4.96, Z:0.38 [[ 9.99880693e-01 1.43467681e-02 -5.72446144e-03 1.06241488e+02] [-1.43451643e-02 9.99897051e-01 3.21140607e-04 -4.96071657e+00] [ 5.72847944e-03 -2.38983953e-04 9.99983564e-01 3.80609971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76071405700002 meters Centerline goodness : 0.992480 with order 1 Centerline is valid? [True, True] Translation: X:106.30, Y:-4.96, Z:0.38 [[ 9.99823746e-01 1.78803360e-02 -5.72454075e-03 1.06299250e+02] [-1.78787981e-02 9.99840110e-01 3.19720527e-04 -4.96316261e+00] [ 5.72934217e-03 -2.17316267e-04 9.99983564e-01 3.81090980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82071405700002 meters Centerline goodness : 0.993070 with order 1 Centerline is valid? [True, True] Translation: X:106.36, Y:-4.97, Z:0.37 [[ 9.99821997e-01 1.79778468e-02 -5.72457649e-03 1.06357917e+02] [-1.79763141e-02 9.99838362e-01 3.19079271e-04 -4.97129882e+00] [ 5.72938754e-03 -2.16115689e-04 9.99983564e-01 3.70158173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88071405700002 meters Centerline goodness : 0.993478 with order 1 Centerline is valid? [True, True] Translation: X:106.42, Y:-4.98, Z:0.37 [[ 9.99834498e-01 1.72686077e-02 -5.72460023e-03 1.06416504e+02] [-1.72670659e-02 9.99850862e-01 3.18652769e-04 -4.97599512e+00] [ 5.72924917e-03 -2.19752982e-04 9.99983564e-01 3.69863551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.94071405700001 meters Centerline goodness : 0.995934 with order 1 Centerline is valid? [True, True] Translation: X:106.48, Y:-4.96, Z:0.38 [[ 9.99967121e-01 5.74325436e-03 -5.72462393e-03 1.06475392e+02] [-5.74152645e-03 9.99983467e-01 3.18226452e-04 -4.96381032e+00] [ 5.72635694e-03 -2.85347909e-04 9.99983564e-01 3.81068817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00071405700001 meters Centerline goodness : 0.995779 with order 1 Centerline is valid? [True, True] Translation: X:106.53, Y:-4.97, Z:0.38 [[ 9.99978409e-01 3.22640853e-03 -5.72465305e-03 1.06533872e+02] [-3.22464249e-03 9.99994750e-01 3.17701775e-04 -4.96783674e+00] [ 5.72564803e-03 -2.99234956e-04 9.99983564e-01 3.82207396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06071405700001 meters Centerline goodness : 0.994162 with order 1 Centerline is valid? [True, True] Translation: X:106.59, Y:-4.98, Z:0.38 [[ 9.99955775e-01 7.46168682e-03 -5.72467524e-03 1.06592194e+02] [-7.45999228e-03 9.99972124e-01 3.17301470e-04 -4.98237735e+00] [ 5.72688326e-03 -2.74581404e-04 9.99983564e-01 3.79805941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12071405700001 meters Centerline goodness : 0.993709 with order 1 Centerline is valid? [True, True] Translation: X:106.65, Y:-4.99, Z:0.38 [[ 9.99964440e-01 6.19240944e-03 -5.72476037e-03 1.06650450e+02] [-6.19070297e-03 9.99980788e-01 3.15758064e-04 -4.98561092e+00] [ 5.72660568e-03 -2.80306545e-04 9.99983564e-01 3.78992260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18071405700002 meters Centerline goodness : 0.995292 with order 1 Centerline is valid? [True, True] Translation: X:106.71, Y:-4.98, Z:0.38 [[ 9.99983527e-01 -4.16132636e-04 -5.72478443e-03 1.06709176e+02] [ 4.17944610e-04 9.99999863e-01 3.15321218e-04 -4.97838330e+00] [ 5.72465243e-03 -3.17708667e-04 9.99983564e-01 3.81749176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24071405700002 meters Centerline goodness : 0.991989 with order 1 Centerline is valid? [True, True] Translation: X:106.77, Y:-4.99, Z:0.38 [[ 9.99952497e-01 7.88856174e-03 -5.72480800e-03 1.06767174e+02] [-7.88688795e-03 9.99968848e-01 3.14892683e-04 -4.98620233e+00] [ 5.72711371e-03 -2.69726805e-04 9.99983564e-01 3.83955835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30071405700002 meters Centerline goodness : 0.993126 with order 1 Centerline is valid? [True, True] Translation: X:106.83, Y:-4.99, Z:0.38 [[ 9.99893670e-01 1.34117054e-02 -5.72489225e-03 1.06826005e+02] [-1.34101307e-02 9.99910031e-01 3.13353396e-04 -4.99071390e+00] [ 5.72857979e-03 -2.36548523e-04 9.99983564e-01 3.79703368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36071405700001 meters Centerline goodness : 0.993741 with order 1 Centerline is valid? [True, True] Translation: X:106.88, Y:-4.99, Z:0.38 [[ 9.99934084e-01 9.95247558e-03 -5.72497443e-03 1.06884449e+02] [-9.95085296e-03 9.99950440e-01 3.11844711e-04 -4.99223355e+00] [ 5.72779433e-03 -2.54855777e-04 9.99983564e-01 3.80818273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42071405700001 meters Centerline goodness : 0.993611 with order 1 Centerline is valid? [True, True] Translation: X:106.94, Y:-4.99, Z:0.38 [[ 9.99975275e-01 4.08338452e-03 -5.72500882e-03 1.06943552e+02] [-4.08166954e-03 9.99991622e-01 3.11212085e-04 -4.99340976e+00] [ 5.72623165e-03 -2.87836796e-04 9.99983564e-01 3.81817462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48071405700001 meters Centerline goodness : 0.994059 with order 1 Centerline is valid? [True, True] Translation: X:107.00, Y:-4.99, Z:0.39 [[ 9.99967388e-01 -5.69615674e-03 -5.72503203e-03 1.07002506e+02] [ 5.69802907e-03 9.99983718e-01 3.10784521e-04 -4.99207197e+00] [ 5.72316854e-03 -3.43395785e-04 9.99983564e-01 3.88417833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54071405700002 meters Centerline goodness : 0.993459 with order 1 Centerline is valid? [True, True] Translation: X:107.06, Y:-4.99, Z:0.39 [[ 9.99954348e-01 -7.65014213e-03 -5.72505537e-03 1.07061957e+02] [ 7.65204391e-03 9.99970675e-01 3.10354075e-04 -4.99499195e+00] [ 5.72251322e-03 -3.54148282e-04 9.99983564e-01 3.86672176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60071405700002 meters Centerline goodness : 0.993882 with order 1 Centerline is valid? [True, True] Translation: X:107.12, Y:-5.00, Z:0.39 [[ 9.99936579e-01 -9.69858276e-03 -5.72504949e-03 1.07122490e+02] [ 9.70051859e-03 9.99952901e-01 3.10462376e-04 -4.99557619e+00] [ 5.72176880e-03 -3.65978635e-04 9.99983564e-01 3.89729945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66071405700002 meters Centerline goodness : 0.993916 with order 1 Centerline is valid? [True, True] Translation: X:107.18, Y:-5.00, Z:0.39 [[ 9.99956986e-01 -7.29722798e-03 -5.72504949e-03 1.07183733e+02] [ 7.29912462e-03 9.99973313e-01 3.10462376e-04 -4.99681706e+00] [ 5.72263119e-03 -3.52236872e-04 9.99983564e-01 3.93481732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72071405700001 meters Centerline goodness : 0.994214 with order 1 Centerline is valid? [True, True] Translation: X:107.24, Y:-5.00, Z:0.39 [[ 9.99963096e-01 -6.40547745e-03 -5.72503800e-03 1.07244702e+02] [ 6.40736073e-03 9.99979424e-01 3.10674235e-04 -4.99895102e+00] [ 5.72293018e-03 -3.47345153e-04 9.99983564e-01 3.90564021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78071405700001 meters Centerline goodness : 0.993600 with order 1 Centerline is valid? [True, True] Translation: X:107.30, Y:-5.00, Z:0.39 [[ 9.99978748e-01 -3.11888256e-03 -5.72503214e-03 1.07304541e+02] [ 3.12071278e-03 9.99995082e-01 3.10782148e-04 -4.99855651e+00] [ 5.72403469e-03 -3.28641724e-04 9.99983564e-01 3.91040410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84071405700001 meters Centerline goodness : 0.992255 with order 1 Centerline is valid? [True, True] Translation: X:107.36, Y:-5.00, Z:0.39 [[ 9.99982179e-01 1.69258680e-03 -5.72503790e-03 1.07363632e+02] [-1.69083580e-03 9.99998522e-01 3.10675916e-04 -5.00122982e+00] [ 5.72555529e-03 -3.00990280e-04 9.99983564e-01 3.91795487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90071405700002 meters Centerline goodness : 0.992449 with order 1 Centerline is valid? [True, True] Translation: X:107.42, Y:-5.00, Z:0.40 [[ 9.99981992e-01 -1.79958681e-03 -5.72505512e-03 1.07422347e+02] [ 1.80139306e-03 9.99998329e-01 3.10358259e-04 -5.00024600e+00] [ 5.72448704e-03 -3.20665745e-04 9.99983564e-01 3.97403216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96071405700002 meters Centerline goodness : 0.992674 with order 1 Centerline is valid? [True, True] Translation: X:107.48, Y:-5.00, Z:0.40 [[ 9.99977342e-01 -3.54095547e-03 -5.72507765e-03 1.07480896e+02] [ 3.54278779e-03 9.99993676e-01 3.09942195e-04 -5.00161555e+00] [ 5.72394395e-03 -3.30217908e-04 9.99983564e-01 3.98462983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02071405700002 meters Centerline goodness : 0.992717 with order 1 Centerline is valid? [True, True] Translation: X:107.54, Y:-5.01, Z:0.39 [[ 9.99983378e-01 -6.82754375e-04 -5.72510134e-03 1.07540278e+02] [ 6.84537502e-04 9.99999718e-01 3.09504000e-04 -5.00677649e+00] [ 5.72488841e-03 -3.13417902e-04 9.99983564e-01 3.91016679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08071405700001 meters Centerline goodness : 0.994696 with order 1 Centerline is valid? [True, True] Translation: X:107.60, Y:-4.99, Z:0.40 [[ 9.99895884e-01 -1.32455292e-02 -5.72511333e-03 1.07600500e+02] [ 1.32475162e-02 9.99912200e-01 3.09281992e-04 -4.99411761e+00] [ 5.72051406e-03 -3.85093322e-04 9.99983564e-01 3.98765726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14071405700001 meters Centerline goodness : 0.995200 with order 1 Centerline is valid? [True, True] Translation: X:107.66, Y:-5.00, Z:0.40 [[ 9.99897196e-01 -1.31461519e-02 -5.72512094e-03 1.07662080e+02] [ 1.31481365e-02 9.99913512e-01 3.09141122e-04 -4.99594191e+00] [ 5.72056177e-03 -3.84384013e-04 9.99983564e-01 3.99757260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20071405700001 meters Centerline goodness : 0.992157 with order 1 Centerline is valid? [True, True] Translation: X:107.72, Y:-5.01, Z:0.40 [[ 9.99971631e-01 -4.89501593e-03 -5.72510443e-03 1.07722236e+02] [ 4.89686754e-03 9.99987962e-01 3.09446608e-04 -5.00743681e+00] [ 5.72352076e-03 -3.37472907e-04 9.99983564e-01 3.95952130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26071405700002 meters Centerline goodness : 0.995689 with order 1 Centerline is valid? [True, True] Translation: X:107.78, Y:-5.00, Z:0.41 [[ 9.99811803e-01 -1.85359731e-02 -5.72509858e-03 1.07782311e+02] [ 1.85380480e-02 9.99828108e-01 3.09554707e-04 -4.99679763e+00] [ 5.71837658e-03 -4.15628602e-04 9.99983564e-01 4.07187289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32071405700002 meters Centerline goodness : 0.994174 with order 1 Centerline is valid? [True, True] Translation: X:107.84, Y:-5.01, Z:0.39 [[ 9.99895593e-01 -1.32674657e-02 -5.72510434e-03 1.07843388e+02] [ 1.32694540e-02 9.99911909e-01 3.09448067e-04 -5.01008044e+00] [ 5.72049442e-03 -3.85384768e-04 9.99983564e-01 3.94679516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38071405700002 meters Centerline goodness : 0.995438 with order 1 Centerline is valid? [True, True] Translation: X:107.90, Y:-5.00, Z:0.40 [[ 9.99753996e-01 -2.14282505e-02 -5.72509278e-03 1.07903171e+02] [ 2.14303731e-02 9.99770295e-01 3.09661856e-04 -5.00407361e+00] [ 5.71714219e-03 -4.32276553e-04 9.99983564e-01 3.96356852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44071405700001 meters Centerline goodness : 0.995264 with order 1 Centerline is valid? [True, True] Translation: X:107.96, Y:-5.01, Z:0.40 [[ 9.99804373e-01 -1.89324900e-02 -5.72509851e-03 1.07964985e+02] [ 1.89345713e-02 9.99820677e-01 3.09555970e-04 -5.00528224e+00] [ 5.71821120e-03 -4.17897698e-04 9.99983564e-01 3.96791514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50071405700001 meters Centerline goodness : 0.995618 with order 1 Centerline is valid? [True, True] Translation: X:108.03, Y:-5.00, Z:0.40 [[ 9.99900743e-01 -1.28735036e-02 -5.72507820e-03 1.08026169e+02] [ 1.28754882e-02 9.99917059e-01 3.09931032e-04 -5.00401018e+00] [ 5.72061346e-03 -3.83613446e-04 9.99983564e-01 4.03286465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56071405700001 meters Centerline goodness : 0.993423 with order 1 Centerline is valid? [True, True] Translation: X:108.09, Y:-5.02, Z:0.40 [[ 9.99971100e-01 -5.00220934e-03 -5.72507296e-03 1.08087374e+02] [ 5.00406602e-03 9.99987432e-01 3.10027869e-04 -5.01569403e+00] [ 5.72345018e-03 -3.38667552e-04 9.99983564e-01 3.97108878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62071405700001 meters Centerline goodness : 0.995602 with order 1 Centerline is valid? [True, True] Translation: X:108.15, Y:-5.01, Z:0.40 [[ 9.99957576e-01 -7.21600718e-03 -5.72506095e-03 1.08147143e+02] [ 7.21790127e-03 9.99973902e-01 3.10249462e-04 -5.00712445e+00] [ 5.72267278e-03 -3.51559224e-04 9.99983564e-01 4.04725160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68071405700002 meters Centerline goodness : 0.994507 with order 1 Centerline is valid? [True, True] Translation: X:108.21, Y:-5.01, Z:0.41 [[ 9.99982614e-01 1.41292857e-03 -5.72506095e-03 1.08206676e+02] [-1.41117543e-03 9.99998956e-01 3.10249462e-04 -5.01103424e+00] [ 5.72549333e-03 -3.02165002e-04 9.99983564e-01 4.05908940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74071405700002 meters Centerline goodness : 0.994622 with order 1 Centerline is valid? [True, True] Translation: X:108.27, Y:-5.01, Z:0.41 [[ 9.99980976e-01 2.29579653e-03 -5.72506662e-03 1.08265269e+02] [-2.29405842e-03 9.99997321e-01 3.10144714e-04 -5.01086926e+00] [ 5.72576331e-03 -2.97005177e-04 9.99983564e-01 4.07058049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80071405700002 meters Centerline goodness : 0.994322 with order 1 Centerline is valid? [True, True] Translation: X:108.32, Y:-5.01, Z:0.40 [[ 9.99952083e-01 7.94071293e-03 -5.72508745e-03 1.08324852e+02] [-7.93906931e-03 9.99968437e-01 3.09759802e-04 -5.01450152e+00] [ 5.72736646e-03 -2.64293094e-04 9.99983564e-01 4.03087188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86071405700001 meters Centerline goodness : 0.993243 with order 1 Centerline is valid? [True, True] Translation: X:108.38, Y:-5.02, Z:0.39 [[ 9.99727835e-01 2.26159164e-02 -5.72509822e-03 1.08382640e+02] [-2.26145141e-02 9.99744211e-01 3.09560606e-04 -5.02287898e+00] [ 5.73063480e-03 -1.80006040e-04 9.99983564e-01 3.90861541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92071405700001 meters Centerline goodness : 0.993331 with order 1 Centerline is valid? [True, True] Translation: X:108.44, Y:-5.01, Z:0.41 [[ 9.99763513e-01 2.09795219e-02 -5.72518457e-03 1.08441408e+02] [-2.09781021e-02 9.99779888e-01 3.07955370e-04 -5.01402726e+00] [ 5.73038514e-03 -1.87779036e-04 9.99983564e-01 4.05549284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98071405700001 meters Centerline goodness : 0.993441 with order 1 Centerline is valid? [True, True] Translation: X:108.50, Y:-5.03, Z:0.39 [[ 9.99442510e-01 3.28920995e-02 -5.72522550e-03 1.08501646e+02] [-3.28908792e-02 9.99458901e-01 3.07192500e-04 -5.02643265e+00] [ 5.73223179e-03 -1.18713543e-04 9.99983564e-01 3.93433498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04071405700002 meters Centerline goodness : 0.993262 with order 1 Centerline is valid? [True, True] Translation: X:108.56, Y:-5.03, Z:0.40 [[ 9.99582907e-01 2.83060796e-02 -5.72522732e-03 1.08560332e+02] [-2.83047843e-02 9.99599292e-01 3.07158587e-04 -5.02723768e+00] [ 5.73162763e-03 -1.44979148e-04 9.99983564e-01 3.98087511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10071405700002 meters Centerline goodness : 0.993261 with order 1 Centerline is valid? [True, True] Translation: X:108.62, Y:-5.03, Z:0.40 [[ 9.99767499e-01 2.07886737e-02 -5.72525085e-03 1.08618989e+02] [-2.07872578e-02 9.99783875e-01 3.06719342e-04 -5.03270864e+00] [ 5.73038977e-03 -1.87635764e-04 9.99983564e-01 3.98593999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16071405700002 meters Centerline goodness : 0.992917 with order 1 Centerline is valid? [True, True] Translation: X:108.68, Y:-5.04, Z:0.40 [[ 9.99843781e-01 1.67222636e-02 -5.72527378e-03 1.08676518e+02] [-1.67207835e-02 9.99860151e-01 3.06290722e-04 -5.03950334e+00] [ 5.72959498e-03 -2.10511810e-04 9.99983564e-01 3.95074446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22071405700001 meters Centerline goodness : 0.994622 with order 1 Centerline is valid? [True, True] Translation: X:108.73, Y:-5.04, Z:0.40 [[ 9.99966582e-01 5.83575949e-03 -5.72530165e-03 1.08734677e+02] [-5.83410425e-03 9.99982935e-01 3.05768909e-04 -5.03566446e+00] [ 5.72698834e-03 -2.72356684e-04 9.99983564e-01 4.04575590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28071405700001 meters Centerline goodness : 0.994478 with order 1 Centerline is valid? [True, True] Translation: X:108.79, Y:-5.04, Z:0.41 [[ 9.99975918e-01 3.92226826e-03 -5.72532896e-03 1.08792903e+02] [-3.92058466e-03 9.99992268e-01 3.05256588e-04 -5.04045406e+00] [ 5.72648199e-03 -2.82802600e-04 9.99983564e-01 4.06398009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34071405700001 meters Centerline goodness : 0.992252 with order 1 Centerline is valid? [True, True] Translation: X:108.85, Y:-5.06, Z:0.40 [[ 9.99915252e-01 1.16922464e-02 -5.72535084e-03 1.08848631e+02] [-1.16906923e-02 9.99931615e-01 3.04845638e-04 -5.06004864e+00] [ 5.72852365e-03 -2.37886489e-04 9.99983564e-01 3.99958502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40071405700002 meters Centerline goodness : 0.991704 with order 1 Centerline is valid? [True, True] Translation: X:108.91, Y:-5.07, Z:0.40 [[ 9.99981350e-01 2.12589296e-03 -5.72538843e-03 1.08907662e+02] [-2.12418638e-03 9.99997698e-01 3.04138030e-04 -5.06558082e+00] [ 5.72602182e-03 -2.91970566e-04 9.99983564e-01 4.03228621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46071405700002 meters Centerline goodness : 0.994424 with order 1 Centerline is valid? [True, True] Translation: X:108.97, Y:-5.06, Z:0.42 [[ 9.99879152e-01 -1.44534252e-02 -5.72541021e-03 1.08967501e+02] [ 1.44554003e-02 9.99895469e-01 3.03727597e-04 -5.05547123e+00] [ 5.72042182e-03 -3.86453988e-04 9.99983564e-01 4.18689789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52071405700002 meters Centerline goodness : 0.992970 with order 1 Centerline is valid? [True, True] Translation: X:109.03, Y:-5.07, Z:0.41 [[ 9.99954379e-01 -7.64585599e-03 -5.72542188e-03 1.09028111e+02] [ 7.64771864e-03 9.99970710e-01 3.03507293e-04 -5.07389242e+00] [ 5.72293361e-03 -3.47279862e-04 9.99983564e-01 4.07433954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58071405700001 meters Centerline goodness : 0.993026 with order 1 Centerline is valid? [True, True] Translation: X:109.09, Y:-5.08, Z:0.41 [[ 9.99891701e-01 -1.35574851e-02 -5.72540425e-03 1.09089300e+02] [ 1.35594462e-02 9.99908020e-01 3.03839611e-04 -5.07668791e+00] [ 5.72075833e-03 -3.81440017e-04 9.99983564e-01 4.07115154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64071405700001 meters Centerline goodness : 0.994274 with order 1 Centerline is valid? [True, True] Translation: X:109.15, Y:-5.07, Z:0.41 [[ 9.99818093e-01 -1.81934287e-02 -5.72539348e-03 1.09151251e+02] [ 1.81954666e-02 9.99834403e-01 3.04042314e-04 -5.07269174e+00] [ 5.71891380e-03 -4.08163212e-04 9.99983564e-01 4.06370632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70071405700001 meters Centerline goodness : 0.993072 with order 1 Centerline is valid? [True, True] Translation: X:109.21, Y:-5.08, Z:0.41 [[ 9.99948413e-01 -8.38996751e-03 -5.72531241e-03 1.09213265e+02] [ 8.39185404e-03 9.99964741e-01 3.05561413e-04 -5.08158022e+00] [ 5.72254689e-03 -3.53591636e-04 9.99983564e-01 4.09294569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76071405700002 meters Centerline goodness : 0.993567 with order 1 Centerline is valid? [True, True] Translation: X:109.27, Y:-5.08, Z:0.41 [[ 9.99979216e-01 -2.96442937e-03 -5.72529080e-03 1.09273543e+02] [ 2.96622958e-03 9.99995554e-01 3.05965839e-04 -5.08126070e+00] [ 5.72435833e-03 -3.22942007e-04 9.99983564e-01 4.10290139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82071405700002 meters Centerline goodness : 0.991860 with order 1 Centerline is valid? [True, True] Translation: X:109.33, Y:-5.08, Z:0.41 [[ 9.99947127e-01 8.54192531e-03 -5.72528546e-03 1.09333473e+02] [-8.54031263e-03 9.99963484e-01 3.06065596e-04 -5.08337049e+00] [ 5.72769079e-03 -2.57153685e-04 9.99983564e-01 4.12400673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88071405700002 meters Centerline goodness : 0.990563 with order 1 Centerline is valid? [True, True] Translation: X:109.39, Y:-5.09, Z:0.41 [[ 9.99882678e-01 1.42074165e-02 -5.72529698e-03 1.09391346e+02] [-1.42058977e-02 9.99899044e-01 3.05849991e-04 -5.08556217e+00] [ 5.72906432e-03 -2.24481125e-04 9.99983564e-01 4.12856631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94071405700001 meters Centerline goodness : 0.989951 with order 1 Centerline is valid? [True, True] Translation: X:109.45, Y:-5.09, Z:0.41 [[ 9.99725442e-01 2.27213875e-02 -5.72532486e-03 1.09449298e+02] [-2.27200111e-02 9.99741821e-01 3.05327169e-04 -5.09023211e+00] [ 5.73078416e-03 -1.75163894e-04 9.99983564e-01 4.10529663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00071405700001 meters Centerline goodness : 0.989909 with order 1 Centerline is valid? [True, True] Translation: X:109.51, Y:-5.09, Z:0.41 [[ 9.99591740e-01 2.79923819e-02 -5.72541286e-03 1.09506690e+02] [-2.79911015e-02 9.99608126e-01 3.03668156e-04 -5.09325136e+00] [ 5.73166961e-03 -1.43283568e-04 9.99983564e-01 4.07340876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06071405700001 meters Centerline goodness : 0.989383 with order 1 Centerline is valid? [True, True] Translation: X:109.56, Y:-5.10, Z:0.41 [[ 9.99586634e-01 2.81741056e-02 -5.72549853e-03 1.09564943e+02] [-2.81728374e-02 9.99603021e-01 3.02044060e-04 -5.09646933e+00] [ 5.73173545e-03 -1.40615666e-04 9.99983564e-01 4.10514684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12071405700001 meters Centerline goodness : 0.989880 with order 1 Centerline is valid? [True, True] Translation: X:109.62, Y:-5.10, Z:0.42 [[ 9.99639433e-01 2.62339854e-02 -5.72553008e-03 1.09622110e+02] [-2.62326888e-02 9.99655818e-01 3.01444782e-04 -5.09904015e+00] [ 5.73146756e-03 -1.51140042e-04 9.99983564e-01 4.15936909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18071405700002 meters Centerline goodness : 0.989853 with order 1 Centerline is valid? [True, True] Translation: X:109.68, Y:-5.11, Z:0.41 [[ 9.99628280e-01 2.66555807e-02 -5.72557536e-03 1.09679204e+02] [-2.66542960e-02 9.99644666e-01 3.00582295e-04 -5.10701160e+00] [ 5.73155307e-03 -1.47859382e-04 9.99983564e-01 4.09939450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24071405700002 meters Centerline goodness : 0.993878 with order 1 Centerline is valid? [True, True] Translation: X:109.74, Y:-5.10, Z:0.40 [[ 9.99878310e-01 1.45114540e-02 -5.72561294e-03 1.09738624e+02] [-1.45099745e-02 9.99894680e-01 2.99864787e-04 -5.10067496e+00] [ 5.72936139e-03 -2.16749798e-04 9.99983564e-01 4.04900644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30071405700002 meters Centerline goodness : 0.989833 with order 1 Centerline is valid? [True, True] Translation: X:109.80, Y:-5.12, Z:0.40 [[ 9.99726665e-01 2.26674367e-02 -5.72563382e-03 1.09796438e+02] [-2.26660930e-02 9.99743046e-01 2.99465645e-04 -5.11987595e+00] [ 5.73095071e-03 -1.69606042e-04 9.99983564e-01 4.02562620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36071405700001 meters Centerline goodness : 0.990906 with order 1 Centerline is valid? [True, True] Translation: X:109.86, Y:-5.12, Z:0.40 [[ 9.99820772e-01 1.80454972e-02 -5.72570814e-03 1.09855279e+02] [-1.80440860e-02 9.99837148e-01 2.98037864e-04 -5.12300727e+00] [ 5.73015393e-03 -1.94669277e-04 9.99983564e-01 4.04792515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42071405700001 meters Centerline goodness : 0.992045 with order 1 Centerline is valid? [True, True] Translation: X:109.91, Y:-5.13, Z:0.41 [[ 9.99918089e-01 1.14469075e-02 -5.72572998e-03 1.09913244e+02] [-1.14453906e-02 9.99934455e-01 2.97617670e-04 -5.12775928e+00] [ 5.72876149e-03 -2.32060076e-04 9.99983564e-01 4.05071203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48071405700001 meters Centerline goodness : 0.991071 with order 1 Centerline is valid? [True, True] Translation: X:109.97, Y:-5.13, Z:0.41 [[ 9.99970776e-01 5.06575362e-03 -5.72575696e-03 1.09971566e+02] [-5.06413532e-03 9.99987133e-01 2.97097711e-04 -5.13275759e+00] [ 5.72718831e-03 -2.68093020e-04 9.99983564e-01 4.06971909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54071405700002 meters Centerline goodness : 0.994632 with order 1 Centerline is valid? [True, True] Translation: X:110.03, Y:-5.13, Z:0.40 [[ 9.99932317e-01 -1.01279836e-02 -5.72577820e-03 1.10030251e+02] [ 1.01298478e-02 9.99948648e-01 2.96687812e-04 -5.12705385e+00] [ 5.72247932e-03 -3.54668994e-04 9.99983564e-01 4.04789444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60071405700002 meters Centerline goodness : 0.991720 with order 1 Centerline is valid? [True, True] Translation: X:110.09, Y:-5.14, Z:0.40 [[ 9.99964800e-01 -6.13297025e-03 -5.72579903e-03 1.10091236e+02] [ 6.13476698e-03 9.99981138e-01 2.96285278e-04 -5.14230590e+00] [ 5.72387392e-03 -3.31401292e-04 9.99983564e-01 4.04704401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66071405700002 meters Centerline goodness : 0.992273 with order 1 Centerline is valid? [True, True] Translation: X:110.15, Y:-5.14, Z:0.41 [[ 9.99955685e-01 -7.47290397e-03 -5.72578794e-03 1.10151557e+02] [ 7.47472381e-03 9.99972020e-01 2.96499399e-04 -5.14449203e+00] [ 5.72341202e-03 -3.39284942e-04 9.99983564e-01 4.05582594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72071405700001 meters Centerline goodness : 0.992522 with order 1 Centerline is valid? [True, True] Translation: X:110.21, Y:-5.14, Z:0.41 [[ 9.99974311e-01 -4.31193870e-03 -5.72578794e-03 1.10212238e+02] [ 4.31370690e-03 9.99990652e-01 2.96499399e-04 -5.14497095e+00] [ 5.72445593e-03 -3.21191153e-04 9.99983564e-01 4.07857662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78071405700001 meters Centerline goodness : 0.992236 with order 1 Centerline is valid? [True, True] Translation: X:110.27, Y:-5.14, Z:0.41 [[ 9.99978350e-01 3.24263148e-03 -5.72578246e-03 1.10271912e+02] [-3.24098617e-03 9.99994704e-01 2.96605175e-04 -5.14499303e+00] [ 5.72671392e-03 -2.78041572e-04 9.99983564e-01 4.08588199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84071405700001 meters Centerline goodness : 0.992000 with order 1 Centerline is valid? [True, True] Translation: X:110.33, Y:-5.14, Z:0.41 [[ 9.99951343e-01 8.03285854e-03 -5.72579324e-03 1.10329717e+02] [-8.03129279e-03 9.99967705e-01 2.96397015e-04 -5.14480480e+00] [ 5.72798923e-03 -2.50397072e-04 9.99983564e-01 4.08862105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90071405700002 meters Centerline goodness : 0.991038 with order 1 Centerline is valid? [True, True] Translation: X:110.39, Y:-5.15, Z:0.41 [[ 9.99907990e-01 1.22973530e-02 -5.72588380e-03 1.10387829e+02] [-1.22958671e-02 9.99924360e-01 2.94636926e-04 -5.14712315e+00] [ 5.72907395e-03 -2.24205110e-04 9.99983564e-01 4.07538904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96071405700002 meters Centerline goodness : 0.991326 with order 1 Centerline is valid? [True, True] Translation: X:110.45, Y:-5.15, Z:0.41 [[ 9.99913932e-01 1.18043659e-02 -5.72591139e-03 1.10446790e+02] [-1.18028750e-02 9.99930300e-01 2.94099811e-04 -5.14894448e+00] [ 5.72898396e-03 -2.26492281e-04 9.99983564e-01 4.07967667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02071405700002 meters Centerline goodness : 0.991446 with order 1 Centerline is valid? [True, True] Translation: X:110.50, Y:-5.15, Z:0.41 [[ 9.99941595e-01 9.16627791e-03 -5.72593323e-03 1.10504136e+02] [-9.16474627e-03 9.99957960e-01 2.93674047e-04 -5.15171248e+00] [ 5.72838441e-03 -2.41180169e-04 9.99983564e-01 4.06996436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08071405700001 meters Centerline goodness : 0.991889 with order 1 Centerline is valid? [True, True] Translation: X:110.56, Y:-5.15, Z:0.41 [[ 9.99971104e-01 5.00049159e-03 -5.72596007e-03 1.10562371e+02] [-4.99889478e-03 9.99987462e-01 2.93149703e-04 -5.15432189e+00] [ 5.72735418e-03 -2.64517760e-04 9.99983564e-01 4.06868460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14071405700001 meters Centerline goodness : 0.991274 with order 1 Centerline is valid? [True, True] Translation: X:110.62, Y:-5.16, Z:0.40 [[ 9.99979987e-01 2.69048520e-03 -5.72598695e-03 1.10620083e+02] [-2.68885361e-03 9.99996342e-01 2.92623886e-04 -5.15828704e+00] [ 5.72675330e-03 -2.77221689e-04 9.99983564e-01 4.03996998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20071405700001 meters Centerline goodness : 0.991427 with order 1 Centerline is valid? [True, True] Translation: X:110.68, Y:-5.16, Z:0.41 [[ 9.99966851e-01 5.78879695e-03 -5.72601542e-03 1.10677743e+02] [-5.78721923e-03 9.99983211e-01 2.92065711e-04 -5.15978960e+00] [ 5.72760999e-03 -2.58918323e-04 9.99983564e-01 4.06855684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26071405700002 meters Centerline goodness : 0.992088 with order 1 Centerline is valid? [True, True] Translation: X:110.74, Y:-5.16, Z:0.41 [[ 9.99954070e-01 7.68572668e-03 -5.72603945e-03 1.10735503e+02] [-7.68418270e-03 9.99970434e-01 2.91593780e-04 -5.16125507e+00] [ 5.72811126e-03 -2.47580453e-04 9.99983564e-01 4.07367148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32071405700002 meters Centerline goodness : 0.991211 with order 1 Centerline is valid? [True, True] Translation: X:110.79, Y:-5.16, Z:0.41 [[ 9.99946483e-01 8.61645377e-03 -5.72612661e-03 1.10793450e+02] [-8.61493486e-03 9.99962849e-01 2.89871986e-04 -5.16335794e+00] [ 5.72841155e-03 -2.40526265e-04 9.99983564e-01 4.07624431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38071405700002 meters Centerline goodness : 0.992426 with order 1 Centerline is valid? [True, True] Translation: X:110.85, Y:-5.16, Z:0.40 [[ 9.99952534e-01 7.88294518e-03 -5.72615884e-03 1.10851678e+02] [-7.88141792e-03 9.99968899e-01 2.89233845e-04 -5.16430600e+00] [ 5.72826077e-03 -2.44089866e-04 9.99983564e-01 4.03816789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44071405700001 meters Centerline goodness : 0.992119 with order 1 Centerline is valid? [True, True] Translation: X:110.91, Y:-5.17, Z:0.40 [[ 9.99931582e-01 1.02000961e-02 -5.72618524e-03 1.10909359e+02] [-1.01986097e-02 9.99947951e-01 2.88710214e-04 -5.16566301e+00] [ 5.72883208e-03 -2.30291333e-04 9.99983564e-01 4.04720954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50071405700001 meters Centerline goodness : 0.992265 with order 1 Centerline is valid? [True, True] Translation: X:110.97, Y:-5.17, Z:0.40 [[ 9.99830234e-01 1.75132608e-02 -5.72621664e-03 1.10967091e+02] [-1.75118978e-02 9.99846613e-01 2.88086234e-04 -5.16789545e+00] [ 5.73038364e-03 -1.87760406e-04 9.99983564e-01 4.04905396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56071405700001 meters Centerline goodness : 0.992093 with order 1 Centerline is valid? [True, True] Translation: X:111.02, Y:-5.17, Z:0.41 [[ 9.99733418e-01 2.23674467e-02 -5.72630056e-03 1.11024459e+02] [-2.23661728e-02 9.99749805e-01 2.86408393e-04 -5.16961223e+00] [ 5.73127409e-03 -1.58256614e-04 9.99983564e-01 4.08555795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62071405700001 meters Centerline goodness : 0.992255 with order 1 Centerline is valid? [True, True] Translation: X:111.08, Y:-5.17, Z:0.41 [[ 9.99657770e-01 2.55255057e-02 -5.72632622e-03 1.11082892e+02] [-2.55242865e-02 9.99674161e-01 2.85894361e-04 -5.17116228e+00] [ 5.73175796e-03 -1.39636128e-04 9.99983564e-01 4.08016129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68071405700002 meters Centerline goodness : 0.992781 with order 1 Centerline is valid? [True, True] Translation: X:111.14, Y:-5.18, Z:0.41 [[ 9.99585862e-01 2.82013149e-02 -5.72634743e-03 1.11141184e+02] [-2.82001421e-02 9.99602256e-01 2.85468939e-04 -5.17526230e+00] [ 5.73212041e-03 -1.23866904e-04 9.99983564e-01 4.09330867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74071405700002 meters Centerline goodness : 0.992657 with order 1 Centerline is valid? [True, True] Translation: X:111.20, Y:-5.18, Z:0.41 [[ 9.99673097e-01 2.49180395e-02 -5.72636852e-03 1.11199769e+02] [-2.49168152e-02 9.99689487e-01 2.85045134e-04 -5.17935035e+00] [ 5.73169318e-03 -1.42269085e-04 9.99983564e-01 4.08321531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80071405700002 meters Centerline goodness : 0.994171 with order 1 Centerline is valid? [True, True] Translation: X:111.26, Y:-5.18, Z:0.41 [[ 9.99919937e-01 1.12839918e-02 -5.72638923e-03 1.11257824e+02] [-1.12825465e-02 9.99936310e-01 2.84628575e-04 -5.17551467e+00] [ 5.72923626e-03 -2.19997534e-04 9.99983564e-01 4.13744610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86071405700001 meters Centerline goodness : 0.993136 with order 1 Centerline is valid? [True, True] Translation: X:111.32, Y:-5.19, Z:0.41 [[ 9.99908993e-01 1.22152890e-02 -5.72641473e-03 1.11315819e+02] [-1.22138619e-02 9.99925368e-01 2.84114535e-04 -5.19013412e+00] [ 5.72945790e-03 -2.14147040e-04 9.99983564e-01 4.11091135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92071405700001 meters Centerline goodness : 0.993990 with order 1 Centerline is valid? [True, True] Translation: X:111.37, Y:-5.20, Z:0.41 [[ 9.99979527e-01 2.85553563e-03 -5.72643550e-03 1.11374889e+02] [-2.85395776e-03 9.99995887e-01 2.83695283e-04 -5.19590508e+00] [ 5.72722205e-03 -2.67346470e-04 9.99983564e-01 4.10532952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98071405700001 meters Centerline goodness : 0.993625 with order 1 Centerline is valid? [True, True] Translation: X:111.43, Y:-5.20, Z:0.42 [[ 9.99975249e-01 -4.08768626e-03 -5.72645707e-03 1.11433775e+02] [ 4.08937521e-03 9.99991598e-01 2.83259337e-04 -5.19741688e+00] [ 5.72525108e-03 -3.06669957e-04 9.99983564e-01 4.15445095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04071405700002 meters Centerline goodness : 0.994101 with order 1 Centerline is valid? [True, True] Translation: X:111.49, Y:-5.20, Z:0.42 [[ 9.99948205e-01 -8.41390990e-03 -5.72647833e-03 1.11493038e+02] [ 8.41566710e-03 9.99964548e-01 2.82828829e-04 -5.20239497e+00] [ 5.72389562e-03 -3.31006316e-04 9.99983564e-01 4.15440827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10071405700002 meters Centerline goodness : 0.994304 with order 1 Centerline is valid? [True, True] Translation: X:111.55, Y:-5.21, Z:0.42 [[ 9.99921200e-01 -1.11714691e-02 -5.72648887e-03 1.11554450e+02] [ 1.11732701e-02 9.99937537e-01 2.82615330e-04 -5.20502149e+00] [ 5.72297395e-03 -3.46576666e-04 9.99983564e-01 4.17388942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16071405700002 meters Centerline goodness : 0.994484 with order 1 Centerline is valid? [True, True] Translation: X:111.62, Y:-5.21, Z:0.42 [[ 9.99899549e-01 -1.29653248e-02 -5.72647828e-03 1.11616277e+02] [ 1.29671564e-02 9.99915883e-01 2.82829593e-04 -5.20786352e+00] [ 5.72232961e-03 -3.57057322e-04 9.99983564e-01 4.16587844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22071405700001 meters Centerline goodness : 0.995548 with order 1 Centerline is valid? [True, True] Translation: X:111.68, Y:-5.20, Z:0.42 [[ 9.99811952e-01 -1.85274841e-02 -5.72645664e-03 1.11678192e+02] [ 1.85294090e-02 9.99828276e-01 2.83267110e-04 -5.20439799e+00] [ 5.72022504e-03 -3.89321700e-04 9.99983564e-01 4.15111244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28071405700001 meters Centerline goodness : 0.995411 with order 1 Centerline is valid? [True, True] Translation: X:111.74, Y:-5.21, Z:0.42 [[ 9.99863987e-01 -1.54666010e-02 -5.72638678e-03 1.11739868e+02] [ 1.54684840e-02 9.99880315e-01 2.84672376e-04 -5.20992133e+00] [ 5.72129851e-03 -3.73212179e-04 9.99983564e-01 4.16160228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34071405700001 meters Centerline goodness : 0.995031 with order 1 Centerline is valid? [True, True] Translation: X:111.80, Y:-5.21, Z:0.42 [[ 9.99909649e-01 -1.21615306e-02 -5.72636490e-03 1.11802231e+02] [ 1.21633620e-02 9.99925983e-01 2.85111810e-04 -5.20818613e+00] [ 5.72247366e-03 -3.54737899e-04 9.99983564e-01 4.19117401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40071405700002 meters Centerline goodness : 0.995829 with order 1 Centerline is valid? [True, True] Translation: X:111.86, Y:-5.20, Z:0.42 [[ 9.99962322e-01 -6.52402429e-03 -5.72634318e-03 1.11863379e+02] [ 6.52576612e-03 9.99978666e-01 2.85547411e-04 -5.20360442e+00] [ 5.72435810e-03 -3.22905429e-04 9.99983564e-01 4.20482704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46071405700002 meters Centerline goodness : 0.995702 with order 1 Centerline is valid? [True, True] Translation: X:111.92, Y:-5.20, Z:0.42 [[ 9.99983015e-01 1.08565997e-03 -5.72632700e-03 1.11923646e+02] [-1.08404070e-03 9.99999372e-01 2.85871636e-04 -5.20323467e+00] [ 5.72663376e-03 -2.79659209e-04 9.99983564e-01 4.21492171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52071405700002 meters Centerline goodness : 0.995018 with order 1 Centerline is valid? [True, True] Translation: X:111.98, Y:-5.21, Z:0.42 [[ 9.99937777e-01 9.57345029e-03 -5.72632188e-03 1.11981766e+02] [-9.57196933e-03 9.99954147e-01 2.85974097e-04 -5.20823686e+00] [ 5.72879707e-03 -2.31144125e-04 9.99983564e-01 4.20628731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58071405700001 meters Centerline goodness : 0.995941 with order 1 Centerline is valid? [True, True] Translation: X:112.04, Y:-5.21, Z:0.42 [[ 9.99949383e-01 8.27284295e-03 -5.72640582e-03 1.12039732e+02] [-8.27135037e-03 9.99965751e-01 2.84283332e-04 -5.20561683e+00] [ 5.72856153e-03 -2.36903834e-04 9.99983564e-01 4.21944956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64071405700001 meters Centerline goodness : 0.995896 with order 1 Centerline is valid? [True, True] Translation: X:112.10, Y:-5.21, Z:0.42 [[ 9.99931323e-01 1.02253696e-02 -5.72643131e-03 1.12097688e+02] [-1.02239119e-02 9.99947694e-01 2.83768803e-04 -5.20773452e+00] [ 5.72903343e-03 -2.25202785e-04 9.99983564e-01 4.20524541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70071405700001 meters Centerline goodness : 0.995810 with order 1 Centerline is valid? [True, True] Translation: X:112.16, Y:-5.21, Z:0.42 [[ 9.99917275e-01 1.15174471e-02 -5.72646081e-03 1.12156514e+02] [-1.15160140e-02 9.99933648e-01 2.83172361e-04 -5.21023700e+00] [ 5.72934227e-03 -2.17202933e-04 9.99983564e-01 4.18365001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76071405700002 meters Centerline goodness : 0.993629 with order 1 Centerline is valid? [True, True] Translation: X:112.21, Y:-5.22, Z:0.41 [[ 9.99802061e-01 1.90537842e-02 -5.72648108e-03 1.12214864e+02] [-1.90524769e-02 9.99818445e-01 2.82761720e-04 -5.22062596e+00] [ 5.73082909e-03 -1.73602101e-04 9.99983564e-01 4.14988026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82071405700002 meters Centerline goodness : 0.994266 with order 1 Centerline is valid? [True, True] Translation: X:112.27, Y:-5.22, Z:0.42 [[ 9.99770732e-01 2.06322418e-02 -5.72655228e-03 1.12272957e+02] [-2.06309686e-02 9.99787119e-01 2.81312360e-04 -5.22232275e+00] [ 5.73113731e-03 -1.63103544e-04 9.99983564e-01 4.16579482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88071405700002 meters Centerline goodness : 0.993690 with order 1 Centerline is valid? [True, True] Translation: X:112.33, Y:-5.22, Z:0.42 [[ 9.99741686e-01 2.19947152e-02 -5.72658318e-03 1.12330476e+02] [-2.19934680e-02 9.99758075e-01 2.80681882e-04 -5.22481414e+00] [ 5.73137130e-03 -1.54661954e-04 9.99983564e-01 4.16287985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94071405700002 meters Centerline goodness : 0.994508 with order 1 Centerline is valid? [True, True] Translation: X:112.39, Y:-5.23, Z:0.42 [[ 9.99722417e-01 2.28537907e-02 -5.72660848e-03 1.12388134e+02] [-2.28525605e-02 9.99738807e-01 2.80164936e-04 -5.22743694e+00] [ 5.73151556e-03 -1.49219500e-04 9.99983564e-01 4.17507775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00071405700001 meters Centerline goodness : 0.994028 with order 1 Centerline is valid? [True, True] Translation: X:112.45, Y:-5.23, Z:0.42 [[ 9.99676394e-01 2.47853468e-02 -5.72663351e-03 1.12445505e+02] [-2.47841512e-02 9.99692787e-01 2.79652282e-04 -5.23168748e+00] [ 5.73180549e-03 -1.37632034e-04 9.99983564e-01 4.17046510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06071405700001 meters Centerline goodness : 0.993685 with order 1 Centerline is valid? [True, True] Translation: X:112.50, Y:-5.24, Z:0.42 [[ 9.99669243e-01 2.50720770e-02 -5.72666485e-03 1.12503614e+02] [-2.50708899e-02 9.99685637e-01 2.79008957e-04 -5.23794080e+00] [ 5.73185994e-03 -1.35344090e-04 9.99983564e-01 4.16154039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12071405700001 meters Centerline goodness : 0.994261 with order 1 Centerline is valid? [True, True] Translation: X:112.56, Y:-5.25, Z:0.41 [[ 9.99759311e-01 2.11784235e-02 -5.72668577e-03 1.12561244e+02] [-2.11771749e-02 9.99775700e-01 2.78579052e-04 -5.24660412e+00] [ 5.73130113e-03 -1.57236975e-04 9.99983564e-01 4.11945607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18071405700002 meters Centerline goodness : 0.993926 with order 1 Centerline is valid? [True, True] Translation: X:112.62, Y:-5.26, Z:0.41 [[ 9.99881499e-01 1.42896161e-02 -5.72671143e-03 1.12618318e+02] [-1.42882576e-02 9.99897879e-01 2.78050430e-04 -5.25602547e+00] [ 5.73009985e-03 -1.96192753e-04 9.99983564e-01 4.11870430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24071405700002 meters Centerline goodness : 0.994160 with order 1 Centerline is valid? [True, True] Translation: X:112.68, Y:-5.26, Z:0.41 [[ 9.99945015e-01 8.78472538e-03 -5.72674267e-03 1.12677170e+02] [-8.78328050e-03 9.99961388e-01 2.77405536e-04 -5.26475432e+00] [ 5.72895848e-03 -2.27090696e-04 9.99983564e-01 4.13313113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30071405700002 meters Centerline goodness : 0.995822 with order 1 Centerline is valid? [True, True] Translation: X:112.73, Y:-5.26, Z:0.41 [[ 9.99972738e-01 -4.66128813e-03 -5.72676372e-03 1.12734713e+02] [ 4.66295054e-03 9.99989090e-01 2.76970395e-04 -5.26422558e+00] [ 5.72541020e-03 -3.03666460e-04 9.99983564e-01 4.12511678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36071405700001 meters Centerline goodness : 0.994552 with order 1 Centerline is valid? [True, True] Translation: X:112.79, Y:-5.28, Z:0.41 [[ 9.99982379e-01 1.56380662e-03 -5.72678956e-03 1.12793514e+02] [-1.56224910e-03 9.99998741e-01 2.76434969e-04 -5.27756443e+00] [ 5.72721465e-03 -2.67483426e-04 9.99983564e-01 4.07374480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42071405700001 meters Centerline goodness : 0.994516 with order 1 Centerline is valid? [True, True] Translation: X:112.85, Y:-5.28, Z:0.41 [[ 9.99983253e-01 -8.34918142e-04 -5.72679997e-03 1.12851995e+02] [ 8.36513680e-04 9.99999612e-01 2.76219285e-04 -5.28174109e+00] [ 5.72656712e-03 -2.81005206e-04 9.99983564e-01 4.10367985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48071405700001 meters Centerline goodness : 0.994989 with order 1 Centerline is valid? [True, True] Translation: X:112.91, Y:-5.28, Z:0.41 [[ 9.99952768e-01 -7.85271789e-03 -5.72682064e-03 1.12909849e+02] [ 7.85442574e-03 9.99969115e-01 2.75789939e-04 -5.28430120e+00] [ 5.72447807e-03 -3.20757801e-04 9.99983564e-01 4.11973287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54071405700002 meters Centerline goodness : 0.994978 with order 1 Centerline is valid? [True, True] Translation: X:112.97, Y:-5.29, Z:0.41 [[ 9.99906165e-01 -1.24444418e-02 -5.72684768e-03 1.12970335e+02] [ 1.24462215e-02 9.99922505e-01 2.75227400e-04 -5.28649933e+00] [ 5.72297882e-03 -3.46479189e-04 9.99983564e-01 4.14274134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60071405700002 meters Centerline goodness : 0.994286 with order 1 Centerline is valid? [True, True] Translation: X:113.03, Y:-5.29, Z:0.42 [[ 9.99833548e-01 -1.73227752e-02 -5.72684768e-03 1.13032523e+02] [ 1.73246346e-02 9.99849879e-01 2.75227400e-04 -5.28820947e+00] [ 5.72122026e-03 -3.74397131e-04 9.99983564e-01 4.18908947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66071405700002 meters Centerline goodness : 0.994667 with order 1 Centerline is valid? [True, True] Translation: X:113.09, Y:-5.29, Z:0.42 [[ 9.99804414e-01 -1.89297866e-02 -5.72677405e-03 1.13094478e+02] [ 1.89316810e-02 9.99820741e-01 2.76751019e-04 -5.28918282e+00] [ 5.72050864e-03 -3.85114350e-04 9.99983564e-01 4.21177561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72071405700001 meters Centerline goodness : 0.994678 with order 1 Centerline is valid? [True, True] Translation: X:113.16, Y:-5.29, Z:0.42 [[ 9.99770746e-01 -2.06315132e-02 -5.72675312e-03 1.13155334e+02] [ 2.06334378e-02 9.99787070e-01 2.77183319e-04 -5.29176626e+00] [ 5.71981501e-03 -3.95282378e-04 9.99983564e-01 4.15567859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78071405700001 meters Centerline goodness : 0.993980 with order 1 Centerline is valid? [True, True] Translation: X:113.22, Y:-5.29, Z:0.42 [[ 9.99820856e-01 -1.80405148e-02 -5.72673765e-03 1.13217152e+02] [ 1.80423989e-02 9.99837184e-01 2.77502644e-04 -5.29245416e+00] [ 5.72079896e-03 -3.80777016e-04 9.99983564e-01 4.16081801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84071405700001 meters Centerline goodness : 0.995922 with order 1 Centerline is valid? [True, True] Translation: X:113.28, Y:-5.29, Z:0.41 [[ 9.99655585e-01 -2.56108410e-02 -5.72672248e-03 1.13277972e+02] [ 2.56128505e-02 9.99671899e-01 2.77815308e-04 -5.28656092e+00] [ 5.71772845e-03 -4.24397311e-04 9.99983564e-01 4.14344363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90071405700002 meters Centerline goodness : 0.993729 with order 1 Centerline is valid? [True, True] Translation: X:113.34, Y:-5.29, Z:0.42 [[ 9.99829691e-01 -1.75440430e-02 -5.72671779e-03 1.13338735e+02] [ 1.75459213e-02 9.99846020e-01 2.77911969e-04 -5.29237544e+00] [ 5.72096029e-03 -3.78345178e-04 9.99983564e-01 4.17359604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96071405700002 meters Centerline goodness : 0.993837 with order 1 Centerline is valid? [True, True] Translation: X:113.40, Y:-5.29, Z:0.42 [[ 9.99867048e-01 -1.52673271e-02 -5.72671249e-03 1.13399732e+02] [ 1.52691689e-02 9.99883381e-01 2.78021055e-04 -5.29079612e+00] [ 5.72180001e-03 -3.65426232e-04 9.99983564e-01 4.15058224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02071405700002 meters Centerline goodness : 0.993203 with order 1 Centerline is valid? [True, True] Translation: X:113.46, Y:-5.29, Z:0.42 [[ 9.99951349e-01 -8.03150989e-03 -5.72669688e-03 1.13461948e+02] [ 8.03323524e-03 9.99967694e-01 2.78342379e-04 -5.29365635e+00] [ 5.72427636e-03 -3.24332741e-04 9.99983564e-01 4.16898011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08071405700001 meters Centerline goodness : 0.992534 with order 1 Centerline is valid? [True, True] Translation: X:113.52, Y:-5.29, Z:0.41 [[ 9.99960688e-01 -6.76962207e-03 -5.72667614e-03 1.13522943e+02] [ 6.77132922e-03 9.99977035e-01 2.78768295e-04 -5.29389561e+00] [ 5.72465748e-03 -3.17534546e-04 9.99983564e-01 4.13452406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14071405700001 meters Centerline goodness : 0.991983 with order 1 Centerline is valid? [True, True] Translation: X:113.58, Y:-5.30, Z:0.41 [[ 9.99980584e-01 -2.45705393e-03 -5.72666578e-03 1.13583877e+02] [ 2.45869178e-03 9.99996938e-01 2.78981023e-04 -5.29614085e+00] [ 5.72596278e-03 -2.93055712e-04 9.99983564e-01 4.08549774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20071405700001 meters Centerline goodness : 0.992464 with order 1 Centerline is valid? [True, True] Translation: X:113.64, Y:-5.29, Z:0.41 [[ 9.99972232e-01 -4.76872945e-03 -5.72666063e-03 1.13642759e+02] [ 4.77040571e-03 9.99988583e-01 2.79086730e-04 -5.29254273e+00] [ 5.72526436e-03 -3.06397475e-04 9.99983564e-01 4.12174550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26071405700002 meters Centerline goodness : 0.992699 with order 1 Centerline is valid? [True, True] Translation: X:113.70, Y:-5.29, Z:0.41 [[ 9.99983090e-01 -1.01231069e-03 -5.72667589e-03 1.13702781e+02] [ 1.01392372e-03 9.99999447e-01 2.78773141e-04 -5.29397288e+00] [ 5.72639052e-03 -2.84574840e-04 9.99983564e-01 4.13577595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32071405700002 meters Centerline goodness : 0.992387 with order 1 Centerline is valid? [True, True] Translation: X:113.76, Y:-5.29, Z:0.42 [[ 9.99963096e-01 6.40397707e-03 -5.72668603e-03 1.13760728e+02] [-6.40248659e-03 9.99979465e-01 2.78564681e-04 -5.29167517e+00] [ 5.72835236e-03 -2.41889371e-04 9.99983564e-01 4.16156731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38071405700002 meters Centerline goodness : 0.994141 with order 1 Centerline is valid? [True, True] Translation: X:113.82, Y:-5.28, Z:0.43 [[ 9.99982745e-01 1.30901714e-03 -5.72671093e-03 1.13819755e+02] [-1.30744620e-03 9.99999107e-01 2.78051969e-04 -5.27988699e+00] [ 5.72706979e-03 -2.70559805e-04 9.99983564e-01 4.25130467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44071405700002 meters Centerline goodness : 0.993716 with order 1 Centerline is valid? [True, True] Translation: X:113.88, Y:-5.28, Z:0.43 [[ 9.99924860e-01 1.08387259e-02 -5.72673018e-03 1.13878953e+02] [-1.08373132e-02 9.99941236e-01 2.77654866e-04 -5.27847973e+00] [ 5.72940308e-03 -2.15571635e-04 9.99983564e-01 4.26707272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50071405700001 meters Centerline goodness : 0.992163 with order 1 Centerline is valid? [True, True] Translation: X:113.94, Y:-5.30, Z:0.41 [[ 9.99303269e-01 3.68806225e-02 -5.72679736e-03 1.13938051e+02] [-3.68796449e-02 9.99319676e-01 2.76262193e-04 -5.29785838e+00] [ 5.73309001e-03 -6.48674595e-05 9.99983564e-01 4.09526089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56071405700001 meters Centerline goodness : 0.992956 with order 1 Centerline is valid? [True, True] Translation: X:114.00, Y:-5.28, Z:0.43 [[ 9.99594531e-01 2.78922367e-02 -5.72680253e-03 1.13998488e+02] [-2.78911122e-02 9.99610929e-01 2.76154968e-04 -5.28120712e+00] [ 5.73227698e-03 -1.16316105e-04 9.99983564e-01 4.26669766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62071405700001 meters Centerline goodness : 0.990466 with order 1 Centerline is valid? [True, True] Translation: X:114.06, Y:-5.30, Z:0.41 [[ 9.98973932e-01 4.49253419e-02 -5.72680723e-03 1.14057095e+02] [-4.49244975e-02 9.98990347e-01 2.76057593e-04 -5.30476019e+00] [ 5.73342712e-03 -1.85004024e-05 9.99983564e-01 4.08642257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68071405700002 meters Centerline goodness : 0.990962 with order 1 Centerline is valid? [True, True] Translation: X:114.11, Y:-5.31, Z:0.41 [[ 9.98984404e-01 4.46918805e-02 -5.72681735e-03 1.14114549e+02] [-4.46910335e-02 9.99000819e-01 2.75847466e-04 -5.30921043e+00] [ 5.73342336e-03 -1.96299301e-05 9.99983564e-01 4.11292251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74071405700002 meters Centerline goodness : 0.990427 with order 1 Centerline is valid? [True, True] Translation: X:114.17, Y:-5.32, Z:0.41 [[ 9.99094621e-01 4.21561465e-02 -5.72684179e-03 1.14172824e+02] [-4.21552608e-02 9.99111034e-01 2.75339180e-04 -5.31634352e+00] [ 5.73335806e-03 -3.36733847e-05 9.99983564e-01 4.14093740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80071405700002 meters Centerline goodness : 0.991098 with order 1 Centerline is valid? [True, True] Translation: X:114.23, Y:-5.32, Z:0.42 [[ 9.99349195e-01 3.56144628e-02 -5.72690878e-03 1.14231860e+02] [-3.56134776e-02 9.99365601e-01 2.73938738e-04 -5.31890844e+00] [ 5.73303181e-03 -6.98053193e-05 9.99983564e-01 4.17567155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86071405700001 meters Centerline goodness : 0.990769 with order 1 Centerline is valid? [True, True] Translation: X:114.29, Y:-5.33, Z:0.42 [[ 9.99614964e-01 2.71500512e-02 -5.72692358e-03 1.14290594e+02] [-2.71489290e-02 9.99631362e-01 2.73628991e-04 -5.32770295e+00] [ 5.73224146e-03 -1.18043793e-04 9.99983564e-01 4.18407430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92071405700001 meters Centerline goodness : 0.992137 with order 1 Centerline is valid? [True, True] Translation: X:114.35, Y:-5.33, Z:0.42 [[ 9.99859294e-01 1.57668450e-02 -5.72694401e-03 1.14347689e+02] [-1.57655386e-02 9.99875679e-01 2.73200718e-04 -5.33482238e+00] [ 5.73053954e-03 -1.82873921e-04 9.99983564e-01 4.20510831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98071405700001 meters Centerline goodness : 0.991748 with order 1 Centerline is valid? [True, True] Translation: X:114.41, Y:-5.34, Z:0.43 [[ 9.99959106e-01 6.99914877e-03 -5.72696911e-03 1.14406450e+02] [-6.99770171e-03 9.99975479e-01 2.72673560e-04 -5.34160355e+00] [ 5.72873715e-03 -2.32586788e-04 9.99983564e-01 4.25032843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04071405700002 meters Centerline goodness : 0.992111 with order 1 Centerline is valid? [True, True] Translation: X:114.46, Y:-5.35, Z:0.43 [[ 9.99982990e-01 -1.10509252e-03 -5.72698957e-03 1.14463591e+02] [ 1.10666976e-03 9.99999351e-01 2.72243014e-04 -5.34693708e+00] [ 5.72668500e-03 -2.78576270e-04 9.99983564e-01 4.27455069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10071405700002 meters Centerline goodness : 0.992941 with order 1 Centerline is valid? [True, True] Translation: X:114.52, Y:-5.35, Z:0.43 [[ 9.99946830e-01 -8.57541462e-03 -5.72701984e-03 1.14521923e+02] [ 8.57711039e-03 9.99963179e-01 2.71604722e-04 -5.35208885e+00] [ 5.72447985e-03 -3.20711563e-04 9.99983564e-01 4.27328423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16071405700002 meters Centerline goodness : 0.992779 with order 1 Centerline is valid? [True, True] Translation: X:114.58, Y:-5.36, Z:0.43 [[ 9.99883521e-01 -1.41472438e-02 -5.72704045e-03 1.14582950e+02] [ 1.41490281e-02 9.99899861e-01 2.71169560e-04 -5.35749999e+00] [ 5.72263064e-03 -3.52170031e-04 9.99983564e-01 4.25191450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22071405700001 meters Centerline goodness : 0.993227 with order 1 Centerline is valid? [True, True] Translation: X:114.65, Y:-5.36, Z:0.42 [[ 9.99872455e-01 -1.49089028e-02 -5.72703013e-03 1.14645341e+02] [ 1.49107009e-02 9.99888792e-01 2.71387243e-04 -5.36166921e+00] [ 5.72234716e-03 -3.56746662e-04 9.99983564e-01 4.23574826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28071405700001 meters Centerline goodness : 0.993185 with order 1 Centerline is valid? [True, True] Translation: X:114.71, Y:-5.36, Z:0.43 [[ 9.99784938e-01 -1.99318651e-02 -5.72700950e-03 1.14708320e+02] [ 1.99337477e-02 9.99801266e-01 2.71821877e-04 -5.36438263e+00] [ 5.72045344e-03 -3.85924181e-04 9.99983564e-01 4.25359145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34071405700001 meters Centerline goodness : 0.992808 with order 1 Centerline is valid? [True, True] Translation: X:114.77, Y:-5.37, Z:0.42 [[ 9.99772198e-01 -2.05609894e-02 -5.72692807e-03 1.14770504e+02] [ 2.05628919e-02 9.99788524e-01 2.73526874e-04 -5.36688452e+00] [ 5.72009298e-03 -3.91226767e-04 9.99983564e-01 4.24104106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40071405700002 meters Centerline goodness : 0.993321 with order 1 Centerline is valid? [True, True] Translation: X:114.83, Y:-5.37, Z:0.43 [[ 9.99765630e-01 -2.08779042e-02 -5.72690707e-03 1.14832752e+02] [ 2.08798145e-02 9.99781955e-01 2.73965903e-04 -5.36692453e+00] [ 5.71993851e-03 -3.93478451e-04 9.99983564e-01 4.27511666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46071405700002 meters Centerline goodness : 0.992644 with order 1 Centerline is valid? [True, True] Translation: X:114.90, Y:-5.36, Z:0.43 [[ 9.99809659e-01 -1.86507103e-02 -5.72688100e-03 1.14895259e+02] [ 1.86525873e-02 9.99825988e-01 2.74509696e-04 -5.36485429e+00] [ 5.72076465e-03 -3.81278593e-04 9.99983564e-01 4.31154451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52071405700002 meters Centerline goodness : 0.992565 with order 1 Centerline is valid? [True, True] Translation: X:114.96, Y:-5.36, Z:0.43 [[ 9.99875445e-01 -1.47070250e-02 -5.72686041e-03 1.14957035e+02] [ 1.47088400e-02 9.99891781e-01 2.74938672e-04 -5.36234563e+00] [ 5.72219712e-03 -3.59139901e-04 9.99983564e-01 4.31846325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58071405700001 meters Centerline goodness : 0.992762 with order 1 Centerline is valid? [True, True] Translation: X:115.02, Y:-5.36, Z:0.43 [[ 9.99950082e-01 -8.18756307e-03 -5.72684516e-03 1.15018879e+02] [ 8.18927335e-03 9.99966429e-01 2.75255925e-04 -5.36139308e+00] [ 5.72439923e-03 -3.22140885e-04 9.99983564e-01 4.30060787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64071405700001 meters Centerline goodness : 0.993064 with order 1 Centerline is valid? [True, True] Translation: X:115.08, Y:-5.36, Z:0.43 [[ 9.99980583e-01 -2.45692630e-03 -5.72682450e-03 1.15079851e+02] [ 2.45854532e-03 9.99996940e-01 2.75685136e-04 -5.35878963e+00] [ 5.72612963e-03 -2.89759441e-04 9.99983564e-01 4.32437038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70071405700001 meters Centerline goodness : 0.992344 with order 1 Centerline is valid? [True, True] Translation: X:115.14, Y:-5.36, Z:0.43 [[ 9.99978870e-01 3.07608235e-03 -5.72681947e-03 1.15139902e+02] [-3.07455326e-03 9.99995236e-01 2.75789415e-04 -5.35799532e+00] [ 5.72764054e-03 -2.58176176e-04 9.99983564e-01 4.34200052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76071405700002 meters Centerline goodness : 0.991839 with order 1 Centerline is valid? [True, True] Translation: X:115.20, Y:-5.36, Z:0.43 [[ 9.99954660e-01 7.60799054e-03 -5.72682940e-03 1.15197839e+02] [-7.60653681e-03 9.99971032e-01 2.75583243e-04 -5.35940830e+00] [ 5.72876014e-03 -2.32009409e-04 9.99983564e-01 4.33713870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82071405700002 meters Centerline goodness : 0.991449 with order 1 Centerline is valid? [True, True] Translation: X:115.26, Y:-5.36, Z:0.43 [[ 9.99913350e-01 1.18530277e-02 -5.72690753e-03 1.15256191e+02] [-1.18516529e-02 9.99929729e-01 2.73949898e-04 -5.36037868e+00] [ 5.72975223e-03 -2.06052840e-04 9.99983564e-01 4.33265846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88071405700002 meters Centerline goodness : 0.991832 with order 1 Centerline is valid? [True, True] Translation: X:115.31, Y:-5.36, Z:0.43 [[ 9.99864461e-01 1.54357220e-02 -5.72698411e-03 1.15313593e+02] [-1.54344151e-02 9.99880845e-01 2.72339450e-04 -5.36231100e+00] [ 5.73050547e-03 -1.83909888e-04 9.99983564e-01 4.31010286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94071405700002 meters Centerline goodness : 0.992358 with order 1 Centerline is valid? [True, True] Translation: X:115.37, Y:-5.36, Z:0.43 [[ 9.99888185e-01 1.38137117e-02 -5.72706537e-03 1.15371126e+02] [-1.38123880e-02 9.99904568e-01 2.70619843e-04 -5.36434148e+00] [ 5.73025709e-03 -1.91485135e-04 9.99983564e-01 4.28095417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00071405700001 meters Centerline goodness : 0.992079 with order 1 Centerline is valid? [True, True] Translation: X:115.43, Y:-5.37, Z:0.43 [[ 9.99895234e-01 1.32936370e-02 -5.72709016e-03 1.15428770e+02] [-1.32923078e-02 9.99911617e-01 2.70094207e-04 -5.36759512e+00] [ 5.73017451e-03 -1.93939665e-04 9.99983564e-01 4.30321147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06071405700001 meters Centerline goodness : 0.992182 with order 1 Centerline is valid? [True, True] Translation: X:115.49, Y:-5.37, Z:0.43 [[ 9.99854710e-01 1.60548466e-02 -5.72712045e-03 1.15486422e+02] [-1.60535663e-02 9.99871097e-01 2.69450249e-04 -5.37370213e+00] [ 5.73070819e-03 -1.77470393e-04 9.99983564e-01 4.30615492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12071405700001 meters Centerline goodness : 0.994462 with order 1 Centerline is valid? [True, True] Translation: X:115.55, Y:-5.37, Z:0.43 [[ 9.99981641e-01 1.97948743e-03 -5.72714531e-03 1.15545887e+02] [-1.97797965e-03 9.99998008e-01 2.68920840e-04 -5.36721448e+00] [ 5.72766623e-03 -2.57587726e-04 9.99983564e-01 4.33074954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18071405700002 meters Centerline goodness : 0.994933 with order 1 Centerline is valid? [True, True] Translation: X:115.60, Y:-5.37, Z:0.43 [[ 9.99983301e-01 -7.72260783e-04 -5.72716428e-03 1.15604944e+02] [ 7.73811282e-04 9.99999665e-01 2.68516204e-04 -5.37273824e+00] [ 5.72695500e-03 -2.72943465e-04 9.99983564e-01 4.32287588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24071405700002 meters Centerline goodness : 0.992911 with order 1 Centerline is valid? [True, True] Translation: X:115.66, Y:-5.39, Z:0.42 [[ 9.99959842e-01 6.89309394e-03 -5.72718318e-03 1.15663398e+02] [-6.89167123e-03 9.99976216e-01 2.68112657e-04 -5.39372588e+00] [ 5.72889509e-03 -2.28632026e-04 9.99983564e-01 4.22371861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30071405700002 meters Centerline goodness : 0.994980 with order 1 Centerline is valid? [True, True] Translation: X:115.72, Y:-5.38, Z:0.43 [[ 9.99952993e-01 -7.82375124e-03 -5.72719755e-03 1.15722316e+02] [ 7.82541303e-03 9.99969345e-01 2.67805304e-04 -5.38496227e+00] [ 5.72492674e-03 -3.12610402e-04 9.99983564e-01 4.33341498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36071405700001 meters Centerline goodness : 0.995537 with order 1 Centerline is valid? [True, True] Translation: X:115.78, Y:-5.39, Z:0.43 [[ 9.99929443e-01 -1.04071391e-02 -5.72721634e-03 1.15782780e+02] [ 1.04088408e-02 9.99945791e-01 2.67402877e-04 -5.39055526e+00] [ 5.72412297e-03 -3.26997693e-04 9.99983564e-01 4.32327457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42071405700001 meters Centerline goodness : 0.995170 with order 1 Centerline is valid? [True, True] Translation: X:115.85, Y:-5.40, Z:0.43 [[ 9.99904841e-01 -1.25501878e-02 -5.72721164e-03 1.15845124e+02] [ 1.25519252e-02 9.99921186e-01 2.67503387e-04 -5.39613934e+00] [ 5.72340304e-03 -3.39365464e-04 9.99983564e-01 4.32492363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48071405700001 meters Centerline goodness : 0.993449 with order 1 Centerline is valid? [True, True] Translation: X:115.91, Y:-5.41, Z:0.43 [[ 9.99965612e-01 -5.99780491e-03 -5.72719273e-03 1.15906033e+02] [ 5.99943742e-03 9.99981967e-01 2.67907737e-04 -5.40863011e+00] [ 5.72548259e-03 -3.02258459e-04 9.99983564e-01 4.27478741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54071405700002 meters Centerline goodness : 0.993701 with order 1 Centerline is valid? [True, True] Translation: X:115.97, Y:-5.41, Z:0.43 [[ 9.99968084e-01 -5.57054019e-03 -5.72718297e-03 1.15966458e+02] [ 5.57216691e-03 9.99984439e-01 2.68116050e-04 -5.41061202e+00] [ 5.72560031e-03 -3.00020312e-04 9.99983564e-01 4.29324428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60071405700002 meters Centerline goodness : 0.993858 with order 1 Centerline is valid? [True, True] Translation: X:116.03, Y:-5.41, Z:0.43 [[ 9.99961712e-01 -6.61616890e-03 -5.72718297e-03 1.16026615e+02] [ 6.61781271e-03 9.99978066e-01 2.68116050e-04 -5.41312539e+00] [ 5.72528345e-03 -3.06007209e-04 9.99983564e-01 4.29646110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66071405700002 meters Centerline goodness : 0.993635 with order 1 Centerline is valid? [True, True] Translation: X:116.09, Y:-5.42, Z:0.43 [[ 9.99943130e-01 -8.99646330e-03 -5.72718297e-03 1.16087423e+02] [ 8.99814604e-03 9.99959480e-01 2.68116050e-04 -5.41654078e+00] [ 5.72453881e-03 -3.19634831e-04 9.99983564e-01 4.27968797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72071405700001 meters Centerline goodness : 0.993082 with order 1 Centerline is valid? [True, True] Translation: X:116.15, Y:-5.42, Z:0.43 [[ 9.99873609e-01 -1.48312165e-02 -5.72718297e-03 1.16149236e+02] [ 1.48329947e-02 9.99889949e-01 2.68116050e-04 -5.41602832e+00] [ 5.72257621e-03 -3.53033437e-04 9.99983564e-01 4.34040758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78071405700001 meters Centerline goodness : 0.993148 with order 1 Centerline is valid? [True, True] Translation: X:116.21, Y:-5.42, Z:0.43 [[ 9.99828558e-01 -1.76083292e-02 -5.72717342e-03 1.16209839e+02] [ 1.76101538e-02 9.99844893e-01 2.68319918e-04 -5.42011682e+00] [ 5.72156043e-03 -3.69130322e-04 9.99983564e-01 4.33281461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84071405700001 meters Centerline goodness : 0.992768 with order 1 Centerline is valid? [True, True] Translation: X:116.27, Y:-5.43, Z:0.42 [[ 9.99876400e-01 -1.46418761e-02 -5.72716393e-03 1.16271323e+02] [ 1.46436535e-02 9.99892740e-01 2.68522354e-04 -5.42995576e+00] [ 5.72261797e-03 -3.52355768e-04 9.99983564e-01 4.24776691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90071405700002 meters Centerline goodness : 0.993333 with order 1 Centerline is valid? [True, True] Translation: X:116.33, Y:-5.43, Z:0.43 [[ 9.99732940e-01 -2.23885766e-02 -5.72714533e-03 1.16333948e+02] [ 2.23904828e-02 9.99749266e-01 2.68918523e-04 -5.42745579e+00] [ 5.71968863e-03 -3.97080254e-04 9.99983564e-01 4.30649544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96071405700002 meters Centerline goodness : 0.992848 with order 1 Centerline is valid? [True, True] Translation: X:116.40, Y:-5.43, Z:0.44 [[ 9.99738466e-01 -2.21404772e-02 -5.72708165e-03 1.16395575e+02] [ 2.21423870e-02 9.99754791e-01 2.70267868e-04 -5.42895271e+00] [ 5.71969346e-03 -3.97008442e-04 9.99983564e-01 4.37265199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02071405700002 meters Centerline goodness : 0.992682 with order 1 Centerline is valid? [True, True] Translation: X:116.46, Y:-5.43, Z:0.43 [[ 9.99674946e-01 -2.48435737e-02 -5.72706802e-03 1.16458330e+02] [ 2.48455293e-02 9.99691266e-01 2.70556476e-04 -5.43318214e+00] [ 5.71857829e-03 -4.12760566e-04 9.99983564e-01 4.33118969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08071405700001 meters Centerline goodness : 0.994802 with order 1 Centerline is valid? [True, True] Translation: X:116.52, Y:-5.43, Z:0.44 [[ 9.99444512e-01 -3.28309064e-02 -5.72704105e-03 1.16520382e+02] [ 3.28329955e-02 9.99460815e-01 2.71126211e-04 -5.42578743e+00] [ 5.71505179e-03 -4.59011516e-04 9.99983564e-01 4.38774031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14071405700001 meters Centerline goodness : 0.992436 with order 1 Centerline is valid? [True, True] Translation: X:116.58, Y:-5.44, Z:0.44 [[ 9.99608941e-01 -2.73708929e-02 -5.72702337e-03 1.16582016e+02] [ 2.73728951e-02 9.99625255e-01 2.71499031e-04 -5.43546200e+00] [ 5.71744603e-03 -4.28158069e-04 9.99983564e-01 4.39970076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20071405700001 meters Centerline goodness : 0.992820 with order 1 Centerline is valid? [True, True] Translation: X:116.64, Y:-5.44, Z:0.44 [[ 9.99642390e-01 -2.61207575e-02 -5.72700553e-03 1.16644501e+02] [ 2.61227414e-02 9.99658706e-01 2.71874979e-04 -5.43701236e+00] [ 5.71794935e-03 -4.21382838e-04 9.99983564e-01 4.39676965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26071405700002 meters Centerline goodness : 0.992753 with order 1 Centerline is valid? [True, True] Translation: X:116.71, Y:-5.44, Z:0.44 [[ 9.99575238e-01 -2.85752496e-02 -5.72698781e-03 1.16707257e+02] [ 2.85772757e-02 9.99591549e-01 2.72247654e-04 -5.43883690e+00] [ 5.71686907e-03 -4.35793723e-04 9.99983564e-01 4.37647001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32071405700002 meters Centerline goodness : 0.994277 with order 1 Centerline is valid? [True, True] Translation: X:116.77, Y:-5.44, Z:0.44 [[ 9.99539175e-01 -2.98100563e-02 -5.72695951e-03 1.16770116e+02] [ 2.98121060e-02 9.99555483e-01 2.72841642e-04 -5.43555303e+00] [ 5.71628036e-03 -4.43448633e-04 9.99983564e-01 4.41886770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38071405700002 meters Centerline goodness : 0.994971 with order 1 Centerline is valid? [True, True] Translation: X:116.83, Y:-5.44, Z:0.44 [[ 9.99608084e-01 -2.74021853e-02 -5.72694036e-03 1.16833005e+02] [ 2.74041979e-02 9.99624397e-01 2.73242936e-04 -5.43682182e+00] [ 5.71730186e-03 -4.30078055e-04 9.99983564e-01 4.42509663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44071405700002 meters Centerline goodness : 0.994620 with order 1 Centerline is valid? [True, True] Translation: X:116.89, Y:-5.44, Z:0.44 [[ 9.99659841e-01 -2.54441698e-02 -5.72691039e-03 1.16893866e+02] [ 2.54461541e-02 9.99676157e-01 2.73869755e-04 -5.43807528e+00] [ 5.71808738e-03 -4.19504440e-04 9.99983564e-01 4.41068919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50071405700001 meters Centerline goodness : 0.992801 with order 1 Centerline is valid? [True, True] Translation: X:116.95, Y:-5.45, Z:0.44 [[ 9.99816222e-01 -1.82954639e-02 -5.72689566e-03 1.16954563e+02] [ 1.82973332e-02 9.99832552e-01 2.74177427e-04 -5.44817586e+00] [ 5.72092050e-03 -3.78913957e-04 9.99983564e-01 4.42678325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56071405700001 meters Centerline goodness : 0.993334 with order 1 Centerline is valid? [True, True] Translation: X:117.02, Y:-5.45, Z:0.44 [[ 9.99797592e-01 -1.92867067e-02 -5.72688117e-03 1.17015916e+02] [ 1.92885939e-02 9.99813920e-01 2.74479721e-04 -5.45043513e+00] [ 5.72052170e-03 -3.84887650e-04 9.99983564e-01 4.37251486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62071405700001 meters Centerline goodness : 0.992937 with order 1 Centerline is valid? [True, True] Translation: X:117.08, Y:-5.45, Z:0.44 [[ 9.99758279e-01 -2.12270240e-02 -5.72686694e-03 1.17078057e+02] [ 2.12289445e-02 9.99774603e-01 2.74776312e-04 -5.45144853e+00] [ 5.71974344e-03 -3.96285233e-04 9.99983564e-01 4.39286397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68071405700002 meters Centerline goodness : 0.992881 with order 1 Centerline is valid? [True, True] Translation: X:117.14, Y:-5.46, Z:0.43 [[ 9.99900579e-01 -1.28854448e-02 -5.72684791e-03 1.17139745e+02] [ 1.28872314e-02 9.99916918e-01 2.75172419e-04 -5.46174651e+00] [ 5.72282639e-03 -3.48948275e-04 9.99983564e-01 4.27332057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74071405700002 meters Centerline goodness : 0.992970 with order 1 Centerline is valid? [True, True] Translation: X:117.20, Y:-5.46, Z:0.44 [[ 9.99825901e-01 -1.77586953e-02 -5.72682643e-03 1.17202585e+02] [ 1.77605641e-02 9.99842231e-01 2.75618629e-04 -5.45860487e+00] [ 5.72102829e-03 -3.77282311e-04 9.99983564e-01 4.40164655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80071405700002 meters Centerline goodness : 0.992978 with order 1 Centerline is valid? [True, True] Translation: X:117.26, Y:-5.47, Z:0.43 [[ 9.99815875e-01 -1.83145044e-02 -5.72675343e-03 1.17263150e+02] [ 1.83163908e-02 9.99832202e-01 2.77127274e-04 -5.46535741e+00] [ 5.72071704e-03 -3.81969701e-04 9.99983564e-01 4.31804737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86071405700001 meters Centerline goodness : 0.993210 with order 1 Centerline is valid? [True, True] Translation: X:117.33, Y:-5.47, Z:0.44 [[ 9.99779468e-01 -2.02044745e-02 -5.72673789e-03 1.17325126e+02] [ 2.02063937e-02 9.99795791e-01 2.77447964e-04 -5.46530033e+00] [ 5.71996275e-03 -3.93103498e-04 9.99983564e-01 4.36101302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92071405700001 meters Centerline goodness : 0.993967 with order 1 Centerline is valid? [True, True] Translation: X:117.39, Y:-5.47, Z:0.43 [[ 9.99695967e-01 -2.39828914e-02 -5.72671684e-03 1.17386518e+02] [ 2.39848746e-02 9.99712283e-01 2.77881754e-04 -5.46872473e+00] [ 5.71840476e-03 -4.15151854e-04 9.99983564e-01 4.34788563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98071405700001 meters Centerline goodness : 0.994121 with order 1 Centerline is valid? [True, True] Translation: X:117.45, Y:-5.47, Z:0.44 [[ 9.99550026e-01 -2.94440280e-02 -5.72670117e-03 1.17449143e+02] [ 2.94461022e-02 9.99566331e-01 2.78204282e-04 -5.47009781e+00] [ 5.71602622e-03 -4.46708126e-04 9.99983564e-01 4.37246966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04071405700002 meters Centerline goodness : 0.994173 with order 1 Centerline is valid? [True, True] Translation: X:117.51, Y:-5.47, Z:0.44 [[ 9.99436909e-01 -3.30616216e-02 -5.72662156e-03 1.17511552e+02] [ 3.30637641e-02 9.99453205e-01 2.79833423e-04 -5.46856590e+00] [ 5.71423853e-03 -4.69019515e-04 9.99983564e-01 4.37983767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10071405700002 meters Centerline goodness : 0.994366 with order 1 Centerline is valid? [True, True] Translation: X:117.57, Y:-5.47, Z:0.44 [[ 9.99669840e-01 -2.50482856e-02 -5.72659681e-03 1.17573995e+02] [ 2.50503003e-02 9.99686153e-01 2.80339058e-04 -5.47108067e+00] [ 5.71777752e-03 -4.23699471e-04 9.99983564e-01 4.42941586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16071405700002 meters Centerline goodness : 0.993644 with order 1 Centerline is valid? [True, True] Translation: X:117.64, Y:-5.47, Z:0.44 [[ 9.99815407e-01 -1.83400981e-02 -5.72656561e-03 1.17636925e+02] [ 1.83420069e-02 9.99831732e-01 2.80974995e-04 -5.47273092e+00] [ 5.72044890e-03 -3.85959834e-04 9.99983564e-01 4.44967856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22071405700001 meters Centerline goodness : 0.994650 with order 1 Centerline is valid? [True, True] Translation: X:117.70, Y:-5.47, Z:0.44 [[ 9.99772236e-01 -2.05592529e-02 -5.72653388e-03 1.17697961e+02] [ 2.05612016e-02 9.99788556e-01 2.81620104e-04 -5.47380619e+00] [ 5.71953315e-03 -3.99300378e-04 9.99983564e-01 4.39616057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28071405700001 meters Centerline goodness : 0.995310 with order 1 Centerline is valid? [True, True] Translation: X:117.76, Y:-5.48, Z:0.44 [[ 9.99767623e-01 -2.07823602e-02 -5.72651828e-03 1.17760001e+02] [ 2.07843143e-02 9.99783943e-01 2.81937028e-04 -5.47871553e+00] [ 5.71942171e-03 -4.00893269e-04 9.99983564e-01 4.35329037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34071405700001 meters Centerline goodness : 0.995078 with order 1 Centerline is valid? [True, True] Translation: X:117.82, Y:-5.48, Z:0.43 [[ 9.99726978e-01 -2.26534237e-02 -5.72649825e-03 1.17822504e+02] [ 2.26554107e-02 9.99743293e-01 2.82343353e-04 -5.48113472e+00] [ 5.71863217e-03 -4.12002436e-04 9.99983564e-01 4.34162767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40071405700002 meters Centerline goodness : 0.994684 with order 1 Centerline is valid? [True, True] Translation: X:117.88, Y:-5.49, Z:0.44 [[ 9.99822893e-01 -1.79273394e-02 -5.72647853e-03 1.17884093e+02] [ 1.79292515e-02 9.99839218e-01 2.82742641e-04 -5.48923516e+00] [ 5.72048899e-03 -3.85364039e-04 9.99983564e-01 4.36490370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46071405700002 meters Centerline goodness : 0.994957 with order 1 Centerline is valid? [True, True] Translation: X:117.95, Y:-5.49, Z:0.44 [[ 9.99760633e-01 -2.11159539e-02 -5.72645843e-03 1.17946805e+02] [ 2.11179204e-02 9.99776952e-01 2.83149132e-04 -5.49296148e+00] [ 5.71920219e-03 -4.04012249e-04 9.99983564e-01 4.39974594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52071405700002 meters Centerline goodness : 0.994784 with order 1 Centerline is valid? [True, True] Translation: X:118.01, Y:-5.50, Z:0.44 [[ 9.99698997e-01 -2.38562954e-02 -5.72642524e-03 1.18008512e+02] [ 2.38583104e-02 9.99715310e-01 2.83818828e-04 -5.49802114e+00] [ 5.71802412e-03 -4.20356228e-04 9.99983564e-01 4.41731208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58071405700001 meters Centerline goodness : 0.995167 with order 1 Centerline is valid? [True, True] Translation: X:118.07, Y:-5.50, Z:0.45 [[ 9.99600141e-01 -2.76905631e-02 -5.72639819e-03 1.18070757e+02] [ 2.76926437e-02 9.99616445e-01 2.84363606e-04 -5.50182304e+00] [ 5.71632761e-03 -4.42829005e-04 9.99983564e-01 4.45372084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64071405700001 meters Centerline goodness : 0.995606 with order 1 Centerline is valid? [True, True] Translation: X:118.13, Y:-5.50, Z:0.44 [[ 9.99393644e-01 -3.43446154e-02 -5.72637735e-03 1.18133287e+02] [ 3.43468070e-02 9.99409934e-01 2.84782588e-04 -5.50389446e+00] [ 5.71321766e-03 -4.81292686e-04 9.99983564e-01 4.40190388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70071405700001 meters Centerline goodness : 0.995193 with order 1 Centerline is valid? [True, True] Translation: X:118.20, Y:-5.51, Z:0.45 [[ 9.99484998e-01 -3.15744823e-02 -5.72629995e-03 1.18195403e+02] [ 3.15766376e-02 9.99501293e-01 2.86330503e-04 -5.51258476e+00] [ 5.71440346e-03 -4.67000340e-04 9.99983564e-01 4.45391691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76071405700002 meters Centerline goodness : 0.996266 with order 1 Centerline is valid? [True, True] Translation: X:118.26, Y:-5.51, Z:0.44 [[ 9.99481697e-01 -3.16787965e-02 -5.72627880e-03 1.18256159e+02] [ 3.16809559e-02 9.99497991e-01 2.86752790e-04 -5.51425961e+00] [ 5.71432018e-03 -4.68018151e-04 9.99983564e-01 4.39291451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82071405700002 meters Centerline goodness : 0.994399 with order 1 Centerline is valid? [True, True] Translation: X:118.32, Y:-5.52, Z:0.44 [[ 9.99713501e-01 -2.32406174e-02 -5.72624297e-03 1.18318414e+02] [ 2.32426432e-02 9.99729812e-01 2.87466583e-04 -5.52286464e+00] [ 5.71801491e-03 -4.20477246e-04 9.99983564e-01 4.42571100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88071405700002 meters Centerline goodness : 0.995378 with order 1 Centerline is valid? [True, True] Translation: X:118.38, Y:-5.52, Z:0.44 [[ 9.99842632e-01 -1.67905085e-02 -5.72622215e-03 1.18380759e+02] [ 1.67924313e-02 9.99858956e-01 2.87880700e-04 -5.51974992e+00] [ 5.72058084e-03 -3.83992589e-04 9.99983564e-01 4.42536599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94071405700002 meters Centerline goodness : 0.993845 with order 1 Centerline is valid? [True, True] Translation: X:118.44, Y:-5.53, Z:0.44 [[ 9.99982198e-01 -1.67753720e-03 -5.72620140e-03 1.18442560e+02] [ 1.67921549e-03 9.99998549e-01 2.88292933e-04 -5.53034673e+00] [ 5.72570946e-03 -2.97903327e-04 9.99983564e-01 4.42989098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00071405700001 meters Centerline goodness : 0.994196 with order 1 Centerline is valid? [True, True] Translation: X:118.50, Y:-5.54, Z:0.44 [[ 9.99948721e-01 8.35265087e-03 -5.72618034e-03 1.18501583e+02] [-8.35113429e-03 9.99965087e-01 2.88710554e-04 -5.53520895e+00] [ 5.72839192e-03 -2.40875648e-04 9.99983564e-01 4.38927824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06071405700001 meters Centerline goodness : 0.994004 with order 1 Centerline is valid? [True, True] Translation: X:118.56, Y:-5.54, Z:0.44 [[ 9.99925279e-01 1.08002905e-02 -5.72625632e-03 1.18559498e+02] [-1.07988227e-02 9.99941650e-01 2.87195718e-04 -5.53924857e+00] [ 5.72902398e-03 -2.25337432e-04 9.99983564e-01 4.39587080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12071405700001 meters Centerline goodness : 0.996049 with order 1 Centerline is valid? [True, True] Translation: X:118.62, Y:-5.54, Z:0.44 [[ 9.99970988e-01 5.02308327e-03 -5.72634267e-03 1.18617702e+02] [-5.02153075e-03 9.99987351e-01 2.85463455e-04 -5.53571524e+00] [ 5.72770415e-03 -2.56700167e-04 9.99983564e-01 4.43906712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18071405700002 meters Centerline goodness : 0.993758 with order 1 Centerline is valid? [True, True] Translation: X:118.68, Y:-5.55, Z:0.44 [[ 9.99898260e-01 1.30644136e-02 -5.72637182e-03 1.18675892e+02] [-1.30629960e-02 9.99914635e-01 2.84877453e-04 -5.55411344e+00] [ 5.72960475e-03 -2.10044897e-04 9.99983564e-01 4.39716956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24071405700002 meters Centerline goodness : 0.994106 with order 1 Centerline is valid? [True, True] Translation: X:118.73, Y:-5.56, Z:0.44 [[ 9.99917306e-01 1.15147552e-02 -5.72644707e-03 1.18734121e+02] [-1.15133210e-02 9.99933679e-01 2.83356707e-04 -5.55922399e+00] [ 5.72933007e-03 -2.17402852e-04 9.99983564e-01 4.41869695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30071405700002 meters Centerline goodness : 0.994005 with order 1 Centerline is valid? [True, True] Translation: X:118.79, Y:-5.57, Z:0.44 [[ 9.99919453e-01 1.13267094e-02 -5.72646891e-03 1.18791875e+02] [-1.13252746e-02 9.99935827e-01 2.82914779e-04 -5.56968915e+00] [ 5.72930591e-03 -2.18038158e-04 9.99983564e-01 4.37231735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36071405700001 meters Centerline goodness : 0.993753 with order 1 Centerline is valid? [True, True] Translation: X:118.85, Y:-5.58, Z:0.44 [[ 9.99948320e-01 8.40032559e-03 -5.72649572e-03 1.18850533e+02] [-8.39884603e-03 9.99964689e-01 2.82370891e-04 -5.57660661e+00] [ 5.72866553e-03 -2.34260342e-04 9.99983564e-01 4.38424569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42071405700001 meters Centerline goodness : 0.995305 with order 1 Centerline is valid? [True, True] Translation: X:118.91, Y:-5.57, Z:0.44 [[ 9.99974015e-01 -4.37910999e-03 -5.72651678e-03 1.18908870e+02] [ 4.38079619e-03 9.99990365e-01 2.81943216e-04 -5.57256116e+00] [ 5.72522694e-03 -3.07022593e-04 9.99983564e-01 4.44859513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48071405700001 meters Centerline goodness : 0.993901 with order 1 Centerline is valid? [True, True] Translation: X:118.97, Y:-5.59, Z:0.44 [[ 9.99966173e-01 5.90428235e-03 -5.72654271e-03 1.18967282e+02] [-5.90276739e-03 9.99982539e-01 2.81415639e-04 -5.59284833e+00] [ 5.72810427e-03 -2.47603670e-04 9.99983564e-01 4.36093802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54071405700002 meters Centerline goodness : 0.994083 with order 1 Centerline is valid? [True, True] Translation: X:119.03, Y:-5.60, Z:0.44 [[ 9.99980556e-01 2.46865231e-03 -5.72655333e-03 1.19025759e+02] [-2.46708237e-03 9.99996917e-01 2.81199365e-04 -5.59746983e+00] [ 5.72722986e-03 -2.67066019e-04 9.99983564e-01 4.42646894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60071405700002 meters Centerline goodness : 0.995197 with order 1 Centerline is valid? [True, True] Translation: X:119.08, Y:-5.60, Z:0.44 [[ 9.99981165e-01 2.20818524e-03 -5.72657426e-03 1.19084380e+02] [-2.20661348e-03 9.99997526e-01 2.80772340e-04 -5.60472054e+00] [ 5.72718009e-03 -2.68130716e-04 9.99983564e-01 4.43367150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66071405700002 meters Centerline goodness : 0.994985 with order 1 Centerline is valid? [True, True] Translation: X:119.14, Y:-5.62, Z:0.44 [[ 9.99975512e-01 4.02256766e-03 -5.72659566e-03 1.19142027e+02] [-4.02102808e-03 9.99991876e-01 2.80335356e-04 -5.61610004e+00] [ 5.72767680e-03 -2.57301689e-04 9.99983564e-01 4.37530497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72071405700001 meters Centerline goodness : 0.995552 with order 1 Centerline is valid? [True, True] Translation: X:119.20, Y:-5.61, Z:0.44 [[ 9.99963133e-01 -6.39824672e-03 -5.72667979e-03 1.19199669e+02] [ 6.39994687e-03 9.99979481e-01 2.78605947e-04 -5.61112045e+00] [ 5.72477970e-03 -3.15246122e-04 9.99983564e-01 4.44904821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78071405700001 meters Centerline goodness : 0.994436 with order 1 Centerline is valid? [True, True] Translation: X:119.26, Y:-5.63, Z:0.44 [[ 9.99982972e-01 -1.12292998e-03 -5.72670558e-03 1.19259400e+02] [ 1.12454083e-03 9.99999329e-01 2.78074847e-04 -5.62599724e+00] [ 5.72638948e-03 -2.84510026e-04 9.99983564e-01 4.42524555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84071405700001 meters Centerline goodness : 0.994370 with order 1 Centerline is valid? [True, True] Translation: X:119.32, Y:-5.63, Z:0.44 [[ 9.99968201e-01 -5.54986930e-03 -5.72670558e-03 1.19316637e+02] [ 5.55155254e-03 9.99984551e-01 2.78074847e-04 -5.63186930e+00] [ 5.72507383e-03 -3.09858112e-04 9.99983564e-01 4.42422110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90071405700002 meters Centerline goodness : 0.994123 with order 1 Centerline is valid? [True, True] Translation: X:119.38, Y:-5.64, Z:0.45 [[ 9.99963944e-01 -6.27016267e-03 -5.72673312e-03 1.19376190e+02] [ 6.27185445e-03 9.99980293e-01 2.77506616e-04 -5.63691443e+00] [ 5.72488025e-03 -3.13413846e-04 9.99983564e-01 4.46199550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96071405700002 meters Centerline goodness : 0.995079 with order 1 Centerline is valid? [True, True] Translation: X:119.44, Y:-5.64, Z:0.44 [[ 9.99919979e-01 -1.12800397e-02 -5.72674357e-03 1.19435415e+02] [ 1.12818121e-02 9.99936320e-01 2.77290719e-04 -5.64035433e+00] [ 5.72325104e-03 -3.41876575e-04 9.99983564e-01 4.40572946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02071405700002 meters Centerline goodness : 0.993500 with order 1 Centerline is valid? [True, True] Translation: X:119.50, Y:-5.65, Z:0.43 [[ 9.99980164e-01 -2.62228801e-03 -5.72674870e-03 1.19495294e+02] [ 2.62391830e-03 9.99996519e-01 2.77184802e-04 -5.65057635e+00] [ 5.72600191e-03 -2.92205824e-04 9.99983564e-01 4.30869519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08071405700002 meters Centerline goodness : 0.994858 with order 1 Centerline is valid? [True, True] Translation: X:119.56, Y:-5.65, Z:0.44 [[ 9.99935820e-01 -9.77550019e-03 -5.72674870e-03 1.19555186e+02] [ 9.77724743e-03 9.99952163e-01 2.77184802e-04 -5.64504642e+00] [ 5.72376513e-03 -3.33158851e-04 9.99983564e-01 4.43807458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14071405700001 meters Centerline goodness : 0.995336 with order 1 Centerline is valid? [True, True] Translation: X:119.62, Y:-5.64, Z:0.45 [[ 9.99944458e-01 -8.84786605e-03 -5.72675910e-03 1.19615979e+02] [ 8.84959690e-03 9.99960803e-01 2.76969642e-04 -5.64417837e+00] [ 5.72408404e-03 -3.27633769e-04 9.99983564e-01 4.45705286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20071405700001 meters Centerline goodness : 0.996507 with order 1 Centerline is valid? [True, True] Translation: X:119.68, Y:-5.63, Z:0.45 [[ 9.99946610e-01 -8.60121600e-03 -5.72675396e-03 1.19676908e+02] [ 8.60294343e-03 9.99962956e-01 2.77075944e-04 -5.63469640e+00] [ 5.72415863e-03 -3.26328092e-04 9.99983564e-01 4.51533991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26071405700002 meters Centerline goodness : 0.995848 with order 1 Centerline is valid? [True, True] Translation: X:119.74, Y:-5.63, Z:0.45 [[ 9.99968143e-01 -5.56033732e-03 -5.72674937e-03 1.19738047e+02] [ 5.56201557e-03 9.99984493e-01 2.77170802e-04 -5.63273427e+00] [ 5.72511940e-03 -3.09014241e-04 9.99983564e-01 4.53208186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32071405700002 meters Centerline goodness : 0.996404 with order 1 Centerline is valid? [True, True] Translation: X:119.80, Y:-5.63, Z:0.45 [[ 9.99967000e-01 -5.76230477e-03 -5.72673973e-03 1.19798198e+02] [ 5.76398747e-03 9.99983350e-01 2.77369885e-04 -5.63272922e+00] [ 5.72504608e-03 -3.10369588e-04 9.99983564e-01 4.53107225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38071405700002 meters Centerline goodness : 0.993832 with order 1 Centerline is valid? [True, True] Translation: X:119.86, Y:-5.65, Z:0.44 [[ 9.99983073e-01 1.02862166e-03 -5.72673973e-03 1.19857443e+02] [-1.02705004e-03 9.99999434e-01 2.77369885e-04 -5.64691779e+00] [ 5.72702180e-03 -2.71483542e-04 9.99983564e-01 4.39088957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44071405700002 meters Centerline goodness : 0.996543 with order 1 Centerline is valid? [True, True] Translation: X:119.92, Y:-5.63, Z:0.45 [[ 9.99851092e-01 -1.62787370e-02 -5.72675001e-03 1.19916519e+02] [ 1.62805903e-02 9.99867424e-01 2.77157355e-04 -5.63207054e+00] [ 5.72147901e-03 -3.70350955e-04 9.99983564e-01 4.53900647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50071405700001 meters Centerline goodness : 0.996495 with order 1 Centerline is valid? [True, True] Translation: X:119.98, Y:-5.63, Z:0.45 [[ 9.99752477e-01 -2.14985890e-02 -5.72676515e-03 1.19977496e+02] [ 2.15005258e-02 9.99768799e-01 2.76844198e-04 -5.63204632e+00] [ 5.71948936e-03 -3.99904134e-04 9.99983564e-01 4.51579586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56071405700001 meters Centerline goodness : 0.994695 with order 1 Centerline is valid? [True, True] Translation: X:120.04, Y:-5.65, Z:0.44 [[ 9.99896455e-01 -1.32016409e-02 -5.72675081e-03 1.20039333e+02] [ 1.32034439e-02 9.99912792e-01 2.77140511e-04 -5.64507064e+00] [ 5.72259269e-03 -3.52724647e-04 9.99983564e-01 4.38726371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62071405700001 meters Centerline goodness : 0.995072 with order 1 Centerline is valid? [True, True] Translation: X:120.10, Y:-5.64, Z:0.45 [[ 9.99781257e-01 -2.01157427e-02 -5.72672984e-03 1.20101409e+02] [ 2.01176611e-02 9.99797581e-01 2.77573191e-04 -5.63915038e+00] [ 5.71998705e-03 -3.92720884e-04 9.99983564e-01 4.45801673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68071405700002 meters Centerline goodness : 0.995129 with order 1 Centerline is valid? [True, True] Translation: X:120.16, Y:-5.64, Z:0.45 [[ 9.99782224e-01 -2.00676586e-02 -5.72666126e-03 1.20163425e+02] [ 2.00695842e-02 9.99798547e-01 2.78980869e-04 -5.63771220e+00] [ 5.71990912e-03 -3.93851824e-04 9.99983564e-01 4.46923836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74071405700002 meters Centerline goodness : 0.995034 with order 1 Centerline is valid? [True, True] Translation: X:120.23, Y:-5.64, Z:0.45 [[ 9.99829585e-01 -1.75500914e-02 -5.72663989e-03 1.20225701e+02] [ 1.75519784e-02 9.99845913e-01 2.79418843e-04 -5.63614915e+00] [ 5.72085367e-03 -3.79885085e-04 9.99983564e-01 4.47740164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80071405700002 meters Centerline goodness : 0.994988 with order 1 Centerline is valid? [True, True] Translation: X:120.29, Y:-5.63, Z:0.45 [[ 9.99915100e-01 -1.17046270e-02 -5.72661903e-03 1.20286672e+02] [ 1.17064210e-02 9.99931438e-01 2.79845781e-04 -5.63334416e+00] [ 5.72295091e-03 -3.46860236e-04 9.99983564e-01 4.49753112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86071405700001 meters Centerline goodness : 0.994741 with order 1 Centerline is valid? [True, True] Translation: X:120.35, Y:-5.63, Z:0.45 [[ 9.99981893e-01 -1.84897830e-03 -5.72660361e-03 1.20348215e+02] [ 1.85061294e-03 9.99998248e-01 2.80161069e-04 -5.63186973e+00] [ 5.72607556e-03 -2.90753723e-04 9.99983564e-01 4.46684486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92071405700001 meters Centerline goodness : 0.994396 with order 1 Centerline is valid? [True, True] Translation: X:120.41, Y:-5.63, Z:0.45 [[ 9.99967204e-01 5.72685428e-03 -5.72658847e-03 1.20407519e+02] [-5.72534182e-03 9.99983571e-01 2.80470157e-04 -5.62906921e+00] [ 5.72810060e-03 -2.47674282e-04 9.99983564e-01 4.45798514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98071405700001 meters Centerline goodness : 0.993830 with order 1 Centerline is valid? [True, True] Translation: X:120.47, Y:-5.63, Z:0.44 [[ 9.99910805e-01 1.20659894e-02 -5.72660299e-03 1.20466097e+02] [-1.20645824e-02 9.99927181e-01 2.80173261e-04 -5.63414364e+00] [ 5.72956655e-03 -2.11059197e-04 9.99983564e-01 4.42943825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04071405700002 meters Centerline goodness : 0.992952 with order 1 Centerline is valid? [True, True] Translation: X:120.52, Y:-5.64, Z:0.44 [[ 9.99792251e-01 1.95616959e-02 -5.72667570e-03 1.20524099e+02] [-1.95604203e-02 9.99808638e-01 2.78679168e-04 -5.63510348e+00] [ 5.73103127e-03 -1.66605089e-04 9.99983564e-01 4.40768909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10071405700002 meters Centerline goodness : 0.992989 with order 1 Centerline is valid? [True, True] Translation: X:120.58, Y:-5.64, Z:0.44 [[ 9.99543562e-01 2.96626489e-02 -5.72670097e-03 1.20582188e+02] [-2.96615419e-02 9.99559961e-01 2.78158900e-04 -5.63503512e+00] [ 5.73243193e-03 -1.08169157e-04 9.99983564e-01 4.43797205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16071405700002 meters Centerline goodness : 0.992275 with order 1 Centerline is valid? [True, True] Translation: X:120.64, Y:-5.64, Z:0.45 [[ 9.99202137e-01 3.95258508e-02 -5.72678187e-03 1.20639469e+02] [-3.95249153e-02 9.99218547e-01 2.76483262e-04 -5.63600278e+00] [ 5.73323489e-03 -4.99120978e-05 9.99983564e-01 4.45503955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22071405700001 meters Centerline goodness : 0.993937 with order 1 Centerline is valid? [True, True] Translation: X:120.70, Y:-5.62, Z:0.46 [[ 9.99303364e-01 3.68780342e-02 -5.72683610e-03 1.20698430e+02] [-3.68770617e-02 9.99319772e-01 2.75355359e-04 -5.62450293e+00] [ 5.73309511e-03 -6.39746483e-05 9.99983564e-01 4.59699125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28071405700001 meters Centerline goodness : 0.991551 with order 1 Centerline is valid? [True, True] Translation: X:120.76, Y:-5.64, Z:0.45 [[ 9.98626189e-01 5.20858753e-02 -5.72685582e-03 1.20755407e+02] [-5.20851551e-02 9.98642609e-01 2.74944690e-04 -5.64481274e+00] [ 5.73340297e-03 2.37172054e-05 9.99983564e-01 4.45560494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34071405700001 meters Centerline goodness : 0.989884 with order 1 Centerline is valid? [True, True] Translation: X:120.81, Y:-5.65, Z:0.44 [[ 9.98614262e-01 5.23140366e-02 -5.72689219e-03 1.20813586e+02] [-5.23133244e-02 9.98630683e-01 2.74184922e-04 -5.65353206e+00] [ 5.73339398e-03 2.57877958e-05 9.99983564e-01 4.43777168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40071405700002 meters Centerline goodness : 0.990668 with order 1 Centerline is valid? [True, True] Translation: X:120.87, Y:-5.66, Z:0.45 [[ 9.98930356e-01 4.58840374e-02 -5.72696119e-03 1.20871842e+02] [-4.58832279e-02 9.98946773e-01 2.72736134e-04 -5.66305963e+00] [ 5.73344363e-03 -9.67293819e-06 9.99983564e-01 4.49462567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46071405700002 meters Centerline goodness : 0.990971 with order 1 Centerline is valid? [True, True] Translation: X:120.93, Y:-5.67, Z:0.45 [[ 9.99427939e-01 3.33315950e-02 -5.72702997e-03 1.20928564e+02] [-3.33305876e-02 9.99444345e-01 2.71283983e-04 -5.67422452e+00] [ 5.73289005e-03 -8.02435181e-05 9.99983564e-01 4.47811401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52071405700002 meters Centerline goodness : 0.992026 with order 1 Centerline is valid? [True, True] Translation: X:120.99, Y:-5.69, Z:0.45 [[ 9.99533870e-01 2.99873956e-02 -5.72707217e-03 1.20987247e+02] [-2.99863384e-02 9.99550272e-01 2.70390190e-04 -5.68633958e+00] [ 5.73260485e-03 -9.85302291e-05 9.99983564e-01 4.45984652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58071405700002 meters Centerline goodness : 0.992799 with order 1 Centerline is valid? [True, True] Translation: X:121.05, Y:-5.70, Z:0.45 [[ 9.99773676e-01 2.04889406e-02 -5.72708736e-03 1.21045318e+02] [-2.04877294e-02 9.99790068e-01 2.70068211e-04 -5.69590377e+00] [ 5.73141847e-03 -1.52672072e-04 9.99983564e-01 4.47865002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64071405700001 meters Centerline goodness : 0.992957 with order 1 Centerline is valid? [True, True] Translation: X:121.10, Y:-5.70, Z:0.45 [[ 9.99926498e-01 1.06863811e-02 -5.72710763e-03 1.21103560e+02] [-1.06850118e-02 9.99942877e-01 2.69637610e-04 -5.70485918e+00] [ 5.72966193e-03 -2.08423579e-04 9.99983564e-01 4.50488603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70071405700001 meters Centerline goodness : 0.992995 with order 1 Centerline is valid? [True, True] Translation: X:121.16, Y:-5.71, Z:0.45 [[ 9.99983588e-01 -1.54890777e-04 -5.72712801e-03 1.21162263e+02] [ 1.56435103e-04 9.99999952e-01 2.69203941e-04 -5.71122286e+00] [ 5.72708604e-03 -2.70095446e-04 9.99983564e-01 4.52634092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76071405700002 meters Centerline goodness : 0.993523 with order 1 Centerline is valid? [True, True] Translation: X:121.22, Y:-5.72, Z:0.45 [[ 9.99969780e-01 -5.25722755e-03 -5.72714870e-03 1.21219362e+02] [ 5.25885283e-03 9.99986136e-01 2.68763059e-04 -5.71741703e+00] [ 5.72565635e-03 -2.98873169e-04 9.99983564e-01 4.51554368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82071405700002 meters Centerline goodness : 0.993746 with order 1 Centerline is valid? [True, True] Translation: X:121.28, Y:-5.72, Z:0.45 [[ 9.99954221e-01 -7.66523560e-03 -5.72717396e-03 1.21278564e+02] [ 7.66689718e-03 9.99970573e-01 2.68223745e-04 -5.72284622e+00] [ 5.72494943e-03 -3.12121120e-04 9.99983564e-01 4.52492665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88071405700002 meters Centerline goodness : 0.995859 with order 1 Centerline is valid? [True, True] Translation: X:121.34, Y:-5.72, Z:0.46 [[ 9.99846877e-01 -1.65354589e-02 -5.72718408e-03 1.21338813e+02] [ 1.65372642e-02 9.99863214e-01 2.68007424e-04 -5.71648333e+00] [ 5.72196906e-03 -3.62678342e-04 9.99983564e-01 4.59147396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94071405700002 meters Centerline goodness : 0.993905 with order 1 Centerline is valid? [True, True] Translation: X:121.40, Y:-5.73, Z:0.45 [[ 9.99972429e-01 -4.72668062e-03 -5.72717910e-03 1.21399578e+02] [ 4.72829352e-03 9.99988786e-01 2.68113885e-04 -5.73302918e+00] [ 5.72584759e-03 -2.95186276e-04 9.99983564e-01 4.46908143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00071405700001 meters Centerline goodness : 0.995382 with order 1 Centerline is valid? [True, True] Translation: X:121.46, Y:-5.72, Z:0.46 [[ 9.99839760e-01 -1.69603795e-02 -5.72716894e-03 1.21459696e+02] [ 1.69621936e-02 9.99856096e-01 2.68330749e-04 -5.72182195e+00] [ 5.72179378e-03 -3.65433100e-04 9.99983564e-01 4.59492785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06071405700001 meters Centerline goodness : 0.993769 with order 1 Centerline is valid? [True, True] Translation: X:121.52, Y:-5.73, Z:0.45 [[ 9.99966657e-01 -5.82095374e-03 -5.72717388e-03 1.21521589e+02] [ 5.82258517e-03 9.99983013e-01 2.68225374e-04 -5.73469447e+00] [ 5.72551526e-03 -3.01563388e-04 9.99983564e-01 4.52101460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12071405700001 meters Centerline goodness : 0.995249 with order 1 Centerline is valid? [True, True] Translation: X:121.58, Y:-5.72, Z:0.46 [[ 9.99848740e-01 -1.64224529e-02 -5.72715284e-03 1.21581263e+02] [ 1.64242602e-02 9.99865077e-01 2.68673664e-04 -5.72400101e+00] [ 5.72196784e-03 -3.62697273e-04 9.99983564e-01 4.62215571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18071405700002 meters Centerline goodness : 0.994130 with order 1 Centerline is valid? [True, True] Translation: X:121.64, Y:-5.73, Z:0.46 [[ 9.99895021e-01 -1.33096386e-02 -5.72715792e-03 1.21643051e+02] [ 1.33113944e-02 9.99911363e-01 2.68565445e-04 -5.73035350e+00] [ 5.72307577e-03 -3.44773709e-04 9.99983564e-01 4.61490455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24071405700002 meters Centerline goodness : 0.994290 with order 1 Centerline is valid? [True, True] Translation: X:121.71, Y:-5.73, Z:0.46 [[ 9.99906402e-01 -1.24252533e-02 -5.72713744e-03 1.21705031e+02] [ 1.24269971e-02 9.99922746e-01 2.69001546e-04 -5.73187778e+00] [ 5.72335258e-03 -3.40147489e-04 9.99983564e-01 4.61167233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30071405700002 meters Centerline goodness : 0.995784 with order 1 Centerline is valid? [True, True] Translation: X:121.77, Y:-5.72, Z:0.47 [[ 9.99860584e-01 -1.56847978e-02 -5.72711696e-03 1.21766688e+02] [ 1.56865974e-02 9.99876921e-01 2.69436819e-04 -5.72464661e+00] [ 5.72218601e-03 -3.59238233e-04 9.99983564e-01 4.65343135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36071405700001 meters Centerline goodness : 0.994450 with order 1 Centerline is valid? [True, True] Translation: X:121.83, Y:-5.74, Z:0.46 [[ 9.99983350e-01 -7.07417065e-04 -5.72710189e-03 1.21827981e+02] [ 7.08973590e-04 9.99999712e-01 2.69756757e-04 -5.73556932e+00] [ 5.72690941e-03 -2.73812630e-04 9.99983564e-01 4.56734861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42071405700001 meters Centerline goodness : 0.994490 with order 1 Centerline is valid? [True, True] Translation: X:121.89, Y:-5.73, Z:0.46 [[ 9.99975085e-01 4.12660807e-03 -5.72709192e-03 1.21886552e+02] [-4.12512945e-03 9.99991455e-01 2.69968322e-04 -5.73236594e+00] [ 5.72815703e-03 -2.46336600e-04 9.99983564e-01 4.60052323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48071405700001 meters Centerline goodness : 0.994390 with order 1 Centerline is valid? [True, True] Translation: X:121.95, Y:-5.73, Z:0.46 [[ 9.99937888e-01 9.56139383e-03 -5.72716145e-03 1.21945682e+02] [-9.56001268e-03 9.99954266e-01 2.68485012e-04 -5.73199026e+00] [ 5.72946662e-03 -2.13716599e-04 9.99983564e-01 4.59223368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54071405700002 meters Centerline goodness : 0.994147 with order 1 Centerline is valid? [True, True] Translation: X:122.00, Y:-5.74, Z:0.45 [[ 9.99864404e-01 1.54392917e-02 -5.72723179e-03 1.22003446e+02] [-1.54380155e-02 9.99880791e-01 2.66976091e-04 -5.73553117e+00] [ 5.73067098e-03 -1.78522797e-04 9.99983564e-01 4.54055288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60071405700002 meters Centerline goodness : 0.994708 with order 1 Centerline is valid? [True, True] Translation: X:122.06, Y:-5.73, Z:0.46 [[ 9.99782700e-01 2.00437500e-02 -5.72725636e-03 1.22061675e+02] [-2.00425523e-02 9.99799092e-01 2.66447934e-04 -5.73497162e+00] [ 5.73144633e-03 -1.51601200e-04 9.99983564e-01 4.56368816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66071405700002 meters Centerline goodness : 0.992921 with order 1 Centerline is valid? [True, True] Translation: X:122.12, Y:-5.74, Z:0.46 [[ 9.99759075e-01 2.11893793e-02 -5.72733706e-03 1.22119981e+02] [-2.11882103e-02 9.99775470e-01 2.64701836e-04 -5.73590459e+00] [ 5.73165997e-03 -1.43286040e-04 9.99983564e-01 4.57981239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72071405700001 meters Centerline goodness : 0.993363 with order 1 Centerline is valid? [True, True] Translation: X:122.18, Y:-5.74, Z:0.46 [[ 9.99788741e-01 1.97400715e-02 -5.72737390e-03 1.22178264e+02] [-1.97388834e-02 9.99805134e-01 2.63902409e-04 -5.73679270e+00] [ 5.73146728e-03 -1.50794692e-04 9.99983564e-01 4.60454936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78071405700001 meters Centerline goodness : 0.996476 with order 1 Centerline is valid? [True, True] Translation: X:122.24, Y:-5.73, Z:0.47 [[ 9.99915878e-01 1.16375677e-02 -5.72739815e-03 1.22236234e+02] [-1.16362498e-02 9.99932262e-01 2.63374982e-04 -5.72989899e+00] [ 5.73007523e-03 -1.96707391e-04 9.99983564e-01 4.66209664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84071405700001 meters Centerline goodness : 0.993605 with order 1 Centerline is valid? [True, True] Translation: X:122.29, Y:-5.75, Z:0.46 [[ 9.99783125e-01 2.00224849e-02 -5.72742159e-03 1.22293768e+02] [-2.00213074e-02 9.99799519e-01 2.62864302e-04 -5.74544719e+00] [ 5.73153655e-03 -1.48136825e-04 9.99983564e-01 4.56413441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90071405700002 meters Centerline goodness : 0.995802 with order 1 Centerline is valid? [True, True] Translation: X:122.35, Y:-5.74, Z:0.47 [[ 9.99955843e-01 7.45030542e-03 -5.72750185e-03 1.22350741e+02] [-7.44893191e-03 9.99972222e-01 2.61103715e-04 -5.73646402e+00] [ 5.72928806e-03 -2.18428414e-04 9.99983564e-01 4.66087073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96071405700002 meters Centerline goodness : 0.993517 with order 1 Centerline is valid? [True, True] Translation: X:122.41, Y:-5.76, Z:0.45 [[ 9.99922950e-01 1.10131496e-02 -5.72754811e-03 1.22409009e+02] [-1.10118403e-02 9.99939334e-01 2.60084936e-04 -5.75582202e+00] [ 5.73006500e-03 -1.96994051e-04 9.99983564e-01 4.54664909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02071405700002 meters Centerline goodness : 0.994954 with order 1 Centerline is valid? [True, True] Translation: X:122.47, Y:-5.75, Z:0.47 [[ 9.99975097e-01 -4.12311494e-03 -5.72761632e-03 1.22466967e+02] [ 4.12466346e-03 9.99991460e-01 2.58574102e-04 -5.74612134e+00] [ 5.72650128e-03 -2.82192153e-04 9.99983564e-01 4.66676365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08071405700002 meters Centerline goodness : 0.993603 with order 1 Centerline is valid? [True, True] Translation: X:122.53, Y:-5.76, Z:0.46 [[ 9.99983339e-01 -7.18409779e-04 -5.72764281e-03 1.22526331e+02] [ 7.19899215e-04 9.99999708e-01 2.57986078e-04 -5.76032788e+00] [ 5.72745579e-03 -2.62105105e-04 9.99983564e-01 4.58762172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14071405700001 meters Centerline goodness : 0.993213 with order 1 Centerline is valid? [True, True] Translation: X:122.58, Y:-5.76, Z:0.46 [[ 9.99973564e-01 -4.47945442e-03 -5.72765253e-03 1.22584756e+02] [ 4.48100418e-03 9.99989927e-01 2.57770074e-04 -5.76458077e+00] [ 5.72644016e-03 -2.83428894e-04 9.99983564e-01 4.56782747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20071405700001 meters Centerline goodness : 0.993786 with order 1 Centerline is valid? [True, True] Translation: X:122.64, Y:-5.76, Z:0.46 [[ 9.99913964e-01 -1.18007506e-02 -5.72767191e-03 1.22644618e+02] [ 1.18024176e-02 9.99930316e-01 2.57338620e-04 -5.76499453e+00] [ 5.72423600e-03 -3.24916856e-04 9.99983564e-01 4.61214318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26071405700002 meters Centerline goodness : 0.994279 with order 1 Centerline is valid? [True, True] Translation: X:122.71, Y:-5.77, Z:0.46 [[ 9.99815046e-01 -1.83594085e-02 -5.72768176e-03 1.22705795e+02] [ 1.83611816e-02 9.99831386e-01 2.57119335e-04 -5.76537967e+00] [ 5.72199543e-03 -3.62238784e-04 9.99983564e-01 4.63468557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32071405700002 meters Centerline goodness : 0.994305 with order 1 Centerline is valid? [True, True] Translation: X:122.77, Y:-5.77, Z:0.46 [[ 9.99762543e-01 -2.10250403e-02 -5.72764326e-03 1.22767693e+02] [ 2.10268618e-02 9.99778878e-01 2.57974088e-04 -5.76656780e+00] [ 5.72095283e-03 -3.78347194e-04 9.99983564e-01 4.63694421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38071405700002 meters Centerline goodness : 0.995006 with order 1 Centerline is valid? [True, True] Translation: X:122.83, Y:-5.77, Z:0.46 [[ 9.99792212e-01 -1.95633985e-02 -5.72762370e-03 1.22829007e+02] [ 1.95651986e-02 9.99808550e-01 2.58407462e-04 -5.76673994e+00] [ 5.72147182e-03 -3.70415863e-04 9.99983564e-01 4.61305197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44071405700002 meters Centerline goodness : 0.995964 with order 1 Centerline is valid? [True, True] Translation: X:122.89, Y:-5.76, Z:0.47 [[ 9.99799531e-01 -1.91857158e-02 -5.72760923e-03 1.22891392e+02] [ 1.91875115e-02 9.99815869e-01 2.58727922e-04 -5.75690039e+00] [ 5.72159072e-03 -3.68574623e-04 9.99983564e-01 4.66955444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50071405700001 meters Centerline goodness : 0.994823 with order 1 Centerline is valid? [True, True] Translation: X:122.95, Y:-5.76, Z:0.46 [[ 9.99924115e-01 -1.09068022e-02 -5.72759086e-03 1.22952850e+02] [ 1.09084648e-02 9.99940467e-01 2.59133942e-04 -5.76380202e+00] [ 5.72442356e-03 -3.21593501e-04 9.99983564e-01 4.64924745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56071405700001 meters Centerline goodness : 0.994518 with order 1 Centerline is valid? [True, True] Translation: X:123.01, Y:-5.76, Z:0.47 [[ 9.99980110e-01 -2.64109322e-03 -5.72757650e-03 1.23014566e+02] [ 2.64262250e-03 9.99996475e-01 2.59450925e-04 -5.76177944e+00] [ 5.72687107e-03 -2.74581587e-04 9.99983564e-01 4.65161934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62071405700001 meters Centerline goodness : 0.993856 with order 1 Centerline is valid? [True, True] Translation: X:123.07, Y:-5.76, Z:0.46 [[ 9.99982959e-01 1.13026923e-03 -5.72756670e-03 1.23074346e+02] [-1.12880045e-03 9.99999329e-01 2.59667179e-04 -5.76231812e+00] [ 5.72785635e-03 -2.53197474e-04 9.99983564e-01 4.63725082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68071405700002 meters Centerline goodness : 0.994186 with order 1 Centerline is valid? [True, True] Translation: X:123.13, Y:-5.76, Z:0.46 [[ 9.99976008e-01 3.89582851e-03 -5.72757647e-03 1.23132220e+02] [-3.89440624e-03 9.99992383e-01 2.59451370e-04 -5.76176730e+00] [ 5.72854362e-03 -2.37139636e-04 9.99983564e-01 4.64194438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74071405700002 meters Centerline goodness : 0.994474 with order 1 Centerline is valid? [True, True] Translation: X:123.19, Y:-5.76, Z:0.47 [[ 9.99966705e-01 5.81230427e-03 -5.72761254e-03 1.23190136e+02] [-5.81091796e-03 9.99983083e-01 2.58652680e-04 -5.76145145e+00] [ 5.72901901e-03 -2.25361382e-04 9.99983564e-01 4.66139068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80071405700002 meters Centerline goodness : 0.993607 with order 1 Centerline is valid? [True, True] Translation: X:123.25, Y:-5.77, Z:0.46 [[ 9.99967341e-01 5.70179787e-03 -5.72768925e-03 1.23248677e+02] [-5.70041952e-03 9.99983719e-01 2.56942692e-04 -5.76568809e+00] [ 5.72906104e-03 -2.24284069e-04 9.99983564e-01 4.60725092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86071405700001 meters Centerline goodness : 0.994319 with order 1 Centerline is valid? [True, True] Translation: X:123.31, Y:-5.76, Z:0.47 [[ 9.99982082e-01 -1.74012867e-03 -5.72770866e-03 1.23307927e+02] [ 1.74162639e-03 9.99998450e-01 2.56509365e-04 -5.76437997e+00] [ 5.72725342e-03 -2.66480298e-04 9.99983564e-01 4.65907115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92071405700001 meters Centerline goodness : 0.994332 with order 1 Centerline is valid? [True, True] Translation: X:123.37, Y:-5.77, Z:0.46 [[ 9.99980821e-01 -2.35614012e-03 -5.72772817e-03 1.23366170e+02] [ 2.35764543e-03 9.99997188e-01 2.56072931e-04 -5.76935815e+00] [ 5.72710872e-03 -2.69571972e-04 9.99983564e-01 4.61040955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98071405700001 meters Centerline goodness : 0.994169 with order 1 Centerline is valid? [True, True] Translation: X:123.42, Y:-5.77, Z:0.47 [[ 9.99965042e-01 -6.09166246e-03 -5.72774254e-03 1.23424679e+02] [ 6.09322706e-03 9.99981403e-01 2.55751031e-04 -5.76918398e+00] [ 5.72607808e-03 -2.90642527e-04 9.99983564e-01 4.66960441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04071405700002 meters Centerline goodness : 0.994252 with order 1 Centerline is valid? [True, True] Translation: X:123.48, Y:-5.77, Z:0.47 [[ 9.99975884e-01 -3.92740829e-03 -5.72776153e-03 1.23483790e+02] [ 3.92893504e-03 9.99992249e-01 2.55325131e-04 -5.76996769e+00] [ 5.72671437e-03 -2.77822977e-04 9.99983564e-01 4.69547781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10071405700002 meters Centerline goodness : 0.995082 with order 1 Centerline is valid? [True, True] Translation: X:123.54, Y:-5.77, Z:0.47 [[ 9.99981725e-01 -1.93447275e-03 -5.72776620e-03 1.23542850e+02] [ 1.93596628e-03 9.99998093e-01 2.55220278e-04 -5.77072335e+00] [ 5.72726156e-03 -2.66304376e-04 9.99983564e-01 4.70131966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16071405700002 meters Centerline goodness : 0.994696 with order 1 Centerline is valid? [True, True] Translation: X:123.60, Y:-5.77, Z:0.47 [[ 9.99982211e-01 -1.66472529e-03 -5.72777076e-03 1.23601362e+02] [ 1.66621383e-03 9.99998579e-01 2.55117773e-04 -5.77375520e+00] [ 5.72733793e-03 -2.64656926e-04 9.99983564e-01 4.69331052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22071405700001 meters Centerline goodness : 0.995406 with order 1 Centerline is valid? [True, True] Translation: X:123.66, Y:-5.77, Z:0.47 [[ 9.99972283e-01 -4.75655465e-03 -5.72783550e-03 1.23660672e+02] [ 4.75808543e-03 9.99988648e-01 2.53655975e-04 -5.77497789e+00] [ 5.72656395e-03 -2.80902475e-04 9.99983564e-01 4.70234738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28071405700001 meters Centerline goodness : 0.994882 with order 1 Centerline is valid? [True, True] Translation: X:123.72, Y:-5.78, Z:0.47 [[ 9.99951422e-01 -8.02156502e-03 -5.72784949e-03 1.23720034e+02] [ 8.02314742e-03 9.99967782e-01 2.53339562e-04 -5.77679070e+00] [ 5.72563277e-03 -2.99282636e-04 9.99983564e-01 4.70092730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34071405700001 meters Centerline goodness : 0.994955 with order 1 Centerline is valid? [True, True] Translation: X:123.78, Y:-5.78, Z:0.47 [[ 9.99917704e-01 -1.14794227e-02 -5.72785882e-03 1.23781617e+02] [ 1.14810605e-02 9.99934058e-01 2.53128600e-04 -5.78024178e+00] [ 5.72457534e-03 -3.18869662e-04 9.99983564e-01 4.71982691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40071405700002 meters Centerline goodness : 0.994075 with order 1 Centerline is valid? [True, True] Translation: X:123.84, Y:-5.79, Z:0.47 [[ 9.99933593e-01 -1.00000581e-02 -5.72784937e-03 1.23843763e+02] [ 1.00016729e-02 9.99949950e-01 2.53342304e-04 -5.78635316e+00] [ 5.72502925e-03 -3.10613556e-04 9.99983564e-01 4.69121841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46071405700002 meters Centerline goodness : 0.995491 with order 1 Centerline is valid? [True, True] Translation: X:123.91, Y:-5.78, Z:0.48 [[ 9.99872336e-01 -1.49165383e-02 -5.72782997e-03 1.23905227e+02] [ 1.49182360e-02 9.99888685e-01 2.53779977e-04 -5.78491261e+00] [ 5.72340686e-03 -3.39196698e-04 9.99983564e-01 4.76133884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52071405700002 meters Centerline goodness : 0.995566 with order 1 Centerline is valid? [True, True] Translation: X:123.97, Y:-5.78, Z:0.48 [[ 9.99819550e-01 -1.81124313e-02 -5.72776797e-03 1.23966836e+02] [ 1.81141892e-02 9.99835892e-01 2.55171841e-04 -5.78297012e+00] [ 5.72220621e-03 -3.58879668e-04 9.99983564e-01 4.75562627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58071405700002 meters Centerline goodness : 0.994265 with order 1 Centerline is valid? [True, True] Translation: X:124.03, Y:-5.79, Z:0.47 [[ 9.99935572e-01 -9.80025581e-03 -5.72775389e-03 1.24028836e+02] [ 9.80187958e-03 9.99951928e-01 2.55487499e-04 -5.79253138e+00] [ 5.72497470e-03 -3.11613793e-04 9.99983564e-01 4.71841673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64071405700001 meters Centerline goodness : 0.994243 with order 1 Centerline is valid? [True, True] Translation: X:124.09, Y:-5.79, Z:0.47 [[ 9.99964156e-01 -6.23536680e-03 -5.72773417e-03 1.24089821e+02] [ 6.23693477e-03 9.99980517e-01 2.55928780e-04 -5.79342706e+00] [ 5.72602677e-03 -2.91643111e-04 9.99983564e-01 4.73039289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70071405700001 meters Centerline goodness : 0.993905 with order 1 Centerline is valid? [True, True] Translation: X:124.15, Y:-5.80, Z:0.48 [[ 9.99981678e-01 1.95885167e-03 -5.72771958e-03 1.24150266e+02] [-1.95741596e-03 9.99998051e-01 2.56254821e-04 -5.79587686e+00] [ 5.72821039e-03 -2.45038596e-04 9.99983564e-01 4.75095478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76071405700002 meters Centerline goodness : 0.995719 with order 1 Centerline is valid? [True, True] Translation: X:124.21, Y:-5.79, Z:0.48 [[ 9.99976876e-01 -3.66619554e-03 -5.72771958e-03 1.24209564e+02] [ 3.66772333e-03 9.99993241e-01 2.56254821e-04 -5.79087943e+00] [ 5.72674139e-03 -2.77256586e-04 9.99983564e-01 4.75408160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82071405700002 meters Centerline goodness : 0.993749 with order 1 Centerline is valid? [True, True] Translation: X:124.27, Y:-5.80, Z:0.47 [[ 9.99916729e-01 1.15641282e-02 -5.72772903e-03 1.24268637e+02] [-1.15628511e-02 9.99933115e-01 2.56043453e-04 -5.80382157e+00] [ 5.73030685e-03 -1.89793254e-04 9.99983564e-01 4.69349263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88071405700002 meters Centerline goodness : 0.993445 with order 1 Centerline is valid? [True, True] Translation: X:124.33, Y:-5.81, Z:0.47 [[ 9.99830108e-01 1.75199587e-02 -5.72773862e-03 1.24326291e+02] [-1.75187804e-02 9.99846502e-01 2.55828778e-04 -5.80759125e+00] [ 5.73134153e-03 -1.55442319e-04 9.99983564e-01 4.69629141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94071405700002 meters Centerline goodness : 0.993264 with order 1 Centerline is valid? [True, True] Translation: X:124.39, Y:-5.81, Z:0.47 [[ 9.99825463e-01 1.77830157e-02 -5.72781374e-03 1.24385055e+02] [-1.77818514e-02 9.99841858e-01 2.54135648e-04 -5.81040407e+00] [ 5.73142723e-03 -1.52240159e-04 9.99983564e-01 4.72664342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00071405700001 meters Centerline goodness : 0.993471 with order 1 Centerline is valid? [True, True] Translation: X:124.44, Y:-5.81, Z:0.48 [[ 9.99858940e-01 1.57889823e-02 -5.72783275e-03 1.24442290e+02] [-1.57877878e-02 9.99875333e-01 2.53706461e-04 -5.81295187e+00] [ 5.73112445e-03 -1.63240865e-04 9.99983564e-01 4.78649944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06071405700001 meters Centerline goodness : 0.993446 with order 1 Centerline is valid? [True, True] Translation: X:124.50, Y:-5.82, Z:0.48 [[ 9.99961229e-01 6.68817447e-03 -5.72786537e-03 1.24501267e+02] [-6.68683502e-03 9.99977611e-01 2.52967974e-04 -5.81897693e+00] [ 5.72942902e-03 -2.14656875e-04 9.99983564e-01 4.75695856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12071405700001 meters Centerline goodness : 0.995066 with order 1 Centerline is valid? [True, True] Translation: X:124.56, Y:-5.82, Z:0.48 [[ 9.99972188e-01 -4.77647415e-03 -5.72788422e-03 1.24560341e+02] [ 4.77799889e-03 9.99988553e-01 2.52540242e-04 -5.81722408e+00] [ 5.72661241e-03 -2.79901043e-04 9.99983564e-01 4.77871649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18071405700002 meters Centerline goodness : 0.993157 with order 1 Centerline is valid? [True, True] Translation: X:124.62, Y:-5.84, Z:0.47 [[ 9.99973496e-01 4.49429846e-03 -5.72789350e-03 1.24619433e+02] [-4.49292672e-03 9.99989875e-01 2.52329689e-04 -5.83522761e+00] [ 5.72896955e-03 -2.26587995e-04 9.99983564e-01 4.70294714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24071405700002 meters Centerline goodness : 0.994042 with order 1 Centerline is valid? [True, True] Translation: X:124.68, Y:-5.84, Z:0.47 [[ 9.99974845e-01 4.18332756e-03 -5.72790268e-03 1.24678239e+02] [-4.18195192e-03 9.99991224e-01 2.52121028e-04 -5.83905768e+00] [ 5.72890712e-03 -2.28160872e-04 9.99983564e-01 4.74895264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30071405700002 meters Centerline goodness : 0.994202 with order 1 Centerline is valid? [True, True] Translation: X:124.74, Y:-5.85, Z:0.47 [[ 9.99952811e-01 7.84644270e-03 -5.72792124e-03 1.24736316e+02] [-7.84512948e-03 9.99969195e-01 2.51698715e-04 -5.84575319e+00] [ 5.72971973e-03 -2.06750553e-04 9.99983564e-01 4.72881415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36071405700001 meters Centerline goodness : 0.993401 with order 1 Centerline is valid? [True, True] Translation: X:124.79, Y:-5.85, Z:0.47 [[ 9.99937830e-01 9.56696050e-03 -5.72799479e-03 1.24793672e+02] [-9.56568512e-03 9.99954217e-01 2.50013737e-04 -5.85080097e+00] [ 5.73012441e-03 -1.95205999e-04 9.99983564e-01 4.72567337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42071405700001 meters Centerline goodness : 0.993353 with order 1 Centerline is valid? [True, True] Translation: X:124.85, Y:-5.86, Z:0.47 [[ 9.99905302e-01 1.25130715e-02 -5.72801728e-03 1.24851309e+02] [-1.25118474e-02 9.99921693e-01 2.49497428e-04 -5.85666897e+00] [ 5.73069071e-03 -1.77805724e-04 9.99983564e-01 4.72593784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48071405700001 meters Centerline goodness : 0.993892 with order 1 Centerline is valid? [True, True] Translation: X:124.91, Y:-5.86, Z:0.48 [[ 9.99906461e-01 1.24200641e-02 -5.72809063e-03 1.24908103e+02] [-1.24188481e-02 9.99922852e-01 2.47801823e-04 -5.86134896e+00] [ 5.73072644e-03 -1.76642357e-04 9.99983564e-01 4.75284655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54071405700002 meters Centerline goodness : 0.993741 with order 1 Centerline is valid? [True, True] Translation: X:124.97, Y:-5.87, Z:0.47 [[ 9.99830037e-01 1.75238456e-02 -5.72812193e-03 1.24965423e+02] [-1.75227175e-02 9.99846435e-01 2.47076260e-04 -5.87044841e+00] [ 5.73157201e-03 -1.46662004e-04 9.99983564e-01 4.73013233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60071405700002 meters Centerline goodness : 0.995545 with order 1 Centerline is valid? [True, True] Translation: X:125.02, Y:-5.86, Z:0.49 [[ 9.99932201e-01 1.01381130e-02 -5.72819387e-03 1.25023086e+02] [-1.01368734e-02 9.99948590e-01 2.45396806e-04 -5.86374963e+00] [ 5.73038725e-03 -1.87314193e-04 9.99983564e-01 4.86758855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66071405700002 meters Centerline goodness : 0.994047 with order 1 Centerline is valid? [True, True] Translation: X:125.08, Y:-5.89, Z:0.47 [[ 9.99604632e-01 2.75275876e-02 -5.72822137e-03 1.25081477e+02] [-2.75266369e-02 9.99621040e-01 2.44753202e-04 -5.88782602e+00] [ 5.73278807e-03 -8.69777644e-05 9.99983564e-01 4.69101587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72071405700001 meters Centerline goodness : 0.994035 with order 1 Centerline is valid? [True, True] Translation: X:125.14, Y:-5.89, Z:0.48 [[ 9.99649047e-01 2.58644310e-02 -5.72827812e-03 1.25141287e+02] [-2.58634607e-02 9.99665455e-01 2.43417870e-04 -5.89178983e+00] [ 5.73265762e-03 -9.51793459e-05 9.99983564e-01 4.75546027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78071405700001 meters Centerline goodness : 0.995834 with order 1 Centerline is valid? [True, True] Translation: X:125.20, Y:-5.89, Z:0.49 [[ 9.99880601e-01 1.43516560e-02 -5.72828715e-03 1.25198940e+02] [-1.43504980e-02 9.99896997e-01 2.43205212e-04 -5.88571193e+00] [ 5.73118751e-03 -1.60972400e-04 9.99983564e-01 4.87397135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84071405700001 meters Centerline goodness : 0.995948 with order 1 Centerline is valid? [True, True] Translation: X:125.26, Y:-5.89, Z:0.49 [[ 9.99879918e-01 1.43991894e-02 -5.72830928e-03 1.25256783e+02] [-1.43980352e-02 9.99896313e-01 2.42682846e-04 -5.89295281e+00] [ 5.73120976e-03 -1.60177306e-04 9.99983564e-01 4.86711311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90071405700002 meters Centerline goodness : 0.993412 with order 1 Centerline is valid? [True, True] Translation: X:125.31, Y:-5.91, Z:0.48 [[ 9.99593547e-01 2.79271624e-02 -5.72833030e-03 1.25314222e+02] [-2.79262330e-02 9.99609957e-01 2.42185633e-04 -5.91412632e+00] [ 5.73285956e-03 -8.21165098e-05 9.99983564e-01 4.79394817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96071405700002 meters Centerline goodness : 0.993643 with order 1 Centerline is valid? [True, True] Translation: X:125.37, Y:-5.92, Z:0.48 [[ 9.99670714e-01 2.50129946e-02 -5.72840247e-03 1.25372676e+02] [-2.50120272e-02 9.99687121e-01 2.40466283e-04 -5.92162463e+00] [ 5.73262496e-03 -9.71081423e-05 9.99983564e-01 4.77389363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02071405700002 meters Centerline goodness : 0.995713 with order 1 Centerline is valid? [True, True] Translation: X:125.43, Y:-5.92, Z:0.49 [[ 9.99931051e-01 1.02507755e-02 -5.72842032e-03 1.25430271e+02] [-1.02495684e-02 9.99947443e-01 2.40040289e-04 -5.91553905e+00] [ 5.73057985e-03 -1.81309902e-04 9.99983564e-01 4.88723379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08071405700002 meters Centerline goodness : 0.992326 with order 1 Centerline is valid? [True, True] Translation: X:125.49, Y:-5.94, Z:0.48 [[ 9.99829688e-01 1.75436602e-02 -5.72844226e-03 1.25488664e+02] [-1.75425757e-02 9.99846088e-01 2.39515718e-04 -5.93819160e+00] [ 5.73176257e-03 -1.38983294e-04 9.99983564e-01 4.78546139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14071405700001 meters Centerline goodness : 0.992209 with order 1 Centerline is valid? [True, True] Translation: X:125.55, Y:-5.94, Z:0.48 [[ 9.99882447e-01 1.42224037e-02 -5.72849956e-03 1.25546824e+02] [-1.42212726e-02 9.99898844e-01 2.38137191e-04 -5.94261196e+00] [ 5.73130698e-03 -1.56642643e-04 9.99983564e-01 4.80686981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20071405700001 meters Centerline goodness : 0.995110 with order 1 Centerline is valid? [True, True] Translation: X:125.60, Y:-5.94, Z:0.49 [[ 9.99983254e-01 -8.22393565e-04 -5.72852181e-03 1.25604649e+02] [ 8.23768160e-04 9.99999632e-01 2.37600837e-04 -5.93600622e+00] [ 5.72832430e-03 -2.42315832e-04 9.99983564e-01 4.90076948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26071405700002 meters Centerline goodness : 0.994210 with order 1 Centerline is valid? [True, True] Translation: X:125.66, Y:-5.94, Z:0.49 [[ 9.99976617e-01 -3.73482266e-03 -5.72854607e-03 1.25663253e+02] [ 3.73624160e-03 9.99992992e-01 2.37014374e-04 -5.94271746e+00] [ 5.72762072e-03 -2.58412064e-04 9.99983564e-01 4.88893650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32071405700002 meters Centerline goodness : 0.993703 with order 1 Centerline is valid? [True, True] Translation: X:125.72, Y:-5.95, Z:0.49 [[ 9.99965650e-01 -5.99026370e-03 -5.72856349e-03 1.25722389e+02] [ 5.99171715e-03 9.99982022e-01 2.36592607e-04 -5.94797735e+00] [ 5.72704325e-03 -2.70908412e-04 9.99983564e-01 4.89142257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38071405700002 meters Centerline goodness : 0.994264 with order 1 Centerline is valid? [True, True] Translation: X:125.78, Y:-5.95, Z:0.49 [[ 9.99950559e-01 -8.12791791e-03 -5.72857226e-03 1.25782066e+02] [ 8.12940515e-03 9.99966928e-01 2.36380240e-04 -5.95356745e+00] [ 5.72646152e-03 -2.82938438e-04 9.99983564e-01 4.90539119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44071405700002 meters Centerline goodness : 0.993641 with order 1 Centerline is valid? [True, True] Translation: X:125.84, Y:-5.96, Z:0.49 [[ 9.99943577e-01 -8.94575330e-03 -5.72858095e-03 1.25842150e+02] [ 8.94725273e-03 9.99959945e-01 2.36169456e-04 -5.95920939e+00] [ 5.72623877e-03 -2.87411193e-04 9.99983564e-01 4.90192605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50071405700001 meters Centerline goodness : 0.993375 with order 1 Centerline is valid? [True, True] Translation: X:125.90, Y:-5.96, Z:0.49 [[ 9.99945369e-01 -8.74309083e-03 -5.72857667e-03 1.25902085e+02] [ 8.74458753e-03 9.99961737e-01 2.36273135e-04 -5.96435156e+00] [ 5.72629172e-03 -2.86354267e-04 9.99983564e-01 4.90039654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56071405700001 meters Centerline goodness : 0.993638 with order 1 Centerline is valid? [True, True] Translation: X:125.96, Y:-5.97, Z:0.49 [[ 9.99931595e-01 -1.01975129e-02 -5.72857667e-03 1.25961991e+02] [ 1.01990334e-02 9.99947961e-01 2.36273135e-04 -5.96892872e+00] [ 5.72586916e-03 -2.94682917e-04 9.99983564e-01 4.89123874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62071405700001 meters Centerline goodness : 0.993842 with order 1 Centerline is valid? [True, True] Translation: X:126.02, Y:-5.97, Z:0.49 [[ 9.99931480e-01 -1.02087369e-02 -5.72857667e-03 1.26021997e+02] [ 1.02102576e-02 9.99947846e-01 2.36273135e-04 -5.97276352e+00] [ 5.72586585e-03 -2.94747189e-04 9.99983564e-01 4.90481877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68071405700002 meters Centerline goodness : 0.993356 with order 1 Centerline is valid? [True, True] Translation: X:126.08, Y:-5.98, Z:0.49 [[ 9.99937868e-01 -9.56258132e-03 -5.72857243e-03 1.26083090e+02] [ 9.56409202e-03 9.99954235e-01 2.36375873e-04 -5.97535879e+00] [ 5.72604990e-03 -2.91149780e-04 9.99983564e-01 4.91362403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74071405700002 meters Centerline goodness : 0.993482 with order 1 Centerline is valid? [True, True] Translation: X:126.14, Y:-5.98, Z:0.49 [[ 9.99969740e-01 -5.26335262e-03 -5.72856395e-03 1.26142862e+02] [ 5.26479412e-03 9.99986113e-01 2.36581120e-04 -5.97855928e+00] [ 5.72723919e-03 -2.66733671e-04 9.99983564e-01 4.92085415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80071405700002 meters Centerline goodness : 0.993608 with order 1 Centerline is valid? [True, True] Translation: X:126.20, Y:-5.98, Z:0.49 [[ 9.99979004e-01 -3.02900144e-03 -5.72855978e-03 1.26202486e+02] [ 3.03040692e-03 9.99995380e-01 2.36682197e-04 -5.98005096e+00] [ 5.72781640e-03 -2.54037094e-04 9.99983564e-01 4.92688591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86071405700001 meters Centerline goodness : 0.993557 with order 1 Centerline is valid? [True, True] Translation: X:126.26, Y:-5.98, Z:0.49 [[ 9.99983381e-01 -6.49375595e-04 -5.72856807e-03 1.26261279e+02] [ 6.50740954e-04 9.99999760e-01 2.36481277e-04 -5.98182379e+00] [ 5.72841313e-03 -2.40205161e-04 9.99983564e-01 4.93738018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92071405700001 meters Centerline goodness : 0.993214 with order 1 Centerline is valid? [True, True] Translation: X:126.32, Y:-5.98, Z:0.49 [[ 9.99983523e-01 3.68424555e-04 -5.72862655e-03 1.26319688e+02] [-3.67084020e-04 9.99999905e-01 2.35056005e-04 -5.98463095e+00] [ 5.72871261e-03 -2.32949244e-04 9.99983564e-01 4.94678390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98071405700001 meters Centerline goodness : 0.993207 with order 1 Centerline is valid? [True, True] Translation: X:126.38, Y:-5.99, Z:0.49 [[ 9.99983419e-01 5.86056201e-04 -5.72868643e-03 1.26376907e+02] [-5.84727630e-04 9.99999802e-01 2.33587515e-04 -5.98860171e+00] [ 5.72882219e-03 -2.30233921e-04 9.99983564e-01 4.93223310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04071405700002 meters Centerline goodness : 0.993497 with order 1 Centerline is valid? [True, True] Translation: X:126.44, Y:-5.99, Z:0.49 [[ 9.99983551e-01 2.82767155e-04 -5.72871691e-03 1.26435777e+02] [-2.81437905e-04 9.99999933e-01 2.32837573e-04 -5.99240225e+00] [ 5.72878237e-03 -2.31221464e-04 9.99983564e-01 4.92843582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10071405700002 meters Centerline goodness : 0.993624 with order 1 Centerline is valid? [True, True] Translation: X:126.49, Y:-6.00, Z:0.49 [[ 9.99983570e-01 2.05300739e-04 -5.72873401e-03 1.26492965e+02] [-2.03972630e-04 9.99999952e-01 2.32416159e-04 -5.99692697e+00] [ 5.72878145e-03 -2.31243835e-04 9.99983564e-01 4.92306368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16071405700002 meters Centerline goodness : 0.993390 with order 1 Centerline is valid? [True, True] Translation: X:126.55, Y:-6.00, Z:0.49 [[ 9.99983133e-01 -9.56885673e-04 -5.72875498e-03 1.26551928e+02] [ 9.58229858e-04 9.99999514e-01 2.31898084e-04 -6.00115273e+00] [ 5.72853030e-03 -2.37383636e-04 9.99983564e-01 4.93631502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22071405700002 meters Centerline goodness : 0.993545 with order 1 Centerline is valid? [True, True] Translation: X:126.61, Y:-6.01, Z:0.49 [[ 9.99964142e-01 -6.23667274e-03 -5.72877178e-03 1.26610345e+02] [ 6.23810102e-03 9.99980516e-01 2.31482329e-04 -6.00598818e+00] [ 5.72721648e-03 -2.67210685e-04 9.99983564e-01 4.92919329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28071405700001 meters Centerline goodness : 0.989740 with order 1 Centerline is valid? [True, True] Translation: X:126.67, Y:-6.03, Z:0.49 [[ 9.99981838e-01 -1.87204697e-03 -5.72878850e-03 1.26669160e+02] [ 1.87340139e-03 9.99998218e-01 2.31067679e-04 -6.02601848e+00] [ 5.72834573e-03 -2.41795803e-04 9.99983564e-01 4.87579135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34071405700001 meters Centerline goodness : 0.992852 with order 1 Centerline is valid? [True, True] Translation: X:126.73, Y:-6.01, Z:0.49 [[ 9.99731469e-01 -2.24537431e-02 -5.72879726e-03 1.26728695e+02] [ 2.24554332e-02 9.99747818e-01 2.30850356e-04 -6.01361095e+00] [ 5.72216911e-03 -3.59430990e-04 9.99983564e-01 4.94991092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40071405700002 meters Centerline goodness : 0.990155 with order 1 Centerline is valid? [True, True] Translation: X:126.79, Y:-6.03, Z:0.49 [[ 9.99818694e-01 -1.81593156e-02 -5.72881006e-03 1.26790039e+02] [ 1.81609336e-02 9.99835050e-01 2.30532214e-04 -6.02760924e+00] [ 5.72367879e-03 -3.34530956e-04 9.99983564e-01 4.90288845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46071405700002 meters Centerline goodness : 0.993615 with order 1 Centerline is valid? [True, True] Translation: X:126.85, Y:-6.01, Z:0.49 [[ 9.99611059e-01 -2.72930727e-02 -5.72879274e-03 1.26851462e+02] [ 2.72948425e-02 9.99627400e-01 2.30961810e-04 -6.01462484e+00] [ 5.72035454e-03 -3.87238475e-04 9.99983564e-01 4.93665933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52071405700002 meters Centerline goodness : 0.990540 with order 1 Centerline is valid? [True, True] Translation: X:126.91, Y:-6.02, Z:0.49 [[ 9.99816029e-01 -1.83054824e-02 -5.72873751e-03 1.26913117e+02] [ 1.83071130e-02 9.99832384e-01 2.32323830e-04 -6.02253219e+00] [ 5.72352448e-03 -3.37157734e-04 9.99983564e-01 4.94724095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58071405700002 meters Centerline goodness : 0.991727 with order 1 Centerline is valid? [True, True] Translation: X:126.98, Y:-6.02, Z:0.49 [[ 9.99761230e-01 -2.10870788e-02 -5.72871975e-03 1.26975129e+02] [ 2.10887574e-02 9.99777580e-01 2.32760933e-04 -6.02183607e+00] [ 5.72253732e-03 -3.53516938e-04 9.99983564e-01 4.91649185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64071405700001 meters Centerline goodness : 0.991381 with order 1 Centerline is valid? [True, True] Translation: X:127.04, Y:-6.02, Z:0.49 [[ 9.99786376e-01 -1.98591339e-02 -5.72870201e-03 1.27036404e+02] [ 1.98607949e-02 9.99802728e-01 2.33196714e-04 -6.01953542e+00] [ 5.72294081e-03 -3.46923473e-04 9.99983564e-01 4.90137836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70071405700001 meters Centerline goodness : 0.991411 with order 1 Centerline is valid? [True, True] Translation: X:127.10, Y:-6.02, Z:0.49 [[ 9.99748060e-01 -2.17025221e-02 -5.72868890e-03 1.27099188e+02] [ 2.17042151e-02 9.99764409e-01 2.33518432e-04 -6.01594416e+00] [ 5.72227133e-03 -3.57796295e-04 9.99983564e-01 4.91099790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76071405700002 meters Centerline goodness : 0.991449 with order 1 Centerline is valid? [True, True] Translation: X:127.16, Y:-6.02, Z:0.49 [[ 9.99684682e-01 -2.44483072e-02 -5.72867079e-03 1.27161361e+02] [ 2.44500476e-02 9.99701026e-01 2.33961742e-04 -6.01516904e+00] [ 5.72123810e-03 -3.73954243e-04 9.99983564e-01 4.89897632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82071405700002 meters Centerline goodness : 0.991634 with order 1 Centerline is valid? [True, True] Translation: X:127.22, Y:-6.01, Z:0.49 [[ 9.99600297e-01 -2.76844658e-02 -5.72865271e-03 1.27222959e+02] [ 2.76862617e-02 9.99616635e-01 2.34403492e-04 -6.01331531e+00] [ 5.71996721e-03 -3.92914778e-04 9.99983564e-01 4.90743326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88071405700002 meters Centerline goodness : 0.992012 with order 1 Centerline is valid? [True, True] Translation: X:127.29, Y:-6.01, Z:0.49 [[ 9.99478580e-01 -3.17765883e-02 -5.72863935e-03 1.27285623e+02] [ 3.17784529e-02 9.99494910e-01 2.34729729e-04 -6.01084099e+00] [ 5.71828696e-03 -4.16654632e-04 9.99983564e-01 4.91508838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94071405700002 meters Centerline goodness : 0.992214 with order 1 Centerline is valid? [True, True] Translation: X:127.35, Y:-6.01, Z:0.49 [[ 9.99412345e-01 -3.37956604e-02 -5.72862147e-03 1.27347764e+02] [ 3.37975604e-02 9.99428672e-01 2.35165116e-04 -6.00801140e+00] [ 5.71740099e-03 -4.28640351e-04 9.99983564e-01 4.88397198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.000714057 meters Centerline goodness : 0.992288 with order 1 Centerline is valid? [True, True] Translation: X:127.41, Y:-6.01, Z:0.49 [[ 9.99505312e-01 -3.09243205e-02 -5.72860320e-03 1.27408961e+02] [ 3.09261761e-02 9.99521644e-01 2.35609331e-04 -6.00593221e+00] [ 5.71857683e-03 -4.12656570e-04 9.99983564e-01 4.85925703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.060714057 meters Centerline goodness : 0.992753 with order 1 Centerline is valid? [True, True] Translation: X:127.47, Y:-6.00, Z:0.49 [[ 9.99535563e-01 -2.99306214e-02 -5.72856774e-03 1.27471176e+02] [ 2.99324657e-02 9.99551895e-01 2.36468453e-04 -6.00143295e+00] [ 5.71892310e-03 -4.07828786e-04 9.99983564e-01 4.88160764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12071405700001 meters Centerline goodness : 0.992676 with order 1 Centerline is valid? [True, True] Translation: X:127.53, Y:-6.00, Z:0.49 [[ 9.99582004e-01 -2.83372575e-02 -5.72854973e-03 1.27532082e+02] [ 2.83390783e-02 9.99598340e-01 2.36904029e-04 -5.99960013e+00] [ 5.71953559e-03 -3.99146823e-04 9.99983564e-01 4.88449838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.180714057 meters Centerline goodness : 0.993072 with order 1 Centerline is valid? [True, True] Translation: X:127.59, Y:-5.99, Z:0.49 [[ 9.99630728e-01 -2.65629795e-02 -5.72851720e-03 1.27594068e+02] [ 2.65647757e-02 9.99647066e-01 2.37687917e-04 -5.99473685e+00] [ 5.72018171e-03 -3.89776921e-04 9.99983564e-01 4.89254567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.240714057 meters Centerline goodness : 0.993238 with order 1 Centerline is valid? [True, True] Translation: X:127.66, Y:-5.99, Z:0.49 [[ 9.99580001e-01 -2.84078429e-02 -5.72849933e-03 1.27655142e+02] [ 2.84096718e-02 9.99596335e-01 2.38117869e-04 -5.99268524e+00] [ 5.71942252e-03 -4.00762646e-04 9.99983564e-01 4.90936743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.300714057 meters Centerline goodness : 0.993426 with order 1 Centerline is valid? [True, True] Translation: X:127.72, Y:-5.99, Z:0.49 [[ 9.99578629e-01 -2.84560795e-02 -5.72848615e-03 1.27718207e+02] [ 2.84579110e-02 9.99594963e-01 2.38434457e-04 -5.99049875e+00] [ 5.71938100e-03 -4.01354736e-04 9.99983564e-01 4.89945171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.360714057 meters Centerline goodness : 0.994150 with order 1 Centerline is valid? [True, True] Translation: X:127.78, Y:-5.99, Z:0.49 [[ 9.99551419e-01 -2.93963540e-02 -5.72845886e-03 1.27781263e+02] [ 2.93982046e-02 9.99567751e-01 2.39088512e-04 -5.98823842e+00] [ 5.71895440e-03 -4.07387666e-04 9.99983564e-01 4.91255612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.420714057 meters Centerline goodness : 0.993987 with order 1 Centerline is valid? [True, True] Translation: X:127.84, Y:-5.99, Z:0.49 [[ 9.99498809e-01 -3.11338350e-02 -5.72843098e-03 1.27844859e+02] [ 3.11357177e-02 9.99515137e-01 2.39754476e-04 -5.98645419e+00] [ 5.71818900e-03 -4.17993123e-04 9.99983564e-01 4.94510819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.480714057 meters Centerline goodness : 0.994673 with order 1 Centerline is valid? [True, True] Translation: X:127.91, Y:-5.99, Z:0.49 [[ 9.99488081e-01 -3.14763485e-02 -5.72840300e-03 1.27908169e+02] [ 3.14782406e-02 9.99504408e-01 2.40421207e-04 -5.98633834e+00] [ 5.71799647e-03 -4.20618179e-04 9.99983564e-01 4.93732856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.540714057 meters Centerline goodness : 0.994435 with order 1 Centerline is valid? [True, True] Translation: X:127.97, Y:-5.99, Z:0.49 [[ 9.99505312e-01 -3.09243669e-02 -5.72837519e-03 1.27969891e+02] [ 3.09262537e-02 9.99521640e-01 2.41081976e-04 -5.98900931e+00] [ 5.71817966e-03 -4.18119901e-04 9.99983564e-01 4.92693327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.600714057 meters Centerline goodness : 0.994781 with order 1 Centerline is valid? [True, True] Translation: X:128.03, Y:-5.99, Z:0.49 [[ 9.99355490e-01 -3.54371263e-02 -5.72835655e-03 1.28032685e+02] [ 3.54390894e-02 9.99371809e-01 2.41524207e-04 -5.98772408e+00] [ 5.71619912e-03 -4.44376282e-04 9.99983564e-01 4.92798612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.660714057 meters Centerline goodness : 0.996676 with order 1 Centerline is valid? [True, True] Translation: X:128.09, Y:-5.98, Z:0.49 [[ 9.98943238e-01 -4.56025492e-02 -5.72833779e-03 1.28094560e+02] [ 4.56046807e-02 9.98959536e-01 2.41968148e-04 -5.98196085e+00] [ 5.71134330e-03 -5.02951461e-04 9.99983564e-01 4.94649050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.720714057 meters Centerline goodness : 0.995623 with order 1 Centerline is valid? [True, True] Translation: X:128.16, Y:-5.99, Z:0.49 [[ 9.99081931e-01 -4.24556459e-02 -5.72827791e-03 1.28156684e+02] [ 4.24577341e-02 9.99098234e-01 2.43377628e-04 -5.98520316e+00] [ 5.71277959e-03 -4.86363891e-04 9.99983564e-01 4.93512929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.780714057 meters Centerline goodness : 0.995584 with order 1 Centerline is valid? [True, True] Translation: X:128.22, Y:-5.98, Z:0.49 [[ 9.99317391e-01 -3.64957378e-02 -5.72825962e-03 1.28219023e+02] [ 3.64977312e-02 9.99333706e-01 2.43807373e-04 -5.98352608e+00] [ 5.71554498e-03 -4.52709427e-04 9.99983564e-01 4.94531177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.840714057 meters Centerline goodness : 0.994652 with order 1 Centerline is valid? [True, True] Translation: X:128.28, Y:-5.98, Z:0.50 [[ 9.99582591e-01 -2.83166365e-02 -5.72824131e-03 1.28281826e+02] [ 2.83184988e-02 9.99598921e-01 2.44236690e-04 -5.97926870e+00] [ 5.71902787e-03 -4.06349938e-04 9.99983564e-01 4.97764383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90071405700002 meters Centerline goodness : 0.994802 with order 1 Centerline is valid? [True, True] Translation: X:128.34, Y:-5.98, Z:0.50 [[ 9.99754105e-01 -2.14223399e-02 -5.72822318e-03 1.28343591e+02] [ 2.14240919e-02 9.99770448e-01 2.44661329e-04 -5.97660511e+00] [ 5.72166703e-03 -3.67323148e-04 9.99983564e-01 5.00253918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.960714057 meters Centerline goodness : 0.993858 with order 1 Centerline is valid? [True, True] Translation: X:128.41, Y:-5.98, Z:0.50 [[ 9.99801381e-01 -1.90889149e-02 -5.72820981e-03 1.28405700e+02] [ 1.90906306e-02 9.99817727e-01 2.44973809e-04 -5.97589252e+00] [ 5.72248943e-03 -3.54280290e-04 9.99983564e-01 5.00794635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.020714057 meters Centerline goodness : 0.993961 with order 1 Centerline is valid? [True, True] Translation: X:128.47, Y:-5.98, Z:0.50 [[ 9.99762617e-01 -2.10213409e-02 -5.72819174e-03 1.28467744e+02] [ 2.10230905e-02 9.99778960e-01 2.45395643e-04 -5.97838864e+00] [ 5.72176704e-03 -3.65761684e-04 9.99983564e-01 4.98356852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.080714057 meters Centerline goodness : 0.994395 with order 1 Centerline is valid? [True, True] Translation: X:128.53, Y:-5.98, Z:0.50 [[ 9.99698785e-01 -2.38647617e-02 -5.72817272e-03 1.28529570e+02] [ 2.38665604e-02 9.99715123e-01 2.45838714e-04 -5.98104550e+00] [ 5.72067402e-03 -3.82476443e-04 9.99983564e-01 4.96949085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.140714057 meters Centerline goodness : 0.994740 with order 1 Centerline is valid? [True, True] Translation: X:128.59, Y:-5.98, Z:0.50 [[ 9.99584147e-01 -2.82616557e-02 -5.72815379e-03 1.28591238e+02] [ 2.82635287e-02 9.99600476e-01 2.46279180e-04 -5.98207570e+00] [ 5.71890500e-03 -4.08074603e-04 9.99983564e-01 4.95155920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.200714057 meters Centerline goodness : 0.994467 with order 1 Centerline is valid? [True, True] Translation: X:128.65, Y:-5.98, Z:0.50 [[ 9.99646219e-01 -2.59735654e-02 -5.72811657e-03 1.28653578e+02] [ 2.59754060e-02 9.99662552e-01 2.47141724e-04 -5.98316303e+00] [ 5.71976448e-03 -3.95844443e-04 9.99983564e-01 4.96439221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.260714057 meters Centerline goodness : 0.994697 with order 1 Centerline is valid? [True, True] Translation: X:128.72, Y:-5.98, Z:0.50 [[ 9.99798399e-01 -1.92444606e-02 -5.72809806e-03 1.28715796e+02] [ 1.92461936e-02 9.99814744e-01 2.47569992e-04 -5.98260932e+00] [ 5.72227255e-03 -3.57764166e-04 9.99983564e-01 4.99803549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.320714057 meters Centerline goodness : 0.994472 with order 1 Centerline is valid? [True, True] Translation: X:128.78, Y:-5.98, Z:0.50 [[ 9.99897834e-01 -1.30962057e-02 -5.72807920e-03 1.28778366e+02] [ 1.30978406e-02 9.99914189e-01 2.48005726e-04 -5.98127303e+00] [ 5.72433973e-03 -3.23005856e-04 9.99983564e-01 5.01347961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.380714057 meters Centerline goodness : 0.994591 with order 1 Centerline is valid? [True, True] Translation: X:128.84, Y:-5.98, Z:0.50 [[ 9.99918927e-01 -1.13722964e-02 -5.72806009e-03 1.28839171e+02] [ 1.13739056e-02 9.99935284e-01 2.48446185e-04 -5.98253391e+00] [ 5.72486399e-03 -3.13576457e-04 9.99983564e-01 5.00100165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.440714057 meters Centerline goodness : 0.996033 with order 1 Centerline is valid? [True, True] Translation: X:128.90, Y:-5.98, Z:0.50 [[ 9.99909255e-01 -1.21931117e-02 -5.72802807e-03 1.28900702e+02] [ 1.21947386e-02 9.99925610e-01 2.49182320e-04 -5.97927823e+00] [ 5.72456366e-03 -3.19011513e-04 9.99983564e-01 5.02030670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.500714057 meters Centerline goodness : 0.994890 with order 1 Centerline is valid? [True, True] Translation: X:128.96, Y:-5.98, Z:0.50 [[ 9.99973086e-01 -4.58445179e-03 -5.72801440e-03 1.28962624e+02] [ 4.58595598e-03 9.99989453e-01 2.49496231e-04 -5.98333230e+00] [ 5.72681018e-03 -2.75757938e-04 9.99983564e-01 5.03250072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.560714057 meters Centerline goodness : 0.994171 with order 1 Centerline is valid? [True, True] Translation: X:129.02, Y:-5.99, Z:0.50 [[ 9.99983323e-01 7.37166029e-04 -5.72799543e-03 1.29022252e+02] [-7.35746474e-04 9.99999698e-01 2.49930889e-04 -5.98557555e+00] [ 5.72817794e-03 -2.45712368e-04 9.99983564e-01 5.02431952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62071405700001 meters Centerline goodness : 0.994263 with order 1 Centerline is valid? [True, True] Translation: X:129.08, Y:-5.99, Z:0.50 [[ 9.99974828e-01 4.18736705e-03 -5.72800007e-03 1.29081346e+02] [-4.18600461e-03 9.99991207e-01 2.49824544e-04 -5.98893379e+00] [ 5.72899581e-03 -2.25840821e-04 9.99983564e-01 5.01689460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.680714057 meters Centerline goodness : 0.993856 with order 1 Centerline is valid? [True, True] Translation: X:129.14, Y:-5.99, Z:0.50 [[ 9.99975361e-01 4.05784021e-03 -5.72806254e-03 1.29139687e+02] [-4.05648389e-03 9.99991742e-01 2.48383763e-04 -5.99139794e+00] [ 5.72902314e-03 -2.25141850e-04 9.99983564e-01 5.01095075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.740714057 meters Centerline goodness : 0.993793 with order 1 Centerline is valid? [True, True] Translation: X:129.20, Y:-6.00, Z:0.50 [[ 9.99983105e-01 9.89535257e-04 -5.72808078e-03 1.29198423e+02] [-9.88131088e-04 9.99999481e-01 2.47962580e-04 -5.99614511e+00] [ 5.72832317e-03 -2.42298296e-04 9.99983564e-01 4.99939343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.800714057 meters Centerline goodness : 0.993492 with order 1 Centerline is valid? [True, True] Translation: X:129.26, Y:-6.00, Z:0.50 [[ 9.99975443e-01 -4.03761453e-03 -5.72809883e-03 1.29256963e+02] [ 4.03909862e-03 9.99991812e-01 2.47544915e-04 -6.00017795e+00] [ 5.72705244e-03 -2.70675192e-04 9.99983564e-01 5.00047497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.860714057 meters Centerline goodness : 0.993606 with order 1 Centerline is valid? [True, True] Translation: X:129.32, Y:-6.00, Z:0.50 [[ 9.99927315e-01 -1.06090773e-02 -5.72811699e-03 1.29316115e+02] [ 1.06106665e-02 9.99943675e-01 2.47123956e-04 -6.00416404e+00] [ 5.72517259e-03 -3.07885133e-04 9.99983564e-01 5.01338162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.920714057 meters Centerline goodness : 0.994263 with order 1 Centerline is valid? [True, True] Translation: X:129.38, Y:-6.01, Z:0.50 [[ 9.99850716e-01 -1.63013405e-02 -5.72812610e-03 1.29376837e+02] [ 1.63030216e-02 9.99867066e-01 2.46912595e-04 -6.01100490e+00] [ 5.72333963e-03 -3.40261499e-04 9.99983564e-01 5.00183890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.980714057 meters Centerline goodness : 0.993468 with order 1 Centerline is valid? [True, True] Translation: X:129.44, Y:-6.01, Z:0.51 [[ 9.99852722e-01 -1.61778755e-02 -5.72806732e-03 1.29438615e+02] [ 1.61795624e-02 9.99869071e-01 2.48268771e-04 -6.01435809e+00] [ 5.72330089e-03 -3.40909829e-04 9.99983564e-01 5.05356803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.040714057 meters Centerline goodness : 0.993973 with order 1 Centerline is valid? [True, True] Translation: X:129.50, Y:-6.02, Z:0.50 [[ 9.99753656e-01 -2.14433176e-02 -5.72804977e-03 1.29500837e+02] [ 2.14450928e-02 9.99769997e-01 2.48672971e-04 -6.01717052e+00] [ 5.72139993e-03 -3.71450271e-04 9.99983564e-01 5.04197679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.100714057 meters Centerline goodness : 0.994240 with order 1 Centerline is valid? [True, True] Translation: X:129.56, Y:-6.02, Z:0.50 [[ 9.99714528e-01 -2.31959625e-02 -5.72798600e-03 1.29562810e+02] [ 2.31977747e-02 9.99730864e-01 2.50133307e-04 -6.02054226e+00] [ 5.72064231e-03 -3.82938430e-04 9.99983564e-01 5.04689304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.160714057 meters Centerline goodness : 0.994155 with order 1 Centerline is valid? [True, True] Translation: X:129.63, Y:-6.02, Z:0.51 [[ 9.99695773e-01 -2.39906584e-02 -5.72796736e-03 1.29625225e+02] [ 2.39924861e-02 9.99712107e-01 2.50559368e-04 -6.02362077e+00] [ 5.72030724e-03 -3.87911318e-04 9.99983564e-01 5.06543840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.220714057 meters Centerline goodness : 0.994629 with order 1 Centerline is valid? [True, True] Translation: X:129.69, Y:-6.03, Z:0.51 [[ 9.99664013e-01 -2.52794744e-02 -5.72794815e-03 1.29687199e+02] [ 2.52813256e-02 9.99680345e-01 2.50997835e-04 -6.02695796e+00] [ 5.71977209e-03 -3.95723625e-04 9.99983564e-01 5.05242957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.280714057 meters Centerline goodness : 0.994092 with order 1 Centerline is valid? [True, True] Translation: X:129.75, Y:-6.03, Z:0.51 [[ 9.99641766e-01 -2.61444286e-02 -5.72790106e-03 1.29749927e+02] [ 2.61463000e-02 9.99658095e-01 2.52067818e-04 -6.02618895e+00] [ 5.71935250e-03 -4.01740938e-04 9.99983564e-01 5.10780623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.340714057 meters Centerline goodness : 0.993937 with order 1 Centerline is valid? [True, True] Translation: X:129.81, Y:-6.03, Z:0.51 [[ 9.99695932e-01 -2.39840499e-02 -5.72787782e-03 1.29812323e+02] [ 2.39858891e-02 9.99712265e-01 2.52594841e-04 -6.02918977e+00] [ 5.72017146e-03 -3.89906277e-04 9.99983564e-01 5.12764183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40071405700002 meters Centerline goodness : 0.994100 with order 1 Centerline is valid? [True, True] Translation: X:129.87, Y:-6.03, Z:0.51 [[ 9.99720982e-01 -2.29161499e-02 -5.72785864e-03 1.29873418e+02] [ 2.29179741e-02 9.99737317e-01 2.53029103e-04 -6.03304665e+00] [ 5.72055557e-03 -3.84229419e-04 9.99983564e-01 5.11577931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.460714057 meters Centerline goodness : 0.994157 with order 1 Centerline is valid? [True, True] Translation: X:129.94, Y:-6.04, Z:0.51 [[ 9.99773959e-01 -2.04749205e-02 -5.72784466e-03 1.29935558e+02] [ 2.04767066e-02 9.99790298e-01 2.53345210e-04 -6.03796517e+00] [ 5.72145629e-03 -3.70575338e-04 9.99983564e-01 5.08521842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.520714057 meters Centerline goodness : 0.994405 with order 1 Centerline is valid? [True, True] Translation: X:130.00, Y:-6.04, Z:0.51 [[ 9.99706774e-01 -2.35278231e-02 -5.72782571e-03 1.29997648e+02] [ 2.35296614e-02 9.99723107e-01 2.53772847e-04 -6.04076194e+00] [ 5.72026899e-03 -3.88472234e-04 9.99983564e-01 5.10901586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.580714057 meters Centerline goodness : 0.994609 with order 1 Centerline is valid? [True, True] Translation: X:130.06, Y:-6.04, Z:0.51 [[ 9.99664616e-01 -2.52556592e-02 -5.72780632e-03 1.30058468e+02] [ 2.52575283e-02 9.99680945e-01 2.54209634e-04 -6.04420897e+00] [ 5.71955861e-03 -3.98794607e-04 9.99983564e-01 5.10474546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.640714057 meters Centerline goodness : 0.994012 with order 1 Centerline is valid? [True, True] Translation: X:130.12, Y:-6.05, Z:0.51 [[ 9.99710348e-01 -2.33754889e-02 -5.72779195e-03 1.30120925e+02] [ 2.33773291e-02 9.99726680e-01 2.54533152e-04 -6.04894316e+00] [ 5.72027659e-03 -3.88359904e-04 9.99983564e-01 5.09371944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.700714057 meters Centerline goodness : 0.994992 with order 1 Centerline is valid? [True, True] Translation: X:130.18, Y:-6.05, Z:0.51 [[ 9.99780004e-01 -2.01776008e-02 -5.72777333e-03 1.30184088e+02] [ 2.01793911e-02 9.99796343e-01 2.54951472e-04 -6.05166368e+00] [ 5.72146252e-03 -3.70478362e-04 9.99983564e-01 5.10138866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.760714057 meters Centerline goodness : 0.993522 with order 1 Centerline is valid? [True, True] Translation: X:130.25, Y:-6.05, Z:0.51 [[ 9.99856158e-01 -1.59642009e-02 -5.72774503e-03 1.30246434e+02] [ 1.59659260e-02 9.99872504e-01 2.55585527e-04 -6.05333769e+00] [ 5.72293455e-03 -3.46997516e-04 9.99983564e-01 5.12409415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.820714057 meters Centerline goodness : 0.995300 with order 1 Centerline is valid? [True, True] Translation: X:130.31, Y:-6.05, Z:0.52 [[ 9.99852899e-01 -1.61670457e-02 -5.72772627e-03 1.30308732e+02] [ 1.61687765e-02 9.99869244e-01 2.56005420e-04 -6.05049423e+00] [ 5.72283848e-03 -3.48578088e-04 9.99983564e-01 5.16632580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.880714057 meters Centerline goodness : 0.994590 with order 1 Centerline is valid? [True, True] Translation: X:130.37, Y:-6.06, Z:0.52 [[ 9.99965688e-01 -5.98467341e-03 -5.72770758e-03 1.30370720e+02] [ 5.98624009e-03 9.99982049e-01 2.56422750e-04 -6.05974528e+00] [ 5.72607016e-03 -2.90701384e-04 9.99983564e-01 5.16632226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.940714057 meters Centerline goodness : 0.993876 with order 1 Centerline is valid? [True, True] Translation: X:130.43, Y:-6.06, Z:0.52 [[ 9.99975091e-01 4.12438908e-03 -5.72768793e-03 1.30430858e+02] [-4.12298537e-03 9.99991467e-01 2.56861001e-04 -6.06364155e+00] [ 5.72869845e-03 -2.33239429e-04 9.99983564e-01 5.16544376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.000714057 meters Centerline goodness : 0.993773 with order 1 Centerline is valid? [True, True] Translation: X:130.49, Y:-6.07, Z:0.52 [[ 9.99752786e-01 2.14839799e-02 -5.72768793e-03 1.30488549e+02] [-2.14828607e-02 9.99769184e-01 2.56861001e-04 -6.06831196e+00] [ 5.73188428e-03 -1.33750379e-04 9.99983564e-01 5.16094437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.060714057 meters Centerline goodness : 0.993099 with order 1 Centerline is valid? [True, True] Translation: X:130.55, Y:-6.07, Z:0.52 [[ 9.99585759e-01 2.82046544e-02 -5.72776546e-03 1.30546099e+02] [-2.82036554e-02 9.99602165e-01 2.55120304e-04 -6.07261778e+00] [ 5.73268234e-03 -9.34706990e-05 9.99983564e-01 5.16128787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12071405700001 meters Centerline goodness : 0.994662 with order 1 Centerline is valid? [True, True] Translation: X:130.60, Y:-6.07, Z:0.52 [[ 9.99527898e-01 3.01856519e-02 -5.72780060e-03 1.30603997e+02] [-3.01846900e-02 9.99544306e-01 2.54329052e-04 -6.07116585e+00] [ 5.73286756e-03 -8.13170974e-05 9.99983564e-01 5.20609592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.180714057 meters Centerline goodness : 0.995265 with order 1 Centerline is valid? [True, True] Translation: X:130.66, Y:-6.08, Z:0.52 [[ 9.99507692e-01 3.08474464e-02 -5.72782302e-03 1.30661439e+02] [-3.08464983e-02 9.99524101e-01 2.53822950e-04 -6.07945557e+00] [ 5.73292695e-03 -7.70147080e-05 9.99983564e-01 5.19889681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.240714057 meters Centerline goodness : 0.993561 with order 1 Centerline is valid? [True, True] Translation: X:130.72, Y:-6.10, Z:0.52 [[ 9.99524186e-01 3.03083023e-02 -5.72785015e-03 1.30719028e+02] [-3.03073488e-02 9.99540595e-01 2.53209335e-04 -6.09731313e+00] [ 5.73289309e-03 -7.94929020e-05 9.99983564e-01 5.17533763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.300714057 meters Centerline goodness : 0.994407 with order 1 Centerline is valid? [True, True] Translation: X:130.78, Y:-6.11, Z:0.52 [[ 9.99779739e-01 2.01906962e-02 -5.72787386e-03 1.30777375e+02] [-2.01895797e-02 9.99796138e-01 2.52671798e-04 -6.10947494e+00] [ 5.73180778e-03 -1.36972778e-04 9.99983564e-01 5.15963914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.360714057 meters Centerline goodness : 0.995457 with order 1 Centerline is valid? [True, True] Translation: X:130.83, Y:-6.11, Z:0.52 [[ 9.99980615e-01 2.44130467e-03 -5.72789261e-03 1.30834797e+02] [-2.43989978e-03 9.99996992e-01 2.52246075e-04 -6.11342508e+00] [ 5.72849119e-03 -2.38265701e-04 9.99983564e-01 5.19642539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.420714057 meters Centerline goodness : 0.994207 with order 1 Centerline is valid? [True, True] Translation: X:130.89, Y:-6.13, Z:0.52 [[ 9.99983106e-01 9.89507398e-04 -5.72791564e-03 1.30892721e+02] [-9.88081734e-04 9.99999480e-01 2.51722059e-04 -6.13479588e+00] [ 5.72816174e-03 -2.46058158e-04 9.99983564e-01 5.15281982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.480714057 meters Centerline goodness : 0.993706 with order 1 Centerline is valid? [True, True] Translation: X:130.95, Y:-6.14, Z:0.52 [[ 9.99960701e-01 -6.76662984e-03 -5.72793456e-03 1.30950798e+02] [ 6.76818000e-03 9.99977064e-01 2.51290777e-04 -6.14333996e+00] [ 5.72610279e-03 -2.90048594e-04 9.99983564e-01 5.16555031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.540714057 meters Centerline goodness : 0.993519 with order 1 Centerline is valid? [True, True] Translation: X:131.01, Y:-6.15, Z:0.52 [[ 9.99854552e-01 -1.60643854e-02 -5.72795339e-03 1.31010747e+02] [ 1.60660852e-02 9.99870901e-01 2.50860731e-04 -6.14766340e+00] [ 5.72318400e-03 -3.42850031e-04 9.99983564e-01 5.20300436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.600714057 meters Centerline goodness : 0.994131 with order 1 Centerline is valid? [True, True] Translation: X:131.07, Y:-6.15, Z:0.52 [[ 9.99779301e-01 -2.02123812e-02 -5.72795339e-03 1.31073356e+02] [ 2.02141488e-02 9.99795642e-01 2.50860731e-04 -6.15142715e+00] [ 5.72171235e-03 -3.66591068e-04 9.99983564e-01 5.20935661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.660714057 meters Centerline goodness : 0.994082 with order 1 Centerline is valid? [True, True] Translation: X:131.14, Y:-6.16, Z:0.52 [[ 9.99648277e-01 -2.58942595e-02 -5.72792968e-03 1.31135417e+02] [ 2.58961231e-02 9.99664608e-01 2.51400963e-04 -6.15574456e+00] [ 5.71949874e-03 -3.99643712e-04 9.99983564e-01 5.21629948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.720714057 meters Centerline goodness : 0.994291 with order 1 Centerline is valid? [True, True] Translation: X:131.20, Y:-6.16, Z:0.52 [[ 9.99613366e-01 -2.72086438e-02 -5.72786307e-03 1.31197535e+02] [ 2.72105373e-02 9.99629693e-01 2.52909541e-04 -6.15831954e+00] [ 5.71886068e-03 -4.08669990e-04 9.99983564e-01 5.21621703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.780714057 meters Centerline goodness : 0.993997 with order 1 Centerline is valid? [True, True] Translation: X:131.26, Y:-6.16, Z:0.52 [[ 9.99574472e-01 -2.86018525e-02 -5.72784424e-03 1.31259611e+02] [ 2.86037712e-02 9.99590796e-01 2.53335406e-04 -6.15923868e+00] [ 5.71825452e-03 -4.17065551e-04 9.99983564e-01 5.23489214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.840714057 meters Centerline goodness : 0.994130 with order 1 Centerline is valid? [True, True] Translation: X:131.32, Y:-6.16, Z:0.53 [[ 9.99497262e-01 -3.11835703e-02 -5.72782537e-03 1.31321352e+02] [ 3.11855337e-02 9.99513581e-01 2.53761222e-04 -6.16144816e+00] [ 5.71712607e-03 -4.32258938e-04 9.99983564e-01 5.27632079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90071405700002 meters Centerline goodness : 0.995307 with order 1 Centerline is valid? [True, True] Translation: X:131.38, Y:-6.16, Z:0.53 [[ 9.99287357e-01 -3.73091210e-02 -5.72780544e-03 1.31383314e+02] [ 3.73111869e-02 9.99303663e-01 2.54210234e-04 -6.15680241e+00] [ 5.71433260e-03 -4.67740293e-04 9.99983564e-01 5.27375469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.960714057 meters Centerline goodness : 0.993944 with order 1 Centerline is valid? [True, True] Translation: X:131.45, Y:-6.16, Z:0.53 [[ 9.99341866e-01 -3.58193820e-02 -5.72778584e-03 1.31445231e+02] [ 3.58214261e-02 9.99358174e-01 2.54651268e-04 -6.16276419e+00] [ 5.71498815e-03 -4.59661131e-04 9.99983564e-01 5.30235128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.020714057 meters Centerline goodness : 0.994339 with order 1 Centerline is valid? [True, True] Translation: X:131.51, Y:-6.17, Z:0.53 [[ 9.99299402e-01 -3.69851062e-02 -5.72776623e-03 1.31507096e+02] [ 3.69871718e-02 9.99315708e-01 2.55091506e-04 -6.16583600e+00] [ 5.71441218e-03 -4.66766663e-04 9.99983564e-01 5.28096685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.080714057 meters Centerline goodness : 0.994326 with order 1 Centerline is valid? [True, True] Translation: X:131.57, Y:-6.17, Z:0.53 [[ 9.99286245e-01 -3.73388923e-02 -5.72774675e-03 1.31568913e+02] [ 3.73409662e-02 9.99302550e-01 2.55528043e-04 -6.16830399e+00] [ 5.71421081e-03 -4.69225257e-04 9.99983564e-01 5.26960228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.140714057 meters Centerline goodness : 0.995095 with order 1 Centerline is valid? [True, True] Translation: X:131.63, Y:-6.17, Z:0.53 [[ 9.99295468e-01 -3.70912508e-02 -5.72772722e-03 1.31632380e+02] [ 3.70933232e-02 9.99311773e-01 2.55965071e-04 -6.16970306e+00] [ 5.71429118e-03 -4.68245172e-04 9.99983564e-01 5.27059739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.200714057 meters Centerline goodness : 0.994249 with order 1 Centerline is valid? [True, True] Translation: X:131.69, Y:-6.17, Z:0.53 [[ 9.99388140e-01 -3.45041895e-02 -5.72769787e-03 1.31694427e+02] [ 3.45062234e-02 9.99404450e-01 2.56620363e-04 -6.16989323e+00] [ 5.71543226e-03 -4.54104569e-04 9.99983564e-01 5.27985058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.260714057 meters Centerline goodness : 0.994141 with order 1 Centerline is valid? [True, True] Translation: X:131.76, Y:-6.17, Z:0.53 [[ 9.99514164e-01 -3.06370621e-02 -5.72767805e-03 1.31756921e+02] [ 3.06390354e-02 9.99530481e-01 2.57061890e-04 -6.17056061e+00] [ 5.71711318e-03 -4.32427531e-04 9.99983564e-01 5.27928688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.320714057 meters Centerline goodness : 0.994177 with order 1 Centerline is valid? [True, True] Translation: X:131.82, Y:-6.17, Z:0.53 [[ 9.99598965e-01 -2.77326969e-02 -5.72765846e-03 1.31817811e+02] [ 2.77346252e-02 9.99615288e-01 2.57497642e-04 -6.17056197e+00] [ 5.71831386e-03 -4.16248837e-04 9.99983564e-01 5.26713096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.380714057 meters Centerline goodness : 0.994145 with order 1 Centerline is valid? [True, True] Translation: X:131.88, Y:-6.17, Z:0.53 [[ 9.99622905e-01 -2.68559625e-02 -5.72764397e-03 1.31879997e+02] [ 2.68578783e-02 9.99639229e-01 2.57819480e-04 -6.17360858e+00] [ 5.71865361e-03 -4.11554622e-04 9.99983564e-01 5.26742508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.440714057 meters Centerline goodness : 0.994005 with order 1 Centerline is valid? [True, True] Translation: X:131.94, Y:-6.17, Z:0.53 [[ 9.99569863e-01 -2.87625426e-02 -5.72762446e-03 1.31941447e+02] [ 2.87644921e-02 9.99586183e-01 2.58252228e-04 -6.17391195e+00] [ 5.71782628e-03 -4.22893352e-04 9.99983564e-01 5.26595724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.500714057 meters Centerline goodness : 0.995523 with order 1 Centerline is valid? [True, True] Translation: X:132.00, Y:-6.17, Z:0.53 [[ 9.99372100e-01 -3.49657064e-02 -5.72761008e-03 1.32002939e+02] [ 3.49677589e-02 9.99388407e-01 2.58570835e-04 -6.16668838e+00] [ 5.71506600e-03 -4.58690167e-04 9.99983564e-01 5.27365060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.560714057 meters Centerline goodness : 0.995507 with order 1 Centerline is valid? [True, True] Translation: X:132.06, Y:-6.17, Z:0.53 [[ 9.99304287e-01 -3.68528981e-02 -5.72759593e-03 1.32064580e+02] [ 3.68549831e-02 9.99320591e-01 2.58883715e-04 -6.16853342e+00] [ 5.71416394e-03 -4.69794058e-04 9.99983564e-01 5.25444676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62071405700001 meters Centerline goodness : 0.994279 with order 1 Centerline is valid? [True, True] Translation: X:132.13, Y:-6.18, Z:0.52 [[ 9.99482007e-01 -3.16687843e-02 -5.72758270e-03 1.32126877e+02] [ 3.16707864e-02 9.99498321e-01 2.59176217e-04 -6.17648449e+00] [ 5.71650150e-03 -4.40439014e-04 9.99983564e-01 5.23027190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.680714057 meters Centerline goodness : 0.993973 with order 1 Centerline is valid? [True, True] Translation: X:132.19, Y:-6.18, Z:0.53 [[ 9.99508782e-01 -3.08121843e-02 -5.72756294e-03 1.32190360e+02] [ 3.08141750e-02 9.99525097e-01 2.59612106e-04 -6.17518761e+00] [ 5.71684369e-03 -4.35974706e-04 9.99983564e-01 5.25543568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.740714057 meters Centerline goodness : 0.993954 with order 1 Centerline is valid? [True, True] Translation: X:132.25, Y:-6.18, Z:0.53 [[ 9.99536882e-01 -2.98867365e-02 -5.72753305e-03 1.32253598e+02] [ 2.98887157e-02 9.99553199e-01 2.60269962e-04 -6.17542899e+00] [ 5.71719536e-03 -4.31338033e-04 9.99983564e-01 5.26508436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.800714057 meters Centerline goodness : 0.993912 with order 1 Centerline is valid? [True, True] Translation: X:132.32, Y:-6.18, Z:0.53 [[ 9.99517863e-01 -3.05161682e-02 -5.72750344e-03 1.32316731e+02] [ 3.05181615e-02 9.99534178e-01 2.60919840e-04 -6.17714463e+00] [ 5.71687317e-03 -4.35586916e-04 9.99983564e-01 5.26213107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.860714057 meters Centerline goodness : 0.994822 with order 1 Centerline is valid? [True, True] Translation: X:132.38, Y:-6.18, Z:0.53 [[ 9.99443689e-01 -3.28558909e-02 -5.72747392e-03 1.32379182e+02] [ 3.28579260e-02 9.99459998e-01 2.61566265e-04 -6.17626924e+00] [ 5.71578708e-03 -4.49613667e-04 9.99983564e-01 5.28535721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.920714057 meters Centerline goodness : 0.995349 with order 1 Centerline is valid? [True, True] Translation: X:132.44, Y:-6.18, Z:0.53 [[ 9.99437364e-01 -3.30477162e-02 -5.72745396e-03 1.32439934e+02] [ 3.30497570e-02 9.99453673e-01 2.62002636e-04 -6.17635122e+00] [ 5.71566631e-03 -4.51146185e-04 9.99983564e-01 5.32879581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.980714057 meters Centerline goodness : 0.995236 with order 1 Centerline is valid? [True, True] Translation: X:132.50, Y:-6.18, Z:0.53 [[ 9.99405921e-01 -3.39853172e-02 -5.72744409e-03 1.32502250e+02] [ 3.39873744e-02 9.99422228e-01 2.62218176e-04 -6.17700806e+00] [ 5.71522337e-03 -4.56723185e-04 9.99983564e-01 5.30196844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.040714057 meters Centerline goodness : 0.996034 with order 1 Centerline is valid? [True, True] Translation: X:132.56, Y:-6.17, Z:0.53 [[ 9.99388204e-01 -3.45023721e-02 -5.72742442e-03 1.32563483e+02] [ 3.45044402e-02 9.99404510e-01 2.62647055e-04 -6.17036831e+00] [ 5.71495185e-03 -4.60107943e-04 9.99983564e-01 5.31828483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.100714057 meters Centerline goodness : 0.995150 with order 1 Centerline is valid? [True, True] Translation: X:132.63, Y:-6.18, Z:0.53 [[ 9.99528948e-01 -3.01509262e-02 -5.72740402e-03 1.32625070e+02] [ 3.01529258e-02 9.99545263e-01 2.63091125e-04 -6.17628114e+00] [ 5.71686712e-03 -4.35665184e-04 9.99983564e-01 5.30556157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.160714057 meters Centerline goodness : 0.996073 with order 1 Centerline is valid? [True, True] Translation: X:132.69, Y:-6.18, Z:0.53 [[ 9.99577176e-01 -2.85073111e-02 -5.72736533e-03 1.32688592e+02] [ 2.85092887e-02 9.99593493e-01 2.63930904e-04 -6.17565237e+00] [ 5.71751315e-03 -4.27102419e-04 9.99983564e-01 5.31490460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.220714057 meters Centerline goodness : 0.995541 with order 1 Centerline is valid? [True, True] Translation: X:132.75, Y:-6.18, Z:0.53 [[ 9.99565330e-01 -2.89197061e-02 -5.72733433e-03 1.32751151e+02] [ 2.89216943e-02 9.99581645e-01 2.64601790e-04 -6.17594830e+00] [ 5.71728607e-03 -4.30130988e-04 9.99983564e-01 5.33051560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.280714057 meters Centerline goodness : 0.996111 with order 1 Centerline is valid? [True, True] Translation: X:132.81, Y:-6.18, Z:0.54 [[ 9.99655612e-01 -2.56096784e-02 -5.72730890e-03 1.32813058e+02] [ 2.56116157e-02 9.99671934e-01 2.65151133e-04 -6.17657413e+00] [ 5.71863953e-03 -4.11745453e-04 9.99983564e-01 5.35158491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.340714057 meters Centerline goodness : 0.995130 with order 1 Centerline is valid? [True, True] Translation: X:132.88, Y:-6.18, Z:0.54 [[ 9.99726929e-01 -2.26553450e-02 -5.72728860e-03 1.32875701e+02] [ 2.26572365e-02 9.99743257e-01 2.65588961e-04 -6.17638028e+00] [ 5.71980114e-03 -3.95280968e-04 9.99983564e-01 5.36567644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40071405700002 meters Centerline goodness : 0.995206 with order 1 Centerline is valid? [True, True] Translation: X:132.94, Y:-6.18, Z:0.53 [[ 9.99828714e-01 -1.75994650e-02 -5.72726824e-03 1.32937788e+02] [ 1.76012764e-02 9.99845050e-01 2.66027179e-04 -6.17865949e+00] [ 5.72169886e-03 -3.66788844e-04 9.99983564e-01 5.31720425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.460714057 meters Centerline goodness : 0.994795 with order 1 Centerline is valid? [True, True] Translation: X:133.00, Y:-6.18, Z:0.53 [[ 9.99942554e-01 -9.06023439e-03 -5.72724832e-03 1.33000304e+02] [ 9.06190868e-03 9.99958905e-01 2.66455433e-04 -6.18087505e+00] [ 5.72459880e-03 -3.18339927e-04 9.99983564e-01 5.32909731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.520714057 meters Centerline goodness : 0.995032 with order 1 Centerline is valid? [True, True] Translation: X:133.06, Y:-6.18, Z:0.54 [[ 9.99981080e-01 -2.24463898e-03 -5.72722830e-03 1.33060965e+02] [ 2.24620425e-03 9.99997442e-01 2.66885051e-04 -6.18113765e+00] [ 5.72661458e-03 -2.79744526e-04 9.99983564e-01 5.35036913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.580714057 meters Centerline goodness : 0.994575 with order 1 Centerline is valid? [True, True] Translation: X:133.12, Y:-6.18, Z:0.53 [[ 9.99940566e-01 9.27706065e-03 -5.72722343e-03 1.33119870e+02] [-9.27568340e-03 9.99956944e-01 2.66989482e-04 -6.18487326e+00] [ 5.72945372e-03 -2.13849703e-04 9.99983564e-01 5.34835270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.640714057 meters Centerline goodness : 0.995190 with order 1 Centerline is valid? [True, True] Translation: X:133.18, Y:-6.18, Z:0.54 [[ 9.99977313e-01 3.54577626e-03 -5.72724011e-03 1.33178875e+02] [-3.54430721e-03 9.99993683e-01 2.66631057e-04 -6.17794162e+00] [ 5.72814935e-03 -2.46325909e-04 9.99983564e-01 5.38414220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.700714057 meters Centerline goodness : 0.996246 with order 1 Centerline is valid? [True, True] Translation: X:133.24, Y:-6.18, Z:0.54 [[ 9.99964539e-01 6.17406281e-03 -5.72725852e-03 1.33237045e+02] [-6.17263906e-03 9.99980914e-01 2.66235167e-04 -6.18225738e+00] [ 5.72879296e-03 -2.30873426e-04 9.99983564e-01 5.36674371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.760714057 meters Centerline goodness : 0.995310 with order 1 Centerline is valid? [True, True] Translation: X:133.29, Y:-6.19, Z:0.54 [[ 9.99946412e-01 8.62389532e-03 -5.72733207e-03 1.33293346e+02] [-8.62252080e-03 9.99962790e-01 2.64643288e-04 -6.18672682e+00] [ 5.72940122e-03 -2.15245066e-04 9.99983564e-01 5.36674655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.820714057 meters Centerline goodness : 0.992788 with order 1 Centerline is valid? [True, True] Translation: X:133.35, Y:-6.20, Z:0.54 [[ 9.99927540e-01 1.05883101e-02 -5.72738456e-03 1.33351094e+02] [-1.05869743e-02 9.99943922e-01 2.63502556e-04 -6.20197072e+00] [ 5.72985342e-03 -2.02847790e-04 9.99983564e-01 5.35024393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.880714057 meters Centerline goodness : 0.992849 with order 1 Centerline is valid? [True, True] Translation: X:133.41, Y:-6.21, Z:0.53 [[ 9.99944694e-01 8.82079392e-03 -5.72740434e-03 1.33408535e+02] [-8.81943161e-03 9.99961073e-01 2.63071934e-04 -6.20657258e+00] [ 5.72950189e-03 -2.12544933e-04 9.99983564e-01 5.33554686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.940714057 meters Centerline goodness : 0.993868 with order 1 Centerline is valid? [True, True] Translation: X:133.47, Y:-6.21, Z:0.54 [[ 9.99983321e-01 7.44523775e-04 -5.72743168e-03 1.33467480e+02] [-7.43032628e-04 9.99999690e-01 2.62475341e-04 -6.21254521e+00] [ 5.72762532e-03 -2.58215294e-04 9.99983564e-01 5.36996366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.000714057 meters Centerline goodness : 0.993578 with order 1 Centerline is valid? [True, True] Translation: X:133.53, Y:-6.22, Z:0.54 [[ 9.99976040e-01 -3.88798640e-03 -5.72745164e-03 1.33526379e+02] [ 3.88955087e-03 9.99992401e-01 2.62039076e-04 -6.21725532e+00] [ 5.72638931e-03 -2.84310012e-04 9.99983564e-01 5.37282810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.060714057 meters Centerline goodness : 0.992815 with order 1 Centerline is valid? [True, True] Translation: X:133.59, Y:-6.23, Z:0.53 [[ 9.99931606e-01 -1.01969847e-02 -5.72747143e-03 1.33586047e+02] [ 1.01986499e-02 9.99947958e-01 2.61605767e-04 -6.22507803e+00] [ 5.72450577e-03 -3.20000351e-04 9.99983564e-01 5.34364955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12071405700001 meters Centerline goodness : 0.992973 with order 1 Centerline is valid? [True, True] Translation: X:133.65, Y:-6.23, Z:0.53 [[ 9.99923970e-01 -1.09201572e-02 -5.72746595e-03 1.33647437e+02] [ 1.09218349e-02 9.99940321e-01 2.61725693e-04 -6.23035336e+00] [ 5.72426605e-03 -3.24260232e-04 9.99983564e-01 5.33532369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.180714057 meters Centerline goodness : 0.995142 with order 1 Centerline is valid? [True, True] Translation: X:133.71, Y:-6.22, Z:0.53 [[ 9.99748569e-01 -2.16793656e-02 -5.72745629e-03 1.33708995e+02] [ 2.16812203e-02 9.99764900e-01 2.61936768e-04 -6.22463823e+00] [ 5.72043115e-03 -3.86049151e-04 9.99983564e-01 5.34483585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.240714057 meters Centerline goodness : 0.993167 with order 1 Centerline is valid? [True, True] Translation: X:133.77, Y:-6.24, Z:0.53 [[ 9.99874264e-01 -1.47869070e-02 -5.72741861e-03 1.33770339e+02] [ 1.47886538e-02 9.99890607e-01 2.62758081e-04 -6.23695613e+00] [ 5.72290670e-03 -3.47425854e-04 9.99983564e-01 5.30878871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.300714057 meters Centerline goodness : 0.993990 with order 1 Centerline is valid? [True, True] Translation: X:133.83, Y:-6.24, Z:0.53 [[ 9.99875687e-01 -1.46904195e-02 -5.72739814e-03 1.33831849e+02] [ 1.46921673e-02 9.99892030e-01 2.63203672e-04 -6.23913578e+00] [ 5.72291318e-03 -3.47318844e-04 9.99983564e-01 5.28686702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.360714057 meters Centerline goodness : 0.993870 with order 1 Centerline is valid? [True, True] Translation: X:133.89, Y:-6.24, Z:0.53 [[ 9.99893139e-01 -1.34502083e-02 -5.72738308e-03 1.33893861e+02] [ 1.34519376e-02 9.99909484e-01 2.63530932e-04 -6.24012607e+00] [ 5.72332011e-03 -3.40547171e-04 9.99983564e-01 5.30183665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.420714057 meters Centerline goodness : 0.994003 with order 1 Centerline is valid? [True, True] Translation: X:133.96, Y:-6.24, Z:0.53 [[ 9.99893749e-01 -1.34047658e-02 -5.72736302e-03 1.33956520e+02] [ 1.34064969e-02 9.99910094e-01 2.63966224e-04 -6.23927254e+00] [ 5.72330969e-03 -3.40722052e-04 9.99983564e-01 5.33135329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.480714057 meters Centerline goodness : 0.993703 with order 1 Centerline is valid? [True, True] Translation: X:134.02, Y:-6.24, Z:0.53 [[ 9.99949663e-01 -8.23825354e-03 -5.72734289e-03 1.34018547e+02] [ 8.23990267e-03 9.99966016e-01 2.64402095e-04 -6.23981190e+00] [ 5.72497005e-03 -3.11581534e-04 9.99983564e-01 5.32951564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.540714057 meters Centerline goodness : 0.994338 with order 1 Centerline is valid? [True, True] Translation: X:134.08, Y:-6.24, Z:0.54 [[ 9.99953486e-01 -7.76037764e-03 -5.72732265e-03 1.34080344e+02] [ 7.76202145e-03 9.99969840e-01 2.64839926e-04 -6.23544597e+00] [ 5.72509465e-03 -3.09283208e-04 9.99983564e-01 5.40145778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.600714057 meters Centerline goodness : 0.993769 with order 1 Centerline is valid? [True, True] Translation: X:134.14, Y:-6.24, Z:0.54 [[ 9.99981797e-01 -1.89853848e-03 -5.72731277e-03 1.34140929e+02] [ 1.90008762e-03 9.99998160e-01 2.65053283e-04 -6.23500434e+00] [ 5.72679902e-03 -2.75930854e-04 9.99983564e-01 5.41481961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.660714057 meters Centerline goodness : 0.993900 with order 1 Centerline is valid? [True, True] Translation: X:134.20, Y:-6.24, Z:0.54 [[ 9.99966081e-01 -5.91896980e-03 -5.72730792e-03 1.34199873e+02] [ 5.92058531e-03 9.99982438e-01 2.65158199e-04 -6.23663221e+00] [ 5.72563787e-03 -2.99058220e-04 9.99983564e-01 5.40304577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.720714057 meters Centerline goodness : 0.993290 with order 1 Centerline is valid? [True, True] Translation: X:134.26, Y:-6.24, Z:0.55 [[ 9.99962211e-01 -6.54027370e-03 -5.72732803e-03 1.34259704e+02] [ 6.54189689e-03 9.99978567e-01 2.64723061e-04 -6.23686577e+00] [ 5.72547391e-03 -3.02180647e-04 9.99983564e-01 5.45892636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.780714057 meters Centerline goodness : 0.993297 with order 1 Centerline is valid? [True, True] Translation: X:134.32, Y:-6.24, Z:0.54 [[ 9.99966817e-01 -5.79329921e-03 -5.72733296e-03 1.34319869e+02] [ 5.79490958e-03 9.99983174e-01 2.64616275e-04 -6.23940074e+00] [ 5.72570360e-03 -2.97796871e-04 9.99983564e-01 5.43678902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.840714057 meters Centerline goodness : 0.994001 with order 1 Centerline is valid? [True, True] Translation: X:134.38, Y:-6.24, Z:0.54 [[ 9.99980771e-01 -2.37817662e-03 -5.72733296e-03 1.34379931e+02] [ 2.37973111e-03 9.99997133e-01 2.64616275e-04 -6.24321171e+00] [ 5.72668724e-03 -2.78240699e-04 9.99983564e-01 5.40551226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90071405700002 meters Centerline goodness : 0.995599 with order 1 Centerline is valid? [True, True] Translation: X:134.44, Y:-6.24, Z:0.54 [[ 9.99960831e-01 -6.74790035e-03 -5.72735375e-03 1.34438856e+02] [ 6.74952375e-03 9.99977187e-01 2.64165592e-04 -6.23553330e+00] [ 5.72544053e-03 -3.02812155e-04 9.99983564e-01 5.42470672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.960714057 meters Centerline goodness : 0.994803 with order 1 Centerline is valid? [True, True] Translation: X:134.50, Y:-6.24, Z:0.54 [[ 9.99976196e-01 -3.84777253e-03 -5.72736711e-03 1.34499338e+02] [ 3.84934683e-03 9.99992556e-01 2.63875719e-04 -6.23793834e+00] [ 5.72630914e-03 -2.85916060e-04 9.99983564e-01 5.42830457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.020714057 meters Centerline goodness : 0.993278 with order 1 Centerline is valid? [True, True] Translation: X:134.56, Y:-6.26, Z:0.53 [[ 9.99856614e-01 1.59357631e-02 -5.72736711e-03 1.34558429e+02] [-1.59345127e-02 9.99873003e-01 2.63875719e-04 -6.25690784e+00] [ 5.73084481e-03 -1.72575079e-04 9.99983564e-01 5.27087992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.080714057 meters Centerline goodness : 0.993334 with order 1 Centerline is valid? [True, True] Translation: X:134.62, Y:-6.26, Z:0.53 [[ 9.99821373e-01 1.80116421e-02 -5.72737211e-03 1.34617494e+02] [-1.80104264e-02 9.99837764e-01 2.63767067e-04 -6.25963322e+00] [ 5.73119380e-03 -1.60567537e-04 9.99983564e-01 5.29442278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.140714057 meters Centerline goodness : 0.993584 with order 1 Centerline is valid? [True, True] Translation: X:134.68, Y:-6.27, Z:0.53 [[ 9.99746630e-01 2.17685982e-02 -5.72739184e-03 1.34676128e+02] [-2.17674465e-02 9.99763026e-01 2.63337914e-04 -6.26726294e+00] [ 5.73176710e-03 -1.38600496e-04 9.99983564e-01 5.29457559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.200714057 meters Centerline goodness : 0.993446 with order 1 Centerline is valid? [True, True] Translation: X:134.74, Y:-6.27, Z:0.53 [[ 9.99830532e-01 1.74958071e-02 -5.72740157e-03 1.34735754e+02] [-1.74945867e-02 9.99846923e-01 2.63126189e-04 -6.27408973e+00] [ 5.73112844e-03 -1.62883075e-04 9.99983564e-01 5.25830907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.260714057 meters Centerline goodness : 0.994146 with order 1 Centerline is valid? [True, True] Translation: X:134.79, Y:-6.28, Z:0.53 [[ 9.99883523e-01 1.41469686e-02 -5.72740633e-03 1.34794219e+02] [-1.41456938e-02 9.99899910e-01 2.63022557e-04 -6.28041951e+00] [ 5.73055404e-03 -1.81973785e-04 9.99983564e-01 5.26842965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.320714057 meters Centerline goodness : 0.993496 with order 1 Centerline is valid? [True, True] Translation: X:134.85, Y:-6.29, Z:0.53 [[ 9.99906428e-01 1.24230597e-02 -5.72742574e-03 1.34852624e+02] [-1.24217591e-02 9.99922812e-01 2.62599228e-04 -6.28848025e+00] [ 5.73024594e-03 -1.91429953e-04 9.99983564e-01 5.25826364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.380714057 meters Centerline goodness : 0.996310 with order 1 Centerline is valid? [True, True] Translation: X:134.91, Y:-6.28, Z:0.54 [[ 9.99981485e-01 -2.05555212e-03 -5.72744507e-03 1.34910903e+02] [ 2.05708739e-03 9.99997850e-01 2.62176906e-04 -6.28106121e+00] [ 5.72689384e-03 -2.73953907e-04 9.99983564e-01 5.39847416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.440714057 meters Centerline goodness : 0.995807 with order 1 Centerline is valid? [True, True] Translation: X:134.97, Y:-6.29, Z:0.54 [[ 9.99973277e-01 -4.54324681e-03 -5.72746884e-03 1.34969845e+02] [ 4.54481982e-03 9.99989638e-01 2.61656568e-04 -6.28957709e+00] [ 5.72622072e-03 -2.87679890e-04 9.99983564e-01 5.39973067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.500714057 meters Centerline goodness : 0.995493 with order 1 Centerline is valid? [True, True] Translation: X:135.03, Y:-6.30, Z:0.54 [[ 9.99960620e-01 -6.77895213e-03 -5.72748775e-03 1.35029257e+02] [ 6.78055934e-03 9.99976978e-01 2.61242055e-04 -6.29753580e+00] [ 5.72558494e-03 -3.00067338e-04 9.99983564e-01 5.38999503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.560714057 meters Centerline goodness : 0.995387 with order 1 Centerline is valid? [True, True] Translation: X:135.09, Y:-6.31, Z:0.54 [[ 9.99954838e-01 -7.58402038e-03 -5.72748234e-03 1.35089463e+02] [ 7.58564144e-03 9.99971194e-01 2.61360526e-04 -6.30655528e+00] [ 5.72533519e-03 -3.04795350e-04 9.99983564e-01 5.38741165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62071405700001 meters Centerline goodness : 0.993460 with order 1 Centerline is valid? [True, True] Translation: X:135.15, Y:-6.33, Z:0.52 [[ 9.99970363e-01 5.14479015e-03 -5.72747790e-03 1.35149236e+02] [-5.14337686e-03 9.99986739e-01 2.61457907e-04 -6.33130001e+00] [ 5.72874709e-03 -2.31991581e-04 9.99983564e-01 5.23839092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.680714057 meters Centerline goodness : 0.993652 with order 1 Centerline is valid? [True, True] Translation: X:135.21, Y:-6.34, Z:0.53 [[ 9.99952591e-01 7.87475744e-03 -5.72747790e-03 1.35206617e+02] [-7.87338887e-03 9.99968970e-01 2.61457907e-04 -6.33935643e+00] [ 5.72935909e-03 -2.16350851e-04 9.99983564e-01 5.25102588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.740714057 meters Centerline goodness : 0.993381 with order 1 Centerline is valid? [True, True] Translation: X:135.27, Y:-6.35, Z:0.53 [[ 9.99951084e-01 8.06376672e-03 -5.72755546e-03 1.35265522e+02] [-8.06241103e-03 9.99967465e-01 2.59747512e-04 -6.34707426e+00] [ 5.72946366e-03 -2.13556900e-04 9.99983564e-01 5.26780774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.800714057 meters Centerline goodness : 0.994714 with order 1 Centerline is valid? [True, True] Translation: X:135.32, Y:-6.34, Z:0.54 [[ 9.99976941e-01 -3.64873914e-03 -5.72757440e-03 1.35323745e+02] [ 3.65028421e-03 9.99993304e-01 2.59329303e-04 -6.34091667e+00] [ 5.72658982e-03 -2.80230598e-04 9.99983564e-01 5.37837188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.860714057 meters Centerline goodness : 0.994888 with order 1 Centerline is valid? [True, True] Translation: X:135.38, Y:-6.35, Z:0.54 [[ 9.99974462e-01 -4.27439752e-03 -5.72759770e-03 1.35383460e+02] [ 4.27594988e-03 9.99990825e-01 2.58813690e-04 -6.34939591e+00] [ 5.72643887e-03 -2.83298001e-04 9.99983564e-01 5.38229808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.920714057 meters Centerline goodness : 0.991492 with order 1 Centerline is valid? [True, True] Translation: X:135.44, Y:-6.37, Z:0.53 [[ 9.99970883e-01 5.04262894e-03 -5.72760697e-03 1.35441538e+02] [-5.04123028e-03 9.99987259e-01 2.58608404e-04 -6.37270069e+00] [ 5.72883806e-03 -2.29726688e-04 9.99983564e-01 5.29881292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.980714057 meters Centerline goodness : 0.990681 with order 1 Centerline is valid? [True, True] Translation: X:135.50, Y:-6.38, Z:0.53 [[ 9.99979075e-01 3.00735455e-03 -5.72759325e-03 1.35500157e+02] [-3.00592082e-03 9.99995449e-01 2.58911787e-04 -6.38008798e+00] [ 5.72834582e-03 -2.41689677e-04 9.99983564e-01 5.30016176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.040714057 meters Centerline goodness : 0.991462 with order 1 Centerline is valid? [True, True] Translation: X:135.56, Y:-6.38, Z:0.53 [[ 9.99981985e-01 -1.79582655e-03 -5.72761283e-03 1.35557969e+02] [ 1.79733643e-03 9.99998351e-01 2.58478034e-04 -6.38463658e+00] [ 5.72713920e-03 -2.68767825e-04 9.99983564e-01 5.34178342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.100714057 meters Centerline goodness : 0.993961 with order 1 Centerline is valid? [True, True] Translation: X:135.62, Y:-6.38, Z:0.54 [[ 9.99846455e-01 -1.65608327e-02 -5.72763687e-03 1.35617498e+02] [ 1.65625811e-02 9.99862798e-01 2.57944111e-04 -6.37684383e+00] [ 5.72257926e-03 -3.52768955e-04 9.99983564e-01 5.39454367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.160714057 meters Centerline goodness : 0.990329 with order 1 Centerline is valid? [True, True] Translation: X:135.68, Y:-6.39, Z:0.54 [[ 9.99916667e-01 -1.15694505e-02 -5.72764610e-03 1.35679159e+02] [ 1.15711160e-02 9.99933019e-01 2.57739018e-04 -6.39327898e+00] [ 5.72428056e-03 -3.23992797e-04 9.99983564e-01 5.35529880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.220714057 meters Centerline goodness : 0.990035 with order 1 Centerline is valid? [True, True] Translation: X:135.74, Y:-6.40, Z:0.54 [[ 9.99921039e-01 -1.11852657e-02 -5.72762779e-03 1.35740582e+02] [ 1.11869273e-02 9.99937391e-01 2.58145378e-04 -6.39651251e+00] [ 5.72438176e-03 -3.22199550e-04 9.99983564e-01 5.35774422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.280714057 meters Centerline goodness : 0.990694 with order 1 Centerline is valid? [True, True] Translation: X:135.80, Y:-6.40, Z:0.54 [[ 9.99931116e-01 -1.02448512e-02 -5.72761828e-03 1.35802305e+02] [ 1.02464986e-02 9.99947470e-01 2.58356162e-04 -6.39845612e+00] [ 5.72467059e-03 -3.17026399e-04 9.99983564e-01 5.38293111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.340714057 meters Centerline goodness : 0.990748 with order 1 Centerline is valid? [True, True] Translation: X:135.86, Y:-6.40, Z:0.54 [[ 9.99978286e-01 -3.25924675e-03 -5.72760842e-03 1.35863389e+02] [ 3.26078114e-03 9.99994650e-01 2.58574600e-04 -6.39942724e+00] [ 5.72673502e-03 -2.77245463e-04 9.99983564e-01 5.37724220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40071405700002 meters Centerline goodness : 0.990284 with order 1 Centerline is valid? [True, True] Translation: X:135.92, Y:-6.40, Z:0.54 [[ 9.99977785e-01 3.40942865e-03 -5.72759860e-03 1.35922903e+02] [-3.40800219e-03 9.99994159e-01 2.58791795e-04 -6.39964704e+00] [ 5.72844748e-03 -2.39266377e-04 9.99983564e-01 5.43569820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.460714057 meters Centerline goodness : 0.992044 with order 1 Centerline is valid? [True, True] Translation: X:135.98, Y:-6.39, Z:0.55 [[ 9.99983596e-01 3.75356029e-05 -5.72760829e-03 1.35982196e+02] [-3.60551634e-05 9.99999966e-01 2.58577337e-04 -6.39401988e+00] [ 5.72761780e-03 -2.58366586e-04 9.99983564e-01 5.48842770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.520714057 meters Centerline goodness : 0.992544 with order 1 Centerline is valid? [True, True] Translation: X:136.04, Y:-6.40, Z:0.54 [[ 9.99980963e-01 -2.29522208e-03 -5.72762384e-03 1.36040582e+02] [ 2.29673873e-03 9.99997329e-01 2.58232298e-04 -6.39530504e+00] [ 5.72701584e-03 -2.71382238e-04 9.99983564e-01 5.42811343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.580714057 meters Centerline goodness : 0.994385 with order 1 Centerline is valid? [True, True] Translation: X:136.10, Y:-6.40, Z:0.54 [[ 9.99972252e-01 -4.76324404e-03 -5.72765702e-03 1.36099334e+02] [ 4.76479686e-03 9.99988615e-01 2.57494319e-04 -6.39639015e+00] [ 5.72636530e-03 -2.84778297e-04 9.99983564e-01 5.42243027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.640714057 meters Centerline goodness : 0.994384 with order 1 Centerline is valid? [True, True] Translation: X:136.16, Y:-6.40, Z:0.54 [[ 9.99958008e-01 -7.15375243e-03 -5.72766783e-03 1.36158707e+02] [ 7.15534299e-03 9.99974367e-01 2.57253687e-04 -6.40141036e+00] [ 5.72568068e-03 -2.98226313e-04 9.99983564e-01 5.42444940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.700714057 meters Centerline goodness : 0.994510 with order 1 Centerline is valid? [True, True] Translation: X:136.22, Y:-6.41, Z:0.54 [[ 9.99946921e-01 -8.56445113e-03 -5.72767648e-03 1.36218518e+02] [ 8.56606367e-03 9.99963278e-01 2.57060981e-04 -6.40514309e+00] [ 5.72526455e-03 -3.06110978e-04 9.99983564e-01 5.42674605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.760714057 meters Centerline goodness : 0.993624 with order 1 Centerline is valid? [True, True] Translation: X:136.28, Y:-6.41, Z:0.54 [[ 9.99934376e-01 -9.92156688e-03 -5.72768073e-03 1.36278932e+02] [ 9.92320108e-03 9.99950731e-01 2.56966166e-04 -6.41136792e+00] [ 5.72484902e-03 -3.13786231e-04 9.99983564e-01 5.44069701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.820714057 meters Centerline goodness : 0.993718 with order 1 Centerline is valid? [True, True] Translation: X:136.34, Y:-6.41, Z:0.54 [[ 9.99888039e-01 -1.38240113e-02 -5.72767598e-03 1.36339209e+02] [ 1.38257099e-02 9.99904387e-01 2.57071996e-04 -6.41388464e+00] [ 5.72357457e-03 -3.36232400e-04 9.99983564e-01 5.44222791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.880714057 meters Centerline goodness : 0.994147 with order 1 Centerline is valid? [True, True] Translation: X:136.40, Y:-6.42, Z:0.54 [[ 9.99758036e-01 -2.12382625e-02 -5.72767122e-03 1.36400977e+02] [ 2.12400829e-02 9.99774371e-01 2.57177911e-04 -6.41861985e+00] [ 5.72091688e-03 -3.78771895e-04 9.99983564e-01 5.43935088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.940714057 meters Centerline goodness : 0.986458 with order 1 Centerline is valid? [True, True] Translation: X:136.46, Y:-6.42, Z:0.54 [[ 9.99636547e-01 -2.63432763e-02 -5.72761141e-03 1.36463508e+02] [ 2.63451877e-02 9.99652872e-01 2.58503242e-04 -6.41953033e+00] [ 5.71881337e-03 -4.09304286e-04 9.99983564e-01 5.40752395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.000714057 meters Centerline goodness : 0.994131 with order 1 Centerline is valid? [True, True] Translation: X:136.52, Y:-6.42, Z:0.54 [[ 9.99491523e-01 -3.13670107e-02 -5.72758452e-03 1.36524313e+02] [ 3.13690074e-02 9.99507838e-01 2.59097674e-04 -6.42241471e+00] [ 5.71663850e-03 -4.38634570e-04 9.99983564e-01 5.41220346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.060714057 meters Centerline goodness : 0.991077 with order 1 Centerline is valid? [True, True] Translation: X:136.59, Y:-6.44, Z:0.54 [[ 9.99700639e-01 -2.37871405e-02 -5.72756831e-03 1.36586311e+02] [ 2.37890155e-02 9.99716968e-01 2.59455505e-04 -6.43724343e+00] [ 5.71977552e-03 -3.95631045e-04 9.99983564e-01 5.36139369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12071405700001 meters Centerline goodness : 0.994039 with order 1 Centerline is valid? [True, True] Translation: X:136.65, Y:-6.42, Z:0.54 [[ 9.99315451e-01 -3.65489280e-02 -5.72754853e-03 1.36648034e+02] [ 3.65510138e-02 9.99331755e-01 2.59891443e-04 -6.42229379e+00] [ 5.71422237e-03 -4.69061240e-04 9.99983564e-01 5.41812567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.180714057 meters Centerline goodness : 0.994693 with order 1 Centerline is valid? [True, True] Translation: X:136.71, Y:-6.42, Z:0.54 [[ 9.99257804e-01 -3.80924730e-02 -5.72750940e-03 1.36709557e+02] [ 3.80945889e-02 9.99274104e-01 2.60750900e-04 -6.41939397e+00] [ 5.71341917e-03 -4.78744488e-04 9.99983564e-01 5.41715188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.240714057 meters Centerline goodness : 0.992688 with order 1 Centerline is valid? [True, True] Translation: X:136.77, Y:-6.43, Z:0.54 [[ 9.99543381e-01 -2.96686050e-02 -5.72749723e-03 1.36771090e+02] [ 2.96705850e-02 9.99559697e-01 2.61017842e-04 -6.42621146e+00] [ 5.71723137e-03 -4.30836850e-04 9.99983564e-01 5.44229328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.300714057 meters Centerline goodness : 0.991890 with order 1 Centerline is valid? [True, True] Translation: X:136.83, Y:-6.42, Z:0.54 [[ 9.99499825e-01 -3.11013690e-02 -5.72747757e-03 1.36833766e+02] [ 3.11033749e-02 9.99516139e-01 2.61448714e-04 -6.42312990e+00] [ 5.71657485e-03 -4.39461826e-04 9.99983564e-01 5.44683038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.360714057 meters Centerline goodness : 0.992983 with order 1 Centerline is valid? [True, True] Translation: X:136.90, Y:-6.42, Z:0.54 [[ 9.99355562e-01 -3.54352385e-02 -5.72745803e-03 1.36897338e+02] [ 3.54373175e-02 9.99371867e-01 2.61875950e-04 -6.41920768e+00] [ 5.71458079e-03 -4.64672936e-04 9.99983564e-01 5.40864368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.420714057 meters Centerline goodness : 0.992774 with order 1 Centerline is valid? [True, True] Translation: X:136.96, Y:-6.41, Z:0.55 [[ 9.99360103e-01 -3.53069536e-02 -5.72742890e-03 1.36959376e+02] [ 3.53090341e-02 9.99376407e-01 2.62511488e-04 -6.41361073e+00] [ 5.71458884e-03 -4.64573490e-04 9.99983564e-01 5.45967523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.480714057 meters Centerline goodness : 0.993304 with order 1 Centerline is valid? [True, True] Translation: X:137.02, Y:-6.41, Z:0.54 [[ 9.99233614e-01 -3.87218560e-02 -5.72740487e-03 1.37022338e+02] [ 3.87239952e-02 9.99249910e-01 2.63034831e-04 -6.41008798e+00] [ 5.71292360e-03 -4.84621243e-04 9.99983564e-01 5.41680734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.540714057 meters Centerline goodness : 0.993044 with order 1 Centerline is valid? [True, True] Translation: X:137.08, Y:-6.41, Z:0.55 [[ 9.99227002e-01 -3.88921013e-02 -5.72737565e-03 1.37084541e+02] [ 3.88942469e-02 9.99243298e-01 2.63669466e-04 -6.40598635e+00] [ 5.71278707e-03 -4.86227613e-04 9.99983564e-01 5.48272403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.600714057 meters Centerline goodness : 0.995274 with order 1 Centerline is valid? [True, True] Translation: X:137.15, Y:-6.40, Z:0.55 [[ 9.98813779e-01 -4.83552642e-02 -5.72735164e-03 1.37147417e+02] [ 4.83575669e-02 9.98830054e-01 2.64189898e-04 -6.39759682e+00] [ 5.70787598e-03 -5.40837301e-04 9.99983564e-01 5.48553234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.660714057 meters Centerline goodness : 0.993647 with order 1 Centerline is valid? [True, True] Translation: X:137.21, Y:-6.40, Z:0.55 [[ 9.98990267e-01 -4.45605773e-02 -5.72733272e-03 1.37209556e+02] [ 4.45628206e-02 9.99006549e-01 2.64599569e-04 -6.40418674e+00] [ 5.70985218e-03 -5.19558494e-04 9.99983564e-01 5.46780657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.720714057 meters Centerline goodness : 0.993951 with order 1 Centerline is valid? [True, True] Translation: X:137.27, Y:-6.40, Z:0.55 [[ 9.99022004e-01 -4.38432753e-02 -5.72731205e-03 1.37270989e+02] [ 4.38455094e-02 9.99038288e-01 2.65046073e-04 -6.40429469e+00] [ 5.71018354e-03 -5.15903774e-04 9.99983564e-01 5.48888552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.780714057 meters Centerline goodness : 0.994450 with order 1 Centerline is valid? [True, True] Translation: X:137.33, Y:-6.41, Z:0.55 [[ 9.99058970e-01 -4.29927149e-02 -5.72729712e-03 1.37333567e+02] [ 4.29949369e-02 9.99075255e-01 2.65368315e-04 -6.40612313e+00] [ 5.71059193e-03 -5.11363374e-04 9.99983564e-01 5.46999311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.840714057 meters Centerline goodness : 0.993962 with order 1 Centerline is valid? [True, True] Translation: X:137.40, Y:-6.41, Z:0.55 [[ 9.99091349e-01 -4.22335721e-02 -5.72726609e-03 1.37395734e+02] [ 4.22357856e-02 9.99107636e-01 2.66036508e-04 -6.40704496e+00] [ 5.71091961e-03 -5.07690356e-04 9.99983564e-01 5.45723888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90071405700002 meters Centerline goodness : 0.994334 with order 1 Centerline is valid? [True, True] Translation: X:137.46, Y:-6.41, Z:0.55 [[ 9.99283396e-01 -3.74151400e-02 -5.72724575e-03 1.37457435e+02] [ 3.74172775e-02 9.99299693e-01 2.66473643e-04 -6.40742046e+00] [ 5.71326477e-03 -4.80580630e-04 9.99983564e-01 5.46625829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.960714057 meters Centerline goodness : 0.994854 with order 1 Centerline is valid? [True, True] Translation: X:137.52, Y:-6.41, Z:0.55 [[ 9.99519722e-01 -3.04552838e-02 -5.72719563e-03 1.37520380e+02] [ 3.04573138e-02 9.99536033e-01 2.67546557e-04 -6.40672689e+00] [ 5.71639019e-03 -4.41853054e-04 9.99983564e-01 5.45237556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.020714057 meters Centerline goodness : 0.994208 with order 1 Centerline is valid? [True, True] Translation: X:137.58, Y:-6.41, Z:0.54 [[ 9.99776869e-01 -2.03325069e-02 -5.72716652e-03 1.37582662e+02] [ 2.03343752e-02 9.99793199e-01 2.68168206e-04 -6.40908334e+00] [ 5.72052960e-03 -3.84566723e-04 9.99983564e-01 5.42507041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.080714057 meters Centerline goodness : 0.996268 with order 1 Centerline is valid? [True, True] Translation: X:137.64, Y:-6.40, Z:0.55 [[ 9.99645029e-01 -2.60195198e-02 -5.72714744e-03 1.37644312e+02] [ 2.60214832e-02 9.99661348e-01 2.68574915e-04 -6.39964066e+00] [ 5.71821974e-03 -4.17508450e-04 9.99983564e-01 5.50840319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.140714057 meters Centerline goodness : 0.994676 with order 1 Centerline is valid? [True, True] Translation: X:137.71, Y:-6.41, Z:0.55 [[ 9.99870129e-01 -1.50640489e-02 -5.72713338e-03 1.37706583e+02] [ 1.50658351e-02 9.99886468e-01 2.68874405e-04 -6.40596012e+00] [ 5.72243283e-03 -3.55123533e-04 9.99983564e-01 5.49927980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.200714057 meters Centerline goodness : 0.993901 with order 1 Centerline is valid? [True, True] Translation: X:137.77, Y:-6.41, Z:0.55 [[ 9.99907791e-01 -1.23130189e-02 -5.72711405e-03 1.37768543e+02] [ 1.23147625e-02 9.99924134e-01 2.69285617e-04 -6.40516264e+00] [ 5.72336384e-03 -3.39788836e-04 9.99983564e-01 5.51267421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.260714057 meters Centerline goodness : 0.994340 with order 1 Centerline is valid? [True, True] Translation: X:137.83, Y:-6.41, Z:0.55 [[ 9.99944549e-01 -8.83743476e-03 -5.72709472e-03 1.37830616e+02] [ 8.83912392e-03 9.99960898e-01 2.69696048e-04 -6.40816148e+00] [ 5.72448736e-03 -3.20303593e-04 9.99983564e-01 5.47302389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.320714057 meters Centerline goodness : 0.994176 with order 1 Centerline is valid? [True, True] Translation: X:137.89, Y:-6.41, Z:0.55 [[ 9.99946532e-01 -8.61008306e-03 -5.72707458e-03 1.37891971e+02] [ 8.61177093e-03 9.99962882e-01 2.70123069e-04 -6.40926823e+00] [ 5.72453622e-03 -3.19428880e-04 9.99983564e-01 5.46710118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.380714057 meters Centerline goodness : 0.995668 with order 1 Centerline is valid? [True, True] Translation: X:137.95, Y:-6.40, Z:0.55 [[ 9.99832585e-01 -1.73782049e-02 -5.72706431e-03 1.37953306e+02] [ 1.73800373e-02 9.99848919e-01 2.70340656e-04 -6.40075245e+00] [ 5.72150102e-03 -3.69831988e-04 9.99983564e-01 5.54238953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.440714057 meters Centerline goodness : 0.995288 with order 1 Centerline is valid? [True, True] Translation: X:138.02, Y:-6.40, Z:0.56 [[ 9.99845995e-01 -1.65887473e-02 -5.72705433e-03 1.38015932e+02] [ 1.65905680e-02 9.99862330e-01 2.70551991e-04 -6.40191828e+00] [ 5.72177777e-03 -3.65525409e-04 9.99983564e-01 5.57001129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.500714057 meters Centerline goodness : 0.994208 with order 1 Centerline is valid? [True, True] Translation: X:138.08, Y:-6.41, Z:0.55 [[ 9.99934574e-01 -9.90193724e-03 -5.72703495e-03 1.38077168e+02] [ 9.90365102e-03 9.99950921e-01 2.70961469e-04 -6.41440278e+00] [ 5.72407083e-03 -3.27662297e-04 9.99983564e-01 5.51337710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.560714057 meters Centerline goodness : 0.993841 with order 1 Centerline is valid? [True, True] Translation: X:138.14, Y:-6.42, Z:0.56 [[ 9.99904864e-01 -1.25485075e-02 -5.72702040e-03 1.38138051e+02] [ 1.25502663e-02 9.99921206e-01 2.71268598e-04 -6.41523766e+00] [ 5.72316513e-03 -3.43118422e-04 9.99983564e-01 5.55443651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62071405700001 meters Centerline goodness : 0.993975 with order 1 Centerline is valid? [True, True] Translation: X:138.20, Y:-6.42, Z:0.56 [[ 9.99914903e-01 -1.17212340e-02 -5.72701053e-03 1.38200650e+02] [ 1.17229805e-02 9.99931247e-01 2.71476816e-04 -6.41835639e+00] [ 5.72343474e-03 -3.38591347e-04 9.99983564e-01 5.55194275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68071405700002 meters Centerline goodness : 0.993809 with order 1 Centerline is valid? [True, True] Translation: X:138.26, Y:-6.42, Z:0.55 [[ 9.99940194e-01 -9.31713716e-03 -5.72699099e-03 1.38262508e+02] [ 9.31884667e-03 9.99956542e-01 2.71888539e-04 -6.42177484e+00] [ 5.72420888e-03 -3.25241230e-04 9.99983564e-01 5.54912366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.740714057 meters Centerline goodness : 0.994167 with order 1 Centerline is valid? [True, True] Translation: X:138.32, Y:-6.43, Z:0.55 [[ 9.99955663e-01 -7.47492580e-03 -5.72697043e-03 1.38323389e+02] [ 7.47660767e-03 9.99972013e-01 2.72320855e-04 -6.42735571e+00] [ 5.72477457e-03 -3.15127093e-04 9.99983564e-01 5.51902590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.800714057 meters Centerline goodness : 0.993562 with order 1 Centerline is valid? [True, True] Translation: X:138.38, Y:-6.43, Z:0.55 [[ 9.99943555e-01 -8.94920394e-03 -5.72696014e-03 1.38384144e+02] [ 8.95091114e-03 9.99959903e-01 2.72537064e-04 -6.42951945e+00] [ 5.72429152e-03 -3.23783192e-04 9.99983564e-01 5.52707093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.860714057 meters Centerline goodness : 0.992852 with order 1 Centerline is valid? [True, True] Translation: X:138.45, Y:-6.43, Z:0.55 [[ 9.99939163e-01 -9.42717789e-03 -5.72696014e-03 1.38445703e+02] [ 9.42889291e-03 9.99955510e-01 2.72537064e-04 -6.43227099e+00] [ 5.72413609e-03 -3.26519377e-04 9.99983564e-01 5.52426528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.920714057 meters Centerline goodness : 0.992782 with order 1 Centerline is valid? [True, True] Translation: X:138.51, Y:-6.44, Z:0.55 [[ 9.99957439e-01 -7.23336854e-03 -5.72694993e-03 1.38506394e+02] [ 7.23504891e-03 9.99973789e-01 2.72751439e-04 -6.43668501e+00] [ 5.72482691e-03 -3.14174594e-04 9.99983564e-01 5.49597322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.980714057 meters Centerline goodness : 0.992851 with order 1 Centerline is valid? [True, True] Translation: X:138.57, Y:-6.44, Z:0.56 [[ 9.99941488e-01 -9.17731889e-03 -5.72693474e-03 1.38567114e+02] [ 9.17903286e-03 9.99957835e-01 2.73070009e-04 -6.43582362e+00] [ 5.72418721e-03 -3.25621753e-04 9.99983564e-01 5.58148792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.040714057 meters Centerline goodness : 0.994266 with order 1 Centerline is valid? [True, True] Translation: X:138.63, Y:-6.44, Z:0.55 [[ 9.99886722e-01 -1.39192191e-02 -5.72693474e-03 1.38628096e+02] [ 1.39210106e-02 9.99903061e-01 2.73070009e-04 -6.43752674e+00] [ 5.72257866e-03 -3.52763795e-04 9.99983564e-01 5.53353442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.100714057 meters Centerline goodness : 0.994137 with order 1 Centerline is valid? [True, True] Translation: X:138.69, Y:-6.44, Z:0.56 [[ 9.99829001e-01 -1.75832808e-02 -5.72692449e-03 1.38690728e+02] [ 1.75851333e-02 9.99845332e-01 2.73284880e-04 -6.43927038e+00] [ 5.72123347e-03 -3.73946879e-04 9.99983564e-01 5.55413710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.160714057 meters Centerline goodness : 0.994586 with order 1 Centerline is valid? [True, True] Translation: X:138.75, Y:-6.44, Z:0.55 [[ 9.99791564e-01 -1.95967515e-02 -5.72685210e-03 1.38752363e+02] [ 1.95986455e-02 9.99807890e-01 2.74793551e-04 -6.44207705e+00] [ 5.72036685e-03 -3.86974818e-04 9.99983564e-01 5.54821075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.220714057 meters Centerline goodness : 0.995167 with order 1 Centerline is valid? [True, True] Translation: X:138.81, Y:-6.44, Z:0.56 [[ 9.99757368e-01 -2.12698752e-02 -5.72683655e-03 1.38814074e+02] [ 2.12717985e-02 9.99773692e-01 2.75117158e-04 -6.44310196e+00] [ 5.71968881e-03 -3.96870518e-04 9.99983564e-01 5.60887772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.280714057 meters Centerline goodness : 0.994374 with order 1 Centerline is valid? [True, True] Translation: X:138.88, Y:-6.44, Z:0.56 [[ 9.99756069e-01 -2.13308476e-02 -5.72682114e-03 1.38875550e+02] [ 2.13327736e-02 9.99772393e-01 2.75437573e-04 -6.44421131e+00] [ 5.71964236e-03 -3.97539365e-04 9.99983564e-01 5.59636937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.340714057 meters Centerline goodness : 0.994637 with order 1 Centerline is valid? [True, True] Translation: X:138.94, Y:-6.45, Z:0.56 [[ 9.99760624e-01 -2.11162966e-02 -5.72680585e-03 1.38936862e+02] [ 2.11182210e-02 9.99776947e-01 2.75755098e-04 -6.44613727e+00] [ 5.71970555e-03 -3.96629041e-04 9.99983564e-01 5.57577553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40071405700002 meters Centerline goodness : 0.994522 with order 1 Centerline is valid? [True, True] Translation: X:139.00, Y:-6.45, Z:0.56 [[ 9.99787310e-01 -1.98125947e-02 -5.72679095e-03 1.38998521e+02] [ 1.98144995e-02 9.99803635e-01 2.76064327e-04 -6.44797600e+00] [ 5.72019686e-03 -3.89479107e-04 9.99983564e-01 5.60786383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.460714057 meters Centerline goodness : 0.994277 with order 1 Centerline is valid? [True, True] Translation: X:139.06, Y:-6.45, Z:0.56 [[ 9.99795407e-01 -1.93996881e-02 -5.72677499e-03 1.39061436e+02] [ 1.94015881e-02 9.99811733e-01 2.76394920e-04 -6.45013390e+00] [ 5.72033485e-03 -3.87446901e-04 9.99983564e-01 5.60452679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.520714057 meters Centerline goodness : 0.993858 with order 1 Centerline is valid? [True, True] Translation: X:139.12, Y:-6.45, Z:0.56 [[ 9.99799433e-01 -1.91910999e-02 -5.72674355e-03 1.39123963e+02] [ 1.91930002e-02 9.99815759e-01 2.77044712e-04 -6.45196285e+00] [ 5.72037166e-03 -3.86902537e-04 9.99983564e-01 5.61355621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.580714057 meters Centerline goodness : 0.993903 with order 1 Centerline is valid? [True, True] Translation: X:139.19, Y:-6.45, Z:0.56 [[ 9.99764693e-01 -2.09228001e-02 -5.72672261e-03 1.39185469e+02] [ 2.09247311e-02 9.99781015e-01 2.77477010e-04 -6.45182664e+00] [ 5.71966295e-03 -3.97241848e-04 9.99983564e-01 5.63206783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.640714057 meters Centerline goodness : 0.994977 with order 1 Centerline is valid? [True, True] Translation: X:139.25, Y:-6.46, Z:0.56 [[ 9.99763359e-01 -2.09864469e-02 -5.72671211e-03 1.39246233e+02] [ 2.09883802e-02 9.99779681e-01 2.77693498e-04 -6.45567050e+00] [ 5.71962261e-03 -3.97822195e-04 9.99983564e-01 5.63292238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.700714057 meters Centerline goodness : 0.993349 with order 1 Centerline is valid? [True, True] Translation: X:139.31, Y:-6.46, Z:0.56 [[ 9.99781524e-01 -2.01024722e-02 -5.72669648e-03 1.39308613e+02] [ 2.01043929e-02 9.99797848e-01 2.78015423e-04 -6.45978699e+00] [ 5.71995002e-03 -3.93086439e-04 9.99983564e-01 5.62979261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.760714057 meters Centerline goodness : 0.993703 with order 1 Centerline is valid? [True, True] Translation: X:139.37, Y:-6.46, Z:0.56 [[ 9.99790343e-01 -1.96589679e-02 -5.72667595e-03 1.39370167e+02] [ 1.96608838e-02 9.99806667e-01 2.78437604e-04 -6.46280269e+00] [ 5.72009501e-03 -3.90970738e-04 9.99983564e-01 5.61381679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.820714057 meters Centerline goodness : 0.994279 with order 1 Centerline is valid? [True, True] Translation: X:139.43, Y:-6.47, Z:0.56 [[ 9.99772883e-01 -2.05277320e-02 -5.72666096e-03 1.39432291e+02] [ 2.05296638e-02 9.99789205e-01 2.78745685e-04 -6.46641399e+00] [ 5.71973179e-03 -3.96248801e-04 9.99983564e-01 5.62008294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.880714057 meters Centerline goodness : 0.994737 with order 1 Centerline is valid? [True, True] Translation: X:139.49, Y:-6.47, Z:0.56 [[ 9.99701390e-01 -2.37557534e-02 -5.72663993e-03 1.39493335e+02] [ 2.37577403e-02 9.99717706e-01 2.79176972e-04 -6.46582767e+00] [ 5.71839128e-03 -4.15145632e-04 9.99983564e-01 5.61511302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.940714057 meters Centerline goodness : 0.994111 with order 1 Centerline is valid? [True, True] Translation: X:139.56, Y:-6.47, Z:0.56 [[ 9.99788040e-01 -1.97757894e-02 -5.72662436e-03 1.39555471e+02] [ 1.97777132e-02 9.99804363e-01 2.79496152e-04 -6.47192866e+00] [ 5.71997676e-03 -3.92696444e-04 9.99983564e-01 5.62626129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.000714057 meters Centerline goodness : 0.994141 with order 1 Centerline is valid? [True, True] Translation: X:139.62, Y:-6.48, Z:0.57 [[ 9.99808023e-01 -1.87382746e-02 -5.72660431e-03 1.39618003e+02] [ 1.87401838e-02 9.99824348e-01 2.79906331e-04 -6.47511623e+00] [ 5.72035346e-03 -3.87170213e-04 9.99983564e-01 5.65008768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.060714057 meters Centerline goodness : 0.994092 with order 1 Centerline is valid? [True, True] Translation: X:139.68, Y:-6.48, Z:0.57 [[ 9.99834767e-01 -1.72523757e-02 -5.72658305e-03 1.39679674e+02] [ 1.72542631e-02 9.99851095e-01 2.80340496e-04 -6.47997695e+00] [ 5.72089380e-03 -3.79102145e-04 9.99983564e-01 5.65623719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12071405700001 meters Centerline goodness : 0.994913 with order 1 Centerline is valid? [True, True] Translation: X:139.74, Y:-6.48, Z:0.56 [[ 9.99845740e-01 -1.66043269e-02 -5.72656176e-03 1.39741252e+02] [ 1.66062062e-02 9.99862068e-01 2.80774852e-04 -6.48480929e+00] [ 5.72110980e-03 -3.75828005e-04 9.99983564e-01 5.62814410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18071405700002 meters Centerline goodness : 0.994870 with order 1 Centerline is valid? [True, True] Translation: X:139.80, Y:-6.49, Z:0.56 [[ 9.99850939e-01 -1.62882312e-02 -5.72653171e-03 1.39803485e+02] [ 1.62901088e-02 9.99867268e-01 2.81386313e-04 -6.48715610e+00] [ 5.72118833e-03 -3.74630193e-04 9.99983564e-01 5.63774554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.240714057 meters Centerline goodness : 0.995248 with order 1 Centerline is valid? [True, True] Translation: X:139.87, Y:-6.49, Z:0.56 [[ 9.99842861e-01 -1.67767697e-02 -5.72651007e-03 1.39865121e+02] [ 1.67786578e-02 9.99859189e-01 2.81826007e-04 -6.48989040e+00] [ 5.72097558e-03 -3.77864874e-04 9.99983564e-01 5.61836110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.300714057 meters Centerline goodness : 0.994317 with order 1 Centerline is valid? [True, True] Translation: X:139.93, Y:-6.49, Z:0.56 [[ 9.99874867e-01 -1.47464358e-02 -5.72648844e-03 1.39927197e+02] [ 1.47482932e-02 9.99891198e-01 2.82264807e-04 -6.49393243e+00] [ 5.72170299e-03 -3.66685417e-04 9.99983564e-01 5.60742397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.360714057 meters Centerline goodness : 0.993769 with order 1 Centerline is valid? [True, True] Translation: X:139.99, Y:-6.50, Z:0.56 [[ 9.99895745e-01 -1.32554254e-02 -5.72646678e-03 1.39989252e+02] [ 1.32572610e-02 9.99912079e-01 2.82703657e-04 -6.49570464e+00] [ 5.72221594e-03 -3.58591448e-04 9.99983564e-01 5.61418887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.420714057 meters Centerline goodness : 0.993648 with order 1 Centerline is valid? [True, True] Translation: X:140.05, Y:-6.50, Z:0.56 [[ 9.99917027e-01 -1.15389457e-02 -5.72644575e-03 1.40050919e+02] [ 1.15407557e-02 9.99933363e-01 2.83128999e-04 -6.49775964e+00] [ 5.72279714e-03 -3.49193019e-04 9.99983564e-01 5.62263395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.480714057 meters Centerline goodness : 0.993417 with order 1 Centerline is valid? [True, True] Translation: X:140.11, Y:-6.50, Z:0.56 [[ 9.99929718e-01 -1.03810794e-02 -5.72643024e-03 1.40113124e+02] [ 1.03828722e-02 9.99946056e-01 2.83442386e-04 -6.49984517e+00] [ 5.72317889e-03 -3.42879258e-04 9.99983564e-01 5.63812084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.540714057 meters Centerline goodness : 0.993212 with order 1 Centerline is valid? [True, True] Translation: X:140.17, Y:-6.50, Z:0.56 [[ 9.99917287e-01 -1.15164331e-02 -5.72640882e-03 1.40174807e+02] [ 1.15182469e-02 9.99933623e-01 2.83874468e-04 -6.50196115e+00] [ 5.72275949e-03 -3.49809179e-04 9.99983564e-01 5.63758591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.600714057 meters Centerline goodness : 0.993499 with order 1 Centerline is valid? [True, True] Translation: X:140.24, Y:-6.51, Z:0.56 [[ 9.99901663e-01 -1.28012920e-02 -5.72638758e-03 1.40237234e+02] [ 1.28031293e-02 9.99917996e-01 2.84302185e-04 -6.50500797e+00] [ 5.72227856e-03 -3.57589908e-04 9.99983564e-01 5.63733503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.660714057 meters Centerline goodness : 0.995318 with order 1 Centerline is valid? [True, True] Translation: X:140.30, Y:-6.50, Z:0.57 [[ 9.99714703e-01 -2.31888014e-02 -5.72636589e-03 1.40297018e+02] [ 2.31908108e-02 9.99731016e-01 2.84738473e-04 -6.49889846e+00] [ 5.71822284e-03 -4.17456306e-04 9.99983564e-01 5.68003024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.720714057 meters Centerline goodness : 0.992543 with order 1 Centerline is valid? [True, True] Translation: X:140.36, Y:-6.51, Z:0.56 [[ 9.99838507e-01 -1.70343557e-02 -5.72637115e-03 1.40357088e+02] [ 1.70362640e-02 9.99854832e-01 2.84632563e-04 -6.51266005e+00] [ 5.72069133e-03 -3.82142567e-04 9.99983564e-01 5.60420125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.780714057 meters Centerline goodness : 0.992616 with order 1 Centerline is valid? [True, True] Translation: X:140.42, Y:-6.51, Z:0.56 [[ 9.99870432e-01 -1.50441725e-02 -5.72636571e-03 1.40419454e+02] [ 1.50460490e-02 9.99886761e-01 2.84742009e-04 -6.51485654e+00] [ 5.72143355e-03 -3.70864295e-04 9.99983564e-01 5.64155096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.840714057 meters Centerline goodness : 0.992493 with order 1 Centerline is valid? [True, True] Translation: X:140.48, Y:-6.52, Z:0.57 [[ 9.99875844e-01 -1.46801386e-02 -5.72634394e-03 1.40480460e+02] [ 1.46820116e-02 9.99892173e-01 2.85179127e-04 -6.51704922e+00] [ 5.72154002e-03 -3.69217968e-04 9.99983564e-01 5.66797720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90071405700002 meters Centerline goodness : 0.991188 with order 1 Centerline is valid? [True, True] Translation: X:140.54, Y:-6.52, Z:0.57 [[ 9.99922299e-01 -1.10727077e-02 -5.72632783e-03 1.40542948e+02] [ 1.10745236e-02 9.99938635e-01 2.85502239e-04 -6.52166055e+00] [ 5.72281515e-03 -3.48896408e-04 9.99983564e-01 5.66923229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.960714057 meters Centerline goodness : 0.992288 with order 1 Centerline is valid? [True, True] Translation: X:140.60, Y:-6.52, Z:0.57 [[ 9.99847909e-01 -1.64732684e-02 -5.72630642e-03 1.40604765e+02] [ 1.64751749e-02 9.99864234e-01 2.85930986e-04 -6.52167610e+00] [ 5.72081877e-03 -3.80229398e-04 9.99983564e-01 5.68375097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.020714057 meters Centerline goodness : 0.992779 with order 1 Centerline is valid? [True, True] Translation: X:140.67, Y:-6.53, Z:0.57 [[ 9.99815220e-01 -1.83503697e-02 -5.72629030e-03 1.40666644e+02] [ 1.83523088e-02 9.99831541e-01 2.86253551e-04 -6.52643627e+00] [ 5.72007279e-03 -3.91291305e-04 9.99983564e-01 5.69021966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.080714057 meters Centerline goodness : 0.992490 with order 1 Centerline is valid? [True, True] Translation: X:140.73, Y:-6.53, Z:0.57 [[ 9.99865825e-01 -1.53473573e-02 -5.72626878e-03 1.40727853e+02] [ 1.53492497e-02 9.99882152e-01 2.86683336e-04 -6.53196475e+00] [ 5.72119412e-03 -3.74538800e-04 9.99983564e-01 5.72092100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.140714057 meters Centerline goodness : 0.992714 with order 1 Centerline is valid? [True, True] Translation: X:140.79, Y:-6.54, Z:0.57 [[ 9.99806574e-01 -1.88155416e-02 -5.72625281e-03 1.40788659e+02] [ 1.88174925e-02 9.99822894e-01 2.87001904e-04 -6.53857421e+00] [ 5.71983856e-03 -3.94700110e-04 9.99983564e-01 5.67535056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.200714057 meters Centerline goodness : 0.992443 with order 1 Centerline is valid? [True, True] Translation: X:140.85, Y:-6.54, Z:0.58 [[ 9.99810215e-01 -1.86210514e-02 -5.72623729e-03 1.40850296e+02] [ 1.86230009e-02 9.99826536e-01 2.87311233e-04 -6.54301545e+00] [ 5.71989396e-03 -3.93896428e-04 9.99983564e-01 5.76468545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.260714057 meters Centerline goodness : 0.994700 with order 1 Centerline is valid? [True, True] Translation: X:140.91, Y:-6.54, Z:0.58 [[ 9.99694671e-01 -2.40369536e-02 -5.72620956e-03 1.40913056e+02] [ 2.40389946e-02 9.99710980e-01 2.87862922e-04 -6.54124657e+00] [ 5.71763522e-03 -4.25427350e-04 9.99983564e-01 5.78599420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.320714057 meters Centerline goodness : 0.994802 with order 1 Centerline is valid? [True, True] Translation: X:140.98, Y:-6.55, Z:0.58 [[ 9.99714053e-01 -2.32168644e-02 -5.72618726e-03 1.40975588e+02] [ 2.32188946e-02 9.99730364e-01 2.88305839e-04 -6.54790552e+00] [ 5.71794971e-03 -4.21179137e-04 9.99983564e-01 5.79459622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.380714057 meters Centerline goodness : 0.994605 with order 1 Centerline is valid? [True, True] Translation: X:141.04, Y:-6.55, Z:0.58 [[ 9.99757249e-01 -2.12756745e-02 -5.72615263e-03 1.41038490e+02] [ 2.12776769e-02 9.99773563e-01 2.88991937e-04 -6.55330742e+00] [ 5.71870752e-03 -4.10761009e-04 9.99983564e-01 5.79068057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.440714057 meters Centerline goodness : 0.991933 with order 1 Centerline is valid? [True, True] Translation: X:141.10, Y:-6.58, Z:0.56 [[ 9.99982194e-01 -1.68040347e-03 -5.72611917e-03 1.41099152e+02] [ 1.68208956e-03 9.99998543e-01 2.89653500e-04 -6.57719263e+00] [ 5.72562409e-03 -2.99280188e-04 9.99983564e-01 5.61799296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.500714057 meters Centerline goodness : 0.992201 with order 1 Centerline is valid? [True, True] Translation: X:141.16, Y:-6.58, Z:0.56 [[ 9.99982864e-01 1.21792158e-03 -5.72610177e-03 1.41157429e+02] [-1.21628092e-03 9.99999218e-01 2.89997098e-04 -6.58148371e+00] [ 5.72645048e-03 -2.83027580e-04 9.99983564e-01 5.62086244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.560714057 meters Centerline goodness : 0.992317 with order 1 Centerline is valid? [True, True] Translation: X:141.22, Y:-6.58, Z:0.56 [[ 9.99982974e-01 1.12406129e-03 -5.72617940e-03 1.41216311e+02] [-1.12242790e-03 9.99999328e-01 2.88455953e-04 -6.58492947e+00] [ 5.72649980e-03 -2.82023818e-04 9.99983564e-01 5.63475827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62071405700001 meters Centerline goodness : 0.993033 with order 1 Centerline is valid? [True, True] Translation: X:141.27, Y:-6.59, Z:0.57 [[ 9.99983186e-01 9.15249308e-04 -5.72620065e-03 1.41274137e+02] [-9.13614911e-04 9.99999541e-01 2.88033519e-04 -6.58822947e+00] [ 5.72646164e-03 -2.82797134e-04 9.99983564e-01 5.68819616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68071405700002 meters Centerline goodness : 0.993058 with order 1 Centerline is valid? [True, True] Translation: X:141.33, Y:-6.59, Z:0.57 [[ 9.99982967e-01 1.12954326e-03 -5.72622725e-03 1.41332764e+02] [-1.12791540e-03 9.99999323e-01 2.87503734e-04 -6.59380520e+00] [ 5.72654812e-03 -2.81040137e-04 9.99983564e-01 5.72320317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.740714057 meters Centerline goodness : 0.992850 with order 1 Centerline is valid? [True, True] Translation: X:141.39, Y:-6.60, Z:0.57 [[ 9.99982968e-01 -1.12882246e-03 -5.72624913e-03 1.41390575e+02] [ 1.13048477e-03 9.99999320e-01 2.87067169e-04 -6.59907423e+00] [ 5.72592119e-03 -2.93535717e-04 9.99983564e-01 5.73491431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.800714057 meters Centerline goodness : 0.992995 with order 1 Centerline is valid? [True, True] Translation: X:141.45, Y:-6.61, Z:0.57 [[ 9.99972620e-01 -4.68721856e-03 -5.72627592e-03 1.41449384e+02] [ 4.68893599e-03 9.99988966e-01 2.86531791e-04 -6.60578166e+00] [ 5.72486970e-03 -3.13374087e-04 9.99983564e-01 5.73888709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.860714057 meters Centerline goodness : 0.992757 with order 1 Centerline is valid? [True, True] Translation: X:141.51, Y:-6.62, Z:0.57 [[ 9.99982240e-01 -1.65217857e-03 -5.72629545e-03 1.41509157e+02] [ 1.65384414e-03 9.99998591e-01 2.86141125e-04 -6.61518536e+00] [ 5.72581462e-03 -2.95606443e-04 9.99983564e-01 5.68199117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.920714057 meters Centerline goodness : 0.993642 with order 1 Centerline is valid? [True, True] Translation: X:141.57, Y:-6.62, Z:0.57 [[ 9.99943820e-01 -8.91994130e-03 -5.72631559e-03 1.41569200e+02] [ 8.92172337e-03 9.99960160e-01 2.85737325e-04 -6.61666273e+00] [ 5.72353870e-03 -3.36809876e-04 9.99983564e-01 5.74704691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.980714057 meters Centerline goodness : 0.993669 with order 1 Centerline is valid? [True, True] Translation: X:141.63, Y:-6.62, Z:0.58 [[ 9.99938262e-01 -9.52263850e-03 -5.72632634e-03 1.41630740e+02] [ 9.52442919e-03 9.99954601e-01 2.85521873e-04 -6.62234766e+00] [ 5.72334745e-03 -3.40044235e-04 9.99983564e-01 5.75258430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.040714057 meters Centerline goodness : 0.993608 with order 1 Centerline is valid? [True, True] Translation: X:141.69, Y:-6.63, Z:0.58 [[ 9.99942900e-01 -9.02250957e-03 -5.72631568e-03 1.41692080e+02] [ 9.02429330e-03 9.99959239e-01 2.85735403e-04 -6.62590881e+00] [ 5.72350422e-03 -3.37395040e-04 9.99983564e-01 5.75831273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.100714057 meters Centerline goodness : 0.994006 with order 1 Centerline is valid? [True, True] Translation: X:141.75, Y:-6.63, Z:0.57 [[ 9.99951703e-01 -7.98758336e-03 -5.72630512e-03 1.41751908e+02] [ 7.98935139e-03 9.99968044e-01 2.85946939e-04 -6.63116266e+00] [ 5.72383810e-03 -3.31682592e-04 9.99983564e-01 5.74528842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.160714057 meters Centerline goodness : 0.994034 with order 1 Centerline is valid? [True, True] Translation: X:141.81, Y:-6.64, Z:0.58 [[ 9.99959420e-01 -6.95464503e-03 -5.72629989e-03 1.41812709e+02] [ 6.95639678e-03 9.99975763e-01 2.86051544e-04 -6.63598263e+00] [ 5.72417172e-03 -3.25874350e-04 9.99983564e-01 5.75460988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.220714057 meters Centerline goodness : 0.994808 with order 1 Centerline is valid? [True, True] Translation: X:141.87, Y:-6.64, Z:0.57 [[ 9.99929784e-01 -1.03748225e-02 -5.72629989e-03 1.41872542e+02] [ 1.03766302e-02 9.99946120e-01 2.86051544e-04 -6.64148847e+00] [ 5.72302363e-03 -3.45451155e-04 9.99983564e-01 5.74535992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.280714057 meters Centerline goodness : 0.994460 with order 1 Centerline is valid? [True, True] Translation: X:141.93, Y:-6.65, Z:0.57 [[ 9.99922932e-01 -1.10153989e-02 -5.72629989e-03 1.41933331e+02] [ 1.10172170e-02 9.99939268e-01 2.86051544e-04 -6.64528320e+00] [ 5.72280115e-03 -3.49117387e-04 9.99983564e-01 5.74689319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.340714057 meters Centerline goodness : 0.994173 with order 1 Centerline is valid? [True, True] Translation: X:141.99, Y:-6.65, Z:0.57 [[ 9.99897740e-01 -1.31041692e-02 -5.72628910e-03 1.41994023e+02] [ 1.31060227e-02 9.99914071e-01 2.86267415e-04 -6.64932763e+00] [ 5.72204575e-03 -3.61287016e-04 9.99983564e-01 5.74763147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40071405700002 meters Centerline goodness : 0.993973 with order 1 Centerline is valid? [True, True] Translation: X:142.06, Y:-6.65, Z:0.58 [[ 9.99873969e-01 -1.48072894e-02 -5.72625334e-03 1.42056122e+02] [ 1.48091747e-02 9.99890297e-01 2.86980949e-04 -6.65205887e+00] [ 5.72137574e-03 -3.71745867e-04 9.99983564e-01 5.77116536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.460714057 meters Centerline goodness : 0.994112 with order 1 Centerline is valid? [True, True] Translation: X:142.12, Y:-6.66, Z:0.57 [[ 9.99893444e-01 -1.34280185e-02 -5.72623126e-03 1.42117275e+02] [ 1.34298839e-02 9.99909774e-01 2.87420820e-04 -6.65570240e+00] [ 5.72185511e-03 -3.64292814e-04 9.99983564e-01 5.74857789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.520714057 meters Centerline goodness : 0.996212 with order 1 Centerline is valid? [True, True] Translation: X:142.18, Y:-6.65, Z:0.58 [[ 9.99855820e-01 -1.59859330e-02 -5.72621477e-03 1.42179736e+02] [ 1.59878420e-02 9.99872145e-01 2.87748968e-04 -6.64570179e+00] [ 5.72088271e-03 -3.79257298e-04 9.99983564e-01 5.82728818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.580714057 meters Centerline goodness : 0.995577 with order 1 Centerline is valid? [True, True] Translation: X:142.24, Y:-6.64, Z:0.58 [[ 9.99892766e-01 -1.34783860e-02 -5.72619373e-03 1.42242413e+02] [ 1.34802564e-02 9.99909096e-01 2.88167173e-04 -6.64499878e+00] [ 5.72178916e-03 -3.65326832e-04 9.99983564e-01 5.84218739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.640714057 meters Centerline goodness : 0.995246 with order 1 Centerline is valid? [True, True] Translation: X:142.31, Y:-6.65, Z:0.58 [[ 9.99896863e-01 -1.31709349e-02 -5.72617263e-03 1.42305048e+02] [ 1.31728026e-02 9.99913193e-01 2.88585781e-04 -6.64657308e+00] [ 5.72187462e-03 -3.63985759e-04 9.99983564e-01 5.84260953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.700714057 meters Centerline goodness : 0.995267 with order 1 Centerline is valid? [True, True] Translation: X:142.37, Y:-6.65, Z:0.58 [[ 9.99838279e-01 -1.70477989e-02 -5.72615179e-03 1.42367376e+02] [ 1.70497323e-02 9.99854601e-01 2.88998752e-04 -6.64646584e+00] [ 5.72039242e-03 -3.86581370e-04 9.99983564e-01 5.84021247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.760714057 meters Centerline goodness : 0.993372 with order 1 Centerline is valid? [True, True] Translation: X:142.43, Y:-6.66, Z:0.58 [[ 9.99898903e-01 -1.30152261e-02 -5.72613083e-03 1.42429475e+02] [ 1.30170961e-02 9.99915232e-01 2.89413435e-04 -6.65692737e+00] [ 5.72187866e-03 -3.63921771e-04 9.99983564e-01 5.76764480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.820714057 meters Centerline goodness : 0.993230 with order 1 Centerline is valid? [True, True] Translation: X:142.49, Y:-6.66, Z:0.58 [[ 9.99777651e-01 -2.02943201e-02 -5.72610854e-03 1.42491996e+02] [ 2.02963113e-02 9.99793967e-01 2.89853693e-04 -6.65621143e+00] [ 5.71904639e-03 -4.06008126e-04 9.99983564e-01 5.75274809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.880714057 meters Centerline goodness : 0.993907 with order 1 Centerline is valid? [True, True] Translation: X:142.56, Y:-6.66, Z:0.58 [[ 9.99683286e-01 -2.45059074e-02 -5.72603083e-03 1.42555009e+02] [ 2.45079761e-02 9.99699592e-01 2.91380814e-04 -6.65785679e+00] [ 5.71717014e-03 -4.31621957e-04 9.99983564e-01 5.75413345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.940714057 meters Centerline goodness : 0.993866 with order 1 Centerline is valid? [True, True] Translation: X:142.62, Y:-6.66, Z:0.58 [[ 9.99507663e-01 -3.08487401e-02 -5.72599742e-03 1.42616970e+02] [ 3.08509160e-02 9.99523955e-01 2.92035911e-04 -6.65792385e+00] [ 5.71426265e-03 -4.68544397e-04 9.99983564e-01 5.75730838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.000714057 meters Centerline goodness : 0.994073 with order 1 Centerline is valid? [True, True] Translation: X:142.68, Y:-6.66, Z:0.58 [[ 9.99369673e-01 -3.50352644e-02 -5.72594283e-03 1.42679332e+02] [ 3.50375145e-02 9.99385955e-01 2.93102484e-04 -6.65809230e+00] [ 5.71215791e-03 -4.93540539e-04 9.99983564e-01 5.78202507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.060714057 meters Centerline goodness : 0.993876 with order 1 Centerline is valid? [True, True] Translation: X:142.74, Y:-6.66, Z:0.58 [[ 9.99277681e-01 -3.75676646e-02 -5.72592032e-03 1.42740812e+02] [ 3.75699585e-02 9.99293957e-01 2.93541489e-04 -6.65935334e+00] [ 5.71084990e-03 -5.08452048e-04 9.99983564e-01 5.79309351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12071405700001 meters Centerline goodness : 0.993836 with order 1 Centerline is valid? [True, True] Translation: X:142.80, Y:-6.66, Z:0.58 [[ 9.99422453e-01 -3.34958958e-02 -5.72590373e-03 1.42802760e+02] [ 3.34981252e-02 9.99438737e-01 2.93864758e-04 -6.66113786e+00] [ 5.71284673e-03 -4.85502077e-04 9.99983564e-01 5.83316064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18071405700002 meters Centerline goodness : 0.993455 with order 1 Centerline is valid? [True, True] Translation: X:142.87, Y:-6.66, Z:0.58 [[ 9.99419487e-01 -3.35842838e-02 -5.72588110e-03 1.42865181e+02] [ 3.35865171e-02 9.99435770e-01 2.94304998e-04 -6.66190306e+00] [ 5.71276637e-03 -4.86446554e-04 9.99983564e-01 5.79285719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.240714057 meters Centerline goodness : 0.993493 with order 1 Centerline is valid? [True, True] Translation: X:142.93, Y:-6.66, Z:0.58 [[ 9.99473789e-01 -3.19274220e-02 -5.72585874e-03 1.42927000e+02] [ 3.19296308e-02 9.99490076e-01 2.94739351e-04 -6.66266887e+00] [ 5.71352872e-03 -4.77408811e-04 9.99983564e-01 5.79826887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.300714057 meters Centerline goodness : 0.993324 with order 1 Centerline is valid? [True, True] Translation: X:142.99, Y:-6.66, Z:0.58 [[ 9.99593913e-01 -2.79145822e-02 -5.72583615e-03 1.42988344e+02] [ 2.79167281e-02 9.99610209e-01 2.95177656e-04 -6.66028557e+00] [ 5.71536450e-03 -4.54904399e-04 9.99983564e-01 5.83465564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.360714057 meters Centerline goodness : 0.993558 with order 1 Centerline is valid? [True, True] Translation: X:143.05, Y:-6.66, Z:0.58 [[ 9.99640741e-01 -2.61840644e-02 -5.72579191e-03 1.43050134e+02] [ 2.61861869e-02 9.99657039e-01 2.96033178e-04 -6.66163658e+00] [ 5.71607684e-03 -4.45863483e-04 9.99983564e-01 5.82860526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.420714057 meters Centerline goodness : 0.994013 with order 1 Centerline is valid? [True, True] Translation: X:143.11, Y:-6.66, Z:0.58 [[ 9.99628782e-01 -2.66367100e-02 -5.72577492e-03 1.43111959e+02] [ 2.66388418e-02 9.99645079e-01 2.96361487e-04 -6.66000357e+00] [ 5.71584863e-03 -4.48779485e-04 9.99983564e-01 5.84091184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.480714057 meters Centerline goodness : 0.994339 with order 1 Centerline is valid? [True, True] Translation: X:143.17, Y:-6.66, Z:0.59 [[ 9.99608364e-01 -2.73922400e-02 -5.72575230e-03 1.43174286e+02] [ 2.73943866e-02 9.99624659e-01 2.96797923e-04 -6.65880410e+00] [ 5.71547323e-03 -4.53535158e-04 9.99983564e-01 5.86232122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.540714057 meters Centerline goodness : 0.994641 with order 1 Centerline is valid? [True, True] Translation: X:143.24, Y:-6.66, Z:0.59 [[ 9.99582008e-01 -2.83377091e-02 -5.72572915e-03 1.43236391e+02] [ 2.83398737e-02 9.99598301e-01 2.97243897e-04 -6.66058376e+00] [ 5.71500592e-03 -4.59386092e-04 9.99983564e-01 5.86505238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.600714057 meters Centerline goodness : 0.994651 with order 1 Centerline is valid? [True, True] Translation: X:143.30, Y:-6.66, Z:0.59 [[ 9.99516362e-01 -3.05656512e-02 -5.72570600e-03 1.43299869e+02] [ 3.05678546e-02 9.99532650e-01 2.97689153e-04 -6.66268255e+00] [ 5.71393102e-03 -4.72567728e-04 9.99983564e-01 5.86663599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.660714057 meters Centerline goodness : 0.994744 with order 1 Centerline is valid? [True, True] Translation: X:143.36, Y:-6.67, Z:0.59 [[ 9.99446774e-01 -3.27622110e-02 -5.72567103e-03 1.43360882e+02] [ 3.27644540e-02 9.99463057e-01 2.98360150e-04 -6.66592000e+00] [ 5.71282173e-03 -4.85793575e-04 9.99983564e-01 5.85311137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.720714057 meters Centerline goodness : 0.994357 with order 1 Centerline is valid? [True, True] Translation: X:143.42, Y:-6.67, Z:0.58 [[ 9.99583183e-01 -2.82962549e-02 -5.72565421e-03 1.43422728e+02] [ 2.82984270e-02 9.99599475e-01 2.98682620e-04 -6.67278312e+00] [ 5.71490934e-03 -4.60585131e-04 9.99983564e-01 5.82149544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.780714057 meters Centerline goodness : 0.994824 with order 1 Centerline is valid? [True, True] Translation: X:143.48, Y:-6.67, Z:0.59 [[ 9.99552424e-01 -2.93627264e-02 -5.72563107e-03 1.43483862e+02] [ 2.93649184e-02 9.99568713e-01 2.99125494e-04 -6.67316088e+00] [ 5.71437854e-03 -4.67124301e-04 9.99983564e-01 5.86164528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.840714057 meters Centerline goodness : 0.994294 with order 1 Centerline is valid? [True, True] Translation: X:143.55, Y:-6.68, Z:0.59 [[ 9.99595991e-01 -2.78401331e-02 -5.72561419e-03 1.43546350e+02] [ 2.78423021e-02 9.99612283e-01 2.99448282e-04 -6.67649144e+00] [ 5.71505759e-03 -4.58741582e-04 9.99983564e-01 5.87140621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90071405700002 meters Centerline goodness : 0.993936 with order 1 Centerline is valid? [True, True] Translation: X:143.61, Y:-6.69, Z:0.58 [[ 9.99792300e-01 -1.95595143e-02 -5.72559101e-03 1.43607608e+02] [ 1.95615508e-02 9.99808610e-01 2.99890952e-04 -6.68747010e+00] [ 5.71862946e-03 -4.11830104e-04 9.99983564e-01 5.83188061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.960714057 meters Centerline goodness : 0.993502 with order 1 Centerline is valid? [True, True] Translation: X:143.67, Y:-6.69, Z:0.58 [[ 9.99747343e-01 -2.17363380e-02 -5.72556806e-03 1.43669985e+02] [ 2.17384125e-02 9.99763648e-01 3.00328452e-04 -6.69312940e+00] [ 5.71768676e-03 -4.24717332e-04 9.99983564e-01 5.83179163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.020714057 meters Centerline goodness : 0.993970 with order 1 Centerline is valid? [True, True] Translation: X:143.73, Y:-6.70, Z:0.58 [[ 9.99664216e-01 -2.52719851e-02 -5.72554574e-03 1.43730643e+02] [ 2.52741196e-02 9.99680513e-01 3.00753310e-04 -6.69729912e+00] [ 5.71611587e-03 -4.45360450e-04 9.99983564e-01 5.82989281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.080714057 meters Centerline goodness : 0.994047 with order 1 Centerline is valid? [True, True] Translation: X:143.79, Y:-6.70, Z:0.59 [[ 9.99632728e-01 -2.64882330e-02 -5.72552933e-03 1.43791587e+02] [ 2.64903891e-02 9.99649023e-01 3.01065476e-04 -6.69840331e+00] [ 5.71554510e-03 -4.52626403e-04 9.99983564e-01 5.86255636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.140714057 meters Centerline goodness : 0.994136 with order 1 Centerline is valid? [True, True] Translation: X:143.85, Y:-6.70, Z:0.59 [[ 9.99770004e-01 -2.06677937e-02 -5.72551316e-03 1.43852542e+02] [ 2.06698567e-02 9.99786310e-01 3.01372524e-04 -6.70082154e+00] [ 5.71806097e-03 -4.19648746e-04 9.99983564e-01 5.87367436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.200714057 meters Centerline goodness : 0.994504 with order 1 Centerline is valid? [True, True] Translation: X:143.91, Y:-6.70, Z:0.59 [[ 9.99914466e-01 -1.17592541e-02 -5.72549700e-03 1.43913182e+02] [ 1.17611734e-02 9.99930790e-01 3.01679315e-04 -6.70340226e+00] [ 5.72155321e-03 -3.68992074e-04 9.99983564e-01 5.86772634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.260714057 meters Centerline goodness : 0.993605 with order 1 Centerline is valid? [True, True] Translation: X:143.97, Y:-6.71, Z:0.59 [[ 9.99982679e-01 1.36413230e-03 -5.72548640e-03 1.43974282e+02] [-1.36242616e-03 9.99999026e-01 3.01880416e-04 -6.70786417e+00] [ 5.72589263e-03 -2.94074635e-04 9.99983564e-01 5.88493333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.320714057 meters Centerline goodness : 0.992300 with order 1 Centerline is valid? [True, True] Translation: X:144.03, Y:-6.71, Z:0.58 [[ 9.99914530e-01 1.17537976e-02 -5.72547514e-03 1.44033162e+02] [-1.17522602e-02 9.99930894e-01 3.02093728e-04 -6.71245014e+00] [ 5.72863022e-03 -2.34780634e-04 9.99983564e-01 5.84062869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.380714057 meters Centerline goodness : 0.992286 with order 1 Centerline is valid? [True, True] Translation: X:144.09, Y:-6.72, Z:0.58 [[ 9.99852319e-01 1.62036449e-02 -5.72555484e-03 1.44090504e+02] [-1.62021890e-02 9.99868691e-01 3.00575471e-04 -6.71603195e+00] [ 5.72967344e-03 -2.07764560e-04 9.99983564e-01 5.82212503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.440714057 meters Centerline goodness : 0.992425 with order 1 Centerline is valid? [True, True] Translation: X:144.15, Y:-6.72, Z:0.58 [[ 9.99812654e-01 1.84898547e-02 -5.72558300e-03 1.44149178e+02] [-1.84884393e-02 9.99829029e-01 3.00038150e-04 -6.71876269e+00] [ 5.73015176e-03 -1.94124845e-04 9.99983564e-01 5.83078056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.500714057 meters Centerline goodness : 0.991796 with order 1 Centerline is valid? [True, True] Translation: X:144.21, Y:-6.72, Z:0.58 [[ 9.99755134e-01 2.13749781e-02 -5.72560496e-03 1.44208063e+02] [-2.13736124e-02 9.99771513e-01 2.99618553e-04 -6.72107155e+00] [ 5.73070107e-03 -1.77168325e-04 9.99983564e-01 5.83157484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.560714057 meters Centerline goodness : 0.995118 with order 1 Centerline is valid? [True, True] Translation: X:144.27, Y:-6.71, Z:0.59 [[ 9.99926762e-01 1.06624058e-02 -5.72562779e-03 1.44266841e+02] [-1.06608672e-02 9.99943127e-01 2.99181595e-04 -6.70993133e+00] [ 5.72849215e-03 -2.38119527e-04 9.99983564e-01 5.89573770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62071405700001 meters Centerline goodness : 0.992021 with order 1 Centerline is valid? [True, True] Translation: X:144.33, Y:-6.73, Z:0.59 [[ 9.99723488e-01 2.28071201e-02 -5.72566661e-03 1.44325084e+02] [-2.28057846e-02 9.99739870e-01 2.98436928e-04 -6.72695824e+00] [ 5.73098367e-03 -1.67776088e-04 9.99983564e-01 5.88287579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68071405700002 meters Centerline goodness : 0.994729 with order 1 Centerline is valid? [True, True] Translation: X:144.38, Y:-6.72, Z:0.60 [[ 9.99915707e-01 1.16530707e-02 -5.72574491e-03 1.44383668e+02] [-1.16515612e-02 9.99932074e-01 2.96926948e-04 -6.71699994e+00] [ 5.72881609e-03 -2.30188052e-04 9.99983564e-01 5.98274213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.740714057 meters Centerline goodness : 0.991716 with order 1 Centerline is valid? [True, True] Translation: X:144.44, Y:-6.74, Z:0.59 [[ 9.99833553e-01 1.73228842e-02 -5.72576897e-03 1.44441756e+02] [-1.73214702e-02 9.99849928e-01 2.96462206e-04 -6.73515228e+00] [ 5.73004528e-03 -1.97234124e-04 9.99983564e-01 5.90934120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.800714057 meters Centerline goodness : 0.992103 with order 1 Centerline is valid? [True, True] Translation: X:144.50, Y:-6.74, Z:0.59 [[ 9.99909241e-01 1.21952934e-02 -5.72585584e-03 1.44499780e+02] [-1.21938051e-02 9.99925609e-01 2.94774940e-04 -6.74083150e+00] [ 5.72902475e-03 -2.24928217e-04 9.99983564e-01 5.89246098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.860714057 meters Centerline goodness : 0.991803 with order 1 Centerline is valid? [True, True] Translation: X:144.56, Y:-6.74, Z:0.59 [[ 9.99931430e-01 1.02152115e-02 -5.72588289e-03 1.44558439e+02] [-1.02136937e-02 9.99947796e-01 2.94248394e-04 -6.74461099e+00] [ 5.72858979e-03 -2.35745803e-04 9.99983564e-01 5.89208708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.920714057 meters Centerline goodness : 0.992356 with order 1 Centerline is valid? [True, True] Translation: X:144.62, Y:-6.75, Z:0.59 [[ 9.99927144e-01 1.06264326e-02 -5.72590487e-03 1.44615935e+02] [-1.06249240e-02 9.99943511e-01 2.93820199e-04 -6.74780719e+00] [ 5.72870368e-03 -2.32961489e-04 9.99983564e-01 5.91665225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.980714057 meters Centerline goodness : 0.991771 with order 1 Centerline is valid? [True, True] Translation: X:144.67, Y:-6.75, Z:0.59 [[ 9.99870313e-01 1.50522704e-02 -5.72593823e-03 1.44674421e+02] [-1.50508380e-02 9.99886687e-01 2.93168567e-04 -6.75254100e+00] [ 5.72970226e-03 -2.06950378e-04 9.99983564e-01 5.90001193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.040714057 meters Centerline goodness : 0.992392 with order 1 Centerline is valid? [True, True] Translation: X:144.73, Y:-6.75, Z:0.60 [[ 9.99862593e-01 1.55566293e-02 -5.72601507e-03 1.44732629e+02] [-1.55552138e-02 9.99878968e-01 2.91659967e-04 -6.75413431e+00] [ 5.72985929e-03 -2.02550502e-04 9.99983564e-01 5.96223147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.100714057 meters Centerline goodness : 0.992433 with order 1 Centerline is valid? [True, True] Translation: X:144.79, Y:-6.76, Z:0.60 [[ 9.99875367e-01 1.47126795e-02 -5.72604187e-03 1.44790513e+02] [-1.47112532e-02 9.99891741e-01 2.91132894e-04 -6.75827264e+00] [ 5.72970532e-03 -2.06859358e-04 9.99983564e-01 5.95619632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.160714057 meters Centerline goodness : 0.991766 with order 1 Centerline is valid? [True, True] Translation: X:144.85, Y:-6.77, Z:0.59 [[ 9.99859670e-01 1.57433241e-02 -5.72607399e-03 1.44848935e+02] [-1.57419183e-02 9.99876046e-01 2.90499876e-04 -6.76860900e+00] [ 5.72993765e-03 -2.00319721e-04 9.99983564e-01 5.87692224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.220714057 meters Centerline goodness : 0.992545 with order 1 Centerline is valid? [True, True] Translation: X:144.91, Y:-6.77, Z:0.59 [[ 9.99978835e-01 3.08905655e-03 -5.72609540e-03 1.44907655e+02] [-3.08744603e-03 9.99995192e-01 2.90077242e-04 -6.76673354e+00] [ 5.72696393e-03 -2.72392091e-04 9.99983564e-01 5.90907896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.280714057 meters Centerline goodness : 0.993663 with order 1 Centerline is valid? [True, True] Translation: X:144.97, Y:-6.77, Z:0.59 [[ 9.99974151e-01 -4.34853154e-03 -5.72611645e-03 1.44966714e+02] [ 4.35026130e-03 9.99990496e-01 2.89661064e-04 -6.77073152e+00] [ 5.72480243e-03 -3.14563679e-04 9.99983564e-01 5.90575974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.340714057 meters Centerline goodness : 0.993710 with order 1 Centerline is valid? [True, True] Translation: X:145.03, Y:-6.77, Z:0.60 [[ 9.99955422e-01 -7.50764365e-03 -5.72613743e-03 1.45026443e+02] [ 7.50942266e-03 9.99971762e-01 2.89245678e-04 -6.77434374e+00] [ 5.72380418e-03 -3.32232770e-04 9.99983564e-01 5.96480060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40071405700002 meters Centerline goodness : 0.993845 with order 1 Centerline is valid? [True, True] Translation: X:145.09, Y:-6.78, Z:0.60 [[ 9.99921975e-01 -1.11020028e-02 -5.72614828e-03 1.45087041e+02] [ 1.11038393e-02 9.99938309e-01 2.89030732e-04 -6.77600539e+00] [ 5.72258621e-03 -3.52590411e-04 9.99983564e-01 5.95165641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.460714057 meters Centerline goodness : 0.994689 with order 1 Centerline is valid? [True, True] Translation: X:145.15, Y:-6.78, Z:0.59 [[ 9.99894185e-01 -1.33727573e-02 -5.72614828e-03 1.45147800e+02] [ 1.33746309e-02 9.99910514e-01 2.89030732e-04 -6.77821396e+00] [ 5.72177073e-03 -3.65585268e-04 9.99983564e-01 5.94715562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.520714057 meters Centerline goodness : 0.994068 with order 1 Centerline is valid? [True, True] Translation: X:145.21, Y:-6.78, Z:0.59 [[ 9.99868482e-01 -1.51733380e-02 -5.72613216e-03 1.45209509e+02] [ 1.51752428e-02 9.99884808e-01 2.89349709e-04 -6.78088291e+00] [ 5.72108215e-03 -3.76207100e-04 9.99983564e-01 5.94866476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.580714057 meters Centerline goodness : 0.993818 with order 1 Centerline is valid? [True, True] Translation: X:145.27, Y:-6.78, Z:0.60 [[ 9.99857996e-01 -1.58492980e-02 -5.72611172e-03 1.45271449e+02] [ 1.58512162e-02 9.99874320e-01 2.89753772e-04 -6.78267563e+00] [ 5.72079966e-03 -3.80478460e-04 9.99983564e-01 5.96549217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.640714057 meters Centerline goodness : 0.993071 with order 1 Centerline is valid? [True, True] Translation: X:145.33, Y:-6.78, Z:0.60 [[ 9.99899531e-01 -1.29668427e-02 -5.72609018e-03 1.45334052e+02] [ 1.29687162e-02 9.99915861e-01 2.90178670e-04 -6.78213672e+00] [ 5.72184569e-03 -3.64409555e-04 9.99983564e-01 6.02732379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.700714057 meters Centerline goodness : 0.992987 with order 1 Centerline is valid? [True, True] Translation: X:145.40, Y:-6.78, Z:0.60 [[ 9.99898589e-01 -1.30393089e-02 -5.72606707e-03 1.45395239e+02] [ 1.30411862e-02 9.99914918e-01 2.90634101e-04 -6.78391904e+00] [ 5.72179021e-03 -3.65279334e-04 9.99983564e-01 5.99262645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.760714057 meters Centerline goodness : 0.993064 with order 1 Centerline is valid? [True, True] Translation: X:145.46, Y:-6.78, Z:0.60 [[ 9.99979337e-01 2.92183983e-03 -5.72605018e-03 1.45455299e+02] [-2.92022149e-03 9.99995694e-01 2.90966457e-04 -6.78097230e+00] [ 5.72687568e-03 -2.74239110e-04 9.99983564e-01 6.02288701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.820714057 meters Centerline goodness : 0.992941 with order 1 Centerline is valid? [True, True] Translation: X:145.51, Y:-6.78, Z:0.60 [[ 9.99897510e-01 1.31217734e-02 -5.72605018e-03 1.45512566e+02] [-1.31203220e-02 9.99913883e-01 2.90966457e-04 -6.78152262e+00] [ 5.72937506e-03 -2.15809014e-04 9.99983564e-01 5.96808712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.880714057 meters Centerline goodness : 0.992388 with order 1 Centerline is valid? [True, True] Translation: X:145.57, Y:-6.78, Z:0.60 [[ 9.99540944e-01 2.97508603e-02 -5.72608516e-03 1.45571537e+02] [-2.97496854e-02 9.99557338e-01 2.90276447e-04 -6.77919760e+00] [ 5.73218641e-03 -1.19793962e-04 9.99983564e-01 5.99280415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.940714057 meters Centerline goodness : 0.991900 with order 1 Centerline is valid? [True, True] Translation: X:145.63, Y:-6.78, Z:0.60 [[ 9.99330786e-01 3.61274176e-02 -5.72616247e-03 1.45628703e+02] [-3.61263561e-02 9.99347188e-01 2.88743195e-04 -6.78066319e+00] [ 5.73285591e-03 -8.16845794e-05 9.99983564e-01 6.00169113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.000714057 meters Centerline goodness : 0.992254 with order 1 Centerline is valid? [True, True] Translation: X:145.69, Y:-6.78, Z:0.60 [[ 9.99037593e-01 4.34867540e-02 -5.72620051e-03 1.45686509e+02] [-4.34858176e-02 9.99054003e-01 2.87986828e-04 -6.78390643e+00] [ 5.73330716e-03 -3.87011568e-05 9.99983564e-01 6.00884211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.060714057 meters Centerline goodness : 0.991797 with order 1 Centerline is valid? [True, True] Translation: X:145.74, Y:-6.79, Z:0.60 [[ 9.98904643e-01 4.64405345e-02 -5.72628839e-03 1.45744959e+02] [-4.64396567e-02 9.98921056e-01 2.86228722e-04 -6.79330576e+00] [ 5.73340266e-03 -1.99883321e-05 9.99983564e-01 5.96318755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12071405700001 meters Centerline goodness : 0.991821 with order 1 Centerline is valid? [True, True] Translation: X:145.80, Y:-6.80, Z:0.60 [[ 9.99126710e-01 4.13887262e-02 -5.72636418e-03 1.45802577e+02] [-4.13877742e-02 9.99143118e-01 2.84704326e-04 -6.80037718e+00] [ 5.73324092e-03 -4.74542282e-05 9.99983564e-01 5.95166439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18071405700002 meters Centerline goodness : 0.991989 with order 1 Centerline is valid? [True, True] Translation: X:145.86, Y:-6.81, Z:0.59 [[ 9.99120269e-01 4.15439116e-02 -5.72639063e-03 1.45860676e+02] [-4.15429652e-02 9.99136678e-01 2.84171278e-04 -6.80923934e+00] [ 5.73325250e-03 -4.60300371e-05 9.99983564e-01 5.93679417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.240714057 meters Centerline goodness : 0.992600 with order 1 Centerline is valid? [True, True] Translation: X:145.92, Y:-6.82, Z:0.59 [[ 9.99359456e-01 3.53254264e-02 -5.72646488e-03 1.45919395e+02] [-3.53243866e-02 9.99375859e-01 2.82667243e-04 -6.81887283e+00] [ 5.73287610e-03 -8.02023234e-05 9.99983564e-01 5.91508816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.300714057 meters Centerline goodness : 0.993628 with order 1 Centerline is valid? [True, True] Translation: X:145.98, Y:-6.82, Z:0.60 [[ 9.99676456e-01 2.47828506e-02 -5.72653796e-03 1.45977296e+02] [-2.47816462e-02 9.99692848e-01 2.81178828e-04 -6.82434021e+00] [ 5.73174746e-03 -1.39174817e-04 9.99983564e-01 6.00678246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.360714057 meters Centerline goodness : 0.993946 with order 1 Centerline is valid? [True, True] Translation: X:146.03, Y:-6.83, Z:0.60 [[ 9.99745206e-01 2.18341218e-02 -5.72656339e-03 1.46034809e+02] [-2.18328721e-02 9.99761595e-01 2.80660013e-04 -6.83251110e+00] [ 5.73132611e-03 -1.55561177e-04 9.99983564e-01 6.02323427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.420714057 meters Centerline goodness : 0.993304 with order 1 Centerline is valid? [True, True] Translation: X:146.09, Y:-6.84, Z:0.60 [[ 9.99731572e-01 2.24497111e-02 -5.72659493e-03 1.46092853e+02] [-2.24484752e-02 9.99747962e-01 2.80014851e-04 -6.84465680e+00] [ 5.73143787e-03 -1.51386363e-04 9.99983564e-01 5.96846619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.480714057 meters Centerline goodness : 0.993608 with order 1 Centerline is valid? [True, True] Translation: X:146.15, Y:-6.85, Z:0.60 [[ 9.99784119e-01 1.99730184e-02 -5.72661586e-03 1.46151758e+02] [-1.99717443e-02 9.99800506e-01 2.79586134e-04 -6.85193666e+00] [ 5.73105762e-03 -1.65155269e-04 9.99983564e-01 5.96956627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.540714057 meters Centerline goodness : 0.994054 with order 1 Centerline is valid? [True, True] Translation: X:146.21, Y:-6.86, Z:0.60 [[ 9.99877693e-01 1.45534917e-02 -5.72663650e-03 1.46209849e+02] [-1.45521312e-02 9.99894073e-01 2.79162864e-04 -6.85749708e+00] [ 5.73009269e-03 -1.95793954e-04 9.99983564e-01 5.99527598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.600714057 meters Centerline goodness : 0.994672 with order 1 Centerline is valid? [True, True] Translation: X:146.27, Y:-6.86, Z:0.60 [[ 9.99928560e-01 1.04918704e-02 -5.72666253e-03 1.46266358e+02] [-1.04904465e-02 9.99944935e-01 2.78627742e-04 -6.86364503e+00] [ 5.72927052e-03 -2.18532590e-04 9.99983564e-01 5.99257779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.660714057 meters Centerline goodness : 0.993878 with order 1 Centerline is valid? [True, True] Translation: X:146.32, Y:-6.87, Z:0.60 [[ 9.99923601e-01 1.09543359e-02 -5.72669845e-03 1.46324747e+02] [-1.09529238e-02 9.99939976e-01 2.77887644e-04 -6.87240769e+00] [ 5.72939878e-03 -2.15142322e-04 9.99983564e-01 5.96478974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.720714057 meters Centerline goodness : 0.994359 with order 1 Centerline is valid? [True, True] Translation: X:146.38, Y:-6.88, Z:0.60 [[ 9.99946251e-01 8.64296168e-03 -5.72671905e-03 1.46383228e+02] [-8.64151416e-03 9.99962623e-01 2.77462425e-04 -6.87721920e+00] [ 5.72890310e-03 -2.27959988e-04 9.99983564e-01 5.97832513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.780714057 meters Centerline goodness : 0.994254 with order 1 Centerline is valid? [True, True] Translation: X:146.44, Y:-6.88, Z:0.60 [[ 9.99961403e-01 6.66307999e-03 -5.72673916e-03 1.46441437e+02] [-6.66160243e-03 9.99977773e-01 2.77046775e-04 -6.88239860e+00] [ 5.72845785e-03 -2.38886822e-04 9.99983564e-01 5.95954512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.840714057 meters Centerline goodness : 0.994116 with order 1 Centerline is valid? [True, True] Translation: X:146.50, Y:-6.89, Z:0.59 [[ 9.99971670e-01 4.88502023e-03 -5.72675923e-03 1.46500490e+02] [-4.88351594e-03 9.99988037e-01 2.76631166e-04 -6.88897632e+00] [ 5.72804207e-03 -2.48656609e-04 9.99983564e-01 5.92047763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90071405700002 meters Centerline goodness : 0.994023 with order 1 Centerline is valid? [True, True] Translation: X:146.56, Y:-6.89, Z:0.60 [[ 9.99979047e-01 -3.01805129e-03 -5.72677401e-03 1.46559174e+02] [ 3.01968313e-03 9.99995403e-01 2.76324856e-04 -6.88781989e+00] [ 5.72591372e-03 -2.93612109e-04 9.99983564e-01 5.98017131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.960714057 meters Centerline goodness : 0.994361 with order 1 Centerline is valid? [True, True] Translation: X:146.62, Y:-6.89, Z:0.60 [[ 9.99963899e-01 -6.27733253e-03 -5.72678962e-03 1.46618285e+02] [ 6.27901582e-03 9.99980249e-01 2.76000949e-04 -6.89084148e+00] [ 5.72494396e-03 -3.11949588e-04 9.99983564e-01 5.97439675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.020714057 meters Centerline goodness : 0.994405 with order 1 Centerline is valid? [True, True] Translation: X:146.68, Y:-6.89, Z:0.60 [[ 9.99927983e-01 -1.05466781e-02 -5.72679915e-03 1.46678333e+02] [ 1.05484300e-02 9.99944326e-01 2.75803028e-04 -6.89169847e+00] [ 5.72357151e-03 -3.36191906e-04 9.99983564e-01 5.97179255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.080714057 meters Centerline goodness : 0.994419 with order 1 Centerline is valid? [True, True] Translation: X:146.74, Y:-6.89, Z:0.60 [[ 9.99894207e-01 -1.33707926e-02 -5.72680388e-03 1.46739758e+02] [ 1.33725902e-02 9.99910545e-01 2.75704877e-04 -6.89243311e+00] [ 5.72260520e-03 -3.52257910e-04 9.99983564e-01 5.97612123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.140714057 meters Centerline goodness : 0.994436 with order 1 Centerline is valid? [True, True] Translation: X:146.80, Y:-6.89, Z:0.60 [[ 9.99820833e-01 -1.80417782e-02 -5.72679455e-03 1.46801559e+02] [ 1.80436532e-02 9.99837162e-01 2.75898483e-04 -6.89032432e+00] [ 5.72088431e-03 -3.79181346e-04 9.99983564e-01 5.98620623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.200714057 meters Centerline goodness : 0.994936 with order 1 Centerline is valid? [True, True] Translation: X:146.86, Y:-6.89, Z:0.60 [[ 9.99789960e-01 -1.96784321e-02 -5.72672492e-03 1.46864265e+02] [ 1.96803420e-02 9.99806285e-01 2.77336348e-04 -6.89048831e+00] [ 5.72015802e-03 -3.89982001e-04 9.99983564e-01 5.98927839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.260714057 meters Centerline goodness : 0.994562 with order 1 Centerline is valid? [True, True] Translation: X:146.93, Y:-6.89, Z:0.60 [[ 9.99754895e-01 -2.13858752e-02 -5.72670654e-03 1.46926114e+02] [ 2.13878151e-02 9.99771216e-01 2.77715419e-04 -6.88895476e+00] [ 5.71945717e-03 -4.00129090e-04 9.99983564e-01 6.01694878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.320714057 meters Centerline goodness : 0.995470 with order 1 Centerline is valid? [True, True] Translation: X:146.99, Y:-6.89, Z:0.60 [[ 9.99683233e-01 -2.45079134e-02 -5.72668574e-03 1.46988087e+02] [ 2.45099068e-02 9.99699548e-01 2.78143630e-04 -6.88900080e+00] [ 5.71814843e-03 -4.18416057e-04 9.99983564e-01 5.99876069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.380714057 meters Centerline goodness : 0.995364 with order 1 Centerline is valid? [True, True] Translation: X:147.05, Y:-6.89, Z:0.60 [[ 9.99686723e-01 -2.43651682e-02 -5.72665977e-03 1.47051489e+02] [ 2.43671623e-02 9.99703038e-01 2.78677271e-04 -6.88731467e+00] [ 5.71816915e-03 -4.18132416e-04 9.99983564e-01 5.99999805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.440714057 meters Centerline goodness : 0.995000 with order 1 Centerline is valid? [True, True] Translation: X:147.11, Y:-6.89, Z:0.60 [[ 9.99652402e-01 -2.57348220e-02 -5.72662731e-03 1.47114983e+02] [ 2.57368422e-02 9.99668714e-01 2.79342725e-04 -6.88673357e+00] [ 5.71754132e-03 -4.26630929e-04 9.99983564e-01 5.96821483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.500714057 meters Centerline goodness : 0.995730 with order 1 Centerline is valid? [True, True] Translation: X:147.18, Y:-6.88, Z:0.60 [[ 9.99476090e-01 -3.18551820e-02 -5.72659509e-03 1.47176942e+02] [ 3.18573058e-02 9.99492388e-01 2.80001649e-04 -6.87613786e+00] [ 5.71476870e-03 -4.62288844e-04 9.99983564e-01 6.03543918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.560714057 meters Centerline goodness : 0.996515 with order 1 Centerline is valid? [True, True] Translation: X:147.24, Y:-6.87, Z:0.60 [[ 9.99546649e-01 -2.95584851e-02 -5.72652674e-03 1.47240025e+02] [ 2.95605794e-02 9.99562951e-01 2.81392596e-04 -6.87445328e+00] [ 5.71570643e-03 -4.50544475e-04 9.99983564e-01 6.04131499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62071405700001 meters Centerline goodness : 0.996211 with order 1 Centerline is valid? [True, True] Translation: X:147.30, Y:-6.87, Z:0.60 [[ 9.99643464e-01 -2.60797275e-02 -5.72649680e-03 1.47302175e+02] [ 2.60817685e-02 9.99659773e-01 2.82000544e-04 -6.87219535e+00] [ 5.71719400e-03 -4.31257165e-04 9.99983564e-01 6.04375678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68071405700002 meters Centerline goodness : 0.994617 with order 1 Centerline is valid? [True, True] Translation: X:147.36, Y:-6.88, Z:0.60 [[ 9.99932243e-01 -1.01348917e-02 -5.72647648e-03 1.47364205e+02] [ 1.01366747e-02 9.99948583e-01 2.82412623e-04 -6.87663068e+00] [ 5.72331982e-03 -3.40440917e-04 9.99983564e-01 5.95476483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.740714057 meters Centerline goodness : 0.994717 with order 1 Centerline is valid? [True, True] Translation: X:147.43, Y:-6.87, Z:0.60 [[ 9.99959298e-01 -6.97207974e-03 -5.72645460e-03 1.47426575e+02] [ 6.97381352e-03 9.99975643e-01 2.82855509e-04 -6.86709799e+00] [ 5.72434303e-03 -3.22779222e-04 9.99983564e-01 6.02930886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.800714057 meters Centerline goodness : 0.994099 with order 1 Centerline is valid? [True, True] Translation: X:147.49, Y:-6.87, Z:0.60 [[ 9.99977689e-01 3.43927202e-03 -5.72643860e-03 1.47487086e+02] [-3.43770665e-03 9.99994051e-01 2.83179089e-04 -6.86567331e+00] [ 5.72737847e-03 -2.63486955e-04 9.99983564e-01 6.00799662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.860714057 meters Centerline goodness : 0.995033 with order 1 Centerline is valid? [True, True] Translation: X:147.55, Y:-6.86, Z:0.61 [[ 9.99980371e-01 2.54279891e-03 -5.72643860e-03 1.47545309e+02] [-2.54121887e-03 9.99996731e-01 2.83179089e-04 -6.85612078e+00] [ 5.72713995e-03 -2.68621397e-04 9.99983564e-01 6.05613616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.920714057 meters Centerline goodness : 0.993720 with order 1 Centerline is valid? [True, True] Translation: X:147.60, Y:-6.87, Z:0.60 [[ 9.99760872e-01 2.11046650e-02 -5.72646417e-03 1.47603965e+02] [-2.11033919e-02 9.99777259e-01 2.82661221e-04 -6.86585149e+00] [ 5.73115412e-03 -1.61745811e-04 9.99983564e-01 6.00926787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.980714057 meters Centerline goodness : 0.993658 with order 1 Centerline is valid? [True, True] Translation: X:147.66, Y:-6.86, Z:0.61 [[ 9.99764078e-01 2.09522309e-02 -5.72653567e-03 1.47663088e+02] [-2.09509637e-02 9.99780465e-01 2.81205166e-04 -6.86477110e+00] [ 5.73117037e-03 -1.61162383e-04 9.99983564e-01 6.07001475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.040714057 meters Centerline goodness : 0.993698 with order 1 Centerline is valid? [True, True] Translation: X:147.72, Y:-6.87, Z:0.61 [[ 9.99820367e-01 1.80676536e-02 -5.72655659e-03 1.47720714e+02] [-1.80663415e-02 9.99836751e-01 2.80778331e-04 -6.87175351e+00] [ 5.73069474e-03 -1.77269967e-04 9.99983564e-01 6.05445926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.100714057 meters Centerline goodness : 0.993302 with order 1 Centerline is valid? [True, True] Translation: X:147.78, Y:-6.88, Z:0.60 [[ 9.99896194e-01 1.32214910e-02 -5.72658780e-03 1.47779435e+02] [-1.32201032e-02 9.99912571e-01 2.80140489e-04 -6.88152492e+00] [ 5.72979100e-03 -2.04405327e-04 9.99983564e-01 5.99998726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.160714057 meters Centerline goodness : 0.993671 with order 1 Centerline is valid? [True, True] Translation: X:147.84, Y:-6.89, Z:0.60 [[ 9.99952844e-01 7.84324858e-03 -5.72660838e-03 1.47836985e+02] [-7.84177507e-03 9.99969214e-01 2.79719005e-04 -6.88846222e+00] [ 5.72862599e-03 -2.34799040e-04 9.99983564e-01 6.00707305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.220714057 meters Centerline goodness : 0.993056 with order 1 Centerline is valid? [True, True] Translation: X:147.89, Y:-6.90, Z:0.60 [[ 9.99973698e-01 4.45061944e-03 -5.72664033e-03 1.47894040e+02] [-4.44909414e-03 9.99990064e-01 2.79063423e-04 -6.89892391e+00] [ 5.72782544e-03 -2.53577721e-04 9.99983564e-01 6.01752503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.280714057 meters Centerline goodness : 0.993448 with order 1 Centerline is valid? [True, True] Translation: X:147.95, Y:-6.91, Z:0.60 [[ 9.99980057e-01 -2.66296734e-03 -5.72666634e-03 1.47952266e+02] [ 2.66460596e-03 9.99996411e-01 2.78528772e-04 -6.90616832e+00] [ 5.72590407e-03 -2.93782527e-04 9.99983564e-01 6.00068375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.340714057 meters Centerline goodness : 0.993944 with order 1 Centerline is valid? [True, True] Translation: X:148.01, Y:-6.91, Z:0.60 [[ 9.99929531e-01 -1.03989196e-02 -5.72668716e-03 1.48011310e+02] [ 1.04006822e-02 9.99945873e-01 2.78099907e-04 -6.91290887e+00] [ 5.72348525e-03 -3.37641763e-04 9.99983564e-01 6.02517605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40071405700002 meters Centerline goodness : 0.994055 with order 1 Centerline is valid? [True, True] Translation: X:148.07, Y:-6.92, Z:0.61 [[ 9.99855600e-01 -1.59995003e-02 -5.72669778e-03 1.48071893e+02] [ 1.60013532e-02 9.99871932e-01 2.77881177e-04 -6.92333906e+00] [ 5.72151841e-03 -3.69475964e-04 9.99983564e-01 6.05098264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.460714057 meters Centerline goodness : 0.995873 with order 1 Centerline is valid? [True, True] Translation: X:148.13, Y:-6.92, Z:0.61 [[ 9.99547775e-01 -2.95203394e-02 -5.72668706e-03 1.48134483e+02] [ 2.95224143e-02 9.99564080e-01 2.78101829e-04 -6.92395463e+00] [ 5.71598102e-03 -4.47041693e-04 9.99983564e-01 6.07667896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.520714057 meters Centerline goodness : 0.994547 with order 1 Centerline is valid? [True, True] Translation: X:148.20, Y:-6.94, Z:0.61 [[ 9.99637245e-01 -2.63169790e-02 -5.72663423e-03 1.48196006e+02] [ 2.63190078e-02 9.99653556e-01 2.79185494e-04 -6.94020915e+00] [ 5.71730295e-03 -4.29803550e-04 9.99983564e-01 6.05486131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.580714057 meters Centerline goodness : 0.995512 with order 1 Centerline is valid? [True, True] Translation: X:148.26, Y:-6.95, Z:0.61 [[ 9.99618776e-01 -2.70094155e-02 -5.72661326e-03 1.48257954e+02] [ 2.70114580e-02 9.99635085e-01 2.79614927e-04 -6.94909205e+00] [ 5.71697130e-03 -4.34192505e-04 9.99983564e-01 6.06201950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.640714057 meters Centerline goodness : 0.995868 with order 1 Centerline is valid? [True, True] Translation: X:148.32, Y:-6.95, Z:0.61 [[ 9.99615822e-01 -2.71185141e-02 -5.72658733e-03 1.48319435e+02] [ 2.71205614e-02 9.99632131e-01 2.80145082e-04 -6.94690495e+00] [ 5.71688357e-03 -4.35345720e-04 9.99983564e-01 6.08175004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.700714057 meters Centerline goodness : 0.995049 with order 1 Centerline is valid? [True, True] Translation: X:148.38, Y:-6.96, Z:0.61 [[ 9.99860420e-01 -1.56954329e-02 -5.72654816e-03 1.48381085e+02] [ 1.56972983e-02 9.99876750e-01 2.80943353e-04 -6.95907176e+00] [ 5.72143284e-03 -3.70795474e-04 9.99983564e-01 6.06209581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.760714057 meters Centerline goodness : 0.994877 with order 1 Centerline is valid? [True, True] Translation: X:148.44, Y:-6.96, Z:0.61 [[ 9.99916897e-01 -1.15501785e-02 -5.72652675e-03 1.48441794e+02] [ 1.15519787e-02 9.99933234e-01 2.81379163e-04 -6.96493392e+00] [ 5.72289443e-03 -3.47508494e-04 9.99983564e-01 6.06681060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.820714057 meters Centerline goodness : 0.994988 with order 1 Centerline is valid? [True, True] Translation: X:148.50, Y:-6.97, Z:0.60 [[ 9.99957687e-01 -7.19935668e-03 -5.72651094e-03 1.48503617e+02] [ 7.20108758e-03 9.99974032e-01 2.81700439e-04 -6.97107103e+00] [ 5.72433418e-03 -3.22925627e-04 9.99983564e-01 6.04524457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.880714057 meters Centerline goodness : 0.995019 with order 1 Centerline is valid? [True, True] Translation: X:148.56, Y:-6.98, Z:0.60 [[ 9.99976244e-01 -3.83652634e-03 -5.72648926e-03 1.48563481e+02] [ 3.83820478e-03 9.99992594e-01 2.82140579e-04 -6.97624645e+00] [ 5.72536441e-03 -3.04113315e-04 9.99983564e-01 6.03204069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.940714057 meters Centerline goodness : 0.994306 with order 1 Centerline is valid? [True, True] Translation: X:148.62, Y:-6.99, Z:0.60 [[ 9.99973020e-01 4.60067681e-03 -5.72648926e-03 1.48621388e+02] [-4.59913637e-03 9.99989384e-01 2.82140579e-04 -6.98595457e+00] [ 5.72772651e-03 -2.55796062e-04 9.99983564e-01 5.95127103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.000714057 meters Centerline goodness : 0.994334 with order 1 Centerline is valid? [True, True] Translation: X:148.68, Y:-6.98, Z:0.60 [[ 9.99983194e-01 9.04736397e-04 -5.72650939e-03 1.48679514e+02] [-9.03137833e-04 9.99999552e-01 2.81731380e-04 -6.98359573e+00] [ 5.72676172e-03 -2.76554818e-04 9.99983564e-01 6.02475308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.060714057 meters Centerline goodness : 0.994515 with order 1 Centerline is valid? [True, True] Translation: X:148.74, Y:-6.99, Z:0.60 [[ 9.99965633e-01 5.99499412e-03 -5.72653692e-03 1.48738020e+02] [-5.99348205e-03 9.99981999e-01 2.81170656e-04 -6.98908702e+00] [ 5.72811946e-03 -2.46839096e-04 9.99983564e-01 5.97676724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12071405700001 meters Centerline goodness : 0.993618 with order 1 Centerline is valid? [True, True] Translation: X:148.80, Y:-6.99, Z:0.60 [[ 9.99930380e-01 1.03170322e-02 -5.72660769e-03 1.48795657e+02] [-1.03155991e-02 9.99946754e-01 2.79721957e-04 -6.99119493e+00] [ 5.72918867e-03 -2.20629094e-04 9.99983564e-01 5.97030416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18071405700002 meters Centerline goodness : 0.996093 with order 1 Centerline is valid? [True, True] Translation: X:148.85, Y:-6.98, Z:0.61 [[ 9.99981826e-01 1.88476740e-03 -5.72669073e-03 1.48854452e+02] [-1.88320612e-03 9.99998188e-01 2.78011374e-04 -6.98054603e+00] [ 5.72720434e-03 -2.67221782e-04 9.99983564e-01 6.09407871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.240714057 meters Centerline goodness : 0.994126 with order 1 Centerline is valid? [True, True] Translation: X:148.91, Y:-7.00, Z:0.60 [[ 9.99927802e-01 1.05638769e-02 -5.72671108e-03 1.48912333e+02] [-1.05624601e-02 9.99944177e-01 2.77591515e-04 -6.99576166e+00] [ 5.72932384e-03 -2.17083316e-04 9.99983564e-01 6.03486839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.300714057 meters Centerline goodness : 0.994200 with order 1 Centerline is valid? [True, True] Translation: X:148.97, Y:-7.00, Z:0.61 [[ 9.99946115e-01 8.65855275e-03 -5.72678550e-03 1.48970155e+02] [-8.65711358e-03 9.99962488e-01 2.76047563e-04 -6.99994418e+00] [ 5.72896085e-03 -2.26455256e-04 9.99983564e-01 6.05246963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.360714057 meters Centerline goodness : 0.994270 with order 1 Centerline is valid? [True, True] Translation: X:149.03, Y:-7.01, Z:0.60 [[ 9.99928502e-01 1.04973944e-02 -5.72681130e-03 1.49028651e+02] [-1.04959884e-02 9.99944878e-01 2.75511369e-04 -7.00503473e+00] [ 5.72938778e-03 -2.15383126e-04 9.99983564e-01 6.03900927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.420714057 meters Centerline goodness : 0.995108 with order 1 Centerline is valid? [True, True] Translation: X:149.09, Y:-7.01, Z:0.60 [[ 9.99863438e-01 1.55018846e-02 -5.72683230e-03 1.49086519e+02] [-1.55005631e-02 9.99879821e-01 2.75074123e-04 -7.01028961e+00] [ 5.73040822e-03 -1.86267433e-04 9.99983564e-01 6.02293848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.480714057 meters Centerline goodness : 0.993839 with order 1 Centerline is valid? [True, True] Translation: X:149.15, Y:-7.02, Z:0.60 [[ 9.99724857e-01 2.27467019e-02 -5.72691435e-03 1.49145369e+02] [-2.27455090e-02 9.99741250e-01 2.73355219e-04 -7.01811175e+00] [ 5.73165044e-03 -1.43018426e-04 9.99983564e-01 5.95848672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.540714057 meters Centerline goodness : 0.994042 with order 1 Centerline is valid? [True, True] Translation: X:149.20, Y:-7.02, Z:0.60 [[ 9.99622017e-01 2.68891076e-02 -5.72698172e-03 1.49202778e+02] [-2.68879907e-02 9.99638416e-01 2.71936304e-04 -7.02244807e+00] [ 5.73222306e-03 -1.17846485e-04 9.99983564e-01 5.98035747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.600714057 meters Centerline goodness : 0.994599 with order 1 Centerline is valid? [True, True] Translation: X:149.26, Y:-7.03, Z:0.60 [[ 9.99588146e-01 2.81200874e-02 -5.72700707e-03 1.49261577e+02] [-2.81189938e-02 9.99604546e-01 2.71401386e-04 -7.02764214e+00] [ 5.73237414e-03 -1.10251932e-04 9.99983564e-01 6.01196300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.660714057 meters Centerline goodness : 0.995338 with order 1 Centerline is valid? [True, True] Translation: X:149.32, Y:-7.02, Z:0.62 [[ 9.99953420e-01 7.76905877e-03 -5.72702759e-03 1.49320233e+02] [-7.76763408e-03 9.99969795e-01 2.70967678e-04 -7.01812396e+00] [ 5.72895977e-03 -2.26469601e-04 9.99983564e-01 6.17835980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.720714057 meters Centerline goodness : 0.995555 with order 1 Centerline is valid? [True, True] Translation: X:149.38, Y:-7.03, Z:0.62 [[ 9.99983580e-01 2.00676310e-04 -5.72704775e-03 1.49377679e+02] [-1.99130168e-04 9.99999944e-01 2.70540955e-04 -7.02588755e+00] [ 5.72710172e-03 -2.69396085e-04 9.99983564e-01 6.17094320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.780714057 meters Centerline goodness : 0.994770 with order 1 Centerline is valid? [True, True] Translation: X:149.44, Y:-7.04, Z:0.61 [[ 9.99983066e-01 1.03397462e-03 -5.72707138e-03 1.49435286e+02] [-1.03244498e-03 9.99999431e-01 2.70039864e-04 -7.04214474e+00] [ 5.72734733e-03 -2.64122405e-04 9.99983564e-01 6.12293715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.840714057 meters Centerline goodness : 0.994384 with order 1 Centerline is valid? [True, True] Translation: X:149.49, Y:-7.05, Z:0.61 [[ 9.99975169e-01 -4.10638648e-03 -5.72709690e-03 1.49493006e+02] [ 4.10799713e-03 9.99991526e-01 2.69497436e-04 -7.04901633e+00] [ 5.72594171e-03 -2.93017641e-04 9.99983564e-01 6.11495086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90071405700002 meters Centerline goodness : 0.993310 with order 1 Centerline is valid? [True, True] Translation: X:149.55, Y:-7.05, Z:0.61 [[ 9.99944928e-01 -8.79442557e-03 -5.72712188e-03 1.49551451e+02] [ 8.79610984e-03 9.99961277e-01 2.68965544e-04 -7.05455628e+00] [ 5.72453471e-03 -3.19327124e-04 9.99983564e-01 6.11328010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.960714057 meters Centerline goodness : 0.994505 with order 1 Centerline is valid? [True, True] Translation: X:149.61, Y:-7.06, Z:0.61 [[ 9.99928678e-01 -1.04803991e-02 -5.72713655e-03 1.49611671e+02] [ 1.04821092e-02 9.99945025e-01 2.68652936e-04 -7.05815970e+00] [ 5.72400611e-03 -3.28666246e-04 9.99983564e-01 6.12706049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.020714057 meters Centerline goodness : 0.993424 with order 1 Centerline is valid? [True, True] Translation: X:149.67, Y:-7.06, Z:0.61 [[ 9.99938827e-01 -9.46270736e-03 -5.72713655e-03 1.49673341e+02] [ 9.46440078e-03 9.99955175e-01 2.68652936e-04 -7.06090055e+00] [ 5.72433765e-03 -3.22840417e-04 9.99983564e-01 6.12184214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.080714057 meters Centerline goodness : 0.995860 with order 1 Centerline is valid? [True, True] Translation: X:149.73, Y:-7.05, Z:0.62 [[ 9.99886729e-01 -1.39186877e-02 -5.72712647e-03 1.49733734e+02] [ 1.39204552e-02 9.99903070e-01 2.68867602e-04 -7.05237895e+00] [ 5.72282905e-03 -3.48561355e-04 9.99983564e-01 6.17023585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.140714057 meters Centerline goodness : 0.993879 with order 1 Centerline is valid? [True, True] Translation: X:149.79, Y:-7.07, Z:0.60 [[ 9.99981277e-01 2.15554656e-03 -5.72712150e-03 1.49793764e+02] [-2.15404137e-03 9.99997644e-01 2.68973312e-04 -7.06934159e+00] [ 5.72768779e-03 -2.56631819e-04 9.99983564e-01 6.04357217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.200714057 meters Centerline goodness : 0.996378 with order 1 Centerline is valid? [True, True] Translation: X:149.85, Y:-7.05, Z:0.62 [[ 9.99916239e-01 -1.16066452e-02 -5.72712150e-03 1.49853435e+02] [ 1.16083755e-02 9.99932584e-01 2.68973312e-04 -7.05375895e+00] [ 5.72361353e-03 -3.35433359e-04 9.99983564e-01 6.18378425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.260714057 meters Centerline goodness : 0.994448 with order 1 Centerline is valid? [True, True] Translation: X:149.91, Y:-7.07, Z:0.61 [[ 9.99983585e-01 -1.72881209e-04 -5.72713645e-03 1.49914519e+02] [ 1.74422685e-04 9.99999949e-01 2.68654639e-04 -7.06785133e+00] [ 5.72708971e-03 -2.69649171e-04 9.99983564e-01 6.08425166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.320714057 meters Centerline goodness : 0.993712 with order 1 Centerline is valid? [True, True] Translation: X:149.97, Y:-7.07, Z:0.61 [[ 9.99982407e-01 1.54447682e-03 -5.72712615e-03 1.49973640e+02] [-1.54296219e-03 9.99998773e-01 2.68874140e-04 -7.06854940e+00] [ 5.72753439e-03 -2.60032671e-04 9.99983564e-01 6.08137599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.380714057 meters Centerline goodness : 0.993828 with order 1 Centerline is valid? [True, True] Translation: X:150.03, Y:-7.07, Z:0.61 [[ 9.99955897e-01 7.44338772e-03 -5.72719655e-03 1.50032154e+02] [-7.44197829e-03 9.99972272e-01 2.67365947e-04 -7.06750391e+00] [ 5.72902786e-03 -2.24732483e-04 9.99983564e-01 6.07267106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.440714057 meters Centerline goodness : 0.993505 with order 1 Centerline is valid? [True, True] Translation: X:150.09, Y:-7.06, Z:0.61 [[ 9.99897184e-01 1.31461252e-02 -5.72726635e-03 1.50091233e+02] [-1.31448178e-02 9.99913568e-01 2.65862415e-04 -7.06492029e+00] [ 5.73026639e-03 -1.90551208e-04 9.99983564e-01 6.09690566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.500714057 meters Centerline goodness : 0.995734 with order 1 Centerline is valid? [True, True] Translation: X:150.15, Y:-7.05, Z:0.62 [[ 9.99926397e-01 1.06957437e-02 -5.72733482e-03 1.50149432e+02] [-1.06944046e-02 9.99942778e-01 2.64379060e-04 -7.05005738e+00] [ 5.72983483e-03 -2.03109165e-04 9.99983564e-01 6.20304055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.560714057 meters Centerline goodness : 0.995062 with order 1 Centerline is valid? [True, True] Translation: X:150.21, Y:-7.05, Z:0.62 [[ 9.99823079e-01 1.79166777e-02 -5.72735881e-03 1.50207312e+02] [-1.79154599e-02 9.99839470e-01 2.63858456e-04 -7.05047326e+00] [ 5.73116686e-03 -1.61203507e-04 9.99983564e-01 6.19710950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62071405700001 meters Centerline goodness : 0.993342 with order 1 Centerline is valid? [True, True] Translation: X:150.26, Y:-7.06, Z:0.61 [[ 9.99367493e-01 3.50971702e-02 -5.72743506e-03 1.50264466e+02] [-3.50962439e-02 9.99383903e-01 2.62192788e-04 -7.06477100e+00] [ 5.73310863e-03 -6.10154917e-05 9.99983564e-01 6.09563904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68071405700002 meters Centerline goodness : 0.993281 with order 1 Centerline is valid? [True, True] Translation: X:150.32, Y:-7.07, Z:0.61 [[ 9.99230227e-01 3.88091388e-02 -5.72751131e-03 1.50323327e+02] [-3.88082830e-02 9.99246641e-01 2.60516311e-04 -7.06640260e+00] [ 5.73330685e-03 -3.80408930e-05 9.99983564e-01 6.11730569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.740714057 meters Centerline goodness : 0.995111 with order 1 Centerline is valid? [True, True] Translation: X:150.38, Y:-7.06, Z:0.62 [[ 9.99601971e-01 2.76241843e-02 -5.72753063e-03 1.50380125e+02] [-2.76231473e-02 9.99618374e-01 2.60091033e-04 -7.06120220e+00] [ 5.73252965e-03 -1.01775086e-04 9.99983564e-01 6.20870084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.800714057 meters Centerline goodness : 0.993761 with order 1 Centerline is valid? [True, True] Translation: X:150.44, Y:-7.08, Z:0.62 [[ 9.99566891e-01 2.88656520e-02 -5.72758253e-03 1.50437911e+02] [-2.88646420e-02 9.99583296e-01 2.58943008e-04 -7.07708924e+00] [ 5.73267038e-03 -9.35062380e-05 9.99983564e-01 6.17169886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.860714057 meters Centerline goodness : 0.994540 with order 1 Centerline is valid? [True, True] Translation: X:150.50, Y:-7.08, Z:0.62 [[ 9.99855128e-01 1.60286765e-02 -5.72760196e-03 1.50496038e+02] [-1.60274584e-02 9.99871519e-01 2.58512416e-04 -7.08497298e+00] [ 5.73100968e-03 -1.66676063e-04 9.99983564e-01 6.18916527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.920714057 meters Centerline goodness : 0.994368 with order 1 Centerline is valid? [True, True] Translation: X:150.55, Y:-7.09, Z:0.62 [[ 9.99967904e-01 5.60217888e-03 -5.72762129e-03 1.50554196e+02] [-5.60079239e-03 9.99984282e-01 2.58083481e-04 -7.09127443e+00] [ 5.72897709e-03 -2.25995980e-04 9.99983564e-01 6.18327083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.980714057 meters Centerline goodness : 0.994108 with order 1 Centerline is valid? [True, True] Translation: X:150.61, Y:-7.10, Z:0.62 [[ 9.99983577e-01 -2.00618898e-04 -5.72765066e-03 1.50612974e+02] [ 2.02096676e-04 9.99999946e-01 2.57430052e-04 -7.09694213e+00] [ 5.72759871e-03 -2.58583363e-04 9.99983564e-01 6.16945671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.040714057 meters Centerline goodness : 0.996335 with order 1 Centerline is valid? [True, True] Translation: X:150.67, Y:-7.09, Z:0.62 [[ 9.99934435e-01 -9.91560716e-03 -5.72767001e-03 1.50671555e+02] [ 9.91724144e-03 9.99950790e-01 2.56998790e-04 -7.09195722e+00] [ 5.72483985e-03 -3.13784626e-04 9.99983564e-01 6.19392556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.100714057 meters Centerline goodness : 0.995954 with order 1 Centerline is valid? [True, True] Translation: X:150.73, Y:-7.09, Z:0.62 [[ 9.99917755e-01 -1.14750819e-02 -5.72768421e-03 1.50732523e+02] [ 1.14767399e-02 9.99934107e-01 2.56681883e-04 -7.09405605e+00] [ 5.72436135e-03 -3.22395914e-04 9.99983564e-01 6.19465690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.160714057 meters Centerline goodness : 0.994747 with order 1 Centerline is valid? [True, True] Translation: X:150.79, Y:-7.11, Z:0.62 [[ 9.99983501e-01 4.36540207e-04 -5.72767485e-03 1.50792575e+02] [-4.35075943e-04 9.99999872e-01 2.56890594e-04 -7.10662458e+00] [ 5.72778626e-03 -2.54394382e-04 9.99983564e-01 6.15583281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.220714057 meters Centerline goodness : 0.994841 with order 1 Centerline is valid? [True, True] Translation: X:150.85, Y:-7.10, Z:0.62 [[ 9.99981024e-01 -2.26837576e-03 -5.72767485e-03 1.50851343e+02] [ 2.26988430e-03 9.99997391e-01 2.56890594e-04 -7.10372583e+00] [ 5.72707718e-03 -2.69886878e-04 9.99983564e-01 6.17610812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.280714057 meters Centerline goodness : 0.995081 with order 1 Centerline is valid? [True, True] Translation: X:150.91, Y:-7.10, Z:0.62 [[ 9.99971164e-01 -4.98646675e-03 -5.72769408e-03 1.50910342e+02] [ 4.98801732e-03 9.99987527e-01 2.56461182e-04 -7.10334781e+00] [ 5.72634380e-03 -2.85023624e-04 9.99983564e-01 6.19496684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.340714057 meters Centerline goodness : 0.996147 with order 1 Centerline is valid? [True, True] Translation: X:150.97, Y:-7.10, Z:0.62 [[ 9.99851446e-01 -1.62566513e-02 -5.72771355e-03 1.50970125e+02] [ 1.62583837e-02 9.99867791e-01 2.56025579e-04 -7.09678365e+00] [ 5.72279417e-03 -3.49110910e-04 9.99983564e-01 6.23251773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40071405700002 meters Centerline goodness : 0.994710 with order 1 Centerline is valid? [True, True] Translation: X:151.03, Y:-7.11, Z:0.62 [[ 9.99899433e-01 -1.29736823e-02 -5.72770740e-03 1.51032098e+02] [ 1.29753618e-02 9.99915784e-01 2.56163125e-04 -7.10605256e+00] [ 5.72390165e-03 -3.30456439e-04 9.99983564e-01 6.18890183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.460714057 meters Centerline goodness : 0.994606 with order 1 Centerline is valid? [True, True] Translation: X:151.09, Y:-7.11, Z:0.62 [[ 9.99866468e-01 -1.53049256e-02 -5.72768796e-03 1.51093983e+02] [ 1.53066458e-02 9.99882814e-01 2.56596988e-04 -7.10645353e+00] [ 5.72308955e-03 -3.44234414e-04 9.99983564e-01 6.20086097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.520714057 meters Centerline goodness : 0.995472 with order 1 Centerline is valid? [True, True] Translation: X:151.16, Y:-7.11, Z:0.62 [[ 9.99872729e-01 -1.48902313e-02 -5.72767335e-03 1.51156749e+02] [ 1.48919465e-02 9.99889076e-01 2.56922692e-04 -7.10593291e+00] [ 5.72321237e-03 -3.42186198e-04 9.99983564e-01 6.20129216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.580714057 meters Centerline goodness : 0.994530 with order 1 Centerline is valid? [True, True] Translation: X:151.22, Y:-7.11, Z:0.62 [[ 9.99930199e-01 -1.03339539e-02 -5.72764878e-03 1.51217619e+02] [ 1.03355977e-02 9.99946553e-01 2.57469198e-04 -7.10615871e+00] [ 5.72468198e-03 -3.16649900e-04 9.99983564e-01 6.17475390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.640714057 meters Centerline goodness : 0.994867 with order 1 Centerline is valid? [True, True] Translation: X:151.28, Y:-7.11, Z:0.62 [[ 9.99963023e-01 -6.41455853e-03 -5.72763423e-03 1.51278880e+02] [ 6.41614007e-03 9.99979383e-01 2.57792565e-04 -7.10582412e+00] [ 5.72586252e-03 -2.94532336e-04 9.99983564e-01 6.18651739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.700714057 meters Centerline goodness : 0.995807 with order 1 Centerline is valid? [True, True] Translation: X:151.34, Y:-7.09, Z:0.62 [[ 9.99938851e-01 -9.45984127e-03 -5.72762459e-03 1.51338732e+02] [ 9.46147385e-03 9.99955206e-01 2.58006449e-04 -7.09456630e+00] [ 5.72492733e-03 -3.12182442e-04 9.99983564e-01 6.24047307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.760714057 meters Centerline goodness : 0.994037 with order 1 Centerline is valid? [True, True] Translation: X:151.40, Y:-7.10, Z:0.62 [[ 9.99982491e-01 1.48741810e-03 -5.72762933e-03 1.51398845e+02] [-1.48596526e-03 9.99998863e-01 2.57901315e-04 -7.10423924e+00] [ 5.72800642e-03 -2.49385741e-04 9.99983564e-01 6.16886963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.820714057 meters Centerline goodness : 0.994467 with order 1 Centerline is valid? [True, True] Translation: X:151.46, Y:-7.10, Z:0.62 [[ 9.99980207e-01 -2.60384542e-03 -5.72762933e-03 1.51458058e+02] [ 2.60536523e-03 9.99996573e-01 2.57901315e-04 -7.09801988e+00] [ 5.72693816e-03 -2.72818776e-04 9.99983564e-01 6.21566352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.880714057 meters Centerline goodness : 0.995637 with order 1 Centerline is valid? [True, True] Translation: X:151.52, Y:-7.09, Z:0.63 [[ 9.99946701e-01 -8.59003638e-03 -5.72764879e-03 1.51517694e+02] [ 8.59165166e-03 9.99963058e-01 2.57468425e-04 -7.09213884e+00] [ 5.72522553e-03 -3.06664666e-04 9.99983564e-01 6.27972175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.940714057 meters Centerline goodness : 0.995456 with order 1 Centerline is valid? [True, True] Translation: X:151.58, Y:-7.09, Z:0.63 [[ 9.99921018e-01 -1.11871387e-02 -5.72765851e-03 1.51579343e+02] [ 1.11887952e-02 9.99937370e-01 2.57251870e-04 -7.09006793e+00] [ 5.72442188e-03 -3.21317150e-04 9.99983564e-01 6.29201008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.000714057 meters Centerline goodness : 0.995768 with order 1 Centerline is valid? [True, True] Translation: X:151.64, Y:-7.09, Z:0.63 [[ 9.99914485e-01 -1.17565421e-02 -5.72764881e-03 1.51641164e+02] [ 1.17582092e-02 9.99930837e-01 2.57467720e-04 -7.08904261e+00] [ 5.72422574e-03 -3.24792595e-04 9.99983564e-01 6.30453584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.060714057 meters Centerline goodness : 0.994912 with order 1 Centerline is valid? [True, True] Translation: X:151.70, Y:-7.09, Z:0.63 [[ 9.99934525e-01 -9.90657971e-03 -5.72762952e-03 1.51703634e+02] [ 9.90821896e-03 9.99950879e-01 2.57896190e-04 -7.08771215e+00] [ 5.72479330e-03 -3.14629911e-04 9.99983564e-01 6.30012788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12071405700001 meters Centerline goodness : 0.995428 with order 1 Centerline is valid? [True, True] Translation: X:151.76, Y:-7.09, Z:0.63 [[ 9.99950855e-01 -8.09213635e-03 -5.72760984e-03 1.51764678e+02] [ 8.09374842e-03 9.99967212e-01 2.58332521e-04 -7.08860595e+00] [ 5.72533158e-03 -3.04677659e-04 9.99983564e-01 6.25998974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18071405700002 meters Centerline goodness : 0.995374 with order 1 Centerline is valid? [True, True] Translation: X:151.83, Y:-7.09, Z:0.63 [[ 9.99928818e-01 -1.04667528e-02 -5.72757868e-03 1.51826490e+02] [ 1.04684076e-02 9.99945171e-01 2.59021423e-04 -7.08945593e+00] [ 5.72455353e-03 -3.18961614e-04 9.99983564e-01 6.25837919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.240714057 meters Centerline goodness : 0.994461 with order 1 Centerline is valid? [True, True] Translation: X:151.89, Y:-7.09, Z:0.62 [[ 9.99870546e-01 -1.50361827e-02 -5.72756878e-03 1.51887317e+02] [ 1.50379135e-02 9.99886891e-01 2.59240201e-04 -7.09288981e+00] [ 5.72302296e-03 -3.45337326e-04 9.99983564e-01 6.21480463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.300714057 meters Centerline goodness : 0.994592 with order 1 Centerline is valid? [True, True] Translation: X:151.95, Y:-7.10, Z:0.62 [[ 9.99863143e-01 -1.55206332e-02 -5.72750531e-03 1.51948784e+02] [ 1.55223799e-02 9.99879487e-01 2.60635060e-04 -7.09590807e+00] [ 5.72276985e-03 -3.49503904e-04 9.99983564e-01 6.19426363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.360714057 meters Centerline goodness : 0.994064 with order 1 Centerline is valid? [True, True] Translation: X:152.01, Y:-7.10, Z:0.62 [[ 9.99921553e-01 -1.11392700e-02 -5.72749083e-03 1.52011158e+02] [ 1.11409469e-02 9.99937904e-01 2.60952761e-04 -7.09580269e+00] [ 5.72422835e-03 -3.24741961e-04 9.99983564e-01 6.21468698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.420714057 meters Centerline goodness : 0.994353 with order 1 Centerline is valid? [True, True] Translation: X:152.07, Y:-7.10, Z:0.62 [[ 9.99955407e-01 -7.50871473e-03 -5.72747126e-03 1.52073654e+02] [ 7.51033467e-03 9.99971763e-01 2.61381595e-04 -7.09619149e+00] [ 5.72534689e-03 -3.04385165e-04 9.99983564e-01 6.23770051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.480714057 meters Centerline goodness : 0.995236 with order 1 Centerline is valid? [True, True] Translation: X:152.13, Y:-7.09, Z:0.63 [[ 9.99940703e-01 -9.26214856e-03 -5.72745125e-03 1.52134123e+02] [ 9.26379968e-03 9.99957056e-01 2.61819384e-04 -7.08623595e+00] [ 5.72478028e-03 -3.14861820e-04 9.99983564e-01 6.30039926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.540714057 meters Centerline goodness : 0.994575 with order 1 Centerline is valid? [True, True] Translation: X:152.20, Y:-7.09, Z:0.63 [[ 9.99981859e-01 1.86469168e-03 -5.72744635e-03 1.52195351e+02] [-1.86322200e-03 9.99998230e-01 2.61926552e-04 -7.09365491e+00] [ 5.72792462e-03 -2.51250297e-04 9.99983564e-01 6.30653020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.600714057 meters Centerline goodness : 0.993511 with order 1 Centerline is valid? [True, True] Translation: X:152.25, Y:-7.09, Z:0.63 [[ 9.99955631e-01 7.47880818e-03 -5.72743646e-03 1.52253709e+02] [-7.47742920e-03 9.99972009e-01 2.62142586e-04 -7.09491503e+00] [ 5.72923666e-03 -2.19304454e-04 9.99983564e-01 6.26753682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.660714057 meters Centerline goodness : 0.992853 with order 1 Centerline is valid? [True, True] Translation: X:152.31, Y:-7.09, Z:0.63 [[ 9.99960611e-01 6.78032501e-03 -5.72750445e-03 1.52312797e+02] [-6.77894314e-03 9.99976989e-01 2.60648629e-04 -7.09291981e+00] [ 5.72913993e-03 -2.21811936e-04 9.99983564e-01 6.30675139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.720714057 meters Centerline goodness : 0.991466 with order 1 Centerline is valid? [True, True] Translation: X:152.37, Y:-7.10, Z:0.63 [[ 9.99944688e-01 8.82141352e-03 -5.72752372e-03 1.52370912e+02] [-8.82006751e-03 9.99961069e-01 2.60224509e-04 -7.09758719e+00] [ 5.72959628e-03 -2.09692970e-04 9.99983564e-01 6.25513021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.780714057 meters Centerline goodness : 0.991041 with order 1 Centerline is valid? [True, True] Translation: X:152.43, Y:-7.10, Z:0.62 [[ 9.99954266e-01 7.65903162e-03 -5.72754781e-03 1.52429135e+02] [-7.65766960e-03 9.99970646e-01 2.59693099e-04 -7.10127756e+00] [ 5.72936868e-03 -2.15821554e-04 9.99983564e-01 6.24147214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.840714057 meters Centerline goodness : 0.989889 with order 1 Centerline is valid? [True, True] Translation: X:152.49, Y:-7.10, Z:0.63 [[ 9.99980063e-01 2.65853372e-03 -5.72757190e-03 1.52487173e+02] [-2.65709286e-03 9.99996436e-01 2.59160699e-04 -7.10338094e+00] [ 5.72824048e-03 -2.43936842e-04 9.99983564e-01 6.25879079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90071405700002 meters Centerline goodness : 0.990288 with order 1 Centerline is valid? [True, True] Translation: X:152.55, Y:-7.11, Z:0.63 [[ 9.99981063e-01 -2.25130739e-03 -5.72759557e-03 1.52545610e+02] [ 2.25282563e-03 9.99997429e-01 2.58636487e-04 -7.10642579e+00] [ 5.72699858e-03 -2.71534863e-04 9.99983564e-01 6.28697635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96071405700002 meters Centerline goodness : 0.990117 with order 1 Centerline is valid? [True, True] Translation: X:152.60, Y:-7.11, Z:0.63 [[ 9.99957768e-01 -7.18724889e-03 -5.72761435e-03 1.52604004e+02] [ 7.18884552e-03 9.99974127e-01 2.58220017e-04 -7.10809106e+00] [ 5.72561026e-03 -2.99384047e-04 9.99983564e-01 6.32116201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.020714057 meters Centerline goodness : 0.990577 with order 1 Centerline is valid? [True, True] Translation: X:152.66, Y:-7.11, Z:0.63 [[ 9.99933938e-01 -9.96565696e-03 -5.72763332e-03 1.52664012e+02] [ 9.96729663e-03 9.99950292e-01 2.57798502e-04 -7.11019276e+00] [ 5.72477948e-03 -3.14870491e-04 9.99983564e-01 6.34609888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.080714057 meters Centerline goodness : 0.989669 with order 1 Centerline is valid? [True, True] Translation: X:152.72, Y:-7.11, Z:0.64 [[ 9.99952823e-01 -7.84511344e-03 -5.72763332e-03 1.52724899e+02] [ 7.84671842e-03 9.99969181e-01 2.57798502e-04 -7.11365229e+00] [ 5.72543434e-03 -3.02729466e-04 9.99983564e-01 6.37235838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.140714057 meters Centerline goodness : 0.990052 with order 1 Centerline is valid? [True, True] Translation: X:152.79, Y:-7.12, Z:0.64 [[ 9.99936266e-01 -9.72927872e-03 -5.72761908e-03 1.52785745e+02] [ 9.73091632e-03 9.99952620e-01 2.58114424e-04 -7.11766609e+00] [ 5.72483644e-03 -3.13832956e-04 9.99983564e-01 6.37150109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.200714057 meters Centerline goodness : 0.990168 with order 1 Centerline is valid? [True, True] Translation: X:152.85, Y:-7.12, Z:0.64 [[ 9.99907366e-01 -1.23472551e-02 -5.72760992e-03 1.52847427e+02] [ 1.23489367e-02 9.99923716e-01 2.58317670e-04 -7.12230834e+00] [ 5.72398348e-03 -3.29023633e-04 9.99983564e-01 6.38223551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.260714057 meters Centerline goodness : 0.990882 with order 1 Centerline is valid? [True, True] Translation: X:152.91, Y:-7.13, Z:0.64 [[ 9.99895969e-01 -1.32380405e-02 -5.72759545e-03 1.52909812e+02] [ 1.32397385e-02 9.99912317e-01 2.58638088e-04 -7.12779713e+00] [ 5.72366938e-03 -3.34443048e-04 9.99983564e-01 6.37795055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.320714057 meters Centerline goodness : 0.991683 with order 1 Centerline is valid? [True, True] Translation: X:152.97, Y:-7.13, Z:0.63 [[ 9.99851667e-01 -1.62431438e-02 -5.72757602e-03 1.52971385e+02] [ 1.62448933e-02 9.99868009e-01 2.59067544e-04 -7.13152889e+00] [ 5.72261197e-03 -3.52072977e-04 9.99983564e-01 6.33978429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.380714057 meters Centerline goodness : 0.992095 with order 1 Centerline is valid? [True, True] Translation: X:153.03, Y:-7.13, Z:0.64 [[ 9.99898643e-01 -1.30345505e-02 -5.72755687e-03 1.53032975e+02] [ 1.30362500e-02 9.99914991e-01 2.59490338e-04 -7.13476601e+00] [ 5.72368763e-03 -3.34129900e-04 9.99983564e-01 6.39875614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.440714057 meters Centerline goodness : 0.992405 with order 1 Centerline is valid? [True, True] Translation: X:153.09, Y:-7.14, Z:0.64 [[ 9.99859333e-01 -1.57641807e-02 -5.72754280e-03 1.53094926e+02] [ 1.57659266e-02 9.99875676e-01 2.59800460e-04 -7.14002479e+00] [ 5.72273519e-03 -3.50063935e-04 9.99983564e-01 6.37979429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.500714057 meters Centerline goodness : 0.995012 with order 1 Centerline is valid? [True, True] Translation: X:153.16, Y:-7.14, Z:0.64 [[ 9.99691860e-01 -2.41532580e-02 -5.72752276e-03 1.53156352e+02] [ 2.41551434e-02 9.99708188e-01 2.60241526e-04 -7.14044273e+00] [ 5.71956572e-03 -3.98510469e-04 9.99983564e-01 6.35845134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.560714057 meters Centerline goodness : 0.992075 with order 1 Centerline is valid? [True, True] Translation: X:153.22, Y:-7.15, Z:0.64 [[ 9.99760212e-01 -2.11356213e-02 -5.72745891e-03 1.53217807e+02] [ 2.11374655e-02 9.99776545e-01 2.61639303e-04 -7.15293606e+00] [ 5.72064917e-03 -3.82640530e-04 9.99983564e-01 6.39440103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62071405700001 meters Centerline goodness : 0.992183 with order 1 Centerline is valid? [True, True] Translation: X:153.28, Y:-7.16, Z:0.63 [[ 9.99674135e-01 -2.48761064e-02 -5.72743926e-03 1.53280329e+02] [ 2.48780141e-02 9.99690460e-01 2.62068798e-04 -7.15884079e+00] [ 5.71914713e-03 -4.04470713e-04 9.99983564e-01 6.34226145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68071405700002 meters Centerline goodness : 0.992749 with order 1 Centerline is valid? [True, True] Translation: X:153.34, Y:-7.17, Z:0.63 [[ 9.99690965e-01 -2.41903176e-02 -5.72741444e-03 1.53342999e+02] [ 2.41922172e-02 9.99707291e-01 2.62610001e-04 -7.16677931e+00] [ 5.71938536e-03 -4.01087700e-04 9.99983564e-01 6.29235416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.740714057 meters Centerline goodness : 0.992241 with order 1 Centerline is valid? [True, True] Translation: X:153.41, Y:-7.17, Z:0.63 [[ 9.99683018e-01 -2.45165476e-02 -5.72738437e-03 1.53405978e+02] [ 2.45184563e-02 9.99699343e-01 2.63264223e-04 -7.17118729e+00] [ 5.71920806e-03 -4.03607396e-04 9.99983564e-01 6.28680173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.800714057 meters Centerline goodness : 0.991868 with order 1 Centerline is valid? [True, True] Translation: X:153.47, Y:-7.18, Z:0.63 [[ 9.99791443e-01 -1.96027347e-02 -5.72735491e-03 1.53467429e+02] [ 1.96045667e-02 9.99807777e-01 2.63903565e-04 -7.17552869e+00] [ 5.72108075e-03 -3.76130838e-04 9.99983564e-01 6.30469295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.860714057 meters Centerline goodness : 0.992089 with order 1 Centerline is valid? [True, True] Translation: X:153.53, Y:-7.18, Z:0.64 [[ 9.99893810e-01 -1.34002422e-02 -5.72734040e-03 1.53529629e+02] [ 1.34019747e-02 9.99910155e-01 2.64218012e-04 -7.17802158e+00] [ 5.72328524e-03 -3.40947626e-04 9.99983564e-01 6.35181207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.920714057 meters Centerline goodness : 0.990310 with order 1 Centerline is valid? [True, True] Translation: X:153.59, Y:-7.18, Z:0.64 [[ 9.99933047e-01 -1.00548468e-02 -5.72732113e-03 1.53590431e+02] [ 1.00565269e-02 9.99949397e-01 2.64635135e-04 -7.18042350e+00] [ 5.72437044e-03 -3.22214376e-04 9.99983564e-01 6.37337493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.980714057 meters Centerline goodness : 0.991305 with order 1 Centerline is valid? [True, True] Translation: X:153.65, Y:-7.18, Z:0.64 [[ 9.99958634e-01 -7.06598636e-03 -5.72730693e-03 1.53651665e+02] [ 7.06761939e-03 9.99974989e-01 2.64942023e-04 -7.18430166e+00] [ 5.72529161e-03 -3.05409489e-04 9.99983564e-01 6.36746688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.040714057 meters Centerline goodness : 0.991107 with order 1 Centerline is valid? [True, True] Translation: X:153.71, Y:-7.19, Z:0.64 [[ 9.99960394e-01 -6.81236829e-03 -5.72729765e-03 1.53711689e+02] [ 6.81399833e-03 9.99976749e-01 2.65142622e-04 -7.18779139e+00] [ 5.72535823e-03 -3.04157917e-04 9.99983564e-01 6.37662557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.100714057 meters Centerline goodness : 0.991922 with order 1 Centerline is valid? [True, True] Translation: X:153.77, Y:-7.19, Z:0.64 [[ 9.99940066e-01 -9.33077459e-03 -5.72729765e-03 1.53772503e+02] [ 9.33244581e-03 9.99956417e-01 2.65142622e-04 -7.19115090e+00] [ 5.72457405e-03 -3.18576426e-04 9.99983564e-01 6.36316028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.160714057 meters Centerline goodness : 0.993220 with order 1 Centerline is valid? [True, True] Translation: X:153.83, Y:-7.19, Z:0.64 [[ 9.99931048e-01 -1.02516519e-02 -5.72729765e-03 1.53833415e+02] [ 1.02533382e-02 9.99947398e-01 2.65142622e-04 -7.19317099e+00] [ 5.72427823e-03 -3.23848260e-04 9.99983564e-01 6.39267241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.220714057 meters Centerline goodness : 0.993434 with order 1 Centerline is valid? [True, True] Translation: X:153.89, Y:-7.20, Z:0.64 [[ 9.99973484e-01 -4.49781115e-03 -5.72728826e-03 1.53893384e+02] [ 4.49940448e-03 9.99989842e-01 2.65345138e-04 -7.19656302e+00] [ 5.72603662e-03 -2.91107488e-04 9.99983564e-01 6.41507288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.280714057 meters Centerline goodness : 0.994017 with order 1 Centerline is valid? [True, True] Translation: X:153.95, Y:-7.20, Z:0.64 [[ 9.99961947e-01 -6.58049447e-03 -5.72727540e-03 1.53953369e+02] [ 6.58212345e-03 9.99978302e-01 2.65622437e-04 -7.19990119e+00] [ 5.72540321e-03 -3.03309963e-04 9.99983564e-01 6.39926468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.340714057 meters Centerline goodness : 0.993975 with order 1 Centerline is valid? [True, True] Translation: X:154.01, Y:-7.20, Z:0.64 [[ 9.99941245e-01 -9.20350435e-03 -5.72728459e-03 1.54013988e+02] [ 9.20517510e-03 9.99957596e-01 2.65424157e-04 -7.20228943e+00] [ 5.72459890e-03 -3.18129219e-04 9.99983564e-01 6.41486529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40071405700002 meters Centerline goodness : 0.994899 with order 1 Centerline is valid? [True, True] Translation: X:154.08, Y:-7.20, Z:0.64 [[ 9.99838463e-01 -1.70366226e-02 -5.72726272e-03 1.54075937e+02] [ 1.70384241e-02 9.99854800e-01 2.65895264e-04 -7.19891797e+00] [ 5.72190117e-03 -3.63435843e-04 9.99983564e-01 6.44005053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46071405700002 meters Centerline goodness : 0.992562 with order 1 Centerline is valid? [True, True] Translation: X:154.14, Y:-7.21, Z:0.64 [[ 9.99835613e-01 -1.72030708e-02 -5.72725380e-03 1.54136886e+02] [ 1.72048761e-02 9.99851950e-01 2.66087321e-04 -7.21235579e+00] [ 5.72182836e-03 -3.64580272e-04 9.99983564e-01 6.40011939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.520714057 meters Centerline goodness : 0.992941 with order 1 Centerline is valid? [True, True] Translation: X:154.20, Y:-7.22, Z:0.64 [[ 9.99710236e-01 -2.33803804e-02 -5.72722680e-03 1.54197382e+02] [ 2.33822899e-02 9.99726561e-01 2.66667070e-04 -7.21787849e+00] [ 5.71942598e-03 -4.00505478e-04 9.99983564e-01 6.39101410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.580714057 meters Centerline goodness : 0.992425 with order 1 Centerline is valid? [True, True] Translation: X:154.26, Y:-7.22, Z:0.65 [[ 9.99625726e-01 -2.67508165e-02 -5.72721812e-03 1.54259640e+02] [ 2.67527821e-02 9.99642045e-01 2.66853477e-04 -7.21988593e+00] [ 5.71802948e-03 -4.19972620e-04 9.99983564e-01 6.47394675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.640714057 meters Centerline goodness : 0.992654 with order 1 Centerline is valid? [True, True] Translation: X:154.32, Y:-7.22, Z:0.65 [[ 9.99539293e-01 -2.98060546e-02 -5.72719807e-03 1.54321593e+02] [ 2.98080725e-02 9.99555605e-01 2.67283143e-04 -7.22239969e+00] [ 5.71668627e-03 -4.37876738e-04 9.99983564e-01 6.48328985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.700714057 meters Centerline goodness : 0.993740 with order 1 Centerline is valid? [True, True] Translation: X:154.38, Y:-7.23, Z:0.64 [[ 9.99717724e-01 -2.30579921e-02 -5.72717758e-03 1.54381958e+02] [ 2.30599024e-02 9.99734049e-01 2.67721354e-04 -7.23186632e+00] [ 5.71948132e-03 -3.99713939e-04 9.99983564e-01 6.36204348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.760714057 meters Centerline goodness : 0.994398 with order 1 Centerline is valid? [True, True] Translation: X:154.44, Y:-7.22, Z:0.64 [[ 9.99500465e-01 -3.10808552e-02 -5.72716744e-03 1.54443760e+02] [ 3.10828977e-02 9.99516774e-01 2.67938226e-04 -7.22334847e+00] [ 5.71607217e-03 -4.45821341e-04 9.99983564e-01 6.43723021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.820714057 meters Centerline goodness : 0.992466 with order 1 Centerline is valid? [True, True] Translation: X:154.51, Y:-7.24, Z:0.63 [[ 9.99914015e-01 -1.17967340e-02 -5.72712893e-03 1.54505083e+02] [ 1.17984662e-02 9.99930360e-01 2.68758822e-04 -7.24078765e+00] [ 5.72355961e-03 -3.36307050e-04 9.99983564e-01 6.28883696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.880714057 meters Centerline goodness : 0.991198 with order 1 Centerline is valid? [True, True] Translation: X:154.57, Y:-7.24, Z:0.63 [[ 9.99950587e-01 -8.12548624e-03 -5.72710999e-03 1.54566799e+02] [ 8.12716070e-03 9.99966938e-01 2.69161703e-04 -7.24133216e+00] [ 5.72473357e-03 -3.15693546e-04 9.99983564e-01 6.30336874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.940714057 meters Centerline goodness : 0.991458 with order 1 Centerline is valid? [True, True] Translation: X:154.63, Y:-7.24, Z:0.63 [[ 9.99974138e-01 -4.35007498e-03 -5.72710068e-03 1.54627054e+02] [ 4.35168882e-03 9.99990495e-01 2.69359747e-04 -7.24014962e+00] [ 5.72587451e-03 -2.94275341e-04 9.99983564e-01 6.33068570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.000714057 meters Centerline goodness : 0.991199 with order 1 Centerline is valid? [True, True] Translation: X:154.69, Y:-7.24, Z:0.64 [[ 9.99980427e-01 2.51908660e-03 -5.72710068e-03 1.54687002e+02] [-2.51758515e-03 9.99996795e-01 2.69359747e-04 -7.23908253e+00] [ 5.72776086e-03 -2.54936011e-04 9.99983564e-01 6.37134572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.060714057 meters Centerline goodness : 0.992135 with order 1 Centerline is valid? [True, True] Translation: X:154.74, Y:-7.24, Z:0.63 [[ 9.99976645e-01 3.72952295e-03 -5.72711050e-03 1.54744705e+02] [-3.72804251e-03 9.99993015e-01 2.69150690e-04 -7.24183196e+00] [ 5.72807430e-03 -2.47793493e-04 9.99983564e-01 6.33620830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12071405700001 meters Centerline goodness : 0.992933 with order 1 Centerline is valid? [True, True] Translation: X:154.80, Y:-7.24, Z:0.64 [[ 9.99980472e-01 2.50092359e-03 -5.72714818e-03 1.54803566e+02] [-2.49942763e-03 9.99996840e-01 2.68346504e-04 -7.24387534e+00] [ 5.72780120e-03 -2.54026672e-04 9.99983564e-01 6.35865308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18071405700002 meters Centerline goodness : 0.992227 with order 1 Centerline is valid? [True, True] Translation: X:154.86, Y:-7.25, Z:0.64 [[ 9.99982879e-01 -1.20056162e-03 -5.72716695e-03 1.54861054e+02] [ 1.20211586e-03 9.99999242e-01 2.67945324e-04 -7.24591726e+00] [ 5.72684092e-03 -2.74825454e-04 9.99983564e-01 6.39143455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.240714057 meters Centerline goodness : 0.992543 with order 1 Centerline is valid? [True, True] Translation: X:154.92, Y:-7.25, Z:0.64 [[ 9.99982300e-01 -1.61244065e-03 -5.72719008e-03 1.54919406e+02] [ 1.61399880e-03 9.99998662e-01 2.67450180e-04 -7.24777240e+00] [ 5.72675116e-03 -2.76689123e-04 9.99983564e-01 6.43314935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.300714057 meters Centerline goodness : 0.992544 with order 1 Centerline is valid? [True, True] Translation: X:154.98, Y:-7.25, Z:0.64 [[ 9.99976362e-01 -3.80447084e-03 -5.72721031e-03 1.54977549e+02] [ 3.80606237e-03 9.99992721e-01 2.67016264e-04 -7.24960796e+00] [ 5.72615276e-03 -2.88808072e-04 9.99983564e-01 6.42819514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.360714057 meters Centerline goodness : 0.992785 with order 1 Centerline is valid? [True, True] Translation: X:155.04, Y:-7.25, Z:0.64 [[ 9.99964669e-01 -6.15300965e-03 -5.72721259e-03 1.55036644e+02] [ 6.15463932e-03 9.99981024e-01 2.66967312e-04 -7.25165601e+00] [ 5.72546126e-03 -3.02206807e-04 9.99983564e-01 6.44545130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.420714057 meters Centerline goodness : 0.992067 with order 1 Centerline is valid? [True, True] Translation: X:155.10, Y:-7.25, Z:0.65 [[ 9.99965473e-01 -6.02089058e-03 -5.72724465e-03 1.55096475e+02] [ 6.02251415e-03 9.99981829e-01 2.66277671e-04 -7.25397763e+00] [ 5.72553735e-03 -3.00760889e-04 9.99983564e-01 6.46594862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.480714057 meters Centerline goodness : 0.992216 with order 1 Centerline is valid? [True, True] Translation: X:155.16, Y:-7.25, Z:0.65 [[ 9.99973334e-01 -4.53093830e-03 -5.72724392e-03 1.55157406e+02] [ 4.53253759e-03 9.99989693e-01 2.66293396e-04 -7.25480098e+00] [ 5.72597833e-03 -2.92245243e-04 9.99983564e-01 6.48652365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.540714057 meters Centerline goodness : 0.990916 with order 1 Centerline is valid? [True, True] Translation: X:155.22, Y:-7.26, Z:0.64 [[ 9.99973219e-01 -4.55626435e-03 -5.72724392e-03 1.55217132e+02] [ 4.55786405e-03 9.99989577e-01 2.66293396e-04 -7.26022437e+00] [ 5.72597092e-03 -2.92390263e-04 9.99983564e-01 6.44532464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.600714057 meters Centerline goodness : 0.990804 with order 1 Centerline is valid? [True, True] Translation: X:155.28, Y:-7.26, Z:0.65 [[ 9.99967347e-01 -5.70122031e-03 -5.72724861e-03 1.55276349e+02] [ 5.70283816e-03 9.99983703e-01 2.66192597e-04 -7.26083358e+00] [ 5.72563765e-03 -2.98845477e-04 9.99983564e-01 6.49407150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.660714057 meters Centerline goodness : 0.989889 with order 1 Centerline is valid? [True, True] Translation: X:155.34, Y:-7.26, Z:0.65 [[ 9.99952833e-01 -7.84408653e-03 -5.72725299e-03 1.55337303e+02] [ 7.84573889e-03 9.99969186e-01 2.66098193e-04 -7.26308205e+00] [ 5.72498922e-03 -3.11020174e-04 9.99983564e-01 6.49365352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.720714057 meters Centerline goodness : 0.990107 with order 1 Centerline is valid? [True, True] Translation: X:155.40, Y:-7.27, Z:0.65 [[ 9.99930801e-01 -1.02758020e-02 -5.72725299e-03 1.55398562e+02] [ 1.02774941e-02 9.99947150e-01 2.66098193e-04 -7.26556335e+00] [ 5.72421593e-03 -3.24941588e-04 9.99983564e-01 6.48039756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.780714057 meters Centerline goodness : 0.988812 with order 1 Centerline is valid? [True, True] Translation: X:155.46, Y:-7.27, Z:0.65 [[ 9.99870626e-01 -1.50309862e-02 -5.72724302e-03 1.55459418e+02] [ 1.50327572e-02 9.99886966e-01 2.66312674e-04 -7.26776006e+00] [ 5.72259270e-03 -3.52374474e-04 9.99983564e-01 6.50002744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.840714057 meters Centerline goodness : 0.989695 with order 1 Centerline is valid? [True, True] Translation: X:155.52, Y:-7.27, Z:0.65 [[ 9.99777188e-01 -2.03168135e-02 -5.72723308e-03 1.55522970e+02] [ 2.03186722e-02 9.99793519e-01 2.66526333e-04 -7.26997351e+00] [ 5.72063554e-03 -3.82836719e-04 9.99983564e-01 6.50510597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90071405700002 meters Centerline goodness : 0.988935 with order 1 Centerline is valid? [True, True] Translation: X:155.59, Y:-7.27, Z:0.65 [[ 9.99720635e-01 -2.29314606e-02 -5.72715317e-03 1.55586094e+02] [ 2.29333717e-02 9.99736960e-01 2.68232489e-04 -7.27440528e+00] [ 5.71949573e-03 -3.99500487e-04 9.99983564e-01 6.50987673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96071405700002 meters Centerline goodness : 0.990646 with order 1 Centerline is valid? [True, True] Translation: X:155.65, Y:-7.28, Z:0.65 [[ 9.99683227e-01 -2.45080844e-02 -5.72712277e-03 1.55648456e+02] [ 2.45100250e-02 9.99699548e-01 2.68879883e-04 -7.27738867e+00] [ 5.71881232e-03 -4.09166632e-04 9.99983564e-01 6.52325632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.020714057 meters Centerline goodness : 0.988842 with order 1 Centerline is valid? [True, True] Translation: X:155.71, Y:-7.28, Z:0.66 [[ 9.99606880e-01 -2.74460492e-02 -5.72709776e-03 1.55711693e+02] [ 2.74480407e-02 9.99623195e-01 2.69411590e-04 -7.27987988e+00] [ 5.71754548e-03 -4.26503291e-04 9.99983564e-01 6.55338619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.080714057 meters Centerline goodness : 0.989992 with order 1 Centerline is valid? [True, True] Translation: X:155.77, Y:-7.28, Z:0.66 [[ 9.99582725e-01 -2.83121153e-02 -5.72706811e-03 1.55773457e+02] [ 2.83141246e-02 9.99599038e-01 2.70040521e-04 -7.28475554e+00] [ 5.71712635e-03 -4.32084760e-04 9.99983564e-01 6.56916756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.140714057 meters Centerline goodness : 0.989621 with order 1 Centerline is valid? [True, True] Translation: X:155.84, Y:-7.29, Z:0.66 [[ 9.99582002e-01 -2.83376500e-02 -5.72701908e-03 1.55836626e+02] [ 2.83396655e-02 9.99598314e-01 2.71076340e-04 -7.28829810e+00] [ 5.71703695e-03 -4.33264836e-04 9.99983564e-01 6.58016510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.200714057 meters Centerline goodness : 0.989425 with order 1 Centerline is valid? [True, True] Translation: X:155.90, Y:-7.29, Z:0.66 [[ 9.99605562e-01 -2.74940334e-02 -5.72698910e-03 1.55898238e+02] [ 2.74960388e-02 9.99621876e-01 2.71708183e-04 -7.29075189e+00] [ 5.71735323e-03 -4.29070525e-04 9.99983564e-01 6.59849164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.260714057 meters Centerline goodness : 0.991699 with order 1 Centerline is valid? [True, True] Translation: X:155.96, Y:-7.30, Z:0.66 [[ 9.99687121e-01 -2.43487762e-02 -5.72695027e-03 1.55959987e+02] [ 2.43507349e-02 9.99703440e-01 2.72524147e-04 -7.29537730e+00] [ 5.71861626e-03 -4.11894328e-04 9.99983564e-01 6.58458530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.320714057 meters Centerline goodness : 0.990876 with order 1 Centerline is valid? [True, True] Translation: X:156.02, Y:-7.30, Z:0.66 [[ 9.99644712e-01 -2.60317361e-02 -5.72692623e-03 1.56021350e+02] [ 2.60337251e-02 9.99661028e-01 2.73028438e-04 -7.29688384e+00] [ 5.71787756e-03 -4.22024658e-04 9.99983564e-01 6.56746593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.380714057 meters Centerline goodness : 0.992152 with order 1 Centerline is valid? [True, True] Translation: X:156.08, Y:-7.30, Z:0.66 [[ 9.99791046e-01 -1.96231387e-02 -5.72691596e-03 1.56082428e+02] [ 1.96250244e-02 9.99807373e-01 2.73243759e-04 -7.30089551e+00] [ 5.72045090e-03 -3.85577528e-04 9.99983564e-01 6.55553788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.440714057 meters Centerline goodness : 0.991104 with order 1 Centerline is valid? [True, True] Translation: X:156.14, Y:-7.30, Z:0.66 [[ 9.99738064e-01 -2.21586751e-02 -5.72690091e-03 1.56144922e+02] [ 2.21606039e-02 9.99754386e-01 2.73558757e-04 -7.30375749e+00] [ 5.71943260e-03 -4.00398684e-04 9.99983564e-01 6.56399100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.500714057 meters Centerline goodness : 0.991915 with order 1 Centerline is valid? [True, True] Translation: X:156.21, Y:-7.31, Z:0.65 [[ 9.99816667e-01 -1.82711793e-02 -5.72688159e-03 1.56206447e+02] [ 1.82730469e-02 9.99832996e-01 2.73962707e-04 -7.31055711e+00] [ 5.72091955e-03 -3.78560056e-04 9.99983564e-01 6.53065969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.560714057 meters Centerline goodness : 0.991086 with order 1 Centerline is valid? [True, True] Translation: X:156.27, Y:-7.31, Z:0.66 [[ 9.99849733e-01 -1.63619785e-02 -5.72686658e-03 1.56268773e+02] [ 1.63638167e-02 9.99866066e-01 2.74275948e-04 -7.31310411e+00] [ 5.72161187e-03 -3.67948129e-04 9.99983564e-01 6.60016837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62071405700001 meters Centerline goodness : 0.991751 with order 1 Centerline is valid? [True, True] Translation: X:156.33, Y:-7.32, Z:0.66 [[ 9.99867758e-01 -1.52207199e-02 -5.72684664e-03 1.56331075e+02] [ 1.52225419e-02 9.99884093e-01 2.74691703e-04 -7.31686612e+00] [ 5.72200185e-03 -3.61832540e-04 9.99983564e-01 6.57998612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68071405700002 meters Centerline goodness : 0.991761 with order 1 Centerline is valid? [True, True] Translation: X:156.39, Y:-7.32, Z:0.65 [[ 9.99943595e-01 -8.94488890e-03 -5.72682580e-03 1.56392577e+02] [ 8.94661080e-03 9.99959940e-01 2.75125450e-04 -7.32429070e+00] [ 5.72413542e-03 -3.26345613e-04 9.99983564e-01 6.51102433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.740714057 meters Centerline goodness : 0.991980 with order 1 Centerline is valid? [True, True] Translation: X:156.45, Y:-7.32, Z:0.65 [[ 9.99927897e-01 -1.05548278e-02 -5.72680494e-03 1.56452714e+02] [ 1.05565785e-02 9.99944240e-01 2.75559004e-04 -7.32421801e+00] [ 5.72357714e-03 -3.35994602e-04 9.99983564e-01 6.54454247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.800714057 meters Centerline goodness : 0.991211 with order 1 Centerline is valid? [True, True] Translation: X:156.51, Y:-7.33, Z:0.65 [[ 9.99966236e-01 -5.89322239e-03 -5.72679985e-03 1.56514402e+02] [ 5.89489748e-03 9.99982587e-01 2.75664707e-04 -7.32800964e+00] [ 5.72507558e-03 -3.09414298e-04 9.99983564e-01 6.50665945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.860714057 meters Centerline goodness : 0.990511 with order 1 Centerline is valid? [True, True] Translation: X:156.57, Y:-7.33, Z:0.65 [[ 9.99983562e-01 -2.82761346e-04 -5.72678978e-03 1.56574365e+02] [ 2.84345870e-04 9.99999922e-01 2.75873788e-04 -7.33310303e+00] [ 5.72671133e-03 -2.77497642e-04 9.99983564e-01 6.48210946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.920714057 meters Centerline goodness : 0.991384 with order 1 Centerline is valid? [True, True] Translation: X:156.63, Y:-7.34, Z:0.65 [[ 9.99980905e-01 2.32219557e-03 -5.72678978e-03 1.56633311e+02] [-2.32065367e-03 9.99997269e-01 2.75873788e-04 -7.33768900e+00] [ 5.72741478e-03 -2.62578624e-04 9.99983564e-01 6.45649345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.980714057 meters Centerline goodness : 0.992083 with order 1 Centerline is valid? [True, True] Translation: X:156.69, Y:-7.34, Z:0.65 [[ 9.99983302e-01 -7.73896830e-04 -5.72686132e-03 1.56691691e+02] [ 7.75480858e-04 9.99999662e-01 2.74380703e-04 -7.33807815e+00] [ 5.72664704e-03 -2.78817193e-04 9.99983564e-01 6.47621726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.040714057 meters Centerline goodness : 0.989076 with order 1 Centerline is valid? [True, True] Translation: X:156.75, Y:-7.33, Z:0.65 [[ 9.99915908e-01 -1.16352577e-02 -5.72688173e-03 1.56750800e+02] [ 1.16370169e-02 9.99932250e-01 2.73954030e-04 -7.33205981e+00] [ 5.72330621e-03 -3.40574812e-04 9.99983564e-01 6.50929325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.100714057 meters Centerline goodness : 0.992672 with order 1 Centerline is valid? [True, True] Translation: X:156.81, Y:-7.34, Z:0.65 [[ 9.99881080e-01 -1.43188264e-02 -5.72690051e-03 1.56812234e+02] [ 1.43206273e-02 9.99897417e-01 2.73560894e-04 -7.34142753e+00] [ 5.72239595e-03 -3.55541170e-04 9.99983564e-01 6.50421715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.160714057 meters Centerline goodness : 0.992470 with order 1 Centerline is valid? [True, True] Translation: X:156.87, Y:-7.34, Z:0.65 [[ 9.99836802e-01 -1.71339417e-02 -5.72687488e-03 1.56874139e+02] [ 1.71357915e-02 9.99853134e-01 2.74096430e-04 -7.34245197e+00] [ 5.72133744e-03 -3.72186232e-04 9.99983564e-01 6.53437784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.220714057 meters Centerline goodness : 0.991620 with order 1 Centerline is valid? [True, True] Translation: X:156.94, Y:-7.35, Z:0.65 [[ 9.99840630e-01 -1.69091225e-02 -5.72685391e-03 1.56936534e+02] [ 1.69109712e-02 9.99856962e-01 2.74533782e-04 -7.34845535e+00] [ 5.72139262e-03 -3.71336691e-04 9.99983564e-01 6.46723419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.280714057 meters Centerline goodness : 0.991272 with order 1 Centerline is valid? [True, True] Translation: X:157.00, Y:-7.35, Z:0.65 [[ 9.99836863e-01 -1.71303810e-02 -5.72683317e-03 1.56998266e+02] [ 1.71322358e-02 9.99853195e-01 2.74965705e-04 -7.35009714e+00] [ 5.72128218e-03 -3.73034304e-04 9.99983564e-01 6.49882084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.340714057 meters Centerline goodness : 0.992025 with order 1 Centerline is valid? [True, True] Translation: X:157.06, Y:-7.35, Z:0.65 [[ 9.99848382e-01 -1.64443394e-02 -5.72681260e-03 1.57059447e+02] [ 1.64461854e-02 9.99864714e-01 2.75393502e-04 -7.34984253e+00] [ 5.72150918e-03 -3.69535970e-04 9.99983564e-01 6.51762741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40071405700002 meters Centerline goodness : 0.991603 with order 1 Centerline is valid? [True, True] Translation: X:157.12, Y:-7.35, Z:0.65 [[ 9.99938809e-01 -9.46473742e-03 -5.72679745e-03 1.57122125e+02] [ 9.46647115e-03 9.99955154e-01 2.75708090e-04 -7.34933765e+00] [ 5.72393113e-03 -3.29903782e-04 9.99983564e-01 6.52778672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46071405700002 meters Centerline goodness : 0.992379 with order 1 Centerline is valid? [True, True] Translation: X:157.18, Y:-7.34, Z:0.66 [[ 9.99898730e-01 -1.30281541e-02 -5.72677690e-03 1.57183505e+02] [ 1.30299485e-02 9.99915068e-01 2.76134433e-04 -7.33952822e+00] [ 5.72269299e-03 -3.50726077e-04 9.99983564e-01 6.59733289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.520714057 meters Centerline goodness : 0.990964 with order 1 Centerline is valid? [True, True] Translation: X:157.24, Y:-7.35, Z:0.65 [[ 9.99974886e-01 -4.17515542e-03 -5.72671106e-03 1.57244767e+02] [ 4.17681286e-03 9.99991239e-01 2.77493056e-04 -7.34887013e+00] [ 5.72550231e-03 -3.01405488e-04 9.99983564e-01 6.53605769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.580714057 meters Centerline goodness : 0.990729 with order 1 Centerline is valid? [True, True] Translation: X:157.30, Y:-7.35, Z:0.65 [[ 9.99975977e-01 -3.90521398e-03 -5.72670060e-03 1.57304012e+02] [ 3.90686824e-03 9.99992330e-01 2.77708870e-04 -7.35280438e+00] [ 5.72557216e-03 -3.00075664e-04 9.99983564e-01 6.52344941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.640714057 meters Centerline goodness : 0.989562 with order 1 Centerline is valid? [True, True] Translation: X:157.36, Y:-7.36, Z:0.65 [[ 9.99983498e-01 -4.57305160e-04 -5.72669941e-03 1.57363588e+02] [ 4.58903162e-04 9.99999856e-01 2.77733333e-04 -7.35598415e+00] [ 5.72657158e-03 -2.80356750e-04 9.99983564e-01 6.52014617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.700714057 meters Centerline goodness : 0.990444 with order 1 Centerline is valid? [True, True] Translation: X:157.42, Y:-7.36, Z:0.65 [[ 9.99979875e-01 -2.73021319e-03 -5.72670984e-03 1.57421128e+02] [ 2.73184714e-03 9.99996230e-01 2.77518175e-04 -7.35707877e+00] [ 5.72593056e-03 -2.93157086e-04 9.99983564e-01 6.51659303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.760714057 meters Centerline goodness : 0.990667 with order 1 Centerline is valid? [True, True] Translation: X:157.48, Y:-7.36, Z:0.66 [[ 9.99969524e-01 -5.30609301e-03 -5.72673516e-03 1.57480087e+02] [ 5.30776610e-03 9.99985875e-01 2.76994719e-04 -7.35502529e+00] [ 5.72518451e-03 -3.07382449e-04 9.99983564e-01 6.56319314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.820714057 meters Centerline goodness : 0.989581 with order 1 Centerline is valid? [True, True] Translation: X:157.54, Y:-7.36, Z:0.65 [[ 9.99938981e-01 -9.44666701e-03 -5.72674892e-03 1.57540549e+02] [ 9.44840616e-03 9.99955325e-01 2.76709851e-04 -7.36042366e+00] [ 5.72387909e-03 -3.30801616e-04 9.99983564e-01 6.53726763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.880714057 meters Centerline goodness : 0.990722 with order 1 Centerline is valid? [True, True] Translation: X:157.60, Y:-7.36, Z:0.66 [[ 9.99881585e-01 -1.42835337e-02 -5.72674892e-03 1.57601508e+02] [ 1.42853519e-02 9.99897921e-01 2.76709851e-04 -7.36194856e+00] [ 5.72221195e-03 -3.58485708e-04 9.99983564e-01 6.57952393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.940714057 meters Centerline goodness : 0.991190 with order 1 Centerline is valid? [True, True] Translation: X:157.66, Y:-7.36, Z:0.66 [[ 9.99724128e-01 -2.27787902e-02 -5.72668242e-03 1.57662372e+02] [ 2.27807549e-02 9.99740446e-01 2.78079333e-04 -7.36369028e+00] [ 5.71886173e-03 -4.08460767e-04 9.99983564e-01 6.56397645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.000714057 meters Centerline goodness : 0.991315 with order 1 Centerline is valid? [True, True] Translation: X:157.72, Y:-7.37, Z:0.66 [[ 9.99635237e-01 -2.63931701e-02 -5.72664234e-03 1.57724244e+02] [ 2.63951985e-02 9.99651547e-01 2.78902272e-04 -7.36814257e+00] [ 5.71728576e-03 -4.29956400e-04 9.99983564e-01 6.61504563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.060714057 meters Centerline goodness : 0.991510 with order 1 Centerline is valid? [True, True] Translation: X:157.79, Y:-7.37, Z:0.66 [[ 9.99614106e-01 -2.71817036e-02 -5.72662127e-03 1.57785716e+02] [ 2.71837473e-02 9.99630415e-01 2.79334180e-04 -7.37202838e+00] [ 5.71691202e-03 -4.34897412e-04 9.99983564e-01 6.59684445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12071405700001 meters Centerline goodness : 0.992338 with order 1 Centerline is valid? [True, True] Translation: X:157.85, Y:-7.38, Z:0.65 [[ 9.99596387e-01 -2.78257079e-02 -5.72657432e-03 1.57847787e+02] [ 2.78277676e-02 9.99612693e-01 2.80293555e-04 -7.37631854e+00] [ 5.71655701e-03 -4.39538204e-04 9.99983564e-01 6.53574512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18071405700002 meters Centerline goodness : 0.992169 with order 1 Centerline is valid? [True, True] Translation: X:157.91, Y:-7.38, Z:0.66 [[ 9.99656262e-01 -2.55844531e-02 -5.72655481e-03 1.57909601e+02] [ 2.55864785e-02 9.99672573e-01 2.80691584e-04 -7.37901729e+00] [ 5.71749844e-03 -4.27117471e-04 9.99983564e-01 6.55696043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.240714057 meters Centerline goodness : 0.991258 with order 1 Centerline is valid? [True, True] Translation: X:157.97, Y:-7.38, Z:0.65 [[ 9.99703137e-01 -2.36821504e-02 -5.72653510e-03 1.57972046e+02] [ 2.36841470e-02 9.99719452e-01 2.81093015e-04 -7.38262801e+00] [ 5.71827165e-03 -4.16637668e-04 9.99983564e-01 6.53536069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.300714057 meters Centerline goodness : 0.991485 with order 1 Centerline is valid? [True, True] Translation: X:158.03, Y:-7.38, Z:0.66 [[ 9.99699769e-01 -2.38239343e-02 -5.72648735e-03 1.58032737e+02] [ 2.38259387e-02 9.99716082e-01 2.82062600e-04 -7.38418156e+00] [ 5.71814165e-03 -4.18416852e-04 9.99983564e-01 6.55923566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.360714057 meters Centerline goodness : 0.991218 with order 1 Centerline is valid? [True, True] Translation: X:158.10, Y:-7.39, Z:0.66 [[ 9.99712648e-01 -2.32772123e-02 -5.72647307e-03 1.58095023e+02] [ 2.32792095e-02 9.99728963e-01 2.82352034e-04 -7.38813309e+00] [ 5.71834862e-03 -4.15578666e-04 9.99983564e-01 6.56135722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.420714057 meters Centerline goodness : 0.991433 with order 1 Centerline is valid? [True, True] Translation: X:158.16, Y:-7.39, Z:0.66 [[ 9.99751498e-01 -2.15441449e-02 -5.72645215e-03 1.58155824e+02] [ 2.15461162e-02 9.99767816e-01 2.82775758e-04 -7.39002559e+00] [ 5.71903039e-03 -4.06088291e-04 9.99983564e-01 6.57860427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.480714057 meters Centerline goodness : 0.990721 with order 1 Centerline is valid? [True, True] Translation: X:158.22, Y:-7.40, Z:0.66 [[ 9.99757067e-01 -2.12841715e-02 -5.72641409e-03 1.58217442e+02] [ 2.12861430e-02 9.99773384e-01 2.83544370e-04 -7.39561020e+00] [ 5.71908139e-03 -4.05368757e-04 9.99983564e-01 6.57221607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.540714057 meters Centerline goodness : 0.991345 with order 1 Centerline is valid? [True, True] Translation: X:158.28, Y:-7.40, Z:0.65 [[ 9.99756111e-01 -2.13290250e-02 -5.72639324e-03 1.58278033e+02] [ 2.13309996e-02 9.99772428e-01 2.83964889e-04 -7.40097497e+00] [ 5.71903338e-03 -4.06045325e-04 9.99983564e-01 6.54608202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.600714057 meters Centerline goodness : 0.991900 with order 1 Centerline is valid? [True, True] Translation: X:158.34, Y:-7.40, Z:0.66 [[ 9.99682677e-01 -2.45306681e-02 -5.72637769e-03 1.58338770e+02] [ 2.45326968e-02 9.99698988e-01 2.84278139e-04 -7.40349057e+00] [ 5.71768045e-03 -4.24671418e-04 9.99983564e-01 6.56035465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.660714057 meters Centerline goodness : 0.992320 with order 1 Centerline is valid? [True, True] Translation: X:158.40, Y:-7.41, Z:0.65 [[ 9.99546876e-01 -2.95508340e-02 -5.72636281e-03 1.58400856e+02] [ 2.95529462e-02 9.99563176e-01 2.84577588e-04 -7.40895517e+00] [ 5.71545189e-03 -4.53679531e-04 9.99983564e-01 6.53862935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.720714057 meters Centerline goodness : 0.991656 with order 1 Centerline is valid? [True, True] Translation: X:158.46, Y:-7.42, Z:0.65 [[ 9.99625634e-01 -2.67544484e-02 -5.72634217e-03 1.58462483e+02] [ 2.67565174e-02 9.99641940e-01 2.84992332e-04 -7.41689834e+00] [ 5.71666698e-03 -4.38102614e-04 9.99983564e-01 6.50688138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.780714057 meters Centerline goodness : 0.991975 with order 1 Centerline is valid? [True, True] Translation: X:158.52, Y:-7.42, Z:0.66 [[ 9.99737339e-01 -2.21915124e-02 -5.72632182e-03 1.58523217e+02] [ 2.21935093e-02 9.99753653e-01 2.85400473e-04 -7.41996366e+00] [ 5.71857769e-03 -4.12412686e-04 9.99983564e-01 6.58270702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.840714057 meters Centerline goodness : 0.992371 with order 1 Centerline is valid? [True, True] Translation: X:158.59, Y:-7.42, Z:0.66 [[ 9.99777511e-01 -2.03011910e-02 -5.72630692e-03 1.58585521e+02] [ 2.03031587e-02 9.99793829e-01 2.85699156e-04 -7.42060819e+00] [ 5.71932629e-03 -4.01897710e-04 9.99983564e-01 6.60056494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90071405700002 meters Centerline goodness : 0.992785 with order 1 Centerline is valid? [True, True] Translation: X:158.65, Y:-7.42, Z:0.66 [[ 9.99895016e-01 -1.33104143e-02 -5.72628557e-03 1.58647164e+02] [ 1.33122704e-02 9.99911347e-01 2.86126492e-04 -7.42269124e+00] [ 5.72196945e-03 -3.62326315e-04 9.99983564e-01 6.60614657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96071405700002 meters Centerline goodness : 0.992036 with order 1 Centerline is valid? [True, True] Translation: X:158.71, Y:-7.43, Z:0.66 [[ 9.99930410e-01 -1.03142781e-02 -5.72626957e-03 1.58709270e+02] [ 1.03160870e-02 9.99946747e-01 2.86446244e-04 -7.42575362e+00] [ 5.72301015e-03 -3.45499006e-04 9.99983564e-01 6.63265732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.020714057 meters Centerline goodness : 0.992195 with order 1 Centerline is valid? [True, True] Translation: X:158.77, Y:-7.43, Z:0.66 [[ 9.99941367e-01 -9.19090352e-03 -5.72624988e-03 1.58770236e+02] [ 9.19269630e-03 9.99957705e-01 2.86839395e-04 -7.42962013e+00] [ 5.72337138e-03 -3.39462253e-04 9.99983564e-01 6.63859064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.080714057 meters Centerline goodness : 0.992338 with order 1 Centerline is valid? [True, True] Translation: X:158.83, Y:-7.43, Z:0.66 [[ 9.99933720e-01 -9.98829749e-03 -5.72623537e-03 1.58831091e+02] [ 9.99010495e-03 9.99950056e-01 2.87128817e-04 -7.43342324e+00] [ 5.72308145e-03 -3.44315478e-04 9.99983564e-01 6.60733128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.140714057 meters Centerline goodness : 0.991092 with order 1 Centerline is valid? [True, True] Translation: X:158.89, Y:-7.44, Z:0.66 [[ 9.99983460e-01 -5.37659566e-04 -5.72623022e-03 1.58891004e+02] [ 5.39313139e-04 9.99999813e-01 2.87231379e-04 -7.43850583e+00] [ 5.72607472e-03 -2.90314860e-04 9.99983564e-01 6.64609290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.200714057 meters Centerline goodness : 0.990887 with order 1 Centerline is valid? [True, True] Translation: X:158.95, Y:-7.44, Z:0.66 [[ 9.99981164e-01 2.20957086e-03 -5.72622517e-03 1.58949518e+02] [-2.20796164e-03 9.99997521e-01 2.87332142e-04 -7.44200886e+00] [ 5.72684585e-03 -2.74683445e-04 9.99983564e-01 6.64035672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.260714057 meters Centerline goodness : 0.990384 with order 1 Centerline is valid? [True, True] Translation: X:159.01, Y:-7.45, Z:0.66 [[ 9.99980072e-01 2.65819840e-03 -5.72629719e-03 1.59007088e+02] [-2.65660476e-03 9.99996430e-01 2.85889497e-04 -7.44604249e+00] [ 5.72703670e-03 -2.70671291e-04 9.99983564e-01 6.63846182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.320714057 meters Centerline goodness : 0.990004 with order 1 Centerline is valid? [True, True] Translation: X:159.07, Y:-7.45, Z:0.66 [[ 9.99982584e-01 1.42831026e-03 -5.72632822e-03 1.59066130e+02] [-1.42670007e-03 9.99998942e-01 2.85266700e-04 -7.45103830e+00] [ 5.72672961e-03 -2.77091979e-04 9.99983564e-01 6.63972705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.380714057 meters Centerline goodness : 0.990424 with order 1 Centerline is valid? [True, True] Translation: X:159.12, Y:-7.45, Z:0.67 [[ 9.99982442e-01 -1.52439500e-03 -5.72634895e-03 1.59123443e+02] [ 1.52605111e-03 9.99998795e-01 2.84849965e-04 -7.45366677e+00] [ 5.72590782e-03 -2.93583665e-04 9.99983564e-01 6.66251383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.440714057 meters Centerline goodness : 0.990165 with order 1 Centerline is valid? [True, True] Translation: X:159.18, Y:-7.46, Z:0.66 [[ 9.99976988e-01 -3.63767850e-03 -5.72637433e-03 1.59181906e+02] [ 3.63936624e-03 9.99993337e-01 2.84338733e-04 -7.45880977e+00] [ 5.72530185e-03 -3.05172564e-04 9.99983564e-01 6.64443573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.500714057 meters Centerline goodness : 0.990681 with order 1 Centerline is valid? [True, True] Translation: X:159.24, Y:-7.46, Z:0.66 [[ 9.99959498e-01 -6.94338544e-03 -5.72639440e-03 1.59241062e+02] [ 6.94512491e-03 9.99975842e-01 2.83933984e-04 -7.46319851e+00] [ 5.72428460e-03 -3.23693008e-04 9.99983564e-01 6.63956612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.560714057 meters Centerline goodness : 0.993899 with order 1 Centerline is valid? [True, True] Translation: X:159.30, Y:-7.46, Z:0.67 [[ 9.99851867e-01 -1.62312263e-02 -5.72640453e-03 1.59301517e+02] [ 1.62331163e-02 9.99868194e-01 2.83729514e-04 -7.45757854e+00] [ 5.72104448e-03 -3.76644875e-04 9.99983564e-01 6.70590736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62071405700001 meters Centerline goodness : 0.990639 with order 1 Centerline is valid? [True, True] Translation: X:159.36, Y:-7.48, Z:0.66 [[ 9.99953375e-01 -7.77535751e-03 -5.72639952e-03 1.59362906e+02] [ 7.77710999e-03 9.99969718e-01 2.83830689e-04 -7.47639817e+00] [ 5.72401922e-03 -3.28352294e-04 9.99983564e-01 6.61597675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68071405700002 meters Centerline goodness : 0.993512 with order 1 Centerline is valid? [True, True] Translation: X:159.42, Y:-7.47, Z:0.66 [[ 9.99757207e-01 -2.12775627e-02 -5.72637946e-03 1.59424404e+02] [ 2.12795380e-02 9.99773525e-01 2.84234771e-04 -7.46980105e+00] [ 5.71903475e-03 -4.06020470e-04 9.99983564e-01 6.64775423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.740714057 meters Centerline goodness : 0.993118 with order 1 Centerline is valid? [True, True] Translation: X:159.49, Y:-7.47, Z:0.66 [[ 9.99708666e-01 -2.34476175e-02 -5.72637453e-03 1.59486057e+02] [ 2.34496288e-02 9.99724979e-01 2.84333993e-04 -7.47484470e+00] [ 5.71813271e-03 -4.18532514e-04 9.99983564e-01 6.64900969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.800714057 meters Centerline goodness : 0.991484 with order 1 Centerline is valid? [True, True] Translation: X:159.55, Y:-7.49, Z:0.65 [[ 9.99935215e-01 -9.83738247e-03 -5.72635438e-03 1.59545357e+02] [ 9.83917383e-03 9.99951554e-01 2.84739377e-04 -7.49473873e+00] [ 5.72327587e-03 -3.41063527e-04 9.99983564e-01 6.54645315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.860714057 meters Centerline goodness : 0.991716 with order 1 Centerline is valid? [True, True] Translation: X:159.61, Y:-7.50, Z:0.65 [[ 9.99908276e-01 -1.22739440e-02 -5.72633039e-03 1.59606891e+02] [ 1.22757779e-02 9.99924609e-01 2.85221018e-04 -7.49791624e+00] [ 5.72239789e-03 -3.55490016e-04 9.99983564e-01 6.50936139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.920714057 meters Centerline goodness : 0.991193 with order 1 Centerline is valid? [True, True] Translation: X:159.67, Y:-7.50, Z:0.66 [[ 9.99898190e-01 -1.30697986e-02 -5.72632015e-03 1.59667654e+02] [ 1.30716467e-02 9.99914522e-01 2.85426359e-04 -7.49974464e+00] [ 5.72210021e-03 -3.60249733e-04 9.99983564e-01 6.55677313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.980714057 meters Centerline goodness : 0.991655 with order 1 Centerline is valid? [True, True] Translation: X:159.73, Y:-7.50, Z:0.65 [[ 9.99888562e-01 -1.37867308e-02 -5.72630491e-03 1.59729286e+02] [ 1.37885923e-02 9.99904892e-01 2.85731908e-04 -7.50383671e+00] [ 5.72182098e-03 -3.64657751e-04 9.99983564e-01 6.54870524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.040714057 meters Centerline goodness : 0.991393 with order 1 Centerline is valid? [True, True] Translation: X:159.79, Y:-7.51, Z:0.66 [[ 9.99802324e-01 -1.90400125e-02 -5.72628459e-03 1.59791578e+02] [ 1.90419621e-02 9.99818644e-01 2.86138556e-04 -7.50625214e+00] [ 5.71979801e-03 -3.95121687e-04 9.99983564e-01 6.55079889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.100714057 meters Centerline goodness : 0.992668 with order 1 Centerline is valid? [True, True] Translation: X:159.85, Y:-7.51, Z:0.66 [[ 9.99659137e-01 -2.54719583e-02 -5.72621249e-03 1.59852655e+02] [ 2.54740210e-02 9.99675443e-01 2.87574141e-04 -7.50539199e+00] [ 5.71702893e-03 -4.33345775e-04 9.99983564e-01 6.58794221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.160714057 meters Centerline goodness : 0.993439 with order 1 Centerline is valid? [True, True] Translation: X:159.91, Y:-7.51, Z:0.66 [[ 9.99644426e-01 -2.60428969e-02 -5.72614635e-03 1.59914644e+02] [ 2.60449764e-02 9.99660730e-01 2.88885108e-04 -7.50761242e+00] [ 5.71668024e-03 -4.37919735e-04 9.99983564e-01 6.62506909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.220714057 meters Centerline goodness : 0.993084 with order 1 Centerline is valid? [True, True] Translation: X:159.98, Y:-7.51, Z:0.66 [[ 9.99760278e-01 -2.11328739e-02 -5.72612656e-03 1.59976385e+02] [ 2.11348756e-02 9.99776592e-01 2.89276907e-04 -7.50899139e+00] [ 5.71873404e-03 -4.10228534e-04 9.99983564e-01 6.64963273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.280714057 meters Centerline goodness : 0.992779 with order 1 Centerline is valid? [True, True] Translation: X:160.04, Y:-7.51, Z:0.67 [[ 9.99822819e-01 -1.79315948e-02 -5.72610479e-03 1.60037369e+02] [ 1.79335467e-02 9.99839139e-01 2.89707058e-04 -7.51030979e+00] [ 5.71998878e-03 -3.92345095e-04 9.99983564e-01 6.66388104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.340714057 meters Centerline goodness : 0.992486 with order 1 Centerline is valid? [True, True] Translation: X:160.10, Y:-7.51, Z:0.67 [[ 9.99913036e-01 -1.18799363e-02 -5.72608861e-03 1.60099373e+02] [ 1.18817912e-02 9.99929367e-01 2.90026522e-04 -7.50739268e+00] [ 5.72223867e-03 -3.58037489e-04 9.99983564e-01 6.72471730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40071405700002 meters Centerline goodness : 0.994122 with order 1 Centerline is valid? [True, True] Translation: X:160.16, Y:-7.50, Z:0.67 [[ 9.99967382e-01 -5.69619168e-03 -5.72606651e-03 1.60161378e+02] [ 5.69794803e-03 9.99983724e-01 2.90462347e-04 -7.50010541e+00] [ 5.72431878e-03 -3.23079702e-04 9.99983564e-01 6.73273115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46071405700002 meters Centerline goodness : 0.992491 with order 1 Centerline is valid? [True, True] Translation: X:160.22, Y:-7.51, Z:0.67 [[ 9.99911346e-01 1.20213721e-02 -5.72602748e-03 1.60221669e+02] [-1.20199012e-02 9.99927716e-01 2.91229753e-04 -7.50931340e+00] [ 5.72911456e-03 -2.22377649e-04 9.99983564e-01 6.67343191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.520714057 meters Centerline goodness : 0.991135 with order 1 Centerline is valid? [True, True] Translation: X:160.28, Y:-7.51, Z:0.67 [[ 9.99814574e-01 1.83855810e-02 -5.72602748e-03 1.60279609e+02] [-1.83842143e-02 9.99830954e-01 2.91229753e-04 -7.51153577e+00] [ 5.73041394e-03 -1.85907235e-04 9.99983564e-01 6.68446805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.580714057 meters Centerline goodness : 0.990904 with order 1 Centerline is valid? [True, True] Translation: X:160.34, Y:-7.52, Z:0.67 [[ 9.99844092e-01 1.67033951e-02 -5.72611520e-03 1.60338021e+02] [-1.67020108e-02 9.99860470e-01 2.89494593e-04 -7.51641252e+00] [ 5.73015178e-03 -1.93811821e-04 9.99983564e-01 6.66093878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.640714057 meters Centerline goodness : 0.991145 with order 1 Centerline is valid? [True, True] Translation: X:160.40, Y:-7.52, Z:0.67 [[ 9.99950343e-01 8.15620087e-03 -5.72613662e-03 1.60396993e+02] [-8.15467902e-03 9.99966708e-01 2.89070205e-04 -7.51834327e+00] [ 5.72830371e-03 -2.42361044e-04 9.99983564e-01 6.72089235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.700714057 meters Centerline goodness : 0.990423 with order 1 Centerline is valid? [True, True] Translation: X:160.45, Y:-7.53, Z:0.67 [[ 9.99964111e-01 6.24407786e-03 -5.72615805e-03 1.60454096e+02] [-6.24252715e-03 9.99980474e-01 2.88645169e-04 -7.52674070e+00] [ 5.72784856e-03 -2.52889113e-04 9.99983564e-01 6.67388946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.760714057 meters Centerline goodness : 0.993607 with order 1 Centerline is valid? [True, True] Translation: X:160.51, Y:-7.52, Z:0.68 [[ 9.99933832e-01 -9.97704947e-03 -5.72618447e-03 1.60512621e+02] [ 9.97886241e-03 9.99950168e-01 2.88120071e-04 -7.51841540e+00] [ 5.72302454e-03 -3.45241814e-04 9.99983564e-01 6.76340291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.820714057 meters Centerline goodness : 0.992018 with order 1 Centerline is valid? [True, True] Translation: X:160.57, Y:-7.53, Z:0.67 [[ 9.99960700e-01 -6.76816719e-03 -5.72620872e-03 1.60573009e+02] [ 6.76992494e-03 9.99977042e-01 2.87637275e-04 -7.53228822e+00] [ 5.72413048e-03 -3.26391974e-04 9.99983564e-01 6.71913692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.880714057 meters Centerline goodness : 0.991868 with order 1 Centerline is valid? [True, True] Translation: X:160.63, Y:-7.53, Z:0.67 [[ 9.99925146e-01 -1.08126540e-02 -5.72620326e-03 1.60633846e+02] [ 1.08144784e-02 9.99941480e-01 2.87745877e-04 -7.53402488e+00] [ 5.72275687e-03 -3.49650240e-04 9.99983564e-01 6.73970147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.940714057 meters Centerline goodness : 0.992557 with order 1 Centerline is valid? [True, True] Translation: X:160.70, Y:-7.54, Z:0.68 [[ 9.99906229e-01 -1.24396035e-02 -5.72620326e-03 1.60695901e+02] [ 1.24414545e-02 9.99922561e-01 2.87745877e-04 -7.53653048e+00] [ 5.72218039e-03 -3.58961192e-04 9.99983564e-01 6.76293501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.000714057 meters Centerline goodness : 0.994179 with order 1 Centerline is valid? [True, True] Translation: X:160.76, Y:-7.53, Z:0.68 [[ 9.99811113e-01 -1.85727901e-02 -5.72618197e-03 1.60757692e+02] [ 1.85747437e-02 9.99827433e-01 2.88168983e-04 -7.53183667e+00] [ 5.71984172e-03 -3.94476914e-04 9.99983564e-01 6.79996891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.060714057 meters Centerline goodness : 0.992019 with order 1 Centerline is valid? [True, True] Translation: X:160.82, Y:-7.54, Z:0.68 [[ 9.99895917e-01 -1.32426380e-02 -5.72611380e-03 1.60819614e+02] [ 1.32445123e-02 9.99912246e-01 2.89517193e-04 -7.54139309e+00] [ 5.72177734e-03 -3.65326644e-04 9.99983564e-01 6.78568499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12071405700001 meters Centerline goodness : 0.993264 with order 1 Centerline is valid? [True, True] Translation: X:160.88, Y:-7.54, Z:0.68 [[ 9.99899863e-01 -1.29412192e-02 -5.72609289e-03 1.60881756e+02] [ 1.29430909e-02 9.99916193e-01 2.89930206e-04 -7.54276899e+00] [ 5.72186095e-03 -3.64014514e-04 9.99983564e-01 6.80527573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18071405700002 meters Centerline goodness : 0.993630 with order 1 Centerline is valid? [True, True] Translation: X:160.94, Y:-7.55, Z:0.68 [[ 9.99960377e-01 -6.81585955e-03 -5.72607250e-03 1.60943938e+02] [ 6.81763346e-03 9.99976718e-01 2.90332308e-04 -7.54536907e+00] [ 5.72396032e-03 -3.29359067e-04 9.99983564e-01 6.78508290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.240714057 meters Centerline goodness : 0.992865 with order 1 Centerline is valid? [True, True] Translation: X:161.01, Y:-7.55, Z:0.68 [[ 9.99983333e-01 -7.38297329e-04 -5.72605227e-03 1.61005002e+02] [ 7.39974168e-04 9.99999684e-01 2.90730831e-04 -7.54640082e+00] [ 5.72583581e-03 -2.94963116e-04 9.99983564e-01 6.77256246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.300714057 meters Centerline goodness : 0.992684 with order 1 Centerline is valid? [True, True] Translation: X:161.06, Y:-7.55, Z:0.67 [[ 9.99971275e-01 4.96600918e-03 -5.72604732e-03 1.61063783e+02] [-4.96442508e-03 9.99987635e-01 2.90828369e-04 -7.55061900e+00] [ 5.72742077e-03 -2.62393482e-04 9.99983564e-01 6.74796867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.360714057 meters Centerline goodness : 0.993207 with order 1 Centerline is valid? [True, True] Translation: X:161.12, Y:-7.55, Z:0.68 [[ 9.99981231e-01 2.17944258e-03 -5.72611570e-03 1.61122548e+02] [-2.17782063e-03 9.99997587e-01 2.89475652e-04 -7.55017803e+00] [ 5.72673278e-03 -2.76999766e-04 9.99983564e-01 6.79835889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.420714057 meters Centerline goodness : 0.992306 with order 1 Centerline is valid? [True, True] Translation: X:161.18, Y:-7.55, Z:0.68 [[ 9.99976635e-01 3.73370888e-03 -5.72613478e-03 1.61180619e+02] [-3.73211450e-03 9.99992994e-01 2.89097799e-04 -7.55437055e+00] [ 5.72717407e-03 -2.67720453e-04 9.99983564e-01 6.84187681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.480714057 meters Centerline goodness : 0.992834 with order 1 Centerline is valid? [True, True] Translation: X:161.24, Y:-7.56, Z:0.68 [[ 9.99975857e-01 -3.93666986e-03 -5.72615299e-03 1.61239697e+02] [ 3.93838760e-03 9.99992203e-01 2.88736633e-04 -7.55687184e+00] [ 5.72497168e-03 -3.11281472e-04 9.99983564e-01 6.82973150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.540714057 meters Centerline goodness : 0.992895 with order 1 Centerline is valid? [True, True] Translation: X:161.30, Y:-7.56, Z:0.69 [[ 9.99935958e-01 -9.76167300e-03 -5.72617163e-03 1.61299513e+02] [ 9.76348382e-03 9.99952294e-01 2.88366387e-04 -7.55958956e+00] [ 5.72308353e-03 -3.44255304e-04 9.99983564e-01 6.85740483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.600714057 meters Centerline goodness : 0.993008 with order 1 Centerline is valid? [True, True] Translation: X:161.36, Y:-7.56, Z:0.69 [[ 9.99928737e-01 -1.04753393e-02 -5.72617625e-03 1.61361036e+02] [ 1.04771612e-02 9.99945071e-01 2.88274658e-04 -7.56415541e+00] [ 5.72284195e-03 -3.48248186e-04 9.99983564e-01 6.85115267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.660714057 meters Centerline goodness : 0.993749 with order 1 Centerline is valid? [True, True] Translation: X:161.42, Y:-7.57, Z:0.69 [[ 9.99911206e-01 -1.20329507e-02 -5.72616252e-03 1.61422766e+02] [ 1.20347996e-02 9.99927538e-01 2.88547135e-04 -7.56532479e+00] [ 5.72227552e-03 -3.57434732e-04 9.99983564e-01 6.86728745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.720714057 meters Centerline goodness : 0.992642 with order 1 Centerline is valid? [True, True] Translation: X:161.48, Y:-7.57, Z:0.68 [[ 9.99947435e-01 -8.50520662e-03 -5.72615358e-03 1.61484270e+02] [ 8.50699896e-03 9.99963773e-01 2.88724526e-04 -7.57139228e+00] [ 5.72349048e-03 -3.37421732e-04 9.99983564e-01 6.82426715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.780714057 meters Centerline goodness : 0.993258 with order 1 Centerline is valid? [True, True] Translation: X:161.55, Y:-7.57, Z:0.69 [[ 9.99899307e-01 -1.29841449e-02 -5.72613832e-03 1.61545748e+02] [ 1.29860121e-02 9.99915636e-01 2.89026814e-04 -7.56961534e+00] [ 5.72190248e-03 -3.63357412e-04 9.99983564e-01 6.87350338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.840714057 meters Centerline goodness : 0.994071 with order 1 Centerline is valid? [True, True] Translation: X:161.61, Y:-7.57, Z:0.69 [[ 9.99859469e-01 -1.57560413e-02 -5.72612799e-03 1.61608014e+02] [ 1.57579549e-02 9.99875794e-01 2.89231351e-04 -7.57220247e+00] [ 5.72085963e-03 -3.79422772e-04 9.99983564e-01 6.88077571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90071405700002 meters Centerline goodness : 0.993587 with order 1 Centerline is valid? [True, True] Translation: X:161.67, Y:-7.58, Z:0.68 [[ 9.99863253e-01 -1.55140690e-02 -5.72610599e-03 1.61668575e+02] [ 1.55159812e-02 9.99879578e-01 2.89666303e-04 -7.57713241e+00] [ 5.72092253e-03 -3.78472844e-04 9.99983564e-01 6.78113257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96071405700002 meters Centerline goodness : 0.993521 with order 1 Centerline is valid? [True, True] Translation: X:161.73, Y:-7.58, Z:0.68 [[ 9.99827325e-01 -1.76785786e-02 -5.72606813e-03 1.61730315e+02] [ 1.76805304e-02 9.99843645e-01 2.90412768e-04 -7.57970168e+00] [ 5.72003874e-03 -3.91602543e-04 9.99983564e-01 6.77277816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.020714057 meters Centerline goodness : 0.995128 with order 1 Centerline is valid? [True, True] Translation: X:161.79, Y:-7.58, Z:0.68 [[ 9.99696908e-01 -2.39437910e-02 -5.72604678e-03 1.61793108e+02] [ 2.39458474e-02 9.99713215e-01 2.90833081e-04 -7.57595086e+00] [ 5.71744099e-03 -4.27859974e-04 9.99983564e-01 6.84323600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.080714057 meters Centerline goodness : 0.994058 with order 1 Centerline is valid? [True, True] Translation: X:161.85, Y:-7.58, Z:0.68 [[ 9.99746317e-01 -2.17833622e-02 -5.72597215e-03 1.61854820e+02] [ 2.17853917e-02 9.99762627e-01 2.92294938e-04 -7.57681451e+00] [ 5.71824580e-03 -4.16963333e-04 9.99983564e-01 6.79966354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.140714057 meters Centerline goodness : 0.994884 with order 1 Centerline is valid? [True, True] Translation: X:161.92, Y:-7.58, Z:0.68 [[ 9.99712605e-01 -2.32791761e-02 -5.72595543e-03 1.61917420e+02] [ 2.32812318e-02 9.99728913e-01 2.92622116e-04 -7.57505943e+00] [ 5.71759120e-03 -4.25845314e-04 9.99983564e-01 6.81869786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.200714057 meters Centerline goodness : 0.994176 with order 1 Centerline is valid? [True, True] Translation: X:161.98, Y:-7.57, Z:0.69 [[ 9.99697698e-01 -2.39108171e-02 -5.72593314e-03 1.61980439e+02] [ 2.39128856e-02 9.99714003e-01 2.93057737e-04 -7.57031505e+00] [ 5.71728829e-03 -4.29892729e-04 9.99983564e-01 6.87100280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.260714057 meters Centerline goodness : 0.993946 with order 1 Centerline is valid? [True, True] Translation: X:162.04, Y:-7.57, Z:0.69 [[ 9.99765086e-01 -2.09042487e-02 -5.72590525e-03 1.62042756e+02] [ 2.09062713e-02 9.99781397e-01 2.93601636e-04 -7.57050906e+00] [ 5.71851603e-03 -4.13239993e-04 9.99983564e-01 6.85979802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.320714057 meters Centerline goodness : 0.993609 with order 1 Centerline is valid? [True, True] Translation: X:162.10, Y:-7.57, Z:0.69 [[ 9.99861546e-01 -1.56238024e-02 -5.72588278e-03 1.62104893e+02] [ 1.56257413e-02 9.99877867e-01 2.94039110e-04 -7.57154907e+00] [ 5.72058946e-03 -3.83469562e-04 9.99983564e-01 6.86218426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.380714057 meters Centerline goodness : 0.994903 with order 1 Centerline is valid? [True, True] Translation: X:162.17, Y:-7.57, Z:0.69 [[ 9.99945864e-01 -8.68814917e-03 -5.72585970e-03 1.62166001e+02] [ 8.68997738e-03 9.99962198e-01 2.94487916e-04 -7.56834462e+00] [ 5.72308470e-03 -3.44229564e-04 9.99983564e-01 6.87828049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.440714057 meters Centerline goodness : 0.994850 with order 1 Centerline is valid? [True, True] Translation: X:162.23, Y:-7.57, Z:0.69 [[ 9.99962303e-01 6.52745477e-03 -5.72584308e-03 1.62226787e+02] [-6.52587346e-03 9.99978663e-01 2.94810717e-04 -7.57285331e+00] [ 5.72764527e-03 -2.57433476e-04 9.99983564e-01 6.85881906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.500714057 meters Centerline goodness : 0.993195 with order 1 Centerline is valid? [True, True] Translation: X:162.29, Y:-7.58, Z:0.68 [[ 9.99927179e-01 1.06231713e-02 -5.72583757e-03 1.62285702e+02] [-1.06216564e-02 9.99943545e-01 2.94917761e-04 -7.57722231e+00] [ 5.72864728e-03 -2.34078406e-04 9.99983564e-01 6.84304523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.560714057 meters Centerline goodness : 0.994741 with order 1 Centerline is valid? [True, True] Translation: X:162.34, Y:-7.57, Z:0.69 [[ 9.99930070e-01 1.03474499e-02 -5.72591416e-03 1.62343532e+02] [-1.03459390e-02 9.99946436e-01 2.93423149e-04 -7.57314880e+00] [ 5.72864364e-03 -2.34162671e-04 9.99983564e-01 6.86294481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62071405700001 meters Centerline goodness : 0.993195 with order 1 Centerline is valid? [True, True] Translation: X:162.40, Y:-7.58, Z:0.68 [[ 9.99867612e-01 1.52306429e-02 -5.72594082e-03 1.62401939e+02] [-1.52292150e-02 9.99883986e-01 2.92902003e-04 -7.58470338e+00] [ 5.72973761e-03 -2.05661643e-04 9.99983564e-01 6.81134327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68071405700002 meters Centerline goodness : 0.993826 with order 1 Centerline is valid? [True, True] Translation: X:162.46, Y:-7.59, Z:0.68 [[ 9.99912692e-01 1.19088305e-02 -5.72601220e-03 1.62460829e+02] [-1.19073562e-02 9.99929062e-01 2.91499909e-04 -7.59080218e+00] [ 5.72907743e-03 -2.23292793e-04 9.99983564e-01 6.83499810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.740714057 meters Centerline goodness : 0.992946 with order 1 Centerline is valid? [True, True] Translation: X:162.52, Y:-7.60, Z:0.69 [[ 9.99982820e-01 1.25372780e-03 -5.72603386e-03 1.62519715e+02] [-1.25208157e-03 9.99999174e-01 2.91073674e-04 -7.59693517e+00] [ 5.72639406e-03 -2.83899212e-04 9.99983564e-01 6.85777811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.800714057 meters Centerline goodness : 0.993946 with order 1 Centerline is valid? [True, True] Translation: X:162.58, Y:-7.60, Z:0.69 [[ 9.99955215e-01 -7.53527347e-03 -5.72605561e-03 1.62577880e+02] [ 7.53706092e-03 9.99971554e-01 2.90645234e-04 -7.60232295e+00] [ 5.72370263e-03 -3.33789848e-04 9.99983564e-01 6.88133760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.860714057 meters Centerline goodness : 0.992716 with order 1 Centerline is valid? [True, True] Translation: X:162.64, Y:-7.60, Z:0.69 [[ 9.99920157e-01 -1.12646033e-02 -5.72607788e-03 1.62638251e+02] [ 1.12664492e-02 9.99936489e-01 2.90205727e-04 -7.60348613e+00] [ 5.72244517e-03 -3.54695122e-04 9.99983564e-01 6.88105449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.920714057 meters Centerline goodness : 0.994856 with order 1 Centerline is valid? [True, True] Translation: X:162.70, Y:-7.61, Z:0.69 [[ 9.99857290e-01 -1.58937890e-02 -5.72606458e-03 1.62700111e+02] [ 1.58957119e-02 9.99873613e-01 2.90468090e-04 -7.60975160e+00] [ 5.72072424e-03 -3.81446510e-04 9.99983564e-01 6.89679204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.980714057 meters Centerline goodness : 0.993890 with order 1 Centerline is valid? [True, True] Translation: X:162.76, Y:-7.62, Z:0.69 [[ 9.99953366e-01 -7.77683576e-03 -5.72604048e-03 1.62761338e+02] [ 7.77862885e-03 9.99969704e-01 2.90942306e-04 -7.62062990e+00] [ 5.72360439e-03 -3.35469482e-04 9.99983564e-01 6.90892390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.040714057 meters Centerline goodness : 0.993494 with order 1 Centerline is valid? [True, True] Translation: X:162.82, Y:-7.63, Z:0.69 [[ 9.99965443e-01 -6.02697787e-03 -5.72602560e-03 1.62822635e+02] [ 6.02874404e-03 9.99981785e-01 2.91234876e-04 -7.62815134e+00] [ 5.72416603e-03 -3.25745554e-04 9.99983564e-01 6.87712790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.100714057 meters Centerline goodness : 0.992871 with order 1 Centerline is valid? [True, True] Translation: X:162.88, Y:-7.64, Z:0.69 [[ 9.99983575e-01 -2.49963223e-04 -5.72601597e-03 1.62881999e+02] [ 2.51636037e-04 9.99999926e-01 2.91424132e-04 -7.63637363e+00] [ 5.72594270e-03 -2.92860218e-04 9.99983564e-01 6.86606619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.160714057 meters Centerline goodness : 0.993916 with order 1 Centerline is valid? [True, True] Translation: X:162.94, Y:-7.64, Z:0.68 [[ 9.99981552e-01 2.02715049e-03 -5.72601393e-03 1.62940768e+02] [-2.02551469e-03 9.99997906e-01 2.91464250e-04 -7.64136103e+00] [ 5.72659278e-03 -2.79860747e-04 9.99983564e-01 6.84304302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.220714057 meters Centerline goodness : 0.994797 with order 1 Centerline is valid? [True, True] Translation: X:163.00, Y:-7.64, Z:0.69 [[ 9.99972337e-01 -4.74729264e-03 -5.72608539e-03 1.63000200e+02] [ 4.74903115e-03 9.99988681e-01 2.90053336e-04 -7.63996497e+00] [ 5.72464361e-03 -3.17238671e-04 9.99983564e-01 6.88024478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.280714057 meters Centerline goodness : 0.994038 with order 1 Centerline is valid? [True, True] Translation: X:163.06, Y:-7.66, Z:0.68 [[ 9.99983528e-01 3.94526043e-04 -5.72610089e-03 1.63058810e+02] [-3.92873346e-04 9.99999881e-01 2.89747063e-04 -7.65517738e+00] [ 5.72621452e-03 -2.87492657e-04 9.99983564e-01 6.81599793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.340714057 meters Centerline goodness : 0.993944 with order 1 Centerline is valid? [True, True] Translation: X:163.12, Y:-7.66, Z:0.68 [[ 9.99981520e-01 -2.04260111e-03 -5.72611191e-03 1.63117399e+02] [ 2.04429241e-03 9.99997869e-01 2.89529210e-04 -7.66230584e+00] [ 5.72550831e-03 -3.01229707e-04 9.99983564e-01 6.81755376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40071405700002 meters Centerline goodness : 0.995194 with order 1 Centerline is valid? [True, True] Translation: X:163.18, Y:-7.66, Z:0.69 [[ 9.99952562e-01 -7.87935029e-03 -5.72613350e-03 1.63175858e+02] [ 7.88113455e-03 9.99968902e-01 2.89101564e-04 -7.66048602e+00] [ 5.72367749e-03 -3.34216279e-04 9.99983564e-01 6.87792886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46071405700002 meters Centerline goodness : 0.992647 with order 1 Centerline is valid? [True, True] Translation: X:163.24, Y:-7.67, Z:0.69 [[ 9.99980638e-01 2.43615003e-03 -5.72614938e-03 1.63235722e+02] [-2.43453621e-03 9.99996995e-01 2.88786654e-04 -7.67309796e+00] [ 5.72683570e-03 -2.74840545e-04 9.99983564e-01 6.91668316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.520714057 meters Centerline goodness : 0.993473 with order 1 Centerline is valid? [True, True] Translation: X:163.29, Y:-7.68, Z:0.69 [[ 9.99982282e-01 1.62705608e-03 -5.72614938e-03 1.63293186e+02] [-1.62542903e-03 9.99998637e-01 2.88786654e-04 -7.67889096e+00] [ 5.72661145e-03 -2.79474088e-04 9.99983564e-01 6.88660001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.580714057 meters Centerline goodness : 0.993553 with order 1 Centerline is valid? [True, True] Translation: X:163.35, Y:-7.68, Z:0.69 [[ 9.99983580e-01 2.26884282e-04 -5.72618004e-03 1.63351648e+02] [-2.25237809e-04 9.99999933e-01 2.88177473e-04 -7.68317089e+00] [ 5.72624504e-03 -2.86882988e-04 9.99983564e-01 6.91198142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.640714057 meters Centerline goodness : 0.993423 with order 1 Centerline is valid? [True, True] Translation: X:163.41, Y:-7.69, Z:0.69 [[ 9.99983429e-01 -5.92944763e-04 -5.72620130e-03 1.63410464e+02] [ 5.94602226e-04 9.99999782e-01 2.87754462e-04 -7.69075854e+00] [ 5.72602942e-03 -2.91154506e-04 9.99983564e-01 6.93990576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.700714057 meters Centerline goodness : 0.994981 with order 1 Centerline is valid? [True, True] Translation: X:163.47, Y:-7.69, Z:0.69 [[ 9.99909970e-01 -1.21351918e-02 -5.72622235e-03 1.63468992e+02] [ 1.21370355e-02 9.99926302e-01 2.87334820e-04 -7.69080149e+00] [ 5.72231348e-03 -3.56808316e-04 9.99983564e-01 6.87162655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.760714057 meters Centerline goodness : 0.995182 with order 1 Centerline is valid? [True, True] Translation: X:163.53, Y:-7.69, Z:0.69 [[ 9.99882293e-01 -1.42341385e-02 -5.72623784e-03 1.63530752e+02] [ 1.42360147e-02 9.99898622e-01 2.87025830e-04 -7.69489966e+00] [ 5.72157176e-03 -3.68510852e-04 9.99983564e-01 6.87010656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.820714057 meters Centerline goodness : 0.994906 with order 1 Centerline is valid? [True, True] Translation: X:163.59, Y:-7.70, Z:0.70 [[ 9.99830979e-01 -1.74706822e-02 -5.72622331e-03 1.63593076e+02] [ 1.74726129e-02 9.99847301e-01 2.87315390e-04 -7.69693066e+00] [ 5.72032933e-03 -3.87318911e-04 9.99983564e-01 6.99748600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.880714057 meters Centerline goodness : 0.995228 with order 1 Centerline is valid? [True, True] Translation: X:163.66, Y:-7.70, Z:0.70 [[ 9.99781250e-01 -2.01162141e-02 -5.72620289e-03 1.63655445e+02] [ 2.01181903e-02 9.99797567e-01 2.87721863e-04 -7.70119413e+00] [ 5.71925584e-03 -4.02859763e-04 9.99983564e-01 7.02027789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.940714057 meters Centerline goodness : 0.992738 with order 1 Centerline is valid? [True, True] Translation: X:163.72, Y:-7.72, Z:0.70 [[ 9.99861541e-01 -1.56240024e-02 -5.72618175e-03 1.63717076e+02] [ 1.56259077e-02 9.99877867e-01 2.88142004e-04 -7.71734927e+00] [ 5.72098046e-03 -3.77578896e-04 9.99983564e-01 6.99978890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.000714057 meters Centerline goodness : 0.992566 with order 1 Centerline is valid? [True, True] Translation: X:163.78, Y:-7.72, Z:0.70 [[ 9.99823980e-01 -1.78667144e-02 -5.72616080e-03 1.63779504e+02] [ 1.78686586e-02 9.99840301e-01 2.88557709e-04 -7.72164221e+00] [ 5.72009076e-03 -3.90825730e-04 9.99983564e-01 7.00184621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.060714057 meters Centerline goodness : 0.994189 with order 1 Centerline is valid? [True, True] Translation: X:163.84, Y:-7.72, Z:0.69 [[ 9.99577479e-01 -2.84969430e-02 -5.72614011e-03 1.63840101e+02] [ 2.84990630e-02 9.99593777e-01 2.88967683e-04 -7.71933388e+00] [ 5.71557933e-03 -4.52035215e-04 9.99983564e-01 6.92647421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12071405700001 meters Centerline goodness : 0.992492 with order 1 Centerline is valid? [True, True] Translation: X:163.90, Y:-7.73, Z:0.69 [[ 9.99693993e-01 -2.40651564e-02 -5.72613503e-03 1.63901267e+02] [ 2.40672048e-02 9.99710301e-01 2.89068392e-04 -7.73220951e+00] [ 5.71751969e-03 -4.26792000e-04 9.99983564e-01 6.87313193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18071405700002 meters Centerline goodness : 0.992424 with order 1 Centerline is valid? [True, True] Translation: X:163.96, Y:-7.74, Z:0.69 [[ 9.99714658e-01 -2.31908151e-02 -5.72612011e-03 1.63963627e+02] [ 2.31928509e-02 9.99730968e-01 2.89363538e-04 -7.73697364e+00] [ 5.71786902e-03 -4.22086020e-04 9.99983564e-01 6.87605469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.240714057 meters Centerline goodness : 0.992537 with order 1 Centerline is valid? [True, True] Translation: X:164.02, Y:-7.74, Z:0.69 [[ 9.99700267e-01 -2.38031034e-02 -5.72609952e-03 1.64024367e+02] [ 2.38051515e-02 9.99716575e-01 2.89770385e-04 -7.73973368e+00] [ 5.71757917e-03 -4.25994198e-04 9.99983564e-01 6.89040600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.300714057 meters Centerline goodness : 0.994262 with order 1 Centerline is valid? [True, True] Translation: X:164.09, Y:-7.73, Z:0.70 [[ 9.99573368e-01 -2.86407870e-02 -5.72608427e-03 1.64086920e+02] [ 2.86429157e-02 9.99589665e-01 2.90071456e-04 -7.73352407e+00] [ 5.71542678e-03 -4.53959451e-04 9.99983564e-01 6.97009830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.360714057 meters Centerline goodness : 0.994276 with order 1 Centerline is valid? [True, True] Translation: X:164.15, Y:-7.74, Z:0.70 [[ 9.99625375e-01 -2.67641939e-02 -5.72606389e-03 1.64149144e+02] [ 2.67662942e-02 9.99641676e-01 2.90473301e-04 -7.73730527e+00] [ 5.71623782e-03 -4.43629993e-04 9.99983564e-01 6.96871227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.420714057 meters Centerline goodness : 0.993266 with order 1 Centerline is valid? [True, True] Translation: X:164.21, Y:-7.75, Z:0.69 [[ 9.99770832e-01 -2.06275508e-02 -5.72604337e-03 1.64209963e+02] [ 2.06295534e-02 9.99787146e-01 2.90877192e-04 -7.74938371e+00] [ 5.71882447e-03 -4.08936250e-04 9.99983564e-01 6.93778673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.480714057 meters Centerline goodness : 0.993158 with order 1 Centerline is valid? [True, True] Translation: X:164.27, Y:-7.76, Z:0.69 [[ 9.99779445e-01 -2.02057890e-02 -5.72602819e-03 1.64271849e+02] [ 2.02077863e-02 9.99795759e-01 2.91175707e-04 -7.75519923e+00] [ 5.71897527e-03 -4.06821841e-04 9.99983564e-01 6.92459614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.540714057 meters Centerline goodness : 0.993317 with order 1 Centerline is valid? [True, True] Translation: X:164.33, Y:-7.76, Z:0.69 [[ 9.99849089e-01 -1.64015632e-02 -5.72600835e-03 1.64333016e+02] [ 1.64035007e-02 9.99865411e-01 2.91565265e-04 -7.76046446e+00] [ 5.72045557e-03 -3.85447847e-04 9.99983564e-01 6.91194223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.600714057 meters Centerline goodness : 0.994642 with order 1 Centerline is valid? [True, True] Translation: X:164.40, Y:-7.75, Z:0.70 [[ 9.99779149e-01 -2.02204363e-02 -5.72599366e-03 1.64395252e+02] [ 2.02224378e-02 9.99795463e-01 2.91853448e-04 -7.75160470e+00] [ 5.71892108e-03 -4.07582543e-04 9.99983564e-01 6.97294469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.660714057 meters Centerline goodness : 0.993853 with order 1 Centerline is valid? [True, True] Translation: X:164.46, Y:-7.76, Z:0.70 [[ 9.99929240e-01 -1.04273107e-02 -5.72597592e-03 1.64457134e+02] [ 1.04291543e-02 9.99945572e-01 2.92201211e-04 -7.76206792e+00] [ 5.72261739e-03 -3.51897621e-04 9.99983564e-01 7.01163974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.720714057 meters Centerline goodness : 0.993614 with order 1 Centerline is valid? [True, True] Translation: X:164.52, Y:-7.77, Z:0.70 [[ 9.99973022e-01 -4.60099544e-03 -5.72595602e-03 1.64517947e+02] [ 4.60274604e-03 9.99989365e-01 2.92590610e-04 -7.76597545e+00] [ 5.72454891e-03 -3.18937838e-04 9.99983564e-01 7.02283574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.780714057 meters Centerline goodness : 0.994401 with order 1 Centerline is valid? [True, True] Translation: X:164.58, Y:-7.77, Z:0.70 [[ 9.99972649e-01 -4.68125992e-03 -5.72594097e-03 1.64577403e+02] [ 4.68301351e-03 9.99988992e-01 2.92884828e-04 -7.76890600e+00] [ 5.72450687e-03 -3.19691477e-04 9.99983564e-01 7.03319742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.840714057 meters Centerline goodness : 0.994475 with order 1 Centerline is valid? [True, True] Translation: X:164.64, Y:-7.77, Z:0.70 [[ 9.99974016e-01 -4.37968880e-03 -5.72593924e-03 1.64637126e+02] [ 4.38143766e-03 9.99990359e-01 2.92918582e-04 -7.77449988e+00] [ 5.72460114e-03 -3.17998816e-04 9.99983564e-01 7.00709388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90071405700002 meters Centerline goodness : 0.993991 with order 1 Centerline is valid? [True, True] Translation: X:164.70, Y:-7.78, Z:0.70 [[ 9.99943789e-01 -8.92364573e-03 -5.72595029e-03 1.64695536e+02] [ 8.92546760e-03 9.99960124e-01 2.92702523e-04 -7.77795846e+00] [ 5.72310999e-03 -3.43792853e-04 9.99983564e-01 6.98334215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96071405700002 meters Centerline goodness : 0.996526 with order 1 Centerline is valid? [True, True] Translation: X:164.76, Y:-7.77, Z:0.70 [[ 9.99777490e-01 -2.03022961e-02 -5.72596655e-03 1.64757164e+02] [ 2.03043019e-02 9.99793804e-01 2.92384054e-04 -7.77136972e+00] [ 5.71884981e-03 -4.08580749e-04 9.99983564e-01 7.04215923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.020714057 meters Centerline goodness : 0.994744 with order 1 Centerline is valid? [True, True] Translation: X:164.82, Y:-7.78, Z:0.70 [[ 9.99827634e-01 -1.76611271e-02 -5.72595595e-03 1.64817649e+02] [ 1.76630910e-02 9.99843953e-01 2.92591526e-04 -7.78077094e+00] [ 5.71989493e-03 -3.93679174e-04 9.99983564e-01 7.04188140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.080714057 meters Centerline goodness : 0.995121 with order 1 Centerline is valid? [True, True] Translation: X:164.88, Y:-7.79, Z:0.69 [[ 9.99876263e-01 -1.46517222e-02 -5.72594005e-03 1.64879285e+02] [ 1.46536387e-02 9.99892587e-01 2.92902209e-04 -7.78915608e+00] [ 5.72103349e-03 -3.76771823e-04 9.99983564e-01 6.94522468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.140714057 meters Centerline goodness : 0.996616 with order 1 Centerline is valid? [True, True] Translation: X:164.94, Y:-7.77, Z:0.71 [[ 9.99543925e-01 -2.96505537e-02 -5.72591759e-03 1.64941722e+02] [ 2.96527175e-02 9.99560218e-01 2.93340769e-04 -7.77471720e+00] [ 5.71470172e-03 -4.62996000e-04 9.99983564e-01 7.08516427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.200714057 meters Centerline goodness : 0.995094 with order 1 Centerline is valid? [True, True] Translation: X:165.00, Y:-7.79, Z:0.70 [[ 9.99802686e-01 -1.90211477e-02 -5.72584017e-03 1.65003294e+02] [ 1.90231466e-02 9.99819000e-01 2.94844134e-04 -7.78822647e+00] [ 5.71919552e-03 -4.03709454e-04 9.99983564e-01 6.98419694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.260714057 meters Centerline goodness : 0.995307 with order 1 Centerline is valid? [True, True] Translation: X:165.06, Y:-7.79, Z:0.70 [[ 9.99736548e-01 -2.22272421e-02 -5.72581701e-03 1.65064581e+02] [ 2.22292959e-02 9.99752855e-01 2.95293197e-04 -7.78509156e+00] [ 5.71783835e-03 -4.22496282e-04 9.99983564e-01 6.98334199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.320714057 meters Centerline goodness : 0.994274 with order 1 Centerline is valid? [True, True] Translation: X:165.13, Y:-7.79, Z:0.69 [[ 9.99739406e-01 -2.20983271e-02 -5.72577441e-03 1.65126384e+02] [ 2.21003835e-02 9.99755713e-01 2.96116911e-04 -7.79006115e+00] [ 5.71783199e-03 -4.22581555e-04 9.99983564e-01 6.94417359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.380714057 meters Centerline goodness : 0.995027 with order 1 Centerline is valid? [True, True] Translation: X:165.19, Y:-7.78, Z:0.71 [[ 9.99524566e-01 -3.02961805e-02 -5.72575225e-03 1.65188705e+02] [ 3.02983730e-02 9.99540855e-01 2.96544817e-04 -7.78266314e+00] [ 5.71413913e-03 -4.69884807e-04 9.99983564e-01 7.08314476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.440714057 meters Centerline goodness : 0.993216 with order 1 Centerline is valid? [True, True] Translation: X:165.25, Y:-7.79, Z:0.70 [[ 9.99758904e-01 -2.11979052e-02 -5.72567332e-03 1.65250475e+02] [ 2.11999580e-02 9.99775211e-01 2.98061174e-04 -7.79081873e+00] [ 5.71806798e-03 -4.19373347e-04 9.99983564e-01 6.97565714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.500714057 meters Centerline goodness : 0.994158 with order 1 Centerline is valid? [True, True] Translation: X:165.31, Y:-7.78, Z:0.71 [[ 9.99673636e-01 -2.48965624e-02 -5.72565064e-03 1.65312414e+02] [ 2.48986780e-02 9.99689935e-01 2.98496141e-04 -7.78473528e+00] [ 5.71644379e-03 -4.40959855e-04 9.99983564e-01 7.07642928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.560714057 meters Centerline goodness : 0.993059 with order 1 Centerline is valid? [True, True] Translation: X:165.37, Y:-7.79, Z:0.71 [[ 9.99776636e-01 -2.03444114e-02 -5.72560894e-03 1.65374405e+02] [ 2.03464573e-02 9.99792945e-01 2.99293835e-04 -7.78657219e+00] [ 5.71833447e-03 -4.15722841e-04 9.99983564e-01 7.07397436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62071405700001 meters Centerline goodness : 0.993162 with order 1 Centerline is valid? [True, True] Translation: X:165.44, Y:-7.79, Z:0.70 [[ 9.99847910e-01 -1.64734288e-02 -5.72558653e-03 1.65436738e+02] [ 1.64754140e-02 9.99864226e-01 2.99721964e-04 -7.79072039e+00] [ 5.71987170e-03 -3.94007787e-04 9.99983564e-01 7.04828972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68071405700002 meters Centerline goodness : 0.993199 with order 1 Centerline is valid? [True, True] Translation: X:165.50, Y:-7.79, Z:0.70 [[ 9.99913595e-01 -1.18330025e-02 -5.72556383e-03 1.65497788e+02] [ 1.18349144e-02 9.99929920e-01 3.00154989e-04 -7.79303678e+00] [ 5.72161085e-03 -3.67890612e-04 9.99983564e-01 7.04476410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.740714057 meters Centerline goodness : 0.993181 with order 1 Centerline is valid? [True, True] Translation: X:165.56, Y:-7.80, Z:0.70 [[ 9.99950934e-01 -8.08378101e-03 -5.72554704e-03 1.65558024e+02] [ 8.08563350e-03 9.99967266e-01 3.00474878e-04 -7.79526641e+00] [ 5.72293065e-03 -3.46754810e-04 9.99983564e-01 7.03463181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.800714057 meters Centerline goodness : 0.992452 with order 1 Centerline is valid? [True, True] Translation: X:165.62, Y:-7.80, Z:0.70 [[ 9.99975962e-01 3.91076245e-03 -5.72554163e-03 1.65619115e+02] [-3.90910539e-03 9.99992314e-01 3.00578030e-04 -7.79617708e+00] [ 5.72667311e-03 -2.78189059e-04 9.99983564e-01 7.03522782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.860714057 meters Centerline goodness : 0.992980 with order 1 Centerline is valid? [True, True] Translation: X:165.68, Y:-7.79, Z:0.71 [[ 9.99959603e-01 6.92894895e-03 -5.72553624e-03 1.65677627e+02] [-6.92734067e-03 9.99975960e-01 3.00680579e-04 -7.79494793e+00] [ 5.72748200e-03 -2.61005693e-04 9.99983564e-01 7.08142422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.920714057 meters Centerline goodness : 0.995039 with order 1 Centerline is valid? [True, True] Translation: X:165.74, Y:-7.78, Z:0.72 [[ 9.99983337e-01 -7.36668171e-04 -5.72561594e-03 1.65736582e+02] [ 7.38393089e-04 9.99999683e-01 2.99155268e-04 -7.78055768e+00] [ 5.72539374e-03 -3.03378038e-04 9.99983564e-01 7.16879907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.980714057 meters Centerline goodness : 0.991830 with order 1 Centerline is valid? [True, True] Translation: X:165.79, Y:-7.80, Z:0.71 [[ 9.99851968e-01 1.62252431e-02 -5.72564393e-03 1.65794117e+02] [-1.62237988e-02 9.99868341e-01 2.98618472e-04 -7.79783230e+00] [ 5.72973526e-03 -2.05682572e-04 9.99983564e-01 7.09603648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.040714057 meters Centerline goodness : 0.991121 with order 1 Centerline is valid? [True, True] Translation: X:165.85, Y:-7.80, Z:0.71 [[ 9.99822023e-01 1.79760888e-02 -5.72567237e-03 1.65853229e+02] [-1.79746762e-02 9.99838398e-01 2.98072285e-04 -7.80299668e+00] [ 5.73010526e-03 -1.95102128e-04 9.99983564e-01 7.08691514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.100714057 meters Centerline goodness : 0.991814 with order 1 Centerline is valid? [True, True] Translation: X:165.91, Y:-7.80, Z:0.71 [[ 9.99927526e-01 1.05905485e-02 -5.72568895e-03 1.65912361e+02] [-1.05890169e-02 9.99943890e-01 2.97753438e-04 -7.80464612e+00] [ 5.72852105e-03 -2.37102442e-04 9.99983564e-01 7.12564042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.160714057 meters Centerline goodness : 0.993122 with order 1 Centerline is valid? [True, True] Translation: X:165.97, Y:-7.81, Z:0.71 [[ 9.99972024e-01 4.81330879e-03 -5.72571074e-03 1.65969821e+02] [-4.81168502e-03 9.99988380e-01 2.97333880e-04 -7.81032794e+00] [ 5.72707536e-03 -2.69775246e-04 9.99983564e-01 7.08900800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.220714057 meters Centerline goodness : 0.993237 with order 1 Centerline is valid? [True, True] Translation: X:166.03, Y:-7.81, Z:0.71 [[ 9.99982354e-01 -1.58355331e-03 -5.72573799e-03 1.66027139e+02] [ 1.58527867e-03 9.99998699e-01 2.96808086e-04 -7.81413517e+00] [ 5.72526053e-03 -3.05879739e-04 9.99983564e-01 7.06408456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.280714057 meters Centerline goodness : 0.995246 with order 1 Centerline is valid? [True, True] Translation: X:166.09, Y:-7.81, Z:0.71 [[ 9.99915306e-01 -1.16874719e-02 -5.72576455e-03 1.66086614e+02] [ 1.16893594e-02 9.99931633e-01 2.96294808e-04 -7.80520061e+00] [ 5.72191016e-03 -3.63200234e-04 9.99983564e-01 7.14051156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.340714057 meters Centerline goodness : 0.993663 with order 1 Centerline is valid? [True, True] Translation: X:166.15, Y:-7.82, Z:0.71 [[ 9.99983149e-01 -9.57904649e-04 -5.72577503e-03 1.66146954e+02] [ 9.59615694e-04 9.99999496e-01 2.96092106e-04 -7.82137021e+00] [ 5.72548852e-03 -3.01581660e-04 9.99983564e-01 7.05474114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40071405700002 meters Centerline goodness : 0.993402 with order 1 Centerline is valid? [True, True] Translation: X:166.21, Y:-7.82, Z:0.71 [[ 9.99974548e-01 -4.25661657e-03 -5.72576374e-03 1.66205658e+02] [ 4.25838277e-03 9.99990889e-01 2.96310277e-04 -7.82230903e+00] [ 5.72445030e-03 -3.20685229e-04 9.99983564e-01 7.08123897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46071405700002 meters Centerline goodness : 0.995504 with order 1 Centerline is valid? [True, True] Translation: X:166.27, Y:-7.81, Z:0.72 [[ 9.99825485e-01 -1.77824363e-02 -5.72578611e-03 1.66265126e+02] [ 1.77844209e-02 9.99841801e-01 2.95877528e-04 -7.81418879e+00] [ 5.71961887e-03 -3.97655683e-04 9.99983564e-01 7.17488021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.520714057 meters Centerline goodness : 0.993458 with order 1 Centerline is valid? [True, True] Translation: X:166.33, Y:-7.83, Z:0.72 [[ 9.99923050e-01 -1.10049825e-02 -5.72579158e-03 1.66326391e+02] [ 1.10068559e-02 9.99939379e-01 2.95771628e-04 -7.82717809e+00] [ 5.72218951e-03 -3.58771831e-04 9.99983564e-01 7.15076673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.580714057 meters Centerline goodness : 0.993759 with order 1 Centerline is valid? [True, True] Translation: X:166.39, Y:-7.83, Z:0.71 [[ 9.99871533e-01 -1.49710481e-02 -5.72577022e-03 1.66388857e+02] [ 1.49729886e-02 9.99887855e-01 2.96184572e-04 -7.83074194e+00] [ 5.72069390e-03 -3.81878415e-04 9.99983564e-01 7.08726910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.640714057 meters Centerline goodness : 0.994256 with order 1 Centerline is valid? [True, True] Translation: X:166.45, Y:-7.83, Z:0.71 [[ 9.99890923e-01 -1.36146383e-02 -5.72569355e-03 1.66450712e+02] [ 1.36165651e-02 9.99907246e-01 2.97659367e-04 -7.83471157e+00] [ 5.72110994e-03 -3.75591178e-04 9.99983564e-01 7.10970055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.700714057 meters Centerline goodness : 0.994021 with order 1 Centerline is valid? [True, True] Translation: X:166.51, Y:-7.83, Z:0.71 [[ 9.99798724e-01 -1.92283244e-02 -5.72567079e-03 1.66513293e+02] [ 1.92303453e-02 9.99815035e-01 2.98096433e-04 -7.83448467e+00] [ 5.71887985e-03 -4.08143059e-04 9.99983564e-01 7.14003651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.760714057 meters Centerline goodness : 0.994149 with order 1 Centerline is valid? [True, True] Translation: X:166.57, Y:-7.84, Z:0.71 [[ 9.99849738e-01 -1.63621274e-02 -5.72559086e-03 1.66574666e+02] [ 1.63641101e-02 9.99866054e-01 2.99623805e-04 -7.83966349e+00] [ 5.71992146e-03 -3.93272983e-04 9.99983564e-01 7.09413073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.820714057 meters Centerline goodness : 0.993834 with order 1 Centerline is valid? [True, True] Translation: X:166.64, Y:-7.84, Z:0.71 [[ 9.99862784e-01 -1.55444964e-02 -5.72557396e-03 1.66636685e+02] [ 1.55464677e-02 9.99879101e-01 2.99946449e-04 -7.83919071e+00] [ 5.72021923e-03 -3.88917743e-04 9.99983564e-01 7.13077503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.880714057 meters Centerline goodness : 0.995976 with order 1 Centerline is valid? [True, True] Translation: X:166.70, Y:-7.83, Z:0.72 [[ 9.99765235e-01 -2.08971844e-02 -5.72555194e-03 1.66698597e+02] [ 2.08992454e-02 9.99781542e-01 3.00366137e-04 -7.82853690e+00] [ 5.71802434e-03 -4.19955337e-04 9.99983564e-01 7.21998533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.940714057 meters Centerline goodness : 0.994062 with order 1 Centerline is valid? [True, True] Translation: X:166.76, Y:-7.84, Z:0.72 [[ 9.99856599e-01 -1.59374007e-02 -5.72547528e-03 1.66760677e+02] [ 1.59393890e-02 9.99872914e-01 3.01820434e-04 -7.83896226e+00] [ 5.71993742e-03 -3.93037731e-04 9.99983564e-01 7.21957355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.000714057 meters Centerline goodness : 0.994621 with order 1 Centerline is valid? [True, True] Translation: X:166.82, Y:-7.84, Z:0.72 [[ 9.99792817e-01 -1.95331002e-02 -5.72545180e-03 1.66822998e+02] [ 1.95351498e-02 9.99809125e-01 3.02265213e-04 -7.84313218e+00] [ 5.71845478e-03 -4.14050148e-04 9.99983564e-01 7.20838952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.060714057 meters Centerline goodness : 0.994409 with order 1 Centerline is valid? [True, True] Translation: X:166.89, Y:-7.85, Z:0.72 [[ 9.99685443e-01 -2.44179326e-02 -5.72542919e-03 1.66885565e+02] [ 2.44200642e-02 9.99701740e-01 3.02692859e-04 -7.84843293e+00] [ 5.71633039e-03 -4.42412993e-04 9.99983564e-01 7.16795094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12071405700001 meters Centerline goodness : 0.994452 with order 1 Centerline is valid? [True, True] Translation: X:166.95, Y:-7.85, Z:0.72 [[ 9.99585823e-01 -2.82028754e-02 -5.72539485e-03 1.66946552e+02] [ 2.82050724e-02 9.99602112e-01 3.03340990e-04 -7.85134097e+00] [ 5.71456169e-03 -4.64700530e-04 9.99983564e-01 7.17346450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18071405700002 meters Centerline goodness : 0.994860 with order 1 Centerline is valid? [True, True] Translation: X:167.01, Y:-7.85, Z:0.72 [[ 9.99524306e-01 -3.03048257e-02 -5.72537789e-03 1.67008990e+02] [ 3.03070588e-02 9.99540589e-01 3.03660693e-04 -7.85398242e+00] [ 5.71354521e-03 -4.77035608e-04 9.99983564e-01 7.18836481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24071405700002 meters Centerline goodness : 0.994008 with order 1 Centerline is valid? [True, True] Translation: X:167.07, Y:-7.86, Z:0.72 [[ 9.99593280e-01 -2.79373443e-02 -5.72535024e-03 1.67070537e+02] [ 2.79395418e-02 9.99609569e-01 3.04181156e-04 -7.85853580e+00] [ 5.71461687e-03 -4.64021102e-04 9.99983564e-01 7.19685475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.300714057 meters Centerline goodness : 0.994301 with order 1 Centerline is valid? [True, True] Translation: X:167.13, Y:-7.86, Z:0.72 [[ 9.99670881e-01 -2.50069957e-02 -5.72533332e-03 1.67132173e+02] [ 2.50091472e-02 9.99687176e-01 3.04499360e-04 -7.85947162e+00] [ 5.71592768e-03 -4.47584848e-04 9.99983564e-01 7.23502652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.360714057 meters Centerline goodness : 0.994142 with order 1 Centerline is valid? [True, True] Translation: X:167.20, Y:-7.86, Z:0.72 [[ 9.99690954e-01 -2.41912640e-02 -5.72531685e-03 1.67195174e+02] [ 2.41934040e-02 9.99707250e-01 3.04808640e-04 -7.86445112e+00] [ 5.71626706e-03 -4.43229343e-04 9.99983564e-01 7.21915175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.420714057 meters Centerline goodness : 0.994602 with order 1 Centerline is valid? [True, True] Translation: X:167.26, Y:-7.87, Z:0.72 [[ 9.99516439e-01 -3.05631963e-02 -5.72528357e-03 1.67257824e+02] [ 3.05654437e-02 9.99532721e-01 3.05432481e-04 -7.86956736e+00] [ 5.71327327e-03 -4.80280619e-04 9.99983564e-01 7.16495243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.480714057 meters Centerline goodness : 0.994581 with order 1 Centerline is valid? [True, True] Translation: X:167.32, Y:-7.87, Z:0.72 [[ 9.99463149e-01 -3.22588920e-02 -5.72525599e-03 1.67319379e+02] [ 3.22611700e-02 9.99479426e-01 3.05948602e-04 -7.87462071e+00] [ 5.71240601e-03 -4.90487810e-04 9.99983564e-01 7.17264434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.540714057 meters Centerline goodness : 0.994662 with order 1 Centerline is valid? [True, True] Translation: X:167.38, Y:-7.88, Z:0.72 [[ 9.99401144e-01 -3.41258792e-02 -5.72523290e-03 1.67380264e+02] [ 3.41281900e-02 9.99417417e-01 3.06380165e-04 -7.87940743e+00] [ 5.71144198e-03 -5.01588523e-04 9.99983564e-01 7.16217754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.600714057 meters Centerline goodness : 0.994234 with order 1 Centerline is valid? [True, True] Translation: X:167.44, Y:-7.89, Z:0.72 [[ 9.99387308e-01 -3.45286824e-02 -5.72521563e-03 1.67442419e+02] [ 3.45310016e-02 9.99403580e-01 3.06702468e-04 -7.88510066e+00] [ 5.71121097e-03 -5.04211984e-04 9.99983564e-01 7.19969459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.660714057 meters Centerline goodness : 0.994615 with order 1 Centerline is valid? [True, True] Translation: X:167.50, Y:-7.89, Z:0.72 [[ 9.99371957e-01 -3.49701859e-02 -5.72519289e-03 1.67504362e+02] [ 3.49725147e-02 9.99388227e-01 3.07126467e-04 -7.88966740e+00] [ 5.71095010e-03 -5.07157971e-04 9.99983564e-01 7.24068555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.720714057 meters Centerline goodness : 0.994430 with order 1 Centerline is valid? [True, True] Translation: X:167.57, Y:-7.89, Z:0.73 [[ 9.99477131e-01 -3.18227341e-02 -5.72516928e-03 1.67565845e+02] [ 3.18250142e-02 9.99493409e-01 3.07565860e-04 -7.89477721e+00] [ 5.71248137e-03 -4.89608637e-04 9.99983564e-01 7.26650987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.780714057 meters Centerline goodness : 0.993242 with order 1 Centerline is valid? [True, True] Translation: X:167.63, Y:-7.90, Z:0.72 [[ 9.99602007e-01 -2.76233738e-02 -5.72513987e-03 1.67627802e+02] [ 2.76255886e-02 9.99618293e-01 3.08112349e-04 -7.90244380e+00] [ 5.71444344e-03 -4.66150081e-04 9.99983564e-01 7.23687756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.840714057 meters Centerline goodness : 0.993439 with order 1 Centerline is valid? [True, True] Translation: X:167.69, Y:-7.91, Z:0.72 [[ 9.99648196e-01 -2.58980191e-02 -5.72511690e-03 1.67689634e+02] [ 2.59002082e-02 9.99664486e-01 3.08538616e-04 -7.90959835e+00] [ 5.71520550e-03 -4.56711791e-04 9.99983564e-01 7.23011362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90071405700002 meters Centerline goodness : 0.993456 with order 1 Centerline is valid? [True, True] Translation: X:167.75, Y:-7.92, Z:0.72 [[ 9.99684162e-01 -2.44703993e-02 -5.72508854e-03 1.67750678e+02] [ 2.44725681e-02 9.99700454e-01 3.09063948e-04 -7.91672367e+00] [ 5.71581069e-03 -4.49073953e-04 9.99983564e-01 7.19714688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96071405700002 meters Centerline goodness : 0.994039 with order 1 Centerline is valid? [True, True] Translation: X:167.81, Y:-7.92, Z:0.72 [[ 9.99686057e-01 -2.43928665e-02 -5.72507192e-03 1.67812421e+02] [ 2.43950358e-02 9.99702349e-01 3.09371522e-04 -7.91997682e+00] [ 5.71582139e-03 -4.48937731e-04 9.99983564e-01 7.20039892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.020714057 meters Centerline goodness : 0.994029 with order 1 Centerline is valid? [True, True] Translation: X:167.87, Y:-7.93, Z:0.72 [[ 9.99709941e-01 -2.33935336e-02 -5.72504881e-03 1.67874222e+02] [ 2.33956890e-02 9.99726235e-01 3.09798578e-04 -7.92542002e+00] [ 5.71623421e-03 -4.43650180e-04 9.99983564e-01 7.17358654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.080714057 meters Centerline goodness : 0.993581 with order 1 Centerline is valid? [True, True] Translation: X:167.94, Y:-7.93, Z:0.72 [[ 9.99888581e-01 -1.37858693e-02 -5.72502564e-03 1.67936397e+02] [ 1.37878705e-02 9.99904895e-01 3.10226194e-04 -7.92692628e+00] [ 5.72020442e-03 -3.89127540e-04 9.99983564e-01 7.23113543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.140714057 meters Centerline goodness : 0.992760 with order 1 Centerline is valid? [True, True] Translation: X:168.00, Y:-7.93, Z:0.72 [[ 9.99955095e-01 -7.55199029e-03 -5.72500258e-03 1.67997422e+02] [ 7.55389214e-03 9.99971421e-01 3.10651196e-04 -7.93016929e+00] [ 5.72249292e-03 -3.53883298e-04 9.99983564e-01 7.22634051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.200714057 meters Centerline goodness : 0.992243 with order 1 Centerline is valid? [True, True] Translation: X:168.06, Y:-7.93, Z:0.72 [[ 9.99974093e-01 4.36325849e-03 -5.72498560e-03 1.68057559e+02] [-4.36154951e-03 9.99990440e-01 3.10963633e-04 -7.93205629e+00] [ 5.72628769e-03 -2.85985768e-04 9.99983564e-01 7.21142557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.260714057 meters Centerline goodness : 0.992724 with order 1 Centerline is valid? [True, True] Translation: X:168.11, Y:-7.94, Z:0.71 [[ 9.99914510e-01 1.17556969e-02 -5.72498560e-03 1.68114748e+02] [-1.17541088e-02 9.99930870e-01 3.10963633e-04 -7.94015389e+00] [ 5.72824543e-03 -2.43644945e-04 9.99983564e-01 7.12238520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.320714057 meters Centerline goodness : 0.992882 with order 1 Centerline is valid? [True, True] Translation: X:168.17, Y:-7.94, Z:0.71 [[ 9.99935492e-01 9.80998171e-03 -5.72501306e-03 1.68173982e+02] [-9.80836469e-03 9.99951849e-01 3.10457357e-04 -7.93944178e+00] [ 5.72778297e-03 -2.54284314e-04 9.99983564e-01 7.14689858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.380714057 meters Centerline goodness : 0.993726 with order 1 Centerline is valid? [True, True] Translation: X:168.23, Y:-7.94, Z:0.71 [[ 9.99974850e-01 4.18597259e-03 -5.72503615e-03 1.68231582e+02] [-4.18426604e-03 9.99991198e-01 3.10031009e-04 -7.93982730e+00] [ 5.72628354e-03 -2.86068138e-04 9.99983564e-01 7.13333863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.440714057 meters Centerline goodness : 0.996192 with order 1 Centerline is valid? [True, True] Translation: X:168.29, Y:-7.93, Z:0.72 [[ 9.99972982e-01 -4.61073285e-03 -5.72506465e-03 1.68291910e+02] [ 4.61258013e-03 9.99989314e-01 3.09503797e-04 -7.92754333e+00] [ 5.72357643e-03 -3.35902754e-04 9.99983564e-01 7.23688550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.500714057 meters Centerline goodness : 0.994071 with order 1 Centerline is valid? [True, True] Translation: X:168.35, Y:-7.94, Z:0.72 [[ 9.99979141e-01 2.99016569e-03 -5.72507579e-03 1.68351463e+02] [-2.98844378e-03 9.99995487e-01 3.09297580e-04 -7.93949072e+00] [ 5.72597480e-03 -2.92182061e-04 9.99983564e-01 7.22026357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.560714057 meters Centerline goodness : 0.995159 with order 1 Centerline is valid? [True, True] Translation: X:168.41, Y:-7.93, Z:0.73 [[ 9.99961163e-01 -6.70050082e-03 -5.72508161e-03 1.68410238e+02] [ 6.70238044e-03 9.99977491e-01 3.09189819e-04 -7.93127735e+00] [ 5.72288102e-03 -3.47549486e-04 9.99983564e-01 7.25636210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62071405700001 meters Centerline goodness : 0.994340 with order 1 Centerline is valid? [True, True] Translation: X:168.47, Y:-7.94, Z:0.73 [[ 9.99976386e-01 -3.80130340e-03 -5.72509863e-03 1.68469902e+02] [ 3.80313387e-03 9.99992720e-01 3.08874252e-04 -7.94319046e+00] [ 5.72388283e-03 -3.30640275e-04 9.99983564e-01 7.27522404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68071405700002 meters Centerline goodness : 0.994215 with order 1 Centerline is valid? [True, True] Translation: X:168.53, Y:-7.95, Z:0.73 [[ 9.99954337e-01 -7.65157958e-03 -5.72509863e-03 1.68529221e+02] [ 7.65347292e-03 9.99970664e-01 3.08874252e-04 -7.94754492e+00] [ 5.72256731e-03 -3.52677035e-04 9.99983564e-01 7.27098193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74071405700002 meters Centerline goodness : 0.993706 with order 1 Centerline is valid? [True, True] Translation: X:168.59, Y:-7.95, Z:0.72 [[ 9.99888749e-01 -1.37736607e-02 -5.72511021e-03 1.68589549e+02] [ 1.37756528e-02 9.99905064e-01 3.08659581e-04 -7.95182503e+00] [ 5.72031531e-03 -3.87492372e-04 9.99983564e-01 7.24843583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.800714057 meters Centerline goodness : 0.993582 with order 1 Centerline is valid? [True, True] Translation: X:168.65, Y:-7.95, Z:0.72 [[ 9.99857947e-01 -1.58527193e-02 -5.72511021e-03 1.68651627e+02] [ 1.58547453e-02 9.99874258e-01 3.08659581e-04 -7.95311984e+00] [ 5.71949723e-03 -3.99385899e-04 9.99983564e-01 7.24700996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.860714057 meters Centerline goodness : 0.994898 with order 1 Centerline is valid? [True, True] Translation: X:168.71, Y:-7.94, Z:0.73 [[ 9.99844277e-01 -1.66926772e-02 -5.72508614e-03 1.68713154e+02] [ 1.66947194e-02 9.99860586e-01 3.09105452e-04 -7.94126685e+00] [ 5.71912818e-03 -4.04636023e-04 9.99983564e-01 7.32567304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.920714057 meters Centerline goodness : 0.995357 with order 1 Centerline is valid? [True, True] Translation: X:168.77, Y:-7.94, Z:0.73 [[ 9.99980895e-01 -2.33088239e-03 -5.72506182e-03 1.68774853e+02] [ 2.33269273e-03 9.99997231e-01 3.09555128e-04 -7.93919542e+00] [ 5.72432443e-03 -3.22904024e-04 9.99983564e-01 7.33602000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.980714057 meters Centerline goodness : 0.994511 with order 1 Centerline is valid? [True, True] Translation: X:168.83, Y:-7.94, Z:0.73 [[ 9.99905888e-01 1.24675198e-02 -5.72504417e-03 1.68834163e+02] [-1.24659495e-02 9.99922249e-01 3.09881306e-04 -7.93717651e+00] [ 5.72846249e-03 -2.38484031e-04 9.99983564e-01 7.34249219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.040714057 meters Centerline goodness : 0.992459 with order 1 Centerline is valid? [True, True] Translation: X:168.89, Y:-7.94, Z:0.74 [[ 9.99551861e-01 2.93819754e-02 -5.72512468e-03 1.68892703e+02] [-2.93806907e-02 9.99568247e-01 3.08386547e-04 -7.94270970e+00] [ 5.73171385e-03 -1.40040229e-04 9.99983564e-01 7.35052855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.100714057 meters Centerline goodness : 0.991945 with order 1 Centerline is valid? [True, True] Translation: X:168.95, Y:-7.94, Z:0.74 [[ 9.99355689e-01 3.54320307e-02 -5.72520685e-03 1.68950834e+02] [-3.54308540e-02 9.99372083e-01 3.06853551e-04 -7.94408560e+00] [ 5.73248434e-03 -1.03806874e-04 9.99983564e-01 7.36857721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.160714057 meters Centerline goodness : 0.993328 with order 1 Centerline is valid? [True, True] Translation: X:169.01, Y:-7.95, Z:0.74 [[ 9.99361856e-01 3.52576589e-02 -5.72523406e-03 1.69008041e+02] [-3.52564823e-02 9.99378250e-01 3.06344931e-04 -7.95056130e+00] [ 5.73247540e-03 -1.04297826e-04 9.99983564e-01 7.36491496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.220714057 meters Centerline goodness : 0.993745 with order 1 Centerline is valid? [True, True] Translation: X:169.07, Y:-7.96, Z:0.73 [[ 9.99404254e-01 3.40346578e-02 -5.72532186e-03 1.69066495e+02] [-3.40334706e-02 9.99420647e-01 3.04695076e-04 -7.96233251e+00] [ 5.73237508e-03 -1.09660981e-04 9.99983564e-01 7.27558067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.280714057 meters Centerline goodness : 0.993229 with order 1 Centerline is valid? [True, True] Translation: X:169.12, Y:-7.97, Z:0.72 [[ 9.99412768e-01 3.37837308e-02 -5.72534348e-03 1.69124972e+02] [-3.37825417e-02 9.99429161e-01 3.04288373e-04 -7.97134053e+00] [ 5.73235523e-03 -1.10693030e-04 9.99983564e-01 7.23282788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.340714057 meters Centerline goodness : 0.993619 with order 1 Centerline is valid? [True, True] Translation: X:169.18, Y:-7.98, Z:0.73 [[ 9.99487691e-01 3.14892995e-02 -5.72536588e-03 1.69182539e+02] [-3.14880753e-02 9.99504081e-01 3.03866388e-04 -7.97659868e+00] [ 5.73209510e-03 -1.23429963e-04 9.99983564e-01 7.25186272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40071405700002 meters Centerline goodness : 0.994131 with order 1 Centerline is valid? [True, True] Translation: X:169.24, Y:-7.98, Z:0.73 [[ 9.99464400e-01 3.22200695e-02 -5.72539346e-03 1.69240683e+02] [-3.22188602e-02 9.99480792e-01 3.03345739e-04 -7.98318879e+00] [ 5.73219461e-03 -1.18717615e-04 9.99983564e-01 7.27760487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46071405700002 meters Centerline goodness : 0.994315 with order 1 Centerline is valid? [True, True] Translation: X:169.30, Y:-7.99, Z:0.73 [[ 9.99665323e-01 2.52281921e-02 -5.72541406e-03 1.69298662e+02] [-2.52268705e-02 9.99681706e-01 3.02956498e-04 -7.98889033e+00] [ 5.73123474e-03 -1.58420827e-04 9.99983564e-01 7.29587770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.520714057 meters Centerline goodness : 0.994731 with order 1 Centerline is valid? [True, True] Translation: X:169.36, Y:-8.00, Z:0.73 [[ 9.99904539e-01 1.25750740e-02 -5.72543944e-03 1.69357582e+02] [-1.25735478e-02 9.99920904e-01 3.02476101e-04 -7.99594815e+00] [ 5.72879024e-03 -2.30458140e-04 9.99983564e-01 7.29069495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.580714057 meters Centerline goodness : 0.994773 with order 1 Centerline is valid? [True, True] Translation: X:169.42, Y:-8.00, Z:0.74 [[ 9.99980704e-01 2.41053586e-03 -5.72546192e-03 1.69416199e+02] [-2.40884587e-03 9.99997053e-01 3.02049909e-04 -8.00151932e+00] [ 5.72617315e-03 -2.88252325e-04 9.99983564e-01 7.35024006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.640714057 meters Centerline goodness : 0.996250 with order 1 Centerline is valid? [True, True] Translation: X:169.47, Y:-8.00, Z:0.74 [[ 9.99870379e-01 -1.50480776e-02 -5.72548464e-03 1.69474890e+02] [ 1.50500503e-02 9.99886696e-01 3.01618666e-04 -7.99835591e+00] [ 5.72029714e-03 -3.87748402e-04 9.99983564e-01 7.36956987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.700714057 meters Centerline goodness : 0.995541 with order 1 Centerline is valid? [True, True] Translation: X:169.54, Y:-8.01, Z:0.74 [[ 9.99928677e-01 -1.04813530e-02 -5.72550144e-03 1.69535685e+02] [ 1.04832494e-02 9.99945004e-01 3.01299493e-04 -8.01057946e+00] [ 5.72202853e-03 -3.61299862e-04 9.99983564e-01 7.36809948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.760714057 meters Centerline goodness : 0.995487 with order 1 Centerline is valid? [True, True] Translation: X:169.60, Y:-8.01, Z:0.73 [[ 9.99923841e-01 -1.09329978e-02 -5.72549012e-03 1.69597422e+02] [ 1.09349027e-02 9.99940167e-01 3.01514333e-04 -8.01387096e+00] [ 5.72185109e-03 -3.64099048e-04 9.99983564e-01 7.34341540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.820714057 meters Centerline goodness : 0.995008 with order 1 Centerline is valid? [True, True] Translation: X:169.66, Y:-8.02, Z:0.74 [[ 9.99953820e-01 -7.71864351e-03 -5.72547284e-03 1.69658250e+02] [ 7.72049784e-03 9.99970151e-01 3.01842104e-04 -8.01517127e+00] [ 5.72297213e-03 -3.46031666e-04 9.99983564e-01 7.36635522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.880714057 meters Centerline goodness : 0.995123 with order 1 Centerline is valid? [True, True] Translation: X:169.72, Y:-8.02, Z:0.74 [[ 9.99978210e-01 -3.28608466e-03 -5.72546155e-03 1.69719075e+02] [ 3.28786780e-03 9.99994549e-01 3.02056212e-04 -8.01623699e+00] [ 5.72443776e-03 -3.20874191e-04 9.99983564e-01 7.37465553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.940714057 meters Centerline goodness : 0.996385 with order 1 Centerline is valid? [True, True] Translation: X:169.78, Y:-8.01, Z:0.74 [[ 9.99977251e-01 -3.56602665e-03 -5.72545614e-03 1.69778455e+02] [ 3.56781495e-03 9.99993590e-01 3.02158561e-04 -8.01188699e+00] [ 5.72434194e-03 -3.22579055e-04 9.99983564e-01 7.39891929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.000714057 meters Centerline goodness : 0.994588 with order 1 Centerline is valid? [True, True] Translation: X:169.84, Y:-8.02, Z:0.74 [[ 9.99969701e-01 5.27409800e-03 -5.72546617e-03 1.69837820e+02] [-5.27245529e-03 9.99986055e-01 3.01968447e-04 -8.02220923e+00] [ 5.72697894e-03 -2.71772034e-04 9.99983564e-01 7.35922428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.060714057 meters Centerline goodness : 0.994508 with order 1 Centerline is valid? [True, True] Translation: X:169.90, Y:-8.02, Z:0.74 [[ 9.99980073e-01 2.65956468e-03 -5.72547716e-03 1.69896429e+02] [-2.65788041e-03 9.99996422e-01 3.01760031e-04 -8.02373918e+00] [ 5.72625922e-03 -2.86536385e-04 9.99983564e-01 7.36408107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12071405700001 meters Centerline goodness : 0.995189 with order 1 Centerline is valid? [True, True] Translation: X:169.95, Y:-8.03, Z:0.74 [[ 9.99983320e-01 7.61172087e-04 -5.72549942e-03 1.69954711e+02] [-7.59459196e-04 9.99999666e-01 3.01337073e-04 -8.02639266e+00] [ 5.72572687e-03 -2.96983763e-04 9.99983564e-01 7.36543624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18071405700002 meters Centerline goodness : 0.994492 with order 1 Centerline is valid? [True, True] Translation: X:170.01, Y:-8.03, Z:0.74 [[ 9.99983424e-01 -6.08667229e-04 -5.72552204e-03 1.70013069e+02] [ 6.10400053e-04 9.99999768e-01 3.00906592e-04 -8.02931379e+00] [ 5.72533756e-03 -3.04396463e-04 9.99983564e-01 7.39028533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24071405700002 meters Centerline goodness : 0.995146 with order 1 Centerline is valid? [True, True] Translation: X:170.07, Y:-8.03, Z:0.74 [[ 9.99975229e-01 -4.09377932e-03 -5.72554463e-03 1.70071447e+02] [ 4.09556665e-03 9.99991568e-01 3.00476155e-04 -8.03183218e+00] [ 5.72426627e-03 -3.23918062e-04 9.99983564e-01 7.41664142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.300714057 meters Centerline goodness : 0.995941 with order 1 Centerline is valid? [True, True] Translation: X:170.13, Y:-8.03, Z:0.74 [[ 9.99818013e-01 -1.81977620e-02 -5.72556709e-03 1.70131580e+02] [ 1.81997771e-02 9.99834325e-01 3.00047517e-04 -8.02745946e+00] [ 5.71915832e-03 -4.04196957e-04 9.99983564e-01 7.44825223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.360714057 meters Centerline goodness : 0.995788 with order 1 Centerline is valid? [True, True] Translation: X:170.19, Y:-8.04, Z:0.75 [[ 9.99763111e-01 -2.09985702e-02 -5.72557265e-03 1.70193518e+02] [ 2.10006304e-02 9.99779417e-01 2.99941518e-04 -8.03511404e+00] [ 5.71801134e-03 -4.20111100e-04 9.99983564e-01 7.45389357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.420714057 meters Centerline goodness : 0.996621 with order 1 Centerline is valid? [True, True] Translation: X:170.26, Y:-8.03, Z:0.74 [[ 9.99562349e-01 -2.90229118e-02 -5.72555050e-03 1.70255128e+02] [ 2.90251053e-02 9.99578638e-01 3.00363752e-04 -8.03451509e+00] [ 5.71442053e-03 -4.66417003e-04 9.99983564e-01 7.44545644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.480714057 meters Centerline goodness : 0.997128 with order 1 Centerline is valid? [True, True] Translation: X:170.32, Y:-8.04, Z:0.74 [[ 9.99519915e-01 -3.04492617e-02 -5.72550687e-03 1.70317391e+02] [ 3.04514831e-02 9.99536201e-01 3.01193050e-04 -8.04110558e+00] [ 5.71368028e-03 -4.75398628e-04 9.99983564e-01 7.44443210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.540714057 meters Centerline goodness : 0.995679 with order 1 Centerline is valid? [True, True] Translation: X:170.38, Y:-8.04, Z:0.75 [[ 9.99446326e-01 -3.27759219e-02 -5.72548511e-03 1.70380037e+02] [ 3.27781836e-02 9.99462605e-01 3.01606193e-04 -8.04331483e+00] [ 5.71252284e-03 -4.89110203e-04 9.99983564e-01 7.46055350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.600714057 meters Centerline goodness : 0.996043 with order 1 Centerline is valid? [True, True] Translation: X:170.44, Y:-8.05, Z:0.74 [[ 9.99493184e-01 -3.13144340e-02 -5.72545632e-03 1.70440570e+02] [ 3.13166750e-02 9.99509467e-01 3.02151695e-04 -8.04730395e+00] [ 5.71318608e-03 -4.81300815e-04 9.99983564e-01 7.43955822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.660714057 meters Centerline goodness : 0.996154 with order 1 Centerline is valid? [True, True] Translation: X:170.50, Y:-8.05, Z:0.75 [[ 9.99604428e-01 -2.75355695e-02 -5.72541643e-03 1.70502414e+02] [ 2.75377532e-02 9.99620718e-01 3.02905553e-04 -8.04974407e+00] [ 5.71490421e-03 -4.60450837e-04 9.99983564e-01 7.45639253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.720714057 meters Centerline goodness : 0.995723 with order 1 Centerline is valid? [True, True] Translation: X:170.56, Y:-8.05, Z:0.75 [[ 9.99684496e-01 -2.44566549e-02 -5.72539346e-03 1.70563907e+02] [ 2.44587909e-02 9.99700793e-01 3.03339193e-04 -8.05334364e+00] [ 5.71626172e-03 -4.43279689e-04 9.99983564e-01 7.45263724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.780714057 meters Centerline goodness : 0.994729 with order 1 Centerline is valid? [True, True] Translation: X:170.63, Y:-8.06, Z:0.75 [[ 9.99883115e-01 -1.41766313e-02 -5.72537647e-03 1.70626169e+02] [ 1.41786014e-02 9.99899432e-01 3.03659490e-04 -8.05992936e+00] [ 5.72049582e-03 -3.84801828e-04 9.99983564e-01 7.45614919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.840714057 meters Centerline goodness : 0.994160 with order 1 Centerline is valid? [True, True] Translation: X:170.69, Y:-8.07, Z:0.74 [[ 9.99931023e-01 -1.02551966e-02 -5.72535392e-03 1.70687176e+02] [ 1.02571051e-02 9.99947348e-01 3.04084101e-04 -8.06571094e+00] [ 5.72193403e-03 -3.62788684e-04 9.99983564e-01 7.41683206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90071405700002 meters Centerline goodness : 0.993889 with order 1 Centerline is valid? [True, True] Translation: X:170.75, Y:-8.07, Z:0.75 [[ 9.99941635e-01 -9.16230858e-03 -5.72533740e-03 1.70748164e+02] [ 9.16420104e-03 9.99957962e-01 3.04394830e-04 -8.06838895e+00] [ 5.72230776e-03 -3.56845207e-04 9.99983564e-01 7.46292391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96071405700002 meters Centerline goodness : 0.994327 with order 1 Centerline is valid? [True, True] Translation: X:170.81, Y:-8.07, Z:0.75 [[ 9.99937795e-01 -9.57215622e-03 -5.72532610e-03 1.70809022e+02] [ 9.57405659e-03 9.99954121e-01 3.04607299e-04 -8.07002604e+00] [ 5.72214768e-03 -3.59402947e-04 9.99983564e-01 7.50274144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.020714057 meters Centerline goodness : 0.996539 with order 1 Centerline is valid? [True, True] Translation: X:170.87, Y:-8.06, Z:0.74 [[ 9.99923194e-01 -1.09921109e-02 -5.72531463e-03 1.70869649e+02] [ 1.09940357e-02 9.99939517e-01 3.04822751e-04 -8.06378763e+00] [ 5.72161770e-03 -3.67743652e-04 9.99983564e-01 7.42458170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.080714057 meters Centerline goodness : 0.994418 with order 1 Centerline is valid? [True, True] Translation: X:170.93, Y:-8.07, Z:0.76 [[ 9.99950558e-01 -8.13033826e-03 -5.72530186e-03 1.70930900e+02] [ 8.13221769e-03 9.99966886e-01 3.05062368e-04 -8.07384741e+00] [ 5.72263201e-03 -3.51606686e-04 9.99983564e-01 7.58185549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.140714057 meters Centerline goodness : 0.993853 with order 1 Centerline is valid? [True, True] Translation: X:170.99, Y:-8.08, Z:0.76 [[ 9.99962413e-01 -6.51107569e-03 -5.72527605e-03 1.70992187e+02] [ 6.51293143e-03 9.99978744e-01 3.05545934e-04 -8.07940165e+00] [ 5.72316492e-03 -3.42822780e-04 9.99983564e-01 7.57314560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.200714057 meters Centerline goodness : 0.993889 with order 1 Centerline is valid? [True, True] Translation: X:171.05, Y:-8.08, Z:0.76 [[ 9.99982260e-01 -1.64353669e-03 -5.72526471e-03 1.71051694e+02] [ 1.64531412e-03 9.99998600e-01 3.05758330e-04 -8.08393042e+00] [ 5.72475417e-03 -3.15172765e-04 9.99983564e-01 7.61790684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.260714057 meters Centerline goodness : 0.994267 with order 1 Centerline is valid? [True, True] Translation: X:171.11, Y:-8.09, Z:0.76 [[ 9.99982076e-01 -1.75167980e-03 -5.72526909e-03 1.71110629e+02] [ 1.75345854e-03 9.99998416e-01 3.05676158e-04 -8.08948026e+00] [ 5.72472458e-03 -3.15709701e-04 9.99983564e-01 7.59185470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.320714057 meters Centerline goodness : 0.994614 with order 1 Centerline is valid? [True, True] Translation: X:171.17, Y:-8.10, Z:0.75 [[ 9.99965189e-01 -6.06976352e-03 -5.72528550e-03 1.71168846e+02] [ 6.07161104e-03 9.99981521e-01 3.05368487e-04 -8.09608338e+00] [ 5.72332619e-03 -3.40119564e-04 9.99983564e-01 7.52638175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.380714057 meters Centerline goodness : 0.994688 with order 1 Centerline is valid? [True, True] Translation: X:171.23, Y:-8.10, Z:0.76 [[ 9.99958099e-01 -7.14295814e-03 -5.72529310e-03 1.71229516e+02] [ 7.14482237e-03 9.99974429e-01 3.05225968e-04 -8.09862774e+00] [ 5.72296648e-03 -3.46119381e-04 9.99983564e-01 7.57781787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.440714057 meters Centerline goodness : 0.995594 with order 1 Centerline is valid? [True, True] Translation: X:171.29, Y:-8.10, Z:0.76 [[ 9.99904372e-01 -1.25883645e-02 -5.72529310e-03 1.71290398e+02] [ 1.25903176e-02 9.99920692e-01 3.05225968e-04 -8.10449187e+00] [ 5.72099675e-03 -3.77280039e-04 9.99983564e-01 7.57062816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.500714057 meters Centerline goodness : 0.995008 with order 1 Centerline is valid? [True, True] Translation: X:171.35, Y:-8.11, Z:0.76 [[ 9.99921116e-01 -1.11795985e-02 -5.72528750e-03 1.71351754e+02] [ 1.11815292e-02 9.99937438e-01 3.05330956e-04 -8.10722348e+00] [ 5.72151584e-03 -3.69324340e-04 9.99983564e-01 7.56147276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.560714057 meters Centerline goodness : 0.995017 with order 1 Centerline is valid? [True, True] Translation: X:171.41, Y:-8.11, Z:0.76 [[ 9.99932982e-01 -1.00624300e-02 -5.72527085e-03 1.71412425e+02] [ 1.00643443e-02 9.99949306e-01 3.05642974e-04 -8.11169966e+00] [ 5.72190510e-03 -3.63243588e-04 9.99983564e-01 7.55167851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62071405700001 meters Centerline goodness : 0.995553 with order 1 Centerline is valid? [True, True] Translation: X:171.47, Y:-8.11, Z:0.76 [[ 9.99925439e-01 -1.07859628e-02 -5.72526542e-03 1.71473559e+02] [ 1.07878894e-02 9.99941762e-01 3.05744635e-04 -8.11248880e+00] [ 5.72163424e-03 -3.67485369e-04 9.99983564e-01 7.60615272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68071405700002 meters Centerline goodness : 0.994969 with order 1 Centerline is valid? [True, True] Translation: X:171.54, Y:-8.11, Z:0.76 [[ 9.99837530e-01 -1.70919371e-02 -5.72525465e-03 1.71535034e+02] [ 1.70939678e-02 9.99853841e-01 3.05946178e-04 -8.11413978e+00] [ 5.71918864e-03 -4.03763790e-04 9.99983564e-01 7.61239987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74071405700002 meters Centerline goodness : 0.995253 with order 1 Centerline is valid? [True, True] Translation: X:171.60, Y:-8.12, Z:0.75 [[ 9.99754432e-01 -2.14078635e-02 -5.72524316e-03 1.71595580e+02] [ 2.14099658e-02 9.99770734e-01 3.06160939e-04 -8.12121724e+00] [ 5.71737631e-03 -4.28663017e-04 9.99983564e-01 7.50282755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.800714057 meters Centerline goodness : 0.995275 with order 1 Centerline is valid? [True, True] Translation: X:171.66, Y:-8.12, Z:0.76 [[ 9.99489232e-01 -3.14403608e-02 -5.72520378e-03 1.71657510e+02] [ 3.14426308e-02 9.99505511e-01 3.06895592e-04 -8.12076020e+00] [ 5.71272383e-03 -4.86754308e-04 9.99983564e-01 7.58331732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.860714057 meters Centerline goodness : 0.995460 with order 1 Centerline is valid? [True, True] Translation: X:171.72, Y:-8.13, Z:0.75 [[ 9.99414300e-01 -3.37383867e-02 -5.72518597e-03 1.71718519e+02] [ 3.37406960e-02 9.99430573e-01 3.07227471e-04 -8.12625133e+00] [ 5.71156054e-03 -5.00219287e-04 9.99983564e-01 7.52893341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.920714057 meters Centerline goodness : 0.996234 with order 1 Centerline is valid? [True, True] Translation: X:171.78, Y:-8.12, Z:0.76 [[ 9.99224128e-01 -3.89662093e-02 -5.72516844e-03 1.71779939e+02] [ 3.89686056e-02 9.99240388e-01 3.07553800e-04 -8.12117798e+00] [ 5.70883533e-03 -5.30417009e-04 9.99983564e-01 7.58470084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.980714057 meters Centerline goodness : 0.995091 with order 1 Centerline is valid? [True, True] Translation: X:171.84, Y:-8.13, Z:0.76 [[ 9.99500366e-01 -3.10844025e-02 -5.72516307e-03 1.71841427e+02] [ 3.10866710e-02 9.99516645e-01 3.07653745e-04 -8.12628426e+00] [ 5.71283256e-03 -4.85476292e-04 9.99983564e-01 7.60052137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.040714057 meters Centerline goodness : 0.995124 with order 1 Centerline is valid? [True, True] Translation: X:171.90, Y:-8.13, Z:0.76 [[ 9.99712036e-01 -2.33038032e-02 -5.72514582e-03 1.71903849e+02] [ 2.33059467e-02 9.99728332e-01 3.07974438e-04 -8.12863198e+00] [ 5.71641351e-03 -4.41315696e-04 9.99983564e-01 7.61409855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.100714057 meters Centerline goodness : 0.995344 with order 1 Centerline is valid? [True, True] Translation: X:171.97, Y:-8.13, Z:0.76 [[ 9.99841605e-01 -1.68519221e-02 -5.72512272e-03 1.71966188e+02] [ 1.68539629e-02 9.99857914e-01 3.08403284e-04 -8.13261685e+00] [ 5.71911207e-03 -4.04845440e-04 9.99983564e-01 7.60416711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.160714057 meters Centerline goodness : 0.995899 with order 1 Centerline is valid? [True, True] Translation: X:172.03, Y:-8.14, Z:0.76 [[ 9.99904465e-01 -1.25811134e-02 -5.72510006e-03 1.72026920e+02] [ 1.25830869e-02 9.99920782e-01 3.08823346e-04 -8.13620554e+00] [ 5.72076119e-03 -3.80833274e-04 9.99983564e-01 7.57216922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.220714057 meters Centerline goodness : 0.986902 with order 1 Centerline is valid? [True, True] Translation: X:172.09, Y:-8.13, Z:0.75 [[ 9.99894734e-01 -1.33320642e-02 -5.72508336e-03 1.72087717e+02] [ 1.33340517e-02 9.99911050e-01 3.09132647e-04 -8.12869813e+00] [ 5.72045274e-03 -3.85438664e-04 9.99983564e-01 7.54630114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.280714057 meters Centerline goodness : 0.995176 with order 1 Centerline is valid? [True, True] Translation: X:172.15, Y:-8.14, Z:0.76 [[ 9.99968774e-01 -5.44736447e-03 -5.72506816e-03 1.72149044e+02] [ 5.44922490e-03 9.99985105e-01 3.09413891e-04 -8.13515461e+00] [ 5.72329739e-03 -3.40601413e-04 9.99983564e-01 7.63068969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.340714057 meters Centerline goodness : 0.994972 with order 1 Centerline is valid? [True, True] Translation: X:172.21, Y:-8.13, Z:0.77 [[ 9.99983599e-01 -1.58556037e-04 -5.72505247e-03 1.72208464e+02] [ 1.60331729e-04 9.99999939e-01 3.09703974e-04 -8.13340574e+00] [ 5.72500301e-03 -3.10616802e-04 9.99983564e-01 7.68090245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40071405700002 meters Centerline goodness : 0.995327 with order 1 Centerline is valid? [True, True] Translation: X:172.27, Y:-8.14, Z:0.77 [[ 9.99978947e-01 3.05424717e-03 -5.72505788e-03 1.72267217e+02] [-3.05252456e-03 9.99995293e-01 3.09603887e-04 -8.13523140e+00] [ 5.72597654e-03 -2.92121489e-04 9.99983564e-01 7.67564356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46071405700002 meters Centerline goodness : 0.994622 with order 1 Centerline is valid? [True, True] Translation: X:172.33, Y:-8.14, Z:0.77 [[ 9.99973789e-01 4.43220203e-03 -5.72513239e-03 1.72325490e+02] [-4.43050985e-03 9.99990138e-01 3.08219878e-04 -8.13698529e+00] [ 5.72644202e-03 -2.82846544e-04 9.99983564e-01 7.72241224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.520714057 meters Centerline goodness : 0.995908 with order 1 Centerline is valid? [True, True] Translation: X:172.38, Y:-8.13, Z:0.77 [[ 9.99981928e-01 1.83469742e-03 -5.72516204e-03 1.72383214e+02] [-1.83296593e-03 9.99998273e-01 3.07668110e-04 -8.13353676e+00] [ 5.72571663e-03 -2.97168523e-04 9.99983564e-01 7.70280557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.580714057 meters Centerline goodness : 0.994600 with order 1 Centerline is valid? [True, True] Translation: X:172.44, Y:-8.14, Z:0.77 [[ 9.99982941e-01 1.15786880e-03 -5.72519117e-03 1.72441933e+02] [-1.15612934e-03 9.99999285e-01 3.07125076e-04 -8.13918275e+00] [ 5.72554269e-03 -3.00500775e-04 9.99983564e-01 7.73963086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.640714057 meters Centerline goodness : 0.994820 with order 1 Centerline is valid? [True, True] Translation: X:172.50, Y:-8.14, Z:0.77 [[ 9.99969078e-01 -5.39124624e-03 -5.72521404e-03 1.72499754e+02] [ 5.39309026e-03 9.99985410e-01 3.06698295e-04 -8.14101981e+00] [ 5.72347702e-03 -3.37565408e-04 9.99983564e-01 7.72512855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.700714057 meters Centerline goodness : 0.994826 with order 1 Centerline is valid? [True, True] Translation: X:172.56, Y:-8.14, Z:0.77 [[ 9.99928209e-01 -1.05260534e-02 -5.72524207e-03 1.72559116e+02] [ 1.05279782e-02 9.99944532e-01 3.06174018e-04 -8.14273023e+00] [ 5.72170170e-03 -3.66427262e-04 9.99983564e-01 7.73012518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.760714057 meters Centerline goodness : 0.994509 with order 1 Centerline is valid? [True, True] Translation: X:172.62, Y:-8.15, Z:0.77 [[ 9.99808986e-01 -1.86872568e-02 -5.72524758e-03 1.72621676e+02] [ 1.86893142e-02 9.99825293e-01 3.06070941e-04 -8.14672887e+00] [ 5.71852771e-03 -4.13013428e-04 9.99983564e-01 7.70108595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.820714057 meters Centerline goodness : 0.995008 with order 1 Centerline is valid? [True, True] Translation: X:172.68, Y:-8.15, Z:0.77 [[ 9.99716340e-01 -2.31184436e-02 -5.72517189e-03 1.72682700e+02] [ 2.31205813e-02 9.99732636e-01 3.07480232e-04 -8.14959675e+00] [ 5.71653273e-03 -4.39762314e-04 9.99983564e-01 7.69502062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.880714057 meters Centerline goodness : 0.994458 with order 1 Centerline is valid? [True, True] Translation: X:172.74, Y:-8.15, Z:0.77 [[ 9.99718156e-01 -2.30397667e-02 -5.72515579e-03 1.72744948e+02] [ 2.30419048e-02 9.99734453e-01 3.07779773e-04 -8.15062526e+00] [ 5.71654432e-03 -4.39611522e-04 9.99983564e-01 7.71688366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.940714057 meters Centerline goodness : 0.994123 with order 1 Centerline is valid? [True, True] Translation: X:172.81, Y:-8.16, Z:0.77 [[ 9.99751452e-01 -2.15466308e-02 -5.72513439e-03 1.72805918e+02] [ 2.15487469e-02 9.99767751e-01 3.08177379e-04 -8.15536017e+00] [ 5.71716455e-03 -4.31470254e-04 9.99983564e-01 7.68541326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.000714057 meters Centerline goodness : 0.993913 with order 1 Centerline is valid? [True, True] Translation: X:172.87, Y:-8.16, Z:0.77 [[ 9.99677516e-01 -2.47403830e-02 -5.72509953e-03 1.72869180e+02] [ 2.47425548e-02 9.99693808e-01 3.08823613e-04 -8.15726355e+00] [ 5.71570614e-03 -4.50377612e-04 9.99983564e-01 7.67873888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.060714057 meters Centerline goodness : 0.993699 with order 1 Centerline is valid? [True, True] Translation: X:172.93, Y:-8.16, Z:0.77 [[ 9.99693344e-01 -2.40923638e-02 -5.72506876e-03 1.72930884e+02] [ 2.40945283e-02 9.99709637e-01 3.09392932e-04 -8.15935774e+00] [ 5.71595241e-03 -4.47240886e-04 9.99983564e-01 7.70139410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12071405700001 meters Centerline goodness : 0.994937 with order 1 Centerline is valid? [True, True] Translation: X:172.99, Y:-8.16, Z:0.76 [[ 9.99785319e-01 -1.99133276e-02 -5.72504444e-03 1.72992219e+02] [ 1.99154266e-02 9.99801620e-01 3.09842400e-04 -8.15992496e+00] [ 5.71773871e-03 -4.23792585e-04 9.99983564e-01 7.64416676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18071405700002 meters Centerline goodness : 0.993453 with order 1 Centerline is valid? [True, True] Translation: X:173.05, Y:-8.16, Z:0.77 [[ 9.99802066e-01 -1.90539228e-02 -5.72502670e-03 1.73054340e+02] [ 1.90560096e-02 9.99818370e-01 3.10169857e-04 -8.16119698e+00] [ 5.71807691e-03 -4.19204627e-04 9.99983564e-01 7.74913415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24071405700002 meters Centerline goodness : 0.992859 with order 1 Centerline is valid? [True, True] Translation: X:173.12, Y:-8.16, Z:0.78 [[ 9.99870810e-01 -1.50195977e-02 -5.72500309e-03 1.73116859e+02] [ 1.50216212e-02 9.99887121e-01 3.10604968e-04 -8.16382490e+00] [ 5.71969169e-03 -3.96563669e-04 9.99983564e-01 7.76222063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.300714057 meters Centerline goodness : 0.993041 with order 1 Centerline is valid? [True, True] Translation: X:173.18, Y:-8.17, Z:0.78 [[ 9.99915245e-01 -1.16930591e-02 -5.72497970e-03 1.73178847e+02] [ 1.16950307e-02 9.99931562e-01 3.11035512e-04 -8.16542496e+00] [ 5.72095094e-03 -3.77962963e-04 9.99983564e-01 7.77078634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.360714057 meters Centerline goodness : 0.995814 with order 1 Centerline is valid? [True, True] Translation: X:173.24, Y:-8.16, Z:0.78 [[ 9.99822909e-01 -1.79269501e-02 -5.72495622e-03 1.73240886e+02] [ 1.79290259e-02 9.99839214e-01 3.11467054e-04 -8.16009595e+00] [ 5.71845207e-03 -4.14054784e-04 9.99983564e-01 7.82496063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.420714057 meters Centerline goodness : 0.994050 with order 1 Centerline is valid? [True, True] Translation: X:173.30, Y:-8.17, Z:0.78 [[ 9.99898478e-01 -1.30483488e-02 -5.72487295e-03 1.73301949e+02] [ 1.30503537e-02 9.99914792e-01 3.12990168e-04 -8.17021500e+00] [ 5.72030114e-03 -3.87670009e-04 9.99983564e-01 7.79318523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.480714057 meters Centerline goodness : 0.994780 with order 1 Centerline is valid? [True, True] Translation: X:173.36, Y:-8.17, Z:0.78 [[ 9.99876849e-01 -1.46121186e-02 -5.72483451e-03 1.73363575e+02] [ 1.46141530e-02 9.99893158e-01 3.13691735e-04 -8.17321253e+00] [ 5.71963915e-03 -3.97316710e-04 9.99983564e-01 7.77726852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.540714057 meters Centerline goodness : 0.996067 with order 1 Centerline is valid? [True, True] Translation: X:173.43, Y:-8.17, Z:0.78 [[ 9.99714017e-01 -2.32187479e-02 -5.72481774e-03 1.73425989e+02] [ 2.32209244e-02 9.99730309e-01 3.13997366e-04 -8.16815276e+00] [ 5.71598318e-03 -4.46843128e-04 9.99983564e-01 7.81546910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.600714057 meters Centerline goodness : 0.994887 with order 1 Centerline is valid? [True, True] Translation: X:173.49, Y:-8.18, Z:0.78 [[ 9.99809713e-01 -1.86484860e-02 -5.72473392e-03 1.73487466e+02] [ 1.86505966e-02 9.99826013e-01 3.15518235e-04 -8.17853318e+00] [ 5.71785395e-03 -4.22227899e-04 9.99983564e-01 7.76602242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.660714057 meters Centerline goodness : 0.995146 with order 1 Centerline is valid? [True, True] Translation: X:173.55, Y:-8.18, Z:0.78 [[ 9.99806526e-01 -1.88185628e-02 -5.72471004e-03 1.73549443e+02] [ 1.88206786e-02 9.99822825e-01 3.15951004e-04 -8.18112291e+00] [ 5.71775002e-03 -4.23632804e-04 9.99983564e-01 7.76712200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.720714057 meters Centerline goodness : 0.994823 with order 1 Centerline is valid? [True, True] Translation: X:173.61, Y:-8.18, Z:0.78 [[ 9.99838343e-01 -1.70445097e-02 -5.72468560e-03 1.73611041e+02] [ 1.70465992e-02 9.99854646e-01 3.16393152e-04 -8.18361849e+00] [ 5.71846073e-03 -4.13928426e-04 9.99983564e-01 7.76653910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.780714057 meters Centerline goodness : 0.994107 with order 1 Centerline is valid? [True, True] Translation: X:173.67, Y:-8.19, Z:0.78 [[ 9.99844194e-01 -1.66977581e-02 -5.72466752e-03 1.73672672e+02] [ 1.66998438e-02 9.99860498e-01 3.16719927e-04 -8.18698046e+00] [ 5.71858040e-03 -4.12271634e-04 9.99983564e-01 7.80344839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.840714057 meters Centerline goodness : 0.994211 with order 1 Centerline is valid? [True, True] Translation: X:173.73, Y:-8.19, Z:0.78 [[ 9.99805689e-01 -1.88629981e-02 -5.72464325e-03 1.73734944e+02] [ 1.88651216e-02 9.99821987e-01 3.17157996e-04 -8.19204992e+00] [ 5.71764164e-03 -4.25092459e-04 9.99983564e-01 7.78261622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90071405700002 meters Centerline goodness : 0.995743 with order 1 Centerline is valid? [True, True] Translation: X:173.80, Y:-8.19, Z:0.78 [[ 9.99650535e-01 -2.58076935e-02 -5.72461928e-03 1.73797620e+02] [ 2.58099326e-02 9.99666818e-01 3.17590134e-04 -8.19198892e+00] [ 5.71451567e-03 -4.65231186e-04 9.99983564e-01 7.76393637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96071405700002 meters Centerline goodness : 0.994045 with order 1 Centerline is valid? [True, True] Translation: X:173.86, Y:-8.20, Z:0.78 [[ 9.99764197e-01 -2.09470403e-02 -5.72458824e-03 1.73859068e+02] [ 2.09492034e-02 9.99780491e-01 3.18148561e-04 -8.20002342e+00] [ 5.71666737e-03 -4.37999104e-04 9.99983564e-01 7.81197711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.020714057 meters Centerline goodness : 0.995003 with order 1 Centerline is valid? [True, True] Translation: X:173.92, Y:-8.21, Z:0.78 [[ 9.99850163e-01 -1.63364869e-02 -5.72456317e-03 1.73920072e+02] [ 1.63385773e-02 9.99866466e-01 3.18599082e-04 -8.20605222e+00] [ 5.71859395e-03 -4.12082562e-04 9.99983564e-01 7.81751528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.080714057 meters Centerline goodness : 0.994826 with order 1 Centerline is valid? [True, True] Translation: X:173.98, Y:-8.21, Z:0.78 [[ 9.99888702e-01 -1.37772794e-02 -5.72452695e-03 1.73981020e+02] [ 1.37793318e-02 9.99905010e-01 3.19248543e-04 -8.20999661e+00] [ 5.71958480e-03 -3.98093168e-04 9.99983564e-01 7.79529982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.140714057 meters Centerline goodness : 0.995217 with order 1 Centerline is valid? [True, True] Translation: X:174.04, Y:-8.21, Z:0.78 [[ 9.99964142e-01 -6.24060610e-03 -5.72451489e-03 1.74041709e+02] [ 6.24253681e-03 9.99980464e-01 3.19464515e-04 -8.21280702e+00] [ 5.72240941e-03 -3.55188554e-04 9.99983564e-01 7.83693497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.200714057 meters Centerline goodness : 0.994451 with order 1 Centerline is valid? [True, True] Translation: X:174.10, Y:-8.22, Z:0.79 [[ 9.99983580e-01 -2.65044017e-04 -5.72450293e-03 1.74101943e+02] [ 2.66878378e-04 9.99999913e-01 3.19678713e-04 -8.21633742e+00] [ 5.72441771e-03 -3.21201210e-04 9.99983564e-01 7.88049583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.260714057 meters Centerline goodness : 0.994137 with order 1 Centerline is valid? [True, True] Translation: X:174.16, Y:-8.22, Z:0.79 [[ 9.99982414e-01 1.54967589e-03 -5.72450293e-03 1.74160567e+02] [-1.54787117e-03 9.99998751e-01 3.19678713e-04 -8.22029683e+00] [ 5.72499118e-03 -3.10812298e-04 9.99983564e-01 7.90682086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.320714057 meters Centerline goodness : 0.994372 with order 1 Centerline is valid? [True, True] Translation: X:174.22, Y:-8.22, Z:0.78 [[ 9.99979308e-01 2.93467802e-03 -5.72458195e-03 1.74219461e+02] [-2.93290405e-03 9.99995648e-01 3.18257336e-04 -8.22165070e+00] [ 5.72549103e-03 -3.01461101e-04 9.99983564e-01 7.81243360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.380714057 meters Centerline goodness : 0.993993 with order 1 Centerline is valid? [True, True] Translation: X:174.28, Y:-8.23, Z:0.79 [[ 9.99938854e-01 9.46129770e-03 -5.72466755e-03 1.74278137e+02] [-9.45963925e-03 9.99955206e-01 3.16710246e-04 -8.23213167e+00] [ 5.72740761e-03 -2.62537591e-04 9.99983564e-01 7.85085603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.440714057 meters Centerline goodness : 0.994310 with order 1 Centerline is valid? [True, True] Translation: X:174.33, Y:-8.25, Z:0.77 [[ 9.99872809e-01 1.48859760e-02 -5.72475586e-03 1.74334984e+02] [-1.48844154e-02 9.99889171e-01 3.15105703e-04 -8.24624227e+00] [ 5.72881205e-03 -2.29855980e-04 9.99983564e-01 7.70003897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.500714057 meters Centerline goodness : 0.994368 with order 1 Centerline is valid? [True, True] Translation: X:174.39, Y:-8.25, Z:0.77 [[ 9.99925999e-01 1.07341609e-02 -5.72484910e-03 1.74394017e+02] [-1.07325422e-02 9.99942355e-01 3.13402512e-04 -8.25152956e+00] [ 5.72788321e-03 -2.51937136e-04 9.99983564e-01 7.70115665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.560714057 meters Centerline goodness : 0.995285 with order 1 Centerline is valid? [True, True] Translation: X:174.45, Y:-8.26, Z:0.77 [[ 9.99949693e-01 8.23629770e-03 -5.72487267e-03 1.74452076e+02] [-8.23464058e-03 9.99966046e-01 3.12971507e-04 -8.25670225e+00] [ 5.72725601e-03 -2.65813494e-04 9.99983564e-01 7.70002006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62071405700001 meters Centerline goodness : 0.995120 with order 1 Centerline is valid? [True, True] Translation: X:174.51, Y:-8.26, Z:0.77 [[ 9.99980643e-01 2.43699963e-03 -5.72490739e-03 1.74509746e+02] [-2.43525134e-03 9.99996986e-01 3.12335034e-04 -8.26201699e+00] [ 5.72565130e-03 -2.98387399e-04 9.99983564e-01 7.72344801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68071405700002 meters Centerline goodness : 0.994782 with order 1 Centerline is valid? [True, True] Translation: X:174.57, Y:-8.27, Z:0.77 [[ 9.99983422e-01 6.16332559e-04 -5.72493573e-03 1.74568356e+02] [-6.14557482e-04 9.99999763e-01 3.11814649e-04 -8.26723019e+00] [ 5.72512656e-03 -3.08291178e-04 9.99983564e-01 7.71688271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74071405700002 meters Centerline goodness : 0.995093 with order 1 Centerline is valid? [True, True] Translation: X:174.63, Y:-8.27, Z:0.78 [[ 9.99963215e-01 -6.38693476e-03 -5.72495809e-03 1.74626943e+02] [ 6.38882189e-03 9.99979543e-01 3.11403728e-04 -8.26774844e+00] [ 5.72285205e-03 -3.47968010e-04 9.99983564e-01 7.78958336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.800714057 meters Centerline goodness : 0.994600 with order 1 Centerline is valid? [True, True] Translation: X:174.69, Y:-8.27, Z:0.78 [[ 9.99963632e-01 -6.32130116e-03 -5.72497450e-03 1.74686900e+02] [ 6.32318549e-03 9.99979960e-01 3.11101577e-04 -8.27175069e+00] [ 5.72289321e-03 -3.47290339e-04 9.99983564e-01 7.78365726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.860714057 meters Centerline goodness : 0.994907 with order 1 Centerline is valid? [True, True] Translation: X:174.75, Y:-8.28, Z:0.78 [[ 9.99943076e-01 -9.00389154e-03 -5.72497450e-03 1.74747743e+02] [ 9.00581967e-03 9.99959398e-01 3.11101577e-04 -8.27560289e+00] [ 5.72194094e-03 -3.62641956e-04 9.99983564e-01 7.77660446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.920714057 meters Centerline goodness : 0.994095 with order 1 Centerline is valid? [True, True] Translation: X:174.81, Y:-8.28, Z:0.78 [[ 9.99884752e-01 -1.40608212e-02 -5.72497450e-03 1.74809442e+02] [ 1.40628318e-02 9.99901065e-01 3.11101577e-04 -8.27880738e+00] [ 5.72003376e-03 -3.91575077e-04 9.99983564e-01 7.79660736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.980714057 meters Centerline goodness : 0.995157 with order 1 Centerline is valid? [True, True] Translation: X:174.87, Y:-8.28, Z:0.78 [[ 9.99832609e-01 -1.73775326e-02 -5.72496307e-03 1.74870404e+02] [ 1.73795986e-02 9.99848915e-01 3.11311763e-04 -8.28275568e+00] [ 5.71868829e-03 -4.10757213e-04 9.99983564e-01 7.80538352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.040714057 meters Centerline goodness : 0.995242 with order 1 Centerline is valid? [True, True] Translation: X:174.93, Y:-8.28, Z:0.78 [[ 9.99808292e-01 -1.87244527e-02 -5.72494609e-03 1.74932893e+02] [ 1.87265424e-02 9.99824594e-01 3.11623764e-04 -8.28448587e+00] [ 5.71810692e-03 -4.18772469e-04 9.99983564e-01 7.80669506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.100714057 meters Centerline goodness : 0.994551 with order 1 Centerline is valid? [True, True] Translation: X:174.99, Y:-8.29, Z:0.78 [[ 9.99849251e-01 -1.63920790e-02 -5.72492408e-03 1.74993718e+02] [ 1.63941329e-02 9.99865558e-01 3.12027620e-04 -8.28697759e+00] [ 5.71903963e-03 -4.05835748e-04 9.99983564e-01 7.79506562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.160714057 meters Centerline goodness : 0.994450 with order 1 Centerline is valid? [True, True] Translation: X:175.06, Y:-8.29, Z:0.78 [[ 9.99890374e-01 -1.36552444e-02 -5.72489041e-03 1.75056293e+02] [ 1.36572572e-02 9.99906686e-01 3.12644163e-04 -8.28954310e+00] [ 5.72008697e-03 -3.90796190e-04 9.99983564e-01 7.83559414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.220714057 meters Centerline goodness : 0.994001 with order 1 Centerline is valid? [True, True] Translation: X:175.12, Y:-8.29, Z:0.78 [[ 9.99887588e-01 -1.38577338e-02 -5.72486884e-03 1.75117460e+02] [ 1.38597522e-02 9.99903900e-01 3.13038612e-04 -8.29490443e+00] [ 5.71998068e-03 -3.92348686e-04 9.99983564e-01 7.80290108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.280714057 meters Centerline goodness : 0.992527 with order 1 Centerline is valid? [True, True] Translation: X:175.18, Y:-8.30, Z:0.78 [[ 9.99904260e-01 -1.25974586e-02 -5.72485282e-03 1.75179780e+02] [ 1.25994581e-02 9.99920575e-01 3.13331386e-04 -8.29958217e+00] [ 5.72045094e-03 -3.85431431e-04 9.99983564e-01 7.81924481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.340714057 meters Centerline goodness : 0.992683 with order 1 Centerline is valid? [True, True] Translation: X:175.24, Y:-8.30, Z:0.78 [[ 9.99923767e-01 -1.09401021e-02 -5.72483203e-03 1.75242248e+02] [ 1.09420767e-02 9.99940084e-01 3.13710703e-04 -8.30394570e+00] [ 5.72105700e-03 -3.76328339e-04 9.99983564e-01 7.81304006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40071405700002 meters Centerline goodness : 0.993431 with order 1 Centerline is valid? [True, True] Translation: X:175.30, Y:-8.31, Z:0.78 [[ 9.99944757e-01 -8.81530773e-03 -5.72481142e-03 1.75304216e+02] [ 8.81724980e-03 9.99961078e-01 3.14086325e-04 -8.30733039e+00] [ 5.72181983e-03 -3.64546067e-04 9.99983564e-01 7.81203695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46071405700002 meters Centerline goodness : 0.996168 with order 1 Centerline is valid? [True, True] Translation: X:175.37, Y:-8.29, Z:0.79 [[ 9.99910319e-01 -1.21070907e-02 -5.72479077e-03 1.75366664e+02] [ 1.21090887e-02 9.99926633e-01 3.14462272e-04 -8.29361964e+00] [ 5.72056354e-03 -3.83756070e-04 9.99983564e-01 7.88640401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.520714057 meters Centerline goodness : 0.992308 with order 1 Centerline is valid? [True, True] Translation: X:175.43, Y:-8.31, Z:0.77 [[ 9.99980397e-01 -2.53655554e-03 -5.72472450e-03 1.75427321e+02] [ 2.53840409e-03 9.99996728e-01 3.15664075e-04 -8.31339241e+00] [ 5.72390508e-03 -3.30189551e-04 9.99983564e-01 7.74893613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.580714057 meters Centerline goodness : 0.991593 with order 1 Centerline is valid? [True, True] Translation: X:175.49, Y:-8.32, Z:0.78 [[ 9.99932440e-01 1.01164708e-02 -5.72471436e-03 1.75487136e+02] [-1.01148280e-02 9.99948794e-01 3.15848036e-04 -8.31643437e+00] [ 5.72761648e-03 -2.57922196e-04 9.99983564e-01 7.80330994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.640714057 meters Centerline goodness : 0.991467 with order 1 Centerline is valid? [True, True] Translation: X:175.55, Y:-8.32, Z:0.78 [[ 9.99933213e-01 1.00397744e-02 -5.72472559e-03 1.75545703e+02] [-1.00381315e-02 9.99949567e-01 3.15644248e-04 -8.32007046e+00] [ 5.72760587e-03 -2.58157618e-04 9.99983564e-01 7.78570046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.700714057 meters Centerline goodness : 0.991922 with order 1 Centerline is valid? [True, True] Translation: X:175.60, Y:-8.33, Z:0.78 [[ 9.99946219e-01 8.64793837e-03 -5.72474910e-03 1.75602902e+02] [-8.64627515e-03 9.99962571e-01 3.15217314e-04 -8.32504786e+00] [ 5.72726081e-03 -2.65702605e-04 9.99983564e-01 7.77524250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.760714057 meters Centerline goodness : 0.992257 with order 1 Centerline is valid? [True, True] Translation: X:175.66, Y:-8.33, Z:0.78 [[ 9.99946620e-01 8.60135459e-03 -5.72477796e-03 1.75661350e+02] [-8.59969361e-03 9.99962972e-01 3.14692344e-04 -8.32926577e+00] [ 5.72727276e-03 -2.65444210e-04 9.99983564e-01 7.81560998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.820714057 meters Centerline goodness : 0.992762 with order 1 Centerline is valid? [True, True] Translation: X:175.72, Y:-8.34, Z:0.77 [[ 9.99975110e-01 4.12380411e-03 -5.72480177e-03 1.75718631e+02] [-4.12207240e-03 9.99991455e-01 3.14258611e-04 -8.33661209e+00] [ 5.72604879e-03 -2.90652742e-04 9.99983564e-01 7.71610919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.880714057 meters Centerline goodness : 0.992493 with order 1 Centerline is valid? [True, True] Translation: X:175.78, Y:-8.34, Z:0.78 [[ 9.99983370e-01 -6.96767162e-04 -5.72483154e-03 1.75776933e+02] [ 6.98574542e-04 9.99999707e-01 3.13715326e-04 -8.33865939e+00] [ 5.72461127e-03 -3.17709330e-04 9.99983564e-01 7.75715736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.940714057 meters Centerline goodness : 0.994723 with order 1 Centerline is valid? [True, True] Translation: X:175.84, Y:-8.33, Z:0.78 [[ 9.99941972e-01 -9.12569303e-03 -5.72485543e-03 1.75836054e+02] [ 9.12763555e-03 9.99958293e-01 3.13278671e-04 -8.33172206e+00] [ 5.72175778e-03 -3.65514886e-04 9.99983564e-01 7.78861594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.000714057 meters Centerline goodness : 0.996288 with order 1 Centerline is valid? [True, True] Translation: X:175.90, Y:-8.34, Z:0.78 [[ 9.99936885e-01 -9.66703521e-03 -5.72487307e-03 1.75897072e+02] [ 9.66898474e-03 9.99953205e-01 3.12956009e-04 -8.33562380e+00] [ 5.72157982e-03 -3.68289967e-04 9.99983564e-01 7.80505593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.060714057 meters Centerline goodness : 0.993652 with order 1 Centerline is valid? [True, True] Translation: X:175.96, Y:-8.35, Z:0.77 [[ 9.99983479e-01 -5.17516363e-04 -5.72485720e-03 1.75956967e+02] [ 5.19318137e-04 9.99999816e-01 3.13246108e-04 -8.35135699e+00] [ 5.72469404e-03 -3.16213955e-04 9.99983564e-01 7.71085359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12071405700001 meters Centerline goodness : 0.994954 with order 1 Centerline is valid? [True, True] Translation: X:176.02, Y:-8.34, Z:0.78 [[ 9.99850207e-01 -1.63336640e-02 -5.72485720e-03 1.76015993e+02] [ 1.63357239e-02 9.99866514e-01 3.13246108e-04 -8.34261110e+00] [ 5.71897655e-03 -4.06718873e-04 9.99983564e-01 7.78885377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18071405700002 meters Centerline goodness : 0.992730 with order 1 Centerline is valid? [True, True] Translation: X:176.08, Y:-8.36, Z:0.77 [[ 9.99944480e-01 -8.84664837e-03 -5.72487477e-03 1.76077105e+02] [ 8.84858432e-03 9.99960802e-01 3.12924546e-04 -8.35833078e+00] [ 5.72188204e-03 -3.63564210e-04 9.99983564e-01 7.72361833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24071405700002 meters Centerline goodness : 0.993090 with order 1 Centerline is valid? [True, True] Translation: X:176.14, Y:-8.36, Z:0.77 [[ 9.99857563e-01 -1.58770144e-02 -5.72485848e-03 1.76137269e+02] [ 1.58790667e-02 9.99873871e-01 3.13222288e-04 -8.35781759e+00] [ 5.71916338e-03 -4.04083084e-04 9.99983564e-01 7.74596018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.300714057 meters Centerline goodness : 0.994515 with order 1 Centerline is valid? [True, True] Translation: X:176.20, Y:-8.36, Z:0.77 [[ 9.99907544e-01 -1.23340684e-02 -5.72485302e-03 1.76199658e+02] [ 1.23360635e-02 9.99923859e-01 3.13322221e-04 -8.35916478e+00] [ 5.72055258e-03 -3.83915403e-04 9.99983564e-01 7.70324179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.360714057 meters Centerline goodness : 0.992504 with order 1 Centerline is valid? [True, True] Translation: X:176.26, Y:-8.36, Z:0.78 [[ 9.99936364e-01 -9.72078864e-03 -5.72482888e-03 1.76262008e+02] [ 9.72274364e-03 9.99952684e-01 3.13762630e-04 -8.35781034e+00] [ 5.72150798e-03 -3.69403707e-04 9.99983564e-01 7.76149402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.420714057 meters Centerline goodness : 0.993186 with order 1 Centerline is valid? [True, True] Translation: X:176.32, Y:-8.36, Z:0.78 [[ 9.99961938e-01 -6.58403008e-03 -5.72480514e-03 1.76323651e+02] [ 6.58593635e-03 9.99978263e-01 3.14195215e-04 -8.35755237e+00] [ 5.72261203e-03 -3.51886458e-04 9.99983564e-01 7.76525079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.480714057 meters Centerline goodness : 0.993998 with order 1 Centerline is valid? [True, True] Translation: X:176.38, Y:-8.36, Z:0.78 [[ 9.99973126e-01 -4.57964311e-03 -5.72478755e-03 1.76384270e+02] [ 4.58151847e-03 9.99989455e-01 3.14515340e-04 -8.35757355e+00] [ 5.72328681e-03 -3.40735108e-04 9.99983564e-01 7.77175207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.540714057 meters Centerline goodness : 0.993693 with order 1 Centerline is valid? [True, True] Translation: X:176.44, Y:-8.36, Z:0.78 [[ 9.99963889e-01 -6.28074301e-03 -5.72478755e-03 1.76443449e+02] [ 6.28264615e-03 9.99980215e-01 3.14515340e-04 -8.35716467e+00] [ 5.72269889e-03 -3.50470797e-04 9.99983564e-01 7.77074796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.600714057 meters Centerline goodness : 0.993962 with order 1 Centerline is valid? [True, True] Translation: X:176.50, Y:-8.36, Z:0.78 [[ 9.99926090e-01 -1.07257166e-02 -5.72479322e-03 1.76503451e+02] [ 1.07276917e-02 9.99942407e-01 3.14412085e-04 -8.35696755e+00] [ 5.72109122e-03 -3.75802664e-04 9.99983564e-01 7.80184158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.660714057 meters Centerline goodness : 0.993983 with order 1 Centerline is valid? [True, True] Translation: X:176.57, Y:-8.36, Z:0.78 [[ 9.99948402e-01 -8.39169316e-03 -5.72478760e-03 1.76565637e+02] [ 8.39363075e-03 9.99964723e-01 3.14514335e-04 -8.35606908e+00] [ 5.72194634e-03 -3.62549860e-04 9.99983564e-01 7.80227152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.720714057 meters Centerline goodness : 0.994503 with order 1 Centerline is valid? [True, True] Translation: X:176.63, Y:-8.35, Z:0.78 [[ 9.99935318e-01 -9.82781556e-03 -5.72476318e-03 1.76627693e+02] [ 9.82977912e-03 9.99951637e-01 3.14958200e-04 -8.35194498e+00] [ 5.72139096e-03 -3.71210986e-04 9.99983564e-01 7.81676619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.780714057 meters Centerline goodness : 0.994671 with order 1 Centerline is valid? [True, True] Translation: X:176.69, Y:-8.35, Z:0.78 [[ 9.99957654e-01 -7.20539721e-03 -5.72475130e-03 1.76690574e+02] [ 7.20731920e-03 9.99973977e-01 3.15174014e-04 -8.34796056e+00] [ 5.72233137e-03 -3.56420777e-04 9.99983564e-01 7.83546294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.840714057 meters Centerline goodness : 0.994221 with order 1 Centerline is valid? [True, True] Translation: X:176.75, Y:-8.35, Z:0.78 [[ 9.99969244e-01 -5.36079732e-03 -5.72472741e-03 1.76751103e+02] [ 5.36269167e-03 9.99985571e-01 3.15607410e-04 -8.34566014e+00] [ 5.72295290e-03 -3.46297651e-04 9.99983564e-01 7.83014360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90071405700002 meters Centerline goodness : 0.993929 with order 1 Centerline is valid? [True, True] Translation: X:176.81, Y:-8.34, Z:0.79 [[ 9.99983059e-01 1.05303721e-03 -5.72472153e-03 1.76811405e+02] [-1.05124701e-03 9.99999398e-01 3.15713965e-04 -8.34404285e+00] [ 5.72505054e-03 -3.09690520e-04 9.99983564e-01 7.86098426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96071405700002 meters Centerline goodness : 0.994221 with order 1 Centerline is valid? [True, True] Translation: X:176.87, Y:-8.35, Z:0.78 [[ 9.99971556e-01 4.91077344e-03 -5.72472153e-03 1.76869092e+02] [-4.90904629e-03 9.99987901e-01 3.15713965e-04 -8.34550092e+00] [ 5.72620267e-03 -2.87602062e-04 9.99983564e-01 7.82829989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.020714057 meters Centerline goodness : 0.994163 with order 1 Centerline is valid? [True, True] Translation: X:176.93, Y:-8.35, Z:0.78 [[ 9.99960636e-01 6.77896626e-03 -5.72475158e-03 1.76926982e+02] [-6.77727277e-03 9.99976984e-01 3.15168111e-04 -8.34792248e+00] [ 5.72675634e-03 -2.76357502e-04 9.99983564e-01 7.77169530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.080714057 meters Centerline goodness : 0.993111 with order 1 Centerline is valid? [True, True] Translation: X:176.99, Y:-8.35, Z:0.77 [[ 9.99868713e-01 1.51586147e-02 -5.72484028e-03 1.76985005e+02] [-1.51570675e-02 9.99885076e-01 3.13548589e-04 -8.35084042e+00] [ 5.72893532e-03 -2.26735634e-04 9.99983564e-01 7.73915030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.140714057 meters Centerline goodness : 0.993388 with order 1 Centerline is valid? [True, True] Translation: X:177.04, Y:-8.35, Z:0.78 [[ 9.99852921e-01 1.61666951e-02 -5.72493705e-03 1.77043270e+02] [-1.61651746e-02 9.99869286e-01 3.11771709e-04 -8.34975635e+00] [ 5.72922904e-03 -2.19181247e-04 9.99983564e-01 7.78709102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.200714057 meters Centerline goodness : 0.993713 with order 1 Centerline is valid? [True, True] Translation: X:177.10, Y:-8.35, Z:0.78 [[ 9.99774339e-01 2.04571576e-02 -5.72496645e-03 1.77101224e+02] [-2.04557104e-02 9.99790712e-01 3.11230806e-04 -8.35033755e+00] [ 5.73013518e-03 -1.94052318e-04 9.99983564e-01 7.84064348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.260714057 meters Centerline goodness : 0.993608 with order 1 Centerline is valid? [True, True] Translation: X:177.16, Y:-8.35, Z:0.79 [[ 9.99776174e-01 2.03672653e-02 -5.72506008e-03 1.77158898e+02] [-2.03658265e-02 9.99792547e-01 3.09498931e-04 -8.35177319e+00] [ 5.73017605e-03 -1.92834077e-04 9.99983564e-01 7.86630520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.320714057 meters Centerline goodness : 0.993063 with order 1 Centerline is valid? [True, True] Translation: X:177.22, Y:-8.36, Z:0.79 [[ 9.99805246e-01 1.88863354e-02 -5.72508857e-03 1.77217655e+02] [-1.88848755e-02 9.99821617e-01 3.08970974e-04 -8.35684814e+00] [ 5.72990264e-03 -2.00793216e-04 9.99983564e-01 7.88328737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.380714057 meters Centerline goodness : 0.993444 with order 1 Centerline is valid? [True, True] Translation: X:177.28, Y:-8.36, Z:0.79 [[ 9.99861640e-01 1.56180874e-02 -5.72511168e-03 1.77276075e+02] [-1.56165764e-02 9.99878006e-01 3.08542226e-04 -8.36216127e+00] [ 5.72923209e-03 -2.19092892e-04 9.99983564e-01 7.90773696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.440714057 meters Centerline goodness : 0.992707 with order 1 Centerline is valid? [True, True] Translation: X:177.33, Y:-8.37, Z:0.79 [[ 9.99897255e-01 1.31416172e-02 -5.72513448e-03 1.77334022e+02] [-1.31400680e-02 9.99913618e-01 3.08118513e-04 -8.36890786e+00] [ 5.72868911e-03 -2.32858199e-04 9.99983564e-01 7.93170370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.500714057 meters Centerline goodness : 0.992915 with order 1 Centerline is valid? [True, True] Translation: X:177.39, Y:-8.37, Z:0.80 [[ 9.99938657e-01 9.48186326e-03 -5.72515680e-03 1.77392321e+02] [-9.48025661e-03 9.99955014e-01 3.07703375e-04 -8.37241991e+00] [ 5.72781684e-03 -2.53408544e-04 9.99983564e-01 7.99158753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.560714057 meters Centerline goodness : 0.994395 with order 1 Centerline is valid? [True, True] Translation: X:177.45, Y:-8.38, Z:0.79 [[ 9.99962742e-01 6.46047811e-03 -5.72517887e-03 1.77450682e+02] [-6.45882439e-03 9.99979094e-01 3.07292047e-04 -8.38359268e+00] [ 5.72704444e-03 -2.70302673e-04 9.99983564e-01 7.89033252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62071405700001 meters Centerline goodness : 0.993065 with order 1 Centerline is valid? [True, True] Translation: X:177.51, Y:-8.39, Z:0.80 [[ 9.99978294e-01 3.26103570e-03 -5.72518973e-03 1.77510200e+02] [-3.25933083e-03 9.99994641e-01 3.07089622e-04 -8.39081712e+00] [ 5.72616048e-03 -2.88422669e-04 9.99983564e-01 8.02108120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68071405700002 meters Centerline goodness : 0.993674 with order 1 Centerline is valid? [True, True] Translation: X:177.57, Y:-8.40, Z:0.80 [[ 9.99983578e-01 2.55627576e-04 -5.72519656e-03 1.77567642e+02] [-2.53874306e-04 9.99999921e-01 3.06962154e-04 -8.40036188e+00] [ 5.72527458e-03 -3.05503633e-04 9.99983564e-01 7.99904855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74071405700002 meters Centerline goodness : 0.993433 with order 1 Centerline is valid? [True, True] Translation: X:177.63, Y:-8.41, Z:0.80 [[ 9.99979529e-01 2.85716007e-03 -5.72522338e-03 1.77627089e+02] [-2.85545218e-03 9.99995876e-01 3.06461274e-04 -8.41383094e+00] [ 5.72607538e-03 -2.90106899e-04 9.99983564e-01 8.02083025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.800714057 meters Centerline goodness : 0.993009 with order 1 Centerline is valid? [True, True] Translation: X:177.69, Y:-8.42, Z:0.80 [[ 9.99977353e-01 3.53782718e-03 -5.72522894e-03 1.77685922e+02] [-3.53613101e-03 9.99993701e-01 3.06357340e-04 -8.42478231e+00] [ 5.72627671e-03 -2.86105242e-04 9.99983564e-01 8.00489260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.860714057 meters Centerline goodness : 0.994480 with order 1 Centerline is valid? [True, True] Translation: X:177.74, Y:-8.43, Z:0.79 [[ 9.99980257e-01 2.58989856e-03 -5.72524523e-03 1.77744612e+02] [-2.58818864e-03 9.99996604e-01 3.06052516e-04 -8.43169656e+00] [ 5.72601843e-03 -2.91228459e-04 9.99983564e-01 7.87116479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.920714057 meters Centerline goodness : 0.990750 with order 1 Centerline is valid? [True, True] Translation: X:177.80, Y:-8.44, Z:0.80 [[ 9.99924874e-01 1.08382451e-02 -5.72526718e-03 1.77801710e+02] [-1.08366725e-02 9.99941235e-01 3.05641357e-04 -8.44488208e+00] [ 5.72824335e-03 -2.43575550e-04 9.99983564e-01 7.96661771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.980714057 meters Centerline goodness : 0.991187 with order 1 Centerline is valid? [True, True] Translation: X:177.86, Y:-8.45, Z:0.80 [[ 9.99921435e-01 1.11510095e-02 -5.72529428e-03 1.77860260e+02] [-1.11494448e-02 9.99937796e-01 3.05132995e-04 -8.45221426e+00] [ 5.72834068e-03 -2.41275170e-04 9.99983564e-01 8.01176996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.040714057 meters Centerline goodness : 0.989921 with order 1 Centerline is valid? [True, True] Translation: X:177.92, Y:-8.46, Z:0.80 [[ 9.99915636e-01 1.16593982e-02 -5.72531613e-03 1.77918620e+02] [-1.16578442e-02 9.99931999e-01 3.04722437e-04 -8.46235366e+00] [ 5.72847968e-03 -2.37951886e-04 9.99983564e-01 8.00158778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.100714057 meters Centerline goodness : 0.990763 with order 1 Centerline is valid? [True, True] Translation: X:177.98, Y:-8.47, Z:0.80 [[ 9.99950734e-01 8.10859539e-03 -5.72533806e-03 1.77977072e+02] [-8.10698567e-03 9.99967092e-01 3.04309749e-04 -8.46783928e+00] [ 5.72761717e-03 -2.57879523e-04 9.99983564e-01 7.95666528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.160714057 meters Centerline goodness : 0.989729 with order 1 Centerline is valid? [True, True] Translation: X:178.04, Y:-8.48, Z:0.80 [[ 9.99959554e-01 6.93617826e-03 -5.72535980e-03 1.78035295e+02] [-6.93455170e-03 9.99975910e-01 3.03900267e-04 -8.47743888e+00] [ 5.72732978e-03 -2.64185172e-04 9.99983564e-01 7.96499313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.220714057 meters Centerline goodness : 0.993399 with order 1 Centerline is valid? [True, True] Translation: X:178.10, Y:-8.48, Z:0.79 [[ 9.99946855e-01 -8.57369483e-03 -5.72537583e-03 1.78095028e+02] [ 8.57557314e-03 9.99963183e-01 3.03597845e-04 -8.47708201e+00] [ 5.72256209e-03 -3.52680089e-04 9.99983564e-01 7.91207324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.280714057 meters Centerline goodness : 0.994181 with order 1 Centerline is valid? [True, True] Translation: X:178.16, Y:-8.48, Z:0.79 [[ 9.99883290e-01 -1.41642741e-02 -5.72538635e-03 1.78155661e+02] [ 1.41662426e-02 9.99899608e-01 3.03399429e-04 -8.48477131e+00] [ 5.72051413e-03 -3.84471231e-04 9.99983564e-01 7.89701216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.340714057 meters Centerline goodness : 0.994042 with order 1 Centerline is valid? [True, True] Translation: X:178.22, Y:-8.49, Z:0.79 [[ 9.99849018e-01 -1.64061331e-02 -5.72537590e-03 1.78217158e+02] [ 1.64081393e-02 9.99865331e-01 3.03596472e-04 -8.48856021e+00] [ 5.71962403e-03 -3.97493400e-04 9.99983564e-01 7.89196785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40071405700002 meters Centerline goodness : 0.991101 with order 1 Centerline is valid? [True, True] Translation: X:178.28, Y:-8.51, Z:0.78 [[ 9.99982587e-01 1.43002469e-03 -5.72536033e-03 1.78277055e+02] [-1.42830815e-03 9.99998934e-01 3.03889771e-04 -8.50950795e+00] [ 5.72578880e-03 -2.95706901e-04 9.99983564e-01 7.75028431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46071405700002 meters Centerline goodness : 0.992086 with order 1 Centerline is valid? [True, True] Translation: X:178.34, Y:-8.50, Z:0.78 [[ 9.99974486e-01 -4.27174057e-03 -5.72535459e-03 1.78337177e+02] [ 4.27355089e-03 9.99990822e-01 3.03997875e-04 -8.50465496e+00] [ 5.72400345e-03 -3.28457713e-04 9.99983564e-01 7.82344489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.520714057 meters Centerline goodness : 0.991524 with order 1 Centerline is valid? [True, True] Translation: X:178.40, Y:-8.50, Z:0.78 [[ 9.99959805e-01 -6.89988764e-03 -5.72536618e-03 1.78396961e+02] [ 6.90173965e-03 9.99976137e-01 3.03779538e-04 -8.50407855e+00] [ 5.72313350e-03 -3.43282314e-04 9.99983564e-01 7.84788197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.580714057 meters Centerline goodness : 0.992699 with order 1 Centerline is valid? [True, True] Translation: X:178.46, Y:-8.50, Z:0.79 [[ 9.99937318e-01 -9.62183742e-03 -5.72537180e-03 1.78457862e+02] [ 9.62373327e-03 9.99953645e-01 3.03673497e-04 -8.50473651e+00] [ 5.72218450e-03 -3.58753913e-04 9.99983564e-01 7.86309454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.640714057 meters Centerline goodness : 0.992067 with order 1 Centerline is valid? [True, True] Translation: X:178.52, Y:-8.51, Z:0.79 [[ 9.99910668e-01 -1.20779071e-02 -5.72537180e-03 1.78519524e+02] [ 1.20798431e-02 9.99926990e-01 3.03673497e-04 -8.50592689e+00] [ 5.72128605e-03 -3.72807962e-04 9.99983564e-01 7.86023162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.700714057 meters Centerline goodness : 0.993472 with order 1 Centerline is valid? [True, True] Translation: X:178.58, Y:-8.51, Z:0.79 [[ 9.99852873e-01 -1.61695259e-02 -5.72536066e-03 1.78582032e+02] [ 1.61715298e-02 9.99869186e-01 3.03883312e-04 -8.50735560e+00] [ 5.71969806e-03 -3.96426444e-04 9.99983564e-01 7.85459467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.760714057 meters Centerline goodness : 0.993416 with order 1 Centerline is valid? [True, True] Translation: X:178.65, Y:-8.51, Z:0.79 [[ 9.99743165e-01 -2.19277411e-02 -5.72527965e-03 1.78645270e+02] [ 2.19298476e-02 9.99759465e-01 3.05402124e-04 -8.50853175e+00] [ 5.71720574e-03 -4.30878196e-04 9.99983564e-01 7.86605652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.820714057 meters Centerline goodness : 0.992732 with order 1 Centerline is valid? [True, True] Translation: X:178.71, Y:-8.51, Z:0.79 [[ 9.99678024e-01 -2.47198415e-02 -5.72518676e-03 1.78707129e+02] [ 2.47220034e-02 9.99694317e-01 3.07133679e-04 -8.50895231e+00] [ 5.71584437e-03 -4.48572876e-04 9.99983564e-01 7.88216898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.880714057 meters Centerline goodness : 0.993400 with order 1 Centerline is valid? [True, True] Translation: X:178.77, Y:-8.51, Z:0.79 [[ 9.99652540e-01 -2.57297875e-02 -5.72516386e-03 1.78769062e+02] [ 2.57319682e-02 9.99668831e-01 3.07559950e-04 -8.50953821e+00] [ 5.71535441e-03 -4.54772820e-04 9.99983564e-01 7.92351058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.940714057 meters Centerline goodness : 0.993519 with order 1 Centerline is valid? [True, True] Translation: X:178.83, Y:-8.51, Z:0.80 [[ 9.99662095e-01 -2.53558363e-02 -5.72514130e-03 1.78832344e+02] [ 2.53580134e-02 9.99678386e-01 3.07979248e-04 -8.50982490e+00] [ 5.71549095e-03 -4.53053390e-04 9.99983564e-01 7.97404760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.000714057 meters Centerline goodness : 0.994189 with order 1 Centerline is valid? [True, True] Translation: X:178.89, Y:-8.51, Z:0.80 [[ 9.99653635e-01 -2.56872273e-02 -5.72510543e-03 1.78894503e+02] [ 2.56894135e-02 9.99669925e-01 3.08644525e-04 -8.51254379e+00] [ 5.71528750e-03 -4.55612222e-04 9.99983564e-01 7.97177777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.060714057 meters Centerline goodness : 0.994638 with order 1 Centerline is valid? [True, True] Translation: X:178.96, Y:-8.52, Z:0.80 [[ 9.99637972e-01 -2.62897080e-02 -5.72504835e-03 1.78957898e+02] [ 2.62919100e-02 9.99654260e-01 3.09699817e-04 -8.51687824e+00] [ 5.71492705e-03 -4.60110153e-04 9.99983564e-01 7.96034747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12071405700001 meters Centerline goodness : 0.994484 with order 1 Centerline is valid? [True, True] Translation: X:179.02, Y:-8.52, Z:0.79 [[ 9.99627321e-01 -2.66916462e-02 -5.72501381e-03 1.79020023e+02] [ 2.66938584e-02 9.99643607e-01 3.10336887e-04 -8.52184587e+00] [ 5.71469006e-03 -4.63043939e-04 9.99983564e-01 7.92495511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18071405700002 meters Centerline goodness : 0.994786 with order 1 Centerline is valid? [True, True] Translation: X:179.08, Y:-8.52, Z:0.79 [[ 9.99547477e-01 -2.95307685e-02 -5.72499068e-03 1.79082532e+02] [ 2.95330294e-02 9.99563757e-01 3.10763145e-04 -8.52475333e+00] [ 5.71331611e-03 -4.79698836e-04 9.99983564e-01 7.93623616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24071405700002 meters Centerline goodness : 0.995450 with order 1 Centerline is valid? [True, True] Translation: X:179.15, Y:-8.53, Z:0.79 [[ 9.99526204e-01 -3.02422246e-02 -5.72496668e-03 1.79145639e+02] [ 3.02444996e-02 9.99542482e-01 3.11204663e-04 -8.52889485e+00] [ 5.71293588e-03 -4.84205968e-04 9.99983564e-01 7.93611742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.300714057 meters Centerline goodness : 0.995377 with order 1 Centerline is valid? [True, True] Translation: X:179.21, Y:-8.53, Z:0.79 [[ 9.99659529e-01 -2.54568673e-02 -5.72493067e-03 1.79207346e+02] [ 2.54590681e-02 9.99675817e-01 3.11865710e-04 -8.53228913e+00] [ 5.71513561e-03 -4.57510928e-04 9.99983564e-01 7.94657424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.360714057 meters Centerline goodness : 0.994934 with order 1 Centerline is valid? [True, True] Translation: X:179.27, Y:-8.54, Z:0.79 [[ 9.99776626e-01 -2.03451260e-02 -5.72490683e-03 1.79269324e+02] [ 2.03472459e-02 9.99792925e-01 3.12302718e-04 -8.53572738e+00] [ 5.71736750e-03 -4.28719044e-04 9.99983564e-01 7.92323698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.420714057 meters Centerline goodness : 0.994929 with order 1 Centerline is valid? [True, True] Translation: X:179.33, Y:-8.54, Z:0.79 [[ 9.99922765e-01 -1.10313273e-02 -5.72485079e-03 1.79331862e+02] [ 1.10333012e-02 9.99939082e-01 3.13326646e-04 -8.53946122e+00] [ 5.72104563e-03 -3.76466449e-04 9.99983564e-01 7.94065470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.480714057 meters Centerline goodness : 0.994932 with order 1 Centerline is valid? [True, True] Translation: X:179.39, Y:-8.54, Z:0.79 [[ 9.99972207e-01 -4.77614943e-03 -5.72482220e-03 1.79392699e+02] [ 4.77802420e-03 9.99988536e-01 3.13848032e-04 -8.54437529e+00] [ 5.72325759e-03 -3.41192648e-04 9.99983564e-01 7.91572366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.540714057 meters Centerline goodness : 0.994782 with order 1 Centerline is valid? [True, True] Translation: X:179.45, Y:-8.55, Z:0.79 [[ 9.99969119e-01 -5.38407848e-03 -5.72481098e-03 1.79451967e+02] [ 5.38596434e-03 9.99985446e-01 3.14052671e-04 -8.54707294e+00] [ 5.72303677e-03 -3.44876600e-04 9.99983564e-01 7.90007047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.600714057 meters Centerline goodness : 0.993306 with order 1 Centerline is valid? [True, True] Translation: X:179.51, Y:-8.55, Z:0.79 [[ 9.99979067e-01 -3.01516831e-03 -5.72481651e-03 1.79512416e+02] [ 3.01701491e-03 9.99995400e-01 3.13951831e-04 -8.55178340e+00] [ 5.72384355e-03 -3.31217116e-04 9.99983564e-01 7.90827271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.660714057 meters Centerline goodness : 0.992099 with order 1 Centerline is valid? [True, True] Translation: X:179.57, Y:-8.56, Z:0.78 [[ 9.99962151e-01 6.55158678e-03 -5.72481651e-03 1.79572561e+02] [-6.54989651e-03 9.99978500e-01 3.13951831e-04 -8.56323266e+00] [ 5.72675030e-03 -2.76442992e-04 9.99983564e-01 7.81331989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.720714057 meters Centerline goodness : 0.995217 with order 1 Centerline is valid? [True, True] Translation: X:179.63, Y:-8.55, Z:0.80 [[ 9.99923825e-01 -1.09348648e-02 -5.72481813e-03 1.79632749e+02] [ 1.09368405e-02 9.99940142e-01 3.13922279e-04 -8.54636808e+00] [ 5.72104275e-03 -3.76509789e-04 9.99983564e-01 7.97733032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.780714057 meters Centerline goodness : 0.992789 with order 1 Centerline is valid? [True, True] Translation: X:179.69, Y:-8.56, Z:0.79 [[ 9.99978241e-01 3.27775377e-03 -5.72482532e-03 1.79693765e+02] [-3.27601090e-03 9.99994585e-01 3.13790992e-04 -8.56008578e+00] [ 5.72582285e-03 -2.95029574e-04 9.99983564e-01 7.93062406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.840714057 meters Centerline goodness : 0.994761 with order 1 Centerline is valid? [True, True] Translation: X:179.75, Y:-8.55, Z:0.80 [[ 9.99982392e-01 -1.56251529e-03 -5.72481443e-03 1.79752960e+02] [ 1.56433838e-03 9.99998727e-01 3.13989663e-04 -8.55080532e+00] [ 5.72431653e-03 -3.22939682e-04 9.99983564e-01 8.03071001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90071405700002 meters Centerline goodness : 0.990984 with order 1 Centerline is valid? [True, True] Translation: X:179.81, Y:-8.57, Z:0.79 [[ 9.99819777e-01 1.81007988e-02 -5.72483713e-03 1.79811750e+02] [-1.80992997e-02 9.99836145e-01 3.13575123e-04 -8.57035681e+00] [ 5.72957505e-03 -2.09903067e-04 9.99983564e-01 7.91681547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96071405700002 meters Centerline goodness : 0.990903 with order 1 Centerline is valid? [True, True] Translation: X:179.87, Y:-8.57, Z:0.79 [[ 9.99809465e-01 1.86617357e-02 -5.72484883e-03 1.79870464e+02] [-1.86602469e-02 9.99825833e-01 3.13361451e-04 -8.57295550e+00] [ 5.72969962e-03 -2.06474653e-04 9.99983564e-01 7.92450229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.020714057 meters Centerline goodness : 0.991495 with order 1 Centerline is valid? [True, True] Translation: X:179.93, Y:-8.58, Z:0.79 [[ 9.99817809e-01 1.82091725e-02 -5.72487225e-03 1.79928529e+02] [-1.82076788e-02 9.99834178e-01 3.12932911e-04 -8.57595374e+00] [ 5.72962119e-03 -2.08639263e-04 9.99983564e-01 7.93376388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.080714057 meters Centerline goodness : 0.994556 with order 1 Centerline is valid? [True, True] Translation: X:179.99, Y:-8.56, Z:0.80 [[ 9.99967503e-01 5.67605834e-03 -5.72490097e-03 1.79987472e+02] [-5.67436259e-03 9.99983852e-01 3.12406683e-04 -8.56286832e+00] [ 5.72658176e-03 -2.79911367e-04 9.99983564e-01 8.01683823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.140714057 meters Centerline goodness : 0.991518 with order 1 Centerline is valid? [True, True] Translation: X:180.05, Y:-8.58, Z:0.79 [[ 9.99689791e-01 2.42393629e-02 -5.72492329e-03 1.80046146e+02] [-2.42379733e-02 9.99706168e-01 3.11997026e-04 -8.58286197e+00] [ 5.73080374e-03 -1.73139704e-04 9.99983564e-01 7.89510222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.200714057 meters Centerline goodness : 0.991976 with order 1 Centerline is valid? [True, True] Translation: X:180.10, Y:-8.59, Z:0.79 [[ 9.99766839e-01 2.08205093e-02 -5.72493523e-03 1.80104717e+02] [-2.08190649e-02 9.99783211e-01 3.11777945e-04 -8.58532501e+00] [ 5.73018550e-03 -1.92517452e-04 9.99983564e-01 7.92867549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.260714057 meters Centerline goodness : 0.992376 with order 1 Centerline is valid? [True, True] Translation: X:180.16, Y:-8.59, Z:0.80 [[ 9.99854841e-01 1.60474879e-02 -5.72495265e-03 1.80163120e+02] [-1.60459672e-02 9.99871207e-01 3.11457578e-04 -8.58597019e+00] [ 5.72921343e-03 -2.19549964e-04 9.99983564e-01 7.98290258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.320714057 meters Centerline goodness : 0.992889 with order 1 Centerline is valid? [True, True] Translation: X:180.22, Y:-8.59, Z:0.79 [[ 9.99905018e-01 1.25371351e-02 -5.72499452e-03 1.80221488e+02] [-1.25355614e-02 9.99921378e-01 3.10686113e-04 -8.59041495e+00] [ 5.72843953e-03 -2.38890583e-04 9.99983564e-01 7.94946799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.380714057 meters Centerline goodness : 0.993246 with order 1 Centerline is valid? [True, True] Translation: X:180.28, Y:-8.59, Z:0.80 [[ 9.99913900e-01 1.18075070e-02 -5.72501794e-03 1.80279861e+02] [-1.18059238e-02 9.99930260e-01 3.10254046e-04 -8.59179430e+00] [ 5.72828200e-03 -2.42638207e-04 9.99983564e-01 8.02437572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.440714057 meters Centerline goodness : 0.993515 with order 1 Centerline is valid? [True, True] Translation: X:180.34, Y:-8.59, Z:0.80 [[ 9.99947439e-01 8.50546337e-03 -5.72504140e-03 1.80337697e+02] [-8.50382866e-03 9.99963794e-01 3.09820488e-04 -8.59477652e+00] [ 5.72746928e-03 -2.61119432e-04 9.99983564e-01 8.03556594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.500714057 meters Centerline goodness : 0.993751 with order 1 Centerline is valid? [True, True] Translation: X:180.40, Y:-8.60, Z:0.80 [[ 9.99976184e-01 3.85419123e-03 -5.72507027e-03 1.80395060e+02] [-3.85248351e-03 9.99992531e-01 3.09286043e-04 -8.59873193e+00] [ 5.72621956e-03 -2.87222938e-04 9.99983564e-01 8.04483611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.560714057 meters Centerline goodness : 0.995377 with order 1 Centerline is valid? [True, True] Translation: X:180.45, Y:-8.59, Z:0.81 [[ 9.99962273e-01 -6.53263379e-03 -5.72510236e-03 1.80454138e+02] [ 6.53450782e-03 9.99978602e-01 3.08690940e-04 -8.59107175e+00] [ 5.72296329e-03 -3.46090020e-04 9.99983564e-01 8.09320352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62071405700001 meters Centerline goodness : 0.994551 with order 1 Centerline is valid? [True, True] Translation: X:180.51, Y:-8.60, Z:0.80 [[ 9.99982054e-01 -1.76478956e-03 -5.72512025e-03 1.80512950e+02] [ 1.76658381e-03 9.99998392e-01 3.08358790e-04 -8.60152401e+00] [ 5.72456685e-03 -3.18467161e-04 9.99983564e-01 8.02524119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68071405700002 meters Centerline goodness : 0.993637 with order 1 Centerline is valid? [True, True] Translation: X:180.57, Y:-8.60, Z:0.81 [[ 9.99979924e-01 -2.71544808e-03 -5.72512621e-03 1.80571137e+02] [ 2.71725723e-03 9.99996261e-01 3.08248002e-04 -8.60216881e+00] [ 5.72426777e-03 -3.23798454e-04 9.99983564e-01 8.06221468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74071405700002 meters Centerline goodness : 0.994366 with order 1 Centerline is valid? [True, True] Translation: X:180.63, Y:-8.60, Z:0.80 [[ 9.99977031e-01 -3.62764073e-03 -5.72514822e-03 1.80630423e+02] [ 3.62946245e-03 9.99993366e-01 3.07838715e-04 -8.60373295e+00] [ 5.72399351e-03 -3.28610855e-04 9.99983564e-01 8.03924418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.800714057 meters Centerline goodness : 0.994627 with order 1 Centerline is valid? [True, True] Translation: X:180.69, Y:-8.60, Z:0.80 [[ 9.99960164e-01 -6.84783447e-03 -5.72515959e-03 1.80689995e+02] [ 6.84970757e-03 9.99976493e-01 3.07627052e-04 -8.60487691e+00] [ 5.72291843e-03 -3.46830466e-04 9.99983564e-01 8.03186765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.860714057 meters Centerline goodness : 0.994455 with order 1 Centerline is valid? [True, True] Translation: X:180.75, Y:-8.61, Z:0.80 [[ 9.99925034e-01 -1.08235241e-02 -5.72517138e-03 1.80750022e+02] [ 1.08254609e-02 9.99941356e-01 3.07407442e-04 -8.60604021e+00] [ 5.72150840e-03 -3.69362016e-04 9.99983564e-01 8.01736985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.920714057 meters Centerline goodness : 0.994377 with order 1 Centerline is valid? [True, True] Translation: X:180.81, Y:-8.61, Z:0.79 [[ 9.99888873e-01 -1.37646255e-02 -5.72516559e-03 1.80812574e+02] [ 1.37666109e-02 9.99905188e-01 3.07515244e-04 -8.61025061e+00] [ 5.72038995e-03 -3.86297197e-04 9.99983564e-01 7.92474109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.980714057 meters Centerline goodness : 0.993487 with order 1 Centerline is valid? [True, True] Translation: X:180.88, Y:-8.61, Z:0.80 [[ 9.99846071e-01 -1.65848551e-02 -5.72514271e-03 1.80875084e+02] [ 1.65868889e-02 9.99862381e-01 3.07940675e-04 -8.61000683e+00] [ 5.71924767e-03 -4.02855579e-04 9.99983564e-01 7.97154538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.040714057 meters Centerline goodness : 0.993631 with order 1 Centerline is valid? [True, True] Translation: X:180.94, Y:-8.61, Z:0.80 [[ 9.99835917e-01 -1.71860948e-02 -5.72511925e-03 1.80937416e+02] [ 1.71881409e-02 9.99852225e-01 3.08376233e-04 -8.61175442e+00] [ 5.71897344e-03 -4.06729790e-04 9.99983564e-01 7.95760315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.100714057 meters Centerline goodness : 0.993352 with order 1 Centerline is valid? [True, True] Translation: X:181.00, Y:-8.61, Z:0.80 [[ 9.99875215e-01 -1.47233719e-02 -5.72509583e-03 1.80999249e+02] [ 1.47253803e-02 9.99891528e-01 3.08810478e-04 -8.60968383e+00] [ 5.71992808e-03 -3.93076156e-04 9.99983564e-01 7.97522530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.160714057 meters Centerline goodness : 0.994005 with order 1 Centerline is valid? [True, True] Translation: X:181.06, Y:-8.61, Z:0.80 [[ 9.99950127e-01 -8.18335058e-03 -5.72505962e-03 1.81062040e+02] [ 8.18525606e-03 9.99966452e-01 3.09480371e-04 -8.60814292e+00] [ 5.72233497e-03 -3.56326016e-04 9.99983564e-01 7.98923558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.220714057 meters Centerline goodness : 0.993521 with order 1 Centerline is valid? [True, True] Translation: X:181.12, Y:-8.61, Z:0.79 [[ 9.99969080e-01 5.39096657e-03 -5.72503588e-03 1.81122836e+02] [-5.38928036e-03 9.99985430e-01 3.09918864e-04 -8.61349745e+00] [ 5.72662322e-03 -2.79055458e-04 9.99983564e-01 7.91633022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.280714057 meters Centerline goodness : 0.993710 with order 1 Centerline is valid? [True, True] Translation: X:181.18, Y:-8.61, Z:0.80 [[ 9.99954328e-01 7.65284475e-03 -5.72503494e-03 1.81182504e+02] [-7.65119543e-03 9.99970681e-01 3.09936250e-04 -8.60736574e+00] [ 5.72723898e-03 -2.66118733e-04 9.99983564e-01 7.98175518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.340714057 meters Centerline goodness : 0.993575 with order 1 Centerline is valid? [True, True] Translation: X:181.24, Y:-8.61, Z:0.79 [[ 9.99895320e-01 1.32881029e-02 -5.72505250e-03 1.81240289e+02] [-1.32865477e-02 9.99911682e-01 3.09611390e-04 -8.60973677e+00] [ 5.72866103e-03 -2.33512797e-04 9.99983564e-01 7.92259381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40071405700002 meters Centerline goodness : 0.992936 with order 1 Centerline is valid? [True, True] Translation: X:181.30, Y:-8.61, Z:0.79 [[ 9.99737232e-01 2.21966159e-02 -5.72508129e-03 1.81297812e+02] [-2.21952095e-02 9.99753608e-01 3.09078175e-04 -8.61266427e+00] [ 5.73053117e-03 -1.81927580e-04 9.99983564e-01 7.93539926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46071405700002 meters Centerline goodness : 0.992837 with order 1 Centerline is valid? [True, True] Translation: X:181.36, Y:-8.62, Z:0.79 [[ 9.99593717e-01 2.79217492e-02 -5.72510899e-03 1.81356480e+02] [-2.79204395e-02 9.99610101e-01 3.08564199e-04 -8.61679664e+00] [ 5.73149243e-03 -1.48591276e-04 9.99983564e-01 7.87059235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52071405700002 meters Centerline goodness : 0.993039 with order 1 Centerline is valid? [True, True] Translation: X:181.41, Y:-8.62, Z:0.79 [[ 9.99574132e-01 2.86142637e-02 -5.72519156e-03 1.81414230e+02] [-2.86129742e-02 9.99590518e-01 3.07024458e-04 -8.62068311e+00] [ 5.73163248e-03 -1.43078947e-04 9.99983564e-01 7.85989994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.580714057 meters Centerline goodness : 0.995458 with order 1 Centerline is valid? [True, True] Translation: X:181.47, Y:-8.61, Z:0.80 [[ 9.99936207e-01 9.73672889e-03 -5.72523480e-03 1.81473834e+02] [-9.73513491e-03 9.99952566e-01 3.06216113e-04 -8.60639491e+00] [ 5.72794477e-03 -2.50460645e-04 9.99983564e-01 8.02796716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.640714057 meters Centerline goodness : 0.993671 with order 1 Centerline is valid? [True, True] Translation: X:181.53, Y:-8.62, Z:0.80 [[ 9.99867213e-01 1.52570655e-02 -5.72525876e-03 1.81531594e+02] [-1.52555644e-02 9.99883580e-01 3.05767404e-04 -8.61856024e+00] [ 5.72925734e-03 -2.18384749e-04 9.99983564e-01 7.98572352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.700714057 meters Centerline goodness : 0.993715 with order 1 Centerline is valid? [True, True] Translation: X:181.59, Y:-8.62, Z:0.80 [[ 9.99849498e-01 1.63768907e-02 -5.72528834e-03 1.81588671e+02] [-1.63754111e-02 9.99865867e-01 3.05212608e-04 -8.62188040e+00] [ 5.72951882e-03 -2.11412723e-04 9.99983564e-01 8.01873456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.760714057 meters Centerline goodness : 0.993887 with order 1 Centerline is valid? [True, True] Translation: X:181.65, Y:-8.62, Z:0.81 [[ 9.99871585e-01 1.49677518e-02 -5.72532902e-03 1.81645528e+02] [-1.49662535e-02 9.99887953e-01 3.04447533e-04 -8.62176205e+00] [ 5.72924441e-03 -2.18721712e-04 9.99983564e-01 8.09853573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.820714057 meters Centerline goodness : 0.994434 with order 1 Centerline is valid? [True, True] Translation: X:181.70, Y:-8.62, Z:0.81 [[ 9.99926002e-01 1.07336536e-02 -5.72538252e-03 1.81704440e+02] [-1.07320918e-02 9.99942363e-01 3.03438102e-04 -8.62345898e+00] [ 5.72830953e-03 -2.41970318e-04 9.99983564e-01 8.11074782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.880714057 meters Centerline goodness : 0.994394 with order 1 Centerline is valid? [True, True] Translation: X:181.76, Y:-8.63, Z:0.81 [[ 9.99970342e-01 5.15117657e-03 -5.72540505e-03 1.81762335e+02] [-5.14952589e-03 9.99986695e-01 3.03012377e-04 -8.62746880e+00] [ 5.72688975e-03 -2.73520269e-04 9.99983564e-01 8.13676741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.940714057 meters Centerline goodness : 0.993620 with order 1 Centerline is valid? [True, True] Translation: X:181.82, Y:-8.63, Z:0.82 [[ 9.99972303e-01 4.75535548e-03 -5.72543284e-03 1.81820495e+02] [-4.75370133e-03 9.99988655e-01 3.02486383e-04 -8.63327967e+00] [ 5.72680632e-03 -2.75261008e-04 9.99983564e-01 8.15159096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.000714057 meters Centerline goodness : 0.994208 with order 1 Centerline is valid? [True, True] Translation: X:181.88, Y:-8.64, Z:0.81 [[ 9.99974739e-01 -4.21201386e-03 -5.72545518e-03 1.81879155e+02] [ 4.21381216e-03 9.99991076e-01 3.02063015e-04 -8.63816878e+00] [ 5.72413179e-03 -3.26181377e-04 9.99983564e-01 8.14285626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.060714057 meters Centerline goodness : 0.994358 with order 1 Centerline is valid? [True, True] Translation: X:181.94, Y:-8.64, Z:0.81 [[ 9.99946785e-01 -8.58174404e-03 -5.72547796e-03 1.81938128e+02] [ 8.58361126e-03 9.99963115e-01 3.01630482e-04 -8.64456579e+00] [ 5.72267826e-03 -3.50759708e-04 9.99983564e-01 8.11779924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12071405700001 meters Centerline goodness : 0.994745 with order 1 Centerline is valid? [True, True] Translation: X:182.00, Y:-8.65, Z:0.81 [[ 9.99961276e-01 -6.68324991e-03 -5.72548360e-03 1.81999314e+02] [ 6.68508551e-03 9.99977609e-01 3.01523531e-04 -8.64924842e+00] [ 5.72334024e-03 -3.39787202e-04 9.99983564e-01 8.14744174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18071405700002 meters Centerline goodness : 0.994485 with order 1 Centerline is valid? [True, True] Translation: X:182.06, Y:-8.65, Z:0.81 [[ 9.99970012e-01 -5.21472930e-03 -5.72547251e-03 1.82059949e+02] [ 5.21654211e-03 9.99986348e-01 3.01733827e-04 -8.65214773e+00] [ 5.72382089e-03 -3.31591947e-04 9.99983564e-01 8.14778538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24071405700002 meters Centerline goodness : 0.994484 with order 1 Centerline is valid? [True, True] Translation: X:182.12, Y:-8.66, Z:0.81 [[ 9.99962528e-01 -6.49312508e-03 -5.72547251e-03 1.82120197e+02] [ 6.49495877e-03 9.99978862e-01 3.01733827e-04 -8.65716524e+00] [ 5.72339229e-03 -3.38909228e-04 9.99983564e-01 8.12347107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.300714057 meters Centerline goodness : 0.994825 with order 1 Centerline is valid? [True, True] Translation: X:182.18, Y:-8.66, Z:0.82 [[ 9.99970993e-01 -5.02317441e-03 -5.72547251e-03 1.82180427e+02] [ 5.02498409e-03 9.99987329e-01 3.01733827e-04 -8.65913395e+00] [ 5.72388431e-03 -3.30495483e-04 9.99983564e-01 8.17532713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.360714057 meters Centerline goodness : 0.994974 with order 1 Centerline is valid? [True, True] Translation: X:182.24, Y:-8.66, Z:0.82 [[ 9.99881631e-01 -1.42808309e-02 -5.72547251e-03 1.82241103e+02] [ 1.42827917e-02 9.99897950e-01 3.01733827e-04 -8.66144670e+00] [ 5.72057922e-03 -3.83473842e-04 9.99983564e-01 8.16066527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.420714057 meters Centerline goodness : 0.995066 with order 1 Centerline is valid? [True, True] Translation: X:182.30, Y:-8.67, Z:0.82 [[ 9.99839828e-01 -1.69569260e-02 -5.72547251e-03 1.82303512e+02] [ 1.69589305e-02 9.99856141e-01 3.01733827e-04 -8.66731207e+00] [ 5.71953238e-03 -3.98783388e-04 9.99983564e-01 8.16327481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.480714057 meters Centerline goodness : 0.994849 with order 1 Centerline is valid? [True, True] Translation: X:182.37, Y:-8.67, Z:0.82 [[ 9.99788300e-01 -1.97629488e-02 -5.72544932e-03 1.82365959e+02] [ 1.97650016e-02 9.99804608e-01 3.02173388e-04 -8.67000085e+00] [ 5.71835877e-03 -4.15272933e-04 9.99983564e-01 8.17116307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.540714057 meters Centerline goodness : 0.993938 with order 1 Centerline is valid? [True, True] Translation: X:182.43, Y:-8.67, Z:0.82 [[ 9.99850697e-01 -1.63034815e-02 -5.72542609e-03 1.82427025e+02] [ 1.63054804e-02 9.99867011e-01 3.02612750e-04 -8.67352211e+00] [ 5.71973103e-03 -3.95923391e-04 9.99983564e-01 8.16912439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.600714057 meters Centerline goodness : 0.993584 with order 1 Centerline is valid? [True, True] Translation: X:182.49, Y:-8.68, Z:0.82 [[ 9.99923187e-01 -1.09927563e-02 -5.72540873e-03 1.82487805e+02] [ 1.09946703e-02 9.99939511e-01 3.02940999e-04 -8.67515928e+00] [ 5.72173224e-03 -3.65866710e-04 9.99983564e-01 8.16822745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.660714057 meters Centerline goodness : 0.993920 with order 1 Centerline is valid? [True, True] Translation: X:182.55, Y:-8.68, Z:0.82 [[ 9.99961069e-01 -6.71425915e-03 -5.72539192e-03 1.82550142e+02] [ 6.71610515e-03 9.99977401e-01 3.03258308e-04 -8.67565718e+00] [ 5.72322637e-03 -3.41698836e-04 9.99983564e-01 8.17483596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.720714057 meters Centerline goodness : 0.993442 with order 1 Centerline is valid? [True, True] Translation: X:182.61, Y:-8.68, Z:0.82 [[ 9.99975547e-01 -4.01571285e-03 -5.72536984e-03 1.82610136e+02] [ 4.01751715e-03 9.99991884e-01 3.03674487e-04 -8.67883499e+00] [ 5.72410391e-03 -3.26668833e-04 9.99983564e-01 8.18116126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.780714057 meters Centerline goodness : 0.993433 with order 1 Centerline is valid? [True, True] Translation: X:182.67, Y:-8.68, Z:0.82 [[ 9.99980883e-01 -2.33519753e-03 -5.72536443e-03 1.82669917e+02] [ 2.33697495e-03 9.99997223e-01 3.03776608e-04 -8.68324110e+00] [ 5.72463915e-03 -3.17150834e-04 9.99983564e-01 8.15755717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.840714057 meters Centerline goodness : 0.993428 with order 1 Centerline is valid? [True, True] Translation: X:182.73, Y:-8.68, Z:0.82 [[ 9.99975397e-01 -4.05286890e-03 -5.72537577e-03 1.82728551e+02] [ 4.05467317e-03 9.99991734e-01 3.03562729e-04 -8.68447240e+00] [ 5.72409814e-03 -3.26769787e-04 9.99983564e-01 8.16701255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90071405700002 meters Centerline goodness : 0.994047 with order 1 Centerline is valid? [True, True] Translation: X:182.79, Y:-8.69, Z:0.81 [[ 9.99977755e-01 -3.42180105e-03 -5.72539250e-03 1.82787650e+02] [ 3.42359320e-03 9.99994094e-01 3.03246839e-04 -8.68914315e+00] [ 5.72432103e-03 -3.22841508e-04 9.99983564e-01 8.14003392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96071405700002 meters Centerline goodness : 0.995272 with order 1 Centerline is valid? [True, True] Translation: X:182.85, Y:-8.68, Z:0.82 [[ 9.99865036e-01 -1.53990155e-02 -5.72540329e-03 1.82847806e+02] [ 1.54010020e-02 9.99881352e-01 3.03042941e-04 -8.68278522e+00] [ 5.72005742e-03 -3.91178989e-04 9.99983564e-01 8.17009438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02071405700002 meters Centerline goodness : 0.994971 with order 1 Centerline is valid? [True, True] Translation: X:182.91, Y:-8.69, Z:0.82 [[ 9.99878613e-01 -1.44906363e-02 -5.72540857e-03 1.82909513e+02] [ 1.44926074e-02 9.99894931e-01 3.02943073e-04 -8.68637773e+00] [ 5.72041717e-03 -3.85882398e-04 9.99983564e-01 8.20121552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.080714057 meters Centerline goodness : 0.993790 with order 1 Centerline is valid? [True, True] Translation: X:182.97, Y:-8.70, Z:0.82 [[ 9.99958140e-01 -7.13709655e-03 -5.72538640e-03 1.82969824e+02] [ 7.13895005e-03 9.99974471e-01 3.03361576e-04 -8.69823605e+00] [ 5.72307512e-03 -3.44222125e-04 9.99983564e-01 8.15152854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.140714057 meters Centerline goodness : 0.994157 with order 1 Centerline is valid? [True, True] Translation: X:183.03, Y:-8.70, Z:0.82 [[ 9.99980650e-01 -2.43321952e-03 -5.72534817e-03 1.83030227e+02] [ 2.43500028e-03 9.99996989e-01 3.04081295e-04 -8.70261785e+00] [ 5.72459104e-03 -3.18016636e-04 9.99983564e-01 8.19450879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.200714057 meters Centerline goodness : 0.993875 with order 1 Centerline is valid? [True, True] Translation: X:183.09, Y:-8.71, Z:0.82 [[ 9.99978811e-01 -3.09799672e-03 -5.72534817e-03 1.83089407e+02] [ 3.09978835e-03 9.99995149e-01 3.04081295e-04 -8.70613388e+00] [ 5.72437836e-03 -3.21822220e-04 9.99983564e-01 8.17084419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.260714057 meters Centerline goodness : 0.994199 with order 1 Centerline is valid? [True, True] Translation: X:183.15, Y:-8.71, Z:0.82 [[ 9.99981198e-01 -2.19636042e-03 -5.72535943e-03 1.83148526e+02] [ 2.19813610e-03 9.99997538e-01 3.03869232e-04 -8.70936279e+00] [ 5.72467793e-03 -3.16448638e-04 9.99983564e-01 8.17780267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.320714057 meters Centerline goodness : 0.994301 with order 1 Centerline is valid? [True, True] Translation: X:183.21, Y:-8.72, Z:0.82 [[ 9.99964487e-01 -6.18426305e-03 -5.72537105e-03 1.83207394e+02] [ 6.18610263e-03 9.99980820e-01 3.03650134e-04 -8.71588605e+00] [ 5.72338338e-03 -3.39057084e-04 9.99983564e-01 8.15887418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.380714057 meters Centerline goodness : 0.995747 with order 1 Centerline is valid? [True, True] Translation: X:183.27, Y:-8.71, Z:0.82 [[ 9.99894779e-01 -1.33285992e-02 -5.72538269e-03 1.83267935e+02] [ 1.33305542e-02 9.99911098e-01 3.03430494e-04 -8.71407118e+00] [ 5.72082939e-03 -3.79721091e-04 9.99983564e-01 8.20275540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.440714057 meters Centerline goodness : 0.995843 with order 1 Centerline is valid? [True, True] Translation: X:183.33, Y:-8.72, Z:0.82 [[ 9.99870965e-01 -1.50091420e-02 -5.72538269e-03 1.83329120e+02] [ 1.50111244e-02 9.99887281e-01 3.03430494e-04 -8.71982228e+00] [ 5.72018310e-03 -3.89335773e-04 9.99983564e-01 8.19760142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.500714057 meters Centerline goodness : 0.995030 with order 1 Centerline is valid? [True, True] Translation: X:183.39, Y:-8.73, Z:0.82 [[ 9.99939351e-01 -9.40820125e-03 -5.72536659e-03 1.83390209e+02] [ 9.41009396e-03 9.99955678e-01 3.03733966e-04 -8.73175430e+00] [ 5.72225524e-03 -3.57591782e-04 9.99983564e-01 8.19284303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.560714057 meters Centerline goodness : 0.993961 with order 1 Centerline is valid? [True, True] Translation: X:183.45, Y:-8.74, Z:0.82 [[ 9.99957220e-01 -7.26495993e-03 -5.72533472e-03 1.83451010e+02] [ 7.26682106e-03 9.99973550e-01 3.04333500e-04 -8.73556905e+00] [ 5.72297232e-03 -3.45925464e-04 9.99983564e-01 8.17436115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62071405700001 meters Centerline goodness : 0.994266 with order 1 Centerline is valid? [True, True] Translation: X:183.51, Y:-8.74, Z:0.82 [[ 9.99959694e-01 -6.91604034e-03 -5.72531751e-03 1.83511341e+02] [ 6.91789762e-03 9.99976025e-01 3.04657021e-04 -8.73771504e+00] [ 5.72307322e-03 -3.44251902e-04 9.99983564e-01 8.20077156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68071405700002 meters Centerline goodness : 0.994909 with order 1 Centerline is valid? [True, True] Translation: X:183.57, Y:-8.73, Z:0.82 [[ 9.99906645e-01 -1.24065026e-02 -5.72531751e-03 1.83571683e+02] [ 1.24084495e-02 9.99922966e-01 3.04657021e-04 -8.73450320e+00] [ 5.72109673e-03 -3.75670893e-04 9.99983564e-01 8.23834532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74071405700002 meters Centerline goodness : 0.994382 with order 1 Centerline is valid? [True, True] Translation: X:183.63, Y:-8.75, Z:0.82 [[ 9.99955316e-01 -7.52249885e-03 -5.72528484e-03 1.83632842e+02] [ 7.52436953e-03 9.99971645e-01 3.05269727e-04 -8.74623009e+00] [ 5.72282610e-03 -3.48335245e-04 9.99983564e-01 8.19683053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.800714057 meters Centerline goodness : 0.994816 with order 1 Centerline is valid? [True, True] Translation: X:183.69, Y:-8.75, Z:0.83 [[ 9.99952918e-01 -7.83479426e-03 -5.72527348e-03 1.83694038e+02] [ 7.83667125e-03 9.99969246e-01 3.05482612e-04 -8.74854006e+00] [ 5.72270401e-03 -3.50335315e-04 9.99983564e-01 8.25055741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.860714057 meters Centerline goodness : 0.994966 with order 1 Centerline is valid? [True, True] Translation: X:183.75, Y:-8.75, Z:0.82 [[ 9.99963311e-01 -6.37159924e-03 -5.72526209e-03 1.83753944e+02] [ 6.37345355e-03 9.99979643e-01 3.05695799e-04 -8.75062988e+00] [ 5.72319777e-03 -3.42174276e-04 9.99983564e-01 8.22930028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.920714057 meters Centerline goodness : 0.994314 with order 1 Centerline is valid? [True, True] Translation: X:183.81, Y:-8.75, Z:0.83 [[ 9.99981950e-01 -1.82218212e-03 -5.72525647e-03 1.83814094e+02] [ 1.82396271e-03 9.99998290e-01 3.05801018e-04 -8.75394323e+00] [ 5.72468946e-03 -3.16238152e-04 9.99983564e-01 8.27662168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.980714057 meters Centerline goodness : 0.994145 with order 1 Centerline is valid? [True, True] Translation: X:183.87, Y:-8.76, Z:0.83 [[ 9.99983454e-01 -5.59403188e-04 -5.72525647e-03 1.83872291e+02] [ 5.61163148e-04 9.99999796e-01 3.05801018e-04 -8.75733993e+00] [ 5.72508424e-03 -3.09008761e-04 9.99983564e-01 8.27408148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.040714057 meters Centerline goodness : 0.995048 with order 1 Centerline is valid? [True, True] Translation: X:183.93, Y:-8.76, Z:0.83 [[ 9.99981746e-01 -1.93104757e-03 -5.72527378e-03 1.83931406e+02] [ 1.93282809e-03 9.99998085e-01 3.05476649e-04 -8.76037337e+00] [ 5.72467293e-03 -3.16537043e-04 9.99983564e-01 8.25783271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.100714057 meters Centerline goodness : 0.994850 with order 1 Centerline is valid? [True, True] Translation: X:183.99, Y:-8.76, Z:0.83 [[ 9.99978087e-01 -3.32370577e-03 -5.72529675e-03 1.83990524e+02] [ 3.32550659e-03 9.99994424e-01 3.05045566e-04 -8.76434222e+00] [ 5.72425094e-03 -3.24078394e-04 9.99983564e-01 8.26399895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.160714057 meters Centerline goodness : 0.994829 with order 1 Centerline is valid? [True, True] Translation: X:184.05, Y:-8.77, Z:0.83 [[ 9.99969306e-01 -5.34858452e-03 -5.72531994e-03 1.84049964e+02] [ 5.35041592e-03 9.99985640e-01 3.04609707e-04 -8.76781033e+00] [ 5.72360849e-03 -3.35233200e-04 9.99983564e-01 8.29302774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.220714057 meters Centerline goodness : 0.994918 with order 1 Centerline is valid? [True, True] Translation: X:184.11, Y:-8.77, Z:0.83 [[ 9.99963754e-01 -6.30174442e-03 -5.72533137e-03 1.84109530e+02] [ 6.30359016e-03 9.99980086e-01 3.04394719e-04 -8.77250058e+00] [ 5.72329914e-03 -3.40473828e-04 9.99983564e-01 8.29260997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.280714057 meters Centerline goodness : 0.994562 with order 1 Centerline is valid? [True, True] Translation: X:184.17, Y:-8.78, Z:0.83 [[ 9.99973395e-01 -4.51999789e-03 -5.72533698e-03 1.84169682e+02] [ 4.52181393e-03 9.99989730e-01 3.04289172e-04 -8.77665102e+00] [ 5.72390279e-03 -3.30169985e-04 9.99983564e-01 8.33808571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.340714057 meters Centerline goodness : 0.995408 with order 1 Centerline is valid? [True, True] Translation: X:184.23, Y:-8.78, Z:0.83 [[ 9.99949884e-01 -8.21278112e-03 -5.72533698e-03 1.84228759e+02] [ 8.21465748e-03 9.99966213e-01 3.04289172e-04 -8.78028724e+00] [ 5.72264448e-03 -3.51305605e-04 9.99983564e-01 8.30601521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40071405700002 meters Centerline goodness : 0.993760 with order 1 Centerline is valid? [True, True] Translation: X:184.29, Y:-8.79, Z:0.83 [[ 9.99979340e-01 -2.92244611e-03 -5.72534257e-03 1.84289122e+02] [ 2.92423546e-03 9.99995678e-01 3.04183933e-04 -8.79086738e+00] [ 5.72442887e-03 -3.20919898e-04 9.99983564e-01 8.28941205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46071405700002 meters Centerline goodness : 0.994014 with order 1 Centerline is valid? [True, True] Translation: X:184.35, Y:-8.79, Z:0.83 [[ 9.99939445e-01 -9.39828600e-03 -5.72533682e-03 1.84349058e+02] [ 9.40018173e-03 9.99955771e-01 3.04292205e-04 -8.79243659e+00] [ 5.72222376e-03 -3.58092985e-04 9.99983564e-01 8.33859295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52071405700002 meters Centerline goodness : 0.995487 with order 1 Centerline is valid? [True, True] Translation: X:184.41, Y:-8.79, Z:0.83 [[ 9.99786304e-01 -1.98637200e-02 -5.72534822e-03 1.84409018e+02] [ 1.98657853e-02 9.99802610e-01 3.04077407e-04 -8.78722250e+00] [ 5.71817799e-03 -4.17750965e-04 9.99983564e-01 8.34848518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.580714057 meters Centerline goodness : 0.992806 with order 1 Centerline is valid? [True, True] Translation: X:184.47, Y:-8.80, Z:0.83 [[ 9.99912862e-01 -1.18948653e-02 -5.72535385e-03 1.84469114e+02] [ 1.18967999e-02 9.99929184e-01 3.03971423e-04 -8.80097685e+00] [ 5.72133271e-03 -3.72058325e-04 9.99983564e-01 8.29460886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.640714057 meters Centerline goodness : 0.993137 with order 1 Centerline is valid? [True, True] Translation: X:184.53, Y:-8.81, Z:0.83 [[ 9.99952839e-01 -7.84475907e-03 -5.72534806e-03 1.84530820e+02] [ 7.84662823e-03 9.99969169e-01 3.04080532e-04 -8.80541354e+00] [ 5.72278610e-03 -3.48990868e-04 9.99983564e-01 8.30326723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.700714057 meters Centerline goodness : 0.993818 with order 1 Centerline is valid? [True, True] Translation: X:184.59, Y:-8.81, Z:0.83 [[ 9.99957072e-01 -7.28530448e-03 -5.72532503e-03 1.84591056e+02] [ 7.28716697e-03 9.99973402e-01 3.04513539e-04 -8.80730121e+00] [ 5.72295427e-03 -3.46221866e-04 9.99983564e-01 8.32403765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.760714057 meters Centerline goodness : 0.992836 with order 1 Centerline is valid? [True, True] Translation: X:184.65, Y:-8.81, Z:0.83 [[ 9.99954716e-01 -7.60174525e-03 -5.72530689e-03 1.84651113e+02] [ 7.60361486e-03 9.99971046e-01 3.04854168e-04 -8.80974689e+00] [ 5.72282369e-03 -3.48373392e-04 9.99983564e-01 8.33898170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.820714057 meters Centerline goodness : 0.993291 with order 1 Centerline is valid? [True, True] Translation: X:184.71, Y:-8.81, Z:0.83 [[ 9.99928789e-01 -1.04708513e-02 -5.72530689e-03 1.84711019e+02] [ 1.04727678e-02 9.99945113e-01 3.04854168e-04 -8.81237287e+00] [ 5.72180056e-03 -3.64792269e-04 9.99983564e-01 8.34901358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.880714057 meters Centerline goodness : 0.992983 with order 1 Centerline is valid? [True, True] Translation: X:184.77, Y:-8.82, Z:0.84 [[ 9.99893630e-01 -1.34145034e-02 -5.72528081e-03 1.84773071e+02] [ 1.34164707e-02 9.99909948e-01 3.05343105e-04 -8.81695941e+00] [ 5.72066922e-03 -3.82123688e-04 9.99983564e-01 8.35115646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.940714057 meters Centerline goodness : 0.994141 with order 1 Centerline is valid? [True, True] Translation: X:184.83, Y:-8.82, Z:0.83 [[ 9.99837923e-01 -1.70689979e-02 -5.72519903e-03 1.84834780e+02] [ 1.70710335e-02 9.99854232e-01 3.06868888e-04 -8.82175965e+00] [ 5.71912654e-03 -4.04554216e-04 9.99983564e-01 8.30126243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.000714057 meters Centerline goodness : 0.993494 with order 1 Centerline is valid? [True, True] Translation: X:184.90, Y:-8.83, Z:0.83 [[ 9.99878503e-01 -1.44983323e-02 -5.72511760e-03 1.84895480e+02] [ 1.45003346e-02 9.99894817e-01 3.08380728e-04 -8.82541079e+00] [ 5.72004440e-03 -3.91359382e-04 9.99983564e-01 8.33217344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.060714057 meters Centerline goodness : 0.993395 with order 1 Centerline is valid? [True, True] Translation: X:184.96, Y:-8.83, Z:0.83 [[ 9.99837370e-01 -1.71013677e-02 -5.72510035e-03 1.84956994e+02] [ 1.71034143e-02 9.99853678e-01 3.08700555e-04 -8.82857025e+00] [ 5.71898344e-03 -4.06569114e-04 9.99983564e-01 8.31420105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12071405700001 meters Centerline goodness : 0.995176 with order 1 Centerline is valid? [True, True] Translation: X:185.02, Y:-8.82, Z:0.84 [[ 9.99747511e-01 -2.17287307e-02 -5.72508345e-03 1.85019000e+02] [ 2.17308545e-02 9.99763809e-01 3.09013698e-04 -8.81936883e+00] [ 5.71701676e-03 -4.33346631e-04 9.99983564e-01 8.40584757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18071405700002 meters Centerline goodness : 0.995702 with order 1 Centerline is valid? [True, True] Translation: X:185.08, Y:-8.82, Z:0.84 [[ 9.99812647e-01 -1.84903623e-02 -5.72507235e-03 1.85080381e+02] [ 1.84924344e-02 9.99828953e-01 3.09219124e-04 -8.82044022e+00] [ 5.71837552e-03 -4.15031716e-04 9.99983564e-01 8.40513307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24071405700002 meters Centerline goodness : 0.995118 with order 1 Centerline is valid? [True, True] Translation: X:185.14, Y:-8.82, Z:0.84 [[ 9.99879473e-01 -1.44313285e-02 -5.72505592e-03 1.85142459e+02] [ 1.44333362e-02 9.99895786e-01 3.09522989e-04 -8.82198606e+00] [ 5.71999247e-03 -3.92117340e-04 9.99983564e-01 8.42554391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.300714057 meters Centerline goodness : 0.994529 with order 1 Centerline is valid? [True, True] Translation: X:185.20, Y:-8.82, Z:0.84 [[ 9.99926831e-01 -1.06562623e-02 -5.72503430e-03 1.85203583e+02] [ 1.06582106e-02 9.99943152e-01 3.09922503e-04 -8.82392621e+00] [ 5.72140622e-03 -3.70918448e-04 9.99983564e-01 8.42901875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.360714057 meters Centerline goodness : 0.994740 with order 1 Centerline is valid? [True, True] Translation: X:185.27, Y:-8.83, Z:0.84 [[ 9.99952262e-01 -7.91824990e-03 -5.72500151e-03 1.85265551e+02] [ 7.92015702e-03 9.99968587e-01 3.10527009e-04 -8.82577746e+00] [ 5.72236284e-03 -3.55855096e-04 9.99983564e-01 8.42373558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.420714057 meters Centerline goodness : 0.994846 with order 1 Centerline is valid? [True, True] Translation: X:185.33, Y:-8.83, Z:0.84 [[ 9.99963595e-01 -6.32711582e-03 -5.72498056e-03 1.85326398e+02] [ 6.32899917e-03 9.99979923e-01 3.10912794e-04 -8.82790003e+00] [ 5.72289844e-03 -3.47134873e-04 9.99983564e-01 8.40992076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.480714057 meters Centerline goodness : 0.994622 with order 1 Centerline is valid? [True, True] Translation: X:185.39, Y:-8.83, Z:0.85 [[ 9.99967157e-01 -5.73675378e-03 -5.72497023e-03 1.85387053e+02] [ 5.73862857e-03 9.99983486e-01 3.11102828e-04 -8.83058891e+00] [ 5.72309097e-03 -3.43946088e-04 9.99983564e-01 8.45261184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.540714057 meters Centerline goodness : 0.992868 with order 1 Centerline is valid? [True, True] Translation: X:185.45, Y:-8.85, Z:0.83 [[ 9.99978131e-01 3.31099025e-03 -5.72496468e-03 1.85446875e+02] [-3.30926269e-03 9.99994476e-01 3.11204948e-04 -8.84790986e+00] [ 5.72596345e-03 -2.92252731e-04 9.99983564e-01 8.34565834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.600714057 meters Centerline goodness : 0.993954 with order 1 Centerline is valid? [True, True] Translation: X:185.50, Y:-8.85, Z:0.83 [[ 9.99983599e-01 1.60448521e-04 -5.72496468e-03 1.85504877e+02] [-1.58669476e-04 9.99999939e-01 3.11204948e-04 -8.85079332e+00] [ 5.72501426e-03 -3.10291467e-04 9.99983564e-01 8.34127052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.660714057 meters Centerline goodness : 0.994566 with order 1 Centerline is valid? [True, True] Translation: X:185.56, Y:-8.85, Z:0.84 [[ 9.99975700e-01 -3.97790556e-03 -5.72499643e-03 1.85563869e+02] [ 3.97974887e-03 9.99992033e-01 3.10619698e-04 -8.85366905e+00] [ 5.72371520e-03 -3.33396198e-04 9.99983564e-01 8.35041954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.720714057 meters Centerline goodness : 0.994434 with order 1 Centerline is valid? [True, True] Translation: X:185.62, Y:-8.86, Z:0.83 [[ 9.99970587e-01 -5.10384838e-03 -5.72501942e-03 1.85623579e+02] [ 5.10570766e-03 9.99986918e-01 3.10195393e-04 -8.85690604e+00] [ 5.72336134e-03 -3.39416545e-04 9.99983564e-01 8.34720269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.780714057 meters Centerline goodness : 0.995001 with order 1 Centerline is valid? [True, True] Translation: X:185.68, Y:-8.86, Z:0.84 [[ 9.99957187e-01 -7.26969227e-03 -5.72502508e-03 1.85683276e+02] [ 7.27158632e-03 9.99973514e-01 3.10090983e-04 -8.85884832e+00] [ 5.72261918e-03 -3.51707721e-04 9.99983564e-01 8.37831070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.840714057 meters Centerline goodness : 0.994837 with order 1 Centerline is valid? [True, True] Translation: X:185.74, Y:-8.86, Z:0.83 [[ 9.99978637e-01 -3.15420614e-03 -5.72503040e-03 1.85743784e+02] [ 3.15603242e-03 9.99994972e-01 3.09992644e-04 -8.86449417e+00] [ 5.72402384e-03 -3.28054403e-04 9.99983564e-01 8.34920549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90071405700002 meters Centerline goodness : 0.994609 with order 1 Centerline is valid? [True, True] Translation: X:185.80, Y:-8.87, Z:0.84 [[ 9.99983567e-01 2.98676086e-04 -5.72503040e-03 1.85802507e+02] [-2.96906220e-04 9.99999908e-01 3.09992644e-04 -8.86602027e+00] [ 5.72512246e-03 -3.08287753e-04 9.99983564e-01 8.36996207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96071405700002 meters Centerline goodness : 0.992090 with order 1 Centerline is valid? [True, True] Translation: X:185.86, Y:-8.85, Z:0.85 [[ 9.99972460e-01 -4.72263135e-03 -5.72504761e-03 1.85862453e+02] [ 4.72448143e-03 9.99988792e-01 3.09674538e-04 -8.85216696e+00] [ 5.72352096e-03 -3.36713891e-04 9.99983564e-01 8.48059830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02071405700002 meters Centerline goodness : 0.993601 with order 1 Centerline is valid? [True, True] Translation: X:185.92, Y:-8.87, Z:0.84 [[ 9.99932804e-01 1.00801984e-02 -5.72507504e-03 1.85921761e+02] [-1.00785932e-02 9.99949162e-01 3.09166602e-04 -8.86551679e+00] [ 5.72790045e-03 -2.51445125e-04 9.99983564e-01 8.41214602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.080714057 meters Centerline goodness : 0.993400 with order 1 Centerline is valid? [True, True] Translation: X:185.98, Y:-8.87, Z:0.84 [[ 9.99882960e-01 1.41876519e-02 -5.72508934e-03 1.85980441e+02] [-1.41861154e-02 9.99899324e-01 3.08901557e-04 -8.86647716e+00] [ 5.72889555e-03 -2.27648625e-04 9.99983564e-01 8.40933878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.140714057 meters Centerline goodness : 0.993765 with order 1 Centerline is valid? [True, True] Translation: X:186.04, Y:-8.87, Z:0.84 [[ 9.99853114e-01 1.61546219e-02 -5.72517659e-03 1.86038399e+02] [-1.61531269e-02 9.99869483e-01 3.07275931e-04 -8.86706078e+00] [ 5.72939328e-03 -2.14751293e-04 9.99983564e-01 8.40569647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.200714057 meters Centerline goodness : 0.995229 with order 1 Centerline is valid? [True, True] Translation: X:186.10, Y:-8.86, Z:0.85 [[ 9.99955443e-01 7.50556012e-03 -5.72520517e-03 1.86096177e+02] [-7.50392663e-03 9.99971798e-01 3.06742469e-04 -8.85970937e+00] [ 5.72734598e-03 -2.63767282e-04 9.99983564e-01 8.46651230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.260714057 meters Centerline goodness : 0.995465 with order 1 Centerline is valid? [True, True] Translation: X:186.16, Y:-8.86, Z:0.85 [[ 9.99960697e-01 6.76955854e-03 -5.72523335e-03 1.86155165e+02] [-6.76791603e-03 9.99977051e-01 3.06215526e-04 -8.85935814e+00] [ 5.72717491e-03 -2.67455592e-04 9.99983564e-01 8.51226781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.320714057 meters Centerline goodness : 0.995572 with order 1 Centerline is valid? [True, True] Translation: X:186.21, Y:-8.86, Z:0.85 [[ 9.99970111e-01 5.19593132e-03 -5.72525020e-03 1.86213445e+02] [-5.19426487e-03 9.99986463e-01 3.05900280e-04 -8.86257600e+00] [ 5.72676213e-03 -2.76152671e-04 9.99983564e-01 8.50027778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.380714057 meters Centerline goodness : 0.993107 with order 1 Centerline is valid? [True, True] Translation: X:186.27, Y:-8.89, Z:0.83 [[ 9.99808244e-01 1.87268934e-02 -5.72527274e-03 1.86272814e+02] [-1.87254508e-02 9.99824617e-01 3.05477706e-04 -8.88735894e+00] [ 5.72998928e-03 -1.98210816e-04 9.99983564e-01 8.30281070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.440714057 meters Centerline goodness : 0.992752 with order 1 Centerline is valid? [True, True] Translation: X:186.33, Y:-8.89, Z:0.83 [[ 9.99862903e-01 1.55369238e-02 -5.72527579e-03 1.86331275e+02] [-1.55354293e-02 9.99879271e-01 3.05420548e-04 -8.89119188e+00] [ 5.72932988e-03 -2.16434059e-04 9.99983564e-01 8.30093300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.500714057 meters Centerline goodness : 0.993403 with order 1 Centerline is valid? [True, True] Translation: X:186.39, Y:-8.89, Z:0.84 [[ 9.99963120e-01 6.40156450e-03 -5.72529702e-03 1.86390361e+02] [-6.39992279e-03 9.99979474e-01 3.05022163e-04 -8.88967594e+00] [ 5.72713212e-03 -2.68369455e-04 9.99983564e-01 8.36633642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.560714057 meters Centerline goodness : 0.993655 with order 1 Centerline is valid? [True, True] Translation: X:186.45, Y:-8.89, Z:0.84 [[ 9.99983289e-01 8.01920194e-04 -5.72530744e-03 1.86449051e+02] [-8.00188047e-04 9.99999633e-01 3.04826425e-04 -8.89193305e+00] [ 5.72554979e-03 -3.00240008e-04 9.99983564e-01 8.38904864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62071405700001 meters Centerline goodness : 0.993569 with order 1 Centerline is valid? [True, True] Translation: X:186.51, Y:-8.89, Z:0.84 [[ 9.99981319e-01 -2.14051442e-03 -5.72532789e-03 1.86507054e+02] [ 2.14229245e-03 9.99997659e-01 3.04441838e-04 -8.89330319e+00] [ 5.72466282e-03 -3.16701478e-04 9.99983564e-01 8.41280263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68071405700002 meters Centerline goodness : 0.993719 with order 1 Centerline is valid? [True, True] Translation: X:186.57, Y:-8.90, Z:0.84 [[ 9.99983592e-01 -1.90237029e-04 -5.72535311e-03 1.86565579e+02] [ 1.91980483e-04 9.99999935e-01 3.03966743e-04 -8.90040817e+00] [ 5.72529492e-03 -3.05060911e-04 9.99983564e-01 8.37845702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74071405700002 meters Centerline goodness : 0.992952 with order 1 Centerline is valid? [True, True] Translation: X:186.62, Y:-8.91, Z:0.84 [[ 9.99983589e-01 -2.05318174e-04 -5.72536796e-03 1.86623624e+02] [ 2.07060277e-04 9.99999932e-01 3.03686773e-04 -8.90502396e+00] [ 5.72530522e-03 -3.04867285e-04 9.99983564e-01 8.38254812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.800714057 meters Centerline goodness : 0.993817 with order 1 Centerline is valid? [True, True] Translation: X:186.68, Y:-8.90, Z:0.84 [[ 9.99958175e-01 -7.13213609e-03 -5.72539215e-03 1.86683572e+02] [ 7.13398875e-03 9.99974507e-01 3.03230027e-04 -8.90309653e+00] [ 5.72308352e-03 -3.44062228e-04 9.99983564e-01 8.43242348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.860714057 meters Centerline goodness : 0.994273 with order 1 Centerline is valid? [True, True] Translation: X:186.74, Y:-8.91, Z:0.84 [[ 9.99834911e-01 -1.72444268e-02 -5.72540170e-03 1.86743560e+02] [ 1.72464435e-02 9.99851223e-01 3.03049682e-04 -8.90781589e+00] [ 5.71932397e-03 -4.01742469e-04 9.99983564e-01 8.38570257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.920714057 meters Centerline goodness : 0.994457 with order 1 Centerline is valid? [True, True] Translation: X:186.81, Y:-8.91, Z:0.84 [[ 9.99762206e-01 -2.10416489e-02 -5.72539698e-03 1.86806040e+02] [ 2.10437280e-02 9.99778510e-01 3.03138874e-04 -8.91106291e+00] [ 5.71775032e-03 -4.23550486e-04 9.99983564e-01 8.40331852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.980714057 meters Centerline goodness : 0.995775 with order 1 Centerline is valid? [True, True] Translation: X:186.87, Y:-8.91, Z:0.85 [[ 9.99667909e-01 -2.51255058e-02 -5.72537830e-03 1.86868676e+02] [ 2.51276536e-02 9.99684205e-01 3.03491169e-04 -8.90517050e+00] [ 5.71594489e-03 -4.47255705e-04 9.99983564e-01 8.48408148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.040714057 meters Centerline goodness : 0.993594 with order 1 Centerline is valid? [True, True] Translation: X:186.93, Y:-8.91, Z:0.85 [[ 9.99864179e-01 -1.54545958e-02 -5.72535599e-03 1.86930729e+02] [ 1.54565882e-02 9.99880494e-01 3.03911611e-04 -8.91448816e+00] [ 5.71997494e-03 -3.92364803e-04 9.99983564e-01 8.45316991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.100714057 meters Centerline goodness : 0.994767 with order 1 Centerline is valid? [True, True] Translation: X:186.99, Y:-8.91, Z:0.85 [[ 9.99783344e-01 -2.00121616e-02 -5.72533335e-03 1.86993425e+02] [ 2.00142308e-02 9.99799649e-01 3.04337475e-04 -8.90746100e+00] [ 5.71809582e-03 -4.18859682e-04 9.99983564e-01 8.50445179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.160714057 meters Centerline goodness : 0.994805 with order 1 Centerline is valid? [True, True] Translation: X:187.05, Y:-8.91, Z:0.85 [[ 9.99766833e-01 -2.08207014e-02 -5.72529492e-03 1.87054503e+02] [ 2.08227878e-02 9.99783136e-01 3.05058636e-04 -8.91078427e+00] [ 5.71770178e-03 -4.24204108e-04 9.99983564e-01 8.50417539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.220714057 meters Centerline goodness : 0.994865 with order 1 Centerline is valid? [True, True] Translation: X:187.12, Y:-8.91, Z:0.85 [[ 9.99793070e-01 -1.95202345e-02 -5.72525772e-03 1.87117161e+02] [ 1.95223038e-02 9.99809375e-01 3.05755198e-04 -8.91212404e+00] [ 5.71819793e-03 -4.17462149e-04 9.99983564e-01 8.51109002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.280714057 meters Centerline goodness : 0.994726 with order 1 Centerline is valid? [True, True] Translation: X:187.18, Y:-8.91, Z:0.85 [[ 9.99809051e-01 -1.86837664e-02 -5.72523590e-03 1.87178958e+02] [ 1.86858243e-02 9.99825358e-01 3.06163262e-04 -8.91469459e+00] [ 5.71851575e-03 -4.13085552e-04 9.99983564e-01 8.50477172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.340714057 meters Centerline goodness : 0.994091 with order 1 Centerline is valid? [True, True] Translation: X:187.24, Y:-8.93, Z:0.84 [[ 9.99919282e-01 -1.13424427e-02 -5.72521391e-03 1.87240415e+02] [ 1.13443831e-02 9.99935603e-01 3.06573947e-04 -8.92793469e+00] [ 5.72136793e-03 -3.71498222e-04 9.99983564e-01 8.40540952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40071405700002 meters Centerline goodness : 0.993885 with order 1 Centerline is valid? [True, True] Translation: X:187.30, Y:-8.93, Z:0.84 [[ 9.99895753e-01 -1.32553732e-02 -5.72519131e-03 1.87301866e+02] [ 1.32573473e-02 9.99912070e-01 3.06995426e-04 -8.93087220e+00] [ 5.72061856e-03 -3.82864272e-04 9.99983564e-01 8.39735653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46071405700002 meters Centerline goodness : 0.994120 with order 1 Centerline is valid? [True, True] Translation: X:187.37, Y:-8.93, Z:0.84 [[ 9.99821244e-01 -1.80195022e-02 -5.72517479e-03 1.87365356e+02] [ 1.80215557e-02 9.99837551e-01 3.07303168e-04 -8.93314937e+00] [ 5.71870729e-03 -4.10424792e-04 9.99983564e-01 8.41450504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52071405700002 meters Centerline goodness : 0.993897 with order 1 Centerline is valid? [True, True] Translation: X:187.43, Y:-8.94, Z:0.84 [[ 9.99827073e-01 -1.76931267e-02 -5.72508256e-03 1.87426827e+02] [ 1.76951847e-02 9.99843380e-01 3.09012029e-04 -8.93558859e+00] [ 5.71871851e-03 -4.10264986e-04 9.99983564e-01 8.40933969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.580714057 meters Centerline goodness : 0.993906 with order 1 Centerline is valid? [True, True] Translation: X:187.49, Y:-8.94, Z:0.84 [[ 9.99767251e-01 -2.08006481e-02 -5.72506554e-03 1.87490026e+02] [ 2.08027585e-02 9.99783551e-01 3.09326962e-04 -8.93895700e+00] [ 5.71739216e-03 -4.28352122e-04 9.99983564e-01 8.42362307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.640714057 meters Centerline goodness : 0.993764 with order 1 Centerline is valid? [True, True] Translation: X:187.55, Y:-8.94, Z:0.85 [[ 9.99837855e-01 -1.70730300e-02 -5.72503232e-03 1.87551818e+02] [ 1.70750831e-02 9.99854162e-01 3.09940490e-04 -8.94389976e+00] [ 5.71890577e-03 -4.07645637e-04 9.99983564e-01 8.46059271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.700714057 meters Centerline goodness : 0.993698 with order 1 Centerline is valid? [True, True] Translation: X:187.61, Y:-8.95, Z:0.85 [[ 9.99824821e-01 -1.78199984e-02 -5.72500832e-03 1.87613661e+02] [ 1.78220663e-02 9.99841126e-01 3.10383316e-04 -8.94667193e+00] [ 5.71856773e-03 -4.12360421e-04 9.99983564e-01 8.48906415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.760714057 meters Centerline goodness : 0.994026 with order 1 Centerline is valid? [True, True] Translation: X:187.68, Y:-8.95, Z:0.85 [[ 9.99822846e-01 -1.79304750e-02 -5.72498440e-03 1.87675613e+02] [ 1.79325472e-02 9.99839151e-01 3.10823737e-04 -8.95080763e+00] [ 5.71849033e-03 -4.13432226e-04 9.99983564e-01 8.49787399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.820714057 meters Centerline goodness : 0.994444 with order 1 Centerline is valid? [True, True] Translation: X:187.74, Y:-8.96, Z:0.85 [[ 9.99826443e-01 -1.77287518e-02 -5.72496083e-03 1.87737209e+02] [ 1.77308232e-02 9.99842748e-01 3.11257393e-04 -8.95590554e+00] [ 5.71854236e-03 -4.12711640e-04 9.99983564e-01 8.47401780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.880714057 meters Centerline goodness : 0.993868 with order 1 Centerline is valid? [True, True] Translation: X:187.80, Y:-8.96, Z:0.85 [[ 9.99800605e-01 -1.91304690e-02 -5.72493758e-03 1.87799490e+02] [ 1.91325656e-02 9.99816907e-01 3.11684393e-04 -8.96009024e+00] [ 5.71792672e-03 -4.21154988e-04 9.99983564e-01 8.45743981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.940714057 meters Centerline goodness : 0.994371 with order 1 Centerline is valid? [True, True] Translation: X:187.86, Y:-8.96, Z:0.84 [[ 9.99809515e-01 -1.86590146e-02 -5.72491450e-03 1.87861911e+02] [ 1.86611060e-02 9.99825818e-01 3.12107819e-04 -8.96482142e+00] [ 5.71809369e-03 -4.18881604e-04 9.99983564e-01 8.44855710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.000714057 meters Centerline goodness : 0.994105 with order 1 Centerline is valid? [True, True] Translation: X:187.92, Y:-8.97, Z:0.84 [[ 9.99799568e-01 -1.91846165e-02 -5.72489063e-03 1.87924092e+02] [ 1.91867190e-02 9.99815869e-01 3.12545021e-04 -8.96767480e+00] [ 5.71784044e-03 -4.22324245e-04 9.99983564e-01 8.43086607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.060714057 meters Centerline goodness : 0.993839 with order 1 Centerline is valid? [True, True] Translation: X:187.99, Y:-8.97, Z:0.85 [[ 9.99825536e-01 -1.77798344e-02 -5.72486726e-03 1.87986497e+02] [ 1.77819163e-02 9.99841840e-01 3.12972438e-04 -8.96928095e+00] [ 5.71839722e-03 -4.14716946e-04 9.99983564e-01 8.47886164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12071405700001 meters Centerline goodness : 0.993689 with order 1 Centerline is valid? [True, True] Translation: X:188.05, Y:-8.97, Z:0.86 [[ 9.99816463e-01 -1.82829361e-02 -5.72484299e-03 1.88048782e+02] [ 1.82850288e-02 9.99832766e-01 3.13415854e-04 -8.97086152e+00] [ 5.71815543e-03 -4.18037249e-04 9.99983564e-01 8.55010504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18071405700002 meters Centerline goodness : 0.993881 with order 1 Centerline is valid? [True, True] Translation: X:188.11, Y:-8.97, Z:0.86 [[ 9.99746336e-01 -2.17827774e-02 -5.72481320e-03 1.88111471e+02] [ 2.17849303e-02 9.99762631e-01 3.13958923e-04 -8.97350664e+00] [ 5.71661541e-03 -4.38593939e-04 9.99983564e-01 8.61386525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24071405700002 meters Centerline goodness : 0.994739 with order 1 Centerline is valid? [True, True] Translation: X:188.17, Y:-8.98, Z:0.85 [[ 9.99637362e-01 -2.63129546e-02 -5.72478284e-03 1.88172990e+02] [ 2.63151844e-02 9.99653646e-01 3.14511538e-04 -8.97635097e+00] [ 5.71452431e-03 -4.65046200e-04 9.99983564e-01 8.48218188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.300714057 meters Centerline goodness : 0.993728 with order 1 Centerline is valid? [True, True] Translation: X:188.23, Y:-8.98, Z:0.86 [[ 9.99642049e-01 -2.61342935e-02 -5.72476471e-03 1.88234253e+02] [ 2.61365223e-02 9.99658333e-01 3.14841233e-04 -8.98374222e+00] [ 5.71458060e-03 -4.64353976e-04 9.99983564e-01 8.57336330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.360714057 meters Centerline goodness : 0.993711 with order 1 Centerline is valid? [True, True] Translation: X:188.30, Y:-8.99, Z:0.85 [[ 9.99639701e-01 -2.62239372e-02 -5.72473699e-03 1.88295933e+02] [ 2.62261703e-02 9.99655985e-01 3.15344406e-04 -8.99408902e+00] [ 5.71449803e-03 -4.65368715e-04 9.99983564e-01 8.53691086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.420714057 meters Centerline goodness : 0.994480 with order 1 Centerline is valid? [True, True] Translation: X:188.36, Y:-9.00, Z:0.86 [[ 9.99567134e-01 -2.88577957e-02 -5.72471209e-03 1.88358255e+02] [ 2.88600743e-02 9.99583411e-01 3.15795825e-04 -8.99857759e+00] [ 5.71321407e-03 -4.80874744e-04 9.99983564e-01 8.55579342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.480714057 meters Centerline goodness : 0.993782 with order 1 Centerline is valid? [True, True] Translation: X:188.42, Y:-9.00, Z:0.86 [[ 9.99637960e-01 -2.62902333e-02 -5.72468078e-03 1.88420652e+02] [ 2.62924732e-02 9.99654243e-01 3.16362380e-04 -9.00259901e+00] [ 5.71438419e-03 -4.66763860e-04 9.99983564e-01 8.55756552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.540714057 meters Centerline goodness : 0.995233 with order 1 Centerline is valid? [True, True] Translation: X:188.48, Y:-9.00, Z:0.85 [[ 9.99706463e-01 -2.35418181e-02 -5.72464919e-03 1.88481554e+02] [ 2.35440166e-02 9.99722751e-01 3.16932952e-04 -9.00333654e+00] [ 5.71560086e-03 -4.51621156e-04 9.99983564e-01 8.50469487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.600714057 meters Centerline goodness : 0.994346 with order 1 Centerline is valid? [True, True] Translation: X:188.54, Y:-9.01, Z:0.85 [[ 9.99844943e-01 -1.66528947e-02 -5.72460481e-03 1.88542472e+02] [ 1.66549854e-02 9.99861246e-01 3.17732642e-04 -9.00746722e+00] [ 5.71851933e-03 -4.13026584e-04 9.99983564e-01 8.50682637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.660714057 meters Centerline goodness : 0.994819 with order 1 Centerline is valid? [True, True] Translation: X:188.60, Y:-9.01, Z:0.85 [[ 9.99935622e-01 -9.79704635e-03 -5.72457004e-03 1.88604282e+02] [ 9.79902879e-03 9.99951938e-01 3.18357781e-04 -9.01056122e+00] [ 5.72117594e-03 -3.74432512e-04 9.99983564e-01 8.54414571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.720714057 meters Centerline goodness : 0.994765 with order 1 Centerline is valid? [True, True] Translation: X:188.67, Y:-9.01, Z:0.85 [[ 9.99973777e-01 -4.43563137e-03 -5.72454667e-03 1.88665649e+02] [ 4.43752870e-03 9.99990103e-01 3.18777442e-04 -9.01497590e+00] [ 5.72307604e-03 -3.44171922e-04 9.99983564e-01 8.54916665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.780714057 meters Centerline goodness : 0.994652 with order 1 Centerline is valid? [True, True] Translation: X:188.73, Y:-9.02, Z:0.87 [[ 9.99979060e-01 -3.01825488e-03 -5.72453520e-03 1.88725069e+02] [ 3.02013024e-03 9.99995389e-01 3.18983282e-04 -9.01809943e+00] [ 5.72354603e-03 -3.36265444e-04 9.99983564e-01 8.66445983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.840714057 meters Centerline goodness : 0.995357 with order 1 Centerline is valid? [True, True] Translation: X:188.78, Y:-9.02, Z:0.86 [[ 9.99977674e-01 -3.44676329e-03 -5.72454677e-03 1.88783509e+02] [ 3.44864446e-03 9.99994003e-01 3.18775545e-04 -9.02350542e+00] [ 5.72341370e-03 -3.38510355e-04 9.99983564e-01 8.61858458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90071405700002 meters Centerline goodness : 0.993535 with order 1 Centerline is valid? [True, True] Translation: X:188.84, Y:-9.04, Z:0.85 [[ 9.99953824e-01 7.71874910e-03 -5.72462588e-03 1.88841822e+02] [-7.71705851e-03 9.99970173e-01 3.17348581e-04 -9.04409176e+00] [ 5.72690466e-03 -2.73156654e-04 9.99983564e-01 8.49858504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96071405700002 meters Centerline goodness : 0.993550 with order 1 Centerline is valid? [True, True] Translation: X:188.90, Y:-9.04, Z:0.86 [[ 9.99983573e-01 -2.85613880e-04 -5.72463894e-03 1.88900186e+02] [ 2.87433932e-04 9.99999908e-01 3.17112724e-04 -9.04410798e+00] [ 5.72454785e-03 -3.18752970e-04 9.99983564e-01 8.59289466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02071405700002 meters Centerline goodness : 0.993557 with order 1 Centerline is valid? [True, True] Translation: X:188.96, Y:-9.05, Z:0.86 [[ 9.99983568e-01 3.02291353e-04 -5.72466844e-03 1.88957625e+02] [-3.00483950e-04 9.99999905e-01 3.16579312e-04 -9.05139785e+00] [ 5.72476359e-03 -3.14853939e-04 9.99983564e-01 8.57965435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.080714057 meters Centerline goodness : 0.993196 with order 1 Centerline is valid? [True, True] Translation: X:189.02, Y:-9.06, Z:0.86 [[ 9.99983509e-01 4.56874599e-04 -5.72469745e-03 1.89015152e+02] [-4.55072720e-04 9.99999847e-01 3.16053896e-04 -9.05586303e+00] [ 5.72484097e-03 -3.13443530e-04 9.99983564e-01 8.60567281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.140714057 meters Centerline goodness : 0.993516 with order 1 Centerline is valid? [True, True] Translation: X:189.07, Y:-9.06, Z:0.86 [[ 9.99979409e-01 2.89998103e-03 -5.72472567e-03 1.89072385e+02] [-2.89822199e-03 9.99995750e-01 3.15541845e-04 -9.06073220e+00] [ 5.72561641e-03 -2.98943822e-04 9.99983564e-01 8.61305264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.200714057 meters Centerline goodness : 0.993003 with order 1 Centerline is valid? [True, True] Translation: X:189.13, Y:-9.07, Z:0.85 [[ 9.99966295e-01 5.88523849e-03 -5.72482081e-03 1.89130097e+02] [-5.88353816e-03 9.99982643e-01 3.13806157e-04 -9.06882231e+00] [ 5.72656827e-03 -2.80113379e-04 9.99983564e-01 8.52795480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.260714057 meters Centerline goodness : 0.993895 with order 1 Centerline is valid? [True, True] Translation: X:189.19, Y:-9.07, Z:0.86 [[ 9.99982947e-01 -1.15404762e-03 -5.72484996e-03 1.89188991e+02] [ 1.15585995e-03 9.99999283e-01 3.13273487e-04 -9.07180283e+00] [ 5.72448432e-03 -3.19885270e-04 9.99983564e-01 8.61305169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.320714057 meters Centerline goodness : 0.993669 with order 1 Centerline is valid? [True, True] Translation: X:189.25, Y:-9.08, Z:0.86 [[ 9.99969183e-01 -5.37197548e-03 -5.72487334e-03 1.89247271e+02] [ 5.37385425e-03 9.99985512e-01 3.12845747e-04 -9.07676276e+00] [ 5.72310979e-03 -3.43600741e-04 9.99983564e-01 8.60967388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.380714057 meters Centerline goodness : 0.994409 with order 1 Centerline is valid? [True, True] Translation: X:189.31, Y:-9.08, Z:0.86 [[ 9.99922111e-01 -1.10904414e-02 -5.72489653e-03 1.89307384e+02] [ 1.10924111e-02 9.99938429e-01 3.12420805e-04 -9.08239724e+00] [ 5.72107915e-03 -3.75899376e-04 9.99983564e-01 8.57554436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.440714057 meters Centerline goodness : 0.994114 with order 1 Centerline is valid? [True, True] Translation: X:189.37, Y:-9.09, Z:0.85 [[ 9.99921109e-01 -1.11803785e-02 -5.72489653e-03 1.89368160e+02] [ 1.11823496e-02 9.99937427e-01 3.12420805e-04 -9.08915254e+00] [ 5.72104532e-03 -3.76413953e-04 9.99983564e-01 8.51237343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.500714057 meters Centerline goodness : 0.993945 with order 1 Centerline is valid? [True, True] Translation: X:189.43, Y:-9.09, Z:0.85 [[ 9.99905672e-01 -1.24848707e-02 -5.72487923e-03 1.89429603e+02] [ 1.24868650e-02 9.99921987e-01 3.12737502e-04 -9.09098178e+00] [ 5.72052812e-03 -3.84193796e-04 9.99983564e-01 8.53441469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.560714057 meters Centerline goodness : 0.994508 with order 1 Centerline is valid? [True, True] Translation: X:189.49, Y:-9.10, Z:0.85 [[ 9.99909200e-01 -1.21990905e-02 -5.72486384e-03 1.89492028e+02] [ 1.22010817e-02 9.99925515e-01 3.13018915e-04 -9.09770876e+00] [ 5.72061888e-03 -3.82840025e-04 9.99983564e-01 8.49766236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62071405700001 meters Centerline goodness : 0.994424 with order 1 Centerline is valid? [True, True] Translation: X:189.55, Y:-9.10, Z:0.85 [[ 9.99923273e-01 -1.09851854e-02 -5.72484050e-03 1.89554571e+02] [ 1.09871593e-02 9.99939590e-01 3.13445163e-04 -9.09763662e+00] [ 5.72105141e-03 -3.76320847e-04 9.99983564e-01 8.53522825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68071405700002 meters Centerline goodness : 0.993918 with order 1 Centerline is valid? [True, True] Translation: X:189.62, Y:-9.10, Z:0.85 [[ 9.99983598e-01 -1.73211695e-04 -5.72481704e-03 1.89615385e+02] [ 1.75011420e-04 9.99999935e-01 3.13872998e-04 -9.10132932e+00] [ 5.72476231e-03 -3.14869758e-04 9.99983564e-01 8.49920800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74071405700002 meters Centerline goodness : 0.994078 with order 1 Centerline is valid? [True, True] Translation: X:189.67, Y:-9.10, Z:0.85 [[ 9.99979640e-01 2.81891993e-03 -5.72480546e-03 1.89674698e+02] [-2.81716789e-03 9.99995982e-01 3.14084113e-04 -9.09787708e+00] [ 5.72566784e-03 -2.97949980e-04 9.99983564e-01 8.52566934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.800714057 meters Centerline goodness : 0.994012 with order 1 Centerline is valid? [True, True] Translation: X:189.73, Y:-9.10, Z:0.85 [[ 9.99907843e-01 1.23097776e-02 -5.72488405e-03 1.89733145e+02] [-1.23081890e-02 9.99924202e-01 3.12645056e-04 -9.09803234e+00] [ 5.72829871e-03 -2.42153289e-04 9.99983564e-01 8.52438500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.860714057 meters Centerline goodness : 0.992018 with order 1 Centerline is valid? [True, True] Translation: X:189.79, Y:-9.10, Z:0.85 [[ 9.99611626e-01 2.72731159e-02 -5.72496084e-03 1.89791783e+02] [-2.72717803e-02 9.99628007e-01 3.11232520e-04 -9.10159833e+00] [ 5.73131948e-03 -1.54981771e-04 9.99983564e-01 8.51071851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.920714057 meters Centerline goodness : 0.994806 with order 1 Centerline is valid? [True, True] Translation: X:189.85, Y:-9.08, Z:0.87 [[ 9.99708279e-01 2.34644904e-02 -5.72497708e-03 1.89852851e+02] [-2.34630942e-02 9.99724655e-01 3.10933584e-04 -9.08022135e+00] [ 5.73069663e-03 -1.76517202e-04 9.99983564e-01 8.73816675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.980714057 meters Centerline goodness : 0.986799 with order 1 Centerline is valid? [True, True] Translation: X:189.91, Y:-9.09, Z:0.87 [[ 9.99396117e-01 3.42728125e-02 -5.72498813e-03 1.89911207e+02] [-3.42715946e-02 9.99412508e-01 3.10729978e-04 -9.08594943e+00] [ 5.73227434e-03 -1.14337861e-04 9.99983564e-01 8.72166857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.040714057 meters Centerline goodness : 0.986009 with order 1 Centerline is valid? [True, True] Translation: X:189.97, Y:-9.09, Z:0.87 [[ 9.99177075e-01 4.01546560e-02 -5.72508430e-03 1.89970222e+02] [-4.01535448e-02 9.99193473e-01 3.08947856e-04 -9.08792198e+00] [ 5.73287256e-03 -7.88111862e-05 9.99983564e-01 8.74998407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.100714057 meters Centerline goodness : 0.994744 with order 1 Centerline is valid? [True, True] Translation: X:190.03, Y:-9.10, Z:0.88 [[ 9.99038226e-01 4.34723535e-02 -5.72511736e-03 1.90028001e+02] [-4.34713003e-02 9.99054629e-01 3.08334070e-04 -9.09648376e+00] [ 5.73310900e-03 -5.91592270e-05 9.99983564e-01 8.77072829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.160714057 meters Centerline goodness : 0.994411 with order 1 Centerline is valid? [True, True] Translation: X:190.09, Y:-9.11, Z:0.88 [[ 9.99248445e-01 3.83375620e-02 -5.72515855e-03 1.90086692e+02] [-3.83364289e-02 9.99264842e-01 3.07567345e-04 -9.10690805e+00] [ 5.73274103e-03 -8.78540575e-05 9.99983564e-01 8.75626219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.220714057 meters Centerline goodness : 0.994683 with order 1 Centerline is valid? [True, True] Translation: X:190.14, Y:-9.12, Z:0.87 [[ 9.99393519e-01 3.43484647e-02 -5.72518161e-03 1.90143193e+02] [-3.43472686e-02 9.99409911e-01 3.07137507e-04 -9.12178037e+00] [ 5.73235294e-03 -1.10306883e-04 9.99983564e-01 8.74856640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.280714057 meters Centerline goodness : 0.987194 with order 1 Centerline is valid? [True, True] Translation: X:190.20, Y:-9.14, Z:0.87 [[ 9.99409589e-01 3.38776562e-02 -5.72522128e-03 1.90199806e+02] [-3.38764566e-02 9.99425981e-01 3.06396231e-04 -9.13615883e+00] [ 5.73231488e-03 -1.12265121e-04 9.99983564e-01 8.69707976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.340714057 meters Centerline goodness : 0.995388 with order 1 Centerline is valid? [True, True] Translation: X:190.26, Y:-9.14, Z:0.87 [[ 9.99520516e-01 3.04295881e-02 -5.72527519e-03 1.90258779e+02] [-3.04283378e-02 9.99536904e-01 3.05385438e-04 -9.14404850e+00] [ 5.73191659e-03 -1.31028403e-04 9.99983564e-01 8.71725928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40071405700002 meters Centerline goodness : 0.996309 with order 1 Centerline is valid? [True, True] Translation: X:190.32, Y:-9.16, Z:0.87 [[ 9.99523090e-01 3.03449060e-02 -5.72529481e-03 1.90316094e+02] [-3.03436564e-02 9.99539479e-01 3.05017203e-04 -9.16115681e+00] [ 5.73191391e-03 -1.31145359e-04 9.99983564e-01 8.73004301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46071405700002 meters Centerline goodness : 0.995985 with order 1 Centerline is valid? [True, True] Translation: X:190.37, Y:-9.17, Z:0.87 [[ 9.99528792e-01 3.01565008e-02 -5.72532742e-03 1.90374581e+02] [-3.01552516e-02 9.99545181e-01 3.04403796e-04 -9.17133605e+00] [ 5.73190319e-03 -1.31611670e-04 9.99983564e-01 8.73685716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52071405700002 meters Centerline goodness : 0.995343 with order 1 Centerline is valid? [True, True] Translation: X:190.43, Y:-9.19, Z:0.87 [[ 9.99616482e-01 2.70944547e-02 -5.72534904e-03 1.90432462e+02] [-2.70931577e-02 9.99632867e-01 3.03996582e-04 -9.18892794e+00] [ 5.73148370e-03 -1.48762209e-04 9.99983564e-01 8.73329201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.580714057 meters Centerline goodness : 0.995243 with order 1 Centerline is valid? [True, True] Translation: X:190.49, Y:-9.20, Z:0.87 [[ 9.99697767e-01 2.39080297e-02 -5.72537148e-03 1.90489867e+02] [-2.39066829e-02 9.99714148e-01 3.03573449e-04 -9.19978426e+00] [ 5.73099272e-03 -1.66607059e-04 9.99983564e-01 8.73181800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.640714057 meters Centerline goodness : 0.994230 with order 1 Centerline is valid? [True, True] Translation: X:190.55, Y:-9.21, Z:0.88 [[ 9.99853000e-01 1.61616560e-02 -5.72540478e-03 1.90546534e+02] [-1.61601859e-02 9.99869370e-01 3.02944048e-04 -9.21365181e+00] [ 5.72955295e-03 -2.10375909e-04 9.99983564e-01 8.78437949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.700714057 meters Centerline goodness : 0.987041 with order 1 Centerline is valid? [True, True] Translation: X:190.60, Y:-9.23, Z:0.87 [[ 9.99978376e-01 3.23535971e-03 -5.72543205e-03 1.90604809e+02] [-3.23368104e-03 9.99994726e-01 3.02427920e-04 -9.22538835e+00] [ 5.72638031e-03 -2.83907159e-04 9.99983564e-01 8.74545674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.760714057 meters Centerline goodness : 0.987498 with order 1 Centerline is valid? [True, True] Translation: X:190.66, Y:-9.24, Z:0.87 [[ 9.99971263e-01 -4.96905553e-03 -5.72545501e-03 1.90662034e+02] [ 4.97086581e-03 9.99987600e-01 3.01992598e-04 -9.23550563e+00] [ 5.72388339e-03 -3.30444389e-04 9.99983564e-01 8.73963159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.820714057 meters Centerline goodness : 0.986613 with order 1 Centerline is valid? [True, True] Translation: X:190.72, Y:-9.24, Z:0.88 [[ 9.99962586e-01 -6.48416313e-03 -5.72549322e-03 1.90720589e+02] [ 6.48599401e-03 9.99978920e-01 3.01266409e-04 -9.24022848e+00] [ 5.72341907e-03 -3.38390652e-04 9.99983564e-01 8.76499059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.880714057 meters Centerline goodness : 0.994417 with order 1 Centerline is valid? [True, True] Translation: X:190.78, Y:-9.24, Z:0.87 [[ 9.99981947e-01 -1.82338363e-03 -5.72550740e-03 1.90780734e+02] [ 1.82513682e-03 9.99998289e-01 3.00996723e-04 -9.24175281e+00] [ 5.72494877e-03 -3.11441123e-04 9.99983564e-01 8.71396486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.940714057 meters Centerline goodness : 0.987703 with order 1 Centerline is valid? [True, True] Translation: X:190.84, Y:-9.24, Z:0.87 [[ 9.99949562e-01 8.25178532e-03 -5.72552160e-03 1.90838242e+02] [-8.25019841e-03 9.99965921e-01 3.00726249e-04 -9.24297220e+00] [ 5.72780801e-03 -2.53474392e-04 9.99983564e-01 8.71156649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.000714057 meters Centerline goodness : 0.987830 with order 1 Centerline is valid? [True, True] Translation: X:190.90, Y:-9.25, Z:0.87 [[ 9.99817574e-01 1.82218316e-02 -5.72561268e-03 1.90895487e+02] [-1.82204179e-02 9.99833950e-01 2.98982031e-04 -9.24513662e+00] [ 5.73010994e-03 -1.94604433e-04 9.99983564e-01 8.73734109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.060714057 meters Centerline goodness : 0.986789 with order 1 Centerline is valid? [True, True] Translation: X:190.95, Y:-9.25, Z:0.88 [[ 9.99636244e-01 2.63552031e-02 -5.72571786e-03 1.90954678e+02] [-2.63539342e-02 9.99652631e-01 2.96954107e-04 -9.24819915e+00] [ 5.73155520e-03 -1.45950897e-04 9.99983564e-01 8.77622707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12071405700001 meters Centerline goodness : 0.994377 with order 1 Centerline is valid? [True, True] Translation: X:191.01, Y:-9.25, Z:0.88 [[ 9.99545762e-01 2.95886143e-02 -5.72573733e-03 1.91013695e+02] [-2.95874006e-02 9.99562153e-01 2.96578221e-04 -9.25090670e+00] [ 5.73200567e-03 -1.27033820e-04 9.99983564e-01 8.75264903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18071405700002 meters Centerline goodness : 0.987640 with order 1 Centerline is valid? [True, True] Translation: X:191.07, Y:-9.26, Z:0.88 [[ 9.99545913e-01 2.95835102e-02 -5.72576711e-03 1.91072679e+02] [-2.95822998e-02 9.99562304e-01 2.96002197e-04 -9.25644062e+00] [ 5.73201775e-03 -1.26486427e-04 9.99983564e-01 8.76848384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24071405700002 meters Centerline goodness : 0.988049 with order 1 Centerline is valid? [True, True] Translation: X:191.13, Y:-9.26, Z:0.88 [[ 9.99681142e-01 2.45932697e-02 -5.72578783e-03 1.91130030e+02] [-2.45919797e-02 9.99697528e-01 2.95600807e-04 -9.26324495e+00] [ 5.73132573e-03 -1.54698094e-04 9.99983564e-01 8.76996548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.300714057 meters Centerline goodness : 0.988132 with order 1 Centerline is valid? [True, True] Translation: X:191.19, Y:-9.27, Z:0.88 [[ 9.99821803e-01 1.79882353e-02 -5.72582232e-03 1.91187619e+02] [-1.79868409e-02 9.99838180e-01 2.94931268e-04 -9.27144927e+00] [ 5.73020106e-03 -1.91889257e-04 9.99983564e-01 8.77552266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.360714057 meters Centerline goodness : 0.987644 with order 1 Centerline is valid? [True, True] Translation: X:191.25, Y:-9.28, Z:0.87 [[ 9.99937943e-01 9.55637395e-03 -5.72585598e-03 1.91246456e+02] [-9.55484527e-03 9.99954308e-01 2.94276218e-04 -9.27880847e+00] [ 5.72840657e-03 -2.39548288e-04 9.99983564e-01 8.72821559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.420714057 meters Centerline goodness : 0.987642 with order 1 Centerline is valid? [True, True] Translation: X:191.31, Y:-9.28, Z:0.87 [[ 9.99968211e-01 5.54896856e-03 -5.72587694e-03 1.91305105e+02] [-5.54737663e-03 9.99984570e-01 2.93867755e-04 -9.28211575e+00] [ 5.72741926e-03 -2.62094817e-04 9.99983564e-01 8.71050487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.480714057 meters Centerline goodness : 0.987825 with order 1 Centerline is valid? [True, True] Translation: X:191.36, Y:-9.29, Z:0.87 [[ 9.99971000e-01 -5.02126531e-03 -5.72590515e-03 1.91363967e+02] [ 5.02302692e-03 9.99987342e-01 2.93317110e-04 -9.28834869e+00] [ 5.72435985e-03 -3.22069980e-04 9.99983564e-01 8.74618866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.540714057 meters Centerline goodness : 0.994106 with order 1 Centerline is valid? [True, True] Translation: X:191.42, Y:-9.29, Z:0.87 [[ 9.99958746e-01 -7.05121865e-03 -5.72592542e-03 1.91423407e+02] [ 7.05301117e-03 9.99975084e-01 2.92920881e-04 -9.29489758e+00] [ 5.72371731e-03 -3.33293812e-04 9.99983564e-01 8.73943933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.600714057 meters Centerline goodness : 0.986717 with order 1 Centerline is valid? [True, True] Translation: X:191.48, Y:-9.30, Z:0.88 [[ 9.99819779e-01 -1.81003763e-02 -5.72593950e-03 1.91483342e+02] [ 1.81023477e-02 9.99836096e-01 2.92645379e-04 -9.29576114e+00] [ 5.71970401e-03 -3.96245585e-04 9.99983564e-01 8.75376167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.660714057 meters Centerline goodness : 0.993440 with order 1 Centerline is valid? [True, True] Translation: X:191.54, Y:-9.30, Z:0.87 [[ 9.99742311e-01 -2.19664537e-02 -5.72594624e-03 1.91544302e+02] [ 2.19684874e-02 9.99758621e-01 2.92513421e-04 -9.29689858e+00] [ 5.71813864e-03 -4.18228421e-04 9.99983564e-01 8.73342570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.720714057 meters Centerline goodness : 0.994266 with order 1 Centerline is valid? [True, True] Translation: X:191.61, Y:-9.30, Z:0.87 [[ 9.99718412e-01 -2.30284509e-02 -5.72592586e-03 1.91606633e+02] [ 2.30305042e-02 9.99734720e-01 2.92911919e-04 -9.29670416e+00] [ 5.71766158e-03 -4.24700398e-04 9.99983564e-01 8.73408254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.780714057 meters Centerline goodness : 0.994132 with order 1 Centerline is valid? [True, True] Translation: X:191.67, Y:-9.29, Z:0.88 [[ 9.99777383e-01 -2.03075899e-02 -5.72590446e-03 1.91669455e+02] [ 2.03096012e-02 9.99793696e-01 2.93329698e-04 -9.28907271e+00] [ 5.71876636e-03 -4.09555234e-04 9.99983564e-01 8.75403724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.840714057 meters Centerline goodness : 0.991323 with order 1 Centerline is valid? [True, True] Translation: X:191.73, Y:-9.29, Z:0.88 [[ 9.99870440e-01 -1.50438421e-02 -5.72588325e-03 1.91731696e+02] [ 1.50457698e-02 9.99886763e-01 2.93743090e-04 -9.29370936e+00] [ 5.72081584e-03 -3.79855354e-04 9.99983564e-01 8.82374420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90071405700002 meters Centerline goodness : 0.994943 with order 1 Centerline is valid? [True, True] Translation: X:191.79, Y:-9.28, Z:0.87 [[ 9.99831013e-01 -1.74688482e-02 -5.72586103e-03 1.91793421e+02] [ 1.74708180e-02 9.99847330e-01 2.94175563e-04 -9.28305598e+00] [ 5.71984796e-03 -3.94161327e-04 9.99983564e-01 8.73173601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96071405700002 meters Centerline goodness : 0.991983 with order 1 Centerline is valid? [True, True] Translation: X:191.85, Y:-9.29, Z:0.87 [[ 9.99975763e-01 -3.96075822e-03 -5.72584476e-03 1.91854739e+02] [ 3.96250920e-03 9.99992106e-01 2.94491868e-04 -9.29311807e+00] [ 5.72463315e-03 -3.17173443e-04 9.99983564e-01 8.67078771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02071405700002 meters Centerline goodness : 0.993800 with order 1 Centerline is valid? [True, True] Translation: X:191.91, Y:-9.28, Z:0.87 [[ 9.99904944e-01 -1.25426757e-02 -5.72582815e-03 1.91914648e+02] [ 1.25445687e-02 9.99921270e-01 2.94814407e-04 -9.27572602e+00] [ 5.72167960e-03 -3.66614428e-04 9.99983564e-01 8.71550256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.080714057 meters Centerline goodness : 0.993781 with order 1 Centerline is valid? [True, True] Translation: X:191.98, Y:-9.27, Z:0.87 [[ 9.99904431e-01 -1.25834435e-02 -5.72583887e-03 1.91975917e+02] [ 1.25853360e-02 9.99920758e-01 2.94606049e-04 -9.27401193e+00] [ 5.72167799e-03 -3.66639501e-04 9.99983564e-01 8.71077163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.140714057 meters Centerline goodness : 0.986352 with order 1 Centerline is valid? [True, True] Translation: X:192.04, Y:-9.27, Z:0.88 [[ 9.99903195e-01 -1.26813295e-02 -5.72582314e-03 1.92037690e+02] [ 1.26832254e-02 9.99919521e-01 2.94911573e-04 -9.27106745e+00] [ 5.72162246e-03 -3.67504930e-04 9.99983564e-01 8.76156612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.200714057 meters Centerline goodness : 0.994568 with order 1 Centerline is valid? [True, True] Translation: X:192.10, Y:-9.27, Z:0.87 [[ 9.99898321e-01 -1.30599828e-02 -5.72580261e-03 1.92099228e+02] [ 1.30618871e-02 9.99914646e-01 2.95309572e-04 -9.26843628e+00] [ 5.72145716e-03 -3.70069332e-04 9.99983564e-01 8.73619786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.260714057 meters Centerline goodness : 0.995167 with order 1 Centerline is valid? [True, True] Translation: X:192.16, Y:-9.27, Z:0.87 [[ 9.99883263e-01 -1.41660037e-02 -5.72578869e-03 1.92161439e+02] [ 1.41679276e-02 9.99899586e-01 2.95579330e-04 -9.26776187e+00] [ 5.72102656e-03 -3.76667385e-04 9.99983564e-01 8.74472996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.320714057 meters Centerline goodness : 0.993286 with order 1 Centerline is valid? [True, True] Translation: X:192.22, Y:-9.27, Z:0.88 [[ 9.99887679e-01 -1.38507983e-02 -5.72576729e-03 1.92223362e+02] [ 1.38527194e-02 9.99904003e-01 2.95993284e-04 -9.27180959e+00] [ 5.72111789e-03 -3.75277486e-04 9.99983564e-01 8.81209274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.380714057 meters Centerline goodness : 0.995659 with order 1 Centerline is valid? [True, True] Translation: X:192.29, Y:-9.26, Z:0.88 [[ 9.99621756e-01 -2.68990779e-02 -5.72574515e-03 1.92286239e+02] [ 2.69012143e-02 9.99638053e-01 2.96420815e-04 -9.26478757e+00] [ 5.71569929e-03 -4.50338193e-04 9.99983564e-01 8.79893861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.440714057 meters Centerline goodness : 0.993839 with order 1 Centerline is valid? [True, True] Translation: X:192.35, Y:-9.27, Z:0.87 [[ 9.99741272e-01 -2.20137576e-02 -5.72566682e-03 1.92348327e+02] [ 2.20158229e-02 9.99757578e-01 2.97926292e-04 -9.27310009e+00] [ 5.71772031e-03 -4.23904476e-04 9.99983564e-01 8.73868778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.500714057 meters Centerline goodness : 0.994095 with order 1 Centerline is valid? [True, True] Translation: X:192.41, Y:-9.27, Z:0.87 [[ 9.99740521e-01 -2.20478507e-02 -5.72564392e-03 1.92410992e+02] [ 2.20499190e-02 9.99756826e-01 2.98365670e-04 -9.27192529e+00] [ 5.71767328e-03 -4.24538236e-04 9.99983564e-01 8.74196958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.560714057 meters Centerline goodness : 0.993787 with order 1 Centerline is valid? [True, True] Translation: X:192.47, Y:-9.27, Z:0.88 [[ 9.99800344e-01 -1.91439016e-02 -5.72562124e-03 1.92473216e+02] [ 1.91459251e-02 9.99816655e-01 2.98800391e-04 -9.26821859e+00] [ 5.71885127e-03 -4.08363049e-04 9.99983564e-01 8.75791476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62071405700001 meters Centerline goodness : 0.994311 with order 1 Centerline is valid? [True, True] Translation: X:192.54, Y:-9.27, Z:0.87 [[ 9.99858751e-01 -1.58017778e-02 -5.72559818e-03 1.92535013e+02] [ 1.58037492e-02 9.99875068e-01 2.99241508e-04 -9.26853430e+00] [ 5.72015432e-03 -3.89685158e-04 9.99983564e-01 8.74721240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68071405700002 meters Centerline goodness : 0.994597 with order 1 Centerline is valid? [True, True] Translation: X:192.60, Y:-9.27, Z:0.87 [[ 9.99954852e-01 -7.58368708e-03 -5.72557527e-03 1.92596967e+02] [ 7.58552686e-03 9.99971185e-01 2.99679154e-04 -9.26880725e+00] [ 5.72313762e-03 -3.43097129e-04 9.99983564e-01 8.71314086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74071405700002 meters Centerline goodness : 0.994112 with order 1 Centerline is valid? [True, True] Translation: X:192.66, Y:-9.27, Z:0.87 [[ 9.99982726e-01 1.32872427e-03 -5.72555274e-03 1.92657632e+02] [-1.32702767e-03 9.99999074e-01 3.00109073e-04 -9.26696186e+00] [ 5.72594620e-03 -2.92505922e-04 9.99983564e-01 8.74187938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.800714057 meters Centerline goodness : 0.993189 with order 1 Centerline is valid? [True, True] Translation: X:192.72, Y:-9.27, Z:0.87 [[ 9.99889139e-01 1.37451191e-02 -5.72554723e-03 1.92716519e+02] [-1.37436250e-02 9.99905507e-01 3.00214104e-04 -9.26964435e+00] [ 5.72913269e-03 -2.21491048e-04 9.99983564e-01 8.65451729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.860714057 meters Centerline goodness : 0.992625 with order 1 Centerline is valid? [True, True] Translation: X:192.78, Y:-9.27, Z:0.86 [[ 9.99722507e-01 2.28500661e-02 -5.72562342e-03 1.92775337e+02] [-2.28487295e-02 9.99738889e-01 2.98753894e-04 -9.27253928e+00] [ 5.73095495e-03 -1.67847771e-04 9.99983564e-01 8.63114564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.920714057 meters Centerline goodness : 0.995210 with order 1 Centerline is valid? [True, True] Translation: X:192.83, Y:-9.26, Z:0.88 [[ 9.99905546e-01 1.24945942e-02 -5.72570187e-03 1.92834554e+02] [-1.24930966e-02 9.99921914e-01 2.97242844e-04 -9.25647726e+00] [ 5.72896870e-03 -2.25683022e-04 9.99983564e-01 8.79466118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.980714057 meters Centerline goodness : 0.992833 with order 1 Centerline is valid? [True, True] Translation: X:192.89, Y:-9.28, Z:0.87 [[ 9.99690603e-01 2.42056552e-02 -5.72571833e-03 1.92892462e+02] [-2.42043513e-02 9.99706988e-01 2.96925323e-04 -9.27808746e+00] [ 5.73122790e-03 -1.58246157e-04 9.99983564e-01 8.66312806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.040714057 meters Centerline goodness : 0.992053 with order 1 Centerline is valid? [True, True] Translation: X:192.95, Y:-9.28, Z:0.87 [[ 9.99815475e-01 1.83366444e-02 -5.72574079e-03 1.92950950e+02] [-1.83352468e-02 9.99831851e-01 2.96491712e-04 -9.28313970e+00] [ 5.73021468e-03 -1.91454131e-04 9.99983564e-01 8.68260945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.100714057 meters Centerline goodness : 0.992571 with order 1 Centerline is valid? [True, True] Translation: X:193.01, Y:-9.29, Z:0.87 [[ 9.99944939e-01 8.79403646e-03 -5.72576252e-03 1.93008726e+02] [-8.79248504e-03 9.99961302e-01 2.96071472e-04 -9.28703152e+00] [ 5.72814460e-03 -2.45711488e-04 9.99983564e-01 8.74888334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.160714057 meters Centerline goodness : 0.991924 with order 1 Centerline is valid? [True, True] Translation: X:193.07, Y:-9.30, Z:0.86 [[ 9.99973029e-01 4.59961614e-03 -5.72578927e-03 1.93067019e+02] [-4.59799906e-03 9.99989385e-01 2.95553170e-04 -9.29659228e+00] [ 5.72708793e-03 -2.69218025e-04 9.99983564e-01 8.63750239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.220714057 meters Centerline goodness : 0.992693 with order 1 Centerline is valid? [True, True] Translation: X:193.13, Y:-9.30, Z:0.87 [[ 9.99968516e-01 -5.49382634e-03 -5.72581158e-03 1.93126099e+02] [ 5.49560596e-03 9.99984855e-01 2.95120419e-04 -9.29617134e+00] [ 5.72410352e-03 -3.26577932e-04 9.99983564e-01 8.71281642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.280714057 meters Centerline goodness : 0.991933 with order 1 Centerline is valid? [True, True] Translation: X:193.19, Y:-9.30, Z:0.87 [[ 9.99983331e-01 -7.43827469e-04 -5.72582800e-03 1.93185440e+02] [ 7.45527640e-04 9.99999679e-01 2.94801507e-04 -9.30172535e+00] [ 5.72560687e-03 -2.99065355e-04 9.99983564e-01 8.71595721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.340714057 meters Centerline goodness : 0.991786 with order 1 Centerline is valid? [True, True] Translation: X:193.24, Y:-9.31, Z:0.87 [[ 9.99983607e-01 -2.28733758e-05 -5.72583342e-03 1.93244412e+02] [ 2.45611580e-05 9.99999956e-01 2.94696053e-04 -9.30505163e+00] [ 5.72582643e-03 -2.94831855e-04 9.99983564e-01 8.70710326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40071405700002 meters Centerline goodness : 0.992030 with order 1 Centerline is valid? [True, True] Translation: X:193.30, Y:-9.31, Z:0.87 [[ 9.99982828e-01 -1.24831518e-03 -5.72590854e-03 1.93303110e+02] [ 1.25001462e-03 9.99999176e-01 2.93229308e-04 -9.30573205e+00] [ 5.72553778e-03 -3.00381742e-04 9.99983564e-01 8.73218246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46071405700002 meters Centerline goodness : 0.992268 with order 1 Centerline is valid? [True, True] Translation: X:193.36, Y:-9.31, Z:0.87 [[ 9.99949389e-01 -8.27243532e-03 -5.72593041e-03 1.93362031e+02] [ 8.27424711e-03 9.99965725e-01 2.92801489e-04 -9.30756995e+00] [ 5.72331198e-03 -3.40164433e-04 9.99983564e-01 8.73156297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52071405700002 meters Centerline goodness : 0.992305 with order 1 Centerline is valid? [True, True] Translation: X:193.42, Y:-9.31, Z:0.87 [[ 9.99953124e-01 -7.80786744e-03 -5.72594661e-03 1.93422999e+02] [ 7.80966983e-03 9.99969461e-01 2.92484402e-04 -9.31014531e+00] [ 5.72348807e-03 -3.37188444e-04 9.99983564e-01 8.74475506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.580714057 meters Centerline goodness : 0.993056 with order 1 Centerline is valid? [True, True] Translation: X:193.48, Y:-9.31, Z:0.87 [[ 9.99865542e-01 -1.53659179e-02 -5.72594138e-03 1.93483626e+02] [ 1.53678443e-02 9.99881865e-01 2.92586776e-04 -9.31315678e+00] [ 5.72076908e-03 -3.80542811e-04 9.99983564e-01 8.70338624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.640714057 meters Centerline goodness : 0.993332 with order 1 Centerline is valid? [True, True] Translation: X:193.55, Y:-9.31, Z:0.87 [[ 9.99791228e-01 -1.96141337e-02 -5.72594138e-03 1.93546543e+02] [ 1.96161295e-02 9.99807542e-01 2.92586776e-04 -9.31340339e+00] [ 5.71910054e-03 -4.04846500e-04 9.99983564e-01 8.72335781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.700714057 meters Centerline goodness : 0.992908 with order 1 Centerline is valid? [True, True] Translation: X:193.61, Y:-9.31, Z:0.88 [[ 9.99819317e-01 -1.81258791e-02 -5.72590977e-03 1.93607419e+02] [ 1.81278540e-02 9.99835634e-01 2.93204096e-04 -9.31268050e+00] [ 5.71965404e-03 -3.96949575e-04 9.99983564e-01 8.76199596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.760714057 meters Centerline goodness : 0.993183 with order 1 Centerline is valid? [True, True] Translation: X:193.67, Y:-9.31, Z:0.87 [[ 9.99824575e-01 -1.78334945e-02 -5.72589425e-03 1.93669455e+02] [ 1.78354665e-02 9.99840892e-01 2.93506778e-04 -9.31443774e+00] [ 5.71974897e-03 -3.95579284e-04 9.99983564e-01 8.70587969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.820714057 meters Centerline goodness : 0.994049 with order 1 Centerline is valid? [True, True] Translation: X:193.73, Y:-9.31, Z:0.88 [[ 9.99810261e-01 -1.86187043e-02 -5.72587379e-03 1.93731929e+02] [ 1.86206913e-02 9.99826577e-01 2.93905493e-04 -9.30942812e+00] [ 5.71940865e-03 -4.00469456e-04 9.99983564e-01 8.76761588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.880714057 meters Centerline goodness : 0.993712 with order 1 Centerline is valid? [True, True] Translation: X:193.79, Y:-9.31, Z:0.88 [[ 9.99754152e-01 -2.14207705e-02 -5.72585184e-03 1.93792851e+02] [ 2.14228057e-02 9.99770462e-01 2.94332423e-04 -9.30667135e+00] [ 5.71823271e-03 -4.16923873e-04 9.99983564e-01 8.81643154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.940714057 meters Centerline goodness : 0.994082 with order 1 Centerline is valid? [True, True] Translation: X:193.86, Y:-9.31, Z:0.87 [[ 9.99697169e-01 -2.39329192e-02 -5.72583559e-03 1.93855395e+02] [ 2.39349971e-02 9.99713474e-01 2.94648247e-04 -9.31172480e+00] [ 5.71714319e-03 -4.31606877e-04 9.99983564e-01 8.74027386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.000714057 meters Centerline goodness : 0.994842 with order 1 Centerline is valid? [True, True] Translation: X:193.92, Y:-9.31, Z:0.88 [[ 9.99455553e-01 -3.24932734e-02 -5.72581388e-03 1.93916532e+02] [ 3.24954933e-02 9.99471838e-01 2.95069542e-04 -9.30887267e+00] [ 5.71320195e-03 -4.80972039e-04 9.99983564e-01 8.75870811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.060714057 meters Centerline goodness : 0.994680 with order 1 Centerline is valid? [True, True] Translation: X:193.98, Y:-9.31, Z:0.88 [[ 9.99472493e-01 -3.19679776e-02 -5.72574494e-03 1.93979627e+02] [ 3.19701965e-02 9.99488779e-01 2.96401365e-04 -9.30935935e+00] [ 5.71334246e-03 -4.79298202e-04 9.99983564e-01 8.75858297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12071405700001 meters Centerline goodness : 0.994809 with order 1 Centerline is valid? [True, True] Translation: X:194.04, Y:-9.31, Z:0.88 [[ 9.99444725e-01 -3.28246579e-02 -5.72571390e-03 1.94043044e+02] [ 3.28268942e-02 9.99461008e-01 2.96999653e-04 -9.30948193e+00] [ 5.71287888e-03 -4.84792141e-04 9.99983564e-01 8.75577357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18071405700002 meters Centerline goodness : 0.994120 with order 1 Centerline is valid? [True, True] Translation: X:194.11, Y:-9.31, Z:0.88 [[ 9.99479413e-01 -3.17509053e-02 -5.72568280e-03 1.94105608e+02] [ 3.17531275e-02 9.99495698e-01 2.97598055e-04 -9.30912628e+00] [ 5.71334632e-03 -4.79251466e-04 9.99983564e-01 8.76278943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24071405700002 meters Centerline goodness : 0.994455 with order 1 Centerline is valid? [True, True] Translation: X:194.17, Y:-9.31, Z:0.87 [[ 9.99537621e-01 -2.98623785e-02 -5.72565975e-03 1.94168264e+02] [ 2.98645725e-02 9.99553910e-01 2.98040879e-04 -9.30991747e+00] [ 5.71420538e-03 -4.68897452e-04 9.99983564e-01 8.74358131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.300714057 meters Centerline goodness : 0.996355 with order 1 Centerline is valid? [True, True] Translation: X:194.23, Y:-9.30, Z:0.88 [[ 9.99301780e-01 -3.69211389e-02 -5.72562509e-03 1.94229059e+02] [ 3.69234516e-02 9.99318052e-01 2.98705234e-04 -9.29818161e+00] [ 5.71069197e-03 -5.09906513e-04 9.99983564e-01 8.82348603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.360714057 meters Centerline goodness : 0.994062 with order 1 Centerline is valid? [True, True] Translation: X:194.29, Y:-9.31, Z:0.87 [[ 9.99589794e-01 -2.80617509e-02 -5.72559222e-03 1.94290973e+02] [ 2.80639229e-02 9.99606086e-01 2.99334028e-04 -9.30956420e+00] [ 5.71493699e-03 -4.59893817e-04 9.99983564e-01 8.74551927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.420714057 meters Centerline goodness : 0.994452 with order 1 Centerline is valid? [True, True] Translation: X:194.35, Y:-9.31, Z:0.88 [[ 9.99576136e-01 -2.85441072e-02 -5.72556899e-03 1.94353822e+02] [ 2.85462895e-02 9.99592427e-01 2.99777552e-04 -9.30894479e+00] [ 5.71467852e-03 -4.63094237e-04 9.99983564e-01 8.76706788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.480714057 meters Centerline goodness : 0.994854 with order 1 Centerline is valid? [True, True] Translation: X:194.42, Y:-9.31, Z:0.88 [[ 9.99643745e-01 -2.60691515e-02 -5.72553412e-03 1.94415613e+02] [ 2.60712973e-02 9.99660041e-01 3.00442196e-04 -9.30971048e+00] [ 5.71575540e-03 -4.49607264e-04 9.99983564e-01 8.75876222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.540714057 meters Centerline goodness : 0.994334 with order 1 Centerline is valid? [True, True] Translation: X:194.48, Y:-9.31, Z:0.88 [[ 9.99714488e-01 -2.31982983e-02 -5.72550543e-03 1.94479134e+02] [ 2.32004003e-02 9.99730789e-01 3.00987923e-04 -9.31094459e+00] [ 5.71698165e-03 -4.33736006e-04 9.99983564e-01 8.78644430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.600714057 meters Centerline goodness : 0.994832 with order 1 Centerline is valid? [True, True] Translation: X:194.54, Y:-9.31, Z:0.88 [[ 9.99814738e-01 -1.83768661e-02 -5.72547070e-03 1.94541401e+02] [ 1.83788933e-02 9.99831048e-01 3.01647094e-04 -9.31341789e+00] [ 5.71896004e-03 -4.06819026e-04 9.99983564e-01 8.78467514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.660714057 meters Centerline goodness : 0.994010 with order 1 Centerline is valid? [True, True] Translation: X:194.60, Y:-9.32, Z:0.88 [[ 9.99928596e-01 -1.04891183e-02 -5.72544226e-03 1.94602272e+02] [ 1.04910198e-02 9.99944922e-01 3.02185992e-04 -9.31547868e+00] [ 5.72195725e-03 -3.62230142e-04 9.99983564e-01 8.76713002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.720714057 meters Centerline goodness : 0.995344 with order 1 Centerline is valid? [True, True] Translation: X:194.66, Y:-9.31, Z:0.89 [[ 9.99934844e-01 -9.87560626e-03 -5.72542561e-03 1.94664669e+02] [ 9.87749957e-03 9.99951171e-01 3.02501080e-04 -9.30505994e+00] [ 5.72215866e-03 -3.59034259e-04 9.99983564e-01 8.86545886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.780714057 meters Centerline goodness : 0.995822 with order 1 Centerline is valid? [True, True] Translation: X:194.73, Y:-9.31, Z:0.88 [[ 9.99983574e-01 -2.66232507e-04 -5.72540998e-03 1.94726143e+02] [ 2.67970522e-04 9.99999918e-01 3.02796689e-04 -9.30663557e+00] [ 5.72532889e-03 -3.04325957e-04 9.99983564e-01 8.84118803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.840714057 meters Centerline goodness : 0.993494 with order 1 Centerline is valid? [True, True] Translation: X:194.78, Y:-9.32, Z:0.88 [[ 9.99872855e-01 1.48826622e-02 -5.72539950e-03 1.94783826e+02] [-1.48811709e-02 9.99889223e-01 3.02994574e-04 -9.32181791e+00] [ 5.72927463e-03 -2.17755402e-04 9.99983564e-01 8.75264673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90071405700002 meters Centerline goodness : 0.992729 with order 1 Centerline is valid? [True, True] Translation: X:194.84, Y:-9.32, Z:0.87 [[ 9.99741577e-01 2.19999405e-02 -5.72547933e-03 1.94843002e+02] [-2.19985743e-02 9.99757957e-01 3.01478480e-04 -9.32499208e+00] [ 5.73072603e-03 -1.75448188e-04 9.99983564e-01 8.73816882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96071405700002 meters Centerline goodness : 0.992800 with order 1 Centerline is valid? [True, True] Translation: X:194.90, Y:-9.33, Z:0.87 [[ 9.99646244e-01 2.59731456e-02 -5.72555262e-03 1.94901204e+02] [-2.59718525e-02 9.99662630e-01 3.00080277e-04 -9.32827329e+00] [ 5.73141501e-03 -1.51270913e-04 9.99983564e-01 8.74452453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02071405700002 meters Centerline goodness : 0.994835 with order 1 Centerline is valid? [True, True] Translation: X:194.96, Y:-9.32, Z:0.89 [[ 9.99887197e-01 1.38856259e-02 -5.72563128e-03 1.94959590e+02] [-1.38841436e-02 9.99903566e-01 2.98571778e-04 -9.31711966e+00] [ 5.72922499e-03 -2.19042612e-04 9.99983564e-01 8.87668931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.080714057 meters Centerline goodness : 0.994623 with order 1 Centerline is valid? [True, True] Translation: X:195.02, Y:-9.32, Z:0.89 [[ 9.99937937e-01 9.55719474e-03 -5.72565889e-03 1.95018522e+02] [-9.55564454e-03 9.99954299e-01 2.98041295e-04 -9.32390826e+00] [ 5.72824566e-03 -2.43310437e-04 9.99983564e-01 8.86992237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.140714057 meters Centerline goodness : 0.994242 with order 1 Centerline is valid? [True, True] Translation: X:195.08, Y:-9.33, Z:0.89 [[ 9.99971663e-01 4.88761738e-03 -5.72567977e-03 1.95077013e+02] [-4.88599308e-03 9.99988019e-01 2.97639642e-04 -9.32972046e+00] [ 5.72706592e-03 -2.69655576e-04 9.99983564e-01 8.87620249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.200714057 meters Centerline goodness : 0.992756 with order 1 Centerline is valid? [True, True] Translation: X:195.14, Y:-9.35, Z:0.88 [[ 9.99923386e-01 1.09744657e-02 -5.72570090e-03 1.95135156e+02] [-1.09729433e-02 9.99939751e-01 2.97232573e-04 -9.34774315e+00] [ 5.72861791e-03 -2.34382010e-04 9.99983564e-01 8.78796519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.260714057 meters Centerline goodness : 0.995296 with order 1 Centerline is valid? [True, True] Translation: X:195.19, Y:-9.34, Z:0.89 [[ 9.99978581e-01 -3.17054741e-03 -5.72577656e-03 1.95193442e+02] [ 3.17229277e-03 9.99994925e-01 2.95767909e-04 -9.34121637e+00] [ 5.72480975e-03 -3.13925414e-04 9.99983564e-01 8.89853180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.320714057 meters Centerline goodness : 0.994053 with order 1 Centerline is valid? [True, True] Translation: X:195.25, Y:-9.36, Z:0.88 [[ 9.99981249e-01 2.17198014e-03 -5.72580279e-03 1.95252787e+02] [-2.17032503e-03 9.99997601e-01 2.95259239e-04 -9.35757169e+00] [ 5.72643035e-03 -2.82826849e-04 9.99983564e-01 8.83442216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.380714057 meters Centerline goodness : 0.996011 with order 1 Centerline is valid? [True, True] Translation: X:195.31, Y:-9.36, Z:0.89 [[ 9.99889273e-01 -1.37352423e-02 -5.72581398e-03 1.95310907e+02] [ 1.37371561e-02 9.99905597e-01 2.95042029e-04 -9.35602972e+00] [ 5.72122098e-03 -3.73665760e-04 9.99983564e-01 8.89178766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.440714057 meters Centerline goodness : 0.995022 with order 1 Centerline is valid? [True, True] Translation: X:195.37, Y:-9.37, Z:0.89 [[ 9.99951972e-01 -7.95414855e-03 -5.72584129e-03 1.95372827e+02] [ 7.95596490e-03 9.99968307e-01 2.94511242e-04 -9.36908374e+00] [ 5.72331723e-03 -3.40051689e-04 9.99983564e-01 8.85646671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.500714057 meters Centerline goodness : 0.994152 with order 1 Centerline is valid? [True, True] Translation: X:195.43, Y:-9.37, Z:0.88 [[ 9.99940027e-01 -9.33582686e-03 -5.72581891e-03 1.95433794e+02] [ 9.33766825e-03 9.99956360e-01 2.94945591e-04 -9.37308934e+00] [ 5.72281547e-03 -3.48393700e-04 9.99983564e-01 8.83308911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.560714057 meters Centerline goodness : 0.994362 with order 1 Centerline is valid? [True, True] Translation: X:195.49, Y:-9.38, Z:0.88 [[ 9.99965471e-01 -6.02256614e-03 -5.72580778e-03 1.95494891e+02] [ 6.02435464e-03 9.99981810e-01 2.95161564e-04 -9.37597624e+00] [ 5.72392599e-03 -3.29645669e-04 9.99983564e-01 8.82497611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62071405700001 meters Centerline goodness : 0.994198 with order 1 Centerline is valid? [True, True] Translation: X:195.56, Y:-9.38, Z:0.89 [[ 9.99963323e-01 -6.36933786e-03 -5.72579122e-03 1.95555086e+02] [ 6.37113386e-03 9.99979660e-01 2.95482342e-04 -9.37562830e+00] [ 5.72379274e-03 -3.31951286e-04 9.99983564e-01 8.88938395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68071405700002 meters Centerline goodness : 0.994380 with order 1 Centerline is valid? [True, True] Translation: X:195.62, Y:-9.38, Z:0.89 [[ 9.99982268e-01 -1.63695357e-03 -5.72579672e-03 1.95615062e+02] [ 1.63867162e-03 9.99998614e-01 2.95375728e-04 -9.37883646e+00] [ 5.72530527e-03 -3.04753191e-04 9.99983564e-01 8.87771924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74071405700002 meters Centerline goodness : 0.994517 with order 1 Centerline is valid? [True, True] Translation: X:195.67, Y:-9.38, Z:0.89 [[ 9.99983470e-01 5.24137919e-04 -5.72579672e-03 1.95674138e+02] [-5.22455200e-04 9.99999820e-01 2.95375728e-04 -9.38250887e+00] [ 5.72595051e-03 -2.92379373e-04 9.99983564e-01 8.87478494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80071405700002 meters Centerline goodness : 0.995625 with order 1 Centerline is valid? [True, True] Translation: X:195.73, Y:-9.38, Z:0.89 [[ 9.99976477e-01 -3.77618576e-03 -5.72587356e-03 1.95732024e+02] [ 3.77793023e-03 9.99992820e-01 2.93878641e-04 -9.37811597e+00] [ 5.72472271e-03 -3.15503679e-04 9.99983564e-01 8.92623243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.860714057 meters Centerline goodness : 0.994946 with order 1 Centerline is valid? [True, True] Translation: X:195.79, Y:-9.39, Z:0.88 [[ 9.99971009e-01 5.01949020e-03 -5.72590035e-03 1.95791501e+02] [-5.01789254e-03 9.99987367e-01 2.93355766e-04 -9.39174277e+00] [ 5.72730051e-03 -2.64615309e-04 9.99983564e-01 8.83945040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.920714057 meters Centerline goodness : 0.994534 with order 1 Centerline is valid? [True, True] Translation: X:195.85, Y:-9.39, Z:0.89 [[ 9.99958948e-01 7.02252286e-03 -5.72590585e-03 1.95847979e+02] [-7.02095859e-03 9.99975310e-01 2.93248299e-04 -9.39412793e+00] [ 5.72782382e-03 -2.53034913e-04 9.99983564e-01 8.87425272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.980714057 meters Centerline goodness : 0.994133 with order 1 Centerline is valid? [True, True] Translation: X:195.91, Y:-9.40, Z:0.88 [[ 9.99958229e-01 7.12419829e-03 -5.72594298e-03 1.95905666e+02] [-7.12263983e-03 9.99974591e-01 2.92521623e-04 -9.39889789e+00] [ 5.72788147e-03 -2.51725575e-04 9.99983564e-01 8.84913202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.040714057 meters Centerline goodness : 0.993688 with order 1 Centerline is valid? [True, True] Translation: X:195.97, Y:-9.41, Z:0.88 [[ 9.99839876e-01 1.69539159e-02 -5.72597586e-03 1.95965186e+02] [-1.69525221e-02 9.99856253e-01 2.91876462e-04 -9.40748575e+00] [ 5.73010122e-03 -1.94759993e-04 9.99983564e-01 8.82058287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.100714057 meters Centerline goodness : 0.993629 with order 1 Centerline is valid? [True, True] Translation: X:196.02, Y:-9.41, Z:0.89 [[ 9.99898206e-01 1.30687037e-02 -5.72598126e-03 1.96024014e+02] [-1.30672469e-02 9.99914577e-01 2.91770644e-04 -9.40864746e+00] [ 5.72930519e-03 -2.16918133e-04 9.99983564e-01 8.87773163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.160714057 meters Centerline goodness : 0.994788 with order 1 Centerline is valid? [True, True] Translation: X:196.08, Y:-9.41, Z:0.89 [[ 9.99972982e-01 4.60955257e-03 -5.72600336e-03 1.96083410e+02] [-4.60795974e-03 9.99989341e-01 2.91336191e-04 -9.41196779e+00] [ 5.72728526e-03 -2.64943126e-04 9.99983564e-01 8.88031102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.220714057 meters Centerline goodness : 0.995329 with order 1 Centerline is valid? [True, True] Translation: X:196.14, Y:-9.41, Z:0.90 [[ 9.99979945e-01 -2.70592886e-03 -5.72601423e-03 1.96142093e+02] [ 2.70764010e-03 9.99996292e-01 2.91122382e-04 -9.41263166e+00] [ 5.72520524e-03 -3.06620529e-04 9.99983564e-01 8.96822149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.280714057 meters Centerline goodness : 0.995225 with order 1 Centerline is valid? [True, True] Translation: X:196.20, Y:-9.42, Z:0.89 [[ 9.99939987e-01 -9.33999849e-03 -5.72603628e-03 1.96200530e+02] [ 9.34181566e-03 9.99956322e-01 2.90688120e-04 -9.41801625e+00] [ 5.72307115e-03 -3.44162250e-04 9.99983564e-01 8.92580492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.340714057 meters Centerline goodness : 0.996539 with order 1 Centerline is valid? [True, True] Translation: X:196.26, Y:-9.41, Z:0.89 [[ 9.99854950e-01 -1.60403233e-02 -5.72605261e-03 1.96262212e+02] [ 1.60422480e-02 9.99871273e-01 2.90365997e-04 -9.41446469e+00] [ 5.72065795e-03 -3.82182636e-04 9.99983564e-01 8.94531896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40071405700002 meters Centerline goodness : 0.994812 with order 1 Centerline is valid? [True, True] Translation: X:196.32, Y:-9.43, Z:0.89 [[ 9.99983094e-01 1.01225506e-03 -5.72601031e-03 1.96323646e+02] [-1.01060418e-03 9.99999447e-01 2.91197814e-04 -9.42703957e+00] [ 5.72630191e-03 -2.85406161e-04 9.99983564e-01 8.90317127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46071405700002 meters Centerline goodness : 0.994600 with order 1 Centerline is valid? [True, True] Translation: X:196.38, Y:-9.43, Z:0.89 [[ 9.99947030e-01 8.55282076e-03 -5.72598755e-03 1.96381670e+02] [-8.55129069e-03 9.99963395e-01 2.91644623e-04 -9.42772491e+00] [ 5.72827233e-03 -2.42664591e-04 9.99983564e-01 8.89692360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52071405700002 meters Centerline goodness : 0.995832 with order 1 Centerline is valid? [True, True] Translation: X:196.44, Y:-9.42, Z:0.90 [[ 9.99933795e-01 9.98094227e-03 -5.72601499e-03 1.96440361e+02] [-9.97943866e-03 9.99950162e-01 2.91104939e-04 -9.41724587e+00] [ 5.72863512e-03 -2.33943251e-04 9.99983564e-01 9.01061310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.580714057 meters Centerline goodness : 0.993708 with order 1 Centerline is valid? [True, True] Translation: X:196.50, Y:-9.43, Z:0.89 [[ 9.99573692e-01 2.86294676e-02 -5.72604172e-03 1.96498503e+02] [-2.86282726e-02 9.99590085e-01 2.90578150e-04 -9.43456252e+00] [ 5.73201363e-03 -1.26527591e-04 9.99983564e-01 8.90359188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.640714057 meters Centerline goodness : 0.993053 with order 1 Centerline is valid? [True, True] Translation: X:196.56, Y:-9.44, Z:0.89 [[ 9.99511924e-01 3.07103331e-02 -5.72611563e-03 1.96556810e+02] [-3.07091805e-02 9.99528320e-01 2.89114414e-04 -9.43854658e+00] [ 5.73229353e-03 -1.13128986e-04 9.99983564e-01 8.91184869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.700714057 meters Centerline goodness : 0.993751 with order 1 Centerline is valid? [True, True] Translation: X:196.61, Y:-9.44, Z:0.89 [[ 9.99714430e-01 2.32006528e-02 -5.72613713e-03 1.96614189e+02] [-2.31993795e-02 9.99730816e-01 2.88687985e-04 -9.44330670e+00] [ 5.73129349e-03 -1.55762716e-04 9.99983564e-01 8.92665631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.760714057 meters Centerline goodness : 0.993635 with order 1 Centerline is valid? [True, True] Translation: X:196.67, Y:-9.45, Z:0.90 [[ 9.99865658e-01 1.53582615e-02 -5.72616348e-03 1.96673162e+02] [-1.53568628e-02 9.99882035e-01 2.88164355e-04 -9.44819560e+00] [ 5.72991369e-03 -2.00189736e-04 9.99983564e-01 8.96742054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.820714057 meters Centerline goodness : 0.994231 with order 1 Centerline is valid? [True, True] Translation: X:196.73, Y:-9.45, Z:0.90 [[ 9.99881915e-01 1.42606574e-02 -5.72618465e-03 1.96732144e+02] [-1.42592431e-02 9.99898290e-01 2.87742947e-04 -9.45323470e+00] [ 5.72970565e-03 -2.06057909e-04 9.99983564e-01 8.98381695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.880714057 meters Centerline goodness : 0.994422 with order 1 Centerline is valid? [True, True] Translation: X:196.79, Y:-9.46, Z:0.90 [[ 9.99969796e-01 5.25516327e-03 -5.72620675e-03 1.96790209e+02] [-5.25360405e-03 9.99986158e-01 2.87302537e-04 -9.45601210e+00] [ 5.72763731e-03 -2.57210636e-04 9.99983564e-01 9.04043084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.940714057 meters Centerline goodness : 0.995153 with order 1 Centerline is valid? [True, True] Translation: X:196.85, Y:-9.46, Z:0.90 [[ 9.99982984e-01 -1.11481340e-03 -5.72623839e-03 1.96849479e+02] [ 1.11647321e-03 9.99999336e-01 2.86670609e-04 -9.45822449e+00] [ 5.72591500e-03 -2.93058923e-04 9.99983564e-01 9.04532823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.000714057 meters Centerline goodness : 0.994856 with order 1 Centerline is valid? [True, True] Translation: X:196.91, Y:-9.46, Z:0.90 [[ 9.99968752e-01 -5.45031683e-03 -5.72625459e-03 1.96907838e+02] [ 5.45204566e-03 9.99985096e-01 2.86346534e-04 -9.46105125e+00] [ 5.72460857e-03 -3.17557387e-04 9.99983564e-01 9.04666196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.060714057 meters Centerline goodness : 0.995694 with order 1 Centerline is valid? [True, True] Translation: X:196.97, Y:-9.47, Z:0.90 [[ 9.99942092e-01 -9.11165204e-03 -5.72626530e-03 1.96967264e+02] [ 9.11343949e-03 9.99958431e-01 2.86132181e-04 -9.46658315e+00] [ 5.72342013e-03 -3.38301584e-04 9.99983564e-01 9.00743677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12071405700001 meters Centerline goodness : 0.995358 with order 1 Centerline is valid? [True, True] Translation: X:197.03, Y:-9.47, Z:0.90 [[ 9.99908057e-01 -1.22917766e-02 -5.72627046e-03 1.97028824e+02] [ 1.22936154e-02 9.99924390e-01 2.86028998e-04 -9.46819765e+00] [ 5.72232169e-03 -3.56399266e-04 9.99983564e-01 9.00102291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18071405700002 meters Centerline goodness : 0.995874 with order 1 Centerline is valid? [True, True] Translation: X:197.09, Y:-9.46, Z:0.90 [[ 9.99847627e-01 -1.64903766e-02 -5.72625980e-03 1.97090187e+02] [ 1.64922852e-02 9.99863952e-01 2.86242129e-04 -9.46307723e+00] [ 5.72076052e-03 -3.80637623e-04 9.99983564e-01 8.99830391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24071405700002 meters Centerline goodness : 0.996431 with order 1 Centerline is valid? [True, True] Translation: X:197.15, Y:-9.46, Z:0.90 [[ 9.99875864e-01 -1.46787702e-02 -5.72621775e-03 1.97151148e+02] [ 1.46806540e-02 9.99892192e-01 2.87080958e-04 -9.46417096e+00] [ 5.72138642e-03 -3.71109942e-04 9.99983564e-01 8.98913255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30071405700002 meters Centerline goodness : 0.995860 with order 1 Centerline is valid? [True, True] Translation: X:197.21, Y:-9.47, Z:0.89 [[ 9.99973054e-01 4.59372693e-03 -5.72618601e-03 1.97211661e+02] [-4.59215455e-03 9.99989415e-01 2.87712542e-04 -9.47148148e+00] [ 5.72744707e-03 -2.61409258e-04 9.99983564e-01 8.91091124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.360714057 meters Centerline goodness : 0.994272 with order 1 Centerline is valid? [True, True] Translation: X:197.27, Y:-9.47, Z:0.90 [[ 9.99902710e-01 1.27193179e-02 -5.72618119e-03 1.97269921e+02] [-1.27178780e-02 9.99919083e-01 2.87808483e-04 -9.46719572e+00] [ 5.72937857e-03 -2.14955609e-04 9.99983564e-01 8.95578286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.420714057 meters Centerline goodness : 0.995113 with order 1 Centerline is valid? [True, True] Translation: X:197.33, Y:-9.47, Z:0.90 [[ 9.99770170e-01 2.06595405e-02 -5.72626761e-03 1.97328351e+02] [-2.06582406e-02 9.99786555e-01 2.86078742e-04 -9.46666782e+00] [ 5.73095562e-03 -1.67718378e-04 9.99983564e-01 8.96629375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.480714057 meters Centerline goodness : 0.994905 with order 1 Centerline is valid? [True, True] Translation: X:197.39, Y:-9.47, Z:0.90 [[ 9.99723201e-01 2.28195075e-02 -5.72635352e-03 1.97386826e+02] [-2.28182529e-02 9.99739589e-01 2.84348517e-04 -9.46512605e+00] [ 5.73135101e-03 -1.53604427e-04 9.99983564e-01 8.98790133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.540714057 meters Centerline goodness : 0.994491 with order 1 Centerline is valid? [True, True] Translation: X:197.45, Y:-9.47, Z:0.90 [[ 9.99683220e-01 2.45085277e-02 -5.72637479e-03 1.97445713e+02] [-2.45073032e-02 9.99699611e-01 2.83919629e-04 -9.46863808e+00] [ 5.73161310e-03 -1.43491686e-04 9.99983564e-01 8.96513891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.600714057 meters Centerline goodness : 0.994660 with order 1 Centerline is valid? [True, True] Translation: X:197.50, Y:-9.47, Z:0.90 [[ 9.99782297e-01 2.00640921e-02 -5.72639612e-03 1.97503923e+02] [-2.00627972e-02 9.99798682e-01 2.83488700e-04 -9.46935137e+00] [ 5.73093124e-03 -1.68539460e-04 9.99983564e-01 8.98903111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.660714057 meters Centerline goodness : 0.994836 with order 1 Centerline is valid? [True, True] Translation: X:197.56, Y:-9.47, Z:0.90 [[ 9.99845741e-01 1.66042625e-02 -5.72642784e-03 1.97561662e+02] [-1.66029146e-02 9.99862122e-01 2.82846604e-04 -9.47402140e+00] [ 5.73033475e-03 -1.87727580e-04 9.99983564e-01 8.98626598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.720714057 meters Centerline goodness : 0.994734 with order 1 Centerline is valid? [True, True] Translation: X:197.62, Y:-9.48, Z:0.90 [[ 9.99909513e-01 1.21726287e-02 -5.72646032e-03 1.97617932e+02] [-1.21712119e-02 9.99925888e-01 2.82187496e-04 -9.47929797e+00] [ 5.72947088e-03 -2.12463999e-04 9.99983564e-01 9.01869615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.780714057 meters Centerline goodness : 0.994093 with order 1 Centerline is valid? [True, True] Translation: X:197.68, Y:-9.49, Z:0.89 [[ 9.99956476e-01 7.36565776e-03 -5.72649717e-03 1.97676049e+02] [-7.36416661e-03 9.99972845e-01 2.81437577e-04 -9.48944853e+00] [ 5.72841464e-03 -2.39254448e-04 9.99983564e-01 8.91716120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.840714057 meters Centerline goodness : 0.995437 with order 1 Centerline is valid? [True, True] Translation: X:197.73, Y:-9.48, Z:0.90 [[ 9.99928098e-01 -1.05359720e-02 -5.72651825e-03 1.97734288e+02] [ 1.05377535e-02 9.99944437e-01 2.81008064e-04 -9.48235705e+00] [ 5.72323937e-03 -3.41332496e-04 9.99983564e-01 9.01273145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90071405700002 meters Centerline goodness : 0.994076 with order 1 Centerline is valid? [True, True] Translation: X:197.80, Y:-9.50, Z:0.89 [[ 9.99962233e-01 -6.53758393e-03 -5.72654399e-03 1.97795160e+02] [ 6.53929705e-03 9.99978579e-01 2.80482423e-04 -9.50136772e+00] [ 5.72458765e-03 -3.17919403e-04 9.99983564e-01 8.91638063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96071405700002 meters Centerline goodness : 0.993781 with order 1 Centerline is valid? [True, True] Translation: X:197.86, Y:-9.51, Z:0.89 [[ 9.99908050e-01 -1.22922290e-02 -5.72653336e-03 1.97855331e+02] [ 1.22940374e-02 9.99924386e-01 2.80699481e-04 -9.50742407e+00] [ 5.72264993e-03 -3.51075886e-04 9.99983564e-01 8.90593883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02071405700002 meters Centerline goodness : 0.993868 with order 1 Centerline is valid? [True, True] Translation: X:197.92, Y:-9.51, Z:0.89 [[ 9.99870933e-01 -1.50108342e-02 -5.72653336e-03 1.97917769e+02] [ 1.50126870e-02 9.99887264e-01 2.80699481e-04 -9.51015971e+00] [ 5.72167423e-03 -3.66633905e-04 9.99983564e-01 8.94600852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.080714057 meters Centerline goodness : 0.993004 with order 1 Centerline is valid? [True, True] Translation: X:197.98, Y:-9.51, Z:0.89 [[ 9.99672997e-01 -2.49220136e-02 -5.72651190e-03 1.97979726e+02] [ 2.49240307e-02 9.99689309e-01 2.81136560e-04 -9.51245911e+00] [ 5.71772623e-03 -4.23772386e-04 9.99983564e-01 8.94250235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.140714057 meters Centerline goodness : 0.992456 with order 1 Centerline is valid? [True, True] Translation: X:198.04, Y:-9.52, Z:0.90 [[ 9.99658609e-01 -2.54926223e-02 -5.72643252e-03 1.98042364e+02] [ 2.54946579e-02 9.99674918e-01 2.82744274e-04 -9.51528213e+00] [ 5.71736307e-03 -4.28641186e-04 9.99983564e-01 8.95289960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.200714057 meters Centerline goodness : 0.993062 with order 1 Centerline is valid? [True, True] Translation: X:198.11, Y:-9.52, Z:0.90 [[ 9.99650678e-01 -2.58017317e-02 -5.72640031e-03 1.98105720e+02] [ 2.58037760e-02 9.99666987e-01 2.83394968e-04 -9.51684226e+00] [ 5.71718127e-03 -4.31058723e-04 9.99983564e-01 8.97324699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.260714057 meters Centerline goodness : 0.993460 with order 1 Centerline is valid? [True, True] Translation: X:198.17, Y:-9.52, Z:0.90 [[ 9.99737091e-01 -2.22026589e-02 -5.72636796e-03 1.98167860e+02] [ 2.22046482e-02 9.99753406e-01 2.84047177e-04 -9.51803414e+00] [ 5.71864927e-03 -4.11124484e-04 9.99983564e-01 9.01147390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.320714057 meters Centerline goodness : 0.993753 with order 1 Centerline is valid? [True, True] Translation: X:198.23, Y:-9.52, Z:0.90 [[ 9.99741526e-01 -2.20020382e-02 -5.72634609e-03 1.98230739e+02] [ 2.20040267e-02 9.99757842e-01 2.84487504e-04 -9.51978761e+00] [ 5.71870010e-03 -4.10416644e-04 9.99983564e-01 9.00397925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.380714057 meters Centerline goodness : 0.993354 with order 1 Centerline is valid? [True, True] Translation: X:198.29, Y:-9.52, Z:0.90 [[ 9.99736047e-01 -2.22496412e-02 -5.72631357e-03 1.98293275e+02] [ 2.22516376e-02 9.99752361e-01 2.85140445e-04 -9.51958038e+00] [ 5.71855124e-03 -4.12485036e-04 9.99983564e-01 9.02057140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.440714057 meters Centerline goodness : 0.993406 with order 1 Centerline is valid? [True, True] Translation: X:198.36, Y:-9.52, Z:0.90 [[ 9.99642549e-01 -2.61148088e-02 -5.72628694e-03 1.98355960e+02] [ 2.61168712e-02 9.99658856e-01 2.85674348e-04 -9.51974461e+00] [ 5.71687312e-03 -4.35124933e-04 9.99983564e-01 9.00448050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.500714057 meters Centerline goodness : 0.992471 with order 1 Centerline is valid? [True, True] Translation: X:198.42, Y:-9.52, Z:0.90 [[ 9.99720500e-01 -2.29375735e-02 -5.72626595e-03 1.98417697e+02] [ 2.29395865e-02 9.99736812e-01 2.86094496e-04 -9.52048286e+00] [ 5.71819655e-03 -4.17372706e-04 9.99983564e-01 9.04758423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.560714057 meters Centerline goodness : 0.993076 with order 1 Centerline is valid? [True, True] Translation: X:198.48, Y:-9.52, Z:0.90 [[ 9.99732987e-01 -2.23867136e-02 -5.72624969e-03 1.98480835e+02] [ 2.23887194e-02 9.99749300e-01 2.86419472e-04 -9.52443808e+00] [ 5.71840213e-03 -4.14546392e-04 9.99983564e-01 8.97847618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62071405700001 meters Centerline goodness : 0.992965 with order 1 Centerline is valid? [True, True] Translation: X:198.54, Y:-9.52, Z:0.90 [[ 9.99603696e-01 -2.75619734e-02 -5.72621701e-03 1.98543559e+02] [ 2.75640674e-02 9.99619998e-01 2.87071456e-04 -9.52245969e+00] [ 5.71612877e-03 -4.44795520e-04 9.99983564e-01 9.04468717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68071405700002 meters Centerline goodness : 0.994629 with order 1 Centerline is valid? [True, True] Translation: X:198.61, Y:-9.52, Z:0.91 [[ 9.99428341e-01 -3.33196938e-02 -5.72619569e-03 1.98605701e+02] [ 3.33218841e-02 9.99444630e-01 2.87495993e-04 -9.51697887e+00] [ 5.71343626e-03 -4.78139272e-04 9.99983564e-01 9.05187503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74071405700002 meters Centerline goodness : 0.993352 with order 1 Centerline is valid? [True, True] Translation: X:198.67, Y:-9.53, Z:0.90 [[ 9.99638146e-01 -2.62828625e-02 -5.72617450e-03 1.98666413e+02] [ 2.62849405e-02 9.99654450e-01 2.87917497e-04 -9.52772382e+00] [ 5.71662852e-03 -4.38325468e-04 9.99983564e-01 8.99732835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80071405700002 meters Centerline goodness : 0.994535 with order 1 Centerline is valid? [True, True] Translation: X:198.73, Y:-9.53, Z:0.90 [[ 9.99593274e-01 -2.79373931e-02 -5.72615879e-03 1.98728483e+02] [ 2.79394998e-02 9.99609574e-01 2.88229564e-04 -9.52710459e+00] [ 5.71587077e-03 -4.48098346e-04 9.99983564e-01 9.01288434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.860714057 meters Centerline goodness : 0.993863 with order 1 Centerline is valid? [True, True] Translation: X:198.79, Y:-9.53, Z:0.91 [[ 9.99688234e-01 -2.43032022e-02 -5.72613723e-03 1.98789338e+02] [ 2.43052521e-02 9.99704542e-01 2.88657311e-04 -9.52925138e+00] [ 5.71743010e-03 -4.27742526e-04 9.99983564e-01 9.05166321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.920714057 meters Centerline goodness : 0.993894 with order 1 Centerline is valid? [True, True] Translation: X:198.85, Y:-9.53, Z:0.90 [[ 9.99737981e-01 -2.21626012e-02 -5.72612106e-03 1.98851746e+02] [ 2.21646179e-02 9.99754293e-01 2.88977687e-04 -9.53023409e+00] [ 5.71830961e-03 -4.15819255e-04 9.99983564e-01 9.02942690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.980714057 meters Centerline goodness : 0.992658 with order 1 Centerline is valid? [True, True] Translation: X:198.91, Y:-9.53, Z:0.91 [[ 9.99847037e-01 -1.65261460e-02 -5.72609967e-03 1.98912766e+02] [ 1.65280732e-02 9.99863360e-01 2.89400971e-04 -9.53152147e+00] [ 5.72053457e-03 -3.83998097e-04 9.99983564e-01 9.06598118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.040714057 meters Centerline goodness : 0.993035 with order 1 Centerline is valid? [True, True] Translation: X:198.98, Y:-9.53, Z:0.90 [[ 9.99885382e-01 -1.40155092e-02 -5.72606602e-03 1.98975389e+02] [ 1.40173992e-02 9.99901709e-01 2.90065099e-04 -9.53392097e+00] [ 5.72143779e-03 -3.70296406e-04 9.99983564e-01 9.01232692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.100714057 meters Centerline goodness : 0.994202 with order 1 Centerline is valid? [True, True] Translation: X:199.04, Y:-9.52, Z:0.91 [[ 9.99784289e-01 -1.99646620e-02 -5.72604433e-03 1.99038296e+02] [ 1.99666516e-02 9.99800604e-01 2.90492604e-04 -9.52060662e+00] [ 5.71910300e-03 -4.04759873e-04 9.99983564e-01 9.14604577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.160714057 meters Centerline goodness : 0.992718 with order 1 Centerline is valid? [True, True] Translation: X:199.10, Y:-9.53, Z:0.91 [[ 9.99944784e-01 -8.81151838e-03 -5.72596743e-03 1.99098933e+02] [ 8.81333441e-03 9.99961119e-01 2.92000682e-04 -9.53362050e+00] [ 5.72317183e-03 -3.42449425e-04 9.99983564e-01 9.05580274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.220714057 meters Centerline goodness : 0.992162 with order 1 Centerline is valid? [True, True] Translation: X:199.16, Y:-9.53, Z:0.91 [[ 9.99947482e-01 -8.49980166e-03 -5.72593336e-03 1.99160317e+02] [ 8.50161640e-03 9.99963818e-01 2.92667246e-04 -9.53322189e+00] [ 5.72323857e-03 -3.41331565e-04 9.99983564e-01 9.06213023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.280714057 meters Centerline goodness : 0.992399 with order 1 Centerline is valid? [True, True] Translation: X:199.22, Y:-9.53, Z:0.90 [[ 9.99952159e-01 -7.93059478e-03 -5.72592266e-03 1.99222136e+02] [ 7.93240141e-03 9.99968495e-01 2.92876475e-04 -9.53245810e+00] [ 5.72341958e-03 -3.38282780e-04 9.99983564e-01 9.04307319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.340714057 meters Centerline goodness : 0.991415 with order 1 Centerline is valid? [True, True] Translation: X:199.28, Y:-9.53, Z:0.91 [[ 9.99975724e-01 -3.97060166e-03 -5.72591156e-03 1.99282275e+02] [ 3.97234482e-03 9.99992067e-01 2.93093269e-04 -9.53480865e+00] [ 5.72470238e-03 -3.15831449e-04 9.99983564e-01 9.07026725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40071405700002 meters Centerline goodness : 0.991212 with order 1 Centerline is valid? [True, True] Translation: X:199.34, Y:-9.54, Z:0.91 [[ 9.99976782e-01 -3.69463480e-03 -5.72590614e-03 1.99341554e+02] [ 3.69637406e-03 9.99993125e-01 2.93199151e-04 -9.53556462e+00] [ 5.72478351e-03 -3.14357434e-04 9.99983564e-01 9.09455232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46071405700002 meters Centerline goodness : 0.991258 with order 1 Centerline is valid? [True, True] Translation: X:199.40, Y:-9.54, Z:0.91 [[ 9.99981726e-01 -1.93923460e-03 -5.72591692e-03 1.99401299e+02] [ 1.94094396e-03 9.99998073e-01 2.92988443e-04 -9.53901394e+00] [ 5.72533772e-03 -3.04096773e-04 9.99983564e-01 9.07326173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52071405700002 meters Centerline goodness : 0.991904 with order 1 Centerline is valid? [True, True] Translation: X:199.46, Y:-9.54, Z:0.91 [[ 9.99965466e-01 -6.02326022e-03 -5.72592780e-03 1.99460660e+02] [ 6.02503511e-03 9.99981806e-01 2.92775642e-04 -9.53811692e+00] [ 5.72406016e-03 -3.27264447e-04 9.99983564e-01 9.11547604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.580714057 meters Centerline goodness : 0.992311 with order 1 Centerline is valid? [True, True] Translation: X:199.52, Y:-9.54, Z:0.91 [[ 9.99956128e-01 -7.41318827e-03 -5.72594941e-03 1.99521425e+02] [ 7.41498346e-03 9.99972466e-01 2.92352466e-04 -9.54240685e+00] [ 5.72362448e-03 -3.34797460e-04 9.99983564e-01 9.11515459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.640714057 meters Centerline goodness : 0.991982 with order 1 Centerline is valid? [True, True] Translation: X:199.58, Y:-9.55, Z:0.91 [[ 9.99943345e-01 -8.97332190e-03 -5.72594941e-03 1.99582561e+02] [ 8.97514258e-03 9.99959680e-01 2.92352466e-04 -9.54723918e+00] [ 5.72309516e-03 -3.43727115e-04 9.99983564e-01 9.09520705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.700714057 meters Centerline goodness : 0.991861 with order 1 Centerline is valid? [True, True] Translation: X:199.64, Y:-9.55, Z:0.91 [[ 9.99938962e-01 -9.44910800e-03 -5.72593829e-03 1.99643931e+02] [ 9.45093769e-03 9.99955296e-01 2.92570131e-04 -9.55279655e+00] [ 5.72291779e-03 -3.46667759e-04 9.99983564e-01 9.05650734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.760714057 meters Centerline goodness : 0.992013 with order 1 Centerline is valid? [True, True] Translation: X:199.71, Y:-9.56, Z:0.91 [[ 9.99942511e-01 -9.06578894e-03 -5.72592684e-03 1.99705861e+02] [ 9.06761365e-03 9.99958845e-01 2.92793972e-04 -9.55732059e+00] [ 5.72303678e-03 -3.44697632e-04 9.99983564e-01 9.06126722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.820714057 meters Centerline goodness : 0.991946 with order 1 Centerline is valid? [True, True] Translation: X:199.77, Y:-9.56, Z:0.91 [[ 9.99968100e-01 -5.56886257e-03 -5.72590430e-03 1.99767306e+02] [ 5.57063266e-03 9.99984441e-01 2.93234015e-04 -9.56238460e+00] [ 5.72418223e-03 -3.25121571e-04 9.99983564e-01 9.06138136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.880714057 meters Centerline goodness : 0.992433 with order 1 Centerline is valid? [True, True] Translation: X:199.83, Y:-9.56, Z:0.91 [[ 9.99970686e-01 -5.08336271e-03 -5.72588765e-03 1.99827407e+02] [ 5.08512672e-03 9.99987028e-01 2.93558827e-04 -9.56200728e+00] [ 5.72432111e-03 -3.22667086e-04 9.99983564e-01 9.13973732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.940714057 meters Centerline goodness : 0.991961 with order 1 Centerline is valid? [True, True] Translation: X:199.89, Y:-9.57, Z:0.91 [[ 9.99978579e-01 -3.17093835e-03 -5.72588765e-03 1.99887926e+02] [ 3.17267110e-03 9.99994924e-01 2.93558827e-04 -9.56625180e+00] [ 5.72492773e-03 -3.11718897e-04 9.99983564e-01 9.14255099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.000714057 meters Centerline goodness : 0.991792 with order 1 Centerline is valid? [True, True] Translation: X:199.95, Y:-9.57, Z:0.92 [[ 9.99978862e-01 3.08064198e-03 -5.72588765e-03 1.99945974e+02] [-3.07901144e-03 9.99995217e-01 2.93558827e-04 -9.57215649e+00] [ 5.72676461e-03 -2.75922548e-04 9.99983564e-01 9.17579031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.060714057 meters Centerline goodness : 0.991226 with order 1 Centerline is valid? [True, True] Translation: X:200.00, Y:-9.58, Z:0.91 [[ 9.99951244e-01 8.04509611e-03 -5.72590393e-03 2.00003659e+02] [-8.04354861e-03 9.99967607e-01 2.93240985e-04 -9.57751450e+00] [ 5.72807760e-03 -2.47170101e-04 9.99983564e-01 9.13419548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12071405700001 meters Centerline goodness : 0.991555 with order 1 Centerline is valid? [True, True] Translation: X:200.06, Y:-9.58, Z:0.91 [[ 9.99869785e-01 1.50872517e-02 -5.72599244e-03 2.00061031e+02] [-1.50858294e-02 9.99886160e-01 2.91502425e-04 -9.58251802e+00] [ 5.72973856e-03 -2.05083122e-04 9.99983564e-01 9.11695432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18071405700002 meters Centerline goodness : 0.993485 with order 1 Centerline is valid? [True, True] Translation: X:200.12, Y:-9.57, Z:0.92 [[ 9.99941935e-01 9.12898962e-03 -5.72607900e-03 2.00119038e+02] [-9.12747957e-03 9.99958302e-01 2.89792024e-04 -9.57447925e+00] [ 5.72848574e-03 -2.37510529e-04 9.99983564e-01 9.18811966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24071405700002 meters Centerline goodness : 0.991238 with order 1 Centerline is valid? [True, True] Translation: X:200.18, Y:-9.59, Z:0.91 [[ 9.99701862e-01 2.37360129e-02 -5.72611157e-03 2.00177391e+02] [-2.37347458e-02 9.99718249e-01 2.89146995e-04 -9.59321003e+00] [ 5.73136143e-03 -1.53152987e-04 9.99983564e-01 9.14754978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30071405700002 meters Centerline goodness : 0.990769 with order 1 Centerline is valid? [True, True] Translation: X:200.24, Y:-9.60, Z:0.91 [[ 9.99653716e-01 2.56838222e-02 -5.72612777e-03 2.00235618e+02] [-2.56825889e-02 9.99670106e-01 2.88825822e-04 -9.60140734e+00] [ 5.73165691e-03 -1.41664021e-04 9.99983564e-01 9.11429200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.360714057 meters Centerline goodness : 0.990152 with order 1 Centerline is valid? [True, True] Translation: X:200.29, Y:-9.61, Z:0.92 [[ 9.99759617e-01 2.11641151e-02 -5.72614924e-03 2.00292889e+02] [-2.11628101e-02 9.99776001e-01 2.88399623e-04 -9.60593239e+00] [ 5.73097031e-03 -1.67148888e-04 9.99983564e-01 9.15047392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.420714057 meters Centerline goodness : 0.990868 with order 1 Centerline is valid? [True, True] Translation: X:200.35, Y:-9.61, Z:0.92 [[ 9.99874287e-01 1.47858169e-02 -5.72618816e-03 2.00351513e+02] [-1.47844118e-02 9.99890663e-01 2.87624651e-04 -9.61247091e+00] [ 5.72981484e-03 -2.02930169e-04 9.99983564e-01 9.17757678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.480714057 meters Centerline goodness : 0.992005 with order 1 Centerline is valid? [True, True] Translation: X:200.41, Y:-9.62, Z:0.92 [[ 9.99920349e-01 1.12474662e-02 -5.72620931e-03 2.00408640e+02] [-1.12460057e-02 9.99936720e-01 2.87203013e-04 -9.61750949e+00] [ 5.72907726e-03 -2.22783155e-04 9.99983564e-01 9.15110440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.540714057 meters Centerline goodness : 0.991951 with order 1 Centerline is valid? [True, True] Translation: X:200.47, Y:-9.62, Z:0.92 [[ 9.99976124e-01 3.86793569e-03 -5.72624578e-03 2.00466950e+02] [-3.86635852e-03 9.99992485e-01 2.86473967e-04 -9.62490891e+00] [ 5.72731081e-03 -2.64327408e-04 9.99983564e-01 9.17422065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.600714057 meters Centerline goodness : 0.992635 with order 1 Centerline is valid? [True, True] Translation: X:200.53, Y:-9.63, Z:0.92 [[ 9.99980239e-01 -2.59465928e-03 -5.72626721e-03 2.00525585e+02] [ 2.59633971e-03 9.99996589e-01 2.86045088e-04 -9.63180388e+00] [ 5.72550548e-03 -3.00906770e-04 9.99983564e-01 9.17389026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.660714057 meters Centerline goodness : 0.992467 with order 1 Centerline is valid? [True, True] Translation: X:200.58, Y:-9.64, Z:0.91 [[ 9.99974401e-01 -4.29042793e-03 -5.72628863e-03 2.00584536e+02] [ 4.29213363e-03 9.99990748e-01 2.85615592e-04 -9.64417583e+00] [ 5.72501024e-03 -3.10186277e-04 9.99983564e-01 9.06213662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.720714057 meters Centerline goodness : 0.992829 with order 1 Centerline is valid? [True, True] Translation: X:200.64, Y:-9.65, Z:0.91 [[ 9.99946651e-01 -8.59676946e-03 -5.72629943e-03 2.00643864e+02] [ 8.59854430e-03 9.99962991e-01 2.85398775e-04 -9.64747241e+00] [ 5.72363400e-03 -3.34621389e-04 9.99983564e-01 9.07152469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.780714057 meters Centerline goodness : 0.993130 with order 1 Centerline is valid? [True, True] Translation: X:200.71, Y:-9.65, Z:0.91 [[ 9.99885625e-01 -1.39981016e-02 -5.72631014e-03 2.00705103e+02] [ 1.39999635e-02 9.99901955e-01 2.85183751e-04 -9.64882297e+00] [ 5.72175668e-03 -3.65319266e-04 9.99983564e-01 9.11332634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.840714057 meters Centerline goodness : 0.993712 with order 1 Centerline is valid? [True, True] Translation: X:200.77, Y:-9.65, Z:0.91 [[ 9.99826819e-01 -1.77071148e-02 -5.72629927e-03 2.00767861e+02] [ 1.77090385e-02 9.99843142e-01 2.85401821e-04 -9.65013177e+00] [ 5.72034742e-03 -3.86759649e-04 9.99983564e-01 9.14139688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90071405700002 meters Centerline goodness : 0.994713 with order 1 Centerline is valid? [True, True] Translation: X:200.83, Y:-9.65, Z:0.91 [[ 9.99840610e-01 -1.69104746e-02 -5.72621263e-03 2.00830338e+02] [ 1.69123951e-02 9.99856934e-01 2.87129820e-04 -9.65300331e+00] [ 5.72053790e-03 -3.83928025e-04 9.99983564e-01 9.14865071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96071405700002 meters Centerline goodness : 0.994133 with order 1 Centerline is valid? [True, True] Translation: X:200.89, Y:-9.66, Z:0.92 [[ 9.99862105e-01 -1.55878841e-02 -5.72619061e-03 2.00892592e+02] [ 1.55897855e-02 9.99878431e-01 2.87568203e-04 -9.65545349e+00] [ 5.72101190e-03 -3.76798633e-04 9.99983564e-01 9.15102764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02071405700002 meters Centerline goodness : 0.994446 with order 1 Centerline is valid? [True, True] Translation: X:200.95, Y:-9.66, Z:0.92 [[ 9.99885902e-01 -1.39783198e-02 -5.72616881e-03 2.00953863e+02] [ 1.39801974e-02 9.99902231e-01 2.88001709e-04 -9.65564550e+00] [ 5.72158319e-03 -3.68021819e-04 9.99983564e-01 9.17289827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.080714057 meters Centerline goodness : 0.996254 with order 1 Centerline is valid? [True, True] Translation: X:201.02, Y:-9.65, Z:0.93 [[ 9.99740316e-01 -2.20570008e-02 -5.72615272e-03 2.01015856e+02] [ 2.20590121e-02 9.99756629e-01 2.88321316e-04 -9.64701125e+00] [ 5.71839963e-03 -4.14559716e-04 9.99983564e-01 9.26585082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.140714057 meters Centerline goodness : 0.994237 with order 1 Centerline is valid? [True, True] Translation: X:201.08, Y:-9.66, Z:0.92 [[ 9.99897597e-01 -1.31151693e-02 -5.72614210e-03 2.01077104e+02] [ 1.31170358e-02 9.99913926e-01 2.88531977e-04 -9.65883231e+00] [ 5.72186509e-03 -3.63612441e-04 9.99983564e-01 9.18920706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.200714057 meters Centerline goodness : 0.994304 with order 1 Centerline is valid? [True, True] Translation: X:201.14, Y:-9.66, Z:0.92 [[ 9.99846830e-01 -1.65386649e-02 -5.72612507e-03 2.01140357e+02] [ 1.65405892e-02 9.99863153e-01 2.88869675e-04 -9.65939366e+00] [ 5.72056395e-03 -3.83538912e-04 9.99983564e-01 9.21653776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.260714057 meters Centerline goodness : 0.994798 with order 1 Centerline is valid? [True, True] Translation: X:201.20, Y:-9.66, Z:0.92 [[ 9.99829129e-01 -1.75762795e-02 -5.72609219e-03 2.01202583e+02] [ 1.75782245e-02 9.99845449e-01 2.89519967e-04 -9.66175399e+00] [ 5.72011853e-03 -3.90125030e-04 9.99983564e-01 9.21519109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.320714057 meters Centerline goodness : 0.996248 with order 1 Centerline is valid? [True, True] Translation: X:201.26, Y:-9.65, Z:0.93 [[ 9.99657991e-01 -2.55169293e-02 -5.72607050e-03 2.01264436e+02] [ 2.55190063e-02 9.99674295e-01 2.89948132e-04 -9.65407494e+00] [ 5.71680691e-03 -4.35972597e-04 9.99983564e-01 9.29661875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.380714057 meters Centerline goodness : 0.994256 with order 1 Centerline is valid? [True, True] Translation: X:201.33, Y:-9.67, Z:0.92 [[ 9.99853881e-01 -1.61068145e-02 -5.72600130e-03 2.01326279e+02] [ 1.61087457e-02 9.99870203e-01 2.91308484e-04 -9.66594947e+00] [ 5.72056603e-03 -3.83504617e-04 9.99983564e-01 9.21544266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.440714057 meters Centerline goodness : 0.995633 with order 1 Centerline is valid? [True, True] Translation: X:201.39, Y:-9.66, Z:0.93 [[ 9.99695147e-01 -2.40171967e-02 -5.72597867e-03 2.01387994e+02] [ 2.40192595e-02 9.99711453e-01 2.91752645e-04 -9.65685219e+00] [ 5.71731937e-03 -4.29197470e-04 9.99983564e-01 9.29980794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.500714057 meters Centerline goodness : 0.994285 with order 1 Centerline is valid? [True, True] Translation: X:201.45, Y:-9.67, Z:0.93 [[ 9.99858822e-01 -1.57971851e-02 -5.72590600e-03 2.01449464e+02] [ 1.57991219e-02 9.99875143e-01 2.93171802e-04 -9.66705392e+00] [ 5.72055980e-03 -3.83594699e-04 9.99983564e-01 9.25863408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.560714057 meters Centerline goodness : 0.994498 with order 1 Centerline is valid? [True, True] Translation: X:201.51, Y:-9.67, Z:0.93 [[ 9.99819702e-01 -1.81046191e-02 -5.72588344e-03 2.01511050e+02] [ 1.81065961e-02 9.99836019e-01 2.93611844e-04 -9.66706784e+00] [ 5.71962877e-03 -3.97235165e-04 9.99983564e-01 9.30745606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62071405700001 meters Centerline goodness : 0.994409 with order 1 Centerline is valid? [True, True] Translation: X:201.57, Y:-9.67, Z:0.93 [[ 9.99766436e-01 -2.08395916e-02 -5.72586698e-03 2.01573376e+02] [ 2.08416151e-02 9.99782747e-01 2.93932486e-04 -9.66813447e+00] [ 5.71849758e-03 -4.13200149e-04 9.99983564e-01 9.32980406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68071405700002 meters Centerline goodness : 0.994893 with order 1 Centerline is valid? [True, True] Translation: X:201.63, Y:-9.67, Z:0.93 [[ 9.99771473e-01 -2.05965061e-02 -5.72584452e-03 2.01634697e+02] [ 2.05985280e-02 9.99787784e-01 2.94369319e-04 -9.67192500e+00] [ 5.71856643e-03 -4.12246017e-04 9.99983564e-01 9.30279376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74071405700002 meters Centerline goodness : 0.994868 with order 1 Centerline is valid? [True, True] Translation: X:201.70, Y:-9.68, Z:0.93 [[ 9.99710762e-01 -2.33582452e-02 -5.72582785e-03 2.01696468e+02] [ 2.33603140e-02 9.99727067e-01 2.94693192e-04 -9.67512265e+00] [ 5.71738157e-03 -4.28365092e-04 9.99983564e-01 9.31155545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80071405700002 meters Centerline goodness : 0.994696 with order 1 Centerline is valid? [True, True] Translation: X:201.76, Y:-9.68, Z:0.93 [[ 9.99754409e-01 -2.14087862e-02 -5.72580539e-03 2.01758880e+02] [ 2.14108257e-02 9.99770718e-01 2.95128947e-04 -9.68093124e+00] [ 5.71817422e-03 -4.17650687e-04 9.99983564e-01 9.27961004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.860714057 meters Centerline goodness : 0.994998 with order 1 Centerline is valid? [True, True] Translation: X:201.82, Y:-9.68, Z:0.93 [[ 9.99706167e-01 -2.35540882e-02 -5.72578284e-03 2.01821059e+02] [ 2.35561652e-02 9.99722471e-01 2.95565775e-04 -9.68208410e+00] [ 5.71723199e-03 -4.30356414e-04 9.99983564e-01 9.31117802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.920714057 meters Centerline goodness : 0.994969 with order 1 Centerline is valid? [True, True] Translation: X:201.88, Y:-9.69, Z:0.93 [[ 9.99717169e-01 -2.30824310e-02 -5.72575455e-03 2.01882894e+02] [ 2.30845034e-02 9.99733473e-01 2.96112836e-04 -9.68635639e+00] [ 5.71739348e-03 -4.28205286e-04 9.99983564e-01 9.29827384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.980714057 meters Centerline goodness : 0.994787 with order 1 Centerline is valid? [True, True] Translation: X:201.95, Y:-9.69, Z:0.93 [[ 9.99695951e-01 -2.39837681e-02 -5.72573178e-03 2.01945471e+02] [ 2.39858577e-02 9.99712254e-01 2.96552419e-04 -9.69160900e+00] [ 5.71697178e-03 -4.33798840e-04 9.99983564e-01 9.29719713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.040714057 meters Centerline goodness : 0.995212 with order 1 Centerline is valid? [True, True] Translation: X:202.01, Y:-9.70, Z:0.93 [[ 9.99669672e-01 -2.50552221e-02 -5.72569794e-03 2.02008044e+02] [ 2.50573329e-02 9.99685972e-01 2.97204343e-04 -9.69609725e+00] [ 5.71645339e-03 -4.40576888e-04 9.99983564e-01 9.29729531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.100714057 meters Centerline goodness : 0.995639 with order 1 Centerline is valid? [True, True] Translation: X:202.07, Y:-9.70, Z:0.93 [[ 9.99650702e-01 -2.58009825e-02 -5.72566043e-03 2.02070775e+02] [ 2.58031096e-02 9.99667000e-01 2.97925346e-04 -9.70257390e+00] [ 5.71606702e-03 -4.45561125e-04 9.99983564e-01 9.26748272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.160714057 meters Centerline goodness : 0.995934 with order 1 Centerline is valid? [True, True] Translation: X:202.13, Y:-9.71, Z:0.93 [[ 9.99645825e-01 -2.59892763e-02 -5.72562595e-03 2.02132840e+02] [ 2.59914102e-02 9.99662122e-01 2.98586473e-04 -9.70688413e+00] [ 5.71593134e-03 -4.47297814e-04 9.99983564e-01 9.26641447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.220714057 meters Centerline goodness : 0.995407 with order 1 Centerline is valid? [True, True] Translation: X:202.20, Y:-9.71, Z:0.93 [[ 9.99671768e-01 -2.49714607e-02 -5.72560297e-03 2.02195957e+02] [ 2.49735805e-02 9.99688067e-01 2.99026545e-04 -9.71039650e+00] [ 5.71634983e-03 -4.41917201e-04 9.99983564e-01 9.27412406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.280714057 meters Centerline goodness : 0.995246 with order 1 Centerline is valid? [True, True] Translation: X:202.26, Y:-9.71, Z:0.93 [[ 9.99716820e-01 -2.30975652e-02 -5.72556852e-03 2.02258186e+02] [ 2.30996582e-02 9.99733122e-01 2.99684762e-04 -9.71372855e+00] [ 5.71711850e-03 -4.31858573e-04 9.99983564e-01 9.27564218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.340714057 meters Centerline goodness : 0.995278 with order 1 Centerline is valid? [True, True] Translation: X:202.32, Y:-9.72, Z:0.93 [[ 9.99729090e-01 -2.25602453e-02 -5.72554563e-03 2.02320822e+02] [ 2.25623320e-02 9.99745393e-01 3.00121377e-04 -9.71634606e+00] [ 5.71731705e-03 -4.29221733e-04 9.99983564e-01 9.28602856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40071405700002 meters Centerline goodness : 0.995802 with order 1 Centerline is valid? [True, True] Translation: X:202.38, Y:-9.72, Z:0.93 [[ 9.99737461e-01 -2.21862233e-02 -5.72551064e-03 2.02382634e+02] [ 2.21883078e-02 9.99753764e-01 3.00787387e-04 -9.71903252e+00] [ 5.71742748e-03 -4.27747810e-04 9.99983564e-01 9.29157971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46071405700002 meters Centerline goodness : 0.995767 with order 1 Centerline is valid? [True, True] Translation: X:202.44, Y:-9.72, Z:0.93 [[ 9.99743727e-01 -2.19020136e-02 -5.72548762e-03 2.02444135e+02] [ 2.19040958e-02 9.99760031e-01 3.01224880e-04 -9.72220430e+00] [ 5.71751625e-03 -4.26559314e-04 9.99983564e-01 9.29590368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52071405700002 meters Centerline goodness : 0.994995 with order 1 Centerline is valid? [True, True] Translation: X:202.51, Y:-9.73, Z:0.93 [[ 9.99757023e-01 -2.12864652e-02 -5.72545905e-03 2.02507024e+02] [ 2.12885405e-02 9.99773328e-01 3.01766966e-04 -9.72563262e+00] [ 5.71773770e-03 -4.23580310e-04 9.99983564e-01 9.29266786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.580714057 meters Centerline goodness : 0.995453 with order 1 Centerline is valid? [True, True] Translation: X:202.57, Y:-9.73, Z:0.93 [[ 9.99729491e-01 -2.25424824e-02 -5.72542395e-03 2.02568502e+02] [ 2.25445820e-02 9.99745793e-01 3.02431597e-04 -9.72948979e+00] [ 5.71715094e-03 -4.31427076e-04 9.99983564e-01 9.27176333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.640714057 meters Centerline goodness : 0.995073 with order 1 Centerline is valid? [True, True] Translation: X:202.63, Y:-9.73, Z:0.93 [[ 9.99705318e-01 -2.35901913e-02 -5.72539525e-03 2.02631164e+02] [ 2.35923111e-02 9.99721617e-01 3.02973914e-04 -9.73481933e+00] [ 5.71665418e-03 -4.37959939e-04 9.99983564e-01 9.25654331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.700714057 meters Centerline goodness : 0.995747 with order 1 Centerline is valid? [True, True] Translation: X:202.69, Y:-9.73, Z:0.93 [[ 9.99507454e-01 -3.08556120e-02 -5.72536155e-03 2.02692356e+02] [ 3.08578538e-02 9.99523737e-01 3.03609421e-04 -9.73073514e+00] [ 5.71326671e-03 -4.80132249e-04 9.99983564e-01 9.30430022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.760714057 meters Centerline goodness : 0.995372 with order 1 Centerline is valid? [True, True] Translation: X:202.75, Y:-9.74, Z:0.92 [[ 9.99702797e-01 -2.36968085e-02 -5.72531750e-03 2.02754020e+02] [ 2.36989383e-02 9.99719094e-01 3.04437690e-04 -9.74157037e+00] [ 5.71649503e-03 -4.40031156e-04 9.99983564e-01 9.22522555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.820714057 meters Centerline goodness : 0.994937 with order 1 Centerline is valid? [True, True] Translation: X:202.82, Y:-9.74, Z:0.92 [[ 9.99652270e-01 -2.57402278e-02 -5.72529585e-03 2.02815569e+02] [ 2.57423933e-02 9.99668563e-01 3.04844436e-04 -9.74331867e+00] [ 5.71555151e-03 -4.52121250e-04 9.99983564e-01 9.24426363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.880714057 meters Centerline goodness : 0.995142 with order 1 Centerline is valid? [True, True] Translation: X:202.88, Y:-9.74, Z:0.93 [[ 9.99669519e-01 -2.50614109e-02 -5.72526911e-03 2.02878298e+02] [ 2.50635682e-02 9.99685813e-01 3.05345825e-04 -9.74425634e+00] [ 5.71581790e-03 -4.48740586e-04 9.99983564e-01 9.28657384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.940714057 meters Centerline goodness : 0.995653 with order 1 Centerline is valid? [True, True] Translation: X:202.94, Y:-9.75, Z:0.93 [[ 9.99670421e-01 -2.50253919e-02 -5.72523480e-03 2.02941250e+02] [ 2.50275522e-02 9.99686715e-01 3.05987744e-04 -9.74619718e+00] [ 5.71578371e-03 -4.49175510e-04 9.99983564e-01 9.29980067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.000714057 meters Centerline goodness : 0.994951 with order 1 Centerline is valid? [True, True] Translation: X:203.00, Y:-9.75, Z:0.93 [[ 9.99756247e-01 -2.13229794e-02 -5.72520076e-03 2.03003334e+02] [ 2.13250830e-02 9.99772548e-01 3.06623232e-04 -9.75045150e+00] [ 5.71736043e-03 -4.28638873e-04 9.99983564e-01 9.28679296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.060714057 meters Centerline goodness : 0.994015 with order 1 Centerline is valid? [True, True] Translation: X:203.07, Y:-9.75, Z:0.93 [[ 9.99807270e-01 -1.87788605e-02 -5.72517776e-03 2.03065542e+02] [ 1.87809251e-02 9.99823576e-01 3.07052132e-04 -9.75279253e+00] [ 5.71840161e-03 -4.14517088e-04 9.99983564e-01 9.29114539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12071405700001 meters Centerline goodness : 0.994413 with order 1 Centerline is valid? [True, True] Translation: X:203.13, Y:-9.75, Z:0.93 [[ 9.99854622e-01 -1.60610749e-02 -5.72515502e-03 2.03126589e+02] [ 1.60630976e-02 9.99870933e-01 3.07475529e-04 -9.75429777e+00] [ 5.71947771e-03 -3.99394552e-04 9.99983564e-01 9.30022653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18071405700002 meters Centerline goodness : 0.994502 with order 1 Centerline is valid? [True, True] Translation: X:203.19, Y:-9.76, Z:0.93 [[ 9.99875345e-01 -1.47145172e-02 -5.72513819e-03 2.03188924e+02] [ 1.47165196e-02 9.99891659e-01 3.07788711e-04 -9.75663537e+00] [ 5.71998895e-03 -3.92004452e-04 9.99983564e-01 9.30921071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24071405700002 meters Centerline goodness : 0.994728 with order 1 Centerline is valid? [True, True] Translation: X:203.25, Y:-9.76, Z:0.94 [[ 9.99921103e-01 -1.11808609e-02 -5.72511587e-03 2.03251292e+02] [ 1.11828080e-02 9.99937423e-01 3.08203190e-04 -9.75825554e+00] [ 5.72131163e-03 -3.72201745e-04 9.99983564e-01 9.35695288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30071405700002 meters Centerline goodness : 0.994955 with order 1 Centerline is valid? [True, True] Translation: X:203.31, Y:-9.76, Z:0.93 [[ 9.99917717e-01 -1.14796577e-02 -5.72509244e-03 2.03313850e+02] [ 1.14816121e-02 9.99934036e-01 3.08637871e-04 -9.75844380e+00] [ 5.72117173e-03 -3.74345766e-04 9.99983564e-01 9.33253821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.360714057 meters Centerline goodness : 0.994755 with order 1 Centerline is valid? [True, True] Translation: X:203.37, Y:-9.76, Z:0.94 [[ 9.99962926e-01 -6.43200865e-03 -5.72506923e-03 2.03374735e+02] [ 6.43388318e-03 9.99979255e-01 3.09067804e-04 -9.75833271e+00] [ 5.72296253e-03 -3.45890772e-04 9.99983564e-01 9.35475172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.420714057 meters Centerline goodness : 0.994003 with order 1 Centerline is valid? [True, True] Translation: X:203.43, Y:-9.76, Z:0.94 [[ 9.99971858e-01 4.84832653e-03 -5.72503217e-03 2.03434839e+02] [-4.84663241e-03 9.99988207e-01 3.09752691e-04 -9.75704317e+00] [ 5.72646644e-03 -2.81996847e-04 9.99983564e-01 9.43267465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.480714057 meters Centerline goodness : 0.992976 with order 1 Centerline is valid? [True, True] Translation: X:203.49, Y:-9.76, Z:0.94 [[ 9.99933055e-01 1.00553068e-02 -5.72503786e-03 2.03492337e+02] [-1.00536984e-02 9.99949412e-01 3.09647604e-04 -9.75872979e+00] [ 5.72786184e-03 -2.52069071e-04 9.99983564e-01 9.39085412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.540714057 meters Centerline goodness : 0.993230 with order 1 Centerline is valid? [True, True] Translation: X:203.55, Y:-9.76, Z:0.94 [[ 9.99796086e-01 1.93651947e-02 -5.72506577e-03 2.03551164e+02] [-1.93637417e-02 9.99812457e-01 3.09130577e-04 -9.76095469e+00] [ 5.72997845e-03 -1.98208847e-04 9.99983564e-01 9.36661887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.600714057 meters Centerline goodness : 0.994165 with order 1 Centerline is valid? [True, True] Translation: X:203.61, Y:-9.76, Z:0.94 [[ 9.99708558e-01 2.34525395e-02 -5.72514270e-03 2.03609684e+02] [-2.34511616e-02 9.99724936e-01 3.07699365e-04 -9.75976084e+00] [ 5.73078425e-03 -1.73348442e-04 9.99983564e-01 9.39894437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.660714057 meters Centerline goodness : 0.993710 with order 1 Centerline is valid? [True, True] Translation: X:203.67, Y:-9.76, Z:0.94 [[ 9.99616852e-01 2.70808330e-02 -5.72516467e-03 2.03666664e+02] [-2.70795169e-02 9.99633235e-01 3.07289939e-04 -9.76269654e+00] [ 5.73138655e-03 -1.52137508e-04 9.99983564e-01 9.39128610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.720714057 meters Centerline goodness : 0.993762 with order 1 Centerline is valid? [True, True] Translation: X:203.73, Y:-9.77, Z:0.93 [[ 9.99612837e-01 2.72286100e-02 -5.72522387e-03 2.03725280e+02] [-2.72273026e-02 9.99629221e-01 3.06182999e-04 -9.76888806e+00] [ 5.73143802e-03 -1.50182054e-04 9.99983564e-01 9.34977801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.780714057 meters Centerline goodness : 0.993437 with order 1 Centerline is valid? [True, True] Translation: X:203.78, Y:-9.77, Z:0.94 [[ 9.99663632e-01 2.52951307e-02 -5.72524556e-03 2.03783949e+02] [-2.52937939e-02 9.99680014e-01 3.05776855e-04 -9.77379313e+00] [ 5.73114823e-03 -1.60860820e-04 9.99983564e-01 9.35387877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.840714057 meters Centerline goodness : 0.994364 with order 1 Centerline is valid? [True, True] Translation: X:203.84, Y:-9.78, Z:0.94 [[ 9.99764060e-01 2.09534078e-02 -5.72526806e-03 2.03842141e+02] [-2.09520024e-02 9.99780436e-01 3.05355104e-04 -9.77877119e+00] [ 5.73040922e-03 -1.85327228e-04 9.99983564e-01 9.37768994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90071405700002 meters Centerline goodness : 0.993548 with order 1 Centerline is valid? [True, True] Translation: X:203.90, Y:-9.79, Z:0.93 [[ 9.99807847e-01 1.87480619e-02 -5.72530275e-03 2.03899159e+02] [-1.87466240e-02 9.99824220e-01 3.04703182e-04 -9.78632827e+00] [ 5.73000895e-03 -1.97314534e-04 9.99983564e-01 9.33998133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96071405700002 meters Centerline goodness : 0.993145 with order 1 Centerline is valid? [True, True] Translation: X:203.96, Y:-9.80, Z:0.93 [[ 9.99769109e-01 2.07111022e-02 -5.72536155e-03 2.03957279e+02] [-2.07097029e-02 9.99785485e-01 3.03594304e-04 -9.79731668e+00] [ 5.73042115e-03 -1.84953670e-04 9.99983564e-01 9.27931403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02071405700002 meters Centerline goodness : 0.993394 with order 1 Centerline is valid? [True, True] Translation: X:204.02, Y:-9.80, Z:0.93 [[ 9.99710587e-01 2.33658428e-02 -5.72538384e-03 2.04015644e+02] [-2.33644894e-02 9.99726967e-01 3.03173363e-04 -9.80083986e+00] [ 5.73090452e-03 -1.69314951e-04 9.99983564e-01 9.29073043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.080714057 meters Centerline goodness : 0.993515 with order 1 Centerline is valid? [True, True] Translation: X:204.07, Y:-9.81, Z:0.93 [[ 9.99579703e-01 2.84189643e-02 -5.72540640e-03 2.04073837e+02] [-2.84176961e-02 9.99596090e-01 3.02746800e-04 -9.80576757e+00] [ 5.73169760e-03 -1.39916698e-04 9.99983564e-01 9.28113032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.140714057 meters Centerline goodness : 0.994143 with order 1 Centerline is valid? [True, True] Translation: X:204.13, Y:-9.80, Z:0.94 [[ 9.99719351e-01 2.29877974e-02 -5.72548666e-03 2.04133485e+02] [-2.29864490e-02 9.99735731e-01 3.01221155e-04 -9.80336834e+00] [ 5.73089800e-03 -1.69528011e-04 9.99983564e-01 9.39560929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.200714057 meters Centerline goodness : 0.994278 with order 1 Centerline is valid? [True, True] Translation: X:204.19, Y:-9.81, Z:0.94 [[ 9.99831041e-01 1.74673633e-02 -5.72549792e-03 2.04191840e+02] [-1.74659256e-02 9.99847414e-01 3.01006966e-04 -9.80569842e+00] [ 5.72988209e-03 -2.00954987e-04 9.99983564e-01 9.41590679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.260714057 meters Centerline goodness : 0.994274 with order 1 Centerline is valid? [True, True] Translation: X:204.25, Y:-9.81, Z:0.94 [[ 9.99924746e-01 1.08499275e-02 -5.72552049e-03 2.04249783e+02] [-1.08483839e-02 9.99941109e-01 3.00577148e-04 -9.80940533e+00] [ 5.72844455e-03 -2.38441884e-04 9.99983564e-01 9.41551478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.320714057 meters Centerline goodness : 0.993491 with order 1 Centerline is valid? [True, True] Translation: X:204.31, Y:-9.82, Z:0.93 [[ 9.99918265e-01 1.14315817e-02 -5.72555466e-03 2.04307573e+02] [-1.14300514e-02 9.99934630e-01 2.99924836e-04 -9.81952294e+00] [ 5.72860899e-03 -2.34456937e-04 9.99983564e-01 9.33874850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.380714057 meters Centerline goodness : 0.993907 with order 1 Centerline is valid? [True, True] Translation: X:204.37, Y:-9.82, Z:0.93 [[ 9.99950098e-01 8.18648142e-03 -5.72558289e-03 2.04366679e+02] [-8.18490112e-03 9.99966458e-01 2.99384895e-04 -9.82251900e+00] [ 5.72784175e-03 -2.52506625e-04 9.99983564e-01 9.33952698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.440714057 meters Centerline goodness : 0.994355 with order 1 Centerline is valid? [True, True] Translation: X:204.43, Y:-9.82, Z:0.94 [[ 9.99976835e-01 3.68048958e-03 -5.72560397e-03 2.04425890e+02] [-3.67883788e-03 9.99993188e-01 2.98981123e-04 -9.82060525e+00] [ 5.72666537e-03 -2.77910628e-04 9.99983564e-01 9.41385657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.500714057 meters Centerline goodness : 0.994244 with order 1 Centerline is valid? [True, True] Translation: X:204.48, Y:-9.82, Z:0.94 [[ 9.99974064e-01 4.36903181e-03 -5.72562581e-03 2.04484235e+02] [-4.36739377e-03 9.99990418e-01 2.98562292e-04 -9.82253109e+00] [ 5.72687538e-03 -2.73548486e-04 9.99983564e-01 9.42939435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.560714057 meters Centerline goodness : 0.994233 with order 1 Centerline is valid? [True, True] Translation: X:204.54, Y:-9.82, Z:0.94 [[ 9.99975360e-01 4.06145758e-03 -5.72565951e-03 2.04542872e+02] [-4.05981821e-03 9.99991715e-01 2.97914666e-04 -9.82368975e+00] [ 5.72682204e-03 -2.74662188e-04 9.99983564e-01 9.44320063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62071405700001 meters Centerline goodness : 0.994548 with order 1 Centerline is valid? [True, True] Translation: X:204.60, Y:-9.83, Z:0.94 [[ 9.99982691e-01 1.35410846e-03 -5.72568156e-03 2.04601643e+02] [-1.35242724e-03 9.99999041e-01 2.97490267e-04 -9.82609171e+00] [ 5.72607891e-03 -2.89741550e-04 9.99983564e-01 9.43776355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68071405700002 meters Centerline goodness : 0.993796 with order 1 Centerline is valid? [True, True] Translation: X:204.66, Y:-9.83, Z:0.94 [[ 9.99977069e-01 -3.61625754e-03 -5.72570358e-03 2.04660879e+02] [ 3.61801759e-03 9.99993411e-01 2.97065867e-04 -9.82875510e+00] [ 5.72459159e-03 -3.17774751e-04 9.99983564e-01 9.42157260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74071405700002 meters Centerline goodness : 0.993911 with order 1 Centerline is valid? [True, True] Translation: X:204.72, Y:-9.83, Z:0.94 [[ 9.99941625e-01 -9.16311843e-03 -5.72572523e-03 2.04720152e+02] [ 9.16496672e-03 9.99957957e-01 2.96648016e-04 -9.83026482e+00] [ 5.72276628e-03 -3.49106780e-04 9.99983564e-01 9.41334607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80071405700002 meters Centerline goodness : 0.994454 with order 1 Centerline is valid? [True, True] Translation: X:204.78, Y:-9.83, Z:0.94 [[ 9.99951061e-01 -8.06796993e-03 -5.72573055e-03 2.04781117e+02] [ 8.06979974e-03 9.99967395e-01 2.96545223e-04 -9.83321065e+00] [ 5.72315135e-03 -3.42736209e-04 9.99983564e-01 9.42078182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.860714057 meters Centerline goodness : 0.993986 with order 1 Centerline is valid? [True, True] Translation: X:204.84, Y:-9.84, Z:0.94 [[ 9.99966977e-01 -5.76723331e-03 -5.72571935e-03 2.04841753e+02] [ 5.76902676e-03 9.99983315e-01 2.96761384e-04 -9.83602652e+00] [ 5.72391232e-03 -3.29783413e-04 9.99983564e-01 9.41854033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.920714057 meters Centerline goodness : 0.993865 with order 1 Centerline is valid? [True, True] Translation: X:204.90, Y:-9.84, Z:0.94 [[ 9.99968724e-01 -5.45601339e-03 -5.72571385e-03 2.04900892e+02] [ 5.45780236e-03 9.99985062e-01 2.96867505e-04 -9.83694012e+00] [ 5.72400860e-03 -3.28108035e-04 9.99983564e-01 9.42218840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.980714057 meters Centerline goodness : 0.994085 with order 1 Centerline is valid? [True, True] Translation: X:204.96, Y:-9.84, Z:0.94 [[ 9.99982633e-01 -1.39637729e-03 -5.72571202e-03 2.04961327e+02] [ 1.39810013e-03 9.99998979e-01 2.96902681e-04 -9.83766004e+00] [ 5.72529159e-03 -3.04902643e-04 9.99983564e-01 9.44644168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.040714057 meters Centerline goodness : 0.993390 with order 1 Centerline is valid? [True, True] Translation: X:205.02, Y:-9.84, Z:0.95 [[ 9.99952528e-01 7.88403369e-03 -5.72571202e-03 2.05019836e+02] [-7.88246262e-03 9.99968889e-01 2.96902681e-04 -9.84002962e+00] [ 5.72787468e-03 -2.51755875e-04 9.99983564e-01 9.46574331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.100714057 meters Centerline goodness : 0.994739 with order 1 Centerline is valid? [True, True] Translation: X:205.08, Y:-9.83, Z:0.95 [[ 9.99981573e-01 2.01752010e-03 -5.72572781e-03 2.05078811e+02] [-2.01585482e-03 9.99997924e-01 2.96597906e-04 -9.83333015e+00] [ 5.72631432e-03 -2.85050205e-04 9.99983564e-01 9.51877904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.160714057 meters Centerline goodness : 0.993542 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:-9.85, Z:0.94 [[ 9.99922933e-01 1.10155845e-02 -5.72574890e-03 2.05135692e+02] [-1.10140688e-02 9.99939299e-01 2.96190240e-04 -9.84956930e+00] [ 5.72866405e-03 -2.33103621e-04 9.99983564e-01 9.40267097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.220714057 meters Centerline goodness : 0.993786 with order 1 Centerline is valid? [True, True] Translation: X:205.19, Y:-9.85, Z:0.94 [[ 9.99932688e-01 1.00913392e-02 -5.72583703e-03 2.05194630e+02] [-1.00898182e-02 9.99949053e-01 2.94476571e-04 -9.85367115e+00] [ 5.72851698e-03 -2.36684095e-04 9.99983564e-01 9.44112781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.280714057 meters Centerline goodness : 0.993266 with order 1 Centerline is valid? [True, True] Translation: X:205.25, Y:-9.86, Z:0.94 [[ 9.99950514e-01 8.13538830e-03 -5.72585887e-03 2.05252799e+02] [-8.13383764e-03 9.99966877e-01 2.94051416e-04 -9.85910642e+00] [ 5.72806143e-03 -2.47463658e-04 9.99983564e-01 9.43871055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.340714057 meters Centerline goodness : 0.993460 with order 1 Centerline is valid? [True, True] Translation: X:205.31, Y:-9.86, Z:0.94 [[ 9.99970878e-01 5.04552672e-03 -5.72589099e-03 2.05309839e+02] [-5.04392909e-03 9.99987236e-01 2.93424530e-04 -9.86424375e+00] [ 5.72729839e-03 -2.64534996e-04 9.99983564e-01 9.40759823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40071405700002 meters Centerline goodness : 0.994293 with order 1 Centerline is valid? [True, True] Translation: X:205.37, Y:-9.87, Z:0.94 [[ 9.99968346e-01 5.52454208e-03 -5.72592262e-03 2.05368032e+02] [-5.52295583e-03 9.99984705e-01 2.92806007e-04 -9.86980159e+00] [ 5.72745266e-03 -2.61172721e-04 9.99983564e-01 9.44724808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46071405700002 meters Centerline goodness : 0.993556 with order 1 Centerline is valid? [True, True] Translation: X:205.43, Y:-9.88, Z:0.94 [[ 9.99950365e-01 8.15357778e-03 -5.72594344e-03 2.05426716e+02] [-8.15203687e-03 9.99966729e-01 2.92398327e-04 -9.87985605e+00] [ 5.72813702e-03 -2.45705711e-04 9.99983564e-01 9.38262157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52071405700002 meters Centerline goodness : 0.993912 with order 1 Centerline is valid? [True, True] Translation: X:205.49, Y:-9.88, Z:0.94 [[ 9.99983498e-01 -4.65062126e-04 -5.72601049e-03 2.05486808e+02] [ 4.66736481e-04 9.99999849e-01 2.91079228e-04 -9.88044005e+00] [ 5.72587426e-03 -2.93746963e-04 9.99983564e-01 9.40121272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.580714057 meters Centerline goodness : 0.995178 with order 1 Centerline is valid? [True, True] Translation: X:205.55, Y:-9.88, Z:0.95 [[ 9.99916555e-01 -1.15799465e-02 -5.72601598e-03 2.05545811e+02] [ 1.15818019e-02 9.99932886e-01 2.90971295e-04 -9.87715976e+00] [ 5.72226225e-03 -3.57264597e-04 9.99983564e-01 9.48083283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.640714057 meters Centerline goodness : 0.994268 with order 1 Centerline is valid? [True, True] Translation: X:205.61, Y:-9.89, Z:0.94 [[ 9.99978866e-01 -3.07889277e-03 -5.72603217e-03 2.05606199e+02] [ 3.08060742e-03 9.99995213e-01 2.90652232e-04 -9.89470727e+00] [ 5.72510988e-03 -3.08285746e-04 9.99983564e-01 9.37038963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.700714057 meters Centerline goodness : 0.993569 with order 1 Centerline is valid? [True, True] Translation: X:205.67, Y:-9.90, Z:0.95 [[ 9.99968406e-01 -5.51359631e-03 -5.72602180e-03 2.05665263e+02] [ 5.51535192e-03 9.99984748e-01 2.90856549e-04 -9.89587666e+00] [ 5.72433080e-03 -3.22428385e-04 9.99983564e-01 9.45369118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.760714057 meters Centerline goodness : 0.994855 with order 1 Centerline is valid? [True, True] Translation: X:205.73, Y:-9.90, Z:0.94 [[ 9.99914754e-01 -1.17344413e-02 -5.72603704e-03 2.05725888e+02] [ 1.17362969e-02 9.99931085e-01 2.90556112e-04 -9.89835420e+00] [ 5.72223292e-03 -3.57733814e-04 9.99983564e-01 9.42364691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.820714057 meters Centerline goodness : 0.995048 with order 1 Centerline is valid? [True, True] Translation: X:205.79, Y:-9.90, Z:0.94 [[ 9.99904391e-01 -1.25865758e-02 -5.72603704e-03 2.05787692e+02] [ 1.25884452e-02 9.99920720e-01 2.90556112e-04 -9.90189365e+00] [ 5.72192598e-03 -3.62610236e-04 9.99983564e-01 9.44017770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.880714057 meters Centerline goodness : 0.995853 with order 1 Centerline is valid? [True, True] Translation: X:205.85, Y:-9.90, Z:0.95 [[ 9.99727275e-01 -2.26404190e-02 -5.72601508e-03 2.05849606e+02] [ 2.26424550e-02 9.99743584e-01 2.90988356e-04 -9.89887284e+00] [ 5.71795874e-03 -4.20560035e-04 9.99983564e-01 9.49128171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.940714057 meters Centerline goodness : 0.994788 with order 1 Centerline is valid? [True, True] Translation: X:205.91, Y:-9.91, Z:0.95 [[ 9.99767271e-01 -2.07994778e-02 -5.72594495e-03 2.05911388e+02] [ 2.08014916e-02 9.99783583e-01 2.92361821e-04 -9.90810908e+00] [ 5.71862478e-03 -4.11401975e-04 9.99983564e-01 9.45869613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.000714057 meters Centerline goodness : 0.994354 with order 1 Centerline is valid? [True, True] Translation: X:205.97, Y:-9.91, Z:0.94 [[ 9.99774557e-01 -2.04462370e-02 -5.72592296e-03 2.05973474e+02] [ 2.04482475e-02 9.99790870e-01 2.92791768e-04 -9.91395940e+00] [ 5.71873901e-03 -4.09810850e-04 9.99983564e-01 9.43036616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.060714057 meters Centerline goodness : 0.996665 with order 1 Centerline is valid? [True, True] Translation: X:206.04, Y:-9.91, Z:0.95 [[ 9.99534917e-01 -2.99526919e-02 -5.72589567e-03 2.06035580e+02] [ 2.99548604e-02 9.99551209e-01 2.93324579e-04 -9.90912093e+00] [ 5.71454008e-03 -4.64706564e-04 9.99983564e-01 9.47106149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12071405700001 meters Centerline goodness : 0.995254 with order 1 Centerline is valid? [True, True] Translation: X:206.10, Y:-9.92, Z:0.94 [[ 9.99640203e-01 -2.62045563e-02 -5.72587037e-03 2.06097113e+02] [ 2.62066666e-02 9.99656503e-01 2.93817663e-04 -9.91814757e+00] [ 5.71620419e-03 -4.43767924e-04 9.99983564e-01 9.44139562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18071405700002 meters Centerline goodness : 0.994595 with order 1 Centerline is valid? [True, True] Translation: X:206.16, Y:-9.92, Z:0.94 [[ 9.99729792e-01 -2.25290434e-02 -5.72584883e-03 2.06159539e+02] [ 2.25310961e-02 9.99746099e-01 2.94236786e-04 -9.92257032e+00] [ 5.71776616e-03 -4.23166931e-04 9.99983564e-01 9.41920444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24071405700002 meters Centerline goodness : 0.994555 with order 1 Centerline is valid? [True, True] Translation: X:206.22, Y:-9.92, Z:0.95 [[ 9.99778618e-01 -2.02467078e-02 -5.72582758e-03 2.06221774e+02] [ 2.02487256e-02 9.99794930e-01 2.94649779e-04 -9.92192133e+00] [ 5.71868769e-03 -4.10525260e-04 9.99983564e-01 9.45794950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30071405700002 meters Centerline goodness : 0.994612 with order 1 Centerline is valid? [True, True] Translation: X:206.28, Y:-9.92, Z:0.95 [[ 9.99855273e-01 -1.60202696e-02 -5.72580575e-03 2.06284461e+02] [ 1.60222209e-02 9.99871592e-01 2.95073272e-04 -9.92321588e+00] [ 5.72034336e-03 -3.86770691e-04 9.99983564e-01 9.48133882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.360714057 meters Centerline goodness : 0.994820 with order 1 Centerline is valid? [True, True] Translation: X:206.35, Y:-9.93, Z:0.95 [[ 9.99924696e-01 -1.08544324e-02 -5.72578411e-03 2.06346830e+02] [ 1.08563017e-02 9.99941025e-01 2.95492616e-04 -9.92545029e+00] [ 5.72223903e-03 -3.57631204e-04 9.99983564e-01 9.52274171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.420714057 meters Centerline goodness : 0.995360 with order 1 Centerline is valid? [True, True] Translation: X:206.41, Y:-9.93, Z:0.95 [[ 9.99904811e-01 -1.25532594e-02 -5.72576170e-03 2.06407811e+02] [ 1.25551589e-02 9.99921137e-01 2.95926283e-04 -9.93123279e+00] [ 5.72159531e-03 -3.67785962e-04 9.99983564e-01 9.51917371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.480714057 meters Centerline goodness : 0.994482 with order 1 Centerline is valid? [True, True] Translation: X:206.47, Y:-9.94, Z:0.95 [[ 9.99921252e-01 -1.11671601e-02 -5.72574514e-03 2.06470015e+02] [ 1.11690389e-02 9.99937580e-01 2.96246322e-04 -9.93863970e+00] [ 5.72207951e-03 -3.60174063e-04 9.99983564e-01 9.51765873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.540714057 meters Centerline goodness : 0.995072 with order 1 Centerline is valid? [True, True] Translation: X:206.53, Y:-9.95, Z:0.95 [[ 9.99922417e-01 -1.10623820e-02 -5.72572247e-03 2.06530591e+02] [ 1.10642615e-02 9.99938745e-01 2.96683834e-04 -9.94632515e+00] [ 5.72208971e-03 -3.60011707e-04 9.99983564e-01 9.51149434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.600714057 meters Centerline goodness : 0.993924 with order 1 Centerline is valid? [True, True] Translation: X:206.59, Y:-9.95, Z:0.95 [[ 9.99978171e-01 -3.29741861e-03 -5.72570571e-03 2.06590496e+02] [ 3.29917311e-03 9.99994514e-01 2.97006912e-04 -9.95434191e+00] [ 5.72469494e-03 -3.15890523e-04 9.99983564e-01 9.52469130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.660714057 meters Centerline goodness : 0.993532 with order 1 Centerline is valid? [True, True] Translation: X:206.65, Y:-9.96, Z:0.95 [[ 9.99981476e-01 2.06492592e-03 -5.72568785e-03 2.06649209e+02] [-2.06325712e-03 9.99997827e-01 2.97350820e-04 -9.96052874e+00] [ 5.72628942e-03 -2.85531746e-04 9.99983564e-01 9.50909718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.720714057 meters Centerline goodness : 0.994153 with order 1 Centerline is valid? [True, True] Translation: X:206.71, Y:-9.96, Z:0.95 [[ 9.99976542e-01 -3.75930682e-03 -5.72570361e-03 2.06707960e+02] [ 3.76106910e-03 9.99992883e-01 2.97046998e-04 -9.95810756e+00] [ 5.72454617e-03 -3.18574797e-04 9.99983564e-01 9.51918266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.780714057 meters Centerline goodness : 0.992273 with order 1 Centerline is valid? [True, True] Translation: X:206.77, Y:-9.97, Z:0.95 [[ 9.99934368e-01 9.92344965e-03 -5.72572508e-03 2.06767086e+02] [-9.92191350e-03 9.99950733e-01 2.96632570e-04 -9.97465869e+00] [ 5.72838661e-03 -2.39802953e-04 9.99983564e-01 9.47725075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.840714057 meters Centerline goodness : 0.992151 with order 1 Centerline is valid? [True, True] Translation: X:206.83, Y:-9.99, Z:0.95 [[ 9.99754775e-01 2.13917287e-02 -5.72573592e-03 2.06825850e+02] [-2.13903816e-02 9.99771156e-01 2.96423160e-04 -9.98525865e+00] [ 5.73076662e-03 -1.73874793e-04 9.99983564e-01 9.45969458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90071405700002 meters Centerline goodness : 0.992257 with order 1 Centerline is valid? [True, True] Translation: X:206.88, Y:-9.99, Z:0.95 [[ 9.99769615e-01 2.06865231e-02 -5.72580462e-03 2.06884804e+02] [-2.06851720e-02 9.99785995e-01 2.95090231e-04 -9.99066792e+00] [ 5.73068366e-03 -1.76582993e-04 9.99983564e-01 9.47601145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96071405700002 meters Centerline goodness : 0.992356 with order 1 Centerline is valid? [True, True] Translation: X:206.94, Y:-10.01, Z:0.94 [[ 9.99791028e-01 1.96243515e-02 -5.72582619e-03 2.06942986e+02] [-1.96229854e-02 9.99807407e-01 2.94671023e-04 -1.00104524e+01] [ 5.73050617e-03 -1.82251642e-04 9.99983564e-01 9.35697469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02071405700002 meters Centerline goodness : 0.995133 with order 1 Centerline is valid? [True, True] Translation: X:207.00, Y:-10.00, Z:0.95 [[ 9.99979070e-01 3.01228277e-03 -5.72584743e-03 2.07002136e+02] [-3.01064713e-03 9.99995425e-01 2.94257730e-04 -1.00009739e+01] [ 5.72670762e-03 -2.77013065e-04 9.99983564e-01 9.48291953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.080714057 meters Centerline goodness : 0.992538 with order 1 Centerline is valid? [True, True] Translation: X:207.06, Y:-10.03, Z:0.94 [[ 9.99907060e-01 1.23728091e-02 -5.72586307e-03 2.07059750e+02] [-1.23713283e-02 9.99923429e-01 2.93953106e-04 -1.00261594e+01] [ 5.72906166e-03 -2.23089254e-04 9.99983564e-01 9.38819250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.140714057 meters Centerline goodness : 0.994600 with order 1 Centerline is valid? [True, True] Translation: X:207.12, Y:-10.02, Z:0.95 [[ 9.99979837e-01 -2.74575164e-03 -5.72594043e-03 2.07117570e+02] [ 2.74747105e-03 9.99996183e-01 2.92438353e-04 -1.00203746e+01] [ 5.72511561e-03 -3.08164312e-04 9.99983564e-01 9.48993436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.200714057 meters Centerline goodness : 0.995137 with order 1 Centerline is valid? [True, True] Translation: X:207.18, Y:-10.03, Z:0.95 [[ 9.99977469e-01 -3.50367827e-03 -5.72596176e-03 2.07176074e+02] [ 3.50540767e-03 9.99993813e-01 2.92020082e-04 -1.00282247e+01] [ 5.72490319e-03 -3.12085333e-04 9.99983564e-01 9.47749849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.260714057 meters Centerline goodness : 0.992826 with order 1 Centerline is valid? [True, True] Translation: X:207.23, Y:-10.05, Z:0.94 [[ 9.99966304e-01 5.88254042e-03 -5.72598298e-03 2.07234432e+02] [-5.88096690e-03 9.99982664e-01 2.91603374e-04 -1.00468998e+01] [ 5.72759909e-03 -2.57919231e-04 9.99983564e-01 9.44269449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.320714057 meters Centerline goodness : 0.993075 with order 1 Centerline is valid? [True, True] Translation: X:207.29, Y:-10.05, Z:0.95 [[ 9.99978998e-01 3.03570847e-03 -5.72599973e-03 2.07293641e+02] [-3.03409025e-03 9.99995355e-01 2.91274180e-04 -1.00499624e+01] [ 5.72685736e-03 -2.73894862e-04 9.99983564e-01 9.47409835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.380714057 meters Centerline goodness : 0.991593 with order 1 Centerline is valid? [True, True] Translation: X:207.35, Y:-10.05, Z:0.95 [[ 9.99977707e-01 3.43485716e-03 -5.72601610e-03 2.07351280e+02] [-3.43324731e-03 9.99994064e-01 2.90951975e-04 -1.00545090e+01] [ 5.72698149e-03 -2.71286659e-04 9.99983564e-01 9.51107865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.440714057 meters Centerline goodness : 0.992144 with order 1 Centerline is valid? [True, True] Translation: X:207.41, Y:-10.06, Z:0.95 [[ 9.99967161e-01 5.73497343e-03 -5.72604290e-03 2.07409129e+02] [-5.73340423e-03 9.99983522e-01 2.90423700e-04 -1.00574802e+01] [ 5.72761411e-03 -2.57584444e-04 9.99983564e-01 9.51221341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.500714057 meters Centerline goodness : 0.991923 with order 1 Centerline is valid? [True, True] Translation: X:207.47, Y:-10.06, Z:0.96 [[ 9.99921372e-01 1.11562094e-02 -5.72612803e-03 2.07467354e+02] [-1.11547386e-02 9.99937742e-01 2.88735398e-04 -1.00576355e+01] [ 5.72899272e-03 -2.24839234e-04 9.99983564e-01 9.56905491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.560714057 meters Centerline goodness : 0.992145 with order 1 Centerline is valid? [True, True] Translation: X:207.53, Y:-10.06, Z:0.95 [[ 9.99794320e-01 1.94558241e-02 -5.72620087e-03 2.07526055e+02] [-1.94544975e-02 9.99810702e-01 2.87283458e-04 -1.00625577e+01] [ 5.73070625e-03 -1.75824008e-04 9.99983564e-01 9.51828049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62071405700001 meters Centerline goodness : 0.991866 with order 1 Centerline is valid? [True, True] Translation: X:207.59, Y:-10.06, Z:0.96 [[ 9.99710505e-01 2.33691084e-02 -5.72627453e-03 2.07585053e+02] [-2.33678544e-02 9.99726894e-01 2.85807671e-04 -1.00636305e+01] [ 5.73138972e-03 -1.51914181e-04 9.99983564e-01 9.63480763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68071405700002 meters Centerline goodness : 0.994112 with order 1 Centerline is valid? [True, True] Translation: X:207.64, Y:-10.06, Z:0.96 [[ 9.99912235e-01 1.19470477e-02 -5.72629557e-03 2.07642968e+02] [-1.19456090e-02 9.99928608e-01 2.85385433e-04 -1.00618598e+01] [ 5.72929628e-03 -2.16956298e-04 9.99983564e-01 9.59975440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74071405700002 meters Centerline goodness : 0.992451 with order 1 Centerline is valid? [True, True] Translation: X:207.70, Y:-10.08, Z:0.96 [[ 9.99861633e-01 1.56180614e-02 -5.72632144e-03 2.07701383e+02] [-1.56166858e-02 9.99878012e-01 2.84865422e-04 -1.00766002e+01] [ 5.73007194e-03 -1.95399843e-04 9.99983564e-01 9.61052116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80071405700002 meters Centerline goodness : 0.992295 with order 1 Centerline is valid? [True, True] Translation: X:207.76, Y:-10.09, Z:0.95 [[ 9.99903646e-01 1.26454693e-02 -5.72639389e-03 2.07758538e+02] [-1.26440534e-02 9.99920021e-01 2.83401616e-04 -1.00868897e+01] [ 5.72951964e-03 -2.10969479e-04 9.99983564e-01 9.53637552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.860714057 meters Centerline goodness : 0.992315 with order 1 Centerline is valid? [True, True] Translation: X:207.82, Y:-10.09, Z:0.96 [[ 9.99970580e-01 5.10358963e-03 -5.72641908e-03 2.07817377e+02] [-5.10205314e-03 9.99986944e-01 2.82891720e-04 -1.00889328e+01] [ 5.72778808e-03 -2.53666903e-04 9.99983564e-01 9.58150121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.920714057 meters Centerline goodness : 0.995000 with order 1 Centerline is valid? [True, True] Translation: X:207.88, Y:-10.08, Z:0.96 [[ 9.99959203e-01 -6.98575193e-03 -5.72643880e-03 2.07876319e+02] [ 6.98748385e-03 9.99975547e-01 2.82491825e-04 -1.00837297e+01] [ 5.72432536e-03 -3.22493699e-04 9.99983564e-01 9.58335126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.980714057 meters Centerline goodness : 0.992641 with order 1 Centerline is valid? [True, True] Translation: X:207.94, Y:-10.09, Z:0.97 [[ 9.99983495e-01 4.65376834e-04 -5.72645338e-03 2.07935924e+02] [-4.63768437e-04 9.99999853e-01 2.82195988e-04 -1.00923380e+01] [ 5.72658387e-03 -2.79535582e-04 9.99983564e-01 9.66731819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.040714057 meters Centerline goodness : 0.991777 with order 1 Centerline is valid? [True, True] Translation: X:207.99, Y:-10.10, Z:0.97 [[ 9.99980389e-01 2.53565321e-03 -5.72645822e-03 2.07994364e+02] [-2.53407925e-03 9.99996749e-01 2.82097754e-04 -1.00957456e+01] [ 5.72715491e-03 -2.67580922e-04 9.99983564e-01 9.71046018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.100714057 meters Centerline goodness : 0.992499 with order 1 Centerline is valid? [True, True] Translation: X:208.05, Y:-10.10, Z:0.97 [[ 9.99983170e-01 -9.30628466e-04 -5.72652447e-03 2.08052045e+02] [ 9.32251415e-04 9.99999526e-01 2.80746394e-04 -1.00998722e+01] [ 5.72626049e-03 -2.86080229e-04 9.99983564e-01 9.67067307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.160714057 meters Centerline goodness : 0.994576 with order 1 Centerline is valid? [True, True] Translation: X:208.11, Y:-10.09, Z:0.97 [[ 9.99963215e-01 -6.38559577e-03 -5.72654768e-03 2.08111538e+02] [ 6.38730521e-03 9.99979562e-01 2.80272216e-04 -1.00939134e+01] [ 5.72464093e-03 -3.16839114e-04 9.99983564e-01 9.65599875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.220714057 meters Centerline goodness : 0.991853 with order 1 Centerline is valid? [True, True] Translation: X:208.17, Y:-10.11, Z:0.96 [[ 9.99976996e-01 3.63497125e-03 -5.72656594e-03 2.08171617e+02] [-3.63342784e-03 9.99993360e-01 2.79898572e-04 -1.01053513e+01] [ 5.72754534e-03 -2.59085069e-04 9.99983564e-01 9.63172708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.280714057 meters Centerline goodness : 0.991546 with order 1 Centerline is valid? [True, True] Translation: X:208.23, Y:-10.11, Z:0.96 [[ 9.99983483e-01 -4.90003680e-04 -5.72656594e-03 2.08230534e+02] [ 4.91614579e-04 9.99999840e-01 2.79898572e-04 -1.01072105e+01] [ 5.72642788e-03 -2.82709212e-04 9.99983564e-01 9.63025844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.340714057 meters Centerline goodness : 0.991478 with order 1 Centerline is valid? [True, True] Translation: X:208.29, Y:-10.11, Z:0.96 [[ 9.99969833e-01 -5.24788298e-03 -5.72658692e-03 2.08289076e+02] [ 5.24956923e-03 9.99986182e-01 2.79468674e-04 -1.01087954e+01] [ 5.72504117e-03 -3.09522358e-04 9.99983564e-01 9.63764555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40071405700002 meters Centerline goodness : 0.991972 with order 1 Centerline is valid? [True, True] Translation: X:208.35, Y:-10.11, Z:0.97 [[ 9.99914680e-01 -1.17404673e-02 -5.72660818e-03 2.08348875e+02] [ 1.17422572e-02 9.99931018e-01 2.79032474e-04 -1.01080516e+01] [ 5.72293717e-03 -3.46251973e-04 9.99983564e-01 9.68270213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46071405700002 meters Centerline goodness : 0.992082 with order 1 Centerline is valid? [True, True] Translation: X:208.41, Y:-10.11, Z:0.97 [[ 9.99825926e-01 -1.77573660e-02 -5.72660071e-03 2.08410110e+02] [ 1.77592551e-02 9.99842253e-01 2.79185695e-04 -1.01103355e+01] [ 5.72073975e-03 -3.80837258e-04 9.99983564e-01 9.66407595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52071405700002 meters Centerline goodness : 0.991823 with order 1 Centerline is valid? [True, True] Translation: X:208.47, Y:-10.11, Z:0.97 [[ 9.99767521e-01 -2.07872502e-02 -5.72655994e-03 2.08472008e+02] [ 2.07891935e-02 9.99783842e-01 2.80019442e-04 -1.01120086e+01] [ 5.71950126e-03 -3.99004906e-04 9.99983564e-01 9.68858665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.580714057 meters Centerline goodness : 0.991611 with order 1 Centerline is valid? [True, True] Translation: X:208.53, Y:-10.11, Z:0.97 [[ 9.99751191e-01 -2.15583426e-02 -5.72653864e-03 2.08534611e+02] [ 2.15603009e-02 9.99767510e-01 2.80454233e-04 -1.01140930e+01] [ 5.71916116e-03 -4.03850350e-04 9.99983564e-01 9.67931415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.640714057 meters Centerline goodness : 0.992279 with order 1 Centerline is valid? [True, True] Translation: X:208.60, Y:-10.11, Z:0.97 [[ 9.99768544e-01 -2.07380038e-02 -5.72651729e-03 2.08595519e+02] [ 2.07399512e-02 9.99784865e-01 2.80889654e-04 -1.01146783e+01] [ 5.71946022e-03 -3.99592330e-04 9.99983564e-01 9.68061094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.700714057 meters Centerline goodness : 0.992734 with order 1 Centerline is valid? [True, True] Translation: X:208.66, Y:-10.11, Z:0.97 [[ 9.99857410e-01 -1.58860716e-02 -5.72650148e-03 2.08657271e+02] [ 1.58879416e-02 9.99873739e-01 2.81211568e-04 -1.01140373e+01] [ 5.72131110e-03 -3.72153791e-04 9.99983564e-01 9.68191964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.760714057 meters Centerline goodness : 0.993352 with order 1 Centerline is valid? [True, True] Translation: X:208.72, Y:-10.11, Z:0.97 [[ 9.99922648e-01 -1.10410545e-02 -5.72648604e-03 2.08718901e+02] [ 1.10428472e-02 9.99938986e-01 2.81525699e-04 -1.01118114e+01] [ 5.72302830e-03 -3.44740633e-04 9.99983564e-01 9.68703690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.820714057 meters Centerline goodness : 0.993102 with order 1 Centerline is valid? [True, True] Translation: X:208.78, Y:-10.11, Z:0.96 [[ 9.99960088e-01 -6.85781546e-03 -5.72647091e-03 2.08779894e+02] [ 6.85954153e-03 9.99976433e-01 2.81832928e-04 -1.01123545e+01] [ 5.72440320e-03 -3.21102644e-04 9.99983564e-01 9.61507571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.880714057 meters Centerline goodness : 0.993031 with order 1 Centerline is valid? [True, True] Translation: X:208.84, Y:-10.11, Z:0.96 [[ 9.99979559e-01 -2.84422631e-03 -5.72646167e-03 2.08840589e+02] [ 2.84588783e-03 9.99995911e-01 2.82020613e-04 -1.01135441e+01] [ 5.72563612e-03 -2.98311716e-04 9.99983564e-01 9.64592881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.940714057 meters Centerline goodness : 0.992786 with order 1 Centerline is valid? [True, True] Translation: X:208.90, Y:-10.11, Z:0.97 [[ 9.99977490e-01 -3.49680121e-03 -5.72646167e-03 2.08900482e+02] [ 3.49847341e-03 9.99993841e-01 2.82020613e-04 -1.01107186e+01] [ 5.72544023e-03 -3.02048139e-04 9.99983564e-01 9.67499865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.000714057 meters Centerline goodness : 0.994047 with order 1 Centerline is valid? [True, True] Translation: X:208.96, Y:-10.11, Z:0.97 [[ 9.99922004e-01 -1.10992185e-02 -5.72647239e-03 2.08959572e+02] [ 1.11010137e-02 9.99938342e-01 2.81802771e-04 -1.01086528e+01] [ 5.72299152e-03 -3.45350440e-04 9.99983564e-01 9.65731959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.060714057 meters Centerline goodness : 0.992968 with order 1 Centerline is valid? [True, True] Translation: X:209.02, Y:-10.11, Z:0.97 [[ 9.99882705e-01 -1.42050284e-02 -5.72648818e-03 2.09021020e+02] [ 1.42068725e-02 9.99899038e-01 2.81481578e-04 -1.01093641e+01] [ 5.72191157e-03 -3.62804049e-04 9.99983564e-01 9.68406707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12071405700001 meters Centerline goodness : 0.993552 with order 1 Centerline is valid? [True, True] Translation: X:209.08, Y:-10.11, Z:0.97 [[ 9.99748615e-01 -2.16775158e-02 -5.72647747e-03 2.09082634e+02] [ 2.16794832e-02 9.99764933e-01 2.81699263e-04 -1.01071961e+01] [ 5.71902482e-03 -4.05775521e-04 9.99983564e-01 9.73583698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18071405700002 meters Centerline goodness : 0.993747 with order 1 Centerline is valid? [True, True] Translation: X:209.15, Y:-10.11, Z:0.98 [[ 9.99654978e-01 -2.56346087e-02 -5.72643511e-03 2.09145255e+02] [ 2.56366455e-02 9.99671287e-01 2.82557850e-04 -1.01080318e+01] [ 5.71730949e-03 -4.29266948e-04 9.99983564e-01 9.76146386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24071405700002 meters Centerline goodness : 0.993471 with order 1 Centerline is valid? [True, True] Translation: X:209.21, Y:-10.11, Z:0.98 [[ 9.99603679e-01 -2.75625358e-02 -5.72640242e-03 2.09208605e+02] [ 2.75646078e-02 9.99619984e-01 2.83218770e-04 -1.01103976e+01] [ 5.71642007e-03 -4.40952562e-04 9.99983564e-01 9.77226965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30071405700002 meters Centerline goodness : 0.994330 with order 1 Centerline is valid? [True, True] Translation: X:209.27, Y:-10.11, Z:0.97 [[ 9.99651644e-01 -2.57643152e-02 -5.72636946e-03 2.09271532e+02] [ 2.57663617e-02 9.99667952e-01 2.83883511e-04 -1.01113146e+01] [ 5.71715397e-03 -4.31332325e-04 9.99983564e-01 9.74901703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.360714057 meters Centerline goodness : 0.994123 with order 1 Centerline is valid? [True, True] Translation: X:209.33, Y:-10.11, Z:0.97 [[ 9.99708684e-01 -2.34468698e-02 -5.72633654e-03 2.09334362e+02] [ 2.34488823e-02 9.99724997e-01 2.84546074e-04 -1.01129196e+01] [ 5.71809006e-03 -4.18739373e-04 9.99983564e-01 9.73766618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.420714057 meters Centerline goodness : 0.992780 with order 1 Centerline is valid? [True, True] Translation: X:209.40, Y:-10.11, Z:0.97 [[ 9.99874535e-01 -1.47689858e-02 -5.72630383e-03 2.09395362e+02] [ 1.47708604e-02 9.99890864e-01 2.85202747e-04 -1.01117962e+01] [ 5.72146673e-03 -3.69749399e-04 9.99983564e-01 9.74695041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.480714057 meters Centerline goodness : 0.991784 with order 1 Centerline is valid? [True, True] Translation: X:209.46, Y:-10.11, Z:0.98 [[ 9.99958966e-01 -7.01974646e-03 -5.72628774e-03 2.09457952e+02] [ 7.02149625e-03 9.99975308e-01 2.85525573e-04 -1.01115779e+01] [ 5.72414203e-03 -3.25720965e-04 9.99983564e-01 9.75095321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.540714057 meters Centerline goodness : 0.994015 with order 1 Centerline is valid? [True, True] Translation: X:209.52, Y:-10.12, Z:0.97 [[ 9.99983604e-01 -2.57050273e-05 -5.72626605e-03 2.09518251e+02] [ 2.73429571e-05 9.99999959e-01 2.85959907e-04 -1.01165207e+01] [ 5.72625846e-03 -2.86111792e-04 9.99983564e-01 9.67039508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.600714057 meters Centerline goodness : 0.993107 with order 1 Centerline is valid? [True, True] Translation: X:209.58, Y:-10.12, Z:0.98 [[ 9.99983603e-01 5.49197096e-05 -5.72626074e-03 2.09577050e+02] [-5.32824911e-05 9.99999958e-01 2.86066246e-04 -1.01154476e+01] [ 5.72627620e-03 -2.85756446e-04 9.99983564e-01 9.76121048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.660714057 meters Centerline goodness : 0.991796 with order 1 Centerline is valid? [True, True] Translation: X:209.64, Y:-10.12, Z:0.98 [[ 9.99983515e-01 4.23995507e-04 -5.72628216e-03 2.09635919e+02] [-4.22366778e-04 9.99999870e-01 2.85636797e-04 -1.01169042e+01] [ 5.72640252e-03 -2.83213497e-04 9.99983564e-01 9.80932574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.720714057 meters Centerline goodness : 0.992448 with order 1 Centerline is valid? [True, True] Translation: X:209.69, Y:-10.12, Z:0.98 [[ 9.99982414e-01 -1.54263328e-03 -5.72635732e-03 2.09693266e+02] [ 1.54428551e-03 9.99998767e-01 2.84121934e-04 -1.01212382e+01] [ 5.72591196e-03 -2.92960068e-04 9.99983564e-01 9.80208147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.780714057 meters Centerline goodness : 0.991836 with order 1 Centerline is valid? [True, True] Translation: X:209.75, Y:-10.13, Z:0.96 [[ 9.99982382e-01 1.56324785e-03 -5.72638363e-03 2.09751401e+02] [-1.56164945e-03 9.99998740e-01 2.83590632e-04 -1.01337611e+01] [ 5.72681974e-03 -2.74643032e-04 9.99983564e-01 9.64968627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.840714057 meters Centerline goodness : 0.991268 with order 1 Centerline is valid? [True, True] Translation: X:209.81, Y:-10.13, Z:0.98 [[ 9.99959872e-01 -6.88929014e-03 -5.72645666e-03 2.09810855e+02] [ 6.89101830e-03 9.99976217e-01 2.82108198e-04 -1.01289559e+01] [ 5.72437694e-03 -3.21557995e-04 9.99983564e-01 9.79133124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90071405700002 meters Centerline goodness : 0.993385 with order 1 Centerline is valid? [True, True] Translation: X:209.87, Y:-10.13, Z:0.98 [[ 9.99944555e-01 -8.83716275e-03 -5.72647215e-03 2.09871759e+02] [ 8.83892095e-03 9.99960896e-01 2.81793439e-04 -1.01301658e+01] [ 5.72375797e-03 -3.32393649e-04 9.99983564e-01 9.82718936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96071405700002 meters Centerline goodness : 0.988944 with order 1 Centerline is valid? [True, True] Translation: X:209.93, Y:-10.13, Z:0.98 [[ 9.99945650e-01 -8.71228878e-03 -5.72647215e-03 2.09932100e+02] [ 8.71404493e-03 9.99961992e-01 2.81793439e-04 -1.01317348e+01] [ 5.72379943e-03 -3.31678859e-04 9.99983564e-01 9.80993986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02071405700002 meters Centerline goodness : 0.987170 with order 1 Centerline is valid? [True, True] Translation: X:209.99, Y:-10.13, Z:0.99 [[ 9.99959675e-01 -6.91786221e-03 -5.72646710e-03 2.09993695e+02] [ 6.91958962e-03 9.99976020e-01 2.81896096e-04 -1.01334875e+01] [ 5.72437966e-03 -3.21509530e-04 9.99983564e-01 9.85233048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08071405700002 meters Centerline goodness : 0.986830 with order 1 Centerline is valid? [True, True] Translation: X:210.05, Y:-10.14, Z:0.98 [[ 9.99983128e-01 -9.75869560e-04 -5.72645658e-03 2.10053899e+02] [ 9.77501036e-04 9.99999482e-01 2.82109537e-04 -1.01401993e+01] [ 5.72617832e-03 -2.87702395e-04 9.99983564e-01 9.79608467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.140714057 meters Centerline goodness : 0.986011 with order 1 Centerline is valid? [True, True] Translation: X:210.11, Y:-10.14, Z:0.98 [[ 9.99978310e-01 -3.25395495e-03 -5.72645658e-03 2.10112749e+02] [ 3.25562368e-03 9.99994661e-01 2.82109537e-04 -1.01422356e+01] [ 5.72550804e-03 -3.00746606e-04 9.99983564e-01 9.83035360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.200714057 meters Centerline goodness : 0.985357 with order 1 Centerline is valid? [True, True] Translation: X:210.17, Y:-10.15, Z:0.98 [[ 9.99978833e-01 -3.08896755e-03 -5.72647735e-03 2.10171483e+02] [ 3.09063117e-03 9.99995184e-01 2.81687330e-04 -1.01459942e+01] [ 5.72557965e-03 -2.99379797e-04 9.99983564e-01 9.81664834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.260714057 meters Centerline goodness : 0.985705 with order 1 Centerline is valid? [True, True] Translation: X:210.23, Y:-10.15, Z:0.98 [[ 9.99982775e-01 -1.28740183e-03 -5.72649266e-03 2.10231521e+02] [ 1.28903421e-03 9.99999130e-01 2.81375758e-04 -1.01488790e+01] [ 5.72612543e-03 -2.88752556e-04 9.99983564e-01 9.82394621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.320714057 meters Centerline goodness : 0.984904 with order 1 Centerline is valid? [True, True] Translation: X:210.29, Y:-10.16, Z:0.98 [[ 9.99958215e-01 7.12572509e-03 -5.72650272e-03 2.10290043e+02] [-7.12423153e-03 9.99974583e-01 2.81170898e-04 -1.01559763e+01] [ 5.72836071e-03 -2.40362218e-04 9.99983564e-01 9.77123684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.380714057 meters Centerline goodness : 0.984842 with order 1 Centerline is valid? [True, True] Translation: X:210.35, Y:-10.16, Z:0.98 [[ 9.99923216e-01 1.09894558e-02 -5.72657209e-03 2.10349016e+02] [-1.09880336e-02 9.99939591e-01 2.79750951e-04 -1.01589048e+01] [ 5.72930046e-03 -2.16805704e-04 9.99983564e-01 9.79413589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.440714057 meters Centerline goodness : 0.992229 with order 1 Centerline is valid? [True, True] Translation: X:210.41, Y:-10.14, Z:0.99 [[ 9.99968796e-01 -5.44180500e-03 -5.72664064e-03 2.10407869e+02] [ 5.44348798e-03 9.99985145e-01 2.78340529e-04 -1.01448844e+01] [ 5.72504090e-03 -3.09504743e-04 9.99983564e-01 9.86449869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.500714057 meters Centerline goodness : 0.991855 with order 1 Centerline is valid? [True, True] Translation: X:210.47, Y:-10.15, Z:0.99 [[ 9.99972076e-01 -4.80127136e-03 -5.72665970e-03 2.10468009e+02] [ 4.80294163e-03 9.99988427e-01 2.77947819e-04 -1.01488642e+01] [ 5.72525892e-03 -3.05444870e-04 9.99983564e-01 9.87440942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.560714057 meters Centerline goodness : 0.982714 with order 1 Centerline is valid? [True, True] Translation: X:210.53, Y:-10.15, Z:0.99 [[ 9.99982570e-01 -1.43707775e-03 -5.72665970e-03 2.10527437e+02] [ 1.43869300e-03 9.99998926e-01 2.77947819e-04 -1.01539967e+01] [ 5.72625412e-03 -2.86181879e-04 9.99983564e-01 9.87854450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62071405700001 meters Centerline goodness : 0.992596 with order 1 Centerline is valid? [True, True] Translation: X:210.59, Y:-10.16, Z:0.99 [[ 9.99933958e-01 -9.96416857e-03 -5.72666599e-03 2.10587058e+02] [ 9.96592250e-03 9.99950300e-01 2.77818059e-04 -1.01589541e+01] [ 5.72361315e-03 -3.34871221e-04 9.99983564e-01 9.88838497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68071405700002 meters Centerline goodness : 0.991867 with order 1 Centerline is valid? [True, True] Translation: X:210.65, Y:-10.16, Z:0.99 [[ 9.99887054e-01 -1.38955036e-02 -5.72667868e-03 2.10648468e+02] [ 1.38973203e-02 9.99903389e-01 2.77556323e-04 -1.01641909e+01] [ 5.72226863e-03 -3.57110462e-04 9.99983564e-01 9.87283334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74071405700002 meters Centerline goodness : 0.989745 with order 1 Centerline is valid? [True, True] Translation: X:210.71, Y:-10.17, Z:0.98 [[ 9.99801271e-01 -1.90951212e-02 -5.72661661e-03 2.10709783e+02] [ 1.90970301e-02 9.99817596e-01 2.78831114e-04 -1.01746557e+01] [ 5.72024774e-03 -3.88137072e-04 9.99983564e-01 9.84209289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80071405700002 meters Centerline goodness : 0.992918 with order 1 Centerline is valid? [True, True] Translation: X:210.77, Y:-10.17, Z:0.99 [[ 9.99720243e-01 -2.29486606e-02 -5.72659348e-03 2.10771140e+02] [ 2.29506351e-02 9.99736560e-01 2.79305376e-04 -1.01743867e+01] [ 5.71867518e-03 -4.10656196e-04 9.99983564e-01 9.89294179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.860714057 meters Centerline goodness : 0.992797 with order 1 Centerline is valid? [True, True] Translation: X:210.83, Y:-10.18, Z:0.99 [[ 9.99691322e-01 -2.41757732e-02 -5.72657607e-03 2.10832956e+02] [ 2.41777697e-02 9.99707636e-01 2.79661837e-04 -1.01777392e+01] [ 5.71814078e-03 -4.18031349e-04 9.99983564e-01 9.90741398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.920714057 meters Centerline goodness : 0.993604 with order 1 Centerline is valid? [True, True] Translation: X:210.90, Y:-10.18, Z:0.99 [[ 9.99667132e-01 -2.51561411e-02 -5.72655652e-03 2.10895204e+02] [ 2.51581559e-02 9.99683444e-01 2.80061664e-04 -1.01808451e+01] [ 5.71769847e-03 -4.24038042e-04 9.99983564e-01 9.90577153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.980714057 meters Centerline goodness : 0.991261 with order 1 Centerline is valid? [True, True] Translation: X:210.96, Y:-10.18, Z:0.99 [[ 9.99590913e-01 -2.80216571e-02 -5.72653694e-03 2.10956899e+02] [ 2.80237210e-02 9.99607219e-01 2.80461325e-04 -1.01845978e+01] [ 5.71642868e-03 -4.40825465e-04 9.99983564e-01 9.87634641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.040714057 meters Centerline goodness : 0.988896 with order 1 Centerline is valid? [True, True] Translation: X:211.02, Y:-10.20, Z:0.98 [[ 9.99804085e-01 -1.89472566e-02 -5.72650717e-03 2.11017557e+02] [ 1.89491758e-02 9.99820409e-01 2.81067853e-04 -1.01999470e+01] [ 5.72015328e-03 -3.89525378e-04 9.99983564e-01 9.84927134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.100714057 meters Centerline goodness : 0.993954 with order 1 Centerline is valid? [True, True] Translation: X:211.08, Y:-10.19, Z:0.99 [[ 9.99542496e-01 -2.96985969e-02 -5.72648923e-03 2.11080054e+02] [ 2.97006937e-02 9.99558797e-01 2.81432991e-04 -1.01859879e+01] [ 5.71560452e-03 -4.51384936e-04 9.99983564e-01 9.87131969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.160714057 meters Centerline goodness : 0.992918 with order 1 Centerline is valid? [True, True] Translation: X:211.14, Y:-10.19, Z:0.99 [[ 9.99475339e-01 -3.18787607e-02 -5.72641976e-03 2.11142616e+02] [ 3.18809009e-02 9.99491635e-01 2.82839447e-04 -1.01855032e+01] [ 5.71449208e-03 -4.65254473e-04 9.99983564e-01 9.88379951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.220714057 meters Centerline goodness : 0.991144 with order 1 Centerline is valid? [True, True] Translation: X:211.21, Y:-10.18, Z:0.99 [[ 9.99132661e-01 -4.12448170e-02 -5.72640153e-03 2.11205678e+02] [ 4.12471120e-02 9.99148936e-01 2.83208137e-04 -1.01758103e+01] [ 5.70984712e-03 -5.19160025e-04 9.99983564e-01 9.88139541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.280714057 meters Centerline goodness : 0.988632 with order 1 Centerline is valid? [True, True] Translation: X:211.27, Y:-10.19, Z:1.00 [[ 9.99709443e-01 -2.34144853e-02 -5.72637176e-03 2.11267426e+02] [ 2.34164931e-02 9.99725756e-01 2.83808742e-04 -1.01942454e+01] [ 5.71815610e-03 -4.17817824e-04 9.99983564e-01 1.00026655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.340714057 meters Centerline goodness : 0.992364 with order 1 Centerline is valid? [True, True] Translation: X:211.33, Y:-10.16, Z:0.99 [[ 9.98908699e-01 -4.63532124e-02 -5.72634662e-03 2.11330670e+02] [ 4.63555969e-02 9.98924961e-01 2.84315015e-04 -1.01597275e+01] [ 5.70701166e-03 -5.49452958e-04 9.99983564e-01 9.91121942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40071405700002 meters Centerline goodness : 0.993588 with order 1 Centerline is valid? [True, True] Translation: X:211.39, Y:-10.18, Z:0.99 [[ 9.99484729e-01 -3.15830188e-02 -5.72626169e-03 2.11391765e+02] [ 3.15851723e-02 9.99501023e-01 2.86015431e-04 -1.01784001e+01] [ 5.71437119e-03 -4.66733018e-04 9.99983564e-01 9.91499951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46071405700002 meters Centerline goodness : 0.987098 with order 1 Centerline is valid? [True, True] Translation: X:211.45, Y:-10.18, Z:1.00 [[ 9.99804977e-01 -1.89002105e-02 -5.72623782e-03 2.11453963e+02] [ 1.89021599e-02 9.99821297e-01 2.86492623e-04 -1.01842843e+01] [ 5.71979975e-03 -3.94675013e-04 9.99983564e-01 1.00120733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52071405700002 meters Centerline goodness : 0.988520 with order 1 Centerline is valid? [True, True] Translation: X:211.52, Y:-10.18, Z:1.00 [[ 9.99853110e-01 -1.61545443e-02 -5.72621717e-03 2.11516744e+02] [ 1.61564512e-02 9.99869435e-01 2.86904683e-04 -1.01814407e+01] [ 5.72083471e-03 -3.79377887e-04 9.99983564e-01 1.00367155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58071405700002 meters Centerline goodness : 0.988147 with order 1 Centerline is valid? [True, True] Translation: X:211.58, Y:-10.18, Z:1.01 [[ 9.99869456e-01 -1.51090030e-02 -5.72619631e-03 2.11579408e+02] [ 1.51108952e-02 9.99885783e-01 2.87320344e-04 -1.01814817e+01] [ 5.72120116e-03 -3.73810788e-04 9.99983564e-01 1.00596327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.640714057 meters Centerline goodness : 0.988755 with order 1 Centerline is valid? [True, True] Translation: X:211.64, Y:-10.18, Z:1.00 [[ 9.99876353e-01 -1.46454526e-02 -5.72617470e-03 2.11640348e+02] [ 1.46473396e-02 9.99892681e-01 2.87750360e-04 -1.01817467e+01] [ 5.72134594e-03 -3.71588006e-04 9.99983564e-01 1.00490400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.700714057 meters Centerline goodness : 0.987384 with order 1 Centerline is valid? [True, True] Translation: X:211.70, Y:-10.18, Z:1.00 [[ 9.99846605e-01 -1.65522981e-02 -5.72615868e-03 2.11702119e+02] [ 1.65542181e-02 9.99862928e-01 2.88068886e-04 -1.01825595e+01] [ 5.72060558e-03 -3.82816777e-04 9.99983564e-01 1.00296496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.760714057 meters Centerline goodness : 0.986406 with order 1 Centerline is valid? [True, True] Translation: X:211.76, Y:-10.19, Z:1.00 [[ 9.99811233e-01 -1.85663405e-02 -5.72613719e-03 2.11763229e+02] [ 1.85682958e-02 9.99827553e-01 2.88495416e-04 -1.01856138e+01] [ 5.71979343e-03 -3.94765567e-04 9.99983564e-01 1.00024289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.820714057 meters Centerline goodness : 0.987629 with order 1 Centerline is valid? [True, True] Translation: X:211.83, Y:-10.19, Z:1.00 [[ 9.99716366e-01 -2.31170542e-02 -5.72612144e-03 2.11825219e+02] [ 2.31190856e-02 9.99732677e-01 2.88807613e-04 -1.01852670e+01] [ 5.71791434e-03 -4.21108389e-04 9.99983564e-01 1.00104530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.880714057 meters Centerline goodness : 0.985888 with order 1 Centerline is valid? [True, True] Translation: X:211.89, Y:-10.19, Z:1.00 [[ 9.99733085e-01 -2.23823528e-02 -5.72610052e-03 2.11887432e+02] [ 2.23843745e-02 9.99749397e-01 2.89221943e-04 -1.01878728e+01] [ 5.71819207e-03 -4.17319924e-04 9.99983564e-01 9.96626997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.940714057 meters Centerline goodness : 0.985727 with order 1 Centerline is valid? [True, True] Translation: X:211.95, Y:-10.19, Z:1.00 [[ 9.99738875e-01 -2.21222662e-02 -5.72607925e-03 2.11949604e+02] [ 2.21242861e-02 9.99755186e-01 2.89642438e-04 -1.01883324e+01] [ 5.71826988e-03 -4.16252221e-04 9.99983564e-01 9.98325748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.000714057 meters Centerline goodness : 0.986628 with order 1 Centerline is valid? [True, True] Translation: X:212.01, Y:-10.19, Z:1.00 [[ 9.99766190e-01 -2.08513077e-02 -5.72602884e-03 2.12012281e+02] [ 2.08533125e-02 9.99782504e-01 2.90635630e-04 -1.01899923e+01] [ 5.71872331e-03 -4.09974345e-04 9.99983564e-01 9.98893403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.060714057 meters Centerline goodness : 0.986255 with order 1 Centerline is valid? [True, True] Translation: X:212.07, Y:-10.19, Z:1.00 [[ 9.99835841e-01 -1.71902111e-02 -5.72599748e-03 2.12074289e+02] [ 1.71921597e-02 9.99852161e-01 2.91252041e-04 -1.01903361e+01] [ 5.72014427e-03 -3.89646492e-04 9.99983564e-01 9.99007340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12071405700001 meters Centerline goodness : 0.986109 with order 1 Centerline is valid? [True, True] Translation: X:212.14, Y:-10.19, Z:1.00 [[ 9.99889058e-01 -1.37508394e-02 -5.72597511e-03 2.12135446e+02] [ 1.37527343e-02 9.99905384e-01 2.91691248e-04 -1.01901053e+01] [ 5.72142234e-03 -3.70406701e-04 9.99983564e-01 9.97604641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18071405700002 meters Centerline goodness : 0.986295 with order 1 Centerline is valid? [True, True] Translation: X:212.20, Y:-10.19, Z:1.00 [[ 9.99947568e-01 -8.48967124e-03 -5.72595870e-03 2.12196474e+02] [ 8.49148208e-03 9.99963904e-01 2.92012953e-04 -1.01900040e+01] [ 5.72327292e-03 -3.40619518e-04 9.99983564e-01 9.99164479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24071405700002 meters Centerline goodness : 0.983761 with order 1 Centerline is valid? [True, True] Translation: X:212.26, Y:-10.19, Z:1.00 [[ 9.99977665e-01 -3.44735587e-03 -5.72592550e-03 2.12257690e+02] [ 3.44908802e-03 9.99994009e-01 2.92662464e-04 -1.01918635e+01] [ 5.72488229e-03 -3.12405148e-04 9.99983564e-01 9.97117487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30071405700002 meters Centerline goodness : 0.983595 with order 1 Centerline is valid? [True, True] Translation: X:212.32, Y:-10.19, Z:1.00 [[ 9.99982876e-01 -1.20863113e-03 -5.72591529e-03 2.12317764e+02] [ 1.21032783e-03 9.99999225e-01 2.92862233e-04 -1.01933621e+01] [ 5.72555688e-03 -2.99787452e-04 9.99983564e-01 9.98586043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.360714057 meters Centerline goodness : 0.981202 with order 1 Centerline is valid? [True, True] Translation: X:212.38, Y:-10.20, Z:0.99 [[ 9.99958748e-01 7.05091813e-03 -5.72592568e-03 2.12376301e+02] [-7.04935769e-03 9.99975110e-01 2.92658955e-04 -1.02025268e+01] [ 5.72784667e-03 -2.52282784e-04 9.99983564e-01 9.93138654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.420714057 meters Centerline goodness : 0.982115 with order 1 Centerline is valid? [True, True] Translation: X:212.43, Y:-10.20, Z:1.00 [[ 9.99974862e-01 4.18188123e-03 -5.72594635e-03 2.12434545e+02] [-4.18027616e-03 9.99991220e-01 2.92253858e-04 -1.01983001e+01] [ 5.72711825e-03 -2.68310475e-04 9.99983564e-01 1.00011508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.480714057 meters Centerline goodness : 0.983203 with order 1 Centerline is valid? [True, True] Translation: X:212.49, Y:-10.20, Z:1.00 [[ 9.99972045e-01 4.80861853e-03 -5.72596659e-03 2.12492911e+02] [-4.80702598e-03 9.99988404e-01 2.91856815e-04 -1.02013800e+01] [ 5.72730362e-03 -2.64323786e-04 9.99983564e-01 1.00024217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.540714057 meters Centerline goodness : 0.982746 with order 1 Centerline is valid? [True, True] Translation: X:212.55, Y:-10.20, Z:1.00 [[ 9.99974606e-01 4.24265494e-03 -5.72598662e-03 2.12552109e+02] [-4.24105538e-03 9.99990964e-01 2.91463251e-04 -1.02046880e+01] [ 5.72717146e-03 -2.67171623e-04 9.99983564e-01 1.00074234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.600714057 meters Centerline goodness : 0.984242 with order 1 Centerline is valid? [True, True] Translation: X:212.61, Y:-10.21, Z:1.00 [[ 9.99980378e-01 2.54105961e-03 -5.72600672e-03 2.12610446e+02] [-2.53943448e-03 9.99996733e-01 2.91067808e-04 -1.02086113e+01] [ 5.72672764e-03 -2.76521278e-04 9.99983564e-01 9.99966963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.660714057 meters Centerline goodness : 0.984035 with order 1 Centerline is valid? [True, True] Translation: X:212.67, Y:-10.21, Z:1.00 [[ 9.99982669e-01 -1.36937198e-03 -5.72602677e-03 2.12667828e+02] [ 1.37105880e-03 9.99999018e-01 2.90672885e-04 -1.02135647e+01] [ 5.72562311e-03 -2.98518567e-04 9.99983564e-01 1.00106236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.720714057 meters Centerline goodness : 0.984082 with order 1 Centerline is valid? [True, True] Translation: X:212.73, Y:-10.22, Z:1.00 [[ 9.99977161e-01 -3.59034046e-03 -5.72605134e-03 2.12726431e+02] [ 3.59206082e-03 9.99993506e-01 2.90188133e-04 -1.02187901e+01] [ 5.72497228e-03 -3.10749830e-04 9.99983564e-01 1.00186766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.780714057 meters Centerline goodness : 0.984589 with order 1 Centerline is valid? [True, True] Translation: X:212.79, Y:-10.22, Z:1.00 [[ 9.99978507e-01 -3.19347690e-03 -5.72606051e-03 2.12785526e+02] [ 3.19518974e-03 9.99994853e-01 2.90007027e-04 -1.02227391e+01] [ 5.72510491e-03 -3.08296644e-04 9.99983564e-01 1.00394767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.840714057 meters Centerline goodness : 0.983976 with order 1 Centerline is valid? [True, True] Translation: X:212.85, Y:-10.23, Z:1.00 [[ 9.99982530e-01 -1.46661194e-03 -5.72606522e-03 2.12845060e+02] [ 1.46829601e-03 9.99998880e-01 2.89914004e-04 -1.02270415e+01] [ 5.72563362e-03 -2.98316498e-04 9.99983564e-01 1.00475603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90071405700002 meters Centerline goodness : 0.986039 with order 1 Centerline is valid? [True, True] Translation: X:212.90, Y:-10.23, Z:1.00 [[ 9.99982627e-01 1.39933639e-03 -5.72607492e-03 2.12903129e+02] [-1.39770028e-03 9.99998981e-01 2.89722355e-04 -1.02329900e+01] [ 5.72647450e-03 -2.81713985e-04 9.99983564e-01 1.00096342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96071405700002 meters Centerline goodness : 0.985237 with order 1 Centerline is valid? [True, True] Translation: X:212.96, Y:-10.24, Z:1.00 [[ 9.99983182e-01 9.20619326e-04 -5.72614454e-03 2.12960256e+02] [-9.18983280e-04 9.99999536e-01 2.88339624e-04 -1.02393057e+01] [ 5.72640734e-03 -2.83072543e-04 9.99983564e-01 9.97582696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02071405700002 meters Centerline goodness : 0.991396 with order 1 Centerline is valid? [True, True] Translation: X:213.02, Y:-10.23, Z:1.01 [[ 9.99913157e-01 -1.18696597e-02 -5.72617112e-03 2.13020220e+02] [ 1.18715018e-02 9.99929490e-01 2.87810955e-04 -1.02273105e+01] [ 5.72235115e-03 -3.55764212e-04 9.99983564e-01 1.00580859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08071405700002 meters Centerline goodness : 0.986319 with order 1 Centerline is valid? [True, True] Translation: X:213.08, Y:-10.25, Z:1.00 [[ 9.99972271e-01 -4.76118653e-03 -5.72618953e-03 2.13081210e+02] [ 4.76291036e-03 9.99988616e-01 2.87444103e-04 -1.02496198e+01] [ 5.72475577e-03 -3.14709460e-04 9.99983564e-01 9.97002215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.140714057 meters Centerline goodness : 0.987639 with order 1 Centerline is valid? [True, True] Translation: X:213.14, Y:-10.25, Z:1.00 [[ 9.99948935e-01 -8.32696185e-03 -5.72616883e-03 2.13141316e+02] [ 8.32874631e-03 9.99965274e-01 2.87855941e-04 -1.02519719e+01] [ 5.72357302e-03 -3.35533049e-04 9.99983564e-01 1.00093747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.200714057 meters Centerline goodness : 0.988286 with order 1 Centerline is valid? [True, True] Translation: X:213.20, Y:-10.26, Z:1.00 [[ 9.99939399e-01 -9.40265563e-03 -5.72616883e-03 2.13202136e+02] [ 9.40445766e-03 9.99955736e-01 2.87855941e-04 -1.02562154e+01] [ 5.72320875e-03 -3.41690009e-04 9.99983564e-01 1.00314323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.260714057 meters Centerline goodness : 0.987617 with order 1 Centerline is valid? [True, True] Translation: X:213.26, Y:-10.26, Z:1.01 [[ 9.99905046e-01 -1.25343775e-02 -5.72615877e-03 2.13263205e+02] [ 1.25362319e-02 9.99921377e-01 2.88055883e-04 -1.02604196e+01] [ 5.72209796e-03 -3.59812985e-04 9.99983564e-01 1.00680159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.320714057 meters Centerline goodness : 0.987790 with order 1 Centerline is valid? [True, True] Translation: X:213.33, Y:-10.27, Z:1.00 [[ 9.99907587e-01 -1.23299888e-02 -5.72614881e-03 2.13325515e+02] [ 1.23318409e-02 9.99923918e-01 2.88253813e-04 -1.02662656e+01] [ 5.72215899e-03 -3.58841131e-04 9.99983564e-01 1.00394344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.380714057 meters Centerline goodness : 0.988243 with order 1 Centerline is valid? [True, True] Translation: X:213.39, Y:-10.27, Z:1.00 [[ 9.99906286e-01 -1.24350533e-02 -5.72612841e-03 2.13386114e+02] [ 1.24369094e-02 9.99922617e-01 2.88658466e-04 -1.02701063e+01] [ 5.72209582e-03 -3.59846755e-04 9.99983564e-01 1.00369065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.440714057 meters Centerline goodness : 0.988562 with order 1 Centerline is valid? [True, True] Translation: X:213.45, Y:-10.27, Z:1.00 [[ 9.99919453e-01 -1.13269098e-02 -5.72611325e-03 2.13448404e+02] [ 1.13287496e-02 9.99935786e-01 2.88958857e-04 -1.02735379e+01] [ 5.72247254e-03 -3.53805286e-04 9.99983564e-01 1.00441498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.500714057 meters Centerline goodness : 0.988017 with order 1 Centerline is valid? [True, True] Translation: X:213.51, Y:-10.28, Z:1.00 [[ 9.99945138e-01 -8.77117216e-03 -5.72609414e-03 2.13510119e+02] [ 8.77297233e-03 9.99961475e-01 2.89337117e-04 -1.02781820e+01] [ 5.72333571e-03 -3.39556108e-04 9.99983564e-01 1.00378256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.560714057 meters Centerline goodness : 0.989588 with order 1 Centerline is valid? [True, True] Translation: X:213.57, Y:-10.28, Z:1.01 [[ 9.99960133e-01 -6.85166280e-03 -5.72607910e-03 2.13571413e+02] [ 6.85343330e-03 9.99976473e-01 2.89634445e-04 -1.02808310e+01] [ 5.72395990e-03 -3.28866200e-04 9.99983564e-01 1.00626163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62071405700001 meters Centerline goodness : 0.987964 with order 1 Centerline is valid? [True, True] Translation: X:213.63, Y:-10.28, Z:1.01 [[ 9.99980275e-01 -2.58115214e-03 -5.72606918e-03 2.13631437e+02] [ 2.58285396e-03 9.99996622e-01 2.89830462e-04 -1.02844934e+01] [ 5.72530174e-03 -3.04614346e-04 9.99983564e-01 1.00631880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68071405700002 meters Centerline goodness : 0.987233 with order 1 Centerline is valid? [True, True] Translation: X:213.69, Y:-10.29, Z:1.00 [[ 9.99976970e-01 3.64304843e-03 -5.72606918e-03 2.13690457e+02] [-3.64144839e-03 9.99993328e-01 2.89830462e-04 -1.02914574e+01] [ 5.72708684e-03 -2.68972602e-04 9.99983564e-01 1.00199495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74071405700002 meters Centerline goodness : 0.986475 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:-10.30, Z:1.00 [[ 9.99951193e-01 8.05128151e-03 -5.72607991e-03 2.13748655e+02] [-8.04975482e-03 9.99967558e-01 2.89618258e-04 -1.02953255e+01] [ 5.72822594e-03 -2.43510583e-04 9.99983564e-01 1.00108768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80071405700002 meters Centerline goodness : 0.987482 with order 1 Centerline is valid? [True, True] Translation: X:213.81, Y:-10.30, Z:1.00 [[ 9.99921202e-01 1.11714358e-02 -5.72615304e-03 2.13806777e+02] [-1.11699685e-02 9.99937572e-01 2.88164985e-04 -1.02979764e+01] [ 5.72901479e-03 -2.24181328e-04 9.99983564e-01 1.00178806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.860714057 meters Centerline goodness : 0.986305 with order 1 Centerline is valid? [True, True] Translation: X:213.86, Y:-10.30, Z:1.01 [[ 9.99859950e-01 1.57254734e-02 -5.72617859e-03 2.13864758e+02] [-1.57240835e-02 9.99876328e-01 2.87656494e-04 -1.02994128e+01] [ 5.72999395e-03 -1.97577297e-04 9.99983564e-01 1.00956296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.920714057 meters Centerline goodness : 0.985846 with order 1 Centerline is valid? [True, True] Translation: X:213.92, Y:-10.30, Z:1.01 [[ 9.99747819e-01 2.17142298e-02 -5.72625985e-03 2.13922210e+02] [-2.17129474e-02 9.99764205e-01 2.86029574e-04 -1.03037703e+01] [ 5.73112054e-03 -1.61623464e-04 9.99983564e-01 1.01106309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.980714057 meters Centerline goodness : 0.985529 with order 1 Centerline is valid? [True, True] Translation: X:213.98, Y:-10.31, Z:1.00 [[ 9.99753894e-01 2.14326930e-02 -5.72628477e-03 2.13981139e+02] [-2.14314088e-02 9.99770280e-01 2.85529937e-04 -1.03108335e+01] [ 5.73108900e-03 -1.62737317e-04 9.99983564e-01 1.00423384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.040714057 meters Centerline goodness : 0.984659 with order 1 Centerline is valid? [True, True] Translation: X:214.04, Y:-10.31, Z:1.01 [[ 9.99622557e-01 2.68691979e-02 -5.72630546e-03 2.14038948e+02] [-2.68680053e-02 9.99638949e-01 2.85114361e-04 -1.03146254e+01] [ 5.73189877e-03 -1.31152341e-04 9.99983564e-01 1.01221303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.100714057 meters Centerline goodness : 0.985070 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:-10.32, Z:1.01 [[ 9.99571146e-01 2.87181731e-02 -5.72633079e-03 2.14097730e+02] [-2.87170137e-02 9.99587541e-01 2.84604738e-04 -1.03231640e+01] [ 5.73214224e-03 -1.20039564e-04 9.99983564e-01 1.00595694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.160714057 meters Centerline goodness : 0.985806 with order 1 Centerline is valid? [True, True] Translation: X:214.16, Y:-10.33, Z:1.01 [[ 9.99617743e-01 2.70476806e-02 -5.72635065e-03 2.14156824e+02] [-2.70464961e-02 9.99634136e-01 2.84204520e-04 -1.03279947e+01] [ 5.73194266e-03 -1.29218161e-04 9.99983564e-01 1.00696651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.220714057 meters Centerline goodness : 0.987219 with order 1 Centerline is valid? [True, True] Translation: X:214.22, Y:-10.34, Z:1.01 [[ 9.99688777e-01 2.42808220e-02 -5.72637034e-03 2.14215429e+02] [-2.42795944e-02 9.99705167e-01 2.83807280e-04 -1.03360575e+01] [ 5.73157309e-03 -1.44685004e-04 9.99983564e-01 1.00688885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.280714057 meters Centerline goodness : 0.991394 with order 1 Centerline is valid? [True, True] Translation: X:214.27, Y:-10.33, Z:1.01 [[ 9.99944468e-01 8.84695159e-03 -5.72639031e-03 2.14274222e+02] [-8.84547345e-03 9.99960838e-01 2.83403828e-04 -1.03294918e+01] [ 5.72867331e-03 -2.32735457e-04 9.99983564e-01 1.00791633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.340714057 meters Centerline goodness : 0.991909 with order 1 Centerline is valid? [True, True] Translation: X:214.33, Y:-10.34, Z:1.01 [[ 9.99953443e-01 7.76658352e-03 -5.72641050e-03 2.14331260e+02] [-7.76509002e-03 9.99969811e-01 2.82995216e-04 -1.03372699e+01] [ 5.72843553e-03 -2.38515947e-04 9.99983564e-01 1.00836934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40071405700002 meters Centerline goodness : 0.989858 with order 1 Centerline is valid? [True, True] Translation: X:214.39, Y:-10.34, Z:1.01 [[ 9.99982265e-01 1.63616015e-03 -5.72643541e-03 2.14390389e+02] [-1.63456923e-03 9.99998624e-01 2.82490129e-04 -1.03376800e+01] [ 5.72688974e-03 -2.73124864e-04 9.99983564e-01 1.00723268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46071405700002 meters Centerline goodness : 0.993282 with order 1 Centerline is valid? [True, True] Translation: X:214.45, Y:-10.35, Z:1.01 [[ 9.99955696e-01 7.47080777e-03 -5.72645307e-03 2.14448415e+02] [-7.46931437e-03 9.99972064e-01 2.82131797e-04 -1.03505179e+01] [ 5.72840085e-03 -2.39346619e-04 9.99983564e-01 1.01098791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52071405700002 meters Centerline goodness : 0.993100 with order 1 Centerline is valid? [True, True] Translation: X:214.51, Y:-10.36, Z:1.01 [[ 9.99964597e-01 6.16528334e-03 -5.72653547e-03 2.14507093e+02] [-6.16377819e-03 9.99980964e-01 2.80449294e-04 -1.03570245e+01] [ 5.72815551e-03 -2.45142271e-04 9.99983564e-01 1.01091905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58071405700002 meters Centerline goodness : 0.993013 with order 1 Centerline is valid? [True, True] Translation: X:214.56, Y:-10.37, Z:1.01 [[ 9.99980886e-01 2.33100097e-03 -5.72655585e-03 2.14564982e+02] [-2.32943546e-03 9.99997248e-01 2.80032502e-04 -1.03652371e+01] [ 5.72719284e-03 -2.66687507e-04 9.99983564e-01 1.00943936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.640714057 meters Centerline goodness : 0.988529 with order 1 Centerline is valid? [True, True] Translation: X:214.62, Y:-10.38, Z:1.01 [[ 9.99938266e-01 9.52215278e-03 -5.72658088e-03 2.14622417e+02] [-9.52070790e-03 9.99954638e-01 2.79519584e-04 -1.03840460e+01] [ 5.72898274e-03 -2.24981225e-04 9.99983564e-01 1.01043103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.700714057 meters Centerline goodness : 0.989057 with order 1 Centerline is valid? [True, True] Translation: X:214.68, Y:-10.39, Z:1.01 [[ 9.99972533e-01 4.70515117e-03 -5.72662163e-03 2.14679624e+02] [-4.70363223e-03 9.99988899e-01 2.78682392e-04 -1.03885332e+01] [ 5.72786930e-03 -2.51738816e-04 9.99983564e-01 1.01374030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.760714057 meters Centerline goodness : 0.991673 with order 1 Centerline is valid? [True, True] Translation: X:214.74, Y:-10.39, Z:1.02 [[ 9.99979681e-01 -2.80045227e-03 -5.72664902e-03 2.14737241e+02] [ 2.80209079e-03 9.99996035e-01 2.78118303e-04 -1.03860725e+01] [ 5.72584746e-03 -2.94159243e-04 9.99983564e-01 1.01554418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.820714057 meters Centerline goodness : 0.991963 with order 1 Centerline is valid? [True, True] Translation: X:214.80, Y:-10.39, Z:1.01 [[ 9.99936659e-01 -9.68935142e-03 -5.72667704e-03 2.14796710e+02] [ 9.69109927e-03 9.99953002e-01 2.77540264e-04 -1.03880787e+01] [ 5.72371871e-03 -3.33020480e-04 9.99983564e-01 1.01334081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.880714057 meters Centerline goodness : 0.991465 with order 1 Centerline is valid? [True, True] Translation: X:214.86, Y:-10.39, Z:1.01 [[ 9.99903051e-01 -1.26922431e-02 -5.72668911e-03 2.14857648e+02] [ 1.26940386e-02 9.99919389e-01 2.77290886e-04 -1.03921867e+01] [ 5.72270803e-03 -3.49958815e-04 9.99983564e-01 1.01181967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.940714057 meters Centerline goodness : 0.993929 with order 1 Centerline is valid? [True, True] Translation: X:214.92, Y:-10.39, Z:1.01 [[ 9.99843931e-01 -1.67128104e-02 -5.72667118e-03 2.14920151e+02] [ 1.67146737e-02 9.99860262e-01 2.77660791e-04 -1.03908353e+01] [ 5.72123045e-03 -3.73336897e-04 9.99983564e-01 1.01025924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.000714057 meters Centerline goodness : 0.991518 with order 1 Centerline is valid? [True, True] Translation: X:214.98, Y:-10.39, Z:1.01 [[ 9.99852539e-01 -1.61896691e-02 -5.72664871e-03 2.14980809e+02] [ 1.61915264e-02 9.99868870e-01 2.78123294e-04 -1.03949190e+01] [ 5.72139505e-03 -3.70805466e-04 9.99983564e-01 1.01473511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.060714057 meters Centerline goodness : 0.993715 with order 1 Centerline is valid? [True, True] Translation: X:215.04, Y:-10.39, Z:1.01 [[ 9.99703946e-01 -2.36479718e-02 -5.72661068e-03 2.15043851e+02] [ 2.36499554e-02 9.99720262e-01 2.78904244e-04 -1.03901489e+01] [ 5.71841321e-03 -4.14255760e-04 9.99983564e-01 1.01437822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12071405700001 meters Centerline goodness : 0.993693 with order 1 Centerline is valid? [True, True] Translation: X:215.11, Y:-10.39, Z:1.02 [[ 9.99687851e-01 -2.43188685e-02 -5.72657499e-03 2.15106113e+02] [ 2.43208673e-02 9.99704165e-01 2.79635127e-04 -1.03904616e+01] [ 5.71808046e-03 -4.18823109e-04 9.99983564e-01 1.01557418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18071405700002 meters Centerline goodness : 0.992144 with order 1 Centerline is valid? [True, True] Translation: X:215.17, Y:-10.39, Z:1.02 [[ 9.99573908e-01 -2.86218202e-02 -5.72655516e-03 2.15168705e+02] [ 2.86238914e-02 9.99590213e-01 2.80040693e-04 -1.03889711e+01] [ 5.71619322e-03 -4.43837663e-04 9.99983564e-01 1.01641469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24071405700002 meters Centerline goodness : 0.994520 with order 1 Centerline is valid? [True, True] Translation: X:215.23, Y:-10.39, Z:1.02 [[ 9.99508750e-01 -3.08134118e-02 -5.72653207e-03 2.15230916e+02] [ 3.08155214e-02 9.99525050e-01 2.80511909e-04 -1.03889313e+01] [ 5.71516873e-03 -4.56840180e-04 9.99983564e-01 1.01712444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30071405700002 meters Centerline goodness : 0.991288 with order 1 Centerline is valid? [True, True] Translation: X:215.29, Y:-10.39, Z:1.01 [[ 9.99261006e-01 -3.80085355e-02 -5.72650866e-03 2.15293527e+02] [ 3.80107651e-02 9.99277290e-01 2.80989123e-04 -1.03888085e+01] [ 5.71169007e-03 -4.98450450e-04 9.99983564e-01 1.01334491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.360714057 meters Centerline goodness : 0.991052 with order 1 Centerline is valid? [True, True] Translation: X:215.36, Y:-10.40, Z:1.01 [[ 9.99492109e-01 -3.13485340e-02 -5.72647708e-03 2.15355444e+02] [ 3.13506587e-02 9.99508408e-01 2.81631302e-04 -1.04015718e+01] [ 5.71483325e-03 -4.61017093e-04 9.99983564e-01 1.00979469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.420714057 meters Centerline goodness : 0.990423 with order 1 Centerline is valid? [True, True] Translation: X:215.42, Y:-10.40, Z:1.01 [[ 9.99452158e-01 -3.25974134e-02 -5.72645079e-03 2.15416933e+02] [ 3.25995616e-02 9.99468453e-01 2.82164815e-04 -1.04012376e+01] [ 5.71420907e-03 -4.68690018e-04 9.99983564e-01 1.01065844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.480714057 meters Centerline goodness : 0.991165 with order 1 Centerline is valid? [True, True] Translation: X:215.48, Y:-10.40, Z:1.01 [[ 9.99543635e-01 -2.96602271e-02 -5.72640900e-03 2.15479751e+02] [ 2.96623322e-02 9.99559936e-01 2.83010295e-04 -1.03985834e+01] [ 5.71549487e-03 -4.52739785e-04 9.99983564e-01 1.01395881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.540714057 meters Centerline goodness : 0.991556 with order 1 Centerline is valid? [True, True] Translation: X:215.54, Y:-10.40, Z:1.02 [[ 9.99587105e-01 -2.81572059e-02 -5.72638732e-03 2.15543394e+02] [ 2.81592889e-02 9.99603408e-01 2.83448250e-04 -1.03976593e+01] [ 5.71613518e-03 -4.44582211e-04 9.99983564e-01 1.01668890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.600714057 meters Centerline goodness : 0.991213 with order 1 Centerline is valid? [True, True] Translation: X:215.61, Y:-10.40, Z:1.02 [[ 9.99661779e-01 -2.53680217e-02 -5.72635493e-03 2.15606768e+02] [ 2.53700630e-02 9.99678088e-01 2.84101196e-04 -1.03955676e+01] [ 5.71730446e-03 -4.29283092e-04 9.99983564e-01 1.01899275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.660714057 meters Centerline goodness : 0.990374 with order 1 Centerline is valid? [True, True] Translation: X:215.67, Y:-10.40, Z:1.02 [[ 9.99711494e-01 -2.33267467e-02 -5.72632273e-03 2.15668722e+02] [ 2.33287583e-02 9.99727807e-01 2.84748705e-04 -1.03951471e+01] [ 5.71812180e-03 -4.18254552e-04 9.99983564e-01 1.01865705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.720714057 meters Centerline goodness : 0.993912 with order 1 Centerline is valid? [True, True] Translation: X:215.73, Y:-10.39, Z:1.02 [[ 9.99599276e-01 -2.77217724e-02 -5.72630159e-03 2.15729956e+02] [ 2.77238581e-02 9.99615579e-01 2.85173250e-04 -1.03879258e+01] [ 5.71619477e-03 -4.43814147e-04 9.99983564e-01 1.02036832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.780714057 meters Centerline goodness : 0.990614 with order 1 Centerline is valid? [True, True] Translation: X:215.79, Y:-10.41, Z:1.01 [[ 9.99839657e-01 -1.69667600e-02 -5.72625981e-03 2.15791266e+02] [ 1.69686750e-02 9.99855981e-01 2.86009744e-04 -1.04052108e+01] [ 5.72058246e-03 -3.83130926e-04 9.99983564e-01 1.00724537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.840714057 meters Centerline goodness : 0.990432 with order 1 Centerline is valid? [True, True] Translation: X:215.85, Y:-10.41, Z:1.01 [[ 9.99860119e-01 -1.57147097e-02 -5.72623909e-03 2.15852149e+02] [ 1.57166067e-02 9.99876445e-01 2.86423908e-04 -1.04082693e+01] [ 5.72103052e-03 -3.76380891e-04 9.99983564e-01 1.00788889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90071405700002 meters Centerline goodness : 0.995048 with order 1 Centerline is valid? [True, True] Translation: X:215.91, Y:-10.39, Z:1.02 [[ 9.99443605e-01 -3.28586383e-02 -5.72622385e-03 2.15914743e+02] [ 3.28608167e-02 9.99459896e-01 2.86728373e-04 -1.03945265e+01] [ 5.71370959e-03 -4.74737231e-04 9.99983564e-01 1.01869239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96071405700002 meters Centerline goodness : 0.991148 with order 1 Centerline is valid? [True, True] Translation: X:215.97, Y:-10.41, Z:1.01 [[ 9.99643633e-01 -2.60733164e-02 -5.72614517e-03 2.15974882e+02] [ 2.60753931e-02 9.99659938e-01 2.88290979e-04 -1.04122804e+01] [ 5.71668123e-03 -4.37499728e-04 9.99983564e-01 1.01034673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02071405700002 meters Centerline goodness : 0.990734 with order 1 Centerline is valid? [True, True] Translation: X:216.04, Y:-10.41, Z:1.02 [[ 9.99745635e-01 -2.18146166e-02 -5.72612691e-03 2.16036714e+02] [ 2.18166258e-02 9.99761947e-01 2.88653332e-04 -1.04129645e+01] [ 5.71846693e-03 -4.13504677e-04 9.99983564e-01 1.01972531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08071405700002 meters Centerline goodness : 0.990545 with order 1 Centerline is valid? [True, True] Translation: X:216.10, Y:-10.42, Z:1.02 [[ 9.99769453e-01 -2.06942790e-02 -5.72610631e-03 2.16098907e+02] [ 2.06962723e-02 9.99785767e-01 2.89061458e-04 -1.04175853e+01] [ 5.71889767e-03 -4.07503870e-04 9.99983564e-01 1.01739372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.140714057 meters Centerline goodness : 0.990231 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:-10.42, Z:1.02 [[ 9.99869117e-01 -1.51314366e-02 -5.72608443e-03 2.16161386e+02] [ 1.51333415e-02 9.99885443e-01 2.89494090e-04 -1.04225258e+01] [ 5.72104801e-03 -3.76110991e-04 9.99983564e-01 1.01633257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.200714057 meters Centerline goodness : 0.989720 with order 1 Centerline is valid? [True, True] Translation: X:216.22, Y:-10.42, Z:1.02 [[ 9.99925372e-01 -1.07917822e-02 -5.72606265e-03 2.16222504e+02] [ 1.07936188e-02 9.99941705e-01 2.89924286e-04 -1.04246016e+01] [ 5.72260005e-03 -3.51707587e-04 9.99983564e-01 1.01954411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.260714057 meters Centerline goodness : 0.988644 with order 1 Centerline is valid? [True, True] Translation: X:216.28, Y:-10.43, Z:1.02 [[ 9.99972844e-01 -4.63935498e-03 -5.72604651e-03 2.16283130e+02] [ 4.64109279e-03 9.99989188e-01 2.90242806e-04 -1.04273357e+01] [ 5.72463806e-03 -3.16810037e-04 9.99983564e-01 1.02002094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.320714057 meters Centerline goodness : 0.989978 with order 1 Centerline is valid? [True, True] Translation: X:216.34, Y:-10.43, Z:1.02 [[ 9.99980231e-01 2.59806388e-03 -5.72604131e-03 2.16342635e+02] [-2.59644381e-03 9.99996587e-01 2.90345358e-04 -1.04301299e+01] [ 5.72677610e-03 -2.75472274e-04 9.99983564e-01 1.01825921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.380714057 meters Centerline goodness : 0.988508 with order 1 Centerline is valid? [True, True] Translation: X:216.40, Y:-10.43, Z:1.02 [[ 9.99931624e-01 1.01960599e-02 -5.72605162e-03 2.16401203e+02] [-1.01945653e-02 9.99947992e-01 2.90141800e-04 -1.04348262e+01] [ 5.72871212e-03 -2.31747354e-04 9.99983564e-01 1.01625506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.440714057 meters Centerline goodness : 0.990121 with order 1 Centerline is valid? [True, True] Translation: X:216.46, Y:-10.44, Z:1.02 [[ 9.99921510e-01 1.11438650e-02 -5.72607228e-03 2.16459273e+02] [-1.11423883e-02 9.99937880e-01 2.89733555e-04 -1.04354316e+01] [ 5.72894532e-03 -2.25908693e-04 9.99983564e-01 1.02113468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.500714057 meters Centerline goodness : 0.989278 with order 1 Centerline is valid? [True, True] Translation: X:216.52, Y:-10.44, Z:1.02 [[ 9.99907333e-01 1.23506286e-02 -5.72609150e-03 2.16518388e+02] [-1.23491738e-02 9.99923704e-01 2.89353089e-04 -1.04418378e+01] [ 5.72922832e-03 -2.18613776e-04 9.99983564e-01 1.02016878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.560714057 meters Centerline goodness : 0.988261 with order 1 Centerline is valid? [True, True] Translation: X:216.58, Y:-10.45, Z:1.02 [[ 9.99930027e-01 1.03514656e-02 -5.72610759e-03 2.16576418e+02] [-1.03499799e-02 9.99946396e-01 2.89034359e-04 -1.04461808e+01] [ 5.72879258e-03 -2.29749035e-04 9.99983564e-01 1.02239963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62071405700001 meters Centerline goodness : 0.986670 with order 1 Centerline is valid? [True, True] Translation: X:216.63, Y:-10.45, Z:1.02 [[ 9.99966361e-01 5.87264444e-03 -5.72613386e-03 2.16634653e+02] [-5.87108841e-03 9.99982723e-01 2.88512918e-04 -1.04531061e+01] [ 5.72772927e-03 -2.54884575e-04 9.99983564e-01 1.02258111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68071405700002 meters Centerline goodness : 0.986930 with order 1 Centerline is valid? [True, True] Translation: X:216.69, Y:-10.46, Z:1.02 [[ 9.99983353e-01 7.10027517e-04 -5.72615431e-03 2.16692748e+02] [-7.08389359e-04 9.99999708e-01 2.88106539e-04 -1.04610262e+01] [ 5.72635720e-03 -2.84045396e-04 9.99983564e-01 1.02052032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74071405700002 meters Centerline goodness : 0.986000 with order 1 Centerline is valid? [True, True] Translation: X:216.75, Y:-10.47, Z:1.02 [[ 9.99980454e-01 -2.51065508e-03 -5.72617607e-03 2.16749886e+02] [ 2.51234342e-03 9.99996803e-01 2.87673328e-04 -1.04653833e+01] [ 5.72543552e-03 -3.02053826e-04 9.99983564e-01 1.02189097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80071405700002 meters Centerline goodness : 0.985634 with order 1 Centerline is valid? [True, True] Translation: X:216.81, Y:-10.47, Z:1.03 [[ 9.99964127e-01 -6.24140703e-03 -5.72620802e-03 2.16809711e+02] [ 6.24315273e-03 9.99980470e-01 2.87036031e-04 -1.04701174e+01] [ 5.72430468e-03 -3.22775326e-04 9.99983564e-01 1.02592238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.860714057 meters Centerline goodness : 0.985924 with order 1 Centerline is valid? [True, True] Translation: X:216.87, Y:-10.48, Z:1.03 [[ 9.99952239e-01 -7.92023387e-03 -5.72621827e-03 2.16870326e+02] [ 7.92200584e-03 9.99968579e-01 2.86831376e-04 -1.04756848e+01] [ 5.72376658e-03 -3.32180811e-04 9.99983564e-01 1.02733257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.920714057 meters Centerline goodness : 0.987144 with order 1 Centerline is valid? [True, True] Translation: X:216.93, Y:-10.48, Z:1.03 [[ 9.99941884e-01 -9.13454158e-03 -5.72621827e-03 2.16930580e+02] [ 9.13633338e-03 9.99958222e-01 2.86831376e-04 -1.04777233e+01] [ 5.72335897e-03 -3.39131345e-04 9.99983564e-01 1.02949136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.980714057 meters Centerline goodness : 0.986666 with order 1 Centerline is valid? [True, True] Translation: X:216.99, Y:-10.48, Z:1.03 [[ 9.99934341e-01 -9.92594017e-03 -5.72621319e-03 2.16992301e+02] [ 9.92774549e-03 9.99950678e-01 2.86932726e-04 -1.04794830e+01] [ 5.72308269e-03 -3.43762273e-04 9.99983564e-01 1.02854953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.040714057 meters Centerline goodness : 0.988022 with order 1 Centerline is valid? [True, True] Translation: X:217.05, Y:-10.48, Z:1.03 [[ 9.99916151e-01 -1.16146842e-02 -5.72620325e-03 2.17054076e+02] [ 1.16165183e-02 9.99932485e-01 2.87130920e-04 -1.04796564e+01] [ 5.72248171e-03 -3.53625389e-04 9.99983564e-01 1.02889809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.100714057 meters Centerline goodness : 0.988081 with order 1 Centerline is valid? [True, True] Translation: X:217.12, Y:-10.48, Z:1.03 [[ 9.99881841e-01 -1.42658423e-02 -5.72618793e-03 2.17115820e+02] [ 1.42677213e-02 9.99898170e-01 2.87436209e-04 -1.04798275e+01] [ 5.72150431e-03 -3.69101900e-04 9.99983564e-01 1.02759224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.160714057 meters Centerline goodness : 0.988328 with order 1 Centerline is valid? [True, True] Translation: X:217.18, Y:-10.48, Z:1.03 [[ 9.99844882e-01 -1.66560199e-02 -5.72617290e-03 2.17178330e+02] [ 1.66579397e-02 9.99861205e-01 2.87735283e-04 -1.04813470e+01] [ 5.72058562e-03 -3.83076892e-04 9.99983564e-01 1.02652846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.220714057 meters Centerline goodness : 0.988951 with order 1 Centerline is valid? [True, True] Translation: X:217.24, Y:-10.48, Z:1.03 [[ 9.99830046e-01 -1.75239817e-02 -5.72615268e-03 2.17239907e+02] [ 1.75259179e-02 9.99846368e-01 2.88137182e-04 -1.04804475e+01] [ 5.72022365e-03 -3.88444294e-04 9.99983564e-01 1.02628179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.280714057 meters Centerline goodness : 0.988940 with order 1 Centerline is valid? [True, True] Translation: X:217.30, Y:-10.48, Z:1.03 [[ 9.99853983e-01 -1.61004253e-02 -5.72611903e-03 2.17302540e+02] [ 1.61023421e-02 9.99870307e-01 2.88804341e-04 -1.04788762e+01] [ 5.72072652e-03 -3.80966098e-04 9.99983564e-01 1.02869799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.340714057 meters Centerline goodness : 0.988727 with order 1 Centerline is valid? [True, True] Translation: X:217.37, Y:-10.48, Z:1.03 [[ 9.99912469e-01 -1.19275506e-02 -5.72609861e-03 2.17365017e+02] [ 1.19294016e-02 9.99928800e-01 2.89208613e-04 -1.04776010e+01] [ 5.72224136e-03 -3.57492229e-04 9.99983564e-01 1.02967155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40071405700002 meters Centerline goodness : 0.989656 with order 1 Centerline is valid? [True, True] Translation: X:217.43, Y:-10.48, Z:1.03 [[ 9.99949045e-01 -8.31384639e-03 -5.72607817e-03 2.17426874e+02] [ 8.31564066e-03 9.99965383e-01 2.89612674e-04 -1.04777383e+01] [ 5.72347216e-03 -3.37213925e-04 9.99983564e-01 1.02966806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46071405700002 meters Centerline goodness : 0.988685 with order 1 Centerline is valid? [True, True] Translation: X:217.49, Y:-10.48, Z:1.03 [[ 9.99981944e-01 -1.82300714e-03 -5.72606800e-03 2.17488258e+02] [ 1.82469646e-03 9.99998293e-01 2.89813705e-04 -1.04774160e+01] [ 5.72552989e-03 -3.00256808e-04 9.99983564e-01 1.02792156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52071405700002 meters Centerline goodness : 0.989777 with order 1 Centerline is valid? [True, True] Translation: X:217.55, Y:-10.48, Z:1.03 [[ 9.99980809e-01 2.36516048e-03 -5.72605790e-03 2.17546740e+02] [-2.36353850e-03 9.99997165e-01 2.90013193e-04 -1.04764702e+01] [ 5.72672759e-03 -2.76473869e-04 9.99983564e-01 1.02609458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58071405700002 meters Centerline goodness : 0.989773 with order 1 Centerline is valid? [True, True] Translation: X:217.61, Y:-10.48, Z:1.03 [[ 9.99944904e-01 8.79769644e-03 -5.72612966e-03 2.17606048e+02] [-8.79618784e-03 9.99961271e-01 2.88589183e-04 -1.04768594e+01] [ 5.72844682e-03 -2.38205170e-04 9.99983564e-01 1.02611598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.640714057 meters Centerline goodness : 0.989739 with order 1 Centerline is valid? [True, True] Translation: X:217.66, Y:-10.48, Z:1.02 [[ 9.99849684e-01 1.63651799e-02 -5.72619646e-03 2.17662601e+02] [-1.63638028e-02 9.99866063e-01 2.87257702e-04 -1.04795125e+01] [ 5.73013053e-03 -1.93512173e-04 9.99983564e-01 1.02351603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.700714057 meters Centerline goodness : 0.990053 with order 1 Centerline is valid? [True, True] Translation: X:217.72, Y:-10.48, Z:1.02 [[ 9.99842559e-01 1.67948627e-02 -5.72625338e-03 2.17721610e+02] [-1.67934992e-02 9.99858938e-01 2.86118508e-04 -1.04816833e+01] [ 5.73025095e-03 -1.89909630e-04 9.99983564e-01 1.02478125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.760714057 meters Centerline goodness : 0.988659 with order 1 Centerline is valid? [True, True] Translation: X:217.78, Y:-10.49, Z:1.02 [[ 9.99773315e-01 2.05068087e-02 -5.72627373e-03 2.17779960e+02] [-2.05055083e-02 9.99789699e-01 2.85710674e-04 -1.04924874e+01] [ 5.73092850e-03 -1.68225754e-04 9.99983564e-01 1.01733246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.820714057 meters Centerline goodness : 0.994969 with order 1 Centerline is valid? [True, True] Translation: X:217.84, Y:-10.48, Z:1.03 [[ 9.99976090e-01 -3.87677483e-03 -5.72628873e-03 2.17840926e+02] [ 3.87847258e-03 9.99992438e-01 2.85409668e-04 -1.04782847e+01] [ 5.72513896e-03 -3.07612097e-04 9.99983564e-01 1.02986161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.880714057 meters Centerline goodness : 0.990721 with order 1 Centerline is valid? [True, True] Translation: X:217.90, Y:-10.50, Z:1.02 [[ 9.99941899e-01 9.13275828e-03 -5.72629366e-03 2.17899363e+02] [-9.13127392e-03 9.99958268e-01 2.85310747e-04 -1.05013996e+01] [ 5.72866037e-03 -2.33005815e-04 9.99983564e-01 1.01752431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.940714057 meters Centerline goodness : 0.990822 with order 1 Centerline is valid? [True, True] Translation: X:217.96, Y:-10.50, Z:1.02 [[ 9.99961938e-01 -6.58269563e-03 -5.72630442e-03 2.17957498e+02] [ 6.58443582e-03 9.99978282e-01 2.85094675e-04 -1.05027489e+01] [ 5.72430336e-03 -3.22788308e-04 9.99983564e-01 1.02308501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.000714057 meters Centerline goodness : 0.991541 with order 1 Centerline is valid? [True, True] Translation: X:218.02, Y:-10.51, Z:1.02 [[ 9.99920455e-01 -1.12380357e-02 -5.72632540e-03 2.18018256e+02] [ 1.12398496e-02 9.99936790e-01 2.84672626e-04 -1.05074058e+01] [ 5.72276428e-03 -3.49013018e-04 9.99983564e-01 1.02377560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.060714057 meters Centerline goodness : 0.991416 with order 1 Centerline is valid? [True, True] Translation: X:218.08, Y:-10.51, Z:1.03 [[ 9.99857133e-01 -1.59035402e-02 -5.72632540e-03 2.18080671e+02] [ 1.59054303e-02 9.99873460e-01 2.84672626e-04 -1.05104814e+01] [ 5.72107349e-03 -3.75711625e-04 9.99983564e-01 1.02592909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12071405700001 meters Centerline goodness : 0.990726 with order 1 Centerline is valid? [True, True] Translation: X:218.14, Y:-10.51, Z:1.03 [[ 9.99892004e-01 -1.35347971e-02 -5.72624946e-03 2.18143167e+02] [ 1.35366571e-02 9.99908334e-01 2.86192060e-04 -1.05138458e+01] [ 5.72185101e-03 -3.63675428e-04 9.99983564e-01 1.02858735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18071405700002 meters Centerline goodness : 0.989083 with order 1 Centerline is valid? [True, True] Translation: X:218.20, Y:-10.52, Z:1.03 [[ 9.99821791e-01 -1.79888126e-02 -5.72622736e-03 2.18204472e+02] [ 1.79907478e-02 9.99838112e-01 2.86633476e-04 -1.05176305e+01] [ 5.72014416e-03 -3.89601507e-04 9.99983564e-01 1.02560150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24071405700002 meters Centerline goodness : 0.988923 with order 1 Centerline is valid? [True, True] Translation: X:218.27, Y:-10.52, Z:1.02 [[ 9.99820927e-01 -1.80367723e-02 -5.72615730e-03 2.18267083e+02] [ 1.80387163e-02 9.99837248e-01 2.88026322e-04 -1.05202252e+01] [ 5.72003029e-03 -3.91267271e-04 9.99983564e-01 1.02387751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30071405700002 meters Centerline goodness : 0.988627 with order 1 Centerline is valid? [True, True] Translation: X:218.33, Y:-10.52, Z:1.02 [[ 9.99828768e-01 -1.75967593e-02 -5.72613590e-03 2.18329769e+02] [ 1.75986985e-02 9.99845089e-01 2.88451223e-04 -1.05218301e+01] [ 5.72017305e-03 -3.89174371e-04 9.99983564e-01 1.02310637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.360714057 meters Centerline goodness : 0.989405 with order 1 Centerline is valid? [True, True] Translation: X:218.39, Y:-10.52, Z:1.03 [[ 9.99870208e-01 -1.50591825e-02 -5.72611438e-03 2.18392063e+02] [ 1.50610827e-02 9.99886534e-01 2.88877752e-04 -1.05226499e+01] [ 5.72111440e-03 -3.75081740e-04 9.99983564e-01 1.02711514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.420714057 meters Centerline goodness : 0.988816 with order 1 Centerline is valid? [True, True] Translation: X:218.45, Y:-10.53, Z:1.02 [[ 9.99862746e-01 -1.55467565e-02 -5.72609312e-03 2.18452972e+02] [ 1.55486671e-02 9.99879070e-01 2.89298657e-04 -1.05251554e+01] [ 5.72090301e-03 -3.78292066e-04 9.99983564e-01 1.02299969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.480714057 meters Centerline goodness : 0.989370 with order 1 Centerline is valid? [True, True] Translation: X:218.52, Y:-10.52, Z:1.03 [[ 9.99946658e-01 -8.59610568e-03 -5.72607724e-03 2.18515088e+02] [ 8.59790456e-03 9.99962995e-01 2.89612596e-04 -1.05219533e+01] [ 5.72337581e-03 -3.38829413e-04 9.99983564e-01 1.02828264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.540714057 meters Centerline goodness : 0.989287 with order 1 Centerline is valid? [True, True] Translation: X:218.58, Y:-10.52, Z:1.03 [[ 9.99961671e-01 -6.62335746e-03 -5.72605528e-03 2.18576561e+02] [ 6.62512657e-03 9.99978012e-01 2.90046093e-04 -1.05231201e+01] [ 5.72400829e-03 -3.27970817e-04 9.99983564e-01 1.02976784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.600714057 meters Centerline goodness : 0.989017 with order 1 Centerline is valid? [True, True] Translation: X:218.64, Y:-10.52, Z:1.03 [[ 9.99980924e-01 -2.31584377e-03 -5.72603898e-03 2.18636975e+02] [ 2.31754431e-03 9.99997272e-01 2.90367521e-04 -1.05237853e+01] [ 5.72535091e-03 -3.03632331e-04 9.99983564e-01 1.02904200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.660714057 meters Centerline goodness : 0.989505 with order 1 Centerline is valid? [True, True] Translation: X:218.70, Y:-10.52, Z:1.03 [[ 9.99973418e-01 -4.51386491e-03 -5.72603898e-03 2.18696982e+02] [ 4.51560139e-03 9.99989762e-01 2.90367521e-04 -1.05246984e+01] [ 5.72466968e-03 -3.16216312e-04 9.99983564e-01 1.02669337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.720714057 meters Centerline goodness : 0.989749 with order 1 Centerline is valid? [True, True] Translation: X:218.76, Y:-10.53, Z:1.03 [[ 9.99971748e-01 -4.86978326e-03 -5.72604947e-03 2.18756545e+02] [ 4.87152438e-03 9.99988092e-01 2.90160502e-04 -1.05270911e+01] [ 5.72456827e-03 -3.18046894e-04 9.99983564e-01 1.02757364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.780714057 meters Centerline goodness : 0.989809 with order 1 Centerline is valid? [True, True] Translation: X:218.82, Y:-10.53, Z:1.03 [[ 9.99983396e-01 -6.47637708e-04 -5.72605973e-03 2.18817163e+02] [ 6.49308641e-04 9.99999747e-01 2.89957874e-04 -1.05295507e+01] [ 5.72587050e-03 -2.93671040e-04 9.99983564e-01 1.03282324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.840714057 meters Centerline goodness : 0.989652 with order 1 Centerline is valid? [True, True] Translation: X:218.88, Y:-10.53, Z:1.03 [[ 9.99979724e-01 2.78650302e-03 -5.72605973e-03 2.18875563e+02] [-2.78488825e-03 9.99996080e-01 2.89957874e-04 -1.05335241e+01] [ 5.72684525e-03 -2.74005558e-04 9.99983564e-01 1.03025364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90071405700002 meters Centerline goodness : 0.989704 with order 1 Centerline is valid? [True, True] Translation: X:218.93, Y:-10.54, Z:1.03 [[ 9.99969476e-01 5.31596069e-03 -5.72613624e-03 2.18932925e+02] [-5.31439598e-03 9.99985837e-01 2.88439048e-04 -1.05375059e+01] [ 5.72758847e-03 -2.57999288e-04 9.99983564e-01 1.02967896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96071405700002 meters Centerline goodness : 0.993719 with order 1 Centerline is valid? [True, True] Translation: X:218.99, Y:-10.52, Z:1.05 [[ 9.99938209e-01 -9.52834898e-03 -5.72616301e-03 2.18992723e+02] [ 9.53015336e-03 9.99954546e-01 2.87906489e-04 -1.05226028e+01] [ 5.72315946e-03 -3.42459911e-04 9.99983564e-01 1.04550091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02071405700002 meters Centerline goodness : 0.987918 with order 1 Centerline is valid? [True, True] Translation: X:219.05, Y:-10.55, Z:1.03 [[ 9.99954053e-01 7.68778974e-03 -5.72617879e-03 2.19052713e+02] [-7.68626868e-03 9.99970419e-01 2.87592321e-04 -1.05462672e+01] [ 5.72822036e-03 -2.43566159e-04 9.99983564e-01 1.02756096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08071405700002 meters Centerline goodness : 0.987885 with order 1 Centerline is valid? [True, True] Translation: X:219.11, Y:-10.55, Z:1.03 [[ 9.99950880e-01 8.09001725e-03 -5.72617340e-03 2.19110092e+02] [-8.08850216e-03 9.99967246e-01 2.87699744e-04 -1.05498506e+01] [ 5.72831334e-03 -2.41369447e-04 9.99983564e-01 1.02947373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.140714057 meters Centerline goodness : 0.989337 with order 1 Centerline is valid? [True, True] Translation: X:219.17, Y:-10.55, Z:1.03 [[ 9.99976920e-01 3.65656635e-03 -5.72619940e-03 2.19169194e+02] [-3.65498167e-03 9.99993279e-01 2.87181184e-04 -1.05504686e+01] [ 5.72721102e-03 -2.66245402e-04 9.99983564e-01 1.03290213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.200714057 meters Centerline goodness : 0.986944 with order 1 Centerline is valid? [True, True] Translation: X:219.23, Y:-10.55, Z:1.04 [[ 9.99947904e-01 8.44983947e-03 -5.72622019e-03 2.19226763e+02] [-8.44833561e-03 9.99964271e-01 2.86765996e-04 -1.05541805e+01] [ 5.72843873e-03 -2.38374026e-04 9.99983564e-01 1.03800351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.260714057 meters Centerline goodness : 0.986698 with order 1 Centerline is valid? [True, True] Translation: X:219.28, Y:-10.56, Z:1.03 [[ 9.99912440e-01 1.19298607e-02 -5.72625712e-03 2.19284315e+02] [-1.19284181e-02 9.99928813e-01 2.86026840e-04 -1.05630256e+01] [ 5.72926174e-03 -2.17696607e-04 9.99983564e-01 1.03351696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.320714057 meters Centerline goodness : 0.988171 with order 1 Centerline is valid? [True, True] Translation: X:219.34, Y:-10.56, Z:1.04 [[ 9.99974360e-01 4.29993520e-03 -5.72628188e-03 2.19343890e+02] [-4.29837049e-03 9.99990721e-01 2.85530260e-04 -1.05628126e+01] [ 5.72745651e-03 -2.60909258e-04 9.99983564e-01 1.04072970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.380714057 meters Centerline goodness : 0.988644 with order 1 Centerline is valid? [True, True] Translation: X:219.40, Y:-10.57, Z:1.04 [[ 9.99981293e-01 -2.15029692e-03 -5.72629217e-03 2.19401683e+02] [ 2.15196596e-03 9.99997644e-01 2.85323606e-04 -1.05672528e+01] [ 5.72566515e-03 -2.97641054e-04 9.99983564e-01 1.04241870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.440714057 meters Centerline goodness : 0.993202 with order 1 Centerline is valid? [True, True] Translation: X:219.46, Y:-10.56, Z:1.04 [[ 9.99837691e-01 -1.70822002e-02 -5.72631771e-03 2.19461992e+02] [ 1.70841103e-02 9.99854015e-01 2.84810279e-04 -1.05604704e+01] [ 5.72061656e-03 -3.82593095e-04 9.99983564e-01 1.03712029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.500714057 meters Centerline goodness : 0.989650 with order 1 Centerline is valid? [True, True] Translation: X:219.52, Y:-10.58, Z:1.04 [[ 9.99882149e-01 -1.42441770e-02 -5.72632703e-03 2.19523011e+02] [ 1.42460397e-02 9.99898480e-01 2.84622681e-04 -1.05764510e+01] [ 5.72169147e-03 -3.66166620e-04 9.99983564e-01 1.03683265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.560714057 meters Centerline goodness : 0.988940 with order 1 Centerline is valid? [True, True] Translation: X:219.59, Y:-10.58, Z:1.04 [[ 9.99823167e-01 -1.79121307e-02 -5.72631155e-03 2.19586097e+02] [ 1.79140550e-02 9.99839490e-01 2.84933726e-04 -1.05791993e+01] [ 5.72028865e-03 -3.87464800e-04 9.99983564e-01 1.03970537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62071405700001 meters Centerline goodness : 0.989966 with order 1 Centerline is valid? [True, True] Translation: X:219.65, Y:-10.58, Z:1.04 [[ 9.99799040e-01 -1.92116953e-02 -5.72627920e-03 2.19648230e+02] [ 1.92136446e-02 9.99815360e-01 2.85582528e-04 -1.05832194e+01] [ 5.71973537e-03 -3.95547831e-04 9.99983564e-01 1.04098338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68071405700002 meters Centerline goodness : 0.988635 with order 1 Centerline is valid? [True, True] Translation: X:219.71, Y:-10.59, Z:1.04 [[ 9.99816406e-01 -1.82856511e-02 -5.72625744e-03 2.19710661e+02] [ 1.82875877e-02 9.99832727e-01 2.86018123e-04 -1.05875826e+01] [ 5.72006956e-03 -3.90685047e-04 9.99983564e-01 1.04279859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74071405700002 meters Centerline goodness : 0.988703 with order 1 Centerline is valid? [True, True] Translation: X:219.77, Y:-10.59, Z:1.04 [[ 9.99829232e-01 -1.75703363e-02 -5.72623558e-03 2.19772503e+02] [ 1.75722638e-02 9.99845555e-01 2.86455037e-04 -1.05896376e+01] [ 5.72031808e-03 -3.87029041e-04 9.99983564e-01 1.04320140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80071405700002 meters Centerline goodness : 0.989168 with order 1 Centerline is valid? [True, True] Translation: X:219.83, Y:-10.59, Z:1.04 [[ 9.99840680e-01 -1.69063429e-02 -5.72620857e-03 2.19834912e+02] [ 1.69082625e-02 9.99857004e-01 2.86994006e-04 -1.05939875e+01] [ 5.72053772e-03 -3.83768520e-04 9.99983564e-01 1.04070407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.860714057 meters Centerline goodness : 0.989139 with order 1 Centerline is valid? [True, True] Translation: X:219.90, Y:-10.60, Z:1.04 [[ 9.99842734e-01 -1.67844775e-02 -5.72618785e-03 2.19896964e+02] [ 1.67863975e-02 9.99859057e-01 2.87406806e-04 -1.05971364e+01] [ 5.72055681e-03 -3.83483672e-04 9.99983564e-01 1.03749864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.920714057 meters Centerline goodness : 0.987872 with order 1 Centerline is valid? [True, True] Translation: X:219.96, Y:-10.60, Z:1.04 [[ 9.99856440e-01 -1.59471183e-02 -5.72616734e-03 2.19959575e+02] [ 1.59490270e-02 9.99872765e-01 2.87814765e-04 -1.05979986e+01] [ 5.72084896e-03 -3.79100244e-04 9.99983564e-01 1.03731557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.980714057 meters Centerline goodness : 0.988036 with order 1 Centerline is valid? [True, True] Translation: X:220.02, Y:-10.60, Z:1.04 [[ 9.99830219e-01 -1.75141417e-02 -5.72614671e-03 2.20021463e+02] [ 1.75160783e-02 9.99846540e-01 2.88224739e-04 -1.05998913e+01] [ 5.72021997e-03 -3.88475438e-04 9.99983564e-01 1.03525776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.040714057 meters Centerline goodness : 0.989838 with order 1 Centerline is valid? [True, True] Translation: X:220.08, Y:-10.60, Z:1.04 [[ 9.99822754e-01 -1.79352328e-02 -5.72612473e-03 2.20083513e+02] [ 1.79371788e-02 9.99839074e-01 2.88660763e-04 -1.05991714e+01] [ 5.72002605e-03 -3.91320122e-04 9.99983564e-01 1.03815873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.100714057 meters Centerline goodness : 0.988874 with order 1 Centerline is valid? [True, True] Translation: X:220.15, Y:-10.60, Z:1.04 [[ 9.99816982e-01 -1.82541699e-02 -5.72610306e-03 2.20145156e+02] [ 1.82561235e-02 9.99833301e-01 2.89089920e-04 -1.05993174e+01] [ 5.71987143e-03 -3.93573456e-04 9.99983564e-01 1.03862982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.160714057 meters Centerline goodness : 0.989358 with order 1 Centerline is valid? [True, True] Translation: X:220.21, Y:-10.60, Z:1.04 [[ 9.99858116e-01 -1.58417427e-02 -5.72607620e-03 2.20207334e+02] [ 1.58436600e-02 9.99874439e-01 2.89621008e-04 -1.05993153e+01] [ 5.72076913e-03 -3.80301919e-04 9.99983564e-01 1.03947732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.220714057 meters Centerline goodness : 0.989037 with order 1 Centerline is valid? [True, True] Translation: X:220.27, Y:-10.60, Z:1.04 [[ 9.99925323e-01 -1.07963117e-02 -5.72605537e-03 2.20269206e+02] [ 1.07981489e-02 9.99941656e-01 2.90032272e-04 -1.06004780e+01] [ 5.72259001e-03 -3.51841412e-04 9.99983564e-01 1.04219969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.280714057 meters Centerline goodness : 0.989743 with order 1 Centerline is valid? [True, True] Translation: X:220.33, Y:-10.61, Z:1.04 [[ 9.99943304e-01 -8.97782705e-03 -5.72603364e-03 2.20330495e+02] [ 8.97963700e-03 9.99959640e-01 2.90460574e-04 -1.06053867e+01] [ 5.72319483e-03 -3.41861810e-04 9.99983564e-01 1.03563449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.340714057 meters Centerline goodness : 0.989410 with order 1 Centerline is valid? [True, True] Translation: X:220.39, Y:-10.61, Z:1.04 [[ 9.99969704e-01 -5.27286550e-03 -5.72599629e-03 2.20391368e+02] [ 5.27461911e-03 9.99986047e-01 2.91195076e-04 -1.06070164e+01] [ 5.72438096e-03 -3.21388703e-04 9.99983564e-01 1.03644976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40071405700002 meters Centerline goodness : 0.989330 with order 1 Centerline is valid? [True, True] Translation: X:220.45, Y:-10.61, Z:1.04 [[ 9.99978512e-01 -3.19207984e-03 -5.72598553e-03 2.20451352e+02] [ 3.19380064e-03 9.99994857e-01 2.91406394e-04 -1.06096484e+01] [ 5.72502590e-03 -3.09687788e-04 9.99983564e-01 1.03662754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46071405700002 meters Centerline goodness : 0.989361 with order 1 Centerline is valid? [True, True] Translation: X:220.51, Y:-10.61, Z:1.03 [[ 9.99981167e-01 -2.20859561e-03 -5.72598553e-03 2.20510786e+02] [ 2.21030034e-03 9.99997515e-01 2.91406394e-04 -1.06146763e+01] [ 5.72532771e-03 -3.04057053e-04 9.99983564e-01 1.03465060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52071405700002 meters Centerline goodness : 0.989737 with order 1 Centerline is valid? [True, True] Translation: X:220.57, Y:-10.62, Z:1.04 [[ 9.99966454e-01 -5.85696228e-03 -5.72599643e-03 2.20570751e+02] [ 5.85872541e-03 9.99982795e-01 2.91192068e-04 -1.06180673e+01] [ 5.72419242e-03 -3.24729341e-04 9.99983564e-01 1.03648788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58071405700002 meters Centerline goodness : 0.991016 with order 1 Centerline is valid? [True, True] Translation: X:220.63, Y:-10.62, Z:1.04 [[ 9.99902178e-01 -1.27611387e-02 -5.72600747e-03 2.20631119e+02] [ 1.27630134e-02 9.99918507e-01 2.90974948e-04 -1.06231506e+01] [ 5.72182767e-03 -3.64027595e-04 9.99983564e-01 1.03698011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.640714057 meters Centerline goodness : 0.990657 with order 1 Centerline is valid? [True, True] Translation: X:220.69, Y:-10.63, Z:1.04 [[ 9.99825716e-01 -1.77693863e-02 -5.72600203e-03 2.20694452e+02] [ 1.77713434e-02 9.99842035e-01 2.91081843e-04 -1.06264711e+01] [ 5.71992518e-03 -3.92789860e-04 9.99983564e-01 1.03940128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.700714057 meters Centerline goodness : 0.990873 with order 1 Centerline is valid? [True, True] Translation: X:220.76, Y:-10.63, Z:1.04 [[ 9.99624264e-01 -2.68056964e-02 -5.72591267e-03 2.20756001e+02] [ 2.68078109e-02 9.99640563e-01 2.92829220e-04 -1.06308650e+01] [ 5.71600508e-03 -4.46218377e-04 9.99983564e-01 1.04219093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.760714057 meters Centerline goodness : 0.991068 with order 1 Centerline is valid? [True, True] Translation: X:220.82, Y:-10.64, Z:1.04 [[ 9.99475011e-01 -3.18891504e-02 -5.72582892e-03 2.20817776e+02] [ 3.18913569e-02 9.99491298e-01 2.94457722e-04 -1.06372367e+01] [ 5.71352617e-03 -4.76907589e-04 9.99983564e-01 1.04184672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.820714057 meters Centerline goodness : 0.991607 with order 1 Centerline is valid? [True, True] Translation: X:220.88, Y:-10.64, Z:1.04 [[ 9.99306109e-01 -3.68037426e-02 -5.72580630e-03 2.20878956e+02] [ 3.68060317e-02 9.99322385e-01 2.94896916e-04 -1.06419643e+01] [ 5.71107310e-03 -5.05436498e-04 9.99983564e-01 1.04243431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.880714057 meters Centerline goodness : 0.991707 with order 1 Centerline is valid? [True, True] Translation: X:220.94, Y:-10.65, Z:1.04 [[ 9.99295251e-01 -3.70973990e-02 -5.72578956e-03 2.20940911e+02] [ 3.70996947e-02 9.99311526e-01 2.95221578e-04 -1.06471032e+01] [ 5.71089555e-03 -5.07438566e-04 9.99983564e-01 1.04312328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.940714057 meters Centerline goodness : 0.993220 with order 1 Centerline is valid? [True, True] Translation: X:221.00, Y:-10.64, Z:1.04 [[ 9.99087441e-01 -4.23261221e-02 -5.72576601e-03 2.21003324e+02] [ 4.23285056e-02 9.99103703e-01 2.95677734e-04 -1.06444064e+01] [ 5.70811913e-03 -5.37771029e-04 9.99983564e-01 1.04215364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.000714057 meters Centerline goodness : 0.990824 with order 1 Centerline is valid? [True, True] Translation: X:221.06, Y:-10.66, Z:1.04 [[ 9.99138839e-01 -4.10949652e-02 -5.72568009e-03 2.21064673e+02] [ 4.10973381e-02 9.99155103e-01 2.97332136e-04 -1.06559577e+01] [ 5.70862363e-03 -5.32386296e-04 9.99983564e-01 1.04324666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.060714057 meters Centerline goodness : 0.990737 with order 1 Centerline is valid? [True, True] Translation: X:221.13, Y:-10.66, Z:1.04 [[ 9.99150036e-01 -4.08218480e-02 -5.72565745e-03 2.21125248e+02] [ 4.08242188e-02 9.99166300e-01 2.97767492e-04 -1.06619970e+01] [ 5.70872855e-03 -5.31259893e-04 9.99983564e-01 1.04025262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12071405700001 meters Centerline goodness : 0.990722 with order 1 Centerline is valid? [True, True] Translation: X:221.19, Y:-10.67, Z:1.04 [[ 9.99207538e-01 -3.93892520e-02 -5.72564074e-03 2.21188076e+02] [ 3.93916014e-02 9.99223805e-01 2.98088579e-04 -1.06660949e+01] [ 5.70945504e-03 -5.23394513e-04 9.99983564e-01 1.04032599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18071405700002 meters Centerline goodness : 0.990882 with order 1 Centerline is valid? [True, True] Translation: X:221.25, Y:-10.67, Z:1.04 [[ 9.99246659e-01 -3.83840000e-02 -5.72560581e-03 2.21251259e+02] [ 3.83863368e-02 9.99262928e-01 2.98757876e-04 -1.06715754e+01] [ 5.70991811e-03 -5.18317842e-04 9.99983564e-01 1.03920076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24071405700002 meters Centerline goodness : 0.991200 with order 1 Centerline is valid? [True, True] Translation: X:221.31, Y:-10.68, Z:1.04 [[ 9.99388438e-01 -3.44959179e-02 -5.72557126e-03 2.21314078e+02] [ 3.44981951e-02 9.99404715e-01 2.99418700e-04 -1.06782014e+01] [ 5.71183419e-03 -4.96757461e-04 9.99983564e-01 1.03637808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30071405700002 meters Centerline goodness : 0.991128 with order 1 Centerline is valid? [True, True] Translation: X:221.38, Y:-10.68, Z:1.04 [[ 9.99596844e-01 -2.78094932e-02 -5.72553595e-03 2.21375735e+02] [ 2.78116654e-02 9.99613136e-01 3.00092390e-04 -1.06798026e+01] [ 5.71497552e-03 -4.59208096e-04 9.99983564e-01 1.03813698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.360714057 meters Centerline goodness : 0.989093 with order 1 Centerline is valid? [True, True] Translation: X:221.44, Y:-10.68, Z:1.04 [[ 9.99800338e-01 -1.91442853e-02 -5.72550695e-03 2.21437575e+02] [ 1.91463193e-02 9.99816647e-01 3.00644551e-04 -1.06814820e+01] [ 5.71870154e-03 -4.10206907e-04 9.99983564e-01 1.03759259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.420714057 meters Centerline goodness : 0.988844 with order 1 Centerline is valid? [True, True] Translation: X:221.50, Y:-10.68, Z:1.04 [[ 9.99929792e-01 -1.03745223e-02 -5.72548359e-03 2.21499569e+02] [ 1.03764157e-02 9.99946118e-01 3.01088726e-04 -1.06825212e+01] [ 5.72205144e-03 -3.60477584e-04 9.99983564e-01 1.03959458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.480714057 meters Centerline goodness : 0.987965 with order 1 Centerline is valid? [True, True] Translation: X:221.56, Y:-10.68, Z:1.04 [[ 9.99969163e-01 5.37508249e-03 -5.72546072e-03 2.21561355e+02] [-5.37344398e-03 9.99985517e-01 3.01523048e-04 -1.06821687e+01] [ 5.72699851e-03 -2.70748308e-04 9.99983564e-01 1.04390989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.540714057 meters Centerline goodness : 0.988132 with order 1 Centerline is valid? [True, True] Translation: X:221.62, Y:-10.69, Z:1.04 [[ 9.99837371e-01 1.71012021e-02 -5.72544941e-03 2.21619536e+02] [-1.70997543e-02 9.99853743e-01 3.01737769e-04 -1.06863645e+01] [ 5.72977210e-03 -2.03784920e-04 9.99983564e-01 1.03950085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.600714057 meters Centerline goodness : 0.988298 with order 1 Centerline is valid? [True, True] Translation: X:221.68, Y:-10.69, Z:1.04 [[ 9.99803405e-01 1.89834300e-02 -5.72547162e-03 2.21678009e+02] [-1.89820154e-02 9.99819780e-01 3.01315637e-04 -1.06887389e+01] [ 5.73015978e-03 -1.92575409e-04 9.99983564e-01 1.04091790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.660714057 meters Centerline goodness : 0.988677 with order 1 Centerline is valid? [True, True] Translation: X:221.74, Y:-10.69, Z:1.04 [[ 9.99877596e-01 1.45606139e-02 -5.72549347e-03 2.21736645e+02] [-1.45591293e-02 9.99893965e-01 3.00899942e-04 -1.06922088e+01] [ 5.72926765e-03 -2.17504911e-04 9.99983564e-01 1.03879484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.720714057 meters Centerline goodness : 0.988572 with order 1 Centerline is valid? [True, True] Translation: X:221.80, Y:-10.70, Z:1.04 [[ 9.99895281e-01 1.32908306e-02 -5.72551629e-03 2.21795004e+02] [-1.32893277e-02 9.99911648e-01 3.00465090e-04 -1.06995748e+01] [ 5.72900386e-03 -2.24345363e-04 9.99983564e-01 1.04026484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.780714057 meters Centerline goodness : 0.987460 with order 1 Centerline is valid? [True, True] Translation: X:221.85, Y:-10.71, Z:1.04 [[ 9.99924284e-01 1.08924370e-02 -5.72553905e-03 2.21852552e+02] [-1.08908972e-02 9.99940647e-01 3.00030672e-04 -1.07059844e+01] [ 5.72846729e-03 -2.37651697e-04 9.99983564e-01 1.03999348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.840714057 meters Centerline goodness : 0.987462 with order 1 Centerline is valid? [True, True] Translation: X:221.91, Y:-10.71, Z:1.04 [[ 9.99947405e-01 8.50913725e-03 -5.72556683e-03 2.21909616e+02] [-8.50756157e-03 9.99963765e-01 2.99499678e-04 -1.07132962e+01] [ 5.72790785e-03 -2.50773313e-04 9.99983564e-01 1.03554464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90071405700002 meters Centerline goodness : 0.987534 with order 1 Centerline is valid? [True, True] Translation: X:221.97, Y:-10.72, Z:1.04 [[ 9.99930674e-01 1.02890204e-02 -5.72559465e-03 2.21968787e+02] [-1.02874769e-02 9.99947038e-01 2.98966930e-04 -1.07170323e+01] [ 5.72836748e-03 -2.40044282e-04 9.99983564e-01 1.04285322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96071405700002 meters Centerline goodness : 0.987314 with order 1 Centerline is valid? [True, True] Translation: X:222.03, Y:-10.73, Z:1.04 [[ 9.99931823e-01 1.01768191e-02 -5.72561158e-03 2.22025507e+02] [-1.01752756e-02 9.99948186e-01 2.98642279e-04 -1.07278964e+01] [ 5.72835414e-03 -2.40362242e-04 9.99983564e-01 1.03903942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02071405700002 meters Centerline goodness : 0.986797 with order 1 Centerline is valid? [True, True] Translation: X:222.08, Y:-10.73, Z:1.04 [[ 9.99841192e-01 1.68762387e-02 -5.72566072e-03 2.22084494e+02] [-1.68748103e-02 9.99857566e-01 2.97697132e-04 -1.07346802e+01] [ 5.72986920e-03 -2.01030417e-04 9.99983564e-01 1.04028868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08071405700002 meters Centerline goodness : 0.987715 with order 1 Centerline is valid? [True, True] Translation: X:222.14, Y:-10.74, Z:1.04 [[ 9.99890838e-01 1.36208983e-02 -5.72569736e-03 2.22144071e+02] [-1.36194206e-02 9.99907207e-01 2.96990789e-04 -1.07410953e+01] [ 5.72921134e-03 -2.18977688e-04 9.99983564e-01 1.04412948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.140714057 meters Centerline goodness : 0.987225 with order 1 Centerline is valid? [True, True] Translation: X:222.20, Y:-10.76, Z:1.04 [[ 9.99858604e-01 1.58110208e-02 -5.72570854e-03 2.22201107e+02] [-1.58095802e-02 9.99874977e-01 2.96775050e-04 -1.07569217e+01] [ 5.72968501e-03 -2.06212039e-04 9.99983564e-01 1.03620653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.200714057 meters Centerline goodness : 0.984803 with order 1 Centerline is valid? [True, True] Translation: X:222.26, Y:-10.75, Z:1.04 [[ 9.99983606e-01 6.23658461e-05 -5.72573601e-03 2.22259776e+02] [-6.06706227e-05 9.99999954e-01 2.96244040e-04 -1.07503193e+01] [ 5.72575423e-03 -2.95891800e-04 9.99983564e-01 1.04475307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.260714057 meters Centerline goodness : 0.992301 with order 1 Centerline is valid? [True, True] Translation: X:222.32, Y:-10.76, Z:1.04 [[ 9.99982531e-01 -1.46759708e-03 -5.72576509e-03 2.22317487e+02] [ 1.46931410e-03 9.99998877e-01 2.95680985e-04 -1.07593727e+01] [ 5.72532472e-03 -3.04088767e-04 9.99983564e-01 1.04411183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.320714057 meters Centerline goodness : 0.992306 with order 1 Centerline is valid? [True, True] Translation: X:222.38, Y:-10.77, Z:1.04 [[ 9.99983404e-01 6.37971948e-04 -5.72580174e-03 2.22375554e+02] [-6.36293414e-04 9.99999754e-01 2.94969499e-04 -1.07679490e+01] [ 5.72598852e-03 -2.91321313e-04 9.99983564e-01 1.04380176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.380714057 meters Centerline goodness : 0.989008 with order 1 Centerline is valid? [True, True] Translation: X:222.43, Y:-10.79, Z:1.04 [[ 9.99783487e-01 2.00048254e-02 -5.72587568e-03 2.22433453e+02] [-2.00034721e-02 9.99799867e-01 2.93527288e-04 -1.07914453e+01] [ 5.73060170e-03 -1.78926341e-04 9.99983564e-01 1.03580622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.440714057 meters Centerline goodness : 0.984552 with order 1 Centerline is valid? [True, True] Translation: X:222.49, Y:-10.78, Z:1.05 [[ 9.99958359e-01 7.10583189e-03 -5.72595272e-03 2.22491754e+02] [-7.10427602e-03 9.99974722e-01 2.92016533e-04 -1.07837250e+01] [ 5.72788300e-03 -2.51325624e-04 9.99983564e-01 1.04728602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.500714057 meters Centerline goodness : 0.985742 with order 1 Centerline is valid? [True, True] Translation: X:222.55, Y:-10.79, Z:1.05 [[ 9.99979157e-01 2.98307538e-03 -5.72598145e-03 2.22549996e+02] [-2.98145529e-03 9.99995513e-01 2.91452083e-04 -1.07894264e+01] [ 5.72682518e-03 -2.74374251e-04 9.99983564e-01 1.04699095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.560714057 meters Centerline goodness : 0.993004 with order 1 Centerline is valid? [True, True] Translation: X:222.61, Y:-10.80, Z:1.05 [[ 9.99979967e-01 -2.69782110e-03 -5.72601164e-03 2.22606950e+02] [ 2.69953069e-03 9.99996314e-01 2.90857763e-04 -1.08004809e+01] [ 5.72520585e-03 -3.06309481e-04 9.99983564e-01 1.04508526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62071405700001 meters Centerline goodness : 0.990703 with order 1 Centerline is valid? [True, True] Translation: X:222.67, Y:-10.81, Z:1.05 [[ 9.99966348e-01 -5.87498202e-03 -5.72604758e-03 2.22666319e+02] [ 5.87673950e-03 9.99982690e-01 2.90148524e-04 -1.08138628e+01] [ 5.72424384e-03 -3.23789250e-04 9.99983564e-01 1.05091019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68071405700002 meters Centerline goodness : 0.990616 with order 1 Centerline is valid? [True, True] Translation: X:222.73, Y:-10.82, Z:1.05 [[ 9.99858644e-01 -1.58083831e-02 -5.72605899e-03 2.22725588e+02] [ 1.58103015e-02 9.99874967e-01 2.89923244e-04 -1.08238433e+01] [ 5.72075983e-03 -3.80412981e-04 9.99983564e-01 1.05070926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74071405700002 meters Centerline goodness : 0.992708 with order 1 Centerline is valid? [True, True] Translation: X:222.79, Y:-10.83, Z:1.05 [[ 9.99611676e-01 -2.72710437e-02 -5.72607087e-03 2.22786837e+02] [ 2.72731479e-02 9.99627977e-01 2.89688350e-04 -1.08283797e+01] [ 5.71604053e-03 -4.45743835e-04 9.99983564e-01 1.04672351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80071405700002 meters Centerline goodness : 0.992429 with order 1 Centerline is valid? [True, True] Translation: X:222.85, Y:-10.83, Z:1.05 [[ 9.99596881e-01 -2.78080795e-02 -5.72599443e-03 2.22847379e+02] [ 2.78102009e-02 9.99613179e-01 2.91191400e-04 -1.08337631e+01] [ 5.71568203e-03 -4.50315071e-04 9.99983564e-01 1.04604057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.860714057 meters Centerline goodness : 0.992576 with order 1 Centerline is valid? [True, True] Translation: X:222.91, Y:-10.84, Z:1.05 [[ 9.99685536e-01 -2.44139822e-02 -5.72597882e-03 2.22908949e+02] [ 2.44160500e-02 9.99701841e-01 2.91498183e-04 -1.08382465e+01] [ 5.71715494e-03 -4.31212302e-04 9.99983564e-01 1.04595098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.920714057 meters Centerline goodness : 0.988662 with order 1 Centerline is valid? [True, True] Translation: X:222.97, Y:-10.85, Z:1.05 [[ 9.99972246e-01 -4.76670115e-03 -5.72595817e-03 2.22970633e+02] [ 4.76845052e-03 9.99988588e-01 2.91903202e-04 -1.08530349e+01] [ 5.72450141e-03 -3.19199049e-04 9.99983564e-01 1.04546548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.980714057 meters Centerline goodness : 0.988532 with order 1 Centerline is valid? [True, True] Translation: X:223.03, Y:-10.85, Z:1.05 [[ 9.99980537e-01 -2.47767334e-03 -5.72593631e-03 2.23030377e+02] [ 2.47938774e-03 9.99996884e-01 2.92331358e-04 -1.08530422e+01] [ 5.72519416e-03 -3.06522485e-04 9.99983564e-01 1.04625020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.040714057 meters Centerline goodness : 0.989049 with order 1 Centerline is valid? [True, True] Translation: X:223.09, Y:-10.85, Z:1.05 [[ 9.99980058e-01 2.66400846e-03 -5.72593733e-03 2.23089064e+02] [-2.66237824e-03 9.99996413e-01 2.92311354e-04 -1.08543116e+01] [ 5.72669551e-03 -2.77060914e-04 9.99983564e-01 1.04956427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.100714057 meters Centerline goodness : 0.989117 with order 1 Centerline is valid? [True, True] Translation: X:223.15, Y:-10.86, Z:1.05 [[ 9.99971320e-01 -4.95696693e-03 -5.72600917e-03 2.23148008e+02] [ 4.95871367e-03 9.99987663e-01 2.90897286e-04 -1.08552769e+01] [ 5.72449656e-03 -3.19282583e-04 9.99983564e-01 1.05072688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.160714057 meters Centerline goodness : 0.988925 with order 1 Centerline is valid? [True, True] Translation: X:223.21, Y:-10.86, Z:1.05 [[ 9.99983504e-01 -4.51487518e-04 -5.72602975e-03 2.23208016e+02] [ 4.53158292e-04 9.99999855e-01 2.90491677e-04 -1.08619738e+01] [ 5.72589776e-03 -2.93081683e-04 9.99983564e-01 1.04685895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.220714057 meters Centerline goodness : 0.989990 with order 1 Centerline is valid? [True, True] Translation: X:223.27, Y:-10.86, Z:1.05 [[ 9.99875862e-01 -1.46790155e-02 -5.72603486e-03 2.23266826e+02] [ 1.46809181e-02 9.99892187e-01 2.90390893e-04 -1.08581538e+01] [ 5.72115487e-03 -3.74418293e-04 9.99983564e-01 1.05089396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.280714057 meters Centerline goodness : 0.989660 with order 1 Centerline is valid? [True, True] Translation: X:223.33, Y:-10.87, Z:1.04 [[ 9.99903700e-01 -1.26412964e-02 -5.72604998e-03 2.23327911e+02] [ 1.26431640e-02 9.99920030e-01 2.90092449e-04 -1.08683604e+01] [ 5.72192492e-03 -3.62459902e-04 9.99983564e-01 1.03858991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.340714057 meters Centerline goodness : 0.993108 with order 1 Centerline is valid? [True, True] Translation: X:223.39, Y:-10.85, Z:1.05 [[ 9.99654435e-01 -2.56558446e-02 -5.72604015e-03 2.23390622e+02] [ 2.56579258e-02 9.99670739e-01 2.90286280e-04 -1.08529288e+01] [ 5.71670725e-03 -4.37104281e-04 9.99983564e-01 1.05025519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40071405700002 meters Centerline goodness : 0.990134 with order 1 Centerline is valid? [True, True] Translation: X:223.45, Y:-10.87, Z:1.04 [[ 9.99853928e-01 -1.61038793e-02 -5.72597078e-03 2.23451234e+02] [ 1.61058124e-02 9.99870250e-01 2.91648202e-04 -1.08665315e+01] [ 5.72053117e-03 -3.83827012e-04 9.99983564e-01 1.04114332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46071405700002 meters Centerline goodness : 0.994037 with order 1 Centerline is valid? [True, True] Translation: X:223.51, Y:-10.85, Z:1.05 [[ 9.99749169e-01 -2.16520635e-02 -5.72595601e-03 2.23514114e+02] [ 2.16540887e-02 9.99765480e-01 2.91938013e-04 -1.08530743e+01] [ 5.71829210e-03 -4.15855146e-04 9.99983564e-01 1.05112446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52071405700002 meters Centerline goodness : 0.992914 with order 1 Centerline is valid? [True, True] Translation: X:223.58, Y:-10.85, Z:1.05 [[ 9.99881783e-01 -1.42700469e-02 -5.72588370e-03 2.23576332e+02] [ 1.42719597e-02 9.99898107e-01 2.93349375e-04 -1.08549021e+01] [ 5.72111417e-03 -3.75034278e-04 9.99983564e-01 1.05002950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58071405700002 meters Centerline goodness : 0.994198 with order 1 Centerline is valid? [True, True] Translation: X:223.64, Y:-10.85, Z:1.06 [[ 9.99962549e-01 -6.48963994e-03 -5.72585285e-03 2.23637826e+02] [ 6.49142915e-03 9.99978887e-01 2.93950297e-04 -1.08492885e+01] [ 5.72382433e-03 -3.31108257e-04 9.99983564e-01 1.05518151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.640714057 meters Centerline goodness : 0.993630 with order 1 Centerline is valid? [True, True] Translation: X:223.70, Y:-10.85, Z:1.06 [[ 9.99982879e-01 1.20695098e-03 -5.72583426e-03 2.23698588e+02] [-1.20528551e-03 9.99999230e-01 2.94312049e-04 -1.08478311e+01] [ 5.72618507e-03 -2.87405745e-04 9.99983564e-01 1.05768148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.700714057 meters Centerline goodness : 0.994251 with order 1 Centerline is valid? [True, True] Translation: X:223.76, Y:-10.85, Z:1.06 [[ 9.99976466e-01 3.77926986e-03 -5.72583426e-03 2.23756594e+02] [-3.77764645e-03 9.99992821e-01 2.94312049e-04 -1.08470136e+01] [ 5.72690544e-03 -2.72674945e-04 9.99983564e-01 1.05852850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.760714057 meters Centerline goodness : 0.994164 with order 1 Centerline is valid? [True, True] Translation: X:223.81, Y:-10.85, Z:1.06 [[ 9.99983443e-01 5.72026730e-04 -5.72591917e-03 2.23814752e+02] [-5.70360362e-04 9.99999795e-01 2.92650591e-04 -1.08474807e+01] [ 5.72608540e-03 -2.89379908e-04 9.99983564e-01 1.05885035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.820714057 meters Centerline goodness : 0.995133 with order 1 Centerline is valid? [True, True] Translation: X:223.87, Y:-10.85, Z:1.06 [[ 9.99982557e-01 -1.44888107e-03 -5.72594518e-03 2.23873456e+02] [ 1.45057757e-03 9.99998905e-01 2.92140788e-04 -1.08496866e+01] [ 5.72551564e-03 -3.00441620e-04 9.99983564e-01 1.05943206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.880714057 meters Centerline goodness : 0.994424 with order 1 Centerline is valid? [True, True] Translation: X:223.93, Y:-10.85, Z:1.06 [[ 9.99958024e-01 -7.15289935e-03 -5.72596581e-03 2.23931790e+02] [ 7.15468677e-03 9.99974362e-01 2.91735900e-04 -1.08508675e+01] [ 5.72373225e-03 -3.32691146e-04 9.99983564e-01 1.05983040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.940714057 meters Centerline goodness : 0.991802 with order 1 Centerline is valid? [True, True] Translation: X:223.99, Y:-10.87, Z:1.05 [[ 9.99983552e-01 -3.28929099e-04 -5.72598669e-03 2.23991836e+02] [ 3.30602632e-04 9.99999903e-01 2.91325640e-04 -1.08680909e+01] [ 5.72589030e-03 -2.93213875e-04 9.99983564e-01 1.04864490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.000714057 meters Centerline goodness : 0.994829 with order 1 Centerline is valid? [True, True] Translation: X:224.05, Y:-10.86, Z:1.06 [[ 9.99892322e-01 -1.35113546e-02 -5.72598669e-03 2.24051015e+02] [ 1.35132435e-02 9.99908650e-01 2.91325640e-04 -1.08551988e+01] [ 5.72152741e-03 -3.68670924e-04 9.99983564e-01 1.05674510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.060714057 meters Centerline goodness : 0.994487 with order 1 Centerline is valid? [True, True] Translation: X:224.11, Y:-10.86, Z:1.06 [[ 9.99908295e-01 -1.22725370e-02 -5.72600302e-03 2.24112982e+02] [ 1.22744039e-02 9.99924624e-01 2.91004299e-04 -1.08562512e+01] [ 5.72200005e-03 -3.61260886e-04 9.99983564e-01 1.05664780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12071405700001 meters Centerline goodness : 0.994397 with order 1 Centerline is valid? [True, True] Translation: X:224.17, Y:-10.86, Z:1.06 [[ 9.99966701e-01 -5.81455859e-03 -5.72598262e-03 2.24174779e+02] [ 5.81632224e-03 9.99983043e-01 2.91404990e-04 -1.08554348e+01] [ 5.72419114e-03 -3.24699446e-04 9.99983564e-01 1.05717181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18071405700002 meters Centerline goodness : 0.994954 with order 1 Centerline is valid? [True, True] Translation: X:224.24, Y:-10.86, Z:1.06 [[ 9.99983576e-01 -2.46114015e-04 -5.72597251e-03 2.24235790e+02] [ 2.47787781e-04 9.99999927e-01 2.91603600e-04 -1.08555599e+01] [ 5.72590032e-03 -2.93017637e-04 9.99983564e-01 1.05902936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24071405700002 meters Centerline goodness : 0.994742 with order 1 Centerline is valid? [True, True] Translation: X:224.29, Y:-10.86, Z:1.06 [[ 9.99983568e-01 2.77722042e-04 -5.72597251e-03 2.24294329e+02] [-2.76056841e-04 9.99999919e-01 2.91603600e-04 -1.08572097e+01] [ 5.72605303e-03 -2.90018115e-04 9.99983564e-01 1.06113095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30071405700002 meters Centerline goodness : 0.995301 with order 1 Centerline is valid? [True, True] Translation: X:224.35, Y:-10.86, Z:1.06 [[ 9.99979134e-01 -2.99066370e-03 -5.72604354e-03 2.24352658e+02] [ 2.99237434e-03 9.99995481e-01 2.90202119e-04 -1.08603751e+01] [ 5.72514976e-03 -3.07330530e-04 9.99983564e-01 1.06053433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36071405700002 meters Centerline goodness : 0.992012 with order 1 Centerline is valid? [True, True] Translation: X:224.41, Y:-10.88, Z:1.05 [[ 9.99967085e-01 5.74821643e-03 -5.72606418e-03 2.24411689e+02] [-5.74665104e-03 9.99983446e-01 2.89794259e-04 -1.08812681e+01] [ 5.72763519e-03 -2.56879028e-04 9.99983564e-01 1.04583840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.420714057 meters Centerline goodness : 0.990617 with order 1 Centerline is valid? [True, True] Translation: X:224.47, Y:-10.86, Z:1.06 [[ 9.99800096e-01 -1.91567297e-02 -5.72607518e-03 2.24471656e+02] [ 1.91587008e-02 9.99816413e-01 2.89576845e-04 -1.08632296e+01] [ 5.71947660e-03 -3.99223119e-04 9.99983564e-01 1.05687268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.480714057 meters Centerline goodness : 0.992478 with order 1 Centerline is valid? [True, True] Translation: X:224.53, Y:-10.88, Z:1.06 [[ 9.99869538e-01 -1.51036306e-02 -5.72609509e-03 2.24533445e+02] [ 1.51055333e-02 9.99885863e-01 2.89182437e-04 -1.08786506e+01] [ 5.72107383e-03 -3.75640429e-04 9.99983564e-01 1.05582970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.540714057 meters Centerline goodness : 0.991461 with order 1 Centerline is valid? [True, True] Translation: X:224.60, Y:-10.88, Z:1.06 [[ 9.99743291e-01 -2.19217659e-02 -5.72606792e-03 2.24595438e+02] [ 2.19237829e-02 9.99759603e-01 2.89719443e-04 -1.08807785e+01] [ 5.71834023e-03 -4.15182140e-04 9.99983564e-01 1.05697836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.600714057 meters Centerline goodness : 0.991896 with order 1 Centerline is valid? [True, True] Translation: X:224.66, Y:-10.88, Z:1.06 [[ 9.99658315e-01 -2.55042271e-02 -5.72598566e-03 2.24657145e+02] [ 2.55063118e-02 9.99674619e-01 2.91336280e-04 -1.08845789e+01] [ 5.71669222e-03 -4.37285510e-04 9.99983564e-01 1.05649399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.660714057 meters Centerline goodness : 0.994322 with order 1 Centerline is valid? [True, True] Translation: X:224.72, Y:-10.88, Z:1.06 [[ 9.99391859e-01 -3.43966022e-02 -5.72596321e-03 2.24718818e+02] [ 3.43988343e-02 9.99408142e-01 2.91776776e-04 -1.08776205e+01] [ 5.71253813e-03 -4.88565794e-04 9.99983564e-01 1.05899984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.720714057 meters Centerline goodness : 0.991952 with order 1 Centerline is valid? [True, True] Translation: X:224.78, Y:-10.89, Z:1.06 [[ 9.99519914e-01 -3.04492432e-02 -5.72589149e-03 2.24780911e+02] [ 3.04514191e-02 9.99536205e-01 2.93177567e-04 -1.08890522e+01] [ 5.71430881e-03 -4.67398337e-04 9.99983564e-01 1.05814377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.780714057 meters Centerline goodness : 0.992174 with order 1 Centerline is valid? [True, True] Translation: X:224.84, Y:-10.89, Z:1.06 [[ 9.99461591e-01 -3.23070190e-02 -5.72586878e-03 2.24843169e+02] [ 3.23092276e-02 9.99477877e-01 2.93620407e-04 -1.08929518e+01] [ 5.71339318e-03 -4.78460716e-04 9.99983564e-01 1.05690761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.840714057 meters Centerline goodness : 0.992748 with order 1 Centerline is valid? [True, True] Translation: X:224.91, Y:-10.90, Z:1.06 [[ 9.99403109e-01 -3.40681727e-02 -5.72581301e-03 2.24905901e+02] [ 3.40704161e-02 9.99419391e-01 2.94703916e-04 -1.08954629e+01] [ 5.71244853e-03 -4.89608842e-04 9.99983564e-01 1.05583949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90071405700002 meters Centerline goodness : 0.991920 with order 1 Centerline is valid? [True, True] Translation: X:224.97, Y:-10.90, Z:1.06 [[ 9.99430644e-01 -3.32506082e-02 -5.72578048e-03 2.24969074e+02] [ 3.32528420e-02 9.99446928e-01 2.95334740e-04 -1.08990810e+01] [ 5.71279365e-03 -4.85565062e-04 9.99983564e-01 1.05654639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96071405700002 meters Centerline goodness : 0.991989 with order 1 Centerline is valid? [True, True] Translation: X:225.03, Y:-10.90, Z:1.05 [[ 9.99402296e-01 -3.40920194e-02 -5.72574585e-03 2.25031094e+02] [ 3.40942707e-02 9.99418578e-01 2.96004441e-04 -1.09009206e+01] [ 5.71232539e-03 -4.91042647e-04 9.99983564e-01 1.05481632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02071405700002 meters Centerline goodness : 0.992063 with order 1 Centerline is valid? [True, True] Translation: X:225.09, Y:-10.90, Z:1.06 [[ 9.99605071e-01 -2.75121364e-02 -5.72571745e-03 2.25093390e+02] [ 2.75142836e-02 9.99621366e-01 2.96552898e-04 -1.09022331e+01] [ 5.71539070e-03 -4.53974794e-04 9.99983564e-01 1.05605908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08071405700002 meters Centerline goodness : 0.992426 with order 1 Centerline is valid? [True, True] Translation: X:225.16, Y:-10.90, Z:1.06 [[ 9.99751068e-01 -2.15643053e-02 -5.72569472e-03 2.25156345e+02] [ 2.15663579e-02 9.99767375e-01 2.96990996e-04 -1.09048665e+01] [ 5.71795838e-03 -4.20399447e-04 9.99983564e-01 1.05741746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.140714057 meters Centerline goodness : 0.995201 with order 1 Centerline is valid? [True, True] Translation: X:225.22, Y:-10.90, Z:1.06 [[ 9.99686479e-01 -2.43753899e-02 -5.72566122e-03 2.25218441e+02] [ 2.43774920e-02 9.99702780e-01 2.97635443e-04 -1.08968145e+01] [ 5.71670447e-03 -4.37119389e-04 9.99983564e-01 1.06420593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.200714057 meters Centerline goodness : 0.994697 with order 1 Centerline is valid? [True, True] Translation: X:225.28, Y:-10.90, Z:1.06 [[ 9.99748139e-01 -2.16996639e-02 -5.72564473e-03 2.25281866e+02] [ 2.17017242e-02 9.99764445e-01 2.97952319e-04 -1.09002375e+01] [ 5.71783057e-03 -4.22133639e-04 9.99983564e-01 1.06442981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.260714057 meters Centerline goodness : 0.994446 with order 1 Centerline is valid? [True, True] Translation: X:225.34, Y:-10.90, Z:1.06 [[ 9.99844747e-01 -1.66643004e-02 -5.72561237e-03 2.25343673e+02] [ 1.66662821e-02 9.99861063e-01 2.98573015e-04 -1.09030500e+01] [ 5.71984136e-03 -3.93951331e-04 9.99983564e-01 1.06392971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.320714057 meters Centerline goodness : 0.991756 with order 1 Centerline is valid? [True, True] Translation: X:225.41, Y:-10.92, Z:1.06 [[ 9.99983340e-01 -7.32504916e-04 -5.72559077e-03 2.25405225e+02] [ 7.34228793e-04 9.99999686e-01 2.98986560e-04 -1.09166985e+01] [ 5.72536996e-03 -3.03185473e-04 9.99983564e-01 1.05716532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.380714057 meters Centerline goodness : 0.992402 with order 1 Centerline is valid? [True, True] Translation: X:225.46, Y:-10.92, Z:1.06 [[ 9.99976633e-01 3.73505860e-03 -5.72556860e-03 2.25464032e+02] [-3.73340534e-03 9.99992986e-01 2.99410587e-04 -1.09168132e+01] [ 5.72664675e-03 -2.78027722e-04 9.99983564e-01 1.06124387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.440714057 meters Centerline goodness : 0.991963 with order 1 Centerline is valid? [True, True] Translation: X:225.52, Y:-10.92, Z:1.06 [[ 9.99968782e-01 5.44530545e-03 -5.72564738e-03 2.25521071e+02] [-5.44368882e-03 9.99985139e-01 2.97896274e-04 -1.09191898e+01] [ 5.72718443e-03 -2.66718331e-04 9.99983564e-01 1.06184898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.500714057 meters Centerline goodness : 0.991776 with order 1 Centerline is valid? [True, True] Translation: X:225.58, Y:-10.92, Z:1.06 [[ 9.99979895e-01 2.72493797e-03 -5.72568591e-03 2.25579877e+02] [-2.72328108e-03 9.99996248e-01 2.97153889e-04 -1.09205558e+01] [ 5.72647415e-03 -2.81555262e-04 9.99983564e-01 1.06453747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.560714057 meters Centerline goodness : 0.992614 with order 1 Centerline is valid? [True, True] Translation: X:225.64, Y:-10.93, Z:1.06 [[ 9.99983498e-01 -4.69456091e-04 -5.72570755e-03 2.25638146e+02] [ 4.71162820e-04 9.99999845e-01 2.96736441e-04 -1.09257397e+01] [ 5.72556736e-03 -2.99429285e-04 9.99983564e-01 1.06415894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62071405700001 meters Centerline goodness : 0.991381 with order 1 Centerline is valid? [True, True] Translation: X:225.70, Y:-10.93, Z:1.06 [[ 9.99978479e-01 -3.20288248e-03 -5.72572992e-03 2.25696821e+02] [ 3.20463142e-03 9.99994821e-01 2.96304082e-04 -1.09313809e+01] [ 5.72475124e-03 -3.14646559e-04 9.99983564e-01 1.06232692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68071405700002 meters Centerline goodness : 0.990254 with order 1 Centerline is valid? [True, True] Translation: X:225.76, Y:-10.94, Z:1.07 [[ 9.99978784e-01 -3.10586803e-03 -5.72575239e-03 2.25755887e+02] [ 3.10761290e-03 9.99995128e-01 2.95869212e-04 -1.09358453e+01] [ 5.72480556e-03 -3.13656357e-04 9.99983564e-01 1.06744816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74071405700002 meters Centerline goodness : 0.994089 with order 1 Centerline is valid? [True, True] Translation: X:225.81, Y:-10.93, Z:1.07 [[ 9.99866255e-01 -1.53195092e-02 -5.72576359e-03 2.25814867e+02] [ 1.53214523e-02 9.99882576e-01 2.95652319e-04 -1.09284103e+01] [ 5.72056200e-03 -3.83339791e-04 9.99983564e-01 1.06941051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80071405700002 meters Centerline goodness : 0.992664 with order 1 Centerline is valid? [True, True] Translation: X:225.88, Y:-10.93, Z:1.07 [[ 9.99839813e-01 -1.69577193e-02 -5.72577270e-03 2.25876596e+02] [ 1.69596881e-02 9.99856130e-01 2.95475812e-04 -1.09329484e+01] [ 5.71993834e-03 -3.92535800e-04 9.99983564e-01 1.07014309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86071405700002 meters Centerline goodness : 0.987928 with order 1 Centerline is valid? [True, True] Translation: X:225.94, Y:-10.95, Z:1.07 [[ 9.99964971e-01 -6.10504834e-03 -5.72575148e-03 2.25938126e+02] [ 6.10684232e-03 9.99981309e-01 2.95886536e-04 -1.09485546e+01] [ 5.72383806e-03 -3.30842433e-04 9.99983564e-01 1.07100248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.920714057 meters Centerline goodness : 0.988491 with order 1 Centerline is valid? [True, True] Translation: X:226.00, Y:-10.95, Z:1.07 [[ 9.99965023e-01 -6.09658826e-03 -5.72572955e-03 2.25998813e+02] [ 6.09838452e-03 9.99981361e-01 2.96310207e-04 -1.09533004e+01] [ 5.72381635e-03 -3.31217543e-04 9.99983564e-01 1.06582617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.980714057 meters Centerline goodness : 0.993219 with order 1 Centerline is valid? [True, True] Translation: X:226.06, Y:-10.94, Z:1.07 [[ 9.99818363e-01 -1.81784532e-02 -5.72572955e-03 2.26058968e+02] [ 1.81804467e-02 9.99834678e-01 2.96310207e-04 -1.09434299e+01] [ 5.71939650e-03 -4.00352707e-04 9.99983564e-01 1.06784171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.040714057 meters Centerline goodness : 0.990589 with order 1 Centerline is valid? [True, True] Translation: X:226.12, Y:-10.95, Z:1.07 [[ 9.99786226e-01 -1.98675205e-02 -5.72573502e-03 2.26121269e+02] [ 1.98695409e-02 9.99802537e-01 2.96204504e-04 -1.09468142e+01] [ 5.71871955e-03 -4.09908909e-04 9.99983564e-01 1.06511977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.100714057 meters Centerline goodness : 0.993728 with order 1 Centerline is valid? [True, True] Translation: X:226.18, Y:-10.95, Z:1.07 [[ 9.99836493e-01 -1.71523856e-02 -5.72570956e-03 2.26182659e+02] [ 1.71543646e-02 9.99852809e-01 2.96695789e-04 -1.09487883e+01] [ 5.71977775e-03 -3.94868186e-04 9.99983564e-01 1.06733363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.160714057 meters Centerline goodness : 0.993614 with order 1 Centerline is valid? [True, True] Translation: X:226.24, Y:-10.95, Z:1.07 [[ 9.99839019e-01 -1.70044808e-02 -5.72566191e-03 2.26244859e+02] [ 1.70064626e-02 9.99855335e-01 2.97612566e-04 -1.09508487e+01] [ 5.71977286e-03 -3.94937911e-04 9.99983564e-01 1.07037379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.220714057 meters Centerline goodness : 0.993263 with order 1 Centerline is valid? [True, True] Translation: X:226.31, Y:-10.95, Z:1.07 [[ 9.99836484e-01 -1.71528933e-02 -5.72564066e-03 2.26307358e+02] [ 1.71548799e-02 9.99852800e-01 2.98020829e-04 -1.09520625e+01] [ 5.71968592e-03 -3.96194775e-04 9.99983564e-01 1.07202757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.280714057 meters Centerline goodness : 0.993866 with order 1 Centerline is valid? [True, True] Translation: X:226.37, Y:-10.95, Z:1.07 [[ 9.99833141e-01 -1.73466745e-02 -5.72561920e-03 2.26369849e+02] [ 1.73486666e-02 9.99849456e-01 2.98432498e-04 -1.09540256e+01] [ 5.71958043e-03 -3.97714561e-04 9.99983564e-01 1.07310306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.340714057 meters Centerline goodness : 0.991589 with order 1 Centerline is valid? [True, True] Translation: X:226.43, Y:-10.96, Z:1.07 [[ 9.99942325e-01 -9.08650723e-03 -5.72559801e-03 2.26430178e+02] [ 9.08836676e-03 9.99958655e-01 2.98838590e-04 -1.09643774e+01] [ 5.72264588e-03 -3.50857689e-04 9.99983564e-01 1.07116196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40071405700002 meters Centerline goodness : 0.990604 with order 1 Centerline is valid? [True, True] Translation: X:226.49, Y:-10.96, Z:1.08 [[ 9.99975760e-01 -3.96184479e-03 -5.72558192e-03 2.26492033e+02] [ 3.96362236e-03 9.99992100e-01 2.99146559e-04 -1.09622599e+01] [ 5.72435151e-03 -3.21833352e-04 9.99983564e-01 1.08050142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46071405700002 meters Centerline goodness : 0.990111 with order 1 Centerline is valid? [True, True] Translation: X:226.55, Y:-10.96, Z:1.07 [[ 9.99970737e-01 -5.07370327e-03 -5.72557104e-03 2.26551545e+02] [ 5.07550019e-03 9.99987075e-01 2.99354524e-04 -1.09638555e+01] [ 5.72397820e-03 -3.28405901e-04 9.99983564e-01 1.07440500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52071405700002 meters Centerline goodness : 0.991028 with order 1 Centerline is valid? [True, True] Translation: X:226.61, Y:-10.96, Z:1.07 [[ 9.99983522e-01 -4.16810226e-04 -5.72557637e-03 2.26611541e+02] [ 4.18530461e-04 9.99999868e-01 2.99252520e-04 -1.09649108e+01] [ 5.72545088e-03 -3.01643917e-04 9.99983564e-01 1.07185050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58071405700002 meters Centerline goodness : 0.989300 with order 1 Centerline is valid? [True, True] Translation: X:226.67, Y:-10.97, Z:1.07 [[ 9.99982748e-01 1.31205296e-03 -5.72558171e-03 2.26670397e+02] [-1.31036157e-03 9.99999097e-01 2.99150420e-04 -1.09663472e+01] [ 5.72596904e-03 -2.91642677e-04 9.99983564e-01 1.07037947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.640714057 meters Centerline goodness : 0.988781 with order 1 Centerline is valid? [True, True] Translation: X:226.73, Y:-10.97, Z:1.07 [[ 9.99983608e-01 2.25713758e-05 -5.72566117e-03 2.26727956e+02] [-2.08676354e-05 9.99999955e-01 2.97621769e-04 -1.09678869e+01] [ 5.72566763e-03 -2.97497410e-04 9.99983564e-01 1.07267441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.700714057 meters Centerline goodness : 0.989233 with order 1 Centerline is valid? [True, True] Translation: X:226.79, Y:-10.97, Z:1.07 [[ 9.99930657e-01 -1.02906893e-02 -5.72568879e-03 2.26786918e+02] [ 1.02925585e-02 9.99946986e-01 2.97089488e-04 -1.09650548e+01] [ 5.72232799e-03 -3.56000874e-04 9.99983564e-01 1.07269563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.760714057 meters Centerline goodness : 0.989536 with order 1 Centerline is valid? [True, True] Translation: X:226.85, Y:-10.96, Z:1.08 [[ 9.99888428e-01 -1.37966737e-02 -5.72570482e-03 2.26848665e+02] [ 1.37985984e-02 9.99904751e-01 2.96780233e-04 -1.09638353e+01] [ 5.72106487e-03 -3.75753822e-04 9.99983564e-01 1.08018515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.820714057 meters Centerline goodness : 0.990300 with order 1 Centerline is valid? [True, True] Translation: X:226.91, Y:-10.96, Z:1.08 [[ 9.99803763e-01 -1.89644838e-02 -5.72568852e-03 2.26911187e+02] [ 1.89664946e-02 9.99820076e-01 2.97094313e-04 -1.09642554e+01] [ 5.71902409e-03 -4.05632253e-04 9.99983564e-01 1.08049498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.880714057 meters Centerline goodness : 0.991390 with order 1 Centerline is valid? [True, True] Translation: X:226.97, Y:-10.96, Z:1.08 [[ 9.99713633e-01 -2.32350774e-02 -5.72560076e-03 2.26973372e+02] [ 2.32371675e-02 9.99729936e-01 2.98776085e-04 -1.09638407e+01] [ 5.71711240e-03 -4.31737269e-04 9.99983564e-01 1.08338686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.940714057 meters Centerline goodness : 0.991392 with order 1 Centerline is valid? [True, True] Translation: X:227.03, Y:-10.97, Z:1.08 [[ 9.99702323e-01 -2.37167142e-02 -5.72557801e-03 2.27034940e+02] [ 2.37188146e-02 9.99718625e-01 2.99211434e-04 -1.09664695e+01] [ 5.71687066e-03 -4.34926290e-04 9.99983564e-01 1.08396802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.000714057 meters Centerline goodness : 0.992570 with order 1 Centerline is valid? [True, True] Translation: X:227.10, Y:-10.97, Z:1.08 [[ 9.99747991e-01 -2.17065104e-02 -5.72556098e-03 2.27096894e+02] [ 2.17085799e-02 9.99764296e-01 2.99536880e-04 -1.09680162e+01] [ 5.71770955e-03 -4.23755192e-04 9.99983564e-01 1.08013122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.060714057 meters Centerline goodness : 0.993119 with order 1 Centerline is valid? [True, True] Translation: X:227.16, Y:-10.97, Z:1.08 [[ 9.99778692e-01 -2.02431421e-02 -5.72553281e-03 2.27159442e+02] [ 2.02451908e-02 9.99795000e-01 3.00074542e-04 -1.09714380e+01] [ 5.71828462e-03 -4.15922638e-04 9.99983564e-01 1.07892658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12071405700001 meters Centerline goodness : 0.992865 with order 1 Centerline is valid? [True, True] Translation: X:227.22, Y:-10.98, Z:1.07 [[ 9.99813933e-01 -1.84205946e-02 -5.72551140e-03 2.27221392e+02] [ 1.84226158e-02 9.99830244e-01 3.00482411e-04 -1.09784068e+01] [ 5.71900440e-03 -4.05905398e-04 9.99983564e-01 1.07392372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18071405700002 meters Centerline goodness : 0.993094 with order 1 Centerline is valid? [True, True] Translation: X:227.28, Y:-10.98, Z:1.07 [[ 9.99772704e-01 -2.05367961e-02 -5.72548998e-03 2.27283583e+02] [ 2.05388542e-02 9.99789010e-01 3.00889938e-04 -1.09817402e+01] [ 5.71810265e-03 -4.18416551e-04 9.99983564e-01 1.07440400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24071405700002 meters Centerline goodness : 0.992449 with order 1 Centerline is valid? [True, True] Translation: X:227.35, Y:-10.99, Z:1.07 [[ 9.99768827e-01 -2.07246592e-02 -5.72546883e-03 2.27346043e+02] [ 2.07267226e-02 9.99785133e-01 3.01291832e-04 -1.09877265e+01] [ 5.71799445e-03 -4.19892386e-04 9.99983564e-01 1.07359463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30071405700002 meters Centerline goodness : 0.988883 with order 1 Centerline is valid? [True, True] Translation: X:227.41, Y:-10.99, Z:1.08 [[ 9.99588755e-01 -2.80987602e-02 -5.72544741e-03 2.27407932e+02] [ 2.81009462e-02 9.99605045e-01 3.01698420e-04 -1.09864291e+01] [ 5.71470876e-03 -4.62464838e-04 9.99983564e-01 1.07616779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36071405700002 meters Centerline goodness : 0.987111 with order 1 Centerline is valid? [True, True] Translation: X:227.47, Y:-10.99, Z:1.08 [[ 9.99593648e-01 -2.79241402e-02 -5.72541238e-03 2.27469588e+02] [ 2.79263272e-02 9.99609938e-01 3.02361725e-04 -1.09940015e+01] [ 5.71473592e-03 -4.62128599e-04 9.99983564e-01 1.07548677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.420714057 meters Centerline goodness : 0.989045 with order 1 Centerline is valid? [True, True] Translation: X:227.53, Y:-11.01, Z:1.07 [[ 9.99781935e-01 -2.00823707e-02 -5.72537699e-03 2.27531520e+02] [ 2.00844335e-02 9.99798242e-01 3.03030357e-04 -1.10087128e+01] [ 5.71813628e-03 -4.17955231e-04 9.99983564e-01 1.07199738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.480714057 meters Centerline goodness : 0.988735 with order 1 Centerline is valid? [True, True] Translation: X:227.59, Y:-11.01, Z:1.08 [[ 9.99799253e-01 -1.92009091e-02 -5.72535102e-03 2.27593172e+02] [ 1.92029604e-02 9.99815560e-01 3.03520188e-04 -1.10146463e+01] [ 5.71846718e-03 -4.13402946e-04 9.99983564e-01 1.07535066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.540714057 meters Centerline goodness : 0.989818 with order 1 Centerline is valid? [True, True] Translation: X:227.65, Y:-11.02, Z:1.08 [[ 9.99794001e-01 -1.94724219e-02 -5.72532934e-03 2.27653941e+02] [ 1.94744800e-02 9.99810308e-01 3.03928643e-04 -1.10193119e+01] [ 5.71832507e-03 -4.15363846e-04 9.99983564e-01 1.07874244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.600714057 meters Centerline goodness : 0.989827 with order 1 Centerline is valid? [True, True] Translation: X:227.71, Y:-11.02, Z:1.08 [[ 9.99807359e-01 -1.87740653e-02 -5.72531338e-03 2.27714542e+02] [ 1.87761137e-02 9.99823667e-01 3.04228992e-04 -1.10242372e+01] [ 5.71859220e-03 -4.11669520e-04 9.99983564e-01 1.08136450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.660714057 meters Centerline goodness : 0.989433 with order 1 Centerline is valid? [True, True] Translation: X:227.78, Y:-11.03, Z:1.08 [[ 9.99834615e-01 -1.72616165e-02 -5.72529829e-03 2.27776542e+02] [ 1.72636418e-02 9.99850926e-01 3.04512667e-04 -1.10312561e+01] [ 5.71918842e-03 -4.03301804e-04 9.99983564e-01 1.08075012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.720714057 meters Centerline goodness : 0.990568 with order 1 Centerline is valid? [True, True] Translation: X:227.84, Y:-11.04, Z:1.08 [[ 9.99876034e-01 -1.46675646e-02 -5.72527658e-03 2.27837097e+02] [ 1.46695499e-02 9.99892350e-01 3.04920392e-04 -1.10398652e+01] [ 5.72018781e-03 -3.88869823e-04 9.99983564e-01 1.07796395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.780714057 meters Centerline goodness : 0.990369 with order 1 Centerline is valid? [True, True] Translation: X:227.90, Y:-11.05, Z:1.08 [[ 9.99944771e-01 -8.81346916e-03 -5.72526050e-03 2.27899538e+02] [ 8.81536064e-03 9.99961097e-01 3.05221947e-04 -1.10453322e+01] [ 5.72234771e-03 -3.55675326e-04 9.99983564e-01 1.07989068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.840714057 meters Centerline goodness : 0.990260 with order 1 Centerline is valid? [True, True] Translation: X:227.96, Y:-11.05, Z:1.08 [[ 9.99979020e-01 3.03012087e-03 -5.72523932e-03 2.27960098e+02] [-3.02842063e-03 9.99995368e-01 3.05618670e-04 -1.10507120e+01] [ 5.72613886e-03 -2.88273825e-04 9.99983564e-01 1.08129117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90071405700002 meters Centerline goodness : 0.989638 with order 1 Centerline is valid? [True, True] Translation: X:228.02, Y:-11.06, Z:1.08 [[ 9.99846487e-01 1.65597250e-02 -5.72523932e-03 2.28016659e+02] [-1.65582461e-02 9.99862856e-01 3.05618670e-04 -1.10639193e+01] [ 5.72951510e-03 -2.10771832e-04 9.99983564e-01 1.07791877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96071405700002 meters Centerline goodness : 0.990916 with order 1 Centerline is valid? [True, True] Translation: X:228.07, Y:-11.07, Z:1.08 [[ 9.99724368e-01 2.27686231e-02 -5.72527617e-03 2.28074089e+02] [-2.27672499e-02 9.99740746e-01 3.04926937e-04 -1.10713588e+01] [ 5.73073463e-03 -1.74494097e-04 9.99983564e-01 1.08245793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02071405700002 meters Centerline goodness : 0.992492 with order 1 Centerline is valid? [True, True] Translation: X:228.13, Y:-11.08, Z:1.08 [[ 9.99806868e-01 1.88001821e-02 -5.72530168e-03 2.28132855e+02] [-1.87987466e-02 9.99823242e-01 3.04447167e-04 -1.10826101e+01] [ 5.73001334e-03 -1.96759874e-04 9.99983564e-01 1.08382454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08071405700002 meters Centerline goodness : 0.993311 with order 1 Centerline is valid? [True, True] Translation: X:228.19, Y:-11.09, Z:1.09 [[ 9.99983440e-01 -5.83502661e-04 -5.72531806e-03 2.28191270e+02] [ 5.85253518e-04 9.99999782e-01 3.04138836e-04 -1.10873099e+01] [ 5.72513935e-03 -3.07484562e-04 9.99983564e-01 1.09277789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.140714057 meters Centerline goodness : 0.994114 with order 1 Centerline is valid? [True, True] Translation: X:228.25, Y:-11.10, Z:1.09 [[ 9.99855322e-01 -1.60173631e-02 -5.72533595e-03 2.28249715e+02] [ 1.60193641e-02 9.99871636e-01 3.03801693e-04 -1.11000381e+01] [ 5.71973492e-03 -3.95473980e-04 9.99983564e-01 1.09432542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.200714057 meters Centerline goodness : 0.990675 with order 1 Centerline is valid? [True, True] Translation: X:228.31, Y:-11.12, Z:1.09 [[ 9.99617401e-01 -2.70605136e-02 -5.72535383e-03 2.28311052e+02] [ 2.70626927e-02 9.99633692e-01 3.03464328e-04 -1.11185663e+01] [ 5.71504469e-03 -4.58291714e-04 9.99983564e-01 1.09251498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.260714057 meters Centerline goodness : 0.990352 with order 1 Centerline is valid? [True, True] Translation: X:228.37, Y:-11.13, Z:1.09 [[ 9.99351506e-01 -3.55498103e-02 -5.72530869e-03 2.28373545e+02] [ 3.55521325e-02 9.99367777e-01 3.04313621e-04 -1.11348226e+01] [ 5.71087072e-03 -5.07663208e-04 9.99983564e-01 1.09093409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.320714057 meters Centerline goodness : 0.983343 with order 1 Centerline is valid? [True, True] Translation: X:228.44, Y:-11.14, Z:1.09 [[ 9.99292819e-01 -3.71629332e-02 -5.72526995e-03 2.28435171e+02] [ 3.71652858e-02 9.99309086e-01 3.05040649e-04 -1.11434252e+01] [ 5.70997807e-03 -5.17606225e-04 9.99983564e-01 1.09007831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.380714057 meters Centerline goodness : 0.982489 with order 1 Centerline is valid? [True, True] Translation: X:228.50, Y:-11.15, Z:1.09 [[ 9.99378018e-01 -3.47965390e-02 -5.72522939e-03 2.28497256e+02] [ 3.47988575e-02 9.99394290e-01 3.05800114e-04 -1.11516246e+01] [ 5.71112077e-03 -5.04841353e-04 9.99983564e-01 1.09177548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.440714057 meters Centerline goodness : 0.984721 with order 1 Centerline is valid? [True, True] Translation: X:228.56, Y:-11.16, Z:1.09 [[ 9.99522281e-01 -3.03715599e-02 -5.72519801e-03 2.28559077e+02] [ 3.03738096e-02 9.99538562e-01 3.06386394e-04 -1.11576360e+01] [ 5.71325076e-03 -4.80136102e-04 9.99983564e-01 1.09026921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.500714057 meters Centerline goodness : 0.992021 with order 1 Centerline is valid? [True, True] Translation: X:228.62, Y:-11.16, Z:1.09 [[ 9.99708832e-01 -2.34408712e-02 -5.72516661e-03 2.28621028e+02] [ 2.34430113e-02 9.99725128e-01 3.06971970e-04 -1.11616651e+01] [ 5.71639723e-03 -4.41097736e-04 9.99983564e-01 1.08930898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.560714057 meters Centerline goodness : 0.982445 with order 1 Centerline is valid? [True, True] Translation: X:228.68, Y:-11.16, Z:1.09 [[ 9.99799943e-01 -1.91649806e-02 -5.72513705e-03 2.28683242e+02] [ 1.91670541e-02 9.99816248e-01 3.07522390e-04 -1.11644222e+01] [ 5.71819138e-03 -4.17194880e-04 9.99983564e-01 1.09189420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62071405700001 meters Centerline goodness : 0.983852 with order 1 Centerline is valid? [True, True] Translation: X:228.74, Y:-11.17, Z:1.09 [[ 9.99851048e-01 -1.62820708e-02 -5.72509964e-03 2.28744524e+02] [ 1.62841012e-02 9.99867358e-01 3.08217161e-04 -1.11677647e+01] [ 5.71932184e-03 -4.01399353e-04 9.99983564e-01 1.09151103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68071405700002 meters Centerline goodness : 0.984577 with order 1 Centerline is valid? [True, True] Translation: X:228.81, Y:-11.17, Z:1.09 [[ 9.99762887e-01 -2.10093795e-02 -5.72507708e-03 2.28807025e+02] [ 2.10114894e-02 9.99779187e-01 3.08635622e-04 -1.11656562e+01] [ 5.71732867e-03 -4.28854837e-04 9.99983564e-01 1.09090703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74071405700002 meters Centerline goodness : 0.992035 with order 1 Centerline is valid? [True, True] Translation: X:228.87, Y:-11.17, Z:1.09 [[ 9.99732081e-01 -2.24274318e-02 -5.72504634e-03 2.28868666e+02] [ 2.24295681e-02 9.99748378e-01 3.09204847e-04 -1.11669457e+01] [ 5.71667112e-03 -4.37532322e-04 9.99983564e-01 1.08834566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80071405700002 meters Centerline goodness : 0.990993 with order 1 Centerline is valid? [True, True] Translation: X:228.93, Y:-11.16, Z:1.09 [[ 9.99647850e-01 -2.59114021e-02 -5.72502357e-03 2.28930794e+02] [ 2.59135976e-02 9.99664138e-01 3.09625961e-04 -1.11636592e+01] [ 5.71507791e-03 -4.57872883e-04 9.99983564e-01 1.08734724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86071405700002 meters Centerline goodness : 0.992152 with order 1 Centerline is valid? [True, True] Translation: X:228.99, Y:-11.16, Z:1.09 [[ 9.99640918e-01 -2.61774591e-02 -5.72498728e-03 2.28993066e+02] [ 2.61796627e-02 9.99657206e-01 3.10295376e-04 -1.11605024e+01] [ 5.71490205e-03 -4.60062190e-04 9.99983564e-01 1.08629974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.920714057 meters Centerline goodness : 0.992842 with order 1 Centerline is valid? [True, True] Translation: X:229.06, Y:-11.16, Z:1.09 [[ 9.99572263e-01 -2.86795284e-02 -5.72496126e-03 2.29055110e+02] [ 2.86817755e-02 9.99588545e-01 3.10774811e-04 -1.11560942e+01] [ 5.71369282e-03 -4.74843935e-04 9.99983564e-01 1.08799136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.980714057 meters Centerline goodness : 0.990806 with order 1 Centerline is valid? [True, True] Translation: X:229.12, Y:-11.15, Z:1.09 [[ 9.99412416e-01 -3.37941951e-02 -5.72490616e-03 2.29117418e+02] [ 3.37965313e-02 9.99428685e-01 3.11786484e-04 -1.11490146e+01] [ 5.71109887e-03 -5.05085253e-04 9.99983564e-01 1.08809987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.040714057 meters Centerline goodness : 0.983993 with order 1 Centerline is valid? [True, True] Translation: X:229.18, Y:-11.15, Z:1.08 [[ 9.99422619e-01 -3.34911019e-02 -5.72488022e-03 2.29180089e+02] [ 3.34934358e-02 9.99438889e-01 3.12262109e-04 -1.11488550e+01] [ 5.71120992e-03 -5.03827723e-04 9.99983564e-01 1.08406359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.100714057 meters Centerline goodness : 0.989016 with order 1 Centerline is valid? [True, True] Translation: X:229.24, Y:-11.15, Z:1.10 [[ 9.99846497e-01 -1.65592453e-02 -5.72484192e-03 2.29242633e+02] [ 1.65613073e-02 9.99862803e-01 3.12962662e-04 -1.11505064e+01] [ 5.71887406e-03 -4.07725487e-04 9.99983564e-01 1.09866056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.160714057 meters Centerline goodness : 0.993888 with order 1 Centerline is valid? [True, True] Translation: X:229.30, Y:-11.14, Z:1.09 [[ 9.99849255e-01 -1.63918549e-02 -5.72480751e-03 2.29304849e+02] [ 1.63939177e-02 9.99865562e-01 3.13590771e-04 -1.11408463e+01] [ 5.71889755e-03 -4.07395522e-04 9.99983564e-01 1.09264133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.220714057 meters Centerline goodness : 0.993303 with order 1 Centerline is valid? [True, True] Translation: X:229.37, Y:-11.14, Z:1.10 [[ 9.99964191e-01 -6.23242284e-03 -5.72476841e-03 2.29366956e+02] [ 6.23432397e-03 9.99980517e-01 3.14302961e-04 -1.11370795e+01] [ 5.72269801e-03 -3.49981768e-04 9.99983564e-01 1.09625292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.280714057 meters Centerline goodness : 0.992838 with order 1 Centerline is valid? [True, True] Translation: X:229.43, Y:-11.14, Z:1.10 [[ 9.99982964e-01 -1.13991512e-03 -5.72474585e-03 2.29427528e+02] [ 1.14173542e-03 9.99999299e-01 3.14713441e-04 -1.11370355e+01] [ 5.72438309e-03 -3.21244225e-04 9.99983564e-01 1.09774448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.340714057 meters Centerline goodness : 0.993177 with order 1 Centerline is valid? [True, True] Translation: X:229.49, Y:-11.14, Z:1.10 [[ 9.99983579e-01 2.63630948e-04 -5.72474585e-03 2.29485764e+02] [-2.61833571e-04 9.99999916e-01 3.14713441e-04 -1.11400900e+01] [ 5.72482834e-03 -3.13209342e-04 9.99983564e-01 1.09761135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40071405700002 meters Centerline goodness : 0.989102 with order 1 Centerline is valid? [True, True] Translation: X:229.54, Y:-11.16, Z:1.10 [[ 9.99941720e-01 9.15338288e-03 -5.72476218e-03 2.29543415e+02] [-9.15173251e-03 9.99958073e-01 3.14415976e-04 -1.11550931e+01] [ 5.72740013e-03 -2.62006159e-04 9.99983564e-01 1.10036975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46071405700002 meters Centerline goodness : 0.994563 with order 1 Centerline is valid? [True, True] Translation: X:229.60, Y:-11.15, Z:1.09 [[ 9.99982585e-01 -1.43376410e-03 -5.72484068e-03 2.29601839e+02] [ 1.43557932e-03 9.99998921e-01 3.12980273e-04 -1.11521296e+01] [ 5.72438576e-03 -3.21193285e-04 9.99983564e-01 1.09464825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52071405700002 meters Centerline goodness : 0.994041 with order 1 Centerline is valid? [True, True] Translation: X:229.66, Y:-11.16, Z:1.09 [[ 9.99981646e-01 -1.98344656e-03 -5.72486823e-03 2.29660678e+02] [ 1.98526787e-03 9.99997981e-01 3.12475374e-04 -1.11574137e+01] [ 5.72423689e-03 -3.23835036e-04 9.99983564e-01 1.09489610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58071405700002 meters Centerline goodness : 0.993197 with order 1 Centerline is valid? [True, True] Translation: X:229.72, Y:-11.16, Z:1.10 [[ 9.99977864e-01 -3.39062327e-03 -5.72488899e-03 2.29719286e+02] [ 3.39246539e-03 9.99994197e-01 3.12094575e-04 -1.11633755e+01] [ 5.72379758e-03 -3.31509155e-04 9.99983564e-01 1.09561498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.640714057 meters Centerline goodness : 0.992212 with order 1 Centerline is valid? [True, True] Translation: X:229.78, Y:-11.18, Z:1.11 [[ 9.99967836e-01 -5.61722495e-03 -5.72490952e-03 2.29777645e+02] [ 5.61910129e-03 9.99984164e-01 3.11717606e-04 -1.11772275e+01] [ 5.72306787e-03 -3.43876426e-04 9.99983564e-01 1.10617394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.700714057 meters Centerline goodness : 0.993319 with order 1 Centerline is valid? [True, True] Translation: X:229.84, Y:-11.18, Z:1.10 [[ 9.99937028e-01 -9.65218303e-03 -5.72495121e-03 2.29838212e+02] [ 9.65412086e-03 9.99953350e-01 3.10950007e-04 -1.11843956e+01] [ 5.72168279e-03 -3.66199797e-04 9.99983564e-01 1.09842171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.760714057 meters Centerline goodness : 0.993969 with order 1 Centerline is valid? [True, True] Translation: X:229.90, Y:-11.19, Z:1.10 [[ 9.99925911e-01 -1.07422791e-02 -5.72495121e-03 2.29899097e+02] [ 1.07442348e-02 9.99942231e-01 3.10950007e-04 -1.11932148e+01] [ 5.72128017e-03 -3.72437189e-04 9.99983564e-01 1.09897213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.820714057 meters Centerline goodness : 0.992108 with order 1 Centerline is valid? [True, True] Translation: X:229.96, Y:-11.20, Z:1.10 [[ 9.99917909e-01 -1.14629719e-02 -5.72494002e-03 2.29959698e+02] [ 1.14649405e-02 9.99934227e-01 3.11155950e-04 -1.12033665e+01] [ 5.72099670e-03 -3.76766503e-04 9.99983564e-01 1.09684842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.880714057 meters Centerline goodness : 0.989726 with order 1 Centerline is valid? [True, True] Translation: X:230.02, Y:-11.23, Z:1.09 [[ 9.99983187e-01 9.22498469e-04 -5.72492342e-03 2.30019454e+02] [-9.20730423e-04 9.99999528e-01 3.11461045e-04 -1.12281728e+01] [ 5.72520804e-03 -3.06184697e-04 9.99983564e-01 1.08958422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.940714057 meters Centerline goodness : 0.989247 with order 1 Centerline is valid? [True, True] Translation: X:230.08, Y:-11.23, Z:1.09 [[ 9.99969923e-01 -5.23249528e-03 -5.72491786e-03 2.30078646e+02] [ 5.23436445e-03 9.99986252e-01 3.11563175e-04 -1.12342649e+01] [ 5.72320890e-03 -3.41520110e-04 9.99983564e-01 1.09336608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.000714057 meters Centerline goodness : 0.990431 with order 1 Centerline is valid? [True, True] Translation: X:230.14, Y:-11.25, Z:1.09 [[ 9.99962365e-01 -6.51873680e-03 -5.72492891e-03 2.30137617e+02] [ 6.52062582e-03 9.99978692e-01 3.11360037e-04 -1.12455374e+01] [ 5.72277725e-03 -3.48678438e-04 9.99983564e-01 1.09195083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.060714057 meters Centerline goodness : 0.991496 with order 1 Centerline is valid? [True, True] Translation: X:230.20, Y:-11.24, Z:1.11 [[ 9.99861150e-01 -1.56494538e-02 -5.72493986e-03 2.30198114e+02] [ 1.56514907e-02 9.99877460e-01 3.11158622e-04 -1.12431730e+01] [ 5.71936886e-03 -4.00719260e-04 9.99983564e-01 1.10669353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12071405700001 meters Centerline goodness : 0.984532 with order 1 Centerline is valid? [True, True] Translation: X:230.26, Y:-11.25, Z:1.10 [[ 9.99742231e-01 -2.19703442e-02 -5.72493986e-03 2.30259649e+02] [ 2.19724842e-02 9.99758527e-01 3.11158622e-04 -1.12470991e+01] [ 5.71672118e-03 -4.36869565e-04 9.99983564e-01 1.09994892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18071405700002 meters Centerline goodness : 0.990545 with order 1 Centerline is valid? [True, True] Translation: X:230.32, Y:-11.27, Z:1.09 [[ 9.99828975e-01 -1.75853669e-02 -5.72491735e-03 2.30321375e+02] [ 1.75874377e-02 9.99845281e-01 3.11572218e-04 -1.12653682e+01] [ 5.71855248e-03 -4.12205559e-04 9.99983564e-01 1.09372266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24071405700002 meters Centerline goodness : 0.991192 with order 1 Centerline is valid? [True, True] Translation: X:230.38, Y:-11.27, Z:1.10 [[ 9.99731915e-01 -2.24348934e-02 -5.72488567e-03 2.30383144e+02] [ 2.24370465e-02 9.99748209e-01 3.12153133e-04 -1.12699149e+01] [ 5.71644108e-03 -4.40518976e-04 9.99983564e-01 1.09508556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30071405700002 meters Centerline goodness : 0.991404 with order 1 Centerline is valid? [True, True] Translation: X:230.44, Y:-11.27, Z:1.10 [[ 9.99651502e-01 -2.57701384e-02 -5.72486251e-03 2.30444951e+02] [ 2.57723483e-02 9.99667789e-01 3.12577339e-04 -1.12742038e+01] [ 5.71490549e-03 -4.60011558e-04 9.99983564e-01 1.09859218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36071405700002 meters Centerline goodness : 0.990879 with order 1 Centerline is valid? [True, True] Translation: X:230.51, Y:-11.27, Z:1.10 [[ 9.99654431e-01 -2.56562909e-02 -5.72483955e-03 2.30506266e+02] [ 2.56585014e-02 9.99670717e-01 3.12997383e-04 -1.12745800e+01] [ 5.71492410e-03 -4.59780023e-04 9.99983564e-01 1.10327731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.420714057 meters Centerline goodness : 0.990070 with order 1 Centerline is valid? [True, True] Translation: X:230.57, Y:-11.28, Z:1.10 [[ 9.99755639e-01 -2.13515482e-02 -5.72482260e-03 2.30568363e+02] [ 2.13536903e-02 9.99771935e-01 3.13307061e-04 -1.12757536e+01] [ 5.71682737e-03 -4.35476590e-04 9.99983564e-01 1.10414141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.480714057 meters Centerline goodness : 0.990146 with order 1 Centerline is valid? [True, True] Translation: X:230.63, Y:-11.28, Z:1.10 [[ 9.99926965e-01 -1.06438675e-02 -5.72479985e-03 2.30629648e+02] [ 1.06458373e-02 9.99943282e-01 3.13722091e-04 -1.12758222e+01] [ 5.72113594e-03 -3.74644466e-04 9.99983564e-01 1.10111924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.540714057 meters Centerline goodness : 0.989058 with order 1 Centerline is valid? [True, True] Translation: X:230.69, Y:-11.28, Z:1.10 [[ 9.99975408e-01 -4.05106693e-03 -5.72478305e-03 2.30691413e+02] [ 4.05293087e-03 9.99991738e-01 3.14028426e-04 -1.12778301e+01] [ 5.72346360e-03 -3.37222853e-04 9.99983564e-01 1.09804257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.600714057 meters Centerline goodness : 0.988666 with order 1 Centerline is valid? [True, True] Translation: X:230.75, Y:-11.28, Z:1.10 [[ 9.99981232e-01 -2.18240977e-03 -5.72477220e-03 2.30750668e+02] [ 2.18424433e-03 9.99997565e-01 3.14226029e-04 -1.12776614e+01] [ 5.72407249e-03 -3.26724432e-04 9.99983564e-01 1.09929917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.660714057 meters Centerline goodness : 0.988241 with order 1 Centerline is valid? [True, True] Translation: X:230.81, Y:-11.28, Z:1.09 [[ 9.99980438e-01 2.52009281e-03 -5.72478829e-03 2.30809674e+02] [-2.51833676e-03 9.99996780e-01 3.13932712e-04 -1.12783189e+01] [ 5.72556099e-03 -2.99509626e-04 9.99983564e-01 1.09446479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.720714057 meters Centerline goodness : 0.987892 with order 1 Centerline is valid? [True, True] Translation: X:230.87, Y:-11.28, Z:1.09 [[ 9.99954767e-01 7.59547384e-03 -5.72480412e-03 2.30868677e+02] [-7.59380241e-03 9.99971117e-01 3.13643774e-04 -1.12798341e+01] [ 5.72702104e-03 -2.70156556e-04 9.99983564e-01 1.09369038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.780714057 meters Centerline goodness : 0.986280 with order 1 Centerline is valid? [True, True] Translation: X:230.93, Y:-11.28, Z:1.09 [[ 9.99954348e-01 7.65033587e-03 -5.72487629e-03 2.30926515e+02] [-7.64867289e-03 9.99970700e-01 3.12320907e-04 -1.12835777e+01] [ 5.72709791e-03 -2.68518943e-04 9.99983564e-01 1.09227775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.840714057 meters Centerline goodness : 0.987510 with order 1 Centerline is valid? [True, True] Translation: X:230.98, Y:-11.28, Z:1.10 [[ 9.99848304e-01 1.64497301e-02 -5.72490152e-03 2.30984893e+02] [-1.64482137e-02 9.99864670e-01 3.11857774e-04 -1.12831384e+01] [ 5.72925674e-03 -2.17646063e-04 9.99983564e-01 1.09555513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90071405700002 meters Centerline goodness : 0.985164 with order 1 Centerline is valid? [True, True] Translation: X:231.04, Y:-11.29, Z:1.09 [[ 9.99710179e-01 2.33833828e-02 -5.72498136e-03 2.31042835e+02] [-2.33819883e-02 9.99726556e-01 3.10385058e-04 -1.12877719e+01] [ 5.73067375e-03 -1.76433654e-04 9.99983564e-01 1.09490187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96071405700002 meters Centerline goodness : 0.986780 with order 1 Centerline is valid? [True, True] Translation: X:231.10, Y:-11.29, Z:1.10 [[ 9.99794388e-01 1.94526546e-02 -5.72500093e-03 2.31102361e+02] [-1.94511979e-02 9.99810759e-01 3.10023675e-04 -1.12861426e+01] [ 5.72994831e-03 -1.98601805e-04 9.99983564e-01 1.10396557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02071405700002 meters Centerline goodness : 0.985245 with order 1 Centerline is valid? [True, True] Translation: X:231.16, Y:-11.29, Z:1.10 [[ 9.99788130e-01 1.97716594e-02 -5.72501155e-03 2.31160659e+02] [-1.97702090e-02 9.99804502e-01 3.09827530e-04 -1.12924086e+01] [ 5.73001812e-03 -1.96577212e-04 9.99983564e-01 1.10117478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08071405700002 meters Centerline goodness : 0.985427 with order 1 Centerline is valid? [True, True] Translation: X:231.22, Y:-11.30, Z:1.10 [[ 9.99846291e-01 1.65715891e-02 -5.72503425e-03 2.31218872e+02] [-1.65700887e-02 9.99862659e-01 3.09407387e-04 -1.12983086e+01] [ 5.72937534e-03 -2.14495503e-04 9.99983564e-01 1.09821700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.140714057 meters Centerline goodness : 0.985132 with order 1 Centerline is valid? [True, True] Translation: X:231.28, Y:-11.30, Z:1.11 [[ 9.99947871e-01 8.45453465e-03 -5.72506902e-03 2.31276593e+02] [-8.45290515e-03 9.99964226e-01 3.08762681e-04 -1.13026121e+01] [ 5.72747466e-03 -2.60353120e-04 9.99983564e-01 1.10507094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.200714057 meters Centerline goodness : 0.986233 with order 1 Centerline is valid? [True, True] Translation: X:231.34, Y:-11.31, Z:1.11 [[ 9.99975097e-01 4.12658834e-03 -5.72509751e-03 2.31335443e+02] [-4.12489109e-03 9.99991445e-01 3.08233518e-04 -1.13081026e+01] [ 5.72632049e-03 -2.84610438e-04 9.99983564e-01 1.10728218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.260714057 meters Centerline goodness : 0.987081 with order 1 Centerline is valid? [True, True] Translation: X:231.39, Y:-11.31, Z:1.11 [[ 9.99980213e-01 2.60717623e-03 -5.72512005e-03 2.31394547e+02] [-2.60545654e-03 9.99996558e-01 3.07814319e-04 -1.13129430e+01] [ 5.72590287e-03 -2.92891676e-04 9.99983564e-01 1.10763055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.320714057 meters Centerline goodness : 0.987028 with order 1 Centerline is valid? [True, True] Translation: X:231.45, Y:-11.32, Z:1.10 [[ 9.99970231e-01 5.17292008e-03 -5.72514265e-03 2.31452411e+02] [-5.17124473e-03 9.99986582e-01 3.07393395e-04 -1.13245525e+01] [ 5.72665595e-03 -2.77778131e-04 9.99983564e-01 1.09889630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.380714057 meters Centerline goodness : 0.987617 with order 1 Centerline is valid? [True, True] Translation: X:231.51, Y:-11.33, Z:1.10 [[ 9.99983606e-01 -1.02983501e-04 -5.72516481e-03 2.31511582e+02] [ 1.04742725e-04 9.99999947e-01 3.06980151e-04 -1.13272352e+01] [ 5.72513289e-03 -3.07574788e-04 9.99983564e-01 1.10418471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.440714057 meters Centerline goodness : 0.987989 with order 1 Centerline is valid? [True, True] Translation: X:231.57, Y:-11.33, Z:1.10 [[ 9.99982124e-01 -1.72466875e-03 -5.72518111e-03 2.31570372e+02] [ 1.72645274e-03 9.99998463e-01 3.06675818e-04 -1.13318090e+01] [ 5.72464339e-03 -3.16554590e-04 9.99983564e-01 1.10185398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.500714057 meters Centerline goodness : 0.988390 with order 1 Centerline is valid? [True, True] Translation: X:231.63, Y:-11.34, Z:1.10 [[ 9.99976577e-01 -3.75069765e-03 -5.72520263e-03 2.31629070e+02] [ 3.75251244e-03 9.99992912e-01 3.06273492e-04 -1.13366903e+01] [ 5.72401332e-03 -3.27750213e-04 9.99983564e-01 1.10000624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.560714057 meters Centerline goodness : 0.992984 with order 1 Centerline is valid? [True, True] Translation: X:231.69, Y:-11.33, Z:1.10 [[ 9.99799259e-01 -1.92006356e-02 -5.72522393e-03 2.31688728e+02] [ 1.92027003e-02 9.99815564e-01 3.05874950e-04 -1.13291597e+01] [ 5.71829500e-03 -4.15753307e-04 9.99983564e-01 1.09803640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62071405700001 meters Centerline goodness : 0.992647 with order 1 Centerline is valid? [True, True] Translation: X:231.75, Y:-11.33, Z:1.10 [[ 9.99779408e-01 -2.02078592e-02 -5.72524029e-03 2.31749411e+02] [ 2.02099386e-02 9.99795712e-01 3.05568251e-04 -1.13317842e+01] [ 5.71789581e-03 -4.21207599e-04 9.99983564e-01 1.09914431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68071405700002 meters Centerline goodness : 0.993556 with order 1 Centerline is valid? [True, True] Translation: X:231.81, Y:-11.33, Z:1.10 [[ 9.99747845e-01 -2.17133066e-02 -5.72522397e-03 2.31810874e+02] [ 2.17154123e-02 9.99764146e-01 3.05873776e-04 -1.13337310e+01] [ 5.71723212e-03 -4.30122248e-04 9.99983564e-01 1.10086541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74071405700002 meters Centerline goodness : 0.990891 with order 1 Centerline is valid? [True, True] Translation: X:231.87, Y:-11.34, Z:1.11 [[ 9.99705584e-01 -2.35789632e-02 -5.72518873e-03 2.31872900e+02] [ 2.35811030e-02 9.99721880e-01 3.06532046e-04 -1.13368891e+01] [ 5.71636873e-03 -4.41448063e-04 9.99983564e-01 1.11198645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80071405700002 meters Centerline goodness : 0.992465 with order 1 Centerline is valid? [True, True] Translation: X:231.93, Y:-11.34, Z:1.10 [[ 9.99535445e-01 -2.99352133e-02 -5.72516300e-03 2.31934137e+02] [ 2.99374594e-02 9.99551727e-01 3.07011734e-04 -1.13363016e+01] [ 5.71340610e-03 -4.78265945e-04 9.99983564e-01 1.10482636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86071405700002 meters Centerline goodness : 0.991044 with order 1 Centerline is valid? [True, True] Translation: X:232.00, Y:-11.34, Z:1.11 [[ 9.99456862e-01 -3.24531090e-02 -5.72514366e-03 2.31996168e+02] [ 3.24553982e-02 9.99473138e-01 3.07372105e-04 -1.13387658e+01] [ 5.71215211e-03 -4.93016976e-04 9.99983564e-01 1.11403566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.920714057 meters Centerline goodness : 0.988453 with order 1 Centerline is valid? [True, True] Translation: X:232.06, Y:-11.35, Z:1.10 [[ 9.99678524e-01 -2.46996233e-02 -5.72511182e-03 2.32057933e+02] [ 2.47017896e-02 9.99694817e-01 3.07964040e-04 -1.13526292e+01] [ 5.71575801e-03 -4.49285544e-04 9.99983564e-01 1.10284952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.980714057 meters Centerline goodness : 0.992683 with order 1 Centerline is valid? [True, True] Translation: X:232.12, Y:-11.34, Z:1.10 [[ 9.99266132e-01 -3.78737429e-02 -5.72508626e-03 2.32120690e+02] [ 3.78761264e-02 9.99282394e-01 3.08438347e-04 -1.13363120e+01] [ 5.70929619e-03 -5.25056085e-04 9.99983564e-01 1.10207722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.040714057 meters Centerline goodness : 0.985698 with order 1 Centerline is valid? [True, True] Translation: X:232.18, Y:-11.33, Z:1.11 [[ 9.99344578e-01 -3.57440557e-02 -5.72503021e-03 2.32183183e+02] [ 3.57464104e-02 9.99360845e-01 3.09475239e-04 -1.13303301e+01] [ 5.71030913e-03 -5.13921682e-04 9.99983564e-01 1.10709733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.100714057 meters Centerline goodness : 0.990781 with order 1 Centerline is valid? [True, True] Translation: X:232.25, Y:-11.33, Z:1.11 [[ 9.99647697e-01 -2.59173137e-02 -5.72498512e-03 2.32245721e+02] [ 2.59195131e-02 9.99663985e-01 3.10307231e-04 -1.13305111e+01] [ 5.71501910e-03 -4.58586736e-04 9.99983564e-01 1.11453076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.160714057 meters Centerline goodness : 0.986215 with order 1 Centerline is valid? [True, True] Translation: X:232.31, Y:-11.32, Z:1.11 [[ 9.99707264e-01 -2.35076879e-02 -5.72495435e-03 2.32308218e+02] [ 2.35098513e-02 9.99723557e-01 3.10873878e-04 -1.13211331e+01] [ 5.71606380e-03 -4.45375699e-04 9.99983564e-01 1.11027807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.220714057 meters Centerline goodness : 0.992314 with order 1 Centerline is valid? [True, True] Translation: X:232.37, Y:-11.32, Z:1.12 [[ 9.99779466e-01 -2.02050701e-02 -5.72492342e-03 2.32369407e+02] [ 2.02071829e-02 9.99795766e-01 3.11442429e-04 -1.13169976e+01] [ 5.71746147e-03 -4.27058320e-04 9.99983564e-01 1.11886937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.280714057 meters Centerline goodness : 0.984433 with order 1 Centerline is valid? [True, True] Translation: X:232.43, Y:-11.31, Z:1.11 [[ 9.99862202e-01 -1.55821154e-02 -5.72487200e-03 2.32431313e+02] [ 1.55841582e-02 9.99878511e-01 3.12384766e-04 -1.13140034e+01] [ 5.71930887e-03 -4.01559031e-04 9.99983564e-01 1.10681330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.340714057 meters Centerline goodness : 0.984428 with order 1 Centerline is valid? [True, True] Translation: X:232.49, Y:-11.31, Z:1.11 [[ 9.99887522e-01 -1.38624958e-02 -5.72484205e-03 2.32493646e+02] [ 1.38645136e-02 9.99903834e-01 3.12932530e-04 -1.13141572e+01] [ 5.71995349e-03 -3.92269483e-04 9.99983564e-01 1.10716604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40071405700002 meters Centerline goodness : 0.983380 with order 1 Centerline is valid? [True, True] Translation: X:232.56, Y:-11.31, Z:1.11 [[ 9.99950863e-01 -8.09310576e-03 -5.72481206e-03 2.32555430e+02] [ 8.09503257e-03 9.99967186e-01 3.13480209e-04 -1.13114030e+01] [ 5.72208718e-03 -3.59807346e-04 9.99983564e-01 1.10634474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46071405700002 meters Centerline goodness : 0.989186 with order 1 Centerline is valid? [True, True] Translation: X:232.62, Y:-11.32, Z:1.11 [[ 9.99955577e-01 7.48804415e-03 -5.72478966e-03 2.32615276e+02] [-7.48636956e-03 9.99971927e-01 3.13888764e-04 -1.13192145e+01] [ 5.72697937e-03 -2.71016930e-04 9.99983564e-01 1.10732728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52071405700002 meters Centerline goodness : 0.989101 with order 1 Centerline is valid? [True, True] Translation: X:232.67, Y:-11.32, Z:1.11 [[ 9.99923031e-01 1.10072589e-02 -5.72478966e-03 2.32673747e+02] [-1.10056419e-02 9.99939387e-01 3.13888765e-04 -1.13162836e+01] [ 5.72789772e-03 -2.50859620e-04 9.99983564e-01 1.10749664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58071405700002 meters Centerline goodness : 0.989605 with order 1 Centerline is valid? [True, True] Translation: X:232.73, Y:-11.32, Z:1.11 [[ 9.99928579e-01 1.04911184e-02 -5.72481722e-03 2.32732806e+02] [-1.04894958e-02 9.99944935e-01 3.13385436e-04 -1.13157921e+01] [ 5.72778974e-03 -2.53312608e-04 9.99983564e-01 1.10662787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.640714057 meters Centerline goodness : 0.989217 with order 1 Centerline is valid? [True, True] Translation: X:232.79, Y:-11.31, Z:1.11 [[ 9.99975362e-01 4.06211453e-03 -5.72483888e-03 2.32791255e+02] [-4.06038908e-03 9.99991708e-01 3.12989151e-04 -1.13148049e+01] [ 5.72606281e-03 -2.89736367e-04 9.99983564e-01 1.10764971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.700714057 meters Centerline goodness : 0.989358 with order 1 Centerline is valid? [True, True] Translation: X:232.85, Y:-11.32, Z:1.11 [[ 9.99981324e-01 -2.13944156e-03 -5.72486560e-03 2.32849839e+02] [ 2.14126556e-03 9.99997659e-01 3.12499629e-04 -1.13157677e+01] [ 5.72418362e-03 -3.24752251e-04 9.99983564e-01 1.10678194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.760714057 meters Centerline goodness : 0.990041 with order 1 Centerline is valid? [True, True] Translation: X:232.91, Y:-11.31, Z:1.11 [[ 9.99964388e-01 -6.20063871e-03 -5.72488753e-03 2.32908568e+02] [ 6.20252674e-03 9.99980715e-01 3.12097366e-04 -1.13148523e+01] [ 5.72284193e-03 -3.47595019e-04 9.99983564e-01 1.10738085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.820714057 meters Centerline goodness : 0.989871 with order 1 Centerline is valid? [True, True] Translation: X:232.97, Y:-11.31, Z:1.11 [[ 9.99952706e-01 -7.86201379e-03 -5.72490922e-03 2.32967918e+02] [ 7.86392667e-03 9.99969030e-01 3.11699008e-04 -1.13124446e+01] [ 5.72228134e-03 -3.56704533e-04 9.99983564e-01 1.10807243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.880714057 meters Centerline goodness : 0.989066 with order 1 Centerline is valid? [True, True] Translation: X:233.03, Y:-11.31, Z:1.11 [[ 9.99935177e-01 -9.84209436e-03 -5.72491455e-03 2.33029353e+02] [ 9.84403900e-03 9.99951498e-01 3.11601106e-04 -1.13117029e+01] [ 5.72157007e-03 -3.67937189e-04 9.99983564e-01 1.11124046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.940714057 meters Centerline goodness : 0.989696 with order 1 Centerline is valid? [True, True] Translation: X:233.09, Y:-11.31, Z:1.11 [[ 9.99946202e-01 -8.64979957e-03 -5.72490360e-03 2.33090979e+02] [ 8.65172590e-03 9.99962525e-01 3.11802076e-04 -1.13121957e+01] [ 5.72199204e-03 -3.61315598e-04 9.99983564e-01 1.11116806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.000714057 meters Centerline goodness : 0.989768 with order 1 Centerline is valid? [True, True] Translation: X:233.15, Y:-11.31, Z:1.11 [[ 9.99919645e-01 -1.13105408e-02 -5.72488735e-03 2.33152630e+02] [ 1.13125122e-02 9.99935963e-01 3.12100257e-04 -1.13119140e+01] [ 5.72099072e-03 -3.76838036e-04 9.99983564e-01 1.11338311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.060714057 meters Centerline goodness : 0.990099 with order 1 Centerline is valid? [True, True] Translation: X:233.22, Y:-11.31, Z:1.11 [[ 9.99922143e-01 -1.10875847e-02 -5.72487669e-03 2.33215031e+02] [ 1.10895536e-02 9.99938460e-01 3.12295722e-04 -1.13126892e+01] [ 5.72106177e-03 -3.75757734e-04 9.99983564e-01 1.11174186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12071405700001 meters Centerline goodness : 0.989006 with order 1 Centerline is valid? [True, True] Translation: X:233.28, Y:-11.31, Z:1.11 [[ 9.99898019e-01 -1.30834837e-02 -5.72485501e-03 2.33277155e+02] [ 1.30854875e-02 9.99914332e-01 3.12692579e-04 -1.13129384e+01] [ 5.72027347e-03 -3.87573209e-04 9.99983564e-01 1.11445860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18071405700002 meters Centerline goodness : 0.989181 with order 1 Centerline is valid? [True, True] Translation: X:233.34, Y:-11.31, Z:1.12 [[ 9.99891444e-01 -1.35766570e-02 -5.72483261e-03 2.33339783e+02] [ 1.35786711e-02 9.99907757e-01 3.13102115e-04 -1.13124599e+01] [ 5.72005365e-03 -3.90803745e-04 9.99983564e-01 1.11500979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24071405700002 meters Centerline goodness : 0.990339 with order 1 Centerline is valid? [True, True] Translation: X:233.40, Y:-11.31, Z:1.12 [[ 9.99888318e-01 -1.38050083e-02 -5.72481029e-03 2.33402101e+02] [ 1.38070285e-02 9.99904629e-01 3.13509764e-04 -1.13124562e+01] [ 5.71993630e-03 -3.92517369e-04 9.99983564e-01 1.11568429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30071405700002 meters Centerline goodness : 0.989571 with order 1 Centerline is valid? [True, True] Translation: X:233.46, Y:-11.31, Z:1.12 [[ 9.99873475e-01 -1.48412005e-02 -5.72478817e-03 2.33464001e+02] [ 1.48432399e-02 9.99889784e-01 3.13913066e-04 -1.13131957e+01] [ 5.71949836e-03 -3.98847752e-04 9.99983564e-01 1.11792532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36071405700002 meters Centerline goodness : 0.990306 with order 1 Centerline is valid? [True, True] Translation: X:233.53, Y:-11.32, Z:1.12 [[ 9.99878288e-01 -1.45133373e-02 -5.72476466e-03 2.33526456e+02] [ 1.45153738e-02 9.99894597e-01 3.14341321e-04 -1.13163918e+01] [ 5.71959911e-03 -3.97400161e-04 9.99983564e-01 1.11812131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.420714057 meters Centerline goodness : 0.989910 with order 1 Centerline is valid? [True, True] Translation: X:233.59, Y:-11.32, Z:1.11 [[ 9.99943976e-01 -8.90347873e-03 -5.72474101e-03 2.33587276e+02] [ 8.90542613e-03 9.99960296e-01 3.14771419e-04 -1.13199791e+01] [ 5.72171116e-03 -3.65735042e-04 9.99983564e-01 1.11454887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.480714057 meters Centerline goodness : 0.990374 with order 1 Centerline is valid? [True, True] Translation: X:233.65, Y:-11.32, Z:1.12 [[ 9.99884203e-01 -1.40999261e-02 -5.72472351e-03 2.33648344e+02] [ 1.41019601e-02 9.99900513e-01 3.15089277e-04 -1.13186063e+01] [ 5.71971124e-03 -3.95782613e-04 9.99983564e-01 1.12059233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.540714057 meters Centerline goodness : 0.990364 with order 1 Centerline is valid? [True, True] Translation: X:233.71, Y:-11.32, Z:1.12 [[ 9.99903826e-01 -1.26319766e-02 -5.72471233e-03 2.33710297e+02] [ 1.26339878e-02 9.99920138e-01 3.15292250e-04 -1.13217416e+01] [ 5.72027239e-03 -3.87587873e-04 9.99983564e-01 1.12385285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.600714057 meters Centerline goodness : 0.990390 with order 1 Centerline is valid? [True, True] Translation: X:233.77, Y:-11.33, Z:1.12 [[ 9.99818666e-01 -1.81621331e-02 -5.72468801e-03 2.33771072e+02] [ 1.81642370e-02 9.99834967e-01 3.15733296e-04 -1.13256004e+01] [ 5.71800886e-03 -4.19660633e-04 9.99983564e-01 1.12146201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.660714057 meters Centerline goodness : 0.991250 with order 1 Centerline is valid? [True, True] Translation: X:233.83, Y:-11.33, Z:1.12 [[ 9.99744819e-01 -2.18523525e-02 -5.72461020e-03 2.33834319e+02] [ 2.18545245e-02 9.99761111e-01 3.17137812e-04 -1.13303849e+01] [ 5.71631245e-03 -4.42165518e-04 9.99983564e-01 1.12233554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.720714057 meters Centerline goodness : 0.991210 with order 1 Centerline is valid? [True, True] Translation: X:233.90, Y:-11.34, Z:1.12 [[ 9.99736342e-01 -2.22368285e-02 -5.72457416e-03 2.33895227e+02] [ 2.22390106e-02 9.99752632e-01 3.17787072e-04 -1.13369925e+01] [ 5.71609151e-03 -4.45012150e-04 9.99983564e-01 1.11863253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.780714057 meters Centerline goodness : 0.990679 with order 1 Centerline is valid? [True, True] Translation: X:233.96, Y:-11.34, Z:1.11 [[ 9.99830884e-01 -1.74766332e-02 -5.72455637e-03 2.33956951e+02] [ 1.74787395e-02 9.99847185e-01 3.18107184e-04 -1.13432589e+01] [ 5.71812213e-03 -4.18111417e-04 9.99983564e-01 1.11439918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.840714057 meters Centerline goodness : 0.991239 with order 1 Centerline is valid? [True, True] Translation: X:234.02, Y:-11.34, Z:1.12 [[ 9.99791644e-01 -1.95933276e-02 -5.72453148e-03 2.34018210e+02] [ 1.95954709e-02 9.99807940e-01 3.18554395e-04 -1.13441799e+01] [ 5.71719049e-03 -4.30662913e-04 9.99983564e-01 1.11796570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90071405700002 meters Centerline goodness : 0.991549 with order 1 Centerline is valid? [True, True] Translation: X:234.08, Y:-11.35, Z:1.12 [[ 9.99866087e-01 -1.53309711e-02 -5.72451329e-03 2.34080310e+02] [ 1.53330468e-02 9.99882391e-01 3.18881016e-04 -1.13481090e+01] [ 5.71895128e-03 -4.06612544e-04 9.99983564e-01 1.11852763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96071405700002 meters Centerline goodness : 0.990790 with order 1 Centerline is valid? [True, True] Translation: X:234.14, Y:-11.35, Z:1.12 [[ 9.99863739e-01 -1.54833394e-02 -5.72448914e-03 2.34142232e+02] [ 1.54854201e-02 9.99880043e-01 3.19314011e-04 -1.13506226e+01] [ 5.71885840e-03 -4.07916619e-04 9.99983564e-01 1.12101575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02071405700002 meters Centerline goodness : 0.991635 with order 1 Centerline is valid? [True, True] Translation: X:234.20, Y:-11.36, Z:1.12 [[ 9.99860836e-01 -1.56696846e-02 -5.72446485e-03 2.34203072e+02] [ 1.56717708e-02 9.99877139e-01 3.19748838e-04 -1.13566689e+01] [ 5.71875117e-03 -4.09416841e-04 9.99983564e-01 1.11761707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08071405700002 meters Centerline goodness : 0.990384 with order 1 Centerline is valid? [True, True] Translation: X:234.27, Y:-11.36, Z:1.11 [[ 9.99863016e-01 -1.55299526e-02 -5.72444681e-03 2.34265568e+02] [ 1.55320383e-02 9.99879319e-01 3.20071560e-04 -1.13613682e+01] [ 5.71878528e-03 -4.08940043e-04 9.99983564e-01 1.11476272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.140714057 meters Centerline goodness : 0.990109 with order 1 Centerline is valid? [True, True] Translation: X:234.33, Y:-11.37, Z:1.11 [[ 9.99899091e-01 -1.30015036e-02 -5.72442323e-03 2.34328128e+02] [ 1.30035505e-02 9.99915399e-01 3.20492572e-04 -1.13656625e+01] [ 5.71977206e-03 -3.94898057e-04 9.99983564e-01 1.11367458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.200714057 meters Centerline goodness : 0.991244 with order 1 Centerline is valid? [True, True] Translation: X:234.39, Y:-11.37, Z:1.11 [[ 9.99949951e-01 -8.20526758e-03 -5.72439992e-03 2.34388821e+02] [ 8.20723857e-03 9.99966269e-01 3.20908503e-04 -1.13690219e+01] [ 5.72157368e-03 -3.67873957e-04 9.99983564e-01 1.11363854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.260714057 meters Centerline goodness : 0.990102 with order 1 Centerline is valid? [True, True] Translation: X:234.45, Y:-11.37, Z:1.11 [[ 9.99982233e-01 -1.66278732e-03 -5.72436452e-03 2.34449903e+02] [ 1.66465511e-03 9.99998563e-01 3.21538685e-04 -1.13725721e+01] [ 5.72382164e-03 -3.31062064e-04 9.99983564e-01 1.11400062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.320714057 meters Centerline goodness : 0.990854 with order 1 Centerline is valid? [True, True] Translation: X:234.51, Y:-11.38, Z:1.11 [[ 9.99983251e-01 8.54466992e-04 -5.72435231e-03 2.34508332e+02] [-8.52639074e-04 9.99999585e-01 3.21755974e-04 -1.13767014e+01] [ 5.72462486e-03 -3.16869778e-04 9.99983564e-01 1.11260305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.380714057 meters Centerline goodness : 0.990568 with order 1 Centerline is valid? [True, True] Translation: X:234.57, Y:-11.38, Z:1.11 [[ 9.99981830e-01 1.88988770e-03 -5.72437023e-03 2.34566631e+02] [-1.88807852e-03 9.99998166e-01 3.21436864e-04 -1.13808998e+01] [ 5.72496721e-03 -3.10622963e-04 9.99983564e-01 1.11219866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.440714057 meters Centerline goodness : 0.990883 with order 1 Centerline is valid? [True, True] Translation: X:234.62, Y:-11.39, Z:1.11 [[ 9.99983354e-01 7.22966401e-04 -5.72445502e-03 2.34624499e+02] [-7.21146815e-04 9.99999689e-01 3.19919588e-04 -1.13854858e+01] [ 5.72468453e-03 -3.15786090e-04 9.99983564e-01 1.11224039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.500714057 meters Centerline goodness : 0.990682 with order 1 Centerline is valid? [True, True] Translation: X:234.68, Y:-11.39, Z:1.11 [[ 9.99983486e-01 -5.07480076e-04 -5.72448478e-03 2.34682468e+02] [ 5.09316716e-04 9.99999819e-01 3.19386193e-04 -1.13916925e+01] [ 5.72432166e-03 -3.22296495e-04 9.99983564e-01 1.11013493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.560714057 meters Centerline goodness : 0.990994 with order 1 Centerline is valid? [True, True] Translation: X:234.74, Y:-11.40, Z:1.10 [[ 9.99969175e-01 5.37392706e-03 -5.72451384e-03 2.34741009e+02] [-5.37218949e-03 9.99985519e-01 3.18864452e-04 -1.13992817e+01] [ 5.72614450e-03 -2.88101450e-04 9.99983564e-01 1.10492479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62071405700001 meters Centerline goodness : 0.991587 with order 1 Centerline is valid? [True, True] Translation: X:234.80, Y:-11.40, Z:1.11 [[ 9.99946861e-01 8.57346509e-03 -5.72459636e-03 2.34799176e+02] [-8.57178833e-03 9.99963211e-01 3.17376046e-04 -1.14024994e+01] [ 5.72710677e-03 -2.68289153e-04 9.99983564e-01 1.10704227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68071405700002 meters Centerline goodness : 0.990419 with order 1 Centerline is valid? [True, True] Translation: X:234.86, Y:-11.41, Z:1.11 [[ 9.99840621e-01 1.69103557e-02 -5.72468061e-03 2.34857305e+02] [-1.69088241e-02 9.99856986e-01 3.15849131e-04 -1.14085844e+01] [ 5.72920302e-03 -2.19001174e-04 9.99983564e-01 1.10710795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74071405700002 meters Centerline goodness : 0.994287 with order 1 Centerline is valid? [True, True] Translation: X:234.92, Y:-11.40, Z:1.12 [[ 9.99911624e-01 1.19988260e-02 -5.72476485e-03 2.34916203e+02] [-1.19972227e-02 9.99927981e-01 3.14314754e-04 -1.13955119e+01] [ 5.72812397e-03 -2.45605697e-04 9.99983564e-01 1.12345966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80071405700002 meters Centerline goodness : 0.988531 with order 1 Centerline is valid? [True, True] Translation: X:234.97, Y:-11.42, Z:1.10 [[ 9.99386878e-01 3.45411948e-02 -5.72478834e-03 2.34974026e+02] [-3.45399633e-02 9.99403268e-01 3.13886371e-04 -1.14205965e+01] [ 5.73221418e-03 -1.15959942e-04 9.99983564e-01 1.10434343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86071405700002 meters Centerline goodness : 0.987643 with order 1 Centerline is valid? [True, True] Translation: X:235.03, Y:-11.43, Z:1.11 [[ 9.99239748e-01 3.85636009e-02 -5.72486401e-03 2.35032439e+02] [-3.85624433e-02 9.99256143e-01 3.12500092e-04 -1.14261971e+01] [ 5.73265666e-03 -9.14977699e-05 9.99983564e-01 1.11016688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.920714057 meters Centerline goodness : 0.986527 with order 1 Centerline is valid? [True, True] Translation: X:235.09, Y:-11.44, Z:1.10 [[ 9.99293377e-01 3.71479843e-02 -5.72488683e-03 2.35089374e+02] [-3.71468058e-02 9.99309771e-01 3.12081539e-04 -1.14426499e+01] [ 5.73252854e-03 -9.91997560e-05 9.99983564e-01 1.10115135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.980714057 meters Centerline goodness : 0.992821 with order 1 Centerline is valid? [True, True] Translation: X:235.15, Y:-11.43, Z:1.12 [[ 9.99900024e-01 1.29292987e-02 -5.72491473e-03 2.35150507e+02] [-1.29277263e-02 9.99916385e-01 3.11568771e-04 -1.14297469e+01] [ 5.72846441e-03 -2.37527491e-04 9.99983564e-01 1.12039602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.040714057 meters Centerline goodness : 0.993470 with order 1 Centerline is valid? [True, True] Translation: X:235.21, Y:-11.44, Z:1.12 [[ 9.99939972e-01 9.34229059e-03 -5.72490927e-03 2.35208458e+02] [-9.34065901e-03 9.99956327e-01 3.11669164e-04 -1.14385418e+01] [ 5.72757094e-03 -2.58176030e-04 9.99983564e-01 1.12074691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.100714057 meters Centerline goodness : 0.992874 with order 1 Centerline is valid? [True, True] Translation: X:235.27, Y:-11.45, Z:1.12 [[ 9.99973825e-01 4.42441658e-03 -5.72493125e-03 2.35265399e+02] [-4.42270689e-03 9.99990171e-01 3.11264855e-04 -1.14521047e+01] [ 5.72625215e-03 -2.85937014e-04 9.99983564e-01 1.12026270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.160714057 meters Centerline goodness : 0.993536 with order 1 Centerline is valid? [True, True] Translation: X:235.32, Y:-11.46, Z:1.12 [[ 9.99981099e-01 2.24219980e-03 -5.72495825e-03 2.35324181e+02] [-2.24045728e-03 9.99997442e-01 3.10767527e-04 -1.14600659e+01] [ 5.72564040e-03 -2.97935129e-04 9.99983564e-01 1.11982981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.220714057 meters Centerline goodness : 0.989095 with order 1 Centerline is valid? [True, True] Translation: X:235.38, Y:-11.49, Z:1.11 [[ 9.99914399e-01 1.17651548e-02 -5.72497947e-03 2.35380370e+02] [-1.17635702e-02 9.99930759e-01 3.10376088e-04 -1.14871776e+01] [ 5.72823468e-03 -2.43003322e-04 9.99983564e-01 1.11136106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.280714057 meters Centerline goodness : 0.993377 with order 1 Centerline is valid? [True, True] Translation: X:235.44, Y:-11.48, Z:1.12 [[ 9.99983595e-01 1.85102007e-04 -5.72507335e-03 2.35438716e+02] [-1.83338047e-04 9.99999936e-01 3.08634609e-04 -1.14774338e+01] [ 5.72513011e-03 -3.07579921e-04 9.99983564e-01 1.11809739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.340714057 meters Centerline goodness : 0.993635 with order 1 Centerline is valid? [True, True] Translation: X:235.50, Y:-11.48, Z:1.12 [[ 9.99978316e-01 3.25429017e-03 -5.72510183e-03 2.35496326e+02] [-3.25257940e-03 9.99994663e-01 3.08105389e-04 -1.14844812e+01] [ 5.72607394e-03 -2.89477360e-04 9.99983564e-01 1.11698539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40071405700002 meters Centerline goodness : 0.994779 with order 1 Centerline is valid? [True, True] Translation: X:235.56, Y:-11.49, Z:1.12 [[ 9.99942633e-01 9.05281702e-03 -5.72512700e-03 2.35555232e+02] [-9.05120374e-03 9.99958990e-01 3.07637028e-04 -1.14911749e+01] [ 5.72767719e-03 -2.55800089e-04 9.99983564e-01 1.11889398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46071405700002 meters Centerline goodness : 0.994058 with order 1 Centerline is valid? [True, True] Translation: X:235.61, Y:-11.50, Z:1.12 [[ 9.99827156e-01 1.76884036e-02 -5.72519609e-03 2.35613537e+02] [-1.76869390e-02 9.99843527e-01 3.06345840e-04 -1.14954094e+01] [ 5.72971902e-03 -2.05031696e-04 9.99983564e-01 1.12239702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52071405700002 meters Centerline goodness : 0.994191 with order 1 Centerline is valid? [True, True] Translation: X:235.67, Y:-11.50, Z:1.13 [[ 9.99589396e-01 2.80759851e-02 -5.72526381e-03 2.35672542e+02] [-2.80746980e-02 9.99605781e-01 3.05074971e-04 -1.14997159e+01] [ 5.73157208e-03 -1.44214653e-04 9.99983564e-01 1.12653043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58071405700002 meters Centerline goodness : 0.993869 with order 1 Centerline is valid? [True, True] Translation: X:235.73, Y:-11.51, Z:1.13 [[ 9.99389788e-01 3.44568085e-02 -5.72534058e-03 2.35730150e+02] [-3.44556343e-02 9.99406182e-01 3.03627255e-04 -1.15088027e+01] [ 5.73240280e-03 -1.06171736e-04 9.99983564e-01 1.12673880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.640714057 meters Centerline goodness : 0.985576 with order 1 Centerline is valid? [True, True] Translation: X:235.79, Y:-11.52, Z:1.13 [[ 9.99294825e-01 3.71089300e-02 -5.72542730e-03 2.35788658e+02] [-3.71078087e-02 9.99311222e-01 3.01983137e-04 -1.15193692e+01] [ 5.73269002e-03 -8.93121253e-05 9.99983564e-01 1.12973284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.700714057 meters Centerline goodness : 0.994625 with order 1 Centerline is valid? [True, True] Translation: X:235.85, Y:-11.53, Z:1.13 [[ 9.99454808e-01 3.25162526e-02 -5.72544933e-03 2.35846875e+02] [-3.25150583e-02 9.99471200e-01 3.01564825e-04 -1.15311807e+01] [ 5.73222747e-03 -1.15237096e-04 9.99983564e-01 1.12597748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.760714057 meters Centerline goodness : 0.992793 with order 1 Centerline is valid? [True, True] Translation: X:235.90, Y:-11.54, Z:1.13 [[ 9.99508156e-01 3.08328453e-02 -5.72547938e-03 2.35904329e+02] [-3.08316268e-02 9.99524547e-01 3.00993224e-04 -1.15449253e+01] [ 5.73203766e-03 -1.24319339e-04 9.99983564e-01 1.12515277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.820714057 meters Centerline goodness : 0.992225 with order 1 Centerline is valid? [True, True] Translation: X:235.96, Y:-11.56, Z:1.13 [[ 9.99522240e-01 3.03728455e-02 -5.72551140e-03 2.35961288e+02] [-3.03716229e-02 9.99538631e-01 3.00382871e-04 -1.15574333e+01] [ 5.73199331e-03 -1.26346287e-04 9.99983564e-01 1.12530267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.880714057 meters Centerline goodness : 0.992202 with order 1 Centerline is valid? [True, True] Translation: X:236.02, Y:-11.57, Z:1.13 [[ 9.99552326e-01 2.93660640e-02 -5.72554325e-03 2.36019065e+02] [-2.93648284e-02 9.99568715e-01 2.99774675e-04 -1.15711696e+01] [ 5.73187711e-03 -1.31510879e-04 9.99983564e-01 1.12556818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.940714057 meters Centerline goodness : 0.992312 with order 1 Centerline is valid? [True, True] Translation: X:236.08, Y:-11.59, Z:1.13 [[ 9.99606009e-01 2.74780935e-02 -5.72556451e-03 2.36076702e+02] [-2.74768293e-02 9.99622396e-01 2.99367998e-04 -1.15868767e+01] [ 5.73162857e-03 -1.41929691e-04 9.99983564e-01 1.12563895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.000714057 meters Centerline goodness : 0.992385 with order 1 Centerline is valid? [True, True] Translation: X:236.13, Y:-11.60, Z:1.13 [[ 9.99697522e-01 2.39182176e-02 -5.72559668e-03 2.36133634e+02] [-2.39168985e-02 9.99713905e-01 2.98751520e-04 -1.16009141e+01] [ 5.73110422e-03 -1.61722640e-04 9.99983564e-01 1.12780950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.060714057 meters Centerline goodness : 0.992196 with order 1 Centerline is valid? [True, True] Translation: X:236.19, Y:-11.62, Z:1.13 [[ 9.99791897e-01 1.95800827e-02 -5.72562932e-03 2.36189876e+02] [-1.95786961e-02 9.99808275e-01 2.98124662e-04 -1.16160564e+01] [ 5.73036887e-03 -1.85962265e-04 9.99983564e-01 1.12601971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12071405700001 meters Centerline goodness : 0.989444 with order 1 Centerline is valid? [True, True] Translation: X:236.25, Y:-11.63, Z:1.14 [[ 9.99856209e-01 1.59617701e-02 -5.72567562e-03 2.36247931e+02] [-1.59603294e-02 9.99872582e-01 2.97232777e-04 -1.16293763e+01] [ 5.72969042e-03 -2.05806369e-04 9.99983564e-01 1.13508719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18071405700002 meters Centerline goodness : 0.986329 with order 1 Centerline is valid? [True, True] Translation: X:236.31, Y:-11.65, Z:1.12 [[ 9.99740268e-01 2.20592859e-02 -5.72569265e-03 2.36305043e+02] [-2.20579469e-02 9.99756650e-01 2.96904291e-04 -1.16536949e+01] [ 5.73084880e-03 -1.70530151e-04 9.99983564e-01 1.12236604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24071405700002 meters Centerline goodness : 0.985946 with order 1 Centerline is valid? [True, True] Translation: X:236.36, Y:-11.66, Z:1.13 [[ 9.99878355e-01 1.45083321e-02 -5.72572898e-03 2.36362594e+02] [-1.45068734e-02 9.99894726e-01 2.96202041e-04 -1.16641437e+01] [ 5.72942360e-03 -2.13103584e-04 9.99983564e-01 1.12556882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30071405700002 meters Centerline goodness : 0.985187 with order 1 Centerline is valid? [True, True] Translation: X:236.42, Y:-11.67, Z:1.13 [[ 9.99956512e-01 7.36136944e-03 -5.72575574e-03 2.36419603e+02] [-7.35979680e-03 9.99972873e-01 2.95683795e-04 -1.16728849e+01] [ 5.72777705e-03 -2.53530538e-04 9.99983564e-01 1.12666580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36071405700002 meters Centerline goodness : 0.986210 with order 1 Centerline is valid? [True, True] Translation: X:236.48, Y:-11.68, Z:1.13 [[ 9.99983602e-01 -1.04161386e-04 -5.72578168e-03 2.36478499e+02] [ 1.05853256e-04 9.99999951e-01 2.95180591e-04 -1.16772239e+01] [ 5.72575065e-03 -2.95781844e-04 9.99983564e-01 1.13258554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.420714057 meters Centerline goodness : 0.985615 with order 1 Centerline is valid? [True, True] Translation: X:236.54, Y:-11.68, Z:1.13 [[ 9.99963157e-01 -6.39524521e-03 -5.72580314e-03 2.36537297e+02] [ 6.39703752e-03 9.99979495e-01 2.94763853e-04 -1.16833485e+01] [ 5.72380064e-03 -3.31381171e-04 9.99983564e-01 1.13421921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.480714057 meters Centerline goodness : 0.984540 with order 1 Centerline is valid? [True, True] Translation: X:236.60, Y:-11.69, Z:1.14 [[ 9.99932551e-01 -1.01048949e-02 -5.72582435e-03 2.36596824e+02] [ 1.01067455e-02 9.99948882e-01 2.94351172e-04 -1.16859615e+01] [ 5.72255727e-03 -3.52200768e-04 9.99983564e-01 1.13671618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.540714057 meters Centerline goodness : 0.986140 with order 1 Centerline is valid? [True, True] Translation: X:236.66, Y:-11.69, Z:1.13 [[ 9.99881357e-01 -1.42999155e-02 -5.72583483e-03 2.36655865e+02] [ 1.43018334e-02 9.99897680e-01 2.94147259e-04 -1.16885446e+01] [ 5.72104268e-03 -3.76002296e-04 9.99983564e-01 1.13286514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.600714057 meters Centerline goodness : 0.988298 with order 1 Centerline is valid? [True, True] Translation: X:236.72, Y:-11.68, Z:1.14 [[ 9.99660814e-01 -2.54061550e-02 -5.72583999e-03 2.36717328e+02] [ 2.54082535e-02 9.99677115e-01 2.94046755e-04 -1.16803777e+01] [ 5.71652060e-03 -4.39430612e-04 9.99983564e-01 1.13708555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.660714057 meters Centerline goodness : 0.983395 with order 1 Centerline is valid? [True, True] Translation: X:236.78, Y:-11.68, Z:1.13 [[ 9.99603964e-01 -2.75523309e-02 -5.72583430e-03 2.36778473e+02] [ 2.75544651e-02 9.99620260e-01 2.94157392e-04 -1.16805230e+01] [ 5.71555526e-03 -4.51813196e-04 9.99983564e-01 1.12992066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.720714057 meters Centerline goodness : 0.988121 with order 1 Centerline is valid? [True, True] Translation: X:236.84, Y:-11.68, Z:1.14 [[ 9.99481923e-01 -3.16717648e-02 -5.72581178e-03 2.36840311e+02] [ 3.16739686e-02 9.99498211e-01 2.94595213e-04 -1.16797814e+01] [ 5.71360828e-03 -4.75801772e-04 9.99983564e-01 1.13715608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.780714057 meters Centerline goodness : 0.988932 with order 1 Centerline is valid? [True, True] Translation: X:236.90, Y:-11.68, Z:1.14 [[ 9.99183175e-01 -4.00024759e-02 -5.72579629e-03 2.36902482e+02] [ 4.00048171e-02 9.99199443e-01 2.94895948e-04 -1.16776481e+01] [ 5.70941590e-03 -5.23714503e-04 9.99983564e-01 1.13728581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.840714057 meters Centerline goodness : 0.986149 with order 1 Centerline is valid? [True, True] Translation: X:236.96, Y:-11.68, Z:1.13 [[ 9.98938083e-01 -4.57156544e-02 -5.72577128e-03 2.36964786e+02] [ 4.57180913e-02 9.98954338e-01 2.95380818e-04 -1.16760387e+01] [ 5.70628053e-03 -5.56838483e-04 9.99983564e-01 1.13438682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90071405700002 meters Centerline goodness : 0.990516 with order 1 Centerline is valid? [True, True] Translation: X:237.03, Y:-11.67, Z:1.14 [[ 9.98802979e-01 -4.85780336e-02 -5.72573754e-03 2.37026751e+02] [ 4.85805208e-02 9.98819226e-01 2.96033320e-04 -1.16708601e+01] [ 5.70459602e-03 -5.73838273e-04 9.99983564e-01 1.13858780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96071405700002 meters Centerline goodness : 0.992478 with order 1 Centerline is valid? [True, True] Translation: X:237.09, Y:-11.67, Z:1.13 [[ 9.98626576e-01 -5.20785694e-02 -5.72571720e-03 2.37088320e+02] [ 5.20811158e-02 9.98642814e-01 2.96426232e-04 -1.16655517e+01] [ 5.70250888e-03 -5.94220854e-04 9.99983564e-01 1.13312123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02071405700002 meters Centerline goodness : 0.992657 with order 1 Centerline is valid? [True, True] Translation: X:237.15, Y:-11.66, Z:1.13 [[ 9.98792503e-01 -4.87929622e-02 -5.72569897e-03 2.37150642e+02] [ 4.87954572e-02 9.98808748e-01 2.96777962e-04 -1.16606168e+01] [ 5.70439754e-03 -5.75807702e-04 9.99983564e-01 1.13352865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08071405700002 meters Centerline goodness : 0.993243 with order 1 Centerline is valid? [True, True] Translation: X:237.21, Y:-11.65, Z:1.13 [[ 9.99115213e-01 -4.16654270e-02 -5.72567753e-03 2.37212032e+02] [ 4.16678083e-02 9.99131476e-01 2.97190899e-04 -1.16542085e+01] [ 5.70832206e-03 -5.35504382e-04 9.99983564e-01 1.13217027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.140714057 meters Centerline goodness : 0.992898 with order 1 Centerline is valid? [True, True] Translation: X:237.27, Y:-11.65, Z:1.14 [[ 9.99218444e-01 -3.91116022e-02 -5.72566172e-03 2.37274347e+02] [ 3.91139437e-02 9.99234713e-01 2.97495174e-04 -1.16546280e+01] [ 5.70964443e-03 -5.21215875e-04 9.99983564e-01 1.13710977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.200714057 meters Centerline goodness : 0.985229 with order 1 Centerline is valid? [True, True] Translation: X:237.34, Y:-11.64, Z:1.14 [[ 9.99600523e-01 -2.76769024e-02 -5.72563957e-03 2.37337268e+02] [ 2.76790600e-02 9.99616817e-01 2.97921013e-04 -1.16444363e+01] [ 5.71520007e-03 -4.56282321e-04 9.99983564e-01 1.13810104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.260714057 meters Centerline goodness : 0.992370 with order 1 Centerline is valid? [True, True] Translation: X:237.40, Y:-11.64, Z:1.14 [[ 9.99715217e-01 -2.31668376e-02 -5.72560070e-03 2.37399177e+02] [ 2.31689259e-02 9.99731520e-01 2.98666116e-04 -1.16396862e+01] [ 5.71714434e-03 -4.31237079e-04 9.99983564e-01 1.13889334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.320714057 meters Centerline goodness : 0.992394 with order 1 Centerline is valid? [True, True] Translation: X:237.46, Y:-11.64, Z:1.14 [[ 9.99743030e-01 -2.19337931e-02 -5.72557725e-03 2.37461343e+02] [ 2.19358639e-02 9.99759335e-01 2.99115019e-04 -1.16352690e+01] [ 5.71763858e-03 -4.24633638e-04 9.99983564e-01 1.13906208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.380714057 meters Centerline goodness : 0.989558 with order 1 Centerline is valid? [True, True] Translation: X:237.52, Y:-11.65, Z:1.13 [[ 9.99936609e-01 -9.69511136e-03 -5.72555576e-03 2.37523326e+02] [ 9.69698474e-03 9.99952938e-01 2.99525684e-04 -1.16457848e+01] [ 5.72238238e-03 -3.55027324e-04 9.99983564e-01 1.13496421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.440714057 meters Centerline goodness : 0.989051 with order 1 Centerline is valid? [True, True] Translation: X:237.58, Y:-11.64, Z:1.13 [[ 9.99879332e-01 -1.44409117e-02 -5.72553363e-03 2.37583754e+02] [ 1.44428650e-02 9.99895651e-01 2.99948147e-04 -1.16419714e+01] [ 5.72060466e-03 -3.82605062e-04 9.99983564e-01 1.13239276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.500714057 meters Centerline goodness : 0.989113 with order 1 Centerline is valid? [True, True] Translation: X:237.65, Y:-11.64, Z:1.14 [[ 9.99868660e-01 -1.51618000e-02 -5.72552830e-03 2.37645902e+02] [ 1.51637656e-02 9.99884978e-01 3.00049855e-04 -1.16392933e+01] [ 5.72032045e-03 -3.86831016e-04 9.99983564e-01 1.13537033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.560714057 meters Centerline goodness : 0.992997 with order 1 Centerline is valid? [True, True] Translation: X:237.71, Y:-11.62, Z:1.14 [[ 9.99628943e-01 -2.66307257e-02 -5.72550523e-03 2.37707576e+02] [ 2.66328809e-02 9.99645237e-01 3.00489472e-04 -1.16240581e+01] [ 5.71547178e-03 -4.52864672e-04 9.99983564e-01 1.14181834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62071405700001 meters Centerline goodness : 0.990237 with order 1 Centerline is valid? [True, True] Translation: X:237.77, Y:-11.63, Z:1.14 [[ 9.99728277e-01 -2.25962738e-02 -5.72543118e-03 2.37770056e+02] [ 2.25983712e-02 9.99744579e-01 3.01893876e-04 -1.16285988e+01] [ 5.71714710e-03 -4.31197263e-04 9.99983564e-01 1.14343669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68071405700002 meters Centerline goodness : 0.990503 with order 1 Centerline is valid? [True, True] Translation: X:237.83, Y:-11.63, Z:1.15 [[ 9.99709187e-01 -2.34256550e-02 -5.72540828e-03 2.37831142e+02] [ 2.34277684e-02 9.99725486e-01 3.02327516e-04 -1.16251580e+01] [ 5.71675436e-03 -4.36373134e-04 9.99983564e-01 1.14658872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74071405700002 meters Centerline goodness : 0.990631 with order 1 Centerline is valid? [True, True] Translation: X:237.89, Y:-11.62, Z:1.14 [[ 9.99673845e-01 -2.48882117e-02 -5.72537211e-03 2.37894016e+02] [ 2.48903528e-02 9.99690141e-01 3.03010986e-04 -1.16222716e+01] [ 5.71605665e-03 -4.45418689e-04 9.99983564e-01 1.14485733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80071405700002 meters Centerline goodness : 0.990465 with order 1 Centerline is valid? [True, True] Translation: X:237.96, Y:-11.62, Z:1.15 [[ 9.99705339e-01 -2.35892921e-02 -5.72534900e-03 2.37956706e+02] [ 2.35914145e-02 9.99721638e-01 3.03446951e-04 -1.16183534e+01] [ 5.71659718e-03 -4.38426618e-04 9.99983564e-01 1.14615866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86071405700002 meters Centerline goodness : 0.992426 with order 1 Centerline is valid? [True, True] Translation: X:238.02, Y:-11.61, Z:1.15 [[ 9.99744632e-01 -2.18607386e-02 -5.72532595e-03 2.38019246e+02] [ 2.18628353e-02 9.99760933e-01 3.03881263e-04 -1.16142106e+01] [ 5.71731415e-03 -4.28975520e-04 9.99983564e-01 1.14705335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.920714057 meters Centerline goodness : 0.991754 with order 1 Centerline is valid? [True, True] Translation: X:238.08, Y:-11.61, Z:1.15 [[ 9.99680837e-01 -2.46058029e-02 -5.72530326e-03 2.38081455e+02] [ 2.46079468e-02 9.99697132e-01 3.04308152e-04 -1.16103655e+01] [ 5.71608150e-03 -4.45098986e-04 9.99983564e-01 1.14862062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.980714057 meters Centerline goodness : 0.993096 with order 1 Centerline is valid? [True, True] Translation: X:238.14, Y:-11.61, Z:1.14 [[ 9.99532192e-01 -3.00436238e-02 -5.72527499e-03 2.38144190e+02] [ 3.00458593e-02 9.99548475e-01 3.04839165e-04 -1.16108172e+01] [ 5.71353141e-03 -4.76717366e-04 9.99983564e-01 1.14498947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.040714057 meters Centerline goodness : 0.992867 with order 1 Centerline is valid? [True, True] Translation: X:238.21, Y:-11.61, Z:1.14 [[ 9.99261024e-01 -3.80082440e-02 -5.72525277e-03 2.38206588e+02] [ 3.80106116e-02 9.99277289e-01 3.05255914e-04 -1.16093850e+01] [ 5.70951282e-03 -5.22650696e-04 9.99983564e-01 1.14300064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.100714057 meters Centerline goodness : 0.992976 with order 1 Centerline is valid? [True, True] Translation: X:238.27, Y:-11.61, Z:1.15 [[ 9.99303977e-01 -3.68616847e-02 -5.72523019e-03 2.38269348e+02] [ 3.68640360e-02 9.99320244e-01 3.05678767e-04 -1.16073442e+01] [ 5.71007059e-03 -5.16521099e-04 9.99983564e-01 1.14668160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.160714057 meters Centerline goodness : 0.993713 with order 1 Centerline is valid? [True, True] Translation: X:238.33, Y:-11.61, Z:1.15 [[ 9.99402463e-01 -3.40872115e-02 -5.72520768e-03 2.38331862e+02] [ 3.40895201e-02 9.99418737e-01 3.06099836e-04 -1.16080254e+01] [ 5.71144573e-03 -5.01086512e-04 9.99983564e-01 1.14689357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.220714057 meters Centerline goodness : 0.994228 with order 1 Centerline is valid? [True, True] Translation: X:238.39, Y:-11.61, Z:1.15 [[ 9.99353699e-01 -3.54881179e-02 -5.72518416e-03 2.38393876e+02] [ 3.54904518e-02 9.99369968e-01 3.06538982e-04 -1.16052886e+01] [ 5.71069863e-03 -5.09530238e-04 9.99983564e-01 1.15098795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.280714057 meters Centerline goodness : 0.994082 with order 1 Centerline is valid? [True, True] Translation: X:238.46, Y:-11.61, Z:1.15 [[ 9.99266578e-01 -3.78619801e-02 -5.72516077e-03 2.38456039e+02] [ 3.78643551e-02 9.99282841e-01 3.06975372e-04 -1.16085669e+01] [ 5.70943222e-03 -5.23529750e-04 9.99983564e-01 1.14869098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.340714057 meters Centerline goodness : 0.994516 with order 1 Centerline is valid? [True, True] Translation: X:238.52, Y:-11.61, Z:1.15 [[ 9.99064327e-01 -4.28683208e-02 -5.72513699e-03 2.38517812e+02] [ 4.28707797e-02 9.99080578e-01 3.07418208e-04 -1.16110131e+01] [ 5.70669467e-03 -5.52571652e-04 9.99983564e-01 1.14941256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40071405700002 meters Centerline goodness : 0.993697 with order 1 Centerline is valid? [True, True] Translation: X:238.58, Y:-11.61, Z:1.15 [[ 9.99081298e-01 -4.24709704e-02 -5.72511346e-03 2.38580738e+02] [ 4.24734254e-02 9.99097549e-01 3.07855673e-04 -1.16149241e+01] [ 5.70687190e-03 -5.50738025e-04 9.99983564e-01 1.14677127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46071405700002 meters Centerline goodness : 0.994410 with order 1 Centerline is valid? [True, True] Translation: X:238.64, Y:-11.62, Z:1.15 [[ 9.99135896e-01 -4.11665425e-02 -5.72507784e-03 2.38642840e+02] [ 4.11689800e-02 9.99152151e-01 3.08516737e-04 -1.16166305e+01] [ 5.70752327e-03 -5.43945762e-04 9.99983564e-01 1.14966752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52071405700002 meters Centerline goodness : 0.994768 with order 1 Centerline is valid? [True, True] Translation: X:238.71, Y:-11.62, Z:1.15 [[ 9.99263879e-01 -3.79331555e-02 -5.72505407e-03 2.38705299e+02] [ 3.79355429e-02 9.99280140e-01 3.08957163e-04 -1.16185690e+01] [ 5.70921312e-03 -5.25912768e-04 9.99983564e-01 1.15175686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58071405700002 meters Centerline goodness : 0.994853 with order 1 Centerline is valid? [True, True] Translation: X:238.77, Y:-11.62, Z:1.15 [[ 9.99402891e-01 -3.40747174e-02 -5.72503037e-03 2.38767647e+02] [ 3.40770445e-02 9.99419161e-01 3.09395655e-04 -1.16221601e+01] [ 5.71116248e-03 -5.04303027e-04 9.99983564e-01 1.15244101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64071405700003 meters Centerline goodness : 0.994197 with order 1 Centerline is valid? [True, True] Translation: X:238.83, Y:-11.63, Z:1.15 [[ 9.99427042e-01 -3.33588256e-02 -5.72500651e-03 2.38829061e+02] [ 3.33611435e-02 9.99443314e-01 3.09836527e-04 -1.16256321e+01] [ 5.71148370e-03 -5.00651768e-04 9.99983564e-01 1.15305565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.700714057 meters Centerline goodness : 0.993772 with order 1 Centerline is valid? [True, True] Translation: X:238.89, Y:-11.63, Z:1.15 [[ 9.99420031e-01 -3.35682416e-02 -5.72498892e-03 2.38891510e+02] [ 3.35705648e-02 9.99436302e-01 3.10161288e-04 -1.16320546e+01] [ 5.71135018e-03 -5.02172515e-04 9.99983564e-01 1.15181423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.760714057 meters Centerline goodness : 0.994180 with order 1 Centerline is valid? [True, True] Translation: X:238.95, Y:-11.64, Z:1.15 [[ 9.99404984e-01 -3.40132618e-02 -5.72496018e-03 2.38953175e+02] [ 3.40155953e-02 9.99421254e-01 3.10690791e-04 -1.16383470e+01] [ 5.71107928e-03 -5.05243854e-04 9.99983564e-01 1.15177160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.820714057 meters Centerline goodness : 0.994056 with order 1 Centerline is valid? [True, True] Translation: X:239.02, Y:-11.64, Z:1.16 [[ 9.99515547e-01 -3.05924301e-02 -5.72493700e-03 2.39015348e+02] [ 3.05947103e-02 9.99531824e-01 3.11117418e-04 -1.16438791e+01] [ 5.71273888e-03 -4.86119485e-04 9.99983564e-01 1.15576635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.880714057 meters Centerline goodness : 0.994353 with order 1 Centerline is valid? [True, True] Translation: X:239.08, Y:-11.65, Z:1.16 [[ 9.99613512e-01 -2.72039038e-02 -5.72491288e-03 2.39077332e+02] [ 2.72061313e-02 9.99629796e-01 3.11560690e-04 -1.16485811e+01] [ 5.71431782e-03 -4.67193007e-04 9.99983564e-01 1.15653729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.940714057 meters Centerline goodness : 0.994132 with order 1 Centerline is valid? [True, True] Translation: X:239.14, Y:-11.65, Z:1.16 [[ 9.99690013e-01 -2.42302090e-02 -5.72488302e-03 2.39139927e+02] [ 2.42323912e-02 9.99706304e-01 3.12108266e-04 -1.16515552e+01] [ 5.71563920e-03 -4.50739121e-04 9.99983564e-01 1.15916783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.000714057 meters Centerline goodness : 0.991283 with order 1 Centerline is valid? [True, True] Translation: X:239.20, Y:-11.65, Z:1.15 [[ 9.99765998e-01 -2.08608546e-02 -5.72485350e-03 2.39201369e+02] [ 2.08629850e-02 9.99782295e-01 3.12648926e-04 -1.16544005e+01] [ 5.71708505e-03 -4.32013298e-04 9.99983564e-01 1.14889329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.060714057 meters Centerline goodness : 0.994177 with order 1 Centerline is valid? [True, True] Translation: X:239.26, Y:-11.67, Z:1.14 [[ 9.99916403e-01 -1.15936483e-02 -5.72482450e-03 2.39262486e+02] [ 1.15956305e-02 9.99932719e-01 3.13178881e-04 -1.16695754e+01] [ 5.72080845e-03 -3.79535650e-04 9.99983564e-01 1.14012909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12071405700001 meters Centerline goodness : 0.993450 with order 1 Centerline is valid? [True, True] Translation: X:239.32, Y:-11.67, Z:1.14 [[ 9.99954404e-01 -7.64305261e-03 -5.72479425e-03 2.39324154e+02] [ 7.64497351e-03 9.99970728e-01 3.13730902e-04 -1.16730233e+01] [ 5.72222881e-03 -3.57482497e-04 9.99983564e-01 1.13907188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18071405700002 meters Centerline goodness : 0.993875 with order 1 Centerline is valid? [True, True] Translation: X:239.38, Y:-11.67, Z:1.15 [[ 9.99971988e-01 -4.82187328e-03 -5.72477095e-03 2.39384514e+02] [ 4.82375053e-03 9.99988316e-01 3.14155470e-04 -1.16712025e+01] [ 5.72318925e-03 -3.41761537e-04 9.99983564e-01 1.14646622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24071405700002 meters Centerline goodness : 0.994798 with order 1 Centerline is valid? [True, True] Translation: X:239.44, Y:-11.67, Z:1.15 [[ 9.99966761e-01 -5.80557935e-03 -5.72477095e-03 2.39443840e+02] [ 5.80747267e-03 9.99983087e-01 3.14155470e-04 -1.16723986e+01] [ 5.72285028e-03 -3.47391478e-04 9.99983564e-01 1.14687939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30071405700002 meters Centerline goodness : 0.994264 with order 1 Centerline is valid? [True, True] Translation: X:239.50, Y:-11.67, Z:1.15 [[ 9.99978322e-01 -3.25317672e-03 -5.72477675e-03 2.39503901e+02] [ 3.25502775e-03 9.99994653e-01 3.14049739e-04 -1.16726419e+01] [ 5.72372448e-03 -3.32677238e-04 9.99983564e-01 1.15381719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36071405700002 meters Centerline goodness : 0.994227 with order 1 Centerline is valid? [True, True] Translation: X:239.56, Y:-11.67, Z:1.15 [[ 9.99978014e-01 -3.34635172e-03 -5.72477675e-03 2.39564029e+02] [ 3.34820428e-03 9.99994345e-01 3.14049739e-04 -1.16745838e+01] [ 5.72369346e-03 -3.33210556e-04 9.99983564e-01 1.15360374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.420714057 meters Centerline goodness : 0.993724 with order 1 Centerline is valid? [True, True] Translation: X:239.62, Y:-11.68, Z:1.14 [[ 9.99966339e-01 -5.87777720e-03 -5.72478831e-03 2.39622153e+02] [ 5.87966989e-03 9.99982665e-01 3.13839003e-04 -1.16804041e+01] [ 5.72284439e-03 -3.47488305e-04 9.99983564e-01 1.14454150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.480714057 meters Centerline goodness : 0.994619 with order 1 Centerline is valid? [True, True] Translation: X:239.68, Y:-11.68, Z:1.15 [[ 9.99901245e-01 -1.28346006e-02 -5.72480538e-03 2.39682547e+02] [ 1.28366051e-02 9.99917558e-01 3.13527224e-04 -1.16781006e+01] [ 5.72030942e-03 -3.86983327e-04 9.99983564e-01 1.14904504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.540714057 meters Centerline goodness : 0.995003 with order 1 Centerline is valid? [True, True] Translation: X:239.74, Y:-11.68, Z:1.15 [[ 9.99930446e-01 -1.03116104e-02 -5.72481099e-03 2.39743480e+02] [ 1.03135731e-02 9.99946765e-01 3.13424809e-04 -1.16791732e+01] [ 5.72127431e-03 -3.72446265e-04 9.99983564e-01 1.15204550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.600714057 meters Centerline goodness : 0.994791 with order 1 Centerline is valid? [True, True] Translation: X:239.81, Y:-11.68, Z:1.16 [[ 9.99918544e-01 -1.14075522e-02 -5.72479416e-03 2.39806178e+02] [ 1.14095346e-02 9.99934860e-01 3.13731947e-04 -1.16789137e+01] [ 5.72084233e-03 -3.79023628e-04 9.99983564e-01 1.15756570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.660714057 meters Centerline goodness : 0.994578 with order 1 Centerline is valid? [True, True] Translation: X:239.87, Y:-11.68, Z:1.16 [[ 9.99869754e-01 -1.50897697e-02 -5.72477088e-03 2.39867334e+02] [ 1.50918145e-02 9.99886063e-01 3.14156146e-04 -1.16807798e+01] [ 5.71937807e-03 -4.00512409e-04 9.99983564e-01 1.15697147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.720714057 meters Centerline goodness : 0.995061 with order 1 Centerline is valid? [True, True] Translation: X:239.93, Y:-11.68, Z:1.16 [[ 9.99841314e-01 -1.68693178e-02 -5.72469628e-03 2.39929157e+02] [ 1.68713994e-02 9.99857618e-01 3.15509641e-04 -1.16829498e+01] [ 5.71855876e-03 -4.12043212e-04 9.99983564e-01 1.15958643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.780714057 meters Centerline goodness : 0.995043 with order 1 Centerline is valid? [True, True] Translation: X:239.99, Y:-11.69, Z:1.16 [[ 9.99714310e-01 -2.32061727e-02 -5.72467252e-03 2.39991737e+02] [ 2.32083600e-02 9.99730600e-01 3.15940161e-04 -1.16866473e+01] [ 5.71579853e-03 -4.48710162e-04 9.99983564e-01 1.15794064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.840714057 meters Centerline goodness : 0.994513 with order 1 Centerline is valid? [True, True] Translation: X:240.05, Y:-11.69, Z:1.16 [[ 9.99667783e-01 -2.51307261e-02 -5.72457568e-03 2.40053517e+02] [ 2.51329547e-02 9.99684067e-01 3.17685268e-04 -1.16891732e+01] [ 5.71478343e-03 -4.61455228e-04 9.99983564e-01 1.16152434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90071405700002 meters Centerline goodness : 0.994039 with order 1 Centerline is valid? [True, True] Translation: X:240.11, Y:-11.69, Z:1.16 [[ 9.99454472e-01 -3.25267402e-02 -5.72455137e-03 2.40114319e+02] [ 3.25290917e-02 9.99470738e-01 3.18122690e-04 -1.16883101e+01] [ 5.71117409e-03 -5.04163602e-04 9.99983564e-01 1.16135471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96071405700002 meters Centerline goodness : 0.995469 with order 1 Centerline is valid? [True, True] Translation: X:240.18, Y:-11.69, Z:1.16 [[ 9.99501997e-01 -3.10320491e-02 -5.72453935e-03 2.40175641e+02] [ 3.10343775e-02 9.99518267e-01 3.18338784e-04 -1.16885927e+01] [ 5.71190295e-03 -4.95837766e-04 9.99983564e-01 1.16275318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02071405700002 meters Centerline goodness : 0.994525 with order 1 Centerline is valid? [True, True] Translation: X:240.24, Y:-11.69, Z:1.16 [[ 9.99671345e-01 -2.49886352e-02 -5.72452198e-03 2.40238228e+02] [ 2.49908669e-02 9.99687629e-01 3.18650894e-04 -1.16883680e+01] [ 5.71477115e-03 -4.61606935e-04 9.99983564e-01 1.16437747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08071405700002 meters Centerline goodness : 0.994343 with order 1 Centerline is valid? [True, True] Translation: X:240.30, Y:-11.69, Z:1.17 [[ 9.99907257e-01 -1.23574610e-02 -5.72449900e-03 2.40300460e+02] [ 1.23594892e-02 9.99923568e-01 3.19063178e-04 -1.16883187e+01] [ 5.72011865e-03 -3.89785471e-04 9.99983564e-01 1.16653647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14071405700003 meters Centerline goodness : 0.993114 with order 1 Centerline is valid? [True, True] Translation: X:240.36, Y:-11.69, Z:1.17 [[ 9.99975146e-01 -4.11561814e-03 -5.72447544e-03 2.40363118e+02] [ 4.11751427e-03 9.99991472e-01 3.19485380e-04 -1.16875994e+01] [ 5.72311174e-03 -3.43048049e-04 9.99983564e-01 1.16662345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.200714057 meters Centerline goodness : 0.992611 with order 1 Centerline is valid? [True, True] Translation: X:240.42, Y:-11.69, Z:1.16 [[ 9.99983588e-01 -2.31311709e-04 -5.72445219e-03 2.40422583e+02] [ 2.33146777e-04 9.99999922e-01 3.19901315e-04 -1.16893108e+01] [ 5.72437775e-03 -3.21230702e-04 9.99983564e-01 1.16314586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.260714057 meters Centerline goodness : 0.991053 with order 1 Centerline is valid? [True, True] Translation: X:240.48, Y:-11.69, Z:1.15 [[ 9.99942118e-01 9.10991381e-03 -5.72446414e-03 2.40481110e+02] [-9.10823262e-03 9.99958468e-01 3.19687469e-04 -1.16947479e+01] [ 5.72713871e-03 -2.67529214e-04 9.99983564e-01 1.15482064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.320714057 meters Centerline goodness : 0.990754 with order 1 Centerline is valid? [True, True] Translation: X:240.54, Y:-11.70, Z:1.16 [[ 9.99843490e-01 1.67398987e-02 -5.72454727e-03 2.40538782e+02] [-1.67383509e-02 9.99859853e-01 3.18191802e-04 -1.16958215e+01] [ 5.72907149e-03 -2.22322521e-04 9.99983564e-01 1.15860883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.380714057 meters Centerline goodness : 0.989938 with order 1 Centerline is valid? [True, True] Translation: X:240.60, Y:-11.70, Z:1.16 [[ 9.99768195e-01 2.07553589e-02 -5.72457641e-03 2.40597048e+02] [-2.07538798e-02 9.99784565e-01 3.17666624e-04 -1.16980452e+01] [ 5.72993642e-03 -1.98785817e-04 9.99983564e-01 1.16189645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.440714057 meters Centerline goodness : 0.989577 with order 1 Centerline is valid? [True, True] Translation: X:240.65, Y:-11.70, Z:1.17 [[ 9.99740050e-01 2.20694760e-02 -5.72461094e-03 2.40654326e+02] [-2.20680220e-02 9.99756421e-01 3.17043150e-04 -1.16999939e+01] [ 5.73021353e-03 -1.90629895e-04 9.99983564e-01 1.16808751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.500714057 meters Centerline goodness : 0.990325 with order 1 Centerline is valid? [True, True] Translation: X:240.71, Y:-11.70, Z:1.17 [[ 9.99775553e-01 2.03978481e-02 -5.72465271e-03 2.40712263e+02] [-2.03963711e-02 9.99791922e-01 3.16287101e-04 -1.17040020e+01] [ 5.72991312e-03 -1.99453970e-04 9.99983564e-01 1.16910163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.560714057 meters Centerline goodness : 0.990126 with order 1 Centerline is valid? [True, True] Translation: X:240.77, Y:-11.71, Z:1.17 [[ 9.99844304e-01 1.66912092e-02 -5.72468554e-03 2.40770178e+02] [-1.66896749e-02 9.99860668e-01 3.15691936e-04 -1.17124852e+01] [ 5.72915718e-03 -2.20099644e-04 9.99983564e-01 1.16644871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62071405700001 meters Centerline goodness : 0.989606 with order 1 Centerline is valid? [True, True] Translation: X:240.83, Y:-11.72, Z:1.16 [[ 9.99945834e-01 8.69237328e-03 -5.72472090e-03 2.40828035e+02] [-8.69071176e-03 9.99962185e-01 3.15049397e-04 -1.17202724e+01] [ 5.72724295e-03 -2.65280433e-04 9.99983564e-01 1.16291654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68071405700002 meters Centerline goodness : 0.989553 with order 1 Centerline is valid? [True, True] Translation: X:240.89, Y:-11.73, Z:1.17 [[ 9.99983613e-01 -3.35083980e-05 -5.72474969e-03 2.40885951e+02] [ 3.53095541e-05 9.99999950e-01 3.14525391e-04 -1.17273318e+01] [ 5.72473886e-03 -3.14722375e-04 9.99983564e-01 1.16673717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74071405700002 meters Centerline goodness : 0.989263 with order 1 Centerline is valid? [True, True] Translation: X:240.94, Y:-11.74, Z:1.17 [[ 9.99957141e-01 -7.27626808e-03 -5.72477611e-03 2.40943232e+02] [ 7.27818477e-03 9.99973464e-01 3.14043624e-04 -1.17356698e+01] [ 5.72233914e-03 -3.55696143e-04 9.99983564e-01 1.16653208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80071405700002 meters Centerline goodness : 0.990657 with order 1 Centerline is valid? [True, True] Translation: X:241.00, Y:-11.74, Z:1.17 [[ 9.99902353e-01 -1.27480017e-02 -5.72480134e-03 2.41003631e+02] [ 1.27500051e-02 9.99918666e-01 3.13583170e-04 -1.17410672e+01] [ 5.72033816e-03 -3.86543796e-04 9.99983564e-01 1.16882580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86071405700002 meters Centerline goodness : 0.990926 with order 1 Centerline is valid? [True, True] Translation: X:241.07, Y:-11.75, Z:1.16 [[ 9.99805627e-01 -1.88662483e-02 -5.72480134e-03 2.41066003e+02] [ 1.88683514e-02 9.99821928e-01 3.13583170e-04 -1.17466020e+01] [ 5.71786577e-03 -4.21539781e-04 9.99983564e-01 1.16481221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.920714057 meters Centerline goodness : 0.991005 with order 1 Centerline is valid? [True, True] Translation: X:241.13, Y:-11.75, Z:1.17 [[ 9.99784520e-01 -1.99534986e-02 -5.72472259e-03 2.41128237e+02] [ 1.99556276e-02 9.99800817e-01 3.15014142e-04 -1.17507498e+01] [ 5.71729669e-03 -4.29186695e-04 9.99983564e-01 1.16581733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.980714057 meters Centerline goodness : 0.991866 with order 1 Centerline is valid? [True, True] Translation: X:241.19, Y:-11.76, Z:1.16 [[ 9.99700876e-01 -2.37778675e-02 -5.72469869e-03 2.41189537e+02] [ 2.37800613e-02 9.99717165e-01 3.15447971e-04 -1.17556610e+01] [ 5.71557886e-03 -4.51487299e-04 9.99983564e-01 1.16483013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.040714057 meters Centerline goodness : 0.992030 with order 1 Centerline is valid? [True, True] Translation: X:241.25, Y:-11.76, Z:1.17 [[ 9.99701662e-01 -2.37447700e-02 -5.72468096e-03 2.41251230e+02] [ 2.37469651e-02 9.99717951e-01 3.15769464e-04 -1.17588478e+01] [ 5.71556844e-03 -4.51619057e-04 9.99983564e-01 1.17052906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.100714057 meters Centerline goodness : 0.991950 with order 1 Centerline is valid? [True, True] Translation: X:241.31, Y:-11.77, Z:1.16 [[ 9.99741608e-01 -2.19987782e-02 -5.72465702e-03 2.41313022e+02] [ 2.20009473e-02 9.99757900e-01 3.16202855e-04 -1.17662994e+01] [ 5.71631500e-03 -4.42069028e-04 9.99983564e-01 1.16158519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.160714057 meters Centerline goodness : 0.992752 with order 1 Centerline is valid? [True, True] Translation: X:241.37, Y:-11.77, Z:1.17 [[ 9.99760828e-01 -2.11072416e-02 -5.72463279e-03 2.41374899e+02] [ 2.11093987e-02 9.99777122e-01 3.16640872e-04 -1.17658903e+01] [ 5.71667348e-03 -4.37408696e-04 9.99983564e-01 1.17010969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.220714057 meters Centerline goodness : 0.992243 with order 1 Centerline is valid? [True, True] Translation: X:241.44, Y:-11.77, Z:1.17 [[ 9.99811053e-01 -1.85765420e-02 -5.72460882e-03 2.41436464e+02] [ 1.85786603e-02 9.99827352e-01 3.17073634e-04 -1.17680384e+01] [ 5.71773034e-03 -4.23369286e-04 9.99983564e-01 1.16527398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.280714057 meters Centerline goodness : 0.991615 with order 1 Centerline is valid? [True, True] Translation: X:241.50, Y:-11.77, Z:1.16 [[ 9.99874538e-01 -1.47695023e-02 -5.72459095e-03 2.41498375e+02] [ 1.47715603e-02 9.99890844e-01 3.17395902e-04 -1.17700172e+01] [ 5.71927830e-03 -4.01917221e-04 9.99983564e-01 1.16400259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.340714057 meters Centerline goodness : 0.992547 with order 1 Centerline is valid? [True, True] Translation: X:241.56, Y:-11.77, Z:1.16 [[ 9.99876560e-01 -1.46319751e-02 -5.72456835e-03 2.41560117e+02] [ 1.46340333e-02 9.99892866e-01 3.17802980e-04 -1.17727871e+01] [ 5.71930497e-03 -4.01537274e-04 9.99983564e-01 1.16362046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40071405700002 meters Centerline goodness : 0.992965 with order 1 Centerline is valid? [True, True] Translation: X:241.62, Y:-11.77, Z:1.17 [[ 9.99818909e-01 -1.81488133e-02 -5.72454579e-03 2.41622005e+02] [ 1.81509311e-02 9.99835208e-01 3.18208953e-04 -1.17732093e+01] [ 5.71782731e-03 -4.22057164e-04 9.99983564e-01 1.16954865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46071405700002 meters Centerline goodness : 0.993042 with order 1 Centerline is valid? [True, True] Translation: X:241.68, Y:-11.77, Z:1.17 [[ 9.99771732e-01 -2.05843060e-02 -5.72452166e-03 2.41683078e+02] [ 2.05864660e-02 9.99788025e-01 3.18642334e-04 -1.17744369e+01] [ 5.71674918e-03 -4.36417268e-04 9.99983564e-01 1.17116571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52071405700002 meters Centerline goodness : 0.993314 with order 1 Centerline is valid? [True, True] Translation: X:241.75, Y:-11.78, Z:1.17 [[ 9.99775912e-01 -2.03802916e-02 -5.72450379e-03 2.41745047e+02] [ 2.03824501e-02 9.99792205e-01 3.18963040e-04 -1.17766233e+01] [ 5.71681371e-03 -4.35570976e-04 9.99983564e-01 1.17390579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58071405700002 meters Centerline goodness : 0.992301 with order 1 Centerline is valid? [True, True] Translation: X:241.81, Y:-11.78, Z:1.18 [[ 9.99795036e-01 -1.94194824e-02 -5.72447927e-03 2.41807324e+02] [ 1.94216277e-02 9.99811331e-01 3.19402526e-04 -1.17797792e+01] [ 5.71719661e-03 -4.30515766e-04 9.99983564e-01 1.17515283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64071405700003 meters Centerline goodness : 0.992112 with order 1 Centerline is valid? [True, True] Translation: X:241.87, Y:-11.78, Z:1.17 [[ 9.99775106e-01 -2.04197926e-02 -5.72445464e-03 2.41868672e+02] [ 2.04219567e-02 9.99791399e-01 3.19843355e-04 -1.17831936e+01] [ 5.71672938e-03 -4.36675989e-04 9.99983564e-01 1.17457351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.700714057 meters Centerline goodness : 0.992053 with order 1 Centerline is valid? [True, True] Translation: X:241.93, Y:-11.79, Z:1.17 [[ 9.99779226e-01 -2.02170831e-02 -5.72443657e-03 2.41930790e+02] [ 2.02192458e-02 9.99795519e-01 3.20166542e-04 -1.17870620e+01] [ 5.71679319e-03 -4.35839647e-04 9.99983564e-01 1.17492489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.760714057 meters Centerline goodness : 0.993743 with order 1 Centerline is valid? [True, True] Translation: X:241.99, Y:-11.79, Z:1.17 [[ 9.99783482e-01 -2.00055024e-02 -5.72441245e-03 2.41992353e+02] [ 2.00076640e-02 9.99799775e-01 3.20597042e-04 -1.17914205e+01] [ 5.71685258e-03 -4.35059748e-04 9.99983564e-01 1.17303299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.820714057 meters Centerline goodness : 0.992481 with order 1 Centerline is valid? [True, True] Translation: X:242.05, Y:-11.80, Z:1.17 [[ 9.99824456e-01 -1.78406552e-02 -5.72439466e-03 2.42054526e+02] [ 1.78427833e-02 9.99840753e-01 3.20914434e-04 -1.17950391e+01] [ 5.71775775e-03 -4.22997233e-04 9.99983564e-01 1.17269772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.880714057 meters Centerline goodness : 0.993084 with order 1 Centerline is valid? [True, True] Translation: X:242.12, Y:-11.80, Z:1.17 [[ 9.99859390e-01 -1.57617051e-02 -5.72437129e-03 2.42115008e+02] [ 1.57638017e-02 9.99875692e-01 3.21330717e-04 -1.17992048e+01] [ 5.71859499e-03 -4.11523389e-04 9.99983564e-01 1.17369280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.940714057 meters Centerline goodness : 0.993037 with order 1 Centerline is valid? [True, True] Translation: X:242.18, Y:-11.81, Z:1.17 [[ 9.99809066e-01 -1.86832114e-02 -5.72435977e-03 2.42177109e+02] [ 1.86853568e-02 9.99825362e-01 3.21535822e-04 -1.18052673e+01] [ 5.71735276e-03 -4.28436135e-04 9.99983564e-01 1.16938930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.000714057 meters Centerline goodness : 0.992652 with order 1 Centerline is valid? [True, True] Translation: X:242.24, Y:-11.81, Z:1.17 [[ 9.99797387e-01 -1.92981302e-02 -5.72433713e-03 2.42238947e+02] [ 1.93002880e-02 9.99813680e-01 3.21938508e-04 -1.18098434e+01] [ 5.71705776e-03 -4.32354634e-04 9.99983564e-01 1.16981416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.060714057 meters Centerline goodness : 0.993106 with order 1 Centerline is valid? [True, True] Translation: X:242.30, Y:-11.81, Z:1.17 [[ 9.99777390e-01 -2.03076844e-02 -5.72431484e-03 2.42301296e+02] [ 2.03098609e-02 9.99793682e-01 3.22334280e-04 -1.18135671e+01] [ 5.71658795e-03 -4.38522563e-04 9.99983564e-01 1.17156318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12071405700001 meters Centerline goodness : 0.993336 with order 1 Centerline is valid? [True, True] Translation: X:242.36, Y:-11.82, Z:1.17 [[ 9.99763403e-01 -2.09850044e-02 -5.72428727e-03 2.42362994e+02] [ 2.09871947e-02 9.99779692e-01 3.22823209e-04 -1.18172858e+01] [ 5.71625172e-03 -4.42883561e-04 9.99983564e-01 1.17232046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18071405700002 meters Centerline goodness : 0.993464 with order 1 Centerline is valid? [True, True] Translation: X:242.42, Y:-11.82, Z:1.18 [[ 9.99835629e-01 -1.72031563e-02 -5.72426561e-03 2.42424246e+02] [ 1.72052872e-02 9.99851926e-01 3.23206859e-04 -1.18217668e+01] [ 5.71785781e-03 -4.21641366e-04 9.99983564e-01 1.17515745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24071405700002 meters Centerline goodness : 0.992812 with order 1 Centerline is valid? [True, True] Translation: X:242.49, Y:-11.83, Z:1.17 [[ 9.99740372e-01 -2.20549877e-02 -5.72424937e-03 2.42486216e+02] [ 2.20571992e-02 9.99756658e-01 3.23494218e-04 -1.18286674e+01] [ 5.71572175e-03 -4.49671138e-04 9.99983564e-01 1.16971802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30071405700002 meters Centerline goodness : 0.993167 with order 1 Centerline is valid? [True, True] Translation: X:242.55, Y:-11.83, Z:1.18 [[ 9.99637408e-01 -2.63113422e-02 -5.72422804e-03 2.42548624e+02] [ 2.63136252e-02 9.99653684e-01 3.23871073e-04 -1.18312408e+01] [ 5.71372417e-03 -4.74378831e-04 9.99983564e-01 1.17697050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36071405700002 meters Centerline goodness : 0.992333 with order 1 Centerline is valid? [True, True] Translation: X:242.61, Y:-11.83, Z:1.18 [[ 9.99727350e-01 -2.26375630e-02 -5.72420657e-03 2.42610793e+02] [ 2.26397883e-02 9.99743635e-01 3.24250164e-04 -1.18335561e+01] [ 5.71539885e-03 -4.53756582e-04 9.99983564e-01 1.17654240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.420714057 meters Centerline goodness : 0.992073 with order 1 Centerline is valid? [True, True] Translation: X:242.67, Y:-11.84, Z:1.18 [[ 9.99801495e-01 -1.90841309e-02 -5.72418259e-03 2.42673143e+02] [ 1.90863007e-02 9.99817787e-01 3.24672892e-04 -1.18367842e+01] [ 5.71694347e-03 -4.33861913e-04 9.99983564e-01 1.18151807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.480714057 meters Centerline goodness : 0.991403 with order 1 Centerline is valid? [True, True] Translation: X:242.74, Y:-11.84, Z:1.18 [[ 9.99759348e-01 -2.11773506e-02 -5.72415756e-03 2.42735121e+02] [ 2.11795570e-02 9.99775635e-01 3.25113647e-04 -1.18406620e+01] [ 5.71598821e-03 -4.46270529e-04 9.99983564e-01 1.18229235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.540714057 meters Centerline goodness : 0.990806 with order 1 Centerline is valid? [True, True] Translation: X:242.80, Y:-11.84, Z:1.18 [[ 9.99582713e-01 -2.83131319e-02 -5.72413304e-03 2.42797632e+02] [ 2.83154570e-02 9.99598984e-01 3.25544696e-04 -1.18448868e+01] [ 5.71262039e-03 -4.87490294e-04 9.99983564e-01 1.18076581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.600714057 meters Centerline goodness : 0.990479 with order 1 Centerline is valid? [True, True] Translation: X:242.86, Y:-11.85, Z:1.18 [[ 9.99584573e-01 -2.82473945e-02 -5.72410279e-03 2.42860115e+02] [ 2.82497216e-02 9.99600844e-01 3.26075853e-04 -1.18489064e+01] [ 5.71260718e-03 -4.87644702e-04 9.99983564e-01 1.18382555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.660714057 meters Centerline goodness : 0.989986 with order 1 Centerline is valid? [True, True] Translation: X:242.92, Y:-11.86, Z:1.17 [[ 9.99509217e-01 -3.07986945e-02 -5.72407851e-03 2.42921239e+02] [ 3.08010655e-02 9.99525481e-01 3.26501438e-04 -1.18561130e+01] [ 5.71130651e-03 -5.02648914e-04 9.99983564e-01 1.17308898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.720714057 meters Centerline goodness : 0.989501 with order 1 Centerline is valid? [True, True] Translation: X:242.98, Y:-11.86, Z:1.18 [[ 9.99514367e-01 -3.06311197e-02 -5.72406043e-03 2.42983325e+02] [ 3.06334897e-02 9.99530631e-01 3.26818054e-04 -1.18601004e+01] [ 5.71136294e-03 -5.02007286e-04 9.99983564e-01 1.17589570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.780714057 meters Centerline goodness : 0.989303 with order 1 Centerline is valid? [True, True] Translation: X:243.05, Y:-11.86, Z:1.18 [[ 9.99581246e-01 -2.83648936e-02 -5.72403691e-03 2.43045549e+02] [ 2.83672291e-02 9.99597516e-01 3.27229609e-04 -1.18632984e+01] [ 5.71245124e-03 -4.89467647e-04 9.99983564e-01 1.18378928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.840714057 meters Centerline goodness : 0.990146 with order 1 Centerline is valid? [True, True] Translation: X:243.11, Y:-11.87, Z:1.18 [[ 9.99518178e-01 -3.05065289e-02 -5.72401234e-03 2.43106687e+02] [ 3.05089017e-02 9.99534441e-01 3.27658798e-04 -1.18678824e+01] [ 5.71135174e-03 -5.02134255e-04 9.99983564e-01 1.18171954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90071405700002 meters Centerline goodness : 0.989858 with order 1 Centerline is valid? [True, True] Translation: X:243.17, Y:-11.87, Z:1.19 [[ 9.99654195e-01 -2.56656816e-02 -5.72399424e-03 2.43169059e+02] [ 2.56679774e-02 9.99670469e-01 3.27974693e-04 -1.18713507e+01] [ 5.71369031e-03 -4.74784632e-04 9.99983564e-01 1.18622951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96071405700002 meters Centerline goodness : 0.990146 with order 1 Centerline is valid? [True, True] Translation: X:243.23, Y:-11.88, Z:1.19 [[ 9.99705838e-01 -2.35684938e-02 -5.72396906e-03 2.43231233e+02] [ 2.35707580e-02 9.99722117e-01 3.28413497e-04 -1.18759165e+01] [ 5.71463826e-03 -4.63235179e-04 9.99983564e-01 1.18535001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02071405700002 meters Centerline goodness : 0.989840 with order 1 Centerline is valid? [True, True] Translation: X:243.29, Y:-11.88, Z:1.18 [[ 9.99744815e-01 -2.18527117e-02 -5.72393798e-03 2.43292886e+02] [ 2.18549511e-02 9.99761098e-01 3.28954349e-04 -1.18809814e+01] [ 5.71538197e-03 -4.53966790e-04 9.99983564e-01 1.17861840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08071405700002 meters Centerline goodness : 0.989458 with order 1 Centerline is valid? [True, True] Translation: X:243.35, Y:-11.88, Z:1.18 [[ 9.99901734e-01 -1.27968069e-02 -5.72391443e-03 2.43354598e+02] [ 1.27989009e-02 9.99918036e-01 3.29363648e-04 -1.18848954e+01] [ 5.71923047e-03 -4.02591097e-04 9.99983564e-01 1.18122531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14071405700003 meters Centerline goodness : 0.990484 with order 1 Centerline is valid? [True, True] Translation: X:243.42, Y:-11.89, Z:1.18 [[ 9.99929757e-01 -1.03787517e-02 -5.72388941e-03 2.43415621e+02] [ 1.03808088e-02 9.99946064e-01 3.29797801e-04 -1.18873135e+01] [ 5.72015780e-03 -3.89193237e-04 9.99983564e-01 1.18236451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.200714057 meters Centerline goodness : 0.990298 with order 1 Centerline is valid? [True, True] Translation: X:243.48, Y:-11.89, Z:1.18 [[ 9.99977872e-01 -3.39008116e-03 -5.72387104e-03 2.43477202e+02] [ 3.39202608e-03 9.99994193e-01 3.30116375e-04 -1.18893240e+01] [ 5.72271868e-03 -3.49524591e-04 9.99983564e-01 1.18215730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.260714057 meters Centerline goodness : 0.989831 with order 1 Centerline is valid? [True, True] Translation: X:243.54, Y:-11.89, Z:1.18 [[ 9.99983583e-01 -2.68596321e-04 -5.72385873e-03 2.43535333e+02] [ 2.70491497e-04 9.99999909e-01 3.30329604e-04 -1.18927622e+01] [ 5.72376949e-03 -3.31872436e-04 9.99983564e-01 1.18334796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.320714057 meters Centerline goodness : 0.990388 with order 1 Centerline is valid? [True, True] Translation: X:243.59, Y:-11.90, Z:1.18 [[ 9.99947669e-01 8.47914217e-03 -5.72387706e-03 2.43594510e+02] [-8.47739171e-03 9.99964012e-01 3.30011702e-04 -1.18970628e+01] [ 5.72646929e-03 -2.81470885e-04 9.99983564e-01 1.17506541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.380714057 meters Centerline goodness : 0.990661 with order 1 Centerline is valid? [True, True] Translation: X:243.65, Y:-11.90, Z:1.18 [[ 9.99914003e-01 1.17992942e-02 -5.72395762e-03 2.43652194e+02] [-1.17976060e-02 9.99930352e-01 3.28608470e-04 -1.18990051e+01] [ 5.72743631e-03 -2.61051214e-04 9.99983564e-01 1.17576421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.440714057 meters Centerline goodness : 0.990298 with order 1 Centerline is valid? [True, True] Translation: X:243.71, Y:-11.90, Z:1.18 [[ 9.99796707e-01 1.93333632e-02 -5.72405596e-03 2.43710268e+02] [-1.93318081e-02 9.99813070e-01 3.26886393e-04 -1.19010018e+01] [ 5.72930578e-03 -2.16163588e-04 9.99983564e-01 1.18061446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.500714057 meters Centerline goodness : 0.990246 with order 1 Centerline is valid? [True, True] Translation: X:243.77, Y:-11.90, Z:1.19 [[ 9.99816121e-01 1.83018844e-02 -5.72408006e-03 2.43768403e+02] [-1.83003148e-02 9.99832482e-01 3.26463951e-04 -1.19017554e+01] [ 5.72909608e-03 -2.21651454e-04 9.99983564e-01 1.18581867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.560714057 meters Centerline goodness : 0.990475 with order 1 Centerline is valid? [True, True] Translation: X:243.83, Y:-11.91, Z:1.19 [[ 9.99795965e-01 1.93716894e-02 -5.72410563e-03 2.43827289e+02] [-1.93701400e-02 9.99812328e-01 3.26015014e-04 -1.19051847e+01] [ 5.72934683e-03 -2.15071768e-04 9.99983564e-01 1.18727339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62071405700001 meters Centerline goodness : 0.989539 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:-11.91, Z:1.19 [[ 9.99722322e-01 2.28585450e-02 -5.72412873e-03 2.43885448e+02] [-2.28570549e-02 9.99738690e-01 3.25608948e-04 -1.19095577e+01] [ 5.73007590e-03 -1.94681809e-04 9.99983564e-01 1.18719537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68071405700002 meters Centerline goodness : 0.989443 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:-11.92, Z:1.18 [[ 9.99581245e-01 2.83649333e-02 -5.72415796e-03 2.43944141e+02] [-2.83635363e-02 9.99597621e-01 3.25094135e-04 -1.19181694e+01] [ 5.73107596e-03 -1.62600637e-04 9.99983564e-01 1.18019434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74071405700002 meters Centerline goodness : 0.988477 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:-11.92, Z:1.18 [[ 9.99398223e-01 3.42114965e-02 -5.72418093e-03 2.44002590e+02] [-3.42101977e-02 9.99414607e-01 3.24689163e-04 -1.19222260e+01] [ 5.73193814e-03 -1.28668411e-04 9.99983564e-01 1.18291461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80071405700002 meters Centerline goodness : 0.987828 with order 1 Centerline is valid? [True, True] Translation: X:244.06, Y:-11.93, Z:1.18 [[ 9.99051285e-01 4.31713272e-02 -5.72426059e-03 2.44061130e+02] [-4.31701835e-02 9.99067681e-01 3.23278699e-04 -1.19296164e+01] [ 5.73288012e-03 -7.58546198e-05 9.99983564e-01 1.18271256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86071405700002 meters Centerline goodness : 0.988692 with order 1 Centerline is valid? [True, True] Translation: X:244.12, Y:-11.94, Z:1.19 [[ 9.99004819e-01 4.42335067e-02 -5.72434555e-03 2.44118170e+02] [-4.42323890e-02 9.99021217e-01 3.21767273e-04 -1.19363040e+01] [ 5.73297555e-03 -6.82455774e-05 9.99983564e-01 1.18870040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.920714057 meters Centerline goodness : 0.989231 with order 1 Centerline is valid? [True, True] Translation: X:244.18, Y:-11.95, Z:1.19 [[ 9.99153801e-01 4.07297627e-02 -5.72437535e-03 2.44176308e+02] [-4.07285906e-02 9.99170195e-01 3.21236157e-04 -1.19474031e+01] [ 5.73270911e-03 -8.78185873e-05 9.99983564e-01 1.18847132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.980714057 meters Centerline goodness : 0.989176 with order 1 Centerline is valid? [True, True] Translation: X:244.23, Y:-11.96, Z:1.19 [[ 9.99162671e-01 4.05115675e-02 -5.72446108e-03 2.44233479e+02] [-4.05104006e-02 9.99179066e-01 3.19701118e-04 -1.19593361e+01] [ 5.73271327e-03 -8.75332115e-05 9.99983564e-01 1.18888205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.040714057 meters Centerline goodness : 0.990599 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:-11.97, Z:1.18 [[ 9.99274338e-01 3.76566987e-02 -5.72449112e-03 2.44289391e+02] [-3.76554880e-02 9.99290730e-01 3.19162353e-04 -1.19733686e+01] [ 5.73244951e-03 -1.03372243e-04 9.99983564e-01 1.18452600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.100714057 meters Centerline goodness : 0.991327 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:-11.98, Z:1.19 [[ 9.99376977e-01 3.48265289e-02 -5.72453089e-03 2.44347569e+02] [-3.48252759e-02 9.99393365e-01 3.18447434e-04 -1.19834127e+01] [ 5.73214861e-03 -1.18890666e-04 9.99983564e-01 1.18793022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.160714057 meters Centerline goodness : 0.991661 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:-11.99, Z:1.19 [[ 9.99534833e-01 2.99557395e-02 -5.72455354e-03 2.44405501e+02] [-2.99544090e-02 9.99551215e-01 3.18039681e-04 -1.19925769e+01] [ 5.73151157e-03 -1.46416122e-04 9.99983564e-01 1.18991435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.220714057 meters Centerline goodness : 0.991832 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:-12.00, Z:1.20 [[ 9.99815025e-01 1.83615077e-02 -5.72457617e-03 2.44463783e+02] [-1.83599896e-02 9.99831391e-01 3.17631927e-04 -1.19985212e+01] [ 5.72944315e-03 -2.12470014e-04 9.99983564e-01 1.19829385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.280714057 meters Centerline goodness : 0.991400 with order 1 Centerline is valid? [True, True] Translation: X:244.52, Y:-12.01, Z:1.20 [[ 9.99866657e-01 1.52937094e-02 -5.72459851e-03 2.44522442e+02] [-1.52921435e-02 9.99883018e-01 3.17228768e-04 -1.20093141e+01] [ 5.72878044e-03 -2.29645087e-04 9.99983564e-01 1.20148778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.340714057 meters Centerline goodness : 0.993204 with order 1 Centerline is valid? [True, True] Translation: X:244.58, Y:-12.01, Z:1.20 [[ 9.99982425e-01 1.54235593e-03 -5.72462158e-03 2.44580481e+02] [-1.54056747e-03 9.99998763e-01 3.16811889e-04 -1.20099466e+01] [ 5.72510314e-03 -3.07987155e-04 9.99983564e-01 1.19868528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40071405700002 meters Centerline goodness : 0.989259 with order 1 Centerline is valid? [True, True] Translation: X:244.64, Y:-12.03, Z:1.19 [[ 9.99920957e-01 1.11940938e-02 -5.72464991e-03 2.44639168e+02] [-1.11924660e-02 9.99937312e-01 3.16299145e-04 -1.20317205e+01] [ 5.72783173e-03 -2.52201194e-04 9.99983564e-01 1.19379016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46071405700002 meters Centerline goodness : 0.989468 with order 1 Centerline is valid? [True, True] Translation: X:244.70, Y:-12.04, Z:1.19 [[ 9.99925237e-01 1.08050092e-02 -5.72466179e-03 2.44697045e+02] [-1.08033763e-02 9.99941592e-01 3.16083946e-04 -1.20361024e+01] [ 5.72774272e-03 -2.54214640e-04 9.99983564e-01 1.19326766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52071405700002 meters Centerline goodness : 0.989237 with order 1 Centerline is valid? [True, True] Translation: X:244.76, Y:-12.04, Z:1.20 [[ 9.99945868e-01 8.68843415e-03 -5.72469043e-03 2.44755576e+02] [-8.68676962e-03 9.99962220e-01 3.15564360e-04 -1.20355908e+01] [ 5.72721591e-03 -2.65818210e-04 9.99983564e-01 1.20329151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58071405700002 meters Centerline goodness : 0.990453 with order 1 Centerline is valid? [True, True] Translation: X:244.81, Y:-12.04, Z:1.20 [[ 9.99919369e-01 1.13350768e-02 -5.72471414e-03 2.44813761e+02] [-1.13334580e-02 9.99935725e-01 3.15133794e-04 -1.20376427e+01] [ 5.72791824e-03 -2.50227577e-04 9.99983564e-01 1.20058084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64071405700003 meters Centerline goodness : 0.989858 with order 1 Centerline is valid? [True, True] Translation: X:244.87, Y:-12.04, Z:1.21 [[ 9.99891887e-01 1.35440817e-02 -5.72474355e-03 2.44872482e+02] [-1.35425021e-02 9.99908247e-01 3.14598560e-04 -1.20383819e+01] [ 5.72847923e-03 -2.37037196e-04 9.99983564e-01 1.20714102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.700714057 meters Centerline goodness : 0.990471 with order 1 Centerline is valid? [True, True] Translation: X:244.93, Y:-12.04, Z:1.20 [[ 9.99842583e-01 1.67939635e-02 -5.72476674e-03 2.44930071e+02] [-1.67924395e-02 9.99858948e-01 3.14176068e-04 -1.20439159e+01] [ 5.72923551e-03 -2.17993812e-04 9.99983564e-01 1.20279473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.760714057 meters Centerline goodness : 0.989805 with order 1 Centerline is valid? [True, True] Translation: X:244.99, Y:-12.05, Z:1.20 [[ 9.99887526e-01 1.38622659e-02 -5.72479516e-03 2.44989158e+02] [-1.38606969e-02 9.99903887e-01 3.13657191e-04 -1.20456580e+01] [ 5.72859294e-03 -2.34272262e-04 9.99983564e-01 1.20425271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.820714057 meters Centerline goodness : 0.990500 with order 1 Centerline is valid? [True, True] Translation: X:245.05, Y:-12.05, Z:1.21 [[ 9.99894081e-01 1.33810816e-02 -5.72481893e-03 2.45047534e+02] [-1.33795072e-02 9.99910441e-01 3.13222828e-04 -1.20473555e+01] [ 5.72849748e-03 -2.36594395e-04 9.99983564e-01 1.20553414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.880714057 meters Centerline goodness : 0.989852 with order 1 Centerline is valid? [True, True] Translation: X:245.11, Y:-12.05, Z:1.21 [[ 9.99971084e-01 5.00570276e-03 -5.72485425e-03 2.45106229e+02] [-5.00399508e-03 9.99987431e-01 3.12576006e-04 -1.20476096e+01] [ 5.72634695e-03 -2.83919825e-04 9.99983564e-01 1.21078062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.940714057 meters Centerline goodness : 0.991443 with order 1 Centerline is valid? [True, True] Translation: X:245.17, Y:-12.05, Z:1.21 [[ 9.99980243e-01 2.59621517e-03 -5.72487748e-03 2.45165023e+02] [-2.59447055e-03 9.99996586e-01 3.12149901e-04 -1.20499656e+01] [ 5.72566834e-03 -2.97290708e-04 9.99983564e-01 1.21393350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.000714057 meters Centerline goodness : 0.991383 with order 1 Centerline is valid? [True, True] Translation: X:245.22, Y:-12.06, Z:1.21 [[ 9.99981920e-01 1.84013555e-03 -5.72490133e-03 2.45223688e+02] [-1.83838107e-03 9.99998262e-01 3.11711920e-04 -1.20567527e+01] [ 5.72546497e-03 -3.01181733e-04 9.99983564e-01 1.20650517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.060714057 meters Centerline goodness : 0.991769 with order 1 Centerline is valid? [True, True] Translation: X:245.28, Y:-12.06, Z:1.21 [[ 9.99974501e-01 -4.26890839e-03 -5.72492482e-03 2.45281395e+02] [ 4.27076020e-03 9.99990832e-01 3.11279859e-04 -1.20592620e+01] [ 5.72354351e-03 -3.35721703e-04 9.99983564e-01 1.20726786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12071405700001 meters Centerline goodness : 0.993079 with order 1 Centerline is valid? [True, True] Translation: X:245.34, Y:-12.05, Z:1.21 [[ 9.99834326e-01 -1.72784961e-02 -5.72495346e-03 2.45341486e+02] [ 1.72805572e-02 9.99850632e-01 3.10752144e-04 -1.20518555e+01] [ 5.71872901e-03 -4.09631047e-04 9.99983564e-01 1.21109907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18071405700002 meters Centerline goodness : 0.992518 with order 1 Centerline is valid? [True, True] Translation: X:245.40, Y:-12.06, Z:1.21 [[ 9.99875174e-01 -1.47261916e-02 -5.72495906e-03 2.45402959e+02] [ 1.47282105e-02 9.99891486e-01 3.10648930e-04 -1.20607193e+01] [ 5.71976315e-03 -3.94928556e-04 9.99983564e-01 1.20719413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24071405700002 meters Centerline goodness : 0.991829 with order 1 Centerline is valid? [True, True] Translation: X:245.47, Y:-12.06, Z:1.21 [[ 9.99712511e-01 -2.32834764e-02 -5.72493579e-03 2.45465800e+02] [ 2.32856373e-02 9.99728804e-01 3.11077199e-04 -1.20589457e+01] [ 5.71614026e-03 -4.44296546e-04 9.99983564e-01 1.20949929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30071405700002 meters Centerline goodness : 0.991018 with order 1 Centerline is valid? [True, True] Translation: X:245.53, Y:-12.06, Z:1.21 [[ 9.99656129e-01 -2.55900335e-02 -5.72485380e-03 2.45527153e+02] [ 2.55922405e-02 9.99672416e-01 3.12578867e-04 -1.20565655e+01] [ 5.71497953e-03 -4.58983215e-04 9.99983564e-01 1.21055867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36071405700002 meters Centerline goodness : 0.991464 with order 1 Centerline is valid? [True, True] Translation: X:245.59, Y:-12.05, Z:1.21 [[ 9.99496751e-01 -3.12005040e-02 -5.72483638e-03 2.45588324e+02] [ 3.12028042e-02 9.99513025e-01 3.12897633e-04 -1.20549519e+01] [ 5.71228596e-03 -4.91371116e-04 9.99983564e-01 1.21017044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.420714057 meters Centerline goodness : 0.991081 with order 1 Centerline is valid? [True, True] Translation: X:245.65, Y:-12.05, Z:1.21 [[ 9.99417046e-01 -3.36570209e-02 -5.72481953e-03 2.45649876e+02] [ 3.36593629e-02 9.99433314e-01 3.13205614e-04 -1.20512690e+01] [ 5.71103379e-03 -5.05716808e-04 9.99983564e-01 1.21147950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.480714057 meters Centerline goodness : 0.991858 with order 1 Centerline is valid? [True, True] Translation: X:245.71, Y:-12.05, Z:1.21 [[ 9.99503619e-01 -3.09796978e-02 -5.72477631e-03 2.45713228e+02] [ 3.09820006e-02 9.99519893e-01 3.13993577e-04 -1.20483654e+01] [ 5.71230038e-03 -4.91202740e-04 9.99983564e-01 1.21208103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.540714057 meters Centerline goodness : 0.991756 with order 1 Centerline is valid? [True, True] Translation: X:245.78, Y:-12.05, Z:1.22 [[ 9.99474646e-01 -3.19007881e-02 -5.72474408e-03 2.45775210e+02] [ 3.19031092e-02 9.99490917e-01 3.14580172e-04 -1.20462271e+01] [ 5.71179435e-03 -4.97052042e-04 9.99983564e-01 1.21779876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.600714057 meters Centerline goodness : 0.992502 with order 1 Centerline is valid? [True, True] Translation: X:245.84, Y:-12.04, Z:1.22 [[ 9.99308741e-01 -3.67323874e-02 -5.72471901e-03 2.45837113e+02] [ 3.67347898e-02 9.99325000e-01 3.15035764e-04 -1.20444132e+01] [ 5.70928281e-03 -5.25114342e-04 9.99983564e-01 1.21788723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.660714057 meters Centerline goodness : 0.991377 with order 1 Centerline is valid? [True, True] Translation: X:245.90, Y:-12.05, Z:1.21 [[ 9.99333897e-01 -3.60415061e-02 -5.72469436e-03 2.45899109e+02] [ 3.60438998e-02 9.99350158e-01 3.15482987e-04 -1.20477716e+01] [ 5.70960373e-03 -5.21613153e-04 9.99983564e-01 1.21174617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.720714057 meters Centerline goodness : 0.992454 with order 1 Centerline is valid? [True, True] Translation: X:245.96, Y:-12.05, Z:1.21 [[ 9.99201218e-01 -3.95493787e-02 -5.72467026e-03 2.45961247e+02] [ 3.95518320e-02 9.99217470e-01 3.15919731e-04 -1.20460535e+01] [ 5.70769610e-03 -5.42088576e-04 9.99983564e-01 1.21477161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.780714057 meters Centerline goodness : 0.992925 with order 1 Centerline is valid? [True, True] Translation: X:246.02, Y:-12.05, Z:1.21 [[ 9.99217561e-01 -3.91342975e-02 -5.72464629e-03 2.46024060e+02] [ 3.91367464e-02 9.99233814e-01 3.16353506e-04 -1.20463060e+01] [ 5.70787987e-03 -5.40150009e-04 9.99983564e-01 1.21483358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.840714057 meters Centerline goodness : 0.993352 with order 1 Centerline is valid? [True, True] Translation: X:246.09, Y:-12.05, Z:1.21 [[ 9.99110242e-01 -4.17845936e-02 -5.72461014e-03 2.46086796e+02] [ 4.17870894e-02 9.99126488e-01 3.17006253e-04 -1.20480372e+01] [ 5.70636365e-03 -5.55938990e-04 9.99983564e-01 1.21483471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90071405700002 meters Centerline goodness : 0.994054 with order 1 Centerline is valid? [True, True] Translation: X:246.15, Y:-12.05, Z:1.21 [[ 9.99283187e-01 -3.74211278e-02 -5.72458019e-03 2.46147726e+02] [ 3.74235556e-02 9.99299443e-01 3.17546170e-04 -1.20515447e+01] [ 5.70868686e-03 -5.31552694e-04 9.99983564e-01 1.21413565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96071405700002 meters Centerline goodness : 0.993653 with order 1 Centerline is valid? [True, True] Translation: X:246.21, Y:-12.05, Z:1.22 [[ 9.99197853e-01 -3.96343354e-02 -5.72456255e-03 2.46209629e+02] [ 3.96368010e-02 9.99214103e-01 3.17863881e-04 -1.20526994e+01] [ 5.70746531e-03 -5.44512254e-04 9.99983564e-01 1.21531368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02071405700002 meters Centerline goodness : 0.993794 with order 1 Centerline is valid? [True, True] Translation: X:246.27, Y:-12.05, Z:1.22 [[ 9.99237112e-01 -3.86319047e-02 -5.72453892e-03 2.46271392e+02] [ 3.86343565e-02 9.99253364e-01 3.18288849e-04 -1.20546625e+01] [ 5.70796867e-03 -5.39209908e-04 9.99983564e-01 1.21574054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08071405700002 meters Centerline goodness : 0.994640 with order 1 Centerline is valid? [True, True] Translation: X:246.33, Y:-12.06, Z:1.21 [[ 9.99308364e-01 -3.67426742e-02 -5.72451419e-03 2.46333539e+02] [ 3.67450977e-02 9.99324620e-01 3.18732949e-04 -1.20578522e+01] [ 5.70893687e-03 -5.28860335e-04 9.99983564e-01 1.21407961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14071405700003 meters Centerline goodness : 0.993981 with order 1 Centerline is valid? [True, True] Translation: X:246.40, Y:-12.06, Z:1.22 [[ 9.99424254e-01 -3.34423363e-02 -5.72448958e-03 2.46395876e+02] [ 3.34447087e-02 9.99440518e-01 3.19174430e-04 -1.20602611e+01] [ 5.71061289e-03 -5.10444553e-04 9.99983564e-01 1.21557188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.200714057 meters Centerline goodness : 0.994244 with order 1 Centerline is valid? [True, True] Translation: X:246.46, Y:-12.06, Z:1.21 [[ 9.99465543e-01 -3.21847502e-02 -5.72446487e-03 2.46458640e+02] [ 3.21871046e-02 9.99481810e-01 3.19617013e-04 -1.20617627e+01] [ 5.71121171e-03 -5.03700142e-04 9.99983564e-01 1.21295454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.260714057 meters Centerline goodness : 0.994178 with order 1 Centerline is valid? [True, True] Translation: X:246.52, Y:-12.06, Z:1.22 [[ 9.99607054e-01 -2.74402714e-02 -5.72443388e-03 2.46521707e+02] [ 2.74425517e-02 9.99623331e-01 3.20170978e-04 -1.20618460e+01] [ 5.71349209e-03 -4.77138241e-04 9.99983564e-01 1.21517360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.320714057 meters Centerline goodness : 0.994077 with order 1 Centerline is valid? [True, True] Translation: X:246.58, Y:-12.06, Z:1.22 [[ 9.99715298e-01 -2.31636383e-02 -5.72439670e-03 2.46582725e+02] [ 2.31658528e-02 9.99731584e-01 3.20834509e-04 -1.20613915e+01] [ 5.71542848e-03 -4.53353698e-04 9.99983564e-01 1.21613491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.380714057 meters Centerline goodness : 0.994420 with order 1 Centerline is valid? [True, True] Translation: X:246.64, Y:-12.06, Z:1.22 [[ 9.99846231e-01 -1.65754664e-02 -5.72437840e-03 2.46644597e+02] [ 1.65775754e-02 9.99862531e-01 3.21160649e-04 -1.20629750e+01] [ 5.71826809e-03 -4.16007579e-04 9.99983564e-01 1.21821029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.440714057 meters Centerline goodness : 0.993358 with order 1 Centerline is valid? [True, True] Translation: X:246.71, Y:-12.07, Z:1.21 [[ 9.99966785e-01 -5.80184134e-03 -5.72435374e-03 2.46705455e+02] [ 5.80377705e-03 9.99983106e-01 3.21599482e-04 -1.20684270e+01] [ 5.72239117e-03 -3.54811673e-04 9.99983564e-01 1.21111271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.500714057 meters Centerline goodness : 0.993250 with order 1 Centerline is valid? [True, True] Translation: X:246.77, Y:-12.07, Z:1.22 [[ 9.99972924e-01 -4.62414692e-03 -5.72433564e-03 2.46765772e+02] [ 4.62606524e-03 9.99989248e-01 3.21921416e-04 -1.20672920e+01] [ 5.72278548e-03 -3.48393850e-04 9.99983564e-01 1.21622522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.560714057 meters Centerline goodness : 0.992232 with order 1 Centerline is valid? [True, True] Translation: X:246.83, Y:-12.07, Z:1.21 [[ 9.99935367e-01 9.82316012e-03 -5.72433564e-03 2.46825600e+02] [-9.82147783e-03 9.99951716e-01 3.21921416e-04 -1.20717382e+01] [ 5.72722153e-03 -2.65679174e-04 9.99983564e-01 1.21317070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62071405700001 meters Centerline goodness : 0.992616 with order 1 Centerline is valid? [True, True] Translation: X:246.88, Y:-12.07, Z:1.21 [[ 9.99917198e-01 1.15251059e-02 -5.72434735e-03 2.46884206e+02] [-1.15234526e-02 9.99933551e-01 3.21713041e-04 -1.20749075e+01] [ 5.72767475e-03 -2.55722158e-04 9.99983564e-01 1.20784154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68071405700002 meters Centerline goodness : 0.992050 with order 1 Centerline is valid? [True, True] Translation: X:246.94, Y:-12.08, Z:1.21 [[ 9.99899239e-01 1.29901605e-02 -5.72437047e-03 2.46942575e+02] [-1.29885335e-02 9.99915594e-01 3.21301207e-04 -1.20764443e+01] [ 5.72806105e-03 -2.46917654e-04 9.99983564e-01 1.21005117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74071405700002 meters Centerline goodness : 0.992742 with order 1 Centerline is valid? [True, True] Translation: X:247.00, Y:-12.08, Z:1.21 [[ 9.99870427e-01 1.50453058e-02 -5.72439344e-03 2.47000905e+02] [-1.50437148e-02 9.99886785e-01 3.20891449e-04 -1.20804492e+01] [ 5.72857326e-03 -2.34733728e-04 9.99983564e-01 1.21005393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80071405700002 meters Centerline goodness : 0.993621 with order 1 Centerline is valid? [True, True] Translation: X:247.06, Y:-12.08, Z:1.22 [[ 9.99945809e-01 8.69540148e-03 -5.72441648e-03 2.47058657e+02] [-8.69370899e-03 9.99962158e-01 3.20479786e-04 -1.20772926e+01] [ 5.72698656e-03 -2.70696007e-04 9.99983564e-01 1.22066035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86071405700002 meters Centerline goodness : 0.992600 with order 1 Centerline is valid? [True, True] Translation: X:247.12, Y:-12.09, Z:1.21 [[ 9.99889588e-01 1.37128903e-02 -5.72444474e-03 2.47117176e+02] [-1.37112828e-02 9.99905945e-01 3.19974243e-04 -1.20854800e+01] [ 5.72829410e-03 -2.41449433e-04 9.99983564e-01 1.21392950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.920714057 meters Centerline goodness : 0.994988 with order 1 Centerline is valid? [True, True] Translation: X:247.18, Y:-12.08, Z:1.23 [[ 9.99962958e-01 6.42740418e-03 -5.72452526e-03 2.47176743e+02] [-6.42568576e-03 9.99979304e-01 3.18527064e-04 -1.20777299e+01] [ 5.72645409e-03 -2.81731265e-04 9.99983564e-01 1.22597992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.980714057 meters Centerline goodness : 0.992329 with order 1 Centerline is valid? [True, True] Translation: X:247.24, Y:-12.10, Z:1.21 [[ 9.99683187e-01 2.45102906e-02 -5.72454855e-03 2.47236066e+02] [-2.45088705e-02 9.99699562e-01 3.18108088e-04 -1.20990219e+01] [ 5.73062560e-03 -1.77705088e-04 9.99983564e-01 1.21009579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.040714057 meters Centerline goodness : 0.992734 with order 1 Centerline is valid? [True, True] Translation: X:247.29, Y:-12.10, Z:1.21 [[ 9.99717430e-01 2.30713967e-02 -5.72454975e-03 2.47294593e+02] [-2.30699531e-02 9.99733803e-01 3.18086497e-04 -1.21032646e+01] [ 5.73036459e-03 -1.85931521e-04 9.99983564e-01 1.20716621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.100714057 meters Centerline goodness : 0.993237 with order 1 Centerline is valid? [True, True] Translation: X:247.35, Y:-12.10, Z:1.22 [[ 9.99832311e-01 1.73947821e-02 -5.72457566e-03 2.47354523e+02] [-1.73932482e-02 9.99848676e-01 3.17619448e-04 -1.20993741e+01] [ 5.72923431e-03 -2.17997221e-04 9.99983564e-01 1.21629984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.160714057 meters Centerline goodness : 0.993855 with order 1 Centerline is valid? [True, True] Translation: X:247.41, Y:-12.10, Z:1.22 [[ 9.99869065e-01 1.51354527e-02 -5.72458683e-03 2.47413629e+02] [-1.51338830e-02 9.99885426e-01 3.17417981e-04 -1.21025904e+01] [ 5.72873521e-03 -2.30741192e-04 9.99983564e-01 1.22141287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.220714057 meters Centerline goodness : 0.995232 with order 1 Centerline is valid? [True, True] Translation: X:247.47, Y:-12.10, Z:1.23 [[ 9.99983614e-01 6.48459954e-06 -5.72460961e-03 2.47472975e+02] [-4.66993617e-06 9.99999950e-01 3.17006694e-04 -1.20995200e+01] [ 5.72461137e-03 -3.16974766e-04 9.99983564e-01 1.22590287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.280714057 meters Centerline goodness : 0.992789 with order 1 Centerline is valid? [True, True] Translation: X:247.53, Y:-12.12, Z:1.21 [[ 9.99954804e-01 7.59072141e-03 -5.72463231e-03 2.47531067e+02] [-7.58903304e-03 9.99971153e-01 3.16596143e-04 -1.21187850e+01] [ 5.72687036e-03 -2.73137411e-04 9.99983564e-01 1.21134444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.340714057 meters Centerline goodness : 0.993466 with order 1 Centerline is valid? [True, True] Translation: X:247.59, Y:-12.12, Z:1.21 [[ 9.99982716e-01 1.34020033e-03 -5.72471423e-03 2.47588497e+02] [-1.33841830e-03 9.99999055e-01 3.15107853e-04 -1.21227975e+01] [ 5.72513113e-03 -3.07440344e-04 9.99983564e-01 1.21345174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40071405700002 meters Centerline goodness : 0.993325 with order 1 Centerline is valid? [True, True] Translation: X:247.65, Y:-12.13, Z:1.22 [[ 9.99962391e-01 -6.51490934e-03 -5.72474264e-03 2.47648094e+02] [ 6.51681672e-03 9.99978716e-01 3.14590855e-04 -1.21251909e+01] [ 5.72257127e-03 -3.51886122e-04 9.99983564e-01 1.21560989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46071405700002 meters Centerline goodness : 0.993097 with order 1 Centerline is valid? [True, True] Translation: X:247.71, Y:-12.12, Z:1.23 [[ 9.99882442e-01 -1.42242415e-02 -5.72475382e-03 2.47708409e+02] [ 1.42262735e-02 9.99898752e-01 3.14387257e-04 -1.21223378e+01] [ 5.71970228e-03 -3.95792213e-04 9.99983564e-01 1.22945283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52071405700002 meters Centerline goodness : 0.994685 with order 1 Centerline is valid? [True, True] Translation: X:247.77, Y:-12.13, Z:1.23 [[ 9.99858990e-01 -1.57869044e-02 -5.72475382e-03 2.47770874e+02] [ 1.57889619e-02 9.99875297e-01 3.14387257e-04 -1.21251434e+01] [ 5.71907673e-03 -4.04730846e-04 9.99983564e-01 1.22946404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58071405700002 meters Centerline goodness : 0.993315 with order 1 Centerline is valid? [True, True] Translation: X:247.83, Y:-12.13, Z:1.23 [[ 9.99867529e-01 -1.52365077e-02 -5.72473044e-03 2.47832208e+02] [ 1.52385587e-02 9.99883837e-01 3.14812473e-04 -1.21277435e+01] [ 5.71926880e-03 -4.02007410e-04 9.99983564e-01 1.23026450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64071405700003 meters Centerline goodness : 0.992508 with order 1 Centerline is valid? [True, True] Translation: X:247.89, Y:-12.13, Z:1.23 [[ 9.99880472e-01 -1.43620949e-02 -5.72469211e-03 2.47894127e+02] [ 1.43641356e-02 9.99896781e-01 3.15507978e-04 -1.21308494e+01] [ 5.71956985e-03 -3.97700520e-04 9.99983564e-01 1.23275768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.700714057 meters Centerline goodness : 0.991979 with order 1 Centerline is valid? [True, True] Translation: X:247.96, Y:-12.14, Z:1.23 [[ 9.99877601e-01 -1.45605833e-02 -5.72466946e-03 2.47956514e+02] [ 1.45626295e-02 9.99893909e-01 3.15918452e-04 -1.21354768e+01] [ 5.71946217e-03 -3.99246025e-04 9.99983564e-01 1.23110966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.760714057 meters Centerline goodness : 0.991123 with order 1 Centerline is valid? [True, True] Translation: X:248.02, Y:-12.14, Z:1.23 [[ 9.99840985e-01 -1.68888643e-02 -5.72464668e-03 2.48018465e+02] [ 1.68909508e-02 9.99857288e-01 3.16330573e-04 -1.21392899e+01] [ 5.71848724e-03 -4.12974997e-04 9.99983564e-01 1.23044550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.820714057 meters Centerline goodness : 0.989711 with order 1 Centerline is valid? [True, True] Translation: X:248.08, Y:-12.14, Z:1.23 [[ 9.99758809e-01 -2.12026692e-02 -5.72462321e-03 2.48080829e+02] [ 2.12048285e-02 9.99775102e-01 3.16754761e-04 -1.21426674e+01] [ 5.71661971e-03 -4.38068016e-04 9.99983564e-01 1.23223933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.880714057 meters Centerline goodness : 0.989472 with order 1 Centerline is valid? [True, True] Translation: X:248.14, Y:-12.14, Z:1.23 [[ 9.99696912e-01 -2.39439412e-02 -5.72459960e-03 2.48141501e+02] [ 2.39461476e-02 9.99713200e-01 3.17180943e-04 -1.21449070e+01] [ 5.71536322e-03 -4.54166916e-04 9.99983564e-01 1.23466166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.940714057 meters Centerline goodness : 0.989926 with order 1 Centerline is valid? [True, True] Translation: X:248.20, Y:-12.15, Z:1.23 [[ 9.99722286e-01 -2.28599888e-02 -5.72458214e-03 2.48202368e+02] [ 2.28621794e-02 9.99738576e-01 3.17495678e-04 -1.21463338e+01] [ 5.71582765e-03 -4.48283929e-04 9.99983564e-01 1.23491007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.000714057 meters Centerline goodness : 0.990057 with order 1 Centerline is valid? [True, True] Translation: X:248.26, Y:-12.15, Z:1.23 [[ 9.99749604e-01 -2.16323718e-02 -5.72456499e-03 2.48264157e+02] [ 2.16345441e-02 9.99765895e-01 3.17804656e-04 -1.21483046e+01] [ 5.71634997e-03 -4.41573433e-04 9.99983564e-01 1.23488063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.060714057 meters Centerline goodness : 0.988907 with order 1 Centerline is valid? [True, True] Translation: X:248.33, Y:-12.15, Z:1.23 [[ 9.99752259e-01 -2.15093147e-02 -5.72454222e-03 2.48325849e+02] [ 2.15114873e-02 9.99768551e-01 3.18214343e-04 -1.21507879e+01] [ 5.71637270e-03 -4.41278926e-04 9.99983564e-01 1.23383904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12071405700001 meters Centerline goodness : 0.989519 with order 1 Centerline is valid? [True, True] Translation: X:248.39, Y:-12.15, Z:1.23 [[ 9.99776478e-01 -2.03524740e-02 -5.72451926e-03 2.48386732e+02] [ 2.03546300e-02 9.99792772e-01 3.18626848e-04 -1.21535786e+01] [ 5.71684813e-03 -4.35076100e-04 9.99983564e-01 1.23308513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18071405700002 meters Centerline goodness : 0.988061 with order 1 Centerline is valid? [True, True] Translation: X:248.45, Y:-12.16, Z:1.22 [[ 9.99911075e-01 -1.20446139e-02 -5.72450232e-03 2.48449183e+02] [ 1.20466363e-02 9.99927386e-01 3.18930810e-04 -1.21602477e+01] [ 5.72024524e-03 -3.87863446e-04 9.99983564e-01 1.22413172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24071405700002 meters Centerline goodness : 0.992483 with order 1 Centerline is valid? [True, True] Translation: X:248.51, Y:-12.14, Z:1.24 [[ 9.99770857e-01 -2.06267640e-02 -5.72447463e-03 2.48512588e+02] [ 2.06289291e-02 9.99787150e-01 3.19427089e-04 -1.21449578e+01] [ 5.71666743e-03 -4.37443676e-04 9.99983564e-01 1.23914197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30071405700002 meters Centerline goodness : 0.993213 with order 1 Centerline is valid? [True, True] Translation: X:248.57, Y:-12.15, Z:1.24 [[ 9.99843813e-01 -1.67206659e-02 -5.72439818e-03 2.48573428e+02] [ 1.67227751e-02 9.99860113e-01 3.20791298e-04 -1.21471539e+01] [ 5.71823357e-03 -4.16469018e-04 9.99983564e-01 1.24211796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36071405700002 meters Centerline goodness : 0.989639 with order 1 Centerline is valid? [True, True] Translation: X:248.63, Y:-12.17, Z:1.23 [[ 9.99981562e-01 2.02656728e-03 -5.72437579e-03 2.48633389e+02] [-2.02476174e-03 9.99997899e-01 3.21190276e-04 -1.21693243e+01] [ 5.72501468e-03 -3.09593857e-04 9.99983564e-01 1.22521878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.420714057 meters Centerline goodness : 0.989964 with order 1 Centerline is valid? [True, True] Translation: X:248.69, Y:-12.17, Z:1.22 [[ 9.99982446e-01 1.52975647e-03 -5.72436282e-03 2.48691593e+02] [-1.52794150e-03 9.99998781e-01 3.21421384e-04 -1.21728682e+01] [ 5.72484754e-03 -3.12669251e-04 9.99983564e-01 1.22221813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.480714057 meters Centerline goodness : 0.990836 with order 1 Centerline is valid? [True, True] Translation: X:248.75, Y:-12.17, Z:1.23 [[ 9.99963011e-01 6.41927552e-03 -5.72438667e-03 2.48749683e+02] [-6.41754287e-03 9.99979356e-01 3.20996071e-04 -1.21720122e+01] [ 5.72632905e-03 -2.84247701e-04 9.99983564e-01 1.22744481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.540714057 meters Centerline goodness : 0.990778 with order 1 Centerline is valid? [True, True] Translation: X:248.81, Y:-12.18, Z:1.23 [[ 9.99957720e-01 7.19637228e-03 -5.72448330e-03 2.48808683e+02] [-7.19466223e-03 9.99974067e-01 3.19263453e-04 -1.21751522e+01] [ 5.72663238e-03 -2.78064231e-04 9.99983564e-01 1.22873993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.600714057 meters Centerline goodness : 0.989838 with order 1 Centerline is valid? [True, True] Translation: X:248.87, Y:-12.18, Z:1.23 [[ 9.99949245e-01 8.29081271e-03 -5.72450720e-03 2.48866605e+02] [-8.28912300e-03 9.99965594e-01 3.18834281e-04 -1.21791719e+01] [ 5.72695364e-03 -2.71366954e-04 9.99983564e-01 1.22805378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.660714057 meters Centerline goodness : 0.991120 with order 1 Centerline is valid? [True, True] Translation: X:248.93, Y:-12.19, Z:1.22 [[ 9.99960750e-01 6.76228459e-03 -5.72453662e-03 2.48925528e+02] [-6.76057291e-03 9.99977096e-01 3.18305169e-04 -1.21851097e+01] [ 5.72655798e-03 -2.79591529e-04 9.99983564e-01 1.21847071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.720714057 meters Centerline goodness : 0.990860 with order 1 Centerline is valid? [True, True] Translation: X:248.98, Y:-12.19, Z:1.22 [[ 9.99927896e-01 1.05561866e-02 -5.72455948e-03 2.48984651e+02] [-1.05545393e-02 9.99944249e-01 3.17893538e-04 -1.21893730e+01] [ 5.72759607e-03 -2.57450528e-04 9.99983564e-01 1.21793338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.780714057 meters Centerline goodness : 0.990994 with order 1 Centerline is valid? [True, True] Translation: X:249.04, Y:-12.19, Z:1.23 [[ 9.99950798e-01 8.10122721e-03 -5.72459881e-03 2.49042432e+02] [-8.09954383e-03 9.99967148e-01 3.17183760e-04 -1.21876206e+01] [ 5.72698032e-03 -2.70801515e-04 9.99983564e-01 1.22921920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.840714057 meters Centerline goodness : 0.990894 with order 1 Centerline is valid? [True, True] Translation: X:249.10, Y:-12.19, Z:1.22 [[ 9.99948971e-01 8.32366702e-03 -5.72462840e-03 2.49101337e+02] [-8.32199033e-03 9.99965322e-01 3.16648829e-04 -1.21925810e+01] [ 5.72706555e-03 -2.68992369e-04 9.99983564e-01 1.22481292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90071405700002 meters Centerline goodness : 0.991929 with order 1 Centerline is valid? [True, True] Translation: X:249.16, Y:-12.20, Z:1.23 [[ 9.99965314e-01 6.04968759e-03 -5.72465235e-03 2.49159246e+02] [-6.04797620e-03 9.99981661e-01 3.16215153e-04 -1.21958967e+01] [ 5.72646037e-03 -2.81581624e-04 9.99983564e-01 1.22651808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96071405700002 meters Centerline goodness : 0.991192 with order 1 Centerline is valid? [True, True] Translation: X:249.22, Y:-12.20, Z:1.23 [[ 9.99976870e-01 3.67255429e-03 -5.72468178e-03 2.49218177e+02] [-3.67080710e-03 9.99993213e-01 3.15681506e-04 -1.21996792e+01] [ 5.72580228e-03 -2.94660002e-04 9.99983564e-01 1.22868664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02071405700002 meters Centerline goodness : 0.991733 with order 1 Centerline is valid? [True, True] Translation: X:249.28, Y:-12.20, Z:1.23 [[ 9.99970212e-01 5.17722103e-03 -5.72470438e-03 2.49276329e+02] [-5.17550077e-03 9.99986557e-01 3.15271165e-04 -1.22021843e+01] [ 5.72625965e-03 -2.85633562e-04 9.99983564e-01 1.23070126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08071405700002 meters Centerline goodness : 0.991785 with order 1 Centerline is valid? [True, True] Translation: X:249.33, Y:-12.21, Z:1.23 [[ 9.99960372e-01 6.81778627e-03 -5.72474779e-03 2.49333829e+02] [-6.81609734e-03 9.99976721e-01 3.14480860e-04 -1.22051754e+01] [ 5.72675859e-03 -2.75447960e-04 9.99983564e-01 1.23231406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14071405700003 meters Centerline goodness : 0.991014 with order 1 Centerline is valid? [True, True] Translation: X:249.39, Y:-12.21, Z:1.23 [[ 9.99879854e-01 1.44049894e-02 -5.72483320e-03 2.49392274e+02] [-1.44034335e-02 9.99896216e-01 3.12918328e-04 -1.22103574e+01] [ 5.72874664e-03 -2.30423477e-04 9.99983564e-01 1.23087729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.200714057 meters Centerline goodness : 0.991521 with order 1 Centerline is valid? [True, True] Translation: X:249.45, Y:-12.21, Z:1.24 [[ 9.99836930e-01 1.71271150e-02 -5.72491007e-03 2.49451516e+02] [-1.71256117e-02 9.99853297e-01 3.11505489e-04 -1.22095508e+01] [ 5.72940541e-03 -2.13412105e-04 9.99983564e-01 1.23709913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.260714057 meters Centerline goodness : 0.990881 with order 1 Centerline is valid? [True, True] Translation: X:249.51, Y:-12.21, Z:1.24 [[ 9.99848678e-01 1.64269781e-02 -5.72493368e-03 2.49508271e+02] [-1.64254658e-02 9.99865045e-01 3.11071117e-04 -1.22107536e+01] [ 5.72927102e-03 -2.16989343e-04 9.99983564e-01 1.24440229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.320714057 meters Centerline goodness : 0.992005 with order 1 Centerline is valid? [True, True] Translation: X:249.57, Y:-12.21, Z:1.24 [[ 9.99898704e-01 1.30310172e-02 -5.72497435e-03 2.49566084e+02] [-1.30294536e-02 9.99915065e-01 3.10320736e-04 -1.22146100e+01] [ 5.72853189e-03 -2.35696014e-04 9.99983564e-01 1.24146427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.380714057 meters Centerline goodness : 0.990141 with order 1 Centerline is valid? [True, True] Translation: X:249.62, Y:-12.22, Z:1.24 [[ 9.99953691e-01 7.73561758e-03 -5.72500870e-03 2.49623864e+02] [-7.73397105e-03 9.99970044e-01 3.09685772e-04 -1.22189421e+01] [ 5.72723281e-03 -2.65394379e-04 9.99983564e-01 1.24285391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.440714057 meters Centerline goodness : 0.990920 with order 1 Centerline is valid? [True, True] Translation: X:249.68, Y:-12.22, Z:1.24 [[ 9.99978476e-01 3.20481448e-03 -5.72504365e-03 2.49681519e+02] [-3.20309757e-03 9.99994822e-01 3.09038215e-04 -1.22245428e+01] [ 5.72600442e-03 -2.90693690e-04 9.99983564e-01 1.24153847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.500714057 meters Centerline goodness : 0.990130 with order 1 Centerline is valid? [True, True] Translation: X:249.74, Y:-12.23, Z:1.24 [[ 9.99981327e-01 2.13768060e-03 -5.72507239e-03 2.49739802e+02] [-2.13594929e-03 9.99997671e-01 3.08505000e-04 -1.22287200e+01] [ 5.72571854e-03 -2.96270775e-04 9.99983564e-01 1.24166203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.560714057 meters Centerline goodness : 0.991373 with order 1 Centerline is valid? [True, True] Translation: X:249.80, Y:-12.24, Z:1.24 [[ 9.99983588e-01 2.15050496e-04 -5.72509461e-03 2.49798413e+02] [-2.13290126e-04 9.99999930e-01 3.08091978e-04 -1.22353342e+01] [ 5.72516047e-03 -3.06865816e-04 9.99983564e-01 1.23635527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62071405700001 meters Centerline goodness : 0.991095 with order 1 Centerline is valid? [True, True] Translation: X:249.86, Y:-12.24, Z:1.24 [[ 9.99980270e-01 2.58499838e-03 -5.72511809e-03 2.49856263e+02] [-2.58327924e-03 9.99996616e-01 3.07655060e-04 -1.22393595e+01] [ 5.72589401e-03 -2.92859411e-04 9.99983564e-01 1.23748074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68071405700002 meters Centerline goodness : 0.992080 with order 1 Centerline is valid? [True, True] Translation: X:249.91, Y:-12.25, Z:1.23 [[ 9.99944080e-01 8.89152039e-03 -5.72514689e-03 2.49914616e+02] [-8.88990744e-03 9.99960437e-01 3.07118254e-04 -1.22453245e+01] [ 5.72765113e-03 -2.56205054e-04 9.99983564e-01 1.23252070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74071405700002 meters Centerline goodness : 0.992063 with order 1 Centerline is valid? [True, True] Translation: X:249.97, Y:-12.25, Z:1.23 [[ 9.99868768e-01 1.51548424e-02 -5.72516960e-03 2.49971831e+02] [-1.51533343e-02 9.99885135e-01 3.06694352e-04 -1.22504194e+01] [ 5.72915988e-03 -2.19898695e-04 9.99983564e-01 1.22678831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80071405700002 meters Centerline goodness : 0.991138 with order 1 Centerline is valid? [True, True] Translation: X:250.03, Y:-12.25, Z:1.23 [[ 9.99813072e-01 1.84673539e-02 -5.72519731e-03 2.50030747e+02] [-1.84659031e-02 9.99829444e-01 3.06176104e-04 -1.22528666e+01] [ 5.72987511e-03 -2.00397933e-04 9.99983564e-01 1.22717473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86071405700002 meters Centerline goodness : 0.991079 with order 1 Centerline is valid? [True, True] Translation: X:250.09, Y:-12.26, Z:1.22 [[ 9.99812246e-01 1.85119892e-02 -5.72522020e-03 2.50089869e+02] [-1.85105415e-02 9.99828619e-01 3.05747537e-04 -1.22593739e+01] [ 5.72989900e-03 -1.99713206e-04 9.99983564e-01 1.21921408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.920714057 meters Centerline goodness : 0.991213 with order 1 Centerline is valid? [True, True] Translation: X:250.15, Y:-12.26, Z:1.22 [[ 9.99924551e-01 1.08680089e-02 -5.72523702e-03 2.50148940e+02] [-1.08664379e-02 9.99940912e-01 3.05432156e-04 -1.22590833e+01] [ 5.72821817e-03 -2.43196179e-04 9.99983564e-01 1.22396431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.980714057 meters Centerline goodness : 0.990732 with order 1 Centerline is valid? [True, True] Translation: X:250.21, Y:-12.26, Z:1.22 [[ 9.99963879e-01 6.28186656e-03 -5.72525379e-03 2.50207579e+02] [-6.28022235e-03 9.99980233e-01 3.05117464e-04 -1.22634942e+01] [ 5.72705733e-03 -2.69150576e-04 9.99983564e-01 1.22316532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.040714057 meters Centerline goodness : 0.992077 with order 1 Centerline is valid? [True, True] Translation: X:250.27, Y:-12.27, Z:1.23 [[ 9.99972742e-01 -4.66221689e-03 -5.72527585e-03 2.50266457e+02] [ 4.66403761e-03 9.99989077e-01 3.04703111e-04 -1.22663585e+01] [ 5.72379272e-03 -3.31397707e-04 9.99983564e-01 1.22595297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.100714057 meters Centerline goodness : 0.990997 with order 1 Centerline is valid? [True, True] Translation: X:250.33, Y:-12.27, Z:1.23 [[ 9.99810108e-01 -1.86271088e-02 -5.72529760e-03 2.50325980e+02] [ 1.86291551e-02 9.99826416e-01 3.04293848e-04 -1.22695318e+01] [ 5.71863566e-03 -4.10893522e-04 9.99983564e-01 1.22758750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.160714057 meters Centerline goodness : 0.991732 with order 1 Centerline is valid? [True, True] Translation: X:250.39, Y:-12.27, Z:1.23 [[ 9.99717011e-01 -2.30893793e-02 -5.72530294e-03 2.50388448e+02] [ 2.30914978e-02 9.99733310e-01 3.04193312e-04 -1.22721537e+01] [ 5.71675242e-03 -4.36313049e-04 9.99983564e-01 1.22861271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.220714057 meters Centerline goodness : 0.992073 with order 1 Centerline is valid? [True, True] Translation: X:250.45, Y:-12.27, Z:1.23 [[ 9.99690348e-01 -2.42163040e-02 -5.72528181e-03 2.50451138e+02] [ 2.42184432e-02 9.99706644e-01 3.04590563e-04 -1.22715899e+01] [ 5.71622620e-03 -4.43153658e-04 9.99983564e-01 1.22775159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.280714057 meters Centerline goodness : 0.993029 with order 1 Centerline is valid? [True, True] Translation: X:250.51, Y:-12.27, Z:1.23 [[ 9.99690571e-01 -2.42070903e-02 -5.72526098e-03 2.50514378e+02] [ 2.42092315e-02 9.99706867e-01 3.04981594e-04 -1.22702970e+01] [ 5.71620000e-03 -4.43491393e-04 9.99983564e-01 1.23154750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.340714057 meters Centerline goodness : 0.992764 with order 1 Centerline is valid? [True, True] Translation: X:250.58, Y:-12.27, Z:1.23 [[ 9.99691798e-01 -2.41563907e-02 -5.72522991e-03 2.50575470e+02] [ 2.41585344e-02 9.99708093e-01 3.05563683e-04 -1.22710751e+01] [ 5.71617736e-03 -4.43782672e-04 9.99983564e-01 1.23139495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40071405700002 meters Centerline goodness : 0.992383 with order 1 Centerline is valid? [True, True] Translation: X:250.64, Y:-12.27, Z:1.23 [[ 9.99596017e-01 -2.78392706e-02 -5.72519204e-03 2.50638176e+02] [ 2.78414784e-02 9.99612304e-01 3.06271610e-04 -1.22708526e+01] [ 5.71444603e-03 -4.65545692e-04 9.99983564e-01 1.23116534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46071405700002 meters Centerline goodness : 0.993319 with order 1 Centerline is valid? [True, True] Translation: X:250.70, Y:-12.27, Z:1.23 [[ 9.99396284e-01 -3.42679280e-02 -5.72517190e-03 2.50701070e+02] [ 3.42702426e-02 9.99412556e-01 3.06647583e-04 -1.22662329e+01] [ 5.71130050e-03 -5.02665484e-04 9.99983564e-01 1.22797529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52071405700002 meters Centerline goodness : 0.991170 with order 1 Centerline is valid? [True, True] Translation: X:250.76, Y:-12.28, Z:1.23 [[ 9.99529769e-01 -3.01241214e-02 -5.72515185e-03 2.50763985e+02] [ 3.01263707e-02 9.99546051e-01 3.07021533e-04 -1.22765275e+01] [ 5.71330416e-03 -4.79355209e-04 9.99983564e-01 1.22592671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58071405700002 meters Centerline goodness : 0.991123 with order 1 Centerline is valid? [True, True] Translation: X:250.83, Y:-12.28, Z:1.23 [[ 9.99415110e-01 -3.37143875e-02 -5.72512106e-03 2.50826725e+02] [ 3.37166985e-02 9.99431383e-01 3.07594646e-04 -1.22783274e+01] [ 5.71149529e-03 -5.00446918e-04 9.99983564e-01 1.22638834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64071405700003 meters Centerline goodness : 0.991543 with order 1 Centerline is valid? [True, True] Translation: X:250.89, Y:-12.28, Z:1.23 [[ 9.99439039e-01 -3.29974205e-02 -5.72508512e-03 2.50888374e+02] [ 3.29997236e-02 9.99455313e-01 3.08261980e-04 -1.22798920e+01] [ 5.71179490e-03 -4.97015284e-04 9.99983564e-01 1.22573176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.700714057 meters Centerline goodness : 0.991756 with order 1 Centerline is valid? [True, True] Translation: X:250.95, Y:-12.28, Z:1.23 [[ 9.99600061e-01 -2.76937331e-02 -5.72502659e-03 2.50951233e+02] [ 2.76959560e-02 9.99616346e-01 3.09345340e-04 -1.22813551e+01] [ 5.71426323e-03 -4.67781706e-04 9.99983564e-01 1.22666567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.760714057 meters Centerline goodness : 0.990440 with order 1 Centerline is valid? [True, True] Translation: X:251.01, Y:-12.28, Z:1.23 [[ 9.99719218e-01 -2.29936988e-02 -5.72499070e-03 2.51012440e+02] [ 2.29958489e-02 9.99735512e-01 3.10007962e-04 -1.22824731e+01] [ 5.71634829e-03 -4.41571939e-04 9.99983564e-01 1.22768409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.820714057 meters Centerline goodness : 0.990075 with order 1 Centerline is valid? [True, True] Translation: X:251.07, Y:-12.29, Z:1.23 [[ 9.99829998e-01 -1.75271424e-02 -5.72497323e-03 2.51074050e+02] [ 1.75292052e-02 9.99846304e-01 3.10330394e-04 -1.22856829e+01] [ 5.71865411e-03 -4.10631867e-04 9.99983564e-01 1.22621071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.880714057 meters Centerline goodness : 0.990489 with order 1 Centerline is valid? [True, True] Translation: X:251.14, Y:-12.29, Z:1.22 [[ 9.99970163e-01 -5.18642291e-03 -5.72495607e-03 2.51135226e+02] [ 5.18828609e-03 9.99986493e-01 3.10646649e-04 -1.22932891e+01] [ 5.72326759e-03 -3.40340091e-04 9.99983564e-01 1.21594060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.940714057 meters Centerline goodness : 0.991400 with order 1 Centerline is valid? [True, True] Translation: X:251.20, Y:-12.30, Z:1.22 [[ 9.99978071e-01 3.32913258e-03 -5.72494470e-03 2.51195723e+02] [-3.32740733e-03 9.99994416e-01 3.10855886e-04 -1.22956053e+01] [ 5.72594762e-03 -2.91799846e-04 9.99983564e-01 1.21614008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.000714057 meters Centerline goodness : 0.992085 with order 1 Centerline is valid? [True, True] Translation: X:251.25, Y:-12.30, Z:1.22 [[ 9.99952175e-01 7.92928003e-03 -5.72494470e-03 2.51254480e+02] [-7.92762999e-03 9.99968528e-01 3.10855886e-04 -1.22957782e+01] [ 5.72722939e-03 -2.65455776e-04 9.99983564e-01 1.21916783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.060714057 meters Centerline goodness : 0.989268 with order 1 Centerline is valid? [True, True] Translation: X:251.31, Y:-12.30, Z:1.22 [[ 9.99917959e-01 1.14586105e-02 -5.72502200e-03 2.51312346e+02] [-1.14570264e-02 9.99934318e-01 3.09425685e-04 -1.22976183e+01] [ 5.72819156e-03 -2.43808572e-04 9.99983564e-01 1.22072597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12071405700001 meters Centerline goodness : 0.988571 with order 1 Centerline is valid? [True, True] Translation: X:251.37, Y:-12.30, Z:1.22 [[ 9.99823205e-01 1.79103947e-02 -5.72504908e-03 2.51371779e+02] [-1.79089190e-02 9.99839575e-01 3.08923893e-04 -1.23007679e+01] [ 5.72966359e-03 -2.06339837e-04 9.99983564e-01 1.22443423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18071405700002 meters Centerline goodness : 0.988503 with order 1 Centerline is valid? [True, True] Translation: X:251.43, Y:-12.31, Z:1.22 [[ 9.99849371e-01 1.63847185e-02 -5.72506055e-03 2.51429271e+02] [-1.63832190e-02 9.99865738e-01 3.08711239e-04 -1.23084070e+01] [ 5.72935004e-03 -2.14869818e-04 9.99983564e-01 1.21641925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24071405700002 meters Centerline goodness : 0.988710 with order 1 Centerline is valid? [True, True] Translation: X:251.49, Y:-12.31, Z:1.22 [[ 9.99855493e-01 1.60067381e-02 -5.72508870e-03 2.51488098e+02] [-1.60052354e-02 9.99871861e-01 3.08188214e-04 -1.23113791e+01] [ 5.72928818e-03 -2.16512286e-04 9.99983564e-01 1.22212289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30071405700002 meters Centerline goodness : 0.988548 with order 1 Centerline is valid? [True, True] Translation: X:251.55, Y:-12.32, Z:1.23 [[ 9.99898309e-01 1.30611653e-02 -5.72511181e-03 2.51545799e+02] [-1.30596169e-02 9.99914672e-01 3.07758381e-04 -1.23154724e+01] [ 5.72864298e-03 -2.32959317e-04 9.99983564e-01 1.22565539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36071405700002 meters Centerline goodness : 0.988926 with order 1 Centerline is valid? [True, True] Translation: X:251.61, Y:-12.32, Z:1.23 [[ 9.99971542e-01 4.91299191e-03 -5.72514017e-03 2.51605642e+02] [-4.91131325e-03 9.99987892e-01 3.07229959e-04 -1.23153568e+01] [ 5.72658027e-03 -2.79103259e-04 9.99983564e-01 1.23336481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.420714057 meters Centerline goodness : 0.989541 with order 1 Centerline is valid? [True, True] Translation: X:251.66, Y:-12.32, Z:1.23 [[ 9.99983435e-01 5.94480310e-04 -5.72514564e-03 2.51664088e+02] [-5.92731644e-04 9.99999777e-01 3.07127920e-04 -1.23203751e+01] [ 5.72532695e-03 -3.03729357e-04 9.99983564e-01 1.23358850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.480714057 meters Centerline goodness : 0.989852 with order 1 Centerline is valid? [True, True] Translation: X:251.72, Y:-12.32, Z:1.23 [[ 9.99974055e-01 -4.37160484e-03 -5.72516751e-03 2.51722458e+02] [ 4.37343232e-03 9.99990389e-01 3.06719781e-04 -1.23242860e+01] [ 5.72377163e-03 -3.31750456e-04 9.99983564e-01 1.23430935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.540714057 meters Centerline goodness : 0.989290 with order 1 Centerline is valid? [True, True] Translation: X:251.78, Y:-12.33, Z:1.23 [[ 9.99958335e-01 -7.10993557e-03 -5.72518960e-03 2.51781778e+02] [ 7.11180542e-03 9.99974664e-01 3.06306752e-04 -1.23293377e+01] [ 5.72286673e-03 -3.47010424e-04 9.99983564e-01 1.23284192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.600714057 meters Centerline goodness : 0.991413 with order 1 Centerline is valid? [True, True] Translation: X:251.84, Y:-12.33, Z:1.23 [[ 9.99917068e-01 -1.15360332e-02 -5.72520053e-03 2.51841702e+02] [ 1.15379742e-02 9.99933389e-01 3.06102305e-04 -1.23324923e+01] [ 5.72128796e-03 -3.72134135e-04 9.99983564e-01 1.23396563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.660714057 meters Centerline goodness : 0.991590 with order 1 Centerline is valid? [True, True] Translation: X:251.90, Y:-12.34, Z:1.23 [[ 9.99901875e-01 -1.27852767e-02 -5.72519512e-03 2.51903284e+02] [ 1.27872386e-02 9.99918193e-01 3.06203458e-04 -1.23383426e+01] [ 5.72081187e-03 -3.79382848e-04 9.99983564e-01 1.23181391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.720714057 meters Centerline goodness : 0.986996 with order 1 Centerline is valid? [True, True] Translation: X:251.97, Y:-12.33, Z:1.24 [[ 9.99717488e-01 -2.30687310e-02 -5.72517313e-03 2.51966144e+02] [ 2.30708630e-02 9.99733785e-01 3.06614097e-04 -1.23333010e+01] [ 5.71657581e-03 -4.38612159e-04 9.99983564e-01 1.23724351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.780714057 meters Centerline goodness : 0.987662 with order 1 Centerline is valid? [True, True] Translation: X:252.03, Y:-12.34, Z:1.24 [[ 9.99695435e-01 -2.40054376e-02 -5.72513766e-03 2.52027957e+02] [ 2.40075886e-02 9.99711729e-01 3.07275030e-04 -1.23379263e+01] [ 5.71611100e-03 -4.44628194e-04 9.99983564e-01 1.23584030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.840714057 meters Centerline goodness : 0.988114 with order 1 Centerline is valid? [True, True] Translation: X:252.09, Y:-12.34, Z:1.23 [[ 9.99674181e-01 -2.48747677e-02 -5.72510908e-03 2.52090153e+02] [ 2.48769359e-02 9.99690474e-01 3.07806526e-04 -1.23425493e+01] [ 5.71568040e-03 -4.50129409e-04 9.99983564e-01 1.23339641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90071405700002 meters Centerline goodness : 0.988384 with order 1 Centerline is valid? [True, True] Translation: X:252.15, Y:-12.35, Z:1.23 [[ 9.99548516e-01 -2.94955461e-02 -5.72508049e-03 2.52153136e+02] [ 2.94977926e-02 9.99564798e-01 3.08337443e-04 -1.23460785e+01] [ 5.71349434e-03 -4.77075471e-04 9.99983564e-01 1.23106169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96071405700002 meters Centerline goodness : 0.994741 with order 1 Centerline is valid? [True, True] Translation: X:252.21, Y:-12.35, Z:1.23 [[ 9.99336745e-01 -3.59624012e-02 -5.72503676e-03 2.52214734e+02] [ 3.59647576e-02 9.99353011e-01 3.09147334e-04 -1.23497286e+01] [ 5.71021504e-03 -5.14841850e-04 9.99983564e-01 1.22999951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02071405700002 meters Centerline goodness : 0.987933 with order 1 Centerline is valid? [True, True] Translation: X:252.28, Y:-12.35, Z:1.23 [[ 9.99467790e-01 -3.21148070e-02 -5.72500827e-03 2.52276746e+02] [ 3.21171037e-02 9.99484065e-01 3.09673942e-04 -1.23538528e+01] [ 5.71210942e-03 -4.93379815e-04 9.99983564e-01 1.23076275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08071405700002 meters Centerline goodness : 0.994452 with order 1 Centerline is valid? [True, True] Translation: X:252.34, Y:-12.35, Z:1.24 [[ 9.99403543e-01 -3.40555957e-02 -5.72497341e-03 2.52338955e+02] [ 3.40579278e-02 9.99419812e-01 3.10317054e-04 -1.23536722e+01] [ 5.71108382e-03 -5.05112694e-04 9.99983564e-01 1.23699068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14071405700003 meters Centerline goodness : 0.989767 with order 1 Centerline is valid? [True, True] Translation: X:252.40, Y:-12.38, Z:1.22 [[ 9.99820363e-01 -1.80684177e-02 -5.72494474e-03 2.52399040e+02] [ 1.80704922e-02 9.99836667e-01 3.10845152e-04 -1.23775261e+01] [ 5.71839319e-03 -4.14241882e-04 9.99983564e-01 1.22274910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.200714057 meters Centerline goodness : 0.993346 with order 1 Centerline is valid? [True, True] Translation: X:252.46, Y:-12.36, Z:1.23 [[ 9.99399724e-01 -3.41675006e-02 -5.72490092e-03 2.52462478e+02] [ 3.41698421e-02 9.99415992e-01 3.11650011e-04 -1.23599596e+01] [ 5.71090923e-03 -5.07081895e-04 9.99983564e-01 1.23382394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.260714057 meters Centerline goodness : 0.993516 with order 1 Centerline is valid? [True, True] Translation: X:252.52, Y:-12.36, Z:1.23 [[ 9.99325429e-01 -3.62755195e-02 -5.72487442e-03 2.52524431e+02] [ 3.62778980e-02 9.99341692e-01 3.12136024e-04 -1.23646167e+01] [ 5.70978280e-03 -5.19611877e-04 9.99983564e-01 1.22911518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.320714057 meters Centerline goodness : 0.992559 with order 1 Centerline is valid? [True, True] Translation: X:252.59, Y:-12.37, Z:1.23 [[ 9.99359614e-01 -3.53212141e-02 -5.72485317e-03 2.52587431e+02] [ 3.53235793e-02 9.99375879e-01 3.12525348e-04 -1.23669112e+01] [ 5.71024139e-03 -5.14547516e-04 9.99983564e-01 1.22959748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.380714057 meters Centerline goodness : 0.992005 with order 1 Centerline is valid? [True, True] Translation: X:252.65, Y:-12.37, Z:1.23 [[ 9.99406581e-01 -3.39663297e-02 -5.72482150e-03 2.52649852e+02] [ 3.39686761e-02 9.99422849e-01 3.13104335e-04 -1.23691067e+01] [ 5.71088241e-03 -5.07383140e-04 9.99983564e-01 1.23068803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.440714057 meters Centerline goodness : 0.987111 with order 1 Centerline is valid? [True, True] Translation: X:252.71, Y:-12.39, Z:1.23 [[ 9.99813702e-01 -1.84333175e-02 -5.72480052e-03 2.52711232e+02] [ 1.84354130e-02 9.99830004e-01 3.13487491e-04 -1.23862828e+01] [ 5.71804872e-03 -4.18968151e-04 9.99983564e-01 1.22805278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.500714057 meters Centerline goodness : 0.987970 with order 1 Centerline is valid? [True, True] Translation: X:252.77, Y:-12.39, Z:1.23 [[ 9.99781878e-01 -2.00854238e-02 -5.72477838e-03 2.52773614e+02] [ 2.00875486e-02 9.99798176e-01 3.13891293e-04 -1.23886294e+01] [ 5.71731834e-03 -4.28819590e-04 9.99983564e-01 1.22839156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.560714057 meters Centerline goodness : 0.988736 with order 1 Centerline is valid? [True, True] Translation: X:252.84, Y:-12.39, Z:1.23 [[ 9.99699275e-01 -2.38450452e-02 -5.72475640e-03 2.52835608e+02] [ 2.38472336e-02 9.99715565e-01 3.14291692e-04 -1.23908217e+01] [ 5.71563378e-03 -4.50716779e-04 9.99983564e-01 1.22745301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62071405700001 meters Centerline goodness : 0.989161 with order 1 Centerline is valid? [True, True] Translation: X:252.90, Y:-12.39, Z:1.23 [[ 9.99588234e-01 -2.81174469e-02 -5.72473453e-03 2.52898476e+02] [ 2.81197071e-02 9.99604513e-01 3.14689594e-04 -1.23927559e+01] [ 5.71362220e-03 -4.75537874e-04 9.99983564e-01 1.22688202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68071405700002 meters Centerline goodness : 0.989225 with order 1 Centerline is valid? [True, True] Translation: X:252.96, Y:-12.40, Z:1.23 [[ 9.99571587e-01 -2.87031536e-02 -5.72470040e-03 2.52959582e+02] [ 2.87054269e-02 9.99587865e-01 3.15309263e-04 -1.23957935e+01] [ 5.71329068e-03 -4.79504149e-04 9.99983564e-01 1.22870297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74071405700002 meters Centerline goodness : 0.989100 with order 1 Centerline is valid? [True, True] Translation: X:253.02, Y:-12.40, Z:1.23 [[ 9.99469996e-01 -3.20461340e-02 -5.72468365e-03 2.53022922e+02] [ 3.20484634e-02 9.99486266e-01 3.15613109e-04 -1.23980132e+01] [ 5.71162850e-03 -4.98913147e-04 9.99983564e-01 1.23109282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80071405700002 meters Centerline goodness : 0.989063 with order 1 Centerline is valid? [True, True] Translation: X:253.09, Y:-12.40, Z:1.23 [[ 9.99420221e-01 -3.35626399e-02 -5.72464898e-03 2.53085853e+02] [ 3.35649976e-02 9.99436487e-01 3.16240555e-04 -1.23997869e+01] [ 5.71080920e-03 -5.08205035e-04 9.99983564e-01 1.23346895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86071405700002 meters Centerline goodness : 0.989220 with order 1 Centerline is valid? [True, True] Translation: X:253.15, Y:-12.40, Z:1.23 [[ 9.99484008e-01 -3.16061124e-02 -5.72461420e-03 2.53147713e+02] [ 3.16084418e-02 9.99500278e-01 3.16868949e-04 -1.24014947e+01] [ 5.71173849e-03 -4.97651582e-04 9.99983564e-01 1.23248922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.920714057 meters Centerline goodness : 0.990373 with order 1 Centerline is valid? [True, True] Translation: X:253.21, Y:-12.40, Z:1.23 [[ 9.99601106e-01 -2.76560904e-02 -5.72455646e-03 2.53210597e+02] [ 2.76583614e-02 9.99617384e-01 3.17908632e-04 -1.24029641e+01] [ 5.71357405e-03 -4.76113672e-04 9.99983564e-01 1.22979274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.980714057 meters Centerline goodness : 0.990105 with order 1 Centerline is valid? [True, True] Translation: X:253.27, Y:-12.41, Z:1.23 [[ 9.99847377e-01 -1.65061533e-02 -5.72451810e-03 2.53271922e+02] [ 1.65082466e-02 9.99863679e-01 3.18598009e-04 -1.24064650e+01] [ 5.71847890e-03 -4.13051140e-04 9.99983564e-01 1.23084301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.040714057 meters Centerline goodness : 0.989628 with order 1 Centerline is valid? [True, True] Translation: X:253.33, Y:-12.41, Z:1.23 [[ 9.99958040e-01 -7.15181133e-03 -5.72449968e-03 2.53333342e+02] [ 7.15375384e-03 9.99974361e-01 3.18928620e-04 -1.24081652e+01] [ 5.72207199e-03 -3.59866899e-04 9.99983564e-01 1.23178543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.100714057 meters Centerline goodness : 0.990152 with order 1 Centerline is valid? [True, True] Translation: X:253.39, Y:-12.41, Z:1.23 [[ 9.99983283e-01 -8.15020338e-04 -5.72448270e-03 2.53393496e+02] [ 8.16861125e-04 9.99999615e-01 3.19233118e-04 -1.24123646e+01] [ 5.72422031e-03 -3.23903889e-04 9.99983564e-01 1.23123964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.160714057 meters Centerline goodness : 0.989848 with order 1 Centerline is valid? [True, True] Translation: X:253.45, Y:-12.42, Z:1.22 [[ 9.99937286e-01 9.62566586e-03 -5.72447717e-03 2.53451921e+02] [-9.62399514e-03 9.99953637e-01 3.19332161e-04 -1.24212704e+01] [ 5.72728555e-03 -2.64219794e-04 9.99983564e-01 1.22083748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.220714057 meters Centerline goodness : 0.989054 with order 1 Centerline is valid? [True, True] Translation: X:253.51, Y:-12.43, Z:1.22 [[ 9.99899433e-01 1.29751155e-02 -5.72456175e-03 2.53509333e+02] [-1.29735083e-02 9.99915790e-01 3.17808611e-04 -1.24257080e+01] [ 5.72820329e-03 -2.43509001e-04 9.99983564e-01 1.22141949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.280714057 meters Centerline goodness : 0.989816 with order 1 Centerline is valid? [True, True] Translation: X:253.57, Y:-12.42, Z:1.23 [[ 9.99938160e-01 9.53444718e-03 -5.72459101e-03 2.53567425e+02] [-9.53278668e-03 9.99954512e-01 3.17280700e-04 -1.24249922e+01] [ 5.72735571e-03 -2.62689774e-04 9.99983564e-01 1.22870981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.340714057 meters Centerline goodness : 0.990389 with order 1 Centerline is valid? [True, True] Translation: X:253.63, Y:-12.43, Z:1.23 [[ 9.99899789e-01 1.29476518e-02 -5.72461177e-03 2.53626464e+02] [-1.29460492e-02 9.99916146e-01 3.16905811e-04 -1.24297550e+01] [ 5.72823492e-03 -2.42762947e-04 9.99983564e-01 1.22933106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40071405700002 meters Centerline goodness : 0.989267 with order 1 Centerline is valid? [True, True] Translation: X:253.68, Y:-12.44, Z:1.22 [[ 9.99808494e-01 1.87137332e-02 -5.72468924e-03 2.53684902e+02] [-1.87122331e-02 9.99824861e-01 3.15500060e-04 -1.24400040e+01] [ 5.72959081e-03 -2.08317921e-04 9.99983564e-01 1.22473470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46071405700002 meters Centerline goodness : 0.990623 with order 1 Centerline is valid? [True, True] Translation: X:253.74, Y:-12.44, Z:1.23 [[ 9.99886993e-01 1.39006522e-02 -5.72471300e-03 2.53743983e+02] [-1.38990757e-02 9.99903354e-01 3.15068254e-04 -1.24393584e+01] [ 5.72853939e-03 -2.35464430e-04 9.99983564e-01 1.23330512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52071405700002 meters Centerline goodness : 0.990094 with order 1 Centerline is valid? [True, True] Translation: X:253.80, Y:-12.44, Z:1.23 [[ 9.99909027e-01 1.22133002e-02 -5.72473057e-03 2.53801919e+02] [-1.22116979e-02 9.99925385e-01 3.14748810e-04 -1.24444369e+01] [ 5.72814754e-03 -2.44811496e-04 9.99983564e-01 1.23103645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58071405700002 meters Centerline goodness : 0.993978 with order 1 Centerline is valid? [True, True] Translation: X:253.86, Y:-12.44, Z:1.24 [[ 9.99982977e-01 1.12815899e-03 -5.72475963e-03 2.53861390e+02] [-1.12637857e-03 9.99999316e-01 3.14219392e-04 -1.24382788e+01] [ 5.72511020e-03 -3.07765796e-04 9.99983564e-01 1.23857317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64071405700003 meters Centerline goodness : 0.991643 with order 1 Centerline is valid? [True, True] Translation: X:253.92, Y:-12.46, Z:1.23 [[ 9.99972852e-01 4.63920345e-03 -5.72478188e-03 2.53918998e+02] [-4.63748272e-03 9.99989198e-01 3.13813491e-04 -1.24550253e+01] [ 5.72617588e-03 -2.87256394e-04 9.99983564e-01 1.23349671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.700714057 meters Centerline goodness : 0.991733 with order 1 Centerline is valid? [True, True] Translation: X:253.98, Y:-12.46, Z:1.23 [[ 9.99972449e-01 4.72516573e-03 -5.72486025e-03 2.53977255e+02] [-4.72345461e-03 9.99988796e-01 3.12377131e-04 -1.24595550e+01] [ 5.72627214e-03 -2.85327408e-04 9.99983564e-01 1.23229332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.760714057 meters Centerline goodness : 0.990939 with order 1 Centerline is valid? [True, True] Translation: X:254.03, Y:-12.46, Z:1.24 [[ 9.99964280e-01 6.21806256e-03 -5.72488412e-03 2.54034003e+02] [-6.21637835e-03 9.99980629e-01 3.11939001e-04 -1.24626941e+01] [ 5.72671289e-03 -2.76339813e-04 9.99983564e-01 1.23737961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.820714057 meters Centerline goodness : 0.991529 with order 1 Centerline is valid? [True, True] Translation: X:254.09, Y:-12.47, Z:1.23 [[ 9.99957046e-01 7.28905802e-03 -5.72494869e-03 2.54092751e+02] [-7.28739811e-03 9.99973398e-01 3.10749473e-04 -1.24663593e+01] [ 5.72706147e-03 -2.69016145e-04 9.99983564e-01 1.23250553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.880714057 meters Centerline goodness : 0.991036 with order 1 Centerline is valid? [True, True] Translation: X:254.15, Y:-12.47, Z:1.24 [[ 9.99918676e-01 1.13959243e-02 -5.72497155e-03 2.54150369e+02] [-1.13943340e-02 9.99935034e-01 3.10327744e-04 -1.24697424e+01] [ 5.72813610e-03 -2.45070269e-04 9.99983564e-01 1.23670577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.940714057 meters Centerline goodness : 0.991067 with order 1 Centerline is valid? [True, True] Translation: X:254.21, Y:-12.48, Z:1.23 [[ 9.99946224e-01 8.64712862e-03 -5.72499967e-03 2.54208457e+02] [-8.64549631e-03 9.99962579e-01 3.09808129e-04 -1.24752704e+01] [ 5.72746439e-03 -2.60296006e-04 9.99983564e-01 1.23199965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.000714057 meters Centerline goodness : 0.990624 with order 1 Centerline is valid? [True, True] Translation: X:254.27, Y:-12.48, Z:1.23 [[ 9.99982639e-01 1.39495441e-03 -5.72503223e-03 2.54267199e+02] [-1.39320697e-03 9.99998982e-01 3.09205217e-04 -1.24783492e+01] [ 5.72545773e-03 -3.01223694e-04 9.99983564e-01 1.23421034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.060714057 meters Centerline goodness : 0.992430 with order 1 Centerline is valid? [True, True] Translation: X:254.33, Y:-12.48, Z:1.24 [[ 9.99943649e-01 -8.93995959e-03 -5.72505415e-03 2.54325742e+02] [ 8.94187352e-03 9.99959973e-01 3.08798917e-04 -1.24820317e+01] [ 5.72206434e-03 -3.59974226e-04 9.99983564e-01 1.23617238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12071405700001 meters Centerline goodness : 0.991647 with order 1 Centerline is valid? [True, True] Translation: X:254.39, Y:-12.49, Z:1.24 [[ 9.99851792e-01 -1.62363100e-02 -5.72507605e-03 2.54387104e+02] [ 1.62383407e-02 9.99868102e-01 3.08392274e-04 -1.24881317e+01] [ 5.71931377e-03 -4.01312304e-04 9.99983564e-01 1.23880096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18071405700002 meters Centerline goodness : 0.995030 with order 1 Centerline is valid? [True, True] Translation: X:254.45, Y:-12.48, Z:1.24 [[ 9.99582296e-01 -2.83276630e-02 -5.72506417e-03 2.54448671e+02] [ 2.83298921e-02 9.99598580e-01 3.08612664e-04 -1.24841021e+01] [ 5.71402375e-03 -4.70674206e-04 9.99983564e-01 1.23939284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24071405700002 meters Centerline goodness : 0.992391 with order 1 Centerline is valid? [True, True] Translation: X:254.51, Y:-12.50, Z:1.23 [[ 9.99787671e-01 -1.97948614e-02 -5.72498857e-03 2.54509862e+02] [ 1.97969593e-02 9.99803973e-01 3.10008909e-04 -1.25003804e+01] [ 5.71772973e-03 -4.23280451e-04 9.99983564e-01 1.23130752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30071405700002 meters Centerline goodness : 0.995457 with order 1 Centerline is valid? [True, True] Translation: X:254.57, Y:-12.49, Z:1.24 [[ 9.99550764e-01 -2.94192880e-02 -5.72496502e-03 2.54571489e+02] [ 2.94215452e-02 9.99567044e-01 3.10443143e-04 -1.24917155e+01] [ 5.71335335e-03 -4.78740999e-04 9.99983564e-01 1.23979979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36071405700002 meters Centerline goodness : 0.995593 with order 1 Centerline is valid? [True, True] Translation: X:254.63, Y:-12.49, Z:1.24 [[ 9.99646721e-01 -2.59549468e-02 -5.72489036e-03 2.54633136e+02] [ 2.59571554e-02 9.99663008e-01 3.11813825e-04 -1.24939155e+01] [ 5.71486801e-03 -4.60305536e-04 9.99983564e-01 1.24259052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42071405700003 meters Centerline goodness : 0.993800 with order 1 Centerline is valid? [True, True] Translation: X:254.70, Y:-12.50, Z:1.24 [[ 9.99842813e-01 -1.67801985e-02 -5.72487451e-03 2.54695082e+02] [ 1.67822592e-02 9.99859119e-01 3.12104706e-04 -1.25030076e+01] [ 5.71883080e-03 -4.08131975e-04 9.99983564e-01 1.24260437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.480714057 meters Centerline goodness : 0.992323 with order 1 Centerline is valid? [True, True] Translation: X:254.76, Y:-12.51, Z:1.24 [[ 9.99892747e-01 -1.34803492e-02 -5.72485097e-03 2.54757481e+02] [ 1.34823586e-02 9.99909060e-01 3.12535859e-04 -1.25058148e+01] [ 5.72011726e-03 -3.89686832e-04 9.99983564e-01 1.23997776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.540714057 meters Centerline goodness : 0.993367 with order 1 Centerline is valid? [True, True] Translation: X:254.82, Y:-12.51, Z:1.25 [[ 9.99859856e-01 -1.57319829e-02 -5.72482774e-03 2.54819829e+02] [ 1.57340314e-02 9.99876163e-01 3.12960848e-04 -1.25059267e+01] [ 5.71919530e-03 -4.02991608e-04 9.99983564e-01 1.24504374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.600714057 meters Centerline goodness : 0.994367 with order 1 Centerline is valid? [True, True] Translation: X:254.88, Y:-12.51, Z:1.24 [[ 9.99846310e-01 -1.65705174e-02 -5.72480418e-03 2.54881585e+02] [ 1.65725820e-02 9.99862616e-01 3.13391140e-04 -1.25086406e+01] [ 5.71882463e-03 -4.08217762e-04 9.99983564e-01 1.24371008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.660714057 meters Centerline goodness : 0.994675 with order 1 Centerline is valid? [True, True] Translation: X:254.94, Y:-12.51, Z:1.24 [[ 9.99818498e-01 -1.81713681e-02 -5.72478052e-03 2.54942657e+02] [ 1.81734613e-02 9.99834800e-01 3.13822668e-04 -1.25063757e+01] [ 5.71813220e-03 -4.17804786e-04 9.99983564e-01 1.24114326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.720714057 meters Centerline goodness : 0.994769 with order 1 Centerline is valid? [True, True] Translation: X:255.00, Y:-12.51, Z:1.24 [[ 9.99871149e-01 -1.49970951e-02 -5.72476296e-03 2.55004553e+02] [ 1.49991383e-02 9.99887457e-01 3.14142792e-04 -1.25081462e+01] [ 5.71940745e-03 -3.99968826e-04 9.99983564e-01 1.24441288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.780714057 meters Centerline goodness : 0.992484 with order 1 Centerline is valid? [True, True] Translation: X:255.07, Y:-12.52, Z:1.24 [[ 9.99975145e-01 -4.11543846e-03 -5.72474001e-03 2.55066156e+02] [ 4.11730648e-03 9.99991474e-01 3.14560486e-04 -1.25215311e+01] [ 5.72339664e-03 -3.38123177e-04 9.99983564e-01 1.23879950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.840714057 meters Centerline goodness : 0.994813 with order 1 Centerline is valid? [True, True] Translation: X:255.13, Y:-12.51, Z:1.25 [[ 9.99948389e-01 -8.39323459e-03 -5.72471730e-03 2.55126261e+02] [ 8.39517481e-03 9.99964710e-01 3.14973225e-04 -1.25132249e+01] [ 5.72187163e-03 -3.63016971e-04 9.99983564e-01 1.24738160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90071405700002 meters Centerline goodness : 0.992326 with order 1 Centerline is valid? [True, True] Translation: X:255.19, Y:-12.53, Z:1.24 [[ 9.99976473e-01 3.77899486e-03 -5.72472281e-03 2.55185975e+02] [-3.77725402e-03 9.99992817e-01 3.14872968e-04 -1.25263373e+01] [ 5.72587159e-03 -2.93241828e-04 9.99983564e-01 1.24051311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96071405700002 meters Centerline goodness : 0.992154 with order 1 Centerline is valid? [True, True] Translation: X:255.24, Y:-12.53, Z:1.24 [[ 9.99960420e-01 6.81078683e-03 -5.72472281e-03 2.55244303e+02] [-6.80909555e-03 9.99976768e-01 3.14872968e-04 -1.25268541e+01] [ 5.72673435e-03 -2.75880320e-04 9.99983564e-01 1.24167596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02071405700002 meters Centerline goodness : 0.992306 with order 1 Centerline is valid? [True, True] Translation: X:255.30, Y:-12.53, Z:1.24 [[ 9.99882905e-01 1.41916172e-02 -5.72481205e-03 2.55301674e+02] [-1.41900559e-02 9.99899267e-01 3.13242035e-04 -1.25296437e+01] [ 5.72868078e-03 -2.31969953e-04 9.99983564e-01 1.24178075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08071405700002 meters Centerline goodness : 0.994051 with order 1 Centerline is valid? [True, True] Translation: X:255.36, Y:-12.52, Z:1.25 [[ 9.99924783e-01 1.08468038e-02 -5.72490801e-03 2.55359809e+02] [-1.08451980e-02 9.99941141e-01 3.11478233e-04 -1.25216783e+01] [ 5.72794959e-03 -2.49367044e-04 9.99983564e-01 1.25046080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14071405700003 meters Centerline goodness : 0.991989 with order 1 Centerline is valid? [True, True] Translation: X:255.42, Y:-12.54, Z:1.24 [[ 9.99702261e-01 2.37194854e-02 -5.72493738e-03 2.55417946e+02] [-2.37180934e-02 9.99718638e-01 3.10937632e-04 -1.25358861e+01] [ 5.73070188e-03 -1.75060454e-04 9.99983564e-01 1.24398776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.200714057 meters Centerline goodness : 0.991253 with order 1 Centerline is valid? [True, True] Translation: X:255.48, Y:-12.54, Z:1.25 [[ 9.99635811e-01 2.63717525e-02 -5.72501910e-03 2.55476603e+02] [-2.63704126e-02 9.99652192e-01 3.09425667e-04 -1.25393315e+01] [ 5.73118799e-03 -1.58341862e-04 9.99983564e-01 1.24772323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.260714057 meters Centerline goodness : 0.994112 with order 1 Centerline is valid? [True, True] Translation: X:255.53, Y:-12.54, Z:1.25 [[ 9.99896291e-01 1.32148010e-02 -5.72504246e-03 2.55534142e+02] [-1.32132480e-02 9.99912653e-01 3.08992781e-04 -1.25352659e+01] [ 5.72862567e-03 -2.33314330e-04 9.99983564e-01 1.24970222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.320714057 meters Centerline goodness : 0.994350 with order 1 Centerline is valid? [True, True] Translation: X:255.59, Y:-12.54, Z:1.25 [[ 9.99937481e-01 9.60507864e-03 -5.72508263e-03 2.55592115e+02] [-9.60347092e-03 9.99953838e-01 3.08246655e-04 -1.25413680e+01] [ 5.72777908e-03 -2.53246720e-04 9.99983564e-01 1.24645230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.380714057 meters Centerline goodness : 0.995301 with order 1 Centerline is valid? [True, True] Translation: X:255.65, Y:-12.55, Z:1.25 [[ 9.99942807e-01 9.03361714e-03 -5.72510787e-03 2.55650812e+02] [-9.03200275e-03 9.99959163e-01 3.07777166e-04 -1.25464447e+01] [ 5.72765442e-03 -2.56050373e-04 9.99983564e-01 1.24665659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.440714057 meters Centerline goodness : 0.992684 with order 1 Centerline is valid? [True, True] Translation: X:255.71, Y:-12.56, Z:1.24 [[ 9.99803724e-01 1.89666989e-02 -5.72512891e-03 2.55710005e+02] [-1.89652493e-02 9.99820096e-01 3.07385363e-04 -1.25601433e+01] [ 5.72992902e-03 -1.98746533e-04 9.99983564e-01 1.24339450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.500714057 meters Centerline goodness : 0.992311 with order 1 Centerline is valid? [True, True] Translation: X:255.77, Y:-12.56, Z:1.25 [[ 9.99702164e-01 2.37235152e-02 -5.72514052e-03 2.55767631e+02] [-2.37221447e-02 9.99718543e-01 3.07168926e-04 -1.25631821e+01] [ 5.73081627e-03 -1.71264828e-04 9.99983564e-01 1.24855785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.560714057 meters Centerline goodness : 0.993243 with order 1 Centerline is valid? [True, True] Translation: X:255.83, Y:-12.57, Z:1.25 [[ 9.99745685e-01 2.18125722e-02 -5.72516882e-03 2.55826125e+02] [-2.18111735e-02 9.99762061e-01 3.06640447e-04 -1.25673641e+01] [ 5.73049520e-03 -1.81689813e-04 9.99983564e-01 1.24596696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62071405700001 meters Centerline goodness : 0.991632 with order 1 Centerline is valid? [True, True] Translation: X:255.88, Y:-12.57, Z:1.24 [[ 9.99766196e-01 2.08512929e-02 -5.72519211e-03 2.55883566e+02] [-2.08498810e-02 9.99782571e-01 3.06204988e-04 -1.25744645e+01] [ 5.73033206e-03 -1.86763822e-04 9.99983564e-01 1.24347960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68071405700002 meters Centerline goodness : 0.992120 with order 1 Centerline is valid? [True, True] Translation: X:255.94, Y:-12.58, Z:1.24 [[ 9.99836446e-01 1.71552874e-02 -5.72522080e-03 2.55941828e+02] [-1.71538179e-02 9.99852816e-01 3.05667700e-04 -1.25796905e+01] [ 5.72962196e-03 -2.07408311e-04 9.99983564e-01 1.24481892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74071405700002 meters Centerline goodness : 0.994626 with order 1 Centerline is valid? [True, True] Translation: X:256.00, Y:-12.57, Z:1.25 [[ 9.99964801e-01 -6.13331523e-03 -5.72524376e-03 2.56000240e+02] [ 6.13516302e-03 9.99981133e-01 3.05237095e-04 -1.25718270e+01] [ 5.72326362e-03 -3.40351654e-04 9.99983564e-01 1.25050774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80071405700002 meters Centerline goodness : 0.995234 with order 1 Centerline is valid? [True, True] Translation: X:256.06, Y:-12.58, Z:1.25 [[ 9.99897407e-01 -1.31299819e-02 -5.72527187e-03 2.56060484e+02] [ 1.31319409e-02 9.99913726e-01 3.04708891e-04 -1.25754528e+01] [ 5.72077710e-03 -3.79861562e-04 9.99983564e-01 1.25072906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86071405700002 meters Centerline goodness : 0.993481 with order 1 Centerline is valid? [True, True] Translation: X:256.12, Y:-12.59, Z:1.25 [[ 9.99965682e-01 -5.98800166e-03 -5.72527187e-03 2.56121294e+02] [ 5.98984406e-03 9.99982014e-01 3.04708891e-04 -1.25861610e+01] [ 5.72334430e-03 -3.38991920e-04 9.99983564e-01 1.25145262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92071405700003 meters Centerline goodness : 0.993068 with order 1 Centerline is valid? [True, True] Translation: X:256.18, Y:-12.59, Z:1.25 [[ 9.99964904e-01 -6.11649969e-03 -5.72526114e-03 2.56181700e+02] [ 6.11834534e-03 9.99981236e-01 3.04910414e-04 -1.25866062e+01] [ 5.72328873e-03 -3.39928838e-04 9.99983564e-01 1.25288184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.980714057 meters Centerline goodness : 0.995068 with order 1 Centerline is valid? [True, True] Translation: X:256.24, Y:-12.58, Z:1.26 [[ 9.99872711e-01 -1.48923914e-02 -5.72526114e-03 2.56243015e+02] [ 1.48943803e-02 9.99889026e-01 3.04910414e-04 -1.25772282e+01] [ 5.72008494e-03 -3.90145819e-04 9.99983564e-01 1.26124642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04071405700006 meters Centerline goodness : 0.992373 with order 1 Centerline is valid? [True, True] Translation: X:256.30, Y:-12.60, Z:1.25 [[ 9.99977743e-01 -3.42562811e-03 -5.72526114e-03 2.56303358e+02] [ 3.42742980e-03 9.99994080e-01 3.04910414e-04 -1.25960670e+01] [ 5.72418273e-03 -3.24526558e-04 9.99983564e-01 1.24540842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10071405700006 meters Centerline goodness : 0.995486 with order 1 Centerline is valid? [True, True] Translation: X:256.36, Y:-12.58, Z:1.25 [[ 9.99713031e-01 -2.32610697e-02 -5.72524933e-03 2.56363055e+02] [ 2.32631964e-02 9.99729329e-01 3.05131965e-04 -1.25823120e+01] [ 5.71660197e-03 -4.38232002e-04 9.99983564e-01 1.25482692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16071405700006 meters Centerline goodness : 0.992344 with order 1 Centerline is valid? [True, True] Translation: X:256.42, Y:-12.60, Z:1.24 [[ 9.99893870e-01 -1.33966780e-02 -5.72526072e-03 2.56424576e+02] [ 1.33986426e-02 9.99910188e-01 3.04918071e-04 -1.25977956e+01] [ 5.72066163e-03 -3.81596433e-04 9.99983564e-01 1.24388527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22071405700007 meters Centerline goodness : 0.992274 with order 1 Centerline is valid? [True, True] Translation: X:256.49, Y:-12.60, Z:1.24 [[ 9.99837161e-01 -1.71135473e-02 -5.72523789e-03 2.56486978e+02] [ 1.71155750e-02 9.99853471e-01 3.05346126e-04 -1.26005244e+01] [ 5.71917342e-03 -4.03287142e-04 9.99983564e-01 1.24216088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28071405700007 meters Centerline goodness : 0.991516 with order 1 Centerline is valid? [True, True] Translation: X:256.55, Y:-12.59, Z:1.25 [[ 9.99792952e-01 -1.95263064e-02 -5.72515871e-03 2.56549800e+02] [ 1.95283818e-02 9.99809256e-01 3.06823559e-04 -1.25947976e+01] [ 5.71807554e-03 -4.18563117e-04 9.99983564e-01 1.25069763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.340714057 meters Centerline goodness : 0.990956 with order 1 Centerline is valid? [True, True] Translation: X:256.61, Y:-12.60, Z:1.25 [[ 9.99904289e-01 -1.25950436e-02 -5.72513630e-03 2.56611762e+02] [ 1.25970083e-02 9.99920607e-01 3.07241104e-04 -1.25984502e+01] [ 5.72081206e-03 -3.79331288e-04 9.99983564e-01 1.24691844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.400714057 meters Centerline goodness : 0.991144 with order 1 Centerline is valid? [True, True] Translation: X:256.67, Y:-12.59, Z:1.25 [[ 9.99801630e-01 -1.90767815e-02 -5.72511367e-03 2.56673819e+02] [ 1.90788543e-02 9.99817935e-01 3.07662348e-04 -1.25937193e+01] [ 5.71820212e-03 -4.16829927e-04 9.99983564e-01 1.25363260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.460714057 meters Centerline goodness : 0.991254 with order 1 Centerline is valid? [True, True] Translation: X:256.74, Y:-12.59, Z:1.26 [[ 9.99848621e-01 -1.64304577e-02 -5.72504246e-03 2.56735050e+02] [ 1.64324949e-02 9.99864930e-01 3.08981663e-04 -1.25935408e+01] [ 5.71919247e-03 -4.03011621e-04 9.99983564e-01 1.25708944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.520714057 meters Centerline goodness : 0.990915 with order 1 Centerline is valid? [True, True] Translation: X:256.80, Y:-12.60, Z:1.25 [[ 9.99704251e-01 -2.36354415e-02 -5.72502603e-03 2.56797742e+02] [ 2.36375979e-02 9.99720545e-01 3.09285778e-04 -1.25959433e+01] [ 5.71611604e-03 -4.44520171e-04 9.99983564e-01 1.25440586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.580714057 meters Centerline goodness : 0.990262 with order 1 Centerline is valid? [True, True] Translation: X:256.86, Y:-12.60, Z:1.25 [[ 9.99636873e-01 -2.63314953e-02 -5.72493744e-03 2.56859970e+02] [ 2.63337050e-02 9.99653160e-01 3.10917022e-04 -1.25979983e+01] [ 5.71476489e-03 -4.61562933e-04 9.99983564e-01 1.25286891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.640714057 meters Centerline goodness : 0.991006 with order 1 Centerline is valid? [True, True] Translation: X:256.92, Y:-12.60, Z:1.25 [[ 9.99668272e-01 -2.51111776e-02 -5.72491570e-03 2.56922575e+02] [ 2.51133696e-02 9.99684561e-01 3.11316898e-04 -1.25997271e+01] [ 5.71529230e-03 -4.54985549e-04 9.99983564e-01 1.25398180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.700714057 meters Centerline goodness : 0.990605 with order 1 Centerline is valid? [True, True] Translation: X:256.98, Y:-12.60, Z:1.26 [[ 9.99839009e-01 -1.70053300e-02 -5.72489177e-03 2.56984449e+02] [ 1.70073924e-02 9.99855315e-01 3.11756270e-04 -1.25989995e+01] [ 5.71876195e-03 -4.09071561e-04 9.99983564e-01 1.25593675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76071405700003 meters Centerline goodness : 0.989479 with order 1 Centerline is valid? [True, True] Translation: X:257.05, Y:-12.60, Z:1.25 [[ 9.99926025e-01 -1.07317778e-02 -5.72487385e-03 2.57046041e+02] [ 1.07337397e-02 9.99942343e-01 3.12084968e-04 -1.25971153e+01] [ 5.72119455e-03 -3.73511187e-04 9.99983564e-01 1.25415168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82071405700003 meters Centerline goodness : 0.988398 with order 1 Centerline is valid? [True, True] Translation: X:257.11, Y:-12.60, Z:1.25 [[ 9.99960822e-01 6.75138149e-03 -5.72483305e-03 2.57107158e+02] [-6.74970090e-03 9.99977172e-01 3.12831638e-04 -1.25992179e+01] [ 5.72681441e-03 -2.74178471e-04 9.99983564e-01 1.25084566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88071405700003 meters Centerline goodness : 0.989674 with order 1 Centerline is valid? [True, True] Translation: X:257.17, Y:-12.59, Z:1.26 [[ 9.99915602e-01 1.16625669e-02 -5.72482112e-03 2.57165397e+02] [-1.16609654e-02 9.99931960e-01 3.13049895e-04 -1.25944245e+01] [ 5.72808256e-03 -2.46266533e-04 9.99983564e-01 1.25721287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94071405700004 meters Centerline goodness : 0.989005 with order 1 Centerline is valid? [True, True] Translation: X:257.22, Y:-12.60, Z:1.25 [[ 9.99822896e-01 1.79276826e-02 -5.72486495e-03 2.57224111e+02] [-1.79261882e-02 9.99839264e-01 3.12246290e-04 -1.25991192e+01] [ 5.72954261e-03 -2.09565984e-04 9.99983564e-01 1.25203632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00071405700004 meters Centerline goodness : 0.989928 with order 1 Centerline is valid? [True, True] Translation: X:257.28, Y:-12.60, Z:1.25 [[ 9.99888862e-01 1.37654563e-02 -5.72494235e-03 2.57282406e+02] [-1.37639019e-02 9.99905225e-01 3.10820640e-04 -1.26002001e+01] [ 5.72867835e-03 -2.31988551e-04 9.99983564e-01 1.25306786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06071405700004 meters Centerline goodness : 0.989869 with order 1 Centerline is valid? [True, True] Translation: X:257.34, Y:-12.60, Z:1.25 [[ 9.99940033e-01 9.33573411e-03 -5.72496978e-03 2.57339734e+02] [-9.33411016e-03 9.99956388e-01 3.10314579e-04 -1.26046165e+01] [ 5.72761712e-03 -2.56858472e-04 9.99983564e-01 1.25031730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12071405700004 meters Centerline goodness : 0.991006 with order 1 Centerline is valid? [True, True] Translation: X:257.40, Y:-12.60, Z:1.26 [[ 9.99980429e-01 2.52298669e-03 -5.72500340e-03 2.57398636e+02] [-2.52125490e-03 9.99996774e-01 3.09692989e-04 -1.26043093e+01] [ 5.72576628e-03 -2.95252735e-04 9.99983564e-01 1.25579231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18071405700005 meters Centerline goodness : 0.990824 with order 1 Centerline is valid? [True, True] Translation: X:257.46, Y:-12.60, Z:1.26 [[ 9.99983601e-01 1.46905664e-04 -5.72502671e-03 2.57457408e+02] [-1.45137505e-04 9.99999942e-01 3.09261543e-04 -1.26039389e+01] [ 5.72507181e-03 -3.08425556e-04 9.99983564e-01 1.26246246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24071405700005 meters Centerline goodness : 0.991518 with order 1 Centerline is valid? [True, True] Translation: X:257.52, Y:-12.61, Z:1.26 [[ 9.99983301e-01 -7.88297611e-04 -5.72505045e-03 2.57515188e+02] [ 7.90078539e-04 9.99999640e-01 3.08821422e-04 -1.26066398e+01] [ 5.72480495e-03 -3.13339504e-04 9.99983564e-01 1.26301924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30071405700005 meters Centerline goodness : 0.991169 with order 1 Centerline is valid? [True, True] Translation: X:257.57, Y:-12.61, Z:1.26 [[ 9.99983577e-01 2.64025291e-04 -5.72507931e-03 2.57573477e+02] [-2.62264618e-04 9.99999918e-01 3.08285447e-04 -1.26137510e+01] [ 5.72516024e-03 -3.06778899e-04 9.99983564e-01 1.25828801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36071405700005 meters Centerline goodness : 0.990627 with order 1 Centerline is valid? [True, True] Translation: X:257.63, Y:-12.62, Z:1.26 [[ 9.99982585e-01 -1.43244383e-03 -5.72515614e-03 2.57632282e+02] [ 1.43422404e-03 9.99998924e-01 3.06851952e-04 -1.26181572e+01] [ 5.72471044e-03 -3.15057765e-04 9.99983564e-01 1.25596977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42071405700005 meters Centerline goodness : 0.990572 with order 1 Centerline is valid? [True, True] Translation: X:257.69, Y:-12.62, Z:1.26 [[ 9.99977471e-01 -3.50424557e-03 -5.72517846e-03 2.57690531e+02] [ 3.50605725e-03 9.99993807e-01 3.06435081e-04 -1.26219272e+01] [ 5.72406918e-03 -3.26500980e-04 9.99983564e-01 1.25708549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48071405700006 meters Centerline goodness : 0.990221 with order 1 Centerline is valid? [True, True] Translation: X:257.75, Y:-12.63, Z:1.26 [[ 9.99974991e-01 -4.15193717e-03 -5.72520086e-03 2.57750010e+02] [ 4.15375704e-03 9.99991326e-01 3.06015876e-04 -1.26256247e+01] [ 5.72388065e-03 -3.29789316e-04 9.99983564e-01 1.25835198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54071405700006 meters Centerline goodness : 0.991184 with order 1 Centerline is valid? [True, True] Translation: X:257.81, Y:-12.63, Z:1.26 [[ 9.99976202e-01 -3.84941479e-03 -5.72521242e-03 2.57809360e+02] [ 3.85122848e-03 9.99992537e-01 3.05799533e-04 -1.26290765e+01] [ 5.72399254e-03 -3.27841356e-04 9.99983564e-01 1.26052308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60071405700006 meters Centerline goodness : 0.990398 with order 1 Centerline is valid? [True, True] Translation: X:257.87, Y:-12.63, Z:1.26 [[ 9.99978696e-01 -3.13512885e-03 -5.72522411e-03 2.57868814e+02] [ 3.13692962e-03 9.99995033e-01 3.05580464e-04 -1.26319777e+01] [ 5.72423764e-03 -3.23533579e-04 9.99983564e-01 1.26332083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66071405700006 meters Centerline goodness : 0.990918 with order 1 Centerline is valid? [True, True] Translation: X:257.93, Y:-12.63, Z:1.27 [[ 9.99974777e-01 -4.20331061e-03 -5.72523570e-03 2.57927808e+02] [ 4.20512759e-03 9.99991112e-01 3.05363179e-04 -1.26340670e+01] [ 5.72390128e-03 -3.29430824e-04 9.99983564e-01 1.26512610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72071405700007 meters Centerline goodness : 0.991402 with order 1 Centerline is valid? [True, True] Translation: X:257.99, Y:-12.64, Z:1.27 [[ 9.99972139e-01 -4.78984776e-03 -5.72522917e-03 2.57987211e+02] [ 4.79167502e-03 9.99988473e-01 3.05485615e-04 -1.26370783e+01] [ 5.72369994e-03 -3.32910542e-04 9.99983564e-01 1.26686662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78071405700007 meters Centerline goodness : 0.991272 with order 1 Centerline is valid? [True, True] Translation: X:258.05, Y:-12.64, Z:1.27 [[ 9.99944286e-01 -8.86828363e-03 -5.72524089e-03 2.58046363e+02] [ 8.87017625e-03 9.99960613e-01 3.05265781e-04 -1.26391444e+01] [ 5.72230820e-03 -3.56032669e-04 9.99983564e-01 1.26861779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.840714057 meters Centerline goodness : 0.991752 with order 1 Centerline is valid? [True, True] Translation: X:258.11, Y:-12.64, Z:1.27 [[ 9.99934477e-01 -9.91279600e-03 -5.72524666e-03 2.58107154e+02] [ 9.91470505e-03 9.99950802e-01 3.05157442e-04 -1.26449721e+01] [ 5.72194003e-03 -3.61901579e-04 9.99983564e-01 1.26764103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.900714057 meters Centerline goodness : 0.992572 with order 1 Centerline is valid? [True, True] Translation: X:258.17, Y:-12.65, Z:1.27 [[ 9.99930686e-01 -1.02880964e-02 -5.72523511e-03 2.58168818e+02] [ 1.02900128e-02 9.99947010e-01 3.05374017e-04 -1.26500538e+01] [ 5.72179001e-03 -3.64265593e-04 9.99983564e-01 1.26855001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.960714057 meters Centerline goodness : 0.993623 with order 1 Centerline is valid? [True, True] Translation: X:258.23, Y:-12.65, Z:1.26 [[ 9.99930071e-01 -1.03477016e-02 -5.72521175e-03 2.58230305e+02] [ 1.03496215e-02 9.99946394e-01 3.05811439e-04 -1.26524652e+01] [ 5.72174040e-03 -3.65043828e-04 9.99983564e-01 1.26487145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.020714057 meters Centerline goodness : 0.992638 with order 1 Centerline is valid? [True, True] Translation: X:258.29, Y:-12.67, Z:1.26 [[ 9.99981649e-01 1.98094670e-03 -5.72519432e-03 2.58290899e+02] [-1.97922635e-03 9.99997994e-01 3.06137297e-04 -1.26688615e+01] [ 5.72578928e-03 -2.94800223e-04 9.99983564e-01 1.25995906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.080714057 meters Centerline goodness : 0.992935 with order 1 Centerline is valid? [True, True] Translation: X:258.35, Y:-12.67, Z:1.27 [[ 9.99981411e-01 -2.09744398e-03 -5.72518240e-03 2.58349920e+02] [ 2.09923225e-03 9.99997750e-01 3.06360086e-04 -1.26679315e+01] [ 5.72452694e-03 -3.18372878e-04 9.99983564e-01 1.26980930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.140714057 meters Centerline goodness : 0.991817 with order 1 Centerline is valid? [True, True] Translation: X:258.41, Y:-12.68, Z:1.26 [[ 9.99972609e-01 4.69078399e-03 -5.72520529e-03 2.58408244e+02] [-4.68910912e-03 9.99988959e-01 3.05931709e-04 -1.26791037e+01] [ 5.72657714e-03 -2.79077217e-04 9.99983564e-01 1.26007618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.200714057 meters Centerline goodness : 0.992509 with order 1 Centerline is valid? [True, True] Translation: X:258.47, Y:-12.69, Z:1.26 [[ 9.99939418e-01 9.40120113e-03 -5.72522231e-03 2.58465787e+02] [-9.39960512e-03 9.99955776e-01 3.05612864e-04 -1.26864823e+01] [ 5.72784225e-03 -2.51779521e-04 9.99983564e-01 1.25749987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26071405700003 meters Centerline goodness : 0.993189 with order 1 Centerline is valid? [True, True] Translation: X:258.52, Y:-12.69, Z:1.26 [[ 9.99956386e-01 7.37877442e-03 -5.72531387e-03 2.58523704e+02] [-7.37715519e-03 9.99972742e-01 3.03887931e-04 -1.26874129e+01] [ 5.72740013e-03 -2.61638148e-04 9.99983564e-01 1.26403817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32071405700003 meters Centerline goodness : 0.994898 with order 1 Centerline is valid? [True, True] Translation: X:258.58, Y:-12.69, Z:1.27 [[ 9.99955150e-01 7.54437634e-03 -5.72534724e-03 2.58581670e+02] [-7.54276341e-03 9.99971507e-01 3.03257905e-04 -1.26865634e+01] [ 5.72747200e-03 -2.60059364e-04 9.99983564e-01 1.26674990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38071405700003 meters Centerline goodness : 0.991451 with order 1 Centerline is valid? [True, True] Translation: X:258.64, Y:-12.71, Z:1.25 [[ 9.99691105e-01 2.41850003e-02 -5.72537355e-03 2.58639095e+02] [-2.41836626e-02 9.99707487e-01 3.02760288e-04 -1.27065751e+01] [ 5.73102106e-03 -1.64206265e-04 9.99983564e-01 1.25439181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44071405700004 meters Centerline goodness : 0.992331 with order 1 Centerline is valid? [True, True] Translation: X:258.70, Y:-12.71, Z:1.26 [[ 9.99680932e-01 2.46018998e-02 -5.72546554e-03 2.58696961e+02] [-2.46005790e-02 9.99697315e-01 3.01010600e-04 -1.27132225e+01] [ 5.73113796e-03 -1.60064789e-04 9.99983564e-01 1.25657197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50071405700004 meters Centerline goodness : 0.993434 with order 1 Centerline is valid? [True, True] Translation: X:258.76, Y:-12.72, Z:1.26 [[ 9.99672656e-01 2.49359109e-02 -5.72549326e-03 2.58755305e+02] [-2.49345986e-02 9.99689039e-01 3.00482375e-04 -1.27220640e+01] [ 5.73120566e-03 -1.57621138e-04 9.99983564e-01 1.25668958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56071405700004 meters Centerline goodness : 0.993658 with order 1 Centerline is valid? [True, True] Translation: X:258.81, Y:-12.73, Z:1.26 [[ 9.99743995e-01 2.18897703e-02 -5.72551596e-03 2.58812399e+02] [-2.18884106e-02 9.99760375e-01 3.00049261e-04 -1.27306081e+01] [ 5.73071199e-03 -1.74650003e-04 9.99983564e-01 1.25518813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62071405700004 meters Centerline goodness : 0.992789 with order 1 Centerline is valid? [True, True] Translation: X:258.87, Y:-12.74, Z:1.26 [[ 9.99798652e-01 1.92321043e-02 -5.72554388e-03 2.58871217e+02] [-1.92307041e-02 9.99815028e-01 2.99515533e-04 -1.27404168e+01] [ 5.73024513e-03 -1.89348986e-04 9.99983564e-01 1.25647362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68071405700005 meters Centerline goodness : 0.994477 with order 1 Centerline is valid? [True, True] Translation: X:258.93, Y:-12.75, Z:1.26 [[ 9.99848696e-01 1.64256506e-02 -5.72558664e-03 2.58928595e+02] [-1.64242091e-02 9.99865069e-01 2.98695966e-04 -1.27478299e+01] [ 5.72972035e-03 -2.04612540e-04 9.99983564e-01 1.25620198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74071405700005 meters Centerline goodness : 0.995483 with order 1 Centerline is valid? [True, True] Translation: X:258.99, Y:-12.74, Z:1.27 [[ 9.99970857e-01 5.04999370e-03 -5.72561426e-03 2.58987706e+02] [-5.04836906e-03 9.99987212e-01 2.98165487e-04 -1.27423106e+01] [ 5.72704678e-03 -2.69251784e-04 9.99983564e-01 1.27092840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80071405700005 meters Centerline goodness : 0.994148 with order 1 Centerline is valid? [True, True] Translation: X:259.05, Y:-12.77, Z:1.25 [[ 9.99835865e-01 1.71889760e-02 -5.72563525e-03 2.59045711e+02] [-1.71875524e-02 9.99852239e-01 2.97761881e-04 -1.27669236e+01] [ 5.72990745e-03 -1.99303352e-04 9.99983564e-01 1.25466589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86071405700005 meters Centerline goodness : 0.994158 with order 1 Centerline is valid? [True, True] Translation: X:259.10, Y:-12.77, Z:1.26 [[ 9.99852212e-01 1.62101716e-02 -5.72570957e-03 2.59104136e+02] [-1.62087401e-02 9.99868586e-01 2.96325960e-04 -1.27746657e+01] [ 5.72976062e-03 -2.03475628e-04 9.99983564e-01 1.25652490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92071405700005 meters Centerline goodness : 0.995665 with order 1 Centerline is valid? [True, True] Translation: X:259.16, Y:-12.77, Z:1.27 [[ 9.99982100e-01 -1.73677396e-03 -5.72573183e-03 2.59163042e+02] [ 1.73849660e-03 9.99998445e-01 2.95895081e-04 -1.27661720e+01] [ 5.72520903e-03 -3.05843950e-04 9.99983564e-01 1.27231766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98071405700006 meters Centerline goodness : 0.994047 with order 1 Centerline is valid? [True, True] Translation: X:259.22, Y:-12.79, Z:1.26 [[ 9.99977427e-01 3.51593890e-03 -5.72574823e-03 2.59220697e+02] [-3.51430396e-03 9.99993781e-01 2.95577386e-04 -1.27886042e+01] [ 5.72675186e-03 -2.75448694e-04 9.99983564e-01 1.25855708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04071405700006 meters Centerline goodness : 0.993727 with order 1 Centerline is valid? [True, True] Translation: X:259.28, Y:-12.79, Z:1.26 [[ 9.99983602e-01 9.95823621e-05 -5.72582203e-03 2.59278916e+02] [-9.78997649e-05 9.99999952e-01 2.94140785e-04 -1.27949303e+01] [ 5.72585105e-03 -2.93575406e-04 9.99983564e-01 1.26018600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10071405700006 meters Centerline goodness : 0.994694 with order 1 Centerline is valid? [True, True] Translation: X:259.34, Y:-12.79, Z:1.27 [[ 9.99949274e-01 -8.28638030e-03 -5.72584377e-03 2.59338384e+02] [ 8.28819753e-03 9.99965609e-01 2.93716975e-04 -1.27925742e+01] [ 5.72321301e-03 -3.41159000e-04 9.99983564e-01 1.27228352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16071405700006 meters Centerline goodness : 0.994096 with order 1 Centerline is valid? [True, True] Translation: X:259.40, Y:-12.81, Z:1.26 [[ 9.99983198e-01 9.04811311e-04 -5.72585982e-03 2.59397649e+02] [-9.03146089e-04 9.99999549e-01 2.93403891e-04 -1.28071885e+01] [ 5.72612271e-03 -2.88227673e-04 9.99983564e-01 1.25903418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22071405700007 meters Centerline goodness : 0.993672 with order 1 Centerline is valid? [True, True] Translation: X:259.46, Y:-12.81, Z:1.26 [[ 9.99972345e-01 4.74590355e-03 -5.72585451e-03 2.59456678e+02] [-4.74430056e-03 9.99988703e-01 2.93507387e-04 -1.28089268e+01] [ 5.72718278e-03 -2.66334095e-04 9.99983564e-01 1.26383600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28071405700007 meters Centerline goodness : 0.993420 with order 1 Centerline is valid? [True, True] Translation: X:259.52, Y:-12.82, Z:1.26 [[ 9.99954317e-01 7.65363607e-03 -5.72593256e-03 2.59515234e+02] [-7.65208940e-03 9.99970680e-01 2.91976804e-04 -1.28164900e+01] [ 5.72799936e-03 -2.48148117e-04 9.99983564e-01 1.25736721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.340714057 meters Centerline goodness : 0.993487 with order 1 Centerline is valid? [True, True] Translation: X:259.57, Y:-12.81, Z:1.27 [[ 9.99983411e-01 -6.24958645e-04 -5.72601061e-03 2.59574826e+02] [ 6.26631942e-04 9.99999761e-01 2.90437964e-04 -1.28135713e+01] [ 5.72582773e-03 -2.94021247e-04 9.99983564e-01 1.26950008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.400714057 meters Centerline goodness : 0.993532 with order 1 Centerline is valid? [True, True] Translation: X:259.63, Y:-12.82, Z:1.26 [[ 9.99975251e-01 4.08773705e-03 -5.72601608e-03 2.59633371e+02] [-4.08614145e-03 9.99991610e-01 2.90330079e-04 -1.28202576e+01] [ 5.72715483e-03 -2.66925582e-04 9.99983564e-01 1.26460603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.460714057 meters Centerline goodness : 0.993952 with order 1 Centerline is valid? [True, True] Translation: X:259.69, Y:-12.82, Z:1.26 [[ 9.99960982e-01 6.72657063e-03 -5.72609302e-03 2.59692213e+02] [-6.72502691e-03 9.99977345e-01 2.88804640e-04 -1.28240304e+01] [ 5.72790596e-03 -2.50285241e-04 9.99983564e-01 1.26235627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.520714057 meters Centerline goodness : 0.994378 with order 1 Centerline is valid? [True, True] Translation: X:259.75, Y:-12.82, Z:1.27 [[ 9.99983296e-01 7.86082839e-04 -5.72616913e-03 2.59750904e+02] [-7.84450611e-04 9.99999651e-01 2.87287636e-04 -1.28193442e+01] [ 5.72639296e-03 -2.82790941e-04 9.99983564e-01 1.27271028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.580714057 meters Centerline goodness : 0.993506 with order 1 Centerline is valid? [True, True] Translation: X:259.81, Y:-12.83, Z:1.26 [[ 9.99913893e-01 1.18075217e-02 -5.72618514e-03 2.59810615e+02] [-1.18060717e-02 9.99930265e-01 2.86968111e-04 -1.28309660e+01] [ 5.72917421e-03 -2.19339649e-04 9.99983564e-01 1.26010118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.640714057 meters Centerline goodness : 0.994543 with order 1 Centerline is valid? [True, True] Translation: X:259.87, Y:-12.84, Z:1.25 [[ 9.99892546e-01 1.34947095e-02 -5.72619061e-03 2.59867869e+02] [-1.34932877e-02 9.99908920e-01 2.86859007e-04 -1.28370333e+01] [ 5.72954015e-03 -2.09563046e-04 9.99983564e-01 1.25464687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.700714057 meters Centerline goodness : 0.996097 with order 1 Centerline is valid? [True, True] Translation: X:259.93, Y:-12.82, Z:1.28 [[ 9.99969217e-01 -5.36424423e-03 -5.72622657e-03 2.59928444e+02] [ 5.36597046e-03 9.99985562e-01 2.86139422e-04 -1.28211670e+01] [ 5.72460897e-03 -3.16857377e-04 9.99983564e-01 1.27558861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76071405700003 meters Centerline goodness : 0.993683 with order 1 Centerline is valid? [True, True] Translation: X:259.99, Y:-12.85, Z:1.25 [[ 9.99853721e-01 1.61166845e-02 -5.72623155e-03 2.59987371e+02] [-1.61153103e-02 9.99870099e-01 2.86039632e-04 -1.28471983e+01] [ 5.73009772e-03 -1.93717792e-04 9.99983564e-01 1.24961237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82071405700003 meters Centerline goodness : 0.993621 with order 1 Centerline is valid? [True, True] Translation: X:260.05, Y:-12.85, Z:1.25 [[ 9.99847857e-01 1.64764627e-02 -5.72623260e-03 2.60046306e+02] [-1.64750945e-02 9.99864236e-01 2.86018560e-04 -1.28472582e+01] [ 5.73016776e-03 -1.91634820e-04 9.99983564e-01 1.25417670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88071405700003 meters Centerline goodness : 0.993114 with order 1 Centerline is valid? [True, True] Translation: X:260.11, Y:-12.84, Z:1.26 [[ 9.99943143e-01 8.99564684e-03 -5.72625423e-03 2.60106016e+02] [-8.99415867e-03 9.99959511e-01 2.85584910e-04 -1.28443557e+01] [ 5.72859140e-03 -2.34065833e-04 9.99983564e-01 1.26108244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94071405700004 meters Centerline goodness : 0.994253 with order 1 Centerline is valid? [True, True] Translation: X:260.17, Y:-12.84, Z:1.26 [[ 9.99964426e-01 6.19330544e-03 -5.72625907e-03 2.60165334e+02] [-6.19177196e-03 9.99980790e-01 2.85487861e-04 -1.28442560e+01] [ 5.72791718e-03 -2.50022014e-04 9.99983564e-01 1.26423424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00071405700004 meters Centerline goodness : 0.993548 with order 1 Centerline is valid? [True, True] Translation: X:260.22, Y:-12.84, Z:1.27 [[ 9.99970653e-01 5.08957305e-03 -5.72627985e-03 2.60223706e+02] [-5.08802389e-03 9.99987015e-01 2.85070371e-04 -1.28435612e+01] [ 5.72765638e-03 -2.55926557e-04 9.99983564e-01 1.27077045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06071405700004 meters Centerline goodness : 0.993088 with order 1 Centerline is valid? [True, True] Translation: X:260.28, Y:-12.85, Z:1.27 [[ 9.99982259e-01 -1.64070563e-03 -5.72630027e-03 2.60282823e+02] [ 1.64236254e-03 9.99998611e-01 2.84659708e-04 -1.28465543e+01] [ 5.72582527e-03 -2.94059319e-04 9.99983564e-01 1.26934858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12071405700004 meters Centerline goodness : 0.993439 with order 1 Centerline is valid? [True, True] Translation: X:260.34, Y:-12.85, Z:1.27 [[ 9.99944165e-01 -8.88124949e-03 -5.72632042e-03 2.60342776e+02] [ 8.88302243e-03 9.99960505e-01 2.84253657e-04 -1.28462668e+01] [ 5.72356973e-03 -3.35104819e-04 9.99983564e-01 1.27165247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18071405700005 meters Centerline goodness : 0.993563 with order 1 Centerline is valid? [True, True] Translation: X:260.40, Y:-12.85, Z:1.28 [[ 9.99900328e-01 -1.29052002e-02 -5.72633034e-03 2.60403995e+02] [ 1.29070377e-02 9.99916660e-01 2.84053804e-04 -1.28457886e+01] [ 5.72218734e-03 -3.57935454e-04 9.99983564e-01 1.27613111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24071405700005 meters Centerline goodness : 0.993835 with order 1 Centerline is valid? [True, True] Translation: X:260.46, Y:-12.85, Z:1.27 [[ 9.99931028e-01 -1.02542163e-02 -5.72631956e-03 2.60464687e+02] [ 1.02560118e-02 9.99947365e-01 2.84270854e-04 -1.28483489e+01] [ 5.72310318e-03 -3.42980448e-04 9.99983564e-01 1.27363762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30071405700005 meters Centerline goodness : 0.993458 with order 1 Centerline is valid? [True, True] Translation: X:260.53, Y:-12.85, Z:1.27 [[ 9.99957641e-01 -7.20594878e-03 -5.72630347e-03 2.60526190e+02] [ 7.20769629e-03 9.99973984e-01 2.84594611e-04 -1.28487529e+01] [ 5.72410372e-03 -3.25856012e-04 9.99983564e-01 1.27426773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36071405700005 meters Centerline goodness : 0.996038 with order 1 Centerline is valid? [True, True] Translation: X:260.59, Y:-12.84, Z:1.28 [[ 9.99908783e-01 -1.22325690e-02 -5.72629237e-03 2.60586805e+02] [ 1.22343999e-02 9.99925116e-01 2.84817877e-04 -1.28404170e+01] [ 5.72237951e-03 -3.54849648e-04 9.99983564e-01 1.27858867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42071405700005 meters Centerline goodness : 0.993192 with order 1 Centerline is valid? [True, True] Translation: X:260.65, Y:-12.85, Z:1.28 [[ 9.99971687e-01 -4.88218616e-03 -5.72628689e-03 2.60647507e+02] [ 4.88389759e-03 9.99988033e-01 2.84927916e-04 -1.28469592e+01] [ 5.72482729e-03 -3.12886447e-04 9.99983564e-01 1.27761026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48071405700006 meters Centerline goodness : 0.994538 with order 1 Centerline is valid? [True, True] Translation: X:260.71, Y:-12.85, Z:1.27 [[ 9.99982106e-01 1.73151573e-03 -5.72627595e-03 2.60707386e+02] [-1.72991119e-03 9.99998463e-01 2.85147606e-04 -1.28532511e+01] [ 5.72676089e-03 -2.75236555e-04 9.99983564e-01 1.26881153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54071405700006 meters Centerline goodness : 0.993988 with order 1 Centerline is valid? [True, True] Translation: X:260.77, Y:-12.85, Z:1.28 [[ 9.99982285e-01 -1.62444175e-03 -5.72628139e-03 2.60767061e+02] [ 1.62610055e-03 9.99998637e-01 2.85038281e-04 -1.28482003e+01] [ 5.72581056e-03 -2.94344741e-04 9.99983564e-01 1.27582806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60071405700006 meters Centerline goodness : 0.996222 with order 1 Centerline is valid? [True, True] Translation: X:260.83, Y:-12.84, Z:1.28 [[ 9.99976023e-01 -3.89403022e-03 -5.72629202e-03 2.60825836e+02] [ 3.89572491e-03 9.99992371e-01 2.84824555e-04 -1.28391354e+01] [ 5.72513922e-03 -3.07125785e-04 9.99983564e-01 1.27894778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66071405700006 meters Centerline goodness : 0.996085 with order 1 Centerline is valid? [True, True] Translation: X:260.89, Y:-12.84, Z:1.28 [[ 9.99983305e-01 -7.73793430e-04 -5.72630781e-03 2.60886057e+02] [ 7.75435286e-04 9.99999659e-01 2.84506829e-04 -1.28381171e+01] [ 5.72608571e-03 -2.88942461e-04 9.99983564e-01 1.28037377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72071405700007 meters Centerline goodness : 0.993383 with order 1 Centerline is valid? [True, True] Translation: X:260.94, Y:-12.85, Z:1.27 [[ 9.99938204e-01 9.52872668e-03 -5.72631789e-03 2.60944774e+02] [-9.52725456e-03 9.99954574e-01 2.84303812e-04 -1.28507500e+01] [ 5.72876682e-03 -2.29730156e-04 9.99983564e-01 1.27311905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78071405700007 meters Centerline goodness : 0.993385 with order 1 Centerline is valid? [True, True] Translation: X:261.00, Y:-12.85, Z:1.28 [[ 9.99959830e-01 6.89547832e-03 -5.72638658e-03 2.61002377e+02] [-6.89397104e-03 9.99976196e-01 2.82913387e-04 -1.28487897e+01] [ 5.72820110e-03 -2.43424479e-04 9.99983564e-01 1.27789666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.840714057 meters Centerline goodness : 0.993130 with order 1 Centerline is valid? [True, True] Translation: X:261.06, Y:-12.85, Z:1.28 [[ 9.99969934e-01 5.22860889e-03 -5.72641577e-03 2.61059914e+02] [-5.22707772e-03 9.99986299e-01 2.82321452e-04 -1.28502592e+01] [ 5.72781346e-03 -2.52380543e-04 9.99983564e-01 1.27649634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.900714057 meters Centerline goodness : 0.994980 with order 1 Centerline is valid? [True, True] Translation: X:261.12, Y:-12.84, Z:1.28 [[ 9.99977293e-01 -3.55259149e-03 -5.72644110e-03 2.61119679e+02] [ 3.55426336e-03 9.99993644e-01 2.81806703e-04 -1.28424249e+01] [ 5.72540356e-03 -3.02153584e-04 9.99983564e-01 1.28148351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.960714057 meters Centerline goodness : 0.992199 with order 1 Centerline is valid? [True, True] Translation: X:261.18, Y:-12.85, Z:1.28 [[ 9.99980354e-01 2.54918260e-03 -5.72645626e-03 2.61178895e+02] [-2.54761229e-03 9.99996715e-01 2.81498310e-04 -1.28544756e+01] [ 5.72715504e-03 -2.66903990e-04 9.99983564e-01 1.27685413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.020714057 meters Centerline goodness : 0.992546 with order 1 Centerline is valid? [True, True] Translation: X:261.24, Y:-12.86, Z:1.28 [[ 9.99967657e-01 5.64742076e-03 -5.72646650e-03 2.61237570e+02] [-5.64590233e-03 9.99984022e-01 2.81289837e-04 -1.28567060e+01] [ 5.72796356e-03 -2.48949668e-04 9.99983564e-01 1.28014657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.080714057 meters Centerline goodness : 0.992275 with order 1 Centerline is valid? [True, True] Translation: X:261.29, Y:-12.86, Z:1.28 [[ 9.99966294e-01 5.88368643e-03 -5.72654081e-03 2.61294880e+02] [-5.88218057e-03 9.99982661e-01 2.79768701e-04 -1.28602093e+01] [ 5.72808759e-03 -2.46074724e-04 9.99983564e-01 1.27936656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.140714057 meters Centerline goodness : 0.992022 with order 1 Centerline is valid? [True, True] Translation: X:261.36, Y:-12.87, Z:1.27 [[ 9.99936399e-01 9.71618666e-03 -5.72656676e-03 2.61355040e+02] [-9.71474658e-03 9.99952772e-01 2.79236628e-04 -1.28672391e+01] [ 5.72900942e-03 -2.23586723e-04 9.99983564e-01 1.26904477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.200714057 meters Centerline goodness : 0.991993 with order 1 Centerline is valid? [True, True] Translation: X:261.41, Y:-12.87, Z:1.27 [[ 9.99978368e-01 3.23575521e-03 -5.72657201e-03 2.61414617e+02] [-3.23420967e-03 9.99994731e-01 2.79128879e-04 -1.28664927e+01] [ 5.72744503e-03 -2.60601907e-04 9.99983564e-01 1.26757037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26071405700003 meters Centerline goodness : 0.992666 with order 1 Centerline is valid? [True, True] Translation: X:261.47, Y:-12.86, Z:1.27 [[ 9.99983573e-01 2.43251815e-04 -5.72657718e-03 2.61473835e+02] [-2.41657923e-04 9.99999932e-01 2.79022769e-04 -1.28625790e+01] [ 5.72664466e-03 -2.77634313e-04 9.99983564e-01 1.27271945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32071405700003 meters Centerline goodness : 0.991564 with order 1 Centerline is valid? [True, True] Translation: X:261.53, Y:-12.86, Z:1.28 [[ 9.99979335e-01 2.92175540e-03 -5.72659798e-03 2.61531605e+02] [-2.92020778e-03 9.99995697e-01 2.78595322e-04 -1.28618063e+01] [ 5.72738732e-03 -2.61866708e-04 9.99983564e-01 1.27580353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38071405700003 meters Centerline goodness : 0.991738 with order 1 Centerline is valid? [True, True] Translation: X:261.59, Y:-12.86, Z:1.28 [[ 9.99978848e-01 3.08361765e-03 -5.72662350e-03 2.61590246e+02] [-3.08207567e-03 9.99995212e-01 2.78069674e-04 -1.28587706e+01] [ 5.72745354e-03 -2.60413905e-04 9.99983564e-01 1.27544113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44071405700004 meters Centerline goodness : 0.991629 with order 1 Centerline is valid? [True, True] Translation: X:261.65, Y:-12.86, Z:1.28 [[ 9.99979821e-01 2.75017967e-03 -5.72664406e-03 2.61647732e+02] [-2.74863466e-03 9.99996184e-01 2.77645619e-04 -1.28561484e+01] [ 5.72738578e-03 -2.61899564e-04 9.99983564e-01 1.27683092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50071405700004 meters Centerline goodness : 0.994221 with order 1 Centerline is valid? [True, True] Translation: X:261.71, Y:-12.84, Z:1.28 [[ 9.99931523e-01 -1.02055866e-02 -5.72666941e-03 2.61706273e+02] [ 1.02073405e-02 9.99947865e-01 2.77121717e-04 -1.28442029e+01] [ 5.72354266e-03 -3.35556806e-04 9.99983564e-01 1.28172815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56071405700004 meters Centerline goodness : 0.990097 with order 1 Centerline is valid? [True, True] Translation: X:261.77, Y:-12.86, Z:1.27 [[ 9.99981754e-01 1.92282286e-03 -5.72669393e-03 2.61766736e+02] [-1.92127021e-03 9.99998116e-01 2.76614133e-04 -1.28570357e+01] [ 5.72721502e-03 -2.65606559e-04 9.99983564e-01 1.27366312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62071405700004 meters Centerline goodness : 0.992836 with order 1 Centerline is valid? [True, True] Translation: X:261.83, Y:-12.84, Z:1.28 [[ 9.99893524e-01 -1.34218389e-02 -5.72668908e-03 2.61826765e+02] [ 1.34236430e-02 9.99909861e-01 2.76714423e-04 -1.28444974e+01] [ 5.72245887e-03 -3.53557990e-04 9.99983564e-01 1.28311355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68071405700005 meters Centerline goodness : 0.986363 with order 1 Centerline is valid? [True, True] Translation: X:261.89, Y:-12.85, Z:1.28 [[ 9.99950463e-01 -8.14109753e-03 -5.72669907e-03 2.61888970e+02] [ 8.14281416e-03 9.99966809e-01 2.76507578e-04 -1.28456299e+01] [ 5.72425792e-03 -3.23125327e-04 9.99983564e-01 1.28314171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74071405700005 meters Centerline goodness : 0.992568 with order 1 Centerline is valid? [True, True] Translation: X:261.95, Y:-12.85, Z:1.28 [[ 9.99914579e-01 -1.17490243e-02 -5.72667331e-03 2.61950084e+02] [ 1.17508029e-02 9.99930919e-01 2.77040164e-04 -1.28458682e+01] [ 5.72302275e-03 -3.44309508e-04 9.99983564e-01 1.28227928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80071405700005 meters Centerline goodness : 0.993616 with order 1 Centerline is valid? [True, True] Translation: X:262.01, Y:-12.85, Z:1.28 [[ 9.99946295e-01 -8.63782102e-03 -5.72666018e-03 2.62012376e+02] [ 8.63955036e-03 9.99962640e-01 2.77311240e-04 -1.28477902e+01] [ 5.72405087e-03 -3.26772116e-04 9.99983564e-01 1.28204490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86071405700005 meters Centerline goodness : 0.990428 with order 1 Centerline is valid? [True, True] Translation: X:262.07, Y:-12.87, Z:1.27 [[ 9.99886657e-01 1.39240055e-02 -5.72664003e-03 2.62071461e+02] [-1.39226430e-02 9.99903037e-01 2.77726757e-04 -1.28676802e+01] [ 5.72995182e-03 -1.97965314e-04 9.99983564e-01 1.26906045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92071405700005 meters Centerline goodness : 0.989888 with order 1 Centerline is valid? [True, True] Translation: X:262.13, Y:-12.87, Z:1.27 [[ 9.99822214e-01 1.79651496e-02 -5.72664356e-03 2.62130262e+02] [-1.79638537e-02 9.99838598e-01 2.77653868e-04 -1.28742611e+01] [ 5.73070737e-03 -1.74731918e-04 9.99983564e-01 1.26513478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98071405700006 meters Centerline goodness : 0.990558 with order 1 Centerline is valid? [True, True] Translation: X:262.19, Y:-12.88, Z:1.27 [[ 9.99831016e-01 1.74684149e-02 -5.72665318e-03 2.62190221e+02] [-1.74671120e-02 9.99847400e-01 2.77455328e-04 -1.28755997e+01] [ 5.73062600e-03 -1.77380350e-04 9.99983564e-01 1.26741559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04071405700006 meters Centerline goodness : 0.990700 with order 1 Centerline is valid? [True, True] Translation: X:262.25, Y:-12.88, Z:1.27 [[ 9.99849401e-01 1.63823008e-02 -5.72666288e-03 2.62249162e+02] [-1.63809812e-02 9.99865784e-01 2.77254929e-04 -1.28779376e+01] [ 5.73043635e-03 -1.83404818e-04 9.99983564e-01 1.26907256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10071405700006 meters Centerline goodness : 0.994073 with order 1 Centerline is valid? [True, True] Translation: X:262.31, Y:-12.86, Z:1.28 [[ 9.99981274e-01 -2.15774422e-03 -5.72668212e-03 2.62310249e+02] [ 2.15936502e-03 9.99997630e-01 2.76856972e-04 -1.28619595e+01] [ 5.72607116e-03 -2.89217785e-04 9.99983564e-01 1.28319514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16071405700006 meters Centerline goodness : 0.990607 with order 1 Centerline is valid? [True, True] Translation: X:262.37, Y:-12.88, Z:1.27 [[ 9.99916949e-01 1.15455538e-02 -5.72668212e-03 2.62367877e+02] [-1.15441573e-02 9.99933326e-01 2.76856972e-04 -1.28834282e+01] [ 5.72949677e-03 -2.10724260e-04 9.99983564e-01 1.27044631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22071405700007 meters Centerline goodness : 0.990361 with order 1 Centerline is valid? [True, True] Translation: X:262.43, Y:-12.88, Z:1.27 [[ 9.99908806e-01 1.22304722e-02 -5.72670215e-03 2.62425221e+02] [-1.22290893e-02 9.99925184e-01 2.76442120e-04 -1.28846318e+01] [ 5.72965471e-03 -2.06384558e-04 9.99983564e-01 1.27293188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28071405700007 meters Centerline goodness : 0.988881 with order 1 Centerline is valid? [True, True] Translation: X:262.48, Y:-12.89, Z:1.27 [[ 9.99936279e-01 9.72845902e-03 -5.72673334e-03 2.62483923e+02] [-9.72703882e-03 9.99952653e-01 2.75794486e-04 -1.28872049e+01] [ 5.72914525e-03 -2.20072754e-04 9.99983564e-01 1.27168276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.340714057 meters Centerline goodness : 0.989189 with order 1 Centerline is valid? [True, True] Translation: X:262.54, Y:-12.89, Z:1.27 [[ 9.99935140e-01 9.84476028e-03 -5.72675407e-03 2.62541173e+02] [-9.84334446e-03 9.99951515e-01 2.75363339e-04 -1.28913683e+01] [ 5.72918729e-03 -2.18975066e-04 9.99983564e-01 1.27254533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.400714057 meters Centerline goodness : 0.988342 with order 1 Centerline is valid? [True, True] Translation: X:262.60, Y:-12.90, Z:1.27 [[ 9.99976750e-01 3.70179161e-03 -5.72677951e-03 2.62599883e+02] [-3.70027825e-03 9.99993116e-01 2.74833215e-04 -1.28956929e+01] [ 5.72775746e-03 -2.53636148e-04 9.99983564e-01 1.27248842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.460714057 meters Centerline goodness : 0.988861 with order 1 Centerline is valid? [True, True] Translation: X:262.66, Y:-12.89, Z:1.28 [[ 9.99976529e-01 -3.76102158e-03 -5.72679885e-03 2.62658736e+02] [ 3.76265473e-03 9.99992884e-01 2.74429527e-04 -1.28928589e+01] [ 5.72572596e-03 -2.95971052e-04 9.99983564e-01 1.28170469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.520714057 meters Centerline goodness : 0.989413 with order 1 Centerline is valid? [True, True] Translation: X:262.72, Y:-12.90, Z:1.28 [[ 9.99967362e-01 -5.69896911e-03 -5.72681854e-03 2.62717922e+02] [ 5.70063160e-03 9.99983714e-01 2.74018081e-04 -1.28960750e+01] [ 5.72516365e-03 -3.06655621e-04 9.99983564e-01 1.28309459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.580714057 meters Centerline goodness : 0.989734 with order 1 Centerline is valid? [True, True] Translation: X:262.78, Y:-12.90, Z:1.28 [[ 9.99950406e-01 -8.14796264e-03 -5.72682891e-03 2.62777608e+02] [ 8.14966394e-03 9.99966753e-01 2.73801268e-04 -1.28998205e+01] [ 5.72440759e-03 -3.20459420e-04 9.99983564e-01 1.28269819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.640714057 meters Centerline goodness : 0.990072 with order 1 Centerline is valid? [True, True] Translation: X:262.84, Y:-12.90, Z:1.28 [[ 9.99945413e-01 -8.73928151e-03 -5.72683402e-03 2.62838871e+02] [ 8.74099186e-03 9.99961759e-01 2.73694349e-04 -1.29031135e+01] [ 5.72422313e-03 -3.23737618e-04 9.99983564e-01 1.28289067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.700714057 meters Centerline goodness : 0.989622 with order 1 Centerline is valid? [True, True] Translation: X:262.90, Y:-12.91, Z:1.28 [[ 9.99920742e-01 -1.12121955e-02 -5.72682371e-03 2.62900213e+02] [ 1.12139475e-02 9.99937084e-01 2.73909930e-04 -1.29076317e+01] [ 5.72339227e-03 -3.38108521e-04 9.99983564e-01 1.28192529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76071405700003 meters Centerline goodness : 0.989805 with order 1 Centerline is valid? [True, True] Translation: X:262.96, Y:-12.92, Z:1.27 [[ 9.99974363e-01 -4.29837860e-03 -5.72680835e-03 2.62961075e+02] [ 4.30001940e-03 9.99990717e-01 2.74230625e-04 -1.29159974e+01] [ 5.72557644e-03 -2.98848982e-04 9.99983564e-01 1.27384019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82071405700003 meters Centerline goodness : 0.992959 with order 1 Centerline is valid? [True, True] Translation: X:263.02, Y:-12.90, Z:1.28 [[ 9.99847582e-01 -1.64928997e-02 -5.72679788e-03 2.63021470e+02] [ 1.64947411e-02 9.99863915e-01 2.74449032e-04 -1.29032427e+01] [ 5.72149209e-03 -3.68869249e-04 9.99983564e-01 1.28186351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88071405700003 meters Centerline goodness : 0.990358 with order 1 Centerline is valid? [True, True] Translation: X:263.08, Y:-12.91, Z:1.29 [[ 9.99969799e-01 -5.25400255e-03 -5.72678988e-03 2.63083038e+02] [ 5.25566118e-03 9.99986151e-01 2.74615861e-04 -1.29142728e+01] [ 5.72526774e-03 -3.04705635e-04 9.99983564e-01 1.28520311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94071405700004 meters Centerline goodness : 0.990000 with order 1 Centerline is valid? [True, True] Translation: X:263.14, Y:-12.92, Z:1.28 [[ 9.99978843e-01 -3.08512065e-03 -5.72676893e-03 2.63143608e+02] [ 3.08674630e-03 9.99995198e-01 2.75052129e-04 -1.29174817e+01] [ 5.72589286e-03 -2.92723393e-04 9.99983564e-01 1.28431377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00071405700004 meters Centerline goodness : 0.990182 with order 1 Centerline is valid? [True, True] Translation: X:263.20, Y:-12.92, Z:1.28 [[ 9.99964711e-01 -6.14668314e-03 -5.72676893e-03 2.63203056e+02] [ 6.14835886e-03 9.99981061e-01 2.75052129e-04 -1.29184211e+01] [ 5.72496981e-03 -3.10252653e-04 9.99983564e-01 1.28241795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06071405700004 meters Centerline goodness : 0.988343 with order 1 Centerline is valid? [True, True] Translation: X:263.26, Y:-12.93, Z:1.28 [[ 9.99983350e-01 -7.09975009e-04 -5.72677921e-03 2.63262401e+02] [ 7.11560586e-04 9.99999709e-01 2.74837892e-04 -1.29276530e+01] [ 5.72658242e-03 -2.78908266e-04 9.99983564e-01 1.27896272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12071405700004 meters Centerline goodness : 0.992040 with order 1 Centerline is valid? [True, True] Translation: X:263.32, Y:-12.91, Z:1.29 [[ 9.99908147e-01 -1.22841647e-02 -5.72678431e-03 2.63322472e+02] [ 1.22859389e-02 9.99924487e-01 2.74731580e-04 -1.29121973e+01] [ 5.72297702e-03 -3.45065268e-04 9.99983564e-01 1.29442764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18071405700005 meters Centerline goodness : 0.989540 with order 1 Centerline is valid? [True, True] Translation: X:263.38, Y:-12.94, Z:1.27 [[ 9.99979151e-01 2.98339338e-03 -5.72679458e-03 2.63382491e+02] [-2.98187006e-03 9.99995517e-01 2.74517248e-04 -1.29351288e+01] [ 5.72758790e-03 -2.57434967e-04 9.99983564e-01 1.26836968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24071405700005 meters Centerline goodness : 0.989146 with order 1 Centerline is valid? [True, True] Translation: X:263.44, Y:-12.94, Z:1.27 [[ 9.99963327e-01 6.36782775e-03 -5.72678431e-03 2.63440657e+02] [-6.36635861e-03 9.99979697e-01 2.74731406e-04 -1.29384396e+01] [ 5.72841748e-03 -2.38262568e-04 9.99983564e-01 1.26804383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30071405700005 meters Centerline goodness : 0.988796 with order 1 Centerline is valid? [True, True] Translation: X:263.50, Y:-12.94, Z:1.27 [[ 9.99925340e-01 1.07943201e-02 -5.72686171e-03 2.63499040e+02] [-1.07929327e-02 9.99941717e-01 2.73108316e-04 -1.29397565e+01] [ 5.72947596e-03 -2.11278292e-04 9.99983564e-01 1.26923957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36071405700005 meters Centerline goodness : 0.990419 with order 1 Centerline is valid? [True, True] Translation: X:263.56, Y:-12.94, Z:1.27 [[ 9.99895366e-01 1.32838122e-02 -5.72693104e-03 2.63558076e+02] [-1.32824739e-02 9.99911747e-01 2.71646748e-04 -1.29411475e+01] [ 5.73003413e-03 -1.95550513e-04 9.99983564e-01 1.27008802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42071405700005 meters Centerline goodness : 0.990846 with order 1 Centerline is valid? [True, True] Translation: X:263.62, Y:-12.94, Z:1.27 [[ 9.99908478e-01 1.22571745e-02 -5.72695112e-03 2.63616896e+02] [-1.22558219e-02 9.99924858e-01 2.71222715e-04 -1.29421162e+01] [ 5.72984521e-03 -2.01009399e-04 9.99983564e-01 1.27261421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48071405700006 meters Centerline goodness : 0.991462 with order 1 Centerline is valid? [True, True] Translation: X:263.67, Y:-12.94, Z:1.28 [[ 9.99949111e-01 8.30521186e-03 -5.72697108e-03 2.63674316e+02] [-8.30379692e-03 9.99965486e-01 2.70800655e-04 -1.29436860e+01] [ 5.72902248e-03 -2.23231270e-04 9.99983564e-01 1.27571127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54071405700006 meters Centerline goodness : 0.991523 with order 1 Centerline is valid? [True, True] Translation: X:263.73, Y:-12.94, Z:1.28 [[ 9.99983572e-01 -2.39653258e-04 -5.72700355e-03 2.63732035e+02] [ 2.41204138e-04 9.99999934e-01 2.70112145e-04 -1.29422396e+01] [ 5.72693844e-03 -2.71489085e-04 9.99983564e-01 1.28260870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60071405700006 meters Centerline goodness : 0.990821 with order 1 Centerline is valid? [True, True] Translation: X:263.79, Y:-12.94, Z:1.28 [[ 9.99978278e-01 -3.26253050e-03 -5.72702742e-03 2.63790627e+02] [ 3.26412794e-03 9.99994636e-01 2.69605218e-04 -1.29448522e+01] [ 5.72611710e-03 -2.88293112e-04 9.99983564e-01 1.28419277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66071405700006 meters Centerline goodness : 0.992000 with order 1 Centerline is valid? [True, True] Translation: X:263.85, Y:-12.94, Z:1.29 [[ 9.99917742e-01 -1.14764691e-02 -5.72704754e-03 2.63850003e+02] [ 1.14781984e-02 9.99934087e-01 2.69177082e-04 -1.29449491e+01] [ 5.72358085e-03 -3.34891127e-04 9.99983564e-01 1.28742639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72071405700007 meters Centerline goodness : 0.991905 with order 1 Centerline is valid? [True, True] Translation: X:263.91, Y:-12.95, Z:1.29 [[ 9.99875270e-01 -1.47188810e-02 -5.72705250e-03 2.63911845e+02] [ 1.47206627e-02 9.99891609e-01 2.69071514e-04 -1.29479103e+01] [ 5.72247131e-03 -3.53343961e-04 9.99983564e-01 1.29015606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78071405700007 meters Centerline goodness : 0.993152 with order 1 Centerline is valid? [True, True] Translation: X:263.97, Y:-12.95, Z:1.29 [[ 9.99775686e-01 -2.03906573e-02 -5.72698037e-03 2.63973024e+02] [ 2.03925404e-02 9.99792014e-01 2.70598140e-04 -1.29489254e+01] [ 5.72027156e-03 -3.87325120e-04 9.99983564e-01 1.29149272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.840714057 meters Centerline goodness : 0.993041 with order 1 Centerline is valid? [True, True] Translation: X:264.04, Y:-12.95, Z:1.29 [[ 9.99713721e-01 -2.32309981e-02 -5.72691487e-03 2.64035292e+02] [ 2.32329354e-02 9.99730042e-01 2.71977369e-04 -1.29477127e+01] [ 5.71905053e-03 -4.04952551e-04 9.99983564e-01 1.28986779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.900714057 meters Centerline goodness : 0.993795 with order 1 Centerline is valid? [True, True] Translation: X:264.10, Y:-12.95, Z:1.29 [[ 9.99682562e-01 -2.45352517e-02 -5.72689546e-03 2.64097210e+02] [ 2.45372126e-02 9.99698880e-01 2.72385336e-04 -1.29493854e+01] [ 5.71848794e-03 -4.12820922e-04 9.99983564e-01 1.28857510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.960714057 meters Centerline goodness : 0.992037 with order 1 Centerline is valid? [True, True] Translation: X:264.16, Y:-12.95, Z:1.29 [[ 9.99781210e-01 -2.01180315e-02 -5.72687617e-03 2.64158994e+02] [ 2.01199226e-02 9.99797537e-01 2.72790421e-04 -1.29532387e+01] [ 5.72022868e-03 -3.87955043e-04 9.99983564e-01 1.28960476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.020714057 meters Centerline goodness : 0.991272 with order 1 Centerline is valid? [True, True] Translation: X:264.22, Y:-12.95, Z:1.29 [[ 9.99886682e-01 -1.39221366e-02 -5.72685511e-03 2.64219937e+02] [ 1.39239290e-02 9.99903020e-01 2.73231833e-04 -1.29524032e+01] [ 5.72249575e-03 -3.52941195e-04 9.99983564e-01 1.29360327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.080714057 meters Centerline goodness : 0.991206 with order 1 Centerline is valid? [True, True] Translation: X:264.28, Y:-12.95, Z:1.29 [[ 9.99915249e-01 -1.16917697e-02 -5.72684464e-03 2.64282001e+02] [ 1.16935269e-02 9.99931591e-01 2.73451009e-04 -1.29530960e+01] [ 5.72325575e-03 -3.40394846e-04 9.99983564e-01 1.28971689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.140714057 meters Centerline goodness : 0.991309 with order 1 Centerline is valid? [True, True] Translation: X:264.34, Y:-12.95, Z:1.29 [[ 9.99941316e-01 -9.19605453e-03 -5.72682396e-03 2.64343911e+02] [ 9.19777343e-03 9.99957662e-01 2.73883505e-04 -1.29517087e+01] [ 5.72406285e-03 -3.26541462e-04 9.99983564e-01 1.29311934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.200714057 meters Centerline goodness : 0.991130 with order 1 Centerline is valid? [True, True] Translation: X:264.41, Y:-12.95, Z:1.29 [[ 9.99955808e-01 -7.45555066e-03 -5.72680269e-03 2.64405969e+02] [ 7.45724364e-03 9.99972157e-01 2.74327528e-04 -1.29513800e+01] [ 5.72459797e-03 -3.17021568e-04 9.99983564e-01 1.29347100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26071405700003 meters Centerline goodness : 0.991116 with order 1 Centerline is valid? [True, True] Translation: X:264.47, Y:-12.95, Z:1.29 [[ 9.99979289e-01 -2.93703198e-03 -5.72678148e-03 2.64466303e+02] [ 2.93865360e-03 9.99995644e-01 2.74769586e-04 -1.29536338e+01] [ 5.72594953e-03 -2.91592922e-04 9.99983564e-01 1.29493702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32071405700003 meters Centerline goodness : 0.990264 with order 1 Centerline is valid? [True, True] Translation: X:264.53, Y:-12.96, Z:1.29 [[ 9.99982681e-01 -1.35688859e-03 -5.72676880e-03 2.64525754e+02] [ 1.35848587e-03 9.99999039e-01 2.75033526e-04 -1.29590032e+01] [ 5.72639011e-03 -2.82808497e-04 9.99983564e-01 1.28883906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38071405700003 meters Centerline goodness : 0.990058 with order 1 Centerline is valid? [True, True] Translation: X:264.58, Y:-12.96, Z:1.28 [[ 9.99956627e-01 -7.34498860e-03 -5.72677888e-03 2.64584785e+02] [ 7.34668261e-03 9.99972975e-01 2.74823603e-04 -1.29599376e+01] [ 5.72460553e-03 -3.16884510e-04 9.99983564e-01 1.28481657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44071405700004 meters Centerline goodness : 0.990587 with order 1 Centerline is valid? [True, True] Translation: X:264.65, Y:-12.96, Z:1.29 [[ 9.99968276e-01 -5.53630791e-03 -5.72679385e-03 2.64646321e+02] [ 5.53797056e-03 9.99984628e-01 2.74511282e-04 -1.29616795e+01] [ 5.72518603e-03 -3.06217389e-04 9.99983564e-01 1.29114533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50071405700004 meters Centerline goodness : 0.989596 with order 1 Centerline is valid? [True, True] Translation: X:264.71, Y:-12.97, Z:1.29 [[ 9.99974419e-01 -4.28552696e-03 -5.72678349e-03 2.64705412e+02] [ 4.28717039e-03 9.99990772e-01 2.74727195e-04 -1.29669199e+01] [ 5.72555329e-03 -2.99271864e-04 9.99983564e-01 1.28941819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56071405700004 meters Centerline goodness : 0.989294 with order 1 Centerline is valid? [True, True] Translation: X:264.76, Y:-12.97, Z:1.29 [[ 9.99944157e-01 -8.88181707e-03 -5.72678861e-03 2.64764487e+02] [ 8.88353504e-03 9.99960503e-01 2.74620324e-04 -1.29702817e+01] [ 5.72412330e-03 -3.25479116e-04 9.99983564e-01 1.28649433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62071405700004 meters Centerline goodness : 0.990214 with order 1 Centerline is valid? [True, True] Translation: X:264.82, Y:-12.98, Z:1.29 [[ 9.99979156e-01 -2.98173420e-03 -5.72679349e-03 2.64824929e+02] [ 2.98335512e-03 9.99995512e-01 2.74518576e-04 -1.29766764e+01] [ 5.72594925e-03 -2.91597912e-04 9.99983564e-01 1.28958021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68071405700005 meters Centerline goodness : 0.989431 with order 1 Centerline is valid? [True, True] Translation: X:264.88, Y:-12.98, Z:1.29 [[ 9.99963280e-01 -6.37514438e-03 -5.72678880e-03 2.64884257e+02] [ 6.37682135e-03 9.99979630e-01 2.74616366e-04 -1.29830887e+01] [ 5.72492143e-03 -3.11124991e-04 9.99983564e-01 1.28969487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74071405700005 meters Centerline goodness : 0.990480 with order 1 Centerline is valid? [True, True] Translation: X:264.94, Y:-12.99, Z:1.29 [[ 9.99947661e-01 -8.47813150e-03 -5.72679847e-03 2.64944069e+02] [ 8.47984170e-03 9.99964008e-01 2.74414614e-04 -1.29899203e+01] [ 5.72426583e-03 -3.22962596e-04 9.99983564e-01 1.28759355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80071405700005 meters Centerline goodness : 0.989452 with order 1 Centerline is valid? [True, True] Translation: X:265.00, Y:-13.00, Z:1.29 [[ 9.99916807e-01 -1.15578081e-02 -5.72679847e-03 2.65004548e+02] [ 1.15595687e-02 9.99933148e-01 2.74414614e-04 -1.30009927e+01] [ 5.72324399e-03 -3.40591105e-04 9.99983564e-01 1.28921785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86071405700005 meters Centerline goodness : 0.989774 with order 1 Centerline is valid? [True, True] Translation: X:265.07, Y:-13.01, Z:1.29 [[ 9.99866621e-01 -1.52952364e-02 -5.72678846e-03 2.65066968e+02] [ 1.52970592e-02 9.99882955e-01 2.74623403e-04 -1.30077544e+01] [ 5.72191774e-03 -3.62189796e-04 9.99983564e-01 1.28500546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92071405700005 meters Centerline goodness : 0.990281 with order 1 Centerline is valid? [True, True] Translation: X:265.13, Y:-13.02, Z:1.29 [[ 9.99845025e-01 -1.66472176e-02 -5.72671306e-03 2.65127876e+02] [ 1.66490714e-02 9.99861356e-01 2.76186763e-04 -1.30153673e+01] [ 5.72132135e-03 -3.71488415e-04 9.99983564e-01 1.28751860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98071405700006 meters Centerline goodness : 0.990654 with order 1 Centerline is valid? [True, True] Translation: X:265.19, Y:-13.02, Z:1.29 [[ 9.99922555e-01 -1.10493693e-02 -5.72667973e-03 2.65188327e+02] [ 1.10511355e-02 9.99938896e-01 2.76876087e-04 -1.30227015e+01] [ 5.72327050e-03 -3.40140959e-04 9.99983564e-01 1.29166413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04071405700006 meters Centerline goodness : 0.990576 with order 1 Centerline is valid? [True, True] Translation: X:265.25, Y:-13.03, Z:1.29 [[ 9.99864979e-01 -1.54022656e-02 -5.72664759e-03 2.65250026e+02] [ 1.54041067e-02 9.99881311e-01 2.77539335e-04 -1.30320097e+01] [ 5.72169316e-03 -3.65715752e-04 9.99983564e-01 1.29146518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10071405700006 meters Centerline goodness : 0.991224 with order 1 Centerline is valid? [True, True] Translation: X:265.31, Y:-13.04, Z:1.29 [[ 9.99890334e-01 -1.36574366e-02 -5.72657866e-03 2.65312102e+02] [ 1.36592573e-02 9.99906669e-01 2.78954359e-04 -1.30424516e+01] [ 5.72223439e-03 -3.57144579e-04 9.99983564e-01 1.29129193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16071405700006 meters Centerline goodness : 0.990911 with order 1 Centerline is valid? [True, True] Translation: X:265.37, Y:-13.05, Z:1.29 [[ 9.99932991e-01 -1.00608228e-02 -5.72655800e-03 2.65373624e+02] [ 1.00625872e-02 9.99949332e-01 2.79377908e-04 -1.30483435e+01] [ 5.72345707e-03 -3.36983176e-04 9.99983564e-01 1.29447624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22071405700007 meters Centerline goodness : 0.992368 with order 1 Centerline is valid? [True, True] Translation: X:265.43, Y:-13.06, Z:1.29 [[ 9.99896539e-01 -1.31954043e-02 -5.72652630e-03 2.65434452e+02] [ 1.31972236e-02 9.99912874e-01 2.80026121e-04 -1.30579230e+01] [ 5.72233231e-03 -3.55571397e-04 9.99983564e-01 1.28929849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28071405700007 meters Centerline goodness : 0.991852 with order 1 Centerline is valid? [True, True] Translation: X:265.50, Y:-13.06, Z:1.29 [[ 9.99954930e-01 -7.57271045e-03 -5.72646001e-03 2.65496874e+02] [ 7.57444558e-03 9.99971274e-01 2.81375280e-04 -1.30635697e+01] [ 5.72416473e-03 -3.24737358e-04 9.99983564e-01 1.29255218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.340714057 meters Centerline goodness : 0.992159 with order 1 Centerline is valid? [True, True] Translation: X:265.56, Y:-13.07, Z:1.29 [[ 9.99942889e-01 -9.02366308e-03 -5.72643960e-03 2.65556654e+02] [ 9.02542429e-03 9.99959230e-01 2.81789985e-04 -1.30712886e+01] [ 5.72366336e-03 -3.33457439e-04 9.99983564e-01 1.28708763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.400714057 meters Centerline goodness : 0.992673 with order 1 Centerline is valid? [True, True] Translation: X:265.62, Y:-13.08, Z:1.28 [[ 9.99976014e-01 -3.89612064e-03 -5.72642291e-03 2.65617936e+02] [ 3.89779997e-03 9.99992364e-01 2.82128715e-04 -1.30782069e+01] [ 5.72527997e-03 -3.04442399e-04 9.99983564e-01 1.28334691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.460714057 meters Centerline goodness : 0.995185 with order 1 Centerline is valid? [True, True] Translation: X:265.68, Y:-13.07, Z:1.30 [[ 9.99939370e-01 -9.40555665e-03 -5.72641290e-03 2.65678038e+02] [ 9.40732720e-03 9.99955710e-01 2.82331833e-04 -1.30694408e+01] [ 5.72350379e-03 -3.36184955e-04 9.99983564e-01 1.29647081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.520714057 meters Centerline goodness : 0.995192 with order 1 Centerline is valid? [True, True] Translation: X:265.74, Y:-13.07, Z:1.30 [[ 9.99971580e-01 -4.90388360e-03 -5.72642317e-03 2.65739637e+02] [ 4.90557937e-03 9.99987928e-01 2.82123272e-04 -1.30736955e+01] [ 5.72497054e-03 -3.10206677e-04 9.99983564e-01 1.29705937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.580714057 meters Centerline goodness : 0.994895 with order 1 Centerline is valid? [True, True] Translation: X:265.80, Y:-13.08, Z:1.30 [[ 9.99983543e-01 -3.49567829e-04 -5.72641307e-03 2.65799572e+02] [ 3.51190302e-04 9.99999898e-01 2.82328248e-04 -1.30765443e+01] [ 5.72631379e-03 -2.84334662e-04 9.99983564e-01 1.29777672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.640714057 meters Centerline goodness : 0.994441 with order 1 Centerline is valid? [True, True] Translation: X:265.86, Y:-13.08, Z:1.30 [[ 9.99979655e-01 2.81044930e-03 -5.72642302e-03 2.65857898e+02] [-2.80887968e-03 9.99996015e-01 2.82126258e-04 -1.30793376e+01] [ 5.72719310e-03 -2.66035684e-04 9.99983564e-01 1.29917778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.700714057 meters Centerline goodness : 0.994712 with order 1 Centerline is valid? [True, True] Translation: X:265.92, Y:-13.08, Z:1.30 [[ 9.99964322e-01 6.20979466e-03 -5.72649322e-03 2.65915624e+02] [-6.20828885e-03 9.99980689e-01 2.80694060e-04 -1.30816827e+01] [ 5.72812569e-03 -2.45132322e-04 9.99983564e-01 1.29789631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76071405700003 meters Centerline goodness : 0.994400 with order 1 Centerline is valid? [True, True] Translation: X:265.97, Y:-13.08, Z:1.30 [[ 9.99954389e-01 7.64368652e-03 -5.72651780e-03 2.65973917e+02] [-7.64220705e-03 9.99970759e-01 2.80191724e-04 -1.30845845e+01] [ 5.72849204e-03 -2.36415710e-04 9.99983564e-01 1.29970166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82071405700003 meters Centerline goodness : 0.993053 with order 1 Centerline is valid? [True, True] Translation: X:266.03, Y:-13.09, Z:1.30 [[ 9.99936473e-01 9.70860529e-03 -5.72653754e-03 2.66031946e+02] [-9.70716193e-03 9.99952845e-01 2.79787678e-04 -1.30906528e+01] [ 5.72898385e-03 -2.24181476e-04 9.99983564e-01 1.29831394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88071405700003 meters Centerline goodness : 0.993862 with order 1 Centerline is valid? [True, True] Translation: X:266.09, Y:-13.09, Z:1.30 [[ 9.99947264e-01 8.52494900e-03 -5.72657307e-03 2.66090049e+02] [-8.52349044e-03 9.99963635e-01 2.79058566e-04 -1.30898819e+01] [ 5.72874378e-03 -2.30233459e-04 9.99983564e-01 1.30214209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94071405700004 meters Centerline goodness : 0.994490 with order 1 Centerline is valid? [True, True] Translation: X:266.15, Y:-13.09, Z:1.30 [[ 9.99967356e-01 5.70024874e-03 -5.72660416e-03 2.66148572e+02] [-5.69874760e-03 9.99983723e-01 2.78418965e-04 -1.30944204e+01] [ 5.72809801e-03 -2.45775405e-04 9.99983564e-01 1.30264453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00071405700004 meters Centerline goodness : 0.994371 with order 1 Centerline is valid? [True, True] Translation: X:266.21, Y:-13.10, Z:1.30 [[ 9.99981207e-01 2.18901167e-03 -5.72662348e-03 2.66207087e+02] [-2.18745534e-03 9.99997569e-01 2.78021017e-04 -1.30991907e+01] [ 5.72721815e-03 -2.65489059e-04 9.99983564e-01 1.30134258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06071405700004 meters Centerline goodness : 0.994959 with order 1 Centerline is valid? [True, True] Translation: X:266.26, Y:-13.10, Z:1.30 [[ 9.99983497e-01 4.59114071e-04 -5.72664269e-03 2.66264381e+02] [-4.57531698e-04 9.99999857e-01 2.77624808e-04 -1.31044108e+01] [ 5.72676933e-03 -2.75000106e-04 9.99983564e-01 1.30067853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12071405700004 meters Centerline goodness : 0.992689 with order 1 Centerline is valid? [True, True] Translation: X:266.32, Y:-13.11, Z:1.30 [[ 9.99977789e-01 3.40970641e-03 -5.72666632e-03 2.66322654e+02] [-3.40817511e-03 9.99994154e-01 2.77136604e-04 -1.31144257e+01] [ 5.72757779e-03 -2.57612967e-04 9.99983564e-01 1.29998136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18071405700005 meters Centerline goodness : 0.990972 with order 1 Centerline is valid? [True, True] Translation: X:266.38, Y:-13.13, Z:1.29 [[ 9.99817639e-01 1.82179414e-02 -5.72674657e-03 2.66380025e+02] [-1.82166622e-02 9.99834025e-01 2.75468299e-04 -1.31320758e+01] [ 5.73081454e-03 -1.71095857e-04 9.99983564e-01 1.29239734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24071405700005 meters Centerline goodness : 0.991431 with order 1 Centerline is valid? [True, True] Translation: X:266.44, Y:-13.13, Z:1.30 [[ 9.99783463e-01 2.00057948e-02 -5.72678895e-03 2.66439156e+02] [-2.00045499e-02 9.99799851e-01 2.74584362e-04 -1.31342732e+01] [ 5.73113602e-03 -1.59963069e-04 9.99983564e-01 1.29689120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30071405700005 meters Centerline goodness : 0.992186 with order 1 Centerline is valid? [True, True] Translation: X:266.50, Y:-13.14, Z:1.30 [[ 9.99699886e-01 2.38189314e-02 -5.72680830e-03 2.66498270e+02] [-2.38177514e-02 9.99716280e-01 2.74180296e-04 -1.31373697e+01] [ 5.73171416e-03 -1.37698315e-04 9.99983564e-01 1.30207932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36071405700005 meters Centerline goodness : 0.992314 with order 1 Centerline is valid? [True, True] Translation: X:266.56, Y:-13.14, Z:1.31 [[ 9.99723820e-01 2.27922615e-02 -5.72682864e-03 2.66556746e+02] [-2.27910671e-02 9.99740212e-01 2.73754607e-04 -1.31427940e+01] [ 5.73158037e-03 -1.43158466e-04 9.99983564e-01 1.30541853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42071405700005 meters Centerline goodness : 0.993276 with order 1 Centerline is valid? [True, True] Translation: X:266.61, Y:-13.15, Z:1.31 [[ 9.99759445e-01 2.11720467e-02 -5.72684865e-03 2.66613434e+02] [-2.11708281e-02 9.99775836e-01 2.73335506e-04 -1.31495439e+01] [ 5.73135196e-03 -1.52027625e-04 9.99983564e-01 1.30806132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48071405700006 meters Centerline goodness : 0.994621 with order 1 Centerline is valid? [True, True] Translation: X:266.67, Y:-13.15, Z:1.31 [[ 9.99915529e-01 1.16677748e-02 -5.72688310e-03 2.66672131e+02] [-1.16664046e-02 9.99931908e-01 2.72611718e-04 -1.31499193e+01] [ 5.72967392e-03 -2.05776555e-04 9.99983564e-01 1.30543522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54071405700006 meters Centerline goodness : 0.995564 with order 1 Centerline is valid? [True, True] Translation: X:266.73, Y:-13.16, Z:1.30 [[ 9.99973498e-01 4.49510409e-03 -5.72690252e-03 2.66730844e+02] [-4.49361874e-03 9.99989867e-01 2.72203243e-04 -1.31610139e+01] [ 5.72806807e-03 -2.46461512e-04 9.99983564e-01 1.30463367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60071405700006 meters Centerline goodness : 0.992325 with order 1 Centerline is valid? [True, True] Translation: X:266.79, Y:-13.18, Z:1.30 [[ 9.99976816e-01 3.68365978e-03 -5.72692179e-03 2.66788518e+02] [-3.68216348e-03 9.99993184e-01 2.71797190e-04 -1.31830444e+01] [ 5.72788396e-03 -2.50703426e-04 9.99983564e-01 1.29878312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66071405700006 meters Centerline goodness : 0.994727 with order 1 Centerline is valid? [True, True] Translation: X:266.85, Y:-13.18, Z:1.30 [[ 9.99871579e-01 -1.49675692e-02 -5.72694074e-03 2.66847724e+02] [ 1.49693682e-02 9.99887916e-01 2.71397260e-04 -1.31808482e+01] [ 5.72223668e-03 -3.57091092e-04 9.99983564e-01 1.30402409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72071405700007 meters Centerline goodness : 0.992005 with order 1 Centerline is valid? [True, True] Translation: X:266.91, Y:-13.20, Z:1.30 [[ 9.99771036e-01 -2.06174126e-02 -5.72695929e-03 2.66909185e+02] [ 2.06193017e-02 9.99787363e-01 2.71005174e-04 -1.31966128e+01] [ 5.72015410e-03 -3.89029025e-04 9.99983564e-01 1.30354330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78071405700007 meters Centerline goodness : 0.995270 with order 1 Centerline is valid? [True, True] Translation: X:266.97, Y:-13.19, Z:1.30 [[ 9.99417180e-01 -3.36526941e-02 -5.72688941e-03 2.66972327e+02] [ 3.36548043e-02 9.99433479e-01 2.72474026e-04 -1.31941232e+01] [ 5.71447552e-03 -4.65052565e-04 9.99983564e-01 1.30270293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.840714057 meters Centerline goodness : 0.992238 with order 1 Centerline is valid? [True, True] Translation: X:267.04, Y:-13.20, Z:1.30 [[ 9.99521615e-01 -3.03931711e-02 -5.72681532e-03 2.67035216e+02] [ 3.03952369e-02 9.99537920e-01 2.74022317e-04 -1.32048738e+01] [ 5.71584067e-03 -4.47959137e-04 9.99983564e-01 1.30464818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.900714057 meters Centerline goodness : 0.992521 with order 1 Centerline is valid? [True, True] Translation: X:267.10, Y:-13.21, Z:1.30 [[ 9.99553228e-01 -2.93351007e-02 -5.72678337e-03 2.67098468e+02] [ 2.93371530e-02 9.99569535e-01 2.74688474e-04 -1.32064225e+01] [ 5.71626018e-03 -4.42573271e-04 9.99983564e-01 1.30410059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.960714057 meters Centerline goodness : 0.991358 with order 1 Centerline is valid? [True, True] Translation: X:267.16, Y:-13.21, Z:1.29 [[ 9.99789750e-01 -1.96890984e-02 -5.72675162e-03 2.67161016e+02] [ 1.96909970e-02 9.99806076e-01 2.75348761e-04 -1.32117855e+01] [ 5.72021970e-03 -3.88056318e-04 9.99983564e-01 1.29422375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.020714057 meters Centerline goodness : 0.991669 with order 1 Centerline is valid? [True, True] Translation: X:267.22, Y:-13.20, Z:1.31 [[ 9.99732018e-01 -2.24298159e-02 -5.72672540e-03 2.67222435e+02] [ 2.24317625e-02 9.99748338e-01 2.75893042e-04 -1.32029287e+01] [ 5.71909598e-03 -4.04279652e-04 9.99983564e-01 1.30733240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.080714057 meters Centerline goodness : 0.992623 with order 1 Centerline is valid? [True, True] Translation: X:267.28, Y:-13.20, Z:1.31 [[ 9.99797678e-01 -1.92823166e-02 -5.72669651e-03 2.67284027e+02] [ 1.92842151e-02 9.99814004e-01 2.76491575e-04 -1.32011753e+01] [ 5.72029996e-03 -3.86870482e-04 9.99983564e-01 1.30662060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.140714057 meters Centerline goodness : 0.992711 with order 1 Centerline is valid? [True, True] Translation: X:267.35, Y:-13.20, Z:1.31 [[ 9.99807115e-01 -1.87866666e-02 -5.72666496e-03 2.67346852e+02] [ 1.87885608e-02 9.99823441e-01 2.77143382e-04 -1.31997651e+01] [ 5.72044727e-03 -3.84685718e-04 9.99983564e-01 1.30666861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.200714057 meters Centerline goodness : 0.992347 with order 1 Centerline is valid? [True, True] Translation: X:267.41, Y:-13.20, Z:1.30 [[ 9.99801535e-01 -1.90812889e-02 -5.72664438e-03 2.67409209e+02] [ 1.90831903e-02 9.99817861e-01 2.77568089e-04 -1.32012836e+01] [ 5.72030497e-03 -3.86795646e-04 9.99983564e-01 1.30348939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26071405700003 meters Centerline goodness : 0.992476 with order 1 Centerline is valid? [True, True] Translation: X:267.47, Y:-13.20, Z:1.30 [[ 9.99709241e-01 -2.34230479e-02 -5.72662307e-03 2.67471781e+02] [ 2.34250227e-02 9.99725558e-01 2.78006900e-04 -1.32012360e+01] [ 5.71853968e-03 -4.12072342e-04 9.99983564e-01 1.29853611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32071405700003 meters Centerline goodness : 0.992936 with order 1 Centerline is valid? [True, True] Translation: X:267.53, Y:-13.20, Z:1.30 [[ 9.99597939e-01 -2.77698668e-02 -5.72659672e-03 2.67534443e+02] [ 2.77719156e-02 9.99614247e-01 2.78548786e-04 -1.31993372e+01] [ 5.71665240e-03 -4.37475353e-04 9.99983564e-01 1.29737516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38071405700003 meters Centerline goodness : 0.992301 with order 1 Centerline is valid? [True, True] Translation: X:267.60, Y:-13.20, Z:1.30 [[ 9.99422392e-01 -3.34975946e-02 -5.72657101e-03 2.67597769e+02] [ 3.34997398e-02 9.99438687e-01 2.79076182e-04 -1.31968184e+01] [ 5.71400823e-03 -4.70753625e-04 9.99983564e-01 1.29938098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44071405700004 meters Centerline goodness : 0.992138 with order 1 Centerline is valid? [True, True] Translation: X:267.66, Y:-13.19, Z:1.30 [[ 9.99458283e-01 -3.24090545e-02 -5.72654020e-03 2.67659987e+02] [ 3.24111856e-02 9.99474580e-01 2.79707089e-04 -1.31938720e+01] [ 5.71446632e-03 -4.65159524e-04 9.99983564e-01 1.30320569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50071405700004 meters Centerline goodness : 0.993569 with order 1 Centerline is valid? [True, True] Translation: X:267.72, Y:-13.19, Z:1.31 [[ 9.99586001e-01 -2.81963300e-02 -5.72651872e-03 2.67722310e+02] [ 2.81983949e-02 9.99602307e-01 2.80146140e-04 -1.31911300e+01] [ 5.71634223e-03 -4.41508796e-04 9.99983564e-01 1.30680901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56071405700004 meters Centerline goodness : 0.991365 with order 1 Centerline is valid? [True, True] Translation: X:267.78, Y:-13.19, Z:1.31 [[ 9.99621925e-01 -2.68926467e-02 -5.72649739e-03 2.67784965e+02] [ 2.68946927e-02 9.99638233e-01 2.80581365e-04 -1.31886634e+01] [ 5.71688016e-03 -4.34487672e-04 9.99983564e-01 1.30527859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62071405700004 meters Centerline goodness : 0.991460 with order 1 Centerline is valid? [True, True] Translation: X:267.85, Y:-13.19, Z:1.30 [[ 9.99635776e-01 -2.63727709e-02 -5.72647589e-03 2.67847363e+02] [ 2.63748110e-02 9.99652085e-01 2.81019523e-04 -1.31877776e+01] [ 5.71707230e-03 -4.31951889e-04 9.99983564e-01 1.30286699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68071405700005 meters Centerline goodness : 0.991984 with order 1 Centerline is valid? [True, True] Translation: X:267.91, Y:-13.19, Z:1.30 [[ 9.99606279e-01 -2.74680573e-02 -5.72645439e-03 2.67909890e+02] [ 2.74701178e-02 9.99622585e-01 2.81457040e-04 -1.31865923e+01] [ 5.71656206e-03 -4.38652601e-04 9.99983564e-01 1.29965517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74071405700005 meters Centerline goodness : 0.991957 with order 1 Centerline is valid? [True, True] Translation: X:267.97, Y:-13.18, Z:1.30 [[ 9.99670167e-01 -2.50352933e-02 -5.72643318e-03 2.67973483e+02] [ 2.50373166e-02 9.99686478e-01 2.81887883e-04 -1.31847481e+01] [ 5.71758067e-03 -4.25169427e-04 9.99983564e-01 1.29919533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80071405700005 meters Centerline goodness : 0.990785 with order 1 Centerline is valid? [True, True] Translation: X:268.04, Y:-13.18, Z:1.30 [[ 9.99851347e-01 -1.62632130e-02 -5.72640090e-03 2.68035478e+02] [ 1.62650968e-02 9.99867675e-01 2.82542074e-04 -1.31779118e+01] [ 5.72104811e-03 -3.75640538e-04 9.99983564e-01 1.30310345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86071405700005 meters Centerline goodness : 0.990157 with order 1 Centerline is valid? [True, True] Translation: X:268.10, Y:-13.18, Z:1.30 [[ 9.99845017e-01 -1.66478549e-02 -5.72636517e-03 2.68098042e+02] [ 1.66497491e-02 9.99861343e-01 2.83264303e-04 -1.31770356e+01] [ 5.72085543e-03 -3.78562945e-04 9.99983564e-01 1.30142403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92071405700005 meters Centerline goodness : 0.990234 with order 1 Centerline is valid? [True, True] Translation: X:268.16, Y:-13.18, Z:1.30 [[ 9.99825960e-01 -1.77555293e-02 -5.72634428e-03 2.68159994e+02] [ 1.77574440e-02 9.99842284e-01 2.83686001e-04 -1.31750412e+01] [ 5.72040415e-03 -3.85321866e-04 9.99983564e-01 1.30205647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98071405700006 meters Centerline goodness : 0.990715 with order 1 Centerline is valid? [True, True] Translation: X:268.22, Y:-13.18, Z:1.30 [[ 9.99712991e-01 -2.32625334e-02 -5.72632373e-03 2.68223339e+02] [ 2.32645403e-02 9.99729304e-01 2.84100346e-04 -1.31761157e+01] [ 5.71816474e-03 -4.17239096e-04 9.99983564e-01 1.30111761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04071405700006 meters Centerline goodness : 0.990579 with order 1 Centerline is valid? [True, True] Translation: X:268.29, Y:-13.18, Z:1.30 [[ 9.99501865e-01 -3.10359691e-02 -5.72624209e-03 2.68285464e+02] [ 3.10381122e-02 9.99518161e-01 2.85736414e-04 -1.31766942e+01] [ 5.71461485e-03 -4.63325823e-04 9.99983564e-01 1.30212373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10071405700006 meters Centerline goodness : 0.990514 with order 1 Centerline is valid? [True, True] Translation: X:268.35, Y:-13.18, Z:1.31 [[ 9.99502487e-01 -3.10159472e-02 -5.72616964e-03 2.68347411e+02] [ 3.10180981e-02 9.99518782e-01 2.87180876e-04 -1.31780187e+01] [ 5.71450692e-03 -4.64652892e-04 9.99983564e-01 1.30687269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16071405700006 meters Centerline goodness : 0.990982 with order 1 Centerline is valid? [True, True] Translation: X:268.41, Y:-13.18, Z:1.31 [[ 9.99559816e-01 -2.91098972e-02 -5.72614846e-03 2.68410818e+02] [ 2.91120194e-02 9.99576114e-01 2.87602607e-04 -1.31796220e+01] [ 5.71534915e-03 -4.54175754e-04 9.99983564e-01 1.30779447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22071405700007 meters Centerline goodness : 0.990308 with order 1 Centerline is valid? [True, True] Translation: X:268.47, Y:-13.18, Z:1.30 [[ 9.99720674e-01 -2.29300138e-02 -5.72611498e-03 2.68472163e+02] [ 2.29320390e-02 9.99736985e-01 2.88267702e-04 -1.31799912e+01] [ 5.71799894e-03 -4.19498673e-04 9.99983564e-01 1.30403069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28071405700007 meters Centerline goodness : 0.989636 with order 1 Centerline is valid? [True, True] Translation: X:268.53, Y:-13.18, Z:1.31 [[ 9.99954980e-01 -7.56643092e-03 -5.72607171e-03 2.68534730e+02] [ 7.56821018e-03 9.99971319e-01 2.89124663e-04 -1.31810930e+01] [ 5.72371984e-03 -3.32447761e-04 9.99983564e-01 1.30899871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.340714057 meters Centerline goodness : 0.990208 with order 1 Centerline is valid? [True, True] Translation: X:268.60, Y:-13.18, Z:1.31 [[ 9.99983582e-01 2.19313837e-04 -5.72605063e-03 2.68595444e+02] [-2.17659467e-04 9.99999934e-01 2.89541516e-04 -1.31807580e+01] [ 5.72611376e-03 -2.88290433e-04 9.99983564e-01 1.31191179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.400714057 meters Centerline goodness : 0.989986 with order 1 Centerline is valid? [True, True] Translation: X:268.65, Y:-13.18, Z:1.31 [[ 9.99964814e-01 6.13049178e-03 -5.72604546e-03 2.68653494e+02] [-6.12893352e-03 9.99981176e-01 2.89643832e-04 -1.31843924e+01] [ 5.72771333e-03 -2.54539088e-04 9.99983564e-01 1.30925335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.460714057 meters Centerline goodness : 0.988910 with order 1 Centerline is valid? [True, True] Translation: X:268.71, Y:-13.19, Z:1.30 [[ 9.99885338e-01 1.40186240e-02 -5.72612788e-03 2.68711971e+02] [-1.40172042e-02 9.99901713e-01 2.88005019e-04 -1.31932044e+01] [ 5.72960251e-03 -2.07707691e-04 9.99983564e-01 1.30182468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.520714057 meters Centerline goodness : 0.989201 with order 1 Centerline is valid? [True, True] Translation: X:268.77, Y:-13.20, Z:1.30 [[ 9.99857516e-01 1.58794863e-02 -5.72614830e-03 2.68770643e+02] [-1.58780993e-02 9.99873894e-01 2.87598429e-04 -1.31952563e+01] [ 5.72999312e-03 -1.96637100e-04 9.99983564e-01 1.30277815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.580714057 meters Centerline goodness : 0.989375 with order 1 Centerline is valid? [True, True] Translation: X:268.83, Y:-13.20, Z:1.30 [[ 9.99813933e-01 1.84203786e-02 -5.72616985e-03 2.68828603e+02] [-1.84190357e-02 9.99830314e-01 2.87168753e-04 -1.31996980e+01] [ 5.73048796e-03 -1.81644793e-04 9.99983564e-01 1.30416324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.640714057 meters Centerline goodness : 0.989416 with order 1 Centerline is valid? [True, True] Translation: X:268.89, Y:-13.21, Z:1.30 [[ 9.99729271e-01 2.25520447e-02 -5.72619630e-03 2.68887623e+02] [-2.25507726e-02 9.99745658e-01 2.86640464e-04 -1.32062977e+01] [ 5.73120421e-03 -1.57432712e-04 9.99983564e-01 1.30397393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.700714057 meters Centerline goodness : 0.989341 with order 1 Centerline is valid? [True, True] Translation: X:268.95, Y:-13.21, Z:1.31 [[ 9.99706668e-01 2.35327025e-02 -5.72623507e-03 2.68945606e+02] [-2.35314509e-02 9.99723056e-01 2.85863783e-04 -1.32109942e+01] [ 5.73137637e-03 -1.51033311e-04 9.99983564e-01 1.30614168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76071405700003 meters Centerline goodness : 0.990171 with order 1 Centerline is valid? [True, True] Translation: X:269.00, Y:-13.22, Z:1.31 [[ 9.99788600e-01 1.97475541e-02 -5.72626018e-03 2.69004354e+02] [-1.97462433e-02 9.99804983e-01 2.85359860e-04 -1.32172785e+01] [ 5.73077863e-03 -1.72227408e-04 9.99983564e-01 1.31060568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82071405700003 meters Centerline goodness : 0.990729 with order 1 Centerline is valid? [True, True] Translation: X:269.06, Y:-13.23, Z:1.31 [[ 9.99889287e-01 1.37340361e-02 -5.72628082e-03 2.69061326e+02] [-1.37326292e-02 9.99905662e-01 2.84945038e-04 -1.32256449e+01] [ 5.72965407e-03 -2.06276600e-04 9.99983564e-01 1.31208421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88071405700003 meters Centerline goodness : 0.991300 with order 1 Centerline is valid? [True, True] Translation: X:269.12, Y:-13.23, Z:1.31 [[ 9.99968297e-01 5.53297127e-03 -5.72630615e-03 2.69119332e+02] [-5.53143300e-03 9.99984661e-01 2.84435152e-04 -1.32343469e+01] [ 5.72779209e-03 -2.52751456e-04 9.99983564e-01 1.31269778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94071405700004 meters Centerline goodness : 0.992127 with order 1 Centerline is valid? [True, True] Translation: X:269.18, Y:-13.24, Z:1.31 [[ 9.99978147e-01 -3.30376867e-03 -5.72632586e-03 2.69177471e+02] [ 3.30544921e-03 9.99994497e-01 2.84037752e-04 -1.32405923e+01] [ 5.72535595e-03 -3.02959625e-04 9.99983564e-01 1.30978326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00071405700004 meters Centerline goodness : 0.992856 with order 1 Centerline is valid? [True, True] Translation: X:269.24, Y:-13.25, Z:1.32 [[ 9.99979025e-01 -3.02643508e-03 -5.72634532e-03 2.69237268e+02] [ 3.02810885e-03 9.99995375e-01 2.83644998e-04 -1.32464802e+01] [ 5.72546040e-03 -3.00979046e-04 9.99983564e-01 1.31904709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06071405700004 meters Centerline goodness : 0.992989 with order 1 Centerline is valid? [True, True] Translation: X:269.30, Y:-13.25, Z:1.32 [[ 9.99962780e-01 -6.45346714e-03 -5.72635560e-03 2.69297012e+02] [ 6.45519575e-03 9.99979125e-01 2.83437217e-04 -1.32545905e+01] [ 5.72440691e-03 -3.20391414e-04 9.99983564e-01 1.31585636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12071405700004 meters Centerline goodness : 0.992889 with order 1 Centerline is valid? [True, True] Translation: X:269.36, Y:-13.26, Z:1.32 [[ 9.99980886e-01 -2.33159322e-03 -5.72636594e-03 2.69357573e+02] [ 2.33325324e-03 9.99997238e-01 2.83228166e-04 -1.32588811e+01] [ 5.72568975e-03 -2.96583814e-04 9.99983564e-01 1.32066668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18071405700005 meters Centerline goodness : 0.992363 with order 1 Centerline is valid? [True, True] Translation: X:269.42, Y:-13.27, Z:1.31 [[ 9.99980355e-01 2.54923573e-03 -5.72636594e-03 2.69415668e+02] [-2.54765553e-03 9.99996715e-01 2.83228166e-04 -1.32709336e+01] [ 5.72706914e-03 -2.68633794e-04 9.99983564e-01 1.31374577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24071405700005 meters Centerline goodness : 0.991535 with order 1 Centerline is valid? [True, True] Translation: X:269.47, Y:-13.28, Z:1.31 [[ 9.99971677e-01 4.88403856e-03 -5.72643797e-03 2.69473455e+02] [-4.88250494e-03 9.99988041e-01 2.81764348e-04 -1.32795667e+01] [ 5.72774563e-03 -2.53797006e-04 9.99983564e-01 1.31000083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30071405700005 meters Centerline goodness : 0.992439 with order 1 Centerline is valid? [True, True] Translation: X:269.53, Y:-13.28, Z:1.32 [[ 9.99983247e-01 8.44282834e-04 -5.72646308e-03 2.69532182e+02] [-8.42686033e-04 9.99999605e-01 2.81253057e-04 -1.32809175e+01] [ 5.72669828e-03 -2.76422735e-04 9.99983564e-01 1.31671701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36071405700005 meters Centerline goodness : 0.992099 with order 1 Centerline is valid? [True, True] Translation: X:269.59, Y:-13.29, Z:1.32 [[ 9.99980372e-01 2.54242099e-03 -5.72648367e-03 2.69589722e+02] [-2.54085437e-03 9.99996733e-01 2.80833171e-04 -1.32871064e+01] [ 5.72717896e-03 -2.66277497e-04 9.99983564e-01 1.31553298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42071405700005 meters Centerline goodness : 0.991563 with order 1 Centerline is valid? [True, True] Translation: X:269.65, Y:-13.30, Z:1.31 [[ 9.99974101e-01 4.35943595e-03 -5.72656615e-03 2.69646993e+02] [-4.35790873e-03 9.99990465e-01 2.79141047e-04 -1.32983713e+01] [ 5.72772845e-03 -2.54177965e-04 9.99983564e-01 1.30757514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48071405700006 meters Centerline goodness : 0.994473 with order 1 Centerline is valid? [True, True] Translation: X:269.71, Y:-13.29, Z:1.32 [[ 9.99946398e-01 -8.62600988e-03 -5.72660435e-03 2.69705420e+02] [ 8.62774499e-03 9.99962742e-01 2.78355276e-04 -1.32881462e+01] [ 5.72398989e-03 -3.27748037e-04 9.99983564e-01 1.31937946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54071405700006 meters Centerline goodness : 0.994734 with order 1 Centerline is valid? [True, True] Translation: X:269.77, Y:-13.29, Z:1.32 [[ 9.99930408e-01 -1.03142855e-02 -5.72662943e-03 2.69766536e+02] [ 1.03160453e-02 9.99946750e-01 2.77838245e-04 -1.32921199e+01] [ 5.72345878e-03 -3.36895078e-04 9.99983564e-01 1.32010491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60071405700006 meters Centerline goodness : 0.994518 with order 1 Centerline is valid? [True, True] Translation: X:269.83, Y:-13.30, Z:1.32 [[ 9.99837219e-01 -1.71097110e-02 -5.72661976e-03 2.69827297e+02] [ 1.71115829e-02 9.99853547e-01 2.78037487e-04 -1.32990674e+01] [ 5.72102394e-03 -3.75983756e-04 9.99983564e-01 1.32086125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66071405700006 meters Centerline goodness : 0.993162 with order 1 Centerline is valid? [True, True] Translation: X:269.89, Y:-13.31, Z:1.32 [[ 9.99774271e-01 -2.04600377e-02 -5.72661015e-03 2.69888990e+02] [ 2.04619655e-02 9.99790593e-01 2.78235353e-04 -1.33079428e+01] [ 5.71971825e-03 -3.95350246e-04 9.99983564e-01 1.32162383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72071405700007 meters Centerline goodness : 0.990368 with order 1 Centerline is valid? [True, True] Translation: X:269.95, Y:-13.33, Z:1.31 [[ 9.99932686e-01 -1.00910833e-02 -5.72658726e-03 2.69949505e+02] [ 1.00928443e-02 9.99949027e-01 2.78705608e-04 -1.33319243e+01] [ 5.72348292e-03 -3.36484401e-04 9.99983564e-01 1.30534557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78071405700007 meters Centerline goodness : 0.991753 with order 1 Centerline is valid? [True, True] Translation: X:270.01, Y:-13.32, Z:1.32 [[ 9.99739068e-01 -2.21134008e-02 -5.72657004e-03 2.70010977e+02] [ 2.21153602e-02 9.99755387e-01 2.79058880e-04 -1.33228774e+01] [ 5.71899831e-03 -4.05631224e-04 9.99983564e-01 1.32285861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.840714057 meters Centerline goodness : 0.992519 with order 1 Centerline is valid? [True, True] Translation: X:270.07, Y:-13.33, Z:1.32 [[ 9.99743981e-01 -2.18901606e-02 -5.72655947e-03 2.70072502e+02] [ 2.18921177e-02 9.99760300e-01 2.79275699e-04 -1.33262288e+01] [ 5.71907342e-03 -4.04570712e-04 9.99983564e-01 1.32120871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.900714057 meters Centerline goodness : 0.991864 with order 1 Centerline is valid? [True, True] Translation: X:270.13, Y:-13.33, Z:1.32 [[ 9.99774095e-01 -2.04686448e-02 -5.72652483e-03 2.70134837e+02] [ 2.04705827e-02 9.99790416e-01 2.79984254e-04 -1.33272316e+01] [ 5.71959374e-03 -3.97146304e-04 9.99983564e-01 1.32175220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.960714057 meters Centerline goodness : 0.992461 with order 1 Centerline is valid? [True, True] Translation: X:270.20, Y:-13.33, Z:1.32 [[ 9.99765698e-01 -2.08747699e-02 -5.72650355e-03 2.70196403e+02] [ 2.08767169e-02 9.99782018e-01 2.80418798e-04 -1.33302036e+01] [ 5.71940160e-03 -3.99903689e-04 9.99983564e-01 1.31916275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.020714057 meters Centerline goodness : 0.991841 with order 1 Centerline is valid? [True, True] Translation: X:270.26, Y:-13.33, Z:1.32 [[ 9.99776981e-01 -2.03272287e-02 -5.72646832e-03 2.70258885e+02] [ 2.03291708e-02 9.99793302e-01 2.81136337e-04 -1.33335105e+01] [ 5.71956995e-03 -3.97487990e-04 9.99983564e-01 1.31752816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.080714057 meters Centerline goodness : 0.992465 with order 1 Centerline is valid? [True, True] Translation: X:270.32, Y:-13.34, Z:1.32 [[ 9.99809301e-01 -1.86700074e-02 -5.72644824e-03 2.70320711e+02] [ 1.86719248e-02 9.99825625e-01 2.81544872e-04 -1.33363975e+01] [ 5.72019324e-03 -3.88414992e-04 9.99983564e-01 1.31634598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.140714057 meters Centerline goodness : 0.994794 with order 1 Centerline is valid? [True, True] Translation: X:270.38, Y:-13.33, Z:1.32 [[ 9.99557794e-01 -2.91791650e-02 -5.72642684e-03 2.70382223e+02] [ 2.91812564e-02 9.99574097e-01 2.81979268e-04 -1.33252383e+01] [ 5.71576002e-03 -4.48958905e-04 9.99983564e-01 1.32129187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.200714057 meters Centerline goodness : 0.993217 with order 1 Centerline is valid? [True, True] Translation: X:270.44, Y:-13.34, Z:1.32 [[ 9.99713795e-01 -2.32278984e-02 -5.72641630e-03 2.70442661e+02] [ 2.32298939e-02 9.99730110e-01 2.82193153e-04 -1.33356899e+01] [ 5.71831605e-03 -4.15136432e-04 9.99983564e-01 1.31951539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26071405700003 meters Centerline goodness : 0.993647 with order 1 Centerline is valid? [True, True] Translation: X:270.51, Y:-13.33, Z:1.32 [[ 9.99657312e-01 -2.55434331e-02 -5.72638094e-03 2.70505287e+02] [ 2.55454704e-02 9.99673621e-01 2.82908911e-04 -1.33349679e+01] [ 5.71728551e-03 -4.29095057e-04 9.99983564e-01 1.32143234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32071405700003 meters Centerline goodness : 0.993638 with order 1 Centerline is valid? [True, True] Translation: X:270.57, Y:-13.33, Z:1.32 [[ 9.99571237e-01 -2.87150073e-02 -5.72635860e-03 2.70567895e+02] [ 2.87170989e-02 9.99587539e-01 2.83360460e-04 -1.33316721e+01] [ 5.71586000e-03 -4.47683372e-04 9.99983564e-01 1.32398665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38071405700003 meters Centerline goodness : 0.993508 with order 1 Centerline is valid? [True, True] Translation: X:270.63, Y:-13.33, Z:1.33 [[ 9.99602289e-01 -2.76129300e-02 -5.72630357e-03 2.70630322e+02] [ 2.76150100e-02 9.99618592e-01 2.84468082e-04 -1.33319173e+01] [ 5.71626452e-03 -4.42486876e-04 9.99983564e-01 1.32506812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44071405700004 meters Centerline goodness : 0.992971 with order 1 Centerline is valid? [True, True] Translation: X:270.69, Y:-13.33, Z:1.32 [[ 9.99622426e-01 -2.68740713e-02 -5.72628146e-03 2.70691887e+02] [ 2.68761417e-02 9.99638731e-01 2.84912520e-04 -1.33333079e+01] [ 5.71655597e-03 -4.38705297e-04 9.99983564e-01 1.31963334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50071405700004 meters Centerline goodness : 0.993209 with order 1 Centerline is valid? [True, True] Translation: X:270.75, Y:-13.33, Z:1.32 [[ 9.99590261e-01 -2.80449711e-02 -5.72626511e-03 2.70753912e+02] [ 2.80470625e-02 9.99606563e-01 2.85240819e-04 -1.33306348e+01] [ 5.71601261e-03 -4.45728860e-04 9.99983564e-01 1.32142852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56071405700004 meters Centerline goodness : 0.992925 with order 1 Centerline is valid? [True, True] Translation: X:270.82, Y:-13.33, Z:1.33 [[ 9.99554160e-01 -2.93034323e-02 -5.72624372e-03 2.70817257e+02] [ 2.93055467e-02 9.99570459e-01 2.85669609e-04 -1.33272387e+01] [ 5.71541296e-03 -4.53352949e-04 9.99983564e-01 1.32777350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62071405700004 meters Centerline goodness : 0.994977 with order 1 Centerline is valid? [True, True] Translation: X:270.88, Y:-13.32, Z:1.33 [[ 9.99348446e-01 -3.56355771e-02 -5.72621168e-03 2.70878575e+02] [ 3.56377983e-02 9.99364731e-01 2.86310444e-04 -1.33167003e+01] [ 5.71237115e-03 -4.90193474e-04 9.99983564e-01 1.32668177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68071405700005 meters Centerline goodness : 0.993084 with order 1 Centerline is valid? [True, True] Translation: X:270.94, Y:-13.32, Z:1.33 [[ 9.99645639e-01 -2.59962732e-02 -5.72620112e-03 2.70940115e+02] [ 2.59983385e-02 9.99661945e-01 2.86521404e-04 -1.33242071e+01] [ 5.71681686e-03 -4.35291587e-04 9.99983564e-01 1.32627191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74071405700005 meters Centerline goodness : 0.992192 with order 1 Centerline is valid? [True, True] Translation: X:271.00, Y:-13.32, Z:1.32 [[ 9.99696092e-01 -2.39777971e-02 -5.72616571e-03 2.71002899e+02] [ 2.39798335e-02 9.99712401e-01 2.87227245e-04 -1.33248785e+01] [ 5.71763180e-03 -4.24452455e-04 9.99983564e-01 1.32406534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80071405700005 meters Centerline goodness : 0.991327 with order 1 Centerline is valid? [True, True] Translation: X:271.07, Y:-13.32, Z:1.32 [[ 9.99823228e-01 -1.79087763e-02 -5.72613885e-03 2.71065352e+02] [ 1.79107166e-02 9.99839549e-01 2.87761855e-04 -1.33246172e+01] [ 5.72006662e-03 -3.90270238e-04 9.99983564e-01 1.32298626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86071405700005 meters Centerline goodness : 0.990279 with order 1 Centerline is valid? [True, True] Translation: X:271.13, Y:-13.33, Z:1.32 [[ 9.99876751e-01 -1.46183169e-02 -5.72611727e-03 2.71126960e+02] [ 1.46202060e-02 9.99893078e-01 2.88190588e-04 -1.33251331e+01] [ 5.72129216e-03 -3.71872083e-04 9.99983564e-01 1.32225347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92071405700005 meters Centerline goodness : 0.991278 with order 1 Centerline is valid? [True, True] Translation: X:271.19, Y:-13.32, Z:1.33 [[ 9.99878533e-01 -1.44959197e-02 -5.72610122e-03 2.71189719e+02] [ 1.44978087e-02 9.99894860e-01 2.88509111e-04 -1.33231267e+01] [ 5.72131697e-03 -3.71489986e-04 9.99983564e-01 1.33110031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98071405700006 meters Centerline goodness : 0.991773 with order 1 Centerline is valid? [True, True] Translation: X:271.25, Y:-13.32, Z:1.33 [[ 9.99911547e-01 -1.20045689e-02 -5.72608045e-03 2.71251563e+02] [ 1.20064194e-02 9.99927879e-01 2.88920814e-04 -1.33246152e+01] [ 5.72219911e-03 -3.57644982e-04 9.99983564e-01 1.32811165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04071405700006 meters Centerline goodness : 0.991761 with order 1 Centerline is valid? [True, True] Translation: X:271.31, Y:-13.32, Z:1.33 [[ 9.99922660e-01 -1.10402285e-02 -5.72605872e-03 2.71312866e+02] [ 1.10420658e-02 9.99938993e-01 2.89350821e-04 -1.33241832e+01] [ 5.72251489e-03 -3.52555959e-04 9.99983564e-01 1.33286633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10071405700006 meters Centerline goodness : 0.990641 with order 1 Centerline is valid? [True, True] Translation: X:271.37, Y:-13.33, Z:1.33 [[ 9.99967438e-01 -5.68640696e-03 -5.72604275e-03 2.71373995e+02] [ 5.68815859e-03 9.99983780e-01 2.89666520e-04 -1.33263866e+01] [ 5.72430271e-03 -3.22227728e-04 9.99983564e-01 1.33036839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16071405700006 meters Centerline goodness : 0.990295 with order 1 Centerline is valid? [True, True] Translation: X:271.43, Y:-13.33, Z:1.33 [[ 9.99983590e-01 -1.78056357e-04 -5.72603152e-03 2.71434657e+02] [ 1.79719206e-04 9.99999942e-01 2.89888353e-04 -1.33295680e+01] [ 5.72597957e-03 -2.90912674e-04 9.99983564e-01 1.32769732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.22071405700007 meters Centerline goodness : 0.990607 with order 1 Centerline is valid? [True, True] Translation: X:271.49, Y:-13.33, Z:1.32 [[ 9.99959198e-01 6.98676850e-03 -5.72603152e-03 2.71491902e+02] [-6.98522286e-03 9.99975561e-01 2.89888353e-04 -1.33338919e+01] [ 5.72791696e-03 -2.49878919e-04 9.99983564e-01 1.32283831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28071405700007 meters Centerline goodness : 0.990142 with order 1 Centerline is valid? [True, True] Translation: X:271.55, Y:-13.33, Z:1.33 [[ 9.99953734e-01 7.72930620e-03 -5.72605847e-03 2.71550170e+02] [-7.72777575e-03 9.99970098e-01 2.89355046e-04 -1.33327974e+01] [ 5.72812376e-03 -2.45091963e-04 9.99983564e-01 1.33128356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.340714057 meters Centerline goodness : 0.990446 with order 1 Centerline is valid? [True, True] Translation: X:271.61, Y:-13.34, Z:1.33 [[ 9.99958463e-01 7.09119971e-03 -5.72609250e-03 2.71607484e+02] [-7.08966268e-03 9.99974826e-01 2.88680067e-04 -1.33368189e+01] [ 5.72799544e-03 -2.48072011e-04 9.99983564e-01 1.32683713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.400714057 meters Centerline goodness : 0.990845 with order 1 Centerline is valid? [True, True] Translation: X:271.67, Y:-13.34, Z:1.33 [[ 9.99941588e-01 9.16686359e-03 -5.72611814e-03 2.71666755e+02] [-9.16536344e-03 9.99957956e-01 2.88170463e-04 -1.33389651e+01] [ 5.72851901e-03 -2.35671676e-04 9.99983564e-01 1.33104324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.460714057 meters Centerline goodness : 0.990677 with order 1 Centerline is valid? [True, True] Translation: X:271.72, Y:-13.34, Z:1.33 [[ 9.99938206e-01 9.52862182e-03 -5.72613350e-03 2.71723765e+02] [-9.52712934e-03 9.99954574e-01 2.87864891e-04 -1.33420373e+01] [ 5.72861635e-03 -2.33293488e-04 9.99983564e-01 1.33177587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.520714057 meters Centerline goodness : 0.990572 with order 1 Centerline is valid? [True, True] Translation: X:271.78, Y:-13.34, Z:1.33 [[ 9.99931190e-01 1.02384641e-02 -5.72616868e-03 2.71782270e+02] [-1.02369872e-02 9.99947559e-01 2.87163517e-04 -1.33440780e+01] [ 5.72880851e-03 -2.28525041e-04 9.99983564e-01 1.33333691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.580714057 meters Centerline goodness : 0.989872 with order 1 Centerline is valid? [True, True] Translation: X:271.84, Y:-13.35, Z:1.33 [[ 9.99902051e-01 1.27709946e-02 -5.72618886e-03 2.71840425e+02] [-1.27695615e-02 9.99918425e-01 2.86760414e-04 -1.33483926e+01] [ 5.72938396e-03 -2.13611405e-04 9.99983564e-01 1.33054065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.640714057 meters Centerline goodness : 0.989670 with order 1 Centerline is valid? [True, True] Translation: X:271.90, Y:-13.35, Z:1.33 [[ 9.99913536e-01 1.18376988e-02 -5.72626440e-03 2.71897998e+02] [-1.18362591e-02 9.99929908e-01 2.85244112e-04 -1.33511599e+01] [ 5.72923967e-03 -2.17441899e-04 9.99983564e-01 1.33000953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.700714057 meters Centerline goodness : 0.990054 with order 1 Centerline is valid? [True, True] Translation: X:271.96, Y:-13.35, Z:1.33 [[ 9.99946286e-01 8.63908289e-03 -5.72629086e-03 2.71956548e+02] [-8.63759387e-03 9.99962655e-01 2.84711831e-04 -1.33519079e+01] [ 5.72853666e-03 -2.35235163e-04 9.99983564e-01 1.33401976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76071405700003 meters Centerline goodness : 0.990989 with order 1 Centerline is valid? [True, True] Translation: X:272.01, Y:-13.35, Z:1.33 [[ 9.99961492e-01 6.65009316e-03 -5.72631235e-03 2.72013894e+02] [-6.64857406e-03 9.99977858e-01 2.84279042e-04 -1.33545166e+01] [ 5.72807603e-03 -2.46196283e-04 9.99983564e-01 1.33365065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82071405700003 meters Centerline goodness : 0.992323 with order 1 Centerline is valid? [True, True] Translation: X:272.07, Y:-13.36, Z:1.33 [[ 9.99982353e-01 1.58206183e-03 -5.72633871e-03 2.72073011e+02] [-1.58046285e-03 9.99998711e-01 2.83746990e-04 -1.33567391e+01] [ 5.72678023e-03 -2.74691717e-04 9.99983564e-01 1.33448217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88071405700003 meters Centerline goodness : 0.992501 with order 1 Centerline is valid? [True, True] Translation: X:272.13, Y:-13.36, Z:1.34 [[ 9.99962868e-01 -6.43975947e-03 -5.72635908e-03 2.72131601e+02] [ 6.44148727e-03 9.99979213e-01 2.83335361e-04 -1.33603680e+01] [ 5.72441543e-03 -3.20211110e-04 9.99983564e-01 1.33520859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94071405700004 meters Centerline goodness : 0.993021 with order 1 Centerline is valid? [True, True] Translation: X:272.19, Y:-13.36, Z:1.33 [[ 9.99928926e-01 -1.04571658e-02 -5.72637944e-03 2.72191606e+02] [ 1.04589569e-02 9.99945264e-01 2.82923166e-04 -1.33637921e+01] [ 5.72310743e-03 -3.42795013e-04 9.99983564e-01 1.33465869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00071405700004 meters Centerline goodness : 0.993638 with order 1 Centerline is valid? [True, True] Translation: X:272.25, Y:-13.37, Z:1.33 [[ 9.99934412e-01 -9.91873286e-03 -5.72637944e-03 2.72253333e+02] [ 9.92051517e-03 9.99950750e-01 2.82923166e-04 -1.33678011e+01] [ 5.72329118e-03 -3.39713243e-04 9.99983564e-01 1.33311463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06071405700004 meters Centerline goodness : 0.993140 with order 1 Centerline is valid? [True, True] Translation: X:272.32, Y:-13.37, Z:1.33 [[ 9.99942173e-01 -9.10275590e-03 -5.72636294e-03 2.72315203e+02] [ 9.10452677e-03 9.99958513e-01 2.83256825e-04 -1.33708300e+01] [ 5.72354695e-03 -3.35376269e-04 9.99983564e-01 1.33039675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12071405700004 meters Centerline goodness : 0.993263 with order 1 Centerline is valid? [True, True] Translation: X:272.38, Y:-13.37, Z:1.33 [[ 9.99953181e-01 -7.80031311e-03 -5.72634146e-03 2.72376718e+02] [ 7.80206517e-03 9.99969523e-01 2.83690343e-04 -1.33721669e+01] [ 5.72395407e-03 -3.28354351e-04 9.99983564e-01 1.33077771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18071405700005 meters Centerline goodness : 0.993506 with order 1 Centerline is valid? [True, True] Translation: X:272.44, Y:-13.37, Z:1.33 [[ 9.99957958e-01 -7.16184191e-03 -5.72632550e-03 2.72438004e+02] [ 7.16358538e-03 9.99974301e-01 2.84012107e-04 -1.33729353e+01] [ 5.72414429e-03 -3.25021188e-04 9.99983564e-01 1.33044195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24071405700005 meters Centerline goodness : 0.992989 with order 1 Centerline is valid? [True, True] Translation: X:272.50, Y:-13.37, Z:1.33 [[ 9.99982583e-01 -1.42945250e-03 -5.72631493e-03 2.72498768e+02] [ 1.43110347e-03 9.99998936e-01 2.84225030e-04 -1.33725164e+01] [ 5.72590255e-03 -2.92415029e-04 9.99983564e-01 1.33133452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30071405700005 meters Centerline goodness : 0.992507 with order 1 Centerline is valid? [True, True] Translation: X:272.56, Y:-13.37, Z:1.33 [[ 9.99980804e-01 -2.36684256e-03 -5.72629718e-03 2.72557625e+02] [ 2.36851090e-03 9.99997155e-01 2.84582356e-04 -1.33731387e+01] [ 5.72560732e-03 -2.98139690e-04 9.99983564e-01 1.33260341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36071405700005 meters Centerline goodness : 0.992430 with order 1 Centerline is valid? [True, True] Translation: X:272.62, Y:-13.37, Z:1.33 [[ 9.99979908e-01 -2.71909808e-03 -5.72631897e-03 2.72616004e+02] [ 2.72076967e-03 9.99996258e-01 2.84143228e-04 -1.33749138e+01] [ 5.72552493e-03 -2.99717514e-04 9.99983564e-01 1.33435566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42071405700005 meters Centerline goodness : 0.991925 with order 1 Centerline is valid? [True, True] Translation: X:272.68, Y:-13.38, Z:1.33 [[ 9.99980699e-01 -2.41043919e-03 -5.72633502e-03 2.72675255e+02] [ 2.41210388e-03 9.99997051e-01 2.83819411e-04 -1.33758047e+01] [ 5.72563400e-03 -2.97626448e-04 9.99983564e-01 1.33499288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48071405700006 meters Centerline goodness : 0.992582 with order 1 Centerline is valid? [True, True] Translation: X:272.73, Y:-13.38, Z:1.34 [[ 9.99977940e-01 -3.36567745e-03 -5.72634588e-03 2.72734171e+02] [ 3.36735651e-03 9.99994290e-01 2.83600054e-04 -1.33777371e+01] [ 5.72535868e-03 -3.02876446e-04 9.99983564e-01 1.33714451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54071405700006 meters Centerline goodness : 0.991918 with order 1 Centerline is valid? [True, True] Translation: X:272.79, Y:-13.38, Z:1.34 [[ 9.99983078e-01 -1.02551536e-03 -5.72636184e-03 2.72793822e+02] [ 1.02715431e-03 9.99999432e-01 2.83277486e-04 -1.33815858e+01] [ 5.72606808e-03 -2.89154549e-04 9.99983564e-01 1.33509792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60071405700006 meters Centerline goodness : 0.990730 with order 1 Centerline is valid? [True, True] Translation: X:272.85, Y:-13.39, Z:1.33 [[ 9.99922497e-01 1.10548072e-02 -5.72637230e-03 2.72851967e+02] [-1.10533671e-02 9.99938870e-01 2.83065869e-04 -1.33927820e+01] [ 5.72915148e-03 -2.19748236e-04 9.99983564e-01 1.32570504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66071405700006 meters Centerline goodness : 0.992647 with order 1 Centerline is valid? [True, True] Translation: X:272.91, Y:-13.39, Z:1.34 [[ 9.99965685e-01 5.98636219e-03 -5.72638779e-03 2.72911763e+02] [-5.98484096e-03 9.99982051e-01 2.82752129e-04 -1.33878234e+01] [ 5.72797766e-03 -2.48470906e-04 9.99983564e-01 1.33650457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.72071405700007 meters Centerline goodness : 0.991965 with order 1 Centerline is valid? [True, True] Translation: X:272.97, Y:-13.39, Z:1.34 [[ 9.99943691e-01 8.93432957e-03 -5.72639763e-03 2.72970235e+02] [-8.93285773e-03 9.99960061e-01 2.82552622e-04 -1.33922116e+01] [ 5.72869335e-03 -2.31383616e-04 9.99983564e-01 1.33860884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78071405700007 meters Centerline goodness : 0.992411 with order 1 Centerline is valid? [True, True] Translation: X:273.03, Y:-13.40, Z:1.33 [[ 9.99939860e-01 9.35332805e-03 -5.72647341e-03 2.73027953e+02] [-9.35187190e-03 9.99956231e-01 2.81008378e-04 -1.33975014e+01] [ 5.72885113e-03 -2.27438232e-04 9.99983564e-01 1.33477422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.840714057 meters Centerline goodness : 0.990867 with order 1 Centerline is valid? [True, True] Translation: X:273.09, Y:-13.41, Z:1.33 [[ 9.99868751e-01 1.51554867e-02 -5.72649993e-03 2.73085959e+02] [-1.51541287e-02 9.99885130e-01 2.80466848e-04 -1.34078940e+01] [ 5.73009274e-03 -1.93649920e-04 9.99983564e-01 1.32807063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.900714057 meters Centerline goodness : 0.990370 with order 1 Centerline is valid? [True, True] Translation: X:273.14, Y:-13.41, Z:1.34 [[ 9.99822187e-01 1.79666377e-02 -5.72657267e-03 2.73144706e+02] [-1.79653342e-02 9.99838571e-01 2.78973838e-04 -1.34104295e+01] [ 5.73066046e-03 -1.76044441e-04 9.99983564e-01 1.33504719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.960714057 meters Centerline goodness : 0.991566 with order 1 Centerline is valid? [True, True] Translation: X:273.20, Y:-13.42, Z:1.33 [[ 9.99814267e-01 1.84021036e-02 -5.72659293e-03 2.73202933e+02] [-1.84008097e-02 9.99830652e-01 2.78557264e-04 -1.34181774e+01] [ 5.73074918e-03 -1.73131580e-04 9.99983564e-01 1.32890764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.020714057 meters Centerline goodness : 0.992080 with order 1 Centerline is valid? [True, True] Translation: X:273.26, Y:-13.42, Z:1.33 [[ 9.99691384e-01 2.41731876e-02 -5.72661347e-03 2.73260488e+02] [-2.41719908e-02 9.99707776e-01 2.78134408e-04 -1.34246227e+01] [ 5.73166341e-03 -1.39624923e-04 9.99983564e-01 1.33408262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.080714057 meters Centerline goodness : 0.991360 with order 1 Centerline is valid? [True, True] Translation: X:273.32, Y:-13.43, Z:1.33 [[ 9.99657584e-01 2.55327490e-02 -5.72663875e-03 2.73318037e+02] [-2.55315774e-02 9.99673978e-01 2.77612921e-04 -1.34333954e+01] [ 5.73185996e-03 -1.31307742e-04 9.99983564e-01 1.32757437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.140714057 meters Centerline goodness : 0.990614 with order 1 Centerline is valid? [True, True] Translation: X:273.38, Y:-13.44, Z:1.32 [[ 9.99576125e-01 2.85442913e-02 -5.72666833e-03 2.73376833e+02] [-2.85431726e-02 9.99592522e-01 2.77001297e-04 -1.34427042e+01] [ 5.73224165e-03 -1.13426600e-04 9.99983564e-01 1.32460498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.200714057 meters Centerline goodness : 0.992319 with order 1 Centerline is valid? [True, True] Translation: X:273.44, Y:-13.44, Z:1.34 [[ 9.99657931e-01 2.55191197e-02 -5.72668767e-03 2.73436421e+02] [-2.55179536e-02 9.99674326e-01 2.76601016e-04 -1.34432194e+01] [ 5.73188125e-03 -1.30373049e-04 9.99983564e-01 1.33836086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26071405700003 meters Centerline goodness : 0.994486 with order 1 Centerline is valid? [True, True] Translation: X:273.49, Y:-13.44, Z:1.34 [[ 9.99917284e-01 1.15165406e-02 -5.72669725e-03 2.73494213e+02] [-1.15151462e-02 9.99933660e-01 2.76402555e-04 -1.34404176e+01] [ 5.72950054e-03 -2.10435936e-04 9.99983564e-01 1.33570487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32071405700003 meters Centerline goodness : 0.992619 with order 1 Centerline is valid? [True, True] Translation: X:273.55, Y:-13.46, Z:1.33 [[ 9.99757006e-01 2.12869379e-02 -5.72673083e-03 2.73551823e+02] [-2.12857076e-02 9.99773396e-01 2.75704944e-04 -1.34628695e+01] [ 5.73130204e-03 -1.53740431e-04 9.99983564e-01 1.32566408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38071405700003 meters Centerline goodness : 0.992312 with order 1 Centerline is valid? [True, True] Translation: X:273.61, Y:-13.47, Z:1.32 [[ 9.99762704e-01 2.10176182e-02 -5.72680172e-03 2.73609908e+02] [-2.10163920e-02 9.99779094e-01 2.74224512e-04 -1.34699356e+01] [ 5.73130018e-03 -1.53802730e-04 9.99983564e-01 1.32345106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44071405700004 meters Centerline goodness : 0.992446 with order 1 Centerline is valid? [True, True] Translation: X:273.67, Y:-13.48, Z:1.32 [[ 9.99868089e-01 1.51989547e-02 -5.72682231e-03 2.73667377e+02] [-1.51976355e-02 9.99884472e-01 2.73793933e-04 -1.34778634e+01] [ 5.73032208e-03 -1.86723658e-04 9.99983564e-01 1.32318802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50071405700004 meters Centerline goodness : 0.996358 with order 1 Centerline is valid? [True, True] Translation: X:273.73, Y:-13.47, Z:1.33 [[ 9.99983575e-01 -2.29508391e-04 -5.72684750e-03 2.73725396e+02] [ 2.31077124e-04 9.99999936e-01 2.73266043e-04 -1.34670131e+01] [ 5.72678441e-03 -2.74584898e-04 9.99983564e-01 1.33460295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56071405700004 meters Centerline goodness : 0.996122 with order 1 Centerline is valid? [True, True] Translation: X:273.78, Y:-13.47, Z:1.34 [[ 9.99967952e-01 -5.59449256e-03 -5.72687136e-03 2.73784328e+02] [ 5.59614619e-03 9.99984304e-01 2.72765019e-04 -1.34733282e+01] [ 5.72525549e-03 -3.04804687e-04 9.99983564e-01 1.33679888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62071405700004 meters Centerline goodness : 0.994610 with order 1 Centerline is valid? [True, True] Translation: X:273.84, Y:-13.50, Z:1.33 [[ 9.99981305e-01 -2.14307178e-03 -5.72688940e-03 2.73842874e+02] [ 2.14466679e-03 9.99997663e-01 2.72385681e-04 -1.34951221e+01] [ 5.72629228e-03 -2.84662859e-04 9.99983564e-01 1.32858930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68071405700005 meters Centerline goodness : 0.993296 with order 1 Centerline is valid? [True, True] Translation: X:273.90, Y:-13.50, Z:1.33 [[ 9.99954953e-01 -7.56937384e-03 -5.72689926e-03 2.73901094e+02] [ 7.57105641e-03 9.99971302e-01 2.72178257e-04 -1.35018339e+01] [ 5.72467469e-03 -3.15524673e-04 9.99983564e-01 1.32544748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74071405700005 meters Centerline goodness : 0.993002 with order 1 Centerline is valid? [True, True] Translation: X:273.96, Y:-13.51, Z:1.32 [[ 9.99902239e-01 -1.27559375e-02 -5.72692039e-03 2.73961272e+02] [ 1.27577023e-02 9.99918580e-01 2.71732808e-04 -1.35070361e+01] [ 5.72298790e-03 -3.44768589e-04 9.99983564e-01 1.32216906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80071405700005 meters Centerline goodness : 0.992941 with order 1 Centerline is valid? [True, True] Translation: X:274.02, Y:-13.51, Z:1.32 [[ 9.99879928e-01 -1.43990150e-02 -5.72691520e-03 2.74023843e+02] [ 1.44008072e-02 9.99896266e-01 2.71842204e-04 -1.35099769e+01] [ 5.72240687e-03 -3.54281766e-04 9.99983564e-01 1.32205700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86071405700005 meters Centerline goodness : 0.992376 with order 1 Centerline is valid? [True, True] Translation: X:274.08, Y:-13.51, Z:1.32 [[ 9.99936434e-01 -9.71241231e-03 -5.72689471e-03 2.74083733e+02] [ 9.71413045e-03 9.99952780e-01 2.72273272e-04 -1.35131425e+01] [ 5.72397985e-03 -3.27887766e-04 9.99983564e-01 1.32005002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92071405700005 meters Centerline goodness : 0.992876 with order 1 Centerline is valid? [True, True] Translation: X:274.15, Y:-13.51, Z:1.32 [[ 9.99977267e-01 -3.55938008e-03 -5.72687382e-03 2.74145644e+02] [ 3.56100012e-03 9.99993622e-01 2.72711901e-04 -1.35108406e+01] [ 5.72586661e-03 -2.93099100e-04 9.99983564e-01 1.32298829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98071405700006 meters Centerline goodness : 0.991015 with order 1 Centerline is valid? [True, True] Translation: X:274.20, Y:-13.52, Z:1.32 [[ 9.99944916e-01 8.79587923e-03 -5.72686382e-03 2.74204143e+02] [-8.79446019e-03 9.99961291e-01 2.72921751e-04 -1.35157252e+01] [ 5.72904272e-03 -2.22542041e-04 9.99983564e-01 1.31720201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04071405700006 meters Centerline goodness : 0.990691 with order 1 Centerline is valid? [True, True] Translation: X:274.26, Y:-13.51, Z:1.32 [[ 9.99879966e-01 1.43963896e-02 -5.72687431e-03 2.74263409e+02] [-1.43950635e-02 9.99896349e-01 2.72701384e-04 -1.35133188e+01] [ 5.73020663e-03 -1.90229931e-04 9.99983564e-01 1.32040222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10071405700006 meters Centerline goodness : 0.991968 with order 1 Centerline is valid? [True, True] Translation: X:274.32, Y:-13.52, Z:1.32 [[ 9.99804705e-01 1.89143822e-02 -5.72689422e-03 2.74322052e+02] [-1.89131326e-02 9.99821094e-01 2.72282679e-04 -1.35153965e+01] [ 5.73101970e-03 -1.63915994e-04 9.99983564e-01 1.31931439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16071405700006 meters Centerline goodness : 0.990995 with order 1 Centerline is valid? [True, True] Translation: X:274.38, Y:-13.52, Z:1.32 [[ 9.99698254e-01 2.38872966e-02 -5.72691309e-03 2.74380452e+02] [-2.38861308e-02 9.99714649e-01 2.71885200e-04 -1.35154966e+01] [ 5.73177351e-03 -1.35009364e-04 9.99983564e-01 1.32244745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.22071405700007 meters Centerline goodness : 0.992271 with order 1 Centerline is valid? [True, True] Translation: X:274.44, Y:-13.51, Z:1.33 [[ 9.99684742e-01 2.44462337e-02 -5.72693167e-03 2.74439845e+02] [-2.44450793e-02 9.99701138e-01 2.71493311e-04 -1.35101157e+01] [ 5.73185709e-03 -1.31412422e-04 9.99983564e-01 1.32915091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28071405700007 meters Centerline goodness : 0.992890 with order 1 Centerline is valid? [True, True] Translation: X:274.50, Y:-13.51, Z:1.33 [[ 9.99664228e-01 2.52712086e-02 -5.72694699e-03 2.74498032e+02] [-2.52700696e-02 9.99680624e-01 2.71169782e-04 -1.35101934e+01] [ 5.73197073e-03 -1.26358382e-04 9.99983564e-01 1.32985019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.340714057 meters Centerline goodness : 0.992640 with order 1 Centerline is valid? [True, True] Translation: X:274.56, Y:-13.51, Z:1.33 [[ 9.99764068e-01 2.09525806e-02 -5.72697750e-03 2.74556771e+02] [-2.09513745e-02 9.99780459e-01 2.70523867e-04 -1.35093315e+01] [ 5.73138837e-03 -1.50471991e-04 9.99983564e-01 1.33444415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.400714057 meters Centerline goodness : 0.993119 with order 1 Centerline is valid? [True, True] Translation: X:274.62, Y:-13.51, Z:1.33 [[ 9.99847594e-01 1.64920984e-02 -5.72699825e-03 2.74615942e+02] [-1.64908217e-02 9.99863981e-01 2.70083796e-04 -1.35136679e+01] [ 5.73067352e-03 -1.75599727e-04 9.99983564e-01 1.33183137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.460714057 meters Centerline goodness : 0.993533 with order 1 Centerline is valid? [True, True] Translation: X:274.67, Y:-13.52, Z:1.33 [[ 9.99921153e-01 1.11753861e-02 -5.72701359e-03 2.74674432e+02] [-1.11740242e-02 9.99937532e-01 2.69758089e-04 -1.35162289e+01] [ 5.72967049e-03 -2.05743032e-04 9.99983564e-01 1.33307273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.520714057 meters Centerline goodness : 0.992833 with order 1 Centerline is valid? [True, True] Translation: X:274.73, Y:-13.52, Z:1.33 [[ 9.99978581e-01 3.16824994e-03 -5.72703410e-03 2.74732808e+02] [-3.16675935e-03 9.99994950e-01 2.69322099e-04 -1.35183636e+01] [ 5.72785845e-03 -2.51180192e-04 9.99983564e-01 1.33346223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.580714057 meters Centerline goodness : 0.993283 with order 1 Centerline is valid? [True, True] Translation: X:274.79, Y:-13.52, Z:1.33 [[ 9.99966059e-01 -5.92299532e-03 -5.72705436e-03 2.74791057e+02] [ 5.92463219e-03 9.99982413e-01 2.68890501e-04 -1.35205021e+01] [ 5.72536100e-03 -3.02812065e-04 9.99983564e-01 1.33494953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.640714057 meters Centerline goodness : 0.992913 with order 1 Centerline is valid? [True, True] Translation: X:274.85, Y:-13.52, Z:1.33 [[ 9.99923065e-01 -1.10029473e-02 -5.72707976e-03 2.74851958e+02] [ 1.10046641e-02 9.99939411e-01 2.68348374e-04 -1.35234595e+01] [ 5.72378014e-03 -3.31352318e-04 9.99983564e-01 1.33406227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.700714057 meters Centerline goodness : 0.992309 with order 1 Centerline is valid? [True, True] Translation: X:274.91, Y:-13.53, Z:1.33 [[ 9.99869533e-01 -1.51035777e-02 -5.72707976e-03 2.74913231e+02] [ 1.51053616e-02 9.99885872e-01 2.68348374e-04 -1.35268170e+01] [ 5.72237312e-03 -3.54822974e-04 9.99983564e-01 1.33141001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76071405700003 meters Centerline goodness : 0.993065 with order 1 Centerline is valid? [True, True] Translation: X:274.97, Y:-13.53, Z:1.33 [[ 9.99810596e-01 -1.86003682e-02 -5.72701442e-03 2.74974709e+02] [ 1.86022171e-02 9.99826927e-01 2.69735786e-04 -1.35266157e+01] [ 5.72100604e-03 -3.76219862e-04 9.99983564e-01 1.33266650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82071405700003 meters Centerline goodness : 0.993608 with order 1 Centerline is valid? [True, True] Translation: X:275.04, Y:-13.53, Z:1.33 [[ 9.99785774e-01 -1.98898861e-02 -5.72698148e-03 2.75036873e+02] [ 1.98917601e-02 9.99802103e-01 2.70433335e-04 -1.35259734e+01] [ 5.72046924e-03 -3.84295143e-04 9.99983564e-01 1.33425327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88071405700003 meters Centerline goodness : 0.992467 with order 1 Centerline is valid? [True, True] Translation: X:275.10, Y:-13.53, Z:1.33 [[ 9.99784932e-01 -1.99321939e-02 -5.72696269e-03 2.75099329e+02] [ 1.99340708e-02 9.99801260e-01 2.70830703e-04 -1.35281584e+01] [ 5.72042626e-03 -3.84934135e-04 9.99983564e-01 1.33434668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94071405700004 meters Centerline goodness : 0.994167 with order 1 Centerline is valid? [True, True] Translation: X:275.16, Y:-13.53, Z:1.34 [[ 9.99797724e-01 -1.92798608e-02 -5.72694342e-03 2.75161555e+02] [ 1.92817293e-02 9.99814053e-01 2.71237566e-04 -1.35286568e+01] [ 5.72064909e-03 -3.81608074e-04 9.99983564e-01 1.33589151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00071405700004 meters Centerline goodness : 0.993748 with order 1 Centerline is valid? [True, True] Translation: X:275.22, Y:-13.53, Z:1.34 [[ 9.99842393e-01 -1.68044832e-02 -5.72692384e-03 2.75223554e+02] [ 1.68063137e-02 9.99858727e-01 2.71650244e-04 -1.35288631e+01] [ 5.72154984e-03 -3.67855909e-04 9.99983564e-01 1.33501242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06071405700004 meters Centerline goodness : 0.994447 with order 1 Centerline is valid? [True, True] Translation: X:275.29, Y:-13.53, Z:1.34 [[ 9.99901673e-01 -1.28002613e-02 -5.72690285e-03 2.75285008e+02] [ 1.28020288e-02 9.99918014e-01 2.72092111e-04 -1.35293668e+01] [ 5.72295047e-03 -3.45381333e-04 9.99983564e-01 1.33561126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12071405700004 meters Centerline goodness : 0.993007 with order 1 Centerline is valid? [True, True] Translation: X:275.35, Y:-13.53, Z:1.33 [[ 9.99982364e-01 -1.57299950e-03 -5.72688730e-03 2.75345731e+02] [ 1.57458537e-03 9.99998723e-01 2.72419013e-04 -1.35320342e+01] [ 5.72645147e-03 -2.81431682e-04 9.99983564e-01 1.32988016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18071405700005 meters Centerline goodness : 0.992793 with order 1 Centerline is valid? [True, True] Translation: X:275.40, Y:-13.53, Z:1.33 [[ 9.99965047e-01 6.09153959e-03 -5.72688225e-03 2.75404886e+02] [-6.09007854e-03 9.99981418e-01 2.72525063e-04 -1.35331744e+01] [ 5.72843593e-03 -2.37638375e-04 9.99983564e-01 1.32942824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24071405700005 meters Centerline goodness : 0.991338 with order 1 Centerline is valid? [True, True] Translation: X:275.46, Y:-13.53, Z:1.33 [[ 9.99962275e-01 6.53081629e-03 -5.72689644e-03 2.75463545e+02] [-6.52936414e-03 9.99978646e-01 2.72226576e-04 -1.35310010e+01] [ 5.72855201e-03 -2.34823314e-04 9.99983564e-01 1.33237449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30071405700005 meters Centerline goodness : 0.990291 with order 1 Centerline is valid? [True, True] Translation: X:275.52, Y:-13.53, Z:1.33 [[ 9.99693605e-01 2.40810767e-02 -5.72691617e-03 2.75521922e+02] [-2.40799145e-02 9.99710000e-01 2.71810912e-04 -1.35336711e+01] [ 5.73180086e-03 -1.33823979e-04 9.99983564e-01 1.33237601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36071405700005 meters Centerline goodness : 0.989003 with order 1 Centerline is valid? [True, True] Translation: X:275.58, Y:-13.54, Z:1.33 [[ 9.99580017e-01 2.84076018e-02 -5.72698547e-03 2.75580004e+02] [-2.84065190e-02 9.99596417e-01 2.70342859e-04 -1.35360352e+01] [ 5.73235395e-03 -1.07545598e-04 9.99983564e-01 1.32928621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42071405700005 meters Centerline goodness : 0.988676 with order 1 Centerline is valid? [True, True] Translation: X:275.64, Y:-13.54, Z:1.33 [[ 9.99413711e-01 3.37555100e-02 -5.72706694e-03 2.75637953e+02] [-3.37545249e-02 9.99430118e-01 2.68605819e-04 -1.35381868e+01] [ 5.73287011e-03 -7.51339147e-05 9.99983564e-01 1.33491947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48071405700006 meters Centerline goodness : 0.988734 with order 1 Centerline is valid? [True, True] Translation: X:275.70, Y:-13.55, Z:1.32 [[ 9.99437279e-01 3.30503440e-02 -5.72710404e-03 2.75696511e+02] [-3.30493518e-02 9.99453685e-01 2.67812438e-04 -1.35478323e+01] [ 5.73282653e-03 -7.83846584e-05 9.99983564e-01 1.32492024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54071405700006 meters Centerline goodness : 0.993443 with order 1 Centerline is valid? [True, True] Translation: X:275.75, Y:-13.54, Z:1.35 [[ 9.99966225e-01 5.89476344e-03 -5.72712390e-03 2.75754934e+02] [-5.89332854e-03 9.99982598e-01 2.67386959e-04 -1.35350425e+01] [ 5.72860042e-03 -2.33626105e-04 9.99983564e-01 1.34625051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60071405700006 meters Centerline goodness : 0.994190 with order 1 Centerline is valid? [True, True] Translation: X:275.81, Y:-13.54, Z:1.34 [[ 9.99981982e-01 -1.79883646e-03 -5.72714833e-03 2.75813197e+02] [ 1.80039428e-03 9.99998344e-01 2.66862787e-04 -1.35436991e+01] [ 5.72665880e-03 -2.77169104e-04 9.99983564e-01 1.33848980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66071405700006 meters Centerline goodness : 0.991451 with order 1 Centerline is valid? [True, True] Translation: X:275.87, Y:-13.57, Z:1.33 [[ 9.99983210e-01 -8.83141203e-04 -5.72716725e-03 2.75870726e+02] [ 8.84681718e-04 9.99999573e-01 2.66455955e-04 -1.35672643e+01] [ 5.72692949e-03 -2.71518202e-04 9.99983564e-01 1.32768422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72071405700007 meters Centerline goodness : 0.995508 with order 1 Centerline is valid? [True, True] Translation: X:275.93, Y:-13.56, Z:1.34 [[ 9.99775260e-01 -2.04114848e-02 -5.72723309e-03 2.75930863e+02] [ 2.04133365e-02 9.99791591e-01 2.65033281e-04 -1.35578882e+01] [ 5.72062976e-03 -3.81885654e-04 9.99983564e-01 1.34155477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78071405700007 meters Centerline goodness : 0.991397 with order 1 Centerline is valid? [True, True] Translation: X:275.99, Y:-13.57, Z:1.34 [[ 9.99876869e-01 -1.46097473e-02 -5.72724234e-03 2.75992393e+02] [ 1.46115030e-02 9.99893211e-01 2.64833314e-04 -1.35745161e+01] [ 5.72276158e-03 -3.48484324e-04 9.99983564e-01 1.33788426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84071405700007 meters Centerline goodness : 0.993020 with order 1 Centerline is valid? [True, True] Translation: X:276.05, Y:-13.58, Z:1.34 [[ 9.99895899e-01 -1.32434724e-02 -5.72722239e-03 2.76053197e+02] [ 1.32452083e-02 9.99912243e-01 2.65263977e-04 -1.35788272e+01] [ 5.72320677e-03 -3.41094616e-04 9.99983564e-01 1.34296415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.900714057 meters Centerline goodness : 0.996157 with order 1 Centerline is valid? [True, True] Translation: X:276.11, Y:-13.57, Z:1.34 [[ 9.99742353e-01 -2.19641975e-02 -5.72720781e-03 2.76114710e+02] [ 2.19660776e-02 9.99758681e-01 2.65578417e-04 -1.35731874e+01] [ 5.71999251e-03 -3.91314283e-04 9.99983564e-01 1.34452309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.960714057 meters Centerline goodness : 0.995968 with order 1 Centerline is valid? [True, True] Translation: X:276.18, Y:-13.58, Z:1.34 [[ 9.99821995e-01 -1.79771136e-02 -5.72719817e-03 2.76176675e+02] [ 1.79789298e-02 9.99838331e-01 2.65786021e-04 -1.35766958e+01] [ 5.72149420e-03 -3.68707604e-04 9.99983564e-01 1.34467683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.020714057 meters Centerline goodness : 0.993105 with order 1 Centerline is valid? [True, True] Translation: X:276.24, Y:-13.59, Z:1.33 [[ 9.99980014e-01 -2.67790390e-03 -5.72717891e-03 2.76236641e+02] [ 2.67947233e-03 9.99996375e-01 2.66200429e-04 -1.35937239e+01] [ 5.72644529e-03 -2.81540926e-04 9.99983564e-01 1.33334791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.080714057 meters Centerline goodness : 0.996341 with order 1 Centerline is valid? [True, True] Translation: X:276.30, Y:-13.58, Z:1.35 [[ 9.99967260e-01 -5.71648343e-03 -5.72717412e-03 2.76296050e+02] [ 5.71810215e-03 9.99983616e-01 2.66303522e-04 -1.35798403e+01] [ 5.72555797e-03 -2.99043370e-04 9.99983564e-01 1.34569457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.140714057 meters Centerline goodness : 0.993573 with order 1 Centerline is valid? [True, True] Translation: X:276.36, Y:-13.59, Z:1.34 [[ 9.99933738e-01 9.98596303e-03 -5.72718814e-03 2.76356173e+02] [-9.98460306e-03 9.99950117e-01 2.66001535e-04 -1.35930042e+01] [ 5.72955874e-03 -2.08800209e-04 9.99983564e-01 1.34060045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.200714057 meters Centerline goodness : 0.995856 with order 1 Centerline is valid? [True, True] Translation: X:276.42, Y:-13.58, Z:1.35 [[ 9.99975831e-01 3.94176401e-03 -5.72718814e-03 2.76415787e+02] [-3.94030506e-03 9.99992202e-01 2.66001535e-04 -1.35847137e+01] [ 5.72819200e-03 -2.43428238e-04 9.99983564e-01 1.34502137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26071405700003 meters Centerline goodness : 0.994011 with order 1 Centerline is valid? [True, True] Translation: X:276.47, Y:-13.60, Z:1.33 [[ 9.99840442e-01 1.69200915e-02 -5.72719730e-03 2.76473370e+02] [-1.69188463e-02 9.99856831e-01 2.65804301e-04 -1.36048521e+01] [ 5.73087477e-03 -1.68864319e-04 9.99983564e-01 1.33234222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32071405700003 meters Centerline goodness : 0.992596 with order 1 Centerline is valid? [True, True] Translation: X:276.53, Y:-13.61, Z:1.33 [[ 9.99890549e-01 1.36414380e-02 -5.72722222e-03 2.76531400e+02] [-1.36401421e-02 9.99906934e-01 2.65266292e-04 -1.36129203e+01] [ 5.73030782e-03 -1.87117134e-04 9.99983564e-01 1.32721921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38071405700003 meters Centerline goodness : 0.993311 with order 1 Centerline is valid? [True, True] Translation: X:276.59, Y:-13.62, Z:1.33 [[ 9.99980740e-01 2.39115445e-03 -5.72724174e-03 2.76588649e+02] [-2.38967673e-03 9.99997110e-01 2.64844029e-04 -1.36153564e+01] [ 5.72785847e-03 -2.51152672e-04 9.99983564e-01 1.33077812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44071405700004 meters Centerline goodness : 0.996396 with order 1 Centerline is valid? [True, True] Translation: X:276.65, Y:-13.60, Z:1.35 [[ 9.99819935e-01 -1.80912976e-02 -5.72726264e-03 2.76648683e+02] [ 1.80931077e-02 9.99836271e-01 2.64391441e-04 -1.36021748e+01] [ 5.72154174e-03 -3.67967813e-04 9.99983564e-01 1.35052174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50071405700004 meters Centerline goodness : 0.993555 with order 1 Centerline is valid? [True, True] Translation: X:276.71, Y:-13.62, Z:1.33 [[ 9.99924412e-01 -1.08797408e-02 -5.72727209e-03 2.76708861e+02] [ 1.08814318e-02 9.99940761e-01 2.64186447e-04 -1.36230098e+01] [ 5.72405853e-03 -3.26487399e-04 9.99983564e-01 1.33417895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56071405700004 meters Centerline goodness : 0.996296 with order 1 Centerline is valid? [True, True] Translation: X:276.77, Y:-13.61, Z:1.35 [[ 9.99517486e-01 -3.05285576e-02 -5.72725798e-03 2.76770513e+02] [ 3.05305714e-02 9.99533798e-01 2.64492048e-04 -1.36096841e+01] [ 5.71651336e-03 -4.39220885e-04 9.99983564e-01 1.34629355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62071405700004 meters Centerline goodness : 0.995810 with order 1 Centerline is valid? [True, True] Translation: X:276.83, Y:-13.61, Z:1.35 [[ 9.99400153e-01 -3.41545597e-02 -5.72720366e-03 2.76832869e+02] [ 3.41566393e-02 9.99416456e-01 2.65663036e-04 -1.36123060e+01] [ 5.71478799e-03 -4.61125708e-04 9.99983564e-01 1.34873034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68071405700005 meters Centerline goodness : 0.993768 with order 1 Centerline is valid? [True, True] Translation: X:276.89, Y:-13.63, Z:1.34 [[ 9.99733145e-01 -2.23794017e-02 -5.72718503e-03 2.76893918e+02] [ 2.23812914e-02 9.99749472e-01 2.66064140e-04 -1.36291209e+01] [ 5.71979585e-03 -3.94174936e-04 9.99983564e-01 1.33628152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74071405700005 meters Centerline goodness : 0.996363 with order 1 Centerline is valid? [True, True] Translation: X:276.96, Y:-13.61, Z:1.35 [[ 9.99368449e-01 -3.50699708e-02 -5.72716998e-03 2.76956337e+02] [ 3.50720695e-02 9.99384750e-01 2.66387765e-04 -1.36146252e+01] [ 5.71430412e-03 -4.67083231e-04 9.99983564e-01 1.35159898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80071405700005 meters Centerline goodness : 0.994312 with order 1 Centerline is valid? [True, True] Translation: X:277.02, Y:-13.63, Z:1.34 [[ 9.99794921e-01 -1.94246393e-02 -5.72710158e-03 2.77016590e+02] [ 1.94264909e-02 9.99811252e-01 2.67850248e-04 -1.36288915e+01] [ 5.72081770e-03 -3.79052804e-04 9.99983564e-01 1.33919023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86071405700005 meters Centerline goodness : 0.996242 with order 1 Centerline is valid? [True, True] Translation: X:277.08, Y:-13.62, Z:1.35 [[ 9.99586346e-01 -2.81839892e-02 -5.72708741e-03 2.77079572e+02] [ 2.81859856e-02 9.99602660e-01 2.68152835e-04 -1.36155594e+01] [ 5.71725419e-03 -4.29465516e-04 9.99983564e-01 1.35101847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92071405700005 meters Centerline goodness : 0.993562 with order 1 Centerline is valid? [True, True] Translation: X:277.14, Y:-13.63, Z:1.35 [[ 9.99816347e-01 -1.82885948e-02 -5.72702257e-03 2.77140874e+02] [ 1.82904375e-02 9.99832680e-01 2.69530508e-04 -1.36253229e+01] [ 5.72113499e-03 -3.74230756e-04 9.99983564e-01 1.34674805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98071405700006 meters Centerline goodness : 0.994001 with order 1 Centerline is valid? [True, True] Translation: X:277.20, Y:-13.63, Z:1.35 [[ 9.99754509e-01 -2.14038313e-02 -5.72700831e-03 2.77203435e+02] [ 2.14057265e-02 9.99770835e-01 2.69833216e-04 -1.36268323e+01] [ 5.71992041e-03 -3.92357748e-04 9.99983564e-01 1.34672862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04071405700006 meters Centerline goodness : 0.994613 with order 1 Centerline is valid? [True, True] Translation: X:277.27, Y:-13.63, Z:1.34 [[ 9.99798032e-01 -1.92638571e-02 -5.72698953e-03 2.77265484e+02] [ 1.92657196e-02 9.99814362e-01 2.70231275e-04 -1.36302989e+01] [ 5.72072069e-03 -3.80511271e-04 9.99983564e-01 1.34260133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10071405700006 meters Centerline goodness : 0.993303 with order 1 Centerline is valid? [True, True] Translation: X:277.33, Y:-13.63, Z:1.34 [[ 9.99826325e-01 -1.77347826e-02 -5.72697095e-03 2.77328272e+02] [ 1.77366224e-02 9.99842657e-01 2.70624475e-04 -1.36293064e+01] [ 5.72127038e-03 -3.72154595e-04 9.99983564e-01 1.34386621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16071405700006 meters Centerline goodness : 0.993101 with order 1 Centerline is valid? [True, True] Translation: X:277.39, Y:-13.63, Z:1.35 [[ 9.99782040e-01 -2.00767209e-02 -5.72694813e-03 2.77390663e+02] [ 2.00786017e-02 9.99798368e-01 2.71106480e-04 -1.36314912e+01] [ 5.72035046e-03 -3.86036500e-04 9.99983564e-01 1.34524605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22071405700007 meters Centerline goodness : 0.993021 with order 1 Centerline is valid? [True, True] Translation: X:277.45, Y:-13.63, Z:1.35 [[ 9.99838981e-01 -1.70062967e-02 -5.72692996e-03 2.77452580e+02] [ 1.70081296e-02 9.99855314e-01 2.71489817e-04 -1.36299079e+01] [ 5.72148432e-03 -3.68850469e-04 9.99983564e-01 1.34826007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28071405700007 meters Centerline goodness : 0.995151 with order 1 Centerline is valid? [True, True] Translation: X:277.52, Y:-13.62, Z:1.36 [[ 9.99707314e-01 -2.35050799e-02 -5.72691174e-03 2.77515256e+02] [ 2.35070211e-02 9.99723635e-01 2.71873455e-04 -1.36194037e+01] [ 5.71893862e-03 -4.06416516e-04 9.99983564e-01 1.35557172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34071405700007 meters Centerline goodness : 0.994384 with order 1 Centerline is valid? [True, True] Translation: X:277.58, Y:-13.62, Z:1.36 [[ 9.99631077e-01 -2.65502130e-02 -5.72684889e-03 2.77576943e+02] [ 2.65522114e-02 9.99647391e-01 2.73191118e-04 -1.36212820e+01] [ 5.71757626e-03 -4.25150834e-04 9.99983564e-01 1.35839092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.400714057 meters Centerline goodness : 0.994631 with order 1 Centerline is valid? [True, True] Translation: X:277.64, Y:-13.62, Z:1.36 [[ 9.99636248e-01 -2.63547983e-02 -5.72683445e-03 2.77639839e+02] [ 2.63567953e-02 9.99652562e-01 2.73493410e-04 -1.36224420e+01] [ 5.71763687e-03 -4.24334930e-04 9.99983564e-01 1.35731191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.460714057 meters Centerline goodness : 0.993095 with order 1 Centerline is valid? [True, True] Translation: X:277.70, Y:-13.63, Z:1.35 [[ 9.99688991e-01 -2.42719110e-02 -5.72680475e-03 2.77701266e+02] [ 2.42738775e-02 9.99705308e-01 2.74113902e-04 -1.36323576e+01] [ 5.71846384e-03 -4.13040406e-04 9.99983564e-01 1.35319922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.520714057 meters Centerline goodness : 0.995193 with order 1 Centerline is valid? [True, True] Translation: X:277.76, Y:-13.63, Z:1.35 [[ 9.99499291e-01 -3.11186546e-02 -5.72678401e-03 2.77762830e+02] [ 3.11207353e-02 9.99515595e-01 2.74546636e-04 -1.36265770e+01] [ 5.71546640e-03 -4.52630897e-04 9.99983564e-01 1.35423933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.580714057 meters Centerline goodness : 0.994323 with order 1 Centerline is valid? [True, True] Translation: X:277.83, Y:-13.63, Z:1.36 [[ 9.99550989e-01 -2.94112986e-02 -5.72676371e-03 2.77825769e+02] [ 2.94133538e-02 9.99567296e-01 2.74969372e-04 -1.36342214e+01] [ 5.71619851e-03 -4.43289234e-04 9.99983564e-01 1.35835659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.640714057 meters Centerline goodness : 0.994655 with order 1 Centerline is valid? [True, True] Translation: X:277.89, Y:-13.64, Z:1.36 [[ 9.99576067e-01 -2.85463018e-02 -5.72673298e-03 2.77888254e+02] [ 2.85483466e-02 9.99592375e-01 2.75607814e-04 -1.36367732e+01] [ 5.71653104e-03 -4.38979732e-04 9.99983564e-01 1.35925709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.700714057 meters Centerline goodness : 0.994189 with order 1 Centerline is valid? [True, True] Translation: X:277.95, Y:-13.64, Z:1.36 [[ 9.99638178e-01 -2.62815174e-02 -5.72671308e-03 2.77948926e+02] [ 2.62835276e-02 9.99654490e-01 2.76020651e-04 -1.36413704e+01] [ 5.71748021e-03 -4.26439002e-04 9.99983564e-01 1.35586705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76071405700003 meters Centerline goodness : 0.993859 with order 1 Centerline is valid? [True, True] Translation: X:278.01, Y:-13.65, Z:1.35 [[ 9.99645793e-01 -2.59902641e-02 -5.72669839e-03 2.78012306e+02] [ 2.59922712e-02 9.99662106e-01 2.76325267e-04 -1.36451060e+01] [ 5.71758160e-03 -4.25077288e-04 9.99983564e-01 1.35491348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82071405700003 meters Centerline goodness : 0.995450 with order 1 Centerline is valid? [True, True] Translation: X:278.07, Y:-13.64, Z:1.36 [[ 9.99444348e-01 -3.28359553e-02 -5.72666895e-03 2.78073844e+02] [ 3.28380775e-02 9.99460647e-01 2.76933987e-04 -1.36424769e+01] [ 5.71448686e-03 -4.64832907e-04 9.99983564e-01 1.35681193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88071405700003 meters Centerline goodness : 0.994533 with order 1 Centerline is valid? [True, True] Translation: X:278.14, Y:-13.66, Z:1.35 [[ 9.99524061e-01 -3.03126741e-02 -5.72660636e-03 2.78135502e+02] [ 3.03147626e-02 9.99540363e-01 2.78222258e-04 -1.36563957e+01] [ 5.71554054e-03 -4.51690553e-04 9.99983564e-01 1.35309678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94071405700004 meters Centerline goodness : 0.995478 with order 1 Centerline is valid? [True, True] Translation: X:278.20, Y:-13.65, Z:1.36 [[ 9.99188102e-01 -3.98791086e-02 -5.72658550e-03 2.78197423e+02] [ 3.98813555e-02 9.99204383e-01 2.78650837e-04 -1.36545771e+01] [ 5.71091699e-03 -5.06808593e-04 9.99983564e-01 1.35604246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00071405700004 meters Centerline goodness : 0.996059 with order 1 Centerline is valid? [True, True] Translation: X:278.26, Y:-13.66, Z:1.35 [[ 9.99272205e-01 -3.77129712e-02 -5.72651409e-03 2.78258710e+02] [ 3.77151910e-02 9.99288490e-01 2.80110798e-04 -1.36599893e+01] [ 5.71187581e-03 -4.95883508e-04 9.99983564e-01 1.34890573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06071405700004 meters Centerline goodness : 0.993712 with order 1 Centerline is valid? [True, True] Translation: X:278.32, Y:-13.67, Z:1.36 [[ 9.99475541e-01 -3.18723951e-02 -5.72647492e-03 2.78320448e+02] [ 3.18745243e-02 9.99491839e-01 2.80909363e-04 -1.36706094e+01] [ 5.71461169e-03 -4.63290702e-04 9.99983564e-01 1.35684033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12071405700004 meters Centerline goodness : 0.994362 with order 1 Centerline is valid? [True, True] Translation: X:278.38, Y:-13.68, Z:1.36 [[ 9.99645333e-01 -2.60079802e-02 -5.72645421e-03 2.78381379e+02] [ 2.60100161e-02 9.99661643e-01 2.81330887e-04 -1.36756093e+01] [ 5.71719977e-03 -4.30176275e-04 9.99983564e-01 1.35870104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18071405700005 meters Centerline goodness : 0.993024 with order 1 Centerline is valid? [True, True] Translation: X:278.44, Y:-13.68, Z:1.36 [[ 9.99800468e-01 -1.91371776e-02 -5.72641536e-03 2.78444216e+02] [ 1.91391059e-02 9.99816791e-01 2.82119350e-04 -1.36809945e+01] [ 5.71996726e-03 -3.91661528e-04 9.99983564e-01 1.35921601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24071405700005 meters Centerline goodness : 0.993051 with order 1 Centerline is valid? [True, True] Translation: X:278.51, Y:-13.69, Z:1.36 [[ 9.99843133e-01 -1.67606326e-02 -5.72638276e-03 2.78505333e+02] [ 1.67625259e-02 9.99859459e-01 2.82779593e-04 -1.36856941e+01] [ 5.72083840e-03 -3.78723874e-04 9.99983564e-01 1.35798571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30071405700005 meters Centerline goodness : 0.993310 with order 1 Centerline is valid? [True, True] Translation: X:278.57, Y:-13.69, Z:1.36 [[ 9.99866290e-01 -1.53170217e-02 -5.72636682e-03 2.78567423e+02] [ 1.53188932e-02 9.99882619e-01 2.83101961e-04 -1.36908628e+01] [ 5.72135838e-03 -3.70785710e-04 9.99983564e-01 1.35777491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36071405700005 meters Centerline goodness : 0.993369 with order 1 Centerline is valid? [True, True] Translation: X:278.63, Y:-13.70, Z:1.36 [[ 9.99805477e-01 -1.88737256e-02 -5.72634562e-03 2.78628117e+02] [ 1.88756576e-02 9.99821799e-01 2.83530099e-04 -1.36965279e+01] [ 5.71997391e-03 -3.91563485e-04 9.99983564e-01 1.35541551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42071405700005 meters Centerline goodness : 0.992809 with order 1 Centerline is valid? [True, True] Translation: X:278.69, Y:-13.70, Z:1.36 [[ 9.99827960e-01 -1.76425399e-02 -5.72632992e-03 2.78690495e+02] [ 1.76444537e-02 9.99844284e-01 2.83847013e-04 -1.37016230e+01] [ 5.72043045e-03 -3.84836143e-04 9.99983564e-01 1.35726692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48071405700006 meters Centerline goodness : 0.992542 with order 1 Centerline is valid? [True, True] Translation: X:278.75, Y:-13.71, Z:1.36 [[ 9.99790423e-01 -1.96550120e-02 -5.72630863e-03 2.78752825e+02] [ 1.96569610e-02 9.99806743e-01 2.84275809e-04 -1.37069434e+01] [ 5.71961453e-03 -3.96778056e-04 9.99983564e-01 1.35723595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54071405700006 meters Centerline goodness : 0.993398 with order 1 Centerline is valid? [True, True] Translation: X:278.81, Y:-13.71, Z:1.36 [[ 9.99736001e-01 -2.22517163e-02 -5.72628748e-03 2.78813776e+02] [ 2.22537101e-02 9.99752315e-01 2.84701091e-04 -1.37110756e+01] [ 5.71853408e-03 -4.12057072e-04 9.99983564e-01 1.36062991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60071405700006 meters Centerline goodness : 0.992750 with order 1 Centerline is valid? [True, True] Translation: X:278.88, Y:-13.72, Z:1.36 [[ 9.99829379e-01 -1.75620002e-02 -5.72625335e-03 2.78875005e+02] [ 1.75639214e-02 9.99845702e-01 2.85386026e-04 -1.37196697e+01] [ 5.72035785e-03 -3.85912796e-04 9.99983564e-01 1.36045636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66071405700006 meters Centerline goodness : 0.994889 with order 1 Centerline is valid? [True, True] Translation: X:278.94, Y:-13.72, Z:1.36 [[ 9.99697349e-01 -2.39253105e-02 -5.72623847e-03 2.78938326e+02] [ 2.39273373e-02 9.99713659e-01 2.85684277e-04 -1.37183877e+01] [ 5.71776373e-03 -4.22611454e-04 9.99983564e-01 1.36364697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72071405700007 meters Centerline goodness : 0.994506 with order 1 Centerline is valid? [True, True] Translation: X:279.00, Y:-13.73, Z:1.36 [[ 9.99697675e-01 -2.39117051e-02 -5.72616043e-03 2.79000122e+02] [ 2.39137405e-02 9.99713984e-01 2.87240056e-04 -1.37262402e+01] [ 5.71765426e-03 -4.24087131e-04 9.99983564e-01 1.36289048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78071405700007 meters Centerline goodness : 0.994901 with order 1 Centerline is valid? [True, True] Translation: X:279.06, Y:-13.73, Z:1.37 [[ 9.99724712e-01 -2.27532579e-02 -5.72614060e-03 2.79060909e+02] [ 2.27552766e-02 9.99741024e-01 2.87634752e-04 -1.37300011e+01] [ 5.71811304e-03 -4.17855483e-04 9.99983564e-01 1.36681288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84071405700007 meters Centerline goodness : 0.994610 with order 1 Centerline is valid? [True, True] Translation: X:279.12, Y:-13.74, Z:1.37 [[ 9.99833705e-01 -1.73140108e-02 -5.72610540e-03 2.79122981e+02] [ 1.73159447e-02 9.99850026e-01 2.88333887e-04 -1.37355140e+01] [ 5.72025441e-03 -3.87438863e-04 9.99983564e-01 1.37198577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.900714057 meters Centerline goodness : 0.993904 with order 1 Centerline is valid? [True, True] Translation: X:279.18, Y:-13.74, Z:1.37 [[ 9.99941695e-01 -9.15526720e-03 -5.72608546e-03 2.79184461e+02] [ 9.15707016e-03 9.99958031e-01 2.88729259e-04 -1.37411040e+01] [ 5.72320175e-03 -3.41146591e-04 9.99983564e-01 1.36829937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.960714057 meters Centerline goodness : 0.992326 with order 1 Centerline is valid? [True, True] Translation: X:279.24, Y:-13.74, Z:1.37 [[ 9.99982492e-01 1.49278470e-03 -5.72607065e-03 2.79244532e+02] [-1.49115412e-03 9.99998846e-01 2.89022711e-04 -1.37440045e+01] [ 5.72649549e-03 -2.80479197e-04 9.99983564e-01 1.36602355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.020714057 meters Centerline goodness : 0.990275 with order 1 Centerline is valid? [True, True] Translation: X:279.30, Y:-13.75, Z:1.38 [[ 9.99902492e-01 1.27365334e-02 -5.72607065e-03 2.79302201e+02] [-1.27350868e-02 9.99918864e-01 2.89022711e-04 -1.37518657e+01] [ 5.72928720e-03 -2.16072523e-04 9.99983564e-01 1.37556497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.080714057 meters Centerline goodness : 0.992052 with order 1 Centerline is valid? [True, True] Translation: X:279.36, Y:-13.75, Z:1.37 [[ 9.99909249e-01 1.21944364e-02 -5.72615297e-03 2.79360496e+02] [-1.21929904e-02 9.99925621e-01 2.87382471e-04 -1.37501429e+01] [ 5.72923153e-03 -2.17537463e-04 9.99983564e-01 1.36962893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.140714057 meters Centerline goodness : 0.991571 with order 1 Centerline is valid? [True, True] Translation: X:279.42, Y:-13.75, Z:1.37 [[ 9.99885765e-01 1.39881572e-02 -5.72617790e-03 2.79418468e+02] [-1.39867433e-02 9.99902140e-01 2.86884834e-04 -1.37548603e+01] [ 5.72963052e-03 -2.06761481e-04 9.99983564e-01 1.36622422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.200714057 meters Centerline goodness : 0.989909 with order 1 Centerline is valid? [True, True] Translation: X:279.48, Y:-13.76, Z:1.36 [[ 9.99895559e-01 1.32695422e-02 -5.72620508e-03 2.79475091e+02] [-1.32681197e-02 9.99911934e-01 2.86341218e-04 -1.37625904e+01] [ 5.72950041e-03 -2.10335338e-04 9.99983564e-01 1.36337956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26071405700003 meters Centerline goodness : 0.989767 with order 1 Centerline is valid? [True, True] Translation: X:279.53, Y:-13.77, Z:1.36 [[ 9.99955267e-01 7.52817900e-03 -5.72624278e-03 2.79532542e+02] [-7.52666681e-03 9.99971633e-01 2.85585263e-04 -1.37745440e+01] [ 5.72823029e-03 -2.42472967e-04 9.99983564e-01 1.35914100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32071405700003 meters Centerline goodness : 0.991132 with order 1 Centerline is valid? [True, True] Translation: X:279.59, Y:-13.79, Z:1.36 [[ 9.99983254e-01 -8.37976846e-04 -5.72626787e-03 2.79589703e+02] [ 8.39623030e-04 9.99999607e-01 2.85081408e-04 -1.37866010e+01] [ 5.72602673e-03 -2.89884540e-04 9.99983564e-01 1.35781060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38071405700003 meters Centerline goodness : 0.989588 with order 1 Centerline is valid? [True, True] Translation: X:279.65, Y:-13.80, Z:1.36 [[ 9.99970378e-01 -5.14317499e-03 -5.72629292e-03 2.79646940e+02] [ 5.14488869e-03 9.99986724e-01 2.84577273e-04 -1.38045707e+01] [ 5.72475327e-03 -3.14029983e-04 9.99983564e-01 1.35613902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44071405700004 meters Centerline goodness : 0.984456 with order 1 Centerline is valid? [True, True] Translation: X:279.71, Y:-13.82, Z:1.36 [[ 9.99951927e-01 -7.95947634e-03 -5.72631743e-03 2.79705724e+02] [ 7.96123325e-03 9.99968269e-01 2.84083308e-04 -1.38189515e+01] [ 5.72387457e-03 -3.29658200e-04 9.99983564e-01 1.36197197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50071405700004 meters Centerline goodness : 0.991865 with order 1 Centerline is valid? [True, True] Translation: X:279.77, Y:-13.83, Z:1.36 [[ 9.99974283e-01 -4.31780968e-03 -5.72632795e-03 2.79765092e+02] [ 4.31950585e-03 9.99990631e-01 2.83871024e-04 -1.38306153e+01] [ 5.72504860e-03 -3.08598630e-04 9.99983564e-01 1.36054602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56071405700004 meters Centerline goodness : 0.985864 with order 1 Centerline is valid? [True, True] Translation: X:279.82, Y:-13.84, Z:1.36 [[ 9.99982755e-01 -1.30359738e-03 -5.72632795e-03 2.79824124e+02] [ 1.30524427e-03 9.99999108e-01 2.83871024e-04 -1.38416947e+01] [ 5.72595279e-03 -2.91340385e-04 9.99983564e-01 1.35773253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62071405700004 meters Centerline goodness : 0.985343 with order 1 Centerline is valid? [True, True] Translation: X:279.88, Y:-13.85, Z:1.35 [[ 9.99971805e-01 -4.85782575e-03 -5.72633728e-03 2.79881111e+02] [ 4.85952967e-03 9.99988152e-01 2.83682792e-04 -1.38521602e+01] [ 5.72489135e-03 -3.11502099e-04 9.99983564e-01 1.35223435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68071405700005 meters Centerline goodness : 0.990471 with order 1 Centerline is valid? [True, True] Translation: X:279.94, Y:-13.86, Z:1.35 [[ 9.99910346e-01 -1.21040795e-02 -5.72636014e-03 2.79941131e+02] [ 1.21058992e-02 9.99926681e-01 2.83220508e-04 -1.38562341e+01] [ 5.72251217e-03 -3.52517854e-04 9.99983564e-01 1.34727832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74071405700005 meters Centerline goodness : 0.992123 with order 1 Centerline is valid? [True, True] Translation: X:280.00, Y:-13.86, Z:1.35 [[ 9.99876548e-01 -1.46320688e-02 -5.72636485e-03 2.80001491e+02] [ 1.46339293e-02 9.99892878e-01 2.83125265e-04 -1.38633869e+01] [ 5.72160872e-03 -3.66889531e-04 9.99983564e-01 1.34558188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80071405700005 meters Centerline goodness : 0.986775 with order 1 Centerline is valid? [True, True] Translation: X:280.06, Y:-13.90, Z:1.33 [[ 9.99983601e-01 8.56390010e-05 -5.72636020e-03 2.80060069e+02] [-8.40185595e-05 9.99999956e-01 2.83219283e-04 -1.38957517e+01] [ 5.72638420e-03 -2.82733518e-04 9.99983564e-01 1.32602633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86071405700005 meters Centerline goodness : 0.981188 with order 1 Centerline is valid? [True, True] Translation: X:280.12, Y:-13.88, Z:1.35 [[ 9.99861855e-01 -1.56038596e-02 -5.72635569e-03 2.80119665e+02] [ 1.56057370e-02 9.99878183e-01 2.83310408e-04 -1.38777416e+01] [ 5.72123739e-03 -3.72635271e-04 9.99983564e-01 1.34630307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92071405700005 meters Centerline goodness : 0.990841 with order 1 Centerline is valid? [True, True] Translation: X:280.18, Y:-13.88, Z:1.34 [[ 9.99922172e-01 -1.10841660e-02 -5.72637574e-03 2.80179620e+02] [ 1.10859672e-02 9.99938509e-01 2.82904631e-04 -1.38842608e+01] [ 5.72288785e-03 -3.46365026e-04 9.99983564e-01 1.34222024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98071405700006 meters Centerline goodness : 0.985426 with order 1 Centerline is valid? [True, True] Translation: X:280.24, Y:-13.91, Z:1.34 [[ 9.99973839e-01 -4.41935979e-03 -5.72636905e-03 2.80238696e+02] [ 4.42105287e-03 9.99990187e-01 2.83039965e-04 -1.39110292e+01] [ 5.72506200e-03 -3.08349141e-04 9.99983564e-01 1.34133850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04071405700006 meters Centerline goodness : 0.973556 with order 1 Centerline is valid? [True, True] Translation: X:280.30, Y:-13.91, Z:1.35 [[ 9.99865723e-01 -1.53539760e-02 -5.72636905e-03 2.80297354e+02] [ 1.53558478e-02 9.99882052e-01 2.83039965e-04 -1.39082387e+01] [ 5.72134785e-03 -3.70935210e-04 9.99983564e-01 1.35431619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10071405700006 meters Centerline goodness : 0.982733 with order 1 Centerline is valid? [True, True] Translation: X:280.36, Y:-13.92, Z:1.35 [[ 9.99693839e-01 -2.40714746e-02 -5.72638162e-03 2.80358087e+02] [ 2.40734872e-02 9.99710152e-01 2.82785489e-04 -1.39203344e+01] [ 5.71791477e-03 -4.20552886e-04 9.99983564e-01 1.35114533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16071405700006 meters Centerline goodness : 0.972035 with order 1 Centerline is valid? [True, True] Translation: X:280.42, Y:-13.94, Z:1.35 [[ 9.99644267e-01 -2.60489379e-02 -5.72636879e-03 2.80418950e+02] [ 2.60509843e-02 9.99660575e-01 2.83045000e-04 -1.39352868e+01] [ 5.71705210e-03 -4.32121854e-04 9.99983564e-01 1.35357615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22071405700007 meters Centerline goodness : 0.976324 with order 1 Centerline is valid? [True, True] Translation: X:280.48, Y:-13.94, Z:1.35 [[ 9.99669669e-01 -2.50551817e-02 -5.72634940e-03 2.80479318e+02] [ 2.50572141e-02 9.99685979e-01 2.83436794e-04 -1.39442356e+01] [ 5.71744964e-03 -4.26829529e-04 9.99983564e-01 1.35239179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28071405700007 meters Centerline goodness : 0.982525 with order 1 Centerline is valid? [True, True] Translation: X:280.54, Y:-13.95, Z:1.35 [[ 9.99698959e-01 -2.38579407e-02 -5.72634292e-03 2.80540925e+02] [ 2.38599543e-02 9.99715271e-01 2.83567552e-04 -1.39484384e+01] [ 5.71794713e-03 -4.20112467e-04 9.99983564e-01 1.34927709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34071405700007 meters Centerline goodness : 0.974408 with order 1 Centerline is valid? [True, True] Translation: X:280.60, Y:-13.96, Z:1.35 [[ 9.99818158e-01 -1.81895494e-02 -5.72632982e-03 2.80600689e+02] [ 1.81914720e-02 9.99834481e-01 2.83831776e-04 -1.39566787e+01] [ 5.72021924e-03 -3.87950532e-04 9.99983564e-01 1.35315086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.400714057 meters Centerline goodness : 0.982567 with order 1 Centerline is valid? [True, True] Translation: X:280.66, Y:-13.96, Z:1.35 [[ 9.99803897e-01 -1.89572343e-02 -5.72632818e-03 2.80660348e+02] [ 1.89591696e-02 9.99820218e-01 2.83864900e-04 -1.39589377e+01] [ 5.71991740e-03 -3.92375660e-04 9.99983564e-01 1.35390767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.460714057 meters Centerline goodness : 0.980968 with order 1 Centerline is valid? [True, True] Translation: X:280.72, Y:-13.97, Z:1.35 [[ 9.99718029e-01 -2.30450171e-02 -5.72630245e-03 2.80721043e+02] [ 2.30470221e-02 9.99734342e-01 2.84383076e-04 -1.39657801e+01] [ 5.71822760e-03 -4.16277107e-04 9.99983564e-01 1.35355638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.520714057 meters Centerline goodness : 0.970737 with order 1 Centerline is valid? [True, True] Translation: X:280.78, Y:-13.98, Z:1.35 [[ 9.99761210e-01 -2.10886996e-02 -5.72629154e-03 2.80780987e+02] [ 2.10906739e-02 9.99777526e-01 2.84602545e-04 -1.39786888e+01] [ 5.71901570e-03 -4.05305932e-04 9.99983564e-01 1.35428556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.580714057 meters Centerline goodness : 0.983110 with order 1 Centerline is valid? [True, True] Translation: X:280.84, Y:-13.98, Z:1.35 [[ 9.99590861e-01 -2.80235795e-02 -5.72628490e-03 2.80842543e+02] [ 2.80256677e-02 9.99607163e-01 2.84736052e-04 -1.39766015e+01] [ 5.71605608e-03 -4.45102514e-04 9.99983564e-01 1.35375303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.640714057 meters Centerline goodness : 0.970198 with order 1 Centerline is valid? [True, True] Translation: X:280.90, Y:-13.99, Z:1.36 [[ 9.99794507e-01 -1.94461691e-02 -5.72627139e-03 2.80902137e+02] [ 1.94481189e-02 9.99810827e-01 2.85007601e-04 -1.39870911e+01] [ 5.71964582e-03 -3.96314241e-04 9.99983564e-01 1.35619595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.700714057 meters Centerline goodness : 0.971190 with order 1 Centerline is valid? [True, True] Translation: X:280.96, Y:-13.99, Z:1.36 [[ 9.99907282e-01 -1.23546486e-02 -5.72626493e-03 2.80962551e+02] [ 1.23564834e-02 9.99923615e-01 2.85137339e-04 -1.39898660e+01] [ 5.72230475e-03 -3.55867399e-04 9.99983564e-01 1.35791192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76071405700003 meters Centerline goodness : 0.980525 with order 1 Centerline is valid? [True, True] Translation: X:281.02, Y:-13.99, Z:1.35 [[ 9.99826813e-01 -1.77074443e-02 -5.72626493e-03 2.81022781e+02] [ 1.77093664e-02 9.99843136e-01 2.85137339e-04 -1.39899296e+01] [ 5.72031763e-03 -3.86496481e-04 9.99983564e-01 1.35150029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82071405700003 meters Centerline goodness : 0.980031 with order 1 Centerline is valid? [True, True] Translation: X:281.08, Y:-13.99, Z:1.35 [[ 9.99760639e-01 -2.11157408e-02 -5.72627185e-03 2.81083494e+02] [ 2.11177178e-02 9.99776956e-01 2.84998175e-04 -1.39932523e+01] [ 5.71897669e-03 -4.05855751e-04 9.99983564e-01 1.35247843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88071405700003 meters Centerline goodness : 0.980665 with order 1 Centerline is valid? [True, True] Translation: X:281.15, Y:-14.00, Z:1.35 [[ 9.99675967e-01 -2.48026263e-02 -5.72626682e-03 2.81145692e+02] [ 2.48046640e-02 9.99692276e-01 2.85099211e-04 -1.39967855e+01] [ 5.71743351e-03 -4.27044954e-04 9.99983564e-01 1.35162887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94071405700004 meters Centerline goodness : 0.978839 with order 1 Centerline is valid? [True, True] Translation: X:281.21, Y:-14.00, Z:1.36 [[ 9.99402779e-01 -3.40777818e-02 -5.72624630e-03 2.81206296e+02] [ 3.40799731e-02 9.99419068e-01 2.85510881e-04 -1.39977565e+01] [ 5.71319016e-03 -4.80490687e-04 9.99983564e-01 1.36211919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00071405700004 meters Centerline goodness : 0.980734 with order 1 Centerline is valid? [True, True] Translation: X:281.27, Y:-14.01, Z:1.35 [[ 9.99464685e-01 -3.22110911e-02 -5.72623496e-03 2.81266862e+02] [ 3.22132533e-02 9.99480978e-01 2.85738101e-04 -1.40071669e+01] [ 5.71405898e-03 -4.70045798e-04 9.99983564e-01 1.35346152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06071405700004 meters Centerline goodness : 0.980694 with order 1 Centerline is valid? [True, True] Translation: X:281.33, Y:-14.01, Z:1.36 [[ 9.99416695e-01 -3.36672108e-02 -5.72622352e-03 2.81327727e+02] [ 3.36693980e-02 9.99432984e-01 2.85967109e-04 -1.40073517e+01] [ 5.71334895e-03 -4.78598801e-04 9.99983564e-01 1.35748824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12071405700004 meters Centerline goodness : 0.980633 with order 1 Centerline is valid? [True, True] Translation: X:281.39, Y:-14.01, Z:1.36 [[ 9.99487235e-01 -3.15036079e-02 -5.72620858e-03 2.81390405e+02] [ 3.15057615e-02 9.99503529e-01 2.86265908e-04 -1.40061737e+01] [ 5.71434728e-03 -4.66527683e-04 9.99983564e-01 1.35538891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18071405700005 meters Centerline goodness : 0.981342 with order 1 Centerline is valid? [True, True] Translation: X:281.45, Y:-14.01, Z:1.36 [[ 9.99475935e-01 -3.18600978e-02 -5.72618806e-03 2.81452579e+02] [ 3.18622595e-02 9.99492228e-01 2.86675885e-04 -1.40066907e+01] [ 5.71414694e-03 -4.68974939e-04 9.99983564e-01 1.35573181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24071405700005 meters Centerline goodness : 0.971407 with order 1 Centerline is valid? [True, True] Translation: X:281.51, Y:-14.01, Z:1.36 [[ 9.99602526e-01 -2.76043509e-02 -5.72616774e-03 2.81513616e+02] [ 2.76064456e-02 9.99618828e-01 2.87081256e-04 -1.40081594e+01] [ 5.71606039e-03 -4.45046287e-04 9.99983564e-01 1.36051005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30071405700005 meters Centerline goodness : 0.979186 with order 1 Centerline is valid? [True, True] Translation: X:281.57, Y:-14.01, Z:1.36 [[ 9.99467788e-01 -3.21146736e-02 -5.72614124e-03 2.81574812e+02] [ 3.21168449e-02 9.99484080e-01 2.87608820e-04 -1.40085720e+01] [ 5.71395054e-03 -4.71361341e-04 9.99983564e-01 1.36032771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36071405700005 meters Centerline goodness : 0.977763 with order 1 Centerline is valid? [True, True] Translation: X:281.64, Y:-14.01, Z:1.36 [[ 9.99405639e-01 -3.39938286e-02 -5.72612768e-03 2.81637202e+02] [ 3.39960320e-02 9.99421926e-01 2.87878558e-04 -1.40085627e+01] [ 5.71303146e-03 -4.82373074e-04 9.99983564e-01 1.36019294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42071405700005 meters Centerline goodness : 0.976985 with order 1 Centerline is valid? [True, True] Translation: X:281.70, Y:-14.01, Z:1.36 [[ 9.99496205e-01 -3.12177525e-02 -5.72610665e-03 2.81698252e+02] [ 3.12199130e-02 9.99512498e-01 2.88296174e-04 -1.40072148e+01] [ 5.71431520e-03 -4.66919483e-04 9.99983564e-01 1.36033417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48071405700006 meters Centerline goodness : 0.976939 with order 1 Centerline is valid? [True, True] Translation: X:281.76, Y:-14.01, Z:1.36 [[ 9.99591994e-01 -2.79831731e-02 -5.72607197e-03 2.81760253e+02] [ 2.79852848e-02 9.99608293e-01 2.88983400e-04 -1.40052995e+01] [ 5.71574236e-03 -4.49111248e-04 9.99983564e-01 1.36200399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54071405700006 meters Centerline goodness : 0.979678 with order 1 Centerline is valid? [True, True] Translation: X:281.82, Y:-14.00, Z:1.36 [[ 9.99729142e-01 -2.25578238e-02 -5.72605163e-03 2.81821420e+02] [ 2.25598494e-02 9.99745452e-01 2.89385875e-04 -1.40044154e+01] [ 5.71806616e-03 -4.18486355e-04 9.99983564e-01 1.36228071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60071405700006 meters Centerline goodness : 0.978337 with order 1 Centerline is valid? [True, True] Translation: X:281.88, Y:-14.00, Z:1.37 [[ 9.99759035e-01 -2.11916081e-02 -5.72603661e-03 2.81883919e+02] [ 2.11936130e-02 9.99775348e-01 2.89682814e-04 -1.40042690e+01] [ 5.71861140e-03 -4.10968414e-04 9.99983564e-01 1.36556422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66071405700006 meters Centerline goodness : 0.977586 with order 1 Centerline is valid? [True, True] Translation: X:281.95, Y:-14.00, Z:1.37 [[ 9.99811535e-01 -1.85501242e-02 -5.72601617e-03 2.81945363e+02] [ 1.85520883e-02 9.99827853e-01 2.90086160e-04 -1.40042541e+01] [ 5.71964932e-03 -3.96261046e-04 9.99983564e-01 1.36782698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72071405700007 meters Centerline goodness : 0.979157 with order 1 Centerline is valid? [True, True] Translation: X:282.01, Y:-14.01, Z:1.37 [[ 9.99764196e-01 -2.09467472e-02 -5.72600614e-03 2.82007260e+02] [ 2.09487515e-02 9.99780509e-01 2.90284004e-04 -1.40078345e+01] [ 5.71866883e-03 -4.10168234e-04 9.99983564e-01 1.36682232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.78071405700007 meters Centerline goodness : 0.979919 with order 1 Centerline is valid? [True, True] Translation: X:282.07, Y:-14.01, Z:1.37 [[ 9.99758167e-01 -2.12325584e-02 -5.72598507e-03 2.82068762e+02] [ 2.12345698e-02 9.99774479e-01 2.90699121e-04 -1.40089822e+01] [ 5.71852145e-03 -4.12217650e-04 9.99983564e-01 1.36745363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.84071405700007 meters Centerline goodness : 0.979916 with order 1 Centerline is valid? [True, True] Translation: X:282.13, Y:-14.01, Z:1.37 [[ 9.99640758e-01 -2.61833517e-02 -5.72596949e-03 2.82130761e+02] [ 2.61854456e-02 9.99657060e-01 2.91005647e-04 -1.40124355e+01] [ 5.71638632e-03 -4.40838168e-04 9.99983564e-01 1.36762243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.900714057 meters Centerline goodness : 0.979632 with order 1 Centerline is valid? [True, True] Translation: X:282.19, Y:-14.02, Z:1.37 [[ 9.99708529e-01 -2.34536033e-02 -5.72594888e-03 2.82192341e+02] [ 2.34556549e-02 9.99724836e-01 2.91410623e-04 -1.40150935e+01] [ 5.71753867e-03 -4.25631566e-04 9.99983564e-01 1.37054842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.960714057 meters Centerline goodness : 0.979940 with order 1 Centerline is valid? [True, True] Translation: X:282.25, Y:-14.02, Z:1.37 [[ 9.99705457e-01 -2.35841576e-02 -5.72593362e-03 2.82254301e+02] [ 2.35862131e-02 9.99721764e-01 2.91710050e-04 -1.40172769e+01] [ 5.71746073e-03 -4.26677219e-04 9.99983564e-01 1.37122802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.020714057 meters Centerline goodness : 0.980096 with order 1 Centerline is valid? [True, True] Translation: X:282.32, Y:-14.02, Z:1.37 [[ 9.99620093e-01 -2.69607643e-02 -5.72591369e-03 2.82316258e+02] [ 2.69628771e-02 9.99636393e-01 2.92100813e-04 -1.40181236e+01] [ 5.71595644e-03 -4.46376949e-04 9.99983564e-01 1.37365236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.080714057 meters Centerline goodness : 0.979412 with order 1 Centerline is valid? [True, True] Translation: X:282.38, Y:-14.02, Z:1.37 [[ 9.99577334e-01 -2.85020513e-02 -5.72589386e-03 2.82378656e+02] [ 2.85041914e-02 9.99593630e-01 2.92489004e-04 -1.40234502e+01] [ 5.71523049e-03 -4.55577354e-04 9.99983564e-01 1.37116487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.140714057 meters Centerline goodness : 0.979452 with order 1 Centerline is valid? [True, True] Translation: X:282.44, Y:-14.03, Z:1.37 [[ 9.99301179e-01 -3.69373484e-02 -5.72587417e-03 2.82440888e+02] [ 3.69396282e-02 9.99317456e-01 2.92873898e-04 -1.40252976e+01] [ 5.71114803e-03 -5.04180895e-04 9.99983564e-01 1.37136505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.200714057 meters Centerline goodness : 0.978548 with order 1 Centerline is valid? [True, True] Translation: X:282.50, Y:-14.03, Z:1.37 [[ 9.99349231e-01 -3.56136089e-02 -5.72584974e-03 2.82503050e+02] [ 3.56158698e-02 9.99365511e-01 2.93350706e-04 -1.40266392e+01] [ 5.71176948e-03 -4.97090921e-04 9.99983564e-01 1.37307314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26071405700003 meters Centerline goodness : 0.978770 with order 1 Centerline is valid? [True, True] Translation: X:282.57, Y:-14.03, Z:1.37 [[ 9.99241800e-01 -3.85102618e-02 -5.72583068e-03 2.82565130e+02] [ 3.85125721e-02 9.99258073e-01 2.93722383e-04 -1.40290717e+01] [ 5.71027120e-03 -5.14016149e-04 9.99983564e-01 1.37410580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32071405700003 meters Centerline goodness : 0.979272 with order 1 Centerline is valid? [True, True] Translation: X:282.63, Y:-14.03, Z:1.37 [[ 9.98902639e-01 -4.64836831e-02 -5.72581175e-03 2.82626595e+02] [ 4.64861253e-02 9.98918892e-01 2.94090860e-04 -1.40293094e+01] [ 5.70595111e-03 -5.59938939e-04 9.99983564e-01 1.37074387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38071405700003 meters Centerline goodness : 0.978422 with order 1 Centerline is valid? [True, True] Translation: X:282.69, Y:-14.03, Z:1.37 [[ 9.98984172e-01 -4.46971928e-02 -5.72577639e-03 2.82688376e+02] [ 4.46996097e-02 9.99000429e-01 2.94777795e-04 -1.40294148e+01] [ 5.70687733e-03 -5.50418322e-04 9.99983564e-01 1.37358568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44071405700004 meters Centerline goodness : 0.978497 with order 1 Centerline is valid? [True, True] Translation: X:282.75, Y:-14.03, Z:1.37 [[ 9.98949214e-01 -4.54717962e-02 -5.72575790e-03 2.82751548e+02] [ 4.54742277e-02 9.98965469e-01 2.95136402e-04 -1.40321370e+01] [ 5.70641404e-03 -5.55200696e-04 9.99983564e-01 1.37173152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50071405700004 meters Centerline goodness : 0.977374 with order 1 Centerline is valid? [True, True] Translation: X:282.81, Y:-14.03, Z:1.38 [[ 9.99007824e-01 -4.41654049e-02 -5.72572571e-03 2.82812501e+02] [ 4.41678188e-02 9.99024082e-01 2.95759691e-04 -1.40292715e+01] [ 5.70707552e-03 -5.48359061e-04 9.99983564e-01 1.37684498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56071405700004 meters Centerline goodness : 0.979322 with order 1 Centerline is valid? [True, True] Translation: X:282.87, Y:-14.03, Z:1.37 [[ 9.99071219e-01 -4.27073231e-02 -5.72570986e-03 2.82874312e+02] [ 4.27097149e-02 9.99087480e-01 2.96066203e-04 -1.40317860e+01] [ 5.70784084e-03 -5.40334659e-04 9.99983564e-01 1.37285450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62071405700004 meters Centerline goodness : 0.979872 with order 1 Centerline is valid? [True, True] Translation: X:282.94, Y:-14.03, Z:1.37 [[ 9.99139670e-01 -4.10747725e-02 -5.72568917e-03 2.82937561e+02] [ 4.10771401e-02 9.99155934e-01 2.96465806e-04 -1.40333463e+01] [ 5.70867904e-03 -5.31405683e-04 9.99983564e-01 1.37231103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68071405700005 meters Centerline goodness : 0.982081 with order 1 Centerline is valid? [True, True] Translation: X:283.00, Y:-14.03, Z:1.37 [[ 9.99092051e-01 -4.22171907e-02 -5.72565620e-03 2.82998978e+02] [ 4.22195804e-02 9.99108312e-01 2.97101071e-04 -1.40294702e+01] [ 5.70800793e-03 -5.38566120e-04 9.99983564e-01 1.37074514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74071405700005 meters Centerline goodness : 0.982672 with order 1 Centerline is valid? [True, True] Translation: X:283.06, Y:-14.03, Z:1.37 [[ 9.99212187e-01 -3.92711276e-02 -5.72563999e-03 2.83061232e+02] [ 3.92734712e-02 9.99228455e-01 2.97413242e-04 -1.40287983e+01] [ 5.70954265e-03 -5.22044693e-04 9.99983564e-01 1.37179723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80071405700005 meters Centerline goodness : 0.982827 with order 1 Centerline is valid? [True, True] Translation: X:283.12, Y:-14.02, Z:1.37 [[ 9.99262359e-01 -3.79730740e-02 -5.72561878e-03 2.83123414e+02] [ 3.79753987e-02 9.99278630e-01 2.97820992e-04 -1.40242343e+01] [ 5.71017931e-03 -5.15033963e-04 9.99983564e-01 1.37330752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86071405700005 meters Centerline goodness : 0.982966 with order 1 Centerline is valid? [True, True] Translation: X:283.19, Y:-14.03, Z:1.37 [[ 9.99271201e-01 -3.77396877e-02 -5.72559247e-03 2.83186601e+02] [ 3.77420115e-02 9.99287472e-01 2.98325844e-04 -1.40261834e+01] [ 5.71025410e-03 -5.14203802e-04 9.99983564e-01 1.37223964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92071405700005 meters Centerline goodness : 0.982303 with order 1 Centerline is valid? [True, True] Translation: X:283.25, Y:-14.02, Z:1.37 [[ 9.99385647e-01 -3.45766719e-02 -5.72556221e-03 2.83248933e+02] [ 3.45789475e-02 9.99401925e-01 2.98905487e-04 -1.40214034e+01] [ 5.71180274e-03 -4.96705768e-04 9.99983564e-01 1.37266884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98071405700006 meters Centerline goodness : 0.982642 with order 1 Centerline is valid? [True, True] Translation: X:283.31, Y:-14.02, Z:1.37 [[ 9.99481256e-01 -3.16928524e-02 -5.72551496e-03 2.83311305e+02] [ 3.16950862e-02 9.99497540e-01 2.99807892e-04 -1.40188154e+01] [ 5.71313635e-03 -4.81123059e-04 9.99983564e-01 1.37277618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04071405700006 meters Centerline goodness : 0.983047 with order 1 Centerline is valid? [True, True] Translation: X:283.37, Y:-14.02, Z:1.37 [[ 9.99571168e-01 -2.87175840e-02 -5.72549485e-03 2.83374153e+02] [ 2.87197715e-02 9.99587457e-01 3.00191435e-04 -1.40164113e+01] [ 5.71451207e-03 -4.64497607e-04 9.99983564e-01 1.37140228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10071405700006 meters Centerline goodness : 0.982802 with order 1 Centerline is valid? [True, True] Translation: X:283.44, Y:-14.02, Z:1.37 [[ 9.99598873e-01 -2.77364670e-02 -5.72547504e-03 2.83436486e+02] [ 2.77386407e-02 9.99615165e-01 3.00568847e-04 -1.40155788e+01] [ 5.71493496e-03 -4.59265176e-04 9.99983564e-01 1.37168099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16071405700006 meters Centerline goodness : 0.983916 with order 1 Centerline is valid? [True, True] Translation: X:283.50, Y:-14.01, Z:1.37 [[ 9.99609672e-01 -2.73445154e-02 -5.72545522e-03 2.83497895e+02] [ 2.73466848e-02 9.99625964e-01 3.00945966e-04 -1.40139244e+01] [ 5.71508447e-03 -4.57400718e-04 9.99983564e-01 1.37255640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22071405700007 meters Centerline goodness : 0.985612 with order 1 Centerline is valid? [True, True] Translation: X:283.56, Y:-14.02, Z:1.37 [[ 9.99562394e-01 -2.90213751e-02 -5.72544051e-03 2.83559893e+02] [ 2.90235734e-02 9.99578682e-01 3.01225416e-04 -1.40156568e+01] [ 5.71428631e-03 -4.67266341e-04 9.99983564e-01 1.37275685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.28071405700007 meters Centerline goodness : 0.985311 with order 1 Centerline is valid? [True, True] Translation: X:283.62, Y:-14.02, Z:1.37 [[ 9.99536512e-01 -2.98995049e-02 -5.72542040e-03 2.83622212e+02] [ 2.99017197e-02 9.99552798e-01 3.01607150e-04 -1.40171754e+01] [ 5.71384208e-03 -4.72667275e-04 9.99983564e-01 1.37410619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.34071405700007 meters Centerline goodness : 0.987178 with order 1 Centerline is valid? [True, True] Translation: X:283.68, Y:-14.02, Z:1.37 [[ 9.99513989e-01 -3.06431885e-02 -5.72540016e-03 2.83684271e+02] [ 3.06454176e-02 9.99530273e-01 3.01990988e-04 -1.40183878e+01] [ 5.71345682e-03 -4.77301496e-04 9.99983564e-01 1.37455459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.400714057 meters Centerline goodness : 0.986753 with order 1 Centerline is valid? [True, True] Translation: X:283.75, Y:-14.02, Z:1.38 [[ 9.99549029e-01 -2.94781095e-02 -5.72537506e-03 2.83746776e+02] [ 2.94803223e-02 9.99565315e-01 3.02466127e-04 -1.40203919e+01] [ 5.71397019e-03 -4.71115625e-04 9.99983564e-01 1.37529864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.460714057 meters Centerline goodness : 0.985719 with order 1 Centerline is valid? [True, True] Translation: X:283.81, Y:-14.02, Z:1.38 [[ 9.99583926e-01 -2.82700534e-02 -5.72535649e-03 2.83808854e+02] [ 2.82722485e-02 9.99600214e-01 3.02817151e-04 -1.40242275e+01] [ 5.71450692e-03 -4.64559858e-04 9.99983564e-01 1.37768897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.520714057 meters Centerline goodness : 0.984687 with order 1 Centerline is valid? [True, True] Translation: X:283.87, Y:-14.03, Z:1.38 [[ 9.99685762e-01 -2.44048549e-02 -5.72533526e-03 2.83870799e+02] [ 2.44069893e-02 9.99702059e-01 3.03218125e-04 -1.40280552e+01] [ 5.71622945e-03 -4.42861039e-04 9.99983564e-01 1.38180280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.580714057 meters Centerline goodness : 0.986677 with order 1 Centerline is valid? [True, True] Translation: X:283.93, Y:-14.03, Z:1.38 [[ 9.99783737e-01 -1.99925057e-02 -5.72531429e-03 2.83933103e+02] [ 1.99945704e-02 9.99800042e-01 3.03613444e-04 -1.40309992e+01] [ 5.71809948e-03 -4.18022983e-04 9.99983564e-01 1.38280499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.640714057 meters Centerline goodness : 0.985677 with order 1 Centerline is valid? [True, True] Translation: X:283.99, Y:-14.03, Z:1.39 [[ 9.99913271e-01 -1.18605283e-02 -5.72529292e-03 2.83994992e+02] [ 1.18624626e-02 9.99929592e-01 3.04015823e-04 -1.40328175e+01] [ 5.72128403e-03 -3.71905529e-04 9.99983564e-01 1.38709521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.700714057 meters Centerline goodness : 0.985871 with order 1 Centerline is valid? [True, True] Translation: X:284.06, Y:-14.04, Z:1.38 [[ 9.99983301e-01 7.86385660e-04 -5.72527187e-03 2.84055192e+02] [-7.84655643e-04 9.99999646e-01 3.04411821e-04 -1.40387725e+01] [ 5.72550923e-03 -2.99914371e-04 9.99983564e-01 1.38438847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76071405700003 meters Centerline goodness : 0.984037 with order 1 Centerline is valid? [True, True] Translation: X:284.11, Y:-14.04, Z:1.39 [[ 9.99902033e-01 1.27728321e-02 -5.72527187e-03 2.84112631e+02] [-1.27712982e-02 9.99918397e-01 3.04411821e-04 -1.40432335e+01] [ 5.72869287e-03 -2.31262844e-04 9.99983564e-01 1.38508604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82071405700003 meters Centerline goodness : 0.983512 with order 1 Centerline is valid? [True, True] Translation: X:284.17, Y:-14.05, Z:1.38 [[ 9.99637518e-01 2.63068982e-02 -5.72531016e-03 2.84170880e+02] [-2.63055901e-02 9.99653902e-01 3.03690022e-04 -1.40514726e+01] [ 5.73131778e-03 -1.52972278e-04 9.99983564e-01 1.38238020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88071405700003 meters Centerline goodness : 0.982701 with order 1 Centerline is valid? [True, True] Translation: X:284.23, Y:-14.06, Z:1.38 [[ 9.99346002e-01 3.57041843e-02 -5.72538082e-03 2.84228125e+02] [-3.57030379e-02 9.99362398e-01 3.02351851e-04 -1.40613820e+01] [ 5.73252553e-03 -9.77406254e-05 9.99983564e-01 1.38281967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94071405700004 meters Centerline goodness : 0.982188 with order 1 Centerline is valid? [True, True] Translation: X:284.29, Y:-14.07, Z:1.39 [[ 9.99352883e-01 3.55110605e-02 -5.72541781e-03 2.84286076e+02] [-3.55099149e-02 9.99369279e-01 3.01649833e-04 -1.40691587e+01] [ 5.73251857e-03 -9.81455310e-05 9.99983564e-01 1.38753747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00071405700004 meters Centerline goodness : 0.980716 with order 1 Centerline is valid? [True, True] Translation: X:284.34, Y:-14.08, Z:1.39 [[ 9.99501440e-01 3.10497953e-02 -5.72544837e-03 2.84343677e+02] [-3.10485799e-02 9.99517831e-01 3.01068674e-04 -1.40760676e+01] [ 5.73203586e-03 -1.23151533e-04 9.99983564e-01 1.38956986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06071405700004 meters Centerline goodness : 0.980246 with order 1 Centerline is valid? [True, True] Translation: X:284.40, Y:-14.09, Z:1.39 [[ 9.99666708e-01 2.51732374e-02 -5.72547868e-03 2.84400597e+02] [-2.51719290e-02 9.99683092e-01 3.00491244e-04 -1.40894727e+01] [ 5.73122856e-03 -1.56269750e-04 9.99983564e-01 1.38808752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12071405700004 meters Centerline goodness : 0.978756 with order 1 Centerline is valid? [True, True] Translation: X:284.46, Y:-14.10, Z:1.39 [[ 9.99854431e-01 1.60728441e-02 -5.72550351e-03 2.84458187e+02] [-1.60713893e-02 9.99870802e-01 3.00017338e-04 -1.41015363e+01] [ 5.72958592e-03 -2.07956869e-04 9.99983564e-01 1.39072391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18071405700005 meters Centerline goodness : 0.978855 with order 1 Centerline is valid? [True, True] Translation: X:284.52, Y:-14.11, Z:1.39 [[ 9.99958437e-01 7.09529123e-03 -5.72553279e-03 2.84516981e+02] [-7.09369268e-03 9.99974795e-01 2.99457434e-04 -1.41104838e+01] [ 5.72751322e-03 -2.58829817e-04 9.99983564e-01 1.38952316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24071405700005 meters Centerline goodness : 0.976759 with order 1 Centerline is valid? [True, True] Translation: X:284.58, Y:-14.12, Z:1.38 [[ 9.99980049e-01 2.66815158e-03 -5.72555291e-03 2.84575289e+02] [-2.66648282e-03 9.99996400e-01 2.99072302e-04 -1.41238705e+01] [ 5.72633027e-03 -2.83799246e-04 9.99983564e-01 1.38337996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30071405700005 meters Centerline goodness : 0.977151 with order 1 Centerline is valid? [True, True] Translation: X:284.63, Y:-14.13, Z:1.39 [[ 9.99968031e-01 -5.58161791e-03 -5.72557380e-03 2.84633765e+02] [ 5.58341922e-03 9.99984368e-01 2.98671768e-04 -1.41287319e+01] [ 5.72381723e-03 -3.30630499e-04 9.99983564e-01 1.38704449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36071405700005 meters Centerline goodness : 0.976925 with order 1 Centerline is valid? [True, True] Translation: X:284.69, Y:-14.13, Z:1.39 [[ 9.99957645e-01 -7.20599471e-03 -5.72559439e-03 2.84693639e+02] [ 7.20782030e-03 9.99973979e-01 2.98276676e-04 -1.41341441e+01] [ 5.72329602e-03 -3.39533098e-04 9.99983564e-01 1.38619245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42071405700005 meters Centerline goodness : 0.976900 with order 1 Centerline is valid? [True, True] Translation: X:284.75, Y:-14.14, Z:1.38 [[ 9.99972102e-01 -4.79723020e-03 -5.72560461e-03 2.84752481e+02] [ 4.79901532e-03 9.99988440e-01 2.98080253e-04 -1.41404266e+01] [ 5.72410847e-03 -3.25549201e-04 9.99983564e-01 1.38434484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48071405700006 meters Centerline goodness : 0.977543 with order 1 Centerline is valid? [True, True] Translation: X:284.81, Y:-14.14, Z:1.38 [[ 9.99975284e-01 -4.08029232e-03 -5.72560355e-03 2.84812226e+02] [ 4.08206584e-03 9.99991624e-01 2.98100651e-04 -1.41430471e+01] [ 5.72433925e-03 -3.21465574e-04 9.99983564e-01 1.38385841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54071405700006 meters Centerline goodness : 0.977213 with order 1 Centerline is valid? [True, True] Translation: X:284.87, Y:-14.15, Z:1.39 [[ 9.99979872e-01 -2.73372060e-03 -5.72561473e-03 2.84871172e+02] [ 2.73547089e-03 9.99996214e-01 2.97885725e-04 -1.41463779e+01] [ 5.72477872e-03 -3.13541981e-04 9.99983564e-01 1.38588574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60071405700006 meters Centerline goodness : 0.976565 with order 1 Centerline is valid? [True, True] Translation: X:284.93, Y:-14.15, Z:1.39 [[ 9.99983590e-01 -1.90063547e-04 -5.72563119e-03 2.84929939e+02] [ 1.91770453e-04 9.99999937e-01 2.97569102e-04 -1.41484261e+01] [ 5.72557427e-03 -2.98662226e-04 9.99983564e-01 1.38732841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66071405700006 meters Centerline goodness : 0.978665 with order 1 Centerline is valid? [True, True] Translation: X:284.99, Y:-14.15, Z:1.39 [[ 9.99908222e-01 1.22785702e-02 -5.72570723e-03 2.84988026e+02] [-1.22770757e-02 9.99924590e-01 2.96098638e-04 -1.41499427e+01] [ 5.72891112e-03 -2.25776522e-04 9.99983564e-01 1.38638373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72071405700007 meters Centerline goodness : 0.977815 with order 1 Centerline is valid? [True, True] Translation: X:285.05, Y:-14.15, Z:1.39 [[ 9.99832665e-01 1.73740563e-02 -5.72573379e-03 2.85046014e+02] [-1.73726482e-02 9.99849040e-01 2.95584171e-04 -1.41536830e+01] [ 5.73000493e-03 -1.96063551e-04 9.99983564e-01 1.38588235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.78071405700007 meters Centerline goodness : 0.977205 with order 1 Centerline is valid? [True, True] Translation: X:285.10, Y:-14.16, Z:1.39 [[ 9.99744775e-01 2.18540377e-02 -5.72581710e-03 2.85102789e+02] [-2.18527123e-02 9.99761158e-01 2.93961377e-04 -1.41573969e+01] [ 5.73087378e-03 -1.68761718e-04 9.99983564e-01 1.38537201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.84071405700007 meters Centerline goodness : 0.976572 with order 1 Centerline is valid? [True, True] Translation: X:285.16, Y:-14.16, Z:1.39 [[ 9.99608322e-01 2.73937438e-02 -5.72585282e-03 2.85161681e+02] [-2.73925131e-02 9.99624712e-01 2.93264058e-04 -1.41614542e+01] [ 5.73173757e-03 -1.36303695e-04 9.99983564e-01 1.38656527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.900714057 meters Centerline goodness : 0.975936 with order 1 Centerline is valid? [True, True] Translation: X:285.22, Y:-14.17, Z:1.39 [[ 9.99506711e-01 3.08795973e-02 -5.72587307e-03 2.85218838e+02] [-3.08784261e-02 9.99523105e-01 2.92868063e-04 -1.41665316e+01] [ 5.73218608e-03 -1.15917646e-04 9.99983564e-01 1.38638345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.960714057 meters Centerline goodness : 0.975054 with order 1 Centerline is valid? [True, True] Translation: X:285.28, Y:-14.18, Z:1.38 [[ 9.99450588e-01 3.26456050e-02 -5.72592110e-03 2.85277084e+02] [-3.26444681e-02 9.99466985e-01 2.91925993e-04 -1.41778793e+01] [ 5.73239920e-03 -1.04845956e-04 9.99983564e-01 1.38385952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.020714057 meters Centerline goodness : 0.974841 with order 1 Centerline is valid? [True, True] Translation: X:285.34, Y:-14.18, Z:1.39 [[ 9.99530754e-01 3.00912709e-02 -5.72594127e-03 2.85335541e+02] [-3.00900943e-02 9.99547148e-01 2.91529832e-04 -1.41831391e+01] [ 5.73212077e-03 -1.19098920e-04 9.99983564e-01 1.38551689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.080714057 meters Centerline goodness : 0.975206 with order 1 Centerline is valid? [True, True] Translation: X:285.39, Y:-14.19, Z:1.38 [[ 9.99691501e-01 2.41685116e-02 -5.72596143e-03 2.85394333e+02] [-2.41672402e-02 9.99707887e-01 2.91133307e-04 -1.41933524e+01] [ 5.73132507e-03 -1.52662807e-04 9.99983564e-01 1.38464037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.140714057 meters Centerline goodness : 0.974608 with order 1 Centerline is valid? [True, True] Translation: X:285.45, Y:-14.20, Z:1.39 [[ 9.99867380e-01 1.52458638e-02 -5.72598135e-03 2.85451772e+02] [-1.52444485e-02 9.99883754e-01 2.90740971e-04 -1.42021853e+01] [ 5.72974833e-03 -2.03412985e-04 9.99983564e-01 1.38542402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.200714057 meters Centerline goodness : 0.973585 with order 1 Centerline is valid? [True, True] Translation: X:285.51, Y:-14.21, Z:1.39 [[ 9.99928233e-01 1.05233888e-02 -5.72600585e-03 2.85510602e+02] [-1.05218989e-02 9.99944601e-01 2.90257666e-04 -1.42066334e+01] [ 5.72874313e-03 -2.29988380e-04 9.99983564e-01 1.38958777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26071405700003 meters Centerline goodness : 0.975205 with order 1 Centerline is valid? [True, True] Translation: X:285.57, Y:-14.21, Z:1.39 [[ 9.99973352e-01 4.52856204e-03 -5.72602493e-03 2.85568752e+02] [-4.52697622e-03 9.99989711e-01 2.89880770e-04 -1.42138388e+01] [ 5.72727876e-03 -2.63951466e-04 9.99983564e-01 1.39223916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32071405700003 meters Centerline goodness : 0.974889 with order 1 Centerline is valid? [True, True] Translation: X:285.63, Y:-14.22, Z:1.39 [[ 9.99982828e-01 1.24773791e-03 -5.72604482e-03 2.85627633e+02] [-1.24610067e-03 9.99999182e-01 2.89487521e-04 -1.42218874e+01] [ 5.72640133e-03 -2.82347321e-04 9.99983564e-01 1.38812632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38071405700003 meters Centerline goodness : 0.977050 with order 1 Centerline is valid? [True, True] Translation: X:285.69, Y:-14.23, Z:1.39 [[ 9.99980645e-01 -2.43358168e-03 -5.72606561e-03 2.85685270e+02] [ 2.43527677e-03 9.99996993e-01 2.89075564e-04 -1.42283626e+01] [ 5.72534491e-03 -3.03014524e-04 9.99983564e-01 1.38752133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44071405700004 meters Centerline goodness : 0.976947 with order 1 Centerline is valid? [True, True] Translation: X:285.74, Y:-14.23, Z:1.39 [[ 9.99946313e-01 -8.63619421e-03 -5.72609295e-03 2.85742738e+02] [ 8.63798756e-03 9.99962650e-01 2.88533050e-04 -1.42333407e+01] [ 5.72338725e-03 -3.37979479e-04 9.99983564e-01 1.38732261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50071405700004 meters Centerline goodness : 0.985622 with order 1 Centerline is valid? [True, True] Translation: X:285.80, Y:-14.22, Z:1.39 [[ 9.99741146e-01 -2.20193682e-02 -5.72612141e-03 2.85803415e+02] [ 2.20213768e-02 9.99757459e-01 2.87967156e-04 -1.42222578e+01] [ 5.71839173e-03 -4.13989692e-04 9.99983564e-01 1.38845192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56071405700004 meters Centerline goodness : 0.977252 with order 1 Centerline is valid? [True, True] Translation: X:285.86, Y:-14.24, Z:1.39 [[ 9.99876434e-01 -1.46399300e-02 -5.72612691e-03 2.85864140e+02] [ 1.46418176e-02 9.99892761e-01 2.87857734e-04 -1.42372349e+01] [ 5.72129863e-03 -3.71663071e-04 9.99983564e-01 1.39007293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62071405700004 meters Centerline goodness : 0.978687 with order 1 Centerline is valid? [True, True] Translation: X:285.92, Y:-14.24, Z:1.39 [[ 9.99852259e-01 -1.62071308e-02 -5.72611574e-03 2.85924641e+02] [ 1.62090452e-02 9.99868583e-01 2.88079696e-04 -1.42377028e+01] [ 5.72069429e-03 -3.80852004e-04 9.99983564e-01 1.39056575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68071405700005 meters Centerline goodness : 0.978214 with order 1 Centerline is valid? [True, True] Translation: X:285.99, Y:-14.24, Z:1.39 [[ 9.99826920e-01 -1.77014485e-02 -5.72611574e-03 2.85986390e+02] [ 1.77033873e-02 9.99843241e-01 2.88079696e-04 -1.42391345e+01] [ 5.72011870e-03 -3.89401480e-04 9.99983564e-01 1.39333739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74071405700005 meters Centerline goodness : 0.978326 with order 1 Centerline is valid? [True, True] Translation: X:286.05, Y:-14.24, Z:1.39 [[ 9.99773825e-01 -2.04819470e-02 -5.72610496e-03 2.86048029e+02] [ 2.04839324e-02 9.99790141e-01 2.88293828e-04 -1.42408714e+01] [ 5.71899847e-03 -4.05521770e-04 9.99983564e-01 1.39266208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80071405700005 meters Centerline goodness : 0.979037 with order 1 Centerline is valid? [True, True] Translation: X:286.11, Y:-14.24, Z:1.39 [[ 9.99694147e-01 -2.40587555e-02 -5.72608897e-03 2.86110289e+02] [ 2.40608011e-02 9.99710455e-01 2.88611003e-04 -1.42413784e+01] [ 5.71748739e-03 -4.26297018e-04 9.99983564e-01 1.39489202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86071405700005 meters Centerline goodness : 0.979698 with order 1 Centerline is valid? [True, True] Translation: X:286.17, Y:-14.24, Z:1.39 [[ 9.99646105e-01 -2.59784095e-02 -5.72606861e-03 2.86171921e+02] [ 2.59804887e-02 9.99662408e-01 2.89014519e-04 -1.42432576e+01] [ 5.71662740e-03 -4.37678299e-04 9.99983564e-01 1.39263175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92071405700005 meters Centerline goodness : 0.980135 with order 1 Centerline is valid? [True, True] Translation: X:286.23, Y:-14.24, Z:1.39 [[ 9.99625808e-01 -2.67480262e-02 -5.72605357e-03 2.86234658e+02] [ 2.67501197e-02 9.99642110e-01 2.89312245e-04 -1.42430960e+01] [ 5.71626573e-03 -4.42376605e-04 9.99983564e-01 1.39358183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98071405700006 meters Centerline goodness : 0.980844 with order 1 Centerline is valid? [True, True] Translation: X:286.30, Y:-14.24, Z:1.40 [[ 9.99642341e-01 -2.61228323e-02 -5.72603329e-03 2.86296465e+02] [ 2.61249179e-02 9.99658644e-01 2.89713062e-04 -1.42410429e+01] [ 5.71651054e-03 -4.39201592e-04 9.99983564e-01 1.39508356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04071405700006 meters Centerline goodness : 0.981857 with order 1 Centerline is valid? [True, True] Translation: X:286.36, Y:-14.24, Z:1.40 [[ 9.99721921e-01 -2.28755915e-02 -5.72599937e-03 2.86357840e+02] [ 2.28776278e-02 9.99738231e-01 2.90381901e-04 -1.42389170e+01] [ 5.71785782e-03 -4.21298435e-04 9.99983564e-01 1.39518210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10071405700006 meters Centerline goodness : 0.979654 with order 1 Centerline is valid? [True, True] Translation: X:286.42, Y:-14.24, Z:1.39 [[ 9.99760701e-01 -2.11128717e-02 -5.72598487e-03 2.86420153e+02] [ 2.11148809e-02 9.99777014e-01 2.90667522e-04 -1.42412248e+01] [ 5.71857123e-03 -4.11501454e-04 9.99983564e-01 1.39484148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16071405700006 meters Centerline goodness : 0.981306 with order 1 Centerline is valid? [True, True] Translation: X:286.48, Y:-14.24, Z:1.39 [[ 9.99836991e-01 -1.71231997e-02 -5.72596567e-03 2.86481826e+02] [ 1.71251460e-02 9.99853312e-01 2.91045296e-04 -1.42389534e+01] [ 5.72014211e-03 -3.89055851e-04 9.99983564e-01 1.39483936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22071405700007 meters Centerline goodness : 0.982491 with order 1 Centerline is valid? [True, True] Translation: X:286.54, Y:-14.24, Z:1.40 [[ 9.99875659e-01 -1.46928334e-02 -5.72595596e-03 2.86542940e+02] [ 1.46947411e-02 9.99891984e-01 2.91236088e-04 -1.42351925e+01] [ 5.72105838e-03 -3.75341316e-04 9.99983564e-01 1.39606456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.28071405700007 meters Centerline goodness : 0.981817 with order 1 Centerline is valid? [True, True] Translation: X:286.60, Y:-14.23, Z:1.40 [[ 9.99897205e-01 -1.31450513e-02 -5.72594569e-03 2.86604863e+02] [ 1.31469348e-02 9.99913533e-01 2.91437906e-04 -1.42343807e+01] [ 5.72161962e-03 -3.66686583e-04 9.99983564e-01 1.39598123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.34071405700007 meters Centerline goodness : 0.982661 with order 1 Centerline is valid? [True, True] Translation: X:286.66, Y:-14.24, Z:1.40 [[ 9.99933228e-01 -1.00376207e-02 -5.72593488e-03 2.86664856e+02] [ 1.00394548e-02 9.99949561e-01 2.91650213e-04 -1.42354861e+01] [ 5.72271859e-03 -3.49116003e-04 9.99983564e-01 1.39568731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.400714057 meters Centerline goodness : 0.988088 with order 1 Centerline is valid? [True, True] Translation: X:286.73, Y:-14.22, Z:1.40 [[ 9.99810933e-01 -1.85825506e-02 -5.72592955e-03 2.86726014e+02] [ 1.85845247e-02 9.99827250e-01 2.91754811e-04 -1.42224423e+01] [ 5.71951884e-03 -3.98113329e-04 9.99983564e-01 1.39831881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.460714057 meters Centerline goodness : 0.988274 with order 1 Centerline is valid? [True, True] Translation: X:286.79, Y:-14.22, Z:1.40 [[ 9.99821648e-01 -1.79968448e-02 -5.72592955e-03 2.86787780e+02] [ 1.79988094e-02 9.99837966e-01 2.91754811e-04 -1.42228755e+01] [ 5.71975108e-03 -3.94762690e-04 9.99983564e-01 1.39931690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.520714057 meters Centerline goodness : 0.988221 with order 1 Centerline is valid? [True, True] Translation: X:286.85, Y:-14.22, Z:1.40 [[ 9.99823266e-01 -1.79066986e-02 -5.72591828e-03 2.86848654e+02] [ 1.79086630e-02 9.99839584e-01 2.91975783e-04 -1.42237321e+01] [ 5.71977143e-03 -3.94467722e-04 9.99983564e-01 1.39918773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.580714057 meters Centerline goodness : 0.987550 with order 1 Centerline is valid? [True, True] Translation: X:286.91, Y:-14.22, Z:1.40 [[ 9.99843775e-01 -1.67224408e-02 -5.72590149e-03 2.86910239e+02] [ 1.67243878e-02 9.99860095e-01 2.92304580e-04 -1.42229120e+01] [ 5.72021236e-03 -3.88021111e-04 9.99983564e-01 1.40000725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.640714057 meters Centerline goodness : 0.987398 with order 1 Centerline is valid? [True, True] Translation: X:286.97, Y:-14.22, Z:1.40 [[ 9.99854325e-01 -1.60792689e-02 -5.72589060e-03 2.86971383e+02] [ 1.60812065e-02 9.99870646e-01 2.92517790e-04 -1.42227237e+01] [ 5.72044646e-03 -3.84554407e-04 9.99983564e-01 1.40151769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.700714057 meters Centerline goodness : 0.987461 with order 1 Centerline is valid? [True, True] Translation: X:287.03, Y:-14.22, Z:1.40 [[ 9.99818843e-01 -1.81520214e-02 -5.72587436e-03 2.87033874e+02] [ 1.81539947e-02 9.99835160e-01 2.92835437e-04 -1.42245287e+01] [ 5.71961495e-03 -3.96729881e-04 9.99983564e-01 1.40311181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76071405700003 meters Centerline goodness : 0.988100 with order 1 Centerline is valid? [True, True] Translation: X:287.10, Y:-14.22, Z:1.40 [[ 9.99896030e-01 -1.32341979e-02 -5.72585052e-03 2.87095088e+02] [ 1.32360935e-02 9.99912356e-01 2.93300805e-04 -1.42228989e+01] [ 5.72146708e-03 -3.69058203e-04 9.99983564e-01 1.40269521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82071405700003 meters Centerline goodness : 0.990291 with order 1 Centerline is valid? [True, True] Translation: X:287.16, Y:-14.22, Z:1.40 [[ 9.99799698e-01 -1.91775803e-02 -5.72581072e-03 2.87156256e+02] [ 1.91795774e-02 9.99816012e-01 2.94075692e-04 -1.42198309e+01] [ 5.71911758e-03 -4.03835417e-04 9.99983564e-01 1.39996618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88071405700003 meters Centerline goodness : 0.990217 with order 1 Centerline is valid? [True, True] Translation: X:287.22, Y:-14.22, Z:1.40 [[ 9.99786187e-01 -1.98694714e-02 -5.72579504e-03 2.87218930e+02] [ 1.98714815e-02 9.99802499e-01 2.94380673e-04 -1.42208684e+01] [ 5.71881500e-03 -4.08097760e-04 9.99983564e-01 1.40120225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94071405700004 meters Centerline goodness : 0.986957 with order 1 Centerline is valid? [True, True] Translation: X:287.28, Y:-14.22, Z:1.41 [[ 9.99810348e-01 -1.86140700e-02 -5.72577434e-03 2.87280797e+02] [ 1.86160619e-02 9.99826663e-01 2.94782754e-04 -1.42216710e+01] [ 5.71929474e-03 -4.01318217e-04 9.99983564e-01 1.40533926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00071405700004 meters Centerline goodness : 0.987172 with order 1 Centerline is valid? [True, True] Translation: X:287.34, Y:-14.22, Z:1.41 [[ 9.99733699e-01 -2.23550158e-02 -5.72574602e-03 2.87342794e+02] [ 2.23570718e-02 9.99750006e-01 2.95331726e-04 -1.42229474e+01] [ 5.71771248e-03 -4.23263994e-04 9.99983564e-01 1.40611521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06071405700004 meters Centerline goodness : 0.988413 with order 1 Centerline is valid? [True, True] Translation: X:287.40, Y:-14.23, Z:1.41 [[ 9.99655827e-01 -2.56016354e-02 -5.72572322e-03 2.87404003e+02] [ 2.56037469e-02 9.99672127e-01 2.95773103e-04 -1.42250843e+01] [ 5.71627364e-03 -4.42271274e-04 9.99983564e-01 1.40520504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12071405700004 meters Centerline goodness : 0.984364 with order 1 Centerline is valid? [True, True] Translation: X:287.46, Y:-14.23, Z:1.40 [[ 9.99502706e-01 -3.10089866e-02 -5.72568725e-03 2.87464839e+02] [ 3.10111902e-02 9.99518993e-01 2.96467832e-04 -1.42330173e+01] [ 5.71373999e-03 -4.73880777e-04 9.99983564e-01 1.40301500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18071405700005 meters Centerline goodness : 0.988761 with order 1 Centerline is valid? [True, True] Translation: X:287.53, Y:-14.22, Z:1.41 [[ 9.99503086e-01 -3.09967416e-02 -5.72567104e-03 2.87527071e+02] [ 3.09989468e-02 9.99519373e-01 2.96780607e-04 -1.42246651e+01] [ 5.71371990e-03 -4.74122905e-04 9.99983564e-01 1.40543502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24071405700005 meters Centerline goodness : 0.988033 with order 1 Centerline is valid? [True, True] Translation: X:287.59, Y:-14.23, Z:1.41 [[ 9.99439593e-01 -3.29805430e-02 -5.72564108e-03 2.87588832e+02] [ 3.29827838e-02 9.99455876e-01 2.97357459e-04 -1.42254409e+01] [ 5.71271861e-03 -4.86038400e-04 9.99983564e-01 1.41194975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30071405700005 meters Centerline goodness : 0.986223 with order 1 Centerline is valid? [True, True] Translation: X:287.65, Y:-14.23, Z:1.41 [[ 9.99328230e-01 -3.61981412e-02 -5.72561855e-03 2.87650616e+02] [ 3.62004369e-02 9.99344505e-01 2.97790681e-04 -1.42303243e+01] [ 5.71108597e-03 -5.04860528e-04 9.99983564e-01 1.40933706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36071405700005 meters Centerline goodness : 0.985871 with order 1 Centerline is valid? [True, True] Translation: X:287.71, Y:-14.23, Z:1.41 [[ 9.99323148e-01 -3.63381866e-02 -5.72559419e-03 2.87712631e+02] [ 3.63404872e-02 9.99339422e-01 2.98258205e-04 -1.42291578e+01] [ 5.71097383e-03 -5.06127211e-04 9.99983564e-01 1.41164935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42071405700005 meters Centerline goodness : 0.986202 with order 1 Centerline is valid? [True, True] Translation: X:287.77, Y:-14.23, Z:1.41 [[ 9.99302857e-01 -3.68919635e-02 -5.72557142e-03 2.87774893e+02] [ 3.68942756e-02 9.99319130e-01 2.98694822e-04 -1.42299046e+01] [ 5.71065361e-03 -5.09727399e-04 9.99983564e-01 1.41058923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48071405700006 meters Centerline goodness : 0.986666 with order 1 Centerline is valid? [True, True] Translation: X:287.84, Y:-14.23, Z:1.41 [[ 9.99256927e-01 -3.81157824e-02 -5.72554326e-03 2.87837632e+02] [ 3.81181176e-02 9.99273196e-01 2.99233493e-04 -1.42264852e+01] [ 5.70997640e-03 -5.17258072e-04 9.99983564e-01 1.41151573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54071405700006 meters Centerline goodness : 0.989878 with order 1 Centerline is valid? [True, True] Translation: X:287.90, Y:-14.22, Z:1.41 [[ 9.99196921e-01 -3.96576673e-02 -5.72552124e-03 2.87899325e+02] [ 3.96600299e-02 9.99213187e-01 2.99654404e-04 -1.42180760e+01] [ 5.70913272e-03 -5.26488101e-04 9.99983564e-01 1.41403574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60071405700006 meters Centerline goodness : 0.986858 with order 1 Centerline is valid? [True, True] Translation: X:287.96, Y:-14.22, Z:1.42 [[ 9.99400878e-01 -3.41336167e-02 -5.72549751e-03 2.87960494e+02] [ 3.41358920e-02 9.99417156e-01 3.00107039e-04 -1.42237191e+01] [ 5.71191670e-03 -4.95372203e-04 9.99983564e-01 1.41665499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66071405700006 meters Centerline goodness : 0.988246 with order 1 Centerline is valid? [True, True] Translation: X:288.02, Y:-14.22, Z:1.41 [[ 9.99455837e-01 -3.24846032e-02 -5.72548008e-03 2.88022975e+02] [ 3.24868534e-02 9.99472118e-01 3.00439212e-04 -1.42248096e+01] [ 5.71269805e-03 -4.86278556e-04 9.99983564e-01 1.41151647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72071405700007 meters Centerline goodness : 0.987895 with order 1 Centerline is valid? [True, True] Translation: X:288.09, Y:-14.23, Z:1.41 [[ 9.99344572e-01 -3.57441576e-02 -5.72545947e-03 2.88085127e+02] [ 3.57464631e-02 9.99360846e-01 3.00831478e-04 -1.42278062e+01] [ 5.71104705e-03 -5.05299230e-04 9.99983564e-01 1.41034906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.78071405700007 meters Centerline goodness : 0.987074 with order 1 Centerline is valid? [True, True] Translation: X:288.15, Y:-14.23, Z:1.41 [[ 9.99413797e-01 -3.37532510e-02 -5.72543732e-03 2.88148440e+02] [ 3.37555266e-02 9.99430074e-01 3.01252517e-04 -1.42294548e+01] [ 5.71200599e-03 -4.94341073e-04 9.99983564e-01 1.41208969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.84071405700007 meters Centerline goodness : 0.987757 with order 1 Centerline is valid? [True, True] Translation: X:288.21, Y:-14.23, Z:1.41 [[ 9.99299385e-01 -3.69859230e-02 -5.72540438e-03 2.88210605e+02] [ 3.69882548e-02 9.99315655e-01 3.01877165e-04 -1.42284424e+01] [ 5.71032102e-03 -5.13438381e-04 9.99983564e-01 1.41461403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.900714057 meters Centerline goodness : 0.988108 with order 1 Centerline is valid? [True, True] Translation: X:288.27, Y:-14.23, Z:1.42 [[ 9.99313671e-01 -3.65979019e-02 -5.72537727e-03 2.88273934e+02] [ 3.66002303e-02 9.99329941e-01 3.02390508e-04 -1.42290272e+01] [ 5.71047407e-03 -5.11733095e-04 9.99983564e-01 1.41660908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.960714057 meters Centerline goodness : 0.988099 with order 1 Centerline is valid? [True, True] Translation: X:288.34, Y:-14.23, Z:1.42 [[ 9.99428561e-01 -3.33132398e-02 -5.72534263e-03 2.88335003e+02] [ 3.33155184e-02 9.99444838e-01 3.03044868e-04 -1.42288946e+01] [ 5.71206873e-03 -4.93614454e-04 9.99983564e-01 1.41783892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.020714057 meters Centerline goodness : 0.988286 with order 1 Centerline is valid? [True, True] Translation: X:288.40, Y:-14.23, Z:1.42 [[ 9.99644379e-01 -2.60448900e-02 -5.72529803e-03 2.88398337e+02] [ 2.60470549e-02 9.99660672e-01 3.03885116e-04 -1.42270861e+01] [ 5.71544062e-03 -4.52904200e-04 9.99983564e-01 1.42004472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.080714057 meters Centerline goodness : 0.989184 with order 1 Centerline is valid? [True, True] Translation: X:288.46, Y:-14.23, Z:1.42 [[ 9.99804355e-01 -1.89333936e-02 -5.72526565e-03 2.88459958e+02] [ 1.89354461e-02 9.99820662e-01 3.04494007e-04 -1.42285795e+01] [ 5.71847379e-03 -4.12844894e-04 9.99983564e-01 1.41826566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.140714057 meters Centerline goodness : 0.988323 with order 1 Centerline is valid? [True, True] Translation: X:288.52, Y:-14.23, Z:1.42 [[ 9.99839193e-01 -1.69944138e-02 -5.72524978e-03 2.88521852e+02] [ 1.69964363e-02 9.99855504e-01 3.04792207e-04 -1.42298057e+01] [ 5.71924273e-03 -4.02052038e-04 9.99983564e-01 1.41818620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.200714057 meters Centerline goodness : 0.987191 with order 1 Centerline is valid? [True, True] Translation: X:288.58, Y:-14.23, Z:1.42 [[ 9.99899959e-01 -1.29342195e-02 -5.72522889e-03 2.88584369e+02] [ 1.29361781e-02 9.99916278e-01 3.05184102e-04 -1.42321445e+01] [ 5.72080224e-03 -3.79216151e-04 9.99983564e-01 1.41809878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26071405700003 meters Centerline goodness : 0.986530 with order 1 Centerline is valid? [True, True] Translation: X:288.65, Y:-14.24, Z:1.42 [[ 9.99931326e-01 -1.02256724e-02 -5.72520574e-03 2.88645209e+02] [ 1.02275891e-02 9.99947650e-01 3.05617727e-04 -1.42363715e+01] [ 5.72178088e-03 -3.64151791e-04 9.99983564e-01 1.41721552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32071405700003 meters Centerline goodness : 0.985007 with order 1 Centerline is valid? [True, True] Translation: X:288.71, Y:-14.24, Z:1.41 [[ 9.99974858e-01 4.18386384e-03 -5.72518862e-03 2.88705487e+02] [-4.18218065e-03 9.99991208e-01 3.05938014e-04 -1.42378286e+01] [ 5.72641829e-03 -2.81986549e-04 9.99983564e-01 1.41401787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38071405700003 meters Centerline goodness : 0.984392 with order 1 Centerline is valid? [True, True] Translation: X:288.76, Y:-14.24, Z:1.42 [[ 9.99898756e-01 1.30269205e-02 -5.72518862e-03 2.88763583e+02] [-1.30253819e-02 9.99915119e-01 3.05938014e-04 -1.42370416e+01] [ 5.72868809e-03 -2.31334271e-04 9.99983564e-01 1.41699721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44071405700004 meters Centerline goodness : 0.985309 with order 1 Centerline is valid? [True, True] Translation: X:288.82, Y:-14.24, Z:1.42 [[ 9.99875066e-01 1.47334345e-02 -5.72527978e-03 2.88821204e+02] [-1.47319337e-02 9.99891433e-01 3.04222510e-04 -1.42379046e+01] [ 5.72914044e-03 -2.19840060e-04 9.99983564e-01 1.42209052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50071405700004 meters Centerline goodness : 0.985102 with order 1 Centerline is valid? [True, True] Translation: X:288.88, Y:-14.24, Z:1.42 [[ 9.99954911e-01 7.57600822e-03 -5.72531377e-03 2.88878543e+02] [-7.57439397e-03 9.99971268e-01 3.03581387e-04 -1.42401865e+01] [ 5.72744921e-03 -2.60201917e-04 9.99983564e-01 1.42260840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56071405700004 meters Centerline goodness : 0.985510 with order 1 Centerline is valid? [True, True] Translation: X:288.94, Y:-14.25, Z:1.42 [[ 9.99974988e-01 4.15248039e-03 -5.72534168e-03 2.88935786e+02] [-4.15081316e-03 9.99991339e-01 3.03054149e-04 -1.42459348e+01] [ 5.72655052e-03 -2.79281746e-04 9.99983564e-01 1.42430647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62071405700004 meters Centerline goodness : 0.985524 with order 1 Centerline is valid? [True, True] Translation: X:288.99, Y:-14.25, Z:1.42 [[ 9.99983048e-01 1.05986650e-03 -5.72536830e-03 2.88994393e+02] [-1.05815158e-03 9.99999394e-01 3.02550514e-04 -1.42503436e+01] [ 5.72568549e-03 -2.96487077e-04 9.99983564e-01 1.42397940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68071405700005 meters Centerline goodness : 0.986856 with order 1 Centerline is valid? [True, True] Translation: X:289.05, Y:-14.26, Z:1.42 [[ 9.99954503e-01 -7.62968563e-03 -5.72539071e-03 2.89053044e+02] [ 7.63154010e-03 9.99970834e-01 3.02125765e-04 -1.42561549e+01] [ 5.72291860e-03 -3.45805568e-04 9.99983564e-01 1.42098583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74071405700005 meters Centerline goodness : 0.986910 with order 1 Centerline is valid? [True, True] Translation: X:289.11, Y:-14.26, Z:1.42 [[ 9.99943275e-01 -8.98148170e-03 -5.72541322e-03 2.89112931e+02] [ 8.98335581e-03 9.99959603e-01 3.01698594e-04 -1.42602828e+01] [ 5.72247223e-03 -3.53114905e-04 9.99983564e-01 1.42171803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80071405700005 meters Centerline goodness : 0.986329 with order 1 Centerline is valid? [True, True] Translation: X:289.17, Y:-14.26, Z:1.42 [[ 9.99894582e-01 -1.33433503e-02 -5.72541322e-03 2.89172787e+02] [ 1.33452957e-02 9.99910902e-01 3.01698594e-04 -1.42632326e+01] [ 5.72087743e-03 -3.78074122e-04 9.99983564e-01 1.42283694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86071405700005 meters Centerline goodness : 0.986984 with order 1 Centerline is valid? [True, True] Translation: X:289.23, Y:-14.26, Z:1.43 [[ 9.99898874e-01 -1.30177715e-02 -5.72540762e-03 2.89234070e+02] [ 1.30197121e-02 9.99915194e-01 3.01804814e-04 -1.42639026e+01] [ 5.72099325e-03 -3.76317452e-04 9.99983564e-01 1.42893250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92071405700005 meters Centerline goodness : 0.986982 with order 1 Centerline is valid? [True, True] Translation: X:289.30, Y:-14.27, Z:1.43 [[ 9.99821065e-01 -1.80293457e-02 -5.72539190e-03 2.89296551e+02] [ 1.80313698e-02 9.99837376e-01 3.02102658e-04 -1.42701559e+01] [ 5.71901410e-03 -4.05285260e-04 9.99983564e-01 1.42599899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98071405700006 meters Centerline goodness : 0.986881 with order 1 Centerline is valid? [True, True] Translation: X:289.36, Y:-14.27, Z:1.43 [[ 9.99812172e-01 -1.85159904e-02 -5.72531620e-03 2.89358568e+02] [ 1.85180306e-02 9.99828481e-01 3.03530529e-04 -1.42741096e+01] [ 5.71871403e-03 -4.09495098e-04 9.99983564e-01 1.42846974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04071405700006 meters Centerline goodness : 0.985715 with order 1 Centerline is valid? [True, True] Translation: X:289.42, Y:-14.29, Z:1.41 [[ 9.99876967e-01 -1.46038066e-02 -5.72529454e-03 2.89420083e+02] [ 1.46057852e-02 9.99893284e-01 3.03938597e-04 -1.42862975e+01] [ 5.72024490e-03 -3.87523625e-04 9.99983564e-01 1.41388735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10071405700006 meters Centerline goodness : 0.987272 with order 1 Centerline is valid? [True, True] Translation: X:289.48, Y:-14.29, Z:1.42 [[ 9.99720246e-01 -2.29488664e-02 -5.72527567e-03 2.89481836e+02] [ 2.29509832e-02 9.99736545e-01 3.04293592e-04 -1.42850227e+01] [ 5.71678413e-03 -4.35609170e-04 9.99983564e-01 1.41943833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16071405700006 meters Centerline goodness : 0.986786 with order 1 Centerline is valid? [True, True] Translation: X:289.54, Y:-14.29, Z:1.42 [[ 9.99734985e-01 -2.22975426e-02 -5.72526421e-03 2.89542999e+02] [ 2.22996500e-02 9.99751286e-01 3.04509041e-04 -1.42854435e+01] [ 5.71705046e-03 -4.32099730e-04 9.99983564e-01 1.42435437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22071405700007 meters Centerline goodness : 0.985302 with order 1 Centerline is valid? [True, True] Translation: X:289.61, Y:-14.29, Z:1.42 [[ 9.99877255e-01 -1.45841519e-02 -5.72524716e-03 2.89605122e+02] [ 1.45861353e-02 9.99893570e-01 3.04829332e-04 -1.42876265e+01] [ 5.72019215e-03 -3.88301145e-04 9.99983564e-01 1.42472653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.28071405700007 meters Centerline goodness : 0.986168 with order 1 Centerline is valid? [True, True] Translation: X:289.67, Y:-14.29, Z:1.42 [[ 9.99951626e-01 -7.99791161e-03 -5.72522549e-03 2.89667316e+02] [ 7.99978984e-03 9.99967955e-01 3.05235735e-04 -1.42882080e+01] [ 5.72260078e-03 -3.51021570e-04 9.99983564e-01 1.42211992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.34071405700007 meters Centerline goodness : 0.985520 with order 1 Centerline is valid? [True, True] Translation: X:289.73, Y:-14.29, Z:1.43 [[ 9.99983091e-01 1.01940401e-03 -5.72520220e-03 2.89727791e+02] [-1.01767061e-03 9.99999435e-01 3.05672078e-04 -1.42876833e+01] [ 5.72551057e-03 -2.99840540e-04 9.99983564e-01 1.42533313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.400714057 meters Centerline goodness : 0.985406 with order 1 Centerline is valid? [True, True] Translation: X:289.79, Y:-14.29, Z:1.43 [[ 9.99978555e-01 3.17999943e-03 -5.72519651e-03 2.89786947e+02] [-3.17830074e-03 9.99994902e-01 3.05778502e-04 -1.42869851e+01] [ 5.72613970e-03 -2.87575548e-04 9.99983564e-01 1.42601141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.460714057 meters Centerline goodness : 0.985511 with order 1 Centerline is valid? [True, True] Translation: X:289.85, Y:-14.29, Z:1.43 [[ 9.99975614e-01 3.99904522e-03 -5.72527712e-03 2.89845741e+02] [-3.99736858e-03 9.99991964e-01 3.04261735e-04 -1.42855354e+01] [ 5.72644787e-03 -2.81368273e-04 9.99983564e-01 1.42613393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.520714057 meters Centerline goodness : 0.985021 with order 1 Centerline is valid? [True, True] Translation: X:289.90, Y:-14.29, Z:1.42 [[ 9.99949637e-01 8.24284032e-03 -5.72529978e-03 2.89903246e+02] [-8.24123552e-03 9.99965994e-01 3.03834806e-04 -1.42878773e+01] [ 5.72760955e-03 -2.56635960e-04 9.99983564e-01 1.42417484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.580714057 meters Centerline goodness : 0.984619 with order 1 Centerline is valid? [True, True] Translation: X:289.96, Y:-14.29, Z:1.42 [[ 9.99913656e-01 1.18279645e-02 -5.72539154e-03 2.89962339e+02] [-1.18264283e-02 9.99930020e-01 3.02095755e-04 -1.42876885e+01] [ 5.72856405e-03 -2.34358738e-04 9.99983564e-01 1.42457013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.640714057 meters Centerline goodness : 0.984070 with order 1 Centerline is valid? [True, True] Translation: X:290.02, Y:-14.29, Z:1.43 [[ 9.99853084e-01 1.61564145e-02 -5.72547036e-03 2.90021325e+02] [-1.61549578e-02 9.99869455e-01 3.00594489e-04 -1.42894670e+01] [ 5.72957945e-03 -2.08055595e-04 9.99983564e-01 1.43264602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.700714057 meters Centerline goodness : 0.984133 with order 1 Centerline is valid? [True, True] Translation: X:290.08, Y:-14.29, Z:1.43 [[ 9.99853469e-01 1.61325712e-02 -5.72549264e-03 2.90079765e+02] [-1.61311164e-02 9.99869840e-01 3.00169361e-04 -1.42924678e+01] [ 5.72958992e-03 -2.07766789e-04 9.99983564e-01 1.43225652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76071405700003 meters Centerline goodness : 0.985015 with order 1 Centerline is valid? [True, True] Translation: X:290.14, Y:-14.30, Z:1.43 [[ 9.99864487e-01 1.54345886e-02 -5.72551513e-03 2.90137878e+02] [-1.54331249e-02 9.99880857e-01 2.99739734e-04 -1.42959344e+01] [ 5.72945934e-03 -2.11336525e-04 9.99983564e-01 1.42936471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82071405700003 meters Centerline goodness : 0.985421 with order 1 Centerline is valid? [True, True] Translation: X:290.20, Y:-14.30, Z:1.43 [[ 9.99880021e-01 1.43931082e-02 -5.72554281e-03 2.90196984e+02] [-1.43916305e-02 9.99896390e-01 2.99210243e-04 -1.43015671e+01] [ 5.72925615e-03 -2.16774447e-04 9.99983564e-01 1.42541648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88071405700003 meters Centerline goodness : 0.985395 with order 1 Centerline is valid? [True, True] Translation: X:290.25, Y:-14.30, Z:1.43 [[ 9.99918999e-01 1.13671929e-02 -5.72555980e-03 2.90254597e+02] [-1.13656675e-02 9.99935364e-01 2.98884619e-04 -1.43044146e+01] [ 5.72858721e-03 -2.33785600e-04 9.99983564e-01 1.42727620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94071405700004 meters Centerline goodness : 0.985888 with order 1 Centerline is valid? [True, True] Translation: X:290.31, Y:-14.31, Z:1.43 [[ 9.99934330e-01 9.92741444e-03 -5.72558738e-03 2.90312118e+02] [-9.92586852e-03 9.99950693e-01 2.98355410e-04 -1.43064704e+01] [ 5.72826697e-03 -2.41504389e-04 9.99983564e-01 1.42989481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00071405700004 meters Centerline goodness : 0.989917 with order 1 Centerline is valid? [True, True] Translation: X:290.37, Y:-14.30, Z:1.43 [[ 9.99982067e-01 -1.75583797e-03 -5.72561441e-03 2.90371814e+02] [ 1.75757199e-03 9.99998411e-01 2.97835740e-04 -1.42983890e+01] [ 5.72508236e-03 -3.07893578e-04 9.99983564e-01 1.43367375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06071405700004 meters Centerline goodness : 0.979037 with order 1 Centerline is valid? [True, True] Translation: X:290.43, Y:-14.35, Z:1.39 [[ 9.99187644e-01 3.98907153e-02 -5.72563534e-03 2.90430301e+02] [-3.98896658e-02 9.99204046e-01 2.97432843e-04 -1.43474155e+01] [ 5.73294281e-03 -6.87975414e-05 9.99983564e-01 1.39104042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12071405700004 meters Centerline goodness : 0.981391 with order 1 Centerline is valid? [True, True] Translation: X:290.49, Y:-14.34, Z:1.41 [[ 9.99709878e-01 2.33960912e-02 -5.72563670e-03 2.90491706e+02] [-2.33947713e-02 9.99726261e-01 2.97406674e-04 -1.43365048e+01] [ 5.73102752e-03 -1.63370428e-04 9.99983564e-01 1.40885863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18071405700005 meters Centerline goodness : 0.984778 with order 1 Centerline is valid? [True, True] Translation: X:290.55, Y:-14.33, Z:1.44 [[ 9.99972479e-01 4.71788600e-03 -5.72563607e-03 2.90551323e+02] [-4.71626021e-03 9.99988834e-01 2.97418825e-04 -1.43261013e+01] [ 5.72697533e-03 -2.70407051e-04 9.99983564e-01 1.43588984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24071405700005 meters Centerline goodness : 0.984821 with order 1 Centerline is valid? [True, True] Translation: X:290.61, Y:-14.33, Z:1.44 [[ 9.99981706e-01 -1.95072781e-03 -5.72564101e-03 2.90609738e+02] [ 1.95246210e-03 9.99998050e-01 2.97323707e-04 -1.43303326e+01] [ 5.72504985e-03 -3.08497365e-04 9.99983564e-01 1.43586998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30071405700005 meters Centerline goodness : 0.984825 with order 1 Centerline is valid? [True, True] Translation: X:290.67, Y:-14.33, Z:1.44 [[ 9.99962432e-01 -6.50783488e-03 -5.72566193e-03 2.90668381e+02] [ 6.50964133e-03 9.99978768e-01 2.96920307e-04 -1.43330217e+01] [ 5.72360805e-03 -3.34181158e-04 9.99983564e-01 1.44214168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36071405700005 meters Centerline goodness : 0.985631 with order 1 Centerline is valid? [True, True] Translation: X:290.73, Y:-14.34, Z:1.44 [[ 9.99945640e-01 -8.71396131e-03 -5.72568304e-03 2.90728794e+02] [ 8.71580147e-03 9.99961973e-01 2.96512645e-04 -1.43372822e+01] [ 5.72288151e-03 -3.46400443e-04 9.99983564e-01 1.44338034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42071405700005 meters Centerline goodness : 0.986041 with order 1 Centerline is valid? [True, True] Translation: X:290.79, Y:-14.34, Z:1.44 [[ 9.99913576e-01 -1.18345489e-02 -5.72568304e-03 2.90789782e+02] [ 1.18364400e-02 9.99929903e-01 2.96512645e-04 -1.43411708e+01] [ 5.72177259e-03 -3.64258723e-04 9.99983564e-01 1.44252735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48071405700006 meters Centerline goodness : 0.985968 with order 1 Centerline is valid? [True, True] Translation: X:290.85, Y:-14.35, Z:1.44 [[ 9.99884345e-01 -1.40894596e-02 -5.72567249e-03 2.90852001e+02] [ 1.40913887e-02 9.99900667e-01 2.96716203e-04 -1.43455985e+01] [ 5.72092317e-03 -3.77364563e-04 9.99983564e-01 1.44259990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54071405700006 meters Centerline goodness : 0.987100 with order 1 Centerline is valid? [True, True] Translation: X:290.91, Y:-14.35, Z:1.44 [[ 9.99779624e-01 -2.01970377e-02 -5.72565074e-03 2.90913805e+02] [ 2.01990688e-02 9.99795934e-01 2.97135358e-04 -1.43522748e+01] [ 5.71848107e-03 -4.12722690e-04 9.99983564e-01 1.43871591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60071405700006 meters Centerline goodness : 0.987269 with order 1 Centerline is valid? [True, True] Translation: X:290.97, Y:-14.36, Z:1.44 [[ 9.99724843e-01 -2.27476630e-02 -5.72559696e-03 2.90974544e+02] [ 2.27497417e-02 9.99741147e-01 2.98168066e-04 -1.43565534e+01] [ 5.71733224e-03 -4.28341875e-04 9.99983564e-01 1.43994173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66071405700006 meters Centerline goodness : 0.987290 with order 1 Centerline is valid? [True, True] Translation: X:291.04, Y:-14.36, Z:1.44 [[ 9.99552134e-01 -2.93725980e-02 -5.72558123e-03 2.91037315e+02] [ 2.93747863e-02 9.99568423e-01 2.98469886e-04 -1.43617961e+01] [ 5.71434336e-03 -4.66523936e-04 9.99983564e-01 1.44232493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72071405700007 meters Centerline goodness : 0.987907 with order 1 Centerline is valid? [True, True] Translation: X:291.10, Y:-14.37, Z:1.44 [[ 9.99571106e-01 -2.87197058e-02 -5.72554817e-03 2.91098311e+02] [ 2.87218871e-02 9.99587397e-01 2.99102730e-04 -1.43663808e+01] [ 5.71459564e-03 -4.63422995e-04 9.99983564e-01 1.44279129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.78071405700007 meters Centerline goodness : 0.988607 with order 1 Centerline is valid? [True, True] Translation: X:291.16, Y:-14.37, Z:1.44 [[ 9.99398203e-01 -3.42118562e-02 -5.72550745e-03 2.91160696e+02] [ 3.42141314e-02 9.99414480e-01 2.99880163e-04 -1.43676731e+01] [ 5.71189559e-03 -4.95592960e-04 9.99983564e-01 1.44321909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.84071405700007 meters Centerline goodness : 0.989094 with order 1 Centerline is valid? [True, True] Translation: X:291.22, Y:-14.37, Z:1.44 [[ 9.99313031e-01 -3.66153713e-02 -5.72548536e-03 2.91223466e+02] [ 3.66176880e-02 9.99329302e-01 3.00301253e-04 -1.43734425e+01] [ 5.71064965e-03 -5.09748992e-04 9.99983564e-01 1.44014438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.900714057 meters Centerline goodness : 0.989427 with order 1 Centerline is valid? [True, True] Translation: X:291.29, Y:-14.38, Z:1.44 [[ 9.99185039e-01 -3.99559330e-02 -5.72545175e-03 2.91285750e+02] [ 3.99583078e-02 9.99201303e-01 3.00940736e-04 -1.43755866e+01] [ 5.70885448e-03 -5.29474845e-04 9.99983564e-01 1.44227079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.960714057 meters Centerline goodness : 0.989361 with order 1 Centerline is valid? [True, True] Translation: X:291.35, Y:-14.38, Z:1.44 [[ 9.99269257e-01 -3.77911450e-02 -5.72542415e-03 2.91348206e+02] [ 3.77934876e-02 9.99285525e-01 3.01464853e-04 -1.43787814e+01] [ 5.70994078e-03 -5.17628306e-04 9.99983564e-01 1.44145285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.020714057 meters Centerline goodness : 0.988255 with order 1 Centerline is valid? [True, True] Translation: X:291.41, Y:-14.38, Z:1.44 [[ 9.99192706e-01 -3.97637514e-02 -5.72539728e-03 2.91410243e+02] [ 3.97661289e-02 9.99208969e-01 3.01974435e-04 -1.43805145e+01] [ 5.70886067e-03 -5.29407539e-04 9.99983564e-01 1.44116103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.080714057 meters Centerline goodness : 0.988396 with order 1 Centerline is valid? [True, True] Translation: X:291.47, Y:-14.38, Z:1.44 [[ 9.99338825e-01 -3.59045003e-02 -5.72537517e-03 2.91472261e+02] [ 3.59068174e-02 9.99355097e-01 3.02392984e-04 -1.43810241e+01] [ 5.71082559e-03 -5.07773050e-04 9.99983564e-01 1.44245888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.140714057 meters Centerline goodness : 0.987672 with order 1 Centerline is valid? [True, True] Translation: X:291.54, Y:-14.38, Z:1.44 [[ 9.99424733e-01 -3.34278944e-02 -5.72532067e-03 2.91535735e+02] [ 3.34301770e-02 9.99441009e-01 3.03421391e-04 -1.43826449e+01] [ 5.71197753e-03 -4.94645326e-04 9.99983564e-01 1.44178517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.200714057 meters Centerline goodness : 0.986826 with order 1 Centerline is valid? [True, True] Translation: X:291.60, Y:-14.38, Z:1.44 [[ 9.99619942e-01 -2.69665120e-02 -5.72528781e-03 2.91597719e+02] [ 2.69686928e-02 9.99636232e-01 3.04040083e-04 -1.43824740e+01] [ 5.71500624e-03 -4.58328058e-04 9.99983564e-01 1.43861577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26071405700003 meters Centerline goodness : 0.985122 with order 1 Centerline is valid? [True, True] Translation: X:291.66, Y:-14.38, Z:1.44 [[ 9.99824889e-01 -1.78160714e-02 -5.72526058e-03 2.91660310e+02] [ 1.78181060e-02 9.99841199e-01 3.04552013e-04 -1.43779967e+01] [ 5.71892548e-03 -4.06511982e-04 9.99983564e-01 1.43815230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32071405700003 meters Centerline goodness : 0.984985 with order 1 Centerline is valid? [True, True] Translation: X:291.72, Y:-14.38, Z:1.44 [[ 9.99949911e-01 -8.20955918e-03 -5.72523891e-03 2.91723004e+02] [ 8.21143928e-03 9.99966239e-01 3.04958799e-04 -1.43752282e+01] [ 5.72254205e-03 -3.51955975e-04 9.99983564e-01 1.43833580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38071405700003 meters Centerline goodness : 0.985207 with order 1 Centerline is valid? [True, True] Translation: X:291.78, Y:-14.37, Z:1.44 [[ 9.99982827e-01 1.25205001e-03 -5.72521714e-03 2.91782444e+02] [-1.25032215e-03 9.99999172e-01 3.05367076e-04 -1.43723963e+01] [ 5.72559473e-03 -2.98203466e-04 9.99983564e-01 1.43940057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44071405700004 meters Centerline goodness : 0.984487 with order 1 Centerline is valid? [True, True] Translation: X:291.84, Y:-14.37, Z:1.44 [[ 9.99983395e-01 6.57049224e-04 -5.72521398e-03 2.91841254e+02] [-6.55311303e-04 9.99999739e-01 3.05426287e-04 -1.43723890e+01] [ 5.72541316e-03 -3.01669418e-04 9.99983564e-01 1.44001043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50071405700004 meters Centerline goodness : 0.985304 with order 1 Centerline is valid? [True, True] Translation: X:291.90, Y:-14.37, Z:1.44 [[ 9.99976007e-01 -3.89954112e-03 -5.72523621e-03 2.91899094e+02] [ 3.90135112e-03 9.99992343e-01 3.05009010e-04 -1.43711052e+01] [ 5.72400297e-03 -3.27337849e-04 9.99983564e-01 1.43836724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56071405700004 meters Centerline goodness : 0.984360 with order 1 Centerline is valid? [True, True] Translation: X:291.96, Y:-14.37, Z:1.44 [[ 9.99920797e-01 -1.12080626e-02 -5.72526674e-03 2.91959069e+02] [ 1.12099887e-02 9.99937120e-01 3.04434879e-04 -1.43726960e+01] [ 5.72149460e-03 -3.68590942e-04 9.99983564e-01 1.43763877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62071405700004 meters Centerline goodness : 0.984874 with order 1 Centerline is valid? [True, True] Translation: X:292.02, Y:-14.37, Z:1.44 [[ 9.99889124e-01 -1.37463133e-02 -5.72527753e-03 2.92021533e+02] [ 1.37482796e-02 9.99905442e-01 3.04231729e-04 -1.43741864e+01] [ 5.72055409e-03 -3.82910714e-04 9.99983564e-01 1.43979465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68071405700005 meters Centerline goodness : 0.988125 with order 1 Centerline is valid? [True, True] Translation: X:292.08, Y:-14.37, Z:1.44 [[ 9.99663925e-01 -2.52835556e-02 -5.72525570e-03 2.92083702e+02] [ 2.52857125e-02 9.99680219e-01 3.04642028e-04 -1.43690703e+01] [ 5.71572244e-03 -4.49306815e-04 9.99983564e-01 1.44122484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74071405700005 meters Centerline goodness : 0.985261 with order 1 Centerline is valid? [True, True] Translation: X:292.14, Y:-14.38, Z:1.44 [[ 9.99795207e-01 -1.94104809e-02 -5.72520147e-03 2.92144976e+02] [ 1.94125478e-02 9.99811512e-01 3.05657868e-04 -1.43798035e+01] [ 5.71818937e-03 -4.16736018e-04 9.99983564e-01 1.44240168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80071405700005 meters Centerline goodness : 0.986249 with order 1 Centerline is valid? [True, True] Translation: X:292.21, Y:-14.39, Z:1.44 [[ 9.99766130e-01 -2.08544352e-02 -5.72517900e-03 2.92206913e+02] [ 2.08565280e-02 9.99782432e-01 3.06078163e-04 -1.43850246e+01] [ 5.71755029e-03 -4.25413937e-04 9.99983564e-01 1.44285036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86071405700005 meters Centerline goodness : 0.986265 with order 1 Centerline is valid? [True, True] Translation: X:292.27, Y:-14.39, Z:1.45 [[ 9.99813023e-01 -1.84700371e-02 -5.72515591e-03 2.92268262e+02] [ 1.84720935e-02 9.99829329e-01 3.06509339e-04 -1.43900884e+01] [ 5.71851756e-03 -4.12207644e-04 9.99983564e-01 1.44586377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92071405700005 meters Centerline goodness : 0.986913 with order 1 Centerline is valid? [True, True] Translation: X:292.33, Y:-14.39, Z:1.45 [[ 9.99791363e-01 -1.96074812e-02 -5.72513883e-03 2.92330386e+02] [ 1.96095579e-02 9.99807667e-01 3.06827984e-04 -1.43940735e+01] [ 5.71802158e-03 -4.19031410e-04 9.99983564e-01 1.44643464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98071405700006 meters Centerline goodness : 0.986320 with order 1 Centerline is valid? [True, True] Translation: X:292.39, Y:-14.40, Z:1.45 [[ 9.99791319e-01 -1.96097142e-02 -5.72511577e-03 2.92392687e+02] [ 1.96117935e-02 9.99807623e-01 3.07257682e-04 -1.43996021e+01] [ 5.71798916e-03 -4.19473351e-04 9.99983564e-01 1.44669125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04071405700006 meters Centerline goodness : 0.986671 with order 1 Centerline is valid? [True, True] Translation: X:292.45, Y:-14.41, Z:1.44 [[ 9.99735719e-01 -2.22646619e-02 -5.72508713e-03 2.92454325e+02] [ 2.22667875e-02 9.99752017e-01 3.07790483e-04 -1.44071297e+01] [ 5.71681455e-03 -4.35188438e-04 9.99983564e-01 1.44386843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10071405700006 meters Centerline goodness : 0.985896 with order 1 Centerline is valid? [True, True] Translation: X:292.52, Y:-14.41, Z:1.44 [[ 9.99764212e-01 -2.09461961e-02 -5.72506354e-03 2.92515773e+02] [ 2.09483026e-02 9.99780513e-01 3.08228533e-04 -1.44123967e+01] [ 5.71735075e-03 -4.28086220e-04 9.99983564e-01 1.44248743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16071405700006 meters Centerline goodness : 0.986146 with order 1 Centerline is valid? [True, True] Translation: X:292.58, Y:-14.42, Z:1.45 [[ 9.99837023e-01 -1.71216844e-02 -5.72503448e-03 2.92578136e+02] [ 1.71237317e-02 9.99853330e-01 3.08767460e-04 -1.44154466e+01] [ 5.71890817e-03 -4.06751092e-04 9.99983564e-01 1.44768457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22071405700007 meters Centerline goodness : 0.984499 with order 1 Centerline is valid? [True, True] Translation: X:292.64, Y:-14.42, Z:1.45 [[ 9.99889431e-01 -1.37240674e-02 -5.72501171e-03 2.92638954e+02] [ 1.37260616e-02 9.99905745e-01 3.09189059e-04 -1.44246107e+01] [ 5.72022877e-03 -3.87736736e-04 9.99983564e-01 1.44832611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.28071405700007 meters Centerline goodness : 0.986415 with order 1 Centerline is valid? [True, True] Translation: X:292.70, Y:-14.43, Z:1.45 [[ 9.99862136e-01 -1.55863175e-02 -5.72499486e-03 2.92700996e+02] [ 1.55883439e-02 9.99878446e-01 3.09500763e-04 -1.44294538e+01] [ 5.71947499e-03 -3.98701282e-04 9.99983564e-01 1.44545499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.34071405700007 meters Centerline goodness : 0.989559 with order 1 Centerline is valid? [True, True] Translation: X:292.76, Y:-14.43, Z:1.44 [[ 9.99820313e-01 -1.80711683e-02 -5.72497146e-03 2.92762507e+02] [ 1.80732377e-02 9.99836618e-01 3.09932928e-04 -1.44284015e+01] [ 5.71843525e-03 -4.13346007e-04 9.99983564e-01 1.44436345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.400714057 meters Centerline goodness : 0.985047 with order 1 Centerline is valid? [True, True] Translation: X:292.82, Y:-14.44, Z:1.44 [[ 9.99935780e-01 -9.78059131e-03 -5.72495416e-03 2.92824053e+02] [ 9.78252725e-03 9.99952102e-01 3.10252292e-04 -1.44443628e+01] [ 5.72164549e-03 -3.66236888e-04 9.99983564e-01 1.44039011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.460714057 meters Centerline goodness : 0.984662 with order 1 Centerline is valid? [True, True] Translation: X:292.88, Y:-14.45, Z:1.45 [[ 9.99982020e-01 -1.78443646e-03 -5.72493195e-03 2.92884699e+02] [ 1.78624416e-03 9.99998356e-01 3.10661448e-04 -1.44502480e+01] [ 5.72436819e-03 -3.20881989e-04 9.99983564e-01 1.44639634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.520714057 meters Centerline goodness : 0.985625 with order 1 Centerline is valid? [True, True] Translation: X:292.94, Y:-14.46, Z:1.44 [[ 9.99972079e-01 4.80277142e-03 -5.72492100e-03 2.92943313e+02] [-4.80107022e-03 9.99988426e-01 3.10863063e-04 -1.44579953e+01] [ 5.72634775e-03 -2.83368635e-04 9.99983564e-01 1.44487404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.580714057 meters Centerline goodness : 0.985346 with order 1 Centerline is valid? [True, True] Translation: X:293.00, Y:-14.46, Z:1.45 [[ 9.99942481e-01 9.06966915e-03 -5.72499839e-03 2.93002037e+02] [-9.06804590e-03 9.99958837e-01 3.09431239e-04 -1.44646091e+01] [ 5.72756917e-03 -2.57498893e-04 9.99983564e-01 1.44658704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.640714057 meters Centerline goodness : 0.985386 with order 1 Centerline is valid? [True, True] Translation: X:293.06, Y:-14.47, Z:1.44 [[ 9.99911968e-01 1.19699155e-02 -5.72507556e-03 2.93059094e+02] [-1.19683479e-02 9.99928329e-01 3.07996790e-04 -1.44725621e+01] [ 5.72835194e-03 -2.39449981e-04 9.99983564e-01 1.44487034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.700714057 meters Centerline goodness : 0.986162 with order 1 Centerline is valid? [True, True] Translation: X:293.12, Y:-14.48, Z:1.44 [[ 9.99911645e-01 1.19968630e-02 -5.72516354e-03 2.93116627e+02] [-1.19953053e-02 9.99928007e-01 3.06352748e-04 -1.44798079e+01] [ 5.72842664e-03 -2.37650596e-04 9.99983564e-01 1.44469898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76071405700003 meters Centerline goodness : 0.985914 with order 1 Centerline is valid? [True, True] Translation: X:293.18, Y:-14.49, Z:1.44 [[ 9.99913460e-01 1.18445726e-02 -5.72519049e-03 2.93175170e+02] [-1.18430152e-02 9.99929822e-01 3.05848241e-04 -1.44884793e+01] [ 5.72841135e-03 -2.38018255e-04 9.99983564e-01 1.44342304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82071405700003 meters Centerline goodness : 0.986141 with order 1 Centerline is valid? [True, True] Translation: X:293.23, Y:-14.50, Z:1.44 [[ 9.99868244e-01 1.51893716e-02 -5.72521207e-03 2.93231798e+02] [-1.51878713e-02 9.99884611e-01 3.05443743e-04 -1.44964252e+01] [ 5.72919094e-03 -2.18449715e-04 9.99983564e-01 1.44154258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88071405700003 meters Centerline goodness : 0.985767 with order 1 Centerline is valid? [True, True] Translation: X:293.29, Y:-14.50, Z:1.44 [[ 9.99836208e-01 1.71691140e-02 -5.72526720e-03 2.93290437e+02] [-1.71676520e-02 9.99852579e-01 3.04406888e-04 -1.45047920e+01] [ 5.72964957e-03 -2.06067634e-04 9.99983564e-01 1.44213569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94071405700004 meters Centerline goodness : 0.986161 with order 1 Centerline is valid? [True, True] Translation: X:293.35, Y:-14.51, Z:1.44 [[ 9.99830567e-01 1.74945028e-02 -5.72528995e-03 2.93348345e+02] [-1.74930486e-02 9.99846939e-01 3.03978316e-04 -1.45118059e+01] [ 5.72973158e-03 -2.03774037e-04 9.99983564e-01 1.44282445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00071405700004 meters Centerline goodness : 0.986029 with order 1 Centerline is valid? [True, True] Translation: X:293.41, Y:-14.52, Z:1.44 [[ 9.99827803e-01 1.76517556e-02 -5.72532968e-03 2.93406253e+02] [-1.76503083e-02 9.99844175e-01 3.03228095e-04 -1.45176000e+01] [ 5.72979004e-03 -2.02122046e-04 9.99983564e-01 1.44215583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06071405700004 meters Centerline goodness : 0.985334 with order 1 Centerline is valid? [True, True] Translation: X:293.46, Y:-14.53, Z:1.44 [[ 9.99893455e-01 1.34275660e-02 -5.72535638e-03 2.93464253e+02] [-1.34260524e-02 9.99909821e-01 3.02723154e-04 -1.45262300e+01] [ 5.72890491e-03 -2.25821965e-04 9.99983564e-01 1.43942228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12071405700004 meters Centerline goodness : 0.987010 with order 1 Centerline is valid? [True, True] Translation: X:293.52, Y:-14.53, Z:1.44 [[ 9.99952463e-01 7.89246652e-03 -5.72537867e-03 2.93521976e+02] [-7.89086476e-03 9.99968821e-01 3.02300984e-04 -1.45306667e+01] [ 5.72758606e-03 -2.57108424e-04 9.99983564e-01 1.43622577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18071405700005 meters Centerline goodness : 0.985778 with order 1 Centerline is valid? [True, True] Translation: X:293.58, Y:-14.53, Z:1.44 [[ 9.99979433e-01 2.89028611e-03 -5.72540611e-03 2.93580321e+02] [-2.88860552e-03 9.99995782e-01 3.01780557e-04 -1.45341818e+01] [ 5.72625419e-03 -2.85235910e-04 9.99983564e-01 1.43922684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24071405700005 meters Centerline goodness : 0.986171 with order 1 Centerline is valid? [True, True] Translation: X:293.64, Y:-14.54, Z:1.44 [[ 9.99975015e-01 -4.14590171e-03 -5.72542699e-03 2.93638759e+02] [ 4.14769504e-03 9.99991353e-01 3.01383745e-04 -1.45371198e+01] [ 5.72412798e-03 -3.25123540e-04 9.99983564e-01 1.44267204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30071405700005 meters Centerline goodness : 0.985930 with order 1 Centerline is valid? [True, True] Translation: X:293.70, Y:-14.54, Z:1.44 [[ 9.99966565e-01 -5.83846424e-03 -5.72544812e-03 2.93697848e+02] [ 5.84028293e-03 9.99982900e-01 3.00981775e-04 -1.45399800e+01] [ 5.72359295e-03 -3.34409949e-04 9.99983564e-01 1.44354785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36071405700005 meters Centerline goodness : 0.985933 with order 1 Centerline is valid? [True, True] Translation: X:293.76, Y:-14.54, Z:1.44 [[ 9.99963469e-01 -6.34665993e-03 -5.72545870e-03 2.93757801e+02] [ 6.34848577e-03 9.99979803e-01 3.00780529e-04 -1.45419719e+01] [ 5.72343411e-03 -3.37117534e-04 9.99983564e-01 1.44177430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42071405700005 meters Centerline goodness : 0.985812 with order 1 Centerline is valid? [True, True] Translation: X:293.82, Y:-14.54, Z:1.44 [[ 9.99947823e-01 -8.45990513e-03 -5.72546915e-03 2.93817852e+02] [ 8.46176435e-03 9.99964153e-01 3.00581420e-04 -1.45448347e+01] [ 5.72272102e-03 -3.49013308e-04 9.99983564e-01 1.44366175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48071405700006 meters Centerline goodness : 0.985887 with order 1 Centerline is valid? [True, True] Translation: X:293.88, Y:-14.55, Z:1.44 [[ 9.99898362e-01 -1.30569585e-02 -5.72547435e-03 2.93877865e+02] [ 1.30588922e-02 9.99914684e-01 3.00482368e-04 -1.45471243e+01] [ 5.72106249e-03 -3.75220180e-04 9.99983564e-01 1.44322065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54071405700006 meters Centerline goodness : 0.986794 with order 1 Centerline is valid? [True, True] Translation: X:293.94, Y:-14.55, Z:1.45 [[ 9.99814428e-01 -1.83937072e-02 -5.72547435e-03 2.93939123e+02] [ 1.83957280e-02 9.99830739e-01 3.00482368e-04 -1.45472680e+01] [ 5.71897826e-03 -4.05750875e-04 9.99983564e-01 1.44675742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60071405700006 meters Centerline goodness : 0.987297 with order 1 Centerline is valid? [True, True] Translation: X:294.00, Y:-14.55, Z:1.44 [[ 9.99642631e-01 -2.61118751e-02 -5.72540824e-03 2.94001066e+02] [ 2.61140289e-02 9.99658925e-01 3.01736690e-04 -1.45490760e+01] [ 5.71557654e-03 -4.51142335e-04 9.99983564e-01 1.44374677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66071405700006 meters Centerline goodness : 0.987600 with order 1 Centerline is valid? [True, True] Translation: X:294.06, Y:-14.55, Z:1.45 [[ 9.99777984e-01 -2.02781466e-02 -5.72533261e-03 2.94063356e+02] [ 2.02802135e-02 9.99794289e-01 3.03165071e-04 -1.45489365e+01] [ 5.71800722e-03 -4.19208731e-04 9.99983564e-01 1.44885096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72071405700007 meters Centerline goodness : 0.987367 with order 1 Centerline is valid? [True, True] Translation: X:294.13, Y:-14.55, Z:1.45 [[ 9.99664585e-01 -2.52574276e-02 -5.72531277e-03 2.94125538e+02] [ 2.52595778e-02 9.99680880e-01 3.03539176e-04 -1.45529749e+01] [ 5.71581909e-03 -4.48056348e-04 9.99983564e-01 1.44581688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.78071405700007 meters Centerline goodness : 0.986110 with order 1 Centerline is valid? [True, True] Translation: X:294.19, Y:-14.56, Z:1.45 [[ 9.99804696e-01 -1.89153351e-02 -5.72529313e-03 2.94187923e+02] [ 1.89173840e-02 9.99821004e-01 3.03909264e-04 -1.45556189e+01] [ 5.71851978e-03 -4.12157478e-04 9.99983564e-01 1.45107004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.84071405700007 meters Centerline goodness : 0.986032 with order 1 Centerline is valid? [True, True] Translation: X:294.25, Y:-14.56, Z:1.45 [[ 9.99749097e-01 -2.16555763e-02 -5.72527369e-03 2.94250295e+02] [ 2.16576719e-02 9.99765399e-01 3.04275010e-04 -1.45588683e+01] [ 5.71734129e-03 -4.28194765e-04 9.99983564e-01 1.44801695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.900714057 meters Centerline goodness : 0.986154 with order 1 Centerline is valid? [True, True] Translation: X:294.31, Y:-14.56, Z:1.45 [[ 9.99737868e-01 -2.21679140e-02 -5.72525078e-03 2.94311022e+02] [ 2.21700204e-02 9.99754168e-01 3.04705524e-04 -1.45627296e+01] [ 5.71708865e-03 -4.31554578e-04 9.99983564e-01 1.44766095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.960714057 meters Centerline goodness : 0.986630 with order 1 Centerline is valid? [True, True] Translation: X:294.37, Y:-14.56, Z:1.45 [[ 9.99670026e-01 -2.50411993e-02 -5.72521274e-03 2.94373556e+02] [ 2.50433566e-02 9.99686319e-01 3.05418634e-04 -1.45641903e+01] [ 5.71576880e-03 -4.48696398e-04 9.99983564e-01 1.44758775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.020714057 meters Centerline goodness : 0.985725 with order 1 Centerline is valid? [True, True] Translation: X:294.43, Y:-14.57, Z:1.45 [[ 9.99798603e-01 -1.92347416e-02 -5.72518916e-03 2.94434712e+02] [ 1.92368068e-02 9.99814909e-01 3.05859970e-04 -1.45664762e+01] [ 5.71824634e-03 -4.15932728e-04 9.99983564e-01 1.45110829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.080714057 meters Centerline goodness : 0.987294 with order 1 Centerline is valid? [True, True] Translation: X:294.50, Y:-14.57, Z:1.45 [[ 9.99817404e-01 -1.82313397e-02 -5.72517179e-03 2.94496952e+02] [ 1.82333904e-02 9.99833711e-01 3.06184741e-04 -1.45692660e+01] [ 5.71863760e-03 -4.10518125e-04 9.99983564e-01 1.44710562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.140714057 meters Centerline goodness : 0.986880 with order 1 Centerline is valid? [True, True] Translation: X:294.56, Y:-14.57, Z:1.45 [[ 9.99938336e-01 -9.51562025e-03 -5.72514980e-03 2.94558213e+02] [ 9.51753101e-03 9.99954660e-01 3.06595377e-04 -1.45712205e+01] [ 5.72197278e-03 -3.61065762e-04 9.99983564e-01 1.44710355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.200714057 meters Centerline goodness : 0.986752 with order 1 Centerline is valid? [True, True] Translation: X:294.62, Y:-14.57, Z:1.45 [[ 9.99978066e-01 -3.33027887e-03 -5.72513356e-03 2.94619982e+02] [ 3.33209035e-03 9.99994401e-01 3.06898269e-04 -1.45713735e+01] [ 5.72407945e-03 -3.25968200e-04 9.99983564e-01 1.45131070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26071405700003 meters Centerline goodness : 0.986376 with order 1 Centerline is valid? [True, True] Translation: X:294.68, Y:-14.58, Z:1.45 [[ 9.99982051e-01 1.76659186e-03 -5.72512158e-03 2.94678252e+02] [-1.76486239e-03 9.99998395e-01 3.07121745e-04 -1.45751013e+01] [ 5.72565495e-03 -2.97012180e-04 9.99983564e-01 1.45216496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32071405700003 meters Centerline goodness : 0.986604 with order 1 Centerline is valid? [True, True] Translation: X:294.74, Y:-14.58, Z:1.45 [[ 9.99982049e-01 1.76783893e-03 -5.72513921e-03 2.94737137e+02] [-1.76611136e-03 9.99998393e-01 3.06792600e-04 -1.45772103e+01] [ 5.72567237e-03 -2.96675859e-04 9.99983564e-01 1.45438997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38071405700003 meters Centerline goodness : 0.987179 with order 1 Centerline is valid? [True, True] Translation: X:294.79, Y:-14.58, Z:1.45 [[ 9.99972141e-01 4.78963576e-03 -5.72516128e-03 2.94794840e+02] [-4.78795995e-03 9.99988491e-01 3.06380317e-04 -1.45805500e+01] [ 5.72656283e-03 -2.78959938e-04 9.99983564e-01 1.45352541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44071405700004 meters Centerline goodness : 0.987555 with order 1 Centerline is valid? [True, True] Translation: X:294.85, Y:-14.58, Z:1.45 [[ 9.99960444e-01 6.80670036e-03 -5.72525354e-03 2.94852333e+02] [-6.80506743e-03 9.99976799e-01 3.04646338e-04 -1.45848660e+01] [ 5.72719435e-03 -2.65673551e-04 9.99983564e-01 1.44821328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50071405700004 meters Centerline goodness : 0.986751 with order 1 Centerline is valid? [True, True] Translation: X:294.91, Y:-14.59, Z:1.45 [[ 9.99846044e-01 1.65863985e-02 -5.72534568e-03 2.94909722e+02] [-1.65849355e-02 9.99862415e-01 3.02904775e-04 -1.45915648e+01] [ 5.72958206e-03 -2.07903652e-04 9.99983564e-01 1.44504763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56071405700004 meters Centerline goodness : 0.986670 with order 1 Centerline is valid? [True, True] Translation: X:294.97, Y:-14.59, Z:1.44 [[ 9.99928300e-01 1.05173351e-02 -5.72537371e-03 2.94969229e+02] [-1.05157758e-02 9.99944662e-01 3.02374031e-04 -1.45941273e+01] [ 5.72823705e-03 -2.42145604e-04 9.99983564e-01 1.44483165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62071405700004 meters Centerline goodness : 0.986774 with order 1 Centerline is valid? [True, True] Translation: X:295.03, Y:-14.60, Z:1.45 [[ 9.99945122e-01 8.77343108e-03 -5.72538450e-03 2.95027583e+02] [-8.77184448e-03 9.99961481e-01 3.02169598e-04 -1.45975590e+01] [ 5.72781503e-03 -2.51930833e-04 9.99983564e-01 1.44515736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68071405700005 meters Centerline goodness : 0.987340 with order 1 Centerline is valid? [True, True] Translation: X:295.09, Y:-14.60, Z:1.45 [[ 9.99949855e-01 8.21622826e-03 -5.72541659e-03 2.95086649e+02] [-8.21463602e-03 9.99966214e-01 3.01560398e-04 -1.45999461e+01] [ 5.72770084e-03 -2.54513063e-04 9.99983564e-01 1.44957479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74071405700005 meters Centerline goodness : 0.986360 with order 1 Centerline is valid? [True, True] Translation: X:295.14, Y:-14.60, Z:1.45 [[ 9.99973659e-01 4.46090877e-03 -5.72543907e-03 2.95143864e+02] [-4.45925756e-03 9.99990012e-01 3.01133038e-04 -1.46034437e+01] [ 5.72672521e-03 -2.75593898e-04 9.99983564e-01 1.45190251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80071405700005 meters Centerline goodness : 0.987148 with order 1 Centerline is valid? [True, True] Translation: X:295.20, Y:-14.61, Z:1.45 [[ 9.99979619e-01 2.82486841e-03 -5.72546666e-03 2.95202702e+02] [-2.82319344e-03 9.99995970e-01 3.00607550e-04 -1.46091602e+01] [ 5.72629276e-03 -2.84437324e-04 9.99983564e-01 1.45124425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86071405700005 meters Centerline goodness : 0.985598 with order 1 Centerline is valid? [True, True] Translation: X:295.26, Y:-14.61, Z:1.45 [[ 9.99980802e-01 2.36937272e-03 -5.72548818e-03 2.95261926e+02] [-2.36769266e-03 9.99997152e-01 3.00196938e-04 -1.46106758e+01] [ 5.72618316e-03 -2.86634979e-04 9.99983564e-01 1.45149920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92071405700005 meters Centerline goodness : 0.986518 with order 1 Centerline is valid? [True, True] Translation: X:295.32, Y:-14.61, Z:1.45 [[ 9.99978993e-01 3.03841931e-03 -5.72551040e-03 2.95320038e+02] [-3.03675260e-03 9.99995344e-01 2.99772597e-04 -1.46130032e+01] [ 5.72639458e-03 -2.82379341e-04 9.99983564e-01 1.44966137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98071405700006 meters Centerline goodness : 0.986180 with order 1 Centerline is valid? [True, True] Translation: X:295.38, Y:-14.61, Z:1.45 [[ 9.99983368e-01 6.94826485e-04 -5.72553764e-03 2.95378766e+02] [-6.93124440e-04 9.99999715e-01 2.99251434e-04 -1.46141472e+01] [ 5.72574394e-03 -2.95277947e-04 9.99983564e-01 1.44929828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04071405700006 meters Centerline goodness : 0.986339 with order 1 Centerline is valid? [True, True] Translation: X:295.44, Y:-14.62, Z:1.45 [[ 9.99981558e-01 -2.02518226e-03 -5.72556000e-03 2.95437314e+02] [ 2.02692632e-03 9.99997901e-01 2.98823031e-04 -1.46151101e+01] [ 5.72494281e-03 -3.10422808e-04 9.99983564e-01 1.44977439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10071405700006 meters Centerline goodness : 0.985158 with order 1 Centerline is valid? [True, True] Translation: X:295.50, Y:-14.62, Z:1.45 [[ 9.99948064e-01 -8.43130201e-03 -5.72558224e-03 2.95496024e+02] [ 8.43314830e-03 9.99964396e-01 2.98396268e-04 -1.46156372e+01] [ 5.72286252e-03 -3.46665454e-04 9.99983564e-01 1.44773513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16071405700006 meters Centerline goodness : 0.987051 with order 1 Centerline is valid? [True, True] Translation: X:295.56, Y:-14.62, Z:1.45 [[ 9.99844584e-01 -1.66740667e-02 -5.72559867e-03 2.95556431e+02] [ 1.66760458e-02 9.99860901e-01 2.98080673e-04 -1.46161048e+01] [ 5.71983203e-03 -3.93514692e-04 9.99983564e-01 1.44809421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22071405700007 meters Centerline goodness : 0.987678 with order 1 Centerline is valid? [True, True] Translation: X:295.62, Y:-14.62, Z:1.45 [[ 9.99682925e-01 -2.45207663e-02 -5.72559867e-03 2.95619374e+02] [ 2.45228734e-02 9.99699225e-01 2.98080673e-04 -1.46151129e+01] [ 5.71656739e-03 -4.38394290e-04 9.99983564e-01 1.44851685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.28071405700007 meters Centerline goodness : 0.986688 with order 1 Centerline is valid? [True, True] Translation: X:295.68, Y:-14.61, Z:1.45 [[ 9.99685313e-01 -2.44232286e-02 -5.72550733e-03 2.95680521e+02] [ 2.44253440e-02 9.99701612e-01 2.99824919e-04 -1.46145736e+01] [ 5.71647622e-03 -4.39578054e-04 9.99983564e-01 1.45391697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.34071405700007 meters Centerline goodness : 0.987324 with order 1 Centerline is valid? [True, True] Translation: X:295.74, Y:-14.61, Z:1.45 [[ 9.99567174e-01 -2.88562436e-02 -5.72549043e-03 2.95743299e+02] [ 2.88584331e-02 9.99583464e-01 3.00147238e-04 -1.46149754e+01] [ 5.71444444e-03 -4.65246009e-04 9.99983564e-01 1.45219573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.400714057 meters Centerline goodness : 0.987971 with order 1 Centerline is valid? [True, True] Translation: X:295.81, Y:-14.61, Z:1.45 [[ 9.99595878e-01 -2.78441962e-02 -5.72545624e-03 2.95805256e+02] [ 2.78463729e-02 9.99612169e-01 3.00798112e-04 -1.46141995e+01] [ 5.71486025e-03 -4.60109742e-04 9.99983564e-01 1.45248085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.460714057 meters Centerline goodness : 0.987257 with order 1 Centerline is valid? [True, True] Translation: X:295.87, Y:-14.62, Z:1.45 [[ 9.99533182e-01 -3.00106201e-02 -5.72542818e-03 2.95867443e+02] [ 3.00128351e-02 9.99549468e-01 3.01331175e-04 -1.46154671e+01] [ 5.71380556e-03 -4.73026841e-04 9.99983564e-01 1.45350309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.520714057 meters Centerline goodness : 0.988983 with order 1 Centerline is valid? [True, True] Translation: X:295.93, Y:-14.62, Z:1.45 [[ 9.99347621e-01 -3.56588326e-02 -5.72540140e-03 2.95930061e+02] [ 3.56611426e-02 9.99363894e-01 3.01839165e-04 -1.46154939e+01] [ 5.71099621e-03 -5.05816608e-04 9.99983564e-01 1.44892123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.580714057 meters Centerline goodness : 0.988754 with order 1 Centerline is valid? [True, True] Translation: X:295.99, Y:-14.61, Z:1.45 [[ 9.99327102e-01 -3.62293246e-02 -5.72537830e-03 2.95992189e+02] [ 3.62316463e-02 9.99343373e-01 3.02276796e-04 -1.46124144e+01] [ 5.71066757e-03 -5.09513276e-04 9.99983564e-01 1.44899202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.640714057 meters Centerline goodness : 0.987952 with order 1 Centerline is valid? [True, True] Translation: X:296.05, Y:-14.61, Z:1.45 [[ 9.99485517e-01 -3.15582345e-02 -5.72535540e-03 2.96053514e+02] [ 3.15604826e-02 9.99501798e-01 3.02709856e-04 -1.46128994e+01] [ 5.71295003e-03 -4.83249096e-04 9.99983564e-01 1.45226999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.700714057 meters Centerline goodness : 0.987157 with order 1 Centerline is valid? [True, True] Translation: X:296.12, Y:-14.62, Z:1.45 [[ 9.99545490e-01 -2.95978587e-02 -5.72533838e-03 2.96116580e+02] [ 2.96000767e-02 9.99561776e-01 3.03031385e-04 -1.46162062e+01] [ 5.71386032e-03 -4.72364110e-04 9.99983564e-01 1.44792952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76071405700003 meters Centerline goodness : 0.989812 with order 1 Centerline is valid? [True, True] Translation: X:296.18, Y:-14.61, Z:1.46 [[ 9.99525058e-01 -3.02800211e-02 -5.72530554e-03 2.96180018e+02] [ 3.02822537e-02 9.99541341e-01 3.03650599e-04 -1.46140235e+01] [ 5.71348504e-03 -4.76881537e-04 9.99983564e-01 1.45753445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82071405700003 meters Centerline goodness : 0.989022 with order 1 Centerline is valid? [True, True] Translation: X:296.24, Y:-14.62, Z:1.45 [[ 9.99460772e-01 -3.23324469e-02 -5.72527128e-03 2.96242932e+02] [ 3.23347166e-02 9.99477050e-01 3.04295284e-04 -1.46176181e+01] [ 5.71243864e-03 -4.89256223e-04 9.99983564e-01 1.45379875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88071405700003 meters Centerline goodness : 0.989348 with order 1 Centerline is valid? [True, True] Translation: X:296.30, Y:-14.62, Z:1.46 [[ 9.99425964e-01 -3.33910701e-02 -5.72523643e-03 2.96304584e+02] [ 3.33933608e-02 9.99442240e-01 3.04949632e-04 -1.46172205e+01] [ 5.71186052e-03 -4.95959465e-04 9.99983564e-01 1.45867315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94071405700004 meters Centerline goodness : 0.988758 with order 1 Centerline is valid? [True, True] Translation: X:296.37, Y:-14.62, Z:1.46 [[ 9.99287478e-01 -3.73062652e-02 -5.72521922e-03 2.96365656e+02] [ 3.73086214e-02 9.99303744e-01 3.05272256e-04 -1.46214306e+01] [ 5.70984444e-03 -5.18654779e-04 9.99983564e-01 1.45503312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00071405700004 meters Centerline goodness : 0.988934 with order 1 Centerline is valid? [True, True] Translation: X:296.43, Y:-14.62, Z:1.46 [[ 9.99361589e-01 -3.52652312e-02 -5.72520256e-03 2.96427573e+02] [ 3.52675560e-02 9.99377860e-01 3.05584403e-04 -1.46247345e+01] [ 5.71086418e-03 -5.07303217e-04 9.99983564e-01 1.45910627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06071405700004 meters Centerline goodness : 0.989139 with order 1 Centerline is valid? [True, True] Translation: X:296.49, Y:-14.63, Z:1.46 [[ 9.99354389e-01 -3.54686726e-02 -5.72517825e-03 2.96488732e+02] [ 3.54710033e-02 9.99370659e-01 3.06039285e-04 -1.46274789e+01] [ 5.71072035e-03 -5.08919519e-04 9.99983564e-01 1.45570285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12071405700004 meters Centerline goodness : 0.988465 with order 1 Centerline is valid? [True, True] Translation: X:296.55, Y:-14.63, Z:1.45 [[ 9.99467135e-01 -3.21351744e-02 -5.72516050e-03 2.96549871e+02] [ 3.21374527e-02 9.99483412e-01 3.06370949e-04 -1.46297999e+01] [ 5.71235766e-03 -4.90199769e-04 9.99983564e-01 1.45451800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18071405700005 meters Centerline goodness : 0.988068 with order 1 Centerline is valid? [True, True] Translation: X:296.61, Y:-14.63, Z:1.46 [[ 9.99682701e-01 -2.45299970e-02 -5.72514306e-03 2.96612044e+02] [ 2.45321532e-02 9.99698994e-01 3.06696515e-04 -1.46318128e+01] [ 5.71589649e-03 -4.47049287e-04 9.99983564e-01 1.45588205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24071405700005 meters Centerline goodness : 0.987845 with order 1 Centerline is valid? [True, True] Translation: X:296.67, Y:-14.63, Z:1.46 [[ 9.99763500e-01 -2.09801787e-02 -5.72511978e-03 2.96674326e+02] [ 2.09822795e-02 9.99779801e-01 3.07130376e-04 -1.46343466e+01] [ 5.71741546e-03 -4.27183803e-04 9.99983564e-01 1.45689526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30071405700005 meters Centerline goodness : 0.987866 with order 1 Centerline is valid? [True, True] Translation: X:296.74, Y:-14.64, Z:1.46 [[ 9.99821591e-01 -1.80002570e-02 -5.72509092e-03 2.96736213e+02] [ 1.80023123e-02 9.99837898e-01 3.07667461e-04 -1.46387499e+01] [ 5.71862478e-03 -4.10677445e-04 9.99983564e-01 1.45513041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36071405700005 meters Centerline goodness : 0.987054 with order 1 Centerline is valid? [True, True] Translation: X:296.80, Y:-14.64, Z:1.46 [[ 9.99821879e-01 -1.79842932e-02 -5.72506747e-03 2.96798786e+02] [ 1.79863508e-02 9.99838185e-01 3.08103210e-04 -1.46408745e+01] [ 5.71860005e-03 -4.11021402e-04 9.99983564e-01 1.45624094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42071405700005 meters Centerline goodness : 0.986465 with order 1 Centerline is valid? [True, True] Translation: X:296.86, Y:-14.64, Z:1.46 [[ 9.99842619e-01 -1.67917211e-02 -5.72504449e-03 2.96860233e+02] [ 1.67937616e-02 9.99858927e-01 3.08529658e-04 -1.46416845e+01] [ 5.71905609e-03 -4.04626134e-04 9.99983564e-01 1.45877767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48071405700006 meters Centerline goodness : 0.985862 with order 1 Centerline is valid? [True, True] Translation: X:296.92, Y:-14.64, Z:1.46 [[ 9.99895817e-01 -1.32505931e-02 -5.72502747e-03 2.96921489e+02] [ 1.32525777e-02 9.99912133e-01 3.08845031e-04 -1.46439486e+01] [ 5.72043205e-03 -3.84684226e-04 9.99983564e-01 1.45820659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54071405700006 meters Centerline goodness : 0.985389 with order 1 Centerline is valid? [True, True] Translation: X:296.98, Y:-14.65, Z:1.46 [[ 9.99936007e-01 -9.75731331e-03 -5.72501130e-03 2.96983725e+02] [ 9.75924255e-03 9.99952330e-01 3.09144564e-04 -1.46465093e+01] [ 5.72172197e-03 -3.64996555e-04 9.99983564e-01 1.45877378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60071405700006 meters Centerline goodness : 0.985227 with order 1 Centerline is valid? [True, True] Translation: X:297.05, Y:-14.65, Z:1.46 [[ 9.99944576e-01 -8.83570593e-03 -5.72498776e-03 2.97045011e+02] [ 8.83762260e-03 9.99960900e-01 3.09579869e-04 -1.46495124e+01] [ 5.72202855e-03 -3.60157992e-04 9.99983564e-01 1.45855933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66071405700006 meters Centerline goodness : 0.984003 with order 1 Centerline is valid? [True, True] Translation: X:297.11, Y:-14.65, Z:1.46 [[ 9.99971000e-01 -5.02236031e-03 -5.72497614e-03 2.97105082e+02] [ 5.02421595e-03 9.99987331e-01 3.09794690e-04 -1.46530297e+01] [ 5.72334770e-03 -3.38549222e-04 9.99983564e-01 1.45890362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72071405700007 meters Centerline goodness : 0.983914 with order 1 Centerline is valid? [True, True] Translation: X:297.16, Y:-14.66, Z:1.46 [[ 9.99983522e-01 -4.25833160e-04 -5.72497039e-03 2.97164982e+02] [ 4.27614320e-04 9.99999861e-01 3.09900808e-04 -1.46565585e+01] [ 5.72483763e-03 -3.12343781e-04 9.99983564e-01 1.46045274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.78071405700007 meters Centerline goodness : 0.984253 with order 1 Centerline is valid? [True, True] Translation: X:297.22, Y:-14.66, Z:1.46 [[ 9.99975828e-01 3.94573277e-03 -5.72498208e-03 2.97223807e+02] [-3.94402429e-03 9.99992174e-01 3.09684690e-04 -1.46577574e+01] [ 5.72615921e-03 -2.87097735e-04 9.99983564e-01 1.46361601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.84071405700007 meters Centerline goodness : 0.984483 with order 1 Centerline is valid? [True, True] Translation: X:297.28, Y:-14.66, Z:1.46 [[ 9.99942593e-01 9.05727091e-03 -5.72506312e-03 2.97281947e+02] [-9.05565461e-03 9.99958949e-01 3.08179222e-04 -1.46608210e+01] [ 5.72761936e-03 -2.56317336e-04 9.99983564e-01 1.46367386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.900714057 meters Centerline goodness : 0.984912 with order 1 Centerline is valid? [True, True] Translation: X:297.34, Y:-14.67, Z:1.46 [[ 9.99941248e-01 9.20448138e-03 -5.72515582e-03 2.97339390e+02] [-9.20287739e-03 9.99957606e-01 3.06447318e-04 -1.46651473e+01] [ 5.72773380e-03 -2.53741407e-04 9.99983564e-01 1.46400969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.960714057 meters Centerline goodness : 0.985896 with order 1 Centerline is valid? [True, True] Translation: X:297.40, Y:-14.67, Z:1.46 [[ 9.99928387e-01 1.05091615e-02 -5.72518409e-03 2.97397383e+02] [-1.05075819e-02 9.99944747e-01 3.05918377e-04 -1.46705543e+01] [ 5.72808270e-03 -2.45738629e-04 9.99983564e-01 1.46368274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.020714057 meters Centerline goodness : 0.985172 with order 1 Centerline is valid? [True, True] Translation: X:297.46, Y:-14.67, Z:1.46 [[ 9.99956536e-01 7.35851586e-03 -5.72521088e-03 2.97455759e+02] [-7.35688756e-03 9.99972891e-01 3.05416155e-04 -1.46748924e+01] [ 5.72730308e-03 -2.63283148e-04 9.99983564e-01 1.46340825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.080714057 meters Centerline goodness : 0.984044 with order 1 Centerline is valid? [True, True] Translation: X:297.51, Y:-14.68, Z:1.46 [[ 9.99940058e-01 9.33290122e-03 -5.72523222e-03 2.97514082e+02] [-9.33130751e-03 9.99956416e-01 3.05015646e-04 -1.46784772e+01] [ 5.72782937e-03 -2.51573460e-04 9.99983564e-01 1.46303391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.140714057 meters Centerline goodness : 0.985308 with order 1 Centerline is valid? [True, True] Translation: X:297.57, Y:-14.68, Z:1.47 [[ 9.99925880e-01 1.07450452e-02 -5.72525384e-03 2.97572710e+02] [-1.07434769e-02 9.99942241e-01 3.04609121e-04 -1.46807027e+01] [ 5.72819620e-03 -2.43077410e-04 9.99983564e-01 1.46955573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.200714057 meters Centerline goodness : 0.985417 with order 1 Centerline is valid? [True, True] Translation: X:297.63, Y:-14.69, Z:1.47 [[ 9.99956871e-01 7.31279972e-03 -5.72527647e-03 2.97630897e+02] [-7.31117772e-03 9.99973227e-01 3.04183174e-04 -1.46858685e+01] [ 5.72734762e-03 -2.62311541e-04 9.99983564e-01 1.47359542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26071405700003 meters Centerline goodness : 0.985409 with order 1 Centerline is valid? [True, True] Translation: X:297.69, Y:-14.69, Z:1.47 [[ 9.99981552e-01 -2.02877611e-03 -5.72529914e-03 2.97689845e+02] [ 2.03054839e-03 9.99997892e-01 3.03756011e-04 -1.46919731e+01] [ 5.72467082e-03 -3.15375904e-04 9.99983564e-01 1.47141747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32071405700003 meters Centerline goodness : 0.986623 with order 1 Centerline is valid? [True, True] Translation: X:297.75, Y:-14.70, Z:1.48 [[ 9.99963150e-01 -6.39680660e-03 -5.72531625e-03 2.97748182e+02] [ 6.39864839e-03 9.99979482e-01 3.03433063e-04 -1.46968747e+01] [ 5.72325778e-03 -3.40056168e-04 9.99983564e-01 1.47651541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38071405700003 meters Centerline goodness : 0.986386 with order 1 Centerline is valid? [True, True] Translation: X:297.81, Y:-14.70, Z:1.47 [[ 9.99896396e-01 -1.32067354e-02 -5.72533024e-03 2.97807870e+02] [ 1.32086868e-02 9.99912716e-01 3.03168947e-04 -1.47029691e+01] [ 5.72082663e-03 -3.78761632e-04 9.99983564e-01 1.47242187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44071405700004 meters Centerline goodness : 0.987343 with order 1 Centerline is valid? [True, True] Translation: X:297.87, Y:-14.71, Z:1.47 [[ 9.99826535e-01 -1.77234438e-02 -5.72533566e-03 2.97869773e+02] [ 1.77254684e-02 9.99842846e-01 3.03066529e-04 -1.47102947e+01] [ 5.71906452e-03 -4.04498214e-04 9.99983564e-01 1.47039574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50071405700004 meters Centerline goodness : 0.988101 with order 1 Centerline is valid? [True, True] Translation: X:297.93, Y:-14.72, Z:1.47 [[ 9.99781511e-01 -2.01035357e-02 -5.72526025e-03 2.97931516e+02] [ 2.01056072e-02 9.99797815e-01 3.04484418e-04 -1.47174495e+01] [ 5.71798148e-03 -4.19527725e-04 9.99983564e-01 1.46837127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56071405700004 meters Centerline goodness : 0.987681 with order 1 Centerline is valid? [True, True] Translation: X:297.99, Y:-14.72, Z:1.47 [[ 9.99798771e-01 -1.92259929e-02 -5.72523863e-03 2.97993503e+02] [ 1.92280523e-02 9.99815077e-01 3.04890484e-04 -1.47225473e+01] [ 5.71831808e-03 -4.14914319e-04 9.99983564e-01 1.46544372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62071405700004 meters Centerline goodness : 0.988170 with order 1 Centerline is valid? [True, True] Translation: X:298.06, Y:-14.73, Z:1.46 [[ 9.99856341e-01 -1.59536486e-02 -5.72521706e-03 2.98055483e+02] [ 1.59556570e-02 9.99872654e-01 3.05294905e-04 -1.47268485e+01] [ 5.71961741e-03 -3.96600646e-04 9.99983564e-01 1.46480069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68071405700005 meters Centerline goodness : 0.987334 with order 1 Centerline is valid? [True, True] Translation: X:298.12, Y:-14.73, Z:1.47 [[ 9.99908234e-01 -1.22778406e-02 -5.72519518e-03 2.98118135e+02] [ 1.22797914e-02 9.99924554e-01 3.05704811e-04 -1.47281962e+01] [ 5.72100984e-03 -3.75980960e-04 9.99983564e-01 1.46770061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74071405700005 meters Centerline goodness : 0.989208 with order 1 Centerline is valid? [True, True] Translation: X:298.18, Y:-14.73, Z:1.47 [[ 9.99971247e-01 -4.97259594e-03 -5.72516826e-03 2.98179741e+02] [ 4.97443030e-03 9.99987581e-01 3.06208021e-04 -1.47295160e+01] [ 5.72357451e-03 -3.34678668e-04 9.99983564e-01 1.46745234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80071405700005 meters Centerline goodness : 0.987001 with order 1 Centerline is valid? [True, True] Translation: X:298.24, Y:-14.74, Z:1.46 [[ 9.99946622e-01 8.60087086e-03 -5.72515751e-03 2.98239312e+02] [-8.59925722e-03 9.99962979e-01 3.06408834e-04 -1.47367484e+01] [ 5.72758094e-03 -2.57160377e-04 9.99983564e-01 1.46101054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86071405700005 meters Centerline goodness : 0.987221 with order 1 Centerline is valid? [True, True] Translation: X:298.30, Y:-14.74, Z:1.46 [[ 9.99947038e-01 8.55245004e-03 -5.72516903e-03 2.98297402e+02] [-8.55083684e-03 9.99963394e-01 3.06193544e-04 -1.47368909e+01] [ 5.72757816e-03 -2.57222341e-04 9.99983564e-01 1.46347827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92071405700005 meters Centerline goodness : 0.986473 with order 1 Centerline is valid? [True, True] Translation: X:298.36, Y:-14.74, Z:1.47 [[ 9.99941748e-01 9.15003029e-03 -5.72519722e-03 2.98356002e+02] [-9.14842987e-03 9.99958106e-01 3.05665577e-04 -1.47385480e+01] [ 5.72775421e-03 -2.53271206e-04 9.99983564e-01 1.46515707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98071405700006 meters Centerline goodness : 0.986438 with order 1 Centerline is valid? [True, True] Translation: X:298.42, Y:-14.74, Z:1.46 [[ 9.99982896e-01 1.19590564e-03 -5.72521881e-03 2.98415080e+02] [-1.19417747e-03 9.99999240e-01 3.05260573e-04 -1.47413548e+01] [ 5.72557952e-03 -2.98418424e-04 9.99983564e-01 1.46401396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04071405700006 meters Centerline goodness : 0.986743 with order 1 Centerline is valid? [True, True] Translation: X:298.47, Y:-14.74, Z:1.47 [[ 9.99971565e-01 -4.90825643e-03 -5.72524053e-03 2.98473994e+02] [ 4.91008201e-03 9.99987899e-01 3.04852600e-04 -1.47434422e+01] [ 5.72367496e-03 -3.32955332e-04 9.99983564e-01 1.46702460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10071405700006 meters Centerline goodness : 0.987655 with order 1 Centerline is valid? [True, True] Translation: X:298.53, Y:-14.75, Z:1.47 [[ 9.99933219e-01 -1.00388574e-02 -5.72526257e-03 2.98533423e+02] [ 1.00407644e-02 9.99949544e-01 3.04438248e-04 -1.47450769e+01] [ 5.72191748e-03 -3.61903930e-04 9.99983564e-01 1.46933046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16071405700006 meters Centerline goodness : 0.987857 with order 1 Centerline is valid? [True, True] Translation: X:298.59, Y:-14.75, Z:1.47 [[ 9.99874020e-01 -1.48042223e-02 -5.72526795e-03 2.98594854e+02] [ 1.48062065e-02 9.99890336e-01 3.04336939e-04 -1.47460544e+01] [ 5.72013462e-03 -3.89068098e-04 9.99983564e-01 1.47279989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22071405700007 meters Centerline goodness : 0.987933 with order 1 Centerline is valid? [True, True] Translation: X:298.66, Y:-14.75, Z:1.47 [[ 9.99874906e-01 -1.47443132e-02 -5.72525683e-03 2.98657232e+02] [ 1.47462976e-02 9.99891221e-01 3.04545963e-04 -1.47493865e+01] [ 5.72014373e-03 -3.88934208e-04 9.99983564e-01 1.47316874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.28071405700007 meters Centerline goodness : 0.987479 with order 1 Centerline is valid? [True, True] Translation: X:298.72, Y:-14.75, Z:1.47 [[ 9.99905543e-01 -1.24950444e-02 -5.72523477e-03 2.98719407e+02] [ 1.24969945e-02 9.99921863e-01 3.04960230e-04 -1.47513406e+01] [ 5.72097692e-03 -3.76479652e-04 9.99983564e-01 1.47459541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.34071405700007 meters Centerline goodness : 0.987910 with order 1 Centerline is valid? [True, True] Translation: X:298.78, Y:-14.75, Z:1.48 [[ 9.99967171e-01 -5.73399726e-03 -5.72521248e-03 2.98780264e+02] [ 5.73583933e-03 9.99983503e-01 3.05378138e-04 -1.47526131e+01] [ 5.72336699e-03 -3.38207011e-04 9.99983564e-01 1.47865560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.400714057 meters Centerline goodness : 0.986519 with order 1 Centerline is valid? [True, True] Translation: X:298.84, Y:-14.76, Z:1.48 [[ 9.99934952e-01 -9.86479796e-03 -5.72519595e-03 2.98840844e+02] [ 9.86670925e-03 9.99951276e-01 3.05687575e-04 -1.47558676e+01] [ 5.72190145e-03 -3.62156535e-04 9.99983564e-01 1.47842485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.460714057 meters Centerline goodness : 0.985837 with order 1 Centerline is valid? [True, True] Translation: X:298.90, Y:-14.76, Z:1.48 [[ 9.99942858e-01 -9.02788834e-03 -5.72519595e-03 2.98902588e+02] [ 9.02978596e-03 9.99959184e-01 3.05687575e-04 -1.47577287e+01] [ 5.72220256e-03 -3.57367402e-04 9.99983564e-01 1.47913892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.520714057 meters Centerline goodness : 0.985038 with order 1 Centerline is valid? [True, True] Translation: X:298.96, Y:-14.76, Z:1.48 [[ 9.99898958e-01 -1.30114124e-02 -5.72518461e-03 2.98962843e+02] [ 1.30133762e-02 9.99915276e-01 3.05899854e-04 -1.47616980e+01] [ 5.72071936e-03 -3.80372926e-04 9.99983564e-01 1.48101441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.580714057 meters Centerline goodness : 0.985558 with order 1 Centerline is valid? [True, True] Translation: X:299.03, Y:-14.76, Z:1.48 [[ 9.99880356e-01 -1.43699745e-02 -5.72517904e-03 2.99025546e+02] [ 1.43719611e-02 9.99896671e-01 3.06004203e-04 -1.47641054e+01] [ 5.72019019e-03 -3.88249641e-04 9.99983564e-01 1.48344228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.640714057 meters Centerline goodness : 0.984756 with order 1 Centerline is valid? [True, True] Translation: X:299.09, Y:-14.77, Z:1.48 [[ 9.99840383e-01 -1.69242834e-02 -5.72515067e-03 2.99086736e+02] [ 1.69263147e-02 9.99856693e-01 3.06533954e-04 -1.47675148e+01] [ 5.71914235e-03 -4.03390728e-04 9.99983564e-01 1.48378492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.700714057 meters Centerline goodness : 0.985262 with order 1 Centerline is valid? [True, True] Translation: X:299.15, Y:-14.77, Z:1.48 [[ 9.99905917e-01 -1.24651420e-02 -5.72513378e-03 2.99148931e+02] [ 1.24671023e-02 9.99922236e-01 3.06849161e-04 -1.47714766e+01] [ 5.72086365e-03 -3.78196121e-04 9.99983564e-01 1.48470487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76071405700003 meters Centerline goodness : 0.985336 with order 1 Centerline is valid? [True, True] Translation: X:299.21, Y:-14.77, Z:1.49 [[ 9.99784835e-01 -1.99375478e-02 -5.72511272e-03 2.99210291e+02] [ 1.99396323e-02 9.99801139e-01 3.07241520e-04 -1.47743409e+01] [ 5.71784857e-03 -4.21332056e-04 9.99983564e-01 1.48613522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82071405700003 meters Centerline goodness : 0.984794 with order 1 Centerline is valid? [True, True] Translation: X:299.27, Y:-14.78, Z:1.49 [[ 9.99721318e-01 -2.29021705e-02 -5.72510180e-03 2.99272732e+02] [ 2.29043045e-02 9.99737615e-01 3.07444827e-04 -1.47778726e+01] [ 5.71655847e-03 -4.38488622e-04 9.99983564e-01 1.48664060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88071405700003 meters Centerline goodness : 0.985222 with order 1 Centerline is valid? [True, True] Translation: X:299.33, Y:-14.78, Z:1.49 [[ 9.99734694e-01 -2.23106301e-02 -5.72507999e-03 2.99334547e+02] [ 2.23127568e-02 9.99750992e-01 3.07850457e-04 -1.47807010e+01] [ 5.71678606e-03 -4.35511100e-04 9.99983564e-01 1.49256751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94071405700004 meters Centerline goodness : 0.985500 with order 1 Centerline is valid? [True, True] Translation: X:299.40, Y:-14.78, Z:1.49 [[ 9.99665748e-01 -2.52114411e-02 -5.72505701e-03 2.99395517e+02] [ 2.52136175e-02 9.99682039e-01 3.08277327e-04 -1.47835022e+01] [ 5.71546454e-03 -4.52523682e-04 9.99983564e-01 1.49098054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00071405700004 meters Centerline goodness : 0.985717 with order 1 Centerline is valid? [True, True] Translation: X:299.46, Y:-14.79, Z:1.49 [[ 9.99510255e-01 -3.07648173e-02 -5.72504005e-03 2.99456463e+02] [ 3.07670859e-02 9.99526534e-01 3.08591953e-04 -1.47875875e+01] [ 5.71283566e-03 -4.84583621e-04 9.99983564e-01 1.49077773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06071405700004 meters Centerline goodness : 0.986136 with order 1 Centerline is valid? [True, True] Translation: X:299.52, Y:-14.79, Z:1.49 [[ 9.99640620e-01 -2.61888282e-02 -5.72502832e-03 2.99516144e+02] [ 2.61910235e-02 9.99656909e-01 3.08809319e-04 -1.47915014e+01] [ 5.71497676e-03 -4.58642690e-04 9.99983564e-01 1.48917092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12071405700004 meters Centerline goodness : 0.985680 with order 1 Centerline is valid? [True, True] Translation: X:299.58, Y:-14.80, Z:1.49 [[ 9.99658665e-01 -2.54907551e-02 -5.72500626e-03 2.99578137e+02] [ 2.54929413e-02 9.99674954e-01 3.09217818e-04 -1.47957455e+01] [ 5.71526317e-03 -4.55059519e-04 9.99983564e-01 1.49085569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18071405700005 meters Centerline goodness : 0.984770 with order 1 Centerline is valid? [True, True] Translation: X:299.64, Y:-14.80, Z:1.48 [[ 9.99541901e-01 -2.97188889e-02 -5.72498350e-03 2.99639172e+02] [ 2.97211464e-02 9.99558181e-01 3.09638642e-04 -1.48005513e+01] [ 5.71325198e-03 -4.79649870e-04 9.99983564e-01 1.48442805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24071405700005 meters Centerline goodness : 0.984845 with order 1 Centerline is valid? [True, True] Translation: X:299.70, Y:-14.80, Z:1.49 [[ 9.99705677e-01 -2.35750716e-02 -5.72496665e-03 2.99700804e+02] [ 2.35772308e-02 9.99721970e-01 3.09949780e-04 -1.48014907e+01] [ 5.71606785e-03 -4.44837415e-04 9.99983564e-01 1.48792784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30071405700005 meters Centerline goodness : 0.983934 with order 1 Centerline is valid? [True, True] Translation: X:299.76, Y:-14.80, Z:1.48 [[ 9.99601573e-01 -2.76391013e-02 -5.72495033e-03 2.99762255e+02] [ 2.76413284e-02 9.99617857e-01 3.10251039e-04 -1.48044880e+01] [ 5.71418752e-03 -4.68372659e-04 9.99983564e-01 1.48274763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36071405700005 meters Centerline goodness : 0.984857 with order 1 Centerline is valid? [True, True] Translation: X:299.82, Y:-14.80, Z:1.49 [[ 9.99737206e-01 -2.21978505e-02 -5.72493895e-03 2.99824314e+02] [ 2.21999901e-02 9.99753502e-01 3.10460772e-04 -1.48049862e+01] [ 5.71663620e-03 -4.37472772e-04 9.99983564e-01 1.48960441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42071405700005 meters Centerline goodness : 0.985496 with order 1 Centerline is valid? [True, True] Translation: X:299.89, Y:-14.81, Z:1.49 [[ 9.99767591e-01 -2.07843664e-02 -5.72491537e-03 2.99886719e+02] [ 2.07864855e-02 9.99783889e-01 3.10895003e-04 -1.48061361e+01] [ 5.71721640e-03 -4.29823618e-04 9.99983564e-01 1.49347449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48071405700006 meters Centerline goodness : 0.985130 with order 1 Centerline is valid? [True, True] Translation: X:299.95, Y:-14.81, Z:1.49 [[ 9.99795343e-01 -1.94035730e-02 -5.72488645e-03 2.99947319e+02] [ 1.94056726e-02 9.99811644e-01 3.11426733e-04 -1.48089182e+01] [ 5.71776534e-03 -4.22458270e-04 9.99983564e-01 1.49329001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54071405700006 meters Centerline goodness : 0.987771 with order 1 Centerline is valid? [True, True] Translation: X:300.01, Y:-14.81, Z:1.49 [[ 9.99702191e-01 -2.37224663e-02 -5.72487528e-03 3.00008999e+02] [ 2.37246375e-02 9.99718483e-01 3.11631857e-04 -1.48134045e+01] [ 5.71587095e-03 -4.47359641e-04 9.99983564e-01 1.48868162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60071405700006 meters Centerline goodness : 0.988104 with order 1 Centerline is valid? [True, True] Translation: X:300.07, Y:-14.82, Z:1.49 [[ 9.99755906e-01 -2.13390256e-02 -5.72485164e-03 3.00071495e+02] [ 2.13411604e-02 9.99772203e-01 3.12065505e-04 -1.48155306e+01] [ 5.71688836e-03 -4.34164309e-04 9.99983564e-01 1.48911515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66071405700006 meters Centerline goodness : 0.988568 with order 1 Centerline is valid? [True, True] Translation: X:300.13, Y:-14.82, Z:1.48 [[ 9.99665168e-01 -2.52344821e-02 -5.72482810e-03 3.00132983e+02] [ 2.52366829e-02 9.99681455e-01 3.12496798e-04 -1.48188921e+01] [ 5.71511879e-03 -4.56867835e-04 9.99983564e-01 1.48373052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72071405700007 meters Centerline goodness : 0.990292 with order 1 Centerline is valid? [True, True] Translation: X:300.19, Y:-14.82, Z:1.49 [[ 9.99751385e-01 -2.15498170e-02 -5.72481059e-03 3.00194213e+02] [ 2.15519595e-02 9.99767681e-01 3.12817241e-04 -1.48205577e+01] [ 5.71673945e-03 -4.36120355e-04 9.99983564e-01 1.48827698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.78071405700007 meters Centerline goodness : 0.990512 with order 1 Centerline is valid? [True, True] Translation: X:300.26, Y:-14.82, Z:1.49 [[ 9.99758323e-01 -2.12255305e-02 -5.72479391e-03 3.00256179e+02] [ 2.12276695e-02 9.99774619e-01 3.13122168e-04 -1.48215656e+01] [ 5.71685747e-03 -4.34570527e-04 9.99983564e-01 1.48875877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.84071405700007 meters Centerline goodness : 0.989588 with order 1 Centerline is valid? [True, True] Translation: X:300.32, Y:-14.83, Z:1.49 [[ 9.99807720e-01 -1.87550230e-02 -5.72477200e-03 3.00317688e+02] [ 1.87571240e-02 9.99824021e-01 3.13522240e-04 -1.48253679e+01] [ 5.71788444e-03 -4.20842214e-04 9.99983564e-01 1.48793569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.900714057 meters Centerline goodness : 0.990775 with order 1 Centerline is valid? [True, True] Translation: X:300.38, Y:-14.83, Z:1.49 [[ 9.99799602e-01 -1.91828657e-02 -5.72475580e-03 3.00379980e+02] [ 1.91849753e-02 9.99815902e-01 3.13817821e-04 -1.48261016e+01] [ 5.71768196e-03 -4.23584232e-04 9.99983564e-01 1.49416695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.960714057 meters Centerline goodness : 0.990815 with order 1 Centerline is valid? [True, True] Translation: X:300.44, Y:-14.83, Z:1.49 [[ 9.99803382e-01 -1.89848718e-02 -5.72473360e-03 3.00442230e+02] [ 1.89869805e-02 9.99819682e-01 3.14222208e-04 -1.48302352e+01] [ 5.71773586e-03 -4.22855832e-04 9.99983564e-01 1.49424680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.020714057 meters Centerline goodness : 0.990743 with order 1 Centerline is valid? [True, True] Translation: X:300.50, Y:-14.83, Z:1.50 [[ 9.99780418e-01 -2.01579840e-02 -5.72471013e-03 3.00504014e+02] [ 2.01601143e-02 9.99796715e-01 3.14649191e-04 -1.48330383e+01] [ 5.71720369e-03 -4.29990910e-04 9.99983564e-01 1.49527467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.080714057 meters Centerline goodness : 0.992003 with order 1 Centerline is valid? [True, True] Translation: X:300.56, Y:-14.84, Z:1.49 [[ 9.99770645e-01 -2.06369746e-02 -5.72468697e-03 3.00564793e+02] [ 2.06391150e-02 9.99786941e-01 3.15070040e-04 -1.48373026e+01] [ 5.71696518e-03 -4.33150250e-04 9.99983564e-01 1.48927521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.140714057 meters Centerline goodness : 0.990749 with order 1 Centerline is valid? [True, True] Translation: X:300.63, Y:-14.84, Z:1.49 [[ 9.99816002e-01 -1.83081892e-02 -5.72464822e-03 3.00627034e+02] [ 1.83102957e-02 9.99832303e-01 3.15772571e-04 -1.48394612e+01] [ 5.71790699e-03 -4.20534471e-04 9.99983564e-01 1.49151139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.200714057 meters Centerline goodness : 0.990112 with order 1 Centerline is valid? [True, True] Translation: X:300.69, Y:-14.84, Z:1.49 [[ 9.99788049e-01 -1.97758775e-02 -5.72462484e-03 3.00687955e+02] [ 1.97780103e-02 9.99804346e-01 3.16195929e-04 -1.48432801e+01] [ 5.71725174e-03 -4.29350600e-04 9.99983564e-01 1.49203497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26071405700003 meters Centerline goodness : 0.989547 with order 1 Centerline is valid? [True, True] Translation: X:300.75, Y:-14.85, Z:1.49 [[ 9.99748906e-01 -2.16645692e-02 -5.72460748e-03 3.00749882e+02] [ 2.16667346e-02 9.99765199e-01 3.16509787e-04 -1.48459752e+01] [ 5.71640629e-03 -4.40463864e-04 9.99983564e-01 1.49483405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32071405700003 meters Centerline goodness : 0.989828 with order 1 Centerline is valid? [True, True] Translation: X:300.81, Y:-14.85, Z:1.50 [[ 9.99713803e-01 -2.32280238e-02 -5.72458362e-03 3.00811008e+02] [ 2.32302172e-02 9.99730092e-01 3.16940870e-04 -1.48491505e+01] [ 5.71567659e-03 -4.49833483e-04 9.99983564e-01 1.49643954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38071405700003 meters Centerline goodness : 0.989867 with order 1 Centerline is valid? [True, True] Translation: X:300.87, Y:-14.85, Z:1.50 [[ 9.99706689e-01 -2.35322302e-02 -5.72456592e-03 3.00874113e+02] [ 2.35344303e-02 9.99722977e-01 3.17260213e-04 -1.48523059e+01] [ 5.71551424e-03 -4.51891554e-04 9.99983564e-01 1.49984699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44071405700004 meters Centerline goodness : 0.989407 with order 1 Centerline is valid? [True, True] Translation: X:300.94, Y:-14.86, Z:1.50 [[ 9.99749301e-01 -2.16463639e-02 -5.72453202e-03 3.00935061e+02] [ 2.16485368e-02 9.99765592e-01 3.17870680e-04 -1.48552643e+01] [ 5.71630940e-03 -4.41718732e-04 9.99983564e-01 1.49961304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50071405700004 meters Centerline goodness : 0.988755 with order 1 Centerline is valid? [True, True] Translation: X:301.00, Y:-14.86, Z:1.50 [[ 9.99791208e-01 -1.96155637e-02 -5.72449277e-03 3.00997061e+02] [ 1.96177075e-02 9.99807504e-01 3.18575899e-04 -1.48598687e+01] [ 5.71714178e-03 -4.30810808e-04 9.99983564e-01 1.49705423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56071405700004 meters Centerline goodness : 0.988211 with order 1 Centerline is valid? [True, True] Translation: X:301.06, Y:-14.86, Z:1.50 [[ 9.99831314e-01 -1.74520761e-02 -5.72446571e-03 3.01058770e+02] [ 1.74541874e-02 9.99847613e-01 3.19061428e-04 -1.48637985e+01] [ 5.71802509e-03 -4.18923504e-04 9.99983564e-01 1.49960524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62071405700004 meters Centerline goodness : 0.987754 with order 1 Centerline is valid? [True, True] Translation: X:301.12, Y:-14.87, Z:1.50 [[ 9.99760307e-01 -2.11319695e-02 -5.72444321e-03 3.01120192e+02] [ 2.11341431e-02 9.99776598e-01 3.19464663e-04 -1.48679250e+01] [ 5.71641344e-03 -4.40369291e-04 9.99983564e-01 1.49776827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68071405700005 meters Centerline goodness : 0.987416 with order 1 Centerline is valid? [True, True] Translation: X:301.18, Y:-14.87, Z:1.50 [[ 9.99781284e-01 -2.01150685e-02 -5.72442656e-03 3.01182471e+02] [ 2.01172272e-02 9.99797577e-01 3.19762699e-04 -1.48713255e+01] [ 5.71683576e-03 -4.34852351e-04 9.99983564e-01 1.49915300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74071405700005 meters Centerline goodness : 0.988898 with order 1 Centerline is valid? [True, True] Translation: X:301.24, Y:-14.88, Z:1.50 [[ 9.99753492e-01 -2.14519720e-02 -5.72440450e-03 3.01243066e+02] [ 2.14541547e-02 9.99769782e-01 3.20157075e-04 -1.48761816e+01] [ 5.71621864e-03 -4.42890413e-04 9.99983564e-01 1.49739187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80071405700005 meters Centerline goodness : 0.986961 with order 1 Centerline is valid? [True, True] Translation: X:301.30, Y:-14.88, Z:1.50 [[ 9.99731639e-01 -2.24472856e-02 -5.72436897e-03 3.01304727e+02] [ 2.24494881e-02 9.99747927e-01 3.20791130e-04 -1.48817333e+01] [ 5.71572512e-03 -4.49214196e-04 9.99983564e-01 1.49572175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86071405700005 meters Centerline goodness : 0.986360 with order 1 Centerline is valid? [True, True] Translation: X:301.37, Y:-14.89, Z:1.50 [[ 9.99673811e-01 -2.48898112e-02 -5.72434719e-03 3.01367578e+02] [ 2.48920557e-02 9.99690093e-01 3.21179372e-04 -1.48866040e+01] [ 5.71457908e-03 -4.63565375e-04 9.99983564e-01 1.49589202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92071405700005 meters Centerline goodness : 0.985981 with order 1 Centerline is valid? [True, True] Translation: X:301.43, Y:-14.89, Z:1.50 [[ 9.99721681e-01 -2.28865372e-02 -5.72431396e-03 3.01429621e+02] [ 2.28887524e-02 9.99737966e-01 3.21770485e-04 -1.48907875e+01] [ 5.71544979e-03 -4.52703335e-04 9.99983564e-01 1.49868257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98071405700006 meters Centerline goodness : 0.985562 with order 1 Centerline is valid? [True, True] Translation: X:301.49, Y:-14.89, Z:1.50 [[ 9.99760660e-01 -2.11152736e-02 -5.72429007e-03 3.01491535e+02] [ 2.11174624e-02 9.99776950e-01 3.22194881e-04 -1.48920666e+01] [ 5.71621004e-03 -4.43000247e-04 9.99983564e-01 1.50075166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04071405700006 meters Centerline goodness : 0.986236 with order 1 Centerline is valid? [True, True] Translation: X:301.55, Y:-14.89, Z:1.50 [[ 9.99778934e-01 -2.02315642e-02 -5.72426046e-03 3.01552722e+02] [ 2.02337416e-02 9.99795225e-01 3.22720137e-04 -1.48940268e+01] [ 5.71655914e-03 -4.38472001e-04 9.99983564e-01 1.49952433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10071405700006 meters Centerline goodness : 0.986062 with order 1 Centerline is valid? [True, True] Translation: X:301.61, Y:-14.90, Z:1.50 [[ 9.99830950e-01 -1.74729660e-02 -5.72424398e-03 3.01614390e+02] [ 1.74751001e-02 9.99847247e-01 3.23012119e-04 -1.48977266e+01] [ 5.71772561e-03 -4.22989251e-04 9.99983564e-01 1.49989702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16071405700006 meters Centerline goodness : 0.985622 with order 1 Centerline is valid? [True, True] Translation: X:301.68, Y:-14.90, Z:1.50 [[ 9.99746884e-01 -2.17577791e-02 -5.72422020e-03 3.01676632e+02] [ 2.17599854e-02 9.99763171e-01 3.23433069e-04 -1.48986847e+01] [ 5.71582735e-03 -4.47910151e-04 9.99983564e-01 1.50015784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22071405700007 meters Centerline goodness : 0.986067 with order 1 Centerline is valid? [True, True] Translation: X:301.74, Y:-14.90, Z:1.50 [[ 9.99760686e-01 -2.11140655e-02 -5.72419681e-03 3.01738069e+02] [ 2.11162637e-02 9.99776974e-01 3.23846514e-04 -1.48989455e+01] [ 5.71608245e-03 -4.44642662e-04 9.99983564e-01 1.50395125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.28071405700007 meters Centerline goodness : 0.985731 with order 1 Centerline is valid? [True, True] Translation: X:301.80, Y:-14.90, Z:1.51 [[ 9.99877169e-01 -1.45904352e-02 -5.72415286e-03 3.01799113e+02] [ 1.45925315e-02 9.99893471e-01 3.24621560e-04 -1.49012268e+01] [ 5.71880670e-03 -4.08111568e-04 9.99983564e-01 1.50574467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.34071405700007 meters Centerline goodness : 0.987244 with order 1 Centerline is valid? [True, True] Translation: X:301.86, Y:-14.90, Z:1.51 [[ 9.99905573e-01 -1.24931533e-02 -5.72413573e-03 3.01861021e+02] [ 1.24952171e-02 9.99921879e-01 3.24923180e-04 -1.49018776e+01] [ 5.71962924e-03 -3.96416817e-04 9.99983564e-01 1.50725740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.400714057 meters Centerline goodness : 0.986288 with order 1 Centerline is valid? [True, True] Translation: X:301.92, Y:-14.91, Z:1.51 [[ 9.99959312e-01 -6.97204464e-03 -5.72411184e-03 3.01923477e+02] [ 6.97402078e-03 9.99975628e-01 3.25343578e-04 -1.49058254e+01] [ 5.72170402e-03 -3.65250416e-04 9.99983564e-01 1.50509322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.460714057 meters Centerline goodness : 0.986643 with order 1 Centerline is valid? [True, True] Translation: X:301.98, Y:-14.91, Z:1.51 [[ 9.99979331e-01 2.92790112e-03 -5.72408776e-03 3.01984525e+02] [-2.92608419e-03 9.99995666e-01 3.25766760e-04 -1.49051684e+01] [ 5.72501676e-03 -3.09010864e-04 9.99983564e-01 1.50658917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.520714057 meters Centerline goodness : 0.986165 with order 1 Centerline is valid? [True, True] Translation: X:302.04, Y:-14.91, Z:1.50 [[ 9.99962895e-01 6.43772577e-03 -5.72408776e-03 3.02042649e+02] [-6.43596619e-03 9.99979236e-01 3.25766760e-04 -1.49089852e+01] [ 5.72606610e-03 -2.88914637e-04 9.99983564e-01 1.50421457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.580714057 meters Centerline goodness : 0.985500 with order 1 Centerline is valid? [True, True] Translation: X:302.10, Y:-14.91, Z:1.50 [[ 9.99914994e-01 1.17149242e-02 -5.72411761e-03 3.02099724e+02] [-1.17132539e-02 9.99931345e-01 3.25241342e-04 -1.49130093e+01] [ 5.72753480e-03 -2.58165652e-04 9.99983564e-01 1.50265585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.640714057 meters Centerline goodness : 0.984528 with order 1 Centerline is valid? [True, True] Translation: X:302.16, Y:-14.91, Z:1.51 [[ 9.99792912e-01 1.95285985e-02 -5.72415719e-03 3.02158029e+02] [-1.95270600e-02 9.99809276e-01 3.24543302e-04 -1.49130506e+01] [ 5.72940333e-03 -2.12700132e-04 9.99983564e-01 1.50829831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.700714057 meters Centerline goodness : 0.984301 with order 1 Centerline is valid? [True, True] Translation: X:302.21, Y:-14.92, Z:1.51 [[ 9.99776552e-01 2.03489390e-02 -5.72418463e-03 3.02214310e+02] [-2.03474167e-02 9.99792917e-01 3.24058468e-04 -1.49187369e+01] [ 5.72959350e-03 -2.07513688e-04 9.99983564e-01 1.51409379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76071405700003 meters Centerline goodness : 0.983529 with order 1 Centerline is valid? [True, True] Translation: X:302.27, Y:-14.92, Z:1.52 [[ 9.99806461e-01 1.88221645e-02 -5.72422228e-03 3.02272107e+02] [-1.88206210e-02 9.99822824e-01 3.23392075e-04 -1.49230909e+01] [ 5.72929503e-03 -2.15596067e-04 9.99983564e-01 1.51741258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82071405700003 meters Centerline goodness : 0.984599 with order 1 Centerline is valid? [True, True] Translation: X:302.33, Y:-14.93, Z:1.51 [[ 9.99902130e-01 1.27657397e-02 -5.72424855e-03 3.02331015e+02] [-1.27640998e-02 9.99918483e-01 3.22926516e-04 -1.49306151e+01] [ 5.72790432e-03 -2.49830031e-04 9.99983564e-01 1.51459111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88071405700003 meters Centerline goodness : 0.984608 with order 1 Centerline is valid? [True, True] Translation: X:302.39, Y:-14.94, Z:1.51 [[ 9.99975605e-01 4.00266306e-03 -5.72427124e-03 3.02388826e+02] [-4.00088221e-03 9.99991944e-01 3.22523755e-04 -1.49400729e+01] [ 5.72551608e-03 -2.99613752e-04 9.99983564e-01 1.51328691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94071405700004 meters Centerline goodness : 0.984330 with order 1 Centerline is valid? [True, True] Translation: X:302.45, Y:-14.94, Z:1.52 [[ 9.99982094e-01 1.74462980e-03 -5.72430378e-03 3.02446043e+02] [-1.74281536e-03 9.99998429e-01 3.21945084e-04 -1.49429790e+01] [ 5.72485647e-03 -3.11962915e-04 9.99983564e-01 1.51705737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00071405700004 meters Centerline goodness : 0.985531 with order 1 Centerline is valid? [True, True] Translation: X:302.50, Y:-14.95, Z:1.52 [[ 9.99962878e-01 -6.44011468e-03 -5.72432140e-03 3.02504805e+02] [ 6.44206098e-03 9.99979198e-01 3.21631572e-04 -1.49488364e+01] [ 5.72213098e-03 -3.58496060e-04 9.99983564e-01 1.51739553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06071405700004 meters Centerline goodness : 0.987310 with order 1 Centerline is valid? [True, True] Translation: X:302.57, Y:-14.95, Z:1.52 [[ 9.99911162e-01 -1.20374140e-02 -5.72434450e-03 3.02565042e+02] [ 1.20394493e-02 9.99927472e-01 3.21219956e-04 -1.49543069e+01] [ 5.72006266e-03 -3.90109374e-04 9.99983564e-01 1.51716367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12071405700004 meters Centerline goodness : 0.988136 with order 1 Centerline is valid? [True, True] Translation: X:302.63, Y:-14.96, Z:1.51 [[ 9.99855042e-01 -1.60352063e-02 -5.72434450e-03 3.02626999e+02] [ 1.60373068e-02 9.99871343e-01 3.21219956e-04 -1.49613623e+01] [ 5.71845719e-03 -4.12976461e-04 9.99983564e-01 1.51083665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18071405700005 meters Centerline goodness : 0.988655 with order 1 Centerline is valid? [True, True] Translation: X:302.69, Y:-14.97, Z:1.51 [[ 9.99871476e-01 -1.49754556e-02 -5.72426383e-03 3.02688724e+02] [ 1.49775469e-02 9.99887778e-01 3.22651137e-04 -1.49662173e+01] [ 5.71878959e-03 -4.08345098e-04 9.99983564e-01 1.51226129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24071405700005 meters Centerline goodness : 0.989436 with order 1 Centerline is valid? [True, True] Translation: X:302.75, Y:-14.97, Z:1.51 [[ 9.99883362e-01 -1.41596115e-02 -5.72424000e-03 3.02749822e+02] [ 1.41616920e-02 9.99899666e-01 3.23073273e-04 -1.49705777e+01] [ 5.71909108e-03 -4.04100515e-04 9.99983564e-01 1.51286586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30071405700005 meters Centerline goodness : 0.989453 with order 1 Centerline is valid? [True, True] Translation: X:302.81, Y:-14.98, Z:1.51 [[ 9.99890280e-01 -1.36624130e-02 -5.72420141e-03 3.02811415e+02] [ 1.36644892e-02 9.99906584e-01 3.23755672e-04 -1.49752097e+01] [ 5.71924339e-03 -4.01938438e-04 9.99983564e-01 1.51299979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36071405700005 meters Centerline goodness : 0.989189 with order 1 Centerline is valid? [True, True] Translation: X:302.87, Y:-14.98, Z:1.51 [[ 9.99897224e-01 -1.31444343e-02 -5.72417819e-03 3.02872093e+02] [ 1.31465044e-02 9.99913528e-01 3.24165677e-04 -1.49782384e+01] [ 5.71942224e-03 -3.99385295e-04 9.99983564e-01 1.51156681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42071405700005 meters Centerline goodness : 0.992422 with order 1 Centerline is valid? [True, True] Translation: X:302.93, Y:-14.97, Z:1.52 [[ 9.99834000e-01 -1.72975705e-02 -5.72413975e-03 3.02933295e+02] [ 1.72997121e-02 9.99850296e-01 3.24843066e-04 -1.49736620e+01] [ 5.71766382e-03 -4.23815112e-04 9.99983564e-01 1.51529736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48071405700006 meters Centerline goodness : 0.992741 with order 1 Centerline is valid? [True, True] Translation: X:303.00, Y:-14.97, Z:1.51 [[ 9.99873541e-01 -1.48369879e-02 -5.72411633e-03 3.02995782e+02] [ 1.48390918e-02 9.99889842e-01 3.25255149e-04 -1.49742346e+01] [ 5.71865997e-03 -4.10154705e-04 9.99983564e-01 1.51363468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54071405700006 meters Centerline goodness : 0.990334 with order 1 Centerline is valid? [True, True] Translation: X:303.06, Y:-14.98, Z:1.51 [[ 9.99979597e-01 -2.83553313e-03 -5.72409301e-03 3.03056911e+02] [ 2.83744359e-03 9.99995921e-01 3.25665148e-04 -1.49846476e+01] [ 5.72314622e-03 -3.41900294e-04 9.99983564e-01 1.50654869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60071405700006 meters Centerline goodness : 0.987876 with order 1 Centerline is valid? [True, True] Translation: X:303.12, Y:-14.98, Z:1.51 [[ 9.99981351e-01 2.12888940e-03 -5.72407579e-03 3.03116455e+02] [-2.12705827e-03 9.99997685e-01 3.25967451e-04 -1.49837283e+01] [ 5.72475649e-03 -3.13785930e-04 9.99983564e-01 1.50942090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66071405700006 meters Centerline goodness : 0.988793 with order 1 Centerline is valid? [True, True] Translation: X:303.17, Y:-14.98, Z:1.51 [[ 9.99930412e-01 1.03153674e-02 -5.72408744e-03 3.03173815e+02] [-1.03136712e-02 9.99946760e-01 3.25762786e-04 -1.49808852e+01] [ 5.72714305e-03 -2.66703761e-04 9.99983564e-01 1.51455499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72071405700007 meters Centerline goodness : 0.989763 with order 1 Centerline is valid? [True, True] Translation: X:303.23, Y:-14.98, Z:1.51 [[ 9.99838303e-01 1.70470795e-02 -5.72415090e-03 3.03232273e+02] [-1.70454998e-02 9.99854662e-01 3.24643887e-04 -1.49794685e+01] [ 5.72885319e-03 -2.27020380e-04 9.99983564e-01 1.51373379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.78071405700007 meters Centerline goodness : 0.987411 with order 1 Centerline is valid? [True, True] Translation: X:303.29, Y:-14.98, Z:1.51 [[ 9.99546921e-01 2.95497187e-02 -5.72424063e-03 3.03291002e+02] [-2.95483529e-02 9.99563300e-01 3.23053817e-04 -1.49815165e+01] [ 5.73128701e-03 -1.53765567e-04 9.99983564e-01 1.51360369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.84071405700007 meters Centerline goodness : 0.986959 with order 1 Centerline is valid? [True, True] Translation: X:303.35, Y:-14.98, Z:1.52 [[ 9.99318275e-01 3.64721406e-02 -5.72431734e-03 3.03348684e+02] [-3.64708960e-02 9.99334664e-01 3.21688917e-04 -1.49831365e+01] [ 5.73224142e-03 -1.12698632e-04 9.99983564e-01 1.51641387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.900714057 meters Centerline goodness : 0.986698 with order 1 Centerline is valid? [True, True] Translation: X:303.41, Y:-14.99, Z:1.51 [[ 9.99365709e-01 3.51484123e-02 -5.72434422e-03 3.03406438e+02] [-3.51471488e-02 9.99382096e-01 3.21209841e-04 -1.49875330e+01] [ 5.73209714e-03 -1.19811722e-04 9.99983564e-01 1.51373084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.960714057 meters Centerline goodness : 0.986363 with order 1 Centerline is valid? [True, True] Translation: X:303.46, Y:-14.99, Z:1.52 [[ 9.99466966e-01 3.21405614e-02 -5.72443689e-03 3.03463069e+02] [-3.21392580e-02 9.99483350e-01 3.19549656e-04 -1.49933800e+01] [ 5.73174987e-03 -1.35400171e-04 9.99983564e-01 1.51574046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.020714057 meters Centerline goodness : 0.985205 with order 1 Centerline is valid? [True, True] Translation: X:303.52, Y:-15.00, Z:1.52 [[ 9.99489122e-01 3.14440136e-02 -5.72447651e-03 3.03521303e+02] [-3.14427030e-02 9.99505505e-01 3.18838319e-04 -1.49979395e+01] [ 5.73167135e-03 -1.38682417e-04 9.99983564e-01 1.52094524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.080714057 meters Centerline goodness : 0.983658 with order 1 Centerline is valid? [True, True] Translation: X:303.58, Y:-15.01, Z:1.51 [[ 9.99663356e-01 2.53062214e-02 -5.72449956e-03 3.03579603e+02] [-2.53048125e-02 9.99679731e-01 3.18423980e-04 -1.50114313e+01] [ 5.73072429e-03 -1.73459396e-04 9.99983564e-01 1.51118524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.140714057 meters Centerline goodness : 0.984760 with order 1 Centerline is valid? [True, True] Translation: X:303.64, Y:-15.02, Z:1.52 [[ 9.99857772e-01 1.58639758e-02 -5.72452256e-03 3.03637944e+02] [-1.58624147e-02 9.99874133e-01 3.18010035e-04 -1.50165380e+01] [ 5.72884693e-03 -2.27160054e-04 9.99983564e-01 1.52018789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.200714057 meters Centerline goodness : 0.985316 with order 1 Centerline is valid? [True, True] Translation: X:303.70, Y:-15.02, Z:1.52 [[ 9.99983610e-01 9.96405348e-05 -5.72454521e-03 3.03695002e+02] [-9.78240072e-05 9.99999945e-01 3.17601727e-04 -1.50248292e+01] [ 5.72457654e-03 -3.17036524e-04 9.99983564e-01 1.52005128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26071405700003 meters Centerline goodness : 0.985267 with order 1 Centerline is valid? [True, True] Translation: X:303.75, Y:-15.03, Z:1.52 [[ 9.99960316e-01 -6.82610746e-03 -5.72457316e-03 3.03752460e+02] [ 6.82803420e-03 9.99976638e-01 3.17097065e-04 -1.50332811e+01] [ 5.72227489e-03 -3.56172062e-04 9.99983564e-01 1.51963403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32071405700003 meters Centerline goodness : 0.985583 with order 1 Centerline is valid? [True, True] Translation: X:303.81, Y:-15.04, Z:1.52 [[ 9.99952449e-01 -7.89486881e-03 -5.72459971e-03 3.03812878e+02] [ 7.89681026e-03 9.99968770e-01 3.16617164e-04 -1.50404709e+01] [ 5.72192127e-03 -3.61808186e-04 9.99983564e-01 1.52026341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38071405700003 meters Centerline goodness : 0.985667 with order 1 Centerline is valid? [True, True] Translation: X:303.87, Y:-15.05, Z:1.52 [[ 9.99955608e-01 -7.48410132e-03 -5.72459971e-03 3.03873545e+02] [ 7.48603607e-03 9.99971929e-01 3.16617164e-04 -1.50476803e+01] [ 5.72206942e-03 -3.59457668e-04 9.99983564e-01 1.51789892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44071405700004 meters Centerline goodness : 0.984152 with order 1 Centerline is valid? [True, True] Translation: X:303.93, Y:-15.05, Z:1.52 [[ 9.99934948e-01 -9.86552212e-03 -5.72458826e-03 3.03933226e+02] [ 9.86749691e-03 9.99951265e-01 3.16823967e-04 -1.50526467e+01] [ 5.72118364e-03 -3.73290714e-04 9.99983564e-01 1.51911857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50071405700004 meters Centerline goodness : 0.984757 with order 1 Centerline is valid? [True, True] Translation: X:303.99, Y:-15.06, Z:1.52 [[ 9.99942003e-01 -9.12246639e-03 -5.72458263e-03 3.03994291e+02] [ 9.12442964e-03 9.99958321e-01 3.16925744e-04 -1.50574397e+01] [ 5.72145289e-03 -3.69140914e-04 9.99983564e-01 1.51753802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56071405700004 meters Centerline goodness : 0.984021 with order 1 Centerline is valid? [True, True] Translation: X:304.05, Y:-15.06, Z:1.52 [[ 9.99963908e-01 -6.27789205e-03 -5.72457094e-03 3.04054548e+02] [ 6.27981006e-03 9.99980232e-01 3.17136690e-04 -1.50597219e+01] [ 5.72246682e-03 -3.53074462e-04 9.99983564e-01 1.52272187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62071405700004 meters Centerline goodness : 0.983565 with order 1 Centerline is valid? [True, True] Translation: X:304.12, Y:-15.06, Z:1.53 [[ 9.99948415e-01 -8.39032930e-03 -5.72456522e-03 3.04115231e+02] [ 8.39228238e-03 9.99964734e-01 3.17239878e-04 -1.50611781e+01] [ 5.72170159e-03 -3.65265681e-04 9.99983564e-01 1.52584699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68071405700005 meters Centerline goodness : 0.983414 with order 1 Centerline is valid? [True, True] Translation: X:304.18, Y:-15.07, Z:1.53 [[ 9.99943712e-01 -8.93319143e-03 -5.72456522e-03 3.04175207e+02] [ 8.93515338e-03 9.99960030e-01 3.17239878e-04 -1.50656471e+01] [ 5.72150245e-03 -3.68371890e-04 9.99983564e-01 1.52582163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74071405700005 meters Centerline goodness : 0.984415 with order 1 Centerline is valid? [True, True] Translation: X:304.24, Y:-15.07, Z:1.52 [[ 9.99928945e-01 -1.04562917e-02 -5.72455918e-03 3.04235941e+02] [ 1.04582791e-02 9.99945260e-01 3.17348911e-04 -1.50705416e+01] [ 5.72092752e-03 -3.77195399e-04 9.99983564e-01 1.52467459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80071405700005 meters Centerline goodness : 0.985779 with order 1 Centerline is valid? [True, True] Translation: X:304.30, Y:-15.07, Z:1.52 [[ 9.99906680e-01 -1.24040574e-02 -5.72454781e-03 3.04297231e+02] [ 1.24060778e-02 9.99922991e-01 3.17553800e-04 -1.50736504e+01] [ 5.72016802e-03 -3.88543351e-04 9.99983564e-01 1.52478135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86071405700005 meters Centerline goodness : 0.984986 with order 1 Centerline is valid? [True, True] Translation: X:304.36, Y:-15.08, Z:1.52 [[ 9.99914266e-01 -1.17766552e-02 -5.72453631e-03 3.04358987e+02] [ 1.17786665e-02 9.99930579e-01 3.17760954e-04 -1.50762763e+01] [ 5.72039675e-03 -3.85161115e-04 9.99983564e-01 1.52412820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92071405700005 meters Centerline goodness : 0.986143 with order 1 Centerline is valid? [True, True] Translation: X:304.42, Y:-15.08, Z:1.53 [[ 9.99907187e-01 -1.23631398e-02 -5.72451347e-03 3.04421229e+02] [ 1.23651630e-02 9.99923498e-01 3.18171935e-04 -1.50778003e+01] [ 5.72014193e-03 -3.88926947e-04 9.99983564e-01 1.52510835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98071405700006 meters Centerline goodness : 0.985050 with order 1 Centerline is valid? [True, True] Translation: X:304.48, Y:-15.08, Z:1.52 [[ 9.99864677e-01 -1.54226705e-02 -5.72449011e-03 3.04483242e+02] [ 1.54247460e-02 9.99880981e-01 3.18591592e-04 -1.50800126e+01] [ 5.71889526e-03 -4.06847285e-04 9.99983564e-01 1.52059805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04071405700006 meters Centerline goodness : 0.985625 with order 1 Centerline is valid? [True, True] Translation: X:304.55, Y:-15.08, Z:1.52 [[ 9.99861519e-01 -1.56260304e-02 -5.72446680e-03 3.04545904e+02] [ 1.56281116e-02 9.99877823e-01 3.19010028e-04 -1.50814089e+01] [ 5.71878254e-03 -4.08428458e-04 9.99983564e-01 1.52088325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10071405700006 meters Centerline goodness : 0.985062 with order 1 Centerline is valid? [True, True] Translation: X:304.61, Y:-15.08, Z:1.52 [[ 9.99801432e-01 -1.90873596e-02 -5.72444281e-03 3.04608383e+02] [ 1.90894997e-02 9.99817728e-01 3.19439914e-04 -1.50834480e+01] [ 5.71730214e-03 -4.28653233e-04 9.99983564e-01 1.52003636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16071405700006 meters Centerline goodness : 0.985398 with order 1 Centerline is valid? [True, True] Translation: X:304.67, Y:-15.08, Z:1.53 [[ 9.99768345e-01 -2.07482100e-02 -5.72438503e-03 3.04670883e+02] [ 2.07503830e-02 9.99784636e-01 3.20472038e-04 -1.50840755e+01] [ 5.71650298e-03 -4.39180981e-04 9.99983564e-01 1.52696253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22071405700007 meters Centerline goodness : 0.984489 with order 1 Centerline is valid? [True, True] Translation: X:304.73, Y:-15.09, Z:1.53 [[ 9.99724826e-01 -2.27487342e-02 -5.72436219e-03 3.04732506e+02] [ 2.27509422e-02 9.99741112e-01 3.20879484e-04 -1.50881061e+01] [ 5.71558062e-03 -4.51025820e-04 9.99983564e-01 1.52512007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.28071405700007 meters Centerline goodness : 0.984590 with order 1 Centerline is valid? [True, True] Translation: X:304.79, Y:-15.09, Z:1.53 [[ 9.99656864e-01 -2.55614088e-02 -5.72433823e-03 3.04794021e+02] [ 2.55636650e-02 9.99673144e-01 3.21306301e-04 -1.50868854e+01] [ 5.71425416e-03 -4.67531114e-04 9.99983564e-01 1.52585886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.34071405700007 meters Centerline goodness : 0.982472 with order 1 Centerline is valid? [True, True] Translation: X:304.86, Y:-15.09, Z:1.53 [[ 9.99683650e-01 -2.44914720e-02 -5.72432045e-03 3.04855597e+02] [ 2.44937126e-02 9.99699932e-01 3.21622658e-04 -1.50887591e+01] [ 5.71472576e-03 -4.61730773e-04 9.99983564e-01 1.52613660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.4007140570001 meters Centerline goodness : 0.983271 with order 1 Centerline is valid? [True, True] Translation: X:304.92, Y:-15.09, Z:1.52 [[ 9.99729415e-01 -2.25461527e-02 -5.72430304e-03 3.04917968e+02] [ 2.25483633e-02 9.99745702e-01 3.21932343e-04 -1.50898507e+01] [ 5.71558902e-03 -4.50918898e-04 9.99983564e-01 1.52439700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.460714057 meters Centerline goodness : 0.983864 with order 1 Centerline is valid? [True, True] Translation: X:304.98, Y:-15.09, Z:1.52 [[ 9.99631976e-01 -2.65168673e-02 -5.72427996e-03 3.04979924e+02] [ 2.65191450e-02 9.99648254e-01 3.22342184e-04 -1.50907775e+01] [ 5.71371896e-03 -4.74026564e-04 9.99983564e-01 1.52184781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.520714057 meters Centerline goodness : 0.982833 with order 1 Centerline is valid? [True, True] Translation: X:305.04, Y:-15.09, Z:1.52 [[ 9.99677599e-01 -2.47372451e-02 -5.72425633e-03 3.05042772e+02] [ 2.47394961e-02 9.99693880e-01 3.22761190e-04 -1.50909095e+01] [ 5.71451980e-03 -4.64272348e-04 9.99983564e-01 1.52099554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.580714057 meters Centerline goodness : 0.984384 with order 1 Centerline is valid? [True, True] Translation: X:305.10, Y:-15.09, Z:1.53 [[ 9.99766221e-01 -2.08503577e-02 -5.72422082e-03 3.05104116e+02] [ 2.08525490e-02 9.99782510e-01 3.23389808e-04 -1.50909524e+01] [ 5.71623306e-03 -4.42678801e-04 9.99983564e-01 1.52701916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.640714057 meters Centerline goodness : 0.983827 with order 1 Centerline is valid? [True, True] Translation: X:305.17, Y:-15.09, Z:1.53 [[ 9.99805892e-01 -1.88523788e-02 -5.72420340e-03 3.05166461e+02] [ 1.88545393e-02 9.99822185e-01 3.23697920e-04 -1.50921217e+01] [ 5.71708307e-03 -4.31562306e-04 9.99983564e-01 1.52647510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.700714057 meters Centerline goodness : 0.983922 with order 1 Centerline is valid? [True, True] Translation: X:305.23, Y:-15.09, Z:1.52 [[ 9.99819303e-01 -1.81272076e-02 -5.72418030e-03 3.05228966e+02] [ 1.81293586e-02 9.99835597e-01 3.24105908e-04 -1.50938605e+01] [ 5.71736409e-03 -4.27823060e-04 9.99983564e-01 1.52477477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76071405700003 meters Centerline goodness : 0.983995 with order 1 Centerline is valid? [True, True] Translation: X:305.29, Y:-15.09, Z:1.52 [[ 9.99882537e-01 -1.42178032e-02 -5.72415715e-03 3.05290929e+02] [ 1.42198928e-02 9.99898840e-01 3.24514236e-04 -1.50941033e+01] [ 5.71896421e-03 -4.05873019e-04 9.99983564e-01 1.52272537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82071405700003 meters Centerline goodness : 0.984661 with order 1 Centerline is valid? [True, True] Translation: X:305.35, Y:-15.09, Z:1.52 [[ 9.99908307e-01 -1.22724117e-02 -5.72413397e-03 3.05353498e+02] [ 1.22744719e-02 9.99924613e-01 3.24922562e-04 -1.50933889e+01] [ 5.71971486e-03 -3.95153491e-04 9.99983564e-01 1.52405069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88071405700003 meters Centerline goodness : 0.984527 with order 1 Centerline is valid? [True, True] Translation: X:305.42, Y:-15.10, Z:1.52 [[ 9.99918681e-01 -1.13958779e-02 -5.72411071e-03 3.05415666e+02] [ 1.13979262e-02 9.99934989e-01 3.25331831e-04 -1.50957299e+01] [ 5.72003113e-03 -3.90548367e-04 9.99983564e-01 1.52291107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94071405700004 meters Centerline goodness : 0.986133 with order 1 Centerline is valid? [True, True] Translation: X:305.48, Y:-15.10, Z:1.52 [[ 9.99895071e-01 -1.33072170e-02 -5.72408649e-03 3.05477116e+02] [ 1.33092988e-02 9.99911374e-01 3.25757369e-04 -1.50954537e+01] [ 5.71924427e-03 -4.01906765e-04 9.99983564e-01 1.51904118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00071405700004 meters Centerline goodness : 0.986681 with order 1 Centerline is valid? [True, True] Translation: X:305.54, Y:-15.10, Z:1.52 [[ 9.99962125e-01 -6.55618414e-03 -5.72404856e-03 3.05539524e+02] [ 6.55815965e-03 9.99978442e-01 3.26422477e-04 -1.50960864e+01] [ 5.72178508e-03 -3.63949338e-04 9.99983564e-01 1.52311510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06071405700004 meters Centerline goodness : 0.981403 with order 1 Centerline is valid? [True, True] Translation: X:305.60, Y:-15.12, Z:1.51 [[ 9.99915383e-01 1.16817054e-02 -5.72402355e-03 3.05597835e+02] [-1.16800253e-02 9.99931733e-01 3.26860498e-04 -1.51179961e+01] [ 5.72745107e-03 -2.59976100e-04 9.99983564e-01 1.50703718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12071405700004 meters Centerline goodness : 0.981974 with order 1 Centerline is valid? [True, True] Translation: X:305.66, Y:-15.12, Z:1.50 [[ 9.99823960e-01 1.78685385e-02 -5.72403059e-03 3.05657991e+02] [-1.78669603e-02 9.99840320e-01 3.26737131e-04 -1.51236457e+01] [ 5.72895489e-03 -2.24408585e-04 9.99983564e-01 1.50280806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18071405700005 meters Centerline goodness : 0.980324 with order 1 Centerline is valid? [True, True] Translation: X:305.72, Y:-15.13, Z:1.50 [[ 9.99712235e-01 2.32955684e-02 -5.72403169e-03 3.05717764e+02] [-2.32940792e-02 9.99728603e-01 3.26717960e-04 -1.51322928e+01] [ 5.73008928e-03 -1.93287895e-04 9.99983564e-01 1.49679935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24071405700005 meters Centerline goodness : 0.987413 with order 1 Centerline is valid? [True, True] Translation: X:305.78, Y:-15.11, Z:1.52 [[ 9.99981465e-01 -2.07504174e-03 -5.72403757e-03 3.05779161e+02] [ 2.07694521e-03 9.99997790e-01 3.26614875e-04 -1.51100653e+01] [ 5.72334718e-03 -3.38497333e-04 9.99983564e-01 1.52270236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30071405700005 meters Centerline goodness : 0.987350 with order 1 Centerline is valid? [True, True] Translation: X:305.84, Y:-15.11, Z:1.52 [[ 9.99969798e-01 -5.25727474e-03 -5.72404156e-03 3.05837733e+02] [ 5.25922975e-03 9.99986117e-01 3.26544968e-04 -1.51133414e+01] [ 5.72224535e-03 -3.56639155e-04 9.99983564e-01 1.52266692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36071405700005 meters Centerline goodness : 0.985153 with order 1 Centerline is valid? [True, True] Translation: X:305.90, Y:-15.12, Z:1.52 [[ 9.99956878e-01 -7.31280581e-03 -5.72408097e-03 3.05896540e+02] [ 7.31479041e-03 9.99973193e-01 3.25852616e-04 -1.51186366e+01] [ 5.72154463e-03 -3.67709017e-04 9.99983564e-01 1.52340507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42071405700005 meters Centerline goodness : 0.985392 with order 1 Centerline is valid? [True, True] Translation: X:305.96, Y:-15.12, Z:1.53 [[ 9.99960785e-01 -6.75751137e-03 -5.72407466e-03 3.05957993e+02] [ 6.75948755e-03 9.99977101e-01 3.25963486e-04 -1.51225818e+01] [ 5.72174088e-03 -3.64642515e-04 9.99983564e-01 1.52864226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48071405700006 meters Centerline goodness : 0.986495 with order 1 Centerline is valid? [True, True] Translation: X:306.02, Y:-15.13, Z:1.53 [[ 9.99920812e-01 -1.12073616e-02 -5.72406266e-03 3.06018310e+02] [ 1.12094115e-02 9.99937119e-01 3.26174048e-04 -1.51263702e+01] [ 5.72004717e-03 -3.90311593e-04 9.99983564e-01 1.53133522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54071405700006 meters Centerline goodness : 0.985702 with order 1 Centerline is valid? [True, True] Translation: X:306.08, Y:-15.13, Z:1.53 [[ 9.99793538e-01 -1.94965710e-02 -5.72405674e-03 3.06080011e+02] [ 1.94987567e-02 9.99809828e-01 3.26277887e-04 -1.51323857e+01] [ 5.71660688e-03 -4.37822513e-04 9.99983564e-01 1.52749573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60071405700006 meters Centerline goodness : 0.985152 with order 1 Centerline is valid? [True, True] Translation: X:306.14, Y:-15.14, Z:1.53 [[ 9.99749841e-01 -2.16215530e-02 -5.72397176e-03 3.06141924e+02] [ 2.16237817e-02 9.99766125e-01 3.27761977e-04 -1.51375276e+01] [ 5.71554634e-03 -4.51453900e-04 9.99983564e-01 1.52643592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66071405700006 meters Centerline goodness : 0.985109 with order 1 Centerline is valid? [True, True] Translation: X:306.20, Y:-15.14, Z:1.53 [[ 9.99790251e-01 -1.96644559e-02 -5.72391446e-03 3.06204123e+02] [ 1.96666585e-02 9.99806539e-01 3.28759521e-04 -1.51399303e+01] [ 5.71634223e-03 -4.41260834e-04 9.99983564e-01 1.53121414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72071405700007 meters Centerline goodness : 0.985162 with order 1 Centerline is valid? [True, True] Translation: X:306.27, Y:-15.15, Z:1.53 [[ 9.99722747e-01 -2.28400072e-02 -5.72389068e-03 3.06266360e+02] [ 2.28422638e-02 9.99739027e-01 3.29173118e-04 -1.51451378e+01] [ 5.71487858e-03 -4.59828475e-04 9.99983564e-01 1.52713761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.78071405700007 meters Centerline goodness : 0.985886 with order 1 Centerline is valid? [True, True] Translation: X:306.33, Y:-15.15, Z:1.53 [[ 9.99830121e-01 -1.75204640e-02 -5.72386700e-03 3.06327766e+02] [ 1.75226363e-02 9.99846413e-01 3.29584226e-04 -1.51476244e+01] [ 5.71721342e-03 -4.29825477e-04 9.99983564e-01 1.53195603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.84071405700007 meters Centerline goodness : 0.985548 with order 1 Centerline is valid? [True, True] Translation: X:306.39, Y:-15.15, Z:1.53 [[ 9.99836960e-01 -1.71257169e-02 -5.72384957e-03 3.06390231e+02] [ 1.71278845e-02 9.99853253e-01 3.29886767e-04 -1.51500673e+01] [ 5.71736006e-03 -4.27870417e-04 9.99983564e-01 1.53123365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.9007140570001 meters Centerline goodness : 0.985195 with order 1 Centerline is valid? [True, True] Translation: X:306.45, Y:-15.15, Z:1.53 [[ 9.99847287e-01 -1.65118331e-02 -5.72382534e-03 3.06451447e+02] [ 1.65139931e-02 9.99863580e-01 3.30306555e-04 -1.51523225e+01] [ 5.71759053e-03 -4.24779326e-04 9.99983564e-01 1.53223255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.960714057 meters Centerline goodness : 0.985630 with order 1 Centerline is valid? [True, True] Translation: X:306.51, Y:-15.15, Z:1.53 [[ 9.99860017e-01 -1.57221086e-02 -5.72380746e-03 3.06513729e+02] [ 1.57242575e-02 9.99876312e-01 3.30616179e-04 -1.51545432e+01] [ 5.71790151e-03 -4.20572520e-04 9.99983564e-01 1.53463455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.020714057 meters Centerline goodness : 0.984715 with order 1 Centerline is valid? [True, True] Translation: X:306.58, Y:-15.16, Z:1.53 [[ 9.99911702e-01 -1.19927332e-02 -5.72378350e-03 3.06575376e+02] [ 1.19948236e-02 9.99928005e-01 3.31030517e-04 -1.51584579e+01] [ 5.71940145e-03 -3.99657061e-04 9.99983564e-01 1.53399020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.080714057 meters Centerline goodness : 0.985005 with order 1 Centerline is valid? [True, True] Translation: X:306.64, Y:-15.16, Z:1.53 [[ 9.99932675e-01 -1.00937259e-02 -5.72375962e-03 3.06636884e+02] [ 1.00957878e-02 9.99948981e-01 3.31442792e-04 -1.51618507e+01] [ 5.72012211e-03 -3.89206340e-04 9.99983564e-01 1.53266563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.140714057 meters Centerline goodness : 0.983347 with order 1 Centerline is valid? [True, True] Translation: X:306.70, Y:-15.17, Z:1.53 [[ 9.99961599e-01 -6.63624356e-03 -5.72374204e-03 3.06698885e+02] [ 6.63825072e-03 9.99977912e-01 3.31746144e-04 -1.51678820e+01] [ 5.72141406e-03 -3.69729040e-04 9.99983564e-01 1.53022452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.200714057 meters Centerline goodness : 0.981010 with order 1 Centerline is valid? [True, True] Translation: X:306.76, Y:-15.18, Z:1.53 [[ 9.99982967e-01 1.14258760e-03 -5.72371845e-03 3.06758284e+02] [-1.14070507e-03 9.99999294e-01 3.32152653e-04 -1.51770621e+01] [ 5.72409392e-03 -3.25617921e-04 9.99983564e-01 1.52800021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26071405700003 meters Centerline goodness : 0.983538 with order 1 Centerline is valid? [True, True] Translation: X:306.82, Y:-15.17, Z:1.53 [[ 9.99982278e-01 -1.63810666e-03 -5.72371845e-03 3.06817725e+02] [ 1.64003458e-03 9.99998600e-01 3.32152653e-04 -1.51732116e+01] [ 5.72316634e-03 -3.41533863e-04 9.99983564e-01 1.53103154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32071405700003 meters Centerline goodness : 0.983226 with order 1 Centerline is valid? [True, True] Translation: X:306.88, Y:-15.18, Z:1.53 [[ 9.99977037e-01 -3.62838523e-03 -5.72373454e-03 3.06876104e+02] [ 3.63034405e-03 9.99993355e-01 3.31875182e-04 -1.51772989e+01] [ 5.72249233e-03 -3.52646686e-04 9.99983564e-01 1.52811313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38071405700003 meters Centerline goodness : 0.982986 with order 1 Centerline is valid? [True, True] Translation: X:306.94, Y:-15.18, Z:1.54 [[ 9.99982962e-01 -1.14617603e-03 -5.72375834e-03 3.06935085e+02] [ 1.14809200e-03 9.99999286e-01 3.31464131e-04 -1.51801109e+01] [ 5.72337434e-03 -3.38029884e-04 9.99983564e-01 1.53509152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44071405700004 meters Centerline goodness : 0.983574 with order 1 Centerline is valid? [True, True] Translation: X:306.99, Y:-15.19, Z:1.53 [[ 9.99982799e-01 -1.28072733e-03 -5.72377005e-03 3.06993430e+02] [ 1.28264434e-03 9.99999123e-01 3.31261772e-04 -1.51856323e+01] [ 5.72334078e-03 -3.38597636e-04 9.99983564e-01 1.53372717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50071405700004 meters Centerline goodness : 0.983441 with order 1 Centerline is valid? [True, True] Translation: X:307.05, Y:-15.19, Z:1.53 [[ 9.99971234e-01 -4.97689731e-03 -5.72385414e-03 3.07051787e+02] [ 4.97886632e-03 9.99987551e-01 3.29802350e-04 -1.51913505e+01] [ 5.72214150e-03 -3.58291167e-04 9.99983564e-01 1.53394751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56071405700004 meters Centerline goodness : 0.983303 with order 1 Centerline is valid? [True, True] Translation: X:307.11, Y:-15.20, Z:1.53 [[ 9.99896509e-01 -1.31988454e-02 -5.72386762e-03 3.07112150e+02] [ 1.32009471e-02 9.99912809e-01 3.29568264e-04 -1.51983556e+01] [ 5.71901863e-03 -4.05094630e-04 9.99983564e-01 1.52777801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62071405700004 meters Centerline goodness : 0.983798 with order 1 Centerline is valid? [True, True] Translation: X:307.17, Y:-15.21, Z:1.53 [[ 9.99924377e-01 -1.08847415e-02 -5.72386762e-03 3.07174366e+02] [ 1.08868055e-02 9.99940683e-01 3.29568264e-04 -1.52068431e+01] [ 5.71994083e-03 -3.91857975e-04 9.99983564e-01 1.53054025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68071405700005 meters Centerline goodness : 0.985118 with order 1 Centerline is valid? [True, True] Translation: X:307.24, Y:-15.21, Z:1.53 [[ 9.99887463e-01 -1.38671962e-02 -5.72384428e-03 3.07235706e+02] [ 1.38693112e-02 9.99903762e-01 3.29973091e-04 -1.52091862e+01] [ 5.71871763e-03 -4.09321734e-04 9.99983564e-01 1.53010065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74071405700005 meters Centerline goodness : 0.990202 with order 1 Centerline is valid? [True, True] Translation: X:307.30, Y:-15.20, Z:1.53 [[ 9.99699920e-01 -2.38182188e-02 -5.72382713e-03 3.07297182e+02] [ 2.38204976e-02 9.99716197e-01 3.30270428e-04 -1.52047567e+01] [ 5.71433624e-03 -4.66515731e-04 9.99983564e-01 1.53194795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80071405700005 meters Centerline goodness : 0.981827 with order 1 Centerline is valid? [True, True] Translation: X:307.36, Y:-15.23, Z:1.52 [[ 9.99965022e-01 -6.09865666e-03 -5.72375496e-03 3.07358188e+02] [ 6.10065375e-03 9.99981336e-01 3.31516367e-04 -1.52335093e+01] [ 5.72162633e-03 -3.66423418e-04 9.99983564e-01 1.51888782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86071405700005 meters Centerline goodness : 0.984541 with order 1 Centerline is valid? [True, True] Translation: X:307.42, Y:-15.23, Z:1.53 [[ 9.99759433e-01 -2.11734701e-02 -5.72373238e-03 3.07419204e+02] [ 2.11757151e-02 9.99775714e-01 3.31905770e-04 -1.52265167e+01] [ 5.71542104e-03 -4.53030050e-04 9.99983564e-01 1.53352699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92071405700005 meters Centerline goodness : 0.983961 with order 1 Centerline is valid? [True, True] Translation: X:307.48, Y:-15.24, Z:1.54 [[ 9.99761562e-01 -2.10727061e-02 -5.72372645e-03 3.07480431e+02] [ 2.10749500e-02 9.99777843e-01 3.32008061e-04 -1.52362727e+01] [ 5.71545858e-03 -4.52556146e-04 9.99983564e-01 1.53508312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98071405700006 meters Centerline goodness : 0.984065 with order 1 Centerline is valid? [True, True] Translation: X:307.54, Y:-15.25, Z:1.53 [[ 9.99589026e-01 -2.80894767e-02 -5.72370260e-03 3.07542151e+02] [ 2.80918373e-02 9.99605291e-01 3.32418638e-04 -1.52468246e+01] [ 5.71210594e-03 -4.93071345e-04 9.99983564e-01 1.52944226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04071405700006 meters Centerline goodness : 0.983871 with order 1 Centerline is valid? [True, True] Translation: X:307.60, Y:-15.25, Z:1.53 [[ 9.99586111e-01 -2.81930440e-02 -5.72361809e-03 3.07604833e+02] [ 2.81954144e-02 9.99602375e-01 3.33867448e-04 -1.52541361e+01] [ 5.71192950e-03 -4.95109048e-04 9.99983564e-01 1.53034821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10071405700006 meters Centerline goodness : 0.983764 with order 1 Centerline is valid? [True, True] Translation: X:307.67, Y:-15.26, Z:1.53 [[ 9.99548257e-01 -2.95046309e-02 -5.72357995e-03 3.07666530e+02] [ 2.95070264e-02 9.99564517e-01 3.34519998e-04 -1.52632854e+01] [ 5.71121754e-03 -5.03254705e-04 9.99983564e-01 1.53049588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16071405700006 meters Centerline goodness : 0.984295 with order 1 Centerline is valid? [True, True] Translation: X:307.73, Y:-15.27, Z:1.53 [[ 9.99515862e-01 -3.05823981e-02 -5.72355468e-03 3.07729755e+02] [ 3.05848136e-02 9.99532119e-01 3.34951865e-04 -1.52698765e+01] [ 5.71063311e-03 -5.09843555e-04 9.99983564e-01 1.53234420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22071405700007 meters Centerline goodness : 0.983311 with order 1 Centerline is valid? [True, True] Translation: X:307.79, Y:-15.27, Z:1.53 [[ 9.99635483e-01 -2.63845056e-02 -5.72351695e-03 3.07790773e+02] [ 2.63868564e-02 9.99651750e-01 3.35595429e-04 -1.52739489e+01] [ 5.71266921e-03 -4.86498719e-04 9.99983564e-01 1.53464930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.28071405700007 meters Centerline goodness : 0.983323 with order 1 Centerline is valid? [True, True] Translation: X:307.85, Y:-15.28, Z:1.53 [[ 9.99812172e-01 -1.85165384e-02 -5.72349837e-03 3.07853045e+02] [ 1.85187630e-02 9.99828457e-01 3.35912014e-04 -1.52781525e+01] [ 5.71629661e-03 -4.41841029e-04 9.99983564e-01 1.53374682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.34071405700007 meters Centerline goodness : 0.981850 with order 1 Centerline is valid? [True, True] Translation: X:307.92, Y:-15.28, Z:1.53 [[ 9.99929495e-01 -1.04041429e-02 -5.72347448e-03 3.07915106e+02] [ 1.04062376e-02 9.99945797e-01 3.36318505e-04 -1.52810489e+01] [ 5.71966514e-03 -3.95854628e-04 9.99983564e-01 1.53453028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.4007140570001 meters Centerline goodness : 0.982636 with order 1 Centerline is valid? [True, True] Translation: X:307.98, Y:-15.28, Z:1.53 [[ 9.99968108e-01 -5.57006960e-03 -5.72345058e-03 3.07975379e+02] [ 5.57208775e-03 9.99984419e-01 3.36724782e-04 -1.52829302e+01] [ 5.72148582e-03 -3.68605612e-04 9.99983564e-01 1.53041570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.460714057 meters Centerline goodness : 0.983906 with order 1 Centerline is valid? [True, True] Translation: X:308.04, Y:-15.28, Z:1.53 [[ 9.99980698e-01 -2.41789310e-03 -5.72344470e-03 3.08035787e+02] [ 2.41986039e-03 9.99997015e-01 3.36824691e-04 -1.52846334e+01] [ 5.72261321e-03 -3.50668126e-04 9.99983564e-01 1.52832128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.520714057 meters Centerline goodness : 0.988990 with order 1 Centerline is valid? [True, True] Translation: X:308.09, Y:-15.27, Z:1.54 [[ 9.99930377e-01 -1.03190408e-02 -5.72344470e-03 3.08094966e+02] [ 1.03211370e-02 9.99946679e-01 3.36824691e-04 -1.52696549e+01] [ 5.71966381e-03 -3.95873697e-04 9.99983564e-01 1.53648331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.580714057 meters Centerline goodness : 0.980877 with order 1 Centerline is valid? [True, True] Translation: X:308.15, Y:-15.29, Z:1.52 [[ 9.99975832e-01 3.94680913e-03 -5.72346353e-03 3.08154834e+02] [-3.94494757e-03 9.99992162e-01 3.36504407e-04 -1.52927922e+01] [ 5.72474679e-03 -3.13917511e-04 9.99983564e-01 1.51894336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.640714057 meters Centerline goodness : 0.989670 with order 1 Centerline is valid? [True, True] Translation: X:308.21, Y:-15.27, Z:1.54 [[ 9.99902752e-01 -1.27172332e-02 -5.72346589e-03 3.08214972e+02] [ 1.27193664e-02 9.99919049e-01 3.36464171e-04 -1.52743343e+01] [ 5.71872368e-03 -4.09230310e-04 9.99983564e-01 1.53575677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.700714057 meters Centerline goodness : 0.979324 with order 1 Centerline is valid? [True, True] Translation: X:308.27, Y:-15.30, Z:1.51 [[ 9.99926728e-01 1.06667606e-02 -5.72348363e-03 3.08273622e+02] [-1.06650107e-02 9.99943071e-01 3.36162254e-04 -1.53040526e+01] [ 5.72674355e-03 -2.75096608e-04 9.99983564e-01 1.51198515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76071405700003 meters Centerline goodness : 0.980565 with order 1 Centerline is valid? [True, True] Translation: X:308.33, Y:-15.30, Z:1.52 [[ 9.99963037e-01 6.41617840e-03 -5.72348408e-03 3.08333508e+02] [-6.41435916e-03 9.99979371e-01 3.36154559e-04 -1.53011531e+01] [ 5.72552284e-03 -2.99429651e-04 9.99983564e-01 1.51773570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82071405700003 meters Centerline goodness : 0.983472 with order 1 Centerline is valid? [True, True] Translation: X:308.39, Y:-15.29, Z:1.53 [[ 9.99964419e-01 -6.19702435e-03 -5.72349577e-03 3.08394532e+02] [ 6.19904834e-03 9.99980729e-01 3.35955356e-04 -1.52865738e+01] [ 5.72130355e-03 -3.71423629e-04 9.99983564e-01 1.53373716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88071405700003 meters Centerline goodness : 0.984675 with order 1 Centerline is valid? [True, True] Translation: X:308.45, Y:-15.28, Z:1.54 [[ 9.99978716e-01 -3.13179225e-03 -5.72350157e-03 3.08454063e+02] [ 3.13376567e-03 9.99995033e-01 3.35856456e-04 -1.52839300e+01] [ 5.72242132e-03 -3.53785420e-04 9.99983564e-01 1.53822017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94071405700004 meters Centerline goodness : 0.980212 with order 1 Centerline is valid? [True, True] Translation: X:308.51, Y:-15.30, Z:1.52 [[ 9.99974875e-01 4.18223048e-03 -5.72350755e-03 3.08513544e+02] [-4.18037704e-03 9.99991206e-01 3.35754542e-04 -1.52960099e+01] [ 5.72486142e-03 -3.11819687e-04 9.99983564e-01 1.52074157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00071405700004 meters Centerline goodness : 0.980351 with order 1 Centerline is valid? [True, True] Translation: X:308.57, Y:-15.29, Z:1.52 [[ 9.99965247e-01 6.06186420e-03 -5.72351945e-03 3.08571658e+02] [-6.06004262e-03 9.99981581e-01 3.35551540e-04 -1.52937601e+01] [ 5.72544810e-03 -3.00855106e-04 9.99983564e-01 1.52390190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06071405700004 meters Centerline goodness : 0.981029 with order 1 Centerline is valid? [True, True] Translation: X:308.63, Y:-15.29, Z:1.53 [[ 9.99911681e-01 1.19946158e-02 -5.72361469e-03 3.08631041e+02] [-1.19929005e-02 9.99928027e-01 3.33919134e-04 -1.52910862e+01] [ 5.72720798e-03 -2.65246901e-04 9.99983564e-01 1.53004980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12071405700004 meters Centerline goodness : 0.978438 with order 1 Centerline is valid? [True, True] Translation: X:308.69, Y:-15.30, Z:1.52 [[ 9.99693369e-01 2.40916347e-02 -5.72365847e-03 3.08690903e+02] [-2.40901216e-02 9.99709735e-01 3.33166954e-04 -1.52999855e+01] [ 5.73002363e-03 -1.95181166e-04 9.99983564e-01 1.52353181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18071405700005 meters Centerline goodness : 0.988649 with order 1 Centerline is valid? [True, True] Translation: X:308.75, Y:-15.27, Z:1.54 [[ 9.99983591e-01 2.39921112e-04 -5.72366228e-03 3.08751705e+02] [-2.38018437e-04 9.99999916e-01 3.33101489e-04 -1.52744626e+01] [ 5.72374172e-03 -3.31733686e-04 9.99983564e-01 1.54177934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24071405700005 meters Centerline goodness : 0.986926 with order 1 Centerline is valid? [True, True] Translation: X:308.81, Y:-15.28, Z:1.54 [[ 9.99982769e-01 -1.30440394e-03 -5.72366277e-03 3.08810382e+02] [ 1.30633178e-03 9.99999091e-01 3.33093066e-04 -1.52772973e+01] [ 5.72322308e-03 -3.40564329e-04 9.99983564e-01 1.53921986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30071405700005 meters Centerline goodness : 0.977536 with order 1 Centerline is valid? [True, True] Translation: X:308.87, Y:-15.31, Z:1.52 [[ 9.99731116e-01 2.24707686e-02 -5.72368584e-03 3.08868356e+02] [-2.24692317e-02 9.99747480e-01 3.32696213e-04 -1.53106947e+01] [ 5.72971643e-03 -2.03999933e-04 9.99983564e-01 1.52139380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36071405700005 meters Centerline goodness : 0.977364 with order 1 Centerline is valid? [True, True] Translation: X:308.93, Y:-15.31, Z:1.52 [[ 9.99852226e-01 1.62100147e-02 -5.72369672e-03 3.08926382e+02] [-1.62083763e-02 9.99868580e-01 3.32508941e-04 -1.53132101e+01] [ 5.72833449e-03 -2.39687974e-04 9.99983564e-01 1.52346173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42071405700005 meters Centerline goodness : 0.977074 with order 1 Centerline is valid? [True, True] Translation: X:308.99, Y:-15.32, Z:1.52 [[ 9.99911345e-01 1.20225182e-02 -5.72371962e-03 3.08985906e+02] [-1.20208136e-02 9.99927692e-01 3.32114305e-04 -1.53164163e+01] [ 5.72729860e-03 -2.63281095e-04 9.99983564e-01 1.52432688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48071405700006 meters Centerline goodness : 0.987237 with order 1 Centerline is valid? [True, True] Translation: X:309.05, Y:-15.30, Z:1.54 [[ 9.99823682e-01 -1.78841951e-02 -5.72373128e-03 3.09046338e+02] [ 1.78863866e-02 9.99839971e-01 3.31913222e-04 -1.52954883e+01] [ 5.71687931e-03 -4.34231570e-04 9.99983564e-01 1.54006227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54071405700006 meters Centerline goodness : 0.980041 with order 1 Centerline is valid? [True, True] Translation: X:309.11, Y:-15.32, Z:1.53 [[ 9.99971390e-01 -4.94548213e-03 -5.72373527e-03 3.09107022e+02] [ 4.94746226e-03 9.99987706e-01 3.31844395e-04 -1.53176940e+01] [ 5.72202377e-03 -3.60152866e-04 9.99983564e-01 1.53383467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60071405700006 meters Centerline goodness : 0.980700 with order 1 Centerline is valid? [True, True] Translation: X:309.17, Y:-15.32, Z:1.53 [[ 9.99955611e-01 -7.48428818e-03 -5.72371777e-03 3.09166323e+02] [ 7.48631146e-03 9.99971922e-01 3.32146045e-04 -1.53218390e+01] [ 5.72107118e-03 -3.74980836e-04 9.99983564e-01 1.53420727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66071405700006 meters Centerline goodness : 0.977037 with order 1 Centerline is valid? [True, True] Translation: X:309.23, Y:-15.34, Z:1.52 [[ 9.99982582e-01 1.44006098e-03 -5.72372960e-03 3.09226053e+02] [-1.43818451e-03 9.99998911e-01 3.31941929e-04 -1.53363105e+01] [ 5.72420138e-03 -3.23704368e-04 9.99983564e-01 1.52407945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72071405700007 meters Centerline goodness : 0.976336 with order 1 Centerline is valid? [True, True] Translation: X:309.28, Y:-15.35, Z:1.51 [[ 9.99983305e-01 7.92890054e-04 -5.72373068e-03 3.09283426e+02] [-7.91003128e-04 9.99999632e-01 3.31923360e-04 -1.53453423e+01] [ 5.72399175e-03 -3.27390330e-04 9.99983564e-01 1.51437171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.78071405700007 meters Centerline goodness : 0.977086 with order 1 Centerline is valid? [True, True] Translation: X:309.34, Y:-15.35, Z:1.52 [[ 9.99980555e-01 2.47553381e-03 -5.72375999e-03 3.09343546e+02] [-2.47367725e-03 9.99996886e-01 3.31417216e-04 -1.53451256e+01] [ 5.72456259e-03 -3.17252037e-04 9.99983564e-01 1.52289552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.84071405700007 meters Centerline goodness : 0.977750 with order 1 Centerline is valid? [True, True] Translation: X:309.40, Y:-15.34, Z:1.53 [[ 9.99982793e-01 -1.28500602e-03 -5.72376573e-03 3.09404228e+02] [ 1.28692341e-03 9.99999117e-01 3.31318062e-04 -1.53427690e+01] [ 5.72333493e-03 -3.38678409e-04 9.99983564e-01 1.53123351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.9007140570001 meters Centerline goodness : 0.980671 with order 1 Centerline is valid? [True, True] Translation: X:309.46, Y:-15.34, Z:1.54 [[ 9.99936689e-01 -9.68793292e-03 -5.72376573e-03 3.09464312e+02] [ 9.68998741e-03 9.99952996e-01 3.31318062e-04 -1.53359227e+01] [ 5.72028690e-03 -3.86760304e-04 9.99983564e-01 1.53970799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.960714057 meters Centerline goodness : 0.980543 with order 1 Centerline is valid? [True, True] Translation: X:309.53, Y:-15.34, Z:1.54 [[ 9.99955150e-01 -7.54556741e-03 -5.72377162e-03 3.09525136e+02] [ 7.54758638e-03 9.99971462e-01 3.31216126e-04 -1.53390014e+01] [ 5.72110906e-03 -3.74401932e-04 9.99983564e-01 1.53733971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.020714057 meters Centerline goodness : 0.978576 with order 1 Centerline is valid? [True, True] Translation: X:309.58, Y:-15.35, Z:1.53 [[ 9.99980732e-01 -2.40282746e-03 -5.72375978e-03 3.09584832e+02] [ 2.40476369e-03 9.99997054e-01 3.31420621e-04 -1.53466258e+01] [ 5.72294657e-03 -3.45178525e-04 9.99983564e-01 1.53171615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.080714057 meters Centerline goodness : 0.975702 with order 1 Centerline is valid? [True, True] Translation: X:309.64, Y:-15.36, Z:1.52 [[ 9.99914854e-01 1.17270687e-02 -5.72375978e-03 3.09644698e+02] [-1.17253633e-02 9.99931201e-01 3.31420621e-04 -1.53625581e+01] [ 5.72725259e-03 -2.64279239e-04 9.99983564e-01 1.51660861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.140714057 meters Centerline goodness : 0.977040 with order 1 Centerline is valid? [True, True] Translation: X:309.70, Y:-15.36, Z:1.52 [[ 9.99890352e-01 1.36573094e-02 -5.72376228e-03 3.09704147e+02] [-1.36556358e-02 9.99906703e-01 3.31377456e-04 -1.53600942e+01] [ 5.72775399e-03 -2.53179509e-04 9.99983564e-01 1.51997686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.200714057 meters Centerline goodness : 0.978570 with order 1 Centerline is valid? [True, True] Translation: X:309.76, Y:-15.35, Z:1.54 [[ 9.99958768e-01 7.04981253e-03 -5.72378057e-03 3.09763708e+02] [-7.04803272e-03 9.99975108e-01 3.31061211e-04 -1.53477014e+01] [ 5.72597201e-03 -2.90706168e-04 9.99983564e-01 1.53783053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26071405700003 meters Centerline goodness : 0.979194 with order 1 Centerline is valid? [True, True] Translation: X:309.82, Y:-15.35, Z:1.54 [[ 9.99890078e-01 1.36773507e-02 -5.72379197e-03 3.09821979e+02] [-1.36756803e-02 9.99906429e-01 3.30864139e-04 -1.53485760e+01] [ 5.72778173e-03 -2.52551021e-04 9.99983564e-01 1.53718952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32071405700003 meters Centerline goodness : 0.976460 with order 1 Centerline is valid? [True, True] Translation: X:309.88, Y:-15.35, Z:1.53 [[ 9.99664203e-01 2.52729124e-02 -5.72382114e-03 3.09880853e+02] [-2.52714347e-02 9.99680572e-01 3.30358601e-04 -1.53523401e+01] [ 5.73034192e-03 -1.85598495e-04 9.99983564e-01 1.53360749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38071405700003 meters Centerline goodness : 0.975931 with order 1 Centerline is valid? [True, True] Translation: X:309.94, Y:-15.35, Z:1.54 [[ 9.99592391e-01 2.79694311e-02 -5.72390289e-03 3.09939693e+02] [-2.79680057e-02 9.99608765e-01 3.28936115e-04 -1.53486062e+01] [ 5.73086365e-03 -1.68715890e-04 9.99983564e-01 1.54149263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44071405700004 meters Centerline goodness : 0.985962 with order 1 Centerline is valid? [True, True] Translation: X:310.00, Y:-15.34, Z:1.55 [[ 9.99870930e-01 1.50119494e-02 -5.72398436e-03 3.09999343e+02] [-1.50103200e-02 9.99887285e-01 3.27512318e-04 -1.53360772e+01] [ 5.72825578e-03 -2.41551209e-04 9.99983564e-01 1.55192046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.50071405700004 meters Centerline goodness : 0.972910 with order 1 Centerline is valid? [True, True] Translation: X:310.06, Y:-15.34, Z:1.56 [[ 9.99926794e-01 1.06603379e-02 -5.72400172e-03 3.10058207e+02] [-1.06586392e-02 9.99943142e-01 3.27208586e-04 -1.53396561e+01] [ 5.72716442e-03 -2.66174564e-04 9.99983564e-01 1.55549995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.56071405700004 meters Centerline goodness : 0.971824 with order 1 Centerline is valid? [True, True] Translation: X:310.12, Y:-15.35, Z:1.56 [[ 9.99928010e-01 1.05456247e-02 -5.72402631e-03 3.10115826e+02] [-1.05439265e-02 9.99944358e-01 3.26777862e-04 -1.53459619e+01] [ 5.72715389e-03 -2.66400625e-04 9.99983564e-01 1.55536555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.62071405700004 meters Centerline goodness : 0.971576 with order 1 Centerline is valid? [True, True] Translation: X:310.17, Y:-15.36, Z:1.55 [[ 9.99950451e-01 8.14434360e-03 -5.72406724e-03 3.10173404e+02] [-8.14261025e-03 9.99966795e-01 3.26059349e-04 -1.53565168e+01] [ 5.72653271e-03 -2.79434345e-04 9.99983564e-01 1.55039521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.68071405700005 meters Centerline goodness : 0.980316 with order 1 Centerline is valid? [True, True] Translation: X:310.23, Y:-15.37, Z:1.55 [[ 9.99932053e-01 1.01549736e-02 -5.72410659e-03 3.10231235e+02] [-1.01532770e-02 9.99948401e-01 3.25366981e-04 -1.53699309e+01] [ 5.72711533e-03 -2.67226433e-04 9.99983564e-01 1.54728856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.74071405700005 meters Centerline goodness : 0.978990 with order 1 Centerline is valid? [True, True] Translation: X:310.29, Y:-15.38, Z:1.55 [[ 9.99855544e-01 1.60039174e-02 -5.72414057e-03 3.10288606e+02] [-1.60023200e-02 9.99871902e-01 3.24768106e-04 -1.53828222e+01] [ 5.72860488e-03 -2.33121663e-04 9.99983564e-01 1.54668236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.80071405700005 meters Centerline goodness : 0.973068 with order 1 Centerline is valid? [True, True] Translation: X:310.35, Y:-15.38, Z:1.55 [[ 9.99956126e-01 7.41488520e-03 -5.72417414e-03 3.10348182e+02] [-7.41315068e-03 9.99972470e-01 3.24175342e-04 -1.53777978e+01] [ 5.72642027e-03 -2.81726954e-04 9.99983564e-01 1.55040813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.86071405700005 meters Centerline goodness : 0.974920 with order 1 Centerline is valid? [True, True] Translation: X:310.41, Y:-15.39, Z:1.55 [[ 9.99965888e-01 5.95459339e-03 -5.72419836e-03 3.10405617e+02] [-5.95283745e-03 9.99982229e-01 3.23747067e-04 -1.53893367e+01] [ 5.72602442e-03 -2.89660801e-04 9.99983564e-01 1.55311611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.92071405700005 meters Centerline goodness : 0.973747 with order 1 Centerline is valid? [True, True] Translation: X:310.46, Y:-15.40, Z:1.55 [[ 9.99983531e-01 4.13897717e-04 -5.72423868e-03 3.10463757e+02] [-4.12055331e-04 9.99999863e-01 3.23032644e-04 -1.53971792e+01] [ 5.72437160e-03 -3.20668620e-04 9.99983564e-01 1.55120439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.98071405700006 meters Centerline goodness : 0.976191 with order 1 Centerline is valid? [True, True] Translation: X:310.52, Y:-15.40, Z:1.55 [[ 9.99940035e-01 -9.33585630e-03 -5.72426909e-03 3.10522625e+02] [ 9.33785475e-03 9.99956349e-01 3.22492759e-04 -1.54041063e+01] [ 5.72100848e-03 -3.75925814e-04 9.99983564e-01 1.54823020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.04071405700006 meters Centerline goodness : 0.978415 with order 1 Centerline is valid? [True, True] Translation: X:310.58, Y:-15.43, Z:1.54 [[ 9.99982480e-01 -1.50746860e-03 -5.72430056e-03 3.10581640e+02] [ 1.50933609e-03 9.99998809e-01 3.21933338e-04 -1.54326828e+01] [ 5.72380844e-03 -3.30567591e-04 9.99983564e-01 1.54071587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.10071405700006 meters Centerline goodness : 0.979792 with order 1 Centerline is valid? [True, True] Translation: X:310.64, Y:-15.43, Z:1.55 [[ 9.99958384e-01 -7.10376371e-03 -5.72427375e-03 3.10640627e+02] [ 7.10572527e-03 9.99974702e-01 3.22409253e-04 -1.54330814e+01] [ 5.72183862e-03 -3.63070952e-04 9.99983564e-01 1.54601576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.16071405700006 meters Centerline goodness : 0.979022 with order 1 Centerline is valid? [True, True] Translation: X:310.70, Y:-15.44, Z:1.54 [[ 9.99978054e-01 -3.33535898e-03 -5.72429588e-03 3.10700298e+02] [ 3.33725679e-03 9.99994380e-01 3.22015965e-04 -1.54417656e+01] [ 5.72318966e-03 -3.41112343e-04 9.99983564e-01 1.53725004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.22071405700007 meters Centerline goodness : 0.988134 with order 1 Centerline is valid? [True, True] Translation: X:310.76, Y:-15.42, Z:1.55 [[ 9.99768139e-01 -2.07581707e-02 -5.72427169e-03 3.10760761e+02] [ 2.07603551e-02 9.99784429e-01 3.22445350e-04 -1.54207690e+01] [ 5.71634432e-03 -4.41208500e-04 9.99983564e-01 1.55096273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.28071405700007 meters Centerline goodness : 0.977434 with order 1 Centerline is valid? [True, True] Translation: X:310.82, Y:-15.45, Z:1.53 [[ 9.99982163e-01 1.70496100e-03 -5.72428302e-03 3.10820071e+02] [-1.70314420e-03 9.99998498e-01 3.22244145e-04 -1.54479311e+01] [ 5.72482383e-03 -3.12489117e-04 9.99983564e-01 1.53383035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.34071405700007 meters Centerline goodness : 0.978122 with order 1 Centerline is valid? [True, True] Translation: X:310.88, Y:-15.45, Z:1.53 [[ 9.99982603e-01 1.42382056e-03 -5.72427730e-03 3.10877679e+02] [-1.42199859e-03 9.99998937e-01 3.22345709e-04 -1.54496181e+01] [ 5.72473017e-03 -3.14200187e-04 9.99983564e-01 1.52999341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.4007140570001 meters Centerline goodness : 0.987388 with order 1 Centerline is valid? [True, True] Translation: X:310.94, Y:-15.42, Z:1.55 [[ 9.99794837e-01 -1.94297585e-02 -5.72430453e-03 3.10938393e+02] [ 1.94319179e-02 9.99811131e-01 3.21861340e-04 -1.54200618e+01] [ 5.71696970e-03 -4.33029522e-04 9.99983564e-01 1.55030423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.460714057 meters Centerline goodness : 0.979164 with order 1 Centerline is valid? [True, True] Translation: X:311.00, Y:-15.44, Z:1.54 [[ 9.99965022e-01 6.09813812e-03 -5.72431537e-03 3.10999423e+02] [-6.09639639e-03 9.99981365e-01 3.21668518e-04 -1.54407603e+01] [ 5.72617027e-03 -2.86759571e-04 9.99983564e-01 1.54093378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.520714057 meters Centerline goodness : 0.980032 with order 1 Centerline is valid? [True, True] Translation: X:311.06, Y:-15.44, Z:1.55 [[ 9.99928317e-01 1.05162943e-02 -5.72429695e-03 3.11057344e+02] [-1.05146230e-02 9.99944668e-01 3.21995994e-04 -1.54382457e+01] [ 5.72736641e-03 -2.61784088e-04 9.99983564e-01 1.54515688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.580714057 meters Centerline goodness : 0.975986 with order 1 Centerline is valid? [True, True] Translation: X:311.12, Y:-15.41, Z:1.56 [[ 9.99982006e-01 -1.79463970e-03 -5.72432629e-03 3.11117204e+02] [ 1.79650925e-03 9.99998335e-01 3.21473488e-04 -1.54146123e+01] [ 5.72373983e-03 -3.31751509e-04 9.99983564e-01 1.55556692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.640714057 meters Centerline goodness : 0.980078 with order 1 Centerline is valid? [True, True] Translation: X:311.17, Y:-15.43, Z:1.56 [[ 9.99921310e-01 1.11626672e-02 -5.72434203e-03 3.11174801e+02] [-1.11610110e-02 9.99937662e-01 3.21192945e-04 -1.54289989e+01] [ 5.72757056e-03 -2.57278226e-04 9.99983564e-01 1.55584564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.700714057 meters Centerline goodness : 0.976159 with order 1 Centerline is valid? [True, True] Translation: X:311.23, Y:-15.42, Z:1.56 [[ 9.99983438e-01 5.96050439e-04 -5.72445654e-03 3.11233623e+02] [-5.94233248e-04 9.99999773e-01 3.19138916e-04 -1.54163140e+01] [ 5.72464546e-03 -3.15731968e-04 9.99983564e-01 1.55636833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76071405700003 meters Centerline goodness : 0.986179 with order 1 Centerline is valid? [True, True] Translation: X:311.29, Y:-15.42, Z:1.55 [[ 9.99978117e-01 -3.31605466e-03 -5.72448777e-03 3.11291772e+02] [ 3.31793254e-03 9.99994445e-01 3.18577705e-04 -1.54230660e+01] [ 5.72339955e-03 -3.37564198e-04 9.99983564e-01 1.55475084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82071405700003 meters Centerline goodness : 0.975762 with order 1 Centerline is valid? [True, True] Translation: X:311.35, Y:-15.42, Z:1.56 [[ 9.99973378e-01 -4.52467304e-03 -5.72451838e-03 3.11350782e+02] [ 4.52656751e-03 9.99989704e-01 3.18026882e-04 -1.54247865e+01] [ 5.72302047e-03 -3.43930834e-04 9.99983564e-01 1.55596849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88071405700003 meters Centerline goodness : 0.976899 with order 1 Centerline is valid? [True, True] Translation: X:311.41, Y:-15.46, Z:1.54 [[ 9.99915234e-01 1.16941463e-02 -5.72461641e-03 3.11409418e+02] [-1.16925270e-02 9.99931590e-01 3.16252401e-04 -1.54572779e+01] [ 5.72792309e-03 -2.49290362e-04 9.99983564e-01 1.54043460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94071405700004 meters Centerline goodness : 0.977339 with order 1 Centerline is valid? [True, True] Translation: X:311.47, Y:-15.46, Z:1.54 [[ 9.99957626e-01 7.20931606e-03 -5.72462455e-03 3.11468020e+02] [-7.20762427e-03 9.99973975e-01 3.16104981e-04 -1.54614565e+01] [ 5.72675446e-03 -2.74830643e-04 9.99983564e-01 1.53788692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.00071405700004 meters Centerline goodness : 0.978327 with order 1 Centerline is valid? [True, True] Translation: X:311.53, Y:-15.46, Z:1.54 [[ 9.99981214e-01 2.19071328e-03 -5.72464807e-03 3.11526305e+02] [-2.18894190e-03 9.99997554e-01 3.15678475e-04 -1.54625536e+01] [ 5.72532563e-03 -3.03141622e-04 9.99983564e-01 1.54049937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.06071405700004 meters Centerline goodness : 0.979168 with order 1 Centerline is valid? [True, True] Translation: X:311.58, Y:-15.46, Z:1.55 [[ 9.99965795e-01 -5.96963856e-03 -5.72467735e-03 3.11584410e+02] [ 5.97154019e-03 9.99982121e-01 3.15146577e-04 -1.54635294e+01] [ 5.72269368e-03 -3.49320938e-04 9.99983564e-01 1.54665449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.12071405700004 meters Centerline goodness : 0.986956 with order 1 Centerline is valid? [True, True] Translation: X:311.65, Y:-15.45, Z:1.56 [[ 9.99818532e-01 -1.81694951e-02 -5.72470058e-03 3.11645212e+02] [ 1.81715933e-02 9.99834833e-01 3.14724053e-04 -1.54499911e+01] [ 5.71803667e-03 -4.18693871e-04 9.99983564e-01 1.55688398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.18071405700005 meters Centerline goodness : 0.977482 with order 1 Centerline is valid? [True, True] Translation: X:311.70, Y:-15.48, Z:1.54 [[ 9.99976088e-01 3.87970738e-03 -5.72469502e-03 3.11704510e+02] [-3.87796846e-03 9.99992431e-01 3.14825025e-04 -1.54773618e+01] [ 5.72587312e-03 -2.92617310e-04 9.99983564e-01 1.54411899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.24071405700005 meters Centerline goodness : 0.977630 with order 1 Centerline is valid? [True, True] Translation: X:311.76, Y:-15.48, Z:1.54 [[ 9.99963506e-01 -6.34148464e-03 -5.72468917e-03 3.11763993e+02] [ 6.34339111e-03 9.99979831e-01 3.14931447e-04 -1.54803399e+01] [ 5.72257657e-03 -3.51233896e-04 9.99983564e-01 1.54446093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.30071405700005 meters Centerline goodness : 0.979145 with order 1 Centerline is valid? [True, True] Translation: X:311.82, Y:-15.48, Z:1.55 [[ 9.99936798e-01 -9.67610956e-03 -5.72469475e-03 3.11823694e+02] [ 9.67806989e-03 9.99953117e-01 3.14829916e-04 -1.54799572e+01] [ 5.72138003e-03 -3.70214014e-04 9.99983564e-01 1.54991110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.36071405700005 meters Centerline goodness : 0.980718 with order 1 Centerline is valid? [True, True] Translation: X:311.88, Y:-15.48, Z:1.55 [[ 9.99899167e-01 -1.29955390e-02 -5.72470027e-03 3.11884817e+02] [ 1.29975529e-02 9.99915479e-01 3.14729618e-04 -1.54821903e+01] [ 5.72012633e-03 -3.89104977e-04 9.99983564e-01 1.55283312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.42071405700005 meters Centerline goodness : 0.978957 with order 1 Centerline is valid? [True, True] Translation: X:311.95, Y:-15.49, Z:1.55 [[ 9.99910623e-01 -1.20819464e-02 -5.72468904e-03 3.11946085e+02] [ 1.20839466e-02 9.99926937e-01 3.14933675e-04 -1.54936089e+01] [ 5.72046576e-03 -3.84082364e-04 9.99983564e-01 1.54738057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.48071405700006 meters Centerline goodness : 0.988347 with order 1 Centerline is valid? [True, True] Translation: X:312.01, Y:-15.48, Z:1.56 [[ 9.99497306e-01 -3.11827521e-02 -5.72467224e-03 3.12008250e+02] [ 3.11850653e-02 9.99513578e-01 3.15238776e-04 -1.54775642e+01] [ 5.71205762e-03 -4.93604586e-04 9.99983564e-01 1.55653318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.54071405700006 meters Centerline goodness : 0.981669 with order 1 Centerline is valid? [True, True] Translation: X:312.07, Y:-15.50, Z:1.55 [[ 9.99715480e-01 -2.31557305e-02 -5.72459518e-03 3.12069908e+02] [ 2.31579209e-02 9.99731769e-01 3.16632022e-04 -1.54954084e+01] [ 5.71572782e-03 -4.49111656e-04 9.99983564e-01 1.55204021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.60071405700006 meters Centerline goodness : 0.980453 with order 1 Centerline is valid? [True, True] Translation: X:312.13, Y:-15.51, Z:1.54 [[ 9.99922780e-01 -1.10300761e-02 -5.72457249e-03 3.12131131e+02] [ 1.10320711e-02 9.99939095e-01 3.17041712e-04 -1.55123422e+01] [ 5.72072684e-03 -3.80171121e-04 9.99983564e-01 1.53809856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.66071405700006 meters Centerline goodness : 0.981012 with order 1 Centerline is valid? [True, True] Translation: X:312.19, Y:-15.51, Z:1.55 [[ 9.99871939e-01 -1.49444095e-02 -5.72455088e-03 3.12191955e+02] [ 1.49464706e-02 9.99888245e-01 3.17431385e-04 -1.55092153e+01] [ 5.71916731e-03 -4.02952565e-04 9.99983564e-01 1.54967020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.72071405700007 meters Centerline goodness : 0.981246 with order 1 Centerline is valid? [True, True] Translation: X:312.25, Y:-15.52, Z:1.55 [[ 9.99811417e-01 -1.85569471e-02 -5.72453907e-03 3.12254204e+02] [ 1.85590684e-02 9.99827715e-01 3.17644249e-04 -1.55152668e+01] [ 5.71765831e-03 -4.23826458e-04 9.99983564e-01 1.54879055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.78071405700007 meters Centerline goodness : 0.981821 with order 1 Centerline is valid? [True, True] Translation: X:312.32, Y:-15.52, Z:1.55 [[ 9.99816276e-01 -1.82932602e-02 -5.72451655e-03 3.12316210e+02] [ 1.82953794e-02 9.99832575e-01 3.18049503e-04 -1.55191843e+01] [ 5.71773996e-03 -4.22723272e-04 9.99983564e-01 1.55431027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.84071405700007 meters Centerline goodness : 0.980224 with order 1 Centerline is valid? [True, True] Translation: X:312.38, Y:-15.53, Z:1.55 [[ 9.99856857e-01 -1.59215599e-02 -5.72449383e-03 3.12377237e+02] [ 1.59236428e-02 9.99873160e-01 3.18457899e-04 -1.55330323e+01] [ 5.71869739e-03 -4.09567109e-04 9.99983564e-01 1.54694645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.9007140570001 meters Centerline goodness : 0.981887 with order 1 Centerline is valid? [True, True] Translation: X:312.44, Y:-15.54, Z:1.54 [[ 9.99737615e-01 -2.21795108e-02 -5.72447691e-03 3.12437927e+02] [ 2.21816974e-02 9.99753905e-01 3.18761753e-04 -1.55392508e+01] [ 5.71599817e-03 -4.45656729e-04 9.99983564e-01 1.54356968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.960714057 meters Centerline goodness : 0.982695 with order 1 Centerline is valid? [True, True] Translation: X:312.50, Y:-15.54, Z:1.55 [[ 9.99633872e-01 -2.64452829e-02 -5.72446181e-03 3.12500662e+02] [ 2.64475406e-02 9.99650152e-01 3.19032757e-04 -1.55403601e+01] [ 5.71402221e-03 -4.70313886e-04 9.99983564e-01 1.55362233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.020714057 meters Centerline goodness : 0.983006 with order 1 Centerline is valid? [True, True] Translation: X:312.56, Y:-15.55, Z:1.55 [[ 9.99547935e-01 -2.95153493e-02 -5.72443214e-03 3.12561277e+02] [ 2.95176600e-02 9.99564208e-01 3.19564234e-04 -1.55455228e+01] [ 5.71250543e-03 -4.88391612e-04 9.99983564e-01 1.55317916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.080714057 meters Centerline goodness : 0.984087 with order 1 Centerline is valid? [True, True] Translation: X:312.62, Y:-15.55, Z:1.55 [[ 9.99509834e-01 -3.07786176e-02 -5.72442026e-03 3.12622975e+02] [ 3.07809501e-02 9.99526103e-01 3.19777001e-04 -1.55533193e+01] [ 5.71186518e-03 -4.95823351e-04 9.99983564e-01 1.55304868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.140714057 meters Centerline goodness : 0.983795 with order 1 Centerline is valid? [True, True] Translation: X:312.68, Y:-15.56, Z:1.55 [[ 9.99607632e-01 -2.74192059e-02 -5.72439628e-03 3.12684374e+02] [ 2.74214861e-02 9.99623909e-01 3.20205605e-04 -1.55642580e+01] [ 5.71346360e-03 -4.77051420e-04 9.99983564e-01 1.54629087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.200714057 meters Centerline goodness : 0.986409 with order 1 Centerline is valid? [True, True] Translation: X:312.74, Y:-15.56, Z:1.56 [[ 9.99364334e-01 -3.51874779e-02 -5.72437825e-03 3.12744338e+02] [ 3.51898864e-02 9.99380593e-01 3.20527601e-04 -1.55583834e+01] [ 5.70955397e-03 -5.21764073e-04 9.99983564e-01 1.55897476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26071405700003 meters Centerline goodness : 0.990689 with order 1 Centerline is valid? [True, True] Translation: X:312.81, Y:-15.55, Z:1.56 [[ 9.99157997e-01 -4.06267054e-02 -5.72437236e-03 3.12808167e+02] [ 4.06292029e-02 9.99174242e-01 3.20632814e-04 -1.55535503e+01] [ 5.70661915e-03 -5.52939526e-04 9.99983564e-01 1.56070812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32071405700003 meters Centerline goodness : 0.987002 with order 1 Centerline is valid? [True, True] Translation: X:312.87, Y:-15.57, Z:1.56 [[ 9.99563108e-01 -2.89969714e-02 -5.72433235e-03 3.12870562e+02] [ 2.89992838e-02 9.99579381e-01 3.21345447e-04 -1.55683846e+01] [ 5.71260654e-03 -4.87206593e-04 9.99983564e-01 1.56019146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38071405700003 meters Centerline goodness : 0.987076 with order 1 Centerline is valid? [True, True] Translation: X:312.93, Y:-15.57, Z:1.56 [[ 9.99601594e-01 -2.76385011e-02 -5.72429128e-03 3.12932584e+02] [ 2.76407954e-02 9.99617868e-01 3.22075431e-04 -1.55728693e+01] [ 5.71320217e-03 -4.80171079e-04 9.99983564e-01 1.56014797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44071405700004 meters Centerline goodness : 0.992518 with order 1 Centerline is valid? [True, True] Translation: X:312.99, Y:-15.57, Z:1.56 [[ 9.99416850e-01 -3.36629191e-02 -5.72426824e-03 3.12994792e+02] [ 3.36653139e-02 9.99433111e-01 3.22484368e-04 -1.55672478e+01] [ 5.71016745e-03 -5.15005599e-04 9.99983564e-01 1.55812157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.50071405700004 meters Centerline goodness : 0.985042 with order 1 Centerline is valid? [True, True] Translation: X:313.06, Y:-15.59, Z:1.55 [[ 9.99924706e-01 -1.08542855e-02 -5.72424558e-03 3.13055087e+02] [ 1.08563110e-02 9.99941016e-01 3.22886177e-04 -1.55897003e+01] [ 5.72040324e-03 -3.85006056e-04 9.99983564e-01 1.54982588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.56071405700004 meters Centerline goodness : 0.982863 with order 1 Centerline is valid? [True, True] Translation: X:313.11, Y:-15.60, Z:1.55 [[ 9.99983599e-01 -1.88579586e-04 -5.72423343e-03 3.13113978e+02] [ 1.90432203e-04 9.99999930e-01 3.23101328e-04 -1.56009848e+01] [ 5.72417210e-03 -3.24186107e-04 9.99983564e-01 1.54513741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.62071405700004 meters Centerline goodness : 0.991900 with order 1 Centerline is valid? [True, True] Translation: X:313.17, Y:-15.57, Z:1.56 [[ 9.99797417e-01 -1.92966000e-02 -5.72423923e-03 3.13174240e+02] [ 1.92987638e-02 9.99813709e-01 3.22998649e-04 -1.55746784e+01] [ 5.71694008e-03 -4.33403956e-04 9.99983564e-01 1.55984329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.68071405700005 meters Centerline goodness : 0.985945 with order 1 Centerline is valid? [True, True] Translation: X:313.24, Y:-15.58, Z:1.56 [[ 9.99968167e-01 -5.55851420e-03 -5.72424468e-03 3.13235968e+02] [ 5.56045336e-03 9.99984488e-01 3.22901905e-04 -1.55849216e+01] [ 5.72236104e-03 -3.54721022e-04 9.99983564e-01 1.56487765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.74071405700005 meters Centerline goodness : 0.985729 with order 1 Centerline is valid? [True, True] Translation: X:313.30, Y:-15.58, Z:1.57 [[ 9.99975239e-01 -4.09325445e-03 -5.72422011e-03 3.13295819e+02] [ 4.09517216e-03 9.99991562e-01 3.23336958e-04 -1.55845389e+01] [ 5.72284831e-03 -3.46770618e-04 9.99983564e-01 1.56637314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.80071405700005 meters Centerline goodness : 0.986487 with order 1 Centerline is valid? [True, True] Translation: X:313.36, Y:-15.58, Z:1.57 [[ 9.99971059e-01 -5.01134969e-03 -5.72422607e-03 3.13356042e+02] [ 5.01328179e-03 9.99987381e-01 3.23231431e-04 -1.55838022e+01] [ 5.72253401e-03 -3.51919235e-04 9.99983564e-01 1.56673222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.86071405700005 meters Centerline goodness : 0.985433 with order 1 Centerline is valid? [True, True] Translation: X:313.42, Y:-15.58, Z:1.57 [[ 9.99969380e-01 -5.33602172e-03 -5.72423751e-03 3.13415656e+02] [ 5.33795797e-03 9.99985701e-01 3.23028763e-04 -1.55847017e+01] [ 5.72243197e-03 -3.53574611e-04 9.99983564e-01 1.56774729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.92071405700005 meters Centerline goodness : 0.984468 with order 1 Centerline is valid? [True, True] Translation: X:313.48, Y:-15.58, Z:1.57 [[ 9.99945101e-01 -8.77654568e-03 -5.72424895e-03 3.13476338e+02] [ 8.77853691e-03 9.99961416e-01 3.22825840e-04 -1.55846405e+01] [ 5.72119479e-03 -3.73058648e-04 9.99983564e-01 1.57019671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.98071405700006 meters Centerline goodness : 0.984647 with order 1 Centerline is valid? [True, True] Translation: X:313.54, Y:-15.59, Z:1.57 [[ 9.99943268e-01 -8.98299113e-03 -5.72424895e-03 3.13536601e+02] [ 8.98498573e-03 9.99959582e-01 3.22825840e-04 -1.55867309e+01] [ 5.72111765e-03 -3.74239820e-04 9.99983564e-01 1.57080849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.04071405700006 meters Centerline goodness : 0.983207 with order 1 Centerline is valid? [True, True] Translation: X:313.60, Y:-15.59, Z:1.57 [[ 9.99960332e-01 -6.82406213e-03 -5.72424290e-03 3.13597973e+02] [ 6.82602211e-03 9.99976650e-01 3.22933149e-04 -1.55896831e+01] [ 5.72190552e-03 -3.61994147e-04 9.99983564e-01 1.56958547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.10071405700006 meters Centerline goodness : 0.982929 with order 1 Centerline is valid? [True, True] Translation: X:313.66, Y:-15.59, Z:1.57 [[ 9.99978420e-01 -3.22377107e-03 -5.72423095e-03 3.13658089e+02] [ 3.22567349e-03 9.99994745e-01 3.23144793e-04 -1.55921098e+01] [ 5.72315912e-03 -3.41602319e-04 9.99983564e-01 1.56846856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.16071405700006 meters Centerline goodness : 0.982521 with order 1 Centerline is valid? [True, True] Translation: X:313.72, Y:-15.59, Z:1.57 [[ 9.99982803e-01 -1.27589442e-03 -5.72421121e-03 3.13717554e+02] [ 1.27776704e-03 9.99999131e-01 3.23494007e-04 -1.55942830e+01] [ 5.72379350e-03 -3.30802652e-04 9.99983564e-01 1.56915584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.22071405700007 meters Centerline goodness : 0.982088 with order 1 Centerline is valid? [True, True] Translation: X:313.78, Y:-15.60, Z:1.56 [[ 9.99974950e-01 -4.16329289e-03 -5.72422301e-03 3.13776627e+02] [ 4.16521145e-03 9.99991273e-01 3.23285055e-04 -1.55989231e+01] [ 5.72282713e-03 -3.47119556e-04 9.99983564e-01 1.56424388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.28071405700007 meters Centerline goodness : 0.982815 with order 1 Centerline is valid? [True, True] Translation: X:313.84, Y:-15.60, Z:1.57 [[ 9.99983287e-01 -8.11617296e-04 -5.72424703e-03 3.13836160e+02] [ 8.13478707e-04 9.99999617e-01 3.22859185e-04 -1.56001246e+01] [ 5.72398280e-03 -3.27510342e-04 9.99983564e-01 1.56697104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.34071405700007 meters Centerline goodness : 0.983185 with order 1 Centerline is valid? [True, True] Translation: X:313.89, Y:-15.60, Z:1.56 [[ 9.99977064e-01 -3.62005340e-03 -5.72425296e-03 3.13894038e+02] [ 3.62196007e-03 9.99993389e-01 3.22754113e-04 -1.56039060e+01] [ 5.72304673e-03 -3.43479726e-04 9.99983564e-01 1.56261585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.4007140570001 meters Centerline goodness : 0.982523 with order 1 Centerline is valid? [True, True] Translation: X:313.95, Y:-15.61, Z:1.57 [[ 9.99981126e-01 -2.23163580e-03 -5.72428134e-03 3.13954133e+02] [ 2.23351692e-03 9.99997454e-01 3.22249946e-04 -1.56054915e+01] [ 5.72354762e-03 -3.35029143e-04 9.99983564e-01 1.56524207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.460714057 meters Centerline goodness : 0.981763 with order 1 Centerline is valid? [True, True] Translation: X:314.01, Y:-15.61, Z:1.57 [[ 9.99972478e-01 -4.71979832e-03 -5.72429214e-03 3.14012985e+02] [ 4.72171897e-03 9.99988801e-01 3.22057941e-04 -1.56075612e+01] [ 5.72270799e-03 -3.49077576e-04 9.99983564e-01 1.56950517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.520714057 meters Centerline goodness : 0.982507 with order 1 Centerline is valid? [True, True] Translation: X:314.07, Y:-15.61, Z:1.57 [[ 9.99959809e-01 -6.90019382e-03 -5.72431374e-03 3.14072948e+02] [ 6.90214786e-03 9.99976128e-01 3.21673575e-04 -1.56112714e+01] [ 5.72195748e-03 -3.61170707e-04 9.99983564e-01 1.56909395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.580714057 meters Centerline goodness : 0.983276 with order 1 Centerline is valid? [True, True] Translation: X:314.13, Y:-15.61, Z:1.57 [[ 9.99976718e-01 -3.71428393e-03 -5.72432579e-03 3.14133107e+02] [ 3.71618475e-03 9.99993043e-01 3.21459005e-04 -1.56117223e+01] [ 5.72309198e-03 -3.42724173e-04 9.99983564e-01 1.57025964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.640714057 meters Centerline goodness : 0.982800 with order 1 Centerline is valid? [True, True] Translation: X:314.19, Y:-15.61, Z:1.57 [[ 9.99977424e-01 -3.51890896e-03 -5.72431986e-03 3.14192618e+02] [ 3.52080719e-03 9.99993750e-01 3.21564560e-04 -1.56138176e+01] [ 5.72315253e-03 -3.41711527e-04 9.99983564e-01 1.57121446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.700714057 meters Centerline goodness : 0.983073 with order 1 Centerline is valid? [True, True] Translation: X:314.25, Y:-15.62, Z:1.57 [[ 9.99975144e-01 -4.11629819e-03 -5.72433141e-03 3.14252239e+02] [ 4.11820500e-03 9.99991469e-01 3.21358827e-04 -1.56164030e+01] [ 5.72295977e-03 -3.44924810e-04 9.99983564e-01 1.56965134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76071405700003 meters Centerline goodness : 0.982686 with order 1 Centerline is valid? [True, True] Translation: X:314.31, Y:-15.62, Z:1.57 [[ 9.99952197e-01 -7.92694269e-03 -5.72434350e-03 3.14311716e+02] [ 7.92891047e-03 9.99968514e-01 3.21143331e-04 -1.56176698e+01] [ 5.72161758e-03 -3.66515787e-04 9.99983564e-01 1.57040298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82071405700003 meters Centerline goodness : 0.982191 with order 1 Centerline is valid? [True, True] Translation: X:314.37, Y:-15.62, Z:1.57 [[ 9.99926572e-01 -1.06809236e-02 -5.72434947e-03 3.14372776e+02] [ 1.06829357e-02 9.99942884e-01 3.21036857e-04 -1.56215505e+01] [ 5.72059355e-03 -3.82166141e-04 9.99983564e-01 1.57037917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88071405700003 meters Centerline goodness : 0.982520 with order 1 Centerline is valid? [True, True] Translation: X:314.43, Y:-15.62, Z:1.57 [[ 9.99930843e-01 -1.02733700e-02 -5.72433785e-03 3.14433921e+02] [ 1.02753766e-02 9.99947155e-01 3.21243937e-04 -1.56245757e+01] [ 5.72073509e-03 -3.80041448e-04 9.99983564e-01 1.56672844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94071405700004 meters Centerline goodness : 0.982128 with order 1 Centerline is valid? [True, True] Translation: X:314.50, Y:-15.63, Z:1.57 [[ 9.99897415e-01 -1.31297745e-02 -5.72432065e-03 3.14495754e+02] [ 1.31318295e-02 9.99913722e-01 3.21550085e-04 -1.56268540e+01] [ 5.71960489e-03 -3.96687902e-04 9.99983564e-01 1.56680100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.00071405700004 meters Centerline goodness : 0.981664 with order 1 Centerline is valid? [True, True] Translation: X:314.56, Y:-15.63, Z:1.57 [[ 9.99865962e-01 -1.53391660e-02 -5.72430253e-03 3.14557142e+02] [ 1.53412588e-02 9.99882264e-01 3.21872474e-04 -1.56294217e+01] [ 5.71869132e-03 -4.09647337e-04 9.99983564e-01 1.56748282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.06071405700004 meters Centerline goodness : 0.982179 with order 1 Centerline is valid? [True, True] Translation: X:314.62, Y:-15.63, Z:1.57 [[ 9.99809504e-01 -1.86597851e-02 -5.72426302e-03 3.14618403e+02] [ 1.86619361e-02 9.99825799e-01 3.22573604e-04 -1.56320827e+01] [ 5.71724669e-03 -4.29337985e-04 9.99983564e-01 1.56910524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.12071405700004 meters Centerline goodness : 0.982236 with order 1 Centerline is valid? [True, True] Translation: X:314.68, Y:-15.64, Z:1.57 [[ 9.99796762e-01 -1.93304633e-02 -5.72424580e-03 3.14680268e+02] [ 1.93326270e-02 9.99813055e-01 3.22878789e-04 -1.56357254e+01] [ 5.71693429e-03 -4.33477877e-04 9.99983564e-01 1.56865721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.18071405700005 meters Centerline goodness : 0.982589 with order 1 Centerline is valid? [True, True] Translation: X:314.74, Y:-15.64, Z:1.57 [[ 9.99798821e-01 -1.92237297e-02 -5.72422278e-03 3.14742973e+02] [ 1.92258939e-02 9.99815113e-01 3.23286440e-04 -1.56374408e+01] [ 5.71694968e-03 -4.33274701e-04 9.99983564e-01 1.56795998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.24071405700005 meters Centerline goodness : 0.981370 with order 1 Centerline is valid? [True, True] Translation: X:314.80, Y:-15.64, Z:1.57 [[ 9.99841112e-01 -1.68814784e-02 -5.72419941e-03 3.14804673e+02] [ 1.68836068e-02 9.99857409e-01 3.23699710e-04 -1.56379642e+01] [ 5.71791866e-03 -4.20293410e-04 9.99983564e-01 1.57034864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.30071405700005 meters Centerline goodness : 0.981322 with order 1 Centerline is valid? [True, True] Translation: X:314.87, Y:-15.64, Z:1.57 [[ 9.99876799e-01 -1.46157949e-02 -5.72418214e-03 3.14867361e+02] [ 1.46178881e-02 9.99893100e-01 3.24004893e-04 -1.56384506e+01] [ 5.71883463e-03 -4.07640429e-04 9.99983564e-01 1.57218109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.36071405700005 meters Centerline goodness : 0.981501 with order 1 Centerline is valid? [True, True] Translation: X:314.93, Y:-15.64, Z:1.57 [[ 9.99892927e-01 -1.34672821e-02 -5.72416107e-03 3.14930160e+02] [ 1.34693587e-02 9.99909231e-01 3.24376602e-04 -1.56380180e+01] [ 5.71927303e-03 -4.01442649e-04 9.99983564e-01 1.57177439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.42071405700005 meters Centerline goodness : 0.981602 with order 1 Centerline is valid? [True, True] Translation: X:314.99, Y:-15.64, Z:1.57 [[ 9.99898906e-01 -1.30158712e-02 -5.72413798e-03 3.14992518e+02] [ 1.30179427e-02 9.99915210e-01 3.24783649e-04 -1.56371925e+01] [ 5.71942529e-03 -3.99267316e-04 9.99983564e-01 1.57175127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.48071405700006 meters Centerline goodness : 0.982522 with order 1 Centerline is valid? [True, True] Translation: X:315.05, Y:-15.64, Z:1.57 [[ 9.99875827e-01 -1.46821426e-02 -5.72411477e-03 3.15053296e+02] [ 1.46842436e-02 9.99892128e-01 3.25192189e-04 -1.56373035e+01] [ 5.71872278e-03 -4.09206105e-04 9.99983564e-01 1.57150217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.54071405700006 meters Centerline goodness : 0.983586 with order 1 Centerline is valid? [True, True] Translation: X:315.12, Y:-15.64, Z:1.57 [[ 9.99887746e-01 -1.38466633e-02 -5.72410331e-03 3.15115555e+02] [ 1.38487519e-02 9.99904048e-01 3.25393700e-04 -1.56393239e+01] [ 5.71904846e-03 -4.04628860e-04 9.99983564e-01 1.57225438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.60071405700006 meters Centerline goodness : 0.982589 with order 1 Centerline is valid? [True, True] Translation: X:315.18, Y:-15.64, Z:1.57 [[ 9.99959315e-01 -6.97162202e-03 -5.72408087e-03 3.15177905e+02] [ 6.97360069e-03 9.99975631e-01 3.25788053e-04 -1.56419753e+01] [ 5.72167011e-03 -3.65692253e-04 9.99983564e-01 1.57391962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.66071405700006 meters Centerline goodness : 0.981932 with order 1 Centerline is valid? [True, True] Translation: X:315.24, Y:-15.65, Z:1.57 [[ 9.99976803e-01 -3.69176265e-03 -5.72405870e-03 3.15237807e+02] [ 3.69369001e-03 9.99993125e-01 3.26176973e-04 -1.56457199e+01] [ 5.72281518e-03 -3.47312305e-04 9.99983564e-01 1.57238405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.72071405700007 meters Centerline goodness : 0.982680 with order 1 Centerline is valid? [True, True] Translation: X:315.30, Y:-15.65, Z:1.57 [[ 9.99981700e-01 1.95808890e-03 -5.72405870e-03 3.15297235e+02] [-1.95625379e-03 9.99998033e-01 3.26176973e-04 -1.56531537e+01] [ 5.72468613e-03 -3.14973293e-04 9.99983564e-01 1.56815360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.78071405700007 meters Centerline goodness : 0.982123 with order 1 Centerline is valid? [True, True] Translation: X:315.36, Y:-15.66, Z:1.57 [[ 9.99963538e-01 6.33703867e-03 -5.72407014e-03 3.15355204e+02] [-6.33527625e-03 9.99979879e-01 3.25976128e-04 -1.56552650e+01] [ 5.72602069e-03 -2.89700677e-04 9.99983564e-01 1.56961164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.84071405700007 meters Centerline goodness : 0.981388 with order 1 Centerline is valid? [True, True] Translation: X:315.41, Y:-15.66, Z:1.57 [[ 9.99953437e-01 7.76905028e-03 -5.72416021e-03 3.15411694e+02] [-7.76732033e-03 9.99969781e-01 3.24386853e-04 -1.56593362e+01] [ 5.72650741e-03 -2.79910363e-04 9.99983564e-01 1.57303257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.9007140570001 meters Centerline goodness : 0.980255 with order 1 Centerline is valid? [True, True] Translation: X:315.47, Y:-15.66, Z:1.58 [[ 9.99977502e-01 3.49688155e-03 -5.72419851e-03 3.15470723e+02] [-3.49508566e-03 9.99993840e-01 3.23709485e-04 -1.56634390e+01] [ 5.72529522e-03 -3.03695638e-04 9.99983564e-01 1.57550750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.960714057 meters Centerline goodness : 0.981006 with order 1 Centerline is valid? [True, True] Translation: X:315.53, Y:-15.67, Z:1.58 [[ 9.99980664e-01 -2.42990425e-03 -5.72422163e-03 3.15528434e+02] [ 2.43179460e-03 9.99996991e-01 3.23300126e-04 -1.56690741e+01] [ 5.72341882e-03 -3.37214006e-04 9.99983564e-01 1.57671646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.020714057 meters Centerline goodness : 0.982304 with order 1 Centerline is valid? [True, True] Translation: X:315.59, Y:-15.68, Z:1.57 [[ 9.99927154e-01 -1.06263820e-02 -5.72425006e-03 3.15587745e+02] [ 1.06284032e-02 9.99943465e-01 3.22795962e-04 -1.56781971e+01] [ 5.72049629e-03 -3.83612085e-04 9.99983564e-01 1.57420751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.080714057 meters Centerline goodness : 0.983055 with order 1 Centerline is valid? [True, True] Translation: X:315.65, Y:-15.69, Z:1.57 [[ 9.99790477e-01 -1.96528860e-02 -5.72426216e-03 3.15648864e+02] [ 1.96550532e-02 9.99806769e-01 3.22581322e-04 -1.56861137e+01] [ 5.71681640e-03 -4.35024411e-04 9.99983564e-01 1.57331180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.140714057 meters Centerline goodness : 0.985076 with order 1 Centerline is valid? [True, True] Translation: X:315.71, Y:-15.70, Z:1.57 [[ 9.99622182e-01 -2.68835897e-02 -5.72418511e-03 3.15709270e+02] [ 2.68858824e-02 9.99638457e-01 3.23942849e-04 -1.56962818e+01] [ 5.71340682e-03 -4.77720225e-04 9.99983564e-01 1.57095377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.200714057 meters Centerline goodness : 0.986013 with order 1 Centerline is valid? [True, True] Translation: X:315.77, Y:-15.70, Z:1.57 [[ 9.99526443e-01 -3.02344679e-02 -5.72414336e-03 3.15771464e+02] [ 3.02368193e-02 9.99542710e-01 3.24678781e-04 -1.57049522e+01] [ 5.71170928e-03 -4.97604916e-04 9.99983564e-01 1.57145402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26071405700003 meters Centerline goodness : 0.985114 with order 1 Centerline is valid? [True, True] Translation: X:315.83, Y:-15.71, Z:1.57 [[ 9.99502079e-01 -3.10294658e-02 -5.72411998e-03 3.15832548e+02] [ 3.10318326e-02 9.99518344e-01 3.25090516e-04 -1.57108954e+01] [ 5.71127554e-03 -5.02558580e-04 9.99983564e-01 1.57014486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32071405700003 meters Centerline goodness : 0.986014 with order 1 Centerline is valid? [True, True] Translation: X:315.89, Y:-15.72, Z:1.57 [[ 9.99521487e-01 -3.03978828e-02 -5.72410289e-03 3.15894966e+02] [ 3.04002409e-02 9.99537753e-01 3.25391081e-04 -1.57163611e+01] [ 5.71156574e-03 -4.99249484e-04 9.99983564e-01 1.57170522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38071405700003 meters Centerline goodness : 0.986999 with order 1 Centerline is valid? [True, True] Translation: X:315.96, Y:-15.73, Z:1.57 [[ 9.99603203e-01 -2.75802582e-02 -5.72407817e-03 3.15957108e+02] [ 2.75825730e-02 9.99619475e-01 3.25825442e-04 -1.57253097e+01] [ 5.71291367e-03 -4.83580959e-04 9.99983564e-01 1.56643465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44071405700004 meters Centerline goodness : 0.990305 with order 1 Centerline is valid? [True, True] Translation: X:316.02, Y:-15.72, Z:1.57 [[ 9.99551396e-01 -2.93979897e-02 -5.72405321e-03 3.16019004e+02] [ 2.94003366e-02 9.99567663e-01 3.26263414e-04 -1.57171610e+01] [ 5.71198700e-03 -4.94406142e-04 9.99983564e-01 1.57278212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.50071405700004 meters Centerline goodness : 0.985834 with order 1 Centerline is valid? [True, True] Translation: X:316.08, Y:-15.73, Z:1.57 [[ 9.99908476e-01 -1.22586583e-02 -5.72400419e-03 3.16080367e+02] [ 1.22607308e-02 9.99924781e-01 3.27121116e-04 -1.57328432e+01] [ 5.71956357e-03 -3.97271652e-04 9.99983564e-01 1.57165165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.56071405700004 meters Centerline goodness : 0.986260 with order 1 Centerline is valid? [True, True] Translation: X:316.14, Y:-15.74, Z:1.57 [[ 9.99945525e-01 -8.72824945e-03 -5.72398085e-03 3.16141076e+02] [ 8.73026670e-03 9.99961837e-01 3.27528920e-04 -1.57384044e+01] [ 5.72090366e-03 -3.77482957e-04 9.99983564e-01 1.57287477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.62071405700004 meters Centerline goodness : 0.986286 with order 1 Centerline is valid? [True, True] Translation: X:316.20, Y:-15.74, Z:1.57 [[ 9.99974759e-01 -4.20915561e-03 -5.72396362e-03 3.16202597e+02] [ 4.21110084e-03 9.99991080e-01 3.27829879e-04 -1.57428057e+01] [ 5.72253267e-03 -3.51925793e-04 9.99983564e-01 1.57379147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.68071405700005 meters Centerline goodness : 0.985366 with order 1 Centerline is valid? [True, True] Translation: X:316.26, Y:-15.75, Z:1.57 [[ 9.99983413e-01 -6.40507712e-04 -5.72395166e-03 3.16261784e+02] [ 6.42395877e-04 9.99999740e-01 3.28038454e-04 -1.57471746e+01] [ 5.72374006e-03 -3.31710056e-04 9.99983564e-01 1.57241070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.74071405700005 meters Centerline goodness : 0.990605 with order 1 Centerline is valid? [True, True] Translation: X:316.32, Y:-15.74, Z:1.58 [[ 9.99923879e-01 -1.09303194e-02 -5.72396348e-03 3.16321336e+02] [ 1.09323743e-02 9.99940186e-01 3.27832168e-04 -1.57399463e+01] [ 5.72003780e-03 -3.90383725e-04 9.99983564e-01 1.57678516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.80071405700005 meters Centerline goodness : 0.988059 with order 1 Centerline is valid? [True, True] Translation: X:316.38, Y:-15.75, Z:1.57 [[ 9.99982673e-01 1.37504318e-03 -5.72397367e-03 3.16382258e+02] [-1.37319012e-03 9.99999004e-01 3.27654130e-04 -1.57544300e+01] [ 5.72441851e-03 -3.19788349e-04 9.99983564e-01 1.57496377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.86071405700005 meters Centerline goodness : 0.988274 with order 1 Centerline is valid? [True, True] Translation: X:316.44, Y:-15.75, Z:1.58 [[ 9.99983054e-01 -1.06200287e-03 -5.72396201e-03 3.16440229e+02] [ 1.06389688e-03 9.99999380e-01 3.27857628e-04 -1.57511918e+01] [ 5.72361028e-03 -3.33941777e-04 9.99983564e-01 1.57899069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.92071405700005 meters Centerline goodness : 0.985754 with order 1 Centerline is valid? [True, True] Translation: X:316.50, Y:-15.76, Z:1.57 [[ 9.99962856e-01 6.44387354e-03 -5.72398796e-03 3.16497346e+02] [-6.44210471e-03 9.99979196e-01 3.27404063e-04 -1.57629576e+01] [ 5.72597863e-03 -2.90517372e-04 9.99983564e-01 1.57467393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.98071405700006 meters Centerline goodness : 0.990327 with order 1 Centerline is valid? [True, True] Translation: X:316.56, Y:-15.76, Z:1.58 [[ 9.99981337e-01 -2.13592038e-03 -5.72402012e-03 3.16556099e+02] [ 2.13782613e-03 9.99997661e-01 3.26840792e-04 -1.57592191e+01] [ 5.72330863e-03 -3.39071652e-04 9.99983564e-01 1.57786081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.04071405700006 meters Centerline goodness : 0.988788 with order 1 Centerline is valid? [True, True] Translation: X:316.62, Y:-15.76, Z:1.58 [[ 9.99980984e-01 -2.29495056e-03 -5.72404074e-03 3.16615031e+02] [ 2.29685684e-03 9.99997309e-01 3.26479334e-04 -1.57620027e+01] [ 5.72327608e-03 -3.39620427e-04 9.99983564e-01 1.57942785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.10071405700006 meters Centerline goodness : 0.990615 with order 1 Centerline is valid? [True, True] Translation: X:316.67, Y:-15.77, Z:1.58 [[ 9.99981827e-01 1.89221687e-03 -5.72414093e-03 3.16673854e+02] [-1.89038904e-03 9.99998160e-01 3.24713046e-04 -1.57685172e+01] [ 5.72474483e-03 -3.13886291e-04 9.99983564e-01 1.58274175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.16071405700006 meters Centerline goodness : 0.984327 with order 1 Centerline is valid? [True, True] Translation: X:316.73, Y:-15.79, Z:1.58 [[ 9.99739540e-01 2.20926645e-02 -5.72416234e-03 3.16731277e+02] [-2.20911692e-02 9.99755908e-01 3.24335287e-04 -1.57909558e+01] [ 5.72993054e-03 -1.97797372e-04 9.99983564e-01 1.57679677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.22071405700007 meters Centerline goodness : 0.984452 with order 1 Centerline is valid? [True, True] Translation: X:316.79, Y:-15.79, Z:1.58 [[ 9.99689494e-01 2.42517771e-02 -5.72424237e-03 3.16789729e+02] [-2.42503252e-02 9.99705865e-01 3.22916565e-04 -1.57924949e+01] [ 5.73038997e-03 -1.84001558e-04 9.99983564e-01 1.58412863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.28071405700007 meters Centerline goodness : 0.985007 with order 1 Centerline is valid? [True, True] Translation: X:316.85, Y:-15.80, Z:1.58 [[ 9.99591384e-01 2.80053177e-02 -5.72426534e-03 3.16848799e+02] [-2.80039296e-02 9.99607761e-01 3.22508833e-04 -1.57979163e+01] [ 5.73105202e-03 -1.62075127e-04 9.99983564e-01 1.58087184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.34071405700007 meters Centerline goodness : 0.984487 with order 1 Centerline is valid? [True, True] Translation: X:316.91, Y:-15.80, Z:1.59 [[ 9.99472393e-01 3.19713502e-02 -5.72428812e-03 3.16906750e+02] [-3.19700295e-02 9.99488776e-01 3.22104063e-04 -1.58012319e+01] [ 5.73165983e-03 -1.38928459e-04 9.99983564e-01 1.58662082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.4007140570001 meters Centerline goodness : 0.984734 with order 1 Centerline is valid? [True, True] Translation: X:316.96, Y:-15.81, Z:1.59 [[ 9.99450119e-01 3.26602436e-02 -5.72431612e-03 3.16964855e+02] [-3.26589370e-02 9.99466503e-01 3.21605672e-04 -1.58092477e+01] [ 5.73176593e-03 -1.34478748e-04 9.99983564e-01 1.58687925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.460714057 meters Centerline goodness : 0.984401 with order 1 Centerline is valid? [True, True] Translation: X:317.02, Y:-15.82, Z:1.59 [[ 9.99514187e-01 3.06369474e-02 -5.72433905e-03 3.17022484e+02] [-3.06356100e-02 9.99530568e-01 3.21196995e-04 -1.58169767e+01] [ 5.73149236e-03 -1.45672334e-04 9.99983564e-01 1.58710424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.520714057 meters Centerline goodness : 0.985415 with order 1 Centerline is valid? [True, True] Translation: X:317.08, Y:-15.83, Z:1.59 [[ 9.99610503e-01 2.73143415e-02 -5.72436730e-03 3.17080599e+02] [-2.73129525e-02 9.99626880e-01 3.20692770e-04 -1.58267210e+01] [ 5.73099094e-03 -1.64218489e-04 9.99983564e-01 1.58753381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.580714057 meters Centerline goodness : 0.985810 with order 1 Centerline is valid? [True, True] Translation: X:317.14, Y:-15.84, Z:1.59 [[ 9.99714984e-01 2.31771857e-02 -5.72439020e-03 3.17137672e+02] [-2.31757313e-02 9.99731355e-01 3.20283530e-04 -1.58360386e+01] [ 5.73027564e-03 -1.87525315e-04 9.99983564e-01 1.58647337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.640714057 meters Centerline goodness : 0.984836 with order 1 Centerline is valid? [True, True] Translation: X:317.20, Y:-15.85, Z:1.59 [[ 9.99839827e-01 1.69573452e-02 -5.72441837e-03 3.17196354e+02] [-1.69557918e-02 9.99856189e-01 3.19779091e-04 -1.58466431e+01] [ 5.72901775e-03 -2.22665825e-04 9.99983564e-01 1.58536753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.700714057 meters Centerline goodness : 0.984717 with order 1 Centerline is valid? [True, True] Translation: X:317.26, Y:-15.85, Z:1.59 [[ 9.99927909e-01 1.05550180e-02 -5.72444125e-03 3.17255044e+02] [-1.05533623e-02 9.99944261e-01 3.19369115e-04 -1.58531010e+01] [ 5.72749312e-03 -2.58933989e-04 9.99983564e-01 1.58631180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76071405700003 meters Centerline goodness : 0.986468 with order 1 Centerline is valid? [True, True] Translation: X:317.31, Y:-15.86, Z:1.59 [[ 9.99973974e-01 4.39111509e-03 -5.72446526e-03 3.17314024e+02] [-4.38936105e-03 9.99990316e-01 3.18938095e-04 -1.58599797e+01] [ 5.72581032e-03 -2.93803049e-04 9.99983564e-01 1.58613206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82071405700003 meters Centerline goodness : 0.985509 with order 1 Centerline is valid? [True, True] Translation: X:317.37, Y:-15.87, Z:1.59 [[ 9.99973971e-01 -4.39165219e-03 -5.72448921e-03 3.17372941e+02] [ 4.39354723e-03 9.99990298e-01 3.18507691e-04 -1.58653585e+01] [ 5.72303489e-03 -3.43650215e-04 9.99983564e-01 1.58844925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88071405700003 meters Centerline goodness : 0.985838 with order 1 Centerline is valid? [True, True] Translation: X:317.43, Y:-15.87, Z:1.59 [[ 9.99899217e-01 -1.29917815e-02 -5.72451326e-03 3.17431237e+02] [ 1.29938144e-02 9.99915526e-01 3.18074846e-04 -1.58697298e+01] [ 5.71989733e-03 -3.92426052e-04 9.99983564e-01 1.58967624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94071405700004 meters Centerline goodness : 0.985664 with order 1 Centerline is valid? [True, True] Translation: X:317.49, Y:-15.87, Z:1.59 [[ 9.99814809e-01 -1.83732974e-02 -5.72453105e-03 3.17492608e+02] [ 1.83754163e-02 9.99831107e-01 3.17754361e-04 -1.58732679e+01] [ 5.71772602e-03 -4.22886157e-04 9.99983564e-01 1.58785674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.00071405700004 meters Centerline goodness : 0.986320 with order 1 Centerline is valid? [True, True] Translation: X:317.55, Y:-15.87, Z:1.59 [[ 9.99746494e-01 -2.17756363e-02 -5.72448744e-03 3.17554729e+02] [ 2.17778150e-02 9.99762785e-01 3.18538101e-04 -1.58744891e+01] [ 5.71619313e-03 -4.43124178e-04 9.99983564e-01 1.59084653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.06071405700004 meters Centerline goodness : 0.984632 with order 1 Centerline is valid? [True, True] Translation: X:317.62, Y:-15.88, Z:1.59 [[ 9.99816082e-01 -1.83038755e-02 -5.72446436e-03 3.17615733e+02] [ 1.83060000e-02 9.99832380e-01 3.18952312e-04 -1.58751684e+01] [ 5.71766676e-03 -4.23685695e-04 9.99983564e-01 1.59109363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.12071405700004 meters Centerline goodness : 0.985666 with order 1 Centerline is valid? [True, True] Translation: X:317.68, Y:-15.87, Z:1.59 [[ 9.99905830e-01 -1.24724569e-02 -5.72444728e-03 3.17677839e+02] [ 1.24744881e-02 9.99922140e-01 3.19258595e-04 -1.58741169e+01] [ 5.72001963e-03 -3.90638080e-04 9.99983564e-01 1.59025157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.18071405700005 meters Centerline goodness : 0.984677 with order 1 Centerline is valid? [True, True] Translation: X:317.74, Y:-15.88, Z:1.59 [[ 9.99949654e-01 -8.24132800e-03 -5.72442468e-03 3.17739323e+02] [ 8.24329247e-03 9.99965972e-01 3.19663295e-04 -1.58768541e+01] [ 5.72159544e-03 -3.66835308e-04 9.99983564e-01 1.58962830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.24071405700005 meters Centerline goodness : 0.985164 with order 1 Centerline is valid? [True, True] Translation: X:317.80, Y:-15.87, Z:1.59 [[ 9.99956829e-01 7.31922549e-03 -5.72441266e-03 3.17798809e+02] [-7.31751395e-03 9.99973175e-01 3.19878285e-04 -1.58749483e+01] [ 5.72660037e-03 -2.77976006e-04 9.99983564e-01 1.58556203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.30071405700005 meters Centerline goodness : 0.986113 with order 1 Centerline is valid? [True, True] Translation: X:317.86, Y:-15.88, Z:1.58 [[ 9.99887409e-01 1.38708125e-02 -5.72441854e-03 3.17856939e+02] [-1.38692087e-02 9.99903767e-01 3.19773052e-04 -1.58769179e+01] [ 5.72830318e-03 -2.40343893e-04 9.99983564e-01 1.58478131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.36071405700005 meters Centerline goodness : 0.984121 with order 1 Centerline is valid? [True, True] Translation: X:317.92, Y:-15.87, Z:1.59 [[ 9.99805460e-01 1.88751505e-02 -5.72451185e-03 3.17915544e+02] [-1.88736382e-02 9.99821826e-01 3.18093816e-04 -1.58739354e+01] [ 5.72949596e-03 -2.09989569e-04 9.99983564e-01 1.58850357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.42071405700005 meters Centerline goodness : 0.984332 with order 1 Centerline is valid? [True, True] Translation: X:317.97, Y:-15.87, Z:1.59 [[ 9.99625750e-01 2.67504943e-02 -5.72453834e-03 3.17974876e+02] [-2.67491137e-02 9.99642128e-01 3.17616509e-04 -1.58746522e+01] [ 5.73098608e-03 -1.64371314e-04 9.99983564e-01 1.58755920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.48071405700006 meters Centerline goodness : 0.984905 with order 1 Centerline is valid? [True, True] Translation: X:318.03, Y:-15.88, Z:1.59 [[ 9.99505529e-01 3.09180723e-02 -5.72461140e-03 3.18033269e+02] [-3.09167675e-02 9.99521912e-01 3.16294152e-04 -1.58782568e+01] [ 5.73165374e-03 -1.39151274e-04 9.99983564e-01 1.58735850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.54071405700006 meters Centerline goodness : 0.982908 with order 1 Centerline is valid? [True, True] Translation: X:318.09, Y:-15.88, Z:1.59 [[ 9.99588908e-01 2.80934841e-02 -5.72463347e-03 3.18091397e+02] [-2.80921354e-02 9.99605288e-01 3.15894180e-04 -1.58804323e+01] [ 5.73124846e-03 -1.54947140e-04 9.99983564e-01 1.59047394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.60071405700006 meters Centerline goodness : 0.985034 with order 1 Centerline is valid? [True, True] Translation: X:318.15, Y:-15.88, Z:1.59 [[ 9.99804050e-01 1.89496835e-02 -5.72467372e-03 3.18150511e+02] [-1.89481891e-02 9.99820417e-01 3.15163090e-04 -1.58842374e+01] [ 5.72961791e-03 -2.06629134e-04 9.99983564e-01 1.59114305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.66071405700006 meters Centerline goodness : 0.985357 with order 1 Centerline is valid? [True, True] Translation: X:318.21, Y:-15.89, Z:1.59 [[ 9.99955030e-01 7.56076570e-03 -5.72469520e-03 3.18209086e+02] [-7.55908727e-03 9.99971380e-01 3.14772339e-04 -1.58888498e+01] [ 5.72691128e-03 -2.71484713e-04 9.99983564e-01 1.59101096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.72071405700007 meters Centerline goodness : 0.985906 with order 1 Centerline is valid? [True, True] Translation: X:318.27, Y:-15.89, Z:1.59 [[ 9.99983613e-01 -3.44292578e-05 -5.72471649e-03 3.18267643e+02] [ 3.62296137e-05 9.99999950e-01 3.14384810e-04 -1.58913679e+01] [ 5.72470537e-03 -3.14587063e-04 9.99983564e-01 1.59114403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.78071405700007 meters Centerline goodness : 0.985921 with order 1 Centerline is valid? [True, True] Translation: X:318.33, Y:-15.89, Z:1.59 [[ 9.99975033e-01 -4.14245561e-03 -5.72473852e-03 3.18326438e+02] [ 4.14432077e-03 9.99991363e-01 3.13983057e-04 -1.58932633e+01] [ 5.72338841e-03 -3.37700370e-04 9.99983564e-01 1.59253009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.84071405700007 meters Centerline goodness : 0.986089 with order 1 Centerline is valid? [True, True] Translation: X:318.39, Y:-15.89, Z:1.60 [[ 9.99975305e-01 -4.07635455e-03 -5.72476038e-03 3.18385596e+02] [ 4.07821635e-03 9.99991635e-01 3.13584015e-04 -1.58949996e+01] [ 5.72343421e-03 -3.36923083e-04 9.99983564e-01 1.59581497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.9007140570001 meters Centerline goodness : 0.984958 with order 1 Centerline is valid? [True, True] Translation: X:318.45, Y:-15.90, Z:1.59 [[ 9.99983607e-01 1.09788222e-04 -5.72477115e-03 3.18445469e+02] [-1.07995917e-04 9.99999945e-01 3.13387204e-04 -1.58961519e+01] [ 5.72480524e-03 -3.12763814e-04 9.99983564e-01 1.59473040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.960714057 meters Centerline goodness : 0.986507 with order 1 Centerline is valid? [True, True] Translation: X:318.50, Y:-15.90, Z:1.60 [[ 9.99956417e-01 7.37502134e-03 -5.72478194e-03 3.18504745e+02] [-7.37334891e-03 9.99972767e-01 3.13190033e-04 -1.58962397e+01] [ 5.72693582e-03 -2.70965569e-04 9.99983564e-01 1.59647516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.020714057 meters Centerline goodness : 0.984979 with order 1 Centerline is valid? [True, True] Translation: X:318.56, Y:-15.90, Z:1.59 [[ 9.99896987e-01 1.31621466e-02 -5.72485938e-03 3.18562617e+02] [-1.31605769e-02 9.99913347e-01 3.11767949e-04 -1.58982556e+01] [ 5.72846684e-03 -2.36393380e-04 9.99983564e-01 1.59441952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.080714057 meters Centerline goodness : 0.985337 with order 1 Centerline is valid? [True, True] Translation: X:318.62, Y:-15.90, Z:1.59 [[ 9.99913762e-01 1.18192185e-02 -5.72489841e-03 3.18621833e+02] [-1.18176310e-02 9.99930121e-01 3.11049666e-04 -1.59009560e+01] [ 5.72817472e-03 -2.43368105e-04 9.99983564e-01 1.59245408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.140714057 meters Centerline goodness : 0.984137 with order 1 Centerline is valid? [True, True] Translation: X:318.68, Y:-15.90, Z:1.59 [[ 9.99958836e-01 7.03931440e-03 -5.72491973e-03 3.18679778e+02] [-7.03765095e-03 9.99975187e-01 3.10656851e-04 -1.59039875e+01] [ 5.72696449e-03 -2.70354076e-04 9.99983564e-01 1.59489266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.200714057 meters Centerline goodness : 0.985223 with order 1 Centerline is valid? [True, True] Translation: X:318.74, Y:-15.91, Z:1.60 [[ 9.99981030e-01 -2.27238881e-03 -5.72494592e-03 3.18737621e+02] [ 2.27420170e-03 9.99997366e-01 3.10173397e-04 -1.59058421e+01] [ 5.72422600e-03 -3.23187194e-04 9.99983564e-01 1.59823466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26071405700003 meters Centerline goodness : 0.985079 with order 1 Centerline is valid? [True, True] Translation: X:318.80, Y:-15.91, Z:1.60 [[ 9.99942587e-01 -9.05804235e-03 -5.72497165e-03 3.18796300e+02] [ 9.05996333e-03 9.99958910e-01 3.09697730e-04 -1.59096611e+01] [ 5.72193116e-03 -3.61547982e-04 9.99983564e-01 1.59711977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32071405700003 meters Centerline goodness : 0.984498 with order 1 Centerline is valid? [True, True] Translation: X:318.86, Y:-15.91, Z:1.59 [[ 9.99943734e-01 -8.93051995e-03 -5.72499203e-03 3.18857909e+02] [ 8.93243670e-03 9.99960057e-01 3.09320573e-04 -1.59149407e+01] [ 5.72200096e-03 -3.60441298e-04 9.99983564e-01 1.59461715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38071405700003 meters Centerline goodness : 0.985214 with order 1 Centerline is valid? [True, True] Translation: X:318.92, Y:-15.92, Z:1.60 [[ 9.99891353e-01 -1.35833201e-02 -5.72498124e-03 3.18919492e+02] [ 1.35853139e-02 9.99907667e-01 3.09520208e-04 -1.59159603e+01] [ 5.72024832e-03 -3.87262247e-04 9.99983564e-01 1.59627485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44071405700004 meters Centerline goodness : 0.985147 with order 1 Centerline is valid? [True, True] Translation: X:318.98, Y:-15.92, Z:1.59 [[ 9.99886284e-01 -1.39515051e-02 -5.72497020e-03 3.18982078e+02] [ 1.39535061e-02 9.99902597e-01 3.09724210e-04 -1.59183244e+01] [ 5.72009145e-03 -3.89572395e-04 9.99983564e-01 1.59445788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.50071405700004 meters Centerline goodness : 0.984827 with order 1 Centerline is valid? [True, True] Translation: X:319.04, Y:-15.92, Z:1.60 [[ 9.99923014e-01 -1.10086419e-02 -5.72494820e-03 3.19043266e+02] [ 1.10105972e-02 9.99939333e-01 3.10130380e-04 -1.59193734e+01] [ 5.72118677e-03 -3.73141603e-04 9.99983564e-01 1.59531732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.56071405700004 meters Centerline goodness : 0.984495 with order 1 Centerline is valid? [True, True] Translation: X:319.10, Y:-15.92, Z:1.59 [[ 9.99956828e-01 -7.31896993e-03 -5.72493733e-03 3.19103928e+02] [ 7.32086612e-03 9.99973154e-01 3.10330897e-04 -1.59190878e+01] [ 5.72251233e-03 -3.52228999e-04 9.99983564e-01 1.59431662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.62071405700004 meters Centerline goodness : 0.985550 with order 1 Centerline is valid? [True, True] Translation: X:319.17, Y:-15.92, Z:1.60 [[ 9.99969207e-01 -5.36754564e-03 -5.72493198e-03 3.19165071e+02] [ 5.36941054e-03 9.99985536e-01 3.10429426e-04 -1.59162088e+01] [ 5.72318294e-03 -3.41159377e-04 9.99983564e-01 1.60085934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.68071405700005 meters Centerline goodness : 0.985114 with order 1 Centerline is valid? [True, True] Translation: X:319.22, Y:-15.92, Z:1.60 [[ 9.99974292e-01 -4.31747152e-03 -5.72493198e-03 3.19224907e+02] [ 4.31931926e-03 9.99990624e-01 3.10429426e-04 -1.59174834e+01] [ 5.72353803e-03 -3.35149255e-04 9.99983564e-01 1.60143718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.74071405700005 meters Centerline goodness : 0.983952 with order 1 Centerline is valid? [True, True] Translation: X:319.29, Y:-15.92, Z:1.60 [[ 9.99959579e-01 -6.93290691e-03 -5.72493728e-03 3.19285089e+02] [ 6.93479681e-03 9.99975906e-01 3.10331730e-04 -1.59180246e+01] [ 5.72264784e-03 -3.50020463e-04 9.99983564e-01 1.60309478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.80071405700005 meters Centerline goodness : 0.983503 with order 1 Centerline is valid? [True, True] Translation: X:319.35, Y:-15.92, Z:1.60 [[ 9.99958357e-01 -7.10704453e-03 -5.72494308e-03 3.19345362e+02] [ 7.10893666e-03 9.99974683e-01 3.10224628e-04 -1.59190748e+01] [ 5.72259336e-03 -3.50909967e-04 9.99983564e-01 1.60482874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.86071405700005 meters Centerline goodness : 0.984207 with order 1 Centerline is valid? [True, True] Translation: X:319.41, Y:-15.92, Z:1.60 [[ 9.99971685e-01 -4.88416816e-03 -5.72494308e-03 3.19405520e+02] [ 4.88602399e-03 9.99988015e-01 3.10224628e-04 -1.59213006e+01] [ 5.72335928e-03 -3.38188053e-04 9.99983564e-01 1.60495596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.92071405700005 meters Centerline goodness : 0.984786 with order 1 Centerline is valid? [True, True] Translation: X:319.47, Y:-15.92, Z:1.60 [[ 9.99980336e-01 -2.55963885e-03 -5.72493725e-03 3.19465145e+02] [ 2.56145733e-03 9.99996671e-01 3.10332318e-04 -1.59245865e+01] [ 5.72412385e-03 -3.24990398e-04 9.99983564e-01 1.60277685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.98071405700006 meters Centerline goodness : 0.985284 with order 1 Centerline is valid? [True, True] Translation: X:319.52, Y:-15.93, Z:1.60 [[ 9.99982768e-01 -1.29985924e-03 -5.72494826e-03 3.19524149e+02] [ 1.30165598e-03 9.99999105e-01 3.10128904e-04 -1.59277998e+01] [ 5.72454002e-03 -3.17575473e-04 9.99983564e-01 1.60185880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.04071405700006 meters Centerline goodness : 0.985047 with order 1 Centerline is valid? [True, True] Translation: X:319.58, Y:-15.93, Z:1.60 [[ 9.99983338e-01 7.41019069e-04 -5.72496451e-03 3.19582914e+02] [-7.39257391e-04 9.99999679e-01 3.09828648e-04 -1.59328043e+01] [ 5.72519226e-03 -3.05591263e-04 9.99983564e-01 1.59921166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.10071405700006 meters Centerline goodness : 0.984928 with order 1 Centerline is valid? [True, True] Translation: X:319.64, Y:-15.94, Z:1.59 [[ 9.99981217e-01 -2.18855976e-03 -5.72504502e-03 3.19640307e+02] [ 2.19036077e-03 9.99997554e-01 3.08333910e-04 -1.59384344e+01] [ 5.72435620e-03 -3.20868032e-04 9.99983564e-01 1.59440661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.16071405700006 meters Centerline goodness : 0.985779 with order 1 Centerline is valid? [True, True] Translation: X:319.70, Y:-15.94, Z:1.60 [[ 9.99981637e-01 1.98745264e-03 -5.72507319e-03 3.19698392e+02] [-1.98572285e-03 9.99997981e-01 3.07809928e-04 -1.59427026e+01] [ 5.72567339e-03 -2.96435867e-04 9.99983564e-01 1.59908040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.22071405700007 meters Centerline goodness : 0.984765 with order 1 Centerline is valid? [True, True] Translation: X:319.76, Y:-15.95, Z:1.60 [[ 9.99983094e-01 1.01719424e-03 -5.72515175e-03 3.19757129e+02] [-1.01545698e-03 9.99999438e-01 3.06341664e-04 -1.59476570e+01] [ 5.72546014e-03 -3.00522840e-04 9.99983564e-01 1.59981666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.28071405700007 meters Centerline goodness : 0.986322 with order 1 Centerline is valid? [True, True] Translation: X:319.82, Y:-15.95, Z:1.60 [[ 9.99979019e-01 -3.03052323e-03 -5.72517377e-03 3.19815587e+02] [ 3.03232428e-03 9.99995356e-01 3.05929555e-04 -1.59498786e+01] [ 5.72422006e-03 -3.23283720e-04 9.99983564e-01 1.60159365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.34071405700007 meters Centerline goodness : 0.986771 with order 1 Centerline is valid? [True, True] Translation: X:319.88, Y:-15.95, Z:1.60 [[ 9.99939517e-01 -9.39061335e-03 -5.72519550e-03 3.19875485e+02] [ 9.39251594e-03 9.99955843e-01 3.05522523e-04 -1.59532300e+01] [ 5.72207364e-03 -3.59278034e-04 9.99983564e-01 1.60474167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.4007140570001 meters Centerline goodness : 0.987057 with order 1 Centerline is valid? [True, True] Translation: X:319.94, Y:-15.96, Z:1.60 [[ 9.99881238e-01 -1.43084820e-02 -5.72520626e-03 3.19937129e+02] [ 1.43104638e-02 9.99897553e-01 3.05320639e-04 -1.59559212e+01] [ 5.72025106e-03 -3.87214735e-04 9.99983564e-01 1.60486130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.460714057 meters Centerline goodness : 0.987802 with order 1 Centerline is valid? [True, True] Translation: X:320.00, Y:-15.96, Z:1.60 [[ 9.99782701e-01 -2.00442853e-02 -5.72519567e-03 3.19999497e+02] [ 2.00463617e-02 9.99799005e-01 3.05519041e-04 -1.59578638e+01] [ 5.71792103e-03 -4.20221995e-04 9.99983564e-01 1.60266742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.520714057 meters Centerline goodness : 0.988039 with order 1 Centerline is valid? [True, True] Translation: X:320.06, Y:-15.96, Z:1.60 [[ 9.99722686e-01 -2.28423880e-02 -5.72511694e-03 3.20061374e+02] [ 2.28445184e-02 9.99738983e-01 3.06987438e-04 -1.59599029e+01] [ 5.71661026e-03 -4.37689845e-04 9.99983564e-01 1.60387506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.580714057 meters Centerline goodness : 0.988604 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:-15.96, Z:1.60 [[ 9.99780917e-01 -2.01330835e-02 -5.72509623e-03 3.20123664e+02] [ 2.01351719e-02 9.99797220e-01 3.07373118e-04 -1.59591640e+01] [ 5.71774692e-03 -4.22581575e-04 9.99983564e-01 1.60475369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.640714057 meters Centerline goodness : 0.987337 with order 1 Centerline is valid? [True, True] Translation: X:320.19, Y:-15.96, Z:1.60 [[ 9.99824380e-01 -1.78446811e-02 -5.72507573e-03 3.20186083e+02] [ 1.78467343e-02 9.99840687e-01 3.07754382e-04 -1.59578417e+01] [ 5.71867188e-03 -4.09874240e-04 9.99983564e-01 1.60405628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.700714057 meters Centerline goodness : 0.987410 with order 1 Centerline is valid? [True, True] Translation: X:320.25, Y:-15.96, Z:1.60 [[ 9.99810042e-01 -1.86306922e-02 -5.72505542e-03 3.20248549e+02] [ 1.86327604e-02 9.99826348e-01 3.08131912e-04 -1.59582057e+01] [ 5.71832054e-03 -4.14746966e-04 9.99983564e-01 1.60003527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76071405700003 meters Centerline goodness : 0.987371 with order 1 Centerline is valid? [True, True] Translation: X:320.31, Y:-15.96, Z:1.60 [[ 9.99766902e-01 -2.08174480e-02 -5.72503415e-03 3.20309686e+02] [ 2.08195542e-02 9.99783202e-01 3.08526531e-04 -1.59567587e+01] [ 5.71737024e-03 -4.27647273e-04 9.99983564e-01 1.60383704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82071405700003 meters Centerline goodness : 0.986764 with order 1 Centerline is valid? [True, True] Translation: X:320.37, Y:-15.96, Z:1.61 [[ 9.99570981e-01 -2.87241763e-02 -5.72501840e-03 3.20372419e+02] [ 2.87264130e-02 9.99587264e-01 3.08818523e-04 -1.59598060e+01] [ 5.71378492e-03 -4.73145277e-04 9.99983564e-01 1.60585839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88071405700003 meters Centerline goodness : 0.988089 with order 1 Centerline is valid? [True, True] Translation: X:320.44, Y:-15.96, Z:1.61 [[ 9.99412679e-01 -3.37864173e-02 -5.72492977e-03 3.20435544e+02] [ 3.37887457e-02 9.99428949e-01 3.10452803e-04 -1.59625852e+01] [ 5.71117146e-03 -5.03708664e-04 9.99983564e-01 1.60852040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94071405700004 meters Centerline goodness : 0.986699 with order 1 Centerline is valid? [True, True] Translation: X:320.50, Y:-15.97, Z:1.61 [[ 9.99414899e-01 -3.37206821e-02 -5.72489558e-03 3.20498482e+02] [ 3.37230130e-02 9.99431169e-01 3.11082107e-04 -1.59661828e+01] [ 5.71114918e-03 -5.03960821e-04 9.99983564e-01 1.60798492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.00071405700004 meters Centerline goodness : 0.987118 with order 1 Centerline is valid? [True, True] Translation: X:320.56, Y:-15.97, Z:1.60 [[ 9.99418152e-01 -3.36241425e-02 -5.72486127e-03 3.20560511e+02] [ 3.36264754e-02 9.99434422e-01 3.11712289e-04 -1.59732007e+01] [ 5.71114235e-03 -5.04037827e-04 9.99983564e-01 1.59897510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.06071405700004 meters Centerline goodness : 0.986942 with order 1 Centerline is valid? [True, True] Translation: X:320.62, Y:-15.97, Z:1.60 [[ 9.99670689e-01 -2.50147982e-02 -5.72483866e-03 3.20622972e+02] [ 2.50169932e-02 9.99686977e-01 3.12126879e-04 -1.59743487e+01] [ 5.71523887e-03 -4.55242342e-04 9.99983564e-01 1.60493909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.12071405700004 meters Centerline goodness : 0.986216 with order 1 Centerline is valid? [True, True] Translation: X:320.68, Y:-15.98, Z:1.60 [[ 9.99823420e-01 -1.78984708e-02 -5.72481641e-03 3.20684930e+02] [ 1.79005522e-02 9.99839723e-01 3.12534528e-04 -1.59808512e+01] [ 5.71830496e-03 -4.14956715e-04 9.99983564e-01 1.60045441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.18071405700005 meters Centerline goodness : 0.987051 with order 1 Centerline is valid? [True, True] Translation: X:320.75, Y:-15.98, Z:1.61 [[ 9.99889142e-01 -1.37452254e-02 -5.72479412e-03 3.20746849e+02] [ 1.37472413e-02 9.99905453e-01 3.12942219e-04 -1.59806457e+01] [ 5.71995140e-03 -3.91607653e-04 9.99983564e-01 1.60636415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.24071405700005 meters Centerline goodness : 0.985134 with order 1 Centerline is valid? [True, True] Translation: X:320.81, Y:-15.98, Z:1.61 [[ 9.99973113e-01 -4.58259685e-03 -5.72477188e-03 3.20809157e+02] [ 4.58446558e-03 9.99989442e-01 3.13348590e-04 -1.59827416e+01] [ 5.72327549e-03 -3.39585185e-04 9.99983564e-01 1.60682379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.30071405700005 meters Centerline goodness : 0.983395 with order 1 Centerline is valid? [True, True] Translation: X:320.87, Y:-15.99, Z:1.61 [[ 9.99980712e-01 2.40885600e-03 -5.72474963e-03 3.20868824e+02] [-2.40709916e-03 9.99997054e-01 3.13754622e-04 -1.59857816e+01] [ 5.72548855e-03 -2.99968530e-04 9.99983564e-01 1.60941947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.36071405700005 meters Centerline goodness : 0.983503 with order 1 Centerline is valid? [True, True] Translation: X:320.93, Y:-15.99, Z:1.61 [[ 9.99949242e-01 8.29094833e-03 -5.72475508e-03 3.20926982e+02] [-8.28928822e-03 9.99965594e-01 3.13655071e-04 -1.59921644e+01] [ 5.72715861e-03 -2.66185006e-04 9.99983564e-01 1.60624898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.42071405700005 meters Centerline goodness : 0.982851 with order 1 Centerline is valid? [True, True] Translation: X:320.98, Y:-15.99, Z:1.60 [[ 9.99954214e-01 7.66781597e-03 -5.72482983e-03 3.20984816e+02] [-7.66615350e-03 9.99970566e-01 3.12284699e-04 -1.59937862e+01] [ 5.72705587e-03 -2.68382977e-04 9.99983564e-01 1.60412031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.48071405700006 meters Centerline goodness : 0.982497 with order 1 Centerline is valid? [True, True] Translation: X:321.04, Y:-16.00, Z:1.61 [[ 9.99941593e-01 9.16717194e-03 -5.72485604e-03 3.21043209e+02] [-9.16553673e-03 9.99957947e-01 3.11803544e-04 -1.59993467e+01] [ 5.72747365e-03 -2.59313955e-04 9.99983564e-01 1.60550521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.54071405700006 meters Centerline goodness : 0.982376 with order 1 Centerline is valid? [True, True] Translation: X:321.10, Y:-16.01, Z:1.61 [[ 9.99944551e-01 8.83854988e-03 -5.72487843e-03 3.21102286e+02] [-8.83691165e-03 9.99960905e-01 3.11391890e-04 -1.60054233e+01] [ 5.72740687e-03 -2.60784379e-04 9.99983564e-01 1.60527249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.60071405700006 meters Centerline goodness : 0.983971 with order 1 Centerline is valid? [True, True] Translation: X:321.16, Y:-16.01, Z:1.61 [[ 9.99970226e-01 5.17415740e-03 -5.72489593e-03 3.21159937e+02] [-5.17246109e-03 9.99986574e-01 3.11069749e-04 -1.60073259e+01] [ 5.72642860e-03 -2.81448685e-04 9.99983564e-01 1.61246403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.66071405700006 meters Centerline goodness : 0.983413 with order 1 Centerline is valid? [True, True] Translation: X:321.22, Y:-16.01, Z:1.61 [[ 9.99978328e-01 3.25092694e-03 -5.72492452e-03 3.21218503e+02] [-3.24920221e-03 9.99994673e-01 3.10542833e-04 -1.60142425e+01] [ 5.72590357e-03 -2.91934666e-04 9.99983564e-01 1.61146067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.72071405700007 meters Centerline goodness : 0.983689 with order 1 Centerline is valid? [True, True] Translation: X:321.28, Y:-16.02, Z:1.61 [[ 9.99983568e-01 -2.96740879e-04 -5.72494592e-03 3.21276964e+02] [ 2.98521336e-04 9.99999907e-01 3.10147785e-04 -1.60184830e+01] [ 5.72485335e-03 -3.11851708e-04 9.99983564e-01 1.61395717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.78071405700007 meters Centerline goodness : 0.985396 with order 1 Centerline is valid? [True, True] Translation: X:321.33, Y:-16.03, Z:1.61 [[ 9.99957790e-01 -7.18636083e-03 -5.72496839e-03 3.21334789e+02] [ 7.18825145e-03 9.99974116e-01 3.09732484e-04 -1.60253905e+01] [ 5.72259435e-03 -3.50871922e-04 9.99983564e-01 1.61369251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.84071405700007 meters Centerline goodness : 0.985203 with order 1 Centerline is valid? [True, True] Translation: X:321.39, Y:-16.03, Z:1.62 [[ 9.99960073e-01 -6.86124286e-03 -5.72499586e-03 3.21394839e+02] [ 6.86312527e-03 9.99976401e-01 3.09223885e-04 -1.60289773e+01] [ 5.72273909e-03 -3.48502902e-04 9.99983564e-01 1.61530926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.9007140570001 meters Centerline goodness : 0.985112 with order 1 Centerline is valid? [True, True] Translation: X:321.45, Y:-16.03, Z:1.62 [[ 9.99963427e-01 -6.35363244e-03 -5.72499586e-03 3.21454871e+02] [ 6.35550656e-03 9.99979756e-01 3.09223885e-04 -1.60296844e+01] [ 5.72291526e-03 -3.45597824e-04 9.99983564e-01 1.61811485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.960714057 meters Centerline goodness : 0.985505 with order 1 Centerline is valid? [True, True] Translation: X:321.52, Y:-16.03, Z:1.62 [[ 9.99978837e-01 -3.09015792e-03 -5.72499586e-03 3.21515613e+02] [ 3.09197874e-03 9.99995172e-01 3.09223885e-04 -1.60331172e+01] [ 5.72401267e-03 -3.26918906e-04 9.99983564e-01 1.61772773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.020714057 meters Centerline goodness : 0.984838 with order 1 Centerline is valid? [True, True] Translation: X:321.58, Y:-16.04, Z:1.62 [[ 9.99983425e-01 6.10911501e-04 -5.72499586e-03 3.21575155e+02] [-6.09151149e-04 9.99999767e-01 3.09223885e-04 -1.60357867e+01] [ 5.72518343e-03 -3.05731372e-04 9.99983564e-01 1.61969719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.080714057 meters Centerline goodness : 0.984707 with order 1 Centerline is valid? [True, True] Translation: X:321.63, Y:-16.04, Z:1.62 [[ 9.99975649e-01 3.99066160e-03 -5.72500667e-03 3.21633194e+02] [-3.98895763e-03 9.99991996e-01 3.09023544e-04 -1.60382567e+01] [ 5.72619406e-03 -2.86179210e-04 9.99983564e-01 1.61592432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.140714057 meters Centerline goodness : 0.982902 with order 1 Centerline is valid? [True, True] Translation: X:321.69, Y:-16.04, Z:1.62 [[ 9.99983075e-01 1.03636631e-03 -5.72504837e-03 3.21692101e+02] [-1.03461848e-03 9.99999417e-01 3.08249037e-04 -1.60414562e+01] [ 5.72536449e-03 -3.02320579e-04 9.99983564e-01 1.62059248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.200714057 meters Centerline goodness : 0.984809 with order 1 Centerline is valid? [True, True] Translation: X:321.75, Y:-16.05, Z:1.62 [[ 9.99975334e-01 -4.06883407e-03 -5.72507027e-03 3.21750153e+02] [ 4.07066299e-03 9.99991667e-01 3.07841801e-04 -1.60455772e+01] [ 5.72377001e-03 -3.31139040e-04 9.99983564e-01 1.62009537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26071405700003 meters Centerline goodness : 0.984700 with order 1 Centerline is valid? [True, True] Translation: X:321.81, Y:-16.05, Z:1.62 [[ 9.99923662e-01 -1.09495842e-02 -5.72509727e-03 3.21809640e+02] [ 1.09515226e-02 9.99939983e-01 3.07338916e-04 -1.60513628e+01] [ 5.72138843e-03 -3.70013986e-04 9.99983564e-01 1.61982953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32071405700003 meters Centerline goodness : 0.985422 with order 1 Centerline is valid? [True, True] Translation: X:321.87, Y:-16.06, Z:1.62 [[ 9.99848092e-01 -1.64625414e-02 -5.72510846e-03 3.21871285e+02] [ 1.64645686e-02 9.99864403e-01 3.07130223e-04 -1.60567345e+01] [ 5.71927601e-03 -4.01345008e-04 9.99983564e-01 1.61779390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38071405700003 meters Centerline goodness : 0.985202 with order 1 Centerline is valid? [True, True] Translation: X:321.93, Y:-16.06, Z:1.61 [[ 9.99757751e-01 -2.12523936e-02 -5.72503001e-03 3.21932233e+02] [ 2.12545072e-02 9.99774050e-01 3.08585755e-04 -1.60607697e+01] [ 5.71717825e-03 -4.30193692e-04 9.99983564e-01 1.61244219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44071405700004 meters Centerline goodness : 0.984470 with order 1 Centerline is valid? [True, True] Translation: X:321.99, Y:-16.06, Z:1.62 [[ 9.99698914e-01 -2.38601455e-02 -5.72501335e-03 3.21993948e+02] [ 2.38623033e-02 9.99715207e-01 3.08894463e-04 -1.60634351e+01] [ 5.71601264e-03 -4.45413465e-04 9.99983564e-01 1.61727822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.50071405700004 meters Centerline goodness : 0.985746 with order 1 Centerline is valid? [True, True] Translation: X:322.06, Y:-16.07, Z:1.62 [[ 9.99690399e-01 -2.42142544e-02 -5.72499112e-03 3.22056538e+02] [ 2.42164204e-02 9.99706692e-01 3.09305870e-04 -1.60665904e+01] [ 5.71582232e-03 -4.47848900e-04 9.99983564e-01 1.61880266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.56071405700004 meters Centerline goodness : 0.985211 with order 1 Centerline is valid? [True, True] Translation: X:322.12, Y:-16.07, Z:1.62 [[ 9.99690281e-01 -2.42191606e-02 -5.72496891e-03 3.22118570e+02] [ 2.42213290e-02 9.99706573e-01 3.09716538e-04 -1.60688625e+01] [ 5.71578797e-03 -4.48286968e-04 9.99983564e-01 1.61713835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.62071405700004 meters Centerline goodness : 0.985103 with order 1 Centerline is valid? [True, True] Translation: X:322.18, Y:-16.07, Z:1.62 [[ 9.99702811e-01 -2.36962989e-02 -5.72494661e-03 3.22181807e+02] [ 2.36984611e-02 9.99719104e-01 3.10128114e-04 -1.60709842e+01] [ 5.71598961e-03 -4.45708372e-04 9.99983564e-01 1.61820833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.68071405700005 meters Centerline goodness : 0.984849 with order 1 Centerline is valid? [True, True] Translation: X:322.24, Y:-16.07, Z:1.62 [[ 9.99746565e-01 -2.17722718e-02 -5.72491280e-03 3.22244318e+02] [ 2.17744061e-02 9.99762861e-01 3.10751051e-04 -1.60745150e+01] [ 5.71678944e-03 -4.35328872e-04 9.99983564e-01 1.61685012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.74071405700005 meters Centerline goodness : 0.984972 with order 1 Centerline is valid? [True, True] Translation: X:322.31, Y:-16.08, Z:1.62 [[ 9.99846059e-01 -1.65856782e-02 -5.72489035e-03 3.22306761e+02] [ 1.65877303e-02 9.99862366e-01 3.11163977e-04 -1.60759998e+01] [ 5.71894155e-03 -4.06079013e-04 9.99983564e-01 1.61612500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.80071405700005 meters Centerline goodness : 0.984298 with order 1 Centerline is valid? [True, True] Translation: X:322.37, Y:-16.08, Z:1.61 [[ 9.99953554e-01 -7.75348254e-03 -5.72486810e-03 3.22368666e+02] [ 7.75539292e-03 9.99969878e-01 3.11572912e-04 -1.60761083e+01] [ 5.72227988e-03 -3.55957042e-04 9.99983564e-01 1.61492451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.86071405700005 meters Centerline goodness : 0.984056 with order 1 Centerline is valid? [True, True] Translation: X:322.43, Y:-16.08, Z:1.61 [[ 9.99982847e-01 -1.23759312e-03 -5.72484447e-03 3.22428770e+02] [ 1.23939956e-03 9.99999183e-01 3.12006510e-04 -1.60768407e+01] [ 5.72445365e-03 -3.19096528e-04 9.99983564e-01 1.61485596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.92071405700005 meters Centerline goodness : 0.981957 with order 1 Centerline is valid? [True, True] Translation: X:322.49, Y:-16.08, Z:1.60 [[ 9.99968566e-01 5.48576773e-03 -5.72483871e-03 3.22487246e+02] [-5.48407057e-03 9.99984914e-01 3.12112017e-04 -1.60827103e+01] [ 5.72646452e-03 -2.80706787e-04 9.99983564e-01 1.60368240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.98071405700006 meters Centerline goodness : 0.979766 with order 1 Centerline is valid? [True, True] Translation: X:322.55, Y:-16.08, Z:1.61 [[ 9.99816387e-01 1.82870760e-02 -5.72491551e-03 3.22546445e+02] [-1.82855963e-02 9.99832756e-01 3.10696956e-04 -1.60824659e+01] [ 5.72963979e-03 -2.05956414e-04 9.99983564e-01 1.60623648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.04071405700006 meters Centerline goodness : 0.979618 with order 1 Centerline is valid? [True, True] Translation: X:322.61, Y:-16.06, Z:1.61 [[ 9.99969491e-01 5.31436177e-03 -5.72499103e-03 3.22605516e+02] [-5.31267787e-03 9.99985840e-01 3.09299157e-04 -1.60640522e+01] [ 5.72655369e-03 -2.78874688e-04 9.99983564e-01 1.61333190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.10071405700006 meters Centerline goodness : 0.978917 with order 1 Centerline is valid? [True, True] Translation: X:322.66, Y:-16.07, Z:1.61 [[ 9.99961932e-01 6.58479995e-03 -5.72501898e-03 3.22663032e+02] [-6.58313979e-03 9.99978283e-01 3.08780959e-04 -1.60660583e+01] [ 5.72692791e-03 -2.71080604e-04 9.99983564e-01 1.61416759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.16071405700006 meters Centerline goodness : 0.987272 with order 1 Centerline is valid? [True, True] Translation: X:322.72, Y:-16.07, Z:1.62 [[ 9.99969379e-01 5.33532997e-03 -5.72505666e-03 3.22721535e+02] [-5.33365337e-03 9.99985729e-01 3.08080746e-04 -1.60746579e+01] [ 5.72661866e-03 -2.77535844e-04 9.99983564e-01 1.61888057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.22071405700007 meters Centerline goodness : 0.987306 with order 1 Centerline is valid? [True, True] Translation: X:322.78, Y:-16.08, Z:1.62 [[ 9.99983443e-01 5.80382153e-04 -5.72508766e-03 3.22779675e+02] [-5.78631123e-04 9.99999785e-01 3.07503599e-04 -1.60803139e+01] [ 5.72526490e-03 -3.04185794e-04 9.99983564e-01 1.61859964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.28071405700007 meters Centerline goodness : 0.979288 with order 1 Centerline is valid? [True, True] Translation: X:322.84, Y:-16.08, Z:1.62 [[ 9.99971412e-01 -4.93947775e-03 -5.72510940e-03 3.22836997e+02] [ 4.94131665e-03 9.99987744e-01 3.07098224e-04 -1.60841896e+01] [ 5.72352233e-03 -3.35379023e-04 9.99983564e-01 1.61785901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.34071405700007 meters Centerline goodness : 0.980297 with order 1 Centerline is valid? [True, True] Translation: X:322.90, Y:-16.09, Z:1.62 [[ 9.99933246e-01 -1.00362054e-02 -5.72513879e-03 3.22896149e+02] [ 1.00381244e-02 9.99949570e-01 3.06549284e-04 -1.60924918e+01] [ 5.72177348e-03 -3.63998476e-04 9.99983564e-01 1.61807895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.4007140570001 meters Centerline goodness : 0.980394 with order 1 Centerline is valid? [True, True] Translation: X:322.96, Y:-16.10, Z:1.62 [[ 9.99875040e-01 -1.47352160e-02 -5.72515323e-03 3.22956892e+02] [ 1.47372102e-02 9.99891355e-01 3.06279465e-04 -1.60986294e+01] [ 5.72001812e-03 -3.90613978e-04 9.99983564e-01 1.61978013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.460714057 meters Centerline goodness : 0.991283 with order 1 Centerline is valid? [True, True] Translation: X:323.02, Y:-16.11, Z:1.62 [[ 9.99794180e-01 -1.94632957e-02 -5.72513899e-03 3.23019139e+02] [ 1.94653685e-02 9.99810485e-01 3.06545329e-04 -1.61078071e+01] [ 5.71808761e-03 -4.17924176e-04 9.99983564e-01 1.61975972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.520714057 meters Centerline goodness : 0.992032 with order 1 Centerline is valid? [True, True] Translation: X:323.08, Y:-16.11, Z:1.62 [[ 9.99742865e-01 -2.19414283e-02 -5.72511063e-03 3.23080956e+02] [ 2.19435445e-02 9.99759164e-01 3.07074089e-04 -1.61126754e+01] [ 5.71699418e-03 -4.32624349e-04 9.99983564e-01 1.62118162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.580714057 meters Centerline goodness : 0.991264 with order 1 Centerline is valid? [True, True] Translation: X:323.14, Y:-16.11, Z:1.62 [[ 9.99549486e-01 -2.94626476e-02 -5.72508876e-03 3.23142715e+02] [ 2.94648886e-02 9.99565769e-01 3.07481417e-04 -1.61134119e+01] [ 5.71354353e-03 -4.76031995e-04 9.99983564e-01 1.61914085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.640714057 meters Centerline goodness : 0.991515 with order 1 Centerline is valid? [True, True] Translation: X:323.20, Y:-16.12, Z:1.62 [[ 9.99732979e-01 -2.23873626e-02 -5.72506174e-03 3.23203700e+02] [ 2.23894913e-02 9.99749276e-01 3.07983529e-04 -1.61213755e+01] [ 5.71673140e-03 -4.36082511e-04 9.99983564e-01 1.62112247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.700714057 meters Centerline goodness : 0.987879 with order 1 Centerline is valid? [True, True] Translation: X:323.27, Y:-16.13, Z:1.63 [[ 9.99825086e-01 -1.78051289e-02 -5.72501252e-03 3.23265274e+02] [ 1.78071880e-02 9.99841392e-01 3.08895799e-04 -1.61323775e+01] [ 5.71860456e-03 -4.10788143e-04 9.99983564e-01 1.62517537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76071405700003 meters Centerline goodness : 0.986951 with order 1 Centerline is valid? [True, True] Translation: X:323.33, Y:-16.14, Z:1.62 [[ 9.99910942e-01 -1.20553583e-02 -5.72498658e-03 3.23326809e+02] [ 1.20573263e-02 9.99927260e-01 3.09375943e-04 -1.61369942e+01] [ 5.72084050e-03 -3.78376422e-04 9.99983564e-01 1.62440679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82071405700003 meters Centerline goodness : 0.988617 with order 1 Centerline is valid? [True, True] Translation: X:323.39, Y:-16.14, Z:1.63 [[ 9.99982730e-01 -1.32806038e-03 -5.72496942e-03 3.23387512e+02] [ 1.32985509e-03 9.99999068e-01 3.09693092e-04 -1.61397937e+01] [ 5.72455279e-03 -3.17301124e-04 9.99983564e-01 1.62594017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88071405700003 meters Centerline goodness : 0.987116 with order 1 Centerline is valid? [True, True] Translation: X:323.45, Y:-16.14, Z:1.62 [[ 9.99980077e-01 2.65919115e-03 -5.72493342e-03 3.23446107e+02] [-2.65745780e-03 9.99996421e-01 3.10357123e-04 -1.61437352e+01] [ 5.72573823e-03 -2.95137171e-04 9.99983564e-01 1.62240518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94071405700004 meters Centerline goodness : 0.988150 with order 1 Centerline is valid? [True, True] Translation: X:323.50, Y:-16.15, Z:1.62 [[ 9.99846737e-01 1.65446943e-02 -5.72501558e-03 3.23503678e+02] [-1.65431968e-02 9.99863104e-01 3.08834185e-04 -1.61481931e+01] [ 5.72934141e-03 -2.14076793e-04 9.99983564e-01 1.62277744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.00071405700004 meters Centerline goodness : 0.986898 with order 1 Centerline is valid? [True, True] Translation: X:323.56, Y:-16.16, Z:1.62 [[ 9.99722929e-01 2.28317604e-02 -5.72504423e-03 3.23560241e+02] [-2.28303689e-02 9.99739306e-01 3.08302020e-04 -1.61551253e+01] [ 5.73059082e-03 -1.77511726e-04 9.99983564e-01 1.62312197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.06071405700004 meters Centerline goodness : 0.987631 with order 1 Centerline is valid? [True, True] Translation: X:323.62, Y:-16.17, Z:1.62 [[ 9.99499957e-01 3.10975821e-02 -5.72508207e-03 3.23618832e+02] [-3.10963301e-02 9.99516345e-01 3.07597885e-04 -1.61668297e+01] [ 5.73187865e-03 -1.29415031e-04 9.99983564e-01 1.61959670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.12071405700004 meters Centerline goodness : 0.987129 with order 1 Centerline is valid? [True, True] Translation: X:323.68, Y:-16.18, Z:1.62 [[ 9.99530905e-01 3.00864324e-02 -5.72515659e-03 3.23676982e+02] [-3.00851718e-02 9.99547292e-01 3.06204397e-04 -1.61780973e+01] [ 5.73177737e-03 -1.33818438e-04 9.99983564e-01 1.61527459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.18071405700005 meters Centerline goodness : 0.988360 with order 1 Centerline is valid? [True, True] Translation: X:323.73, Y:-16.18, Z:1.62 [[ 9.99728791e-01 2.25736058e-02 -5.72517956e-03 3.23734483e+02] [-2.25722245e-02 9.99745168e-01 3.05774368e-04 -1.61849490e+01] [ 5.73062303e-03 -1.76461401e-04 9.99983564e-01 1.62280743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.24071405700005 meters Centerline goodness : 0.987059 with order 1 Centerline is valid? [True, True] Translation: X:323.79, Y:-16.20, Z:1.62 [[ 9.99845792e-01 1.66016086e-02 -5.72522138e-03 3.23791875e+02] [-1.66001340e-02 9.99862162e-01 3.04989442e-04 -1.61971753e+01] [ 5.72949554e-03 -2.09902968e-04 9.99983564e-01 1.62461547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.30071405700005 meters Centerline goodness : 0.986376 with order 1 Centerline is valid? [True, True] Translation: X:323.85, Y:-16.21, Z:1.63 [[ 9.99860141e-01 1.57136843e-02 -5.72525563e-03 3.23849259e+02] [-1.57121989e-02 9.99876509e-01 3.04345001e-04 -1.62053778e+01] [ 5.72933100e-03 -2.14346081e-04 9.99983564e-01 1.62890487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.36071405700005 meters Centerline goodness : 0.984108 with order 1 Centerline is valid? [True, True] Translation: X:323.91, Y:-16.21, Z:1.63 [[ 9.99825563e-01 1.77782060e-02 -5.72528940e-03 3.23907592e+02] [-1.77767580e-02 9.99841935e-01 3.03708419e-04 -1.62127838e+01] [ 5.72978382e-03 -2.01878357e-04 9.99983564e-01 1.62829445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.42071405700005 meters Centerline goodness : 0.984167 with order 1 Centerline is valid? [True, True] Translation: X:323.97, Y:-16.22, Z:1.64 [[ 9.99852997e-01 1.61618138e-02 -5.72531185e-03 3.23966353e+02] [-1.61603417e-02 9.99869367e-01 3.03284692e-04 -1.62218370e+01] [ 5.72946557e-03 -2.10717112e-04 9.99983564e-01 1.63568617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.48071405700006 meters Centerline goodness : 0.982111 with order 1 Centerline is valid? [True, True] Translation: X:324.02, Y:-16.23, Z:1.63 [[ 9.99877814e-01 1.45457135e-02 -5.72533461e-03 3.24023643e+02] [-1.45442175e-02 9.99894181e-01 3.02854461e-04 -1.62329175e+01] [ 5.72913399e-03 -2.19546945e-04 9.99983564e-01 1.63415451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.54071405700006 meters Centerline goodness : 0.981115 with order 1 Centerline is valid? [True, True] Translation: X:324.08, Y:-16.24, Z:1.63 [[ 9.99935194e-01 9.84016365e-03 -5.72537159e-03 3.24081697e+02] [-9.83859460e-03 9.99951554e-01 3.02153612e-04 -1.62414953e+01] [ 5.72806746e-03 -2.45804420e-04 9.99983564e-01 1.63466264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.60071405700006 meters Centerline goodness : 0.979453 with order 1 Centerline is valid? [True, True] Translation: X:324.14, Y:-16.25, Z:1.63 [[ 9.99965935e-01 5.94541145e-03 -5.72539267e-03 3.24139769e+02] [-5.94378098e-03 9.99982290e-01 3.01753626e-04 -1.62512687e+01] [ 5.72708533e-03 -2.67712866e-04 9.99983564e-01 1.63403211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.66071405700006 meters Centerline goodness : 0.980202 with order 1 Centerline is valid? [True, True] Translation: X:324.20, Y:-16.26, Z:1.63 [[ 9.99976607e-01 3.74241312e-03 -5.72541536e-03 3.24198612e+02] [-3.74074908e-03 9.99992958e-01 3.01322533e-04 -1.62597530e+01] [ 5.72650272e-03 -2.79898142e-04 9.99983564e-01 1.63200110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.72071405700007 meters Centerline goodness : 0.979121 with order 1 Centerline is valid? [True, True] Translation: X:324.26, Y:-16.27, Z:1.63 [[ 9.99983271e-01 8.23389585e-04 -5.72543803e-03 3.24257412e+02] [-8.21680282e-04 9.99999617e-01 3.00891248e-04 -1.62660297e+01] [ 5.72568359e-03 -2.96181735e-04 9.99983564e-01 1.63184891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.78071405700007 meters Centerline goodness : 0.979253 with order 1 Centerline is valid? [True, True] Translation: X:324.31, Y:-16.27, Z:1.63 [[ 9.99965992e-01 -5.93577639e-03 -5.72546065e-03 3.24314734e+02] [ 5.93759368e-03 9.99982327e-01 3.00460198e-04 -1.62735562e+01] [ 5.72357600e-03 -3.34445439e-04 9.99983564e-01 1.63044189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.84071405700007 meters Centerline goodness : 0.980717 with order 1 Centerline is valid? [True, True] Translation: X:324.37, Y:-16.28, Z:1.63 [[ 9.99901417e-01 -1.28208923e-02 -5.72548840e-03 3.24373654e+02] [ 1.28228190e-02 9.99917739e-01 2.99930481e-04 -1.62800396e+01] [ 5.72117204e-03 -3.73317815e-04 9.99983564e-01 1.63091348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.9007140570001 meters Centerline goodness : 0.981313 with order 1 Centerline is valid? [True, True] Translation: X:324.43, Y:-16.28, Z:1.63 [[ 9.99856497e-01 -1.59438076e-02 -5.72549882e-03 3.24434877e+02] [ 1.59457841e-02 9.99872813e-01 2.99731372e-04 -1.62849499e+01] [ 5.71999175e-03 -3.90985928e-04 9.99983564e-01 1.63100207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.960714057 meters Centerline goodness : 0.982642 with order 1 Centerline is valid? [True, True] Translation: X:324.50, Y:-16.29, Z:1.63 [[ 9.99812603e-01 -1.84926192e-02 -5.72548838e-03 3.24496218e+02] [ 1.84946384e-02 9.99828915e-01 2.99930677e-04 -1.62869572e+01] [ 5.71896233e-03 -4.05765308e-04 9.99983564e-01 1.62969765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.020714057 meters Centerline goodness : 0.983147 with order 1 Centerline is valid? [True, True] Translation: X:324.56, Y:-16.29, Z:1.63 [[ 9.99805980e-01 -1.88472956e-02 -5.72547287e-03 3.24558744e+02] [ 1.88493223e-02 9.99822291e-01 3.00226414e-04 -1.62866757e+01] [ 5.71879695e-03 -4.08089448e-04 9.99983564e-01 1.63328206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.080714057 meters Centerline goodness : 0.983172 with order 1 Centerline is valid? [True, True] Translation: X:324.62, Y:-16.29, Z:1.63 [[ 9.99795736e-01 -1.93831491e-02 -5.72545254e-03 3.24620740e+02] [ 1.93851868e-02 9.99812044e-01 3.00613613e-04 -1.62851751e+01] [ 5.71854957e-03 -4.11541175e-04 9.99983564e-01 1.63484998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.140714057 meters Centerline goodness : 0.982898 with order 1 Centerline is valid? [True, True] Translation: X:324.68, Y:-16.28, Z:1.63 [[ 9.99784297e-01 -1.99644220e-02 -5.72543170e-03 3.24683049e+02] [ 1.99664714e-02 9.99800605e-01 3.01010027e-04 -1.62841430e+01] [ 5.71828059e-03 -4.15261766e-04 9.99983564e-01 1.63201267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.200714057 meters Centerline goodness : 0.984296 with order 1 Centerline is valid? [True, True] Translation: X:324.75, Y:-16.28, Z:1.63 [[ 9.99704818e-01 -2.36113478e-02 -5.72541038e-03 3.24745437e+02] [ 2.36134591e-02 9.99721118e-01 3.01414964e-04 -1.62819772e+01] [ 5.71669686e-03 -4.36522736e-04 9.99983564e-01 1.63467236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26071405700003 meters Centerline goodness : 0.985334 with order 1 Centerline is valid? [True, True] Translation: X:324.81, Y:-16.28, Z:1.63 [[ 9.99648773e-01 -2.58756867e-02 -5.72538907e-03 3.24806279e+02] [ 2.58778372e-02 9.99665067e-01 3.01819187e-04 -1.62814494e+01] [ 5.71566168e-03 -4.49873866e-04 9.99983564e-01 1.63164959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32071405700003 meters Centerline goodness : 0.985421 with order 1 Centerline is valid? [True, True] Translation: X:324.87, Y:-16.28, Z:1.63 [[ 9.99522608e-01 -3.03607763e-02 -5.72537330e-03 3.24868384e+02] [ 3.03630015e-02 9.99538892e-01 3.02118186e-04 -1.62783855e+01] [ 5.71356074e-03 -4.75813476e-04 9.99983564e-01 1.63437384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38071405700003 meters Centerline goodness : 0.985410 with order 1 Centerline is valid? [True, True] Translation: X:324.93, Y:-16.28, Z:1.63 [[ 9.99441131e-01 -3.29339669e-02 -5.72535184e-03 3.24930115e+02] [ 3.29362363e-02 9.99457409e-01 3.02524217e-04 -1.62775478e+01] [ 5.71228200e-03 -4.90926687e-04 9.99983564e-01 1.63275544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44071405700004 meters Centerline goodness : 0.986109 with order 1 Centerline is valid? [True, True] Translation: X:324.99, Y:-16.28, Z:1.63 [[ 9.99387204e-01 -3.45316685e-02 -5.72533595e-03 3.24993310e+02] [ 3.45339656e-02 9.99403479e-01 3.02824691e-04 -1.62780100e+01] [ 5.71146362e-03 -5.00357676e-04 9.99983564e-01 1.63318602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.50071405700004 meters Centerline goodness : 0.987231 with order 1 Centerline is valid? [True, True] Translation: X:325.06, Y:-16.28, Z:1.63 [[ 9.99148607e-01 -4.08568559e-02 -5.72530408e-03 3.25056892e+02] [ 4.08592595e-02 9.99164866e-01 3.03426010e-04 -1.62771298e+01] [ 5.70812565e-03 -5.37099360e-04 9.99983564e-01 1.63290219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.56071405700004 meters Centerline goodness : 0.985582 with order 1 Centerline is valid? [True, True] Translation: X:325.12, Y:-16.28, Z:1.63 [[ 9.98992504e-01 -4.45106552e-02 -5.72527131e-03 3.25120153e+02] [ 4.45131216e-02 9.99008754e-01 3.04043189e-04 -1.62816816e+01] [ 5.70606299e-03 -5.58586565e-04 9.99983564e-01 1.62892833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.62071405700004 meters Centerline goodness : 0.984930 with order 1 Centerline is valid? [True, True] Translation: X:325.18, Y:-16.28, Z:1.63 [[ 9.98902966e-01 -4.64767372e-02 -5.72523891e-03 3.25183677e+02] [ 4.64792391e-02 9.98919210e-01 3.04652078e-04 -1.62833381e+01] [ 5.70489189e-03 -5.70422612e-04 9.99983564e-01 1.62945192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.68071405700005 meters Centerline goodness : 0.985857 with order 1 Centerline is valid? [True, True] Translation: X:325.25, Y:-16.28, Z:1.63 [[ 9.99066005e-01 -4.28291932e-02 -5.72520643e-03 3.25246545e+02] [ 4.28316393e-02 9.99082258e-01 3.05261215e-04 -1.62832432e+01] [ 5.70687807e-03 -5.50196079e-04 9.99983564e-01 1.62942932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.74071405700005 meters Centerline goodness : 0.986975 with order 1 Centerline is valid? [True, True] Translation: X:325.31, Y:-16.28, Z:1.63 [[ 9.99298997e-01 -3.69964328e-02 -5.72517393e-03 3.25309965e+02] [ 3.69987874e-02 9.99315264e-01 3.05869525e-04 -1.62831437e+01] [ 5.70993761e-03 -5.17479603e-04 9.99983564e-01 1.63129906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.80071405700005 meters Centerline goodness : 0.985849 with order 1 Centerline is valid? [True, True] Translation: X:325.37, Y:-16.29, Z:1.63 [[ 9.99396013e-01 -3.42758096e-02 -5.72514126e-03 3.25371950e+02] [ 3.42781233e-02 9.99412285e-01 3.06479735e-04 -1.62851564e+01] [ 5.71127167e-03 -5.02541724e-04 9.99983564e-01 1.63280285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.86071405700005 meters Centerline goodness : 0.984717 with order 1 Centerline is valid? [True, True] Translation: X:325.43, Y:-16.28, Z:1.63 [[ 9.99676205e-01 -2.47933268e-02 -5.72511918e-03 3.25434126e+02] [ 2.47954885e-02 9.99692498e-01 3.06891716e-04 -1.62840369e+01] [ 5.71574982e-03 -4.48749473e-04 9.99983564e-01 1.63336906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.92071405700005 meters Centerline goodness : 0.984490 with order 1 Centerline is valid? [True, True] Translation: X:325.50, Y:-16.28, Z:1.63 [[ 9.99738777e-01 -2.21269137e-02 -5.72509716e-03 3.25496352e+02] [ 2.21290342e-02 9.99755076e-01 3.07301831e-04 -1.62849514e+01] [ 5.71689531e-03 -4.33912428e-04 9.99983564e-01 1.62765054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.98071405700006 meters Centerline goodness : 0.983547 with order 1 Centerline is valid? [True, True] Translation: X:325.56, Y:-16.29, Z:1.63 [[ 9.99766977e-01 -2.08138125e-02 -5.72507373e-03 3.25558068e+02] [ 2.08159141e-02 9.99783278e-01 3.07737775e-04 -1.62861231e+01] [ 5.71742779e-03 -4.26838708e-04 9.99983564e-01 1.63074480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.04071405700006 meters Centerline goodness : 0.984039 with order 1 Centerline is valid? [True, True] Translation: X:325.62, Y:-16.29, Z:1.63 [[ 9.99784620e-01 -1.99483750e-02 -5.72505034e-03 3.25620144e+02] [ 1.99504649e-02 9.99800922e-01 3.08172260e-04 -1.62882279e+01] [ 5.71776308e-03 -4.22323302e-04 9.99983564e-01 1.63130818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.10071405700006 meters Centerline goodness : 0.985580 with order 1 Centerline is valid? [True, True] Translation: X:325.68, Y:-16.29, Z:1.63 [[ 9.99807568e-01 -1.87630232e-02 -5.72502696e-03 3.25681120e+02] [ 1.87650963e-02 9.99823872e-01 3.08606114e-04 -1.62876520e+01] [ 5.71822824e-03 -4.15977410e-04 9.99983564e-01 1.63304540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.16071405700006 meters Centerline goodness : 0.985516 with order 1 Centerline is valid? [True, True] Translation: X:325.74, Y:-16.29, Z:1.63 [[ 9.99841971e-01 -1.68302701e-02 -5.72500967e-03 3.25742984e+02] [ 1.68323135e-02 9.99858279e-01 3.08926568e-04 -1.62868963e+01] [ 5.71899899e-03 -4.05242906e-04 9.99983564e-01 1.63392634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.22071405700007 meters Centerline goodness : 0.987403 with order 1 Centerline is valid? [True, True] Translation: X:325.81, Y:-16.29, Z:1.63 [[ 9.99923196e-01 -1.09921337e-02 -5.72498620e-03 3.25805232e+02] [ 1.09940843e-02 9.99939515e-01 3.09360855e-04 -1.62864868e+01] [ 5.72123939e-03 -3.72278076e-04 9.99983564e-01 1.63254992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.28071405700007 meters Centerline goodness : 0.988836 with order 1 Centerline is valid? [True, True] Translation: X:325.87, Y:-16.28, Z:1.63 [[ 9.99967220e-01 -5.72575360e-03 -5.72496306e-03 3.25865559e+02] [ 5.72762069e-03 9.99983549e-01 3.09788465e-04 -1.62847016e+01] [ 5.72309511e-03 -3.42568727e-04 9.99983564e-01 1.62974446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.34071405700007 meters Centerline goodness : 0.987197 with order 1 Centerline is valid? [True, True] Translation: X:325.93, Y:-16.29, Z:1.63 [[ 9.99983189e-01 -9.20315336e-04 -5.72495739e-03 3.25926238e+02] [ 9.22104528e-04 9.99999527e-01 3.09893192e-04 -1.62857249e+01] [ 5.72466948e-03 -3.15166991e-04 9.99983564e-01 1.62883986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.4007140570001 meters Centerline goodness : 0.986589 with order 1 Centerline is valid? [True, True] Translation: X:325.99, Y:-16.29, Z:1.62 [[ 9.99961721e-01 6.61676139e-03 -5.72495739e-03 3.25985018e+02] [-6.61509539e-03 9.99978072e-01 3.09893192e-04 -1.62886610e+01] [ 5.72688234e-03 -2.72010190e-04 9.99983564e-01 1.62453982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.460714057 meters Centerline goodness : 0.986772 with order 1 Centerline is valid? [True, True] Translation: X:326.04, Y:-16.28, Z:1.63 [[ 9.99943259e-01 8.98354392e-03 -5.72498039e-03 3.26044232e+02] [-8.98191906e-03 9.99959614e-01 3.09467641e-04 -1.62847124e+01] [ 5.72752930e-03 -2.58028770e-04 9.99983564e-01 1.62726811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.520714057 meters Centerline goodness : 0.986340 with order 1 Centerline is valid? [True, True] Translation: X:326.10, Y:-16.28, Z:1.63 [[ 9.99902779e-01 1.27144502e-02 -5.72499731e-03 3.26103592e+02] [-1.27128881e-02 9.99919140e-01 3.09154413e-04 -1.62807202e+01] [ 5.72846511e-03 -2.36343106e-04 9.99983564e-01 1.62956640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.580714057 meters Centerline goodness : 0.986554 with order 1 Centerline is valid? [True, True] Translation: X:326.16, Y:-16.28, Z:1.63 [[ 9.99847726e-01 1.64847688e-02 -5.72507564e-03 3.26161894e+02] [-1.64832768e-02 9.99864094e-01 3.07697042e-04 -1.62796503e+01] [ 5.72936988e-03 -2.13282182e-04 9.99983564e-01 1.63129327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.640714057 meters Centerline goodness : 0.985198 with order 1 Centerline is valid? [True, True] Translation: X:326.22, Y:-16.28, Z:1.63 [[ 9.99831361e-01 1.74491622e-02 -5.72510304e-03 3.26221055e+02] [-1.74476889e-02 9.99847730e-01 3.07186354e-04 -1.62788815e+01] [ 5.72959142e-03 -2.07244734e-04 9.99983564e-01 1.63194582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.700714057 meters Centerline goodness : 0.986116 with order 1 Centerline is valid? [True, True] Translation: X:326.28, Y:-16.28, Z:1.63 [[ 9.99742382e-01 2.19634212e-02 -5.72512499e-03 3.26279982e+02] [-2.19620242e-02 9.99758759e-01 3.06776717e-04 -1.62795272e+01] [ 5.73048172e-03 -1.80962352e-04 9.99983564e-01 1.63088422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76071405700003 meters Centerline goodness : 0.985984 with order 1 Centerline is valid? [True, True] Translation: X:326.34, Y:-16.28, Z:1.64 [[ 9.99649478e-01 2.58484904e-02 -5.72514806e-03 3.26337839e+02] [-2.58471595e-02 9.99665859e-01 3.06345453e-04 -1.62779735e+01] [ 5.73115363e-03 -1.58259257e-04 9.99983564e-01 1.63676291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82071405700003 meters Centerline goodness : 0.985849 with order 1 Centerline is valid? [True, True] Translation: X:326.40, Y:-16.28, Z:1.64 [[ 9.99476358e-01 3.18469966e-02 -5.72517610e-03 3.26397065e+02] [-3.18457670e-02 9.99492748e-01 3.05820674e-04 -1.62790233e+01] [ 5.73201146e-03 -1.23337910e-04 9.99983564e-01 1.63877199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88071405700003 meters Centerline goodness : 0.985089 with order 1 Centerline is valid? [True, True] Translation: X:326.45, Y:-16.28, Z:1.64 [[ 9.99273120e-01 3.76888973e-02 -5.72519672e-03 3.26454544e+02] [-3.76877658e-02 9.99289517e-01 3.05434113e-04 -1.62848150e+01] [ 5.73264054e-03 -8.94422262e-05 9.99983564e-01 1.63870670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94071405700004 meters Centerline goodness : 0.984397 with order 1 Centerline is valid? [True, True] Translation: X:326.51, Y:-16.30, Z:1.63 [[ 9.99238786e-01 3.85884694e-02 -5.72522811e-03 3.26510834e+02] [-3.85873561e-02 9.99255184e-01 3.04844595e-04 -1.62964734e+01] [ 5.73272735e-03 -8.36911279e-05 9.99983564e-01 1.63486476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.00071405700004 meters Centerline goodness : 0.984814 with order 1 Centerline is valid? [True, True] Translation: X:326.57, Y:-16.31, Z:1.64 [[ 9.99274487e-01 3.76526398e-02 -5.72528417e-03 3.26567837e+02] [-3.76515171e-02 9.99290884e-01 3.03787953e-04 -1.63066643e+01] [ 5.73266270e-03 -8.80019152e-05 9.99983564e-01 1.63786712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.06071405700004 meters Centerline goodness : 0.983101 with order 1 Centerline is valid? [True, True] Translation: X:326.62, Y:-16.32, Z:1.64 [[ 9.99082887e-01 4.24335503e-02 -5.72531574e-03 3.26624348e+02] [-4.24325095e-02 9.99099289e-01 3.03191933e-04 -1.63222003e+01] [ 5.73302439e-03 -5.99743577e-05 9.99983564e-01 1.63659131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.12071405700004 meters Centerline goodness : 0.981863 with order 1 Centerline is valid? [True, True] Translation: X:326.68, Y:-16.34, Z:1.63 [[ 9.99135742e-01 4.11702352e-02 -5.72537242e-03 3.26682398e+02] [-4.11691798e-02 9.99152144e-01 3.02117747e-04 -1.63357472e+01] [ 5.73295639e-03 -6.61477525e-05 9.99983564e-01 1.63443744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.18071405700005 meters Centerline goodness : 0.983835 with order 1 Centerline is valid? [True, True] Translation: X:326.74, Y:-16.35, Z:1.64 [[ 9.99508200e-01 3.08314612e-02 -5.72539316e-03 3.26741203e+02] [-3.08302384e-02 9.99524590e-01 3.01724224e-04 -1.63452156e+01] [ 5.73197385e-03 -1.25060600e-04 9.99983564e-01 1.63967077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.24071405700005 meters Centerline goodness : 0.983558 with order 1 Centerline is valid? [True, True] Translation: X:326.80, Y:-16.36, Z:1.64 [[ 9.99764640e-01 2.09256750e-02 -5.72541396e-03 3.26798747e+02] [-2.09242922e-02 9.99781018e-01 3.01328944e-04 -1.63579792e+01] [ 5.73046571e-03 -1.81457789e-04 9.99983564e-01 1.64000706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.30071405700005 meters Centerline goodness : 0.982053 with order 1 Centerline is valid? [True, True] Translation: X:326.86, Y:-16.37, Z:1.64 [[ 9.99913320e-01 1.18563248e-02 -5.72544579e-03 3.26857087e+02] [-1.18547969e-02 9.99929684e-01 3.00723026e-04 -1.63704547e+01] [ 5.72860867e-03 -2.32822962e-04 9.99983564e-01 1.63874529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.36071405700005 meters Centerline goodness : 0.980620 with order 1 Centerline is valid? [True, True] Translation: X:326.92, Y:-16.38, Z:1.64 [[ 9.99964957e-01 6.10761354e-03 -5.72546685e-03 3.26915316e+02] [-6.10599389e-03 9.99981313e-01 3.00321427e-04 -1.63827582e+01] [ 5.72719411e-03 -2.65351237e-04 9.99983564e-01 1.63670595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.42071405700005 meters Centerline goodness : 0.979715 with order 1 Centerline is valid? [True, True] Translation: X:326.97, Y:-16.39, Z:1.64 [[ 9.99978188e-01 -3.29288287e-03 -5.72548796e-03 3.26972584e+02] [ 3.29465390e-03 9.99994528e-01 2.99918540e-04 -1.63905428e+01] [ 5.72446903e-03 -3.18775500e-04 9.99983564e-01 1.63600442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.48071405700006 meters Centerline goodness : 0.980490 with order 1 Centerline is valid? [True, True] Translation: X:327.03, Y:-16.40, Z:1.63 [[ 9.99906222e-01 -1.24404979e-02 -5.72551388e-03 3.27031798e+02] [ 1.24424155e-02 9.99922545e-01 2.99422887e-04 -1.63971351e+01] [ 5.72134544e-03 -3.70634030e-04 9.99983564e-01 1.63181537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.54071405700006 meters Centerline goodness : 0.980835 with order 1 Centerline is valid? [True, True] Translation: X:327.09, Y:-16.40, Z:1.63 [[ 9.99793507e-01 -1.94977412e-02 -5.72552451e-03 3.27092614e+02] [ 1.94997728e-02 9.99809817e-01 2.99219452e-04 -1.64007498e+01] [ 5.71860151e-03 -4.10804093e-04 9.99983564e-01 1.63395386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.60071405700006 meters Centerline goodness : 0.979922 with order 1 Centerline is valid? [True, True] Translation: X:327.16, Y:-16.40, Z:1.63 [[ 9.99735129e-01 -2.22910700e-02 -5.72545600e-03 3.27155273e+02] [ 2.22931546e-02 9.99751432e-01 3.00524721e-04 -1.64023881e+01] [ 5.71733381e-03 -4.28083596e-04 9.99983564e-01 1.63223142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.66071405700006 meters Centerline goodness : 0.981435 with order 1 Centerline is valid? [True, True] Translation: X:327.22, Y:-16.40, Z:1.64 [[ 9.99759812e-01 -2.11551022e-02 -5.72543480e-03 3.27216701e+02] [ 2.11571705e-02 9.99776117e-01 3.00928026e-04 -1.64016146e+01] [ 5.71778681e-03 -4.21989747e-04 9.99983564e-01 1.63600751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.72071405700007 meters Centerline goodness : 0.981607 with order 1 Centerline is valid? [True, True] Translation: X:327.28, Y:-16.41, Z:1.63 [[ 9.99840753e-01 -1.69023287e-02 -5.72541911e-03 3.27278351e+02] [ 1.69043294e-02 9.99857066e-01 3.01226267e-04 -1.64050520e+01] [ 5.71950933e-03 -3.97962668e-04 9.99983564e-01 1.63163263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.78071405700007 meters Centerline goodness : 0.981849 with order 1 Centerline is valid? [True, True] Translation: X:327.34, Y:-16.40, Z:1.64 [[ 9.99852921e-01 -1.61664852e-02 -5.72540011e-03 3.27339823e+02] [ 1.61684760e-02 9.99869236e-01 3.01586998e-04 -1.64001050e+01] [ 5.71977583e-03 -3.94113635e-04 9.99983564e-01 1.63827739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.84071405700007 meters Centerline goodness : 0.983716 with order 1 Centerline is valid? [True, True] Translation: X:327.40, Y:-16.40, Z:1.64 [[ 9.99891036e-01 -1.36064670e-02 -5.72537014e-03 3.27401781e+02] [ 1.36084192e-02 9.99907356e-01 3.02154825e-04 -1.63983579e+01] [ 5.72072846e-03 -3.80035137e-04 9.99983564e-01 1.64033315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.9007140570001 meters Centerline goodness : 0.984847 with order 1 Centerline is valid? [True, True] Translation: X:327.46, Y:-16.40, Z:1.64 [[ 9.99908187e-01 -1.22816125e-02 -5.72534917e-03 3.27464266e+02] [ 1.22835453e-02 9.99924509e-01 3.02551716e-04 -1.63961728e+01] [ 5.72120113e-03 -3.72851524e-04 9.99983564e-01 1.64080465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.960714057 meters Centerline goodness : 0.984890 with order 1 Centerline is valid? [True, True] Translation: X:327.53, Y:-16.39, Z:1.65 [[ 9.99945875e-01 -8.68725589e-03 -5.72532821e-03 3.27526312e+02] [ 8.68913232e-03 9.99962203e-01 3.02947718e-04 -1.63933834e+01] [ 5.72248003e-03 -3.52679455e-04 9.99983564e-01 1.64526509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.020714057 meters Centerline goodness : 0.985422 with order 1 Centerline is valid? [True, True] Translation: X:327.59, Y:-16.39, Z:1.65 [[ 9.99974823e-01 -4.19225194e-03 -5.72531775e-03 3.27588186e+02] [ 4.19405607e-03 9.99991159e-01 3.03145278e-04 -1.63907609e+01] [ 5.72399627e-03 -3.27149950e-04 9.99983564e-01 1.64503445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.080714057 meters Centerline goodness : 0.985468 with order 1 Centerline is valid? [True, True] Translation: X:327.65, Y:-16.39, Z:1.65 [[ 9.99978377e-01 3.23504524e-03 -5.72530738e-03 3.27647710e+02] [-3.23336137e-03 9.99994727e-01 3.03341032e-04 -1.63896632e+01] [ 5.72625851e-03 -2.84822485e-04 9.99983564e-01 1.64733993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.140714057 meters Centerline goodness : 0.985220 with order 1 Centerline is valid? [True, True] Translation: X:327.71, Y:-16.39, Z:1.65 [[ 9.99957845e-01 7.17835048e-03 -5.72531792e-03 3.27705846e+02] [-7.17673224e-03 9.99974201e-01 3.03141929e-04 -1.63893809e+01] [ 5.72734627e-03 -2.62040076e-04 9.99983564e-01 1.64606143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.200714057 meters Centerline goodness : 0.986787 with order 1 Centerline is valid? [True, True] Translation: X:327.77, Y:-16.39, Z:1.65 [[ 9.99977738e-01 3.42689089e-03 -5.72534375e-03 3.27765095e+02] [-3.42521408e-03 9.99994088e-01 3.02653398e-04 -1.63888184e+01] [ 5.72634706e-03 -2.83036133e-04 9.99983564e-01 1.64930890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26071405700003 meters Centerline goodness : 0.986581 with order 1 Centerline is valid? [True, True] Translation: X:327.82, Y:-16.39, Z:1.65 [[ 9.99974801e-01 -4.19726536e-03 -5.72536455e-03 3.27822984e+02] [ 4.19906452e-03 9.99991138e-01 3.02259360e-04 -1.63879137e+01] [ 5.72404515e-03 -3.26292919e-04 9.99983564e-01 1.64911353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32071405700003 meters Centerline goodness : 0.986254 with order 1 Centerline is valid? [True, True] Translation: X:327.88, Y:-16.39, Z:1.65 [[ 9.99826535e-01 -1.77234395e-02 -5.72539015e-03 3.27882606e+02] [ 1.77254567e-02 9.99842846e-01 3.01773601e-04 -1.63896487e+01] [ 5.71914192e-03 -4.03206409e-04 9.99983564e-01 1.64783263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38071405700003 meters Centerline goodness : 0.986733 with order 1 Centerline is valid? [True, True] Translation: X:327.95, Y:-16.39, Z:1.65 [[ 9.99692615e-01 -2.41225121e-02 -5.72540067e-03 3.27946102e+02] [ 2.41246325e-02 9.99708913e-01 3.01573965e-04 -1.63896727e+01] [ 5.71645936e-03 -4.39604452e-04 9.99983564e-01 1.64839300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44071405700004 meters Centerline goodness : 0.986117 with order 1 Centerline is valid? [True, True] Translation: X:328.01, Y:-16.39, Z:1.65 [[ 9.99672593e-01 -2.49384566e-02 -5.72531555e-03 3.28008189e+02] [ 2.49405995e-02 9.99688889e-01 3.03181262e-04 -1.63886216e+01] [ 5.71597347e-03 -4.45874800e-04 9.99983564e-01 1.64545328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.50071405700004 meters Centerline goodness : 0.986499 with order 1 Centerline is valid? [True, True] Translation: X:328.07, Y:-16.38, Z:1.65 [[ 9.99704206e-01 -2.36372867e-02 -5.72528917e-03 3.28072055e+02] [ 2.36394112e-02 9.99720504e-01 3.03678716e-04 -1.63828920e+01] [ 5.71651083e-03 -4.38931354e-04 9.99983564e-01 1.65296675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.56071405700004 meters Centerline goodness : 0.985867 with order 1 Centerline is valid? [True, True] Translation: X:328.13, Y:-16.38, Z:1.66 [[ 9.99793537e-01 -1.94962696e-02 -5.72525826e-03 3.28133858e+02] [ 1.94983299e-02 9.99809843e-01 3.04260284e-04 -1.63777744e+01] [ 5.71823762e-03 -4.15830440e-04 9.99983564e-01 1.65667161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.62071405700004 meters Centerline goodness : 0.986132 with order 1 Centerline is valid? [True, True] Translation: X:328.20, Y:-16.37, Z:1.65 [[ 9.99854790e-01 -1.60505476e-02 -5.72524297e-03 3.28196724e+02] [ 1.60525534e-02 9.99871103e-01 3.04547806e-04 -1.63746417e+01] [ 5.71961684e-03 -3.96408351e-04 9.99983564e-01 1.65247757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.68071405700005 meters Centerline goodness : 0.985434 with order 1 Centerline is valid? [True, True] Translation: X:328.26, Y:-16.37, Z:1.65 [[ 9.99883107e-01 -1.41772162e-02 -5.72521989e-03 3.28259663e+02] [ 1.41791938e-02 9.99899424e-01 3.04980998e-04 -1.63711180e+01] [ 5.72032029e-03 -3.86124350e-04 9.99983564e-01 1.65237287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.74071405700005 meters Centerline goodness : 0.985207 with order 1 Centerline is valid? [True, True] Translation: X:328.32, Y:-16.37, Z:1.65 [[ 9.99934736e-01 -9.88665065e-03 -5.72519679e-03 3.28322368e+02] [ 9.88856072e-03 9.99951060e-01 3.05413996e-04 -1.63688353e+01] [ 5.72189708e-03 -3.62008019e-04 9.99983564e-01 1.65319739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.80071405700005 meters Centerline goodness : 0.985495 with order 1 Centerline is valid? [True, True] Translation: X:328.38, Y:-16.37, Z:1.66 [[ 9.99976836e-01 -3.68088016e-03 -5.72517366e-03 3.28382998e+02] [ 3.68269136e-03 9.99993172e-01 3.05847042e-04 -1.63668302e+01] [ 5.72400878e-03 -3.26924005e-04 9.99983564e-01 1.65503680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.86071405700005 meters Centerline goodness : 0.984155 with order 1 Centerline is valid? [True, True] Translation: X:328.44, Y:-16.37, Z:1.66 [[ 9.99981054e-01 2.26127269e-03 -5.72516799e-03 3.28443023e+02] [-2.25955799e-03 9.99997400e-01 3.05953164e-04 -1.63664182e+01] [ 5.72584495e-03 -2.93011018e-04 9.99983564e-01 1.65563758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.92071405700005 meters Centerline goodness : 0.985073 with order 1 Centerline is valid? [True, True] Translation: X:328.50, Y:-16.37, Z:1.66 [[ 9.99971789e-01 4.86245909e-03 -5.72517890e-03 3.28500165e+02] [-4.86078808e-03 9.99988140e-01 3.05748910e-04 -1.63660511e+01] [ 5.72659768e-03 -2.77911403e-04 9.99983564e-01 1.65755863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.98071405700006 meters Centerline goodness : 0.983417 with order 1 Centerline is valid? [True, True] Translation: X:328.56, Y:-16.37, Z:1.65 [[ 9.99963357e-01 6.36450146e-03 -5.72521629e-03 3.28557857e+02] [-6.36285902e-03 9.99979710e-01 3.05047003e-04 -1.63678197e+01] [ 5.72704160e-03 -2.68607081e-04 9.99983564e-01 1.65340897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.04071405700006 meters Centerline goodness : 0.984298 with order 1 Centerline is valid? [True, True] Translation: X:328.62, Y:-16.37, Z:1.65 [[ 9.99983593e-01 1.87913873e-04 -5.72524250e-03 3.28616578e+02] [-1.86173268e-04 9.99999936e-01 3.04554430e-04 -1.63695194e+01] [ 5.72529936e-03 -3.03483546e-04 9.99983564e-01 1.65368090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.10071405700006 meters Centerline goodness : 0.984538 with order 1 Centerline is valid? [True, True] Translation: X:328.67, Y:-16.37, Z:1.65 [[ 9.99976510e-01 -3.76838896e-03 -5.72526449e-03 3.28674396e+02] [ 3.77019185e-03 9.99992847e-01 3.04140473e-04 -1.63719001e+01] [ 5.72407741e-03 -3.25718675e-04 9.99983564e-01 1.65148457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.16071405700006 meters Centerline goodness : 0.985015 with order 1 Centerline is valid? [True, True] Translation: X:328.73, Y:-16.37, Z:1.65 [[ 9.99958077e-01 -7.14596546e-03 -5.72529171e-03 3.28733619e+02] [ 7.14782059e-03 9.99974408e-01 3.03627238e-04 -1.63746979e+01] [ 5.72297547e-03 -3.44537867e-04 9.99983564e-01 1.65124869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.22071405700007 meters Centerline goodness : 0.985040 with order 1 Centerline is valid? [True, True] Translation: X:328.79, Y:-16.38, Z:1.66 [[ 9.99950806e-01 -8.09980934e-03 -5.72530210e-03 3.28794089e+02] [ 8.10167893e-03 9.99967135e-01 3.03431101e-04 -1.63752284e+01] [ 5.72265620e-03 -3.49800734e-04 9.99983564e-01 1.65578536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.28071405700007 meters Centerline goodness : 0.986404 with order 1 Centerline is valid? [True, True] Translation: X:328.86, Y:-16.38, Z:1.66 [[ 9.99954033e-01 -7.69104748e-03 -5.72529701e-03 3.28855721e+02] [ 7.69291094e-03 9.99970363e-01 3.03527197e-04 -1.63764756e+01] [ 5.72279288e-03 -3.47557445e-04 9.99983564e-01 1.65917161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.34071405700007 meters Centerline goodness : 0.987362 with order 1 Centerline is valid? [True, True] Translation: X:328.92, Y:-16.38, Z:1.66 [[ 9.99957744e-01 -7.19249254e-03 -5.72528699e-03 3.28915990e+02] [ 7.19434894e-03 9.99974074e-01 3.03715953e-04 -1.63771848e+01] [ 5.72295409e-03 -3.44892832e-04 9.99983564e-01 1.66017645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.4007140570001 meters Centerline goodness : 0.987355 with order 1 Centerline is valid? [True, True] Translation: X:328.98, Y:-16.38, Z:1.66 [[ 9.99940211e-01 -9.31641105e-03 -5.72528206e-03 3.28977219e+02] [ 9.31830266e-03 9.99956538e-01 3.03808984e-04 -1.63798894e+01] [ 5.72220281e-03 -3.57140731e-04 9.99983564e-01 1.65525587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.460714057 meters Centerline goodness : 0.986159 with order 1 Centerline is valid? [True, True] Translation: X:329.04, Y:-16.38, Z:1.65 [[ 9.99931861e-01 -1.01732339e-02 -5.72527200e-03 3.29038858e+02] [ 1.01751406e-02 9.99948186e-01 3.03998456e-04 -1.63836131e+01] [ 5.72188270e-03 -3.62233189e-04 9.99983564e-01 1.65018772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.520714057 meters Centerline goodness : 0.987401 with order 1 Centerline is valid? [True, True] Translation: X:329.10, Y:-16.39, Z:1.65 [[ 9.99926287e-01 -1.07071049e-02 -5.72526186e-03 3.29099917e+02] [ 1.07090214e-02 9.99942611e-01 3.04189299e-04 -1.63855433e+01] [ 5.72167630e-03 -3.65478828e-04 9.99983564e-01 1.65049252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.580714057 meters Centerline goodness : 0.982799 with order 1 Centerline is valid? [True, True] Translation: X:329.16, Y:-16.39, Z:1.65 [[ 9.99956852e-01 -7.31544508e-03 -5.72524694e-03 3.29161274e+02] [ 7.31730778e-03 9.99973182e-01 3.04469786e-04 -1.63925800e+01] [ 5.72286607e-03 -3.46350043e-04 9.99983564e-01 1.64861075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.640714057 meters Centerline goodness : 0.985156 with order 1 Centerline is valid? [True, True] Translation: X:329.22, Y:-16.39, Z:1.65 [[ 9.99939855e-01 -9.35456448e-03 -5.72523716e-03 3.29221525e+02] [ 9.35646153e-03 9.99956181e-01 3.04653590e-04 -1.63904636e+01] [ 5.72213638e-03 -3.58203228e-04 9.99983564e-01 1.65480259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.700714057 meters Centerline goodness : 0.984272 with order 1 Centerline is valid? [True, True] Translation: X:329.28, Y:-16.39, Z:1.66 [[ 9.99940901e-01 -9.24208219e-03 -5.72523240e-03 3.29283867e+02] [ 9.24397791e-03 9.99957227e-01 3.04742959e-04 -1.63932720e+01] [ 5.72217106e-03 -3.57648871e-04 9.99983564e-01 1.65609240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76071405700003 meters Centerline goodness : 0.984772 with order 1 Centerline is valid? [True, True] Translation: X:329.35, Y:-16.40, Z:1.65 [[ 9.99860806e-01 -1.56713482e-02 -5.72521328e-03 3.29345247e+02] [ 1.56733509e-02 9.99877119e-01 3.05101830e-04 -1.63981441e+01] [ 5.71972840e-03 -3.94792638e-04 9.99983564e-01 1.65316095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82071405700003 meters Centerline goodness : 0.985925 with order 1 Centerline is valid? [True, True] Translation: X:329.41, Y:-16.40, Z:1.65 [[ 9.99762241e-01 -2.10400648e-02 -5.72520340e-03 3.29408640e+02] [ 2.10421561e-02 9.99778543e-01 3.05287013e-04 -1.64019825e+01] [ 5.71751226e-03 -4.25685052e-04 9.99983564e-01 1.65389069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88071405700003 meters Centerline goodness : 0.985652 with order 1 Centerline is valid? [True, True] Translation: X:329.47, Y:-16.41, Z:1.66 [[ 9.99666696e-01 -2.51737780e-02 -5.72512238e-03 3.29471433e+02] [ 2.51759453e-02 9.99682989e-01 3.06798997e-04 -1.64074176e+01] [ 5.71558416e-03 -4.50832108e-04 9.99983564e-01 1.65549612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94071405700004 meters Centerline goodness : 0.986100 with order 1 Centerline is valid? [True, True] Translation: X:329.53, Y:-16.41, Z:1.66 [[ 9.99623081e-01 -2.68499348e-02 -5.72509106e-03 3.29534258e+02] [ 2.68521327e-02 9.99639369e-01 3.07382351e-04 -1.64123381e+01] [ 5.71477322e-03 -4.60997398e-04 9.99983564e-01 1.65821806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.00071405700004 meters Centerline goodness : 0.985435 with order 1 Centerline is valid? [True, True] Translation: X:329.60, Y:-16.42, Z:1.66 [[ 9.99595128e-01 -2.78711889e-02 -5.72505946e-03 3.29596730e+02] [ 2.78734068e-02 9.99611414e-01 3.07969681e-04 -1.64179050e+01] [ 5.71425130e-03 -4.67421904e-04 9.99983564e-01 1.65993302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.06071405700004 meters Centerline goodness : 0.985552 with order 1 Centerline is valid? [True, True] Translation: X:329.66, Y:-16.42, Z:1.66 [[ 9.99646703e-01 -2.59556063e-02 -5.72502794e-03 3.29659442e+02] [ 2.59577963e-02 9.99662992e-01 3.08554546e-04 -1.64238595e+01] [ 5.71508984e-03 -4.57054644e-04 9.99983564e-01 1.65855785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.12071405700004 meters Centerline goodness : 0.985160 with order 1 Centerline is valid? [True, True] Translation: X:329.72, Y:-16.43, Z:1.66 [[ 9.99611577e-01 -2.72748839e-02 -5.72499631e-03 3.29722363e+02] [ 2.72770988e-02 9.99627863e-01 3.09140404e-04 -1.64304896e+01] [ 5.71443405e-03 -4.65181616e-04 9.99983564e-01 1.65837379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.18071405700005 meters Centerline goodness : 0.985575 with order 1 Centerline is valid? [True, True] Translation: X:329.78, Y:-16.44, Z:1.66 [[ 9.99642055e-01 -2.61340028e-02 -5.72496323e-03 3.29783277e+02] [ 2.61362026e-02 9.99658343e-01 3.09751747e-04 -1.64357020e+01] [ 5.71491220e-03 -4.59269672e-04 9.99983564e-01 1.65709911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.24071405700005 meters Centerline goodness : 0.985435 with order 1 Centerline is valid? [True, True] Translation: X:329.85, Y:-16.44, Z:1.66 [[ 9.99697614e-01 -2.39145650e-02 -5.72494682e-03 3.29846496e+02] [ 2.39167304e-02 9.99713906e-01 3.10054787e-04 -1.64421893e+01] [ 5.71589412e-03 -4.46883040e-04 9.99983564e-01 1.65799975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.30071405700005 meters Centerline goodness : 0.984822 with order 1 Centerline is valid? [True, True] Translation: X:329.91, Y:-16.45, Z:1.66 [[ 9.99795811e-01 -1.93794052e-02 -5.72491414e-03 3.29907434e+02] [ 1.93815000e-02 9.99812113e-01 3.10657048e-04 -1.64477275e+01] [ 5.71781815e-03 -4.21551039e-04 9.99983564e-01 1.65869344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.36071405700005 meters Centerline goodness : 0.984669 with order 1 Centerline is valid? [True, True] Translation: X:329.97, Y:-16.45, Z:1.66 [[ 9.99897235e-01 -1.31432312e-02 -5.72489816e-03 3.29969525e+02] [ 1.31452260e-02 9.99913549e-01 3.10951209e-04 -1.64505943e+01] [ 5.72031633e-03 -3.86174334e-04 9.99983564e-01 1.66136866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.42071405700005 meters Centerline goodness : 0.984427 with order 1 Centerline is valid? [True, True] Translation: X:330.03, Y:-16.45, Z:1.66 [[ 9.99950207e-01 -8.17375503e-03 -5.72487657e-03 3.30031936e+02] [ 8.17567098e-03 9.99966530e-01 3.11348229e-04 -1.64542022e+01] [ 5.72214007e-03 -3.58137433e-04 9.99983564e-01 1.66419042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.48071405700006 meters Centerline goodness : 0.982995 with order 1 Centerline is valid? [True, True] Translation: X:330.09, Y:-16.46, Z:1.66 [[ 9.99948898e-01 -8.33235888e-03 -5.72485312e-03 3.30093601e+02] [ 8.33427987e-03 9.99965221e-01 3.11778714e-04 -1.64591622e+01] [ 5.72205616e-03 -3.59475309e-04 9.99983564e-01 1.66365644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.54071405700006 meters Centerline goodness : 0.983740 with order 1 Centerline is valid? [True, True] Translation: X:330.15, Y:-16.47, Z:1.67 [[ 9.99896638e-01 -1.31886201e-02 -5.72484141e-03 3.30154246e+02] [ 1.31906216e-02 9.99912951e-01 3.11993530e-04 -1.64656667e+01] [ 5.72022831e-03 -3.87475498e-04 9.99983564e-01 1.66571757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.60071405700006 meters Centerline goodness : 0.984105 with order 1 Centerline is valid? [True, True] Translation: X:330.22, Y:-16.47, Z:1.66 [[ 9.99795899e-01 -1.93749185e-02 -5.72482973e-03 3.30215083e+02] [ 1.93770221e-02 9.99812199e-01 3.12207803e-04 -1.64741079e+01] [ 5.71770560e-03 -4.23074233e-04 9.99983564e-01 1.66214284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.66071405700006 meters Centerline goodness : 0.984409 with order 1 Centerline is valid? [True, True] Translation: X:330.28, Y:-16.48, Z:1.66 [[ 9.99761772e-01 -2.10624360e-02 -5.72475379e-03 3.30277438e+02] [ 2.10645750e-02 9.99778068e-01 3.13594056e-04 -1.64797799e+01] [ 5.71687823e-03 -4.34108855e-04 9.99983564e-01 1.66426371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.72071405700007 meters Centerline goodness : 0.984774 with order 1 Centerline is valid? [True, True] Translation: X:330.34, Y:-16.48, Z:1.67 [[ 9.99790214e-01 -1.96661073e-02 -5.72473152e-03 3.30338359e+02] [ 1.96682258e-02 9.99806512e-01 3.14000043e-04 -1.64838028e+01] [ 5.71744870e-03 -4.26529482e-04 9.99983564e-01 1.66676294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.78071405700007 meters Centerline goodness : 0.985118 with order 1 Centerline is valid? [True, True] Translation: X:330.40, Y:-16.49, Z:1.67 [[ 9.99898470e-01 -1.30490184e-02 -5.72471507e-03 3.30400554e+02] [ 1.30510307e-02 9.99914782e-01 3.14299683e-04 -1.64870001e+01] [ 5.72012592e-03 -3.88981204e-04 9.99983564e-01 1.66737213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.84071405700007 meters Centerline goodness : 0.984471 with order 1 Centerline is valid? [True, True] Translation: X:330.46, Y:-16.49, Z:1.67 [[ 9.99982424e-01 1.54253767e-03 -5.72469250e-03 3.30461222e+02] [-1.54076123e-03 9.99998764e-01 3.14710331e-04 -1.64927923e+01] [ 5.72517087e-03 -3.05884415e-04 9.99983564e-01 1.66763227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.9007140570001 meters Centerline goodness : 0.983162 with order 1 Centerline is valid? [True, True] Translation: X:330.52, Y:-16.50, Z:1.67 [[ 9.99822143e-01 1.79696905e-02 -5.72468125e-03 3.30519239e+02] [-1.79681816e-02 9.99838510e-01 3.14914879e-04 -1.64963597e+01] [ 5.72941569e-03 -2.11996758e-04 9.99983564e-01 1.66732334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.960714057 meters Centerline goodness : 0.982069 with order 1 Centerline is valid? [True, True] Translation: X:330.58, Y:-16.50, Z:1.67 [[ 9.99346619e-01 3.56870085e-02 -5.72472211e-03 3.30577898e+02] [-3.56857941e-02 9.99363010e-01 3.14170243e-04 -1.64983894e+01] [ 5.73228732e-03 -1.09673716e-04 9.99983564e-01 1.66612260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.020714057 meters Centerline goodness : 0.980552 with order 1 Centerline is valid? [True, True] Translation: X:330.64, Y:-16.50, Z:1.67 [[ 9.99121854e-01 4.15059869e-02 -5.72480648e-03 3.30635593e+02] [-4.15048769e-02 9.99138252e-01 3.12625305e-04 -1.65036692e+01] [ 5.73284896e-03 -7.47433863e-05 9.99983564e-01 1.66685635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.080714057 meters Centerline goodness : 0.980674 with order 1 Centerline is valid? [True, True] Translation: X:330.69, Y:-16.52, Z:1.65 [[ 9.98981236e-01 4.47628859e-02 -5.72484924e-03 3.30694733e+02] [-4.47618338e-02 9.98997638e-01 3.11840242e-04 -1.65168960e+01] [ 5.73306974e-03 -5.52678000e-05 9.99983564e-01 1.65459582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.140714057 meters Centerline goodness : 0.982267 with order 1 Centerline is valid? [True, True] Translation: X:330.75, Y:-16.52, Z:1.65 [[ 9.99409247e-01 3.38877859e-02 -5.72486082e-03 3.30752838e+02] [-3.38865565e-02 9.99425637e-01 3.11627480e-04 -1.65248062e+01] [ 5.73213304e-03 -1.17447565e-04 9.99983564e-01 1.65486096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.200714057 meters Centerline goodness : 0.984978 with order 1 Centerline is valid? [True, True] Translation: X:330.81, Y:-16.53, Z:1.66 [[ 9.99849857e-01 1.63550737e-02 -5.72494124e-03 3.30810720e+02] [-1.63535656e-02 9.99866223e-01 3.10142994e-04 -1.65267086e+01] [ 5.72924779e-03 -2.16473226e-04 9.99983564e-01 1.66126475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26071405700003 meters Centerline goodness : 0.985781 with order 1 Centerline is valid? [True, True] Translation: X:330.87, Y:-16.53, Z:1.67 [[ 9.99927971e-01 1.05487838e-02 -5.72496731e-03 3.30869410e+02] [-1.05471835e-02 9.99944329e-01 3.09661128e-04 -1.65333936e+01] [ 5.72791514e-03 -2.49256543e-04 9.99983564e-01 1.66849129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32071405700003 meters Centerline goodness : 0.986427 with order 1 Centerline is valid? [True, True] Translation: X:330.93, Y:-16.54, Z:1.67 [[ 9.99971902e-01 4.83938574e-03 -5.72499057e-03 3.30926583e+02] [-4.83769446e-03 9.99988250e-01 3.09230542e-04 -1.65403241e+01] [ 5.72641979e-03 -2.81526098e-04 9.99983564e-01 1.67084319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38071405700003 meters Centerline goodness : 0.987315 with order 1 Centerline is valid? [True, True] Translation: X:330.99, Y:-16.55, Z:1.67 [[ 9.99981196e-01 2.19822774e-03 -5.72501914e-03 3.30985205e+02] [-2.19649632e-03 9.99997540e-01 3.08700637e-04 -1.65456891e+01] [ 5.72568365e-03 -2.96119848e-04 9.99983564e-01 1.67274621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44071405700004 meters Centerline goodness : 0.985719 with order 1 Centerline is valid? [True, True] Translation: X:331.04, Y:-16.55, Z:1.67 [[ 9.99983279e-01 8.16319006e-04 -5.72504170e-03 3.31043525e+02] [-8.14567392e-04 9.99999621e-01 3.08281668e-04 -1.65507136e+01] [ 5.72529118e-03 -3.03613080e-04 9.99983564e-01 1.67320854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.50071405700004 meters Centerline goodness : 0.986343 with order 1 Centerline is valid? [True, True] Translation: X:331.10, Y:-16.55, Z:1.67 [[ 9.99983049e-01 1.06080273e-03 -5.72506496e-03 3.31101248e+02] [-1.05905758e-03 9.99999392e-01 3.07849166e-04 -1.65544521e+01] [ 5.72538804e-03 -3.01780774e-04 9.99983564e-01 1.67327510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.56071405700004 meters Centerline goodness : 0.985712 with order 1 Centerline is valid? [True, True] Translation: X:331.16, Y:-16.56, Z:1.67 [[ 9.99980509e-01 2.49081382e-03 -5.72509356e-03 3.31159171e+02] [-2.48909509e-03 9.99996855e-01 3.07316239e-04 -1.65586098e+01] [ 5.72584102e-03 -2.93059947e-04 9.99983564e-01 1.67192052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.62071405700004 meters Centerline goodness : 0.985221 with order 1 Centerline is valid? [True, True] Translation: X:331.22, Y:-16.56, Z:1.67 [[ 9.99979239e-01 2.95706287e-03 -5.72517555e-03 3.31216724e+02] [-2.95536052e-03 9.99995586e-01 3.05781253e-04 -1.65610781e+01] [ 5.72605449e-03 -2.88854947e-04 9.99983564e-01 1.67353935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.68071405700005 meters Centerline goodness : 0.985946 with order 1 Centerline is valid? [True, True] Translation: X:331.27, Y:-16.57, Z:1.67 [[ 9.99983240e-01 8.60916838e-04 -5.72520880e-03 3.31274039e+02] [-8.59183790e-04 9.99999584e-01 3.05157383e-04 -1.65670554e+01] [ 5.72546913e-03 -3.00233262e-04 9.99983564e-01 1.67450361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.74071405700005 meters Centerline goodness : 0.985316 with order 1 Centerline is valid? [True, True] Translation: X:331.33, Y:-16.57, Z:1.67 [[ 9.99982918e-01 1.17704363e-03 -5.72523604e-03 3.31332219e+02] [-1.17531867e-03 9.99999263e-01 3.04645503e-04 -1.65737202e+01] [ 5.72559040e-03 -2.97911322e-04 9.99983564e-01 1.66843075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.80071405700005 meters Centerline goodness : 0.985568 with order 1 Centerline is valid? [True, True] Translation: X:331.39, Y:-16.57, Z:1.67 [[ 9.99982317e-01 -1.60839123e-03 -5.72530775e-03 3.31390792e+02] [ 1.61015398e-03 9.99998658e-01 3.03291810e-04 -1.65737343e+01] [ 5.72481225e-03 -3.12505074e-04 9.99983564e-01 1.67165979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.86071405700005 meters Centerline goodness : 0.984605 with order 1 Centerline is valid? [True, True] Translation: X:331.45, Y:-16.58, Z:1.67 [[ 9.99977255e-01 -3.56514676e-03 -5.72533008e-03 3.31449449e+02] [ 3.56693908e-03 9.99993593e-01 3.02869688e-04 -1.65766994e+01] [ 5.72421362e-03 -3.23284703e-04 9.99983564e-01 1.67334875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.92071405700005 meters Centerline goodness : 0.985436 with order 1 Centerline is valid? [True, True] Translation: X:331.51, Y:-16.58, Z:1.68 [[ 9.99971668e-01 -4.88705403e-03 -5.72534665e-03 3.31508799e+02] [ 4.88886616e-03 9.99988004e-01 3.02556004e-04 -1.65763750e+01] [ 5.72379936e-03 -3.30537886e-04 9.99983564e-01 1.67535557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.98071405700006 meters Centerline goodness : 0.985860 with order 1 Centerline is valid? [True, True] Translation: X:331.57, Y:-16.58, Z:1.68 [[ 9.99955577e-01 -7.48757291e-03 -5.72535804e-03 3.31567998e+02] [ 7.48942628e-03 9.99971908e-01 3.02340470e-04 -1.65760494e+01] [ 5.72293340e-03 -3.45206686e-04 9.99983564e-01 1.67672923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.04071405700006 meters Centerline goodness : 0.985885 with order 1 Centerline is valid? [True, True] Translation: X:331.63, Y:-16.58, Z:1.68 [[ 9.99962189e-01 -6.54534421e-03 -5.72536364e-03 3.31628785e+02] [ 6.54718159e-03 9.99978521e-01 3.02234336e-04 -1.65765085e+01] [ 5.72326244e-03 -3.39707904e-04 9.99983564e-01 1.67507429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.10071405700006 meters Centerline goodness : 0.987020 with order 1 Centerline is valid? [True, True] Translation: X:331.69, Y:-16.58, Z:1.68 [[ 9.99960623e-01 -6.78032026e-03 -5.72536364e-03 3.31689099e+02] [ 6.78216147e-03 9.99976955e-01 3.02234336e-04 -1.65763463e+01] [ 5.72318245e-03 -3.41052776e-04 9.99983564e-01 1.67785259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.16071405700006 meters Centerline goodness : 0.988491 with order 1 Centerline is valid? [True, True] Translation: X:331.75, Y:-16.58, Z:1.67 [[ 9.99953718e-01 -7.73183960e-03 -5.72536364e-03 3.31749861e+02] [ 7.73369636e-03 9.99970049e-01 3.02234336e-04 -1.65779593e+01] [ 5.72285533e-03 -3.46498572e-04 9.99983564e-01 1.67159208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.22071405700007 meters Centerline goodness : 0.988191 with order 1 Centerline is valid? [True, True] Translation: X:331.81, Y:-16.58, Z:1.67 [[ 9.99915994e-01 -1.16286683e-02 -5.72535821e-03 3.31809985e+02] [ 1.16305893e-02 9.99932317e-01 3.02337201e-04 -1.65794033e+01] [ 5.72145492e-03 -3.68901093e-04 9.99983564e-01 1.67397401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.28071405700007 meters Centerline goodness : 0.988738 with order 1 Centerline is valid? [True, True] Translation: X:331.87, Y:-16.58, Z:1.67 [[ 9.99880986e-01 -1.43260266e-02 -5.72535821e-03 3.31871867e+02] [ 1.43279916e-02 9.99897303e-01 3.02337201e-04 -1.65818453e+01] [ 5.72043894e-03 -3.84334103e-04 9.99983564e-01 1.67224762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.34071405700007 meters Centerline goodness : 0.988457 with order 1 Centerline is valid? [True, True] Translation: X:331.93, Y:-16.58, Z:1.67 [[ 9.99867189e-01 -1.52586277e-02 -5.72533524e-03 3.31932793e+02] [ 1.52606104e-02 9.99883504e-01 3.02771464e-04 -1.65828072e+01] [ 5.72004839e-03 -3.90103363e-04 9.99983564e-01 1.67485438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.4007140570001 meters Centerline goodness : 0.987630 with order 1 Centerline is valid? [True, True] Translation: X:331.99, Y:-16.58, Z:1.68 [[ 9.99863418e-01 -1.55037686e-02 -5.72531829e-03 3.31994480e+02] [ 1.55057571e-02 9.99879733e-01 3.03091619e-04 -1.65846511e+01] [ 5.71993066e-03 -3.91825617e-04 9.99983564e-01 1.67515133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.460714057 meters Centerline goodness : 0.987066 with order 1 Centerline is valid? [True, True] Translation: X:332.06, Y:-16.59, Z:1.67 [[ 9.99871513e-01 -1.49725607e-02 -5.72530098e-03 3.32055310e+02] [ 1.49745424e-02 9.99887829e-01 3.03418285e-04 -1.65864095e+01] [ 5.72011582e-03 -3.89113062e-04 9.99983564e-01 1.67413900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.520714057 meters Centerline goodness : 0.987190 with order 1 Centerline is valid? [True, True] Translation: X:332.12, Y:-16.58, Z:1.67 [[ 9.99936381e-01 -9.71884855e-03 -5.72528402e-03 3.32117993e+02] [ 9.72074632e-03 9.99952706e-01 3.03737983e-04 -1.65845765e+01] [ 5.72206127e-03 -3.59372693e-04 9.99983564e-01 1.67387939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.580714057 meters Centerline goodness : 0.985381 with order 1 Centerline is valid? [True, True] Translation: X:332.18, Y:-16.59, Z:1.67 [[ 9.99981974e-01 -1.80919688e-03 -5.72526115e-03 3.32179696e+02] [ 1.81096792e-03 9.99998314e-01 3.04168498e-04 -1.65854647e+01] [ 5.72470119e-03 -3.14531280e-04 9.99983564e-01 1.66978037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.640714057 meters Centerline goodness : 0.983893 with order 1 Centerline is valid? [True, True] Translation: X:332.24, Y:-16.58, Z:1.68 [[ 9.99922565e-01 1.10492726e-02 -5.72524993e-03 3.32238038e+02] [-1.10477106e-02 9.99938926e-01 3.04379491e-04 -1.65836079e+01] [ 5.72826344e-03 -2.41105017e-04 9.99983564e-01 1.67536821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.700714057 meters Centerline goodness : 0.983363 with order 1 Centerline is valid? [True, True] Translation: X:332.30, Y:-16.58, Z:1.67 [[ 9.99895703e-01 1.32591217e-02 -5.72527192e-03 3.32297433e+02] [-1.32575982e-02 9.99912068e-01 3.03965316e-04 -1.65831795e+01] [ 5.72879880e-03 -2.28030258e-04 9.99983564e-01 1.67133466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76071405700003 meters Centerline goodness : 0.984406 with order 1 Centerline is valid? [True, True] Translation: X:332.36, Y:-16.58, Z:1.68 [[ 9.99857155e-01 1.59025275e-02 -5.72528822e-03 3.32355935e+02] [-1.59010491e-02 9.99873524e-01 3.03658065e-04 -1.65804239e+01] [ 5.72939304e-03 -2.12576601e-04 9.99983564e-01 1.67881939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82071405700003 meters Centerline goodness : 0.984027 with order 1 Centerline is valid? [True, True] Translation: X:332.41, Y:-16.58, Z:1.68 [[ 9.99904124e-01 1.26081064e-02 -5.72530978e-03 3.32412763e+02] [-1.26065763e-02 9.99920488e-01 3.03251025e-04 -1.65807139e+01] [ 5.72867797e-03 -2.31045395e-04 9.99983564e-01 1.68178285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88071405700003 meters Centerline goodness : 0.983949 with order 1 Centerline is valid? [True, True] Translation: X:332.47, Y:-16.58, Z:1.68 [[ 9.99915375e-01 1.16817008e-02 -5.72535810e-03 3.32471083e+02] [-1.16801608e-02 9.99931739e-01 3.02335827e-04 -1.65846848e+01] [ 5.72849908e-03 -2.35437138e-04 9.99983564e-01 1.67927182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94071405700004 meters Centerline goodness : 0.984107 with order 1 Centerline is valid? [True, True] Translation: X:332.53, Y:-16.59, Z:1.68 [[ 9.99968717e-01 5.45756429e-03 -5.72538071e-03 3.32528626e+02] [-5.45592495e-03 9.99985071e-01 3.01907203e-04 -1.65854728e+01] [ 5.72694291e-03 -2.70660511e-04 9.99983564e-01 1.67941262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.00071405700004 meters Centerline goodness : 0.986386 with order 1 Centerline is valid? [True, True] Translation: X:332.59, Y:-16.59, Z:1.68 [[ 9.99982230e-01 1.66086368e-03 -5.72540833e-03 3.32587047e+02] [-1.65916526e-03 9.99998578e-01 3.01382402e-04 -1.65883524e+01] [ 5.72590075e-03 -2.91877648e-04 9.99983564e-01 1.68013856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.06071405700004 meters Centerline goodness : 0.985468 with order 1 Centerline is valid? [True, True] Translation: X:332.64, Y:-16.59, Z:1.68 [[ 9.99982868e-01 1.21749864e-03 -5.72543030e-03 3.32644254e+02] [-1.21579536e-03 9.99999216e-01 3.00964530e-04 -1.65928123e+01] [ 5.72579223e-03 -2.93998422e-04 9.99983564e-01 1.68028890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.12071405700004 meters Centerline goodness : 0.983611 with order 1 Centerline is valid? [True, True] Translation: X:332.70, Y:-16.60, Z:1.68 [[ 9.99980411e-01 2.52916825e-03 -5.72545762e-03 3.32701960e+02] [-2.52748939e-03 9.99996761e-01 3.00443875e-04 -1.65955526e+01] [ 5.72619895e-03 -2.85966956e-04 9.99983564e-01 1.68206568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.18071405700005 meters Centerline goodness : 0.984915 with order 1 Centerline is valid? [True, True] Translation: X:332.76, Y:-16.60, Z:1.68 [[ 9.99977668e-01 3.44699230e-03 -5.72554263e-03 3.32760137e+02] [-3.44533776e-03 9.99994020e-01 2.98814950e-04 -1.65989260e+01] [ 5.72653841e-03 -2.79081848e-04 9.99983564e-01 1.68215495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.24071405700005 meters Centerline goodness : 0.984662 with order 1 Centerline is valid? [True, True] Translation: X:332.82, Y:-16.60, Z:1.68 [[ 9.99978156e-01 3.30239274e-03 -5.72556856e-03 3.32818465e+02] [-3.30073867e-03 9.99994508e-01 2.98317317e-04 -1.66014772e+01] [ 5.72652228e-03 -2.79412194e-04 9.99983564e-01 1.68295145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.30071405700005 meters Centerline goodness : 0.984151 with order 1 Centerline is valid? [True, True] Translation: X:332.88, Y:-16.60, Z:1.69 [[ 9.99982879e-01 1.20804897e-03 -5.72559032e-03 3.32876188e+02] [-1.20636305e-03 9.99999228e-01 2.97899072e-04 -1.66046510e+01] [ 5.72594578e-03 -2.90986831e-04 9.99983564e-01 1.68507845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.36071405700005 meters Centerline goodness : 0.983922 with order 1 Centerline is valid? [True, True] Translation: X:332.93, Y:-16.61, Z:1.68 [[ 9.99983490e-01 4.86960002e-04 -5.72561710e-03 3.32934846e+02] [-4.85265231e-04 9.99999838e-01 2.97383419e-04 -1.66094927e+01] [ 5.72576099e-03 -2.94600066e-04 9.99983564e-01 1.68367916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.42071405700005 meters Centerline goodness : 0.983439 with order 1 Centerline is valid? [True, True] Translation: X:332.99, Y:-16.61, Z:1.68 [[ 9.99983242e-01 8.56616590e-04 -5.72563852e-03 3.32993898e+02] [-8.54930220e-04 9.99999590e-01 2.96970575e-04 -1.66130177e+01] [ 5.72589056e-03 -2.92070577e-04 9.99983564e-01 1.68086859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.48071405700006 meters Centerline goodness : 0.983900 with order 1 Centerline is valid? [True, True] Translation: X:333.05, Y:-16.62, Z:1.68 [[ 9.99983214e-01 8.87083074e-04 -5.72571621e-03 3.33051825e+02] [-8.85405801e-04 9.99999564e-01 2.95464936e-04 -1.66157375e+01] [ 5.72597582e-03 -2.90390394e-04 9.99983564e-01 1.68043341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.54071405700006 meters Centerline goodness : 0.982415 with order 1 Centerline is valid? [True, True] Translation: X:333.11, Y:-16.62, Z:1.68 [[ 9.99974280e-01 4.31923513e-03 -5.72574347e-03 3.33110130e+02] [-4.31761701e-03 9.99990636e-01 2.94935713e-04 -1.66166417e+01] [ 5.72696375e-03 -2.70206560e-04 9.99983564e-01 1.68201233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.60071405700006 meters Centerline goodness : 0.982136 with order 1 Centerline is valid? [True, True] Translation: X:333.17, Y:-16.61, Z:1.69 [[ 9.99928435e-01 1.05042697e-02 -5.72582743e-03 3.33167297e+02] [-1.05027621e-02 9.99944801e-01 2.93296613e-04 -1.66148972e+01] [ 5.72859224e-03 -2.33138620e-04 9.99983564e-01 1.68621031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.66071405700006 meters Centerline goodness : 0.982872 with order 1 Centerline is valid? [True, True] Translation: X:333.23, Y:-16.62, Z:1.69 [[ 9.99867628e-01 1.52296179e-02 -5.72586337e-03 3.33225975e+02] [-1.52281917e-02 9.99884002e-01 2.92593326e-04 -1.66163928e+01] [ 5.72965526e-03 -2.05360050e-04 9.99983564e-01 1.68923662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.72071405700007 meters Centerline goodness : 0.980634 with order 1 Centerline is valid? [True, True] Translation: X:333.28, Y:-16.62, Z:1.69 [[ 9.99885776e-01 1.39874250e-02 -5.72593533e-03 3.33284742e+02] [-1.39859866e-02 9.99902149e-01 2.91178329e-04 -1.66180557e+01] [ 5.72944787e-03 -2.11062215e-04 9.99983564e-01 1.68958546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.78071405700007 meters Centerline goodness : 0.981607 with order 1 Centerline is valid? [True, True] Translation: X:333.34, Y:-16.62, Z:1.69 [[ 9.99957257e-01 7.25929310e-03 -5.72595565e-03 3.33343114e+02] [-7.25774683e-03 9.99973620e-01 2.90778139e-04 -1.66222817e+01] [ 5.72791544e-03 -2.49208174e-04 9.99983564e-01 1.68698466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.84071405700007 meters Centerline goodness : 0.982427 with order 1 Centerline is valid? [True, True] Translation: X:333.40, Y:-16.63, Z:1.69 [[ 9.99983338e-01 7.33422105e-04 -5.72597609e-03 3.33400443e+02] [-7.31771390e-04 9.99999690e-01 2.90375051e-04 -1.66263676e+01] [ 5.72618728e-03 -2.86180107e-04 9.99983564e-01 1.68718513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9007140570001 meters Centerline goodness : 0.982934 with order 1 Centerline is valid? [True, True] Translation: X:333.46, Y:-16.63, Z:1.69 [[ 9.99968433e-01 -5.50876770e-03 -5.72600138e-03 3.33459481e+02] [ 5.51051760e-03 9.99984775e-01 2.89875439e-04 -1.66295205e+01] [ 5.72431735e-03 -3.21419520e-04 9.99983564e-01 1.68716820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9607140570001 meters Centerline goodness : 0.982746 with order 1 Centerline is valid? [True, True] Translation: X:333.52, Y:-16.63, Z:1.69 [[ 9.99940678e-01 -9.26567041e-03 -5.72602293e-03 3.33520277e+02] [ 9.26747927e-03 9.99957014e-01 2.89449205e-04 -1.66334925e+01] [ 5.72309485e-03 -3.42497833e-04 9.99983564e-01 1.68786719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.020714057 meters Centerline goodness : 0.983574 with order 1 Centerline is valid? [True, True] Translation: X:333.58, Y:-16.64, Z:1.69 [[ 9.99927410e-01 -1.06012863e-02 -5.72602293e-03 3.33581183e+02] [ 1.06031170e-02 9.99943743e-01 2.89449205e-04 -1.66356893e+01] [ 5.72263227e-03 -3.50141885e-04 9.99983564e-01 1.68930742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.080714057 meters Centerline goodness : 0.984149 with order 1 Centerline is valid? [True, True] Translation: X:333.64, Y:-16.64, Z:1.69 [[ 9.99952011e-01 -7.94911323e-03 -5.72600670e-03 3.33642379e+02] [ 7.95090242e-03 9.99968349e-01 2.89769995e-04 -1.66384456e+01] [ 5.72352205e-03 -3.35283009e-04 9.99983564e-01 1.68813126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.140714057 meters Centerline goodness : 0.984853 with order 1 Centerline is valid? [True, True] Translation: X:333.70, Y:-16.64, Z:1.69 [[ 9.99945368e-01 -8.74491061e-03 -5.72599081e-03 3.33703375e+02] [ 8.74671458e-03 9.99961705e-01 2.90083625e-04 -1.66414545e+01] [ 5.72323477e-03 -3.40151384e-04 9.99983564e-01 1.68646126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.200714057 meters Centerline goodness : 0.983636 with order 1 Centerline is valid? [True, True] Translation: X:333.77, Y:-16.64, Z:1.69 [[ 9.99940209e-01 -9.31618601e-03 -5.72598088e-03 3.33765070e+02] [ 9.31800043e-03 9.99956544e-01 2.90279461e-04 -1.66437224e+01] [ 5.72302776e-03 -3.43616798e-04 9.99983564e-01 1.68584447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26071405700003 meters Centerline goodness : 0.984679 with order 1 Centerline is valid? [True, True] Translation: X:333.83, Y:-16.65, Z:1.69 [[ 9.99937524e-01 -9.60007169e-03 -5.72597073e-03 3.33826306e+02] [ 9.60189190e-03 9.99953859e-01 2.90479581e-04 -1.66458398e+01] [ 5.72291790e-03 -3.45441585e-04 9.99983564e-01 1.68707637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32071405700003 meters Centerline goodness : 0.983504 with order 1 Centerline is valid? [True, True] Translation: X:333.89, Y:-16.65, Z:1.69 [[ 9.99922568e-01 -1.10485657e-02 -5.72596055e-03 3.33888805e+02] [ 1.10504107e-02 9.99938900e-01 2.90680133e-04 -1.66475527e+01] [ 5.72239909e-03 -3.53931841e-04 9.99983564e-01 1.68600707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38071405700003 meters Centerline goodness : 0.984802 with order 1 Centerline is valid? [True, True] Translation: X:333.95, Y:-16.65, Z:1.69 [[ 9.99941927e-01 -9.12992528e-03 -5.72594039e-03 3.33951159e+02] [ 9.13174121e-03 9.99958262e-01 2.91076541e-04 -1.66474890e+01] [ 5.72304390e-03 -3.43347443e-04 9.99983564e-01 1.68951016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44071405700004 meters Centerline goodness : 0.984488 with order 1 Centerline is valid? [True, True] Translation: X:334.01, Y:-16.65, Z:1.69 [[ 9.99942135e-01 -9.10721333e-03 -5.72592010e-03 3.34012202e+02] [ 9.10903116e-03 9.99958469e-01 2.91475218e-04 -1.66487408e+01] [ 5.72302777e-03 -3.43615936e-04 9.99983564e-01 1.69186353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.50071405700004 meters Centerline goodness : 0.983495 with order 1 Centerline is valid? [True, True] Translation: X:334.07, Y:-16.65, Z:1.69 [[ 9.99930913e-01 -1.02656700e-02 -5.72590962e-03 3.34073070e+02] [ 1.02675079e-02 9.99947245e-01 2.91681020e-04 -1.66509587e+01] [ 5.72261325e-03 -3.50451691e-04 9.99983564e-01 1.69172981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.56071405700004 meters Centerline goodness : 0.982041 with order 1 Centerline is valid? [True, True] Translation: X:334.13, Y:-16.65, Z:1.69 [[ 9.99890817e-01 -1.36223071e-02 -5.72589920e-03 3.34134782e+02] [ 1.36242010e-02 9.99907144e-01 2.91885419e-04 -1.66522074e+01] [ 5.72139136e-03 -3.69864352e-04 9.99983564e-01 1.69122933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.62071405700004 meters Centerline goodness : 0.983018 with order 1 Centerline is valid? [True, True] Translation: X:334.20, Y:-16.66, Z:1.69 [[ 9.99858841e-01 -1.57959710e-02 -5.72583218e-03 3.34196959e+02] [ 1.57979078e-02 9.99875162e-01 2.93194280e-04 -1.66552901e+01] [ 5.72048609e-03 -3.83609062e-04 9.99983564e-01 1.68979776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.68071405700005 meters Centerline goodness : 0.984051 with order 1 Centerline is valid? [True, True] Translation: X:334.26, Y:-16.66, Z:1.69 [[ 9.99818557e-01 -1.81677551e-02 -5.72581138e-03 3.34259425e+02] [ 1.81697330e-02 9.99834874e-01 2.93599794e-04 -1.66573321e+01] [ 5.71953185e-03 -3.97582987e-04 9.99983564e-01 1.68884125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.74071405700005 meters Centerline goodness : 0.984554 with order 1 Centerline is valid? [True, True] Translation: X:334.32, Y:-16.66, Z:1.69 [[ 9.99865550e-01 -1.53654447e-02 -5.72579061e-03 3.34320768e+02] [ 1.53673791e-02 9.99881872e-01 2.94004380e-04 -1.66580127e+01] [ 5.72059672e-03 -3.81955246e-04 9.99983564e-01 1.69027506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.80071405700005 meters Centerline goodness : 0.983927 with order 1 Centerline is valid? [True, True] Translation: X:334.38, Y:-16.66, Z:1.69 [[ 9.99949048e-01 -8.31360713e-03 -5.72577530e-03 3.34383151e+02] [ 8.31542813e-03 9.99965383e-01 2.94302244e-04 -1.66585040e+01] [ 5.72313038e-03 -3.41899522e-04 9.99983564e-01 1.69076153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.86071405700005 meters Centerline goodness : 0.983746 with order 1 Centerline is valid? [True, True] Translation: X:334.44, Y:-16.66, Z:1.69 [[ 9.99983460e-01 -5.43102783e-04 -5.72575402e-03 3.34443960e+02] [ 5.44799159e-04 9.99999808e-01 2.94715627e-04 -1.66583038e+01] [ 5.72559286e-03 -2.97830138e-04 9.99983564e-01 1.69302583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.92071405700005 meters Centerline goodness : 0.983935 with order 1 Centerline is valid? [True, True] Translation: X:334.50, Y:-16.66, Z:1.69 [[ 9.99974134e-01 4.35295794e-03 -5.72573681e-03 3.34502560e+02] [-4.35133971e-03 9.99990489e-01 2.95049588e-04 -1.66591633e+01] [ 5.72696669e-03 -2.70127330e-04 9.99983564e-01 1.69299367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.98071405700006 meters Centerline goodness : 0.984287 with order 1 Centerline is valid? [True, True] Translation: X:334.56, Y:-16.66, Z:1.69 [[ 9.99968238e-01 5.54428102e-03 -5.72581088e-03 3.34561127e+02] [-5.54269054e-03 9.99984596e-01 2.93605079e-04 -1.66594700e+01] [ 5.72735051e-03 -2.61859356e-04 9.99983564e-01 1.69204277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.04071405700006 meters Centerline goodness : 0.984526 with order 1 Centerline is valid? [True, True] Translation: X:334.62, Y:-16.66, Z:1.69 [[ 9.99944869e-01 8.80190475e-03 -5.72583182e-03 3.34619374e+02] [-8.80036991e-03 9.99961233e-01 2.93196123e-04 -1.66614544e+01] [ 5.72819053e-03 -2.42790521e-04 9.99983564e-01 1.69289010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.10071405700006 meters Centerline goodness : 0.983842 with order 1 Centerline is valid? [True, True] Translation: X:334.68, Y:-16.66, Z:1.70 [[ 9.99903046e-01 1.26930121e-02 -5.72591743e-03 3.34675767e+02] [-1.26915506e-02 9.99919417e-01 2.91514551e-04 -1.66635848e+01] [ 5.72915622e-03 -2.18815517e-04 9.99983564e-01 1.69541968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.16071405700006 meters Centerline goodness : 0.984110 with order 1 Centerline is valid? [True, True] Translation: X:334.73, Y:-16.67, Z:1.70 [[ 9.99825175e-01 1.77997788e-02 -5.72597490e-03 3.34734070e+02] [-1.77984074e-02 9.99841554e-01 2.90381315e-04 -1.66669504e+01] [ 5.73023637e-03 -1.88417315e-04 9.99983564e-01 1.69601931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.22071405700007 meters Centerline goodness : 0.983085 with order 1 Centerline is valid? [True, True] Translation: X:334.79, Y:-16.67, Z:1.70 [[ 9.99682066e-01 2.45556438e-02 -5.72604735e-03 3.34791972e+02] [-2.45543913e-02 9.99698454e-01 2.88945635e-04 -1.66719070e+01] [ 5.73141593e-03 -1.48254162e-04 9.99983564e-01 1.69540460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.28071405700007 meters Centerline goodness : 0.981856 with order 1 Centerline is valid? [True, True] Translation: X:334.85, Y:-16.68, Z:1.69 [[ 9.99449866e-01 3.26676800e-02 -5.72612920e-03 3.34850338e+02] [-3.26665699e-02 9.99466264e-01 2.87314326e-04 -1.66781120e+01] [ 5.73245885e-03 -1.00103265e-04 9.99983564e-01 1.69254682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.34071405700007 meters Centerline goodness : 0.982771 with order 1 Centerline is valid? [True, True] Translation: X:334.91, Y:-16.68, Z:1.69 [[ 9.99382391e-01 3.46705435e-02 -5.72619956e-03 3.34909234e+02] [-3.46694743e-02 9.99398792e-01 2.85905279e-04 -1.66818845e+01] [ 5.73266941e-03 -8.72043735e-05 9.99983564e-01 1.69198869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4007140570001 meters Centerline goodness : 0.982921 with order 1 Centerline is valid? [True, True] Translation: X:334.97, Y:-16.69, Z:1.69 [[ 9.99104900e-01 4.19119248e-02 -5.72626891e-03 3.34967045e+02] [-4.19109825e-02 9.99121308e-01 2.84509337e-04 -1.66883294e+01] [ 5.73316162e-03 -4.42611157e-05 9.99983564e-01 1.69063586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4607140570001 meters Centerline goodness : 0.981808 with order 1 Centerline is valid? [True, True] Translation: X:335.02, Y:-16.69, Z:1.70 [[ 9.98742012e-01 4.98156956e-02 -5.72629329e-03 3.35024978e+02] [-4.98148860e-02 9.98758427e-01 2.84017964e-04 -1.66934898e+01] [ 5.73333223e-03 1.59397410e-06 9.99983564e-01 1.69679331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.520714057 meters Centerline goodness : 0.981465 with order 1 Centerline is valid? [True, True] Translation: X:335.08, Y:-16.70, Z:1.70 [[ 9.98039143e-01 6.23303895e-02 -5.72637334e-03 3.35082045e+02] [-6.23297950e-02 9.98055568e-01 2.82394610e-04 -1.67007339e+01] [ 5.73284056e-03 7.50828019e-05 9.99983564e-01 1.69744409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.580714057 meters Centerline goodness : 0.981011 with order 1 Centerline is valid? [True, True] Translation: X:335.14, Y:-16.71, Z:1.70 [[ 9.97421736e-01 7.15338294e-02 -5.72640753e-03 3.35139921e+02] [-7.15333904e-02 9.97438166e-01 2.81699641e-04 -1.67103525e+01] [ 5.73188848e-03 1.28656000e-04 9.99983564e-01 1.69900677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.640714057 meters Centerline goodness : 0.981541 with order 1 Centerline is valid? [True, True] Translation: X:335.20, Y:-16.72, Z:1.70 [[ 9.97492661e-01 7.05379282e-02 -5.72647318e-03 3.35197747e+02] [-7.05374805e-02 9.97509090e-01 2.80358655e-04 -1.67221740e+01] [ 5.73198497e-03 1.24275290e-04 9.99983564e-01 1.69935809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.700714057 meters Centerline goodness : 0.981496 with order 1 Centerline is valid? [True, True] Translation: X:335.25, Y:-16.74, Z:1.70 [[ 9.98229338e-01 5.92063796e-02 -5.72653952e-03 3.35254836e+02] [-5.92057532e-02 9.98245762e-01 2.78997061e-04 -1.67374522e+01] [ 5.73301221e-03 6.05410336e-05 9.99983564e-01 1.69780569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76071405700003 meters Centerline goodness : 0.982933 with order 1 Centerline is valid? [True, True] Translation: X:335.31, Y:-16.75, Z:1.70 [[ 9.99073989e-01 4.26423450e-02 -5.72661518e-03 3.35311419e+02] [-4.26414552e-02 9.99090401e-01 2.77435332e-04 -1.67549254e+01] [ 5.73323675e-03 -3.29872187e-05 9.99983564e-01 1.69802515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82071405700003 meters Centerline goodness : 0.986223 with order 1 Centerline is valid? [True, True] Translation: X:335.37, Y:-16.77, Z:1.70 [[ 9.99671184e-01 2.49945846e-02 -5.72664773e-03 3.35369471e+02] [-2.49934091e-02 9.99687578e-01 2.76761746e-04 -1.67707942e+01] [ 5.73177614e-03 -1.33542293e-04 9.99983564e-01 1.69721523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88071405700003 meters Centerline goodness : 0.987072 with order 1 Centerline is valid? [True, True] Translation: X:335.43, Y:-16.78, Z:1.70 [[ 9.99873127e-01 1.48638867e-02 -5.72666711e-03 3.35427408e+02] [-1.48625474e-02 9.99889508e-01 2.76360229e-04 -1.67809708e+01] [ 5.73014214e-03 -1.91212306e-04 9.99983564e-01 1.69885778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94071405700004 meters Centerline goodness : 0.986728 with order 1 Centerline is valid? [True, True] Translation: X:335.48, Y:-16.79, Z:1.70 [[ 9.99983057e-01 1.04395144e-03 -5.72669601e-03 3.35484338e+02] [-1.04238930e-03 9.99999419e-01 2.75760088e-04 -1.67945757e+01] [ 5.72698056e-03 -2.69785970e-04 9.99983564e-01 1.70315593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.00071405700004 meters Centerline goodness : 0.987132 with order 1 Centerline is valid? [True, True] Translation: X:335.54, Y:-16.80, Z:1.70 [[ 9.99981713e-01 -1.94371451e-03 -5.72671974e-03 3.35543332e+02] [ 1.94532271e-03 9.99998070e-01 2.75266338e-04 -1.68009393e+01] [ 5.72617365e-03 -2.86401622e-04 9.99983564e-01 1.70386636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.06071405700004 meters Centerline goodness : 0.986729 with order 1 Centerline is valid? [True, True] Translation: X:335.60, Y:-16.81, Z:1.70 [[ 9.99972774e-01 -4.65353280e-03 -5.72673956e-03 3.35602204e+02] [ 4.65518296e-03 9.99989127e-01 2.74853373e-04 -1.68069013e+01] [ 5.72539825e-03 -3.01504911e-04 9.99983564e-01 1.70374010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.12071405700004 meters Centerline goodness : 0.986212 with order 1 Centerline is valid? [True, True] Translation: X:335.66, Y:-16.81, Z:1.70 [[ 9.99970330e-01 -5.15203601e-03 -5.72676031e-03 3.35661732e+02] [ 5.15369184e-03 9.99986682e-01 2.74420358e-04 -1.68122742e+01] [ 5.72527022e-03 -3.03926174e-04 9.99983564e-01 1.70417757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.18071405700005 meters Centerline goodness : 0.986616 with order 1 Centerline is valid? [True, True] Translation: X:335.72, Y:-16.81, Z:1.70 [[ 9.99968231e-01 -5.54444509e-03 -5.72676541e-03 3.35721410e+02] [ 5.54610674e-03 9.99984583e-01 2.74313943e-04 -1.68138229e+01] [ 5.72515620e-03 -3.06066480e-04 9.99983564e-01 1.70471829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.24071405700005 meters Centerline goodness : 0.986084 with order 1 Centerline is valid? [True, True] Translation: X:335.78, Y:-16.82, Z:1.71 [[ 9.99964031e-01 -6.25630272e-03 -5.72677477e-03 3.35781731e+02] [ 6.25797489e-03 9.99980381e-01 2.74118249e-04 -1.68159215e+01] [ 5.72494745e-03 -3.09946402e-04 9.99983564e-01 1.70690779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.30071405700005 meters Centerline goodness : 0.985093 with order 1 Centerline is valid? [True, True] Translation: X:335.84, Y:-16.82, Z:1.70 [[ 9.99978382e-01 -3.23092163e-03 -5.72677477e-03 3.35842180e+02] [ 3.23254432e-03 9.99994738e-01 2.74118249e-04 -1.68178709e+01] [ 5.72585898e-03 -2.92624376e-04 9.99983564e-01 1.70454494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.36071405700005 meters Centerline goodness : 0.985652 with order 1 Centerline is valid? [True, True] Translation: X:335.90, Y:-16.82, Z:1.70 [[ 9.99982408e-01 -1.54538113e-03 -5.72677477e-03 3.35902114e+02] [ 1.54697625e-03 9.99998766e-01 2.74118249e-04 -1.68207353e+01] [ 5.72634409e-03 -2.82972611e-04 9.99983564e-01 1.70392117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.42071405700005 meters Centerline goodness : 0.985551 with order 1 Centerline is valid? [True, True] Translation: X:335.96, Y:-16.82, Z:1.70 [[ 9.99983319e-01 7.51731844e-04 -5.72678506e-03 3.35960628e+02] [-7.50175532e-04 9.99999681e-01 2.73903302e-04 -1.68209339e+01] [ 5.72698913e-03 -2.69602639e-04 9.99983564e-01 1.70415262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.48071405700006 meters Centerline goodness : 0.985260 with order 1 Centerline is valid? [True, True] Translation: X:336.02, Y:-16.82, Z:1.70 [[ 9.99983545e-01 3.37188327e-04 -5.72680022e-03 3.36019161e+02] [-3.35627047e-04 9.99999906e-01 2.73585858e-04 -1.68211682e+01] [ 5.72689193e-03 -2.71659288e-04 9.99983564e-01 1.70496134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.54071405700006 meters Centerline goodness : 0.986202 with order 1 Centerline is valid? [True, True] Translation: X:336.08, Y:-16.82, Z:1.71 [[ 9.99980014e-01 -2.67872833e-03 -5.72682085e-03 3.36077062e+02] [ 2.68033647e-03 9.99996371e-01 2.73153270e-04 -1.68210029e+01] [ 5.72606837e-03 -2.88497618e-04 9.99983564e-01 1.70723875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.60071405700006 meters Centerline goodness : 0.986468 with order 1 Centerline is valid? [True, True] Translation: X:336.14, Y:-16.82, Z:1.71 [[ 9.99943422e-01 -8.96413514e-03 -5.72684616e-03 3.36136990e+02] [ 8.96584304e-03 9.99959769e-01 2.72621637e-04 -1.68197361e+01] [ 5.72417195e-03 -3.23952216e-04 9.99983564e-01 1.70991409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.66071405700006 meters Centerline goodness : 0.987485 with order 1 Centerline is valid? [True, True] Translation: X:336.20, Y:-16.82, Z:1.71 [[ 9.99869405e-01 -1.51121198e-02 -5.72685581e-03 3.36196999e+02] [ 1.51139270e-02 9.99885741e-01 2.72418896e-04 -1.68199103e+01] [ 5.72208463e-03 -3.58938600e-04 9.99983564e-01 1.70951610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.72071405700007 meters Centerline goodness : 0.986657 with order 1 Centerline is valid? [True, True] Translation: X:336.26, Y:-16.82, Z:1.71 [[ 9.99798259e-01 -1.92521153e-02 -5.72685105e-03 3.36259957e+02] [ 1.92539907e-02 9.99814588e-01 2.72518864e-04 -1.68213907e+01] [ 5.72054265e-03 -3.82728623e-04 9.99983564e-01 1.70948089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.78071405700007 meters Centerline goodness : 0.987035 with order 1 Centerline is valid? [True, True] Translation: X:336.32, Y:-16.82, Z:1.71 [[ 9.99734197e-01 -2.23324616e-02 -5.72676752e-03 3.36323063e+02] [ 2.23343973e-02 9.99750519e-01 2.74263030e-04 -1.68200630e+01] [ 5.71921383e-03 -4.02094031e-04 9.99983564e-01 1.70927293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.84071405700007 meters Centerline goodness : 0.987466 with order 1 Centerline is valid? [True, True] Translation: X:336.39, Y:-16.82, Z:1.71 [[ 9.99727185e-01 -2.26441844e-02 -5.72673593e-03 3.36385946e+02] [ 2.26461289e-02 9.99743506e-01 2.74921005e-04 -1.68198892e+01] [ 5.71904169e-03 -4.04534403e-04 9.99983564e-01 1.70699211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9007140570001 meters Centerline goodness : 0.987295 with order 1 Centerline is valid? [True, True] Translation: X:336.45, Y:-16.82, Z:1.70 [[ 9.99731984e-01 -2.24313607e-02 -5.72670422e-03 3.36447580e+02] [ 2.24333055e-02 9.99748304e-01 2.75580024e-04 -1.68201452e+01] [ 5.71908119e-03 -4.03975069e-04 9.99983564e-01 1.70495266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9607140570001 meters Centerline goodness : 0.987635 with order 1 Centerline is valid? [True, True] Translation: X:336.51, Y:-16.82, Z:1.70 [[ 9.99684731e-01 -2.44467600e-02 -5.72668865e-03 3.36510278e+02] [ 2.44487395e-02 9.99701047e-01 2.75903195e-04 -1.68219495e+01] [ 5.71823170e-03 -4.15826530e-04 9.99983564e-01 1.70112582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.020714057 meters Centerline goodness : 0.987480 with order 1 Centerline is valid? [True, True] Translation: X:336.57, Y:-16.82, Z:1.70 [[ 9.99680706e-01 -2.46107923e-02 -5.72666285e-03 3.36572751e+02] [ 2.46127775e-02 9.99697021e-01 2.76437620e-04 -1.68243041e+01] [ 5.71812445e-03 -4.17298434e-04 9.99983564e-01 1.69521268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.080714057 meters Centerline goodness : 0.986066 with order 1 Centerline is valid? [True, True] Translation: X:336.63, Y:-16.82, Z:1.69 [[ 9.99684410e-01 -2.44598898e-02 -5.72664185e-03 3.36634727e+02] [ 2.44618751e-02 9.99700725e-01 2.76872032e-04 -1.68240199e+01] [ 5.71815575e-03 -4.16869051e-04 9.99983564e-01 1.69352688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.140714057 meters Centerline goodness : 0.986048 with order 1 Centerline is valid? [True, True] Translation: X:336.70, Y:-16.82, Z:1.70 [[ 9.99752356e-01 -2.15042387e-02 -5.72662093e-03 3.36697592e+02] [ 2.15061782e-02 9.99768677e-01 2.77303890e-04 -1.68229154e+01] [ 5.71933303e-03 -4.00392947e-04 9.99983564e-01 1.69555194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.200714057 meters Centerline goodness : 0.985512 with order 1 Centerline is valid? [True, True] Translation: X:336.76, Y:-16.82, Z:1.70 [[ 9.99740739e-01 -2.20377185e-02 -5.72659478e-03 3.36758605e+02] [ 2.20396698e-02 9.99757058e-01 2.77842920e-04 -1.68231281e+01] [ 5.71908053e-03 -4.03983144e-04 9.99983564e-01 1.69790914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26071405700003 meters Centerline goodness : 0.985203 with order 1 Centerline is valid? [True, True] Translation: X:336.82, Y:-16.82, Z:1.70 [[ 9.99779122e-01 -2.02215867e-02 -5.72657933e-03 3.36821160e+02] [ 2.02235101e-02 9.99795445e-01 2.78161056e-04 -1.68218640e+01] [ 5.71978307e-03 -3.93911152e-04 9.99983564e-01 1.69824334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32071405700003 meters Centerline goodness : 0.985778 with order 1 Centerline is valid? [True, True] Translation: X:336.88, Y:-16.82, Z:1.70 [[ 9.99671741e-01 -2.49723229e-02 -5.72655914e-03 3.36883403e+02] [ 2.49743262e-02 9.99688054e-01 2.78575992e-04 -1.68219022e+01] [ 5.71781608e-03 -4.21501503e-04 9.99983564e-01 1.69591811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38071405700003 meters Centerline goodness : 0.985948 with order 1 Centerline is valid? [True, True] Translation: X:336.95, Y:-16.82, Z:1.70 [[ 9.99697812e-01 -2.39059022e-02 -5.72653891e-03 3.36945709e+02] [ 2.39078905e-02 9.99714127e-01 2.78991325e-04 -1.68222649e+01] [ 5.71823230e-03 -4.15816482e-04 9.99983564e-01 1.69711130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44071405700004 meters Centerline goodness : 0.985838 with order 1 Centerline is valid? [True, True] Translation: X:337.01, Y:-16.82, Z:1.70 [[ 9.99483169e-01 -3.16322815e-02 -5.72651771e-03 3.37008060e+02] [ 3.16343983e-02 9.99499468e-01 2.79425728e-04 -1.68225979e+01] [ 5.71481253e-03 -4.60436254e-04 9.99983564e-01 1.69518913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.50071405700004 meters Centerline goodness : 0.985892 with order 1 Centerline is valid? [True, True] Translation: X:337.07, Y:-16.82, Z:1.70 [[ 9.99427210e-01 -3.33535641e-02 -5.72644326e-03 3.37069797e+02] [ 3.33557176e-02 9.99443504e-01 2.80943380e-04 -1.68225373e+01] [ 5.71388605e-03 -4.71792082e-04 9.99983564e-01 1.69831334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.56071405700004 meters Centerline goodness : 0.986803 with order 1 Centerline is valid? [True, True] Translation: X:337.13, Y:-16.82, Z:1.70 [[ 9.99472766e-01 -3.19593399e-02 -5.72639050e-03 3.37131864e+02] [ 3.19614768e-02 9.99489062e-01 2.82014609e-04 -1.68247566e+01] [ 5.71445167e-03 -4.64889818e-04 9.99983564e-01 1.69914416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.62071405700004 meters Centerline goodness : 0.986558 with order 1 Centerline is valid? [True, True] Translation: X:337.19, Y:-16.83, Z:1.70 [[ 9.99514174e-01 -3.06369831e-02 -5.72637042e-03 3.37193957e+02] [ 3.06391008e-02 9.99530473e-01 2.82421815e-04 -1.68250033e+01] [ 5.71502918e-03 -4.57735447e-04 9.99983564e-01 1.69791380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.68071405700005 meters Centerline goodness : 0.985663 with order 1 Centerline is valid? [True, True] Translation: X:337.26, Y:-16.83, Z:1.70 [[ 9.99675244e-01 -2.48317415e-02 -5.72634557e-03 3.37256034e+02] [ 2.48337673e-02 9.99691554e-01 2.82924644e-04 -1.68274474e+01] [ 5.71755380e-03 -4.25039496e-04 9.99983564e-01 1.69543900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.74071405700005 meters Centerline goodness : 0.985478 with order 1 Centerline is valid? [True, True] Translation: X:337.32, Y:-16.83, Z:1.70 [[ 9.99717597e-01 -2.30637245e-02 -5.72632456e-03 3.37316964e+02] [ 2.30657239e-02 9.99733911e-01 2.83349375e-04 -1.68254857e+01] [ 5.71826575e-03 -4.15351177e-04 9.99983564e-01 1.69837465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.80071405700005 meters Centerline goodness : 0.985970 with order 1 Centerline is valid? [True, True] Translation: X:337.38, Y:-16.82, Z:1.70 [[ 9.99735133e-01 -2.22906729e-02 -5.72630908e-03 3.37379475e+02] [ 2.22926615e-02 9.99751448e-01 2.83661715e-04 -1.68242647e+01] [ 5.71856278e-03 -4.11241252e-04 9.99983564e-01 1.69816879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.86071405700005 meters Centerline goodness : 0.985694 with order 1 Centerline is valid? [True, True] Translation: X:337.44, Y:-16.82, Z:1.70 [[ 9.99769946e-01 -2.06703924e-02 -5.72628753e-03 3.37441925e+02] [ 2.06723570e-02 9.99786264e-01 2.84096243e-04 -1.68242950e+01] [ 5.71919123e-03 -4.02406746e-04 9.99983564e-01 1.69779116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.92071405700005 meters Centerline goodness : 0.986302 with order 1 Centerline is valid? [True, True] Translation: X:337.50, Y:-16.82, Z:1.70 [[ 9.99790683e-01 -1.96418118e-02 -5.72623725e-03 3.37503665e+02] [ 1.96437654e-02 9.99807002e-01 2.85106003e-04 -1.68246566e+01] [ 5.71953210e-03 -3.97531186e-04 9.99983564e-01 1.69915701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.98071405700006 meters Centerline goodness : 0.986688 with order 1 Centerline is valid? [True, True] Translation: X:337.57, Y:-16.83, Z:1.70 [[ 9.99792686e-01 -1.95395820e-02 -5.72618856e-03 3.37565584e+02] [ 1.95415394e-02 9.99809005e-01 2.86080513e-04 -1.68261367e+01] [ 5.71950500e-03 -3.97919745e-04 9.99983564e-01 1.70031452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.04071405700006 meters Centerline goodness : 0.985333 with order 1 Centerline is valid? [True, True] Translation: X:337.63, Y:-16.83, Z:1.70 [[ 9.99743363e-01 -2.19184547e-02 -5.72616852e-03 3.37627691e+02] [ 2.19204532e-02 9.99759677e-01 2.86481175e-04 -1.68270140e+01] [ 5.71851316e-03 -4.11927863e-04 9.99983564e-01 1.70249078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.10071405700006 meters Centerline goodness : 0.985996 with order 1 Centerline is valid? [True, True] Translation: X:337.69, Y:-16.84, Z:1.70 [[ 9.99779315e-01 -2.02121759e-02 -5.72614879e-03 3.37688656e+02] [ 2.02141489e-02 9.99795632e-01 2.86874993e-04 -1.68356633e+01] [ 5.71918018e-03 -4.02560908e-04 9.99983564e-01 1.69646699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.16071405700006 meters Centerline goodness : 0.984673 with order 1 Centerline is valid? [True, True] Translation: X:337.75, Y:-16.84, Z:1.70 [[ 9.99848643e-01 -1.64287251e-02 -5.72613412e-03 3.37750837e+02] [ 1.64306379e-02 9.99864967e-01 2.87167421e-04 -1.68434876e+01] [ 5.72064311e-03 -3.81207993e-04 9.99983564e-01 1.70178321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.22071405700007 meters Centerline goodness : 0.985517 with order 1 Centerline is valid? [True, True] Translation: X:337.81, Y:-16.85, Z:1.70 [[ 9.99931801e-01 -1.01786612e-02 -5.72611249e-03 3.37811350e+02] [ 1.01804744e-02 9.99948136e-01 2.87598050e-04 -1.68507324e+01] [ 5.72288815e-03 -3.45872978e-04 9.99983564e-01 1.70259058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.28071405700007 meters Centerline goodness : 0.984747 with order 1 Centerline is valid? [True, True] Translation: X:337.87, Y:-16.87, Z:1.70 [[ 9.99968118e-01 -5.56555118e-03 -5.72607690e-03 3.37870729e+02] [ 5.56729305e-03 9.99984461e-01 2.88305068e-04 -1.68654776e+01] [ 5.72438334e-03 -3.20174624e-04 9.99983564e-01 1.69592155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.34071405700007 meters Centerline goodness : 0.986401 with order 1 Centerline is valid? [True, True] Translation: X:337.93, Y:-16.87, Z:1.70 [[ 9.99978442e-01 -3.21379693e-03 -5.72606096e-03 3.37931378e+02] [ 3.21550216e-03 9.99994789e-01 2.88621153e-04 -1.68708575e+01] [ 5.72510355e-03 -3.07027092e-04 9.99983564e-01 1.70085860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4007140570001 meters Centerline goodness : 0.986351 with order 1 Centerline is valid? [True, True] Translation: X:337.99, Y:-16.88, Z:1.70 [[ 9.99982898e-01 -1.18969066e-03 -5.72606096e-03 3.37990353e+02] [ 1.19136280e-03 9.99999249e-01 2.88621153e-04 -1.68756831e+01] [ 5.72571329e-03 -2.95438033e-04 9.99983564e-01 1.70332954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4607140570001 meters Centerline goodness : 0.985013 with order 1 Centerline is valid? [True, True] Translation: X:338.05, Y:-16.89, Z:1.70 [[ 9.99983263e-01 -8.27863759e-04 -5.72607151e-03 3.38048953e+02] [ 8.29528791e-04 9.99999614e-01 2.88411842e-04 -1.68881018e+01] [ 5.72583053e-03 -2.93156956e-04 9.99983564e-01 1.70366535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.520714057 meters Centerline goodness : 0.984877 with order 1 Centerline is valid? [True, True] Translation: X:338.11, Y:-16.89, Z:1.71 [[ 9.99979957e-01 -2.70119945e-03 -5.72614781e-03 3.38106732e+02] [ 2.70288642e-03 9.99996306e-01 2.86888969e-04 -1.68923379e+01] [ 5.72535171e-03 -3.02360346e-04 9.99983564e-01 1.70636770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.580714057 meters Centerline goodness : 0.987222 with order 1 Centerline is valid? [True, True] Translation: X:338.17, Y:-16.90, Z:1.71 [[ 9.99966578e-01 -5.83548280e-03 -5.72617450e-03 3.38165600e+02] [ 5.83721796e-03 9.99982922e-01 2.86355182e-04 -1.69025072e+01] [ 5.72440569e-03 -3.19770541e-04 9.99983564e-01 1.70630615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.640714057 meters Centerline goodness : 0.986538 with order 1 Centerline is valid? [True, True] Translation: X:338.23, Y:-16.91, Z:1.70 [[ 9.99952138e-01 -7.93306349e-03 -5.72618531e-03 3.38226365e+02] [ 7.93483169e-03 9.99968478e-01 2.86138899e-04 -1.69083404e+01] [ 5.72373485e-03 -3.31561520e-04 9.99983564e-01 1.70441805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.700714057 meters Centerline goodness : 0.989654 with order 1 Centerline is valid? [True, True] Translation: X:338.29, Y:-16.90, Z:1.71 [[ 9.99918759e-01 -1.13880032e-02 -5.72618531e-03 3.38286790e+02] [ 1.13898279e-02 9.99935093e-01 2.86138899e-04 -1.69039523e+01] [ 5.72255509e-03 -3.51335918e-04 9.99983564e-01 1.70602013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76071405700003 meters Centerline goodness : 0.988788 with order 1 Centerline is valid? [True, True] Translation: X:338.35, Y:-16.91, Z:1.71 [[ 9.99981636e-01 -1.98461837e-03 -5.72617945e-03 3.38347915e+02] [ 1.98629001e-03 9.99997986e-01 2.86255969e-04 -1.69062067e+01] [ 5.72559982e-03 -2.97624566e-04 9.99983564e-01 1.71169053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82071405700003 meters Centerline goodness : 0.991377 with order 1 Centerline is valid? [True, True] Translation: X:338.41, Y:-16.91, Z:1.71 [[ 9.99982796e-01 1.27193847e-03 -5.72616763e-03 3.38406488e+02] [-1.27031874e-03 9.99999152e-01 2.86492394e-04 -1.69102353e+01] [ 5.72652717e-03 -2.79213408e-04 9.99983564e-01 1.70975842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88071405700003 meters Centerline goodness : 0.991753 with order 1 Centerline is valid? [True, True] Translation: X:338.46, Y:-16.91, Z:1.71 [[ 9.99976187e-01 3.85166032e-03 -5.72618536e-03 3.38464369e+02] [-3.85008482e-03 9.99992547e-01 2.86137574e-04 -1.69128808e+01] [ 5.72724479e-03 -2.64084461e-04 9.99983564e-01 1.71080579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.94071405700004 meters Centerline goodness : 0.991361 with order 1 Centerline is valid? [True, True] Translation: X:338.52, Y:-16.92, Z:1.71 [[ 9.99972893e-01 4.62860764e-03 -5.72626482e-03 3.38522560e+02] [-4.62705399e-03 9.99989255e-01 2.84538458e-04 -1.69187663e+01] [ 5.72752030e-03 -2.58035008e-04 9.99983564e-01 1.71022601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.00071405700004 meters Centerline goodness : 0.992307 with order 1 Centerline is valid? [True, True] Translation: X:338.58, Y:-16.93, Z:1.71 [[ 9.99983573e-01 -2.52372005e-04 -5.72628462e-03 3.38580205e+02] [ 2.54003221e-04 9.99999927e-01 2.84139310e-04 -1.69254618e+01] [ 5.72621250e-03 -2.85589138e-04 9.99983564e-01 1.71023085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.06071405700004 meters Centerline goodness : 0.985755 with order 1 Centerline is valid? [True, True] Translation: X:338.64, Y:-16.95, Z:1.70 [[ 9.99963362e-01 6.36278447e-03 -5.72630894e-03 3.38637899e+02] [-6.36126428e-03 9.99979727e-01 2.83648382e-04 -1.69456024e+01] [ 5.72799764e-03 -2.47211425e-04 9.99983564e-01 1.70351388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.12071405700004 meters Centerline goodness : 0.992434 with order 1 Centerline is valid? [True, True] Translation: X:338.70, Y:-16.93, Z:1.71 [[ 9.99952449e-01 -7.89355174e-03 -5.72638111e-03 3.38696102e+02] [ 7.89529672e-03 9.99968792e-01 2.82183902e-04 -1.69339931e+01] [ 5.72397496e-03 -3.27381962e-04 9.99983564e-01 1.70994686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.18071405700005 meters Centerline goodness : 0.992280 with order 1 Centerline is valid? [True, True] Translation: X:338.76, Y:-16.94, Z:1.71 [[ 9.99916862e-01 -1.15532403e-02 -5.72640625e-03 3.38756612e+02] [ 1.15550421e-02 9.99933199e-01 2.81672667e-04 -1.69361922e+01] [ 5.72276949e-03 -3.47818115e-04 9.99983564e-01 1.71096806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.24071405700005 meters Centerline goodness : 0.989422 with order 1 Centerline is valid? [True, True] Translation: X:338.82, Y:-16.94, Z:1.71 [[ 9.99902803e-01 -1.27119424e-02 -5.72640625e-03 3.38818814e+02] [ 1.27137632e-02 9.99919137e-01 2.81672667e-04 -1.69438042e+01] [ 5.72236259e-03 -3.54449463e-04 9.99983564e-01 1.71002769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.30071405700005 meters Centerline goodness : 0.991699 with order 1 Centerline is valid? [True, True] Translation: X:338.88, Y:-16.94, Z:1.71 [[ 9.99852259e-01 -1.62070602e-02 -5.72638372e-03 3.38881139e+02] [ 1.62089407e-02 9.99868587e-01 2.82129995e-04 -1.69402020e+01] [ 5.72105870e-03 -3.74906927e-04 9.99983564e-01 1.71272232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.36071405700005 meters Centerline goodness : 0.990769 with order 1 Centerline is valid? [True, True] Translation: X:338.94, Y:-16.94, Z:1.71 [[ 9.99925716e-01 -1.07596896e-02 -5.72636095e-03 3.38941904e+02] [ 1.07614838e-02 9.99942054e-01 2.82591327e-04 -1.69449620e+01] [ 5.72298854e-03 -3.44194475e-04 9.99983564e-01 1.71486039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.42071405700005 meters Centerline goodness : 0.992702 with order 1 Centerline is valid? [True, True] Translation: X:339.00, Y:-16.94, Z:1.72 [[ 9.99818354e-01 -1.81787575e-02 -5.72634444e-03 3.39003250e+02] [ 1.81806747e-02 9.99834678e-01 2.82925524e-04 -1.69405240e+01] [ 5.72025452e-03 -3.86982938e-04 9.99983564e-01 1.71744464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.48071405700006 meters Centerline goodness : 0.989511 with order 1 Centerline is valid? [True, True] Translation: X:339.07, Y:-16.94, Z:1.72 [[ 9.99777296e-01 -2.03117429e-02 -5.72633329e-03 3.39065463e+02] [ 2.03136963e-02 9.99793615e-01 2.83151170e-04 -1.69397579e+01] [ 5.71940017e-03 -3.99411106e-04 9.99983564e-01 1.72059541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.54071405700006 meters Centerline goodness : 0.989630 with order 1 Centerline is valid? [True, True] Translation: X:339.13, Y:-16.94, Z:1.72 [[ 9.99694871e-01 -2.40286208e-02 -5.72630198e-03 3.39128067e+02] [ 2.40306383e-02 9.99711182e-01 2.83782838e-04 -1.69406603e+01] [ 5.71782921e-03 -4.21302939e-04 9.99983564e-01 1.71718744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.60071405700006 meters Centerline goodness : 0.986413 with order 1 Centerline is valid? [True, True] Translation: X:339.19, Y:-16.96, Z:1.71 [[ 9.99923991e-01 -1.09188658e-02 -5.72627682e-03 3.39188259e+02] [ 1.09206722e-02 9.99940327e-01 2.84289630e-04 -1.69578822e+01] [ 5.72283100e-03 -3.46802813e-04 9.99983564e-01 1.71355318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.66071405700006 meters Centerline goodness : 0.993396 with order 1 Centerline is valid? [True, True] Translation: X:339.25, Y:-16.94, Z:1.72 [[ 9.99738857e-01 -2.21229978e-02 -5.72625830e-03 3.39250753e+02] [ 2.21249893e-02 9.99755172e-01 2.84662198e-04 -1.69440987e+01] [ 5.71855877e-03 -4.11281264e-04 9.99983564e-01 1.71716747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.72071405700007 meters Centerline goodness : 0.988038 with order 1 Centerline is valid? [True, True] Translation: X:339.31, Y:-16.96, Z:1.71 [[ 9.99983415e-01 -6.15593254e-04 -5.72623687e-03 3.39312015e+02] [ 6.17235855e-04 9.99999769e-01 2.85092545e-04 -1.69600352e+01] [ 5.72606005e-03 -2.88622255e-04 9.99983564e-01 1.71061242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.78071405700007 meters Centerline goodness : 0.986382 with order 1 Centerline is valid? [True, True] Translation: X:339.37, Y:-16.96, Z:1.71 [[ 9.99983024e-01 1.07841349e-03 -5.72621657e-03 3.39370474e+02] [-1.07679627e-03 9.99999380e-01 2.85499740e-04 -1.69599713e+01] [ 5.72652091e-03 -2.79328924e-04 9.99983564e-01 1.71410120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.84071405700007 meters Centerline goodness : 0.986657 with order 1 Centerline is valid? [True, True] Translation: X:339.43, Y:-16.96, Z:1.72 [[ 9.99983451e-01 -5.54506406e-04 -5.72628678e-03 3.39428100e+02] [ 5.56142252e-04 9.99999805e-01 2.84084656e-04 -1.69590029e+01] [ 5.72612813e-03 -2.87264584e-04 9.99983564e-01 1.71889416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9007140570001 meters Centerline goodness : 0.988736 with order 1 Centerline is valid? [True, True] Translation: X:339.49, Y:-16.96, Z:1.72 [[ 9.99974309e-01 -4.31165681e-03 -5.72631139e-03 3.39486839e+02] [ 4.31335125e-03 9.99990657e-01 2.83587618e-04 -1.69619337e+01] [ 5.72503516e-03 -3.08279925e-04 9.99983564e-01 1.71834506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9607140570001 meters Centerline goodness : 0.988338 with order 1 Centerline is valid? [True, True] Translation: X:339.55, Y:-16.96, Z:1.72 [[ 9.99934803e-01 -9.87921341e-03 -5.72633172e-03 3.39546808e+02] [ 9.88099650e-03 9.99951142e-01 2.83176556e-04 -1.69643982e+01] [ 5.72325438e-03 -3.39739957e-04 9.99983564e-01 1.71783586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.020714057 meters Centerline goodness : 0.988325 with order 1 Centerline is valid? [True, True] Translation: X:339.61, Y:-16.97, Z:1.72 [[ 9.99885766e-01 -1.39880065e-02 -5.72633676e-03 3.39608618e+02] [ 1.39898561e-02 9.99902097e-01 2.83074581e-04 -1.69655903e+01] [ 5.72181649e-03 -3.63152872e-04 9.99983564e-01 1.71760637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.080714057 meters Centerline goodness : 0.989846 with order 1 Centerline is valid? [True, True] Translation: X:339.67, Y:-16.97, Z:1.71 [[ 9.99806472e-01 -1.88209275e-02 -5.72632615e-03 3.39670493e+02] [ 1.88228572e-02 9.99822794e-01 2.83288934e-04 -1.69701067e+01] [ 5.71997966e-03 -3.91019929e-04 9.99983564e-01 1.71286712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.140714057 meters Centerline goodness : 0.989227 with order 1 Centerline is valid? [True, True] Translation: X:339.73, Y:-16.97, Z:1.71 [[ 9.99839991e-01 -1.69470703e-02 -5.72624716e-03 3.39732719e+02] [ 1.69489785e-02 9.99856315e-01 2.84876838e-04 -1.69711232e+01] [ 5.72059655e-03 -3.81885295e-04 9.99983564e-01 1.71494843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.200714057 meters Centerline goodness : 0.989194 with order 1 Centerline is valid? [True, True] Translation: X:339.79, Y:-16.97, Z:1.72 [[ 9.99892940e-01 -1.34654682e-02 -5.72622698e-03 3.39794693e+02] [ 1.34673219e-02 9.99909271e-01 2.85281877e-04 -1.69721228e+01] [ 5.72186599e-03 -3.62368277e-04 9.99983564e-01 1.71687897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26071405700003 meters Centerline goodness : 0.989739 with order 1 Centerline is valid? [True, True] Translation: X:339.86, Y:-16.97, Z:1.72 [[ 9.99962890e-01 -6.43650111e-03 -5.72620612e-03 3.39856523e+02] [ 6.43824235e-03 9.99979233e-01 2.85700036e-04 -1.69741874e+01] [ 5.72424829e-03 -3.22556136e-04 9.99983564e-01 1.71930681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32071405700003 meters Centerline goodness : 0.988892 with order 1 Centerline is valid? [True, True] Translation: X:339.92, Y:-16.97, Z:1.72 [[ 9.99973852e-01 -4.41660229e-03 -5.72618554e-03 3.39917550e+02] [ 4.41831286e-03 9.99990198e-01 2.86111920e-04 -1.69749585e+01] [ 5.72486577e-03 -3.11404518e-04 9.99983564e-01 1.71995974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38071405700003 meters Centerline goodness : 0.987750 with order 1 Centerline is valid? [True, True] Translation: X:339.98, Y:-16.98, Z:1.72 [[ 9.99945589e-01 -8.71950314e-03 -5.72618554e-03 3.39976695e+02] [ 8.72128404e-03 9.99961928e-01 2.86111920e-04 -1.69772218e+01] [ 5.72347277e-03 -3.36036043e-04 9.99983564e-01 1.71743277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.44071405700004 meters Centerline goodness : 0.988782 with order 1 Centerline is valid? [True, True] Translation: X:340.04, Y:-16.98, Z:1.72 [[ 9.99963205e-01 -6.38737492e-03 -5.72619050e-03 3.40037641e+02] [ 6.38911714e-03 9.99979548e-01 2.86012527e-04 -1.69789955e+01] [ 5.72424652e-03 -3.22587305e-04 9.99983564e-01 1.71818818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.50071405700004 meters Centerline goodness : 0.988130 with order 1 Centerline is valid? [True, True] Translation: X:340.10, Y:-16.98, Z:1.72 [[ 9.99962612e-01 -6.47969573e-03 -5.72617971e-03 3.40098384e+02] [ 6.48144069e-03 9.99978954e-01 2.86228417e-04 -1.69767707e+01] [ 5.72420452e-03 -3.23331610e-04 9.99983564e-01 1.72028168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.56071405700004 meters Centerline goodness : 0.987842 with order 1 Centerline is valid? [True, True] Translation: X:340.16, Y:-16.98, Z:1.72 [[ 9.99970637e-01 -5.09283472e-03 -5.72617971e-03 3.40158393e+02] [ 5.09455701e-03 9.99986982e-01 2.86228417e-04 -1.69753624e+01] [ 5.72464745e-03 -3.15392362e-04 9.99983564e-01 1.72418220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.62071405700004 meters Centerline goodness : 0.988561 with order 1 Centerline is valid? [True, True] Translation: X:340.22, Y:-16.97, Z:1.73 [[ 9.99960999e-01 -6.72400140e-03 -5.72617438e-03 3.40219055e+02] [ 6.72575096e-03 9.99977341e-01 2.86335058e-04 -1.69744991e+01] [ 5.72411931e-03 -3.24836713e-04 9.99983564e-01 1.72508991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.68071405700005 meters Centerline goodness : 0.988355 with order 1 Centerline is valid? [True, True] Translation: X:340.28, Y:-16.97, Z:1.73 [[ 9.99956198e-01 -7.40359352e-03 -5.72617438e-03 3.40279305e+02] [ 7.40535418e-03 9.99972539e-01 2.86335058e-04 -1.69735164e+01] [ 5.72389722e-03 -3.28726865e-04 9.99983564e-01 1.72719233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.74071405700005 meters Centerline goodness : 0.989096 with order 1 Centerline is valid? [True, True] Translation: X:340.34, Y:-16.98, Z:1.72 [[ 9.99937845e-01 -9.56640513e-03 -5.72617438e-03 3.40339701e+02] [ 9.56820113e-03 9.99954183e-01 2.86335058e-04 -1.69754581e+01] [ 5.72317282e-03 -3.41106449e-04 9.99983564e-01 1.72354411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.80071405700005 meters Centerline goodness : 0.987610 with order 1 Centerline is valid? [True, True] Translation: X:340.40, Y:-16.98, Z:1.72 [[ 9.99922686e-01 -1.10378435e-02 -5.72616920e-03 3.40400812e+02] [ 1.10396641e-02 9.99939020e-01 2.86438549e-04 -1.69783545e+01] [ 5.72265835e-03 -3.49631388e-04 9.99983564e-01 1.72195453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.86071405700005 meters Centerline goodness : 0.988143 with order 1 Centerline is valid? [True, True] Translation: X:340.46, Y:-16.98, Z:1.72 [[ 9.99910951e-01 -1.20540745e-02 -5.72615830e-03 3.40461686e+02] [ 1.20559130e-02 9.99927284e-01 2.86656321e-04 -1.69792256e+01] [ 5.72228654e-03 -3.55664861e-04 9.99983564e-01 1.72181310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.92071405700005 meters Centerline goodness : 0.987757 with order 1 Centerline is valid? [True, True] Translation: X:340.52, Y:-16.98, Z:1.72 [[ 9.99932316e-01 -1.01279053e-02 -5.72614223e-03 3.40523043e+02] [ 1.01297142e-02 9.99948652e-01 2.86976838e-04 -1.69789222e+01] [ 5.72294173e-03 -3.44961599e-04 9.99983564e-01 1.72117637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.98071405700006 meters Centerline goodness : 0.988788 with order 1 Centerline is valid? [True, True] Translation: X:340.58, Y:-16.98, Z:1.72 [[ 9.99909649e-01 -1.21616129e-02 -5.72610806e-03 3.40584869e+02] [ 1.21634588e-02 9.99925981e-01 2.87657172e-04 -1.69804253e+01] [ 5.72218584e-03 -3.57280462e-04 9.99983564e-01 1.72272999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.04071405700006 meters Centerline goodness : 0.988715 with order 1 Centerline is valid? [True, True] Translation: X:340.65, Y:-16.98, Z:1.72 [[ 9.99877068e-01 -1.45965783e-02 -5.72608781e-03 3.40647063e+02] [ 1.45984663e-02 9.99893395e-01 2.88059606e-04 -1.69835858e+01] [ 5.72127270e-03 -3.71616295e-04 9.99983564e-01 1.72305368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.10071405700006 meters Centerline goodness : 0.988477 with order 1 Centerline is valid? [True, True] Translation: X:340.71, Y:-16.99, Z:1.72 [[ 9.99812832e-01 -1.84800931e-02 -5.72606746e-03 3.40710602e+02] [ 1.84820468e-02 9.99829151e-01 2.88463499e-04 -1.69857153e+01] [ 5.71975834e-03 -3.94238955e-04 9.99983564e-01 1.72439160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.16071405700006 meters Centerline goodness : 0.987916 with order 1 Centerline is valid? [True, True] Translation: X:340.77, Y:-16.99, Z:1.72 [[ 9.99765402e-01 -2.08890853e-02 -5.72598100e-03 3.40772489e+02] [ 2.08910880e-02 9.99781715e-01 2.90169751e-04 -1.69888722e+01] [ 5.71866972e-03 -4.09723651e-04 9.99983564e-01 1.72499998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.22071405700007 meters Centerline goodness : 0.991158 with order 1 Centerline is valid? [True, True] Translation: X:340.83, Y:-16.98, Z:1.73 [[ 9.99581664e-01 -2.83497918e-02 -5.72595412e-03 3.40834215e+02] [ 2.83519193e-02 9.99597961e-01 2.90699099e-04 -1.69823074e+01] [ 5.71541081e-03 -4.52919278e-04 9.99983564e-01 1.73206079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.28071405700007 meters Centerline goodness : 0.986822 with order 1 Centerline is valid? [True, True] Translation: X:340.90, Y:-16.99, Z:1.72 [[ 9.99838350e-01 -1.70437151e-02 -5.72588607e-03 3.40895832e+02] [ 1.70456658e-02 9.99854669e-01 2.92033343e-04 -1.69949442e+01] [ 5.72007660e-03 -3.89587676e-04 9.99983564e-01 1.72469448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.34071405700007 meters Centerline goodness : 0.986221 with order 1 Centerline is valid? [True, True] Translation: X:340.96, Y:-16.99, Z:1.73 [[ 9.99907302e-01 -1.23531878e-02 -5.72586365e-03 3.40957081e+02] [ 1.23550643e-02 9.99923631e-01 2.92472344e-04 -1.69943626e+01] [ 5.72181340e-03 -3.63188646e-04 9.99983564e-01 1.72637108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4007140570001 meters Centerline goodness : 0.984204 with order 1 Centerline is valid? [True, True] Translation: X:341.02, Y:-17.00, Z:1.73 [[ 9.99978485e-01 -3.20062781e-03 -5.72584703e-03 3.41019314e+02] [ 3.20235667e-03 9.99994830e-01 2.92797297e-04 -1.69966300e+01] [ 5.72488029e-03 -3.11127202e-04 9.99983564e-01 1.72760912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4607140570001 meters Centerline goodness : 0.984482 with order 1 Centerline is valid? [True, True] Translation: X:341.08, Y:-17.00, Z:1.73 [[ 9.99983132e-01 9.74778242e-04 -5.72582481e-03 3.41078753e+02] [-9.73115163e-04 9.99999484e-01 2.93231212e-04 -1.69985457e+01] [ 5.72610769e-03 -2.87654379e-04 9.99983564e-01 1.72902439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.520714057 meters Centerline goodness : 0.984028 with order 1 Centerline is valid? [True, True] Translation: X:341.14, Y:-17.00, Z:1.73 [[ 9.99980297e-01 2.57290143e-03 -5.72583585e-03 3.41136619e+02] [-2.57126571e-03 9.99996651e-01 2.93015587e-04 -1.70000411e+01] [ 5.72657057e-03 -2.78287168e-04 9.99983564e-01 1.72994569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.580714057 meters Centerline goodness : 0.984420 with order 1 Centerline is valid? [True, True] Translation: X:341.19, Y:-17.00, Z:1.73 [[ 9.99966900e-01 5.78051345e-03 -5.72586293e-03 3.41194843e+02] [-5.77893324e-03 9.99983259e-01 2.92485317e-04 -1.70031725e+01] [ 5.72745779e-03 -2.59386256e-04 9.99983564e-01 1.72944654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.640714057 meters Centerline goodness : 0.984330 with order 1 Centerline is valid? [True, True] Translation: X:341.25, Y:-17.01, Z:1.73 [[ 9.99966757e-01 5.80508867e-03 -5.72594730e-03 3.41253064e+02] [-5.80351835e-03 9.99983117e-01 2.90824272e-04 -1.70080809e+01] [ 5.72753889e-03 -2.57583964e-04 9.99983564e-01 1.72856691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.700714057 meters Centerline goodness : 0.984285 with order 1 Centerline is valid? [True, True] Translation: X:341.31, Y:-17.01, Z:1.73 [[ 9.99983183e-01 9.20143514e-04 -5.72596919e-03 3.41310665e+02] [-9.18495754e-04 9.99999536e-01 2.90392564e-04 -1.70132159e+01] [ 5.72623374e-03 -2.85128402e-04 9.99983564e-01 1.72696695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76071405700003 meters Centerline goodness : 0.989716 with order 1 Centerline is valid? [True, True] Translation: X:341.37, Y:-17.01, Z:1.73 [[ 9.99896630e-01 -1.31887554e-02 -5.72599608e-03 3.41370733e+02] [ 1.31906307e-02 9.99912958e-01 2.89861530e-04 -1.70091008e+01] [ 5.72167476e-03 -3.65361066e-04 9.99983564e-01 1.73204410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82071405700003 meters Centerline goodness : 0.987013 with order 1 Centerline is valid? [True, True] Translation: X:341.43, Y:-17.03, Z:1.73 [[ 9.99883770e-01 -1.41300874e-02 -5.72600649e-03 3.41430745e+02] [ 1.41319769e-02 9.99900097e-01 2.89655562e-04 -1.70268725e+01] [ 5.72134159e-03 -3.70541687e-04 9.99983564e-01 1.72590277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88071405700003 meters Centerline goodness : 0.987563 with order 1 Centerline is valid? [True, True] Translation: X:341.49, Y:-17.03, Z:1.73 [[ 9.99800437e-01 -1.91389212e-02 -5.72599603e-03 3.41493775e+02] [ 1.91408937e-02 9.99816754e-01 2.89862227e-04 -1.70309869e+01] [ 5.71939912e-03 -3.99405062e-04 9.99983564e-01 1.72653599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.94071405700004 meters Centerline goodness : 0.988353 with order 1 Centerline is valid? [True, True] Translation: X:341.56, Y:-17.04, Z:1.73 [[ 9.99730348e-01 -2.25043328e-02 -5.72591397e-03 3.41555415e+02] [ 2.25063693e-02 9.99746657e-01 2.91474410e-04 -1.70380049e+01] [ 5.71790391e-03 -4.20265348e-04 9.99983564e-01 1.72815100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.00071405700004 meters Centerline goodness : 0.988943 with order 1 Centerline is valid? [True, True] Translation: X:341.62, Y:-17.04, Z:1.73 [[ 9.99642493e-01 -2.61170655e-02 -5.72589207e-03 3.41617579e+02] [ 2.61191634e-02 9.99658794e-01 2.91903928e-04 -1.70434960e+01] [ 5.71631468e-03 -4.41355081e-04 9.99983564e-01 1.72904728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.06071405700004 meters Centerline goodness : 0.989724 with order 1 Centerline is valid? [True, True] Translation: X:341.68, Y:-17.05, Z:1.73 [[ 9.99688413e-01 -2.42959206e-02 -5.72586510e-03 3.41679652e+02] [ 2.42979918e-02 9.99704717e-01 2.92432003e-04 -1.70489008e+01] [ 5.71706945e-03 -4.31467908e-04 9.99983564e-01 1.72953892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.12071405700004 meters Centerline goodness : 0.990351 with order 1 Centerline is valid? [True, True] Translation: X:341.74, Y:-17.05, Z:1.73 [[ 9.99700619e-01 -2.37883880e-02 -5.72584416e-03 3.41742303e+02] [ 2.37904532e-02 9.99716924e-01 2.92841396e-04 -1.70542698e+01] [ 5.71725709e-03 -4.28974152e-04 9.99983564e-01 1.73104865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.18071405700005 meters Centerline goodness : 0.989736 with order 1 Centerline is valid? [True, True] Translation: X:341.80, Y:-17.06, Z:1.73 [[ 9.99668819e-01 -2.50891750e-02 -5.72581282e-03 3.41804643e+02] [ 2.50912650e-02 9.99685122e-01 2.93452830e-04 -1.70609333e+01] [ 5.71664740e-03 -4.37023531e-04 9.99983564e-01 1.72949484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.24071405700005 meters Centerline goodness : 0.990573 with order 1 Centerline is valid? [True, True] Translation: X:341.87, Y:-17.07, Z:1.73 [[ 9.99716578e-01 -2.31079732e-02 -5.72579204e-03 3.41867269e+02] [ 2.31100332e-02 9.99732884e-01 2.93857838e-04 -1.70679956e+01] [ 5.71747213e-03 -4.26097796e-04 9.99983564e-01 1.72796585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.30071405700005 meters Centerline goodness : 0.990153 with order 1 Centerline is valid? [True, True] Translation: X:341.93, Y:-17.07, Z:1.73 [[ 9.99702086e-01 -2.37266834e-02 -5.72575836e-03 3.41928759e+02] [ 2.37287571e-02 9.99718390e-01 2.94512536e-04 -1.70723068e+01] [ 5.71715813e-03 -4.30289926e-04 9.99983564e-01 1.72730199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.36071405700005 meters Centerline goodness : 0.990425 with order 1 Centerline is valid? [True, True] Translation: X:341.99, Y:-17.08, Z:1.73 [[ 9.99792421e-01 -1.95532757e-02 -5.72574186e-03 3.41990792e+02] [ 1.95552832e-02 9.99808734e-01 2.94833031e-04 -1.70765259e+01] [ 5.71888177e-03 -4.06740333e-04 9.99983564e-01 1.73121626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.42071405700005 meters Centerline goodness : 0.989975 with order 1 Centerline is valid? [True, True] Translation: X:342.05, Y:-17.08, Z:1.73 [[ 9.99844578e-01 -1.66744379e-02 -5.72571972e-03 3.42051491e+02] [ 1.66764009e-02 9.99860896e-01 2.95262348e-04 -1.70811728e+01] [ 5.71999991e-03 -3.90700855e-04 9.99983564e-01 1.72723475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.48071405700006 meters Centerline goodness : 0.989226 with order 1 Centerline is valid? [True, True] Translation: X:342.11, Y:-17.09, Z:1.73 [[ 9.99954318e-01 -7.65360907e-03 -5.72570337e-03 3.42113926e+02] [ 7.65542657e-03 9.99970653e-01 2.95579091e-04 -1.70854617e+01] [ 5.72327309e-03 -3.39398290e-04 9.99983564e-01 1.72857149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.54071405700006 meters Centerline goodness : 0.988186 with order 1 Centerline is valid? [True, True] Translation: X:342.18, Y:-17.09, Z:1.73 [[ 9.99980220e-01 2.60318323e-03 -5.72568189e-03 3.42175586e+02] [-2.60153099e-03 9.99996572e-01 2.95994538e-04 -1.70882535e+01] [ 5.72643279e-03 -2.81093144e-04 9.99983564e-01 1.72935057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.60071405700006 meters Centerline goodness : 0.987302 with order 1 Centerline is valid? [True, True] Translation: X:342.23, Y:-17.09, Z:1.73 [[ 9.99948642e-01 8.36242811e-03 -5.72567131e-03 3.42233685e+02] [-8.36086891e-03 9.99965003e-01 2.96199122e-04 -1.70914227e+01] [ 5.72794787e-03 -2.48312322e-04 9.99983564e-01 1.72878913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.66071405700006 meters Centerline goodness : 0.986577 with order 1 Centerline is valid? [True, True] Translation: X:342.29, Y:-17.10, Z:1.73 [[ 9.99815883e-01 1.83143563e-02 -5.72575411e-03 3.42291764e+02] [-1.83129692e-02 9.99832260e-01 2.94589812e-04 -1.70963079e+01] [ 5.73018889e-03 -1.89680014e-04 9.99983564e-01 1.72901792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.72071405700007 meters Centerline goodness : 0.986125 with order 1 Centerline is valid? [True, True] Translation: X:342.35, Y:-17.09, Z:1.74 [[ 9.99776740e-01 2.03392264e-02 -5.72582805e-03 3.42350974e+02] [-2.03378808e-02 9.99793121e-01 2.93145628e-04 -1.70946349e+01] [ 5.73060585e-03 -1.76628972e-04 9.99983564e-01 1.73562727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.78071405700007 meters Centerline goodness : 0.985480 with order 1 Centerline is valid? [True, True] Translation: X:342.41, Y:-17.10, Z:1.74 [[ 9.99761804e-01 2.10606127e-02 -5.72584918e-03 3.42408009e+02] [-2.10592812e-02 9.99778186e-01 2.92732200e-04 -1.70990311e+01] [ 5.73074423e-03 -1.72080205e-04 9.99983564e-01 1.73639014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.84071405700007 meters Centerline goodness : 0.985947 with order 1 Centerline is valid? [True, True] Translation: X:342.47, Y:-17.10, Z:1.74 [[ 9.99796076e-01 1.93654677e-02 -5.72588569e-03 3.42466651e+02] [-1.93641126e-02 9.99812455e-01 2.92016437e-04 -1.71044686e+01] [ 5.73046686e-03 -1.81080193e-04 9.99983564e-01 1.73628015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9007140570001 meters Centerline goodness : 0.991411 with order 1 Centerline is valid? [True, True] Translation: X:342.52, Y:-17.10, Z:1.74 [[ 9.99944744e-01 8.81608216e-03 -5.72590673e-03 3.42524307e+02] [-8.81455666e-03 9.99961109e-01 2.91603181e-04 -1.71005558e+01] [ 5.72825484e-03 -2.41115739e-04 9.99983564e-01 1.73790742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9607140570001 meters Centerline goodness : 0.988135 with order 1 Centerline is valid? [True, True] Translation: X:342.58, Y:-17.11, Z:1.74 [[ 9.99897905e-01 1.30916888e-02 -5.72593253e-03 3.42582752e+02] [-1.30902361e-02 9.99914277e-01 2.91095664e-04 -1.71134188e+01] [ 5.72925262e-03 -2.16112136e-04 9.99983564e-01 1.73622796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.020714057 meters Centerline goodness : 0.988674 with order 1 Centerline is valid? [True, True] Translation: X:342.64, Y:-17.12, Z:1.74 [[ 9.99967816e-01 5.61953190e-03 -5.72600932e-03 3.42641178e+02] [-5.61796566e-03 9.99984177e-01 2.89577235e-04 -1.71183776e+01] [ 5.72754601e-03 -2.57399392e-04 9.99983564e-01 1.73948561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.080714057 meters Centerline goodness : 0.991999 with order 1 Centerline is valid? [True, True] Translation: X:342.70, Y:-17.12, Z:1.74 [[ 9.99972511e-01 -4.71070904e-03 -5.72603095e-03 3.42699103e+02] [ 4.71244176e-03 9.99988855e-01 2.89148986e-04 -1.71171627e+01] [ 5.72460503e-03 -3.16124625e-04 9.99983564e-01 1.74006864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.140714057 meters Centerline goodness : 0.992482 with order 1 Centerline is valid? [True, True] Translation: X:342.76, Y:-17.12, Z:1.74 [[ 9.99941138e-01 -9.21590697e-03 -5.72605752e-03 3.42758373e+02] [ 9.21771030e-03 9.99957474e-01 2.88621911e-04 -1.71230412e+01] [ 5.72315410e-03 -3.41386062e-04 9.99983564e-01 1.73976394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.200714057 meters Centerline goodness : 0.989906 with order 1 Centerline is valid? [True, True] Translation: X:342.82, Y:-17.14, Z:1.74 [[ 9.99974311e-01 -4.31161553e-03 -5.72606245e-03 3.42819007e+02] [ 4.31333816e-03 9.99990656e-01 2.88523940e-04 -1.71371055e+01] [ 5.72476494e-03 -3.13214972e-04 9.99983564e-01 1.74279773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26071405700003 meters Centerline goodness : 0.989053 with order 1 Centerline is valid? [True, True] Translation: X:342.88, Y:-17.14, Z:1.74 [[ 9.99943834e-01 -8.91855935e-03 -5.72605214e-03 3.42878250e+02] [ 8.92035843e-03 9.99960171e-01 2.88728517e-04 -1.71430159e+01] [ 5.72324903e-03 -3.39790738e-04 9.99983564e-01 1.73953064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32071405700003 meters Centerline goodness : 0.989208 with order 1 Centerline is valid? [True, True] Translation: X:342.94, Y:-17.15, Z:1.74 [[ 9.99953488e-01 -7.76103690e-03 -5.72606252e-03 3.42939963e+02] [ 7.76281589e-03 9.99969827e-01 2.88522373e-04 -1.71460316e+01] [ 5.72365052e-03 -3.32959322e-04 9.99983564e-01 1.74084143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38071405700003 meters Centerline goodness : 0.991372 with order 1 Centerline is valid? [True, True] Translation: X:343.00, Y:-17.14, Z:1.74 [[ 9.99804656e-01 -1.89172366e-02 -5.72605231e-03 3.43001482e+02] [ 1.89191989e-02 9.99820974e-01 2.88725034e-04 -1.71399971e+01] [ 5.71956531e-03 -3.97000956e-04 9.99983564e-01 1.74072372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.44071405700004 meters Centerline goodness : 0.988040 with order 1 Centerline is valid? [True, True] Translation: X:343.06, Y:-17.15, Z:1.73 [[ 9.99931311e-01 -1.02266869e-02 -5.72604722e-03 3.43062983e+02] [ 1.02285079e-02 9.99947646e-01 2.88825759e-04 -1.71546956e+01] [ 5.72279371e-03 -3.47374839e-04 9.99983564e-01 1.73312133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.50071405700004 meters Centerline goodness : 0.988357 with order 1 Centerline is valid? [True, True] Translation: X:343.12, Y:-17.15, Z:1.74 [[ 9.99904414e-01 -1.25847588e-02 -5.72602641e-03 3.43124236e+02] [ 1.25866207e-02 9.99920744e-01 2.89237767e-04 -1.71539956e+01] [ 5.72193260e-03 -3.61281442e-04 9.99983564e-01 1.73860835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.56071405700004 meters Centerline goodness : 0.988882 with order 1 Centerline is valid? [True, True] Translation: X:343.19, Y:-17.16, Z:1.74 [[ 9.99925172e-01 -1.08102880e-02 -5.72601592e-03 3.43185968e+02] [ 1.08121221e-02 9.99941505e-01 2.89445283e-04 -1.71563136e+01] [ 5.72255200e-03 -3.51334007e-04 9.99983564e-01 1.73819625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.62071405700004 meters Centerline goodness : 0.988089 with order 1 Centerline is valid? [True, True] Translation: X:343.25, Y:-17.16, Z:1.74 [[ 9.99892340e-01 -1.35100507e-02 -5.72599509e-03 3.43247030e+02] [ 1.35119312e-02 9.99908668e-01 2.89856761e-04 -1.71566939e+01] [ 5.72155615e-03 -3.67194807e-04 9.99983564e-01 1.74052088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.68071405700005 meters Centerline goodness : 0.989527 with order 1 Centerline is valid? [True, True] Translation: X:343.31, Y:-17.16, Z:1.74 [[ 9.99859705e-01 -1.57411299e-02 -5.72597969e-03 3.43308767e+02] [ 1.57430485e-02 9.99876028e-01 2.90160642e-04 -1.71580787e+01] [ 5.72070238e-03 -3.80264310e-04 9.99983564e-01 1.74391649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.74071405700005 meters Centerline goodness : 0.992213 with order 1 Centerline is valid? [True, True] Translation: X:343.37, Y:-17.15, Z:1.74 [[ 9.99705153e-01 -2.35970542e-02 -5.72595814e-03 3.43370681e+02] [ 2.35991035e-02 9.99721460e-01 2.90585298e-04 -1.71522996e+01] [ 5.71750628e-03 -4.25627099e-04 9.99983564e-01 1.74273001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.80071405700005 meters Centerline goodness : 0.987805 with order 1 Centerline is valid? [True, True] Translation: X:343.43, Y:-17.16, Z:1.74 [[ 9.99901780e-01 -1.27923412e-02 -5.72588883e-03 3.43432013e+02] [ 1.27942219e-02 9.99918108e-01 2.91944741e-04 -1.71641489e+01] [ 5.72168527e-03 -3.65174359e-04 9.99983564e-01 1.73791957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.86071405700005 meters Centerline goodness : 0.988395 with order 1 Centerline is valid? [True, True] Translation: X:343.49, Y:-17.16, Z:1.75 [[ 9.99871878e-01 -1.49479766e-02 -5.72587215e-03 3.43493188e+02] [ 1.49498944e-02 9.99888201e-01 2.92271585e-04 -1.71577992e+01] [ 5.72086313e-03 -3.77835323e-04 9.99983564e-01 1.74747977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.92071405700005 meters Centerline goodness : 0.986333 with order 1 Centerline is valid? [True, True] Translation: X:343.55, Y:-17.16, Z:1.75 [[ 9.99947337e-01 -8.51690295e-03 -5.72586129e-03 3.43554480e+02] [ 8.51871689e-03 9.99963672e-01 2.92484145e-04 -1.71572204e+01] [ 5.72316222e-03 -3.41245733e-04 9.99983564e-01 1.74612374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.98071405700006 meters Centerline goodness : 0.987208 with order 1 Centerline is valid? [True, True] Translation: X:343.62, Y:-17.16, Z:1.75 [[ 9.99983217e-01 8.82921070e-04 -5.72584578e-03 3.43615907e+02] [-8.81259024e-04 9.99999569e-01 2.92787483e-04 -1.71576071e+01] [ 5.72610182e-03 -2.87736616e-04 9.99983564e-01 1.74946157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.04071405700006 meters Centerline goodness : 0.987136 with order 1 Centerline is valid? [True, True] Translation: X:343.67, Y:-17.16, Z:1.75 [[ 9.99980574e-01 2.46292503e-03 -5.72583476e-03 3.43673856e+02] [-2.46128759e-03 9.99996928e-01 2.93002740e-04 -1.71579630e+01] [ 5.72653882e-03 -2.78904122e-04 9.99983564e-01 1.75065671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.10071405700006 meters Centerline goodness : 0.987766 with order 1 Centerline is valid? [True, True] Translation: X:343.73, Y:-17.16, Z:1.75 [[ 9.99982077e-01 1.74940017e-03 -5.72587555e-03 3.43732804e+02] [-1.74775563e-03 9.99998430e-01 2.92203509e-04 -1.71587824e+01] [ 5.72637774e-03 -2.82190841e-04 9.99983564e-01 1.74904562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.16071405700006 meters Centerline goodness : 0.987689 with order 1 Centerline is valid? [True, True] Translation: X:343.79, Y:-17.16, Z:1.75 [[ 9.99948285e-01 8.40480770e-03 -5.72589731e-03 3.43790918e+02] [-8.40327448e-03 9.99964649e-01 2.91776535e-04 -1.71606696e+01] [ 5.72814722e-03 -2.43645159e-04 9.99983564e-01 1.75147553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.22071405700007 meters Centerline goodness : 0.989946 with order 1 Centerline is valid? [True, True] Translation: X:343.85, Y:-17.15, Z:1.75 [[ 9.99967686e-01 5.64279199e-03 -5.72592351e-03 3.43850396e+02] [-5.64121652e-03 9.99984046e-01 2.91261397e-04 -1.71539527e+01] [ 5.72747569e-03 -2.58950811e-04 9.99983564e-01 1.74867739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.28071405700007 meters Centerline goodness : 0.987327 with order 1 Centerline is valid? [True, True] Translation: X:343.91, Y:-17.16, Z:1.75 [[ 9.99809731e-01 1.86471268e-02 -5.72594427e-03 3.43909675e+02] [-1.86457665e-02 9.99826110e-01 2.90852660e-04 -1.71612572e+01] [ 5.73037216e-03 -1.84032700e-04 9.99983564e-01 1.75138175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.34071405700007 meters Centerline goodness : 0.987000 with order 1 Centerline is valid? [True, True] Translation: X:343.97, Y:-17.16, Z:1.75 [[ 9.99796968e-01 1.93193023e-02 -5.72595494e-03 3.43968910e+02] [-1.93179543e-02 9.99813349e-01 2.90642451e-04 -1.71638076e+01] [ 5.73050119e-03 -1.79969706e-04 9.99983564e-01 1.74671669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4007140570001 meters Centerline goodness : 0.985988 with order 1 Centerline is valid? [True, True] Translation: X:344.03, Y:-17.17, Z:1.75 [[ 9.99704718e-01 2.36154447e-02 -5.72599535e-03 3.44027967e+02] [-2.36141716e-02 9.99721105e-01 2.89844190e-04 -1.71678107e+01] [ 5.73124320e-03 -1.54543967e-04 9.99983564e-01 1.74738862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4607140570001 meters Centerline goodness : 0.985643 with order 1 Centerline is valid? [True, True] Translation: X:344.09, Y:-17.17, Z:1.75 [[ 9.99821867e-01 1.79846443e-02 -5.72601663e-03 3.44085364e+02] [-1.79832814e-02 9.99838246e-01 2.89423159e-04 -1.71707308e+01] [ 5.73029560e-03 -1.86399034e-04 9.99983564e-01 1.74986692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.520714057 meters Centerline goodness : 0.986422 with order 1 Centerline is valid? [True, True] Translation: X:344.14, Y:-17.18, Z:1.75 [[ 9.99928122e-01 1.05338998e-02 -5.72605541e-03 3.44144138e+02] [-1.05324192e-02 9.99944491e-01 2.88653818e-04 -1.71758847e+01] [ 5.72877822e-03 -2.28323854e-04 9.99983564e-01 1.75001037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.580714057 meters Centerline goodness : 0.987413 with order 1 Centerline is valid? [True, True] Translation: X:344.20, Y:-17.18, Z:1.75 [[ 9.99981840e-01 -1.87944295e-03 -5.72607605e-03 3.44201549e+02] [ 1.88112421e-03 9.99998189e-01 2.88243899e-04 -1.71803838e+01] [ 5.72552394e-03 -2.99010124e-04 9.99983564e-01 1.74818453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.640714057 meters Centerline goodness : 0.986342 with order 1 Centerline is valid? [True, True] Translation: X:344.26, Y:-17.18, Z:1.75 [[ 9.99934273e-01 -9.93281742e-03 -5.72610241e-03 3.44261349e+02] [ 9.93462731e-03 9.99950609e-01 2.87719295e-04 -1.71841592e+01] [ 5.72296173e-03 -3.44587077e-04 9.99983564e-01 1.74855117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.700714057 meters Centerline goodness : 0.986941 with order 1 Centerline is valid? [True, True] Translation: X:344.32, Y:-17.19, Z:1.75 [[ 9.99856399e-01 -1.59496820e-02 -5.72611269e-03 3.44323106e+02] [ 1.59515890e-02 9.99872724e-01 2.87514557e-04 -1.71879496e+01] [ 5.72079813e-03 -3.78813865e-04 9.99983564e-01 1.75094964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76071405700003 meters Centerline goodness : 0.986935 with order 1 Centerline is valid? [True, True] Translation: X:344.38, Y:-17.19, Z:1.75 [[ 9.99819158e-01 -1.81345922e-02 -5.72603677e-03 3.44384525e+02] [ 1.81365434e-02 9.99835478e-01 2.89018688e-04 -1.71903544e+01] [ 5.71985347e-03 -3.92816936e-04 9.99983564e-01 1.75101842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82071405700003 meters Centerline goodness : 0.987397 with order 1 Centerline is valid? [True, True] Translation: X:344.45, Y:-17.19, Z:1.75 [[ 9.99809442e-01 -1.86625746e-02 -5.72602057e-03 3.44447051e+02] [ 1.86645362e-02 9.99825761e-01 2.89339199e-04 -1.71922425e+01] [ 5.71962306e-03 -3.96157581e-04 9.99983564e-01 1.75244108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88071405700003 meters Centerline goodness : 0.988329 with order 1 Centerline is valid? [True, True] Translation: X:344.51, Y:-17.19, Z:1.76 [[ 9.99830012e-01 -1.75259713e-02 -5.72599968e-03 3.44509268e+02] [ 1.75279168e-02 9.99846332e-01 2.89751985e-04 -1.71937189e+01] [ 5.72004160e-03 -3.90067576e-04 9.99983564e-01 1.75598162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.94071405700004 meters Centerline goodness : 0.987559 with order 1 Centerline is valid? [True, True] Translation: X:344.57, Y:-17.20, Z:1.75 [[ 9.99829398e-01 -1.75609798e-02 -5.72597906e-03 3.44571287e+02] [ 1.75629281e-02 9.99845718e-01 2.90158993e-04 -1.71975218e+01] [ 5.72000017e-03 -3.90674450e-04 9.99983564e-01 1.75443099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.00071405700004 meters Centerline goodness : 0.986817 with order 1 Centerline is valid? [True, True] Translation: X:344.63, Y:-17.20, Z:1.76 [[ 9.99754723e-01 -2.13940880e-02 -5.72595853e-03 3.44632993e+02] [ 2.13961013e-02 9.99771035e-01 2.90563591e-04 -1.71997576e+01] [ 5.71843114e-03 -4.13005511e-04 9.99983564e-01 1.75590256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.06071405700004 meters Centerline goodness : 0.987163 with order 1 Centerline is valid? [True, True] Translation: X:344.69, Y:-17.20, Z:1.76 [[ 9.99694602e-01 -2.40398734e-02 -5.72593799e-03 3.44694708e+02] [ 2.40419321e-02 9.99710909e-01 2.90967852e-04 -1.72036413e+01] [ 5.71728784e-03 -4.28541603e-04 9.99983564e-01 1.75700220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.12071405700004 meters Centerline goodness : 0.987562 with order 1 Centerline is valid? [True, True] Translation: X:344.76, Y:-17.21, Z:1.76 [[ 9.99595426e-01 -2.78603435e-02 -5.72591635e-03 3.44756105e+02] [ 2.78624669e-02 9.99611724e-01 2.91392922e-04 -1.72061505e+01] [ 5.71557481e-03 -4.50813187e-04 9.99983564e-01 1.75580871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.18071405700005 meters Centerline goodness : 0.987512 with order 1 Centerline is valid? [True, True] Translation: X:344.82, Y:-17.21, Z:1.75 [[ 9.99579181e-01 -2.84372283e-02 -5.72587413e-03 3.44816839e+02] [ 2.84393658e-02 9.99595477e-01 2.92220293e-04 -1.72080673e+01] [ 5.71524794e-03 -4.54937550e-04 9.99983564e-01 1.75415387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.24071405700005 meters Centerline goodness : 0.987048 with order 1 Centerline is valid? [True, True] Translation: X:344.88, Y:-17.21, Z:1.76 [[ 9.99642309e-01 -2.61240846e-02 -5.72585831e-03 3.44880279e+02] [ 2.61261861e-02 9.99658610e-01 2.92529897e-04 -1.72094190e+01] [ 5.71626149e-03 -4.42020102e-04 9.99983564e-01 1.75532660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.30071405700005 meters Centerline goodness : 0.987659 with order 1 Centerline is valid? [True, True] Translation: X:344.94, Y:-17.21, Z:1.76 [[ 9.99777338e-01 -2.03098109e-02 -5.72582577e-03 3.44942982e+02] [ 2.03118212e-02 9.99793651e-01 2.93165455e-04 -1.72087213e+01] [ 5.71869012e-03 -4.09402128e-04 9.99983564e-01 1.75732770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.36071405700005 meters Centerline goodness : 0.986383 with order 1 Centerline is valid? [True, True] Translation: X:345.00, Y:-17.21, Z:1.76 [[ 9.99866970e-01 -1.52727715e-02 -5.72580446e-03 3.45004563e+02] [ 1.52747020e-02 9.99883292e-01 2.93581088e-04 -1.72075908e+01] [ 5.72065241e-03 -3.81001990e-04 9.99983564e-01 1.75818826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.42071405700005 meters Centerline goodness : 0.985554 with order 1 Centerline is valid? [True, True] Translation: X:345.07, Y:-17.21, Z:1.76 [[ 9.99950472e-01 -8.14062825e-03 -5.72578867e-03 3.45066203e+02] [ 8.14244406e-03 9.99966807e-01 2.93888700e-04 -1.72090425e+01] [ 5.72320617e-03 -3.40496058e-04 9.99983564e-01 1.75919246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.48071405700006 meters Centerline goodness : 0.986091 with order 1 Centerline is valid? [True, True] Translation: X:345.13, Y:-17.21, Z:1.76 [[ 9.99968189e-01 -5.55307575e-03 -5.72577183e-03 3.45127915e+02] [ 5.55485116e-03 9.99984528e-01 2.94216345e-04 -1.72075707e+01] [ 5.72404944e-03 -3.26012796e-04 9.99983564e-01 1.76383580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.54071405700006 meters Centerline goodness : 0.986419 with order 1 Centerline is valid? [True, True] Translation: X:345.19, Y:-17.21, Z:1.76 [[ 9.99939560e-01 -9.38570404e-03 -5.72575527e-03 3.45187782e+02] [ 9.38754390e-03 9.99955893e-01 2.94538358e-04 -1.72099996e+01] [ 5.72273827e-03 -3.48271336e-04 9.99983564e-01 1.75871399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.60071405700006 meters Centerline goodness : 0.986019 with order 1 Centerline is valid? [True, True] Translation: X:345.25, Y:-17.21, Z:1.76 [[ 9.99956993e-01 -7.29575191e-03 -5.72576054e-03 3.45249199e+02] [ 7.29755704e-03 9.99973329e-01 2.94435836e-04 -1.72105333e+01] [ 5.72345970e-03 -3.36207237e-04 9.99983564e-01 1.76379220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.66071405700006 meters Centerline goodness : 0.987098 with order 1 Centerline is valid? [True, True] Translation: X:345.31, Y:-17.21, Z:1.76 [[ 9.99935555e-01 -9.80310414e-03 -5.72574512e-03 3.45310950e+02] [ 9.80495194e-03 9.99951887e-01 2.94735408e-04 -1.72133627e+01] [ 5.72258032e-03 -3.50857069e-04 9.99983564e-01 1.76306886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.72071405700007 meters Centerline goodness : 0.987395 with order 1 Centerline is valid? [True, True] Translation: X:345.37, Y:-17.22, Z:1.76 [[ 9.99911014e-01 -1.20490364e-02 -5.72573450e-03 3.45372933e+02] [ 1.20509220e-02 9.99927342e-01 2.94941662e-04 -1.72167002e+01] [ 5.72176471e-03 -3.63915796e-04 9.99983564e-01 1.75708832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.78071405700007 meters Centerline goodness : 0.986767 with order 1 Centerline is valid? [True, True] Translation: X:345.43, Y:-17.22, Z:1.76 [[ 9.99913501e-01 -1.18409056e-02 -5.72571318e-03 3.45434977e+02] [ 1.18427902e-02 9.99929828e-01 2.95354996e-04 -1.72159953e+01] [ 5.72181412e-03 -3.63137868e-04 9.99983564e-01 1.75862995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.84071405700007 meters Centerline goodness : 0.986094 with order 1 Centerline is valid? [True, True] Translation: X:345.50, Y:-17.22, Z:1.76 [[ 9.99973431e-01 -4.51160649e-03 -5.72569231e-03 3.45497270e+02] [ 4.51337368e-03 9.99989771e-01 2.95758906e-04 -1.72185682e+01] [ 5.72429940e-03 -3.21593237e-04 9.99983564e-01 1.76290008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9007140570001 meters Centerline goodness : 0.986429 with order 1 Centerline is valid? [True, True] Translation: X:345.56, Y:-17.22, Z:1.76 [[ 9.99982435e-01 1.53149181e-03 -5.72566986e-03 3.45557212e+02] [-1.52982092e-03 9.99998786e-01 2.96193001e-04 -1.72205006e+01] [ 5.72611652e-03 -2.87428549e-04 9.99983564e-01 1.76406451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9607140570001 meters Centerline goodness : 0.985511 with order 1 Centerline is valid? [True, True] Translation: X:345.62, Y:-17.22, Z:1.76 [[ 9.99962688e-01 6.46830818e-03 -5.72566854e-03 3.45615545e+02] [-6.46671788e-03 9.99979047e-01 2.96218426e-04 -1.72225551e+01] [ 5.72746460e-03 -2.59181090e-04 9.99983564e-01 1.76062386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.020714057 meters Centerline goodness : 0.984862 with order 1 Centerline is valid? [True, True] Translation: X:345.67, Y:-17.23, Z:1.76 [[ 9.99936908e-01 9.66416714e-03 -5.72575737e-03 3.45672360e+02] [-9.66263901e-03 9.99953272e-01 2.94491329e-04 -1.72262670e+01] [ 5.72833583e-03 -2.39146823e-04 9.99983564e-01 1.75882801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.080714057 meters Centerline goodness : 0.985932 with order 1 Centerline is valid? [True, True] Translation: X:345.73, Y:-17.23, Z:1.76 [[ 9.99906508e-01 1.24173238e-02 -5.72581745e-03 3.45729713e+02] [-1.24158474e-02 9.99922877e-01 2.93318544e-04 -1.72316812e+01] [ 5.72901809e-03 -2.22200246e-04 9.99983564e-01 1.76034077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.140714057 meters Centerline goodness : 0.989649 with order 1 Centerline is valid? [True, True] Translation: X:345.79, Y:-17.22, Z:1.77 [[ 9.99982452e-01 -1.51955711e-03 -5.72590246e-03 3.45787968e+02] [ 1.52125194e-03 9.99998800e-01 2.91649536e-04 -1.72215457e+01] [ 5.72545241e-03 -3.00354959e-04 9.99983564e-01 1.76841960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.200714057 meters Centerline goodness : 0.991198 with order 1 Centerline is valid? [True, True] Translation: X:345.85, Y:-17.23, Z:1.77 [[ 9.99976429e-01 -3.78887118e-03 -5.72592327e-03 3.45846885e+02] [ 3.79060077e-03 9.99992773e-01 2.91240401e-04 -1.72265099e+01] [ 5.72477842e-03 -3.12938225e-04 9.99983564e-01 1.76580935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26071405700003 meters Centerline goodness : 0.987111 with order 1 Centerline is valid? [True, True] Translation: X:345.91, Y:-17.24, Z:1.76 [[ 9.99981706e-01 1.94983693e-03 -5.72593255e-03 3.45906269e+02] [-1.94820221e-03 9.99998060e-01 2.91057862e-04 -1.72401192e+01] [ 5.72648895e-03 -2.79897263e-04 9.99983564e-01 1.76403507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32071405700003 meters Centerline goodness : 0.986632 with order 1 Centerline is valid? [True, True] Translation: X:345.96, Y:-17.25, Z:1.77 [[ 9.99974086e-01 4.36362835e-03 -5.72593456e-03 3.45964931e+02] [-4.36203333e-03 9.99990444e-01 2.91018370e-04 -1.72451269e+01] [ 5.72714973e-03 -2.66034111e-04 9.99983564e-01 1.76699149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38071405700003 meters Centerline goodness : 0.986610 with order 1 Centerline is valid? [True, True] Translation: X:346.02, Y:-17.25, Z:1.77 [[ 9.99972675e-01 4.67571528e-03 -5.72600856e-03 3.46023297e+02] [-4.67413374e-03 9.99989034e-01 2.89555000e-04 -1.72493015e+01] [ 5.72729964e-03 -2.62782958e-04 9.99983564e-01 1.76826214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.44071405700004 meters Centerline goodness : 0.986121 with order 1 Centerline is valid? [True, True] Translation: X:346.08, Y:-17.25, Z:1.77 [[ 9.99978889e-01 3.07157642e-03 -5.72603051e-03 3.46082451e+02] [-3.06997112e-03 9.99995246e-01 2.89120155e-04 -1.72532280e+01] [ 5.72689134e-03 -2.71535303e-04 9.99983564e-01 1.76808673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.50071405700004 meters Centerline goodness : 0.985642 with order 1 Centerline is valid? [True, True] Translation: X:346.14, Y:-17.26, Z:1.76 [[ 9.99981288e-01 2.15316121e-03 -5.72605204e-03 3.46140417e+02] [-2.15154332e-03 9.99997644e-01 2.88693170e-04 -1.72596035e+01] [ 5.72666015e-03 -2.76367918e-04 9.99983564e-01 1.76304582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.56071405700004 meters Centerline goodness : 0.986054 with order 1 Centerline is valid? [True, True] Translation: X:346.20, Y:-17.26, Z:1.76 [[ 9.99975599e-01 -4.00175105e-03 -5.72607845e-03 3.46199415e+02] [ 4.00346658e-03 9.99991945e-01 2.88168308e-04 -1.72609010e+01] [ 5.72487915e-03 -3.11085440e-04 9.99983564e-01 1.76462886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.62071405700004 meters Centerline goodness : 0.986022 with order 1 Centerline is valid? [True, True] Translation: X:346.26, Y:-17.26, Z:1.76 [[ 9.99983047e-01 -1.05719781e-03 -5.72609921e-03 3.46259142e+02] [ 1.05886284e-03 9.99999398e-01 2.87755214e-04 -1.72626337e+01] [ 5.72579155e-03 -2.93813489e-04 9.99983564e-01 1.76405310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.68071405700005 meters Centerline goodness : 0.985525 with order 1 Centerline is valid? [True, True] Translation: X:346.32, Y:-17.27, Z:1.76 [[ 9.99983276e-01 -8.11689767e-04 -5.72610435e-03 3.46317563e+02] [ 8.13350198e-04 9.99999628e-01 2.87652922e-04 -1.72656084e+01] [ 5.72586874e-03 -2.92305439e-04 9.99983564e-01 1.76346017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.74071405700005 meters Centerline goodness : 0.985690 with order 1 Centerline is valid? [True, True] Translation: X:346.38, Y:-17.27, Z:1.77 [[ 9.99981631e-01 1.98684566e-03 -5.72617985e-03 3.46375121e+02] [-1.98523963e-03 9.99997988e-01 2.86142107e-04 -1.72655195e+01] [ 5.72673685e-03 -2.74769011e-04 9.99983564e-01 1.76645511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.80071405700005 meters Centerline goodness : 0.985966 with order 1 Centerline is valid? [True, True] Translation: X:346.43, Y:-17.27, Z:1.77 [[ 9.99980179e-01 2.61770983e-03 -5.72620624e-03 3.46433421e+02] [-2.61611714e-03 9.99996537e-01 2.85613071e-04 -1.72660598e+01] [ 5.72693406e-03 -2.70626983e-04 9.99983564e-01 1.76969255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.86071405700005 meters Centerline goodness : 0.985877 with order 1 Centerline is valid? [True, True] Translation: X:346.49, Y:-17.27, Z:1.77 [[ 9.99979608e-01 2.82726765e-03 -5.72623684e-03 3.46491207e+02] [-2.82568190e-03 9.99995967e-01 2.84998148e-04 -1.72665924e+01] [ 5.72701951e-03 -2.68811812e-04 9.99983564e-01 1.77059256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.92071405700005 meters Centerline goodness : 0.984755 with order 1 Centerline is valid? [True, True] Translation: X:346.55, Y:-17.27, Z:1.77 [[ 9.99983381e-01 -6.68838904e-04 -5.72626894e-03 3.46550016e+02] [ 6.70478144e-04 9.99999735e-01 2.84351740e-04 -1.72687036e+01] [ 5.72607724e-03 -2.88186352e-04 9.99983564e-01 1.77191037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.98071405700006 meters Centerline goodness : 0.986517 with order 1 Centerline is valid? [True, True] Translation: X:346.61, Y:-17.27, Z:1.77 [[ 9.99980277e-01 -2.57982839e-03 -5.72629060e-03 3.46609008e+02] [ 2.58149638e-03 9.99996628e-01 2.83914779e-04 -1.72711700e+01] [ 5.72553884e-03 -2.98691577e-04 9.99983564e-01 1.77304400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.04071405700006 meters Centerline goodness : 0.986677 with order 1 Centerline is valid? [True, True] Translation: X:346.67, Y:-17.27, Z:1.77 [[ 9.99976890e-01 -3.66465531e-03 -5.72631203e-03 3.46667604e+02] [ 3.66633857e-03 9.99993239e-01 2.83481990e-04 -1.72735397e+01] [ 5.72523445e-03 -3.04470037e-04 9.99983564e-01 1.77276034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.10071405700006 meters Centerline goodness : 0.986565 with order 1 Centerline is valid? [True, True] Translation: X:346.73, Y:-17.28, Z:1.77 [[ 9.99956097e-01 -7.41706919e-03 -5.72632782e-03 3.46726924e+02] [ 7.41881197e-03 9.99972440e-01 2.83162630e-04 -1.72774185e+01] [ 5.72406977e-03 -3.25632748e-04 9.99983564e-01 1.77434467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.16071405700006 meters Centerline goodness : 0.984405 with order 1 Centerline is valid? [True, True] Translation: X:346.79, Y:-17.28, Z:1.77 [[ 9.99958640e-01 -7.06592499e-03 -5.72633795e-03 3.46787750e+02] [ 7.06766085e-03 9.99974984e-01 2.82957583e-04 -1.72833561e+01] [ 5.72419535e-03 -3.23417695e-04 9.99983564e-01 1.77232802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.22071405700007 meters Centerline goodness : 0.986527 with order 1 Centerline is valid? [True, True] Translation: X:346.85, Y:-17.28, Z:1.78 [[ 9.99936551e-01 -9.70071817e-03 -5.72632778e-03 3.46848936e+02] [ 9.70249827e-03 9.99952890e-01 2.83163380e-04 -1.72825071e+01] [ 5.72331112e-03 -3.38705099e-04 9.99983564e-01 1.77664336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.28071405700007 meters Centerline goodness : 0.986262 with order 1 Centerline is valid? [True, True] Translation: X:346.91, Y:-17.29, Z:1.77 [[ 9.99930032e-01 -1.03508930e-02 -5.72631761e-03 3.46909673e+02] [ 1.03526849e-02 9.99946369e-01 2.83368828e-04 -1.72885322e+01] [ 5.72307738e-03 -3.42631763e-04 9.99983564e-01 1.77050978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.34071405700007 meters Centerline goodness : 0.987093 with order 1 Centerline is valid? [True, True] Translation: X:346.97, Y:-17.29, Z:1.77 [[ 9.99944274e-01 -8.86891627e-03 -5.72630234e-03 3.46971792e+02] [ 8.87068571e-03 9.99960614e-01 2.83677053e-04 -1.72915599e+01] [ 5.72356090e-03 -3.34457473e-04 9.99983564e-01 1.77176741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4007140570001 meters Centerline goodness : 0.987507 with order 1 Centerline is valid? [True, True] Translation: X:347.03, Y:-17.29, Z:1.77 [[ 9.99978041e-01 -3.33571350e-03 -5.72628086e-03 3.47031757e+02] [ 3.33739497e-03 9.99994391e-01 2.84109941e-04 -1.72949389e+01] [ 5.72530103e-03 -3.03214563e-04 9.99983564e-01 1.77160875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4607140570001 meters Centerline goodness : 0.987141 with order 1 Centerline is valid? [True, True] Translation: X:347.09, Y:-17.30, Z:1.77 [[ 9.99982938e-01 -1.15489502e-03 -5.72626255e-03 3.47091513e+02] [ 1.15654294e-03 9.99999291e-01 2.84478662e-04 -1.72984935e+01] [ 5.72592994e-03 -2.91096476e-04 9.99983564e-01 1.77046596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.520714057 meters Centerline goodness : 0.986192 with order 1 Centerline is valid? [True, True] Translation: X:347.15, Y:-17.30, Z:1.77 [[ 9.99983476e-01 -5.06938961e-04 -5.72627217e-03 3.47150527e+02] [ 5.08575171e-04 9.99999830e-01 2.84284834e-04 -1.73015673e+01] [ 5.72612708e-03 -2.87192376e-04 9.99983564e-01 1.77248632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.580714057 meters Centerline goodness : 0.985790 with order 1 Centerline is valid? [True, True] Translation: X:347.21, Y:-17.31, Z:1.77 [[ 9.99983119e-01 9.85024444e-04 -5.72634600e-03 3.47207707e+02] [-9.83421178e-04 9.99999476e-01 2.82789756e-04 -1.73055468e+01] [ 5.72662156e-03 -2.77153573e-04 9.99983564e-01 1.77040837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.640714057 meters Centerline goodness : 0.986132 with order 1 Centerline is valid? [True, True] Translation: X:347.27, Y:-17.31, Z:1.77 [[ 9.99979493e-01 2.86752230e-03 -5.72637184e-03 3.47265270e+02] [-2.86595282e-03 9.99995853e-01 2.82265656e-04 -1.73108840e+01] [ 5.72715749e-03 -2.65848356e-04 9.99983564e-01 1.76587506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.700714057 meters Centerline goodness : 0.989417 with order 1 Centerline is valid? [True, True] Translation: X:347.32, Y:-17.30, Z:1.77 [[ 9.99974050e-01 -4.37116079e-03 -5.72639733e-03 3.47323954e+02] [ 4.37284570e-03 9.99990399e-01 2.81747573e-04 -1.73012037e+01] [ 5.72511079e-03 -3.06780914e-04 9.99983564e-01 1.77469777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76071405700003 meters Centerline goodness : 0.986163 with order 1 Centerline is valid? [True, True] Translation: X:347.38, Y:-17.32, Z:1.77 [[ 9.99943939e-01 8.90661540e-03 -5.72642222e-03 3.47383180e+02] [-8.90515062e-03 9.99960309e-01 2.81240699e-04 -1.73189100e+01] [ 5.72869983e-03 -2.30230280e-04 9.99983564e-01 1.76831313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82071405700003 meters Centerline goodness : 0.988026 with order 1 Centerline is valid? [True, True] Translation: X:347.44, Y:-17.32, Z:1.77 [[ 9.99948802e-01 8.34276564e-03 -5.72643192e-03 3.47441426e+02] [-8.34129276e-03 9.99965171e-01 2.81042971e-04 -1.73212085e+01] [ 5.72857716e-03 -2.33262737e-04 9.99983564e-01 1.77214263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88071405700003 meters Centerline goodness : 0.989492 with order 1 Centerline is valid? [True, True] Translation: X:347.50, Y:-17.32, Z:1.78 [[ 9.99971189e-01 4.98278703e-03 -5.72646244e-03 3.47499695e+02] [-4.98126272e-03 9.99987554e-01 2.80419829e-04 -1.73234907e+01] [ 5.72778844e-03 -2.51886736e-04 9.99983564e-01 1.77574618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.94071405700004 meters Centerline goodness : 0.989852 with order 1 Centerline is valid? [True, True] Translation: X:347.56, Y:-17.33, Z:1.78 [[ 9.99976910e-01 3.65891226e-03 -5.72648258e-03 3.47557737e+02] [-3.65736863e-03 9.99993273e-01 2.80007843e-04 -1.73273368e+01] [ 5.72746858e-03 -2.59057520e-04 9.99983564e-01 1.77569782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.00071405700004 meters Centerline goodness : 0.989732 with order 1 Centerline is valid? [True, True] Translation: X:347.62, Y:-17.33, Z:1.77 [[ 9.99978777e-01 -3.10690065e-03 -5.72651446e-03 3.47616087e+02] [ 3.10855122e-03 9.99995129e-01 2.79354474e-04 -1.73335336e+01] [ 5.72561864e-03 -2.97149708e-04 9.99983564e-01 1.77497441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.06071405700004 meters Centerline goodness : 0.989872 with order 1 Centerline is valid? [True, True] Translation: X:347.67, Y:-17.34, Z:1.77 [[ 9.99967000e-01 -5.76250682e-03 -5.72653564e-03 3.47674349e+02] [ 5.76419832e-03 9.99983348e-01 2.78919591e-04 -1.73407609e+01] [ 5.72483300e-03 -3.11919274e-04 9.99983564e-01 1.77127262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.12071405700004 meters Centerline goodness : 0.990294 with order 1 Centerline is valid? [True, True] Translation: X:347.73, Y:-17.35, Z:1.77 [[ 9.99924947e-01 -1.08308413e-02 -5.72655136e-03 3.47733826e+02] [ 1.08326138e-02 9.99941287e-01 2.78596514e-04 -1.73450246e+01] [ 5.72319770e-03 -3.40609124e-04 9.99983564e-01 1.77121479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.18071405700005 meters Centerline goodness : 0.990912 with order 1 Centerline is valid? [True, True] Translation: X:347.80, Y:-17.35, Z:1.77 [[ 9.99880734e-01 -1.43431117e-02 -5.72655647e-03 3.47796059e+02] [ 1.43449410e-02 9.99897067e-01 2.78491400e-04 -1.73505491e+01] [ 5.72197258e-03 -3.60605300e-04 9.99983564e-01 1.77290630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.24071405700005 meters Centerline goodness : 0.991840 with order 1 Centerline is valid? [True, True] Translation: X:347.86, Y:-17.36, Z:1.77 [[ 9.99855933e-01 -1.59787533e-02 -5.72648610e-03 3.47858137e+02] [ 1.59806176e-02 9.99872263e-01 2.79930993e-04 -1.73565520e+01] [ 5.72128166e-03 -3.71403449e-04 9.99983564e-01 1.77414504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.30071405700005 meters Centerline goodness : 0.991835 with order 1 Centerline is valid? [True, True] Translation: X:347.92, Y:-17.36, Z:1.78 [[ 9.99879532e-01 -1.44266706e-02 -5.72646449e-03 3.47919392e+02] [ 1.44285119e-02 9.99895864e-01 2.80372376e-04 -1.73612898e+01] [ 5.72182332e-03 -3.62962961e-04 9.99983564e-01 1.77504942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.36071405700005 meters Centerline goodness : 0.991105 with order 1 Centerline is valid? [True, True] Translation: X:347.98, Y:-17.37, Z:1.77 [[ 9.99896876e-01 -1.31698656e-02 -5.72644853e-03 3.47981281e+02] [ 1.31716883e-02 9.99913210e-01 2.80697872e-04 -1.73680191e+01] [ 5.72225478e-03 -3.56095920e-04 9.99983564e-01 1.77090968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.42071405700005 meters Centerline goodness : 0.989772 with order 1 Centerline is valid? [True, True] Translation: X:348.04, Y:-17.37, Z:1.77 [[ 9.99946221e-01 -8.64656504e-03 -5.72642808e-03 3.48043626e+02] [ 8.64831622e-03 9.99962563e-01 2.81114528e-04 -1.73740823e+01] [ 5.72378302e-03 -3.30623371e-04 9.99983564e-01 1.76973519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.48071405700006 meters Centerline goodness : 0.989864 with order 1 Centerline is valid? [True, True] Translation: X:348.10, Y:-17.38, Z:1.77 [[ 9.99981856e-01 -1.86963867e-03 -5.72640764e-03 3.48104752e+02] [ 1.87128144e-03 9.99998210e-01 2.81530205e-04 -1.73772482e+01] [ 5.72587103e-03 -2.92240817e-04 9.99983564e-01 1.77177226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.54071405700006 meters Centerline goodness : 0.990261 with order 1 Centerline is valid? [True, True] Translation: X:348.16, Y:-17.38, Z:1.78 [[ 9.99979899e-01 2.72219626e-03 -5.72639750e-03 3.48163329e+02] [-2.72062744e-03 9.99996259e-01 2.81736221e-04 -1.73763585e+01] [ 5.72714303e-03 -2.66151163e-04 9.99983564e-01 1.77800153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.60071405700006 meters Centerline goodness : 0.991102 with order 1 Centerline is valid? [True, True] Translation: X:348.22, Y:-17.38, Z:1.77 [[ 9.99981600e-01 2.00216436e-03 -5.72641238e-03 3.48221675e+02] [-2.00058548e-03 9.99997959e-01 2.81433588e-04 -1.73808817e+01] [ 5.72696417e-03 -2.69972232e-04 9.99983564e-01 1.77307532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.66071405700006 meters Centerline goodness : 0.991171 with order 1 Centerline is valid? [True, True] Translation: X:348.28, Y:-17.38, Z:1.77 [[ 9.99983512e-01 4.29735978e-04 -5.72643382e-03 3.48278953e+02] [-4.28133872e-04 9.99999869e-01 2.80996616e-04 -1.73840556e+01] [ 5.72655382e-03 -2.78540302e-04 9.99983564e-01 1.77414670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.72071405700007 meters Centerline goodness : 0.991036 with order 1 Centerline is valid? [True, True] Translation: X:348.34, Y:-17.39, Z:1.77 [[ 9.99982099e-01 -1.73472256e-03 -5.72646201e-03 3.48337956e+02] [ 1.73635678e-03 9.99998453e-01 2.80420996e-04 -1.73877919e+01] [ 5.72596670e-03 -2.90359157e-04 9.99983564e-01 1.77410583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.78071405700007 meters Centerline goodness : 0.991724 with order 1 Centerline is valid? [True, True] Translation: X:348.40, Y:-17.39, Z:1.77 [[ 9.99952893e-01 -7.83707358e-03 -5.72648293e-03 3.48397107e+02] [ 7.83880512e-03 9.99969237e-01 2.79993135e-04 -1.73900788e+01] [ 5.72411244e-03 -3.24868729e-04 9.99983564e-01 1.77494255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.84071405700007 meters Centerline goodness : 0.992626 with order 1 Centerline is valid? [True, True] Translation: X:348.46, Y:-17.40, Z:1.78 [[ 9.99875255e-01 -1.47200933e-02 -5.72650420e-03 3.48458189e+02] [ 1.47219348e-02 9.99891587e-01 2.79557428e-04 -1.73950223e+01] [ 5.72176826e-03 -3.63827776e-04 9.99983564e-01 1.77503427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9007140570001 meters Centerline goodness : 0.992381 with order 1 Centerline is valid? [True, True] Translation: X:348.52, Y:-17.40, Z:1.77 [[ 9.99790934e-01 -1.96289614e-02 -5.72649368e-03 3.48521138e+02] [ 1.96308844e-02 9.99807256e-01 2.79772806e-04 -1.73996833e+01] [ 5.71989828e-03 -3.92130450e-04 9.99983564e-01 1.77415908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9607140570001 meters Centerline goodness : 0.991244 with order 1 Centerline is valid? [True, True] Translation: X:348.58, Y:-17.40, Z:1.77 [[ 9.99760522e-01 -2.11212502e-02 -5.72640796e-03 3.48582736e+02] [ 2.11232074e-02 9.99776841e-01 2.81516397e-04 -1.74037931e+01] [ 5.71918408e-03 -4.02409083e-04 9.99983564e-01 1.77327105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.020714057 meters Centerline goodness : 0.993256 with order 1 Centerline is valid? [True, True] Translation: X:348.64, Y:-17.40, Z:1.77 [[ 9.99701707e-01 -2.37424809e-02 -5.72636696e-03 3.48644636e+02] [ 2.37444857e-02 9.99718020e-01 2.82347806e-04 -1.73992833e+01] [ 5.71804861e-03 -4.18233222e-04 9.99983564e-01 1.77333479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.080714057 meters Centerline goodness : 0.992937 with order 1 Centerline is valid? [True, True] Translation: X:348.71, Y:-17.40, Z:1.78 [[ 9.99867956e-01 -1.52078980e-02 -5.72635135e-03 3.48706798e+02] [ 1.52097652e-02 9.99884285e-01 2.82664103e-04 -1.73979022e+01] [ 5.72139000e-03 -3.69723238e-04 9.99983564e-01 1.77569855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.140714057 meters Centerline goodness : 0.987653 with order 1 Centerline is valid? [True, True] Translation: X:348.77, Y:-17.41, Z:1.77 [[ 9.99973761e-01 4.43698134e-03 -5.72633094e-03 3.48768255e+02] [-4.43543291e-03 9.99990123e-01 2.83077087e-04 -1.74111613e+01] [ 5.72753039e-03 -2.57670903e-04 9.99983564e-01 1.77060205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.200714057 meters Centerline goodness : 0.991520 with order 1 Centerline is valid? [True, True] Translation: X:348.83, Y:-17.40, Z:1.78 [[ 9.99982221e-01 -1.66364382e-03 -5.72630979e-03 3.48826651e+02] [ 1.66529449e-03 9.99998573e-01 2.83504237e-04 -1.73978912e+01] [ 5.72582997e-03 -2.93035189e-04 9.99983564e-01 1.77707411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26071405700003 meters Centerline goodness : 0.986424 with order 1 Centerline is valid? [True, True] Translation: X:348.89, Y:-17.41, Z:1.78 [[ 9.99872818e-01 1.48847896e-02 -5.72633012e-03 3.48885198e+02] [-1.48834121e-02 9.99889196e-01 2.83093043e-04 -1.74112356e+01] [ 5.72990940e-03 -1.97829708e-04 9.99983564e-01 1.77664586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32071405700003 meters Centerline goodness : 0.986392 with order 1 Centerline is valid? [True, True] Translation: X:348.94, Y:-17.41, Z:1.78 [[ 9.99896679e-01 1.31848291e-02 -5.72639683e-03 3.48944026e+02] [-1.31834316e-02 9.99913055e-01 2.81737143e-04 -1.74108567e+01] [ 5.72961360e-03 -2.06214472e-04 9.99983564e-01 1.78043707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38071405700003 meters Centerline goodness : 0.984417 with order 1 Centerline is valid? [True, True] Translation: X:349.00, Y:-17.41, Z:1.78 [[ 9.99892720e-01 1.34817461e-02 -5.72641723e-03 3.49001047e+02] [-1.34803558e-02 9.99909096e-01 2.81321913e-04 -1.74135596e+01] [ 5.72968938e-03 -2.04097592e-04 9.99983564e-01 1.77818516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.44071405700004 meters Centerline goodness : 0.985479 with order 1 Centerline is valid? [True, True] Translation: X:349.06, Y:-17.42, Z:1.77 [[ 9.99952153e-01 7.93094874e-03 -5.72645249e-03 3.49059389e+02] [-7.92947164e-03 9.99968522e-01 2.80602224e-04 -1.74166835e+01] [ 5.72849767e-03 -2.35181056e-04 9.99983564e-01 1.77373680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.50071405700004 meters Centerline goodness : 0.985040 with order 1 Centerline is valid? [True, True] Translation: X:349.12, Y:-17.42, Z:1.77 [[ 9.99927690e-01 1.05745605e-02 -5.72647297e-03 3.49117973e+02] [-1.05731290e-02 9.99944064e-01 2.80183692e-04 -1.74217938e+01] [ 5.72911547e-03 -2.19616695e-04 9.99983564e-01 1.77487777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.56071405700004 meters Centerline goodness : 0.985756 with order 1 Centerline is valid? [True, True] Translation: X:349.18, Y:-17.42, Z:1.77 [[ 9.99965417e-01 6.03081371e-03 -5.72654615e-03 3.49175242e+02] [-6.02931649e-03 9.99981785e-01 2.78679993e-04 -1.74248146e+01] [ 5.72812250e-03 -2.44143196e-04 9.99983564e-01 1.77247277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.62071405700004 meters Centerline goodness : 0.985372 with order 1 Centerline is valid? [True, True] Translation: X:349.23, Y:-17.43, Z:1.78 [[ 9.99921651e-01 1.11309315e-02 -5.72657154e-03 3.49233203e+02] [-1.11295208e-02 9.99938026e-01 2.78157282e-04 -1.74264397e+01] [ 5.72931279e-03 -2.14401492e-04 9.99983564e-01 1.78089913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.68071405700005 meters Centerline goodness : 0.985686 with order 1 Centerline is valid? [True, True] Translation: X:349.29, Y:-17.43, Z:1.78 [[ 9.99953190e-01 7.79897698e-03 -5.72659644e-03 3.49291639e+02] [-7.79751463e-03 9.99969560e-01 2.77643660e-04 -1.74328898e+01] [ 5.72858746e-03 -2.32977444e-04 9.99983564e-01 1.77517692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.74071405700005 meters Centerline goodness : 0.985364 with order 1 Centerline is valid? [True, True] Translation: X:349.35, Y:-17.44, Z:1.77 [[ 9.99961578e-01 6.63687434e-03 -5.72661663e-03 3.49349104e+02] [-6.63539536e-03 9.99977947e-01 2.77226505e-04 -1.74386034e+01] [ 5.72833026e-03 -2.39217488e-04 9.99983564e-01 1.77270421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.80071405700005 meters Centerline goodness : 0.986094 with order 1 Centerline is valid? [True, True] Translation: X:349.41, Y:-17.44, Z:1.77 [[ 9.99982759e-01 1.29928903e-03 -5.72664142e-03 3.49407150e+02] [-1.29772562e-03 9.99999120e-01 2.76713583e-04 -1.74399995e+01] [ 5.72699591e-03 -2.69277202e-04 9.99983564e-01 1.77431645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.86071405700005 meters Centerline goodness : 0.986585 with order 1 Centerline is valid? [True, True] Translation: X:349.47, Y:-17.45, Z:1.77 [[ 9.99980710e-01 -2.40505745e-03 -5.72666539e-03 3.49465444e+02] [ 2.40667862e-03 9.99997066e-01 2.76216514e-04 -1.74455837e+01] [ 5.72598427e-03 -2.89993429e-04 9.99983564e-01 1.77133335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.92071405700005 meters Centerline goodness : 0.986104 with order 1 Centerline is valid? [True, True] Translation: X:349.53, Y:-17.45, Z:1.77 [[ 9.99975318e-01 -4.07048881e-03 -5.72668513e-03 3.49525256e+02] [ 4.07213487e-03 9.99991671e-01 2.75806765e-04 -1.74468129e+01] [ 5.72551476e-03 -2.99119792e-04 9.99983564e-01 1.77269075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.98071405700006 meters Centerline goodness : 0.985812 with order 1 Centerline is valid? [True, True] Translation: X:349.58, Y:-17.45, Z:1.78 [[ 9.99982077e-01 -1.74650832e-03 -5.72669486e-03 3.49584768e+02] [ 1.74811522e-03 9.99998434e-01 2.75604577e-04 -1.74454128e+01] [ 5.72620454e-03 -2.85610560e-04 9.99983564e-01 1.78059304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.04071405700006 meters Centerline goodness : 0.989916 with order 1 Centerline is valid? [True, True] Translation: X:349.64, Y:-17.44, Z:1.78 [[ 9.99953540e-01 -7.75390635e-03 -5.72670457e-03 3.49643792e+02] [ 7.75561033e-03 9.99969887e-01 2.75402577e-04 -1.74368785e+01] [ 5.72439668e-03 -3.19803870e-04 9.99983564e-01 1.78051596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.10071405700006 meters Centerline goodness : 0.989266 with order 1 Centerline is valid? [True, True] Translation: X:349.71, Y:-17.44, Z:1.78 [[ 9.99980292e-01 -2.57290733e-03 -5.72672389e-03 3.49705583e+02] [ 2.57452430e-03 9.99996648e-01 2.75000184e-04 -1.74372747e+01] [ 5.72599715e-03 -2.89738354e-04 9.99983564e-01 1.78072463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.16071405700006 meters Centerline goodness : 0.990767 with order 1 Centerline is valid? [True, True] Translation: X:349.76, Y:-17.44, Z:1.78 [[ 9.99977835e-01 3.39611584e-03 -5.72671417e-03 3.49763841e+02] [-3.39459538e-03 9.99994200e-01 2.75202595e-04 -1.74387296e+01] [ 5.72761557e-03 -2.55756618e-04 9.99983564e-01 1.77934834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.22071405700007 meters Centerline goodness : 0.989626 with order 1 Centerline is valid? [True, True] Translation: X:349.82, Y:-17.44, Z:1.78 [[ 9.99935483e-01 9.80992032e-03 -5.72672848e-03 3.49822866e+02] [-9.80850656e-03 9.99951858e-01 2.74904360e-04 -1.74408552e+01] [ 5.72914958e-03 -2.18715970e-04 9.99983564e-01 1.77933089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.28071405700007 meters Centerline goodness : 0.984699 with order 1 Centerline is valid? [True, True] Translation: X:349.88, Y:-17.46, Z:1.76 [[ 9.99533299e-01 3.00064597e-02 -5.72679634e-03 3.49880793e+02] [-3.00053852e-02 9.99549700e-01 2.73483402e-04 -1.74599742e+01] [ 5.73242383e-03 -1.01521037e-04 9.99983564e-01 1.76489505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.34071405700007 meters Centerline goodness : 0.989845 with order 1 Centerline is valid? [True, True] Translation: X:349.94, Y:-17.44, Z:1.78 [[ 9.99742232e-01 2.19698264e-02 -5.72686548e-03 3.49939493e+02] [-2.19686284e-02 9.99758624e-01 2.72027932e-04 -1.74442122e+01] [ 5.73145955e-03 -1.46146433e-04 9.99983564e-01 1.78006551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4007140570001 meters Centerline goodness : 0.985362 with order 1 Centerline is valid? [True, True] Translation: X:350.00, Y:-17.46, Z:1.77 [[ 9.99374165e-01 3.49067447e-02 -5.72688932e-03 3.49997282e+02] [-3.49057618e-02 9.99390571e-01 2.71525098e-04 -1.74623163e+01] [ 5.73287724e-03 -7.14537333e-05 9.99983564e-01 1.76822430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4607140570001 meters Centerline goodness : 0.984594 with order 1 Centerline is valid? [True, True] Translation: X:350.06, Y:-17.46, Z:1.77 [[ 9.99534621e-01 2.99623750e-02 -5.72695546e-03 3.50056474e+02] [-2.99613190e-02 9.99551022e-01 2.70122773e-04 -1.74627536e+01] [ 5.73247771e-03 -9.84099240e-05 9.99983564e-01 1.77288371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.520714057 meters Centerline goodness : 0.985013 with order 1 Centerline is valid? [True, True] Translation: X:350.11, Y:-17.47, Z:1.77 [[ 9.99656128e-01 2.55895892e-02 -5.72697446e-03 3.50114730e+02] [-2.55884637e-02 9.99672525e-01 2.69719407e-04 -1.74655343e+01] [ 5.73200103e-03 -1.23082180e-04 9.99983564e-01 1.77441303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.580714057 meters Centerline goodness : 0.987658 with order 1 Centerline is valid? [True, True] Translation: X:350.17, Y:-17.47, Z:1.78 [[ 9.99870298e-01 1.50528953e-02 -5.72699445e-03 3.50173558e+02] [-1.50515995e-02 9.99886682e-01 2.69294168e-04 -1.74674551e+01] [ 5.73039914e-03 -1.83058813e-04 9.99983564e-01 1.77580644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.640714057 meters Centerline goodness : 0.986926 with order 1 Centerline is valid? [True, True] Translation: X:350.23, Y:-17.47, Z:1.78 [[ 9.99983476e-01 4.98691819e-04 -5.72701445e-03 3.50231040e+02] [-4.97160142e-04 9.99999840e-01 2.68868323e-04 -1.74712257e+01] [ 5.72714761e-03 -2.66016637e-04 9.99983564e-01 1.77643862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.700714057 meters Centerline goodness : 0.987382 with order 1 Centerline is valid? [True, True] Translation: X:350.29, Y:-17.48, Z:1.78 [[ 9.99939105e-01 -9.43328991e-03 -5.72703918e-03 3.50289796e+02] [ 9.43498103e-03 9.99955454e-01 2.68340471e-04 -1.74751324e+01] [ 5.72425273e-03 -3.22358637e-04 9.99983564e-01 1.77790972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76071405700003 meters Centerline goodness : 0.987812 with order 1 Centerline is valid? [True, True] Translation: X:350.35, Y:-17.48, Z:1.78 [[ 9.99902126e-01 -1.27647624e-02 -5.72705732e-03 3.50351304e+02] [ 1.27665057e-02 9.99918469e-01 2.67952747e-04 -1.74790425e+01] [ 5.72317003e-03 -3.41041032e-04 9.99983564e-01 1.77945295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82071405700003 meters Centerline goodness : 0.991652 with order 1 Centerline is valid? [True, True] Translation: X:350.41, Y:-17.47, Z:1.78 [[ 9.99711676e-01 -2.33187882e-02 -5.72699893e-03 3.50412989e+02] [ 2.33207111e-02 9.99727999e-01 2.69194871e-04 -1.74722703e+01] [ 5.71916389e-03 -4.02674944e-04 9.99983564e-01 1.78218745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88071405700003 meters Centerline goodness : 0.991318 with order 1 Centerline is valid? [True, True] Translation: X:350.47, Y:-17.48, Z:1.78 [[ 9.99630489e-01 -2.65723265e-02 -5.72694152e-03 3.50473699e+02] [ 2.65743094e-02 9.99646804e-01 2.70410874e-04 -1.74754622e+01] [ 5.71773334e-03 -4.22500470e-04 9.99983564e-01 1.78033223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.94071405700004 meters Centerline goodness : 0.990286 with order 1 Centerline is valid? [True, True] Translation: X:350.54, Y:-17.48, Z:1.78 [[ 9.99561027e-01 -2.90681143e-02 -5.72692828e-03 3.50536105e+02] [ 2.90701395e-02 9.99577338e-01 2.70690851e-04 -1.74780438e+01] [ 5.71663925e-03 -4.37054630e-04 9.99983564e-01 1.77871336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.00071405700004 meters Centerline goodness : 0.986212 with order 1 Centerline is valid? [True, True] Translation: X:350.60, Y:-17.49, Z:1.77 [[ 9.99789029e-01 -1.97256228e-02 -5.72690957e-03 3.50597121e+02] [ 1.97274978e-02 9.99805357e-01 2.71086120e-04 -1.74936438e+01] [ 5.72044753e-03 -3.84006525e-04 9.99983564e-01 1.77229356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.06071405700004 meters Centerline goodness : 0.984987 with order 1 Centerline is valid? [True, True] Translation: X:350.66, Y:-17.49, Z:1.77 [[ 9.99833504e-01 -1.73253293e-02 -5.72688008e-03 3.50659110e+02] [ 1.73271686e-02 9.99849836e-01 2.71707798e-04 -1.74928926e+01] [ 5.72131268e-03 -3.70893176e-04 9.99983564e-01 1.77359815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.12071405700004 meters Centerline goodness : 0.984520 with order 1 Centerline is valid? [True, True] Translation: X:350.72, Y:-17.49, Z:1.78 [[ 9.99895504e-01 -1.32734440e-02 -5.72686040e-03 3.50721972e+02] [ 1.32752195e-02 9.99911843e-01 2.72122007e-04 -1.74907249e+01] [ 5.72274354e-03 -3.48118900e-04 9.99983564e-01 1.77813809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.18071405700005 meters Centerline goodness : 0.983735 with order 1 Centerline is valid? [True, True] Translation: X:350.78, Y:-17.49, Z:1.78 [[ 9.99970386e-01 -5.14108273e-03 -5.72683391e-03 3.50784053e+02] [ 5.14272844e-03 9.99986739e-01 2.72678224e-04 -1.74895330e+01] [ 5.72535611e-03 -3.02121700e-04 9.99983564e-01 1.78414489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.24071405700005 meters Centerline goodness : 0.985375 with order 1 Centerline is valid? [True, True] Translation: X:350.84, Y:-17.49, Z:1.78 [[ 9.99977981e-01 -3.35287467e-03 -5.72681336e-03 3.50844663e+02] [ 3.35449359e-03 9.99994336e-01 2.73109095e-04 -1.74901963e+01] [ 5.72586523e-03 -2.92313640e-04 9.99983564e-01 1.78086313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.30071405700005 meters Centerline goodness : 0.984717 with order 1 Centerline is valid? [True, True] Translation: X:350.90, Y:-17.49, Z:1.78 [[ 9.99983359e-01 -6.96774762e-04 -5.72681336e-03 3.50903445e+02] [ 6.98350232e-04 9.99999719e-01 2.73109095e-04 -1.74895894e+01] [ 5.72662146e-03 -2.77103871e-04 9.99983564e-01 1.78016977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.36071405700005 meters Centerline goodness : 0.985290 with order 1 Centerline is valid? [True, True] Translation: X:350.96, Y:-17.49, Z:1.78 [[ 9.99975654e-01 3.98691800e-03 -5.72682859e-03 3.50961703e+02] [-3.98542100e-03 9.99992021e-01 2.72789393e-04 -1.74909514e+01] [ 5.72787049e-03 -2.49958929e-04 9.99983564e-01 1.77891868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.42071405700005 meters Centerline goodness : 0.990400 with order 1 Centerline is valid? [True, True] Translation: X:351.02, Y:-17.48, Z:1.78 [[ 9.99983311e-01 7.61186473e-04 -5.72690022e-03 3.51019864e+02] [-7.59645325e-04 9.99999675e-01 2.71277293e-04 -1.74792499e+01] [ 5.72710485e-03 -2.66922353e-04 9.99983564e-01 1.78242489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.48071405700006 meters Centerline goodness : 0.990151 with order 1 Centerline is valid? [True, True] Translation: X:351.08, Y:-17.48, Z:1.78 [[ 9.99954983e-01 7.56528280e-03 -5.72692519e-03 3.51078987e+02] [-7.56385605e-03 9.99971357e-01 2.70749166e-04 -1.74790730e+01] [ 5.72880944e-03 -2.27419340e-04 9.99983564e-01 1.78444382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.54071405700006 meters Centerline goodness : 0.984764 with order 1 Centerline is valid? [True, True] Translation: X:351.14, Y:-17.50, Z:1.77 [[ 9.99623522e-01 2.68331025e-02 -5.72699191e-03 3.51137138e+02] [-2.68319996e-02 9.99639921e-01 2.69330399e-04 -1.74963313e+01] [ 5.73215671e-03 -1.15562357e-04 9.99983564e-01 1.77222675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.60071405700006 meters Centerline goodness : 0.984250 with order 1 Centerline is valid? [True, True] Translation: X:351.20, Y:-17.50, Z:1.77 [[ 9.99585511e-01 2.82136092e-02 -5.72705966e-03 3.51196417e+02] [-2.82125373e-02 9.99601911e-01 2.67881917e-04 -1.74965367e+01] [ 5.73233770e-03 -1.06195998e-04 9.99983564e-01 1.77338742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.66071405700006 meters Centerline goodness : 0.986030 with order 1 Centerline is valid? [True, True] Translation: X:351.26, Y:-17.50, Z:1.78 [[ 9.99658046e-01 2.55145556e-02 -5.72707880e-03 3.51255767e+02] [-2.55134418e-02 9.99674443e-01 2.67472140e-04 -1.74951788e+01] [ 5.73203874e-03 -1.21263185e-04 9.99983564e-01 1.78441827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.72071405700007 meters Centerline goodness : 0.986429 with order 1 Centerline is valid? [True, True] Translation: X:351.31, Y:-17.50, Z:1.78 [[ 9.99857782e-01 1.58624224e-02 -5.72709810e-03 3.51314505e+02] [-1.58611527e-02 9.99874168e-01 2.67058227e-04 -1.74982005e+01] [ 5.73061364e-03 -1.76181869e-04 9.99983564e-01 1.78236378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.78071405700007 meters Centerline goodness : 0.986806 with order 1 Centerline is valid? [True, True] Translation: X:351.37, Y:-17.50, Z:1.79 [[ 9.99870736e-01 1.50237010e-02 -5.72711728e-03 3.51373507e+02] [-1.50224199e-02 9.99887122e-01 2.66646370e-04 -1.75025481e+01] [ 5.73047682e-03 -1.80576741e-04 9.99983564e-01 1.78644404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.84071405700007 meters Centerline goodness : 0.986747 with order 1 Centerline is valid? [True, True] Translation: X:351.43, Y:-17.51, Z:1.78 [[ 9.99916928e-01 1.15471394e-02 -5.72713709e-03 3.51432518e+02] [-1.15458038e-02 9.99933310e-01 2.66220053e-04 -1.75084510e+01] [ 5.72982923e-03 -2.00073536e-04 9.99983564e-01 1.78112226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9007140570001 meters Centerline goodness : 0.988500 with order 1 Centerline is valid? [True, True] Translation: X:351.49, Y:-17.51, Z:1.78 [[ 9.99942911e-01 9.02082543e-03 -5.72715707e-03 3.51490369e+02] [-9.01945087e-03 9.99959289e-01 2.65789494e-04 -1.75115168e+01] [ 5.72932155e-03 -2.14118509e-04 9.99983564e-01 1.78212855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9607140570001 meters Centerline goodness : 0.987270 with order 1 Centerline is valid? [True, True] Translation: X:351.55, Y:-17.52, Z:1.78 [[ 9.99955017e-01 7.56058217e-03 -5.72718665e-03 3.51548440e+02] [-7.55918735e-03 9.99971394e-01 2.65150680e-04 -1.75167271e+01] [ 5.72902751e-03 -2.21845876e-04 9.99983564e-01 1.77963819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.020714057 meters Centerline goodness : 0.987658 with order 1 Centerline is valid? [True, True] Translation: X:351.61, Y:-17.52, Z:1.78 [[ 9.99959418e-01 6.95420778e-03 -5.72721080e-03 3.51605866e+02] [-6.95280602e-03 9.99975794e-01 2.64627911e-04 -1.75221546e+01] [ 5.72891245e-03 -2.24796986e-04 9.99983564e-01 1.77768897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.080714057 meters Centerline goodness : 0.986508 with order 1 Centerline is valid? [True, True] Translation: X:351.66, Y:-17.53, Z:1.78 [[ 9.99973246e-01 4.55038572e-03 -5.72723412e-03 3.51664584e+02] [-4.54894749e-03 9.99989619e-01 2.64122333e-04 -1.75256869e+01] [ 5.72837652e-03 -2.38062379e-04 9.99983564e-01 1.77663751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.140714057 meters Centerline goodness : 0.986868 with order 1 Centerline is valid? [True, True] Translation: X:351.72, Y:-17.53, Z:1.78 [[ 9.99983599e-01 -1.63725868e-05 -5.72725306e-03 3.51723513e+02] [ 1.78832194e-05 9.99999965e-01 2.63711030e-04 -1.75286477e+01] [ 5.72724854e-03 -2.63809127e-04 9.99983564e-01 1.77729477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.200714057 meters Centerline goodness : 0.988731 with order 1 Centerline is valid? [True, True] Translation: X:351.78, Y:-17.53, Z:1.78 [[ 9.99983526e-01 -3.81641255e-04 -5.72727196e-03 3.51781547e+02] [ 3.83155516e-04 9.99999892e-01 2.63299901e-04 -1.75301735e+01] [ 5.72717085e-03 -2.65489999e-04 9.99983564e-01 1.78323990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26071405700003 meters Centerline goodness : 0.988720 with order 1 Centerline is valid? [True, True] Translation: X:351.84, Y:-17.53, Z:1.78 [[ 9.99959652e-01 -6.92047871e-03 -5.72729525e-03 3.51841062e+02] [ 6.92209705e-03 9.99976007e-01 2.62792263e-04 -1.75317071e+01] [ 5.72533919e-03 -3.02426553e-04 9.99983564e-01 1.78461564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32071405700003 meters Centerline goodness : 0.988616 with order 1 Centerline is valid? [True, True] Translation: X:351.90, Y:-17.53, Z:1.79 [[ 9.99973883e-01 -4.40807912e-03 -5.72730449e-03 3.51901815e+02] [ 4.40965521e-03 9.99990243e-01 2.62590764e-04 -1.75329193e+01] [ 5.72609109e-03 -2.87839345e-04 9.99983564e-01 1.78998390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38071405700003 meters Centerline goodness : 0.987445 with order 1 Centerline is valid? [True, True] Translation: X:351.96, Y:-17.54, Z:1.79 [[ 9.99966195e-01 -5.89973932e-03 -5.72730449e-03 3.51961158e+02] [ 5.90133981e-03 9.99982552e-01 2.62590764e-04 -1.75366188e+01] [ 5.72565535e-03 -2.96380658e-04 9.99983564e-01 1.78599563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.44071405700004 meters Centerline goodness : 0.987226 with order 1 Centerline is valid? [True, True] Translation: X:352.02, Y:-17.54, Z:1.78 [[ 9.99960511e-01 -6.79515040e-03 -5.72731432e-03 3.52021895e+02] [ 6.79676432e-03 9.99976867e-01 2.62376295e-04 -1.75388320e+01] [ 5.72539894e-03 -3.01293140e-04 9.99983564e-01 1.78496303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.50071405700004 meters Centerline goodness : 0.987624 with order 1 Centerline is valid? [True, True] Translation: X:352.08, Y:-17.54, Z:1.78 [[ 9.99954038e-01 -7.68898508e-03 -5.72730948e-03 3.52082859e+02] [ 7.69061422e-03 9.99970392e-01 2.62481802e-04 -1.75391465e+01] [ 5.72512169e-03 -3.06516265e-04 9.99983564e-01 1.78443417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.56071405700004 meters Centerline goodness : 0.987018 with order 1 Centerline is valid? [True, True] Translation: X:352.14, Y:-17.54, Z:1.78 [[ 9.99966820e-01 -5.79289325e-03 -5.72730948e-03 3.52143920e+02] [ 5.79449138e-03 9.99983177e-01 2.62481802e-04 -1.75428157e+01] [ 5.72569260e-03 -2.95659938e-04 9.99983564e-01 1.78458606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.62071405700004 meters Centerline goodness : 0.987065 with order 1 Centerline is valid? [True, True] Translation: X:352.20, Y:-17.54, Z:1.79 [[ 9.99963044e-01 -6.41156126e-03 -5.72729998e-03 3.52203953e+02] [ 6.41317069e-03 9.99979401e-01 2.62688968e-04 -1.75436794e+01] [ 5.72549775e-03 -2.99409412e-04 9.99983564e-01 1.78750085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.68071405700005 meters Centerline goodness : 0.987975 with order 1 Centerline is valid? [True, True] Translation: X:352.26, Y:-17.55, Z:1.79 [[ 9.99977753e-01 -3.41925780e-03 -5.72729998e-03 3.52264118e+02] [ 3.42081828e-03 9.99994114e-01 2.62688968e-04 -1.75463101e+01] [ 5.72636807e-03 -2.82275176e-04 9.99983564e-01 1.78925200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.74071405700005 meters Centerline goodness : 0.987231 with order 1 Centerline is valid? [True, True] Translation: X:352.32, Y:-17.55, Z:1.79 [[ 9.99979074e-01 -3.00832685e-03 -5.72729998e-03 3.52323642e+02] [ 3.00988060e-03 9.99995436e-01 2.62688968e-04 -1.75494105e+01] [ 5.72648358e-03 -2.79921960e-04 9.99983564e-01 1.79217492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.80071405700005 meters Centerline goodness : 0.987597 with order 1 Centerline is valid? [True, True] Translation: X:352.38, Y:-17.55, Z:1.79 [[ 9.99970256e-01 -5.16567410e-03 -5.72730955e-03 3.52382869e+02] [ 5.16726195e-03 9.99986615e-01 2.62480173e-04 -1.75527990e+01] [ 5.72587700e-03 -2.92066875e-04 9.99983564e-01 1.78987148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.86071405700005 meters Centerline goodness : 0.987534 with order 1 Centerline is valid? [True, True] Translation: X:352.44, Y:-17.56, Z:1.79 [[ 9.99951858e-01 -7.96739914e-03 -5.72731904e-03 3.52443433e+02] [ 7.96903164e-03 9.99968212e-01 2.62272932e-04 -1.75577899e+01] [ 5.72504735e-03 -3.07901492e-04 9.99983564e-01 1.78699417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.92071405700005 meters Centerline goodness : 0.990544 with order 1 Centerline is valid? [True, True] Translation: X:352.50, Y:-17.56, Z:1.78 [[ 9.99883106e-01 -1.41764607e-02 -5.72731904e-03 3.52504081e+02] [ 1.41781948e-02 9.99899450e-01 2.62272932e-04 -1.75558453e+01] [ 5.72302505e-03 -3.43445318e-04 9.99983564e-01 1.78498758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.98071405700006 meters Centerline goodness : 0.986888 with order 1 Centerline is valid? [True, True] Translation: X:352.56, Y:-17.57, Z:1.78 [[ 9.99968427e-01 -5.50839015e-03 -5.72731434e-03 3.52564660e+02] [ 5.50998302e-03 9.99984786e-01 2.62375507e-04 -1.75719102e+01] [ 5.72578193e-03 -2.93924628e-04 9.99983564e-01 1.78074713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.04071405700006 meters Centerline goodness : 0.987427 with order 1 Centerline is valid? [True, True] Translation: X:352.62, Y:-17.58, Z:1.79 [[ 9.99955222e-01 -7.53343086e-03 -5.72730515e-03 3.52624932e+02] [ 7.53505799e-03 9.99971577e-01 2.62575838e-04 -1.75753941e+01] [ 5.72516427e-03 -3.05719657e-04 9.99983564e-01 1.78683458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.10071405700006 meters Centerline goodness : 0.987494 with order 1 Centerline is valid? [True, True] Translation: X:352.69, Y:-17.58, Z:1.79 [[ 9.99964097e-01 -6.24513400e-03 -5.72730515e-03 3.52686184e+02] [ 6.24674006e-03 9.99980454e-01 2.62575838e-04 -1.75818597e+01] [ 5.72555339e-03 -2.98343398e-04 9.99983564e-01 1.78699272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.16071405700006 meters Centerline goodness : 0.987753 with order 1 Centerline is valid? [True, True] Translation: X:352.75, Y:-17.59, Z:1.79 [[ 9.99977034e-01 -3.62337610e-03 -5.72729522e-03 3.52746733e+02] [ 3.62494050e-03 9.99993395e-01 2.62792275e-04 -1.75906962e+01] [ 5.72630520e-03 -2.83547344e-04 9.99983564e-01 1.78500660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.22071405700007 meters Centerline goodness : 0.988043 with order 1 Centerline is valid? [True, True] Translation: X:352.80, Y:-17.60, Z:1.79 [[ 9.99970365e-01 -5.14465385e-03 -5.72729522e-03 3.52804847e+02] [ 5.14624315e-03 9.99986723e-01 2.62792275e-04 -1.75955892e+01] [ 5.72586721e-03 -2.92258541e-04 9.99983564e-01 1.78528849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.28071405700007 meters Centerline goodness : 0.988077 with order 1 Centerline is valid? [True, True] Translation: X:352.87, Y:-17.60, Z:1.79 [[ 9.99968159e-01 -5.55693627e-03 -5.72730984e-03 3.52865359e+02] [ 5.55853049e-03 9.99984517e-01 2.62473314e-04 -1.76016968e+01] [ 5.72576262e-03 -2.94300382e-04 9.99983564e-01 1.78525986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.34071405700007 meters Centerline goodness : 0.987632 with order 1 Centerline is valid? [True, True] Translation: X:352.92, Y:-17.61, Z:1.78 [[ 9.99968400e-01 -5.51329288e-03 -5.72730984e-03 3.52924985e+02] [ 5.51488639e-03 9.99984758e-01 2.62473314e-04 -1.76076869e+01] [ 5.72577546e-03 -2.94050483e-04 9.99983564e-01 1.78291066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4007140570001 meters Centerline goodness : 0.986785 with order 1 Centerline is valid? [True, True] Translation: X:352.99, Y:-17.61, Z:1.79 [[ 9.99980912e-01 -2.31818041e-03 -5.72731467e-03 3.52985276e+02] [ 2.31972104e-03 9.99997275e-01 2.62367890e-04 -1.76108946e+01] [ 5.72669085e-03 -2.75648654e-04 9.99983564e-01 1.78541460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4607140570001 meters Centerline goodness : 0.986670 with order 1 Centerline is valid? [True, True] Translation: X:353.04, Y:-17.61, Z:1.79 [[ 9.99978478e-01 3.20016808e-03 -5.72731467e-03 3.53043642e+02] [-3.19871778e-03 9.99994850e-01 2.62367890e-04 -1.76144588e+01] [ 5.72812479e-03 -2.44042180e-04 9.99983564e-01 1.78703303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.520714057 meters Centerline goodness : 0.986353 with order 1 Centerline is valid? [True, True] Translation: X:353.10, Y:-17.62, Z:1.79 [[ 9.99966673e-01 5.81807676e-03 -5.72738293e-03 3.53100787e+02] [-5.81667789e-03 9.99983049e-01 2.60869345e-04 -1.76196791e+01] [ 5.72880360e-03 -2.27546310e-04 9.99983564e-01 1.78577396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.580714057 meters Centerline goodness : 0.986556 with order 1 Centerline is valid? [True, True] Translation: X:353.16, Y:-17.62, Z:1.79 [[ 9.99963646e-01 6.31695618e-03 -5.72741640e-03 3.53158798e+02] [-6.31556970e-03 9.99980023e-01 2.60132273e-04 -1.76236044e+01] [ 5.72894523e-03 -2.23950919e-04 9.99983564e-01 1.78524549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.640714057 meters Centerline goodness : 0.985760 with order 1 Centerline is valid? [True, True] Translation: X:353.22, Y:-17.63, Z:1.79 [[ 9.99975259e-01 4.08373363e-03 -5.72744458e-03 3.53217801e+02] [-4.08231413e-03 9.99991634e-01 2.59510481e-04 -1.76283056e+01] [ 5.72845643e-03 -2.36122833e-04 9.99983564e-01 1.78571462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.700714057 meters Centerline goodness : 0.986587 with order 1 Centerline is valid? [True, True] Translation: X:353.28, Y:-17.63, Z:1.79 [[ 9.99975449e-01 4.03699219e-03 -5.72746312e-03 3.53275995e+02] [-4.03557426e-03 9.99991823e-01 2.59100504e-04 -1.76310146e+01] [ 5.72846228e-03 -2.35980540e-04 9.99983564e-01 1.79434530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76071405700003 meters Centerline goodness : 0.987320 with order 1 Centerline is valid? [True, True] Translation: X:353.33, Y:-17.64, Z:1.79 [[ 9.99983107e-01 -9.91254522e-04 -5.72748665e-03 3.53333655e+02] [ 9.92751782e-04 9.99999474e-01 2.58579441e-04 -1.76362007e+01] [ 5.72722731e-03 -2.64261045e-04 9.99983564e-01 1.78899356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82071405700003 meters Centerline goodness : 0.986594 with order 1 Centerline is valid? [True, True] Translation: X:353.39, Y:-17.64, Z:1.79 [[ 9.99977243e-01 -3.56499321e-03 -5.72750981e-03 3.53392574e+02] [ 3.56652966e-03 9.99993607e-01 2.58065303e-04 -1.76391876e+01] [ 5.72655319e-03 -2.78486764e-04 9.99983564e-01 1.79166864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88071405700003 meters Centerline goodness : 0.987070 with order 1 Centerline is valid? [True, True] Translation: X:353.45, Y:-17.64, Z:1.79 [[ 9.99970633e-01 -5.09208181e-03 -5.72752847e-03 3.53452505e+02] [ 5.09364087e-03 9.99986994e-01 2.57650567e-04 -1.76430546e+01] [ 5.72614200e-03 -2.86816974e-04 9.99983564e-01 1.79143623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.94071405700004 meters Centerline goodness : 0.986472 with order 1 Centerline is valid? [True, True] Translation: X:353.51, Y:-17.65, Z:1.79 [[ 9.99946744e-01 -8.58514671e-03 -5.72753810e-03 3.53511840e+02] [ 8.58676169e-03 9.99963100e-01 2.57436207e-04 -1.76482977e+01] [ 5.72511663e-03 -3.06603502e-04 9.99983564e-01 1.78956540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.00071405700004 meters Centerline goodness : 0.988213 with order 1 Centerline is valid? [True, True] Translation: X:353.57, Y:-17.64, Z:1.79 [[ 9.99610350e-01 -2.73192772e-02 -5.72754772e-03 3.53572238e+02] [ 2.73211971e-02 9.99626673e-01 2.57222130e-04 -1.76385878e+01] [ 5.71838235e-03 -4.13605363e-04 9.99983564e-01 1.78705324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.06071405700004 meters Centerline goodness : 0.988347 with order 1 Centerline is valid? [True, True] Translation: X:353.63, Y:-17.66, Z:1.79 [[ 9.99771506e-01 -2.05944617e-02 -5.72754196e-03 3.53632948e+02] [ 2.05962726e-02 9.99787841e-01 2.57350327e-04 -1.76584143e+01] [ 5.72102682e-03 -3.75257539e-04 9.99983564e-01 1.78690143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.12071405700004 meters Centerline goodness : 0.987186 with order 1 Centerline is valid? [True, True] Translation: X:353.69, Y:-17.66, Z:1.79 [[ 9.99737787e-01 -2.21710037e-02 -5.72752518e-03 3.53694622e+02] [ 2.21728424e-02 9.99754119e-01 2.57723166e-04 -1.76614616e+01] [ 5.72040291e-03 -3.84651101e-04 9.99983564e-01 1.78742600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.18071405700005 meters Centerline goodness : 0.988347 with order 1 Centerline is valid? [True, True] Translation: X:353.76, Y:-17.66, Z:1.79 [[ 9.99667945e-01 -2.51235867e-02 -5.72750636e-03 3.53756560e+02] [ 2.51254760e-02 9.99684272e-01 2.58140838e-04 -1.76622370e+01] [ 5.71921260e-03 -4.01961444e-04 9.99983564e-01 1.78902006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.24071405700005 meters Centerline goodness : 0.988689 with order 1 Centerline is valid? [True, True] Translation: X:353.82, Y:-17.66, Z:1.79 [[ 9.99630188e-01 -2.65835147e-02 -5.72748303e-03 3.53818564e+02] [ 2.65854308e-02 9.99646512e-01 2.58657415e-04 -1.76617623e+01] [ 5.71858241e-03 -4.10829364e-04 9.99983564e-01 1.79212291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.30071405700005 meters Centerline goodness : 0.988570 with order 1 Centerline is valid? [True, True] Translation: X:353.88, Y:-17.66, Z:1.79 [[ 9.99614662e-01 -2.71610745e-02 -5.72746462e-03 3.53881763e+02] [ 2.71630024e-02 9.99630984e-01 2.59064316e-04 -1.76634241e+01] [ 5.71831463e-03 -4.14539624e-04 9.99983564e-01 1.79196611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.36071405700005 meters Centerline goodness : 0.988816 with order 1 Centerline is valid? [True, True] Translation: X:353.94, Y:-17.67, Z:1.79 [[ 9.99613995e-01 -2.71856283e-02 -5.72743692e-03 3.53944293e+02] [ 2.71875600e-02 9.99630316e-01 2.59675346e-04 -1.76653922e+01] [ 5.71826014e-03 -4.15290145e-04 9.99983564e-01 1.79164516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.42071405700005 meters Centerline goodness : 0.988814 with order 1 Centerline is valid? [True, True] Translation: X:354.01, Y:-17.67, Z:1.79 [[ 9.99537334e-01 -2.98716206e-02 -5.72741848e-03 3.54006696e+02] [ 2.98735985e-02 9.99553651e-01 2.60081355e-04 -1.76655083e+01] [ 5.71709300e-03 -4.31059624e-04 9.99983564e-01 1.79154642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.48071405700006 meters Centerline goodness : 0.988576 with order 1 Centerline is valid? [True, True] Translation: X:354.07, Y:-17.67, Z:1.79 [[ 9.99569133e-01 -2.87879225e-02 -5.72740009e-03 3.54069199e+02] [ 2.87898850e-02 9.99585451e-01 2.60485719e-04 -1.76656999e+01] [ 5.71752696e-03 -4.25264675e-04 9.99983564e-01 1.79366628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.54071405700006 meters Centerline goodness : 0.989014 with order 1 Centerline is valid? [True, True] Translation: X:354.13, Y:-17.66, Z:1.80 [[ 9.99643016e-01 -2.60966906e-02 -5.72738038e-03 3.54132374e+02] [ 2.60986117e-02 9.99659339e-01 2.60918449e-04 -1.76624461e+01] [ 5.71862018e-03 -4.10301982e-04 9.99983564e-01 1.79601676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.60071405700006 meters Centerline goodness : 0.988849 with order 1 Centerline is valid? [True, True] Translation: X:354.19, Y:-17.66, Z:1.80 [[ 9.99696509e-01 -2.39601288e-02 -5.72735060e-03 3.54194436e+02] [ 2.39620187e-02 9.99712835e-01 2.61570482e-04 -1.76624826e+01] [ 5.71943864e-03 -3.98729980e-04 9.99983564e-01 1.79819388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.66071405700006 meters Centerline goodness : 0.988336 with order 1 Centerline is valid? [True, True] Translation: X:354.26, Y:-17.66, Z:1.80 [[ 9.99744773e-01 -2.18537313e-02 -5.72733073e-03 3.54256167e+02] [ 2.18555893e-02 9.99761104e-01 2.62004896e-04 -1.76613759e+01] [ 5.72023670e-03 -3.87112213e-04 9.99983564e-01 1.79870132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.72071405700007 meters Centerline goodness : 0.989100 with order 1 Centerline is valid? [True, True] Translation: X:354.32, Y:-17.66, Z:1.80 [[ 9.99807197e-01 -1.87820734e-02 -5.72731607e-03 3.54318697e+02] [ 1.87838830e-02 9.99823533e-01 2.62324883e-04 -1.76626169e+01] [ 5.72137838e-03 -3.69855542e-04 9.99983564e-01 1.79716271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.78071405700007 meters Centerline goodness : 0.988652 with order 1 Centerline is valid? [True, True] Translation: X:354.38, Y:-17.66, Z:1.80 [[ 9.99824241e-01 -1.78517467e-02 -5.72729751e-03 3.54380908e+02] [ 1.78535434e-02 9.99840578e-01 2.62729408e-04 -1.76634724e+01] [ 5.72169428e-03 -3.64935786e-04 9.99983564e-01 1.79765880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.84071405700007 meters Centerline goodness : 0.988491 with order 1 Centerline is valid? [True, True] Translation: X:354.44, Y:-17.66, Z:1.80 [[ 9.99873605e-01 -1.48314579e-02 -5.72727845e-03 3.54442874e+02] [ 1.48332076e-02 9.99889947e-01 2.63144396e-04 -1.76645440e+01] [ 5.72274533e-03 -3.48065047e-04 9.99983564e-01 1.79763894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9007140570001 meters Centerline goodness : 0.988807 with order 1 Centerline is valid? [True, True] Translation: X:354.50, Y:-17.67, Z:1.80 [[ 9.99904612e-01 -1.25684287e-02 -5.72725920e-03 3.54504243e+02] [ 1.25701438e-02 9.99920958e-01 2.63562679e-04 -1.76674016e+01] [ 5.72349393e-03 -3.35530010e-04 9.99983564e-01 1.79731681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9607140570001 meters Centerline goodness : 0.988085 with order 1 Centerline is valid? [True, True] Translation: X:354.57, Y:-17.67, Z:1.80 [[ 9.99946194e-01 -8.64911581e-03 -5.72724499e-03 3.54566624e+02] [ 8.65076859e-03 9.99962547e-01 2.63870954e-04 -1.76693896e+01] [ 5.72474824e-03 -3.13401828e-04 9.99983564e-01 1.79796538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.020714057 meters Centerline goodness : 0.989015 with order 1 Centerline is valid? [True, True] Translation: X:354.63, Y:-17.67, Z:1.80 [[ 9.99967526e-01 -5.66981557e-03 -5.72722591e-03 3.54628232e+02] [ 5.67142198e-03 9.99983882e-01 2.64284573e-04 -1.76707510e+01] [ 5.72563515e-03 -2.96757505e-04 9.99983564e-01 1.79990920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.080714057 meters Centerline goodness : 0.986990 with order 1 Centerline is valid? [True, True] Translation: X:354.69, Y:-17.67, Z:1.80 [[ 9.99983419e-01 5.99985344e-04 -5.72721634e-03 3.54688715e+02] [-5.98480337e-04 9.99999786e-01 2.64491824e-04 -1.76737795e+01] [ 5.72737380e-03 -2.61059812e-04 9.99983564e-01 1.80185053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.140714057 meters Centerline goodness : 0.987874 with order 1 Centerline is valid? [True, True] Translation: X:354.75, Y:-17.68, Z:1.80 [[ 9.99976483e-01 3.77247813e-03 -5.72721634e-03 3.54746409e+02] [-3.77102506e-03 9.99992855e-01 2.64491824e-04 -1.76766489e+01] [ 5.72817320e-03 -2.42888128e-04 9.99983564e-01 1.80126174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.200714057 meters Centerline goodness : 0.989041 with order 1 Centerline is valid? [True, True] Translation: X:354.80, Y:-17.68, Z:1.80 [[ 9.99974971e-01 4.15400595e-03 -5.72725304e-03 3.54804512e+02] [-4.15256367e-03 9.99991343e-01 2.63694704e-04 -1.76793477e+01] [ 5.72829885e-03 -2.39905321e-04 9.99983564e-01 1.80015178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26071405700003 meters Centerline goodness : 0.988242 with order 1 Centerline is valid? [True, True] Translation: X:354.86, Y:-17.69, Z:1.80 [[ 9.99980077e-01 2.65405707e-03 -5.72728269e-03 3.54863337e+02] [-2.65259393e-03 9.99996447e-01 2.63049109e-04 -1.76850253e+01] [ 5.72796049e-03 -2.47851713e-04 9.99983564e-01 1.79835152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32071405700003 meters Centerline goodness : 0.988104 with order 1 Centerline is valid? [True, True] Translation: X:354.92, Y:-17.69, Z:1.80 [[ 9.99980323e-01 2.55972084e-03 -5.72730264e-03 3.54921052e+02] [-2.55825864e-03 9.99996693e-01 2.62613974e-04 -1.76890368e+01] [ 5.72795592e-03 -2.47956885e-04 9.99983564e-01 1.79812863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38071405700003 meters Centerline goodness : 0.988647 with order 1 Centerline is valid? [True, True] Translation: X:354.98, Y:-17.69, Z:1.80 [[ 9.99982994e-01 -1.09930662e-03 -5.72732695e-03 3.54979785e+02] [ 1.10082567e-03 9.99999360e-01 2.62082816e-04 -1.76905583e+01] [ 5.72703517e-03 -2.68383148e-04 9.99983564e-01 1.80129642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.44071405700004 meters Centerline goodness : 0.987758 with order 1 Centerline is valid? [True, True] Translation: X:355.04, Y:-17.69, Z:1.80 [[ 9.99981833e-01 -1.87889990e-03 -5.72734529e-03 3.55038611e+02] [ 1.88042941e-03 9.99998198e-01 2.61681458e-04 -1.76924912e+01] [ 5.72684329e-03 -2.72446572e-04 9.99983564e-01 1.80311140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.50071405700004 meters Centerline goodness : 0.987655 with order 1 Centerline is valid? [True, True] Translation: X:355.10, Y:-17.70, Z:1.80 [[ 9.99979797e-01 -2.75739213e-03 -5.72736395e-03 3.55097617e+02] [ 2.75893368e-03 9.99996160e-01 2.61272392e-04 -1.76950647e+01] [ 5.72662152e-03 -2.77068531e-04 9.99983564e-01 1.80271990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.56071405700004 meters Centerline goodness : 0.991502 with order 1 Centerline is valid? [True, True] Translation: X:355.16, Y:-17.69, Z:1.81 [[ 9.99860025e-01 -1.57203079e-02 -5.72738356e-03 3.55157007e+02] [ 1.57220590e-02 9.99876367e-01 2.60841626e-04 -1.76857817e+01] [ 5.72257496e-03 -3.50851376e-04 9.99983564e-01 1.81137334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.62071405700004 meters Centerline goodness : 0.988866 with order 1 Centerline is valid? [True, True] Translation: X:355.22, Y:-17.70, Z:1.81 [[ 9.99911536e-01 -1.20048476e-02 -5.72739799e-03 3.55219027e+02] [ 1.20065361e-02 9.99927885e-01 2.60524459e-04 -1.76978032e+01] [ 5.72385740e-03 -3.29267623e-04 9.99983564e-01 1.80733162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.68071405700005 meters Centerline goodness : 0.988655 with order 1 Centerline is valid? [True, True] Translation: X:355.28, Y:-17.70, Z:1.81 [[ 9.99872742e-01 -1.48894704e-02 -5.72737913e-03 3.55281764e+02] [ 1.48912085e-02 9.99889086e-01 2.60938529e-04 -1.76972763e+01] [ 5.72285864e-03 -3.46192919e-04 9.99983564e-01 1.80920520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.74071405700005 meters Centerline goodness : 0.988360 with order 1 Centerline is valid? [True, True] Translation: X:355.34, Y:-17.70, Z:1.81 [[ 9.99853645e-01 -1.61209646e-02 -5.72735455e-03 3.55343011e+02] [ 1.61227259e-02 9.99869986e-01 2.61476857e-04 -1.76975975e+01] [ 5.72239466e-03 -3.53779156e-04 9.99983564e-01 1.80811855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.80071405700005 meters Centerline goodness : 0.988137 with order 1 Centerline is valid? [True, True] Translation: X:355.41, Y:-17.70, Z:1.81 [[ 9.99824616e-01 -1.78307072e-02 -5.72733986e-03 3.55405124e+02] [ 1.78324982e-02 9.99840954e-01 2.61798180e-04 -1.76967793e+01] [ 5.72176091e-03 -3.63885043e-04 9.99983564e-01 1.80959947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.86071405700005 meters Centerline goodness : 0.988317 with order 1 Centerline is valid? [True, True] Translation: X:355.47, Y:-17.70, Z:1.81 [[ 9.99763567e-01 -2.09763793e-02 -5.72732012e-03 3.55466637e+02] [ 2.09782242e-02 9.99779898e-01 2.62229279e-04 -1.76956753e+01] [ 5.72055891e-03 -3.82316285e-04 9.99983564e-01 1.81158914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.92071405700005 meters Centerline goodness : 0.987903 with order 1 Centerline is valid? [True, True] Translation: X:355.53, Y:-17.70, Z:1.81 [[ 9.99720943e-01 -2.29180061e-02 -5.72730546e-03 3.55528884e+02] [ 2.29198845e-02 9.99737270e-01 2.62549090e-04 -1.76979469e+01] [ 5.71978363e-03 -3.93745003e-04 9.99983564e-01 1.81204494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.98071405700006 meters Centerline goodness : 0.989405 with order 1 Centerline is valid? [True, True] Translation: X:355.59, Y:-17.70, Z:1.81 [[ 9.99670798e-01 -2.50098666e-02 -5.72728655e-03 3.55589546e+02] [ 2.50117816e-02 9.99687122e-01 2.62961053e-04 -1.76991941e+01] [ 5.71891799e-03 -4.06124126e-04 9.99983564e-01 1.81156027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.04071405700006 meters Centerline goodness : 0.988815 with order 1 Centerline is valid? [True, True] Translation: X:355.65, Y:-17.70, Z:1.81 [[ 9.99551131e-01 -2.94063676e-02 -5.72727723e-03 3.55651861e+02] [ 2.94083554e-02 9.99567446e-01 2.63163933e-04 -1.77002665e+01] [ 5.71706118e-03 -4.31475612e-04 9.99983564e-01 1.81400277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.10071405700006 meters Centerline goodness : 0.988632 with order 1 Centerline is valid? [True, True] Translation: X:355.71, Y:-17.70, Z:1.81 [[ 9.99539474e-01 -2.97999587e-02 -5.72725714e-03 3.55713538e+02] [ 2.98019554e-02 9.99555788e-01 2.63600433e-04 -1.77014851e+01] [ 5.71685774e-03 -4.34162500e-04 9.99983564e-01 1.81345878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.16071405700006 meters Centerline goodness : 0.989046 with order 1 Centerline is valid? [True, True] Translation: X:355.77, Y:-17.70, Z:1.81 [[ 9.99582252e-01 -2.83287910e-02 -5.72723742e-03 3.55774677e+02] [ 2.83307662e-02 9.99598568e-01 2.64028214e-04 -1.77029429e+01] [ 5.71745872e-03 -4.26174941e-04 9.99983564e-01 1.81328693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.22071405700007 meters Centerline goodness : 0.987986 with order 1 Centerline is valid? [True, True] Translation: X:355.84, Y:-17.70, Z:1.81 [[ 9.99685812e-01 -2.44023657e-02 -5.72722313e-03 3.55836574e+02] [ 2.44042785e-02 9.99702136e-01 2.64337631e-04 -1.77047162e+01] [ 5.71906674e-03 -4.04023327e-04 9.99983564e-01 1.81240834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.28071405700007 meters Centerline goodness : 0.988959 with order 1 Centerline is valid? [True, True] Translation: X:355.90, Y:-17.70, Z:1.82 [[ 9.99858093e-01 -1.58427770e-02 -5.72720451e-03 3.55898378e+02] [ 1.58445523e-02 9.99874432e-01 2.64740518e-04 -1.77038701e+01] [ 5.72229113e-03 -3.55447941e-04 9.99983564e-01 1.81815374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.34071405700007 meters Centerline goodness : 0.987822 with order 1 Centerline is valid? [True, True] Translation: X:355.96, Y:-17.71, Z:1.82 [[ 9.99927737e-01 -1.05697284e-02 -5.72719048e-03 3.55960592e+02] [ 1.05714193e-02 9.99944086e-01 2.65043677e-04 -1.77050072e+01] [ 5.72406881e-03 -3.25569056e-04 9.99983564e-01 1.81741622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4007140570001 meters Centerline goodness : 0.987308 with order 1 Centerline is valid? [True, True] Translation: X:356.02, Y:-17.71, Z:1.82 [[ 9.99973142e-01 -4.57319052e-03 -5.72717052e-03 3.56021428e+02] [ 4.57478579e-03 9.99989500e-01 2.65474336e-04 -1.77068214e+01] [ 5.72589632e-03 -2.91667784e-04 9.99983564e-01 1.81667292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4607140570001 meters Centerline goodness : 0.987798 with order 1 Centerline is valid? [True, True] Translation: X:356.08, Y:-17.71, Z:1.82 [[ 9.99975070e-01 -4.13029534e-03 -5.72714050e-03 3.56081055e+02] [ 4.13188705e-03 9.99991428e-01 2.66120299e-04 -1.77071747e+01] [ 5.72599226e-03 -2.89777563e-04 9.99983564e-01 1.81553351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.520714057 meters Centerline goodness : 0.987471 with order 1 Centerline is valid? [True, True] Translation: X:356.14, Y:-17.71, Z:1.82 [[ 9.99982972e-01 -1.12057229e-03 -5.72714537e-03 3.56140246e+02] [ 1.12211416e-03 9.99999335e-01 2.66015541e-04 -1.77086101e+01] [ 5.72684347e-03 -2.72437522e-04 9.99983564e-01 1.81600450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.580714057 meters Centerline goodness : 0.987348 with order 1 Centerline is valid? [True, True] Translation: X:356.20, Y:-17.71, Z:1.82 [[ 9.99977208e-01 3.57526221e-03 -5.72715024e-03 3.56199399e+02] [-3.57379779e-03 9.99993579e-01 2.65910699e-04 -1.77109455e+01] [ 5.72806416e-03 -2.45436962e-04 9.99983564e-01 1.81988614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.640714057 meters Centerline goodness : 0.987705 with order 1 Centerline is valid? [True, True] Translation: X:356.26, Y:-17.72, Z:1.81 [[ 9.99983063e-01 1.03588879e-03 -5.72716439e-03 3.56257842e+02] [-1.03438455e-03 9.99999430e-01 2.65605562e-04 -1.77162626e+01] [ 5.72743626e-03 -2.59676973e-04 9.99983564e-01 1.81369595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.700714057 meters Centerline goodness : 0.987040 with order 1 Centerline is valid? [True, True] Translation: X:356.32, Y:-17.72, Z:1.81 [[ 9.99983453e-01 5.40859503e-04 -5.72718297e-03 3.56316252e+02] [-5.39349456e-04 9.99999819e-01 2.65204341e-04 -1.77203088e+01] [ 5.72732537e-03 -2.62111000e-04 9.99983564e-01 1.81366087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76071405700003 meters Centerline goodness : 0.986344 with order 1 Centerline is valid? [True, True] Translation: X:356.38, Y:-17.73, Z:1.81 [[ 9.99983534e-01 3.61930849e-04 -5.72720209e-03 3.56375225e+02] [-3.60420237e-04 9.99999900e-01 2.64790773e-04 -1.77267244e+01] [ 5.72729735e-03 -2.62722214e-04 9.99983564e-01 1.80936525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82071405700003 meters Centerline goodness : 0.986679 with order 1 Centerline is valid? [True, True] Translation: X:356.43, Y:-17.73, Z:1.81 [[ 9.99970802e-01 -5.05908002e-03 -5.72722118e-03 3.56434077e+02] [ 5.06067697e-03 9.99987160e-01 2.64377246e-04 -1.77298238e+01] [ 5.72581013e-03 -2.93353143e-04 9.99983564e-01 1.81031389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88071405700003 meters Centerline goodness : 0.987219 with order 1 Centerline is valid? [True, True] Translation: X:356.49, Y:-17.73, Z:1.81 [[ 9.99956946e-01 -7.30103750e-03 -5.72724100e-03 3.56492942e+02] [ 7.30266866e-03 9.99973300e-01 2.63947109e-04 -1.77349158e+01] [ 5.72516100e-03 -3.05759888e-04 9.99983564e-01 1.80841713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.94071405700004 meters Centerline goodness : 0.986747 with order 1 Centerline is valid? [True, True] Translation: X:356.55, Y:-17.74, Z:1.81 [[ 9.99941642e-01 -9.16028082e-03 -5.72724586e-03 3.56553863e+02] [ 9.16194178e-03 9.99957994e-01 2.63841538e-04 -1.77400566e+01] [ 5.72458842e-03 -3.16298834e-04 9.99983564e-01 1.80958558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.00071405700004 meters Centerline goodness : 0.986749 with order 1 Centerline is valid? [True, True] Translation: X:356.62, Y:-17.74, Z:1.81 [[ 9.99921804e-01 -1.11168342e-02 -5.72723629e-03 3.56615322e+02] [ 1.11185284e-02 9.99938152e-01 2.64049187e-04 -1.77446608e+01] [ 5.72394668e-03 -3.27706978e-04 9.99983564e-01 1.81064867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.06071405700004 meters Centerline goodness : 0.987175 with order 1 Centerline is valid? [True, True] Translation: X:356.68, Y:-17.75, Z:1.81 [[ 9.99901349e-01 -1.28253886e-02 -5.72722209e-03 3.56677319e+02] [ 1.28271124e-02 9.99917694e-01 2.64356747e-04 -1.77490418e+01] [ 5.72336023e-03 -3.37794390e-04 9.99983564e-01 1.81333818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.12071405700004 meters Centerline goodness : 0.987445 with order 1 Centerline is valid? [True, True] Translation: X:356.74, Y:-17.75, Z:1.81 [[ 9.99834618e-01 -1.72608054e-02 -5.72720203e-03 3.56738059e+02] [ 1.72626042e-02 9.99850955e-01 2.64790766e-04 -1.77529967e+01] [ 5.72177792e-03 -3.63613396e-04 9.99983564e-01 1.81469003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.18071405700005 meters Centerline goodness : 0.987995 with order 1 Centerline is valid? [True, True] Translation: X:356.80, Y:-17.76, Z:1.81 [[ 9.99842677e-01 -1.67875093e-02 -5.72713818e-03 3.56800249e+02] [ 1.67893082e-02 9.99859014e-01 2.66164517e-04 -1.77595695e+01] [ 5.72186250e-03 -3.62277331e-04 9.99983564e-01 1.81325186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.24071405700005 meters Centerline goodness : 0.988002 with order 1 Centerline is valid? [True, True] Translation: X:356.86, Y:-17.76, Z:1.81 [[ 9.99801320e-01 -1.90924467e-02 -5.72711791e-03 3.56861817e+02] [ 1.90942857e-02 9.99817652e-01 2.66599983e-04 -1.77626245e+01] [ 5.72098354e-03 -3.75902241e-04 9.99983564e-01 1.81270838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.30071405700005 meters Centerline goodness : 0.987901 with order 1 Centerline is valid? [True, True] Translation: X:356.92, Y:-17.77, Z:1.81 [[ 9.99834688e-01 -1.72567853e-02 -5.72710308e-03 3.56923825e+02] [ 1.72585962e-02 9.99851024e-01 2.66918286e-04 -1.77673609e+01] [ 5.72164372e-03 -3.65715920e-04 9.99983564e-01 1.81499650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.36071405700005 meters Centerline goodness : 0.986887 with order 1 Centerline is valid? [True, True] Translation: X:356.98, Y:-17.77, Z:1.82 [[ 9.99859630e-01 -1.57455254e-02 -5.72708340e-03 3.56984643e+02] [ 1.57473140e-02 9.99875968e-01 2.67339856e-04 -1.77710991e+01] [ 5.72216365e-03 -3.57488510e-04 9.99983564e-01 1.81779687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.42071405700005 meters Centerline goodness : 0.987241 with order 1 Centerline is valid? [True, True] Translation: X:357.05, Y:-17.77, Z:1.82 [[ 9.99910361e-01 -1.21025017e-02 -5.72706903e-03 3.57046762e+02] [ 1.21042325e-02 9.99926705e-01 2.67647408e-04 -1.77743760e+01] [ 5.72341006e-03 -3.36945192e-04 9.99983564e-01 1.81886593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.48071405700006 meters Centerline goodness : 0.990859 with order 1 Centerline is valid? [True, True] Translation: X:357.11, Y:-17.77, Z:1.82 [[ 9.99882982e-01 -1.41853289e-02 -5.72704966e-03 3.57108318e+02] [ 1.41870961e-02 9.99899322e-01 2.68061235e-04 -1.77681276e+01] [ 5.72267053e-03 -3.49280070e-04 9.99983564e-01 1.82363421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.54071405700006 meters Centerline goodness : 0.986501 with order 1 Centerline is valid? [True, True] Translation: X:357.17, Y:-17.79, Z:1.82 [[ 9.99983574e-01 2.29197855e-04 -5.72703532e-03 3.57169653e+02] [-2.27664633e-04 9.99999938e-01 2.68367112e-04 -1.77866133e+01] [ 5.72709648e-03 -2.67058860e-04 9.99983564e-01 1.81542389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.60071405700006 meters Centerline goodness : 0.986985 with order 1 Centerline is valid? [True, True] Translation: X:357.23, Y:-17.79, Z:1.82 [[ 9.99983120e-01 -9.80762529e-04 -5.72701480e-03 3.57228112e+02] [ 9.82318049e-04 9.99999481e-01 2.68804280e-04 -1.77906965e+01] [ 5.72674820e-03 -2.74425493e-04 9.99983564e-01 1.81689559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.66071405700006 meters Centerline goodness : 0.987481 with order 1 Centerline is valid? [True, True] Translation: X:357.29, Y:-17.80, Z:1.82 [[ 9.99977990e-01 -3.34964314e-03 -5.72703490e-03 3.57285814e+02] [ 3.35123496e-03 9.99994349e-01 2.68375343e-04 -1.77958488e+01] [ 5.72610358e-03 -2.87562076e-04 9.99983564e-01 1.81722179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.72071405700007 meters Centerline goodness : 0.986511 with order 1 Centerline is valid? [True, True] Translation: X:357.35, Y:-17.80, Z:1.82 [[ 9.99982312e-01 -1.60543917e-03 -5.72705963e-03 3.57345290e+02] [ 1.60699944e-03 9.99998673e-01 2.67846744e-04 -1.78015977e+01] [ 5.72662201e-03 -2.77045388e-04 9.99983564e-01 1.81592977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.78071405700007 meters Centerline goodness : 0.987340 with order 1 Centerline is valid? [True, True] Translation: X:357.40, Y:-17.81, Z:1.82 [[ 9.99960221e-01 -6.83795830e-03 -5.72706972e-03 3.57404089e+02] [ 6.83960293e-03 9.99976574e-01 2.67630835e-04 -1.78070472e+01] [ 5.72510550e-03 -3.06791072e-04 9.99983564e-01 1.81635206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.84071405700007 meters Centerline goodness : 0.988465 with order 1 Centerline is valid? [True, True] Translation: X:357.46, Y:-17.81, Z:1.82 [[ 9.99918712e-01 -1.13916160e-02 -5.72708451e-03 3.57464726e+02] [ 1.13933333e-02 9.99935058e-01 2.67313962e-04 -1.78106534e+01] [ 5.72366744e-03 -3.32542815e-04 9.99983564e-01 1.81998874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9007140570001 meters Centerline goodness : 0.988671 with order 1 Centerline is valid? [True, True] Translation: X:357.53, Y:-17.82, Z:1.82 [[ 9.99892180e-01 -1.35214593e-02 -5.72708451e-03 3.57526127e+02] [ 1.35232114e-02 9.99908521e-01 2.67313961e-04 -1.78170991e+01] [ 5.72294613e-03 -3.44733714e-04 9.99983564e-01 1.81875860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9607140570001 meters Centerline goodness : 0.988473 with order 1 Centerline is valid? [True, True] Translation: X:357.59, Y:-17.82, Z:1.82 [[ 9.99863800e-01 -1.54784576e-02 -5.72706952e-03 3.57587420e+02] [ 1.54802435e-02 9.99880138e-01 2.67634671e-04 -1.78211480e+01] [ 5.72224049e-03 -3.56254650e-04 9.99983564e-01 1.82080478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.020714057 meters Centerline goodness : 0.990826 with order 1 Centerline is valid? [True, True] Translation: X:357.65, Y:-17.82, Z:1.83 [[ 9.99777269e-01 -2.03128616e-02 -5.72705504e-03 3.57649384e+02] [ 2.03147282e-02 9.99793599e-01 2.67944209e-04 -1.78183784e+01] [ 5.72043025e-03 -3.84228096e-04 9.99983564e-01 1.82667463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.080714057 meters Centerline goodness : 0.988128 with order 1 Centerline is valid? [True, True] Translation: X:357.71, Y:-17.83, Z:1.82 [[ 9.99865975e-01 -1.53373323e-02 -5.72703598e-03 3.57711451e+02] [ 1.53391200e-02 9.99882313e-01 2.68350953e-04 -1.78308497e+01] [ 5.72224619e-03 -3.56162680e-04 9.99983564e-01 1.82322133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.140714057 meters Centerline goodness : 0.988812 with order 1 Centerline is valid? [True, True] Translation: X:357.77, Y:-17.84, Z:1.83 [[ 9.99887372e-01 -1.38724676e-02 -5.72701625e-03 3.57772067e+02] [ 1.38742338e-02 9.99903712e-01 2.68771337e-04 -1.78350654e+01] [ 5.72273628e-03 -3.48199028e-04 9.99983564e-01 1.82570435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.200714057 meters Centerline goodness : 0.989829 with order 1 Centerline is valid? [True, True] Translation: X:357.83, Y:-17.84, Z:1.82 [[ 9.99870004e-01 -1.50723600e-02 -5.72698387e-03 3.57833721e+02] [ 1.50741496e-02 9.99886342e-01 2.69459433e-04 -1.78387658e+01] [ 5.72227157e-03 -3.55753817e-04 9.99983564e-01 1.82486284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26071405700003 meters Centerline goodness : 0.990986 with order 1 Centerline is valid? [True, True] Translation: X:357.89, Y:-17.85, Z:1.82 [[ 9.99826669e-01 -1.77153289e-02 -5.72696344e-03 3.57894926e+02] [ 1.77171642e-02 9.99843002e-01 2.69892999e-04 -1.78450854e+01] [ 5.72128308e-03 -3.71311770e-04 9.99983564e-01 1.82209845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32071405700003 meters Centerline goodness : 0.989262 with order 1 Centerline is valid? [True, True] Translation: X:357.96, Y:-17.85, Z:1.82 [[ 9.99801948e-01 -1.90595868e-02 -5.72692989e-03 3.57956530e+02] [ 1.90614482e-02 9.99818277e-01 2.70603126e-04 -1.78500619e+01] [ 5.72073159e-03 -3.79713109e-04 9.99983564e-01 1.82127723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38071405700003 meters Centerline goodness : 0.991444 with order 1 Centerline is valid? [True, True] Translation: X:358.02, Y:-17.85, Z:1.82 [[ 9.99720825e-01 -2.29232191e-02 -5.72691012e-03 3.58017705e+02] [ 2.29251459e-02 9.99737148e-01 2.71020800e-04 -1.78543402e+01] [ 5.71919212e-03 -4.02235388e-04 9.99983564e-01 1.81635513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.44071405700004 meters Centerline goodness : 0.991109 with order 1 Centerline is valid? [True, True] Translation: X:358.08, Y:-17.86, Z:1.82 [[ 9.99752406e-01 -2.15018623e-02 -5.72687415e-03 3.58079316e+02] [ 2.15037703e-02 9.99768730e-01 2.71778857e-04 -1.78578929e+01] [ 5.71970594e-03 -3.94860952e-04 9.99983564e-01 1.81994050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.50071405700004 meters Centerline goodness : 0.991439 with order 1 Centerline is valid? [True, True] Translation: X:358.14, Y:-17.86, Z:1.82 [[ 9.99756385e-01 -2.13160275e-02 -5.72685345e-03 3.58140823e+02] [ 2.13179348e-02 9.99772710e-01 2.72214303e-04 -1.78609391e+01] [ 5.71974926e-03 -3.94232676e-04 9.99983564e-01 1.82161508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.56071405700004 meters Centerline goodness : 0.991288 with order 1 Centerline is valid? [True, True] Translation: X:358.20, Y:-17.86, Z:1.82 [[ 9.99771716e-01 -2.05844429e-02 -5.72682796e-03 3.58203782e+02] [ 2.05863413e-02 9.99788042e-01 2.72749483e-04 -1.78648082e+01] [ 5.71999971e-03 -3.90581654e-04 9.99983564e-01 1.82142214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.62071405700004 meters Centerline goodness : 0.990920 with order 1 Centerline is valid? [True, True] Translation: X:358.26, Y:-17.87, Z:1.82 [[ 9.99806080e-01 -1.88416137e-02 -5.72679685e-03 3.58264718e+02] [ 1.88434874e-02 9.99822408e-01 2.73401164e-04 -1.78683166e+01] [ 5.72062850e-03 -3.81260970e-04 9.99983564e-01 1.82095618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.68071405700005 meters Centerline goodness : 0.989377 with order 1 Centerline is valid? [True, True] Translation: X:358.33, Y:-17.87, Z:1.82 [[ 9.99799187e-01 -1.92038794e-02 -5.72678155e-03 3.58326923e+02] [ 1.92057608e-02 9.99815515e-01 2.73721261e-04 -1.78725645e+01] [ 5.72046853e-03 -3.83653491e-04 9.99983564e-01 1.82025717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.74071405700005 meters Centerline goodness : 0.990268 with order 1 Centerline is valid? [True, True] Translation: X:358.39, Y:-17.88, Z:1.82 [[ 9.99846625e-01 -1.65508647e-02 -5.72676209e-03 3.58388995e+02] [ 1.65527052e-02 9.99862957e-01 2.74127773e-04 -1.78759730e+01] [ 5.72144022e-03 -3.68879133e-04 9.99983564e-01 1.82130310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.80071405700005 meters Centerline goodness : 0.990310 with order 1 Centerline is valid? [True, True] Translation: X:358.45, Y:-17.88, Z:1.82 [[ 9.99897408e-01 -1.31292930e-02 -5.72674273e-03 3.58449706e+02] [ 1.31310799e-02 9.99913746e-01 2.74531547e-04 -1.78795257e+01] [ 5.72264437e-03 -3.49701699e-04 9.99983564e-01 1.81961759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.86071405700005 meters Centerline goodness : 0.989921 with order 1 Centerline is valid? [True, True] Translation: X:358.51, Y:-17.88, Z:1.82 [[ 9.99924710e-01 -1.08526068e-02 -5.72671298e-03 3.58511833e+02] [ 1.08543600e-02 9.99941052e-01 2.75150764e-04 -1.78811610e+01] [ 5.72338930e-03 -3.37289852e-04 9.99983564e-01 1.82342511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.92071405700005 meters Centerline goodness : 0.989494 with order 1 Centerline is valid? [True, True] Translation: X:358.57, Y:-17.89, Z:1.82 [[ 9.99949829e-01 -8.21859890e-03 -5.72669354e-03 3.58573849e+02] [ 8.22031134e-03 9.99966175e-01 2.75554744e-04 -1.78859855e+01] [ 5.72423516e-03 -3.22616123e-04 9.99983564e-01 1.82070466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.98071405700006 meters Centerline goodness : 0.992816 with order 1 Centerline is valid? [True, True] Translation: X:358.63, Y:-17.88, Z:1.83 [[ 9.99823811e-01 -1.78759977e-02 -5.72667356e-03 3.58634577e+02] [ 1.78778703e-02 9.99840140e-01 2.75969336e-04 -1.78758853e+01] [ 5.72082487e-03 -3.78301440e-04 9.99983564e-01 1.82760895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.04071405700006 meters Centerline goodness : 0.992014 with order 1 Centerline is valid? [True, True] Translation: X:358.70, Y:-17.88, Z:1.83 [[ 9.99820733e-01 -1.80473781e-02 -5.72666867e-03 3.58696295e+02] [ 1.80492541e-02 9.99837061e-01 2.76070874e-04 -1.78783112e+01] [ 5.72075321e-03 -3.79383481e-04 9.99983564e-01 1.82787302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.10071405700006 meters Centerline goodness : 0.988608 with order 1 Centerline is valid? [True, True] Translation: X:358.76, Y:-17.89, Z:1.82 [[ 9.99975771e-01 -3.95775485e-03 -5.72664926e-03 3.58757303e+02] [ 3.95940287e-03 9.99992123e-01 2.76472851e-04 -1.78946409e+01] [ 5.72550994e-03 -2.99140263e-04 9.99983564e-01 1.81828462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.16071405700006 meters Centerline goodness : 0.992089 with order 1 Centerline is valid? [True, True] Translation: X:358.82, Y:-17.88, Z:1.83 [[ 9.99872832e-01 -1.48837029e-02 -5.72663343e-03 3.58817267e+02] [ 1.48855314e-02 9.99889166e-01 2.76800399e-04 -1.78803072e+01] [ 5.72187891e-03 -3.62009181e-04 9.99983564e-01 1.83217015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.22071405700007 meters Centerline goodness : 0.991635 with order 1 Centerline is valid? [True, True] Translation: X:358.88, Y:-17.88, Z:1.83 [[ 9.99887217e-01 -1.38837785e-02 -5.72663854e-03 3.58879048e+02] [ 1.38855900e-02 9.99903552e-01 2.76694679e-04 -1.78805603e+01] [ 5.72224465e-03 -3.56181228e-04 9.99983564e-01 1.83190558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.28071405700007 meters Centerline goodness : 0.987042 with order 1 Centerline is valid? [True, True] Translation: X:358.94, Y:-17.89, Z:1.82 [[ 9.99979976e-01 -2.69323169e-03 -5.72661880e-03 3.58939609e+02] [ 2.69486263e-03 9.99996330e-01 2.77102627e-04 -1.78924562e+01] [ 5.72585148e-03 -2.92529529e-04 9.99983564e-01 1.82481476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.34071405700007 meters Centerline goodness : 0.987561 with order 1 Centerline is valid? [True, True] Translation: X:359.00, Y:-17.89, Z:1.83 [[ 9.99941377e-01 -9.18961603e-03 -5.72660416e-03 3.58999211e+02] [ 9.19135491e-03 9.99957720e-01 2.77404782e-04 -1.78919186e+01] [ 5.72381280e-03 -3.30023771e-04 9.99983564e-01 1.82508024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4007140570001 meters Centerline goodness : 0.987910 with order 1 Centerline is valid? [True, True] Translation: X:359.06, Y:-17.89, Z:1.83 [[ 9.99936805e-01 -9.67430259e-03 -5.72661400e-03 3.59060525e+02] [ 9.67604823e-03 9.99953148e-01 2.77201585e-04 -1.78930067e+01] [ 5.72366396e-03 -3.32595061e-04 9.99983564e-01 1.82569110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4607140570001 meters Centerline goodness : 0.988050 with order 1 Centerline is valid? [True, True] Translation: X:359.12, Y:-17.89, Z:1.83 [[ 9.99945259e-01 -8.75697270e-03 -5.72660387e-03 3.59121909e+02] [ 8.75870454e-03 9.99961603e-01 2.77410569e-04 -1.78930827e+01] [ 5.72395471e-03 -3.27553015e-04 9.99983564e-01 1.82653578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.520714057 meters Centerline goodness : 0.986919 with order 1 Centerline is valid? [True, True] Translation: X:359.18, Y:-17.89, Z:1.83 [[ 9.99966933e-01 -5.77404496e-03 -5.72659380e-03 3.59183469e+02] [ 5.77572922e-03 9.99983282e-01 2.77618305e-04 -1.78929180e+01] [ 5.72489508e-03 -3.10684380e-04 9.99983564e-01 1.82711496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.580714057 meters Centerline goodness : 0.988150 with order 1 Centerline is valid? [True, True] Translation: X:359.24, Y:-17.89, Z:1.83 [[ 9.99974152e-01 -4.34750532e-03 -5.72658331e-03 3.59243717e+02] [ 4.34916749e-03 9.99990504e-01 2.77834522e-04 -1.78920781e+01] [ 5.72532104e-03 -3.02733210e-04 9.99983564e-01 1.82732811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.640714057 meters Centerline goodness : 0.987587 with order 1 Centerline is valid? [True, True] Translation: X:359.30, Y:-17.89, Z:1.83 [[ 9.99972314e-01 -4.75154919e-03 -5.72658331e-03 3.59303261e+02] [ 4.75321797e-03 9.99988665e-01 2.77834522e-04 -1.78926811e+01] [ 5.72519826e-03 -3.05046528e-04 9.99983564e-01 1.82666442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.700714057 meters Centerline goodness : 0.986014 with order 1 Centerline is valid? [True, True] Translation: X:359.36, Y:-17.89, Z:1.82 [[ 9.99983590e-01 -1.59607132e-04 -5.72658847e-03 3.59363562e+02] [ 1.61200204e-04 9.99999948e-01 2.77728156e-04 -1.78941402e+01] [ 5.72654385e-03 -2.78646726e-04 9.99983564e-01 1.82466145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76071405700003 meters Centerline goodness : 0.986995 with order 1 Centerline is valid? [True, True] Translation: X:359.42, Y:-17.89, Z:1.83 [[ 9.99964762e-01 6.13851348e-03 -5.72658847e-03 3.59422689e+02] [-6.13702347e-03 9.99981130e-01 2.77728156e-04 -1.78931615e+01] [ 5.72818525e-03 -2.42574162e-04 9.99983564e-01 1.82688752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82071405700003 meters Centerline goodness : 0.985071 with order 1 Centerline is valid? [True, True] Translation: X:359.48, Y:-17.90, Z:1.82 [[ 9.99947546e-01 8.49181630e-03 -5.72665663e-03 3.59481834e+02] [-8.49037289e-03 9.99963918e-01 2.76315517e-04 -1.78961451e+01] [ 5.72879642e-03 -2.27679573e-04 9.99983564e-01 1.82404015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88071405700003 meters Centerline goodness : 0.985380 with order 1 Centerline is valid? [True, True] Translation: X:359.54, Y:-17.90, Z:1.83 [[ 9.99974691e-01 4.22158514e-03 -5.72672356e-03 3.59539428e+02] [-4.22007980e-03 9.99991058e-01 2.74921339e-04 -1.78951126e+01] [ 5.72783295e-03 -2.50747151e-04 9.99983564e-01 1.82837327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.94071405700004 meters Centerline goodness : 0.986842 with order 1 Centerline is valid? [True, True] Translation: X:359.60, Y:-17.90, Z:1.83 [[ 9.99983587e-01 1.74690963e-04 -5.72674875e-03 3.59597919e+02] [-1.73122400e-04 9.99999947e-01 2.74395680e-04 -1.78953851e+01] [ 5.72679638e-03 -2.73399748e-04 9.99983564e-01 1.83144479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.00071405700004 meters Centerline goodness : 0.986800 with order 1 Centerline is valid? [True, True] Translation: X:359.66, Y:-17.90, Z:1.83 [[ 9.99956661e-01 -7.34026174e-03 -5.72676939e-03 3.59655242e+02] [ 7.34195075e-03 9.99973010e-01 2.73964102e-04 -1.78997890e+01] [ 5.72460386e-03 -3.15997888e-04 9.99983564e-01 1.82848713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.06071405700004 meters Centerline goodness : 0.986088 with order 1 Centerline is valid? [True, True] Translation: X:359.72, Y:-17.90, Z:1.83 [[ 9.99924380e-01 -1.08829474e-02 -5.72679692e-03 3.59716466e+02] [ 1.08846910e-02 9.99940723e-01 2.73387546e-04 -1.79033922e+01] [ 5.72348219e-03 -3.35701287e-04 9.99983564e-01 1.82805113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.12071405700004 meters Centerline goodness : 0.987760 with order 1 Centerline is valid? [True, True] Translation: X:359.78, Y:-17.91, Z:1.83 [[ 9.99844940e-01 -1.66523450e-02 -5.72678696e-03 3.59778850e+02] [ 1.66541841e-02 9.99861272e-01 2.73596044e-04 -1.79087076e+01] [ 5.72143648e-03 -3.68928585e-04 9.99983564e-01 1.82533402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.18071405700005 meters Centerline goodness : 0.987754 with order 1 Centerline is valid? [True, True] Translation: X:359.84, Y:-17.91, Z:1.83 [[ 9.99789237e-01 -1.97151317e-02 -5.72673783e-03 3.59840863e+02] [ 1.97170266e-02 9.99805563e-01 2.74620488e-04 -1.79109748e+01] [ 5.72021016e-03 -3.87476851e-04 9.99983564e-01 1.82816015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.24071405700005 meters Centerline goodness : 0.988264 with order 1 Centerline is valid? [True, True] Translation: X:359.90, Y:-17.91, Z:1.83 [[ 9.99755785e-01 -2.13442103e-02 -5.72671780e-03 3.59904269e+02] [ 2.13461343e-02 9.99772107e-01 2.75037522e-04 -1.79132068e+01] [ 5.71954227e-03 -3.97213640e-04 9.99983564e-01 1.83153985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.30071405700005 meters Centerline goodness : 0.988016 with order 1 Centerline is valid? [True, True] Translation: X:359.97, Y:-17.92, Z:1.83 [[ 9.99748931e-01 -2.16628812e-02 -5.72668622e-03 3.59966730e+02] [ 2.16648140e-02 9.99765252e-01 2.75693572e-04 -1.79157335e+01] [ 5.71936958e-03 -3.99691946e-04 9.99983564e-01 1.83482578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.36071405700005 meters Centerline goodness : 0.987937 with order 1 Centerline is valid? [True, True] Translation: X:360.03, Y:-17.92, Z:1.84 [[ 9.99786862e-01 -1.98352095e-02 -5.72663481e-03 3.60028741e+02] [ 1.98371186e-02 9.99803187e-01 2.76757262e-04 -1.79187917e+01] [ 5.72001820e-03 -3.90298209e-04 9.99983564e-01 1.84050732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.42071405700005 meters Centerline goodness : 0.987927 with order 1 Centerline is valid? [True, True] Translation: X:360.09, Y:-17.93, Z:1.83 [[ 9.99753468e-01 -2.14524772e-02 -5.72661397e-03 3.60089543e+02] [ 2.14544152e-02 9.99769789e-01 2.77187929e-04 -1.79255069e+01] [ 5.71934927e-03 -3.99980747e-04 9.99983564e-01 1.83287630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.48071405700006 meters Centerline goodness : 0.987822 with order 1 Centerline is valid? [True, True] Translation: X:360.15, Y:-17.93, Z:1.83 [[ 9.99731980e-01 -2.24315622e-02 -5.72659862e-03 3.60152110e+02] [ 2.24335179e-02 9.99748298e-01 2.77504685e-04 -1.79261235e+01] [ 5.71893236e-03 -4.05898060e-04 9.99983564e-01 1.83499527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.54071405700006 meters Centerline goodness : 0.988718 with order 1 Centerline is valid? [True, True] Translation: X:360.21, Y:-17.93, Z:1.83 [[ 9.99802074e-01 -1.90530707e-02 -5.72657850e-03 3.60213068e+02] [ 1.90549737e-02 9.99818399e-01 2.77919270e-04 -1.79269465e+01] [ 5.72024333e-03 -3.86984065e-04 9.99983564e-01 1.83491871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.60071405700006 meters Centerline goodness : 0.986953 with order 1 Centerline is valid? [True, True] Translation: X:360.28, Y:-17.93, Z:1.84 [[ 9.99884431e-01 -1.40830324e-02 -5.72656353e-03 3.60275472e+02] [ 1.40848560e-02 9.99900765e-01 2.78227216e-04 -1.79288094e+01] [ 5.72207698e-03 -3.58852884e-04 9.99983564e-01 1.83542084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.66071405700006 meters Centerline goodness : 0.987911 with order 1 Centerline is valid? [True, True] Translation: X:360.34, Y:-17.93, Z:1.84 [[ 9.99946788e-01 -8.58070664e-03 -5.72654325e-03 3.60338005e+02] [ 8.58244264e-03 9.99963131e-01 2.78644104e-04 -1.79310077e+01] [ 5.72394116e-03 -3.27777006e-04 9.99983564e-01 1.83759169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.72071405700007 meters Centerline goodness : 0.986556 with order 1 Centerline is valid? [True, True] Translation: X:360.40, Y:-17.93, Z:1.84 [[ 9.99962974e-01 -6.42313049e-03 -5.72652284e-03 3.60398871e+02] [ 6.42483361e-03 9.99979322e-01 2.79062871e-04 -1.79336405e+01] [ 5.72461197e-03 -3.15844495e-04 9.99983564e-01 1.84061123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.78071405700007 meters Centerline goodness : 0.986037 with order 1 Centerline is valid? [True, True] Translation: X:360.46, Y:-17.94, Z:1.84 [[ 9.99982845e-01 -1.23139292e-03 -5.72650783e-03 3.60458585e+02] [ 1.23301291e-03 9.99999201e-01 2.79370556e-04 -1.79437122e+01] [ 5.72615924e-03 -2.86426621e-04 9.99983564e-01 1.83658758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.84071405700007 meters Centerline goodness : 0.985459 with order 1 Centerline is valid? [True, True] Translation: X:360.52, Y:-17.95, Z:1.84 [[ 9.99974811e-01 4.19347295e-03 -5.72650783e-03 3.60516725e+02] [-4.19194172e-03 9.99991175e-01 2.79370556e-04 -1.79512242e+01] [ 5.72762883e-03 -2.55358331e-04 9.99983564e-01 1.83757635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9007140570001 meters Centerline goodness : 0.985299 with order 1 Centerline is valid? [True, True] Translation: X:360.57, Y:-17.96, Z:1.84 [[ 9.99915740e-01 1.16498505e-02 -5.72657780e-03 3.60574402e+02] [-1.16484496e-02 9.99932116e-01 2.77928825e-04 -1.79593248e+01] [ 5.72942689e-03 -2.11199653e-04 9.99983564e-01 1.83684221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9607140570001 meters Centerline goodness : 0.986507 with order 1 Centerline is valid? [True, True] Translation: X:360.63, Y:-17.97, Z:1.83 [[ 9.99766695e-01 2.08269294e-02 -5.72666106e-03 3.60631958e+02] [-2.08256887e-02 9.99783084e-01 2.76202575e-04 -1.79708719e+01] [ 5.73117131e-03 -1.56876475e-04 9.99983564e-01 1.83148746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.020714057 meters Centerline goodness : 0.989694 with order 1 Centerline is valid? [True, True] Translation: X:360.69, Y:-17.96, Z:1.85 [[ 9.99885488e-01 1.40077111e-02 -5.72674338e-03 3.60690129e+02] [-1.40063685e-02 9.99901868e-01 2.74485076e-04 -1.79577952e+01] [ 5.73002632e-03 -1.94242766e-04 9.99983564e-01 1.84617296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.080714057 meters Centerline goodness : 0.986590 with order 1 Centerline is valid? [True, True] Translation: X:360.75, Y:-17.98, Z:1.84 [[ 9.99215491e-01 3.91868076e-02 -5.72676854e-03 3.60747521e+02] [-3.91858811e-02 9.99231901e-01 2.73959187e-04 -1.79832853e+01] [ 5.73310540e-03 -4.93357925e-05 9.99983564e-01 1.83613059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.140714057 meters Centerline goodness : 0.985592 with order 1 Centerline is valid? [True, True] Translation: X:360.81, Y:-17.99, Z:1.84 [[ 9.98989140e-01 4.45858979e-02 -5.72684072e-03 3.60805173e+02] [-4.45850687e-02 9.99005554e-01 2.72442006e-04 -1.79906066e+01] [ 5.73329276e-03 -1.68350178e-05 9.99983564e-01 1.84062928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.200714057 meters Centerline goodness : 0.991257 with order 1 Centerline is valid? [True, True] Translation: X:360.86, Y:-17.98, Z:1.85 [[ 9.99590270e-01 2.80445086e-02 -5.72687737e-03 3.60864276e+02] [-2.80434123e-02 9.99606669e-01 2.71669288e-04 -1.79833748e+01] [ 5.73224365e-03 -1.10956794e-04 9.99983564e-01 1.85206705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26071405700003 meters Centerline goodness : 0.992394 with order 1 Centerline is valid? [True, True] Translation: X:360.92, Y:-18.00, Z:1.85 [[ 9.99791508e-01 1.95995468e-02 -5.72689646e-03 3.60921117e+02] [-1.95983143e-02 9.99807898e-01 2.71266303e-04 -1.79988052e+01] [ 5.73111301e-03 -1.58972229e-04 9.99983564e-01 1.84981050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32071405700003 meters Centerline goodness : 0.993246 with order 1 Centerline is valid? [True, True] Translation: X:360.98, Y:-18.01, Z:1.85 [[ 9.99943052e-01 9.00531789e-03 -5.72692594e-03 3.60978801e+02] [-9.00391533e-03 9.99959427e-01 2.70642513e-04 -1.80135750e+01] [ 5.72913081e-03 -2.19062344e-04 9.99983564e-01 1.84653075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38071405700003 meters Centerline goodness : 0.989803 with order 1 Centerline is valid? [True, True] Translation: X:361.04, Y:-18.04, Z:1.84 [[ 9.99950959e-01 8.07966040e-03 -5.72694526e-03 3.61036695e+02] [-8.07824502e-03 9.99967334e-01 2.70233132e-04 -1.80366114e+01] [ 5.72894157e-03 -2.23956213e-04 9.99983564e-01 1.84446527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.44071405700004 meters Centerline goodness : 0.989452 with order 1 Centerline is valid? [True, True] Translation: X:361.10, Y:-18.05, Z:1.84 [[ 9.99956848e-01 7.31463574e-03 -5.72696460e-03 3.61095468e+02] [-7.31321018e-03 9.99973222e-01 2.69822629e-04 -1.80459515e+01] [ 5.72878489e-03 -2.27928490e-04 9.99983564e-01 1.84416138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.50071405700004 meters Centerline goodness : 0.989302 with order 1 Centerline is valid? [True, True] Translation: X:361.15, Y:-18.06, Z:1.84 [[ 9.99980829e-01 2.35432757e-03 -5.72698396e-03 3.61152476e+02] [-2.35282316e-03 9.99997196e-01 2.69410956e-04 -1.80579721e+01] [ 5.72760219e-03 -2.55931210e-04 9.99983564e-01 1.84013889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.56071405700004 meters Centerline goodness : 0.993112 with order 1 Centerline is valid? [True, True] Translation: X:361.21, Y:-18.05, Z:1.85 [[ 9.99948096e-01 -8.42655403e-03 -5.72700781e-03 3.61211871e+02] [ 8.42823190e-03 9.99964446e-01 2.68903080e-04 -1.80540426e+01] [ 5.72453826e-03 -3.17157673e-04 9.99983564e-01 1.84817376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.62071405700004 meters Centerline goodness : 0.989238 with order 1 Centerline is valid? [True, True] Translation: X:361.27, Y:-18.08, Z:1.84 [[ 9.99983595e-01 9.97624448e-05 -5.72702730e-03 3.61271355e+02] [-9.82264174e-05 9.99999959e-01 2.68487409e-04 -1.80756661e+01] [ 5.72705385e-03 -2.67920459e-04 9.99983564e-01 1.84219645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.68071405700005 meters Centerline goodness : 0.992928 with order 1 Centerline is valid? [True, True] Translation: X:361.33, Y:-18.07, Z:1.85 [[ 9.99930002e-01 -1.03533762e-02 -5.72702247e-03 3.61330571e+02] [ 1.03550838e-02 9.99946349e-01 2.68590358e-04 -1.80694252e+01] [ 5.72393439e-03 -3.27875355e-04 9.99983564e-01 1.84706873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.74071405700005 meters Centerline goodness : 0.991227 with order 1 Centerline is valid? [True, True] Translation: X:361.39, Y:-18.08, Z:1.85 [[ 9.99930566e-01 -1.02987225e-02 -5.72704116e-03 3.61390433e+02] [ 1.03004270e-02 9.99946913e-01 2.68191282e-04 -1.80796744e+01] [ 5.72397510e-03 -3.27163630e-04 9.99983564e-01 1.84612470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.80071405700005 meters Centerline goodness : 0.987851 with order 1 Centerline is valid? [True, True] Translation: X:361.45, Y:-18.09, Z:1.85 [[ 9.99965051e-01 -6.09085951e-03 -5.72704546e-03 3.61450810e+02] [ 6.09249459e-03 9.99981405e-01 2.68099343e-04 -1.80910263e+01] [ 5.72530601e-03 -3.02981967e-04 9.99983564e-01 1.84672498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.86071405700005 meters Centerline goodness : 0.988056 with order 1 Centerline is valid? [True, True] Translation: X:361.51, Y:-18.09, Z:1.85 [[ 9.99961309e-01 -6.67686683e-03 -5.72703999e-03 3.61511174e+02] [ 6.67851216e-03 9.99977663e-01 2.68216262e-04 -1.80943490e+01] [ 5.72512121e-03 -3.06453991e-04 9.99983564e-01 1.84809981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.92071405700005 meters Centerline goodness : 0.988706 with order 1 Centerline is valid? [True, True] Translation: X:361.57, Y:-18.09, Z:1.85 [[ 9.99942943e-01 -9.01728095e-03 -5.72703999e-03 3.61570754e+02] [ 9.01896455e-03 9.99959292e-01 2.68216262e-04 -1.80949727e+01] [ 5.72438827e-03 -3.19852929e-04 9.99983564e-01 1.85089092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.98071405700006 meters Centerline goodness : 0.988749 with order 1 Centerline is valid? [True, True] Translation: X:361.63, Y:-18.10, Z:1.85 [[ 9.99964339e-01 -6.20652727e-03 -5.72704494e-03 3.61631242e+02] [ 6.20816431e-03 9.99980693e-01 2.68110489e-04 -1.80971415e+01] [ 5.72527033e-03 -3.03655364e-04 9.99983564e-01 1.84754095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.04071405700006 meters Centerline goodness : 0.988738 with order 1 Centerline is valid? [True, True] Translation: X:361.69, Y:-18.09, Z:1.86 [[ 9.99902368e-01 -1.27458140e-02 -5.72703082e-03 3.61691536e+02] [ 1.27475597e-02 9.99918711e-01 2.68411691e-04 -1.80942985e+01] [ 5.72314415e-03 -3.41391152e-04 9.99983564e-01 1.85641091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.10071405700006 meters Centerline goodness : 0.989272 with order 1 Centerline is valid? [True, True] Translation: X:361.75, Y:-18.10, Z:1.85 [[ 9.99894810e-01 -1.33255475e-02 -5.72703082e-03 3.61753169e+02] [ 1.33273027e-02 9.99911152e-01 2.68411691e-04 -1.80966741e+01] [ 5.72294525e-03 -3.44709330e-04 9.99983564e-01 1.85450415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.16071405700006 meters Centerline goodness : 0.989865 with order 1 Centerline is valid? [True, True] Translation: X:361.82, Y:-18.10, Z:1.85 [[ 9.99841404e-01 -1.68632433e-02 -5.72701568e-03 3.61815893e+02] [ 1.68650581e-02 9.99857739e-01 2.68734417e-04 -1.80963752e+01] [ 5.72166921e-03 -3.65278248e-04 9.99983564e-01 1.85353023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.22071405700007 meters Centerline goodness : 0.992924 with order 1 Centerline is valid? [True, True] Translation: X:361.88, Y:-18.09, Z:1.85 [[ 9.99677945e-01 -2.47226347e-02 -5.72694376e-03 3.61878229e+02] [ 2.47245865e-02 9.99694264e-01 2.70258448e-04 -1.80889780e+01] [ 5.71851132e-03 -4.11767726e-04 9.99983564e-01 1.85155785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.28071405700007 meters Centerline goodness : 0.989392 with order 1 Centerline is valid? [True, True] Translation: X:361.94, Y:-18.10, Z:1.85 [[ 9.99734276e-01 -2.23289256e-02 -5.72689278e-03 3.61939873e+02] [ 2.23308445e-02 9.99750599e-01 2.71334385e-04 -1.80960024e+01] [ 5.71940588e-03 -3.99148637e-04 9.99983564e-01 1.85449725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.34071405700007 meters Centerline goodness : 0.989740 with order 1 Centerline is valid? [True, True] Translation: X:362.00, Y:-18.10, Z:1.85 [[ 9.99751992e-01 -2.15211067e-02 -5.72687275e-03 3.62002386e+02] [ 2.15230149e-02 9.99768316e-01 2.71756581e-04 -1.80965802e+01] [ 5.71969742e-03 -3.94948750e-04 9.99983564e-01 1.85221535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4007140570001 meters Centerline goodness : 0.991098 with order 1 Centerline is valid? [True, True] Translation: X:362.06, Y:-18.10, Z:1.85 [[ 9.99742725e-01 -2.19473825e-02 -5.72685266e-03 3.62063508e+02] [ 2.19493000e-02 9.99759048e-01 2.72179140e-04 -1.80958292e+01] [ 5.71949915e-03 -3.97809522e-04 9.99983564e-01 1.85449444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4607140570001 meters Centerline goodness : 0.991013 with order 1 Centerline is valid? [True, True] Translation: X:362.13, Y:-18.09, Z:1.86 [[ 9.99758891e-01 -2.11981755e-02 -5.72681955e-03 3.62125825e+02] [ 2.12000847e-02 9.99775216e-01 2.72874008e-04 -1.80942721e+01] [ 5.71974782e-03 -3.94217275e-04 9.99983564e-01 1.85826823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5207140570001 meters Centerline goodness : 0.991134 with order 1 Centerline is valid? [True, True] Translation: X:362.19, Y:-18.10, Z:1.86 [[ 9.99816506e-01 -1.82799885e-02 -5.72679890e-03 3.62186586e+02] [ 1.82818526e-02 9.99832836e-01 2.73306743e-04 -1.80952599e+01] [ 5.72084554e-03 -3.77953086e-04 9.99983564e-01 1.85671453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.580714057 meters Centerline goodness : 0.991129 with order 1 Centerline is valid? [True, True] Translation: X:362.25, Y:-18.10, Z:1.85 [[ 9.99871492e-01 -1.49734188e-02 -5.72678361e-03 3.62248167e+02] [ 1.49752306e-02 9.99887828e-01 2.73626701e-04 -1.80981993e+01] [ 5.72204410e-03 -3.59351443e-04 9.99983564e-01 1.85365188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.640714057 meters Centerline goodness : 0.991085 with order 1 Centerline is valid? [True, True] Translation: X:362.31, Y:-18.10, Z:1.86 [[ 9.99893258e-01 -1.34415939e-02 -5.72676866e-03 3.62310474e+02] [ 1.34433825e-02 9.99909596e-01 2.73939368e-04 -1.80975282e+01] [ 5.72256875e-03 -3.50897268e-04 9.99983564e-01 1.85623317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.700714057 meters Centerline goodness : 0.991525 with order 1 Centerline is valid? [True, True] Translation: X:362.37, Y:-18.10, Z:1.86 [[ 9.99895873e-01 -1.32456243e-02 -5.72674837e-03 3.62371613e+02] [ 1.32474121e-02 9.99912212e-01 2.74362883e-04 -1.80974851e+01] [ 5.72261152e-03 -3.50198910e-04 9.99983564e-01 1.85638758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76071405700003 meters Centerline goodness : 0.991962 with order 1 Centerline is valid? [True, True] Translation: X:362.43, Y:-18.10, Z:1.86 [[ 9.99885527e-01 -1.40049009e-02 -5.72673332e-03 3.62433956e+02] [ 1.40067029e-02 9.99901864e-01 2.74676553e-04 -1.80989827e+01] [ 5.72232450e-03 -3.54857763e-04 9.99983564e-01 1.85641869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82071405700003 meters Centerline goodness : 0.991516 with order 1 Centerline is valid? [True, True] Translation: X:362.50, Y:-18.10, Z:1.86 [[ 9.99805690e-01 -1.88623401e-02 -5.72671254e-03 3.62496588e+02] [ 1.88642239e-02 9.99822017e-01 2.75109233e-04 -1.80993890e+01] [ 5.72050408e-03 -3.83085763e-04 9.99983564e-01 1.85677941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88071405700003 meters Centerline goodness : 0.992272 with order 1 Centerline is valid? [True, True] Translation: X:362.56, Y:-18.10, Z:1.86 [[ 9.99643627e-01 -2.60734568e-02 -5.72663571e-03 3.62560025e+02] [ 2.60754674e-02 9.99659939e-01 2.76699213e-04 -1.80987678e+01] [ 5.71747380e-03 -4.25925307e-04 9.99983564e-01 1.85909861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.94071405700004 meters Centerline goodness : 0.990996 with order 1 Centerline is valid? [True, True] Translation: X:362.62, Y:-18.10, Z:1.86 [[ 9.99457496e-01 -3.24333209e-02 -5.72655463e-03 3.62622475e+02] [ 3.24354448e-02 9.99473794e-01 2.78367228e-04 -1.80996335e+01] [ 5.71451291e-03 -4.63959559e-04 9.99983564e-01 1.85917863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.00071405700004 meters Centerline goodness : 0.991476 with order 1 Centerline is valid? [True, True] Translation: X:362.69, Y:-18.10, Z:1.86 [[ 9.99405958e-01 -3.39843663e-02 -5.72652936e-03 3.62685416e+02] [ 3.39865184e-02 9.99422253e-01 2.78886082e-04 -1.81004673e+01] [ 5.71374311e-03 -4.73345208e-04 9.99983564e-01 1.85969994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.06071405700004 meters Centerline goodness : 0.992122 with order 1 Centerline is valid? [True, True] Translation: X:362.75, Y:-18.10, Z:1.86 [[ 9.99388761e-01 -3.44863891e-02 -5.72649755e-03 3.62748467e+02] [ 3.44885530e-02 9.99405054e-01 2.79537730e-04 -1.80988530e+01] [ 5.71345035e-03 -4.76865480e-04 9.99983564e-01 1.85976697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.12071405700004 meters Centerline goodness : 0.992084 with order 1 Centerline is valid? [True, True] Translation: X:362.81, Y:-18.10, Z:1.86 [[ 9.99407727e-01 -3.39323207e-02 -5.72646512e-03 3.62810559e+02] [ 3.39344794e-02 9.99424020e-01 2.80200522e-04 -1.80984623e+01] [ 5.71365894e-03 -4.74359180e-04 9.99983564e-01 1.85850530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.18071405700005 meters Centerline goodness : 0.991662 with order 1 Centerline is valid? [True, True] Translation: X:362.87, Y:-18.10, Z:1.86 [[ 9.99552425e-01 -2.93625254e-02 -5.72643839e-03 3.62872438e+02] [ 2.93646127e-02 9.99568727e-01 2.80745786e-04 -1.80974821e+01] [ 5.71572533e-03 -4.48774777e-04 9.99983564e-01 1.85856463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.24071405700005 meters Centerline goodness : 0.991919 with order 1 Centerline is valid? [True, True] Translation: X:362.93, Y:-18.10, Z:1.86 [[ 9.99587444e-01 -2.81451631e-02 -5.72641669e-03 3.62934458e+02] [ 2.81472330e-02 9.99603749e-01 2.81187616e-04 -1.80950171e+01] [ 5.71623352e-03 -4.42254395e-04 9.99983564e-01 1.85943741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.30071405700005 meters Centerline goodness : 0.990740 with order 1 Centerline is valid? [True, True] Translation: X:363.00, Y:-18.09, Z:1.86 [[ 9.99609159e-01 -2.73630784e-02 -5.72638998e-03 3.62997085e+02] [ 2.73651387e-02 9.99625465e-01 2.81730506e-04 -1.80938348e+01] [ 5.71653624e-03 -4.38323850e-04 9.99983564e-01 1.85982593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.36071405700005 meters Centerline goodness : 0.991179 with order 1 Centerline is valid? [True, True] Translation: X:363.06, Y:-18.09, Z:1.86 [[ 9.99646205e-01 -2.59744905e-02 -5.72636368e-03 3.63060244e+02] [ 2.59765312e-02 9.99662513e-01 2.82264185e-04 -1.80947574e+01] [ 5.71709944e-03 -4.30915386e-04 9.99983564e-01 1.85810579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.42071405700005 meters Centerline goodness : 0.990530 with order 1 Centerline is valid? [True, True] Translation: X:363.12, Y:-18.10, Z:1.86 [[ 9.99647699e-01 -2.59169172e-02 -5.72633159e-03 3.63123034e+02] [ 2.59189606e-02 9.99664007e-01 2.82913565e-04 -1.80964788e+01] [ 5.71707534e-03 -4.31234457e-04 9.99983564e-01 1.85770930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.48071405700006 meters Centerline goodness : 0.990036 with order 1 Centerline is valid? [True, True] Translation: X:363.19, Y:-18.10, Z:1.86 [[ 9.99605333e-01 -2.75024988e-02 -5.72629911e-03 3.63185495e+02] [ 2.75045718e-02 9.99621637e-01 2.83569571e-04 -1.80961267e+01] [ 5.71633362e-03 -4.40957061e-04 9.99983564e-01 1.85812873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.54071405700006 meters Centerline goodness : 0.989665 with order 1 Centerline is valid? [True, True] Translation: X:363.25, Y:-18.10, Z:1.86 [[ 9.99623425e-01 -2.68368706e-02 -5.72627240e-03 3.63248505e+02] [ 2.68389359e-02 9.99639731e-01 2.84107840e-04 -1.80967554e+01] [ 5.71658484e-03 -4.37687910e-04 9.99983564e-01 1.85849259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.60071405700006 meters Centerline goodness : 0.988923 with order 1 Centerline is valid? [True, True] Translation: X:363.31, Y:-18.10, Z:1.86 [[ 9.99542220e-01 -2.97079119e-02 -5.72623973e-03 3.63309549e+02] [ 2.97100277e-02 9.99558519e-01 2.84764798e-04 -1.80980423e+01] [ 5.71525194e-03 -4.54761180e-04 9.99983564e-01 1.85710341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.66071405700006 meters Centerline goodness : 0.988779 with order 1 Centerline is valid? [True, True] Translation: X:363.37, Y:-18.10, Z:1.86 [[ 9.99449703e-01 -3.26726450e-02 -5.72622371e-03 3.63372803e+02] [ 3.26748110e-02 9.99465995e-01 2.85086555e-04 -1.80991250e+01] [ 5.71385135e-03 -4.72032951e-04 9.99983564e-01 1.85900656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.72071405700007 meters Centerline goodness : 0.989469 with order 1 Centerline is valid? [True, True] Translation: X:363.44, Y:-18.10, Z:1.86 [[ 9.99360011e-01 -3.53097727e-02 -5.72619305e-03 3.63435024e+02] [ 3.53119852e-02 9.99376297e-01 2.85701046e-04 -1.80996619e+01] [ 5.71253357e-03 -4.87721445e-04 9.99983564e-01 1.85954804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.78071405700007 meters Centerline goodness : 0.989647 with order 1 Centerline is valid? [True, True] Translation: X:363.50, Y:-18.10, Z:1.86 [[ 9.99302887e-01 -3.68910808e-02 -5.72617180e-03 3.63497103e+02] [ 3.68933215e-02 9.99319169e-01 2.86126321e-04 -1.81034772e+01] [ 5.71171774e-03 -4.97184355e-04 9.99983564e-01 1.85636081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.84071405700007 meters Centerline goodness : 0.989032 with order 1 Centerline is valid? [True, True] Translation: X:363.56, Y:-18.11, Z:1.86 [[ 9.99107456e-01 -4.18509706e-02 -5.72609228e-03 3.63558797e+02] [ 4.18533011e-02 9.99123725e-01 2.87709044e-04 -1.81076840e+01] [ 5.70903375e-03 -5.27108115e-04 9.99983564e-01 1.85725101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9007140570001 meters Centerline goodness : 0.989832 with order 1 Centerline is valid? [True, True] Translation: X:363.62, Y:-18.11, Z:1.86 [[ 9.99051314e-01 -4.31703979e-02 -5.72607214e-03 3.63621558e+02] [ 4.31727520e-02 9.99067581e-01 2.88109371e-04 -1.81123894e+01] [ 5.70829524e-03 -5.35046338e-04 9.99983564e-01 1.85680057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9607140570001 meters Centerline goodness : 0.989423 with order 1 Centerline is valid? [True, True] Translation: X:363.68, Y:-18.12, Z:1.86 [[ 9.98995738e-01 -4.44379173e-02 -5.72604084e-03 3.63683267e+02] [ 4.44402956e-02 9.99012000e-01 2.88730040e-04 -1.81163679e+01] [ 5.70755295e-03 -5.42907028e-04 9.99983564e-01 1.85780877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0207140570001 meters Centerline goodness : 0.989246 with order 1 Centerline is valid? [True, True] Translation: X:363.75, Y:-18.12, Z:1.86 [[ 9.99061403e-01 -4.29363052e-02 -5.72601975e-03 3.63746381e+02] [ 4.29386615e-02 9.99077669e-01 2.89147650e-04 -1.81209915e+01] [ 5.70832353e-03 -5.34743880e-04 9.99983564e-01 1.85866061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.080714057 meters Centerline goodness : 0.989112 with order 1 Centerline is valid? [True, True] Translation: X:363.81, Y:-18.13, Z:1.86 [[ 9.99171578e-01 -4.02910660e-02 -5.72598693e-03 3.63808649e+02] [ 4.02933828e-02 9.99187850e-01 2.89796134e-04 -1.81251604e+01] [ 5.70966038e-03 -5.20275444e-04 9.99983564e-01 1.85927065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.140714057 meters Centerline goodness : 0.988537 with order 1 Centerline is valid? [True, True] Translation: X:363.87, Y:-18.13, Z:1.86 [[ 9.99379312e-01 -3.47592304e-02 -5.72590660e-03 3.63872038e+02] [ 3.47614662e-02 9.99395595e-01 2.91374750e-04 -1.81295181e+01] [ 5.71231787e-03 -4.90234806e-04 9.99983564e-01 1.85823679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.200714057 meters Centerline goodness : 0.988561 with order 1 Centerline is valid? [True, True] Translation: X:363.93, Y:-18.13, Z:1.86 [[ 9.99608658e-01 -2.73814678e-02 -5.72587435e-03 3.63934394e+02] [ 2.73835869e-02 9.99624957e-01 2.92007087e-04 -1.81325142e+01] [ 5.71573132e-03 -4.48687790e-04 9.99983564e-01 1.86133412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26071405700003 meters Centerline goodness : 0.988536 with order 1 Centerline is valid? [True, True] Translation: X:364.00, Y:-18.14, Z:1.86 [[ 9.99563659e-01 -2.89776781e-02 -5.72585246e-03 3.63995636e+02] [ 2.89798256e-02 9.99579954e-01 2.92435848e-04 -1.81362911e+01] [ 5.71497322e-03 -4.58242452e-04 9.99983564e-01 1.85545409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32071405700003 meters Centerline goodness : 0.988188 with order 1 Centerline is valid? [True, True] Translation: X:364.06, Y:-18.14, Z:1.86 [[ 9.99632014e-01 -2.65151013e-02 -5.72583634e-03 3.64058247e+02] [ 2.65172105e-02 9.99648314e-01 2.92751094e-04 -1.81400720e+01] [ 5.71606032e-03 -4.44476573e-04 9.99983564e-01 1.85717910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38071405700003 meters Centerline goodness : 0.989511 with order 1 Centerline is valid? [True, True] Translation: X:364.12, Y:-18.14, Z:1.86 [[ 9.99687224e-01 -2.43448051e-02 -5.72580400e-03 3.64120292e+02] [ 2.43468826e-02 9.99703528e-01 2.93382265e-04 -1.81429741e+01] [ 5.71696412e-03 -4.32695979e-04 9.99983564e-01 1.85755217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.44071405700004 meters Centerline goodness : 0.987735 with order 1 Centerline is valid? [True, True] Translation: X:364.18, Y:-18.15, Z:1.86 [[ 9.99790259e-01 -1.96635248e-02 -5.72578234e-03 3.64182036e+02] [ 1.96655283e-02 9.99806572e-01 2.93804333e-04 -1.81458608e+01] [ 5.71889758e-03 -4.06343244e-04 9.99983564e-01 1.86303317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.50071405700004 meters Centerline goodness : 0.989143 with order 1 Centerline is valid? [True, True] Translation: X:364.24, Y:-18.15, Z:1.86 [[ 9.99687415e-01 -2.43369634e-02 -5.72576036e-03 3.64242730e+02] [ 2.43390456e-02 9.99703718e-01 2.94232052e-04 -1.81497573e+01] [ 5.71690321e-03 -4.33499621e-04 9.99983564e-01 1.85956008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.56071405700004 meters Centerline goodness : 0.989021 with order 1 Centerline is valid? [True, True] Translation: X:364.30, Y:-18.15, Z:1.86 [[ 9.99699135e-01 -2.38506784e-02 -5.72574420e-03 3.64304504e+02] [ 2.38527544e-02 9.99715439e-01 2.94546276e-04 -1.81549502e+01] [ 5.71708974e-03 -4.31032428e-04 9.99983564e-01 1.86246648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.62071405700004 meters Centerline goodness : 0.989298 with order 1 Centerline is valid? [True, True] Translation: X:364.37, Y:-18.16, Z:1.87 [[ 9.99598372e-01 -2.77544666e-02 -5.72572159e-03 3.64365155e+02] [ 2.77566087e-02 9.99614668e-01 2.94985018e-04 -1.81606793e+01] [ 5.71532813e-03 -4.53793158e-04 9.99983564e-01 1.86647020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.68071405700005 meters Centerline goodness : 0.989109 with order 1 Centerline is valid? [True, True] Translation: X:364.43, Y:-18.17, Z:1.86 [[ 9.99402461e-01 -3.40871882e-02 -5.72570497e-03 3.64427584e+02] [ 3.40894354e-02 9.99418743e-01 2.95307207e-04 -1.81664241e+01] [ 5.71231067e-03 -4.90316800e-04 9.99983564e-01 1.86355960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.74071405700005 meters Centerline goodness : 0.992776 with order 1 Centerline is valid? [True, True] Translation: X:364.49, Y:-18.16, Z:1.86 [[ 9.98882672e-01 -4.69108051e-02 -5.72567110e-03 3.64488924e+02] [ 4.69132648e-02 9.98898923e-01 2.95962559e-04 -1.81641231e+01] [ 5.70548285e-03 -5.64241796e-04 9.99983564e-01 1.86479629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.80071405700005 meters Centerline goodness : 0.993180 with order 1 Centerline is valid? [True, True] Translation: X:364.55, Y:-18.17, Z:1.87 [[ 9.98632233e-01 -5.19699925e-02 -5.72559915e-03 3.64551227e+02] [ 5.19725423e-02 9.98648470e-01 2.97347960e-04 -1.81717394e+01] [ 5.70240766e-03 -5.94515202e-04 9.99983564e-01 1.86543824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.86071405700005 meters Centerline goodness : 0.990154 with order 1 Centerline is valid? [True, True] Translation: X:364.61, Y:-18.19, Z:1.86 [[ 9.98895561e-01 -4.66355733e-02 -5.72556764e-03 3.64612406e+02] [ 4.66380398e-02 9.98911810e-01 2.97953491e-04 -1.81892773e+01] [ 5.70544190e-03 -5.64653670e-04 9.99983564e-01 1.85979605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.92071405700005 meters Centerline goodness : 0.990825 with order 1 Centerline is valid? [True, True] Translation: X:364.68, Y:-18.19, Z:1.86 [[ 9.98890237e-01 -4.67494577e-02 -5.72554591e-03 3.64675490e+02] [ 4.67519284e-02 9.98906486e-01 2.98370484e-04 -1.81935847e+01] [ 5.70533629e-03 -5.65719676e-04 9.99983564e-01 1.86043181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.98071405700006 meters Centerline goodness : 0.990596 with order 1 Centerline is valid? [True, True] Translation: X:364.74, Y:-18.20, Z:1.86 [[ 9.99125523e-01 -4.14174786e-02 -5.72551375e-03 3.64737505e+02] [ 4.14198660e-02 9.99141784e-01 2.98986329e-04 -1.81992034e+01] [ 5.70821677e-03 -5.35874885e-04 9.99983564e-01 1.86356328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.04071405700006 meters Centerline goodness : 0.990675 with order 1 Centerline is valid? [True, True] Translation: X:364.80, Y:-18.20, Z:1.86 [[ 9.99127492e-01 -4.13699642e-02 -5.72543416e-03 3.64800768e+02] [ 4.13723595e-02 9.99143752e-01 3.00502694e-04 -1.82045521e+01] [ 5.70809999e-03 -5.37115224e-04 9.99983564e-01 1.86462801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.10071405700006 meters Centerline goodness : 0.990672 with order 1 Centerline is valid? [True, True] Translation: X:364.86, Y:-18.21, Z:1.86 [[ 9.99138755e-01 -4.10970582e-02 -5.72539941e-03 3.64862272e+02] [ 4.10994528e-02 9.99155015e-01 3.01163416e-04 -1.82119115e+01] [ 5.70818460e-03 -5.36214823e-04 9.99983564e-01 1.86153557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.16071405700006 meters Centerline goodness : 0.989903 with order 1 Centerline is valid? [True, True] Translation: X:364.93, Y:-18.22, Z:1.86 [[ 9.99279643e-01 -3.75155237e-02 -5.72537086e-03 3.64925204e+02] [ 3.75178631e-02 9.99295912e-01 3.01705186e-04 -1.82177521e+01] [ 5.71002106e-03 -5.16291531e-04 9.99983564e-01 1.86176883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.22071405700007 meters Centerline goodness : 0.989405 with order 1 Centerline is valid? [True, True] Translation: X:364.99, Y:-18.22, Z:1.86 [[ 9.99396364e-01 -3.42655463e-02 -5.72533629e-03 3.64987694e+02] [ 3.42678365e-02 9.99412639e-01 3.02359836e-04 -1.82216681e+01] [ 5.71161292e-03 -4.98372209e-04 9.99983564e-01 1.86331680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.28071405700007 meters Centerline goodness : 0.989629 with order 1 Centerline is valid? [True, True] Translation: X:365.05, Y:-18.22, Z:1.87 [[ 9.99437153e-01 -3.30544761e-02 -5.72530148e-03 3.65050828e+02] [ 3.30567502e-02 9.99453430e-01 3.03017436e-04 -1.82244859e+01] [ 5.71215612e-03 -4.92106745e-04 9.99983564e-01 1.86516124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.34071405700007 meters Centerline goodness : 0.989060 with order 1 Centerline is valid? [True, True] Translation: X:365.11, Y:-18.23, Z:1.87 [[ 9.99552534e-01 -2.93590431e-02 -5.72526665e-03 3.65113444e+02] [ 2.93612608e-02 9.99568819e-01 3.03674071e-04 -1.82288700e+01] [ 5.71388245e-03 -4.71639235e-04 9.99983564e-01 1.86605259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4007140570001 meters Centerline goodness : 0.988905 with order 1 Centerline is valid? [True, True] Translation: X:365.18, Y:-18.23, Z:1.87 [[ 9.99624401e-01 -2.68007274e-02 -5.72523108e-03 3.65175953e+02] [ 2.68029072e-02 9.99640691e-01 3.04343324e-04 -1.82309288e+01] [ 5.71501733e-03 -4.57681850e-04 9.99983564e-01 1.86590458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4607140570001 meters Centerline goodness : 0.988491 with order 1 Centerline is valid? [True, True] Translation: X:365.24, Y:-18.24, Z:1.86 [[ 9.99816606e-01 -1.82750131e-02 -5.72520187e-03 3.65238124e+02] [ 1.82770571e-02 9.99832914e-01 3.04891731e-04 -1.82351255e+01] [ 5.71867337e-03 -4.09475657e-04 9.99983564e-01 1.86236145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5207140570001 meters Centerline goodness : 0.987820 with order 1 Centerline is valid? [True, True] Translation: X:365.30, Y:-18.23, Z:1.86 [[ 9.99921861e-01 -1.11127633e-02 -5.72517887e-03 3.65299988e+02] [ 1.11146928e-02 9.99938183e-01 3.05323050e-04 -1.82349337e+01] [ 5.72143198e-03 -3.68932797e-04 9.99983564e-01 1.86264901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.580714057 meters Centerline goodness : 0.987224 with order 1 Centerline is valid? [True, True] Translation: X:365.36, Y:-18.23, Z:1.86 [[ 9.99979498e-01 -2.86811733e-03 -5.72515568e-03 3.65360183e+02] [ 2.86991473e-03 9.99995835e-01 3.05757349e-04 -1.82343149e+01] [ 5.72425488e-03 -3.22181789e-04 9.99983564e-01 1.86183835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.640714057 meters Centerline goodness : 0.985363 with order 1 Centerline is valid? [True, True] Translation: X:365.42, Y:-18.23, Z:1.86 [[ 9.99933257e-01 1.00351655e-02 -5.72513690e-03 3.65420164e+02] [-1.00335771e-02 9.99949616e-01 3.06108571e-04 -1.82344541e+01] [ 5.72792029e-03 -2.48644538e-04 9.99983564e-01 1.86388139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.700714057 meters Centerline goodness : 0.984385 with order 1 Centerline is valid? [True, True] Translation: X:365.48, Y:-18.23, Z:1.87 [[ 9.99832567e-01 1.73799016e-02 -5.72514771e-03 3.65478414e+02] [-1.73784345e-02 9.99848937e-01 3.05906164e-04 -1.82343712e+01] [ 5.72959947e-03 -2.06360841e-04 9.99983564e-01 1.86677612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76071405700003 meters Centerline goodness : 0.984314 with order 1 Centerline is valid? [True, True] Translation: X:365.54, Y:-18.24, Z:1.87 [[ 9.99745481e-01 2.18219014e-02 -5.72523487e-03 3.65535849e+02] [-2.18205164e-02 9.99761858e-01 3.04266187e-04 -1.82358823e+01] [ 5.73051112e-03 -1.79261164e-04 9.99983564e-01 1.86892538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82071405700003 meters Centerline goodness : 0.984613 with order 1 Centerline is valid? [True, True] Translation: X:365.59, Y:-18.24, Z:1.87 [[ 9.99695402e-01 2.40067454e-02 -5.72532633e-03 3.65594722e+02] [-2.40054062e-02 9.99711783e-01 3.02535357e-04 -1.82397325e+01] [ 5.73093908e-03 -1.65004422e-04 9.99983564e-01 1.86781623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88071405700003 meters Centerline goodness : 0.984501 with order 1 Centerline is valid? [True, True] Translation: X:365.65, Y:-18.24, Z:1.87 [[ 9.99782188e-01 2.00698184e-02 -5.72534933e-03 3.65652284e+02] [-2.00684171e-02 9.99798563e-01 3.02099495e-04 -1.82447223e+01] [ 5.73025911e-03 -1.87134996e-04 9.99983564e-01 1.86708126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.94071405700004 meters Centerline goodness : 0.988409 with order 1 Centerline is valid? [True, True] Translation: X:365.71, Y:-18.24, Z:1.87 [[ 9.99938211e-01 9.52856565e-03 -5.72537737e-03 3.65711377e+02] [-9.52699486e-03 9.99954572e-01 3.01567010e-04 -1.82409693e+01] [ 5.72799078e-03 -2.47002735e-04 9.99983564e-01 1.87061095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.00071405700004 meters Centerline goodness : 0.991539 with order 1 Centerline is valid? [True, True] Translation: X:365.77, Y:-18.24, Z:1.87 [[ 9.99983475e-01 5.18580105e-04 -5.72542434e-03 3.65769052e+02] [-5.16867074e-04 9.99999821e-01 3.00672690e-04 -1.82376119e+01] [ 5.72557924e-03 -2.97708438e-04 9.99983564e-01 1.87397687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.06071405700004 meters Centerline goodness : 0.991996 with order 1 Centerline is valid? [True, True] Translation: X:365.83, Y:-18.24, Z:1.87 [[ 9.99963205e-01 -6.38814452e-03 -5.72545536e-03 3.65828121e+02] [ 6.38996704e-03 9.99979539e-01 3.00080904e-04 -1.82431152e+01] [ 5.72342125e-03 -3.36655334e-04 9.99983564e-01 1.87493760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.12071405700004 meters Centerline goodness : 0.992040 with order 1 Centerline is valid? [True, True] Translation: X:365.89, Y:-18.25, Z:1.87 [[ 9.99899041e-01 -1.30048834e-02 -5.72547679e-03 3.65887893e+02] [ 1.30068116e-02 9.99915363e-01 2.99671415e-04 -1.82481799e+01] [ 5.72109501e-03 -3.74111358e-04 9.99983564e-01 1.87473652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.18071405700005 meters Centerline goodness : 0.986129 with order 1 Centerline is valid? [True, True] Translation: X:365.95, Y:-18.27, Z:1.87 [[ 9.99966822e-01 -5.79425211e-03 -5.72547151e-03 3.65947930e+02] [ 5.79606316e-03 9.99983158e-01 2.99772258e-04 -1.82682857e+01] [ 5.72363812e-03 -3.32947507e-04 9.99983564e-01 1.86503038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.24071405700005 meters Centerline goodness : 0.992086 with order 1 Centerline is valid? [True, True] Translation: X:366.01, Y:-18.26, Z:1.87 [[ 9.99748888e-01 -2.16652003e-02 -5.72545997e-03 3.66007811e+02] [ 2.16672716e-02 9.99765192e-01 2.99992440e-04 -1.82559677e+01] [ 5.71761619e-03 -4.23972204e-04 9.99983564e-01 1.87387736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.30071405700005 meters Centerline goodness : 0.987818 with order 1 Centerline is valid? [True, True] Translation: X:366.07, Y:-18.27, Z:1.87 [[ 9.99885567e-01 -1.40025665e-02 -5.72546557e-03 3.66069209e+02] [ 1.40045123e-02 9.99901887e-01 2.99885547e-04 -1.82711858e+01] [ 5.72070466e-03 -3.80033583e-04 9.99983564e-01 1.86959196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.36071405700005 meters Centerline goodness : 0.988725 with order 1 Centerline is valid? [True, True] Translation: X:366.13, Y:-18.27, Z:1.87 [[ 9.99893251e-01 -1.34426625e-02 -5.72544312e-03 3.66131203e+02] [ 1.34446015e-02 9.99909572e-01 3.00313617e-04 -1.82715368e+01] [ 5.72088836e-03 -3.77257860e-04 9.99983564e-01 1.86995962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.42071405700005 meters Centerline goodness : 0.988450 with order 1 Centerline is valid? [True, True] Translation: X:366.19, Y:-18.27, Z:1.87 [[ 9.99928902e-01 -1.04599678e-02 -5.72542099e-03 3.66192537e+02] [ 1.04618606e-02 9.99945228e-01 3.00734883e-04 -1.82717627e+01] [ 5.72196172e-03 -3.60612058e-04 9.99983564e-01 1.87071917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.48071405700006 meters Centerline goodness : 0.988463 with order 1 Centerline is valid? [True, True] Translation: X:366.25, Y:-18.27, Z:1.87 [[ 9.99972400e-01 -4.73488680e-03 -5.72540455e-03 3.66253362e+02] [ 4.73668782e-03 9.99988737e-01 3.01047476e-04 -1.82708218e+01] [ 5.72391464e-03 -3.28158621e-04 9.99983564e-01 1.87239953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.54071405700006 meters Centerline goodness : 0.991175 with order 1 Centerline is valid? [True, True] Translation: X:366.31, Y:-18.26, Z:1.88 [[ 9.99971214e-01 -4.97911853e-03 -5.72539920e-03 3.66314016e+02] [ 4.98092412e-03 9.99987550e-01 3.01149267e-04 -1.82593945e+01] [ 5.72382846e-03 -3.29658377e-04 9.99983564e-01 1.87849731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.60071405700006 meters Centerline goodness : 0.987452 with order 1 Centerline is valid? [True, True] Translation: X:366.37, Y:-18.27, Z:1.87 [[ 9.99941801e-01 9.14407345e-03 -5.72540978e-03 3.66373442e+02] [-9.14249990e-03 9.99958161e-01 3.00947918e-04 -1.82725937e+01] [ 5.72792213e-03 -2.48585845e-04 9.99983564e-01 1.87292999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.66071405700006 meters Centerline goodness : 0.987360 with order 1 Centerline is valid? [True, True] Translation: X:366.43, Y:-18.28, Z:1.87 [[ 9.99896699e-01 1.31837106e-02 -5.72542129e-03 3.66431383e+02] [-1.31822044e-02 9.99913066e-01 3.00728917e-04 -1.82755774e+01] [ 5.72888827e-03 -2.25224178e-04 9.99983564e-01 1.87007834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.72071405700007 meters Centerline goodness : 0.986971 with order 1 Centerline is valid? [True, True] Translation: X:366.49, Y:-18.28, Z:1.87 [[ 9.99848378e-01 1.64450257e-02 -5.72551236e-03 3.66489200e+02] [-1.64435829e-02 9.99864750e-01 2.98984771e-04 -1.82783573e+01] [ 5.72965480e-03 -2.04791501e-04 9.99983564e-01 1.86886278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.78071405700007 meters Centerline goodness : 0.988072 with order 1 Centerline is valid? [True, True] Translation: X:366.55, Y:-18.28, Z:1.87 [[ 9.99827480e-01 1.76699602e-02 -5.72560210e-03 3.66548384e+02] [-1.76685473e-02 9.99843855e-01 2.97256353e-04 -1.82805141e+01] [ 5.72996058e-03 -1.96041998e-04 9.99983564e-01 1.87228509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.84071405700007 meters Centerline goodness : 0.987347 with order 1 Centerline is valid? [True, True] Translation: X:366.61, Y:-18.28, Z:1.87 [[ 9.99774394e-01 2.04542869e-02 -5.72562439e-03 3.66606456e+02] [-2.04529221e-02 9.99790773e-01 2.96826336e-04 -1.82832758e+01] [ 5.73049781e-03 -1.79653621e-04 9.99983564e-01 1.87327386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9007140570001 meters Centerline goodness : 0.989178 with order 1 Centerline is valid? [True, True] Translation: X:366.66, Y:-18.28, Z:1.88 [[ 9.99774997e-01 2.04248112e-02 -5.72565743e-03 3.66664090e+02] [-2.04234496e-02 9.99791376e-01 2.96187625e-04 -1.82847328e+01] [ 5.73051250e-03 -1.79183306e-04 9.99983564e-01 1.87642746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9607140570001 meters Centerline goodness : 0.987840 with order 1 Centerline is valid? [True, True] Translation: X:366.72, Y:-18.29, Z:1.87 [[ 9.99705184e-01 2.35958122e-02 -5.72568452e-03 3.66721181e+02] [-2.35945055e-02 9.99721567e-01 2.95663081e-04 -1.82904925e+01] [ 5.73106671e-03 -1.60481219e-04 9.99983564e-01 1.87442006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0207140570001 meters Centerline goodness : 0.991170 with order 1 Centerline is valid? [True, True] Translation: X:366.78, Y:-18.28, Z:1.88 [[ 9.99888936e-01 1.37598096e-02 -5.72572079e-03 3.66780112e+02] [-1.37583459e-02 9.99905306e-01 2.94958937e-04 -1.82832051e+01] [ 5.72923718e-03 -2.16149731e-04 9.99983564e-01 1.88040019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.080714057 meters Centerline goodness : 0.991386 with order 1 Centerline is valid? [True, True] Translation: X:366.84, Y:-18.29, Z:1.88 [[ 9.99931248e-01 1.02330508e-02 -5.72574161e-03 3.66837828e+02] [-1.02315316e-02 9.99947613e-01 2.94554233e-04 -1.82890997e+01] [ 5.72845585e-03 -2.35950876e-04 9.99983564e-01 1.87972196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.140714057 meters Centerline goodness : 0.990068 with order 1 Centerline is valid? [True, True] Translation: X:366.90, Y:-18.30, Z:1.88 [[ 9.99947452e-01 8.50343401e-03 -5.72577258e-03 3.66896007e+02] [-8.50188997e-03 9.99963815e-01 2.93950969e-04 -1.82991664e+01] [ 5.72806499e-03 -2.45255634e-04 9.99983564e-01 1.87964518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.200714057 meters Centerline goodness : 0.991434 with order 1 Centerline is valid? [True, True] Translation: X:366.95, Y:-18.30, Z:1.88 [[ 9.99970928e-01 5.03572331e-03 -5.72578968e-03 3.66954247e+02] [-5.03412445e-03 9.99987286e-01 2.93617455e-04 -1.82987923e+01] [ 5.72719546e-03 -2.64784581e-04 9.99983564e-01 1.88175566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26071405700003 meters Centerline goodness : 0.989274 with order 1 Centerline is valid? [True, True] Translation: X:367.01, Y:-18.31, Z:1.88 [[ 9.99961751e-01 6.61147089e-03 -5.72581815e-03 3.67012949e+02] [-6.60990098e-03 9.99978111e-01 2.93061215e-04 -1.83063172e+01] [ 5.72763039e-03 -2.55202914e-04 9.99983564e-01 1.88263404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32071405700003 meters Centerline goodness : 0.991675 with order 1 Centerline is valid? [True, True] Translation: X:367.07, Y:-18.31, Z:1.88 [[ 9.99976883e-01 3.66728919e-03 -5.72583731e-03 3.67070223e+02] [-3.66567326e-03 9.99993239e-01 2.92686381e-04 -1.83113395e+01] [ 5.72687197e-03 -2.71690566e-04 9.99983564e-01 1.87950392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38071405700003 meters Centerline goodness : 0.988911 with order 1 Centerline is valid? [True, True] Translation: X:367.13, Y:-18.32, Z:1.88 [[ 9.99925024e-01 1.08240791e-02 -5.72586920e-03 3.67127857e+02] [-1.08225838e-02 9.99941391e-01 2.92061175e-04 -1.83248787e+01] [ 5.72869491e-03 -2.30070578e-04 9.99983564e-01 1.87980273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.44071405700004 meters Centerline goodness : 0.987311 with order 1 Centerline is valid? [True, True] Translation: X:367.19, Y:-18.33, Z:1.87 [[ 9.99818971e-01 1.81449150e-02 -5.72594382e-03 3.67186525e+02] [-1.81435481e-02 9.99835350e-01 2.90590991e-04 -1.83320769e+01] [ 5.73027379e-03 -1.86649449e-04 9.99983564e-01 1.87446144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.50071405700004 meters Centerline goodness : 0.991925 with order 1 Centerline is valid? [True, True] Translation: X:367.24, Y:-18.32, Z:1.88 [[ 9.99921147e-01 1.11764372e-02 -5.72602040e-03 3.67244372e+02] [-1.11749648e-02 9.99937516e-01 2.89074027e-04 -1.83233166e+01] [ 5.72889343e-03 -2.25063156e-04 9.99983564e-01 1.87918151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.56071405700004 meters Centerline goodness : 0.987267 with order 1 Centerline is valid? [True, True] Translation: X:367.30, Y:-18.34, Z:1.87 [[ 9.99749165e-01 2.16522511e-02 -5.72605483e-03 3.67301365e+02] [-2.16509542e-02 9.99765549e-01 2.88390478e-04 -1.83419044e+01] [ 5.73095665e-03 -1.64343588e-04 9.99983564e-01 1.87181218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.62071405700004 meters Centerline goodness : 0.992603 with order 1 Centerline is valid? [True, True] Translation: X:367.36, Y:-18.33, Z:1.88 [[ 9.99973501e-01 4.49534691e-03 -5.72614192e-03 3.67359501e+02] [-4.49377902e-03 9.99989862e-01 2.86650737e-04 -1.83295958e+01] [ 5.72737246e-03 -2.60911124e-04 9.99983564e-01 1.87941688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.68071405700005 meters Centerline goodness : 0.990603 with order 1 Centerline is valid? [True, True] Translation: X:367.42, Y:-18.34, Z:1.88 [[ 9.99981774e-01 -1.91373609e-03 -5.72616823e-03 3.67418086e+02] [ 1.91540580e-03 9.99998125e-01 2.86124164e-04 -1.83359452e+01] [ 5.72560992e-03 -2.97086885e-04 9.99983564e-01 1.87834298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.74071405700005 meters Centerline goodness : 0.993076 with order 1 Centerline is valid? [True, True] Translation: X:367.48, Y:-18.34, Z:1.88 [[ 9.99920265e-01 -1.12549404e-02 -5.72619318e-03 3.67476522e+02] [ 1.12567600e-02 9.99936600e-01 2.85623956e-04 -1.83374153e+01] [ 5.72261546e-03 -3.50059564e-04 9.99983564e-01 1.87861921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.80071405700005 meters Centerline goodness : 0.991349 with order 1 Centerline is valid? [True, True] Translation: X:367.54, Y:-18.34, Z:1.88 [[ 9.99831576e-01 -1.74364564e-02 -5.72620585e-03 3.67538406e+02] [ 1.74383754e-02 9.99847899e-01 2.85369656e-04 -1.83411219e+01] [ 5.72035906e-03 -3.85177320e-04 9.99983564e-01 1.87829178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.86071405700005 meters Centerline goodness : 0.990678 with order 1 Centerline is valid? [True, True] Translation: X:367.60, Y:-18.34, Z:1.88 [[ 9.99615698e-01 -2.71231889e-02 -5.72612437e-03 3.67600736e+02] [ 2.71252752e-02 9.99632001e-01 2.86995379e-04 -1.83386469e+01] [ 5.71623293e-03 -4.42207785e-04 9.99983564e-01 1.87727656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.92071405700005 meters Centerline goodness : 0.994044 with order 1 Centerline is valid? [True, True] Translation: X:367.66, Y:-18.35, Z:1.88 [[ 9.99728922e-01 -2.25675698e-02 -5.72609266e-03 3.67662002e+02] [ 2.25695854e-02 9.99745233e-01 2.87626697e-04 -1.83485254e+01] [ 5.71814281e-03 -4.16784265e-04 9.99983564e-01 1.87940238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.98071405700006 meters Centerline goodness : 0.990562 with order 1 Centerline is valid? [True, True] Translation: X:367.72, Y:-18.36, Z:1.88 [[ 9.99928150e-01 -1.05312605e-02 -5.72606722e-03 3.67723445e+02] [ 1.05330825e-02 9.99944484e-01 2.88132354e-04 -1.83622230e+01] [ 5.72271493e-03 -3.48424790e-04 9.99983564e-01 1.87636961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.04071405700006 meters Centerline goodness : 0.992600 with order 1 Centerline is valid? [True, True] Translation: X:367.78, Y:-18.35, Z:1.88 [[ 9.99833657e-01 -1.73167798e-02 -5.72604582e-03 3.67784962e+02] [ 1.73187151e-02 9.99849978e-01 2.88556879e-04 -1.83506889e+01] [ 5.72018991e-03 -3.87676636e-04 9.99983564e-01 1.88227333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.10071405700006 meters Centerline goodness : 0.990380 with order 1 Centerline is valid? [True, True] Translation: X:367.85, Y:-18.36, Z:1.88 [[ 9.99961762e-01 -6.60959531e-03 -5.72603027e-03 3.67846774e+02] [ 6.61135744e-03 9.99978103e-01 2.88865110e-04 -1.83588556e+01] [ 5.72399561e-03 -3.26710897e-04 9.99983564e-01 1.88266269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.16071405700006 meters Centerline goodness : 0.990012 with order 1 Centerline is valid? [True, True] Translation: X:367.91, Y:-18.36, Z:1.88 [[ 9.99973389e-01 -4.52034232e-03 -5.72600930e-03 3.67906945e+02] [ 4.52207267e-03 9.99989734e-01 2.89280228e-04 -1.83602703e+01] [ 5.72464287e-03 -3.15165960e-04 9.99983564e-01 1.88242705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.22071405700007 meters Centerline goodness : 0.991869 with order 1 Centerline is valid? [True, True] Translation: X:367.97, Y:-18.36, Z:1.88 [[ 9.99953801e-01 -7.72066623e-03 -5.72600930e-03 3.67966882e+02] [ 7.72244888e-03 9.99970140e-01 2.89280228e-04 -1.83582025e+01] [ 5.72360488e-03 -3.33485678e-04 9.99983564e-01 1.88305640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.28071405700007 meters Centerline goodness : 0.991164 with order 1 Centerline is valid? [True, True] Translation: X:368.03, Y:-18.36, Z:1.88 [[ 9.99914399e-01 -1.17647071e-02 -5.72601443e-03 3.68027733e+02] [ 1.17665552e-02 9.99930730e-01 2.89178674e-04 -1.83613421e+01] [ 5.72221569e-03 -3.56529385e-04 9.99983564e-01 1.88341648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.34071405700007 meters Centerline goodness : 0.990734 with order 1 Centerline is valid? [True, True] Translation: X:368.09, Y:-18.36, Z:1.89 [[ 9.99936266e-01 -9.73022136e-03 -5.72600416e-03 3.68090084e+02] [ 9.73203742e-03 9.99952601e-01 2.89381862e-04 -1.83633628e+01] [ 5.72291700e-03 -3.45089105e-04 9.99983564e-01 1.88635062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4007140570001 meters Centerline goodness : 0.991247 with order 1 Centerline is valid? [True, True] Translation: X:368.15, Y:-18.36, Z:1.88 [[ 9.99859343e-01 -1.57641348e-02 -5.72598286e-03 3.68151087e+02] [ 1.57660518e-02 9.99875666e-01 2.89802807e-04 -1.83648377e+01] [ 5.72070243e-03 -3.80038186e-04 9.99983564e-01 1.88272178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4607140570001 meters Centerline goodness : 0.990639 with order 1 Centerline is valid? [True, True] Translation: X:368.21, Y:-18.37, Z:1.88 [[ 9.99838639e-01 -1.70267360e-02 -5.72591464e-03 3.68213113e+02] [ 1.70286813e-02 9.99854959e-01 2.91144407e-04 -1.83677198e+01] [ 5.72012691e-03 -3.88602203e-04 9.99983564e-01 1.88423856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5207140570001 meters Centerline goodness : 0.991587 with order 1 Centerline is valid? [True, True] Translation: X:368.27, Y:-18.37, Z:1.88 [[ 9.99772945e-01 -2.05249447e-02 -5.72589283e-03 3.68274946e+02] [ 2.05269495e-02 9.99789257e-01 2.91572698e-04 -1.83709822e+01] [ 5.71870163e-03 -4.09041608e-04 9.99983564e-01 1.88419617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.580714057 meters Centerline goodness : 0.990930 with order 1 Centerline is valid? [True, True] Translation: X:368.34, Y:-18.38, Z:1.88 [[ 9.99848684e-01 -1.64263131e-02 -5.72586583e-03 3.68337139e+02] [ 1.64282540e-02 9.99865004e-01 2.92102037e-04 -1.83777449e+01] [ 5.72029470e-03 -3.86123816e-04 9.99983564e-01 1.87872346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.640714057 meters Centerline goodness : 0.991030 with order 1 Centerline is valid? [True, True] Translation: X:368.40, Y:-18.38, Z:1.89 [[ 9.99884919e-01 -1.40486426e-02 -5.72584510e-03 3.68399563e+02] [ 1.40505470e-02 9.99901243e-01 2.92507766e-04 -1.83761811e+01] [ 5.72117030e-03 -3.72925359e-04 9.99983564e-01 1.88623616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.700714057 meters Centerline goodness : 0.991231 with order 1 Centerline is valid? [True, True] Translation: X:368.46, Y:-18.38, Z:1.89 [[ 9.99913015e-01 -1.18818095e-02 -5.72582387e-03 3.68461962e+02] [ 1.18836809e-02 9.99929344e-01 2.92922648e-04 -1.83782538e+01] [ 5.72193886e-03 -3.60941032e-04 9.99983564e-01 1.88691811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76071405700003 meters Centerline goodness : 0.991567 with order 1 Centerline is valid? [True, True] Translation: X:368.52, Y:-18.38, Z:1.88 [[ 9.99869554e-01 -1.51026533e-02 -5.72580272e-03 3.68522874e+02] [ 1.51045796e-02 9.99885876e-01 2.93335594e-04 -1.83798896e+01] [ 5.72071912e-03 -3.79783173e-04 9.99983564e-01 1.88479831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82071405700003 meters Centerline goodness : 0.991097 with order 1 Centerline is valid? [True, True] Translation: X:368.59, Y:-18.38, Z:1.89 [[ 9.99882147e-01 -1.42445942e-02 -5.72578701e-03 3.68585310e+02] [ 1.42465082e-02 9.99898470e-01 2.93641983e-04 -1.83810146e+01] [ 5.72102286e-03 -3.75179848e-04 9.99983564e-01 1.88519865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88071405700003 meters Centerline goodness : 0.989651 with order 1 Centerline is valid? [True, True] Translation: X:368.65, Y:-18.38, Z:1.88 [[ 9.99899130e-01 -1.29978668e-02 -5.72576609e-03 3.68647495e+02] [ 1.29997629e-02 9.99915456e-01 2.94049359e-04 -1.83820255e+01] [ 5.72145999e-03 -3.68453300e-04 9.99983564e-01 1.88487916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.94071405700004 meters Centerline goodness : 0.990746 with order 1 Centerline is valid? [True, True] Translation: X:368.71, Y:-18.38, Z:1.89 [[ 9.99938464e-01 -9.50184411e-03 -5.72574515e-03 3.68709230e+02] [ 9.50368540e-03 9.99954796e-01 2.94456521e-04 -1.83834432e+01] [ 5.72268844e-03 -3.48854082e-04 9.99983564e-01 1.88819890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.00071405700004 meters Centerline goodness : 0.989928 with order 1 Centerline is valid? [True, True] Translation: X:368.77, Y:-18.39, Z:1.88 [[ 9.99851509e-01 -1.62534793e-02 -5.72572314e-03 3.68770027e+02] [ 1.62554332e-02 9.99867828e-01 2.94883814e-04 -1.83855812e+01] [ 5.72017347e-03 -3.87914137e-04 9.99983564e-01 1.88451964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.06071405700004 meters Centerline goodness : 0.989536 with order 1 Centerline is valid? [True, True] Translation: X:368.83, Y:-18.39, Z:1.89 [[ 9.99880919e-01 -1.43305503e-02 -5.72571236e-03 3.68832060e+02] [ 1.43324740e-02 9.99897241e-01 2.95092967e-04 -1.83906337e+01] [ 5.72089515e-03 -3.77121451e-04 9.99983564e-01 1.88540522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.12071405700004 meters Centerline goodness : 0.989617 with order 1 Centerline is valid? [True, True] Translation: X:368.90, Y:-18.39, Z:1.89 [[ 9.99743845e-01 -2.18966000e-02 -5.72569094e-03 3.68895208e+02] [ 2.18986496e-02 9.99760152e-01 2.95508062e-04 -1.83931308e+01] [ 5.71784702e-03 -4.20817265e-04 9.99983564e-01 1.88694527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.18071405700005 meters Centerline goodness : 0.990506 with order 1 Centerline is valid? [True, True] Translation: X:368.96, Y:-18.40, Z:1.89 [[ 9.99723801e-01 -2.27933866e-02 -5.72560553e-03 3.68957249e+02] [ 2.27954601e-02 9.99740106e-01 2.97153751e-04 -1.83960072e+01] [ 5.71734433e-03 -4.27589490e-04 9.99983564e-01 1.88786539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.24071405700005 meters Centerline goodness : 0.989892 with order 1 Centerline is valid? [True, True] Translation: X:369.02, Y:-18.40, Z:1.89 [[ 9.99737091e-01 -2.22028575e-02 -5.72557901e-03 3.69019902e+02] [ 2.22049244e-02 9.99753396e-01 2.97663831e-04 -1.83989877e+01] [ 5.71755807e-03 -4.24721622e-04 9.99983564e-01 1.88793808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.30071405700005 meters Centerline goodness : 0.989479 with order 1 Centerline is valid? [True, True] Translation: X:369.08, Y:-18.40, Z:1.89 [[ 9.99763863e-01 -2.09627604e-02 -5.72554719e-03 3.69081655e+02] [ 2.09648105e-02 9.99780170e-01 2.98274660e-04 -1.84003336e+01] [ 5.71803588e-03 -4.18239238e-04 9.99983564e-01 1.88876368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.36071405700005 meters Centerline goodness : 0.988312 with order 1 Centerline is valid? [True, True] Translation: X:369.14, Y:-18.40, Z:1.89 [[ 9.99749852e-01 -2.16206134e-02 -5.72552497e-03 3.69142519e+02] [ 2.16226767e-02 9.99766158e-01 2.98700538e-04 -1.84032275e+01] [ 5.71772801e-03 -4.22426994e-04 9.99983564e-01 1.88717988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.42071405700005 meters Centerline goodness : 0.986873 with order 1 Centerline is valid? [True, True] Translation: X:369.20, Y:-18.41, Z:1.88 [[ 9.99837811e-01 -1.70754456e-02 -5.72550841e-03 3.69203774e+02] [ 1.70774365e-02 9.99854125e-01 2.99017544e-04 -1.84112800e+01] [ 5.71956735e-03 -3.96746053e-04 9.99983564e-01 1.88077115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.48071405700006 meters Centerline goodness : 0.991771 with order 1 Centerline is valid? [True, True] Translation: X:369.26, Y:-18.40, Z:1.89 [[ 9.99576330e-01 -2.85373184e-02 -5.72549244e-03 3.69264926e+02] [ 2.85394980e-02 9.99592621e-01 2.99323050e-04 -1.83989454e+01] [ 5.71461812e-03 -4.62598916e-04 9.99983564e-01 1.89098258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.54071405700006 meters Centerline goodness : 0.991799 with order 1 Centerline is valid? [True, True] Translation: X:369.33, Y:-18.40, Z:1.89 [[ 9.99652755e-01 -2.57213489e-02 -5.72548211e-03 3.69325526e+02] [ 2.57234837e-02 9.99669052e-01 2.99520557e-04 -1.84017577e+01] [ 5.71588320e-03 -4.46695896e-04 9.99983564e-01 1.89025681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.60071405700006 meters Centerline goodness : 0.992321 with order 1 Centerline is valid? [True, True] Translation: X:369.39, Y:-18.41, Z:1.89 [[ 9.99668934e-01 -2.50847019e-02 -5.72546611e-03 3.69388722e+02] [ 2.50868281e-02 9.99685231e-01 2.99826096e-04 -1.84050561e+01] [ 5.71614286e-03 -4.43360618e-04 9.99983564e-01 1.89357236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.66071405700006 meters Centerline goodness : 0.991724 with order 1 Centerline is valid? [True, True] Translation: X:369.45, Y:-18.41, Z:1.89 [[ 9.99597005e-01 -2.78037265e-02 -5.72543334e-03 3.69450475e+02] [ 2.78059006e-02 9.99613296e-01 3.00450483e-04 -1.84101941e+01] [ 5.71486565e-03 -4.59530233e-04 9.99983564e-01 1.89440245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.72071405700007 meters Centerline goodness : 0.987369 with order 1 Centerline is valid? [True, True] Translation: X:369.51, Y:-18.43, Z:1.88 [[ 9.99852601e-01 -1.61862937e-02 -5.72541238e-03 3.69511678e+02] [ 1.61882806e-02 9.99868916e-01 3.00849534e-04 -1.84283032e+01] [ 5.71979223e-03 -3.93489771e-04 9.99983564e-01 1.88480015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.78071405700007 meters Centerline goodness : 0.988788 with order 1 Centerline is valid? [True, True] Translation: X:369.57, Y:-18.43, Z:1.89 [[ 9.99776668e-01 -2.03429316e-02 -5.72538942e-03 3.69574947e+02] [ 2.03449887e-02 9.99792974e-01 3.01285747e-04 -1.84299532e+01] [ 5.71807508e-03 -4.17701443e-04 9.99983564e-01 1.88702895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.84071405700007 meters Centerline goodness : 0.988738 with order 1 Centerline is valid? [True, True] Translation: X:369.64, Y:-18.44, Z:1.89 [[ 9.99720751e-01 -2.29268317e-02 -5.72535519e-03 3.69638173e+02] [ 2.29289347e-02 9.99737052e-01 3.01934809e-04 -1.84355895e+01] [ 5.71692731e-03 -4.33126790e-04 9.99983564e-01 1.88800697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9007140570001 meters Centerline goodness : 0.989253 with order 1 Centerline is valid? [True, True] Translation: X:369.70, Y:-18.44, Z:1.89 [[ 9.99676639e-01 -2.47757712e-02 -5.72532059e-03 3.69699824e+02] [ 2.47779080e-02 9.99692935e-01 3.02589539e-04 -1.84395646e+01] [ 5.71606565e-03 -4.44353160e-04 9.99983564e-01 1.88875436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9607140570001 meters Centerline goodness : 0.989658 with order 1 Centerline is valid? [True, True] Translation: X:369.76, Y:-18.44, Z:1.89 [[ 9.99683819e-01 -2.44843433e-02 -5.72529210e-03 3.69762962e+02] [ 2.44864784e-02 9.99700115e-01 3.03127648e-04 -1.84431677e+01] [ 5.71615329e-03 -4.43224046e-04 9.99983564e-01 1.88947568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0207140570001 meters Centerline goodness : 0.989229 with order 1 Centerline is valid? [True, True] Translation: X:369.82, Y:-18.45, Z:1.89 [[ 9.99651976e-01 -2.57516622e-02 -5.72525714e-03 3.69824072e+02] [ 2.57538218e-02 9.99668269e-01 3.03786500e-04 -1.84472266e+01] [ 5.71553489e-03 -4.51128027e-04 9.99983564e-01 1.89094062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.080714057 meters Centerline goodness : 0.989343 with order 1 Centerline is valid? [True, True] Translation: X:369.89, Y:-18.45, Z:1.89 [[ 9.99658590e-01 -2.54936318e-02 -5.72521228e-03 3.69885692e+02] [ 2.54957920e-02 9.99674883e-01 3.04629604e-04 -1.84514518e+01] [ 5.71558480e-03 -4.50494422e-04 9.99983564e-01 1.89317716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.140714057 meters Centerline goodness : 0.989817 with order 1 Centerline is valid? [True, True] Translation: X:369.95, Y:-18.46, Z:1.89 [[ 9.99674398e-01 -2.48660583e-02 -5.72519062e-03 3.69947637e+02] [ 2.48682106e-02 9.99690692e-01 3.05036173e-04 -1.84559725e+01] [ 5.71583472e-03 -4.47312099e-04 9.99983564e-01 1.89418431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.200714057 meters Centerline goodness : 0.989360 with order 1 Centerline is valid? [True, True] Translation: X:370.01, Y:-18.46, Z:1.90 [[ 9.99726119e-01 -2.26916247e-02 -5.72516900e-03 3.70010171e+02] [ 2.26937438e-02 9.99742417e-01 3.05441305e-04 -1.84596324e+01] [ 5.71676334e-03 -4.35283169e-04 9.99983564e-01 1.89701605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26071405700003 meters Centerline goodness : 0.989166 with order 1 Centerline is valid? [True, True] Translation: X:370.07, Y:-18.46, Z:1.90 [[ 9.99798818e-01 -1.92236091e-02 -5.72514001e-03 3.70071936e+02] [ 1.92256748e-02 9.99815123e-01 3.05983861e-04 -1.84643981e+01] [ 5.71819944e-03 -4.15991982e-04 9.99983564e-01 1.89507697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32071405700003 meters Centerline goodness : 0.989040 with order 1 Centerline is valid? [True, True] Translation: X:370.13, Y:-18.47, Z:1.89 [[ 9.99850674e-01 -1.63049774e-02 -5.72511680e-03 3.70133941e+02] [ 1.63069979e-02 9.99866985e-01 3.06417529e-04 -1.84693066e+01] [ 5.71935914e-03 -3.99731240e-04 9.99983564e-01 1.89303177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38071405700003 meters Centerline goodness : 0.988318 with order 1 Centerline is valid? [True, True] Translation: X:370.20, Y:-18.47, Z:1.89 [[ 9.99864931e-01 -1.54059550e-02 -5.72509362e-03 3.70196467e+02] [ 1.54079633e-02 9.99881243e-01 3.06849944e-04 -1.84740308e+01] [ 5.71968641e-03 -3.95020531e-04 9.99983564e-01 1.89048023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.44071405700004 meters Centerline goodness : 0.988985 with order 1 Centerline is valid? [True, True] Translation: X:370.26, Y:-18.48, Z:1.89 [[ 9.99816517e-01 -1.82799496e-02 -5.72507051e-03 3.70258713e+02] [ 1.82820072e-02 9.99832823e-01 3.07280445e-04 -1.84770531e+01] [ 5.71849634e-03 -4.11889845e-04 9.99983564e-01 1.89245210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.50071405700004 meters Centerline goodness : 0.988881 with order 1 Centerline is valid? [True, True] Translation: X:370.32, Y:-18.48, Z:1.89 [[ 9.99789000e-01 -1.97276161e-02 -5.72504712e-03 3.70320337e+02] [ 1.97296999e-02 9.99805303e-01 3.07715754e-04 -1.84808470e+01] [ 5.71786197e-03 -4.20604287e-04 9.99983564e-01 1.89355146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.56071405700004 meters Centerline goodness : 0.993432 with order 1 Centerline is valid? [True, True] Translation: X:370.38, Y:-18.47, Z:1.90 [[ 9.99510733e-01 -3.07492896e-02 -5.72502372e-03 3.70381888e+02] [ 3.07515555e-02 9.99527012e-01 3.08150430e-04 -1.84734356e+01] [ 5.71284044e-03 -4.84053047e-04 9.99983564e-01 1.90005262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.62071405700004 meters Centerline goodness : 0.990392 with order 1 Centerline is valid? [True, True] Translation: X:370.44, Y:-18.49, Z:1.90 [[ 9.99607145e-01 -2.74368497e-02 -5.72494885e-03 3.70443172e+02] [ 2.74390695e-02 9.99623430e-01 3.09535065e-04 -1.84905543e+01] [ 5.71430034e-03 -4.66500731e-04 9.99983564e-01 1.89600646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.68071405700005 meters Centerline goodness : 0.990948 with order 1 Centerline is valid? [True, True] Translation: X:370.50, Y:-18.50, Z:1.90 [[ 9.99395208e-01 -3.42993240e-02 -5.72492499e-03 3.70503750e+02] [ 3.43016580e-02 9.99411477e-01 3.09975878e-04 -1.84957462e+01] [ 5.71092377e-03 -5.06162826e-04 9.99983564e-01 1.89531211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.74071405700005 meters Centerline goodness : 0.991052 with order 1 Centerline is valid? [True, True] Translation: X:370.57, Y:-18.50, Z:1.90 [[ 9.99249433e-01 -3.83118381e-02 -5.72487886e-03 3.70565475e+02] [ 3.83142422e-02 9.99265692e-01 3.10825377e-04 -1.85021418e+01] [ 5.70876675e-03 -5.29936477e-04 9.99983564e-01 1.89523429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.80071405700005 meters Centerline goodness : 0.992334 with order 1 Centerline is valid? [True, True] Translation: X:370.63, Y:-18.51, Z:1.90 [[ 9.99192596e-01 -3.97665914e-02 -5.72485636e-03 3.70627024e+02] [ 3.97690215e-02 9.99208851e-01 3.11239265e-04 -1.85087130e+01] [ 5.70795022e-03 -5.38659905e-04 9.99983564e-01 1.89594701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.86071405700005 meters Centerline goodness : 0.992732 with order 1 Centerline is valid? [True, True] Translation: X:370.69, Y:-18.51, Z:1.89 [[ 9.99295613e-01 -3.70877873e-02 -5.72483261e-03 3.70687761e+02] [ 3.70901763e-02 9.99311874e-01 3.11675580e-04 -1.85146561e+01] [ 5.70933385e-03 -5.23791091e-04 9.99983564e-01 1.89332603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.92071405700005 meters Centerline goodness : 0.992057 with order 1 Centerline is valid? [True, True] Translation: X:370.75, Y:-18.52, Z:1.90 [[ 9.99324058e-01 -3.63132755e-02 -5.72481507e-03 3.70749531e+02] [ 3.63156538e-02 9.99340320e-01 3.11997399e-04 -1.85191885e+01] [ 5.70970888e-03 -5.19686909e-04 9.99983564e-01 1.89721127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.98071405700006 meters Centerline goodness : 0.991383 with order 1 Centerline is valid? [True, True] Translation: X:370.81, Y:-18.53, Z:1.89 [[ 9.99602680e-01 -2.75990907e-02 -5.72479081e-03 3.70810726e+02] [ 2.76013297e-02 9.99618962e-01 3.12441925e-04 -1.85294541e+01] [ 5.71398633e-03 -4.70329623e-04 9.99983564e-01 1.89183309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.04071405700006 meters Centerline goodness : 0.992359 with order 1 Centerline is valid? [True, True] Translation: X:370.87, Y:-18.53, Z:1.90 [[ 9.99435832e-01 -3.30944954e-02 -5.72477287e-03 3.70873205e+02] [ 3.30968257e-02 9.99452101e-01 3.12770323e-04 -1.85313069e+01] [ 5.71128529e-03 -5.02065678e-04 9.99983564e-01 1.89786760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.10071405700006 meters Centerline goodness : 0.991497 with order 1 Centerline is valid? [True, True] Translation: X:370.94, Y:-18.54, Z:1.90 [[ 9.99447352e-01 -3.27447507e-02 -5.72475080e-03 3.70935128e+02] [ 3.27470776e-02 9.99463622e-01 3.13173623e-04 -1.85395141e+01] [ 5.71142538e-03 -5.00469407e-04 9.99983564e-01 1.89692785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.16071405700006 meters Centerline goodness : 0.991716 with order 1 Centerline is valid? [True, True] Translation: X:371.00, Y:-18.55, Z:1.90 [[ 9.99384672e-01 -3.46049862e-02 -5.72472714e-03 3.70996636e+02] [ 3.46073458e-02 9.99400937e-01 3.13605579e-04 -1.85453904e+01] [ 5.71044535e-03 -5.11530220e-04 9.99983564e-01 1.89772350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.22071405700007 meters Centerline goodness : 0.991659 with order 1 Centerline is valid? [True, True] Translation: X:371.06, Y:-18.55, Z:1.90 [[ 9.99328921e-01 -3.61792055e-02 -5.72470317e-03 3.71058797e+02] [ 3.61815932e-02 9.99345182e-01 3.14042520e-04 -1.85497665e+01] [ 5.70959273e-03 -5.20960654e-04 9.99983564e-01 1.90065061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.28071405700007 meters Centerline goodness : 0.990963 with order 1 Centerline is valid? [True, True] Translation: X:371.12, Y:-18.55, Z:1.91 [[ 9.99453102e-01 -3.25687862e-02 -5.72467917e-03 3.71120597e+02] [ 3.25711177e-02 9.99469371e-01 3.14479459e-04 -1.85525732e+01] [ 5.71139927e-03 -5.00766670e-04 9.99983564e-01 1.90578900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.34071405700007 meters Centerline goodness : 0.992077 with order 1 Centerline is valid? [True, True] Translation: X:371.18, Y:-18.55, Z:1.91 [[ 9.99544649e-01 -2.96263976e-02 -5.72465514e-03 3.71181405e+02] [ 2.96286836e-02 9.99560925e-01 3.14916201e-04 -1.85548909e+01] [ 5.71281176e-03 -4.84386800e-04 9.99983564e-01 1.90609607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4007140570001 meters Centerline goodness : 0.992390 with order 1 Centerline is valid? [True, True] Translation: X:371.24, Y:-18.56, Z:1.91 [[ 9.99854237e-01 -1.60851961e-02 -5.72463736e-03 3.71243081e+02] [ 1.60872633e-02 9.99870542e-01 3.15239219e-04 -1.85569577e+01] [ 5.71882557e-03 -4.07287017e-04 9.99983564e-01 1.90785181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4607140570001 meters Centerline goodness : 0.992071 with order 1 Centerline is valid? [True, True] Translation: X:371.30, Y:-18.56, Z:1.91 [[ 9.99950668e-01 -8.11732462e-03 -5.72459915e-03 3.71304388e+02] [ 8.11926578e-03 9.99966988e-01 3.15931538e-04 -1.85581554e+01] [ 5.72184565e-03 -3.62395494e-04 9.99983564e-01 1.90781303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5207140570001 meters Centerline goodness : 0.991492 with order 1 Centerline is valid? [True, True] Translation: X:371.37, Y:-18.56, Z:1.91 [[ 9.99983161e-01 -9.51793228e-04 -5.72458156e-03 3.71366028e+02] [ 9.53619204e-04 9.99999495e-01 3.16249977e-04 -1.85595408e+01] [ 5.72427766e-03 -3.21703722e-04 9.99983564e-01 1.91025001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.580714057 meters Centerline goodness : 0.991475 with order 1 Centerline is valid? [True, True] Translation: X:371.42, Y:-18.56, Z:1.91 [[ 9.99978769e-01 3.11315574e-03 -5.72456953e-03 3.71423494e+02] [-3.11139493e-03 9.99995110e-01 3.16467567e-04 -1.85627631e+01] [ 5.72552674e-03 -2.98649451e-04 9.99983564e-01 1.90919550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.640714057 meters Centerline goodness : 0.990477 with order 1 Centerline is valid? [True, True] Translation: X:371.48, Y:-18.57, Z:1.91 [[ 9.99951053e-01 8.06975204e-03 -5.72461288e-03 3.71482168e+02] [-8.06807674e-03 9.99967403e-01 3.15681405e-04 -1.85668939e+01] [ 5.72697374e-03 -2.69479337e-04 9.99983564e-01 1.90912435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.700714057 meters Centerline goodness : 0.990757 with order 1 Centerline is valid? [True, True] Translation: X:371.54, Y:-18.57, Z:1.91 [[ 9.99917486e-01 1.14999442e-02 -5.72469343e-03 3.71541179e+02] [-1.14983334e-02 9.99933843e-01 3.14213939e-04 -1.85697871e+01] [ 5.72792814e-03 -2.48363578e-04 9.99983564e-01 1.91139969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76071405700003 meters Centerline goodness : 0.990447 with order 1 Centerline is valid? [True, True] Translation: X:371.60, Y:-18.58, Z:1.91 [[ 9.99971206e-01 4.98140561e-03 -5.72477542e-03 3.71598551e+02] [-4.97969678e-03 9.99987552e-01 3.12712855e-04 -1.85751650e+01] [ 5.72626191e-03 -2.84196205e-04 9.99983564e-01 1.90889963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82071405700003 meters Centerline goodness : 0.990271 with order 1 Centerline is valid? [True, True] Translation: X:371.66, Y:-18.58, Z:1.91 [[ 9.99980216e-01 2.60676085e-03 -5.72480416e-03 3.71656887e+02] [-2.60501622e-03 9.99996558e-01 3.12185896e-04 -1.85803597e+01] [ 5.72559825e-03 -2.97266512e-04 9.99983564e-01 1.90898514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88071405700003 meters Centerline goodness : 0.990644 with order 1 Centerline is valid? [True, True] Translation: X:371.72, Y:-18.59, Z:1.91 [[ 9.99983180e-01 9.30359188e-04 -5.72482737e-03 3.71715857e+02] [-9.28589591e-04 9.99999520e-01 3.11759609e-04 -1.85854976e+01] [ 5.72511467e-03 -3.06438350e-04 9.99983564e-01 1.90710781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.94071405700004 meters Centerline goodness : 0.991287 with order 1 Centerline is valid? [True, True] Translation: X:371.77, Y:-18.59, Z:1.91 [[ 9.99983603e-01 -1.39316020e-04 -5.72485060e-03 3.71774766e+02] [ 1.41100657e-04 9.99999942e-01 3.11332480e-04 -1.85904060e+01] [ 5.72480689e-03 -3.12135155e-04 9.99983564e-01 1.90640637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.00071405700004 meters Centerline goodness : 0.990358 with order 1 Centerline is valid? [True, True] Translation: X:371.83, Y:-18.59, Z:1.91 [[ 9.99983611e-01 5.14169663e-05 -5.72487361e-03 3.71833522e+02] [-4.96378638e-05 9.99999950e-01 3.10908785e-04 -1.85944983e+01] [ 5.72488931e-03 -3.10619519e-04 9.99983564e-01 1.90926463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.06071405700004 meters Centerline goodness : 0.989963 with order 1 Centerline is valid? [True, True] Translation: X:371.89, Y:-18.60, Z:1.91 [[ 9.99982589e-01 1.43041356e-03 -5.72495439e-03 3.71891464e+02] [-1.42866553e-03 9.99998932e-01 3.09414071e-04 -1.85986031e+01] [ 5.72539087e-03 -3.01229639e-04 9.99983564e-01 1.91227234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.12071405700004 meters Centerline goodness : 0.989992 with order 1 Centerline is valid? [True, True] Translation: X:371.95, Y:-18.60, Z:1.91 [[ 9.99982846e-01 1.23791949e-03 -5.72498263e-03 3.71950183e+02] [-1.23617130e-03 9.99999188e-01 3.08890775e-04 -1.86023619e+01] [ 5.72536036e-03 -3.01808417e-04 9.99983564e-01 1.91415074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.18071405700005 meters Centerline goodness : 0.992781 with order 1 Centerline is valid? [True, True] Translation: X:372.01, Y:-18.60, Z:1.91 [[ 9.99952043e-01 -7.94582669e-03 -5.72500486e-03 3.72009096e+02] [ 7.94772254e-03 9.99968369e-01 3.08478111e-04 -1.85971406e+01] [ 5.72237266e-03 -3.53964068e-04 9.99983564e-01 1.91395886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.24071405700005 meters Centerline goodness : 0.988841 with order 1 Centerline is valid? [True, True] Translation: X:372.07, Y:-18.61, Z:1.91 [[ 9.99982956e-01 -1.14492986e-03 -5.72502125e-03 3.72068377e+02] [ 1.14671290e-03 9.99999295e-01 3.08173787e-04 -1.86140769e+01] [ 5.72466437e-03 -3.14733490e-04 9.99983564e-01 1.90715513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.30071405700005 meters Centerline goodness : 0.989561 with order 1 Centerline is valid? [True, True] Translation: X:372.13, Y:-18.61, Z:1.91 [[ 9.99947122e-01 -8.54271532e-03 -5.72502125e-03 3.72127233e+02] [ 8.54461918e-03 9.99963447e-01 3.08173787e-04 -1.86148937e+01] [ 5.72217934e-03 -3.57075617e-04 9.99983564e-01 1.91315751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.36071405700005 meters Centerline goodness : 0.989527 with order 1 Centerline is valid? [True, True] Translation: X:372.19, Y:-18.62, Z:1.91 [[ 9.99891902e-01 -1.35428005e-02 -5.72504457e-03 3.72188555e+02] [ 1.35447835e-02 9.99908218e-01 3.07739841e-04 -1.86187171e+01] [ 5.72035146e-03 -3.85251064e-04 9.99983564e-01 1.91235934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.42071405700005 meters Centerline goodness : 0.988874 with order 1 Centerline is valid? [True, True] Translation: X:372.25, Y:-18.62, Z:1.91 [[ 9.99846093e-01 -1.65835682e-02 -5.72503290e-03 3.72250097e+02] [ 1.65856021e-02 9.99862402e-01 3.07956842e-04 -1.86235259e+01] [ 5.71913812e-03 -4.02862562e-04 9.99983564e-01 1.90970954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.48071405700006 meters Centerline goodness : 0.990035 with order 1 Centerline is valid? [True, True] Translation: X:372.31, Y:-18.63, Z:1.91 [[ 9.99757450e-01 -2.12665189e-02 -5.72501545e-03 3.72311905e+02] [ 2.12686310e-02 9.99773750e-01 3.08280811e-04 -1.86261515e+01] [ 5.71716411e-03 -4.29969279e-04 9.99983564e-01 1.91287992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.54071405700006 meters Centerline goodness : 0.989671 with order 1 Centerline is valid? [True, True] Translation: X:372.37, Y:-18.63, Z:1.92 [[ 9.99795936e-01 -1.93729558e-02 -5.72492952e-03 3.72374320e+02] [ 1.93750460e-02 9.99812238e-01 3.09868465e-04 -1.86278350e+01] [ 5.71785153e-03 -4.20726005e-04 9.99983564e-01 1.91804312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.60071405700006 meters Centerline goodness : 0.990307 with order 1 Centerline is valid? [True, True] Translation: X:372.44, Y:-18.63, Z:1.92 [[ 9.99812747e-01 -1.84850073e-02 -5.72490748e-03 3.72436040e+02] [ 1.84870854e-02 9.99829051e-01 3.10275059e-04 -1.86309084e+01] [ 5.71819338e-03 -4.16053812e-04 9.99983564e-01 1.91892837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.66071405700006 meters Centerline goodness : 0.989822 with order 1 Centerline is valid? [True, True] Translation: X:372.50, Y:-18.64, Z:1.91 [[ 9.99899768e-01 -1.29490921e-02 -5.72488521e-03 3.72498358e+02] [ 1.29510822e-02 9.99916083e-01 3.10685548e-04 -1.86359626e+01] [ 5.72038170e-03 -3.84797866e-04 9.99983564e-01 1.91224408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.72071405700007 meters Centerline goodness : 0.988132 with order 1 Centerline is valid? [True, True] Translation: X:372.56, Y:-18.64, Z:1.91 [[ 9.99955989e-01 -7.43279674e-03 -5.72486137e-03 3.72559213e+02] [ 7.43469931e-03 9.99972314e-01 3.11124224e-04 -1.86404701e+01] [ 5.72239034e-03 -3.53673153e-04 9.99983564e-01 1.90563527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.78071405700007 meters Centerline goodness : 0.988863 with order 1 Centerline is valid? [True, True] Translation: X:372.62, Y:-18.64, Z:1.91 [[ 9.99975837e-01 -3.94358415e-03 -5.72484379e-03 3.72620080e+02] [ 3.94543158e-03 9.99992168e-01 3.11447253e-04 -1.86412793e+01] [ 5.72357074e-03 -3.34026707e-04 9.99983564e-01 1.90667940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.84071405700007 meters Centerline goodness : 0.988620 with order 1 Centerline is valid? [True, True] Translation: X:372.68, Y:-18.64, Z:1.91 [[ 9.99978770e-01 3.11205197e-03 -5.72484379e-03 3.72680139e+02] [-3.11031981e-03 9.99995114e-01 3.11447253e-04 -1.86415311e+01] [ 5.72578506e-03 -2.93634546e-04 9.99983564e-01 1.90796824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9007140570001 meters Centerline goodness : 0.989502 with order 1 Centerline is valid? [True, True] Translation: X:372.74, Y:-18.64, Z:1.91 [[ 9.99961173e-01 6.69917785e-03 -5.72485556e-03 3.72737953e+02] [-6.69750557e-03 9.99977523e-01 3.11230827e-04 -1.86416584e+01] [ 5.72681187e-03 -2.72876490e-04 9.99983564e-01 1.90840122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9607140570001 meters Centerline goodness : 0.989016 with order 1 Centerline is valid? [True, True] Translation: X:372.80, Y:-18.64, Z:1.91 [[ 9.99928614e-01 1.04877523e-02 -5.72488448e-03 3.72796179e+02] [-1.04861450e-02 9.99944971e-01 3.10697863e-04 -1.86417967e+01] [ 5.72782797e-03 -2.50643715e-04 9.99983564e-01 1.91474263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0207140570001 meters Centerline goodness : 0.989233 with order 1 Centerline is valid? [True, True] Translation: X:372.86, Y:-18.65, Z:1.91 [[ 9.99924893e-01 1.08366983e-02 -5.72492590e-03 3.72855005e+02] [-1.08351011e-02 9.99941251e-01 3.09932845e-04 -1.86460863e+01] [ 5.72794821e-03 -2.47879416e-04 9.99983564e-01 1.91203256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.080714057 meters Centerline goodness : 0.989856 with order 1 Centerline is valid? [True, True] Translation: X:372.91, Y:-18.65, Z:1.91 [[ 9.99968647e-01 5.47079243e-03 -5.72494846e-03 3.72912947e+02] [-5.46910986e-03 9.99984996e-01 3.09515632e-04 -1.86464424e+01] [ 5.72655586e-03 -2.78195556e-04 9.99983564e-01 1.91311999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.140714057 meters Centerline goodness : 0.993800 with order 1 Centerline is valid? [True, True] Translation: X:372.97, Y:-18.64, Z:1.91 [[ 9.99967532e-01 -5.67089096e-03 -5.72497617e-03 3.72972511e+02] [ 5.67275266e-03 9.99983862e-01 3.09002156e-04 -1.86369517e+01] [ 5.72313146e-03 -3.41468497e-04 9.99983564e-01 1.91356666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.200714057 meters Centerline goodness : 0.993594 with order 1 Centerline is valid? [True, True] Translation: X:373.03, Y:-18.64, Z:1.92 [[ 9.99973847e-01 -4.41921165e-03 -5.72499686e-03 3.73032938e+02] [ 4.42105071e-03 9.99990179e-01 3.08618388e-04 -1.86363469e+01] [ 5.72357679e-03 -3.33920819e-04 9.99983564e-01 1.91898785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.26071405700003 meters Centerline goodness : 0.989191 with order 1 Centerline is valid? [True, True] Translation: X:373.09, Y:-18.65, Z:1.91 [[ 9.99920447e-01 1.12393857e-02 -5.72499686e-03 3.73092367e+02] [-1.12378026e-02 9.99936806e-01 3.08618388e-04 -1.86503726e+01] [ 5.72810376e-03 -2.44257452e-04 9.99983564e-01 1.90856572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.32071405700003 meters Centerline goodness : 0.988517 with order 1 Centerline is valid? [True, True] Translation: X:373.15, Y:-18.65, Z:1.92 [[ 9.99860530e-01 1.56890280e-02 -5.72500861e-03 3.73149892e+02] [-1.56875189e-02 9.99876896e-01 3.08400163e-04 -1.86491761e+01] [ 5.72914234e-03 -2.18545969e-04 9.99983564e-01 1.91568076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.38071405700003 meters Centerline goodness : 0.987796 with order 1 Centerline is valid? [True, True] Translation: X:373.21, Y:-18.65, Z:1.91 [[ 9.99849844e-01 1.63558163e-02 -5.72503710e-03 3.73208760e+02] [-1.63543212e-02 9.99866212e-01 3.07870488e-04 -1.86512442e+01] [ 5.72930663e-03 -2.14195163e-04 9.99983564e-01 1.91349271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.44071405700004 meters Centerline goodness : 0.989317 with order 1 Centerline is valid? [True, True] Translation: X:373.27, Y:-18.65, Z:1.91 [[ 9.99883253e-01 1.41669943e-02 -5.72505926e-03 3.73267339e+02] [-1.41654658e-02 9.99899617e-01 3.07457820e-04 -1.86526714e+01] [ 5.72884032e-03 -2.26323794e-04 9.99983564e-01 1.91488340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.50071405700004 meters Centerline goodness : 0.988792 with order 1 Centerline is valid? [True, True] Translation: X:373.33, Y:-18.66, Z:1.91 [[ 9.99960156e-01 6.84914908e-03 -5.72508122e-03 3.73325013e+02] [-6.84750314e-03 9.99976508e-01 3.07048358e-04 -1.86561789e+01] [ 5.72704975e-03 -2.67833612e-04 9.99983564e-01 1.91450859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.56071405700004 meters Centerline goodness : 0.989039 with order 1 Centerline is valid? [True, True] Translation: X:373.38, Y:-18.66, Z:1.91 [[ 9.99982114e-01 -1.73056782e-03 -5.72510821e-03 3.73383591e+02] [ 1.73235112e-03 9.99998453e-01 3.06544327e-04 -1.86591805e+01] [ 5.72456885e-03 -3.16456742e-04 9.99983564e-01 1.91278075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.62071405700004 meters Centerline goodness : 0.989271 with order 1 Centerline is valid? [True, True] Translation: X:373.44, Y:-18.66, Z:1.91 [[ 9.99975536e-01 -4.01878381e-03 -5.72513157e-03 3.73442063e+02] [ 4.02060201e-03 9.99991871e-01 3.06107455e-04 -1.86627871e+01] [ 5.72385484e-03 -3.29118442e-04 9.99983564e-01 1.91138919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.68071405700005 meters Centerline goodness : 0.988991 with order 1 Centerline is valid? [True, True] Translation: X:373.50, Y:-18.66, Z:1.91 [[ 9.99978804e-01 -3.10053958e-03 -5.72515475e-03 3.73501937e+02] [ 3.10234030e-03 9.99995141e-01 3.05673307e-04 -1.86635859e+01] [ 5.72417918e-03 -3.23428206e-04 9.99983564e-01 1.91491606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.74071405700005 meters Centerline goodness : 0.989709 with order 1 Centerline is valid? [True, True] Translation: X:373.56, Y:-18.66, Z:1.91 [[ 9.99977989e-01 3.35332744e-03 -5.72516042e-03 3.73562039e+02] [-3.35163280e-03 9.99994337e-01 3.05567026e-04 -1.86639096e+01] [ 5.72615266e-03 -2.86371664e-04 9.99983564e-01 1.91423989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.80071405700005 meters Centerline goodness : 0.987863 with order 1 Centerline is valid? [True, True] Translation: X:373.62, Y:-18.66, Z:1.92 [[ 9.99892952e-01 1.34650379e-02 -5.72517202e-03 3.73619996e+02] [-1.34635099e-02 9.99909316e-01 3.05349549e-04 -1.86634555e+01] [ 5.72876438e-03 -2.28235951e-04 9.99983564e-01 1.91882379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.86071405700005 meters Centerline goodness : 0.987002 with order 1 Centerline is valid? [True, True] Translation: X:373.68, Y:-18.66, Z:1.92 [[ 9.99414193e-01 3.37415512e-02 -5.72520047e-03 3.73677985e+02] [-3.37403585e-02 9.99430586e-01 3.04815092e-04 -1.86639301e+01] [ 5.73222539e-03 -1.11466213e-04 9.99983564e-01 1.91608572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.92071405700005 meters Centerline goodness : 0.985516 with order 1 Centerline is valid? [True, True] Translation: X:373.74, Y:-18.67, Z:1.91 [[ 9.98952632e-01 4.53967136e-02 -5.72522772e-03 3.73736938e+02] [-4.53957151e-02 9.98969037e-01 3.04302512e-04 -1.86685343e+01] [ 5.73313955e-03 -4.40829889e-05 9.99983564e-01 1.91333797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.98071405700006 meters Centerline goodness : 0.985495 with order 1 Centerline is valid? [True, True] Translation: X:373.80, Y:-18.67, Z:1.91 [[ 9.98863893e-01 4.73090265e-02 -5.72529645e-03 3.73795089e+02] [-4.73080669e-02 9.98880301e-01 3.03003736e-04 -1.86745368e+01] [ 5.73322065e-03 -3.18067840e-05 9.99983564e-01 1.90952905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.04071405700006 meters Centerline goodness : 0.986854 with order 1 Centerline is valid? [True, True] Translation: X:373.85, Y:-18.68, Z:1.91 [[ 9.99192364e-01 3.97723615e-02 -5.72537378e-03 3.73853473e+02] [-3.97712865e-02 9.99208764e-01 3.01535415e-04 -1.86781612e+01] [ 5.73283644e-03 -7.35864034e-05 9.99983564e-01 1.91364010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.10071405700006 meters Centerline goodness : 0.987958 with order 1 Centerline is valid? [True, True] Translation: X:373.91, Y:-18.69, Z:1.91 [[ 9.99608912e-01 2.73722957e-02 -5.72545188e-03 3.73911029e+02] [-2.73710258e-02 9.99625298e-01 3.00045169e-04 -1.86859536e+01] [ 5.73151947e-03 -1.43216334e-04 9.99983564e-01 1.91396039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.16071405700006 meters Centerline goodness : 0.987764 with order 1 Centerline is valid? [True, True] Translation: X:373.97, Y:-18.70, Z:1.91 [[ 9.99867969e-01 1.52073280e-02 -5.72547934e-03 3.73968667e+02] [-1.52058619e-02 9.99884339e-01 2.99520362e-04 -1.86965781e+01] [ 5.72937203e-03 -2.12419969e-04 9.99983564e-01 1.91205293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.22071405700007 meters Centerline goodness : 0.989181 with order 1 Centerline is valid? [True, True] Translation: X:374.03, Y:-18.70, Z:1.92 [[ 9.99979211e-01 2.96591053e-03 -5.72550573e-03 3.74027554e+02] [-2.96424698e-03 9.99995562e-01 2.99014937e-04 -1.87030349e+01] [ 5.72636717e-03 -2.82036907e-04 9.99983564e-01 1.91550637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.28071405700007 meters Centerline goodness : 0.988875 with order 1 Centerline is valid? [True, True] Translation: X:374.09, Y:-18.71, Z:1.92 [[ 9.99982827e-01 -1.25067728e-03 -5.72552727e-03 3.74085340e+02] [ 1.25240740e-03 9.99999171e-01 2.98601884e-04 -1.87078622e+01] [ 5.72514907e-03 -3.05767449e-04 9.99983564e-01 1.92004893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.34071405700007 meters Centerline goodness : 0.989959 with order 1 Centerline is valid? [True, True] Translation: X:374.15, Y:-18.71, Z:1.91 [[ 9.99948674e-01 -8.35870292e-03 -5.72555385e-03 3.74145232e+02] [ 8.36054627e-03 9.99965006e-01 2.98091370e-04 -1.87132066e+01] [ 5.72286183e-03 -3.45944828e-04 9.99983564e-01 1.91460192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4007140570001 meters Centerline goodness : 0.990296 with order 1 Centerline is valid? [True, True] Translation: X:374.21, Y:-18.72, Z:1.91 [[ 9.99953867e-01 -7.71245139e-03 -5.72556442e-03 3.74206184e+02] [ 7.71428302e-03 9.99970200e-01 2.97888295e-04 -1.87170059e+01] [ 5.72309635e-03 -3.42043177e-04 9.99983564e-01 1.91345109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4607140570001 meters Centerline goodness : 0.989072 with order 1 Centerline is valid? [True, True] Translation: X:374.27, Y:-18.72, Z:1.92 [[ 9.99983287e-01 8.02960186e-04 -5.72555342e-03 3.74267036e+02] [-8.01266499e-04 9.99999635e-01 2.98099575e-04 -1.87158551e+01] [ 5.72579069e-03 -2.93506899e-04 9.99983564e-01 1.91950421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5207140570001 meters Centerline goodness : 0.988107 with order 1 Centerline is valid? [True, True] Translation: X:374.33, Y:-18.72, Z:1.91 [[ 9.99939849e-01 9.35500477e-03 -5.72554804e-03 3.74325843e+02] [-9.35345036e-03 9.99956211e-01 2.98202913e-04 -1.87190466e+01] [ 5.72808701e-03 -2.44631346e-04 9.99983564e-01 1.91095731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.580714057 meters Centerline goodness : 0.988385 with order 1 Centerline is valid? [True, True] Translation: X:374.39, Y:-18.72, Z:1.92 [[ 9.99836190e-01 1.71700364e-02 -5.72562539e-03 3.74385136e+02] [-1.71686185e-02 9.99852564e-01 2.96710150e-04 -1.87183839e+01] [ 5.72987576e-03 -1.98360468e-04 9.99983564e-01 1.91574784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.640714057 meters Centerline goodness : 0.988101 with order 1 Centerline is valid? [True, True] Translation: X:374.44, Y:-18.72, Z:1.92 [[ 9.99789677e-01 1.96931076e-02 -5.72569616e-03 3.74443038e+02] [-1.96917388e-02 9.99806055e-01 2.95338119e-04 -1.87160891e+01] [ 5.73040182e-03 -1.82527089e-04 9.99983564e-01 1.91948117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.700714057 meters Centerline goodness : 0.986942 with order 1 Centerline is valid? [True, True] Translation: X:374.50, Y:-18.72, Z:1.92 [[ 9.99734468e-01 2.23205923e-02 -5.72573578e-03 3.74501454e+02] [-2.23192710e-02 9.99750851e-01 2.94568154e-04 -1.87156287e+01] [ 5.73088415e-03 -1.66695688e-04 9.99983564e-01 1.92092342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.76071405700003 meters Centerline goodness : 0.987458 with order 1 Centerline is valid? [True, True] Translation: X:374.56, Y:-18.72, Z:1.92 [[ 9.99797310e-01 1.93016571e-02 -5.72576337e-03 3.74559198e+02] [-1.93002894e-02 9.99813689e-01 2.94030815e-04 -1.87191535e+01] [ 5.73037188e-03 -1.83462328e-04 9.99983564e-01 1.92233939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.82071405700003 meters Centerline goodness : 0.988938 with order 1 Centerline is valid? [True, True] Translation: X:374.62, Y:-18.72, Z:1.92 [[ 9.99931569e-01 1.02016472e-02 -5.72579042e-03 3.74618175e+02] [-1.02001335e-02 9.99947934e-01 2.93503023e-04 -1.87235229e+01] [ 5.72848652e-03 -2.35079112e-04 9.99983564e-01 1.92223880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.88071405700003 meters Centerline goodness : 0.988704 with order 1 Centerline is valid? [True, True] Translation: X:374.68, Y:-18.73, Z:1.92 [[ 9.99983000e-01 -1.10221244e-03 -5.72581216e-03 3.74676292e+02] [ 1.10390860e-03 9.99999348e-01 2.93078429e-04 -1.87275652e+01] [ 5.72548539e-03 -2.99394220e-04 9.99983564e-01 1.91889458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.94071405700004 meters Centerline goodness : 0.989281 with order 1 Centerline is valid? [True, True] Translation: X:374.73, Y:-18.73, Z:1.92 [[ 9.99983312e-01 -7.68666164e-04 -5.72583885e-03 3.74734907e+02] [ 7.70353888e-04 9.99999660e-01 2.92556064e-04 -1.87286877e+01] [ 5.72561202e-03 -2.96962104e-04 9.99983564e-01 1.92113126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.00071405700004 meters Centerline goodness : 0.989270 with order 1 Centerline is valid? [True, True] Translation: X:374.79, Y:-18.73, Z:1.92 [[ 9.99967041e-01 -5.75590926e-03 -5.72591376e-03 3.74792931e+02] [ 5.75767009e-03 9.99983382e-01 2.91082443e-04 -1.87297190e+01] [ 5.72414316e-03 -3.24040771e-04 9.99983564e-01 1.92221315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.06071405700004 meters Centerline goodness : 0.988174 with order 1 Centerline is valid? [True, True] Translation: X:374.85, Y:-18.73, Z:1.93 [[ 9.99966098e-01 -5.91743012e-03 -5.72594251e-03 3.74853583e+02] [ 5.91919036e-03 9.99982439e-01 2.90515823e-04 -1.87318239e+01] [ 5.72412285e-03 -3.24398918e-04 9.99983564e-01 1.92587111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.12071405700004 meters Centerline goodness : 0.990203 with order 1 Centerline is valid? [True, True] Translation: X:374.91, Y:-18.74, Z:1.92 [[ 9.99938865e-01 -9.45938832e-03 -5.72594251e-03 3.74913432e+02] [ 9.46120643e-03 9.99955200e-01 2.90515823e-04 -1.87383015e+01] [ 5.72293788e-03 -3.44672387e-04 9.99983564e-01 1.91786985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.18071405700005 meters Centerline goodness : 0.990024 with order 1 Centerline is valid? [True, True] Translation: X:374.97, Y:-18.74, Z:1.92 [[ 9.99872082e-01 -1.49342811e-02 -5.72594251e-03 3.74974550e+02] [ 1.49361886e-02 9.99888407e-01 2.90515823e-04 -1.87373708e+01] [ 5.72096489e-03 -3.76002418e-04 9.99983564e-01 1.92233521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.24071405700005 meters Centerline goodness : 0.990169 with order 1 Centerline is valid? [True, True] Translation: X:375.04, Y:-18.74, Z:1.92 [[ 9.99859349e-01 -1.57637662e-02 -5.72593152e-03 3.75035820e+02] [ 1.57656885e-02 9.99875672e-01 2.90732231e-04 -1.87384578e+01] [ 5.72063659e-03 -3.80964592e-04 9.99983564e-01 1.92146451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.30071405700005 meters Centerline goodness : 0.990946 with order 1 Centerline is valid? [True, True] Translation: X:375.10, Y:-18.74, Z:1.92 [[ 9.99853496e-01 -1.61307246e-02 -5.72591510e-03 3.75097216e+02] [ 1.61326547e-02 9.99869818e-01 2.91055321e-04 -1.87395612e+01] [ 5.72047475e-03 -3.83386891e-04 9.99983564e-01 1.92157953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.36071405700005 meters Centerline goodness : 0.991548 with order 1 Centerline is valid? [True, True] Translation: X:375.16, Y:-18.74, Z:1.92 [[ 9.99842476e-01 -1.67999059e-02 -5.72589970e-03 3.75159932e+02] [ 1.68018486e-02 9.99858797e-01 2.91358003e-04 -1.87402466e+01] [ 5.72019639e-03 -3.87517807e-04 9.99983564e-01 1.92301887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.42071405700005 meters Centerline goodness : 0.990696 with order 1 Centerline is valid? [True, True] Translation: X:375.22, Y:-18.74, Z:1.92 [[ 9.99764597e-01 -2.09276251e-02 -5.72588036e-03 3.75222969e+02] [ 2.09296374e-02 9.99780909e-01 2.91737500e-04 -1.87408887e+01] [ 5.71852050e-03 -4.11509424e-04 9.99983564e-01 1.92441085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.48071405700006 meters Centerline goodness : 0.992432 with order 1 Centerline is valid? [True, True] Translation: X:375.28, Y:-18.74, Z:1.92 [[ 9.99685553e-01 -2.44133257e-02 -5.72584814e-03 3.75284802e+02] [ 2.44153984e-02 9.99701857e-01 2.92368405e-04 -1.87427341e+01] [ 5.71700334e-03 -4.32075335e-04 9.99983564e-01 1.92469422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.54071405700006 meters Centerline goodness : 0.991764 with order 1 Centerline is valid? [True, True] Translation: X:375.35, Y:-18.74, Z:1.93 [[ 9.99561270e-01 -2.90599722e-02 -5.72582157e-03 3.75347136e+02] [ 2.90621237e-02 9.99577564e-01 2.92887915e-04 -1.87442665e+01] [ 5.71489147e-03 -4.59163951e-04 9.99983564e-01 1.92512982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.60071405700006 meters Centerline goodness : 0.992484 with order 1 Centerline is valid? [True, True] Translation: X:375.41, Y:-18.75, Z:1.92 [[ 9.99570478e-01 -2.87415110e-02 -5.72580074e-03 3.75408035e+02] [ 2.87436596e-02 9.99586773e-01 2.93294528e-04 -1.87459169e+01] [ 5.71500496e-03 -4.57749019e-04 9.99983564e-01 1.92409938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.66071405700006 meters Centerline goodness : 0.991413 with order 1 Centerline is valid? [True, True] Translation: X:375.47, Y:-18.75, Z:1.93 [[ 9.99580471e-01 -2.83918618e-02 -5.72578533e-03 3.75470949e+02] [ 2.83940064e-02 9.99596766e-01 2.93595180e-04 -1.87467718e+01] [ 5.71514078e-03 -4.56049994e-04 9.99983564e-01 1.92602555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.72071405700007 meters Centerline goodness : 0.992028 with order 1 Centerline is valid? [True, True] Translation: X:375.53, Y:-18.75, Z:1.93 [[ 9.99607839e-01 -2.74113937e-02 -5.72575163e-03 3.75532164e+02] [ 2.74135261e-02 9.99624135e-01 2.94250833e-04 -1.87457834e+01] [ 5.71553370e-03 -4.51098480e-04 9.99983564e-01 1.92749179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.78071405700007 meters Centerline goodness : 0.991088 with order 1 Centerline is valid? [True, True] Translation: X:375.59, Y:-18.75, Z:1.93 [[ 9.99689206e-01 -2.42632824e-02 -5.72573509e-03 3.75594835e+02] [ 2.42653652e-02 9.99705509e-01 2.94572384e-04 -1.87457399e+01] [ 5.71690162e-03 -4.33417886e-04 9.99983564e-01 1.92906633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.84071405700007 meters Centerline goodness : 0.992717 with order 1 Centerline is valid? [True, True] Translation: X:375.66, Y:-18.74, Z:1.93 [[ 9.99628374e-01 -2.66520262e-02 -5.72571255e-03 3.75656750e+02] [ 2.66541504e-02 9.99644671e-01 2.95009895e-04 -1.87370723e+01] [ 5.71581543e-03 -4.47514266e-04 9.99983564e-01 1.93016271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9007140570001 meters Centerline goodness : 0.990624 with order 1 Centerline is valid? [True, True] Translation: X:375.72, Y:-18.74, Z:1.93 [[ 9.99801155e-01 -1.91015114e-02 -5.72566844e-03 3.75718486e+02] [ 1.91035174e-02 9.99817467e-01 2.95863478e-04 -1.87443308e+01] [ 5.71897188e-03 -4.05185054e-04 9.99983564e-01 1.93406739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9607140570001 meters Centerline goodness : 0.989664 with order 1 Centerline is valid? [True, True] Translation: X:375.78, Y:-18.75, Z:1.93 [[ 9.99793364e-01 -1.95050581e-02 -5.72564570e-03 3.75779298e+02] [ 1.95070732e-02 9.99809675e-01 2.96302857e-04 -1.87465372e+01] [ 5.71877656e-03 -4.07932220e-04 9.99983564e-01 1.93346857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0207140570001 meters Centerline goodness : 0.990359 with order 1 Centerline is valid? [True, True] Translation: X:375.84, Y:-18.75, Z:1.93 [[ 9.99787033e-01 -1.98268979e-02 -5.72560663e-03 3.75841679e+02] [ 1.98289225e-02 9.99803343e-01 2.97056007e-04 -1.87506185e+01] [ 5.71859095e-03 -4.10525355e-04 9.99983564e-01 1.93299690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.080714057 meters Centerline goodness : 0.990128 with order 1 Centerline is valid? [True, True] Translation: X:375.90, Y:-18.75, Z:1.93 [[ 9.99754354e-01 -2.14114515e-02 -5.72558405e-03 3.75904403e+02] [ 2.14135044e-02 9.99770660e-01 2.97490533e-04 -1.87547126e+01] [ 5.71790124e-03 -4.20022274e-04 9.99983564e-01 1.93232494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.140714057 meters Centerline goodness : 0.990246 with order 1 Centerline is valid? [True, True] Translation: X:375.97, Y:-18.76, Z:1.93 [[ 9.99762102e-01 -2.10465328e-02 -5.72554994e-03 3.75965980e+02] [ 2.10485835e-02 9.99778410e-01 2.98145498e-04 -1.87597869e+01] [ 5.71800629e-03 -4.18589286e-04 9.99983564e-01 1.93017891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.200714057 meters Centerline goodness : 0.990506 with order 1 Centerline is valid? [True, True] Translation: X:376.03, Y:-18.76, Z:1.93 [[ 9.99800549e-01 -1.91332349e-02 -5.72552730e-03 3.76027652e+02] [ 1.91352569e-02 9.99816860e-01 2.98579775e-04 -1.87649063e+01] [ 5.71876592e-03 -4.08079659e-04 9.99983564e-01 1.92910182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.26071405700003 meters Centerline goodness : 0.989952 with order 1 Centerline is valid? [True, True] Translation: X:376.09, Y:-18.77, Z:1.93 [[ 9.99891645e-01 -1.35615588e-02 -5.72550459e-03 3.76089085e+02] [ 1.35634924e-02 9.99907967e-01 2.99014488e-04 -1.87693709e+01] [ 5.72092256e-03 -3.76639926e-04 9.99983564e-01 1.92758930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.32071405700003 meters Centerline goodness : 0.988906 with order 1 Centerline is valid? [True, True] Translation: X:376.15, Y:-18.77, Z:1.93 [[ 9.99983602e-01 1.19984983e-04 -5.72548787e-03 3.76151418e+02] [-1.18273081e-04 9.99999948e-01 2.99334336e-04 -1.87724828e+01] [ 5.72552349e-03 -2.98652256e-04 9.99983564e-01 1.92872161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.38071405700003 meters Centerline goodness : 0.987926 with order 1 Centerline is valid? [True, True] Translation: X:376.21, Y:-18.77, Z:1.93 [[ 9.99851466e-01 1.62562066e-02 -5.72546529e-03 3.76209355e+02] [-1.62547562e-02 9.99867838e-01 2.99765726e-04 -1.87738509e+01] [ 5.72958165e-03 -2.06655158e-04 9.99983564e-01 1.93159642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.44071405700004 meters Centerline goodness : 0.987497 with order 1 Centerline is valid? [True, True] Translation: X:376.27, Y:-18.78, Z:1.93 [[ 9.99401621e-01 3.41118593e-02 -5.72549292e-03 3.76266724e+02] [-3.41107046e-02 9.99418016e-01 2.99236986e-04 -1.87790692e+01] [ 5.73236830e-03 -1.03757331e-04 9.99983564e-01 1.93084710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.50071405700004 meters Centerline goodness : 0.988194 with order 1 Centerline is valid? [True, True] Translation: X:376.33, Y:-18.79, Z:1.93 [[ 9.98950655e-01 4.54401346e-02 -5.72557817e-03 3.76325441e+02] [-4.54391752e-02 9.98967063e-01 2.97596911e-04 -1.87870145e+01] [ 5.73318685e-03 -3.71190796e-05 9.99983564e-01 1.92892441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.56071405700004 meters Centerline goodness : 0.987770 with order 1 Centerline is valid? [True, True] Translation: X:376.38, Y:-18.79, Z:1.93 [[ 9.99064181e-01 4.28716501e-02 -5.72565308e-03 3.76383933e+02] [-4.28706568e-02 9.99080587e-01 2.96148454e-04 -1.87944308e+01] [ 5.73308522e-03 -5.04088042e-05 9.99983564e-01 1.93134427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.62071405700004 meters Centerline goodness : 0.988425 with order 1 Centerline is valid? [True, True] Translation: X:376.44, Y:-18.81, Z:1.92 [[ 9.99260678e-01 3.80172685e-02 -5.72572723e-03 3.76442561e+02] [-3.80162038e-02 9.99277079e-01 2.94707933e-04 -1.88100563e+01] [ 5.73279197e-03 -7.68196355e-05 9.99983564e-01 1.92418175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.68071405700005 meters Centerline goodness : 0.989367 with order 1 Centerline is valid? [True, True] Translation: X:376.50, Y:-18.82, Z:1.93 [[ 9.99645285e-01 2.60099904e-02 -5.72576581e-03 3.76500990e+02] [-2.60087330e-02 9.99661672e-01 2.93956373e-04 -1.88205786e+01] [ 5.73147443e-03 -1.44932188e-04 9.99983564e-01 1.92500859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.74071405700005 meters Centerline goodness : 0.994349 with order 1 Centerline is valid? [True, True] Translation: X:376.56, Y:-18.81, Z:1.94 [[ 9.99983074e-01 -1.03340459e-03 -5.72578763e-03 3.76559271e+02] [ 1.03510221e-03 9.99999421e-01 2.93530762e-04 -1.88141045e+01] [ 5.72548098e-03 -2.99452569e-04 9.99983564e-01 1.94262856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.80071405700005 meters Centerline goodness : 0.994637 with order 1 Centerline is valid? [True, True] Translation: X:376.62, Y:-18.83, Z:1.94 [[ 9.99910864e-01 -1.20614454e-02 -5.72582266e-03 3.76618068e+02] [ 1.20633193e-02 9.99927193e-01 2.92845912e-04 -1.88252297e+01] [ 5.72187363e-03 -3.61892236e-04 9.99983564e-01 1.94406677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.86071405700005 meters Centerline goodness : 0.992406 with order 1 Centerline is valid? [True, True] Translation: X:376.68, Y:-18.84, Z:1.94 [[ 9.99906537e-01 -1.24150218e-02 -5.72583291e-03 3.76679287e+02] [ 1.24169003e-02 9.99922865e-01 2.92645357e-04 -1.88449146e+01] [ 5.72175805e-03 -3.63715102e-04 9.99983564e-01 1.93846498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.92071405700005 meters Centerline goodness : 0.990734 with order 1 Centerline is valid? [True, True] Translation: X:376.74, Y:-18.85, Z:1.94 [[ 9.99849452e-01 -1.63795138e-02 -5.72581075e-03 3.76740894e+02] [ 1.63814596e-02 9.99865772e-01 2.93078210e-04 -1.88537390e+01] [ 5.72024171e-03 -3.86831224e-04 9.99983564e-01 1.93534113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.98071405700006 meters Centerline goodness : 0.990555 with order 1 Centerline is valid? [True, True] Translation: X:376.80, Y:-18.86, Z:1.94 [[ 9.99745952e-01 -2.18001482e-02 -5.72573262e-03 3.76803541e+02] [ 2.18021910e-02 9.99762261e-01 2.94596777e-04 -1.88585605e+01] [ 5.71794914e-03 -4.19355452e-04 9.99983564e-01 1.93582579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.04071405700006 meters Centerline goodness : 0.994428 with order 1 Centerline is valid? [True, True] Translation: X:376.87, Y:-18.85, Z:1.94 [[ 9.99431246e-01 -3.32325340e-02 -5.72564300e-03 3.76865570e+02] [ 3.32347731e-02 9.99447528e-01 2.96328470e-04 -1.88518949e+01] [ 5.71263200e-03 -4.86450378e-04 9.99983564e-01 1.94080888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.10071405700006 meters Centerline goodness : 0.990480 with order 1 Centerline is valid? [True, True] Translation: X:376.93, Y:-18.86, Z:1.94 [[ 9.99690254e-01 -2.42201222e-02 -5.72557117e-03 3.76927399e+02] [ 2.42222222e-02 9.99706555e-01 2.97709936e-04 -1.88645543e+01] [ 5.71668045e-03 -4.36303778e-04 9.99983564e-01 1.93802445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.16071405700006 meters Centerline goodness : 0.990410 with order 1 Centerline is valid? [True, True] Translation: X:376.99, Y:-18.87, Z:1.94 [[ 9.99824533e-01 -1.78359279e-02 -5.72554818e-03 3.76988250e+02] [ 1.78379263e-02 9.99840847e-01 2.98151447e-04 -1.88663917e+01] [ 5.71931913e-03 -4.00231038e-04 9.99983564e-01 1.93840888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.22071405700007 meters Centerline goodness : 0.993643 with order 1 Centerline is valid? [True, True] Translation: X:377.05, Y:-18.86, Z:1.94 [[ 9.99536712e-01 -2.98928189e-02 -5.72553138e-03 3.77050748e+02] [ 2.98950158e-02 9.99553000e-01 2.98473589e-04 -1.88565400e+01] [ 5.71404985e-03 -4.69500161e-04 9.99983564e-01 1.94364168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.28071405700007 meters Centerline goodness : 0.990248 with order 1 Centerline is valid? [True, True] Translation: X:377.11, Y:-18.87, Z:1.95 [[ 9.99764698e-01 -2.09228923e-02 -5.72547668e-03 3.77112806e+02] [ 2.09249489e-02 9.99781004e-01 2.99519243e-04 -1.88665261e+01] [ 5.71795602e-03 -4.19254072e-04 9.99983564e-01 1.94637781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.34071405700007 meters Centerline goodness : 0.991039 with order 1 Centerline is valid? [True, True] Translation: X:377.17, Y:-18.87, Z:1.94 [[ 9.99735901e-01 -2.22564055e-02 -5.72545524e-03 3.77174932e+02] [ 2.22584861e-02 9.99752204e-01 2.99928436e-04 -1.88673526e+01] [ 5.71736117e-03 -4.27289191e-04 9.99983564e-01 1.94365531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4007140570001 meters Centerline goodness : 0.990746 with order 1 Centerline is valid? [True, True] Translation: X:377.24, Y:-18.87, Z:1.94 [[ 9.99746538e-01 -2.17733755e-02 -5.72543222e-03 3.77236684e+02] [ 2.17754508e-02 9.99762842e-01 3.00367404e-04 -1.88681375e+01] [ 5.71753437e-03 -4.24965139e-04 9.99983564e-01 1.94427032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4607140570001 meters Centerline goodness : 0.989889 with order 1 Centerline is valid? [True, True] Translation: X:377.30, Y:-18.87, Z:1.94 [[ 9.99756495e-01 -2.13112598e-02 -5.72539569e-03 3.77299311e+02] [ 2.13133315e-02 9.99772800e-01 3.01062113e-04 -1.88698821e+01] [ 5.71767886e-03 -4.23016059e-04 9.99983564e-01 1.94402203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5207140570001 meters Centerline goodness : 0.991446 with order 1 Centerline is valid? [True, True] Translation: X:377.36, Y:-18.87, Z:1.94 [[ 9.99773649e-01 -2.04907382e-02 -5.72537259e-03 3.77361816e+02] [ 2.04927989e-02 9.99789955e-01 3.01500631e-04 -1.88722324e+01] [ 5.71799204e-03 -4.18761295e-04 9.99983564e-01 1.94300829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.580714057 meters Centerline goodness : 0.990992 with order 1 Centerline is valid? [True, True] Translation: X:377.42, Y:-18.87, Z:1.94 [[ 9.99806291e-01 -1.88308460e-02 -5.72534948e-03 3.77423127e+02] [ 1.88328822e-02 9.99822600e-01 3.01938950e-04 -1.88714675e+01] [ 5.71864803e-03 -4.09705294e-04 9.99983564e-01 1.94203138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.640714057 meters Centerline goodness : 0.991542 with order 1 Centerline is valid? [True, True] Translation: X:377.48, Y:-18.87, Z:1.95 [[ 9.99806321e-01 -1.88292566e-02 -5.72531206e-03 3.77484920e+02] [ 1.88312969e-02 9.99822630e-01 3.02646699e-04 -1.88719770e+01] [ 5.71859795e-03 -4.10403134e-04 9.99983564e-01 1.94598382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.700714057 meters Centerline goodness : 0.990440 with order 1 Centerline is valid? [True, True] Translation: X:377.55, Y:-18.87, Z:1.94 [[ 9.99676061e-01 -2.47990756e-02 -5.72528900e-03 3.77546678e+02] [ 2.48012156e-02 9.99692357e-01 3.03082465e-04 -1.88721725e+01] [ 5.71601148e-03 -4.44978412e-04 9.99983564e-01 1.94054624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.76071405700003 meters Centerline goodness : 0.990297 with order 1 Centerline is valid? [True, True] Translation: X:377.61, Y:-18.87, Z:1.95 [[ 9.99710626e-01 -2.33642161e-02 -5.72521516e-03 3.77609333e+02] [ 2.33663407e-02 9.99726923e-01 3.04470805e-04 -1.88723447e+01] [ 5.71653802e-03 -4.38160027e-04 9.99983564e-01 1.94531001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.82071405700003 meters Centerline goodness : 0.990506 with order 1 Centerline is valid? [True, True] Translation: X:377.67, Y:-18.87, Z:1.94 [[ 9.99727461e-01 -2.26324202e-02 -5.72519203e-03 3.77670122e+02] [ 2.26345353e-02 9.99743760e-01 3.04905108e-04 -1.88728297e+01] [ 5.71682427e-03 -4.34409070e-04 9.99983564e-01 1.94425332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.88071405700003 meters Centerline goodness : 0.990673 with order 1 Centerline is valid? [True, True] Translation: X:377.73, Y:-18.87, Z:1.94 [[ 9.99745243e-01 -2.18327925e-02 -5.72517489e-03 3.77732469e+02] [ 2.18348964e-02 9.99761544e-01 3.05226769e-04 -1.88700759e+01] [ 5.71714573e-03 -4.30157611e-04 9.99983564e-01 1.94322374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.94071405700004 meters Centerline goodness : 0.989548 with order 1 Centerline is valid? [True, True] Translation: X:377.80, Y:-18.87, Z:1.95 [[ 9.99767023e-01 -2.08115855e-02 -5.72515218e-03 3.77795514e+02] [ 2.08136752e-02 9.99783325e-01 3.05652015e-04 -1.88690476e+01] [ 5.71755058e-03 -4.24742263e-04 9.99983564e-01 1.94898350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.00071405700004 meters Centerline goodness : 0.989682 with order 1 Centerline is valid? [True, True] Translation: X:377.86, Y:-18.87, Z:1.95 [[ 9.99726162e-01 -2.26897163e-02 -5.72511697e-03 3.77857562e+02] [ 2.26918404e-02 9.99742460e-01 3.06310181e-04 -1.88707990e+01] [ 5.71669243e-03 -4.36139742e-04 9.99983564e-01 1.94866792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.06071405700004 meters Centerline goodness : 0.990293 with order 1 Centerline is valid? [True, True] Translation: X:377.92, Y:-18.87, Z:1.94 [[ 9.99604330e-01 -2.75391995e-02 -5.72508805e-03 3.77920310e+02] [ 2.75414057e-02 9.99620616e-01 3.06849821e-04 -1.88712102e+01] [ 5.71446564e-03 -4.64405382e-04 9.99983564e-01 1.94277586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.12071405700004 meters Centerline goodness : 0.993251 with order 1 Centerline is valid? [True, True] Translation: X:377.98, Y:-18.86, Z:1.95 [[ 9.99397265e-01 -3.42393056e-02 -5.72506463e-03 3.77981804e+02] [ 3.42416234e-02 9.99413536e-01 3.07286009e-04 -1.88624224e+01] [ 5.71118583e-03 -5.03136304e-04 9.99983564e-01 1.94520783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.18071405700005 meters Centerline goodness : 0.990088 with order 1 Centerline is valid? [True, True] Translation: X:378.04, Y:-18.87, Z:1.94 [[ 9.99595109e-01 -2.78718985e-02 -5.72498964e-03 3.78042977e+02] [ 2.78741205e-02 9.99611394e-01 3.08676891e-04 -1.88727577e+01] [ 5.71416146e-03 -4.68130961e-04 9.99983564e-01 1.94362556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.24071405700005 meters Centerline goodness : 0.989178 with order 1 Centerline is valid? [True, True] Translation: X:378.11, Y:-18.87, Z:1.95 [[ 9.99729129e-01 -2.25586807e-02 -5.72497299e-03 3.78105489e+02] [ 2.25608178e-02 9.99745425e-01 3.08985337e-04 -1.88707583e+01] [ 5.71654525e-03 -4.38061714e-04 9.99983564e-01 1.94929092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.30071405700005 meters Centerline goodness : 0.989112 with order 1 Centerline is valid? [True, True] Translation: X:378.17, Y:-18.87, Z:1.95 [[ 9.99782133e-01 -2.00726355e-02 -5.72494938e-03 3.78168114e+02] [ 2.00747346e-02 9.99798434e-01 3.09422297e-04 -1.88727080e+01] [ 5.71758450e-03 -4.24281723e-04 9.99983564e-01 1.94957236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.36071405700005 meters Centerline goodness : 0.988218 with order 1 Centerline is valid? [True, True] Translation: X:378.23, Y:-18.87, Z:1.95 [[ 9.99862522e-01 -1.55615464e-02 -5.72492570e-03 3.78229492e+02] [ 1.55635744e-02 9.99878832e-01 3.09859697e-04 -1.88749866e+01] [ 5.71941013e-03 -3.98917405e-04 9.99983564e-01 1.95365039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.42071405700005 meters Centerline goodness : 0.989504 with order 1 Centerline is valid? [True, True] Translation: X:378.29, Y:-18.88, Z:1.95 [[ 9.99870611e-01 -1.50328881e-02 -5.72488893e-03 3.78291796e+02] [ 1.50349113e-02 9.99886921e-01 3.10537530e-04 -1.88760861e+01] [ 5.71957329e-03 -3.96570547e-04 9.99983564e-01 1.95498668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.48071405700006 meters Centerline goodness : 0.988458 with order 1 Centerline is valid? [True, True] Translation: X:378.35, Y:-18.88, Z:1.95 [[ 9.99892359e-01 -1.35091408e-02 -5.72486531e-03 3.78354279e+02] [ 1.35111417e-02 9.99908672e-01 3.10972387e-04 -1.88780877e+01] [ 5.72014150e-03 -3.88288380e-04 9.99983564e-01 1.95395791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.54071405700006 meters Centerline goodness : 0.988653 with order 1 Centerline is valid? [True, True] Translation: X:378.42, Y:-18.88, Z:1.95 [[ 9.99872535e-01 -1.49043756e-02 -5.72484178e-03 3.78415056e+02] [ 1.49064017e-02 9.99888845e-01 3.11404975e-04 -1.88798034e+01] [ 5.71956414e-03 -3.96702073e-04 9.99983564e-01 1.95365518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.60071405700006 meters Centerline goodness : 0.988484 with order 1 Centerline is valid? [True, True] Translation: X:378.48, Y:-18.88, Z:1.95 [[ 9.99855612e-01 -1.59994627e-02 -5.72480094e-03 3.78477252e+02] [ 1.60015109e-02 9.99871919e-01 3.12154066e-04 -1.88824393e+01] [ 5.71907340e-03 -4.03714460e-04 9.99983564e-01 1.94971127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.66071405700006 meters Centerline goodness : 0.988211 with order 1 Centerline is valid? [True, True] Translation: X:378.54, Y:-18.88, Z:1.95 [[ 9.99910266e-01 -1.21113958e-02 -5.72477711e-03 3.78538331e+02] [ 1.21133831e-02 9.99926581e-01 3.12590428e-04 -1.88841131e+01] [ 5.72057090e-03 -3.81908796e-04 9.99983564e-01 1.95183523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.72071405700007 meters Centerline goodness : 0.988681 with order 1 Centerline is valid? [True, True] Translation: X:378.60, Y:-18.88, Z:1.96 [[ 9.99919190e-01 -1.13507950e-02 -5.72475962e-03 3.78600574e+02] [ 1.13527717e-02 9.99935506e-01 3.12910412e-04 -1.88849584e+01] [ 5.72083863e-03 -3.77877015e-04 9.99983564e-01 1.95639698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.78071405700007 meters Centerline goodness : 0.988203 with order 1 Centerline is valid? [True, True] Translation: X:378.66, Y:-18.89, Z:1.95 [[ 9.99871213e-01 -1.49928380e-02 -5.72473578e-03 3.78662919e+02] [ 1.49948766e-02 9.99887521e-01 3.13345891e-04 -1.88892924e+01] [ 5.71939393e-03 -3.99147243e-04 9.99983564e-01 1.94873502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.84071405700007 meters Centerline goodness : 0.987316 with order 1 Centerline is valid? [True, True] Translation: X:378.73, Y:-18.89, Z:1.95 [[ 9.99848617e-01 -1.64307832e-02 -5.72464749e-03 3.78725210e+02] [ 1.64328544e-02 9.99864922e-01 3.14950809e-04 -1.88933646e+01] [ 5.71869932e-03 -4.08975430e-04 9.99983564e-01 1.94985341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9007140570001 meters Centerline goodness : 0.987962 with order 1 Centerline is valid? [True, True] Translation: X:378.79, Y:-18.90, Z:1.95 [[ 9.99801538e-01 -1.90817604e-02 -5.72462359e-03 3.78788050e+02] [ 1.90838773e-02 9.99817836e-01 3.15384582e-04 -1.88960485e+01] [ 5.71756268e-03 -4.24570004e-04 9.99983564e-01 1.94994026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9607140570001 meters Centerline goodness : 0.988466 with order 1 Centerline is valid? [True, True] Translation: X:378.85, Y:-18.90, Z:1.95 [[ 9.99832580e-01 -1.73793084e-02 -5.72458761e-03 3.78850892e+02] [ 1.73814012e-02 9.99848882e-01 3.16036381e-04 -1.89003310e+01] [ 5.71823002e-03 -4.15484824e-04 9.99983564e-01 1.94587689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0207140570001 meters Centerline goodness : 0.987874 with order 1 Centerline is valid? [True, True] Translation: X:378.91, Y:-18.90, Z:1.95 [[ 9.99893104e-01 -1.34539777e-02 -5.72455120e-03 3.78911883e+02] [ 1.34560103e-02 9.99909414e-01 3.16694481e-04 -1.89029348e+01] [ 5.71977183e-03 -3.93690248e-04 9.99983564e-01 1.94693970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.080714057 meters Centerline goodness : 0.987837 with order 1 Centerline is valid? [True, True] Translation: X:378.97, Y:-18.91, Z:1.95 [[ 9.99929881e-01 -1.03664069e-02 -5.72453333e-03 3.78974044e+02] [ 1.03683909e-02 9.99946197e-01 3.17017209e-04 -1.89062679e+01] [ 5.72093900e-03 -3.76349179e-04 9.99983564e-01 1.94765339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.140714057 meters Centerline goodness : 0.988074 with order 1 Centerline is valid? [True, True] Translation: X:379.04, Y:-18.91, Z:1.95 [[ 9.99931302e-01 -1.02284726e-02 -5.72450951e-03 3.79036247e+02] [ 1.02304569e-02 9.99947617e-01 3.17446623e-04 -1.89092616e+01] [ 5.72096265e-03 -3.75989163e-04 9.99983564e-01 1.94920756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.200714057 meters Centerline goodness : 0.988090 with order 1 Centerline is valid? [True, True] Translation: X:379.10, Y:-18.91, Z:1.95 [[ 9.99890700e-01 -1.36315193e-02 -5.72448503e-03 3.79097225e+02] [ 1.36335615e-02 9.99907008e-01 3.17887455e-04 -1.89123296e+01] [ 5.71961941e-03 -3.95897829e-04 9.99983564e-01 1.94957343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.26071405700003 meters Centerline goodness : 0.988642 with order 1 Centerline is valid? [True, True] Translation: X:379.16, Y:-18.92, Z:1.95 [[ 9.99848885e-01 -1.64145906e-02 -5.72440677e-03 3.79158865e+02] [ 1.64166863e-02 9.99865186e-01 3.19290524e-04 -1.89180640e+01] [ 5.71839402e-03 -4.13218065e-04 9.99983564e-01 1.94825822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.32071405700003 meters Centerline goodness : 0.989018 with order 1 Centerline is valid? [True, True] Translation: X:379.22, Y:-18.92, Z:1.95 [[ 9.99817139e-01 -1.82461143e-02 -5.72438359e-03 3.79219432e+02] [ 1.82482422e-02 9.99833436e-01 3.19705701e-04 -1.89237216e+01] [ 5.71759672e-03 -4.24107177e-04 9.99983564e-01 1.94780823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.38071405700003 meters Centerline goodness : 0.991519 with order 1 Centerline is valid? [True, True] Translation: X:379.28, Y:-18.92, Z:1.95 [[ 9.99673113e-01 -2.49178407e-02 -5.72436646e-03 3.79282393e+02] [ 2.49200791e-02 9.99689395e-01 3.20012013e-04 -1.89181990e+01] [ 5.71461444e-03 -4.62559070e-04 9.99983564e-01 1.95426023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.44071405700004 meters Centerline goodness : 0.988295 with order 1 Centerline is valid? [True, True] Translation: X:379.34, Y:-18.93, Z:1.95 [[ 9.99805904e-01 -1.88517137e-02 -5.72428766e-03 3.79344040e+02] [ 1.88538612e-02 9.99822199e-01 3.21415431e-04 -1.89340451e+01] [ 5.71721064e-03 -4.29277970e-04 9.99983564e-01 1.95117768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.50071405700004 meters Centerline goodness : 0.992124 with order 1 Centerline is valid? [True, True] Translation: X:379.41, Y:-18.93, Z:1.95 [[ 9.99633889e-01 -2.64446775e-02 -5.72426465e-03 3.79405239e+02] [ 2.64469510e-02 9.99650166e-01 3.21824711e-04 -1.89302950e+01] [ 5.71375156e-03 -4.73096234e-04 9.99983564e-01 1.95458718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.56071405700004 meters Centerline goodness : 0.989354 with order 1 Centerline is valid? [True, True] Translation: X:379.47, Y:-18.95, Z:1.95 [[ 9.99776789e-01 -2.03373075e-02 -5.72421948e-03 3.79466644e+02] [ 2.03394861e-02 9.99793079e-01 3.22626245e-04 -1.89451441e+01] [ 5.71647367e-03 -4.38981914e-04 9.99983564e-01 1.95231177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.62071405700004 meters Centerline goodness : 0.988942 with order 1 Centerline is valid? [True, True] Translation: X:379.53, Y:-18.95, Z:1.95 [[ 9.99863177e-01 -1.55196732e-02 -5.72419555e-03 3.79529066e+02] [ 1.55217757e-02 9.99879478e-01 3.23050170e-04 -1.89515251e+01] [ 5.71849203e-03 -4.11855649e-04 9.99983564e-01 1.95184937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.68071405700005 meters Centerline goodness : 0.987786 with order 1 Centerline is valid? [True, True] Translation: X:379.59, Y:-18.96, Z:1.95 [[ 9.99978074e-01 -3.32934899e-03 -5.72417092e-03 3.79590364e+02] [ 3.33125507e-03 9.99994399e-01 3.23486045e-04 -1.89554706e+01] [ 5.72306186e-03 -3.42547626e-04 9.99983564e-01 1.95316106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.74071405700005 meters Centerline goodness : 0.986581 with order 1 Centerline is valid? [True, True] Translation: X:379.65, Y:-18.96, Z:1.95 [[ 9.99965138e-01 6.07916787e-03 -5.72415281e-03 3.79650020e+02] [-6.07741364e-03 9.99981480e-01 3.23806135e-04 -1.89566337e+01] [ 5.72601527e-03 -2.89006802e-04 9.99983564e-01 1.95432659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.80071405700005 meters Centerline goodness : 0.987121 with order 1 Centerline is valid? [True, True] Translation: X:379.71, Y:-18.96, Z:1.96 [[ 9.99880191e-01 1.43818685e-02 -5.72416446e-03 3.79706504e+02] [-1.43802512e-02 9.99896546e-01 3.23600146e-04 -1.89589313e+01] [ 5.72822625e-03 -2.41246454e-04 9.99983564e-01 1.95655723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.86071405700005 meters Centerline goodness : 0.987456 with order 1 Centerline is valid? [True, True] Translation: X:379.76, Y:-18.96, Z:1.95 [[ 9.99813739e-01 1.84315366e-02 -5.72422673e-03 3.79764909e+02] [-1.84299918e-02 9.99830101e-01 3.22494797e-04 -1.89636632e+01] [ 5.72919827e-03 -2.16937277e-04 9.99983564e-01 1.95372573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.92071405700005 meters Centerline goodness : 0.987202 with order 1 Centerline is valid? [True, True] Translation: X:379.82, Y:-18.97, Z:1.95 [[ 9.99863062e-01 1.55270331e-02 -5.72430769e-03 3.79823516e+02] [-1.55254491e-02 9.99879421e-01 3.21051326e-04 -1.89677444e+01] [ 5.72860243e-03 -2.32134914e-04 9.99983564e-01 1.95377547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.98071405700006 meters Centerline goodness : 0.989103 with order 1 Centerline is valid? [True, True] Translation: X:379.88, Y:-18.96, Z:1.96 [[ 9.99980742e-01 2.39739585e-03 -5.72433087e-03 3.79882400e+02] [-2.39559955e-03 9.99997079e-01 3.20637437e-04 -1.89589293e+01] [ 5.72508285e-03 -3.06918058e-04 9.99983564e-01 1.96109560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.04071405700006 meters Centerline goodness : 0.988162 with order 1 Centerline is valid? [True, True] Translation: X:379.94, Y:-18.98, Z:1.96 [[ 9.99959021e-01 7.01344361e-03 -5.72435879e-03 3.79939378e+02] [-7.01172560e-03 9.99975366e-01 3.20138222e-04 -1.89771727e+01] [ 5.72646305e-03 -2.79987470e-04 9.99983564e-01 1.95505963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.10071405700006 meters Centerline goodness : 0.988064 with order 1 Centerline is valid? [True, True] Translation: X:380.00, Y:-18.98, Z:1.96 [[ 9.99962991e-01 6.42231269e-03 -5.72447752e-03 3.79997930e+02] [-6.42059721e-03 9.99979337e-01 3.18000983e-04 -1.89810751e+01] [ 5.72640153e-03 -2.81234650e-04 9.99983564e-01 1.96180150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.16071405700006 meters Centerline goodness : 0.988528 with order 1 Centerline is valid? [True, True] Translation: X:380.06, Y:-18.99, Z:1.96 [[ 9.99981737e-01 1.93785389e-03 -5.72450157e-03 3.80056260e+02] [-1.93606761e-03 9.99998075e-01 3.17567319e-04 -1.89853629e+01] [ 5.72510596e-03 -3.06478497e-04 9.99983564e-01 1.95964913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.22071405700007 meters Centerline goodness : 0.988715 with order 1 Centerline is valid? [True, True] Translation: X:380.11, Y:-18.99, Z:1.96 [[ 9.99983614e-01 -4.29211622e-05 -5.72452535e-03 3.80114208e+02] [ 4.47373586e-05 9.99999949e-01 3.17138190e-04 -1.89908633e+01] [ 5.72451144e-03 -3.17389094e-04 9.99983564e-01 1.95941894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.28071405700007 meters Centerline goodness : 0.989169 with order 1 Centerline is valid? [True, True] Translation: X:380.17, Y:-19.00, Z:1.96 [[ 9.99983497e-01 -4.84144518e-04 -5.72455452e-03 3.80172462e+02] [ 4.85964913e-04 9.99999832e-01 3.16610796e-04 -1.89977954e+01] [ 5.72440027e-03 -3.19387504e-04 9.99983564e-01 1.95732434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.34071405700007 meters Centerline goodness : 0.988675 with order 1 Centerline is valid? [True, True] Translation: X:380.23, Y:-19.01, Z:1.96 [[ 9.99982282e-01 1.63264698e-03 -5.72457739e-03 3.80231287e+02] [-1.63086353e-03 9.99998620e-01 3.16196671e-04 -1.90053493e+01] [ 5.72508573e-03 -3.06855064e-04 9.99983564e-01 1.95519874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4007140570001 meters Centerline goodness : 0.989287 with order 1 Centerline is valid? [True, True] Translation: X:380.29, Y:-19.01, Z:1.96 [[ 9.99968571e-01 5.48504533e-03 -5.72466148e-03 3.80288465e+02] [-5.48333358e-03 9.99984917e-01 3.14666797e-04 -1.90107904e+01] [ 5.72630110e-03 -2.83266678e-04 9.99983564e-01 1.95557182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4607140570001 meters Centerline goodness : 0.987564 with order 1 Centerline is valid? [True, True] Translation: X:380.35, Y:-19.01, Z:1.96 [[ 9.99849511e-01 1.63763121e-02 -5.72469085e-03 3.80347276e+02] [-1.63747816e-02 9.99865875e-01 3.14131624e-04 -1.90138967e+01] [ 5.72906734e-03 -2.20343788e-04 9.99983564e-01 1.96074963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5207140570001 meters Centerline goodness : 0.988698 with order 1 Centerline is valid? [True, True] Translation: X:380.41, Y:-19.02, Z:1.96 [[ 9.99705175e-01 2.35964118e-02 -5.72477355e-03 3.80406405e+02] [-2.35950081e-02 9.99721550e-01 3.12617180e-04 -1.90177568e+01] [ 5.73055613e-03 -1.77448934e-04 9.99983564e-01 1.96103504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.580714057 meters Centerline goodness : 0.988858 with order 1 Centerline is valid? [True, True] Translation: X:380.47, Y:-19.02, Z:1.96 [[ 9.99708546e-01 2.34531088e-02 -5.72484977e-03 3.80465393e+02] [-2.34517108e-02 9.99724922e-01 3.11215124e-04 -1.90242937e+01] [ 5.73057395e-03 -1.76866898e-04 9.99983564e-01 1.95859775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.640714057 meters Centerline goodness : 0.987863 with order 1 Centerline is valid? [True, True] Translation: X:380.52, Y:-19.03, Z:1.96 [[ 9.99790588e-01 1.96470175e-02 -5.72487313e-03 3.80523158e+02] [-1.96455596e-02 9.99806959e-01 3.10784737e-04 -1.90305455e+01] [ 5.72987399e-03 -1.98251319e-04 9.99983564e-01 1.95820213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.700714057 meters Centerline goodness : 0.990200 with order 1 Centerline is valid? [True, True] Translation: X:380.58, Y:-19.04, Z:1.96 [[ 9.99961805e-01 6.60409797e-03 -5.72490204e-03 3.80581747e+02] [-6.60242973e-03 9.99978156e-01 3.10251304e-04 -1.90374110e+01] [ 5.72682591e-03 -2.72441191e-04 9.99983564e-01 1.95507791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.76071405700003 meters Centerline goodness : 0.989353 with order 1 Centerline is valid? [True, True] Translation: X:380.64, Y:-19.04, Z:1.96 [[ 9.99978894e-01 3.07178603e-03 -5.72492538e-03 3.80639003e+02] [-3.07006250e-03 9.99995239e-01 3.09820103e-04 -1.90408360e+01] [ 5.72584982e-03 -2.92237686e-04 9.99983564e-01 1.95936457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.82071405700003 meters Centerline goodness : 0.993777 with order 1 Centerline is valid? [True, True] Translation: X:380.70, Y:-19.04, Z:1.96 [[ 9.99903091e-01 -1.26898903e-02 -5.72495406e-03 3.80697988e+02] [ 1.26918682e-02 9.99919407e-01 3.09289166e-04 -1.90366477e+01] [ 5.72056783e-03 -3.81919556e-04 9.99983564e-01 1.95663742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.88071405700003 meters Centerline goodness : 0.990201 with order 1 Centerline is valid? [True, True] Translation: X:380.76, Y:-19.05, Z:1.96 [[ 9.99949040e-01 -8.31516511e-03 -5.72496389e-03 3.80759520e+02] [ 8.31707058e-03 9.99965365e-01 3.09107120e-04 -1.90502128e+01] [ 5.72219533e-03 -3.56706297e-04 9.99983564e-01 1.95836073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.94071405700004 meters Centerline goodness : 0.990515 with order 1 Centerline is valid? [True, True] Translation: X:380.82, Y:-19.05, Z:1.95 [[ 9.99852733e-01 -1.61782738e-02 -5.72494033e-03 3.80820000e+02] [ 1.61803101e-02 9.99869042e-01 3.09542860e-04 -1.90546515e+01] [ 5.71918274e-03 -4.02128584e-04 9.99983564e-01 1.95330289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.00071405700004 meters Centerline goodness : 0.991410 with order 1 Centerline is valid? [True, True] Translation: X:380.88, Y:-19.05, Z:1.96 [[ 9.99779648e-01 -2.01960565e-02 -5.72493455e-03 3.80882474e+02] [ 2.01981589e-02 9.99795948e-01 3.09649723e-04 -1.90533712e+01] [ 5.71751267e-03 -4.25214628e-04 9.99983564e-01 1.95925181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.06071405700004 meters Centerline goodness : 0.990512 with order 1 Centerline is valid? [True, True] Translation: X:380.94, Y:-19.06, Z:1.96 [[ 9.99831483e-01 -1.74421969e-02 -5.72491099e-03 3.80943187e+02] [ 1.74442568e-02 9.99847789e-01 3.10084777e-04 -1.90563840e+01] [ 5.71863103e-03 -4.09899340e-04 9.99983564e-01 1.96277681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.12071405700004 meters Centerline goodness : 0.990809 with order 1 Centerline is valid? [True, True] Translation: X:381.01, Y:-19.06, Z:1.96 [[ 9.99731019e-01 -2.24747514e-02 -5.72489347e-03 3.81006532e+02] [ 2.24768952e-02 9.99747314e-01 3.10407809e-04 -1.90584484e+01] [ 5.71647053e-03 -4.39002146e-04 9.99983564e-01 1.95894720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.18071405700005 meters Centerline goodness : 0.990656 with order 1 Centerline is valid? [True, True] Translation: X:381.07, Y:-19.06, Z:1.96 [[ 9.99714373e-01 -2.32034210e-02 -5.72480100e-03 3.81067965e+02] [ 2.32055864e-02 9.99730665e-01 3.12104055e-04 -1.90592309e+01] [ 5.71601723e-03 -4.44862274e-04 9.99983564e-01 1.96134988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.24071405700005 meters Centerline goodness : 0.991111 with order 1 Centerline is valid? [True, True] Translation: X:381.13, Y:-19.06, Z:1.96 [[ 9.99758026e-01 -2.12395138e-02 -5.72478386e-03 3.81130603e+02] [ 2.12416490e-02 9.99774322e-01 3.12418093e-04 -1.90602310e+01] [ 5.71685629e-03 -4.33946345e-04 9.99983564e-01 1.96234063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.30071405700005 meters Centerline goodness : 0.991103 with order 1 Centerline is valid? [True, True] Translation: X:381.19, Y:-19.06, Z:1.96 [[ 9.99827411e-01 -1.76741262e-02 -5.72474904e-03 3.81191454e+02] [ 1.76762069e-02 9.99843715e-01 3.13054782e-04 -1.90601054e+01] [ 5.71832138e-03 -4.14192600e-04 9.99983564e-01 1.96278778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.36071405700005 meters Centerline goodness : 0.989031 with order 1 Centerline is valid? [True, True] Translation: X:381.25, Y:-19.06, Z:1.96 [[ 9.99952881e-01 -7.83978810e-03 -5.72473195e-03 3.81253421e+02] [ 7.84171010e-03 9.99969204e-01 3.13366903e-04 -1.90644392e+01] [ 5.72209893e-03 -3.58243826e-04 9.99983564e-01 1.95969186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.42071405700005 meters Centerline goodness : 0.988067 with order 1 Centerline is valid? [True, True] Translation: X:381.31, Y:-19.06, Z:1.96 [[ 9.99981192e-01 -2.20081035e-03 -5.72470855e-03 3.81314424e+02] [ 2.20264271e-03 9.99997525e-01 3.13793934e-04 -1.90645554e+01] [ 5.72400378e-03 -3.26397520e-04 9.99983564e-01 1.95813845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.48071405700006 meters Centerline goodness : 0.988472 with order 1 Centerline is valid? [True, True] Translation: X:381.37, Y:-19.06, Z:1.96 [[ 9.99983477e-01 -5.23109788e-04 -5.72469702e-03 3.81373659e+02] [ 5.24915942e-04 9.99999813e-01 3.14004111e-04 -1.90637982e+01] [ 5.72453169e-03 -3.17003907e-04 9.99983564e-01 1.96001615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.54071405700006 meters Centerline goodness : 0.992713 with order 1 Centerline is valid? [True, True] Translation: X:381.43, Y:-19.05, Z:1.96 [[ 9.99940241e-01 -9.31358580e-03 -5.72471418e-03 3.81433478e+02] [ 9.31553370e-03 9.99956560e-01 3.13690899e-04 -1.90540163e+01] [ 5.72154391e-03 -3.67000921e-04 9.99983564e-01 1.96450361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.60071405700006 meters Centerline goodness : 0.988372 with order 1 Centerline is valid? [True, True] Translation: X:381.49, Y:-19.07, Z:1.96 [[ 9.99976747e-01 -3.70588431e-03 -5.72472530e-03 3.81493899e+02] [ 3.70773950e-03 9.99993077e-01 3.13487939e-04 -1.90665386e+01] [ 5.72352391e-03 -3.34706439e-04 9.99983564e-01 1.96156465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.66071405700006 meters Centerline goodness : 0.988539 with order 1 Centerline is valid? [True, True] Translation: X:381.55, Y:-19.07, Z:1.96 [[ 9.99919643e-01 -1.13108495e-02 -5.72471333e-03 3.81553742e+02] [ 1.13128301e-02 9.99935959e-01 3.13706289e-04 -1.90673788e+01] [ 5.72079843e-03 -3.78443790e-04 9.99983564e-01 1.96432679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.72071405700007 meters Centerline goodness : 0.989332 with order 1 Centerline is valid? [True, True] Translation: X:381.62, Y:-19.07, Z:1.97 [[ 9.99847118e-01 -1.65217406e-02 -5.72471913e-03 3.81615566e+02] [ 1.65238056e-02 9.99863423e-01 3.13600363e-04 -1.90701847e+01] [ 5.71875605e-03 -4.08146566e-04 9.99983564e-01 1.96709255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.78071405700007 meters Centerline goodness : 0.989552 with order 1 Centerline is valid? [True, True] Translation: X:381.68, Y:-19.07, Z:1.97 [[ 9.99739587e-01 -2.20904419e-02 -5.72463562e-03 3.81678565e+02] [ 2.20926063e-02 9.99755879e-01 3.15117536e-04 -1.90724949e+01] [ 5.71627703e-03 -4.41507596e-04 9.99983564e-01 1.96756748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.84071405700007 meters Centerline goodness : 0.989768 with order 1 Centerline is valid? [True, True] Translation: X:381.74, Y:-19.08, Z:1.97 [[ 9.99673899e-01 -2.48862503e-02 -5.72453959e-03 3.81740935e+02] [ 2.48884702e-02 9.99690184e-01 3.16852530e-04 -1.90769837e+01] [ 5.71488076e-03 -4.59224237e-04 9.99983564e-01 1.96749772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9007140570001 meters Centerline goodness : 0.990565 with order 1 Centerline is valid? [True, True] Translation: X:381.80, Y:-19.08, Z:1.97 [[ 9.99607426e-01 -2.74266812e-02 -5.72451540e-03 3.81801818e+02] [ 2.74289449e-02 9.99623705e-01 3.17288871e-04 -1.90808275e+01] [ 5.71365912e-03 -4.74181730e-04 9.99983564e-01 1.96782610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9607140570001 meters Centerline goodness : 0.989730 with order 1 Centerline is valid? [True, True] Translation: X:381.86, Y:-19.09, Z:1.96 [[ 9.99639751e-01 -2.62220782e-02 -5.72449761e-03 3.81863664e+02] [ 2.62243241e-02 9.99656033e-01 3.17609577e-04 -1.90876286e+01] [ 5.71420019e-03 -4.67616239e-04 9.99983564e-01 1.96439598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0207140570001 meters Centerline goodness : 0.989740 with order 1 Centerline is valid? [True, True] Translation: X:381.93, Y:-19.09, Z:1.97 [[ 9.99583472e-01 -2.82862532e-02 -5.72447470e-03 3.81925593e+02] [ 2.82885350e-02 9.99599749e-01 3.18021904e-04 -1.90905974e+01] [ 5.71318783e-03 -4.79826442e-04 9.99983564e-01 1.96739324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.080714057 meters Centerline goodness : 0.989911 with order 1 Centerline is valid? [True, True] Translation: X:381.99, Y:-19.10, Z:1.97 [[ 9.99694925e-01 -2.40268258e-02 -5.72445191e-03 3.81987486e+02] [ 2.40290406e-02 9.99711210e-01 3.18431585e-04 -1.90961957e+01] [ 5.71514785e-03 -4.55887527e-04 9.99983564e-01 1.96559939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.140714057 meters Centerline goodness : 0.988838 with order 1 Centerline is valid? [True, True] Translation: X:382.05, Y:-19.10, Z:1.97 [[ 9.99797453e-01 -1.92946753e-02 -5.72442813e-03 3.82050752e+02] [ 1.92968155e-02 9.99813748e-01 3.18858547e-04 -1.91004888e+01] [ 5.71720967e-03 -4.29257196e-04 9.99983564e-01 1.96679088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.200714057 meters Centerline goodness : 0.988583 with order 1 Centerline is valid? [True, True] Translation: X:382.11, Y:-19.10, Z:1.97 [[ 9.99893346e-01 -1.34360413e-02 -5.72439256e-03 3.82113266e+02] [ 1.34380896e-02 9.99909654e-01 3.19495823e-04 -1.91029122e+01] [ 5.71958263e-03 -3.96386648e-04 9.99983564e-01 1.96661728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.26071405700003 meters Centerline goodness : 0.987265 with order 1 Centerline is valid? [True, True] Translation: X:382.17, Y:-19.11, Z:1.97 [[ 9.99938095e-01 -9.54142369e-03 -5.72436818e-03 3.82174913e+02] [ 9.54341089e-03 9.99954409e-01 3.19932102e-04 -1.91057981e+01] [ 5.72105459e-03 -3.74542295e-04 9.99983564e-01 1.96670636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.32071405700003 meters Centerline goodness : 0.988253 with order 1 Centerline is valid? [True, True] Translation: X:382.23, Y:-19.11, Z:1.97 [[ 9.99981041e-01 -2.26915247e-03 -5.72434358e-03 3.82234940e+02] [ 2.27102348e-03 9.99997370e-01 3.20371630e-04 -1.91076934e+01] [ 5.72360155e-03 -3.33365675e-04 9.99983564e-01 1.96664737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.38071405700003 meters Centerline goodness : 0.988547 with order 1 Centerline is valid? [True, True] Translation: X:382.29, Y:-19.11, Z:1.97 [[ 9.99957964e-01 7.16257730e-03 -5.72433756e-03 3.82294998e+02] [-7.16085977e-03 9.99974309e-01 3.20479095e-04 -1.91091786e+01] [ 5.72648596e-03 -2.79474445e-04 9.99983564e-01 1.97132498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.44071405700004 meters Centerline goodness : 0.989236 with order 1 Centerline is valid? [True, True] Translation: X:382.35, Y:-19.11, Z:1.97 [[ 9.99958354e-01 7.10786010e-03 -5.72434973e-03 3.82352278e+02] [-7.10614292e-03 9.99974700e-01 3.20261723e-04 -1.91113820e+01] [ 5.72648127e-03 -2.79570339e-04 9.99983564e-01 1.96917868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.50071405700004 meters Centerline goodness : 0.987465 with order 1 Centerline is valid? [True, True] Translation: X:382.41, Y:-19.11, Z:1.97 [[ 9.99898360e-01 1.30575996e-02 -5.72437147e-03 3.82410529e+02] [-1.30559820e-02 9.99914716e-01 3.19872566e-04 -1.91144481e+01] [ 5.72806004e-03 -2.45102763e-04 9.99983564e-01 1.96972933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.56071405700004 meters Centerline goodness : 0.988824 with order 1 Centerline is valid? [True, True] Translation: X:382.47, Y:-19.12, Z:1.97 [[ 9.99857169e-01 1.59019776e-02 -5.72446702e-03 3.82467778e+02] [-1.59004163e-02 9.99873530e-01 3.18153287e-04 -1.91171140e+01] [ 5.72880232e-03 -2.27086436e-04 9.99983564e-01 1.97191709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.62071405700004 meters Centerline goodness : 0.987800 with order 1 Centerline is valid? [True, True] Translation: X:382.53, Y:-19.12, Z:1.97 [[ 9.99745336e-01 2.18287101e-02 -5.72452983e-03 3.82526357e+02] [-2.18272523e-02 9.99761707e-01 3.17019152e-04 -1.91232929e+01] [ 5.73008584e-03 -1.91987662e-04 9.99983564e-01 1.96855570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.68071405700005 meters Centerline goodness : 0.987932 with order 1 Centerline is valid? [True, True] Translation: X:382.58, Y:-19.13, Z:1.97 [[ 9.99759847e-01 2.11536520e-02 -5.72461328e-03 3.82583179e+02] [-2.11521918e-02 9.99776218e-01 3.15505113e-04 -1.91266572e+01] [ 5.73000629e-03 -1.94341225e-04 9.99983564e-01 1.96934940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.74071405700005 meters Centerline goodness : 0.987637 with order 1 Centerline is valid? [True, True] Translation: X:382.64, Y:-19.14, Z:1.97 [[ 9.99586673e-01 2.81728912e-02 -5.72465393e-03 3.82640840e+02] [-2.81715502e-02 9.99603054e-01 3.14765678e-04 -1.91359469e+01] [ 5.73124941e-03 -1.53363201e-04 9.99983564e-01 1.96545425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.80071405700005 meters Centerline goodness : 0.991928 with order 1 Centerline is valid? [True, True] Translation: X:382.70, Y:-19.13, Z:1.97 [[ 9.99859038e-01 1.57839188e-02 -5.72474865e-03 3.82699679e+02] [-1.57823849e-02 9.99875401e-01 3.13033438e-04 -1.91279781e+01] [ 5.72897625e-03 -2.22639126e-04 9.99983564e-01 1.97483052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.86071405700005 meters Centerline goodness : 0.987677 with order 1 Centerline is valid? [True, True] Translation: X:382.76, Y:-19.15, Z:1.97 [[ 9.99730108e-01 2.25152750e-02 -5.72477162e-03 3.82757416e+02] [-2.25138536e-02 9.99746482e-01 3.12612907e-04 -1.91485059e+01] [ 5.73035885e-03 -1.83641865e-04 9.99983564e-01 1.96725811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.92071405700005 meters Centerline goodness : 0.991913 with order 1 Centerline is valid? [True, True] Translation: X:382.82, Y:-19.14, Z:1.97 [[ 9.99895226e-01 1.32952043e-02 -5.72485182e-03 3.82815839e+02] [-1.32936404e-02 9.99911587e-01 3.11137143e-04 -1.91394260e+01] [ 5.72848231e-03 -2.35000422e-04 9.99983564e-01 1.97049747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.98071405700006 meters Centerline goodness : 0.989505 with order 1 Centerline is valid? [True, True] Translation: X:382.87, Y:-19.16, Z:1.97 [[ 9.99918848e-01 1.13808160e-02 -5.72487954e-03 3.82873977e+02] [-1.13792237e-02 9.99935206e-01 3.10626260e-04 -1.91582299e+01] [ 5.72804379e-03 -2.45456367e-04 9.99983564e-01 1.96940739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.04071405700006 meters Centerline goodness : 0.990999 with order 1 Centerline is valid? [True, True] Translation: X:382.93, Y:-19.15, Z:1.98 [[ 9.99983563e-01 -3.13840838e-04 -5.72490151e-03 3.82932763e+02] [ 3.15621979e-04 9.99999902e-01 3.10220859e-04 -1.91519653e+01] [ 5.72480359e-03 -3.12022665e-04 9.99983564e-01 1.97977026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.10071405700006 meters Centerline goodness : 0.989155 with order 1 Centerline is valid? [True, True] Translation: X:382.99, Y:-19.17, Z:1.98 [[ 9.99983474e-01 5.25346421e-04 -5.72493548e-03 3.82990048e+02] [-5.23582579e-04 9.99999815e-01 3.09592639e-04 -1.91665364e+01] [ 5.72509707e-03 -3.06590046e-04 9.99983564e-01 1.98014920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.16071405700006 meters Centerline goodness : 0.989166 with order 1 Centerline is valid? [True, True] Translation: X:383.05, Y:-19.18, Z:1.97 [[ 9.99983352e-01 -7.21459512e-04 -5.72496941e-03 3.83048695e+02] [ 7.23240139e-04 9.99999691e-01 3.08963982e-04 -1.91761741e+01] [ 5.72474474e-03 -3.13099366e-04 9.99983564e-01 1.96938948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.22071405700007 meters Centerline goodness : 0.988760 with order 1 Centerline is valid? [True, True] Translation: X:383.11, Y:-19.18, Z:1.97 [[ 9.99945101e-01 -8.77602074e-03 -5.72499292e-03 3.83107010e+02] [ 8.77793042e-03 9.99961426e-01 3.08527709e-04 -1.91770287e+01] [ 5.72206444e-03 -3.58764361e-04 9.99983564e-01 1.97261316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.28071405700007 meters Centerline goodness : 0.992830 with order 1 Centerline is valid? [True, True] Translation: X:383.17, Y:-19.17, Z:1.98 [[ 9.99796089e-01 -1.93650465e-02 -5.72501573e-03 3.83168482e+02] [ 1.93671265e-02 9.99812392e-01 3.08103960e-04 -1.91671519e+01] [ 5.71797522e-03 -4.18918238e-04 9.99983564e-01 1.97612020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.34071405700007 meters Centerline goodness : 0.989767 with order 1 Centerline is valid? [True, True] Translation: X:383.23, Y:-19.18, Z:1.97 [[ 9.99918145e-01 -1.14423453e-02 -5.72500476e-03 3.83229931e+02] [ 1.14442973e-02 9.99934464e-01 3.08307708e-04 -1.91789463e+01] [ 5.72110180e-03 -3.73801127e-04 9.99983564e-01 1.97464881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4007140570001 meters Centerline goodness : 0.989415 with order 1 Centerline is valid? [True, True] Translation: X:383.29, Y:-19.18, Z:1.98 [[ 9.99953054e-01 -7.81758246e-03 -5.72498202e-03 3.83291140e+02] [ 7.81947765e-03 9.99969380e-01 3.08729352e-04 -1.91792033e+01] [ 5.72239320e-03 -3.53481228e-04 9.99983564e-01 1.98061096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4607140570001 meters Centerline goodness : 0.988099 with order 1 Centerline is valid? [True, True] Translation: X:383.35, Y:-19.18, Z:1.98 [[ 9.99950112e-01 -8.18530379e-03 -5.72497089e-03 3.83351609e+02] [ 8.18720616e-03 9.99966437e-01 3.08935579e-04 -1.91810738e+01] [ 5.72225001e-03 -3.55791684e-04 9.99983564e-01 1.97763192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5207140570001 meters Centerline goodness : 0.988026 with order 1 Centerline is valid? [True, True] Translation: X:383.41, Y:-19.18, Z:1.98 [[ 9.99983590e-01 -2.12692207e-04 -5.72496539e-03 3.83412777e+02] [ 2.14464940e-04 9.99999929e-01 3.09037458e-04 -1.91823719e+01] [ 5.72489925e-03 -3.10260191e-04 9.99983564e-01 1.98147775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.580714057 meters Centerline goodness : 0.988053 with order 1 Centerline is valid? [True, True] Translation: X:383.47, Y:-19.18, Z:1.98 [[ 9.99973164e-01 4.57128016e-03 -5.72495361e-03 3.83471494e+02] [-4.56958437e-03 9.99989512e-01 3.09255599e-04 -1.91826709e+01] [ 5.72630725e-03 -2.83086641e-04 9.99983564e-01 1.98207761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.640714057 meters Centerline goodness : 0.986868 with order 1 Centerline is valid? [True, True] Translation: X:383.53, Y:-19.18, Z:1.98 [[ 9.99936844e-01 9.67115936e-03 -5.72503517e-03 3.83529789e+02] [-9.66955564e-03 9.99953201e-01 3.07738169e-04 -1.91838583e+01] [ 5.72774343e-03 -2.52360188e-04 9.99983565e-01 1.97743468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.700714057 meters Centerline goodness : 0.988335 with order 1 Centerline is valid? [True, True] Translation: X:383.59, Y:-19.18, Z:1.98 [[ 9.99829719e-01 1.75429773e-02 -5.72511481e-03 3.83587768e+02] [-1.75415109e-02 9.99846089e-01 3.06249425e-04 -1.91819611e+01] [ 5.72960618e-03 -2.05770113e-04 9.99983565e-01 1.98266396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.76071405700003 meters Centerline goodness : 0.987629 with order 1 Centerline is valid? [True, True] Translation: X:383.65, Y:-19.19, Z:1.97 [[ 9.99702172e-01 2.37231830e-02 -5.72515576e-03 3.83645479e+02] [-2.37218222e-02 9.99718551e-01 3.05481847e-04 -1.91867956e+01] [ 5.73079143e-03 -1.69579739e-04 9.99983565e-01 1.97370167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.82071405700003 meters Centerline goodness : 0.987358 with order 1 Centerline is valid? [True, True] Translation: X:383.70, Y:-19.18, Z:1.98 [[ 9.99777318e-01 2.03109733e-02 -5.72524907e-03 3.83703071e+02] [-2.03095667e-02 9.99793693e-01 3.03723115e-04 -1.91835547e+01] [ 5.73023682e-03 -1.87378154e-04 9.99983565e-01 1.98044779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.88071405700003 meters Centerline goodness : 0.988395 with order 1 Centerline is valid? [True, True] Translation: X:383.76, Y:-19.19, Z:1.98 [[ 9.99881669e-01 1.42783063e-02 -5.72527745e-03 3.83761643e+02] [-1.42768040e-02 9.99898035e-01 3.03187065e-04 -1.91873098e+01] [ 5.72902267e-03 -2.21412524e-04 9.99983565e-01 1.98107489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.94071405700004 meters Centerline goodness : 0.988897 with order 1 Centerline is valid? [True, True] Translation: X:383.82, Y:-19.19, Z:1.98 [[ 9.99935689e-01 9.78974730e-03 -5.72530039e-03 3.83819320e+02] [-9.78817400e-03 9.99952049e-01 3.02753294e-04 -1.91922156e+01] [ 5.72798973e-03 -2.46693587e-04 9.99983565e-01 1.97962710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.00071405700004 meters Centerline goodness : 0.989467 with order 1 Centerline is valid? [True, True] Translation: X:383.88, Y:-19.20, Z:1.98 [[ 9.99976981e-01 3.64105017e-03 -5.72532842e-03 3.83877593e+02] [-3.63937935e-03 9.99993332e-01 3.02222322e-04 -1.91976364e+01] [ 5.72639065e-03 -2.81378723e-04 9.99983565e-01 1.97922044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.06071405700004 meters Centerline goodness : 0.989476 with order 1 Centerline is valid? [True, True] Translation: X:383.94, Y:-19.20, Z:1.98 [[ 9.99982851e-01 -1.23245421e-03 -5.72535125e-03 3.83936247e+02] [ 1.23420223e-03 9.99999193e-01 3.01789220e-04 -1.92024626e+01] [ 5.72497468e-03 -3.08850286e-04 9.99983565e-01 1.97777489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.12071405700004 meters Centerline goodness : 0.989623 with order 1 Centerline is valid? [True, True] Translation: X:383.99, Y:-19.20, Z:1.98 [[ 9.99983569e-01 -2.86976033e-04 -5.72537398e-03 3.83994590e+02] [ 2.88706136e-04 9.99999913e-01 3.01357364e-04 -1.92041924e+01] [ 5.72528700e-03 -3.03005363e-04 9.99983565e-01 1.98271011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.18071405700005 meters Centerline goodness : 0.987850 with order 1 Centerline is valid? [True, True] Translation: X:384.05, Y:-19.21, Z:1.97 [[ 9.99980483e-01 2.50036582e-03 -5.72545285e-03 3.84053388e+02] [-2.49868989e-03 9.99996833e-01 2.99851436e-04 -1.92120187e+01] [ 5.72618445e-03 -2.85539453e-04 9.99983565e-01 1.97252699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.24071405700005 meters Centerline goodness : 0.987655 with order 1 Centerline is valid? [True, True] Translation: X:384.11, Y:-19.21, Z:1.98 [[ 9.99983334e-01 7.41874266e-04 -5.72553184e-03 3.84111785e+02] [-7.40178237e-04 9.99999682e-01 2.98335328e-04 -1.92122494e+01] [ 5.72575135e-03 -2.94092442e-04 9.99983565e-01 1.97546469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.30071405700005 meters Centerline goodness : 0.986838 with order 1 Centerline is valid? [True, True] Translation: X:384.17, Y:-19.21, Z:1.98 [[ 9.99982898e-01 -1.19211405e-03 -5.72555414e-03 3.84169458e+02] [ 1.19383925e-03 9.99999243e-01 2.97906926e-04 -1.92136530e+01] [ 5.72519466e-03 -3.04737222e-04 9.99983565e-01 1.97582115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.36071405700005 meters Centerline goodness : 0.987169 with order 1 Centerline is valid? [True, True] Translation: X:384.23, Y:-19.21, Z:1.98 [[ 9.99978661e-01 -3.14575325e-03 -5.72558164e-03 3.84228719e+02] [ 3.14750735e-03 9.99995002e-01 2.97377431e-04 -1.92137398e+01] [ 5.72461755e-03 -3.15392395e-04 9.99983565e-01 1.98021376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.42071405700005 meters Centerline goodness : 0.986736 with order 1 Centerline is valid? [True, True] Translation: X:384.29, Y:-19.21, Z:1.98 [[ 9.99974074e-01 -4.36677312e-03 -5.72560399e-03 3.84287465e+02] [ 4.36854471e-03 9.99990414e-01 2.96946370e-04 -1.92143766e+01] [ 5.72425241e-03 -3.21951229e-04 9.99983565e-01 1.98496707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.48071405700006 meters Centerline goodness : 0.986474 with order 1 Centerline is valid? [True, True] Translation: X:384.35, Y:-19.21, Z:1.99 [[ 9.99968120e-01 -5.56570668e-03 -5.72562044e-03 3.84346708e+02] [ 5.56749605e-03 9.99984457e-01 2.96628821e-04 -1.92147227e+01] [ 5.72388050e-03 -3.28496733e-04 9.99983565e-01 1.98579789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.54071405700006 meters Centerline goodness : 0.985707 with order 1 Centerline is valid? [True, True] Translation: X:384.41, Y:-19.21, Z:1.99 [[ 9.99971931e-01 -4.83262004e-03 -5.72563130e-03 3.84405855e+02] [ 4.83439624e-03 9.99988270e-01 2.96419031e-04 -1.92140401e+01] [ 5.72413166e-03 -3.24090681e-04 9.99983565e-01 1.98977179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.60071405700006 meters Centerline goodness : 0.985791 with order 1 Centerline is valid? [True, True] Translation: X:384.47, Y:-19.21, Z:1.99 [[ 9.99978717e-01 -3.12784294e-03 -5.72563662e-03 3.84466782e+02] [ 3.12959069e-03 9.99995059e-01 2.96316380e-04 -1.92136569e+01] [ 5.72468150e-03 -3.14228973e-04 9.99983565e-01 1.99143732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.66071405700006 meters Centerline goodness : 0.986203 with order 1 Centerline is valid? [True, True] Translation: X:384.53, Y:-19.22, Z:1.99 [[ 9.99980360e-01 -2.54899330e-03 -5.72563662e-03 3.84526165e+02] [ 2.55073159e-03 9.99996703e-01 2.96316380e-04 -1.92155289e+01] [ 5.72486243e-03 -3.10915123e-04 9.99983565e-01 1.98717010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.72071405700007 meters Centerline goodness : 0.985961 with order 1 Centerline is valid? [True, True] Translation: X:384.59, Y:-19.22, Z:1.99 [[ 9.99982780e-01 1.28702024e-03 -5.72564790e-03 3.84585677e+02] [-1.28534590e-03 9.99999130e-01 2.96098252e-04 -1.92151245e+01] [ 5.72602400e-03 -2.88733716e-04 9.99983565e-01 1.99065560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.78071405700007 meters Centerline goodness : 0.985245 with order 1 Centerline is valid? [True, True] Translation: X:384.64, Y:-19.22, Z:1.99 [[ 9.99981177e-01 2.20506331e-03 -5.72565904e-03 3.84643498e+02] [-2.20340521e-03 9.99997529e-01 2.95882707e-04 -1.92160128e+01] [ 5.72629733e-03 -2.83261190e-04 9.99983565e-01 1.99112780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.84071405700007 meters Centerline goodness : 0.985637 with order 1 Centerline is valid? [True, True] Translation: X:384.70, Y:-19.22, Z:1.99 [[ 9.99982212e-01 1.67050041e-03 -5.72574796e-03 3.84701116e+02] [-1.66884346e-03 9.99998564e-01 2.94151750e-04 -1.92185661e+01] [ 5.72623112e-03 -2.84591140e-04 9.99983565e-01 1.98909183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9007140570001 meters Centerline goodness : 0.985184 with order 1 Centerline is valid? [True, True] Translation: X:384.76, Y:-19.22, Z:1.99 [[ 9.99981024e-01 -2.27311078e-03 -5.72577515e-03 3.84759625e+02] [ 2.27482918e-03 9.99997369e-01 2.93621488e-04 -1.92191844e+01] [ 5.72509266e-03 -3.06641076e-04 9.99983565e-01 1.98997888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9607140570001 meters Centerline goodness : 0.985666 with order 1 Centerline is valid? [True, True] Translation: X:384.82, Y:-19.22, Z:1.99 [[ 9.99983607e-01 3.27893084e-05 -5.72579364e-03 3.84819686e+02] [-3.11106679e-05 9.99999957e-01 2.93260491e-04 -1.92207577e+01] [ 5.72580301e-03 -2.93077550e-04 9.99983565e-01 1.99282280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0207140570001 meters Centerline goodness : 0.986268 with order 1 Centerline is valid? [True, True] Translation: X:384.88, Y:-19.22, Z:2.00 [[ 9.99976569e-01 -3.75186856e-03 -5.72580469e-03 3.84877973e+02] [ 3.75360783e-03 9.99992912e-01 2.93044556e-04 -1.92226742e+01] [ 5.72466465e-03 -3.14530115e-04 9.99983565e-01 1.99628704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.080714057 meters Centerline goodness : 0.985570 with order 1 Centerline is valid? [True, True] Translation: X:384.94, Y:-19.23, Z:2.00 [[ 9.99972800e-01 -4.64921048e-03 -5.72582658e-03 3.84937467e+02] [ 4.65096198e-03 9.99989141e-01 2.92616322e-04 -1.92260070e+01] [ 5.72440397e-03 -3.19238965e-04 9.99983565e-01 1.99531836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.140714057 meters Centerline goodness : 0.985794 with order 1 Centerline is valid? [True, True] Translation: X:385.00, Y:-19.23, Z:1.99 [[ 9.99978511e-01 -3.19257911e-03 -5.72582688e-03 3.84998328e+02] [ 3.19430676e-03 9.99994855e-01 2.92610425e-04 -1.92294029e+01] [ 5.72486324e-03 -3.10894184e-04 9.99983565e-01 1.99458438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.200714057 meters Centerline goodness : 0.985778 with order 1 Centerline is valid? [True, True] Translation: X:385.06, Y:-19.23, Z:1.99 [[ 9.99973147e-01 -4.57384823e-03 -5.72582688e-03 3.85058308e+02] [ 4.57559846e-03 9.99989489e-01 2.92610425e-04 -1.92312809e+01] [ 5.72442834e-03 -3.18801652e-04 9.99983565e-01 1.98908524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.26071405700003 meters Centerline goodness : 0.985757 with order 1 Centerline is valid? [True, True] Translation: X:385.12, Y:-19.23, Z:1.99 [[ 9.99979133e-01 -2.99127894e-03 -5.72583728e-03 3.85118960e+02] [ 2.99300214e-03 9.99995478e-01 2.92406809e-04 -1.92326688e+01] [ 5.72493672e-03 -3.09538151e-04 9.99983565e-01 1.98899651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.32071405700003 meters Centerline goodness : 0.985414 with order 1 Centerline is valid? [True, True] Translation: X:385.18, Y:-19.24, Z:1.99 [[ 9.99981445e-01 -2.07940338e-03 -5.72583728e-03 3.85177081e+02] [ 2.08111168e-03 9.99997792e-01 2.92406809e-04 -1.92351364e+01] [ 5.72521660e-03 -3.04317490e-04 9.99983565e-01 1.99403154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.38071405700003 meters Centerline goodness : 0.985725 with order 1 Centerline is valid? [True, True] Translation: X:385.24, Y:-19.24, Z:1.99 [[ 9.99980303e-01 -2.57083661e-03 -5.72585371e-03 3.85236981e+02] [ 2.57255110e-03 9.99996648e-01 2.92084731e-04 -1.92384588e+01] [ 5.72508362e-03 -3.06809029e-04 9.99983565e-01 1.98792289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.44071405700004 meters Centerline goodness : 0.985068 with order 1 Centerline is valid? [True, True] Translation: X:385.30, Y:-19.24, Z:1.99 [[ 9.99977638e-01 -3.45524470e-03 -5.72586476e-03 3.85296263e+02] [ 3.45697241e-03 9.99993982e-01 2.91867857e-04 -1.92386509e+01] [ 5.72482183e-03 -3.11655487e-04 9.99983565e-01 1.99266612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.50071405700004 meters Centerline goodness : 0.985700 with order 1 Centerline is valid? [True, True] Translation: X:385.36, Y:-19.24, Z:2.00 [[ 9.99983068e-01 -1.03846279e-03 -5.72587580e-03 3.85356059e+02] [ 1.04014976e-03 9.99999417e-01 2.91651273e-04 -1.92431336e+01] [ 5.72556959e-03 -2.97602103e-04 9.99983565e-01 1.99501160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.56071405700004 meters Centerline goodness : 0.986457 with order 1 Centerline is valid? [True, True] Translation: X:385.42, Y:-19.24, Z:2.00 [[ 9.99962648e-01 -6.47428802e-03 -5.72588128e-03 3.85415067e+02] [ 6.47606322e-03 9.99978988e-01 2.91543497e-04 -1.92443769e+01] [ 5.72387343e-03 -3.28613777e-04 9.99983565e-01 1.99974165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.62071405700004 meters Centerline goodness : 0.986624 with order 1 Centerline is valid? [True, True] Translation: X:385.48, Y:-19.25, Z:1.99 [[ 9.99899127e-01 -1.29981038e-02 -5.72590298e-03 3.85475975e+02] [ 1.29999831e-02 9.99915454e-01 2.91116665e-04 -1.92496650e+01] [ 5.72163492e-03 -3.65523942e-04 9.99983565e-01 1.99388143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.68071405700005 meters Centerline goodness : 0.987679 with order 1 Centerline is valid? [True, True] Translation: X:385.54, Y:-19.26, Z:1.99 [[ 9.99766032e-01 -2.08589318e-02 -5.72589744e-03 3.85537670e+02] [ 2.08609401e-02 9.99782345e-01 2.91225585e-04 -1.92573392e+01] [ 5.71857652e-03 -4.10605051e-04 9.99983565e-01 1.99028322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.74071405700005 meters Centerline goodness : 0.987868 with order 1 Centerline is valid? [True, True] Translation: X:385.60, Y:-19.26, Z:1.99 [[ 9.99600342e-01 -2.76833894e-02 -5.72584245e-03 3.85600194e+02] [ 2.76855151e-02 9.99616640e-01 2.92302870e-04 -1.92646062e+01] [ 5.71555546e-03 -4.50708947e-04 9.99983565e-01 1.98984364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.80071405700005 meters Centerline goodness : 0.988531 with order 1 Centerline is valid? [True, True] Translation: X:385.66, Y:-19.27, Z:1.99 [[ 9.99470272e-01 -3.20373428e-02 -5.72575685e-03 3.85661799e+02] [ 3.20395490e-02 9.99486559e-01 2.93970033e-04 -1.92705762e+01] [ 5.71339899e-03 -4.77264976e-04 9.99983565e-01 1.99107413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.86071405700005 meters Centerline goodness : 0.989138 with order 1 Centerline is valid? [True, True] Translation: X:385.72, Y:-19.28, Z:2.00 [[ 9.99507369e-01 -3.08582961e-02 -5.72573515e-03 3.85722930e+02] [ 3.08604855e-02 9.99523658e-01 2.94392098e-04 -1.92758302e+01] [ 5.71392331e-03 -4.70946038e-04 9.99983565e-01 1.99634559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.92071405700005 meters Centerline goodness : 0.989540 with order 1 Centerline is valid? [True, True] Translation: X:385.79, Y:-19.28, Z:1.99 [[ 9.99414584e-01 -3.37298812e-02 -5.72571889e-03 3.85785232e+02] [ 3.37321191e-02 9.99430867e-01 2.94708087e-04 -1.92829030e+01] [ 5.71251972e-03 -4.87676192e-04 9.99983565e-01 1.99254086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.98071405700006 meters Centerline goodness : 0.989741 with order 1 Centerline is valid? [True, True] Translation: X:385.85, Y:-19.29, Z:1.99 [[ 9.99434769e-01 -3.31264186e-02 -5.72569676e-03 3.85846418e+02] [ 3.31286491e-02 9.99451052e-01 2.95137451e-04 -1.92879664e+01] [ 5.71277680e-03 -4.84655229e-04 9.99983565e-01 1.99347540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.04071405700006 meters Centerline goodness : 0.989292 with order 1 Centerline is valid? [True, True] Translation: X:385.91, Y:-19.29, Z:2.00 [[ 9.99582194e-01 -2.83311503e-02 -5.72568047e-03 3.85908771e+02] [ 2.83333045e-02 9.99598488e-01 2.95453131e-04 -1.92929800e+01] [ 5.71501101e-03 -4.57557137e-04 9.99983565e-01 1.99503398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.10071405700006 meters Centerline goodness : 0.988591 with order 1 Centerline is valid? [True, True] Translation: X:385.97, Y:-19.30, Z:2.00 [[ 9.99775286e-01 -2.04106454e-02 -5.72565875e-03 3.85970858e+02] [ 2.04126728e-02 9.99791596e-01 2.95873415e-04 -1.92953327e+01] [ 5.71842653e-03 -4.12682927e-04 9.99983565e-01 2.00191182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.16071405700006 meters Centerline goodness : 0.988458 with order 1 Centerline is valid? [True, True] Translation: X:386.03, Y:-19.30, Z:2.00 [[ 9.99804415e-01 -1.89300937e-02 -5.72563693e-03 3.86032353e+02] [ 1.89320994e-02 9.99820728e-01 2.96295108e-04 -1.93001687e+01] [ 5.71900159e-03 -4.04635485e-04 9.99983565e-01 1.99893418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.22071405700007 meters Centerline goodness : 0.987943 with order 1 Centerline is valid? [True, True] Translation: X:386.09, Y:-19.30, Z:2.00 [[ 9.99872353e-01 -1.49162540e-02 -5.72562556e-03 3.86092925e+02] [ 1.49181955e-02 9.99888674e-01 2.96514699e-04 -1.93035041e+01] [ 5.72056525e-03 -3.81892851e-04 9.99983565e-01 1.99888433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.28071405700007 meters Centerline goodness : 0.987821 with order 1 Centerline is valid? [True, True] Translation: X:386.15, Y:-19.31, Z:2.00 [[ 9.99958309e-01 -7.11314175e-03 -5.72561436e-03 3.86154822e+02] [ 7.11495699e-03 9.99974644e-01 2.96730671e-04 -1.93103512e+01] [ 5.72335850e-03 -3.37455800e-04 9.99983565e-01 1.99884698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.34071405700007 meters Centerline goodness : 0.986500 with order 1 Centerline is valid? [True, True] Translation: X:386.22, Y:-19.32, Z:2.00 [[ 9.99981631e-01 -1.98871523e-03 -5.72559229e-03 3.86216221e+02] [ 1.99044916e-03 9.99997975e-01 2.97155902e-04 -1.93158127e+01] [ 5.72498974e-03 -3.08546944e-04 9.99983565e-01 1.99778038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4007140570001 meters Centerline goodness : 0.986130 with order 1 Centerline is valid? [True, True] Translation: X:386.28, Y:-19.32, Z:2.00 [[ 9.99982246e-01 1.65094173e-03 -5.72558101e-03 3.86275074e+02] [-1.64926606e-03 9.99998596e-01 2.97373238e-04 -1.93217528e+01] [ 5.72606391e-03 -2.87924952e-04 9.99983565e-01 1.99610654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4607140570001 meters Centerline goodness : 0.985825 with order 1 Centerline is valid? [True, True] Translation: X:386.33, Y:-19.33, Z:2.00 [[ 9.99958924e-01 7.02621590e-03 -5.72565950e-03 3.86332972e+02] [-7.02463682e-03 9.99975283e-01 2.95854174e-04 -1.93264251e+01] [ 5.72759671e-03 -2.55621343e-04 9.99983565e-01 1.99641757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5207140570001 meters Centerline goodness : 0.984888 with order 1 Centerline is valid? [True, True] Translation: X:386.39, Y:-19.33, Z:1.99 [[ 9.99962033e-01 6.56873623e-03 -5.72568681e-03 3.86391778e+02] [-6.56715270e-03 9.99978392e-01 2.95324669e-04 -1.93318778e+01] [ 5.72750300e-03 -2.57711997e-04 9.99983565e-01 1.99399277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.580714057 meters Centerline goodness : 0.986599 with order 1 Centerline is valid? [True, True] Translation: X:386.45, Y:-19.34, Z:2.00 [[ 9.99948928e-01 8.32812040e-03 -5.72570840e-03 3.86449456e+02] [-8.32656804e-03 9.99965290e-01 2.94905471e-04 -1.93357628e+01] [ 5.72796567e-03 -2.47214909e-04 9.99983565e-01 1.99557772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.640714057 meters Centerline goodness : 0.985663 with order 1 Centerline is valid? [True, True] Translation: X:386.51, Y:-19.34, Z:2.00 [[ 9.99945168e-01 8.76790161e-03 -5.72573993e-03 3.86508539e+02] [-8.76635996e-03 9.99961531e-01 2.94292019e-04 -1.93394736e+01] [ 5.72809999e-03 -2.44081986e-04 9.99983565e-01 1.99895488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.700714057 meters Centerline goodness : 0.987355 with order 1 Centerline is valid? [True, True] Translation: X:386.57, Y:-19.35, Z:2.00 [[ 9.99940074e-01 9.33086362e-03 -5.72576085e-03 3.86566918e+02] [-9.32933351e-03 9.99956438e-01 2.93884352e-04 -1.93457264e+01] [ 5.72825362e-03 -2.40449208e-04 9.99983565e-01 1.99893459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.76071405700003 meters Centerline goodness : 0.986793 with order 1 Centerline is valid? [True, True] Translation: X:386.63, Y:-19.35, Z:2.00 [[ 9.99928307e-01 1.05164366e-02 -5.72578215e-03 3.86625696e+02] [-1.05149282e-02 9.99944674e-01 2.93468771e-04 -1.93496747e+01] [ 5.72855161e-03 -2.33241543e-04 9.99983565e-01 2.00465417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.82071405700003 meters Centerline goodness : 0.986162 with order 1 Centerline is valid? [True, True] Translation: X:386.68, Y:-19.36, Z:2.00 [[ 9.99950983e-01 8.07753055e-03 -5.72580411e-03 3.86682897e+02] [-8.07598476e-03 9.99967346e-01 2.93039737e-04 -1.93559829e+01] [ 5.72798418e-03 -2.46783866e-04 9.99983565e-01 2.00447118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.88071405700003 meters Centerline goodness : 0.986240 with order 1 Centerline is valid? [True, True] Translation: X:386.74, Y:-19.37, Z:2.00 [[ 9.99969351e-01 5.33964661e-03 -5.72583114e-03 3.86740081e+02] [-5.33805905e-03 9.99985710e-01 2.92510736e-04 -1.93654330e+01] [ 5.72731122e-03 -2.61936946e-04 9.99983565e-01 2.00259753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.94071405700004 meters Centerline goodness : 0.985458 with order 1 Centerline is valid? [True, True] Translation: X:386.80, Y:-19.37, Z:2.01 [[ 9.99978878e-01 3.07525191e-03 -5.72585731e-03 3.86799122e+02] [-3.07363024e-03 9.99995234e-01 2.91997450e-04 -1.93686648e+01] [ 5.72672799e-03 -2.74392114e-04 9.99983565e-01 2.00505654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.00071405700004 meters Centerline goodness : 0.986876 with order 1 Centerline is valid? [True, True] Translation: X:386.86, Y:-19.37, Z:2.00 [[ 9.99982173e-01 1.69326389e-03 -5.72587775e-03 3.86857549e+02] [-1.69162191e-03 9.99998527e-01 2.91596194e-04 -1.93726828e+01] [ 5.72636306e-03 -2.81904975e-04 9.99983565e-01 2.00451184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.06071405700004 meters Centerline goodness : 0.985811 with order 1 Centerline is valid? [True, True] Translation: X:386.92, Y:-19.38, Z:2.00 [[ 9.99983410e-01 6.26853744e-04 -5.72589807e-03 3.86915792e+02] [-6.25196604e-04 9.99999762e-01 2.91196666e-04 -1.93785392e+01] [ 5.72607924e-03 -2.87612023e-04 9.99983565e-01 2.00460395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.12071405700004 meters Centerline goodness : 0.991246 with order 1 Centerline is valid? [True, True] Translation: X:386.98, Y:-19.37, Z:2.00 [[ 9.99928306e-01 -1.05164570e-02 -5.72591962e-03 3.86975128e+02] [ 1.05182938e-02 9.99944639e-01 2.90772109e-04 -1.93723024e+01] [ 5.72254474e-03 -3.50978167e-04 9.99983565e-01 2.00477961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.18071405700005 meters Centerline goodness : 0.987383 with order 1 Centerline is valid? [True, True] Translation: X:387.04, Y:-19.38, Z:2.01 [[ 9.99959322e-01 -6.96914092e-03 -5.72593021e-03 3.87035072e+02] [ 6.97091861e-03 9.99975661e-01 2.90563476e-04 -1.93846465e+01] [ 5.72376587e-03 -3.30466650e-04 9.99983565e-01 2.00942369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.24071405700005 meters Centerline goodness : 0.989340 with order 1 Centerline is valid? [True, True] Translation: X:387.10, Y:-19.39, Z:2.00 [[ 9.99887738e-01 -1.38464651e-02 -5.72592502e-03 3.87095203e+02] [ 1.38483557e-02 9.99904065e-01 2.90665693e-04 -1.93893813e+01] [ 5.72135101e-03 -3.69927709e-04 9.99983565e-01 2.00497922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.30071405700005 meters Centerline goodness : 0.989812 with order 1 Centerline is valid? [True, True] Translation: X:387.16, Y:-19.39, Z:2.01 [[ 9.99833562e-01 -1.73222948e-02 -5.72592502e-03 3.87157358e+02] [ 1.73242421e-02 9.99849882e-01 2.90665693e-04 -1.93933493e+01] [ 5.72003046e-03 -3.89814626e-04 9.99983565e-01 2.00568607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.36071405700005 meters Centerline goodness : 0.989765 with order 1 Centerline is valid? [True, True] Translation: X:387.22, Y:-19.40, Z:2.01 [[ 9.99821301e-01 -1.80160944e-02 -5.72590427e-03 3.87219332e+02] [ 1.80180554e-02 9.99837619e-01 2.91073975e-04 -1.93973054e+01] [ 5.71973048e-03 -3.94191620e-04 9.99983565e-01 2.00605784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.42071405700005 meters Centerline goodness : 0.989859 with order 1 Centerline is valid? [True, True] Translation: X:387.28, Y:-19.40, Z:2.01 [[ 9.99849851e-01 -1.63550911e-02 -5.72588271e-03 3.87281792e+02] [ 1.63570274e-02 9.99866172e-01 2.91497473e-04 -1.94004266e+01] [ 5.72034896e-03 -3.85112125e-04 9.99983565e-01 2.00952499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.48071405700006 meters Centerline goodness : 0.989545 with order 1 Centerline is valid? [True, True] Translation: X:387.34, Y:-19.40, Z:2.01 [[ 9.99842955e-01 -1.67713995e-02 -5.72586097e-03 3.87344059e+02] [ 1.67733451e-02 9.99859275e-01 2.91923934e-04 -1.94026318e+01] [ 5.72015922e-03 -3.87919931e-04 9.99983565e-01 2.00902651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.54071405700006 meters Centerline goodness : 0.990142 with order 1 Centerline is valid? [True, True] Translation: X:387.41, Y:-19.41, Z:2.01 [[ 9.99868617e-01 -1.51645702e-02 -5.72583930e-03 3.87405376e+02] [ 1.51664920e-02 9.99884939e-01 2.92348212e-04 -1.94063939e+01] [ 5.72074715e-03 -3.79150699e-04 9.99983565e-01 2.00734979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.60071405700006 meters Centerline goodness : 0.989204 with order 1 Centerline is valid? [True, True] Translation: X:387.47, Y:-19.41, Z:2.01 [[ 9.99891663e-01 -1.35601612e-02 -5.72582324e-03 3.87467507e+02] [ 1.35620585e-02 9.99907988e-01 2.92662576e-04 -1.94075841e+01] [ 5.72132784e-03 -3.70284820e-04 9.99983565e-01 2.00522216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.66071405700006 meters Centerline goodness : 0.988936 with order 1 Centerline is valid? [True, True] Translation: X:387.53, Y:-19.41, Z:2.01 [[ 9.99909836e-01 -1.21464095e-02 -5.72580127e-03 3.87530012e+02] [ 1.21482862e-02 9.99926164e-01 2.93091710e-04 -1.94102212e+01] [ 5.72181849e-03 -3.62623956e-04 9.99983565e-01 2.00567341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.72071405700007 meters Centerline goodness : 0.988120 with order 1 Centerline is valid? [True, True] Translation: X:387.59, Y:-19.41, Z:2.01 [[ 9.99895040e-01 -1.33087786e-02 -5.72577900e-03 3.87591042e+02] [ 1.33106768e-02 9.99911366e-01 2.93526200e-04 -1.94124243e+01] [ 5.72136502e-03 -3.69709385e-04 9.99983565e-01 2.00759417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.78071405700007 meters Centerline goodness : 0.986927 with order 1 Centerline is valid? [True, True] Translation: X:387.65, Y:-19.41, Z:2.01 [[ 9.99851026e-01 -1.62831651e-02 -5.72576262e-03 3.87653654e+02] [ 1.62851136e-02 9.99867346e-01 2.93845193e-04 -1.94139696e+01] [ 5.72021835e-03 -3.87046112e-04 9.99983565e-01 2.00631031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.84071405700007 meters Centerline goodness : 0.988232 with order 1 Centerline is valid? [True, True] Translation: X:387.72, Y:-19.41, Z:2.01 [[ 9.99787271e-01 -1.98148539e-02 -5.72574179e-03 3.87716260e+02] [ 1.98168623e-02 9.99803583e-01 2.94250702e-04 -1.94148760e+01] [ 5.71878662e-03 -4.07654343e-04 9.99983565e-01 2.00732527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9007140570001 meters Centerline goodness : 0.988717 with order 1 Centerline is valid? [True, True] Translation: X:387.78, Y:-19.42, Z:2.01 [[ 9.99695982e-01 -2.39825044e-02 -5.72572029e-03 3.87779239e+02] [ 2.39845832e-02 9.99712285e-01 2.94668289e-04 -1.94152315e+01] [ 5.71700604e-03 -4.31907719e-04 9.99983565e-01 2.00843335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9607140570001 meters Centerline goodness : 0.988149 with order 1 Centerline is valid? [True, True] Translation: X:387.84, Y:-19.42, Z:2.01 [[ 9.99651263e-01 -2.57792377e-02 -5.72568762e-03 3.87841883e+02] [ 2.57813494e-02 9.99667562e-01 2.95301843e-04 -1.94150495e+01] [ 5.71617153e-03 -4.42814814e-04 9.99983565e-01 2.00944943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0207140570001 meters Centerline goodness : 0.989954 with order 1 Centerline is valid? [True, True] Translation: X:387.90, Y:-19.41, Z:2.01 [[ 9.99629399e-01 -2.66135661e-02 -5.72565333e-03 3.87902771e+02] [ 2.66156952e-02 9.99645696e-01 2.95965222e-04 -1.94146347e+01] [ 5.71574802e-03 -4.48247780e-04 9.99983565e-01 2.00872385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.080714057 meters Centerline goodness : 0.987111 with order 1 Centerline is valid? [True, True] Translation: X:387.97, Y:-19.42, Z:2.01 [[ 9.99609208e-01 -2.73614278e-02 -5.72563649e-03 3.87965085e+02] [ 2.73635710e-02 9.99625503e-01 2.96290672e-04 -1.94153371e+01] [ 5.71538532e-03 -4.52848744e-04 9.99983565e-01 2.01328930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.140714057 meters Centerline goodness : 0.988983 with order 1 Centerline is valid? [True, True] Translation: X:388.03, Y:-19.42, Z:2.01 [[ 9.99586053e-01 -2.81946914e-02 -5.72561509e-03 3.88028407e+02] [ 2.81968504e-02 9.99602346e-01 2.96703649e-04 -1.94165250e+01] [ 5.71497280e-03 -4.58025142e-04 9.99983565e-01 2.01263786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.200714057 meters Centerline goodness : 0.988895 with order 1 Centerline is valid? [True, True] Translation: X:388.09, Y:-19.42, Z:2.01 [[ 9.99510441e-01 -3.07586886e-02 -5.72558264e-03 3.88090429e+02] [ 3.07608930e-02 9.99526728e-01 2.97328390e-04 -1.94180757e+01] [ 5.71372745e-03 -4.73306866e-04 9.99983565e-01 2.00917255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.26071405700003 meters Centerline goodness : 0.989752 with order 1 Centerline is valid? [True, True] Translation: X:388.15, Y:-19.42, Z:2.01 [[ 9.99487242e-01 -3.15035071e-02 -5.72556008e-03 3.88152391e+02] [ 3.15057261e-02 9.99503527e-01 2.97762285e-04 -1.94194130e+01] [ 5.71333694e-03 -4.77997532e-04 9.99983565e-01 2.01150450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.32071405700003 meters Centerline goodness : 0.989310 with order 1 Centerline is valid? [True, True] Translation: X:388.21, Y:-19.42, Z:2.01 [[ 9.99531771e-01 -3.00575787e-02 -5.72550457e-03 3.88214981e+02] [ 3.00597802e-02 9.99548058e-01 2.98825749e-04 -1.94220449e+01] [ 5.71393500e-03 -4.70793239e-04 9.99983565e-01 2.01239064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.38071405700003 meters Centerline goodness : 0.989893 with order 1 Centerline is valid? [True, True] Translation: X:388.28, Y:-19.42, Z:2.01 [[ 9.99545107e-01 -2.96107623e-02 -5.72548320e-03 3.88276813e+02] [ 2.96129589e-02 9.99561395e-01 2.99234729e-04 -1.94240535e+01] [ 5.71411141e-03 -4.68647108e-04 9.99983565e-01 2.01217644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.44071405700004 meters Centerline goodness : 0.988591 with order 1 Centerline is valid? [True, True] Translation: X:388.34, Y:-19.43, Z:2.01 [[ 9.99590183e-01 -2.80479131e-02 -5.72546193e-03 3.88337890e+02] [ 2.80500865e-02 9.99606474e-01 2.99641149e-04 -1.94253984e+01] [ 5.71480450e-03 -4.60118053e-04 9.99983565e-01 2.01172459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.50071405700004 meters Centerline goodness : 0.988535 with order 1 Centerline is valid? [True, True] Translation: X:388.40, Y:-19.43, Z:2.02 [[ 9.99625012e-01 -2.67778769e-02 -5.72542180e-03 3.88401298e+02] [ 2.67800340e-02 9.99641305e-01 3.00406033e-04 -1.94257918e+01] [ 5.71532388e-03 -4.53620374e-04 9.99983565e-01 2.01713198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.56071405700004 meters Centerline goodness : 0.988430 with order 1 Centerline is valid? [True, True] Translation: X:388.46, Y:-19.43, Z:2.02 [[ 9.99539760e-01 -2.97907374e-02 -5.72538836e-03 3.88463279e+02] [ 2.97929472e-02 9.99556046e-01 3.01041892e-04 -1.94280061e+01] [ 5.71387830e-03 -4.71479534e-04 9.99983565e-01 2.01610602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.62071405700004 meters Centerline goodness : 0.988746 with order 1 Centerline is valid? [True, True] Translation: X:388.53, Y:-19.43, Z:2.02 [[ 9.99515856e-01 -3.05822354e-02 -5.72536525e-03 3.88525972e+02] [ 3.05844606e-02 9.99532141e-01 3.01480803e-04 -1.94301943e+01] [ 5.71346663e-03 -4.76442051e-04 9.99983565e-01 2.01708396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.68071405700005 meters Centerline goodness : 0.988275 with order 1 Centerline is valid? [True, True] Translation: X:388.59, Y:-19.43, Z:2.02 [[ 9.99568785e-01 -2.88004134e-02 -5.72533677e-03 3.88587648e+02] [ 2.88026126e-02 9.99585073e-01 3.02020791e-04 -1.94319568e+01] [ 5.71426285e-03 -4.66795213e-04 9.99983565e-01 2.01965060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.74071405700005 meters Centerline goodness : 0.988940 with order 1 Centerline is valid? [True, True] Translation: X:388.65, Y:-19.43, Z:2.02 [[ 9.99567368e-01 -2.88495504e-02 -5.72531977e-03 3.88649705e+02] [ 2.88517522e-02 9.99583656e-01 3.02342639e-04 -1.94340886e+01] [ 5.71421362e-03 -4.67397344e-04 9.99983565e-01 2.02332764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.80071405700005 meters Centerline goodness : 0.988062 with order 1 Centerline is valid? [True, True] Translation: X:388.71, Y:-19.44, Z:2.02 [[ 9.99525278e-01 -3.02727447e-02 -5.72529741e-03 3.88711754e+02] [ 3.02749721e-02 9.99541562e-01 3.02765497e-04 -1.94367134e+01] [ 5.71350717e-03 -4.75954987e-04 9.99983565e-01 2.02408796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.86071405700005 meters Centerline goodness : 0.987986 with order 1 Centerline is valid? [True, True] Translation: X:388.77, Y:-19.44, Z:2.02 [[ 9.99476313e-01 -3.18483969e-02 -5.72527530e-03 3.88772250e+02] [ 3.18506523e-02 9.99492593e-01 3.03183052e-04 -1.94410965e+01] [ 5.71271436e-03 -4.85378032e-04 9.99983565e-01 2.02325860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.92071405700005 meters Centerline goodness : 0.988281 with order 1 Centerline is valid? [True, True] Translation: X:388.83, Y:-19.45, Z:2.02 [[ 9.99419665e-01 -3.35790691e-02 -5.72526440e-03 3.88833557e+02] [ 3.35813539e-02 9.99435941e-01 3.03388753e-04 -1.94465485e+01] [ 5.71184750e-03 -4.95474816e-04 9.99983565e-01 2.01813858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.98071405700006 meters Centerline goodness : 0.988946 with order 1 Centerline is valid? [True, True] Translation: X:388.90, Y:-19.46, Z:2.02 [[ 9.99112150e-01 -4.17388588e-02 -5.72524829e-03 3.88895297e+02] [ 4.17412782e-02 9.99128407e-01 3.03692469e-04 -1.94552493e+01] [ 5.70758242e-03 -5.42402017e-04 9.99983565e-01 2.01779842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.04071405700006 meters Centerline goodness : 0.989364 with order 1 Centerline is valid? [True, True] Translation: X:388.96, Y:-19.46, Z:2.02 [[ 9.98950833e-01 -4.54362835e-02 -5.72516716e-03 3.88956734e+02] [ 4.54387716e-02 9.98967079e-01 3.05214184e-04 -1.94633262e+01] [ 5.70538572e-03 -5.65038527e-04 9.99983565e-01 2.01798066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.10071405700006 meters Centerline goodness : 0.990347 with order 1 Centerline is valid? [True, True] Translation: X:389.02, Y:-19.47, Z:2.02 [[ 9.98912866e-01 -4.62634877e-02 -5.72509148e-03 3.89018229e+02] [ 4.62659973e-02 9.98929108e-01 3.06627284e-04 -1.94702751e+01] [ 5.70477488e-03 -5.71171006e-04 9.99983565e-01 2.01750378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.16071405700006 meters Centerline goodness : 0.989522 with order 1 Centerline is valid? [True, True] Translation: X:389.08, Y:-19.48, Z:2.02 [[ 9.99100594e-01 -4.20146127e-02 -5.72500446e-03 3.89080487e+02] [ 4.20170624e-02 9.99116846e-01 3.08243437e-04 -1.94756926e+01] [ 5.70699767e-03 -5.48514070e-04 9.99983565e-01 2.02115008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.22071405700007 meters Centerline goodness : 0.989758 with order 1 Centerline is valid? [True, True] Translation: X:389.14, Y:-19.48, Z:2.02 [[ 9.99241997e-01 -3.85052799e-02 -5.72498093e-03 3.89141042e+02] [ 3.85076750e-02 9.99258257e-01 3.08679813e-04 -1.94813325e+01] [ 5.70884866e-03 -5.28901539e-04 9.99983565e-01 2.01975857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.28071405700007 meters Centerline goodness : 0.987822 with order 1 Centerline is valid? [True, True] Translation: X:389.20, Y:-19.49, Z:2.02 [[ 9.99527895e-01 -3.01862848e-02 -5.72496357e-03 3.89203165e+02] [ 3.01885463e-02 9.99544174e-01 3.09001463e-04 -1.94876143e+01] [ 5.71302638e-03 -4.81683909e-04 9.99983565e-01 2.01963908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.34071405700007 meters Centerline goodness : 0.988801 with order 1 Centerline is valid? [True, True] Translation: X:389.26, Y:-19.49, Z:2.02 [[ 9.99693689e-01 -2.40780618e-02 -5.72493973e-03 3.89263701e+02] [ 2.40802263e-02 9.99709981e-01 3.09442528e-04 -1.94942645e+01] [ 5.71582862e-03 -4.47205587e-04 9.99983565e-01 2.01546375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4007140570001 meters Centerline goodness : 0.988285 with order 1 Centerline is valid? [True, True] Translation: X:389.33, Y:-19.50, Z:2.02 [[ 9.99785582e-01 -1.99001197e-02 -5.72492215e-03 3.89326530e+02] [ 1.99022180e-02 9.99801883e-01 3.09767429e-04 -1.94977211e+01] [ 5.71762354e-03 -4.23639658e-04 9.99983565e-01 2.01650909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4607140570001 meters Centerline goodness : 0.988038 with order 1 Centerline is valid? [True, True] Translation: X:389.39, Y:-19.50, Z:2.02 [[ 9.99870030e-01 -1.50714472e-02 -5.72488791e-03 3.89388509e+02] [ 1.50734703e-02 9.99886341e-01 3.10399040e-04 -1.95019074e+01] [ 5.71955906e-03 -3.96652625e-04 9.99983565e-01 2.01617941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5207140570001 meters Centerline goodness : 0.987547 with order 1 Centerline is valid? [True, True] Translation: X:389.45, Y:-19.51, Z:2.01 [[ 9.99930485e-01 -1.03077813e-02 -5.72486416e-03 3.89449328e+02] [ 1.03097291e-02 9.99946805e-01 3.10836435e-04 -1.95065430e+01] [ 5.72135559e-03 -3.69836626e-04 9.99983565e-01 2.01331436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.580714057 meters Centerline goodness : 0.987592 with order 1 Centerline is valid? [True, True] Translation: X:389.51, Y:-19.51, Z:2.02 [[ 9.99939636e-01 -9.37817088e-03 -5.72484658e-03 3.89510474e+02] [ 9.38010541e-03 9.99955957e-01 3.11159929e-04 -1.95059574e+01] [ 5.72167633e-03 -3.64840811e-04 9.99983565e-01 2.01885909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.640714057 meters Centerline goodness : 0.987780 with order 1 Centerline is valid? [True, True] Translation: X:389.57, Y:-19.51, Z:2.03 [[ 9.99977848e-01 -3.39569566e-03 -5.72482983e-03 3.89571349e+02] [ 3.39753426e-03 9.99994180e-01 3.11467653e-04 -1.95081761e+01] [ 5.72373886e-03 -3.30911059e-04 9.99983565e-01 2.02512019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.700714057 meters Centerline goodness : 0.988266 with order 1 Centerline is valid? [True, True] Translation: X:389.63, Y:-19.52, Z:2.02 [[ 9.99983542e-01 3.77270366e-04 -5.72481877e-03 3.89630490e+02] [-3.75492243e-04 9.99999881e-01 3.11670800e-04 -1.95179466e+01] [ 5.72493568e-03 -3.09516045e-04 9.99983565e-01 2.01574890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.76071405700003 meters Centerline goodness : 0.987220 with order 1 Centerline is valid? [True, True] Translation: X:389.69, Y:-19.52, Z:2.02 [[ 9.99983002e-01 1.10506740e-03 -5.72483006e-03 3.89689473e+02] [-1.10330235e-03 9.99999343e-01 3.11463273e-04 -1.95185478e+01] [ 5.72517049e-03 -3.05141760e-04 9.99983565e-01 2.02173898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.82071405700003 meters Centerline goodness : 0.986726 with order 1 Centerline is valid? [True, True] Translation: X:389.75, Y:-19.52, Z:2.03 [[ 9.99946375e-01 8.62977601e-03 -5.72490833e-03 3.89748007e+02] [-8.62814223e-03 9.99962729e-01 3.10017991e-04 -1.95231448e+01] [ 5.72737034e-03 -2.60606043e-04 9.99983565e-01 2.02510696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.88071405700003 meters Centerline goodness : 0.986203 with order 1 Centerline is valid? [True, True] Translation: X:389.81, Y:-19.53, Z:2.03 [[ 9.99947315e-01 8.52004389e-03 -5.72498994e-03 3.89805371e+02] [-8.51841697e-03 9.99963670e-01 3.08503490e-04 -1.95264612e+01] [ 5.72741042e-03 -2.59719385e-04 9.99983565e-01 2.02846155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.94071405700004 meters Centerline goodness : 0.986515 with order 1 Centerline is valid? [True, True] Translation: X:389.86, Y:-19.54, Z:2.02 [[ 9.99916033e-01 1.16254090e-02 -5.72501845e-03 3.89863992e+02] [-1.16238359e-02 9.99932394e-01 3.07973529e-04 -1.95370202e+01] [ 5.72821172e-03 -2.41400995e-04 9.99983565e-01 2.02261946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.00071405700004 meters Centerline goodness : 0.987981 with order 1 Centerline is valid? [True, True] Translation: X:389.92, Y:-19.54, Z:2.02 [[ 9.99931061e-01 1.02517089e-02 -5.72505331e-03 3.89922866e+02] [-1.02501170e-02 9.99947419e-01 3.07324070e-04 -1.95415558e+01] [ 5.72790288e-03 -2.48620417e-04 9.99983565e-01 2.02117393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.06071405700004 meters Centerline goodness : 0.988234 with order 1 Centerline is valid? [True, True] Translation: X:389.98, Y:-19.54, Z:2.03 [[ 9.99980639e-01 2.43835893e-03 -5.72507656e-03 3.89982597e+02] [-2.43664178e-03 9.99996984e-01 3.06890362e-04 -1.95410997e+01] [ 5.72580761e-03 -2.92934460e-04 9.99983565e-01 2.02649742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.12071405700004 meters Centerline goodness : 0.988178 with order 1 Centerline is valid? [True, True] Translation: X:390.04, Y:-19.55, Z:2.03 [[ 9.99979641e-01 -2.81785268e-03 -5.72508819e-03 3.90040180e+02] [ 2.81965448e-03 9.99995978e-01 3.06673301e-04 -1.95450153e+01] [ 5.72420100e-03 -3.22809828e-04 9.99983565e-01 2.02706605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.18071405700005 meters Centerline goodness : 0.987496 with order 1 Centerline is valid? [True, True] Translation: X:390.10, Y:-19.55, Z:2.03 [[ 9.99957743e-01 -7.19275297e-03 -5.72511694e-03 3.90099314e+02] [ 7.19462316e-03 9.99974072e-01 3.06135728e-04 -1.95485552e+01] [ 5.72276653e-03 -3.47312850e-04 9.99983565e-01 2.02692121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.24071405700005 meters Centerline goodness : 0.988664 with order 1 Centerline is valid? [True, True] Translation: X:390.16, Y:-19.55, Z:2.02 [[ 9.99962641e-01 -6.47605301e-03 -5.72512814e-03 3.90159944e+02] [ 6.47791030e-03 9.99978971e-01 3.05926046e-04 -1.95532355e+01] [ 5.72302655e-03 -3.43001484e-04 9.99983565e-01 2.02316363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.30071405700005 meters Centerline goodness : 0.990274 with order 1 Centerline is valid? [True, True] Translation: X:390.22, Y:-19.56, Z:2.02 [[ 9.99929559e-01 -1.03971046e-02 -5.72512261e-03 3.90220249e+02] [ 1.03990265e-02 9.99945882e-01 3.06029431e-04 -1.95571631e+01] [ 5.72163096e-03 -3.65543576e-04 9.99983565e-01 2.01929483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.36071405700005 meters Centerline goodness : 0.989998 with order 1 Centerline is valid? [True, True] Translation: X:390.28, Y:-19.56, Z:2.02 [[ 9.99950034e-01 -8.19469439e-03 -5.72512261e-03 3.90280808e+02] [ 8.19658033e-03 9.99966361e-01 3.06029431e-04 -1.95580973e+01] [ 5.72242221e-03 -3.52940567e-04 9.99983565e-01 2.02461399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.42071405700005 meters Centerline goodness : 0.989894 with order 1 Centerline is valid? [True, True] Translation: X:390.34, Y:-19.56, Z:2.02 [[ 9.99944196e-01 -8.87853462e-03 -5.72511681e-03 3.90341836e+02] [ 8.88043235e-03 9.99960521e-01 3.06138001e-04 -1.95598325e+01] [ 5.72217273e-03 -3.56962429e-04 9.99983565e-01 2.01903984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.48071405700006 meters Centerline goodness : 0.987748 with order 1 Centerline is valid? [True, True] Translation: X:390.40, Y:-19.56, Z:2.02 [[ 9.99971864e-01 -4.84704015e-03 -5.72510089e-03 3.90403034e+02] [ 4.84887375e-03 9.99988197e-01 3.06435409e-04 -1.95611650e+01] [ 5.72354801e-03 -3.34187079e-04 9.99983565e-01 2.02315214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.54071405700006 meters Centerline goodness : 0.989238 with order 1 Centerline is valid? [True, True] Translation: X:390.46, Y:-19.56, Z:2.02 [[ 9.99973498e-01 -4.49750697e-03 -5.72508918e-03 3.90462712e+02] [ 4.49933610e-03 9.99989831e-01 3.06653971e-04 -1.95645978e+01] [ 5.72365179e-03 -3.32404944e-04 9.99983565e-01 2.01673563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.60071405700006 meters Centerline goodness : 0.991937 with order 1 Centerline is valid? [True, True] Translation: X:390.52, Y:-19.55, Z:2.03 [[ 9.99929549e-01 -1.03981362e-02 -5.72509493e-03 3.90523173e+02] [ 1.04000611e-02 9.99945871e-01 3.06546567e-04 -1.95515237e+01] [ 5.72159753e-03 -3.66066307e-04 9.99983565e-01 2.02840307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.66071405700006 meters Centerline goodness : 0.992259 with order 1 Centerline is valid? [True, True] Translation: X:390.58, Y:-19.55, Z:2.03 [[ 9.99965265e-01 -6.05736433e-03 -5.72508854e-03 3.90584087e+02] [ 6.05921900e-03 9.99981596e-01 3.06665911e-04 -1.95508622e+01] [ 5.72312559e-03 -3.41344824e-04 9.99983565e-01 2.03401176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.72071405700007 meters Centerline goodness : 0.986481 with order 1 Centerline is valid? [True, True] Translation: X:390.64, Y:-19.56, Z:2.02 [[ 9.99889239e-01 1.37379913e-02 -5.72508315e-03 3.90642747e+02] [-1.37364596e-02 9.99905603e-01 3.06766519e-04 -1.95649174e+01] [ 5.72875708e-03 -2.28090168e-04 9.99983565e-01 2.02357727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.78071405700007 meters Centerline goodness : 0.986841 with order 1 Centerline is valid? [True, True] Translation: X:390.70, Y:-19.56, Z:2.02 [[ 9.99854547e-01 1.60657428e-02 -5.72509390e-03 3.90701550e+02] [-1.60642504e-02 9.99870915e-01 3.06565741e-04 -1.95638913e+01] [ 5.72928008e-03 -2.14551808e-04 9.99983565e-01 2.02298147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.84071405700007 meters Centerline goodness : 0.986621 with order 1 Centerline is valid? [True, True] Translation: X:390.76, Y:-19.56, Z:2.02 [[ 9.99770032e-01 2.06665258e-02 -5.72511419e-03 3.90760621e+02] [-2.06651110e-02 9.99786407e-01 3.06186373e-04 -1.95630327e+01] [ 5.73021915e-03 -1.87805840e-04 9.99983565e-01 2.02187193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9007140570001 meters Centerline goodness : 0.987577 with order 1 Centerline is valid? [True, True] Translation: X:390.82, Y:-19.56, Z:2.02 [[ 9.99658317e-01 2.55043254e-02 -5.72519535e-03 3.90817821e+02] [-2.55029985e-02 9.99674699e-01 3.04661173e-04 -1.95644649e+01] [ 5.73110312e-03 -1.58547427e-04 9.99983565e-01 2.02328409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9607140570001 meters Centerline goodness : 0.986059 with order 1 Centerline is valid? [True, True] Translation: X:390.88, Y:-19.57, Z:2.03 [[ 9.99457575e-01 3.24311306e-02 -5.72523523e-03 3.90875717e+02] [-3.24299216e-02 9.99473966e-01 3.03910014e-04 -1.95667673e+01] [ 5.73207970e-03 -1.18076236e-04 9.99983565e-01 2.03010555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0207140570001 meters Centerline goodness : 0.985898 with order 1 Centerline is valid? [True, True] Translation: X:390.93, Y:-19.57, Z:2.03 [[ 9.99434950e-01 3.31210129e-02 -5.72526209e-03 3.90934559e+02] [-3.31198181e-02 9.99451342e-01 3.03403031e-04 -1.95702271e+01] [ 5.73216990e-03 -1.13611954e-04 9.99983565e-01 2.02978953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.080714057 meters Centerline goodness : 0.985592 with order 1 Centerline is valid? [True, True] Translation: X:390.99, Y:-19.58, Z:2.02 [[ 9.99623703e-01 2.68267262e-02 -5.72528395e-03 3.90992642e+02] [-2.68254305e-02 9.99640087e-01 3.02989996e-04 -1.95776057e+01] [ 5.73135158e-03 -1.49292775e-04 9.99983565e-01 2.02321268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.140714057 meters Centerline goodness : 0.986006 with order 1 Centerline is valid? [True, True] Translation: X:391.05, Y:-19.59, Z:2.02 [[ 9.99685150e-01 2.44299302e-02 -5.72531114e-03 3.91051511e+02] [-2.44285982e-02 9.99701532e-01 3.02475428e-04 -1.95860778e+01] [ 5.73099177e-03 -1.62518868e-04 9.99983565e-01 2.02493731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.200714057 meters Centerline goodness : 0.987231 with order 1 Centerline is valid? [True, True] Translation: X:391.11, Y:-19.59, Z:2.03 [[ 9.99769011e-01 2.07158043e-02 -5.72533303e-03 3.91109321e+02] [-2.07144139e-02 9.99785388e-01 3.02060498e-04 -1.95915981e+01] [ 5.73036173e-03 -1.83393807e-04 9.99983565e-01 2.02556529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.26071405700003 meters Centerline goodness : 0.988871 with order 1 Centerline is valid? [True, True] Translation: X:391.17, Y:-19.60, Z:2.03 [[ 9.99862195e-01 1.55823794e-02 -5.72535990e-03 3.91168320e+02] [-1.55809078e-02 9.99878565e-01 3.01550267e-04 -1.95986654e+01] [ 5.72936351e-03 -2.12302408e-04 9.99983565e-01 2.02810527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.32071405700003 meters Centerline goodness : 0.987107 with order 1 Centerline is valid? [True, True] Translation: X:391.23, Y:-19.60, Z:2.03 [[ 9.99859264e-01 1.57693729e-02 -5.72537634e-03 3.91226974e+02] [-1.57679061e-02 9.99875633e-01 3.01237811e-04 -1.96037427e+01] [ 5.72941463e-03 -2.10918219e-04 9.99983565e-01 2.02720296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.38071405700003 meters Centerline goodness : 0.986829 with order 1 Centerline is valid? [True, True] Translation: X:391.28, Y:-19.61, Z:2.03 [[ 9.99882801e-01 1.41987540e-02 -5.72539823e-03 3.91284441e+02] [-1.41972639e-02 9.99899169e-01 3.00821146e-04 -1.96073488e+01] [ 5.72909222e-03 -2.19500900e-04 9.99983565e-01 2.02875350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.44071405700004 meters Centerline goodness : 0.986432 with order 1 Centerline is valid? [True, True] Translation: X:391.34, Y:-19.61, Z:2.03 [[ 9.99887446e-01 1.38677514e-02 -5.72543575e-03 3.91343426e+02] [-1.38662599e-02 9.99903814e-01 3.00105484e-04 -1.96117953e+01] [ 5.72904683e-03 -2.20681326e-04 9.99983565e-01 2.02756395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.50071405700004 meters Centerline goodness : 0.986160 with order 1 Centerline is valid? [True, True] Translation: X:391.40, Y:-19.62, Z:2.03 [[ 9.99917818e-01 1.14706770e-02 -5.72545703e-03 3.91401314e+02] [-1.14691486e-02 9.99934182e-01 2.99698944e-04 -1.96152536e+01] [ 5.72851794e-03 -2.34008197e-04 9.99983565e-01 2.02606534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.56071405700004 meters Centerline goodness : 0.985697 with order 1 Centerline is valid? [True, True] Translation: X:391.46, Y:-19.62, Z:2.03 [[ 9.99959284e-01 6.97487817e-03 -5.72548323e-03 3.91460193e+02] [-6.97327915e-03 9.99975642e-01 2.99197578e-04 -1.96166230e+01] [ 5.72743063e-03 -2.59260003e-04 9.99983565e-01 2.02937200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.62071405700004 meters Centerline goodness : 0.986405 with order 1 Centerline is valid? [True, True] Translation: X:391.52, Y:-19.62, Z:2.03 [[ 9.99979331e-01 2.92519695e-03 -5.72550579e-03 3.91518185e+02] [-2.92353416e-03 9.99995682e-01 2.98765236e-04 -1.96188878e+01] [ 5.72635501e-03 -2.82020349e-04 9.99983565e-01 2.03025691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.68071405700005 meters Centerline goodness : 0.986731 with order 1 Centerline is valid? [True, True] Translation: X:391.58, Y:-19.62, Z:2.03 [[ 9.99979157e-01 -2.98402049e-03 -5.72553360e-03 3.91576809e+02] [ 2.98577683e-03 9.99995498e-01 2.98231218e-04 -1.96203422e+01] [ 5.72461790e-03 -3.15320167e-04 9.99983565e-01 2.03181004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.74071405700005 meters Centerline goodness : 0.987032 with order 1 Centerline is valid? [True, True] Translation: X:391.64, Y:-19.62, Z:2.03 [[ 9.99955716e-01 -7.46890731e-03 -5.72555488e-03 3.91635996e+02] [ 7.47073458e-03 9.99972049e-01 2.97822109e-04 -1.96233853e+01] [ 5.72317044e-03 -3.40583021e-04 9.99983565e-01 2.03190567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.80071405700005 meters Centerline goodness : 0.988110 with order 1 Centerline is valid? [True, True] Translation: X:391.70, Y:-19.62, Z:2.03 [[ 9.99923748e-01 -1.09414988e-02 -5.72556568e-03 3.91696749e+02] [ 1.09433816e-02 9.99940075e-01 2.97614357e-04 -1.96239397e+01] [ 5.72196623e-03 -3.60248713e-04 9.99983565e-01 2.03110400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.86071405700005 meters Centerline goodness : 0.987538 with order 1 Centerline is valid? [True, True] Translation: X:391.76, Y:-19.63, Z:2.03 [[ 9.99946047e-01 -8.66723354e-03 -5.72556568e-03 3.91757670e+02] [ 8.66907920e-03 9.99962379e-01 2.97614357e-04 -1.96263401e+01] [ 5.72277078e-03 -3.47233682e-04 9.99983565e-01 2.03024686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.92071405700005 meters Centerline goodness : 0.987836 with order 1 Centerline is valid? [True, True] Translation: X:391.82, Y:-19.63, Z:2.03 [[ 9.99982924e-01 -1.17005702e-03 -5.72554882e-03 3.91819085e+02] [ 1.17178204e-03 9.99999269e-01 2.97938357e-04 -1.96279566e+01] [ 5.72519603e-03 -3.04642364e-04 9.99983565e-01 2.02880139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.98071405700006 meters Centerline goodness : 0.986324 with order 1 Centerline is valid? [True, True] Translation: X:391.88, Y:-19.63, Z:2.03 [[ 9.99947491e-01 8.49902273e-03 -5.72553819e-03 3.91877965e+02] [-8.49745467e-03 9.99963852e-01 2.98142464e-04 -1.96267887e+01] [ 5.72786514e-03 -2.49474308e-04 9.99983565e-01 2.03105207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.04071405700006 meters Centerline goodness : 0.986203 with order 1 Centerline is valid? [True, True] Translation: X:391.94, Y:-19.63, Z:2.03 [[ 9.99892732e-01 1.34811683e-02 -5.72561342e-03 3.91936607e+02] [-1.34796901e-02 9.99909101e-01 2.96690673e-04 -1.96274364e+01] [ 5.72909271e-03 -2.19479353e-04 9.99983565e-01 2.02704927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.10071405700006 meters Centerline goodness : 0.986521 with order 1 Centerline is valid? [True, True] Translation: X:392.00, Y:-19.63, Z:2.03 [[ 9.99880873e-01 1.43337146e-02 -5.72568936e-03 3.91995028e+02] [-1.43322588e-02 9.99897244e-01 2.95217807e-04 -1.96291028e+01] [ 5.72933258e-03 -2.13120577e-04 9.99983565e-01 2.02569658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.16071405700006 meters Centerline goodness : 0.985771 with order 1 Centerline is valid? [True, True] Translation: X:392.05, Y:-19.63, Z:2.03 [[ 9.99866430e-01 1.53081213e-02 -5.72571104e-03 3.92053314e+02] [-1.53066838e-02 9.99882802e-01 2.94796843e-04 -1.96290402e+01] [ 5.72955278e-03 -2.07115818e-04 9.99983565e-01 2.03156100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.22071405700007 meters Centerline goodness : 0.985751 with order 1 Centerline is valid? [True, True] Translation: X:392.11, Y:-19.63, Z:2.03 [[ 9.99916438e-01 1.15901911e-02 -5.72573238e-03 3.92112210e+02] [-1.15886951e-02 9.99932805e-01 2.94381663e-04 -1.96321913e+01] [ 5.72875958e-03 -2.28003297e-04 9.99983565e-01 2.03042346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.28071405700007 meters Centerline goodness : 0.985993 with order 1 Centerline is valid? [True, True] Translation: X:392.17, Y:-19.64, Z:2.03 [[ 9.99968421e-01 5.51119074e-03 -5.72575341e-03 3.92169999e+02] [-5.50959763e-03 9.99984779e-01 2.93972154e-04 -1.96351423e+01] [ 5.72728639e-03 -2.62416273e-04 9.99983565e-01 2.03018994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.34071405700007 meters Centerline goodness : 0.986709 with order 1 Centerline is valid? [True, True] Translation: X:392.23, Y:-19.64, Z:2.03 [[ 9.99982895e-01 -1.19373504e-03 -5.72578443e-03 3.92228068e+02] [ 1.19543434e-03 9.99999242e-01 2.93366702e-04 -1.96364815e+01] [ 5.72542989e-03 -3.00206484e-04 9.99983565e-01 2.03288509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4007140570001 meters Centerline goodness : 0.986823 with order 1 Centerline is valid? [True, True] Translation: X:392.29, Y:-19.64, Z:2.04 [[ 9.99981427e-01 -2.08807961e-03 -5.72580985e-03 3.92286572e+02] [ 2.08979069e-03 9.99997774e-01 2.92869708e-04 -1.96375967e+01] [ 5.72518557e-03 -3.04830013e-04 9.99983565e-01 2.03506594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4607140570001 meters Centerline goodness : 0.986584 with order 1 Centerline is valid? [True, True] Translation: X:392.35, Y:-19.64, Z:2.03 [[ 9.99981323e-01 -2.13724268e-03 -5.72583003e-03 3.92345713e+02] [ 2.13895231e-03 9.99997670e-01 2.92474599e-04 -1.96397250e+01] [ 5.72519160e-03 -3.04716414e-04 9.99983565e-01 2.03445928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5207140570001 meters Centerline goodness : 0.985378 with order 1 Centerline is valid? [True, True] Translation: X:392.41, Y:-19.64, Z:2.03 [[ 9.99983548e-01 -3.43750485e-04 -5.72589943e-03 3.92405100e+02] [ 3.45422997e-04 9.99999898e-01 2.91109616e-04 -1.96390570e+01] [ 5.72579878e-03 -2.93082684e-04 9.99983565e-01 2.03431496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5807140570001 meters Centerline goodness : 0.986399 with order 1 Centerline is valid? [True, True] Translation: X:392.46, Y:-19.64, Z:2.03 [[ 9.99982948e-01 1.14751007e-03 -5.72590919e-03 3.92462917e+02] [-1.14586304e-03 9.99999301e-01 2.90917481e-04 -1.96397162e+01] [ 5.72623902e-03 -2.84351413e-04 9.99983565e-01 2.03194766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.640714057 meters Centerline goodness : 0.985871 with order 1 Centerline is valid? [True, True] Translation: X:392.52, Y:-19.64, Z:2.03 [[ 9.99983605e-01 -5.28580568e-05 -5.72593315e-03 3.92522123e+02] [ 5.45220179e-05 9.99999956e-01 2.90445147e-04 -1.96399581e+01] [ 5.72591755e-03 -2.90752575e-04 9.99983565e-01 2.02648890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.700714057 meters Centerline goodness : 0.985813 with order 1 Centerline is valid? [True, True] Translation: X:392.58, Y:-19.64, Z:2.03 [[ 9.99974950e-01 4.16086149e-03 -5.72595482e-03 3.92580359e+02] [-4.15926889e-03 9.99991308e-01 2.90017326e-04 -1.96387024e+01] [ 5.72711177e-03 -2.66194275e-04 9.99983565e-01 2.03287940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.76071405700003 meters Centerline goodness : 0.986064 with order 1 Centerline is valid? [True, True] Translation: X:392.64, Y:-19.64, Z:2.03 [[ 9.99982542e-01 1.45926436e-03 -5.72598139e-03 3.92639173e+02] [-1.45763057e-03 9.99998896e-01 2.89491792e-04 -1.96401941e+01] [ 5.72639751e-03 -2.81140372e-04 9.99983565e-01 2.03019364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.82071405700003 meters Centerline goodness : 0.986371 with order 1 Centerline is valid? [True, True] Translation: X:392.70, Y:-19.64, Z:2.03 [[ 9.99973988e-01 -4.38590632e-03 -5.72600261e-03 3.92697989e+02] [ 4.38763328e-03 9.99990333e-01 2.89071396e-04 -1.96411891e+01] [ 5.72467942e-03 -3.14187476e-04 9.99983565e-01 2.03177419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.88071405700003 meters Centerline goodness : 0.985887 with order 1 Centerline is valid? [True, True] Translation: X:392.76, Y:-19.64, Z:2.04 [[ 9.99952879e-01 -7.83915644e-03 -5.72602348e-03 3.92757406e+02] [ 7.84093747e-03 9.99969218e-01 2.88657519e-04 -1.96410685e+01] [ 5.72358438e-03 -3.33541309e-04 9.99983565e-01 2.03696104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.94071405700004 meters Centerline goodness : 0.987299 with order 1 Centerline is valid? [True, True] Translation: X:392.82, Y:-19.64, Z:2.03 [[ 9.99903813e-01 -1.26323859e-02 -5.72603442e-03 3.92819110e+02] [ 1.26342439e-02 9.99920143e-01 2.88440324e-04 -1.96428594e+01] [ 5.72193346e-03 -3.60756696e-04 9.99983565e-01 2.03098074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.00071405700004 meters Centerline goodness : 0.986628 with order 1 Centerline is valid? [True, True] Translation: X:392.88, Y:-19.64, Z:2.03 [[ 9.99908564e-01 -1.22505823e-02 -5.72602344e-03 3.92881431e+02] [ 1.22524354e-02 9.99924894e-01 2.88658067e-04 -1.96412540e+01] [ 5.72205715e-03 -3.58789405e-04 9.99983565e-01 2.03471710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.06071405700004 meters Centerline goodness : 0.987742 with order 1 Centerline is valid? [True, True] Translation: X:392.94, Y:-19.64, Z:2.03 [[ 9.99914847e-01 -1.17265403e-02 -5.72600150e-03 3.92942425e+02] [ 1.17283873e-02 9.99931178e-01 2.89092624e-04 -1.96385619e+01] [ 5.72221737e-03 -3.56224770e-04 9.99983565e-01 2.03354297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.12071405700004 meters Centerline goodness : 0.986751 with order 1 Centerline is valid? [True, True] Translation: X:393.01, Y:-19.64, Z:2.04 [[ 9.99977027e-01 -3.62734551e-03 -5.72598526e-03 3.93005269e+02] [ 3.62906202e-03 9.99993373e-01 2.89413908e-04 -1.96350843e+01] [ 5.72489751e-03 -3.10187215e-04 9.99983565e-01 2.04041325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.18071405700005 meters Centerline goodness : 0.987366 with order 1 Centerline is valid? [True, True] Translation: X:393.07, Y:-19.63, Z:2.04 [[ 9.99983175e-01 9.28584551e-04 -5.72596392e-03 3.93065642e+02] [-9.26940121e-04 9.99999528e-01 2.89835578e-04 -1.96318055e+01] [ 5.72623035e-03 -2.84523076e-04 9.99983565e-01 2.04238794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.24071405700005 meters Centerline goodness : 0.987239 with order 1 Centerline is valid? [True, True] Translation: X:393.12, Y:-19.63, Z:2.04 [[ 9.99983442e-01 5.73905128e-04 -5.72597488e-03 3.93123400e+02] [-5.72256135e-04 9.99999794e-01 2.89618893e-04 -1.96307557e+01] [ 5.72613991e-03 -2.86337374e-04 9.99983565e-01 2.04329605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.30071405700005 meters Centerline goodness : 0.988573 with order 1 Centerline is valid? [True, True] Translation: X:393.18, Y:-19.63, Z:2.04 [[ 9.99977114e-01 -3.60331014e-03 -5.72600179e-03 3.93182336e+02] [ 3.60502438e-03 9.99993460e-01 2.89085882e-04 -1.96318230e+01] [ 5.72492267e-03 -3.09721642e-04 9.99983565e-01 2.04478726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.36071405700005 meters Centerline goodness : 0.989039 with order 1 Centerline is valid? [True, True] Translation: X:393.24, Y:-19.63, Z:2.04 [[ 9.99970463e-01 -5.12703233e-03 -5.72602372e-03 3.93241589e+02] [ 5.12876900e-03 9.99986806e-01 2.88650844e-04 -1.96347737e+01] [ 5.72446825e-03 -3.18009771e-04 9.99983565e-01 2.04153664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.42071405700005 meters Centerline goodness : 0.989601 with order 1 Centerline is valid? [True, True] Translation: X:393.30, Y:-19.64, Z:2.04 [[ 9.99983602e-01 -9.62288399e-05 -5.72603464e-03 3.93302234e+02] [ 9.78820239e-05 9.99999954e-01 2.88434060e-04 -1.96369841e+01] [ 5.72600662e-03 -2.88989806e-04 9.99983565e-01 2.03927790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.48071405700006 meters Centerline goodness : 0.988942 with order 1 Centerline is valid? [True, True] Translation: X:393.36, Y:-19.64, Z:2.04 [[ 9.99952681e-01 7.86436429e-03 -5.72603464e-03 3.93360621e+02] [-7.86284134e-03 9.99969046e-01 2.88434060e-04 -1.96358140e+01] [ 5.72812574e-03 -2.43397510e-04 9.99983565e-01 2.04138776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.54071405700006 meters Centerline goodness : 0.987843 with order 1 Centerline is valid? [True, True] Translation: X:393.42, Y:-19.64, Z:2.04 [[ 9.99897879e-01 1.30936673e-02 -5.72606126e-03 3.93418593e+02] [-1.30922330e-02 9.99914252e-01 2.87904521e-04 -1.96381224e+01] [ 5.72933999e-03 -2.12908192e-04 9.99983565e-01 2.04366395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.60071405700006 meters Centerline goodness : 0.987973 with order 1 Centerline is valid? [True, True] Translation: X:393.48, Y:-19.64, Z:2.05 [[ 9.99881885e-01 1.42628135e-02 -5.72614695e-03 3.93475279e+02] [-1.42614081e-02 9.99898260e-01 2.86190106e-04 -1.96405725e+01] [ 5.72964625e-03 -2.04493384e-04 9.99983565e-01 2.04531494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.66071405700006 meters Centerline goodness : 0.987696 with order 1 Centerline is valid? [True, True] Translation: X:393.53, Y:-19.64, Z:2.05 [[ 9.99923292e-01 1.09827649e-02 -5.72620191e-03 3.93533966e+02] [-1.09813122e-02 9.99939663e-01 2.85086138e-04 -1.96448935e+01] [ 5.72898744e-03 -2.22183059e-04 9.99983565e-01 2.04746593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.72071405700007 meters Centerline goodness : 0.986697 with order 1 Centerline is valid? [True, True] Translation: X:393.59, Y:-19.65, Z:2.05 [[ 9.99974004e-01 4.38197488e-03 -5.72622202e-03 3.93591132e+02] [-4.38041638e-03 9.99990365e-01 2.84681569e-04 -1.96521885e+01] [ 5.72741432e-03 -2.59590932e-04 9.99983565e-01 2.04772438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.78071405700007 meters Centerline goodness : 0.987318 with order 1 Centerline is valid? [True, True] Translation: X:393.65, Y:-19.66, Z:2.05 [[ 9.99980520e-01 -2.48370255e-03 -5.72625402e-03 3.93649697e+02] [ 2.48536965e-03 9.99996871e-01 2.84036445e-04 -1.96596217e+01] [ 5.72553064e-03 -2.98262770e-04 9.99983565e-01 2.04807177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.84071405700007 meters Centerline goodness : 0.988918 with order 1 Centerline is valid? [True, True] Translation: X:393.71, Y:-19.67, Z:2.05 [[ 9.99936143e-01 -9.74263860e-03 -5.72627553e-03 3.93708686e+02] [ 9.74442188e-03 9.99952482e-01 2.83602212e-04 -1.96673952e+01] [ 5.72324039e-03 -3.39383347e-04 9.99983565e-01 2.04815838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9007140570001 meters Centerline goodness : 0.987894 with order 1 Centerline is valid? [True, True] Translation: X:393.77, Y:-19.67, Z:2.05 [[ 9.99842860e-01 -1.67769086e-02 -5.72628624e-03 3.93770088e+02] [ 1.67788055e-02 9.99859186e-01 2.83385732e-04 -1.96741769e+01] [ 5.72072556e-03 -3.79421444e-04 9.99983565e-01 2.04635163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9607140570001 meters Centerline goodness : 0.988328 with order 1 Centerline is valid? [True, True] Translation: X:393.83, Y:-19.68, Z:2.05 [[ 9.99852466e-01 -1.61943098e-02 -5.72627008e-03 3.93831225e+02] [ 1.61961991e-02 9.99868793e-01 2.83712041e-04 -1.96794267e+01] [ 5.72092423e-03 -3.76413994e-04 9.99983565e-01 2.04796282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0207140570001 meters Centerline goodness : 0.988568 with order 1 Centerline is valid? [True, True] Translation: X:393.89, Y:-19.68, Z:2.05 [[ 9.99917486e-01 -1.14991687e-02 -5.72625415e-03 3.93892355e+02] [ 1.15009831e-02 9.99933821e-01 2.84033162e-04 -1.96841642e+01] [ 5.72260905e-03 -3.49867278e-04 9.99983565e-01 2.05247541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0807140570001 meters Centerline goodness : 0.987934 with order 1 Centerline is valid? [True, True] Translation: X:393.95, Y:-19.69, Z:2.05 [[ 9.99880003e-01 -1.43940805e-02 -5.72623867e-03 3.93954081e+02] [ 1.43959440e-02 9.99896333e-01 2.84344801e-04 -1.96907492e+01] [ 5.72155217e-03 -3.66745291e-04 9.99983565e-01 2.04734133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.140714057 meters Centerline goodness : 0.987303 with order 1 Centerline is valid? [True, True] Translation: X:394.02, Y:-19.70, Z:2.05 [[ 9.99912874e-01 -1.18934581e-02 -5.72621778e-03 3.94016503e+02] [ 1.18952832e-02 9.99929208e-01 2.84764945e-04 -1.96967940e+01] [ 5.72242557e-03 -3.52855117e-04 9.99983565e-01 2.04800729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.200714057 meters Centerline goodness : 0.988209 with order 1 Centerline is valid? [True, True] Translation: X:394.08, Y:-19.70, Z:2.05 [[ 9.99943198e-01 -8.98952393e-03 -5.72619622e-03 3.94078910e+02] [ 8.99130400e-03 9.99959537e-01 2.85197827e-04 -1.97018035e+01] [ 5.72340073e-03 -3.36667598e-04 9.99983565e-01 2.04814751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.26071405700003 meters Centerline goodness : 0.987226 with order 1 Centerline is valid? [True, True] Translation: X:394.14, Y:-19.71, Z:2.05 [[ 9.99983589e-01 -1.79946992e-04 -5.72617439e-03 3.94139920e+02] [ 1.81585559e-04 9.99999943e-01 2.85635373e-04 -1.97059972e+01] [ 5.72612267e-03 -2.86670476e-04 9.99983565e-01 2.04968288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.32071405700003 meters Centerline goodness : 0.985682 with order 1 Centerline is valid? [True, True] Translation: X:394.20, Y:-19.71, Z:2.05 [[ 9.99917047e-01 1.15372992e-02 -5.72616353e-03 3.94197978e+02] [-1.15358512e-02 9.99933419e-01 2.85853047e-04 -1.97110198e+01] [ 5.72908024e-03 -2.19773165e-04 9.99983565e-01 2.05218185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.38071405700003 meters Centerline goodness : 0.985522 with order 1 Centerline is valid? [True, True] Translation: X:394.26, Y:-19.72, Z:2.05 [[ 9.99882810e-01 1.41977822e-02 -5.72620396e-03 3.94256289e+02] [-1.41963823e-02 9.99899186e-01 2.85040707e-04 -1.97151830e+01] [ 5.72967363e-03 -2.03715923e-04 9.99983565e-01 2.05160335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.44071405700004 meters Centerline goodness : 0.986649 with order 1 Centerline is valid? [True, True] Translation: X:394.31, Y:-19.72, Z:2.05 [[ 9.99826401e-01 1.77307063e-02 -5.72623613e-03 3.94314019e+02] [-1.77293681e-02 9.99842782e-01 2.84393085e-04 -1.97212414e+01] [ 5.73037835e-03 -1.82821167e-04 9.99983565e-01 2.04828019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.50071405700004 meters Centerline goodness : 0.986318 with order 1 Centerline is valid? [True, True] Translation: X:394.37, Y:-19.73, Z:2.05 [[ 9.99613071e-01 2.72198035e-02 -5.72626834e-03 3.94371911e+02] [-2.72186244e-02 9.99629464e-01 2.83742939e-04 -1.97278837e+01] [ 5.73186998e-03 -1.27772003e-04 9.99983565e-01 2.04898810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.56071405700004 meters Centerline goodness : 0.986624 with order 1 Centerline is valid? [True, True] Translation: X:394.43, Y:-19.73, Z:2.05 [[ 9.99362817e-01 3.52302303e-02 -5.72629467e-03 3.94430330e+02] [-3.52291857e-02 9.99379219e-01 2.83210601e-04 -1.97349101e+01] [ 5.73271747e-03 -8.12974458e-05 9.99983565e-01 2.05156852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.62071405700004 meters Centerline goodness : 0.984625 with order 1 Centerline is valid? [True, True] Translation: X:394.49, Y:-19.74, Z:2.05 [[ 9.99085690e-01 4.23673559e-02 -5.72636524e-03 3.94489167e+02] [-4.23664367e-02 9.99102100e-01 2.81776479e-04 -1.97434709e+01] [ 5.73316166e-03 -3.89131571e-05 9.99983565e-01 2.05129656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.68071405700005 meters Centerline goodness : 0.984072 with order 1 Centerline is valid? [True, True] Translation: X:394.55, Y:-19.76, Z:2.05 [[ 9.98821976e-01 4.81857745e-02 -5.72643878e-03 3.94547335e+02] [-4.81849595e-02 9.98838391e-01 2.80273891e-04 -1.97563769e+01] [ 5.73329211e-03 -4.01550018e-06 9.99983565e-01 2.04958272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.74071405700005 meters Centerline goodness : 0.985099 with order 1 Centerline is valid? [True, True] Translation: X:394.60, Y:-19.77, Z:2.05 [[ 9.98658554e-01 5.14616386e-02 -5.72651188e-03 3.94604423e+02] [-5.14608861e-02 9.98674972e-01 2.78772352e-04 -1.97697936e+01] [ 5.73327017e-03 1.62929823e-05 9.99983565e-01 2.05011027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.80071405700005 meters Centerline goodness : 0.985645 with order 1 Centerline is valid? [True, True] Translation: X:394.66, Y:-19.79, Z:2.05 [[ 9.98598165e-01 5.26204425e-02 -5.72659521e-03 3.94661689e+02] [-5.26197189e-02 9.98614585e-01 2.77049964e-04 -1.97859391e+01] [ 5.73323999e-03 2.46702447e-05 9.99983565e-01 2.05105641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.86071405700005 meters Centerline goodness : 0.986733 with order 1 Centerline is valid? [True, True] Translation: X:394.72, Y:-19.81, Z:2.05 [[ 9.98678020e-01 5.10824568e-02 -5.72663337e-03 3.94719407e+02] [-5.10817125e-02 9.98694439e-01 2.76258892e-04 -1.98059060e+01] [ 5.73326888e-03 1.66325559e-05 9.99983565e-01 2.05034203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.92071405700005 meters Centerline goodness : 0.990881 with order 1 Centerline is valid? [True, True] Translation: X:394.78, Y:-19.81, Z:2.05 [[ 9.99519068e-01 3.04768405e-02 -5.72670550e-03 3.94777462e+02] [-3.04757664e-02 9.99535468e-01 2.74755508e-04 -1.98141645e+01] [ 5.73241894e-03 -1.00097630e-04 9.99983565e-01 2.05317517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.98071405700006 meters Centerline goodness : 0.983385 with order 1 Centerline is valid? [True, True] Translation: X:394.84, Y:-19.83, Z:2.05 [[ 9.99761449e-01 2.10772037e-02 -5.72677862e-03 3.94836134e+02] [-2.10759842e-02 9.99777839e-01 2.73222829e-04 -1.98291676e+01] [ 5.73126513e-03 -1.52460156e-04 9.99983565e-01 2.05304593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.04071405700006 meters Centerline goodness : 0.991118 with order 1 Centerline is valid? [True, True] Translation: X:394.89, Y:-19.85, Z:2.05 [[ 9.99885545e-01 1.40035754e-02 -5.72679264e-03 3.94893121e+02] [-1.40022416e-02 9.99901927e-01 2.72928672e-04 -1.98478639e+01] [ 5.73005297e-03 -1.92709500e-04 9.99983565e-01 2.04962713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.10071405700006 meters Centerline goodness : 0.990830 with order 1 Centerline is valid? [True, True] Translation: X:394.95, Y:-19.86, Z:2.05 [[ 9.99952875e-01 7.83913158e-03 -5.72682764e-03 3.94951653e+02] [-7.83770106e-03 9.99969248e-01 2.72192324e-04 -1.98637570e+01] [ 5.72878528e-03 -2.27294334e-04 9.99983565e-01 2.05077876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.16071405700006 meters Centerline goodness : 0.989868 with order 1 Centerline is valid? [True, True] Translation: X:395.01, Y:-19.88, Z:2.05 [[ 9.99975858e-01 3.93537222e-03 -5.72684659e-03 3.95010321e+02] [-3.93388008e-03 9.99992225e-01 2.71793098e-04 -1.98782298e+01] [ 5.72787167e-03 -2.49257809e-04 9.99983565e-01 2.05130700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.22071405700007 meters Centerline goodness : 0.986358 with order 1 Centerline is valid? [True, True] Translation: X:395.07, Y:-19.90, Z:2.06 [[ 9.99925802e-01 1.07514389e-02 -5.72686543e-03 3.95067480e+02] [-1.07500607e-02 9.99942180e-01 2.71395459e-04 -1.98996227e+01] [ 5.72945219e-03 -2.09811171e-04 9.99983565e-01 2.05890815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.28071405700007 meters Centerline goodness : 0.986317 with order 1 Centerline is valid? [True, True] Translation: X:395.13, Y:-19.91, Z:2.05 [[ 9.99939994e-01 9.33868300e-03 -5.72694802e-03 3.95126136e+02] [-9.33729163e-03 9.99956370e-01 2.69641351e-04 -1.99116061e+01] [ 5.72921625e-03 -2.16150987e-04 9.99983565e-01 2.05459050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.34071405700007 meters Centerline goodness : 0.985927 with order 1 Centerline is valid? [True, True] Translation: X:395.18, Y:-19.92, Z:2.06 [[ 9.99915313e-01 1.16862303e-02 -5.72696852e-03 3.95184044e+02] [-1.16848799e-02 9.99931693e-01 2.69205123e-04 -1.99210360e+01] [ 5.72972333e-03 -2.02263385e-04 9.99983565e-01 2.05807761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4007140570001 meters Centerline goodness : 0.984494 with order 1 Centerline is valid? [True, True] Translation: X:395.24, Y:-19.93, Z:2.06 [[ 9.99894280e-01 1.33652826e-02 -5.72703924e-03 3.95241657e+02] [-1.33639683e-02 9.99910662e-01 2.67692263e-04 -1.99295879e+01] [ 5.73010538e-03 -1.91127992e-04 9.99983565e-01 2.05667978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4607140570001 meters Centerline goodness : 0.985145 with order 1 Centerline is valid? [True, True] Translation: X:395.30, Y:-19.94, Z:2.06 [[ 9.99846956e-01 1.65307232e-02 -5.72706959e-03 3.95299156e+02] [-1.65294646e-02 9.99863343e-01 2.67041376e-04 -1.99378088e+01] [ 5.73070133e-03 -1.72335113e-04 9.99983565e-01 2.05642049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5207140570001 meters Centerline goodness : 0.989832 with order 1 Centerline is valid? [True, True] Translation: X:395.36, Y:-19.93, Z:2.05 [[ 9.99945206e-01 8.76269661e-03 -5.72709975e-03 3.95357675e+02] [-8.76131438e-03 9.99961583e-01 2.66393010e-04 -1.99340128e+01] [ 5.72921405e-03 -2.16201492e-04 9.99983565e-01 2.05054996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5807140570001 meters Centerline goodness : 0.985518 with order 1 Centerline is valid? [True, True] Translation: X:395.41, Y:-19.95, Z:2.06 [[ 9.99762340e-01 2.10348086e-02 -5.72712439e-03 3.95414471e+02] [-2.10336306e-02 9.99778733e-01 2.65862160e-04 -1.99479023e+01] [ 5.73144953e-03 -1.45336756e-04 9.99983565e-01 2.06004803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.640714057 meters Centerline goodness : 0.984249 with order 1 Centerline is valid? [True, True] Translation: X:395.47, Y:-19.96, Z:2.06 [[ 9.99703705e-01 2.36580184e-02 -5.72720133e-03 3.95472471e+02] [-2.36568929e-02 9.99720102e-01 2.64194244e-04 -1.99550010e+01] [ 5.73184861e-03 -1.28628176e-04 9.99983565e-01 2.05718062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.700714057 meters Centerline goodness : 0.984170 with order 1 Centerline is valid? [True, True] Translation: X:395.53, Y:-19.96, Z:2.06 [[ 9.99682445e-01 2.45399341e-02 -5.72723137e-03 3.95531484e+02] [-2.45388268e-02 9.99698843e-01 2.63541449e-04 -1.99628202e+01] [ 5.73197386e-03 -1.22918221e-04 9.99983565e-01 2.05511065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.76071405700003 meters Centerline goodness : 0.990132 with order 1 Centerline is valid? [True, True] Translation: X:395.59, Y:-19.96, Z:2.05 [[ 9.99875339e-01 1.47141256e-02 -5.72725120e-03 3.95589830e+02] [-1.47128596e-02 9.99891725e-01 2.63109835e-04 -1.99575866e+01] [ 5.73050251e-03 -1.78812792e-04 9.99983565e-01 2.05208711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.82071405700003 meters Centerline goodness : 0.984181 with order 1 Centerline is valid? [True, True] Translation: X:395.65, Y:-19.97, Z:2.06 [[ 9.99610314e-01 2.73206438e-02 -5.72727545e-03 3.95646585e+02] [-2.73195876e-02 9.99626716e-01 2.62580931e-04 -1.99732112e+01] [ 5.73231142e-03 -1.06011804e-04 9.99983565e-01 2.05618137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.88071405700003 meters Centerline goodness : 0.989116 with order 1 Centerline is valid? [True, True] Translation: X:395.70, Y:-19.96, Z:2.05 [[ 9.99702817e-01 2.36954470e-02 -5.72735508e-03 3.95704772e+02] [-2.36943414e-02 9.99719216e-01 2.60832281e-04 -1.99641828e+01] [ 5.73192747e-03 -1.25048860e-04 9.99983565e-01 2.05460134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.94071405700004 meters Centerline goodness : 0.983348 with order 1 Centerline is valid? [True, True] Translation: X:395.76, Y:-19.99, Z:2.05 [[ 9.99240300e-01 3.85489381e-02 -5.72737909e-03 3.95761744e+02] [-3.85480793e-02 9.99256713e-01 2.60304113e-04 -1.99856101e+01] [ 5.73315645e-03 -3.93268966e-05 9.99983565e-01 2.05400309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.00071405700004 meters Centerline goodness : 0.982762 with order 1 Centerline is valid? [True, True] Translation: X:395.82, Y:-19.99, Z:2.06 [[ 9.99256143e-01 3.81360394e-02 -5.72745596e-03 3.95820106e+02] [-3.81351836e-02 9.99272556e-01 2.58601476e-04 -1.99902488e+01] [ 5.73315159e-03 -3.99915290e-05 9.99983565e-01 2.06046926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.06071405700004 meters Centerline goodness : 0.983829 with order 1 Centerline is valid? [True, True] Translation: X:395.88, Y:-20.00, Z:2.05 [[ 9.99247893e-01 3.83515982e-02 -5.72747567e-03 3.95878423e+02] [-3.83507484e-02 9.99264306e-01 2.58164181e-04 -2.00015767e+01] [ 5.73316301e-03 -3.83170352e-05 9.99983565e-01 2.05477991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.12071405700004 meters Centerline goodness : 0.981494 with order 1 Centerline is valid? [True, True] Translation: X:395.94, Y:-20.01, Z:2.06 [[ 9.99497421e-01 3.11785323e-02 -5.72749514e-03 3.95936181e+02] [-3.11775672e-02 9.99513828e-01 2.57731495e-04 -2.00113000e+01] [ 5.73274629e-03 -7.90326001e-05 9.99983565e-01 2.05685847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.18071405700005 meters Centerline goodness : 0.987016 with order 1 Centerline is valid? [True, True] Translation: X:396.00, Y:-20.01, Z:2.05 [[ 9.99930760e-01 1.02796725e-02 -5.72751899e-03 3.95995294e+02] [-1.02783678e-02 9.99947143e-01 2.57200553e-04 -2.00105343e+01] [ 5.72986019e-03 -1.98313197e-04 9.99983565e-01 2.05115143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.24071405700005 meters Centerline goodness : 0.987861 with order 1 Centerline is valid? [True, True] Translation: X:396.05, Y:-20.02, Z:2.05 [[ 9.99983578e-01 1.97526324e-04 -5.72753682e-03 3.96054038e+02] [-1.96058686e-04 9.99999948e-01 2.56802704e-04 -2.00194021e+01] [ 5.72758725e-03 -2.55675554e-04 9.99983565e-01 2.05155245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.30071405700005 meters Centerline goodness : 0.986979 with order 1 Centerline is valid? [True, True] Translation: X:396.11, Y:-20.02, Z:2.05 [[ 9.99980286e-01 -2.57329360e-03 -5.72755499e-03 3.96112128e+02] [ 2.57480427e-03 9.99996652e-01 2.56396946e-04 -2.00237586e+01] [ 5.72687603e-03 -2.71139224e-04 9.99983565e-01 2.05187194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.36071405700005 meters Centerline goodness : 0.982305 with order 1 Centerline is valid? [True, True] Translation: X:396.17, Y:-20.04, Z:2.05 [[ 9.99980963e-01 -2.29511655e-03 -5.72757735e-03 3.96170101e+02] [ 2.29661981e-03 9.99997330e-01 2.55896479e-04 -2.00428884e+01] [ 5.72697474e-03 -2.69045675e-04 9.99983565e-01 2.05065571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.42071405700005 meters Centerline goodness : 0.982041 with order 1 Centerline is valid? [True, True] Translation: X:396.23, Y:-20.05, Z:2.05 [[ 9.99969592e-01 -5.29243039e-03 -5.72764347e-03 3.96228960e+02] [ 5.29397419e-03 9.99985954e-01 2.54407777e-04 -2.00474538e+01] [ 5.72621659e-03 -2.84722038e-04 9.99983565e-01 2.05196765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.48071405700006 meters Centerline goodness : 0.982763 with order 1 Centerline is valid? [True, True] Translation: X:396.29, Y:-20.05, Z:2.06 [[ 9.99976276e-01 -3.82642590e-03 -5.72766187e-03 3.96288290e+02] [ 3.82794334e-03 9.99992641e-01 2.53992855e-04 -2.00504757e+01] [ 5.72664784e-03 -2.75911995e-04 9.99983565e-01 2.05630428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.54071405700006 meters Centerline goodness : 0.983017 with order 1 Centerline is valid? [True, True] Translation: X:396.35, Y:-20.05, Z:2.06 [[ 9.99916791e-01 -1.15587177e-02 -5.72767129e-03 3.96347773e+02] [ 1.15603604e-02 9.99933145e-01 2.53780406e-04 -2.00528131e+01] [ 5.72435498e-03 -3.19973234e-04 9.99983565e-01 2.05512327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.60071405700006 meters Centerline goodness : 0.982478 with order 1 Centerline is valid? [True, True] Translation: X:396.41, Y:-20.06, Z:2.05 [[ 9.99848727e-01 -1.64230859e-02 -5.72768065e-03 3.96408065e+02] [ 1.64248069e-02 9.99865072e-01 2.53568970e-04 -2.00559014e+01] [ 5.72274343e-03 -3.47606660e-04 9.99983565e-01 2.05353062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.66071405700006 meters Centerline goodness : 0.981806 with order 1 Centerline is valid? [True, True] Translation: X:396.47, Y:-20.06, Z:2.05 [[ 9.99755741e-01 -2.13459879e-02 -5.72768065e-03 3.96468764e+02] [ 2.13477894e-02 9.99772078e-01 2.53568970e-04 -2.00571147e+01] [ 5.72096250e-03 -3.75780353e-04 9.99983565e-01 2.05409758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.72071405700007 meters Centerline goodness : 0.981557 with order 1 Centerline is valid? [True, True] Translation: X:396.53, Y:-20.05, Z:2.06 [[ 9.99732109e-01 -2.24255283e-02 -5.72768065e-03 3.96531405e+02] [ 2.24273475e-02 9.99748443e-01 2.53568970e-04 -2.00536981e+01] [ 5.72055339e-03 -3.81957725e-04 9.99983565e-01 2.05936348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.78071405700007 meters Centerline goodness : 0.982433 with order 1 Centerline is valid? [True, True] Translation: X:396.59, Y:-20.05, Z:2.06 [[ 9.99596329e-01 -2.78275446e-02 -5.72766120e-03 3.96592474e+02] [ 2.78294545e-02 9.99612653e-01 2.54007415e-04 -2.00514096e+01] [ 5.71837421e-03 -4.13302566e-04 9.99983565e-01 2.05934804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.84071405700007 meters Centerline goodness : 0.987678 with order 1 Centerline is valid? [True, True] Translation: X:396.65, Y:-20.04, Z:2.06 [[ 9.99357642e-01 -3.53765011e-02 -5.72764685e-03 3.96654971e+02] [ 3.53785361e-02 9.99373951e-01 2.54330602e-04 -2.00400294e+01] [ 5.71506374e-03 -4.56802992e-04 9.99983565e-01 2.05731581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9007140570001 meters Centerline goodness : 0.982685 with order 1 Centerline is valid? [True, True] Translation: X:396.72, Y:-20.05, Z:2.06 [[ 9.99479958e-01 -3.17333783e-02 -5.72762851e-03 3.96716662e+02] [ 3.17353562e-02 9.99496274e-01 2.54742982e-04 -2.00461261e+01] [ 5.71665950e-03 -4.36378836e-04 9.99983565e-01 2.05991210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9607140570001 meters Centerline goodness : 0.983141 with order 1 Centerline is valid? [True, True] Translation: X:396.78, Y:-20.04, Z:2.07 [[ 9.99452967e-01 -3.25724069e-02 -5.72760964e-03 3.96778796e+02] [ 3.25744009e-02 9.99469281e-01 2.55166561e-04 -2.00383355e+01] [ 5.71625850e-03 -4.41600429e-04 9.99983565e-01 2.06528089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0207140570001 meters Centerline goodness : 0.984242 with order 1 Centerline is valid? [True, True] Translation: X:396.84, Y:-20.03, Z:2.07 [[ 9.99433216e-01 -3.31728879e-02 -5.72759000e-03 3.96840642e+02] [ 3.31748942e-02 9.99449529e-01 2.55606734e-04 -2.00317491e+01] [ 5.71595791e-03 -4.45474053e-04 9.99983565e-01 2.06932065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0807140570001 meters Centerline goodness : 0.988982 with order 1 Centerline is valid? [True, True] Translation: X:396.90, Y:-20.02, Z:2.06 [[ 9.99255305e-01 -3.81579639e-02 -5.72755876e-03 3.96902512e+02] [ 3.81600555e-02 9.99271607e-01 2.56304777e-04 -2.00215313e+01] [ 5.71360678e-03 -4.74677869e-04 9.99983565e-01 2.05989697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.140714057 meters Centerline goodness : 0.986741 with order 1 Centerline is valid? [True, True] Translation: X:396.96, Y:-20.02, Z:2.06 [[ 9.99812542e-01 -1.84952967e-02 -5.72754485e-03 3.96964977e+02] [ 1.84970690e-02 9.99828882e-01 2.56615196e-04 -2.00181621e+01] [ 5.72181859e-03 -3.62509884e-04 9.99983565e-01 2.06438755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.200714057 meters Centerline goodness : 0.991067 with order 1 Centerline is valid? [True, True] Translation: X:397.03, Y:-20.00, Z:2.06 [[ 9.99782821e-01 -2.00376265e-02 -5.72752548e-03 3.97027300e+02] [ 2.00394265e-02 9.99799157e-01 2.57046741e-04 -2.00020440e+01] [ 5.72122455e-03 -3.71767242e-04 9.99983565e-01 2.06112449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.26071405700003 meters Centerline goodness : 0.992207 with order 1 Centerline is valid? [True, True] Translation: X:397.09, Y:-20.00, Z:2.06 [[ 9.99888590e-01 -1.37841752e-02 -5.72751131e-03 3.97090080e+02] [ 1.37858748e-02 9.99904937e-01 2.57362079e-04 -1.99958152e+01] [ 5.72341932e-03 -3.36292160e-04 9.99983565e-01 2.06274179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.32071405700003 meters Centerline goodness : 0.992668 with order 1 Centerline is valid? [True, True] Translation: X:397.15, Y:-19.99, Z:2.06 [[ 9.99951168e-01 -8.05337872e-03 -5.72749285e-03 3.97151508e+02] [ 8.05498691e-03 9.99967525e-01 2.57772322e-04 -1.99922298e+01] [ 5.72523091e-03 -3.03894614e-04 9.99983565e-01 2.06174708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.38071405700003 meters Centerline goodness : 0.991148 with order 1 Centerline is valid? [True, True] Translation: X:397.21, Y:-19.99, Z:2.07 [[ 9.99981992e-01 1.79217848e-03 -5.72748357e-03 3.97210687e+02] [-1.79073023e-03 9.99998363e-01 2.57978464e-04 -1.99914054e+01] [ 5.72793654e-03 -2.47717440e-04 9.99983565e-01 2.06822006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.44071405700004 meters Centerline goodness : 0.989789 with order 1 Centerline is valid? [True, True] Translation: X:397.27, Y:-19.99, Z:2.07 [[ 9.99975373e-01 4.05569967e-03 -5.72748357e-03 3.97269134e+02] [-4.05428848e-03 9.99991748e-01 2.57978464e-04 -1.99909287e+01] [ 5.72848259e-03 -2.34751240e-04 9.99983565e-01 2.06945014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.50071405700004 meters Centerline goodness : 0.990042 with order 1 Centerline is valid? [True, True] Translation: X:397.33, Y:-19.99, Z:2.07 [[ 9.99973445e-01 4.50600270e-03 -5.72756637e-03 3.97327669e+02] [-4.50460947e-03 9.99989821e-01 2.56126670e-04 -1.99896023e+01] [ 5.72866218e-03 -2.30319419e-04 9.99983565e-01 2.07147650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.56071405700004 meters Centerline goodness : 0.990118 with order 1 Centerline is valid? [True, True] Translation: X:397.39, Y:-19.99, Z:2.07 [[ 9.99966461e-01 5.85411414e-03 -5.72758779e-03 3.97385388e+02] [-5.85274574e-03 9.99982840e-01 2.55646961e-04 -1.99904625e+01] [ 5.72898609e-03 -2.22116272e-04 9.99983565e-01 2.07280644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.62071405700004 meters Centerline goodness : 0.990477 with order 1 Centerline is valid? [True, True] Translation: X:397.44, Y:-19.99, Z:2.07 [[ 9.99956676e-01 7.33760691e-03 -5.72762049e-03 3.97443125e+02] [-7.33626701e-03 9.99973057e-01 2.54912075e-04 -1.99916467e+01] [ 5.72933662e-03 -2.12881678e-04 9.99983565e-01 2.07287577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.68071405700005 meters Centerline goodness : 0.984569 with order 1 Centerline is valid? [True, True] Translation: X:397.50, Y:-19.99, Z:2.07 [[ 9.99952342e-01 7.90623597e-03 -5.72764708e-03 3.97501438e+02] [-7.90490881e-03 9.99968723e-01 2.54313337e-04 -1.99946553e+01] [ 5.72947860e-03 -2.09024689e-04 9.99983565e-01 2.06983400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.74071405700005 meters Centerline goodness : 0.993049 with order 1 Centerline is valid? [True, True] Translation: X:397.56, Y:-20.00, Z:2.07 [[ 9.99983588e-01 1.31179079e-04 -5.72766519e-03 3.97559881e+02] [-1.29726921e-04 9.99999959e-01 2.53904802e-04 -1.99952416e+01] [ 5.72769826e-03 -2.53157602e-04 9.99983565e-01 2.06788998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.80071405700005 meters Centerline goodness : 0.992840 with order 1 Centerline is valid? [True, True] Translation: X:397.62, Y:-20.00, Z:2.07 [[ 9.99968263e-01 -5.53772605e-03 -5.72768963e-03 3.97618528e+02] [ 5.53926784e-03 9.99984626e-01 2.53352269e-04 -1.99999979e+01] [ 5.72619857e-03 -2.85071435e-04 9.99983565e-01 2.06698352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.86071405700005 meters Centerline goodness : 0.991785 with order 1 Centerline is valid? [True, True] Translation: X:397.68, Y:-20.00, Z:2.07 [[ 9.99937393e-01 -9.61263768e-03 -5.72770767e-03 3.97678442e+02] [ 9.61424380e-03 9.99953750e-01 2.52943777e-04 -2.00045200e+01] [ 5.72501130e-03 -3.07995519e-04 9.99983565e-01 2.07318293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.92071405700005 meters Centerline goodness : 0.985294 with order 1 Centerline is valid? [True, True] Translation: X:397.74, Y:-20.01, Z:2.07 [[ 9.99901351e-01 -1.28250217e-02 -5.72771272e-03 3.97738088e+02] [ 1.28266797e-02 9.99917703e-01 2.52829366e-04 -2.00089490e+01] [ 5.72399880e-03 -3.26271961e-04 9.99983565e-01 2.07018916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.98071405700006 meters Centerline goodness : 0.992408 with order 1 Centerline is valid? [True, True] Translation: X:397.80, Y:-20.01, Z:2.07 [[ 9.99768231e-01 -2.07527864e-02 -5.72771272e-03 3.97799266e+02] [ 2.07545740e-02 9.99784569e-01 2.52829366e-04 -2.00113927e+01] [ 5.72123187e-03 -3.71647005e-04 9.99983565e-01 2.06755281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.04071405700006 meters Centerline goodness : 0.984244 with order 1 Centerline is valid? [True, True] Translation: X:397.86, Y:-20.01, Z:2.07 [[ 9.99847679e-01 -1.64867538e-02 -5.72770061e-03 3.97861538e+02] [ 1.64884733e-02 9.99864024e-01 2.53103465e-04 -2.00149137e+01] [ 5.72274892e-03 -3.47505950e-04 9.99983565e-01 2.06875498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.10071405700006 meters Centerline goodness : 0.992113 with order 1 Centerline is valid? [True, True] Translation: X:397.92, Y:-20.02, Z:2.07 [[ 9.99749740e-01 -2.16252639e-02 -5.72766756e-03 3.97923335e+02] [ 2.16270716e-02 9.99766075e-01 2.53849117e-04 -2.00150469e+01] [ 5.72083816e-03 -3.77658264e-04 9.99983565e-01 2.06988714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.16071405700006 meters Centerline goodness : 0.990595 with order 1 Centerline is valid? [True, True] Translation: X:397.99, Y:-20.02, Z:2.07 [[ 9.99828378e-01 -1.76183918e-02 -5.72764200e-03 3.97985401e+02] [ 1.76201373e-02 9.99844721e-01 2.54424486e-04 -2.00198494e+01] [ 5.72227007e-03 -3.55302660e-04 9.99983565e-01 2.07497036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.22071405700007 meters Centerline goodness : 0.992496 with order 1 Centerline is valid? [True, True] Translation: X:398.05, Y:-20.02, Z:2.07 [[ 9.99730603e-01 -2.24925593e-02 -5.72762033e-03 3.98046680e+02] [ 2.24943872e-02 9.99746937e-01 2.54911328e-04 -2.00164243e+01] [ 5.72043727e-03 -3.83681966e-04 9.99983565e-01 2.06942215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.28071405700007 meters Centerline goodness : 0.991101 with order 1 Centerline is valid? [True, True] Translation: X:398.11, Y:-20.02, Z:2.07 [[ 9.99744653e-01 -2.18591686e-02 -5.72760403e-03 3.98109211e+02] [ 2.18609882e-02 9.99760987e-01 2.55277083e-04 -2.00186888e+01] [ 5.72065492e-03 -3.80422983e-04 9.99983565e-01 2.07279273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.34071405700007 meters Centerline goodness : 0.991902 with order 1 Centerline is valid? [True, True] Translation: X:398.17, Y:-20.02, Z:2.07 [[ 9.99434851e-01 -3.31236090e-02 -5.72758372e-03 3.98172086e+02] [ 3.31256152e-02 9.99451164e-01 2.55731998e-04 -2.00169813e+01] [ 5.71596945e-03 -4.45317206e-04 9.99983565e-01 2.07004847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4007140570001 meters Centerline goodness : 0.992589 with order 1 Centerline is valid? [True, True] Translation: X:398.23, Y:-20.01, Z:2.07 [[ 9.99145817e-01 -4.09247223e-02 -5.72750536e-03 3.98233626e+02] [ 4.09268657e-02 9.99162112e-01 2.57475154e-04 -2.00145744e+01] [ 5.71216925e-03 -4.91664066e-04 9.99983565e-01 2.07075337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4607140570001 meters Centerline goodness : 0.993684 with order 1 Centerline is valid? [True, True] Translation: X:398.30, Y:-20.01, Z:2.07 [[ 9.98797810e-01 -4.86839849e-02 -5.72748871e-03 3.98296475e+02] [ 4.86862569e-02 9.98814088e-01 2.57844926e-04 -2.00127841e+01] [ 5.70814349e-03 -5.36384934e-04 9.99983565e-01 2.07246598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5207140570001 meters Centerline goodness : 0.990791 with order 1 Centerline is valid? [True, True] Translation: X:398.36, Y:-20.01, Z:2.07 [[ 9.98943291e-01 -4.56015089e-02 -5.72746124e-03 3.98358488e+02] [ 4.56037342e-02 9.98959575e-01 2.58453731e-04 -2.00144729e+01] [ 5.70971636e-03 -5.19374240e-04 9.99983565e-01 2.07353527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5807140570001 meters Centerline goodness : 0.990283 with order 1 Centerline is valid? [True, True] Translation: X:398.42, Y:-20.01, Z:2.07 [[ 9.99046345e-01 -4.32850782e-02 -5.72743174e-03 3.98421761e+02] [ 4.32872694e-02 9.99062633e-01 2.59105880e-04 -2.00062142e+01] [ 5.71084761e-03 -5.06783663e-04 9.99983565e-01 2.07461266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.640714057 meters Centerline goodness : 0.990695 with order 1 Centerline is valid? [True, True] Translation: X:398.48, Y:-20.01, Z:2.07 [[ 9.99301756e-01 -3.69214922e-02 -5.72739716e-03 3.98483719e+02] [ 3.69235839e-02 9.99318058e-01 2.59867871e-04 -2.00050300e+01] [ 5.71389670e-03 -4.71162449e-04 9.99983565e-01 2.07381164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.700714057 meters Centerline goodness : 0.992820 with order 1 Centerline is valid? [True, True] Translation: X:398.55, Y:-20.00, Z:2.07 [[ 9.99321173e-01 -3.63921720e-02 -5.72737233e-03 3.98546780e+02] [ 3.63942581e-02 9.99337476e-01 2.60414088e-04 -1.99954446e+01] [ 5.71410077e-03 -4.68680779e-04 9.99983565e-01 2.07333161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.76071405700003 meters Centerline goodness : 0.987892 with order 1 Centerline is valid? [True, True] Translation: X:398.61, Y:-20.00, Z:2.07 [[ 9.99895992e-01 -1.32363937e-02 -5.72735119e-03 3.98607999e+02] [ 1.32381044e-02 9.99912338e-01 2.60878079e-04 -2.00047594e+01] [ 5.72339604e-03 -3.36670219e-04 9.99983565e-01 2.06811684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.82071405700003 meters Centerline goodness : 0.987912 with order 1 Centerline is valid? [True, True] Translation: X:398.67, Y:-20.00, Z:2.07 [[ 9.99983594e-01 -9.47268192e-05 -5.72733720e-03 3.98669249e+02] [ 9.62242883e-05 9.99999961e-01 2.61184935e-04 -1.99980844e+01] [ 5.72731223e-03 -2.61731759e-04 9.99983565e-01 2.06965440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.88071405700003 meters Centerline goodness : 0.984259 with order 1 Centerline is valid? [True, True] Translation: X:398.73, Y:-19.98, Z:2.08 [[ 9.99978725e-01 -3.12201664e-03 -5.72732721e-03 3.98728062e+02] [ 3.12356491e-03 9.99995087e-01 2.61403704e-04 -1.99817857e+01] [ 5.72648297e-03 -2.79287821e-04 9.99983565e-01 2.07626844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.94071405700004 meters Centerline goodness : 0.984200 with order 1 Centerline is valid? [True, True] Translation: X:398.79, Y:-19.98, Z:2.07 [[ 9.99982050e-01 1.75975874e-03 -5.72735326e-03 3.98787619e+02] [-1.75829364e-03 9.99998420e-01 2.60831834e-04 -1.99827028e+01] [ 5.72780321e-03 -2.50756784e-04 9.99983565e-01 2.07226279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.00071405700004 meters Centerline goodness : 0.988136 with order 1 Centerline is valid? [True, True] Translation: X:398.85, Y:-20.00, Z:2.07 [[ 9.99885776e-01 1.39868509e-02 -5.72736541e-03 3.98845546e+02] [-1.39855876e-02 9.99902163e-01 2.60564760e-04 -2.00022589e+01] [ 5.73044954e-03 -1.80434427e-04 9.99983565e-01 2.06596051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.06071405700004 meters Centerline goodness : 0.983855 with order 1 Centerline is valid? [True, True] Translation: X:398.90, Y:-19.99, Z:2.07 [[ 9.99977698e-01 -3.43502652e-03 -5.72746079e-03 3.98903363e+02] [ 3.43656303e-03 9.99994062e-01 2.58451025e-04 -1.99913996e+01] [ 5.72653899e-03 -2.78128041e-04 9.99983565e-01 2.07271751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.12071405700004 meters Centerline goodness : 0.984197 with order 1 Centerline is valid? [True, True] Translation: X:398.96, Y:-20.00, Z:2.07 [[ 9.99929180e-01 -1.04321959e-02 -5.72749432e-03 3.98961517e+02] [ 1.04338427e-02 9.99945533e-01 2.57705806e-04 -1.99965985e+01] [ 5.72449392e-03 -3.17447330e-04 9.99983565e-01 2.07214124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.18071405700005 meters Centerline goodness : 0.990431 with order 1 Centerline is valid? [True, True] Translation: X:399.02, Y:-20.01, Z:2.08 [[ 9.99825502e-01 -1.77809412e-02 -5.72750711e-03 3.99022261e+02] [ 1.77827064e-02 9.99841842e-01 2.57421292e-04 -2.00054686e+01] [ 5.72202406e-03 -3.59226950e-04 9.99983565e-01 2.07711163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.24071405700005 meters Centerline goodness : 0.992568 with order 1 Centerline is valid? [True, True] Translation: X:399.08, Y:-20.01, Z:2.07 [[ 9.99524994e-01 -3.02817132e-02 -5.72749304e-03 3.99084880e+02] [ 3.02836844e-02 9.99541311e-01 2.57733838e-04 -2.00068313e+01] [ 5.71706128e-03 -4.31061004e-04 9.99983565e-01 2.07420520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.30071405700005 meters Centerline goodness : 0.989646 with order 1 Centerline is valid? [True, True] Translation: X:399.15, Y:-20.01, Z:2.07 [[ 9.99215887e-01 -3.91766266e-02 -5.72741022e-03 3.99147009e+02] [ 3.91787534e-02 9.99232184e-01 2.59561333e-04 -2.00106797e+01] [ 5.71284389e-03 -4.83750600e-04 9.99983565e-01 2.07426592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.36071405700005 meters Centerline goodness : 0.992853 with order 1 Centerline is valid? [True, True] Translation: X:399.21, Y:-20.01, Z:2.07 [[ 9.99175645e-01 -4.01898911e-02 -5.72738101e-03 3.99208533e+02] [ 4.01920381e-02 9.99191940e-01 2.60204289e-04 -2.00129077e+01] [ 5.71229536e-03 -4.90184904e-04 9.99983565e-01 2.07442206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.42071405700005 meters Centerline goodness : 0.991326 with order 1 Centerline is valid? [True, True] Translation: X:399.27, Y:-20.02, Z:2.07 [[ 9.99174550e-01 -4.02171217e-02 -5.72736340e-03 3.99271193e+02] [ 4.02192713e-02 9.99190844e-01 2.60591432e-04 -2.00167969e+01] [ 5.71224883e-03 -4.90726709e-04 9.99983565e-01 2.07469248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.48071405700006 meters Centerline goodness : 0.992521 with order 1 Centerline is valid? [True, True] Translation: X:399.33, Y:-20.01, Z:2.08 [[ 9.99205349e-01 -3.94444944e-02 -5.72732411e-03 3.99332134e+02] [ 3.94466363e-02 9.99221644e-01 2.61452142e-04 -2.00138781e+01] [ 5.71255336e-03 -4.87168050e-04 9.99983565e-01 2.07571005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.54071405700006 meters Centerline goodness : 0.993267 with order 1 Centerline is valid? [True, True] Translation: X:399.39, Y:-20.01, Z:2.08 [[ 9.99188425e-01 -3.98709002e-02 -5.72730725e-03 3.99394070e+02] [ 3.98730511e-02 9.99204719e-01 2.61820925e-04 -2.00149758e+01] [ 5.71231339e-03 -4.89973653e-04 9.99983565e-01 2.07546630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.60071405700006 meters Centerline goodness : 0.988083 with order 1 Centerline is valid? [True, True] Translation: X:399.46, Y:-20.03, Z:2.07 [[ 9.99485958e-01 -3.15438964e-02 -5.72726086e-03 3.99455806e+02] [ 3.15459172e-02 9.99502269e-01 2.62831650e-04 -2.00283722e+01] [ 5.71611949e-03 -4.43368241e-04 9.99983565e-01 2.07085992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.66071405700006 meters Centerline goodness : 0.987974 with order 1 Centerline is valid? [True, True] Translation: X:399.52, Y:-20.03, Z:2.07 [[ 9.99475104e-01 -3.18859735e-02 -5.72724212e-03 3.99517960e+02] [ 3.18880022e-02 9.99491414e-01 2.63239516e-04 -2.00286223e+01] [ 5.71593567e-03 -4.45731652e-04 9.99983565e-01 2.07443411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.72071405700007 meters Centerline goodness : 0.987000 with order 1 Centerline is valid? [True, True] Translation: X:399.58, Y:-20.03, Z:2.07 [[ 9.99325895e-01 -3.62622899e-02 -5.72722228e-03 3.99579643e+02] [ 3.62643925e-02 9.99342196e-01 2.63670368e-04 -2.00266482e+01] [ 5.71389360e-03 -4.71186864e-04 9.99983565e-01 2.07083614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.78071405700007 meters Centerline goodness : 0.989057 with order 1 Centerline is valid? [True, True] Translation: X:399.64, Y:-20.02, Z:2.08 [[ 9.99622349e-01 -2.68767501e-02 -5.72718447e-03 3.99642430e+02] [ 2.68787042e-02 9.99638667e-01 2.64489050e-04 -2.00238748e+01] [ 5.71800645e-03 -4.18328462e-04 9.99983565e-01 2.07616916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.84071405700007 meters Centerline goodness : 0.987661 with order 1 Centerline is valid? [True, True] Translation: X:399.70, Y:-20.02, Z:2.08 [[ 9.99834882e-01 -1.72455263e-02 -5.72716429e-03 3.99704524e+02] [ 1.72473256e-02 9.99851219e-01 2.64925398e-04 -2.00235362e+01] [ 5.72174342e-03 -3.63659921e-04 9.99983565e-01 2.07942380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9007140570001 meters Centerline goodness : 0.988125 with order 1 Centerline is valid? [True, True] Translation: X:399.77, Y:-20.02, Z:2.08 [[ 9.99946298e-01 -8.63718870e-03 -5.72714386e-03 3.99766060e+02] [ 8.63884980e-03 9.99962649e-01 2.65366383e-04 -2.00211877e+01] [ 5.72463792e-03 -3.14828067e-04 9.99983565e-01 2.08359510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9607140570001 meters Centerline goodness : 0.988873 with order 1 Centerline is valid? [True, True] Translation: X:399.83, Y:-20.02, Z:2.08 [[ 9.99973916e-01 -4.40079635e-03 -5.72712890e-03 3.99827819e+02] [ 4.40239001e-03 9.99990274e-01 2.65688794e-04 -2.00211335e+01] [ 5.72590396e-03 -2.90894918e-04 9.99983565e-01 2.07686336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0207140570001 meters Centerline goodness : 0.988695 with order 1 Centerline is valid? [True, True] Translation: X:399.89, Y:-20.02, Z:2.08 [[ 9.99983105e-01 -9.94966007e-04 -5.72711937e-03 3.99887473e+02] [ 9.96505121e-04 9.99999468e-01 2.65893968e-04 -2.00209383e+01] [ 5.72685177e-03 -2.71596580e-04 9.99983565e-01 2.07566364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0807140570001 meters Centerline goodness : 0.989191 with order 1 Centerline is valid? [True, True] Translation: X:399.94, Y:-20.02, Z:2.07 [[ 9.99979183e-01 -2.97228376e-03 -5.72712952e-03 3.99944762e+02] [ 2.97385398e-03 9.99995543e-01 2.65675344e-04 -2.00230142e+01] [ 5.72631433e-03 -2.82701460e-04 9.99983565e-01 2.07419569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.140714057 meters Centerline goodness : 0.993487 with order 1 Centerline is valid? [True, True] Translation: X:400.00, Y:-20.01, Z:2.08 [[ 9.99931256e-01 -1.02314482e-02 -5.72715429e-03 4.00004629e+02] [ 1.02331341e-02 9.99947605e-01 2.65140177e-04 -2.00135342e+01] [ 5.72414145e-03 -3.23728688e-04 9.99983565e-01 2.07912825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.200714057 meters Centerline goodness : 0.990665 with order 1 Centerline is valid? [True, True] Translation: X:400.07, Y:-20.03, Z:2.07 [[ 9.99983434e-01 -5.76330924e-04 -5.72716347e-03 4.00065499e+02] [ 5.77857745e-04 9.99999798e-01 2.64941719e-04 -2.00266707e+01] [ 5.72700962e-03 -2.68246816e-04 9.99983565e-01 2.07323749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.26071405700003 meters Centerline goodness : 0.989480 with order 1 Centerline is valid? [True, True] Translation: X:400.12, Y:-20.03, Z:2.07 [[ 9.99982008e-01 1.78415739e-03 -5.72715367e-03 4.00123473e+02] [-1.78266799e-03 9.99998376e-01 2.65153378e-04 -2.00281462e+01] [ 5.72761745e-03 -2.54938994e-04 9.99983565e-01 2.07378648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.32071405700003 meters Centerline goodness : 0.989593 with order 1 Centerline is valid? [True, True] Translation: X:400.18, Y:-20.03, Z:2.07 [[ 9.99981252e-01 2.16666392e-03 -5.72717766e-03 4.00182451e+02] [-2.16518375e-03 9.99997621e-01 2.64634286e-04 -2.00299988e+01] [ 5.72773741e-03 -2.52228933e-04 9.99983565e-01 2.07382006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.38071405700003 meters Centerline goodness : 0.988746 with order 1 Centerline is valid? [True, True] Translation: X:400.24, Y:-20.03, Z:2.08 [[ 9.99981956e-01 1.81308251e-03 -5.72719644e-03 4.00241194e+02] [-1.81159888e-03 9.99998324e-01 2.64227111e-04 -2.00323375e+01] [ 5.72766591e-03 -2.53846960e-04 9.99983565e-01 2.08000479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.44071405700004 meters Centerline goodness : 0.989810 with order 1 Centerline is valid? [True, True] Translation: X:400.30, Y:-20.04, Z:2.08 [[ 9.99969281e-01 -5.35134788e-03 -5.72721581e-03 4.00299738e+02] [ 5.35294634e-03 9.99985638e-01 2.63806626e-04 -2.00384847e+01] [ 5.72572184e-03 -2.94456001e-04 9.99983565e-01 2.07786442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.50071405700004 meters Centerline goodness : 0.990380 with order 1 Centerline is valid? [True, True] Translation: X:400.36, Y:-20.04, Z:2.08 [[ 9.99938532e-01 -9.49375284e-03 -5.72723500e-03 4.00360127e+02] [ 9.49541667e-03 9.99954883e-01 2.63389426e-04 -2.00425868e+01] [ 5.72447605e-03 -3.17755718e-04 9.99983565e-01 2.07829744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.56071405700004 meters Centerline goodness : 0.990055 with order 1 Centerline is valid? [True, True] Translation: X:400.42, Y:-20.05, Z:2.08 [[ 9.99874014e-01 -1.48038546e-02 -5.72723500e-03 4.00421707e+02] [ 1.48056052e-02 9.99890356e-01 2.63389426e-04 -2.00457961e+01] [ 5.72270786e-03 -3.48151423e-04 9.99983565e-01 2.07758313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.62071405700004 meters Centerline goodness : 0.990524 with order 1 Centerline is valid? [True, True] Translation: X:400.48, Y:-20.05, Z:2.08 [[ 9.99839198e-01 -1.69934545e-02 -5.72722512e-03 4.00482689e+02] [ 1.69952422e-02 9.99855536e-01 2.63604024e-04 -2.00504528e+01] [ 5.72191820e-03 -3.60897214e-04 9.99983565e-01 2.07722498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.68071405700005 meters Centerline goodness : 0.990143 with order 1 Centerline is valid? [True, True] Translation: X:400.55, Y:-20.05, Z:2.08 [[ 9.99784345e-01 -1.99615521e-02 -5.72721042e-03 4.00545132e+02] [ 1.99633900e-02 9.99800677e-01 2.63923097e-04 -2.00548662e+01] [ 5.72080054e-03 -3.78200716e-04 9.99983565e-01 2.07609392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.74071405700005 meters Centerline goodness : 0.990495 with order 1 Centerline is valid? [True, True] Translation: X:400.61, Y:-20.06, Z:2.08 [[ 9.99698849e-01 -2.38623122e-02 -5.72719147e-03 4.00608056e+02] [ 2.38642163e-02 9.99715174e-01 2.64333535e-04 -2.00589526e+01] [ 5.71925261e-03 -4.00928867e-04 9.99983565e-01 2.07551647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.80071405700005 meters Centerline goodness : 0.990115 with order 1 Centerline is valid? [True, True] Translation: X:400.67, Y:-20.06, Z:2.08 [[ 9.99605129e-01 -2.75097234e-02 -5.72716086e-03 4.00671324e+02] [ 2.75116907e-02 9.99621447e-01 2.64995136e-04 -2.00638681e+01] [ 5.71770288e-03 -4.22454376e-04 9.99983565e-01 2.07500554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.86071405700005 meters Centerline goodness : 0.993110 with order 1 Centerline is valid? [True, True] Translation: X:400.73, Y:-20.06, Z:2.08 [[ 9.99203492e-01 -3.94915270e-02 -5.72713017e-03 4.00732875e+02] [ 3.94936936e-02 9.99219784e-01 2.65656733e-04 -2.00570444e+01] [ 5.71217059e-03 -4.91630660e-04 9.99983565e-01 2.08120734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.92071405700005 meters Centerline goodness : 0.993841 with order 1 Centerline is valid? [True, True] Translation: X:400.80, Y:-20.06, Z:2.08 [[ 9.99054775e-01 -4.30900983e-02 -5.72706447e-03 4.00795772e+02] [ 4.30923316e-02 9.99071058e-01 2.67065600e-04 -2.00623341e+01] [ 5.71023648e-03 -5.13605724e-04 9.99983565e-01 2.08115695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.98071405700006 meters Centerline goodness : 0.990142 with order 1 Centerline is valid? [True, True] Translation: X:400.86, Y:-20.07, Z:2.08 [[ 9.99171008e-01 -4.03050713e-02 -5.72703562e-03 4.00857307e+02] [ 4.03072627e-02 9.99187296e-01 2.67682969e-04 -2.00744059e+01] [ 5.71159225e-03 -4.98302191e-04 9.99983565e-01 2.07935660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.04071405700006 meters Centerline goodness : 0.989664 with order 1 Centerline is valid? [True, True] Translation: X:400.92, Y:-20.08, Z:2.08 [[ 9.99210351e-01 -3.93176163e-02 -5.72701590e-03 4.00918803e+02] [ 3.93197939e-02 9.99226642e-01 2.68104172e-04 -2.00802375e+01] [ 5.71204565e-03 -4.93077549e-04 9.99983565e-01 2.07666558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.10071405700006 meters Centerline goodness : 0.990019 with order 1 Centerline is valid? [True, True] Translation: X:400.98, Y:-20.08, Z:2.08 [[ 9.99152253e-01 -4.07673565e-02 -5.72700040e-03 4.00980629e+02] [ 4.07695597e-02 9.99168540e-01 2.68434778e-04 -2.00841168e+01] [ 5.71129526e-03 -5.01694498e-04 9.99983565e-01 2.07934178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.16071405700006 meters Centerline goodness : 0.990267 with order 1 Centerline is valid? [True, True] Translation: X:401.04, Y:-20.09, Z:2.08 [[ 9.99296702e-01 -3.70581135e-02 -5.72697989e-03 4.01043804e+02] [ 3.70602587e-02 9.99312996e-01 2.68871697e-04 -2.00873406e+01] [ 5.71308156e-03 -4.80925957e-04 9.99983565e-01 2.08056328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.22071405700007 meters Centerline goodness : 0.990062 with order 1 Centerline is valid? [True, True] Translation: X:401.11, Y:-20.09, Z:2.08 [[ 9.99477250e-01 -3.18186922e-02 -5.72694883e-03 4.01106003e+02] [ 3.18207557e-02 9.99493555e-01 2.69531628e-04 -2.00903776e+01] [ 5.71547231e-03 -4.51626570e-04 9.99983565e-01 2.08037027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.28071405700007 meters Centerline goodness : 0.990782 with order 1 Centerline is valid? [True, True] Translation: X:401.17, Y:-20.09, Z:2.08 [[ 9.99584384e-01 -2.82535144e-02 -5.72692799e-03 4.01168559e+02] [ 2.82555222e-02 9.99600697e-01 2.69973697e-04 -2.00917750e+01] [ 5.71701351e-03 -4.31678833e-04 9.99983565e-01 2.08241339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.34071405700007 meters Centerline goodness : 0.990372 with order 1 Centerline is valid? [True, True] Translation: X:401.23, Y:-20.09, Z:2.08 [[ 9.99614254e-01 -2.71762013e-02 -5.72689671e-03 4.01231494e+02] [ 2.71781953e-02 9.99630568e-01 2.70635647e-04 -2.00944112e+01] [ 5.71742616e-03 -4.26177968e-04 9.99983565e-01 2.08268496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4007140570001 meters Centerline goodness : 0.990707 with order 1 Centerline is valid? [True, True] Translation: X:401.29, Y:-20.10, Z:2.09 [[ 9.99606884e-01 -2.74459412e-02 -5.72686533e-03 4.01293864e+02] [ 2.74479434e-02 9.99623197e-01 2.71298189e-04 -2.00962331e+01] [ 5.71726139e-03 -4.28382212e-04 9.99983565e-01 2.08810739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4607140570001 meters Centerline goodness : 0.990531 with order 1 Centerline is valid? [True, True] Translation: X:401.36, Y:-20.10, Z:2.09 [[ 9.99402183e-01 -3.40951463e-02 -5.72684431e-03 4.01355505e+02] [ 3.40972595e-02 9.99418482e-01 2.71741104e-04 -2.01014565e+01] [ 5.71424900e-03 -4.66848349e-04 9.99983565e-01 2.08543770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5207140570001 meters Centerline goodness : 0.990729 with order 1 Centerline is valid? [True, True] Translation: X:401.42, Y:-20.11, Z:2.09 [[ 9.99407258e-01 -3.39460854e-02 -5.72682354e-03 4.01416668e+02] [ 3.39481986e-02 9.99423557e-01 2.72178062e-04 -2.01058865e+01] [ 5.71428297e-03 -4.66432074e-04 9.99983565e-01 2.08751584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5807140570001 meters Centerline goodness : 0.991052 with order 1 Centerline is valid? [True, True] Translation: X:401.48, Y:-20.11, Z:2.08 [[ 9.99082764e-01 -4.24362440e-02 -5.72680822e-03 4.01478487e+02] [ 4.24384975e-02 9.99099044e-01 2.72499994e-04 -2.01125549e+01] [ 5.71008474e-03 -5.15287183e-04 9.99983565e-01 2.08269882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.640714057 meters Centerline goodness : 0.990098 with order 1 Centerline is valid? [True, True] Translation: X:401.54, Y:-20.12, Z:2.09 [[ 9.99190675e-01 -3.98145496e-02 -5.72678832e-03 4.01540615e+02] [ 3.98167627e-02 9.99206961e-01 2.72917659e-04 -2.01157327e+01] [ 5.71138066e-03 -5.00718952e-04 9.99983565e-01 2.08788840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.700714057 meters Centerline goodness : 0.990779 with order 1 Centerline is valid? [True, True] Translation: X:401.60, Y:-20.12, Z:2.09 [[ 9.99357860e-01 -3.53704880e-02 -5.72676666e-03 4.01602145e+02] [ 3.53726313e-02 9.99374155e-01 2.73371345e-04 -2.01174390e+01] [ 5.71351332e-03 -4.75766608e-04 9.99983565e-01 2.08789818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.76071405700003 meters Centerline goodness : 0.991247 with order 1 Centerline is valid? [True, True] Translation: X:401.66, Y:-20.12, Z:2.09 [[ 9.99631290e-01 -2.65422114e-02 -5.72675067e-03 4.01664447e+02] [ 2.65442126e-02 9.99647603e-01 2.73706023e-04 -2.01196466e+01] [ 5.71746781e-03 -4.25617192e-04 9.99983565e-01 2.08802898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.82071405700003 meters Centerline goodness : 0.990904 with order 1 Centerline is valid? [True, True] Translation: X:401.73, Y:-20.12, Z:2.09 [[ 9.99841048e-01 -1.68843863e-02 -5.72672977e-03 4.01726802e+02] [ 1.68862323e-02 9.99857380e-01 2.74142482e-04 -2.01201109e+01] [ 5.72128430e-03 -3.70801796e-04 9.99983565e-01 2.09048442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.88071405700003 meters Centerline goodness : 0.989531 with order 1 Centerline is valid? [True, True] Translation: X:401.79, Y:-20.12, Z:2.09 [[ 9.99960664e-01 -6.77305503e-03 -5.72670910e-03 4.01789121e+02] [ 6.77473823e-03 9.99977014e-01 2.74573726e-04 -2.01225201e+01] [ 5.72471776e-03 -3.13359881e-04 9.99983565e-01 2.09096200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.94071405700004 meters Centerline goodness : 0.989636 with order 1 Centerline is valid? [True, True] Translation: X:401.85, Y:-20.12, Z:2.10 [[ 9.99968360e-01 -5.52120142e-03 -5.72668876e-03 4.01849706e+02] [ 5.52286658e-03 9.99984711e-01 2.74997284e-04 -2.01212129e+01] [ 5.72508289e-03 -3.06616321e-04 9.99983565e-01 2.09524623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.00071405700004 meters Centerline goodness : 0.989498 with order 1 Centerline is valid? [True, True] Translation: X:401.91, Y:-20.12, Z:2.10 [[ 9.99959640e-01 -6.92264307e-03 -5.72668876e-03 4.01909841e+02] [ 6.92433114e-03 9.99975989e-01 2.74997284e-04 -2.01242020e+01] [ 5.72464754e-03 -3.14639675e-04 9.99983565e-01 2.09558929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.06071405700004 meters Centerline goodness : 0.989650 with order 1 Centerline is valid? [True, True] Translation: X:401.97, Y:-20.13, Z:2.09 [[ 9.99906402e-01 -1.24254803e-02 -5.72668876e-03 4.01970444e+02] [ 1.24272583e-02 9.99922741e-01 2.74997284e-04 -2.01286639e+01] [ 5.72282934e-03 -3.46138585e-04 9.99983565e-01 2.09426992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.12071405700004 meters Centerline goodness : 0.990154 with order 1 Centerline is valid? [True, True] Translation: X:402.03, Y:-20.13, Z:2.09 [[ 9.99778576e-01 -2.02485423e-02 -5.72668876e-03 4.02032518e+02] [ 2.02504481e-02 9.99794901e-01 2.74997284e-04 -2.01330358e+01] [ 5.71994592e-03 -3.90904407e-04 9.99983565e-01 2.09197990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.18071405700005 meters Centerline goodness : 0.990724 with order 1 Centerline is valid? [True, True] Translation: X:402.10, Y:-20.14, Z:2.09 [[ 9.99605999e-01 -2.74782281e-02 -5.72661558e-03 4.02095493e+02] [ 2.74802605e-02 9.99622308e-01 2.76512790e-04 -2.01374280e+01] [ 5.71685460e-03 -4.33772731e-04 9.99983565e-01 2.09138841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.24071405700005 meters Centerline goodness : 0.990260 with order 1 Centerline is valid? [True, True] Translation: X:402.16, Y:-20.14, Z:2.09 [[ 9.99476588e-01 -3.18395529e-02 -5.72653217e-03 4.02157827e+02] [ 3.18416662e-02 9.99492887e-01 2.78229423e-04 -2.01403777e+01] [ 5.71476947e-03 -4.60426121e-04 9.99983565e-01 2.09166789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.30071405700005 meters Centerline goodness : 0.990378 with order 1 Centerline is valid? [True, True] Translation: X:402.22, Y:-20.14, Z:2.09 [[ 9.99487234e-01 -3.15035856e-02 -5.72650626e-03 4.02221037e+02] [ 3.15056965e-02 9.99503533e-01 2.78761773e-04 -2.01392758e+01] [ 5.71488125e-03 -4.59036402e-04 9.99983565e-01 2.09474670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.36071405700005 meters Centerline goodness : 0.990702 with order 1 Centerline is valid? [True, True] Translation: X:402.28, Y:-20.14, Z:2.09 [[ 9.99647987e-01 -2.59057874e-02 -5.72647607e-03 4.02283783e+02] [ 2.59078106e-02 9.99664297e-01 2.79380521e-04 -2.01407365e+01] [ 5.71731611e-03 -4.27642633e-04 9.99983565e-01 2.09412540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.42071405700005 meters Centerline goodness : 0.990331 with order 1 Centerline is valid? [True, True] Translation: X:402.34, Y:-20.14, Z:2.09 [[ 9.99778757e-01 -2.02396761e-02 -5.72644381e-03 4.02344987e+02] [ 2.02416105e-02 9.99795078e-01 2.80040270e-04 -2.01404748e+01] [ 5.71960241e-03 -3.95890758e-04 9.99983565e-01 2.09106350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.48071405700006 meters Centerline goodness : 0.990425 with order 1 Centerline is valid? [True, True] Translation: X:402.41, Y:-20.14, Z:2.09 [[ 9.99946969e-01 -8.55958650e-03 -5.72640675e-03 4.02407001e+02] [ 8.56133443e-03 9.99963312e-01 2.80795978e-04 -2.01402998e+01] [ 5.72379316e-03 -3.29806770e-04 9.99983565e-01 2.09092677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.54071405700006 meters Centerline goodness : 0.990107 with order 1 Centerline is valid? [True, True] Translation: X:402.47, Y:-20.14, Z:2.09 [[ 9.99979420e-01 2.89270216e-03 -5.72638585e-03 4.02467876e+02] [-2.89113907e-03 9.99995781e-01 2.81221687e-04 -2.01386101e+01] [ 5.72717518e-03 -2.64660121e-04 9.99983565e-01 2.09159615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.60071405700006 meters Centerline goodness : 0.988269 with order 1 Centerline is valid? [True, True] Translation: X:402.53, Y:-20.14, Z:2.09 [[ 9.99862856e-01 1.55395311e-02 -5.72638073e-03 4.02526887e+02] [-1.55381745e-02 9.99879236e-01 2.81325757e-04 -2.01388965e+01] [ 5.73006086e-03 -1.92309672e-04 9.99983565e-01 2.08841184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.66071405700006 meters Centerline goodness : 0.992447 with order 1 Centerline is valid? [True, True] Translation: X:402.59, Y:-20.13, Z:2.09 [[ 9.99967681e-01 5.64313109e-03 -5.72645298e-03 4.02585494e+02] [-5.64162086e-03 9.99984047e-01 2.79847501e-04 -2.01297924e+01] [ 5.72794084e-03 -2.47531980e-04 9.99983565e-01 2.09269827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.72071405700007 meters Centerline goodness : 0.983881 with order 1 Centerline is valid? [True, True] Translation: X:402.64, Y:-20.13, Z:2.09 [[ 9.99982801e-01 -1.26711450e-03 -5.72647311e-03 4.02643923e+02] [ 1.26873543e-03 9.99999156e-01 2.79434948e-04 -2.01316841e+01] [ 5.72611420e-03 -2.86695521e-04 9.99983565e-01 2.09070576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.78071405700007 meters Centerline goodness : 0.993160 with order 1 Centerline is valid? [True, True] Translation: X:402.70, Y:-20.14, Z:2.09 [[ 9.99908758e-01 -1.22345124e-02 -5.72649965e-03 4.02702543e+02] [ 1.22363095e-02 9.99925095e-01 2.78889870e-04 -2.01383979e+01] [ 5.72265863e-03 -3.48935646e-04 9.99983565e-01 2.09360937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.84071405700007 meters Centerline goodness : 0.990490 with order 1 Centerline is valid? [True, True] Translation: X:402.76, Y:-20.15, Z:2.10 [[ 9.99856820e-01 -1.59231168e-02 -5.72651955e-03 4.02764505e+02] [ 1.59249718e-02 9.99873151e-01 2.78480807e-04 -2.01473451e+01] [ 5.72135886e-03 -3.69635596e-04 9.99983565e-01 2.09628751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9007140570001 meters Centerline goodness : 0.992698 with order 1 Centerline is valid? [True, True] Translation: X:402.83, Y:-20.15, Z:2.10 [[ 9.99601807e-01 -2.76303194e-02 -5.72649728e-03 4.02826374e+02] [ 2.76323682e-02 9.99618114e-01 2.78937929e-04 -2.01454777e+01] [ 5.71660327e-03 -4.37063539e-04 9.99983565e-01 2.09557232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9607140570001 meters Centerline goodness : 0.993012 with order 1 Centerline is valid? [True, True] Translation: X:402.89, Y:-20.15, Z:2.10 [[ 9.99579232e-01 -2.84353190e-02 -5.72641916e-03 4.02888617e+02] [ 2.84373899e-02 9.99595536e-01 2.80532453e-04 -2.01474269e+01] [ 5.71612601e-03 -4.43258828e-04 9.99983565e-01 2.09510824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0207140570001 meters Centerline goodness : 0.987850 with order 1 Centerline is valid? [True, True] Translation: X:402.95, Y:-20.16, Z:2.09 [[ 9.99857802e-01 -1.58614093e-02 -5.72639896e-03 4.02950692e+02] [ 1.58632774e-02 9.99874131e-01 2.80944352e-04 -2.01592416e+01] [ 5.72122201e-03 -3.71743858e-04 9.99983565e-01 2.09134963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0807140570001 meters Centerline goodness : 0.987916 with order 1 Centerline is valid? [True, True] Translation: X:403.01, Y:-20.16, Z:2.09 [[ 9.99910288e-01 -1.21088738e-02 -5.72637745e-03 4.03012245e+02] [ 1.21106831e-02 9.99926623e-01 2.81382110e-04 -2.01606997e+01] [ 5.72255004e-03 -3.50707209e-04 9.99983565e-01 2.08924423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.140714057 meters Centerline goodness : 0.988698 with order 1 Centerline is valid? [True, True] Translation: X:403.07, Y:-20.16, Z:2.09 [[ 9.99968593e-01 -5.47914542e-03 -5.72636169e-03 4.03073394e+02] [ 5.48084817e-03 9.99984940e-01 2.81702463e-04 -2.01608807e+01] [ 5.72473196e-03 -3.13078935e-04 9.99983565e-01 2.08987466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.200714057 meters Centerline goodness : 0.986972 with order 1 Centerline is valid? [True, True] Translation: X:403.13, Y:-20.16, Z:2.09 [[ 9.99978611e-01 -3.16027240e-03 -5.72635102e-03 4.03133335e+02] [ 3.16193848e-03 9.99994961e-01 2.81919080e-04 -2.01608186e+01] [ 5.72543123e-03 -3.00019420e-04 9.99983565e-01 2.09001900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.26071405700003 meters Centerline goodness : 0.987008 with order 1 Centerline is valid? [True, True] Translation: X:403.19, Y:-20.16, Z:2.09 [[ 9.99972999e-01 -4.60549107e-03 -5.72635626e-03 4.03192731e+02] [ 4.60718017e-03 9.99989347e-01 2.81812568e-04 -2.01619158e+01] [ 5.72499738e-03 -3.08187314e-04 9.99983565e-01 2.09265190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.32071405700003 meters Centerline goodness : 0.986749 with order 1 Centerline is valid? [True, True] Translation: X:403.25, Y:-20.16, Z:2.10 [[ 9.99973681e-01 -4.45491071e-03 -5.72636626e-03 4.03252310e+02] [ 4.45659618e-03 9.99990030e-01 2.81609295e-04 -2.01630637e+01] [ 5.72505462e-03 -3.07121985e-04 9.99983565e-01 2.09907171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.38071405700003 meters Centerline goodness : 0.991698 with order 1 Centerline is valid? [True, True] Translation: X:403.31, Y:-20.16, Z:2.10 [[ 9.99868101e-01 -1.51983458e-02 -5.72637625e-03 4.03312612e+02] [ 1.52002057e-02 9.99884431e-01 2.81406021e-04 -2.01558134e+01] [ 5.72143755e-03 -3.68411000e-04 9.99983565e-01 2.09741891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.44071405700004 meters Centerline goodness : 0.987487 with order 1 Centerline is valid? [True, True] Translation: X:403.37, Y:-20.18, Z:2.09 [[ 9.99981393e-01 -2.10293174e-03 -5.72637625e-03 4.03373149e+02] [ 2.10457759e-03 9.99997746e-01 2.81406021e-04 -2.01753871e+01] [ 5.72577156e-03 -2.93452388e-04 9.99983565e-01 2.08748283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.50071405700004 meters Centerline goodness : 0.988325 with order 1 Centerline is valid? [True, True] Translation: X:403.43, Y:-20.17, Z:2.09 [[ 9.99980558e-01 -2.46843203e-03 -5.72636626e-03 4.03431889e+02] [ 2.47008502e-03 9.99996910e-01 2.81609243e-04 -2.01729806e+01] [ 5.72565343e-03 -2.95748379e-04 9.99983565e-01 2.09469913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.56071405700004 meters Centerline goodness : 0.987756 with order 1 Centerline is valid? [True, True] Translation: X:403.49, Y:-20.18, Z:2.10 [[ 9.99959641e-01 6.92280533e-03 -5.72638087e-03 4.03491436e+02] [-6.92130768e-03 9.99976008e-01 2.81311815e-04 -2.01759521e+01] [ 5.72819095e-03 -2.41666418e-04 9.99983565e-01 2.10037438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.62071405700004 meters Centerline goodness : 0.986737 with order 1 Centerline is valid? [True, True] Translation: X:403.55, Y:-20.18, Z:2.09 [[ 9.99908866e-01 1.22256823e-02 -5.72639122e-03 4.03548803e+02] [-1.22242727e-02 9.99925241e-01 2.81100816e-04 -2.01848427e+01] [ 5.72939978e-03 -2.11074230e-04 9.99983565e-01 2.08961723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.68071405700005 meters Centerline goodness : 0.986375 with order 1 Centerline is valid? [True, True] Translation: X:403.61, Y:-20.19, Z:2.10 [[ 9.99865827e-01 1.53471658e-02 -5.72641667e-03 4.03607568e+02] [-1.53458102e-02 9.99882207e-01 2.80581517e-04 -2.01871343e+01] [ 5.73004827e-03 -1.92667367e-04 9.99983565e-01 2.09637238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.74071405700005 meters Centerline goodness : 0.988747 with order 1 Centerline is valid? [True, True] Translation: X:403.67, Y:-20.19, Z:2.10 [[ 9.99873511e-01 1.48381260e-02 -5.72643710e-03 4.03666472e+02] [-1.48367645e-02 9.99889890e-01 2.80164016e-04 -2.01916424e+01] [ 5.72996367e-03 -1.95166780e-04 9.99983565e-01 2.10065728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.80071405700005 meters Centerline goodness : 0.989027 with order 1 Centerline is valid? [True, True] Translation: X:403.73, Y:-20.20, Z:2.10 [[ 9.99890430e-01 1.36504597e-02 -5.72645723e-03 4.03725248e+02] [-1.36490812e-02 9.99906808e-01 2.79751815e-04 -2.02009402e+01] [ 5.72974231e-03 -2.01560283e-04 9.99983565e-01 2.10258064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.86071405700005 meters Centerline goodness : 0.992902 with order 1 Centerline is valid? [True, True] Translation: X:403.78, Y:-20.20, Z:2.10 [[ 9.99977648e-01 3.45112935e-03 -5.72647735e-03 4.03784266e+02] [-3.44958616e-03 9.99994011e-01 2.79339437e-04 -2.02001421e+01] [ 5.72740709e-03 -2.59579216e-04 9.99983565e-01 2.10486612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.92071405700005 meters Centerline goodness : 0.993880 with order 1 Centerline is valid? [True, True] Translation: X:403.84, Y:-20.21, Z:2.10 [[ 9.99981732e-01 1.93473420e-03 -5.72649760e-03 4.03841799e+02] [-1.93316857e-03 9.99998093e-01 2.78923669e-04 -2.02051729e+01] [ 5.72702632e-03 -2.67848288e-04 9.99983565e-01 2.10420361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.98071405700006 meters Centerline goodness : 0.993249 with order 1 Centerline is valid? [True, True] Translation: X:403.90, Y:-20.22, Z:2.11 [[ 9.99969959e-01 -5.22386207e-03 -5.72652252e-03 4.03899680e+02] [ 5.22554185e-03 9.99986308e-01 2.78411025e-04 -2.02152241e+01] [ 5.72498973e-03 -3.08326845e-04 9.99983565e-01 2.10507203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.04071405700006 meters Centerline goodness : 0.993670 with order 1 Centerline is valid? [True, True] Translation: X:403.96, Y:-20.22, Z:2.11 [[ 9.99916160e-01 -1.16137573e-02 -5.72654659e-03 4.03959349e+02] [ 1.16155387e-02 9.99932499e-01 2.77915080e-04 -2.02246266e+01] [ 5.72293240e-03 -3.44408703e-04 9.99983565e-01 2.10514443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.10071405700006 meters Centerline goodness : 0.989985 with order 1 Centerline is valid? [True, True] Translation: X:404.02, Y:-20.24, Z:2.11 [[ 9.99943399e-01 -8.96691783e-03 -5.72654659e-03 4.04020960e+02] [ 8.96865597e-03 9.99959742e-01 2.77915080e-04 -2.02408132e+01] [ 5.72382401e-03 -3.29258776e-04 9.99983565e-01 2.11057673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.16071405700006 meters Centerline goodness : 0.991217 with order 1 Centerline is valid? [True, True] Translation: X:404.08, Y:-20.24, Z:2.11 [[ 9.99803195e-01 -1.89941567e-02 -5.72652505e-03 4.04081923e+02] [ 1.89960612e-02 9.99819520e-01 2.78358224e-04 -2.02429885e+01] [ 5.72020435e-03 -3.87084862e-04 9.99983565e-01 2.10760191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.22071405700007 meters Centerline goodness : 0.989663 with order 1 Centerline is valid? [True, True] Translation: X:404.14, Y:-20.26, Z:2.11 [[ 9.99900771e-01 -1.28707029e-02 -5.72651285e-03 4.04143479e+02] [ 1.28725087e-02 9.99917107e-01 2.78609056e-04 -2.02589218e+01] [ 5.72245227e-03 -3.52295997e-04 9.99983565e-01 2.11172890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.28071405700007 meters Centerline goodness : 0.989412 with order 1 Centerline is valid? [True, True] Translation: X:404.20, Y:-20.27, Z:2.11 [[ 9.99923665e-01 -1.09486017e-02 -5.72648787e-03 4.04204648e+02] [ 1.09503791e-02 9.99940004e-01 2.79121399e-04 -2.02670968e+01] [ 5.72308832e-03 -3.41807305e-04 9.99983565e-01 2.11159041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.34071405700007 meters Centerline goodness : 0.989489 with order 1 Centerline is valid? [True, True] Translation: X:404.27, Y:-20.27, Z:2.11 [[ 9.99964036e-01 -6.25571938e-03 -5.72647208e-03 4.04265535e+02] [ 6.25742193e-03 9.99980383e-01 2.79444984e-04 -2.02733365e+01] [ 5.72461162e-03 -3.15267886e-04 9.99983565e-01 2.10914015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4007140570001 meters Centerline goodness : 0.989657 with order 1 Centerline is valid? [True, True] Translation: X:404.33, Y:-20.28, Z:2.11 [[ 9.99978714e-01 -3.12718562e-03 -5.72646186e-03 4.04325453e+02] [ 3.12883822e-03 9.99995066e-01 2.79654435e-04 -2.02795741e+01] [ 5.72555907e-03 -2.97565655e-04 9.99983565e-01 2.10868367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4607140570001 meters Centerline goodness : 0.989801 with order 1 Centerline is valid? [True, True] Translation: X:404.38, Y:-20.29, Z:2.11 [[ 9.99981510e-01 2.04612273e-03 -5.72646186e-03 4.04384768e+02] [-2.04455475e-03 9.99997871e-01 2.79654435e-04 -2.02851390e+01] [ 5.72702187e-03 -2.67941200e-04 9.99983565e-01 2.10771055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5207140570001 meters Centerline goodness : 0.989990 with order 1 Centerline is valid? [True, True] Translation: X:404.44, Y:-20.29, Z:2.11 [[ 9.99967094e-01 5.74618523e-03 -5.72647245e-03 4.04443003e+02] [-5.74467903e-03 9.99983460e-01 2.79437418e-04 -2.02881238e+01] [ 5.72798343e-03 -2.46531477e-04 9.99983565e-01 2.10996579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5807140570001 meters Centerline goodness : 0.989511 with order 1 Centerline is valid? [True, True] Translation: X:404.50, Y:-20.29, Z:2.12 [[ 9.99942479e-01 9.06890784e-03 -5.72655679e-03 4.04501177e+02] [-9.06746598e-03 9.99958851e-01 2.77698013e-04 -2.02911244e+01] [ 5.72883957e-03 -2.25756681e-04 9.99983565e-01 2.11608600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.640714057 meters Centerline goodness : 0.990005 with order 1 Centerline is valid? [True, True] Translation: X:404.56, Y:-20.30, Z:2.11 [[ 9.99947814e-01 8.46018145e-03 -5.72664056e-03 4.04560256e+02] [-8.45873956e-03 9.99964186e-01 2.75959718e-04 -2.02963241e+01] [ 5.72877014e-03 -2.27505156e-04 9.99983565e-01 2.11411560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.700714057 meters Centerline goodness : 0.990262 with order 1 Centerline is valid? [True, True] Translation: X:404.62, Y:-20.30, Z:2.11 [[ 9.99982462e-01 1.51054900e-03 -5.72666115e-03 4.04617971e+02] [-1.50899581e-03 9.99998824e-01 2.75531845e-04 -2.03012806e+01] [ 5.72707061e-03 -2.66885505e-04 9.99983565e-01 2.11220572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.76071405700003 meters Centerline goodness : 0.990046 with order 1 Centerline is valid? [True, True] Translation: X:404.68, Y:-20.31, Z:2.11 [[ 9.99966131e-01 -5.91110221e-03 -5.72668632e-03 4.04675408e+02] [ 5.91277380e-03 9.99982482e-01 2.75007661e-04 -2.03074002e+01] [ 5.72496040e-03 -3.08858948e-04 9.99983565e-01 2.10722026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.82071405700003 meters Centerline goodness : 0.990044 with order 1 Centerline is valid? [True, True] Translation: X:404.74, Y:-20.31, Z:2.11 [[ 9.99912649e-01 -1.19121438e-02 -5.72671054e-03 4.04735990e+02] [ 1.19139106e-02 9.99928989e-01 2.74502340e-04 -2.03112799e+01] [ 5.72303397e-03 -3.42705879e-04 9.99983565e-01 2.10936919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.88071405700003 meters Centerline goodness : 0.989909 with order 1 Centerline is valid? [True, True] Translation: X:404.80, Y:-20.31, Z:2.11 [[ 9.99846236e-01 -1.65743519e-02 -5.72671054e-03 4.04797141e+02] [ 1.65761949e-02 9.99862568e-01 2.74502340e-04 -2.03136327e+01] [ 5.72137381e-03 -3.69387201e-04 9.99983565e-01 2.11181415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.94071405700004 meters Centerline goodness : 0.989513 with order 1 Centerline is valid? [True, True] Translation: X:404.86, Y:-20.32, Z:2.11 [[ 9.99785448e-01 -1.99063650e-02 -5.72670002e-03 4.04858833e+02] [ 1.99082636e-02 9.99801773e-01 2.74721602e-04 -2.03181699e+01] [ 5.72009613e-03 -3.88671314e-04 9.99983565e-01 2.11029433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.00071405700004 meters Centerline goodness : 0.990713 with order 1 Centerline is valid? [True, True] Translation: X:404.92, Y:-20.32, Z:2.11 [[ 9.99740222e-01 -2.20611569e-02 -5.72667877e-03 4.04921219e+02] [ 2.20630932e-02 9.99756542e-01 2.75163904e-04 -2.03212449e+01] [ 5.71921413e-03 -4.01440670e-04 9.99983565e-01 2.11167347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.06071405700004 meters Centerline goodness : 0.990094 with order 1 Centerline is valid? [True, True] Translation: X:404.98, Y:-20.33, Z:2.11 [[ 9.99593876e-01 -2.79157259e-02 -5.72665770e-03 4.04982924e+02] [ 2.79177603e-02 9.99610185e-01 2.75601683e-04 -2.03261870e+01] [ 5.71673175e-03 -4.35365212e-04 9.99983565e-01 2.10680249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.12071405700004 meters Centerline goodness : 0.989497 with order 1 Centerline is valid? [True, True] Translation: X:405.05, Y:-20.33, Z:2.10 [[ 9.99825276e-01 -1.77939276e-02 -5.72660580e-03 4.05045043e+02] [ 1.77958029e-02 9.99841604e-01 2.76676024e-04 -2.03283878e+01] [ 5.72077557e-03 -3.78537230e-04 9.99983565e-01 2.10380309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.18071405700005 meters Centerline goodness : 0.992149 with order 1 Centerline is valid? [True, True] Translation: X:405.11, Y:-20.32, Z:2.11 [[ 9.99726853e-01 -2.26589059e-02 -5.72658458e-03 4.05107297e+02] [ 2.26608631e-02 9.99743171e-01 2.77114387e-04 -2.03155937e+01] [ 5.71883472e-03 -4.06808043e-04 9.99983565e-01 2.11298129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.24071405700005 meters Centerline goodness : 0.989364 with order 1 Centerline is valid? [True, True] Translation: X:405.17, Y:-20.32, Z:2.11 [[ 9.99983274e-01 -8.11842488e-04 -5.72654326e-03 4.05169043e+02] [ 8.13447577e-04 9.99999631e-01 2.77965658e-04 -2.03243719e+01] [ 5.72631548e-03 -2.82619252e-04 9.99983565e-01 2.11211697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.30071405700005 meters Centerline goodness : 0.989204 with order 1 Centerline is valid? [True, True] Translation: X:405.23, Y:-20.32, Z:2.11 [[ 9.99982200e-01 1.67530065e-03 -5.72652189e-03 4.05226948e+02] [-1.67373374e-03 9.99998561e-01 2.78405302e-04 -2.03247537e+01] [ 5.72698006e-03 -2.68815673e-04 9.99983565e-01 2.11087565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.36071405700005 meters Centerline goodness : 0.989000 with order 1 Centerline is valid? [True, True] Translation: X:405.29, Y:-20.33, Z:2.10 [[ 9.99983429e-01 5.89999321e-04 -5.72656089e-03 4.05285373e+02] [-5.88419249e-04 9.99999788e-01 2.77600653e-04 -2.03280332e+01] [ 5.72672347e-03 -2.74226435e-04 9.99983565e-01 2.10438858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.42071405700005 meters Centerline goodness : 0.989663 with order 1 Centerline is valid? [True, True] Translation: X:405.34, Y:-20.32, Z:2.11 [[ 9.99983289e-01 -7.93014410e-04 -5.72658133e-03 4.05344077e+02] [ 7.94614693e-04 9.99999646e-01 2.77178439e-04 -2.03237070e+01] [ 5.72635950e-03 -2.81724232e-04 9.99983565e-01 2.10983832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.48071405700006 meters Centerline goodness : 0.990317 with order 1 Centerline is valid? [True, True] Translation: X:405.40, Y:-20.32, Z:2.12 [[ 9.99981920e-01 1.83451384e-03 -5.72660229e-03 4.05403267e+02] [-1.83295902e-03 9.99998282e-01 2.76744763e-04 -2.03211856e+01] [ 5.72710014e-03 -2.66243132e-04 9.99983565e-01 2.11514193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.54071405700006 meters Centerline goodness : 0.989600 with order 1 Centerline is valid? [True, True] Translation: X:405.46, Y:-20.32, Z:2.12 [[ 9.99967885e-01 5.60664727e-03 -5.72667489e-03 4.05461103e+02] [-5.60516282e-03 9.99984253e-01 2.75234177e-04 -2.03216334e+01] [ 5.72812785e-03 -2.43126393e-04 9.99983565e-01 2.11539313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.60071405700006 meters Centerline goodness : 0.990062 with order 1 Centerline is valid? [True, True] Translation: X:405.52, Y:-20.32, Z:2.12 [[ 9.99970778e-01 5.06433649e-03 -5.72675847e-03 4.05519739e+02] [-5.06285316e-03 9.99987146e-01 2.73484093e-04 -2.03240059e+01] [ 5.72806987e-03 -2.44482364e-04 9.99983565e-01 2.11502368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.66071405700006 meters Centerline goodness : 0.988371 with order 1 Centerline is valid? [True, True] Translation: X:405.58, Y:-20.33, Z:2.11 [[ 9.99946181e-01 8.65092712e-03 -5.72677929e-03 4.05577695e+02] [-8.64950501e-03 9.99962555e-01 2.73047291e-04 -2.03272142e+01] [ 5.72892697e-03 -2.23498790e-04 9.99983565e-01 2.11246297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.72071405700007 meters Centerline goodness : 0.990016 with order 1 Centerline is valid? [True, True] Translation: X:405.64, Y:-20.33, Z:2.11 [[ 9.99977602e-01 3.46409739e-03 -5.72680488e-03 4.05636505e+02] [-3.46259345e-03 9.99993968e-01 2.72509560e-04 -2.03300035e+01] [ 5.72771434e-03 -2.52673859e-04 9.99983565e-01 2.11110015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.78071405700007 meters Centerline goodness : 0.989138 with order 1 Centerline is valid? [True, True] Translation: X:405.70, Y:-20.33, Z:2.11 [[ 9.99983554e-01 -3.06941917e-04 -5.72682561e-03 4.05695195e+02] [ 3.08505080e-04 9.99999915e-01 2.72073194e-04 -2.03322034e+01] [ 5.72674162e-03 -2.73835474e-04 9.99983565e-01 2.11428814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.84071405700007 meters Centerline goodness : 0.990063 with order 1 Centerline is valid? [True, True] Translation: X:405.75, Y:-20.34, Z:2.11 [[ 9.99976196e-01 -3.84834416e-03 -5.72684630e-03 4.05753439e+02] [ 3.84996276e-03 9.99992552e-01 2.71636975e-04 -2.03371562e+01] [ 5.72575830e-03 -2.93678654e-04 9.99983565e-01 2.11187373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9007140570001 meters Centerline goodness : 0.989057 with order 1 Centerline is valid? [True, True] Translation: X:405.81, Y:-20.34, Z:2.12 [[ 9.99921388e-01 -1.11543745e-02 -5.72686687e-03 4.05812608e+02] [ 1.11561101e-02 9.99937732e-01 2.71202651e-04 -2.03385690e+01] [ 5.72348517e-03 -3.35070889e-04 9.99983565e-01 2.11634757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9607140570001 meters Centerline goodness : 0.989077 with order 1 Centerline is valid? [True, True] Translation: X:405.87, Y:-20.34, Z:2.12 [[ 9.99920039e-01 -1.12747253e-02 -5.72687723e-03 4.05874202e+02] [ 1.12764616e-02 9.99936382e-01 2.70983815e-04 -2.03414725e+01] [ 5.72345762e-03 -3.35541059e-04 9.99983565e-01 2.12145509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0207140570001 meters Centerline goodness : 0.989573 with order 1 Centerline is valid? [True, True] Translation: X:405.93, Y:-20.34, Z:2.12 [[ 9.99928767e-01 -1.04720796e-02 -5.72686697e-03 4.05934875e+02] [ 1.04738040e-02 9.99945111e-01 2.71200332e-04 -2.03449955e+01] [ 5.72371260e-03 -3.31163096e-04 9.99983565e-01 2.11939839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0807140570001 meters Centerline goodness : 0.993090 with order 1 Centerline is valid? [True, True] Translation: X:406.00, Y:-20.34, Z:2.12 [[ 9.99884300e-01 -1.40922223e-02 -5.72685176e-03 4.05996425e+02] [ 1.40940077e-02 9.99900638e-01 2.71521170e-04 -2.03397367e+01] [ 5.72245639e-03 -3.52204047e-04 9.99983565e-01 2.11994575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.140714057 meters Centerline goodness : 0.992450 with order 1 Centerline is valid? [True, True] Translation: X:406.06, Y:-20.35, Z:2.12 [[ 9.99889795e-01 -1.36967884e-02 -5.72684202e-03 4.06058026e+02] [ 1.36985686e-02 9.99906133e-01 2.71726421e-04 -2.03451065e+01] [ 5.72258268e-03 -3.50146013e-04 9.99983565e-01 2.11719103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.200714057 meters Centerline goodness : 0.988769 with order 1 Centerline is valid? [True, True] Translation: X:406.12, Y:-20.36, Z:2.11 [[ 9.99977659e-01 -3.44732344e-03 -5.72682212e-03 4.06118854e+02] [ 3.44893838e-03 9.99994015e-01 2.72145209e-04 -2.03586619e+01] [ 5.72584968e-03 -2.91890586e-04 9.99983565e-01 2.11277486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.26071405700003 meters Centerline goodness : 0.988035 with order 1 Centerline is valid? [True, True] Translation: X:406.18, Y:-20.36, Z:2.11 [[ 9.99980341e-01 2.55386680e-03 -5.72681165e-03 4.06177420e+02] [-2.55234878e-03 9.99996706e-01 2.72365467e-04 -2.03613366e+01] [ 5.72748836e-03 -2.57743291e-04 9.99983565e-01 2.11381160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.32071405700003 meters Centerline goodness : 0.988901 with order 1 Centerline is valid? [True, True] Translation: X:406.23, Y:-20.37, Z:2.12 [[ 9.99964365e-01 6.20257678e-03 -5.72682700e-03 4.06234942e+02] [-6.20112033e-03 9.99980736e-01 2.72042231e-04 -2.03663335e+01] [ 5.72840404e-03 -2.36519793e-04 9.99983565e-01 2.11526029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.38071405700003 meters Centerline goodness : 0.988444 with order 1 Centerline is valid? [True, True] Translation: X:406.29, Y:-20.37, Z:2.11 [[ 9.99967676e-01 5.64353443e-03 -5.72685128e-03 4.06293687e+02] [-5.64207175e-03 9.99984047e-01 2.71530206e-04 -2.03716619e+01] [ 5.72829230e-03 -2.39210124e-04 9.99983565e-01 2.11451624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.44071405700004 meters Centerline goodness : 0.987227 with order 1 Centerline is valid? [True, True] Translation: X:406.35, Y:-20.38, Z:2.12 [[ 9.99966072e-01 5.92099605e-03 -5.72687199e-03 4.06350708e+02] [-5.91954042e-03 9.99982443e-01 2.71092713e-04 -2.03811191e+01] [ 5.72837658e-03 -2.37183065e-04 9.99983565e-01 2.11557986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.50071405700004 meters Centerline goodness : 0.987166 with order 1 Centerline is valid? [True, True] Translation: X:406.41, Y:-20.38, Z:2.12 [[ 9.99983588e-01 1.60170711e-04 -5.72689729e-03 4.06409238e+02] [-1.58623854e-04 9.99999951e-01 2.70557041e-04 -2.03833962e+01] [ 5.72694035e-03 -2.69644178e-04 9.99983565e-01 2.12064942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.56071405700004 meters Centerline goodness : 0.987235 with order 1 Centerline is valid? [True, True] Translation: X:406.47, Y:-20.39, Z:2.12 [[ 9.99975604e-01 -3.99932478e-03 -5.72691646e-03 4.06467998e+02] [ 4.00093736e-03 9.99991960e-01 2.70150819e-04 -2.03900205e+01] [ 5.72578999e-03 -2.93057262e-04 9.99983565e-01 2.12065180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.62071405700004 meters Centerline goodness : 0.988200 with order 1 Centerline is valid? [True, True] Translation: X:406.53, Y:-20.40, Z:2.12 [[ 9.99956220e-01 -7.40006300e-03 -5.72693602e-03 4.06527319e+02] [ 7.40172882e-03 9.99972570e-01 2.69735375e-04 -2.03957515e+01] [ 5.72478288e-03 -3.12112793e-04 9.99983565e-01 2.11903973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.68071405700005 meters Centerline goodness : 0.987691 with order 1 Centerline is valid? [True, True] Translation: X:406.59, Y:-20.40, Z:2.12 [[ 9.99911764e-01 -1.19860546e-02 -5.72694628e-03 4.06587392e+02] [ 1.19877942e-02 9.99928107e-01 2.69517514e-04 -2.04008718e+01] [ 5.72330410e-03 -3.38147186e-04 9.99983565e-01 2.11929882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.74071405700005 meters Centerline goodness : 0.987686 with order 1 Centerline is valid? [True, True] Translation: X:406.65, Y:-20.40, Z:2.12 [[ 9.99854062e-01 -1.60952122e-02 -5.72694628e-03 4.06648837e+02] [ 1.60970189e-02 9.99870398e-01 2.69517514e-04 -2.04038316e+01] [ 5.72186611e-03 -3.61664944e-04 9.99983565e-01 2.12086554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.80071405700005 meters Centerline goodness : 0.987887 with order 1 Centerline is valid? [True, True] Translation: X:406.71, Y:-20.41, Z:2.12 [[ 9.99712643e-01 -2.32773232e-02 -5.72693596e-03 4.06711788e+02] [ 2.32792485e-02 9.99728965e-01 2.69736564e-04 -2.04072440e+01] [ 5.71910501e-03 -4.02977819e-04 9.99983565e-01 2.12226139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.86071405700005 meters Centerline goodness : 0.987524 with order 1 Centerline is valid? [True, True] Translation: X:406.77, Y:-20.41, Z:2.12 [[ 9.99647207e-01 -2.59357708e-02 -5.72685301e-03 4.06773542e+02] [ 2.59377494e-02 9.99663523e-01 2.71486311e-04 -2.04096684e+01] [ 5.71788485e-03 -4.19932211e-04 9.99983565e-01 2.12246521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.92071405700005 meters Centerline goodness : 0.987246 with order 1 Centerline is valid? [True, True] Translation: X:406.84, Y:-20.41, Z:2.12 [[ 9.99649664e-01 -2.58409119e-02 -5.72683245e-03 4.06835110e+02] [ 2.58428915e-02 9.99665980e-01 2.71919241e-04 -2.04106239e+01] [ 5.71789293e-03 -4.19821888e-04 9.99983565e-01 2.12341650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.98071405700006 meters Centerline goodness : 0.987129 with order 1 Centerline is valid? [True, True] Translation: X:406.90, Y:-20.41, Z:2.13 [[ 9.99701795e-01 -2.37386650e-02 -5.72681722e-03 4.06897629e+02] [ 2.37406121e-02 9.99718115e-01 2.72239796e-04 -2.04105346e+01] [ 5.71874030e-03 -4.08116759e-04 9.99983565e-01 2.12510840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.04071405700006 meters Centerline goodness : 0.986763 with order 1 Centerline is valid? [True, True] Translation: X:406.96, Y:-20.41, Z:2.13 [[ 9.99781902e-01 -2.00836408e-02 -5.72679747e-03 4.06959909e+02] [ 2.00855306e-02 9.99798228e-01 2.72654528e-04 -2.04085153e+01] [ 5.72016607e-03 -3.87620828e-04 9.99983565e-01 2.12614369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.10071405700006 meters Centerline goodness : 0.986565 with order 1 Centerline is valid? [True, True] Translation: X:407.02, Y:-20.41, Z:2.12 [[ 9.99913044e-01 -1.18789394e-02 -5.72677795e-03 4.07022283e+02] [ 1.18806975e-02 9.99929385e-01 2.73063987e-04 -2.04101171e+01] [ 5.72312984e-03 -3.41078359e-04 9.99983565e-01 2.12031303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.16071405700006 meters Centerline goodness : 0.986473 with order 1 Centerline is valid? [True, True] Translation: X:407.08, Y:-20.41, Z:2.12 [[ 9.99968527e-01 -5.49089104e-03 -5.72675700e-03 4.07082330e+02] [ 5.49254716e-03 9.99984878e-01 2.73502611e-04 -2.04087709e+01] [ 5.72516863e-03 -3.04948486e-04 9.99983565e-01 2.12157410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.22071405700007 meters Centerline goodness : 0.987226 with order 1 Centerline is valid? [True, True] Translation: X:407.14, Y:-20.41, Z:2.11 [[ 9.99983476e-01 -5.01118558e-04 -5.72675191e-03 4.07141795e+02] [ 5.02693673e-04 9.99999836e-01 2.73609064e-04 -2.04094600e+01] [ 5.72661386e-03 -2.76483345e-04 9.99983565e-01 2.11409538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.28071405700007 meters Centerline goodness : 0.986787 with order 1 Centerline is valid? [True, True] Translation: X:407.20, Y:-20.41, Z:2.12 [[ 9.99931245e-01 1.02327694e-02 -5.72676174e-03 4.07200892e+02] [-1.02313712e-02 9.99947621e-01 2.73403178e-04 -2.04093450e+01] [ 5.72925945e-03 -2.14791755e-04 9.99983565e-01 2.11848921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.34071405700007 meters Centerline goodness : 0.987155 with order 1 Centerline is valid? [True, True] Translation: X:407.26, Y:-20.41, Z:2.12 [[ 9.99864440e-01 1.54371415e-02 -5.72678127e-03 4.07258575e+02] [-1.54358308e-02 9.99880823e-01 2.72993595e-04 -2.04100004e+01] [ 5.73031301e-03 -1.84558961e-04 9.99983565e-01 2.11999170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4007140570001 meters Centerline goodness : 0.987133 with order 1 Centerline is valid? [True, True] Translation: X:407.32, Y:-20.41, Z:2.12 [[ 9.99872729e-01 1.48905938e-02 -5.72685996e-03 4.07316381e+02] [-1.48892837e-02 9.99889112e-01 2.71332707e-04 -2.04108901e+01] [ 5.73026522e-03 -1.86029331e-04 9.99983565e-01 2.12410504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4607140570001 meters Centerline goodness : 0.987000 with order 1 Centerline is valid? [True, True] Translation: X:407.38, Y:-20.42, Z:2.13 [[ 9.99895127e-01 1.33017834e-02 -5.72688410e-03 4.07375333e+02] [-1.33004502e-02 9.99911508e-01 2.70822127e-04 -2.04156554e+01] [ 5.72997974e-03 -1.94623588e-04 9.99983565e-01 2.12527753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5207140570001 meters Centerline goodness : 0.987286 with order 1 Centerline is valid? [True, True] Translation: X:407.43, Y:-20.42, Z:2.12 [[ 9.99953477e-01 7.76182744e-03 -5.72690321e-03 4.07432992e+02] [-7.76040581e-03 9.99969851e-01 2.70417550e-04 -2.04207980e+01] [ 5.72882948e-03 -2.25961876e-04 9.99983565e-01 2.12354161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5807140570001 meters Centerline goodness : 0.986498 with order 1 Centerline is valid? [True, True] Translation: X:407.49, Y:-20.43, Z:2.13 [[ 9.99983589e-01 -1.57118555e-04 -5.72693333e-03 4.07490095e+02] [ 1.58666152e-04 9.99999951e-01 2.69778136e-04 -2.04252026e+01] [ 5.72689066e-03 -2.70682379e-04 9.99983565e-01 2.12649675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.640714057 meters Centerline goodness : 0.986949 with order 1 Centerline is valid? [True, True] Translation: X:407.55, Y:-20.43, Z:2.13 [[ 9.99964589e-01 -6.16622796e-03 -5.72696300e-03 4.07548780e+02] [ 6.16787025e-03 9.99980942e-01 2.69146742e-04 -2.04298899e+01] [ 5.72519424e-03 -3.04460376e-04 9.99983565e-01 2.12617041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.700714057 meters Centerline goodness : 0.987788 with order 1 Centerline is valid? [True, True] Translation: X:407.61, Y:-20.43, Z:2.13 [[ 9.99937377e-01 -9.61473128e-03 -5.72698335e-03 4.07609468e+02] [ 9.61642748e-03 9.99953725e-01 2.68713037e-04 -2.04342787e+01] [ 5.72413473e-03 -3.23769329e-04 9.99983565e-01 2.12676386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.76071405700003 meters Centerline goodness : 0.988068 with order 1 Centerline is valid? [True, True] Translation: X:407.67, Y:-20.44, Z:2.13 [[ 9.99888341e-01 -1.38024157e-02 -5.72698335e-03 4.07669396e+02] [ 1.38041804e-02 9.99904682e-01 2.68713037e-04 -2.04367995e+01] [ 5.72272857e-03 -3.47739344e-04 9.99983565e-01 2.12838064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.82071405700003 meters Centerline goodness : 0.988170 with order 1 Centerline is valid? [True, True] Translation: X:407.73, Y:-20.44, Z:2.13 [[ 9.99821173e-01 -1.80228988e-02 -5.72696011e-03 4.07731282e+02] [ 1.80247352e-02 9.99837505e-01 2.69207510e-04 -2.04372591e+01] [ 5.72117760e-03 -3.72386308e-04 9.99983565e-01 2.12978587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.88071405700003 meters Centerline goodness : 0.989132 with order 1 Centerline is valid? [True, True] Translation: X:407.79, Y:-20.44, Z:2.13 [[ 9.99715147e-01 -2.31695255e-02 -5.72693579e-03 4.07793855e+02] [ 2.31714489e-02 9.99731470e-01 2.69723822e-04 -2.04363899e+01] [ 5.71914856e-03 -4.02348391e-04 9.99983565e-01 2.13269852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.94071405700004 meters Centerline goodness : 0.990698 with order 1 Centerline is valid? [True, True] Translation: X:407.86, Y:-20.44, Z:2.13 [[ 9.99639353e-01 -2.62367496e-02 -5.72686338e-03 4.07856536e+02] [ 2.62387318e-02 9.99655668e-01 2.71252641e-04 -2.04367803e+01] [ 5.71777465e-03 -4.21420447e-04 9.99983565e-01 2.13108520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.00071405700004 meters Centerline goodness : 0.990864 with order 1 Centerline is valid? [True, True] Translation: X:407.92, Y:-20.43, Z:2.13 [[ 9.99519261e-01 -3.04704811e-02 -5.72684259e-03 4.07918074e+02] [ 3.04725349e-02 9.99535568e-01 2.71690878e-04 -2.04318881e+01] [ 5.71590430e-03 -4.46071676e-04 9.99983565e-01 2.13320369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.06071405700004 meters Centerline goodness : 0.989961 with order 1 Centerline is valid? [True, True] Translation: X:407.98, Y:-20.43, Z:2.13 [[ 9.99476479e-01 -3.18429215e-02 -5.72680168e-03 4.07979833e+02] [ 3.18450026e-02 9.99492782e-01 2.72550446e-04 -2.04322803e+01] [ 5.71521814e-03 -4.54777774e-04 9.99983565e-01 2.13215886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.12071405700004 meters Centerline goodness : 0.990963 with order 1 Centerline is valid? [True, True] Translation: X:408.04, Y:-20.43, Z:2.14 [[ 9.99486202e-01 -3.15362771e-02 -5.72678716e-03 4.08040879e+02] [ 3.15383549e-02 9.99502505e-01 2.72855194e-04 -2.04293740e+01] [ 5.71533327e-03 -4.53328447e-04 9.99983565e-01 2.13683144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.18071405700005 meters Centerline goodness : 0.990341 with order 1 Centerline is valid? [True, True] Translation: X:408.10, Y:-20.43, Z:2.14 [[ 9.99553779e-01 -2.93163309e-02 -5.72675045e-03 4.08103842e+02] [ 2.93183768e-02 9.99570087e-01 2.73623520e-04 -2.04270344e+01] [ 5.71626680e-03 -4.41400451e-04 9.99983565e-01 2.13570319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.24071405700005 meters Centerline goodness : 0.990602 with order 1 Centerline is valid? [True, True] Translation: X:408.17, Y:-20.42, Z:2.14 [[ 9.99580934e-01 -2.83753724e-02 -5.72671854e-03 4.08165789e+02] [ 2.83774069e-02 9.99597243e-01 2.74289670e-04 -2.04248584e+01] [ 5.71662899e-03 -4.36684147e-04 9.99983565e-01 2.13593438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.30071405700005 meters Centerline goodness : 0.990260 with order 1 Centerline is valid? [True, True] Translation: X:408.23, Y:-20.42, Z:2.13 [[ 9.99645905e-01 -2.59859583e-02 -5.72669244e-03 4.08229085e+02] [ 2.59879568e-02 9.99662218e-01 2.74833445e-04 -2.04239486e+01] [ 5.71761626e-03 -4.23561164e-04 9.99983565e-01 2.13283193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.36071405700005 meters Centerline goodness : 0.990644 with order 1 Centerline is valid? [True, True] Translation: X:408.29, Y:-20.42, Z:2.13 [[ 9.99629890e-01 -2.65948757e-02 -5.72666144e-03 4.08291856e+02] [ 2.65968878e-02 9.99646202e-01 2.75477926e-04 -2.04216287e+01] [ 5.71730906e-03 -4.27687341e-04 9.99983565e-01 2.12938032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.42071405700005 meters Centerline goodness : 0.990326 with order 1 Centerline is valid? [True, True] Translation: X:408.35, Y:-20.42, Z:2.13 [[ 9.99746813e-01 -2.17604337e-02 -5.72664037e-03 4.08354362e+02] [ 2.17623694e-02 9.99763134e-01 2.75915262e-04 -2.04192715e+01] [ 5.71927989e-03 -4.00470666e-04 9.99983565e-01 2.13232582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.48071405700006 meters Centerline goodness : 0.990002 with order 1 Centerline is valid? [True, True] Translation: X:408.42, Y:-20.42, Z:2.13 [[ 9.99691981e-01 -2.41484828e-02 -5.72661937e-03 4.08415590e+02] [ 2.41504599e-02 9.99708297e-01 2.76350446e-04 -2.04163656e+01] [ 5.71827545e-03 -4.14565816e-04 9.99983565e-01 2.13042452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.54071405700006 meters Centerline goodness : 0.989894 with order 1 Centerline is valid? [True, True] Translation: X:408.48, Y:-20.41, Z:2.14 [[ 9.99706333e-01 -2.35468623e-02 -5.72660390e-03 4.08478092e+02] [ 2.35488314e-02 9.99722650e-01 2.76670672e-04 -2.04136607e+01] [ 5.71850090e-03 -4.11444253e-04 9.99983565e-01 2.13645454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.60071405700006 meters Centerline goodness : 0.988934 with order 1 Centerline is valid? [True, True] Translation: X:408.54, Y:-20.41, Z:2.13 [[ 9.99629053e-01 -2.66263672e-02 -5.72658460e-03 4.08540729e+02] [ 2.66283889e-02 9.99645363e-01 2.77069437e-04 -2.04140627e+01] [ 5.71717639e-03 -4.29456381e-04 9.99983565e-01 2.13177182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.66071405700006 meters Centerline goodness : 0.989256 with order 1 Centerline is valid? [True, True] Translation: X:408.60, Y:-20.41, Z:2.13 [[ 9.99471782e-01 -3.19900418e-02 -5.72655247e-03 4.08602575e+02] [ 3.19921547e-02 9.99488081e-01 2.77731942e-04 -2.04139828e+01] [ 5.71473629e-03 -4.60789992e-04 9.99983565e-01 2.12986558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.72071405700007 meters Centerline goodness : 0.988686 with order 1 Centerline is valid? [True, True] Translation: X:408.66, Y:-20.41, Z:2.13 [[ 9.99294872e-01 -3.71075002e-02 -5.72647369e-03 4.08664466e+02] [ 3.71097057e-02 9.99311159e-01 2.79347000e-04 -2.04137542e+01] [ 5.71216319e-03 -4.91657778e-04 9.99983565e-01 2.12942710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.78071405700007 meters Centerline goodness : 0.992370 with order 1 Centerline is valid? [True, True] Translation: X:408.73, Y:-20.40, Z:2.13 [[ 9.98876744e-01 -4.70367811e-02 -5.72645304e-03 4.08726219e+02] [ 4.70391508e-02 9.98893007e-01 2.79769713e-04 -2.04033778e+01] [ 5.70695443e-03 -5.48822947e-04 9.99983565e-01 2.13449176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.84071405700007 meters Centerline goodness : 0.988558 with order 1 Centerline is valid? [True, True] Translation: X:408.79, Y:-20.41, Z:2.14 [[ 9.99334537e-01 -3.60234769e-02 -5.72638676e-03 4.08788146e+02] [ 3.60256749e-02 9.99350825e-01 2.81119855e-04 -2.04119244e+01] [ 5.71254241e-03 -4.87229728e-04 9.99983565e-01 2.13791244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9007140570001 meters Centerline goodness : 0.989046 with order 1 Centerline is valid? [True, True] Translation: X:408.85, Y:-20.41, Z:2.14 [[ 9.99313685e-01 -3.65973737e-02 -5.72636503e-03 4.08850927e+02] [ 3.65995836e-02 9.99329971e-01 2.81561681e-04 -2.04107577e+01] [ 5.71222378e-03 -4.90951016e-04 9.99983565e-01 2.13583282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9607140570001 meters Centerline goodness : 0.989461 with order 1 Centerline is valid? [True, True] Translation: X:408.91, Y:-20.41, Z:2.14 [[ 9.99478560e-01 -3.17776337e-02 -5.72633265e-03 4.08913296e+02] [ 3.17797688e-02 9.99494856e-01 2.82218649e-04 -2.04093993e+01] [ 5.71447179e-03 -4.64053017e-04 9.99983565e-01 2.14190521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0207140570001 meters Centerline goodness : 0.988939 with order 1 Centerline is valid? [True, True] Translation: X:408.98, Y:-20.41, Z:2.14 [[ 9.99442834e-01 -3.28820838e-02 -5.72631109e-03 4.08975608e+02] [ 3.28842393e-02 9.99459127e-01 2.82655518e-04 -2.04119150e+01] [ 5.71391958e-03 -4.70803416e-04 9.99983565e-01 2.13765470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0807140570001 meters Centerline goodness : 0.988867 with order 1 Centerline is valid? [True, True] Translation: X:409.04, Y:-20.41, Z:2.14 [[ 9.99404833e-01 -3.40174789e-02 -5.72628958e-03 4.09037723e+02] [ 3.40196554e-02 9.99421124e-01 2.83090533e-04 -2.04149060e+01] [ 5.71334474e-03 -4.77728446e-04 9.99983565e-01 2.13583024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.140714057 meters Centerline goodness : 0.988248 with order 1 Centerline is valid? [True, True] Translation: X:409.10, Y:-20.42, Z:2.14 [[ 9.99527209e-01 -3.02087591e-02 -5.72626798e-03 4.09099527e+02] [ 3.02108760e-02 9.99543507e-01 2.83526814e-04 -2.04180179e+01] [ 5.71508899e-03 -4.56388337e-04 9.99983565e-01 2.13856149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.200714057 meters Centerline goodness : 0.988700 with order 1 Centerline is valid? [True, True] Translation: X:409.16, Y:-20.42, Z:2.14 [[ 9.99565023e-01 -2.89305107e-02 -5.72624627e-03 4.09161959e+02] [ 2.89326093e-02 9.99581324e-01 2.83964561e-04 -2.04206940e+01] [ 5.71563359e-03 -4.49516290e-04 9.99983565e-01 2.13550451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.26071405700003 meters Centerline goodness : 0.988774 with order 1 Centerline is valid? [True, True] Translation: X:409.22, Y:-20.42, Z:2.14 [[ 9.99648489e-01 -2.58864580e-02 -5.72622419e-03 4.09223880e+02] [ 2.58885094e-02 9.99664796e-01 2.84409198e-04 -2.04236314e+01] [ 5.71694239e-03 -4.32552634e-04 9.99983565e-01 2.13719742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.32071405700003 meters Centerline goodness : 0.987469 with order 1 Centerline is valid? [True, True] Translation: X:409.29, Y:-20.43, Z:2.14 [[ 9.99639356e-01 -2.62367763e-02 -5.72620205e-03 4.09286641e+02] [ 2.62388360e-02 9.99655662e-01 2.84854290e-04 -2.04260180e+01] [ 5.71675664e-03 -4.35000436e-04 9.99983565e-01 2.13888817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.38071405700003 meters Centerline goodness : 0.987060 with order 1 Centerline is valid? [True, True] Translation: X:409.35, Y:-20.43, Z:2.14 [[ 9.99610799e-01 -2.73031338e-02 -5.72616924e-03 4.09348990e+02] [ 2.73052147e-02 9.99627102e-01 2.85512283e-04 -2.04292927e+01] [ 5.71623858e-03 -4.41755442e-04 9.99983565e-01 2.13724638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.44071405700004 meters Centerline goodness : 0.988605 with order 1 Centerline is valid? [True, True] Translation: X:409.41, Y:-20.43, Z:2.13 [[ 9.99507088e-01 -3.08673392e-02 -5.72614754e-03 4.09409812e+02] [ 3.08694806e-02 9.99523383e-01 2.85946851e-04 -2.04310456e+01] [ 5.71459194e-03 -4.62569105e-04 9.99983565e-01 2.13463526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.50071405700004 meters Centerline goodness : 0.987963 with order 1 Centerline is valid? [True, True] Translation: X:409.47, Y:-20.43, Z:2.14 [[ 9.99565627e-01 -2.89096597e-02 -5.72613152e-03 4.09471606e+02] [ 2.89117710e-02 9.99581926e-01 2.86267228e-04 -2.04345427e+01] [ 5.71546169e-03 -4.51695485e-04 9.99983565e-01 2.14077114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.56071405700004 meters Centerline goodness : 0.986813 with order 1 Centerline is valid? [True, True] Translation: X:409.53, Y:-20.44, Z:2.14 [[ 9.99603617e-01 -2.75648442e-02 -5.72610935e-03 4.09534011e+02] [ 2.75669362e-02 9.99619919e-01 2.86710139e-04 -2.04364380e+01] [ 5.71602984e-03 -4.44447783e-04 9.99983565e-01 2.14084970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.62071405700004 meters Centerline goodness : 0.987005 with order 1 Centerline is valid? [True, True] Translation: X:409.60, Y:-20.44, Z:2.14 [[ 9.99617261e-01 -2.70655517e-02 -5.72608211e-03 4.09597179e+02] [ 2.70676385e-02 9.99633563e-01 2.87253000e-04 -2.04393859e+01] [ 5.71620920e-03 -4.42134578e-04 9.99983565e-01 2.14180124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.68071405700005 meters Centerline goodness : 0.986236 with order 1 Centerline is valid? [True, True] Translation: X:409.66, Y:-20.44, Z:2.14 [[ 9.99669534e-01 -2.50606406e-02 -5.72605104e-03 4.09659086e+02] [ 2.50626983e-02 9.99685840e-01 2.87871112e-04 -2.04432011e+01] [ 5.71703791e-03 -4.31286270e-04 9.99983565e-01 2.14118460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.74071405700005 meters Centerline goodness : 0.986774 with order 1 Centerline is valid? [True, True] Translation: X:409.72, Y:-20.45, Z:2.14 [[ 9.99663740e-01 -2.52906981e-02 -5.72603003e-03 4.09722201e+02] [ 2.52927620e-02 9.99680045e-01 2.88288319e-04 -2.04462244e+01] [ 5.71690695e-03 -4.33018494e-04 9.99983565e-01 2.14095927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.80071405700005 meters Centerline goodness : 0.986212 with order 1 Centerline is valid? [True, True] Translation: X:409.79, Y:-20.45, Z:2.14 [[ 9.99600905e-01 -2.76630414e-02 -5.72599765e-03 4.09785216e+02] [ 2.76651475e-02 9.99617205e-01 2.88930044e-04 -2.04499745e+01] [ 5.71581308e-03 -4.47225303e-04 9.99983565e-01 2.13849602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.86071405700005 meters Centerline goodness : 0.987451 with order 1 Centerline is valid? [True, True] Translation: X:409.85, Y:-20.45, Z:2.14 [[ 9.99490380e-01 -3.14037246e-02 -5.72596423e-03 4.09846971e+02] [ 3.14058956e-02 9.99506671e-01 2.89590831e-04 -2.04543367e+01] [ 5.71404522e-03 -4.69272285e-04 9.99983565e-01 2.13756381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.92071405700005 meters Centerline goodness : 0.987737 with order 1 Centerline is valid? [True, True] Translation: X:409.91, Y:-20.46, Z:2.14 [[ 9.99323100e-01 -3.63394703e-02 -5.72588143e-03 4.09910168e+02] [ 3.63417309e-02 9.99339379e-01 2.91218936e-04 -2.04567591e+01] [ 5.71151605e-03 -4.99110252e-04 9.99983565e-01 2.13878708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.98071405700006 meters Centerline goodness : 0.988464 with order 1 Centerline is valid? [True, True] Translation: X:409.97, Y:-20.46, Z:2.14 [[ 9.99271580e-01 -3.77296272e-02 -5.72584760e-03 4.09973275e+02] [ 3.77319142e-02 9.99287855e-01 2.91882420e-04 -2.04621637e+01] [ 5.71075736e-03 -5.07716998e-04 9.99983565e-01 2.13964400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.04071405700006 meters Centerline goodness : 0.988169 with order 1 Centerline is valid? [True, True] Translation: X:410.03, Y:-20.47, Z:2.13 [[ 9.99163087e-01 -4.05011282e-02 -5.72581376e-03 4.10034270e+02] [ 4.05034641e-02 9.99179355e-01 2.92544923e-04 -2.04668563e+01] [ 5.70926650e-03 -5.24215380e-04 9.99983565e-01 2.13487291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.10071405700006 meters Centerline goodness : 0.987179 with order 1 Centerline is valid? [True, True] Translation: X:410.10, Y:-20.47, Z:2.14 [[ 9.99325934e-01 -3.62614651e-02 -5.72574162e-03 4.10096070e+02] [ 3.62637400e-02 9.99342211e-01 2.93950030e-04 -2.04706204e+01] [ 5.71131623e-03 -5.01388694e-04 9.99983565e-01 2.14124574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.16071405700006 meters Centerline goodness : 0.988252 with order 1 Centerline is valid? [True, True] Translation: X:410.16, Y:-20.47, Z:2.14 [[ 9.99347099e-01 -3.56733983e-02 -5.72571886e-03 4.10156893e+02] [ 3.56756661e-02 9.99363377e-01 2.94392658e-04 -2.04736419e+01] [ 5.71157175e-03 -4.98469283e-04 9.99983565e-01 2.13528773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.22071405700007 meters Centerline goodness : 0.986616 with order 1 Centerline is valid? [True, True] Translation: X:410.22, Y:-20.48, Z:2.14 [[ 9.99554779e-01 -2.92824247e-02 -5.72564606e-03 4.10219382e+02] [ 2.92845963e-02 9.99571070e-01 2.95801806e-04 -2.04757106e+01] [ 5.71452837e-03 -4.63343343e-04 9.99983565e-01 2.13659407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.28071405700007 meters Centerline goodness : 0.986098 with order 1 Centerline is valid? [True, True] Translation: X:410.28, Y:-20.48, Z:2.14 [[ 9.99769343e-01 -2.06997324e-02 -5.72562312e-03 4.10280501e+02] [ 2.07017667e-02 9.99785652e-01 2.96245282e-04 -2.04775965e+01] [ 5.71826364e-03 -4.14707465e-04 9.99983565e-01 2.14314440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.34071405700007 meters Centerline goodness : 0.985919 with order 1 Centerline is valid? [True, True] Translation: X:410.34, Y:-20.48, Z:2.14 [[ 9.99908425e-01 -1.22621086e-02 -5.72560623e-03 4.10342333e+02] [ 1.22640070e-02 9.99924750e-01 2.96571202e-04 -2.04799498e+01] [ 5.72153880e-03 -3.66762919e-04 9.99983565e-01 2.14441266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4007140570001 meters Centerline goodness : 0.985144 with order 1 Centerline is valid? [True, True] Translation: X:410.40, Y:-20.48, Z:2.14 [[ 9.99938444e-01 -9.50399129e-03 -5.72558370e-03 4.10403685e+02] [ 9.50584713e-03 9.99954774e-01 2.97005534e-04 -2.04831883e+01] [ 5.72250202e-03 -3.51413775e-04 9.99983565e-01 2.13995647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4607140570001 meters Centerline goodness : 0.988975 with order 1 Centerline is valid? [True, True] Translation: X:410.47, Y:-20.48, Z:2.14 [[ 9.99936544e-01 -9.70187057e-03 -5.72556704e-03 4.10465493e+02] [ 9.70373148e-03 9.99952873e-01 2.97326337e-04 -2.04761243e+01] [ 5.72241260e-03 -3.52866835e-04 9.99983565e-01 2.14012093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5207140570001 meters Centerline goodness : 0.985267 with order 1 Centerline is valid? [True, True] Translation: X:410.53, Y:-20.49, Z:2.14 [[ 9.99982117e-01 -1.72738758e-03 -5.72555143e-03 4.10526305e+02] [ 1.72911992e-03 9.99998461e-01 2.97626699e-04 -2.04879891e+01] [ 5.72502850e-03 -3.07521541e-04 9.99983565e-01 2.14092226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5807140570001 meters Centerline goodness : 0.985605 with order 1 Centerline is valid? [True, True] Translation: X:410.59, Y:-20.49, Z:2.14 [[ 9.99981887e-01 -1.85586907e-03 -5.72554073e-03 4.10585301e+02] [ 1.85760469e-03 9.99998230e-01 2.97832401e-04 -2.04919427e+01] [ 5.72497786e-03 -3.08462798e-04 9.99983565e-01 2.13961678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.640714057 meters Centerline goodness : 0.985198 with order 1 Centerline is valid? [True, True] Translation: X:410.64, Y:-20.50, Z:2.14 [[ 9.99982875e-01 -1.21160132e-03 -5.72561464e-03 4.10643962e+02] [ 1.21331825e-03 9.99999220e-01 2.96404643e-04 -2.04967904e+01] [ 5.72525105e-03 -3.03346560e-04 9.99983565e-01 2.14318122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.700714057 meters Centerline goodness : 0.985511 with order 1 Centerline is valid? [True, True] Translation: X:410.70, Y:-20.50, Z:2.14 [[ 9.99977952e-01 -3.36341034e-03 -5.72569019e-03 4.10701985e+02] [ 3.36515407e-03 9.99994294e-01 2.94937954e-04 -2.05007721e+01] [ 5.72466553e-03 -3.14199281e-04 9.99983565e-01 2.14391654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.76071405700003 meters Centerline goodness : 0.986212 with order 1 Centerline is valid? [True, True] Translation: X:410.76, Y:-20.51, Z:2.14 [[ 9.99960640e-01 -6.77750959e-03 -5.72570602e-03 4.10761304e+02] [ 6.77930735e-03 9.99976977e-01 2.94630422e-04 -2.05063942e+01] [ 5.72357733e-03 -3.33435146e-04 9.99983565e-01 2.14195594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.82071405700003 meters Centerline goodness : 0.986824 with order 1 Centerline is valid? [True, True] Translation: X:410.82, Y:-20.51, Z:2.15 [[ 9.99960270e-01 -6.83186083e-03 -5.72571711e-03 4.10821832e+02] [ 6.83365825e-03 9.99976607e-01 2.94414802e-04 -2.05109503e+01] [ 5.72357176e-03 -3.33530699e-04 9.99983565e-01 2.14706486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.88071405700003 meters Centerline goodness : 0.981318 with order 1 Centerline is valid? [True, True] Translation: X:410.88, Y:-20.51, Z:2.14 [[ 9.99791247e-01 -1.96132451e-02 -5.72571167e-03 4.10882168e+02] [ 1.96152518e-02 9.99807559e-01 2.94520474e-04 -2.05090521e+01] [ 5.71883331e-03 -4.06770268e-04 9.99983565e-01 2.14176188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.94071405700004 meters Centerline goodness : 0.991383 with order 1 Centerline is valid? [True, True] Translation: X:410.94, Y:-20.52, Z:2.14 [[ 9.99728574e-01 -2.25830740e-02 -5.72570378e-03 4.10943336e+02] [ 2.25851301e-02 9.99744880e-01 2.94673703e-04 -2.05189309e+01] [ 5.71758841e-03 -4.23909486e-04 9.99983565e-01 2.13696378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.00071405700004 meters Centerline goodness : 0.989830 with order 1 Centerline is valid? [True, True] Translation: X:411.01, Y:-20.52, Z:2.14 [[ 9.99631082e-01 -2.65502810e-02 -5.72567990e-03 4.11005701e+02] [ 2.65524044e-02 9.99647379e-01 2.95137055e-04 -2.05228235e+01] [ 5.71582494e-03 -4.47058742e-04 9.99983565e-01 2.13906530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.06071405700004 meters Centerline goodness : 0.989918 with order 1 Centerline is valid? [True, True] Translation: X:411.07, Y:-20.54, Z:2.14 [[ 9.99741209e-01 -2.20166155e-02 -5.72565275e-03 4.11066631e+02] [ 2.20186679e-02 9.99757516e-01 2.95662798e-04 -2.05380581e+01] [ 5.71775488e-03 -4.21657530e-04 9.99983565e-01 2.14121665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.12071405700004 meters Centerline goodness : 0.988145 with order 1 Centerline is valid? [True, True] Translation: X:411.13, Y:-20.55, Z:2.14 [[ 9.99826233e-01 -1.77403619e-02 -5.72562554e-03 4.11128089e+02] [ 1.77423476e-02 9.99842548e-01 2.96188747e-04 -2.05488797e+01] [ 5.71946954e-03 -3.97723318e-04 9.99983565e-01 2.13639396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.18071405700005 meters Centerline goodness : 0.990399 with order 1 Centerline is valid? [True, True] Translation: X:411.19, Y:-20.54, Z:2.14 [[ 9.99499658e-01 -3.11070899e-02 -5.72560367e-03 4.11190520e+02] [ 3.11092959e-02 9.99515945e-01 2.96611032e-04 -2.05396970e+01] [ 5.71360545e-03 -4.74582124e-04 9.99983565e-01 2.13782524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.24071405700005 meters Centerline goodness : 0.988998 with order 1 Centerline is valid? [True, True] Translation: X:411.25, Y:-20.56, Z:2.13 [[ 9.99844924e-01 -1.66537383e-02 -5.72551045e-03 4.11251333e+02] [ 1.66557188e-02 9.99861239e-01 2.98399616e-04 -2.05621733e+01] [ 5.71974651e-03 -3.93715833e-04 9.99983565e-01 2.13489516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.30071405700005 meters Centerline goodness : 0.989822 with order 1 Centerline is valid? [True, True] Translation: X:411.31, Y:-20.57, Z:2.13 [[ 9.99807837e-01 -1.87485380e-02 -5.72548352e-03 4.11313548e+02] [ 1.87505557e-02 9.99824148e-01 2.98915394e-04 -2.05680667e+01] [ 5.71887246e-03 -4.06213951e-04 9.99983565e-01 2.12911734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.36071405700005 meters Centerline goodness : 0.989769 with order 1 Centerline is valid? [True, True] Translation: X:411.38, Y:-20.57, Z:2.13 [[ 9.99861864e-01 -1.56035825e-02 -5.72546081e-03 4.11375803e+02] [ 1.56055513e-02 9.99878181e-01 2.99349859e-04 -2.05748432e+01] [ 5.72009241e-03 -3.88657481e-04 9.99983565e-01 2.12584953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.42071405700005 meters Centerline goodness : 0.990110 with order 1 Centerline is valid? [True, True] Translation: X:411.44, Y:-20.57, Z:2.14 [[ 9.99808138e-01 -1.87325258e-02 -5.72543793e-03 4.11437332e+02] [ 1.87345481e-02 9.99824448e-01 2.99786857e-04 -2.05726935e+01] [ 5.71881705e-03 -4.06992831e-04 9.99983565e-01 2.13885942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.48071405700006 meters Centerline goodness : 0.989322 with order 1 Centerline is valid? [True, True] Translation: X:411.50, Y:-20.58, Z:2.13 [[ 9.99805522e-01 -1.88716340e-02 -5.72542109e-03 4.11499751e+02] [ 1.88736605e-02 9.99821832e-01 3.00108109e-04 -2.05787364e+01] [ 5.71873747e-03 -4.08109399e-04 9.99983565e-01 2.13082582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.54071405700006 meters Centerline goodness : 0.989301 with order 1 Centerline is valid? [True, True] Translation: X:411.56, Y:-20.58, Z:2.14 [[ 9.99813887e-01 -1.84231080e-02 -5.72539969e-03 4.11561529e+02] [ 1.84251294e-02 9.99830198e-01 3.00515800e-04 -2.05786904e+01] [ 5.71889107e-03 -4.05951100e-04 9.99983565e-01 2.13939488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.60071405700006 meters Centerline goodness : 0.990144 with order 1 Centerline is valid? [True, True] Translation: X:411.62, Y:-20.58, Z:2.14 [[ 9.99846759e-01 -1.65432109e-02 -5.72537689e-03 4.11623284e+02] [ 1.65452042e-02 9.99863073e-01 3.00949488e-04 -2.05828309e+01] [ 5.71961427e-03 -3.95630900e-04 9.99983565e-01 2.13738462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.66071405700006 meters Centerline goodness : 0.990100 with order 1 Centerline is valid? [True, True] Translation: X:411.68, Y:-20.58, Z:2.14 [[ 9.99804178e-01 -1.89426846e-02 -5.72535387e-03 4.11684170e+02] [ 1.89447195e-02 9.99820487e-01 3.01386921e-04 -2.05833799e+01] [ 5.71861701e-03 -4.09793125e-04 9.99983565e-01 2.14236205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.72071405700007 meters Centerline goodness : 0.989138 with order 1 Centerline is valid? [True, True] Translation: X:411.75, Y:-20.59, Z:2.13 [[ 9.99858276e-01 -1.58318651e-02 -5.72532012e-03 4.11746591e+02] [ 1.58338529e-02 9.99874591e-01 3.02026564e-04 -2.05922759e+01] [ 5.71982047e-03 -3.92637636e-04 9.99983565e-01 2.12999783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.78071405700007 meters Centerline goodness : 0.988598 with order 1 Centerline is valid? [True, True] Translation: X:411.81, Y:-20.59, Z:2.14 [[ 9.99820742e-01 -1.80472730e-02 -5.72529134e-03 4.11808823e+02] [ 1.80493000e-02 9.99837052e-01 3.02571257e-04 -2.05918126e+01] [ 5.71889783e-03 -4.05854520e-04 9.99983565e-01 2.14129420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.84071405700007 meters Centerline goodness : 0.989196 with order 1 Centerline is valid? [True, True] Translation: X:411.87, Y:-20.59, Z:2.14 [[ 9.99857642e-01 -1.58719139e-02 -5.72526876e-03 4.11870484e+02] [ 1.58739078e-02 9.99873956e-01 3.02997909e-04 -2.05946158e+01] [ 5.71973796e-03 -3.93837163e-04 9.99983565e-01 2.14163978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9007140570001 meters Centerline goodness : 0.988783 with order 1 Centerline is valid? [True, True] Translation: X:411.93, Y:-20.60, Z:2.14 [[ 9.99886180e-01 -1.39588165e-02 -5.72524561e-03 4.11932503e+02] [ 1.39607817e-02 9.99902498e-01 3.03434696e-04 -2.05969051e+01] [ 5.72045179e-03 -3.83329063e-04 9.99983565e-01 2.14145533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9607140570001 meters Centerline goodness : 0.988624 with order 1 Centerline is valid? [True, True] Translation: X:411.99, Y:-20.60, Z:2.14 [[ 9.99910847e-01 -1.20631449e-02 -5.72522252e-03 4.11993951e+02] [ 1.20650817e-02 9.99927168e-01 3.03869631e-04 -2.05985175e+01] [ 5.72113992e-03 -3.72917817e-04 9.99983565e-01 2.14169030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0207140570001 meters Centerline goodness : 0.988769 with order 1 Centerline is valid? [True, True] Translation: X:412.06, Y:-20.60, Z:2.14 [[ 9.99941472e-01 -9.18014291e-03 -5.72520542e-03 4.12055101e+02] [ 9.18203445e-03 9.99957798e-01 3.04191613e-04 -2.06003298e+01] [ 5.72217128e-03 -3.56742843e-04 9.99983565e-01 2.14244159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0807140570001 meters Centerline goodness : 0.987690 with order 1 Centerline is valid? [True, True] Translation: X:412.12, Y:-20.61, Z:2.14 [[ 9.99978883e-01 -3.07496284e-03 -5.72518876e-03 4.12115969e+02] [ 3.07675646e-03 9.99995220e-01 3.04504798e-04 -2.06069886e+01] [ 5.72422505e-03 -3.22113379e-04 9.99983565e-01 2.13692651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.140714057 meters Centerline goodness : 0.987348 with order 1 Centerline is valid? [True, True] Translation: X:412.18, Y:-20.60, Z:2.14 [[ 9.99983500e-01 4.70325828e-04 -5.72518336e-03 4.12175461e+02] [-4.68589559e-04 9.99999844e-01 3.04606241e-04 -2.06043883e+01] [ 5.72532573e-03 -3.01918454e-04 9.99983565e-01 2.14211280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.200714057 meters Centerline goodness : 0.987475 with order 1 Centerline is valid? [True, True] Translation: X:412.23, Y:-20.61, Z:2.14 [[ 9.99975601e-01 4.00255121e-03 -5.72520056e-03 4.12233422e+02] [-4.00087453e-03 9.99991950e-01 3.04282632e-04 -2.06065653e+01] [ 5.72637238e-03 -2.81369399e-04 9.99983565e-01 2.14239287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.26071405700003 meters Centerline goodness : 0.987129 with order 1 Centerline is valid? [True, True] Translation: X:412.29, Y:-20.61, Z:2.14 [[ 9.99962918e-01 6.43313150e-03 -5.72524403e-03 4.12291071e+02] [-6.43149925e-03 9.99979272e-01 3.03462559e-04 -2.06104276e+01] [ 5.72707757e-03 -2.66629404e-04 9.99983565e-01 2.14222435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.32071405700003 meters Centerline goodness : 0.987952 with order 1 Centerline is valid? [True, True] Translation: X:412.35, Y:-20.61, Z:2.14 [[ 9.99970852e-01 5.05144398e-03 -5.72527121e-03 4.12349381e+02] [-5.04979206e-03 9.99987204e-01 3.02948839e-04 -2.06137591e+01] [ 5.72672828e-03 -2.74028580e-04 9.99983565e-01 2.13889506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.38071405700003 meters Centerline goodness : 0.988565 with order 1 Centerline is valid? [True, True] Translation: X:412.41, Y:-20.62, Z:2.14 [[ 9.99968224e-01 5.54732280e-03 -5.72529246e-03 4.12407261e+02] [-5.54568130e-03 9.99984577e-01 3.02546674e-04 -2.06174696e+01] [ 5.72688248e-03 -2.70786413e-04 9.99983565e-01 2.13988012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.44071405700004 meters Centerline goodness : 0.988372 with order 1 Centerline is valid? [True, True] Translation: X:412.47, Y:-20.62, Z:2.15 [[ 9.99965497e-01 6.01876994e-03 -5.72532536e-03 4.12466072e+02] [-6.01713971e-03 9.99981851e-01 3.01922791e-04 -2.06200087e+01] [ 5.72703866e-03 -2.67462292e-04 9.99983565e-01 2.14538051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.50071405700004 meters Centerline goodness : 0.988751 with order 1 Centerline is valid? [True, True] Translation: X:412.52, Y:-20.62, Z:2.15 [[ 9.99959311e-01 6.97108303e-03 -5.72534698e-03 4.12524480e+02] [-6.96947072e-03 9.99975667e-01 3.01512363e-04 -2.06238223e+01] [ 5.72730953e-03 -2.61597457e-04 9.99983565e-01 2.14695626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.56071405700004 meters Centerline goodness : 0.989113 with order 1 Centerline is valid? [True, True] Translation: X:412.58, Y:-20.63, Z:2.15 [[ 9.99966757e-01 5.80568908e-03 -5.72536972e-03 4.12583595e+02] [-5.80406018e-03 9.99983111e-01 3.01079884e-04 -2.06276307e+01] [ 5.72702100e-03 -2.67839485e-04 9.99983565e-01 2.14696039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.62071405700004 meters Centerline goodness : 0.989779 with order 1 Centerline is valid? [True, True] Translation: X:412.64, Y:-20.63, Z:2.15 [[ 9.99973849e-01 4.41837770e-03 -5.72539221e-03 4.12642473e+02] [-4.41672856e-03 9.99990201e-01 3.00651683e-04 -2.06311697e+01] [ 5.72666450e-03 -2.75356317e-04 9.99983565e-01 2.14730305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.68071405700005 meters Centerline goodness : 0.989191 with order 1 Centerline is valid? [True, True] Translation: X:412.70, Y:-20.63, Z:2.14 [[ 9.99983369e-01 6.93387568e-04 -5.72541498e-03 4.12700376e+02] [-6.91680006e-04 9.99999716e-01 3.00217274e-04 -2.06347975e+01] [ 5.72562152e-03 -2.96252126e-04 9.99983565e-01 2.14330537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.74071405700005 meters Centerline goodness : 0.989822 with order 1 Centerline is valid? [True, True] Translation: X:412.76, Y:-20.64, Z:2.15 [[ 9.99981855e-01 1.87302119e-03 -5.72544299e-03 4.12758184e+02] [-1.87133597e-03 9.99998204e-01 2.99682267e-04 -2.06360002e+01] [ 5.72599402e-03 -2.88962602e-04 9.99983565e-01 2.14519049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.80071405700005 meters Centerline goodness : 0.992695 with order 1 Centerline is valid? [True, True] Translation: X:412.82, Y:-20.63, Z:2.15 [[ 9.99971492e-01 -4.92276151e-03 -5.72546997e-03 4.12816721e+02] [ 4.92455485e-03 9.99987830e-01 2.99165916e-04 -2.06265161e+01] [ 5.72392756e-03 -3.27352778e-04 9.99983565e-01 2.14988640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.86071405700005 meters Centerline goodness : 0.992006 with order 1 Centerline is valid? [True, True] Translation: X:412.88, Y:-20.63, Z:2.15 [[ 9.99965863e-01 -5.95753919e-03 -5.72549566e-03 4.12876750e+02] [ 5.95934662e-03 9.99982198e-01 2.98673320e-04 -2.06293324e+01] [ 5.72361438e-03 -3.32783338e-04 9.99983565e-01 2.14735471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.92071405700005 meters Centerline goodness : 0.992617 with order 1 Centerline is valid? [True, True] Translation: X:412.94, Y:-20.63, Z:2.15 [[ 9.99931993e-01 -1.01601556e-02 -5.72549566e-03 4.12937651e+02] [ 1.01620317e-02 9.99948321e-01 2.98673320e-04 -2.06317337e+01] [ 5.72216521e-03 -3.56835677e-04 9.99983565e-01 2.14984255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.98071405700006 meters Centerline goodness : 0.989857 with order 1 Centerline is valid? [True, True] Translation: X:413.00, Y:-20.64, Z:2.15 [[ 9.99947424e-01 -8.50688975e-03 -5.72549566e-03 4.12998963e+02] [ 8.50873882e-03 9.99963755e-01 2.98673320e-04 -2.06446902e+01] [ 5.72274737e-03 -3.47374365e-04 9.99983565e-01 2.14577067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.04071405700006 meters Centerline goodness : 0.989704 with order 1 Centerline is valid? [True, True] Translation: X:413.06, Y:-20.65, Z:2.15 [[ 9.99877558e-01 -1.45632156e-02 -5.72547285e-03 4.13059133e+02] [ 1.45651660e-02 9.99893878e-01 2.99110125e-04 -2.06471475e+01] [ 5.72050924e-03 -3.82465964e-04 9.99983565e-01 2.15125492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.10071405700006 meters Centerline goodness : 0.989282 with order 1 Centerline is valid? [True, True] Translation: X:413.12, Y:-20.65, Z:2.15 [[ 9.99750275e-01 -2.16010972e-02 -5.72546728e-03 4.13120975e+02] [ 2.16031631e-02 9.99766580e-01 2.99216554e-04 -2.06522661e+01] [ 5.71766744e-03 -4.22830036e-04 9.99983565e-01 2.14561835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.16071405700006 meters Centerline goodness : 0.989946 with order 1 Centerline is valid? [True, True] Translation: X:413.18, Y:-20.66, Z:2.15 [[ 9.99680448e-01 -2.46215863e-02 -5.72538578e-03 4.13182929e+02] [ 2.46237102e-02 9.99696745e-01 3.00768121e-04 -2.06562006e+01] [ 5.71624414e-03 -4.41652250e-04 9.99983565e-01 2.14682508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.22071405700007 meters Centerline goodness : 0.989221 with order 1 Centerline is valid? [True, True] Translation: X:413.24, Y:-20.66, Z:2.15 [[ 9.99688655e-01 -2.42860743e-02 -5.72536303e-03 4.13244917e+02] [ 2.42881952e-02 9.99704953e-01 3.01200507e-04 -2.06583416e+01] [ 5.71635880e-03 -4.40165464e-04 9.99983565e-01 2.14672842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.28071405700007 meters Centerline goodness : 0.988931 with order 1 Centerline is valid? [True, True] Translation: X:413.31, Y:-20.66, Z:2.15 [[ 9.99806032e-01 -1.88446314e-02 -5.72530689e-03 4.13307246e+02] [ 1.88466697e-02 9.99822340e-01 3.02263935e-04 -2.06591260e+01] [ 5.71859368e-03 -4.10108273e-04 9.99983565e-01 2.14857109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.34071405700007 meters Centerline goodness : 0.988566 with order 1 Centerline is valid? [True, True] Translation: X:413.37, Y:-20.66, Z:2.15 [[ 9.99935608e-01 -9.79802698e-03 -5.72528387e-03 4.13369027e+02] [ 9.79992010e-03 9.99951934e-01 3.02699262e-04 -2.06606942e+01] [ 5.72204282e-03 -3.58787095e-04 9.99983565e-01 2.14829012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4007140570001 meters Centerline goodness : 0.991983 with order 1 Centerline is valid? [True, True] Translation: X:413.43, Y:-20.65, Z:2.16 [[ 9.99817273e-01 -1.82384669e-02 -5.72526080e-03 4.13431308e+02] [ 1.82405003e-02 9.99833582e-01 3.03135026e-04 -2.06495118e+01] [ 5.71877929e-03 -4.07511256e-04 9.99983565e-01 2.15791803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4607140570001 meters Centerline goodness : 0.986408 with order 1 Centerline is valid? [True, True] Translation: X:413.49, Y:-20.66, Z:2.15 [[ 9.99979455e-01 2.88307548e-03 -5.72524111e-03 4.13493321e+02] [-2.88138493e-03 9.99995803e-01 3.03506425e-04 -2.06623448e+01] [ 5.72609211e-03 -2.87003566e-04 9.99983565e-01 2.14812550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5207140570001 meters Centerline goodness : 0.986892 with order 1 Centerline is valid? [True, True] Translation: X:413.55, Y:-20.67, Z:2.15 [[ 9.99954747e-01 7.59781699e-03 -5.72521629e-03 4.13550731e+02] [-7.59620087e-03 9.99971102e-01 3.03973918e-04 -2.06651733e+01] [ 5.72736038e-03 -2.60470269e-04 9.99983565e-01 2.14634738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5807140570001 meters Centerline goodness : 0.986720 with order 1 Centerline is valid? [True, True] Translation: X:413.61, Y:-20.67, Z:2.14 [[ 9.99950430e-01 8.14604431e-03 -5.72530819e-03 4.13609526e+02] [-8.14444711e-03 9.99966788e-01 3.02233042e-04 -2.06670985e+01] [ 5.72758004e-03 -2.55588590e-04 9.99983565e-01 2.14357077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.640714057 meters Centerline goodness : 0.986837 with order 1 Centerline is valid? [True, True] Translation: X:413.67, Y:-20.67, Z:2.14 [[ 9.99929290e-01 1.04228033e-02 -5.72533098e-03 4.13666924e+02] [-1.04212458e-02 9.99945652e-01 3.01800566e-04 -2.06680348e+01] [ 5.72816543e-03 -2.42114145e-04 9.99983565e-01 2.14419279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.700714057 meters Centerline goodness : 0.986513 with order 1 Centerline is valid? [True, True] Translation: X:413.72, Y:-20.67, Z:2.15 [[ 9.99923911e-01 1.09266744e-02 -5.72539233e-03 4.13724814e+02] [-1.09251319e-02 9.99940274e-01 3.00632266e-04 -2.06677160e+01] [ 5.72833528e-03 -2.38058725e-04 9.99983565e-01 2.14812126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.76071405700003 meters Centerline goodness : 0.986700 with order 1 Centerline is valid? [True, True] Translation: X:413.78, Y:-20.67, Z:2.16 [[ 9.99931760e-01 1.01830589e-02 -5.72542636e-03 4.13783586e+02] [-1.01815079e-02 9.99948122e-01 2.99982865e-04 -2.06679323e+01] [ 5.72818408e-03 -2.41668920e-04 9.99983565e-01 2.15517275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.82071405700003 meters Centerline goodness : 0.987786 with order 1 Centerline is valid? [True, True] Translation: X:413.84, Y:-20.67, Z:2.16 [[ 9.99982668e-01 1.37239907e-03 -5.72544897e-03 4.13841382e+02] [-1.37070641e-03 9.99999016e-01 2.99550573e-04 -2.06674364e+01] [ 5.72585444e-03 -2.91697471e-04 9.99983565e-01 2.15925185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.88071405700003 meters Centerline goodness : 0.988200 with order 1 Centerline is valid? [True, True] Translation: X:413.90, Y:-20.67, Z:2.16 [[ 9.99974182e-01 -4.34212568e-03 -5.72547673e-03 4.13899968e+02] [ 4.34390870e-03 9.99990520e-01 2.99019066e-04 -2.06702130e+01] [ 5.72412408e-03 -3.23882294e-04 9.99983565e-01 2.15956573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.94071405700004 meters Centerline goodness : 0.988599 with order 1 Centerline is valid? [True, True] Translation: X:413.96, Y:-20.67, Z:2.16 [[ 9.99957010e-01 -7.29356604e-03 -5.72549791e-03 4.13959104e+02] [ 7.29539495e-03 9.99973344e-01 2.98612904e-04 -2.06740520e+01] [ 5.72316734e-03 -3.40369835e-04 9.99983565e-01 2.15918919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.00071405700004 meters Centerline goodness : 0.988779 with order 1 Centerline is valid? [True, True] Translation: X:414.02, Y:-20.68, Z:2.16 [[ 9.99950816e-01 -8.09841290e-03 -5.72550849e-03 4.14020523e+02] [ 8.10025380e-03 9.99967148e-01 2.98410021e-04 -2.06752937e+01] [ 5.72290375e-03 -3.44773416e-04 9.99983565e-01 2.16182205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.06071405700004 meters Centerline goodness : 0.987657 with order 1 Centerline is valid? [True, True] Translation: X:414.08, Y:-20.68, Z:2.16 [[ 9.99955720e-01 -7.46840646e-03 -5.72549785e-03 4.14081873e+02] [ 7.47023824e-03 9.99972053e-01 2.98613935e-04 -2.06768530e+01] [ 5.72310767e-03 -3.41371546e-04 9.99983565e-01 2.16420049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.12071405700004 meters Centerline goodness : 0.987344 with order 1 Centerline is valid? [True, True] Translation: X:414.14, Y:-20.68, Z:2.16 [[ 9.99950952e-01 -8.08165088e-03 -5.72548704e-03 4.14143047e+02] [ 8.08349385e-03 9.99967283e-01 2.98821145e-04 -2.06791658e+01] [ 5.72288475e-03 -3.45088428e-04 9.99983565e-01 2.16428790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.18071405700005 meters Centerline goodness : 0.987350 with order 1 Centerline is valid? [True, True] Translation: X:414.20, Y:-20.68, Z:2.16 [[ 9.99944182e-01 -8.87983351e-03 -5.72547603e-03 4.14204162e+02] [ 8.88169072e-03 9.99960512e-01 2.99031828e-04 -2.06837395e+01] [ 5.72259460e-03 -3.49867044e-04 9.99983565e-01 2.16080501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.24071405700005 meters Centerline goodness : 0.987180 with order 1 Centerline is valid? [True, True] Translation: X:414.27, Y:-20.69, Z:2.16 [[ 9.99937753e-01 -9.57646040e-03 -5.72546462e-03 4.14265004e+02] [ 9.57833023e-03 9.99954082e-01 2.99250208e-04 -2.06855310e+01] [ 5.72233596e-03 -3.54071971e-04 9.99983565e-01 2.15721958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.30071405700005 meters Centerline goodness : 0.988045 with order 1 Centerline is valid? [True, True] Translation: X:414.33, Y:-20.69, Z:2.16 [[ 9.99927241e-01 -1.06175622e-02 -5.72542894e-03 4.14327182e+02] [ 1.06194529e-02 9.99943567e-01 2.99931369e-04 -2.06868309e+01] [ 5.72192129e-03 -3.60710469e-04 9.99983565e-01 2.15763721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.36071405700005 meters Centerline goodness : 0.987254 with order 1 Centerline is valid? [True, True] Translation: X:414.39, Y:-20.69, Z:2.16 [[ 9.99942957e-01 -9.01676757e-03 -5.72540710e-03 4.14388648e+02] [ 9.01863452e-03 9.99959286e-01 3.00347596e-04 -2.06900646e+01] [ 5.72246584e-03 -3.51965818e-04 9.99983565e-01 2.15783198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.42071405700005 meters Centerline goodness : 0.986852 with order 1 Centerline is valid? [True, True] Translation: X:414.45, Y:-20.69, Z:2.16 [[ 9.99956360e-01 -7.38229886e-03 -5.72539101e-03 4.14449373e+02] [ 7.38414087e-03 9.99972692e-01 3.00654091e-04 -2.06942391e+01] [ 5.72301514e-03 -3.42918064e-04 9.99983565e-01 2.15859749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.48071405700006 meters Centerline goodness : 0.987940 with order 1 Centerline is valid? [True, True] Translation: X:414.51, Y:-20.70, Z:2.16 [[ 9.99964604e-01 -6.16522641e-03 -5.72537594e-03 4.14511024e+02] [ 6.16705018e-03 9.99980938e-01 3.00940774e-04 -2.06987922e+01] [ 5.72341144e-03 -3.36238803e-04 9.99983565e-01 2.15614629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.54071405700006 meters Centerline goodness : 0.986635 with order 1 Centerline is valid? [True, True] Translation: X:414.57, Y:-20.70, Z:2.15 [[ 9.99971139e-01 -4.99407566e-03 -5.72536563e-03 4.14571767e+02] [ 4.99588142e-03 9.99987475e-01 3.01136865e-04 -2.07038554e+01] [ 5.72379002e-03 -3.29731421e-04 9.99983565e-01 2.15427193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.60071405700006 meters Centerline goodness : 0.987227 with order 1 Centerline is valid? [True, True] Translation: X:414.63, Y:-20.71, Z:2.15 [[ 9.99963484e-01 -6.34439626e-03 -5.72536563e-03 4.14632522e+02] [ 6.34622407e-03 9.99979817e-01 3.01136865e-04 -2.07070424e+01] [ 5.72333954e-03 -3.37460322e-04 9.99983565e-01 2.15140520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.66071405700006 meters Centerline goodness : 0.987429 with order 1 Centerline is valid? [True, True] Translation: X:414.69, Y:-20.71, Z:2.15 [[ 9.99959222e-01 -6.98380635e-03 -5.72536563e-03 4.14693211e+02] [ 6.98564460e-03 9.99975555e-01 3.01136865e-04 -2.07078232e+01] [ 5.72312259e-03 -3.41119955e-04 9.99983565e-01 2.15323467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.72071405700007 meters Centerline goodness : 0.987274 with order 1 Centerline is valid? [True, True] Translation: X:414.76, Y:-20.71, Z:2.16 [[ 9.99976488e-01 -3.77396401e-03 -5.72536035e-03 4.14755017e+02] [ 3.77575040e-03 9.99992826e-01 3.01237157e-04 -2.07076041e+01] [ 5.72418242e-03 -3.22847606e-04 9.99983565e-01 2.15930469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.78071405700007 meters Centerline goodness : 0.988051 with order 1 Centerline is valid? [True, True] Translation: X:414.81, Y:-20.71, Z:2.16 [[ 9.99983494e-01 -4.80773216e-04 -5.72534968e-03 4.14814580e+02] [ 4.82506950e-04 9.99999838e-01 3.01439793e-04 -2.07075179e+01] [ 5.72520383e-03 -3.04197339e-04 9.99983565e-01 2.16395609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.84071405700007 meters Centerline goodness : 0.986872 with order 1 Centerline is valid? [True, True] Translation: X:414.87, Y:-20.71, Z:2.16 [[ 9.99977695e-01 3.43952392e-03 -5.72536030e-03 4.14873382e+02] [-3.43785542e-03 9.99994045e-01 3.01238008e-04 -2.07098104e+01] [ 5.72636232e-03 -2.81548328e-04 9.99983565e-01 2.16373617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9007140570001 meters Centerline goodness : 0.986625 with order 1 Centerline is valid? [True, True] Translation: X:414.93, Y:-20.71, Z:2.16 [[ 9.99982365e-01 1.57798370e-03 -5.72543501e-03 4.14931906e+02] [-1.57629291e-03 9.99998713e-01 2.99811272e-04 -2.07124656e+01] [ 5.72590073e-03 -2.90781022e-04 9.99983565e-01 2.16161341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9607140570001 meters Centerline goodness : 0.987242 with order 1 Centerline is valid? [True, True] Translation: X:414.99, Y:-20.72, Z:2.16 [[ 9.99980767e-01 2.38422684e-03 -5.72545764e-03 4.14989723e+02] [-2.38255171e-03 9.99997117e-01 2.99378355e-04 -2.07170056e+01] [ 5.72615492e-03 -2.85731398e-04 9.99983565e-01 2.15611042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0207140570001 meters Centerline goodness : 0.987125 with order 1 Centerline is valid? [True, True] Translation: X:415.05, Y:-20.72, Z:2.15 [[ 9.99957875e-01 7.17404530e-03 -5.72548536e-03 4.15047953e+02] [-7.17245154e-03 9.99974233e-01 2.98847368e-04 -2.07212013e+01] [ 5.72748178e-03 -2.57769013e-04 9.99983565e-01 2.15468515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0807140570001 meters Centerline goodness : 0.984245 with order 1 Centerline is valid? [True, True] Translation: X:415.11, Y:-20.73, Z:2.14 [[ 9.99804711e-01 1.89145210e-02 -5.72551318e-03 4.15105233e+02] [-1.89131224e-02 9.99821086e-01 2.98313352e-04 -2.07316931e+01] [ 5.73013127e-03 -1.89967763e-04 9.99983565e-01 2.14281188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.140714057 meters Centerline goodness : 0.984778 with order 1 Centerline is valid? [True, True] Translation: X:415.16, Y:-20.73, Z:2.15 [[ 9.99776550e-01 2.03486467e-02 -5.72554043e-03 4.15163561e+02] [-2.03472747e-02 9.99792928e-01 2.97789554e-04 -2.07306350e+01] [ 5.73041444e-03 -1.81223869e-04 9.99983565e-01 2.14565446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.200714057 meters Centerline goodness : 0.986205 with order 1 Centerline is valid? [True, True] Translation: X:415.22, Y:-20.73, Z:2.15 [[ 9.99794808e-01 1.94309170e-02 -5.72556708e-03 4.15221669e+02] [-1.94295328e-02 9.99811185e-01 2.97276294e-04 -2.07286600e+01] [ 5.73026235e-03 -1.85970202e-04 9.99983565e-01 2.15208052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.26071405700003 meters Centerline goodness : 0.986605 with order 1 Centerline is valid? [True, True] Translation: X:415.28, Y:-20.73, Z:2.16 [[ 9.99862517e-01 1.55616201e-02 -5.72559322e-03 4.15280433e+02] [-1.55601755e-02 9.99878889e-01 2.96771961e-04 -2.07283913e+01] [ 5.72951804e-03 -2.07639925e-04 9.99983565e-01 2.15682581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.32071405700003 meters Centerline goodness : 0.986479 with order 1 Centerline is valid? [True, True] Translation: X:415.34, Y:-20.73, Z:2.16 [[ 9.99869356e-01 1.51158166e-02 -5.72561364e-03 4.15338378e+02] [-1.51143669e-02 9.99885728e-01 2.96377387e-04 -2.07319458e+01] [ 5.72943935e-03 -2.09799642e-04 9.99983565e-01 2.15726260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.38071405700003 meters Centerline goodness : 0.986667 with order 1 Centerline is valid? [True, True] Translation: X:415.40, Y:-20.74, Z:2.16 [[ 9.99936234e-01 9.73365926e-03 -5.72564469e-03 4.15397506e+02] [-9.73212493e-03 9.99952598e-01 2.95776307e-04 -2.07360594e+01] [ 5.72825227e-03 -2.40034757e-04 9.99983565e-01 2.15841510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.44071405700004 meters Centerline goodness : 0.987080 with order 1 Centerline is valid? [True, True] Translation: X:415.46, Y:-20.74, Z:2.17 [[ 9.99981292e-01 2.15251558e-03 -5.72566040e-03 4.15456512e+02] [-2.15085897e-03 9.99997643e-01 2.95472001e-04 -2.07383259e+01] [ 5.72628291e-03 -2.83151385e-04 9.99983565e-01 2.16564629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.50071405700004 meters Centerline goodness : 0.988760 with order 1 Centerline is valid? [True, True] Translation: X:415.52, Y:-20.74, Z:2.17 [[ 9.99957650e-01 -7.20520402e-03 -5.72568132e-03 4.15516693e+02] [ 7.20701125e-03 9.99973986e-01 2.95065996e-04 -2.07400463e+01] [ 5.72340636e-03 -3.36318549e-04 9.99983565e-01 2.16574189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.56071405700004 meters Centerline goodness : 0.988827 with order 1 Centerline is valid? [True, True] Translation: X:415.58, Y:-20.74, Z:2.16 [[ 9.99926272e-01 -1.07082487e-02 -5.72568664e-03 4.15576944e+02] [ 1.07101126e-02 9.99942602e-01 2.94962762e-04 -2.07434800e+01] [ 5.72219946e-03 -3.56263763e-04 9.99983565e-01 2.16480216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.62071405700004 meters Centerline goodness : 0.988969 with order 1 Centerline is valid? [True, True] Translation: X:415.64, Y:-20.75, Z:2.17 [[ 9.99860753e-01 -1.56745356e-02 -5.72565858e-03 4.15639239e+02] [ 1.56764837e-02 9.99877073e-01 2.95506439e-04 -2.07463758e+01] [ 5.72032281e-03 -3.85223483e-04 9.99983565e-01 2.16517639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.68071405700005 meters Centerline goodness : 0.990961 with order 1 Centerline is valid? [True, True] Translation: X:415.70, Y:-20.75, Z:2.17 [[ 9.99789817e-01 -1.96860397e-02 -5.72558559e-03 4.15701496e+02] [ 1.96880612e-02 9.99806127e-01 2.96913941e-04 -2.07483625e+01] [ 5.71863049e-03 -4.09577214e-04 9.99983565e-01 2.16550871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.74071405700005 meters Centerline goodness : 0.991499 with order 1 Centerline is valid? [True, True] Translation: X:415.76, Y:-20.75, Z:2.17 [[ 9.99812901e-01 -1.84764713e-02 -5.72556492e-03 4.15762581e+02] [ 1.84784753e-02 9.99829214e-01 2.97311943e-04 -2.07500258e+01] [ 5.71909380e-03 -4.03056026e-04 9.99983565e-01 2.17166270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.80071405700005 meters Centerline goodness : 0.991018 with order 1 Centerline is valid? [True, True] Translation: X:415.82, Y:-20.75, Z:2.17 [[ 9.99845797e-01 -1.66012399e-02 -5.72554959e-03 4.15824708e+02] [ 1.66032151e-02 9.99862113e-01 2.97606790e-04 -2.07533272e+01] [ 5.71981947e-03 -3.92623429e-04 9.99983565e-01 2.16919961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.86071405700005 meters Centerline goodness : 0.989828 with order 1 Centerline is valid? [True, True] Translation: X:415.89, Y:-20.76, Z:2.17 [[ 9.99877786e-01 -1.45475727e-02 -5.72552825e-03 4.15887051e+02] [ 1.45495167e-02 9.99894106e-01 2.98016764e-04 -2.07551809e+01] [ 5.72058653e-03 -3.81284011e-04 9.99983565e-01 2.16854151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.92071405700005 meters Centerline goodness : 0.991393 with order 1 Centerline is valid? [True, True] Translation: X:415.95, Y:-20.76, Z:2.17 [[ 9.99874159e-01 -1.47947330e-02 -5.72550685e-03 4.15948831e+02] [ 1.47966834e-02 9.99890479e-01 2.98427471e-04 -2.07554112e+01] [ 5.72046463e-03 -3.83108428e-04 9.99983565e-01 2.16944682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.98071405700006 meters Centerline goodness : 0.991378 with order 1 Centerline is valid? [True, True] Translation: X:416.01, Y:-20.76, Z:2.17 [[ 9.99902131e-01 -1.27650626e-02 -5.72548477e-03 4.16009628e+02] [ 1.27669822e-02 9.99918454e-01 2.98850526e-04 -2.07580130e+01] [ 5.72120303e-03 -3.71918440e-04 9.99983565e-01 2.16831083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.04071405700006 meters Centerline goodness : 0.992061 with order 1 Centerline is valid? [True, True] Translation: X:416.07, Y:-20.75, Z:2.16 [[ 9.99847047e-01 -1.65257753e-02 -5.72544760e-03 4.16070285e+02] [ 1.65277603e-02 9.99863362e-01 2.99560877e-04 -2.07548696e+01] [ 5.71971481e-03 -3.94143884e-04 9.99983565e-01 2.16280608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.10071405700006 meters Centerline goodness : 0.990285 with order 1 Centerline is valid? [True, True] Translation: X:416.13, Y:-20.76, Z:2.17 [[ 9.99953957e-01 -7.70091317e-03 -5.72544224e-03 4.16130874e+02] [ 7.70275473e-03 9.99970288e-01 2.99663354e-04 -2.07606720e+01] [ 5.72296444e-03 -3.43751234e-04 9.99983565e-01 2.16891483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.16071405700006 meters Centerline goodness : 0.988260 with order 1 Centerline is valid? [True, True] Translation: X:416.19, Y:-20.76, Z:2.17 [[ 9.99959189e-01 -6.98851896e-03 -5.72543687e-03 4.16192248e+02] [ 6.99034947e-03 9.99975522e-01 2.99765842e-04 -2.07604476e+01] [ 5.72320181e-03 -3.39776413e-04 9.99983565e-01 2.17437273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.22071405700007 meters Centerline goodness : 0.987786 with order 1 Centerline is valid? [True, True] Translation: X:416.25, Y:-20.76, Z:2.17 [[ 9.99954905e-01 -7.57682173e-03 -5.72542610e-03 4.16253780e+02] [ 7.57866302e-03 9.99971237e-01 2.99971345e-04 -2.07643707e+01] [ 5.72298859e-03 -3.43348893e-04 9.99983565e-01 2.16818061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.28071405700007 meters Centerline goodness : 0.988457 with order 1 Centerline is valid? [True, True] Translation: X:416.32, Y:-20.77, Z:2.17 [[ 9.99969289e-01 -5.35164360e-03 -5.72541528e-03 4.16315049e+02] [ 5.35344972e-03 9.99985625e-01 3.00177872e-04 -2.07663313e+01] [ 5.72372653e-03 -3.30819376e-04 9.99983565e-01 2.17210411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.34071405700007 meters Centerline goodness : 0.989912 with order 1 Centerline is valid? [True, True] Translation: X:416.38, Y:-20.77, Z:2.17 [[ 9.99967259e-01 -5.71841544e-03 -5.72540388e-03 4.16375345e+02] [ 5.72022879e-03 9.99983594e-01 3.00395081e-04 -2.07709961e+01] [ 5.72359217e-03 -3.33135866e-04 9.99983565e-01 2.16968648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4007140570001 meters Centerline goodness : 0.987876 with order 1 Centerline is valid? [True, True] Translation: X:416.44, Y:-20.77, Z:2.17 [[ 9.99978844e-01 -3.08722870e-03 -5.72539830e-03 4.16435315e+02] [ 3.08899968e-03 9.99995184e-01 3.00501346e-04 -2.07741951e+01] [ 5.72444301e-03 -3.18180742e-04 9.99983565e-01 2.17034639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4607140570001 meters Centerline goodness : 0.988897 with order 1 Centerline is valid? [True, True] Translation: X:416.50, Y:-20.78, Z:2.17 [[ 9.99983606e-01 8.23281643e-05 -5.72539830e-03 4.16495233e+02] [-8.06089919e-05 9.99999952e-01 3.00501346e-04 -2.07771103e+01] [ 5.72542276e-03 -3.00034901e-04 9.99983565e-01 2.17152731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5207140570001 meters Centerline goodness : 0.987698 with order 1 Centerline is valid? [True, True] Translation: X:416.55, Y:-20.78, Z:2.17 [[ 9.99962269e-01 6.53296825e-03 -5.72540370e-03 4.16554001e+02] [-6.53135514e-03 9.99978625e-01 3.00398418e-04 -2.07797273e+01] [ 5.72724382e-03 -2.62992439e-04 9.99983565e-01 2.17312603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5807140570001 meters Centerline goodness : 0.988574 with order 1 Centerline is valid? [True, True] Translation: X:416.61, Y:-20.78, Z:2.17 [[ 9.99901349e-01 1.28261874e-02 -5.72547854e-03 4.16611800e+02] [-1.28246854e-02 9.99917716e-01 2.98965167e-04 -2.07819773e+01] [ 5.72884201e-03 -2.25508212e-04 9.99983565e-01 2.17330227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.640714057 meters Centerline goodness : 0.989140 with order 1 Centerline is valid? [True, True] Translation: X:416.67, Y:-20.79, Z:2.17 [[ 9.99827391e-01 1.76749998e-02 -5.72556344e-03 4.16668702e+02] [-1.76735866e-02 9.99843766e-01 2.97330387e-04 -2.07873478e+01] [ 5.72992422e-03 -1.96087824e-04 9.99983565e-01 2.17172496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.700714057 meters Centerline goodness : 0.988814 with order 1 Centerline is valid? [True, True] Translation: X:416.73, Y:-20.79, Z:2.17 [[ 9.99813571e-01 1.84402105e-02 -5.72559971e-03 4.16725327e+02] [-1.84388138e-02 9.99829947e-01 2.96630307e-04 -2.07946247e+01] [ 5.73009597e-03 -1.91001740e-04 9.99983565e-01 2.16939309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.76071405700003 meters Centerline goodness : 0.990960 with order 1 Centerline is valid? [True, True] Translation: X:416.78, Y:-20.80, Z:2.17 [[ 9.99839304e-01 1.69877332e-02 -5.72564867e-03 4.16782164e+02] [-1.69863181e-02 9.99855678e-01 2.95682232e-04 -2.08004834e+01] [ 5.72984530e-03 -1.98377027e-04 9.99983565e-01 2.16838308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.82071405700003 meters Centerline goodness : 0.990758 with order 1 Centerline is valid? [True, True] Translation: X:416.84, Y:-20.81, Z:2.17 [[ 9.99919103e-01 1.13580008e-02 -5.72568083e-03 4.16839312e+02] [-1.13564972e-02 9.99935469e-01 2.95058156e-04 -2.08091857e+01] [ 5.72866262e-03 -2.30010609e-04 9.99983565e-01 2.17425614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.88071405700003 meters Centerline goodness : 0.990166 with order 1 Centerline is valid? [True, True] Translation: X:416.90, Y:-20.82, Z:2.17 [[ 9.99946512e-01 8.61334558e-03 -5.72571186e-03 4.16897174e+02] [-8.61180048e-03 9.99962874e-01 2.94454649e-04 -2.08161182e+01] [ 5.72803553e-03 -2.45130211e-04 9.99983565e-01 2.17484575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.94071405700004 meters Centerline goodness : 0.988033 with order 1 Centerline is valid? [True, True] Translation: X:416.96, Y:-20.83, Z:2.17 [[ 9.99952801e-01 7.84926381e-03 -5.72573725e-03 4.16955047e+02] [-7.84770903e-03 9.99969163e-01 2.93960082e-04 -2.08254663e+01] [ 5.72786806e-03 -2.49012288e-04 9.99983565e-01 2.17428737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.00071405700004 meters Centerline goodness : 0.988185 with order 1 Centerline is valid? [True, True] Translation: X:417.01, Y:-20.83, Z:2.18 [[ 9.99970485e-01 5.12305491e-03 -5.72576761e-03 4.17014030e+02] [-5.12145891e-03 9.99986842e-01 2.93367699e-04 -2.08297207e+01] [ 5.72719521e-03 -2.64034757e-04 9.99983565e-01 2.17731288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.06071405700004 meters Centerline goodness : 0.987302 with order 1 Centerline is valid? [True, True] Translation: X:417.07, Y:-20.84, Z:2.18 [[ 9.99955982e-01 7.43294843e-03 -5.72578783e-03 4.17071994e+02] [-7.43139247e-03 9.99972344e-01 2.92972394e-04 -2.08411096e+01] [ 5.72780713e-03 -2.50408921e-04 9.99983565e-01 2.17754358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.12071405700004 meters Centerline goodness : 0.987413 with order 1 Centerline is valid? [True, True] Translation: X:417.13, Y:-20.85, Z:2.18 [[ 9.99925871e-01 1.07455473e-02 -5.72585987e-03 4.17130675e+02] [-1.07440537e-02 9.99942238e-01 2.91557732e-04 -2.08497308e+01] [ 5.72866208e-03 -2.30017173e-04 9.99983565e-01 2.18005955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.18071405700005 meters Centerline goodness : 0.987693 with order 1 Centerline is valid? [True, True] Translation: X:417.19, Y:-20.86, Z:2.18 [[ 9.99877015e-01 1.46003250e-02 -5.72593134e-03 4.17187825e+02] [-1.45989025e-02 9.99893388e-01 2.90147170e-04 -2.08586702e+01] [ 5.72955713e-03 -2.06519173e-04 9.99983565e-01 2.18000439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.24071405700005 meters Centerline goodness : 0.987034 with order 1 Centerline is valid? [True, True] Translation: X:417.25, Y:-20.86, Z:2.18 [[ 9.99864945e-01 1.54046961e-02 -5.72601199e-03 4.17246016e+02] [-1.54032960e-02 9.99881321e-01 2.88546773e-04 -2.08637705e+01] [ 5.72977741e-03 -2.00308346e-04 9.99983565e-01 2.17957430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.30071405700005 meters Centerline goodness : 0.987775 with order 1 Centerline is valid? [True, True] Translation: X:417.30, Y:-20.88, Z:2.18 [[ 9.99792271e-01 1.95608648e-02 -5.72603347e-03 4.17303099e+02] [-1.95595351e-02 9.99808652e-01 2.88119788e-04 -2.08750213e+01] [ 5.73057368e-03 -1.76061385e-04 9.99983565e-01 2.17914677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.36071405700005 meters Centerline goodness : 0.988845 with order 1 Centerline is valid? [True, True] Translation: X:417.36, Y:-20.88, Z:2.18 [[ 9.99805534e-01 1.88707546e-02 -5.72607317e-03 4.17361427e+02] [-1.88694182e-02 9.99821915e-01 2.87328794e-04 -2.08827729e+01] [ 5.73047555e-03 -1.79225249e-04 9.99983565e-01 2.17894669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.42071405700005 meters Centerline goodness : 0.987915 with order 1 Centerline is valid? [True, True] Translation: X:417.42, Y:-20.89, Z:2.18 [[ 9.99778936e-01 2.02309237e-02 -5.72609292e-03 4.17420177e+02] [-2.02296118e-02 9.99795319e-01 2.86934546e-04 -2.08916041e+01] [ 5.73072585e-03 -1.71034478e-04 9.99983565e-01 2.18240656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.48071405700006 meters Centerline goodness : 0.988209 with order 1 Centerline is valid? [True, True] Translation: X:417.48, Y:-20.90, Z:2.18 [[ 9.99751769e-01 2.15316398e-02 -5.72611290e-03 4.17477295e+02] [-2.15303516e-02 9.99768154e-01 2.86535371e-04 -2.09033935e+01] [ 5.73095490e-03 -1.63179020e-04 9.99983565e-01 2.18122585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.54071405700006 meters Centerline goodness : 0.988965 with order 1 Centerline is valid? [True, True] Translation: X:417.53, Y:-20.91, Z:2.18 [[ 9.99772459e-01 2.05484947e-02 -5.72613749e-03 4.17534463e+02] [-2.05471932e-02 9.99788843e-01 2.86042968e-04 -2.09107805e+01] [ 5.73080613e-03 -1.68321829e-04 9.99983565e-01 2.18466824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.60071405700006 meters Centerline goodness : 0.988349 with order 1 Centerline is valid? [True, True] Translation: X:417.59, Y:-20.92, Z:2.19 [[ 9.99874631e-01 1.47625503e-02 -5.72616777e-03 4.17592320e+02] [-1.47611575e-02 9.99891007e-01 2.85435528e-04 -2.09194354e+01] [ 5.72975742e-03 -2.00874879e-04 9.99983565e-01 2.18986905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.66071405700006 meters Centerline goodness : 0.989549 with order 1 Centerline is valid? [True, True] Translation: X:417.65, Y:-20.93, Z:2.19 [[ 9.99946415e-01 8.62428392e-03 -5.72619252e-03 4.17650594e+02] [-8.62279339e-03 9.99962782e-01 2.84938297e-04 -2.09281075e+01] [ 5.72843679e-03 -2.35547253e-04 9.99983565e-01 2.19228176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.72071405700007 meters Centerline goodness : 0.988662 with order 1 Centerline is valid? [True, True] Translation: X:417.71, Y:-20.94, Z:2.19 [[ 9.99979264e-01 2.94658240e-03 -5.72621392e-03 4.17708093e+02] [-2.94500141e-03 9.99995623e-01 2.84507573e-04 -2.09355377e+01] [ 5.72702718e-03 -2.67637965e-04 9.99983565e-01 2.19330513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.78071405700007 meters Centerline goodness : 0.989090 with order 1 Centerline is valid? [True, True] Translation: X:417.77, Y:-20.94, Z:2.19 [[ 9.99982449e-01 -1.52045463e-03 -5.72624020e-03 4.17765634e+02] [ 1.52210565e-03 9.99998801e-01 2.83977555e-04 -2.09424311e+01] [ 5.72580156e-03 -2.92688513e-04 9.99983565e-01 2.19284709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.84071405700007 meters Centerline goodness : 0.988949 with order 1 Centerline is valid? [True, True] Translation: X:417.82, Y:-20.95, Z:2.19 [[ 9.99980031e-01 -2.67365432e-03 -5.72626487e-03 4.17824210e+02] [ 2.67532135e-03 9.99996381e-01 2.83479248e-04 -2.09494235e+01] [ 5.72548622e-03 -2.98793186e-04 9.99983565e-01 2.19396409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9007140570001 meters Centerline goodness : 0.989360 with order 1 Centerline is valid? [True, True] Translation: X:417.88, Y:-20.96, Z:2.19 [[ 9.99983320e-01 -7.54210078e-04 -5.72628452e-03 4.17883735e+02] [ 7.55843447e-04 9.99999674e-01 2.83081812e-04 -2.09557668e+01] [ 5.72606915e-03 -2.87405265e-04 9.99983565e-01 2.19264185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9607140570001 meters Centerline goodness : 0.988592 with order 1 Centerline is valid? [True, True] Translation: X:417.94, Y:-20.96, Z:2.19 [[ 9.99983302e-01 -7.77417718e-04 -5.72629429e-03 4.17941975e+02] [ 7.79050335e-04 9.99999657e-01 2.82883909e-04 -2.09618031e+01] [ 5.72607241e-03 -2.87340257e-04 9.99983565e-01 2.18998957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0207140570001 meters Centerline goodness : 0.989057 with order 1 Centerline is valid? [True, True] Translation: X:418.00, Y:-20.97, Z:2.19 [[ 9.99981627e-01 -1.98856884e-03 -5.72631458e-03 4.17999917e+02] [ 1.99021892e-03 9.99997980e-01 2.82472716e-04 -2.09669412e+01] [ 5.72574129e-03 -2.93864145e-04 9.99983565e-01 2.19034417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0807140570001 meters Centerline goodness : 0.989368 with order 1 Centerline is valid? [True, True] Translation: X:418.06, Y:-20.97, Z:2.19 [[ 9.99979882e-01 -2.72848555e-03 -5.72633946e-03 4.18058629e+02] [ 2.73014484e-03 9.99996233e-01 2.81967427e-04 -2.09709183e+01] [ 5.72554855e-03 -2.97595490e-04 9.99983565e-01 2.18807028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.140714057 meters Centerline goodness : 0.989018 with order 1 Centerline is valid? [True, True] Translation: X:418.12, Y:-20.97, Z:2.20 [[ 9.99974446e-01 -4.27971195e-03 -5.72635387e-03 4.18117876e+02] [ 4.28139493e-03 9.99990795e-01 2.81674530e-04 -2.09722664e+01] [ 5.72509567e-03 -3.06184114e-04 9.99983565e-01 2.19864107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.200714057 meters Centerline goodness : 0.989277 with order 1 Centerline is valid? [True, True] Translation: X:418.18, Y:-20.97, Z:2.20 [[ 9.99979628e-01 -2.81984319e-03 -5.72636443e-03 4.18177384e+02] [ 2.82150107e-03 9.99995980e-01 2.81459504e-04 -2.09745361e+01] [ 5.72554774e-03 -2.97610713e-04 9.99983565e-01 2.20005898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.26071405700003 meters Centerline goodness : 0.988027 with order 1 Centerline is valid? [True, True] Translation: X:418.24, Y:-20.98, Z:2.20 [[ 9.99982007e-01 -1.78751824e-03 -5.72636386e-03 4.18236394e+02] [ 1.78915931e-03 9.99998360e-01 2.81471178e-04 -2.09765201e+01] [ 5.72585133e-03 -2.91711490e-04 9.99983565e-01 2.19857016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.32071405700003 meters Centerline goodness : 0.991763 with order 1 Centerline is valid? [True, True] Translation: X:418.30, Y:-20.97, Z:2.19 [[ 9.99981518e-01 -2.04261064e-03 -5.72637402e-03 4.18295146e+02] [ 2.04425470e-03 9.99997871e-01 2.81264345e-04 -2.09726959e+01] [ 5.72578731e-03 -2.92965313e-04 9.99983565e-01 2.19292261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.38071405700003 meters Centerline goodness : 0.992497 with order 1 Centerline is valid? [True, True] Translation: X:418.35, Y:-20.98, Z:2.19 [[ 9.99983171e-01 -9.30424075e-04 -5.72639522e-03 4.18354252e+02] [ 9.32047475e-04 9.99999526e-01 2.80832068e-04 -2.09760143e+01] [ 5.72613121e-03 -2.86164615e-04 9.99983565e-01 2.19377703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.44071405700004 meters Centerline goodness : 0.989393 with order 1 Centerline is valid? [True, True] Translation: X:418.41, Y:-20.99, Z:2.20 [[ 9.99982955e-01 1.13913982e-03 -5.72646370e-03 4.18412781e+02] [-1.13755829e-03 9.99999314e-01 2.79428610e-04 -2.09895490e+01] [ 5.72677808e-03 -2.72909661e-04 9.99983565e-01 2.19627672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.50071405700004 meters Centerline goodness : 0.989406 with order 1 Centerline is valid? [True, True] Translation: X:418.47, Y:-20.99, Z:2.20 [[ 9.99982631e-01 1.39422731e-03 -5.72653440e-03 4.18471157e+02] [-1.39265828e-03 9.99998992e-01 2.77972221e-04 -2.09933111e+01] [ 5.72691618e-03 -2.69992287e-04 9.99983565e-01 2.20108769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.56071405700004 meters Centerline goodness : 0.988903 with order 1 Centerline is valid? [True, True] Translation: X:418.53, Y:-21.00, Z:2.20 [[ 9.99959833e-01 -6.89482656e-03 -5.72655454e-03 4.18529654e+02] [ 6.89652878e-03 9.99976180e-01 2.77556627e-04 -2.09991651e+01] [ 5.72450443e-03 -3.17038826e-04 9.99983565e-01 2.19948827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.62071405700004 meters Centerline goodness : 0.989886 with order 1 Centerline is valid? [True, True] Translation: X:418.59, Y:-21.00, Z:2.20 [[ 9.99972636e-01 -4.68335453e-03 -5.72657484e-03 4.18588657e+02] [ 4.68501819e-03 9.99988987e-01 2.77137140e-04 -2.10040141e+01] [ 5.72521384e-03 -3.03958664e-04 9.99983565e-01 2.19713525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.68071405700005 meters Centerline goodness : 0.988257 with order 1 Centerline is valid? [True, True] Translation: X:418.65, Y:-21.01, Z:2.20 [[ 9.99951749e-01 -7.98163849e-03 -5.72657986e-03 4.18647908e+02] [ 7.98335549e-03 9.99968094e-01 2.77033380e-04 -2.10070296e+01] [ 5.72418597e-03 -3.22737335e-04 9.99983565e-01 2.19883019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.74071405700005 meters Centerline goodness : 0.988588 with order 1 Centerline is valid? [True, True] Translation: X:418.71, Y:-21.01, Z:2.21 [[ 9.99951587e-01 -8.00191536e-03 -5.72659029e-03 4.18707653e+02] [ 8.00363146e-03 9.99967932e-01 2.76817727e-04 -2.10084814e+01] [ 5.72419157e-03 -3.22637843e-04 9.99983565e-01 2.20616486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.80071405700005 meters Centerline goodness : 0.989611 with order 1 Centerline is valid? [True, True] Translation: X:418.77, Y:-21.01, Z:2.21 [[ 9.99916234e-01 -1.16073952e-02 -5.72659029e-03 4.18768092e+02] [ 1.16091702e-02 9.99932573e-01 2.76817727e-04 -2.10089813e+01] [ 5.72299103e-03 -3.43275500e-04 9.99983565e-01 2.20511291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.86071405700005 meters Centerline goodness : 0.988203 with order 1 Centerline is valid? [True, True] Translation: X:418.83, Y:-21.01, Z:2.20 [[ 9.99938912e-01 -9.45405043e-03 -5.72658535e-03 4.18829538e+02] [ 9.45579085e-03 9.99955255e-01 2.76919816e-04 -2.10114840e+01] [ 5.72371110e-03 -3.31052293e-04 9.99983565e-01 2.20471865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.92071405700005 meters Centerline goodness : 0.988559 with order 1 Centerline is valid? [True, True] Translation: X:418.89, Y:-21.01, Z:2.20 [[ 9.99924198e-01 -1.08997932e-02 -5.72657519e-03 4.18891298e+02] [ 1.09015584e-02 9.99940538e-01 2.77129676e-04 -2.10116571e+01] [ 5.72321402e-03 -3.39537263e-04 9.99983565e-01 2.20220947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.98071405700006 meters Centerline goodness : 0.989336 with order 1 Centerline is valid? [True, True] Translation: X:418.95, Y:-21.01, Z:2.20 [[ 9.99951448e-01 -8.01921497e-03 -5.72656465e-03 4.18952969e+02] [ 8.02093437e-03 9.99967793e-01 2.77347342e-04 -2.10129040e+01] [ 5.72415611e-03 -3.23266276e-04 9.99983565e-01 2.19870600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.04071405700006 meters Centerline goodness : 0.990151 with order 1 Centerline is valid? [True, True] Translation: X:419.01, Y:-21.01, Z:2.20 [[ 9.99953523e-01 -7.75624351e-03 -5.72655408e-03 4.19013472e+02] [ 7.75795986e-03 9.99969868e-01 2.77565422e-04 -2.10109100e+01] [ 5.72422866e-03 -3.21978898e-04 9.99983565e-01 2.20147679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.10071405700006 meters Centerline goodness : 0.988923 with order 1 Centerline is valid? [True, True] Translation: X:419.07, Y:-21.01, Z:2.20 [[ 9.99948443e-01 -8.38555779e-03 -5.72655408e-03 4.19074319e+02] [ 8.38728443e-03 9.99964788e-01 2.77565422e-04 -2.10096203e+01] [ 5.72402489e-03 -3.25581349e-04 9.99983565e-01 2.20103253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.16071405700006 meters Centerline goodness : 0.988164 with order 1 Centerline is valid? [True, True] Translation: X:419.14, Y:-21.01, Z:2.21 [[ 9.99970686e-01 -5.08270300e-03 -5.72654891e-03 4.19135571e+02] [ 5.08437625e-03 9.99987036e-01 2.77671964e-04 -2.10100839e+01] [ 5.72506335e-03 -3.06779754e-04 9.99983565e-01 2.20816678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.22071405700007 meters Centerline goodness : 0.989331 with order 1 Centerline is valid? [True, True] Translation: X:419.20, Y:-21.01, Z:2.21 [[ 9.99969789e-01 -5.25619831e-03 -5.72653847e-03 4.19195261e+02] [ 5.25787563e-03 9.99986139e-01 2.77887248e-04 -2.10077593e+01] [ 5.72499846e-03 -3.07988280e-04 9.99983565e-01 2.20564776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.28071405700007 meters Centerline goodness : 0.989713 with order 1 Centerline is valid? [True, True] Translation: X:419.26, Y:-21.01, Z:2.21 [[ 9.99983603e-01 3.20107274e-05 -5.72654361e-03 4.19255809e+02] [-3.04204983e-05 9.99999961e-01 2.77781289e-04 -2.10061767e+01] [ 5.72655228e-03 -2.77602529e-04 9.99983565e-01 2.20597942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.34071405700007 meters Centerline goodness : 0.989697 with order 1 Centerline is valid? [True, True] Translation: X:419.31, Y:-21.01, Z:2.21 [[ 9.99966688e-01 5.81633000e-03 -5.72654361e-03 4.19314191e+02] [-5.81483442e-03 9.99983055e-01 2.77781289e-04 -2.10070894e+01] [ 5.72806224e-03 -2.44473132e-04 9.99983565e-01 2.20715353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4007140570001 meters Centerline goodness : 0.989137 with order 1 Centerline is valid? [True, True] Translation: X:419.37, Y:-21.01, Z:2.21 [[ 9.99922294e-01 1.10730904e-02 -5.72656890e-03 4.19372970e+02] [-1.10716838e-02 9.99938669e-01 2.77258857e-04 -2.10090275e+01] [ 5.72928780e-03 -2.13834552e-04 9.99983565e-01 2.21188215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4607140570001 meters Centerline goodness : 0.988661 with order 1 Centerline is valid? [True, True] Translation: X:419.43, Y:-21.01, Z:2.21 [[ 9.99921452e-01 1.11487886e-02 -5.72663864e-03 4.19431502e+02] [-1.11473916e-02 9.99937828e-01 2.75810813e-04 -2.10140151e+01] [ 5.72935756e-03 -2.11952065e-04 9.99983565e-01 2.20669072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5207140570001 meters Centerline goodness : 0.989116 with order 1 Centerline is valid? [True, True] Translation: X:419.49, Y:-21.01, Z:2.21 [[ 9.99931505e-01 1.02073897e-02 -5.72665938e-03 4.19489090e+02] [-1.02059798e-02 9.99947880e-01 2.75379627e-04 -2.10149866e+01] [ 5.72917181e-03 -2.16914595e-04 9.99983565e-01 2.21354869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5807140570001 meters Centerline goodness : 0.988605 with order 1 Centerline is valid? [True, True] Translation: X:419.55, Y:-21.02, Z:2.21 [[ 9.99956602e-01 7.34843632e-03 -5.72669103e-03 4.19547959e+02] [-7.34698332e-03 9.99972973e-01 2.74719884e-04 -2.10209076e+01] [ 5.72855501e-03 -2.32634058e-04 9.99983565e-01 2.20906003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.640714057 meters Centerline goodness : 0.987596 with order 1 Centerline is valid? [True, True] Translation: X:419.61, Y:-21.03, Z:2.20 [[ 9.99938086e-01 9.54094054e-03 -5.72671162e-03 4.19606040e+02] [-9.53952590e-03 9.99954460e-01 2.74289931e-04 -2.10299803e+01] [ 5.72906781e-03 -2.19642835e-04 9.99983565e-01 2.20213934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.700714057 meters Centerline goodness : 0.992305 with order 1 Centerline is valid? [True, True] Translation: X:419.66, Y:-21.02, Z:2.21 [[ 9.99981684e-01 -1.95843262e-03 -5.72678359e-03 4.19664853e+02] [ 1.96002683e-03 9.99998042e-01 2.72778957e-04 -2.10211828e+01] [ 5.72623816e-03 -2.83998610e-04 9.99983565e-01 2.21296085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.76071405700003 meters Centerline goodness : 0.991632 with order 1 Centerline is valid? [True, True] Translation: X:419.72, Y:-21.03, Z:2.21 [[ 9.99982924e-01 1.16400267e-03 -5.72679866e-03 4.19723320e+02] [-1.16246135e-03 9.99999287e-01 2.72462236e-04 -2.10265239e+01] [ 5.72711172e-03 -2.65800402e-04 9.99983565e-01 2.21273987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.82071405700003 meters Centerline goodness : 0.992978 with order 1 Centerline is valid? [True, True] Translation: X:419.78, Y:-21.03, Z:2.21 [[ 9.99981592e-01 2.00445841e-03 -5.72686606e-03 4.19780706e+02] [-2.00293898e-03 9.99997957e-01 2.71038043e-04 -2.10311553e+01] [ 5.72739765e-03 -2.59562490e-04 9.99983565e-01 2.21224863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.88071405700003 meters Centerline goodness : 0.991603 with order 1 Centerline is valid? [True, True] Translation: X:419.84, Y:-21.04, Z:2.22 [[ 9.99981550e-01 2.02547185e-03 -5.72694309e-03 4.19838981e+02] [-2.02396213e-03 9.99997916e-01 2.69400637e-04 -2.10363164e+01] [ 5.72747681e-03 -2.57804551e-04 9.99983565e-01 2.21786452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.94071405700004 meters Centerline goodness : 0.989191 with order 1 Centerline is valid? [True, True] Translation: X:419.90, Y:-21.05, Z:2.21 [[ 9.99968934e-01 5.41604632e-03 -5.72696199e-03 4.19897131e+02] [-5.41459439e-03 9.99985305e-01 2.68998188e-04 -2.10532473e+01] [ 5.72833474e-03 -2.37980655e-04 9.99983565e-01 2.21450170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.00071405700004 meters Centerline goodness : 0.987599 with order 1 Centerline is valid? [True, True] Translation: X:419.96, Y:-21.06, Z:2.21 [[ 9.99978625e-01 3.15432552e-03 -5.72703029e-03 4.19956025e+02] [-3.15284493e-03 9.99994994e-01 2.67536258e-04 -2.10620268e+01] [ 5.72784551e-03 -2.49474101e-04 9.99983565e-01 2.20977785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.06071405700004 meters Centerline goodness : 0.988370 with order 1 Centerline is valid? [True, True] Translation: X:420.01, Y:-21.06, Z:2.22 [[ 9.99977367e-01 -3.53069276e-03 -5.72705082e-03 4.20014635e+02] [ 3.53228022e-03 9.99993726e-01 2.67095983e-04 -2.10637723e+01] [ 5.72607185e-03 -2.87319486e-04 9.99983565e-01 2.21888471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.12071405700004 meters Centerline goodness : 0.987716 with order 1 Centerline is valid? [True, True] Translation: X:420.07, Y:-21.07, Z:2.21 [[ 9.99982129e-01 1.71530781e-03 -5.72707108e-03 4.20073543e+02] [-1.71380867e-03 9.99998496e-01 2.66660865e-04 -2.10713829e+01] [ 5.72751987e-03 -2.56840995e-04 9.99983565e-01 2.21087561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.18071405700005 meters Centerline goodness : 0.987985 with order 1 Centerline is valid? [True, True] Translation: X:420.13, Y:-21.07, Z:2.22 [[ 9.99983599e-01 -3.05171595e-05 -5.72713606e-03 4.20131248e+02] [ 3.20368521e-05 9.99999964e-01 2.65257937e-04 -2.10735120e+01] [ 5.72712776e-03 -2.65437066e-04 9.99983565e-01 2.21675645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.24071405700005 meters Centerline goodness : 0.988961 with order 1 Centerline is valid? [True, True] Translation: X:420.19, Y:-21.07, Z:2.22 [[ 9.99981424e-01 -2.08576164e-03 -5.72716036e-03 4.20189571e+02] [ 2.08731196e-03 9.99997787e-01 2.64732240e-04 -2.10744976e+01] [ 5.72659551e-03 -2.76681692e-04 9.99983565e-01 2.21812696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.30071405700005 meters Centerline goodness : 0.989577 with order 1 Centerline is valid? [True, True] Translation: X:420.25, Y:-21.08, Z:2.22 [[ 9.99958663e-01 -7.06195869e-03 -5.72718321e-03 4.20248561e+02] [ 7.06358759e-03 9.99975018e-01 2.64236894e-04 -2.10753192e+01] [ 5.72517410e-03 -3.04680432e-04 9.99983565e-01 2.22210750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.36071405700005 meters Centerline goodness : 0.988559 with order 1 Centerline is valid? [True, True] Translation: X:420.31, Y:-21.08, Z:2.22 [[ 9.99910233e-01 -1.21130064e-02 -5.72720196e-03 4.20309011e+02] [ 1.21147156e-02 9.99926579e-01 2.63829889e-04 -2.10757366e+01] [ 5.72358569e-03 -3.33189629e-04 9.99983565e-01 2.22475501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.42071405700005 meters Centerline goodness : 0.989839 with order 1 Centerline is valid? [True, True] Translation: X:420.37, Y:-21.08, Z:2.23 [[ 9.99887892e-01 -1.38348255e-02 -5.72717734e-03 4.20371311e+02] [ 1.38365659e-02 9.99904235e-01 2.64363209e-04 -2.10760748e+01] [ 5.72297146e-03 -3.43578039e-04 9.99983565e-01 2.22637347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.48071405700006 meters Centerline goodness : 0.989632 with order 1 Centerline is valid? [True, True] Translation: X:420.43, Y:-21.08, Z:2.23 [[ 9.99933882e-01 -9.97154099e-03 -5.72715845e-03 4.20432952e+02] [ 9.97322052e-03 9.99950231e-01 2.64771795e-04 -2.10783828e+01] [ 5.72423324e-03 -3.21872503e-04 9.99983565e-01 2.22529228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.54071405700006 meters Centerline goodness : 0.990308 with order 1 Centerline is valid? [True, True] Translation: X:420.49, Y:-21.08, Z:2.23 [[ 9.99957014e-01 -7.29174452e-03 -5.72714419e-03 4.20494214e+02] [ 7.29338198e-03 9.99973368e-01 2.65079902e-04 -2.10781581e+01] [ 5.72505877e-03 -3.06838757e-04 9.99983565e-01 2.22669546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.60071405700006 meters Centerline goodness : 0.990149 with order 1 Centerline is valid? [True, True] Translation: X:420.55, Y:-21.08, Z:2.22 [[ 9.99983583e-01 1.84111858e-04 -5.72713406e-03 4.20554579e+02] [-1.82595445e-04 9.99999948e-01 2.65298565e-04 -2.10783661e+01] [ 5.72718261e-03 -2.64248461e-04 9.99983565e-01 2.21904796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.66071405700006 meters Centerline goodness : 0.989071 with order 1 Centerline is valid? [True, True] Translation: X:420.61, Y:-21.08, Z:2.22 [[ 9.99969414e-01 5.32653575e-03 -5.72712907e-03 4.20613415e+02] [-5.32510290e-03 9.99985786e-01 2.65406248e-04 -2.10792271e+01] [ 5.72846136e-03 -2.34900579e-04 9.99983565e-01 2.22166319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.72071405700007 meters Centerline goodness : 0.988409 with order 1 Centerline is valid? [True, True] Translation: X:420.67, Y:-21.08, Z:2.22 [[ 9.99939204e-01 9.42270285e-03 -5.72719527e-03 4.20671374e+02] [-9.42134529e-03 9.99955583e-01 2.63969955e-04 -2.10790491e+01] [ 5.72942820e-03 -2.09996023e-04 9.99983565e-01 2.21638497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.78071405700007 meters Centerline goodness : 0.988216 with order 1 Centerline is valid? [True, True] Translation: X:420.73, Y:-21.08, Z:2.22 [[ 9.99883937e-01 1.41177385e-02 -5.72726979e-03 4.20729742e+02] [-1.41164671e-02 9.99900323e-01 2.62343153e-04 -2.10799463e+01] [ 5.73040261e-03 -1.81463889e-04 9.99983565e-01 2.21948091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.84071405700007 meters Centerline goodness : 0.988193 with order 1 Centerline is valid? [True, True] Translation: X:420.79, Y:-21.08, Z:2.21 [[ 9.99854388e-01 1.60748161e-02 -5.72733973e-03 4.20787845e+02] [-1.60735856e-02 9.99870778e-01 2.60807342e-04 -2.10828461e+01] [ 5.73079206e-03 -1.68710480e-04 9.99983565e-01 2.21394431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9007140570001 meters Centerline goodness : 0.987214 with order 1 Centerline is valid? [True, True] Translation: X:420.85, Y:-21.08, Z:2.21 [[ 9.99876218e-01 1.46542223e-02 -5.72736406e-03 4.20845603e+02] [-1.46529716e-02 9.99892606e-01 2.60271863e-04 -2.10849083e+01] [ 5.73056305e-03 -1.76316743e-04 9.99983565e-01 2.21241864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9607140570001 meters Centerline goodness : 0.986595 with order 1 Centerline is valid? [True, True] Translation: X:420.90, Y:-21.09, Z:2.21 [[ 9.99896450e-01 1.32017901e-02 -5.72738784e-03 4.20904145e+02] [-1.32005186e-02 9.99912836e-01 2.59747615e-04 -2.10875533e+01] [ 5.73031774e-03 -1.84116229e-04 9.99983565e-01 2.21324138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0207140570001 meters Centerline goodness : 0.989520 with order 1 Centerline is valid? [True, True] Translation: X:420.96, Y:-21.09, Z:2.21 [[ 9.99913315e-01 1.18557338e-02 -5.72740594e-03 4.20963397e+02] [-1.18544426e-02 9.99929700e-01 2.59347818e-04 -2.10889185e+01] [ 5.73007806e-03 -1.91430132e-04 9.99983565e-01 2.21371060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0807140570001 meters Centerline goodness : 0.989379 with order 1 Centerline is valid? [True, True] Translation: X:421.02, Y:-21.09, Z:2.22 [[ 9.99966112e-01 5.91368941e-03 -5.72744020e-03 4.21023426e+02] [-5.91230516e-03 9.99982489e-01 2.58589078e-04 -2.10876812e+01] [ 5.72886912e-03 -2.24717941e-04 9.99983565e-01 2.22329129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.1407140570001 meters Centerline goodness : 0.989059 with order 1 Centerline is valid? [True, True] Translation: X:421.08, Y:-21.09, Z:2.22 [[ 9.99972264e-01 4.76106999e-03 -5.72744998e-03 4.21081242e+02] [-4.75966810e-03 9.99988639e-01 2.58372241e-04 -2.10894470e+01] [ 5.72861504e-03 -2.31104314e-04 9.99983565e-01 2.22362796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.200714057 meters Centerline goodness : 0.990276 with order 1 Centerline is valid? [True, True] Translation: X:421.14, Y:-21.09, Z:2.22 [[ 9.99977349e-01 3.53529948e-03 -5.72747404e-03 4.21140351e+02] [-3.53388058e-03 9.99993723e-01 2.57837807e-04 -2.10917930e+01] [ 5.72834962e-03 -2.37591757e-04 9.99983565e-01 2.22182883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.26071405700003 meters Centerline goodness : 0.988872 with order 1 Centerline is valid? [True, True] Translation: X:421.20, Y:-21.10, Z:2.22 [[ 9.99983047e-01 1.04940914e-03 -5.72749227e-03 4.21198744e+02] [-1.04795186e-03 9.99999418e-01 2.57432053e-04 -2.10955034e+01] [ 5.72775909e-03 -2.51425553e-04 9.99983565e-01 2.22033247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.32071405700003 meters Centerline goodness : 0.988816 with order 1 Centerline is valid? [True, True] Translation: X:421.26, Y:-21.10, Z:2.22 [[ 9.99975544e-01 -4.01330826e-03 -5.72751103e-03 4.21256529e+02] [ 4.01484602e-03 9.99991907e-01 2.57014072e-04 -2.10973816e+01] [ 5.72643320e-03 -2.80002861e-04 9.99983565e-01 2.22116588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.38071405700003 meters Centerline goodness : 0.988560 with order 1 Centerline is valid? [True, True] Translation: X:421.32, Y:-21.10, Z:2.22 [[ 9.99946255e-01 -8.64186659e-03 -5.72753401e-03 4.21315985e+02] [ 8.64347714e-03 9.99962612e-01 2.56500852e-04 -2.10994709e+01] [ 5.72510322e-03 -3.05992876e-04 9.99983565e-01 2.22058307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.44071405700004 meters Centerline goodness : 0.989830 with order 1 Centerline is valid? [True, True] Translation: X:421.38, Y:-21.10, Z:2.22 [[ 9.99923877e-01 -1.09286374e-02 -5.72754381e-03 4.21376075e+02] [ 1.09302841e-02 9.99940230e-01 2.56282015e-04 -2.11008073e+01] [ 5.72440066e-03 -3.18866187e-04 9.99983565e-01 2.21850834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.50071405700004 meters Centerline goodness : 0.989409 with order 1 Centerline is valid? [True, True] Translation: X:421.44, Y:-21.10, Z:2.22 [[ 9.99880365e-01 -1.43683985e-02 -5.72753897e-03 4.21437979e+02] [ 1.43701020e-02 9.99896712e-01 2.56390112e-04 -2.11011844e+01] [ 5.72326346e-03 -3.38664758e-04 9.99983565e-01 2.22324666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.56071405700004 meters Centerline goodness : 0.989483 with order 1 Centerline is valid? [True, True] Translation: X:421.50, Y:-21.10, Z:2.23 [[ 9.99815509e-01 -1.83341964e-02 -5.72752059e-03 4.21501035e+02] [ 1.83359672e-02 9.99831849e-01 2.56800013e-04 -2.11014368e+01] [ 5.72184928e-03 -3.61772265e-04 9.99983565e-01 2.22621405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.62071405700004 meters Centerline goodness : 0.990413 with order 1 Centerline is valid? [True, True] Translation: X:421.56, Y:-21.10, Z:2.23 [[ 9.99783946e-01 -1.99814104e-02 -5.72749128e-03 4.21562537e+02] [ 1.99832117e-02 9.99800283e-01 2.57452141e-04 -2.11012195e+01] [ 5.72120314e-03 -3.71850189e-04 9.99983565e-01 2.22772757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.68071405700005 meters Centerline goodness : 0.990920 with order 1 Centerline is valid? [True, True] Translation: X:421.62, Y:-21.10, Z:2.23 [[ 9.99759305e-01 -2.11784762e-02 -5.72745883e-03 4.21624943e+02] [ 2.11803012e-02 9.99775639e-01 2.58171827e-04 -2.11014136e+01] [ 5.72070613e-03 -3.79418990e-04 9.99983565e-01 2.22789235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.74071405700005 meters Centerline goodness : 0.990108 with order 1 Centerline is valid? [True, True] Translation: X:421.69, Y:-21.10, Z:2.23 [[ 9.99737625e-01 -2.21783316e-02 -5.72744018e-03 4.21687798e+02] [ 2.21801753e-02 9.99753956e-01 2.58584936e-04 -2.11004384e+01] [ 5.72029600e-03 -3.85552717e-04 9.99983565e-01 2.22917005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.80071405700005 meters Centerline goodness : 0.991613 with order 1 Centerline is valid? [True, True] Translation: X:421.75, Y:-21.10, Z:2.23 [[ 9.99754823e-01 -2.13890522e-02 -5.72741224e-03 4.21749794e+02] [ 2.13908865e-02 9.99771155e-01 2.59202418e-04 -2.11005513e+01] [ 5.72055746e-03 -3.81653293e-04 9.99983565e-01 2.22705662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.86071405700005 meters Centerline goodness : 0.990571 with order 1 Centerline is valid? [True, True] Translation: X:421.81, Y:-21.10, Z:2.23 [[ 9.99768348e-01 -2.07472110e-02 -5.72739367e-03 4.21811620e+02] [ 2.07490372e-02 9.99784682e-01 2.59612093e-04 -2.11004802e+01] [ 5.72077423e-03 -3.78389857e-04 9.99983565e-01 2.22616245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.92071405700005 meters Centerline goodness : 0.989829 with order 1 Centerline is valid? [True, True] Translation: X:421.87, Y:-21.10, Z:2.22 [[ 9.99834587e-01 -1.72625290e-02 -5.72737533e-03 4.21874215e+02] [ 1.72643005e-02 9.99850927e-01 2.60016121e-04 -2.11016733e+01] [ 5.72203299e-03 -3.58852240e-04 9.99983565e-01 2.22464170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.98071405700006 meters Centerline goodness : 0.989985 with order 1 Centerline is valid? [True, True] Translation: X:421.94, Y:-21.10, Z:2.23 [[ 9.99871993e-01 -1.49397169e-02 -5.72735679e-03 4.21936353e+02] [ 1.49414528e-02 9.99888336e-01 2.60423781e-04 -2.11000356e+01] [ 5.72282659e-03 -3.45965476e-04 9.99983565e-01 2.22661458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.04071405700006 meters Centerline goodness : 0.989328 with order 1 Centerline is valid? [True, True] Translation: X:422.00, Y:-21.10, Z:2.23 [[ 9.99914202e-01 -1.17807840e-02 -5.72733816e-03 4.21997408e+02] [ 1.17824706e-02 9.99930550e-01 2.60832937e-04 -2.10998138e+01] [ 5.72386758e-03 -3.28292752e-04 9.99983565e-01 2.22857897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.10071405700006 meters Centerline goodness : 0.989191 with order 1 Centerline is valid? [True, True] Translation: X:422.06, Y:-21.10, Z:2.23 [[ 9.99938766e-01 -9.46904368e-03 -5.72730916e-03 4.22058818e+02] [ 9.47069613e-03 9.99955118e-01 2.61468175e-04 -2.10991736e+01] [ 5.72457625e-03 -3.15693769e-04 9.99983565e-01 2.23143302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.16071405700006 meters Centerline goodness : 0.989093 with order 1 Centerline is valid? [True, True] Translation: X:422.12, Y:-21.10, Z:2.23 [[ 9.99924496e-01 -1.08720290e-02 -5.72729591e-03 4.22119772e+02] [ 1.08737061e-02 9.99940845e-01 2.61758024e-04 -2.10995791e+01] [ 5.72411127e-03 -3.24015193e-04 9.99983565e-01 2.23158609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.22071405700007 meters Centerline goodness : 0.988380 with order 1 Centerline is valid? [True, True] Translation: X:422.18, Y:-21.10, Z:2.23 [[ 9.99916211e-01 -1.16089970e-02 -5.72728683e-03 4.22182158e+02] [ 1.16106872e-02 9.99932559e-01 2.61956599e-04 -2.11012044e+01] [ 5.72385952e-03 -3.28432386e-04 9.99983565e-01 2.23194907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.28071405700007 meters Centerline goodness : 0.988897 with order 1 Centerline is valid? [True, True] Translation: X:422.24, Y:-21.10, Z:2.23 [[ 9.99857215e-01 -1.58980662e-02 -5.72726816e-03 4.22244550e+02] [ 1.58998288e-02 9.99873555e-01 2.62364082e-04 -2.11032192e+01] [ 5.72237290e-03 -3.53389204e-04 9.99983565e-01 2.22950685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.34071405700007 meters Centerline goodness : 0.989814 with order 1 Centerline is valid? [True, True] Translation: X:422.31, Y:-21.10, Z:2.23 [[ 9.99866663e-01 -1.52923154e-02 -5.72719854e-03 4.22306481e+02] [ 1.52940768e-02 9.99883004e-01 2.63875017e-04 -2.11045321e+01] [ 5.72249322e-03 -3.51432047e-04 9.99983565e-01 2.23433496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4007140570001 meters Centerline goodness : 0.989052 with order 1 Centerline is valid? [True, True] Translation: X:422.37, Y:-21.11, Z:2.23 [[ 9.99869302e-01 -1.51187819e-02 -5.72717860e-03 4.22368449e+02] [ 1.51205429e-02 9.99885643e-01 2.64307157e-04 -2.11078036e+01] [ 5.72252766e-03 -3.50870663e-04 9.99983565e-01 2.23240301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4607140570001 meters Centerline goodness : 0.989863 with order 1 Centerline is valid? [True, True] Translation: X:422.43, Y:-21.11, Z:2.23 [[ 9.99867908e-01 -1.52107482e-02 -5.72715749e-03 4.22429231e+02] [ 1.52125133e-02 9.99884248e-01 2.64763850e-04 -2.11101494e+01] [ 5.72246730e-03 -3.51853336e-04 9.99983565e-01 2.22632211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5207140570001 meters Centerline goodness : 0.992365 with order 1 Centerline is valid? [True, True] Translation: X:422.49, Y:-21.10, Z:2.23 [[ 9.99639797e-01 -2.62197572e-02 -5.72714192e-03 4.22491417e+02] [ 2.62217040e-02 9.99656117e-01 2.65100093e-04 -2.11009430e+01] [ 5.71822160e-03 -4.15180024e-04 9.99983565e-01 2.22943523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5807140570001 meters Centerline goodness : 0.989037 with order 1 Centerline is valid? [True, True] Translation: X:422.55, Y:-21.11, Z:2.23 [[ 9.99861951e-01 -1.55973992e-02 -5.72712766e-03 4.22552583e+02] [ 1.55991743e-02 9.99878290e-01 2.65407961e-04 -2.11121554e+01] [ 5.72229094e-03 -3.54709784e-04 9.99983565e-01 2.23120645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.6407140570001 meters Centerline goodness : 0.988957 with order 1 Centerline is valid? [True, True] Translation: X:422.61, Y:-21.11, Z:2.23 [[ 9.99829132e-01 -1.75757598e-02 -5.72711233e-03 4.22614173e+02] [ 1.75775691e-02 9.99845467e-01 2.65738276e-04 -2.11138240e+01] [ 5.72155675e-03 -3.66361582e-04 9.99983565e-01 2.23367233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.700714057 meters Centerline goodness : 0.988773 with order 1 Centerline is valid? [True, True] Translation: X:422.68, Y:-21.12, Z:2.23 [[ 9.99711845e-01 -2.33115327e-02 -5.72709735e-03 4.22676207e+02] [ 2.33134375e-02 9.99728169e-01 2.66060826e-04 -2.11151784e+01] [ 5.71933826e-03 -3.99502486e-04 9.99983565e-01 2.23142682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.76071405700003 meters Centerline goodness : 0.989190 with order 1 Centerline is valid? [True, True] Translation: X:422.74, Y:-21.11, Z:2.24 [[ 9.99727405e-01 -2.26344274e-02 -5.72702850e-03 4.22738741e+02] [ 2.26363296e-02 9.99743730e-01 2.67534591e-04 -2.11149235e+01] [ 5.71950534e-03 -3.97100568e-04 9.99983565e-01 2.23569077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.82071405700003 meters Centerline goodness : 0.989743 with order 1 Centerline is valid? [True, True] Translation: X:422.80, Y:-21.11, Z:2.23 [[ 9.99604262e-01 -2.75412555e-02 -5.72700798e-03 4.22799721e+02] [ 2.75432403e-02 9.99620577e-01 2.67973038e-04 -2.11130662e+01] [ 5.71745471e-03 -4.25607348e-04 9.99983565e-01 2.23090491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.88071405700003 meters Centerline goodness : 0.989599 with order 1 Centerline is valid? [True, True] Translation: X:422.86, Y:-21.11, Z:2.24 [[ 9.99705289e-01 -2.35910274e-02 -5.72699783e-03 4.22862041e+02] [ 2.35929490e-02 9.99721612e-01 2.68189850e-04 -2.11138486e+01] [ 5.71907663e-03 -4.03227579e-04 9.99983565e-01 2.23814866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.94071405700004 meters Centerline goodness : 0.990371 with order 1 Centerline is valid? [True, True] Translation: X:422.92, Y:-21.12, Z:2.24 [[ 9.99738311e-01 -2.21474906e-02 -5.72697759e-03 4.22924358e+02] [ 2.21493911e-02 9.99754636e-01 2.68621353e-04 -2.11166708e+01] [ 5.71962311e-03 -3.95400125e-04 9.99983565e-01 2.23781262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.00071405700004 meters Centerline goodness : 0.989192 with order 1 Centerline is valid? [True, True] Translation: X:422.99, Y:-21.12, Z:2.24 [[ 9.99776234e-01 -2.03637731e-02 -5.72695755e-03 4.22987191e+02] [ 2.03656469e-02 9.99792563e-01 2.69047896e-04 -2.11161529e+01] [ 5.72029074e-03 -3.85620887e-04 9.99983565e-01 2.23687501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.06071405700004 meters Centerline goodness : 0.988202 with order 1 Centerline is valid? [True, True] Translation: X:423.05, Y:-21.12, Z:2.23 [[ 9.99796745e-01 -1.93305534e-02 -5.72692793e-03 4.23049874e+02] [ 1.93324139e-02 9.99813075e-01 2.69677080e-04 -2.11187804e+01] [ 5.72064441e-03 -3.80337608e-04 9.99983565e-01 2.23288419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.12071405700004 meters Centerline goodness : 0.988301 with order 1 Centerline is valid? [True, True] Translation: X:423.11, Y:-21.12, Z:2.23 [[ 9.99801694e-01 -1.90729064e-02 -5.72689676e-03 4.23111201e+02] [ 1.90747664e-02 9.99818024e-01 2.70337384e-04 -2.11207552e+01] [ 5.72069848e-03 -3.79522992e-04 9.99983565e-01 2.23101809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.18071405700005 meters Centerline goodness : 0.988553 with order 1 Centerline is valid? [True, True] Translation: X:423.17, Y:-21.12, Z:2.23 [[ 9.99808321e-01 -1.87222776e-02 -5.72688156e-03 4.23173453e+02] [ 1.87241337e-02 9.99824651e-01 2.70658859e-04 -2.11209698e+01] [ 5.72081001e-03 -3.77837875e-04 9.99983565e-01 2.23410257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.24071405700005 meters Centerline goodness : 0.989007 with order 1 Centerline is valid? [True, True] Translation: X:423.24, Y:-21.12, Z:2.23 [[ 9.99773826e-01 -2.04816829e-02 -5.72686185e-03 4.23236524e+02] [ 2.04835702e-02 9.99790153e-01 2.71075323e-04 -2.11240132e+01] [ 5.72010801e-03 -3.88320590e-04 9.99983565e-01 2.23014033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.30071405700005 meters Centerline goodness : 0.988946 with order 1 Centerline is valid? [True, True] Translation: X:423.30, Y:-21.12, Z:2.23 [[ 9.99651730e-01 -2.57608506e-02 -5.72683240e-03 4.23298337e+02] [ 2.57628276e-02 9.99668046e-01 2.71696079e-04 -2.11239285e+01] [ 5.71793223e-03 -4.19140851e-04 9.99983565e-01 2.22911942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.36071405700005 meters Centerline goodness : 0.987237 with order 1 Centerline is valid? [True, True] Translation: X:423.36, Y:-21.13, Z:2.23 [[ 9.99809519e-01 -1.86582362e-02 -5.72681187e-03 4.23359106e+02] [ 1.86600997e-02 9.99825848e-01 2.72128142e-04 -2.11316000e+01] [ 5.72073710e-03 -3.78939187e-04 9.99983565e-01 2.22615761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.42071405700005 meters Centerline goodness : 0.991057 with order 1 Centerline is valid? [True, True] Translation: X:423.42, Y:-21.11, Z:2.24 [[ 9.99412350e-01 -3.37958324e-02 -5.72679671e-03 4.23420952e+02] [ 3.37979447e-02 9.99428649e-01 2.72446879e-04 -2.11132815e+01] [ 5.71431713e-03 -4.65840734e-04 9.99983565e-01 2.23583589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.48071405700006 meters Centerline goodness : 0.991402 with order 1 Centerline is valid? [True, True] Translation: X:423.48, Y:-21.12, Z:2.24 [[ 9.99421909e-01 -3.35119771e-02 -5.72673422e-03 4.23483656e+02] [ 3.35140922e-02 9.99438208e-01 2.73754006e-04 -2.11151257e+01] [ 5.71434295e-03 -4.65522050e-04 9.99983565e-01 2.23723926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.54071405700006 meters Centerline goodness : 0.988598 with order 1 Centerline is valid? [True, True] Translation: X:423.55, Y:-21.13, Z:2.23 [[ 9.99625939e-01 -2.67429976e-02 -5.72670563e-03 4.23545591e+02] [ 2.67450057e-02 9.99642251e-01 2.74350860e-04 -2.11274591e+01] [ 5.71731994e-03 -4.27409010e-04 9.99983565e-01 2.23073809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.60071405700006 meters Centerline goodness : 0.988046 with order 1 Centerline is valid? [True, True] Translation: X:423.61, Y:-21.13, Z:2.24 [[ 9.99654782e-01 -2.56422072e-02 -5.72668596e-03 4.23608280e+02] [ 2.56441997e-02 9.99671096e-01 2.74760700e-04 -2.11265527e+01] [ 5.71775696e-03 -4.21522126e-04 9.99983565e-01 2.23617419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.66071405700006 meters Centerline goodness : 0.988020 with order 1 Centerline is valid? [True, True] Translation: X:423.67, Y:-21.13, Z:2.23 [[ 9.99796774e-01 -1.93291744e-02 -5.72666620e-03 4.23670041e+02] [ 1.93310662e-02 9.99813100e-01 2.75172054e-04 -2.11271371e+01] [ 5.72027703e-03 -3.85818695e-04 9.99983565e-01 2.23479949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.72071405700007 meters Centerline goodness : 0.986406 with order 1 Centerline is valid? [True, True] Translation: X:423.73, Y:-21.13, Z:2.24 [[ 9.99958267e-01 -7.11823717e-03 -5.72665108e-03 4.23732006e+02] [ 7.11993122e-03 9.99974615e-01 2.75486215e-04 -2.11273278e+01] [ 5.72454474e-03 -3.16248080e-04 9.99983565e-01 2.24216492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.78071405700007 meters Centerline goodness : 0.985498 with order 1 Centerline is valid? [True, True] Translation: X:423.79, Y:-21.13, Z:2.24 [[ 9.99982975e-01 -1.12069438e-03 -5.72663013e-03 4.23793622e+02] [ 1.12229284e-03 9.99999332e-01 2.75921206e-04 -2.11303699e+01] [ 5.72631708e-03 -2.82343465e-04 9.99983565e-01 2.24168920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.84071405700007 meters Centerline goodness : 0.985354 with order 1 Centerline is valid? [True, True] Translation: X:423.85, Y:-21.13, Z:2.25 [[ 9.99983497e-01 4.60023322e-04 -5.72661981e-03 4.23852086e+02] [-4.58449501e-04 9.99999857e-01 2.76135147e-04 -2.11310496e+01] [ 5.72674602e-03 -2.73505224e-04 9.99983565e-01 2.24528069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9007140570001 meters Centerline goodness : 0.986225 with order 1 Centerline is valid? [True, True] Translation: X:423.91, Y:-21.13, Z:2.25 [[ 9.99983367e-01 -6.87089596e-04 -5.72663499e-03 4.23911028e+02] [ 6.88680382e-04 9.99999725e-01 2.75819937e-04 -2.11329305e+01] [ 5.72644390e-03 -2.79759171e-04 9.99983565e-01 2.24630208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9607140570001 meters Centerline goodness : 0.986686 with order 1 Centerline is valid? [True, True] Translation: X:423.97, Y:-21.14, Z:2.25 [[ 9.99981299e-01 -2.14652084e-03 -5.72665440e-03 4.23970129e+02] [ 2.14813320e-03 9.99997655e-01 2.75416467e-04 -2.11362829e+01] [ 5.72604978e-03 -2.87712932e-04 9.99983565e-01 2.24991169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0207140570001 meters Centerline goodness : 0.986529 with order 1 Centerline is valid? [True, True] Translation: X:424.03, Y:-21.14, Z:2.25 [[ 9.99974975e-01 -4.15395419e-03 -5.72667527e-03 4.24028421e+02] [ 4.15559689e-03 9.99991328e-01 2.74981768e-04 -2.11411275e+01] [ 5.72548334e-03 -2.98772640e-04 9.99983565e-01 2.25012650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0807140570001 meters Centerline goodness : 0.985969 with order 1 Centerline is valid? [True, True] Translation: X:424.09, Y:-21.15, Z:2.25 [[ 9.99935905e-01 -9.76682489e-03 -5.72669074e-03 4.24088219e+02] [ 9.76855752e-03 9.99952249e-01 2.74659147e-04 -2.11480012e+01] [ 5.72373474e-03 -3.30583050e-04 9.99983565e-01 2.25246719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.1407140570001 meters Centerline goodness : 0.986958 with order 1 Centerline is valid? [True, True] Translation: X:424.15, Y:-21.15, Z:2.25 [[ 9.99909348e-01 -1.21860557e-02 -5.72669074e-03 4.24149177e+02] [ 1.21878279e-02 9.99925688e-01 2.74659147e-04 -2.11536216e+01] [ 5.72291817e-03 -3.44430170e-04 9.99983565e-01 2.25204302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.200714057 meters Centerline goodness : 0.986356 with order 1 Centerline is valid? [True, True] Translation: X:424.21, Y:-21.16, Z:2.26 [[ 9.99872247e-01 -1.49229737e-02 -5.72667528e-03 4.24210841e+02] [ 1.49247924e-02 9.99888581e-01 2.74981212e-04 -2.11606045e+01] [ 5.72193368e-03 -3.60415522e-04 9.99983565e-01 2.25645879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.26071405700003 meters Centerline goodness : 0.986409 with order 1 Centerline is valid? [True, True] Translation: X:424.27, Y:-21.17, Z:2.26 [[ 9.99874643e-01 -1.47615494e-02 -5.72665463e-03 4.24272064e+02] [ 1.47633679e-02 9.99890978e-01 2.75410599e-04 -2.11672446e+01] [ 5.72196481e-03 -3.59920783e-04 9.99983565e-01 2.25608546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.32071405700003 meters Centerline goodness : 0.986896 with order 1 Centerline is valid? [True, True] Translation: X:424.33, Y:-21.17, Z:2.26 [[ 9.99954617e-01 -7.61374823e-03 -5.72663939e-03 4.24332860e+02] [ 7.61545176e-03 9.99970964e-01 2.75727084e-04 -2.11738783e+01] [ 5.72437379e-03 -3.19325517e-04 9.99983565e-01 2.25739503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.38071405700003 meters Centerline goodness : 0.984458 with order 1 Centerline is valid? [True, True] Translation: X:424.39, Y:-21.18, Z:2.26 [[ 9.99982881e-01 -1.20138830e-03 -5.72662433e-03 4.24393585e+02] [ 1.20298875e-03 9.99999238e-01 2.76039477e-04 -2.11789168e+01] [ 5.72628834e-03 -2.82923816e-04 9.99983565e-01 2.25929938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.44071405700004 meters Centerline goodness : 0.984922 with order 1 Centerline is valid? [True, True] Translation: X:424.45, Y:-21.19, Z:2.25 [[ 9.99981233e-01 2.17713878e-03 -5.72661403e-03 4.24452077e+02] [-2.17559238e-03 9.99997595e-01 2.76253018e-04 -2.11887064e+01] [ 5.72720170e-03 -2.63789056e-04 9.99983565e-01 2.25118693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.50071405700004 meters Centerline goodness : 0.983182 with order 1 Centerline is valid? [True, True] Translation: X:424.51, Y:-21.20, Z:2.25 [[ 9.99946879e-01 8.57000078e-03 -5.72663434e-03 4.24511822e+02] [-8.56856143e-03 9.99963251e-01 2.75831350e-04 -2.11980297e+01] [ 5.72878777e-03 -2.26747679e-04 9.99983565e-01 2.25020675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.56071405700004 meters Centerline goodness : 0.983082 with order 1 Centerline is valid? [True, True] Translation: X:424.57, Y:-21.22, Z:2.24 [[ 9.99933653e-01 9.99478994e-03 -5.72663940e-03 4.24569490e+02] [-9.99337452e-03 9.99950027e-01 2.75726325e-04 -2.12154054e+01] [ 5.72910905e-03 -2.18479579e-04 9.99983565e-01 2.23582909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.62071405700004 meters Centerline goodness : 0.982446 with order 1 Centerline is valid? [True, True] Translation: X:424.63, Y:-21.23, Z:2.23 [[ 9.99960605e-01 6.78184703e-03 -5.72665086e-03 4.24626914e+02] [-6.78038036e-03 9.99976975e-01 2.75487925e-04 -2.12273004e+01] [ 5.72838733e-03 -2.36648201e-04 9.99983565e-01 2.22935171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.68071405700005 meters Centerline goodness : 0.983507 with order 1 Centerline is valid? [True, True] Translation: X:424.69, Y:-21.23, Z:2.23 [[ 9.99983597e-01 -1.05045130e-04 -5.72667356e-03 4.24685676e+02] [ 1.06621797e-04 9.99999957e-01 2.75015302e-04 -2.12336999e+01] [ 5.72664442e-03 -2.75621379e-04 9.99983565e-01 2.22627011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.74071405700005 meters Centerline goodness : 0.984714 with order 1 Centerline is valid? [True, True] Translation: X:424.75, Y:-21.24, Z:2.23 [[ 9.99974202e-01 -4.33583204e-03 -5.72669137e-03 4.24745084e+02] [ 4.33747578e-03 9.99990555e-01 2.74643930e-04 -2.12402791e+01] [ 5.72544648e-03 -2.99476230e-04 9.99983565e-01 2.22657297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.80071405700005 meters Centerline goodness : 0.985244 with order 1 Centerline is valid? [True, True] Translation: X:424.80, Y:-21.24, Z:2.23 [[ 9.99934319e-01 -9.92787949e-03 -5.72670117e-03 4.24804251e+02] [ 9.92961349e-03 9.99950663e-01 2.74439515e-04 -2.12409011e+01] [ 5.72369403e-03 -3.31285419e-04 9.99983565e-01 2.23174757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.86071405700005 meters Centerline goodness : 0.985429 with order 1 Centerline is valid? [True, True] Translation: X:424.87, Y:-21.24, Z:2.23 [[ 9.99923606e-01 -1.09538407e-02 -5.72670599e-03 4.24865705e+02] [ 1.09555909e-02 9.99939948e-01 2.74338820e-04 -2.12421585e+01] [ 5.72335703e-03 -3.37057310e-04 9.99983565e-01 2.23332805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.92071405700005 meters Centerline goodness : 0.985776 with order 1 Centerline is valid? [True, True] Translation: X:424.93, Y:-21.24, Z:2.24 [[ 9.99892548e-01 -1.34943647e-02 -5.72669627e-03 4.24927724e+02] [ 1.34961576e-02 9.99908885e-01 2.74541588e-04 -2.12416294e+01] [ 5.72246972e-03 -3.51800483e-04 9.99983565e-01 2.23545533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.98071405700006 meters Centerline goodness : 0.986205 with order 1 Centerline is valid? [True, True] Translation: X:424.99, Y:-21.24, Z:2.24 [[ 9.99836394e-01 -1.71578157e-02 -5.72667705e-03 4.24990006e+02] [ 1.71596707e-02 9.99852724e-01 2.74941915e-04 -2.12396083e+01] [ 5.72111625e-03 -3.73164825e-04 9.99983565e-01 2.23731394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.04071405700006 meters Centerline goodness : 0.986543 with order 1 Centerline is valid? [True, True] Translation: X:425.05, Y:-21.24, Z:2.24 [[ 9.99722282e-01 -2.28596844e-02 -5.72665725e-03 4.25051231e+02] [ 2.28616349e-02 9.99738601e-01 2.75353788e-04 -2.12387275e+01] [ 5.71886580e-03 -4.06198064e-04 9.99983565e-01 2.24030452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.10071405700006 meters Centerline goodness : 0.987076 with order 1 Centerline is valid? [True, True] Translation: X:425.11, Y:-21.24, Z:2.24 [[ 9.99556865e-01 -2.92109557e-02 -5.72659365e-03 4.25112967e+02] [ 2.92130173e-02 9.99573170e-01 2.76670170e-04 -2.12380145e+01] [ 5.71606757e-03 -4.43838648e-04 9.99983565e-01 2.24211195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.16071405700006 meters Centerline goodness : 0.987507 with order 1 Centerline is valid? [True, True] Translation: X:425.17, Y:-21.24, Z:2.24 [[ 9.99411854e-01 -3.38105434e-02 -5.72657902e-03 4.25174422e+02] [ 3.38126817e-02 9.99428149e-01 2.76972606e-04 -2.12381569e+01] [ 5.71393968e-03 -4.70440700e-04 9.99983565e-01 2.24363929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.22071405700007 meters Centerline goodness : 0.987052 with order 1 Centerline is valid? [True, True] Translation: X:425.24, Y:-21.24, Z:2.25 [[ 9.99310149e-01 -3.66937782e-02 -5.72656443e-03 4.25237943e+02] [ 3.66959653e-02 9.99326438e-01 2.77273950e-04 -2.12385275e+01] [ 5.71253300e-03 -4.87224481e-04 9.99983565e-01 2.24580976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.28071405700007 meters Centerline goodness : 0.987885 with order 1 Centerline is valid? [True, True] Translation: X:425.30, Y:-21.24, Z:2.25 [[ 9.99280548e-01 -3.74912500e-02 -5.72653448e-03 4.25300928e+02] [ 3.74934535e-02 9.99296835e-01 2.77891078e-04 -2.12407187e+01] [ 5.71208930e-03 -4.92398703e-04 9.99983565e-01 2.24680265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.34071405700007 meters Centerline goodness : 0.987343 with order 1 Centerline is valid? [True, True] Translation: X:425.36, Y:-21.24, Z:2.25 [[ 9.99358661e-01 -3.53478873e-02 -5.72650484e-03 4.25363593e+02] [ 3.53500594e-02 9.99374953e-01 2.78500606e-04 -2.12416630e+01] [ 5.71308109e-03 -4.80754279e-04 9.99983565e-01 2.24706559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4007140570001 meters Centerline goodness : 0.985312 with order 1 Centerline is valid? [True, True] Translation: X:425.43, Y:-21.24, Z:2.25 [[ 9.99480980e-01 -3.17013996e-02 -5.72647512e-03 4.25427057e+02] [ 3.17035157e-02 9.99497278e-01 2.79110382e-04 -2.12412180e+01] [ 5.71474811e-03 -4.60514912e-04 9.99983565e-01 2.24774849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4607140570001 meters Centerline goodness : 0.985057 with order 1 Centerline is valid? [True, True] Translation: X:425.49, Y:-21.24, Z:2.25 [[ 9.99588808e-01 -2.80966788e-02 -5.72644545e-03 4.25489359e+02] [ 2.80987396e-02 9.99605113e-01 2.79717686e-04 -2.12427679e+01] [ 5.71632502e-03 -4.40508568e-04 9.99983565e-01 2.24699819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5207140570001 meters Centerline goodness : 0.986299 with order 1 Centerline is valid? [True, True] Translation: X:425.55, Y:-21.24, Z:2.25 [[ 9.99570361e-01 -2.87454637e-02 -5.72642575e-03 4.25552147e+02] [ 2.87475374e-02 9.99586665e-01 2.80120519e-04 -2.12351142e+01] [ 5.71600662e-03 -4.44620806e-04 9.99983565e-01 2.24924991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5807140570001 meters Centerline goodness : 0.985404 with order 1 Centerline is valid? [True, True] Translation: X:425.61, Y:-21.23, Z:2.25 [[ 9.99673399e-01 -2.49059064e-02 -5.72640363e-03 4.25614382e+02] [ 2.49079200e-02 9.99689710e-01 2.80571863e-04 -2.12295788e+01] [ 5.71763889e-03 -4.23113031e-04 9.99983565e-01 2.25113086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.6407140570001 meters Centerline goodness : 0.984980 with order 1 Centerline is valid? [True, True] Translation: X:425.68, Y:-21.23, Z:2.25 [[ 9.99768908e-01 -2.07204939e-02 -5.72638065e-03 4.25675694e+02] [ 2.07224418e-02 9.99785228e-01 2.81040123e-04 -2.12287722e+01] [ 5.71932749e-03 -3.99639767e-04 9.99983565e-01 2.25261653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.700714057 meters Centerline goodness : 0.985086 with order 1 Centerline is valid? [True, True] Translation: X:425.74, Y:-21.23, Z:2.25 [[ 9.99761011e-01 -2.10981014e-02 -5.72636337e-03 4.25738408e+02] [ 2.11000575e-02 9.99777329e-01 2.81391894e-04 -2.12268018e+01] [ 5.71915144e-03 -4.02151241e-04 9.99983565e-01 2.25201312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.76071405700003 meters Centerline goodness : 0.986086 with order 1 Centerline is valid? [True, True] Translation: X:425.80, Y:-21.23, Z:2.25 [[ 9.99763223e-01 -2.09930426e-02 -5.72634012e-03 4.25799145e+02] [ 2.09949996e-02 9.99779541e-01 2.81864123e-04 -2.12275461e+01] [ 5.71916051e-03 -4.02021893e-04 9.99983565e-01 2.25105627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.82071405700003 meters Centerline goodness : 0.985707 with order 1 Centerline is valid? [True, True] Translation: X:425.86, Y:-21.23, Z:2.25 [[ 9.99766964e-01 -2.08140964e-02 -5.72632288e-03 4.25859772e+02] [ 2.08160526e-02 9.99783283e-01 2.82213915e-04 -2.12314311e+01] [ 5.71920786e-03 -4.01347588e-04 9.99983565e-01 2.24850809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.88071405700003 meters Centerline goodness : 0.981195 with order 1 Centerline is valid? [True, True] Translation: X:425.92, Y:-21.23, Z:2.25 [[ 9.99731903e-01 -2.24350522e-02 -5.72630642e-03 4.25921785e+02] [ 2.24370367e-02 9.99748218e-01 2.82547615e-04 -2.12318133e+01] [ 5.71852567e-03 -4.10953212e-04 9.99983565e-01 2.24870728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.94071405700004 meters Centerline goodness : 0.978485 with order 1 Centerline is valid? [True, True] Translation: X:425.98, Y:-21.24, Z:2.25 [[ 9.99801716e-01 -1.90719396e-02 -5.72627418e-03 4.25983922e+02] [ 1.90738729e-02 9.99818037e-01 2.83199391e-04 -2.12359311e+01] [ 5.71983105e-03 -3.92365463e-04 9.99983565e-01 2.25367785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.00071405700004 meters Centerline goodness : 0.987036 with order 1 Centerline is valid? [True, True] Translation: X:426.04, Y:-21.24, Z:2.26 [[ 9.99899757e-01 -1.29493848e-02 -5.72624088e-03 4.26044917e+02] [ 1.29512220e-02 9.99916089e-01 2.83871115e-04 -2.12436999e+01] [ 5.72208443e-03 -3.58004476e-04 9.99983565e-01 2.25539983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.06071405700004 meters Centerline goodness : 0.986000 with order 1 Centerline is valid? [True, True] Translation: X:426.11, Y:-21.25, Z:2.26 [[ 9.99915317e-01 -1.16862666e-02 -5.72622080e-03 4.26106819e+02] [ 1.16880854e-02 9.99931652e-01 2.84275647e-04 -2.12456228e+01] [ 5.72250730e-03 -3.51180132e-04 9.99983565e-01 2.25522104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.12071405700004 meters Centerline goodness : 0.984883 with order 1 Centerline is valid? [True, True] Translation: X:426.17, Y:-21.25, Z:2.26 [[ 9.99968169e-01 -5.55629675e-03 -5.72619765e-03 4.26169040e+02] [ 5.55801811e-03 9.99984514e-01 2.84741207e-04 -2.12524270e+01] [ 5.72452687e-03 -3.16558453e-04 9.99983565e-01 2.25553002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.18071405700005 meters Centerline goodness : 0.984886 with order 1 Centerline is valid? [True, True] Translation: X:426.23, Y:-21.26, Z:2.26 [[ 9.99982389e-01 -1.55965874e-03 -5.72617395e-03 4.26229499e+02] [ 1.56131748e-03 9.99998740e-01 2.85217110e-04 -2.12598378e+01] [ 5.72572189e-03 -2.94152463e-04 9.99983565e-01 2.25508548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.24071405700005 meters Centerline goodness : 0.984547 with order 1 Centerline is valid? [True, True] Translation: X:426.29, Y:-21.27, Z:2.26 [[ 9.99975957e-01 3.91117017e-03 -5.72617395e-03 4.26288060e+02] [-3.90960092e-03 9.99992317e-01 2.85217110e-04 -2.12675709e+01] [ 5.72724548e-03 -2.62823198e-04 9.99983565e-01 2.25582035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.30071405700005 meters Centerline goodness : 0.980233 with order 1 Centerline is valid? [True, True] Translation: X:426.35, Y:-21.29, Z:2.25 [[ 9.99851311e-01 1.62655146e-02 -5.72619249e-03 4.26346357e+02] [-1.62641498e-02 9.99867689e-01 2.84844277e-04 -2.12856987e+01] [ 5.73006800e-03 -1.91670271e-04 9.99983565e-01 2.25097495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.36071405700005 meters Centerline goodness : 0.978232 with order 1 Centerline is valid? [True, True] Translation: X:426.41, Y:-21.27, Z:2.26 [[ 9.99983138e-01 9.66624213e-04 -5.72628011e-03 4.26406100e+02] [-9.65019048e-04 9.99999494e-01 2.83071854e-04 -2.12738505e+01] [ 5.72655084e-03 -2.77541111e-04 9.99983565e-01 2.25595369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.42071405700005 meters Centerline goodness : 0.978682 with order 1 Centerline is valid? [True, True] Translation: X:426.46, Y:-21.28, Z:2.26 [[ 9.99982435e-01 1.52949007e-03 -5.72630135e-03 4.26463904e+02] [-1.52789657e-03 9.99998793e-01 2.82641529e-04 -2.12802019e+01] [ 5.72672674e-03 -2.73887368e-04 9.99983565e-01 2.25767199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.48071405700006 meters Centerline goodness : 0.978248 with order 1 Centerline is valid? [True, True] Translation: X:426.52, Y:-21.29, Z:2.26 [[ 9.99976388e-01 -3.79889499e-03 -5.72633669e-03 4.26522716e+02] [ 3.80057153e-03 9.99992738e-01 2.81923683e-04 -2.12889170e+01] [ 5.72522411e-03 -3.03680379e-04 9.99983565e-01 2.25776232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.54071405700006 meters Centerline goodness : 0.985559 with order 1 Centerline is valid? [True, True] Translation: X:426.58, Y:-21.30, Z:2.26 [[ 9.99965770e-01 -5.97220045e-03 -5.72636438e-03 4.26581708e+02] [ 5.97390930e-03 9.99982116e-01 2.81360257e-04 -2.13008441e+01] [ 5.72458163e-03 -3.15559407e-04 9.99983565e-01 2.25698427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.60071405700006 meters Centerline goodness : 0.979459 with order 1 Centerline is valid? [True, True] Translation: X:426.64, Y:-21.31, Z:2.26 [[ 9.99708853e-01 -2.34396571e-02 -5.72637842e-03 4.26641882e+02] [ 2.34416496e-02 9.99725167e-01 2.81074051e-04 -2.13058445e+01] [ 5.71821635e-03 -4.15227973e-04 9.99983565e-01 2.25600623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.66071405700006 meters Centerline goodness : 0.987116 with order 1 Centerline is valid? [True, True] Translation: X:426.70, Y:-21.31, Z:2.26 [[ 9.99661090e-01 -2.53951536e-02 -5.72637080e-03 4.26702725e+02] [ 2.53971789e-02 9.99677400e-01 2.81229301e-04 -2.13130983e+01] [ 5.71738161e-03 -4.26567653e-04 9.99983565e-01 2.25873524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.72071405700007 meters Centerline goodness : 0.979982 with order 1 Centerline is valid? [True, True] Translation: X:426.76, Y:-21.32, Z:2.26 [[ 9.99535186e-01 -2.99436281e-02 -5.72634770e-03 4.26764791e+02] [ 2.99457303e-02 9.99551486e-01 2.81698806e-04 -2.13207989e+01] [ 5.71534427e-03 -4.53047533e-04 9.99983565e-01 2.25728563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.78071405700007 meters Centerline goodness : 0.988890 with order 1 Centerline is valid? [True, True] Translation: X:426.83, Y:-21.33, Z:2.26 [[ 9.99672072e-01 -2.49591243e-02 -5.72630566e-03 4.26826644e+02] [ 2.49611500e-02 9.99688382e-01 2.82550795e-04 -2.13304421e+01] [ 5.71746902e-03 -4.25393313e-04 9.99983565e-01 2.25702938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.84071405700007 meters Centerline goodness : 0.988485 with order 1 Centerline is valid? [True, True] Translation: X:426.89, Y:-21.34, Z:2.26 [[ 9.99757505e-01 -2.12636269e-02 -5.72627579e-03 4.26888342e+02] [ 2.12655957e-02 9.99773822e-01 2.83155008e-04 -2.13352189e+01] [ 5.71895972e-03 -4.04859010e-04 9.99983565e-01 2.25964916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9007140570001 meters Centerline goodness : 0.989717 with order 1 Centerline is valid? [True, True] Translation: X:426.95, Y:-21.34, Z:2.26 [[ 9.99839629e-01 -1.69683745e-02 -5.72624537e-03 4.26950604e+02] [ 1.69702767e-02 9.99855954e-01 2.83768729e-04 -2.13416945e+01] [ 5.72060544e-03 -3.80899189e-04 9.99983565e-01 2.26140896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9607140570001 meters Centerline goodness : 0.989906 with order 1 Centerline is valid? [True, True] Translation: X:427.01, Y:-21.34, Z:2.26 [[ 9.99780782e-01 -2.01394759e-02 -5.72622130e-03 4.27012680e+02] [ 2.01414327e-02 9.99797100e-01 2.84253636e-04 -2.13445965e+01] [ 5.71933473e-03 -3.99525624e-04 9.99983565e-01 2.25865456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0207140570001 meters Centerline goodness : 0.991328 with order 1 Centerline is valid? [True, True] Translation: X:427.07, Y:-21.35, Z:2.26 [[ 9.99867407e-01 -1.52439640e-02 -5.72619581e-03 4.27073737e+02] [ 1.52458437e-02 9.99883735e-01 2.84766150e-04 -2.13515461e+01] [ 5.72118909e-03 -3.72029079e-04 9.99983565e-01 2.26183589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0807140570001 meters Centerline goodness : 0.988392 with order 1 Centerline is valid? [True, True] Translation: X:427.13, Y:-21.37, Z:2.25 [[ 9.99972886e-01 -4.63006668e-03 -5.72617664e-03 4.27134538e+02] [ 4.63177523e-03 9.99989233e-01 2.85151225e-04 -2.13696777e+01] [ 5.72479471e-03 -3.11665857e-04 9.99983565e-01 2.25329106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.1407140570001 meters Centerline goodness : 0.988844 with order 1 Centerline is valid? [True, True] Translation: X:427.19, Y:-21.38, Z:2.25 [[ 9.99975273e-01 -4.08229301e-03 -5.72616492e-03 4.27193687e+02] [ 4.08399395e-03 9.99991620e-01 2.85386395e-04 -2.13755456e+01] [ 5.72495190e-03 -3.08764961e-04 9.99983565e-01 2.25329242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.200714057 meters Centerline goodness : 0.988873 with order 1 Centerline is valid? [True, True] Translation: X:427.25, Y:-21.38, Z:2.26 [[ 9.99961219e-01 -6.69111838e-03 -5.72617522e-03 4.27253667e+02] [ 6.69286079e-03 9.99977562e-01 2.85179460e-04 -2.13776135e+01] [ 5.72413857e-03 -3.23492894e-04 9.99983565e-01 2.25841018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.26071405700003 meters Centerline goodness : 0.989265 with order 1 Centerline is valid? [True, True] Translation: X:427.31, Y:-21.38, Z:2.26 [[ 9.99954170e-01 -7.67263542e-03 -5.72618039e-03 4.27313474e+02] [ 7.67439327e-03 9.99970511e-01 2.85075663e-04 -2.13833843e+01] [ 5.72382425e-03 -3.29007558e-04 9.99983565e-01 2.25621665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.32071405700003 meters Centerline goodness : 0.988656 with order 1 Centerline is valid? [True, True] Translation: X:427.37, Y:-21.39, Z:2.25 [[ 9.99956101e-01 -7.41660848e-03 -5.72618039e-03 4.27374473e+02] [ 7.41836215e-03 9.99972443e-01 2.85075663e-04 -2.13879520e+01] [ 5.72390830e-03 -3.27542028e-04 9.99983565e-01 2.25460083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.38071405700003 meters Centerline goodness : 0.989517 with order 1 Centerline is valid? [True, True] Translation: X:427.44, Y:-21.39, Z:2.25 [[ 9.99949805e-01 -8.22179221e-03 -5.72617016e-03 4.27435113e+02] [ 8.22356021e-03 9.99966145e-01 2.85281085e-04 -2.13907984e+01] [ 5.72363078e-03 -3.32356270e-04 9.99983565e-01 2.25391407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.44071405700004 meters Centerline goodness : 0.989383 with order 1 Centerline is valid? [True, True] Translation: X:427.50, Y:-21.39, Z:2.26 [[ 9.99960652e-01 -6.77530048e-03 -5.72617016e-03 4.27495675e+02] [ 6.77704485e-03 9.99976995e-01 2.85281085e-04 -2.13914660e+01] [ 5.72410556e-03 -3.24076372e-04 9.99983565e-01 2.25692549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.50071405700004 meters Centerline goodness : 0.993521 with order 1 Centerline is valid? [True, True] Translation: X:427.56, Y:-21.38, Z:2.26 [[ 9.99884621e-01 -1.40696982e-02 -5.72616503e-03 4.27556939e+02] [ 1.40715623e-02 9.99900950e-01 2.85383877e-04 -2.13823900e+01] [ 5.72158259e-03 -3.65927038e-04 9.99983565e-01 2.25949732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.56071405700004 meters Centerline goodness : 0.990716 with order 1 Centerline is valid? [True, True] Translation: X:427.62, Y:-21.39, Z:2.25 [[ 9.99967656e-01 -5.64776028e-03 -5.72616503e-03 4.27618123e+02] [ 5.64948680e-03 9.99984001e-01 2.85383877e-04 -2.13939883e+01] [ 5.72446164e-03 -3.17724541e-04 9.99983565e-01 2.25098862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.62071405700004 meters Centerline goodness : 0.990729 with order 1 Centerline is valid? [True, True] Translation: X:427.68, Y:-21.40, Z:2.25 [[ 9.99957641e-01 -7.20608676e-03 -5.72614916e-03 4.27678267e+02] [ 7.20784056e-03 9.99973982e-01 2.85701952e-04 -2.13957793e+01] [ 5.72394139e-03 -3.26963020e-04 9.99983565e-01 2.24913382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.68071405700005 meters Centerline goodness : 0.991106 with order 1 Centerline is valid? [True, True] Translation: X:427.74, Y:-21.39, Z:2.25 [[ 9.99858559e-01 -1.58136821e-02 -5.72614916e-03 4.27738859e+02] [ 1.58155765e-02 9.99874885e-01 2.85701952e-04 -2.13939012e+01] [ 5.72091474e-03 -3.76223893e-04 9.99983565e-01 2.25377768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.74071405700005 meters Centerline goodness : 0.991124 with order 1 Centerline is valid? [True, True] Translation: X:427.80, Y:-21.39, Z:2.26 [[ 9.99791091e-01 -1.96210557e-02 -5.72614410e-03 4.27801240e+02] [ 1.96230129e-02 9.99807409e-01 2.85803354e-04 -2.13938743e+01] [ 5.71943354e-03 -3.98107846e-04 9.99983565e-01 2.25831883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.80071405700005 meters Centerline goodness : 0.990980 with order 1 Centerline is valid? [True, True] Translation: X:427.86, Y:-21.39, Z:2.26 [[ 9.99751022e-01 -2.15662878e-02 -5.72612342e-03 4.27863197e+02] [ 2.15682791e-02 9.99767337e-01 2.86217113e-04 -2.13928420e+01] [ 5.71861852e-03 -4.09648479e-04 9.99983565e-01 2.25692332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.86071405700005 meters Centerline goodness : 0.990467 with order 1 Centerline is valid? [True, True] Translation: X:427.92, Y:-21.39, Z:2.26 [[ 9.99727893e-01 -2.26131019e-02 -5.72610142e-03 4.27924962e+02] [ 2.26151127e-02 9.99744205e-01 2.86656527e-04 -2.13925286e+01] [ 5.71815452e-03 -4.16074954e-04 9.99983565e-01 2.25574192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.92071405700005 meters Centerline goodness : 0.989576 with order 1 Centerline is valid? [True, True] Translation: X:427.99, Y:-21.39, Z:2.25 [[ 9.99850510e-01 -1.63146946e-02 -5.72607419e-03 4.27986891e+02] [ 1.63166057e-02 9.99866834e-01 2.87199455e-04 -2.13922702e+01] [ 5.72062610e-03 -3.80586617e-04 9.99983565e-01 2.25387405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.98071405700006 meters Centerline goodness : 0.989155 with order 1 Centerline is valid? [True, True] Translation: X:428.05, Y:-21.39, Z:2.26 [[ 9.99903056e-01 -1.26921365e-02 -5.72605215e-03 4.28048152e+02] [ 1.26939910e-02 9.99919387e-01 2.87638273e-04 -2.13866663e+01] [ 5.72193981e-03 -3.60296843e-04 9.99983565e-01 2.25684706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.04071405700006 meters Centerline goodness : 0.988763 with order 1 Centerline is valid? [True, True] Translation: X:428.11, Y:-21.39, Z:2.26 [[ 9.99937560e-01 -9.59626216e-03 -5.72603592e-03 4.28110781e+02] [ 9.59806791e-03 9.99953896e-01 2.87960906e-04 -2.13854654e+01] [ 5.72300858e-03 -3.42901807e-04 9.99983565e-01 2.25865921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.10071405700006 meters Centerline goodness : 0.987790 with order 1 Centerline is valid? [True, True] Translation: X:428.17, Y:-21.39, Z:2.26 [[ 9.99943368e-01 -8.97066660e-03 -5.72601379e-03 4.28173142e+02] [ 8.97246463e-03 9.99959705e-01 2.88400313e-04 -2.13856913e+01] [ 5.72319592e-03 -3.39760437e-04 9.99983565e-01 2.25795272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.16071405700006 meters Centerline goodness : 0.987302 with order 1 Centerline is valid? [True, True] Translation: X:428.23, Y:-21.39, Z:2.25 [[ 9.99892426e-01 -1.35036608e-02 -5.72599168e-03 4.28233896e+02] [ 1.35055354e-02 9.99908754e-01 2.88838630e-04 -2.13851030e+01] [ 5.72156883e-03 -3.66140142e-04 9.99983565e-01 2.25341134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.22071405700007 meters Centerline goodness : 0.987623 with order 1 Centerline is valid? [True, True] Translation: X:428.30, Y:-21.39, Z:2.25 [[ 9.99845348e-01 -1.66280956e-02 -5.72595351e-03 4.28296632e+02] [ 1.66300255e-02 9.99861670e-01 2.89593465e-04 -2.13855195e+01] [ 5.72034604e-03 -3.84771431e-04 9.99983565e-01 2.25389549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.28071405700007 meters Centerline goodness : 0.986607 with order 1 Centerline is valid? [True, True] Translation: X:428.36, Y:-21.38, Z:2.26 [[ 9.99849725e-01 -1.63627752e-02 -5.72593127e-03 4.28358887e+02] [ 1.63647033e-02 9.99866047e-01 2.90032419e-04 -2.13835112e+01] [ 5.72041853e-03 -3.83692001e-04 9.99983565e-01 2.25843313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.34071405700007 meters Centerline goodness : 0.986673 with order 1 Centerline is valid? [True, True] Translation: X:428.42, Y:-21.38, Z:2.26 [[ 9.99828357e-01 -1.76201699e-02 -5.72590889e-03 4.28420441e+02] [ 1.76221210e-02 9.99844676e-01 2.90473559e-04 -2.13818241e+01] [ 5.71990133e-03 -3.91326361e-04 9.99983565e-01 2.26309279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4007140570001 meters Centerline goodness : 0.987075 with order 1 Centerline is valid? [True, True] Translation: X:428.48, Y:-21.38, Z:2.26 [[ 9.99855084e-01 -1.60319952e-02 -5.72589238e-03 4.28481732e+02] [ 1.60339223e-02 9.99871406e-01 2.90798697e-04 -2.13794103e+01] [ 5.72049398e-03 -3.82565069e-04 9.99983565e-01 2.26367983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4607140570001 meters Centerline goodness : 0.987235 with order 1 Centerline is valid? [True, True] Translation: X:428.54, Y:-21.38, Z:2.26 [[ 9.99893297e-01 -1.34390699e-02 -5.72585943e-03 4.28543963e+02] [ 1.34409583e-02 9.99909624e-01 2.91445976e-04 -2.13789079e+01] [ 5.72142519e-03 -3.68375916e-04 9.99983565e-01 2.26473382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5207140570001 meters Centerline goodness : 0.986299 with order 1 Centerline is valid? [True, True] Translation: X:428.60, Y:-21.38, Z:2.27 [[ 9.99920014e-01 -1.12774571e-02 -5.72583718e-03 4.28604956e+02] [ 1.12793127e-02 9.99936344e-01 2.91882613e-04 -2.13794917e+01] [ 5.72218100e-03 -3.56442775e-04 9.99983565e-01 2.26684071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5807140570001 meters Centerline goodness : 0.986389 with order 1 Centerline is valid? [True, True] Translation: X:428.67, Y:-21.38, Z:2.27 [[ 9.99948876e-01 -8.33430097e-03 -5.72582076e-03 4.28666636e+02] [ 8.33611032e-03 9.99965211e-01 2.92204348e-04 -2.13786330e+01] [ 5.72318624e-03 -3.39920483e-04 9.99983565e-01 2.26531878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.6407140570001 meters Centerline goodness : 0.986674 with order 1 Centerline is valid? [True, True] Translation: X:428.73, Y:-21.38, Z:2.26 [[ 9.99953328e-01 -7.78186092e-03 -5.72580489e-03 4.28728229e+02] [ 7.78366302e-03 9.99969664e-01 2.92514971e-04 -2.13809144e+01] [ 5.72335488e-03 -3.37069054e-04 9.99983565e-01 2.26464005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.700714057 meters Centerline goodness : 0.987342 with order 1 Centerline is valid? [True, True] Translation: X:428.79, Y:-21.38, Z:2.26 [[ 9.99951141e-01 -8.05795372e-03 -5.72579428e-03 4.28790023e+02] [ 8.05976151e-03 9.99967477e-01 2.92722369e-04 -2.13815793e+01] [ 5.72324932e-03 -3.38856603e-04 9.99983565e-01 2.26195524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.76071405700003 meters Centerline goodness : 0.986809 with order 1 Centerline is valid? [True, True] Translation: X:428.85, Y:-21.38, Z:2.26 [[ 9.99926246e-01 -1.07106328e-02 -5.72578337e-03 4.28851868e+02] [ 1.07124851e-02 9.99942577e-01 2.92935762e-04 -2.13831875e+01] [ 5.72231705e-03 -3.54251526e-04 9.99983565e-01 2.26226719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.82071405700003 meters Centerline goodness : 0.987050 with order 1 Centerline is valid? [True, True] Translation: X:428.91, Y:-21.39, Z:2.27 [[ 9.99901191e-01 -1.28383652e-02 -5.72577269e-03 4.28913129e+02] [ 1.28402534e-02 9.99917518e-01 2.93144335e-04 -2.13862333e+01] [ 5.72153692e-03 -3.66635743e-04 9.99983565e-01 2.26569925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.88071405700003 meters Centerline goodness : 0.987701 with order 1 Centerline is valid? [True, True] Translation: X:428.98, Y:-21.39, Z:2.26 [[ 9.99838154e-01 -1.70552540e-02 -5.72575677e-03 4.28976059e+02] [ 1.70572129e-02 9.99854472e-01 2.93454955e-04 -2.13888002e+01] [ 5.71991856e-03 -3.91072912e-04 9.99983565e-01 2.26047007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.94071405700004 meters Centerline goodness : 0.988149 with order 1 Centerline is valid? [True, True] Translation: X:429.04, Y:-21.39, Z:2.26 [[ 9.99873808e-01 -1.48183904e-02 -5.72567060e-03 4.29037750e+02] [ 1.48203223e-02 9.99890129e-01 2.95126741e-04 -2.13916311e+01] [ 5.72066821e-03 -3.79945782e-04 9.99983565e-01 2.26402650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.00071405700004 meters Centerline goodness : 0.987680 with order 1 Centerline is valid? [True, True] Translation: X:429.10, Y:-21.40, Z:2.26 [[ 9.99909950e-01 -1.21370775e-02 -5.72564874e-03 4.29099580e+02] [ 1.21389681e-02 9.99926276e-01 2.95550222e-04 -2.13965305e+01] [ 5.72163951e-03 -3.65027075e-04 9.99983565e-01 2.26321204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.06071405700004 meters Centerline goodness : 0.987119 with order 1 Centerline is valid? [True, True] Translation: X:429.16, Y:-21.40, Z:2.26 [[ 9.99959281e-01 -6.97521194e-03 -5.72562686e-03 4.29161456e+02] [ 6.97702059e-03 9.99975617e-01 2.95973518e-04 -2.13997801e+01] [ 5.72342277e-03 -3.35909283e-04 9.99983565e-01 2.26030001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.12071405700004 meters Centerline goodness : 0.987322 with order 1 Centerline is valid? [True, True] Translation: X:429.22, Y:-21.40, Z:2.26 [[ 9.99979480e-01 -2.87341870e-03 -5.72560424e-03 4.29221902e+02] [ 2.87516282e-03 9.99995823e-01 2.96410333e-04 -2.14031385e+01] [ 5.72472862e-03 -3.12866295e-04 9.99983565e-01 2.26035600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.18071405700005 meters Centerline goodness : 0.987621 with order 1 Centerline is valid? [True, True] Translation: X:429.28, Y:-21.41, Z:2.26 [[ 9.99970228e-01 5.17299122e-03 -5.72559873e-03 4.29281508e+02] [-5.17137804e-03 9.99986584e-01 2.96516753e-04 -2.14074939e+01] [ 5.72705580e-03 -2.66898690e-04 9.99983565e-01 2.25536063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.24071405700005 meters Centerline goodness : 0.986217 with order 1 Centerline is valid? [True, True] Translation: X:429.34, Y:-21.41, Z:2.25 [[ 9.99938821e-01 9.46426819e-03 -5.72561020e-03 4.29339790e+02] [-9.46272649e-03 9.99955184e-01 2.96295054e-04 -2.14104066e+01] [ 5.72815782e-03 -2.42097043e-04 9.99983565e-01 2.25149697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.30071405700005 meters Centerline goodness : 0.985915 with order 1 Centerline is valid? [True, True] Translation: X:429.40, Y:-21.41, Z:2.26 [[ 9.99923572e-01 1.09574820e-02 -5.72563852e-03 4.29397829e+02] [-1.09559679e-02 9.99939938e-01 2.95746966e-04 -2.14135209e+01] [ 5.72853526e-03 -2.32994451e-04 9.99983565e-01 2.25740804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.36071405700005 meters Centerline goodness : 0.986004 with order 1 Centerline is valid? [True, True] Translation: X:429.46, Y:-21.42, Z:2.25 [[ 9.99912403e-01 1.19332558e-02 -5.72566078e-03 4.29456794e+02] [-1.19317601e-02 9.99928770e-01 2.95315235e-04 -2.14180558e+01] [ 5.72877702e-03 -2.26972155e-04 9.99983565e-01 2.25299197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.42071405700005 meters Centerline goodness : 0.985523 with order 1 Centerline is valid? [True, True] Translation: X:429.51, Y:-21.42, Z:2.25 [[ 9.99922336e-01 1.10697373e-02 -5.72568328e-03 4.29514383e+02] [-1.10682299e-02 9.99938702e-01 2.94878469e-04 -2.14222056e+01] [ 5.72859653e-03 -2.31482389e-04 9.99983565e-01 2.25326314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.48071405700006 meters Centerline goodness : 0.985100 with order 1 Centerline is valid? [True, True] Translation: X:429.57, Y:-21.43, Z:2.25 [[ 9.99956989e-01 7.29630250e-03 -5.72571087e-03 4.29573387e+02] [-7.29473649e-03 9.99973350e-01 2.94341668e-04 -2.14278548e+01] [ 5.72770589e-03 -2.52561456e-04 9.99983565e-01 2.24817206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.54071405700006 meters Centerline goodness : 0.985795 with order 1 Centerline is valid? [True, True] Translation: X:429.63, Y:-21.43, Z:2.25 [[ 9.99959134e-01 6.99619492e-03 -5.72573184e-03 4.29631105e+02] [-6.99462633e-03 9.99975494e-01 2.93933276e-04 -2.14323988e+01] [ 5.72764794e-03 -2.53871909e-04 9.99983565e-01 2.24783056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.60071405700006 meters Centerline goodness : 0.986180 with order 1 Centerline is valid? [True, True] Translation: X:429.69, Y:-21.43, Z:2.25 [[ 9.99956610e-01 7.34806582e-03 -5.72576362e-03 4.29690146e+02] [-7.34650654e-03 9.99972971e-01 2.93312789e-04 -2.14342936e+01] [ 5.72776414e-03 -2.51235702e-04 9.99983565e-01 2.25434028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.66071405700006 meters Centerline goodness : 0.985769 with order 1 Centerline is valid? [True, True] Translation: X:429.75, Y:-21.44, Z:2.26 [[ 9.99974670e-01 4.22797084e-03 -5.72578506e-03 4.29748637e+02] [-4.22636291e-03 9.99991026e-01 2.92893722e-04 -2.14387658e+01] [ 5.72697202e-03 -2.68687057e-04 9.99983565e-01 2.25827751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.72071405700007 meters Centerline goodness : 0.985749 with order 1 Centerline is valid? [True, True] Translation: X:429.81, Y:-21.44, Z:2.26 [[ 9.99978546e-01 3.18148170e-03 -5.72580627e-03 4.29806964e+02] [-3.17985903e-03 9.99994901e-01 2.92478537e-04 -2.14432188e+01] [ 5.72670759e-03 -2.74265006e-04 9.99983565e-01 2.25861890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.78071405700007 meters Centerline goodness : 0.984539 with order 1 Centerline is valid? [True, True] Translation: X:429.87, Y:-21.45, Z:2.26 [[ 9.99982403e-01 1.55186783e-03 -5.72582746e-03 4.29865833e+02] [-1.55022088e-03 9.99998756e-01 2.92062996e-04 -2.14490382e+01] [ 5.72627358e-03 -2.83181559e-04 9.99983565e-01 2.25745430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.84071405700007 meters Centerline goodness : 0.986460 with order 1 Centerline is valid? [True, True] Translation: X:429.92, Y:-21.45, Z:2.26 [[ 9.99983607e-01 1.39829109e-05 -5.72584834e-03 4.29924010e+02] [-1.23131506e-05 9.99999957e-01 2.91653134e-04 -2.14548304e+01] [ 5.72585217e-03 -2.91577850e-04 9.99983565e-01 2.25547291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9007140570001 meters Centerline goodness : 0.985765 with order 1 Centerline is valid? [True, True] Translation: X:429.98, Y:-21.46, Z:2.25 [[ 9.99983594e-01 1.58636693e-04 -5.72586936e-03 4.29982234e+02] [-1.56971658e-04 9.99999945e-01 2.91239880e-04 -2.14598581e+01] [ 5.72591525e-03 -2.90336303e-04 9.99983565e-01 2.25403590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9607140570001 meters Centerline goodness : 0.986111 with order 1 Centerline is valid? [True, True] Translation: X:430.04, Y:-21.46, Z:2.26 [[ 9.99981414e-01 -2.09436283e-03 -5.72589061e-03 4.30040342e+02] [ 2.09606231e-03 9.99997761e-01 2.90821434e-04 -2.14621666e+01] [ 5.72526871e-03 -3.02817852e-04 9.99983565e-01 2.25905131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0207140570001 meters Centerline goodness : 0.986474 with order 1 Centerline is valid? [True, True] Translation: X:430.10, Y:-21.47, Z:2.26 [[ 9.99980328e-01 -2.56077599e-03 -5.72591859e-03 4.30099625e+02] [ 2.56247994e-03 9.99996675e-01 2.90269595e-04 -2.14651064e+01] [ 5.72515623e-03 -3.04936437e-04 9.99983565e-01 2.26143317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0807140570001 meters Centerline goodness : 0.987417 with order 1 Centerline is valid? [True, True] Translation: X:430.16, Y:-21.47, Z:2.26 [[ 9.99982144e-01 -1.71059694e-03 -5.72592971e-03 4.30158897e+02] [ 1.71228574e-03 9.99998492e-01 2.90049957e-04 -2.14687363e+01] [ 5.72542492e-03 -2.99849205e-04 9.99983565e-01 2.26242797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.1407140570001 meters Centerline goodness : 0.987280 with order 1 Centerline is valid? [True, True] Translation: X:430.22, Y:-21.47, Z:2.26 [[ 9.99976081e-01 -3.87955656e-03 -5.72594055e-03 4.30217042e+02] [ 3.88127959e-03 9.99992426e-01 2.89835939e-04 -2.14731274e+01] [ 5.72477274e-03 -3.12052983e-04 9.99983565e-01 2.26140824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.200714057 meters Centerline goodness : 0.986718 with order 1 Centerline is valid? [True, True] Translation: X:430.28, Y:-21.48, Z:2.26 [[ 9.99942848e-01 -9.02848159e-03 -5.72595662e-03 4.30277035e+02] [ 9.03028695e-03 9.99959184e-01 2.89517956e-04 -2.14772502e+01] [ 5.72310901e-03 -3.41208440e-04 9.99983565e-01 2.26463896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.26071405700003 meters Centerline goodness : 0.987119 with order 1 Centerline is valid? [True, True] Translation: X:430.34, Y:-21.48, Z:2.27 [[ 9.99882469e-01 -1.42218740e-02 -5.72596181e-03 4.30337785e+02] [ 1.42237636e-02 9.99898795e-01 2.89415380e-04 -2.14826688e+01] [ 5.72126629e-03 -3.70826092e-04 9.99983565e-01 2.26532340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.32071405700003 meters Centerline goodness : 0.987067 with order 1 Centerline is valid? [True, True] Translation: X:430.40, Y:-21.49, Z:2.27 [[ 9.99838170e-01 -1.70542624e-02 -5.72595145e-03 4.30400239e+02] [ 1.70561994e-02 9.99854491e-01 2.89620253e-04 -2.14885618e+01] [ 5.72017901e-03 -3.87236353e-04 9.99983565e-01 2.26743744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.38071405700003 meters Centerline goodness : 0.987166 with order 1 Centerline is valid? [True, True] Translation: X:430.46, Y:-21.50, Z:2.27 [[ 9.99858943e-01 -1.57895147e-02 -5.72593078e-03 4.30462171e+02] [ 1.57914334e-02 9.99875265e-01 2.90028196e-04 -2.14953678e+01] [ 5.72063716e-03 -3.80407939e-04 9.99983565e-01 2.26661284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.44071405700004 meters Centerline goodness : 0.987009 with order 1 Centerline is valid? [True, True] Translation: X:430.52, Y:-21.50, Z:2.27 [[ 9.99873841e-01 -1.48160899e-02 -5.72590878e-03 4.30522713e+02] [ 1.48179952e-02 9.99890165e-01 2.90461874e-04 -2.15004319e+01] [ 5.72097637e-03 -3.75271718e-04 9.99983565e-01 2.26772666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.50071405700004 meters Centerline goodness : 0.986590 with order 1 Centerline is valid? [True, True] Translation: X:430.58, Y:-21.51, Z:2.27 [[ 9.99875129e-01 -1.47288720e-02 -5.72589252e-03 4.30584898e+02] [ 1.47307777e-02 9.99891454e-01 2.90782200e-04 -2.15057033e+01] [ 5.72098810e-03 -3.75092740e-04 9.99983565e-01 2.26848987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.56071405700004 meters Centerline goodness : 0.987660 with order 1 Centerline is valid? [True, True] Translation: X:430.65, Y:-21.51, Z:2.27 [[ 9.99864645e-01 -1.54242355e-02 -5.72587035e-03 4.30646434e+02] [ 1.54261550e-02 9.99880967e-01 2.91218011e-04 -2.15089759e+01] [ 5.72069697e-03 -3.79506756e-04 9.99983565e-01 2.26998386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.62071405700004 meters Centerline goodness : 0.986810 with order 1 Centerline is valid? [True, True] Translation: X:430.71, Y:-21.51, Z:2.26 [[ 9.99782134e-01 -2.00723507e-02 -5.72585405e-03 4.30708015e+02] [ 2.00743479e-02 9.99798447e-01 2.91538195e-04 -2.15131713e+01] [ 5.71884813e-03 -4.06417465e-04 9.99983565e-01 2.26428746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.68071405700005 meters Centerline goodness : 0.986387 with order 1 Centerline is valid? [True, True] Translation: X:430.77, Y:-21.52, Z:2.27 [[ 9.99811351e-01 -1.85601133e-02 -5.72583849e-03 4.30769804e+02] [ 1.85620876e-02 9.99827667e-01 2.91843520e-04 -2.15158047e+01] [ 5.71943509e-03 -3.98071979e-04 9.99983565e-01 2.27001675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.74071405700005 meters Centerline goodness : 0.986122 with order 1 Centerline is valid? [True, True] Translation: X:430.83, Y:-21.52, Z:2.27 [[ 9.99849898e-01 -1.63522349e-02 -5.72581698e-03 4.30830504e+02] [ 1.63541755e-02 9.99866219e-01 2.92264815e-04 -2.15194483e+01] [ 5.72027179e-03 -3.85861962e-04 9.99983565e-01 2.26596662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.80071405700005 meters Centerline goodness : 0.986528 with order 1 Centerline is valid? [True, True] Translation: X:430.89, Y:-21.52, Z:2.27 [[ 9.99821908e-01 -1.79824467e-02 -5.72580105e-03 4.30892569e+02] [ 1.79844157e-02 9.99838225e-01 2.92576695e-04 -2.15176560e+01] [ 5.71961351e-03 -3.95499775e-04 9.99983565e-01 2.27143506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.86071405700005 meters Centerline goodness : 0.987164 with order 1 Centerline is valid? [True, True] Translation: X:430.96, Y:-21.52, Z:2.27 [[ 9.99818151e-01 -1.81900996e-02 -5.72578033e-03 4.30955199e+02] [ 1.81920743e-02 9.99834468e-01 2.92981491e-04 -2.15185693e+01] [ 5.71950317e-03 -3.97092034e-04 9.99983565e-01 2.27283120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.92071405700005 meters Centerline goodness : 0.985828 with order 1 Centerline is valid? [True, True] Translation: X:431.02, Y:-21.52, Z:2.27 [[ 9.99825843e-01 -1.77623074e-02 -5.72575899e-03 4.31016297e+02] [ 1.77642775e-02 9.99842160e-01 2.93398099e-04 -2.15198893e+01] [ 5.71964380e-03 -3.95060973e-04 9.99983565e-01 2.27121840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.98071405700006 meters Centerline goodness : 0.987429 with order 1 Centerline is valid? [True, True] Translation: X:431.08, Y:-21.52, Z:2.27 [[ 9.99804245e-01 -1.89390522e-02 -5.72574313e-03 4.31078124e+02] [ 1.89410433e-02 9.99820559e-01 2.93707140e-04 -2.15203651e+01] [ 5.71915317e-03 -4.02101194e-04 9.99983565e-01 2.26992246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.04071405700006 meters Centerline goodness : 0.986599 with order 1 Centerline is valid? [True, True] Translation: X:431.14, Y:-21.52, Z:2.27 [[ 9.99791865e-01 -1.95816873e-02 -5.72572170e-03 4.31139930e+02] [ 1.95836912e-02 9.99808178e-01 2.94124325e-04 -2.15203731e+01] [ 5.71886393e-03 -4.06193874e-04 9.99983565e-01 2.27080348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.10071405700006 meters Centerline goodness : 0.987872 with order 1 Centerline is valid? [True, True] Translation: X:431.20, Y:-21.52, Z:2.27 [[ 9.99746319e-01 -2.17833626e-02 -5.72569514e-03 4.31202904e+02] [ 2.17854054e-02 9.99762626e-01 2.94640525e-04 -2.15189222e+01] [ 5.71791775e-03 -4.19302370e-04 9.99983565e-01 2.27078655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.16071405700006 meters Centerline goodness : 0.988260 with order 1 Centerline is valid? [True, True] Translation: X:431.27, Y:-21.52, Z:2.27 [[ 9.99724200e-01 -2.27758613e-02 -5.72566344e-03 4.31265436e+02] [ 2.27779238e-02 9.99740506e-01 2.95255216e-04 -2.15192985e+01] [ 5.71745297e-03 -4.25592510e-04 9.99983565e-01 2.27036226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.22071405700007 meters Centerline goodness : 0.988703 with order 1 Centerline is valid? [True, True] Translation: X:431.33, Y:-21.52, Z:2.27 [[ 9.99735595e-01 -2.22700783e-02 -5.72564212e-03 4.31326840e+02] [ 2.22721349e-02 9.99751902e-01 2.95668195e-04 -2.15197686e+01] [ 5.71763704e-03 -4.23112293e-04 9.99983565e-01 2.26526723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.28071405700007 meters Centerline goodness : 0.987996 with order 1 Centerline is valid? [True, True] Translation: X:431.39, Y:-21.52, Z:2.27 [[ 9.99865280e-01 -1.53831024e-02 -5.72563118e-03 4.31387555e+02] [ 1.53850478e-02 9.99881599e-01 2.95879755e-04 -2.15206870e+01] [ 5.72040172e-03 -3.83929003e-04 9.99983565e-01 2.27020539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.34071405700007 meters Centerline goodness : 0.987935 with order 1 Centerline is valid? [True, True] Translation: X:431.45, Y:-21.52, Z:2.27 [[ 9.99934371e-01 -9.92325307e-03 -5.72559396e-03 4.31449679e+02] [ 9.92511344e-03 9.99950701e-01 2.96598355e-04 -2.15212482e+01] [ 5.72236847e-03 -3.53406059e-04 9.99983565e-01 2.27164710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4007140570001 meters Centerline goodness : 0.987960 with order 1 Centerline is valid? [True, True] Translation: X:431.51, Y:-21.52, Z:2.27 [[ 9.99977128e-01 -3.60019118e-03 -5.72557361e-03 4.31511209e+02] [ 3.60195049e-03 9.99993469e-01 2.96990588e-04 -2.15227006e+01] [ 5.72446700e-03 -3.17607028e-04 9.99983565e-01 2.26717054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4607140570001 meters Centerline goodness : 0.986958 with order 1 Centerline is valid? [True, True] Translation: X:431.57, Y:-21.53, Z:2.26 [[ 9.99983498e-01 -4.70085470e-04 -5.72556339e-03 4.31570388e+02] [ 4.71794748e-04 9.99999845e-01 2.97187539e-04 -2.15275867e+01] [ 5.72542280e-03 -2.99883925e-04 9.99983565e-01 2.26306284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5207140570001 meters Centerline goodness : 0.987285 with order 1 Centerline is valid? [True, True] Translation: X:431.63, Y:-21.53, Z:2.26 [[ 9.99983246e-01 8.52296627e-04 -5.72556845e-03 4.31629552e+02] [-8.50609523e-04 9.99999594e-01 2.97090046e-04 -2.15278467e+01] [ 5.72581933e-03 -2.92214846e-04 9.99983565e-01 2.26230561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5807140570001 meters Centerline goodness : 0.987965 with order 1 Centerline is valid? [True, True] Translation: X:431.69, Y:-21.53, Z:2.26 [[ 9.99980944e-01 2.30854725e-03 -5.72564724e-03 4.31687985e+02] [-2.30689268e-03 9.99997295e-01 2.95563624e-04 -2.15315482e+01] [ 5.72631408e-03 -2.82349537e-04 9.99983565e-01 2.25966935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.6407140570001 meters Centerline goodness : 0.988035 with order 1 Centerline is valid? [True, True] Translation: X:431.74, Y:-21.53, Z:2.26 [[ 9.99976499e-01 3.77051651e-03 -5.72572578e-03 4.31744800e+02] [-3.76889458e-03 9.99992854e-01 2.94034204e-04 -2.15346281e+01] [ 5.72679353e-03 -2.72447637e-04 9.99983565e-01 2.25978651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.700714057 meters Centerline goodness : 0.987969 with order 1 Centerline is valid? [True, True] Translation: X:431.80, Y:-21.54, Z:2.26 [[ 9.99982472e-01 1.50683965e-03 -5.72578663e-03 4.31803508e+02] [-1.50518750e-03 9.99998824e-01 2.92844503e-04 -2.15353800e+01] [ 5.72622117e-03 -2.84220987e-04 9.99983565e-01 2.26421583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.76071405700003 meters Centerline goodness : 0.987751 with order 1 Centerline is valid? [True, True] Translation: X:431.86, Y:-21.54, Z:2.27 [[ 9.99970765e-01 -5.06792047e-03 -5.72580755e-03 4.31862478e+02] [ 5.06967776e-03 9.99987106e-01 2.92434989e-04 -2.15385028e+01] [ 5.72425168e-03 -3.21454439e-04 9.99983565e-01 2.26682179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.82071405700003 meters Centerline goodness : 0.986849 with order 1 Centerline is valid? [True, True] Translation: X:431.92, Y:-21.54, Z:2.27 [[ 9.99944589e-01 -8.83363352e-03 -5.72582840e-03 4.31922623e+02] [ 8.83545001e-03 9.99960924e-01 2.92026074e-04 -2.15427263e+01] [ 5.72302501e-03 -3.42600163e-04 9.99983565e-01 2.27068000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.88071405700003 meters Centerline goodness : 0.987898 with order 1 Centerline is valid? [True, True] Translation: X:431.98, Y:-21.55, Z:2.27 [[ 9.99894977e-01 -1.33135102e-02 -5.72582840e-03 4.31984847e+02] [ 1.33153998e-02 9.99911303e-01 2.92026074e-04 -2.15482669e+01] [ 5.72143265e-03 -3.68237099e-04 9.99983565e-01 2.27259568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.94071405700004 meters Centerline goodness : 0.987716 with order 1 Centerline is valid? [True, True] Translation: X:432.05, Y:-21.55, Z:2.27 [[ 9.99826526e-01 -1.77238220e-02 -5.72575543e-03 4.32047142e+02] [ 1.77257917e-02 9.99842843e-01 2.93449858e-04 -2.15537113e+01] [ 5.71965453e-03 -3.94892500e-04 9.99983565e-01 2.27458889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.00071405700004 meters Centerline goodness : 0.988080 with order 1 Centerline is valid? [True, True] Translation: X:432.11, Y:-21.56, Z:2.27 [[ 9.99799350e-01 -1.91957600e-02 -5.72568155e-03 4.32109174e+02] [ 1.91977619e-02 9.99815663e-01 2.94884324e-04 -2.15593145e+01] [ 5.71896557e-03 -4.04745427e-04 9.99983565e-01 2.27466619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.06071405700004 meters Centerline goodness : 0.989078 with order 1 Centerline is valid? [True, True] Translation: X:432.17, Y:-21.56, Z:2.28 [[ 9.99751351e-01 -2.15511624e-02 -5.72566031e-03 4.32171131e+02] [ 2.15532051e-02 9.99767659e-01 2.95296170e-04 -2.15635794e+01] [ 5.71796603e-03 -4.18629076e-04 9.99983565e-01 2.27711359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.12071405700004 meters Centerline goodness : 0.988388 with order 1 Centerline is valid? [True, True] Translation: X:432.23, Y:-21.57, Z:2.27 [[ 9.99673209e-01 -2.49137031e-02 -5.72563910e-03 4.32232998e+02] [ 2.49158030e-02 9.99689509e-01 2.95706887e-04 -2.15709786e+01] [ 5.71649419e-03 -4.38269148e-04 9.99983565e-01 2.27363099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.18071405700005 meters Centerline goodness : 0.988740 with order 1 Centerline is valid? [True, True] Translation: X:432.29, Y:-21.58, Z:2.28 [[ 9.99729726e-01 -2.25320361e-02 -5.72561829e-03 4.32294891e+02] [ 2.25340995e-02 9.99746031e-01 2.96109288e-04 -2.15775905e+01] [ 5.71749222e-03 -4.25050909e-04 9.99983565e-01 2.27787799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.24071405700005 meters Centerline goodness : 0.989174 with order 1 Centerline is valid? [True, True] Translation: X:432.36, Y:-21.59, Z:2.27 [[ 9.99573811e-01 -2.86254086e-02 -5.72559699e-03 4.32357020e+02] [ 2.86275737e-02 9.99590103e-01 2.96520520e-04 -2.15864899e+01] [ 5.71476207e-03 -4.60304096e-04 9.99983565e-01 2.27479013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.30071405700005 meters Centerline goodness : 0.989552 with order 1 Centerline is valid? [True, True] Translation: X:432.42, Y:-21.60, Z:2.27 [[ 9.99524871e-01 -3.02861395e-02 -5.72557459e-03 4.32418792e+02] [ 3.02883341e-02 9.99541159e-01 2.96952490e-04 -2.15956323e+01] [ 5.71395392e-03 -4.70229515e-04 9.99983565e-01 2.27129970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.36071405700005 meters Centerline goodness : 0.988992 with order 1 Centerline is valid? [True, True] Translation: X:432.48, Y:-21.60, Z:2.27 [[ 9.99518820e-01 -3.04852010e-02 -5.72555217e-03 4.32480969e+02] [ 3.04874012e-02 9.99535107e-01 2.97384077e-04 -2.16015400e+01] [ 5.71382459e-03 -4.71798188e-04 9.99983565e-01 2.27154696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.42071405700005 meters Centerline goodness : 0.988752 with order 1 Centerline is valid? [True, True] Translation: X:432.54, Y:-21.61, Z:2.27 [[ 9.99560173e-01 -2.90977627e-02 -5.72552983e-03 4.32542140e+02] [ 2.90999428e-02 9.99576463e-01 2.97813568e-04 -2.16089801e+01] [ 5.71443915e-03 -4.64295172e-04 9.99983565e-01 2.27085522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.48071405700006 meters Centerline goodness : 0.988591 with order 1 Centerline is valid? [True, True] Translation: X:432.60, Y:-21.61, Z:2.27 [[ 9.99688062e-01 -2.43104286e-02 -5.72548805e-03 4.32602737e+02] [ 2.43125352e-02 9.99704362e-01 2.98614764e-04 -2.16142051e+01] [ 5.71653592e-03 -4.37722745e-04 9.99983565e-01 2.27468647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.54071405700006 meters Centerline goodness : 0.989136 with order 1 Centerline is valid? [True, True] Translation: X:432.67, Y:-21.62, Z:2.28 [[ 9.99737814e-01 -2.21703102e-02 -5.72544746e-03 4.32665512e+02] [ 2.21723863e-02 9.99754118e-01 2.99390987e-04 -2.16213185e+01] [ 5.71740208e-03 -4.26259324e-04 9.99983565e-01 2.27652973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.60071405700006 meters Centerline goodness : 0.989014 with order 1 Centerline is valid? [True, True] Translation: X:432.73, Y:-21.63, Z:2.28 [[ 9.99779681e-01 -2.01942773e-02 -5.72541267e-03 4.32727414e+02] [ 2.01963250e-02 9.99795988e-01 3.00054719e-04 -2.16273517e+01] [ 5.71818523e-03 -4.15620907e-04 9.99983565e-01 2.27677068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.66071405700006 meters Centerline goodness : 0.988995 with order 1 Centerline is valid? [True, True] Translation: X:432.79, Y:-21.64, Z:2.27 [[ 9.99796634e-01 -1.93367536e-02 -5.72538977e-03 4.32788735e+02] [ 1.93387898e-02 9.99812943e-01 3.00491077e-04 -2.16358911e+01] [ 5.71850827e-03 -4.11152077e-04 9.99983565e-01 2.27380613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.72071405700007 meters Centerline goodness : 0.989719 with order 1 Centerline is valid? [True, True] Translation: X:432.85, Y:-21.64, Z:2.27 [[ 9.99905593e-01 -1.24910320e-02 -5.72536726e-03 4.32849809e+02] [ 1.24929590e-02 9.99921915e-01 3.00919377e-04 -2.16416961e+01] [ 5.72116140e-03 -3.72417747e-04 9.99983565e-01 2.27378640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.78071405700007 meters Centerline goodness : 0.989575 with order 1 Centerline is valid? [True, True] Translation: X:432.91, Y:-21.65, Z:2.27 [[ 9.99932804e-01 -1.00800460e-02 -5.72533036e-03 4.32911662e+02] [ 1.00819376e-02 9.99949130e-01 3.01619756e-04 -2.16489045e+01] [ 5.72199878e-03 -3.59321912e-04 9.99983565e-01 2.27256298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.84071405700007 meters Centerline goodness : 0.989687 with order 1 Centerline is valid? [True, True] Translation: X:432.97, Y:-21.65, Z:2.28 [[ 9.99934735e-01 -9.88666333e-03 -5.72530965e-03 4.32973867e+02] [ 9.88855398e-03 9.99951061e-01 3.02012485e-04 -2.16537611e+01] [ 5.72204356e-03 -3.58607808e-04 9.99983565e-01 2.27638873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9007140570001 meters Centerline goodness : 0.992662 with order 1 Centerline is valid? [True, True] Translation: X:433.04, Y:-21.65, Z:2.28 [[ 9.99740235e-01 -2.20608983e-02 -5.72528808e-03 4.33035461e+02] [ 2.20629899e-02 9.99756537e-01 3.02420767e-04 -2.16516037e+01] [ 5.71722251e-03 -4.28659182e-04 9.99983565e-01 2.27960854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9607140570001 meters Centerline goodness : 0.993776 with order 1 Centerline is valid? [True, True] Translation: X:433.10, Y:-21.66, Z:2.28 [[ 9.99712634e-01 -2.32781226e-02 -5.72527745e-03 4.33096178e+02] [ 2.32802353e-02 9.99728933e-01 3.02621833e-04 -2.16594157e+01] [ 5.71668105e-03 -4.35820676e-04 9.99983565e-01 2.28147257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0207140570001 meters Centerline goodness : 0.990902 with order 1 Centerline is valid? [True, True] Translation: X:433.16, Y:-21.68, Z:2.28 [[ 9.99856213e-01 -1.59616772e-02 -5.72523884e-03 4.33157778e+02] [ 1.59636746e-02 9.99872526e-01 3.03350487e-04 -2.16796972e+01] [ 5.71966704e-03 -3.94702719e-04 9.99983565e-01 2.27594793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0807140570001 meters Centerline goodness : 0.989585 with order 1 Centerline is valid? [True, True] Translation: X:433.22, Y:-21.69, Z:2.28 [[ 9.99948919e-01 -8.32954139e-03 -5.72521779e-03 4.33219142e+02] [ 8.33141651e-03 9.99965247e-01 3.03747369e-04 -2.16901739e+01] [ 5.72248874e-03 -3.51431027e-04 9.99983565e-01 2.27536291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.1407140570001 meters Centerline goodness : 0.990705 with order 1 Centerline is valid? [True, True] Translation: X:433.28, Y:-21.68, Z:2.28 [[ 9.99680006e-01 -2.46395663e-02 -5.72520115e-03 4.33281378e+02] [ 2.46417093e-02 9.99696301e-01 3.04060709e-04 -2.16787785e+01] [ 5.71597048e-03 -4.45042154e-04 9.99983565e-01 2.28238835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.200714057 meters Centerline goodness : 0.993760 with order 1 Centerline is valid? [True, True] Translation: X:433.34, Y:-21.69, Z:2.28 [[ 9.99763096e-01 -2.09993607e-02 -5.72518770e-03 4.33342332e+02] [ 2.10014458e-02 9.99779399e-01 3.04313731e-04 -2.16918053e+01] [ 5.71753432e-03 -4.24478857e-04 9.99983565e-01 2.28014454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.26071405700003 meters Centerline goodness : 0.989268 with order 1 Centerline is valid? [True, True] Translation: X:433.40, Y:-21.71, Z:2.28 [[ 9.99974099e-01 -4.36155657e-03 -5.72516738e-03 4.33404005e+02] [ 4.36337229e-03 9.99990434e-01 3.04695523e-04 -2.17078381e+01] [ 5.72378366e-03 -3.29668668e-04 9.99983565e-01 2.28056896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.32071405700003 meters Centerline goodness : 0.993097 with order 1 Centerline is valid? [True, True] Translation: X:433.46, Y:-21.70, Z:2.29 [[ 9.99935022e-01 -9.85768832e-03 -5.72514714e-03 4.33464584e+02] [ 9.85959597e-03 9.99951346e-01 3.05075342e-04 -2.16987640e+01] [ 5.72186125e-03 -3.61503157e-04 9.99983565e-01 2.28527567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.38071405700003 meters Centerline goodness : 0.988797 with order 1 Centerline is valid? [True, True] Translation: X:433.52, Y:-21.71, Z:2.29 [[ 9.99973714e-01 4.44912451e-03 -5.72515810e-03 4.33524185e+02] [-4.44745178e-03 9.99990064e-01 3.04869514e-04 -2.17122684e+01] [ 5.72645761e-03 -2.79399135e-04 9.99983565e-01 2.28701331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.44071405700004 meters Centerline goodness : 0.988744 with order 1 Centerline is valid? [True, True] Translation: X:433.58, Y:-21.72, Z:2.28 [[ 9.99943967e-01 8.90420597e-03 -5.72515810e-03 4.33582122e+02] [-8.90260610e-03 9.99960325e-01 3.04869514e-04 -2.17169998e+01] [ 5.72764557e-03 -2.53883603e-04 9.99983565e-01 2.28318481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.50071405700004 meters Centerline goodness : 0.987973 with order 1 Centerline is valid? [True, True] Translation: X:433.64, Y:-21.72, Z:2.28 [[ 9.99886407e-01 1.39425813e-02 -5.72524447e-03 4.33640234e+02] [-1.39410732e-02 9.99902773e-01 3.03238864e-04 -2.17230954e+01] [ 5.72891575e-03 -2.23388366e-04 9.99983565e-01 2.27907824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.56071405700004 meters Centerline goodness : 0.989037 with order 1 Centerline is valid? [True, True] Translation: X:433.70, Y:-21.73, Z:2.28 [[ 9.99878203e-01 1.45189660e-02 -5.72532483e-03 4.33697380e+02] [-1.45174760e-02 9.99894570e-01 3.01713997e-04 -2.17270525e+01] [ 5.72910178e-03 -2.18559983e-04 9.99983565e-01 2.27699146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.62071405700004 meters Centerline goodness : 0.989407 with order 1 Centerline is valid? [True, True] Translation: X:433.75, Y:-21.73, Z:2.28 [[ 9.99838675e-01 1.70248249e-02 -5.72536260e-03 4.33754794e+02] [-1.70233800e-02 9.99855046e-01 3.00995532e-04 -2.17272455e+01] [ 5.72965708e-03 -2.03481951e-04 9.99983565e-01 2.28171864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.68071405700005 meters Centerline goodness : 0.992619 with order 1 Centerline is valid? [True, True] Translation: X:433.81, Y:-21.72, Z:2.29 [[ 9.99891530e-01 1.35701219e-02 -5.72538945e-03 4.33813956e+02] [-1.35686235e-02 9.99907897e-01 3.00483906e-04 -2.17169922e+01] [ 5.72893972e-03 -2.22765659e-04 9.99983565e-01 2.28765264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.74071405700005 meters Centerline goodness : 0.988158 with order 1 Centerline is valid? [True, True] Translation: X:433.87, Y:-21.74, Z:2.28 [[ 9.99477885e-01 3.17990257e-02 -5.72541065e-03 4.33872193e+02] [-3.17978282e-02 9.99494276e-01 3.00079435e-04 -2.17352486e+01] [ 5.73205740e-03 -1.17867134e-04 9.99983565e-01 2.28222967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.80071405700005 meters Centerline goodness : 0.992255 with order 1 Centerline is valid? [True, True] Translation: X:433.93, Y:-21.73, Z:2.29 [[ 9.99697748e-01 2.39088056e-02 -5.72548784e-03 4.33930777e+02] [-2.39074873e-02 9.99714131e-01 2.98599343e-04 -2.17258299e+01] [ 5.73099025e-03 -1.61627063e-04 9.99983565e-01 2.28929251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.86071405700005 meters Centerline goodness : 0.992720 with order 1 Centerline is valid? [True, True] Translation: X:433.99, Y:-21.73, Z:2.29 [[ 9.99653361e-01 2.56977725e-02 -5.72551446e-03 4.33989012e+02] [-2.56964864e-02 9.99669746e-01 2.98087921e-04 -2.17311486e+01] [ 5.73128379e-03 -1.50858987e-04 9.99983565e-01 2.28989964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.92071405700005 meters Centerline goodness : 0.991866 with order 1 Centerline is valid? [True, True] Translation: X:434.05, Y:-21.74, Z:2.29 [[ 9.99659871e-01 2.54432628e-02 -5.72554641e-03 4.34046437e+02] [-2.54419760e-02 9.99676256e-01 2.97473072e-04 -2.17417641e+01] [ 5.73126148e-03 -1.51702678e-04 9.99983565e-01 2.28816099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.98071405700006 meters Centerline goodness : 0.992018 with order 1 Centerline is valid? [True, True] Translation: X:434.10, Y:-21.75, Z:2.29 [[ 9.99714086e-01 2.32155970e-02 -5.72557262e-03 4.34103598e+02] [-2.32142767e-02 9.99730468e-01 2.96967640e-04 -2.17489364e+01] [ 5.73092368e-03 -1.63967706e-04 9.99983565e-01 2.28818118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.04071405700006 meters Centerline goodness : 0.988937 with order 1 Centerline is valid? [True, True] Translation: X:434.16, Y:-21.77, Z:2.29 [[ 9.99626602e-01 2.67184178e-02 -5.72560307e-03 4.34161365e+02] [-2.67171582e-02 9.99642989e-01 2.96379388e-04 -2.17687267e+01] [ 5.73147776e-03 -1.43296878e-04 9.99983565e-01 2.28679409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.10071405700006 meters Centerline goodness : 0.988795 with order 1 Centerline is valid? [True, True] Translation: X:434.22, Y:-21.78, Z:2.29 [[ 9.99779312e-01 2.02124673e-02 -5.72562560e-03 4.34218300e+02] [-2.02111036e-02 9.99795691e-01 2.95943506e-04 -2.17755810e+01] [ 5.73043756e-03 -1.80156982e-04 9.99983565e-01 2.29374472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.16071405700006 meters Centerline goodness : 0.989237 with order 1 Centerline is valid? [True, True] Translation: X:434.28, Y:-21.78, Z:2.30 [[ 9.99918980e-01 1.13688559e-02 -5.72566413e-03 4.34276379e+02] [-1.13673517e-02 9.99935346e-01 2.95196241e-04 -2.17819594e+01] [ 5.72864999e-03 -2.30086686e-04 9.99983565e-01 2.29617171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.22071405700007 meters Centerline goodness : 0.988831 with order 1 Centerline is valid? [True, True] Translation: X:434.34, Y:-21.79, Z:2.29 [[ 9.99979450e-01 2.88373463e-03 -5.72568611e-03 4.34335162e+02] [-2.88209400e-03 9.99995803e-01 2.94769282e-04 -2.17885405e+01] [ 5.72651212e-03 -2.78261259e-04 9.99983565e-01 2.29088605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.28071405700007 meters Centerline goodness : 0.989329 with order 1 Centerline is valid? [True, True] Translation: X:434.39, Y:-21.79, Z:2.29 [[ 9.99971641e-01 -4.89221867e-03 -5.72570818e-03 4.34394016e+02] [ 4.89398396e-03 9.99987981e-01 2.94340020e-04 -2.17904496e+01] [ 5.72419939e-03 -3.22353197e-04 9.99983565e-01 2.29487067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.34071405700007 meters Centerline goodness : 0.991569 with order 1 Centerline is valid? [True, True] Translation: X:434.45, Y:-21.79, Z:2.29 [[ 9.99899094e-01 -1.30007069e-02 -5.72573022e-03 4.34453290e+02] [ 1.30026022e-02 9.99915419e-01 2.93910566e-04 -2.17878969e+01] [ 5.72142489e-03 -3.68330301e-04 9.99983565e-01 2.29072441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4007140570001 meters Centerline goodness : 0.991097 with order 1 Centerline is valid? [True, True] Translation: X:434.52, Y:-21.79, Z:2.29 [[ 9.99875782e-01 -1.46845604e-02 -5.72571384e-03 4.34515788e+02] [ 1.46864850e-02 9.99892104e-01 2.94229340e-04 -2.17907153e+01] [ 5.72077543e-03 -3.78283402e-04 9.99983565e-01 2.29113637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4607140570001 meters Centerline goodness : 0.988379 with order 1 Centerline is valid? [True, True] Translation: X:434.58, Y:-21.80, Z:2.29 [[ 9.99927952e-01 -1.05501965e-02 -5.72569311e-03 4.34576450e+02] [ 1.05520558e-02 9.99944282e-01 2.94632164e-04 -2.17998859e+01] [ 5.72226566e-03 -3.55028770e-04 9.99983565e-01 2.28827924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5207140570001 meters Centerline goodness : 0.988170 with order 1 Centerline is valid? [True, True] Translation: X:434.64, Y:-21.80, Z:2.29 [[ 9.99950641e-01 -8.11991869e-03 -5.72568198e-03 4.34637929e+02] [ 8.12173962e-03 9.99966975e-01 2.94848444e-04 -2.18009189e+01] [ 5.72309874e-03 -3.41336388e-04 9.99983565e-01 2.29056675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5807140570001 meters Centerline goodness : 0.989144 with order 1 Centerline is valid? [True, True] Translation: X:434.70, Y:-21.80, Z:2.29 [[ 9.99906563e-01 -1.24129965e-02 -5.72567075e-03 4.34698639e+02] [ 1.24148888e-02 9.99922889e-01 2.95066343e-04 -2.17990881e+01] [ 5.72156658e-03 -3.66122338e-04 9.99983565e-01 2.28722617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.6407140570001 meters Centerline goodness : 0.989540 with order 1 Centerline is valid? [True, True] Translation: X:434.76, Y:-21.80, Z:2.29 [[ 9.99834267e-01 -1.72816789e-02 -5.72564941e-03 4.34761356e+02] [ 1.72836530e-02 9.99850583e-01 2.95479731e-04 -2.17958026e+01] [ 5.71968752e-03 -3.94390898e-04 9.99983565e-01 2.28907314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.700714057 meters Centerline goodness : 0.989079 with order 1 Centerline is valid? [True, True] Translation: X:434.82, Y:-21.79, Z:2.29 [[ 9.99757925e-01 -2.12440288e-02 -5.72557082e-03 4.34822532e+02] [ 2.12460762e-02 9.99774233e-01 2.96994960e-04 -2.17946308e+01] [ 5.71796880e-03 -4.18568979e-04 9.99983565e-01 2.29344723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.76071405700003 meters Centerline goodness : 0.990006 with order 1 Centerline is valid? [True, True] Translation: X:434.89, Y:-21.79, Z:2.29 [[ 9.99576713e-01 -2.85238909e-02 -5.72555415e-03 4.34885426e+02] [ 2.85260589e-02 9.99593005e-01 2.97315902e-04 -2.17899287e+01] [ 5.71474327e-03 -4.60517547e-04 9.99983565e-01 2.28673983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.82071405700003 meters Centerline goodness : 0.990778 with order 1 Centerline is valid? [True, True] Translation: X:434.95, Y:-21.78, Z:2.29 [[ 9.99581908e-01 -2.83412703e-02 -5.72547503e-03 4.34947875e+02] [ 2.83434439e-02 9.99598199e-01 2.98831844e-04 -2.17839950e+01] [ 5.71470525e-03 -4.60986585e-04 9.99983565e-01 2.29317707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.88071405700003 meters Centerline goodness : 0.990007 with order 1 Centerline is valid? [True, True] Translation: X:435.01, Y:-21.78, Z:2.29 [[ 9.99600563e-01 -2.76754984e-02 -5.72545199e-03 4.35011367e+02] [ 2.76776637e-02 9.99616855e-01 2.99272500e-04 -2.17829200e+01] [ 5.71497580e-03 -4.57620094e-04 9.99983565e-01 2.29493986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.94071405700004 meters Centerline goodness : 0.991437 with order 1 Centerline is valid? [True, True] Translation: X:435.08, Y:-21.78, Z:2.30 [[ 9.99654188e-01 -2.56656243e-02 -5.72541768e-03 4.35075135e+02] [ 2.56677605e-02 9.99670484e-01 2.99927450e-04 -2.17781296e+01] [ 5.71583324e-03 -4.46782381e-04 9.99983565e-01 2.29623099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.00071405700004 meters Centerline goodness : 0.989058 with order 1 Centerline is valid? [True, True] Translation: X:435.14, Y:-21.78, Z:2.29 [[ 9.99739677e-01 -2.20861528e-02 -5.72538345e-03 4.35137075e+02] [ 2.20882344e-02 9.99755980e-01 3.00579547e-04 -2.17803165e+01] [ 5.71734770e-03 -4.26964910e-04 9.99983565e-01 2.29364218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.06071405700004 meters Centerline goodness : 0.990829 with order 1 Centerline is valid? [True, True] Translation: X:435.20, Y:-21.78, Z:2.30 [[ 9.99708081e-01 -2.34728191e-02 -5.72536062e-03 4.35197985e+02] [ 2.34749257e-02 9.99724381e-01 3.01013812e-04 -2.17786471e+01] [ 5.71671696e-03 -4.35328355e-04 9.99983565e-01 2.29824705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.12071405700004 meters Centerline goodness : 0.990251 with order 1 Centerline is valid? [True, True] Translation: X:435.26, Y:-21.78, Z:2.30 [[ 9.99755867e-01 -2.13407283e-02 -5.72532157e-03 4.35260101e+02] [ 2.13428044e-02 9.99772171e-01 3.01754705e-04 -2.17789838e+01] [ 5.71757751e-03 -4.23875455e-04 9.99983565e-01 2.29644921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.18071405700005 meters Centerline goodness : 0.989763 with order 1 Centerline is valid? [True, True] Translation: X:435.32, Y:-21.78, Z:2.30 [[ 9.99824513e-01 -1.78371680e-02 -5.72530052e-03 4.35322806e+02] [ 1.78391892e-02 9.99840823e-01 3.02153543e-04 -2.17772154e+01] [ 5.71899962e-03 -4.04235238e-04 9.99983565e-01 2.29720998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.24071405700005 meters Centerline goodness : 0.989652 with order 1 Centerline is valid? [True, True] Translation: X:435.39, Y:-21.78, Z:2.30 [[ 9.99821029e-01 -1.80313939e-02 -5.72527867e-03 4.35385005e+02] [ 1.80334207e-02 9.99837339e-01 3.02567021e-04 -2.17768312e+01] [ 5.71889168e-03 -4.05759229e-04 9.99983565e-01 2.29680379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.30071405700005 meters Centerline goodness : 0.989018 with order 1 Centerline is valid? [True, True] Translation: X:435.45, Y:-21.78, Z:2.30 [[ 9.99906046e-01 -1.24547255e-02 -5.72525517e-03 4.35446249e+02] [ 1.24566638e-02 9.99922367e-01 3.03010976e-04 -2.17783647e+01] [ 5.72103678e-03 -3.74300086e-04 9.99983565e-01 2.29815179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.36071405700005 meters Centerline goodness : 0.988361 with order 1 Centerline is valid? [True, True] Translation: X:435.51, Y:-21.78, Z:2.30 [[ 9.99911474e-01 -1.20110688e-02 -5.72523784e-03 4.35508734e+02] [ 1.20130017e-02 9.99927795e-01 3.03338114e-04 -2.17794036e+01] [ 5.72118104e-03 -3.72088553e-04 9.99983565e-01 2.29691804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.42071405700005 meters Centerline goodness : 0.987941 with order 1 Centerline is valid? [True, True] Translation: X:435.57, Y:-21.78, Z:2.29 [[ 9.99900996e-01 -1.28537741e-02 -5.72521431e-03 4.35570056e+02] [ 1.28557233e-02 9.99917316e-01 3.03781559e-04 -2.17821425e+01] [ 5.72083619e-03 -3.77353254e-04 9.99983565e-01 2.29251213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.48071405700006 meters Centerline goodness : 0.988390 with order 1 Centerline is valid? [True, True] Translation: X:435.63, Y:-21.78, Z:2.29 [[ 9.99867292e-01 -1.52519117e-02 -5.72519695e-03 4.35631639e+02] [ 1.52539019e-02 9.99883606e-01 3.04108364e-04 -2.17824580e+01] [ 5.71989234e-03 -3.91399599e-04 9.99983565e-01 2.29130255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.54071405700006 meters Centerline goodness : 0.988534 with order 1 Centerline is valid? [True, True] Translation: X:435.69, Y:-21.78, Z:2.29 [[ 9.99786955e-01 -1.98309739e-02 -5.72517993e-03 4.35694447e+02] [ 1.98330406e-02 9.99803260e-01 3.04428511e-04 -2.17830103e+01] [ 5.71801644e-03 -4.17911380e-04 9.99983565e-01 2.29252155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.60071405700006 meters Centerline goodness : 0.988313 with order 1 Centerline is valid? [True, True] Translation: X:435.76, Y:-21.78, Z:2.29 [[ 9.99815356e-01 -1.83432983e-02 -5.72509193e-03 4.35757290e+02] [ 1.83453502e-02 9.99831663e-01 3.06074466e-04 -2.17843821e+01] [ 5.71851377e-03 -4.11046768e-04 9.99983565e-01 2.29083705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.66071405700006 meters Centerline goodness : 0.988585 with order 1 Centerline is valid? [True, True] Translation: X:435.82, Y:-21.78, Z:2.29 [[ 9.99760415e-01 -2.11266926e-02 -5.72505699e-03 4.35819308e+02] [ 2.11287935e-02 9.99776715e-01 3.06726606e-04 -2.17844766e+01] [ 5.71729856e-03 -4.27616666e-04 9.99983565e-01 2.28890162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.72071405700007 meters Centerline goodness : 0.987054 with order 1 Centerline is valid? [True, True] Translation: X:435.88, Y:-21.78, Z:2.29 [[ 9.99730042e-01 -2.25181618e-02 -5.72502829e-03 4.35880487e+02] [ 2.25202884e-02 9.99746339e-01 3.07261386e-04 -2.17823068e+01] [ 5.71665711e-03 -4.36107726e-04 9.99983565e-01 2.29242153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.78071405700007 meters Centerline goodness : 0.987147 with order 1 Centerline is valid? [True, True] Translation: X:435.94, Y:-21.78, Z:2.29 [[ 9.99809239e-01 -1.86737532e-02 -5.72501238e-03 4.35942617e+02] [ 1.86758189e-02 9.99825544e-01 3.07557609e-04 -2.17815486e+01] [ 5.71827036e-03 -4.14418233e-04 9.99983565e-01 2.28890355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.84071405700007 meters Centerline goodness : 0.986096 with order 1 Centerline is valid? [True, True] Translation: X:436.00, Y:-21.78, Z:2.29 [[ 9.99813431e-01 -1.84479897e-02 -5.72499161e-03 4.36004720e+02] [ 1.84500539e-02 9.99829736e-01 3.07943779e-04 -2.17807473e+01] [ 5.71833590e-03 -4.13512729e-04 9.99983565e-01 2.29333621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9007140570001 meters Centerline goodness : 0.985926 with order 1 Centerline is valid? [True, True] Translation: X:436.07, Y:-21.78, Z:2.29 [[ 9.99784842e-01 -1.99372580e-02 -5.72497112e-03 4.36067075e+02] [ 1.99393486e-02 9.99801144e-01 3.08324216e-04 -2.17817601e+01] [ 5.71768553e-03 -4.22410073e-04 9.99983565e-01 2.29294579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9607140570001 meters Centerline goodness : 0.985243 with order 1 Centerline is valid? [True, True] Translation: X:436.13, Y:-21.78, Z:2.29 [[ 9.99791291e-01 -1.96112283e-02 -5.72494827e-03 4.36129845e+02] [ 1.96133160e-02 9.99807593e-01 3.08747829e-04 -2.17811163e+01] [ 5.71779183e-03 -4.20968610e-04 9.99983565e-01 2.29464653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0207140570001 meters Centerline goodness : 0.984802 with order 1 Centerline is valid? [True, True] Translation: X:436.19, Y:-21.78, Z:2.30 [[ 9.99858042e-01 -1.58467693e-02 -5.72492492e-03 4.36191457e+02] [ 1.58487981e-02 9.99874352e-01 3.09180182e-04 -2.17807716e+01] [ 5.71930609e-03 -3.99869471e-04 9.99983565e-01 2.29546310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0807140570001 meters Centerline goodness : 0.984725 with order 1 Centerline is valid? [True, True] Translation: X:436.25, Y:-21.78, Z:2.29 [[ 9.99936616e-01 -9.69485618e-03 -5.72490752e-03 4.36253635e+02] [ 9.69678640e-03 9.99952937e-01 3.09502007e-04 -2.17815232e+01] [ 5.72163752e-03 -3.64995594e-04 9.99983565e-01 2.29426353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.1407140570001 meters Centerline goodness : 0.984139 with order 1 Centerline is valid? [True, True] Translation: X:436.31, Y:-21.78, Z:2.30 [[ 9.99965418e-01 -6.03228786e-03 -5.72488462e-03 4.36314171e+02] [ 6.03416070e-03 9.99981746e-01 3.09925017e-04 -2.17829497e+01] [ 5.72291057e-03 -3.44459173e-04 9.99983565e-01 2.29518472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.200714057 meters Centerline goodness : 0.984397 with order 1 Centerline is valid? [True, True] Translation: X:436.37, Y:-21.79, Z:2.29 [[ 9.99967719e-01 -5.63805381e-03 -5.72487905e-03 4.36374725e+02] [ 5.63992080e-03 9.99984047e-01 3.10027917e-04 -2.17852488e+01] [ 5.72303977e-03 -3.42305773e-04 9.99983565e-01 2.29483805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.26071405700003 meters Centerline goodness : 0.985900 with order 1 Centerline is valid? [True, True] Translation: X:436.44, Y:-21.79, Z:2.29 [[ 9.99976986e-01 -3.64054076e-03 -5.72487905e-03 4.36435310e+02] [ 3.64237514e-03 9.99993318e-01 3.10027917e-04 -2.17897337e+01] [ 5.72371213e-03 -3.30872939e-04 9.99983565e-01 2.29159957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.32071405700003 meters Centerline goodness : 0.986193 with order 1 Centerline is valid? [True, True] Translation: X:436.50, Y:-21.79, Z:2.29 [[ 9.99980575e-01 -2.46469461e-03 -5.72487905e-03 4.36495429e+02] [ 2.46650978e-03 9.99996910e-01 3.10027917e-04 -2.17898951e+01] [ 5.72409724e-03 -3.24142365e-04 9.99983565e-01 2.29224225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.38071405700003 meters Centerline goodness : 0.985710 with order 1 Centerline is valid? [True, True] Translation: X:436.55, Y:-21.79, Z:2.29 [[ 9.99983324e-01 7.59872477e-04 -5.72488993e-03 4.36554737e+02] [-7.58111139e-04 9.99999665e-01 3.09826960e-04 -2.17908774e+01] [ 5.72512344e-03 -3.05481691e-04 9.99983565e-01 2.29131812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.44071405700004 meters Centerline goodness : 0.986933 with order 1 Centerline is valid? [True, True] Translation: X:436.61, Y:-21.79, Z:2.29 [[ 9.99943743e-01 8.92947658e-03 -5.72490107e-03 4.36613902e+02] [-8.92784998e-03 9.99960098e-01 3.09620858e-04 -2.17910639e+01] [ 5.72743739e-03 -2.58492382e-04 9.99983565e-01 2.28883752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.50071405700004 meters Centerline goodness : 0.986770 with order 1 Centerline is valid? [True, True] Translation: X:436.67, Y:-21.79, Z:2.29 [[ 9.99936069e-01 9.75105577e-03 -5.72498071e-03 4.36672630e+02] [-9.74945106e-03 9.99952426e-01 3.08141242e-04 -2.17909811e+01] [ 5.72771305e-03 -2.52306123e-04 9.99983565e-01 2.29320714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.56071405700004 meters Centerline goodness : 0.987553 with order 1 Centerline is valid? [True, True] Translation: X:436.73, Y:-21.79, Z:2.30 [[ 9.99920419e-01 1.12418638e-02 -5.72500293e-03 4.36731597e+02] [-1.12402859e-02 9.99936779e-01 3.07727834e-04 -2.17926166e+01] [ 5.72810042e-03 -2.43352675e-04 9.99983565e-01 2.29613183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.62071405700004 meters Centerline goodness : 0.987750 with order 1 Centerline is valid? [True, True] Translation: X:436.79, Y:-21.80, Z:2.29 [[ 9.99904063e-01 1.26130626e-02 -5.72502653e-03 4.36787992e+02] [-1.26115096e-02 9.99920425e-01 3.07288160e-04 -2.17994110e+01] [ 5.72844681e-03 -2.35057453e-04 9.99983565e-01 2.29489392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.68071405700005 meters Centerline goodness : 0.987814 with order 1 Centerline is valid? [True, True] Translation: X:436.85, Y:-21.80, Z:2.30 [[ 9.99867951e-01 1.52086649e-02 -5.72506649e-03 4.36846364e+02] [-1.52071587e-02 9.99884317e-01 3.06541958e-04 -2.18024055e+01] [ 5.72906629e-03 -2.19439485e-04 9.99983565e-01 2.29641263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.74071405700005 meters Centerline goodness : 0.987598 with order 1 Centerline is valid? [True, True] Translation: X:436.90, Y:-21.81, Z:2.30 [[ 9.99916946e-01 1.15466192e-02 -5.72508938e-03 4.36903708e+02] [-1.15450555e-02 9.99933307e-01 3.06113779e-04 -2.18084974e+01] [ 5.72824214e-03 -2.39991881e-04 9.99983565e-01 2.29675605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.80071405700005 meters Centerline goodness : 0.986989 with order 1 Centerline is valid? [True, True] Translation: X:436.96, Y:-21.82, Z:2.30 [[ 9.99952947e-01 7.83113401e-03 -5.72512870e-03 4.36960548e+02] [-7.82951370e-03 9.99969302e-01 3.05376612e-04 -2.18167982e+01] [ 5.72734440e-03 -2.60537269e-04 9.99983565e-01 2.29621428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.86071405700005 meters Centerline goodness : 0.986956 with order 1 Centerline is valid? [True, True] Translation: X:437.02, Y:-21.82, Z:2.30 [[ 9.99980047e-01 2.66989566e-03 -5.72516767e-03 4.37019195e+02] [-2.66819513e-03 9.99996394e-01 3.04644336e-04 -2.18210732e+01] [ 5.72596039e-03 -2.89362393e-04 9.99983565e-01 2.29846923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.92071405700005 meters Centerline goodness : 0.986642 with order 1 Centerline is valid? [True, True] Translation: X:437.08, Y:-21.83, Z:2.30 [[ 9.99983368e-01 -6.97131187e-04 -5.72518944e-03 4.37077744e+02] [ 6.98884409e-04 9.99999710e-01 3.04234522e-04 -2.18309981e+01] [ 5.72497569e-03 -3.08230707e-04 9.99983565e-01 2.29594925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.98071405700006 meters Centerline goodness : 0.986797 with order 1 Centerline is valid? [True, True] Translation: X:437.14, Y:-21.84, Z:2.30 [[ 9.99973564e-01 -4.48247200e-03 -5.72521193e-03 4.37135869e+02] [ 4.48428466e-03 9.99989899e-01 3.03810802e-04 -2.18399362e+01] [ 5.72379228e-03 -3.29476251e-04 9.99983565e-01 2.29537188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.04071405700006 meters Centerline goodness : 0.987223 with order 1 Centerline is valid? [True, True] Translation: X:437.20, Y:-21.85, Z:2.29 [[ 9.99952974e-01 -7.82759565e-03 -5.72523425e-03 4.37195714e+02] [ 7.82946053e-03 9.99969303e-01 3.03389646e-04 -2.18464149e+01] [ 5.72268369e-03 -3.48200874e-04 9.99983565e-01 2.29305123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.10071405700006 meters Centerline goodness : 0.987772 with order 1 Centerline is valid? [True, True] Translation: X:437.26, Y:-21.85, Z:2.29 [[ 9.99952161e-01 -7.93082897e-03 -5.72524554e-03 4.37255637e+02] [ 7.93269432e-03 9.99968490e-01 3.03176474e-04 -2.18527927e+01] [ 5.72266069e-03 -3.48578593e-04 9.99983565e-01 2.29181714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.16071405700006 meters Centerline goodness : 0.987204 with order 1 Centerline is valid? [True, True] Translation: X:437.32, Y:-21.86, Z:2.29 [[ 9.99959674e-01 -6.91897218e-03 -5.72523997e-03 4.37316511e+02] [ 6.92082160e-03 9.99976005e-01 3.03281544e-04 -2.18575648e+01] [ 5.72300419e-03 -3.42892679e-04 9.99983565e-01 2.29251336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.22071405700007 meters Centerline goodness : 0.986628 with order 1 Centerline is valid? [True, True] Translation: X:437.38, Y:-21.86, Z:2.29 [[ 9.99971846e-01 -4.85067837e-03 -5.72522882e-03 4.37376547e+02] [ 4.85249521e-03 9.99988181e-01 3.03491945e-04 -2.18605581e+01] [ 5.72368901e-03 -3.31265045e-04 9.99983565e-01 2.29425655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.28071405700007 meters Centerline goodness : 0.988074 with order 1 Centerline is valid? [True, True] Translation: X:437.44, Y:-21.86, Z:2.30 [[ 9.99964150e-01 -6.23870893e-03 -5.72522334e-03 4.37437348e+02] [ 6.24054903e-03 9.99980482e-01 3.03595276e-04 -2.18618772e+01] [ 5.72321755e-03 -3.39312929e-04 9.99983565e-01 2.30059168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.34071405700007 meters Centerline goodness : 0.988224 with order 1 Centerline is valid? [True, True] Translation: X:437.50, Y:-21.87, Z:2.30 [[ 9.99963339e-01 -6.36724750e-03 -5.72522334e-03 4.37497707e+02] [ 6.36908970e-03 9.99979671e-01 3.03595276e-04 -2.18687799e+01] [ 5.72317388e-03 -3.40048607e-04 9.99983565e-01 2.29536615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4007140570001 meters Centerline goodness : 0.987888 with order 1 Centerline is valid? [True, True] Translation: X:437.56, Y:-21.88, Z:2.29 [[ 9.99951439e-01 -8.02129031e-03 -5.72522334e-03 4.37557915e+02] [ 8.02315953e-03 9.99967768e-01 3.03595276e-04 -2.18756980e+01] [ 5.72260357e-03 -3.49514914e-04 9.99983565e-01 2.29379679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4607140570001 meters Centerline goodness : 0.988807 with order 1 Centerline is valid? [True, True] Translation: X:437.62, Y:-21.88, Z:2.29 [[ 9.99934704e-01 -9.88985983e-03 -5.72522334e-03 4.37618409e+02] [ 9.89175956e-03 9.99951029e-01 3.03595276e-04 -2.18821010e+01] [ 5.72194045e-03 -3.60207986e-04 9.99983565e-01 2.28913251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5207140570001 meters Centerline goodness : 0.988466 with order 1 Centerline is valid? [True, True] Translation: X:437.68, Y:-21.88, Z:2.30 [[ 9.99981968e-01 -1.81276755e-03 -5.72520247e-03 4.37679415e+02] [ 1.81453760e-03 9.99998308e-01 3.03988348e-04 -2.18849161e+01] [ 5.72464172e-03 -3.14371462e-04 9.99983565e-01 2.29631744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5807140570001 meters Centerline goodness : 0.987673 with order 1 Centerline is valid? [True, True] Translation: X:437.74, Y:-21.89, Z:2.29 [[ 9.99981223e-01 2.18552934e-03 -5.72519108e-03 4.37737620e+02] [-2.18382342e-03 9.99997569e-01 3.04202635e-04 -2.18907028e+01] [ 5.72584201e-03 -2.91694117e-04 9.99983565e-01 2.29355200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.6407140570001 meters Centerline goodness : 0.987715 with order 1 Centerline is valid? [True, True] Translation: X:437.80, Y:-21.89, Z:2.30 [[ 9.99914130e-01 1.17878767e-02 -5.72521217e-03 4.37796417e+02] [-1.17863301e-02 9.99930493e-01 3.03805283e-04 -2.18947962e+01] [ 5.72839544e-03 -2.36299955e-04 9.99983565e-01 2.29935915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.700714057 meters Centerline goodness : 0.986425 with order 1 Centerline is valid? [True, True] Translation: X:437.85, Y:-21.90, Z:2.30 [[ 9.99834905e-01 1.72447961e-02 -5.72529202e-03 4.37853102e+02] [-1.72433475e-02 9.99851277e-01 3.02292885e-04 -2.18985995e+01] [ 5.72965351e-03 -2.03519779e-04 9.99983565e-01 2.30247609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.76071405700003 meters Centerline goodness : 0.986548 with order 1 Centerline is valid? [True, True] Translation: X:437.91, Y:-21.91, Z:2.30 [[ 9.99767328e-01 2.07968983e-02 -5.72533094e-03 4.37910480e+02] [-2.07955120e-02 9.99783704e-01 3.01554006e-04 -2.19070076e+01] [ 5.73036396e-03 -1.82422654e-04 9.99983565e-01 2.29556911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.82071405700003 meters Centerline goodness : 0.986982 with order 1 Centerline is valid? [True, True] Translation: X:437.97, Y:-21.91, Z:2.29 [[ 9.99627935e-01 2.66685673e-02 -5.72536308e-03 4.37968487e+02] [-2.66672808e-02 9.99644320e-01 3.00942521e-04 -2.19149397e+01] [ 5.73135238e-03 -1.48150686e-04 9.99983565e-01 2.29107118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.88071405700003 meters Centerline goodness : 0.988060 with order 1 Centerline is valid? [True, True] Translation: X:438.03, Y:-21.92, Z:2.30 [[ 9.99660103e-01 2.54341648e-02 -5.72544961e-03 4.38026265e+02] [-2.54328675e-02 9.99676488e-01 2.99287048e-04 -2.19200210e+01] [ 5.73120948e-03 -1.53570720e-04 9.99983565e-01 2.29669244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.94071405700004 meters Centerline goodness : 0.988369 with order 1 Centerline is valid? [True, True] Translation: X:438.08, Y:-21.93, Z:2.30 [[ 9.99736861e-01 2.22132437e-02 -5.72548323e-03 4.38084052e+02] [-2.22118973e-02 9.99753241e-01 2.98642581e-04 -2.19253454e+01] [ 5.73070423e-03 -1.71390151e-04 9.99983565e-01 2.29940031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.00071405700004 meters Centerline goodness : 0.988990 with order 1 Centerline is valid? [True, True] Translation: X:438.14, Y:-21.93, Z:2.30 [[ 9.99796955e-01 1.93201030e-02 -5.72551075e-03 4.38142030e+02] [-1.93187123e-02 9.99813332e-01 2.98114125e-04 -2.19314549e+01] [ 5.73020157e-03 -1.87444100e-04 9.99983565e-01 2.30363364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.06071405700004 meters Centerline goodness : 0.989080 with order 1 Centerline is valid? [True, True] Translation: X:438.20, Y:-21.94, Z:2.30 [[ 9.99777754e-01 2.02894343e-02 -5.72553735e-03 4.38200673e+02] [-2.02880624e-02 9.99794132e-01 2.97602270e-04 -2.19415484e+01] [ 5.73039683e-03 -1.81376070e-04 9.99983565e-01 2.30227436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.12071405700004 meters Centerline goodness : 0.993345 with order 1 Centerline is valid? [True, True] Translation: X:438.26, Y:-21.94, Z:2.31 [[ 9.99933426e-01 1.00181077e-02 -5.72555875e-03 4.38258542e+02] [-1.00165700e-02 9.99949789e-01 2.97190001e-04 -2.19398091e+01] [ 5.72824854e-03 -2.39819756e-04 9.99983565e-01 2.30723837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.18071405700005 meters Centerline goodness : 0.988401 with order 1 Centerline is valid? [True, True] Translation: X:438.32, Y:-21.96, Z:2.31 [[ 9.99825432e-01 1.77854806e-02 -5.72558494e-03 4.38316531e+02] [-1.77840729e-02 9.99841807e-01 2.96684568e-04 -2.19586075e+01] [ 5.72995587e-03 -1.94808556e-04 9.99983565e-01 2.30680791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.24071405700005 meters Centerline goodness : 0.992809 with order 1 Centerline is valid? [True, True] Translation: X:438.38, Y:-21.95, Z:2.31 [[ 9.99980976e-01 2.29459855e-03 -5.72566014e-03 4.38375566e+02] [-2.29294568e-03 9.99997328e-01 2.95226042e-04 -2.19544415e+01] [ 5.72632227e-03 -2.82091798e-04 9.99983565e-01 2.30589470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.30071405700005 meters Centerline goodness : 0.989318 with order 1 Centerline is valid? [True, True] Translation: X:438.43, Y:-21.98, Z:2.30 [[ 9.99980349e-01 2.55324999e-03 -5.72568110e-03 4.38433377e+02] [-2.55160368e-03 9.99996701e-01 2.94818974e-04 -2.19763615e+01] [ 5.72641496e-03 -2.80203512e-04 9.99983565e-01 2.30141329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.36071405700005 meters Centerline goodness : 0.988448 with order 1 Centerline is valid? [True, True] Translation: X:438.49, Y:-21.98, Z:2.30 [[ 9.99983517e-01 4.26226488e-04 -5.72570308e-03 4.38492090e+02] [-4.24547830e-04 9.99999867e-01 2.94391549e-04 -2.19843434e+01] [ 5.72582779e-03 -2.91955862e-04 9.99983565e-01 2.30431545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.42071405700005 meters Centerline goodness : 0.992580 with order 1 Centerline is valid? [True, True] Translation: X:438.55, Y:-21.98, Z:2.30 [[ 9.99921467e-01 -1.11479509e-02 -5.72572500e-03 4.38551319e+02] [ 1.11498163e-02 9.99937796e-01 2.93964587e-04 -2.19812472e+01] [ 5.72209173e-03 -3.57782283e-04 9.99983565e-01 2.30122469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.48071405700006 meters Centerline goodness : 0.992460 with order 1 Centerline is valid? [True, True] Translation: X:438.61, Y:-21.99, Z:2.30 [[ 9.99904630e-01 -1.25676950e-02 -5.72574118e-03 4.38611964e+02] [ 1.25695817e-02 9.99920957e-01 2.93649121e-04 -2.19891869e+01] [ 5.72159811e-03 -3.65591288e-04 9.99983565e-01 2.30175387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.54071405700006 meters Centerline goodness : 0.989204 with order 1 Centerline is valid? [True, True] Translation: X:438.67, Y:-22.01, Z:2.30 [[ 9.99972702e-01 -4.67034405e-03 -5.72573090e-03 4.38672775e+02] [ 4.67210291e-03 9.99989043e-01 2.93849418e-04 -2.20076093e+01] [ 5.72429578e-03 -3.20592600e-04 9.99983565e-01 2.29868471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.60071405700006 meters Centerline goodness : 0.992696 with order 1 Centerline is valid? [True, True] Translation: X:438.73, Y:-22.00, Z:2.30 [[ 9.99885875e-01 -1.39804753e-02 -5.72571979e-03 4.38732622e+02] [ 1.39823874e-02 9.99902198e-01 2.94065698e-04 -2.19977787e+01] [ 5.72104863e-03 -3.74091370e-04 9.99983565e-01 2.30104921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.66071405700006 meters Centerline goodness : 0.989047 with order 1 Centerline is valid? [True, True] Translation: X:438.79, Y:-22.01, Z:2.29 [[ 9.99968143e-01 -5.56139382e-03 -5.72572521e-03 4.38793534e+02] [ 5.56316788e-03 9.99984482e-01 2.93960247e-04 -2.20135651e+01] [ 5.72400153e-03 -3.25804053e-04 9.99983565e-01 2.29407410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.72071405700007 meters Centerline goodness : 0.989465 with order 1 Centerline is valid? [True, True] Translation: X:438.85, Y:-22.01, Z:2.30 [[ 9.99965970e-01 -5.93923177e-03 -5.72571491e-03 4.38853096e+02] [ 5.94101315e-03 9.99982309e-01 2.94160708e-04 -2.20141396e+01] [ 5.72386652e-03 -3.28167245e-04 9.99983565e-01 2.29505704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.78071405700007 meters Centerline goodness : 0.989566 with order 1 Centerline is valid? [True, True] Translation: X:438.91, Y:-22.01, Z:2.30 [[ 9.99959221e-01 -6.98372590e-03 -5.72572582e-03 4.38913369e+02] [ 6.98552313e-03 9.99975558e-01 2.93948122e-04 -2.20144526e+01] [ 5.72353302e-03 -3.33933326e-04 9.99983565e-01 2.29770415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.84071405700007 meters Centerline goodness : 0.989855 with order 1 Centerline is valid? [True, True] Translation: X:438.97, Y:-22.01, Z:2.30 [[ 9.99889237e-01 -1.37378608e-02 -5.72572582e-03 4.38973077e+02] [ 1.37397683e-02 9.99905562e-01 2.93948122e-04 -2.20145654e+01] [ 5.72114688e-03 -3.72585710e-04 9.99983565e-01 2.29833134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9007140570001 meters Centerline goodness : 0.990197 with order 1 Centerline is valid? [True, True] Translation: X:439.03, Y:-22.02, Z:2.30 [[ 9.99872632e-01 -1.48974801e-02 -5.72573116e-03 4.39034934e+02] [ 1.48994060e-02 9.99888955e-01 2.93844134e-04 -2.20152090e+01] [ 5.72071780e-03 -3.79116701e-04 9.99983565e-01 2.29985186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9607140570001 meters Centerline goodness : 0.990292 with order 1 Centerline is valid? [True, True] Translation: X:439.10, Y:-22.01, Z:2.30 [[ 9.99895478e-01 -1.32758588e-02 -5.72570887e-03 4.39096464e+02] [ 1.32777607e-02 9.99911803e-01 2.94277797e-04 -2.20148621e+01] [ 5.72129709e-03 -3.70271631e-04 9.99983565e-01 2.30393654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0207140570001 meters Centerline goodness : 0.990952 with order 1 Centerline is valid? [True, True] Translation: X:439.16, Y:-22.02, Z:2.30 [[ 9.99915808e-01 -1.16444830e-02 -5.72569239e-03 4.39158851e+02] [ 1.16463601e-02 9.99932135e-01 2.94598150e-04 -2.20167778e+01] [ 5.72187337e-03 -3.61256822e-04 9.99983565e-01 2.29696743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0807140570001 meters Centerline goodness : 0.990081 with order 1 Centerline is valid? [True, True] Translation: X:439.22, Y:-22.01, Z:2.30 [[ 9.99971455e-01 -4.93013484e-03 -5.72567103e-03 4.39220549e+02] [ 4.93190459e-03 9.99987795e-01 2.95012669e-04 -2.20145342e+01] [ 5.72414669e-03 -3.23242711e-04 9.99983565e-01 2.29937213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.1407140570001 meters Centerline goodness : 0.993779 with order 1 Centerline is valid? [True, True] Translation: X:439.28, Y:-22.01, Z:2.30 [[ 9.99917935e-01 -1.14603597e-02 -5.72565980e-03 4.39280668e+02] [ 1.14622374e-02 9.99934263e-01 2.95230422e-04 -2.20053824e+01] [ 5.72189997e-03 -3.60835065e-04 9.99983565e-01 2.30232931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.200714057 meters Centerline goodness : 0.990395 with order 1 Centerline is valid? [True, True] Translation: X:439.34, Y:-22.02, Z:2.30 [[ 9.99983055e-01 1.05206192e-03 -5.72566531e-03 4.39341522e+02] [-1.05038932e-03 9.99999405e-01 2.95123514e-04 -2.20176728e+01] [ 5.72597239e-03 -2.89104335e-04 9.99983565e-01 2.29639292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.26071405700003 meters Centerline goodness : 0.993494 with order 1 Centerline is valid? [True, True] Translation: X:439.40, Y:-22.01, Z:2.30 [[ 9.99983592e-01 -1.83050583e-04 -5.72565419e-03 4.39399865e+02] [ 1.84744613e-04 9.99999939e-01 2.95339170e-04 -2.20089176e+01] [ 5.72559978e-03 -2.96392107e-04 9.99983565e-01 2.30277546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.32071405700003 meters Centerline goodness : 0.989677 with order 1 Centerline is valid? [True, True] Translation: X:439.46, Y:-22.02, Z:2.30 [[ 9.99896665e-01 1.31861919e-02 -5.72568134e-03 4.39457646e+02] [-1.31847196e-02 9.99913034e-01 2.94811901e-04 -2.20218482e+01] [ 5.72907085e-03 -2.19289933e-04 9.99983565e-01 2.29720018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.38071405700003 meters Centerline goodness : 0.989926 with order 1 Centerline is valid? [True, True] Translation: X:439.52, Y:-22.03, Z:2.29 [[ 9.99777365e-01 2.03085347e-02 -5.72575473e-03 4.39516416e+02] [-2.03071873e-02 9.99793745e-01 2.93379564e-04 -2.20304884e+01] [ 5.73053187e-03 -1.77040274e-04 9.99983565e-01 2.29079740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.44071405700004 meters Centerline goodness : 0.989991 with order 1 Centerline is valid? [True, True] Translation: X:439.58, Y:-22.03, Z:2.30 [[ 9.99808843e-01 1.86946949e-02 -5.72582254e-03 4.39575457e+02] [-1.86933286e-02 9.99825222e-01 2.92049988e-04 -2.20323042e+01] [ 5.73028158e-03 -1.84959478e-04 9.99983565e-01 2.30065794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.50071405700004 meters Centerline goodness : 0.990318 with order 1 Centerline is valid? [True, True] Translation: X:439.63, Y:-22.04, Z:2.29 [[ 9.99856893e-01 1.59187908e-02 -5.72584393e-03 4.39634121e+02] [-1.59173815e-02 9.99873268e-01 2.91630192e-04 -2.20430835e+01] [ 5.72976068e-03 -2.00448016e-04 9.99983565e-01 2.29063639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.56071405700004 meters Centerline goodness : 0.989566 with order 1 Centerline is valid? [True, True] Translation: X:439.69, Y:-22.05, Z:2.29 [[ 9.99913073e-01 1.18769248e-02 -5.72586567e-03 4.39692967e+02] [-1.18754517e-02 9.99929442e-01 2.91202611e-04 -2.20515451e+01] [ 5.72892026e-03 -2.23180056e-04 9.99983565e-01 2.29009890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.62071405700004 meters Centerline goodness : 0.989392 with order 1 Centerline is valid? [True, True] Translation: X:439.75, Y:-22.06, Z:2.29 [[ 9.99968538e-01 5.48982572e-03 -5.72588793e-03 4.39751752e+02] [-5.48825060e-03 9.99984897e-01 2.90764356e-04 -2.20578496e+01] [ 5.72739769e-03 -2.59330100e-04 9.99983565e-01 2.29184638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.68071405700005 meters Centerline goodness : 0.989000 with order 1 Centerline is valid? [True, True] Translation: X:439.81, Y:-22.06, Z:2.30 [[ 9.99983493e-01 4.77225103e-04 -5.72591004e-03 4.39810302e+02] [-4.75570486e-04 9.99999845e-01 2.90328256e-04 -2.20630968e+01] [ 5.72604770e-03 -2.87600389e-04 9.99983565e-01 2.29647179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.74071405700005 meters Centerline goodness : 0.989546 with order 1 Centerline is valid? [True, True] Translation: X:439.87, Y:-22.06, Z:2.30 [[ 9.99967973e-01 -5.59165979e-03 -5.72593180e-03 4.39869270e+02] [ 5.59341116e-03 9.99984315e-01 2.89898407e-04 -2.20644662e+01] [ 5.72422097e-03 -3.21916613e-04 9.99983565e-01 2.30369210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.80071405700005 meters Centerline goodness : 0.989105 with order 1 Centerline is valid? [True, True] Translation: X:439.93, Y:-22.07, Z:2.30 [[ 9.99966923e-01 -5.77638438e-03 -5.72595339e-03 4.39929109e+02] [ 5.77813633e-03 9.99983265e-01 2.89471428e-04 -2.20699050e+01] [ 5.72418546e-03 -3.22547193e-04 9.99983565e-01 2.30295053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.86071405700005 meters Centerline goodness : 0.988764 with order 1 Centerline is valid? [True, True] Translation: X:439.99, Y:-22.08, Z:2.30 [[ 9.99981254e-01 -2.16900781e-03 -5.72596440e-03 4.39988290e+02] [ 2.17069955e-03 9.99997602e-01 2.89253484e-04 -2.20796604e+01] [ 5.72532327e-03 -3.01677410e-04 9.99983565e-01 2.29671767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.92071405700005 meters Centerline goodness : 0.991828 with order 1 Centerline is valid? [True, True] Translation: X:440.05, Y:-22.07, Z:2.30 [[ 9.99900090e-01 -1.29237876e-02 -5.72596981e-03 4.40047620e+02] [ 1.29256544e-02 9.99916418e-01 2.89146276e-04 -2.20717478e+01] [ 5.72175436e-03 -3.63129294e-04 9.99983565e-01 2.29823526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.98071405700006 meters Centerline goodness : 0.991327 with order 1 Centerline is valid? [True, True] Translation: X:440.11, Y:-22.08, Z:2.30 [[ 9.99899257e-01 -1.29880372e-02 -5.72597994e-03 4.40108267e+02] [ 1.29899040e-02 9.99915586e-01 2.88945467e-04 -2.20758447e+01] [ 5.72174375e-03 -3.63296287e-04 9.99983565e-01 2.29757017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.04071405700006 meters Centerline goodness : 0.991544 with order 1 Centerline is valid? [True, True] Translation: X:440.17, Y:-22.08, Z:2.30 [[ 9.99905592e-01 -1.24907937e-02 -5.72596494e-03 4.40169942e+02] [ 1.24926541e-02 9.99921922e-01 2.89242554e-04 -2.20799413e+01] [ 5.72190499e-03 -3.60747746e-04 9.99983565e-01 2.29702458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.10071405700006 meters Centerline goodness : 0.991665 with order 1 Centerline is valid? [True, True] Translation: X:440.23, Y:-22.08, Z:2.30 [[ 9.99922590e-01 -1.10466513e-02 -5.72594520e-03 4.40231619e+02] [ 1.10484903e-02 9.99938922e-01 2.89632770e-04 -2.20839429e+01] [ 5.72239599e-03 -3.52873399e-04 9.99983565e-01 2.29701941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.16071405700006 meters Centerline goodness : 0.991223 with order 1 Centerline is valid? [True, True] Translation: X:440.29, Y:-22.09, Z:2.30 [[ 9.99945565e-01 -8.72242794e-03 -5.72592558e-03 4.40292857e+02] [ 8.72423116e-03 9.99961901e-01 2.90020115e-04 -2.20883048e+01] [ 5.72317775e-03 -3.39958626e-04 9.99983565e-01 2.29796234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.22071405700007 meters Centerline goodness : 0.990916 with order 1 Centerline is valid? [True, True] Translation: X:440.35, Y:-22.09, Z:2.30 [[ 9.99954882e-01 -7.57937159e-03 -5.72591576e-03 4.40353221e+02] [ 7.58115725e-03 9.99971221e-01 2.90213865e-04 -2.20925439e+01] [ 5.72355133e-03 -3.33609839e-04 9.99983565e-01 2.29874730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.28071405700007 meters Centerline goodness : 0.986692 with order 1 Centerline is valid? [True, True] Translation: X:440.41, Y:-22.11, Z:2.30 [[ 9.99976122e-01 3.86894240e-03 -5.72591576e-03 4.40411594e+02] [-3.86734391e-03 9.99992480e-01 2.90213865e-04 -2.21062895e+01] [ 5.72699552e-03 -2.68062850e-04 9.99983565e-01 2.30264890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.34071405700007 meters Centerline goodness : 0.991044 with order 1 Centerline is valid? [True, True] Translation: X:440.47, Y:-22.10, Z:2.30 [[ 9.99954071e-01 -7.68562153e-03 -5.72592560e-03 4.40470630e+02] [ 7.68740781e-03 9.99970409e-01 2.90019472e-04 -2.20994482e+01] [ 5.72352719e-03 -3.34023677e-04 9.99983565e-01 2.30099227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4007140570001 meters Centerline goodness : 0.991613 with order 1 Centerline is valid? [True, True] Translation: X:440.53, Y:-22.10, Z:2.30 [[ 9.99955097e-01 -7.55095159e-03 -5.72594490e-03 4.40530729e+02] [ 7.55273349e-03 9.99971436e-01 2.89638082e-04 -2.21013981e+01] [ 5.72359430e-03 -3.32871612e-04 9.99983565e-01 2.30265344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4607140570001 meters Centerline goodness : 0.990452 with order 1 Centerline is valid? [True, True] Translation: X:440.59, Y:-22.10, Z:2.31 [[ 9.99967869e-01 -5.61025997e-03 -5.72594490e-03 4.40590768e+02] [ 5.61201016e-03 9.99984211e-01 2.89638082e-04 -2.21046878e+01] [ 5.72422954e-03 -3.21762836e-04 9.99983565e-01 2.31112709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5207140570001 meters Centerline goodness : 0.992023 with order 1 Centerline is valid? [True, True] Translation: X:440.65, Y:-22.10, Z:2.30 [[ 9.99911075e-01 -1.20439083e-02 -5.72594490e-03 4.40650523e+02] [ 1.20457636e-02 9.99927405e-01 2.89638082e-04 -2.21045644e+01] [ 5.72204085e-03 -3.58585704e-04 9.99983565e-01 2.30091644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5807140570001 meters Centerline goodness : 0.990221 with order 1 Centerline is valid? [True, True] Translation: X:440.71, Y:-22.11, Z:2.31 [[ 9.99915562e-01 -1.16654448e-02 -5.72595654e-03 4.40712129e+02] [ 1.16672926e-02 9.99931893e-01 2.89407637e-04 -2.21068265e+01] [ 5.72219050e-03 -3.56189610e-04 9.99983565e-01 2.31084183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.6407140570001 meters Centerline goodness : 0.991568 with order 1 Centerline is valid? [True, True] Translation: X:440.77, Y:-22.11, Z:2.30 [[ 9.99856056e-01 -1.59712373e-02 -5.72593834e-03 4.40773913e+02] [ 1.59731575e-02 9.99872379e-01 2.89767432e-04 -2.21055749e+01] [ 5.72057964e-03 -3.81187036e-04 9.99983565e-01 2.30143027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.700714057 meters Centerline goodness : 0.989897 with order 1 Centerline is valid? [True, True] Translation: X:440.84, Y:-22.11, Z:2.31 [[ 9.99881811e-01 -1.42680626e-02 -5.72591999e-03 4.40836174e+02] [ 1.42699571e-02 9.99898137e-01 2.90129545e-04 -2.21071527e+01] [ 5.72119714e-03 -3.71803887e-04 9.99983565e-01 2.31116532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.76071405700003 meters Centerline goodness : 0.990351 with order 1 Centerline is valid? [True, True] Translation: X:440.90, Y:-22.11, Z:2.31 [[ 9.99883421e-01 -1.41547790e-02 -5.72589052e-03 4.40898302e+02] [ 1.41566749e-02 9.99899747e-01 2.90709882e-04 -2.21064013e+01] [ 5.72120155e-03 -3.71735562e-04 9.99983565e-01 2.31284562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.82071405700003 meters Centerline goodness : 0.990615 with order 1 Centerline is valid? [True, True] Translation: X:440.96, Y:-22.11, Z:2.31 [[ 9.99881732e-01 -1.42735998e-02 -5.72586700e-03 4.40960177e+02] [ 1.42755003e-02 9.99898057e-01 2.91172541e-04 -2.21066871e+01] [ 5.72112721e-03 -3.72877721e-04 9.99983565e-01 2.31316521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.88071405700003 meters Centerline goodness : 0.989954 with order 1 Centerline is valid? [True, True] Translation: X:441.02, Y:-22.11, Z:2.30 [[ 9.99928875e-01 -1.04622862e-02 -5.72584190e-03 4.41021563e+02] [ 1.04641272e-02 9.99945207e-01 2.91665140e-04 -2.21141467e+01] [ 5.72247668e-03 -3.51560333e-04 9.99983565e-01 2.30156463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.94071405700004 meters Centerline goodness : 0.990569 with order 1 Centerline is valid? [True, True] Translation: X:441.08, Y:-22.11, Z:2.31 [[ 9.99837599e-01 -1.70877614e-02 -5.72580402e-03 4.41084075e+02] [ 1.70897149e-02 9.99853917e-01 2.92407024e-04 -2.21050277e+01] [ 5.71997100e-03 -3.90211895e-04 9.99983565e-01 2.30624117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.00071405700004 meters Centerline goodness : 0.990812 with order 1 Centerline is valid? [True, True] Translation: X:441.14, Y:-22.11, Z:2.31 [[ 9.99859463e-01 -1.57565707e-02 -5.72578497e-03 4.41144881e+02] [ 1.57585046e-02 9.99875784e-01 2.92779591e-04 -2.21050652e+01] [ 5.72046053e-03 -3.82968253e-04 9.99983565e-01 2.30645958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.06071405700004 meters Centerline goodness : 0.990628 with order 1 Centerline is valid? [True, True] Translation: X:441.21, Y:-22.10, Z:2.31 [[ 9.99921249e-01 -1.11674670e-02 -5.72576588e-03 4.41206663e+02] [ 1.11693281e-02 9.99937578e-01 2.93152315e-04 -2.21041844e+01] [ 5.72213470e-03 -3.57082187e-04 9.99983565e-01 2.31487497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.12071405700004 meters Centerline goodness : 0.990447 with order 1 Centerline is valid? [True, True] Translation: X:441.27, Y:-22.11, Z:2.32 [[ 9.99927148e-01 -1.06261026e-02 -5.72575338e-03 4.41268870e+02] [ 1.06279561e-02 9.99943479e-01 2.93396301e-04 -2.21054504e+01] [ 5.72231210e-03 -3.54227982e-04 9.99983565e-01 2.31576738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.18071405700005 meters Centerline goodness : 0.991255 with order 1 Centerline is valid? [True, True] Translation: X:441.33, Y:-22.11, Z:2.32 [[ 9.99920973e-01 -1.11921728e-02 -5.72572817e-03 4.41330065e+02] [ 1.11940384e-02 9.99937302e-01 2.93887587e-04 -2.21073104e+01] [ 5.72207993e-03 -3.57958383e-04 9.99983565e-01 2.31823790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.24071405700005 meters Centerline goodness : 0.990653 with order 1 Centerline is valid? [True, True] Translation: X:441.39, Y:-22.12, Z:2.32 [[ 9.99945979e-01 -8.67502318e-03 -5.72570923e-03 4.41391537e+02] [ 8.67684980e-03 9.99962312e-01 2.94256033e-04 -2.21201547e+01] [ 5.72294076e-03 -3.43921256e-04 9.99983565e-01 2.31754600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.30071405700005 meters Centerline goodness : 0.990432 with order 1 Centerline is valid? [True, True] Translation: X:441.45, Y:-22.12, Z:2.32 [[ 9.99898563e-01 -1.30415082e-02 -5.72568327e-03 4.41452950e+02] [ 1.30434090e-02 9.99914888e-01 2.94760216e-04 -2.21230001e+01] [ 5.72135183e-03 -3.69412745e-04 9.99983565e-01 2.31864017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.36071405700005 meters Centerline goodness : 0.991058 with order 1 Centerline is valid? [True, True] Translation: X:441.51, Y:-22.13, Z:2.32 [[ 9.99903170e-01 -1.26833730e-02 -5.72567224e-03 4.41513701e+02] [ 1.26852692e-02 9.99919495e-01 2.94974332e-04 -2.21260282e+01] [ 5.72147003e-03 -3.67577463e-04 9.99983565e-01 2.31581856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.42071405700005 meters Centerline goodness : 0.990152 with order 1 Centerline is valid? [True, True] Translation: X:441.57, Y:-22.13, Z:2.31 [[ 9.99973954e-01 -4.39405356e-03 -5.72566142e-03 4.41574815e+02] [ 4.39581553e-03 9.99990295e-01 2.95184362e-04 -2.21299239e+01] [ 5.72430879e-03 -3.20345625e-04 9.99983565e-01 2.31425748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.48071405700006 meters Centerline goodness : 0.993915 with order 1 Centerline is valid? [True, True] Translation: X:441.64, Y:-22.12, Z:2.32 [[ 9.99980279e-01 -2.58033079e-03 -5.72565042e-03 4.41635064e+02] [ 2.58206434e-03 9.99996623e-01 2.95397448e-04 -2.21222638e+01] [ 5.72486886e-03 -3.10175620e-04 9.99983565e-01 2.31789600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.54071405700006 meters Centerline goodness : 0.991160 with order 1 Centerline is valid? [True, True] Translation: X:441.69, Y:-22.13, Z:2.32 [[ 9.99955174e-01 7.54097662e-03 -5.72565582e-03 4.41694433e+02] [-7.53940918e-03 9.99971535e-01 2.95292735e-04 -2.21338027e+01] [ 5.72771964e-03 -2.52111436e-04 9.99983565e-01 2.31684486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.60071405700006 meters Centerline goodness : 0.989636 with order 1 Centerline is valid? [True, True] Translation: X:441.75, Y:-22.14, Z:2.31 [[ 9.99910253e-01 1.21120912e-02 -5.72566687e-03 4.41752355e+02] [-1.21105998e-02 9.99926620e-01 2.95078444e-04 -2.21393685e+01] [ 5.72882074e-03 -2.25710702e-04 9.99983565e-01 2.31403851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.66071405700006 meters Centerline goodness : 0.990882 with order 1 Centerline is valid? [True, True] Translation: X:441.81, Y:-22.14, Z:2.32 [[ 9.99952727e-01 7.85875546e-03 -5.72569389e-03 4.41811155e+02] [-7.85719744e-03 9.99969088e-01 2.94553164e-04 -2.21396149e+01] [ 5.72783172e-03 -2.49551332e-04 9.99983565e-01 2.31911091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.72071405700007 meters Centerline goodness : 0.990763 with order 1 Centerline is valid? [True, True] Translation: X:441.87, Y:-22.14, Z:2.32 [[ 9.99979557e-01 2.84649733e-03 -5.72571516e-03 4.41870060e+02] [-2.84485969e-03 9.99995910e-01 2.94139174e-04 -2.21440081e+01] [ 5.72652900e-03 -2.77844305e-04 9.99983565e-01 2.31990957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.78071405700007 meters Centerline goodness : 0.990901 with order 1 Centerline is valid? [True, True] Translation: X:441.93, Y:-22.15, Z:2.32 [[ 9.99967187e-01 -5.73069221e-03 -5.72573689e-03 4.41928355e+02] [ 5.73246764e-03 9.99983526e-01 2.93715416e-04 -2.21467221e+01] [ 5.72395938e-03 -3.26528380e-04 9.99983565e-01 2.32075474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.84071405700007 meters Centerline goodness : 0.990163 with order 1 Centerline is valid? [True, True] Translation: X:441.99, Y:-22.15, Z:2.32 [[ 9.99926462e-01 -1.06905063e-02 -5.72575821e-03 4.41988743e+02] [ 1.06923604e-02 9.99942792e-01 2.93299260e-04 -2.21498700e+01] [ 5.72229513e-03 -3.54499561e-04 9.99983565e-01 2.32441499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9007140570001 meters Centerline goodness : 0.990835 with order 1 Centerline is valid? [True, True] Translation: X:442.05, Y:-22.15, Z:2.33 [[ 9.99910033e-01 -1.21302237e-02 -5.72575821e-03 4.42049850e+02] [ 1.21321013e-02 9.99926360e-01 2.93299260e-04 -2.21518635e+01] [ 5.72177878e-03 -3.62738351e-04 9.99983565e-01 2.32811187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9607140570001 meters Centerline goodness : 0.990976 with order 1 Centerline is valid? [True, True] Translation: X:442.11, Y:-22.15, Z:2.33 [[ 9.99916191e-01 -1.16115252e-02 -5.72574738e-03 4.42110660e+02] [ 1.16133955e-02 9.99932519e-01 2.93510455e-04 -2.21532748e+01] [ 5.72195290e-03 -3.59981225e-04 9.99983565e-01 2.33083836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0207140570001 meters Centerline goodness : 0.990355 with order 1 Centerline is valid? [True, True] Translation: X:442.17, Y:-22.15, Z:2.33 [[ 9.99902421e-01 -1.27422511e-02 -5.72573131e-03 4.42172964e+02] [ 1.27441417e-02 9.99918747e-01 2.93823670e-04 -2.21546465e+01] [ 5.72152210e-03 -3.66764530e-04 9.99983565e-01 2.33411147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0807140570001 meters Centerline goodness : 0.992872 with order 1 Centerline is valid? [True, True] Translation: X:442.23, Y:-22.15, Z:2.32 [[ 9.99760979e-01 -2.10997853e-02 -5.72571046e-03 4.42233888e+02] [ 2.11018145e-02 9.99777289e-01 2.94229388e-04 -2.21539266e+01] [ 5.71822711e-03 -4.14981942e-04 9.99983565e-01 2.32316325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.1407140570001 meters Centerline goodness : 0.989950 with order 1 Centerline is valid? [True, True] Translation: X:442.30, Y:-22.16, Z:2.33 [[ 9.99758130e-01 -2.12343561e-02 -5.72570013e-03 4.42296228e+02] [ 2.12363887e-02 9.99774439e-01 2.94430310e-04 -2.21619302e+01] [ 5.71815660e-03 -4.15952290e-04 9.99983565e-01 2.33356047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.200714057 meters Centerline goodness : 0.990455 with order 1 Centerline is valid? [True, True] Translation: X:442.36, Y:-22.16, Z:2.33 [[ 9.99657207e-01 -2.55476904e-02 -5.72567171e-03 4.42357329e+02] [ 2.55497965e-02 9.99673507e-01 2.94981947e-04 -2.21645858e+01] [ 5.71626621e-03 -4.41170577e-04 9.99983565e-01 2.32965947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.26071405700003 meters Centerline goodness : 0.990668 with order 1 Centerline is valid? [True, True] Translation: X:442.42, Y:-22.17, Z:2.33 [[ 9.99666051e-01 -2.51992805e-02 -5.72565502e-03 4.42419717e+02] [ 2.52013828e-02 9.99682351e-01 2.95305668e-04 -2.21677520e+01] [ 5.71639478e-03 -4.39501474e-04 9.99983565e-01 2.32546369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.32071405700003 meters Centerline goodness : 0.990322 with order 1 Centerline is valid? [True, True] Translation: X:442.48, Y:-22.17, Z:2.33 [[ 9.99675429e-01 -2.48244418e-02 -5.72563280e-03 4.42481572e+02] [ 2.48265404e-02 9.99691730e-01 2.95735832e-04 -2.21667710e+01] [ 5.71652628e-03 -4.37787499e-04 9.99983565e-01 2.33003935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.38071405700003 meters Centerline goodness : 0.989866 with order 1 Centerline is valid? [True, True] Translation: X:442.54, Y:-22.17, Z:2.33 [[ 9.99720034e-01 -2.29580283e-02 -5.72561012e-03 4.42543157e+02] [ 2.29600989e-02 9.99736338e-01 2.96174120e-04 -2.21689180e+01] [ 5.71730093e-03 -4.27551776e-04 9.99983565e-01 2.33005498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.44071405700004 meters Centerline goodness : 0.989798 with order 1 Centerline is valid? [True, True] Translation: X:442.60, Y:-22.17, Z:2.33 [[ 9.99613433e-01 -2.72066671e-02 -5.72559317e-03 4.42604476e+02] [ 2.72088089e-02 9.99629728e-01 2.96501609e-04 -2.21730323e+01] [ 5.71540632e-03 -4.52173561e-04 9.99983565e-01 2.32578076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.50071405700004 meters Centerline goodness : 0.990661 with order 1 Centerline is valid? [True, True] Translation: X:442.67, Y:-22.18, Z:2.32 [[ 9.99525327e-01 -3.02710740e-02 -5.72557650e-03 4.42665196e+02] [ 3.02732675e-02 9.99541616e-01 2.96823011e-04 -2.21759702e+01] [ 5.71396684e-03 -4.70014026e-04 9.99983565e-01 2.32392258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.56071405700004 meters Centerline goodness : 0.989846 with order 1 Centerline is valid? [True, True] Translation: X:442.73, Y:-22.18, Z:2.32 [[ 9.99583262e-01 -2.82934723e-02 -5.72553337e-03 4.42726756e+02] [ 2.82956384e-02 9.99599554e-01 2.97652622e-04 -2.21810222e+01] [ 5.71481898e-03 -4.59536201e-04 9.99983565e-01 2.31937327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.62071405700004 meters Centerline goodness : 0.990763 with order 1 Centerline is valid? [True, True] Translation: X:442.79, Y:-22.18, Z:2.32 [[ 9.99428895e-01 -3.33031984e-02 -5.72551641e-03 4.42789227e+02] [ 3.33054479e-02 9.99445175e-01 2.97978537e-04 -2.21812537e+01] [ 5.71241612e-03 -4.88499248e-04 9.99983565e-01 2.32485623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.68071405700005 meters Centerline goodness : 0.989931 with order 1 Centerline is valid? [True, True] Translation: X:442.85, Y:-22.18, Z:2.33 [[ 9.99408237e-01 -3.39174612e-02 -5.72549381e-03 4.42851060e+02] [ 3.39197233e-02 9.99424516e-01 2.98412130e-04 -2.21832801e+01] [ 5.71207750e-03 -4.92442707e-04 9.99983565e-01 2.32618055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.74071405700005 meters Centerline goodness : 0.990103 with order 1 Centerline is valid? [True, True] Translation: X:442.91, Y:-22.18, Z:2.33 [[ 9.99456408e-01 -3.24670253e-02 -5.72547088e-03 4.42913771e+02] [ 3.24692662e-02 9.99472690e-01 2.98851547e-04 -2.21840937e+01] [ 5.71274896e-03 -4.84590931e-04 9.99983565e-01 2.32766663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.80071405700005 meters Centerline goodness : 0.990069 with order 1 Centerline is valid? [True, True] Translation: X:442.98, Y:-22.19, Z:2.33 [[ 9.99563859e-01 -2.89708554e-02 -5.72544809e-03 4.42975957e+02] [ 2.89730419e-02 9.99580149e-01 2.99287519e-04 -2.21859175e+01] [ 5.71437363e-03 -4.65040635e-04 9.99983565e-01 2.32930877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.86071405700005 meters Centerline goodness : 0.989336 with order 1 Centerline is valid? [True, True] Translation: X:443.04, Y:-22.19, Z:2.34 [[ 9.99600779e-01 -2.76677051e-02 -5.72542532e-03 4.43037670e+02] [ 2.76698728e-02 9.99617071e-01 2.99722419e-04 -2.21870900e+01] [ 5.71494026e-03 -4.58024554e-04 9.99983565e-01 2.33524351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.92071405700005 meters Centerline goodness : 0.992742 with order 1 Centerline is valid? [True, True] Translation: X:443.10, Y:-22.18, Z:2.33 [[ 9.99397039e-01 -3.42458422e-02 -5.72538391e-03 4.43098243e+02] [ 3.42481215e-02 9.99413316e-01 3.00511435e-04 -2.21835838e+01] [ 5.71173365e-03 -4.96413882e-04 9.99983565e-01 2.33093828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.98071405700006 meters Centerline goodness : 0.989983 with order 1 Centerline is valid? [True, True] Translation: X:443.16, Y:-22.19, Z:2.33 [[ 9.99457847e-01 -3.24227123e-02 -5.72537831e-03 4.43159588e+02] [ 3.24249626e-02 9.99474127e-01 3.00618061e-04 -2.21922196e+01] [ 5.71262064e-03 -4.86100257e-04 9.99983565e-01 2.33383588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.04071405700006 meters Centerline goodness : 0.990641 with order 1 Centerline is valid? [True, True] Translation: X:443.22, Y:-22.20, Z:2.34 [[ 9.99439155e-01 -3.29938678e-02 -5.72535561e-03 4.43221230e+02] [ 3.29961298e-02 9.99455434e-01 3.01049823e-04 -2.21967477e+01] [ 5.71230498e-03 -4.89795558e-04 9.99983565e-01 2.33540280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.10071405700006 meters Centerline goodness : 0.988868 with order 1 Centerline is valid? [True, True] Translation: X:443.28, Y:-22.20, Z:2.33 [[ 9.99382017e-01 -3.46814792e-02 -5.72533870e-03 4.43284078e+02] [ 3.46837705e-02 9.99398292e-01 3.01371034e-04 -2.22027427e+01] [ 5.71144172e-03 -4.99761126e-04 9.99983565e-01 2.33483703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.16071405700006 meters Centerline goodness : 0.990480 with order 1 Centerline is valid? [True, True] Translation: X:443.34, Y:-22.21, Z:2.33 [[ 9.99284219e-01 -3.73934554e-02 -5.72530406e-03 4.43344712e+02] [ 3.73957945e-02 9.99300487e-01 3.02027674e-04 -2.22065424e+01] [ 5.71000528e-03 -5.15913782e-04 9.99983565e-01 2.32991628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.22071405700007 meters Centerline goodness : 0.990700 with order 1 Centerline is valid? [True, True] Translation: X:443.41, Y:-22.21, Z:2.33 [[ 9.99393843e-01 -3.43390117e-02 -5.72529278e-03 4.43406481e+02] [ 3.43413024e-02 9.99410118e-01 3.02241398e-04 -2.22100741e+01] [ 5.71153686e-03 -4.98672203e-04 9.99983565e-01 2.33342683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.28071405700007 meters Centerline goodness : 0.989927 with order 1 Centerline is valid? [True, True] Translation: X:443.47, Y:-22.21, Z:2.34 [[ 9.99452749e-01 -3.25795063e-02 -5.72527108e-03 4.43468163e+02] [ 3.25817706e-02 9.99469027e-01 3.02651871e-04 -2.22130065e+01] [ 5.71237087e-03 -4.89025714e-04 9.99983565e-01 2.34108082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.34071405700007 meters Centerline goodness : 0.990399 with order 1 Centerline is valid? [True, True] Translation: X:443.53, Y:-22.22, Z:2.34 [[ 9.99572069e-01 -2.86862438e-02 -5.72524740e-03 4.43530840e+02] [ 2.86884472e-02 9.99588356e-01 3.03099085e-04 -2.22174887e+01] [ 5.71419586e-03 -4.67217837e-04 9.99983565e-01 2.34188238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4007140570001 meters Centerline goodness : 0.990102 with order 1 Centerline is valid? [True, True] Translation: X:443.59, Y:-22.22, Z:2.34 [[ 9.99648786e-01 -2.58752092e-02 -5.72521219e-03 4.43591982e+02] [ 2.58773706e-02 9.99665079e-01 3.03762794e-04 -2.22203489e+01] [ 5.71543477e-03 -4.51809546e-04 9.99983565e-01 2.34136819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4607140570001 meters Centerline goodness : 0.989600 with order 1 Centerline is valid? [True, True] Translation: X:443.65, Y:-22.22, Z:2.34 [[ 9.99709332e-01 -2.34195152e-02 -5.72519490e-03 4.43653687e+02] [ 2.34216385e-02 9.99725630e-01 3.04088363e-04 -2.22246827e+01] [ 5.71650247e-03 -4.38093419e-04 9.99983565e-01 2.34046412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5207140570001 meters Centerline goodness : 0.990041 with order 1 Centerline is valid? [True, True] Translation: X:443.72, Y:-22.23, Z:2.34 [[ 9.99729129e-01 -2.25586317e-02 -5.72517820e-03 4.43716012e+02] [ 2.25607427e-02 9.99745428e-01 3.04402422e-04 -2.22286165e+01] [ 5.71685382e-03 -4.33484240e-04 9.99983565e-01 2.34004194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5807140570001 meters Centerline goodness : 0.990067 with order 1 Centerline is valid? [True, True] Translation: X:443.78, Y:-22.23, Z:2.34 [[ 9.99771541e-01 -2.05934263e-02 -5.72515520e-03 4.43777288e+02] [ 2.05955077e-02 9.99787844e-01 3.04834361e-04 -2.22325297e+01] [ 5.71766299e-03 -4.22677196e-04 9.99983565e-01 2.33721436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.6407140570001 meters Centerline goodness : 0.990048 with order 1 Centerline is valid? [True, True] Translation: X:443.84, Y:-22.23, Z:2.34 [[ 9.99748964e-01 -2.16617642e-02 -5.72513824e-03 4.43839306e+02] [ 2.16638649e-02 9.99765264e-01 3.05152554e-04 -2.22337212e+01] [ 5.71718420e-03 -4.29104571e-04 9.99983565e-01 2.34237051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.700714057 meters Centerline goodness : 0.990919 with order 1 Centerline is valid? [True, True] Translation: X:443.90, Y:-22.24, Z:2.34 [[ 9.99788692e-01 -1.97431945e-02 -5.72511521e-03 4.43901632e+02] [ 1.97452664e-02 9.99804997e-01 3.05583917e-04 -2.22353189e+01] [ 5.71796559e-03 -4.18563270e-04 9.99983565e-01 2.34403991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.76071405700003 meters Centerline goodness : 0.990568 with order 1 Centerline is valid? [True, True] Translation: X:443.96, Y:-22.24, Z:2.34 [[ 9.99802535e-01 -1.90293051e-02 -5.72509165e-03 4.43963758e+02] [ 1.90313678e-02 9.99818840e-01 3.06024796e-04 -2.22384958e+01] [ 5.71823105e-03 -4.14920691e-04 9.99983565e-01 2.34317339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.82071405700003 meters Centerline goodness : 0.990819 with order 1 Centerline is valid? [True, True] Translation: X:444.02, Y:-22.24, Z:2.34 [[ 9.99772400e-01 -2.05516996e-02 -5.72506836e-03 4.44024445e+02] [ 2.05537896e-02 9.99788702e-01 3.06459862e-04 -2.22436000e+01] [ 5.71756039e-03 -4.24061962e-04 9.99983565e-01 2.34065942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.88071405700003 meters Centerline goodness : 0.990288 with order 1 Centerline is valid? [True, True] Translation: X:444.09, Y:-22.25, Z:2.34 [[ 9.99747715e-01 -2.17193456e-02 -5.72505116e-03 4.44086590e+02] [ 2.17214565e-02 9.99764014e-01 3.06780776e-04 -2.22469505e+01] [ 5.71703705e-03 -4.31059829e-04 9.99983565e-01 2.34099237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.94071405700004 meters Centerline goodness : 0.991182 with order 1 Centerline is valid? [True, True] Translation: X:444.15, Y:-22.25, Z:2.34 [[ 9.99722332e-01 -2.28578665e-02 -5.72502766e-03 4.44147763e+02] [ 2.28599985e-02 9.99738629e-01 3.07218823e-04 -2.22499788e+01] [ 5.71650893e-03 -4.38007642e-04 9.99983565e-01 2.33727483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.00071405700004 meters Centerline goodness : 0.991051 with order 1 Centerline is valid? [True, True] Translation: X:444.21, Y:-22.25, Z:2.34 [[ 9.99748945e-01 -2.16626488e-02 -5.72501033e-03 4.44209998e+02] [ 2.16647631e-02 9.99765244e-01 3.07541436e-04 -2.22528606e+01] [ 5.71700418e-03 -4.31495218e-04 9.99983565e-01 2.33639571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.06071405700004 meters Centerline goodness : 0.990191 with order 1 Centerline is valid? [True, True] Translation: X:444.27, Y:-22.25, Z:2.34 [[ 9.99786379e-01 -1.98600350e-02 -5.72498700e-03 4.44272495e+02] [ 1.98621223e-02 9.99802681e-01 3.07975094e-04 -2.22542987e+01] [ 5.71774095e-03 -4.21619696e-04 9.99983565e-01 2.33805476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.12071405700004 meters Centerline goodness : 0.990418 with order 1 Centerline is valid? [True, True] Translation: X:444.34, Y:-22.26, Z:2.34 [[ 9.99807251e-01 -1.87799153e-02 -5.72496345e-03 4.44335149e+02] [ 1.87819875e-02 9.99823555e-01 3.08412106e-04 -2.22550127e+01] [ 5.71816136e-03 -4.15878852e-04 9.99983565e-01 2.34014478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.18071405700005 meters Centerline goodness : 0.990559 with order 1 Centerline is valid? [True, True] Translation: X:444.40, Y:-22.26, Z:2.34 [[ 9.99856999e-01 -1.59124742e-02 -5.72494033e-03 4.44396066e+02] [ 1.59145021e-02 9.99873309e-01 3.08840750e-04 -2.22571914e+01] [ 5.71930061e-03 -3.99906160e-04 9.99983565e-01 2.34070462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.24071405700005 meters Centerline goodness : 0.989803 with order 1 Centerline is valid? [True, True] Translation: X:444.46, Y:-22.26, Z:2.34 [[ 9.99868768e-01 -1.51549209e-02 -5.72490418e-03 4.44458709e+02] [ 1.51569403e-02 9.99885079e-01 3.09509336e-04 -2.22592649e+01] [ 5.71955568e-03 -3.96240749e-04 9.99983565e-01 2.34202647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.30071405700005 meters Centerline goodness : 0.990254 with order 1 Centerline is valid? [True, True] Translation: X:444.52, Y:-22.26, Z:2.34 [[ 9.99864339e-01 -1.54443691e-02 -5.72488123e-03 4.44519839e+02] [ 1.54463956e-02 9.99880649e-01 3.09933311e-04 -2.22616598e+01] [ 5.71941124e-03 -3.98320046e-04 9.99983565e-01 2.34123576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.36071405700005 meters Centerline goodness : 0.990101 with order 1 Centerline is valid? [True, True] Translation: X:444.58, Y:-22.26, Z:2.34 [[ 9.99842226e-01 -1.68151633e-02 -5.72484509e-03 4.44582017e+02] [ 1.68172159e-02 9.99858532e-01 3.10599380e-04 -2.22646013e+01] [ 5.71881243e-03 -4.06826331e-04 9.99983565e-01 2.34204885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.42071405700005 meters Centerline goodness : 0.989744 with order 1 Centerline is valid? [True, True] Translation: X:444.64, Y:-22.27, Z:2.34 [[ 9.99821762e-01 -1.79908507e-02 -5.72482267e-03 4.44644618e+02] [ 1.79929249e-02 9.99838066e-01 3.11012126e-04 -2.22678710e+01] [ 5.71830025e-03 -4.13962996e-04 9.99983565e-01 2.34164054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.48071405700006 meters Centerline goodness : 0.988642 with order 1 Centerline is valid? [True, True] Translation: X:444.71, Y:-22.27, Z:2.34 [[ 9.99822132e-01 -1.79702900e-02 -5.72480031e-03 4.44707129e+02] [ 1.79723662e-02 9.99838435e-01 3.11423172e-04 -2.22712415e+01] [ 5.71827902e-03 -4.14255987e-04 9.99983565e-01 2.34374530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.54071405700006 meters Centerline goodness : 0.988542 with order 1 Centerline is valid? [True, True] Translation: X:444.77, Y:-22.27, Z:2.35 [[ 9.99840853e-01 -1.68965914e-02 -5.72477728e-03 4.44767817e+02] [ 1.68986525e-02 9.99857159e-01 3.11845991e-04 -2.22729293e+01] [ 5.71869041e-03 -4.08537384e-04 9.99983565e-01 2.34666914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.60071405700006 meters Centerline goodness : 0.987815 with order 1 Centerline is valid? [True, True] Translation: X:444.83, Y:-22.27, Z:2.35 [[ 9.99897077e-01 -1.31553290e-02 -5.72476038e-03 4.44830199e+02] [ 1.31573308e-02 9.99913390e-01 3.12155963e-04 -2.22733605e+01] [ 5.72015804e-03 -3.87446401e-04 9.99983565e-01 2.35480455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.66071405700006 meters Centerline goodness : 0.988856 with order 1 Centerline is valid? [True, True] Translation: X:444.89, Y:-22.27, Z:2.36 [[ 9.99912891e-01 -1.18928018e-02 -5.72473897e-03 4.44892316e+02] [ 1.18947853e-02 9.99929206e-01 3.12547981e-04 -2.22734950e+01] [ 5.72061662e-03 -3.80615296e-04 9.99983565e-01 2.36174048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.72071405700007 meters Centerline goodness : 0.987805 with order 1 Centerline is valid? [True, True] Translation: X:444.95, Y:-22.28, Z:2.36 [[ 9.99917390e-01 -1.15082754e-02 -5.72471724e-03 4.44953385e+02] [ 1.15102549e-02 9.99933706e-01 3.12945517e-04 -2.22779945e+01] [ 5.72073626e-03 -3.78812619e-04 9.99983565e-01 2.36072792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.78071405700007 meters Centerline goodness : 0.988308 with order 1 Centerline is valid? [True, True] Translation: X:445.02, Y:-22.28, Z:2.36 [[ 9.99897472e-01 -1.31252942e-02 -5.72470653e-03 4.45015266e+02] [ 1.31273011e-02 9.99913784e-01 3.13141329e-04 -2.22805978e+01] [ 5.72010290e-03 -3.88259169e-04 9.99983565e-01 2.36086563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.84071405700007 meters Centerline goodness : 0.988483 with order 1 Centerline is valid? [True, True] Translation: X:445.08, Y:-22.29, Z:2.36 [[ 9.99892929e-01 -1.34669175e-02 -5.72469061e-03 4.45076104e+02] [ 1.34689317e-02 9.99909241e-01 3.13432103e-04 -2.22854334e+01] [ 5.71995008e-03 -3.90504011e-04 9.99983565e-01 2.36050059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9007140570001 meters Centerline goodness : 0.988262 with order 1 Centerline is valid? [True, True] Translation: X:445.14, Y:-22.29, Z:2.36 [[ 9.99876321e-01 -1.46482319e-02 -5.72467492e-03 4.45138263e+02] [ 1.46502670e-02 9.99892630e-01 3.13718386e-04 -2.22884354e+01] [ 5.71946484e-03 -3.97547602e-04 9.99983565e-01 2.36297594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9607140570001 meters Centerline goodness : 0.988760 with order 1 Centerline is valid? [True, True] Translation: X:445.20, Y:-22.29, Z:2.36 [[ 9.99905456e-01 -1.25023172e-02 -5.72465255e-03 4.45200369e+02] [ 1.25043196e-02 9.99921769e-01 3.14126067e-04 -2.22907366e+01] [ 5.72027740e-03 -3.85679253e-04 9.99983565e-01 2.36242466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0207140570001 meters Centerline goodness : 0.989777 with order 1 Centerline is valid? [True, True] Translation: X:445.26, Y:-22.29, Z:2.35 [[ 9.99930400e-01 -1.03161777e-02 -5.72463026e-03 4.45261067e+02] [ 1.03181468e-02 9.99946717e-01 3.14531709e-04 -2.22869497e+01] [ 5.72108047e-03 -3.73577393e-04 9.99983565e-01 2.35336288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0807140570001 meters Centerline goodness : 0.987861 with order 1 Centerline is valid? [True, True] Translation: X:445.32, Y:-22.29, Z:2.35 [[ 9.99971801e-01 -4.86069894e-03 -5.72461786e-03 4.45322559e+02] [ 4.86258022e-03 9.99988128e-01 3.14757270e-04 -2.22871818e+01] [ 5.72301996e-03 -3.42584808e-04 9.99983565e-01 2.35341568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.1407140570001 meters Centerline goodness : 0.984771 with order 1 Centerline is valid? [True, True] Translation: X:445.38, Y:-22.30, Z:2.35 [[ 9.99908141e-01 1.22857148e-02 -5.72459750e-03 4.45381679e+02] [-1.22841116e-02 9.99924498e-01 3.15127084e-04 -2.23045467e+01] [ 5.72803685e-03 -2.44776542e-04 9.99983565e-01 2.34989290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.200714057 meters Centerline goodness : 0.985763 with order 1 Centerline is valid? [True, True] Translation: X:445.44, Y:-22.29, Z:2.35 [[ 9.99983143e-01 9.71005271e-04 -5.72460430e-03 4.45441721e+02] [-9.69217833e-04 9.99999481e-01 3.15003644e-04 -2.22916348e+01] [ 5.72490719e-03 -3.09449946e-04 9.99983565e-01 2.35189046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.26071405700003 meters Centerline goodness : 0.988598 with order 1 Centerline is valid? [True, True] Translation: X:445.50, Y:-22.30, Z:2.36 [[ 9.99951391e-01 8.02773876e-03 -5.72463100e-03 4.45499452e+02] [-8.02606944e-03 9.99967741e-01 3.14517667e-04 -2.23002615e+01] [ 5.72697119e-03 -2.68556092e-04 9.99983565e-01 2.35671957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.32071405700003 meters Centerline goodness : 0.984779 with order 1 Centerline is valid? [True, True] Translation: X:445.56, Y:-22.31, Z:2.35 [[ 9.99914467e-01 1.17595800e-02 -5.72466431e-03 4.45557991e+02] [-1.17579752e-02 9.99930823e-01 3.13910136e-04 -2.23101688e+01] [ 5.72795975e-03 -2.46572825e-04 9.99983565e-01 2.35451057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.38071405700003 meters Centerline goodness : 0.987480 with order 1 Centerline is valid? [True, True] Translation: X:445.62, Y:-22.31, Z:2.36 [[ 9.99964762e-01 6.14025451e-03 -5.72475102e-03 4.45616990e+02] [-6.13856688e-03 9.99981110e-01 3.12320740e-04 -2.23123359e+01] [ 5.72656061e-03 -2.77167967e-04 9.99983565e-01 2.35982257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.44071405700004 meters Centerline goodness : 0.987457 with order 1 Centerline is valid? [True, True] Translation: X:445.68, Y:-22.31, Z:2.36 [[ 9.99969358e-01 5.33952084e-03 -5.72477357e-03 4.45675121e+02] [-5.33782248e-03 9.99985705e-01 3.11906953e-04 -2.23139715e+01] [ 5.72635717e-03 -2.81339571e-04 9.99983565e-01 2.36161094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.50071405700004 meters Centerline goodness : 0.988343 with order 1 Centerline is valid? [True, True] Translation: X:445.73, Y:-22.32, Z:2.36 [[ 9.99957083e-01 7.28412127e-03 -5.72480129e-03 4.45733389e+02] [-7.28245762e-03 9.99973434e-01 3.11397253e-04 -2.23186547e+01] [ 5.72691746e-03 -2.69693266e-04 9.99983565e-01 2.36412059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.56071405700004 meters Centerline goodness : 0.989290 with order 1 Centerline is valid? [True, True] Translation: X:445.79, Y:-22.32, Z:2.37 [[ 9.99953833e-01 7.71735022e-03 -5.72487934e-03 4.45792080e+02] [-7.71570188e-03 9.99970185e-01 3.09955621e-04 -2.23224710e+01] [ 5.72710070e-03 -2.65769849e-04 9.99983565e-01 2.36566304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.62071405700004 meters Centerline goodness : 0.989912 with order 1 Centerline is valid? [True, True] Translation: X:445.85, Y:-22.33, Z:2.37 [[ 9.99960830e-01 6.75005713e-03 -5.72490157e-03 4.45849587e+02] [-6.74839532e-03 9.99977181e-01 3.09544488e-04 -2.23269956e+01] [ 5.72686038e-03 -2.70898464e-04 9.99983565e-01 2.36561783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.68071405700005 meters Centerline goodness : 0.990403 with order 1 Centerline is valid? [True, True] Translation: X:445.91, Y:-22.34, Z:2.36 [[ 9.99979067e-01 -3.01513555e-03 -5.72493260e-03 4.45908439e+02] [ 3.01695367e-03 9.99995401e-01 3.08969583e-04 -2.23355472e+01] [ 5.72397469e-03 -3.26234972e-04 9.99983565e-01 2.36432029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.74071405700005 meters Centerline goodness : 0.990699 with order 1 Centerline is valid? [True, True] Translation: X:445.97, Y:-22.34, Z:2.36 [[ 9.99942148e-01 -9.10631558e-03 -5.72495464e-03 4.45967166e+02] [ 9.10823083e-03 9.99958472e-01 3.08560730e-04 -2.23419016e+01] [ 5.72190704e-03 -3.60687088e-04 9.99983565e-01 2.36302032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.80071405700005 meters Centerline goodness : 0.990340 with order 1 Centerline is valid? [True, True] Translation: X:446.03, Y:-22.35, Z:2.36 [[ 9.99864165e-01 -1.54556442e-02 -5.72496548e-03 4.46028485e+02] [ 1.54576619e-02 9.99880476e-01 3.08359401e-04 -2.23468092e+01] [ 5.71951532e-03 -3.96812096e-04 9.99983565e-01 2.36406140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.86071405700005 meters Centerline goodness : 0.990592 with order 1 Centerline is valid? [True, True] Translation: X:446.09, Y:-22.35, Z:2.36 [[ 9.99821051e-01 -1.80302718e-02 -5.72495423e-03 4.46090508e+02] [ 1.80323327e-02 9.99837357e-01 3.08568213e-04 -2.23524982e+01] [ 5.71845953e-03 -4.11747274e-04 9.99983565e-01 2.36424208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.92071405700005 meters Centerline goodness : 0.990125 with order 1 Centerline is valid? [True, True] Translation: X:446.15, Y:-22.36, Z:2.36 [[ 9.99849795e-01 -1.63588495e-02 -5.72493101e-03 4.46151136e+02] [ 1.63608856e-02 9.99866104e-01 3.08998325e-04 -2.23566421e+01] [ 5.71910961e-03 -4.02616853e-04 9.99983565e-01 2.36286833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.98071405700006 meters Centerline goodness : 0.991680 with order 1 Centerline is valid? [True, True] Translation: X:446.21, Y:-22.36, Z:2.36 [[ 9.99918279e-01 -1.14306870e-02 -5.72491380e-03 4.46213204e+02] [ 1.14326445e-02 9.99934597e-01 3.09316957e-04 -2.23610841e+01] [ 5.72100367e-03 -3.74742583e-04 9.99983565e-01 2.36251288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.04071405700006 meters Centerline goodness : 0.990753 with order 1 Centerline is valid? [True, True] Translation: X:446.27, Y:-22.37, Z:2.36 [[ 9.99958381e-01 -7.10361111e-03 -5.72489093e-03 4.46274108e+02] [ 7.10550039e-03 9.99974708e-01 3.09739601e-04 -2.23650305e+01] [ 5.72254586e-03 -3.50404925e-04 9.99983565e-01 2.36274366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.10071405700006 meters Centerline goodness : 0.990245 with order 1 Centerline is valid? [True, True] Translation: X:446.33, Y:-22.37, Z:2.36 [[ 9.99983379e-01 6.84073562e-04 -5.72487408e-03 4.46334538e+02] [-6.82309709e-04 9.99999719e-01 3.10050735e-04 -2.23687319e+01] [ 5.72508457e-03 -3.06139444e-04 9.99983565e-01 2.36304334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.16071405700006 meters Centerline goodness : 0.989858 with order 1 Centerline is valid? [True, True] Translation: X:446.39, Y:-22.37, Z:2.36 [[ 9.99923793e-01 1.09377715e-02 -5.72487408e-03 4.46392654e+02] [-1.09361753e-02 9.99940150e-01 3.10050735e-04 -2.23713799e+01] [ 5.72792271e-03 -2.47418880e-04 9.99983565e-01 2.36267540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.22071405700007 meters Centerline goodness : 0.988523 with order 1 Centerline is valid? [True, True] Translation: X:446.45, Y:-22.37, Z:2.36 [[ 9.99808850e-01 1.86946372e-02 -5.72490296e-03 4.46449582e+02] [-1.86931710e-02 9.99825220e-01 3.09516541e-04 -2.23749116e+01] [ 5.72968866e-03 -2.02440786e-04 9.99983565e-01 2.36288656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.28071405700007 meters Centerline goodness : 0.989781 with order 1 Centerline is valid? [True, True] Translation: X:446.51, Y:-22.38, Z:2.36 [[ 9.99738284e-01 2.21492397e-02 -5.72496173e-03 4.46507831e+02] [-2.21478363e-02 9.99754659e-01 3.08425749e-04 -2.23784285e+01] [ 5.73038855e-03 -1.81549514e-04 9.99983565e-01 2.36475733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.34071405700007 meters Centerline goodness : 0.990157 with order 1 Centerline is valid? [True, True] Translation: X:446.57, Y:-22.38, Z:2.36 [[ 9.99622203e-01 2.68826151e-02 -5.72499373e-03 4.46566835e+02] [-2.68812926e-02 9.99638585e-01 3.07830494e-04 -2.23816941e+01] [ 5.73119992e-03 -1.53818965e-04 9.99983565e-01 2.36494478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4007140570001 meters Centerline goodness : 0.989458 with order 1 Centerline is valid? [True, True] Translation: X:446.63, Y:-22.39, Z:2.37 [[ 9.99515561e-01 3.05919622e-02 -5.72501529e-03 4.46625477e+02] [-3.05907028e-02 9.99531948e-01 3.07429093e-04 -2.23865504e+01] [ 5.73174054e-03 -1.32147921e-04 9.99983565e-01 2.36865722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4607140570001 meters Centerline goodness : 0.988591 with order 1 Centerline is valid? [True, True] Translation: X:446.68, Y:-22.39, Z:2.37 [[ 9.99371608e-01 3.49801799e-02 -5.72503685e-03 4.46684431e+02] [-3.49789948e-02 9.99388001e-01 3.07026946e-04 -2.23927305e+01] [ 5.73227299e-03 -1.06577978e-04 9.99983565e-01 2.37063642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5207140570001 meters Centerline goodness : 0.989620 with order 1 Centerline is valid? [True, True] Translation: X:446.74, Y:-22.40, Z:2.37 [[ 9.99168514e-01 4.03671115e-02 -5.72505851e-03 4.46741900e+02] [-4.03660171e-02 9.99184913e-01 3.06622667e-04 -2.23995968e+01] [ 5.73276956e-03 -7.52699054e-05 9.99983565e-01 2.36903748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5807140570001 meters Centerline goodness : 0.989655 with order 1 Centerline is valid? [True, True] Translation: X:446.80, Y:-22.41, Z:2.37 [[ 9.98954535e-01 4.53548197e-02 -5.72514740e-03 4.46799255e+02] [-4.53538168e-02 9.98970940e-01 3.04953880e-04 -2.24097549e+01] [ 5.73308700e-03 -4.49777751e-05 9.99983565e-01 2.36728514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.6407140570001 meters Centerline goodness : 0.989925 with order 1 Centerline is valid? [True, True] Translation: X:446.86, Y:-22.42, Z:2.37 [[ 9.98942013e-01 4.56297801e-02 -5.72523516e-03 4.46857222e+02] [-4.56287911e-02 9.98958418e-01 3.03297211e-04 -2.24188822e+01] [ 5.73311124e-03 -4.17407668e-05 9.99983565e-01 2.37275260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.700714057 meters Centerline goodness : 0.989779 with order 1 Centerline is valid? [True, True] Translation: X:446.92, Y:-22.43, Z:2.37 [[ 9.98988560e-01 4.45990795e-02 -5.72525663e-03 4.46915387e+02] [-4.45980760e-02 9.99004965e-01 3.02891276e-04 -2.24294003e+01] [ 5.73306847e-03 -4.72494893e-05 9.99983565e-01 2.37357906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.76071405700003 meters Centerline goodness : 0.988801 with order 1 Centerline is valid? [True, True] Translation: X:446.97, Y:-22.45, Z:2.37 [[ 9.99109758e-01 4.17960849e-02 -5.72527797e-03 4.46972844e+02] [-4.17950377e-02 9.99126160e-01 3.02487487e-04 -2.24500735e+01] [ 5.73291778e-03 -6.29299911e-05 9.99983565e-01 2.37036396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.82071405700003 meters Centerline goodness : 0.989345 with order 1 Centerline is valid? [True, True] Translation: X:447.03, Y:-22.46, Z:2.37 [[ 9.99324629e-01 3.62974731e-02 -5.72529925e-03 4.47031431e+02] [-3.62963380e-02 9.99341025e-01 3.02084112e-04 -2.24609282e+01] [ 5.73249131e-03 -9.40726963e-05 9.99983565e-01 2.37266890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.88071405700003 meters Centerline goodness : 0.989304 with order 1 Centerline is valid? [True, True] Translation: X:447.09, Y:-22.48, Z:2.37 [[ 9.99577575e-01 2.84937240e-02 -5.72532038e-03 4.47089307e+02] [-2.84924631e-02 9.99593962e-01 3.01683060e-04 -2.24787130e+01] [ 5.73159176e-03 -1.38427142e-04 9.99983565e-01 2.37096922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.94071405700004 meters Centerline goodness : 0.989349 with order 1 Centerline is valid? [True, True] Translation: X:447.15, Y:-22.49, Z:2.37 [[ 9.99815930e-01 1.83119400e-02 -5.72534138e-03 4.47146437e+02] [-1.83105146e-02 9.99832303e-01 3.01283979e-04 -2.24928881e+01] [ 5.72989836e-03 -1.96394574e-04 9.99983565e-01 2.37035959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.00071405700004 meters Centerline goodness : 0.989547 with order 1 Centerline is valid? [True, True] Translation: X:447.21, Y:-22.50, Z:2.37 [[ 9.99912984e-01 1.18846340e-02 -5.72536715e-03 4.47205084e+02] [-1.18831062e-02 9.99929348e-01 3.00793575e-04 -2.25019388e+01] [ 5.72853746e-03 -2.32732255e-04 9.99983565e-01 2.37341964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.06071405700004 meters Centerline goodness : 0.989066 with order 1 Centerline is valid? [True, True] Translation: X:447.26, Y:-22.52, Z:2.36 [[ 9.99939322e-01 9.41124860e-03 -5.72538817e-03 4.47262782e+02] [-9.40968261e-03 9.99955683e-01 3.00392890e-04 -2.25156156e+01] [ 5.72796151e-03 -2.46500577e-04 9.99983565e-01 2.36375049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.12071405700004 meters Centerline goodness : 0.988989 with order 1 Centerline is valid? [True, True] Translation: X:447.32, Y:-22.52, Z:2.37 [[ 9.99958447e-01 7.09400138e-03 -5.72541413e-03 4.47321197e+02] [-7.09240032e-03 9.99974804e-01 2.99897245e-04 -2.25210505e+01] [ 5.72739734e-03 -2.59277854e-04 9.99983565e-01 2.36567364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.18071405700005 meters Centerline goodness : 0.991388 with order 1 Centerline is valid? [True, True] Translation: X:447.38, Y:-22.52, Z:2.37 [[ 9.99981084e-01 -2.24732506e-03 -5.72543525e-03 4.47379940e+02] [ 2.24907654e-03 9.99997426e-01 2.99493484e-04 -2.25179315e+01] [ 5.72474746e-03 -3.12364761e-04 9.99983565e-01 2.37143862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.24071405700005 meters Centerline goodness : 0.989607 with order 1 Centerline is valid? [True, True] Translation: X:447.44, Y:-22.53, Z:2.37 [[ 9.99974790e-01 4.19979769e-03 -5.72545620e-03 4.47438455e+02] [-4.19815388e-03 9.99991143e-01 2.99092424e-04 -2.25292922e+01] [ 5.72666162e-03 -2.75048537e-04 9.99983565e-01 2.37199596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.30071405700005 meters Centerline goodness : 0.989026 with order 1 Centerline is valid? [True, True] Translation: X:447.50, Y:-22.54, Z:2.37 [[ 9.99969746e-01 5.26554501e-03 -5.72552988e-03 4.47497511e+02] [-5.26392673e-03 9.99986101e-01 2.97675299e-04 -2.25353935e+01] [ 5.72701773e-03 -2.67527523e-04 9.99983565e-01 2.36868318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.36071405700005 meters Centerline goodness : 0.989201 with order 1 Centerline is valid? [True, True] Translation: X:447.56, Y:-22.54, Z:2.37 [[ 9.99982111e-01 1.73083490e-03 -5.72555042e-03 4.47556155e+02] [-1.72916108e-03 9.99998461e-01 2.97279688e-04 -2.25386429e+01] [ 5.72605615e-03 -2.87373971e-04 9.99983565e-01 2.37209916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.42071405700005 meters Centerline goodness : 0.990479 with order 1 Centerline is valid? [True, True] Translation: X:447.61, Y:-22.54, Z:2.37 [[ 9.99967355e-01 -5.70143631e-03 -5.72557071e-03 4.47614540e+02] [ 5.70322937e-03 9.99983692e-01 2.96888404e-04 -2.25418311e+01] [ 5.72378465e-03 -3.29532955e-04 9.99983565e-01 2.36952288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.48071405700006 meters Centerline goodness : 0.989807 with order 1 Centerline is valid? [True, True] Translation: X:447.67, Y:-22.54, Z:2.37 [[ 9.99890369e-01 -1.36553204e-02 -5.72559167e-03 4.47674257e+02] [ 1.36572411e-02 9.99906692e-01 2.96483711e-04 -2.25441382e+01] [ 5.72100884e-03 -3.74646993e-04 9.99983565e-01 2.36872904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.54071405700006 meters Centerline goodness : 0.989328 with order 1 Centerline is valid? [True, True] Translation: X:447.74, Y:-22.55, Z:2.37 [[ 9.99786789e-01 -1.98391806e-02 -5.72560232e-03 4.47735240e+02] [ 1.98412010e-02 9.99803100e-01 2.96277846e-04 -2.25471967e+01] [ 5.71859704e-03 -4.09817503e-04 9.99983565e-01 2.36860956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.60071405700006 meters Centerline goodness : 0.990585 with order 1 Centerline is valid? [True, True] Translation: X:447.80, Y:-22.54, Z:2.38 [[ 9.99624965e-01 -2.67796155e-02 -5.72559171e-03 4.47797658e+02] [ 2.67817502e-02 9.99641261e-01 2.96482772e-04 -2.25439891e+01] [ 5.71559802e-03 -4.49712947e-04 9.99983565e-01 2.37643563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.66071405700006 meters Centerline goodness : 0.989279 with order 1 Centerline is valid? [True, True] Translation: X:447.86, Y:-22.55, Z:2.38 [[ 9.99675319e-01 -2.48289159e-02 -5.72551745e-03 4.47860060e+02] [ 2.48310269e-02 9.99691618e-01 2.97910049e-04 -2.25468051e+01] [ 5.71635502e-03 -4.39983801e-04 9.99983565e-01 2.37598252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.72071405700007 meters Centerline goodness : 0.990012 with order 1 Centerline is valid? [True, True] Translation: X:447.92, Y:-22.55, Z:2.38 [[ 9.99687922e-01 -2.43161915e-02 -5.72549570e-03 4.47922008e+02] [ 2.43182966e-02 9.99704222e-01 2.98327395e-04 -2.25471074e+01] [ 5.71654804e-03 -4.37468596e-04 9.99983565e-01 2.37698785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.78071405700007 meters Centerline goodness : 0.990463 with order 1 Centerline is valid? [True, True] Translation: X:447.98, Y:-22.55, Z:2.38 [[ 9.99777977e-01 -2.02784660e-02 -5.72547404e-03 4.47983754e+02] [ 2.02805076e-02 9.99794285e-01 2.98742429e-04 -2.25470178e+01] [ 5.71823819e-03 -4.14791621e-04 9.99983565e-01 2.37687604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.84071405700007 meters Centerline goodness : 0.990399 with order 1 Centerline is valid? [True, True] Translation: X:448.05, Y:-22.55, Z:2.38 [[ 9.99916722e-01 -1.15658463e-02 -5.72545796e-03 4.48046311e+02] [ 1.15677475e-02 9.99933047e-01 2.99050445e-04 -2.25458736e+01] [ 5.72161585e-03 -3.65256192e-04 9.99983565e-01 2.37568690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9007140570001 meters Centerline goodness : 0.990447 with order 1 Centerline is valid? [True, True] Translation: X:448.11, Y:-22.54, Z:2.38 [[ 9.99980802e-01 2.36970133e-03 -5.72543674e-03 4.48107368e+02] [-2.36802552e-03 9.99997151e-01 2.99456144e-04 -2.25436992e+01] [ 5.72613005e-03 -2.85892415e-04 9.99983565e-01 2.37722247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9607140570001 meters Centerline goodness : 0.989903 with order 1 Centerline is valid? [True, True] Translation: X:448.17, Y:-22.54, Z:2.38 [[ 9.99841522e-01 1.68567433e-02 -5.72543674e-03 4.48165682e+02] [-1.68553045e-02 9.99857894e-01 2.99456144e-04 -2.25419797e+01] [ 5.72967098e-03 -2.02904707e-04 9.99983565e-01 2.37724476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0207140570001 meters Centerline goodness : 0.991958 with order 1 Centerline is valid? [True, True] Translation: X:448.22, Y:-22.53, Z:2.38 [[ 9.99839485e-01 1.69771446e-02 -5.72546366e-03 4.48224461e+02] [-1.69757107e-02 9.99855858e-01 2.98940504e-04 -2.25316132e+01] [ 5.72971353e-03 -2.01698705e-04 9.99983565e-01 2.38237711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0807140570001 meters Centerline goodness : 0.988682 with order 1 Centerline is valid? [True, True] Translation: X:448.28, Y:-22.54, Z:2.38 [[ 9.99612937e-01 2.72248812e-02 -5.72548892e-03 4.48281738e+02] [-2.72236181e-02 9.99629324e-01 2.98455993e-04 -2.25431426e+01] [ 5.73149204e-03 -1.42471948e-04 9.99983565e-01 2.38052943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.1407140570001 meters Centerline goodness : 0.989517 with order 1 Centerline is valid? [True, True] Translation: X:448.34, Y:-22.55, Z:2.38 [[ 9.99670534e-01 2.50208152e-02 -5.72558019e-03 4.48338211e+02] [-2.50195260e-02 9.99686919e-01 2.96694575e-04 -2.25474275e+01] [ 5.73121116e-03 -1.53345522e-04 9.99983565e-01 2.37817603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.200714057 meters Centerline goodness : 0.989915 with order 1 Centerline is valid? [True, True] Translation: X:448.40, Y:-22.55, Z:2.38 [[ 9.99841218e-01 1.68746965e-02 -5.72563647e-03 4.48396777e+02] [-1.68732800e-02 9.99857592e-01 2.95604408e-04 -2.25517703e+01] [ 5.72980933e-03 -1.98947203e-04 9.99983565e-01 2.38165416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.26071405700003 meters Centerline goodness : 0.989748 with order 1 Centerline is valid? [True, True] Translation: X:448.45, Y:-22.56, Z:2.38 [[ 9.99955400e-01 7.51100108e-03 -5.72565704e-03 4.48454566e+02] [-7.50943365e-03 9.99971760e-01 2.95205429e-04 -2.25571539e+01] [ 5.72771264e-03 -2.52195821e-04 9.99983565e-01 2.38234284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.32071405700003 meters Centerline goodness : 0.989490 with order 1 Centerline is valid? [True, True] Translation: X:448.51, Y:-22.56, Z:2.38 [[ 9.99980038e-01 -2.67205280e-03 -5.72568252e-03 4.48513223e+02] [ 2.67378392e-03 9.99996382e-01 2.94710463e-04 -2.25623028e+01] [ 5.72487432e-03 -3.10013818e-04 9.99983565e-01 2.38254858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.38071405700003 meters Centerline goodness : 0.989844 with order 1 Centerline is valid? [True, True] Translation: X:448.57, Y:-22.57, Z:2.38 [[ 9.99936037e-01 -9.75393272e-03 -5.72570326e-03 4.48573050e+02] [ 9.75577725e-03 9.99952368e-01 2.94307060e-04 -2.25666854e+01] [ 5.72255988e-03 -3.50146920e-04 9.99983565e-01 2.38371858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.44071405700004 meters Centerline goodness : 0.990635 with order 1 Centerline is valid? [True, True] Translation: X:448.63, Y:-22.57, Z:2.38 [[ 9.99893951e-01 -1.33904203e-02 -5.72571380e-03 4.48634403e+02] [ 1.33923231e-02 9.99910276e-01 2.94101775e-04 -2.25681299e+01] [ 5.72126192e-03 -3.70751195e-04 9.99983565e-01 2.38382146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.50071405700004 meters Centerline goodness : 0.990774 with order 1 Centerline is valid? [True, True] Translation: X:448.70, Y:-22.57, Z:2.38 [[ 9.99794164e-01 -1.94639721e-02 -5.72570285e-03 4.48697192e+02] [ 1.94659752e-02 9.99810477e-01 2.94314863e-04 -2.25676831e+01] [ 5.71888916e-03 -4.05710672e-04 9.99983565e-01 2.38092890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.56071405700004 meters Centerline goodness : 0.990247 with order 1 Centerline is valid? [True, True] Translation: X:448.76, Y:-22.57, Z:2.38 [[ 9.99746029e-01 -2.17966625e-02 -5.72562469e-03 4.48758587e+02] [ 2.17987122e-02 9.99762336e-01 2.95827560e-04 -2.25683319e+01] [ 5.71781586e-03 -4.20563673e-04 9.99983565e-01 2.38036575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.62071405700004 meters Centerline goodness : 0.991095 with order 1 Centerline is valid? [True, True] Translation: X:448.82, Y:-22.56, Z:2.38 [[ 9.99660880e-01 -2.54035716e-02 -5.72560817e-03 4.48820699e+02] [ 2.54056820e-02 9.99677180e-01 2.96146997e-04 -2.25631305e+01] [ 5.71623663e-03 -4.41509548e-04 9.99983565e-01 2.38000763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.68071405700005 meters Centerline goodness : 0.990348 with order 1 Centerline is valid? [True, True] Translation: X:448.88, Y:-22.56, Z:2.38 [[ 9.99631764e-01 -2.65245823e-02 -5.72558691e-03 4.48882404e+02] [ 2.65267133e-02 9.99648061e-01 2.96557492e-04 -2.25618006e+01] [ 5.71570579e-03 -4.48329291e-04 9.99983565e-01 2.37907564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.74071405700005 meters Centerline goodness : 0.991419 with order 1 Centerline is valid? [True, True] Translation: X:448.95, Y:-22.56, Z:2.38 [[ 9.99577752e-01 -2.84874800e-02 -5.72557118e-03 4.48945346e+02] [ 2.84896447e-02 9.99594044e-01 2.96860816e-04 -2.25582433e+01] [ 5.71479003e-03 -4.59854956e-04 9.99983565e-01 2.37775918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.80071405700005 meters Centerline goodness : 0.990308 with order 1 Centerline is valid? [True, True] Translation: X:449.01, Y:-22.55, Z:2.38 [[ 9.99542259e-01 -2.97067461e-02 -5.72554998e-03 4.49007647e+02] [ 2.97089331e-02 9.99558548e-01 2.97269072e-04 -2.25524773e+01] [ 5.71419153e-03 -4.67232981e-04 9.99983565e-01 2.37751605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.86071405700005 meters Centerline goodness : 0.990237 with order 1 Centerline is valid? [True, True] Translation: X:449.07, Y:-22.55, Z:2.38 [[ 9.99619416e-01 -2.69859424e-02 -5.72552881e-03 4.49070226e+02] [ 2.69880873e-02 9.99635711e-01 2.97676388e-04 -2.25501390e+01] [ 5.71540998e-03 -4.52084169e-04 9.99983565e-01 2.37741478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.92071405700005 meters Centerline goodness : 0.988762 with order 1 Centerline is valid? [True, True] Translation: X:449.13, Y:-22.54, Z:2.38 [[ 9.99722111e-01 -2.28674462e-02 -5.72550744e-03 4.49131395e+02] [ 2.28695262e-02 9.99738414e-01 2.98086705e-04 -2.25438165e+01] [ 5.71719325e-03 -4.28943513e-04 9.99983565e-01 2.38038264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.98071405700006 meters Centerline goodness : 0.988470 with order 1 Centerline is valid? [True, True] Translation: X:449.19, Y:-22.54, Z:2.38 [[ 9.99851928e-01 -1.62277693e-02 -5.72547336e-03 4.49193443e+02] [ 1.62297448e-02 9.99868244e-01 2.98739859e-04 -2.25400614e+01] [ 5.71987112e-03 -3.91618595e-04 9.99983565e-01 2.37801604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.04071405700006 meters Centerline goodness : 0.988030 with order 1 Centerline is valid? [True, True] Translation: X:449.26, Y:-22.54, Z:2.38 [[ 9.99908578e-01 -1.22496841e-02 -5.72545189e-03 4.49255373e+02] [ 1.22515970e-02 9.99924902e-01 2.99150952e-04 -2.25412516e+01] [ 5.72135741e-03 -3.69269532e-04 9.99983565e-01 2.37786444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.10071405700006 meters Centerline goodness : 0.987882 with order 1 Centerline is valid? [True, True] Translation: X:449.32, Y:-22.54, Z:2.38 [[ 9.99919395e-01 -1.13323725e-02 -5.72543066e-03 4.49316879e+02] [ 1.13342728e-02 9.99935720e-01 2.99556607e-04 -2.25393580e+01] [ 5.72166794e-03 -3.64426054e-04 9.99983565e-01 2.37727619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.16071405700006 meters Centerline goodness : 0.987803 with order 1 Centerline is valid? [True, True] Translation: X:449.38, Y:-22.54, Z:2.38 [[ 9.99857707e-01 -1.58677567e-02 -5.72539490e-03 4.49379474e+02] [ 1.58697349e-02 9.99874023e-01 3.00238511e-04 -2.25373441e+01] [ 5.71990952e-03 -3.91056288e-04 9.99983565e-01 2.37660211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.22071405700007 meters Centerline goodness : 0.988953 with order 1 Centerline is valid? [True, True] Translation: X:449.44, Y:-22.53, Z:2.38 [[ 9.99705990e-01 -2.35617138e-02 -5.72532244e-03 4.49440659e+02] [ 2.35638253e-02 9.99722289e-01 3.01613969e-04 -2.25347997e+01] [ 5.71662592e-03 -4.36435789e-04 9.99983565e-01 2.37695129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.28071405700007 meters Centerline goodness : 0.990645 with order 1 Centerline is valid? [True, True] Translation: X:449.50, Y:-22.53, Z:2.38 [[ 9.99576477e-01 -2.85322228e-02 -5.72525563e-03 4.49502968e+02] [ 2.85344225e-02 9.99592765e-01 3.02876891e-04 -2.25326143e+01] [ 5.71428235e-03 -4.66115478e-04 9.99983565e-01 2.37759125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.34071405700007 meters Centerline goodness : 0.990544 with order 1 Centerline is valid? [True, True] Translation: X:449.57, Y:-22.53, Z:2.38 [[ 9.99508026e-01 -3.08371227e-02 -5.72523001e-03 4.49565361e+02] [ 3.08393627e-02 9.99524308e-01 3.03360414e-04 -2.25313148e+01] [ 5.71315180e-03 -4.79773613e-04 9.99983565e-01 2.38025055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4007140570001 meters Centerline goodness : 0.990210 with order 1 Centerline is valid? [True, True] Translation: X:449.63, Y:-22.53, Z:2.38 [[ 9.99615139e-01 -2.71439931e-02 -5.72520820e-03 4.49628337e+02] [ 2.71461753e-02 9.99631429e-01 3.03771445e-04 -2.25313763e+01] [ 5.71485248e-03 -4.59072040e-04 9.99983565e-01 2.38032012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4607140570001 meters Centerline goodness : 0.991168 with order 1 Centerline is valid? [True, True] Translation: X:449.69, Y:-22.53, Z:2.39 [[ 9.99681442e-01 -2.45812221e-02 -5.72517530e-03 4.49691182e+02] [ 2.45833660e-02 9.99697737e-01 3.04390384e-04 -2.25297070e+01] [ 5.71596250e-03 -4.45037498e-04 9.99983565e-01 2.38611020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5207140570001 meters Centerline goodness : 0.991049 with order 1 Centerline is valid? [True, True] Translation: X:449.75, Y:-22.53, Z:2.38 [[ 9.99836396e-01 -1.71582120e-02 -5.72514792e-03 4.49753115e+02] [ 1.71602378e-02 9.99852706e-01 3.04904372e-04 -2.25311460e+01] [ 5.71907303e-03 -4.03099388e-04 9.99983565e-01 2.38481677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5807140570001 meters Centerline goodness : 0.988913 with order 1 Centerline is valid? [True, True] Translation: X:449.81, Y:-22.53, Z:2.38 [[ 9.99934891e-01 -9.87098298e-03 -5.72512617e-03 4.49813881e+02] [ 9.87289219e-03 9.99951215e-01 3.05312213e-04 -2.25336687e+01] [ 5.72183314e-03 -3.61815888e-04 9.99983565e-01 2.38417216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.6407140570001 meters Centerline goodness : 0.989861 with order 1 Centerline is valid? [True, True] Translation: X:449.88, Y:-22.54, Z:2.38 [[ 9.99945091e-01 -8.77714259e-03 -5.72511015e-03 4.49876197e+02] [ 8.77903565e-03 9.99961417e-01 3.05612274e-04 -2.25363993e+01] [ 5.72220686e-03 -3.55856439e-04 9.99983565e-01 2.38449636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.7007140570001 meters Centerline goodness : 0.988879 with order 1 Centerline is valid? [True, True] Translation: X:449.94, Y:-22.54, Z:2.38 [[ 9.99960411e-01 -6.81166802e-03 -5.72508815e-03 4.49937348e+02] [ 6.81353134e-03 9.99976741e-01 3.06023860e-04 -2.25380813e+01] [ 5.72287046e-03 -3.45019813e-04 9.99983565e-01 2.38131703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.76071405700003 meters Centerline goodness : 0.988874 with order 1 Centerline is valid? [True, True] Translation: X:450.00, Y:-22.54, Z:2.38 [[ 9.99930517e-01 -1.03046068e-02 -5.72507181e-03 4.49997305e+02] [ 1.03065289e-02 9.99946839e-01 3.06329344e-04 -2.25436786e+01] [ 5.72161086e-03 -3.65313678e-04 9.99983565e-01 2.37847235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.82071405700003 meters Centerline goodness : 0.988942 with order 1 Centerline is valid? [True, True] Translation: X:450.06, Y:-22.55, Z:2.38 [[ 9.99872281e-01 -1.49213030e-02 -5.72507181e-03 4.50059095e+02] [ 1.49233004e-02 9.99888594e-01 3.06329344e-04 -2.25488294e+01] [ 5.71986317e-03 -3.91727187e-04 9.99983565e-01 2.37691216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.88071405700003 meters Centerline goodness : 0.989542 with order 1 Centerline is valid? [True, True] Translation: X:450.12, Y:-22.55, Z:2.38 [[ 9.99854550e-01 -1.60656137e-02 -5.72499502e-03 4.50121253e+02] [ 1.60676380e-02 9.99870860e-01 3.07757780e-04 -2.25527586e+01] [ 5.71931138e-03 -3.99700164e-04 9.99983565e-01 2.37766044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.94071405700004 meters Centerline goodness : 0.987929 with order 1 Centerline is valid? [True, True] Translation: X:450.18, Y:-22.56, Z:2.38 [[ 9.99864516e-01 -1.54329005e-02 -5.72497316e-03 4.50183735e+02] [ 1.54349167e-02 9.99880827e-01 3.08163827e-04 -2.25557684e+01] [ 5.71953504e-03 -3.96486559e-04 9.99983565e-01 2.38220135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.00071405700004 meters Centerline goodness : 0.986978 with order 1 Centerline is valid? [True, True] Translation: X:450.24, Y:-22.56, Z:2.38 [[ 9.99870039e-01 -1.50708062e-02 -5.72495158e-03 4.50244883e+02] [ 1.50728188e-02 9.99886351e-01 3.08564239e-04 -2.25601021e+01] [ 5.71965064e-03 -3.94815296e-04 9.99983565e-01 2.38349273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.06071405700004 meters Centerline goodness : 0.988406 with order 1 Centerline is valid? [True, True] Translation: X:450.31, Y:-22.57, Z:2.38 [[ 9.99805423e-01 -1.88769974e-02 -5.72493545e-03 4.50306562e+02] [ 1.88790738e-02 9.99821727e-01 3.08863248e-04 -2.25667034e+01] [ 5.71808444e-03 -4.16884629e-04 9.99983565e-01 2.37935841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.12071405700004 meters Centerline goodness : 0.988106 with order 1 Centerline is valid? [True, True] Translation: X:450.37, Y:-22.57, Z:2.38 [[ 9.99731482e-01 -2.24541651e-02 -5.72491327e-03 4.50369024e+02] [ 2.24563022e-02 9.99747778e-01 3.09273912e-04 -2.25716286e+01] [ 5.71652483e-03 -4.37751248e-04 9.99983565e-01 2.37957864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.18071405700005 meters Centerline goodness : 0.988266 with order 1 Centerline is valid? [True, True] Translation: X:450.43, Y:-22.58, Z:2.38 [[ 9.99638580e-01 -2.62666121e-02 -5.72487926e-03 4.50431112e+02] [ 2.62688149e-02 9.99654867e-01 3.09902067e-04 -2.25784569e+01] [ 5.71476334e-03 -4.60175856e-04 9.99983565e-01 2.37950023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.24071405700005 meters Centerline goodness : 0.987634 with order 1 Centerline is valid? [True, True] Translation: X:450.49, Y:-22.58, Z:2.38 [[ 9.99638020e-01 -2.62879267e-02 -5.72485144e-03 4.50494508e+02] [ 2.62901327e-02 9.99654307e-01 3.10415088e-04 -2.25827258e+01] [ 5.71471223e-03 -4.60809828e-04 9.99983565e-01 2.37709587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.30071405700005 meters Centerline goodness : 0.987600 with order 1 Centerline is valid? [True, True] Translation: X:450.56, Y:-22.59, Z:2.38 [[ 9.99681076e-01 -2.45962094e-02 -5.72481851e-03 4.50556765e+02] [ 2.45983913e-02 9.99697365e-01 3.11021219e-04 -2.25896246e+01] [ 5.71543604e-03 -4.51743353e-04 9.99983565e-01 2.38013272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.36071405700005 meters Centerline goodness : 0.987408 with order 1 Centerline is valid? [True, True] Translation: X:450.62, Y:-22.60, Z:2.38 [[ 9.99629748e-01 -2.66006266e-02 -5.72479699e-03 4.50618997e+02] [ 2.66028434e-02 9.99646033e-01 3.11416864e-04 -2.25966300e+01] [ 5.71448672e-03 -4.63597439e-04 9.99983565e-01 2.37982942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.42071405700005 meters Centerline goodness : 0.987128 with order 1 Centerline is valid? [True, True] Translation: X:450.68, Y:-22.60, Z:2.38 [[ 9.99569620e-01 -2.87715542e-02 -5.72477460e-03 4.50680942e+02] [ 2.87738087e-02 9.99585900e-01 3.11828037e-04 -2.26045876e+01] [ 5.71343219e-03 -4.76417401e-04 9.99983565e-01 2.37557161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.48071405700006 meters Centerline goodness : 0.988211 with order 1 Centerline is valid? [True, True] Translation: X:450.74, Y:-22.61, Z:2.38 [[ 9.99519428e-01 -3.04653963e-02 -5.72475233e-03 4.50742394e+02] [ 3.04676807e-02 9.99535704e-01 3.12236280e-04 -2.26119416e+01] [ 5.71258195e-03 -4.86506154e-04 9.99983565e-01 2.37526616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.54071405700006 meters Centerline goodness : 0.988638 with order 1 Centerline is valid? [True, True] Translation: X:450.80, Y:-22.62, Z:2.38 [[ 9.99458994e-01 -3.23874431e-02 -5.72469727e-03 4.50804627e+02] [ 3.23897645e-02 9.99475265e-01 3.13242483e-04 -2.26180638e+01] [ 5.71154820e-03 -4.98494613e-04 9.99983565e-01 2.37781354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.60071405700006 meters Centerline goodness : 0.988952 with order 1 Centerline is valid? [True, True] Translation: X:450.87, Y:-22.62, Z:2.38 [[ 9.99531669e-01 -3.00611056e-02 -5.72467486e-03 4.50865982e+02] [ 3.00633914e-02 9.99547945e-01 3.13651620e-04 -2.26211742e+01] [ 5.71265827e-03 -4.85607869e-04 9.99983565e-01 2.37938487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.66071405700006 meters Centerline goodness : 0.989996 with order 1 Centerline is valid? [True, True] Translation: X:450.93, Y:-22.62, Z:2.38 [[ 9.99806447e-01 -1.88227594e-02 -5.72465821e-03 4.50927933e+02] [ 1.88248640e-02 9.99822747e-01 3.13955179e-04 -2.26215738e+01] [ 5.71773399e-03 -4.21660324e-04 9.99983565e-01 2.38129552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.72071405700007 meters Centerline goodness : 0.988969 with order 1 Centerline is valid? [True, True] Translation: X:450.99, Y:-22.62, Z:2.39 [[ 9.99944998e-01 -8.78798966e-03 -5.72463601e-03 4.50990078e+02] [ 8.78993278e-03 9.99961318e-01 3.14359349e-04 -2.26240424e+01] [ 5.72165199e-03 -3.64661224e-04 9.99983565e-01 2.38569172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.78071405700007 meters Centerline goodness : 0.988143 with order 1 Centerline is valid? [True, True] Translation: X:451.05, Y:-22.63, Z:2.39 [[ 9.99975012e-01 4.14773429e-03 -5.72461408e-03 4.51050608e+02] [-4.14600016e-03 9.99991356e-01 3.14758344e-04 -2.26267568e+01] [ 5.72587012e-03 -2.91016228e-04 9.99983565e-01 2.38980514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.84071405700007 meters Centerline goodness : 0.986872 with order 1 Centerline is valid? [True, True] Translation: X:451.11, Y:-22.63, Z:2.39 [[ 9.99929815e-01 1.03727188e-02 -5.72460872e-03 4.51107338e+02] [-1.03710859e-02 9.99946169e-01 3.14855764e-04 -2.26317715e+01] [ 5.72756647e-03 -2.55463257e-04 9.99983565e-01 2.39066951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9007140570001 meters Centerline goodness : 0.985833 with order 1 Centerline is valid? [True, True] Translation: X:451.16, Y:-22.64, Z:2.38 [[ 9.99881313e-01 1.43034671e-02 -5.72464536e-03 4.51164422e+02] [-1.43019023e-02 9.99897673e-01 3.14188149e-04 -2.26419045e+01] [ 5.72855355e-03 -2.32277540e-04 9.99983565e-01 2.38120524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9607140570001 meters Centerline goodness : 0.985881 with order 1 Centerline is valid? [True, True] Translation: X:451.22, Y:-22.65, Z:2.38 [[ 9.99874679e-01 1.47599212e-02 -5.72468300e-03 4.51221834e+02] [-1.47583678e-02 9.99891040e-01 3.13500832e-04 -2.26490626e+01] [ 5.72868649e-03 -2.28974566e-04 9.99983565e-01 2.37544877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.0207140570001 meters Centerline goodness : 0.986871 with order 1 Centerline is valid? [True, True] Translation: X:451.28, Y:-22.65, Z:2.38 [[ 9.99889813e-01 1.36963188e-02 -5.72471585e-03 4.51280802e+02] [-1.36947514e-02 9.99906174e-01 3.12899789e-04 -2.26524551e+01] [ 5.72846430e-03 -2.34466752e-04 9.99983565e-01 2.37731132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.0807140570001 meters Centerline goodness : 0.987268 with order 1 Centerline is valid? [True, True] Translation: X:451.34, Y:-22.66, Z:2.38 [[ 9.99844765e-01 1.66635405e-02 -5.72473750e-03 4.51339075e+02] [-1.66620240e-02 9.99861130e-01 3.12503188e-04 -2.26593277e+01] [ 5.72914991e-03 -2.17068963e-04 9.99983565e-01 2.37636333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.1407140570001 meters Centerline goodness : 0.985934 with order 1 Centerline is valid? [True, True] Translation: X:451.40, Y:-22.67, Z:2.37 [[ 9.99645159e-01 2.60150752e-02 -5.72475968e-03 4.51398875e+02] [-2.60137141e-02 9.99661537e-01 3.12096357e-04 -2.26690169e+01] [ 5.73094127e-03 -1.63063350e-04 9.99983565e-01 2.36989496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.2007140570001 meters Centerline goodness : 0.987577 with order 1 Centerline is valid? [True, True] Translation: X:451.46, Y:-22.67, Z:2.38 [[ 9.99612038e-01 2.72580200e-02 -5.72476532e-03 4.51458132e+02] [-2.72566799e-02 9.99628419e-01 3.11992755e-04 -2.26721110e+01] [ 5.73114242e-03 -1.55833618e-04 9.99983565e-01 2.37670401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.26071405700003 meters Centerline goodness : 0.987568 with order 1 Centerline is valid? [True, True] Translation: X:451.52, Y:-22.68, Z:2.38 [[ 9.99557334e-01 2.91952627e-02 -5.72478184e-03 4.51516373e+02] [-2.91939560e-02 9.99573717e-01 3.11689392e-04 -2.26800211e+01] [ 5.73144132e-03 -1.44422388e-04 9.99983565e-01 2.37890066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.32071405700003 meters Centerline goodness : 0.990742 with order 1 Centerline is valid? [True, True] Translation: X:451.58, Y:-22.67, Z:2.39 [[ 9.99889870e-01 1.36921283e-02 -5.72480381e-03 4.51575264e+02] [-1.36905701e-02 9.99906231e-01 3.11285300e-04 -2.26725155e+01] [ 5.72852917e-03 -2.32875190e-04 9.99983565e-01 2.38782373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.38071405700003 meters Centerline goodness : 0.986075 with order 1 Centerline is valid? [True, True] Translation: X:451.63, Y:-22.70, Z:2.38 [[ 9.99731514e-01 2.24527583e-02 -5.72484746e-03 4.51633198e+02] [-2.24513481e-02 9.99747889e-01 3.10480496e-04 -2.26978139e+01] [ 5.73037531e-03 -1.81866593e-04 9.99983565e-01 2.37676822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.44071405700004 meters Centerline goodness : 0.986807 with order 1 Centerline is valid? [True, True] Translation: X:451.69, Y:-22.70, Z:2.39 [[ 9.99800407e-01 1.91408153e-02 -5.72492584e-03 4.51690809e+02] [-1.91393592e-02 9.99816778e-01 3.09028546e-04 -2.27020757e+01] [ 5.72979196e-03 -1.99395455e-04 9.99983565e-01 2.38956759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.50071405700004 meters Centerline goodness : 0.985969 with order 1 Centerline is valid? [True, True] Translation: X:451.75, Y:-22.71, Z:2.39 [[ 9.99824023e-01 1.78646832e-02 -5.72495882e-03 4.51748123e+02] [-1.78632097e-02 9.99840393e-01 3.08416334e-04 -2.27079119e+01] [ 5.72955483e-03 -2.06095920e-04 9.99983565e-01 2.39359779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.56071405700004 meters Centerline goodness : 0.986782 with order 1 Centerline is valid? [True, True] Translation: X:451.81, Y:-22.72, Z:2.40 [[ 9.99815830e-01 1.83175020e-02 -5.72498612e-03 4.51806963e+02] [-1.83160388e-02 9.99832200e-01 3.07908638e-04 -2.27171890e+01] [ 5.72966559e-03 -2.02992862e-04 9.99983565e-01 2.39552272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.62071405700004 meters Centerline goodness : 0.988349 with order 1 Centerline is valid? [True, True] Translation: X:451.87, Y:-22.72, Z:2.40 [[ 9.99812529e-01 1.84968132e-02 -5.72500928e-03 4.51865053e+02] [-1.84953554e-02 9.99828899e-01 3.07477576e-04 -2.27237001e+01] [ 5.72971708e-03 -2.01533852e-04 9.99983565e-01 2.39577566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.68071405700005 meters Centerline goodness : 0.988101 with order 1 Centerline is valid? [True, True] Translation: X:451.92, Y:-22.73, Z:2.40 [[ 9.99758081e-01 2.12368507e-02 -5.72503198e-03 4.51924012e+02] [-2.12354402e-02 9.99774455e-01 3.07054283e-04 -2.27323567e+01] [ 5.73026159e-03 -1.85406427e-04 9.99983565e-01 2.39652246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.74071405700005 meters Centerline goodness : 0.986979 with order 1 Centerline is valid? [True, True] Translation: X:451.98, Y:-22.74, Z:2.40 [[ 9.99722565e-01 2.28476995e-02 -5.72504920e-03 4.51982412e+02] [-2.28463172e-02 9.99738942e-01 3.06732912e-04 -2.27422384e+01] [ 5.73056277e-03 -1.75851524e-04 9.99983565e-01 2.39626788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.80071405700005 meters Centerline goodness : 0.987301 with order 1 Centerline is valid? [True, True] Translation: X:452.04, Y:-22.75, Z:2.40 [[ 9.99790564e-01 1.96482216e-02 -5.72507193e-03 4.52039236e+02] [-1.96467893e-02 9.99806936e-01 3.06307957e-04 -2.27546837e+01] [ 5.72998504e-03 -1.93764523e-04 9.99983565e-01 2.39514396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.86071405700005 meters Centerline goodness : 0.988703 with order 1 Centerline is valid? [True, True] Translation: X:452.10, Y:-22.77, Z:2.39 [[ 9.99893414e-01 1.34307165e-02 -5.72509982e-03 4.52098051e+02] [-1.34291855e-02 9.99909778e-01 3.05785884e-04 -2.27664872e+01] [ 5.72869021e-03 -2.28869865e-04 9.99983565e-01 2.38615636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.92071405700005 meters Centerline goodness : 0.989252 with order 1 Centerline is valid? [True, True] Translation: X:452.16, Y:-22.77, Z:2.39 [[ 9.99982367e-01 -1.57782059e-03 -5.72511668e-03 4.52155757e+02] [ 1.57959525e-03 9.99998706e-01 3.05469930e-04 -2.27725189e+01] [ 5.72462729e-03 -3.14507910e-04 9.99983565e-01 2.38968038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.98071405700006 meters Centerline goodness : 0.987460 with order 1 Centerline is valid? [True, True] Translation: X:452.22, Y:-22.78, Z:2.39 [[ 9.99920572e-01 -1.12281709e-02 -5.72514430e-03 4.52215112e+02] [ 1.12301002e-02 9.99936894e-01 3.04951243e-04 -2.27795589e+01] [ 5.72135897e-03 -3.69220966e-04 9.99983565e-01 2.39129329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.04071405700006 meters Centerline goodness : 0.988648 with order 1 Centerline is valid? [True, True] Translation: X:452.28, Y:-22.78, Z:2.39 [[ 9.99803691e-01 -1.89684641e-02 -5.72515512e-03 4.52276472e+02] [ 1.89705186e-02 9.99819997e-01 3.04748013e-04 -2.27843086e+01] [ 5.71834397e-03 -4.13297349e-04 9.99983565e-01 2.38782559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.10071405700006 meters Centerline goodness : 0.987896 with order 1 Centerline is valid? [True, True] Translation: X:452.34, Y:-22.79, Z:2.39 [[ 9.99785307e-01 -1.99138649e-02 -5.72514430e-03 4.52338306e+02] [ 1.99159360e-02 9.99801612e-01 3.04951191e-04 -2.27875866e+01] [ 5.71793574e-03 -4.18907327e-04 9.99983565e-01 2.39398917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.16071405700006 meters Centerline goodness : 0.986568 with order 1 Centerline is valid? [True, True] Translation: X:452.40, Y:-22.79, Z:2.40 [[ 9.99780747e-01 -2.01415350e-02 -5.72512133e-03 4.52400031e+02] [ 2.01436122e-02 9.99797050e-01 3.05381745e-04 -2.27887592e+01] [ 5.71780856e-03 -4.20639413e-04 9.99983565e-01 2.39509276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.22071405700007 meters Centerline goodness : 0.987313 with order 1 Centerline is valid? [True, True] Translation: X:452.46, Y:-22.79, Z:2.40 [[ 9.99838605e-01 -1.70290020e-02 -5.72509817e-03 4.52461510e+02] [ 1.70310309e-02 9.99854915e-01 3.05815412e-04 -2.27873094e+01] [ 5.71905981e-03 -4.03270378e-04 9.99983565e-01 2.39582720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.28071405700007 meters Centerline goodness : 0.988601 with order 1 Centerline is valid? [True, True] Translation: X:452.52, Y:-22.79, Z:2.39 [[ 9.99887102e-01 -1.38926760e-02 -5.72506195e-03 4.52524020e+02] [ 1.38946575e-02 9.99903418e-01 3.06492017e-04 -2.27863298e+01] [ 5.72025101e-03 -3.86005190e-04 9.99983565e-01 2.39465721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.34071405700007 meters Centerline goodness : 0.987451 with order 1 Centerline is valid? [True, True] Translation: X:452.59, Y:-22.79, Z:2.39 [[ 9.99897216e-01 -1.31446571e-02 -5.72504037e-03 4.52586161e+02] [ 1.31466288e-02 9.99913532e-01 3.06894587e-04 -2.27867101e+01] [ 5.72051131e-03 -3.82128023e-04 9.99983565e-01 2.39127733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.4007140570001 meters Centerline goodness : 0.988149 with order 1 Centerline is valid? [True, True] Translation: X:452.65, Y:-22.79, Z:2.39 [[ 9.99873135e-01 -1.48639782e-02 -5.72501720e-03 4.52647483e+02] [ 1.48659804e-02 9.99889448e-01 3.07326133e-04 -2.27855261e+01] [ 5.71981620e-03 -3.92395138e-04 9.99983565e-01 2.38931833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.4607140570001 meters Centerline goodness : 0.987286 with order 1 Centerline is valid? [True, True] Translation: X:452.71, Y:-22.79, Z:2.40 [[ 9.99873937e-01 -1.48099553e-02 -5.72500567e-03 4.52710041e+02] [ 1.48119579e-02 9.99890250e-01 3.07540838e-04 -2.27850813e+01] [ 5.71982268e-03 -3.92300611e-04 9.99983565e-01 2.39511436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.5207140570001 meters Centerline goodness : 0.986835 with order 1 Centerline is valid? [True, True] Translation: X:452.77, Y:-22.78, Z:2.39 [[ 9.99830759e-01 -1.74836384e-02 -5.72498265e-03 4.52773083e+02] [ 1.74856870e-02 9.99847066e-01 3.07968686e-04 -2.27803309e+01] [ 5.71872269e-03 -4.08021820e-04 9.99983565e-01 2.38762874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.5807140570001 meters Centerline goodness : 0.987375 with order 1 Centerline is valid? [True, True] Translation: X:452.84, Y:-22.78, Z:2.39 [[ 9.99822022e-01 -1.79763516e-02 -5.72495950e-03 4.52835355e+02] [ 1.79784107e-02 9.99838328e-01 3.08398372e-04 -2.27761530e+01] [ 5.71849006e-03 -4.11269157e-04 9.99983565e-01 2.38987035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.6407140570001 meters Centerline goodness : 0.984633 with order 1 Centerline is valid? [True, True] Translation: X:452.90, Y:-22.77, Z:2.40 [[ 9.99876133e-01 -1.46609435e-02 -5.72493630e-03 4.52898069e+02] [ 1.46629509e-02 9.99892445e-01 3.08828484e-04 -2.27714522e+01] [ 5.71979284e-03 -3.92734690e-04 9.99983565e-01 2.39657993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.7007140570001 meters Centerline goodness : 0.985845 with order 1 Centerline is valid? [True, True] Translation: X:452.96, Y:-22.77, Z:2.40 [[ 9.99832637e-01 -1.73759633e-02 -5.72491312e-03 4.52960163e+02] [ 1.73780175e-02 9.99848943e-01 3.09257552e-04 -2.27692919e+01] [ 5.71867469e-03 -4.08693434e-04 9.99983565e-01 2.39756395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.76071405700003 meters Centerline goodness : 0.986239 with order 1 Centerline is valid? [True, True] Translation: X:453.02, Y:-22.77, Z:2.40 [[ 9.99744319e-01 -2.18751553e-02 -5.72488937e-03 4.53022361e+02] [ 2.18772853e-02 9.99760616e-01 3.09696675e-04 -2.27670418e+01] [ 5.71674426e-03 -4.34862530e-04 9.99983565e-01 2.39996581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.82071405700003 meters Centerline goodness : 0.986353 with order 1 Centerline is valid? [True, True] Translation: X:453.08, Y:-22.76, Z:2.40 [[ 9.99676815e-01 -2.47687726e-02 -5.72486000e-03 4.53084569e+02] [ 2.47709529e-02 9.99693105e-01 3.10238635e-04 -2.27641220e+01] [ 5.71541884e-03 -4.51948608e-04 9.99983565e-01 2.40148473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.88071405700003 meters Centerline goodness : 0.984844 with order 1 Centerline is valid? [True, True] Translation: X:453.15, Y:-22.76, Z:2.40 [[ 9.99647067e-01 -2.59416023e-02 -5.72483670e-03 4.53148237e+02] [ 2.59438041e-02 9.99663355e-01 3.10667934e-04 -2.27618152e+01] [ 5.71485024e-03 -4.59082331e-04 9.99983565e-01 2.40284244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.94071405700004 meters Centerline goodness : 0.987202 with order 1 Centerline is valid? [True, True] Translation: X:453.21, Y:-22.76, Z:2.39 [[ 9.99697122e-01 -2.39351247e-02 -5.72480136e-03 4.53210599e+02] [ 2.39372975e-02 9.99713413e-01 3.11317872e-04 -2.27626108e+01] [ 5.71570927e-03 -4.48259855e-04 9.99983565e-01 2.39232809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.00071405700004 meters Centerline goodness : 0.985868 with order 1 Centerline is valid? [True, True] Translation: X:453.27, Y:-22.76, Z:2.40 [[ 9.99813988e-01 -1.84178263e-02 -5.72477811e-03 4.53271783e+02] [ 1.84199116e-02 9.99830290e-01 3.11744860e-04 -2.27605148e+01] [ 5.71806489e-03 -4.17136779e-04 9.99983565e-01 2.40032415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.06071405700004 meters Centerline goodness : 0.987326 with order 1 Centerline is valid? [True, True] Translation: X:453.33, Y:-22.76, Z:2.40 [[ 9.99873781e-01 -1.48205598e-02 -5.72476094e-03 4.53334181e+02] [ 1.48225882e-02 9.99890091e-01 3.12059776e-04 -2.27603388e+01] [ 5.71950684e-03 -3.96876163e-04 9.99983565e-01 2.39684681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.12071405700004 meters Centerline goodness : 0.987120 with order 1 Centerline is valid? [True, True] Translation: X:453.40, Y:-22.76, Z:2.40 [[ 9.99964167e-01 -6.23635663e-03 -5.72473737e-03 4.53395842e+02] [ 6.23824744e-03 9.99980493e-01 3.12491542e-04 -2.27603823e+01] [ 5.72267689e-03 -3.48192672e-04 9.99983565e-01 2.40236551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.18071405700005 meters Centerline goodness : 0.985884 with order 1 Centerline is valid? [True, True] Translation: X:453.46, Y:-22.76, Z:2.40 [[ 9.99971932e-01 -4.83341375e-03 -5.72471967e-03 4.53455514e+02] [ 4.83528350e-03 9.99988261e-01 3.12815533e-04 -2.27621254e+01] [ 5.72314050e-03 -3.40487395e-04 9.99983565e-01 2.40372495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.24071405700005 meters Centerline goodness : 0.986824 with order 1 Centerline is valid? [True, True] Translation: X:453.52, Y:-22.76, Z:2.41 [[ 9.99936952e-01 -9.66023141e-03 -5.72471826e-03 4.53515949e+02] [ 9.66218011e-03 9.99953271e-01 3.12841312e-04 -2.27630688e+01] [ 5.72142863e-03 -3.68134847e-04 9.99983565e-01 2.40671968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.30071405700005 meters Centerline goodness : 0.986645 with order 1 Centerline is valid? [True, True] Translation: X:453.58, Y:-22.77, Z:2.40 [[ 9.99869806e-01 -1.50863546e-02 -5.72471826e-03 4.53577246e+02] [ 1.50883918e-02 9.99886115e-01 3.12841312e-04 -2.27666314e+01] [ 5.71934666e-03 -3.99177374e-04 9.99983565e-01 2.40349181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.36071405700005 meters Centerline goodness : 0.987909 with order 1 Centerline is valid? [True, True] Translation: X:453.64, Y:-22.77, Z:2.40 [[ 9.99733349e-01 -2.23709495e-02 -5.72464437e-03 4.53640537e+02] [ 2.23731132e-02 9.99749641e-01 3.14187601e-04 -2.27673045e+01] [ 5.71618248e-03 -4.42181940e-04 9.99983565e-01 2.40213679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.42071405700005 meters Centerline goodness : 0.987214 with order 1 Centerline is valid? [True, True] Translation: X:453.70, Y:-22.77, Z:2.40 [[ 9.99697518e-01 -2.39186351e-02 -5.72455217e-03 4.53703064e+02] [ 2.39208335e-02 9.99713806e-01 3.15858635e-04 -2.27700927e+01] [ 5.71535893e-03 -4.52699153e-04 9.99983565e-01 2.40211797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.48071405700006 meters Centerline goodness : 0.988607 with order 1 Centerline is valid? [True, True] Translation: X:453.76, Y:-22.77, Z:2.40 [[ 9.99593814e-01 -2.79183812e-02 -5.72452877e-03 4.53764508e+02] [ 2.79206472e-02 9.99610093e-01 3.16282216e-04 -2.27652936e+01] [ 5.71346664e-03 -4.75986295e-04 9.99983565e-01 2.40466869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.54071405700006 meters Centerline goodness : 0.988590 with order 1 Centerline is valid? [True, True] Translation: X:453.83, Y:-22.76, Z:2.40 [[ 9.99563909e-01 -2.89693305e-02 -5.72451143e-03 4.53826878e+02] [ 2.89716153e-02 9.99580185e-01 3.16595632e-04 -2.27648480e+01] [ 5.71293663e-03 -4.82305910e-04 9.99983565e-01 2.39872483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.60071405700006 meters Centerline goodness : 0.988195 with order 1 Centerline is valid? [True, True] Translation: X:453.89, Y:-22.76, Z:2.40 [[ 9.99612967e-01 -2.72240209e-02 -5.72448809e-03 4.53889181e+02] [ 2.72262797e-02 9.99629246e-01 3.17017193e-04 -2.27642280e+01] [ 5.71373523e-03 -4.72751010e-04 9.99983565e-01 2.40212839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.66071405700006 meters Centerline goodness : 0.987738 with order 1 Centerline is valid? [True, True] Translation: X:453.95, Y:-22.77, Z:2.40 [[ 9.99601841e-01 -2.76295279e-02 -5.72446494e-03 4.53952413e+02] [ 2.76317957e-02 9.99618119e-01 3.17434643e-04 -2.27658425e+01] [ 5.71350830e-03 -4.75485499e-04 9.99983565e-01 2.39946498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.72071405700007 meters Centerline goodness : 0.987362 with order 1 Centerline is valid? [True, True] Translation: X:454.01, Y:-22.77, Z:2.40 [[ 9.99602401e-01 -2.76092655e-02 -5.72442826e-03 4.54013437e+02] [ 2.76115367e-02 9.99618678e-01 3.18094661e-04 -2.27672444e+01] [ 5.71346305e-03 -4.76028448e-04 9.99983565e-01 2.39691114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.78071405700007 meters Centerline goodness : 0.986880 with order 1 Centerline is valid? [True, True] Translation: X:454.08, Y:-22.77, Z:2.40 [[ 9.99700219e-01 -2.38055351e-02 -5.72441027e-03 4.54076216e+02] [ 2.38077462e-02 9.99716505e-01 3.18418130e-04 -2.27665584e+01] [ 5.71520731e-03 -4.54607981e-04 9.99983565e-01 2.39627368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.84071405700007 meters Centerline goodness : 0.986825 with order 1 Centerline is valid? [True, True] Translation: X:454.14, Y:-22.77, Z:2.40 [[ 9.99880483e-01 -1.43614650e-02 -5.72437434e-03 4.54137130e+02] [ 1.43635259e-02 9.99896788e-01 3.19062714e-04 -2.27651981e+01] [ 5.71920131e-03 -4.01246780e-04 9.99983565e-01 2.39546592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.9007140570001 meters Centerline goodness : 0.985675 with order 1 Centerline is valid? [True, True] Translation: X:454.20, Y:-22.76, Z:2.40 [[ 9.99983005e-01 -1.10513512e-03 -5.72435668e-03 4.54199916e+02] [ 1.10698144e-03 9.99999336e-01 3.19379346e-04 -2.27618706e+01] [ 5.72399992e-03 -3.25710675e-04 9.99983565e-01 2.39924072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.9607140570001 meters Centerline goodness : 0.985214 with order 1 Centerline is valid? [True, True] Translation: X:454.26, Y:-22.76, Z:2.40 [[ 9.99920927e-01 1.11969420e-02 -5.72433331e-03 4.54258294e+02] [-1.11952944e-02 9.99937280e-01 3.19797594e-04 -2.27592489e+01] [ 5.72755503e-03 -2.55686710e-04 9.99983565e-01 2.40450569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.0207140570001 meters Centerline goodness : 0.984332 with order 1 Centerline is valid? [True, True] Translation: X:454.32, Y:-22.76, Z:2.41 [[ 9.99743749e-01 2.19013248e-02 -5.72435046e-03 4.54316600e+02] [-2.18998540e-02 9.99760118e-01 3.19490264e-04 -2.27608614e+01] [ 5.72997456e-03 -1.94045955e-04 9.99983565e-01 2.40500953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.0807140570001 meters Centerline goodness : 0.984271 with order 1 Centerline is valid? [True, True] Translation: X:454.37, Y:-22.76, Z:2.41 [[ 9.99653724e-01 2.56838963e-02 -5.72444678e-03 4.54374344e+02] [-2.56824975e-02 9.99670100e-01 3.17755150e-04 -2.27624245e+01] [ 5.73071947e-03 -1.70627029e-04 9.99983565e-01 2.40797635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.1407140570001 meters Centerline goodness : 0.985945 with order 1 Centerline is valid? [True, True] Translation: X:454.43, Y:-22.76, Z:2.41 [[ 9.99636031e-01 2.63635288e-02 -5.72447610e-03 4.54433583e+02] [-2.63621441e-02 9.99652408e-01 3.17225988e-04 -2.27633985e+01] [ 5.73084951e-03 -1.66201064e-04 9.99983565e-01 2.41489091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.2007140570001 meters Centerline goodness : 0.984595 with order 1 Centerline is valid? [True, True] Translation: X:454.49, Y:-22.77, Z:2.41 [[ 9.99581409e-01 2.83590779e-02 -5.72449381e-03 4.54490890e+02] [-2.83577277e-02 9.99597789e-01 3.16906161e-04 -2.27718313e+01] [ 5.73117852e-03 -1.54439870e-04 9.99983565e-01 2.40998822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.26071405700003 meters Centerline goodness : 0.985544 with order 1 Centerline is valid? [True, True] Translation: X:454.55, Y:-22.78, Z:2.41 [[ 9.99590671e-01 2.80307027e-02 -5.72452283e-03 4.54548301e+02] [-2.80293502e-02 9.99607051e-01 3.16380988e-04 -2.27774340e+01] [ 5.73114176e-03 -1.55796829e-04 9.99983565e-01 2.41101569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.32071405700003 meters Centerline goodness : 0.990103 with order 1 Centerline is valid? [True, True] Translation: X:454.61, Y:-22.78, Z:2.40 [[ 9.99703086e-01 2.36848093e-02 -5.72455073e-03 4.54607747e+02] [-2.36833885e-02 9.99719459e-01 3.15875436e-04 -2.27759801e+01] [ 5.73042621e-03 -1.80204890e-04 9.99983565e-01 2.40156039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.38071405700003 meters Centerline goodness : 0.984891 with order 1 Centerline is valid? [True, True] Translation: X:454.66, Y:-22.80, Z:2.39 [[ 9.99005400e-01 4.42203658e-02 -5.72457288e-03 4.54664845e+02] [-4.42192840e-02 9.99021799e-01 3.15473528e-04 -2.28013751e+01] [ 5.73292345e-03 -6.20232439e-05 9.99983565e-01 2.38877615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.44071405700004 meters Centerline goodness : 0.982737 with order 1 Centerline is valid? [True, True] Translation: X:454.72, Y:-22.81, Z:2.39 [[ 9.98664709e-01 5.13422661e-02 -5.72460116e-03 4.54724382e+02] [-5.13413042e-02 9.98681116e-01 3.14959381e-04 -2.28100841e+01] [ 5.73322181e-03 -2.06303283e-05 9.99983565e-01 2.39377355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.50071405700004 meters Centerline goodness : 0.984024 with order 1 Centerline is valid? [True, True] Translation: X:454.78, Y:-22.83, Z:2.39 [[ 9.98514946e-01 5.41768459e-02 -5.72460670e-03 4.54781666e+02] [-5.41759311e-02 9.98531356e-01 3.14858757e-04 -2.28286436e+01] [ 5.73325734e-03 -4.25527679e-06 9.99983565e-01 2.38788611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.56071405700004 meters Centerline goodness : 0.984040 with order 1 Centerline is valid? [True, True] Translation: X:454.84, Y:-22.84, Z:2.39 [[ 9.98828518e-01 4.80501850e-02 -5.72470194e-03 4.54840245e+02] [-4.80491796e-02 9.98844922e-01 3.13117390e-04 -2.28376278e+01] [ 5.73313481e-03 -3.76833468e-05 9.99983565e-01 2.39173667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.62071405700004 meters Centerline goodness : 0.984046 with order 1 Centerline is valid? [True, True] Translation: X:454.90, Y:-22.85, Z:2.39 [[ 9.99052373e-01 4.31460751e-02 -5.72471936e-03 4.54896761e+02] [-4.31449910e-02 9.99068772e-01 3.12798573e-04 -2.28548517e+01] [ 5.73288438e-03 -6.55091913e-05 9.99983565e-01 2.38842028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.68071405700005 meters Centerline goodness : 0.984645 with order 1 Centerline is valid? [True, True] Translation: X:454.95, Y:-22.87, Z:2.38 [[ 9.99038715e-01 4.34611613e-02 -5.72474722e-03 4.54954783e+02] [-4.34600853e-02 9.99055115e-01 3.12287917e-04 -2.28722377e+01] [ 5.73291039e-03 -6.31897168e-05 9.99983565e-01 2.38280934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.74071405700005 meters Centerline goodness : 0.983844 with order 1 Centerline is valid? [True, True] Translation: X:455.01, Y:-22.88, Z:2.39 [[ 9.99327923e-01 3.62067560e-02 -5.72482740e-03 4.55012677e+02] [-3.62055694e-02 9.99344315e-01 3.10811127e-04 -2.28833962e+01] [ 5.73232718e-03 -1.03331602e-04 9.99983565e-01 2.38896480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.80071405700005 meters Centerline goodness : 0.983861 with order 1 Centerline is valid? [True, True] Translation: X:455.07, Y:-22.89, Z:2.40 [[ 9.99447551e-01 3.27386441e-02 -5.72484426e-03 4.55071334e+02] [-3.27374024e-02 9.99463939e-01 3.10500207e-04 -2.28911939e+01] [ 5.73194075e-03 -1.22912142e-04 9.99983565e-01 2.40336383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.86071405700005 meters Centerline goodness : 0.984302 with order 1 Centerline is valid? [True, True] Translation: X:455.13, Y:-22.90, Z:2.40 [[ 9.99482455e-01 3.16551507e-02 -5.72486701e-03 4.55129814e+02] [-3.16538937e-02 9.99498842e-01 3.10080258e-04 -2.29031850e+01] [ 5.73181358e-03 -1.28705446e-04 9.99983565e-01 2.40411017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.92071405700005 meters Centerline goodness : 0.985225 with order 1 Centerline is valid? [True, True] Translation: X:455.19, Y:-22.91, Z:2.40 [[ 9.99595384e-01 2.78620543e-02 -5.72488943e-03 4.55186693e+02] [-2.78607374e-02 9.99611766e-01 3.09665714e-04 -2.29142094e+01] [ 5.73129476e-03 -1.50040777e-04 9.99983565e-01 2.40411200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.98071405700006 meters Centerline goodness : 0.985095 with order 1 Centerline is valid? [True, True] Translation: X:455.25, Y:-22.93, Z:2.40 [[ 9.99786474e-01 1.98552738e-02 -5.72492921e-03 4.55245354e+02] [-1.98538300e-02 9.99802846e-01 3.08928459e-04 -2.29254597e+01] [ 5.72993438e-03 -1.95200723e-04 9.99983565e-01 2.40396192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.04071405700006 meters Centerline goodness : 0.986904 with order 1 Centerline is valid? [True, True] Translation: X:455.30, Y:-22.93, Z:2.40 [[ 9.99971748e-01 4.87106732e-03 -5.72495229e-03 4.55303525e+02] [-4.86938076e-03 9.99988097e-01 3.08500291e-04 -2.29334724e+01] [ 5.72638687e-03 -2.80614602e-04 9.99983565e-01 2.40475324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.10071405700006 meters Centerline goodness : 0.987073 with order 1 Centerline is valid? [True, True] Translation: X:455.36, Y:-22.94, Z:2.40 [[ 9.99959541e-01 -6.93837203e-03 -5.72497537e-03 4.55361659e+02] [ 6.94024909e-03 9.99975869e-01 3.08071318e-04 -2.29411434e+01] [ 5.72269971e-03 -3.47791609e-04 9.99983565e-01 2.40121755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.16071405700006 meters Centerline goodness : 0.988019 with order 1 Centerline is valid? [True, True] Translation: X:455.42, Y:-22.95, Z:2.40 [[ 9.99882395e-01 -1.42274780e-02 -5.72499065e-03 4.55422472e+02] [ 1.42294724e-02 9.99898709e-01 3.07787122e-04 -2.29453736e+01] [ 5.72003172e-03 -3.89214521e-04 9.99983565e-01 2.40430850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.22071405700007 meters Centerline goodness : 0.988472 with order 1 Centerline is valid? [True, True] Translation: X:455.48, Y:-22.95, Z:2.41 [[ 9.99837602e-01 -1.70878418e-02 -5.72499065e-03 4.55484325e+02] [ 1.70898828e-02 9.99853910e-01 3.07787122e-04 -2.29454679e+01] [ 5.71889487e-03 -4.05576557e-04 9.99983565e-01 2.40872042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.28071405700007 meters Centerline goodness : 0.988022 with order 1 Centerline is valid? [True, True] Translation: X:455.55, Y:-22.95, Z:2.41 [[ 9.99909524e-01 -1.21724351e-02 -5.72497464e-03 4.55546615e+02] [ 1.21743977e-02 9.99925842e-01 3.08084569e-04 -2.29478432e+01] [ 5.72079995e-03 -3.77754813e-04 9.99983565e-01 2.41333646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.34071405700007 meters Centerline goodness : 0.987579 with order 1 Centerline is valid? [True, True] Translation: X:455.61, Y:-22.95, Z:2.42 [[ 9.99907563e-01 -1.23324585e-02 -5.72495113e-03 4.55607518e+02] [ 1.23344262e-02 9.99923880e-01 3.08520893e-04 -2.29490217e+01] [ 5.72071053e-03 -3.79106362e-04 9.99983565e-01 2.41642560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.4007140570001 meters Centerline goodness : 0.987380 with order 1 Centerline is valid? [True, True] Translation: X:455.67, Y:-22.95, Z:2.42 [[ 9.99947119e-01 -8.54309394e-03 -5.72493388e-03 4.55668573e+02] [ 8.54500159e-03 9.99963443e-01 3.08840710e-04 -2.29512199e+01] [ 5.72208613e-03 -3.57743948e-04 9.99983565e-01 2.41739535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.4607140570001 meters Centerline goodness : 0.987311 with order 1 Centerline is valid? [True, True] Translation: X:455.73, Y:-22.95, Z:2.42 [[ 9.99906811e-01 -1.23933376e-02 -5.72492296e-03 4.55729831e+02] [ 1.23953092e-02 9.99923127e-01 3.09042954e-04 -2.29497889e+01] [ 5.72065280e-03 -3.79976344e-04 9.99983565e-01 2.42468533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.5207140570001 meters Centerline goodness : 0.988639 with order 1 Centerline is valid? [True, True] Translation: X:455.79, Y:-22.95, Z:2.42 [[ 9.99847745e-01 -1.64837054e-02 -5.72491856e-03 4.55791035e+02] [ 1.64857443e-02 9.99864053e-01 3.09124461e-04 -2.29520141e+01] [ 5.71904476e-03 -4.03456938e-04 9.99983565e-01 2.42386280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.5807140570001 meters Centerline goodness : 0.988287 with order 1 Centerline is valid? [True, True] Translation: X:455.85, Y:-22.95, Z:2.42 [[ 9.99752204e-01 -2.15117651e-02 -5.72484324e-03 4.55853119e+02] [ 2.15138938e-02 9.99768501e-01 3.10513017e-04 -2.29514202e+01] [ 5.71683826e-03 -4.33599743e-04 9.99983565e-01 2.42455733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.6407140570001 meters Centerline goodness : 0.988104 with order 1 Centerline is valid? [True, True] Translation: X:455.91, Y:-22.95, Z:2.43 [[ 9.99706575e-01 -2.35369959e-02 -5.72476545e-03 4.55914269e+02] [ 2.35391658e-02 9.99722867e-01 3.11940751e-04 -2.29494571e+01] [ 5.71583677e-03 -4.46605422e-04 9.99983565e-01 2.42789131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.7007140570001 meters Centerline goodness : 0.988063 with order 1 Centerline is valid? [True, True] Translation: X:455.98, Y:-22.95, Z:2.43 [[ 9.99711955e-01 -2.33074006e-02 -5.72472383e-03 4.55977142e+02] [ 2.33095711e-02 9.99728246e-01 3.12702555e-04 -2.29482790e+01] [ 5.71587983e-03 -4.46053340e-04 9.99983565e-01 2.42685196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.76071405700003 meters Centerline goodness : 0.988408 with order 1 Centerline is valid? [True, True] Translation: X:456.04, Y:-22.95, Z:2.42 [[ 9.99751988e-01 -2.15218447e-02 -5.72469446e-03 4.56038230e+02] [ 2.15239892e-02 9.99768283e-01 3.13239388e-04 -2.29466618e+01] [ 5.71662646e-03 -4.36379962e-04 9.99983565e-01 2.42454818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.82071405700003 meters Centerline goodness : 0.988301 with order 1 Centerline is valid? [True, True] Translation: X:456.10, Y:-22.95, Z:2.42 [[ 9.99791974e-01 -1.95764482e-02 -5.72465383e-03 4.56099489e+02] [ 1.95785652e-02 9.99808272e-01 3.13980195e-04 -2.29476469e+01] [ 5.71740964e-03 -4.25995387e-04 9.99983565e-01 2.41996746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.88071405700003 meters Centerline goodness : 0.988511 with order 1 Centerline is valid? [True, True] Translation: X:456.16, Y:-22.95, Z:2.42 [[ 9.99779738e-01 -2.01916835e-02 -5.72463790e-03 4.56161716e+02] [ 2.01938121e-02 9.99796035e-01 3.14270428e-04 -2.29476343e+01] [ 5.71712462e-03 -4.29803468e-04 9.99983565e-01 2.41813580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.94071405700004 meters Centerline goodness : 0.988554 with order 1 Centerline is valid? [True, True] Translation: X:456.22, Y:-22.95, Z:2.41 [[ 9.99757905e-01 -2.12452174e-02 -5.72461669e-03 4.56223327e+02] [ 2.12473654e-02 9.99774200e-01 3.14656228e-04 -2.29513061e+01] [ 5.71663913e-03 -4.36213074e-04 9.99983565e-01 2.41355396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.00071405700004 meters Centerline goodness : 0.988641 with order 1 Centerline is valid? [True, True] Translation: X:456.28, Y:-22.95, Z:2.41 [[ 9.99727959e-01 -2.26105385e-02 -5.72460045e-03 4.56284445e+02] [ 2.26127104e-02 9.99744250e-01 3.14951414e-04 -2.29534413e+01] [ 5.71601516e-03 -4.44314466e-04 9.99983565e-01 2.40842815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.06071405700004 meters Centerline goodness : 0.989462 with order 1 Centerline is valid? [True, True] Translation: X:456.35, Y:-22.95, Z:2.41 [[ 9.99742847e-01 -2.19423950e-02 -5.72458449e-03 4.56346514e+02] [ 2.19445576e-02 9.99759140e-01 3.15241270e-04 -2.29523024e+01] [ 5.71628851e-03 -4.40783679e-04 9.99983565e-01 2.41103385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.12071405700004 meters Centerline goodness : 0.988836 with order 1 Centerline is valid? [True, True] Translation: X:456.41, Y:-22.95, Z:2.41 [[ 9.99792263e-01 -1.95616920e-02 -5.72456415e-03 4.56408127e+02] [ 1.95638180e-02 9.99808560e-01 3.15610120e-04 -2.29533751e+01] [ 5.71729438e-03 -4.27538888e-04 9.99983565e-01 2.41189483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.18071405700005 meters Centerline goodness : 0.988636 with order 1 Centerline is valid? [True, True] Translation: X:456.47, Y:-22.95, Z:2.41 [[ 9.99856975e-01 -1.59141416e-02 -5.72454908e-03 4.56470554e+02] [ 1.59162096e-02 9.99873279e-01 3.15883182e-04 -2.29508478e+01] [ 5.71879666e-03 -4.06951126e-04 9.99983565e-01 2.41368984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.24071405700005 meters Centerline goodness : 0.989626 with order 1 Centerline is valid? [True, True] Translation: X:456.53, Y:-22.95, Z:2.42 [[ 9.99877421e-01 -1.45730277e-02 -5.72452568e-03 4.56531693e+02] [ 1.45750763e-02 9.99893728e-01 3.16306764e-04 -2.29471779e+01] [ 5.71930777e-03 -3.99703390e-04 9.99983565e-01 2.42098583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.30071405700005 meters Centerline goodness : 0.989062 with order 1 Centerline is valid? [True, True] Translation: X:456.59, Y:-22.95, Z:2.42 [[ 9.99954081e-01 -7.68541823e-03 -5.72450843e-03 4.56594342e+02] [ 7.68735623e-03 9.99970402e-01 3.16618608e-04 -2.29461487e+01] [ 5.72190565e-03 -3.60610405e-04 9.99983565e-01 2.42299034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.36071405700005 meters Centerline goodness : 0.989192 with order 1 Centerline is valid? [True, True] Translation: X:456.65, Y:-22.94, Z:2.43 [[ 9.99983575e-01 -2.83052703e-04 -5.72448599e-03 4.56654863e+02] [ 2.84872155e-04 9.99999909e-01 3.17023860e-04 -2.29438147e+01] [ 5.72439573e-03 -3.18649399e-04 9.99983565e-01 2.42633934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.42071405700005 meters Centerline goodness : 0.988486 with order 1 Centerline is valid? [True, True] Translation: X:456.71, Y:-22.95, Z:2.41 [[ 9.99954854e-01 7.58423403e-03 -5.72448599e-03 4.56712975e+02] [-7.58254314e-03 9.99971202e-01 3.17023860e-04 -2.29489393e+01] [ 5.72672552e-03 -2.73603386e-04 9.99983565e-01 2.41091408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.48071405700006 meters Centerline goodness : 0.990365 with order 1 Centerline is valid? [True, True] Translation: X:456.77, Y:-22.94, Z:2.42 [[ 9.99925778e-01 1.07549361e-02 -5.72450921e-03 4.56772731e+02] [-1.07532994e-02 9.99942131e-01 3.16603901e-04 -2.29381191e+01] [ 5.72758300e-03 -2.55023040e-04 9.99983565e-01 2.42361596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.54071405700006 meters Centerline goodness : 0.987589 with order 1 Centerline is valid? [True, True] Translation: X:456.83, Y:-22.95, Z:2.42 [[ 9.99766551e-01 2.08344272e-02 -5.72459275e-03 4.56830247e+02] [-2.08329642e-02 9.99782921e-01 3.15086131e-04 -2.29509339e+01] [ 5.72991470e-03 -1.95752338e-04 9.99983565e-01 2.41541909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.60071405700006 meters Centerline goodness : 0.987412 with order 1 Centerline is valid? [True, True] Translation: X:456.89, Y:-22.95, Z:2.42 [[ 9.99881772e-01 1.42713434e-02 -5.72462480e-03 4.56888207e+02] [-1.42697762e-02 9.99898132e-01 3.14502901e-04 -2.29527010e+01] [ 5.72853002e-03 -2.32776603e-04 9.99983565e-01 2.41923319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.66071405700006 meters Centerline goodness : 0.988347 with order 1 Centerline is valid? [True, True] Translation: X:456.95, Y:-22.96, Z:2.42 [[ 9.99957005e-01 7.29490814e-03 -5.72465218e-03 4.56946143e+02] [-7.29322977e-03 9.99973355e-01 3.14003612e-04 -2.29581210e+01] [ 5.72679028e-03 -2.72238908e-04 9.99983565e-01 2.42186502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.72071405700007 meters Centerline goodness : 0.988833 with order 1 Centerline is valid? [True, True] Translation: X:457.00, Y:-22.96, Z:2.43 [[ 9.99983469e-01 5.38825809e-04 -5.72468534e-03 4.57004443e+02] [-5.37040478e-04 9.99999807e-01 3.13397965e-04 -2.29629771e+01] [ 5.72485310e-03 -3.10318397e-04 9.99983565e-01 2.42502154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.78071405700007 meters Centerline goodness : 0.982624 with order 1 Centerline is valid? [True, True] Translation: X:457.06, Y:-22.96, Z:2.42 [[ 9.99863370e-01 -1.55070506e-02 -5.72470898e-03 4.57062198e+02] [ 1.55090954e-02 9.99879678e-01 3.12965537e-04 -2.29569203e+01] [ 5.71916700e-03 -4.01707834e-04 9.99983565e-01 2.42028636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.84071405700007 meters Centerline goodness : 0.989749 with order 1 Centerline is valid? [True, True] Translation: X:457.12, Y:-22.97, Z:2.43 [[ 9.99897781e-01 -1.31017462e-02 -5.72474140e-03 4.57122669e+02] [ 1.31037483e-02 9.99914093e-01 3.12371349e-04 -2.29669383e+01] [ 5.72015700e-03 -3.87354989e-04 9.99983565e-01 2.43152768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.9007140570001 meters Centerline goodness : 0.989644 with order 1 Centerline is valid? [True, True] Translation: X:457.19, Y:-22.97, Z:2.43 [[ 9.99874044e-01 -1.48028069e-02 -5.72471691e-03 4.57185112e+02] [ 1.48048394e-02 9.99890353e-01 3.12819563e-04 -2.29678555e+01] [ 5.71945861e-03 -3.97533676e-04 9.99983565e-01 2.43188027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.9607140570001 meters Centerline goodness : 0.990514 with order 1 Centerline is valid? [True, True] Translation: X:457.25, Y:-22.96, Z:2.43 [[ 9.99798014e-01 -1.92654874e-02 -5.72469394e-03 4.57247598e+02] [ 1.92675950e-02 9.99814314e-01 3.13239414e-04 -2.29646747e+01] [ 5.71759623e-03 -4.23477229e-04 9.99983565e-01 2.42550989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.0207140570001 meters Centerline goodness : 0.989464 with order 1 Centerline is valid? [True, True] Translation: X:457.31, Y:-22.97, Z:2.43 [[ 9.99887853e-01 -1.38387366e-02 -5.72465943e-03 4.57309297e+02] [ 1.38407593e-02 9.99904163e-01 3.13868828e-04 -2.29685953e+01] [ 5.71976724e-03 -3.93067262e-04 9.99983565e-01 2.43133892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.0807140570001 meters Centerline goodness : 0.988102 with order 1 Centerline is valid? [True, True] Translation: X:457.37, Y:-22.97, Z:2.43 [[ 9.99893208e-01 -1.34462396e-02 -5.72463188e-03 4.57371143e+02] [ 1.34482588e-02 9.99909519e-01 3.14370388e-04 -2.29672113e+01] [ 5.71988681e-03 -3.91323146e-04 9.99983565e-01 2.43381648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.1407140570001 meters Centerline goodness : 0.988678 with order 1 Centerline is valid? [True, True] Translation: X:457.43, Y:-22.97, Z:2.43 [[ 9.99880770e-01 -1.43413741e-02 -5.72461408e-03 4.57432340e+02] [ 1.43434097e-02 9.99897078e-01 3.14694335e-04 -2.29674653e+01] [ 5.71951174e-03 -3.96767299e-04 9.99983565e-01 2.43132928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.2007140570001 meters Centerline goodness : 0.988120 with order 1 Centerline is valid? [True, True] Translation: X:457.50, Y:-22.97, Z:2.43 [[ 9.99846511e-01 -1.65584937e-02 -5.72459656e-03 4.57495054e+02] [ 1.65605673e-02 9.99862815e-01 3.15012636e-04 -2.29676360e+01] [ 5.71859510e-03 -4.09766852e-04 9.99983565e-01 2.42997913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.26071405700003 meters Centerline goodness : 0.988518 with order 1 Centerline is valid? [True, True] Translation: X:457.56, Y:-22.97, Z:2.43 [[ 9.99764337e-01 -2.09404041e-02 -5.72457357e-03 4.57556591e+02] [ 2.09425515e-02 9.99780631e-01 3.15429915e-04 -2.29669921e+01] [ 5.71671254e-03 -4.35242757e-04 9.99983565e-01 2.43082464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.32071405700003 meters Centerline goodness : 0.988371 with order 1 Centerline is valid? [True, True] Translation: X:457.62, Y:-22.97, Z:2.43 [[ 9.99700152e-01 -2.38082999e-02 -5.72452825e-03 4.57619012e+02] [ 2.38104988e-02 9.99716440e-01 3.16250138e-04 -2.29654234e+01] [ 5.71537563e-03 -4.52459184e-04 9.99983565e-01 2.43386103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.38071405700003 meters Centerline goodness : 0.989158 with order 1 Centerline is valid? [True, True] Translation: X:457.68, Y:-22.96, Z:2.44 [[ 9.99698151e-01 -2.38922076e-02 -5.72450522e-03 4.57680226e+02] [ 2.38944101e-02 9.99714438e-01 3.16666477e-04 -2.29640669e+01] [ 5.71530466e-03 -4.53354567e-04 9.99983565e-01 2.43690675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.44071405700004 meters Centerline goodness : 0.988040 with order 1 Centerline is valid? [True, True] Translation: X:457.74, Y:-22.96, Z:2.44 [[ 9.99774631e-01 -2.04430234e-02 -5.72448824e-03 4.57742459e+02] [ 2.04451715e-02 9.99790925e-01 3.16973214e-04 -2.29619504e+01] [ 5.71681150e-03 -4.33939922e-04 9.99983565e-01 2.44212542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.50071405700004 meters Centerline goodness : 0.988014 with order 1 Centerline is valid? [True, True] Translation: X:457.80, Y:-22.96, Z:2.44 [[ 9.99854748e-01 -1.60534430e-02 -5.72446407e-03 4.57803519e+02] [ 1.60555220e-02 9.99871051e-01 3.17409112e-04 -2.29610176e+01] [ 5.71863040e-03 -4.09272266e-04 9.99983565e-01 2.44358794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.56071405700004 meters Centerline goodness : 0.985785 with order 1 Centerline is valid? [True, True] Translation: X:457.87, Y:-22.97, Z:2.44 [[ 9.99939706e-01 -9.37099739e-03 -5.72444617e-03 4.57865748e+02] [ 9.37296925e-03 9.99956022e-01 3.17731513e-04 -2.29668917e+01] [ 5.72121697e-03 -3.71367414e-04 9.99983565e-01 2.43598412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.62071405700004 meters Centerline goodness : 0.985803 with order 1 Centerline is valid? [True, True] Translation: X:457.93, Y:-22.96, Z:2.44 [[ 9.99937915e-01 -9.56017330e-03 -5.72442280e-03 4.57928083e+02] [ 9.56215064e-03 9.99954231e-01 3.18152115e-04 -2.29647617e+01] [ 5.72111921e-03 -3.72870156e-04 9.99983565e-01 2.43829293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.68071405700005 meters Centerline goodness : 0.986327 with order 1 Centerline is valid? [True, True] Translation: X:457.99, Y:-22.96, Z:2.44 [[ 9.99879127e-01 -1.44555441e-02 -5.72439849e-03 4.57989875e+02] [ 1.44576038e-02 9.99895433e-01 3.18588889e-04 -2.29641764e+01] [ 5.71919453e-03 -4.01311465e-04 9.99983565e-01 2.44433746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.74071405700005 meters Centerline goodness : 0.986621 with order 1 Centerline is valid? [True, True] Translation: X:458.05, Y:-22.97, Z:2.44 [[ 9.99856368e-01 -1.59522731e-02 -5.72438064e-03 4.58051082e+02] [ 1.59543590e-02 9.99872670e-01 3.18909229e-04 -2.29659756e+01] [ 5.71856443e-03 -4.10192248e-04 9.99983565e-01 2.44202986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.80071405700005 meters Centerline goodness : 0.986259 with order 1 Centerline is valid? [True, True] Translation: X:458.11, Y:-22.97, Z:2.44 [[ 9.99852699e-01 -1.61805749e-02 -5.72436260e-03 4.58112668e+02] [ 1.61826664e-02 9.99869001e-01 3.19232734e-04 -2.29677577e+01] [ 5.71844735e-03 -4.11821161e-04 9.99983565e-01 2.44353665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.86071405700005 meters Centerline goodness : 0.985210 with order 1 Centerline is valid? [True, True] Translation: X:458.17, Y:-22.97, Z:2.44 [[ 9.99917187e-01 -1.15261022e-02 -5.72434538e-03 4.58174925e+02] [ 1.15281196e-02 9.99933498e-01 3.19541276e-04 -2.29723863e+01] [ 5.72028163e-03 -3.85505752e-04 9.99983565e-01 2.43809037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.92071405700005 meters Centerline goodness : 0.985262 with order 1 Centerline is valid? [True, True] Translation: X:458.24, Y:-22.97, Z:2.44 [[ 9.99918228e-01 -1.14354384e-02 -5.72432190e-03 4.58237244e+02] [ 1.14374566e-02 9.99934539e-01 3.19961311e-04 -2.29714265e+01] [ 5.72028828e-03 -3.85406831e-04 9.99983565e-01 2.44234770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.98071405700006 meters Centerline goodness : 0.985374 with order 1 Centerline is valid? [True, True] Translation: X:458.30, Y:-22.97, Z:2.44 [[ 9.99928206e-01 -1.05269199e-02 -5.72429834e-03 4.58298094e+02] [ 1.05289257e-02 9.99944518e-01 3.20382313e-04 -2.29734418e+01] [ 5.72060810e-03 -3.80630024e-04 9.99983565e-01 2.43964741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.04071405700006 meters Centerline goodness : 0.985615 with order 1 Centerline is valid? [True, True] Translation: X:458.36, Y:-22.98, Z:2.44 [[ 9.99924680e-01 -1.08566653e-02 -5.72428073e-03 4.58360210e+02] [ 1.08586783e-02 9.99940991e-01 3.20696592e-04 -2.29758817e+01] [ 5.72046125e-03 -3.82830560e-04 9.99983565e-01 2.43809181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.10071405700006 meters Centerline goodness : 0.985879 with order 1 Centerline is valid? [True, True] Translation: X:458.42, Y:-22.98, Z:2.44 [[ 9.99931693e-01 -1.01903222e-02 -5.72425699e-03 4.58422483e+02] [ 1.01923267e-02 9.99948005e-01 3.21119787e-04 -2.29783814e+01] [ 5.72068705e-03 -3.79441350e-04 9.99983565e-01 2.43597777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.16071405700006 meters Centerline goodness : 0.985361 with order 1 Centerline is valid? [True, True] Translation: X:458.48, Y:-22.98, Z:2.43 [[ 9.99963400e-01 -6.35865809e-03 -5.72423313e-03 4.58484650e+02] [ 6.36060253e-03 9.99979719e-01 3.21544548e-04 -2.29811340e+01] [ 5.72207245e-03 -3.57942351e-04 9.99983565e-01 2.43455575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.22071405700007 meters Centerline goodness : 0.985055 with order 1 Centerline is valid? [True, True] Translation: X:458.54, Y:-22.98, Z:2.44 [[ 9.99983576e-01 -2.85573606e-04 -5.72420873e-03 4.58544627e+02] [ 2.87421371e-04 9.99999907e-01 3.21978290e-04 -2.29821270e+01] [ 5.72411625e-03 -3.23618261e-04 9.99983565e-01 2.43522267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.28071405700007 meters Centerline goodness : 0.984597 with order 1 Centerline is valid? [True, True] Translation: X:458.60, Y:-22.98, Z:2.43 [[ 9.99974382e-01 4.29746470e-03 -5.72420274e-03 4.58603649e+02] [-4.29569120e-03 9.99990722e-01 3.22084788e-04 -2.29840891e+01] [ 5.72553378e-03 -2.97487130e-04 9.99983565e-01 2.43496885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.34071405700007 meters Centerline goodness : 0.984363 with order 1 Centerline is valid? [True, True] Translation: X:458.66, Y:-22.99, Z:2.43 [[ 9.99861036e-01 1.56569547e-02 -5.72428795e-03 4.58661303e+02] [-1.56553756e-02 9.99877396e-01 3.20563155e-04 -2.29854498e+01] [ 5.72860517e-03 -2.30902731e-04 9.99983565e-01 2.43343645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.4007140570001 meters Centerline goodness : 0.984210 with order 1 Centerline is valid? [True, True] Translation: X:458.72, Y:-22.99, Z:2.43 [[ 9.99715292e-01 2.31639317e-02 -5.72431763e-03 4.58719087e+02] [-2.31624785e-02 9.99731663e-01 3.20032277e-04 -2.29882117e+01] [ 5.73019479e-03 -1.87351777e-04 9.99983565e-01 2.43397400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.4607140570001 meters Centerline goodness : 0.989975 with order 1 Centerline is valid? [True, True] Translation: X:458.78, Y:-22.97, Z:2.45 [[ 9.99888340e-01 1.38035896e-02 -5.72435965e-03 4.58778324e+02] [-1.38019875e-02 9.99904697e-01 3.19279029e-04 -2.29742283e+01] [ 5.72822130e-03 -2.40235838e-04 9.99983565e-01 2.45070192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.5207140570001 meters Centerline goodness : 0.985472 with order 1 Centerline is valid? [True, True] Translation: X:458.84, Y:-22.99, Z:2.44 [[ 9.99646293e-01 2.59715382e-02 -5.72438266e-03 4.58835349e+02] [-2.59701377e-02 9.99662668e-01 3.18865883e-04 -2.29933259e+01] [ 5.73073308e-03 -1.70090092e-04 9.99983565e-01 2.44281106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.5807140570001 meters Centerline goodness : 0.985337 with order 1 Centerline is valid? [True, True] Translation: X:458.89, Y:-23.00, Z:2.45 [[ 9.99812960e-01 1.84736704e-02 -5.72441124e-03 4.58893920e+02] [-1.84721501e-02 9.99829325e-01 3.18351970e-04 -2.29973400e+01] [ 5.72931535e-03 -2.12550242e-04 9.99983565e-01 2.44679167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.6407140570001 meters Centerline goodness : 0.986461 with order 1 Centerline is valid? [True, True] Translation: X:458.95, Y:-23.00, Z:2.45 [[ 9.99956557e-01 7.35622387e-03 -5.72443376e-03 4.58952956e+02] [-7.35452399e-03 9.99972905e-01 3.17946602e-04 -2.30023007e+01] [ 5.72661754e-03 -2.75832305e-04 9.99983565e-01 2.45037671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.7007140570001 meters Centerline goodness : 0.988053 with order 1 Centerline is valid? [True, True] Translation: X:459.01, Y:-23.01, Z:2.45 [[ 9.99977678e-01 -3.44598785e-03 -5.72445054e-03 4.59012193e+02] [ 3.44786250e-03 9.99994006e-01 3.17644125e-04 -2.30063484e+01] [ 5.72332163e-03 -3.37374153e-04 9.99983565e-01 2.45350061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.76071405700003 meters Centerline goodness : 0.986602 with order 1 Centerline is valid? [True, True] Translation: X:459.07, Y:-23.01, Z:2.45 [[ 9.99937304e-01 -9.62383536e-03 -5.72446738e-03 4.59071703e+02] [ 9.62580912e-03 9.99953620e-01 3.17340421e-04 -2.30100383e+01] [ 5.72114785e-03 -3.72423155e-04 9.99983565e-01 2.45458431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.82071405700003 meters Centerline goodness : 0.987181 with order 1 Centerline is valid? [True, True] Translation: X:459.13, Y:-23.01, Z:2.46 [[ 9.99920007e-01 -1.12787786e-02 -5.72447851e-03 4.59132463e+02] [ 1.12807783e-02 9.99936320e-01 3.17139395e-04 -2.30133617e+01] [ 5.72053703e-03 -3.81690599e-04 9.99983565e-01 2.45505263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.88071405700003 meters Centerline goodness : 0.988225 with order 1 Centerline is valid? [True, True] Translation: X:459.19, Y:-23.02, Z:2.46 [[ 9.99917412e-01 -1.15065161e-02 -5.72446188e-03 4.59194377e+02] [ 1.15085211e-02 9.99933724e-01 3.17439299e-04 -2.30154644e+01] [ 5.72042987e-03 -3.83293173e-04 9.99983565e-01 2.45650743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.94071405700004 meters Centerline goodness : 0.987841 with order 1 Centerline is valid? [True, True] Translation: X:459.26, Y:-23.02, Z:2.46 [[ 9.99906487e-01 -1.24196832e-02 -5.72444011e-03 4.59255360e+02] [ 1.24217054e-02 9.99922797e-01 3.17831495e-04 -2.30175641e+01] [ 5.72005080e-03 -3.88909082e-04 9.99983565e-01 2.45808185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.00071405700004 meters Centerline goodness : 0.987739 with order 1 Centerline is valid? [True, True] Translation: X:459.32, Y:-23.02, Z:2.46 [[ 9.99848761e-01 -1.64221396e-02 -5.72442398e-03 4.59317184e+02] [ 1.64242287e-02 9.99865063e-01 3.18121603e-04 -2.30193779e+01] [ 5.71842731e-03 -4.12092739e-04 9.99983565e-01 2.46048860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.06071405700004 meters Centerline goodness : 0.988336 with order 1 Centerline is valid? [True, True] Translation: X:459.38, Y:-23.02, Z:2.46 [[ 9.99765305e-01 -2.08941575e-02 -5.72440213e-03 4.59379425e+02] [ 2.08963217e-02 9.99781597e-01 3.18514310e-04 -2.30214512e+01] [ 5.71649682e-03 -4.38058505e-04 9.99983565e-01 2.46053747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.12071405700004 meters Centerline goodness : 0.987600 with order 1 Centerline is valid? [True, True] Translation: X:459.44, Y:-23.03, Z:2.46 [[ 9.99740694e-01 -2.20403312e-02 -5.72438054e-03 4.59441570e+02] [ 2.20425163e-02 9.99756983e-01 3.18901897e-04 -2.30269284e+01] [ 5.71596072e-03 -4.44998955e-04 9.99983565e-01 2.46063386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.18071405700005 meters Centerline goodness : 0.987080 with order 1 Centerline is valid? [True, True] Translation: X:459.50, Y:-23.03, Z:2.46 [[ 9.99701544e-01 -2.37498200e-02 -5.72435837e-03 4.59504651e+02] [ 2.37520353e-02 9.99717830e-01 3.19299408e-04 -2.30300492e+01] [ 5.71515982e-03 -4.55169273e-04 9.99983565e-01 2.45941763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.24071405700005 meters Centerline goodness : 0.987305 with order 1 Centerline is valid? [True, True] Translation: X:459.57, Y:-23.03, Z:2.46 [[ 9.99782977e-01 -2.00307748e-02 -5.72432585e-03 4.59566858e+02] [ 2.00329327e-02 9.99799270e-01 3.19881405e-04 -2.30328610e+01] [ 5.71676933e-03 -4.34487017e-04 9.99983565e-01 2.45740643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.30071405700005 meters Centerline goodness : 0.986021 with order 1 Centerline is valid? [True, True] Translation: X:459.63, Y:-23.03, Z:2.46 [[ 9.99883256e-01 -1.41670653e-02 -5.72430463e-03 4.59628996e+02] [ 1.41691298e-02 9.99899562e-01 3.20260647e-04 -2.30337729e+01] [ 5.71919253e-03 -4.01331674e-04 9.99983565e-01 2.45817442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.36071405700005 meters Centerline goodness : 0.985975 with order 1 Centerline is valid? [True, True] Translation: X:459.69, Y:-23.03, Z:2.46 [[ 9.99961791e-01 -6.60672635e-03 -5.72428348e-03 4.59689921e+02] [ 6.60866966e-03 9.99978111e-01 3.20638126e-04 -2.30348803e+01] [ 5.72203982e-03 -3.58455774e-04 9.99983565e-01 2.45780981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.42071405700005 meters Centerline goodness : 0.984451 with order 1 Centerline is valid? [True, True] Translation: X:459.75, Y:-23.04, Z:2.46 [[ 9.99982924e-01 1.17699459e-03 -5.72426777e-03 4.59751113e+02] [-1.17517676e-03 9.99999258e-01 3.20918458e-04 -2.30355969e+01] [ 5.72464124e-03 -3.14185951e-04 9.99983565e-01 2.45888211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.48071405700006 meters Centerline goodness : 0.984726 with order 1 Centerline is valid? [True, True] Translation: X:459.81, Y:-23.04, Z:2.46 [[ 9.99954675e-01 7.60791312e-03 -5.72425690e-03 4.59810141e+02] [-7.60619927e-03 9.99971021e-01 3.21112133e-04 -2.30365679e+01] [ 5.72653401e-03 -2.77557740e-04 9.99983565e-01 2.45930190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.54071405700006 meters Centerline goodness : 0.984168 with order 1 Centerline is valid? [True, True] Translation: X:459.87, Y:-23.04, Z:2.46 [[ 9.99908269e-01 1.22754234e-02 -5.72433257e-03 4.59868721e+02] [-1.22737936e-02 9.99924623e-01 3.19757513e-04 -2.30372295e+01] [ 5.72782625e-03 -2.49468905e-04 9.99983565e-01 2.46136627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.60071405700006 meters Centerline goodness : 0.985169 with order 1 Centerline is valid? [True, True] Translation: X:459.93, Y:-23.04, Z:2.46 [[ 9.99833432e-01 1.73302816e-02 -5.72440821e-03 4.59926582e+02] [-1.73287423e-02 9.99849795e-01 3.18397606e-04 -2.30392458e+01] [ 5.72906630e-03 -2.19147777e-04 9.99983565e-01 2.46144061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.66071405700006 meters Centerline goodness : 0.984138 with order 1 Centerline is valid? [True, True] Translation: X:459.98, Y:-23.04, Z:2.46 [[ 9.99714253e-01 2.32087033e-02 -5.72444813e-03 4.59984424e+02] [-2.32072643e-02 9.99730625e-01 3.17678339e-04 -2.30414913e+01] [ 5.73027900e-03 -1.84738783e-04 9.99983565e-01 2.45900505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.72071405700007 meters Centerline goodness : 0.984186 with order 1 Centerline is valid? [True, True] Translation: X:460.04, Y:-23.05, Z:2.46 [[ 9.99643921e-01 2.60626421e-02 -5.72453614e-03 4.60042878e+02] [-2.60612590e-02 9.99660298e-01 3.16084346e-04 -2.30462154e+01] [ 5.73082950e-03 -1.66783176e-04 9.99983565e-01 2.45701870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.78071405700007 meters Centerline goodness : 0.984461 with order 1 Centerline is valid? [True, True] Translation: X:460.10, Y:-23.05, Z:2.45 [[ 9.99554798e-01 2.92820120e-02 -5.72455865e-03 4.60101325e+02] [-2.92806840e-02 9.99571179e-01 3.15676209e-04 -2.30516213e+01] [ 5.73134747e-03 -1.47916677e-04 9.99983565e-01 2.45417078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.84071405700007 meters Centerline goodness : 0.985299 with order 1 Centerline is valid? [True, True] Translation: X:460.16, Y:-23.05, Z:2.46 [[ 9.99479240e-01 3.17565380e-02 -5.72458076e-03 4.60159817e+02] [-3.17552529e-02 9.99495625e-01 3.15274633e-04 -2.30544467e+01] [ 5.73170546e-03 -1.33324941e-04 9.99983565e-01 2.45647299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.9007140570001 meters Centerline goodness : 0.982791 with order 1 Centerline is valid? [True, True] Translation: X:460.22, Y:-23.07, Z:2.45 [[ 9.99429622e-01 3.32815167e-02 -5.72460291e-03 4.60216195e+02] [-3.32802588e-02 9.99446009e-01 3.14872016e-04 -2.30659522e+01] [ 5.73191095e-03 -1.24176154e-04 9.99983565e-01 2.44945200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.9607140570001 meters Centerline goodness : 0.984253 with order 1 Centerline is valid? [True, True] Translation: X:460.28, Y:-23.07, Z:2.46 [[ 9.99624938e-01 2.67808034e-02 -5.72464102e-03 4.60275403e+02] [-2.67794430e-02 9.99641317e-01 3.14177613e-04 -2.30671110e+01] [ 5.73100162e-03 -1.60757079e-04 9.99983565e-01 2.45911631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.0207140570001 meters Centerline goodness : 0.983109 with order 1 Centerline is valid? [True, True] Translation: X:460.33, Y:-23.07, Z:2.46 [[ 9.99773682e-01 2.04893414e-02 -5.72466306e-03 4.60333613e+02] [-2.04878802e-02 9.99790052e-01 3.13775532e-04 -2.30743369e+01] [ 5.72989023e-03 -1.96418308e-04 9.99983565e-01 2.45953716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.0807140570001 meters Centerline goodness : 0.983164 with order 1 Centerline is valid? [True, True] Translation: X:460.39, Y:-23.08, Z:2.46 [[ 9.99880055e-01 1.43910916e-02 -5.72468520e-03 4.60390790e+02] [-1.43895329e-02 9.99896416e-01 3.13371072e-04 -2.30825753e+01] [ 5.72860196e-03 -2.30957938e-04 9.99983565e-01 2.45982889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.1407140570001 meters Centerline goodness : 0.982096 with order 1 Centerline is valid? [True, True] Translation: X:460.45, Y:-23.09, Z:2.46 [[ 9.99953846e-01 7.71577293e-03 -5.72471837e-03 4.60448806e+02] [-7.71410852e-03 9.99970197e-01 3.12763846e-04 -2.30911836e+01] [ 5.72696097e-03 -2.68588311e-04 9.99983565e-01 2.46134896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.2007140570001 meters Centerline goodness : 0.983134 with order 1 Centerline is valid? [True, True] Translation: X:460.51, Y:-23.10, Z:2.46 [[ 9.99966377e-01 5.87128513e-03 -5.72474017e-03 4.60506977e+02] [-5.86959286e-03 9.99982725e-01 3.12364274e-04 -2.30979956e+01] [ 5.72647526e-03 -2.78751877e-04 9.99983565e-01 2.46192076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.26071405700003 meters Centerline goodness : 0.983449 with order 1 Centerline is valid? [True, True] Translation: X:460.56, Y:-23.10, Z:2.46 [[ 9.99974729e-01 4.21538063e-03 -5.72476266e-03 4.60564802e+02] [-4.21366364e-03 9.99991074e-01 3.11951627e-04 -2.31022385e+01] [ 5.72602656e-03 -2.87821519e-04 9.99983565e-01 2.46326584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.32071405700003 meters Centerline goodness : 0.982962 with order 1 Centerline is valid? [True, True] Translation: X:460.62, Y:-23.11, Z:2.46 [[ 9.99975253e-01 4.08904002e-03 -5.72479034e-03 4.60622993e+02] [-4.08732387e-03 9.99991598e-01 3.11442833e-04 -2.31076022e+01] [ 5.72601574e-03 -2.88036054e-04 9.99983565e-01 2.46277721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.38071405700003 meters Centerline goodness : 0.983358 with order 1 Centerline is valid? [True, True] Translation: X:460.68, Y:-23.11, Z:2.46 [[ 9.99983224e-01 -8.81723003e-04 -5.72481183e-03 4.60682168e+02] [ 8.83518125e-04 9.99999561e-01 3.11047273e-04 -2.31120311e+01] [ 5.72453506e-03 -3.16100030e-04 9.99983565e-01 2.46440572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.44071405700004 meters Centerline goodness : 0.983475 with order 1 Centerline is valid? [True, True] Translation: X:460.74, Y:-23.11, Z:2.46 [[ 9.99967154e-01 -5.73730414e-03 -5.72484378e-03 4.60740985e+02] [ 5.73917521e-03 9.99983483e-01 3.10458068e-04 -2.31147458e+01] [ 5.72296803e-03 -3.43303753e-04 9.99983565e-01 2.46364725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.50071405700004 meters Centerline goodness : 0.983472 with order 1 Centerline is valid? [True, True] Translation: X:460.80, Y:-23.12, Z:2.46 [[ 9.99965782e-01 -5.97168897e-03 -5.72486563e-03 4.60801101e+02] [ 5.97356156e-03 9.99982110e-01 3.10054684e-04 -2.31184300e+01] [ 5.72291166e-03 -3.44241911e-04 9.99983565e-01 2.46090374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.56071405700004 meters Centerline goodness : 0.983909 with order 1 Centerline is valid? [True, True] Translation: X:460.86, Y:-23.12, Z:2.46 [[ 9.99982645e-01 -1.39123821e-03 -5.72486563e-03 4.60861436e+02] [ 1.39303599e-03 9.99998982e-01 3.10054684e-04 -2.31236866e+01] [ 5.72442844e-03 -3.18024246e-04 9.99983565e-01 2.45679092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.62071405700004 meters Centerline goodness : 0.983450 with order 1 Centerline is valid? [True, True] Translation: X:460.92, Y:-23.13, Z:2.45 [[ 9.99974383e-01 4.29643391e-03 -5.72485183e-03 4.60920528e+02] [-4.29472762e-03 9.99990729e-01 3.10309389e-04 -2.31262319e+01] [ 5.72613198e-03 -2.85714760e-04 9.99983565e-01 2.45290886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.68071405700005 meters Centerline goodness : 0.982904 with order 1 Centerline is valid? [True, True] Translation: X:460.98, Y:-23.13, Z:2.45 [[ 9.99914167e-01 1.17848619e-02 -5.72492647e-03 4.60980230e+02] [-1.17832859e-02 9.99930527e-01 3.08926046e-04 -2.31324267e+01] [ 5.72816940e-03 -2.41441084e-04 9.99983565e-01 2.44789666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.74071405700005 meters Centerline goodness : 0.982605 with order 1 Centerline is valid? [True, True] Translation: X:461.04, Y:-23.13, Z:2.45 [[ 9.99838818e-01 1.70165783e-02 -5.72493198e-03 4.61039290e+02] [-1.70150886e-02 9.99855185e-01 3.08823908e-04 -2.31329737e+01] [ 5.72935805e-03 -2.11363906e-04 9.99983565e-01 2.44739532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.80071405700005 meters Centerline goodness : 0.983213 with order 1 Centerline is valid? [True, True] Translation: X:461.10, Y:-23.13, Z:2.44 [[ 9.99721365e-01 2.29001330e-02 -5.72500864e-03 4.61098238e+02] [-2.28987478e-02 9.99737742e-01 3.07396301e-04 -2.31329878e+01] [ 5.73054662e-03 -1.76215121e-04 9.99983565e-01 2.44444397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.86071405700005 meters Centerline goodness : 0.982698 with order 1 Centerline is valid? [True, True] Translation: X:461.16, Y:-23.13, Z:2.45 [[ 9.99643011e-01 2.60974098e-02 -5.72502477e-03 4.61157323e+02] [-2.60960787e-02 9.99659392e-01 3.07095515e-04 -2.31342264e+01] [ 5.73108918e-03 -1.57585189e-04 9.99983565e-01 2.44690142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.92071405700005 meters Centerline goodness : 0.983397 with order 1 Centerline is valid? [True, True] Translation: X:461.22, Y:-23.13, Z:2.45 [[ 9.99468541e-01 3.20914186e-02 -5.72504501e-03 4.61215853e+02] [-3.20901879e-02 9.99484930e-01 3.06717734e-04 -2.31334120e+01] [ 5.73193922e-03 -1.22836956e-04 9.99983565e-01 2.45005438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.98071405700006 meters Centerline goodness : 0.983403 with order 1 Centerline is valid? [True, True] Translation: X:461.27, Y:-23.13, Z:2.46 [[ 9.99489537e-01 3.14306931e-02 -5.72506639e-03 4.61273552e+02] [-3.14294539e-02 9.99505926e-01 3.06318139e-04 -2.31327055e+01] [ 5.73186557e-03 -1.26226065e-04 9.99983565e-01 2.45858275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.04071405700006 meters Centerline goodness : 0.983476 with order 1 Centerline is valid? [True, True] Translation: X:461.33, Y:-23.14, Z:2.46 [[ 9.99497947e-01 3.11621080e-02 -5.72510562e-03 4.61332569e+02] [-3.11608686e-02 9.99514336e-01 3.05583119e-04 -2.31364561e+01] [ 5.73184776e-03 -1.27030436e-04 9.99983565e-01 2.46092577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.10071405700006 meters Centerline goodness : 0.982975 with order 1 Centerline is valid? [True, True] Translation: X:461.39, Y:-23.14, Z:2.46 [[ 9.99577965e-01 2.84800951e-02 -5.72512635e-03 4.61390969e+02] [-2.84788139e-02 9.99594350e-01 3.05194209e-04 -2.31429943e+01] [ 5.73149592e-03 -1.42020599e-04 9.99983565e-01 2.46333001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.16071405700006 meters Centerline goodness : 0.986205 with order 1 Centerline is valid? [True, True] Translation: X:461.45, Y:-23.14, Z:2.46 [[ 9.99927284e-01 1.06136697e-02 -5.72514720e-03 4.61449775e+02] [-1.06120982e-02 9.99943644e-01 3.04802759e-04 -2.31433537e+01] [ 5.72805962e-03 -2.44024771e-04 9.99983565e-01 2.46389029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.22071405700007 meters Centerline goodness : 0.984220 with order 1 Centerline is valid? [True, True] Translation: X:461.51, Y:-23.16, Z:2.45 [[ 9.99845034e-01 1.66472234e-02 -5.72517157e-03 4.61506786e+02] [-1.66457533e-02 9.99861404e-01 3.04344243e-04 -2.31631975e+01] [ 5.72944457e-03 -2.08997287e-04 9.99983565e-01 2.45238298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.28071405700007 meters Centerline goodness : 0.984671 with order 1 Centerline is valid? [True, True] Translation: X:461.57, Y:-23.17, Z:2.45 [[ 9.99918448e-01 1.14157254e-02 -5.72520198e-03 4.61565287e+02] [-1.14141729e-02 9.99934810e-01 3.03771046e-04 -2.31692641e+01] [ 5.72829652e-03 -2.38397827e-04 9.99983565e-01 2.45136734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.34071405700007 meters Centerline goodness : 0.985493 with order 1 Centerline is valid? [True, True] Translation: X:461.62, Y:-23.17, Z:2.45 [[ 9.99884484e-01 1.40798022e-02 -5.72522311e-03 4.61624228e+02] [-1.40782956e-02 9.99900850e-01 3.03372300e-04 -2.31740964e+01] [ 5.72892688e-03 -2.22735872e-04 9.99983565e-01 2.45390154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.4007140570001 meters Centerline goodness : 0.985394 with order 1 Centerline is valid? [True, True] Translation: X:461.68, Y:-23.18, Z:2.45 [[ 9.99858622e-01 1.58100507e-02 -5.72524533e-03 4.61682673e+02] [-1.58085748e-02 9.99874991e-01 3.02952505e-04 -2.31780254e+01] [ 5.72931931e-03 -2.12401705e-04 9.99983565e-01 2.45417509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.4607140570001 meters Centerline goodness : 0.984965 with order 1 Centerline is valid? [True, True] Translation: X:461.74, Y:-23.18, Z:2.45 [[ 9.99834291e-01 1.72804032e-02 -5.72526741e-03 4.61741594e+02] [-1.72789537e-02 9.99850662e-01 3.02534644e-04 -2.31824585e+01] [ 5.72964033e-03 -2.03557881e-04 9.99983565e-01 2.45397583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.5207140570001 meters Centerline goodness : 0.985609 with order 1 Centerline is valid? [True, True] Translation: X:461.80, Y:-23.19, Z:2.46 [[ 9.99873626e-01 1.48308089e-02 -5.72528934e-03 4.61800790e+02] [-1.48293218e-02 9.99889994e-01 3.02118964e-04 -2.31852562e+01] [ 5.72914019e-03 -2.17178626e-04 9.99983565e-01 2.45804516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.5807140570001 meters Centerline goodness : 0.987544 with order 1 Centerline is valid? [True, True] Translation: X:461.86, Y:-23.19, Z:2.46 [[ 9.99957778e-01 7.18775484e-03 -5.72531100e-03 4.61858324e+02] [-7.18614496e-03 9.99974134e-01 3.01708016e-04 -2.31902443e+01] [ 5.72733151e-03 -2.60552363e-04 9.99983565e-01 2.46018824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.6407140570001 meters Centerline goodness : 0.989664 with order 1 Centerline is valid? [True, True] Translation: X:461.92, Y:-23.18, Z:2.47 [[ 9.99951462e-01 -8.01832476e-03 -5.72533757e-03 4.61918523e+02] [ 8.02018028e-03 9.99967792e-01 3.01202816e-04 -2.31840410e+01] [ 5.72273803e-03 -3.47106436e-04 9.99983565e-01 2.46553970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.7007140570001 meters Centerline goodness : 0.982826 with order 1 Centerline is valid? [True, True] Translation: X:461.98, Y:-23.18, Z:2.47 [[ 9.99928207e-01 -1.05261724e-02 -5.72535008e-03 4.61978577e+02] [ 1.05280675e-02 9.99944533e-01 3.00964825e-04 -2.31848636e+01] [ 5.72186451e-03 -3.61220090e-04 9.99983565e-01 2.46528031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.76071405700003 meters Centerline goodness : 0.982730 with order 1 Centerline is valid? [True, True] Translation: X:462.04, Y:-23.19, Z:2.46 [[ 9.99933764e-01 -9.98436808e-03 -5.72533636e-03 4.62041011e+02] [ 9.98625583e-03 9.99950091e-01 3.01225644e-04 -2.31884100e+01] [ 5.72204307e-03 -3.58380365e-04 9.99983565e-01 2.46469622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.82071405700003 meters Centerline goodness : 0.988877 with order 1 Centerline is valid? [True, True] Translation: X:462.10, Y:-23.19, Z:2.46 [[ 9.99972289e-01 -4.75839942e-03 -5.72530796e-03 4.62101217e+02] [ 4.76020489e-03 9.99988625e-01 3.01764588e-04 -2.31939452e+01] [ 5.72380691e-03 -3.29009864e-04 9.99983565e-01 2.46489884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.88071405700003 meters Centerline goodness : 0.988041 with order 1 Centerline is valid? [True, True] Translation: X:462.16, Y:-23.19, Z:2.46 [[ 9.99908672e-01 -1.22420614e-02 -5.72530099e-03 4.62162214e+02] [ 1.22439899e-02 9.99924994e-01 3.01896794e-04 -2.31935592e+01] [ 5.72117571e-03 -3.71969749e-04 9.99983565e-01 2.46164929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.94071405700004 meters Centerline goodness : 0.991555 with order 1 Centerline is valid? [True, True] Translation: X:462.22, Y:-23.20, Z:2.47 [[ 9.99868670e-01 -1.51612544e-02 -5.72530099e-03 4.62224305e+02] [ 1.51632305e-02 9.99884986e-01 3.01896794e-04 -2.31954517e+01] [ 5.72006536e-03 -3.88671204e-04 9.99983565e-01 2.46866032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.00071405700004 meters Centerline goodness : 0.988108 with order 1 Centerline is valid? [True, True] Translation: X:462.29, Y:-23.20, Z:2.47 [[ 9.99818353e-01 -1.81791957e-02 -5.72527618e-03 4.62286746e+02] [ 1.81812237e-02 9.99834662e-01 3.02366489e-04 -2.32007142e+01] [ 5.71883280e-03 -4.06404092e-04 9.99983565e-01 2.47053822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.06071405700004 meters Centerline goodness : 0.985257 with order 1 Centerline is valid? [True, True] Translation: X:462.35, Y:-23.23, Z:2.46 [[ 9.99937709e-01 -9.58123664e-03 -5.72524135e-03 4.62347409e+02] [ 9.58312807e-03 9.99954035e-01 3.03024540e-04 -2.32256736e+01] [ 5.72207484e-03 -3.57871386e-04 9.99983565e-01 2.45661012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.12071405700004 meters Centerline goodness : 0.979870 with order 1 Centerline is valid? [True, True] Translation: X:462.41, Y:-23.21, Z:2.46 [[ 9.99653668e-01 -2.56859116e-02 -5.72522156e-03 4.62409194e+02] [ 2.56880679e-02 9.99669961e-01 3.03397930e-04 -2.32081196e+01] [ 5.71553896e-03 -4.50362734e-04 9.99983565e-01 2.46379120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.18071405700005 meters Centerline goodness : 0.987911 with order 1 Centerline is valid? [True, True] Translation: X:462.47, Y:-23.21, Z:2.47 [[ 9.99789004e-01 -1.97273659e-02 -5.72520682e-03 4.62471034e+02] [ 1.97294266e-02 9.99805310e-01 3.03675817e-04 -2.32103451e+01] [ 5.71810146e-03 -4.16566790e-04 9.99983565e-01 2.46619854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.24071405700005 meters Centerline goodness : 0.984861 with order 1 Centerline is valid? [True, True] Translation: X:462.53, Y:-23.22, Z:2.47 [[ 9.99969210e-01 -5.36661287e-03 -5.72517593e-03 4.62532636e+02] [ 5.36844250e-03 9.99985544e-01 3.04257199e-04 -2.32226262e+01] [ 5.72346033e-03 -3.34983108e-04 9.99983565e-01 2.46502791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.30071405700005 meters Centerline goodness : 0.984061 with order 1 Centerline is valid? [True, True] Translation: X:462.59, Y:-23.22, Z:2.47 [[ 9.99955195e-01 7.53863271e-03 -5.72515033e-03 4.62593337e+02] [-7.53701126e-03 9.99971550e-01 3.04738127e-04 -2.32220424e+01] [ 5.72728476e-03 -2.61573950e-04 9.99983565e-01 2.46966778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.36071405700005 meters Centerline goodness : 0.985200 with order 1 Centerline is valid? [True, True] Translation: X:462.65, Y:-23.22, Z:2.47 [[ 9.99921569e-01 1.11390978e-02 -5.72515033e-03 4.62650565e+02] [-1.11375353e-02 9.99937929e-01 3.04738127e-04 -2.32228675e+01] [ 5.72818947e-03 -2.40950162e-04 9.99983565e-01 2.47131054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.42071405700005 meters Centerline goodness : 0.982968 with order 1 Centerline is valid? [True, True] Translation: X:462.71, Y:-23.23, Z:2.47 [[ 9.99935171e-01 9.84260598e-03 -5.72518723e-03 4.62708627e+02] [-9.84102619e-03 9.99951530e-01 3.04043306e-04 -2.32284800e+01] [ 5.72790230e-03 -2.47681877e-04 9.99983565e-01 2.46805364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.48071405700006 meters Centerline goodness : 0.984027 with order 1 Centerline is valid? [True, True] Translation: X:462.77, Y:-23.23, Z:2.47 [[ 9.99966857e-01 5.78843404e-03 -5.72522005e-03 4.62766334e+02] [-5.78679147e-03 9.99983210e-01 3.03424037e-04 -2.32315889e+01] [ 5.72688027e-03 -2.70283326e-04 9.99983565e-01 2.46780752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.54071405700006 meters Centerline goodness : 0.985262 with order 1 Centerline is valid? [True, True] Translation: X:462.83, Y:-23.23, Z:2.47 [[ 9.99975583e-01 4.00684571e-03 -5.72524831e-03 4.62825367e+02] [-4.00517706e-03 9.99991933e-01 3.02889897e-04 -2.32338002e+01] [ 5.72641575e-03 -2.79951868e-04 9.99983565e-01 2.46977908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.60071405700006 meters Centerline goodness : 0.985231 with order 1 Centerline is valid? [True, True] Translation: X:462.88, Y:-23.23, Z:2.47 [[ 9.99982916e-01 -1.17880324e-03 -5.72527045e-03 4.62883666e+02] [ 1.18055426e-03 9.99999257e-01 3.02470687e-04 -2.32337288e+01] [ 5.72490965e-03 -3.09224512e-04 9.99983565e-01 2.47347112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.66071405700006 meters Centerline goodness : 0.984619 with order 1 Centerline is valid? [True, True] Translation: X:462.94, Y:-23.24, Z:2.48 [[ 9.99979088e-01 -3.00735923e-03 -5.72529760e-03 4.62942112e+02] [ 3.00913719e-03 9.99995427e-01 3.01955989e-04 -2.32354758e+01] [ 5.72436333e-03 -3.19177880e-04 9.99983565e-01 2.47714545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.72071405700007 meters Centerline goodness : 0.984773 with order 1 Centerline is valid? [True, True] Translation: X:463.00, Y:-23.24, Z:2.48 [[ 9.99983431e-01 5.98665707e-04 -5.72531887e-03 4.63001696e+02] [-5.96948981e-04 9.99999776e-01 3.01552197e-04 -2.32357898e+01] [ 5.72549811e-03 -2.98129477e-04 9.99983565e-01 2.48125854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.78071405700007 meters Centerline goodness : 0.985242 with order 1 Centerline is valid? [True, True] Translation: X:463.06, Y:-23.24, Z:2.48 [[ 9.99968400e-01 5.51530989e-03 -5.72532956e-03 4.63060706e+02] [-5.51367471e-03 9.99984754e-01 3.01349045e-04 -2.32389392e+01] [ 5.72690430e-03 -2.69771918e-04 9.99983565e-01 2.48238288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.84071405700007 meters Centerline goodness : 0.985218 with order 1 Centerline is valid? [True, True] Translation: X:463.12, Y:-23.24, Z:2.48 [[ 9.99920654e-01 1.12207670e-02 -5.72540980e-03 4.63119207e+02] [-1.12192339e-02 9.99937017e-01 2.99816736e-04 -2.32442295e+01] [ 5.72841337e-03 -2.35558235e-04 9.99983565e-01 2.48288908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.9007140570001 meters Centerline goodness : 0.985222 with order 1 Centerline is valid? [True, True] Translation: X:463.18, Y:-23.25, Z:2.48 [[ 9.99882215e-01 1.42399356e-02 -5.72548940e-03 4.63177144e+02] [-1.42384607e-02 9.99898583e-01 2.98288869e-04 -2.32492258e+01] [ 5.72915635e-03 -2.16731579e-04 9.99983565e-01 2.48418741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.9607140570001 meters Centerline goodness : 0.985058 with order 1 Centerline is valid? [True, True] Translation: X:463.23, Y:-23.25, Z:2.48 [[ 9.99868527e-01 1.51705820e-02 -5.72551724e-03 4.63234313e+02] [-1.51691253e-02 9.99884898e-01 2.97753562e-04 -2.32547302e+01] [ 5.72937531e-03 -2.10863328e-04 9.99983565e-01 2.48230074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.0207140570001 meters Centerline goodness : 0.986038 with order 1 Centerline is valid? [True, True] Translation: X:463.29, Y:-23.26, Z:2.48 [[ 9.99882946e-01 1.41884747e-02 -5.72554953e-03 4.63292788e+02] [-1.41870055e-02 9.99899315e-01 2.97131329e-04 -2.32640626e+01] [ 5.72918889e-03 -2.15868146e-04 9.99983565e-01 2.48247281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.0807140570001 meters Centerline goodness : 0.987782 with order 1 Centerline is valid? [True, True] Translation: X:463.35, Y:-23.28, Z:2.48 [[ 9.99931727e-01 1.01862539e-02 -5.72557041e-03 4.63350897e+02] [-1.01847216e-02 9.99948090e-01 2.96728477e-04 -2.32768051e+01] [ 5.72829575e-03 -2.38394878e-04 9.99983565e-01 2.48103789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.1407140570001 meters Centerline goodness : 0.989535 with order 1 Centerline is valid? [True, True] Translation: X:463.41, Y:-23.29, Z:2.48 [[ 9.99975361e-01 4.06152145e-03 -5.72559229e-03 4.63409505e+02] [-4.05989131e-03 9.99991715e-01 2.96305696e-04 -2.32872143e+01] [ 5.72674830e-03 -2.73053113e-04 9.99983565e-01 2.48205369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.2007140570001 meters Centerline goodness : 0.989017 with order 1 Centerline is valid? [True, True] Translation: X:463.47, Y:-23.30, Z:2.48 [[ 9.99983175e-01 9.30710064e-04 -5.72561386e-03 4.63468308e+02] [-9.29031110e-04 9.99999525e-01 2.95888212e-04 -2.32980691e+01] [ 5.72588652e-03 -2.90563961e-04 9.99983565e-01 2.47792448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.26071405700003 meters Centerline goodness : 0.988041 with order 1 Centerline is valid? [True, True] Translation: X:463.53, Y:-23.31, Z:2.47 [[ 9.99983608e-01 -8.30426899e-06 -5.72563535e-03 4.63526739e+02] [ 9.99619572e-06 9.99999956e-01 2.95471708e-04 -2.33055085e+01] [ 5.72563265e-03 -2.95524100e-04 9.99983565e-01 2.47476788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.32071405700003 meters Centerline goodness : 0.988239 with order 1 Centerline is valid? [True, True] Translation: X:463.59, Y:-23.32, Z:2.46 [[ 9.99978504e-01 3.19520855e-03 -5.72565759e-03 4.63586041e+02] [-3.19357147e-03 9.99994857e-01 2.95040215e-04 -2.33208259e+01] [ 5.72657086e-03 -2.76748576e-04 9.99983565e-01 2.46346204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.38071405700003 meters Centerline goodness : 0.986977 with order 1 Centerline is valid? [True, True] Translation: X:463.65, Y:-23.33, Z:2.46 [[ 9.99982489e-01 1.49614819e-03 -5.72567246e-03 4.63645128e+02] [-1.49448497e-03 9.99998840e-01 2.94751281e-04 -2.33270677e+01] [ 5.72610681e-03 -2.86189188e-04 9.99983565e-01 2.46409033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.44071405700004 meters Centerline goodness : 0.988218 with order 1 Centerline is valid? [True, True] Translation: X:463.70, Y:-23.33, Z:2.47 [[ 9.99976631e-01 -3.73559390e-03 -5.72568862e-03 4.63704954e+02] [ 3.73734084e-03 9.99992973e-01 2.94437061e-04 -2.33300656e+01] [ 5.72454849e-03 -3.15829030e-04 9.99983565e-01 2.46896429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.50071405700004 meters Centerline goodness : 0.988827 with order 1 Centerline is valid? [True, True] Translation: X:463.77, Y:-23.33, Z:2.48 [[ 9.99910953e-01 -1.20541351e-02 -5.72569933e-03 4.63765352e+02] [ 1.20560168e-02 9.99927280e-01 2.94228726e-04 -2.33287158e+01] [ 5.72173628e-03 -3.63231653e-04 9.99983565e-01 2.48110265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.56071405700004 meters Centerline goodness : 0.989016 with order 1 Centerline is valid? [True, True] Translation: X:463.83, Y:-23.33, Z:2.48 [[ 9.99892780e-01 -1.34775340e-02 -5.72569933e-03 4.63827293e+02] [ 1.34794389e-02 9.99909105e-01 2.94228726e-04 -2.33315443e+01] [ 5.72121341e-03 -3.71376393e-04 9.99983565e-01 2.48391538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.62071405700004 meters Centerline goodness : 0.988957 with order 1 Centerline is valid? [True, True] Translation: X:463.89, Y:-23.33, Z:2.49 [[ 9.99855064e-01 -1.60333216e-02 -5.72567826e-03 4.63889905e+02] [ 1.60352705e-02 9.99871383e-01 2.94638151e-04 -2.33333420e+01] [ 5.72021781e-03 -3.86408247e-04 9.99983565e-01 2.48737165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.68071405700005 meters Centerline goodness : 0.988508 with order 1 Centerline is valid? [True, True] Translation: X:463.95, Y:-23.34, Z:2.49 [[ 9.99823261e-01 -1.79070993e-02 -5.72565183e-03 4.63951373e+02] [ 1.79090817e-02 9.99839576e-01 2.95150777e-04 -2.33366626e+01] [ 5.71944801e-03 -3.97639779e-04 9.99983565e-01 2.48522701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.74071405700005 meters Centerline goodness : 0.988555 with order 1 Centerline is valid? [True, True] Translation: X:464.01, Y:-23.34, Z:2.49 [[ 9.99737100e-01 -2.22024470e-02 -5.72563616e-03 4.64012490e+02] [ 2.22045012e-02 9.99753406e-01 2.95454514e-04 -2.33376812e+01] [ 5.71766444e-03 -4.22511734e-04 9.99983565e-01 2.48750072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.80071405700005 meters Centerline goodness : 0.988268 with order 1 Centerline is valid? [True, True] Translation: X:464.07, Y:-23.34, Z:2.49 [[ 9.99705409e-01 -2.35862854e-02 -5.72562567e-03 4.64073675e+02] [ 2.35883634e-02 9.99721712e-01 2.95657732e-04 -2.33403133e+01] [ 5.71705883e-03 -4.30628772e-04 9.99983565e-01 2.48650549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.86071405700005 meters Centerline goodness : 0.989177 with order 1 Centerline is valid? [True, True] Translation: X:464.14, Y:-23.34, Z:2.49 [[ 9.99731801e-01 -2.24397885e-02 -5.72561015e-03 4.64135729e+02] [ 2.24418495e-02 9.99748106e-01 2.95957941e-04 -2.33408573e+01] [ 5.71752667e-03 -4.24371847e-04 9.99983565e-01 2.49021001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.92071405700005 meters Centerline goodness : 0.989017 with order 1 Centerline is valid? [True, True] Translation: X:464.20, Y:-23.34, Z:2.49 [[ 9.99779147e-01 -2.02206756e-02 -5.72558921e-03 4.64197125e+02] [ 2.02227027e-02 9.99795456e-01 2.96362513e-04 -2.33404525e+01] [ 5.71842542e-03 -4.12083948e-04 9.99983565e-01 2.49151092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.98071405700006 meters Centerline goodness : 0.989364 with order 1 Centerline is valid? [True, True] Translation: X:464.26, Y:-23.34, Z:2.49 [[ 9.99822586e-01 -1.79447739e-02 -5.72555810e-03 4.64259654e+02] [ 1.79467673e-02 9.99838900e-01 2.96962336e-04 -2.33418871e+01] [ 5.71930679e-03 -3.99664909e-04 9.99983565e-01 2.49188005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.04071405700006 meters Centerline goodness : 0.988787 with order 1 Centerline is valid? [True, True] Translation: X:464.32, Y:-23.34, Z:2.49 [[ 9.99871354e-01 -1.49830926e-02 -5.72553716e-03 4.64321917e+02] [ 1.49850399e-02 9.99887674e-01 2.97365482e-04 -2.33437004e+01] [ 5.72043858e-03 -3.83124630e-04 9.99983565e-01 2.49031614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.10071405700006 meters Centerline goodness : 0.989173 with order 1 Centerline is valid? [True, True] Translation: X:464.38, Y:-23.34, Z:2.49 [[ 9.99882829e-01 -1.41967208e-02 -5.72551575e-03 4.64384448e+02] [ 1.41986577e-02 9.99899150e-01 2.97777099e-04 -2.33417158e+01] [ 5.72071087e-03 -3.79036847e-04 9.99983565e-01 2.49184073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.16071405700006 meters Centerline goodness : 0.988700 with order 1 Centerline is valid? [True, True] Translation: X:464.45, Y:-23.34, Z:2.49 [[ 9.99903018e-01 -1.26953882e-02 -5.72549389e-03 4.64446201e+02] [ 1.26973029e-02 9.99919342e-01 2.98196783e-04 -2.33414657e+01] [ 5.72124636e-03 -3.70866193e-04 9.99983565e-01 2.49112340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.22071405700007 meters Centerline goodness : 0.988727 with order 1 Centerline is valid? [True, True] Translation: X:464.51, Y:-23.34, Z:2.49 [[ 9.99935492e-01 -9.80973890e-03 -5.72547771e-03 4.64508785e+02] [ 9.81160830e-03 9.99951820e-01 2.98507090e-04 -2.33414565e+01] [ 5.72227359e-03 -3.54663978e-04 9.99983565e-01 2.49240962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.28071405700007 meters Centerline goodness : 0.990076 with order 1 Centerline is valid? [True, True] Translation: X:464.57, Y:-23.33, Z:2.48 [[ 9.99954363e-01 -7.64794279e-03 -5.72545619e-03 4.64569955e+02] [ 7.64977923e-03 9.99970695e-01 2.98919269e-04 -2.33333750e+01] [ 5.72300229e-03 -3.42704103e-04 9.99983565e-01 2.47754666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.34071405700007 meters Centerline goodness : 0.987367 with order 1 Centerline is valid? [True, True] Translation: X:464.63, Y:-23.34, Z:2.49 [[ 9.99976237e-01 3.83977830e-03 -5.72545000e-03 4.64629719e+02] [-3.83812893e-03 9.99992590e-01 2.99037805e-04 -2.33427832e+01] [ 5.72655582e-03 -2.77055684e-04 9.99983565e-01 2.48892115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.4007140570001 meters Centerline goodness : 0.987598 with order 1 Centerline is valid? [True, True] Translation: X:464.69, Y:-23.34, Z:2.49 [[ 9.99974661e-01 4.23034238e-03 -5.72545000e-03 4.64688693e+02] [-4.22869939e-03 9.99991014e-01 2.99037805e-04 -2.33427195e+01] [ 5.72666359e-03 -2.74819021e-04 9.99983565e-01 2.49273920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.4607140570001 meters Centerline goodness : 0.988054 with order 1 Centerline is valid? [True, True] Translation: X:464.75, Y:-23.35, Z:2.49 [[ 9.99974737e-01 4.21248055e-03 -5.72547074e-03 4.64747038e+02] [-4.21083954e-03 9.99991090e-01 2.98640263e-04 -2.33475317e+01] [ 5.72667774e-03 -2.74523680e-04 9.99983565e-01 2.48714956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.5207140570001 meters Centerline goodness : 0.987166 with order 1 Centerline is valid? [True, True] Translation: X:464.81, Y:-23.35, Z:2.49 [[ 9.99983505e-01 -4.55562933e-04 -5.72549196e-03 4.64805092e+02] [ 4.57277937e-04 9.99999851e-01 2.98232827e-04 -2.33507446e+01] [ 5.72535525e-03 -3.00846049e-04 9.99983565e-01 2.48607239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.5807140570001 meters Centerline goodness : 0.987727 with order 1 Centerline is valid? [True, True] Translation: X:464.86, Y:-23.35, Z:2.48 [[ 9.99967488e-01 -5.67821449e-03 -5.72551803e-03 4.64863882e+02] [ 5.68001198e-03 9.99983824e-01 2.97731458e-04 -2.33535206e+01] [ 5.72373484e-03 -3.30242789e-04 9.99983565e-01 2.48359092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.6407140570001 meters Centerline goodness : 0.988243 with order 1 Centerline is valid? [True, True] Translation: X:464.92, Y:-23.36, Z:2.49 [[ 9.99942168e-01 -9.10377489e-03 -5.72553857e-03 4.64924234e+02] [ 9.10562608e-03 9.99958499e-01 2.97336047e-04 -2.33555268e+01] [ 5.72259407e-03 -3.49453465e-04 9.99983565e-01 2.48516451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.7007140570001 meters Centerline goodness : 0.988243 with order 1 Centerline is valid? [True, True] Translation: X:464.99, Y:-23.35, Z:2.49 [[ 9.99907508e-01 -1.23367182e-02 -5.72553857e-03 4.64986143e+02] [ 1.23386222e-02 9.99923832e-01 2.97336047e-04 -2.33538363e+01] [ 5.72143431e-03 -3.67953803e-04 9.99983565e-01 2.48824024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.76071405700003 meters Centerline goodness : 0.988920 with order 1 Centerline is valid? [True, True] Translation: X:465.05, Y:-23.36, Z:2.49 [[ 9.99856115e-01 -1.59677084e-02 -5.72552739e-03 4.65047395e+02] [ 1.59696729e-02 9.99872432e-01 2.97551198e-04 -2.33555261e+01] [ 5.72004578e-03 -3.88943184e-04 9.99983565e-01 2.48732064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.82071405700003 meters Centerline goodness : 0.988785 with order 1 Centerline is valid? [True, True] Translation: X:465.11, Y:-23.36, Z:2.49 [[ 9.99794838e-01 -1.94294025e-02 -5.72548325e-03 4.65109845e+02] [ 1.94314283e-02 9.99811147e-01 2.98398123e-04 -2.33561706e+01] [ 5.71860428e-03 -4.09591220e-04 9.99983565e-01 2.49135308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.88071405700003 meters Centerline goodness : 0.988597 with order 1 Centerline is valid? [True, True] Translation: X:465.17, Y:-23.36, Z:2.49 [[ 9.99745751e-01 -2.18094785e-02 -5.72546058e-03 4.65172108e+02] [ 2.18115456e-02 9.99762055e-01 2.98832446e-04 -2.33577772e+01] [ 5.71758086e-03 -4.23637612e-04 9.99983565e-01 2.49280287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.94071405700004 meters Centerline goodness : 0.988413 with order 1 Centerline is valid? [True, True] Translation: X:465.23, Y:-23.36, Z:2.50 [[ 9.99606484e-01 -2.74608034e-02 -5.72543792e-03 4.65234742e+02] [ 2.74629651e-02 9.99622777e-01 2.99265896e-04 -2.33587593e+01] [ 5.71506007e-03 -4.56385632e-04 9.99983565e-01 2.49654384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.00071405700004 meters Centerline goodness : 0.988708 with order 1 Centerline is valid? [True, True] Translation: X:465.30, Y:-23.36, Z:2.50 [[ 9.99525820e-01 -3.02548441e-02 -5.72539488e-03 4.65296833e+02] [ 3.02570560e-02 9.99542105e-01 3.00087089e-04 -2.33605276e+01] [ 5.71369417e-03 -4.73178387e-04 9.99983565e-01 2.49613646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.06071405700004 meters Centerline goodness : 0.987982 with order 1 Centerline is valid? [True, True] Translation: X:465.36, Y:-23.36, Z:2.50 [[ 9.99489285e-01 -3.14386575e-02 -5.72537211e-03 4.65358590e+02] [ 3.14408911e-02 9.99505568e-01 3.00520969e-04 -2.33607041e+01] [ 5.71309332e-03 -4.80378290e-04 9.99983565e-01 2.49616135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.12071405700004 meters Centerline goodness : 0.987996 with order 1 Centerline is valid? [True, True] Translation: X:465.42, Y:-23.36, Z:2.50 [[ 9.99589140e-01 -2.80850859e-02 -5.72531593e-03 4.65420946e+02] [ 2.80872710e-02 9.99605429e-01 3.01587425e-04 -2.33631739e+01] [ 5.71458678e-03 -4.62272015e-04 9.99983565e-01 2.49524953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.18071405700005 meters Centerline goodness : 0.987133 with order 1 Centerline is valid? [True, True] Translation: X:465.48, Y:-23.36, Z:2.49 [[ 9.99720824e-01 -2.29236737e-02 -5.72529405e-03 4.65482449e+02] [ 2.29257770e-02 9.99737124e-01 3.02002270e-04 -2.33625421e+01] [ 5.71686600e-03 -4.33174772e-04 9.99983565e-01 2.49346211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.24071405700005 meters Centerline goodness : 0.987635 with order 1 Centerline is valid? [True, True] Translation: X:465.54, Y:-23.36, Z:2.49 [[ 9.99853617e-01 -1.61234601e-02 -5.72527800e-03 4.65544813e+02] [ 1.61254542e-02 9.99869931e-01 3.02306272e-04 -2.33640973e+01] [ 5.71965909e-03 -3.94584728e-04 9.99983565e-01 2.49326802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.30071405700005 meters Centerline goodness : 0.987104 with order 1 Centerline is valid? [True, True] Translation: X:465.61, Y:-23.37, Z:2.49 [[ 9.99948255e-01 -8.40883499e-03 -5.72525646e-03 4.65606713e+02] [ 8.41070550e-03 9.99964584e-01 3.02713569e-04 -2.33669831e+01] [ 5.72250822e-03 -3.50851351e-04 9.99983565e-01 2.49142476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.36071405700005 meters Centerline goodness : 0.985687 with order 1 Centerline is valid? [True, True] Translation: X:465.67, Y:-23.37, Z:2.48 [[ 9.99981218e-01 2.18768594e-03 -5.72523523e-03 4.65667196e+02] [-2.18598626e-03 9.99997565e-01 3.03114536e-04 -2.33730540e+01] [ 5.72588441e-03 -2.90593558e-04 9.99983565e-01 2.48303971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.42071405700005 meters Centerline goodness : 0.985725 with order 1 Centerline is valid? [True, True] Translation: X:465.73, Y:-23.38, Z:2.49 [[ 9.99957560e-01 7.21799029e-03 -5.72523523e-03 4.65725685e+02] [-7.21637287e-03 9.99973916e-01 3.03114536e-04 -2.33753064e+01] [ 5.72727377e-03 -2.61786240e-04 9.99983565e-01 2.48516025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.48071405700006 meters Centerline goodness : 0.985523 with order 1 Centerline is valid? [True, True] Translation: X:465.78, Y:-23.38, Z:2.49 [[ 9.99912618e-01 1.19153765e-02 -5.72531123e-03 4.65782162e+02] [-1.19138442e-02 9.99928982e-01 3.01672140e-04 -2.33793675e+01] [ 5.72849917e-03 -2.33435313e-04 9.99983565e-01 2.48623658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.54071405700006 meters Centerline goodness : 0.984404 with order 1 Centerline is valid? [True, True] Translation: X:465.84, Y:-23.38, Z:2.49 [[ 9.99879513e-01 1.44284677e-02 -5.72534845e-03 4.65841184e+02] [-1.44269806e-02 9.99895880e-01 3.00964171e-04 -2.33840107e+01] [ 5.72909478e-03 -2.18328417e-04 9.99983565e-01 2.48646086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.60071405700006 meters Centerline goodness : 0.986648 with order 1 Centerline is valid? [True, True] Translation: X:465.90, Y:-23.38, Z:2.49 [[ 9.99943761e-01 8.92721345e-03 -5.72537018e-03 4.65900018e+02] [-8.92563864e-03 9.99960121e-01 3.00550207e-04 -2.33819298e+01] [ 5.72782493e-03 -2.49430719e-04 9.99983565e-01 2.48960338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.66071405700006 meters Centerline goodness : 0.986160 with order 1 Centerline is valid? [True, True] Translation: X:465.96, Y:-23.38, Z:2.49 [[ 9.99974795e-01 4.19883995e-03 -5.72538790e-03 4.65958882e+02] [-4.19718973e-03 9.99991147e-01 3.00212203e-04 -2.33827262e+01] [ 5.72659776e-03 -2.76174097e-04 9.99983565e-01 2.49007626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.72071405700007 meters Centerline goodness : 0.984365 with order 1 Centerline is valid? [True, True] Translation: X:466.02, Y:-23.40, Z:2.49 [[ 9.99943486e-01 8.95791835e-03 -5.72540635e-03 4.66015605e+02] [-8.95634799e-03 9.99959846e-01 2.99860068e-04 -2.33985961e+01] [ 5.72786257e-03 -2.48564390e-04 9.99983565e-01 2.48753437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.78071405700007 meters Centerline goodness : 0.984317 with order 1 Centerline is valid? [True, True] Translation: X:466.07, Y:-23.40, Z:2.49 [[ 9.99971774e-01 4.86533226e-03 -5.72543704e-03 4.66074137e+02] [-4.86369831e-03 9.99988127e-01 2.99272749e-04 -2.34041441e+01] [ 5.72682513e-03 -2.71417503e-04 9.99983565e-01 2.48869923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.84071405700007 meters Centerline goodness : 0.985648 with order 1 Centerline is valid? [True, True] Translation: X:466.13, Y:-23.41, Z:2.49 [[ 9.99983448e-01 -5.68177521e-04 -5.72545810e-03 4.66133157e+02] [ 5.69898000e-04 9.99999793e-01 2.98869363e-04 -2.34073358e+01] [ 5.72528711e-03 -3.02127343e-04 9.99983565e-01 2.49283678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.9007140570001 meters Centerline goodness : 0.985747 with order 1 Centerline is valid? [True, True] Translation: X:466.19, Y:-23.41, Z:2.49 [[ 9.99966296e-01 -5.88431821e-03 -5.72547900e-03 4.66191776e+02] [ 5.88612327e-03 9.99982632e-01 2.98468466e-04 -2.34127076e+01] [ 5.72362328e-03 -3.32159282e-04 9.99983565e-01 2.49450199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.9607140570001 meters Centerline goodness : 0.985270 with order 1 Centerline is valid? [True, True] Translation: X:466.25, Y:-23.42, Z:2.49 [[ 9.99902992e-01 -1.26974343e-02 -5.72550000e-03 4.66251602e+02] [ 1.26993483e-02 9.99919316e-01 2.98065037e-04 -2.34191090e+01] [ 5.72125338e-03 -3.70746241e-04 9.99983565e-01 2.49381926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.0207140570001 meters Centerline goodness : 0.986352 with order 1 Centerline is valid? [True, True] Translation: X:466.31, Y:-23.42, Z:2.49 [[ 9.99870481e-01 -1.50412718e-02 -5.72550000e-03 4.66312839e+02] [ 1.50432241e-02 9.99886800e-01 2.98065037e-04 -2.34231300e+01] [ 5.72036860e-03 -3.84156411e-04 9.99983565e-01 2.49275977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.0807140570001 meters Centerline goodness : 0.986242 with order 1 Centerline is valid? [True, True] Translation: X:466.37, Y:-23.43, Z:2.49 [[ 9.99811157e-01 -1.85706547e-02 -5.72548375e-03 4.66374441e+02] [ 1.85726663e-02 9.99827469e-01 2.98376934e-04 -2.34266302e+01] [ 5.71895487e-03 -4.04658087e-04 9.99983565e-01 2.49367997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.1407140570001 meters Centerline goodness : 0.986293 with order 1 Centerline is valid? [True, True] Translation: X:466.44, Y:-23.43, Z:2.49 [[ 9.99676027e-01 -2.48003973e-02 -5.72546776e-03 4.66435645e+02] [ 2.48025123e-02 9.99692326e-01 2.98683434e-04 -2.34298039e+01] [ 5.71629871e-03 -4.40592653e-04 9.99983565e-01 2.49186973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.2007140570001 meters Centerline goodness : 0.985797 with order 1 Centerline is valid? [True, True] Translation: X:466.50, Y:-23.43, Z:2.49 [[ 9.99718102e-01 -2.30420423e-02 -5.72545699e-03 4.66496805e+02] [ 2.30441298e-02 9.99734404e-01 2.98889635e-04 -2.34322267e+01] [ 5.71704931e-03 -4.30743553e-04 9.99983565e-01 2.49406707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.26071405700003 meters Centerline goodness : 0.986502 with order 1 Centerline is valid? [True, True] Translation: X:466.56, Y:-23.43, Z:2.50 [[ 9.99723413e-01 -2.28104425e-02 -5.72545169e-03 4.66558180e+02] [ 2.28125268e-02 9.99739716e-01 2.98991246e-04 -2.34315070e+01] [ 5.71714132e-03 -4.29520569e-04 9.99983565e-01 2.49745542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.32071405700003 meters Centerline goodness : 0.985485 with order 1 Centerline is valid? [True, True] Translation: X:466.62, Y:-23.44, Z:2.49 [[ 9.99844070e-01 -1.67049502e-02 -5.72541301e-03 4.66620634e+02] [ 1.67069391e-02 9.99860384e-01 2.99730160e-04 -2.34368230e+01] [ 5.71960667e-03 -3.95337549e-04 9.99983565e-01 2.48848153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.38071405700003 meters Centerline goodness : 0.989315 with order 1 Centerline is valid? [True, True] Translation: X:466.68, Y:-23.42, Z:2.50 [[ 9.99522616e-01 -3.03604877e-02 -5.72539243e-03 4.66683397e+02] [ 3.03627015e-02 9.99538902e-01 3.00122736e-04 -2.34231490e+01] [ 5.71364059e-03 -4.73817844e-04 9.99983565e-01 2.49931508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.44071405700004 meters Centerline goodness : 0.985376 with order 1 Centerline is valid? [True, True] Translation: X:466.75, Y:-23.44, Z:2.49 [[ 9.99750031e-01 -2.16124019e-02 -5.72532140e-03 4.66745120e+02] [ 2.16144808e-02 9.99766334e-01 3.01471667e-04 -2.34388205e+01] [ 5.71746806e-03 -4.25146158e-04 9.99983565e-01 2.48945005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.50071405700004 meters Centerline goodness : 0.985074 with order 1 Centerline is valid? [True, True] Translation: X:466.81, Y:-23.44, Z:2.49 [[ 9.99720661e-01 -2.29307644e-02 -5.72529978e-03 4.66807906e+02] [ 2.29328671e-02 9.99736962e-01 3.01881752e-04 -2.34418698e+01] [ 5.71687142e-03 -4.33094964e-04 9.99983565e-01 2.48896997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.56071405700004 meters Centerline goodness : 0.986331 with order 1 Centerline is valid? [True, True] Translation: X:466.87, Y:-23.44, Z:2.49 [[ 9.99585326e-01 -2.82205175e-02 -5.72526602e-03 4.66870054e+02] [ 2.82227101e-02 9.99601614e-01 3.02520584e-04 -2.34410863e+01] [ 5.71444787e-03 -4.63977660e-04 9.99983565e-01 2.48946279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.62071405700004 meters Centerline goodness : 0.986558 with order 1 Centerline is valid? [True, True] Translation: X:466.93, Y:-23.44, Z:2.49 [[ 9.99547969e-01 -2.95140519e-02 -5.72521050e-03 4.66933565e+02] [ 2.95162715e-02 9.99564254e-01 3.03567650e-04 -2.34430645e+01] [ 5.71375625e-03 -4.72417296e-04 9.99983565e-01 2.49007869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.68071405700005 meters Centerline goodness : 0.986572 with order 1 Centerline is valid? [True, True] Translation: X:467.00, Y:-23.44, Z:2.50 [[ 9.99455254e-01 -3.25025757e-02 -5.72517774e-03 4.66995449e+02] [ 3.25048475e-02 9.99471532e-01 3.04184303e-04 -2.34425357e+01] [ 5.71226539e-03 -4.90114629e-04 9.99983565e-01 2.49610315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.74071405700005 meters Centerline goodness : 0.986917 with order 1 Centerline is valid? [True, True] Translation: X:467.06, Y:-23.45, Z:2.50 [[ 9.99436754e-01 -3.30665483e-02 -5.72515590e-03 4.67058648e+02] [ 3.30688317e-02 9.99453030e-01 3.04594812e-04 -2.34452867e+01] [ 5.71195251e-03 -4.93747467e-04 9.99983565e-01 2.49686199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.80071405700005 meters Centerline goodness : 0.987017 with order 1 Centerline is valid? [True, True] Translation: X:467.12, Y:-23.45, Z:2.50 [[ 9.99432797e-01 -3.31859630e-02 -5.72512284e-03 4.67120696e+02] [ 3.31882518e-02 9.99449072e-01 3.05214860e-04 -2.34484736e+01] [ 5.71183986e-03 -4.95048560e-04 9.99983565e-01 2.49972476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.86071405700005 meters Centerline goodness : 0.986948 with order 1 Centerline is valid? [True, True] Translation: X:467.18, Y:-23.45, Z:2.50 [[ 9.99411731e-01 -3.38144267e-02 -5.72510118e-03 4.67183069e+02] [ 3.38167280e-02 9.99428004e-01 3.05620704e-04 -2.34539937e+01] [ 5.71149205e-03 -4.99045106e-04 9.99983565e-01 2.50030445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.92071405700005 meters Centerline goodness : 0.986479 with order 1 Centerline is valid? [True, True] Translation: X:467.25, Y:-23.46, Z:2.50 [[ 9.99362005e-01 -3.52534656e-02 -5.72507941e-03 4.67246377e+02] [ 3.52557926e-02 9.99378274e-01 3.06027818e-04 -2.34599465e+01] [ 5.71073145e-03 -5.07674786e-04 9.99983565e-01 2.49829177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.98071405700006 meters Centerline goodness : 0.986656 with order 1 Centerline is valid? [True, True] Translation: X:467.31, Y:-23.47, Z:2.49 [[ 9.99381733e-01 -3.46897060e-02 -5.72504635e-03 4.67308095e+02] [ 3.46920274e-02 9.99398003e-01 3.06645045e-04 -2.34675264e+01] [ 5.71096247e-03 -5.05068921e-04 9.99983565e-01 2.49296947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.04071405700006 meters Centerline goodness : 0.986686 with order 1 Centerline is valid? [True, True] Translation: X:467.37, Y:-23.47, Z:2.49 [[ 9.99419873e-01 -3.35729313e-02 -5.72499191e-03 4.67371457e+02] [ 3.35752402e-02 9.99436145e-01 3.07658100e-04 -2.34718686e+01] [ 5.71143487e-03 -4.99697599e-04 9.99983565e-01 2.49229077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.10071405700006 meters Centerline goodness : 0.986692 with order 1 Centerline is valid? [True, True] Translation: X:467.43, Y:-23.48, Z:2.49 [[ 9.99564806e-01 -2.89382782e-02 -5.72495958e-03 4.67434207e+02] [ 2.89405152e-02 9.99581088e-01 3.08258580e-04 -2.34769271e+01] [ 5.71364085e-03 -4.73807707e-04 9.99983565e-01 2.49087788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.16071405700006 meters Centerline goodness : 0.986189 with order 1 Centerline is valid? [True, True] Translation: X:467.49, Y:-23.48, Z:2.49 [[ 9.99668879e-01 -2.50869825e-02 -5.72492573e-03 4.67494824e+02] [ 2.50891603e-02 9.99685170e-01 3.08886057e-04 -2.34824028e+01] [ 5.71537433e-03 -4.52417358e-04 9.99983565e-01 2.49001936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.22071405700007 meters Centerline goodness : 0.984549 with order 1 Centerline is valid? [True, True] Translation: X:467.56, Y:-23.49, Z:2.49 [[ 9.99773086e-01 -2.05183381e-02 -5.72490916e-03 4.67556776e+02] [ 2.05204431e-02 9.99789386e-01 3.09192816e-04 -2.34880305e+01] [ 5.71735929e-03 -4.26600329e-04 9.99983565e-01 2.48887443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.28071405700007 meters Centerline goodness : 0.984950 with order 1 Centerline is valid? [True, True] Translation: X:467.62, Y:-23.49, Z:2.49 [[ 9.99844293e-01 -1.66917849e-02 -5.72488854e-03 4.67618573e+02] [ 1.66938297e-02 9.99860600e-01 3.09574178e-04 -2.34933585e+01] [ 5.71892314e-03 -4.05096289e-04 9.99983565e-01 2.48616249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.34071405700007 meters Centerline goodness : 0.984364 with order 1 Centerline is valid? [True, True] Translation: X:467.68, Y:-23.50, Z:2.49 [[ 9.99855970e-01 -1.59769926e-02 -5.72486635e-03 4.67680626e+02] [ 1.59790280e-02 9.99872279e-01 3.09983889e-04 -2.34956891e+01] [ 5.71918256e-03 -4.01417042e-04 9.99983565e-01 2.48664508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.4007140570001 meters Centerline goodness : 0.977302 with order 1 Centerline is valid? [True, True] Translation: X:467.74, Y:-23.48, Z:2.49 [[ 9.99620317e-01 -2.69526913e-02 -5.72484460e-03 4.67743158e+02] [ 2.69549080e-02 9.99636602e-01 3.10384994e-04 -2.34844000e+01] [ 5.71439850e-03 -4.64579805e-04 9.99983565e-01 2.49115041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.4607140570001 meters Centerline goodness : 0.986718 with order 1 Centerline is valid? [True, True] Translation: X:467.80, Y:-23.49, Z:2.49 [[ 9.99694201e-01 -2.40568153e-02 -5.72480754e-03 4.67804974e+02] [ 2.40589887e-02 9.99710492e-01 3.11067081e-04 -2.34907686e+01] [ 5.71566688e-03 -4.48705037e-04 9.99983565e-01 2.48932086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.5207140570001 meters Centerline goodness : 0.979056 with order 1 Centerline is valid? [True, True] Translation: X:467.87, Y:-23.49, Z:2.49 [[ 9.99711291e-01 -2.33358595e-02 -5.72477716e-03 4.67867017e+02] [ 2.33380243e-02 9.99727583e-01 3.11625268e-04 -2.34872020e+01] [ 5.71594559e-03 -4.45140288e-04 9.99983565e-01 2.48971695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.5807140570001 meters Centerline goodness : 0.984006 with order 1 Centerline is valid? [True, True] Translation: X:467.93, Y:-23.50, Z:2.49 [[ 9.99955223e-01 -7.53517658e-03 -5.72473587e-03 4.67927525e+02] [ 7.53708797e-03 9.99971547e-01 3.12381899e-04 -2.35034759e+01] [ 5.72221913e-03 -3.55515750e-04 9.99983565e-01 2.49005596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.6407140570001 meters Centerline goodness : 0.977509 with order 1 Centerline is valid? [True, True] Translation: X:467.99, Y:-23.49, Z:2.50 [[ 9.99904581e-01 -1.25720369e-02 -5.72468578e-03 4.67988575e+02] [ 1.25740357e-02 9.99920895e-01 3.13297192e-04 -2.34878184e+01] [ 5.72029414e-03 -3.85249701e-04 9.99983565e-01 2.49624758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.7007140570001 meters Centerline goodness : 0.975606 with order 1 Centerline is valid? [True, True] Translation: X:468.05, Y:-23.49, Z:2.50 [[ 9.99952724e-01 -7.85986141e-03 -5.72468948e-03 4.68049617e+02] [ 7.86178294e-03 9.99969047e-01 3.13229461e-04 -2.34902750e+01] [ 5.72205035e-03 -3.58220919e-04 9.99983565e-01 2.49831347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.76071405700003 meters Centerline goodness : 0.984345 with order 1 Centerline is valid? [True, True] Translation: X:468.11, Y:-23.50, Z:2.49 [[ 9.99975635e-01 -3.99479625e-03 -5.72463012e-03 4.68110937e+02] [ 3.99666084e-03 9.99991964e-01 3.14310626e-04 -2.34987090e+01] [ 5.72332851e-03 -3.37182373e-04 9.99983565e-01 2.49222231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.82071405700003 meters Centerline goodness : 0.987111 with order 1 Centerline is valid? [True, True] Translation: X:468.17, Y:-23.50, Z:2.49 [[ 9.99969746e-01 -5.26651166e-03 -5.72461408e-03 4.68170751e+02] [ 5.26839868e-03 9.99986072e-01 3.14602515e-04 -2.35047644e+01] [ 5.72287749e-03 -3.44752546e-04 9.99983565e-01 2.48613483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.88071405700003 meters Centerline goodness : 0.984105 with order 1 Centerline is valid? [True, True] Translation: X:468.23, Y:-23.52, Z:2.48 [[ 9.99980676e-01 2.42407751e-03 -5.72462746e-03 4.68230265e+02] [-2.42231750e-03 9.99997017e-01 3.14358900e-04 -2.35190293e+01] [ 5.72537241e-03 -3.00485960e-04 9.99983565e-01 2.47979907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.94071405700004 meters Centerline goodness : 0.984109 with order 1 Centerline is valid? [True, True] Translation: X:468.29, Y:-23.52, Z:2.48 [[ 9.99980329e-01 2.56328265e-03 -5.72463390e-03 4.68289130e+02] [-2.56152558e-03 9.99996670e-01 3.14241505e-04 -2.35202072e+01] [ 5.72542033e-03 -2.99571527e-04 9.99983565e-01 2.48017741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.00071405700004 meters Centerline goodness : 0.984135 with order 1 Centerline is valid? [True, True] Translation: X:468.35, Y:-23.52, Z:2.48 [[ 9.99957385e-01 7.24268683e-03 -5.72465595e-03 4.68347764e+02] [-7.24100855e-03 9.99973734e-01 3.13839424e-04 -2.35212588e+01] [ 5.72677863e-03 -2.72373767e-04 9.99983565e-01 2.47877923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.06071405700004 meters Centerline goodness : 0.984489 with order 1 Centerline is valid? [True, True] Translation: X:468.41, Y:-23.52, Z:2.48 [[ 9.99956416e-01 7.37515968e-03 -5.72473208e-03 4.68406627e+02] [-7.37349153e-03 9.99972767e-01 3.12444471e-04 -2.35204771e+01] [ 5.72688051e-03 -2.70219590e-04 9.99983565e-01 2.48037277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.12071405700004 meters Centerline goodness : 0.980079 with order 1 Centerline is valid? [True, True] Translation: X:468.47, Y:-23.50, Z:2.49 [[ 9.99932546e-01 -1.01060156e-02 -5.72475446e-03 4.68466604e+02] [ 1.01079669e-02 9.99948865e-01 3.12033911e-04 -2.35036645e+01] [ 5.72130830e-03 -3.69878492e-04 9.99983565e-01 2.48797188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.18071405700005 meters Centerline goodness : 0.983945 with order 1 Centerline is valid? [True, True] Translation: X:468.53, Y:-23.53, Z:2.48 [[ 9.99976182e-01 3.85510066e-03 -5.72477992e-03 4.68526138e+02] [-3.85337999e-03 9.99992527e-01 3.11566027e-04 -2.35279677e+01] [ 5.72593826e-03 -2.89498853e-04 9.99983565e-01 2.48018555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.24071405700005 meters Centerline goodness : 0.983091 with order 1 Centerline is valid? [True, True] Translation: X:468.59, Y:-23.53, Z:2.48 [[ 9.99983613e-01 -1.56098961e-05 -5.72477143e-03 4.68585804e+02] [ 1.73947180e-05 9.99999951e-01 3.11722088e-04 -2.35275488e+01] [ 5.72476628e-03 -3.11816561e-04 9.99983565e-01 2.48224971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.30071405700005 meters Centerline goodness : 0.984493 with order 1 Centerline is valid? [True, True] Translation: X:468.64, Y:-23.53, Z:2.48 [[ 9.99982412e-01 -1.54976424e-03 -5.72478266e-03 4.68643689e+02] [ 1.55157295e-03 9.99998748e-01 3.11515706e-04 -2.35293377e+01] [ 5.72429271e-03 -3.20392645e-04 9.99983565e-01 2.48144393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.36071405700005 meters Centerline goodness : 0.983775 with order 1 Centerline is valid? [True, True] Translation: X:468.70, Y:-23.53, Z:2.48 [[ 9.99983453e-01 5.65240013e-04 -5.72481030e-03 4.68702382e+02] [-5.63468764e-04 9.99999793e-01 3.11006910e-04 -2.35310941e+01] [ 5.72498490e-03 -3.07776013e-04 9.99983565e-01 2.48352748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.42071405700005 meters Centerline goodness : 0.983367 with order 1 Centerline is valid? [True, True] Translation: X:468.76, Y:-23.53, Z:2.48 [[ 9.99983446e-01 5.78341666e-04 -5.72482637e-03 4.68761078e+02] [-5.76572322e-04 9.99999786e-01 3.10710768e-04 -2.35322807e+01] [ 5.72500484e-03 -3.07404848e-04 9.99983565e-01 2.48314045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.48071405700006 meters Centerline goodness : 0.983676 with order 1 Centerline is valid? [True, True] Translation: X:468.82, Y:-23.53, Z:2.48 [[ 9.99983305e-01 -7.84239341e-04 -5.72484841e-03 4.68820336e+02] [ 7.86028627e-04 9.99999643e-01 3.10304101e-04 -2.35343014e+01] [ 5.72460302e-03 -3.14798815e-04 9.99983565e-01 2.48249510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.54071405700006 meters Centerline goodness : 0.984595 with order 1 Centerline is valid? [True, True] Translation: X:468.88, Y:-23.54, Z:2.48 [[ 9.99970350e-01 -5.15022420e-03 -5.72488307e-03 4.68878775e+02] [ 5.15208115e-03 9.99986680e-01 3.09663413e-04 -2.35350449e+01] [ 5.72321198e-03 -3.39149294e-04 9.99983565e-01 2.48270689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.60071405700006 meters Centerline goodness : 0.984264 with order 1 Centerline is valid? [True, True] Translation: X:468.94, Y:-23.54, Z:2.48 [[ 9.99942169e-01 -9.10404109e-03 -5.72490509e-03 4.68938435e+02] [ 9.10596026e-03 9.99958492e-01 3.09255677e-04 -2.35363450e+01] [ 5.72185199e-03 -3.61368551e-04 9.99983565e-01 2.48376959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.66071405700006 meters Centerline goodness : 0.984005 with order 1 Centerline is valid? [True, True] Translation: X:469.00, Y:-23.54, Z:2.48 [[ 9.99941312e-01 -9.19771426e-03 -5.72491052e-03 4.68999358e+02] [ 9.19963439e-03 9.99957635e-01 3.09155231e-04 -2.35396480e+01] [ 5.72182446e-03 -3.61804171e-04 9.99983565e-01 2.48219612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.72071405700007 meters Centerline goodness : 0.983500 with order 1 Centerline is valid? [True, True] Translation: X:469.06, Y:-23.54, Z:2.48 [[ 9.99933119e-01 -1.00490216e-02 -5.72489942e-03 4.69060144e+02] [ 1.00509568e-02 9.99949440e-01 3.09360520e-04 -2.35399968e+01] [ 5.72150120e-03 -3.66880547e-04 9.99983565e-01 2.48365142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.78071405700007 meters Centerline goodness : 0.984354 with order 1 Centerline is valid? [True, True] Translation: X:469.12, Y:-23.54, Z:2.48 [[ 9.99939175e-01 -9.42719722e-03 -5.72486113e-03 4.69122073e+02] [ 9.42912629e-03 9.99955497e-01 3.10067567e-04 -2.35404553e+01] [ 5.72168329e-03 -3.64029146e-04 9.99983565e-01 2.48311344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.84071405700007 meters Centerline goodness : 0.984462 with order 1 Centerline is valid? [True, True] Translation: X:469.18, Y:-23.54, Z:2.49 [[ 9.99936453e-01 -9.71159840e-03 -5.72484999e-03 4.69184703e+02] [ 9.71353329e-03 9.99952774e-01 3.10273179e-04 -2.35396813e+01] [ 5.72156638e-03 -3.65861983e-04 9.99983565e-01 2.48839560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.9007140570001 meters Centerline goodness : 0.983794 with order 1 Centerline is valid? [True, True] Translation: X:469.25, Y:-23.54, Z:2.49 [[ 9.99937962e-01 -9.55506821e-03 -5.72482893e-03 4.69246978e+02] [ 9.55700276e-03 9.99954283e-01 3.10661144e-04 -2.35414963e+01] [ 5.72159882e-03 -3.65354077e-04 9.99983565e-01 2.48726425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.9607140570001 meters Centerline goodness : 0.985036 with order 1 Centerline is valid? [True, True] Translation: X:469.31, Y:-23.54, Z:2.49 [[ 9.99923342e-01 -1.09789035e-02 -5.72480678e-03 4.69308226e+02] [ 1.09808636e-02 9.99939660e-01 3.11068793e-04 -2.35421663e+01] [ 5.72104615e-03 -3.73908269e-04 9.99983565e-01 2.48985997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.0207140570001 meters Centerline goodness : 0.985053 with order 1 Centerline is valid? [True, True] Translation: X:469.37, Y:-23.54, Z:2.49 [[ 9.99895740e-01 -1.32565397e-02 -5.72479043e-03 4.69369096e+02] [ 1.32585387e-02 9.99912053e-01 3.11369361e-04 -2.35448294e+01] [ 5.72015928e-03 -3.87239253e-04 9.99983565e-01 2.49063244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.0807140570001 meters Centerline goodness : 0.984783 with order 1 Centerline is valid? [True, True] Translation: X:469.43, Y:-23.55, Z:2.49 [[ 9.99887241e-01 -1.38827721e-02 -5.72477535e-03 4.69430931e+02] [ 1.38847828e-02 9.99903553e-01 3.11646473e-04 -2.35484298e+01] [ 5.71989670e-03 -3.91098595e-04 9.99983565e-01 2.49051992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.1407140570001 meters Centerline goodness : 0.984670 with order 1 Centerline is valid? [True, True] Translation: X:469.49, Y:-23.55, Z:2.49 [[ 9.99876649e-01 -1.46257729e-02 -5.72475290e-03 4.69492492e+02] [ 1.46277982e-02 9.99892959e-01 3.12058254e-04 -2.35536217e+01] [ 5.71957603e-03 -3.95760291e-04 9.99983565e-01 2.49101684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.2007140570001 meters Centerline goodness : 0.984773 with order 1 Centerline is valid? [True, True] Translation: X:469.55, Y:-23.56, Z:2.49 [[ 9.99817729e-01 -1.82136524e-02 -5.72473039e-03 4.69554805e+02] [ 1.82157385e-02 9.99834031e-01 3.12470774e-04 -2.35596129e+01] [ 5.71808902e-03 -4.16694011e-04 9.99983565e-01 2.49405802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.26071405700003 meters Centerline goodness : 0.985268 with order 1 Centerline is valid? [True, True] Translation: X:469.62, Y:-23.57, Z:2.49 [[ 9.99788429e-01 -1.97566545e-02 -5.72470808e-03 4.69616278e+02] [ 1.97587681e-02 9.99804728e-01 3.12878970e-04 -2.35668595e+01] [ 5.71740876e-03 -4.25925953e-04 9.99983565e-01 2.49416966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.32071405700003 meters Centerline goodness : 0.985565 with order 1 Centerline is valid? [True, True] Translation: X:469.68, Y:-23.57, Z:2.49 [[ 9.99828024e-01 -1.76394666e-02 -5.72468581e-03 4.69678627e+02] [ 1.76415480e-02 9.99844327e-01 3.13285887e-04 -2.35731974e+01] [ 5.71826843e-03 -4.14224328e-04 9.99983565e-01 2.49286532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.38071405700003 meters Centerline goodness : 0.985095 with order 1 Centerline is valid? [True, True] Translation: X:469.74, Y:-23.58, Z:2.49 [[ 9.99875946e-01 -1.46738213e-02 -5.72462740e-03 4.69739518e+02] [ 1.46758603e-02 9.99892254e-01 3.14349637e-04 -2.35799379e+01] [ 5.71939788e-03 -3.98324473e-04 9.99983565e-01 2.49230052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.44071405700004 meters Centerline goodness : 0.984278 with order 1 Centerline is valid? [True, True] Translation: X:469.80, Y:-23.59, Z:2.49 [[ 9.99926590e-01 -1.06790796e-02 -5.72460949e-03 4.69801633e+02] [ 1.06810553e-02 9.99942906e-01 3.14675462e-04 -2.35855953e+01] [ 5.72092220e-03 -3.75797232e-04 9.99983565e-01 2.49156006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.50071405700004 meters Centerline goodness : 0.984266 with order 1 Centerline is valid? [True, True] Translation: X:469.86, Y:-23.59, Z:2.49 [[ 9.99981388e-01 -2.11026314e-03 -5.72458695e-03 4.69863189e+02] [ 2.11210137e-03 9.99997720e-01 3.15084936e-04 -2.35936846e+01] [ 5.72390898e-03 -3.27169980e-04 9.99983565e-01 2.48934896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.56071405700004 meters Centerline goodness : 0.981925 with order 1 Centerline is valid? [True, True] Translation: X:469.92, Y:-23.58, Z:2.50 [[ 9.99903543e-01 -1.26543872e-02 -5.72456981e-03 4.69923899e+02] [ 1.26563993e-02 9.99919855e-01 3.15395914e-04 -2.35809233e+01] [ 5.72011988e-03 -3.87817933e-04 9.99983565e-01 2.49518707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.62071405700004 meters Centerline goodness : 0.989549 with order 1 Centerline is valid? [True, True] Translation: X:469.98, Y:-23.59, Z:2.49 [[ 9.99957775e-01 -7.18877129e-03 -5.72457710e-03 4.69984779e+02] [ 7.19069346e-03 9.99974097e-01 3.15263666e-04 -2.35881828e+01] [ 5.72216245e-03 -3.56414033e-04 9.99983565e-01 2.49483147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.68071405700005 meters Centerline goodness : 0.980717 with order 1 Centerline is valid? [True, True] Translation: X:470.05, Y:-23.59, Z:2.50 [[ 9.99958079e-01 -7.14637119e-03 -5.72456198e-03 4.70045437e+02] [ 7.14829423e-03 9.99974401e-01 3.15537924e-04 -2.35906995e+01] [ 5.72216049e-03 -3.56445550e-04 9.99983565e-01 2.49657968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.74071405700005 meters Centerline goodness : 0.986291 with order 1 Centerline is valid? [True, True] Translation: X:470.11, Y:-23.60, Z:2.50 [[ 9.99978807e-01 -3.10096573e-03 -5.72454735e-03 4.70105801e+02] [ 3.10282424e-03 9.99995136e-01 3.15803146e-04 -2.36045374e+01] [ 5.72354021e-03 -3.33558717e-04 9.99983565e-01 2.49645612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.80071405700005 meters Centerline goodness : 0.987060 with order 1 Centerline is valid? [True, True] Translation: X:470.16, Y:-23.61, Z:2.50 [[ 9.99958057e-01 -7.14945858e-03 -5.72453261e-03 4.70164879e+02] [ 7.15138471e-03 9.99974379e-01 3.16070075e-04 -2.36097645e+01] [ 5.72212621e-03 -3.56995153e-04 9.99983565e-01 2.49552433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.86071405700005 meters Centerline goodness : 0.988509 with order 1 Centerline is valid? [True, True] Translation: X:470.23, Y:-23.61, Z:2.49 [[ 9.99910366e-01 -1.21032469e-02 -5.72454597e-03 4.70225528e+02] [ 1.21052525e-02 9.99926679e-01 3.15827887e-04 -2.36081675e+01] [ 5.72030370e-03 -3.85096653e-04 9.99983565e-01 2.49402320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.92071405700005 meters Centerline goodness : 0.983438 with order 1 Centerline is valid? [True, True] Translation: X:470.28, Y:-23.63, Z:2.49 [[ 9.99982203e-01 -1.68045817e-03 -5.72453940e-03 4.70284648e+02] [ 1.68229430e-03 9.99998535e-01 3.15946970e-04 -2.36285488e+01] [ 5.72400008e-03 -3.25571707e-04 9.99983565e-01 2.48832426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.98071405700006 meters Centerline goodness : 0.983808 with order 1 Centerline is valid? [True, True] Translation: X:470.34, Y:-23.63, Z:2.50 [[ 9.99981671e-01 1.97155779e-03 -5.72453405e-03 4.70343812e+02] [-1.96978076e-03 9.99998010e-01 3.16043837e-04 -2.36296678e+01] [ 5.72514576e-03 -3.04761967e-04 9.99983565e-01 2.49591264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.04071405700006 meters Centerline goodness : 0.985418 with order 1 Centerline is valid? [True, True] Translation: X:470.40, Y:-23.63, Z:2.49 [[ 9.99974345e-01 -4.30569103e-03 -5.72461351e-03 4.70402497e+02] [ 4.30756234e-03 9.99990673e-01 3.14597970e-04 -2.36327271e+01] [ 5.72320555e-03 -3.39249028e-04 9.99983565e-01 2.49213133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.10071405700006 meters Centerline goodness : 0.979409 with order 1 Centerline is valid? [True, True] Translation: X:470.46, Y:-23.62, Z:2.49 [[ 9.99780140e-01 -2.01717492e-02 -5.72463677e-03 4.70463219e+02] [ 2.01738769e-02 9.99796437e-01 3.14174063e-04 -2.36235603e+01] [ 5.71713401e-03 -4.29593107e-04 9.99983565e-01 2.49182637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.16071405700006 meters Centerline goodness : 0.987146 with order 1 Centerline is valid? [True, True] Translation: X:470.52, Y:-23.64, Z:2.49 [[ 9.99922086e-01 -1.10927726e-02 -5.72464498e-03 4.70524893e+02] [ 1.10947514e-02 9.99938402e-01 3.14024492e-04 -2.36411590e+01] [ 5.72080895e-03 -3.77513538e-04 9.99983565e-01 2.49259511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.22071405700007 meters Centerline goodness : 0.986455 with order 1 Centerline is valid? [True, True] Translation: X:470.59, Y:-23.64, Z:2.49 [[ 9.99944123e-01 -8.88701655e-03 -5.72461126e-03 4.70585635e+02] [ 8.88896287e-03 9.99960443e-01 3.14637940e-04 -2.36438550e+01] [ 5.72158862e-03 -3.65506216e-04 9.99983565e-01 2.49164316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.28071405700007 meters Centerline goodness : 0.986802 with order 1 Centerline is valid? [True, True] Translation: X:470.65, Y:-23.65, Z:2.49 [[ 9.99972816e-01 -4.64723168e-03 -5.72457311e-03 4.70646312e+02] [ 4.64911274e-03 9.99989143e-01 3.15330650e-04 -2.36477900e+01] [ 5.72304554e-03 -3.41936264e-04 9.99983565e-01 2.48814534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.34071405700007 meters Centerline goodness : 0.985929 with order 1 Centerline is valid? [True, True] Translation: X:470.71, Y:-23.65, Z:2.49 [[ 9.99983603e-01 1.53904792e-04 -5.72455632e-03 4.70706957e+02] [-1.52100406e-04 9.99999939e-01 3.15635026e-04 -2.36502063e+01] [ 5.72460455e-03 -3.14759143e-04 9.99983565e-01 2.49076539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.4007140570001 meters Centerline goodness : 0.985779 with order 1 Centerline is valid? [True, True] Translation: X:470.77, Y:-23.65, Z:2.49 [[ 9.99979582e-01 2.83999724e-03 -5.72455632e-03 4.70765215e+02] [-2.83823675e-03 9.99995922e-01 3.15635026e-04 -2.36543599e+01] [ 5.72542938e-03 -2.99380935e-04 9.99983565e-01 2.49016694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.4607140570001 meters Centerline goodness : 0.987406 with order 1 Centerline is valid? [True, True] Translation: X:470.82, Y:-23.66, Z:2.49 [[ 9.99974394e-01 4.29420700e-03 -5.72463446e-03 4.70823326e+02] [-4.29247840e-03 9.99990738e-01 3.14211387e-04 -2.36594743e+01] [ 5.72593073e-03 -2.89630472e-04 9.99983565e-01 2.48959672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.5207140570001 meters Centerline goodness : 0.987210 with order 1 Centerline is valid? [True, True] Translation: X:470.88, Y:-23.66, Z:2.49 [[ 9.99982805e-01 1.27200571e-03 -5.72471742e-03 4.70880799e+02] [-1.27023639e-03 9.99999144e-01 3.12692573e-04 -2.36645837e+01] [ 5.72511027e-03 -3.05415452e-04 9.99983565e-01 2.48858331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.5807140570001 meters Centerline goodness : 0.988041 with order 1 Centerline is valid? [True, True] Translation: X:470.94, Y:-23.67, Z:2.49 [[ 9.99983535e-01 -3.95176241e-04 -5.72474659e-03 4.70939593e+02] [ 3.96969749e-04 9.99999872e-01 3.12157631e-04 -2.36674600e+01] [ 5.72462251e-03 -3.14425042e-04 9.99983565e-01 2.48929448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.6407140570001 meters Centerline goodness : 0.987348 with order 1 Centerline is valid? [True, True] Translation: X:471.00, Y:-23.67, Z:2.49 [[ 9.99970666e-01 -5.08866830e-03 -5.72476936e-03 4.70997973e+02] [ 5.09053609e-03 9.99986995e-01 3.11739447e-04 -2.36710565e+01] [ 5.72310857e-03 -3.40872447e-04 9.99983565e-01 2.48841324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.7007140570001 meters Centerline goodness : 0.987587 with order 1 Centerline is valid? [True, True] Translation: X:471.06, Y:-23.68, Z:2.49 [[ 9.99943194e-01 -8.99083969e-03 -5.72479304e-03 4.71057114e+02] [ 8.99276869e-03 9.99959516e-01 3.11304065e-04 -2.36760491e+01] [ 5.72176239e-03 -3.62768120e-04 9.99983565e-01 2.49135080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.76071405700003 meters Centerline goodness : 0.987800 with order 1 Centerline is valid? [True, True] Translation: X:471.12, Y:-23.68, Z:2.49 [[ 9.99904681e-01 -1.25640425e-02 -5.72479886e-03 4.71118502e+02] [ 1.25660292e-02 9.99920996e-01 3.11197032e-04 -2.36801998e+01] [ 5.72043668e-03 -3.83105358e-04 9.99983565e-01 2.49218338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.82071405700003 meters Centerline goodness : 0.987408 with order 1 Centerline is valid? [True, True] Translation: X:471.18, Y:-23.68, Z:2.50 [[ 9.99821475e-01 -1.80068268e-02 -5.72472563e-03 4.71181542e+02] [ 1.80089099e-02 9.99837778e-01 3.12538353e-04 -2.36835635e+01] [ 5.71816913e-03 -4.15578625e-04 9.99983565e-01 2.49506542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.88071405700003 meters Centerline goodness : 0.989069 with order 1 Centerline is valid? [True, True] Translation: X:471.24, Y:-23.69, Z:2.50 [[ 9.99764883e-01 -2.09142847e-02 -5.72463333e-03 4.71243884e+02] [ 2.09164248e-02 9.99781178e-01 3.14219840e-04 -2.36891687e+01] [ 5.71680898e-03 -4.33884825e-04 9.99983565e-01 2.49544010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.94071405700004 meters Centerline goodness : 0.987125 with order 1 Centerline is valid? [True, True] Translation: X:471.30, Y:-23.69, Z:2.49 [[ 9.99692237e-01 -2.41383497e-02 -5.72459791e-03 4.71304966e+02] [ 2.41405460e-02 9.99708525e-01 3.14863807e-04 -2.36943124e+01] [ 5.71532904e-03 -4.52961824e-04 9.99983565e-01 2.49187534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.00071405700004 meters Centerline goodness : 0.986865 with order 1 Centerline is valid? [True, True] Translation: X:471.37, Y:-23.70, Z:2.49 [[ 9.99776574e-01 -2.03477573e-02 -5.72458049e-03 4.71366556e+02] [ 2.03498936e-02 9.99792870e-01 3.15180315e-04 -2.36994157e+01] [ 5.71698154e-03 -4.31604500e-04 9.99983565e-01 2.49449607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.06071405700004 meters Centerline goodness : 0.987263 with order 1 Centerline is valid? [True, True] Translation: X:471.43, Y:-23.70, Z:2.50 [[ 9.99755696e-01 -2.13489616e-02 -5.72455653e-03 4.71427667e+02] [ 2.13511167e-02 9.99771989e-01 3.15614956e-04 -2.37019895e+01] [ 5.71651321e-03 -4.37763524e-04 9.99983565e-01 2.49512214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.12071405700004 meters Centerline goodness : 0.987199 with order 1 Centerline is valid? [True, True] Translation: X:471.49, Y:-23.71, Z:2.50 [[ 9.99755194e-01 -2.13724593e-02 -5.72453882e-03 4.71490958e+02] [ 2.13746166e-02 9.99771487e-01 3.15935701e-04 -2.37058965e+01] [ 5.71647837e-03 -4.38218180e-04 9.99983565e-01 2.49558684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.18071405700005 meters Centerline goodness : 0.986985 with order 1 Centerline is valid? [True, True] Translation: X:471.55, Y:-23.71, Z:2.49 [[ 9.99788799e-01 -1.97379949e-02 -5.72450297e-03 4.71552703e+02] [ 1.97401293e-02 9.99805095e-01 3.16583937e-04 -2.37103223e+01] [ 5.71713851e-03 -4.29519503e-04 9.99983565e-01 2.49411102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.24071405700005 meters Centerline goodness : 0.987512 with order 1 Centerline is valid? [True, True] Translation: X:471.61, Y:-23.71, Z:2.49 [[ 9.99819726e-01 -1.81037346e-02 -5.72447909e-03 4.71614193e+02] [ 1.81058448e-02 9.99836026e-01 3.17015203e-04 -2.37129280e+01] [ 5.71780126e-03 -4.20604584e-04 9.99983565e-01 2.49348936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.30071405700005 meters Centerline goodness : 0.986754 with order 1 Centerline is valid? [True, True] Translation: X:471.68, Y:-23.72, Z:2.50 [[ 9.99832549e-01 -1.73811277e-02 -5.72446156e-03 4.71676161e+02] [ 1.73832279e-02 9.99848850e-01 3.17331432e-04 -2.37164524e+01] [ 5.71808073e-03 -4.16787914e-04 9.99983565e-01 2.49583037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.36071405700005 meters Centerline goodness : 0.986982 with order 1 Centerline is valid? [True, True] Translation: X:471.74, Y:-23.72, Z:2.50 [[ 9.99845516e-01 -1.66185168e-02 -5.72443825e-03 4.71738233e+02] [ 1.66206070e-02 9.99861818e-01 3.17751445e-04 -2.37192588e+01] [ 5.71836667e-03 -4.12845996e-04 9.99983565e-01 2.49691713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.42071405700005 meters Centerline goodness : 0.988527 with order 1 Centerline is valid? [True, True] Translation: X:471.80, Y:-23.72, Z:2.50 [[ 9.99857560e-01 -1.58773776e-02 -5.72441503e-03 4.71800114e+02] [ 1.58794581e-02 9.99873863e-01 3.18169116e-04 -2.37214284e+01] [ 5.71864128e-03 -4.09024405e-04 9.99983565e-01 2.50018306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.48071405700006 meters Centerline goodness : 0.987874 with order 1 Centerline is valid? [True, True] Translation: X:471.86, Y:-23.72, Z:2.50 [[ 9.99907958e-01 -1.23007114e-02 -5.72439181e-03 4.71862503e+02] [ 1.23027359e-02 9.99924268e-01 3.18586428e-04 -2.37224720e+01] [ 5.72003945e-03 -3.88982785e-04 9.99983565e-01 2.50132025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.54071405700006 meters Centerline goodness : 0.987043 with order 1 Centerline is valid? [True, True] Translation: X:471.92, Y:-23.72, Z:2.50 [[ 9.99932999e-01 -1.00612895e-02 -5.72436818e-03 4.71924951e+02] [ 1.00632799e-02 9.99949313e-01 3.19010414e-04 -2.37243629e+01] [ 5.72086837e-03 -3.76594959e-04 9.99983565e-01 2.49734180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.60071405700006 meters Centerline goodness : 0.986966 with order 1 Centerline is valid? [True, True] Translation: X:471.99, Y:-23.73, Z:2.50 [[ 9.99972918e-01 -4.62546400e-03 -5.72434365e-03 4.71985242e+02] [ 4.62736820e-03 9.99989243e-01 3.19449890e-04 -2.37257509e+01] [ 5.72280447e-03 -3.45929884e-04 9.99983565e-01 2.50305009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.66071405700006 meters Centerline goodness : 0.990910 with order 1 Centerline is valid? [True, True] Translation: X:472.05, Y:-23.72, Z:2.51 [[ 9.99908282e-01 -1.22743145e-02 -5.72432348e-03 4.72046462e+02] [ 1.22763456e-02 9.99924592e-01 3.19810972e-04 -2.37162035e+01] [ 5.71996636e-03 -3.90055413e-04 9.99983565e-01 2.50658359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.72071405700007 meters Centerline goodness : 0.986473 with order 1 Centerline is valid? [True, True] Translation: X:472.11, Y:-23.73, Z:2.50 [[ 9.99977778e-01 -3.41695088e-03 -5.72432348e-03 4.72106672e+02] [ 3.41883741e-03 9.99994105e-01 3.19810972e-04 -2.37308987e+01] [ 5.72319696e-03 -3.39374397e-04 9.99983565e-01 2.49966736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.78071405700007 meters Centerline goodness : 0.987244 with order 1 Centerline is valid? [True, True] Translation: X:472.17, Y:-23.73, Z:2.51 [[ 9.99983599e-01 -1.86796952e-04 -5.72431776e-03 4.72166150e+02] [ 1.88631319e-04 9.99999931e-01 3.19913397e-04 -2.37343508e+01] [ 5.72425760e-03 -3.20987935e-04 9.99983565e-01 2.50629734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.84071405700007 meters Centerline goodness : 0.987064 with order 1 Centerline is valid? [True, True] Translation: X:472.22, Y:-23.74, Z:2.51 [[ 9.99982696e-01 1.35657743e-03 -5.72432917e-03 4.72224945e+02] [-1.35476944e-03 9.99999031e-01 3.19709088e-04 -2.37386547e+01] [ 5.72475733e-03 -3.11948409e-04 9.99983565e-01 2.50781271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.9007140570001 meters Centerline goodness : 0.987832 with order 1 Centerline is valid? [True, True] Translation: X:472.28, Y:-23.74, Z:2.51 [[ 9.99972954e-01 4.61754771e-03 -5.72441172e-03 4.72283101e+02] [-4.61580148e-03 9.99989297e-01 3.18224043e-04 -2.37416083e+01] [ 5.72581987e-03 -2.91792688e-04 9.99983565e-01 2.50979952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.9607140570001 meters Centerline goodness : 0.988774 with order 1 Centerline is valid? [True, True] Translation: X:472.34, Y:-23.74, Z:2.51 [[ 9.99954244e-01 7.66427095e-03 -5.72444048e-03 4.72341102e+02] [-7.66257748e-03 9.99970592e-01 3.17705863e-04 -2.37437916e+01] [ 5.72670712e-03 -2.73827357e-04 9.99983565e-01 2.51127596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.0207140570001 meters Centerline goodness : 0.988153 with order 1 Centerline is valid? [True, True] Translation: X:472.40, Y:-23.75, Z:2.51 [[ 9.99945139e-01 8.77206793e-03 -5.72453002e-03 4.72400157e+02] [-8.77040183e-03 9.99961489e-01 3.16084238e-04 -2.37476248e+01] [ 5.72708228e-03 -2.65860469e-04 9.99983565e-01 2.51214456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.0807140570001 meters Centerline goodness : 0.988687 with order 1 Centerline is valid? [True, True] Translation: X:472.46, Y:-23.75, Z:2.51 [[ 9.99960544e-01 6.79265956e-03 -5.72455229e-03 4.72458778e+02] [-6.79096341e-03 9.99976891e-01 3.15680372e-04 -2.37535323e+01] [ 5.72656431e-03 -2.76792691e-04 9.99983565e-01 2.51252319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.1407140570001 meters Centerline goodness : 0.987631 with order 1 Centerline is valid? [True, True] Translation: X:472.52, Y:-23.76, Z:2.51 [[ 9.99972938e-01 4.62086336e-03 -5.72457464e-03 4.72517502e+02] [-4.61913402e-03 9.99989282e-01 3.15274655e-04 -2.37597684e+01] [ 5.72597012e-03 -2.88823546e-04 9.99983565e-01 2.51397543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.2007140570001 meters Centerline goodness : 0.987077 with order 1 Centerline is valid? [True, True] Translation: X:472.58, Y:-23.77, Z:2.51 [[ 9.99978669e-01 3.14489584e-03 -5.72459692e-03 4.72575616e+02] [-3.14314469e-03 9.99995011e-01 3.14869485e-04 -2.37667131e+01] [ 5.72555859e-03 -2.96869533e-04 9.99983565e-01 2.50973190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.26071405700003 meters Centerline goodness : 0.987383 with order 1 Centerline is valid? [True, True] Translation: X:472.63, Y:-23.77, Z:2.52 [[ 9.99969423e-01 5.32738897e-03 -5.72462000e-03 4.72633134e+02] [-5.32567590e-03 9.99985769e-01 3.14449329e-04 -2.37737275e+01] [ 5.72621373e-03 -2.83952244e-04 9.99983565e-01 2.51591525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.32071405700003 meters Centerline goodness : 0.986951 with order 1 Centerline is valid? [True, True] Translation: X:472.69, Y:-23.78, Z:2.52 [[ 9.99982696e-01 1.35510435e-03 -5.72464832e-03 4.72691012e+02] [-1.35332930e-03 9.99999035e-01 3.13932833e-04 -2.37796361e+01] [ 5.72506821e-03 -3.06180066e-04 9.99983565e-01 2.51513667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.38071405700003 meters Centerline goodness : 0.987599 with order 1 Centerline is valid? [True, True] Translation: X:472.75, Y:-23.78, Z:2.51 [[ 9.99982579e-01 -1.43879683e-03 -5.72467593e-03 4.72748199e+02] [ 1.44061464e-03 9.99998913e-01 3.13428631e-04 -2.37846354e+01] [ 5.72421875e-03 -3.21670222e-04 9.99983565e-01 2.51325512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.44071405700004 meters Centerline goodness : 0.987818 with order 1 Centerline is valid? [True, True] Translation: X:472.81, Y:-23.79, Z:2.51 [[ 9.99952056e-01 -7.94437779e-03 -5.72470289e-03 4.72807415e+02] [ 7.94629902e-03 9.99968379e-01 3.12935455e-04 -2.37903746e+01] [ 5.72203579e-03 -3.58410653e-04 9.99983565e-01 2.50602878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.50071405700004 meters Centerline goodness : 0.993078 with order 1 Centerline is valid? [True, True] Translation: X:472.87, Y:-23.78, Z:2.51 [[ 9.99802290e-01 -1.90422738e-02 -5.72471358e-03 4.72868731e+02] [ 1.90443750e-02 9.99818591e-01 3.12739674e-04 -2.37794116e+01] [ 5.71771979e-03 -4.21701434e-04 9.99983565e-01 2.51346098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.56071405700004 meters Centerline goodness : 0.988196 with order 1 Centerline is valid? [True, True] Translation: X:472.93, Y:-23.80, Z:2.51 [[ 9.99913424e-01 -1.18478620e-02 -5.72470826e-03 4.72928839e+02] [ 1.18498464e-02 9.99929739e-01 3.12837014e-04 -2.37965516e+01] [ 5.72059959e-03 -3.80646843e-04 9.99983565e-01 2.51204412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.62071405700004 meters Centerline goodness : 0.989083 with order 1 Centerline is valid? [True, True] Translation: X:472.99, Y:-23.79, Z:2.52 [[ 9.99797666e-01 -1.92835455e-02 -5.72470262e-03 4.72991284e+02] [ 1.92856517e-02 9.99813966e-01 3.12940249e-04 -2.37947186e+01] [ 5.71760303e-03 -4.23281551e-04 9.99983565e-01 2.51889883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.68071405700005 meters Centerline goodness : 0.989280 with order 1 Centerline is valid? [True, True] Translation: X:473.05, Y:-23.80, Z:2.52 [[ 9.99828867e-01 -1.75916569e-02 -5.72462434e-03 4.73053454e+02] [ 1.75937437e-02 9.99845169e-01 3.14365685e-04 -2.37970994e+01] [ 5.71820778e-03 -4.15029460e-04 9.99983565e-01 2.51542334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.74071405700005 meters Centerline goodness : 0.987975 with order 1 Centerline is valid? [True, True] Translation: X:473.12, Y:-23.80, Z:2.52 [[ 9.99803260e-01 -1.89913118e-02 -5.72460196e-03 4.73116067e+02] [ 1.89934237e-02 9.99819559e-01 3.14772809e-04 -2.37955387e+01] [ 5.71759106e-03 -4.23440671e-04 9.99983565e-01 2.51851321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.80071405700005 meters Centerline goodness : 0.987719 with order 1 Centerline is valid? [True, True] Translation: X:473.18, Y:-23.80, Z:2.52 [[ 9.99756157e-01 -2.13273651e-02 -5.72457951e-03 4.73178663e+02] [ 2.13295174e-02 9.99772450e-01 3.15180485e-04 -2.37974531e+01] [ 5.71655492e-03 -4.37206149e-04 9.99983565e-01 2.51680539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.86071405700005 meters Centerline goodness : 0.987616 with order 1 Centerline is valid? [True, True] Translation: X:473.24, Y:-23.80, Z:2.51 [[ 9.99559110e-01 -2.91344296e-02 -5.72455734e-03 4.73240998e+02] [ 2.91367114e-02 9.99575386e-01 3.15582689e-04 -2.37991126e+01] [ 5.71293229e-03 -4.82238327e-04 9.99983565e-01 2.51177197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.92071405700005 meters Centerline goodness : 0.988116 with order 1 Centerline is valid? [True, True] Translation: X:473.30, Y:-23.80, Z:2.51 [[ 9.99371761e-01 -3.49758937e-02 -5.72447486e-03 4.73302223e+02] [ 3.49782790e-02 9.99388022e-01 3.17071822e-04 -2.37993591e+01] [ 5.70988174e-03 -5.17104904e-04 9.99983565e-01 2.51230843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.98071405700006 meters Centerline goodness : 0.988257 with order 1 Centerline is valid? [True, True] Translation: X:473.36, Y:-23.80, Z:2.52 [[ 9.99479535e-01 -3.17472997e-02 -5.72439878e-03 4.73363558e+02] [ 3.17496402e-02 9.99495802e-01 3.18439430e-04 -2.37993543e+01] [ 5.71140296e-03 -5.00021296e-04 9.99983565e-01 2.51709647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.04071405700006 meters Centerline goodness : 0.987589 with order 1 Centerline is valid? [True, True] Translation: X:473.43, Y:-23.80, Z:2.52 [[ 9.99640386e-01 -2.61979183e-02 -5.72435976e-03 4.73425618e+02] [ 2.62001725e-02 9.99656666e-01 3.19139372e-04 -2.37985181e+01] [ 5.71403360e-03 -4.69003818e-04 9.99983565e-01 2.51566158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.10071405700006 meters Centerline goodness : 0.988135 with order 1 Centerline is valid? [True, True] Translation: X:473.49, Y:-23.80, Z:2.52 [[ 9.99853562e-01 -1.61271711e-02 -5.72433602e-03 4.73488949e+02] [ 1.61292636e-02 9.99869864e-01 3.19564558e-04 -2.37966365e+01] [ 5.71843741e-03 -4.11847087e-04 9.99983565e-01 2.51679930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.16071405700006 meters Centerline goodness : 0.988430 with order 1 Centerline is valid? [True, True] Translation: X:473.55, Y:-23.80, Z:2.52 [[ 9.99959820e-01 -6.89860224e-03 -5.72430034e-03 4.73550501e+02] [ 6.90054783e-03 9.99976140e-01 3.20202376e-04 -2.37951944e+01] [ 5.72195481e-03 -3.59690319e-04 9.99983565e-01 2.52005414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.22071405700007 meters Centerline goodness : 0.987957 with order 1 Centerline is valid? [True, True] Translation: X:473.61, Y:-23.79, Z:2.52 [[ 9.99982801e-01 1.27663792e-03 -5.72428286e-03 4.73610983e+02] [-1.27482402e-03 9.99999136e-01 3.20514641e-04 -2.37948528e+01] [ 5.72468710e-03 -3.13211675e-04 9.99983565e-01 2.52110133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.28071405700007 meters Centerline goodness : 0.987590 with order 1 Centerline is valid? [True, True] Translation: X:473.67, Y:-23.79, Z:2.52 [[ 9.99974168e-01 4.34688749e-03 -5.72427722e-03 4.73668728e+02] [-4.34512318e-03 9.99990509e-01 3.20615412e-04 -2.37943130e+01] [ 5.72561656e-03 -2.95734440e-04 9.99983565e-01 2.52173566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.34071405700007 meters Centerline goodness : 0.988012 with order 1 Centerline is valid? [True, True] Translation: X:473.73, Y:-23.80, Z:2.52 [[ 9.99967812e-01 5.62189291e-03 -5.72436824e-03 4.73726564e+02] [-5.62015877e-03 9.99984156e-01 3.18981976e-04 -2.37961054e+01] [ 5.72607082e-03 -2.86799851e-04 9.99983565e-01 2.52143931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.4007140570001 meters Centerline goodness : 0.988990 with order 1 Centerline is valid? [True, True] Translation: X:473.79, Y:-23.80, Z:2.52 [[ 9.99982263e-01 1.64471744e-03 -5.72445877e-03 4.73785838e+02] [-1.64292763e-03 9.99998600e-01 3.17348922e-04 -2.37988360e+01] [ 5.72497270e-03 -3.07938422e-04 9.99983565e-01 2.52075556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.4607140570001 meters Centerline goodness : 0.988695 with order 1 Centerline is valid? [True, True] Translation: X:473.84, Y:-23.80, Z:2.52 [[ 9.99945515e-01 -8.72908809e-03 -5.72447547e-03 4.73844502e+02] [ 8.73104557e-03 9.99961833e-01 3.17047380e-04 -2.38006076e+01] [ 5.72148945e-03 -3.67010762e-04 9.99983565e-01 2.52393014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.5207140570001 meters Centerline goodness : 0.989220 with order 1 Centerline is valid? [True, True] Translation: X:473.91, Y:-23.80, Z:2.53 [[ 9.99881780e-01 -1.42708154e-02 -5.72447844e-03 4.73905661e+02] [ 1.42728630e-02 9.99898087e-01 3.16993724e-04 -2.38025249e+01] [ 5.71937128e-03 -3.98660946e-04 9.99983565e-01 2.53040822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.5807140570001 meters Centerline goodness : 0.988784 with order 1 Centerline is valid? [True, True] Translation: X:473.97, Y:-23.81, Z:2.53 [[ 9.99886431e-01 -1.39411165e-02 -5.72446705e-03 4.73967264e+02] [ 1.39431599e-02 9.99902739e-01 3.17199214e-04 -2.38061386e+01] [ 5.71948818e-03 -3.96980350e-04 9.99983565e-01 2.53368220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.6407140570001 meters Centerline goodness : 0.988458 with order 1 Centerline is valid? [True, True] Translation: X:474.03, Y:-23.81, Z:2.54 [[ 9.99951037e-01 -8.07185356e-03 -5.72443045e-03 4.74028087e+02] [ 8.07380494e-03 9.99967356e-01 3.17858343e-04 -2.38068489e+01] [ 5.72167788e-03 -3.64060714e-04 9.99983565e-01 2.53859610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.7007140570001 meters Centerline goodness : 0.988786 with order 1 Centerline is valid? [True, True] Translation: X:474.09, Y:-23.81, Z:2.54 [[ 9.99983239e-01 -8.67335080e-04 -5.72441366e-03 4.74089598e+02] [ 8.69170559e-04 9.99999572e-01 3.18160507e-04 -2.38097859e+01] [ 5.72413526e-03 -3.23130666e-04 9.99983565e-01 2.54042301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.76071405700003 meters Centerline goodness : 0.986819 with order 1 Centerline is valid? [True, True] Translation: X:474.15, Y:-23.82, Z:2.54 [[ 9.99967712e-01 5.63962016e-03 -5.72440246e-03 4.74148492e+02] [-5.63788985e-03 9.99984056e-01 3.18361916e-04 -2.38152001e+01] [ 5.72610663e-03 -2.86078086e-04 9.99983565e-01 2.54198028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.82071405700003 meters Centerline goodness : 0.987994 with order 1 Centerline is valid? [True, True] Translation: X:474.21, Y:-23.82, Z:2.55 [[ 9.99945467e-01 8.73466282e-03 -5.72447992e-03 4.74207636e+02] [-8.73299109e-03 9.99961816e-01 3.16962996e-04 -2.38181082e+01] [ 5.72702990e-03 -2.66953879e-04 9.99983565e-01 2.54598126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.88071405700003 meters Centerline goodness : 0.986414 with order 1 Centerline is valid? [True, True] Translation: X:474.27, Y:-23.83, Z:2.54 [[ 9.99816377e-01 1.82877638e-02 -5.72452084e-03 4.74266424e+02] [-1.82862526e-02 9.99832743e-01 3.16222168e-04 -2.38254852e+01] [ 5.72934637e-03 -2.11484069e-04 9.99983565e-01 2.54488348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.94071405700004 meters Centerline goodness : 0.985902 with order 1 Centerline is valid? [True, True] Translation: X:474.32, Y:-23.83, Z:2.54 [[ 9.99709121e-01 2.34286812e-02 -5.72453723e-03 4.74324072e+02] [-2.34272559e-02 9.99725494e-01 3.15925108e-04 -2.38329162e+01] [ 5.73036753e-03 -1.81723013e-04 9.99983565e-01 2.54437969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.00071405700004 meters Centerline goodness : 0.984454 with order 1 Centerline is valid? [True, True] Translation: X:474.38, Y:-23.84, Z:2.54 [[ 9.99664384e-01 2.52655726e-02 -5.72456401e-03 4.74382051e+02] [-2.52641801e-02 9.99680760e-01 3.15439225e-04 -2.38408093e+01] [ 5.73070625e-03 -1.70706942e-04 9.99983565e-01 2.54333221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.06071405700004 meters Centerline goodness : 0.983854 with order 1 Centerline is valid? [True, True] Translation: X:474.44, Y:-23.85, Z:2.54 [[ 9.99672926e-01 2.49253073e-02 -5.72460328e-03 4.74440252e+02] [-2.49239134e-02 9.99689301e-01 3.14724817e-04 -2.38503968e+01] [ 5.73066927e-03 -1.71942363e-04 9.99983565e-01 2.54240241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.12071405700004 meters Centerline goodness : 0.980988 with order 1 Centerline is valid? [True, True] Translation: X:474.50, Y:-23.86, Z:2.54 [[ 9.99708157e-01 2.34697582e-02 -5.72462698e-03 4.74498257e+02] [-2.34683429e-02 9.99724531e-01 3.14293210e-04 -2.38586830e+01] [ 5.73042641e-03 -1.79853976e-04 9.99983565e-01 2.54244325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.18071405700005 meters Centerline goodness : 0.984515 with order 1 Centerline is valid? [True, True] Translation: X:474.56, Y:-23.87, Z:2.54 [[ 9.99810476e-01 1.86075472e-02 -5.72465051e-03 4.74556319e+02] [-1.86060547e-02 9.99826843e-01 3.13864072e-04 -2.38675393e+01] [ 5.72949949e-03 -2.07291427e-04 9.99983565e-01 2.54245345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.24071405700005 meters Centerline goodness : 0.984714 with order 1 Centerline is valid? [True, True] Translation: X:474.62, Y:-23.88, Z:2.54 [[ 9.99865781e-01 1.53508181e-02 -5.72467419e-03 4.74615101e+02] [-1.53492748e-02 9.99882144e-01 3.13431600e-04 -2.38754957e+01] [ 5.72881093e-03 -2.25519935e-04 9.99983565e-01 2.54233218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.30071405700005 meters Centerline goodness : 0.985702 with order 1 Centerline is valid? [True, True] Translation: X:474.67, Y:-23.89, Z:2.54 [[ 9.99948974e-01 8.32330270e-03 -5.72469772e-03 4.74672435e+02] [-8.32164688e-03 9.99965326e-01 3.13001181e-04 -2.38864391e+01] [ 5.72710442e-03 -2.65346297e-04 9.99983565e-01 2.53581443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.36071405700005 meters Centerline goodness : 0.985737 with order 1 Centerline is valid? [True, True] Translation: X:474.73, Y:-23.89, Z:2.53 [[ 9.99960176e-01 6.84648553e-03 -5.72472673e-03 4.74730928e+02] [-6.84480859e-03 9.99976525e-01 3.12469744e-04 -2.38908269e+01] [ 5.72673166e-03 -2.73272642e-04 9.99983565e-01 2.53471122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.42071405700005 meters Centerline goodness : 0.986110 with order 1 Centerline is valid? [True, True] Translation: X:474.79, Y:-23.90, Z:2.54 [[ 9.99949091e-01 8.30922397e-03 -5.72474955e-03 4.74788002e+02] [-8.30757335e-03 9.99965443e-01 3.12050977e-04 -2.38967918e+01] [ 5.72714462e-03 -2.64476314e-04 9.99983565e-01 2.54054735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.48071405700006 meters Centerline goodness : 0.986250 with order 1 Centerline is valid? [True, True] Translation: X:474.84, Y:-23.90, Z:2.54 [[ 9.99933874e-01 9.97373670e-03 -5.72478362e-03 4.74844958e+02] [-9.97211688e-03 9.99950229e-01 3.11424840e-04 -2.39006676e+01] [ 5.72760476e-03 -2.54316036e-04 9.99983565e-01 2.54244147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.54071405700006 meters Centerline goodness : 0.985966 with order 1 Centerline is valid? [True, True] Translation: X:474.90, Y:-23.90, Z:2.54 [[ 9.99939482e-01 9.39457614e-03 -5.72482093e-03 4.74902862e+02] [-9.39295077e-03 9.99955837e-01 3.10737349e-04 -2.39043020e+01] [ 5.72748735e-03 -2.56945583e-04 9.99983565e-01 2.54089799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.60071405700006 meters Centerline goodness : 0.984664 with order 1 Centerline is valid? [True, True] Translation: X:474.96, Y:-23.91, Z:2.54 [[ 9.99957881e-01 7.17366401e-03 -5.72485396e-03 4.74960400e+02] [-7.17200581e-03 9.99974233e-01 3.10127577e-04 -2.39077678e+01] [ 5.72693120e-03 -2.69055829e-04 9.99983565e-01 2.54065311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.66071405700006 meters Centerline goodness : 0.985437 with order 1 Centerline is valid? [True, True] Translation: X:475.02, Y:-23.91, Z:2.54 [[ 9.99982332e-01 1.60071847e-03 -5.72488301e-03 4.75019062e+02] [-1.59897223e-03 9.99998674e-01 3.09590421e-04 -2.39114766e+01] [ 5.72537099e-03 -3.00431022e-04 9.99983565e-01 2.54244427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.72071405700007 meters Centerline goodness : 0.985451 with order 1 Centerline is valid? [True, True] Translation: X:475.08, Y:-23.92, Z:2.55 [[ 9.99932653e-01 -1.00952916e-02 -5.72490401e-03 4.75077859e+02] [ 1.00972266e-02 9.99948974e-01 3.09201682e-04 -2.39183792e+01] [ 5.72149041e-03 -3.66986511e-04 9.99983565e-01 2.54549838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.78071405700007 meters Centerline goodness : 0.987673 with order 1 Centerline is valid? [True, True] Translation: X:475.14, Y:-23.92, Z:2.55 [[ 9.99823320e-01 -1.79039970e-02 -5.72492592e-03 4.75139348e+02] [ 1.79060571e-02 9.99839626e-01 3.08795390e-04 -2.39211191e+01] [ 5.71847912e-03 -4.11251683e-04 9.99983565e-01 2.54966625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.84071405700007 meters Centerline goodness : 0.985768 with order 1 Centerline is valid? [True, True] Translation: X:475.20, Y:-23.92, Z:2.55 [[ 9.99778627e-01 -2.02465452e-02 -5.72488251e-03 4.75201514e+02] [ 2.02486481e-02 9.99794927e-01 3.09598091e-04 -2.39243955e+01] [ 5.71744020e-03 -4.25450686e-04 9.99983565e-01 2.54977793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.9007140570001 meters Centerline goodness : 0.986163 with order 1 Centerline is valid? [True, True] Translation: X:475.26, Y:-23.93, Z:2.55 [[ 9.99748981e-01 -2.16610305e-02 -5.72486108e-03 4.75262900e+02] [ 2.16631587e-02 9.99765278e-01 3.09993942e-04 -2.39271080e+01] [ 5.71680254e-03 -4.33934702e-04 9.99983565e-01 2.55043187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.9607140570001 meters Centerline goodness : 0.987773 with order 1 Centerline is valid? [True, True] Translation: X:475.33, Y:-23.93, Z:2.55 [[ 9.99731375e-01 -2.24589365e-02 -5.72484518e-03 4.75325032e+02] [ 2.24610794e-02 9.99747670e-01 3.10287332e-04 -2.39271099e+01] [ 5.71643190e-03 -4.38790183e-04 9.99983565e-01 2.55484590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.0207140570001 meters Centerline goodness : 0.986982 with order 1 Centerline is valid? [True, True] Translation: X:475.39, Y:-23.93, Z:2.56 [[ 9.99722447e-01 -2.28529065e-02 -5.72482441e-03 4.75386203e+02] [ 2.28550580e-02 9.99738741e-01 3.10670039e-04 -2.39280983e+01] [ 5.71622903e-03 -4.41425005e-04 9.99983565e-01 2.55780072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.0807140570001 meters Centerline goodness : 0.987939 with order 1 Centerline is valid? [True, True] Translation: X:475.45, Y:-23.93, Z:2.56 [[ 9.99729515e-01 -2.25415956e-02 -5.72481318e-03 4.75447199e+02] [ 2.25437432e-02 9.99745809e-01 3.10876786e-04 -2.39279096e+01] [ 5.71635033e-03 -4.39851416e-04 9.99983565e-01 2.56024006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.1407140570001 meters Centerline goodness : 0.987592 with order 1 Centerline is valid? [True, True] Translation: X:475.51, Y:-23.93, Z:2.56 [[ 9.99728573e-01 -2.25833344e-02 -5.72479658e-03 4.75509431e+02] [ 2.25854844e-02 9.99744867e-01 3.11182255e-04 -2.39298240e+01] [ 5.71630846e-03 -4.40395095e-04 9.99983565e-01 2.56069939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.2007140570001 meters Centerline goodness : 0.988533 with order 1 Centerline is valid? [True, True] Translation: X:475.57, Y:-23.93, Z:2.56 [[ 9.99733876e-01 -2.23473402e-02 -5.72477451e-03 4.75571127e+02] [ 2.23494886e-02 9.99750170e-01 3.11587739e-04 -2.39317336e+01] [ 5.71638113e-03 -4.39450601e-04 9.99983565e-01 2.55953499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.26071405700003 meters Centerline goodness : 0.986945 with order 1 Centerline is valid? [True, True] Translation: X:475.63, Y:-23.93, Z:2.56 [[ 9.99735691e-01 -2.22660131e-02 -5.72475271e-03 4.75632747e+02] [ 2.22681626e-02 9.99751985e-01 3.11987809e-04 -2.39313250e+01] [ 5.71638616e-03 -4.39385071e-04 9.99983565e-01 2.56286398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.32071405700003 meters Centerline goodness : 0.987009 with order 1 Centerline is valid? [True, True] Translation: X:475.69, Y:-23.93, Z:2.56 [[ 9.99797157e-01 -1.93098996e-02 -5.72474174e-03 4.75694679e+02] [ 1.93120019e-02 9.99813457e-01 3.12188920e-04 -2.39327338e+01] [ 5.71764549e-03 -4.22681818e-04 9.99983565e-01 2.55882034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.38071405700003 meters Centerline goodness : 0.985876 with order 1 Centerline is valid? [True, True] Translation: X:475.76, Y:-23.93, Z:2.56 [[ 9.99856366e-01 -1.59522929e-02 -5.72472019e-03 4.75755503e+02] [ 1.59543428e-02 9.99872673e-01 3.12583517e-04 -2.39340923e+01] [ 5.71900485e-03 -4.03872768e-04 9.99983565e-01 2.55567765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.44071405700004 meters Centerline goodness : 0.984958 with order 1 Centerline is valid? [True, True] Translation: X:475.82, Y:-23.94, Z:2.54 [[ 9.99979266e-01 -2.94866696e-03 -5.72471489e-03 4.75816233e+02] [ 2.95050517e-03 9.99995598e-01 3.12680551e-04 -2.39447393e+01] [ 5.72376770e-03 -3.29564869e-04 9.99983565e-01 2.53996602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.50071405700004 meters Centerline goodness : 0.983374 with order 1 Centerline is valid? [True, True] Translation: X:475.87, Y:-23.94, Z:2.54 [[ 9.99983546e-01 -3.66720951e-04 -5.72470950e-03 4.75874965e+02] [ 3.68517541e-04 9.99999883e-01 3.12779207e-04 -2.39419766e+01] [ 5.72459413e-03 -3.14883716e-04 9.99983565e-01 2.54401529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.56071405700004 meters Centerline goodness : 0.983860 with order 1 Centerline is valid? [True, True] Translation: X:475.93, Y:-23.94, Z:2.55 [[ 9.99983006e-01 1.10276816e-03 -5.72472539e-03 4.75934137e+02] [-1.10099724e-03 9.99999345e-01 3.12488056e-04 -2.39409278e+01] [ 5.72506625e-03 -3.06179838e-04 9.99983565e-01 2.54947354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.62071405700004 meters Centerline goodness : 0.981971 with order 1 Centerline is valid? [True, True] Translation: X:475.99, Y:-23.94, Z:2.55 [[ 9.99980667e-01 2.42731753e-03 -5.72479872e-03 4.75991712e+02] [-2.42557596e-03 9.99997010e-01 3.11138840e-04 -2.39401515e+01] [ 5.72553684e-03 -2.97246891e-04 9.99983565e-01 2.55267344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.68071405700005 meters Centerline goodness : 0.982316 with order 1 Centerline is valid? [True, True] Translation: X:476.05, Y:-23.94, Z:2.55 [[ 9.99964742e-01 6.14333629e-03 -5.72488433e-03 4.76048588e+02] [-6.14166450e-03 9.99981092e-01 3.09555661e-04 -2.39422862e+01] [ 5.72667779e-03 -2.74384428e-04 9.99983565e-01 2.55030658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.74071405700005 meters Centerline goodness : 0.982266 with order 1 Centerline is valid? [True, True] Translation: X:476.11, Y:-23.94, Z:2.55 [[ 9.99929976e-01 1.03570488e-02 -5.72492108e-03 4.76107654e+02] [-1.03554498e-02 9.99946333e-01 3.08874408e-04 -2.39445811e+01] [ 5.72781287e-03 -2.49568646e-04 9.99983565e-01 2.55224971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.80071405700005 meters Centerline goodness : 0.981969 with order 1 Centerline is valid? [True, True] Translation: X:476.17, Y:-23.95, Z:2.55 [[ 9.99882916e-01 1.41907909e-02 -5.72499338e-03 4.76165688e+02] [-1.41892623e-02 9.99899280e-01 3.07528609e-04 -2.39460321e+01] [ 5.72878083e-03 -2.26259169e-04 9.99983565e-01 2.55459799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.86071405700005 meters Centerline goodness : 0.983584 with order 1 Centerline is valid? [True, True] Translation: X:476.22, Y:-23.95, Z:2.55 [[ 9.99860122e-01 1.57149359e-02 -5.72508045e-03 4.76223122e+02] [-1.57134416e-02 9.99876489e-01 3.05899003e-04 -2.39480292e+01] [ 5.72918052e-03 -2.15895498e-04 9.99983565e-01 2.55212466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.92071405700005 meters Centerline goodness : 0.982585 with order 1 Centerline is valid? [True, True] Translation: X:476.28, Y:-23.95, Z:2.55 [[ 9.99821262e-01 1.80185043e-02 -5.72510705e-03 4.76282143e+02] [-1.80170506e-02 9.99837633e-01 3.05400339e-04 -2.39536523e+01] [ 5.72968034e-03 -2.02196209e-04 9.99983565e-01 2.55485757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.98071405700006 meters Centerline goodness : 0.983728 with order 1 Centerline is valid? [True, True] Translation: X:476.34, Y:-23.96, Z:2.56 [[ 9.99830971e-01 1.74714820e-02 -5.72512873e-03 4.76341013e+02] [-1.74700217e-02 9.99847341e-01 3.04993311e-04 -2.39573000e+01] [ 5.72958343e-03 -2.04923635e-04 9.99983565e-01 2.55852928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.04071405700006 meters Centerline goodness : 0.984481 with order 1 Centerline is valid? [True, True] Translation: X:476.40, Y:-23.96, Z:2.56 [[ 9.99848194e-01 1.64563750e-02 -5.72515008e-03 4.76398998e+02] [-1.64549003e-02 9.99864563e-01 3.04592066e-04 -2.39618022e+01] [ 5.72938716e-03 -2.10339054e-04 9.99983565e-01 2.56142786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.10071405700006 meters Centerline goodness : 0.985089 with order 1 Centerline is valid? [True, True] Translation: X:476.46, Y:-23.97, Z:2.57 [[ 9.99920310e-01 1.12515098e-02 -5.72517628e-03 4.76457125e+02] [-1.12499527e-02 9.99936671e-01 3.04098850e-04 -2.39677301e+01] [ 5.72823528e-03 -2.39666654e-04 9.99983565e-01 2.56602218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.16071405700006 meters Centerline goodness : 0.984864 with order 1 Centerline is valid? [True, True] Translation: X:476.51, Y:-23.98, Z:2.57 [[ 9.99942155e-01 9.10541012e-03 -5.72519759e-03 4.76514573e+02] [-9.10382025e-03 9.99958513e-01 3.03697064e-04 -2.39757667e+01] [ 5.72772536e-03 -2.51558327e-04 9.99983565e-01 2.56549735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.22071405700007 meters Centerline goodness : 0.986153 with order 1 Centerline is valid? [True, True] Translation: X:476.57, Y:-23.98, Z:2.57 [[ 9.99973398e-01 4.51942385e-03 -5.72522377e-03 4.76572841e+02] [-4.51776180e-03 9.99989749e-01 3.03202791e-04 -2.39841928e+01] [ 5.72653538e-03 -2.77329528e-04 9.99983565e-01 2.56710249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.28071405700007 meters Centerline goodness : 0.984735 with order 1 Centerline is valid? [True, True] Translation: X:476.63, Y:-23.99, Z:2.57 [[ 9.99979868e-01 2.73606628e-03 -5.72524489e-03 4.76631138e+02] [-2.73437736e-03 9.99996216e-01 3.02803349e-04 -2.39883197e+01] [ 5.72605172e-03 -2.87142272e-04 9.99983565e-01 2.56752385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.34071405700007 meters Centerline goodness : 0.985043 with order 1 Centerline is valid? [True, True] Translation: X:476.69, Y:-24.00, Z:2.57 [[ 9.99982862e-01 1.22353057e-03 -5.72526634e-03 4.76688392e+02] [-1.22181923e-03 9.99999208e-01 3.02397373e-04 -2.39979238e+01] [ 5.72563179e-03 -2.95396950e-04 9.99983565e-01 2.56553146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.4007140570001 meters Centerline goodness : 0.985657 with order 1 Centerline is valid? [True, True] Translation: X:476.75, Y:-24.01, Z:2.56 [[ 9.99982568e-01 -1.44387444e-03 -5.72529270e-03 4.76746405e+02] [ 1.44562651e-03 9.99998910e-01 3.01897361e-04 -2.40061577e+01] [ 5.72485056e-03 -3.10168734e-04 9.99983565e-01 2.56307403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.4607140570001 meters Centerline goodness : 0.986245 with order 1 Centerline is valid? [True, True] Translation: X:476.80, Y:-24.01, Z:2.56 [[ 9.99975693e-01 -3.97911813e-03 -5.72531555e-03 4.76804550e+02] [ 3.98090915e-03 9.99992031e-01 3.01463395e-04 -2.40145101e+01] [ 5.72407037e-03 -3.24248028e-04 9.99983565e-01 2.55729175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.5207140570001 meters Centerline goodness : 0.986879 with order 1 Centerline is valid? [True, True] Translation: X:476.86, Y:-24.02, Z:2.55 [[ 9.99922972e-01 -1.10123063e-02 -5.72533236e-03 4.76864418e+02] [ 1.10142104e-02 9.99939296e-01 3.01143917e-04 -2.40224448e+01] [ 5.72166852e-03 -3.64180736e-04 9.99983565e-01 2.55361323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.5807140570001 meters Centerline goodness : 0.986504 with order 1 Centerline is valid? [True, True] Translation: X:476.93, Y:-24.03, Z:2.55 [[ 9.99897262e-01 -1.31409868e-02 -5.72533797e-03 4.76925112e+02] [ 1.31429251e-02 9.99913583e-01 3.01037161e-04 -2.40277427e+01] [ 5.72088728e-03 -3.76253920e-04 9.99983565e-01 2.55226197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.6407140570001 meters Centerline goodness : 0.986553 with order 1 Centerline is valid? [True, True] Translation: X:476.99, Y:-24.03, Z:2.56 [[ 9.99883826e-01 -1.41264337e-02 -5.72529823e-03 4.76987521e+02] [ 1.41283923e-02 9.99900144e-01 3.01791008e-04 -2.40300053e+01] [ 5.72046330e-03 -3.82645207e-04 9.99983565e-01 2.55515656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.7007140570001 meters Centerline goodness : 0.987741 with order 1 Centerline is valid? [True, True] Translation: X:477.05, Y:-24.03, Z:2.56 [[ 9.99860069e-01 -1.57182849e-02 -5.72527634e-03 4.77048185e+02] [ 1.57202718e-02 9.99876383e-01 3.02205851e-04 -2.40316644e+01] [ 5.71981844e-03 -3.92166463e-04 9.99983565e-01 2.55872983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.76071405700003 meters Centerline goodness : 0.987457 with order 1 Centerline is valid? [True, True] Translation: X:477.11, Y:-24.03, Z:2.56 [[ 9.99893685e-01 -1.34104090e-02 -5.72526552e-03 4.77110358e+02] [ 1.34123594e-02 9.99910005e-01 3.02410599e-04 -2.40349741e+01] [ 5.72069482e-03 -3.79167767e-04 9.99983565e-01 2.55692543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.82071405700003 meters Centerline goodness : 0.987844 with order 1 Centerline is valid? [True, True] Translation: X:477.17, Y:-24.03, Z:2.56 [[ 9.99856780e-01 -1.59261028e-02 -5.72524249e-03 4.77171656e+02] [ 1.59280968e-02 9.99873094e-01 3.02845923e-04 -2.40344817e+01] [ 5.71969277e-03 -3.93994766e-04 9.99983565e-01 2.56403343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.88071405700003 meters Centerline goodness : 0.988019 with order 1 Centerline is valid? [True, True] Translation: X:477.23, Y:-24.04, Z:2.56 [[ 9.99894662e-01 -1.33374231e-02 -5.72522551e-03 4.77233490e+02] [ 1.33393767e-02 9.99910981e-01 3.03166669e-04 -2.40369066e+01] [ 5.72067239e-03 -3.79505674e-04 9.99983565e-01 2.56276583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.94071405700004 meters Centerline goodness : 0.986683 with order 1 Centerline is valid? [True, True] Translation: X:477.30, Y:-24.04, Z:2.57 [[ 9.99932938e-01 -1.00668636e-02 -5.72520452e-03 4.77295787e+02] [ 1.00687660e-02 9.99949263e-01 3.03562503e-04 -2.40378869e+01] [ 5.72185812e-03 -3.61187890e-04 9.99983565e-01 2.56583798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.00071405700004 meters Centerline goodness : 0.986726 with order 1 Centerline is valid? [True, True] Translation: X:477.36, Y:-24.04, Z:2.57 [[ 9.99944209e-01 -8.87703323e-03 -5.72518274e-03 4.77356695e+02] [ 8.87891857e-03 9.99960535e-01 3.03972796e-04 -2.40409083e+01] [ 5.72225842e-03 -3.54789269e-04 9.99983565e-01 2.56618969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.06071405700004 meters Centerline goodness : 0.986500 with order 1 Centerline is valid? [True, True] Translation: X:477.42, Y:-24.04, Z:2.57 [[ 9.99971563e-01 -4.90874641e-03 -5.72516665e-03 4.77417802e+02] [ 4.91056867e-03 9.99987897e-01 3.04275407e-04 -2.40424907e+01] [ 5.72360375e-03 -3.32380578e-04 9.99983565e-01 2.56633194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.12071405700004 meters Centerline goodness : 0.987306 with order 1 Centerline is valid? [True, True] Translation: X:477.48, Y:-24.05, Z:2.56 [[ 9.99974189e-01 -4.34103120e-03 -5.72515585e-03 4.77477835e+02] [ 4.34284535e-03 9.99990523e-01 3.04478480e-04 -2.40458634e+01] [ 5.72377985e-03 -3.29334088e-04 9.99983565e-01 2.56362970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.18071405700005 meters Centerline goodness : 0.986030 with order 1 Centerline is valid? [True, True] Translation: X:477.54, Y:-24.05, Z:2.56 [[ 9.99977197e-01 -3.58155878e-03 -5.72515585e-03 4.77537265e+02] [ 3.58336052e-03 9.99993533e-01 3.04478481e-04 -2.40532426e+01] [ 5.72402832e-03 -3.24986835e-04 9.99983565e-01 2.55567438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.24071405700005 meters Centerline goodness : 0.987559 with order 1 Centerline is valid? [True, True] Translation: X:477.60, Y:-24.05, Z:2.56 [[ 9.99918115e-01 -1.14449034e-02 -5.72516122e-03 4.77596721e+02] [ 1.14468329e-02 9.99934437e-01 3.04377541e-04 -2.40525849e+01] [ 5.72130229e-03 -3.69887581e-04 9.99983565e-01 2.56095087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.30071405700005 meters Centerline goodness : 0.986925 with order 1 Centerline is valid? [True, True] Translation: X:477.66, Y:-24.06, Z:2.56 [[ 9.99869993e-01 -1.50737853e-02 -5.72517179e-03 4.77658743e+02] [ 1.50757730e-02 9.99886308e-01 3.04178544e-04 -2.40578578e+01] [ 5.71993576e-03 -3.90450389e-04 9.99983565e-01 2.55617616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.36071405700005 meters Centerline goodness : 0.986221 with order 1 Centerline is valid? [True, True] Translation: X:477.72, Y:-24.06, Z:2.55 [[ 9.99899392e-01 -1.29779924e-02 -5.72509186e-03 4.77719970e+02] [ 1.29799544e-02 9.99915710e-01 3.05675633e-04 -2.40609295e+01] [ 5.72064224e-03 -3.79956311e-04 9.99983565e-01 2.55240209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.42071405700005 meters Centerline goodness : 0.985491 with order 1 Centerline is valid? [True, True] Translation: X:477.78, Y:-24.06, Z:2.55 [[ 9.99953794e-01 -7.72226002e-03 -5.72505358e-03 4.77782389e+02] [ 7.72414029e-03 9.99970121e-01 3.06390862e-04 -2.40636275e+01] [ 5.72251650e-03 -3.50597822e-04 9.99983565e-01 2.55264205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.48071405700006 meters Centerline goodness : 0.985440 with order 1 Centerline is valid? [True, True] Translation: X:477.84, Y:-24.07, Z:2.55 [[ 9.99979280e-01 -2.94324454e-03 -5.72503301e-03 4.77843564e+02] [ 2.94504896e-03 9.99995616e-01 3.06774713e-04 -2.40661088e+01] [ 5.72410500e-03 -3.23628860e-04 9.99983565e-01 2.55346378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.54071405700006 meters Centerline goodness : 0.985737 with order 1 Centerline is valid? [True, True] Translation: X:477.90, Y:-24.07, Z:2.55 [[ 9.99981578e-01 -2.01692206e-03 -5.72502281e-03 4.77903594e+02] [ 2.01871242e-03 9.99997915e-01 3.06965065e-04 -2.40659093e+01] [ 5.72439175e-03 -3.18516584e-04 9.99983565e-01 2.55403120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.60071405700006 meters Centerline goodness : 0.985370 with order 1 Centerline is valid? [True, True] Translation: X:477.96, Y:-24.07, Z:2.55 [[ 9.99982750e-01 -1.31258726e-03 -5.72503293e-03 4.77963047e+02] [ 1.31436504e-03 9.99999089e-01 3.06776164e-04 -2.40691210e+01] [ 5.72462505e-03 -3.14295655e-04 9.99983565e-01 2.55315489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.66071405700006 meters Centerline goodness : 0.984689 with order 1 Centerline is valid? [True, True] Translation: X:478.02, Y:-24.07, Z:2.56 [[ 9.99978017e-01 -3.34507639e-03 -5.72504438e-03 4.78021880e+02] [ 3.34688616e-03 9.99994352e-01 3.06562391e-04 -2.40715224e+01] [ 5.72398657e-03 -3.25716724e-04 9.99983565e-01 2.55599335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.72071405700007 meters Centerline goodness : 0.984417 with order 1 Centerline is valid? [True, True] Translation: X:478.08, Y:-24.07, Z:2.56 [[ 9.99978948e-01 -3.05409365e-03 -5.72505757e-03 4.78081286e+02] [ 3.05589726e-03 9.99995284e-01 3.06315884e-04 -2.40721960e+01] [ 5.72409505e-03 -3.23804624e-04 9.99983565e-01 2.55538601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.78071405700007 meters Centerline goodness : 0.983956 with order 1 Centerline is valid? [True, True] Translation: X:478.14, Y:-24.08, Z:2.55 [[ 9.99981732e-01 -1.93889494e-03 -5.72506847e-03 4.78140462e+02] [ 1.94067916e-03 9.99998070e-01 3.06111913e-04 -2.40754565e+01] [ 5.72446390e-03 -3.17216842e-04 9.99983565e-01 2.55251653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.84071405700007 meters Centerline goodness : 0.983973 with order 1 Centerline is valid? [True, True] Translation: X:478.20, Y:-24.08, Z:2.55 [[ 9.99982865e-01 -1.22189026e-03 -5.72511103e-03 4.78200133e+02] [ 1.22365821e-03 9.99999205e-01 3.05313961e-04 -2.40763173e+01] [ 5.72473341e-03 -3.12314309e-04 9.99983565e-01 2.55425195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.9007140570001 meters Centerline goodness : 0.982871 with order 1 Centerline is valid? [True, True] Translation: X:478.26, Y:-24.08, Z:2.55 [[ 9.99983471e-01 5.29813716e-04 -5.72512168e-03 4.78259067e+02] [-5.28075531e-04 9.99999814e-01 3.05114068e-04 -2.40797555e+01] [ 5.72528227e-03 -3.02085728e-04 9.99983565e-01 2.55228244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.9607140570001 meters Centerline goodness : 0.982339 with order 1 Centerline is valid? [True, True] Translation: X:478.32, Y:-24.08, Z:2.55 [[ 9.99978152e-01 -3.30427209e-03 -5.72513741e-03 4.78317641e+02] [ 3.30607124e-03 9.99994488e-01 3.04818659e-04 -2.40807187e+01] [ 5.72409865e-03 -3.23739711e-04 9.99983565e-01 2.55201638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.0207140570001 meters Centerline goodness : 0.982202 with order 1 Centerline is valid? [True, True] Translation: X:478.38, Y:-24.08, Z:2.55 [[ 9.99977074e-01 -3.61573012e-03 -5.72515903e-03 4.78377056e+02] [ 3.61753203e-03 9.99993410e-01 3.04412011e-04 -2.40815164e+01] [ 5.72402063e-03 -3.25115978e-04 9.99983565e-01 2.55153233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.0807140570001 meters Centerline goodness : 0.982235 with order 1 Centerline is valid? [True, True] Translation: X:478.44, Y:-24.08, Z:2.55 [[ 9.99983542e-01 -3.71322920e-04 -5.72516434e-03 4.78436387e+02] [ 3.73071254e-04 9.99999884e-01 3.04312147e-04 -2.40807787e+01] [ 5.72505068e-03 -3.06443033e-04 9.99983565e-01 2.55151403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.1407140570001 meters Centerline goodness : 0.981179 with order 1 Centerline is valid? [True, True] Translation: X:478.49, Y:-24.08, Z:2.55 [[ 9.99975602e-01 4.00216329e-03 -5.72517523e-03 4.78494715e+02] [-4.00048761e-03 9.99991952e-01 3.04107141e-04 -2.40784150e+01] [ 5.72634624e-03 -2.81196229e-04 9.99983565e-01 2.55249547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.2007140570001 meters Centerline goodness : 0.981423 with order 1 Centerline is valid? [True, True] Translation: X:478.55, Y:-24.08, Z:2.55 [[ 9.99963033e-01 6.41522953e-03 -5.72520205e-03 4.78554072e+02] [-6.41359620e-03 9.99979387e-01 3.03601271e-04 -2.40787432e+01] [ 5.72703171e-03 -2.66870913e-04 9.99983565e-01 2.55222547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.2607140570001 meters Centerline goodness : 0.981583 with order 1 Centerline is valid? [True, True] Translation: X:478.61, Y:-24.08, Z:2.55 [[ 9.99957723e-01 7.19535512e-03 -5.72527104e-03 4.78612761e+02] [-7.19374202e-03 9.99974079e-01 3.02294725e-04 -2.40774819e+01] [ 5.72729775e-03 -2.61095822e-04 9.99983565e-01 2.55397135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.32071405700003 meters Centerline goodness : 0.981345 with order 1 Centerline is valid? [True, True] Translation: X:478.67, Y:-24.08, Z:2.56 [[ 9.99974295e-01 4.31633757e-03 -5.72529240e-03 4.78671076e+02] [-4.31467970e-03 9.99990646e-01 3.01889675e-04 -2.40750646e+01] [ 5.72654190e-03 -2.77179112e-04 9.99983565e-01 2.55867026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.38071405700003 meters Centerline goodness : 0.981772 with order 1 Centerline is valid? [True, True] Translation: X:478.73, Y:-24.08, Z:2.56 [[ 9.99979422e-01 2.89416122e-03 -5.72531860e-03 4.78729569e+02] [-2.89248294e-03 9.99995771e-01 3.01391859e-04 -2.40752792e+01] [ 5.72616667e-03 -2.84825271e-04 9.99983565e-01 2.55996649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.44071405700004 meters Centerline goodness : 0.982320 with order 1 Centerline is valid? [True, True] Translation: X:478.79, Y:-24.08, Z:2.56 [[ 9.99982801e-01 1.27202861e-03 -5.72533917e-03 4.78787968e+02] [-1.27032604e-03 9.99999148e-01 3.01000591e-04 -2.40753265e+01] [ 5.72571718e-03 -2.93722367e-04 9.99983565e-01 2.55627816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.50071405700004 meters Centerline goodness : 0.982123 with order 1 Centerline is valid? [True, True] Translation: X:478.85, Y:-24.08, Z:2.56 [[ 9.99982606e-01 -1.41692790e-03 -5.72536971e-03 4.78846386e+02] [ 1.41867109e-03 9.99998949e-01 3.00418635e-04 -2.40751759e+01] [ 5.72493802e-03 -3.08535826e-04 9.99983565e-01 2.55722424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.56071405700004 meters Centerline goodness : 0.982077 with order 1 Centerline is valid? [True, True] Translation: X:478.90, Y:-24.08, Z:2.56 [[ 9.99973544e-01 -4.48671486e-03 -5.72539076e-03 4.78904991e+02] [ 4.48850592e-03 9.99989882e-01 3.00016835e-04 -2.40776956e+01] [ 5.72398674e-03 -3.25707349e-04 9.99983565e-01 2.55747832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.62071405700004 meters Centerline goodness : 0.982326 with order 1 Centerline is valid? [True, True] Translation: X:478.97, Y:-24.08, Z:2.56 [[ 9.99953776e-01 -7.72431711e-03 -5.72541179e-03 4.78965845e+02] [ 7.72615877e-03 9.99970108e-01 2.99615074e-04 -2.40793429e+01] [ 5.72292632e-03 -3.43836666e-04 9.99983565e-01 2.56008553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.68071405700005 meters Centerline goodness : 0.982847 with order 1 Centerline is valid? [True, True] Translation: X:479.03, Y:-24.08, Z:2.56 [[ 9.99916915e-01 -1.15491575e-02 -5.72541179e-03 4.79027155e+02] [ 1.15510616e-02 9.99933239e-01 2.99615074e-04 -2.40822743e+01] [ 5.72156925e-03 -3.65724765e-04 9.99983565e-01 2.56245211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.74071405700005 meters Centerline goodness : 0.982991 with order 1 Centerline is valid? [True, True] Translation: X:479.09, Y:-24.09, Z:2.56 [[ 9.99853502e-01 -1.61305604e-02 -5.72540153e-03 4.79089603e+02] [ 1.61325404e-02 9.99869817e-01 2.99810891e-04 -2.40875755e+01] [ 5.71982007e-03 -3.92132241e-04 9.99983565e-01 2.56223616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.80071405700005 meters Centerline goodness : 0.983949 with order 1 Centerline is valid? [True, True] Translation: X:479.15, Y:-24.09, Z:2.56 [[ 9.99761058e-01 -2.10961475e-02 -5.72532750e-03 4.79150854e+02] [ 2.10982165e-02 9.99777362e-01 3.01218017e-04 -2.40917536e+01] [ 5.71769829e-03 -4.21940243e-04 9.99983565e-01 2.56043973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.86071405700005 meters Centerline goodness : 0.983602 with order 1 Centerline is valid? [True, True] Translation: X:479.21, Y:-24.10, Z:2.56 [[ 9.99721779e-01 -2.28819963e-02 -5.72528764e-03 4.79212253e+02] [ 2.28840988e-02 9.99738079e-01 3.01973721e-04 -2.40958105e+01] [ 5.71687831e-03 -4.32907753e-04 9.99983565e-01 2.55648092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.92071405700005 meters Centerline goodness : 0.983817 with order 1 Centerline is valid? [True, True] Translation: X:479.28, Y:-24.10, Z:2.56 [[ 9.99726453e-01 -2.26768762e-02 -5.72527215e-03 4.79275021e+02] [ 2.26789770e-02 9.99742753e-01 3.02267250e-04 -2.40976040e+01] [ 5.71694486e-03 -4.32027881e-04 9.99983565e-01 2.55756433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.98071405700006 meters Centerline goodness : 0.984610 with order 1 Centerline is valid? [True, True] Translation: X:479.34, Y:-24.10, Z:2.56 [[ 9.99748510e-01 -2.16826766e-02 -5.72524136e-03 4.79337789e+02] [ 2.16847645e-02 9.99764812e-01 3.02849277e-04 -2.40967105e+01] [ 5.71732827e-03 -4.26923624e-04 9.99983565e-01 2.56041569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.04071405700006 meters Centerline goodness : 0.986003 with order 1 Centerline is valid? [True, True] Translation: X:479.40, Y:-24.09, Z:2.57 [[ 9.99743048e-01 -2.19330862e-02 -5.72520906e-03 4.79399742e+02] [ 2.19351816e-02 9.99759349e-01 3.03458666e-04 -2.40906456e+01] [ 5.71717550e-03 -4.28964193e-04 9.99983565e-01 2.56529236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.10071405700006 meters Centerline goodness : 0.986286 with order 1 Centerline is valid? [True, True] Translation: X:479.46, Y:-24.09, Z:2.57 [[ 9.99723849e-01 -2.27914171e-02 -5.72517297e-03 4.79463206e+02] [ 2.27935304e-02 9.99740147e-01 3.04138111e-04 -2.40915010e+01] [ 5.71675353e-03 -4.34551027e-04 9.99983565e-01 2.56691209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.16071405700006 meters Centerline goodness : 0.985763 with order 1 Centerline is valid? [True, True] Translation: X:479.53, Y:-24.09, Z:2.56 [[ 9.99701802e-01 -2.37387688e-02 -5.72513689e-03 4.79526674e+02] [ 2.37409014e-02 9.99718099e-01 3.04815728e-04 -2.40936097e+01] [ 5.71628701e-03 -4.40644743e-04 9.99983565e-01 2.56275774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.22071405700007 meters Centerline goodness : 0.986152 with order 1 Centerline is valid? [True, True] Translation: X:479.59, Y:-24.10, Z:2.56 [[ 9.99684995e-01 -2.44363267e-02 -5.72509907e-03 4.79590025e+02] [ 2.44384747e-02 9.99701289e-01 3.05524307e-04 -2.40976137e+01] [ 5.71592303e-03 -4.45340754e-04 9.99983565e-01 2.56211835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.28071405700007 meters Centerline goodness : 0.974531 with order 1 Centerline is valid? [True, True] Translation: X:479.65, Y:-24.10, Z:2.56 [[ 9.99731533e-01 -2.24518457e-02 -5.72506115e-03 4.79652026e+02] [ 2.24539654e-02 9.99747831e-01 3.06233317e-04 -2.40987530e+01] [ 5.71674196e-03 -4.34701428e-04 9.99983565e-01 2.55631895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.34071405700007 meters Centerline goodness : 0.980816 with order 1 Centerline is valid? [True, True] Translation: X:479.71, Y:-24.10, Z:2.56 [[ 9.99781926e-01 -2.00829458e-02 -5.72502436e-03 4.79714765e+02] [ 2.00850307e-02 9.99798228e-01 3.06919561e-04 -2.40982807e+01] [ 5.71770536e-03 -4.21839920e-04 9.99983565e-01 2.55829002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.4007140570001 meters Centerline goodness : 0.979704 with order 1 Centerline is valid? [True, True] Translation: X:479.78, Y:-24.10, Z:2.56 [[ 9.99932493e-01 -1.01110775e-02 -5.72499273e-03 4.79776561e+02] [ 1.01130032e-02 9.99948815e-01 3.07508477e-04 -2.41006555e+01] [ 5.72159045e-03 -3.65384588e-04 9.99983565e-01 2.56036506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.4607140570001 meters Centerline goodness : 0.978505 with order 1 Centerline is valid? [True, True] Translation: X:479.84, Y:-24.10, Z:2.56 [[ 9.99981464e-01 2.07261779e-03 -5.72495599e-03 4.79836659e+02] [-2.07088725e-03 9.99997808e-01 3.08190963e-04 -2.41029893e+01] [ 5.72558220e-03 -2.96329512e-04 9.99983565e-01 2.56236944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.5207140570001 meters Centerline goodness : 0.985968 with order 1 Centerline is valid? [True, True] Translation: X:479.89, Y:-24.11, Z:2.57 [[ 9.99912742e-01 1.19052202e-02 -5.72494865e-03 4.79894608e+02] [-1.19036497e-02 9.99929102e-01 3.08327153e-04 -2.41100799e+01] [ 5.72821346e-03 -2.40152466e-04 9.99983565e-01 2.56504737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.5807140570001 meters Centerline goodness : 0.978642 with order 1 Centerline is valid? [True, True] Translation: X:479.95, Y:-24.11, Z:2.56 [[ 9.99930866e-01 1.02706881e-02 -5.72505268e-03 4.79953301e+02] [-1.02691020e-02 9.99947224e-01 3.06383290e-04 -2.41068806e+01] [ 5.72789731e-03 -2.47570959e-04 9.99983565e-01 2.56489318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.6407140570001 meters Centerline goodness : 0.985602 with order 1 Centerline is valid? [True, True] Translation: X:480.01, Y:-24.12, Z:2.56 [[ 9.99825748e-01 1.77678737e-02 -5.72507542e-03 4.80010141e+02] [-1.77664127e-02 9.99842118e-01 3.05957882e-04 -2.41214780e+01] [ 5.72960775e-03 -2.04190515e-04 9.99983565e-01 2.56266476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.7007140570001 meters Centerline goodness : 0.978385 with order 1 Centerline is valid? [True, True] Translation: X:480.07, Y:-24.12, Z:2.57 [[ 9.99957649e-01 7.20573077e-03 -5.72511325e-03 4.80068773e+02] [-7.20410096e-03 9.99974004e-01 3.05248244e-04 -2.41169701e+01] [ 5.72716396e-03 -2.63991022e-04 9.99983565e-01 2.56571230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.7607140570001 meters Centerline goodness : 0.978792 with order 1 Centerline is valid? [True, True] Translation: X:480.13, Y:-24.12, Z:2.57 [[ 9.99982944e-01 1.15512902e-03 -5.72517096e-03 4.80126898e+02] [-1.15340649e-03 9.99999289e-01 3.04162007e-04 -2.41214683e+01] [ 5.72551823e-03 -2.97553370e-04 9.99983565e-01 2.56641806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.82071405700003 meters Centerline goodness : 0.985724 with order 1 Centerline is valid? [True, True] Translation: X:480.19, Y:-24.13, Z:2.57 [[ 9.99982726e-01 -1.33014651e-03 -5.72521031e-03 4.80185205e+02] [ 1.33190541e-03 9.99999067e-01 3.03419582e-04 -2.41339181e+01] [ 5.72480137e-03 -3.11039780e-04 9.99983565e-01 2.56517523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.88071405700003 meters Centerline goodness : 0.984882 with order 1 Centerline is valid? [True, True] Translation: X:480.24, Y:-24.15, Z:2.56 [[ 9.99979252e-01 2.95257297e-03 -5.72524156e-03 4.80242917e+02] [-2.95088744e-03 9.99995600e-01 3.02828769e-04 -2.41513236e+01] [ 5.72611049e-03 -2.85927943e-04 9.99983565e-01 2.56036837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.94071405700004 meters Centerline goodness : 0.984696 with order 1 Centerline is valid? [True, True] Translation: X:480.30, Y:-24.15, Z:2.56 [[ 9.99983546e-01 -3.58181987e-04 -5.72533179e-03 4.80301699e+02] [ 3.59911842e-04 9.99999890e-01 3.01113157e-04 -2.41512970e+01] [ 5.72522330e-03 -3.03168817e-04 9.99983565e-01 2.56476149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.00071405700004 meters Centerline goodness : 0.984997 with order 1 Centerline is valid? [True, True] Translation: X:480.36, Y:-24.15, Z:2.57 [[ 9.99979292e-01 2.93860616e-03 -5.72535340e-03 4.80360099e+02] [-2.93693255e-03 9.99995642e-01 3.00701642e-04 -2.41537577e+01] [ 5.72621209e-03 -2.83880439e-04 9.99983565e-01 2.56590715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.06071405700004 meters Centerline goodness : 0.984880 with order 1 Centerline is valid? [True, True] Translation: X:480.42, Y:-24.15, Z:2.57 [[ 9.99970671e-01 5.08696676e-03 -5.72542893e-03 4.80417673e+02] [-5.08533653e-03 9.99987025e-01 2.99256559e-04 -2.41548198e+01] [ 5.72687695e-03 -2.70132049e-04 9.99983565e-01 2.56696683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.12071405700004 meters Centerline goodness : 0.985240 with order 1 Centerline is valid? [True, True] Translation: X:480.48, Y:-24.16, Z:2.57 [[ 9.99968027e-01 5.58235753e-03 -5.72551686e-03 4.80475931e+02] [-5.58074507e-03 9.99984383e-01 2.97564745e-04 -2.41580241e+01] [ 5.72708856e-03 -2.65602581e-04 9.99983565e-01 2.56591433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.18071405700005 meters Centerline goodness : 0.985526 with order 1 Centerline is valid? [True, True] Translation: X:480.53, Y:-24.16, Z:2.57 [[ 9.99979183e-01 2.97515402e-03 -5.72554973e-03 4.80533733e+02] [-2.97350254e-03 9.99995535e-01 2.96930892e-04 -2.41599721e+01] [ 5.72640758e-03 -2.79899775e-04 9.99983565e-01 2.56779371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.24071405700005 meters Centerline goodness : 0.985256 with order 1 Centerline is valid? [True, True] Translation: X:480.59, Y:-24.16, Z:2.57 [[ 9.99980836e-01 2.35478155e-03 -5.72557663e-03 4.80592611e+02] [-2.35312289e-03 9.99997187e-01 2.96411225e-04 -2.41629999e+01] [ 5.72625851e-03 -2.82932559e-04 9.99983565e-01 2.56624008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.30071405700005 meters Centerline goodness : 0.986258 with order 1 Centerline is valid? [True, True] Translation: X:480.65, Y:-24.17, Z:2.57 [[ 9.99981729e-01 1.93906756e-03 -5.72559752e-03 4.80651551e+02] [-1.93740441e-03 9.99998079e-01 2.96007286e-04 -2.41656169e+01] [ 5.72616050e-03 -2.84909079e-04 9.99983565e-01 2.56617243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.36071405700005 meters Centerline goodness : 0.985828 with order 1 Centerline is valid? [True, True] Translation: X:480.71, Y:-24.17, Z:2.57 [[ 9.99983578e-01 2.45758129e-04 -5.72561843e-03 4.80709914e+02] [-2.44069613e-04 9.99999927e-01 2.95602213e-04 -2.41662134e+01] [ 5.72569065e-03 -2.94199909e-04 9.99983565e-01 2.56680271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.42071405700005 meters Centerline goodness : 0.986014 with order 1 Centerline is valid? [True, True] Translation: X:480.77, Y:-24.17, Z:2.57 [[ 9.99983147e-01 9.60234863e-04 -5.72563921e-03 4.80769095e+02] [-9.58560331e-04 9.99999497e-01 2.95199148e-04 -2.41676602e+01] [ 5.72591979e-03 -2.89705803e-04 9.99983565e-01 2.56843027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.48071405700006 meters Centerline goodness : 0.986035 with order 1 Centerline is valid? [True, True] Translation: X:480.83, Y:-24.17, Z:2.57 [[ 9.99983543e-01 3.59758982e-04 -5.72571523e-03 4.80826619e+02] [-3.58083095e-04 9.99999893e-01 2.93717253e-04 -2.41704132e+01] [ 5.72582028e-03 -2.91662138e-04 9.99983565e-01 2.56958705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.54071405700006 meters Centerline goodness : 0.985389 with order 1 Centerline is valid? [True, True] Translation: X:480.88, Y:-24.17, Z:2.57 [[ 9.99983318e-01 7.60969341e-04 -5.72574189e-03 4.80884338e+02] [-7.59302988e-04 9.99999669e-01 2.93196573e-04 -2.41739422e+01] [ 5.72596311e-03 -2.88844109e-04 9.99983565e-01 2.57072446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.60071405700006 meters Centerline goodness : 0.985367 with order 1 Centerline is valid? [True, True] Translation: X:480.94, Y:-24.18, Z:2.57 [[ 9.99980046e-01 -2.66888277e-03 -5.72576759e-03 4.80942042e+02] [ 2.67060233e-03 9.99996391e-01 2.92693836e-04 -2.41777262e+01] [ 5.72496576e-03 -3.07979244e-04 9.99983565e-01 2.57142874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.66071405700006 meters Centerline goodness : 0.986135 with order 1 Centerline is valid? [True, True] Translation: X:481.00, Y:-24.18, Z:2.57 [[ 9.99960500e-01 -6.79808439e-03 -5.72579260e-03 4.81002019e+02] [ 6.79986862e-03 9.99976838e-01 2.92203792e-04 -2.41816080e+01] [ 5.72367355e-03 -3.31126888e-04 9.99983565e-01 2.57118619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.72071405700007 meters Centerline goodness : 0.984933 with order 1 Centerline is valid? [True, True] Translation: X:481.06, Y:-24.18, Z:2.57 [[ 9.99908755e-01 -1.22350353e-02 -5.72580315e-03 4.81062709e+02] [ 1.22369072e-02 9.99925084e-01 2.91996870e-04 -2.41838822e+01] [ 5.72180160e-03 -3.62036349e-04 9.99983565e-01 2.57131290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.78071405700007 meters Centerline goodness : 0.986802 with order 1 Centerline is valid? [True, True] Translation: X:481.13, Y:-24.19, Z:2.57 [[ 9.99898480e-01 -1.30478032e-02 -5.72577930e-03 4.81125204e+02] [ 1.30496910e-02 9.99914806e-01 2.92463821e-04 -2.41882145e+01] [ 5.72147549e-03 -3.67153781e-04 9.99983565e-01 2.56985886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.84071405700007 meters Centerline goodness : 0.985637 with order 1 Centerline is valid? [True, True] Translation: X:481.19, Y:-24.19, Z:2.58 [[ 9.99902717e-01 -1.27189534e-02 -5.72575849e-03 4.81187273e+02] [ 1.27208381e-02 9.99919044e-01 2.92870601e-04 -2.41873673e+01] [ 5.72156995e-03 -3.65678556e-04 9.99983565e-01 2.57531479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.9007140570001 meters Centerline goodness : 0.985213 with order 1 Centerline is valid? [True, True] Translation: X:481.25, Y:-24.19, Z:2.58 [[ 9.99927448e-01 -1.05978180e-02 -5.72573751e-03 4.81248329e+02] [ 1.05996704e-02 9.99943779e-01 2.93280157e-04 -2.41900836e+01] [ 5.72230748e-03 -3.53949810e-04 9.99983565e-01 2.57536901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.9607140570001 meters Centerline goodness : 0.985500 with order 1 Centerline is valid? [True, True] Translation: X:481.31, Y:-24.19, Z:2.57 [[ 9.99913000e-01 -1.18831483e-02 -5.72572194e-03 4.81310314e+02] [ 1.18850235e-02 9.99929328e-01 2.93583899e-04 -2.41931751e+01] [ 5.72182859e-03 -3.61608696e-04 9.99983565e-01 2.57493614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.0207140570001 meters Centerline goodness : 0.986186 with order 1 Centerline is valid? [True, True] Translation: X:481.37, Y:-24.20, Z:2.57 [[ 9.99860440e-01 -1.56944785e-02 -5.72570012e-03 4.81373123e+02] [ 1.56964183e-02 9.99876760e-01 2.94008768e-04 -2.41967845e+01] [ 5.72038018e-03 -3.83840721e-04 9.99983565e-01 2.57435097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.0807140570001 meters Centerline goodness : 0.986408 with order 1 Centerline is valid? [True, True] Translation: X:481.43, Y:-24.20, Z:2.57 [[ 9.99808944e-01 -1.86894012e-02 -5.72560976e-03 4.81434948e+02] [ 1.86913999e-02 9.99825257e-01 2.95758135e-04 -2.42003900e+01] [ 5.71908171e-03 -4.02721290e-04 9.99983565e-01 2.57185033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.1407140570001 meters Centerline goodness : 0.985602 with order 1 Centerline is valid? [True, True] Translation: X:481.50, Y:-24.20, Z:2.57 [[ 9.99818155e-01 -1.81899865e-02 -5.72555570e-03 4.81497049e+02] [ 1.81919830e-02 9.99834468e-01 2.96801034e-04 -2.42029721e+01] [ 5.71920913e-03 -4.00906274e-04 9.99983565e-01 2.57097139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.2007140570001 meters Centerline goodness : 0.987644 with order 1 Centerline is valid? [True, True] Translation: X:481.56, Y:-24.20, Z:2.57 [[ 9.99866951e-01 -1.52741206e-02 -5.72553442e-03 4.81559277e+02] [ 1.52760718e-02 9.99883270e-01 2.97210964e-04 -2.42044784e+01] [ 5.72032644e-03 -3.84635095e-04 9.99983565e-01 2.57415464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.2607140570001 meters Centerline goodness : 0.986240 with order 1 Centerline is valid? [True, True] Translation: X:481.62, Y:-24.21, Z:2.57 [[ 9.99847763e-01 -1.64823997e-02 -5.72551197e-03 4.81620717e+02] [ 1.64843731e-02 9.99864079e-01 2.97642738e-04 -2.42071757e+01] [ 5.71982789e-03 -3.91978902e-04 9.99983565e-01 2.57400444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.32071405700003 meters Centerline goodness : 0.986349 with order 1 Centerline is valid? [True, True] Translation: X:481.68, Y:-24.21, Z:2.58 [[ 9.99891573e-01 -1.35668721e-02 -5.72549544e-03 4.81682595e+02] [ 1.35687997e-02 9.99907895e-01 2.97960328e-04 -2.42095527e+01] [ 5.72092571e-03 -3.75616122e-04 9.99983565e-01 2.57657866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.38071405700003 meters Centerline goodness : 0.985578 with order 1 Centerline is valid? [True, True] Translation: X:481.74, Y:-24.21, Z:2.57 [[ 9.99867813e-01 -1.52176343e-02 -5.72547350e-03 4.81743477e+02] [ 1.52195913e-02 9.99884131e-01 2.98381370e-04 -2.42128597e+01] [ 5.72026944e-03 -3.85481294e-04 9.99983565e-01 2.57158020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.44071405700004 meters Centerline goodness : 0.985191 with order 1 Centerline is valid? [True, True] Translation: X:481.81, Y:-24.22, Z:2.57 [[ 9.99854551e-01 -1.60653451e-02 -5.72545728e-03 4.81805549e+02] [ 1.60673176e-02 9.99870868e-01 2.98692236e-04 -2.42164865e+01] [ 5.71991935e-03 -3.90641533e-04 9.99983565e-01 2.57082985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.50071405700004 meters Centerline goodness : 0.985063 with order 1 Centerline is valid? [True, True] Translation: X:481.87, Y:-24.22, Z:2.57 [[ 9.99838046e-01 -1.70617057e-02 -5.72543504e-03 4.81867888e+02] [ 1.70636969e-02 9.99854360e-01 2.99118108e-04 -2.42211234e+01] [ 5.71949772e-03 -3.96766753e-04 9.99983565e-01 2.57266006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.56071405700004 meters Centerline goodness : 0.986005 with order 1 Centerline is valid? [True, True] Translation: X:481.93, Y:-24.23, Z:2.57 [[ 9.99746466e-01 -2.17766766e-02 -5.72541283e-03 4.81931025e+02] [ 2.17787471e-02 9.99762770e-01 2.99542539e-04 -2.42255907e+01] [ 5.71753155e-03 -4.24158913e-04 9.99983565e-01 2.57331768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.62071405700004 meters Centerline goodness : 0.986572 with order 1 Centerline is valid? [True, True] Translation: X:481.99, Y:-24.23, Z:2.58 [[ 9.99748826e-01 -2.16680509e-02 -5.72537870e-03 4.81993125e+02] [ 2.16701234e-02 9.99765130e-01 3.00193404e-04 -2.42297844e+01] [ 5.71752938e-03 -4.24187666e-04 9.99983565e-01 2.57540915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.68071405700005 meters Centerline goodness : 0.986038 with order 1 Centerline is valid? [True, True] Translation: X:482.06, Y:-24.23, Z:2.58 [[ 9.99850002e-01 -1.63460902e-02 -5.72535056e-03 4.82055784e+02] [ 1.63480789e-02 9.99866316e-01 3.00729211e-04 -2.42321557e+01] [ 5.71966943e-03 -3.94282585e-04 9.99983565e-01 2.57545027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.74071405700005 meters Centerline goodness : 0.985594 with order 1 Centerline is valid? [True, True] Translation: X:482.12, Y:-24.23, Z:2.58 [[ 9.99946600e-01 -8.60336603e-03 -5.72531574e-03 4.82116961e+02] [ 8.60523217e-03 9.99962929e-01 3.01390599e-04 -2.42316396e+01] [ 5.72251053e-03 -3.50642175e-04 9.99983565e-01 2.57821621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.80071405700005 meters Centerline goodness : 0.985885 with order 1 Centerline is valid? [True, True] Translation: X:482.18, Y:-24.23, Z:2.58 [[ 9.99972891e-01 4.63019664e-03 -5.72529868e-03 4.82178354e+02] [-4.62854491e-03 9.99989243e-01 3.01714299e-04 -2.42341420e+01] [ 5.72663409e-03 -2.75206317e-04 9.99983565e-01 2.57623950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.86071405700005 meters Centerline goodness : 0.984861 with order 1 Centerline is valid? [True, True] Translation: X:482.24, Y:-24.24, Z:2.58 [[ 9.99876766e-01 1.46175876e-02 -5.72528756e-03 4.82236232e+02] [-1.46160981e-02 9.99893134e-01 3.01925293e-04 -2.42360092e+01] [ 5.72908914e-03 -2.18206721e-04 9.99983565e-01 2.57724861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.92071405700005 meters Centerline goodness : 0.985332 with order 1 Centerline is valid? [True, True] Translation: X:482.30, Y:-24.24, Z:2.57 [[ 9.99880597e-01 1.43531676e-02 -5.72531484e-03 4.82295234e+02] [-1.43516767e-02 9.99896964e-01 3.01407034e-04 -2.42422709e+01] [ 5.72905107e-03 -2.19203178e-04 9.99983565e-01 2.57353210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.98071405700006 meters Centerline goodness : 0.985268 with order 1 Centerline is valid? [True, True] Translation: X:482.35, Y:-24.25, Z:2.57 [[ 9.99914757e-01 1.17345160e-02 -5.72533664e-03 4.82352441e+02] [-1.17329846e-02 9.99931121e-01 3.00992458e-04 -2.42458483e+01] [ 5.72847428e-03 -2.33791514e-04 9.99983565e-01 2.57410079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.04071405700006 meters Centerline goodness : 0.986218 with order 1 Centerline is valid? [True, True] Translation: X:482.41, Y:-24.25, Z:2.57 [[ 9.99980333e-01 -2.56005102e-03 -5.72538658e-03 4.82410084e+02] [ 2.56181073e-03 9.99996674e-01 3.00039492e-04 -2.42533550e+01] [ 5.72459942e-03 -3.14700948e-04 9.99983565e-01 2.57437676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.10071405700006 meters Centerline goodness : 0.986121 with order 1 Centerline is valid? [True, True] Translation: X:482.47, Y:-24.26, Z:2.58 [[ 9.99923633e-01 -1.09520904e-02 -5.72541240e-03 4.82468125e+02] [ 1.09539844e-02 9.99939958e-01 2.99545854e-04 -2.42591490e+01] [ 5.72178799e-03 -3.62239057e-04 9.99983565e-01 2.58002343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.16071405700006 meters Centerline goodness : 0.986590 with order 1 Centerline is valid? [True, True] Translation: X:482.53, Y:-24.27, Z:2.58 [[ 9.99841239e-01 -1.68735297e-02 -5.72542523e-03 4.82529889e+02] [ 1.68755189e-02 9.99857554e-01 2.99300570e-04 -2.42654702e+01] [ 5.71955940e-03 -3.95872574e-04 9.99983565e-01 2.57889241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.22071405700007 meters Centerline goodness : 0.986623 with order 1 Centerline is valid? [True, True] Translation: X:482.59, Y:-24.27, Z:2.58 [[ 9.99778234e-01 -2.02658163e-02 -5.72534722e-03 4.82593181e+02] [ 2.02678694e-02 9.99794540e-01 3.00785364e-04 -2.42698306e+01] [ 5.71807523e-03 -4.16759250e-04 9.99983565e-01 2.57879418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.28071405700007 meters Centerline goodness : 0.986264 with order 1 Centerline is valid? [True, True] Translation: X:482.66, Y:-24.27, Z:2.57 [[ 9.99756837e-01 -2.12952340e-02 -5.72531395e-03 4.82655705e+02] [ 2.12973074e-02 9.99773141e-01 3.01417293e-04 -2.42744082e+01] [ 5.71759636e-03 -4.23277770e-04 9.99983565e-01 2.57431607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.34071405700007 meters Centerline goodness : 0.986414 with order 1 Centerline is valid? [True, True] Translation: X:482.72, Y:-24.28, Z:2.58 [[ 9.99845990e-01 -1.65896717e-02 -5.72528539e-03 4.82716912e+02] [ 1.65916714e-02 9.99862303e-01 3.01958837e-04 -2.42788813e+01] [ 5.71948764e-03 -3.96904386e-04 9.99983565e-01 2.57795408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.4007140570001 meters Centerline goodness : 0.984897 with order 1 Centerline is valid? [True, True] Translation: X:482.78, Y:-24.28, Z:2.58 [[ 9.99885030e-01 -1.40409353e-02 -5.72525104e-03 4.82777750e+02] [ 1.40428972e-02 9.99901348e-01 3.02608826e-04 -2.42846410e+01] [ 5.72043732e-03 -3.82973146e-04 9.99983565e-01 2.57556458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.4607140570001 meters Centerline goodness : 0.985675 with order 1 Centerline is valid? [True, True] Translation: X:482.84, Y:-24.29, Z:2.58 [[ 9.99914260e-01 -1.17768674e-02 -5.72523467e-03 4.82839369e+02] [ 1.17787940e-02 9.99930582e-01 3.02918135e-04 -2.42890879e+01] [ 5.72126981e-03 -3.70328523e-04 9.99983565e-01 2.57538722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.5207140570001 meters Centerline goodness : 0.986393 with order 1 Centerline is valid? [True, True] Translation: X:482.90, Y:-24.30, Z:2.57 [[ 9.99916006e-01 -1.16276628e-02 -5.72521179e-03 4.82900833e+02] [ 1.16295895e-02 9.99932328e-01 3.03349936e-04 -2.42959285e+01] [ 5.72129710e-03 -3.69906320e-04 9.99983565e-01 2.57011542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.5807140570001 meters Centerline goodness : 0.985813 with order 1 Centerline is valid? [True, True] Translation: X:482.96, Y:-24.30, Z:2.57 [[ 9.99881926e-01 -1.42603196e-02 -5.72518917e-03 4.82963373e+02] [ 1.42622917e-02 9.99898242e-01 3.03776347e-04 -2.43008170e+01] [ 5.72027464e-03 -3.85394797e-04 9.99983565e-01 2.56756716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.6407140570001 meters Centerline goodness : 0.986340 with order 1 Centerline is valid? [True, True] Translation: X:483.03, Y:-24.30, Z:2.57 [[ 9.99868165e-01 -1.51946031e-02 -5.72516658e-03 4.83025458e+02] [ 1.51965928e-02 9.99884479e-01 3.04201362e-04 -2.43039851e+01] [ 5.71988299e-03 -3.91164283e-04 9.99983565e-01 2.57288989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.7007140570001 meters Centerline goodness : 0.986328 with order 1 Centerline is valid? [True, True] Translation: X:483.09, Y:-24.31, Z:2.57 [[ 9.99797293e-01 -1.93027229e-02 -5.72514374e-03 4.83086517e+02] [ 1.93047821e-02 9.99813599e-01 3.04630636e-04 -2.43106123e+01] [ 5.71819637e-03 -4.15091538e-04 9.99983565e-01 2.56866959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.7607140570001 meters Centerline goodness : 0.985562 with order 1 Centerline is valid? [True, True] Translation: X:483.15, Y:-24.32, Z:2.57 [[ 9.99826732e-01 -1.77123741e-02 -5.72512679e-03 4.83148601e+02] [ 1.77144092e-02 9.99843041e-01 3.04948966e-04 -2.43160692e+01] [ 5.71882681e-03 -4.06313367e-04 9.99983565e-01 2.57150260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.82071405700003 meters Centerline goodness : 0.986092 with order 1 Centerline is valid? [True, True] Translation: X:483.21, Y:-24.32, Z:2.57 [[ 9.99849506e-01 -1.63764884e-02 -5.72510480e-03 4.83210234e+02] [ 1.63785041e-02 9.99865817e-01 3.05361165e-04 -2.43218370e+01] [ 5.71933584e-03 -3.99083862e-04 9.99983565e-01 2.56899725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.88071405700003 meters Centerline goodness : 0.985793 with order 1 Centerline is valid? [True, True] Translation: X:483.27, Y:-24.33, Z:2.57 [[ 9.99928761e-01 -1.04736494e-02 -5.72508165e-03 4.83272632e+02] [ 1.04755712e-02 9.99945083e-01 3.05794588e-04 -2.43290267e+01] [ 5.72156446e-03 -3.65746304e-04 9.99983565e-01 2.56855330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.94071405700004 meters Centerline goodness : 0.985457 with order 1 Centerline is valid? [True, True] Translation: X:483.33, Y:-24.33, Z:2.57 [[ 9.99913041e-01 -1.18800263e-02 -5.72504853e-03 4.83333306e+02] [ 1.18819746e-02 9.99929360e-01 3.06413485e-04 -2.43334407e+01] [ 5.72100391e-03 -3.74411721e-04 9.99983565e-01 2.56974380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.00071405700004 meters Centerline goodness : 0.985501 with order 1 Centerline is valid? [True, True] Translation: X:483.40, Y:-24.34, Z:2.57 [[ 9.99885663e-01 -1.39958964e-02 -5.72503155e-03 4.83395270e+02] [ 1.39978810e-02 9.99901978e-01 3.06730327e-04 -2.43380507e+01] [ 5.72017740e-03 -3.86833567e-04 9.99983565e-01 2.56622197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.06071405700004 meters Centerline goodness : 0.986443 with order 1 Centerline is valid? [True, True] Translation: X:483.46, Y:-24.34, Z:2.57 [[ 9.99893486e-01 -1.34253524e-02 -5.72500958e-03 4.83457729e+02] [ 1.34273300e-02 9.99909802e-01 3.07139876e-04 -2.43407033e+01] [ 5.72036973e-03 -3.83978755e-04 9.99983565e-01 2.56925109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.12071405700004 meters Centerline goodness : 0.987242 with order 1 Centerline is valid? [True, True] Translation: X:483.52, Y:-24.34, Z:2.57 [[ 9.99902481e-01 -1.27378899e-02 -5.72498648e-03 4.83520348e+02] [ 1.27398587e-02 9.99918797e-01 3.07569802e-04 -2.43434555e+01] [ 5.72060381e-03 -3.80475327e-04 9.99983565e-01 2.57345529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.18071405700005 meters Centerline goodness : 0.986848 with order 1 Centerline is valid? [True, True] Translation: X:483.58, Y:-24.34, Z:2.58 [[ 9.99900493e-01 -1.28929442e-02 -5.72495747e-03 4.83581198e+02] [ 1.28949187e-02 9.99916810e-01 3.08108917e-04 -2.43428119e+01] [ 5.72050877e-03 -3.81901119e-04 9.99983565e-01 2.58334623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.24071405700005 meters Centerline goodness : 0.987001 with order 1 Centerline is valid? [True, True] Translation: X:483.64, Y:-24.35, Z:2.58 [[ 9.99871163e-01 -1.49960778e-02 -5.72494031e-03 4.83643167e+02] [ 1.49980884e-02 9.99887475e-01 3.08427375e-04 -2.43487765e+01] [ 5.71967091e-03 -3.94250799e-04 9.99983565e-01 2.57816587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.30071405700005 meters Centerline goodness : 0.987734 with order 1 Centerline is valid? [True, True] Translation: X:483.70, Y:-24.35, Z:2.58 [[ 9.99837582e-01 -1.70890051e-02 -5.72491656e-03 4.83704494e+02] [ 1.70910524e-02 9.99853890e-01 3.08867593e-04 -2.43515661e+01] [ 5.71880185e-03 -4.06662276e-04 9.99983565e-01 2.58178062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.36071405700005 meters Centerline goodness : 0.986854 with order 1 Centerline is valid? [True, True] Translation: X:483.77, Y:-24.36, Z:2.58 [[ 9.99840978e-01 -1.68891912e-02 -5.72489904e-03 4.83765606e+02] [ 1.68912370e-02 9.99857285e-01 3.09192023e-04 -2.43575832e+01] [ 5.71886001e-03 -4.05843481e-04 9.99983565e-01 2.57833003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.42071405700005 meters Centerline goodness : 0.986548 with order 1 Centerline is valid? [True, True] Translation: X:483.83, Y:-24.36, Z:2.58 [[ 9.99846134e-01 -1.65811634e-02 -5.72488183e-03 4.83828039e+02] [ 1.65832060e-02 9.99862441e-01 3.09510340e-04 -2.43603440e+01] [ 5.71896228e-03 -4.04399612e-04 9.99983565e-01 2.58018803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.48071405700006 meters Centerline goodness : 0.986056 with order 1 Centerline is valid? [True, True] Translation: X:483.89, Y:-24.36, Z:2.58 [[ 9.99908149e-01 -1.22848925e-02 -5.72485814e-03 4.83890236e+02] [ 1.22868675e-02 9.99924466e-01 3.09947931e-04 -2.43626743e+01] [ 5.72061804e-03 -3.80260036e-04 9.99983565e-01 2.58095388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.54071405700006 meters Centerline goodness : 0.985414 with order 1 Centerline is valid? [True, True] Translation: X:483.95, Y:-24.36, Z:2.58 [[ 9.99944010e-01 -8.89956930e-03 -5.72483470e-03 4.83952497e+02] [ 8.90149155e-03 9.99960333e-01 3.10380277e-04 -2.43620201e+01] [ 5.72184536e-03 -3.61322467e-04 9.99983565e-01 2.57705816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.60071405700006 meters Centerline goodness : 0.984907 with order 1 Centerline is valid? [True, True] Translation: X:484.01, Y:-24.36, Z:2.58 [[ 9.99982647e-01 -1.38996398e-03 -5.72481125e-03 4.84013791e+02] [ 1.39176605e-03 9.99998983e-01 3.10812048e-04 -2.43619900e+01] [ 5.72437342e-03 -3.18774253e-04 9.99983565e-01 2.58074963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.66071405700006 meters Centerline goodness : 0.984984 with order 1 Centerline is valid? [True, True] Translation: X:484.07, Y:-24.36, Z:2.58 [[ 9.99983612e-01 -3.82713821e-05 -5.72479963e-03 4.84072260e+02] [ 4.00525983e-05 9.99999951e-01 3.11026038e-04 -2.43628999e+01] [ 5.72478744e-03 -3.11250234e-04 9.99983565e-01 2.58070547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.72071405700007 meters Centerline goodness : 0.985058 with order 1 Centerline is valid? [True, True] Translation: X:484.13, Y:-24.36, Z:2.58 [[ 9.99981935e-01 1.83184720e-03 -5.72481674e-03 4.84130708e+02] [-1.83009834e-03 9.99998277e-01 3.10710759e-04 -2.43620225e+01] [ 5.72537605e-03 -3.00228169e-04 9.99983565e-01 2.58096762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.78071405700007 meters Centerline goodness : 0.986100 with order 1 Centerline is valid? [True, True] Translation: X:484.19, Y:-24.36, Z:2.58 [[ 9.99970339e-01 5.15240562e-03 -5.72489369e-03 4.84188144e+02] [-5.15071917e-03 9.99986687e-01 3.09286416e-04 -2.43630211e+01] [ 5.72641104e-03 -2.79789922e-04 9.99983565e-01 2.58276638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.84071405700007 meters Centerline goodness : 0.985140 with order 1 Centerline is valid? [True, True] Translation: X:484.25, Y:-24.36, Z:2.59 [[ 9.99906997e-01 1.23782552e-02 -5.72498405e-03 4.84245885e+02] [-1.23766965e-02 9.99923358e-01 3.07604686e-04 -2.43639770e+01] [ 5.72835289e-03 -2.36719687e-04 9.99983565e-01 2.58580675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.9007140570001 meters Centerline goodness : 0.986126 with order 1 Centerline is valid? [True, True] Translation: X:484.30, Y:-24.37, Z:2.59 [[ 9.99874028e-01 1.48037839e-02 -5.72507455e-03 4.84302932e+02] [-1.48022746e-02 9.99890394e-01 3.05911051e-04 -2.43663209e+01] [ 5.72897568e-03 -2.21128389e-04 9.99983565e-01 2.58721407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.9607140570001 meters Centerline goodness : 0.985358 with order 1 Centerline is valid? [True, True] Translation: X:484.36, Y:-24.37, Z:2.59 [[ 9.99603721e-01 2.75612841e-02 -5.72511306e-03 4.84361017e+02] [-2.75599879e-02 9.99620105e-01 3.05188484e-04 -2.43702732e+01] [ 5.73134951e-03 -1.47283497e-04 9.99983565e-01 2.58717381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.0207140570001 meters Centerline goodness : 0.985123 with order 1 Centerline is valid? [True, True] Translation: X:484.42, Y:-24.38, Z:2.58 [[ 9.99385987e-01 3.45669140e-02 -5.72520520e-03 4.84418112e+02] [-3.45657426e-02 9.99402380e-01 3.03450163e-04 -2.43763076e+01] [ 5.73227304e-03 -1.05367871e-04 9.99983565e-01 2.58327220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.0807140570001 meters Centerline goodness : 0.984958 with order 1 Centerline is valid? [True, True] Translation: X:484.48, Y:-24.38, Z:2.58 [[ 9.99319126e-01 3.64486811e-02 -5.72523331e-03 4.84476346e+02] [-3.64475436e-02 9.99335522e-01 3.02918968e-04 -2.43825906e+01] [ 5.73247001e-03 -9.40420271e-05 9.99983565e-01 2.58345577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.1407140570001 meters Centerline goodness : 0.985492 with order 1 Centerline is valid? [True, True] Translation: X:484.54, Y:-24.39, Z:2.59 [[ 9.99259934e-01 3.80368861e-02 -5.72531040e-03 4.84535098e+02] [-3.80357831e-02 9.99276332e-01 3.01454761e-04 -2.43910735e+01] [ 5.73263358e-03 -8.34650002e-05 9.99983565e-01 2.58562091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.2007140570001 meters Centerline goodness : 0.986398 with order 1 Centerline is valid? [True, True] Translation: X:484.59, Y:-24.40, Z:2.59 [[ 9.99240470e-01 3.85448259e-02 -5.72538999e-03 4.84593556e+02] [-3.85437400e-02 9.99256869e-01 2.99935404e-04 -2.43989184e+01] [ 5.73269624e-03 -7.90296510e-05 9.99983565e-01 2.59275218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.2607140570001 meters Centerline goodness : 0.989610 with order 1 Centerline is valid? [True, True] Translation: X:484.65, Y:-24.41, Z:2.60 [[ 9.99365184e-01 3.51631670e-02 -5.72546961e-03 4.84651376e+02] [-3.51620343e-02 9.99381580e-01 2.98407911e-04 -2.44056478e+01] [ 5.73242183e-03 -9.68993181e-05 9.99983565e-01 2.59747938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.32071405700003 meters Centerline goodness : 0.989664 with order 1 Centerline is valid? [True, True] Translation: X:484.71, Y:-24.42, Z:2.60 [[ 9.99306573e-01 3.67911902e-02 -5.72549353e-03 4.84709061e+02] [-3.67900869e-02 9.99322971e-01 2.97948232e-04 -2.44207291e+01] [ 5.73257907e-03 -8.71002224e-05 9.99983565e-01 2.59699048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.38071405700003 meters Centerline goodness : 0.991586 with order 1 Centerline is valid? [True, True] Translation: X:484.77, Y:-24.43, Z:2.59 [[ 9.99597191e-01 2.77970035e-02 -5.72551723e-03 4.84768352e+02] [-2.77957552e-02 9.99613579e-01 2.97491997e-04 -2.44293232e+01] [ 5.73157416e-03 -1.38227089e-04 9.99983565e-01 2.59290589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.44071405700004 meters Centerline goodness : 0.987965 with order 1 Centerline is valid? [True, True] Translation: X:484.83, Y:-24.45, Z:2.60 [[ 9.99523610e-01 3.03277274e-02 -5.72552861e-03 4.84826207e+02] [-3.03265219e-02 9.99540001e-01 2.97272917e-04 -2.44517877e+01] [ 5.73191048e-03 -1.23495931e-04 9.99983565e-01 2.59966922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.50071405700004 meters Centerline goodness : 0.987342 with order 1 Centerline is valid? [True, True] Translation: X:484.88, Y:-24.47, Z:2.60 [[ 9.99694706e-01 2.40356659e-02 -5.72555069e-03 4.84882804e+02] [-2.40343597e-02 9.99711089e-01 2.96846950e-04 -2.44662324e+01] [ 5.73103143e-03 -1.59146380e-04 9.99983565e-01 2.59784280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.56071405700004 meters Centerline goodness : 0.987395 with order 1 Centerline is valid? [True, True] Translation: X:484.94, Y:-24.47, Z:2.61 [[ 9.99890011e-01 1.36815031e-02 -5.72558299e-03 4.84940812e+02] [-1.36800309e-02 9.99906380e-01 2.96222719e-04 -2.44742240e+01] [ 5.72909973e-03 -2.17863985e-04 9.99983565e-01 2.60632056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.62071405700004 meters Centerline goodness : 0.986452 with order 1 Centerline is valid? [True, True] Translation: X:485.00, Y:-24.49, Z:2.61 [[ 9.99952556e-01 7.88058242e-03 -5.72559507e-03 4.84999607e+02] [-7.87901656e-03 9.99968916e-01 2.95988965e-04 -2.44850215e+01] [ 5.72774966e-03 -2.50862864e-04 9.99983565e-01 2.60612326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.68071405700005 meters Centerline goodness : 0.987769 with order 1 Centerline is valid? [True, True] Translation: X:485.06, Y:-24.49, Z:2.61 [[ 9.99978193e-01 3.29113162e-03 -5.72561697e-03 4.85058280e+02] [-3.28949311e-03 9.99994546e-01 2.95564801e-04 -2.44910468e+01] [ 5.72655848e-03 -2.76723978e-04 9.99983565e-01 2.60929977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.74071405700005 meters Centerline goodness : 0.987124 with order 1 Centerline is valid? [True, True] Translation: X:485.12, Y:-24.50, Z:2.61 [[ 9.99980247e-01 2.59262986e-03 -5.72563887e-03 4.85116179e+02] [-2.59098236e-03 9.99996600e-01 2.95139848e-04 -2.44978180e+01] [ 5.72638459e-03 -2.80298989e-04 9.99983565e-01 2.60880032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.80071405700005 meters Centerline goodness : 0.987713 with order 1 Centerline is valid? [True, True] Translation: X:485.18, Y:-24.50, Z:2.61 [[ 9.99975346e-01 4.06488521e-03 -5.72566584e-03 4.85175181e+02] [-4.06326478e-03 9.99991702e-01 2.94615813e-04 -2.45032852e+01] [ 5.72681590e-03 -2.71343653e-04 9.99983565e-01 2.61127851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.86071405700005 meters Centerline goodness : 0.986769 with order 1 Centerline is valid? [True, True] Translation: X:485.23, Y:-24.51, Z:2.61 [[ 9.99935147e-01 9.84468088e-03 -5.72573394e-03 4.85233871e+02] [-9.84316261e-03 9.99951512e-01 2.93286257e-04 -2.45101461e+01] [ 5.72834362e-03 -2.36907906e-04 9.99983565e-01 2.60780727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.92071405700005 meters Centerline goodness : 0.986319 with order 1 Centerline is valid? [True, True] Translation: X:485.29, Y:-24.51, Z:2.60 [[ 9.99874653e-01 1.47612290e-02 -5.72581029e-03 4.85291803e+02] [-1.47597998e-02 9.99891026e-01 2.91788124e-04 -2.45148919e+01] [ 5.72949347e-03 -2.07239735e-04 9.99983565e-01 2.60338040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.98071405700006 meters Centerline goodness : 0.987682 with order 1 Centerline is valid? [True, True] Translation: X:485.35, Y:-24.52, Z:2.60 [[ 9.99842006e-01 1.68278852e-02 -5.72583687e-03 4.85350472e+02] [-1.68264928e-02 9.99858382e-01 2.91265480e-04 -2.45203178e+01] [ 5.72992737e-03 -1.94873709e-04 9.99983565e-01 2.59717753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.04071405700006 meters Centerline goodness : 0.988733 with order 1 Centerline is valid? [True, True] Translation: X:485.41, Y:-24.52, Z:2.60 [[ 9.99672701e-01 2.49340356e-02 -5.72585748e-03 4.85410129e+02] [-2.49327784e-02 9.99689088e-01 2.90859842e-04 -2.45246914e+01] [ 5.73132955e-03 -1.48003108e-04 9.99983565e-01 2.60103713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.10071405700006 meters Centerline goodness : 0.988161 with order 1 Centerline is valid? [True, True] Translation: X:485.47, Y:-24.53, Z:2.60 [[ 9.99536780e-01 2.98904605e-02 -5.72586775e-03 4.85468903e+02] [-2.98892857e-02 9.99553173e-01 2.90657389e-04 -2.45298971e+01] [ 5.73199717e-03 -1.19380654e-04 9.99983565e-01 2.60425852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.16071405700006 meters Centerline goodness : 0.992337 with order 1 Centerline is valid? [True, True] Translation: X:485.53, Y:-24.53, Z:2.61 [[ 9.99664178e-01 2.52734287e-02 -5.72588898e-03 4.85527789e+02] [-2.52721806e-02 9.99680565e-01 2.90238720e-04 -2.45256693e+01] [ 5.73139526e-03 -1.45435551e-04 9.99983565e-01 2.60650332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.22071405700007 meters Centerline goodness : 0.988808 with order 1 Centerline is valid? [True, True] Translation: X:485.59, Y:-24.55, Z:2.59 [[ 9.99225108e-01 3.89409517e-02 -5.72590468e-03 4.85586152e+02] [-3.89399296e-02 9.99241511e-01 2.89928632e-04 -2.45485250e+01] [ 5.73285174e-03 -6.67376438e-05 9.99983565e-01 2.59034236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.28071405700007 meters Centerline goodness : 0.988149 with order 1 Centerline is valid? [True, True] Translation: X:485.64, Y:-24.56, Z:2.59 [[ 9.99323311e-01 3.63336454e-02 -5.72592100e-03 4.85643952e+02] [-3.63325823e-02 9.99339712e-01 2.89605912e-04 -2.45574813e+01] [ 5.73266268e-03 -8.13724422e-05 9.99983565e-01 2.59413689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.34071405700007 meters Centerline goodness : 0.988438 with order 1 Centerline is valid? [True, True] Translation: X:485.70, Y:-24.57, Z:2.59 [[ 9.99386673e-01 3.45469538e-02 -5.72594764e-03 4.85702156e+02] [-3.45458644e-02 9.99403072e-01 2.89078160e-04 -2.45653988e+01] [ 5.73251643e-03 -9.10930494e-05 9.99983565e-01 2.59330498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.4007140570001 meters Centerline goodness : 0.988641 with order 1 Centerline is valid? [True, True] Translation: X:485.76, Y:-24.57, Z:2.60 [[ 9.99643336e-01 2.60847430e-02 -5.72596914e-03 4.85759846e+02] [-2.60835173e-02 9.99659726e-01 2.88651743e-04 -2.45724679e+01] [ 5.73155015e-03 -1.39195376e-04 9.99983565e-01 2.59885768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.4607140570001 meters Centerline goodness : 0.988347 with order 1 Centerline is valid? [True, True] Translation: X:485.82, Y:-24.58, Z:2.61 [[ 9.99794881e-01 1.94270402e-02 -5.72599544e-03 4.85818853e+02] [-1.94257084e-02 9.99811262e-01 2.88129084e-04 -2.45776510e+01] [ 5.73051222e-03 -1.76838466e-04 9.99983565e-01 2.60651546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.5207140570001 meters Centerline goodness : 0.988259 with order 1 Centerline is valid? [True, True] Translation: X:485.88, Y:-24.58, Z:2.61 [[ 9.99826250e-01 1.77392751e-02 -5.72601685e-03 4.85876603e+02] [-1.77379180e-02 9.99842629e-01 2.87702896e-04 -2.45846508e+01] [ 5.73021939e-03 -1.86085290e-04 9.99983565e-01 2.60589061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.5807140570001 meters Centerline goodness : 0.984365 with order 1 Centerline is valid? [True, True] Translation: X:485.94, Y:-24.58, Z:2.60 [[ 9.99953556e-01 7.75230553e-03 -5.72604320e-03 4.85935487e+02] [-7.75078794e-03 9.99969921e-01 2.87177583e-04 -2.45831733e+01] [ 5.72809725e-03 -2.42782899e-04 9.99983565e-01 2.60358564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.6407140570001 meters Centerline goodness : 0.988130 with order 1 Centerline is valid? [True, True] Translation: X:485.99, Y:-24.60, Z:2.61 [[ 9.99933931e-01 9.96718942e-03 -5.72606384e-03 4.85994015e+02] [-9.96571043e-03 9.99950300e-01 2.86765362e-04 -2.45966502e+01] [ 5.72863750e-03 -2.29682122e-04 9.99983565e-01 2.60933108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.7007140570001 meters Centerline goodness : 0.987925 with order 1 Centerline is valid? [True, True] Translation: X:486.05, Y:-24.60, Z:2.61 [[ 9.99968514e-01 5.49389552e-03 -5.72609142e-03 4.86051183e+02] [-5.49234648e-03 9.99984876e-01 2.86213686e-04 -2.46024318e+01] [ 5.72757725e-03 -2.54754996e-04 9.99983565e-01 2.60665714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.7607140570001 meters Centerline goodness : 0.988329 with order 1 Centerline is valid? [True, True] Translation: X:486.11, Y:-24.61, Z:2.61 [[ 9.99982712e-01 1.33665169e-03 -5.72611628e-03 4.86109625e+02] [-1.33503748e-03 9.99999068e-01 2.85715343e-04 -2.46057057e+01] [ 5.72649285e-03 -2.78065824e-04 9.99983565e-01 2.60635048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.82071405700003 meters Centerline goodness : 0.988177 with order 1 Centerline is valid? [True, True] Translation: X:486.17, Y:-24.61, Z:2.60 [[ 9.99982540e-01 1.45959297e-03 -5.72613655e-03 4.86168810e+02] [-1.45798310e-03 9.99998896e-01 2.85308585e-04 -2.46098423e+01] [ 5.72654667e-03 -2.76954993e-04 9.99983565e-01 2.60444565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.88071405700003 meters Centerline goodness : 0.988838 with order 1 Centerline is valid? [True, True] Translation: X:486.23, Y:-24.61, Z:2.61 [[ 9.99981122e-01 -2.22882138e-03 -5.72615175e-03 4.86227476e+02] [ 2.23048983e-03 9.99997472e-01 2.85003268e-04 -2.46085407e+01] [ 5.72550205e-03 -2.97770011e-04 9.99983565e-01 2.60899886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.94071405700004 meters Centerline goodness : 0.988721 with order 1 Centerline is valid? [True, True] Translation: X:486.29, Y:-24.61, Z:2.61 [[ 9.99972394e-01 -4.73530466e-03 -5.72617181e-03 4.86286571e+02] [ 4.73701178e-03 9.99988740e-01 2.84599624e-04 -2.46093802e+01] [ 5.72475967e-03 -3.11716711e-04 9.99983565e-01 2.60622620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.00071405700004 meters Centerline goodness : 0.984643 with order 1 Centerline is valid? [True, True] Translation: X:486.35, Y:-24.60, Z:2.61 [[ 9.99822892e-01 -1.79275117e-02 -5.72619221e-03 4.86347235e+02] [ 1.79294319e-02 9.99839214e-01 2.84188614e-04 -2.45992549e+01] [ 5.72017672e-03 -3.86805655e-04 9.99983565e-01 2.60629513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.06071405700004 meters Centerline goodness : 0.984133 with order 1 Centerline is valid? [True, True] Translation: X:486.41, Y:-24.60, Z:2.60 [[ 9.99701036e-01 -2.37707485e-02 -5.72619882e-03 4.86408044e+02] [ 2.37727634e-02 9.99717348e-01 2.84055405e-04 -2.45993724e+01] [ 5.71782808e-03 -4.20098052e-04 9.99983565e-01 2.60448592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.12071405700004 meters Centerline goodness : 0.983919 with order 1 Centerline is valid? [True, True] Translation: X:486.47, Y:-24.60, Z:2.61 [[ 9.99563082e-01 -2.89975055e-02 -5.72617883e-03 4.86470578e+02] [ 2.89996079e-02 9.99579382e-01 2.84457703e-04 -2.46001990e+01] [ 5.71552174e-03 -4.50390359e-04 9.99983565e-01 2.60692424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.18071405700005 meters Centerline goodness : 0.990097 with order 1 Centerline is valid? [True, True] Translation: X:486.53, Y:-24.60, Z:2.61 [[ 9.99503542e-01 -3.09819390e-02 -5.72615229e-03 4.86532072e+02] [ 3.09840768e-02 9.99519838e-01 2.84990974e-04 -2.45993639e+01] [ 5.71457323e-03 -4.62269030e-04 9.99983565e-01 2.61318539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.24071405700005 meters Centerline goodness : 0.982343 with order 1 Centerline is valid? [True, True] Translation: X:486.59, Y:-24.60, Z:2.61 [[ 9.99418784e-01 -3.36051429e-02 -5.72613233e-03 4.86594256e+02] [ 3.36073257e-02 9.99435074e-01 2.85391398e-04 -2.45972384e+01] [ 5.71330687e-03 -4.77665518e-04 9.99983565e-01 2.60876913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.30071405700005 meters Centerline goodness : 0.983142 with order 1 Centerline is valid? [True, True] Translation: X:486.66, Y:-24.60, Z:2.61 [[ 9.99543603e-01 -2.96613722e-02 -5.72609686e-03 4.86656465e+02] [ 2.96634948e-02 9.99559901e-01 2.86101277e-04 -2.45950753e+01] [ 5.71509066e-03 -4.55826746e-04 9.99983565e-01 2.61043851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.36071405700005 meters Centerline goodness : 0.981998 with order 1 Centerline is valid? [True, True] Translation: X:486.72, Y:-24.59, Z:2.61 [[ 9.99633346e-01 -2.64648049e-02 -5.72606833e-03 4.86719296e+02] [ 2.64668787e-02 9.99649650e-01 2.86671266e-04 -2.45894781e+01] [ 5.71647550e-03 -4.38117312e-04 9.99983565e-01 2.61271281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.42071405700005 meters Centerline goodness : 0.982337 with order 1 Centerline is valid? [True, True] Translation: X:486.78, Y:-24.59, Z:2.61 [[ 9.99801183e-01 -1.90999093e-02 -5.72603769e-03 4.86780338e+02] [ 1.91018663e-02 9.99817501e-01 2.87281883e-04 -2.45876492e+01] [ 5.71950564e-03 -3.96602773e-04 9.99983565e-01 2.61184467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.48071405700006 meters Centerline goodness : 0.983669 with order 1 Centerline is valid? [True, True] Translation: X:486.84, Y:-24.58, Z:2.61 [[ 9.99823720e-01 -1.78813393e-02 -5.72601480e-03 4.86842163e+02] [ 1.78832791e-02 9.99840040e-01 2.87737464e-04 -2.45841111e+01] [ 5.71995373e-03 -3.90086663e-04 9.99983565e-01 2.61125252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.54071405700006 meters Centerline goodness : 0.984236 with order 1 Centerline is valid? [True, True] Translation: X:486.90, Y:-24.58, Z:2.61 [[ 9.99915467e-01 -1.16735893e-02 -5.72599347e-03 4.86904517e+02] [ 1.16754301e-02 9.99931798e-01 2.88161274e-04 -2.45805013e+01] [ 5.72223907e-03 -3.54990351e-04 9.99983565e-01 2.61250439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.60071405700006 meters Centerline goodness : 0.987827 with order 1 Centerline is valid? [True, True] Translation: X:486.97, Y:-24.59, Z:2.61 [[ 9.99982155e-01 1.70388805e-03 -5.72596664e-03 4.86965605e+02] [-1.70226284e-03 9.99998509e-01 2.88693504e-04 -2.45871955e+01] [ 5.72645000e-03 -2.78941252e-04 9.99983565e-01 2.61185883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.66071405700006 meters Centerline goodness : 0.982301 with order 1 Centerline is valid? [True, True] Translation: X:487.03, Y:-24.57, Z:2.61 [[ 9.99963764e-01 -6.29957990e-03 -5.72595293e-03 4.87025011e+02] [ 6.30133750e-03 9.99980105e-01 2.88965038e-04 -2.45739953e+01] [ 5.72401866e-03 -3.25035729e-04 9.99983565e-01 2.61264384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.72071405700007 meters Centerline goodness : 0.986931 with order 1 Centerline is valid? [True, True] Translation: X:487.08, Y:-24.59, Z:2.61 [[ 9.99976485e-01 3.77391432e-03 -5.72597420e-03 4.87084871e+02] [-3.77232383e-03 9.99992843e-01 2.88543063e-04 -2.45888468e+01] [ 5.72702215e-03 -2.66936049e-04 9.99983565e-01 2.60807166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.78071405700007 meters Centerline goodness : 0.988534 with order 1 Centerline is valid? [True, True] Translation: X:487.14, Y:-24.58, Z:2.62 [[ 9.99944642e-01 -8.82756310e-03 -5.72597420e-03 4.87143861e+02] [ 8.82935960e-03 9.99960979e-01 2.88543063e-04 -2.45808863e+01] [ 5.72320363e-03 -3.39083775e-04 9.99983565e-01 2.61538254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.84071405700007 meters Centerline goodness : 0.982214 with order 1 Centerline is valid? [True, True] Translation: X:487.20, Y:-24.58, Z:2.61 [[ 9.99810850e-01 -1.85870419e-02 -5.72599188e-03 4.87204147e+02] [ 1.85889958e-02 9.99827168e-01 2.88191822e-04 -2.45767495e+01] [ 5.71964561e-03 -3.94577749e-04 9.99983565e-01 2.61236905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.9007140570001 meters Centerline goodness : 0.981908 with order 1 Centerline is valid? [True, True] Translation: X:487.27, Y:-24.58, Z:2.61 [[ 9.99716519e-01 -2.31104801e-02 -5.72597758e-03 4.87266467e+02] [ 2.31125094e-02 9.99732829e-01 2.88475493e-04 -2.45784849e+01] [ 5.71778096e-03 -4.20735426e-04 9.99983565e-01 2.61023079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.9607140570001 meters Centerline goodness : 0.982367 with order 1 Centerline is valid? [True, True] Translation: X:487.33, Y:-24.58, Z:2.61 [[ 9.99540610e-01 -2.97621014e-02 -5.72594910e-03 4.87328516e+02] [ 2.97642424e-02 9.99556905e-01 2.89039864e-04 -2.45776480e+01] [ 5.71480952e-03 -4.59335619e-04 9.99983565e-01 2.60999691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.0207140570001 meters Centerline goodness : 0.987268 with order 1 Centerline is valid? [True, True] Translation: X:487.39, Y:-24.59, Z:2.61 [[ 9.99765026e-01 -2.09070734e-02 -5.72591866e-03 4.87388893e+02] [ 2.09090734e-02 9.99781339e-01 2.89641614e-04 -2.45923260e+01] [ 5.71861107e-03 -4.09297210e-04 9.99983565e-01 2.61007228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.0807140570001 meters Centerline goodness : 0.991751 with order 1 Centerline is valid? [True, True] Translation: X:487.45, Y:-24.58, Z:2.61 [[ 9.99407174e-01 -3.39487001e-02 -5.72589624e-03 4.87452003e+02] [ 3.39509152e-02 9.99423459e-01 2.90084015e-04 -2.45798558e+01] [ 5.71274706e-03 -4.84311464e-04 9.99983565e-01 2.61038554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.1407140570001 meters Centerline goodness : 0.981045 with order 1 Centerline is valid? [True, True] Translation: X:487.51, Y:-24.58, Z:2.61 [[ 9.99338216e-01 -3.59213610e-02 -5.72582265e-03 4.87514233e+02] [ 3.59236166e-02 9.99354496e-01 2.91529390e-04 -2.45770133e+01] [ 5.71165448e-03 -4.97028718e-04 9.99983565e-01 2.61169374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.2007140570001 meters Centerline goodness : 0.981565 with order 1 Centerline is valid? [True, True] Translation: X:487.58, Y:-24.58, Z:2.61 [[ 9.99371939e-01 -3.49706046e-02 -5.72578582e-03 4.87575820e+02] [ 3.49728488e-02 9.99388220e-01 2.92251005e-04 -2.45780707e+01] [ 5.71206271e-03 -4.92314495e-04 9.99983565e-01 2.60871460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.2607140570001 meters Centerline goodness : 0.987096 with order 1 Centerline is valid? [True, True] Translation: X:487.64, Y:-24.59, Z:2.61 [[ 9.99721817e-01 -2.28802028e-02 -5.72576360e-03 4.87637042e+02] [ 2.28822523e-02 9.99738124e-01 2.92685698e-04 -2.45912602e+01] [ 5.71756745e-03 -4.23622646e-04 9.99983565e-01 2.61213396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.32071405700003 meters Centerline goodness : 0.986637 with order 1 Centerline is valid? [True, True] Translation: X:487.70, Y:-24.59, Z:2.61 [[ 9.99824368e-01 -1.78451467e-02 -5.72572719e-03 4.87699822e+02] [ 1.78471182e-02 9.99840684e-01 2.93396286e-04 -2.45892036e+01] [ 5.71957929e-03 -3.95532486e-04 9.99983565e-01 2.61261690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.38071405700003 meters Centerline goodness : 0.986906 with order 1 Centerline is valid? [True, True] Translation: X:487.76, Y:-24.59, Z:2.61 [[ 9.99899226e-01 -1.29905779e-02 -5.72570490e-03 4.87762359e+02] [ 1.29924726e-02 9.99915551e-01 2.93830627e-04 -2.45868185e+01] [ 5.72140434e-03 -3.68192080e-04 9.99983565e-01 2.61467282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.44071405700004 meters Centerline goodness : 0.986897 with order 1 Centerline is valid? [True, True] Translation: X:487.82, Y:-24.58, Z:2.62 [[ 9.99963237e-01 -6.38284248e-03 -5.72568270e-03 4.87823624e+02] [ 6.38463168e-03 9.99979575e-01 2.94262605e-04 -2.45836993e+01] [ 5.72368752e-03 -3.30808162e-04 9.99983565e-01 2.61597196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.50071405700004 meters Centerline goodness : 0.985234 with order 1 Centerline is valid? [True, True] Translation: X:487.88, Y:-24.58, Z:2.62 [[ 9.99983580e-01 -2.36067533e-04 -5.72566629e-03 4.87884530e+02] [ 2.37758096e-04 9.99999928e-01 2.94581593e-04 -2.45804465e+01] [ 5.72559634e-03 -2.95938079e-04 9.99983565e-01 2.61606501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.56071405700004 meters Centerline goodness : 0.985234 with order 1 Centerline is valid? [True, True] Translation: X:487.94, Y:-24.58, Z:2.61 [[ 9.99983098e-01 1.00997697e-03 -5.72566629e-03 4.87942208e+02] [-1.00830678e-03 9.99999448e-01 2.94581593e-04 -2.45807372e+01] [ 5.72596065e-03 -2.88803385e-04 9.99983565e-01 2.61049847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.62071405700004 meters Centerline goodness : 0.984619 with order 1 Centerline is valid? [True, True] Translation: X:488.00, Y:-24.58, Z:2.62 [[ 9.99969074e-01 5.39143770e-03 -5.72570562e-03 4.88000699e+02] [-5.38984354e-03 9.99985432e-01 2.93815076e-04 -2.45791497e+01] [ 5.72720629e-03 -2.62945332e-04 9.99983565e-01 2.61669398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.68071405700005 meters Centerline goodness : 0.984716 with order 1 Centerline is valid? [True, True] Translation: X:488.06, Y:-24.58, Z:2.62 [[ 9.99972646e-01 4.68220544e-03 -5.72578098e-03 4.88058183e+02] [-4.68060811e-03 9.99989003e-01 2.92339073e-04 -2.45777101e+01] [ 5.72708681e-03 -2.65530939e-04 9.99983565e-01 2.61777040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.74071405700005 meters Centerline goodness : 0.984597 with order 1 Centerline is valid? [True, True] Translation: X:488.12, Y:-24.58, Z:2.62 [[ 9.99974730e-01 4.21361277e-03 -5.72580735e-03 4.88116245e+02] [-4.21201074e-03 9.99991087e-01 2.91821758e-04 -2.45793891e+01] [ 5.72698593e-03 -2.67697222e-04 9.99983565e-01 2.61729490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.80071405700005 meters Centerline goodness : 0.986053 with order 1 Centerline is valid? [True, True] Translation: X:488.18, Y:-24.58, Z:2.62 [[ 9.99983412e-01 -6.24748149e-04 -5.72583314e-03 4.88175359e+02] [ 6.26426410e-04 9.99999761e-01 2.91314725e-04 -2.45789371e+01] [ 5.72564978e-03 -2.94896706e-04 9.99983565e-01 2.61837017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.86071405700005 meters Centerline goodness : 0.985703 with order 1 Centerline is valid? [True, True] Translation: X:488.23, Y:-24.58, Z:2.62 [[ 9.99959428e-01 -6.95396635e-03 -5.72585429e-03 4.88234205e+02] [ 6.95574568e-03 9.99975766e-01 2.90898383e-04 -2.45788572e+01] [ 5.72369264e-03 -3.30714167e-04 9.99983565e-01 2.62024537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.92071405700005 meters Centerline goodness : 0.987742 with order 1 Centerline is valid? [True, True] Translation: X:488.30, Y:-24.58, Z:2.62 [[ 9.99931095e-01 -1.02478880e-02 -5.72587512e-03 4.88295683e+02] [ 1.02497188e-02 9.99947428e-01 2.90487958e-04 -2.45780908e+01] [ 5.72259721e-03 -3.49156552e-04 9.99983565e-01 2.62197127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.98071405700006 meters Centerline goodness : 0.986615 with order 1 Centerline is valid? [True, True] Translation: X:488.36, Y:-24.58, Z:2.62 [[ 9.99940932e-01 -9.23830383e-03 -5.72586473e-03 4.88357488e+02] [ 9.24011931e-03 9.99957267e-01 2.90692528e-04 -2.45800685e+01] [ 5.72293454e-03 -3.43583031e-04 9.99983565e-01 2.62068739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.04071405700006 meters Centerline goodness : 0.986578 with order 1 Centerline is valid? [True, True] Translation: X:488.42, Y:-24.58, Z:2.62 [[ 9.99954285e-01 -7.65787218e-03 -5.72584412e-03 4.88419276e+02] [ 7.65966415e-03 9.99970622e-01 2.91097876e-04 -2.45839579e+01] [ 5.72344672e-03 -3.34942612e-04 9.99983565e-01 2.61993361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.10071405700006 meters Centerline goodness : 0.986967 with order 1 Centerline is valid? [True, True] Translation: X:488.48, Y:-24.59, Z:2.62 [[ 9.99959343e-01 -6.96608947e-03 -5.72582308e-03 4.88480926e+02] [ 6.96787249e-03 9.99975682e-01 2.91511218e-04 -2.45866845e+01] [ 5.72365314e-03 -3.31396172e-04 9.99983565e-01 2.61916922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.16071405700006 meters Centerline goodness : 0.987142 with order 1 Centerline is valid? [True, True] Translation: X:488.54, Y:-24.59, Z:2.62 [[ 9.99960635e-01 -6.77812045e-03 -5.72581259e-03 4.88542171e+02] [ 6.77990158e-03 9.99976974e-01 2.91717192e-04 -2.45891213e+01] [ 5.72370345e-03 -3.30526155e-04 9.99983565e-01 2.62184944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.22071405700007 meters Centerline goodness : 0.987832 with order 1 Centerline is valid? [True, True] Translation: X:488.60, Y:-24.59, Z:2.62 [[ 9.99963241e-01 -6.38217814e-03 -5.72580153e-03 4.88602628e+02] [ 6.38395404e-03 9.99979580e-01 2.91934102e-04 -2.45926199e+01] [ 5.72382143e-03 -3.28476624e-04 9.99983565e-01 2.62305571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.28071405700007 meters Centerline goodness : 0.987350 with order 1 Centerline is valid? [True, True] Translation: X:488.66, Y:-24.60, Z:2.62 [[ 9.99957967e-01 -7.16100017e-03 -5.72579610e-03 4.88662861e+02] [ 7.16278940e-03 9.99974304e-01 2.92040386e-04 -2.45953662e+01] [ 5.72355768e-03 -3.33040782e-04 9.99983565e-01 2.62262732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.34071405700007 meters Centerline goodness : 0.986511 with order 1 Centerline is valid? [True, True] Translation: X:488.72, Y:-24.60, Z:2.62 [[ 9.99966093e-01 -5.91851009e-03 -5.72579610e-03 4.88723566e+02] [ 5.92027902e-03 9.99982432e-01 2.92040386e-04 -2.46022539e+01] [ 5.72396707e-03 -3.25928794e-04 9.99983565e-01 2.62028897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.4007140570001 meters Centerline goodness : 0.985886 with order 1 Centerline is valid? [True, True] Translation: X:488.78, Y:-24.61, Z:2.62 [[ 9.99976507e-01 -3.76835320e-03 -5.72578532e-03 4.88784171e+02] [ 3.77008820e-03 9.99992850e-01 2.92251696e-04 -2.46071498e+01] [ 5.72464308e-03 -3.13831546e-04 9.99983565e-01 2.62190338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.4607140570001 meters Centerline goodness : 0.985573 with order 1 Centerline is valid? [True, True] Translation: X:488.84, Y:-24.61, Z:2.62 [[ 9.99976071e-01 -3.88249498e-03 -5.72578002e-03 4.88844040e+02] [ 3.88423244e-03 9.99992414e-01 2.92355523e-04 -2.46125467e+01] [ 5.72460151e-03 -3.14588787e-04 9.99983565e-01 2.61989327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.5207140570001 meters Centerline goodness : 0.985078 with order 1 Centerline is valid? [True, True] Translation: X:488.90, Y:-24.62, Z:2.62 [[ 9.99977703e-01 3.43650535e-03 -5.72579111e-03 4.88903351e+02] [-3.43488880e-03 9.99994058e-01 2.92138119e-04 -2.46213875e+01] [ 5.72676102e-03 -2.72464150e-04 9.99983565e-01 2.62295492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.5807140570001 meters Centerline goodness : 0.984639 with order 1 Centerline is valid? [True, True] Translation: X:488.96, Y:-24.63, Z:2.62 [[ 9.99973472e-01 4.50229220e-03 -5.72580203e-03 4.88960543e+02] [-4.50069430e-03 9.99989829e-01 2.91924013e-04 -2.46284212e+01] [ 5.72705812e-03 -2.66146184e-04 9.99983565e-01 2.61702289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.6407140570001 meters Centerline goodness : 0.985238 with order 1 Centerline is valid? [True, True] Translation: X:489.02, Y:-24.64, Z:2.61 [[ 9.99960062e-01 6.86211471e-03 -5.72584228e-03 4.89018599e+02] [-6.86055994e-03 9.99976424e-01 2.91132304e-04 -2.46350560e+01] [ 5.72770507e-03 -2.51838193e-04 9.99983565e-01 2.61498581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.7007140570001 meters Centerline goodness : 0.985289 with order 1 Centerline is valid? [True, True] Translation: X:489.08, Y:-24.64, Z:2.61 [[ 9.99954377e-01 7.64572575e-03 -5.72591643e-03 4.89076855e+02] [-7.64419218e-03 9.99970741e-01 2.89666575e-04 -2.46448965e+01] [ 5.72796361e-03 -2.45883354e-04 9.99983565e-01 2.61074535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.7607140570001 meters Centerline goodness : 0.984082 with order 1 Centerline is valid? [True, True] Translation: X:489.13, Y:-24.65, Z:2.61 [[ 9.99919268e-01 1.13432913e-02 -5.72593784e-03 4.89134393e+02] [-1.13418207e-02 9.99935638e-01 2.89242757e-04 -2.46515883e+01] [ 5.72885027e-03 -2.24276846e-04 9.99983565e-01 2.61308173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.82071405700003 meters Centerline goodness : 0.985424 with order 1 Centerline is valid? [True, True] Translation: X:489.19, Y:-24.66, Z:2.61 [[ 9.99874466e-01 1.47738057e-02 -5.72597616e-03 4.89192185e+02] [-1.47723956e-02 9.99890841e-01 2.88482211e-04 -2.46611305e+01] [ 5.72961309e-03 -2.03859612e-04 9.99983565e-01 2.61101023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.88071405700003 meters Centerline goodness : 0.985242 with order 1 Centerline is valid? [True, True] Translation: X:489.25, Y:-24.67, Z:2.61 [[ 9.99943660e-01 8.93813521e-03 -5.72599645e-03 4.89252035e+02] [-8.93663187e-03 9.99960026e-01 2.88078915e-04 -2.46652963e+01] [ 5.72834244e-03 -2.36891562e-04 9.99983565e-01 2.61055061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.94071405700004 meters Centerline goodness : 0.985832 with order 1 Centerline is valid? [True, True] Translation: X:489.31, Y:-24.67, Z:2.61 [[ 9.99966150e-01 5.90869439e-03 -5.72600152e-03 4.89310602e+02] [-5.90714206e-03 9.99982511e-01 2.87978054e-04 -2.46721989e+01] [ 5.72760295e-03 -2.54144001e-04 9.99983565e-01 2.61092689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.00071405700004 meters Centerline goodness : 0.986983 with order 1 Centerline is valid? [True, True] Translation: X:489.37, Y:-24.68, Z:2.61 [[ 9.99981418e-01 2.09197331e-03 -5.72602145e-03 4.89369568e+02] [-2.09036080e-03 9.99997774e-01 2.87581162e-04 -2.46790081e+01] [ 5.72661032e-03 -2.75606368e-04 9.99983565e-01 2.61211601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.06071405700004 meters Centerline goodness : 0.987420 with order 1 Centerline is valid? [True, True] Translation: X:489.43, Y:-24.68, Z:2.62 [[ 9.99979377e-01 2.90811224e-03 -5.72604112e-03 4.89427502e+02] [-2.90651532e-03 9.99995735e-01 2.87188981e-04 -2.46816057e+01] [ 5.72685188e-03 -2.70540232e-04 9.99983565e-01 2.62307904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.12071405700004 meters Centerline goodness : 0.988248 with order 1 Centerline is valid? [True, True] Translation: X:489.49, Y:-24.68, Z:2.62 [[ 9.99979190e-01 2.97171626e-03 -5.72606523e-03 4.89485953e+02] [-2.97012313e-03 9.99995548e-01 2.86707533e-04 -2.46847647e+01] [ 5.72689175e-03 -2.69694448e-04 9.99983565e-01 2.62369861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.18071405700005 meters Centerline goodness : 0.987644 with order 1 Centerline is valid? [True, True] Translation: X:489.54, Y:-24.69, Z:2.62 [[ 9.99961553e-01 6.64109041e-03 -5.72608401e-03 4.89543914e+02] [-6.63955946e-03 9.99977917e-01 2.86332014e-04 -2.46905721e+01] [ 5.72785911e-03 -2.48302330e-04 9.99983565e-01 2.62313407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.24071405700005 meters Centerline goodness : 0.987632 with order 1 Centerline is valid? [True, True] Translation: X:489.60, Y:-24.69, Z:2.63 [[ 9.99910835e-01 1.20637441e-02 -5.72615816e-03 4.89601877e+02] [-1.20623105e-02 9.99927207e-01 2.84841356e-04 -2.46936038e+01] [ 5.72917759e-03 -2.15745261e-04 9.99983565e-01 2.62567505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.30071405700005 meters Centerline goodness : 0.986837 with order 1 Centerline is valid? [True, True] Translation: X:489.66, Y:-24.70, Z:2.62 [[ 9.99924479e-01 1.08740868e-02 -5.72623073e-03 4.89660051e+02] [-1.08726420e-02 9.99940851e-01 2.83374863e-04 -2.47000618e+01] [ 5.72897347e-03 -2.21094205e-04 9.99983565e-01 2.62151788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.36071405700005 meters Centerline goodness : 0.986176 with order 1 Centerline is valid? [True, True] Translation: X:489.72, Y:-24.71, Z:2.62 [[ 9.99873715e-01 1.48244213e-02 -5.72625093e-03 4.89718213e+02] [-1.48230436e-02 9.99890093e-01 2.82966090e-04 -2.47085112e+01] [ 5.72981638e-03 -1.98049888e-04 9.99983565e-01 2.62184606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.42071405700005 meters Centerline goodness : 0.990692 with order 1 Centerline is valid? [True, True] Translation: X:489.78, Y:-24.70, Z:2.64 [[ 9.99983402e-01 -6.37154468e-04 -5.72627161e-03 4.89776520e+02] [ 6.38782856e-04 9.99999756e-01 2.82547031e-04 -2.46994246e+01] [ 5.72609018e-03 -2.86200185e-04 9.99983565e-01 2.63630176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.48071405700006 meters Centerline goodness : 0.987093 with order 1 Centerline is valid? [True, True] Translation: X:489.83, Y:-24.72, Z:2.63 [[ 9.99959159e-01 6.99211763e-03 -5.72630237e-03 4.89834171e+02] [-6.99061763e-03 9.99975526e-01 2.81922151e-04 -2.47210924e+01] [ 5.72813346e-03 -2.41880247e-04 9.99983565e-01 2.62735180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.54071405700006 meters Centerline goodness : 0.986243 with order 1 Centerline is valid? [True, True] Translation: X:489.89, Y:-24.73, Z:2.63 [[ 9.99962316e-01 6.52497009e-03 -5.72637243e-03 4.89893144e+02] [-6.52347063e-03 9.99978683e-01 2.80491936e-04 -2.47293382e+01] [ 5.72808056e-03 -2.43125544e-04 9.99983565e-01 2.62615569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.60071405700006 meters Centerline goodness : 0.986514 with order 1 Centerline is valid? [True, True] Translation: X:489.95, Y:-24.73, Z:2.63 [[ 9.99963571e-01 6.32968076e-03 -5.72638781e-03 4.89951795e+02] [-6.32817989e-03 9.99979938e-01 2.80177510e-04 -2.47334606e+01] [ 5.72804636e-03 -2.43929691e-04 9.99983565e-01 2.62643830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.66071405700006 meters Centerline goodness : 0.986703 with order 1 Centerline is valid? [True, True] Translation: X:490.01, Y:-24.74, Z:2.63 [[ 9.99966982e-01 5.76573728e-03 -5.72640857e-03 4.90008915e+02] [-5.76422961e-03 9.99983348e-01 2.79752500e-04 -2.47420164e+01] [ 5.72792620e-03 -2.46734929e-04 9.99983565e-01 2.62721686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.72071405700007 meters Centerline goodness : 0.985861 with order 1 Centerline is valid? [True, True] Translation: X:490.07, Y:-24.75, Z:2.63 [[ 9.99974043e-01 4.37274165e-03 -5.72643407e-03 4.90067574e+02] [-4.37121417e-03 9.99990407e-01 2.79229577e-04 -2.47486455e+01] [ 5.72760014e-03 -2.54190859e-04 9.99983565e-01 2.62585760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.78071405700007 meters Centerline goodness : 0.986255 with order 1 Centerline is valid? [True, True] Translation: X:490.13, Y:-24.75, Z:2.63 [[ 9.99983125e-01 -9.78941287e-04 -5.72645513e-03 4.90126280e+02] [ 9.80553845e-04 9.99999480e-01 2.78797163e-04 -2.47546979e+01] [ 5.72617922e-03 -2.84407555e-04 9.99983565e-01 2.62749968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.84071405700007 meters Centerline goodness : 0.986069 with order 1 Centerline is valid? [True, True] Translation: X:490.18, Y:-24.76, Z:2.63 [[ 9.99964423e-01 -6.19355469e-03 -5.72647060e-03 4.90184981e+02] [ 6.19525070e-03 9.99980770e-01 2.78478978e-04 -2.47612986e+01] [ 5.72463571e-03 -3.13945991e-04 9.99983565e-01 2.62798405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.9007140570001 meters Centerline goodness : 0.986394 with order 1 Centerline is valid? [True, True] Translation: X:490.25, Y:-24.77, Z:2.63 [[ 9.99909245e-01 -1.21946700e-02 -5.72649057e-03 4.90245449e+02] [ 1.21964618e-02 9.99925582e-01 2.78067772e-04 -2.47668353e+01] [ 5.72267347e-03 -3.47885459e-04 9.99983565e-01 2.62858886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.9607140570001 meters Centerline goodness : 0.990435 with order 1 Centerline is valid? [True, True] Translation: X:490.31, Y:-24.76, Z:2.63 [[ 9.99610719e-01 -2.73060144e-02 -5.72649057e-03 4.90307299e+02] [ 2.73080529e-02 9.99627027e-01 2.78067772e-04 -2.47585313e+01] [ 5.71676182e-03 -4.34338832e-04 9.99983565e-01 2.62899922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.0207140570001 meters Centerline goodness : 0.986263 with order 1 Centerline is valid? [True, True] Translation: X:490.37, Y:-24.77, Z:2.63 [[ 9.99777217e-01 -2.03156174e-02 -5.72642333e-03 4.90369104e+02] [ 2.03175496e-02 9.99793538e-01 2.79445536e-04 -2.47726497e+01] [ 5.71956394e-03 -3.95730171e-04 9.99983565e-01 2.63055245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.0807140570001 meters Centerline goodness : 0.985536 with order 1 Centerline is valid? [True, True] Translation: X:490.43, Y:-24.77, Z:2.64 [[ 9.99795392e-01 -1.94005803e-02 -5.72640188e-03 4.90430763e+02] [ 1.94025001e-02 9.99811715e-01 2.79884527e-04 -2.47743694e+01] [ 5.71989376e-03 -3.90933773e-04 9.99983565e-01 2.63587459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.1407140570001 meters Centerline goodness : 0.985972 with order 1 Centerline is valid? [True, True] Translation: X:490.49, Y:-24.78, Z:2.63 [[ 9.99687272e-01 -2.43427076e-02 -5.72638602e-03 4.90491887e+02] [ 2.43447099e-02 9.99703584e-01 2.80208612e-04 -2.47771304e+01] [ 5.71786759e-03 -4.19528190e-04 9.99983565e-01 2.63129263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.2007140570001 meters Centerline goodness : 0.985391 with order 1 Centerline is valid? [True, True] Translation: X:490.55, Y:-24.78, Z:2.63 [[ 9.99694750e-01 -2.40336327e-02 -5.72637035e-03 4.90553532e+02] [ 2.40356318e-02 9.99711063e-01 2.80528510e-04 -2.47792596e+01] [ 5.71797367e-03 -4.18079808e-04 9.99983565e-01 2.63470725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.2607140570001 meters Centerline goodness : 0.984987 with order 1 Centerline is valid? [True, True] Translation: X:490.62, Y:-24.78, Z:2.63 [[ 9.99616391e-01 -2.70976138e-02 -5.72635505e-03 4.90616804e+02] [ 2.70996646e-02 9.99632697e-01 2.80840455e-04 -2.47818390e+01] [ 5.71664163e-03 -4.35915023e-04 9.99983565e-01 2.63321156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.32071405700003 meters Centerline goodness : 0.986153 with order 1 Centerline is valid? [True, True] Translation: X:490.68, Y:-24.78, Z:2.63 [[ 9.99601439e-01 -2.76436838e-02 -5.72632309e-03 4.90678727e+02] [ 2.76457472e-02 9.99617744e-01 2.81490566e-04 -2.47814972e+01] [ 5.71635273e-03 -4.39686855e-04 9.99983565e-01 2.63464721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.38071405700003 meters Centerline goodness : 0.986450 with order 1 Centerline is valid? [True, True] Translation: X:490.74, Y:-24.78, Z:2.64 [[ 9.99673038e-01 -2.49203889e-02 -5.72630187e-03 4.90741342e+02] [ 2.49224104e-02 9.99689349e-01 2.81921588e-04 -2.47796742e+01] [ 5.71749739e-03 -4.24542656e-04 9.99983565e-01 2.63612263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.44071405700004 meters Centerline goodness : 0.985982 with order 1 Centerline is valid? [True, True] Translation: X:490.80, Y:-24.78, Z:2.64 [[ 9.99759905e-01 -2.11504573e-02 -5.72627565e-03 4.90803629e+02] [ 2.11524203e-02 9.99776223e-01 2.82453219e-04 -2.47781037e+01] [ 5.71902022e-03 -4.03509992e-04 9.99983565e-01 2.63684054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.50071405700004 meters Centerline goodness : 0.986040 with order 1 Centerline is valid? [True, True] Translation: X:490.87, Y:-24.78, Z:2.64 [[ 9.99858748e-01 -1.58017263e-02 -5.72625391e-03 4.90865084e+02] [ 1.58036045e-02 9.99875075e-01 2.82893289e-04 -2.47777539e+01] [ 5.72106835e-03 -3.73348781e-04 9.99983565e-01 2.63847011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.56071405700004 meters Centerline goodness : 0.986128 with order 1 Centerline is valid? [True, True] Translation: X:490.93, Y:-24.78, Z:2.64 [[ 9.99919512e-01 -1.13216253e-02 -5.72623783e-03 4.90927503e+02] [ 1.13234322e-02 9.99935848e-01 2.83218303e-04 -2.47799360e+01] [ 5.72266399e-03 -3.48036173e-04 9.99983565e-01 2.63918007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.62071405700004 meters Centerline goodness : 0.986913 with order 1 Centerline is valid? [True, True] Translation: X:490.99, Y:-24.78, Z:2.64 [[ 9.99973646e-01 -4.46296558e-03 -5.72621666e-03 4.90988180e+02] [ 4.46466280e-03 9.99989993e-01 2.83645633e-04 -2.47778913e+01] [ 5.72489346e-03 -3.09203784e-04 9.99983565e-01 2.64023996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.68071405700005 meters Centerline goodness : 0.985627 with order 1 Centerline is valid? [True, True] Translation: X:491.05, Y:-24.78, Z:2.63 [[ 9.99974515e-01 -4.26378310e-03 -5.72621149e-03 4.91047517e+02] [ 4.26547766e-03 9.99990863e-01 2.83750001e-04 -2.47794781e+01] [ 5.72494932e-03 -3.08167797e-04 9.99983565e-01 2.63309723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.74071405700005 meters Centerline goodness : 0.984563 with order 1 Centerline is valid? [True, True] Translation: X:491.11, Y:-24.78, Z:2.64 [[ 9.99983578e-01 2.31789673e-04 -5.72622150e-03 4.91106978e+02] [-2.30169780e-04 9.99999933e-01 2.83547809e-04 -2.47778260e+01] [ 5.72628684e-03 -2.82225149e-04 9.99983565e-01 2.64033598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.80071405700005 meters Centerline goodness : 0.985420 with order 1 Centerline is valid? [True, True] Translation: X:491.17, Y:-24.78, Z:2.64 [[ 9.99978543e-01 -3.18195266e-03 -5.72623167e-03 4.91165778e+02] [ 3.18362720e-03 9.99994892e-01 2.83342398e-04 -2.47778197e+01] [ 5.72530084e-03 -3.01566505e-04 9.99983565e-01 2.64119216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.86071405700005 meters Centerline goodness : 0.985759 with order 1 Centerline is valid? [True, True] Translation: X:491.23, Y:-24.78, Z:2.64 [[ 9.99953974e-01 -7.69798347e-03 -5.72625258e-03 4.91225863e+02] [ 7.69972942e-03 9.99970317e-01 2.82919200e-04 -2.47795639e+01] [ 5.72390469e-03 -3.26996774e-04 9.99983565e-01 2.64002014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.92071405700005 meters Centerline goodness : 0.985997 with order 1 Centerline is valid? [True, True] Translation: X:491.29, Y:-24.78, Z:2.64 [[ 9.99886034e-01 -1.39688915e-02 -5.72626323e-03 4.91285886e+02] [ 1.39707387e-02 9.99902365e-01 2.82703344e-04 -2.47803364e+01] [ 5.72175509e-03 -3.62671252e-04 9.99983565e-01 2.63509747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.98071405700006 meters Centerline goodness : 0.986363 with order 1 Centerline is valid? [True, True] Translation: X:491.35, Y:-24.78, Z:2.64 [[ 9.99874504e-01 -1.47711446e-02 -5.72623880e-03 4.91348566e+02] [ 1.47730077e-02 9.99890833e-01 2.83197313e-04 -2.47813751e+01] [ 5.72143054e-03 -3.67755542e-04 9.99983565e-01 2.64176368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.04071405700006 meters Centerline goodness : 0.987496 with order 1 Centerline is valid? [True, True] Translation: X:491.41, Y:-24.78, Z:2.64 [[ 9.99764257e-01 -2.09437588e-02 -5.72621838e-03 4.91411463e+02] [ 2.09457250e-02 9.99780574e-01 2.83609766e-04 -2.47837606e+01] [ 5.71902204e-03 -4.03482702e-04 9.99983565e-01 2.63744981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.10071405700006 meters Centerline goodness : 0.986789 with order 1 Centerline is valid? [True, True] Translation: X:491.47, Y:-24.78, Z:2.64 [[ 9.99693030e-01 -2.41051124e-02 -5.72613572e-03 4.91474113e+02] [ 2.41071397e-02 9.99709340e-01 2.85268981e-04 -2.47846151e+01] [ 5.71759492e-03 -4.23222165e-04 9.99983565e-01 2.63850788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.16071405700006 meters Centerline goodness : 0.986882 with order 1 Centerline is valid? [True, True] Translation: X:491.54, Y:-24.79, Z:2.64 [[ 9.99667587e-01 -2.51381585e-02 -5.72611395e-03 4.91535797e+02] [ 2.51402051e-02 9.99683894e-01 2.85705249e-04 -2.47872153e+01] [ 5.71712179e-03 -4.29565956e-04 9.99983565e-01 2.63717330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.22071405700007 meters Centerline goodness : 0.986296 with order 1 Centerline is valid? [True, True] Translation: X:491.60, Y:-24.79, Z:2.64 [[ 9.99756192e-01 -2.13252812e-02 -5.72609224e-03 4.91598901e+02] [ 2.13272681e-02 9.99772507e-01 2.86139619e-04 -2.47869102e+01] [ 5.71868759e-03 -4.08191761e-04 9.99983565e-01 2.63826953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.28071405700007 meters Centerline goodness : 0.987130 with order 1 Centerline is valid? [True, True] Translation: X:491.66, Y:-24.79, Z:2.64 [[ 9.99856467e-01 -1.59454730e-02 -5.72605863e-03 4.91660224e+02] [ 1.59473759e-02 9.99872791e-01 2.86810662e-04 -2.47859809e+01] [ 5.72075689e-03 -3.78085104e-04 9.99983565e-01 2.64196330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.34071405700007 meters Centerline goodness : 0.987320 with order 1 Centerline is valid? [True, True] Translation: X:491.72, Y:-24.79, Z:2.64 [[ 9.99854431e-01 -1.60726051e-02 -5.72604218e-03 4.91722227e+02] [ 1.60745119e-02 9.99870755e-01 2.87138654e-04 -2.47875513e+01] [ 5.72068706e-03 -3.79140189e-04 9.99983565e-01 2.63770481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.4007140570001 meters Centerline goodness : 0.987414 with order 1 Centerline is valid? [True, True] Translation: X:491.78, Y:-24.79, Z:2.64 [[ 9.99924250e-01 -1.08953035e-02 -5.72602127e-03 4.91784199e+02] [ 1.08971281e-02 9.99940583e-01 2.87555057e-04 -2.47871375e+01] [ 5.72254805e-03 -3.49930462e-04 9.99983565e-01 2.63861366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.4607140570001 meters Centerline goodness : 0.988187 with order 1 Centerline is valid? [True, True] Translation: X:491.85, Y:-24.79, Z:2.64 [[ 9.99914773e-01 -1.17328857e-02 -5.72599927e-03 4.91845841e+02] [ 1.17347265e-02 9.99931104e-01 2.87992540e-04 -2.47876114e+01] [ 5.72222579e-03 -3.55161030e-04 9.99983565e-01 2.63923285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.5207140570001 meters Centerline goodness : 0.987727 with order 1 Centerline is valid? [True, True] Translation: X:491.91, Y:-24.79, Z:2.64 [[ 9.99922182e-01 -1.10834402e-02 -5.72596254e-03 4.91907632e+02] [ 1.10852745e-02 9.99938515e-01 2.88720993e-04 -2.47896420e+01] [ 5.72241045e-03 -3.52172393e-04 9.99983565e-01 2.64316531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.5807140570001 meters Centerline goodness : 0.989219 with order 1 Centerline is valid? [True, True] Translation: X:491.97, Y:-24.79, Z:2.64 [[ 9.99823145e-01 -1.79134631e-02 -5.72594134e-03 4.91970038e+02] [ 1.79154114e-02 9.99839464e-01 2.89140756e-04 -2.47904632e+01] [ 5.71984261e-03 -3.91672215e-04 9.99983565e-01 2.64368753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.6407140570001 meters Centerline goodness : 0.989007 with order 1 Centerline is valid? [True, True] Translation: X:492.03, Y:-24.79, Z:2.64 [[ 9.99723663e-01 -2.27994045e-02 -5.72586805e-03 4.92033375e+02] [ 2.28014407e-02 9.99739971e-01 2.90584813e-04 -2.47939799e+01] [ 5.71775400e-03 -4.21062555e-04 9.99983565e-01 2.64098929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.7007140570001 meters Centerline goodness : 0.987469 with order 1 Centerline is valid? [True, True] Translation: X:492.10, Y:-24.80, Z:2.64 [[ 9.99677848e-01 -2.47267961e-02 -5.72583641e-03 4.92095976e+02] [ 2.47288674e-02 9.99694152e-01 2.91206989e-04 -2.47962490e+01] [ 5.71688456e-03 -4.32706625e-04 9.99983565e-01 2.64038685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.7607140570001 meters Centerline goodness : 0.987336 with order 1 Centerline is valid? [True, True] Translation: X:492.16, Y:-24.80, Z:2.64 [[ 9.99665286e-01 -2.52295708e-02 -5.72580386e-03 4.92158363e+02] [ 2.52316539e-02 9.99681589e-01 2.91845603e-04 -2.47980427e+01] [ 5.71661756e-03 -4.36219420e-04 9.99983565e-01 2.64214398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.82071405700003 meters Centerline goodness : 0.987075 with order 1 Centerline is valid? [True, True] Translation: X:492.22, Y:-24.80, Z:2.64 [[ 9.99705627e-01 -2.35769767e-02 -5.72578262e-03 4.92220109e+02] [ 2.35790352e-02 9.99721933e-01 2.92261812e-04 -2.48003143e+01] [ 5.71729982e-03 -4.27184208e-04 9.99983565e-01 2.64305407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.88071405700003 meters Centerline goodness : 0.988603 with order 1 Centerline is valid? [True, True] Translation: X:492.28, Y:-24.79, Z:2.65 [[ 9.99564375e-01 -2.89529850e-02 -5.72576030e-03 4.92282640e+02] [ 2.89551336e-02 9.99580669e-01 2.92698443e-04 -2.47910326e+01] [ 5.71488482e-03 -4.58361091e-04 9.99983565e-01 2.64817357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.94071405700004 meters Centerline goodness : 0.986177 with order 1 Centerline is valid? [True, True] Translation: X:492.34, Y:-24.81, Z:2.64 [[ 9.99900190e-01 -1.29161490e-02 -5.72572770e-03 4.92343704e+02] [ 1.29180397e-02 9.99916516e-01 2.93334666e-04 -2.48059357e+01] [ 5.72146094e-03 -3.67270566e-04 9.99983565e-01 2.63693949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.00071405700004 meters Centerline goodness : 0.986059 with order 1 Centerline is valid? [True, True] Translation: X:492.41, Y:-24.81, Z:2.64 [[ 9.99919852e-01 -1.12918495e-02 -5.72570110e-03 4.92405876e+02] [ 1.12937166e-02 9.99936181e-01 2.93853081e-04 -2.48079643e+01] [ 5.72201754e-03 -3.58493975e-04 9.99983565e-01 2.63700783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.06071405700004 meters Centerline goodness : 0.985559 with order 1 Centerline is valid? [True, True] Translation: X:492.47, Y:-24.81, Z:2.64 [[ 9.99957974e-01 -7.16009971e-03 -5.72567858e-03 4.92467284e+02] [ 7.16190177e-03 9.99974310e-01 2.94291229e-04 -2.48106953e+01] [ 5.72342433e-03 -3.35285609e-04 9.99983565e-01 2.63531673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.12071405700004 meters Centerline goodness : 0.986416 with order 1 Centerline is valid? [True, True] Translation: X:492.53, Y:-24.81, Z:2.64 [[ 9.99983606e-01 -6.17921575e-05 -5.72566189e-03 4.92528820e+02] [ 6.34800636e-05 9.99999955e-01 2.94615417e-04 -2.48089818e+01] [ 5.72564343e-03 -2.94974052e-04 9.99983565e-01 2.63958135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.18071405700005 meters Centerline goodness : 0.986443 with order 1 Centerline is valid? [True, True] Translation: X:492.59, Y:-24.81, Z:2.64 [[ 9.99966538e-01 5.84292927e-03 -5.72565102e-03 4.92587240e+02] [-5.84133672e-03 9.99982896e-01 2.94826516e-04 -2.48088831e+01] [ 5.72727574e-03 -2.61371195e-04 9.99983565e-01 2.64219634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.24071405700005 meters Centerline goodness : 0.986331 with order 1 Centerline is valid? [True, True] Translation: X:492.64, Y:-24.81, Z:2.65 [[ 9.99871058e-01 1.50028052e-02 -5.72572895e-03 4.92644712e+02] [-1.50013713e-02 9.99887430e-01 2.93305231e-04 -2.48097408e+01] [ 5.72948481e-03 -2.07373626e-04 9.99983565e-01 2.64642429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.30071405700005 meters Centerline goodness : 0.986552 with order 1 Centerline is valid? [True, True] Translation: X:492.70, Y:-24.81, Z:2.65 [[ 9.99677782e-01 2.47294851e-02 -5.72575616e-03 4.92703520e+02] [-2.47282135e-02 9.99694168e-01 2.92773233e-04 -2.48105964e+01] [ 5.73124517e-03 -1.51091175e-04 9.99983565e-01 2.65205378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.36071405700005 meters Centerline goodness : 0.986625 with order 1 Centerline is valid? [True, True] Translation: X:492.76, Y:-24.82, Z:2.65 [[ 9.99299007e-01 3.69960655e-02 -5.72582895e-03 4.92762484e+02] [-3.69950033e-02 9.99315408e-01 2.91342508e-04 -2.48186184e+01] [ 5.73268763e-03 -7.93112174e-05 9.99983565e-01 2.64770047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.42071405700005 meters Centerline goodness : 0.985713 with order 1 Centerline is valid? [True, True] Translation: X:492.82, Y:-24.83, Z:2.65 [[ 9.99015815e-01 4.39842644e-02 -5.72589584e-03 4.92820206e+02] [-4.39833245e-02 9.99032223e-01 2.90021924e-04 -2.48277434e+01] [ 5.73311086e-03 -3.78925541e-05 9.99983565e-01 2.64530753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.48071405700006 meters Centerline goodness : 0.986336 with order 1 Centerline is valid? [True, True] Translation: X:492.88, Y:-24.84, Z:2.64 [[ 9.99061388e-01 4.29366557e-02 -5.72597630e-03 4.92878735e+02] [-4.29357078e-02 9.99077796e-01 2.88424628e-04 -2.48386778e+01] [ 5.73307977e-03 -4.23050639e-05 9.99983565e-01 2.64282083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.54071405700006 meters Centerline goodness : 0.986283 with order 1 Centerline is valid? [True, True] Translation: X:492.94, Y:-24.85, Z:2.64 [[ 9.99292712e-01 3.71656831e-02 -5.72599642e-03 4.92936666e+02] [-3.71646427e-02 9.99309115e-01 2.88024765e-04 -2.48509012e+01] [ 5.73274504e-03 -7.50164375e-05 9.99983565e-01 2.64251125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.60071405700006 meters Centerline goodness : 0.986356 with order 1 Centerline is valid? [True, True] Translation: X:493.00, Y:-24.86, Z:2.65 [[ 9.99610059e-01 2.73302485e-02 -5.72601660e-03 4.92995356e+02] [-2.73290491e-02 9.99626450e-01 2.87622961e-04 -2.48616660e+01] [ 5.73173845e-03 -1.31024217e-04 9.99983565e-01 2.64933774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.66071405700006 meters Centerline goodness : 0.986047 with order 1 Centerline is valid? [True, True] Translation: X:493.05, Y:-24.87, Z:2.65 [[ 9.99750989e-01 2.15678563e-02 -5.72603673e-03 4.93052387e+02] [-2.15665647e-02 9.99767373e-01 2.87221654e-04 -2.48700840e+01] [ 5.73089945e-03 -1.63659192e-04 9.99983565e-01 2.65292936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.72071405700007 meters Centerline goodness : 0.990946 with order 1 Centerline is valid? [True, True] Translation: X:493.11, Y:-24.87, Z:2.66 [[ 9.99982059e-01 1.75893623e-03 -5.72606148e-03 4.93111144e+02] [-1.75732315e-03 9.99998415e-01 2.86727261e-04 -2.48705071e+01] [ 5.72655674e-03 -2.76659576e-04 9.99983565e-01 2.65863344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.78071405700007 meters Centerline goodness : 0.987227 with order 1 Centerline is valid? [True, True] Translation: X:493.17, Y:-24.89, Z:2.66 [[ 9.99918362e-01 1.14228176e-02 -5.72608107e-03 4.93169869e+02] [-1.14213649e-02 9.99934733e-01 2.86335551e-04 -2.48890208e+01] [ 5.72897811e-03 -2.20912514e-04 9.99983565e-01 2.65641128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.84071405700007 meters Centerline goodness : 0.987660 with order 1 Centerline is valid? [True, True] Translation: X:493.23, Y:-24.90, Z:2.65 [[ 9.99964807e-01 6.13167501e-03 -5.72609126e-03 4.93228552e+02] [-6.13013687e-03 9.99981170e-01 2.86131629e-04 -2.48956220e+01] [ 5.72773790e-03 -2.51019836e-04 9.99983565e-01 2.65359297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.9007140570001 meters Centerline goodness : 0.987484 with order 1 Centerline is valid? [True, True] Translation: X:493.29, Y:-24.90, Z:2.65 [[ 9.99959879e-01 6.88852172e-03 -5.72611171e-03 4.93285843e+02] [-6.88699832e-03 9.99976244e-01 2.85721748e-04 -2.49041544e+01] [ 5.72794388e-03 -2.46274563e-04 9.99983565e-01 2.64935249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.9607140570001 meters Centerline goodness : 0.988300 with order 1 Centerline is valid? [True, True] Translation: X:493.34, Y:-24.91, Z:2.66 [[ 9.99951627e-01 7.99715465e-03 -5.72613689e-03 4.93343308e+02] [-7.99565228e-03 9.99967994e-01 2.85216266e-04 -2.49071911e+01] [ 5.72823454e-03 -2.39418270e-04 9.99983565e-01 2.65657822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.0207140570001 meters Centerline goodness : 0.989453 with order 1 Centerline is valid? [True, True] Translation: X:493.40, Y:-24.91, Z:2.66 [[ 9.99958191e-01 7.12937663e-03 -5.72616911e-03 4.93400947e+02] [-7.12786376e-03 9.99974556e-01 2.84568006e-04 -2.49116335e+01] [ 5.72805220e-03 -2.43740755e-04 9.99983565e-01 2.65837356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.0807140570001 meters Centerline goodness : 0.989468 with order 1 Centerline is valid? [True, True] Translation: X:493.46, Y:-24.92, Z:2.66 [[ 9.99974388e-01 4.29359161e-03 -5.72619546e-03 4.93459846e+02] [-4.29203537e-03 9.99990749e-01 2.84036721e-04 -2.49175529e+01] [ 5.72736202e-03 -2.59452413e-04 9.99983565e-01 2.66249234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.1407140570001 meters Centerline goodness : 0.989203 with order 1 Centerline is valid? [True, True] Translation: X:493.52, Y:-24.92, Z:2.66 [[ 9.99983580e-01 -2.24439309e-04 -5.72621518e-03 4.93518568e+02] [ 2.26067182e-04 9.99999934e-01 2.83638600e-04 -2.49226529e+01] [ 5.72615115e-03 -2.84928452e-04 9.99983565e-01 2.66353472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.2007140570001 meters Centerline goodness : 0.988993 with order 1 Centerline is valid? [True, True] Translation: X:493.58, Y:-24.93, Z:2.67 [[ 9.99983604e-01 4.78891284e-05 -5.72623504e-03 4.93576974e+02] [-4.62680028e-05 9.99999959e-01 2.83237113e-04 -2.49269717e+01] [ 5.72624837e-03 -2.82967527e-04 9.99983565e-01 2.66599628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.2607140570001 meters Centerline goodness : 0.989425 with order 1 Centerline is valid? [True, True] Translation: X:493.64, Y:-24.93, Z:2.66 [[ 9.99979069e-01 3.01187072e-03 -5.72630458e-03 4.93635865e+02] [-3.01030615e-03 9.99995429e-01 2.81824246e-04 -2.49330691e+01] [ 5.72712722e-03 -2.64580417e-04 9.99983565e-01 2.66443340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.32071405700003 meters Centerline goodness : 0.989567 with order 1 Centerline is valid? [True, True] Translation: X:493.69, Y:-24.94, Z:2.66 [[ 9.99956165e-01 7.40782679e-03 -5.72637578e-03 4.93693144e+02] [-7.40634247e-03 9.99972533e-01 2.80369915e-04 -2.49374396e+01] [ 5.72829543e-03 -2.37946125e-04 9.99983565e-01 2.66214369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.38071405700003 meters Centerline goodness : 0.989821 with order 1 Centerline is valid? [True, True] Translation: X:493.75, Y:-24.94, Z:2.66 [[ 9.99928567e-01 1.04913951e-02 -5.72641063e-03 4.93750953e+02] [-1.04899654e-02 9.99944940e-01 2.79656406e-04 -2.49441834e+01] [ 5.72902931e-03 -2.19566580e-04 9.99983565e-01 2.65987068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.44071405700004 meters Centerline goodness : 0.989729 with order 1 Centerline is valid? [True, True] Translation: X:493.81, Y:-24.95, Z:2.66 [[ 9.99935441e-01 9.81434198e-03 -5.72648886e-03 4.93809483e+02] [-9.81291036e-03 9.99951814e-01 2.78045123e-04 -2.49469499e+01] [ 5.72894175e-03 -2.21833651e-04 9.99983565e-01 2.66247472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.50071405700004 meters Centerline goodness : 0.989374 with order 1 Centerline is valid? [True, True] Translation: X:493.87, Y:-24.95, Z:2.66 [[ 9.99924786e-01 1.08456714e-02 -5.72650865e-03 4.93867692e+02] [-1.08442590e-02 9.99941161e-01 2.77637060e-04 -2.49542949e+01] [ 5.72918286e-03 -2.15516435e-04 9.99983565e-01 2.65910520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.56071405700004 meters Centerline goodness : 0.983756 with order 1 Centerline is valid? [True, True] Translation: X:493.93, Y:-24.95, Z:2.66 [[ 9.99982590e-01 1.42325083e-03 -5.72652938e-03 4.93925992e+02] [-1.42168664e-03 9.99998951e-01 2.77208773e-04 -2.49518142e+01] [ 5.72691791e-03 -2.69062617e-04 9.99983565e-01 2.66387411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.62071405700004 meters Centerline goodness : 0.990752 with order 1 Centerline is valid? [True, True] Translation: X:493.98, Y:-24.96, Z:2.66 [[ 9.99980064e-01 -2.66066242e-03 -5.72655726e-03 4.93984554e+02] [ 2.66229011e-03 9.99996418e-01 2.76631561e-04 -2.49577977e+01] [ 5.72580072e-03 -2.91871803e-04 9.99983565e-01 2.66414921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.68071405700005 meters Centerline goodness : 0.983521 with order 1 Centerline is valid? [True, True] Translation: X:494.04, Y:-24.96, Z:2.66 [[ 9.99955764e-01 -7.46166176e-03 -5.72657664e-03 4.94042967e+02] [ 7.46336566e-03 9.99972111e-01 2.76229802e-04 -2.49588912e+01] [ 5.72435580e-03 -3.18957119e-04 9.99983565e-01 2.66195399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.74071405700005 meters Centerline goodness : 0.982856 with order 1 Centerline is valid? [True, True] Translation: X:494.10, Y:-24.96, Z:2.67 [[ 9.99958883e-01 -7.03125387e-03 -5.72658901e-03 4.94103031e+02] [ 7.03294927e-03 9.99975230e-01 2.75973171e-04 -2.49644386e+01] [ 5.72450672e-03 -3.16236634e-04 9.99983565e-01 2.66506351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.80071405700005 meters Centerline goodness : 0.985016 with order 1 Centerline is valid? [True, True] Translation: X:494.16, Y:-24.97, Z:2.66 [[ 9.99915712e-01 -1.16522385e-02 -5.72658901e-03 4.94163194e+02] [ 1.16540094e-02 9.99932052e-01 2.75973171e-04 -2.49663670e+01] [ 5.72298419e-03 -3.42687632e-04 9.99983565e-01 2.66195722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.86071405700005 meters Centerline goodness : 0.984922 with order 1 Centerline is valid? [True, True] Translation: X:494.22, Y:-24.97, Z:2.66 [[ 9.99946737e-01 -8.58663552e-03 -5.72658901e-03 4.94223778e+02] [ 8.58835634e-03 9.99963081e-01 2.75973171e-04 -2.49710383e+01] [ 5.72400791e-03 -3.25140459e-04 9.99983565e-01 2.66157016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.92071405700005 meters Centerline goodness : 0.984456 with order 1 Centerline is valid? [True, True] Translation: X:494.29, Y:-24.97, Z:2.66 [[ 9.99956249e-01 -7.39634565e-03 -5.72657467e-03 4.94285112e+02] [ 7.39804872e-03 9.99972596e-01 2.76270416e-04 -2.49729105e+01] [ 5.72437434e-03 -3.18623807e-04 9.99983565e-01 2.65698134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.98071405700006 meters Centerline goodness : 0.992075 with order 1 Centerline is valid? [True, True] Translation: X:494.35, Y:-24.98, Z:2.65 [[ 9.99980351e-01 -2.55016021e-03 -5.72656087e-03 4.94345369e+02] [ 2.55178566e-03 9.99996706e-01 2.76556152e-04 -2.49774498e+01] [ 5.72583674e-03 -2.91163674e-04 9.99983565e-01 2.65467076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.04071405700006 meters Centerline goodness : 0.991879 with order 1 Centerline is valid? [True, True] Translation: X:494.40, Y:-24.98, Z:2.65 [[ 9.99983025e-01 -1.07499459e-03 -5.72653877e-03 4.94404617e+02] [ 1.07659853e-03 9.99999382e-01 2.77012924e-04 -2.49813616e+01] [ 5.72623745e-03 -2.83173405e-04 9.99983565e-01 2.65425257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.10071405700006 meters Centerline goodness : 0.983702 with order 1 Centerline is valid? [True, True] Translation: X:494.46, Y:-24.99, Z:2.66 [[ 9.99983387e-01 -6.58260547e-04 -5.72654885e-03 4.94462927e+02] [ 6.59856475e-04 9.99999744e-01 2.76804448e-04 -2.49872083e+01] [ 5.72636517e-03 -2.80578549e-04 9.99983565e-01 2.65952578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.16071405700006 meters Centerline goodness : 0.984201 with order 1 Centerline is valid? [True, True] Translation: X:494.52, Y:-24.99, Z:2.66 [[ 9.99983041e-01 -1.05970626e-03 -5.72664019e-03 4.94521848e+02] [ 1.06129788e-03 9.99999399e-01 2.74901623e-04 -2.49920892e+01] [ 5.72634544e-03 -2.80974633e-04 9.99983565e-01 2.65983234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.22071405700007 meters Centerline goodness : 0.983864 with order 1 Centerline is valid? [True, True] Translation: X:494.58, Y:-25.00, Z:2.66 [[ 9.99983241e-01 -8.50613311e-04 -5.72666841e-03 4.94580948e+02] [ 8.52198150e-04 9.99999599e-01 2.74312627e-04 -2.49971322e+01] [ 5.72643278e-03 -2.79188286e-04 9.99983565e-01 2.66176496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.28071405700007 meters Centerline goodness : 0.983459 with order 1 Centerline is valid? [True, True] Translation: X:494.64, Y:-25.00, Z:2.66 [[ 9.99983458e-01 5.36760887e-04 -5.72672111e-03 4.94639554e+02] [-5.35205058e-04 9.99999819e-01 2.73207820e-04 -2.50018013e+01] [ 5.72686673e-03 -2.70138330e-04 9.99983565e-01 2.66347821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.34071405700007 meters Centerline goodness : 0.983756 with order 1 Centerline is valid? [True, True] Translation: X:494.70, Y:-25.01, Z:2.66 [[ 9.99982166e-01 -1.69454980e-03 -5.72681559e-03 4.94698156e+02] [ 1.69613073e-03 9.99998525e-01 2.71212831e-04 -2.50074764e+01] [ 5.72634756e-03 -2.80921422e-04 9.99983565e-01 2.66210375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.4007140570001 meters Centerline goodness : 0.983087 with order 1 Centerline is valid? [True, True] Translation: X:494.76, Y:-25.01, Z:2.66 [[ 9.99954206e-01 -7.66746285e-03 -5.72684337e-03 4.94756915e+02] [ 7.66913811e-03 9.99970555e-01 2.70624971e-04 -2.50144460e+01] [ 5.72459974e-03 -3.14532531e-04 9.99983565e-01 2.66161738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.4607140570001 meters Centerline goodness : 0.983180 with order 1 Centerline is valid? [True, True] Translation: X:494.82, Y:-25.02, Z:2.66 [[ 9.99932673e-01 -1.00922477e-02 -5.72686450e-03 4.94816830e+02] [ 1.00939601e-02 9.99949018e-01 2.70177135e-04 -2.50196964e+01] [ 5.72384584e-03 -3.27965686e-04 9.99983565e-01 2.65990039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.5207140570001 meters Centerline goodness : 0.983659 with order 1 Centerline is valid? [True, True] Translation: X:494.88, Y:-25.02, Z:2.66 [[ 9.99879763e-01 -1.44104957e-02 -5.72685745e-03 4.94878106e+02] [ 1.44122794e-02 9.99896101e-01 2.70326505e-04 -2.50246993e+01] [ 5.72236690e-03 -3.52831072e-04 9.99983565e-01 2.65725898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.5807140570001 meters Centerline goodness : 0.982938 with order 1 Centerline is valid? [True, True] Translation: X:494.94, Y:-25.03, Z:2.66 [[ 9.99870344e-01 -1.50498769e-02 -5.72684366e-03 4.94939659e+02] [ 1.50516728e-02 9.99886681e-01 2.70618332e-04 -2.50308165e+01] [ 5.72212192e-03 -3.56781822e-04 9.99983565e-01 2.65850463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.6407140570001 meters Centerline goodness : 0.982792 with order 1 Centerline is valid? [True, True] Translation: X:495.00, Y:-25.03, Z:2.66 [[ 9.99838717e-01 -1.70218614e-02 -5.72684727e-03 4.95001204e+02] [ 1.70236891e-02 9.99855050e-01 2.70541864e-04 -2.50331896e+01] [ 5.72141204e-03 -3.67990297e-04 9.99983565e-01 2.66059613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.7007140570001 meters Centerline goodness : 0.982992 with order 1 Centerline is valid? [True, True] Translation: X:495.06, Y:-25.04, Z:2.66 [[ 9.99810491e-01 -1.86060634e-02 -5.72683305e-03 4.95062772e+02] [ 1.86079186e-02 9.99826821e-01 2.70842653e-04 -2.50375697e+01] [ 5.72080196e-03 -3.77355769e-04 9.99983565e-01 2.65981407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.7607140570001 meters Centerline goodness : 0.989005 with order 1 Centerline is valid? [True, True] Translation: X:495.12, Y:-25.04, Z:2.66 [[ 9.99838129e-01 -1.70563727e-02 -5.72681246e-03 4.95123774e+02] [ 1.70582052e-02 9.99854461e-01 2.71277170e-04 -2.50429501e+01] [ 5.72135199e-03 -3.68922400e-04 9.99983565e-01 2.66293927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.82071405700003 meters Centerline goodness : 0.983092 with order 1 Centerline is valid? [True, True] Translation: X:495.18, Y:-25.04, Z:2.66 [[ 9.99858876e-01 -1.57934142e-02 -5.72679896e-03 4.95184014e+02] [ 1.57952276e-02 9.99875211e-01 2.71562000e-04 -2.50441876e+01] [ 5.72179542e-03 -3.61979769e-04 9.99983565e-01 2.66085893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.88071405700003 meters Centerline goodness : 0.983782 with order 1 Centerline is valid? [True, True] Translation: X:495.25, Y:-25.05, Z:2.66 [[ 9.99887863e-01 -1.38371021e-02 -5.72678595e-03 4.95245523e+02] [ 1.38388851e-02 9.99904201e-01 2.71836055e-04 -2.50464811e+01] [ 5.72247591e-03 -3.51057905e-04 9.99983565e-01 2.65753837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.94071405700004 meters Centerline goodness : 0.983744 with order 1 Centerline is valid? [True, True] Translation: X:495.31, Y:-25.05, Z:2.66 [[ 9.99919791e-01 -1.12967452e-02 -5.72677196e-03 4.95306788e+02] [ 1.12984884e-02 9.99936133e-01 2.72130389e-04 -2.50510038e+01] [ 5.72333202e-03 -3.36812429e-04 9.99983565e-01 2.65757747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.00071405700004 meters Centerline goodness : 0.982970 with order 1 Centerline is valid? [True, True] Translation: X:495.37, Y:-25.06, Z:2.66 [[ 9.99935794e-01 -9.77816555e-03 -5.72675244e-03 4.95367990e+02] [ 9.77988626e-03 9.99952139e-01 2.72540573e-04 -2.50561128e+01] [ 5.72381340e-03 -3.28530062e-04 9.99983565e-01 2.65665424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.06071405700004 meters Centerline goodness : 0.984240 with order 1 Centerline is valid? [True, True] Translation: X:495.43, Y:-25.06, Z:2.66 [[ 9.99927960e-01 -1.05489101e-02 -5.72673927e-03 4.95428726e+02] [ 1.05506450e-02 9.99944303e-01 2.72816959e-04 -2.50602758e+01] [ 5.72354239e-03 -3.33218098e-04 9.99983565e-01 2.65531527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.12071405700004 meters Centerline goodness : 0.990462 with order 1 Centerline is valid? [True, True] Translation: X:495.49, Y:-25.07, Z:2.66 [[ 9.99908526e-01 -1.22533008e-02 -5.72673267e-03 4.95489681e+02] [ 1.22550644e-02 9.99924867e-01 2.72955555e-04 -2.50673007e+01] [ 5.72295779e-03 -3.43112065e-04 9.99983565e-01 2.66244708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.18071405700005 meters Centerline goodness : 0.983867 with order 1 Centerline is valid? [True, True] Translation: X:495.55, Y:-25.07, Z:2.66 [[ 9.99919941e-01 -1.12834640e-02 -5.72671821e-03 4.95549955e+02] [ 1.12852134e-02 9.99936283e-01 2.73258629e-04 -2.50735329e+01] [ 5.72327001e-03 -3.37863989e-04 9.99983565e-01 2.65777014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.24071405700005 meters Centerline goodness : 0.991659 with order 1 Centerline is valid? [True, True] Translation: X:495.61, Y:-25.08, Z:2.65 [[ 9.99896067e-01 -1.32310276e-02 -5.72670415e-03 4.95610452e+02] [ 1.32328105e-02 9.99912405e-01 2.73552917e-04 -2.50788106e+01] [ 5.72258313e-03 -3.49304877e-04 9.99983565e-01 2.65427856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.30071405700005 meters Centerline goodness : 0.990817 with order 1 Centerline is valid? [True, True] Translation: X:495.67, Y:-25.08, Z:2.65 [[ 9.99852168e-01 -1.62125491e-02 -5.72668358e-03 4.95671999e+02] [ 1.62143832e-02 9.99868501e-01 2.73982924e-04 -2.50845807e+01] [ 5.72148856e-03 -3.66797062e-04 9.99983565e-01 2.65309233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.36071405700005 meters Centerline goodness : 0.991424 with order 1 Centerline is valid? [True, True] Translation: X:495.73, Y:-25.09, Z:2.65 [[ 9.99813885e-01 -1.84228370e-02 -5.72667390e-03 4.95733850e+02] [ 1.84247084e-02 9.99830213e-01 2.74184956e-04 -2.50893892e+01] [ 5.72065032e-03 -3.79646223e-04 9.99983565e-01 2.65306505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.42071405700005 meters Centerline goodness : 0.986271 with order 1 Centerline is valid? [True, True] Translation: X:495.79, Y:-25.11, Z:2.66 [[ 9.99957851e-01 -7.17641106e-03 -5.72665471e-03 4.95794433e+02] [ 7.17810091e-03 9.99974199e-01 2.74585281e-04 -2.51052990e+01] [ 5.72453642e-03 -3.15680213e-04 9.99983565e-01 2.65974025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.48071405700006 meters Centerline goodness : 0.991466 with order 1 Centerline is valid? [True, True] Translation: X:495.86, Y:-25.10, Z:2.65 [[ 9.99832812e-01 -1.73653097e-02 -5.72664491e-03 4.95855441e+02] [ 1.73671672e-02 9.99849142e-01 2.74789428e-04 -2.50957129e+01] [ 5.72100920e-03 -3.74199087e-04 9.99983565e-01 2.65439272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.54071405700006 meters Centerline goodness : 0.989658 with order 1 Centerline is valid? [True, True] Translation: X:495.92, Y:-25.10, Z:2.66 [[ 9.99920394e-01 -1.12433163e-02 -5.72664491e-03 4.95916608e+02] [ 1.12450738e-02 9.99936734e-01 2.74789428e-04 -2.51028866e+01] [ 5.72319307e-03 -3.39164098e-04 9.99983565e-01 2.66080513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.60071405700006 meters Centerline goodness : 0.991243 with order 1 Centerline is valid? [True, True] Translation: X:495.98, Y:-25.10, Z:2.65 [[ 9.99822332e-01 -1.79585583e-02 -5.72663290e-03 4.95977323e+02] [ 1.79604269e-02 9.99838661e-01 2.75039587e-04 -2.50994234e+01] [ 5.72076965e-03 -3.77843492e-04 9.99983565e-01 2.65466593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.66071405700006 meters Centerline goodness : 0.991695 with order 1 Centerline is valid? [True, True] Translation: X:496.04, Y:-25.10, Z:2.65 [[ 9.99726544e-01 -2.26725047e-02 -5.72660296e-03 4.96039833e+02] [ 2.26744539e-02 9.99742864e-01 2.75661523e-04 -2.51019654e+01] [ 5.71888050e-03 -4.05433736e-04 9.99983565e-01 2.65354521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.72071405700007 meters Centerline goodness : 0.990856 with order 1 Centerline is valid? [True, True] Translation: X:496.10, Y:-25.11, Z:2.66 [[ 9.99599007e-01 -2.77314162e-02 -5.72658343e-03 4.96102248e+02] [ 2.77334502e-02 9.99615316e-01 2.76066543e-04 -2.51064889e+01] [ 5.71672479e-03 -4.34773759e-04 9.99983565e-01 2.65937065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.78071405700007 meters Centerline goodness : 0.991895 with order 1 Centerline is valid? [True, True] Translation: X:496.16, Y:-25.11, Z:2.66 [[ 9.99434671e-01 -3.31292183e-02 -5.72656139e-03 4.96163652e+02] [ 3.31313430e-02 9.99450968e-01 2.76522975e-04 -2.51066588e+01] [ 5.71425634e-03 -4.66095318e-04 9.99983565e-01 2.65625776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.84071405700007 meters Centerline goodness : 0.983644 with order 1 Centerline is valid? [True, True] Translation: X:496.23, Y:-25.11, Z:2.66 [[ 9.99462605e-01 -3.22755153e-02 -5.72654482e-03 4.96225919e+02] [ 3.22776280e-02 9.99478903e-01 2.76865847e-04 -2.51055065e+01] [ 5.71462475e-03 -4.61556344e-04 9.99983565e-01 2.65818492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.9007140570001 meters Centerline goodness : 0.988913 with order 1 Centerline is valid? [True, True] Translation: X:496.29, Y:-25.11, Z:2.66 [[ 9.99577662e-01 -2.84904238e-02 -5.72651077e-03 4.96286449e+02] [ 2.84924787e-02 9.99593968e-01 2.77568203e-04 -2.51101470e+01] [ 5.71627759e-03 -4.40613462e-04 9.99983565e-01 2.66351816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.9607140570001 meters Centerline goodness : 0.989674 with order 1 Centerline is valid? [True, True] Translation: X:496.35, Y:-25.11, Z:2.66 [[ 9.99605288e-01 -2.75041040e-02 -5.72649024e-03 4.96349052e+02] [ 2.75061453e-02 9.99621596e-01 2.77991252e-04 -2.51076495e+01] [ 5.71667741e-03 -4.35395199e-04 9.99983565e-01 2.66256074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.0207140570001 meters Centerline goodness : 0.990625 with order 1 Centerline is valid? [True, True] Translation: X:496.41, Y:-25.11, Z:2.66 [[ 9.99739260e-01 -2.21047627e-02 -5.72646600e-03 4.96410775e+02] [ 2.21067187e-02 9.99755578e-01 2.78489637e-04 -2.51060708e+01] [ 5.71891038e-03 -4.05010397e-04 9.99983565e-01 2.66124688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.0807140570001 meters Centerline goodness : 0.989461 with order 1 Centerline is valid? [True, True] Translation: X:496.47, Y:-25.11, Z:2.67 [[ 9.99890581e-01 -1.36394385e-02 -5.72644809e-03 4.96473130e+02] [ 1.36412583e-02 9.99906915e-01 2.78857343e-04 -2.51082392e+01] [ 5.72211159e-03 -3.56942789e-04 9.99983565e-01 2.66642527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.1407140570001 meters Centerline goodness : 0.990623 with order 1 Centerline is valid? [True, True] Translation: X:496.53, Y:-25.11, Z:2.66 [[ 9.99961377e-01 -6.66734941e-03 -5.72642442e-03 4.96533896e+02] [ 6.66905809e-03 9.99977723e-01 2.79342572e-04 -2.51072217e+01] [ 5.72443438e-03 -3.17521640e-04 9.99983565e-01 2.66273858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.2007140570001 meters Centerline goodness : 0.991350 with order 1 Centerline is valid? [True, True] Translation: X:496.59, Y:-25.11, Z:2.66 [[ 9.99979543e-01 -2.84987996e-03 -5.72641852e-03 4.96594689e+02] [ 2.85152692e-03 9.99995895e-01 2.79463437e-04 -2.51080951e+01] [ 5.72559858e-03 -2.95786757e-04 9.99983565e-01 2.66247803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.2607140570001 meters Centerline goodness : 0.991441 with order 1 Centerline is valid? [True, True] Translation: X:496.65, Y:-25.11, Z:2.66 [[ 9.99981221e-01 -2.18296280e-03 -5.72641852e-03 4.96654435e+02] [ 2.18459885e-03 9.99997575e-01 2.79463437e-04 -2.51104649e+01] [ 5.72579458e-03 -2.91968117e-04 9.99983565e-01 2.66253140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.32071405700003 meters Centerline goodness : 0.991368 with order 1 Centerline is valid? [True, True] Translation: X:496.71, Y:-25.11, Z:2.66 [[ 9.99979829e-01 -2.74764653e-03 -5.72642857e-03 4.96712881e+02] [ 2.74929065e-03 9.99996182e-01 2.79257367e-04 -2.51134693e+01] [ 5.72563941e-03 -2.94995351e-04 9.99983565e-01 2.66301546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.38071405700003 meters Centerline goodness : 0.992104 with order 1 Centerline is valid? [True, True] Translation: X:496.77, Y:-25.12, Z:2.66 [[ 9.99974394e-01 -4.29164291e-03 -5.72649806e-03 4.96772867e+02] [ 4.29330409e-03 9.99990745e-01 2.77825169e-04 -2.51159169e+01] [ 5.72525273e-03 -3.02403652e-04 9.99983565e-01 2.66430835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.44071405700004 meters Centerline goodness : 0.987565 with order 1 Centerline is valid? [True, True] Translation: X:496.83, Y:-25.13, Z:2.67 [[ 9.99983519e-01 4.10206144e-04 -5.72650788e-03 4.96832174e+02] [-4.08623021e-04 9.99999878e-01 2.77622609e-04 -2.51274802e+01] [ 5.72662106e-03 -2.75278051e-04 9.99983565e-01 2.67454574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.50071405700004 meters Centerline goodness : 0.989105 with order 1 Centerline is valid? [True, True] Translation: X:496.89, Y:-25.13, Z:2.67 [[ 9.99965274e-01 -6.05455135e-03 -5.72651843e-03 4.96890495e+02] [ 6.05623896e-03 9.99981622e-01 2.77404765e-04 -2.51264135e+01] [ 5.72473363e-03 -3.12076296e-04 9.99983565e-01 2.67309150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.56071405700004 meters Centerline goodness : 0.987612 with order 1 Centerline is valid? [True, True] Translation: X:496.95, Y:-25.13, Z:2.68 [[ 9.99978842e-01 -3.08581956e-03 -5.72654674e-03 4.96950679e+02] [ 3.08745528e-03 9.99995195e-01 2.76819168e-04 -2.51325544e+01] [ 5.72566501e-03 -2.94493768e-04 9.99983565e-01 2.67529391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.62071405700004 meters Centerline goodness : 0.988272 with order 1 Centerline is valid? [True, True] Translation: X:497.01, Y:-25.13, Z:2.67 [[ 9.99975922e-01 -3.91946733e-03 -5.72654674e-03 4.97010174e+02] [ 3.92111668e-03 9.99992274e-01 2.76819168e-04 -2.51336590e+01] [ 5.72541751e-03 -2.99266960e-04 9.99983565e-01 2.67086205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.68071405700005 meters Centerline goodness : 0.988074 with order 1 Centerline is valid? [True, True] Translation: X:497.07, Y:-25.13, Z:2.67 [[ 9.99983564e-01 2.81081673e-04 -5.72655721e-03 4.97069933e+02] [-2.79502266e-04 9.99999923e-01 2.76602364e-04 -2.51345960e+01] [ 5.72663452e-03 -2.74997232e-04 9.99983565e-01 2.67221051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.74071405700005 meters Centerline goodness : 0.990270 with order 1 Centerline is valid? [True, True] Translation: X:497.13, Y:-25.13, Z:2.67 [[ 9.99982971e-01 1.12437543e-03 -5.72656766e-03 4.97128235e+02] [-1.12281105e-03 9.99999331e-01 2.76385851e-04 -2.51343369e+01] [ 5.72687459e-03 -2.69951291e-04 9.99983565e-01 2.66750421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.80071405700005 meters Centerline goodness : 0.988228 with order 1 Centerline is valid? [True, True] Translation: X:497.19, Y:-25.13, Z:2.67 [[ 9.99959538e-01 6.93749837e-03 -5.72663946e-03 4.97186823e+02] [-6.93603768e-03 9.99975908e-01 2.74889990e-04 -2.51337155e+01] [ 5.72840855e-03 -2.35158680e-04 9.99983565e-01 2.67313831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.86071405700005 meters Centerline goodness : 0.989966 with order 1 Centerline is valid? [True, True] Translation: X:497.24, Y:-25.13, Z:2.67 [[ 9.99935624e-01 9.79553805e-03 -5.72671266e-03 4.97244964e+02] [-9.79413293e-03 9.99951999e-01 2.73356591e-04 -2.51348703e+01] [ 5.72911545e-03 -2.17250808e-04 9.99983565e-01 2.67124883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.92071405700005 meters Centerline goodness : 0.991092 with order 1 Centerline is valid? [True, True] Translation: X:497.30, Y:-25.13, Z:2.67 [[ 9.99979547e-01 2.84797530e-03 -5.72673820e-03 4.97303329e+02] [-2.84645951e-03 9.99995912e-01 2.72820461e-04 -2.51277396e+01] [ 5.72749177e-03 -2.56513953e-04 9.99983565e-01 2.66611114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.98071405700006 meters Centerline goodness : 0.991820 with order 1 Centerline is valid? [True, True] Translation: X:497.36, Y:-25.13, Z:2.67 [[ 9.99978937e-01 3.05432595e-03 -5.72676323e-03 4.97362302e+02] [-3.05281654e-03 9.99995303e-01 2.72294062e-04 -2.51309987e+01] [ 5.72756801e-03 -2.54805569e-04 9.99983565e-01 2.66682786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.04071405700006 meters Centerline goodness : 0.987717 with order 1 Centerline is valid? [True, True] Translation: X:497.42, Y:-25.14, Z:2.67 [[ 9.99949141e-01 8.30180798e-03 -5.72678316e-03 4.97420848e+02] [-8.30038687e-03 9.99965514e-01 2.71874198e-04 -2.51421110e+01] [ 5.72884272e-03 -2.24325854e-04 9.99983565e-01 2.67450522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.10071405700006 meters Centerline goodness : 0.991347 with order 1 Centerline is valid? [True, True] Translation: X:497.48, Y:-25.14, Z:2.67 [[ 9.99969768e-01 -5.25985680e-03 -5.72685534e-03 4.97478684e+02] [ 5.26149109e-03 9.99986122e-01 2.70345228e-04 -2.51350888e+01] [ 5.72535388e-03 -3.00468854e-04 9.99983565e-01 2.66745249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.16071405700006 meters Centerline goodness : 0.988269 with order 1 Centerline is valid? [True, True] Translation: X:497.54, Y:-25.15, Z:2.67 [[ 9.99983468e-01 5.16994554e-04 -5.72688034e-03 4.97537708e+02] [-5.15457792e-04 9.99999831e-01 2.69814632e-04 -2.51501737e+01] [ 5.72701886e-03 -2.66858206e-04 9.99983565e-01 2.66532517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.22071405700007 meters Centerline goodness : 0.991486 with order 1 Centerline is valid? [True, True] Translation: X:497.60, Y:-25.14, Z:2.67 [[ 9.99922912e-01 -1.10169423e-02 -5.72689061e-03 4.97596752e+02] [ 1.10186665e-02 9.99939256e-01 2.69596433e-04 -2.51404310e+01] [ 5.72357261e-03 -3.32678348e-04 9.99983565e-01 2.67054301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.28071405700007 meters Centerline goodness : 0.991170 with order 1 Centerline is valid? [True, True] Translation: X:497.66, Y:-25.14, Z:2.67 [[ 9.99881239e-01 -1.43076784e-02 -5.72690556e-03 4.97657994e+02] [ 1.43094545e-02 9.99897578e-01 2.69278397e-04 -2.51416842e+01] [ 5.72246626e-03 -3.51195312e-04 9.99983565e-01 2.67023169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.34071405700007 meters Centerline goodness : 0.988360 with order 1 Centerline is valid? [True, True] Translation: X:497.72, Y:-25.15, Z:2.67 [[ 9.99969733e-01 -5.26653652e-03 -5.72689593e-03 4.97719133e+02] [ 5.26816600e-03 9.99986087e-01 2.69483197e-04 -2.51517491e+01] [ 5.72539700e-03 -2.99645279e-04 9.99983565e-01 2.67160789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.4007140570001 meters Centerline goodness : 0.988714 with order 1 Centerline is valid? [True, True] Translation: X:497.78, Y:-25.15, Z:2.66 [[ 9.99963553e-01 -6.33204849e-03 -5.72688564e-03 4.97778668e+02] [ 6.33369665e-03 9.99979906e-01 2.69701532e-04 -2.51532712e+01] [ 5.72506280e-03 -3.05964059e-04 9.99983565e-01 2.66464208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.4607140570001 meters Centerline goodness : 0.988223 with order 1 Centerline is valid? [True, True] Translation: X:497.84, Y:-25.16, Z:2.66 [[ 9.99966507e-01 -5.84694888e-03 -5.72689587e-03 4.97837683e+02] [ 5.84858786e-03 9.99982861e-01 2.69484184e-04 -2.51553521e+01] [ 5.72522206e-03 -3.02969412e-04 9.99983565e-01 2.66166747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.5207140570001 meters Centerline goodness : 0.987990 with order 1 Centerline is valid? [True, True] Translation: X:497.90, Y:-25.15, Z:2.66 [[ 9.99981945e-01 -1.82017823e-03 -5.72690088e-03 4.97898225e+02] [ 1.82175074e-03 9.99998304e-01 2.69377662e-04 -2.51521958e+01] [ 5.72640086e-03 -2.79805784e-04 9.99983565e-01 2.66359140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.5807140570001 meters Centerline goodness : 0.987344 with order 1 Centerline is valid? [True, True] Translation: X:497.96, Y:-25.15, Z:2.66 [[ 9.99983454e-01 -5.42088066e-04 -5.72690088e-03 4.97957326e+02] [ 5.43639661e-04 9.99999816e-01 2.69377662e-04 -2.51519295e+01] [ 5.72675380e-03 -2.72486576e-04 9.99983565e-01 2.66368716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.6407140570001 meters Centerline goodness : 0.988321 with order 1 Centerline is valid? [True, True] Translation: X:498.02, Y:-25.14, Z:2.67 [[ 9.99982142e-01 1.70833574e-03 -5.72696865e-03 4.98016689e+02] [-1.70682925e-03 9.99998507e-01 2.67929204e-04 -2.51436785e+01] [ 5.72741781e-03 -2.58149461e-04 9.99983565e-01 2.66879156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.7007140570001 meters Centerline goodness : 0.987837 with order 1 Centerline is valid? [True, True] Translation: X:498.08, Y:-25.14, Z:2.67 [[ 9.99980173e-01 2.61825251e-03 -5.72703872e-03 4.98076029e+02] [-2.61676952e-03 9.99996541e-01 2.66422859e-04 -2.51431702e+01] [ 5.72771647e-03 -2.51431236e-04 9.99983565e-01 2.66747135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.7607140570001 meters Centerline goodness : 0.987258 with order 1 Centerline is valid? [True, True] Translation: X:498.14, Y:-25.14, Z:2.67 [[ 9.99981810e-01 1.89218797e-03 -5.72710315e-03 4.98135445e+02] [-1.89070105e-03 9.99998178e-01 2.65030580e-04 -2.51403676e+01] [ 5.72759420e-03 -2.54197519e-04 9.99983565e-01 2.66999416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.82071405700003 meters Centerline goodness : 0.987626 with order 1 Centerline is valid? [True, True] Translation: X:498.19, Y:-25.14, Z:2.68 [[ 9.99982692e-01 1.34766203e-03 -5.72712312e-03 4.98193343e+02] [-1.34616867e-03 9.99999059e-01 2.64598354e-04 -2.51386102e+01] [ 5.72747432e-03 -2.56884101e-04 9.99983565e-01 2.67536934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.88071405700003 meters Centerline goodness : 0.981799 with order 1 Centerline is valid? [True, True] Translation: X:498.25, Y:-25.13, Z:2.68 [[ 9.99950416e-01 -8.14655178e-03 -5.72714770e-03 4.98252620e+02] [ 8.14819742e-03 9.99966768e-01 2.64065180e-04 -2.51292632e+01] [ 5.72480616e-03 -3.10718017e-04 9.99983565e-01 2.67764917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.94071405700004 meters Centerline goodness : 0.991070 with order 1 Centerline is valid? [True, True] Translation: X:498.31, Y:-25.13, Z:2.67 [[ 9.99898445e-01 -1.30498484e-02 -5.72716657e-03 4.98313656e+02] [ 1.30515719e-02 9.99914790e-01 2.63655421e-04 -2.51312576e+01] [ 5.72323789e-03 -3.38377172e-04 9.99983565e-01 2.67332770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.00071405700004 meters Centerline goodness : 0.987002 with order 1 Centerline is valid? [True, True] Translation: X:498.37, Y:-25.15, Z:2.67 [[ 9.99978422e-01 -3.21806575e-03 -5.72715374e-03 4.98374691e+02] [ 3.21963002e-03 9.99994782e-01 2.63933759e-04 -2.51471856e+01] [ 5.72627450e-03 -2.82367380e-04 9.99983565e-01 2.66885603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.06071405700004 meters Centerline goodness : 0.979316 with order 1 Centerline is valid? [True, True] Translation: X:498.43, Y:-25.14, Z:2.68 [[ 9.99842642e-01 -1.67896150e-02 -5.72714390e-03 4.98434290e+02] [ 1.67914024e-02 9.99858980e-01 2.64147226e-04 -2.51354070e+01] [ 5.72190132e-03 -3.60272438e-04 9.99983565e-01 2.67645368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.12071405700004 meters Centerline goodness : 0.986303 with order 1 Centerline is valid? [True, True] Translation: X:498.50, Y:-25.15, Z:2.67 [[ 9.99943480e-01 -8.95751301e-03 -5.72715737e-03 4.98495483e+02] [ 8.95917071e-03 9.99959831e-01 2.63854841e-04 -2.51510766e+01] [ 5.72456383e-03 -3.15150508e-04 9.99983565e-01 2.67128803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.18071405700005 meters Centerline goodness : 0.986321 with order 1 Centerline is valid? [True, True] Translation: X:498.56, Y:-25.15, Z:2.68 [[ 9.99898361e-01 -1.30563238e-02 -5.72714421e-03 4.98556646e+02] [ 1.30580502e-02 9.99914705e-01 2.64140022e-04 -2.51510938e+01] [ 5.72320702e-03 -3.38898511e-04 9.99983565e-01 2.67628219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.24071405700005 meters Centerline goodness : 0.987393 with order 1 Centerline is valid? [True, True] Translation: X:498.62, Y:-25.15, Z:2.68 [[ 9.99819653e-01 -1.81069629e-02 -5.72713504e-03 4.98618856e+02] [ 1.81087729e-02 9.99835988e-01 2.64338855e-04 -2.51516189e+01] [ 5.72140934e-03 -3.68002570e-04 9.99983565e-01 2.67972730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.30071405700005 meters Centerline goodness : 0.986170 with order 1 Centerline is valid? [True, True] Translation: X:498.68, Y:-25.15, Z:2.68 [[ 9.99902567e-01 -1.27301813e-02 -5.72706799e-03 4.98680728e+02] [ 1.27319117e-02 9.99918911e-01 2.65783544e-04 -2.51535971e+01] [ 5.72322011e-03 -3.38674172e-04 9.99983565e-01 2.68407610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.36071405700005 meters Centerline goodness : 0.986222 with order 1 Centerline is valid? [True, True] Translation: X:498.74, Y:-25.16, Z:2.68 [[ 9.99957783e-01 -7.18557280e-03 -5.72704895e-03 4.98741568e+02] [ 7.18721487e-03 9.99974136e-01 2.66193239e-04 -2.51564175e+01] [ 5.72498807e-03 -3.07343532e-04 9.99983565e-01 2.68266030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.42071405700005 meters Centerline goodness : 0.985857 with order 1 Centerline is valid? [True, True] Translation: X:498.80, Y:-25.16, Z:2.69 [[ 9.99970976e-01 -5.02468301e-03 -5.72703902e-03 4.98801925e+02] [ 5.02629097e-03 9.99987333e-01 2.66406702e-04 -2.51571678e+01] [ 5.72562786e-03 -2.95184734e-04 9.99983565e-01 2.68511910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.48071405700006 meters Centerline goodness : 0.986022 with order 1 Centerline is valid? [True, True] Translation: X:498.86, Y:-25.16, Z:2.68 [[ 9.99983492e-01 4.66276090e-04 -5.72703414e-03 4.98862513e+02] [-4.64757375e-04 9.99999856e-01 2.66511522e-04 -2.51601246e+01] [ 5.72715759e-03 -2.63845441e-04 9.99983565e-01 2.68254591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.54071405700006 meters Centerline goodness : 0.990428 with order 1 Centerline is valid? [True, True] Translation: X:498.92, Y:-25.15, Z:2.69 [[ 9.99961086e-01 -6.71021404e-03 -5.72703414e-03 4.98921260e+02] [ 6.71185016e-03 9.99977440e-01 2.66511522e-04 -2.51498082e+01] [ 5.72511659e-03 -3.04940147e-04 9.99983565e-01 2.68763885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.60071405700006 meters Centerline goodness : 0.985633 with order 1 Centerline is valid? [True, True] Translation: X:498.98, Y:-25.17, Z:2.68 [[ 9.99959440e-01 6.95114066e-03 -5.72704822e-03 4.98981072e+02] [-6.94972983e-03 9.99975815e-01 2.66208730e-04 -2.51686061e+01] [ 5.72876016e-03 -2.26396495e-04 9.99983565e-01 2.67600531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.66071405700006 meters Centerline goodness : 0.985843 with order 1 Centerline is valid? [True, True] Translation: X:499.04, Y:-25.17, Z:2.68 [[ 9.99965904e-01 5.94908289e-03 -5.72704822e-03 4.99039175e+02] [-5.94765566e-03 9.99982277e-01 2.66208730e-04 -2.51717566e+01] [ 5.72853041e-03 -2.32137143e-04 9.99983565e-01 2.67756281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.72071405700007 meters Centerline goodness : 0.987681 with order 1 Centerline is valid? [True, True] Translation: X:499.10, Y:-25.17, Z:2.68 [[ 9.99983298e-01 -7.77470242e-04 -5.72707098e-03 4.99098099e+02] [ 7.79004776e-04 9.99999661e-01 2.65718133e-04 -2.51690633e+01] [ 5.72686245e-03 -2.70175110e-04 9.99983565e-01 2.68030043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.78071405700007 meters Centerline goodness : 0.987430 with order 1 Centerline is valid? [True, True] Translation: X:499.16, Y:-25.18, Z:2.68 [[ 9.99978367e-01 3.23497029e-03 -5.72708748e-03 4.99156826e+02] [-3.23350346e-03 9.99994737e-01 2.65361990e-04 -2.51789114e+01] [ 5.72791578e-03 -2.46837692e-04 9.99983565e-01 2.67936612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.84071405700007 meters Centerline goodness : 0.988726 with order 1 Centerline is valid? [True, True] Translation: X:499.22, Y:-25.18, Z:2.68 [[ 9.99972925e-01 -4.62046515e-03 -5.72710397e-03 4.99215318e+02] [ 4.62205849e-03 9.99989283e-01 2.65005599e-04 -2.51769118e+01] [ 5.72581814e-03 -2.91469434e-04 9.99983565e-01 2.68437633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.9007140570001 meters Centerline goodness : 0.990864 with order 1 Centerline is valid? [True, True] Translation: X:499.27, Y:-25.18, Z:2.68 [[ 9.99860921e-01 -1.56633217e-02 -5.72712527e-03 4.99274394e+02] [ 1.56650930e-02 9.99877260e-01 2.64544541e-04 -2.51791380e+01] [ 5.72227867e-03 -3.54223698e-04 9.99983565e-01 2.67922560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.9607140570001 meters Centerline goodness : 0.988543 with order 1 Centerline is valid? [True, True] Translation: X:499.34, Y:-25.19, Z:2.68 [[ 9.99839944e-01 -1.69495511e-02 -5.72711755e-03 4.99335372e+02] [ 1.69513444e-02 9.99856281e-01 2.64711607e-04 -2.51871825e+01] [ 5.72180770e-03 -3.61751580e-04 9.99983565e-01 2.68424521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.0207140570001 meters Centerline goodness : 0.989079 with order 1 Centerline is valid? [True, True] Translation: X:499.40, Y:-25.19, Z:2.69 [[ 9.99809518e-01 -1.86582018e-02 -5.72709599e-03 4.99397254e+02] [ 1.86600256e-02 9.99825851e-01 2.65177239e-04 -2.51908560e+01] [ 5.72115089e-03 -3.71994485e-04 9.99983565e-01 2.68593938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.0807140570001 meters Centerline goodness : 0.991708 with order 1 Centerline is valid? [True, True] Translation: X:499.46, Y:-25.19, Z:2.68 [[ 9.99690216e-01 -2.42213296e-02 -5.72707370e-03 4.99459459e+02] [ 2.42232470e-02 9.99706539e-01 2.65657620e-04 -2.51885500e+01] [ 5.71895845e-03 -4.04303644e-04 9.99983565e-01 2.67805918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.1407140570001 meters Centerline goodness : 0.988581 with order 1 Centerline is valid? [True, True] Translation: X:499.52, Y:-25.19, Z:2.68 [[ 9.99753394e-01 -2.14558252e-02 -5.72705253e-03 4.99521923e+02] [ 2.14577001e-02 9.99769722e-01 2.66113185e-04 -2.51941656e+01] [ 5.72002404e-03 -3.88936935e-04 9.99983565e-01 2.67961970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.2007140570001 meters Centerline goodness : 0.989733 with order 1 Centerline is valid? [True, True] Translation: X:499.58, Y:-25.19, Z:2.68 [[ 9.99627339e-01 -2.66905394e-02 -5.72702264e-03 4.99583158e+02] [ 2.66925034e-02 9.99643656e-01 2.66755084e-04 -2.51946891e+01] [ 5.71786201e-03 -4.19524246e-04 9.99983565e-01 2.67814661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.2607140570001 meters Centerline goodness : 0.988392 with order 1 Centerline is valid? [True, True] Translation: X:499.64, Y:-25.21, Z:2.68 [[ 9.99843692e-01 -1.67270412e-02 -5.72697936e-03 4.99644819e+02] [ 1.67288477e-02 9.99860027e-01 2.67680899e-04 -2.52052557e+01] [ 5.72170023e-03 -3.63444824e-04 9.99983565e-01 2.67843877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.32071405700003 meters Centerline goodness : 0.981069 with order 1 Centerline is valid? [True, True] Translation: X:499.71, Y:-25.19, Z:2.68 [[ 9.99563249e-01 -2.89916166e-02 -5.72695596e-03 4.99706373e+02] [ 2.89936263e-02 9.99579560e-01 2.68180733e-04 -2.51929943e+01] [ 5.71677312e-03 -4.34108826e-04 9.99983565e-01 2.67709806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.38071405700003 meters Centerline goodness : 0.989178 with order 1 Centerline is valid? [True, True] Translation: X:499.77, Y:-25.20, Z:2.68 [[ 9.99571165e-01 -2.87173752e-02 -5.72692829e-03 4.99768329e+02] [ 2.87193838e-02 9.99587477e-01 2.68770297e-04 -2.51955485e+01] [ 5.71684742e-03 -4.33128891e-04 9.99983565e-01 2.68460215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.44071405700004 meters Centerline goodness : 0.989830 with order 1 Centerline is valid? [True, True] Translation: X:499.83, Y:-25.19, Z:2.68 [[ 9.99366168e-01 -3.51349543e-02 -5.72689914e-03 4.99831098e+02] [ 3.51370711e-02 9.99382466e-01 2.69389838e-04 -2.51912120e+01] [ 5.71389759e-03 -4.70445553e-04 9.99983565e-01 2.68263148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.50071405700004 meters Centerline goodness : 0.989153 with order 1 Centerline is valid? [True, True] Translation: X:499.89, Y:-25.20, Z:2.69 [[ 9.99485381e-01 -3.15622487e-02 -5.72686962e-03 4.99893315e+02] [ 3.15643108e-02 9.99501687e-01 2.70015968e-04 -2.51976935e+01] [ 5.71549354e-03 -4.50641705e-04 9.99983565e-01 2.68527788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.56071405700004 meters Centerline goodness : 0.988895 with order 1 Centerline is valid? [True, True] Translation: X:499.96, Y:-25.20, Z:2.68 [[ 9.99391491e-01 -3.44071416e-02 -5.72684551e-03 4.99955780e+02] [ 3.44092529e-02 9.99407790e-01 2.70526527e-04 -2.51970678e+01] [ 5.71414596e-03 -4.67418385e-04 9.99983565e-01 2.68497316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.62071405700004 meters Centerline goodness : 0.988841 with order 1 Centerline is valid? [True, True] Translation: X:500.02, Y:-25.20, Z:2.68 [[ 9.99433476e-01 -3.31652133e-02 -5.72682496e-03 5.00017759e+02] [ 3.31673069e-02 9.99449777e-01 2.70960711e-04 -2.51963146e+01] [ 5.71468746e-03 -4.60750566e-04 9.99983565e-01 2.68426389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.68071405700005 meters Centerline goodness : 0.989153 with order 1 Centerline is valid? [True, True] Translation: X:500.08, Y:-25.19, Z:2.69 [[ 9.99685600e-01 -2.44111804e-02 -5.72680434e-03 5.00078576e+02] [ 2.44131336e-02 9.99701918e-01 2.71395959e-04 -2.51934578e+01] [ 5.71847218e-03 -4.11119872e-04 9.99983565e-01 2.68741733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.74071405700005 meters Centerline goodness : 0.988383 with order 1 Centerline is valid? [True, True] Translation: X:500.14, Y:-25.19, Z:2.69 [[ 9.99899443e-01 -1.29733805e-02 -5.72679414e-03 5.00140913e+02] [ 1.29751481e-02 9.99915782e-01 2.71610857e-04 -2.51890354e+01] [ 5.72278814e-03 -3.45889547e-04 9.99983565e-01 2.69015813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.80071405700005 meters Centerline goodness : 0.988572 with order 1 Centerline is valid? [True, True] Translation: X:500.20, Y:-25.19, Z:2.69 [[ 9.99977995e-01 -3.34872175e-03 -5.72677327e-03 5.00202735e+02] [ 3.35033453e-03 9.99994351e-01 2.72050323e-04 -2.51882321e+01] [ 5.72582989e-03 -2.91230942e-04 9.99983565e-01 2.68949917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.86071405700005 meters Centerline goodness : 0.988466 with order 1 Centerline is valid? [True, True] Translation: X:500.26, Y:-25.19, Z:2.68 [[ 9.99961846e-01 6.59626278e-03 -5.72673891e-03 5.00262444e+02] [-6.59480861e-03 9.99978217e-01 2.72771601e-04 -2.51889347e+01] [ 5.72841344e-03 -2.34994446e-04 9.99983565e-01 2.68370118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.92071405700005 meters Centerline goodness : 0.988430 with order 1 Centerline is valid? [True, True] Translation: X:500.32, Y:-25.19, Z:2.69 [[ 9.99956386e-01 7.37770471e-03 -5.72674936e-03 5.00321250e+02] [-7.37626459e-03 9.99972758e-01 2.72552153e-04 -2.51892059e+01] [ 5.72860416e-03 -2.30298248e-04 9.99983565e-01 2.68700474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.98071405700006 meters Centerline goodness : 0.989958 with order 1 Centerline is valid? [True, True] Translation: X:500.38, Y:-25.19, Z:2.69 [[ 9.99981885e-01 -1.85301892e-03 -5.72676987e-03 5.00379056e+02] [ 1.85460763e-03 9.99998243e-01 2.72120384e-04 -2.51887189e+01] [ 5.72625557e-03 -2.82736366e-04 9.99983565e-01 2.69006744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.04071405700006 meters Centerline goodness : 0.990641 with order 1 Centerline is valid? [True, True] Translation: X:500.44, Y:-25.19, Z:2.69 [[ 9.99954105e-01 -7.68067105e-03 -5.72679505e-03 5.00438690e+02] [ 7.68235203e-03 9.99970453e-01 2.71589564e-04 -2.51896874e+01] [ 5.72453985e-03 -3.15572355e-04 9.99983565e-01 2.69179645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.10071405700006 meters Centerline goodness : 0.989856 with order 1 Centerline is valid? [True, True] Translation: X:500.50, Y:-25.19, Z:2.69 [[ 9.99962007e-01 -6.57174680e-03 -5.72680465e-03 5.00499981e+02] [ 6.57340850e-03 9.99978358e-01 2.71386994e-04 -2.51921303e+01] [ 5.72489722e-03 -3.09021310e-04 9.99983565e-01 2.69284141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.16071405700006 meters Centerline goodness : 0.990449 with order 1 Centerline is valid? [True, True] Translation: X:500.56, Y:-25.20, Z:2.69 [[ 9.99981275e-01 -2.15712603e-03 -5.72679430e-03 5.00560491e+02] [ 2.15871677e-03 9.99997633e-01 2.71605107e-04 -2.51953206e+01] [ 5.72619486e-03 -2.83962548e-04 9.99983565e-01 2.68787070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.22071405700007 meters Centerline goodness : 0.989679 with order 1 Centerline is valid? [True, True] Translation: X:500.62, Y:-25.20, Z:2.69 [[ 9.99972282e-01 4.75806755e-03 -5.72678923e-03 5.00620186e+02] [-4.75658935e-03 9.99988650e-01 2.71711957e-04 -2.51973423e+01] [ 5.72801706e-03 -2.44464441e-04 9.99983565e-01 2.68844465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.28071405700007 meters Centerline goodness : 0.989065 with order 1 Centerline is valid? [True, True] Translation: X:500.68, Y:-25.20, Z:2.69 [[ 9.99943909e-01 8.90973697e-03 -5.72679954e-03 5.00676849e+02] [-8.90832799e-03 9.99960283e-01 2.71494418e-04 -2.51996666e+01] [ 5.72899104e-03 -2.20462981e-04 9.99983565e-01 2.68907745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.34071405700007 meters Centerline goodness : 0.988858 with order 1 Centerline is valid? [True, True] Translation: X:500.73, Y:-25.20, Z:2.69 [[ 9.99959346e-01 6.96487928e-03 -5.72685777e-03 5.00734157e+02] [-6.96344551e-03 9.99975718e-01 2.70260538e-04 -2.52036401e+01] [ 5.72860105e-03 -2.30370888e-04 9.99983565e-01 2.68752330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.4007140570001 meters Centerline goodness : 0.988956 with order 1 Centerline is valid? [True, True] Translation: X:500.79, Y:-25.21, Z:2.69 [[ 9.99963748e-01 6.30123045e-03 -5.72688032e-03 5.00792477e+02] [-6.29978856e-03 9.99980120e-01 2.69781906e-04 -2.52051055e+01] [ 5.72846643e-03 -2.33693991e-04 9.99983565e-01 2.69270225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.4607140570001 meters Centerline goodness : 0.989148 with order 1 Centerline is valid? [True, True] Translation: X:500.85, Y:-25.21, Z:2.70 [[ 9.99983443e-01 5.62162049e-04 -5.72691117e-03 5.00850959e+02] [-5.60629965e-04 9.99999807e-01 2.69125336e-04 -2.52061802e+01] [ 5.72706136e-03 -2.65910202e-04 9.99983565e-01 2.69626047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.5207140570001 meters Centerline goodness : 0.989281 with order 1 Centerline is valid? [True, True] Translation: X:500.91, Y:-25.21, Z:2.69 [[ 9.99974825e-01 -4.18947188e-03 -5.72693132e-03 5.00909104e+02] [ 4.19107925e-03 9.99991181e-01 2.68696028e-04 -2.52086536e+01] [ 5.72575512e-03 -2.92691286e-04 9.99983565e-01 2.69482279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.5807140570001 meters Centerline goodness : 0.987764 with order 1 Centerline is valid? [True, True] Translation: X:500.97, Y:-25.21, Z:2.70 [[ 9.99950489e-01 -8.13769932e-03 -5.72695609e-03 5.00969402e+02] [ 8.13936824e-03 9.99966839e-01 2.68166923e-04 -2.52101827e+01] [ 5.72458392e-03 -3.14767450e-04 9.99983565e-01 2.69988665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.6407140570001 meters Centerline goodness : 0.987703 with order 1 Centerline is valid? [True, True] Translation: X:501.03, Y:-25.21, Z:2.70 [[ 9.99967788e-01 -5.62365767e-03 -5.72695609e-03 5.01030953e+02] [ 5.62528548e-03 9.99984142e-01 2.68166923e-04 -2.52129139e+01] [ 5.72535720e-03 -3.00374047e-04 9.99983565e-01 2.69870065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.7007140570001 meters Centerline goodness : 0.987976 with order 1 Centerline is valid? [True, True] Translation: X:501.09, Y:-25.21, Z:2.69 [[ 9.99977987e-01 -3.35088006e-03 -5.72694594e-03 5.01091736e+02] [ 3.35247193e-03 9.99994344e-01 2.68383465e-04 -2.52148578e+01] [ 5.72601423e-03 -2.87576983e-04 9.99983565e-01 2.69259581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.7607140570001 meters Centerline goodness : 0.986907 with order 1 Centerline is valid? [True, True] Translation: X:501.15, Y:-25.22, Z:2.69 [[ 9.99980942e-01 2.30616108e-03 -5.72694594e-03 5.01150757e+02] [-2.30466178e-03 9.99997308e-01 2.68383465e-04 -2.52170905e+01] [ 5.72754946e-03 -2.55179677e-04 9.99983565e-01 2.68631037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.82071405700003 meters Centerline goodness : 0.989516 with order 1 Centerline is valid? [True, True] Translation: X:501.21, Y:-25.21, Z:2.69 [[ 9.99971262e-01 -4.96772616e-03 -5.72693116e-03 5.01209960e+02] [ 4.96934627e-03 9.99987617e-01 2.68698672e-04 -2.52073732e+01] [ 5.72552542e-03 -2.97150054e-04 9.99983565e-01 2.69044437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.88071405700003 meters Centerline goodness : 0.986607 with order 1 Centerline is valid? [True, True] Translation: X:501.27, Y:-25.22, Z:2.70 [[ 9.99982262e-01 1.63664738e-03 -5.72694531e-03 5.01270340e+02] [-1.63513705e-03 9.99998627e-01 2.68396698e-04 -2.52167966e+01] [ 5.72737672e-03 -2.59027597e-04 9.99983565e-01 2.69685133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.94071405700004 meters Centerline goodness : 0.986204 with order 1 Centerline is valid? [True, True] Translation: X:501.33, Y:-25.22, Z:2.70 [[ 9.99979666e-01 -2.80532745e-03 -5.72694531e-03 5.01328219e+02] [ 2.80691047e-03 9.99996025e-01 2.68396698e-04 -2.52201727e+01] [ 5.72616960e-03 -2.84466263e-04 9.99983565e-01 2.69583137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.00071405700004 meters Centerline goodness : 0.987165 with order 1 Centerline is valid? [True, True] Translation: X:501.39, Y:-25.22, Z:2.70 [[ 9.99938147e-01 -9.53440470e-03 -5.72697162e-03 5.01388194e+02] [ 9.53609456e-03 9.99954495e-01 2.67834048e-04 -2.52236768e+01] [ 5.72415737e-03 -3.22430424e-04 9.99983565e-01 2.69718045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.06071405700004 meters Centerline goodness : 0.987388 with order 1 Centerline is valid? [True, True] Translation: X:501.45, Y:-25.23, Z:2.70 [[ 9.99905682e-01 -1.24831014e-02 -5.72698547e-03 5.01450313e+02] [ 1.24848377e-02 9.99922026e-01 2.67537650e-04 -2.52273882e+01] [ 5.72319921e-03 -3.39012900e-04 9.99983565e-01 2.69676888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.12071405700004 meters Centerline goodness : 0.988059 with order 1 Centerline is valid? [True, True] Translation: X:501.51, Y:-25.23, Z:2.69 [[ 9.99863980e-01 -1.54668771e-02 -5.72691776e-03 5.01512160e+02] [ 1.54686704e-02 9.99880317e-01 2.68979329e-04 -2.52319447e+01] [ 5.72207207e-03 -3.57530546e-04 9.99983565e-01 2.69484655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.18071405700005 meters Centerline goodness : 0.988828 with order 1 Centerline is valid? [True, True] Translation: X:501.57, Y:-25.22, Z:2.70 [[ 9.99597893e-01 -2.77714616e-02 -5.72689841e-03 5.01574560e+02] [ 2.77734582e-02 9.99614207e-01 2.69390699e-04 -2.52222648e+01] [ 5.71720763e-03 -4.28338149e-04 9.99983565e-01 2.69747204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.24071405700005 meters Centerline goodness : 0.990736 with order 1 Centerline is valid? [True, True] Translation: X:501.64, Y:-25.23, Z:2.69 [[ 9.99713461e-01 -2.32421800e-02 -5.72681812e-03 5.01635270e+02] [ 2.32441124e-02 9.99729782e-01 2.71086770e-04 -2.52260238e+01] [ 5.71896998e-03 -4.04123897e-04 9.99983565e-01 2.68932457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.30071405700005 meters Centerline goodness : 0.986314 with order 1 Centerline is valid? [True, True] Translation: X:501.70, Y:-25.24, Z:2.69 [[ 9.99979371e-01 -2.90877034e-03 -5.72680566e-03 5.01696919e+02] [ 2.91037192e-03 9.99995728e-01 2.71349695e-04 -2.52404404e+01] [ 5.72599190e-03 -2.88011232e-04 9.99983565e-01 2.69097081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.36071405700005 meters Centerline goodness : 0.986138 with order 1 Centerline is valid? [True, True] Translation: X:501.76, Y:-25.25, Z:2.68 [[ 9.99937012e-01 9.65277672e-03 -5.72678609e-03 5.01756907e+02] [-9.65137838e-03 9.99953387e-01 2.71762189e-04 -2.52468288e+01] [ 5.72914241e-03 -2.16473692e-04 9.99983565e-01 2.68162428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.42071405700005 meters Centerline goodness : 0.987519 with order 1 Centerline is valid? [True, True] Translation: X:501.82, Y:-25.23, Z:2.70 [[ 9.99982399e-01 -1.55097235e-03 -5.72679107e-03 5.01817861e+02] [ 1.55255348e-03 9.99998758e-01 2.71657144e-04 -2.52325192e+01] [ 5.72636262e-03 -2.80543511e-04 9.99983565e-01 2.69702058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.48071405700006 meters Centerline goodness : 0.985811 with order 1 Centerline is valid? [True, True] Translation: X:501.88, Y:-25.25, Z:2.69 [[ 9.99910137e-01 1.21211018e-02 -5.72679701e-03 5.01875825e+02] [-1.21197452e-02 9.99926516e-01 2.71531878e-04 -2.52484592e+01] [ 5.72966745e-03 -2.02100156e-04 9.99983565e-01 2.68744161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.54071405700006 meters Centerline goodness : 0.986904 with order 1 Centerline is valid? [True, True] Translation: X:501.93, Y:-25.25, Z:2.68 [[ 9.99944010e-01 8.89833762e-03 -5.72681480e-03 5.01934909e+02] [-8.89693039e-03 9.99960385e-01 2.71156080e-04 -2.52530745e+01] [ 5.72900077e-03 -2.20189826e-04 9.99983565e-01 2.68169815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.60071405700006 meters Centerline goodness : 0.987227 with order 1 Centerline is valid? [True, True] Translation: X:501.99, Y:-25.26, Z:2.69 [[ 9.99953408e-01 7.77081617e-03 -5.72682963e-03 5.01992531e+02] [-7.76939227e-03 9.99969781e-01 2.70842450e-04 -2.52579955e+01] [ 5.72876124e-03 -2.26335845e-04 9.99983565e-01 2.68665025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.66071405700006 meters Centerline goodness : 0.986475 with order 1 Centerline is valid? [True, True] Translation: X:502.05, Y:-25.27, Z:2.68 [[ 9.99966858e-01 5.78679942e-03 -5.72685386e-03 5.02051494e+02] [-5.78534597e-03 9.99983228e-01 2.70329292e-04 -2.52659466e+01] [ 5.72832215e-03 -2.37188502e-04 9.99983565e-01 2.68220924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.72071405700007 meters Centerline goodness : 0.986032 with order 1 Centerline is valid? [True, True] Translation: X:502.11, Y:-25.27, Z:2.68 [[ 9.99981563e-01 2.01927108e-03 -5.72686853e-03 5.02110300e+02] [-2.01775774e-03 9.99997928e-01 2.70018185e-04 -2.52692607e+01] [ 5.72740190e-03 -2.58457773e-04 9.99983565e-01 2.68018392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.78071405700007 meters Centerline goodness : 0.987247 with order 1 Centerline is valid? [True, True] Translation: X:502.17, Y:-25.27, Z:2.68 [[ 9.99969221e-01 -5.36281158e-03 -5.72688910e-03 5.02169144e+02] [ 5.36444320e-03 9.99985575e-01 2.69581178e-04 -2.52709400e+01] [ 5.72536077e-03 -3.00294452e-04 9.99983565e-01 2.67509796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.84071405700007 meters Centerline goodness : 0.987530 with order 1 Centerline is valid? [True, True] Translation: X:502.23, Y:-25.27, Z:2.68 [[ 9.99982420e-01 -1.53709207e-03 -5.72689921e-03 5.02229288e+02] [ 1.53865988e-03 9.99998780e-01 2.69366208e-04 -2.52725369e+01] [ 5.72647818e-03 -2.78173223e-04 9.99983565e-01 2.68193729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.9007140570001 meters Centerline goodness : 0.986342 with order 1 Centerline is valid? [True, True] Translation: X:502.29, Y:-25.27, Z:2.69 [[ 9.99969073e-01 -5.39029418e-03 -5.72691331e-03 5.02287517e+02] [ 5.39192331e-03 9.99985427e-01 2.69066164e-04 -2.52710639e+01] [ 5.72537950e-03 -2.99936920e-04 9.99983565e-01 2.68734959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.9607140570001 meters Centerline goodness : 0.987657 with order 1 Centerline is valid? [True, True] Translation: X:502.35, Y:-25.27, Z:2.69 [[ 9.99937261e-01 -9.62681524e-03 -5.72691234e-03 5.02348159e+02] [ 9.62851375e-03 9.99953609e-01 2.69086812e-04 -2.52700254e+01] [ 5.72405621e-03 -3.24211584e-04 9.99983565e-01 2.69262832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.0207140570001 meters Centerline goodness : 0.987692 with order 1 Centerline is valid? [True, True] Translation: X:502.41, Y:-25.27, Z:2.69 [[ 9.99909848e-01 -1.21448517e-02 -5.72691234e-03 5.02410824e+02] [ 1.21465914e-02 9.99926191e-01 2.69086812e-04 -2.52721141e+01] [ 5.72322162e-03 -3.38625018e-04 9.99983565e-01 2.69190544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.0807140570001 meters Centerline goodness : 0.988193 with order 1 Centerline is valid? [True, True] Translation: X:502.47, Y:-25.27, Z:2.69 [[ 9.99772306e-01 -2.05557522e-02 -5.72684030e-03 5.02471977e+02] [ 2.05576380e-02 9.99788633e-01 2.70611183e-04 -2.52710057e+01] [ 5.72006722e-03 -3.88279877e-04 9.99983565e-01 2.69476690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.1407140570001 meters Centerline goodness : 0.988454 with order 1 Centerline is valid? [True, True] Translation: X:502.53, Y:-25.27, Z:2.69 [[ 9.99650699e-01 -2.58008630e-02 -5.72677424e-03 5.02534831e+02] [ 2.58028424e-02 9.99667014e-01 2.72002191e-04 -2.52705019e+01] [ 5.71784941e-03 -4.19674233e-04 9.99983565e-01 2.69451780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.2007140570001 meters Centerline goodness : 0.988477 with order 1 Centerline is valid? [True, True] Translation: X:502.60, Y:-25.27, Z:2.69 [[ 9.99623031e-01 -2.68514589e-02 -5.72674421e-03 5.02596976e+02] [ 2.68534590e-02 9.99639344e-01 2.72632850e-04 -2.52690429e+01] [ 5.71735824e-03 -4.26312967e-04 9.99983565e-01 2.69437241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.2607140570001 meters Centerline goodness : 0.988836 with order 1 Centerline is valid? [True, True] Translation: X:502.66, Y:-25.27, Z:2.70 [[ 9.99591292e-01 -2.80080976e-02 -5.72672423e-03 5.02659083e+02] [ 2.80101190e-02 9.99607602e-01 2.73052037e-04 -2.52678429e+01] [ 5.71682940e-03 -4.33346665e-04 9.99983565e-01 2.69657650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.32071405700003 meters Centerline goodness : 0.988819 with order 1 Centerline is valid? [True, True] Translation: X:502.72, Y:-25.27, Z:2.70 [[ 9.99636832e-01 -2.63326682e-02 -5.72670387e-03 5.02720194e+02] [ 2.63346646e-02 9.99653145e-01 2.73478189e-04 -2.52659060e+01] [ 5.71751613e-03 -4.24189696e-04 9.99983565e-01 2.69794440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.38071405700003 meters Centerline goodness : 0.988026 with order 1 Centerline is valid? [True, True] Translation: X:502.78, Y:-25.26, Z:2.70 [[ 9.99660178e-01 -2.54309425e-02 -5.72668881e-03 5.02781220e+02] [ 2.54329260e-02 9.99676493e-01 2.73793211e-04 -2.52632112e+01] [ 5.71787337e-03 -4.19346623e-04 9.99983565e-01 2.69936988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.44071405700004 meters Centerline goodness : 0.988049 with order 1 Centerline is valid? [True, True] Translation: X:502.84, Y:-25.26, Z:2.70 [[ 9.99662499e-01 -2.53395719e-02 -5.72667395e-03 5.02843987e+02] [ 2.53415557e-02 9.99678814e-01 2.74103714e-04 -2.52621518e+01] [ 5.71788895e-03 -4.19134031e-04 9.99983565e-01 2.69988601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.50071405700004 meters Centerline goodness : 0.987210 with order 1 Centerline is valid? [True, True] Translation: X:502.91, Y:-25.26, Z:2.70 [[ 9.99776909e-01 -2.03307339e-02 -5.72664489e-03 5.02906045e+02] [ 2.03326394e-02 9.99793233e-01 2.74709472e-04 -2.52641587e+01] [ 5.71987577e-03 -3.91085992e-04 9.99983565e-01 2.69686081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.56071405700004 meters Centerline goodness : 0.987584 with order 1 Centerline is valid? [True, True] Translation: X:502.97, Y:-25.26, Z:2.70 [[ 9.99884443e-01 -1.40821296e-02 -5.72662368e-03 5.02968812e+02] [ 1.40839356e-02 9.99900779e-01 2.75150918e-04 -2.52638662e+01] [ 5.72218077e-03 -3.55772521e-04 9.99983565e-01 2.69771174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.62071405700004 meters Centerline goodness : 0.986726 with order 1 Centerline is valid? [True, True] Translation: X:503.03, Y:-25.27, Z:2.70 [[ 9.99926904e-01 -1.06485645e-02 -5.72659190e-03 5.03029835e+02] [ 1.06503181e-02 9.99943246e-01 2.75810890e-04 -2.52653094e+01] [ 5.72332990e-03 -3.36780755e-04 9.99983565e-01 2.69640477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.68071405700005 meters Centerline goodness : 0.986886 with order 1 Centerline is valid? [True, True] Translation: X:503.09, Y:-25.27, Z:2.70 [[ 9.99936825e-01 -9.67223968e-03 -5.72657621e-03 5.03091890e+02] [ 9.67397918e-03 9.99953168e-01 2.76136211e-04 -2.52680312e+01] [ 5.72363717e-03 -3.31517546e-04 9.99983565e-01 2.69546801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.74071405700005 meters Centerline goodness : 0.986354 with order 1 Centerline is valid? [True, True] Translation: X:503.15, Y:-25.27, Z:2.70 [[ 9.99940184e-01 -9.31856340e-03 -5.72655628e-03 5.03154018e+02] [ 9.32029947e-03 9.99956527e-01 2.76548863e-04 -2.52696631e+01] [ 5.72373029e-03 -3.29905540e-04 9.99983565e-01 2.69529921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.80071405700005 meters Centerline goodness : 0.986940 with order 1 Centerline is valid? [True, True] Translation: X:503.22, Y:-25.27, Z:2.70 [[ 9.99932459e-01 -1.01135181e-02 -5.72653672e-03 5.03216515e+02] [ 1.01152695e-02 9.99948801e-01 2.76953334e-04 -2.52701709e+01] [ 5.72344255e-03 -3.34860090e-04 9.99983565e-01 2.69800408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.86071405700005 meters Centerline goodness : 0.988001 with order 1 Centerline is valid? [True, True] Translation: X:503.28, Y:-25.27, Z:2.70 [[ 9.99909805e-01 -1.21486442e-02 -5.72651694e-03 5.03278676e+02] [ 1.21504312e-02 9.99926142e-01 2.77361703e-04 -2.52730280e+01] [ 5.72272442e-03 -3.46916337e-04 9.99983565e-01 2.69837126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.92071405700005 meters Centerline goodness : 0.986513 with order 1 Centerline is valid? [True, True] Translation: X:503.34, Y:-25.28, Z:2.70 [[ 9.99878265e-01 -1.45142031e-02 -5.72649714e-03 5.03339850e+02] [ 1.45160310e-02 9.99894598e-01 2.77769857e-04 -2.52777265e+01] [ 5.72186195e-03 -3.60862053e-04 9.99983565e-01 2.69593742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.98071405700006 meters Centerline goodness : 0.987438 with order 1 Centerline is valid? [True, True] Translation: X:503.40, Y:-25.28, Z:2.70 [[ 9.99892905e-01 -1.34679619e-02 -5.72648250e-03 5.03402258e+02] [ 1.34697745e-02 9.99909240e-01 2.78071320e-04 -2.52823595e+01] [ 5.72221771e-03 -3.55175968e-04 9.99983565e-01 2.69509085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.04071405700006 meters Centerline goodness : 0.986442 with order 1 Centerline is valid? [True, True] Translation: X:503.46, Y:-25.29, Z:2.69 [[ 9.99892093e-01 -1.35280949e-02 -5.72646277e-03 5.03464414e+02] [ 1.35299108e-02 9.99908428e-01 2.78477048e-04 -2.52872472e+01] [ 5.72217112e-03 -3.55925529e-04 9.99983565e-01 2.69492057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.10071405700006 meters Centerline goodness : 0.986821 with order 1 Centerline is valid? [True, True] Translation: X:503.53, Y:-25.29, Z:2.70 [[ 9.99881265e-01 -1.43060641e-02 -5.72644306e-03 5.03525708e+02] [ 1.43078950e-02 9.99897598e-01 2.78881891e-04 -2.52930904e+01] [ 5.72186696e-03 -3.60782124e-04 9.99983565e-01 2.69581352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.16071405700006 meters Centerline goodness : 0.986409 with order 1 Centerline is valid? [True, True] Translation: X:503.59, Y:-25.30, Z:2.70 [[ 9.99806670e-01 -1.88103770e-02 -5.72641265e-03 5.03588848e+02] [ 1.88122850e-02 9.99822994e-01 2.79504881e-04 -2.53001346e+01] [ 5.72014145e-03 -3.87177751e-04 9.99983565e-01 2.69971426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.22071405700007 meters Centerline goodness : 0.986806 with order 1 Centerline is valid? [True, True] Translation: X:503.65, Y:-25.31, Z:2.70 [[ 9.99708893e-01 -2.34379760e-02 -5.72638372e-03 5.03651655e+02] [ 2.34399629e-02 9.99725207e-01 2.80096274e-04 -2.53070733e+01] [ 5.71824526e-03 -4.14240957e-04 9.99983565e-01 2.70108973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.28071405700007 meters Centerline goodness : 0.987076 with order 1 Centerline is valid? [True, True] Translation: X:503.71, Y:-25.31, Z:2.70 [[ 9.99552863e-01 -2.93476172e-02 -5.72635315e-03 5.03712722e+02] [ 2.93497040e-02 9.99569165e-01 2.80719895e-04 -2.53134795e+01] [ 5.71564758e-03 -4.48661145e-04 9.99983565e-01 2.70220241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.34071405700007 meters Centerline goodness : 0.987430 with order 1 Centerline is valid? [True, True] Translation: X:503.77, Y:-25.32, Z:2.70 [[ 9.99451375e-01 -3.26214292e-02 -5.72631359e-03 5.03774269e+02] [ 3.26235740e-02 9.99467670e-01 2.81524522e-04 -2.53215498e+01] [ 5.71408157e-03 -4.68182886e-04 9.99983565e-01 2.70310986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.4007140570001 meters Centerline goodness : 0.987928 with order 1 Centerline is valid? [True, True] Translation: X:503.84, Y:-25.33, Z:2.71 [[ 9.99364456e-01 -3.51837197e-02 -5.72629351e-03 5.03835857e+02] [ 3.51859087e-02 9.99380744e-01 2.81932491e-04 -2.53273448e+01] [ 5.71282803e-03 -4.83238150e-04 9.99983565e-01 2.70556608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.4607140570001 meters Centerline goodness : 0.988374 with order 1 Centerline is valid? [True, True] Translation: X:503.90, Y:-25.34, Z:2.71 [[ 9.99329682e-01 -3.61579251e-02 -5.72627269e-03 5.03897431e+02] [ 3.61601322e-02 9.99345969e-01 2.82354595e-04 -2.53353358e+01] [ 5.71231818e-03 -4.89228106e-04 9.99983565e-01 2.70647457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.5207140570001 meters Centerline goodness : 0.987899 with order 1 Centerline is valid? [True, True] Translation: X:503.96, Y:-25.34, Z:2.71 [[ 9.99305218e-01 -3.68278561e-02 -5.72622101e-03 5.03959360e+02] [ 3.68300801e-02 9.99321502e-01 2.83398928e-04 -2.53429656e+01] [ 5.71189880e-03 -4.94099206e-04 9.99983565e-01 2.70779953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.5807140570001 meters Centerline goodness : 0.989139 with order 1 Centerline is valid? [True, True] Translation: X:504.02, Y:-25.35, Z:2.71 [[ 9.99317303e-01 -3.64984857e-02 -5.72620112e-03 5.04021208e+02] [ 3.65007067e-02 9.99333587e-01 2.83800170e-04 -2.53486021e+01] [ 5.71202683e-03 -4.92616808e-04 9.99983565e-01 2.70748153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.6407140570001 meters Centerline goodness : 0.987301 with order 1 Centerline is valid? [True, True] Translation: X:504.08, Y:-25.36, Z:2.71 [[ 9.99472591e-01 -3.19648328e-02 -5.72618071e-03 5.04082933e+02] [ 3.19669823e-02 9.99488885e-01 2.84211489e-04 -2.53570275e+01] [ 5.71416920e-03 -4.67110310e-04 9.99983565e-01 2.70857881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.7007140570001 meters Centerline goodness : 0.986801 with order 1 Centerline is valid? [True, True] Translation: X:504.15, Y:-25.36, Z:2.71 [[ 9.99592594e-01 -2.79617257e-02 -5.72615940e-03 5.04145550e+02] [ 2.79638123e-02 9.99608896e-01 2.84640037e-04 -2.53618805e+01] [ 5.71596085e-03 -4.44649319e-04 9.99983565e-01 2.70992621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.7607140570001 meters Centerline goodness : 0.986359 with order 1 Centerline is valid? [True, True] Translation: X:504.21, Y:-25.37, Z:2.71 [[ 9.99796827e-01 -1.93265514e-02 -5.72612739e-03 5.04207228e+02] [ 1.93285008e-02 9.99813146e-01 2.85282694e-04 -2.53679902e+01] [ 5.71954391e-03 -3.95902189e-04 9.99983565e-01 2.70959934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.82071405700003 meters Centerline goodness : 0.985823 with order 1 Centerline is valid? [True, True] Translation: X:504.27, Y:-25.38, Z:2.71 [[ 9.99925522e-01 -1.07778556e-02 -5.72610600e-03 5.04269075e+02] [ 1.07796678e-02 9.99941857e-01 2.85711237e-04 -2.53756319e+01] [ 5.72269371e-03 -3.47415479e-04 9.99983565e-01 2.70810130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.88071405700003 meters Centerline goodness : 0.986453 with order 1 Centerline is valid? [True, True] Translation: X:504.33, Y:-25.38, Z:2.71 [[ 9.99975560e-01 -4.01152881e-03 -5.72608484e-03 5.04330240e+02] [ 4.01323286e-03 9.99991906e-01 2.86134703e-04 -2.53798286e+01] [ 5.72489066e-03 -3.09107822e-04 9.99983565e-01 2.70852626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.94071405700004 meters Centerline goodness : 0.988357 with order 1 Centerline is valid? [True, True] Translation: X:504.39, Y:-25.38, Z:2.71 [[ 9.99965595e-01 -6.00182416e-03 -5.72607435e-03 5.04388844e+02] [ 6.00356194e-03 9.99981937e-01 2.86344433e-04 -2.53765168e+01] [ 5.72425234e-03 -3.20711423e-04 9.99983565e-01 2.71180295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.00071405700004 meters Centerline goodness : 0.986672 with order 1 Centerline is valid? [True, True] Translation: X:504.45, Y:-25.39, Z:2.71 [[ 9.99965249e-01 6.05915728e-03 -5.72608470e-03 5.04448474e+02] [-6.05761792e-03 9.99981612e-01 2.86137324e-04 -2.53918506e+01] [ 5.72771316e-03 -2.51440947e-04 9.99983565e-01 2.70951647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.06071405700004 meters Centerline goodness : 0.986017 with order 1 Centerline is valid? [True, True] Translation: X:504.51, Y:-25.40, Z:2.70 [[ 9.99899364e-01 1.29797383e-02 -5.72608470e-03 5.04506470e+02] [-1.29783122e-02 9.99915737e-01 2.86137324e-04 -2.54040207e+01] [ 5.72931620e-03 -2.11793614e-04 9.99983565e-01 2.70012780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.12071405700004 meters Centerline goodness : 0.986674 with order 1 Centerline is valid? [True, True] Translation: X:504.56, Y:-25.41, Z:2.71 [[ 9.99910608e-01 1.20825347e-02 -5.72615752e-03 5.04563958e+02] [-1.20811023e-02 9.99926980e-01 2.84672563e-04 -2.54067569e+01] [ 5.72917897e-03 -2.15468821e-04 9.99983565e-01 2.70717656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.18071405700005 meters Centerline goodness : 0.986539 with order 1 Centerline is valid? [True, True] Translation: X:504.62, Y:-25.41, Z:2.71 [[ 9.99858907e-01 1.57917015e-02 -5.72618299e-03 5.04622157e+02] [-1.57903328e-02 9.99875285e-01 2.84159465e-04 -2.54130419e+01] [ 5.72995620e-03 -1.93701037e-04 9.99983565e-01 2.70552790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.24071405700005 meters Centerline goodness : 0.986764 with order 1 Centerline is valid? [True, True] Translation: X:504.68, Y:-25.42, Z:2.71 [[ 9.99778944e-01 2.02305153e-02 -5.72625382e-03 5.04679518e+02] [-2.02292276e-02 9.99795328e-01 2.82724720e-04 -2.54213196e+01] [ 5.73080149e-03 -1.66824530e-04 9.99983565e-01 2.70558642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.30071405700005 meters Centerline goodness : 0.987583 with order 1 Centerline is valid? [True, True] Translation: X:504.74, Y:-25.43, Z:2.71 [[ 9.99821365e-01 1.80124604e-02 -5.72628382e-03 5.04737152e+02] [-1.80111398e-02 9.99837746e-01 2.82115937e-04 -2.54274991e+01] [ 5.73043631e-03 -1.78928643e-04 9.99983565e-01 2.70844783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.36071405700005 meters Centerline goodness : 0.986549 with order 1 Centerline is valid? [True, True] Translation: X:504.80, Y:-25.44, Z:2.71 [[ 9.99874224e-01 1.47900674e-02 -5.72631374e-03 5.04795510e+02] [-1.47886975e-02 9.99890602e-01 2.81507152e-04 -2.54400762e+01] [ 5.72985080e-03 -1.96787023e-04 9.99983565e-01 2.70879641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.42071405700005 meters Centerline goodness : 0.989312 with order 1 Centerline is valid? [True, True] Translation: X:504.85, Y:-25.44, Z:2.72 [[ 9.99980763e-01 2.38367729e-03 -5.72633481e-03 5.04854096e+02] [-2.38210671e-03 9.99997123e-01 2.81078078e-04 -2.54438468e+01] [ 5.72698833e-03 -2.67431930e-04 9.99983565e-01 2.72106294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.48071405700006 meters Centerline goodness : 0.989551 with order 1 Centerline is valid? [True, True] Translation: X:504.91, Y:-25.45, Z:2.72 [[ 9.99981916e-01 -1.83758681e-03 -5.72634505e-03 5.04911043e+02] [ 1.83922525e-03 9.99998269e-01 2.80869117e-04 -2.54533329e+01] [ 5.72581902e-03 -2.91396076e-04 9.99983565e-01 2.71978563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.54071405700006 meters Centerline goodness : 0.990890 with order 1 Centerline is valid? [True, True] Translation: X:504.97, Y:-25.46, Z:2.70 [[ 9.99945048e-01 -8.78117968e-03 -5.72637037e-03 5.04969095e+02] [ 8.78292868e-03 9.99961390e-01 2.80351972e-04 -2.54577490e+01] [ 5.72368746e-03 -3.30630869e-04 9.99983565e-01 2.70487653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.60071405700006 meters Centerline goodness : 0.991800 with order 1 Centerline is valid? [True, True] Translation: X:505.03, Y:-25.47, Z:2.71 [[ 9.99903063e-01 -1.26914370e-02 -5.72638996e-03 5.05029761e+02] [ 1.26932476e-02 9.99919398e-01 2.79951349e-04 -2.54652082e+01] [ 5.72237542e-03 -3.52610697e-04 9.99983565e-01 2.70569853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.66071405700006 meters Centerline goodness : 0.988204 with order 1 Centerline is valid? [True, True] Translation: X:505.09, Y:-25.48, Z:2.72 [[ 9.99937554e-01 -9.59667981e-03 -5.72638018e-03 5.05091372e+02] [ 9.59844099e-03 9.99953895e-01 2.80151298e-04 -2.54763688e+01] [ 5.72342764e-03 -3.35098126e-04 9.99983565e-01 2.71833936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.72071405700007 meters Centerline goodness : 0.989438 with order 1 Centerline is valid? [True, True] Translation: X:505.15, Y:-25.48, Z:2.72 [[ 9.99897809e-01 -1.30988997e-02 -5.72635929e-03 5.05151715e+02] [ 1.31007205e-02 9.99914143e-01 2.80577611e-04 -2.54806253e+01] [ 5.72219238e-03 -3.55568371e-04 9.99983565e-01 2.71997932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.78071405700007 meters Centerline goodness : 0.990396 with order 1 Centerline is valid? [True, True] Translation: X:505.21, Y:-25.48, Z:2.73 [[ 9.99879763e-01 -1.44107296e-02 -5.72635420e-03 5.05212921e+02] [ 1.44125725e-02 9.99896094e-01 2.80681392e-04 -2.54821405e+01] [ 5.72171438e-03 -3.63179139e-04 9.99983565e-01 2.72517198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.84071405700007 meters Centerline goodness : 0.989016 with order 1 Centerline is valid? [True, True] Translation: X:505.28, Y:-25.48, Z:2.73 [[ 9.99863841e-01 -1.54760725e-02 -5.72634368e-03 5.05275329e+02] [ 1.54779339e-02 9.99880170e-01 2.80895840e-04 -2.54847277e+01] [ 5.72131033e-03 -3.69489562e-04 9.99983565e-01 2.72817575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.9007140570001 meters Centerline goodness : 0.989597 with order 1 Centerline is valid? [True, True] Translation: X:505.34, Y:-25.49, Z:2.73 [[ 9.99890516e-01 -1.36442326e-02 -5.72632246e-03 5.05337604e+02] [ 1.36460666e-02 9.99906849e-01 2.81327725e-04 -2.54887140e+01] [ 5.72195055e-03 -3.59438702e-04 9.99983565e-01 2.72901105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.9607140570001 meters Centerline goodness : 0.990308 with order 1 Centerline is valid? [True, True] Translation: X:505.40, Y:-25.49, Z:2.73 [[ 9.99937186e-01 -9.63502860e-03 -5.72630114e-03 5.05398561e+02] [ 9.63679959e-03 9.99953525e-01 2.81761048e-04 -2.54915069e+01] [ 5.72332024e-03 -3.36926566e-04 9.99983565e-01 2.72543431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.0207140570001 meters Centerline goodness : 0.990131 with order 1 Centerline is valid? [True, True] Translation: X:505.46, Y:-25.49, Z:2.73 [[ 9.99963882e-01 -6.28050142e-03 -5.72629062e-03 5.05459984e+02] [ 6.28221881e-03 9.99980227e-01 2.81974788e-04 -2.54937236e+01] [ 5.72440645e-03 -3.17938414e-04 9.99983565e-01 2.72563894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.0807140570001 meters Centerline goodness : 0.989368 with order 1 Centerline is valid? [True, True] Translation: X:505.52, Y:-25.50, Z:2.73 [[ 9.99972830e-01 -4.64203176e-03 -5.72628017e-03 5.05519848e+02] [ 4.64372357e-03 9.99989178e-01 2.82186714e-04 -2.54958561e+01] [ 5.72490829e-03 -3.08770309e-04 9.99983565e-01 2.72554671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.1407140570001 meters Centerline goodness : 0.989555 with order 1 Centerline is valid? [True, True] Translation: X:505.58, Y:-25.50, Z:2.73 [[ 9.99974923e-01 -4.16697553e-03 -5.72628532e-03 5.05578972e+02] [ 4.16865898e-03 9.99991271e-01 2.82082326e-04 -2.54981986e+01] [ 5.72505990e-03 -3.05946183e-04 9.99983565e-01 2.72601751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.2007140570001 meters Centerline goodness : 0.989967 with order 1 Centerline is valid? [True, True] Translation: X:505.64, Y:-25.50, Z:2.73 [[ 9.99971422e-01 -4.93598843e-03 -5.72629531e-03 5.05638882e+02] [ 4.93768329e-03 9.99987770e-01 2.81879330e-04 -2.55000592e+01] [ 5.72483392e-03 -3.10145908e-04 9.99983565e-01 2.72846499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.2607140570001 meters Centerline goodness : 0.988993 with order 1 Centerline is valid? [True, True] Translation: X:505.70, Y:-25.50, Z:2.73 [[ 9.99967460e-01 -5.68229322e-03 -5.72630522e-03 5.05699531e+02] [ 5.68399914e-03 9.99983806e-01 2.81677887e-04 -2.55027187e+01] [ 5.72461191e-03 -3.14217035e-04 9.99983565e-01 2.72744062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.32071405700003 meters Centerline goodness : 0.990505 with order 1 Centerline is valid? [True, True] Translation: X:505.76, Y:-25.51, Z:2.73 [[ 9.99961141e-01 -6.70263153e-03 -5.72630522e-03 5.05758619e+02] [ 6.70435412e-03 9.99977486e-01 2.81677887e-04 -2.55056526e+01] [ 5.72428831e-03 -3.20058119e-04 9.99983565e-01 2.72612915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.38071405700003 meters Centerline goodness : 0.989395 with order 1 Centerline is valid? [True, True] Translation: X:505.82, Y:-25.51, Z:2.72 [[ 9.99905843e-01 -1.24705513e-02 -5.72631041e-03 5.05819306e+02] [ 1.24723676e-02 9.99922177e-01 2.81572333e-04 -2.55099310e+01] [ 5.72235341e-03 -3.52966469e-04 9.99983565e-01 2.72369785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.44071405700004 meters Centerline goodness : 0.989296 with order 1 Centerline is valid? [True, True] Translation: X:505.88, Y:-25.51, Z:2.72 [[ 9.99874968e-01 -1.47396754e-02 -5.72631041e-03 5.05881315e+02] [ 1.47415287e-02 9.99891298e-01 2.81572333e-04 -2.55131371e+01] [ 5.72153766e-03 -3.65951697e-04 9.99983565e-01 2.72147737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.50071405700004 meters Centerline goodness : 0.988922 with order 1 Centerline is valid? [True, True] Translation: X:505.94, Y:-25.51, Z:2.72 [[ 9.99807693e-01 -1.87559559e-02 -5.72628917e-03 5.05942758e+02] [ 1.87578773e-02 9.99824016e-01 2.82003594e-04 -2.55145375e+01] [ 5.71999219e-03 -3.89362393e-04 9.99983565e-01 2.72154771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.56071405700004 meters Centerline goodness : 0.988063 with order 1 Centerline is valid? [True, True] Translation: X:506.01, Y:-25.51, Z:2.72 [[ 9.99739907e-01 -2.20755144e-02 -5.72624795e-03 5.06005427e+02] [ 2.20774947e-02 9.99756222e-01 2.82838134e-04 -2.55142277e+01] [ 5.71860822e-03 -4.09185779e-04 9.99983565e-01 2.72424454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.62071405700004 meters Centerline goodness : 0.987119 with order 1 Centerline is valid? [True, True] Translation: X:506.07, Y:-25.51, Z:2.72 [[ 9.99787574e-01 -1.97994353e-02 -5.72622633e-03 5.06066986e+02] [ 1.98013809e-02 9.99803893e-01 2.83275242e-04 -2.55141908e+01] [ 5.71949468e-03 -3.96602256e-04 9.99983565e-01 2.72395181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.68071405700005 meters Centerline goodness : 0.986006 with order 1 Centerline is valid? [True, True] Translation: X:506.13, Y:-25.52, Z:2.72 [[ 9.99874521e-01 -1.47699743e-02 -5.72621033e-03 5.06128725e+02] [ 1.47718397e-02 9.99890850e-01 2.83598206e-04 -2.55158971e+01] [ 5.72139658e-03 -3.68149282e-04 9.99983565e-01 2.72196937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.74071405700005 meters Centerline goodness : 0.985250 with order 1 Centerline is valid? [True, True] Translation: X:506.19, Y:-25.52, Z:2.72 [[ 9.99946434e-01 -8.62210239e-03 -5.72619481e-03 5.06191219e+02] [ 8.62386910e-03 9.99962773e-01 2.83911277e-04 -2.55158944e+01] [ 5.72353373e-03 -3.33278023e-04 9.99983565e-01 2.71934100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.80071405700005 meters Centerline goodness : 0.985274 with order 1 Centerline is valid? [True, True] Translation: X:506.25, Y:-25.52, Z:2.72 [[ 9.99968667e-01 -5.46584438e-03 -5.72617416e-03 5.06252639e+02] [ 5.46756188e-03 9.99985012e-01 2.84327160e-04 -2.55160095e+01] [ 5.72453425e-03 -3.15626462e-04 9.99983565e-01 2.72126096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.86071405700005 meters Centerline goodness : 0.984807 with order 1 Centerline is valid? [True, True] Translation: X:506.31, Y:-25.52, Z:2.72 [[ 9.99983257e-01 -8.34484191e-04 -5.72616395e-03 5.06313004e+02] [ 8.36127145e-04 9.99999610e-01 2.84532689e-04 -2.55156588e+01] [ 5.72592427e-03 -2.89315726e-04 9.99983565e-01 2.72131930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.92071405700005 meters Centerline goodness : 0.985742 with order 1 Centerline is valid? [True, True] Translation: X:506.37, Y:-25.51, Z:2.72 [[ 9.99982941e-01 1.15281828e-03 -5.72616395e-03 5.06371623e+02] [-1.15120783e-03 9.99999297e-01 2.84532689e-04 -2.55132351e+01] [ 5.72648793e-03 -2.77935831e-04 9.99983565e-01 2.72126595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.98071405700006 meters Centerline goodness : 0.986485 with order 1 Centerline is valid? [True, True] Translation: X:506.43, Y:-25.51, Z:2.72 [[ 9.99971556e-01 4.90903439e-03 -5.72617919e-03 5.06429237e+02] [-4.90748714e-03 9.99987918e-01 2.84225552e-04 -2.55142996e+01] [ 5.72750528e-03 -2.56116317e-04 9.99983565e-01 2.71532677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.04071405700006 meters Centerline goodness : 0.984967 with order 1 Centerline is valid? [True, True] Translation: X:506.49, Y:-25.51, Z:2.72 [[ 9.99972050e-01 4.80720513e-03 -5.72626058e-03 5.06487205e+02] [-4.80566564e-03 9.99988413e-01 2.82576258e-04 -2.55147060e+01] [ 5.72755263e-03 -2.55049866e-04 9.99983565e-01 2.71602064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.10071405700006 meters Centerline goodness : 0.984459 with order 1 Centerline is valid? [True, True] Translation: X:506.55, Y:-25.52, Z:2.72 [[ 9.99983216e-01 8.81692421e-04 -5.72628560e-03 5.06545593e+02] [-8.80091613e-04 9.99999573e-01 2.82068234e-04 -2.55158805e+01] [ 5.72653186e-03 -2.77023844e-04 9.99983565e-01 2.71543917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.16071405700006 meters Centerline goodness : 0.985334 with order 1 Centerline is valid? [True, True] Translation: X:506.60, Y:-25.52, Z:2.72 [[ 9.99967711e-01 -5.63786523e-03 -5.72630578e-03 5.06603293e+02] [ 5.63957031e-03 9.99984058e-01 2.81658125e-04 -2.55176925e+01] [ 5.72462653e-03 -3.13942934e-04 9.99983565e-01 2.71687271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.22071405700007 meters Centerline goodness : 0.986863 with order 1 Centerline is valid? [True, True] Translation: X:506.66, Y:-25.52, Z:2.72 [[ 9.99930444e-01 -1.03110046e-02 -5.72633072e-03 5.06664014e+02] [ 1.03127831e-02 9.99946782e-01 2.81150097e-04 -2.55175768e+01] [ 5.72312704e-03 -3.40184948e-04 9.99983565e-01 2.71755647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.28071405700007 meters Centerline goodness : 0.985884 with order 1 Centerline is valid? [True, True] Translation: X:506.73, Y:-25.52, Z:2.71 [[ 9.99931414e-01 -1.02164575e-02 -5.72633072e-03 5.06726035e+02] [ 1.02182345e-02 9.99947753e-01 2.81150097e-04 -2.55199444e+01] [ 5.72315918e-03 -3.39643804e-04 9.99983565e-01 2.71414735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.34071405700007 meters Centerline goodness : 0.986721 with order 1 Centerline is valid? [True, True] Translation: X:506.79, Y:-25.52, Z:2.71 [[ 9.99939034e-01 -9.44132058e-03 -5.72630963e-03 5.06787904e+02] [ 9.44308737e-03 9.99955373e-01 2.81578892e-04 -2.55204137e+01] [ 5.72339561e-03 -3.35635768e-04 9.99983565e-01 2.71312601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.4007140570001 meters Centerline goodness : 0.986274 with order 1 Centerline is valid? [True, True] Translation: X:506.85, Y:-25.52, Z:2.71 [[ 9.99939607e-01 -9.38036824e-03 -5.72628838e-03 5.06849280e+02] [ 9.38213649e-03 9.99955947e-01 2.82010344e-04 -2.55199174e+01] [ 5.72339076e-03 -3.35718132e-04 9.99983565e-01 2.71269661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.4607140570001 meters Centerline goodness : 0.986642 with order 1 Centerline is valid? [True, True] Translation: X:506.91, Y:-25.52, Z:2.71 [[ 9.99914583e-01 -1.17488782e-02 -5.72627269e-03 5.06910146e+02] [ 1.17506869e-02 9.99930918e-01 2.82328601e-04 -2.55196190e+01] [ 5.72256007e-03 -3.49592123e-04 9.99983565e-01 2.71361560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.5207140570001 meters Centerline goodness : 0.987527 with order 1 Centerline is valid? [True, True] Translation: X:506.97, Y:-25.52, Z:2.71 [[ 9.99873106e-01 -1.48654485e-02 -5.72623949e-03 5.06972295e+02] [ 1.48673120e-02 9.99889435e-01 2.83000497e-04 -2.55190570e+01] [ 5.72139944e-03 -3.68098375e-04 9.99983565e-01 2.71492839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.5807140570001 meters Centerline goodness : 0.986528 with order 1 Centerline is valid? [True, True] Translation: X:507.03, Y:-25.52, Z:2.71 [[ 9.99846300e-01 -1.65706445e-02 -5.72621936e-03 5.07034308e+02] [ 1.65725381e-02 9.99862626e-01 2.83407184e-04 -2.55207686e+01] [ 5.72073649e-03 -3.78261613e-04 9.99983565e-01 2.71318741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.6407140570001 meters Centerline goodness : 0.986992 with order 1 Centerline is valid? [True, True] Translation: X:507.10, Y:-25.52, Z:2.71 [[ 9.99834080e-01 -1.72922990e-02 -5.72619938e-03 5.07096302e+02] [ 1.72942068e-02 9.99850404e-01 2.83810376e-04 -2.55233362e+01] [ 5.72043502e-03 -3.82793362e-04 9.99983565e-01 2.71159274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.7007140570001 meters Centerline goodness : 0.986755 with order 1 Centerline is valid? [True, True] Translation: X:507.16, Y:-25.52, Z:2.71 [[ 9.99811410e-01 -1.85567997e-02 -5.72617853e-03 5.07157220e+02] [ 1.85587305e-02 9.99827732e-01 2.84230290e-04 -2.55241557e+01] [ 5.71991769e-03 -3.90447291e-04 9.99983565e-01 2.71186766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.7607140570001 meters Centerline goodness : 0.985684 with order 1 Centerline is valid? [True, True] Translation: X:507.22, Y:-25.53, Z:2.71 [[ 9.99814264e-01 -1.84024294e-02 -5.72616312e-03 5.07219448e+02] [ 1.84043594e-02 9.99830585e-01 2.84540503e-04 -2.55253035e+01] [ 5.71995678e-03 -3.89874017e-04 9.99983565e-01 2.71229238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.82071405700003 meters Centerline goodness : 0.985808 with order 1 Centerline is valid? [True, True] Translation: X:507.28, Y:-25.53, Z:2.71 [[ 9.99845458e-01 -1.66214331e-02 -5.72614295e-03 5.07282127e+02] [ 1.66233363e-02 9.99861782e-01 2.84945704e-04 -2.55272251e+01] [ 5.72061529e-03 -3.80089268e-04 9.99983565e-01 2.71260812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.88071405700003 meters Centerline goodness : 0.986181 with order 1 Centerline is valid? [True, True] Translation: X:507.34, Y:-25.53, Z:2.72 [[ 9.99874224e-01 -1.47900983e-02 -5.72611763e-03 5.07344812e+02] [ 1.47919746e-02 9.99890552e-01 2.85453774e-04 -2.55274644e+01] [ 5.72126902e-03 -3.70118457e-04 9.99983565e-01 2.71578229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.94071405700004 meters Centerline goodness : 0.986842 with order 1 Centerline is valid? [True, True] Translation: X:507.41, Y:-25.53, Z:2.72 [[ 9.99872136e-01 -1.49306123e-02 -5.72609602e-03 5.07405724e+02] [ 1.49324933e-02 9.99888463e-01 2.85886457e-04 -2.55298888e+01] [ 5.72118889e-03 -3.71354793e-04 9.99983565e-01 2.71596907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.00071405700004 meters Centerline goodness : 0.986645 with order 1 Centerline is valid? [True, True] Translation: X:507.47, Y:-25.53, Z:2.72 [[ 9.99844530e-01 -1.66771592e-02 -5.72608000e-03 5.07467524e+02] [ 1.66790705e-02 9.99860854e-01 2.86206971e-04 -2.55331497e+01] [ 5.72051012e-03 -3.81668167e-04 9.99983565e-01 2.71655728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.06071405700004 meters Centerline goodness : 0.986749 with order 1 Centerline is valid? [True, True] Translation: X:507.53, Y:-25.53, Z:2.72 [[ 9.99774420e-01 -2.04529091e-02 -5.72605889e-03 5.07528864e+02] [ 2.04548845e-02 9.99790736e-01 2.86628648e-04 -2.55334823e+01] [ 5.71899825e-03 -4.03689864e-04 9.99983565e-01 2.72039786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.12071405700004 meters Centerline goodness : 0.987193 with order 1 Centerline is valid? [True, True] Translation: X:507.59, Y:-25.53, Z:2.72 [[ 9.99806553e-01 -1.88167041e-02 -5.72604329e-03 5.07591367e+02] [ 1.88186546e-02 9.99822872e-01 2.86939977e-04 -2.55345973e+01] [ 5.71962979e-03 -3.94640900e-04 9.99983565e-01 2.72072008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.18071405700005 meters Centerline goodness : 0.986581 with order 1 Centerline is valid? [True, True] Translation: X:507.65, Y:-25.54, Z:2.72 [[ 9.99835897e-01 -1.71869369e-02 -5.72602237e-03 5.07653284e+02] [ 1.71888631e-02 9.99852219e-01 2.87357005e-04 -2.55362700e+01] [ 5.72023738e-03 -3.85733664e-04 9.99983565e-01 2.72082335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.24071405700005 meters Centerline goodness : 0.987375 with order 1 Centerline is valid? [True, True] Translation: X:507.72, Y:-25.54, Z:2.72 [[ 9.99866923e-01 -1.52757538e-02 -5.72600133e-03 5.07715206e+02] [ 1.52776512e-02 9.99883248e-01 2.87775600e-04 -2.55389694e+01] [ 5.72093682e-03 -3.75217155e-04 9.99983565e-01 2.72165312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.30071405700005 meters Centerline goodness : 0.987184 with order 1 Centerline is valid? [True, True] Translation: X:507.78, Y:-25.54, Z:2.72 [[ 9.99896123e-01 -1.32270801e-02 -5.72598034e-03 5.07777516e+02] [ 1.32289464e-02 9.99912452e-01 2.88192580e-04 -2.55418772e+01] [ 5.72166710e-03 -3.63911330e-04 9.99983565e-01 2.72211691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.36071405700005 meters Centerline goodness : 0.987622 with order 1 Centerline is valid? [True, True] Translation: X:507.84, Y:-25.55, Z:2.72 [[ 9.99946201e-01 -8.64922909e-03 -5.72595921e-03 5.07839172e+02] [ 8.65102307e-03 9.99962538e-01 2.88611757e-04 -2.55469621e+01] [ 5.72324844e-03 -3.38131635e-04 9.99983565e-01 2.71968626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.42071405700005 meters Centerline goodness : 0.987653 with order 1 Centerline is valid? [True, True] Translation: X:507.90, Y:-25.55, Z:2.72 [[ 9.99969296e-01 -5.34981398e-03 -5.72593709e-03 5.07900183e+02] [ 5.35155654e-03 9.99985639e-01 2.89049925e-04 -2.55503299e+01] [ 5.72430850e-03 -3.19683726e-04 9.99983565e-01 2.72237329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.48071405700006 meters Centerline goodness : 0.988216 with order 1 Centerline is valid? [True, True] Translation: X:507.96, Y:-25.55, Z:2.72 [[ 9.99983549e-01 3.39993256e-04 -5.72592083e-03 5.07960308e+02] [-3.38341869e-04 9.99999901e-01 2.89371665e-04 -2.55534712e+01] [ 5.72601865e-03 -2.87429586e-04 9.99983565e-01 2.72162562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.54071405700006 meters Centerline goodness : 0.987070 with order 1 Centerline is valid? [True, True] Translation: X:508.02, Y:-25.56, Z:2.71 [[ 9.99964504e-01 6.18102840e-03 -5.72592083e-03 5.08018440e+02] [-6.17947255e-03 9.99980865e-01 2.89371665e-04 -2.55600246e+01] [ 5.72759988e-03 -2.53978223e-04 9.99983565e-01 2.71369447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.60071405700006 meters Centerline goodness : 0.985637 with order 1 Centerline is valid? [True, True] Translation: X:508.08, Y:-25.56, Z:2.72 [[ 9.99805820e-01 1.88556775e-02 -5.72594686e-03 5.08077504e+02] [-1.88543321e-02 9.99822200e-01 2.88855763e-04 -2.55625298e+01] [ 5.73037535e-03 -1.80840769e-04 9.99983565e-01 2.71774351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.66071405700006 meters Centerline goodness : 0.985695 with order 1 Centerline is valid? [True, True] Translation: X:508.14, Y:-25.57, Z:2.72 [[ 9.99625141e-01 2.67729418e-02 -5.72601291e-03 5.08135927e+02] [-2.67717337e-02 9.99641532e-01 2.87540500e-04 -2.55658024e+01] [ 5.73165862e-03 -1.34137421e-04 9.99983565e-01 2.71937411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.72071405700007 meters Centerline goodness : 0.984709 with order 1 Centerline is valid? [True, True] Translation: X:508.19, Y:-25.57, Z:2.72 [[ 9.99390581e-01 3.44336906e-02 -5.72608430e-03 5.08194087e+02] [-3.44326164e-02 9.99406981e-01 2.86111660e-04 -2.55746694e+01] [ 5.73254050e-03 -8.87732336e-05 9.99983565e-01 2.71562374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.78071405700007 meters Centerline goodness : 0.984832 with order 1 Centerline is valid? [True, True] Translation: X:508.25, Y:-25.58, Z:2.72 [[ 9.99394933e-01 3.43071294e-02 -5.72615513e-03 5.08252915e+02] [-3.43060613e-02 9.99411333e-01 2.84687002e-04 -2.55807386e+01] [ 5.73255113e-03 -8.80729186e-05 9.99983565e-01 2.71792602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.84071405700007 meters Centerline goodness : 0.984944 with order 1 Centerline is valid? [True, True] Translation: X:508.31, Y:-25.58, Z:2.73 [[ 9.99516843e-01 3.05498020e-02 -5.72622506e-03 5.08311307e+02] [-3.05486803e-02 9.99533240e-01 2.83273524e-04 -2.55845414e+01] [ 5.73220623e-03 -1.08208040e-04 9.99983565e-01 2.72564244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.9007140570001 meters Centerline goodness : 0.986453 with order 1 Centerline is valid? [True, True] Translation: X:508.37, Y:-25.59, Z:2.73 [[ 9.99722118e-01 2.28669182e-02 -5.72624471e-03 5.08369676e+02] [-2.28656728e-02 9.99738506e-01 2.82875563e-04 -2.55889224e+01] [ 5.73121583e-03 -1.51862519e-04 9.99983565e-01 2.72988995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.9607140570001 meters Centerline goodness : 0.987263 with order 1 Centerline is valid? [True, True] Translation: X:508.43, Y:-25.60, Z:2.73 [[ 9.99873982e-01 1.48064381e-02 -5.72625976e-03 5.08428500e+02] [-1.48050623e-02 9.99890359e-01 2.82570655e-04 -2.55965009e+01] [ 5.72981579e-03 -1.97757414e-04 9.99983565e-01 2.73295422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.0207140570001 meters Centerline goodness : 0.987515 with order 1 Centerline is valid? [True, True] Translation: X:508.49, Y:-25.61, Z:2.73 [[ 9.99950997e-01 8.07550234e-03 -5.72628044e-03 5.08487212e+02] [-8.07401877e-03 9.99967365e-01 2.82151009e-04 -2.56059537e+01] [ 5.72837207e-03 -2.35903087e-04 9.99983565e-01 2.73109482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.0807140570001 meters Centerline goodness : 0.992311 with order 1 Centerline is valid? [True, True] Translation: X:508.54, Y:-25.61, Z:2.72 [[ 9.99981583e-01 -2.01068662e-03 -5.72630088e-03 5.08544991e+02] [ 2.01233283e-03 9.99997936e-01 2.81735433e-04 -2.56053290e+01] [ 5.72572258e-03 -2.93253468e-04 9.99983565e-01 2.72412303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.1407140570001 meters Centerline goodness : 0.988345 with order 1 Centerline is valid? [True, True] Translation: X:508.60, Y:-25.62, Z:2.73 [[ 9.99968543e-01 5.48834744e-03 -5.72632610e-03 5.08603655e+02] [-5.48682684e-03 9.99984908e-01 2.81222053e-04 -2.56184971e+01] [ 5.72778312e-03 -2.49793847e-04 9.99983565e-01 2.72985418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.2007140570001 meters Centerline goodness : 0.989050 with order 1 Centerline is valid? [True, True] Translation: X:508.66, Y:-25.62, Z:2.73 [[ 9.99979762e-01 2.77220947e-03 -5.72634163e-03 5.08661493e+02] [-2.77064624e-03 9.99996122e-01 2.80905391e-04 -2.56216262e+01] [ 5.72709815e-03 -2.65034039e-04 9.99983565e-01 2.73390656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.2607140570001 meters Centerline goodness : 0.989989 with order 1 Centerline is valid? [True, True] Translation: X:508.72, Y:-25.63, Z:2.73 [[ 9.99983570e-01 2.60096781e-04 -5.72636698e-03 5.08720057e+02] [-2.58495406e-04 9.99999927e-01 2.80387753e-04 -2.56269028e+01] [ 5.72643949e-03 -2.78902906e-04 9.99983565e-01 2.73483561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3207140570001 meters Centerline goodness : 0.990510 with order 1 Centerline is valid? [True, True] Translation: X:508.78, Y:-25.63, Z:2.73 [[ 9.99983512e-01 -4.29314615e-04 -5.72638742e-03 5.08779208e+02] [ 4.30924878e-04 9.99999868e-01 2.79969673e-04 -2.56311053e+01] [ 5.72626647e-03 -2.82432700e-04 9.99983565e-01 2.73302151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.38071405700003 meters Centerline goodness : 0.989356 with order 1 Centerline is valid? [True, True] Translation: X:508.84, Y:-25.64, Z:2.73 [[ 9.99983245e-01 8.47350494e-04 -5.72640795e-03 5.08837535e+02] [-8.45763517e-04 9.99999603e-01 2.79549022e-04 -2.56374250e+01] [ 5.72664256e-03 -2.74701151e-04 9.99983565e-01 2.73018532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.44071405700004 meters Centerline goodness : 0.989645 with order 1 Centerline is valid? [True, True] Translation: X:508.90, Y:-25.64, Z:2.73 [[ 9.99980027e-01 2.67441644e-03 -5.72648150e-03 5.08895914e+02] [-2.67286801e-03 9.99996389e-01 2.78034126e-04 -2.56407616e+01] [ 5.72720441e-03 -2.62722444e-04 9.99983565e-01 2.73198652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.50071405700004 meters Centerline goodness : 0.988796 with order 1 Centerline is valid? [True, True] Translation: X:508.95, Y:-25.64, Z:2.73 [[ 9.99921088e-01 1.11814260e-02 -5.72655424e-03 5.08954097e+02] [-1.11800255e-02 9.99937463e-01 2.76527909e-04 -2.56426001e+01] [ 5.72928809e-03 -2.12483065e-04 9.99983565e-01 2.73372728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.56071405700004 meters Centerline goodness : 0.989581 with order 1 Centerline is valid? [True, True] Translation: X:509.01, Y:-25.65, Z:2.73 [[ 9.99843020e-01 1.67672432e-02 -5.72662537e-03 5.09012528e+02] [-1.67659426e-02 9.99859404e-01 2.75046830e-04 -2.56458476e+01] [ 5.73043201e-03 -1.78991382e-04 9.99983565e-01 2.73323601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.62071405700004 meters Centerline goodness : 0.988123 with order 1 Centerline is valid? [True, True] Translation: X:509.07, Y:-25.65, Z:2.73 [[ 9.99771190e-01 2.06100103e-02 -5.72669526e-03 5.09070562e+02] [-2.06087810e-02 9.99787579e-01 2.73583973e-04 -2.56499603e+01] [ 5.73111736e-03 -1.55501166e-04 9.99983565e-01 2.73259458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.68071405700005 meters Centerline goodness : 0.988799 with order 1 Centerline is valid? [True, True] Translation: X:509.13, Y:-25.65, Z:2.73 [[ 9.99784029e-01 1.99775116e-02 -5.72671966e-03 5.09129613e+02] [-1.99762749e-02 9.99800417e-01 2.73072228e-04 -2.56532321e+01] [ 5.73103201e-03 -1.58614726e-04 9.99983565e-01 2.73450131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.74071405700005 meters Centerline goodness : 0.988767 with order 1 Centerline is valid? [True, True] Translation: X:509.19, Y:-25.66, Z:2.73 [[ 9.99848692e-01 1.64255030e-02 -5.72673898e-03 5.09187427e+02] [-1.64242104e-02 9.99865076e-01 2.72666528e-04 -2.56610764e+01] [ 5.73044499e-03 -1.78568105e-04 9.99983565e-01 2.73198136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.80071405700005 meters Centerline goodness : 0.988253 with order 1 Centerline is valid? [True, True] Translation: X:509.25, Y:-25.67, Z:2.73 [[ 9.99948127e-01 8.42303357e-03 -5.72676269e-03 5.09246055e+02] [-8.42161277e-03 9.99964501e-01 2.72167465e-04 -2.56684927e+01] [ 5.72885187e-03 -2.23924769e-04 9.99983565e-01 2.72913637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.86071405700005 meters Centerline goodness : 0.988212 with order 1 Centerline is valid? [True, True] Translation: X:509.30, Y:-25.67, Z:2.73 [[ 9.99979448e-01 2.88213985e-03 -5.72678264e-03 5.09304109e+02] [-2.88063075e-03 9.99995814e-01 2.71747150e-04 -2.56741640e+01] [ 5.72754188e-03 -2.55244819e-04 9.99983565e-01 2.72746761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.92071405700005 meters Centerline goodness : 0.989219 with order 1 Centerline is valid? [True, True] Translation: X:509.36, Y:-25.67, Z:2.73 [[ 9.99980722e-01 -2.39992828e-03 -5.72680866e-03 5.09363107e+02] [ 2.40152066e-03 9.99997080e-01 2.71197575e-04 -2.56741518e+01] [ 5.72614109e-03 -2.84945397e-04 9.99983565e-01 2.72709405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.98071405700006 meters Centerline goodness : 0.988251 with order 1 Centerline is valid? [True, True] Translation: X:509.42, Y:-25.68, Z:2.72 [[ 9.99925363e-01 1.07921872e-02 -5.72682788e-03 5.09421938e+02] [-1.07908131e-02 9.99941741e-01 2.70791149e-04 -2.56840625e+01] [ 5.72941667e-03 -2.08973808e-04 9.99983565e-01 2.71800006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.04071405700006 meters Centerline goodness : 0.993004 with order 1 Centerline is valid? [True, True] Translation: X:509.48, Y:-25.66, Z:2.74 [[ 9.99953223e-01 -7.79452503e-03 -5.72683734e-03 5.09482558e+02] [ 7.79620217e-03 9.99969573e-01 2.70590929e-04 -2.56599769e+01] [ 5.72455396e-03 -3.15225853e-04 9.99983565e-01 2.74389247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.10071405700006 meters Centerline goodness : 0.987189 with order 1 Centerline is valid? [True, True] Translation: X:509.54, Y:-25.69, Z:2.72 [[ 9.99849512e-01 1.63754685e-02 -5.72684698e-03 5.09541626e+02] [-1.63741881e-02 9.99865897e-01 2.70386788e-04 -2.56865109e+01] [ 5.73050671e-03 -1.76573628e-04 9.99983565e-01 2.72214101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.16071405700006 meters Centerline goodness : 0.988771 with order 1 Centerline is valid? [True, True] Translation: X:509.60, Y:-25.68, Z:2.74 [[ 9.99927465e-01 1.05956682e-02 -5.72685185e-03 5.09601987e+02] [-1.05942937e-02 9.99943842e-01 2.70283621e-04 -2.56795999e+01] [ 5.72939408e-03 -2.09592066e-04 9.99983565e-01 2.73503350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.22071405700007 meters Centerline goodness : 0.990119 with order 1 Centerline is valid? [True, True] Translation: X:509.66, Y:-25.68, Z:2.74 [[ 9.99970618e-01 5.09576510e-03 -5.72685227e-03 5.09659910e+02] [-5.09430065e-03 9.99986987e-01 2.70274665e-04 -2.56753254e+01] [ 5.72815501e-03 -2.41092416e-04 9.99983565e-01 2.74472806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.28071405700007 meters Centerline goodness : 0.989478 with order 1 Centerline is valid? [True, True] Translation: X:509.72, Y:-25.69, Z:2.73 [[ 9.99931752e-01 1.01830486e-02 -5.72687651e-03 5.09717927e+02] [-1.01816704e-02 9.99948129e-01 2.69760095e-04 -2.56850386e+01] [ 5.72932643e-03 -2.11432515e-04 9.99983565e-01 2.72914343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.34071405700007 meters Centerline goodness : 0.988805 with order 1 Centerline is valid? [True, True] Translation: X:509.78, Y:-25.68, Z:2.74 [[ 9.99970860e-01 5.04791019e-03 -5.72694272e-03 5.09776490e+02] [-5.04645598e-03 9.99987231e-01 2.68347070e-04 -2.56828258e+01] [ 5.72822418e-03 -2.39438486e-04 9.99983565e-01 2.73544552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.4007140570001 meters Centerline goodness : 0.988821 with order 1 Centerline is valid? [True, True] Translation: X:509.83, Y:-25.69, Z:2.73 [[ 9.99982320e-01 1.60033223e-03 -5.72696247e-03 5.09834163e+02] [-1.59882400e-03 9.99998686e-01 2.67925011e-04 -2.56878542e+01] [ 5.72738371e-03 -2.58763869e-04 9.99983565e-01 2.72773187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.4607140570001 meters Centerline goodness : 0.987506 with order 1 Centerline is valid? [True, True] Translation: X:509.89, Y:-25.69, Z:2.73 [[ 9.99891314e-01 1.35853235e-02 -5.72698683e-03 5.09894411e+02] [-1.35840145e-02 9.99907697e-01 2.67403268e-04 -2.56934974e+01] [ 5.73009097e-03 -1.89578734e-04 9.99983565e-01 2.72513587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.5207140570001 meters Centerline goodness : 0.989058 with order 1 Centerline is valid? [True, True] Translation: X:509.96, Y:-25.69, Z:2.73 [[ 9.99927877e-01 1.05566371e-02 -5.72698552e-03 5.09955094e+02] [-1.05552784e-02 9.99944256e-01 2.67431186e-04 -2.56902307e+01] [ 5.72948945e-03 -2.06961971e-04 9.99983565e-01 2.73299437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.5807140570001 meters Centerline goodness : 0.988825 with order 1 Centerline is valid? [True, True] Translation: X:510.01, Y:-25.69, Z:2.74 [[ 9.99948773e-01 8.34589172e-03 -5.72698552e-03 5.10013916e+02] [-8.34449674e-03 9.99965148e-01 2.67431186e-04 -2.56884435e+01] [ 5.72901788e-03 -2.19628674e-04 9.99983565e-01 2.73752962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.6407140570001 meters Centerline goodness : 0.988331 with order 1 Centerline is valid? [True, True] Translation: X:510.07, Y:-25.69, Z:2.73 [[ 9.99932341e-01 1.01249151e-02 -5.72700673e-03 5.10072374e+02] [-1.01235519e-02 9.99948720e-01 2.66976257e-04 -2.56908950e+01] [ 5.72941616e-03 -2.08980545e-04 9.99983565e-01 2.73451402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.7007140570001 meters Centerline goodness : 0.992865 with order 1 Centerline is valid? [True, True] Translation: X:510.13, Y:-25.67, Z:2.75 [[ 9.99982277e-01 -1.62662777e-03 -5.72702572e-03 5.10132716e+02] [ 1.62818105e-03 9.99998639e-01 2.66568329e-04 -2.56741613e+01] [ 5.72658432e-03 -2.75888239e-04 9.99983565e-01 2.74867645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.7607140570001 meters Centerline goodness : 0.989699 with order 1 Centerline is valid? [True, True] Translation: X:510.19, Y:-25.70, Z:2.73 [[ 9.99805183e-01 1.88890502e-02 -5.72703519e-03 5.10192587e+02] [-1.88878340e-02 9.99821573e-01 2.66364735e-04 -2.56972107e+01] [ 5.73104471e-03 -1.58141553e-04 9.99983565e-01 2.72762963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8207140570001 meters Centerline goodness : 0.988806 with order 1 Centerline is valid? [True, True] Translation: X:510.25, Y:-25.70, Z:2.73 [[ 9.99842623e-01 1.67907765e-02 -5.72703719e-03 5.10251737e+02] [-1.67895262e-02 9.99859011e-01 2.66321623e-04 -2.56962927e+01] [ 5.73070149e-03 -1.70125469e-04 9.99983565e-01 2.73478364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.88071405700003 meters Centerline goodness : 0.988653 with order 1 Centerline is valid? [True, True] Translation: X:510.31, Y:-25.70, Z:2.73 [[ 9.99823481e-01 1.78943298e-02 -5.72704700e-03 5.10310667e+02] [-1.78930989e-02 9.99839870e-01 2.66110490e-04 -2.56999017e+01] [ 5.73089180e-03 -1.63588898e-04 9.99983565e-01 2.73223656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.94071405700004 meters Centerline goodness : 0.989094 with order 1 Centerline is valid? [True, True] Translation: X:510.37, Y:-25.70, Z:2.73 [[ 9.99833682e-01 1.73150155e-02 -5.72706558e-03 5.10369153e+02] [-1.73137773e-02 9.99850070e-01 2.65710017e-04 -2.57047521e+01] [ 5.73080770e-03 -1.66508687e-04 9.99983565e-01 2.73153877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.00071405700004 meters Centerline goodness : 0.983678 with order 1 Centerline is valid? [True, True] Translation: X:510.43, Y:-25.69, Z:2.74 [[ 9.99983560e-01 2.81557980e-04 -5.72708392e-03 5.10428617e+02] [-2.80043086e-04 9.99999926e-01 2.65314139e-04 -2.56922540e+01] [ 5.72715820e-03 -2.63705947e-04 9.99983565e-01 2.74263417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.06071405700004 meters Centerline goodness : 0.992534 with order 1 Centerline is valid? [True, True] Translation: X:510.49, Y:-25.70, Z:2.74 [[ 9.99955228e-01 -7.53281569e-03 -5.72709566e-03 5.10487169e+02] [ 7.53445698e-03 9.99971580e-01 2.65060625e-04 -2.56960826e+01] [ 5.72493624e-03 -3.08199313e-04 9.99983565e-01 2.74375378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.12071405700004 meters Centerline goodness : 0.988809 with order 1 Centerline is valid? [True, True] Translation: X:510.55, Y:-25.71, Z:2.75 [[ 9.99980930e-01 -2.31073001e-03 -5.72711315e-03 5.10548073e+02] [ 2.31228371e-03 9.99997292e-01 2.64682035e-04 -2.57099746e+01] [ 5.72648603e-03 -2.77919698e-04 9.99983565e-01 2.74742001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.18071405700005 meters Centerline goodness : 0.988357 with order 1 Centerline is valid? [True, True] Translation: X:510.61, Y:-25.71, Z:2.75 [[ 9.99982661e-01 -1.37065246e-03 -5.72710351e-03 5.10606527e+02] [ 1.37219197e-03 9.99999023e-01 2.64890546e-04 -2.57118968e+01] [ 5.72673484e-03 -2.72744638e-04 9.99983565e-01 2.75196894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.24071405700005 meters Centerline goodness : 0.988541 with order 1 Centerline is valid? [True, True] Translation: X:510.67, Y:-25.71, Z:2.76 [[ 9.99923165e-01 -1.09938534e-02 -5.72711753e-03 5.10666465e+02] [ 1.09955485e-02 9.99939512e-01 2.64587058e-04 -2.57090606e+01] [ 5.72386228e-03 -3.27539527e-04 9.99983565e-01 2.75966192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.30071405700005 meters Centerline goodness : 0.989973 with order 1 Centerline is valid? [True, True] Translation: X:510.73, Y:-25.71, Z:2.76 [[ 9.99900429e-01 -1.28970147e-02 -5.72712405e-03 5.10728489e+02] [ 1.28987402e-02 9.99916773e-01 2.64445952e-04 -2.57085642e+01] [ 5.72323683e-03 -3.38292306e-04 9.99983565e-01 2.76292732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.36071405700005 meters Centerline goodness : 0.990111 with order 1 Centerline is valid? [True, True] Translation: X:510.79, Y:-25.71, Z:2.77 [[ 9.99901091e-01 -1.28455559e-02 -5.72710366e-03 5.10790615e+02] [ 1.28472830e-02 9.99917435e-01 2.64886735e-04 -2.57075691e+01] [ 5.72322818e-03 -3.38438257e-04 9.99983565e-01 2.76749427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.42071405700005 meters Centerline goodness : 0.992406 with order 1 Centerline is valid? [True, True] Translation: X:510.85, Y:-25.70, Z:2.75 [[ 9.99905397e-01 -1.25058761e-02 -5.72708316e-03 5.10851967e+02] [ 1.25076002e-02 9.99921742e-01 2.65329268e-04 -2.57022862e+01] [ 5.72331679e-03 -3.36936234e-04 9.99983565e-01 2.74921046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.48071405700006 meters Centerline goodness : 0.989637 with order 1 Centerline is valid? [True, True] Translation: X:510.91, Y:-25.71, Z:2.76 [[ 9.99983555e-01 -3.00867933e-04 -5.72706795e-03 5.10913907e+02] [ 3.02394317e-04 9.99999919e-01 2.65657134e-04 -2.57072254e+01] [ 5.72698756e-03 -2.67384598e-04 9.99983565e-01 2.76132756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.54071405700006 meters Centerline goodness : 0.988916 with order 1 Centerline is valid? [True, True] Translation: X:510.97, Y:-25.71, Z:2.75 [[ 9.99882695e-01 1.42055086e-02 -5.72704736e-03 5.10971799e+02] [-1.42042172e-02 9.99899080e-01 2.66100318e-04 -2.57139944e+01] [ 5.73024947e-03 -1.84720879e-04 9.99983565e-01 2.74799920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.60071405700006 meters Centerline goodness : 0.988652 with order 1 Centerline is valid? [True, True] Translation: X:511.03, Y:-25.72, Z:2.75 [[ 9.99820345e-01 1.80687095e-02 -5.72707236e-03 5.11030420e+02] [-1.80674846e-02 9.99836734e-01 2.65561014e-04 -2.57172864e+01] [ 5.73093567e-03 -1.62039513e-04 9.99983565e-01 2.74709429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.66071405700006 meters Centerline goodness : 0.988496 with order 1 Centerline is valid? [True, True] Translation: X:511.09, Y:-25.72, Z:2.74 [[ 9.99592835e-01 2.79528983e-02 -5.72709128e-03 5.11089082e+02] [-2.79518377e-02 9.99609236e-01 2.65152353e-04 -2.57209622e+01] [ 5.73226512e-03 -1.04961666e-04 9.99983565e-01 2.74269287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.72071405700007 meters Centerline goodness : 0.987598 with order 1 Centerline is valid? [True, True] Translation: X:511.15, Y:-25.73, Z:2.74 [[ 9.99412733e-01 3.37844504e-02 -5.72715699e-03 5.11146800e+02] [-3.37834938e-02 9.99429140e-01 2.63725509e-04 -2.57253480e+01] [ 5.73279740e-03 -7.00872591e-05 9.99983565e-01 2.74323603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.78071405700007 meters Centerline goodness : 0.987982 with order 1 Centerline is valid? [True, True] Translation: X:511.21, Y:-25.73, Z:2.74 [[ 9.99348800e-01 3.56254770e-02 -5.72717991e-03 5.11205485e+02] [-3.56245535e-02 9.99365209e-01 2.63226664e-04 -2.57334598e+01] [ 5.73292193e-03 -5.90270238e-05 9.99983565e-01 2.74021779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.84071405700007 meters Centerline goodness : 0.986775 with order 1 Centerline is valid? [True, True] Translation: X:511.26, Y:-25.74, Z:2.74 [[ 9.99615210e-01 2.71409559e-02 -5.72719801e-03 5.11263270e+02] [-2.71398954e-02 9.99631611e-01 2.62832340e-04 -2.57417101e+01] [ 5.73222169e-03 -1.07295650e-04 9.99983565e-01 2.74230955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.9007140570001 meters Centerline goodness : 0.987165 with order 1 Centerline is valid? [True, True] Translation: X:511.32, Y:-25.74, Z:2.75 [[ 9.99798570e-01 1.92358827e-02 -5.72721577e-03 5.11321773e+02] [-1.92346947e-02 9.99814962e-01 2.62444766e-04 -2.57436788e+01] [ 5.73120437e-03 -1.52230655e-04 9.99983565e-01 2.74946261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.9607140570001 meters Centerline goodness : 0.988104 with order 1 Centerline is valid? [True, True] Translation: X:511.38, Y:-25.75, Z:2.75 [[ 9.99846867e-01 1.65360770e-02 -5.72723316e-03 5.11380631e+02] [-1.65348469e-02 9.99863256e-01 2.62064642e-04 -2.57540881e+01] [ 5.73078352e-03 -1.67325587e-04 9.99983565e-01 2.74552768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.0207140570001 meters Centerline goodness : 0.987892 with order 1 Centerline is valid? [True, True] Translation: X:511.44, Y:-25.76, Z:2.75 [[ 9.99890846e-01 1.36196329e-02 -5.72724740e-03 5.11437856e+02] [-1.36183568e-02 9.99907232e-01 2.61753217e-04 -2.57636607e+01] [ 5.73028107e-03 -1.83728946e-04 9.99983565e-01 2.74701482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.0807140570001 meters Centerline goodness : 0.989392 with order 1 Centerline is valid? [True, True] Translation: X:511.50, Y:-25.77, Z:2.75 [[ 9.99953006e-01 7.82198277e-03 -5.72727503e-03 5.11496749e+02] [-7.82061516e-03 9.99969384e-01 2.61147100e-04 -2.57713048e+01] [ 5.72914238e-03 -2.16344014e-04 9.99983565e-01 2.74512809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.1407140570001 meters Centerline goodness : 0.989921 with order 1 Centerline is valid? [True, True] Translation: X:511.56, Y:-25.77, Z:2.75 [[ 9.99982282e-01 1.62302140e-03 -5.72729331e-03 5.11555168e+02] [-1.62155458e-03 9.99998651e-01 2.60745705e-04 -2.57742532e+01] [ 5.72770878e-03 -2.51453966e-04 9.99983565e-01 2.74825922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.2007140570001 meters Centerline goodness : 0.988923 with order 1 Centerline is valid? [True, True] Translation: X:511.61, Y:-25.78, Z:2.74 [[ 9.99983580e-01 -1.94610941e-04 -5.72730677e-03 5.11613534e+02] [ 1.96105825e-04 9.99999947e-01 2.60449674e-04 -2.57811846e+01] [ 5.72725578e-03 -2.61568556e-04 9.99983565e-01 2.74228232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.2607140570001 meters Centerline goodness : 0.989255 with order 1 Centerline is valid? [True, True] Translation: X:511.67, Y:-25.78, Z:2.74 [[ 9.99974012e-01 -4.37881874e-03 -5.72732478e-03 5.11672716e+02] [ 4.38037983e-03 9.99990372e-01 2.60053094e-04 -2.57828877e+01] [ 5.72613091e-03 -2.85134194e-04 9.99983565e-01 2.73855512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3207140570001 meters Centerline goodness : 0.989155 with order 1 Centerline is valid? [True, True] Translation: X:511.73, Y:-25.78, Z:2.74 [[ 9.99965999e-01 -5.93279993e-03 -5.72734245e-03 5.11732018e+02] [ 5.93438421e-03 9.99982358e-01 2.59663216e-04 -2.57830049e+01] [ 5.72570088e-03 -2.93642638e-04 9.99983565e-01 2.74010547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.38071405700003 meters Centerline goodness : 0.988488 with order 1 Centerline is valid? [True, True] Translation: X:511.79, Y:-25.78, Z:2.74 [[ 9.99975172e-01 -4.10530733e-03 -5.72735127e-03 5.11792833e+02] [ 4.10686060e-03 9.99991533e-01 2.59468694e-04 -2.57830789e+01] [ 5.72623758e-03 -2.82983685e-04 9.99983565e-01 2.73982700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.44071405700004 meters Centerline goodness : 0.988247 with order 1 Centerline is valid? [True, True] Translation: X:511.85, Y:-25.78, Z:2.74 [[ 9.99960714e-01 -6.76512688e-03 -5.72735127e-03 5.11852847e+02] [ 6.76672367e-03 9.99977072e-01 2.59468694e-04 -2.57834847e+01] [ 5.72546461e-03 -2.98213904e-04 9.99983565e-01 2.73880636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.50071405700004 meters Centerline goodness : 0.988172 with order 1 Centerline is valid? [True, True] Translation: X:511.91, Y:-25.78, Z:2.74 [[ 9.99877717e-01 -1.45516028e-02 -5.72736052e-03 5.11913620e+02] [ 1.45533258e-02 9.99894061e-01 2.59264276e-04 -2.57843238e+01] [ 5.72298106e-03 -3.42584716e-04 9.99983565e-01 2.73890309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.56071405700004 meters Centerline goodness : 0.988757 with order 1 Centerline is valid? [True, True] Translation: X:511.98, Y:-25.78, Z:2.74 [[ 9.99816502e-01 -1.82800279e-02 -5.72735584e-03 5.11975098e+02] [ 1.82818123e-02 9.99832840e-01 2.59367647e-04 -2.57837333e+01] [ 5.72165721e-03 -3.64026498e-04 9.99983565e-01 2.74034555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.62071405700004 meters Centerline goodness : 0.988971 with order 1 Centerline is valid? [True, True] Translation: X:512.04, Y:-25.78, Z:2.74 [[ 9.99866936e-01 -1.52744392e-02 -5.72732946e-03 5.12037012e+02] [ 1.52761779e-02 9.99883279e-01 2.59948883e-04 -2.57822932e+01] [ 5.72269038e-03 -3.47405997e-04 9.99983565e-01 2.73881701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.68071405700005 meters Centerline goodness : 0.988899 with order 1 Centerline is valid? [True, True] Translation: X:512.10, Y:-25.78, Z:2.74 [[ 9.99938294e-01 -9.51869076e-03 -5.72731136e-03 5.12097857e+02] [ 9.52033761e-03 9.99954647e-01 2.60346964e-04 -2.57817639e+01] [ 5.72457345e-03 -3.14856837e-04 9.99983565e-01 2.73629917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.74071405700005 meters Centerline goodness : 0.989074 with order 1 Centerline is valid? [True, True] Translation: X:512.16, Y:-25.78, Z:2.73 [[ 9.99969781e-01 -5.25694715e-03 -5.72730249e-03 5.12158948e+02] [ 5.25852540e-03 9.99986140e-01 2.60542081e-04 -2.57808144e+01] [ 5.72585345e-03 -2.90651374e-04 9.99983565e-01 2.73353807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.80071405700005 meters Centerline goodness : 0.989447 with order 1 Centerline is valid? [True, True] Translation: X:512.22, Y:-25.78, Z:2.73 [[ 9.99936456e-01 -9.70989179e-03 -5.72729894e-03 5.12219267e+02] [ 9.71154332e-03 9.99952808e-01 2.60620065e-04 -2.57799174e+01] [ 5.72449806e-03 -3.16224416e-04 9.99983565e-01 2.73395619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.86071405700005 meters Centerline goodness : 0.989368 with order 1 Centerline is valid? [True, True] Translation: X:512.28, Y:-25.78, Z:2.73 [[ 9.99818005e-01 -1.81976756e-02 -5.72729894e-03 5.12280898e+02] [ 1.81994659e-02 9.99834342e-01 2.60620065e-04 -2.57790727e+01] [ 5.72160749e-03 -3.64806415e-04 9.99983565e-01 2.73470402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.92071405700005 meters Centerline goodness : 0.989742 with order 1 Centerline is valid? [True, True] Translation: X:512.34, Y:-25.78, Z:2.73 [[ 9.99621149e-01 -2.69213000e-02 -5.72728963e-03 5.12340808e+02] [ 2.69232340e-02 9.99637470e-01 2.60824428e-04 -2.57775289e+01] [ 5.71819158e-03 -4.14922773e-04 9.99983565e-01 2.73375551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.98071405700006 meters Centerline goodness : 0.989886 with order 1 Centerline is valid? [True, True] Translation: X:512.40, Y:-25.78, Z:2.73 [[ 9.99664149e-01 -2.52742284e-02 -5.72728963e-03 5.12402117e+02] [ 2.52761354e-02 9.99680473e-01 2.60824428e-04 -2.57755074e+01] [ 5.71886747e-03 -4.05500578e-04 9.99983565e-01 2.73346140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.04071405700006 meters Centerline goodness : 0.990322 with order 1 Centerline is valid? [True, True] Translation: X:512.46, Y:-25.77, Z:2.74 [[ 9.99777147e-01 -2.03188416e-02 -5.72727611e-03 5.12464776e+02] [ 2.03206694e-02 9.99793480e-01 2.61120919e-04 -2.57733655e+01] [ 5.72078764e-03 -3.77444812e-04 9.99983565e-01 2.73521835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.10071405700006 meters Centerline goodness : 0.989532 with order 1 Centerline is valid? [True, True] Translation: X:512.53, Y:-25.77, Z:2.74 [[ 9.99826473e-01 -1.77263306e-02 -5.72725822e-03 5.12525664e+02] [ 1.77281183e-02 9.99842810e-01 2.61512755e-04 -2.57708952e+01] [ 5.72172229e-03 -3.63000887e-04 9.99983565e-01 2.73793571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.16071405700006 meters Centerline goodness : 0.989327 with order 1 Centerline is valid? [True, True] Translation: X:512.59, Y:-25.77, Z:2.74 [[ 9.99893523e-01 -1.34217074e-02 -5.72724937e-03 5.12588306e+02] [ 1.34234258e-02 9.99909868e-01 2.61706461e-04 -2.57676526e+01] [ 5.72322061e-03 -3.38557902e-04 9.99983565e-01 2.73887938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.22071405700007 meters Centerline goodness : 0.989283 with order 1 Centerline is valid? [True, True] Translation: X:512.65, Y:-25.77, Z:2.74 [[ 9.99825965e-01 -1.77549726e-02 -5.72723034e-03 5.12649504e+02] [ 1.77567642e-02 9.99842302e-01 2.62122243e-04 -2.57675031e+01] [ 5.72167319e-03 -3.63773703e-04 9.99983565e-01 2.74281507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.28071405700007 meters Centerline goodness : 0.988924 with order 1 Centerline is valid? [True, True] Translation: X:512.71, Y:-25.77, Z:2.74 [[ 9.99758492e-01 -2.12169070e-02 -5.72716938e-03 5.12711579e+02] [ 2.12187628e-02 9.99774822e-01 2.63447432e-04 -2.57695979e+01] [ 5.72029021e-03 -3.84907256e-04 9.99983565e-01 2.74277113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.34071405700007 meters Centerline goodness : 0.989595 with order 1 Centerline is valid? [True, True] Translation: X:512.77, Y:-25.77, Z:2.74 [[ 9.99740759e-01 -2.20366628e-02 -5.72715075e-03 5.12774712e+02] [ 2.20385343e-02 9.99757087e-01 2.63851947e-04 -2.57734625e+01] [ 5.71994513e-03 -3.90001553e-04 9.99983565e-01 2.73860088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.4007140570001 meters Centerline goodness : 0.989063 with order 1 Centerline is valid? [True, True] Translation: X:512.84, Y:-25.77, Z:2.74 [[ 9.99715375e-01 -2.31596237e-02 -5.72712290e-03 5.12836401e+02] [ 2.31615169e-02 9.99731701e-01 2.64455002e-04 -2.57746533e+01] [ 5.71946164e-03 -3.97028585e-04 9.99983565e-01 2.73959837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.4607140570001 meters Centerline goodness : 0.987641 with order 1 Centerline is valid? [True, True] Translation: X:512.90, Y:-25.78, Z:2.74 [[ 9.99739722e-01 -2.20836539e-02 -5.72710920e-03 5.12898524e+02] [ 2.20855312e-02 9.99756050e-01 2.64751333e-04 -2.57775003e+01] [ 5.71986539e-03 -3.91168674e-04 9.99983565e-01 2.73850045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.5207140570001 meters Centerline goodness : 0.988218 with order 1 Centerline is valid? [True, True] Translation: X:512.96, Y:-25.78, Z:2.74 [[ 9.99749920e-01 -2.16170805e-02 -5.72709049e-03 5.12961005e+02] [ 2.16189525e-02 9.99766248e-01 2.65155509e-04 -2.57802796e+01] [ 5.72001988e-03 -3.88902896e-04 9.99983565e-01 2.73874974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.5807140570001 meters Centerline goodness : 0.988287 with order 1 Centerline is valid? [True, True] Translation: X:513.02, Y:-25.78, Z:2.74 [[ 9.99817638e-01 -1.82178653e-02 -5.72707161e-03 5.13022867e+02] [ 1.82196841e-02 9.99833973e-01 2.65562595e-04 -2.57816484e+01] [ 5.72128278e-03 -3.69859602e-04 9.99983565e-01 2.73854509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.6407140570001 meters Centerline goodness : 0.988048 with order 1 Centerline is valid? [True, True] Translation: X:513.08, Y:-25.78, Z:2.74 [[ 9.99893479e-01 -1.34250208e-02 -5.72702600e-03 5.13084607e+02] [ 1.34267668e-02 9.99909821e-01 2.66542698e-04 -2.57825470e+01] [ 5.72293120e-03 -3.43409748e-04 9.99983565e-01 2.74018319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.7007140570001 meters Centerline goodness : 0.987982 with order 1 Centerline is valid? [True, True] Translation: X:513.15, Y:-25.78, Z:2.74 [[ 9.99930287e-01 -1.03257942e-02 -5.72700811e-03 5.13146561e+02] [ 1.03274918e-02 9.99946634e-01 2.66926531e-04 -2.57846824e+01] [ 5.72394625e-03 -3.26053552e-04 9.99983565e-01 2.73881294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.7607140570001 meters Centerline goodness : 0.987880 with order 1 Centerline is valid? [True, True] Translation: X:513.21, Y:-25.79, Z:2.74 [[ 9.99905045e-01 -1.25340573e-02 -5.72698958e-03 5.13208414e+02] [ 1.25357933e-02 9.99921388e-01 2.67323375e-04 -2.57856420e+01] [ 5.72318873e-03 -3.39090349e-04 9.99983565e-01 2.74143266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.8207140570001 meters Centerline goodness : 0.988014 with order 1 Centerline is valid? [True, True] Translation: X:513.27, Y:-25.79, Z:2.75 [[ 9.99895020e-01 -1.33098170e-02 -5.72697084e-03 5.13269237e+02] [ 1.33115679e-02 9.99911361e-01 2.67724257e-04 -2.57868315e+01] [ 5.72289985e-03 -3.43931112e-04 9.99983565e-01 2.74719361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.88071405700003 meters Centerline goodness : 0.988290 with order 1 Centerline is valid? [True, True] Translation: X:513.33, Y:-25.78, Z:2.75 [[ 9.99791285e-01 -1.96109384e-02 -5.72695694e-03 5.13332618e+02] [ 1.96127939e-02 9.99807615e-01 2.68021364e-04 -2.57822474e+01] [ 5.72059901e-03 -3.80287050e-04 9.99983565e-01 2.74823327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.94071405700004 meters Centerline goodness : 0.987859 with order 1 Centerline is valid? [True, True] Translation: X:513.40, Y:-25.78, Z:2.75 [[ 9.99807864e-01 -1.87466405e-02 -5.72691881e-03 5.13395018e+02] [ 1.87484866e-02 9.99824196e-01 2.68833540e-04 -2.57838273e+01] [ 5.72087227e-03 -3.76152949e-04 9.99983565e-01 2.74558553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.000714057 meters Centerline goodness : 0.979279 with order 1 Centerline is valid? [True, True] Translation: X:513.46, Y:-25.78, Z:2.74 [[ 9.99768353e-01 -2.07471106e-02 -5.72689647e-03 5.13457210e+02] [ 2.07489921e-02 9.99784680e-01 2.69308749e-04 -2.57818964e+01] [ 5.72007597e-03 -3.88073695e-04 9.99983565e-01 2.74406510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.060714057 meters Centerline goodness : 0.988511 with order 1 Centerline is valid? [True, True] Translation: X:513.52, Y:-25.79, Z:2.75 [[ 9.99796674e-01 -1.93342599e-02 -5.72686319e-03 5.13519604e+02] [ 1.93361224e-02 9.99813003e-01 2.70014606e-04 -2.57873126e+01] [ 5.72057175e-03 -3.80695032e-04 9.99983565e-01 2.74649106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.120714057 meters Centerline goodness : 0.987576 with order 1 Centerline is valid? [True, True] Translation: X:513.58, Y:-25.79, Z:2.75 [[ 9.99736546e-01 -2.22270550e-02 -5.72683492e-03 5.13582780e+02] [ 2.22289681e-02 9.99752869e-01 2.70612753e-04 -2.57907556e+01] [ 5.71940472e-03 -3.97843089e-04 9.99983565e-01 2.74806823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.180714057 meters Centerline goodness : 0.991779 with order 1 Centerline is valid? [True, True] Translation: X:513.64, Y:-25.79, Z:2.75 [[ 9.99660909e-01 -2.54021924e-02 -5.72679878e-03 5.13644576e+02] [ 2.54041616e-02 9.99677225e-01 2.71375356e-04 -2.57922078e+01] [ 5.71805679e-03 -4.16767857e-04 9.99983565e-01 2.74541109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.240714057 meters Centerline goodness : 0.988335 with order 1 Centerline is valid? [True, True] Translation: X:513.71, Y:-25.81, Z:2.75 [[ 9.99754811e-01 -2.13897464e-02 -5.72677507e-03 5.13706046e+02] [ 2.13916530e-02 9.99771135e-01 2.71874853e-04 -2.58054050e+01] [ 5.71964908e-03 -3.94313377e-04 9.99983565e-01 2.74622587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.300714057 meters Centerline goodness : 0.987797 with order 1 Centerline is valid? [True, True] Translation: X:513.77, Y:-25.81, Z:2.75 [[ 9.99724681e-01 -2.27544825e-02 -5.72675512e-03 5.13767257e+02] [ 2.27564137e-02 9.99741002e-01 2.72294448e-04 -2.58077570e+01] [ 5.71907598e-03 -4.02539889e-04 9.99983565e-01 2.75028687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.360714057 meters Centerline goodness : 0.987936 with order 1 Centerline is valid? [True, True] Translation: X:513.83, Y:-25.81, Z:2.75 [[ 9.99634914e-01 -2.64053760e-02 -5.72674042e-03 5.13829283e+02] [ 2.64073686e-02 9.99651227e-01 2.72603250e-04 -2.58103131e+01] [ 5.71754490e-03 -4.23731871e-04 9.99983565e-01 2.75129595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.420714057 meters Centerline goodness : 0.988526 with order 1 Centerline is valid? [True, True] Translation: X:513.89, Y:-25.81, Z:2.75 [[ 9.99645391e-01 -2.60057149e-02 -5.72671616e-03 5.13892773e+02] [ 2.60077039e-02 9.99661705e-01 2.73112046e-04 -2.58126714e+01] [ 5.71767636e-03 -4.21953936e-04 9.99983565e-01 2.75128501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.480714057 meters Centerline goodness : 0.988591 with order 1 Centerline is valid? [True, True] Translation: X:513.96, Y:-25.81, Z:2.75 [[ 9.99710469e-01 -2.33705641e-02 -5.72668653e-03 5.13956234e+02] [ 2.33725136e-02 9.99726788e-01 2.73731742e-04 -2.58145205e+01] [ 5.71872467e-03 -4.07499547e-04 9.99983565e-01 2.75323776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5407140570001 meters Centerline goodness : 0.989236 with order 1 Centerline is valid? [True, True] Translation: X:514.02, Y:-25.82, Z:2.75 [[ 9.99787435e-01 -1.98063220e-02 -5.72665577e-03 5.14018778e+02] [ 1.98082170e-02 9.99803760e-01 2.74373820e-04 -2.58155786e+01] [ 5.72009764e-03 -3.87750338e-04 9.99983565e-01 2.75371744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.600714057 meters Centerline goodness : 0.988803 with order 1 Centerline is valid? [True, True] Translation: X:514.08, Y:-25.82, Z:2.76 [[ 9.99876335e-01 -1.46465129e-02 -5.72663057e-03 5.14080676e+02] [ 1.46483266e-02 9.99892670e-01 2.74898782e-04 -2.58165499e+01] [ 5.72198962e-03 -3.58750341e-04 9.99983565e-01 2.75633261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.660714057 meters Centerline goodness : 0.991737 with order 1 Centerline is valid? [True, True] Translation: X:514.14, Y:-25.81, Z:2.76 [[ 9.99813298e-01 -1.84546758e-02 -5.72660943e-03 5.14142696e+02] [ 1.84565542e-02 9.99829625e-01 2.75338483e-04 -2.58073362e+01] [ 5.72055248e-03 -3.80980554e-04 9.99983565e-01 2.75942046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.720714057 meters Centerline goodness : 0.989360 with order 1 Centerline is valid? [True, True] Translation: X:514.20, Y:-25.82, Z:2.75 [[ 9.99981906e-01 -1.84222758e-03 -5.72659395e-03 5.14203291e+02] [ 1.84383634e-03 9.99998262e-01 2.75660083e-04 -2.58154333e+01] [ 5.72607617e-03 -2.86213998e-04 9.99983565e-01 2.75435911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.780714057 meters Centerline goodness : 0.987518 with order 1 Centerline is valid? [True, True] Translation: X:514.26, Y:-25.81, Z:2.76 [[ 9.99941055e-01 9.22456403e-03 -5.72657852e-03 5.14263387e+02] [-9.22313455e-03 9.99957428e-01 2.75980169e-04 -2.58145722e+01] [ 5.72888053e-03 -2.23146897e-04 9.99983565e-01 2.75698006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.840714057 meters Centerline goodness : 0.987047 with order 1 Centerline is valid? [True, True] Translation: X:514.32, Y:-25.82, Z:2.76 [[ 9.99837597e-01 1.70876110e-02 -5.72658859e-03 5.14320685e+02] [-1.70863115e-02 9.99853980e-01 2.75771200e-04 -2.58167124e+01] [ 5.73046466e-03 -1.77880137e-04 9.99983565e-01 2.75664140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.900714057 meters Centerline goodness : 0.985710 with order 1 Centerline is valid? [True, True] Translation: X:514.38, Y:-25.82, Z:2.76 [[ 9.99610065e-01 2.73299235e-02 -5.72661328e-03 5.14378145e+02] [-2.73287948e-02 9.99626461e-01 2.75257359e-04 -2.58197482e+01] [ 5.73199693e-03 -1.18648587e-04 9.99983565e-01 2.75649904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.960714057 meters Centerline goodness : 0.984260 with order 1 Centerline is valid? [True, True] Translation: X:514.44, Y:-25.83, Z:2.75 [[ 9.99491645e-01 3.13632976e-02 -5.72669352e-03 5.14435244e+02] [-3.13622448e-02 9.99508046e-01 2.73577914e-04 -2.58267223e+01] [ 5.73245655e-03 -9.38368759e-05 9.99983565e-01 2.75264527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.020714057 meters Centerline goodness : 0.983933 with order 1 Centerline is valid? [True, True] Translation: X:514.49, Y:-25.84, Z:2.75 [[ 9.99474604e-01 3.19017311e-02 -5.72672783e-03 5.14493201e+02] [-3.19006913e-02 9.99491006e-01 2.72857813e-04 -2.58362289e+01] [ 5.73251759e-03 -9.00278779e-05 9.99983565e-01 2.74922680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.080714057 meters Centerline goodness : 0.984319 with order 1 Centerline is valid? [True, True] Translation: X:514.55, Y:-25.84, Z:2.75 [[ 9.99617376e-01 2.70611594e-02 -5.72674724e-03 5.14551608e+02] [-2.70600424e-02 9.99633773e-01 2.72449732e-04 -2.58436475e+01] [ 5.73202276e-03 -1.17379463e-04 9.99983565e-01 2.75196901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.140714057 meters Centerline goodness : 0.985319 with order 1 Centerline is valid? [True, True] Translation: X:514.61, Y:-25.85, Z:2.75 [[ 9.99778885e-01 2.02332560e-02 -5.72676646e-03 5.14609824e+02] [-2.02320294e-02 9.99795275e-01 2.72045165e-04 -2.58543973e+01] [ 5.73109840e-03 -1.56120904e-04 9.99983565e-01 2.74995439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.200714057 meters Centerline goodness : 0.986388 with order 1 Centerline is valid? [True, True] Translation: X:514.67, Y:-25.86, Z:2.75 [[ 9.99918663e-01 1.13961152e-02 -5.72678540e-03 5.14668202e+02] [-1.13947461e-02 9.99935041e-01 2.71645779e-04 -2.58613757e+01] [ 5.72950910e-03 -2.06368419e-04 9.99983565e-01 2.75297559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.260714057 meters Centerline goodness : 0.986339 with order 1 Centerline is valid? [True, True] Translation: X:514.73, Y:-25.87, Z:2.76 [[ 9.99981032e-01 2.26686583e-03 -5.72680508e-03 5.14725439e+02] [-2.26534962e-03 9.99997397e-01 2.71230344e-04 -2.58670658e+01] [ 5.72740502e-03 -2.58251984e-04 9.99983565e-01 2.75511147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.320714057 meters Centerline goodness : 0.987276 with order 1 Centerline is valid? [True, True] Translation: X:514.78, Y:-25.87, Z:2.75 [[ 9.99949182e-01 -8.29684329e-03 -5.72683135e-03 5.14784013e+02] [ 8.29852912e-03 9.99965530e-01 2.70674429e-04 -2.58726957e+01] [ 5.72438821e-03 -3.18184951e-04 9.99983565e-01 2.75206681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.380714057 meters Centerline goodness : 0.988124 with order 1 Centerline is valid? [True, True] Translation: X:514.85, Y:-25.88, Z:2.76 [[ 9.99927220e-01 -1.06187540e-02 -5.72685141e-03 5.14845396e+02] [ 1.06204753e-02 9.99943565e-01 2.70249342e-04 -2.58750084e+01] [ 5.72365851e-03 -3.31051558e-04 9.99983565e-01 2.75596480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.440714057 meters Centerline goodness : 0.987872 with order 1 Centerline is valid? [True, True] Translation: X:514.91, Y:-25.88, Z:2.76 [[ 9.99910487e-01 -1.20922316e-02 -5.72684141e-03 5.14907586e+02] [ 1.20939783e-02 9.99926829e-01 2.70461267e-04 -2.58793345e+01] [ 5.72315188e-03 -3.39697353e-04 9.99983565e-01 2.75610387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.500714057 meters Centerline goodness : 0.987629 with order 1 Centerline is valid? [True, True] Translation: X:514.97, Y:-25.88, Z:2.76 [[ 9.99928899e-01 -1.04594927e-02 -5.72682137e-03 5.14968531e+02] [ 1.04612151e-02 9.99945243e-01 2.70884835e-04 -2.58802471e+01] [ 5.72367447e-03 -3.30775085e-04 9.99983565e-01 2.75782258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.560714057 meters Centerline goodness : 0.987662 with order 1 Centerline is valid? [True, True] Translation: X:515.03, Y:-25.88, Z:2.76 [[ 9.99956930e-01 -7.30356378e-03 -5.72680654e-03 5.15030472e+02] [ 7.30523637e-03 9.99973280e-01 2.71198073e-04 -2.58794694e+01] [ 5.72467280e-03 -3.13022067e-04 9.99983565e-01 2.75860207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.620714057 meters Centerline goodness : 0.986676 with order 1 Centerline is valid? [True, True] Translation: X:515.09, Y:-25.88, Z:2.75 [[ 9.99971333e-01 -4.95352170e-03 -5.72679129e-03 5.15090769e+02] [ 4.95515769e-03 9.99987686e-01 2.71519679e-04 -2.58800980e+01] [ 5.72537579e-03 -2.99889049e-04 9.99983565e-01 2.75489993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.680714057 meters Centerline goodness : 0.985972 with order 1 Centerline is valid? [True, True] Translation: X:515.15, Y:-25.88, Z:2.75 [[ 9.99970922e-01 -5.03586881e-03 -5.72678629e-03 5.15151541e+02] [ 5.03750675e-03 9.99987275e-01 2.71624982e-04 -2.58781482e+01] [ 5.72534555e-03 -3.00465809e-04 9.99983565e-01 2.75259979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.740714057 meters Centerline goodness : 0.985206 with order 1 Centerline is valid? [True, True] Translation: X:515.21, Y:-25.88, Z:2.75 [[ 9.99982179e-01 -1.68688218e-03 -5.72678629e-03 5.15211642e+02] [ 1.68846534e-03 9.99998538e-01 2.71624982e-04 -2.58766264e+01] [ 5.72631972e-03 -2.81289622e-04 9.99983565e-01 2.75071423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.800714057 meters Centerline goodness : 0.985145 with order 1 Centerline is valid? [True, True] Translation: X:515.27, Y:-25.87, Z:2.75 [[ 9.99981279e-01 2.15532048e-03 -5.72679118e-03 5.15270958e+02] [-2.15380078e-03 9.99997644e-01 2.71521975e-04 -2.58734804e+01] [ 5.72736290e-03 -2.59182525e-04 9.99983565e-01 2.75337398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.860714057 meters Centerline goodness : 0.985004 with order 1 Centerline is valid? [True, True] Translation: X:515.33, Y:-25.87, Z:2.76 [[ 9.99980026e-01 2.67407928e-03 -5.72685830e-03 5.15327857e+02] [-2.67257619e-03 9.99996392e-01 2.70098755e-04 -2.58690938e+01] [ 5.72755991e-03 -2.54787895e-04 9.99983565e-01 2.75839447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.920714057 meters Centerline goodness : 0.985932 with order 1 Centerline is valid? [True, True] Translation: X:515.39, Y:-25.87, Z:2.76 [[ 9.99983463e-01 -5.25329404e-04 -5.72689962e-03 5.15386734e+02] [ 5.26879820e-04 9.99999825e-01 2.69219836e-04 -2.58677867e+01] [ 5.72675719e-03 -2.72232771e-04 9.99983565e-01 2.75622504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.980714057 meters Centerline goodness : 0.985947 with order 1 Centerline is valid? [True, True] Translation: X:515.45, Y:-25.87, Z:2.76 [[ 9.99934711e-01 -9.88814764e-03 -5.72691717e-03 5.15446218e+02] [ 9.88984905e-03 9.99951058e-01 2.68845991e-04 -2.58675775e+01] [ 5.72397849e-03 -3.25466784e-04 9.99983565e-01 2.75845162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0407140570001 meters Centerline goodness : 0.985286 with order 1 Centerline is valid? [True, True] Translation: X:515.51, Y:-25.87, Z:2.76 [[ 9.99832767e-01 -1.73678134e-02 -5.72692675e-03 5.15508794e+02] [ 1.73696358e-02 9.99849100e-01 2.68641846e-04 -2.58663887e+01] [ 5.72139683e-03 -3.68071552e-04 9.99983565e-01 2.75743938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.100714057 meters Centerline goodness : 0.985959 with order 1 Centerline is valid? [True, True] Translation: X:515.57, Y:-25.87, Z:2.75 [[ 9.99738841e-01 -2.21235707e-02 -5.72685480e-03 5.15570429e+02] [ 2.21254796e-02 9.99755165e-01 2.70166968e-04 -2.58655776e+01] [ 5.71947561e-03 -3.96805820e-04 9.99983565e-01 2.75214752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.160714057 meters Centerline goodness : 0.985273 with order 1 Centerline is valid? [True, True] Translation: X:515.63, Y:-25.86, Z:2.76 [[ 9.99862615e-01 -1.55549023e-02 -5.72683944e-03 5.15632392e+02] [ 1.55567057e-02 9.99878951e-01 2.70492160e-04 -2.58641058e+01] [ 5.72193873e-03 -3.59545754e-04 9.99983565e-01 2.75521328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.220714057 meters Centerline goodness : 0.984802 with order 1 Centerline is valid? [True, True] Translation: X:515.69, Y:-25.86, Z:2.76 [[ 9.99945917e-01 -8.68139799e-03 -5.72681901e-03 5.15693791e+02] [ 8.68309154e-03 9.99962265e-01 2.70924033e-04 -2.58618410e+01] [ 5.72425090e-03 -3.20635874e-04 9.99983565e-01 2.75781209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.280714057 meters Centerline goodness : 0.986615 with order 1 Centerline is valid? [True, True] Translation: X:515.75, Y:-25.86, Z:2.76 [[ 9.99983585e-01 1.82702609e-04 -5.72680385e-03 5.15754274e+02] [-1.81152212e-04 9.99999947e-01 2.71243991e-04 -2.58612073e+01] [ 5.72685310e-03 -2.70202116e-04 9.99983565e-01 2.75733886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.340714057 meters Centerline goodness : 0.986154 with order 1 Centerline is valid? [True, True] Translation: X:515.81, Y:-25.86, Z:2.76 [[ 9.99969018e-01 5.40064380e-03 -5.72678596e-03 5.15812838e+02] [-5.39917664e-03 9.99985387e-01 2.71621201e-04 -2.58593040e+01] [ 5.72816921e-03 -2.40692857e-04 9.99983565e-01 2.75762747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.400714057 meters Centerline goodness : 0.986565 with order 1 Centerline is valid? [True, True] Translation: X:515.87, Y:-25.86, Z:2.76 [[ 9.99979721e-01 2.78599127e-03 -5.72685364e-03 5.15870269e+02] [-2.78448952e-03 9.99996087e-01 2.70186631e-04 -2.58590374e+01] [ 5.72758397e-03 -2.54234788e-04 9.99983565e-01 2.76046688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.460714057 meters Centerline goodness : 0.986836 with order 1 Centerline is valid? [True, True] Translation: X:515.93, Y:-25.86, Z:2.76 [[ 9.99975078e-01 4.12866784e-03 -5.72687657e-03 5.15929222e+02] [-4.12719084e-03 9.99991447e-01 2.69699716e-04 -2.58598077e+01] [ 5.72794109e-03 -2.46057082e-04 9.99983565e-01 2.75980887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.520714057 meters Centerline goodness : 0.987132 with order 1 Centerline is valid? [True, True] Translation: X:515.99, Y:-25.86, Z:2.76 [[ 9.99969152e-01 5.37559375e-03 -5.72694131e-03 5.15987264e+02] [-5.37414506e-03 9.99985523e-01 2.68318009e-04 -2.58601237e+01] [ 5.72830077e-03 -2.37532319e-04 9.99983565e-01 2.76114497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.580714057 meters Centerline goodness : 0.986588 with order 1 Centerline is valid? [True, True] Translation: X:516.04, Y:-25.86, Z:2.76 [[ 9.99910609e-01 1.20820241e-02 -5.72701599e-03 5.16044741e+02] [-1.20806944e-02 9.99926990e-01 2.66714407e-04 -2.58636617e+01] [ 5.72982031e-03 -1.97504235e-04 9.99983565e-01 2.76089217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.640714057 meters Centerline goodness : 0.986341 with order 1 Centerline is valid? [True, True] Translation: X:516.10, Y:-25.87, Z:2.76 [[ 9.99843898e-01 1.67146919e-02 -5.72709050e-03 5.16102195e+02] [-1.67134473e-02 9.99860285e-01 2.65104721e-04 -2.58671400e+01] [ 5.73072149e-03 -1.69343912e-04 9.99983565e-01 2.76174099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.700714057 meters Centerline goodness : 0.986161 with order 1 Centerline is valid? [True, True] Translation: X:516.16, Y:-25.87, Z:2.76 [[ 9.99747180e-01 2.17434097e-02 -5.72716404e-03 5.16160231e+02] [-2.17422568e-02 9.99763574e-01 2.63506526e-04 -2.58713134e+01] [ 5.73153952e-03 -1.38918435e-04 9.99983565e-01 2.76191140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.760714057 meters Centerline goodness : 0.987281 with order 1 Centerline is valid? [True, True] Translation: X:516.22, Y:-25.87, Z:2.76 [[ 9.99753822e-01 2.14358302e-02 -5.72723662e-03 5.16219159e+02] [-2.14346813e-02 9.99770217e-01 2.61919448e-04 -2.58746131e+01] [ 5.73153505e-03 -1.39093477e-04 9.99983565e-01 2.76379325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.820714057 meters Centerline goodness : 0.986397 with order 1 Centerline is valid? [True, True] Translation: X:516.28, Y:-25.88, Z:2.77 [[ 9.99807372e-01 1.87727973e-02 -5.72725450e-03 5.16277865e+02] [-1.87716070e-02 9.99823764e-01 2.61527853e-04 -2.58801057e+01] [ 5.73115476e-03 -1.53967705e-04 9.99983565e-01 2.76546902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.880714057 meters Centerline goodness : 0.987599 with order 1 Centerline is valid? [True, True] Translation: X:516.34, Y:-25.89, Z:2.77 [[ 9.99884091e-01 1.41068571e-02 -5.72727317e-03 5.16336523e+02] [-1.41055927e-02 9.99900477e-01 2.61118408e-04 -2.58865603e+01] [ 5.73038673e-03 -1.80301559e-04 9.99983565e-01 2.76823452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.940714057 meters Centerline goodness : 0.987442 with order 1 Centerline is valid? [True, True] Translation: X:516.39, Y:-25.90, Z:2.77 [[ 9.99945409e-01 8.73940831e-03 -5.72729288e-03 5.16394071e+02] [-8.73805836e-03 9.99961788e-01 2.60685306e-04 -2.58953873e+01] [ 5.72935226e-03 -2.10625655e-04 9.99983565e-01 2.76618701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.000714057 meters Centerline goodness : 0.987052 with order 1 Centerline is valid? [True, True] Translation: X:516.45, Y:-25.90, Z:2.77 [[ 9.99979015e-01 3.02774207e-03 -5.72731705e-03 5.16451406e+02] [-3.02630163e-03 9.99995387e-01 2.60153163e-04 -2.59023349e+01] [ 5.72807831e-03 -2.42815114e-04 9.99983565e-01 2.76705721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.060714057 meters Centerline goodness : 0.986749 with order 1 Centerline is valid? [True, True] Translation: X:516.51, Y:-25.91, Z:2.77 [[ 9.99981480e-01 -2.05842079e-03 -5.72734026e-03 5.16508653e+02] [ 2.05994155e-03 9.99997845e-01 2.59641094e-04 -2.59096292e+01] [ 5.72679347e-03 -2.71434272e-04 9.99983565e-01 2.76755036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.120714057 meters Centerline goodness : 0.986474 with order 1 Centerline is valid? [True, True] Translation: X:516.57, Y:-25.92, Z:2.77 [[ 9.99963725e-01 -6.30443762e-03 -5.72736220e-03 5.16568216e+02] [ 6.30602508e-03 9.99980083e-01 2.59156231e-04 -2.59162258e+01] [ 5.72561430e-03 -2.95263720e-04 9.99983565e-01 2.76741605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.180714057 meters Centerline goodness : 0.987012 with order 1 Centerline is valid? [True, True] Translation: X:516.63, Y:-25.92, Z:2.77 [[ 9.99934842e-01 -9.87466426e-03 -5.72737148e-03 5.16628382e+02] [ 9.87630895e-03 9.99951195e-01 2.58950953e-04 -2.59225174e+01] [ 5.72453490e-03 -3.15499371e-04 9.99983565e-01 2.76585353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.240714057 meters Centerline goodness : 0.987066 with order 1 Centerline is valid? [True, True] Translation: X:516.69, Y:-25.93, Z:2.77 [[ 9.99928149e-01 -1.05306136e-02 -5.72737148e-03 5.16690864e+02] [ 1.05322690e-02 9.99944501e-01 2.58950953e-04 -2.59264355e+01] [ 5.72432671e-03 -3.19254565e-04 9.99983565e-01 2.76577996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.300714057 meters Centerline goodness : 0.986800 with order 1 Centerline is valid? [True, True] Translation: X:516.75, Y:-25.93, Z:2.76 [[ 9.99951943e-01 -7.95670594e-03 -5.72735253e-03 5.16752710e+02] [ 7.95832165e-03 9.99968298e-01 2.59369601e-04 -2.59328601e+01] [ 5.72510723e-03 -3.04937250e-04 9.99983565e-01 2.76452093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.360714057 meters Centerline goodness : 0.987220 with order 1 Centerline is valid? [True, True] Translation: X:516.81, Y:-25.94, Z:2.77 [[ 9.99983580e-01 -1.90873708e-04 -5.72733345e-03 5.16812773e+02] [ 1.92364761e-04 9.99999948e-01 2.59790188e-04 -2.59355643e+01] [ 5.72728356e-03 -2.60887660e-04 9.99983565e-01 2.76778722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.420714057 meters Centerline goodness : 0.987806 with order 1 Centerline is valid? [True, True] Translation: X:516.87, Y:-25.94, Z:2.77 [[ 9.99935999e-01 9.75679718e-03 -5.72732878e-03 5.16871884e+02] [-9.75546843e-03 9.99952381e-01 2.59893002e-04 -2.59372879e+01] [ 5.72959177e-03 -2.04003593e-04 9.99983565e-01 2.77061324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.480714057 meters Centerline goodness : 0.986331 with order 1 Centerline is valid? [True, True] Translation: X:516.93, Y:-25.94, Z:2.77 [[ 9.99806874e-01 1.87992443e-02 -5.72739325e-03 5.16929919e+02] [-1.87980719e-02 9.99823267e-01 2.58464479e-04 -2.59406017e+01] [ 5.73123997e-03 -1.50750612e-04 9.99983565e-01 2.77056317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5407140570001 meters Centerline goodness : 0.986417 with order 1 Centerline is valid? [True, True] Translation: X:516.99, Y:-25.95, Z:2.77 [[ 9.99733966e-01 2.23426425e-02 -5.72746683e-03 5.16987942e+02] [-2.23415376e-02 9.99750364e-01 2.56823451e-04 -2.59461438e+01] [ 5.73177516e-03 -1.28794711e-04 9.99983565e-01 2.76939120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.600714057 meters Centerline goodness : 0.986190 with order 1 Centerline is valid? [True, True] Translation: X:517.05, Y:-25.95, Z:2.77 [[ 9.99758934e-01 2.11959966e-02 -5.72749395e-03 5.17045376e+02] [-2.11948764e-02 9.99775331e-01 2.56217315e-04 -2.59542275e+01] [ 5.73163794e-03 -1.34762024e-04 9.99983565e-01 2.77065197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.660714057 meters Centerline goodness : 0.986293 with order 1 Centerline is valid? [True, True] Translation: X:517.10, Y:-25.96, Z:2.78 [[ 9.99864619e-01 1.54252805e-02 -5.72752116e-03 5.17104440e+02] [-1.54240692e-02 9.99881009e-01 2.55607576e-04 -2.59608208e+01] [ 5.73078246e-03 -1.67231289e-04 9.99983565e-01 2.77844234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.720714057 meters Centerline goodness : 0.986852 with order 1 Centerline is valid? [True, True] Translation: X:517.16, Y:-25.97, Z:2.78 [[ 9.99923956e-01 1.09213966e-02 -5.72755348e-03 5.17163190e+02] [-1.09201156e-02 9.99940341e-01 2.54881294e-04 -2.59671253e+01] [ 5.72999544e-03 -1.92316366e-04 9.99983565e-01 2.78094034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.780714057 meters Centerline goodness : 0.988279 with order 1 Centerline is valid? [True, True] Translation: X:517.22, Y:-25.98, Z:2.78 [[ 9.99981516e-01 2.04009751e-03 -5.72757141e-03 5.17221941e+02] [-2.03867335e-03 9.99997890e-01 2.54477719e-04 -2.59760119e+01] [ 5.72807848e-03 -2.42796368e-04 9.99983565e-01 2.78365305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.840714057 meters Centerline goodness : 0.988807 with order 1 Centerline is valid? [True, True] Translation: X:517.28, Y:-25.98, Z:2.79 [[ 9.99978017e-01 -3.34081557e-03 -5.72758937e-03 5.17280475e+02] [ 3.34232551e-03 9.99994382e-01 2.54072885e-04 -2.59793188e+01] [ 5.72670838e-03 -2.73210767e-04 9.99983565e-01 2.78833239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.900714057 meters Centerline goodness : 0.989948 with order 1 Centerline is valid? [True, True] Translation: X:517.34, Y:-25.99, Z:2.79 [[ 9.99947785e-01 -8.46298685e-03 -5.72760727e-03 5.17340255e+02] [ 8.46457829e-03 9.99964143e-01 2.53668803e-04 -2.59863297e+01] [ 5.72525509e-03 -3.02137338e-04 9.99983565e-01 2.78959724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.960714057 meters Centerline goodness : 0.989069 with order 1 Centerline is valid? [True, True] Translation: X:517.40, Y:-25.99, Z:2.79 [[ 9.99922863e-01 -1.10210021e-02 -5.72760395e-03 5.17401539e+02] [ 1.10226358e-02 9.99939217e-01 2.53743689e-04 -2.59933230e+01] [ 5.72445930e-03 -3.16857408e-04 9.99983565e-01 2.78706752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.020714057 meters Centerline goodness : 0.989745 with order 1 Centerline is valid? [True, True] Translation: X:517.46, Y:-26.00, Z:2.79 [[ 9.99874128e-01 -1.47960728e-02 -5.72759488e-03 5.17463690e+02] [ 1.47977694e-02 9.99890475e-01 2.53948149e-04 -2.59979311e+01] [ 5.72321013e-03 -3.38671812e-04 9.99983565e-01 2.78559683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.080714057 meters Centerline goodness : 0.991614 with order 1 Centerline is valid? [True, True] Translation: X:517.53, Y:-26.00, Z:2.78 [[ 9.99699720e-01 -2.38257297e-02 -5.72753121e-03 5.17525816e+02] [ 2.38275820e-02 9.99716050e-01 2.55376250e-04 -2.59955124e+01] [ 5.71982035e-03 -3.91772785e-04 9.99983565e-01 2.77862087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.140714057 meters Centerline goodness : 0.989411 with order 1 Centerline is valid? [True, True] Translation: X:517.59, Y:-26.00, Z:2.78 [[ 9.99724469e-01 -2.27636373e-02 -5.72746788e-03 5.17587893e+02] [ 2.27654803e-02 9.99740800e-01 2.56788642e-04 -2.60029375e+01] [ 5.72013788e-03 -3.87106446e-04 9.99983565e-01 2.77962971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.200714057 meters Centerline goodness : 0.992418 with order 1 Centerline is valid? [True, True] Translation: X:517.65, Y:-26.00, Z:2.78 [[ 9.99598067e-01 -2.77651005e-02 -5.72744913e-03 5.17650911e+02] [ 2.77670276e-02 9.99614389e-01 2.57206177e-04 -2.59980342e+01] [ 5.71809921e-03 -4.16137036e-04 9.99983565e-01 2.77795748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.260714057 meters Centerline goodness : 0.989090 with order 1 Centerline is valid? [True, True] Translation: X:517.71, Y:-26.01, Z:2.78 [[ 9.99729288e-01 -2.25510040e-02 -5.72742613e-03 5.17713055e+02] [ 2.25528488e-02 9.99745619e-01 2.57717349e-04 -2.60057437e+01] [ 5.72015740e-03 -3.86817357e-04 9.99983565e-01 2.77783657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.320714057 meters Centerline goodness : 0.988665 with order 1 Centerline is valid? [True, True] Translation: X:517.78, Y:-26.01, Z:2.77 [[ 9.99771782e-01 -2.05810693e-02 -5.72740746e-03 5.17775690e+02] [ 2.05828844e-02 9.99788117e-01 2.58131597e-04 -2.60071917e+01] [ 5.72088130e-03 -3.75959252e-04 9.99983565e-01 2.77483026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.380714057 meters Centerline goodness : 0.987760 with order 1 Centerline is valid? [True, True] Translation: X:517.84, Y:-26.01, Z:2.78 [[ 9.99822518e-01 -1.79479440e-02 -5.72738902e-03 5.17837769e+02] [ 1.79497183e-02 9.99838857e-01 2.58540029e-04 -2.60072767e+01] [ 5.72182584e-03 -3.61299162e-04 9.99983565e-01 2.77505629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.440714057 meters Centerline goodness : 0.987116 with order 1 Centerline is valid? [True, True] Translation: X:517.90, Y:-26.01, Z:2.78 [[ 9.99871141e-01 -1.49966244e-02 -5.72737022e-03 5.17899506e+02] [ 1.49983528e-02 9.99887485e-01 2.58955998e-04 -2.60085921e+01] [ 5.72284234e-03 -3.44823749e-04 9.99983565e-01 2.77519429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.500714057 meters Centerline goodness : 0.986495 with order 1 Centerline is valid? [True, True] Translation: X:517.96, Y:-26.01, Z:2.78 [[ 9.99960065e-01 -6.86038604e-03 -5.72735146e-03 5.17960422e+02] [ 6.86198383e-03 9.99976423e-01 2.59370197e-04 -2.60090136e+01] [ 5.72543704e-03 -2.98660832e-04 9.99983565e-01 2.77544895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.560714057 meters Centerline goodness : 0.986707 with order 1 Centerline is valid? [True, True] Translation: X:518.02, Y:-26.01, Z:2.77 [[ 9.99982374e-01 1.56529317e-03 -5.72732006e-03 5.18021155e+02] [-1.56382931e-03 9.99998743e-01 2.60061701e-04 -2.60108961e+01] [ 5.72771994e-03 -2.51100566e-04 9.99983565e-01 2.77345674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.620714057 meters Centerline goodness : 0.985036 with order 1 Centerline is valid? [True, True] Translation: X:518.08, Y:-26.01, Z:2.77 [[ 9.99889571e-01 1.37128788e-02 -5.72731555e-03 5.18080337e+02] [-1.37116134e-02 9.99905958e-01 2.60160974e-04 -2.60133948e+01] [ 5.73034450e-03 -1.81601508e-04 9.99983565e-01 2.77170240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.680714057 meters Centerline goodness : 0.984349 with order 1 Centerline is valid? [True, True] Translation: X:518.14, Y:-26.02, Z:2.77 [[ 9.99642017e-01 2.61349611e-02 -5.72735000e-03 5.18138061e+02] [-2.61339037e-02 9.99658418e-01 2.59400424e-04 -2.60172063e+01] [ 5.73217306e-03 -1.09629550e-04 9.99983565e-01 2.76989313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.740714057 meters Centerline goodness : 0.984909 with order 1 Centerline is valid? [True, True] Translation: X:518.20, Y:-26.02, Z:2.77 [[ 9.99420657e-01 3.35491931e-02 -5.72737269e-03 5.18197203e+02] [-3.35482603e-02 9.99437065e-01 2.58898428e-04 -2.60203870e+01] [ 5.73283439e-03 -6.66050477e-05 9.99983565e-01 2.76908152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.800714057 meters Centerline goodness : 0.985623 with order 1 Centerline is valid? [True, True] Translation: X:518.26, Y:-26.02, Z:2.77 [[ 9.99426000e-01 3.33896335e-02 -5.72743152e-03 5.18256216e+02] [-3.33887055e-02 9.99442409e-01 2.57590449e-04 -2.60240609e+01] [ 5.73283880e-03 -6.62110679e-05 9.99983565e-01 2.76938643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.860714057 meters Centerline goodness : 0.985992 with order 1 Centerline is valid? [True, True] Translation: X:518.31, Y:-26.03, Z:2.77 [[ 9.99647492e-01 2.59246694e-02 -5.72745086e-03 5.18314112e+02] [-2.59236214e-02 9.99663893e-01 2.57159632e-04 -2.60296880e+01] [ 5.73219260e-03 -1.08592713e-04 9.99983565e-01 2.76985665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.920714057 meters Centerline goodness : 0.987337 with order 1 Centerline is valid? [True, True] Translation: X:518.37, Y:-26.03, Z:2.78 [[ 9.99884395e-01 1.40851858e-02 -5.72747993e-03 5.18372751e+02] [-1.40839473e-02 9.99900783e-01 2.56510576e-04 -2.60334894e+01] [ 5.73052467e-03 -1.75815397e-04 9.99983565e-01 2.77682810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.980714057 meters Centerline goodness : 0.988714 with order 1 Centerline is valid? [True, True] Translation: X:518.43, Y:-26.04, Z:2.78 [[ 9.99965623e-01 5.99564708e-03 -5.72749426e-03 5.18431024e+02] [-5.99427790e-03 9.99982001e-01 2.56190067e-04 -2.60392164e+01] [ 5.72892720e-03 -2.21849068e-04 9.99983565e-01 2.78220969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0407140570001 meters Centerline goodness : 0.989318 with order 1 Centerline is valid? [True, True] Translation: X:518.49, Y:-26.05, Z:2.79 [[ 9.99966960e-01 -5.76842625e-03 -5.72751381e-03 5.18489499e+02] [ 5.76998550e-03 9.99983321e-01 2.55752375e-04 -2.60461988e+01] [ 5.72594299e-03 -2.88791596e-04 9.99983565e-01 2.78690134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.100714057 meters Centerline goodness : 0.989527 with order 1 Centerline is valid? [True, True] Translation: X:518.55, Y:-26.05, Z:2.79 [[ 9.99882927e-01 -1.41890224e-02 -5.72753294e-03 5.18549424e+02] [ 1.41907169e-02 9.99899274e-01 2.55323211e-04 -2.60491615e+01] [ 5.72333324e-03 -3.36571118e-04 9.99983565e-01 2.79057151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.160714057 meters Centerline goodness : 0.989787 with order 1 Centerline is valid? [True, True] Translation: X:518.61, Y:-26.05, Z:2.79 [[ 9.99862121e-01 -1.55863323e-02 -5.72753294e-03 5.18610720e+02] [ 1.55880497e-02 9.99878466e-01 2.55323211e-04 -2.60526350e+01] [ 5.72285730e-03 -3.44569075e-04 9.99983565e-01 2.78726523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.220714057 meters Centerline goodness : 0.989456 with order 1 Centerline is valid? [True, True] Translation: X:518.67, Y:-26.06, Z:2.79 [[ 9.99824856e-01 -1.78172070e-02 -5.72751978e-03 5.18672912e+02] [ 1.78189626e-02 9.99841197e-01 2.55618041e-04 -2.60554401e+01] [ 5.72205583e-03 -3.57631732e-04 9.99983565e-01 2.79353136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.280714057 meters Centerline goodness : 0.988731 with order 1 Centerline is valid? [True, True] Translation: X:518.73, Y:-26.06, Z:2.79 [[ 9.99805694e-01 -1.88618894e-02 -5.72750010e-03 5.18733860e+02] [ 1.88636645e-02 9.99822032e-01 2.56058259e-04 -2.60573255e+01] [ 5.72165105e-03 -3.64050145e-04 9.99983565e-01 2.79452794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.340714057 meters Centerline goodness : 0.992447 with order 1 Centerline is valid? [True, True] Translation: X:518.80, Y:-26.05, Z:2.79 [[ 9.99737985e-01 -2.21620775e-02 -5.72746912e-03 5.18796291e+02] [ 2.21639105e-02 9.99754317e-01 2.56749297e-04 -2.60517800e+01] [ 5.72037189e-03 -3.83625137e-04 9.99983565e-01 2.79068687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.400714057 meters Centerline goodness : 0.991521 with order 1 Centerline is valid? [True, True] Translation: X:518.86, Y:-26.05, Z:2.79 [[ 9.99787333e-01 -1.98112253e-02 -5.72745066e-03 5.18858858e+02] [ 1.98130222e-02 9.99803670e-01 2.57160488e-04 -2.60508980e+01] [ 5.72123152e-03 -3.70583906e-04 9.99983565e-01 2.79307944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.460714057 meters Centerline goodness : 0.988097 with order 1 Centerline is valid? [True, True] Translation: X:518.92, Y:-26.06, Z:2.78 [[ 9.99968582e-01 -5.48005661e-03 -5.72743108e-03 5.18920444e+02] [ 5.48162168e-03 9.99984943e-01 2.57595785e-04 -2.60600156e+01] [ 5.72593320e-03 -2.88983302e-04 9.99983565e-01 2.78423075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.520714057 meters Centerline goodness : 0.987788 with order 1 Centerline is valid? [True, True] Translation: X:518.98, Y:-26.06, Z:2.78 [[ 9.99983305e-01 7.66474137e-04 -5.72741101e-03 5.18980269e+02] [-7.65008750e-04 9.99999674e-01 2.58041377e-04 -2.60609545e+01] [ 5.72760692e-03 -2.53655549e-04 9.99983565e-01 2.78399247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.580714057 meters Centerline goodness : 0.987697 with order 1 Centerline is valid? [True, True] Translation: X:519.04, Y:-26.06, Z:2.78 [[ 9.99980327e-01 2.55797673e-03 -5.72741582e-03 5.19037997e+02] [-2.55654128e-03 9.99996699e-01 2.57934600e-04 -2.60606232e+01] [ 5.72805670e-03 -2.43287150e-04 9.99983565e-01 2.78464330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.640714057 meters Centerline goodness : 0.987416 with order 1 Centerline is valid? [True, True] Translation: X:519.10, Y:-26.06, Z:2.78 [[ 9.99982720e-01 1.32505518e-03 -5.72748857e-03 5.19095304e+02] [-1.32360885e-03 9.99999091e-01 2.56308729e-04 -2.60624216e+01] [ 5.72782299e-03 -2.48723345e-04 9.99983565e-01 2.78309877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.700714057 meters Centerline goodness : 0.986755 with order 1 Centerline is valid? [True, True] Translation: X:519.15, Y:-26.06, Z:2.78 [[ 9.99981678e-01 -1.95918056e-03 -5.72750443e-03 5.19152718e+02] [ 1.96067863e-03 9.99998045e-01 2.55954010e-04 -2.60623512e+01] [ 5.72699177e-03 -2.67179116e-04 9.99983565e-01 2.78419980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.760714057 meters Centerline goodness : 0.986325 with order 1 Centerline is valid? [True, True] Translation: X:519.21, Y:-26.06, Z:2.78 [[ 9.99974111e-01 -4.35577809e-03 -5.72752573e-03 5.19212297e+02] [ 4.35731266e-03 9.99990474e-01 2.55476499e-04 -2.60641414e+01] [ 5.72635837e-03 -2.80426505e-04 9.99983565e-01 2.78422172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.820714057 meters Centerline goodness : 0.987576 with order 1 Centerline is valid? [True, True] Translation: X:519.27, Y:-26.06, Z:2.78 [[ 9.99956270e-01 -7.39283653e-03 -5.72753412e-03 5.19272235e+02] [ 7.39441971e-03 9.99972628e-01 2.55288172e-04 -2.60643376e+01] [ 5.72549004e-03 -2.97628800e-04 9.99983565e-01 2.78262769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.880714057 meters Centerline goodness : 0.988391 with order 1 Centerline is valid? [True, True] Translation: X:519.33, Y:-26.06, Z:2.79 [[ 9.99891712e-01 -1.35558091e-02 -5.72753826e-03 5.19333922e+02] [ 1.35574925e-02 9.99908060e-01 2.55195356e-04 -2.60636773e+01] [ 5.72355229e-03 -3.32818778e-04 9.99983565e-01 2.78585430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.940714057 meters Centerline goodness : 0.989282 with order 1 Centerline is valid? [True, True] Translation: X:519.40, Y:-26.06, Z:2.79 [[ 9.99817014e-01 -1.82519558e-02 -5.72752922e-03 5.19397086e+02] [ 1.82537171e-02 9.99833354e-01 2.55397880e-04 -2.60643920e+01] [ 5.72191325e-03 -3.59899844e-04 9.99983565e-01 2.78549540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.000714057 meters Centerline goodness : 0.988004 with order 1 Centerline is valid? [True, True] Translation: X:519.46, Y:-26.07, Z:2.78 [[ 9.99804105e-01 -1.89459210e-02 -5.72745633e-03 5.19459372e+02] [ 1.89477030e-02 9.99820443e-01 2.57022216e-04 -2.60658034e+01] [ 5.72155841e-03 -3.65494008e-04 9.99983565e-01 2.78330760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.060714057 meters Centerline goodness : 0.988391 with order 1 Centerline is valid? [True, True] Translation: X:519.52, Y:-26.07, Z:2.78 [[ 9.99833562e-01 -1.73218011e-02 -5.72743788e-03 5.19521756e+02] [ 1.73235589e-02 9.99849903e-01 2.57432844e-04 -2.60670957e+01] [ 5.72211900e-03 -3.56609605e-04 9.99983565e-01 2.78253057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.120714057 meters Centerline goodness : 0.987930 with order 1 Centerline is valid? [True, True] Translation: X:519.58, Y:-26.07, Z:2.78 [[ 9.99876348e-01 -1.46452959e-02 -5.72741973e-03 5.19584352e+02] [ 1.46470123e-02 9.99892694e-01 2.57835913e-04 -2.60653012e+01] [ 5.72302906e-03 -3.41693618e-04 9.99983565e-01 2.78268699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.180714057 meters Centerline goodness : 0.986942 with order 1 Centerline is valid? [True, True] Translation: X:519.65, Y:-26.06, Z:2.78 [[ 9.99952570e-01 -7.87752470e-03 -5.72740163e-03 5.19647022e+02] [ 7.87913265e-03 9.99968926e-01 2.58237405e-04 -2.60625508e+01] [ 5.72518938e-03 -3.03352114e-04 9.99983565e-01 2.78262525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.240714057 meters Centerline goodness : 0.986249 with order 1 Centerline is valid? [True, True] Translation: X:519.71, Y:-26.06, Z:2.78 [[ 9.99983334e-01 7.26605122e-04 -5.72738333e-03 5.19708833e+02] [-7.25135645e-04 9.99999704e-01 2.58642650e-04 -2.60621976e+01] [ 5.72756956e-03 -2.54485210e-04 9.99983565e-01 2.78071789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.300714057 meters Centerline goodness : 0.986326 with order 1 Centerline is valid? [True, True] Translation: X:519.77, Y:-26.06, Z:2.78 [[ 9.99944516e-01 8.84092895e-03 -5.72737430e-03 5.19767770e+02] [-8.83959121e-03 9.99960897e-01 2.58842470e-04 -2.60606142e+01] [ 5.72943874e-03 -2.08200460e-04 9.99983565e-01 2.78070667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.360714057 meters Centerline goodness : 0.986133 with order 1 Centerline is valid? [True, True] Translation: X:519.83, Y:-26.06, Z:2.78 [[ 9.99840198e-01 1.69344323e-02 -5.72743745e-03 5.19826822e+02] [-1.69332353e-02 9.99856589e-01 2.57437516e-04 -2.60609222e+01] [ 5.73097563e-03 -1.60412331e-04 9.99983565e-01 2.77749181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.420714057 meters Centerline goodness : 0.985747 with order 1 Centerline is valid? [True, True] Translation: X:519.88, Y:-26.06, Z:2.78 [[ 9.99802858e-01 1.90116113e-02 -5.72745642e-03 5.19884815e+02] [-1.90104507e-02 9.99819252e-01 2.57014781e-04 -2.60625419e+01] [ 5.73130746e-03 -1.48082585e-04 9.99983565e-01 2.77692565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.480714057 meters Centerline goodness : 0.987163 with order 1 Centerline is valid? [True, True] Translation: X:519.94, Y:-26.06, Z:2.78 [[ 9.99866505e-01 1.53025614e-02 -5.72749068e-03 5.19944266e+02] [-1.53013443e-02 9.99882895e-01 2.56249023e-04 -2.60592385e+01] [ 5.73074122e-03 -1.68576508e-04 9.99983565e-01 2.78285239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5407140570001 meters Centerline goodness : 0.986520 with order 1 Centerline is valid? [True, True] Translation: X:520.00, Y:-26.06, Z:2.78 [[ 9.99889763e-01 1.36988007e-02 -5.72750439e-03 5.20002003e+02] [-1.36975592e-02 9.99906151e-01 2.55942074e-04 -2.60629983e+01] [ 5.73047297e-03 -1.77461029e-04 9.99983565e-01 2.77969832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.600714057 meters Centerline goodness : 0.986900 with order 1 Centerline is valid? [True, True] Translation: X:520.06, Y:-26.07, Z:2.78 [[ 9.99941888e-01 9.13322301e-03 -5.72753607e-03 5.20060668e+02] [-9.13191071e-03 9.99958271e-01 2.55231163e-04 -2.60657748e+01] [ 5.72962815e-03 -2.02912983e-04 9.99983565e-01 2.78359344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.660714057 meters Centerline goodness : 0.986922 with order 1 Centerline is valid? [True, True] Translation: X:520.12, Y:-26.07, Z:2.79 [[ 9.99960207e-01 6.83954282e-03 -5.72755363e-03 5.20119845e+02] [-6.83819521e-03 9.99976587e-01 2.54836456e-04 -2.60711011e+01] [ 5.72916250e-03 -2.15660185e-04 9.99983565e-01 2.78599627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.720714057 meters Centerline goodness : 0.986632 with order 1 Centerline is valid? [True, True] Translation: X:520.18, Y:-26.07, Z:2.79 [[ 9.99982672e-01 1.36047839e-03 -5.72756720e-03 5.20178391e+02] [-1.35904279e-03 9.99999044e-01 2.54531223e-04 -2.60741733e+01] [ 5.72790801e-03 -2.46742803e-04 9.99983565e-01 2.78811592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.780714057 meters Centerline goodness : 0.986758 with order 1 Centerline is valid? [True, True] Translation: X:520.24, Y:-26.08, Z:2.79 [[ 9.99964319e-01 -6.20933978e-03 -5.72758537e-03 5.20237816e+02] [ 6.21089693e-03 9.99980680e-01 2.54121755e-04 -2.60792961e+01] [ 5.72589678e-03 -2.89686130e-04 9.99983565e-01 2.78534399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.840714057 meters Centerline goodness : 0.985925 with order 1 Centerline is valid? [True, True] Translation: X:520.30, Y:-26.08, Z:2.79 [[ 9.99921617e-01 -1.11335272e-02 -5.72759455e-03 5.20297673e+02] [ 1.11351637e-02 9.99937970e-01 2.53914680e-04 -2.60842685e+01] [ 5.72441230e-03 -3.17672480e-04 9.99983565e-01 2.78564757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.900714057 meters Centerline goodness : 0.987196 with order 1 Centerline is valid? [True, True] Translation: X:520.36, Y:-26.09, Z:2.78 [[ 9.99903016e-01 -1.26946280e-02 -5.72759003e-03 5.20360044e+02] [ 1.26962906e-02 9.99919367e-01 2.54016520e-04 -2.60875378e+01] [ 5.72390355e-03 -3.26711032e-04 9.99983565e-01 2.78058662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.960714057 meters Centerline goodness : 0.986925 with order 1 Centerline is valid? [True, True] Translation: X:520.42, Y:-26.09, Z:2.78 [[ 9.99964289e-01 -6.21408290e-03 -5.72757132e-03 5.20421024e+02] [ 6.21564193e-03 9.99980650e-01 2.54437716e-04 -2.60907571e+01] [ 5.72587940e-03 -2.90029163e-04 9.99983565e-01 2.77813766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.020714057 meters Centerline goodness : 0.987996 with order 1 Centerline is valid? [True, True] Translation: X:520.48, Y:-26.09, Z:2.78 [[ 9.99981439e-01 2.07764836e-03 -5.72755754e-03 5.20481490e+02] [-2.07622327e-03 9.99997812e-01 2.54747577e-04 -2.60894173e+01] [ 5.72807428e-03 -2.42851161e-04 9.99983565e-01 2.78017600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.080714057 meters Centerline goodness : 0.986874 with order 1 Centerline is valid? [True, True] Translation: X:520.54, Y:-26.09, Z:2.79 [[ 9.99940169e-01 9.31952337e-03 -5.72755754e-03 5.20539665e+02] [-9.31821690e-03 9.99956552e-01 2.54747577e-04 -2.60907817e+01] [ 5.72968281e-03 -2.01361712e-04 9.99983565e-01 2.78581320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.140714057 meters Centerline goodness : 0.987059 with order 1 Centerline is valid? [True, True] Translation: X:520.60, Y:-26.09, Z:2.78 [[ 9.99918458e-01 1.14136424e-02 -5.72761965e-03 5.20598672e+02] [-1.14123783e-02 9.99934845e-01 2.53343214e-04 -2.60933881e+01] [ 5.73013804e-03 -1.87956794e-04 9.99983565e-01 2.78193592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.200714057 meters Centerline goodness : 0.986358 with order 1 Centerline is valid? [True, True] Translation: X:520.66, Y:-26.10, Z:2.78 [[ 9.99803696e-01 1.89674383e-02 -5.72763772e-03 5.20658480e+02] [-1.89663004e-02 9.99820092e-01 2.52934128e-04 -2.60995292e+01] [ 5.73140478e-03 -1.44252379e-04 9.99983565e-01 2.78195422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.260714057 meters Centerline goodness : 0.986123 with order 1 Centerline is valid? [True, True] Translation: X:520.72, Y:-26.10, Z:2.78 [[ 9.99864217e-01 1.54512712e-02 -5.72764911e-03 5.20716970e+02] [-1.54500771e-02 9.99880609e-01 2.52676035e-04 -2.61017346e+01] [ 5.73086944e-03 -1.64149106e-04 9.99983565e-01 2.78427002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.320714057 meters Centerline goodness : 0.986827 with order 1 Centerline is valid? [True, True] Translation: X:520.78, Y:-26.11, Z:2.79 [[ 9.99899508e-01 1.29679354e-02 -5.72766318e-03 5.20775724e+02] [-1.29667024e-02 9.99915897e-01 2.52356601e-04 -2.61057965e+01] [ 5.73045401e-03 -1.78062337e-04 9.99983565e-01 2.78615416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.380714057 meters Centerline goodness : 0.987136 with order 1 Centerline is valid? [True, True] Translation: X:520.83, Y:-26.11, Z:2.79 [[ 9.99935210e-01 9.83715673e-03 -5.72768218e-03 5.20832952e+02] [-9.83587489e-03 9.99951595e-01 2.51924525e-04 -2.61062355e+01] [ 5.72988316e-03 -1.95571437e-04 9.99983565e-01 2.79316383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.440714057 meters Centerline goodness : 0.986684 with order 1 Centerline is valid? [True, True] Translation: X:520.89, Y:-26.11, Z:2.80 [[ 9.99934040e-01 9.95534140e-03 -5.72771014e-03 5.20891744e+02] [-9.95406514e-03 9.99950426e-01 2.51287406e-04 -2.61096442e+01] [ 5.72992784e-03 -1.94256832e-04 9.99983565e-01 2.79695916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.500714057 meters Centerline goodness : 0.987846 with order 1 Centerline is valid? [True, True] Translation: X:520.95, Y:-26.11, Z:2.80 [[ 9.99960658e-01 6.77319459e-03 -5.72772832e-03 5.20950830e+02] [-6.77186856e-03 9.99977039e-01 2.50872260e-04 -2.61125936e+01] [ 5.72929601e-03 -2.12074967e-04 9.99983565e-01 2.80105615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.560714057 meters Centerline goodness : 0.987529 with order 1 Centerline is valid? [True, True] Translation: X:521.01, Y:-26.12, Z:2.80 [[ 9.99978565e-01 3.17198464e-03 -5.72774711e-03 5.21008680e+02] [-3.17060209e-03 9.99994942e-01 2.50442465e-04 -2.61171152e+01] [ 5.72851254e-03 -2.32276690e-04 9.99983565e-01 2.80194394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.620714057 meters Centerline goodness : 0.986791 with order 1 Centerline is valid? [True, True] Translation: X:521.07, Y:-26.12, Z:2.80 [[ 9.99983325e-01 -7.37116871e-04 -5.72777021e-03 5.21067538e+02] [ 7.38560407e-04 9.99999696e-01 2.49913054e-04 -2.61230728e+01] [ 5.72758425e-03 -2.54139191e-04 9.99983565e-01 2.80101131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.680714057 meters Centerline goodness : 0.986886 with order 1 Centerline is valid? [True, True] Translation: X:521.13, Y:-26.13, Z:2.80 [[ 9.99982514e-01 -1.47090757e-03 -5.72778804e-03 5.21125925e+02] [ 1.47236078e-03 9.99998885e-01 2.49503785e-04 -2.61288870e+01] [ 5.72741465e-03 -2.57932793e-04 9.99983565e-01 2.79855349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.740714057 meters Centerline goodness : 0.986157 with order 1 Centerline is valid? [True, True] Translation: X:521.18, Y:-26.13, Z:2.80 [[ 9.99983499e-01 -4.39699696e-04 -5.72780716e-03 5.21184725e+02] [ 4.41133510e-04 9.99999872e-01 2.49064098e-04 -2.61347758e+01] [ 5.72769691e-03 -2.51586716e-04 9.99983565e-01 2.79529507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.800714057 meters Centerline goodness : 0.985765 with order 1 Centerline is valid? [True, True] Translation: X:521.24, Y:-26.14, Z:2.79 [[ 9.99977866e-01 -3.38514248e-03 -5.72782120e-03 5.21243709e+02] [ 3.38662266e-03 9.99994234e-01 2.48740663e-04 -2.61387529e+01] [ 5.72694616e-03 -2.68133126e-04 9.99983565e-01 2.79454918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.860714057 meters Centerline goodness : 0.986390 with order 1 Centerline is valid? [True, True] Translation: X:521.30, Y:-26.14, Z:2.79 [[ 9.99948260e-01 -8.40651834e-03 -5.72783928e-03 5.21303613e+02] [ 8.40807831e-03 9.99964621e-01 2.48323641e-04 -2.61431453e+01] [ 5.72554910e-03 -2.96470913e-04 9.99983565e-01 2.79461938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.920714057 meters Centerline goodness : 0.986866 with order 1 Centerline is valid? [True, True] Translation: X:521.36, Y:-26.15, Z:2.80 [[ 9.99921834e-01 -1.11138553e-02 -5.72784834e-03 5.21364695e+02] [ 1.11154584e-02 9.99938191e-01 2.48114647e-04 -2.61462067e+01] [ 5.72473679e-03 -3.11762912e-04 9.99983565e-01 2.79822526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.980714057 meters Centerline goodness : 0.986613 with order 1 Centerline is valid? [True, True] Translation: X:521.43, Y:-26.15, Z:2.80 [[ 9.99884766e-01 -1.40587125e-02 -5.72779007e-03 5.21426443e+02] [ 1.40603713e-02 9.99901117e-01 2.49452432e-04 -2.61478803e+01] [ 5.72371671e-03 -3.29958541e-04 9.99983565e-01 2.80089954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0407140570001 meters Centerline goodness : 0.987297 with order 1 Centerline is valid? [True, True] Translation: X:521.49, Y:-26.15, Z:2.80 [[ 9.99858390e-01 -1.58237847e-02 -5.72777250e-03 5.21488371e+02] [ 1.58254747e-02 9.99874738e-01 2.49855402e-04 -2.61488993e+01] [ 5.72310137e-03 -3.40464739e-04 9.99983565e-01 2.80323712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.100714057 meters Centerline goodness : 0.991140 with order 1 Centerline is valid? [True, True] Translation: X:521.55, Y:-26.14, Z:2.80 [[ 9.99716225e-01 -2.31227613e-02 -5.72775446e-03 5.21549916e+02] [ 2.31245730e-02 9.99732560e-01 2.50268140e-04 -2.61444453e+01] [ 5.72043574e-03 -3.82648996e-04 9.99983565e-01 2.80103159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.160714057 meters Centerline goodness : 0.988069 with order 1 Centerline is valid? [True, True] Translation: X:521.61, Y:-26.16, Z:2.80 [[ 9.99919752e-01 -1.12996417e-02 -5.72774548e-03 5.21611697e+02] [ 1.13012613e-02 9.99936107e-01 2.50473466e-04 -2.61567119e+01] [ 5.72454926e-03 -3.15184114e-04 9.99983565e-01 2.79830456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.220714057 meters Centerline goodness : 0.987110 with order 1 Centerline is valid? [True, True] Translation: X:521.67, Y:-26.16, Z:2.80 [[ 9.99954772e-01 -7.59250595e-03 -5.72772746e-03 5.21674234e+02] [ 7.59406724e-03 9.99971133e-01 2.50884907e-04 -2.61600682e+01] [ 5.72565727e-03 -2.94370308e-04 9.99983565e-01 2.79615284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.280714057 meters Centerline goodness : 0.987524 with order 1 Centerline is valid? [True, True] Translation: X:521.74, Y:-26.16, Z:2.80 [[ 9.99970885e-01 -5.04213076e-03 -5.72770931e-03 5.21735157e+02] [ 5.04365268e-03 9.99987249e-01 2.51298606e-04 -2.61617088e+01] [ 5.72636920e-03 -2.80179866e-04 9.99983565e-01 2.79900891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.340714057 meters Centerline goodness : 0.986624 with order 1 Centerline is valid? [True, True] Translation: X:521.80, Y:-26.16, Z:2.80 [[ 9.99970119e-01 -5.19178579e-03 -5.72770026e-03 5.21795189e+02] [ 5.19331134e-03 9.99986483e-01 2.51504647e-04 -2.61622515e+01] [ 5.72631708e-03 -2.81242863e-04 9.99983565e-01 2.80188823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.400714057 meters Centerline goodness : 0.987575 with order 1 Centerline is valid? [True, True] Translation: X:521.86, Y:-26.16, Z:2.80 [[ 9.99955881e-01 -7.44515505e-03 -5.72770026e-03 5.21855257e+02] [ 7.44671747e-03 9.99972241e-01 2.51504647e-04 -2.61640978e+01] [ 5.72566878e-03 -2.94146117e-04 9.99983565e-01 2.80079923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.460714057 meters Centerline goodness : 0.988604 with order 1 Centerline is valid? [True, True] Translation: X:521.92, Y:-26.17, Z:2.80 [[ 9.99893389e-01 -1.34314312e-02 -5.72770026e-03 5.21916626e+02] [ 1.34330916e-02 9.99909740e-01 2.51504647e-04 -2.61666449e+01] [ 5.72380521e-03 -3.28418556e-04 9.99983565e-01 2.79907619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.520714057 meters Centerline goodness : 0.988611 with order 1 Centerline is valid? [True, True] Translation: X:521.98, Y:-26.17, Z:2.80 [[ 9.99903316e-01 -1.26708810e-02 -5.72769108e-03 5.21977666e+02] [ 1.26725301e-02 9.99919669e-01 2.51713649e-04 -2.61691764e+01] [ 5.72404153e-03 -3.24273650e-04 9.99983565e-01 2.80113474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.580714057 meters Centerline goodness : 0.988445 with order 1 Centerline is valid? [True, True] Translation: X:522.04, Y:-26.17, Z:2.80 [[ 9.99835829e-01 -1.71903934e-02 -5.72767742e-03 5.22040435e+02] [ 1.71921182e-02 9.99852173e-01 2.52024076e-04 -2.61746216e+01] [ 5.72249832e-03 -3.50453608e-04 9.99983565e-01 2.79666765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.640714057 meters Centerline goodness : 0.988372 with order 1 Centerline is valid? [True, True] Translation: X:522.10, Y:-26.18, Z:2.80 [[ 9.99816624e-01 -1.82732612e-02 -5.72760373e-03 5.22102719e+02] [ 1.82750132e-02 9.99832966e-01 2.53687769e-04 -2.61773963e+01] [ 5.72201132e-03 -3.58313282e-04 9.99983565e-01 2.79593516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.700714057 meters Centerline goodness : 0.988685 with order 1 Centerline is valid? [True, True] Translation: X:522.16, Y:-26.18, Z:2.79 [[ 9.99854232e-01 -1.60844656e-02 -5.72758492e-03 5.22164714e+02] [ 1.60861842e-02 9.99870577e-01 2.54111760e-04 -2.61811803e+01] [ 5.72275638e-03 -3.46209705e-04 9.99983565e-01 2.79335707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.760714057 meters Centerline goodness : 0.987996 with order 1 Centerline is valid? [True, True] Translation: X:522.23, Y:-26.18, Z:2.79 [[ 9.99902747e-01 -1.27158367e-02 -5.72756601e-03 5.22226576e+02] [ 1.27175027e-02 9.99919097e-01 2.54537186e-04 -2.61839475e+01] [ 5.72386598e-03 -3.27352768e-04 9.99983565e-01 2.79307500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.820714057 meters Centerline goodness : 0.987338 with order 1 Centerline is valid? [True, True] Translation: X:522.29, Y:-26.19, Z:2.79 [[ 9.99904663e-01 -1.25642068e-02 -5.72754695e-03 5.22287878e+02] [ 1.25658727e-02 9.99921014e-01 2.54965462e-04 -2.61878919e+01] [ 5.72389111e-03 -3.26912780e-04 9.99983565e-01 2.79300764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.880714057 meters Centerline goodness : 0.987518 with order 1 Centerline is valid? [True, True] Translation: X:522.35, Y:-26.19, Z:2.79 [[ 9.99898350e-01 -1.30569748e-02 -5.72751705e-03 5.22350166e+02] [ 1.30586526e-02 9.99914699e-01 2.55635337e-04 -2.61929730e+01] [ 5.72369067e-03 -3.30403007e-04 9.99983565e-01 2.79360905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.940714057 meters Centerline goodness : 0.987006 with order 1 Centerline is valid? [True, True] Translation: X:522.41, Y:-26.20, Z:2.79 [[ 9.99874178e-01 -1.47927098e-02 -5.72749779e-03 5.22410722e+02] [ 1.47944184e-02 9.99890524e-01 2.56066070e-04 -2.61986458e+01] [ 5.72308286e-03 -3.40768850e-04 9.99983565e-01 2.79320368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.000714057 meters Centerline goodness : 0.986727 with order 1 Centerline is valid? [True, True] Translation: X:522.47, Y:-26.20, Z:2.79 [[ 9.99878091e-01 -1.45257785e-02 -5.72748352e-03 5.22472935e+02] [ 1.45274846e-02 9.99894438e-01 2.56384845e-04 -2.62029390e+01] [ 5.72315473e-03 -3.39559518e-04 9.99983565e-01 2.79214965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.060714057 meters Centerline goodness : 0.990328 with order 1 Centerline is valid? [True, True] Translation: X:522.53, Y:-26.19, Z:2.80 [[ 9.99751608e-01 -2.15387756e-02 -5.72746479e-03 5.22534001e+02] [ 2.15405986e-02 9.99767941e-01 2.56802560e-04 -2.61915591e+01] [ 5.72060447e-03 -3.80111792e-04 9.99983565e-01 2.80320220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.120714057 meters Centerline goodness : 0.986366 with order 1 Centerline is valid? [True, True] Translation: X:522.60, Y:-26.21, Z:2.79 [[ 9.99983582e-01 -1.75958920e-04 -5.72746020e-03 5.22595110e+02] [ 1.77433237e-04 9.99999951e-01 2.56904944e-04 -2.62094807e+01] [ 5.72741472e-03 -2.57916968e-04 9.99983565e-01 2.79104842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.180714057 meters Centerline goodness : 0.987221 with order 1 Centerline is valid? [True, True] Translation: X:522.65, Y:-26.21, Z:2.79 [[ 9.99914112e-01 1.17883483e-02 -5.72744599e-03 5.22653617e+02] [-1.17870681e-02 9.99930497e-01 2.57221337e-04 -2.62110761e+01] [ 5.73008013e-03 -1.89689449e-04 9.99983565e-01 2.79427719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.240714057 meters Centerline goodness : 0.986668 with order 1 Centerline is valid? [True, True] Translation: X:522.71, Y:-26.22, Z:2.80 [[ 9.99662791e-01 2.53278377e-02 -5.72751148e-03 5.22712117e+02] [-2.53267879e-02 9.99679193e-01 2.55754860e-04 -2.62154725e+01] [ 5.73215177e-03 -1.10609149e-04 9.99983565e-01 2.79597845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.300714057 meters Centerline goodness : 0.986064 with order 1 Centerline is valid? [True, True] Translation: X:522.77, Y:-26.22, Z:2.80 [[ 9.99434860e-01 3.31233316e-02 -5.72757813e-03 5.22769432e+02] [-3.31224184e-02 9.99451270e-01 2.54253398e-04 -2.62240818e+01] [ 5.73285695e-03 -6.43984696e-05 9.99983565e-01 2.79550762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.360714057 meters Centerline goodness : 0.985484 with order 1 Centerline is valid? [True, True] Translation: X:522.83, Y:-26.23, Z:2.79 [[ 9.99339342e-01 3.58897541e-02 -5.72760142e-03 5.22826938e+02] [-3.58888893e-02 9.99355754e-01 2.53727660e-04 -2.62342103e+01] [ 5.73301766e-03 -4.80027795e-05 9.99983565e-01 2.79388032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.420714057 meters Centerline goodness : 0.990825 with order 1 Centerline is valid? [True, True] Translation: X:522.89, Y:-26.23, Z:2.81 [[ 9.99864336e-01 1.54435903e-02 -5.72762844e-03 5.22885204e+02] [-1.54423936e-02 9.99880727e-01 2.53116251e-04 -2.62299214e+01] [ 5.73085431e-03 -1.64633620e-04 9.99983565e-01 2.80592608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.480714057 meters Centerline goodness : 0.991383 with order 1 Centerline is valid? [True, True] Translation: X:522.94, Y:-26.24, Z:2.81 [[ 9.99956380e-01 7.37786173e-03 -5.72764562e-03 5.22943539e+02] [-7.37653501e-03 9.99972761e-01 2.52726711e-04 -2.62416835e+01] [ 5.72935419e-03 -2.10465508e-04 9.99983565e-01 2.80587115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5407140570001 meters Centerline goodness : 0.989383 with order 1 Centerline is valid? [True, True] Translation: X:523.00, Y:-26.25, Z:2.81 [[ 9.99961387e-01 6.66477656e-03 -5.72766405e-03 5.23001891e+02] [-6.66344054e-03 9.99977767e-01 2.52308495e-04 -2.62536449e+01] [ 5.72921828e-03 -2.14132804e-04 9.99983565e-01 2.80938999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.600714057 meters Centerline goodness : 0.990713 with order 1 Centerline is valid? [True, True] Translation: X:523.06, Y:-26.26, Z:2.81 [[ 9.99912036e-01 -1.19630522e-02 -5.72767880e-03 5.23060962e+02] [ 1.19646912e-02 9.99928389e-01 2.51973034e-04 -2.62596737e+01] [ 5.72425427e-03 -3.20480778e-04 9.99983565e-01 2.81207441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.660714057 meters Centerline goodness : 0.990891 with order 1 Centerline is valid? [True, True] Translation: X:523.12, Y:-26.27, Z:2.80 [[ 9.99723777e-01 -2.27939430e-02 -5.72769454e-03 5.23122376e+02] [ 2.27957570e-02 9.99740111e-01 2.51614801e-04 -2.62678566e+01] [ 5.72047069e-03 -3.82112432e-04 9.99983565e-01 2.80376411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.720714057 meters Centerline goodness : 0.990201 with order 1 Centerline is valid? [True, True] Translation: X:523.18, Y:-26.27, Z:2.81 [[ 9.99531963e-01 -3.00507591e-02 -5.72765687e-03 5.23184983e+02] [ 3.00526965e-02 9.99548284e-01 2.52469382e-04 -2.62732122e+01] [ 5.71748270e-03 -4.24482751e-04 9.99983565e-01 2.80518256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.780714057 meters Centerline goodness : 0.986216 with order 1 Centerline is valid? [True, True] Translation: X:523.25, Y:-26.28, Z:2.81 [[ 9.99700672e-01 -2.37857430e-02 -5.72763014e-03 5.23246576e+02] [ 2.37875815e-02 9.99717003e-01 2.53074429e-04 -2.62842546e+01] [ 5.71998968e-03 -3.89245145e-04 9.99983565e-01 2.81330335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.840714057 meters Centerline goodness : 0.986166 with order 1 Centerline is valid? [True, True] Translation: X:523.31, Y:-26.29, Z:2.81 [[ 9.99701338e-01 -2.37577409e-02 -5.72761175e-03 5.23310052e+02] [ 2.37595813e-02 9.99717669e-01 2.53490016e-04 -2.62863319e+01] [ 5.71997231e-03 -3.89499965e-04 9.99983565e-01 2.81188996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.900714057 meters Centerline goodness : 0.985411 with order 1 Centerline is valid? [True, True] Translation: X:523.37, Y:-26.29, Z:2.81 [[ 9.99671861e-01 -2.49672860e-02 -5.72758237e-03 5.23372017e+02] [ 2.49691500e-02 9.99688190e-01 2.54151963e-04 -2.62863726e+01] [ 5.71945097e-03 -3.97081429e-04 9.99983565e-01 2.81129275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.960714057 meters Centerline goodness : 0.986333 with order 1 Centerline is valid? [True, True] Translation: X:523.43, Y:-26.29, Z:2.81 [[ 9.99574373e-01 -2.86053937e-02 -5.72755821e-03 5.23433965e+02] [ 2.86073202e-02 9.99590694e-01 2.54695272e-04 -2.62851303e+01] [ 5.71792823e-03 -4.18436958e-04 9.99983565e-01 2.81239427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.020714057 meters Centerline goodness : 0.986302 with order 1 Centerline is valid? [True, True] Translation: X:523.50, Y:-26.29, Z:2.81 [[ 9.99427425e-01 -3.33469365e-02 -5.72753921e-03 5.23496571e+02] [ 3.33489429e-02 9.99443737e-01 2.55121858e-04 -2.62852981e+01] [ 5.71584566e-03 -4.45983159e-04 9.99983565e-01 2.81187419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.080714057 meters Centerline goodness : 0.986578 with order 1 Centerline is valid? [True, True] Translation: X:523.56, Y:-26.28, Z:2.81 [[ 9.99224690e-01 -3.89514300e-02 -5.72751997e-03 5.23559387e+02] [ 3.89535302e-02 9.99240991e-01 2.55553212e-04 -2.62849632e+01] [ 5.71321856e-03 -4.78462201e-04 9.99983565e-01 2.80789368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.140714057 meters Centerline goodness : 0.985237 with order 1 Centerline is valid? [True, True] Translation: X:523.62, Y:-26.28, Z:2.81 [[ 9.99198378e-01 -3.96206738e-02 -5.72749595e-03 5.23621340e+02] [ 3.96227880e-02 9.99214676e-01 2.56090247e-04 -2.62845013e+01] [ 5.71285155e-03 -4.82824317e-04 9.99983565e-01 2.80909680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.200714057 meters Centerline goodness : 0.986761 with order 1 Centerline is valid? [True, True] Translation: X:523.68, Y:-26.28, Z:2.81 [[ 9.99267638e-01 -3.78336209e-02 -5.72747629e-03 5.23683135e+02] [ 3.78357084e-02 9.99283940e-01 2.56529371e-04 -2.62813015e+01] [ 5.71366964e-03 -4.73044622e-04 9.99983565e-01 2.81232949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.260714057 meters Centerline goodness : 0.986291 with order 1 Centerline is valid? [True, True] Translation: X:523.75, Y:-26.28, Z:2.81 [[ 9.99489711e-01 -3.14247409e-02 -5.72746171e-03 5.23746591e+02] [ 3.14267257e-02 9.99506025e-01 2.56854272e-04 -2.62795853e+01] [ 5.71656092e-03 -4.36718571e-04 9.99983565e-01 2.81457781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.320714057 meters Centerline goodness : 0.986469 with order 1 Centerline is valid? [True, True] Translation: X:523.81, Y:-26.28, Z:2.82 [[ 9.99674144e-01 -2.48757375e-02 -5.72743227e-03 5.23807477e+02] [ 2.48776191e-02 9.99690471e-01 2.57509243e-04 -2.62782600e+01] [ 5.71925373e-03 -3.99910210e-04 9.99983565e-01 2.81777062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.380714057 meters Centerline goodness : 0.986398 with order 1 Centerline is valid? [True, True] Translation: X:523.87, Y:-26.28, Z:2.82 [[ 9.99852451e-01 -1.61948666e-02 -5.72741789e-03 5.23869611e+02] [ 1.61966082e-02 9.99868793e-01 2.57828606e-04 -2.62758620e+01] [ 5.72249091e-03 -3.50555307e-04 9.99983565e-01 2.81806535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.440714057 meters Centerline goodness : 0.986586 with order 1 Centerline is valid? [True, True] Translation: X:523.93, Y:-26.28, Z:2.82 [[ 9.99966307e-01 -5.88056002e-03 -5.72739829e-03 5.23930624e+02] [ 5.88213545e-03 9.99982667e-01 2.58263268e-04 -2.62751522e+01] [ 5.72578028e-03 -2.91943899e-04 9.99983565e-01 2.81561274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.500714057 meters Centerline goodness : 0.985848 with order 1 Centerline is valid? [True, True] Translation: X:523.99, Y:-26.28, Z:2.81 [[ 9.99960524e-01 6.79316942e-03 -5.72738383e-03 5.23990793e+02] [-6.79179962e-03 9.99976902e-01 2.58583539e-04 -2.62765130e+01] [ 5.72900814e-03 -2.19674088e-04 9.99983565e-01 2.81169921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.560714057 meters Centerline goodness : 0.984373 with order 1 Centerline is valid? [True, True] Translation: X:524.05, Y:-26.28, Z:2.81 [[ 9.99819424e-01 1.81195025e-02 -5.72738383e-03 5.24049564e+02] [-1.81183183e-02 9.99835816e-01 2.58583539e-04 -2.62788428e+01] [ 5.73112889e-03 -1.54766282e-04 9.99983565e-01 2.80932566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.620714057 meters Centerline goodness : 0.984981 with order 1 Centerline is valid? [True, True] Translation: X:524.11, Y:-26.28, Z:2.81 [[ 9.99630459e-01 2.65733167e-02 -5.72744826e-03 5.24107660e+02] [-2.65722794e-02 9.99646862e-01 2.57148495e-04 -2.62821549e+01] [ 5.73225897e-03 -1.04862113e-04 9.99983565e-01 2.80759046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.680714057 meters Centerline goodness : 0.985978 with order 1 Centerline is valid? [True, True] Translation: X:524.17, Y:-26.29, Z:2.81 [[ 9.99514830e-01 3.06153613e-02 -5.72747080e-03 5.24165902e+02] [-3.06143932e-02 9.99531237e-01 2.56645401e-04 -2.62878594e+01] [ 5.73264327e-03 -8.11778414e-05 9.99983565e-01 2.80693327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.740714057 meters Centerline goodness : 0.985968 with order 1 Centerline is valid? [True, True] Translation: X:524.22, Y:-26.30, Z:2.81 [[ 9.99551087e-01 2.94078139e-02 -5.72748909e-03 5.24223869e+02] [-2.94068283e-02 9.99567493e-01 2.56236712e-04 -2.62980676e+01] [ 5.73254727e-03 -8.76943956e-05 9.99983565e-01 2.80511500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.800714057 meters Centerline goodness : 0.985455 with order 1 Centerline is valid? [True, True] Translation: X:524.28, Y:-26.30, Z:2.81 [[ 9.99657803e-01 2.55239753e-02 -5.72750696e-03 5.24282486e+02] [-2.55229283e-02 9.99674204e-01 2.55836538e-04 -2.63019967e+01] [ 5.73217093e-03 -1.09566242e-04 9.99983565e-01 2.80748998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.860714057 meters Centerline goodness : 0.986798 with order 1 Centerline is valid? [True, True] Translation: X:524.34, Y:-26.31, Z:2.81 [[ 9.99705915e-01 2.35643472e-02 -5.72752507e-03 5.24341470e+02] [-2.35632703e-02 9.99722315e-01 2.55430402e-04 -2.63059186e+01] [ 5.73195368e-03 -1.20396062e-04 9.99983565e-01 2.80780816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.920714057 meters Centerline goodness : 0.988192 with order 1 Centerline is valid? [True, True] Translation: X:524.40, Y:-26.31, Z:2.81 [[ 9.99887576e-01 1.38574841e-02 -5.72754311e-03 5.24400785e+02] [-1.38562504e-02 9.99903965e-01 2.55025402e-04 -2.63090160e+01] [ 5.73052707e-03 -1.75634460e-04 9.99983565e-01 2.81411160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.980714057 meters Centerline goodness : 0.987354 with order 1 Centerline is valid? [True, True] Translation: X:524.46, Y:-26.32, Z:2.82 [[ 9.99936340e-01 9.72168551e-03 -5.72755208e-03 5.24458083e+02] [-9.72038519e-03 9.99952723e-01 2.54823708e-04 -2.63151620e+01] [ 5.72975862e-03 -1.99133473e-04 9.99983565e-01 2.81504915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0407140570001 meters Centerline goodness : 0.987334 with order 1 Centerline is valid? [True, True] Translation: X:524.52, Y:-26.32, Z:2.81 [[ 9.99975519e-01 4.01941283e-03 -5.72757888e-03 5.24516309e+02] [-4.01802256e-03 9.99991895e-01 2.54220003e-04 -2.63226463e+01] [ 5.72855427e-03 -2.31200239e-04 9.99983565e-01 2.81084612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.100714057 meters Centerline goodness : 0.987022 with order 1 Centerline is valid? [True, True] Translation: X:524.57, Y:-26.33, Z:2.81 [[ 9.99967777e-01 5.62495250e-03 -5.72759665e-03 5.24574558e+02] [-5.62359081e-03 9.99984155e-01 2.53818958e-04 -2.63258522e+01] [ 5.72893362e-03 -2.21601120e-04 9.99983565e-01 2.81488408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.160714057 meters Centerline goodness : 0.986647 with order 1 Centerline is valid? [True, True] Translation: X:524.63, Y:-26.33, Z:2.81 [[ 9.99972287e-01 4.75589250e-03 -5.72766102e-03 5.24633728e+02] [-4.75452494e-03 9.99988665e-01 2.52357891e-04 -2.63303563e+01] [ 5.72879629e-03 -2.25118591e-04 9.99983565e-01 2.81145405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.220714057 meters Centerline goodness : 0.986521 with order 1 Centerline is valid? [True, True] Translation: X:524.69, Y:-26.33, Z:2.81 [[ 9.99981829e-01 1.88017399e-03 -5.72767466e-03 5.24692268e+02] [-1.87876110e-03 9.99998203e-01 2.52047895e-04 -2.63343631e+01] [ 5.72813827e-03 -2.41282383e-04 9.99983565e-01 2.80661124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.280714057 meters Centerline goodness : 0.985911 with order 1 Centerline is valid? [True, True] Translation: X:524.75, Y:-26.34, Z:2.81 [[ 9.99978823e-01 3.08992588e-03 -5.72769300e-03 5.24749651e+02] [-3.08853519e-03 9.99995199e-01 2.51630482e-04 -2.63358413e+01] [ 5.72844302e-03 -2.33934972e-04 9.99983565e-01 2.80850165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.340714057 meters Centerline goodness : 0.985775 with order 1 Centerline is valid? [True, True] Translation: X:524.81, Y:-26.34, Z:2.81 [[ 9.99982699e-01 1.33972672e-03 -5.72771553e-03 5.24808057e+02] [-1.33831031e-03 9.99999073e-01 2.51116760e-04 -2.63377512e+01] [ 5.72804664e-03 -2.43446955e-04 9.99983565e-01 2.81167092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.400714057 meters Centerline goodness : 0.986214 with order 1 Centerline is valid? [True, True] Translation: X:524.87, Y:-26.34, Z:2.81 [[ 9.99980967e-01 2.29302367e-03 -5.72773378e-03 5.24865661e+02] [-2.29162525e-03 9.99997343e-01 2.50699746e-04 -2.63398428e+01] [ 5.72829342e-03 -2.37569155e-04 9.99983565e-01 2.81218665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.460714057 meters Centerline goodness : 0.985277 with order 1 Centerline is valid? [True, True] Translation: X:524.92, Y:-26.34, Z:2.81 [[ 9.99976495e-01 3.76845900e-03 -5.72775611e-03 5.24924963e+02] [-3.76708767e-03 9.99992873e-01 2.50188391e-04 -2.63434442e+01] [ 5.72865812e-03 -2.28605551e-04 9.99983565e-01 2.81116465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.520714057 meters Centerline goodness : 0.990703 with order 1 Centerline is valid? [True, True] Translation: X:524.98, Y:-26.33, Z:2.83 [[ 9.99867829e-01 -1.52156576e-02 -5.72781513e-03 5.24984309e+02] [ 1.52173319e-02 9.99884179e-01 2.48829805e-04 -2.63276619e+01] [ 5.72336562e-03 -3.35958981e-04 9.99983565e-01 2.82637968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.580714057 meters Centerline goodness : 0.985172 with order 1 Centerline is valid? [True, True] Translation: X:525.04, Y:-26.35, Z:2.81 [[ 9.99944583e-01 -8.83303116e-03 -5.72782860e-03 5.25044202e+02] [ 8.83459924e-03 9.99960943e-01 2.48519449e-04 -2.63493519e+01] [ 5.72540971e-03 -2.99108747e-04 9.99983565e-01 2.80526636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.640714057 meters Centerline goodness : 0.985780 with order 1 Centerline is valid? [True, True] Translation: X:525.11, Y:-26.35, Z:2.81 [[ 9.99948689e-01 -8.35527759e-03 -5.72781977e-03 5.25105325e+02] [ 8.35683900e-03 9.99965050e-01 2.48722815e-04 -2.63493602e+01] [ 5.72554143e-03 -2.96576521e-04 9.99983565e-01 2.81176427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.700714057 meters Centerline goodness : 0.990270 with order 1 Centerline is valid? [True, True] Translation: X:525.17, Y:-26.34, Z:2.82 [[ 9.99761380e-01 -2.10801869e-02 -5.72781091e-03 5.25167771e+02] [ 2.10819575e-02 9.99777720e-01 2.48926706e-04 -2.63364152e+01] [ 5.72129031e-03 -3.69620773e-04 9.99983565e-01 2.81955263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.760714057 meters Centerline goodness : 0.985700 with order 1 Centerline is valid? [True, True] Translation: X:525.23, Y:-26.35, Z:2.82 [[ 9.99945306e-01 -8.75090201e-03 -5.72779725e-03 5.25229591e+02] [ 8.75247286e-03 9.99961665e-01 2.49240661e-04 -2.63485813e+01] [ 5.72539659e-03 -2.99359419e-04 9.99983565e-01 2.81853976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.820714057 meters Centerline goodness : 0.985937 with order 1 Centerline is valid? [True, True] Translation: X:525.29, Y:-26.35, Z:2.82 [[ 9.99897226e-01 -1.31426466e-02 -5.72777808e-03 5.25290938e+02] [ 1.31442918e-02 9.99913579e-01 2.49680452e-04 -2.63490270e+01] [ 5.72400161e-03 -3.24942378e-04 9.99983565e-01 2.82353020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.880714057 meters Centerline goodness : 0.986017 with order 1 Centerline is valid? [True, True] Translation: X:525.35, Y:-26.35, Z:2.82 [[ 9.99817263e-01 -1.82382561e-02 -5.72776875e-03 5.25353706e+02] [ 1.82399858e-02 9.99833606e-01 2.49894247e-04 -2.63502425e+01] [ 5.72225805e-03 -3.54323003e-04 9.99983565e-01 2.82442605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.940714057 meters Centerline goodness : 0.984944 with order 1 Centerline is valid? [True, True] Translation: X:525.42, Y:-26.35, Z:2.83 [[ 9.99661233e-01 -2.53892240e-02 -5.72769139e-03 5.25416561e+02] [ 2.53910807e-02 9.99677563e-01 2.51654996e-04 -2.63520723e+01] [ 5.71945524e-03 -3.97002017e-04 9.99983565e-01 2.82550095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.000714057 meters Centerline goodness : 0.989243 with order 1 Centerline is valid? [True, True] Translation: X:525.48, Y:-26.35, Z:2.82 [[ 9.99219684e-01 -3.90796280e-02 -5.72761394e-03 5.25479305e+02] [ 3.90817181e-02 9.99235986e-01 2.53405443e-04 -2.63477295e+01] [ 5.71333497e-03 -4.77052700e-04 9.99983565e-01 2.82167024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.060714057 meters Centerline goodness : 0.987289 with order 1 Centerline is valid? [True, True] Translation: X:525.54, Y:-26.36, Z:2.83 [[ 9.99278571e-01 -3.75437378e-02 -5.72753167e-03 5.25540692e+02] [ 3.75458134e-02 9.99294875e-01 2.55251501e-04 -2.63574381e+01] [ 5.71390995e-03 -4.70112190e-04 9.99983565e-01 2.82655215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.120714057 meters Centerline goodness : 0.987659 with order 1 Centerline is valid? [True, True] Translation: X:525.60, Y:-26.36, Z:2.83 [[ 9.99213464e-01 -3.92383720e-02 -5.72750878e-03 5.25602211e+02] [ 3.92404781e-02 9.99229763e-01 2.55764203e-04 -2.63577150e+01] [ 5.71306147e-03 -4.80313218e-04 9.99983565e-01 2.82550432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.180714057 meters Centerline goodness : 0.988451 with order 1 Centerline is valid? [True, True] Translation: X:525.66, Y:-26.36, Z:2.83 [[ 9.99445224e-01 -3.28091593e-02 -5.72749906e-03 5.25663520e+02] [ 3.28111617e-02 9.99461536e-01 2.55981636e-04 -2.63597631e+01] [ 5.71601646e-03 -4.43765522e-04 9.99983565e-01 2.82748418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.240714057 meters Centerline goodness : 0.987864 with order 1 Centerline is valid? [True, True] Translation: X:525.73, Y:-26.36, Z:2.82 [[ 9.99520100e-01 -3.04428410e-02 -5.72746680e-03 5.25725253e+02] [ 3.04448089e-02 9.99536416e-01 2.56701323e-04 -2.63614610e+01] [ 5.71699693e-03 -4.30949764e-04 9.99983565e-01 2.82347346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.300714057 meters Centerline goodness : 0.985963 with order 1 Centerline is valid? [True, True] Translation: X:525.79, Y:-26.36, Z:2.82 [[ 9.99575996e-01 -2.85486445e-02 -5.72744770e-03 5.25787488e+02] [ 2.85505839e-02 9.99592316e-01 2.57126740e-04 -2.63647024e+01] [ 5.71777210e-03 -4.20539693e-04 9.99983565e-01 2.82168444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.360714057 meters Centerline goodness : 0.986534 with order 1 Centerline is valid? [True, True] Translation: X:525.85, Y:-26.37, Z:2.82 [[ 9.99587663e-01 -2.81371588e-02 -5.72742802e-03 5.25848784e+02] [ 2.81390940e-02 9.99603984e-01 2.57564527e-04 -2.63662768e+01] [ 5.71791273e-03 -4.18622959e-04 9.99983565e-01 2.82073095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.420714057 meters Centerline goodness : 0.986286 with order 1 Centerline is valid? [True, True] Translation: X:525.91, Y:-26.37, Z:2.82 [[ 9.99497857e-01 -3.11645780e-02 -5.72741348e-03 5.25911044e+02] [ 3.11665644e-02 9.99514171e-01 2.57887275e-04 -2.63689675e+01] [ 5.71659399e-03 -4.36261580e-04 9.99983565e-01 2.81660096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.480714057 meters Centerline goodness : 0.990513 with order 1 Centerline is valid? [True, True] Translation: X:525.97, Y:-26.36, Z:2.82 [[ 9.98999003e-01 -4.43642791e-02 -5.72739473e-03 5.25972401e+02] [ 4.43664832e-02 9.99015289e-01 2.58303201e-04 -2.63587135e+01] [ 5.71029546e-03 -5.12149002e-04 9.99983565e-01 2.82174670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5407140570001 meters Centerline goodness : 0.986884 with order 1 Centerline is valid? [True, True] Translation: X:526.03, Y:-26.37, Z:2.82 [[ 9.99080352e-01 -4.24929124e-02 -5.72733460e-03 5.26034274e+02] [ 4.24950936e-02 9.99096642e-01 2.59629673e-04 -2.63734547e+01] [ 5.71112834e-03 -5.02774525e-04 9.99983565e-01 2.81990431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.600714057 meters Centerline goodness : 0.987619 with order 1 Centerline is valid? [True, True] Translation: X:526.10, Y:-26.38, Z:2.82 [[ 9.98996982e-01 -4.44097734e-02 -5.72731467e-03 5.26095999e+02] [ 4.44119883e-02 9.99013267e-01 2.60068537e-04 -2.63753863e+01] [ 5.71011375e-03 -5.14169115e-04 9.99983565e-01 2.82367096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.660714057 meters Centerline goodness : 0.987347 with order 1 Centerline is valid? [True, True] Translation: X:526.16, Y:-26.38, Z:2.82 [[ 9.98899223e-01 -4.65568536e-02 -5.72724106e-03 5.26157916e+02] [ 4.65591127e-02 9.98915502e-01 2.61679587e-04 -2.63780971e+01] [ 5.70884690e-03 -5.28046798e-04 9.99983565e-01 2.82028528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.720714057 meters Centerline goodness : 0.986887 with order 1 Centerline is valid? [True, True] Translation: X:526.22, Y:-26.38, Z:2.82 [[ 9.99240194e-01 -3.85516909e-02 -5.72722208e-03 5.26220092e+02] [ 3.85538218e-02 9.99256491e-01 2.62094349e-04 -2.63805000e+01] [ 5.71285965e-03 -4.82701508e-04 9.99983565e-01 2.82377114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.780714057 meters Centerline goodness : 0.988691 with order 1 Centerline is valid? [True, True] Translation: X:526.28, Y:-26.38, Z:2.82 [[ 9.99284259e-01 -3.73920838e-02 -5.72720256e-03 5.26280858e+02] [ 3.73941982e-02 9.99300558e-01 2.62520167e-04 -2.63820366e+01] [ 5.71338054e-03 -4.76496418e-04 9.99983565e-01 2.82030831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.840714057 meters Centerline goodness : 0.988118 with order 1 Centerline is valid? [True, True] Translation: X:526.34, Y:-26.38, Z:2.82 [[ 9.99585198e-01 -2.82246611e-02 -5.72718821e-03 5.26343151e+02] [ 2.82266278e-02 9.99601515e-01 2.62832723e-04 -2.63818625e+01] [ 5.71748765e-03 -4.24382910e-04 9.99983565e-01 2.82481052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.900714057 meters Centerline goodness : 0.987841 with order 1 Centerline is valid? [True, True] Translation: X:526.41, Y:-26.38, Z:2.82 [[ 9.99748750e-01 -2.16710769e-02 -5.72716886e-03 5.26406352e+02] [ 2.16729389e-02 9.99765080e-01 2.63253708e-04 -2.63820914e+01] [ 5.72011844e-03 -3.87312147e-04 9.99983565e-01 2.82450938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.960714057 meters Centerline goodness : 0.986994 with order 1 Centerline is valid? [True, True] Translation: X:526.47, Y:-26.38, Z:2.82 [[ 9.99873997e-01 -1.48050928e-02 -5.72713973e-03 5.26467809e+02] [ 1.48068463e-02 9.99890338e-01 2.63885914e-04 -2.63831630e+01] [ 5.72260483e-03 -3.48653541e-04 9.99983565e-01 2.82223206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.020714057 meters Centerline goodness : 0.987186 with order 1 Centerline is valid? [True, True] Translation: X:526.53, Y:-26.38, Z:2.82 [[ 9.99939162e-01 -9.42718745e-03 -5.72712542e-03 5.26530327e+02] [ 9.42885477e-03 9.99955512e-01 2.64196144e-04 -2.63837584e+01] [ 5.72438001e-03 -3.18180305e-04 9.99983565e-01 2.82183979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.080714057 meters Centerline goodness : 0.986019 with order 1 Centerline is valid? [True, True] Translation: X:526.59, Y:-26.38, Z:2.82 [[ 9.99966516e-01 -5.84521883e-03 -5.72710643e-03 5.26592846e+02] [ 5.84682992e-03 9.99982872e-01 2.64607311e-04 -2.63835348e+01] [ 5.72546165e-03 -2.98083869e-04 9.99983565e-01 2.82184750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.140714057 meters Centerline goodness : 0.986115 with order 1 Centerline is valid? [True, True] Translation: X:526.65, Y:-26.39, Z:2.82 [[ 9.99982348e-01 -1.58232796e-03 -5.72708748e-03 5.26653658e+02] [ 1.58387165e-03 9.99998711e-01 2.65016793e-04 -2.63851188e+01] [ 5.72666075e-03 -2.74083086e-04 9.99983565e-01 2.81923532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.200714057 meters Centerline goodness : 0.987231 with order 1 Centerline is valid? [True, True] Translation: X:526.71, Y:-26.38, Z:2.82 [[ 9.99983426e-01 -5.90861401e-04 -5.72708748e-03 5.26712295e+02] [ 5.92388870e-04 9.99999789e-01 2.65016793e-04 -2.63819909e+01] [ 5.72692968e-03 -2.68405063e-04 9.99983565e-01 2.82397914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.260714057 meters Centerline goodness : 0.986947 with order 1 Centerline is valid? [True, True] Translation: X:526.77, Y:-26.38, Z:2.82 [[ 9.99982344e-01 1.58485570e-03 -5.72715745e-03 5.26770909e+02] [-1.58337253e-03 9.99998712e-01 2.63495859e-04 -2.63832503e+01] [ 5.72756768e-03 -2.54422982e-04 9.99983565e-01 2.82435126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.320714057 meters Centerline goodness : 0.986458 with order 1 Centerline is valid? [True, True] Translation: X:526.83, Y:-26.38, Z:2.82 [[ 9.99982010e-01 1.78280478e-03 -5.72722835e-03 5.26828648e+02] [-1.78133372e-03 9.99998379e-01 2.61945701e-04 -2.63843853e+01] [ 5.72768607e-03 -2.51738884e-04 9.99983565e-01 2.82410127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.380714057 meters Centerline goodness : 0.986747 with order 1 Centerline is valid? [True, True] Translation: X:526.89, Y:-26.39, Z:2.82 [[ 9.99983295e-01 -7.80413506e-04 -5.72725314e-03 5.26886526e+02] [ 7.81923422e-04 9.99999660e-01 2.61402530e-04 -2.63878315e+01] [ 5.72704719e-03 -2.65876437e-04 9.99983565e-01 2.82255711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.440714057 meters Centerline goodness : 0.986070 with order 1 Centerline is valid? [True, True] Translation: X:526.94, Y:-26.39, Z:2.82 [[ 9.99979700e-01 -2.79261289e-03 -5.72727671e-03 5.26944991e+02] [ 2.79415278e-03 9.99996062e-01 2.60885083e-04 -2.63900160e+01] [ 5.72652561e-03 -2.76882673e-04 9.99983565e-01 2.82011517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.500714057 meters Centerline goodness : 0.986785 with order 1 Centerline is valid? [True, True] Translation: X:527.00, Y:-26.39, Z:2.82 [[ 9.99963915e-01 -6.27423269e-03 -5.72729555e-03 5.27004172e+02] [ 6.27582717e-03 9.99980273e-01 2.60470980e-04 -2.63915942e+01] [ 5.72554831e-03 -2.96405098e-04 9.99983565e-01 2.82206594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.560714057 meters Centerline goodness : 0.987250 with order 1 Centerline is valid? [True, True] Translation: X:527.06, Y:-26.39, Z:2.82 [[ 9.99964318e-01 -6.20969104e-03 -5.72730498e-03 5.27064448e+02] [ 6.21128328e-03 9.99980676e-01 2.60263431e-04 -2.63923468e+01] [ 5.72557815e-03 -2.95828058e-04 9.99983565e-01 2.82302266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.620714057 meters Centerline goodness : 0.987926 with order 1 Centerline is valid? [True, True] Translation: X:527.13, Y:-26.39, Z:2.82 [[ 9.99966085e-01 -5.91832144e-03 -5.72730498e-03 5.27125069e+02] [ 5.91990892e-03 9.99982443e-01 2.60263431e-04 -2.63948069e+01] [ 5.72566410e-03 -2.94159728e-04 9.99983565e-01 2.82363345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.680714057 meters Centerline goodness : 0.986959 with order 1 Centerline is valid? [True, True] Translation: X:527.19, Y:-26.40, Z:2.82 [[ 9.99953077e-01 -7.81291390e-03 -5.72730498e-03 5.27185617e+02] [ 7.81453237e-03 9.99969432e-01 2.60263431e-04 -2.63980805e+01] [ 5.72509649e-03 -3.05007429e-04 9.99983565e-01 2.82282153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.740714057 meters Centerline goodness : 0.986206 with order 1 Centerline is valid? [True, True] Translation: X:527.25, Y:-26.40, Z:2.82 [[ 9.99935058e-01 -9.85276217e-03 -5.72730019e-03 5.27247112e+02] [ 9.85441460e-03 9.99951410e-01 2.60368846e-04 -2.64027535e+01] [ 5.72445655e-03 -3.16791128e-04 9.99983565e-01 2.82129311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.800714057 meters Centerline goodness : 0.987313 with order 1 Centerline is valid? [True, True] Translation: X:527.31, Y:-26.41, Z:2.82 [[ 9.99837186e-01 -1.71114162e-02 -5.72728604e-03 5.27309384e+02] [ 1.71131890e-02 9.99853525e-01 2.60679548e-04 -2.64079271e+01] [ 5.72198654e-03 -3.58649235e-04 9.99983565e-01 2.82114546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.860714057 meters Centerline goodness : 0.986884 with order 1 Centerline is valid? [True, True] Translation: X:527.37, Y:-26.41, Z:2.82 [[ 9.99768568e-01 -2.07366726e-02 -5.72721737e-03 5.27372027e+02] [ 2.07385132e-02 9.99784900e-01 2.62179689e-04 -2.64132885e+01] [ 5.72054871e-03 -3.80892986e-04 9.99983565e-01 2.82300177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.920714057 meters Centerline goodness : 0.987620 with order 1 Centerline is valid? [True, True] Translation: X:527.43, Y:-26.42, Z:2.82 [[ 9.99787979e-01 -1.97786834e-02 -5.72718707e-03 5.27434269e+02] [ 1.97805121e-02 9.99804312e-01 2.62840026e-04 -2.64183864e+01] [ 5.72086769e-03 -3.76070991e-04 9.99983565e-01 2.82406709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.980714057 meters Centerline goodness : 0.987869 with order 1 Centerline is valid? [True, True] Translation: X:527.50, Y:-26.42, Z:2.83 [[ 9.99885885e-01 -1.39791348e-02 -5.72716214e-03 5.27495894e+02] [ 1.39808719e-02 9.99902228e-01 2.63381965e-04 -2.64214487e+01] [ 5.72292034e-03 -3.43422630e-04 9.99983565e-01 2.82775962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0407140570001 meters Centerline goodness : 0.988077 with order 1 Centerline is valid? [True, True] Translation: X:527.56, Y:-26.42, Z:2.83 [[ 9.99976599e-01 -3.74188003e-03 -5.72713785e-03 5.27557814e+02] [ 3.74345272e-03 9.99992958e-01 2.63909188e-04 -2.64242574e+01] [ 5.72611000e-03 -2.85342282e-04 9.99983565e-01 2.82941026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.100714057 meters Centerline goodness : 0.987032 with order 1 Centerline is valid? [True, True] Translation: X:527.62, Y:-26.43, Z:2.83 [[ 9.99952626e-01 7.87063069e-03 -5.72711797e-03 5.27617442e+02] [-7.86924561e-03 9.99969002e-01 2.64339893e-04 -2.64263791e+01] [ 5.72902096e-03 -2.19259272e-04 9.99983565e-01 2.83150004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.160714057 meters Centerline goodness : 0.986860 with order 1 Centerline is valid? [True, True] Translation: X:527.68, Y:-26.43, Z:2.83 [[ 9.99904196e-01 1.26015315e-02 -5.72712284e-03 5.27675106e+02] [-1.26002246e-02 9.99920579e-01 2.64234324e-04 -2.64319589e+01] [ 5.72999774e-03 -1.92045975e-04 9.99983565e-01 2.82547291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.220714057 meters Centerline goodness : 0.986282 with order 1 Centerline is valid? [True, True] Translation: X:527.73, Y:-26.44, Z:2.83 [[ 9.99817229e-01 1.82402841e-02 -5.72719901e-03 5.27732843e+02] [-1.82390791e-02 9.99833620e-01 2.62572916e-04 -2.64395119e+01] [ 5.73103552e-03 -1.58066090e-04 9.99983565e-01 2.82872750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.280714057 meters Centerline goodness : 0.986806 with order 1 Centerline is valid? [True, True] Translation: X:527.79, Y:-26.45, Z:2.83 [[ 9.99860515e-01 1.56891491e-02 -5.72727355e-03 5.27791313e+02] [-1.56879116e-02 9.99876903e-01 2.60936831e-04 -2.64480104e+01] [ 5.73066242e-03 -1.71051473e-04 9.99983565e-01 2.82622436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.340714057 meters Centerline goodness : 0.986083 with order 1 Centerline is valid? [True, True] Translation: X:527.85, Y:-26.46, Z:2.82 [[ 9.99954029e-01 7.69015376e-03 -5.72729232e-03 5.27848842e+02] [-7.68878755e-03 9.99970407e-01 2.60524219e-04 -2.64589802e+01] [ 5.72912630e-03 -2.16476309e-04 9.99983565e-01 2.82121393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.400714057 meters Centerline goodness : 0.987540 with order 1 Centerline is valid? [True, True] Translation: X:527.91, Y:-26.47, Z:2.83 [[ 9.99982318e-01 1.60044837e-03 -5.72731543e-03 5.27907212e+02] [-1.59898536e-03 9.99998688e-01 2.60015201e-04 -2.64680027e+01] [ 5.72772405e-03 -2.50852710e-04 9.99983565e-01 2.82995944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.460714057 meters Centerline goodness : 0.988012 with order 1 Centerline is valid? [True, True] Translation: X:527.97, Y:-26.48, Z:2.82 [[ 9.99855070e-01 -1.60323745e-02 -5.72733357e-03 5.27965872e+02] [ 1.60341236e-02 9.99871411e-01 2.59614875e-04 -2.64798535e+01] [ 5.72243486e-03 -3.51410023e-04 9.99983565e-01 2.82228632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.520714057 meters Centerline goodness : 0.988781 with order 1 Centerline is valid? [True, True] Translation: X:528.03, Y:-26.49, Z:2.82 [[ 9.99778695e-01 -2.02425012e-02 -5.72734252e-03 5.28027466e+02] [ 2.02443180e-02 9.99795029e-01 2.59417276e-04 -2.64862063e+01] [ 5.72091733e-03 -3.75306010e-04 9.99983565e-01 2.82266555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.580714057 meters Centerline goodness : 0.987621 with order 1 Centerline is valid? [True, True] Translation: X:528.09, Y:-26.49, Z:2.82 [[ 9.99619434e-01 -2.69849087e-02 -5.72732340e-03 5.28088074e+02] [ 2.69868380e-02 9.99635755e-01 2.59838865e-04 -2.64934488e+01] [ 5.71822552e-03 -4.14302328e-04 9.99983565e-01 2.82282887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.640714057 meters Centerline goodness : 0.987328 with order 1 Centerline is valid? [True, True] Translation: X:528.15, Y:-26.50, Z:2.83 [[ 9.99771029e-01 -2.06176444e-02 -5.72726213e-03 5.28149406e+02] [ 2.06194774e-02 9.99787362e-01 2.61182344e-04 -2.64991202e+01] [ 5.72065933e-03 -3.79215693e-04 9.99983565e-01 2.82548050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.700714057 meters Centerline goodness : 0.986645 with order 1 Centerline is valid? [True, True] Translation: X:528.21, Y:-26.50, Z:2.83 [[ 9.99782223e-01 -2.00675405e-02 -5.72724835e-03 5.28211415e+02] [ 2.00693663e-02 9.99798556e-01 2.61484128e-04 -2.65033599e+01] [ 5.72084729e-03 -3.76369427e-04 9.99983565e-01 2.82521379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.760714057 meters Centerline goodness : 0.987303 with order 1 Centerline is valid? [True, True] Translation: X:528.27, Y:-26.51, Z:2.82 [[ 9.99696149e-01 -2.39751801e-02 -5.72723106e-03 5.28272410e+02] [ 2.39770718e-02 9.99712474e-01 2.61862278e-04 -2.65059959e+01] [ 5.71930614e-03 -3.99104941e-04 9.99983565e-01 2.82025572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.820714057 meters Centerline goodness : 0.986560 with order 1 Centerline is valid? [True, True] Translation: X:528.33, Y:-26.51, Z:2.83 [[ 9.99833403e-01 -1.73310401e-02 -5.72721825e-03 5.28334577e+02] [ 1.73328249e-02 9.99849741e-01 2.62142162e-04 -2.65084992e+01] [ 5.72181449e-03 -3.61367361e-04 9.99983565e-01 2.82827463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.880714057 meters Centerline goodness : 0.986271 with order 1 Centerline is valid? [True, True] Translation: X:528.40, Y:-26.51, Z:2.83 [[ 9.99811459e-01 -1.85538776e-02 -5.72720146e-03 5.28396587e+02] [ 1.85556844e-02 9.99827794e-01 2.62508616e-04 -2.65111603e+01] [ 5.72134464e-03 -3.68731265e-04 9.99983565e-01 2.82822988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.940714057 meters Centerline goodness : 0.990529 with order 1 Centerline is valid? [True, True] Translation: X:528.46, Y:-26.50, Z:2.83 [[ 9.99518059e-01 -3.05098229e-02 -5.72718255e-03 5.28457872e+02] [ 3.05118273e-02 9.99534371e-01 2.62920526e-04 -2.64992072e+01] [ 5.71649415e-03 -4.37540619e-04 9.99983565e-01 2.82889601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.000714057 meters Centerline goodness : 0.986679 with order 1 Centerline is valid? [True, True] Translation: X:528.52, Y:-26.51, Z:2.83 [[ 9.99909521e-01 -1.21716939e-02 -5.72717792e-03 5.28518324e+02] [ 1.21733994e-02 9.99925867e-01 2.63021323e-04 -2.65135191e+01] [ 5.72355193e-03 -3.32716749e-04 9.99983565e-01 2.82652451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.060714057 meters Centerline goodness : 0.987581 with order 1 Centerline is valid? [True, True] Translation: X:528.58, Y:-26.51, Z:2.83 [[ 9.99945512e-01 -8.72767308e-03 -5.72717327e-03 5.28579915e+02] [ 8.72932284e-03 9.99961864e-01 2.63122374e-04 -2.65131904e+01] [ 5.72465842e-03 -3.13102382e-04 9.99983565e-01 2.83122393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.120714057 meters Centerline goodness : 0.987139 with order 1 Centerline is valid? [True, True] Translation: X:528.64, Y:-26.52, Z:2.83 [[ 9.99983235e-01 -8.54539542e-04 -5.72715961e-03 5.28641419e+02] [ 8.56062197e-04 9.99999599e-01 2.63419492e-04 -2.65165172e+01] [ 5.72693221e-03 -2.68317880e-04 9.99983565e-01 2.83291472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.180714057 meters Centerline goodness : 0.987227 with order 1 Centerline is valid? [True, True] Translation: X:528.70, Y:-26.52, Z:2.83 [[ 9.99975228e-01 4.09178834e-03 -5.72714998e-03 5.28699958e+02] [-4.09034545e-03 9.99991600e-01 2.63628585e-04 -2.65195924e+01] [ 5.72818059e-03 -2.40196033e-04 9.99983565e-01 2.82889185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.240714057 meters Centerline goodness : 0.985638 with order 1 Centerline is valid? [True, True] Translation: X:528.76, Y:-26.53, Z:2.82 [[ 9.99905427e-01 1.25034235e-02 -5.72721593e-03 5.28757751e+02] [-1.25021266e-02 9.99921811e-01 2.62188017e-04 -2.65270150e+01] [ 5.73004637e-03 -1.90560842e-04 9.99983565e-01 2.82253020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.300714057 meters Centerline goodness : 0.985734 with order 1 Centerline is valid? [True, True] Translation: X:528.82, Y:-26.53, Z:2.82 [[ 9.99897486e-01 1.31230919e-02 -5.72729008e-03 5.28815603e+02] [-1.31218145e-02 9.99913871e-01 2.60558189e-04 -2.65329659e+01] [ 5.73021612e-03 -1.85379040e-04 9.99983565e-01 2.82166957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.360714057 meters Centerline goodness : 0.991088 with order 1 Centerline is valid? [True, True] Translation: X:528.88, Y:-26.52, Z:2.84 [[ 9.99983587e-01 -1.56257047e-04 -5.72731747e-03 5.28875822e+02] [ 1.57748472e-04 9.99999954e-01 2.59954702e-04 -2.65193006e+01] [ 5.72727659e-03 -2.60853911e-04 9.99983565e-01 2.83612070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.420714057 meters Centerline goodness : 0.986500 with order 1 Centerline is valid? [True, True] Translation: X:528.93, Y:-26.55, Z:2.81 [[ 9.99770855e-01 2.06260957e-02 -5.72732673e-03 5.28933163e+02] [-2.06249459e-02 9.99787249e-01 2.59750544e-04 -2.65495329e+01] [ 5.73146588e-03 -1.41565219e-04 9.99983565e-01 2.81296213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.480714057 meters Centerline goodness : 0.986378 with order 1 Centerline is valid? [True, True] Translation: X:528.99, Y:-26.55, Z:2.82 [[ 9.99789523e-01 1.97004440e-02 -5.72739308e-03 5.28991166e+02] [-1.96992875e-02 9.99805917e-01 2.58279305e-04 -2.65523545e+01] [ 5.73136970e-03 -1.45399380e-04 9.99983565e-01 2.81768376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5407140570001 meters Centerline goodness : 0.986437 with order 1 Centerline is valid? [True, True] Translation: X:529.05, Y:-26.56, Z:2.82 [[ 9.99653654e-01 2.56859640e-02 -5.72741616e-03 5.29051098e+02] [-2.56849086e-02 9.99670055e-01 2.57766313e-04 -2.65566642e+01] [ 5.73214741e-03 -1.10568876e-04 9.99983565e-01 2.82451753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.600714057 meters Centerline goodness : 0.991853 with order 1 Centerline is valid? [True, True] Translation: X:529.11, Y:-26.54, Z:2.84 [[ 9.99975241e-01 4.08824470e-03 -5.72742574e-03 5.29110764e+02] [-4.08683649e-03 9.99991616e-01 2.57553294e-04 -2.65411424e+01] [ 5.72843066e-03 -2.34139864e-04 9.99983565e-01 2.84067245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.660714057 meters Centerline goodness : 0.986895 with order 1 Centerline is valid? [True, True] Translation: X:529.17, Y:-26.57, Z:2.82 [[ 9.99835540e-01 1.72072241e-02 -5.72743519e-03 5.29168440e+02] [-1.72060321e-02 9.99851932e-01 2.57343125e-04 -2.65699652e+01] [ 5.73101530e-03 -1.58754369e-04 9.99983565e-01 2.81893039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.720714057 meters Centerline goodness : 0.987415 with order 1 Centerline is valid? [True, True] Translation: X:529.23, Y:-26.57, Z:2.83 [[ 9.99976016e-01 3.89397659e-03 -5.72750150e-03 5.29226608e+02] [-3.89257489e-03 9.99992391e-01 2.55858671e-04 -2.65734457e+01] [ 5.72845423e-03 -2.33557806e-04 9.99983565e-01 2.82517783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.780714057 meters Centerline goodness : 0.987688 with order 1 Centerline is valid? [True, True] Translation: X:529.29, Y:-26.58, Z:2.83 [[ 9.99983584e-01 -1.64650874e-04 -5.72751529e-03 5.29285291e+02] [ 1.66117258e-04 9.99999954e-01 2.55549598e-04 -2.65774159e+01] [ 5.72747295e-03 -2.56496842e-04 9.99983565e-01 2.82701881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.840714057 meters Centerline goodness : 0.986845 with order 1 Centerline is valid? [True, True] Translation: X:529.34, Y:-26.58, Z:2.83 [[ 9.99973235e-01 -4.55246686e-03 -5.72753359e-03 5.29343598e+02] [ 4.55400271e-03 9.99989598e-01 2.55138839e-04 -2.65806918e+01] [ 5.72631250e-03 -2.81215213e-04 9.99983565e-01 2.83262277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.900714057 meters Centerline goodness : 0.986053 with order 1 Centerline is valid? [True, True] Translation: X:529.40, Y:-26.59, Z:2.83 [[ 9.99958140e-01 -7.13539707e-03 -5.72755167e-03 5.29402629e+02] [ 7.13697285e-03 9.99974499e-01 2.54732150e-04 -2.65856221e+01] [ 5.72558800e-03 -2.95598868e-04 9.99983565e-01 2.83464022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.960714057 meters Centerline goodness : 0.986674 with order 1 Centerline is valid? [True, True] Translation: X:529.46, Y:-26.59, Z:2.84 [[ 9.99905650e-01 -1.24854510e-02 -5.72756101e-03 5.29462886e+02] [ 1.24871131e-02 9.99922001e-01 2.54521973e-04 -2.65888182e+01] [ 5.72393645e-03 -3.26018661e-04 9.99983565e-01 2.83810340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.020714057 meters Centerline goodness : 0.986186 with order 1 Centerline is valid? [True, True] Translation: X:529.52, Y:-26.59, Z:2.84 [[ 9.99847799e-01 -1.64795012e-02 -5.72756101e-03 5.29524956e+02] [ 1.64812286e-02 9.99864143e-01 2.54521973e-04 -2.65930345e+01] [ 5.72258849e-03 -3.48880477e-04 9.99983565e-01 2.83763162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.080714057 meters Centerline goodness : 0.985765 with order 1 Centerline is valid? [True, True] Translation: X:529.59, Y:-26.60, Z:2.84 [[ 9.99807826e-01 -1.87485068e-02 -5.72749365e-03 5.29587172e+02] [ 1.87502798e-02 9.99824165e-01 2.56029006e-04 -2.65951228e+01] [ 5.72168639e-03 -3.63371912e-04 9.99983565e-01 2.84345646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.140714057 meters Centerline goodness : 0.986343 with order 1 Centerline is valid? [True, True] Translation: X:529.65, Y:-26.60, Z:2.84 [[ 9.99765559e-01 -2.08811870e-02 -5.72747450e-03 5.29649702e+02] [ 2.08829973e-02 9.99781894e-01 2.56456665e-04 -2.65969243e+01] [ 5.72087018e-03 -3.76003376e-04 9.99983565e-01 2.84439089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.200714057 meters Centerline goodness : 0.987138 with order 1 Centerline is valid? [True, True] Translation: X:529.71, Y:-26.60, Z:2.84 [[ 9.99670432e-01 -2.50244656e-02 -5.72745523e-03 5.29710681e+02] [ 2.50263461e-02 9.99686759e-01 2.56886161e-04 -2.65969574e+01] [ 5.71923272e-03 -4.00138776e-04 9.99983565e-01 2.84294698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.260714057 meters Centerline goodness : 0.986003 with order 1 Centerline is valid? [True, True] Translation: X:529.77, Y:-26.60, Z:2.85 [[ 9.99759325e-01 -2.11775577e-02 -5.72741716e-03 5.29773186e+02] [ 2.11793802e-02 9.99775659e-01 2.57732267e-04 -2.65977290e+01] [ 5.72067412e-03 -3.78973383e-04 9.99983565e-01 2.84843137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.320714057 meters Centerline goodness : 0.987243 with order 1 Centerline is valid? [True, True] Translation: X:529.84, Y:-26.60, Z:2.85 [[ 9.99807363e-01 -1.87732202e-02 -5.72739864e-03 5.29835107e+02] [ 1.87750057e-02 9.99823701e-01 2.58143065e-04 -2.65978515e+01] [ 5.72154273e-03 -3.65625280e-04 9.99983565e-01 2.84833697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.380714057 meters Centerline goodness : 0.986836 with order 1 Centerline is valid? [True, True] Translation: X:529.90, Y:-26.60, Z:2.85 [[ 9.99788329e-01 -1.97609139e-02 -5.72737998e-03 5.29897637e+02] [ 1.97627179e-02 9.99804665e-01 2.58556520e-04 -2.65965061e+01] [ 5.72115191e-03 -3.71690386e-04 9.99983565e-01 2.85079690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.440714057 meters Centerline goodness : 0.985870 with order 1 Centerline is valid? [True, True] Translation: X:529.96, Y:-26.60, Z:2.85 [[ 9.99748112e-01 -2.17004379e-02 -5.72736078e-03 5.29958711e+02] [ 2.17022760e-02 9.99764444e-01 2.58981143e-04 -2.65968124e+01] [ 5.72039166e-03 -3.83212673e-04 9.99983565e-01 2.84987394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.500714057 meters Centerline goodness : 0.986479 with order 1 Centerline is valid? [True, True] Translation: X:530.02, Y:-26.60, Z:2.84 [[ 9.99656847e-01 -2.55614047e-02 -5.72734660e-03 5.30021267e+02] [ 2.55633077e-02 9.99673172e-01 2.59294446e-04 -2.65973911e+01] [ 5.71884681e-03 -4.05615392e-04 9.99983565e-01 2.84405582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.560714057 meters Centerline goodness : 0.985942 with order 1 Centerline is valid? [True, True] Translation: X:530.08, Y:-26.60, Z:2.85 [[ 9.99704419e-01 -2.36277999e-02 -5.72732782e-03 5.30083885e+02] [ 2.36296737e-02 9.99720747e-01 2.59708467e-04 -2.65971615e+01] [ 5.71959211e-03 -3.94966590e-04 9.99983565e-01 2.84546274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.620714057 meters Centerline goodness : 0.985829 with order 1 Centerline is valid? [True, True] Translation: X:530.15, Y:-26.60, Z:2.85 [[ 9.99754577e-01 -2.14005525e-02 -5.72730805e-03 5.30145401e+02] [ 2.14023924e-02 9.99770909e-01 2.60143754e-04 -2.65977186e+01] [ 5.72042875e-03 -3.82658003e-04 9.99983565e-01 2.85074243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.680714057 meters Centerline goodness : 0.986212 with order 1 Centerline is valid? [True, True] Translation: X:530.21, Y:-26.60, Z:2.85 [[ 9.99781531e-01 -2.01019739e-02 -5.72729335e-03 5.30207489e+02] [ 2.01037945e-02 9.99797864e-01 2.60466922e-04 -2.65967744e+01] [ 5.72089976e-03 -3.75550346e-04 9.99983565e-01 2.85377058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.740714057 meters Centerline goodness : 0.985881 with order 1 Centerline is valid? [True, True] Translation: X:530.27, Y:-26.59, Z:2.86 [[ 9.99781781e-01 -2.00895085e-02 -5.72727385e-03 5.30269799e+02] [ 2.00913312e-02 9.99798115e-01 2.60894941e-04 -2.65941010e+01] [ 5.72087635e-03 -3.75906565e-04 9.99983565e-01 2.85900903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.800714057 meters Centerline goodness : 0.986263 with order 1 Centerline is valid? [True, True] Translation: X:530.33, Y:-26.60, Z:2.86 [[ 9.99818768e-01 -1.81557351e-02 -5.72725428e-03 5.30330908e+02] [ 1.81575287e-02 9.99835104e-01 2.61323947e-04 -2.65950265e+01] [ 5.72156535e-03 -3.65269371e-04 9.99983565e-01 2.85846806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.860714057 meters Centerline goodness : 0.986320 with order 1 Centerline is valid? [True, True] Translation: X:530.39, Y:-26.59, Z:2.86 [[ 9.99787839e-01 -1.97857511e-02 -5.72722131e-03 5.30391456e+02] [ 1.97875755e-02 9.99804172e-01 2.62044521e-04 -2.65946193e+01] [ 5.72091502e-03 -3.75316749e-04 9.99983565e-01 2.86315464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.920714057 meters Centerline goodness : 0.981118 with order 1 Centerline is valid? [True, True] Translation: X:530.45, Y:-26.59, Z:2.85 [[ 9.99679935e-01 -2.46419611e-02 -5.72722131e-03 5.30451589e+02] [ 2.46438648e-02 9.99696260e-01 2.62044521e-04 -2.65904203e+01] [ 5.71902443e-03 -4.03101517e-04 9.99983565e-01 2.84759830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.980714057 meters Centerline goodness : 0.985091 with order 1 Centerline is valid? [True, True] Translation: X:530.51, Y:-26.60, Z:2.85 [[ 9.99923731e-01 -1.09422060e-02 -5.72721465e-03 5.30512624e+02] [ 1.09438867e-02 9.99940080e-01 2.62190020e-04 -2.66041438e+01] [ 5.72400254e-03 -3.24848011e-04 9.99983565e-01 2.85186319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0407140570001 meters Centerline goodness : 0.985132 with order 1 Centerline is valid? [True, True] Translation: X:530.57, Y:-26.61, Z:2.85 [[ 9.99928382e-01 -1.05085362e-02 -5.72719470e-03 5.30574881e+02] [ 1.05102122e-02 9.99944732e-01 2.62625150e-04 -2.66051504e+01] [ 5.72411836e-03 -3.22800373e-04 9.99983565e-01 2.85467083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.100714057 meters Centerline goodness : 0.989115 with order 1 Centerline is valid? [True, True] Translation: X:530.64, Y:-26.60, Z:2.86 [[ 9.99792843e-01 -1.95312579e-02 -5.72717515e-03 5.30637303e+02] [ 1.95330838e-02 9.99809177e-01 2.63050732e-04 -2.65979493e+01] [ 5.72094456e-03 -3.74865631e-04 9.99983565e-01 2.85924761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.160714057 meters Centerline goodness : 0.985585 with order 1 Centerline is valid? [True, True] Translation: X:530.70, Y:-26.61, Z:2.86 [[ 9.99920083e-01 -1.12706578e-02 -5.72710194e-03 5.30698771e+02] [ 1.12723578e-02 9.99936430e-01 2.64635005e-04 -2.66120735e+01] [ 5.72375526e-03 -3.29171798e-04 9.99983565e-01 2.85506085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.220714057 meters Centerline goodness : 0.983777 with order 1 Centerline is valid? [True, True] Translation: X:530.76, Y:-26.62, Z:2.85 [[ 9.99914091e-01 -1.17903323e-02 -5.72708135e-03 5.30759299e+02] [ 1.17920433e-02 9.99930436e-01 2.65079910e-04 -2.66190571e+01] [ 5.72355757e-03 -3.32591129e-04 9.99983565e-01 2.85291606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.280714057 meters Centerline goodness : 0.984082 with order 1 Centerline is valid? [True, True] Translation: X:530.82, Y:-26.62, Z:2.86 [[ 9.99868098e-01 -1.51982662e-02 -5.72706642e-03 5.30821216e+02] [ 1.52000348e-02 9.99884438e-01 2.65402176e-04 -2.66200627e+01] [ 5.72237093e-03 -3.52418778e-04 9.99983565e-01 2.85700110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.340714057 meters Centerline goodness : 0.982695 with order 1 Centerline is valid? [True, True] Translation: X:530.88, Y:-26.62, Z:2.86 [[ 9.99857136e-01 -1.59031017e-02 -5.72704749e-03 5.30882862e+02] [ 1.59048841e-02 9.99873474e-01 2.65810028e-04 -2.66249419e+01] [ 5.72209566e-03 -3.56860080e-04 9.99983565e-01 2.85663676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.400714057 meters Centerline goodness : 0.983800 with order 1 Centerline is valid? [True, True] Translation: X:530.94, Y:-26.63, Z:2.85 [[ 9.99866040e-01 -1.53330499e-02 -5.72702829e-03 5.30944786e+02] [ 1.53348253e-02 9.99882379e-01 2.66223108e-04 -2.66294446e+01] [ 5.72227266e-03 -3.54010423e-04 9.99983565e-01 2.85453066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.460714057 meters Centerline goodness : 0.984866 with order 1 Centerline is valid? [True, True] Translation: X:531.01, Y:-26.63, Z:2.85 [[ 9.99830794e-01 -1.74809633e-02 -5.72700879e-03 5.31007121e+02] [ 1.74827762e-02 9.99847129e-01 2.66641776e-04 -2.66321079e+01] [ 5.72147214e-03 -3.66720672e-04 9.99983565e-01 2.85326002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.520714057 meters Centerline goodness : 0.982889 with order 1 Centerline is valid? [True, True] Translation: X:531.07, Y:-26.63, Z:2.85 [[ 9.99781157e-01 -2.01206303e-02 -5.72698919e-03 5.31068740e+02] [ 2.01224888e-02 9.99797487e-01 2.67062158e-04 -2.66345083e+01] [ 5.72045594e-03 -3.82244989e-04 9.99983565e-01 2.85239802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.580714057 meters Centerline goodness : 0.983063 with order 1 Centerline is valid? [True, True] Translation: X:531.13, Y:-26.63, Z:2.86 [[ 9.99652511e-01 -2.57305131e-02 -5.72696476e-03 5.31130934e+02] [ 2.57324661e-02 9.99668829e-01 2.67584953e-04 -2.66334663e+01] [ 5.71818306e-03 -4.14860897e-04 9.99983565e-01 2.85595975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.640714057 meters Centerline goodness : 0.984334 with order 1 Centerline is valid? [True, True] Translation: X:531.19, Y:-26.63, Z:2.86 [[ 9.99466965e-01 -3.21401199e-02 -5.72694088e-03 5.31193395e+02] [ 3.21421804e-02 9.99483271e-01 2.68095155e-04 -2.66340775e+01] [ 5.71536499e-03 -4.52028618e-04 9.99983565e-01 2.85702690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.700714057 meters Centerline goodness : 0.985041 with order 1 Centerline is valid? [True, True] Translation: X:531.26, Y:-26.63, Z:2.86 [[ 9.99281074e-01 -3.74771555e-02 -5.72692149e-03 5.31255265e+02] [ 3.74793054e-02 9.99297368e-01 2.68508621e-04 -2.66343663e+01] [ 5.71283464e-03 -4.82956623e-04 9.99983565e-01 2.85781679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.760714057 meters Centerline goodness : 0.984868 with order 1 Centerline is valid? [True, True] Translation: X:531.32, Y:-26.64, Z:2.86 [[ 9.99344073e-01 -3.57578943e-02 -5.72690213e-03 5.31316741e+02] [ 3.57600185e-02 9.99360370e-01 2.68920950e-04 -2.66352666e+01] [ 5.71362298e-03 -4.73538683e-04 9.99983565e-01 2.85588804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.820714057 meters Centerline goodness : 0.983241 with order 1 Centerline is valid? [True, True] Translation: X:531.38, Y:-26.63, Z:2.86 [[ 9.99621576e-01 -2.69055219e-02 -5.72686543e-03 5.31379427e+02] [ 2.69075062e-02 9.99637891e-01 2.69700221e-04 -2.66339781e+01] [ 5.71753526e-03 -4.23693827e-04 9.99983565e-01 2.85504439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.880714057 meters Centerline goodness : 0.982315 with order 1 Centerline is valid? [True, True] Translation: X:531.44, Y:-26.63, Z:2.85 [[ 9.99823286e-01 -1.79052806e-02 -5.72684606e-03 5.31441620e+02] [ 1.79071202e-02 9.99839618e-01 2.70111024e-04 -2.66333317e+01] [ 5.72109116e-03 -3.72614612e-04 9.99983565e-01 2.85357275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.940714057 meters Centerline goodness : 0.982240 with order 1 Centerline is valid? [True, True] Translation: X:531.50, Y:-26.63, Z:2.85 [[ 9.99919072e-01 -1.13601191e-02 -5.72682639e-03 5.31502684e+02] [ 1.13618542e-02 9.99935415e-01 2.70527309e-04 -2.66328552e+01] [ 5.72338330e-03 -3.35572782e-04 9.99983565e-01 2.85218227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.000714057 meters Centerline goodness : 0.982677 with order 1 Centerline is valid? [True, True] Translation: X:531.56, Y:-26.63, Z:2.85 [[ 9.99918746e-01 -1.13887701e-02 -5.72681185e-03 5.31564114e+02] [ 1.13905074e-02 9.99935089e-01 2.70834847e-04 -2.66321197e+01] [ 5.72335564e-03 -3.36044133e-04 9.99983565e-01 2.85277657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.060714057 meters Centerline goodness : 0.983446 with order 1 Centerline is valid? [True, True] Translation: X:531.63, Y:-26.63, Z:2.86 [[ 9.99880465e-01 -1.43617718e-02 -5.72679752e-03 5.31626579e+02] [ 1.43635594e-02 9.99896802e-01 2.71137544e-04 -2.66307358e+01] [ 5.72231251e-03 -3.53362329e-04 9.99983565e-01 2.85507955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.120714057 meters Centerline goodness : 0.983394 with order 1 Centerline is valid? [True, True] Translation: X:531.69, Y:-26.63, Z:2.86 [[ 9.99754695e-01 -2.13951669e-02 -5.72677774e-03 5.31687590e+02] [ 2.13970717e-02 9.99771020e-01 2.71554627e-04 -2.66285187e+01] [ 5.71965646e-03 -3.94024288e-04 9.99983565e-01 2.85881260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.180714057 meters Centerline goodness : 0.985169 with order 1 Centerline is valid? [True, True] Translation: X:531.75, Y:-26.63, Z:2.86 [[ 9.99656148e-01 -2.55888768e-02 -5.72671428e-03 5.31749956e+02] [ 2.55908577e-02 9.99672463e-01 2.72886394e-04 -2.66286996e+01] [ 5.71785571e-03 -4.19344091e-04 9.99983565e-01 2.86166881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.240714057 meters Centerline goodness : 0.986144 with order 1 Centerline is valid? [True, True] Translation: X:531.81, Y:-26.63, Z:2.87 [[ 9.99633642e-01 -2.64534740e-02 -5.72669495e-03 5.31810750e+02] [ 2.64554714e-02 9.99649955e-01 2.73291466e-04 -2.66282564e+01] [ 5.71746084e-03 -4.24693757e-04 9.99983565e-01 2.86561095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.300714057 meters Centerline goodness : 0.986235 with order 1 Centerline is valid? [True, True] Translation: X:531.87, Y:-26.63, Z:2.87 [[ 9.99697625e-01 -2.39136745e-02 -5.72668063e-03 5.31872842e+02] [ 2.39156321e-02 9.99713943e-01 2.73591209e-04 -2.66287271e+01] [ 5.71849990e-03 -4.10465668e-04 9.99983565e-01 2.86833483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.360714057 meters Centerline goodness : 0.987164 with order 1 Centerline is valid? [True, True] Translation: X:531.93, Y:-26.63, Z:2.87 [[ 9.99775640e-01 -2.03930372e-02 -5.72666085e-03 5.31933774e+02] [ 2.03949397e-02 9.99791964e-01 2.74004611e-04 -2.66291477e+01] [ 5.71988171e-03 -3.90738038e-04 9.99983565e-01 2.86772090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.420714057 meters Centerline goodness : 0.987055 with order 1 Centerline is valid? [True, True] Translation: X:532.00, Y:-26.63, Z:2.86 [[ 9.99811589e-01 -1.85470243e-02 -5.72664623e-03 5.31996095e+02] [ 1.85488984e-02 9.99827917e-01 2.74309798e-04 -2.66309399e+01] [ 5.72057314e-03 -3.80481094e-04 9.99983565e-01 2.86466508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.480714057 meters Centerline goodness : 0.987377 with order 1 Centerline is valid? [True, True] Translation: X:532.06, Y:-26.63, Z:2.87 [[ 9.99830507e-01 -1.74975264e-02 -5.72662695e-03 5.32058214e+02] [ 1.74993856e-02 9.99846836e-01 2.74711608e-04 -2.66327553e+01] [ 5.72094307e-03 -3.74877500e-04 9.99983565e-01 2.86666598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5407140570001 meters Centerline goodness : 0.987123 with order 1 Centerline is valid? [True, True] Translation: X:532.12, Y:-26.63, Z:2.86 [[ 9.99926019e-01 -1.07313900e-02 -5.72660711e-03 5.32119027e+02] [ 1.07331410e-02 9.99942360e-01 2.75124657e-04 -2.66343764e+01] [ 5.72332456e-03 -3.36568785e-04 9.99983565e-01 2.86239970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.600714057 meters Centerline goodness : 0.986927 with order 1 Centerline is valid? [True, True] Translation: X:532.18, Y:-26.64, Z:2.86 [[ 9.99973546e-01 -4.48479913e-03 -5.72659732e-03 5.32180193e+02] [ 4.48644921e-03 9.99989898e-01 2.75328256e-04 -2.66373388e+01] [ 5.72530468e-03 -3.01013060e-04 9.99983565e-01 2.86195292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.660714057 meters Centerline goodness : 0.986834 with order 1 Centerline is valid? [True, True] Translation: X:532.24, Y:-26.64, Z:2.86 [[ 9.99982359e-01 -1.57733642e-03 -5.72658738e-03 5.32239536e+02] [ 1.57894012e-03 9.99998716e-01 2.75534913e-04 -2.66408513e+01] [ 5.72614541e-03 -2.84571991e-04 9.99983565e-01 2.86352252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.720714057 meters Centerline goodness : 0.986881 with order 1 Centerline is valid? [True, True] Translation: X:532.30, Y:-26.64, Z:2.87 [[ 9.99983603e-01 3.74840487e-06 -5.72658688e-03 5.32297824e+02] [-2.17050610e-06 9.99999962e-01 2.75545324e-04 -2.66425835e+01] [ 5.72658769e-03 -2.75528376e-04 9.99983565e-01 2.86728542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.780714057 meters Centerline goodness : 0.985579 with order 1 Centerline is valid? [True, True] Translation: X:532.36, Y:-26.65, Z:2.86 [[ 9.99952201e-01 7.92469060e-03 -5.72665599e-03 5.32356726e+02] [-7.92325059e-03 9.99968573e-01 2.74101260e-04 -2.66519785e+01] [ 5.72864819e-03 -2.28714428e-04 9.99983565e-01 2.86201548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.840714057 meters Centerline goodness : 0.985069 with order 1 Centerline is valid? [True, True] Translation: X:532.41, Y:-26.66, Z:2.86 [[ 9.99937527e-01 9.59934788e-03 -5.72672147e-03 5.32414024e+02] [-9.59794315e-03 9.99953901e-01 2.72726448e-04 -2.66596590e+01] [ 5.72907547e-03 -2.17744663e-04 9.99983565e-01 2.85907900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.900714057 meters Centerline goodness : 0.984850 with order 1 Centerline is valid? [True, True] Translation: X:532.47, Y:-26.67, Z:2.86 [[ 9.99910271e-01 1.21101221e-02 -5.72675359e-03 5.32472427e+02] [-1.21087624e-02 9.99926649e-01 2.72050180e-04 -2.66650585e+01] [ 5.72962809e-03 -2.02681871e-04 9.99983565e-01 2.85701117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.960714057 meters Centerline goodness : 0.984441 with order 1 Centerline is valid? [True, True] Translation: X:532.53, Y:-26.67, Z:2.85 [[ 9.99859353e-01 1.57632060e-02 -5.72677339e-03 5.32529874e+02] [-1.57619085e-02 9.99875737e-01 2.71632834e-04 -2.66719159e+01] [ 5.73034357e-03 -1.81329751e-04 9.99983565e-01 2.85336367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.020714057 meters Centerline goodness : 0.985139 with order 1 Centerline is valid? [True, True] Translation: X:532.59, Y:-26.68, Z:2.85 [[ 9.99798272e-01 1.92514531e-02 -5.72679764e-03 5.32588758e+02] [-1.92502157e-02 9.99814661e-01 2.71120599e-04 -2.66769162e+01] [ 5.73095570e-03 -1.60823816e-04 9.99983565e-01 2.85404205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.080714057 meters Centerline goodness : 0.984895 with order 1 Centerline is valid? [True, True] Translation: X:532.65, Y:-26.68, Z:2.86 [[ 9.99769825e-01 2.06761071e-02 -5.72681705e-03 5.32646567e+02] [-2.06748954e-02 9.99786215e-01 2.70709933e-04 -2.66802676e+01] [ 5.73118997e-03 -1.52246278e-04 9.99983565e-01 2.85722083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.140714057 meters Centerline goodness : 0.984150 with order 1 Centerline is valid? [True, True] Translation: X:532.70, Y:-26.69, Z:2.86 [[ 9.99740142e-01 2.20647148e-02 -5.72684076e-03 5.32704795e+02] [-2.20635288e-02 9.99756534e-01 2.70207518e-04 -2.66854464e+01] [ 5.73140852e-03 -1.43782987e-04 9.99983565e-01 2.85810981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.200714057 meters Centerline goodness : 0.981546 with order 1 Centerline is valid? [True, True] Translation: X:532.76, Y:-26.70, Z:2.85 [[ 9.99556483e-01 2.92239711e-02 -5.72685984e-03 5.32764380e+02] [-2.92229048e-02 9.99572883e-01 2.69802398e-04 -2.67026242e+01] [ 5.73229850e-03 -1.02327256e-04 9.99983565e-01 2.84614334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.260714057 meters Centerline goodness : 0.990503 with order 1 Centerline is valid? [True, True] Translation: X:532.83, Y:-26.68, Z:2.88 [[ 9.99978452e-01 -3.20911090e-03 -5.72686044e-03 5.32825651e+02] [ 3.21070847e-03 9.99994809e-01 2.69789759e-04 -2.66772955e+01] [ 5.72596493e-03 -2.88171225e-04 9.99983565e-01 2.88037489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.320714057 meters Centerline goodness : 0.991118 with order 1 Centerline is valid? [True, True] Translation: X:532.88, Y:-26.68, Z:2.88 [[ 9.99959784e-01 -6.90176157e-03 -5.72686269e-03 5.32884895e+02] [ 6.90341927e-03 9.99976135e-01 2.69742063e-04 -2.66841418e+01] [ 5.72486432e-03 -3.09266149e-04 9.99983565e-01 2.88087623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.380714057 meters Centerline goodness : 0.990644 with order 1 Centerline is valid? [True, True] Translation: X:532.95, Y:-26.69, Z:2.88 [[ 9.99919437e-01 -1.13279456e-02 -5.72687247e-03 5.32945939e+02] [ 1.13296744e-02 9.99935781e-01 2.69534263e-04 -2.66900782e+01] [ 5.72345142e-03 -3.34396149e-04 9.99983565e-01 2.88114565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.440714057 meters Centerline goodness : 0.991913 with order 1 Centerline is valid? [True, True] Translation: X:533.01, Y:-26.70, Z:2.88 [[ 9.99845162e-01 -1.66389371e-02 -5.72686273e-03 5.33007793e+02] [ 1.66407540e-02 9.99861497e-01 2.69740952e-04 -2.66957660e+01] [ 5.72158134e-03 -3.64998499e-04 9.99983565e-01 2.88207680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.500714057 meters Centerline goodness : 0.990884 with order 1 Centerline is valid? [True, True] Translation: X:533.07, Y:-26.70, Z:2.88 [[ 9.99833240e-01 -1.73406062e-02 -5.72679323e-03 5.33068322e+02] [ 1.73424429e-02 9.99849572e-01 2.71208474e-04 -2.67036930e+01] [ 5.72122884e-03 -3.70479831e-04 9.99983565e-01 2.88274064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.560714057 meters Centerline goodness : 0.991424 with order 1 Centerline is valid? [True, True] Translation: X:533.13, Y:-26.71, Z:2.88 [[ 9.99812502e-01 -1.84976792e-02 -5.72677841e-03 5.33130408e+02] [ 1.84995366e-02 9.99828832e-01 2.71521141e-04 -2.67066118e+01] [ 5.72077566e-03 -3.77412978e-04 9.99983565e-01 2.88369990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.620714057 meters Centerline goodness : 0.990605 with order 1 Centerline is valid? [True, True] Translation: X:533.19, Y:-26.71, Z:2.88 [[ 9.99862231e-01 -1.55795810e-02 -5.72675886e-03 5.33192167e+02] [ 1.55813930e-02 9.99878566e-01 2.71932848e-04 -2.67118492e+01] [ 5.72182683e-03 -3.61126264e-04 9.99983565e-01 2.88323769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.680714057 meters Centerline goodness : 0.989634 with order 1 Centerline is valid? [True, True] Translation: X:533.25, Y:-26.72, Z:2.88 [[ 9.99891763e-01 -1.35523594e-02 -5.72673935e-03 5.33254070e+02] [ 1.35541406e-02 9.99908101e-01 2.72343036e-04 -2.67168136e+01] [ 5.72252218e-03 -3.49934589e-04 9.99983565e-01 2.88203543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.740714057 meters Centerline goodness : 0.982370 with order 1 Centerline is valid? [True, True] Translation: X:533.31, Y:-26.75, Z:2.86 [[ 9.99931916e-01 1.01670478e-02 -5.72671963e-03 5.33312932e+02] [-1.01656522e-02 9.99948291e-01 2.72757189e-04 -2.67491843e+01] [ 5.72919664e-03 -2.14522779e-04 9.99983565e-01 2.85595898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.800714057 meters Centerline goodness : 0.983520 with order 1 Centerline is valid? [True, True] Translation: X:533.37, Y:-26.75, Z:2.86 [[ 9.99940915e-01 9.23965586e-03 -5.72671888e-03 5.33372499e+02] [-9.23824497e-03 9.99957289e-01 2.72772742e-04 -2.67496424e+01] [ 5.72899462e-03 -2.19851793e-04 9.99983565e-01 2.85950192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.860714057 meters Centerline goodness : 0.982371 with order 1 Centerline is valid? [True, True] Translation: X:533.43, Y:-26.73, Z:2.87 [[ 9.99962827e-01 -6.44581765e-03 -5.72672867e-03 5.33433154e+02] [ 6.44748403e-03 9.99979178e-01 2.72567226e-04 -2.67290671e+01] [ 5.72485250e-03 -3.09480085e-04 9.99983565e-01 2.87354625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.920714057 meters Centerline goodness : 0.982258 with order 1 Centerline is valid? [True, True] Translation: X:533.49, Y:-26.73, Z:2.87 [[ 9.99969492e-01 -5.31217553e-03 -5.72673496e-03 5.33492895e+02] [ 5.31382261e-03 9.99985844e-01 2.72434856e-04 -2.67325943e+01] [ 5.72520668e-03 -3.02857398e-04 9.99983565e-01 2.87449005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.980714057 meters Centerline goodness : 0.981250 with order 1 Centerline is valid? [True, True] Translation: X:533.55, Y:-26.74, Z:2.88 [[ 9.99929407e-01 -1.04108190e-02 -5.72672866e-03 5.33552183e+02] [ 1.04125502e-02 9.99945751e-01 2.72567329e-04 -2.67384163e+01] [ 5.72358034e-03 -3.32177937e-04 9.99983565e-01 2.87654510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0407140570001 meters Centerline goodness : 0.987580 with order 1 Centerline is valid? [True, True] Translation: X:533.61, Y:-26.75, Z:2.88 [[ 9.99878332e-01 -1.45094876e-02 -5.72673492e-03 5.33614436e+02] [ 1.45112850e-02 9.99894669e-01 2.72435745e-04 -2.67479231e+01] [ 5.72217881e-03 -3.55504880e-04 9.99983565e-01 2.87572336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.100714057 meters Centerline goodness : 0.987790 with order 1 Centerline is valid? [True, True] Translation: X:533.68, Y:-26.75, Z:2.87 [[ 9.99789634e-01 -1.96950081e-02 -5.72670786e-03 5.33675586e+02] [ 1.96968934e-02 9.99805960e-01 2.73003397e-04 -2.67527331e+01] [ 5.72021984e-03 -3.85744320e-04 9.99983565e-01 2.87434118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.160714057 meters Centerline goodness : 0.988059 with order 1 Centerline is valid? [True, True] Translation: X:533.74, Y:-26.76, Z:2.87 [[ 9.99568811e-01 -2.87992384e-02 -5.72669094e-03 5.33738196e+02] [ 2.88012744e-02 9.99585120e-01 2.73357790e-04 -2.67574855e+01] [ 5.71644255e-03 -4.38175918e-04 9.99983565e-01 2.87189881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.220714057 meters Centerline goodness : 0.988520 with order 1 Centerline is valid? [True, True] Translation: X:533.80, Y:-26.76, Z:2.87 [[ 9.99495473e-01 -3.12410785e-02 -5.72665695e-03 5.33800959e+02] [ 3.12431584e-02 9.99511776e-01 2.74068118e-04 -2.67605879e+01] [ 5.71529887e-03 -4.52848693e-04 9.99983565e-01 2.87187657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.280714057 meters Centerline goodness : 0.980681 with order 1 Centerline is valid? [True, True] Translation: X:533.86, Y:-26.76, Z:2.87 [[ 9.99311142e-01 -3.66667143e-02 -5.72662245e-03 5.33864268e+02] [ 3.66688867e-02 9.99327432e-01 2.74787081e-04 -2.67579802e+01] [ 5.71269537e-03 -4.84586662e-04 9.99983565e-01 2.87118580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.340714057 meters Centerline goodness : 0.988629 with order 1 Centerline is valid? [True, True] Translation: X:533.93, Y:-26.77, Z:2.87 [[ 9.99383048e-01 -3.46515560e-02 -5.72657465e-03 5.33926604e+02] [ 3.46537012e-02 9.99399342e-01 2.75779522e-04 -2.67654879e+01] [ 5.71357875e-03 -4.74056387e-04 9.99983565e-01 2.87286989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.400714057 meters Centerline goodness : 0.988095 with order 1 Centerline is valid? [True, True] Translation: X:533.99, Y:-26.77, Z:2.87 [[ 9.99316256e-01 -3.65270764e-02 -5.72653251e-03 5.33989959e+02] [ 3.65292571e-02 9.99332546e-01 2.76651854e-04 -2.67664411e+01] [ 5.71260503e-03 -4.85648673e-04 9.99983565e-01 2.87349946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.460714057 meters Centerline goodness : 0.988341 with order 1 Centerline is valid? [True, True] Translation: X:534.05, Y:-26.77, Z:2.87 [[ 9.99266777e-01 -3.78565270e-02 -5.72647540e-03 5.34053280e+02] [ 3.78587361e-02 9.99283062e-01 2.77829038e-04 -2.67699107e+01] [ 5.71185223e-03 -4.94422448e-04 9.99983565e-01 2.87246835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.520714057 meters Centerline goodness : 0.988485 with order 1 Centerline is valid? [True, True] Translation: X:534.12, Y:-26.77, Z:2.87 [[ 9.99284202e-01 -3.73937235e-02 -5.72643933e-03 5.34116719e+02] [ 3.73959293e-02 9.99300489e-01 2.78570497e-04 -2.67729422e+01] [ 5.71201683e-03 -4.92516617e-04 9.99983565e-01 2.87245253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.580714057 meters Centerline goodness : 0.987002 with order 1 Centerline is valid? [True, True] Translation: X:534.18, Y:-26.78, Z:2.87 [[ 9.99597764e-01 -2.77762192e-02 -5.72640415e-03 5.34179687e+02] [ 2.77782723e-02 9.99614070e-01 2.79291739e-04 -2.67811491e+01] [ 5.71643649e-03 -4.38249012e-04 9.99983565e-01 2.87074133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.640714057 meters Centerline goodness : 0.988804 with order 1 Centerline is valid? [True, True] Translation: X:534.24, Y:-26.77, Z:2.87 [[ 9.99517938e-01 -3.05139469e-02 -5.72636922e-03 5.34240984e+02] [ 3.05160487e-02 9.99534238e-01 2.80006103e-04 -2.67715214e+01] [ 5.71515800e-03 -4.54617285e-04 9.99983565e-01 2.87154437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.700714057 meters Centerline goodness : 0.989152 with order 1 Centerline is valid? [True, True] Translation: X:534.30, Y:-26.77, Z:2.87 [[ 9.99612131e-01 -2.72543062e-02 -5.72635241e-03 5.34304598e+02] [ 2.72563568e-02 9.99628437e-01 2.80349487e-04 -2.67715975e+01] [ 5.71658398e-03 -4.36320253e-04 9.99983565e-01 2.87335070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.760714057 meters Centerline goodness : 0.979009 with order 1 Centerline is valid? [True, True] Translation: X:534.37, Y:-26.77, Z:2.87 [[ 9.99641097e-01 -2.61703225e-02 -5.72631648e-03 5.34367151e+02] [ 2.61723596e-02 9.99657406e-01 2.81081382e-04 -2.67716921e+01] [ 5.71699869e-03 -4.30851715e-04 9.99983565e-01 2.87314180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.820714057 meters Centerline goodness : 0.987610 with order 1 Centerline is valid? [True, True] Translation: X:534.43, Y:-26.78, Z:2.87 [[ 9.99866036e-01 -1.53336236e-02 -5.72628175e-03 5.34428506e+02] [ 1.53354878e-02 9.99882365e-01 2.81787273e-04 -2.67848833e+01] [ 5.72128731e-03 -3.69564847e-04 9.99983565e-01 2.87450131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.880714057 meters Centerline goodness : 0.986426 with order 1 Centerline is valid? [True, True] Translation: X:534.49, Y:-26.79, Z:2.87 [[ 9.99858202e-01 -1.58362051e-02 -5.72625298e-03 5.34490926e+02] [ 1.58380809e-02 9.99874530e-01 2.82370588e-04 -2.67869432e+01] [ 5.72106283e-03 -3.73023406e-04 9.99983565e-01 2.87379803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.940714057 meters Centerline goodness : 0.987965 with order 1 Centerline is valid? [True, True] Translation: X:534.55, Y:-26.79, Z:2.87 [[ 9.99844447e-01 -1.66820995e-02 -5.72623290e-03 5.34552054e+02] [ 1.66839914e-02 9.99860773e-01 2.82777275e-04 -2.67884659e+01] [ 5.72071833e-03 -3.78269709e-04 9.99983565e-01 2.87491679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.000714057 meters Centerline goodness : 0.988461 with order 1 Centerline is valid? [True, True] Translation: X:534.61, Y:-26.79, Z:2.87 [[ 9.99854130e-01 -1.60912474e-02 -5.72621799e-03 5.34614473e+02] [ 1.60931313e-02 9.99870457e-01 2.83078757e-04 -2.67913582e+01] [ 5.72092111e-03 -3.75190243e-04 9.99983565e-01 2.87272607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.060714057 meters Centerline goodness : 0.988252 with order 1 Centerline is valid? [True, True] Translation: X:534.68, Y:-26.79, Z:2.87 [[ 9.99865257e-01 -1.53843788e-02 -5.72619839e-03 5.34676620e+02] [ 1.53862534e-02 9.99881584e-01 2.83474861e-04 -2.67937384e+01] [ 5.72115923e-03 -3.71541404e-04 9.99983565e-01 2.87202454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.120714057 meters Centerline goodness : 0.987709 with order 1 Centerline is valid? [True, True] Translation: X:534.74, Y:-26.80, Z:2.87 [[ 9.99832055e-01 -1.74090075e-02 -5.72617878e-03 5.34738938e+02] [ 1.74109175e-02 9.99848378e-01 2.83870399e-04 -2.67958777e+01] [ 5.72036866e-03 -3.83520751e-04 9.99983565e-01 2.87166339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.180714057 meters Centerline goodness : 0.986812 with order 1 Centerline is valid? [True, True] Translation: X:534.80, Y:-26.80, Z:2.87 [[ 9.99766017e-01 -2.08595896e-02 -5.72615796e-03 5.34801441e+02] [ 2.08615583e-02 9.99782334e-01 2.84289725e-04 -2.67977614e+01] [ 5.71898140e-03 -4.03679784e-04 9.99983565e-01 2.87344468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.240714057 meters Centerline goodness : 0.987076 with order 1 Centerline is valid? [True, True] Translation: X:534.86, Y:-26.80, Z:2.87 [[ 9.99711234e-01 -2.33379735e-02 -5.72613220e-03 5.34863574e+02] [ 2.33399856e-02 9.99727545e-01 2.84807608e-04 -2.68002407e+01] [ 5.71792525e-03 -4.18373208e-04 9.99983565e-01 2.87390023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.300714057 meters Centerline goodness : 0.987275 with order 1 Centerline is valid? [True, True] Translation: X:534.93, Y:-26.80, Z:2.87 [[ 9.99765701e-01 -2.08747320e-02 -5.72611205e-03 5.34926109e+02] [ 2.08767062e-02 9.99782017e-01 2.85212216e-04 -2.67990543e+01] [ 5.71891012e-03 -4.04687750e-04 9.99983565e-01 2.87470979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.360714057 meters Centerline goodness : 0.986975 with order 1 Centerline is valid? [True, True] Translation: X:534.99, Y:-26.80, Z:2.88 [[ 9.99809384e-01 -1.86657041e-02 -5.72609226e-03 5.34988199e+02] [ 1.86676445e-02 9.99825704e-01 2.85608998e-04 -2.67976629e+01] [ 5.71976313e-03 -3.92447211e-04 9.99983565e-01 2.87702724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.420714057 meters Centerline goodness : 0.986268 with order 1 Centerline is valid? [True, True] Translation: X:535.05, Y:-26.80, Z:2.88 [[ 9.99912938e-01 -1.18881861e-02 -5.72607202e-03 5.35050264e+02] [ 1.18900182e-02 9.99929270e-01 2.86014194e-04 -2.67985094e+01] [ 5.72226682e-03 -3.54072393e-04 9.99983565e-01 2.87797094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.480714057 meters Centerline goodness : 0.985677 with order 1 Centerline is valid? [True, True] Translation: X:535.11, Y:-26.80, Z:2.88 [[ 9.99953353e-01 -7.77846691e-03 -5.72605173e-03 5.35111960e+02] [ 7.78023415e-03 9.99969693e-01 2.86419725e-04 -2.67993371e+01] [ 5.72365028e-03 -3.30956387e-04 9.99983565e-01 2.87837201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5407140570001 meters Centerline goodness : 0.986202 with order 1 Centerline is valid? [True, True] Translation: X:535.17, Y:-26.80, Z:2.88 [[ 9.99938236e-01 -9.52554172e-03 -5.72603674e-03 5.35173459e+02] [ 9.52733921e-03 9.99954573e-01 2.86719035e-04 -2.68012584e+01] [ 5.72304547e-03 -3.41255221e-04 9.99983565e-01 2.87888422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.600714057 meters Centerline goodness : 0.986305 with order 1 Centerline is valid? [True, True] Translation: X:535.24, Y:-26.80, Z:2.88 [[ 9.99914839e-01 -1.17271726e-02 -5.72602702e-03 5.35235888e+02] [ 1.17290071e-02 9.99931172e-01 2.86913195e-04 -2.68037655e+01] [ 5.72226822e-03 -3.54049373e-04 9.99983565e-01 2.88141654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.660714057 meters Centerline goodness : 0.986747 with order 1 Centerline is valid? [True, True] Translation: X:535.30, Y:-26.80, Z:2.88 [[ 9.99850894e-01 -1.62912105e-02 -5.72600776e-03 5.35297913e+02] [ 1.62931218e-02 9.99867217e-01 2.87296961e-04 -2.68037662e+01] [ 5.72056703e-03 -3.80548665e-04 9.99983565e-01 2.88258891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.720714057 meters Centerline goodness : 0.986138 with order 1 Centerline is valid? [True, True] Translation: X:535.36, Y:-26.81, Z:2.88 [[ 9.99768370e-01 -2.07465624e-02 -5.72593556e-03 5.35358841e+02] [ 2.07485546e-02 9.99784684e-01 2.88728884e-04 -2.68063153e+01] [ 5.71871254e-03 -4.07466892e-04 9.99983565e-01 2.88096801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.780714057 meters Centerline goodness : 0.986440 with order 1 Centerline is valid? [True, True] Translation: X:535.42, Y:-26.81, Z:2.88 [[ 9.99721708e-01 -2.28849193e-02 -5.72592022e-03 5.35422072e+02] [ 2.28869480e-02 9.99738018e-01 2.89032636e-04 -2.68080014e+01] [ 5.71780565e-03 -4.20001039e-04 9.99983565e-01 2.88421613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.840714057 meters Centerline goodness : 0.985326 with order 1 Centerline is valid? [True, True] Translation: X:535.48, Y:-26.81, Z:2.88 [[ 9.99764162e-01 -2.09483854e-02 -5.72588860e-03 5.35484619e+02] [ 2.09503861e-02 9.99780475e-01 2.89657675e-04 -2.68110728e+01] [ 5.71856377e-03 -4.09548940e-04 9.99983565e-01 2.88493567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.900714057 meters Centerline goodness : 0.985135 with order 1 Centerline is valid? [True, True] Translation: X:535.55, Y:-26.81, Z:2.89 [[ 9.99783384e-01 -2.00099944e-02 -5.72586763e-03 5.35547120e+02] [ 2.00119822e-02 9.99799698e-01 2.90071637e-04 -2.68127131e+01] [ 5.71891640e-03 -4.04594764e-04 9.99983565e-01 2.88848463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.960714057 meters Centerline goodness : 0.984827 with order 1 Centerline is valid? [True, True] Translation: X:535.61, Y:-26.82, Z:2.89 [[ 9.99814998e-01 -1.83625802e-02 -5.72584642e-03 5.35608856e+02] [ 1.83645435e-02 9.99831315e-01 2.90489816e-04 -2.68159772e+01] [ 5.71954641e-03 -3.95588630e-04 9.99983565e-01 2.88552657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.020714057 meters Centerline goodness : 0.985865 with order 1 Centerline is valid? [True, True] Translation: X:535.67, Y:-26.82, Z:2.89 [[ 9.99735975e-01 -2.22530046e-02 -5.72582451e-03 5.35670619e+02] [ 2.22550338e-02 9.99752284e-01 2.90920993e-04 -2.68157921e+01] [ 5.71793226e-03 -4.18272600e-04 9.99983565e-01 2.88592414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.080714057 meters Centerline goodness : 0.986557 with order 1 Centerline is valid? [True, True] Translation: X:535.73, Y:-26.82, Z:2.88 [[ 9.99690879e-01 -2.41942554e-02 -5.72580297e-03 5.35733133e+02] [ 2.41963187e-02 9.99707184e-01 2.91344254e-04 -2.68201492e+01] [ 5.71707751e-03 -4.29797547e-04 9.99983565e-01 2.88406862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.140714057 meters Centerline goodness : 0.986192 with order 1 Centerline is valid? [True, True] Translation: X:535.80, Y:-26.82, Z:2.88 [[ 9.99650973e-01 -2.57904591e-02 -5.72578159e-03 5.35795637e+02] [ 2.57925508e-02 9.99667274e-01 2.91763959e-04 -2.68225263e+01] [ 5.71635175e-03 -4.39344638e-04 9.99983565e-01 2.88467321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.200714057 meters Centerline goodness : 0.987195 with order 1 Centerline is valid? [True, True] Translation: X:535.86, Y:-26.82, Z:2.88 [[ 9.99709158e-01 -2.34267954e-02 -5.72572878e-03 5.35857860e+02] [ 2.34288545e-02 9.99725464e-01 2.92796691e-04 -2.68249798e+01] [ 5.71729757e-03 -4.26858800e-04 9.99983565e-01 2.87770931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.260714057 meters Centerline goodness : 0.986153 with order 1 Centerline is valid? [True, True] Translation: X:535.92, Y:-26.83, Z:2.88 [[ 9.99890264e-01 -1.36629259e-02 -5.72570743e-03 5.35919194e+02] [ 1.36648280e-02 9.99906589e-01 2.93213518e-04 -2.68272059e+01] [ 5.72116643e-03 -3.71422150e-04 9.99983565e-01 2.88208358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.320714057 meters Centerline goodness : 0.985902 with order 1 Centerline is valid? [True, True] Translation: X:535.98, Y:-26.83, Z:2.87 [[ 9.99922668e-01 -1.10396858e-02 -5.72567869e-03 5.35981426e+02] [ 1.10415483e-02 9.99938997e-01 2.93773722e-04 -2.68312926e+01] [ 5.72208624e-03 -3.56971361e-04 9.99983565e-01 2.87438813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.380714057 meters Centerline goodness : 0.986181 with order 1 Centerline is valid? [True, True] Translation: X:536.04, Y:-26.84, Z:2.87 [[ 9.99955234e-01 -7.53306053e-03 -5.72565699e-03 5.36042377e+02] [ 7.53486813e-03 9.99971569e-01 2.94196011e-04 -2.68369236e+01] [ 5.72327801e-03 -3.37324911e-04 9.99983565e-01 2.87193117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.440714057 meters Centerline goodness : 0.985538 with order 1 Centerline is valid? [True, True] Translation: X:536.10, Y:-26.84, Z:2.88 [[ 9.99964212e-01 -6.22825185e-03 -5.72564090e-03 5.36103167e+02] [ 6.23003992e-03 9.99980550e-01 2.94508749e-04 -2.68413114e+01] [ 5.72369526e-03 -3.30169181e-04 9.99983565e-01 2.87734379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.500714057 meters Centerline goodness : 0.984946 with order 1 Centerline is valid? [True, True] Translation: X:536.16, Y:-26.85, Z:2.87 [[ 9.99970640e-01 -5.09284539e-03 -5.72563560e-03 5.36163620e+02] [ 5.09461550e-03 9.99986979e-01 2.94611734e-04 -2.68513431e+01] [ 5.72406064e-03 -3.23772996e-04 9.99983565e-01 2.86861433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.560714057 meters Centerline goodness : 0.985218 with order 1 Centerline is valid? [True, True] Translation: X:536.22, Y:-26.86, Z:2.87 [[ 9.99955245e-01 -7.53159580e-03 -5.72563028e-03 5.36223748e+02] [ 7.53340633e-03 9.99971580e-01 2.94715090e-04 -2.68566818e+01] [ 5.72324789e-03 -3.37835400e-04 9.99983565e-01 2.86797862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.620714057 meters Centerline goodness : 0.985394 with order 1 Centerline is valid? [True, True] Translation: X:536.29, Y:-26.86, Z:2.87 [[ 9.99940028e-01 -9.33585843e-03 -5.72563028e-03 5.36285280e+02] [ 9.33769844e-03 9.99956359e-01 2.94715090e-04 -2.68598663e+01] [ 5.72262900e-03 -3.48161625e-04 9.99983565e-01 2.87230002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.680714057 meters Centerline goodness : 0.985498 with order 1 Centerline is valid? [True, True] Translation: X:536.35, Y:-26.86, Z:2.87 [[ 9.99959235e-01 -6.98182618e-03 -5.72561972e-03 5.36346837e+02] [ 6.98362890e-03 9.99975571e-01 2.94920125e-04 -2.68637057e+01] [ 5.72342077e-03 -3.34893706e-04 9.99983565e-01 2.87483554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.740714057 meters Centerline goodness : 0.985560 with order 1 Centerline is valid? [True, True] Translation: X:536.41, Y:-26.87, Z:2.88 [[ 9.99966532e-01 -5.84397731e-03 -5.72560902e-03 5.36408486e+02] [ 5.84576263e-03 9.99982870e-01 2.95127715e-04 -2.68664158e+01] [ 5.72378622e-03 -3.28588389e-04 9.99983565e-01 2.87604873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.800714057 meters Centerline goodness : 0.985409 with order 1 Centerline is valid? [True, True] Translation: X:536.47, Y:-26.87, Z:2.87 [[ 9.99970468e-01 -5.12638475e-03 -5.72559826e-03 5.36469197e+02] [ 5.12815954e-03 9.99986807e-01 2.95336461e-04 -2.68710608e+01] [ 5.72400871e-03 -3.24689520e-04 9.99983565e-01 2.87449713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.860714057 meters Centerline goodness : 0.985239 with order 1 Centerline is valid? [True, True] Translation: X:536.53, Y:-26.88, Z:2.87 [[ 9.99973367e-01 -4.52577790e-03 -5.72558315e-03 5.36530020e+02] [ 4.52754454e-03 9.99989707e-01 2.95628917e-04 -2.68751728e+01] [ 5.72418627e-03 -3.21543876e-04 9.99983565e-01 2.87299296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.920714057 meters Centerline goodness : 0.985255 with order 1 Centerline is valid? [True, True] Translation: X:536.59, Y:-26.88, Z:2.87 [[ 9.99963369e-01 -6.36223722e-03 -5.72558315e-03 5.36590053e+02] [ 6.36403387e-03 9.99979706e-01 2.95628917e-04 -2.68792234e+01] [ 5.72358610e-03 -3.32055893e-04 9.99983565e-01 2.87245451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.980714057 meters Centerline goodness : 0.984193 with order 1 Centerline is valid? [True, True] Translation: X:536.65, Y:-26.88, Z:2.87 [[ 9.99963434e-01 -6.35206835e-03 -5.72558315e-03 5.36650356e+02] [ 6.35386483e-03 9.99979770e-01 2.95628917e-04 -2.68848625e+01] [ 5.72358947e-03 -3.31997688e-04 9.99983565e-01 2.86958696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0407140570001 meters Centerline goodness : 0.983460 with order 1 Centerline is valid? [True, True] Translation: X:536.71, Y:-26.89, Z:2.87 [[ 9.99958950e-01 -7.02256688e-03 -5.72558315e-03 5.36710884e+02] [ 7.02437432e-03 9.99975285e-01 2.95628917e-04 -2.68900951e+01] [ 5.72336557e-03 -3.35835420e-04 9.99983565e-01 2.86906710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.100714057 meters Centerline goodness : 0.983998 with order 1 Centerline is valid? [True, True] Translation: X:536.77, Y:-26.89, Z:2.87 [[ 9.99956298e-01 -7.39047059e-03 -5.72558315e-03 5.36771810e+02] [ 7.39228403e-03 9.99972633e-01 2.95628917e-04 -2.68928504e+01] [ 5.72324163e-03 -3.37941134e-04 9.99983565e-01 2.86921313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.160714057 meters Centerline goodness : 0.984179 with order 1 Centerline is valid? [True, True] Translation: X:536.83, Y:-26.90, Z:2.87 [[ 9.99953573e-01 -7.75043791e-03 -5.72558315e-03 5.36831857e+02] [ 7.75225724e-03 9.99969907e-01 2.95628917e-04 -2.68966266e+01] [ 5.72311960e-03 -3.40001385e-04 9.99983565e-01 2.87025019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.220714057 meters Centerline goodness : 0.984644 with order 1 Centerline is valid? [True, True] Translation: X:536.89, Y:-26.90, Z:2.87 [[ 9.99948361e-01 -8.39604211e-03 -5.72557773e-03 5.36893135e+02] [ 8.39787259e-03 9.99964694e-01 2.95733994e-04 -2.69010506e+01] [ 5.72289258e-03 -3.43801394e-04 9.99983565e-01 2.87187890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.280714057 meters Centerline goodness : 0.984089 with order 1 Centerline is valid? [True, True] Translation: X:536.95, Y:-26.91, Z:2.87 [[ 9.99939832e-01 -9.35679800e-03 -5.72556662e-03 5.36953680e+02] [ 9.35864539e-03 9.99956163e-01 2.95948909e-04 -2.69059930e+01] [ 5.72254649e-03 -3.49514650e-04 9.99983565e-01 2.87198673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.340714057 meters Centerline goodness : 0.984338 with order 1 Centerline is valid? [True, True] Translation: X:537.02, Y:-26.91, Z:2.87 [[ 9.99931287e-01 -1.02293734e-02 -5.72555559e-03 5.37015158e+02] [ 1.02312363e-02 9.99947616e-01 2.96162114e-04 -2.69115783e+01] [ 5.72222611e-03 -3.54721276e-04 9.99983565e-01 2.87146460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.400714057 meters Centerline goodness : 0.985364 with order 1 Centerline is valid? [True, True] Translation: X:537.08, Y:-26.91, Z:2.87 [[ 9.99915888e-01 -1.16376856e-02 -5.72554475e-03 5.37075673e+02] [ 1.16395727e-02 9.99932214e-01 2.96371531e-04 -2.69149388e+01] [ 5.72170756e-03 -3.62989497e-04 9.99983565e-01 2.87392725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.460714057 meters Centerline goodness : 0.984865 with order 1 Centerline is valid? [True, True] Translation: X:537.14, Y:-26.92, Z:2.87 [[ 9.99977624e-01 -3.45968020e-03 -5.72553402e-03 5.37136854e+02] [ 3.46143484e-03 9.99993965e-01 2.96578663e-04 -2.69229249e+01] [ 5.72447340e-03 -3.16390590e-04 9.99983565e-01 2.86793163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.520714057 meters Centerline goodness : 0.984444 with order 1 Centerline is valid? [True, True] Translation: X:537.20, Y:-26.93, Z:2.87 [[ 9.99983141e-01 9.67672619e-04 -5.72552310e-03 5.37196013e+02] [-9.65989136e-04 9.99999489e-01 2.96789348e-04 -2.69260037e+01] [ 5.72580737e-03 -2.91253551e-04 9.99983565e-01 2.87035388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.580714057 meters Centerline goodness : 0.983353 with order 1 Centerline is valid? [True, True] Translation: X:537.25, Y:-26.93, Z:2.87 [[ 9.99970644e-01 5.09208019e-03 -5.72552847e-03 5.37254983e+02] [-5.09046475e-03 9.99986999e-01 2.96685651e-04 -2.69326199e+01] [ 5.72696479e-03 -2.67531341e-04 9.99983565e-01 2.86905117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.640714057 meters Centerline goodness : 0.985040 with order 1 Centerline is valid? [True, True] Translation: X:537.31, Y:-26.94, Z:2.87 [[ 9.99982603e-01 1.41794289e-03 -5.72559602e-03 5.37313325e+02] [-1.41627484e-03 9.99998953e-01 2.95376334e-04 -2.69371325e+01] [ 5.72600885e-03 -2.87262178e-04 9.99983565e-01 2.87128888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.700714057 meters Centerline goodness : 0.985312 with order 1 Centerline is valid? [True, True] Translation: X:537.37, Y:-26.94, Z:2.87 [[ 9.99981507e-01 -2.05004653e-03 -5.72561674e-03 5.37371885e+02] [ 2.05176898e-03 9.99997852e-01 2.94974186e-04 -2.69420302e+01] [ 5.72499973e-03 -3.06716374e-04 9.99983565e-01 2.87181503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.760714057 meters Centerline goodness : 0.986047 with order 1 Centerline is valid? [True, True] Translation: X:537.43, Y:-26.94, Z:2.87 [[ 9.99957941e-01 -7.16474103e-03 -5.72563906e-03 5.37430607e+02] [ 7.16654457e-03 9.99974277e-01 2.94540195e-04 -2.69446444e+01] [ 5.72338148e-03 -3.35560854e-04 9.99983565e-01 2.87453262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.820714057 meters Centerline goodness : 0.985162 with order 1 Centerline is valid? [True, True] Translation: X:537.49, Y:-26.95, Z:2.87 [[ 9.99962139e-01 -6.55264294e-03 -5.72565559e-03 5.37490597e+02] [ 6.55443465e-03 9.99978476e-01 2.94218555e-04 -2.69502721e+01] [ 5.72360444e-03 -3.31735851e-04 9.99983565e-01 2.87097991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.880714057 meters Centerline goodness : 0.985570 with order 1 Centerline is valid? [True, True] Translation: X:537.55, Y:-26.95, Z:2.87 [[ 9.99950104e-01 -8.18574987e-03 -5.72563717e-03 5.37550982e+02] [ 8.18757030e-03 9.99966438e-01 2.94576501e-04 -2.69542768e+01] [ 5.72303368e-03 -3.41440860e-04 9.99983565e-01 2.86916595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.940714057 meters Centerline goodness : 0.985944 with order 1 Centerline is valid? [True, True] Translation: X:537.61, Y:-26.96, Z:2.87 [[ 9.99912737e-01 -1.19052394e-02 -5.72563717e-03 5.37611963e+02] [ 1.19071206e-02 9.99929064e-01 2.94576501e-04 -2.69577555e+01] [ 5.72172402e-03 -3.62726648e-04 9.99983565e-01 2.87027823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.000714057 meters Centerline goodness : 0.986928 with order 1 Centerline is valid? [True, True] Translation: X:537.67, Y:-26.96, Z:2.87 [[ 9.99896658e-01 -1.31867756e-02 -5.72562628e-03 5.37673917e+02] [ 1.31886789e-02 9.99912982e-01 2.94788104e-04 -2.69602179e+01] [ 5.72124074e-03 -3.70271087e-04 9.99983565e-01 2.87005275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.060714057 meters Centerline goodness : 0.986998 with order 1 Centerline is valid? [True, True] Translation: X:537.74, Y:-26.96, Z:2.87 [[ 9.99902497e-01 -1.27363036e-02 -5.72560417e-03 5.37735735e+02] [ 1.27382020e-02 9.99918822e-01 2.95216986e-04 -2.69635252e+01] [ 5.72137940e-03 -3.68122104e-04 9.99983565e-01 2.86987573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.120714057 meters Centerline goodness : 0.986344 with order 1 Centerline is valid? [True, True] Translation: X:537.80, Y:-26.97, Z:2.87 [[ 9.99940943e-01 -9.23733512e-03 -5.72558183e-03 5.37796651e+02] [ 9.23917886e-03 9.99957274e-01 2.95649630e-04 -2.69656393e+01] [ 5.72260618e-03 -3.48531844e-04 9.99983565e-01 2.86890999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.180714057 meters Centerline goodness : 0.986410 with order 1 Centerline is valid? [True, True] Translation: X:537.86, Y:-26.97, Z:2.86 [[ 9.99970703e-01 -5.08047175e-03 -5.72556532e-03 5.37857514e+02] [ 5.08224940e-03 9.99987041e-01 2.95969028e-04 -2.69670243e+01] [ 5.72398746e-03 -3.25059108e-04 9.99983565e-01 2.86261057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.240714057 meters Centerline goodness : 0.987198 with order 1 Centerline is valid? [True, True] Translation: X:537.92, Y:-26.97, Z:2.86 [[ 9.99981369e-01 -2.11661210e-03 -5.72555984e-03 5.37916547e+02] [ 2.11834192e-03 9.99997712e-01 2.96074846e-04 -2.69707838e+01] [ 5.72492007e-03 -3.08198024e-04 9.99983565e-01 2.86325860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.300714057 meters Centerline goodness : 0.986706 with order 1 Centerline is valid? [True, True] Translation: X:537.98, Y:-26.97, Z:2.87 [[ 9.99979898e-01 -2.72427526e-03 -5.72556522e-03 5.37975047e+02] [ 2.72601442e-03 9.99996241e-01 2.95970761e-04 -2.69701955e+01] [ 5.72473739e-03 -3.11572785e-04 9.99983565e-01 2.86501407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.360714057 meters Centerline goodness : 0.992085 with order 1 Centerline is valid? [True, True] Translation: X:538.04, Y:-26.96, Z:2.87 [[ 9.99830648e-01 -1.74897735e-02 -5.72563763e-03 5.38036480e+02] [ 1.74917457e-02 9.99846964e-01 2.94563429e-04 -2.69561452e+01] [ 5.71960955e-03 -3.94664942e-04 9.99983565e-01 2.87322607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.420714057 meters Centerline goodness : 0.988562 with order 1 Centerline is valid? [True, True] Translation: X:538.10, Y:-26.97, Z:2.87 [[ 9.99970433e-01 -5.13317538e-03 -5.72563763e-03 5.38097800e+02] [ 5.13494587e-03 9.99986773e-01 2.94563429e-04 -2.69717833e+01] [ 5.72404985e-03 -3.23955559e-04 9.99983565e-01 2.86561987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.480714057 meters Centerline goodness : 0.988746 with order 1 Centerline is valid? [True, True] Translation: X:538.16, Y:-26.97, Z:2.87 [[ 9.99975732e-01 -3.96905853e-03 -5.72561482e-03 5.38158328e+02] [ 3.97081252e-03 9.99992073e-01 2.95006049e-04 -2.69701447e+01] [ 5.72439854e-03 -3.17734233e-04 9.99983565e-01 2.86989793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5407140570001 meters Centerline goodness : 0.988481 with order 1 Centerline is valid? [True, True] Translation: X:538.22, Y:-26.97, Z:2.87 [[ 9.99975706e-01 -3.97546883e-03 -5.72561482e-03 5.38217762e+02] [ 3.97722293e-03 9.99992047e-01 2.95006049e-04 -2.69711293e+01] [ 5.72439650e-03 -3.17770929e-04 9.99983565e-01 2.87134465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.600714057 meters Centerline goodness : 0.988184 with order 1 Centerline is valid? [True, True] Translation: X:538.28, Y:-26.97, Z:2.87 [[ 9.99983015e-01 -1.08945247e-03 -5.72562600e-03 5.38276950e+02] [ 1.09115816e-03 9.99999361e-01 2.94788967e-04 -2.69729551e+01] [ 5.72530118e-03 -3.01031524e-04 9.99983565e-01 2.87340230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.660714057 meters Centerline goodness : 0.988072 with order 1 Centerline is valid? [True, True] Translation: X:538.34, Y:-26.98, Z:2.87 [[ 9.99982383e-01 -1.56539724e-03 -5.72563148e-03 5.38335934e+02] [ 1.56711010e-03 9.99998729e-01 2.94682515e-04 -2.69754459e+01] [ 5.72516290e-03 -3.03650019e-04 9.99983565e-01 2.86811940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.720714057 meters Centerline goodness : 0.987054 with order 1 Centerline is valid? [True, True] Translation: X:538.39, Y:-26.98, Z:2.87 [[ 9.99983231e-01 -8.68708127e-04 -5.72565400e-03 5.38394631e+02] [ 8.70407097e-04 9.99999578e-01 2.94244278e-04 -2.69769489e+01] [ 5.72539597e-03 -2.99222994e-04 9.99983565e-01 2.86979535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.780714057 meters Centerline goodness : 0.987373 with order 1 Centerline is valid? [True, True] Translation: X:538.45, Y:-26.98, Z:2.87 [[ 9.99972376e-01 -4.73946504e-03 -5.72573177e-03 5.38452758e+02] [ 4.74121859e-03 9.99988718e-01 2.92722992e-04 -2.69777387e+01] [ 5.72427982e-03 -3.19861852e-04 9.99983565e-01 2.87097317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.840714057 meters Centerline goodness : 0.985444 with order 1 Centerline is valid? [True, True] Translation: X:538.51, Y:-26.98, Z:2.88 [[ 9.99951961e-01 -7.95560689e-03 -5.72575902e-03 5.38512202e+02] [ 7.95740995e-03 9.99968297e-01 2.92188953e-04 -2.69776524e+01] [ 5.72325296e-03 -3.37737129e-04 9.99983565e-01 2.87611784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.900714057 meters Centerline goodness : 0.986178 with order 1 Centerline is valid? [True, True] Translation: X:538.57, Y:-26.98, Z:2.88 [[ 9.99951207e-01 -8.04978484e-03 -5.72576427e-03 5.38573169e+02] [ 8.05158884e-03 9.99967543e-01 2.92086150e-04 -2.69809113e+01] [ 5.72322720e-03 -3.38173398e-04 9.99983565e-01 2.87511715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.960714057 meters Centerline goodness : 0.986159 with order 1 Centerline is valid? [True, True] Translation: X:538.63, Y:-26.98, Z:2.88 [[ 9.99929557e-01 -1.03969649e-02 -5.72575383e-03 5.38634684e+02] [ 1.03988084e-02 9.99945888e-01 2.92290544e-04 -2.69810928e+01] [ 5.72240507e-03 -3.51810971e-04 9.99983565e-01 2.87601408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.020714057 meters Centerline goodness : 0.986032 with order 1 Centerline is valid? [True, True] Translation: X:538.70, Y:-26.99, Z:2.87 [[ 9.99895992e-01 -1.32370991e-02 -5.72574335e-03 5.38696556e+02] [ 1.32389901e-02 9.99912318e-01 2.92495863e-04 -2.69850567e+01] [ 5.72136950e-03 -3.68268501e-04 9.99983565e-01 2.87360964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.080714057 meters Centerline goodness : 0.985305 with order 1 Centerline is valid? [True, True] Translation: X:538.76, Y:-26.99, Z:2.87 [[ 9.99842337e-01 -1.68082522e-02 -5.72572160e-03 5.38758607e+02] [ 1.68102039e-02 9.99858656e-01 2.92920967e-04 -2.69874991e+01] [ 5.71998881e-03 -3.89125332e-04 9.99983565e-01 2.87371112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.140714057 meters Centerline goodness : 0.985314 with order 1 Centerline is valid? [True, True] Translation: X:538.82, Y:-26.99, Z:2.88 [[ 9.99806562e-01 -1.88163421e-02 -5.72570001e-03 5.38821381e+02] [ 1.88183291e-02 9.99822877e-01 2.93342436e-04 -2.69863773e+01] [ 5.71916622e-03 -4.01033799e-04 9.99983565e-01 2.87555685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.200714057 meters Centerline goodness : 0.985897 with order 1 Centerline is valid? [True, True] Translation: X:538.88, Y:-26.98, Z:2.88 [[ 9.99764573e-01 -2.09288210e-02 -5.72567858e-03 5.38883293e+02] [ 2.09308448e-02 9.99780883e-01 2.93760020e-04 -2.69842984e+01] [ 5.71827594e-03 -4.13534151e-04 9.99983565e-01 2.87844291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.260714057 meters Centerline goodness : 0.986392 with order 1 Centerline is valid? [True, True] Translation: X:538.95, Y:-26.99, Z:2.88 [[ 9.99731420e-01 -2.24567168e-02 -5.72565710e-03 5.38946226e+02] [ 2.24587679e-02 9.99747727e-01 2.94178139e-04 -2.69860872e+01] [ 5.71760639e-03 -4.22690333e-04 9.99983565e-01 2.88029919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.320714057 meters Centerline goodness : 0.986893 with order 1 Centerline is valid? [True, True] Translation: X:539.01, Y:-26.99, Z:2.88 [[ 9.99677095e-01 -2.47572906e-02 -5.72562502e-03 5.39009400e+02] [ 2.47593828e-02 9.99693396e-01 2.94801081e-04 -2.69868591e+01] [ 5.71657105e-03 -4.36468830e-04 9.99983565e-01 2.88071584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.380714057 meters Centerline goodness : 0.987650 with order 1 Centerline is valid? [True, True] Translation: X:539.07, Y:-26.99, Z:2.88 [[ 9.99675133e-01 -2.48364012e-02 -5.72559316e-03 5.39071676e+02] [ 2.48384982e-02 9.99691433e-01 2.95418625e-04 -2.69864731e+01] [ 5.71648930e-03 -4.37537789e-04 9.99983565e-01 2.88167573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.440714057 meters Centerline goodness : 0.987038 with order 1 Centerline is valid? [True, True] Translation: X:539.13, Y:-26.99, Z:2.88 [[ 9.99686972e-01 -2.43552098e-02 -5.72557171e-03 5.39134604e+02] [ 2.43573013e-02 9.99703273e-01 2.95833711e-04 -2.69891385e+01] [ 5.71666769e-03 -4.35200583e-04 9.99983565e-01 2.88230097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.500714057 meters Centerline goodness : 0.987908 with order 1 Centerline is valid? [True, True] Translation: X:539.20, Y:-26.99, Z:2.88 [[ 9.99638651e-01 -2.62637662e-02 -5.72553958e-03 5.39197509e+02] [ 2.62658924e-02 9.99654948e-01 2.96454327e-04 -2.69908672e+01] [ 5.71577796e-03 -4.46733610e-04 9.99983565e-01 2.88212892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.560714057 meters Centerline goodness : 0.987886 with order 1 Centerline is valid? [True, True] Translation: X:539.26, Y:-26.99, Z:2.88 [[ 9.99609868e-01 -2.73373431e-02 -5.72550703e-03 5.39259965e+02] [ 2.73394904e-02 9.99626162e-01 2.97081674e-04 -2.69943975e+01] [ 5.71524519e-03 -4.53498217e-04 9.99983565e-01 2.88076241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.620714057 meters Centerline goodness : 0.988027 with order 1 Centerline is valid? [True, True] Translation: X:539.32, Y:-27.00, Z:2.88 [[ 9.99724588e-01 -2.27588864e-02 -5.72547880e-03 5.39320610e+02] [ 2.27609620e-02 9.99740891e-01 2.97624786e-04 -2.69987010e+01] [ 5.71722167e-03 -4.27860222e-04 9.99983565e-01 2.87734284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.680714057 meters Centerline goodness : 0.987281 with order 1 Centerline is valid? [True, True] Translation: X:539.38, Y:-27.00, Z:2.88 [[ 9.99847448e-01 -1.65014863e-02 -5.72546206e-03 5.39383204e+02] [ 1.65034617e-02 9.99863764e-01 2.97946322e-04 -2.70016138e+01] [ 5.71976549e-03 -3.92390814e-04 9.99983565e-01 2.87808783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.740714057 meters Centerline goodness : 0.986268 with order 1 Centerline is valid? [True, True] Translation: X:539.44, Y:-27.01, Z:2.88 [[ 9.99889245e-01 -1.37374154e-02 -5.72542841e-03 5.39444760e+02] [ 1.37393494e-02 9.99905566e-01 2.98591589e-04 -2.70059055e+01] [ 5.72078586e-03 -3.77222180e-04 9.99983565e-01 2.87785391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.800714057 meters Centerline goodness : 0.987835 with order 1 Centerline is valid? [True, True] Translation: X:539.51, Y:-27.01, Z:2.88 [[ 9.99922267e-01 -1.10761002e-02 -5.72541133e-03 5.39505305e+02] [ 1.10779926e-02 9.99938592e-01 2.98918737e-04 -2.70106360e+01] [ 5.72174890e-03 -3.62321565e-04 9.99983565e-01 2.87674862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.860714057 meters Centerline goodness : 0.986134 with order 1 Centerline is valid? [True, True] Translation: X:539.57, Y:-27.02, Z:2.88 [[ 9.99952899e-01 -7.83708517e-03 -5.72539453e-03 5.39566719e+02] [ 7.83892652e-03 9.99969230e-01 2.99240129e-04 -2.70154746e+01] [ 5.72287320e-03 -3.44106981e-04 9.99983565e-01 2.87639546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.920714057 meters Centerline goodness : 0.986685 with order 1 Centerline is valid? [True, True] Translation: X:539.63, Y:-27.02, Z:2.88 [[ 9.99971861e-01 -4.84742370e-03 -5.72538371e-03 5.39628271e+02] [ 4.84921739e-03 9.99988198e-01 2.99447028e-04 -2.70206354e+01] [ 5.72386459e-03 -3.27202232e-04 9.99983565e-01 2.87598959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.980714057 meters Centerline goodness : 0.986487 with order 1 Centerline is valid? [True, True] Translation: X:539.69, Y:-27.02, Z:2.88 [[ 9.99973321e-01 -4.53621629e-03 -5.72537273e-03 5.39688070e+02] [ 4.53800610e-03 9.99989658e-01 2.99656822e-04 -2.70243000e+01] [ 5.72395422e-03 -3.25630604e-04 9.99983565e-01 2.87830632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0407140570001 meters Centerline goodness : 0.987060 with order 1 Centerline is valid? [True, True] Translation: X:539.75, Y:-27.03, Z:2.88 [[ 9.99972672e-01 -4.67709050e-03 -5.72534565e-03 5.39748956e+02] [ 4.67888555e-03 9.99989009e-01 3.00173336e-04 -2.70271205e+01] [ 5.72387879e-03 -3.26953370e-04 9.99983565e-01 2.88037178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.100714057 meters Centerline goodness : 0.986558 with order 1 Centerline is valid? [True, True] Translation: X:539.81, Y:-27.03, Z:2.88 [[ 9.99976743e-01 -3.70585918e-03 -5.72534565e-03 5.39809704e+02] [ 3.70763836e-03 9.99993082e-01 3.00173336e-04 -2.70319202e+01] [ 5.72419364e-03 -3.21393866e-04 9.99983565e-01 2.88066231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.160714057 meters Centerline goodness : 0.986645 with order 1 Centerline is valid? [True, True] Translation: X:539.87, Y:-27.04, Z:2.88 [[ 9.99983493e-01 -4.83082952e-04 -5.72534565e-03 5.39868620e+02] [ 4.84809472e-04 9.99999837e-01 3.00173336e-04 -2.70372709e+01] [ 5.72519971e-03 -3.02944083e-04 9.99983565e-01 2.88012645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.220714057 meters Centerline goodness : 0.986085 with order 1 Centerline is valid? [True, True] Translation: X:539.93, Y:-27.04, Z:2.88 [[ 9.99962440e-01 6.50683056e-03 -5.72534451e-03 5.39926934e+02] [-6.50521820e-03 9.99978796e-01 3.00195114e-04 -2.70412743e+01] [ 5.72717643e-03 -2.62939224e-04 9.99983565e-01 2.88266794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.280714057 meters Centerline goodness : 0.984873 with order 1 Centerline is valid? [True, True] Translation: X:539.99, Y:-27.05, Z:2.88 [[ 9.99847571e-01 1.64940938e-02 -5.72541727e-03 5.39985731e+02] [-1.64926529e-02 9.99863942e-01 2.98800926e-04 -2.70490039e+01] [ 5.72956674e-03 -2.04328061e-04 9.99983565e-01 2.87948214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.340714057 meters Centerline goodness : 0.984366 with order 1 Centerline is valid? [True, True] Translation: X:540.04, Y:-27.06, Z:2.88 [[ 9.99617046e-01 2.70736005e-02 -5.72549173e-03 5.40044120e+02] [-2.70723411e-02 9.99633433e-01 2.97367347e-04 -2.70581418e+01] [ 5.73144376e-03 -1.42251004e-04 9.99983565e-01 2.87828426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.400714057 meters Centerline goodness : 0.983871 with order 1 Centerline is valid? [True, True] Translation: X:540.10, Y:-27.06, Z:2.88 [[ 9.99497144e-01 3.11877813e-02 -5.72551275e-03 5.40102177e+02] [-3.11865917e-02 9.99513536e-01 2.96962113e-04 -2.70624852e+01] [ 5.73198908e-03 -1.18253556e-04 9.99983565e-01 2.88172034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.460714057 meters Centerline goodness : 0.983322 with order 1 Centerline is valid? [True, True] Translation: X:540.16, Y:-27.07, Z:2.88 [[ 9.99392302e-01 3.43837947e-02 -5.72555194e-03 5.40160314e+02] [-3.43826618e-02 9.99408698e-01 2.96204572e-04 -2.70705777e+01] [ 5.73235104e-03 -9.91648527e-05 9.99983565e-01 2.88480403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.520714057 meters Centerline goodness : 0.983989 with order 1 Centerline is valid? [True, True] Translation: X:540.22, Y:-27.08, Z:2.88 [[ 9.99468914e-01 3.20797232e-02 -5.72557336e-03 5.40219041e+02] [-3.20785549e-02 9.99485307e-01 2.95789978e-04 -2.70793913e+01] [ 5.73211530e-03 -1.11964768e-04 9.99983565e-01 2.88385876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.580714057 meters Centerline goodness : 0.983671 with order 1 Centerline is valid? [True, True] Translation: X:540.28, Y:-27.09, Z:2.88 [[ 9.99470622e-01 3.20264307e-02 -5.72564863e-03 5.40275535e+02] [-3.20252699e-02 9.99487016e-01 2.94325685e-04 -2.70917440e+01] [ 5.73213766e-03 -1.10804433e-04 9.99983565e-01 2.88003382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.640714057 meters Centerline goodness : 0.989198 with order 1 Centerline is valid? [True, True] Translation: X:540.33, Y:-27.09, Z:2.89 [[ 9.99778043e-01 2.02751345e-02 -5.72568550e-03 5.40334890e+02] [-2.02737852e-02 9.99794423e-01 2.93606701e-04 -2.70867381e+01] [ 5.73046134e-03 -1.77460216e-04 9.99983565e-01 2.89019720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.700714057 meters Centerline goodness : 0.989795 with order 1 Centerline is valid? [True, True] Translation: X:540.39, Y:-27.10, Z:2.89 [[ 9.99835429e-01 1.72142661e-02 -5.72570604e-03 5.40393288e+02] [-1.72128690e-02 9.99851805e-01 2.93205418e-04 -2.70972143e+01] [ 5.72990484e-03 -1.94601337e-04 9.99983565e-01 2.89169835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.760714057 meters Centerline goodness : 0.990223 with order 1 Centerline is valid? [True, True] Translation: X:540.45, Y:-27.11, Z:2.89 [[ 9.99936179e-01 9.73934777e-03 -5.72572687e-03 5.40451525e+02] [-9.73783057e-03 9.99952543e-01 2.92798135e-04 -2.71094703e+01] [ 5.72830681e-03 -2.37023290e-04 9.99983565e-01 2.89218710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.820714057 meters Centerline goodness : 0.990140 with order 1 Centerline is valid? [True, True] Translation: X:540.51, Y:-27.12, Z:2.89 [[ 9.99981447e-01 -2.07879219e-03 -5.72574768e-03 5.40510243e+02] [ 2.08050036e-03 9.99997793e-01 2.92390681e-04 -2.71201885e+01] [ 5.72512722e-03 -3.04297676e-04 9.99983565e-01 2.89010384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.880714057 meters Centerline goodness : 0.990773 with order 1 Centerline is valid? [True, True] Translation: X:540.57, Y:-27.13, Z:2.89 [[ 9.99876592e-01 -1.46292980e-02 -5.72576827e-03 5.40568118e+02] [ 1.46312089e-02 9.99892916e-01 2.91986857e-04 -2.71289419e+01] [ 5.72088357e-03 -3.75725735e-04 9.99983565e-01 2.88764221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.940714057 meters Centerline goodness : 0.990756 with order 1 Centerline is valid? [True, True] Translation: X:540.63, Y:-27.14, Z:2.89 [[ 9.99727691e-01 -2.26220898e-02 -5.72578350e-03 5.40630263e+02] [ 2.26241294e-02 9.99743999e-01 2.91688030e-04 -2.71350203e+01] [ 5.71771910e-03 -4.21149468e-04 9.99983565e-01 2.88901742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.000714057 meters Centerline goodness : 0.989813 with order 1 Centerline is valid? [True, True] Translation: X:540.69, Y:-27.14, Z:2.89 [[ 9.99672010e-01 -2.49617408e-02 -5.72570805e-03 5.40691568e+02] [ 2.49638269e-02 9.99688312e-01 2.93161619e-04 -2.71430478e+01] [ 5.71660559e-03 -4.36001050e-04 9.99983565e-01 2.89079586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.060714057 meters Centerline goodness : 0.988370 with order 1 Centerline is valid? [True, True] Translation: X:540.75, Y:-27.15, Z:2.89 [[ 9.99799597e-01 -1.91828446e-02 -5.72568971e-03 5.40753375e+02] [ 1.91848386e-02 9.99815911e-01 2.93519333e-04 -2.71537869e+01] [ 5.71900514e-03 -4.03306943e-04 9.99983565e-01 2.89040536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.120714057 meters Centerline goodness : 0.987764 with order 1 Centerline is valid? [True, True] Translation: X:540.82, Y:-27.16, Z:2.89 [[ 9.99795637e-01 -1.93881508e-02 -5.72566493e-03 5.40815930e+02] [ 1.93901508e-02 9.99811950e-01 2.94001852e-04 -2.71563124e+01] [ 5.71888807e-03 -4.04963276e-04 9.99983565e-01 2.89428524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.180714057 meters Centerline goodness : 0.988448 with order 1 Centerline is valid? [True, True] Translation: X:540.88, Y:-27.16, Z:2.89 [[ 9.99797408e-01 -1.92966268e-02 -5.72564277e-03 5.40878268e+02] [ 1.92986278e-02 9.99813721e-01 2.94432825e-04 -2.71592490e+01] [ 5.71889464e-03 -4.04870225e-04 9.99983565e-01 2.89392087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.240714057 meters Centerline goodness : 0.987776 with order 1 Centerline is valid? [True, True] Translation: X:540.94, Y:-27.16, Z:2.89 [[ 9.99808492e-01 -1.87135350e-02 -5.72562062e-03 5.40940387e+02] [ 1.87155289e-02 9.99824806e-01 2.94862989e-04 -2.71618926e+01] [ 5.71909959e-03 -4.01964538e-04 9.99983565e-01 2.89144732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.300714057 meters Centerline goodness : 0.988213 with order 1 Centerline is valid? [True, True] Translation: X:541.00, Y:-27.16, Z:2.89 [[ 9.99852424e-01 -1.61971616e-02 -5.72559814e-03 5.41001390e+02] [ 1.61991169e-02 9.99868742e-01 2.95298778e-04 -2.71629094e+01] [ 5.72006361e-03 -3.88004833e-04 9.99983565e-01 2.88873217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.360714057 meters Centerline goodness : 0.987846 with order 1 Centerline is valid? [True, True] Translation: X:541.06, Y:-27.16, Z:2.89 [[ 9.99963349e-01 -6.36545175e-03 -5.72558152e-03 5.41063944e+02] [ 6.36724840e-03 9.99979685e-01 2.95620641e-04 -2.71605187e+01] [ 5.72358345e-03 -3.32066006e-04 9.99983565e-01 2.89231350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.420714057 meters Centerline goodness : 0.986577 with order 1 Centerline is valid? [True, True] Translation: X:541.12, Y:-27.16, Z:2.89 [[ 9.99973641e-01 4.46494846e-03 -5.72555936e-03 5.41124679e+02] [-4.46332639e-03 9.99989995e-01 2.96049332e-04 -2.71589155e+01] [ 5.72682392e-03 -2.70486488e-04 9.99983565e-01 2.89493213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.480714057 meters Centerline goodness : 0.987072 with order 1 Centerline is valid? [True, True] Translation: X:541.18, Y:-27.16, Z:2.90 [[ 9.99942784e-01 9.03581688e-03 -5.72555936e-03 5.41182189e+02] [-9.03426958e-03 9.99959146e-01 2.96049331e-04 -2.71578947e+01] [ 5.72800049e-03 -2.44306146e-04 9.99983565e-01 2.89534787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5407140570001 meters Centerline goodness : 0.987542 with order 1 Centerline is valid? [True, True] Translation: X:541.24, Y:-27.16, Z:2.90 [[ 9.99968090e-01 5.57114374e-03 -5.72558646e-03 5.41240551e+02] [-5.56954276e-03 9.99984446e-01 2.95524288e-04 -2.71584380e+01] [ 5.72714381e-03 -2.63625959e-04 9.99983565e-01 2.89882986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.600714057 meters Centerline goodness : 0.987438 with order 1 Centerline is valid? [True, True] Translation: X:541.30, Y:-27.16, Z:2.90 [[ 9.99982525e-01 -1.47214651e-03 -5.72560859e-03 5.41299295e+02] [ 1.47386020e-03 9.99998870e-01 2.95094889e-04 -2.71597576e+01] [ 5.72516770e-03 -3.03528479e-04 9.99983565e-01 2.90165020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.660714057 meters Centerline goodness : 0.987719 with order 1 Centerline is valid? [True, True] Translation: X:541.36, Y:-27.16, Z:2.90 [[ 9.99960892e-01 -6.74027787e-03 -5.72563102e-03 5.41357719e+02] [ 6.74207516e-03 9.99977229e-01 2.94659005e-04 -2.71613720e+01] [ 5.72351456e-03 -3.33250117e-04 9.99983565e-01 2.90132391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.720714057 meters Centerline goodness : 0.987231 with order 1 Centerline is valid? [True, True] Translation: X:541.42, Y:-27.16, Z:2.90 [[ 9.99941523e-01 -9.17426729e-03 -5.72564020e-03 5.41418661e+02] [ 9.17610332e-03 9.99957855e-01 2.94480587e-04 -2.71621272e+01] [ 5.72269725e-03 -3.47002432e-04 9.99983565e-01 2.90037392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.780714057 meters Centerline goodness : 0.988381 with order 1 Centerline is valid? [True, True] Translation: X:541.48, Y:-27.16, Z:2.89 [[ 9.99974690e-01 -4.22326627e-03 -5.72564020e-03 5.41479343e+02] [ 4.22502142e-03 9.99991031e-01 2.94480587e-04 -2.71646799e+01] [ 5.72434517e-03 -3.18664086e-04 9.99983565e-01 2.89283029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.840714057 meters Centerline goodness : 0.990584 with order 1 Centerline is valid? [True, True] Translation: X:541.54, Y:-27.15, Z:2.90 [[ 9.99962048e-01 -6.56662352e-03 -5.72563478e-03 5.41539752e+02] [ 6.56841756e-03 9.99978384e-01 2.94585767e-04 -2.71527077e+01] [ 5.72357659e-03 -3.32182946e-04 9.99983565e-01 2.89918273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.900714057 meters Centerline goodness : 0.987437 with order 1 Centerline is valid? [True, True] Translation: X:541.60, Y:-27.16, Z:2.90 [[ 9.99974667e-01 4.22871271e-03 -5.72564536e-03 5.41600039e+02] [-4.22709632e-03 9.99991022e-01 2.94380008e-04 -2.71641138e+01] [ 5.72683881e-03 -2.70169696e-04 9.99983565e-01 2.89589143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.960714057 meters Centerline goodness : 0.990835 with order 1 Centerline is valid? [True, True] Translation: X:541.66, Y:-27.15, Z:2.90 [[ 9.99981544e-01 -2.03176871e-03 -5.72564536e-03 5.41658314e+02] [ 2.03348746e-03 9.99997889e-01 2.94380008e-04 -2.71540174e+01] [ 5.72503517e-03 -3.06017603e-04 9.99983565e-01 2.90026593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.020714057 meters Centerline goodness : 0.990303 with order 1 Centerline is valid? [True, True] Translation: X:541.72, Y:-27.16, Z:2.90 [[ 9.99981263e-01 -2.16567872e-03 -5.72567244e-03 5.41717526e+02] [ 2.16739666e-03 9.99997608e-01 2.93852511e-04 -2.71556367e+01] [ 5.72502235e-03 -3.06256808e-04 9.99983565e-01 2.90056487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.080714057 meters Centerline goodness : 0.986943 with order 1 Centerline is valid? [True, True] Translation: X:541.78, Y:-27.17, Z:2.89 [[ 9.99977146e-01 3.59513838e-03 -5.72568289e-03 5.41775912e+02] [-3.59351580e-03 9.99993500e-01 2.93648603e-04 -2.71711919e+01] [ 5.72670138e-03 -2.73066560e-04 9.99983565e-01 2.89260274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.140714057 meters Centerline goodness : 0.987343 with order 1 Centerline is valid? [True, True] Translation: X:541.83, Y:-27.17, Z:2.90 [[ 9.99983245e-01 8.51920219e-04 -5.72569905e-03 5.41834717e+02] [-8.50254583e-04 9.99999596e-01 2.93333139e-04 -2.71730757e+01] [ 5.72594664e-03 -2.88459923e-04 9.99983565e-01 2.89856630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.200714057 meters Centerline goodness : 0.986868 with order 1 Centerline is valid? [True, True] Translation: X:541.89, Y:-27.17, Z:2.90 [[ 9.99964482e-01 -6.18480356e-03 -5.72572085e-03 5.41894069e+02] [ 6.18658177e-03 9.99980820e-01 2.92907159e-04 -2.71734078e+01] [ 5.72379945e-03 -3.28319396e-04 9.99983565e-01 2.89548003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.260714057 meters Centerline goodness : 0.986577 with order 1 Centerline is valid? [True, True] Translation: X:541.95, Y:-27.17, Z:2.90 [[ 9.99941784e-01 -9.14573974e-03 -5.72574265e-03 5.41954776e+02] [ 9.14756390e-03 9.99958117e-01 2.92480384e-04 -2.71747901e+01] [ 5.72282789e-03 -3.44839954e-04 9.99983565e-01 2.89723057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.320714057 meters Centerline goodness : 0.986362 with order 1 Centerline is valid? [True, True] Translation: X:542.02, Y:-27.17, Z:2.90 [[ 9.99932442e-01 -1.01157446e-02 -5.72574265e-03 5.42016304e+02] [ 1.01175846e-02 9.99948773e-01 2.92480384e-04 -2.71744758e+01] [ 5.72249068e-03 -3.50391310e-04 9.99983565e-01 2.90361312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.380714057 meters Centerline goodness : 0.985093 with order 1 Centerline is valid? [True, True] Translation: X:542.08, Y:-27.18, Z:2.90 [[ 9.99926453e-01 -1.06913036e-02 -5.72573185e-03 5.42076689e+02] [ 1.06931542e-02 9.99942784e-01 2.92691579e-04 -2.71791883e+01] [ 5.72227499e-03 -3.53896186e-04 9.99983565e-01 2.89661256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.440714057 meters Centerline goodness : 0.985759 with order 1 Centerline is valid? [True, True] Translation: X:542.14, Y:-27.18, Z:2.90 [[ 9.99863327e-01 -1.55094914e-02 -5.72572646e-03 5.42139350e+02] [ 1.55114213e-02 9.99879648e-01 2.92797090e-04 -2.71759207e+01] [ 5.72049622e-03 -3.81571228e-04 9.99983565e-01 2.89790939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.500714057 meters Centerline goodness : 0.988700 with order 1 Centerline is valid? [True, True] Translation: X:542.20, Y:-27.15, Z:2.90 [[ 9.99535607e-01 -2.99297093e-02 -5.72570484e-03 5.42203349e+02] [ 2.99318768e-02 9.99551898e-01 2.93219153e-04 -2.71533361e+01] [ 5.71436318e-03 -4.64464075e-04 9.99983565e-01 2.90404528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.560714057 meters Centerline goodness : 0.985888 with order 1 Centerline is valid? [True, True] Translation: X:542.27, Y:-27.16, Z:2.91 [[ 9.99811795e-01 -1.85362170e-02 -5.72563057e-03 5.42265343e+02] [ 1.85382069e-02 9.99828109e-01 2.94662258e-04 -2.71599107e+01] [ 5.71918447e-03 -4.00749725e-04 9.99983565e-01 2.91346610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.620714057 meters Centerline goodness : 0.987586 with order 1 Centerline is valid? [True, True] Translation: X:542.33, Y:-27.16, Z:2.92 [[ 9.99849287e-01 -1.63896739e-02 -5.72560314e-03 5.42326368e+02] [ 1.63916318e-02 9.99865605e-01 2.95194454e-04 -2.71560013e+01] [ 5.71999550e-03 -3.89001943e-04 9.99983565e-01 2.91735426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.680714057 meters Centerline goodness : 0.986911 with order 1 Centerline is valid? [True, True] Translation: X:542.39, Y:-27.15, Z:2.92 [[ 9.99866377e-01 -1.53116420e-02 -5.72556789e-03 5.42388399e+02] [ 1.53135862e-02 9.99882696e-01 2.95876479e-04 -2.71536032e+01] [ 5.72036591e-03 -3.83515921e-04 9.99983565e-01 2.91985279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.740714057 meters Centerline goodness : 0.986650 with order 1 Centerline is valid? [True, True] Translation: X:542.45, Y:-27.15, Z:2.92 [[ 9.99912442e-01 -1.19300506e-02 -5.72554509e-03 5.42449616e+02] [ 1.19319421e-02 9.99928768e-01 2.96316943e-04 -2.71549641e+01] [ 5.72160218e-03 -3.64607871e-04 9.99983565e-01 2.91731817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.800714057 meters Centerline goodness : 0.987758 with order 1 Centerline is valid? [True, True] Translation: X:542.51, Y:-27.15, Z:2.91 [[ 9.99858146e-01 -1.58400159e-02 -5.72552819e-03 5.42510175e+02] [ 1.58419730e-02 9.99874464e-01 2.96643294e-04 -2.71534476e+01] [ 5.72011059e-03 -3.87304877e-04 9.99983565e-01 2.91121385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.860714057 meters Centerline goodness : 0.988499 with order 1 Centerline is valid? [True, True] Translation: X:542.57, Y:-27.15, Z:2.92 [[ 9.99846543e-01 -1.65562562e-02 -5.72552819e-03 5.42572143e+02] [ 1.65582251e-02 9.99862859e-01 2.96643294e-04 -2.71511367e+01] [ 5.71983168e-03 -3.91402356e-04 9.99983565e-01 2.91817725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.920714057 meters Centerline goodness : 0.988765 with order 1 Centerline is valid? [True, True] Translation: X:542.63, Y:-27.15, Z:2.92 [[ 9.99876777e-01 -1.46167653e-02 -5.72550643e-03 5.42633677e+02] [ 1.46187049e-02 9.99893097e-01 2.97062618e-04 -2.71500526e+01] [ 5.72055226e-03 -3.80725502e-04 9.99983565e-01 2.91690324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.980714057 meters Centerline goodness : 0.988292 with order 1 Centerline is valid? [True, True] Translation: X:542.70, Y:-27.15, Z:2.92 [[ 9.99917168e-01 -1.15271464e-02 -5.72549025e-03 5.42695726e+02] [ 1.15290374e-02 9.99933494e-01 2.97374083e-04 -2.71505324e+01] [ 5.72168160e-03 -3.63358843e-04 9.99983565e-01 2.91993760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0407140570001 meters Centerline goodness : 0.988211 with order 1 Centerline is valid? [True, True] Translation: X:542.76, Y:-27.15, Z:2.92 [[ 9.99949271e-01 -8.28702050e-03 -5.72546829e-03 5.42758195e+02] [ 8.28886095e-03 9.99965602e-01 2.97796358e-04 -2.71515229e+01] [ 5.72280350e-03 -3.45238862e-04 9.99983565e-01 2.92449404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.100714057 meters Centerline goodness : 0.989162 with order 1 Centerline is valid? [True, True] Translation: X:542.82, Y:-27.16, Z:2.92 [[ 9.99973014e-01 -4.60324582e-03 -5.72544539e-03 5.42818883e+02] [ 4.60502861e-03 9.99989352e-01 2.98235970e-04 -2.71555700e+01] [ 5.72401157e-03 -3.24593762e-04 9.99983565e-01 2.91575757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.160714057 meters Centerline goodness : 0.988560 with order 1 Centerline is valid? [True, True] Translation: X:542.88, Y:-27.16, Z:2.91 [[ 9.99983181e-01 -9.26247639e-04 -5.72543982e-03 5.42879308e+02] [ 9.27970952e-04 9.99999525e-01 2.98342948e-04 -2.71590603e+01] [ 5.72516076e-03 -3.03650972e-04 9.99983565e-01 2.91130503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.220714057 meters Centerline goodness : 0.989352 with order 1 Centerline is valid? [True, True] Translation: X:542.94, Y:-27.16, Z:2.91 [[ 9.99983387e-01 -6.67511445e-04 -5.72543982e-03 5.42938202e+02] [ 6.69230529e-04 9.99999732e-01 2.98342948e-04 -2.71579912e+01] [ 5.72523913e-03 -3.02169631e-04 9.99983565e-01 2.90849126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.280714057 meters Centerline goodness : 0.989279 with order 1 Centerline is valid? [True, True] Translation: X:543.00, Y:-27.16, Z:2.91 [[ 9.99961229e-01 6.69023314e-03 -5.72546221e-03 5.42997948e+02] [-6.68863683e-03 9.99977586e-01 2.97912517e-04 -2.71625339e+01] [ 5.72732699e-03 -2.59605430e-04 9.99983565e-01 2.90753900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.340714057 meters Centerline goodness : 0.987618 with order 1 Centerline is valid? [True, True] Translation: X:543.06, Y:-27.17, Z:2.91 [[ 9.99933525e-01 1.00081983e-02 -5.72547344e-03 5.43055992e+02] [-1.00066575e-02 9.99949888e-01 2.97696596e-04 -2.71669616e+01] [ 5.72816593e-03 -2.40383955e-04 9.99983565e-01 2.90649952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.400714057 meters Centerline goodness : 0.988622 with order 1 Centerline is valid? [True, True] Translation: X:543.11, Y:-27.17, Z:2.90 [[ 9.99971520e-01 4.91712976e-03 -5.72551590e-03 5.43114657e+02] [-4.91551035e-03 9.99987875e-01 2.96877797e-04 -2.71728176e+01] [ 5.72690626e-03 -2.68725510e-04 9.99983565e-01 2.90384798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.460714057 meters Centerline goodness : 0.988501 with order 1 Centerline is valid? [True, True] Translation: X:543.17, Y:-27.18, Z:2.92 [[ 9.99983283e-01 8.07510309e-04 -5.72553680e-03 5.43173030e+02] [-8.05826010e-04 9.99999631e-01 2.96473990e-04 -2.71771087e+01] [ 5.72577410e-03 -2.91855247e-04 9.99983565e-01 2.91538156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.520714057 meters Centerline goodness : 0.989171 with order 1 Centerline is valid? [True, True] Translation: X:543.23, Y:-27.18, Z:2.92 [[ 9.99973152e-01 -4.57300005e-03 -5.72555839e-03 5.43231498e+02] [ 4.57476990e-03 9.99989492e-01 2.96056510e-04 -2.71815296e+01] [ 5.72414436e-03 -3.22241674e-04 9.99983565e-01 2.91904478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.580714057 meters Centerline goodness : 0.988699 with order 1 Centerline is valid? [True, True] Translation: X:543.29, Y:-27.19, Z:2.91 [[ 9.99982645e-01 -1.38800426e-03 -5.72557439e-03 5.43291303e+02] [ 1.38972030e-03 9.99998991e-01 2.95746836e-04 -2.71930701e+01] [ 5.72515811e-03 -3.03698651e-04 9.99983565e-01 2.91224465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.640714057 meters Centerline goodness : 0.987845 with order 1 Centerline is valid? [True, True] Translation: X:543.35, Y:-27.20, Z:2.91 [[ 9.99970022e-01 5.21280594e-03 -5.72557439e-03 5.43349304e+02] [-5.21119784e-03 9.99986378e-01 2.95746836e-04 -2.72020383e+01] [ 5.72703806e-03 -2.65900869e-04 9.99983565e-01 2.91310955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.700714057 meters Centerline goodness : 0.988009 with order 1 Centerline is valid? [True, True] Translation: X:543.41, Y:-27.21, Z:2.91 [[ 9.99929840e-01 1.03697913e-02 -5.72565160e-03 5.43407647e+02] [-1.03682762e-02 9.99946205e-01 2.94244455e-04 -2.72086370e+01] [ 5.72839484e-03 -2.34858673e-04 9.99983565e-01 2.91337239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.760714057 meters Centerline goodness : 0.987244 with order 1 Centerline is valid? [True, True] Translation: X:543.47, Y:-27.22, Z:2.92 [[ 9.99734963e-01 2.22984112e-02 -5.72572863e-03 5.43465124e+02] [-2.22971000e-02 9.99751346e-01 2.92737738e-04 -2.72192071e+01] [ 5.73083249e-03 -1.64993008e-04 9.99983565e-01 2.91634234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.820714057 meters Centerline goodness : 0.986754 with order 1 Centerline is valid? [True, True] Translation: X:543.52, Y:-27.23, Z:2.92 [[ 9.99605686e-01 2.74897720e-02 -5.72575573e-03 5.43523772e+02] [-2.74885490e-02 9.99622076e-01 2.92206726e-04 -2.72277858e+01] [ 5.73162452e-03 -1.34698788e-04 9.99983565e-01 2.91818622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.880714057 meters Centerline goodness : 0.986601 with order 1 Centerline is valid? [True, True] Translation: X:543.58, Y:-27.24, Z:2.91 [[ 9.99579793e-01 2.84157056e-02 -5.72582967e-03 5.43581712e+02] [-2.84145060e-02 9.99596184e-01 2.90750516e-04 -2.72417665e+01] [ 5.73177937e-03 -1.27931719e-04 9.99983565e-01 2.90863968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.940714057 meters Centerline goodness : 0.987758 with order 1 Centerline is valid? [True, True] Translation: X:543.64, Y:-27.25, Z:2.91 [[ 9.99547256e-01 2.95380800e-02 -5.72585109e-03 5.43640583e+02] [-2.95369013e-02 9.99563648e-01 2.90328128e-04 -2.72490418e+01] [ 5.73192834e-03 -1.21072785e-04 9.99983565e-01 2.90582440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.000714057 meters Centerline goodness : 0.988940 with order 1 Centerline is valid? [True, True] Translation: X:543.70, Y:-27.27, Z:2.90 [[ 9.99695409e-01 2.40063212e-02 -5.72587236e-03 5.43697064e+02] [-2.40050542e-02 9.99711795e-01 2.89908105e-04 -2.72676725e+01] [ 5.73118176e-03 -1.52369926e-04 9.99983565e-01 2.90228935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.060714057 meters Centerline goodness : 0.988341 with order 1 Centerline is valid? [True, True] Translation: X:543.76, Y:-27.28, Z:2.91 [[ 9.99649496e-01 2.58476193e-02 -5.72589837e-03 5.43755473e+02] [-2.58463855e-02 9.99665884e-01 2.89393405e-04 -2.72820428e+01] [ 5.73146539e-03 -1.41298196e-04 9.99983565e-01 2.90518809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.120714057 meters Centerline goodness : 0.988892 with order 1 Centerline is valid? [True, True] Translation: X:543.81, Y:-27.29, Z:2.91 [[ 9.99591099e-01 2.80151640e-02 -5.72591912e-03 5.43813674e+02] [-2.80139681e-02 9.99607490e-01 2.88982199e-04 -2.72941015e+01] [ 5.73176753e-03 -1.28458318e-04 9.99983565e-01 2.90877264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.180714057 meters Centerline goodness : 0.989483 with order 1 Centerline is valid? [True, True] Translation: X:543.87, Y:-27.31, Z:2.91 [[ 9.99569974e-01 2.87590087e-02 -5.72593950e-03 5.43871568e+02] [-2.87578272e-02 9.99586367e-01 2.88577818e-04 -2.73055241e+01] [ 5.73187028e-03 -1.23788143e-04 9.99983565e-01 2.91299299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.240714057 meters Centerline goodness : 0.989527 with order 1 Centerline is valid? [True, True] Translation: X:543.93, Y:-27.32, Z:2.91 [[ 9.99626811e-01 2.67105189e-02 -5.72595967e-03 5.43930222e+02] [-2.67093061e-02 9.99643201e-01 2.88177219e-04 -2.73170983e+01] [ 5.73161401e-03 -1.35133265e-04 9.99983565e-01 2.91487297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.300714057 meters Centerline goodness : 0.989452 with order 1 Centerline is valid? [True, True] Translation: X:543.99, Y:-27.33, Z:2.92 [[ 9.99770347e-01 2.06510570e-02 -5.72598102e-03 5.43987468e+02] [-2.06497474e-02 9.99786730e-01 2.87752196e-04 -2.73292656e+01] [ 5.73070223e-03 -1.69446051e-04 9.99983565e-01 2.91678427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.360714057 meters Centerline goodness : 0.992127 with order 1 Centerline is valid? [True, True] Translation: X:544.04, Y:-27.33, Z:2.92 [[ 9.99968788e-01 5.44381223e-03 -5.72600725e-03 5.44044667e+02] [-5.44225657e-03 9.99985150e-01 2.87229312e-04 -2.73301448e+01] [ 5.72748584e-03 -2.56057946e-04 9.99983565e-01 2.92185967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.420714057 meters Centerline goodness : 0.989859 with order 1 Centerline is valid? [True, True] Translation: X:544.10, Y:-27.35, Z:2.92 [[ 9.99935138e-01 9.84544221e-03 -5.72604317e-03 5.44101282e+02] [-9.84396269e-03 9.99951506e-01 2.86511570e-04 -2.73509656e+01] [ 5.72858632e-03 -2.30126031e-04 9.99983565e-01 2.91834956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.480714057 meters Centerline goodness : 0.990099 with order 1 Centerline is valid? [True, True] Translation: X:544.16, Y:-27.36, Z:2.92 [[ 9.99946173e-01 8.65226574e-03 -5.72613036e-03 5.44158622e+02] [-8.65077672e-03 9.99962541e-01 2.84758182e-04 -2.73606712e+01] [ 5.72837967e-03 -2.35207379e-04 9.99983565e-01 2.91880297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5407140570001 meters Centerline goodness : 0.989837 with order 1 Centerline is valid? [True, True] Translation: X:544.22, Y:-27.37, Z:2.92 [[ 9.99941885e-01 9.13446344e-03 -5.72615674e-03 5.44217286e+02] [-9.13298534e-03 9.99958253e-01 2.84226669e-04 -2.73705815e+01] [ 5.72851395e-03 -2.31913245e-04 9.99983565e-01 2.91838735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.600714057 meters Centerline goodness : 0.988932 with order 1 Centerline is valid? [True, True] Translation: X:544.28, Y:-27.38, Z:2.92 [[ 9.99977516e-01 3.48962732e-03 -5.72617800e-03 5.44275185e+02] [-3.48805930e-03 9.99993876e-01 2.83797796e-04 -2.73751676e+01] [ 5.72713328e-03 -2.63818167e-04 9.99983565e-01 2.92178601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.660714057 meters Centerline goodness : 0.990148 with order 1 Centerline is valid? [True, True] Translation: X:544.33, Y:-27.38, Z:2.93 [[ 9.99968927e-01 -5.41803491e-03 -5.72620762e-03 5.44334150e+02] [ 5.41974518e-03 9.99985273e-01 2.83198830e-04 -2.73794833e+01] [ 5.72458891e-03 -3.14224616e-04 9.99983565e-01 2.92505942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.720714057 meters Centerline goodness : 0.989394 with order 1 Centerline is valid? [True, True] Translation: X:544.39, Y:-27.38, Z:2.93 [[ 9.99886743e-01 -1.39179936e-02 -5.72622752e-03 5.44393635e+02] [ 1.39198405e-02 9.99903074e-01 2.82795892e-04 -2.73828217e+01] [ 5.72173655e-03 -3.62472037e-04 9.99983565e-01 2.92729153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.780714057 meters Centerline goodness : 0.989112 with order 1 Centerline is valid? [True, True] Translation: X:544.45, Y:-27.39, Z:2.92 [[ 9.99853633e-01 -1.61221257e-02 -5.72623759e-03 5.44454281e+02] [ 1.61240074e-02 9.99869960e-01 2.82591985e-04 -2.73919494e+01] [ 5.72093696e-03 -3.74880520e-04 9.99983565e-01 2.91683249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.840714057 meters Centerline goodness : 0.991728 with order 1 Centerline is valid? [True, True] Translation: X:544.52, Y:-27.38, Z:2.92 [[ 9.99468855e-01 -3.20814321e-02 -5.72622763e-03 5.44517278e+02] [ 3.20835754e-02 9.99485150e-01 2.82793542e-04 -2.73770426e+01] [ 5.71420706e-03 -4.66361193e-04 9.99983565e-01 2.92175347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.900714057 meters Centerline goodness : 0.988318 with order 1 Centerline is valid? [True, True] Translation: X:544.58, Y:-27.39, Z:2.92 [[ 9.99823269e-01 -1.79064617e-02 -5.72615659e-03 5.44578281e+02] [ 1.79083818e-02 9.99839592e-01 2.84224872e-04 -2.73875781e+01] [ 5.72014860e-03 -3.86720839e-04 9.99983565e-01 2.92129258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.960714057 meters Centerline goodness : 0.988436 with order 1 Centerline is valid? [True, True] Translation: X:544.64, Y:-27.39, Z:2.92 [[ 9.99876334e-01 -1.46468029e-02 -5.72612627e-03 5.44641117e+02] [ 1.46486733e-02 9.99892662e-01 2.84834264e-04 -2.73860570e+01] [ 5.72133973e-03 -3.68679193e-04 9.99983565e-01 2.91754252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.020714057 meters Centerline goodness : 0.982675 with order 1 Centerline is valid? [True, True] Translation: X:544.70, Y:-27.37, Z:2.92 [[ 9.99637590e-01 -2.63040126e-02 -5.72610617e-03 5.44704373e+02] [ 2.63060755e-02 9.99653895e-01 2.85237826e-04 -2.73707093e+01] [ 5.71662143e-03 -4.35765834e-04 9.99983565e-01 2.92180051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.080714057 meters Centerline goodness : 0.991496 with order 1 Centerline is valid? [True, True] Translation: X:544.77, Y:-27.37, Z:2.92 [[ 9.99655890e-01 -2.55990797e-02 -5.72606913e-03 5.44765905e+02] [ 2.56011354e-02 9.99672196e-01 2.85979470e-04 -2.73697183e+01] [ 5.71687129e-03 -4.32474933e-04 9.99983565e-01 2.92280491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.140714057 meters Centerline goodness : 0.989240 with order 1 Centerline is valid? [True, True] Translation: X:544.83, Y:-27.37, Z:2.93 [[ 9.99738516e-01 -2.21384571e-02 -5.72604678e-03 5.44827960e+02] [ 2.21404588e-02 9.99754829e-01 2.86426278e-04 -2.73696541e+01] [ 5.71830188e-03 -4.13128686e-04 9.99983565e-01 2.92509241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.200714057 meters Centerline goodness : 0.989371 with order 1 Centerline is valid? [True, True] Translation: X:544.89, Y:-27.37, Z:2.92 [[ 9.99687121e-01 -2.43489969e-02 -5.72601409e-03 5.44889589e+02] [ 2.43510384e-02 9.99703428e-01 2.87078348e-04 -2.73651574e+01] [ 5.71732584e-03 -4.26422916e-04 9.99983565e-01 2.92486564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.260714057 meters Centerline goodness : 0.989083 with order 1 Centerline is valid? [True, True] Translation: X:544.95, Y:-27.37, Z:2.93 [[ 9.99778180e-01 -2.02683140e-02 -5.72598973e-03 5.44951627e+02] [ 2.02702917e-02 9.99794495e-01 2.87563299e-04 -2.73655007e+01] [ 5.71898459e-03 -4.03566994e-04 9.99983565e-01 2.93009009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.320714057 meters Centerline goodness : 0.988528 with order 1 Centerline is valid? [True, True] Translation: X:545.01, Y:-27.36, Z:2.93 [[ 9.99758970e-01 -2.11947106e-02 -5.72596451e-03 5.45013296e+02] [ 2.11967062e-02 9.99775283e-01 2.88064719e-04 -2.73632646e+01] [ 5.71857234e-03 -4.09366874e-04 9.99983565e-01 2.93044274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.380714057 meters Centerline goodness : 0.988579 with order 1 Centerline is valid? [True, True] Translation: X:545.08, Y:-27.36, Z:2.93 [[ 9.99794379e-01 -1.94528415e-02 -5.72592396e-03 5.45075319e+02] [ 1.94548133e-02 9.99810695e-01 2.88868369e-04 -2.73628013e+01] [ 5.71922071e-03 -4.00205753e-04 9.99983565e-01 2.93129121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.440714057 meters Centerline goodness : 0.988828 with order 1 Centerline is valid? [True, True] Translation: X:545.14, Y:-27.36, Z:2.93 [[ 9.99831255e-01 -1.74549762e-02 -5.72589938e-03 5.45138033e+02] [ 1.74569182e-02 9.99847575e-01 2.89354886e-04 -2.73645448e+01] [ 5.71997592e-03 -3.89262616e-04 9.99983565e-01 2.92677897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.500714057 meters Centerline goodness : 0.991062 with order 1 Centerline is valid? [True, True] Translation: X:545.20, Y:-27.36, Z:2.93 [[ 9.99945349e-01 -8.74717189e-03 -5.72586717e-03 5.45199633e+02] [ 8.74897533e-03 9.99961685e-01 2.89990793e-04 -2.73627802e+01] [ 5.72311119e-03 -3.40070416e-04 9.99983565e-01 2.92597739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.560714057 meters Centerline goodness : 0.991162 with order 1 Centerline is valid? [True, True] Translation: X:545.26, Y:-27.36, Z:2.93 [[ 9.99983405e-01 -6.36091454e-04 -5.72584856e-03 5.45261376e+02] [ 6.37764427e-04 9.99999754e-01 2.90357861e-04 -2.73640197e+01] [ 5.72566246e-03 -2.94004785e-04 9.99983565e-01 2.92585117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.620714057 meters Centerline goodness : 0.982400 with order 1 Centerline is valid? [True, True] Translation: X:545.32, Y:-27.37, Z:2.93 [[ 9.99977283e-01 3.55655955e-03 -5.72583911e-03 5.45320348e+02] [-3.55495408e-03 9.99993639e-01 2.90544144e-04 -2.73665337e+01] [ 5.72683602e-03 -2.70182448e-04 9.99983565e-01 2.92993916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.680714057 meters Centerline goodness : 0.991629 with order 1 Centerline is valid? [True, True] Translation: X:545.38, Y:-27.37, Z:2.93 [[ 9.99982076e-01 1.74970818e-03 -5.72593046e-03 5.45378340e+02] [-1.74808350e-03 9.99998430e-01 2.88732443e-04 -2.73710930e+01] [ 5.72642667e-03 -2.78717863e-04 9.99983565e-01 2.92987492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.740714057 meters Centerline goodness : 0.991363 with order 1 Centerline is valid? [True, True] Translation: X:545.44, Y:-27.38, Z:2.93 [[ 9.99975074e-01 -4.13106150e-03 -5.72596547e-03 5.45436366e+02] [ 4.13277836e-03 9.99991419e-01 2.88036387e-04 -2.73775041e+01] [ 5.72472644e-03 -3.11693354e-04 9.99983565e-01 2.92998258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.800714057 meters Centerline goodness : 0.991841 with order 1 Centerline is valid? [True, True] Translation: X:545.50, Y:-27.38, Z:2.93 [[ 9.99937945e-01 -9.55607903e-03 -5.72598939e-03 5.45495281e+02] [ 9.55788181e-03 9.99954281e-01 2.87560218e-04 -2.73839730e+01] [ 5.72297965e-03 -3.42270703e-04 9.99983565e-01 2.93055230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.860714057 meters Centerline goodness : 0.991436 with order 1 Centerline is valid? [True, True] Translation: X:545.56, Y:-27.39, Z:2.93 [[ 9.99930026e-01 -1.03515838e-02 -5.72599944e-03 5.45556544e+02] [ 1.03533984e-02 9.99946361e-01 2.87359862e-04 -2.73878119e+01] [ 5.72271768e-03 -3.46623308e-04 9.99983565e-01 2.92994735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.920714057 meters Centerline goodness : 0.990917 with order 1 Centerline is valid? [True, True] Translation: X:545.62, Y:-27.39, Z:2.93 [[ 9.99945414e-01 -8.73974273e-03 -5.72598451e-03 5.45617340e+02] [ 8.74153273e-03 9.99961751e-01 2.87657070e-04 -2.73924556e+01] [ 5.72325145e-03 -3.37695249e-04 9.99983565e-01 2.93074723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.980714057 meters Centerline goodness : 0.990925 with order 1 Centerline is valid? [True, True] Translation: X:545.68, Y:-27.40, Z:2.93 [[ 9.99963774e-01 -6.29792749e-03 -5.72597432e-03 5.45678361e+02] [ 6.29967874e-03 9.99980115e-01 2.87859729e-04 -2.73970407e+01] [ 5.72404755e-03 -3.23921099e-04 9.99983565e-01 2.93087510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0407140570001 meters Centerline goodness : 0.990822 with order 1 Centerline is valid? [True, True] Translation: X:545.74, Y:-27.40, Z:2.93 [[ 9.99982006e-01 -1.78928173e-03 -5.72596387e-03 5.45737385e+02] [ 1.79096047e-03 9.99998355e-01 2.88067441e-04 -2.74014642e+01] [ 5.72543902e-03 -2.98317233e-04 9.99983565e-01 2.93044830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.100714057 meters Centerline goodness : 0.989056 with order 1 Centerline is valid? [True, True] Translation: X:545.80, Y:-27.42, Z:2.93 [[ 9.99899625e-01 1.29596788e-02 -5.72596901e-03 5.45795807e+02] [-1.29582419e-02 9.99915997e-01 2.87965248e-04 -2.74185995e+01] [ 5.72921995e-03 -2.13737852e-04 9.99983565e-01 2.92601683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.160714057 meters Centerline goodness : 0.990289 with order 1 Centerline is valid? [True, True] Translation: X:545.85, Y:-27.41, Z:2.94 [[ 9.99933239e-01 1.00364850e-02 -5.72598427e-03 5.45854905e+02] [-1.00350020e-02 9.99949607e-01 2.87661568e-04 -2.74107082e+01] [ 5.72858283e-03 -2.30182100e-04 9.99983565e-01 2.93939615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.220714057 meters Centerline goodness : 0.989552 with order 1 Centerline is valid? [True, True] Translation: X:545.91, Y:-27.42, Z:2.94 [[ 9.99872898e-01 1.48795223e-02 -5.72600698e-03 5.45912545e+02] [-1.48781212e-02 9.99889273e-01 2.87208791e-04 -2.74198106e+01] [ 5.72964649e-03 -2.01980060e-04 9.99983565e-01 2.93775032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.280714057 meters Centerline goodness : 0.990277 with order 1 Centerline is valid? [True, True] Translation: X:545.97, Y:-27.43, Z:2.94 [[ 9.99918443e-01 1.14157181e-02 -5.72610342e-03 5.45970631e+02] [-1.14142713e-02 9.99934814e-01 2.85272995e-04 -2.74250253e+01] [ 5.72898676e-03 -2.19890431e-04 9.99983565e-01 2.94162072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.340714057 meters Centerline goodness : 0.990758 with order 1 Centerline is valid? [True, True] Translation: X:546.03, Y:-27.43, Z:2.94 [[ 9.99974374e-01 4.29676273e-03 -5.72613017e-03 5.46028941e+02] [-4.29520256e-03 9.99990735e-01 2.84735089e-04 -2.74315205e+01] [ 5.72730056e-03 -2.60132903e-04 9.99983565e-01 2.94155635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.400714057 meters Centerline goodness : 0.990901 with order 1 Centerline is valid? [True, True] Translation: X:546.09, Y:-27.44, Z:2.94 [[ 9.99981426e-01 -2.08794123e-03 -5.72615145e-03 5.46087301e+02] [ 2.08960338e-03 9.99997776e-01 2.84306407e-04 -2.74371012e+01] [ 5.72554511e-03 -2.96266512e-04 9.99983565e-01 2.93772414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.460714057 meters Centerline goodness : 0.990559 with order 1 Centerline is valid? [True, True] Translation: X:546.15, Y:-27.44, Z:2.94 [[ 9.99969106e-01 -5.38495050e-03 -5.72617268e-03 5.46147317e+02] [ 5.38666411e-03 9.99985452e-01 2.83878192e-04 -2.74389890e+01] [ 5.72456071e-03 -3.14714391e-04 9.99983565e-01 2.94188229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.520714057 meters Centerline goodness : 0.990159 with order 1 Centerline is valid? [True, True] Translation: X:546.21, Y:-27.44, Z:2.93 [[ 9.99963985e-01 -6.26421507e-03 -5.72618337e-03 5.46207387e+02] [ 6.26594182e-03 9.99980329e-01 2.83662436e-04 -2.74444777e+01] [ 5.72429381e-03 -3.19532151e-04 9.99983565e-01 2.93491322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.580714057 meters Centerline goodness : 0.989971 with order 1 Centerline is valid? [True, True] Translation: X:546.27, Y:-27.44, Z:2.94 [[ 9.99981471e-01 -2.06614259e-03 -5.72618337e-03 5.46267317e+02] [ 2.06780071e-03 9.99997822e-01 2.83662436e-04 -2.74433303e+01] [ 5.72558481e-03 -2.95497786e-04 9.99983565e-01 2.94159104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.640714057 meters Centerline goodness : 0.990106 with order 1 Centerline is valid? [True, True] Translation: X:546.33, Y:-27.45, Z:2.94 [[ 9.99983504e-01 4.49696864e-04 -5.72615726e-03 5.46325692e+02] [-4.48076885e-04 9.99999859e-01 2.84188449e-04 -2.74461718e+01] [ 5.72628426e-03 -2.81618002e-04 9.99983565e-01 2.94217256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.700714057 meters Centerline goodness : 0.989567 with order 1 Centerline is valid? [True, True] Translation: X:546.38, Y:-27.45, Z:2.94 [[ 9.99978761e-01 3.11249351e-03 -5.72622782e-03 5.46384352e+02] [-3.11092525e-03 9.99995121e-01 2.82759572e-04 -2.74480235e+01] [ 5.72707997e-03 -2.64939700e-04 9.99983565e-01 2.94243237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.760714057 meters Centerline goodness : 0.989568 with order 1 Centerline is valid? [True, True] Translation: X:546.44, Y:-27.45, Z:2.94 [[ 9.99957798e-01 7.18413583e-03 -5.72630242e-03 5.46442656e+02] [-7.18264288e-03 9.99974165e-01 2.81240701e-04 -2.74504731e+01] [ 5.72817495e-03 -2.40098847e-04 9.99983565e-01 2.94190562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.820714057 meters Centerline goodness : 0.989964 with order 1 Centerline is valid? [True, True] Translation: X:546.50, Y:-27.45, Z:2.94 [[ 9.99916765e-01 1.15616861e-02 -5.72638611e-03 5.46499588e+02] [-1.15602746e-02 9.99933139e-01 2.79526214e-04 -2.74541330e+01] [ 5.72923503e-03 -2.13304352e-04 9.99983565e-01 2.94112554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.880714057 meters Centerline goodness : 0.989143 with order 1 Centerline is valid? [True, True] Translation: X:546.56, Y:-27.46, Z:2.94 [[ 9.99853362e-01 1.61388838e-02 -5.72642199e-03 5.46557415e+02] [-1.61375515e-02 9.99869742e-01 2.78789270e-04 -2.74590883e+01] [ 5.73017543e-03 -1.86337959e-04 9.99983565e-01 2.94006519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.940714057 meters Centerline goodness : 0.989022 with order 1 Centerline is valid? [True, True] Translation: X:546.62, Y:-27.47, Z:2.94 [[ 9.99847878e-01 1.64751014e-02 -5.72650103e-03 5.46615574e+02] [-1.64737840e-02 9.99864260e-01 2.77156041e-04 -2.74655361e+01] [ 5.73028989e-03 -1.82776739e-04 9.99983565e-01 2.94126772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.000714057 meters Centerline goodness : 0.989542 with order 1 Centerline is valid? [True, True] Translation: X:546.67, Y:-27.47, Z:2.95 [[ 9.99911824e-01 1.19812884e-02 -5.72653050e-03 5.46674294e+02] [-1.19799008e-02 9.99928200e-01 2.76545897e-04 -2.74684818e+01] [ 5.72943271e-03 -2.07918245e-04 9.99983565e-01 2.95086926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.060714057 meters Centerline goodness : 0.989251 with order 1 Centerline is valid? [True, True] Translation: X:546.73, Y:-27.47, Z:2.95 [[ 9.99941460e-01 9.18058654e-03 -5.72654986e-03 5.46731750e+02] [-9.17915541e-03 9.99957833e-01 2.76144388e-04 -2.74743447e+01] [ 5.72884355e-03 -2.23563331e-04 9.99983565e-01 2.95189264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.120714057 meters Centerline goodness : 0.992602 with order 1 Centerline is valid? [True, True] Translation: X:546.79, Y:-27.47, Z:2.95 [[ 9.99982464e-01 1.50912349e-03 -5.72657351e-03 5.46790953e+02] [-1.50756961e-03 9.99998826e-01 2.75652992e-04 -2.74740338e+01] [ 5.72698278e-03 -2.67014950e-04 9.99983565e-01 2.94573866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.180714057 meters Centerline goodness : 0.992460 with order 1 Centerline is valid? [True, True] Translation: X:546.85, Y:-27.48, Z:2.94 [[ 9.99983179e-01 9.21079734e-04 -5.72658285e-03 5.46849744e+02] [-9.19517339e-04 9.99999539e-01 2.75458844e-04 -2.74813973e+01] [ 5.72683394e-03 -2.70188518e-04 9.99983565e-01 2.94356354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.240714057 meters Centerline goodness : 0.991369 with order 1 Centerline is valid? [True, True] Translation: X:546.91, Y:-27.49, Z:2.94 [[ 9.99974270e-01 -4.32027898e-03 -5.72660175e-03 5.46907086e+02] [ 4.32192485e-03 9.99990623e-01 2.75065397e-04 -2.74883154e+01] [ 5.72535969e-03 -2.99808262e-04 9.99983565e-01 2.94432322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.300714057 meters Centerline goodness : 0.991319 with order 1 Centerline is valid? [True, True] Translation: X:546.97, Y:-27.49, Z:2.94 [[ 9.99880083e-01 -1.43884055e-02 -5.72662496e-03 5.46966050e+02] [ 1.43902132e-02 9.99896418e-01 2.74581416e-04 -2.74944819e+01] [ 5.72208099e-03 -3.56955842e-04 9.99983565e-01 2.94480757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.360714057 meters Centerline goodness : 0.992245 with order 1 Centerline is valid? [True, True] Translation: X:547.03, Y:-27.50, Z:2.94 [[ 9.99721450e-01 -2.28960172e-02 -5.72663482e-03 5.47027810e+02] [ 2.28979626e-02 9.99737770e-01 2.74375513e-04 -2.74991031e+01] [ 5.71885102e-03 -4.05427356e-04 9.99983565e-01 2.94363106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.420714057 meters Centerline goodness : 0.992597 with order 1 Centerline is valid? [True, True] Translation: X:547.09, Y:-27.50, Z:2.94 [[ 9.99549805e-01 -2.94515465e-02 -5.72656541e-03 5.47090573e+02] [ 2.94536071e-02 9.99566110e-01 2.75816776e-04 -2.75038108e+01] [ 5.71595748e-03 -4.44360612e-04 9.99983565e-01 2.94294450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.480714057 meters Centerline goodness : 0.989576 with order 1 Centerline is valid? [True, True] Translation: X:547.15, Y:-27.51, Z:2.94 [[ 9.99532927e-01 -3.00188951e-02 -5.72653561e-03 5.47153588e+02] [ 3.00209685e-02 9.99549231e-01 2.76434091e-04 -2.75140906e+01] [ 5.71565602e-03 -4.48221121e-04 9.99983565e-01 2.94223988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5407140570001 meters Centerline goodness : 0.990003 with order 1 Centerline is valid? [True, True] Translation: X:547.22, Y:-27.51, Z:2.94 [[ 9.99506580e-01 -3.08837122e-02 -5.72650473e-03 5.47216023e+02] [ 3.08858033e-02 9.99522881e-01 2.77072268e-04 -2.75140067e+01] [ 5.71521549e-03 -4.53803253e-04 9.99983565e-01 2.94318982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.600714057 meters Centerline goodness : 0.988769 with order 1 Centerline is valid? [True, True] Translation: X:547.28, Y:-27.51, Z:2.95 [[ 9.99517274e-01 -3.05356451e-02 -5.72647928e-03 5.47279133e+02] [ 3.05377336e-02 9.99533576e-01 2.77597215e-04 -2.75136804e+01] [ 5.71533170e-03 -4.52336910e-04 9.99983565e-01 2.94555844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.660714057 meters Centerline goodness : 0.988714 with order 1 Centerline is valid? [True, True] Translation: X:547.34, Y:-27.51, Z:2.95 [[ 9.99587110e-01 -2.81570234e-02 -5.72644916e-03 5.47342379e+02] [ 2.81590766e-02 9.99603416e-01 2.78217146e-04 -2.75118543e+01] [ 5.71634438e-03 -4.39353793e-04 9.99983565e-01 2.94628681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.720714057 meters Centerline goodness : 0.988136 with order 1 Centerline is valid? [True, True] Translation: X:547.40, Y:-27.52, Z:2.94 [[ 9.99633684e-01 -2.64519408e-02 -5.72641943e-03 5.47404582e+02] [ 2.64539696e-02 9.99649994e-01 2.78827745e-04 -2.75152431e+01] [ 5.71703961e-03 -4.30212131e-04 9.99983565e-01 2.94366154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.780714057 meters Centerline goodness : 0.989221 with order 1 Centerline is valid? [True, True] Translation: X:547.47, Y:-27.51, Z:2.94 [[ 9.99727418e-01 -2.26339839e-02 -5.72639980e-03 5.47466417e+02] [ 2.26359527e-02 9.99743735e-01 2.79230244e-04 -2.75108753e+01] [ 5.71861224e-03 -4.08776646e-04 9.99983565e-01 2.94468762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.840714057 meters Centerline goodness : 0.990107 with order 1 Centerline is valid? [True, True] Translation: X:547.53, Y:-27.51, Z:2.95 [[ 9.99722115e-01 -2.28670220e-02 -5.72638530e-03 5.47528940e+02] [ 2.28689963e-02 9.99738431e-01 2.79527473e-04 -2.75101945e+01] [ 5.71849549e-03 -4.10406480e-04 9.99983565e-01 2.94514897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.900714057 meters Centerline goodness : 0.989224 with order 1 Centerline is valid? [True, True] Translation: X:547.59, Y:-27.51, Z:2.94 [[ 9.99823557e-01 -1.78903301e-02 -5.72636570e-03 5.47591505e+02] [ 1.78922255e-02 9.99839882e-01 2.79928355e-04 -2.75079724e+01] [ 5.72044080e-03 -3.82336390e-04 9.99983565e-01 2.94123955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.960714057 meters Centerline goodness : 0.986778 with order 1 Centerline is valid? [True, True] Translation: X:547.65, Y:-27.50, Z:2.94 [[ 9.99835904e-01 -1.71864573e-02 -5.72634591e-03 5.47654251e+02] [ 1.71883435e-02 9.99852230e-01 2.80332645e-04 -2.75040237e+01] [ 5.72068180e-03 -3.78713044e-04 9.99983565e-01 2.94369929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.020714057 meters Centerline goodness : 0.988701 with order 1 Centerline is valid? [True, True] Translation: X:547.72, Y:-27.50, Z:2.95 [[ 9.99809687e-01 -1.86493657e-02 -5.72632615e-03 5.47716618e+02] [ 1.86512781e-02 9.99826010e-01 2.80735680e-04 -2.75012542e+01] [ 5.72009428e-03 -3.87485554e-04 9.99983565e-01 2.94709766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.080714057 meters Centerline goodness : 0.988166 with order 1 Centerline is valid? [True, True] Translation: X:547.78, Y:-27.50, Z:2.95 [[ 9.99808915e-01 -1.86907360e-02 -5.72630484e-03 5.47778600e+02] [ 1.86926515e-02 9.99825238e-01 2.81169631e-04 -2.75031317e+01] [ 5.72004883e-03 -3.88155724e-04 9.99983565e-01 2.94513465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.140714057 meters Centerline goodness : 0.986899 with order 1 Centerline is valid? [True, True] Translation: X:547.84, Y:-27.50, Z:2.95 [[ 9.99781642e-01 -2.00967281e-02 -5.72628323e-03 5.47840287e+02] [ 2.00986690e-02 9.99797962e-01 2.81609058e-04 -2.75021779e+01] [ 5.71946688e-03 -3.96638238e-04 9.99983565e-01 2.94853511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.200714057 meters Centerline goodness : 0.988230 with order 1 Centerline is valid? [True, True] Translation: X:547.90, Y:-27.50, Z:2.95 [[ 9.99650863e-01 -2.57946193e-02 -5.72626731e-03 5.47902662e+02] [ 2.57966551e-02 9.99667171e-01 2.81932490e-04 -2.75011214e+01] [ 5.71708910e-03 -4.29552600e-04 9.99983565e-01 2.94755968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.260714057 meters Centerline goodness : 0.989033 with order 1 Centerline is valid? [True, True] Translation: X:547.97, Y:-27.50, Z:2.95 [[ 9.99539000e-01 -2.98160763e-02 -5.72624660e-03 5.47965635e+02] [ 2.98181801e-02 9.99555299e-01 2.82352409e-04 -2.75019230e+01] [ 5.71528149e-03 -4.52968497e-04 9.99983565e-01 2.94874753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.320714057 meters Centerline goodness : 0.988225 with order 1 Centerline is valid? [True, True] Translation: X:548.03, Y:-27.50, Z:2.95 [[ 9.99523436e-01 -3.03333421e-02 -5.72621428e-03 5.48028545e+02] [ 3.03354580e-02 9.99539734e-01 2.83006289e-04 -2.75024574e+01] [ 5.71499418e-03 -4.56578751e-04 9.99983565e-01 2.94870328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.380714057 meters Centerline goodness : 0.987458 with order 1 Centerline is valid? [True, True] Translation: X:548.09, Y:-27.50, Z:2.95 [[ 9.99554555e-01 -2.92899806e-02 -5.72618233e-03 5.48090803e+02] [ 2.92920832e-02 9.99570855e-01 2.83651358e-04 -2.75007832e+01] [ 5.71541682e-03 -4.51256816e-04 9.99983565e-01 2.95105971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.440714057 meters Centerline goodness : 0.986191 with order 1 Centerline is valid? [True, True] Translation: X:548.15, Y:-27.50, Z:2.95 [[ 9.99656694e-01 -2.55676498e-02 -5.72615615e-03 5.48154381e+02] [ 2.55696947e-02 9.99673002e-01 2.84178942e-04 -2.75008371e+01] [ 5.71701791e-03 -4.30497447e-04 9.99983565e-01 2.94913969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.500714057 meters Centerline goodness : 0.986573 with order 1 Centerline is valid? [True, True] Translation: X:548.22, Y:-27.50, Z:2.95 [[ 9.99740295e-01 -2.20579934e-02 -5.72612352e-03 5.48217222e+02] [ 2.20599848e-02 9.99756608e-01 2.84834929e-04 -2.75010063e+01] [ 5.71844694e-03 -4.11079153e-04 9.99983565e-01 2.94642463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.560714057 meters Centerline goodness : 0.986438 with order 1 Centerline is valid? [True, True] Translation: X:548.28, Y:-27.50, Z:2.95 [[ 9.99798080e-01 -1.92616354e-02 -5.72609116e-03 5.48279792e+02] [ 1.92635848e-02 9.99814399e-01 2.85483995e-04 -2.75027549e+01] [ 5.71952950e-03 -3.95731393e-04 9.99983565e-01 2.94528854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.620714057 meters Centerline goodness : 0.985203 with order 1 Centerline is valid? [True, True] Translation: X:548.34, Y:-27.50, Z:2.95 [[ 9.99842504e-01 -1.67982205e-02 -5.72606928e-03 5.48341181e+02] [ 1.68001322e-02 9.99858827e-01 2.85922173e-04 -2.75006671e+01] [ 5.72045793e-03 -3.82075862e-04 9.99983565e-01 2.94699589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.680714057 meters Centerline goodness : 0.985201 with order 1 Centerline is valid? [True, True] Translation: X:548.40, Y:-27.50, Z:2.95 [[ 9.99863488e-01 -1.54989446e-02 -5.72605309e-03 5.48403331e+02] [ 1.55008370e-02 9.99879814e-01 2.86245916e-04 -2.74990803e+01] [ 5.72092839e-03 -3.74965456e-04 9.99983565e-01 2.94549055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.740714057 meters Centerline goodness : 0.982270 with order 1 Centerline is valid? [True, True] Translation: X:548.47, Y:-27.50, Z:2.95 [[ 9.99841504e-01 -1.68576522e-02 -5.72603227e-03 5.48465182e+02] [ 1.68595691e-02 9.99857826e-01 2.86661742e-04 -2.74982566e+01] [ 5.72038574e-03 -3.83154744e-04 9.99983565e-01 2.94634351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.800714057 meters Centerline goodness : 0.983220 with order 1 Centerline is valid? [True, True] Translation: X:548.53, Y:-27.50, Z:2.95 [[ 9.99819625e-01 -1.81088700e-02 -5.72601055e-03 5.48526681e+02] [ 1.81108098e-02 9.99835945e-01 2.87094994e-04 -2.74970346e+01] [ 5.71987220e-03 -3.90745897e-04 9.99983565e-01 2.94720548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.860714057 meters Centerline goodness : 0.984837 with order 1 Centerline is valid? [True, True] Translation: X:548.59, Y:-27.49, Z:2.95 [[ 9.99715775e-01 -2.31426378e-02 -5.72597758e-03 5.48589490e+02] [ 2.31446634e-02 9.99732085e-01 2.87751100e-04 -2.74941379e+01] [ 5.71778419e-03 -4.20195138e-04 9.99983565e-01 2.95138229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.920714057 meters Centerline goodness : 0.985488 with order 1 Centerline is valid? [True, True] Translation: X:548.65, Y:-27.50, Z:2.95 [[ 9.99635497e-01 -2.63834584e-02 -5.72595662e-03 5.48651667e+02] [ 2.63855394e-02 9.99651800e-01 2.88167544e-04 -2.74975889e+01] [ 5.71635998e-03 -4.39144960e-04 9.99983565e-01 2.94969322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.980714057 meters Centerline goodness : 0.986467 with order 1 Centerline is valid? [True, True] Translation: X:548.71, Y:-27.50, Z:2.95 [[ 9.99472380e-01 -3.19714727e-02 -5.72593587e-03 5.48714041e+02] [ 3.19736470e-02 9.99488671e-01 2.88579237e-04 -2.74980112e+01] [ 5.71378173e-03 -4.71506029e-04 9.99983565e-01 2.95068134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0407140570001 meters Centerline goodness : 0.986451 with order 1 Centerline is valid? [True, True] Translation: X:548.78, Y:-27.50, Z:2.95 [[ 9.99462699e-01 -3.22727071e-02 -5.72591385e-03 5.48776435e+02] [ 3.22748888e-02 9.99478988e-01 2.89015634e-04 -2.74998319e+01] [ 5.71360326e-03 -4.73663578e-04 9.99983565e-01 2.95024506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.100714057 meters Centerline goodness : 0.986518 with order 1 Centerline is valid? [True, True] Translation: X:548.84, Y:-27.50, Z:2.95 [[ 9.99455155e-01 -3.25054935e-02 -5.72588650e-03 5.48839048e+02] [ 3.25076821e-02 9.99471444e-01 2.89556433e-04 -2.75008720e+01] [ 5.71344787e-03 -4.75533968e-04 9.99983565e-01 2.94880722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.160714057 meters Centerline goodness : 0.984950 with order 1 Centerline is valid? [True, True] Translation: X:548.90, Y:-27.50, Z:2.95 [[ 9.99546182e-01 -2.95744084e-02 -5.72585328e-03 5.48900847e+02] [ 2.95765530e-02 9.99562476e-01 2.90211805e-04 -2.74985990e+01] [ 5.71476524e-03 -4.59431105e-04 9.99983565e-01 2.94930096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.220714057 meters Centerline goodness : 0.985238 with order 1 Centerline is valid? [True, True] Translation: X:548.96, Y:-27.50, Z:2.95 [[ 9.99614134e-01 -2.71808372e-02 -5.72582597e-03 5.48963380e+02] [ 2.71829458e-02 9.99630433e-01 2.90749730e-04 -2.74986961e+01] [ 5.71580707e-03 -4.46282356e-04 9.99983565e-01 2.94663797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.280714057 meters Centerline goodness : 0.984654 with order 1 Centerline is valid? [True, True] Translation: X:549.03, Y:-27.50, Z:2.95 [[ 9.99655958e-01 -2.55964963e-02 -5.72580399e-03 5.49025008e+02] [ 2.55985815e-02 9.99672260e-01 2.91181767e-04 -2.74986728e+01] [ 5.71647419e-03 -4.37654049e-04 9.99983565e-01 2.94776154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.340714057 meters Centerline goodness : 0.983468 with order 1 Centerline is valid? [True, True] Translation: X:549.09, Y:-27.50, Z:2.95 [[ 9.99727320e-01 -2.26384969e-02 -5.72578776e-03 5.49086117e+02] [ 2.26405357e-02 9.99743628e-01 2.91500724e-04 -2.75005325e+01] [ 5.71772069e-03 -4.21056140e-04 9.99983565e-01 2.95133296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.400714057 meters Centerline goodness : 0.982350 with order 1 Centerline is valid? [True, True] Translation: X:549.15, Y:-27.50, Z:2.95 [[ 9.99793062e-01 -1.95204673e-02 -5.72577293e-03 5.49148575e+02] [ 1.95224569e-02 9.99809376e-01 2.91791651e-04 -2.75030072e+01] [ 5.71898555e-03 -4.03512424e-04 9.99983565e-01 2.95209192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.460714057 meters Centerline goodness : 0.981147 with order 1 Centerline is valid? [True, True] Translation: X:549.21, Y:-27.51, Z:2.95 [[ 9.99876610e-01 -1.46280583e-02 -5.72575201e-03 5.49209577e+02] [ 1.46299704e-02 9.99892934e-01 2.92201641e-04 -2.75064469e+01] [ 5.72086463e-03 -3.75933169e-04 9.99983565e-01 2.95222733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.520714057 meters Centerline goodness : 0.980667 with order 1 Centerline is valid? [True, True] Translation: X:549.27, Y:-27.51, Z:2.95 [[ 9.99931192e-01 -1.02385168e-02 -5.72571750e-03 5.49272010e+02] [ 1.02403611e-02 9.99947523e-01 2.92876276e-04 -2.75094127e+01] [ 5.72241841e-03 -3.51489538e-04 9.99983565e-01 2.95129569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.580714057 meters Centerline goodness : 0.980206 with order 1 Centerline is valid? [True, True] Translation: X:549.33, Y:-27.52, Z:2.95 [[ 9.99957410e-01 -7.23835989e-03 -5.72569654e-03 5.49333643e+02] [ 7.24015748e-03 9.99973747e-01 2.93285486e-04 -2.75151047e+01] [ 5.72342331e-03 -3.34727940e-04 9.99983565e-01 2.94905036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.640714057 meters Centerline goodness : 0.980576 with order 1 Centerline is valid? [True, True] Translation: X:549.39, Y:-27.52, Z:2.95 [[ 9.99955084e-01 -7.55295226e-03 -5.72567468e-03 5.49394319e+02] [ 7.55475742e-03 9.99971419e-01 2.93711561e-04 -2.75190671e+01] [ 5.72329265e-03 -3.36954452e-04 9.99983565e-01 2.94903202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.700714057 meters Centerline goodness : 0.980182 with order 1 Centerline is valid? [True, True] Translation: X:549.45, Y:-27.52, Z:2.95 [[ 9.99950295e-01 -8.16233998e-03 -5.72565668e-03 5.49454420e+02] [ 8.16415710e-03 9.99966629e-01 2.94062028e-04 -2.75241656e+01] [ 5.72306538e-03 -3.40792573e-04 9.99983565e-01 2.94985312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.760714057 meters Centerline goodness : 0.978770 with order 1 Centerline is valid? [True, True] Translation: X:549.52, Y:-27.53, Z:2.95 [[ 9.99967379e-01 -5.69714883e-03 -5.72563962e-03 5.49515805e+02] [ 5.69892756e-03 9.99983718e-01 2.94393961e-04 -2.75282053e+01] [ 5.72386918e-03 -3.27014363e-04 9.99983565e-01 2.94728435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.820714057 meters Centerline goodness : 0.978125 with order 1 Centerline is valid? [True, True] Translation: X:549.58, Y:-27.53, Z:2.95 [[ 9.99967055e-01 -5.75380968e-03 -5.72562915e-03 5.49575845e+02] [ 5.75559051e-03 9.99983393e-01 2.94597433e-04 -2.75324100e+01] [ 5.72383900e-03 -3.27542104e-04 9.99983565e-01 2.94692854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.880714057 meters Centerline goodness : 0.979831 with order 1 Centerline is valid? [True, True] Translation: X:549.64, Y:-27.54, Z:2.95 [[ 9.99943252e-01 -8.98384421e-03 -5.72562915e-03 5.49635695e+02] [ 8.98567779e-03 9.99959585e-01 2.94597433e-04 -2.75353100e+01] [ 5.72275113e-03 -3.46029374e-04 9.99983565e-01 2.94797355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.940714057 meters Centerline goodness : 0.980923 with order 1 Centerline is valid? [True, True] Translation: X:549.70, Y:-27.54, Z:2.95 [[ 9.99911666e-01 -1.19948634e-02 -5.72560538e-03 5.49696676e+02] [ 1.19967487e-02 9.99927993e-01 2.95058597e-04 -2.75393879e+01] [ 5.72165391e-03 -3.63721183e-04 9.99983565e-01 2.94889371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.000714057 meters Centerline goodness : 0.980712 with order 1 Centerline is valid? [True, True] Translation: X:549.76, Y:-27.54, Z:2.95 [[ 9.99873364e-01 -1.48483345e-02 -5.72559427e-03 5.49757499e+02] [ 1.48502677e-02 9.99889685e-01 2.95274059e-04 -2.75445089e+01] [ 5.72057832e-03 -3.80263275e-04 9.99983565e-01 2.94615329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.060714057 meters Centerline goodness : 0.982026 with order 1 Centerline is valid? [True, True] Translation: X:549.82, Y:-27.55, Z:2.95 [[ 9.99854160e-01 -1.60896276e-02 -5.72557772e-03 5.49818919e+02] [ 1.60915829e-02 9.99870478e-01 2.95594545e-04 -2.75516798e+01] [ 5.72008013e-03 -3.87685044e-04 9.99983565e-01 2.94802681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.120714057 meters Centerline goodness : 0.981798 with order 1 Centerline is valid? [True, True] Translation: X:549.88, Y:-27.56, Z:2.95 [[ 9.99880186e-01 -1.43816390e-02 -5.72555628e-03 5.49880728e+02] [ 1.43835688e-02 9.99896507e-01 2.96009409e-04 -2.75598160e+01] [ 5.72070662e-03 -3.78327875e-04 9.99983565e-01 2.94827589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.180714057 meters Centerline goodness : 0.983262 with order 1 Centerline is valid? [True, True] Translation: X:549.94, Y:-27.57, Z:2.95 [[ 9.99920380e-01 -1.12450489e-02 -5.72553392e-03 5.49941244e+02] [ 1.12469300e-02 9.99936707e-01 2.96441234e-04 -2.75660575e+01] [ 5.72183804e-03 -3.60812311e-04 9.99983565e-01 2.94950891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.240714057 meters Centerline goodness : 0.982834 with order 1 Centerline is valid? [True, True] Translation: X:550.00, Y:-27.57, Z:2.95 [[ 9.99924423e-01 -1.08796935e-02 -5.72551736e-03 5.50002082e+02] [ 1.08815704e-02 9.99940750e-01 2.96760630e-04 -2.75730765e+01] [ 5.72194946e-03 -3.59040821e-04 9.99983565e-01 2.95254439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.300714057 meters Centerline goodness : 0.983049 with order 1 Centerline is valid? [True, True] Translation: X:550.06, Y:-27.58, Z:2.95 [[ 9.99963929e-01 -6.27372284e-03 -5.72550127e-03 5.50063504e+02] [ 6.27552627e-03 9.99980265e-01 2.97070807e-04 -2.75815977e+01] [ 5.72352453e-03 -3.32990625e-04 9.99983565e-01 2.95226460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.360714057 meters Centerline goodness : 0.983465 with order 1 Centerline is valid? [True, True] Translation: X:550.12, Y:-27.59, Z:2.95 [[ 9.99974329e-01 -4.30816705e-03 -5.72549076e-03 5.50123969e+02] [ 4.30993952e-03 9.99990668e-01 2.97273239e-04 -2.75885892e+01] [ 5.72415663e-03 -3.21942126e-04 9.99983565e-01 2.95421778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.420714057 meters Centerline goodness : 0.982486 with order 1 Centerline is valid? [True, True] Translation: X:550.18, Y:-27.59, Z:2.96 [[ 9.99975359e-01 -4.06205367e-03 -5.72549076e-03 5.50183560e+02] [ 4.06382212e-03 9.99991698e-01 2.97273239e-04 -2.75949486e+01] [ 5.72423569e-03 -3.20533289e-04 9.99983565e-01 2.95581536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.480714057 meters Centerline goodness : 0.982358 with order 1 Centerline is valid? [True, True] Translation: X:550.24, Y:-27.60, Z:2.96 [[ 9.99960819e-01 -6.75129132e-03 -5.72550186e-03 5.50242933e+02] [ 6.75310249e-03 9.99977153e-01 2.97059354e-04 -2.76023818e+01] [ 5.72336551e-03 -3.35712616e-04 9.99983565e-01 2.95642272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5407140570001 meters Centerline goodness : 0.981591 with order 1 Centerline is valid? [True, True] Translation: X:550.30, Y:-27.61, Z:2.96 [[ 9.99931932e-01 -1.01661073e-02 -5.72550730e-03 5.50303092e+02] [ 1.01679737e-02 9.99948261e-01 2.96954350e-04 -2.76109729e+01] [ 5.72219220e-03 -3.55150945e-04 9.99983565e-01 2.95519387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.600714057 meters Centerline goodness : 0.979509 with order 1 Centerline is valid? [True, True] Translation: X:550.36, Y:-27.62, Z:2.96 [[ 9.99904694e-01 -1.25627371e-02 -5.72550730e-03 5.50363767e+02] [ 1.25646426e-02 9.99921018e-01 2.96954350e-04 -2.76183052e+01] [ 5.72132453e-03 -3.68865002e-04 9.99983565e-01 2.95600486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.660714057 meters Centerline goodness : 0.977782 with order 1 Centerline is valid? [True, True] Translation: X:550.42, Y:-27.63, Z:2.95 [[ 9.99923991e-01 -1.09192847e-02 -5.72549645e-03 5.50424401e+02] [ 1.09211645e-02 9.99940318e-01 2.97163384e-04 -2.76275585e+01] [ 5.72190993e-03 -3.59669886e-04 9.99983565e-01 2.95324881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.720714057 meters Centerline goodness : 0.978146 with order 1 Centerline is valid? [True, True] Translation: X:550.49, Y:-27.63, Z:2.95 [[ 9.99899850e-01 -1.29425446e-02 -5.72548027e-03 5.50486830e+02] [ 1.29444592e-02 9.99916173e-01 2.97474814e-04 -2.76319433e+01] [ 5.72115024e-03 -3.71558268e-04 9.99983565e-01 2.95282178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.780714057 meters Centerline goodness : 0.978156 with order 1 Centerline is valid? [True, True] Translation: X:550.55, Y:-27.64, Z:2.95 [[ 9.99878556e-01 -1.44945594e-02 -5.72546015e-03 5.50549093e+02] [ 1.44965016e-02 9.99894876e-01 2.97861514e-04 -2.76363447e+01] [ 5.72054090e-03 -3.80824482e-04 9.99983565e-01 2.95331947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.840714057 meters Centerline goodness : 0.982641 with order 1 Centerline is valid? [True, True] Translation: X:550.61, Y:-27.63, Z:2.96 [[ 9.99753986e-01 -2.14286525e-02 -5.72543917e-03 5.50610457e+02] [ 2.14307101e-02 9.99770291e-01 2.98264277e-04 -2.76304472e+01] [ 5.71773259e-03 -4.20891127e-04 9.99983565e-01 2.95529789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.900714057 meters Centerline goodness : 0.982818 with order 1 Centerline is valid? [True, True] Translation: X:550.67, Y:-27.64, Z:2.95 [[ 9.99759756e-01 -2.11577383e-02 -5.72542156e-03 5.50672673e+02] [ 2.11597934e-02 9.99776062e-01 2.98601892e-04 -2.76363838e+01] [ 5.71782168e-03 -4.19678892e-04 9.99983565e-01 2.95346958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.960714057 meters Centerline goodness : 0.982662 with order 1 Centerline is valid? [True, True] Translation: X:550.74, Y:-27.64, Z:2.95 [[ 9.99619562e-01 -2.69805589e-02 -5.72539797e-03 5.50735316e+02] [ 2.69827116e-02 9.99635856e-01 2.99053628e-04 -2.76361790e+01] [ 5.71524446e-03 -4.53426619e-04 9.99983565e-01 2.95408902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.020714057 meters Centerline goodness : 0.983601 with order 1 Centerline is valid? [True, True] Translation: X:550.80, Y:-27.64, Z:2.95 [[ 9.99518922e-01 -3.04818762e-02 -5.72537503e-03 5.50797848e+02] [ 3.04840884e-02 9.99535207e-01 2.99492146e-04 -2.76397767e+01] [ 5.71358484e-03 -4.73880906e-04 9.99983565e-01 2.95437505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.080714057 meters Centerline goodness : 0.983436 with order 1 Centerline is valid? [True, True] Translation: X:550.86, Y:-27.64, Z:2.95 [[ 9.99454279e-01 -3.25325034e-02 -5.72533680e-03 5.50859773e+02] [ 3.25347531e-02 9.99470560e-01 3.00221182e-04 -2.76408145e+01] [ 5.71253863e-03 -4.86329765e-04 9.99983565e-01 2.95322793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.140714057 meters Centerline goodness : 0.982697 with order 1 Centerline is valid? [True, True] Translation: X:550.92, Y:-27.65, Z:2.95 [[ 9.99547169e-01 -2.95411362e-02 -5.72530591e-03 5.50922539e+02] [ 2.95433405e-02 9.99563455e-01 3.00809102e-04 -2.76458898e+01] [ 5.71392032e-03 -4.69817548e-04 9.99983565e-01 2.95418382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.200714057 meters Centerline goodness : 0.979320 with order 1 Centerline is valid? [True, True] Translation: X:550.99, Y:-27.65, Z:2.95 [[ 9.99747526e-01 -2.17279853e-02 -5.72526941e-03 5.50985008e+02] [ 2.17300663e-02 9.99763829e-01 3.01502172e-04 -2.76523406e+01] [ 5.71736624e-03 -4.25836534e-04 9.99983565e-01 2.95047968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.260714057 meters Centerline goodness : 0.980094 with order 1 Centerline is valid? [True, True] Translation: X:551.05, Y:-27.65, Z:2.95 [[ 9.99820707e-01 -1.80492497e-02 -5.72523932e-03 5.51045995e+02] [ 1.80512738e-02 9.99837017e-01 3.02072565e-04 -2.76510759e+01] [ 5.71885402e-03 -4.05366268e-04 9.99983565e-01 2.95109352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.320714057 meters Centerline goodness : 0.978620 with order 1 Centerline is valid? [True, True] Translation: X:551.11, Y:-27.65, Z:2.95 [[ 9.99841081e-01 -1.68829660e-02 -5.72522339e-03 5.51108700e+02] [ 1.68849729e-02 9.99857393e-01 3.02374118e-04 -2.76504745e+01] [ 5.71930196e-03 -3.98996307e-04 9.99983565e-01 2.95154727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.380714057 meters Centerline goodness : 0.979904 with order 1 Centerline is valid? [True, True] Translation: X:551.17, Y:-27.65, Z:2.95 [[ 9.99796439e-01 -1.93469162e-02 -5.72520062e-03 5.51170615e+02] [ 1.93489657e-02 9.99812745e-01 3.02804629e-04 -2.76496377e+01] [ 5.71827022e-03 -4.13519700e-04 9.99983565e-01 2.95466345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.440714057 meters Centerline goodness : 0.981101 with order 1 Centerline is valid? [True, True] Translation: X:551.23, Y:-27.65, Z:2.96 [[ 9.99655102e-01 -2.56300601e-02 -5.72517785e-03 5.51233009e+02] [ 2.56322145e-02 9.99671395e-01 3.03234569e-04 -2.76523069e+01] [ 5.71552461e-03 -4.49878971e-04 9.99983565e-01 2.95512058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.500714057 meters Centerline goodness : 0.980740 with order 1 Centerline is valid? [True, True] Translation: X:551.30, Y:-27.66, Z:2.95 [[ 9.99529894e-01 -3.01200043e-02 -5.72509348e-03 5.51296402e+02] [ 3.01222409e-02 9.99546176e-01 3.04819248e-04 -2.76558287e+01] [ 5.71331414e-03 -4.77128595e-04 9.99983565e-01 2.95494077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.560714057 meters Centerline goodness : 0.981531 with order 1 Centerline is valid? [True, True] Translation: X:551.36, Y:-27.66, Z:2.95 [[ 9.99475173e-01 -3.18842034e-02 -5.72505905e-03 5.51357898e+02] [ 3.18864724e-02 9.99491450e-01 3.05464473e-04 -2.76586434e+01] [ 5.71240809e-03 -4.87856094e-04 9.99983565e-01 2.95272611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.620714057 meters Centerline goodness : 0.981667 with order 1 Centerline is valid? [True, True] Translation: X:551.42, Y:-27.66, Z:2.95 [[ 9.99465468e-01 -3.21869895e-02 -5.72504212e-03 5.51420248e+02] [ 3.21892652e-02 9.99481745e-01 3.05781452e-04 -2.76612027e+01] [ 5.71223290e-03 -4.89902902e-04 9.99983565e-01 2.95388862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.680714057 meters Centerline goodness : 0.981358 with order 1 Centerline is valid? [True, True] Translation: X:551.48, Y:-27.66, Z:2.95 [[ 9.99560811e-01 -2.90759318e-02 -5.72501871e-03 5.51483014e+02] [ 2.90781594e-02 9.99577094e-01 3.06219106e-04 -2.76635479e+01] [ 5.71369396e-03 -4.72557625e-04 9.99983565e-01 2.95419850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.740714057 meters Centerline goodness : 0.980831 with order 1 Centerline is valid? [True, True] Translation: X:551.54, Y:-27.66, Z:2.96 [[ 9.99744193e-01 -2.18808953e-02 -5.72498398e-03 5.51544874e+02] [ 2.18830093e-02 9.99760491e-01 3.06867192e-04 -2.76637549e+01] [ 5.71689826e-03 -4.32068570e-04 9.99983565e-01 2.95673583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.800714057 meters Centerline goodness : 0.980765 with order 1 Centerline is valid? [True, True] Translation: X:551.61, Y:-27.67, Z:2.96 [[ 9.99797287e-01 -1.93030976e-02 -5.72496093e-03 5.51607241e+02] [ 1.93051720e-02 9.99813591e-01 3.07296451e-04 -2.76662002e+01] [ 5.71796197e-03 -4.17755514e-04 9.99983565e-01 2.95666796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.860714057 meters Centerline goodness : 0.980459 with order 1 Centerline is valid? [True, True] Translation: X:551.67, Y:-27.67, Z:2.95 [[ 9.99797483e-01 -1.92929487e-02 -5.72493241e-03 5.51669755e+02] [ 1.92950259e-02 9.99813786e-01 3.07826975e-04 -2.76691506e+01] [ 5.71792746e-03 -4.18227354e-04 9.99983565e-01 2.95494526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.920714057 meters Centerline goodness : 0.980875 with order 1 Centerline is valid? [True, True] Translation: X:551.73, Y:-27.67, Z:2.95 [[ 9.99728086e-01 -2.26048469e-02 -5.72490928e-03 5.51731409e+02] [ 2.26069806e-02 9.99744382e-01 3.08256420e-04 -2.76726271e+01] [ 5.71647781e-03 -4.37595514e-04 9.99983565e-01 2.95319762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.980714057 meters Centerline goodness : 0.980800 with order 1 Centerline is valid? [True, True] Translation: X:551.79, Y:-27.68, Z:2.95 [[ 9.99672225e-01 -2.49533194e-02 -5.72489154e-03 5.51792843e+02] [ 2.49554932e-02 9.99688516e-01 3.08585640e-04 -2.76766766e+01] [ 5.71540809e-03 -4.51351985e-04 9.99983565e-01 2.95377622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0407140570001 meters Centerline goodness : 0.983161 with order 1 Centerline is valid? [True, True] Translation: X:551.86, Y:-27.68, Z:2.96 [[ 9.99664614e-01 -2.52563749e-02 -5.72487409e-03 5.51855815e+02] [ 2.52585556e-02 9.99680904e-01 3.08908993e-04 -2.76789955e+01] [ 5.71524539e-03 -4.53407440e-04 9.99983565e-01 2.95560942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.100714057 meters Centerline goodness : 0.982735 with order 1 Centerline is valid? [True, True] Translation: X:551.92, Y:-27.68, Z:2.96 [[ 9.99720830e-01 -2.29235256e-02 -5.72483954e-03 5.51918052e+02] [ 2.29256718e-02 9.99737124e-01 3.09548054e-04 -2.76832408e+01] [ 5.71623868e-03 -4.40707430e-04 9.99983565e-01 2.95716429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1607140570001 meters Centerline goodness : 0.982717 with order 1 Centerline is valid? [True, True] Translation: X:551.98, Y:-27.68, Z:2.96 [[ 9.99781572e-01 -2.01006385e-02 -5.72478321e-03 5.51980169e+02] [ 2.01027446e-02 9.99797871e-01 3.10586349e-04 -2.76849680e+01] [ 5.71738308e-03 -4.25602363e-04 9.99983565e-01 2.95927453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.220714057 meters Centerline goodness : 0.981570 with order 1 Centerline is valid? [True, True] Translation: X:552.04, Y:-27.69, Z:2.96 [[ 9.99872395e-01 -1.49137638e-02 -5.72476097e-03 5.52042105e+02] [ 1.49157877e-02 9.99888705e-01 3.10995664e-04 -2.76879523e+01] [ 5.71948572e-03 -3.96345298e-04 9.99983565e-01 2.95813938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.280714057 meters Centerline goodness : 0.980542 with order 1 Centerline is valid? [True, True] Translation: X:552.10, Y:-27.69, Z:2.96 [[ 9.99877649e-01 -1.45572791e-02 -5.72473775e-03 5.52103707e+02] [ 1.45592996e-02 9.99893959e-01 3.11422462e-04 -2.76903424e+01] [ 5.71959723e-03 -3.94732531e-04 9.99983565e-01 2.95709983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.340714057 meters Centerline goodness : 0.981654 with order 1 Centerline is valid? [True, True] Translation: X:552.17, Y:-27.69, Z:2.96 [[ 9.99880673e-01 -1.43480444e-02 -5.72472065e-03 5.52165413e+02] [ 1.43500633e-02 9.99896984e-01 3.11736496e-04 -2.76929337e+01] [ 5.71965810e-03 -3.93849401e-04 9.99983565e-01 2.95546328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.400714057 meters Centerline goodness : 0.981609 with order 1 Centerline is valid? [True, True] Translation: X:552.23, Y:-27.69, Z:2.96 [[ 9.99849010e-01 -1.64068742e-02 -5.72469789e-03 5.52226540e+02] [ 1.64089290e-02 9.99865316e-01 3.12153963e-04 -2.76924755e+01] [ 5.71880539e-03 -4.06042992e-04 9.99983565e-01 2.95588960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.460714057 meters Centerline goodness : 0.981095 with order 1 Centerline is valid? [True, True] Translation: X:552.29, Y:-27.69, Z:2.96 [[ 9.99813345e-01 -1.84527242e-02 -5.72466015e-03 5.52288543e+02] [ 1.84548164e-02 9.99829646e-01 3.12844578e-04 -2.76935433e+01] [ 5.71791210e-03 -4.18433735e-04 9.99983565e-01 2.95619774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.520714057 meters Centerline goodness : 0.982425 with order 1 Centerline is valid? [True, True] Translation: X:552.35, Y:-27.69, Z:2.96 [[ 9.99697975e-01 -2.38995363e-02 -5.72463663e-03 5.52350668e+02] [ 2.39017196e-02 9.99714264e-01 3.13274240e-04 -2.76944064e+01] [ 5.71551379e-03 -4.50008283e-04 9.99983565e-01 2.95912414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.580714057 meters Centerline goodness : 0.982565 with order 1 Centerline is valid? [True, True] Translation: X:552.41, Y:-27.70, Z:2.96 [[ 9.99581909e-01 -2.83414427e-02 -5.72457874e-03 5.52413519e+02] [ 2.83437044e-02 9.99598187e-01 3.14328556e-04 -2.76966423e+01] [ 5.71337001e-03 -4.76452905e-04 9.99983565e-01 2.96024932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.640714057 meters Centerline goodness : 0.983874 with order 1 Centerline is valid? [True, True] Translation: X:552.48, Y:-27.70, Z:2.96 [[ 9.99476616e-01 -3.18390368e-02 -5.72454298e-03 5.52476268e+02] [ 3.18413591e-02 9.99492886e-01 3.14978465e-04 -2.76978907e+01] [ 5.71161138e-03 -4.97090839e-04 9.99983565e-01 2.96159421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.700714057 meters Centerline goodness : 0.983090 with order 1 Centerline is valid? [True, True] Translation: X:552.54, Y:-27.70, Z:2.96 [[ 9.99410987e-01 -3.38365043e-02 -5.72450614e-03 5.52539095e+02] [ 3.38388629e-02 9.99427252e-01 3.15646723e-04 -2.77018848e+01] [ 5.71054705e-03 -5.09171581e-04 9.99983565e-01 2.96067671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.760714057 meters Centerline goodness : 0.983330 with order 1 Centerline is valid? [True, True] Translation: X:552.60, Y:-27.70, Z:2.96 [[ 9.99403042e-01 -3.40703576e-02 -5.72446918e-03 5.52600741e+02] [ 3.40727238e-02 9.99419306e-01 3.16315583e-04 -2.77042763e+01] [ 5.71036803e-03 -5.11175013e-04 9.99983565e-01 2.96000113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.820714057 meters Centerline goodness : 0.981714 with order 1 Centerline is valid? [True, True] Translation: X:552.66, Y:-27.71, Z:2.96 [[ 9.99518604e-01 -3.04924727e-02 -5.72440903e-03 5.52664156e+02] [ 3.04947869e-02 9.99534875e-01 3.17400395e-04 -2.77059990e+01] [ 5.71206814e-03 -4.91812234e-04 9.99983565e-01 2.95725695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.880714057 meters Centerline goodness : 0.982419 with order 1 Centerline is valid? [True, True] Translation: X:552.73, Y:-27.71, Z:2.96 [[ 9.99638757e-01 -2.62599970e-02 -5.72437301e-03 5.52726594e+02] [ 2.62622460e-02 9.99655037e-01 3.18048696e-04 -2.77094399e+01] [ 5.71404635e-03 -4.68268696e-04 9.99983565e-01 2.95770570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.940714057 meters Centerline goodness : 0.982308 with order 1 Centerline is valid? [True, True] Translation: X:552.79, Y:-27.71, Z:2.96 [[ 9.99724694e-01 -2.27545013e-02 -5.72434858e-03 5.52787631e+02] [ 2.27566957e-02 9.99740982e-01 3.18487778e-04 -2.77120122e+01] [ 5.71561884e-03 -4.48667355e-04 9.99983565e-01 2.95736750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.000714057 meters Centerline goodness : 0.980988 with order 1 Centerline is valid? [True, True] Translation: X:552.85, Y:-27.72, Z:2.96 [[ 9.99739066e-01 -2.21140774e-02 -5.72433051e-03 5.52849829e+02] [ 2.21162632e-02 9.99755355e-01 3.18812215e-04 -2.77157472e+01] [ 5.71587984e-03 -4.45329826e-04 9.99983565e-01 2.95662032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.060714057 meters Centerline goodness : 0.982816 with order 1 Centerline is valid? [True, True] Translation: X:552.91, Y:-27.72, Z:2.96 [[ 9.99690120e-01 -2.42259533e-02 -5.72430607e-03 5.52911059e+02] [ 2.42281760e-02 9.99706404e-01 3.19250403e-04 -2.77209656e+01] [ 5.71489129e-03 -4.57840968e-04 9.99983565e-01 2.95513606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.120714057 meters Centerline goodness : 0.982789 with order 1 Centerline is valid? [True, True] Translation: X:552.97, Y:-27.72, Z:2.95 [[ 9.99653503e-01 -2.56925449e-02 -5.72428804e-03 5.52972722e+02] [ 2.56947933e-02 9.99669783e-01 3.19573401e-04 -2.77244645e+01] [ 5.71418713e-03 -4.66547067e-04 9.99983565e-01 2.95423701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.180714057 meters Centerline goodness : 0.982491 with order 1 Centerline is valid? [True, True] Translation: X:553.04, Y:-27.73, Z:2.95 [[ 9.99691025e-01 -2.41885865e-02 -5.72426362e-03 5.53035142e+02] [ 2.41908129e-02 9.99707308e-01 3.20010113e-04 -2.77290684e+01] [ 5.71484759e-03 -4.58385828e-04 9.99983565e-01 2.95252171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.240714057 meters Centerline goodness : 0.981366 with order 1 Centerline is valid? [True, True] Translation: X:553.10, Y:-27.73, Z:2.96 [[ 9.99782273e-01 -2.00659078e-02 -5.72420330e-03 5.53096052e+02] [ 2.00680731e-02 9.99798564e-01 3.21085544e-04 -2.77301337e+01] [ 5.71660737e-03 -4.35889366e-04 9.99983565e-01 2.95650772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.300714057 meters Centerline goodness : 0.980534 with order 1 Centerline is valid? [True, True] Translation: X:553.16, Y:-27.73, Z:2.96 [[ 9.99858623e-01 -1.58103694e-02 -5.72418579e-03 5.53158348e+02] [ 1.58124672e-02 9.99874923e-01 3.21397371e-04 -2.77299559e+01] [ 5.71838842e-03 -4.11865433e-04 9.99983565e-01 2.95995015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.360714057 meters Centerline goodness : 0.981582 with order 1 Centerline is valid? [True, True] Translation: X:553.22, Y:-27.73, Z:2.96 [[ 9.99867604e-01 -1.52318302e-02 -5.72416196e-03 5.53219638e+02] [ 1.52339210e-02 9.99883905e-01 3.21821294e-04 -2.77310116e+01] [ 5.71859549e-03 -4.08980116e-04 9.99983565e-01 2.96173111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.420714057 meters Centerline goodness : 0.980872 with order 1 Centerline is valid? [True, True] Translation: X:553.28, Y:-27.73, Z:2.96 [[ 9.99893353e-01 -1.34356874e-02 -5.72414431e-03 5.53282286e+02] [ 1.34377506e-02 9.99909657e-01 3.22134858e-04 -2.77315705e+01] [ 5.71929908e-03 -3.99020127e-04 9.99983565e-01 2.96197593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.480714057 meters Centerline goodness : 0.980478 with order 1 Centerline is valid? [True, True] Translation: X:553.34, Y:-27.73, Z:2.96 [[ 9.99902173e-01 -1.27623782e-02 -5.72412050e-03 5.53344838e+02] [ 1.27644329e-02 9.99918479e-01 3.22557446e-04 -2.77338332e+01] [ 5.71953727e-03 -3.95591043e-04 9.99983565e-01 2.96223775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5407140570001 meters Centerline goodness : 0.980665 with order 1 Centerline is valid? [True, True] Translation: X:553.41, Y:-27.74, Z:2.96 [[ 9.99955916e-01 -7.44314010e-03 -5.72409626e-03 5.53406743e+02] [ 7.44511044e-03 9.99972233e-01 3.22987067e-04 -2.77353037e+01] [ 5.72153328e-03 -3.65589358e-04 9.99983565e-01 2.96107235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.600714057 meters Centerline goodness : 0.979897 with order 1 Centerline is valid? [True, True] Translation: X:553.47, Y:-27.74, Z:2.96 [[ 9.99982780e-01 -1.29401711e-03 -5.72407197e-03 5.53466689e+02] [ 1.29588953e-03 9.99999108e-01 3.23416876e-04 -2.77359481e+01] [ 5.72364836e-03 -3.30829072e-04 9.99983565e-01 2.96216288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6607140570001 meters Centerline goodness : 0.979387 with order 1 Centerline is valid? [True, True] Translation: X:553.53, Y:-27.74, Z:2.96 [[ 9.99969683e-01 5.27909824e-03 -5.72406603e-03 5.53525158e+02] [-5.27733259e-03 9.99986022e-01 3.23522027e-04 -2.77380754e+01] [ 5.72569393e-03 -2.93304419e-04 9.99983565e-01 2.96116642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.720714057 meters Centerline goodness : 0.979363 with order 1 Centerline is valid? [True, True] Translation: X:553.58, Y:-27.74, Z:2.96 [[ 9.99954137e-01 7.67844938e-03 -5.72414644e-03 5.53584137e+02] [-7.67673110e-03 9.99970482e-01 3.22093013e-04 -2.77407174e+01] [ 5.72645065e-03 -2.78135508e-04 9.99983565e-01 2.96309662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.780714057 meters Centerline goodness : 0.979699 with order 1 Centerline is valid? [True, True] Translation: X:553.64, Y:-27.74, Z:2.96 [[ 9.99947689e-01 8.47657157e-03 -5.72422633e-03 5.53641542e+02] [-8.47487448e-03 9.99964036e-01 3.20666899e-04 -2.77438633e+01] [ 5.72673862e-03 -2.72138025e-04 9.99983565e-01 2.96409459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.840714057 meters Centerline goodness : 0.979073 with order 1 Centerline is valid? [True, True] Translation: X:553.70, Y:-27.75, Z:2.96 [[ 9.99919874e-01 1.12906641e-02 -5.72425435e-03 5.53698819e+02] [-1.12890159e-02 9.99936226e-01 3.20165848e-04 -2.77500165e+01] [ 5.72750418e-03 -2.55518996e-04 9.99983565e-01 2.96063215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.900714057 meters Centerline goodness : 0.978858 with order 1 Centerline is valid? [True, True] Translation: X:553.76, Y:-27.76, Z:2.96 [[ 9.99877986e-01 1.45342990e-02 -5.72428155e-03 5.53756379e+02] [-1.45327066e-02 9.99894344e-01 3.19678920e-04 -2.77558214e+01] [ 5.72832305e-03 -2.36450610e-04 9.99983565e-01 2.95846658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.960714057 meters Centerline goodness : 0.978632 with order 1 Centerline is valid? [True, True] Translation: X:553.81, Y:-27.76, Z:2.96 [[ 9.99848601e-01 1.64318508e-02 -5.72437302e-03 5.53814265e+02] [-1.64302989e-02 9.99864963e-01 3.18032434e-04 -2.77588558e+01] [ 5.72882588e-03 -2.23931125e-04 9.99983565e-01 2.95831345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.020714057 meters Centerline goodness : 0.980692 with order 1 Centerline is valid? [True, True] Translation: X:553.87, Y:-27.76, Z:2.96 [[ 9.99795143e-01 1.94139829e-02 -5.72440101e-03 5.53871751e+02] [-1.94124826e-02 9.99811510e-01 3.17527787e-04 -2.77605797e+01] [ 5.72948650e-03 -2.06337904e-04 9.99983565e-01 2.96047097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.080714057 meters Centerline goodness : 0.981052 with order 1 Centerline is valid? [True, True] Translation: X:553.93, Y:-27.76, Z:2.96 [[ 9.99836481e-01 1.71534597e-02 -5.72443488e-03 5.53930749e+02] [-1.71519260e-02 9.99852845e-01 3.16916144e-04 -2.77645561e+01] [ 5.72902870e-03 -2.18679240e-04 9.99983565e-01 2.96174351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.140714057 meters Centerline goodness : 0.979822 with order 1 Centerline is valid? [True, True] Translation: X:553.99, Y:-27.77, Z:2.96 [[ 9.99931615e-01 1.01978059e-02 -5.72445712e-03 5.53989547e+02] [-1.01961606e-02 9.99947968e-01 3.16513871e-04 -2.77712050e+01] [ 5.72738701e-03 -2.58124742e-04 9.99983565e-01 2.96078896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.200714057 meters Centerline goodness : 0.981581 with order 1 Centerline is valid? [True, True] Translation: X:554.05, Y:-27.78, Z:2.96 [[ 9.99982806e-01 1.27239492e-03 -5.72447924e-03 5.54048269e+02] [-1.27060609e-03 9.99999143e-01 3.16113210e-04 -2.77759661e+01] [ 5.72487656e-03 -3.08834216e-04 9.99983565e-01 2.96193216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.260714057 meters Centerline goodness : 0.981306 with order 1 Centerline is valid? [True, True] Translation: X:554.11, Y:-27.78, Z:2.96 [[ 9.99971442e-01 -4.93399341e-03 -5.72450185e-03 5.54106352e+02] [ 4.93588126e-03 9.99987769e-01 3.15703230e-04 -2.77802703e+01] [ 5.72287416e-03 -3.43949676e-04 9.99983565e-01 2.96106734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.320714057 meters Centerline goodness : 0.981945 with order 1 Centerline is valid? [True, True] Translation: X:554.17, Y:-27.78, Z:2.96 [[ 9.99964897e-01 -6.11846992e-03 -5.72450004e-03 5.54166102e+02] [ 6.12037729e-03 9.99981220e-01 3.15736056e-04 -2.77846891e+01] [ 5.72246072e-03 -3.50761072e-04 9.99983565e-01 2.95782834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.380714057 meters Centerline goodness : 0.981345 with order 1 Centerline is valid? [True, True] Translation: X:554.23, Y:-27.79, Z:2.96 [[ 9.99979290e-01 -2.94098129e-03 -5.72450539e-03 5.54226474e+02] [ 2.94283624e-03 9.99995620e-01 3.15639134e-04 -2.77861812e+01] [ 5.72355203e-03 -3.32478879e-04 9.99983565e-01 2.95765254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.440714057 meters Centerline goodness : 0.980136 with order 1 Centerline is valid? [True, True] Translation: X:554.29, Y:-27.79, Z:2.96 [[ 9.99977064e-01 3.61948006e-03 -5.72450013e-03 5.54285707e+02] [-3.61773174e-03 9.99993406e-01 3.15734362e-04 -2.77875469e+01] [ 5.72560518e-03 -2.95017415e-04 9.99983565e-01 2.95973150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.500714057 meters Centerline goodness : 0.980003 with order 1 Centerline is valid? [True, True] Translation: X:554.34, Y:-27.79, Z:2.96 [[ 9.99963061e-01 6.41151027e-03 -5.72451125e-03 5.54343817e+02] [-6.40980875e-03 9.99979407e-01 3.15532795e-04 -2.77865017e+01] [ 5.72641640e-03 -2.78828117e-04 9.99983565e-01 2.96286256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.560714057 meters Centerline goodness : 0.979818 with order 1 Centerline is valid? [True, True] Translation: X:554.40, Y:-27.79, Z:2.96 [[ 9.99974944e-01 4.16418413e-03 -5.72460005e-03 5.54402203e+02] [-4.16245512e-03 9.99991288e-01 3.13913341e-04 -2.77896546e+01] [ 5.72585737e-03 -2.90077084e-04 9.99983565e-01 2.96183785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.620714057 meters Centerline goodness : 0.980050 with order 1 Centerline is valid? [True, True] Translation: X:554.46, Y:-27.79, Z:2.96 [[ 9.99983611e-01 -8.34323293e-05 -5.72462213e-03 5.54461442e+02] [ 8.52284488e-05 9.99999947e-01 3.13510141e-04 -2.77921238e+01] [ 5.72459567e-03 -3.13992903e-04 9.99983565e-01 2.96342293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.680714057 meters Centerline goodness : 0.979999 with order 1 Centerline is valid? [True, True] Translation: X:554.52, Y:-27.80, Z:2.96 [[ 9.99981114e-01 -2.23605339e-03 -5.72464432e-03 5.54519349e+02] [ 2.23788236e-03 9.99997447e-01 3.13104419e-04 -2.77952913e+01] [ 5.72392959e-03 -3.25909586e-04 9.99983565e-01 2.96493739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.740714057 meters Centerline goodness : 0.980196 with order 1 Centerline is valid? [True, True] Translation: X:554.58, Y:-27.80, Z:2.96 [[ 9.99980728e-01 -2.40232696e-03 -5.72467151e-03 5.54578774e+02] [ 2.40415580e-03 9.99997061e-01 3.12606455e-04 -2.77973323e+01] [ 5.72390371e-03 -3.26363433e-04 9.99983565e-01 2.96296805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.800714057 meters Centerline goodness : 0.979408 with order 1 Centerline is valid? [True, True] Translation: X:554.64, Y:-27.80, Z:2.96 [[ 9.99978107e-01 -3.31877586e-03 -5.72468275e-03 5.54636994e+02] [ 3.32061849e-03 9.99994438e-01 3.12400536e-04 -2.77989599e+01] [ 5.72361412e-03 -3.31403184e-04 9.99983565e-01 2.96348187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.860714057 meters Centerline goodness : 0.979713 with order 1 Centerline is valid? [True, True] Translation: X:554.70, Y:-27.80, Z:2.96 [[ 9.99981021e-01 -2.27713607e-03 -5.72469939e-03 5.54696900e+02] [ 2.27895995e-03 9.99997354e-01 3.12095402e-04 -2.78012938e+01] [ 5.72397356e-03 -3.25135840e-04 9.99983565e-01 2.96353035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.920714057 meters Centerline goodness : 0.979011 with order 1 Centerline is valid? [True, True] Translation: X:554.76, Y:-27.80, Z:2.96 [[ 9.99983612e-01 6.46328707e-05 -5.72471088e-03 5.54756748e+02] [-6.28484492e-05 9.99999949e-01 3.11884443e-04 -2.78016935e+01] [ 5.72473075e-03 -3.11519542e-04 9.99983565e-01 2.96365780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.980714057 meters Centerline goodness : 0.979412 with order 1 Centerline is valid? [True, True] Translation: X:554.82, Y:-27.80, Z:2.97 [[ 9.99983479e-01 5.18873509e-04 -5.72472264e-03 5.54815157e+02] [-5.17097742e-04 9.99999818e-01 3.11668430e-04 -2.78013415e+01] [ 5.72488331e-03 -3.08703040e-04 9.99983565e-01 2.96521841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0407140570001 meters Centerline goodness : 0.978142 with order 1 Centerline is valid? [True, True] Translation: X:554.87, Y:-27.80, Z:2.97 [[ 9.99981751e-01 -1.92969520e-03 -5.72480471e-03 5.54872570e+02] [ 1.93150233e-03 9.99998087e-01 3.10153616e-04 -2.78028579e+01] [ 5.72419525e-03 -3.21205429e-04 9.99983565e-01 2.96706556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.100714057 meters Centerline goodness : 0.978864 with order 1 Centerline is valid? [True, True] Translation: X:554.93, Y:-27.80, Z:2.97 [[ 9.99966405e-01 -5.86642671e-03 -5.72483349e-03 5.54931705e+02] [ 5.86829509e-03 9.99982733e-01 3.09621470e-04 -2.78036049e+01] [ 5.72291827e-03 -3.43206081e-04 9.99983565e-01 2.96875245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1607140570001 meters Centerline goodness : 0.979580 with order 1 Centerline is valid? [True, True] Translation: X:554.99, Y:-27.81, Z:2.97 [[ 9.99961741e-01 -6.61385747e-03 -5.72485688e-03 5.54991904e+02] [ 6.61573558e-03 9.99978068e-01 3.09188406e-04 -2.78076281e+01] [ 5.72268639e-03 -3.47050716e-04 9.99983565e-01 2.96744902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.220714057 meters Centerline goodness : 0.978664 with order 1 Centerline is valid? [True, True] Translation: X:555.05, Y:-27.81, Z:2.97 [[ 9.99954052e-01 -7.68895293e-03 -5.72485113e-03 5.55052125e+02] [ 7.69084921e-03 9.99970377e-01 3.09294823e-04 -2.78095932e+01] [ 5.72230339e-03 -3.53309578e-04 9.99983565e-01 2.96912263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.280714057 meters Centerline goodness : 0.979297 with order 1 Centerline is valid? [True, True] Translation: X:555.11, Y:-27.81, Z:2.97 [[ 9.99974595e-01 -4.24681360e-03 -5.72485113e-03 5.55113295e+02] [ 4.24865367e-03 9.99990927e-01 3.09294823e-04 -2.78106416e+01] [ 5.72348567e-03 -3.33609875e-04 9.99983565e-01 2.97030192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.340714057 meters Centerline goodness : 0.978889 with order 1 Centerline is valid? [True, True] Translation: X:555.17, Y:-27.81, Z:2.97 [[ 9.99979043e-01 -3.02331207e-03 -5.72483986e-03 5.55173902e+02] [ 3.02513335e-03 9.99995376e-01 3.09503162e-04 -2.78127252e+01] [ 5.72387767e-03 -3.26815079e-04 9.99983565e-01 2.97160550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.400714057 meters Centerline goodness : 0.979129 with order 1 Centerline is valid? [True, True] Translation: X:555.23, Y:-27.81, Z:2.97 [[ 9.99983603e-01 1.39189495e-04 -5.72483986e-03 5.55233990e+02] [-1.37419884e-04 9.99999943e-01 3.09503162e-04 -2.78132224e+01] [ 5.72488262e-03 -3.08711380e-04 9.99983565e-01 2.97013138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.460714057 meters Centerline goodness : 0.980159 with order 1 Centerline is valid? [True, True] Translation: X:555.29, Y:-27.81, Z:2.97 [[ 9.99982740e-01 -1.32134846e-03 -5.72485135e-03 5.55291811e+02] [ 1.32314072e-03 9.99999077e-01 3.09290516e-04 -2.78126512e+01] [ 5.72443739e-03 -3.16859961e-04 9.99983565e-01 2.97406404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.520714057 meters Centerline goodness : 0.980155 with order 1 Centerline is valid? [True, True] Translation: X:555.35, Y:-27.82, Z:2.97 [[ 9.99983594e-01 1.91680423e-04 -5.72487946e-03 5.55350835e+02] [-1.89915859e-04 9.99999934e-01 3.08769413e-04 -2.78154866e+01] [ 5.72493827e-03 -3.07677102e-04 9.99983565e-01 2.97443375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.580714057 meters Centerline goodness : 0.979355 with order 1 Centerline is valid? [True, True] Translation: X:555.41, Y:-27.82, Z:2.98 [[ 9.99983600e-01 -1.58221129e-04 -5.72489603e-03 5.55409364e+02] [ 1.59989656e-04 9.99999940e-01 3.08461925e-04 -2.78164051e+01] [ 5.72484688e-03 -3.09372790e-04 9.99983565e-01 2.97741043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.640714057 meters Centerline goodness : 0.979876 with order 1 Centerline is valid? [True, True] Translation: X:555.47, Y:-27.82, Z:2.97 [[ 9.99981399e-01 -2.10384988e-03 -5.72491801e-03 5.55467715e+02] [ 2.10564786e-03 9.99997736e-01 3.08053419e-04 -2.78214512e+01] [ 5.72425695e-03 -3.20102350e-04 9.99983565e-01 2.97491238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.700714057 meters Centerline goodness : 0.980711 with order 1 Centerline is valid? [True, True] Translation: X:555.53, Y:-27.83, Z:2.97 [[ 9.99962109e-01 -6.55790903e-03 -5.72494113e-03 5.55527660e+02] [ 6.55977730e-03 9.99978437e-01 3.07623027e-04 -2.78251469e+01] [ 5.72280032e-03 -3.45165710e-04 9.99983565e-01 2.97068253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.760714057 meters Centerline goodness : 0.980747 with order 1 Centerline is valid? [True, True] Translation: X:555.59, Y:-27.83, Z:2.97 [[ 9.99903254e-01 -1.26770603e-02 -5.72495258e-03 5.55589251e+02] [ 1.26790272e-02 9.99919571e-01 3.07409888e-04 -2.78278958e+01] [ 5.72059507e-03 -3.79966977e-04 9.99983565e-01 2.97099243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.820714057 meters Centerline goodness : 0.979859 with order 1 Centerline is valid? [True, True] Translation: X:555.65, Y:-27.83, Z:2.97 [[ 9.99895516e-01 -1.32733274e-02 -5.72494119e-03 5.55651126e+02] [ 1.32753053e-02 9.99911832e-01 3.07621857e-04 -2.78323605e+01] [ 5.72035327e-03 -3.83590058e-04 9.99983565e-01 2.97024903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.880714057 meters Centerline goodness : 0.981046 with order 1 Centerline is valid? [True, True] Translation: X:555.71, Y:-27.83, Z:2.97 [[ 9.99894722e-01 -1.33330375e-02 -5.72491859e-03 5.55713221e+02] [ 1.33350188e-02 9.99911037e-01 3.08041906e-04 -2.78321666e+01] [ 5.72030215e-03 -3.84351373e-04 9.99983565e-01 2.97103133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.940714057 meters Centerline goodness : 0.980700 with order 1 Centerline is valid? [True, True] Translation: X:555.77, Y:-27.83, Z:2.97 [[ 9.99923112e-01 -1.09997886e-02 -5.72489587e-03 5.55774099e+02] [ 1.10017342e-02 9.99939432e-01 3.08463498e-04 -2.78345607e+01] [ 5.72115609e-03 -3.71423563e-04 9.99983565e-01 2.97090859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.000714057 meters Centerline goodness : 0.982877 with order 1 Centerline is valid? [True, True] Translation: X:555.84, Y:-27.84, Z:2.97 [[ 9.99960247e-01 -6.83589548e-03 -5.72487900e-03 5.55835877e+02] [ 6.83777488e-03 9.99976574e-01 3.08776230e-04 -2.78372885e+01] [ 5.72263413e-03 -3.47909389e-04 9.99983565e-01 2.97016030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.060714057 meters Centerline goodness : 0.982249 with order 1 Centerline is valid? [True, True] Translation: X:555.90, Y:-27.84, Z:2.97 [[ 9.99973250e-01 -4.55249941e-03 -5.72485680e-03 5.55897508e+02] [ 4.55434386e-03 9.99989581e-01 3.09187280e-04 -2.78383446e+01] [ 5.72338958e-03 -3.35251976e-04 9.99983565e-01 2.97146415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.120714057 meters Centerline goodness : 0.982537 with order 1 Centerline is valid? [True, True] Translation: X:555.96, Y:-27.84, Z:2.97 [[ 9.99978836e-01 -3.09099487e-03 -5.72484541e-03 5.55957057e+02] [ 3.09281665e-03 9.99995169e-01 3.09398167e-04 -2.78410538e+01] [ 5.72386140e-03 -3.27097516e-04 9.99983565e-01 2.97076121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.180714057 meters Centerline goodness : 0.981670 with order 1 Centerline is valid? [True, True] Translation: X:556.02, Y:-27.84, Z:2.97 [[ 9.99974777e-01 -4.20372054e-03 -5.72484504e-03 5.56016206e+02] [ 4.20556054e-03 9.99991109e-01 3.09404948e-04 -2.78434748e+01] [ 5.72349349e-03 -3.33473327e-04 9.99983565e-01 2.97112657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.240714057 meters Centerline goodness : 0.983722 with order 1 Centerline is valid? [True, True] Translation: X:556.08, Y:-27.85, Z:2.97 [[ 9.99967334e-01 -5.70582035e-03 -5.72485610e-03 5.56076187e+02] [ 5.70768371e-03 9.99983663e-01 3.09200234e-04 -2.78461077e+01] [ 5.72299833e-03 -3.41865802e-04 9.99983565e-01 2.96911981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.300714057 meters Centerline goodness : 0.983046 with order 1 Centerline is valid? [True, True] Translation: X:556.14, Y:-27.85, Z:2.97 [[ 9.99972541e-01 -4.70567594e-03 -5.72485610e-03 5.56137079e+02] [ 4.70752296e-03 9.99988872e-01 3.09200234e-04 -2.78497353e+01] [ 5.72333739e-03 -3.36141635e-04 9.99983565e-01 2.96766897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.360714057 meters Centerline goodness : 0.981757 with order 1 Centerline is valid? [True, True] Translation: X:556.20, Y:-27.85, Z:2.97 [[ 9.99982038e-01 -1.77484914e-03 -5.72485610e-03 5.56197687e+02] [ 1.77664829e-03 9.99998374e-01 3.09200234e-04 -2.78522047e+01] [ 5.72429800e-03 -3.19365736e-04 9.99983565e-01 2.96610716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.420714057 meters Centerline goodness : 0.980855 with order 1 Centerline is valid? [True, True] Translation: X:556.26, Y:-27.85, Z:2.97 [[ 9.99983523e-01 -4.24224506e-04 -5.72485610e-03 5.56256772e+02] [ 4.26001593e-04 9.99999861e-01 3.09200234e-04 -2.78539596e+01] [ 5.72472413e-03 -3.11633937e-04 9.99983565e-01 2.96660018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.480714057 meters Centerline goodness : 0.979204 with order 1 Centerline is valid? [True, True] Translation: X:556.32, Y:-27.86, Z:2.97 [[ 9.99960755e-01 6.76129367e-03 -5.72487332e-03 5.56315846e+02] [-6.75963585e-03 9.99977106e-01 3.08880956e-04 -2.78569388e+01] [ 5.72683069e-03 -2.70170775e-04 9.99983565e-01 2.96573329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5407140570001 meters Centerline goodness : 0.979807 with order 1 Centerline is valid? [True, True] Translation: X:556.37, Y:-27.86, Z:2.97 [[ 9.99911936e-01 1.19727245e-02 -5.72495065e-03 5.56373618e+02] [-1.19711601e-02 9.99928296e-01 3.07440957e-04 -2.78570181e+01] [ 5.72822106e-03 -2.38879582e-04 9.99983565e-01 2.96901375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.600714057 meters Centerline goodness : 0.979800 with order 1 Centerline is valid? [True, True] Translation: X:556.43, Y:-27.86, Z:2.97 [[ 9.99912895e-01 1.18922431e-02 -5.72504313e-03 5.56431066e+02] [-1.18906874e-02 9.99929257e-01 3.05709088e-04 -2.78570343e+01] [ 5.72827369e-03 -2.37607761e-04 9.99983565e-01 2.97230207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6607140570001 meters Centerline goodness : 0.978974 with order 1 Centerline is valid? [True, True] Translation: X:556.49, Y:-27.86, Z:2.97 [[ 9.99905255e-01 1.25181524e-02 -5.72507122e-03 5.56489146e+02] [-1.25166099e-02 9.99921618e-01 3.05182159e-04 -2.78595891e+01] [ 5.72844279e-03 -2.33494761e-04 9.99983565e-01 2.97491504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.720714057 meters Centerline goodness : 0.978153 with order 1 Centerline is valid? [True, True] Translation: X:556.55, Y:-27.86, Z:2.97 [[ 9.99940634e-01 9.27101348e-03 -5.72510436e-03 5.56545925e+02] [-9.26942141e-03 9.99956992e-01 3.04559165e-04 -2.78639114e+01] [ 5.72768171e-03 -2.51472679e-04 9.99983565e-01 2.97296645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.780714057 meters Centerline goodness : 0.979560 with order 1 Centerline is valid? [True, True] Translation: X:556.60, Y:-27.87, Z:2.97 [[ 9.99973585e-01 4.47788381e-03 -5.72515539e-03 5.56604247e+02] [-4.47621884e-03 9.99989936e-01 3.03596877e-04 -2.78684008e+01] [ 5.72645724e-03 -2.77961810e-04 9.99983565e-01 2.97266453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.840714057 meters Centerline goodness : 0.978811 with order 1 Centerline is valid? [True, True] Translation: X:556.66, Y:-27.87, Z:2.97 [[ 9.99982976e-01 1.12691980e-03 -5.72517657e-03 5.56662944e+02] [-1.12520234e-03 9.99999321e-01 3.03196907e-04 -2.78735403e+01] [ 5.72551437e-03 -2.96749763e-04 9.99983565e-01 2.97206859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.900714057 meters Centerline goodness : 0.978872 with order 1 Centerline is valid? [True, True] Translation: X:556.72, Y:-27.88, Z:2.97 [[ 9.99982828e-01 -1.25113009e-03 -5.72519850e-03 5.56721721e+02] [ 1.25288405e-03 9.99999169e-01 3.02782382e-04 -2.78816249e+01] [ 5.72481492e-03 -3.09950193e-04 9.99983565e-01 2.97327386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.960714057 meters Centerline goodness : 0.977347 with order 1 Centerline is valid? [True, True] Translation: X:556.78, Y:-27.89, Z:2.97 [[ 9.99982431e-01 -1.53607817e-03 -5.72522111e-03 5.56780478e+02] [ 1.53783434e-03 9.99998772e-01 3.02354239e-04 -2.78879862e+01] [ 5.72474964e-03 -3.11153369e-04 9.99983565e-01 2.97392320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.020714057 meters Centerline goodness : 0.976706 with order 1 Centerline is valid? [True, True] Translation: X:556.84, Y:-27.90, Z:2.97 [[ 9.99982067e-01 -1.75687328e-03 -5.72524361e-03 5.56838737e+02] [ 1.75863063e-03 9.99998408e-01 3.01927501e-04 -2.78952343e+01] [ 5.72470405e-03 -3.11990675e-04 9.99983565e-01 2.97454391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.080714057 meters Centerline goodness : 0.977454 with order 1 Centerline is valid? [True, True] Translation: X:556.90, Y:-27.90, Z:2.97 [[ 9.99983599e-01 1.54055073e-04 -5.72526577e-03 5.56896975e+02] [-1.52331357e-04 9.99999943e-01 3.01506708e-04 -2.79031229e+01] [ 5.72531189e-03 -3.00629625e-04 9.99983565e-01 2.97212871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.140714057 meters Centerline goodness : 0.977575 with order 1 Centerline is valid? [True, True] Translation: X:556.96, Y:-27.91, Z:2.97 [[ 9.99978076e-01 3.32688578e-03 -5.72534242e-03 5.56955144e+02] [-3.32522228e-03 9.99994426e-01 3.00044196e-04 -2.79084564e+01] [ 5.72630872e-03 -2.80999582e-04 9.99983565e-01 2.97379070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.200714057 meters Centerline goodness : 0.978395 with order 1 Centerline is valid? [True, True] Translation: X:557.01, Y:-27.91, Z:2.97 [[ 9.99945107e-01 8.77512960e-03 -5.72541874e-03 5.57012217e+02] [-8.77356357e-03 9.99961467e-01 2.98580639e-04 -2.79143368e+01] [ 5.72781821e-03 -2.48331924e-04 9.99983565e-01 2.97431248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.260714057 meters Centerline goodness : 0.977147 with order 1 Centerline is valid? [True, True] Translation: X:557.07, Y:-27.92, Z:2.98 [[ 9.99895671e-01 1.32614929e-02 -5.72544546e-03 5.57070791e+02] [-1.32600032e-02 9.99912038e-01 2.98067338e-04 -2.79192052e+01] [ 5.72889466e-03 -2.22116815e-04 9.99983565e-01 2.97571137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.320714057 meters Centerline goodness : 0.977533 with order 1 Centerline is valid? [True, True] Translation: X:557.13, Y:-27.93, Z:2.98 [[ 9.99794127e-01 1.94658979e-02 -5.72552162e-03 5.57128598e+02] [-1.94645183e-02 9.99810504e-01 2.96597263e-04 -2.79264586e+01] [ 5.73021019e-03 -1.85091681e-04 9.99983565e-01 2.97684465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.380714057 meters Centerline goodness : 0.978007 with order 1 Centerline is valid? [True, True] Translation: X:557.19, Y:-27.94, Z:2.98 [[ 9.99682234e-01 2.45488837e-02 -5.72560761e-03 5.57185717e+02] [-2.45475968e-02 9.99698619e-01 2.94927915e-04 -2.79355392e+01] [ 5.73112217e-03 -1.54284290e-04 9.99983565e-01 2.97650347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.440714057 meters Centerline goodness : 0.979850 with order 1 Centerline is valid? [True, True] Translation: X:557.24, Y:-27.95, Z:2.98 [[ 9.99726177e-01 2.26889096e-02 -5.72569630e-03 5.57242451e+02] [-2.26876022e-02 9.99742560e-01 2.93195848e-04 -2.79460636e+01] [ 5.73087457e-03 -1.63213244e-04 9.99983565e-01 2.97650169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.500714057 meters Centerline goodness : 0.979586 with order 1 Centerline is valid? [True, True] Translation: X:557.30, Y:-27.96, Z:2.98 [[ 9.99803240e-01 1.89920178e-02 -5.72575536e-03 5.57300503e+02] [-1.89906565e-02 9.99819619e-01 2.92037927e-04 -2.79596076e+01] [ 5.73026893e-03 -1.83244613e-04 9.99983565e-01 2.97832644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.560714057 meters Centerline goodness : 0.979472 with order 1 Centerline is valid? [True, True] Translation: X:557.36, Y:-27.97, Z:2.98 [[ 9.99910395e-01 1.21002871e-02 -5.72577663e-03 5.57358295e+02] [-1.20988153e-02 9.99926764e-01 2.91620252e-04 -2.79717867e+01] [ 5.72888599e-03 -2.22319008e-04 9.99983565e-01 2.97665857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.620714057 meters Centerline goodness : 0.980246 with order 1 Centerline is valid? [True, True] Translation: X:557.42, Y:-27.98, Z:2.98 [[ 9.99963254e-01 6.38012153e-03 -5.72580324e-03 5.57416371e+02] [-6.37855909e-03 9.99979614e-01 2.91096936e-04 -2.79821585e+01] [ 5.72754375e-03 -2.54563865e-04 9.99983565e-01 2.97636346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.680714057 meters Centerline goodness : 0.980835 with order 1 Centerline is valid? [True, True] Translation: X:557.47, Y:-27.99, Z:2.98 [[ 9.99983538e-01 -3.71254773e-04 -5.72582506e-03 5.57474670e+02] [ 3.72925179e-04 9.99999888e-01 2.90667049e-04 -2.79925210e+01] [ 5.72571651e-03 -2.92797569e-04 9.99983565e-01 2.97886317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.740714057 meters Centerline goodness : 0.981593 with order 1 Centerline is valid? [True, True] Translation: X:557.53, Y:-28.00, Z:2.98 [[ 9.99980061e-01 -2.66304722e-03 -5.72584652e-03 5.57532875e+02] [ 2.66475267e-03 9.99996407e-01 2.90243696e-04 -2.80004907e+01] [ 5.72505302e-03 -3.05495874e-04 9.99983565e-01 2.97978052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.800714057 meters Centerline goodness : 0.982630 with order 1 Centerline is valid? [True, True] Translation: X:557.59, Y:-28.01, Z:2.98 [[ 9.99964638e-01 -6.15930058e-03 -5.72586850e-03 5.57590962e+02] [ 6.16106070e-03 9.99980978e-01 2.89809494e-04 -2.80059616e+01] [ 5.72397456e-03 -3.25076669e-04 9.99983565e-01 2.98030708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.860714057 meters Centerline goodness : 0.982478 with order 1 Centerline is valid? [True, True] Translation: X:557.65, Y:-28.01, Z:2.98 [[ 9.99942325e-01 -9.08635038e-03 -5.72588471e-03 5.57650698e+02] [ 9.08815649e-03 9.99958660e-01 2.89488759e-04 -2.80111632e+01] [ 5.72301761e-03 -3.41509799e-04 9.99983565e-01 2.98083255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.920714057 meters Centerline goodness : 0.983631 with order 1 Centerline is valid? [True, True] Translation: X:557.71, Y:-28.02, Z:2.98 [[ 9.99941551e-01 -9.17113276e-03 -5.72589000e-03 5.57711840e+02] [ 9.17293966e-03 9.99957886e-01 2.89384042e-04 -2.80174959e+01] [ 5.72299488e-03 -3.41890371e-04 9.99983565e-01 2.97885369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.980714057 meters Centerline goodness : 0.983400 with order 1 Centerline is valid? [True, True] Translation: X:557.77, Y:-28.02, Z:2.98 [[ 9.99918014e-01 -1.14533394e-02 -5.72587922e-03 5.57772923e+02] [ 1.14551848e-02 9.99934345e-01 2.89597252e-04 -2.80198320e+01] [ 5.72218643e-03 -3.55164513e-04 9.99983565e-01 2.97948344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0407140570001 meters Centerline goodness : 0.982996 with order 1 Centerline is valid? [True, True] Translation: X:557.84, Y:-28.02, Z:2.98 [[ 9.99888106e-01 -1.38199092e-02 -5.72586829e-03 5.57835492e+02] [ 1.38217944e-02 9.99904432e-01 2.89813226e-04 -2.80241056e+01] [ 5.72131589e-03 -3.68922572e-04 9.99983565e-01 2.97580758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.100714057 meters Centerline goodness : 0.984582 with order 1 Centerline is valid? [True, True] Translation: X:557.90, Y:-28.03, Z:2.98 [[ 9.99863273e-01 -1.55128724e-02 -5.72584636e-03 5.57897383e+02] [ 1.55147878e-02 9.99879596e-01 2.90245890e-04 -2.80254317e+01] [ 5.72065440e-03 -3.79041497e-04 9.99983565e-01 2.97537213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1607140570001 meters Centerline goodness : 0.983759 with order 1 Centerline is valid? [True, True] Translation: X:557.96, Y:-28.02, Z:2.98 [[ 9.99868224e-01 -1.51904473e-02 -5.72582449e-03 5.57959857e+02] [ 1.51923599e-02 9.99884547e-01 2.90676637e-04 -2.80249227e+01] [ 5.72074792e-03 -3.77627119e-04 9.99983565e-01 2.97930450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.220714057 meters Centerline goodness : 0.983739 with order 1 Centerline is valid? [True, True] Translation: X:558.02, Y:-28.03, Z:2.98 [[ 9.99892235e-01 -1.35179044e-02 -5.72580248e-03 5.58021923e+02] [ 1.35197921e-02 9.99908561e-01 2.91109489e-04 -2.80256818e+01] [ 5.72134373e-03 -3.68489777e-04 9.99983565e-01 2.98228543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.280714057 meters Centerline goodness : 0.983602 with order 1 Centerline is valid? [True, True] Translation: X:558.08, Y:-28.03, Z:2.98 [[ 9.99942958e-01 -9.01646318e-03 -5.72578044e-03 5.58083541e+02] [ 9.01827987e-03 9.99959292e-01 2.91542340e-04 -2.80254511e+01] [ 5.72291868e-03 -3.43162400e-04 9.99983565e-01 2.98248808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.340714057 meters Centerline goodness : 0.982719 with order 1 Centerline is valid? [True, True] Translation: X:558.14, Y:-28.03, Z:2.98 [[ 9.99956398e-01 -7.37689273e-03 -5.72576407e-03 5.58143791e+02] [ 7.37868447e-03 9.99972735e-01 2.91863612e-04 -2.80264845e+01] [ 5.72345490e-03 -3.34099492e-04 9.99983565e-01 2.98133297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.400714057 meters Centerline goodness : 0.983683 with order 1 Centerline is valid? [True, True] Translation: X:558.20, Y:-28.03, Z:2.98 [[ 9.99901488e-01 -1.28151961e-02 -5.72575911e-03 5.58204681e+02] [ 1.28170772e-02 9.99917815e-01 2.91960789e-04 -2.80275434e+01] [ 5.72154701e-03 -3.65319525e-04 9.99983565e-01 2.98171480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.460714057 meters Centerline goodness : 0.984480 with order 1 Centerline is valid? [True, True] Translation: X:558.27, Y:-28.03, Z:2.98 [[ 9.99831039e-01 -1.74673925e-02 -5.72575911e-03 5.58266576e+02] [ 1.74693496e-02 9.99847357e-01 2.91960789e-04 -2.80295148e+01] [ 5.71978532e-03 -3.91936747e-04 9.99983565e-01 2.98052823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.520714057 meters Centerline goodness : 0.984003 with order 1 Centerline is valid? [True, True] Translation: X:558.33, Y:-28.03, Z:2.98 [[ 9.99818090e-01 -1.81934823e-02 -5.72568148e-03 5.58327482e+02] [ 1.81954599e-02 9.99834406e-01 2.93475323e-04 -2.80293361e+01] [ 5.71939401e-03 -3.97603345e-04 9.99983565e-01 2.97969368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.580714057 meters Centerline goodness : 0.984059 with order 1 Centerline is valid? [True, True] Translation: X:558.39, Y:-28.03, Z:2.98 [[ 9.99870419e-01 -1.50453295e-02 -5.72566505e-03 5.58390056e+02] [ 1.50472575e-02 9.99886740e-01 2.93795497e-04 -2.80279257e+01] [ 5.72059632e-03 -3.79912983e-04 9.99983565e-01 2.98284101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.640714057 meters Centerline goodness : 0.982484 with order 1 Centerline is valid? [True, True] Translation: X:558.45, Y:-28.03, Z:2.99 [[ 9.99928912e-01 -1.04588692e-02 -5.72564419e-03 5.58451828e+02] [ 1.04607246e-02 9.99945242e-01 2.94201548e-04 -2.80276104e+01] [ 5.72225365e-03 -3.54075021e-04 9.99983565e-01 2.98695078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.700714057 meters Centerline goodness : 0.983035 with order 1 Centerline is valid? [True, True] Translation: X:558.51, Y:-28.03, Z:2.99 [[ 9.99961192e-01 -6.69568704e-03 -5.72562780e-03 5.58513413e+02] [ 6.69748281e-03 9.99977528e-01 2.94520220e-04 -2.80284250e+01] [ 5.72352712e-03 -3.32856084e-04 9.99983565e-01 2.98779085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.760714057 meters Centerline goodness : 0.981886 with order 1 Centerline is valid? [True, True] Translation: X:558.57, Y:-28.03, Z:2.99 [[ 9.99939823e-01 -9.35781385e-03 -5.72559378e-03 5.58574296e+02] [ 9.35965687e-03 9.99956154e-01 2.95180084e-04 -2.80306609e+01] [ 5.72258049e-03 -3.48751914e-04 9.99983565e-01 2.98707694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.820714057 meters Centerline goodness : 0.981091 with order 1 Centerline is valid? [True, True] Translation: X:558.64, Y:-28.03, Z:2.99 [[ 9.99858482e-01 -1.58187927e-02 -5.72559378e-03 5.58635609e+02] [ 1.58207412e-02 9.99874801e-01 2.95180084e-04 -2.80327065e+01] [ 5.72020755e-03 -3.85721448e-04 9.99983565e-01 2.98565574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.880714057 meters Centerline goodness : 0.981452 with order 1 Centerline is valid? [True, True] Translation: X:558.70, Y:-28.04, Z:2.99 [[ 9.99766004e-01 -2.08603582e-02 -5.72558308e-03 5.58698336e+02] [ 2.08623902e-02 9.99782313e-01 2.95387474e-04 -2.80372017e+01] [ 5.71817481e-03 -4.14767703e-04 9.99983565e-01 2.98538448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.940714057 meters Centerline goodness : 0.983009 with order 1 Centerline is valid? [True, True] Translation: X:558.76, Y:-28.04, Z:2.99 [[ 9.99735849e-01 -2.22587314e-02 -5.72549419e-03 5.58760920e+02] [ 2.22607959e-02 9.99752154e-01 2.97100447e-04 -2.80402422e+01] [ 5.71746207e-03 -4.24476025e-04 9.99983565e-01 2.98528783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.000714057 meters Centerline goodness : 0.980691 with order 1 Centerline is valid? [True, True] Translation: X:558.82, Y:-28.04, Z:2.99 [[ 9.99735870e-01 -2.22578091e-02 -5.72547216e-03 5.58823295e+02] [ 2.22598761e-02 9.99752174e-01 2.97524514e-04 -2.80440311e+01] [ 5.71743099e-03 -4.24894229e-04 9.99983565e-01 2.98591860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.060714057 meters Centerline goodness : 0.981810 with order 1 Centerline is valid? [True, True] Translation: X:558.88, Y:-28.05, Z:2.99 [[ 9.99742601e-01 -2.19533855e-02 -5.72544964e-03 5.58884598e+02] [ 2.19554499e-02 9.99758906e-01 2.97957098e-04 -2.80496873e+01] [ 5.71752810e-03 -4.23585227e-04 9.99983565e-01 2.98524296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.120714057 meters Centerline goodness : 0.982706 with order 1 Centerline is valid? [True, True] Translation: X:558.95, Y:-28.05, Z:2.99 [[ 9.99771104e-01 -2.06145465e-02 -5.72543295e-03 5.58947173e+02] [ 2.06165909e-02 9.99787411e-01 2.98277575e-04 -2.80522967e+01] [ 5.71806693e-03 -4.16248210e-04 9.99983565e-01 2.98629546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.180714057 meters Centerline goodness : 0.983252 with order 1 Centerline is valid? [True, True] Translation: X:559.01, Y:-28.06, Z:2.99 [[ 9.99807204e-01 -1.87823182e-02 -5.72541159e-03 5.59009159e+02] [ 1.87843351e-02 9.99823514e-01 2.98686981e-04 -2.80555487e+01] [ 5.71879110e-03 -4.06177445e-04 9.99983565e-01 2.98734151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.240714057 meters Centerline goodness : 0.985100 with order 1 Centerline is valid? [True, True] Translation: X:559.07, Y:-28.06, Z:2.99 [[ 9.99844954e-01 -1.66519904e-02 -5.72539007e-03 5.59071481e+02] [ 1.66539749e-02 9.99861268e-01 2.99098808e-04 -2.80573496e+01] [ 5.71961519e-03 -3.94402936e-04 9.99983565e-01 2.98760872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.300714057 meters Centerline goodness : 0.984873 with order 1 Centerline is valid? [True, True] Translation: X:559.13, Y:-28.06, Z:2.99 [[ 9.99861297e-01 -1.56399035e-02 -5.72536766e-03 5.59133271e+02] [ 1.56418738e-02 9.99877614e-01 2.99527296e-04 -2.80604710e+01] [ 5.71998237e-03 -3.89041230e-04 9.99983565e-01 2.98713382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.360714057 meters Centerline goodness : 0.984901 with order 1 Centerline is valid? [True, True] Translation: X:559.20, Y:-28.06, Z:2.99 [[ 9.99869181e-01 -1.51275135e-02 -5.72534482e-03 5.59195806e+02] [ 1.51294780e-02 9.99885498e-01 2.99963261e-04 -2.80610005e+01] [ 5.72015155e-03 -3.86545498e-04 9.99983565e-01 2.98880464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.420714057 meters Centerline goodness : 0.985559 with order 1 Centerline is valid? [True, True] Translation: X:559.26, Y:-28.06, Z:2.99 [[ 9.99906189e-01 -1.24431876e-02 -5.72532213e-03 5.59258283e+02] [ 1.24451108e-02 9.99922511e-01 3.00395644e-04 -2.80618571e+01] [ 5.72114060e-03 -3.71619732e-04 9.99983565e-01 2.99060200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.480714057 meters Centerline goodness : 0.984916 with order 1 Centerline is valid? [True, True] Translation: X:559.32, Y:-28.06, Z:2.99 [[ 9.99955150e-01 -7.54444639e-03 -5.72529937e-03 5.59319457e+02] [ 7.54629202e-03 9.99971481e-01 3.00828892e-04 -2.80633709e+01] [ 5.72286650e-03 -3.44020180e-04 9.99983565e-01 2.99140567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5407140570001 meters Centerline goodness : 0.983836 with order 1 Centerline is valid? [True, True] Translation: X:559.38, Y:-28.07, Z:2.99 [[ 9.99976813e-01 -3.68704895e-03 -5.72528255e-03 5.59380530e+02] [ 3.68883339e-03 9.99993151e-01 3.01148589e-04 -2.80653963e+01] [ 5.72413299e-03 -3.22261220e-04 9.99983565e-01 2.98979080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.600714057 meters Centerline goodness : 0.983330 with order 1 Centerline is valid? [True, True] Translation: X:559.44, Y:-28.07, Z:2.99 [[ 9.99967970e-01 -5.59279035e-03 -5.72527097e-03 5.59440204e+02] [ 5.59460718e-03 9.99984305e-01 3.01368663e-04 -2.80668449e+01] [ 5.72349561e-03 -3.33389653e-04 9.99983565e-01 2.98877690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6607140570001 meters Centerline goodness : 0.983446 with order 1 Centerline is valid? [True, True] Translation: X:559.50, Y:-28.07, Z:2.99 [[ 9.99941726e-01 -9.15236616e-03 -5.72527664e-03 5.59500548e+02] [ 9.15424051e-03 9.99958054e-01 3.01260744e-04 -2.80670541e+01] [ 5.72227924e-03 -3.53653748e-04 9.99983565e-01 2.98948781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.720714057 meters Centerline goodness : 0.982623 with order 1 Centerline is valid? [True, True] Translation: X:559.56, Y:-28.07, Z:2.99 [[ 9.99908123e-01 -1.22868251e-02 -5.72527664e-03 5.59561378e+02] [ 1.22887506e-02 9.99924445e-01 3.01260744e-04 -2.80690578e+01] [ 5.72114253e-03 -3.71589562e-04 9.99983565e-01 2.98883911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.780714057 meters Centerline goodness : 0.982844 with order 1 Centerline is valid? [True, True] Translation: X:559.62, Y:-28.07, Z:2.99 [[ 9.99897621e-01 -1.31137183e-02 -5.72520417e-03 5.59623833e+02] [ 1.31156651e-02 9.99913940e-01 3.02631799e-04 -2.80709446e+01] [ 5.72074283e-03 -3.77690677e-04 9.99983565e-01 2.98964733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.840714057 meters Centerline goodness : 0.981375 with order 1 Centerline is valid? [True, True] Translation: X:559.68, Y:-28.07, Z:2.99 [[ 9.99885849e-01 -1.39825323e-02 -5.72518223e-03 5.59684701e+02] [ 1.39844957e-02 9.99902166e-01 3.03046283e-04 -2.80728560e+01] [ 5.72038476e-03 -3.83075476e-04 9.99983565e-01 2.99374166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.900714057 meters Centerline goodness : 0.980768 with order 1 Centerline is valid? [True, True] Translation: X:559.75, Y:-28.07, Z:3.00 [[ 9.99874753e-01 -1.47546866e-02 -5.72516601e-03 5.59746654e+02] [ 1.47566643e-02 9.99891068e-01 3.03352477e-04 -2.80741575e+01] [ 5.72006649e-03 -3.87798836e-04 9.99983565e-01 2.99642262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.960714057 meters Centerline goodness : 0.980602 with order 1 Centerline is valid? [True, True] Translation: X:559.81, Y:-28.07, Z:3.00 [[ 9.99919070e-01 -1.13611273e-02 -5.72514466e-03 5.59808496e+02] [ 1.13630519e-02 9.99935392e-01 3.03754845e-04 -2.80749800e+01] [ 5.72132377e-03 -3.68785378e-04 9.99983565e-01 2.99561113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.020714057 meters Centerline goodness : 0.982364 with order 1 Centerline is valid? [True, True] Translation: X:559.87, Y:-28.08, Z:2.99 [[ 9.99950817e-01 -8.09861493e-03 -5.72512162e-03 5.59869624e+02] [ 8.10048877e-03 9.99967144e-01 3.04188513e-04 -2.80768067e+01] [ 5.72247001e-03 -3.50549836e-04 9.99983565e-01 2.99430672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.080714057 meters Centerline goodness : 0.981658 with order 1 Centerline is valid? [True, True] Translation: X:559.93, Y:-28.08, Z:2.99 [[ 9.99972426e-01 -4.72980236e-03 -5.72510456e-03 5.59930620e+02] [ 4.73162301e-03 9.99988759e-01 3.04509253e-04 -2.80788808e+01] [ 5.72359994e-03 -3.31589893e-04 9.99983565e-01 2.99437603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.140714057 meters Centerline goodness : 0.981577 with order 1 Centerline is valid? [True, True] Translation: X:559.99, Y:-28.08, Z:3.00 [[ 9.99982670e-01 -1.37242470e-03 -5.72509365e-03 5.59989917e+02] [ 1.37419168e-03 9.99999009e-01 3.04714268e-04 -2.80793276e+01] [ 5.72466978e-03 -3.12576364e-04 9.99983565e-01 2.99925617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.200714057 meters Centerline goodness : 0.982593 with order 1 Centerline is valid? [True, True] Translation: X:560.05, Y:-28.08, Z:3.00 [[ 9.99979953e-01 2.70504384e-03 -5.72509902e-03 5.60048229e+02] [-2.70334408e-03 9.99996300e-01 3.04613288e-04 -2.80801332e+01] [ 5.72590183e-03 -2.89130269e-04 9.99983565e-01 3.00324734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.260714057 meters Centerline goodness : 0.981845 with order 1 Centerline is valid? [True, True] Translation: X:560.11, Y:-28.08, Z:3.00 [[ 9.99970966e-01 5.02893755e-03 -5.72517300e-03 5.60106483e+02] [-5.02728377e-03 9.99987317e-01 3.03216370e-04 -2.80816317e+01] [ 5.72662525e-03 -2.74425497e-04 9.99983565e-01 3.00347261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.320714057 meters Centerline goodness : 0.982566 with order 1 Centerline is valid? [True, True] Translation: X:560.17, Y:-28.08, Z:3.00 [[ 9.99975861e-01 3.93676266e-03 -5.72525625e-03 5.60165059e+02] [-3.93510005e-03 9.99992212e-01 3.01636246e-04 -2.80842534e+01] [ 5.72639913e-03 -2.79099509e-04 9.99983565e-01 3.00421385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.380714057 meters Centerline goodness : 0.983024 with order 1 Centerline is valid? [True, True] Translation: X:560.22, Y:-28.09, Z:3.00 [[ 9.99976708e-01 -3.71545952e-03 -5.72527830e-03 5.60222840e+02] [ 3.71724482e-03 9.99993046e-01 3.01217216e-04 -2.80876650e+01] [ 5.72411932e-03 -3.22492461e-04 9.99983565e-01 3.00061678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.440714057 meters Centerline goodness : 0.984305 with order 1 Centerline is valid? [True, True] Translation: X:560.28, Y:-28.09, Z:3.00 [[ 9.99960341e-01 -6.82177987e-03 -5.72530544e-03 5.60282859e+02] [ 6.82361296e-03 9.99976674e-01 3.00700441e-04 -2.80879656e+01] [ 5.72312058e-03 -3.39755784e-04 9.99983565e-01 3.00077245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.500714057 meters Centerline goodness : 0.984075 with order 1 Centerline is valid? [True, True] Translation: X:560.34, Y:-28.09, Z:3.00 [[ 9.99964609e-01 -6.16461025e-03 -5.72531565e-03 5.60343721e+02] [ 6.16643149e-03 9.99980942e-01 3.00505909e-04 -2.80881270e+01] [ 5.72335404e-03 -3.35800041e-04 9.99983565e-01 3.00226224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.560714057 meters Centerline goodness : 0.984096 with order 1 Centerline is valid? [True, True] Translation: X:560.40, Y:-28.09, Z:3.01 [[ 9.99979235e-01 -2.95826601e-03 -5.72531047e-03 5.60404553e+02] [ 2.96003544e-03 9.99995574e-01 3.00604575e-04 -2.80871112e+01] [ 5.72439586e-03 -3.17545455e-04 9.99983565e-01 3.00525641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.620714057 meters Centerline goodness : 0.984178 with order 1 Centerline is valid? [True, True] Translation: X:560.46, Y:-28.09, Z:3.01 [[ 9.99983610e-01 -3.64479679e-05 -5.72531047e-03 5.60464148e+02] [ 3.81696463e-05 9.99999954e-01 3.00604575e-04 -2.80886419e+01] [ 5.72529925e-03 -3.00818181e-04 9.99983565e-01 3.00653988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.680714057 meters Centerline goodness : 0.983500 with order 1 Centerline is valid? [True, True] Translation: X:560.52, Y:-28.09, Z:3.01 [[ 9.99983159e-01 -9.49937449e-04 -5.72532100e-03 5.60521794e+02] [ 9.51672912e-04 9.99999502e-01 3.00403872e-04 -2.80892598e+01] [ 5.72503278e-03 -3.05847446e-04 9.99983565e-01 3.00682419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.740714057 meters Centerline goodness : 0.981455 with order 1 Centerline is valid? [True, True] Translation: X:560.58, Y:-28.10, Z:3.00 [[ 9.99983435e-01 -5.92551821e-04 -5.72534669e-03 5.60580555e+02] [ 5.94278643e-04 9.99999778e-01 2.99913470e-04 -2.80965487e+01] [ 5.72516771e-03 -3.03310953e-04 9.99983565e-01 2.99971616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.800714057 meters Centerline goodness : 0.984245 with order 1 Centerline is valid? [True, True] Translation: X:560.64, Y:-28.10, Z:2.99 [[ 9.99970538e-01 -5.11305880e-03 -5.72541650e-03 5.60639558e+02] [ 5.11485185e-03 9.99986874e-01 2.98574726e-04 -2.80956341e+01] [ 5.72381472e-03 -3.27850586e-04 9.99983565e-01 2.99418747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.860714057 meters Centerline goodness : 0.982295 with order 1 Centerline is valid? [True, True] Translation: X:560.70, Y:-28.10, Z:2.98 [[ 9.99969222e-01 -5.36409279e-03 -5.72543717e-03 5.60698828e+02] [ 5.36588767e-03 9.99985559e-01 2.98177913e-04 -2.81049316e+01] [ 5.72375503e-03 -3.28890789e-04 9.99983565e-01 2.98355543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.920714057 meters Centerline goodness : 0.984839 with order 1 Centerline is valid? [True, True] Translation: X:560.76, Y:-28.10, Z:2.99 [[ 9.99962802e-01 6.45087145e-03 -5.72544224e-03 5.60758924e+02] [-6.44927026e-03 9.99979159e-01 2.98080589e-04 -2.81015380e+01] [ 5.72724579e-03 -2.61144577e-04 9.99983565e-01 2.99240771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.980714057 meters Centerline goodness : 0.982624 with order 1 Centerline is valid? [True, True] Translation: X:560.82, Y:-28.11, Z:2.99 [[ 9.99852635e-01 1.61841602e-02 -5.72546981e-03 5.60816643e+02] [-1.61827214e-02 9.99869007e-01 2.97550065e-04 -2.81056589e+01] [ 5.72953541e-03 -2.04852534e-04 9.99983565e-01 2.99206380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0407140570001 meters Centerline goodness : 0.980650 with order 1 Centerline is valid? [True, True] Translation: X:560.88, Y:-28.11, Z:2.99 [[ 9.99762349e-01 2.10348384e-02 -5.72551038e-03 5.60875115e+02] [-2.10334834e-02 9.99778728e-01 2.96767223e-04 -2.81075128e+01] [ 5.73048594e-03 -1.76269268e-04 9.99983565e-01 2.98953366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.100714057 meters Centerline goodness : 0.981928 with order 1 Centerline is valid? [True, True] Translation: X:560.93, Y:-28.11, Z:3.00 [[ 9.99588802e-01 2.80970546e-02 -5.72558059e-03 5.60933426e+02] [-2.80958232e-02 9.99605191e-01 2.95406443e-04 -2.81085256e+01] [ 5.73162013e-03 -1.34420072e-04 9.99983565e-01 2.99671686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1607140570001 meters Centerline goodness : 0.981444 with order 1 Centerline is valid? [True, True] Translation: X:560.99, Y:-28.11, Z:3.00 [[ 9.99521049e-01 3.04119807e-02 -5.72565254e-03 5.60991882e+02] [-3.04107953e-02 9.99537442e-01 2.94005367e-04 -2.81136938e+01] [ 5.73194537e-03 -1.19742906e-04 9.99983565e-01 2.99834669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.220714057 meters Centerline goodness : 0.981746 with order 1 Centerline is valid? [True, True] Translation: X:561.05, Y:-28.12, Z:3.00 [[ 9.99609759e-01 2.73413103e-02 -5.72567311e-03 5.61049229e+02] [-2.73400768e-02 9.99626147e-01 2.93604126e-04 -2.81185748e+01] [ 5.73156007e-03 -1.36949207e-04 9.99983565e-01 2.99704662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.280714057 meters Centerline goodness : 0.980384 with order 1 Centerline is valid? [True, True] Translation: X:561.11, Y:-28.12, Z:3.00 [[ 9.99749603e-01 2.16321081e-02 -5.72569835e-03 5.61107818e+02] [-2.16307839e-02 9.99765984e-01 2.93111113e-04 -2.81237139e+01] [ 5.73069906e-03 -1.69186375e-04 9.99983565e-01 3.00011419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.340714057 meters Centerline goodness : 0.978905 with order 1 Centerline is valid? [True, True] Translation: X:561.17, Y:-28.13, Z:3.00 [[ 9.99897017e-01 1.31594505e-02 -5.72571917e-03 5.61166612e+02] [-1.31579898e-02 9.99913387e-01 2.92703831e-04 -2.81314562e+01] [ 5.72907507e-03 -2.17334733e-04 9.99983565e-01 2.99681794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.400714057 meters Centerline goodness : 0.980879 with order 1 Centerline is valid? [True, True] Translation: X:561.22, Y:-28.13, Z:3.01 [[ 9.99937373e-01 9.61587201e-03 -5.72574010e-03 5.61222962e+02] [-9.61435568e-03 9.99953738e-01 2.92293804e-04 -2.81342097e+01] [ 5.72828588e-03 -2.37226197e-04 9.99983565e-01 3.00606417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.460714057 meters Centerline goodness : 0.981959 with order 1 Centerline is valid? [True, True] Translation: X:561.28, Y:-28.14, Z:3.00 [[ 9.99957567e-01 -7.21667455e-03 -5.72577588e-03 5.61281618e+02] [ 7.21846211e-03 9.99973904e-01 2.91591179e-04 -2.81421087e+01] [ 5.72352215e-03 -3.32910102e-04 9.99983565e-01 3.00193800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.520714057 meters Centerline goodness : 0.983122 with order 1 Centerline is valid? [True, True] Translation: X:561.34, Y:-28.15, Z:3.00 [[ 9.99943491e-01 -8.95715235e-03 -5.72579694e-03 5.61342142e+02] [ 8.95896599e-03 9.99959825e-01 2.91177184e-04 -2.81464830e+01] [ 5.72295879e-03 -3.42457950e-04 9.99983565e-01 3.00457561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.580714057 meters Centerline goodness : 0.982422 with order 1 Centerline is valid? [True, True] Translation: X:561.40, Y:-28.15, Z:3.01 [[ 9.99884339e-01 -1.40898423e-02 -5.72578642e-03 5.61403088e+02] [ 1.40917409e-02 9.99900664e-01 2.91383841e-04 -2.81503568e+01] [ 5.72111209e-03 -3.72036438e-04 9.99983565e-01 3.00780233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.640714057 meters Centerline goodness : 0.982857 with order 1 Centerline is valid? [True, True] Translation: X:561.47, Y:-28.16, Z:3.01 [[ 9.99825444e-01 -1.77847717e-02 -5.72572196e-03 5.61465032e+02] [ 1.77867378e-02 9.99841761e-01 2.92644978e-04 -2.81560486e+01] [ 5.71961130e-03 -3.94435810e-04 9.99983565e-01 3.00906583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.700714057 meters Centerline goodness : 0.982100 with order 1 Centerline is valid? [True, True] Translation: X:561.53, Y:-28.16, Z:3.01 [[ 9.99733740e-01 -2.23532172e-02 -5.72570204e-03 5.61527560e+02] [ 2.23552601e-02 9.99750047e-01 2.93034204e-04 -2.81607824e+01] [ 5.71772063e-03 -4.20955739e-04 9.99983565e-01 3.01102018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.760714057 meters Centerline goodness : 0.983103 with order 1 Centerline is valid? [True, True] Translation: X:561.59, Y:-28.17, Z:3.01 [[ 9.99651011e-01 -2.57890207e-02 -5.72567639e-03 5.61590437e+02] [ 2.57911225e-02 9.99667311e-01 2.93534513e-04 -2.81670474e+01] [ 5.71620155e-03 -4.41103694e-04 9.99983565e-01 3.01261030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.820714057 meters Centerline goodness : 0.982745 with order 1 Centerline is valid? [True, True] Translation: X:561.65, Y:-28.17, Z:3.02 [[ 9.99563059e-01 -2.89984214e-02 -5.72564457e-03 5.61651227e+02] [ 2.90005790e-02 9.99579351e-01 2.94154042e-04 -2.81712563e+01] [ 5.71470608e-03 -4.60072521e-04 9.99983565e-01 3.01571023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.880714057 meters Centerline goodness : 0.982840 with order 1 Centerline is valid? [True, True] Translation: X:561.71, Y:-28.18, Z:3.01 [[ 9.99484902e-01 -3.15776590e-02 -5.72562893e-03 5.61713356e+02] [ 3.15798604e-02 9.99501188e-01 2.94458063e-04 -2.81772755e+01] [ 5.71347462e-03 -4.75120950e-04 9.99983565e-01 3.01164244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.940714057 meters Centerline goodness : 0.981672 with order 1 Centerline is valid? [True, True] Translation: X:561.78, Y:-28.18, Z:3.01 [[ 9.99445270e-01 -3.28080861e-02 -5.72560838e-03 5.61775408e+02] [ 3.28103098e-02 9.99461553e-01 2.94857127e-04 -2.81833945e+01] [ 5.71285175e-03 -4.82552546e-04 9.99983565e-01 3.01134799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.000714057 meters Centerline goodness : 0.982505 with order 1 Centerline is valid? [True, True] Translation: X:561.84, Y:-28.19, Z:3.01 [[ 9.99502597e-01 -3.10125138e-02 -5.72558730e-03 5.61836017e+02] [ 3.10147106e-02 9.99518885e-01 2.95265943e-04 -2.81865787e+01] [ 5.71367569e-03 -4.72696510e-04 9.99983565e-01 3.01155010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.060714057 meters Centerline goodness : 0.979323 with order 1 Centerline is valid? [True, True] Translation: X:561.90, Y:-28.20, Z:3.01 [[ 9.99712694e-01 -2.32754435e-02 -5.72557686e-03 5.61897825e+02] [ 2.32775153e-02 9.99728998e-01 2.95468133e-04 -2.81957761e+01] [ 5.71714807e-03 -4.28660446e-04 9.99983565e-01 3.00521859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.120714057 meters Centerline goodness : 0.979989 with order 1 Centerline is valid? [True, True] Translation: X:561.96, Y:-28.20, Z:3.01 [[ 9.99748951e-01 -2.16622365e-02 -5.72555747e-03 5.61960382e+02] [ 2.16642841e-02 9.99765258e-01 2.95843370e-04 -2.81975511e+01] [ 5.71780482e-03 -4.19809203e-04 9.99983565e-01 3.00625445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.180714057 meters Centerline goodness : 0.978795 with order 1 Centerline is valid? [True, True] Translation: X:562.02, Y:-28.20, Z:3.01 [[ 9.99838569e-01 -1.70309544e-02 -5.72552728e-03 5.62022877e+02] [ 1.70329298e-02 9.99854885e-01 2.96426475e-04 -2.81994706e+01] [ 5.71964800e-03 -3.93901127e-04 9.99983565e-01 3.00937299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.240714057 meters Centerline goodness : 0.979766 with order 1 Centerline is valid? [True, True] Translation: X:562.08, Y:-28.21, Z:3.01 [[ 9.99836607e-01 -1.71457862e-02 -5.72550219e-03 5.62084634e+02] [ 1.71477662e-02 9.99852922e-01 2.96910402e-04 -2.82050642e+01] [ 5.71956933e-03 -3.95041461e-04 9.99983565e-01 3.00820220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.300714057 meters Centerline goodness : 0.975562 with order 1 Centerline is valid? [True, True] Translation: X:562.15, Y:-28.21, Z:3.01 [[ 9.99786800e-01 -1.98387007e-02 -5.72548241e-03 5.62146863e+02] [ 1.98407268e-02 9.99803109e-01 2.97291356e-04 -2.82101999e+01] [ 5.71845724e-03 -4.10825706e-04 9.99983565e-01 3.00803534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.360714057 meters Centerline goodness : 0.976077 with order 1 Centerline is valid? [True, True] Translation: X:562.21, Y:-28.22, Z:3.00 [[ 9.99830160e-01 -1.75177384e-02 -5.72546242e-03 5.62208503e+02] [ 1.75197288e-02 9.99846473e-01 2.97675881e-04 -2.82154616e+01] [ 5.71936880e-03 -3.97933872e-04 9.99983565e-01 3.00347466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.420714057 meters Centerline goodness : 0.976059 with order 1 Centerline is valid? [True, True] Translation: X:562.27, Y:-28.22, Z:3.01 [[ 9.99827865e-01 -1.76482274e-02 -5.72544086e-03 5.62269610e+02] [ 1.76502223e-02 9.99844178e-01 2.98089941e-04 -2.82195180e+01] [ 5.71928795e-03 -3.99093934e-04 9.99983565e-01 3.00662726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.480714057 meters Centerline goodness : 0.977514 with order 1 Centerline is valid? [True, True] Translation: X:562.33, Y:-28.22, Z:3.01 [[ 9.99876327e-01 -1.46475370e-02 -5.72542490e-03 5.62331536e+02] [ 1.46494848e-02 9.99892646e-01 2.98396149e-04 -2.82224169e+01] [ 5.72043948e-03 -3.82233770e-04 9.99983565e-01 3.00784866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5407140570001 meters Centerline goodness : 0.975068 with order 1 Centerline is valid? [True, True] Translation: X:562.39, Y:-28.23, Z:3.01 [[ 9.99900977e-01 -1.28552213e-02 -5.72540470e-03 5.62393700e+02] [ 1.28571420e-02 9.99917299e-01 2.98783305e-04 -2.82266557e+01] [ 5.72109027e-03 -3.72366060e-04 9.99983565e-01 3.00884823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.600714057 meters Centerline goodness : 0.978155 with order 1 Centerline is valid? [True, True] Translation: X:562.46, Y:-28.23, Z:3.01 [[ 9.99943441e-01 -8.96293639e-03 -5.72538375e-03 5.62456181e+02] [ 8.96479580e-03 9.99959771e-01 2.99184118e-04 -2.82316539e+01] [ 5.72247185e-03 -3.50494093e-04 9.99983565e-01 3.00644778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6607140570001 meters Centerline goodness : 0.976018 with order 1 Centerline is valid? [True, True] Translation: X:562.52, Y:-28.24, Z:3.01 [[ 9.99970477e-01 -5.12496848e-03 -5.72536242e-03 5.62516621e+02] [ 5.12676753e-03 9.99986813e-01 2.99591806e-04 -2.82353205e+01] [ 5.72375152e-03 -3.28935564e-04 9.99983565e-01 3.00515403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.720714057 meters Centerline goodness : 0.976550 with order 1 Centerline is valid? [True, True] Translation: X:562.58, Y:-28.24, Z:3.01 [[ 9.99983601e-01 -1.35101747e-04 -5.72535721e-03 5.62576241e+02] [ 1.36819823e-04 9.99999946e-01 2.99691309e-04 -2.82370399e+01] [ 5.72531641e-03 -3.00469737e-04 9.99983565e-01 3.00669821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.780714057 meters Centerline goodness : 0.977412 with order 1 Centerline is valid? [True, True] Translation: X:562.64, Y:-28.24, Z:3.01 [[ 9.99930416e-01 1.03141905e-02 -5.72536231e-03 5.62635168e+02] [-1.03126439e-02 9.99946778e-01 2.99593860e-04 -2.82426447e+01] [ 5.72814766e-03 -2.40529390e-04 9.99983565e-01 3.00563177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.840714057 meters Centerline goodness : 0.977097 with order 1 Centerline is valid? [True, True] Translation: X:562.69, Y:-28.24, Z:3.01 [[ 9.99893169e-01 1.34487825e-02 -5.72543549e-03 5.62692903e+02] [-1.34472952e-02 9.99909537e-01 2.98188774e-04 -2.82436233e+01] [ 5.72892782e-03 -2.21165297e-04 9.99983565e-01 3.01135437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.900714057 meters Centerline goodness : 0.976521 with order 1 Centerline is valid? [True, True] Translation: X:562.75, Y:-28.25, Z:3.01 [[ 9.99776479e-01 2.03521871e-02 -5.72546107e-03 5.62750353e+02] [-2.03508156e-02 9.99792856e-01 2.97696828e-04 -2.82502436e+01] [ 5.73033386e-03 -1.81112484e-04 9.99983565e-01 3.01272350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.960714057 meters Centerline goodness : 0.976189 with order 1 Centerline is valid? [True, True] Translation: X:562.81, Y:-28.25, Z:3.01 [[ 9.99762674e-01 2.10194016e-02 -5.72548514e-03 5.62809350e+02] [-2.10180438e-02 9.99779052e-01 2.97233075e-04 -2.82533064e+01] [ 5.73046777e-03 -1.76824037e-04 9.99983565e-01 3.01486713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.020714057 meters Centerline goodness : 0.975348 with order 1 Centerline is valid? [True, True] Translation: X:562.87, Y:-28.26, Z:3.01 [[ 9.99766631e-01 2.08303315e-02 -5.72550409e-03 5.62868030e+02] [-2.08289726e-02 9.99783009e-01 2.96867559e-04 -2.82617069e+01] [ 5.73044556e-03 -1.77541912e-04 9.99983565e-01 3.01069990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.080714057 meters Centerline goodness : 0.974844 with order 1 Centerline is valid? [True, True] Translation: X:562.93, Y:-28.27, Z:3.01 [[ 9.99821485e-01 1.80059883e-02 -5.72552420e-03 5.62926958e+02] [-1.80045854e-02 9.99837860e-01 2.96479282e-04 -2.82700639e+01] [ 5.72993427e-03 -1.93340667e-04 9.99983565e-01 3.00638963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.140714057 meters Centerline goodness : 0.973738 with order 1 Centerline is valid? [True, True] Translation: X:562.99, Y:-28.28, Z:3.01 [[ 9.99971665e-01 4.88742213e-03 -5.72553926e-03 5.62985830e+02] [-4.88580618e-03 9.99988021e-01 2.96188226e-04 -2.82780570e+01] [ 5.72691826e-03 -2.68205958e-04 9.99983565e-01 3.00620621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.200714057 meters Centerline goodness : 0.975067 with order 1 Centerline is valid? [True, True] Translation: X:563.04, Y:-28.28, Z:3.01 [[ 9.99983604e-01 -9.57656045e-05 -5.72555953e-03 5.63044150e+02] [ 9.74607938e-05 9.99999952e-01 2.95795722e-04 -2.82842079e+01] [ 5.72553093e-03 -2.96348890e-04 9.99983565e-01 3.00664795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.260714057 meters Centerline goodness : 0.977337 with order 1 Centerline is valid? [True, True] Translation: X:563.10, Y:-28.28, Z:3.01 [[ 9.99894015e-01 -1.33857054e-02 -5.72557967e-03 5.63102691e+02] [ 1.33876155e-02 9.99910338e-01 2.95405457e-04 -2.82831147e+01] [ 5.72111209e-03 -3.72026007e-04 9.99983565e-01 3.01234505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.320714057 meters Centerline goodness : 0.978249 with order 1 Centerline is valid? [True, True] Translation: X:563.16, Y:-28.29, Z:3.01 [[ 9.99825737e-01 -1.77682952e-02 -5.72559355e-03 5.63164766e+02] [ 1.77702753e-02 9.99842053e-01 2.95136093e-04 -2.82863769e+01] [ 5.71944515e-03 -3.96830035e-04 9.99983565e-01 3.01471939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.380714057 meters Centerline goodness : 0.973158 with order 1 Centerline is valid? [True, True] Translation: X:563.23, Y:-28.28, Z:3.01 [[ 9.99571886e-01 -2.86925531e-02 -5.72557049e-03 5.63226834e+02] [ 2.86947139e-02 9.99588178e-01 2.95582922e-04 -2.82812113e+01] [ 5.71473154e-03 -4.59749986e-04 9.99983565e-01 3.01204397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.440714057 meters Centerline goodness : 0.977397 with order 1 Centerline is valid? [True, True] Translation: X:563.29, Y:-28.30, Z:3.02 [[ 9.99632674e-01 -2.64902741e-02 -5.72554222e-03 5.63288555e+02] [ 2.64924021e-02 9.99648971e-01 2.96129496e-04 -2.82960135e+01] [ 5.71568783e-03 -4.47704087e-04 9.99983565e-01 3.01552735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.500714057 meters Centerline goodness : 0.974583 with order 1 Centerline is valid? [True, True] Translation: X:563.35, Y:-28.30, Z:3.01 [[ 9.99577210e-01 -2.85064850e-02 -5.72551387e-03 5.63350960e+02] [ 2.85086490e-02 9.99593502e-01 2.96676631e-04 -2.83028864e+01] [ 5.71472925e-03 -4.59777864e-04 9.99983565e-01 3.01423256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.560714057 meters Centerline goodness : 0.978727 with order 1 Centerline is valid? [True, True] Translation: X:563.41, Y:-28.30, Z:3.01 [[ 9.99300557e-01 -3.69542377e-02 -5.72548290e-03 5.63413622e+02] [ 3.69565427e-02 9.99316829e-01 2.97273026e-04 -2.82989850e+01] [ 5.71058592e-03 -5.08659153e-04 9.99983565e-01 3.01442361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.620714057 meters Centerline goodness : 0.977246 with order 1 Centerline is valid? [True, True] Translation: X:563.48, Y:-28.31, Z:3.02 [[ 9.99434918e-01 -3.31219493e-02 -5.72545719e-03 5.63475464e+02] [ 3.31241947e-02 9.99451199e-01 2.97767465e-04 -2.83066448e+01] [ 5.71245241e-03 -4.87250361e-04 9.99983565e-01 3.01624691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.680714057 meters Centerline goodness : 0.977270 with order 1 Centerline is valid? [True, True] Translation: X:563.54, Y:-28.31, Z:3.01 [[ 9.99389803e-01 -3.44563651e-02 -5.72543201e-03 5.63538095e+02] [ 3.44586349e-02 9.99406080e-01 2.98250805e-04 -2.83077426e+01] [ 5.71175492e-03 -4.95359385e-04 9.99983565e-01 3.01454058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.740714057 meters Centerline goodness : 0.979512 with order 1 Centerline is valid? [True, True] Translation: X:563.60, Y:-28.31, Z:3.02 [[ 9.99405902e-01 -3.39862305e-02 -5.72539457e-03 5.63600464e+02] [ 3.39884968e-02 9.99422179e-01 2.98967771e-04 -2.83088691e+01] [ 5.71192553e-03 -4.93387709e-04 9.99983565e-01 3.01553712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.800714057 meters Centerline goodness : 0.978997 with order 1 Centerline is valid? [True, True] Translation: X:563.66, Y:-28.31, Z:3.02 [[ 9.99527585e-01 -3.01964878e-02 -5.72536325e-03 5.63662673e+02] [ 3.01986958e-02 9.99543870e-01 2.99566395e-04 -2.83097970e+01] [ 5.71370589e-03 -4.72323378e-04 9.99983565e-01 3.01726166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.860714057 meters Centerline goodness : 0.981349 with order 1 Centerline is valid? [True, True] Translation: X:563.73, Y:-28.30, Z:3.02 [[ 9.99485756e-01 -3.15506500e-02 -5.72530412e-03 5.63725290e+02] [ 3.15528864e-02 9.99502038e-01 3.00692148e-04 -2.83043484e+01] [ 5.71296611e-03 -4.81187389e-04 9.99983565e-01 3.01931502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.920714057 meters Centerline goodness : 0.983164 with order 1 Centerline is valid? [True, True] Translation: X:563.79, Y:-28.31, Z:3.02 [[ 9.99721760e-01 -2.28828226e-02 -5.72527937e-03 5.63786980e+02] [ 2.28849204e-02 9.99738061e-01 3.01162748e-04 -2.83076613e+01] [ 5.71688824e-03 -4.32101515e-04 9.99983565e-01 3.02168045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.980714057 meters Centerline goodness : 0.981804 with order 1 Centerline is valid? [True, True] Translation: X:563.85, Y:-28.30, Z:3.02 [[ 9.99651968e-01 -2.57519681e-02 -5.72521875e-03 5.63849137e+02] [ 2.57541192e-02 9.99668262e-01 3.02310844e-04 -2.83049938e+01] [ 5.71553437e-03 -4.49653596e-04 9.99983565e-01 3.02242260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0407140570001 meters Centerline goodness : 0.983868 with order 1 Centerline is valid? [True, True] Translation: X:563.91, Y:-28.30, Z:3.02 [[ 9.99619008e-01 -2.70011147e-02 -5.72519383e-03 5.63911638e+02] [ 2.70032889e-02 9.99635299e-01 3.02782009e-04 -2.83049177e+01] [ 5.71493039e-03 -4.57265714e-04 9.99983565e-01 3.02234843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.100714057 meters Centerline goodness : 0.983738 with order 1 Centerline is valid? [True, True] Translation: X:563.97, Y:-28.31, Z:3.02 [[ 9.99504483e-01 -3.09517474e-02 -5.72516838e-03 5.63974176e+02] [ 3.09539887e-02 9.99520764e-01 3.03262404e-04 -2.83082379e+01] [ 5.71303818e-03 -4.80328930e-04 9.99983565e-01 3.02105152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1607140570001 meters Centerline goodness : 0.974655 with order 1 Centerline is valid? [True, True] Translation: X:564.04, Y:-28.31, Z:3.02 [[ 9.99492711e-01 -3.13295890e-02 -5.72512966e-03 5.64035566e+02] [ 3.13318406e-02 9.99508991e-01 3.03991671e-04 -2.83122172e+01] [ 5.71279464e-03 -4.83216309e-04 9.99983565e-01 3.01844809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.220714057 meters Centerline goodness : 0.983035 with order 1 Centerline is valid? [True, True] Translation: X:564.10, Y:-28.32, Z:3.02 [[ 9.99364146e-01 -3.51926971e-02 -5.72510723e-03 5.64097736e+02] [ 3.51950140e-02 9.99380417e-01 3.04413516e-04 -2.83162483e+01] [ 5.71084692e-03 -5.05715182e-04 9.99983565e-01 3.02038737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.280714057 meters Centerline goodness : 0.984931 with order 1 Centerline is valid? [True, True] Translation: X:564.16, Y:-28.32, Z:3.02 [[ 9.99122450e-01 -4.14916016e-02 -5.72507837e-03 5.64160631e+02] [ 4.14940241e-02 9.99138706e-01 3.04955361e-04 -2.83210012e+01] [ 5.70749430e-03 -5.42244287e-04 9.99983565e-01 3.02049753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.340714057 meters Centerline goodness : 0.972093 with order 1 Centerline is valid? [True, True] Translation: X:564.22, Y:-28.33, Z:3.02 [[ 9.99249135e-01 -3.83195924e-02 -5.72503393e-03 5.64221873e+02] [ 3.83219680e-02 9.99265397e-01 3.05787271e-04 -2.83259501e+01] [ 5.70911066e-03 -5.24952233e-04 9.99983565e-01 3.02029156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.400714057 meters Centerline goodness : 0.975882 with order 1 Centerline is valid? [True, True] Translation: X:564.28, Y:-28.33, Z:3.02 [[ 9.99297882e-01 -3.70265849e-02 -5.72500058e-03 5.64283510e+02] [ 3.70289430e-02 9.99314147e-01 3.06410469e-04 -2.83265812e+01] [ 5.70972873e-03 -5.18186053e-04 9.99983565e-01 3.02260907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.460714057 meters Centerline goodness : 0.974007 with order 1 Centerline is valid? [True, True] Translation: X:564.35, Y:-28.33, Z:3.02 [[ 9.99308980e-01 -3.67258352e-02 -5.72494490e-03 5.64346140e+02] [ 3.67281943e-02 9.99325245e-01 3.07447256e-04 -2.83299233e+01] [ 5.70979071e-03 -5.17501692e-04 9.99983565e-01 3.02294151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.520714057 meters Centerline goodness : 0.975135 with order 1 Centerline is valid? [True, True] Translation: X:564.41, Y:-28.33, Z:3.02 [[ 9.99276942e-01 -3.75874836e-02 -5.72490680e-03 5.64408142e+02] [ 3.75898608e-02 9.99293204e-01 3.08155128e-04 -2.83327443e+01] [ 5.70927768e-03 -5.23130764e-04 9.99983565e-01 3.02141180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.580714057 meters Centerline goodness : 0.982373 with order 1 Centerline is valid? [True, True] Translation: X:564.47, Y:-28.34, Z:3.02 [[ 9.99466465e-01 -3.21560425e-02 -5.72487643e-03 5.64468475e+02] [ 3.21583344e-02 9.99482739e-01 3.08718248e-04 -2.83415371e+01] [ 5.71198802e-03 -4.92656026e-04 9.99983565e-01 3.02410446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.640714057 meters Centerline goodness : 0.985893 with order 1 Centerline is valid? [True, True] Translation: X:564.53, Y:-28.34, Z:3.03 [[ 9.99498264e-01 -3.11519932e-02 -5.72486150e-03 5.64531261e+02] [ 3.11542704e-02 9.99514540e-01 3.08994941e-04 -2.83434878e+01] [ 5.71245650e-03 -4.87193789e-04 9.99983565e-01 3.02786211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.700714057 meters Centerline goodness : 0.986396 with order 1 Centerline is valid? [True, True] Translation: X:564.59, Y:-28.35, Z:3.03 [[ 9.99451764e-01 -3.26097954e-02 -5.72482374e-03 5.64593765e+02] [ 3.26121002e-02 9.99468036e-01 3.09692916e-04 -2.83465919e+01] [ 5.71167932e-03 -4.96221656e-04 9.99983565e-01 3.02942251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.760714057 meters Centerline goodness : 0.986444 with order 1 Centerline is valid? [True, True] Translation: X:564.65, Y:-28.35, Z:3.03 [[ 9.99372869e-01 -3.49441648e-02 -5.72478627e-03 5.64654946e+02] [ 3.49465116e-02 9.99389136e-01 3.10384031e-04 -2.83476211e+01] [ 5.71044309e-03 -5.10250689e-04 9.99983565e-01 3.02888698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.820714057 meters Centerline goodness : 0.977867 with order 1 Centerline is valid? [True, True] Translation: X:564.72, Y:-28.35, Z:3.02 [[ 9.99218676e-01 -3.91058021e-02 -5.72476788e-03 5.64717487e+02] [ 3.91082186e-02 9.99234933e-01 3.10722822e-04 -2.83521153e+01] [ 5.70823698e-03 -5.34365520e-04 9.99983565e-01 3.02143757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.880714057 meters Centerline goodness : 0.975819 with order 1 Centerline is valid? [True, True] Translation: X:564.78, Y:-28.35, Z:3.02 [[ 9.99032431e-01 -4.36053802e-02 -5.72473216e-03 5.64780239e+02] [ 4.36078735e-02 9.99048676e-01 3.11379431e-04 -2.83544417e+01] [ 5.70570827e-03 -5.60721546e-04 9.99983565e-01 3.02430937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.940714057 meters Centerline goodness : 0.989989 with order 1 Centerline is valid? [True, True] Translation: X:564.84, Y:-28.36, Z:3.02 [[ 9.98858592e-01 -4.74209022e-02 -5.72467766e-03 5.64841848e+02] [ 4.74234633e-02 9.98874826e-01 3.12378359e-04 -2.83598126e+01] [ 5.70342313e-03 -5.83505849e-04 9.99983565e-01 3.02051966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.000714057 meters Centerline goodness : 0.978952 with order 1 Centerline is valid? [True, True] Translation: X:564.90, Y:-28.36, Z:3.02 [[ 9.98898486e-01 -4.65729794e-02 -5.72464537e-03 5.64903073e+02] [ 4.65755300e-02 9.98914722e-01 3.12968849e-04 -2.83611498e+01] [ 5.70385665e-03 -5.79252502e-04 9.99983565e-01 3.02322382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.060714057 meters Centerline goodness : 0.986846 with order 1 Centerline is valid? [True, True] Translation: X:564.97, Y:-28.37, Z:3.03 [[ 9.99010415e-01 -4.41069031e-02 -5.72461497e-03 5.64965397e+02] [ 4.41094167e-02 9.99026657e-01 3.13524004e-04 -2.83669807e+01] [ 5.70521438e-03 -5.65723173e-04 9.99983565e-01 3.02826936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.120714057 meters Centerline goodness : 0.976777 with order 1 Centerline is valid? [True, True] Translation: X:565.03, Y:-28.37, Z:3.03 [[ 9.98999284e-01 -4.43583114e-02 -5.72458430e-03 5.65027647e+02] [ 4.43608323e-02 9.99015524e-01 3.14082979e-04 -2.83684205e+01] [ 5.70501640e-03 -5.67715995e-04 9.99983565e-01 3.02643593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.180714057 meters Centerline goodness : 0.976617 with order 1 Centerline is valid? [True, True] Translation: X:565.09, Y:-28.37, Z:3.03 [[ 9.98994546e-01 -4.44648862e-02 -5.72454576e-03 5.65090844e+02] [ 4.44674128e-02 9.99010786e-01 3.14783781e-04 -2.83723825e+01] [ 5.70488614e-03 -5.69023020e-04 9.99983565e-01 3.02683042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.240714057 meters Centerline goodness : 0.989579 with order 1 Centerline is valid? [True, True] Translation: X:565.15, Y:-28.38, Z:3.02 [[ 9.98994053e-01 -4.44759769e-02 -5.72449823e-03 5.65152790e+02] [ 4.44785086e-02 9.99010292e-01 3.15645772e-04 -2.83797086e+01] [ 5.70479400e-03 -5.69945393e-04 9.99983565e-01 3.02439580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.300714057 meters Centerline goodness : 0.990222 with order 1 Centerline is valid? [True, True] Translation: X:565.22, Y:-28.38, Z:3.03 [[ 9.98934124e-01 -4.58022430e-02 -5.72446687e-03 5.65215702e+02] [ 4.58047995e-02 9.98950359e-01 3.16213531e-04 -2.83837325e+01] [ 5.70397495e-03 -5.78084544e-04 9.99983565e-01 3.02593484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.360714057 meters Centerline goodness : 0.982833 with order 1 Centerline is valid? [True, True] Translation: X:565.28, Y:-28.40, Z:3.03 [[ 9.99313246e-01 -3.66096559e-02 -5.72443268e-03 5.65276938e+02] [ 3.66120664e-02 9.99329503e-01 3.16831280e-04 -2.84017715e+01] [ 5.70899538e-03 -5.26197005e-04 9.99983565e-01 3.03229409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.420714057 meters Centerline goodness : 0.983472 with order 1 Centerline is valid? [True, True] Translation: X:565.34, Y:-28.41, Z:3.03 [[ 9.99331399e-01 -3.61107516e-02 -5.72440938e-03 5.65338619e+02] [ 3.61131564e-02 9.99347657e-01 3.17251654e-04 -2.84062407e+01] [ 5.70921891e-03 -5.23766030e-04 9.99983565e-01 3.03185773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.480714057 meters Centerline goodness : 0.981178 with order 1 Centerline is valid? [True, True] Translation: X:565.40, Y:-28.41, Z:3.03 [[ 9.99496591e-01 -3.12057124e-02 -5.72438059e-03 5.65401381e+02] [ 3.12080403e-02 9.99512860e-01 3.17770375e-04 -2.84113627e+01] [ 5.71167576e-03 -4.96257107e-04 9.99983565e-01 3.03283543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5407140570001 meters Centerline goodness : 0.980474 with order 1 Centerline is valid? [True, True] Translation: X:565.46, Y:-28.41, Z:3.03 [[ 9.99705463e-01 -2.35843047e-02 -5.72434710e-03 5.65464432e+02] [ 2.35865119e-02 9.99721749e-01 3.18372577e-04 -2.84129125e+01] [ 5.71524569e-03 -4.53296186e-04 9.99983565e-01 3.03454461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.600714057 meters Centerline goodness : 0.980691 with order 1 Centerline is valid? [True, True] Translation: X:565.53, Y:-28.41, Z:3.04 [[ 9.99860595e-01 -1.56851395e-02 -5.72431011e-03 5.65526203e+02] [ 1.56872218e-02 9.99876897e-01 3.19036182e-04 -2.84095962e+01] [ 5.71860130e-03 -4.08790229e-04 9.99983565e-01 3.03981324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6607140570001 meters Centerline goodness : 0.978206 with order 1 Centerline is valid? [True, True] Translation: X:565.59, Y:-28.41, Z:3.04 [[ 9.99965750e-01 -5.97753682e-03 -5.72427084e-03 5.65587861e+02] [ 5.97946473e-03 9.99982072e-01 3.19739229e-04 -2.84111988e+01] [ 5.72225696e-03 -3.53956354e-04 9.99983565e-01 3.03639106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.720714057 meters Centerline goodness : 0.981207 with order 1 Centerline is valid? [True, True] Translation: X:565.65, Y:-28.41, Z:3.04 [[ 9.99968823e-01 -5.43935003e-03 -5.72423535e-03 5.65648440e+02] [ 5.44127277e-03 9.99985145e-01 3.20373286e-04 -2.84060648e+01] [ 5.72240770e-03 -3.51510424e-04 9.99983565e-01 3.03776705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.780714057 meters Centerline goodness : 0.983218 with order 1 Centerline is valid? [True, True] Translation: X:565.71, Y:-28.40, Z:3.04 [[ 9.99973780e-01 -4.43539529e-03 -5.72423535e-03 5.65709067e+02] [ 4.43730164e-03 9.99990104e-01 3.20373286e-04 -2.83990753e+01] [ 5.72275772e-03 -3.45765045e-04 9.99983565e-01 3.03669827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.840714057 meters Centerline goodness : 0.976981 with order 1 Centerline is valid? [True, True] Translation: X:565.77, Y:-28.42, Z:3.04 [[ 9.99935820e-01 9.77698622e-03 -5.72423535e-03 5.65768307e+02] [-9.77531207e-03 9.99952169e-01 3.20373286e-04 -2.84155238e+01] [ 5.72709384e-03 -2.64396538e-04 9.99983565e-01 3.03518173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.900714057 meters Centerline goodness : 0.978505 with order 1 Centerline is valid? [True, True] Translation: X:565.83, Y:-28.41, Z:3.04 [[ 9.99959843e-01 6.89537280e-03 -5.72424915e-03 5.65825943e+02] [-6.89365295e-03 9.99976187e-01 3.20126573e-04 -2.84117799e+01] [ 5.72632023e-03 -2.80652731e-04 9.99983565e-01 3.04435420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.960714057 meters Centerline goodness : 0.978294 with order 1 Centerline is valid? [True, True] Translation: X:565.88, Y:-28.41, Z:3.04 [[ 9.99970610e-01 5.10018885e-03 -5.72427799e-03 5.65883443e+02] [-5.09844261e-03 9.99986952e-01 3.19610110e-04 -2.84122450e+01] [ 5.72583337e-03 -2.90415814e-04 9.99983565e-01 3.04365926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.020714057 meters Centerline goodness : 0.979172 with order 1 Centerline is valid? [True, True] Translation: X:565.94, Y:-28.42, Z:3.04 [[ 9.99957534e-01 7.22239616e-03 -5.72430631e-03 5.65941612e+02] [-7.22068751e-03 9.99973880e-01 3.19102049e-04 -2.84175545e+01] [ 5.72646147e-03 -2.77755071e-04 9.99983565e-01 3.04029759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.080714057 meters Centerline goodness : 0.979993 with order 1 Centerline is valid? [True, True] Translation: X:566.00, Y:-28.42, Z:3.04 [[ 9.99941085e-01 9.22270498e-03 -5.72434962e-03 5.65998032e+02] [-9.22103347e-03 9.99957435e-01 3.18323259e-04 -2.84205590e+01] [ 5.72704176e-03 -2.65520086e-04 9.99983565e-01 3.04091894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.140714057 meters Centerline goodness : 0.978771 with order 1 Centerline is valid? [True, True] Translation: X:566.06, Y:-28.42, Z:3.04 [[ 9.99809305e-01 1.86704484e-02 -5.72440230e-03 5.66056840e+02] [-1.86689369e-02 9.99825670e-01 3.17372992e-04 -2.84249685e+01] [ 5.72932986e-03 -2.10443965e-04 9.99983565e-01 3.03922437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.200714057 meters Centerline goodness : 0.978286 with order 1 Centerline is valid? [True, True] Translation: X:566.12, Y:-28.43, Z:3.04 [[ 9.99637388e-01 2.63120195e-02 -5.72447834e-03 5.66115700e+02] [-2.63106410e-02 9.99653765e-01 3.15995507e-04 -2.84292740e+01] [ 5.73081081e-03 -1.65266228e-04 9.99983565e-01 3.04209354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.260714057 meters Centerline goodness : 0.978557 with order 1 Centerline is valid? [True, True] Translation: X:566.17, Y:-28.43, Z:3.04 [[ 9.99413888e-01 3.37506900e-02 -5.72455277e-03 5.66174683e+02] [-3.37494412e-02 9.99430276e-01 3.14641414e-04 -2.84327233e+01] [ 5.73191071e-03 -1.21256542e-04 9.99983565e-01 3.04283075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.320714057 meters Centerline goodness : 0.978563 with order 1 Centerline is valid? [True, True] Translation: X:566.23, Y:-28.44, Z:3.04 [[ 9.99246930e-01 3.83771055e-02 -5.72462582e-03 5.66233122e+02] [-3.83759402e-02 9.99263323e-01 3.13306542e-04 -2.84350773e+01] [ 5.73243242e-03 -9.33827021e-05 9.99983565e-01 3.04453422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.380714057 meters Centerline goodness : 0.977633 with order 1 Centerline is valid? [True, True] Translation: X:566.29, Y:-28.44, Z:3.04 [[ 9.99204543e-01 3.94652987e-02 -5.72470354e-03 5.66289470e+02] [-3.94641594e-02 9.99220938e-01 3.11879988e-04 -2.84429187e+01] [ 5.73255208e-03 -8.57112880e-05 9.99983565e-01 3.04352636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.440714057 meters Centerline goodness : 0.982031 with order 1 Centerline is valid? [True, True] Translation: X:566.35, Y:-28.44, Z:3.04 [[ 9.99552677e-01 2.93542718e-02 -5.72476326e-03 5.66347142e+02] [-2.93529730e-02 9.99569060e-01 3.10779851e-04 -2.84444368e+01] [ 5.73141895e-03 -1.42602011e-04 9.99983565e-01 3.04301534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.500714057 meters Centerline goodness : 0.989000 with order 1 Centerline is valid? [True, True] Translation: X:566.41, Y:-28.45, Z:3.04 [[ 9.99890450e-01 1.36496859e-02 -5.72485532e-03 5.66405782e+02] [-1.36481396e-02 9.99906812e-01 3.09074664e-04 -2.84466461e+01] [ 5.72854061e-03 -2.30907181e-04 9.99983565e-01 3.03521406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.560714057 meters Centerline goodness : 0.981603 with order 1 Centerline is valid? [True, True] Translation: X:566.46, Y:-28.47, Z:3.04 [[ 9.99844809e-01 1.66608337e-02 -5.72488032e-03 5.66462068e+02] [-1.66593393e-02 9.99861176e-01 3.08610988e-04 -2.84675308e+01] [ 5.72922729e-03 -2.13190371e-04 9.99983565e-01 3.04484874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.620714057 meters Centerline goodness : 0.983242 with order 1 Centerline is valid? [True, True] Translation: X:566.52, Y:-28.47, Z:3.05 [[ 9.99961494e-01 6.65101195e-03 -5.72490340e-03 5.66520425e+02] [-6.64935632e-03 9.99977845e-01 3.08182211e-04 -2.84746021e+01] [ 5.72682629e-03 -2.70103421e-04 9.99983565e-01 3.04527003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.680714057 meters Centerline goodness : 0.982080 with order 1 Centerline is valid? [True, True] Translation: X:566.58, Y:-28.48, Z:3.05 [[ 9.99981410e-01 -2.09892946e-03 -5.72492712e-03 5.66578714e+02] [ 2.10072558e-03 9.99997746e-01 3.07741051e-04 -2.84833909e+01] [ 5.72426829e-03 -3.19761831e-04 9.99983565e-01 3.04767767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.740714057 meters Centerline goodness : 0.982490 with order 1 Centerline is valid? [True, True] Translation: X:566.64, Y:-28.49, Z:3.05 [[ 9.99925885e-01 -1.07447400e-02 -5.72495206e-03 5.66637824e+02] [ 1.07466747e-02 9.99942206e-01 3.07276375e-04 -2.84897947e+01] [ 5.72131958e-03 -3.68777799e-04 9.99983565e-01 3.04851753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.800714057 meters Centerline goodness : 0.983391 with order 1 Centerline is valid? [True, True] Translation: X:566.70, Y:-28.49, Z:3.05 [[ 9.99897852e-01 -1.30961949e-02 -5.72496454e-03 5.66698827e+02] [ 1.30981666e-02 9.99914168e-01 3.07043687e-04 -2.84937166e+01] [ 5.72045205e-03 -3.81998863e-04 9.99983565e-01 3.04963419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.860714057 meters Centerline goodness : 0.979071 with order 1 Centerline is valid? [True, True] Translation: X:566.76, Y:-28.49, Z:3.04 [[ 9.99746754e-01 -2.17635534e-02 -5.72494576e-03 5.66759779e+02] [ 2.17656684e-02 9.99763053e-01 3.07393351e-04 -2.84921033e+01] [ 5.71689928e-03 -4.31922776e-04 9.99983565e-01 3.04391610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.920714057 meters Centerline goodness : 0.984836 with order 1 Centerline is valid? [True, True] Translation: X:566.82, Y:-28.50, Z:3.05 [[ 9.99802939e-01 -1.90081397e-02 -5.72492429e-03 5.66821653e+02] [ 1.90102121e-02 9.99819242e-01 3.07792796e-04 -2.85026146e+01] [ 5.71803889e-03 -4.16564167e-04 9.99983565e-01 3.04682198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.980714057 meters Centerline goodness : 0.984585 with order 1 Centerline is valid? [True, True] Translation: X:566.88, Y:-28.51, Z:3.05 [[ 9.99877888e-01 -1.45407869e-02 -5.72489435e-03 5.66883308e+02] [ 1.45427896e-02 9.99894201e-01 3.08348608e-04 -2.85050527e+01] [ 5.71980503e-03 -3.91566888e-04 9.99983565e-01 3.04878196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0407140570001 meters Centerline goodness : 0.984441 with order 1 Centerline is valid? [True, True] Translation: X:566.95, Y:-28.50, Z:3.05 [[ 9.99879314e-01 -1.44424359e-02 -5.72487103e-03 5.66945447e+02] [ 1.44444395e-02 9.99895626e-01 3.08780957e-04 -2.85026172e+01] [ 5.71981395e-03 -3.91436244e-04 9.99983565e-01 3.04708592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.100714057 meters Centerline goodness : 0.985128 with order 1 Centerline is valid? [True, True] Translation: X:567.01, Y:-28.50, Z:3.05 [[ 9.99877812e-01 -1.45460580e-02 -5.72484532e-03 5.67006195e+02] [ 1.45480660e-02 9.99894123e-01 3.09256810e-04 -2.85033257e+01] [ 5.71974073e-03 -3.92504450e-04 9.99983565e-01 3.05042742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1607140570001 meters Centerline goodness : 0.983645 with order 1 Centerline is valid? [True, True] Translation: X:567.07, Y:-28.50, Z:3.05 [[ 9.99783292e-01 -2.00148985e-02 -5.72482599e-03 5.67067993e+02] [ 2.00169977e-02 9.99799592e-01 3.09614296e-04 -2.85032121e+01] [ 5.71748179e-03 -4.24141029e-04 9.99983565e-01 3.04926988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.220714057 meters Centerline goodness : 0.984079 with order 1 Centerline is valid? [True, True] Translation: X:567.13, Y:-28.51, Z:3.05 [[ 9.99671131e-01 -2.49971299e-02 -5.72480066e-03 5.67130476e+02] [ 2.49993130e-02 9.99687420e-01 3.10081979e-04 -2.85081796e+01] [ 5.71526004e-03 -4.53096086e-04 9.99983565e-01 3.04841104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.280714057 meters Centerline goodness : 0.984306 with order 1 Centerline is valid? [True, True] Translation: X:567.19, Y:-28.51, Z:3.04 [[ 9.99436505e-01 -3.30741648e-02 -5.72477455e-03 5.67192862e+02] [ 3.30764821e-02 9.99452775e-01 3.10563174e-04 -2.85103557e+01] [ 5.71137020e-03 -4.99743576e-04 9.99983565e-01 3.04226408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.340714057 meters Centerline goodness : 0.984303 with order 1 Centerline is valid? [True, True] Translation: X:567.25, Y:-28.51, Z:3.04 [[ 9.99330794e-01 -3.61274254e-02 -5.72473588e-03 5.67254387e+02] [ 3.61297965e-02 9.99347057e-01 3.11274451e-04 -2.85088038e+01] [ 5.70975241e-03 -5.17899687e-04 9.99983565e-01 3.04486431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.400714057 meters Centerline goodness : 0.984488 with order 1 Centerline is valid? [True, True] Translation: X:567.32, Y:-28.51, Z:3.05 [[ 9.99436662e-01 -3.30694275e-02 -5.72468262e-03 5.67316831e+02] [ 3.30717544e-02 9.99452931e-01 3.12250921e-04 -2.85127809e+01] [ 5.71122486e-03 -5.01400315e-04 9.99983565e-01 3.04925689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.460714057 meters Centerline goodness : 0.982654 with order 1 Centerline is valid? [True, True] Translation: X:567.38, Y:-28.52, Z:3.05 [[ 9.99605424e-01 -2.74995491e-02 -5.72465523e-03 5.67377814e+02] [ 2.75017882e-02 9.99621705e-01 3.12752225e-04 -2.85163393e+01] [ 5.71388908e-03 -4.70067076e-04 9.99983565e-01 3.05060217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.520714057 meters Centerline goodness : 0.984139 with order 1 Centerline is valid? [True, True] Translation: X:567.44, Y:-28.51, Z:3.05 [[ 9.99698740e-01 -2.38674925e-02 -5.72463569e-03 5.67440052e+02] [ 2.38696744e-02 9.99715030e-01 3.13109479e-04 -2.85141829e+01] [ 5.71553120e-03 -4.49660342e-04 9.99983565e-01 3.04970342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.580714057 meters Centerline goodness : 0.982980 with order 1 Centerline is valid? [True, True] Translation: X:567.50, Y:-28.51, Z:3.05 [[ 9.99778454e-01 -2.02551734e-02 -5.72461027e-03 5.67502207e+02] [ 2.02572991e-02 9.99794751e-01 3.13573526e-04 -2.85127171e+01] [ 5.71708381e-03 -4.29469197e-04 9.99983565e-01 3.05083118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.640714057 meters Centerline goodness : 0.983856 with order 1 Centerline is valid? [True, True] Translation: X:567.56, Y:-28.51, Z:3.05 [[ 9.99813623e-01 -1.84377159e-02 -5.72458383e-03 5.67564640e+02] [ 1.84398147e-02 9.99829923e-01 3.14055417e-04 -2.85119136e+01] [ 5.71781975e-03 -4.19557149e-04 9.99983565e-01 3.05340661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.700714057 meters Centerline goodness : 0.981967 with order 1 Centerline is valid? [True, True] Translation: X:567.63, Y:-28.51, Z:3.05 [[ 9.99860787e-01 -1.56727516e-02 -5.72455550e-03 5.67625473e+02] [ 1.56748082e-02 9.99877093e-01 3.14571111e-04 -2.85136675e+01] [ 5.71892172e-03 -4.04258628e-04 9.99983565e-01 3.05182295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.760714057 meters Centerline goodness : 0.983434 with order 1 Centerline is valid? [True, True] Translation: X:567.69, Y:-28.51, Z:3.05 [[ 9.99768555e-01 -2.07380367e-02 -5.72453548e-03 5.67688162e+02] [ 2.07401780e-02 9.99784850e-01 3.14934894e-04 -2.85141270e+01] [ 5.71677272e-03 -4.33589889e-04 9.99983565e-01 3.05231962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.820714057 meters Centerline goodness : 0.982737 with order 1 Centerline is valid? [True, True] Translation: X:567.75, Y:-28.52, Z:3.05 [[ 9.99641347e-01 -2.61611919e-02 -5.72450954e-03 5.67750741e+02] [ 2.61634242e-02 9.99657629e-01 3.15405717e-04 -2.85170061e+01] [ 5.71429825e-03 -4.65065367e-04 9.99983565e-01 3.05284429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.880714057 meters Centerline goodness : 0.984182 with order 1 Centerline is valid? [True, True] Translation: X:567.81, Y:-28.52, Z:3.05 [[ 9.99524736e-01 -3.02908026e-02 -5.72446887e-03 5.67812479e+02] [ 3.02931064e-02 9.99541009e-01 3.16142170e-04 -2.85180507e+01] [ 5.71226519e-03 -4.89403863e-04 9.99983565e-01 3.05349673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.940714057 meters Centerline goodness : 0.983781 with order 1 Centerline is valid? [True, True] Translation: X:567.87, Y:-28.52, Z:3.05 [[ 9.99489353e-01 -3.14366723e-02 -5.72443559e-03 5.67874501e+02] [ 3.14389981e-02 9.99505622e-01 3.16743579e-04 -2.85237038e+01] [ 5.71164820e-03 -4.96552355e-04 9.99983565e-01 3.05235883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.000714057 meters Centerline goodness : 0.983931 with order 1 Centerline is valid? [True, True] Translation: X:567.94, Y:-28.53, Z:3.05 [[ 9.99466747e-01 -3.21473732e-02 -5.72440861e-03 5.67937622e+02] [ 3.21497133e-02 9.99483014e-01 3.17230455e-04 -2.85257643e+01] [ 5.71125105e-03 -5.01099386e-04 9.99983565e-01 3.05141498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.060714057 meters Centerline goodness : 0.984429 with order 1 Centerline is valid? [True, True] Translation: X:568.00, Y:-28.53, Z:3.05 [[ 9.99517184e-01 -3.05390066e-02 -5.72436844e-03 5.67999195e+02] [ 3.05413247e-02 9.99533454e-01 3.17953760e-04 -2.85282643e+01] [ 5.71198777e-03 -4.92630042e-04 9.99983565e-01 3.05066646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.120714057 meters Centerline goodness : 0.984151 with order 1 Centerline is valid? [True, True] Translation: X:568.06, Y:-28.53, Z:3.05 [[ 9.99523599e-01 -3.03283217e-02 -5.72433520e-03 5.68061843e+02] [ 3.03306397e-02 9.99539870e-01 3.18550949e-04 -2.85291256e+01] [ 5.71204015e-03 -4.92021940e-04 9.99983565e-01 3.05309394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.180714057 meters Centerline goodness : 0.983627 with order 1 Centerline is valid? [True, True] Translation: X:568.12, Y:-28.53, Z:3.05 [[ 9.99712181e-01 -2.32977942e-02 -5.72430709e-03 5.68122365e+02] [ 2.33000007e-02 9.99728467e-01 3.19055339e-04 -2.85349059e+01] [ 5.71531947e-03 -4.52339868e-04 9.99983565e-01 3.05409893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.240714057 meters Centerline goodness : 0.978100 with order 1 Centerline is valid? [True, True] Translation: X:568.18, Y:-28.55, Z:3.06 [[ 9.99891695e-01 -1.35584157e-02 -5.72428625e-03 5.68183573e+02] [ 1.35604655e-02 9.99908002e-01 3.19428827e-04 -2.85458201e+01] [ 5.71942868e-03 -3.97018217e-04 9.99983565e-01 3.05612312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.300714057 meters Centerline goodness : 0.980361 with order 1 Centerline is valid? [True, True] Translation: X:568.24, Y:-28.55, Z:3.06 [[ 9.99881459e-01 -1.42933825e-02 -5.72425979e-03 5.68244928e+02] [ 1.42954470e-02 9.99897764e-01 3.19902316e-04 -2.85472184e+01] [ 5.71910208e-03 -4.01695247e-04 9.99983565e-01 3.05552475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.360714057 meters Centerline goodness : 0.983981 with order 1 Centerline is valid? [True, True] Translation: X:568.31, Y:-28.54, Z:3.05 [[ 9.99644213e-01 -2.60514892e-02 -5.72424303e-03 5.68308012e+02] [ 2.60537471e-02 9.99660492e-01 3.20201932e-04 -2.85365868e+01] [ 5.71395787e-03 -4.69225988e-04 9.99983565e-01 3.05284225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.420714057 meters Centerline goodness : 0.981191 with order 1 Centerline is valid? [True, True] Translation: X:568.37, Y:-28.55, Z:3.06 [[ 9.99801190e-01 -1.91001016e-02 -5.72414708e-03 5.68368697e+02] [ 1.91022559e-02 9.99817483e-01 3.21908166e-04 -2.85485367e+01] [ 5.71695385e-03 -4.31188290e-04 9.99983565e-01 3.05664672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.480714057 meters Centerline goodness : 0.980882 with order 1 Centerline is valid? [True, True] Translation: X:568.43, Y:-28.55, Z:3.06 [[ 9.99718400e-01 -2.30294296e-02 -5.72412638e-03 5.68431235e+02] [ 2.30316500e-02 9.99734684e-01 3.22275723e-04 -2.85498695e+01] [ 5.71518586e-03 -4.54021046e-04 9.99983565e-01 3.05681223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5407140570001 meters Centerline goodness : 0.981944 with order 1 Centerline is valid? [True, True] Translation: X:568.49, Y:-28.55, Z:3.06 [[ 9.99624702e-01 -2.67897458e-02 -5.72410325e-03 5.68493760e+02] [ 2.67920298e-02 9.99640977e-01 3.22686112e-04 -2.85510308e+01] [ 5.71340348e-03 -4.75925353e-04 9.99983565e-01 3.05722250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.600714057 meters Centerline goodness : 0.981452 with order 1 Centerline is valid? [True, True] Translation: X:568.56, Y:-28.55, Z:3.06 [[ 9.99631337e-01 -2.65410171e-02 -5.72407456e-03 5.68556075e+02] [ 2.65432999e-02 9.99647612e-01 3.23194194e-04 -2.85525753e+01] [ 5.71347956e-03 -4.75010872e-04 9.99983565e-01 3.05804912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6607140570001 meters Centerline goodness : 0.980600 with order 1 Centerline is valid? [True, True] Translation: X:568.62, Y:-28.55, Z:3.06 [[ 9.99766647e-01 -2.08299322e-02 -5.72405193e-03 5.68619748e+02] [ 2.08321243e-02 9.99782935e-01 3.23594543e-04 -2.85514625e+01] [ 5.71606898e-03 -4.42763192e-04 9.99983565e-01 3.06019058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.720714057 meters Centerline goodness : 0.981703 with order 1 Centerline is valid? [True, True] Translation: X:568.68, Y:-28.55, Z:3.06 [[ 9.99880042e-01 -1.43922495e-02 -5.72401787e-03 5.68681607e+02] [ 1.43943400e-02 9.99896344e-01 3.24195905e-04 -2.85503176e+01] [ 5.71875863e-03 -4.06550475e-04 9.99983565e-01 3.06283316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.780714057 meters Centerline goodness : 0.980168 with order 1 Centerline is valid? [True, True] Translation: X:568.74, Y:-28.55, Z:3.06 [[ 9.99980376e-01 -2.54613334e-03 -5.72399496e-03 5.68742765e+02] [ 2.54803295e-03 9.99996701e-01 3.24599862e-04 -2.85498916e+01] [ 5.72314960e-03 -3.39178420e-04 9.99983565e-01 3.06155497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.840714057 meters Centerline goodness : 0.980400 with order 1 Centerline is valid? [True, True] Translation: X:568.80, Y:-28.55, Z:3.06 [[ 9.99978127e-01 3.31388297e-03 -5.72395864e-03 5.68802166e+02] [-3.31207541e-03 9.99994462e-01 3.25238961e-04 -2.85508245e+01] [ 5.72500475e-03 -3.06273665e-04 9.99983565e-01 3.06213555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.900714057 meters Centerline goodness : 0.981082 with order 1 Centerline is valid? [True, True] Translation: X:568.86, Y:-28.55, Z:3.06 [[ 9.99916125e-01 1.16180534e-02 -5.72396982e-03 5.68860174e+02] [-1.16163827e-02 9.99932475e-01 3.25042078e-04 -2.85532816e+01] [ 5.72735967e-03 -2.58522991e-04 9.99983565e-01 3.05716108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.960714057 meters Centerline goodness : 0.979139 with order 1 Centerline is valid? [True, True] Translation: X:568.92, Y:-28.56, Z:3.06 [[ 9.99843260e-01 1.67538324e-02 -5.72406181e-03 5.68918281e+02] [-1.67522550e-02 9.99859619e-01 3.23413980e-04 -2.85552161e+01] [ 5.72867669e-03 -2.27472344e-04 9.99983565e-01 3.05940923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.020714057 meters Centerline goodness : 0.979270 with order 1 Centerline is valid? [True, True] Translation: X:568.98, Y:-28.56, Z:3.06 [[ 9.99834340e-01 1.72779093e-02 -5.72415253e-03 5.68976777e+02] [-1.72763497e-02 9.99850701e-01 3.21800392e-04 -2.85570808e+01] [ 5.72885795e-03 -2.22854622e-04 9.99983565e-01 3.06079438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.080714057 meters Centerline goodness : 0.980603 with order 1 Centerline is valid? [True, True] Translation: X:569.03, Y:-28.56, Z:3.06 [[ 9.99894604e-01 1.33421980e-02 -5.72417551e-03 5.69034739e+02] [-1.33405763e-02 9.99910959e-01 3.21391037e-04 -2.85606084e+01] [ 5.72795389e-03 -2.44993363e-04 9.99983565e-01 3.06106047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.140714057 meters Centerline goodness : 0.979844 with order 1 Centerline is valid? [True, True] Translation: X:569.09, Y:-28.57, Z:3.06 [[ 9.99977941e-01 3.36897121e-03 -5.72420986e-03 5.69092392e+02] [-3.36719001e-03 9.99994280e-01 3.20778069e-04 -2.85670728e+01] [ 5.72525781e-03 -3.01496491e-04 9.99983565e-01 3.06282587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.200714057 meters Centerline goodness : 0.981053 with order 1 Centerline is valid? [True, True] Translation: X:569.15, Y:-28.57, Z:3.06 [[ 9.99980829e-01 -2.36103167e-03 -5.72423792e-03 5.69150640e+02] [ 2.36290359e-03 9.99997157e-01 3.20276605e-04 -2.85709594e+01] [ 5.72346546e-03 -3.33796288e-04 9.99983565e-01 3.06431242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.260714057 meters Centerline goodness : 0.982234 with order 1 Centerline is valid? [True, True] Translation: X:569.21, Y:-28.58, Z:3.07 [[ 9.99917405e-01 -1.15071957e-02 -5.72426019e-03 5.69209263e+02] [ 1.15092146e-02 9.99933716e-01 3.19878090e-04 -2.85763068e+01] [ 5.72019986e-03 -3.85733409e-04 9.99983565e-01 3.06630588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.320714057 meters Centerline goodness : 0.981547 with order 1 Centerline is valid? [True, True] Translation: X:569.27, Y:-28.58, Z:3.07 [[ 9.99781822e-01 -2.00883202e-02 -5.72427158e-03 5.69271762e+02] [ 2.00904778e-02 9.99798115e-01 3.19674039e-04 -2.85819711e+01] [ 5.71669422e-03 -4.34607645e-04 9.99983565e-01 3.06602256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.380714057 meters Centerline goodness : 0.982481 with order 1 Centerline is valid? [True, True] Translation: X:569.33, Y:-28.59, Z:3.07 [[ 9.99686069e-01 -2.43925566e-02 -5.72419504e-03 5.69334507e+02] [ 2.43947922e-02 9.99702351e-01 3.21038788e-04 -2.85860860e+01] [ 5.71466028e-03 -4.60578552e-04 9.99983565e-01 3.06551099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.440714057 meters Centerline goodness : 0.981558 with order 1 Centerline is valid? [True, True] Translation: X:569.40, Y:-28.59, Z:3.06 [[ 9.99735689e-01 -2.22662507e-02 -5.72416230e-03 5.69397288e+02] [ 2.22684550e-02 9.99751975e-01 3.21621459e-04 -2.85892077e+01] [ 5.71558127e-03 -4.49004701e-04 9.99983565e-01 3.06485936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.500714057 meters Centerline goodness : 0.980124 with order 1 Centerline is valid? [True, True] Translation: X:569.46, Y:-28.59, Z:3.07 [[ 9.99800474e-01 -1.91375874e-02 -5.72412987e-03 5.69460639e+02] [ 1.91397439e-02 9.99816766e-01 3.22197696e-04 -2.85922973e+01] [ 5.71691493e-03 -4.31691789e-04 9.99983565e-01 3.06654589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.560714057 meters Centerline goodness : 0.980336 with order 1 Centerline is valid? [True, True] Translation: X:569.52, Y:-28.59, Z:3.07 [[ 9.99882520e-01 -1.42190369e-02 -5.72409742e-03 5.69523322e+02] [ 1.42211166e-02 9.99898823e-01 3.22773193e-04 -2.85938508e+01] [ 5.71892874e-03 -4.04138330e-04 9.99983565e-01 3.06741001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.620714057 meters Centerline goodness : 0.980933 with order 1 Centerline is valid? [True, True] Translation: X:569.59, Y:-28.60, Z:3.07 [[ 9.99914543e-01 -1.17534013e-02 -5.72407464e-03 5.69585834e+02] [ 1.17554430e-02 9.99930850e-01 3.23176568e-04 -2.85950655e+01] [ 5.71988040e-03 -3.90437984e-04 9.99983565e-01 3.06848617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.680714057 meters Centerline goodness : 0.981674 with order 1 Centerline is valid? [True, True] Translation: X:569.65, Y:-28.60, Z:3.07 [[ 9.99936247e-01 -9.73329157e-03 -5.72405045e-03 5.69646862e+02] [ 9.73530279e-03 9.99952558e-01 3.23604534e-04 -2.85965824e+01] [ 5.72062915e-03 -3.79309268e-04 9.99983565e-01 3.06911598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.740714057 meters Centerline goodness : 0.981102 with order 1 Centerline is valid? [True, True] Translation: X:569.71, Y:-28.60, Z:3.07 [[ 9.99944425e-01 -8.85340014e-03 -5.72403263e-03 5.69708619e+02] [ 8.85539880e-03 9.99960738e-01 3.23919410e-04 -2.85984670e+01] [ 5.72094010e-03 -3.74590000e-04 9.99983565e-01 3.06833954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.800714057 meters Centerline goodness : 0.981662 with order 1 Centerline is valid? [True, True] Translation: X:569.77, Y:-28.60, Z:3.07 [[ 9.99957655e-01 -7.20579702e-03 -5.72401000e-03 5.69770165e+02] [ 7.20777108e-03 9.99973971e-01 3.24318853e-04 -2.85991979e+01] [ 5.72152403e-03 -3.65562474e-04 9.99983565e-01 3.07080627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.860714057 meters Centerline goodness : 0.981895 with order 1 Centerline is valid? [True, True] Translation: X:569.83, Y:-28.60, Z:3.07 [[ 9.99978852e-01 -3.08719486e-03 -5.72399319e-03 5.69831332e+02] [ 3.08910339e-03 9.99995176e-01 3.24615175e-04 -2.85994961e+01] [ 5.72296343e-03 -3.42290317e-04 9.99983565e-01 3.07104797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.920714057 meters Centerline goodness : 0.983893 with order 1 Centerline is valid? [True, True] Translation: X:569.89, Y:-28.60, Z:3.07 [[ 9.99982165e-01 1.70440351e-03 -5.72398213e-03 5.69891002e+02] [-1.70257211e-03 9.99998498e-01 3.24810179e-04 -2.86008503e+01] [ 5.72452714e-03 -3.15058894e-04 9.99983565e-01 3.07147413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.980714057 meters Centerline goodness : 0.986876 with order 1 Centerline is valid? [True, True] Translation: X:569.95, Y:-28.59, Z:3.07 [[ 9.99983516e-01 4.52337810e-04 -5.72399309e-03 5.69948972e+02] [-4.50487063e-04 9.99999846e-01 3.24616774e-04 -2.85937324e+01] [ 5.72413905e-03 -3.22032838e-04 9.99983565e-01 3.07108015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0407140570001 meters Centerline goodness : 0.984164 with order 1 Centerline is valid? [True, True] Translation: X:570.01, Y:-28.60, Z:3.07 [[ 9.99958236e-01 7.12479945e-03 -5.72401795e-03 5.70006939e+02] [-7.12306022e-03 9.99974578e-01 3.24177822e-04 -2.86033014e+01] [ 5.72618214e-03 -2.83391759e-04 9.99983565e-01 3.07231433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.100714057 meters Centerline goodness : 0.983208 with order 1 Centerline is valid? [True, True] Translation: X:570.06, Y:-28.61, Z:3.07 [[ 9.99943505e-01 8.95665569e-03 -5.72411594e-03 5.70064490e+02] [-8.95495633e-03 9.99959852e-01 3.22438388e-04 -2.86066154e+01] [ 5.72677409e-03 -2.71160963e-04 9.99983565e-01 3.07338429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1607140570001 meters Centerline goodness : 0.985149 with order 1 Centerline is valid? [True, True] Translation: X:570.12, Y:-28.61, Z:3.07 [[ 9.99932124e-01 1.01480141e-02 -5.72415656e-03 5.70123350e+02] [-1.01463384e-02 9.99948473e-01 3.21715595e-04 -2.86106539e+01] [ 5.72712638e-03 -2.63614529e-04 9.99983565e-01 3.07417619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.220714057 meters Centerline goodness : 0.982608 with order 1 Centerline is valid? [True, True] Translation: X:570.18, Y:-28.62, Z:3.07 [[ 9.99928584e-01 1.04910195e-02 -5.72417912e-03 5.70181198e+02] [-1.04893516e-02 9.99944934e-01 3.21313714e-04 -2.86165996e+01] [ 5.72723482e-03 -2.61247840e-04 9.99983565e-01 3.07394974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.280714057 meters Centerline goodness : 0.984060 with order 1 Centerline is valid? [True, True] Translation: X:570.24, Y:-28.62, Z:3.08 [[ 9.99952612e-01 7.87441552e-03 -5.72420660e-03 5.70240068e+02] [-7.87270769e-03 9.99968958e-01 3.20823363e-04 -2.86201652e+01] [ 5.72655521e-03 -2.75743154e-04 9.99983565e-01 3.07577041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.340714057 meters Centerline goodness : 0.983235 with order 1 Centerline is valid? [True, True] Translation: X:570.30, Y:-28.63, Z:3.07 [[ 9.99952341e-01 7.90877640e-03 -5.72422788e-03 5.70298463e+02] [-7.90707131e-03 9.99968687e-01 3.20443239e-04 -2.86263623e+01] [ 5.72658295e-03 -2.75166089e-04 9.99983565e-01 3.07310531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.400714057 meters Centerline goodness : 0.981837 with order 1 Centerline is valid? [True, True] Translation: X:570.36, Y:-28.63, Z:3.07 [[ 9.99933889e-01 9.97245229e-03 -5.72425053e-03 5.70356231e+02] [-9.97078325e-03 9.99950239e-01 3.20038094e-04 -2.86343015e+01] [ 5.72715725e-03 -2.62941675e-04 9.99983565e-01 3.06802910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.460714057 meters Centerline goodness : 0.979924 with order 1 Centerline is valid? [True, True] Translation: X:570.41, Y:-28.64, Z:3.07 [[ 9.99928603e-01 1.04890921e-02 -5.72428448e-03 5.70413396e+02] [-1.04874349e-02 9.99944954e-01 3.19429778e-04 -2.86392677e+01] [ 5.72731991e-03 -2.59373911e-04 9.99983565e-01 3.06533945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.520714057 meters Centerline goodness : 0.981067 with order 1 Centerline is valid? [True, True] Translation: X:570.47, Y:-28.65, Z:3.07 [[ 9.99959085e-01 7.00429297e-03 -5.72432328e-03 5.70472009e+02] [-7.00258286e-03 9.99975431e-01 3.18732931e-04 -2.86451566e+01] [ 5.72641513e-03 -2.78634842e-04 9.99983565e-01 3.06736665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.580714057 meters Centerline goodness : 0.979604 with order 1 Centerline is valid? [True, True] Translation: X:570.53, Y:-28.65, Z:3.07 [[ 9.99966554e-01 5.84153338e-03 -5.72434526e-03 5.70530444e+02] [-5.83980652e-03 9.99982898e-01 3.18337564e-04 -2.86497988e+01] [ 5.72610694e-03 -2.84897848e-04 9.99983565e-01 3.06821594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.640714057 meters Centerline goodness : 0.979414 with order 1 Centerline is valid? [True, True] Translation: X:570.59, Y:-28.65, Z:3.07 [[ 9.99983608e-01 1.22748476e-04 -5.72436707e-03 5.70589213e+02] [-1.20930418e-04 9.99999942e-01 3.17944984e-04 -2.86531868e+01] [ 5.72440577e-03 -3.17247522e-04 9.99983565e-01 3.06857834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.700714057 meters Centerline goodness : 0.979306 with order 1 Centerline is valid? [True, True] Translation: X:570.65, Y:-28.66, Z:3.07 [[ 9.99982973e-01 -1.13380983e-03 -5.72438917e-03 5.70647826e+02] [ 1.13564614e-03 9.99999305e-01 3.17546662e-04 -2.86585970e+01] [ 5.72402515e-03 -3.24042136e-04 9.99983565e-01 3.06682787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.760714057 meters Centerline goodness : 0.979461 with order 1 Centerline is valid? [True, True] Translation: X:570.71, Y:-28.66, Z:3.06 [[ 9.99983614e-01 -5.59732381e-05 -5.72441151e-03 5.70706431e+02] [ 5.77896411e-05 9.99999948e-01 3.17143350e-04 -2.86635136e+01] [ 5.72439346e-03 -3.17468965e-04 9.99983565e-01 3.06381202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.820714057 meters Centerline goodness : 0.978129 with order 1 Centerline is valid? [True, True] Translation: X:570.76, Y:-28.67, Z:3.07 [[ 9.99978860e-01 3.08376463e-03 -5.72443283e-03 5.70764812e+02] [-3.08200173e-03 9.99995200e-01 3.16757976e-04 -2.86650236e+01] [ 5.72538217e-03 -2.99108568e-04 9.99983565e-01 3.06581305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.880714057 meters Centerline goodness : 0.978958 with order 1 Centerline is valid? [True, True] Translation: X:570.82, Y:-28.67, Z:3.07 [[ 9.99924096e-01 1.09101695e-02 -5.72450700e-03 5.70823948e+02] [-1.09085422e-02 9.99940450e-01 3.15412005e-04 -2.86656508e+01] [ 5.72760730e-03 -2.52942038e-04 9.99983565e-01 3.06642153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.940714057 meters Centerline goodness : 0.978458 with order 1 Centerline is valid? [True, True] Translation: X:570.88, Y:-28.67, Z:3.07 [[ 9.99841539e-01 1.68560457e-02 -5.72458256e-03 5.70882126e+02] [-1.68545236e-02 9.99857903e-01 3.14034495e-04 -2.86670806e+01] [ 5.72906250e-03 -2.17499621e-04 9.99983565e-01 3.06651685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.000714057 meters Centerline goodness : 0.979337 with order 1 Centerline is valid? [True, True] Translation: X:570.94, Y:-28.67, Z:3.06 [[ 9.99764857e-01 2.09155438e-02 -5.72465646e-03 5.70940994e+02] [-2.09140959e-02 9.99781227e-01 3.12681545e-04 -2.86698793e+01] [ 5.72994397e-03 -1.92882006e-04 9.99983565e-01 3.06479559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.060714057 meters Centerline goodness : 0.979979 with order 1 Centerline is valid? [True, True] Translation: X:571.00, Y:-28.67, Z:3.06 [[ 9.99858714e-01 1.58044150e-02 -5.72467730e-03 5.70999272e+02] [-1.58028856e-02 9.99875078e-01 3.12299604e-04 -2.86731363e+01] [ 5.72889787e-03 -2.21789060e-04 9.99983565e-01 3.06170050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.120714057 meters Centerline goodness : 0.980561 with order 1 Centerline is valid? [True, True] Translation: X:571.06, Y:-28.68, Z:3.06 [[ 9.99933835e-01 9.97764523e-03 -5.72469791e-03 5.71058296e+02] [-9.97602265e-03 9.99950190e-01 3.11921221e-04 -2.86764485e+01] [ 5.72752500e-03 -2.54790866e-04 9.99983565e-01 3.05950427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.180714057 meters Centerline goodness : 0.981767 with order 1 Centerline is valid? [True, True] Translation: X:571.12, Y:-28.68, Z:3.06 [[ 9.99982921e-01 -1.17711680e-03 -5.72471945e-03 5.71117427e+02] [ 1.17891946e-03 9.99999257e-01 3.11525467e-04 -2.86791565e+01] [ 5.72434849e-03 -3.18269130e-04 9.99983565e-01 3.06233374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.240714057 meters Centerline goodness : 0.981561 with order 1 Centerline is valid? [True, True] Translation: X:571.18, Y:-28.68, Z:3.06 [[ 9.99903963e-01 -1.26210925e-02 -5.72474166e-03 5.71177326e+02] [ 1.26230797e-02 9.99920277e-01 3.11116761e-04 -2.86817093e+01] [ 5.72035864e-03 -3.83350752e-04 9.99983565e-01 3.06382846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.300714057 meters Centerline goodness : 0.982229 with order 1 Centerline is valid? [True, True] Translation: X:571.24, Y:-28.68, Z:3.06 [[ 9.99815350e-01 -1.83437247e-02 -5.72475257e-03 5.71239261e+02] [ 1.83458040e-02 9.99831653e-01 3.10915975e-04 -2.86835738e+01] [ 5.71808546e-03 -4.15883753e-04 9.99983565e-01 3.06377969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.360714057 meters Centerline goodness : 0.981910 with order 1 Centerline is valid? [True, True] Translation: X:571.30, Y:-28.68, Z:3.07 [[ 9.99833637e-01 -1.73184006e-02 -5.72467640e-03 5.71301875e+02] [ 1.73204712e-02 9.99849941e-01 3.12312017e-04 -2.86843521e+01] [ 5.71840862e-03 -4.11414153e-04 9.99983565e-01 3.06676130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.420714057 meters Centerline goodness : 0.981254 with order 1 Centerline is valid? [True, True] Translation: X:571.36, Y:-28.69, Z:3.07 [[ 9.99920790e-01 -1.12090278e-02 -5.72465463e-03 5.71364443e+02] [ 1.12110010e-02 9.99937106e-01 3.12710647e-04 -2.86858903e+01] [ 5.72078940e-03 -3.76864987e-04 9.99983565e-01 3.07059380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.480714057 meters Centerline goodness : 0.980899 with order 1 Centerline is valid? [True, True] Translation: X:571.43, Y:-28.69, Z:3.07 [[ 9.99970781e-01 -5.06608719e-03 -5.72463230e-03 5.71427035e+02] [ 5.06796246e-03 9.99987109e-01 3.13118882e-04 -2.86886014e+01] [ 5.72297221e-03 -3.42121955e-04 9.99983565e-01 3.07019106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5407140570001 meters Centerline goodness : 0.981198 with order 1 Centerline is valid? [True, True] Translation: X:571.49, Y:-28.69, Z:3.07 [[ 9.99982995e-01 1.11323885e-03 -5.72460955e-03 5.71487047e+02] [-1.11146215e-03 9.99999333e-01 3.13534252e-04 -2.86884987e+01] [ 5.72495477e-03 -3.07166233e-04 9.99983565e-01 3.07300369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.600714057 meters Centerline goodness : 0.983575 with order 1 Centerline is valid? [True, True] Translation: X:571.55, Y:-28.68, Z:3.07 [[ 9.99968926e-01 -5.42003787e-03 -5.72461083e-03 5.71546736e+02] [ 5.42192114e-03 9.99985252e-01 3.13510948e-04 -2.86833322e+01] [ 5.72282716e-03 -3.44539594e-04 9.99983565e-01 3.06620274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6607140570001 meters Centerline goodness : 0.983627 with order 1 Centerline is valid? [True, True] Translation: X:571.61, Y:-28.69, Z:3.07 [[ 9.99974608e-01 -4.24410521e-03 -5.72462492e-03 5.71606715e+02] [ 4.24596782e-03 9.99990937e-01 3.13253470e-04 -2.86872258e+01] [ 5.72324355e-03 -3.37552089e-04 9.99983565e-01 3.06563780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.720714057 meters Centerline goodness : 0.984095 with order 1 Centerline is valid? [True, True] Translation: X:571.67, Y:-28.69, Z:3.07 [[ 9.99975320e-01 -4.07279404e-03 -5.72461786e-03 5.71666747e+02] [ 4.07465459e-03 9.99991649e-01 3.13382320e-04 -2.86904662e+01] [ 5.72329372e-03 -3.36700427e-04 9.99983565e-01 3.06830621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.780714057 meters Centerline goodness : 0.983064 with order 1 Centerline is valid? [True, True] Translation: X:571.73, Y:-28.70, Z:3.07 [[ 9.99977344e-01 -3.54133539e-03 -5.72461786e-03 5.71726090e+02] [ 3.54318726e-03 9.99993674e-01 3.13382320e-04 -2.86958360e+01] [ 5.72347185e-03 -3.33658613e-04 9.99983565e-01 3.06979972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.840714057 meters Centerline goodness : 0.984204 with order 1 Centerline is valid? [True, True] Translation: X:571.79, Y:-28.70, Z:3.07 [[ 9.99959401e-01 -6.95876623e-03 -5.72463105e-03 5.71786073e+02] [ 6.96067252e-03 9.99975725e-01 3.13141149e-04 -2.86978572e+01] [ 5.72231301e-03 -3.52975718e-04 9.99983565e-01 3.06852509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.900714057 meters Centerline goodness : 0.983426 with order 1 Centerline is valid? [True, True] Translation: X:571.85, Y:-28.70, Z:3.07 [[ 9.99929223e-01 -1.04296168e-02 -5.72462797e-03 5.71846528e+02] [ 1.04315801e-02 9.99945541e-01 3.13197526e-04 -2.87031849e+01] [ 5.72104968e-03 -3.72892274e-04 9.99983565e-01 3.07046888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.960714057 meters Centerline goodness : 0.984788 with order 1 Centerline is valid? [True, True] Translation: X:571.91, Y:-28.70, Z:3.07 [[ 9.99885160e-01 -1.40319673e-02 -5.72462152e-03 5.71908913e+02] [ 1.40339900e-02 9.99901470e-01 3.13315429e-04 -2.87046364e+01] [ 5.71966104e-03 -3.93618729e-04 9.99983565e-01 3.07116536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.020714057 meters Centerline goodness : 0.984673 with order 1 Centerline is valid? [True, True] Translation: X:571.97, Y:-28.71, Z:3.07 [[ 9.99810228e-01 -1.86208927e-02 -5.72459653e-03 5.71970417e+02] [ 1.86229928e-02 9.99826528e-01 3.13771223e-04 -2.87107069e+01] [ 5.71776078e-03 -4.20320798e-04 9.99983565e-01 3.07237700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.080714057 meters Centerline goodness : 0.978607 with order 1 Centerline is valid? [True, True] Translation: X:572.03, Y:-28.73, Z:3.08 [[ 9.99934868e-01 -9.87361943e-03 -5.72457043e-03 5.72031229e+02] [ 9.87557959e-03 9.99951186e-01 3.14246762e-04 -2.87297281e+01] [ 5.72118824e-03 -3.70759745e-04 9.99983565e-01 3.07785391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.140714057 meters Centerline goodness : 0.986494 with order 1 Centerline is valid? [True, True] Translation: X:572.09, Y:-28.72, Z:3.07 [[ 9.99748983e-01 -2.16610566e-02 -5.72455098e-03 5.72094620e+02] [ 2.16632110e-02 9.99765276e-01 3.14600636e-04 -2.87182305e+01] [ 5.71639271e-03 -4.38533822e-04 9.99983565e-01 3.07406932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.200714057 meters Centerline goodness : 0.984644 with order 1 Centerline is valid? [True, True] Translation: X:572.16, Y:-28.73, Z:3.07 [[ 9.99810761e-01 -1.85922689e-02 -5.72446092e-03 5.72155354e+02] [ 1.85943826e-02 9.99827060e-01 3.16230938e-04 -2.87263943e+01] [ 5.71759148e-03 -4.22613911e-04 9.99983565e-01 3.07299724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.260714057 meters Centerline goodness : 0.984005 with order 1 Centerline is valid? [True, True] Translation: X:572.22, Y:-28.73, Z:3.07 [[ 9.99845671e-01 -1.66091687e-02 -5.72444149e-03 5.72216933e+02] [ 1.66112520e-02 9.99861974e-01 3.16582210e-04 -2.87303629e+01] [ 5.71839320e-03 -4.11623492e-04 9.99983565e-01 3.07154659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.320714057 meters Centerline goodness : 0.984320 with order 1 Centerline is valid? [True, True] Translation: X:572.28, Y:-28.73, Z:3.07 [[ 9.99900252e-01 -1.29119061e-02 -5.72442266e-03 5.72278666e+02] [ 1.29139311e-02 9.99916562e-01 3.16922319e-04 -2.87325196e+01] [ 5.71985296e-03 -3.90815507e-04 9.99983565e-01 3.07106848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.380714057 meters Centerline goodness : 0.985385 with order 1 Centerline is valid? [True, True] Translation: X:572.34, Y:-28.73, Z:3.07 [[ 9.99937265e-01 -9.62792166e-03 -5.72439827e-03 5.72340741e+02] [ 9.62989558e-03 9.99953581e-01 3.17362299e-04 -2.87297554e+01] [ 5.72107701e-03 -3.72467747e-04 9.99983565e-01 3.07006486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.440714057 meters Centerline goodness : 0.983741 with order 1 Centerline is valid? [True, True] Translation: X:572.40, Y:-28.74, Z:3.07 [[ 9.99983601e-01 -1.71266824e-04 -5.72436660e-03 5.72401326e+02] [ 1.73089614e-04 9.99999934e-01 3.17932604e-04 -2.87372025e+01] [ 5.72431177e-03 -3.18918219e-04 9.99983565e-01 3.07333178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.500714057 meters Centerline goodness : 0.983995 with order 1 Centerline is valid? [True, True] Translation: X:572.46, Y:-28.74, Z:3.07 [[ 9.99983400e-01 6.57355575e-04 -5.72435391e-03 5.72459429e+02] [-6.55545017e-04 9.99999735e-01 3.18160921e-04 -2.87427593e+01] [ 5.72456153e-03 -3.14403068e-04 9.99983565e-01 3.07173409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.560714057 meters Centerline goodness : 0.983637 with order 1 Centerline is valid? [True, True] Translation: X:572.52, Y:-28.74, Z:3.07 [[ 9.99979824e-01 2.75374410e-03 -5.72445170e-03 5.72518002e+02] [-2.75197789e-03 9.99996163e-01 3.16391558e-04 -2.87425244e+01] [ 5.72530100e-03 -3.00631610e-04 9.99983565e-01 3.07489958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.620714057 meters Centerline goodness : 0.984865 with order 1 Centerline is valid? [True, True] Translation: X:572.58, Y:-28.75, Z:3.08 [[ 9.99978236e-01 3.27992689e-03 -5.72454458e-03 5.72576440e+02] [-3.27817893e-03 9.99994577e-01 3.14701962e-04 -2.87463129e+01] [ 5.72554574e-03 -2.95929031e-04 9.99983565e-01 3.07768167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.680714057 meters Centerline goodness : 0.977373 with order 1 Centerline is valid? [True, True] Translation: X:572.64, Y:-28.74, Z:3.07 [[ 9.99965362e-01 -6.04188488e-03 -5.72457133e-03 5.72635181e+02] [ 6.04378232e-03 9.99981687e-01 3.14214653e-04 -2.87445872e+01] [ 5.72256805e-03 -3.48801832e-04 9.99983565e-01 3.07421176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.740714057 meters Centerline goodness : 0.983152 with order 1 Centerline is valid? [True, True] Translation: X:572.70, Y:-28.76, Z:3.07 [[ 9.99954050e-01 -7.68943586e-03 -5.72459456e-03 5.72695156e+02] [ 7.69135778e-03 9.99970372e-01 3.13790884e-04 -2.87594492e+01] [ 5.72201208e-03 -3.57806370e-04 9.99983565e-01 3.07473321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.800714057 meters Centerline goodness : 0.983657 with order 1 Centerline is valid? [True, True] Translation: X:572.76, Y:-28.76, Z:3.07 [[ 9.99891985e-01 -1.35368934e-02 -5.72459456e-03 5.72756236e+02] [ 1.35389108e-02 9.99908296e-01 3.13790884e-04 -2.87647672e+01] [ 5.71982184e-03 -3.91261765e-04 9.99983565e-01 3.07482655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.860714057 meters Centerline goodness : 0.982555 with order 1 Centerline is valid? [True, True] Translation: X:572.82, Y:-28.77, Z:3.08 [[ 9.99928937e-01 -1.04570527e-02 -5.72458099e-03 5.72816973e+02] [ 1.04590212e-02 9.99945254e-01 3.14038320e-04 -2.87714391e+01] [ 5.72098367e-03 -3.73889517e-04 9.99983565e-01 3.07740081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.920714057 meters Centerline goodness : 0.984115 with order 1 Centerline is valid? [True, True] Translation: X:572.88, Y:-28.77, Z:3.08 [[ 9.99867214e-01 -1.52572224e-02 -5.72456072e-03 5.72879161e+02] [ 1.52592714e-02 9.99883521e-01 3.14407296e-04 -2.87723097e+01] [ 5.71909695e-03 -4.01718173e-04 9.99983565e-01 3.08056515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.980714057 meters Centerline goodness : 0.984420 with order 1 Centerline is valid? [True, True] Translation: X:572.94, Y:-28.78, Z:3.08 [[ 9.99929050e-01 -1.04463177e-02 -5.72453608e-03 5.72941592e+02] [ 1.04482907e-02 9.99945366e-01 3.14855381e-04 -2.87781441e+01] [ 5.72093424e-03 -3.74644659e-04 9.99983565e-01 3.07760111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0407140570001 meters Centerline goodness : 0.983709 with order 1 Centerline is valid? [True, True] Translation: X:573.00, Y:-28.78, Z:3.08 [[ 9.99912430e-01 -1.19315335e-02 -5.72451000e-03 5.73002972e+02] [ 1.19335334e-02 9.99928743e-01 3.15328722e-04 -2.87813177e+01] [ 5.72033974e-03 -3.83614740e-04 9.99983565e-01 3.08042555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.100714057 meters Centerline goodness : 0.982408 with order 1 Centerline is valid? [True, True] Translation: X:573.06, Y:-28.79, Z:3.08 [[ 9.99821082e-01 -1.80286875e-02 -5.72449084e-03 5.73064959e+02] [ 1.80307888e-02 9.99837382e-01 3.15676196e-04 -2.87863703e+01] [ 5.71786871e-03 -4.18836801e-04 9.99983565e-01 3.07744321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1607140570001 meters Centerline goodness : 0.988222 with order 1 Centerline is valid? [True, True] Translation: X:573.13, Y:-28.78, Z:3.07 [[ 9.99678544e-01 -2.46989578e-02 -5.72446415e-03 5.73126257e+02] [ 2.47011706e-02 9.99694830e-01 3.16159455e-04 -2.87836140e+01] [ 5.71490841e-03 -4.57458789e-04 9.99983565e-01 3.07006089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.220714057 meters Centerline goodness : 0.982651 with order 1 Centerline is valid? [True, True] Translation: X:573.19, Y:-28.79, Z:3.08 [[ 9.99696286e-01 -2.39701214e-02 -5.72444482e-03 5.73187934e+02] [ 2.39723243e-02 9.99712572e-01 3.16509132e-04 -2.87932320e+01] [ 5.71521269e-03 -4.53641251e-04 9.99983565e-01 3.08035893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.280714057 meters Centerline goodness : 0.979060 with order 1 Centerline is valid? [True, True] Translation: X:573.25, Y:-28.81, Z:3.08 [[ 9.99832670e-01 -1.73742136e-02 -5.72441997e-03 5.73248932e+02] [ 1.73763116e-02 9.99848970e-01 3.16957825e-04 -2.88068312e+01] [ 5.71804852e-03 -4.16374093e-04 9.99983565e-01 3.08136626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.340714057 meters Centerline goodness : 0.978809 with order 1 Centerline is valid? [True, True] Translation: X:573.31, Y:-28.81, Z:3.08 [[ 9.99805723e-01 -1.88612871e-02 -5.72440129e-03 5.73310857e+02] [ 1.88634113e-02 9.99822020e-01 3.17294874e-04 -2.88111637e+01] [ 5.71739787e-03 -4.25214966e-04 9.99983565e-01 3.08443945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.400714057 meters Centerline goodness : 0.979882 with order 1 Centerline is valid? [True, True] Translation: X:573.37, Y:-28.81, Z:3.08 [[ 9.99840978e-01 -1.68893502e-02 -5.72438037e-03 5.73372597e+02] [ 1.68914443e-02 9.99857279e-01 3.17671885e-04 -2.88136006e+01] [ 5.71819811e-03 -4.14314420e-04 9.99983565e-01 3.08276365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.460714057 meters Centerline goodness : 0.981128 with order 1 Centerline is valid? [True, True] Translation: X:573.43, Y:-28.81, Z:3.09 [[ 9.99846355e-01 -1.65680115e-02 -5.72435711e-03 5.73433600e+02] [ 1.65701028e-02 9.99862656e-01 3.18090539e-04 -2.88149074e+01] [ 5.71830077e-03 -4.12894852e-04 9.99983565e-01 3.08591553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.520714057 meters Centerline goodness : 0.980977 with order 1 Centerline is valid? [True, True] Translation: X:573.50, Y:-28.82, Z:3.09 [[ 9.99895667e-01 -1.32622757e-02 -5.72433993e-03 5.73496169e+02] [ 1.32643148e-02 9.99911974e-01 3.18399375e-04 -2.88171752e+01] [ 5.71961334e-03 -3.94295603e-04 9.99983565e-01 3.08798954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.580714057 meters Centerline goodness : 0.982436 with order 1 Centerline is valid? [True, True] Translation: X:573.56, Y:-28.82, Z:3.09 [[ 9.99949399e-01 -8.27234527e-03 -5.72431694e-03 5.73558214e+02] [ 8.27430533e-03 9.99965717e-01 3.18812040e-04 -2.88205092e+01] [ 5.72148337e-03 -3.66160654e-04 9.99983565e-01 3.09131735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.640714057 meters Centerline goodness : 0.981487 with order 1 Centerline is valid? [True, True] Translation: X:573.62, Y:-28.83, Z:3.09 [[ 9.99970656e-01 -5.09114976e-03 -5.72429351e-03 5.73619020e+02] [ 5.09306030e-03 9.99986979e-01 3.19232224e-04 -2.88268714e+01] [ 5.72259372e-03 -3.48377028e-04 9.99983565e-01 3.08844388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.700714057 meters Centerline goodness : 0.980294 with order 1 Centerline is valid? [True, True] Translation: X:573.68, Y:-28.83, Z:3.09 [[ 9.99977557e-01 -3.48098829e-03 -5.72428192e-03 5.73678788e+02] [ 3.48287373e-03 9.99993884e-01 3.19439943e-04 -2.88341732e+01] [ 5.72313494e-03 -3.39369725e-04 9.99983565e-01 3.08580725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.760714057 meters Centerline goodness : 0.981813 with order 1 Centerline is valid? [True, True] Translation: X:573.74, Y:-28.84, Z:3.08 [[ 9.99968898e-01 -5.42548621e-03 -5.72428192e-03 5.73738176e+02] [ 5.42740340e-03 9.99985221e-01 3.19439943e-04 -2.88414579e+01] [ 5.72246420e-03 -3.50497995e-04 9.99983565e-01 3.08214852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.820714057 meters Centerline goodness : 0.980726 with order 1 Centerline is valid? [True, True] Translation: X:573.80, Y:-28.85, Z:3.08 [[ 9.99947863e-01 -8.45601086e-03 -5.72429330e-03 5.73797756e+02] [ 8.45797634e-03 9.99964180e-01 3.19235807e-04 -2.88501351e+01] [ 5.72138880e-03 -3.67635100e-04 9.99983565e-01 3.07920570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.880714057 meters Centerline goodness : 0.981798 with order 1 Centerline is valid? [True, True] Translation: X:573.86, Y:-28.86, Z:3.08 [[ 9.99930393e-01 -1.03170338e-02 -5.72429892e-03 5.73859009e+02] [ 1.03190290e-02 9.99946706e-01 3.19135018e-04 -2.88561539e+01] [ 5.72070133e-03 -3.78182011e-04 9.99983565e-01 3.07890300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.940714057 meters Centerline goodness : 0.980607 with order 1 Centerline is valid? [True, True] Translation: X:573.92, Y:-28.86, Z:3.08 [[ 9.99921570e-01 -1.11393976e-02 -5.72428785e-03 5.73921164e+02] [ 1.11414074e-02 9.99937882e-01 3.19333489e-04 -2.88628855e+01] [ 5.72037509e-03 -3.83085067e-04 9.99983565e-01 3.08034058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.000714057 meters Centerline goodness : 0.981553 with order 1 Centerline is valid? [True, True] Translation: X:573.98, Y:-28.87, Z:3.08 [[ 9.99888471e-01 -1.37941218e-02 -5.72426538e-03 5.73982600e+02] [ 1.37961772e-02 9.99904777e-01 3.19735795e-04 -2.88677502e+01] [ 5.71930983e-03 -3.98673115e-04 9.99983565e-01 3.08343102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.060714057 meters Centerline goodness : 0.980035 with order 1 Centerline is valid? [True, True] Translation: X:574.04, Y:-28.88, Z:3.08 [[ 9.99888801e-01 -1.37702322e-02 -5.72422852e-03 5.74044095e+02] [ 1.37722910e-02 9.99905106e-01 3.20394393e-04 -2.88754585e+01] [ 5.71927342e-03 -3.99194506e-04 9.99983565e-01 3.08193351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.120714057 meters Centerline goodness : 0.978815 with order 1 Centerline is valid? [True, True] Translation: X:574.11, Y:-28.88, Z:3.08 [[ 9.99890408e-01 -1.36530463e-02 -5.72420593e-03 5.74105907e+02] [ 1.36551054e-02 9.99906713e-01 3.20797445e-04 -2.88811781e+01] [ 5.71929207e-03 -3.98926924e-04 9.99983565e-01 3.08393528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.180714057 meters Centerline goodness : 0.977875 with order 1 Centerline is valid? [True, True] Translation: X:574.17, Y:-28.89, Z:3.08 [[ 9.99908517e-01 -1.22552512e-02 -5.72418327e-03 5.74167060e+02] [ 1.22572899e-02 9.99924825e-01 3.21201205e-04 -2.88886688e+01] [ 5.71981656e-03 -3.91334794e-04 9.99983565e-01 3.08100788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.240714057 meters Centerline goodness : 0.978662 with order 1 Centerline is valid? [True, True] Translation: X:574.23, Y:-28.89, Z:3.08 [[ 9.99921369e-01 -1.11574562e-02 -5.72416651e-03 5.74228057e+02] [ 1.11594786e-02 9.99937679e-01 3.21499623e-04 -2.88921476e+01] [ 5.72022266e-03 -3.85353057e-04 9.99983565e-01 3.08445718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.300714057 meters Centerline goodness : 0.977904 with order 1 Centerline is valid? [True, True] Translation: X:574.29, Y:-28.90, Z:3.08 [[ 9.99934229e-01 -9.93839026e-03 -5.72415017e-03 5.74290057e+02] [ 9.94039449e-03 9.99950541e-01 3.21790322e-04 -2.88972868e+01] [ 5.72066898e-03 -3.78669468e-04 9.99983565e-01 3.08404815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.360714057 meters Centerline goodness : 0.978689 with order 1 Centerline is valid? [True, True] Translation: X:574.35, Y:-28.90, Z:3.09 [[ 9.99934437e-01 -9.91746256e-03 -5.72412795e-03 5.74352105e+02] [ 9.91946869e-03 9.99950749e-01 3.22185079e-04 -2.88991594e+01] [ 5.72065077e-03 -3.78944264e-04 9.99983565e-01 3.08788959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.420714057 meters Centerline goodness : 0.979906 with order 1 Centerline is valid? [True, True] Translation: X:574.41, Y:-28.90, Z:3.09 [[ 9.99940680e-01 -9.26670499e-03 -5.72410495e-03 5.74412969e+02] [ 9.26870283e-03 9.99956993e-01 3.22593276e-04 -2.89034083e+01] [ 5.72086939e-03 -3.75629168e-04 9.99983565e-01 3.08590798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.480714057 meters Centerline goodness : 0.981262 with order 1 Centerline is valid? [True, True] Translation: X:574.47, Y:-28.90, Z:3.09 [[ 9.99945096e-01 -8.77724546e-03 -5.72408789e-03 5.74474648e+02] [ 8.77923704e-03 9.99961410e-01 3.22895581e-04 -2.89030589e+01] [ 5.72103287e-03 -3.73130977e-04 9.99983565e-01 3.09101697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5407140570001 meters Centerline goodness : 0.982387 with order 1 Centerline is valid? [True, True] Translation: X:574.54, Y:-28.90, Z:3.09 [[ 9.99886183e-01 -1.39590586e-02 -5.72407659e-03 5.74536002e+02] [ 1.39611359e-02 9.99902486e-01 3.23095799e-04 -2.88999120e+01] [ 5.71900830e-03 -4.02973637e-04 9.99983565e-01 3.08891850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.600714057 meters Centerline goodness : 0.984226 with order 1 Centerline is valid? [True, True] Translation: X:574.60, Y:-28.90, Z:3.09 [[ 9.99755774e-01 -2.13454551e-02 -5.72406350e-03 5.74598726e+02] [ 2.13476541e-02 9.99772061e-01 3.23327526e-04 -2.89016701e+01] [ 5.71585719e-03 -4.45443888e-04 9.99983565e-01 3.08988032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6607140570001 meters Centerline goodness : 0.983150 with order 1 Centerline is valid? [True, True] Translation: X:574.66, Y:-28.91, Z:3.09 [[ 9.99678814e-01 -2.46881538e-02 -5.72402093e-03 5.74659503e+02] [ 2.46904115e-02 9.99695093e-01 3.24079451e-04 -2.89080905e+01] [ 5.71427471e-03 -4.65303793e-04 9.99983565e-01 3.08981435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.720714057 meters Centerline goodness : 0.984150 with order 1 Centerline is valid? [True, True] Translation: X:574.72, Y:-28.91, Z:3.09 [[ 9.99650053e-01 -2.58265048e-02 -5.72400020e-03 5.74722638e+02] [ 2.58287831e-02 9.99666329e-01 3.24445206e-04 -2.89077908e+01] [ 5.71371098e-03 -4.72175627e-04 9.99983565e-01 3.08999934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.780714057 meters Centerline goodness : 0.984757 with order 1 Centerline is valid? [True, True] Translation: X:574.78, Y:-28.91, Z:3.09 [[ 9.99663450e-01 -2.53026281e-02 -5.72395769e-03 5.74784865e+02] [ 2.53049021e-02 9.99679727e-01 3.25193476e-04 -2.89094761e+01] [ 5.71389621e-03 -4.69928221e-04 9.99983565e-01 3.09280104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.840714057 meters Centerline goodness : 0.986662 with order 1 Centerline is valid? [True, True] Translation: X:574.85, Y:-28.91, Z:3.09 [[ 9.99703794e-01 -2.36550429e-02 -5.72392909e-03 5.74846869e+02] [ 2.36572930e-02 9.99720074e-01 3.25696141e-04 -2.89096405e+01] [ 5.71462245e-03 -4.61012335e-04 9.99983565e-01 3.09284478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.900714057 meters Centerline goodness : 0.990549 with order 1 Centerline is valid? [True, True] Translation: X:574.91, Y:-28.91, Z:3.09 [[ 9.99594305e-01 -2.79009577e-02 -5.72389394e-03 5.74908657e+02] [ 2.79032803e-02 9.99610574e-01 3.26312637e-04 -2.89101408e+01] [ 5.71256048e-03 -4.85895671e-04 9.99983565e-01 3.08630098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.960714057 meters Centerline goodness : 0.989656 with order 1 Centerline is valid? [True, True] Translation: X:574.97, Y:-28.91, Z:3.09 [[ 9.99624581e-01 -2.67943009e-02 -5.72386763e-03 5.74971084e+02] [ 2.67966082e-02 9.99640853e-01 3.26773550e-04 -2.89114681e+01] [ 5.71305625e-03 -4.80031111e-04 9.99983565e-01 3.08555397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.020714057 meters Centerline goodness : 0.991019 with order 1 Centerline is valid? [True, True] Translation: X:575.03, Y:-28.91, Z:3.09 [[ 9.99720508e-01 -2.29378228e-02 -5.72384512e-03 5.75034218e+02] [ 2.29400695e-02 9.99736788e-01 3.27167251e-04 -2.89133753e+01] [ 5.71483404e-03 -4.58381216e-04 9.99983565e-01 3.08623134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.080714057 meters Centerline goodness : 0.986193 with order 1 Centerline is valid? [True, True] Translation: X:575.10, Y:-28.91, Z:3.09 [[ 9.99880325e-01 -1.43726809e-02 -5.72380977e-03 5.75096496e+02] [ 1.43747916e-02 9.99896624e-01 3.27784603e-04 -2.89135392e+01] [ 5.71850692e-03 -4.10023948e-04 9.99983565e-01 3.09355898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.140714057 meters Centerline goodness : 0.983694 with order 1 Centerline is valid? [True, True] Translation: X:575.16, Y:-28.92, Z:3.10 [[ 9.99983497e-01 -4.94553468e-04 -5.72378167e-03 5.75157484e+02] [ 4.96440545e-04 9.99999823e-01 3.28274609e-04 -2.89180518e+01] [ 5.72361830e-03 -3.31110709e-04 9.99983565e-01 3.10150938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.200714057 meters Centerline goodness : 0.984822 with order 1 Centerline is valid? [True, True] Translation: X:575.22, Y:-28.92, Z:3.10 [[ 9.99970140e-01 5.19212127e-03 -5.72376053e-03 5.75215805e+02] [-5.19032497e-03 9.99986476e-01 3.28642745e-04 -2.89177445e+01] [ 5.72538948e-03 -2.98924754e-04 9.99983565e-01 3.10266764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.260714057 meters Centerline goodness : 0.984674 with order 1 Centerline is valid? [True, True] Translation: X:575.27, Y:-28.92, Z:3.10 [[ 9.99945391e-01 8.74376633e-03 -5.72386042e-03 5.75273241e+02] [-8.74203804e-03 9.99961734e-01 3.26893726e-04 -2.89205539e+01] [ 5.72649967e-03 -2.76837669e-04 9.99983565e-01 3.10419909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.320714057 meters Centerline goodness : 0.983723 with order 1 Centerline is valid? [True, True] Translation: X:575.33, Y:-28.93, Z:3.10 [[ 9.99980458e-01 2.51408802e-03 -5.72391002e-03 5.75331310e+02] [-2.51226292e-03 9.99996791e-01 3.26022860e-04 -2.89262950e+01] [ 5.72471130e-03 -3.11636522e-04 9.99983565e-01 3.09974247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.380714057 meters Centerline goodness : 0.989169 with order 1 Centerline is valid? [True, True] Translation: X:575.39, Y:-28.93, Z:3.09 [[ 9.99971737e-01 -4.87469042e-03 -5.72394593e-03 5.75389305e+02] [ 4.87663255e-03 9.99988056e-01 3.25391215e-04 -2.89279947e+01] [ 5.72229138e-03 -3.53295600e-04 9.99983565e-01 3.08720831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.440714057 meters Centerline goodness : 0.988305 with order 1 Centerline is valid? [True, True] Translation: X:575.45, Y:-28.93, Z:3.09 [[ 9.99951310e-01 -8.03824417e-03 -5.72398058e-03 5.75449915e+02] [ 8.04023444e-03 9.99967624e-01 3.24780480e-04 -2.89314875e+01] [ 5.72118460e-03 -3.70786813e-04 9.99983565e-01 3.08901516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.500714057 meters Centerline goodness : 0.983038 with order 1 Centerline is valid? [True, True] Translation: X:575.51, Y:-28.94, Z:3.10 [[ 9.99973237e-01 -4.55645497e-03 -5.72398058e-03 5.75510602e+02] [ 4.55838842e-03 9.99989558e-01 3.24780480e-04 -2.89425003e+01] [ 5.72244096e-03 -3.50863915e-04 9.99983565e-01 3.09938111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.560714057 meters Centerline goodness : 0.979868 with order 1 Centerline is valid? [True, True] Translation: X:575.57, Y:-28.95, Z:3.10 [[ 9.99981479e-01 -2.06832824e-03 -5.72396020e-03 5.75569781e+02] [ 2.07022313e-03 9.99997804e-01 3.25139222e-04 -2.89542795e+01] [ 5.72327514e-03 -3.36983075e-04 9.99983565e-01 3.09953452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.620714057 meters Centerline goodness : 0.980642 with order 1 Centerline is valid? [True, True] Translation: X:575.63, Y:-28.96, Z:3.10 [[ 9.99933057e-01 -1.00557370e-02 -5.72396700e-03 5.75629088e+02] [ 1.00577615e-02 9.99949367e-01 3.25019483e-04 -2.89551746e+01] [ 5.72040887e-03 -3.82568020e-04 9.99983565e-01 3.10160830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.680714057 meters Centerline goodness : 0.983433 with order 1 Centerline is valid? [True, True] Translation: X:575.69, Y:-28.95, Z:3.10 [[ 9.99774097e-01 -2.04692864e-02 -5.72397890e-03 5.75691169e+02] [ 2.04714795e-02 9.99790385e-01 3.24809844e-04 -2.89504601e+01] [ 5.71613044e-03 -4.41914784e-04 9.99983565e-01 3.09964361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.740714057 meters Centerline goodness : 0.981531 with order 1 Centerline is valid? [True, True] Translation: X:575.75, Y:-28.96, Z:3.10 [[ 9.99826928e-01 -1.77017034e-02 -5.72395805e-03 5.75751894e+02] [ 1.77038535e-02 9.99843222e-01 3.25176785e-04 -2.89594265e+01] [ 5.71730448e-03 -4.26456620e-04 9.99983565e-01 3.10320531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.800714057 meters Centerline goodness : 0.980660 with order 1 Centerline is valid? [True, True] Translation: X:575.81, Y:-28.96, Z:3.10 [[ 9.99853597e-01 -1.61251561e-02 -5.72393705e-03 5.75814057e+02] [ 1.61272827e-02 9.99869894e-01 3.25546141e-04 -2.89624576e+01] [ 5.71794284e-03 -4.17810031e-04 9.99983565e-01 3.09972393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.860714057 meters Centerline goodness : 0.979493 with order 1 Centerline is valid? [True, True] Translation: X:575.88, Y:-28.96, Z:3.10 [[ 9.99904946e-01 -1.25433347e-02 -5.72391326e-03 5.75876018e+02] [ 1.25454052e-02 9.99921250e-01 3.25963776e-04 -2.89646346e+01] [ 5.71937383e-03 -3.97741603e-04 9.99983565e-01 3.09809672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.920714057 meters Centerline goodness : 0.983501 with order 1 Centerline is valid? [True, True] Translation: X:575.94, Y:-28.96, Z:3.10 [[ 9.99837102e-01 -1.71174237e-02 -5.72388960e-03 5.75938248e+02] [ 1.71195711e-02 9.99853396e-01 3.26378740e-04 -2.89563379e+01] [ 5.71746369e-03 -4.24316109e-04 9.99983565e-01 3.10056839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.980714057 meters Centerline goodness : 0.984909 with order 1 Centerline is valid? [True, True] Translation: X:576.00, Y:-28.96, Z:3.10 [[ 9.99852046e-01 -1.62210529e-02 -5.72386921e-03 5.76000946e+02] [ 1.62231877e-02 9.99868342e-01 3.26735946e-04 -2.89566951e+01] [ 5.71781562e-03 -4.19547009e-04 9.99983565e-01 3.09923703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0407140570001 meters Centerline goodness : 0.985753 with order 1 Centerline is valid? [True, True] Translation: X:576.06, Y:-28.96, Z:3.10 [[ 9.99869062e-01 -1.51359381e-02 -5.72384132e-03 5.76062343e+02] [ 1.51380581e-02 9.99885359e-01 3.27223872e-04 -2.89554242e+01] [ 5.71823229e-03 -4.13828868e-04 9.99983565e-01 3.10013082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.100714057 meters Centerline goodness : 0.982134 with order 1 Centerline is valid? [True, True] Translation: X:576.12, Y:-28.97, Z:3.10 [[ 9.99936610e-01 -9.69608262e-03 -5.72382117e-03 5.76122872e+02] [ 9.69811586e-03 9.99952919e-01 3.27575869e-04 -2.89656422e+01] [ 5.72037548e-03 -3.83065385e-04 9.99983565e-01 3.10478803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1607140570001 meters Centerline goodness : 0.983035 with order 1 Centerline is valid? [True, True] Translation: X:576.19, Y:-28.97, Z:3.11 [[ 9.99920708e-01 -1.12167397e-02 -5.72380189e-03 5.76185088e+02] [ 1.12187997e-02 9.99937014e-01 3.27912378e-04 -2.89674966e+01] [ 5.71976326e-03 -3.92100564e-04 9.99983565e-01 3.10556568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.220714057 meters Centerline goodness : 0.984522 with order 1 Centerline is valid? [True, True] Translation: X:576.25, Y:-28.97, Z:3.11 [[ 9.99928299e-01 -1.05183297e-02 -5.72378011e-03 5.76247812e+02] [ 1.05203804e-02 9.99944605e-01 3.28292106e-04 -2.89672635e+01] [ 5.72000996e-03 -3.88484912e-04 9.99983565e-01 3.10666264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.280714057 meters Centerline goodness : 0.984506 with order 1 Centerline is valid? [True, True] Translation: X:576.31, Y:-28.97, Z:3.11 [[ 9.99950060e-01 -8.19249833e-03 -5.72375754e-03 5.76310307e+02] [ 8.19451338e-03 9.99966370e-01 3.28685244e-04 -2.89678819e+01] [ 5.72087230e-03 -3.75572237e-04 9.99983565e-01 3.10803446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.340714057 meters Centerline goodness : 0.983747 with order 1 Centerline is valid? [True, True] Translation: X:576.37, Y:-28.97, Z:3.11 [[ 9.99948498e-01 -8.38090640e-03 -5.72373454e-03 5.76371982e+02] [ 8.38292680e-03 9.99964809e-01 3.29085243e-04 -2.89689941e+01] [ 5.72077508e-03 -3.77049942e-04 9.99983565e-01 3.10919300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.400714057 meters Centerline goodness : 0.983981 with order 1 Centerline is valid? [True, True] Translation: X:576.43, Y:-28.97, Z:3.11 [[ 9.99957550e-01 -7.22064435e-03 -5.72372304e-03 5.76433248e+02] [ 7.22264696e-03 9.99973862e-01 3.29285100e-04 -2.89701901e+01] [ 5.72119579e-03 -3.70611552e-04 9.99983565e-01 3.10966283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.460714057 meters Centerline goodness : 0.983910 with order 1 Centerline is valid? [True, True] Translation: X:576.49, Y:-28.97, Z:3.11 [[ 9.99939905e-01 -9.35014183e-03 -5.72370591e-03 5.76494805e+02] [ 9.35218087e-03 9.99956213e-01 3.29582583e-04 -2.89709014e+01] [ 5.72037365e-03 -3.83091909e-04 9.99983565e-01 3.11009136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.520714057 meters Centerline goodness : 0.984686 with order 1 Centerline is valid? [True, True] Translation: X:576.56, Y:-28.97, Z:3.11 [[ 9.99910414e-01 -1.20997309e-02 -5.72369472e-03 5.76555843e+02] [ 1.21018159e-02 9.99926716e-01 3.29776819e-04 -2.89726086e+01] [ 5.71928506e-03 -3.99014375e-04 9.99983565e-01 3.11168370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.580714057 meters Centerline goodness : 0.985925 with order 1 Centerline is valid? [True, True] Translation: X:576.62, Y:-28.97, Z:3.11 [[ 9.99876781e-01 -1.46171955e-02 -5.72367807e-03 5.76618280e+02] [ 1.46193232e-02 9.99893078e-01 3.30065626e-04 -2.89730442e+01] [ 5.71824144e-03 -4.13701255e-04 9.99983565e-01 3.11331284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.640714057 meters Centerline goodness : 0.986065 with order 1 Centerline is valid? [True, True] Translation: X:576.68, Y:-28.98, Z:3.11 [[ 9.99875208e-01 -1.47244111e-02 -5.72365634e-03 5.76680745e+02] [ 1.47265427e-02 9.99891504e-01 3.30442008e-04 -2.89775075e+01] [ 5.71816978e-03 -4.14690440e-04 9.99983565e-01 3.11440065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.700714057 meters Centerline goodness : 0.985833 with order 1 Centerline is valid? [True, True] Translation: X:576.74, Y:-28.98, Z:3.11 [[ 9.99862407e-01 -1.55694427e-02 -5.72363418e-03 5.76742682e+02] [ 1.55715902e-02 9.99878701e-01 3.30825425e-04 -2.89799447e+01] [ 5.71778914e-03 -4.19905992e-04 9.99983565e-01 3.11463775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.760714057 meters Centerline goodness : 0.985895 with order 1 Centerline is valid? [True, True] Translation: X:576.80, Y:-28.98, Z:3.12 [[ 9.99869812e-01 -1.50864251e-02 -5.72361219e-03 5.76804620e+02] [ 1.50885669e-02 9.99886106e-01 3.31205290e-04 -2.89829439e+01] [ 5.71796361e-03 -4.17523277e-04 9.99983565e-01 3.11611575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.820714057 meters Centerline goodness : 0.984745 with order 1 Centerline is valid? [True, True] Translation: X:576.87, Y:-28.98, Z:3.11 [[ 9.99896588e-01 -1.31929831e-02 -5.72358915e-03 5.76866592e+02] [ 1.31950963e-02 9.99912886e-01 3.31603113e-04 -2.89849803e+01] [ 5.71871571e-03 -4.07092132e-04 9.99983565e-01 3.11421032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.880714057 meters Centerline goodness : 0.983226 with order 1 Centerline is valid? [True, True] Translation: X:576.93, Y:-28.99, Z:3.11 [[ 9.99943010e-01 -9.01204053e-03 -5.72356574e-03 5.76927181e+02] [ 9.01408787e-03 9.99959317e-01 3.32006663e-04 -2.89896231e+01] [ 5.72034083e-03 -3.83580467e-04 9.99983565e-01 3.11324917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.940714057 meters Centerline goodness : 0.983532 with order 1 Centerline is valid? [True, True] Translation: X:576.99, Y:-28.99, Z:3.11 [[ 9.99936564e-01 -9.70095238e-03 -5.72355416e-03 5.76988785e+02] [ 9.70301209e-03 9.99952869e-01 3.32206172e-04 -2.89940246e+01] [ 5.72006169e-03 -3.87720814e-04 9.99983565e-01 3.11384005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.000714057 meters Centerline goodness : 0.982625 with order 1 Centerline is valid? [True, True] Translation: X:577.05, Y:-29.00, Z:3.11 [[ 9.99922814e-01 -1.10276018e-02 -5.72353011e-03 5.77050032e+02] [ 1.10296855e-02 9.99939116e-01 3.32619964e-04 -2.90004114e+01] [ 5.71951364e-03 -3.95723028e-04 9.99983565e-01 3.11066997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.060714057 meters Centerline goodness : 0.981787 with order 1 Centerline is valid? [True, True] Translation: X:577.11, Y:-29.01, Z:3.11 [[ 9.99930209e-01 -1.03352810e-02 -5.72351230e-03 5.77110661e+02] [ 1.03373551e-02 9.99946513e-01 3.32926070e-04 -2.90060198e+01] [ 5.71976528e-03 -3.92068814e-04 9.99983565e-01 3.10609981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.120714057 meters Centerline goodness : 0.980136 with order 1 Centerline is valid? [True, True] Translation: X:577.17, Y:-29.01, Z:3.11 [[ 9.99972949e-01 -4.61978583e-03 -5.72349566e-03 5.77172330e+02] [ 4.62176839e-03 9.99989264e-01 3.33212041e-04 -2.90093924e+01] [ 5.72189484e-03 -3.59655698e-04 9.99983565e-01 3.11113996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.180714057 meters Centerline goodness : 0.981118 with order 1 Centerline is valid? [True, True] Translation: X:577.23, Y:-29.01, Z:3.11 [[ 9.99983611e-01 1.36529246e-04 -5.72348368e-03 5.77232985e+02] [-1.34623133e-04 9.99999935e-01 3.33417648e-04 -2.90114336e+01] [ 5.72352883e-03 -3.32641670e-04 9.99983565e-01 3.10941854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.240714057 meters Centerline goodness : 0.980491 with order 1 Centerline is valid? [True, True] Translation: X:577.29, Y:-29.01, Z:3.11 [[ 9.99978580e-01 3.17499146e-03 -5.72348368e-03 5.77290889e+02] [-3.17313496e-03 9.99994910e-01 3.33417648e-04 -2.90138825e+01] [ 5.72451314e-03 -3.15249120e-04 9.99983565e-01 3.11120347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.300714057 meters Centerline goodness : 0.982845 with order 1 Centerline is valid? [True, True] Translation: X:577.35, Y:-29.02, Z:3.11 [[ 9.99959914e-01 6.88563589e-03 -5.72351395e-03 5.77348172e+02] [-6.88384297e-03 9.99976251e-01 3.32897170e-04 -2.90155990e+01] [ 5.72567023e-03 -2.93484054e-04 9.99983565e-01 3.10795461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.360714057 meters Centerline goodness : 0.979686 with order 1 Centerline is valid? [True, True] Translation: X:577.41, Y:-29.02, Z:3.11 [[ 9.99958554e-01 7.08032131e-03 -5.72354931e-03 5.77406837e+02] [-7.07853505e-03 9.99974892e-01 3.32288119e-04 -2.90185857e+01] [ 5.72575831e-03 -2.91760002e-04 9.99983565e-01 3.11279038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.420714057 meters Centerline goodness : 0.979599 with order 1 Centerline is valid? [True, True] Translation: X:577.47, Y:-29.02, Z:3.11 [[ 9.99962549e-01 6.49163585e-03 -5.72357260e-03 5.77465279e+02] [-6.48984226e-03 9.99978886e-01 3.31886447e-04 -2.90209739e+01] [ 5.72560624e-03 -2.94728934e-04 9.99983565e-01 3.11224223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.480714057 meters Centerline goodness : 0.985050 with order 1 Centerline is valid? [True, True] Translation: X:577.52, Y:-29.02, Z:3.11 [[ 9.99982700e-01 -1.35643299e-03 -5.72359742e-03 5.77523210e+02] [ 1.35835230e-03 9.99999023e-01 3.31457813e-04 -2.90152914e+01] [ 5.72314223e-03 -3.39226740e-04 9.99983565e-01 3.11296839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5407140570001 meters Centerline goodness : 0.984788 with order 1 Centerline is valid? [True, True] Translation: X:577.58, Y:-29.02, Z:3.11 [[ 9.99980653e-01 -2.43580815e-03 -5.72362564e-03 5.77582018e+02] [ 2.43774228e-03 9.99996974e-01 3.30969850e-04 -2.90183279e+01] [ 5.72280214e-03 -3.44916171e-04 9.99983565e-01 3.11361513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.600714057 meters Centerline goodness : 0.986076 with order 1 Centerline is valid? [True, True] Translation: X:577.64, Y:-29.02, Z:3.12 [[ 9.99971892e-01 -4.84295945e-03 -5.72365377e-03 5.77642007e+02] [ 4.84493009e-03 9.99988209e-01 3.30482678e-04 -2.90211326e+01] [ 5.72198577e-03 -3.58204091e-04 9.99983565e-01 3.11689250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6607140570001 meters Centerline goodness : 0.985759 with order 1 Centerline is valid? [True, True] Translation: X:577.70, Y:-29.03, Z:3.12 [[ 9.99968089e-01 -5.57328667e-03 -5.72366786e-03 5.77701250e+02] [ 5.57526784e-03 9.99984404e-01 3.30238432e-04 -2.90259855e+01] [ 5.72173808e-03 -3.62138875e-04 9.99983565e-01 3.11866989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.720714057 meters Centerline goodness : 0.985528 with order 1 Centerline is valid? [True, True] Translation: X:577.76, Y:-29.03, Z:3.12 [[ 9.99905521e-01 -1.24975491e-02 -5.72366786e-03 5.77761412e+02] [ 1.24996431e-02 9.99921822e-01 3.30238432e-04 -2.90340380e+01] [ 5.71909323e-03 -4.01751037e-04 9.99983565e-01 3.11606931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.780714057 meters Centerline goodness : 0.984989 with order 1 Centerline is valid? [True, True] Translation: X:577.82, Y:-29.04, Z:3.12 [[ 9.99892443e-01 -1.35034323e-02 -5.72366786e-03 5.77822112e+02] [ 1.35055428e-02 9.99908741e-01 3.30238432e-04 -2.90418613e+01] [ 5.71868618e-03 -4.07504153e-04 9.99983565e-01 3.11618606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.840714057 meters Centerline goodness : 0.985746 with order 1 Centerline is valid? [True, True] Translation: X:577.89, Y:-29.05, Z:3.11 [[ 9.99734245e-01 -2.23311446e-02 -5.72364644e-03 5.77885500e+02] [ 2.23334011e-02 9.99750524e-01 3.30609362e-04 -2.90453801e+01] [ 5.71483564e-03 -4.58349992e-04 9.99983565e-01 3.11292706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.900714057 meters Centerline goodness : 0.984939 with order 1 Centerline is valid? [True, True] Translation: X:577.95, Y:-29.05, Z:3.12 [[ 9.99742919e-01 -2.19393846e-02 -5.72356633e-03 5.77947433e+02] [ 2.19416425e-02 9.99759198e-01 3.31990385e-04 -2.90531545e+01] [ 5.71490442e-03 -4.57489483e-04 9.99983565e-01 3.11504248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.960714057 meters Centerline goodness : 0.985138 with order 1 Centerline is valid? [True, True] Translation: X:578.01, Y:-29.06, Z:3.12 [[ 9.99765027e-01 -2.09077174e-02 -5.72349563e-03 5.78010764e+02] [ 2.09099654e-02 9.99781307e-01 3.33204818e-04 -2.90587385e+01] [ 5.71527739e-03 -4.52804620e-04 9.99983565e-01 3.11599777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.020714057 meters Centerline goodness : 0.984103 with order 1 Centerline is valid? [True, True] Translation: X:578.07, Y:-29.06, Z:3.12 [[ 9.99806072e-01 -1.88430634e-02 -5.72345587e-03 5.78072773e+02] [ 1.88452817e-02 9.99822356e-01 3.33886345e-04 -2.90627662e+01] [ 5.71614769e-03 -4.41681733e-04 9.99983565e-01 3.11619191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.080714057 meters Centerline goodness : 0.985619 with order 1 Centerline is valid? [True, True] Translation: X:578.13, Y:-29.06, Z:3.12 [[ 9.99797519e-01 -1.92915272e-02 -5.72342720e-03 5.78133606e+02] [ 1.92937556e-02 9.99813802e-01 3.34377123e-04 -2.90631209e+01] [ 5.71591087e-03 -4.44735823e-04 9.99983565e-01 3.11785143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.140714057 meters Centerline goodness : 0.976877 with order 1 Centerline is valid? [True, True] Translation: X:578.20, Y:-29.06, Z:3.12 [[ 9.99687436e-01 -2.43366668e-02 -5.72339907e-03 5.78196524e+02] [ 2.43389800e-02 9.99703707e-01 3.34857966e-04 -2.90600292e+01] [ 5.71355394e-03 -4.74054997e-04 9.99983565e-01 3.11603151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.200714057 meters Centerline goodness : 0.990931 with order 1 Centerline is valid? [True, True] Translation: X:578.26, Y:-29.07, Z:3.11 [[ 9.99744300e-01 -2.18764175e-02 -5.72335674e-03 5.78257265e+02] [ 2.18786948e-02 9.99760576e-01 3.35579811e-04 -2.90684154e+01] [ 5.71464515e-03 -4.60713579e-04 9.99983565e-01 3.10913913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.260714057 meters Centerline goodness : 0.982274 with order 1 Centerline is valid? [True, True] Translation: X:578.32, Y:-29.07, Z:3.11 [[ 9.99686315e-01 -2.43826813e-02 -5.72329798e-03 5.78318622e+02] [ 2.43850051e-02 9.99702585e-01 3.36579025e-04 -2.90689076e+01] [ 5.71338909e-03 -4.76036096e-04 9.99983565e-01 3.11213820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.320714057 meters Centerline goodness : 0.986541 with order 1 Centerline is valid? [True, True] Translation: X:578.38, Y:-29.08, Z:3.11 [[ 9.99791373e-01 -1.96075269e-02 -5.72326779e-03 5.78380465e+02] [ 1.96097758e-02 9.99807653e-01 3.37091616e-04 -2.90812124e+01] [ 5.71555740e-03 -4.49253288e-04 9.99983565e-01 3.11343301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.380714057 meters Centerline goodness : 0.985347 with order 1 Centerline is valid? [True, True] Translation: X:578.44, Y:-29.08, Z:3.12 [[ 9.99805998e-01 -1.88470466e-02 -5.72323631e-03 5.78441383e+02] [ 1.88492862e-02 9.99822279e-01 3.37625197e-04 -2.90829870e+01] [ 5.71585594e-03 -4.45438617e-04 9.99983565e-01 3.11885681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.440714057 meters Centerline goodness : 0.985791 with order 1 Centerline is valid? [True, True] Translation: X:578.50, Y:-29.09, Z:3.12 [[ 9.99887744e-01 -1.38471529e-02 -5.72321637e-03 5.78503069e+02] [ 1.38493130e-02 9.99904037e-01 3.37962879e-04 -2.90862350e+01] [ 5.71798733e-03 -4.17187556e-04 9.99983565e-01 3.12243959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.500714057 meters Centerline goodness : 0.985979 with order 1 Centerline is valid? [True, True] Translation: X:578.57, Y:-29.09, Z:3.12 [[ 9.99958448e-01 -7.09565635e-03 -5.72319001e-03 5.78565540e+02] [ 7.09770891e-03 9.99974754e-01 3.38408805e-04 -2.90873435e+01] [ 5.72064428e-03 -3.79016280e-04 9.99983565e-01 3.12319422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.560714057 meters Centerline goodness : 0.986801 with order 1 Centerline is valid? [True, True] Translation: X:578.63, Y:-29.09, Z:3.13 [[ 9.99982356e-01 -1.59145480e-03 -5.72316048e-03 5.78626308e+02] [ 1.59342042e-03 9.99998673e-01 3.38907410e-04 -2.90880839e+01] [ 5.72261353e-03 -3.48020832e-04 9.99983565e-01 3.12507965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.620714057 meters Centerline goodness : 0.985728 with order 1 Centerline is valid? [True, True] Translation: X:578.68, Y:-29.09, Z:3.12 [[ 9.99950005e-01 8.19958612e-03 -5.72313643e-03 5.78684725e+02] [-8.19777804e-03 9.99966340e-01 3.39313024e-04 -2.90916824e+01] [ 5.72572602e-03 -2.92379058e-04 9.99983565e-01 3.12405855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.680714057 meters Centerline goodness : 0.983798 with order 1 Centerline is valid? [True, True] Translation: X:578.74, Y:-29.10, Z:3.12 [[ 9.99740318e-01 2.20577130e-02 -5.72315610e-03 5.78743129e+02] [-2.20561333e-02 9.99756676e-01 3.38980926e-04 -2.91012009e+01] [ 5.72924067e-03 -2.12662205e-04 9.99983565e-01 3.12055880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.740714057 meters Centerline goodness : 0.983266 with order 1 Centerline is valid? [True, True] Translation: X:578.80, Y:-29.10, Z:3.12 [[ 9.99627400e-01 2.66890546e-02 -5.72325597e-03 5.78801102e+02] [-2.66875605e-02 9.99643767e-01 3.37286251e-04 -2.91041628e+01] [ 5.73021901e-03 -1.84420839e-04 9.99983565e-01 3.12417346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.800714057 meters Centerline goodness : 0.982486 with order 1 Centerline is valid? [True, True] Translation: X:578.86, Y:-29.11, Z:3.13 [[ 9.99482130e-01 3.16656960e-02 -5.72328588e-03 5.78859180e+02] [-3.16642863e-02 9.99498504e-01 3.36778068e-04 -2.91083316e+01] [ 5.73107998e-03 -1.55379899e-04 9.99983565e-01 3.12697062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.860714057 meters Centerline goodness : 0.982037 with order 1 Centerline is valid? [True, True] Translation: X:578.92, Y:-29.12, Z:3.12 [[ 9.99346245e-01 3.56976880e-02 -5.72338033e-03 5.78916944e+02] [-3.56963536e-02 9.99362626e-01 3.35165096e-04 -2.91154426e+01] [ 5.73169702e-03 -1.30642172e-04 9.99983565e-01 3.12386609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.920714057 meters Centerline goodness : 0.981688 with order 1 Centerline is valid? [True, True] Translation: X:578.98, Y:-29.12, Z:3.12 [[ 9.99236258e-01 3.86541621e-02 -5.72340921e-03 5.78975185e+02] [-3.86528790e-02 9.99252642e-01 3.34671181e-04 -2.91232741e+01] [ 5.73206821e-03 -1.13189335e-04 9.99983565e-01 3.12413453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.980714057 meters Centerline goodness : 0.986518 with order 1 Centerline is valid? [True, True] Translation: X:579.03, Y:-29.12, Z:3.13 [[ 9.99503251e-01 3.09918240e-02 -5.72348874e-03 5.79033964e+02] [-3.09904232e-02 9.99519626e-01 3.33305585e-04 -2.91212585e+01] [ 5.73106907e-03 -1.55766678e-04 9.99983565e-01 3.12500616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0407140570001 meters Centerline goodness : 0.985698 with order 1 Centerline is valid? [True, True] Translation: X:579.09, Y:-29.13, Z:3.13 [[ 9.99443666e-01 3.28572501e-02 -5.72353942e-03 5.79092611e+02] [-3.28558848e-02 9.99460044e-01 3.32432980e-04 -2.91312610e+01] [ 5.73137180e-03 -1.44196084e-04 9.99983565e-01 3.12731121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.100714057 meters Centerline goodness : 0.977923 with order 1 Centerline is valid? [True, True] Translation: X:579.15, Y:-29.14, Z:3.13 [[ 9.99670875e-01 2.50076621e-02 -5.72356571e-03 5.79151397e+02] [-2.50061708e-02 9.99687242e-01 3.31979711e-04 -2.91355383e+01] [ 5.73007766e-03 -1.88745986e-04 9.99983565e-01 3.12836783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1607140570001 meters Centerline goodness : 0.985468 with order 1 Centerline is valid? [True, True] Translation: X:579.21, Y:-29.14, Z:3.13 [[ 9.99849002e-01 1.64077294e-02 -5.72359057e-03 5.79210075e+02] [-1.64060998e-02 9.99865356e-01 3.31550665e-04 -2.91436579e+01] [ 5.72825991e-03 -2.37598803e-04 9.99983565e-01 3.12790184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.220714057 meters Centerline goodness : 0.985368 with order 1 Centerline is valid? [True, True] Translation: X:579.27, Y:-29.16, Z:3.13 [[ 9.99891566e-01 1.35681795e-02 -5.72362514e-03 5.79267015e+02] [-1.35665069e-02 9.99907916e-01 3.30952670e-04 -2.91608078e+01] [ 5.72758851e-03 -2.53267184e-04 9.99983565e-01 3.13140229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.280714057 meters Centerline goodness : 0.989328 with order 1 Centerline is valid? [True, True] Translation: X:579.32, Y:-29.17, Z:3.12 [[ 9.99981615e-01 -2.00241316e-03 -5.72366081e-03 5.79324973e+02] [ 2.00433660e-03 9.99997937e-01 3.30334605e-04 -2.91711985e+01] [ 5.72298754e-03 -3.41800675e-04 9.99983565e-01 3.12129520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.340714057 meters Centerline goodness : 0.984196 with order 1 Centerline is valid? [True, True] Translation: X:579.38, Y:-29.19, Z:3.13 [[ 9.99979359e-01 2.91914445e-03 -5.72368760e-03 5.79382724e+02] [-2.91730402e-03 9.99995690e-01 3.29869809e-04 -2.91876421e+01] [ 5.72462587e-03 -3.13165264e-04 9.99983565e-01 3.13129878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.400714057 meters Centerline goodness : 0.983541 with order 1 Centerline is valid? [True, True] Translation: X:579.44, Y:-29.20, Z:3.13 [[ 9.99978204e-01 3.29107910e-03 -5.72370940e-03 5.79440917e+02] [-3.28924690e-03 9.99994536e-01 3.29491211e-04 -2.92011904e+01] [ 5.72476250e-03 -3.10657336e-04 9.99983565e-01 3.12711995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.460714057 meters Centerline goodness : 0.984109 with order 1 Centerline is valid? [True, True] Translation: X:579.50, Y:-29.21, Z:3.13 [[ 9.99980394e-01 2.53993996e-03 -5.72373536e-03 5.79499224e+02] [-2.53809807e-03 9.99996725e-01 3.29039506e-04 -2.92072561e+01] [ 5.72455236e-03 -3.14505653e-04 9.99983565e-01 3.12697823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.520714057 meters Centerline goodness : 0.989702 with order 1 Centerline is valid? [True, True] Translation: X:579.56, Y:-29.21, Z:3.12 [[ 9.99972507e-01 -4.71417490e-03 -5.72376339e-03 5.79557155e+02] [ 4.71613243e-03 9.99988825e-01 3.28551227e-04 -2.92071806e+01] [ 5.72215058e-03 -3.55536220e-04 9.99983565e-01 3.12149946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.580714057 meters Centerline goodness : 0.989565 with order 1 Centerline is valid? [True, True] Translation: X:579.62, Y:-29.22, Z:3.12 [[ 9.99968039e-01 -5.58205479e-03 -5.72379712e-03 5.79616673e+02] [ 5.58402312e-03 9.99984355e-01 3.27962584e-04 -2.92161786e+01] [ 5.72187687e-03 -3.59913917e-04 9.99983565e-01 3.12167943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.640714057 meters Centerline goodness : 0.985703 with order 1 Centerline is valid? [True, True] Translation: X:579.68, Y:-29.23, Z:3.13 [[ 9.99979207e-01 -2.97046524e-03 -5.72380883e-03 5.79676763e+02] [ 2.97238979e-03 9.99995529e-01 3.27758014e-04 -2.92261352e+01] [ 5.72280965e-03 -3.44764590e-04 9.99983565e-01 3.12657468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.700714057 meters Centerline goodness : 0.984586 with order 1 Centerline is valid? [True, True] Translation: X:579.74, Y:-29.24, Z:3.13 [[ 9.99966782e-01 -5.80287549e-03 -5.72380883e-03 5.79735777e+02] [ 5.80484626e-03 9.99983098e-01 3.27758014e-04 -2.92366504e+01] [ 5.72181015e-03 -3.60972957e-04 9.99983565e-01 3.12736608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.760714057 meters Centerline goodness : 0.986570 with order 1 Centerline is valid? [True, True] Translation: X:579.80, Y:-29.24, Z:3.12 [[ 9.99771425e-01 -2.05994092e-02 -5.72382253e-03 5.79796646e+02] [ 2.06016198e-02 9.99787710e-01 3.27518713e-04 -2.92405523e+01] [ 5.71586073e-03 -4.45363866e-04 9.99983565e-01 3.12133459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.820714057 meters Centerline goodness : 0.985864 with order 1 Centerline is valid? [True, True] Translation: X:579.86, Y:-29.25, Z:3.13 [[ 9.99871223e-01 -1.49924951e-02 -5.72382253e-03 5.79858081e+02] [ 1.49946144e-02 9.99887521e-01 3.27518713e-04 -2.92472320e+01] [ 5.71826839e-03 -4.13303047e-04 9.99983565e-01 3.12614699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.880714057 meters Centerline goodness : 0.985406 with order 1 Centerline is valid? [True, True] Translation: X:579.92, Y:-29.25, Z:3.13 [[ 9.99887968e-01 -1.38307630e-02 -5.72379466e-03 5.79919457e+02] [ 1.38328661e-02 9.99904268e-01 3.28005051e-04 -2.92525961e+01] [ 5.71871014e-03 -4.07144790e-04 9.99983565e-01 3.12855257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.940714057 meters Centerline goodness : 0.990521 with order 1 Centerline is valid? [True, True] Translation: X:579.98, Y:-29.25, Z:3.12 [[ 9.99757209e-01 -2.12781798e-02 -5.72377415e-03 5.79981798e+02] [ 2.12804063e-02 9.99773493e-01 3.28362472e-04 -2.92538732e+01] [ 5.71549072e-03 -4.50086988e-04 9.99983565e-01 3.12335623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.000714057 meters Centerline goodness : 0.990481 with order 1 Centerline is valid? [True, True] Translation: X:580.04, Y:-29.26, Z:3.12 [[ 9.99669034e-01 -2.50810845e-02 -5.72374094e-03 5.80044314e+02] [ 2.50833762e-02 9.99685309e-01 3.28940338e-04 -2.92554212e+01] [ 5.71368955e-03 -4.72402217e-04 9.99983565e-01 3.12386723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.060714057 meters Centerline goodness : 0.989743 with order 1 Centerline is valid? [True, True] Translation: X:580.11, Y:-29.26, Z:3.12 [[ 9.99521684e-01 -3.03914982e-02 -5.72371713e-03 5.80106994e+02] [ 3.03938787e-02 9.99537945e-01 3.29354099e-04 -2.92576577e+01] [ 5.71106290e-03 -5.03162528e-04 9.99983565e-01 3.12377584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.120714057 meters Centerline goodness : 0.981982 with order 1 Centerline is valid? [True, True] Translation: X:580.17, Y:-29.27, Z:3.13 [[ 9.99672349e-01 -2.49486167e-02 -5.72368098e-03 5.80167908e+02] [ 2.49509122e-02 9.99688623e-01 3.29981246e-04 -2.92739390e+01] [ 5.71366618e-03 -4.72684189e-04 9.99983565e-01 3.12808731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.180714057 meters Centerline goodness : 0.990887 with order 1 Centerline is valid? [True, True] Translation: X:580.23, Y:-29.26, Z:3.12 [[ 9.99231857e-01 -3.87677264e-02 -5.72365688e-03 5.80231295e+02] [ 3.87702490e-02 9.99248097e-01 3.30398683e-04 -2.92605321e+01] [ 5.70654444e-03 -5.52052492e-04 9.99983565e-01 3.12272042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.240714057 meters Centerline goodness : 0.989221 with order 1 Centerline is valid? [True, True] Translation: X:580.29, Y:-29.26, Z:3.12 [[ 9.99218225e-01 -3.91175135e-02 -5.72356310e-03 5.80293819e+02] [ 3.91200509e-02 9.99234463e-01 3.32015347e-04 -2.92588896e+01] [ 5.70619388e-03 -5.55661866e-04 9.99983565e-01 3.12066181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.300714057 meters Centerline goodness : 0.986691 with order 1 Centerline is valid? [True, True] Translation: X:580.36, Y:-29.26, Z:3.13 [[ 9.99514970e-01 -3.06115236e-02 -5.72349608e-03 5.80356802e+02] [ 3.06139293e-02 9.99531228e-01 3.33166660e-04 -2.92643962e+01] [ 5.71061433e-03 -5.08223769e-04 9.99983565e-01 3.13219495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.360714057 meters Centerline goodness : 0.986280 with order 1 Centerline is valid? [True, True] Translation: X:580.42, Y:-29.26, Z:3.13 [[ 9.99662790e-01 -2.53288177e-02 -5.72345212e-03 5.80419495e+02] [ 2.53311418e-02 9.99679059e-01 3.33920153e-04 -2.92619605e+01] [ 5.71315743e-03 -4.78789129e-04 9.99983565e-01 3.13217252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.420714057 meters Centerline goodness : 0.990040 with order 1 Centerline is valid? [True, True] Translation: X:580.48, Y:-29.26, Z:3.13 [[ 9.99803642e-01 -1.89715391e-02 -5.72340594e-03 5.80481368e+02] [ 1.89737641e-02 9.99819926e-01 3.34709873e-04 -2.92591151e+01] [ 5.71602534e-03 -4.43238704e-04 9.99983565e-01 3.12649977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.480714057 meters Centerline goodness : 0.985394 with order 1 Centerline is valid? [True, True] Translation: X:580.54, Y:-29.27, Z:3.13 [[ 9.99983432e-01 6.15817815e-04 -5.72336086e-03 5.80542964e+02] [-6.13907769e-04 9.99999755e-01 3.35478849e-04 -2.92653103e+01] [ 5.72356606e-03 -3.31959675e-04 9.99983565e-01 3.13413891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5407140570001 meters Centerline goodness : 0.990011 with order 1 Centerline is valid? [True, True] Translation: X:580.60, Y:-29.26, Z:3.13 [[ 9.99968019e-01 5.58603838e-03 -5.72333356e-03 5.80601298e+02] [-5.58420683e-03 9.99984352e-01 3.35944012e-04 -2.92570246e+01] [ 5.72512060e-03 -3.03972990e-04 9.99983565e-01 3.12844971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.600714057 meters Centerline goodness : 0.989738 with order 1 Centerline is valid? [True, True] Translation: X:580.66, Y:-29.26, Z:3.13 [[ 9.99848595e-01 1.64325635e-02 -5.72338317e-03 5.80659566e+02] [-1.64309141e-02 9.99864947e-01 3.35096610e-04 -2.92590275e+01] [ 5.72811671e-03 -2.41005457e-04 9.99983565e-01 3.12948694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6607140570001 meters Centerline goodness : 0.990170 with order 1 Centerline is valid? [True, True] Translation: X:580.72, Y:-29.26, Z:3.13 [[ 9.99729574e-01 2.25393320e-02 -5.72341304e-03 5.80716282e+02] [-2.25377854e-02 9.99745936e-01 3.34585643e-04 -2.92624489e+01] [ 5.72950027e-03 -2.05502107e-04 9.99983565e-01 3.12838540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.720714057 meters Centerline goodness : 0.989790 with order 1 Centerline is valid? [True, True] Translation: X:580.77, Y:-29.27, Z:3.13 [[ 9.99655643e-01 2.56093070e-02 -5.72345400e-03 5.80773572e+02] [-2.56078147e-02 9.99672010e-01 3.33883662e-04 -2.92681287e+01] [ 5.73012729e-03 -1.87203538e-04 9.99983565e-01 3.12723531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.780714057 meters Centerline goodness : 0.990073 with order 1 Centerline is valid? [True, True] Translation: X:580.83, Y:-29.27, Z:3.13 [[ 9.99652341e-01 2.57378987e-02 -5.72348999e-03 5.80830074e+02] [-2.57364120e-02 9.99668708e-01 3.33265455e-04 -2.92743794e+01] [ 5.73017140e-03 -1.85847495e-04 9.99983565e-01 3.12647899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.840714057 meters Centerline goodness : 0.990299 with order 1 Centerline is valid? [True, True] Translation: X:580.89, Y:-29.28, Z:3.13 [[ 9.99668638e-01 2.50969261e-02 -5.72353122e-03 5.80888727e+02] [-2.50954329e-02 9.99685005e-01 3.32555866e-04 -2.92846870e+01] [ 5.73007447e-03 -1.88811176e-04 9.99983565e-01 3.12711100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.900714057 meters Centerline goodness : 0.989273 with order 1 Centerline is valid? [True, True] Translation: X:580.95, Y:-29.29, Z:3.13 [[ 9.99639443e-01 2.62340241e-02 -5.72355469e-03 5.80945706e+02] [-2.62325519e-02 9.99655812e-01 3.32151526e-04 -2.92945883e+01] [ 5.73029838e-03 -1.81888321e-04 9.99983565e-01 3.12776163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.960714057 meters Centerline goodness : 0.982269 with order 1 Centerline is valid? [True, True] Translation: X:581.00, Y:-29.32, Z:3.14 [[ 9.99201078e-01 3.95530828e-02 -5.72358350e-03 5.81002781e+02] [-3.95518317e-02 9.99217465e-01 3.31654317e-04 -2.93165870e+01] [ 5.73222254e-03 -1.05011140e-04 9.99983565e-01 3.13627706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.020714057 meters Centerline goodness : 0.979899 with order 1 Centerline is valid? [True, True] Translation: X:581.06, Y:-29.32, Z:3.13 [[ 9.99455751e-01 3.24875550e-02 -5.72362733e-03 5.81060986e+02] [-3.24861924e-02 9.99472130e-01 3.30896065e-04 -2.93165100e+01] [ 5.73135600e-03 -1.44777116e-04 9.99983565e-01 3.13276194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.080714057 meters Centerline goodness : 0.989809 with order 1 Centerline is valid? [True, True] Translation: X:581.12, Y:-29.33, Z:3.13 [[ 9.99603489e-01 2.75699945e-02 -5.72365632e-03 5.81118802e+02] [-2.75685542e-02 9.99619861e-01 3.30393885e-04 -2.93311550e+01] [ 5.73058949e-03 -1.72469951e-04 9.99983565e-01 3.12646384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.140714057 meters Centerline goodness : 0.984020 with order 1 Centerline is valid? [True, True] Translation: X:581.17, Y:-29.35, Z:3.14 [[ 9.99520955e-01 3.04154401e-02 -5.72368528e-03 5.81174723e+02] [-3.04140494e-02 9.99537331e-01 3.29891381e-04 -2.93512899e+01] [ 5.73107091e-03 -1.55652901e-04 9.99983565e-01 3.13628201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.200714057 meters Centerline goodness : 0.989970 with order 1 Centerline is valid? [True, True] Translation: X:581.23, Y:-29.36, Z:3.13 [[ 9.99901793e-01 1.27923132e-02 -5.72372003e-03 5.81233116e+02] [-1.27906374e-02 9.99918142e-01 3.29287463e-04 -2.93564615e+01] [ 5.72746385e-03 -2.56045097e-04 9.99983565e-01 3.12991476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.260714057 meters Centerline goodness : 0.980979 with order 1 Centerline is valid? [True, True] Translation: X:581.29, Y:-29.37, Z:3.14 [[ 9.99978441e-01 3.21816398e-03 -5.72374599e-03 5.81290175e+02] [-3.21633433e-03 9.99994774e-01 3.28835547e-04 -2.93682991e+01] [ 5.72477432e-03 -3.10418977e-04 9.99983565e-01 3.13925245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.320714057 meters Centerline goodness : 0.983996 with order 1 Centerline is valid? [True, True] Translation: X:581.35, Y:-29.38, Z:3.14 [[ 9.99977065e-01 -3.62046825e-03 -5.72377699e-03 5.81348549e+02] [ 3.62240647e-03 9.99993385e-01 3.28295035e-04 -2.93847042e+01] [ 5.72255055e-03 -3.49021353e-04 9.99983565e-01 3.13984758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.380714057 meters Centerline goodness : 0.988911 with order 1 Centerline is valid? [True, True] Translation: X:581.41, Y:-29.39, Z:3.13 [[ 9.99812407e-01 -1.85037696e-02 -5.72380054e-03 5.81408373e+02] [ 1.85059481e-02 9.99828697e-01 3.27883923e-04 -2.93858502e+01] [ 5.71675295e-03 -4.33746770e-04 9.99983565e-01 3.12966644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.440714057 meters Centerline goodness : 0.978891 with order 1 Centerline is valid? [True, True] Translation: X:581.47, Y:-29.39, Z:3.14 [[ 9.99763309e-01 -2.09896135e-02 -5.72381354e-03 5.81468825e+02] [ 2.09918312e-02 9.99779594e-01 3.27656921e-04 -2.93888456e+01] [ 5.71567458e-03 -4.47732695e-04 9.99983565e-01 3.13844070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.500714057 meters Centerline goodness : 0.989813 with order 1 Centerline is valid? [True, True] Translation: X:581.53, Y:-29.39, Z:3.13 [[ 9.99761512e-01 -2.10750513e-02 -5.72380586e-03 5.81529877e+02] [ 2.10772713e-02 9.99777796e-01 3.27790996e-04 -2.93929987e+01] [ 5.71562579e-03 -4.48355030e-04 9.99983565e-01 3.12920564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.560714057 meters Centerline goodness : 0.985590 with order 1 Centerline is valid? [True, True] Translation: X:581.59, Y:-29.40, Z:3.14 [[ 9.99899672e-01 -1.29570317e-02 -5.72378750e-03 5.81591861e+02] [ 1.29591211e-02 9.99915973e-01 3.28111246e-04 -2.93962990e+01] [ 5.71905520e-03 -4.02253583e-04 9.99983565e-01 3.14350954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.620714057 meters Centerline goodness : 0.984736 with order 1 Centerline is valid? [True, True] Translation: X:581.65, Y:-29.40, Z:3.14 [[ 9.99919585e-01 -1.13164142e-02 -5.72376206e-03 5.81654410e+02] [ 1.13184794e-02 9.99935890e-01 3.28554429e-04 -2.93979921e+01] [ 5.71967705e-03 -3.93312292e-04 9.99983565e-01 3.14204688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.680714057 meters Centerline goodness : 0.980011 with order 1 Centerline is valid? [True, True] Translation: X:581.72, Y:-29.39, Z:3.14 [[ 9.99934128e-01 -9.94882662e-03 -5.72373272e-03 5.81715341e+02] [ 9.95087247e-03 9.99950435e-01 3.29064711e-04 -2.93910245e+01] [ 5.72017522e-03 -3.85999169e-04 9.99983565e-01 3.13860104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.740714057 meters Centerline goodness : 0.989671 with order 1 Centerline is valid? [True, True] Translation: X:581.78, Y:-29.39, Z:3.13 [[ 9.99926283e-01 -1.07083289e-02 -5.72371496e-03 5.81776474e+02] [ 1.07103889e-02 9.99942588e-01 3.29373467e-04 -2.93904677e+01] [ 5.71985931e-03 -3.90652400e-04 9.99983565e-01 3.13091085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.800714057 meters Centerline goodness : 0.980723 with order 1 Centerline is valid? [True, True] Translation: X:581.84, Y:-29.39, Z:3.14 [[ 9.99941668e-01 -9.15963719e-03 -5.72370689e-03 5.81837450e+02] [ 9.16167273e-03 9.99957977e-01 3.29513625e-04 -2.93876868e+01] [ 5.72044813e-03 -3.81933133e-04 9.99983565e-01 3.14027074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.860714057 meters Centerline goodness : 0.989920 with order 1 Centerline is valid? [True, True] Translation: X:581.90, Y:-29.39, Z:3.13 [[ 9.99933115e-01 -1.00501005e-02 -5.72372008e-03 5.81898901e+02] [ 1.00521492e-02 9.99949422e-01 3.29284404e-04 -2.93868382e+01] [ 5.72012124e-03 -3.86798068e-04 9.99983565e-01 3.13160317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.920714057 meters Centerline goodness : 0.981637 with order 1 Centerline is valid? [True, True] Translation: X:581.96, Y:-29.38, Z:3.14 [[ 9.99960926e-01 -6.73694370e-03 -5.72370428e-03 5.81960361e+02] [ 6.73893998e-03 9.99977239e-01 3.29558813e-04 -2.93818608e+01] [ 5.72135378e-03 -3.68117636e-04 9.99983565e-01 3.13626768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.980714057 meters Centerline goodness : 0.984616 with order 1 Centerline is valid? [True, True] Translation: X:582.02, Y:-29.39, Z:3.14 [[ 9.99957473e-01 7.23131722e-03 -5.72372362e-03 5.82019871e+02] [-7.22955092e-03 9.99973812e-01 3.29222491e-04 -2.93893152e+01] [ 5.72595444e-03 -2.87828539e-04 9.99983565e-01 3.14333850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0407140570001 meters Centerline goodness : 0.981805 with order 1 Centerline is valid? [True, True] Translation: X:582.08, Y:-29.38, Z:3.14 [[ 9.99983217e-01 8.96922672e-04 -5.72373170e-03 5.82079843e+02] [-8.95053709e-04 9.99999545e-01 3.29081955e-04 -2.93814373e+01] [ 5.72402426e-03 -3.23953384e-04 9.99983565e-01 3.13924225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.100714057 meters Centerline goodness : 0.983923 with order 1 Centerline is valid? [True, True] Translation: X:582.14, Y:-29.39, Z:3.14 [[ 9.99854428e-01 1.60736169e-02 -5.72373964e-03 5.82136805e+02] [-1.60719968e-02 9.99870783e-01 3.28943799e-04 -2.93926974e+01] [ 5.72828735e-03 -2.36903989e-04 9.99983565e-01 3.14423635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1607140570001 meters Centerline goodness : 0.984002 with order 1 Centerline is valid? [True, True] Translation: X:582.19, Y:-29.39, Z:3.14 [[ 9.99766723e-01 2.08263903e-02 -5.72377930e-03 5.82194592e+02] [-2.08248518e-02 9.99783085e-01 3.28252258e-04 -2.93942798e+01] [ 5.72937404e-03 -2.08978829e-04 9.99983565e-01 3.14005991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.220714057 meters Centerline goodness : 0.982470 with order 1 Centerline is valid? [True, True] Translation: X:582.25, Y:-29.38, Z:3.14 [[ 9.99876097e-01 1.46638639e-02 -5.72381089e-03 5.82254357e+02] [-1.46622278e-02 9.99892450e-01 3.27700560e-04 -2.93848810e+01] [ 5.72800065e-03 -2.43736138e-04 9.99983565e-01 3.14051415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.280714057 meters Centerline goodness : 0.982713 with order 1 Centerline is valid? [True, True] Translation: X:582.31, Y:-29.39, Z:3.14 [[ 9.99775318e-01 2.04096122e-02 -5.72382648e-03 5.82312792e+02] [-2.04080716e-02 9.99791680e-01 3.27427951e-04 -2.93884147e+01] [ 5.72931677e-03 -2.10542123e-04 9.99983565e-01 3.13949060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.340714057 meters Centerline goodness : 0.990142 with order 1 Centerline is valid? [True, True] Translation: X:582.37, Y:-29.39, Z:3.13 [[ 9.99594198e-01 2.79047827e-02 -5.72385951e-03 5.82371583e+02] [-2.79033682e-02 9.99610572e-01 3.26849553e-04 -2.93945961e+01] [ 5.73075114e-03 -1.67001958e-04 9.99983565e-01 3.13050749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.400714057 meters Centerline goodness : 0.979749 with order 1 Centerline is valid? [True, True] Translation: X:582.43, Y:-29.40, Z:3.14 [[ 9.99368780e-01 3.50610709e-02 -5.72387553e-03 5.82430069e+02] [-3.50597753e-02 9.99385164e-01 3.26568800e-04 -2.94041092e+01] [ 5.73180613e-03 -1.25684873e-04 9.99983565e-01 3.14040515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.460714057 meters Centerline goodness : 0.985020 with order 1 Centerline is valid? [True, True] Translation: X:582.49, Y:-29.42, Z:3.14 [[ 9.99514210e-01 3.06362852e-02 -5.72388326e-03 5.82488917e+02] [-3.06349178e-02 9.99530587e-01 3.26433236e-04 -2.94181737e+01] [ 5.73119710e-03 -1.50923964e-04 9.99983565e-01 3.13937369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.520714057 meters Centerline goodness : 0.990892 with order 1 Centerline is valid? [True, True] Translation: X:582.55, Y:-29.42, Z:3.13 [[ 9.99888511e-01 1.37913889e-02 -5.72389977e-03 5.82547477e+02] [-1.37897475e-02 9.99904864e-01 3.26143493e-04 -2.94218056e+01] [ 5.72785319e-03 -2.47176000e-04 9.99983565e-01 3.13257343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.580714057 meters Centerline goodness : 0.987012 with order 1 Centerline is valid? [True, True] Translation: X:582.61, Y:-29.44, Z:3.14 [[ 9.99980883e-01 2.33898843e-03 -5.72392642e-03 5.82605650e+02] [-2.33716246e-03 9.99997216e-01 3.25675045e-04 -2.94358805e+01] [ 5.72467223e-03 -3.12291073e-04 9.99983565e-01 3.13666682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.640714057 meters Centerline goodness : 0.986646 with order 1 Centerline is valid? [True, True] Translation: X:582.66, Y:-29.45, Z:3.14 [[ 9.99981067e-01 2.25868340e-03 -5.72395245e-03 5.82663090e+02] [-2.25685873e-03 9.99997400e-01 3.25216843e-04 -2.94459784e+01] [ 5.72467214e-03 -3.12292534e-04 9.99983565e-01 3.13598971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.700714057 meters Centerline goodness : 0.986749 with order 1 Centerline is valid? [True, True] Translation: X:582.72, Y:-29.45, Z:3.13 [[ 9.99976363e-01 -3.80915478e-03 -5.72398494e-03 5.82721488e+02] [ 3.81107526e-03 9.99992685e-01 3.24644038e-04 -2.94501950e+01] [ 5.72270645e-03 -3.46450902e-04 9.99983565e-01 3.13417983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.760714057 meters Centerline goodness : 0.990677 with order 1 Centerline is valid? [True, True] Translation: X:582.78, Y:-29.45, Z:3.13 [[ 9.99972398e-01 4.73691299e-03 -5.72400412e-03 5.82781380e+02] [-4.73513401e-03 9.99988737e-01 3.24305608e-04 -2.94487591e+01] [ 5.72547585e-03 -2.97192730e-04 9.99983565e-01 3.13263600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.820714057 meters Centerline goodness : 0.980802 with order 1 Centerline is valid? [True, True] Translation: X:582.84, Y:-29.45, Z:3.14 [[ 9.99841791e-01 1.68412913e-02 -5.72401736e-03 5.82839332e+02] [-1.68397116e-02 9.99858149e-01 3.24071644e-04 -2.94504799e+01] [ 5.72866319e-03 -2.27629572e-04 9.99983565e-01 3.14296351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.880714057 meters Centerline goodness : 0.982846 with order 1 Centerline is valid? [True, True] Translation: X:582.90, Y:-29.45, Z:3.14 [[ 9.99731879e-01 2.24367115e-02 -5.72404760e-03 5.82897729e+02] [-2.24352264e-02 9.99748246e-01 3.23536595e-04 -2.94498909e+01] [ 5.72986565e-03 -1.95029544e-04 9.99983565e-01 3.14013764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.940714057 meters Centerline goodness : 0.990574 with order 1 Centerline is valid? [True, True] Translation: X:582.96, Y:-29.46, Z:3.14 [[ 9.99751412e-01 2.15487592e-02 -5.72410316e-03 5.82957404e+02] [-2.15472652e-02 9.99767779e-01 3.22550593e-04 -2.94561582e+01] [ 5.72972447e-03 -1.99131642e-04 9.99983565e-01 3.13649902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.000714057 meters Centerline goodness : 0.991005 with order 1 Centerline is valid? [True, True] Translation: X:583.01, Y:-29.46, Z:3.14 [[ 9.99807222e-01 1.87817491e-02 -5.72411853e-03 5.83014547e+02] [-1.87802113e-02 9.99823584e-01 3.22277723e-04 -2.94625269e+01] [ 5.72916164e-03 -2.14715439e-04 9.99983565e-01 3.13664309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.060714057 meters Centerline goodness : 0.990352 with order 1 Centerline is valid? [True, True] Translation: X:583.07, Y:-29.47, Z:3.13 [[ 9.99908468e-01 1.22592381e-02 -5.72415715e-03 5.83072260e+02] [-1.22575976e-02 9.99924821e-01 3.21590311e-04 -2.94706819e+01] [ 5.72766926e-03 -2.51396461e-04 9.99983565e-01 3.13478378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.120714057 meters Centerline goodness : 0.990170 with order 1 Centerline is valid? [True, True] Translation: X:583.13, Y:-29.48, Z:3.13 [[ 9.99967565e-01 5.66588261e-03 -5.72419203e-03 5.83129926e+02] [-5.66413786e-03 9.99983907e-01 3.20968278e-04 -2.94789162e+01] [ 5.72591848e-03 -2.88535255e-04 9.99983565e-01 3.13329312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.180714057 meters Centerline goodness : 0.990355 with order 1 Centerline is valid? [True, True] Translation: X:583.19, Y:-29.49, Z:3.13 [[ 9.99976461e-01 3.78290061e-03 -5.72422058e-03 5.83188340e+02] [-3.78112800e-03 9.99992800e-01 3.20458150e-04 -2.94850530e+01] [ 5.72539163e-03 -2.98806596e-04 9.99983565e-01 3.13489987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.240714057 meters Centerline goodness : 0.989917 with order 1 Centerline is valid? [True, True] Translation: X:583.25, Y:-29.49, Z:3.14 [[ 9.99975896e-01 3.92940332e-03 -5.72424358e-03 5.83246658e+02] [-3.92763545e-03 9.99992236e-01 3.20046889e-04 -2.94912169e+01] [ 5.72545673e-03 -2.97556433e-04 9.99983565e-01 3.13633527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.300714057 meters Centerline goodness : 0.989912 with order 1 Centerline is valid? [True, True] Translation: X:583.30, Y:-29.50, Z:3.14 [[ 9.99975321e-01 4.07306088e-03 -5.72426620e-03 5.83304394e+02] [-4.07129768e-03 9.99991661e-01 3.19641743e-04 -2.94972119e+01] [ 5.72552039e-03 -2.96328663e-04 9.99983565e-01 3.13700135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.360714057 meters Centerline goodness : 0.983985 with order 1 Centerline is valid? [True, True] Translation: X:583.36, Y:-29.51, Z:3.15 [[ 9.99966592e-01 5.83494838e-03 -5.72429401e-03 5.83362026e+02] [-5.83321682e-03 9.99982936e-01 3.19142945e-04 -2.95124319e+01] [ 5.72605851e-03 -2.85741235e-04 9.99983565e-01 3.14700227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.420714057 meters Centerline goodness : 0.984360 with order 1 Centerline is valid? [True, True] Translation: X:583.42, Y:-29.52, Z:3.15 [[ 9.99972758e-01 4.65995532e-03 -5.72432157e-03 5.83419153e+02] [-4.65820738e-03 9.99989100e-01 3.18647856e-04 -2.95193611e+01] [ 5.72574406e-03 -2.91974098e-04 9.99983565e-01 3.14911234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.480714057 meters Centerline goodness : 0.980973 with order 1 Centerline is valid? [True, True] Translation: X:583.48, Y:-29.52, Z:3.14 [[ 9.99975129e-01 -4.11979974e-03 -5.72435969e-03 5.83477256e+02] [ 4.12168717e-03 9.99991455e-01 3.17961526e-04 -2.95175265e+01] [ 5.72300084e-03 -3.41547638e-04 9.99983565e-01 3.14338987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5407140570001 meters Centerline goodness : 0.981137 with order 1 Centerline is valid? [True, True] Translation: X:583.54, Y:-29.52, Z:3.14 [[ 9.99973136e-01 -4.57800103e-03 -5.72438878e-03 5.83536076e+02] [ 4.57989296e-03 9.99989462e-01 3.17436970e-04 -2.95209462e+01] [ 5.72287523e-03 -3.43645530e-04 9.99983565e-01 3.14200789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.600714057 meters Centerline goodness : 0.982028 with order 1 Centerline is valid? [True, True] Translation: X:583.60, Y:-29.52, Z:3.14 [[ 9.99980658e-01 2.43184284e-03 -5.72448933e-03 5.83595549e+02] [-2.43007581e-03 9.99996998e-01 3.15613208e-04 -2.95223658e+01] [ 5.72523967e-03 -3.01696161e-04 9.99983565e-01 3.14488153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6607140570001 meters Centerline goodness : 0.989377 with order 1 Centerline is valid? [True, True] Translation: X:583.65, Y:-29.52, Z:3.14 [[ 9.99950243e-01 8.16955622e-03 -5.72450477e-03 5.83654193e+02] [-8.16788458e-03 9.99966593e-01 3.15332981e-04 -2.95248858e+01] [ 5.72688966e-03 -2.68560197e-04 9.99983565e-01 3.14048720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.720714057 meters Centerline goodness : 0.985806 with order 1 Centerline is valid? [True, True] Translation: X:583.71, Y:-29.53, Z:3.15 [[ 9.99713180e-01 2.32548295e-02 -5.72460931e-03 5.83710674e+02] [-2.32534156e-02 9.99729554e-01 3.13423477e-04 -2.95319516e+01] [ 5.73034972e-03 -1.80216862e-04 9.99983565e-01 3.15402263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.780714057 meters Centerline goodness : 0.984096 with order 1 Centerline is valid? [True, True] Translation: X:583.77, Y:-29.53, Z:3.15 [[ 9.99803076e-01 1.90009994e-02 -5.72470117e-03 5.83769879e+02] [-1.89995255e-02 9.99819444e-01 3.11736665e-04 -2.95306816e+01] [ 5.72959085e-03 -2.02908671e-04 9.99983565e-01 3.14595348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.840714057 meters Centerline goodness : 0.982588 with order 1 Centerline is valid? [True, True] Translation: X:583.83, Y:-29.54, Z:3.14 [[ 9.99932479e-01 1.01126299e-02 -5.72472322e-03 5.83828540e+02] [-1.01110129e-02 9.99948834e-01 3.11331284e-04 -2.95368875e+01] [ 5.72757868e-03 -2.53427513e-04 9.99983565e-01 3.14362677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.900714057 meters Centerline goodness : 0.981687 with order 1 Centerline is valid? [True, True] Translation: X:583.89, Y:-29.54, Z:3.15 [[ 9.99982752e-01 1.31283134e-03 -5.72475343e-03 5.83887035e+02] [-1.31107365e-03 9.99999092e-01 3.10774616e-04 -2.95414451e+01] [ 5.72515623e-03 -3.03263682e-04 9.99983565e-01 3.14647229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.960714057 meters Centerline goodness : 0.980757 with order 1 Centerline is valid? [True, True] Translation: X:583.94, Y:-29.55, Z:3.15 [[ 9.99983419e-01 6.23629866e-04 -5.72478429e-03 5.83944268e+02] [-6.21864169e-04 9.99999759e-01 3.10205175e-04 -2.95458319e+01] [ 5.72497636e-03 -3.06639993e-04 9.99983565e-01 3.14914837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.020714057 meters Centerline goodness : 0.981870 with order 1 Centerline is valid? [True, True] Translation: X:584.00, Y:-29.55, Z:3.15 [[ 9.99980725e-01 -2.40319035e-03 -5.72482600e-03 5.84002503e+02] [ 2.40500109e-03 9.99997060e-01 3.09433466e-04 -2.95504996e+01] [ 5.72406554e-03 -3.23195715e-04 9.99983565e-01 3.15123921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.080714057 meters Centerline goodness : 0.989224 with order 1 Centerline is valid? [True, True] Translation: X:584.06, Y:-29.55, Z:3.15 [[ 9.99975635e-01 -3.99440889e-03 -5.72485593e-03 5.84061019e+02] [ 3.99624246e-03 9.99991967e-01 3.08878771e-04 -2.95538523e+01] [ 5.72357616e-03 -3.31749158e-04 9.99983565e-01 3.14514133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.140714057 meters Centerline goodness : 0.989378 with order 1 Centerline is valid? [True, True] Translation: X:584.12, Y:-29.56, Z:3.14 [[ 9.99956863e-01 -7.31427393e-03 -5.72487773e-03 5.84120247e+02] [ 7.31615941e-03 9.99973189e-01 3.08474241e-04 -2.95565027e+01] [ 5.72246797e-03 -3.50345052e-04 9.99983565e-01 3.14382800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.200714057 meters Centerline goodness : 0.983757 with order 1 Centerline is valid? [True, True] Translation: X:584.18, Y:-29.57, Z:3.16 [[ 9.99981856e-01 -1.87440957e-03 -5.72488883e-03 5.84180315e+02] [ 1.87620502e-03 9.99998192e-01 3.08268139e-04 -2.95675192e+01] [ 5.72430066e-03 -3.19003611e-04 9.99983565e-01 3.15747964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.260714057 meters Centerline goodness : 0.989572 with order 1 Centerline is valid? [True, True] Translation: X:584.24, Y:-29.56, Z:3.14 [[ 9.99906800e-01 -1.23942688e-02 -5.72488883e-03 5.84239151e+02] [ 1.23962360e-02 9.99923116e-01 3.08268139e-04 -2.95645006e+01] [ 5.72062792e-03 -3.79206481e-04 9.99983565e-01 3.14384324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.320714057 meters Centerline goodness : 0.989580 with order 1 Centerline is valid? [True, True] Translation: X:584.30, Y:-29.57, Z:3.14 [[ 9.99854929e-01 -1.60420105e-02 -5.72490722e-03 5.84299970e+02] [ 1.60440352e-02 9.99871239e-01 3.07926182e-04 -2.95676677e+01] [ 5.71923032e-03 -3.99732125e-04 9.99983565e-01 3.14264267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.380714057 meters Centerline goodness : 0.983553 with order 1 Centerline is valid? [True, True] Translation: X:584.36, Y:-29.58, Z:3.15 [[ 9.99908667e-01 -1.22426442e-02 -5.72489625e-03 5.84360653e+02] [ 1.22446081e-02 9.99924985e-01 3.08129884e-04 -2.95770084e+01] [ 5.72069447e-03 -3.78200853e-04 9.99983565e-01 3.15263101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.440714057 meters Centerline goodness : 0.981122 with order 1 Centerline is valid? [True, True] Translation: X:584.42, Y:-29.57, Z:3.15 [[ 9.99768953e-01 -2.07187445e-02 -5.72488369e-03 5.84421845e+02] [ 2.07208481e-02 9.99785253e-01 3.08363086e-04 -2.95700324e+01] [ 5.71726539e-03 -4.26916285e-04 9.99983565e-01 3.15084515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.500714057 meters Centerline goodness : 0.990165 with order 1 Centerline is valid? [True, True] Translation: X:584.48, Y:-29.57, Z:3.15 [[ 9.99658134e-01 -2.55115926e-02 -5.72486018e-03 5.84483453e+02] [ 2.55137767e-02 9.99674423e-01 3.08798923e-04 -2.95723170e+01] [ 5.71511835e-03 -4.54756160e-04 9.99983565e-01 3.14573993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.560714057 meters Centerline goodness : 0.981090 with order 1 Centerline is valid? [True, True] Translation: X:584.55, Y:-29.57, Z:3.15 [[ 9.99691496e-01 -2.41689492e-02 -5.72483700e-03 5.84545955e+02] [ 2.41711139e-02 9.99707788e-01 3.09228062e-04 -2.95699867e+01] [ 5.71569042e-03 -4.47508351e-04 9.99983565e-01 3.15144650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.620714057 meters Centerline goodness : 0.980368 with order 1 Centerline is valid? [True, True] Translation: X:584.61, Y:-29.59, Z:3.16 [[ 9.99907738e-01 -1.23183681e-02 -5.72480030e-03 5.84605792e+02] [ 1.23203435e-02 9.99924054e-01 3.09906067e-04 -2.95853157e+01] [ 5.72054799e-03 -3.80408980e-04 9.99983565e-01 3.15766467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.680714057 meters Centerline goodness : 0.990536 with order 1 Centerline is valid? [True, True] Translation: X:584.67, Y:-29.57, Z:3.15 [[ 9.99782485e-01 -2.00551485e-02 -5.72478549e-03 5.84667756e+02] [ 2.00572516e-02 9.99798785e-01 3.10179377e-04 -2.95686139e+01] [ 5.71741289e-03 -4.24935372e-04 9.99983565e-01 3.14843595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.740714057 meters Centerline goodness : 0.981948 with order 1 Centerline is valid? [True, True] Translation: X:584.73, Y:-29.56, Z:3.16 [[ 9.99893134e-01 -1.34517107e-02 -5.72477467e-03 5.84729909e+02] [ 1.34537072e-02 9.99909447e-01 3.10379024e-04 -2.95639065e+01] [ 5.72008114e-03 -3.87365298e-04 9.99983565e-01 3.15615503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.800714057 meters Centerline goodness : 0.990931 with order 1 Centerline is valid? [True, True] Translation: X:584.79, Y:-29.56, Z:3.15 [[ 9.99928767e-01 -1.04731788e-02 -5.72475921e-03 5.84790849e+02] [ 1.04751283e-02 9.99945086e-01 3.10663957e-04 -2.95616828e+01] [ 5.72119120e-03 -3.70609415e-04 9.99983565e-01 3.14776716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.860714057 meters Centerline goodness : 0.991121 with order 1 Centerline is valid? [True, True] Translation: X:584.85, Y:-29.56, Z:3.15 [[ 9.99951213e-01 -8.04981958e-03 -5.72475172e-03 5.84852551e+02] [ 8.05173034e-03 9.99967536e-01 3.10801898e-04 -2.95577141e+01] [ 5.72206397e-03 -3.56880891e-04 9.99983565e-01 3.14751878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.920714057 meters Centerline goodness : 0.989947 with order 1 Centerline is valid? [True, True] Translation: X:584.91, Y:-29.55, Z:3.15 [[ 9.99980316e-01 -2.56787865e-03 -5.72474078e-03 5.84913193e+02] [ 2.56970105e-03 9.99996650e-01 3.11003215e-04 -2.95549586e+01] [ 5.72392298e-03 -3.25707966e-04 9.99983565e-01 3.14699404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.980714057 meters Centerline goodness : 0.982826 with order 1 Centerline is valid? [True, True] Translation: X:584.97, Y:-29.55, Z:3.15 [[ 9.99959438e-01 6.95344498e-03 -5.72474078e-03 5.84972296e+02] [-6.95177819e-03 9.99975788e-01 3.11003215e-04 -2.95497865e+01] [ 5.72676472e-03 -2.71193472e-04 9.99983565e-01 3.15359372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0407140570001 meters Centerline goodness : 0.983404 with order 1 Centerline is valid? [True, True] Translation: X:585.03, Y:-29.56, Z:3.16 [[ 9.99707103e-01 2.35145533e-02 -5.72483786e-03 5.85030409e+02] [-2.35131678e-02 9.99723479e-01 3.09205746e-04 -2.95613394e+01] [ 5.73052566e-03 -1.74506107e-04 9.99983565e-01 3.15584630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.100714057 meters Centerline goodness : 0.984072 with order 1 Centerline is valid? [True, True] Translation: X:585.09, Y:-29.56, Z:3.16 [[ 9.99631366e-01 2.65397362e-02 -5.72487150e-03 5.85087994e+02] [-2.65384039e-02 9.99647747e-01 3.08581765e-04 -2.95632310e+01] [ 5.73104457e-03 -1.56539059e-04 9.99983565e-01 3.15733716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1607140570001 meters Centerline goodness : 0.983213 with order 1 Centerline is valid? [True, True] Translation: X:585.15, Y:-29.57, Z:3.16 [[ 9.99517495e-01 3.05287214e-02 -5.72490445e-03 5.85145779e+02] [-3.05274579e-02 9.99533881e-01 3.07969242e-04 -2.95706251e+01] [ 5.73163787e-03 -1.33053866e-04 9.99983565e-01 3.15739972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.220714057 meters Centerline goodness : 0.983373 with order 1 Centerline is valid? [True, True] Translation: X:585.20, Y:-29.58, Z:3.15 [[ 9.99664548e-01 2.52589709e-02 -5.72493631e-03 5.85204513e+02] [-2.52576244e-02 9.99680928e-01 3.07375819e-04 -2.95751674e+01] [ 5.73087364e-03 -1.62674418e-04 9.99983565e-01 3.15158677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.280714057 meters Centerline goodness : 0.982455 with order 1 Centerline is valid? [True, True] Translation: X:585.26, Y:-29.58, Z:3.15 [[ 9.99747444e-01 2.17318500e-02 -5.72496164e-03 5.85262542e+02] [-2.17304485e-02 9.99763819e-01 3.06903366e-04 -2.95797472e+01] [ 5.73027909e-03 -1.82419872e-04 9.99983565e-01 3.14937405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.340714057 meters Centerline goodness : 0.990395 with order 1 Centerline is valid? [True, True] Translation: X:585.32, Y:-29.57, Z:3.15 [[ 9.99897024e-01 1.31592816e-02 -5.72498694e-03 5.85321584e+02] [-1.31577425e-02 9.99913386e-01 3.06430635e-04 -2.95744791e+01] [ 5.72852348e-03 -2.31071176e-04 9.99983565e-01 3.14549284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.400714057 meters Centerline goodness : 0.991416 with order 1 Centerline is valid? [True, True] Translation: X:585.38, Y:-29.58, Z:3.15 [[ 9.99843096e-01 1.67632992e-02 -5.72501200e-03 5.85379895e+02] [-1.67618217e-02 9.99859464e-01 3.05961646e-04 -2.95814865e+01] [ 5.72933636e-03 -2.09952009e-04 9.99983565e-01 3.14778571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.460714057 meters Centerline goodness : 0.990234 with order 1 Centerline is valid? [True, True] Translation: X:585.44, Y:-29.59, Z:3.15 [[ 9.99805501e-01 1.88728612e-02 -5.72503397e-03 5.85437981e+02] [-1.88714206e-02 9.99821872e-01 3.05550113e-04 -2.95896478e+01] [ 5.72978079e-03 -1.97451160e-04 9.99983565e-01 3.14903950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.520714057 meters Centerline goodness : 0.990847 with order 1 Centerline is valid? [True, True] Translation: X:585.50, Y:-29.60, Z:3.15 [[ 9.99829568e-01 1.75515799e-02 -5.72506688e-03 5.85495865e+02] [-1.75501212e-02 9.99845938e-01 3.04932259e-04 -2.95992716e+01] [ 5.72953691e-03 -2.04404671e-04 9.99983565e-01 3.14909774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.580714057 meters Centerline goodness : 0.991529 with order 1 Centerline is valid? [True, True] Translation: X:585.55, Y:-29.61, Z:3.15 [[ 9.99895455e-01 1.32778923e-02 -5.72509974e-03 5.85552698e+02] [-1.32763672e-02 9.99911819e-01 3.04314077e-04 -2.96090939e+01] [ 5.72863554e-03 -2.28273736e-04 9.99983565e-01 3.14947808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.640714057 meters Centerline goodness : 0.991065 with order 1 Centerline is valid? [True, True] Translation: X:585.61, Y:-29.62, Z:3.15 [[ 9.99924064e-01 1.09127582e-02 -5.72513741e-03 5.85611593e+02] [-1.09111984e-02 9.99940425e-01 3.03603624e-04 -2.96180350e+01] [ 5.72810949e-03 -2.41112460e-04 9.99983565e-01 3.14932434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.700714057 meters Centerline goodness : 0.980492 with order 1 Centerline is valid? [True, True] Translation: X:585.67, Y:-29.63, Z:3.16 [[ 9.99877606e-01 1.45600800e-02 -5.72515835e-03 5.85670055e+02] [-1.45585822e-02 9.99893972e-01 3.03208240e-04 -2.96279234e+01] [ 5.72896606e-03 -2.19820941e-04 9.99983565e-01 3.15871764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.760714057 meters Centerline goodness : 0.980458 with order 1 Centerline is valid? [True, True] Translation: X:585.73, Y:-29.63, Z:3.16 [[ 9.99897109e-01 1.31527336e-02 -5.72517908e-03 5.85728970e+02] [-1.31512150e-02 9.99913473e-01 3.02816258e-04 -2.96343578e+01] [ 5.72866656e-03 -2.27492040e-04 9.99983565e-01 3.16282524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.820714057 meters Centerline goodness : 0.990303 with order 1 Centerline is valid? [True, True] Translation: X:585.79, Y:-29.64, Z:3.15 [[ 9.99941799e-01 9.14444639e-03 -5.72520087e-03 5.85788480e+02] [-9.14286457e-03 9.99958157e-01 3.02403866e-04 -2.96398009e+01] [ 5.72772662e-03 -2.50041529e-04 9.99983565e-01 3.15238120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.880714057 meters Centerline goodness : 0.981232 with order 1 Centerline is valid? [True, True] Translation: X:585.85, Y:-29.65, Z:3.16 [[ 9.99884686e-01 1.40654636e-02 -5.72521532e-03 5.85846470e+02] [-1.40639638e-02 9.99901052e-01 3.02130010e-04 -2.96481805e+01] [ 5.72889842e-03 -2.21575949e-04 9.99983565e-01 3.16089227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.940714057 meters Centerline goodness : 0.982079 with order 1 Centerline is valid? [True, True] Translation: X:585.91, Y:-29.66, Z:3.16 [[ 9.99821042e-01 1.80306721e-02 -5.72522892e-03 5.85905326e+02] [-1.80292387e-02 9.99837415e-01 3.01872082e-04 -2.96571814e+01] [ 5.72974103e-03 -1.98596541e-04 9.99983565e-01 3.16110882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.000714057 meters Centerline goodness : 0.981901 with order 1 Centerline is valid? [True, True] Translation: X:585.96, Y:-29.66, Z:3.16 [[ 9.99790875e-01 1.96322940e-02 -5.72525783e-03 5.85963414e+02] [-1.96308900e-02 9.99807250e-01 3.01322820e-04 -2.96622795e+01] [ 5.73006994e-03 -1.88867899e-04 9.99983565e-01 3.15649003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.060714057 meters Centerline goodness : 0.983177 with order 1 Centerline is valid? [True, True] Translation: X:586.02, Y:-29.67, Z:3.15 [[ 9.99658540e-01 2.54955634e-02 -5.72529426e-03 5.86021762e+02] [-2.54942595e-02 9.99674923e-01 3.00629025e-04 -2.96729234e+01] [ 5.73109780e-03 -1.54564235e-04 9.99983565e-01 3.15412712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.120714057 meters Centerline goodness : 0.989874 with order 1 Centerline is valid? [True, True] Translation: X:586.08, Y:-29.68, Z:3.15 [[ 9.99540997e-01 2.97492158e-02 -5.72532322e-03 5.86079697e+02] [-2.97479848e-02 9.99557386e-01 3.00076331e-04 -2.96818121e+01] [ 5.73171615e-03 -1.29621767e-04 9.99983565e-01 3.15020750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.180714057 meters Centerline goodness : 0.982174 with order 1 Centerline is valid? [True, True] Translation: X:586.14, Y:-29.69, Z:3.16 [[ 9.99270971e-01 3.77458157e-02 -5.72535887e-03 5.86139259e+02] [-3.77447198e-02 9.99287369e-01 2.99394667e-04 -2.96944462e+01] [ 5.73257970e-03 -8.30743339e-05 9.99983565e-01 3.16025463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.240714057 meters Centerline goodness : 0.989814 with order 1 Centerline is valid? [True, True] Translation: X:586.20, Y:-29.71, Z:3.15 [[ 9.99460531e-01 3.23398633e-02 -5.72535887e-03 5.86197145e+02] [-3.23386786e-02 9.99476923e-01 2.99394667e-04 -2.97066517e+01] [ 5.73204645e-03 -1.14082613e-04 9.99983565e-01 3.14928130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.300714057 meters Centerline goodness : 0.977616 with order 1 Centerline is valid? [True, True] Translation: X:586.25, Y:-29.74, Z:3.16 [[ 9.99024033e-01 4.37972657e-02 -5.72538679e-03 5.86254384e+02] [-4.37962722e-02 9.99040438e-01 2.98859839e-04 -2.97385641e+01] [ 5.73298217e-03 -4.78175644e-05 9.99983565e-01 3.15757343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.360714057 meters Centerline goodness : 0.988034 with order 1 Centerline is valid? [True, True] Translation: X:586.31, Y:-29.74, Z:3.15 [[ 9.99506444e-01 3.08883223e-02 -5.72546430e-03 5.86312102e+02] [-3.08871254e-02 9.99522835e-01 2.97367470e-04 -2.97365033e+01] [ 5.73191749e-03 -1.20377569e-04 9.99983565e-01 3.15163361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.420714057 meters Centerline goodness : 0.987323 with order 1 Centerline is valid? [True, True] Translation: X:586.37, Y:-29.75, Z:3.15 [[ 9.99426015e-01 3.33895224e-02 -5.72549106e-03 5.86369799e+02] [-3.33883695e-02 9.99442409e-01 2.96851337e-04 -2.97530162e+01] [ 5.73221030e-03 -1.05516138e-04 9.99983565e-01 3.15005320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.480714057 meters Centerline goodness : 0.987585 with order 1 Centerline is valid? [True, True] Translation: X:586.43, Y:-29.77, Z:3.15 [[ 9.99246944e-01 3.83766071e-02 -5.72551235e-03 5.86427846e+02] [-3.83755384e-02 9.99263344e-01 2.96440160e-04 -2.97700044e+01] [ 5.73267098e-03 -7.64973046e-05 9.99983565e-01 3.14966374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5407140570001 meters Centerline goodness : 0.977617 with order 1 Centerline is valid? [True, True] Translation: X:586.49, Y:-29.80, Z:3.17 [[ 9.98566083e-01 5.32258978e-02 -5.72553334e-03 5.86485450e+02] [-5.32250753e-02 9.98582497e-01 2.96034036e-04 -2.97985308e+01] [ 5.73317406e-03 9.13239592e-06 9.99983565e-01 3.16603693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.600714057 meters Centerline goodness : 0.977201 with order 1 Centerline is valid? [True, True] Translation: X:586.54, Y:-29.81, Z:3.17 [[ 9.98321750e-01 5.76272582e-02 -5.72560818e-03 5.86543952e+02] [-5.76265164e-02 9.98338168e-01 2.94579566e-04 -2.98124649e+01] [ 5.73306899e-03 3.58616652e-05 9.99983565e-01 3.16674111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6607140570001 meters Centerline goodness : 0.980196 with order 1 Centerline is valid? [True, True] Translation: X:586.60, Y:-29.84, Z:3.16 [[ 9.97918193e-01 6.42378224e-02 -5.72562961e-03 5.86600612e+02] [-6.42371918e-02 9.97934615e-01 2.94162304e-04 -2.98422018e+01] [ 5.73270033e-03 7.42484530e-05 9.99983565e-01 3.16254508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.720714057 meters Centerline goodness : 0.988069 with order 1 Centerline is valid? [True, True] Translation: X:586.66, Y:-29.85, Z:3.15 [[ 9.98324750e-01 5.75752658e-02 -5.72565071e-03 5.86658002e+02] [-5.75745280e-02 9.98341168e-01 2.93751124e-04 -2.98479577e+01] [ 5.73306561e-03 3.63926196e-05 9.99983565e-01 3.15465770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.780714057 meters Centerline goodness : 0.989331 with order 1 Centerline is valid? [True, True] Translation: X:586.72, Y:-29.87, Z:3.16 [[ 9.98323800e-01 5.75917347e-02 -5.72568342e-03 5.86715090e+02] [-5.75910007e-02 9.98340218e-01 2.93112157e-04 -2.98736737e+01] [ 5.73306087e-03 3.71269953e-05 9.99983565e-01 3.15602215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.840714057 meters Centerline goodness : 0.989445 with order 1 Centerline is valid? [True, True] Translation: X:586.77, Y:-29.91, Z:3.17 [[ 9.98061430e-01 6.19725613e-02 -5.72571579e-03 5.86772463e+02] [-6.19719031e-02 9.98077852e-01 2.92478382e-04 -2.99079486e+01] [ 5.73283575e-03 6.29221117e-05 9.99983565e-01 3.16644284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.900714057 meters Centerline goodness : 0.995157 with order 1 Centerline is valid? [True, True] Translation: X:586.83, Y:-29.93, Z:3.17 [[ 9.98662733e-01 5.13805482e-02 -5.72573783e-03 5.86829244e+02] [-5.13797183e-02 9.98679147e-01 2.92046261e-04 -2.99271213e+01] [ 5.73318048e-03 2.53107987e-06 9.99983565e-01 3.16657904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.960714057 meters Centerline goodness : 0.996738 with order 1 Centerline is valid? [True, True] Translation: X:586.89, Y:-29.95, Z:3.17 [[ 9.98902775e-01 4.64807570e-02 -5.72576449e-03 5.86886178e+02] [-4.64798495e-02 9.98919185e-01 2.91522668e-04 -2.99507080e+01] [ 5.73312620e-03 -2.50701301e-05 9.99983565e-01 3.17043659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.020714057 meters Centerline goodness : 0.998059 with order 1 Centerline is valid? [True, True] Translation: X:586.94, Y:-29.97, Z:3.17 [[ 9.99020476e-01 4.38782865e-02 -5.72579139e-03 5.86943698e+02] [-4.38773393e-02 9.99036883e-01 2.90993492e-04 -2.99734797e+01] [ 5.73304508e-03 -3.94759657e-05 9.99983565e-01 3.16936863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.080714057 meters Centerline goodness : 0.998755 with order 1 Centerline is valid? [True, True] Translation: X:587.00, Y:-29.99, Z:3.17 [[ 9.98975841e-01 4.48830077e-02 -5.72581200e-03 5.87001123e+02] [-4.48820794e-02 9.98992249e-01 2.90587349e-04 -2.99937551e+01] [ 5.73308424e-03 -3.33033924e-05 9.99983565e-01 3.17107033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.140714057 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:587.06, Y:-30.01, Z:3.17 [[ 9.98876648e-01 4.70388779e-02 -5.72583272e-03 5.87059084e+02] [-4.70379873e-02 9.98893059e-01 2.90178392e-04 -3.00109916e+01] [ 5.73314423e-03 -2.05207727e-05 9.99983565e-01 3.17489577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.200714057 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:587.12, Y:-30.03, Z:3.18 [[ 9.98958102e-01 4.52760898e-02 -5.72584806e-03 5.87118163e+02] [-4.52751720e-02 9.98974512e-01 2.89875537e-04 -3.00265847e+01] [ 5.73310070e-03 -3.03347611e-05 9.99983565e-01 3.17700976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.260714057 meters Centerline goodness : 0.998893 with order 1 Centerline is valid? [True, True] Translation: X:587.18, Y:-30.04, Z:3.18 [[ 9.99122809e-01 4.14828599e-02 -5.72585838e-03 5.87178078e+02] [-4.14818810e-02 9.99139214e-01 2.89671431e-04 -3.00379451e+01] [ 5.73294604e-03 -5.18979578e-05 9.99983565e-01 3.17726061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.320714057 meters Centerline goodness : 0.998745 with order 1 Centerline is valid? [True, True] Translation: X:587.24, Y:-30.05, Z:3.18 [[ 9.99312969e-01 3.66169966e-02 -5.72585838e-03 5.87238204e+02] [-3.66159378e-02 9.99329370e-01 2.89671431e-04 -3.00533152e+01] [ 5.73262535e-03 -7.98147436e-05 9.99983565e-01 3.17564077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.380714057 meters Centerline goodness : 0.998516 with order 1 Centerline is valid? [True, True] Translation: X:587.30, Y:-30.06, Z:3.18 [[ 9.99467879e-01 3.21118734e-02 -5.72585838e-03 5.87297845e+02] [-3.21107407e-02 9.99484275e-01 2.89671431e-04 -3.00647964e+01] [ 5.73220731e-03 -1.05655737e-04 9.99983565e-01 3.17521296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.440714057 meters Centerline goodness : 0.997993 with order 1 Centerline is valid? [True, True] Translation: X:587.36, Y:-30.08, Z:3.20 [[ 9.99417693e-01 3.36376152e-02 -5.72586883e-03 5.87357326e+02] [-3.36365087e-02 9.99434091e-01 2.89464704e-04 -3.00831720e+01] [ 5.73236541e-03 -9.66979101e-05 9.99983565e-01 3.20158571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.500714057 meters Centerline goodness : 0.998551 with order 1 Centerline is valid? [True, True] Translation: X:587.42, Y:-30.08, Z:3.18 [[ 9.99784990e-01 1.99295938e-02 -5.72586898e-03 5.87417994e+02] [-1.99282625e-02 9.99801371e-01 2.89461831e-04 -3.00835668e+01] [ 5.73050051e-03 -1.75292974e-04 9.99983565e-01 3.17831994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.560714057 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:587.48, Y:-30.09, Z:3.18 [[ 9.99927336e-01 1.06083503e-02 -5.72586858e-03 5.87477820e+02] [-1.06068663e-02 9.99943704e-01 2.89469787e-04 -3.00891262e+01] [ 5.72861703e-03 -2.28715230e-04 9.99983565e-01 3.17686915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.620714057 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:587.54, Y:-30.09, Z:3.18 [[ 9.99979577e-01 2.83914330e-03 -5.72587883e-03 5.87537974e+02] [-2.83753340e-03 9.99995932e-01 2.89266786e-04 -3.00908040e+01] [ 5.72667681e-03 -2.73013505e-04 9.99983565e-01 3.17612590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.680714057 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:587.60, Y:-30.09, Z:3.18 [[ 9.99983544e-01 3.54910035e-04 -5.72588927e-03 5.87595891e+02] [-3.53260686e-04 9.99999896e-01 2.89059970e-04 -3.00886327e+01] [ 5.72599127e-03 -2.87032482e-04 9.99983565e-01 3.17881641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.740714057 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:587.65, Y:-30.09, Z:3.18 [[ 9.99983245e-01 8.50666651e-04 -5.72591722e-03 5.87653562e+02] [-8.49028577e-04 9.99999598e-01 2.88505316e-04 -3.00893288e+01] [ 5.72616034e-03 -2.83639014e-04 9.99983565e-01 3.17996821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.800714057 meters Centerline goodness : 0.998925 with order 1 Centerline is valid? [True, True] Translation: X:587.71, Y:-30.08, Z:3.19 [[ 9.99972238e-01 4.76833484e-03 -5.72594248e-03 5.87712826e+02] [-4.76676371e-03 9.99988597e-01 2.88002980e-04 -3.00834907e+01] [ 5.72725049e-03 -2.60700770e-04 9.99983565e-01 3.19433441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.860714057 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:587.77, Y:-30.08, Z:3.18 [[ 9.99912339e-01 1.19385029e-02 -5.72596414e-03 5.87772224e+02] [-1.19370516e-02 9.99928710e-01 2.87571847e-04 -3.00752860e+01] [ 5.72898911e-03 -2.19195508e-04 9.99983565e-01 3.18279303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.920714057 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:587.83, Y:-30.07, Z:3.18 [[ 9.99815866e-01 1.83152257e-02 -5.72598647e-03 5.87831651e+02] [-1.83138814e-02 9.99832246e-01 2.87126539e-04 -3.00688881e+01] [ 5.73028469e-03 -1.82208632e-04 9.99983565e-01 3.18351475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.980714057 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:587.89, Y:-30.06, Z:3.18 [[ 9.99779221e-01 2.02168490e-02 -5.72605688e-03 5.87891290e+02] [-2.02155439e-02 9.99795604e-01 2.85715318e-04 -3.00640304e+01] [ 5.73066276e-03 -1.69896884e-04 9.99983565e-01 3.18201750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0407140570001 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:587.95, Y:-30.06, Z:3.18 [[ 9.99785526e-01 1.99026286e-02 -5.72607715e-03 5.87950542e+02] [-1.99013207e-02 9.99801908e-01 2.85308604e-04 -3.00588156e+01] [ 5.73062125e-03 -1.71290916e-04 9.99983565e-01 3.18063706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.100714057 meters Centerline goodness : 0.998651 with order 1 Centerline is valid? [True, True] Translation: X:588.01, Y:-30.06, Z:3.18 [[ 9.99700756e-01 2.37825749e-02 -5.72609732e-03 5.88008190e+02] [-2.37813329e-02 9.99717144e-01 2.84903119e-04 -3.00556730e+01] [ 5.73125339e-03 -1.48643636e-04 9.99983565e-01 3.17976611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1607140570001 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:588.07, Y:-30.05, Z:3.18 [[ 9.99508502e-01 3.08215052e-02 -5.72612208e-03 5.88067490e+02] [-3.08203815e-02 9.99524899e-01 2.84404775e-04 -3.00531569e+01] [ 5.73216737e-03 -1.07783724e-04 9.99983565e-01 3.18040947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.220714057 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:588.13, Y:-30.05, Z:3.18 [[ 9.99355577e-01 3.54350182e-02 -5.72619207e-03 5.88126063e+02] [-3.54339783e-02 9.99371979e-01 2.82988438e-04 -3.00523810e+01] [ 5.73262360e-03 -7.99043081e-05 9.99983565e-01 3.17989967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.280714057 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:588.19, Y:-30.06, Z:3.19 [[ 9.99358964e-01 3.53393901e-02 -5.72621258e-03 5.88185159e+02] [-3.53383510e-02 9.99375365e-01 2.82572826e-04 -3.00559709e+01] [ 5.73262174e-03 -8.00367762e-05 9.99983565e-01 3.18659195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.340714057 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:588.24, Y:-30.06, Z:3.18 [[ 9.99475881e-01 3.18617983e-02 -5.72622869e-03 5.88243617e+02] [-3.18607040e-02 9.99492279e-01 2.82246071e-04 -3.00587825e+01] [ 5.73231423e-03 -9.96564634e-05 9.99983565e-01 3.18023228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.400714057 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:588.30, Y:-30.06, Z:3.18 [[ 9.99483590e-01 3.16190331e-02 -5.72624450e-03 5.88302022e+02] [-3.16179367e-02 9.99499988e-01 2.81924858e-04 -3.00621088e+01] [ 5.73229550e-03 -1.00727233e-04 9.99983565e-01 3.18311637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.460714057 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:588.36, Y:-30.07, Z:3.19 [[ 9.99434632e-01 3.31304553e-02 -5.72626431e-03 5.88360759e+02] [-3.31293859e-02 9.99451032e-01 2.81521917e-04 -3.00671576e+01] [ 5.73244772e-03 -9.16551331e-05 9.99983565e-01 3.18638062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.520714057 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:588.42, Y:-30.07, Z:3.19 [[ 9.99429768e-01 3.32768561e-02 -5.72628405e-03 5.88420240e+02] [-3.32757915e-02 9.99446168e-01 2.81119889e-04 -3.00722227e+01] [ 5.73246743e-03 -9.04129510e-05 9.99983565e-01 3.18676657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.580714057 meters Centerline goodness : 0.999200 with order 1 Centerline is valid? [True, True] Translation: X:588.48, Y:-30.08, Z:3.19 [[ 9.99487106e-01 3.15077036e-02 -5.72629422e-03 5.88478459e+02] [-3.15066111e-02 9.99503504e-01 2.80912596e-04 -3.00794425e+01] [ 5.73230204e-03 -1.00352392e-04 9.99983565e-01 3.18599996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.640714057 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:588.54, Y:-30.09, Z:3.19 [[ 9.99545225e-01 2.96066274e-02 -5.72630921e-03 5.88537460e+02] [-2.96055054e-02 9.99561622e-01 2.80606674e-04 -3.00861481e+01] [ 5.73210673e-03 -1.10948783e-04 9.99983565e-01 3.18580985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.700714057 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:588.60, Y:-30.09, Z:3.19 [[ 9.99473409e-01 3.19392218e-02 -5.72631927e-03 5.88595714e+02] [-3.19381394e-02 9.99489808e-01 2.80401065e-04 -3.00924554e+01] [ 5.73235355e-03 -9.73654258e-05 9.99983565e-01 3.18587435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.760714057 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:588.65, Y:-30.10, Z:3.19 [[ 9.99188762e-01 3.98625978e-02 -5.72633935e-03 5.88654548e+02] [-3.98616478e-02 9.99205169e-01 2.79990392e-04 -3.00999245e+01] [ 5.73294903e-03 -5.15019308e-05 9.99983565e-01 3.18606339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.820714057 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:588.71, Y:-30.11, Z:3.19 [[ 9.98725614e-01 5.01433691e-02 -5.72635929e-03 5.88713600e+02] [-5.01425903e-02 9.98742030e-01 2.79582168e-04 -3.01069968e+01] [ 5.73317489e-03 7.90861531e-06 9.99983565e-01 3.18608403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.880714057 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:588.77, Y:-30.12, Z:3.19 [[ 9.98273778e-01 5.84523133e-02 -5.72637913e-03 5.88772424e+02] [-5.84516735e-02 9.98290200e-01 2.79175051e-04 -3.01156169e+01] [ 5.73290660e-03 5.60233106e-05 9.99983565e-01 3.18688909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.940714057 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:588.83, Y:-30.13, Z:3.19 [[ 9.98280828e-01 5.83317769e-02 -5.72639915e-03 5.88831597e+02] [-5.83311374e-02 9.98297251e-01 2.78763852e-04 -3.01284275e+01] [ 5.73290932e-03 5.57427672e-05 9.99983565e-01 3.18648051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.000714057 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:588.89, Y:-30.14, Z:3.18 [[ 9.98715096e-01 5.03524183e-02 -5.72640412e-03 5.88892204e+02] [-5.03516482e-02 9.98731512e-01 2.78661833e-04 -3.01433183e+01] [ 5.73317154e-03 1.00301061e-05 9.99983565e-01 3.18499236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.060714057 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:588.95, Y:-30.16, Z:3.18 [[ 9.99209637e-01 3.93358503e-02 -5.72639430e-03 5.88951454e+02] [-3.93348981e-02 9.99226045e-01 2.78863312e-04 -3.01583446e+01] [ 5.73293166e-03 -5.33957729e-05 9.99983565e-01 3.18368671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.120714057 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:589.01, Y:-30.17, Z:3.19 [[ 9.99654845e-01 2.56398142e-02 -5.72637186e-03 5.89011310e+02] [-2.56386346e-02 9.99671237e-01 2.79323411e-04 -3.01721900e+01] [ 5.73165104e-03 -1.32410646e-04 9.99983565e-01 3.18501958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.180714057 meters Centerline goodness : 0.998576 with order 1 Centerline is valid? [True, True] Translation: X:589.07, Y:-30.18, Z:3.19 [[ 9.99903847e-01 1.26295624e-02 -5.72635087e-03 5.89072179e+02] [-1.26281671e-02 9.99920222e-01 2.79753100e-04 -3.01838312e+01] [ 5.72942719e-03 -2.07412885e-04 9.99983565e-01 3.18650298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.240714057 meters Centerline goodness : 0.998653 with order 1 Centerline is valid? [True, True] Translation: X:589.13, Y:-30.19, Z:3.18 [[ 9.99974826e-01 4.19002412e-03 -5.72634212e-03 5.89131715e+02] [-4.18848965e-03 9.99991189e-01 2.79932060e-04 -3.01910899e+01] [ 5.72746459e-03 -2.55940288e-04 9.99983565e-01 3.18438746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.300714057 meters Centerline goodness : 0.998414 with order 1 Centerline is valid? [True, True] Translation: X:589.19, Y:-30.20, Z:3.18 [[ 9.99981080e-01 -2.24680650e-03 -5.72635206e-03 5.89190467e+02] [ 2.24844510e-03 9.99997433e-01 2.79728681e-04 -3.01951611e+01] [ 5.72570886e-03 -2.92598777e-04 9.99983565e-01 3.18363065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.360714057 meters Centerline goodness : 0.998650 with order 1 Centerline is valid? [True, True] Translation: X:589.25, Y:-30.20, Z:3.18 [[ 9.99970669e-01 -5.08629295e-03 -5.72637211e-03 5.89248649e+02] [ 5.08797563e-03 9.99987017e-01 2.79317617e-04 -3.01976791e+01] [ 5.72487707e-03 -3.08445066e-04 9.99983565e-01 3.18485633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.420714057 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:589.31, Y:-30.20, Z:3.19 [[ 9.99972025e-01 -4.81226271e-03 -5.72639675e-03 5.89306821e+02] [ 4.81393802e-03 9.99988374e-01 2.78811430e-04 -3.01969919e+01] [ 5.72498846e-03 -3.06370149e-04 9.99983565e-01 3.18594812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.480714057 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:589.37, Y:-30.19, Z:3.19 [[ 9.99981891e-01 -1.85045890e-03 -5.72647580e-03 5.89365988e+02] [ 1.85207645e-03 9.99998247e-01 2.77178208e-04 -3.01935621e+01] [ 5.72595286e-03 -2.87779060e-04 9.99983565e-01 3.18737615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5407140570001 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:589.42, Y:-30.19, Z:3.19 [[ 9.99983164e-01 9.37680390e-04 -5.72654278e-03 5.89424942e+02] [-9.36116396e-04 9.99999524e-01 2.75787442e-04 -3.01884250e+01] [ 5.72679866e-03 -2.70422089e-04 9.99983565e-01 3.18633381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.600714057 meters Centerline goodness : 0.999387 with order 1 Centerline is valid? [True, True] Translation: X:589.48, Y:-30.18, Z:3.19 [[ 9.99976421e-01 3.78979842e-03 -5.72661187e-03 5.89483156e+02] [-3.78828934e-03 9.99992787e-01 2.74345375e-04 -3.01826208e+01] [ 5.72761028e-03 -2.52644843e-04 9.99983565e-01 3.18654174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6607140570001 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:589.54, Y:-30.18, Z:3.19 [[ 9.99973366e-01 4.52481135e-03 -5.72663599e-03 5.89542008e+02] [-4.52331718e-03 9.99989732e-01 2.73841000e-04 -3.01822286e+01] [ 5.72781627e-03 -2.47930316e-04 9.99983565e-01 3.18699791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.720714057 meters Centerline goodness : 0.999578 with order 1 Centerline is valid? [True, True] Translation: X:589.60, Y:-30.18, Z:3.19 [[ 9.99972111e-01 4.79393430e-03 -5.72665543e-03 5.89601184e+02] [-4.79244686e-03 9.99988479e-01 2.73433864e-04 -3.01758390e+01] [ 5.72790027e-03 -2.45981546e-04 9.99983565e-01 3.18927121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.780714057 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:589.66, Y:-30.17, Z:3.19 [[ 9.99981348e-01 2.12358486e-03 -5.72667495e-03 5.89660535e+02] [-2.12205606e-03 9.99997711e-01 2.73024461e-04 -3.01714637e+01] [ 5.72724163e-03 -2.60867043e-04 9.99983565e-01 3.19046892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.840714057 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:589.72, Y:-30.17, Z:3.19 [[ 9.99983278e-01 -8.04970724e-04 -5.72669422e-03 5.89719769e+02] [ 8.06545128e-04 9.99999638e-01 2.72619521e-04 -3.01661262e+01] [ 5.72647270e-03 -2.77233800e-04 9.99983565e-01 3.18842376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.900714057 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:589.78, Y:-30.16, Z:3.19 [[ 9.99982969e-01 -1.12542473e-03 -5.72671343e-03 5.89778618e+02] [ 1.12700207e-03 9.99999328e-01 2.72215503e-04 -3.01597222e+01] [ 5.72640322e-03 -2.78664884e-04 9.99983565e-01 3.18712246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.960714057 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:589.84, Y:-30.15, Z:3.19 [[ 9.99983523e-01 -3.96814052e-04 -5.72673236e-03 5.89836495e+02] [ 3.98377191e-04 9.99999884e-01 2.71816652e-04 -3.01529858e+01] [ 5.72662383e-03 -2.74093573e-04 9.99983565e-01 3.18678355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.020714057 meters Centerline goodness : 0.998838 with order 1 Centerline is valid? [True, True] Translation: X:589.89, Y:-30.15, Z:3.19 [[ 9.99982451e-01 -1.51752728e-03 -5.72675557e-03 5.89894801e+02] [ 1.51910595e-03 9.99998809e-01 2.71326723e-04 -3.01462791e+01] [ 5.72633701e-03 -2.80021510e-04 9.99983565e-01 3.18841615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.080714057 meters Centerline goodness : 0.998679 with order 1 Centerline is valid? [True, True] Translation: X:589.95, Y:-30.14, Z:3.19 [[ 9.99974875e-01 -4.17782609e-03 -5.72677847e-03 5.89953927e+02] [ 4.17944552e-03 9.99991229e-01 2.70842535e-04 -3.01400633e+01] [ 5.72559671e-03 -2.94770489e-04 9.99983565e-01 3.19059586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.140714057 meters Centerline goodness : 0.997947 with order 1 Centerline is valid? [True, True] Translation: X:590.01, Y:-30.13, Z:3.19 [[ 9.99954265e-01 -7.65981452e-03 -5.72679168e-03 5.90012266e+02] [ 7.66148928e-03 9.99970614e-01 2.70562996e-04 -3.01340104e+01] [ 5.72455093e-03 -3.14426375e-04 9.99983565e-01 3.18903774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.200714057 meters Centerline goodness : 0.998225 with order 1 Centerline is valid? [True, True] Translation: X:590.07, Y:-30.13, Z:3.19 [[ 9.99938721e-01 -9.47402628e-03 -5.72681366e-03 5.90070956e+02] [ 9.47572805e-03 9.99955068e-01 2.70096828e-04 -3.01316986e+01] [ 5.72399744e-03 -3.24346005e-04 9.99983565e-01 3.18636880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.260714057 meters Centerline goodness : 0.998121 with order 1 Centerline is valid? [True, True] Translation: X:590.13, Y:-30.13, Z:3.19 [[ 9.99923233e-01 -1.09877314e-02 -5.72687784e-03 5.90130046e+02] [ 1.09894501e-02 9.99939578e-01 2.68729243e-04 -3.01277078e+01] [ 5.72357908e-03 -3.31643852e-04 9.99983565e-01 3.18538672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.320714057 meters Centerline goodness : 0.997664 with order 1 Centerline is valid? [True, True] Translation: X:590.19, Y:-30.12, Z:3.19 [[ 9.99958368e-01 -7.10386125e-03 -5.72694762e-03 5.90189074e+02] [ 7.10550791e-03 9.99974720e-01 2.67233655e-04 -3.01206772e+01] [ 5.72490446e-03 -3.07915401e-04 9.99983565e-01 3.18806236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.380714057 meters Centerline goodness : 0.996374 with order 1 Centerline is valid? [True, True] Translation: X:590.25, Y:-30.11, Z:3.19 [[ 9.99983596e-01 9.68747650e-05 -5.72696230e-03 5.90247942e+02] [-9.53476909e-05 9.99999960e-01 2.66918869e-04 -3.01130681e+01] [ 5.72698792e-03 -2.66368438e-04 9.99983565e-01 3.18943315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.440714057 meters Centerline goodness : 0.996367 with order 1 Centerline is valid? [True, True] Translation: X:590.31, Y:-30.11, Z:3.19 [[ 9.99922063e-01 1.10936353e-02 -5.72702877e-03 5.90306336e+02] [-1.10922965e-02 9.99938443e-01 2.65484905e-04 -3.01054358e+01] [ 5.72962143e-03 -2.01938312e-04 9.99983565e-01 3.19127409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.500714057 meters Centerline goodness : 0.994806 with order 1 Centerline is valid? [True, True] Translation: X:590.37, Y:-30.10, Z:3.19 [[ 9.99697767e-01 2.39076339e-02 -5.72705200e-03 5.90366005e+02] [-2.39065080e-02 9.99714163e-01 2.64982729e-04 -3.00984585e+01] [ 5.73175011e-03 -1.27988828e-04 9.99983565e-01 3.18703118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.560714057 meters Centerline goodness : 0.993616 with order 1 Centerline is valid? [True, True] Translation: X:590.42, Y:-30.10, Z:3.19 [[ 9.99245687e-01 3.84090750e-02 -5.72711568e-03 5.90424661e+02] [-3.84081950e-02 9.99262098e-01 2.63599159e-04 -3.01010450e+01] [ 5.73301424e-03 -4.34321468e-05 9.99983565e-01 3.19292850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.620714057 meters Centerline goodness : 0.993748 with order 1 Centerline is valid? [True, True] Translation: X:590.48, Y:-30.10, Z:3.19 [[ 9.99151150e-01 4.07943423e-02 -5.72718338e-03 5.90482894e+02] [-4.07935100e-02 9.99167564e-01 2.62120024e-04 -3.00974116e+01] [ 5.73310888e-03 -2.82656111e-05 9.99983565e-01 3.18891227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.680714057 meters Centerline goodness : 0.993761 with order 1 Centerline is valid? [True, True] Translation: X:590.54, Y:-30.10, Z:3.19 [[ 9.98889932e-01 4.67557817e-02 -5.72720716e-03 5.90541368e+02] [-4.67550503e-02 9.98906350e-01 2.61599487e-04 -3.01016022e+01] [ 5.73317489e-03 6.46676508e-06 9.99983565e-01 3.18790008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.740714057 meters Centerline goodness : 0.994838 with order 1 Centerline is valid? [True, True] Translation: X:590.60, Y:-30.11, Z:3.18 [[ 9.98326341e-01 5.75475097e-02 -5.72722598e-03 5.90600027e+02] [-5.75469582e-02 9.98342766e-01 2.61186705e-04 -3.01126838e+01] [ 5.73276528e-03 6.88348666e-05 9.99983565e-01 3.18437595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.800714057 meters Centerline goodness : 0.995111 with order 1 Centerline is valid? [True, True] Translation: X:590.66, Y:-30.12, Z:3.18 [[ 9.98148816e-01 6.05486487e-02 -5.72724456e-03 5.90658512e+02] [-6.05481489e-02 9.98165244e-01 2.60778761e-04 -3.01236756e+01] [ 5.73252626e-03 8.64780448e-05 9.99983565e-01 3.18481407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.860714057 meters Centerline goodness : 0.995938 with order 1 Centerline is valid? [True, True] Translation: X:590.72, Y:-30.14, Z:3.19 [[ 9.97916532e-01 6.42634748e-02 -5.72726315e-03 5.90716528e+02] [-6.42630384e-02 9.97932961e-01 2.60369743e-04 -3.01398910e+01] [ 5.73215694e-03 1.08224061e-04 9.99983565e-01 3.18690722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.920714057 meters Centerline goodness : 0.997213 with order 1 Centerline is valid? [True, True] Translation: X:590.77, Y:-30.16, Z:3.19 [[ 9.97580460e-01 6.92850931e-02 -5.72728152e-03 5.90773377e+02] [-6.92847418e-02 9.97596891e-01 2.59965140e-04 -3.01588503e+01] [ 5.73152994e-03 1.37477078e-04 9.99983565e-01 3.19071321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.980714057 meters Centerline goodness : 0.998123 with order 1 Centerline is valid? [True, True] Translation: X:590.83, Y:-30.18, Z:3.19 [[ 9.97271782e-01 7.35947705e-02 -5.72730390e-03 5.90829961e+02] [-7.35944930e-02 9.97288215e-01 2.59471090e-04 -3.01810597e+01] [ 5.73086840e-03 1.62734831e-04 9.99983565e-01 3.19244248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0407140570001 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:590.89, Y:-30.21, Z:3.19 [[ 9.97334425e-01 7.27409265e-02 -5.72732608e-03 5.90888598e+02] [-7.27406378e-02 9.97350857e-01 2.58980518e-04 -3.02061330e+01] [ 5.73099206e-03 1.58319166e-04 9.99983565e-01 3.19327628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.100714057 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:590.95, Y:-30.23, Z:3.20 [[ 9.97596181e-01 6.90583634e-02 -5.72733513e-03 5.90948477e+02] [-6.90580151e-02 9.97612612e-01 2.58780179e-04 -3.02288535e+01] [ 5.73153270e-03 1.37360278e-04 9.99983565e-01 3.20107717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1607140570001 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:591.01, Y:-30.25, Z:3.19 [[ 9.97779689e-01 6.63542760e-02 -5.72733513e-03 5.91008754e+02] [-6.63538832e-02 9.97796119e-01 2.58780179e-04 -3.02543955e+01] [ 5.73188394e-03 1.21825320e-04 9.99983565e-01 3.19451170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.220714057 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:591.07, Y:-30.28, Z:3.20 [[ 9.98109439e-01 6.11943256e-02 -5.72729661e-03 5.91069450e+02] [-6.11938430e-02 9.98125867e-01 2.59630036e-04 -3.02758800e+01] [ 5.73245078e-03 9.13361002e-05 9.99983565e-01 3.20151673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.280714057 meters Centerline goodness : 0.998702 with order 1 Centerline is valid? [True, True] Translation: X:591.13, Y:-30.30, Z:3.20 [[ 9.98323788e-01 5.75917721e-02 -5.72723374e-03 5.91129527e+02] [-5.75912223e-02 9.98340214e-01 2.61009644e-04 -3.03010172e+01] [ 5.73275976e-03 6.92662545e-05 9.99983565e-01 3.19553508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.340714057 meters Centerline goodness : 0.998232 with order 1 Centerline is valid? [True, True] Translation: X:591.19, Y:-30.32, Z:3.20 [[ 9.98590430e-01 5.27669725e-02 -5.72717210e-03 5.91191468e+02] [-5.27663356e-02 9.98606852e-01 2.62355244e-04 -3.03160739e+01] [ 5.73303699e-03 4.02164490e-05 9.99983565e-01 3.19566875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.400714057 meters Centerline goodness : 0.995848 with order 1 Centerline is valid? [True, True] Translation: X:591.25, Y:-30.34, Z:3.19 [[ 9.99260441e-01 3.80232949e-02 -5.72709715e-03 5.91253264e+02] [-3.80224064e-02 9.99276852e-01 2.63981277e-04 -3.03415107e+01] [ 5.73299304e-03 -4.60280325e-05 9.99983565e-01 3.19277430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.460714057 meters Centerline goodness : 0.994909 with order 1 Centerline is valid? [True, True] Translation: X:591.32, Y:-30.35, Z:3.19 [[ 9.99530344e-01 3.01047047e-02 -5.72702044e-03 5.91315756e+02] [-3.01036767e-02 9.99546746e-01 2.65635013e-04 -3.03540315e+01] [ 5.73242151e-03 -9.31058839e-05 9.99983565e-01 3.19288700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.520714057 meters Centerline goodness : 0.994924 with order 1 Centerline is valid? [True, True] Translation: X:591.38, Y:-30.37, Z:3.19 [[ 9.99788388e-01 1.97580548e-02 -5.72694381e-03 5.91378424e+02] [-1.97568477e-02 9.99804779e-01 2.67276992e-04 -3.03710766e+01] [ 5.73110666e-03 -1.54074077e-04 9.99983565e-01 3.19267029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.580714057 meters Centerline goodness : 0.994736 with order 1 Centerline is valid? [True, True] Translation: X:591.44, Y:-30.38, Z:3.19 [[ 9.99814773e-01 1.83745295e-02 -5.72686711e-03 5.91440004e+02] [-1.83732904e-02 9.99831161e-01 2.68910415e-04 -3.03763213e+01] [ 5.73084129e-03 -1.63639212e-04 9.99983565e-01 3.19238625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.640714057 meters Centerline goodness : 0.993684 with order 1 Centerline is valid? [True, True] Translation: X:591.50, Y:-30.38, Z:3.19 [[ 9.99842383e-01 1.68051297e-02 -5.72685764e-03 5.91501240e+02] [-1.68038637e-02 9.99858769e-01 2.69111994e-04 -3.03833950e+01] [ 5.73057129e-03 -1.72836242e-04 9.99983565e-01 3.19175897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.700714057 meters Centerline goodness : 0.992631 with order 1 Centerline is valid? [True, True] Translation: X:591.56, Y:-30.38, Z:3.19 [[ 9.99923706e-01 1.09446786e-02 -5.72684815e-03 5.91562100e+02] [-1.09433154e-02 9.99940084e-01 2.69313657e-04 -3.03754534e+01] [ 5.72945258e-03 -2.06622404e-04 9.99983565e-01 3.18580336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.760714057 meters Centerline goodness : 0.992199 with order 1 Centerline is valid? [True, True] Translation: X:591.62, Y:-30.38, Z:3.20 [[ 9.99649118e-01 2.58620259e-02 -5.72684815e-03 5.91621057e+02] [-2.58609073e-02 9.99665515e-01 2.69313657e-04 -3.03831448e+01] [ 5.73189760e-03 -1.21117670e-04 9.99983565e-01 3.19884564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.820714057 meters Centerline goodness : 0.994539 with order 1 Centerline is valid? [True, True] Translation: X:591.68, Y:-30.39, Z:3.19 [[ 9.99305136e-01 3.68299901e-02 -5.72685806e-03 5.91681480e+02] [-3.68290527e-02 9.99321544e-01 2.69102937e-04 -3.03899148e+01] [ 5.73288369e-03 -5.80011897e-05 9.99983565e-01 3.19382691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.880714057 meters Centerline goodness : 0.993798 with order 1 Centerline is valid? [True, True] Translation: X:591.74, Y:-30.38, Z:3.19 [[ 9.99512221e-01 3.07005270e-02 -5.72684820e-03 5.91743691e+02] [-3.06994877e-02 9.99528623e-01 2.69312521e-04 -3.03780674e+01] [ 5.73241673e-03 -9.33698503e-05 9.99983565e-01 3.18774506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.940714057 meters Centerline goodness : 0.993113 with order 1 Centerline is valid? [True, True] Translation: X:591.81, Y:-30.38, Z:3.19 [[ 9.99536790e-01 2.98899418e-02 -5.72683801e-03 5.91805355e+02] [-2.98888880e-02 9.99553191e-01 2.69529110e-04 -3.03781904e+01] [ 5.73233541e-03 -9.82354411e-05 9.99983565e-01 3.18787303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.000714057 meters Centerline goodness : 0.994336 with order 1 Centerline is valid? [True, True] Translation: X:591.87, Y:-30.40, Z:3.20 [[ 9.99182353e-01 4.00228623e-02 -5.72676856e-03 5.91866029e+02] [-4.00219664e-02 9.99198763e-01 2.70996625e-04 -3.03959371e+01] [ 5.73302613e-03 -4.15785064e-05 9.99983565e-01 3.19799533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.060714057 meters Centerline goodness : 0.994648 with order 1 Centerline is valid? [True, True] Translation: X:591.93, Y:-30.40, Z:3.20 [[ 9.99271097e-01 3.77422661e-02 -5.72675925e-03 5.91928718e+02] [-3.77413316e-02 9.99287505e-01 2.71193180e-04 -3.03997610e+01] [ 5.73291441e-03 -5.48599862e-05 9.99983565e-01 3.19732181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.120714057 meters Centerline goodness : 0.993098 with order 1 Centerline is valid? [True, True] Translation: X:591.99, Y:-30.39, Z:3.19 [[ 9.99641932e-01 2.61383280e-02 -5.72668182e-03 5.91991131e+02] [-2.61371938e-02 9.99658328e-01 2.72818691e-04 -3.03926370e+01] [ 5.73185619e-03 -1.23041611e-04 9.99983565e-01 3.18800102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.180714057 meters Centerline goodness : 0.993324 with order 1 Centerline is valid? [True, True] Translation: X:592.05, Y:-30.40, Z:3.19 [[ 9.99654779e-01 2.56423144e-02 -5.72666721e-03 5.92053451e+02] [-2.56411703e-02 9.99671174e-01 2.73124858e-04 -3.03959618e+01] [ 5.73178769e-03 -1.26192120e-04 9.99983565e-01 3.18616805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.240714057 meters Centerline goodness : 0.993901 with order 1 Centerline is valid? [True, True] Translation: X:592.11, Y:-30.41, Z:3.20 [[ 9.99537562e-01 2.98641666e-02 -5.72660022e-03 5.92113735e+02] [-2.98630838e-02 9.99553961e-01 2.74522303e-04 -3.04091519e+01] [ 5.73224431e-03 -1.03381412e-04 9.99983565e-01 3.19902965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.300714057 meters Centerline goodness : 0.993608 with order 1 Centerline is valid? [True, True] Translation: X:592.18, Y:-30.41, Z:3.20 [[ 9.99651461e-01 2.57713692e-02 -5.72653879e-03 5.92175464e+02] [-2.57702119e-02 9.99667855e-01 2.75797897e-04 -3.04113325e+01] [ 5.73174444e-03 -1.28127653e-04 9.99983565e-01 3.19954383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.360714057 meters Centerline goodness : 0.993235 with order 1 Centerline is valid? [True, True] Translation: X:592.24, Y:-30.41, Z:3.20 [[ 9.99771982e-01 2.05716388e-02 -5.72646993e-03 5.92237396e+02] [-2.05703881e-02 9.99788369e-01 2.77220249e-04 -3.04114933e+01] [ 5.73096091e-03 -1.59361328e-04 9.99983565e-01 3.20156588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.420714057 meters Centerline goodness : 0.994310 with order 1 Centerline is valid? [True, True] Translation: X:592.30, Y:-30.41, Z:3.20 [[ 9.99878221e-01 1.45173055e-02 -5.72640113e-03 5.92298675e+02] [-1.45159475e-02 9.99894599e-01 2.78634281e-04 -3.04107283e+01] [ 5.72984258e-03 -1.95476211e-04 9.99983565e-01 3.20425821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.480714057 meters Centerline goodness : 0.993653 with order 1 Centerline is valid? [True, True] Translation: X:592.36, Y:-30.41, Z:3.21 [[ 9.99917918e-01 1.14614560e-02 -5.72639124e-03 5.92359617e+02] [-1.14600468e-02 9.99934293e-01 2.78837293e-04 -3.04091044e+01] [ 5.72921086e-03 -2.13189694e-04 9.99983565e-01 3.20626982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5407140570001 meters Centerline goodness : 0.994663 with order 1 Centerline is valid? [True, True] Translation: X:592.42, Y:-30.41, Z:3.21 [[ 9.99893747e-01 1.34053355e-02 -5.72639124e-03 5.92418947e+02] [-1.34039582e-02 9.99910124e-01 2.78837293e-04 -3.04079996e+01] [ 5.72961449e-03 -2.02051357e-04 9.99983565e-01 3.20639791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.600714057 meters Centerline goodness : 0.995503 with order 1 Centerline is valid? [True, True] Translation: X:592.48, Y:-30.40, Z:3.20 [[ 9.99711171e-01 2.33405864e-02 -5.72640112e-03 5.92479979e+02] [-2.33393730e-02 9.99727561e-01 2.78634209e-04 -3.04036412e+01] [ 5.73134451e-03 -1.44903119e-04 9.99983565e-01 3.20400947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6607140570001 meters Centerline goodness : 0.996646 with order 1 Centerline is valid? [True, True] Translation: X:592.54, Y:-30.40, Z:3.21 [[ 9.99259365e-01 3.80516718e-02 -5.72640112e-03 5.92540496e+02] [-3.80506998e-02 9.99275771e-01 2.78634209e-04 -3.03990563e+01] [ 5.73285640e-03 -6.05342725e-05 9.99983565e-01 3.20563875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.720714057 meters Centerline goodness : 0.996818 with order 1 Centerline is valid? [True, True] Translation: X:592.60, Y:-30.40, Z:3.21 [[ 9.98650851e-01 5.16109032e-02 -5.72640112e-03 5.92602522e+02] [-5.16101539e-02 9.98667269e-01 2.78634209e-04 -3.03973972e+01] [ 5.73314994e-03 1.72821536e-05 9.99983565e-01 3.20781514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.780714057 meters Centerline goodness : 0.997497 with order 1 Centerline is valid? [True, True] Translation: X:592.67, Y:-30.40, Z:3.21 [[ 9.98098115e-01 6.13788425e-02 -5.72638157e-03 5.92665424e+02] [-6.13782516e-02 9.98114539e-01 2.79035464e-04 -3.03979705e+01] [ 5.73271157e-03 7.29705188e-05 9.99983565e-01 3.20770259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.840714057 meters Centerline goodness : 0.997303 with order 1 Centerline is valid? [True, True] Translation: X:592.73, Y:-30.40, Z:3.21 [[ 9.97585864e-01 6.92073190e-02 -5.72630004e-03 5.92728005e+02] [-6.92068474e-02 9.97602292e-01 2.80698778e-04 -3.04046779e+01] [ 5.73199645e-03 1.16278040e-04 9.99983565e-01 3.20856782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.900714057 meters Centerline goodness : 0.996167 with order 1 Centerline is valid? [True, True] Translation: X:592.79, Y:-30.42, Z:3.21 [[ 9.97487523e-01 7.06105684e-02 -5.72621902e-03 5.92790782e+02] [-7.06101105e-02 9.97503951e-01 2.82341975e-04 -3.04174212e+01] [ 5.73186242e-03 1.22696361e-04 9.99983565e-01 3.20746304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.960714057 meters Centerline goodness : 0.995764 with order 1 Centerline is valid? [True, True] Translation: X:592.85, Y:-30.43, Z:3.21 [[ 9.97855014e-01 6.52118321e-02 -5.72613721e-03 5.92852076e+02] [-6.52112759e-02 9.97871439e-01 2.83991515e-04 -3.04284192e+01] [ 5.73246838e-03 9.00263562e-05 9.99983565e-01 3.20802562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.020714057 meters Centerline goodness : 0.995116 with order 1 Centerline is valid? [True, True] Translation: X:592.91, Y:-30.44, Z:3.21 [[ 9.98627023e-01 5.20699561e-02 -5.72606140e-03 5.92914197e+02] [-5.20691749e-02 9.98643440e-01 2.85511789e-04 -3.04441168e+01] [ 5.73316024e-03 1.30315044e-05 9.99983565e-01 3.20834666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.080714057 meters Centerline goodness : 0.993571 with order 1 Centerline is valid? [True, True] Translation: X:592.98, Y:-30.46, Z:3.21 [[ 9.99147398e-01 4.08862966e-02 -5.72597919e-03 5.92976103e+02] [-4.08853223e-02 9.99163804e-01 2.87151248e-04 -3.04577357e+01] [ 5.73293170e-03 -5.27979174e-05 9.99983565e-01 3.20881794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.140714057 meters Centerline goodness : 0.993666 with order 1 Centerline is valid? [True, True] Translation: X:593.04, Y:-30.47, Z:3.21 [[ 9.99408307e-01 3.39153262e-02 -5.72589633e-03 5.93038756e+02] [-3.39142281e-02 9.99424705e-01 2.88794043e-04 -3.04700427e+01] [ 5.73239680e-03 -9.44338115e-05 9.99983565e-01 3.20914915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.200714057 meters Centerline goodness : 0.993624 with order 1 Centerline is valid? [True, True] Translation: X:593.10, Y:-30.48, Z:3.21 [[ 9.99569599e-01 2.87720537e-02 -5.72581425e-03 5.93100949e+02] [-2.87708620e-02 9.99585991e-01 2.90412326e-04 -3.04786877e+01] [ 5.73179947e-03 -1.25550721e-04 9.99983565e-01 3.20701093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.260714057 meters Centerline goodness : 0.993220 with order 1 Centerline is valid? [True, True] Translation: X:593.16, Y:-30.48, Z:3.21 [[ 9.99537578e-01 2.98637770e-02 -5.72574188e-03 5.93162570e+02] [-2.98625950e-02 9.99553971e-01 2.91832253e-04 -3.04828121e+01] [ 5.73190324e-03 -1.20711793e-04 9.99983565e-01 3.20827101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.320714057 meters Centerline goodness : 0.993759 with order 1 Centerline is valid? [True, True] Translation: X:593.23, Y:-30.49, Z:3.21 [[ 9.99435165e-01 3.31144588e-02 -5.72566509e-03 5.93225014e+02] [-3.31133216e-02 9.99451561e-01 2.93331190e-04 -3.04868083e+01] [ 5.73223841e-03 -1.03569717e-04 9.99983565e-01 3.21003207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.380714057 meters Centerline goodness : 0.993695 with order 1 Centerline is valid? [True, True] Translation: X:593.29, Y:-30.49, Z:3.21 [[ 9.99163200e-01 4.04983665e-02 -5.72558193e-03 5.93287884e+02] [-4.04973412e-02 9.99179603e-01 2.94945450e-04 -3.04879946e+01] [ 5.73282949e-03 -6.28277944e-05 9.99983565e-01 3.21085639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.440714057 meters Centerline goodness : 0.993388 with order 1 Centerline is valid? [True, True] Translation: X:593.35, Y:-30.49, Z:3.21 [[ 9.99047468e-01 4.32594023e-02 -5.72549734e-03 5.93350367e+02] [-4.32584129e-02 9.99063873e-01 2.96578481e-04 -3.04907150e+01] [ 5.73296735e-03 -4.86200525e-05 9.99983565e-01 3.21173885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.500714057 meters Centerline goodness : 0.990004 with order 1 Centerline is valid? [True, True] Translation: X:593.41, Y:-30.48, Z:3.21 [[ 9.98964855e-01 4.51269130e-02 -5.72541323e-03 5.93413978e+02] [-4.51259451e-02 9.98981261e-01 2.98193490e-04 -3.04807296e+01] [ 5.73303708e-03 -3.95201337e-05 9.99983565e-01 3.21201886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.560714057 meters Centerline goodness : 0.989652 with order 1 Centerline is valid? [True, True] Translation: X:593.48, Y:-30.48, Z:3.21 [[ 9.98750382e-01 4.96477101e-02 -5.72532704e-03 5.93476472e+02] [-4.96468070e-02 9.98766792e-01 2.99839099e-04 -3.04823175e+01] [ 5.73315285e-03 -1.52202076e-05 9.99983565e-01 3.20850684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.620714057 meters Centerline goodness : 0.991301 with order 1 Centerline is valid? [True, True] Translation: X:593.54, Y:-30.50, Z:3.22 [[ 9.98030914e-01 6.24621166e-02 -5.72525201e-03 5.93537617e+02] [-6.24614160e-02 9.98047334e-01 3.01265013e-04 -3.04985695e+01] [ 5.73289016e-03 5.69355511e-05 9.99983565e-01 3.21593477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.680714057 meters Centerline goodness : 0.989058 with order 1 Centerline is valid? [True, True] Translation: X:593.60, Y:-30.50, Z:3.22 [[ 9.98324000e-01 5.75883086e-02 -5.72522330e-03 5.93600012e+02] [-5.75875247e-02 9.98340416e-01 3.01809638e-04 -3.04997083e+01] [ 5.73310252e-03 2.83976331e-05 9.99983565e-01 3.21654061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.740714057 meters Centerline goodness : 0.989456 with order 1 Centerline is valid? [True, True] Translation: X:593.66, Y:-30.51, Z:3.22 [[ 9.98409710e-01 5.60827407e-02 -5.72513684e-03 5.93662160e+02] [-5.60819227e-02 9.98426124e-01 3.03440987e-04 -3.05113918e+01] [ 5.73314399e-03 1.81182533e-05 9.99983565e-01 3.21740556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.800714057 meters Centerline goodness : 0.992437 with order 1 Centerline is valid? [True, True] Translation: X:593.72, Y:-30.53, Z:3.21 [[ 9.98209099e-01 5.95467711e-02 -5.72509170e-03 5.93721915e+02] [-5.95460052e-02 9.98225516e-01 3.04290225e-04 -3.05333259e+01] [ 5.73305212e-03 3.71610689e-05 9.99983565e-01 3.20758544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.860714057 meters Centerline goodness : 0.988706 with order 1 Centerline is valid? [True, True] Translation: X:593.78, Y:-30.53, Z:3.22 [[ 9.98900617e-01 4.65272134e-02 -5.72501816e-03 5.93783744e+02] [-4.65262256e-02 9.98917022e-01 3.05667651e-04 -3.05344324e+01] [ 5.73303995e-03 -3.89681190e-05 9.99983565e-01 3.21834975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.920714057 meters Centerline goodness : 0.987759 with order 1 Centerline is valid? [True, True] Translation: X:593.84, Y:-30.54, Z:3.22 [[ 9.98966423e-01 4.50922420e-02 -5.72493897e-03 5.93844158e+02] [-4.50912222e-02 9.98982826e-01 3.07143639e-04 -3.05437489e+01] [ 5.73296551e-03 -4.86816865e-05 9.99983565e-01 3.21828103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.980714057 meters Centerline goodness : 0.987541 with order 1 Centerline is valid? [True, True] Translation: X:593.91, Y:-30.56, Z:3.22 [[ 9.98800728e-01 4.86243926e-02 -5.72486760e-03 5.93905647e+02] [-4.86234232e-02 9.98817134e-01 3.08468295e-04 -3.05577876e+01] [ 5.73309493e-03 -2.97356974e-05 9.99983565e-01 3.22313195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0407140570001 meters Centerline goodness : 0.988496 with order 1 Centerline is valid? [True, True] Translation: X:593.97, Y:-30.57, Z:3.22 [[ 9.98750314e-01 4.96491430e-02 -5.72478827e-03 5.93968312e+02] [-4.96481820e-02 9.98766721e-01 3.09933594e-04 -3.05677054e+01] [ 5.73311594e-03 -2.53209440e-05 9.99983565e-01 3.21969696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.100714057 meters Centerline goodness : 0.992041 with order 1 Centerline is valid? [True, True] Translation: X:594.03, Y:-30.59, Z:3.21 [[ 9.98311055e-01 5.78123318e-02 -5.72469378e-03 5.94028881e+02] [-5.78114950e-02 9.98327468e-01 3.11669094e-04 -3.05891825e+01] [ 5.73313737e-03 1.98104042e-05 9.99983565e-01 3.21139298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1607140570001 meters Centerline goodness : 0.992313 with order 1 Centerline is valid? [True, True] Translation: X:594.09, Y:-30.60, Z:3.21 [[ 9.98505740e-01 5.43462653e-02 -5.72461814e-03 5.94091722e+02] [-5.43453637e-02 9.98522150e-01 3.13052291e-04 -3.06000918e+01] [ 5.73317123e-03 -1.47805502e-06 9.99983565e-01 3.21150794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.220714057 meters Centerline goodness : 0.992505 with order 1 Centerline is valid? [True, True] Translation: X:594.15, Y:-30.61, Z:3.21 [[ 9.98713366e-01 5.03869205e-02 -5.72452924e-03 5.94154460e+02] [-5.03859445e-02 9.98729772e-01 3.14669628e-04 -3.06095948e+01] [ 5.73311301e-03 -2.58289511e-05 9.99983565e-01 3.21122270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.280714057 meters Centerline goodness : 0.987729 with order 1 Centerline is valid? [True, True] Translation: X:594.22, Y:-30.62, Z:3.21 [[ 9.98809312e-01 4.84477958e-02 -5.72443830e-03 5.94217016e+02] [-4.84467786e-02 9.98825715e-01 3.16315395e-04 -3.06187284e+01] [ 5.73304096e-03 -3.86081679e-05 9.99983565e-01 3.21328202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.340714057 meters Centerline goodness : 0.992514 with order 1 Centerline is valid? [True, True] Translation: X:594.28, Y:-30.62, Z:3.21 [[ 9.98950239e-01 4.54494407e-02 -5.72438483e-03 5.94280210e+02] [-4.54483687e-02 9.98966639e-01 3.17280088e-04 -3.06231797e+01] [ 5.73288967e-03 -5.67830675e-05 9.99983565e-01 3.21133837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.400714057 meters Centerline goodness : 0.991606 with order 1 Centerline is valid? [True, True] Translation: X:594.34, Y:-30.63, Z:3.21 [[ 9.98999416e-01 4.43553690e-02 -5.72426216e-03 5.94343164e+02] [-4.43542664e-02 9.99015814e-01 3.19477937e-04 -3.06266073e+01] [ 5.73279899e-03 -6.52628239e-05 9.99983565e-01 3.21048043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.460714057 meters Centerline goodness : 0.991621 with order 1 Centerline is valid? [True, True] Translation: X:594.41, Y:-30.63, Z:3.21 [[ 9.99047728e-01 4.32535740e-02 -5.72417292e-03 5.94405257e+02] [-4.32524443e-02 9.99064124e-01 3.21069023e-04 -3.06272771e+01] [ 5.73270318e-03 -7.31788082e-05 9.99983565e-01 3.20831074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.520714057 meters Centerline goodness : 0.992090 with order 1 Centerline is valid? [True, True] Translation: X:594.47, Y:-30.63, Z:3.21 [[ 9.99141939e-01 4.10197655e-02 -5.72409017e-03 5.94468064e+02] [-4.10185907e-02 9.99158331e-01 3.22537493e-04 -3.06278869e+01] [ 5.73250280e-03 -8.74666242e-05 9.99983565e-01 3.20870088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.580714057 meters Centerline goodness : 0.992910 with order 1 Centerline is valid? [True, True] Translation: X:594.53, Y:-30.63, Z:3.21 [[ 9.99373341e-01 3.49308136e-02 -5.72399988e-03 5.94530624e+02] [-3.49295298e-02 9.99389725e-01 3.24131988e-04 -3.06276341e+01] [ 5.73182886e-03 -1.23992243e-04 9.99983565e-01 3.20879152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.640714057 meters Centerline goodness : 0.992997 with order 1 Centerline is valid? [True, True] Translation: X:594.59, Y:-30.63, Z:3.21 [[ 9.99503996e-01 3.09677195e-02 -5.72391068e-03 5.94593214e+02] [-3.09663618e-02 9.99520374e-01 3.25699732e-04 -3.06272595e+01] [ 5.73125152e-03 -1.48289495e-04 9.99983565e-01 3.20867286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.700714057 meters Centerline goodness : 0.993051 with order 1 Centerline is valid? [True, True] Translation: X:594.66, Y:-30.62, Z:3.21 [[ 9.99478253e-01 3.17877273e-02 -5.72381747e-03 5.94655921e+02] [-3.17863737e-02 9.99494632e-01 3.27329658e-04 -3.06247789e+01] [ 5.73132990e-03 -1.45219474e-04 9.99983565e-01 3.20937162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.760714057 meters Centerline goodness : 0.993685 with order 1 Centerline is valid? [True, True] Translation: X:594.72, Y:-30.62, Z:3.21 [[ 9.99531589e-01 3.00639451e-02 -5.72372453e-03 5.94718600e+02] [-3.00625540e-02 9.99547965e-01 3.28946767e-04 -3.06229804e+01] [ 5.73102664e-03 -1.56722908e-04 9.99983565e-01 3.21109373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.820714057 meters Centerline goodness : 0.994951 with order 1 Centerline is valid? [True, True] Translation: X:594.78, Y:-30.62, Z:3.21 [[ 9.99650895e-01 2.57939672e-02 -5.72363156e-03 5.94781880e+02] [-2.57924969e-02 9.99667264e-01 3.30556540e-04 -3.06201884e+01] [ 5.73025346e-03 -1.82814392e-04 9.99983565e-01 3.21251676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.880714057 meters Centerline goodness : 0.994596 with order 1 Centerline is valid? [True, True] Translation: X:594.85, Y:-30.62, Z:3.21 [[ 9.99678070e-01 2.47183744e-02 -5.72353691e-03 5.94845076e+02] [-2.47168772e-02 9.99694436e-01 3.32187385e-04 -3.06183800e+01] [ 5.72999913e-03 -1.90612485e-04 9.99983565e-01 3.21193833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.940714057 meters Centerline goodness : 0.994957 with order 1 Centerline is valid? [True, True] Translation: X:594.91, Y:-30.61, Z:3.21 [[ 9.99479191e-01 3.17583052e-02 -5.72344267e-03 5.94907687e+02] [-3.17569141e-02 9.99495566e-01 3.33803217e-04 -3.06087268e+01] [ 5.73115660e-03 -1.51870493e-04 9.99983565e-01 3.20868497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.000714057 meters Centerline goodness : 0.995523 with order 1 Centerline is valid? [True, True] Translation: X:594.97, Y:-30.60, Z:3.21 [[ 9.99111317e-01 4.17590615e-02 -5.72336087e-03 5.94970330e+02] [-4.17578263e-02 9.99127705e-01 3.35199873e-04 -3.06016230e+01] [ 5.73236605e-03 -9.59068770e-05 9.99983565e-01 3.20954219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.060714057 meters Centerline goodness : 0.995001 with order 1 Centerline is valid? [True, True] Translation: X:595.03, Y:-30.60, Z:3.21 [[ 9.98834544e-01 4.79249098e-02 -5.72333680e-03 5.95033778e+02] [-4.79237734e-02 9.98850939e-01 3.35610379e-04 -3.06001941e+01] [ 5.73284444e-03 -6.09353439e-05 9.99983565e-01 3.20991617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.120714057 meters Centerline goodness : 0.994413 with order 1 Centerline is valid? [True, True] Translation: X:595.10, Y:-30.59, Z:3.21 [[ 9.98293372e-01 5.81170219e-02 -5.72324079e-03 5.95095981e+02] [-5.81160436e-02 9.98309777e-01 3.37239735e-04 -3.05945850e+01] [ 5.73316661e-03 -4.05208109e-06 9.99983565e-01 3.21117925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.180714057 meters Centerline goodness : 0.994775 with order 1 Centerline is valid? [True, True] Translation: X:595.16, Y:-30.59, Z:3.21 [[ 9.97941279e-01 6.38783869e-02 -5.72315163e-03 5.95159356e+02] [-6.38774946e-02 9.97957690e-01 3.38746047e-04 -3.05949869e+01] [ 5.73310173e-03 2.75319237e-05 9.99983565e-01 3.21176780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.240714057 meters Centerline goodness : 0.994476 with order 1 Centerline is valid? [True, True] Translation: X:595.22, Y:-30.60, Z:3.22 [[ 9.97432556e-01 7.13830707e-02 -5.72305371e-03 5.95220967e+02] [-7.13822925e-02 9.97448972e-01 3.40392435e-04 -3.05970525e+01] [ 5.73275230e-03 6.90061977e-05 9.99983565e-01 3.21541246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.300714057 meters Centerline goodness : 0.994257 with order 1 Centerline is valid? [True, True] Translation: X:595.28, Y:-30.60, Z:3.21 [[ 9.97406771e-01 7.17424569e-02 -5.72296914e-03 5.95284161e+02] [-7.17416765e-02 9.97423188e-01 3.41808477e-04 -3.06012978e+01] [ 5.73274430e-03 6.96533113e-05 9.99983565e-01 3.21459714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.360714057 meters Centerline goodness : 0.993960 with order 1 Centerline is valid? [True, True] Translation: X:595.35, Y:-30.61, Z:3.21 [[ 9.97647766e-01 6.83094738e-02 -5.72287107e-03 5.95345835e+02] [-6.83086275e-02 9.97664179e-01 3.43442577e-04 -3.06075017e+01] [ 5.73296385e-03 4.82867486e-05 9.99983565e-01 3.21208516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.420714057 meters Centerline goodness : 0.993832 with order 1 Centerline is valid? [True, True] Translation: X:595.41, Y:-30.62, Z:3.21 [[ 9.98140935e-01 6.06788575e-02 -5.72278496e-03 5.95408074e+02] [-6.06778775e-02 9.98157340e-01 3.44871439e-04 -3.06156666e+01] [ 5.73316622e-03 3.01614466e-06 9.99983565e-01 3.21007813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.480714057 meters Centerline goodness : 0.993534 with order 1 Centerline is valid? [True, True] Translation: X:595.47, Y:-30.63, Z:3.21 [[ 9.98362434e-01 5.69183761e-02 -5.72268707e-03 5.95470419e+02] [-5.69173250e-02 9.98378835e-01 3.46488255e-04 -3.06250123e+01] [ 5.73313120e-03 -2.02008178e-05 9.99983565e-01 3.21030420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5407140570001 meters Centerline goodness : 0.993327 with order 1 Centerline is valid? [True, True] Translation: X:595.53, Y:-30.63, Z:3.21 [[ 9.98341987e-01 5.72759061e-02 -5.72258785e-03 5.95533327e+02] [-5.72748516e-02 9.98358388e-01 3.48119236e-04 -3.06335987e+01] [ 5.73313243e-03 -1.97816802e-05 9.99983565e-01 3.21053052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.600714057 meters Centerline goodness : 0.994313 with order 1 Centerline is valid? [True, True] Translation: X:595.60, Y:-30.64, Z:3.21 [[ 9.97899032e-01 6.45350737e-02 -5.72248958e-03 5.95595915e+02] [-6.45341293e-02 9.97915439e-01 3.49727320e-04 -3.06427573e+01] [ 5.73313038e-03 2.03033285e-05 9.99983565e-01 3.21197757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6607140570001 meters Centerline goodness : 0.990726 with order 1 Centerline is valid? [True, True] Translation: X:595.66, Y:-30.64, Z:3.22 [[ 9.97416011e-01 7.16139303e-02 -5.72239213e-03 5.95659080e+02] [-7.16130932e-02 9.97432425e-01 3.51314646e-04 -3.06444634e+01] [ 5.73285847e-03 5.93913477e-05 9.99983565e-01 3.22451408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.720714057 meters Centerline goodness : 0.993411 with order 1 Centerline is valid? [True, True] Translation: X:595.72, Y:-30.66, Z:3.22 [[ 9.96008171e-01 8.90784953e-02 -5.72228550e-03 5.95719837e+02] [-8.90779359e-02 9.96024596e-01 3.53042828e-04 -3.06601164e+01] [ 5.73098563e-03 1.58095840e-04 9.99983565e-01 3.21510412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.780714057 meters Centerline goodness : 0.993747 with order 1 Centerline is valid? [True, True] Translation: X:595.78, Y:-30.67, Z:3.22 [[ 9.95122339e-01 9.84824234e-02 -5.72219462e-03 5.95782140e+02] [-9.84820108e-02 9.95138768e-01 3.54509851e-04 -3.06741290e+01] [ 5.72929069e-03 2.10752560e-04 9.99983565e-01 3.21618504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.840714057 meters Centerline goodness : 0.990213 with order 1 Centerline is valid? [True, True] Translation: X:595.84, Y:-30.68, Z:3.24 [[ 9.94857719e-01 1.01120607e-01 -5.72209473e-03 5.95843273e+02] [-1.01120229e-01 9.94874149e-01 3.56114881e-04 -3.06833203e+01] [ 5.72877468e-03 2.24335888e-04 9.99983565e-01 3.23644747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.900714057 meters Centerline goodness : 0.990414 with order 1 Centerline is valid? [True, True] Translation: X:595.90, Y:-30.70, Z:3.23 [[ 9.94822475e-01 1.01466754e-01 -5.72206652e-03 5.95902651e+02] [-1.01466379e-01 9.94838905e-01 3.56567551e-04 -3.06969263e+01] [ 5.72871414e-03 2.25875955e-04 9.99983565e-01 3.22936801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.960714057 meters Centerline goodness : 0.992791 with order 1 Centerline is valid? [True, True] Translation: X:595.96, Y:-30.72, Z:3.22 [[ 9.94459288e-01 1.04966582e-01 -5.72206652e-03 5.95963216e+02] [-1.04966265e-01 9.94475719e-01 3.56567550e-04 -3.07223382e+01] [ 5.72788389e-03 2.46032036e-04 9.99983565e-01 3.21552182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.020714057 meters Centerline goodness : 0.993636 with order 1 Centerline is valid? [True, True] Translation: X:596.03, Y:-30.74, Z:3.22 [[ 9.94636373e-01 1.03275091e-01 -5.72198083e-03 5.96025614e+02] [-1.03274738e-01 9.94652804e-01 3.57937413e-04 -3.07401282e+01] [ 5.72835029e-03 2.34918500e-04 9.99983565e-01 3.21589428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.080714057 meters Centerline goodness : 0.993204 with order 1 Centerline is valid? [True, True] Translation: X:596.09, Y:-30.76, Z:3.22 [[ 9.94822996e-01 1.01461648e-01 -5.72188219e-03 5.96087863e+02] [-1.01461256e-01 9.94839426e-01 3.59507407e-04 -3.07586790e+01] [ 5.72883020e-03 2.22903118e-04 9.99983565e-01 3.21720052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.140714057 meters Centerline goodness : 0.992970 with order 1 Centerline is valid? [True, True] Translation: X:596.15, Y:-30.78, Z:3.22 [[ 9.95358500e-01 9.60662132e-02 -5.72178411e-03 5.96149816e+02] [-9.60657232e-02 9.95374928e-01 3.61061628e-04 -3.07761350e+01] [ 5.73000627e-03 1.90281568e-04 9.99983565e-01 3.21843641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.200714057 meters Centerline goodness : 0.992786 with order 1 Centerline is valid? [True, True] Translation: X:596.21, Y:-30.79, Z:3.22 [[ 9.96422870e-01 8.43132590e-02 -5.72168688e-03 5.96211350e+02] [-8.43125663e-02 9.96439291e-01 3.62595923e-04 -3.07929254e+01] [ 5.73188526e-03 1.21111234e-04 9.99983565e-01 3.21903615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.260714057 meters Centerline goodness : 0.993765 with order 1 Centerline is valid? [True, True] Translation: X:596.27, Y:-30.81, Z:3.22 [[ 9.97746018e-01 6.68591506e-02 -5.72159067e-03 5.96273351e+02] [-6.68581619e-02 9.97762423e-01 3.64107673e-04 -3.08092592e+01] [ 5.73313211e-03 1.92480551e-05 9.99983565e-01 3.22191193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.320714057 meters Centerline goodness : 0.993649 with order 1 Centerline is valid? [True, True] Translation: X:596.34, Y:-30.82, Z:3.23 [[ 9.98864367e-01 4.72994854e-02 -5.72148832e-03 5.96335194e+02] [-4.72981664e-02 9.98880749e-01 3.65709029e-04 -3.08233352e+01] [ 5.73238238e-03 -9.46778109e-05 9.99983565e-01 3.22502820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.380714057 meters Centerline goodness : 0.993950 with order 1 Centerline is valid? [True, True] Translation: X:596.40, Y:-30.83, Z:3.23 [[ 9.99501730e-01 3.10412307e-02 -5.72138668e-03 5.96397797e+02] [-3.10396362e-02 9.99518087e-01 3.67292266e-04 -3.08311967e+01] [ 5.73003067e-03 -1.89519494e-04 9.99983565e-01 3.22723343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.440714057 meters Centerline goodness : 0.993863 with order 1 Centerline is valid? [True, True] Translation: X:596.46, Y:-30.83, Z:3.23 [[ 9.99778300e-01 2.02637010e-02 -5.72128301e-03 5.96459257e+02] [-2.02619211e-02 9.99794638e-01 3.68900011e-04 -3.08346632e+01] [ 5.72758336e-03 -2.52894041e-04 9.99983565e-01 3.22924509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.500714057 meters Centerline goodness : 0.995513 with order 1 Centerline is valid? [True, True] Translation: X:596.52, Y:-30.83, Z:3.23 [[ 9.99893590e-01 1.34192686e-02 -5.72118727e-03 5.96522830e+02] [-1.34173685e-02 9.99909914e-01 3.70378992e-04 -3.08318786e+01] [ 5.72564209e-03 -2.93576303e-04 9.99983565e-01 3.22725634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.560714057 meters Centerline goodness : 0.994908 with order 1 Centerline is valid? [True, True] Translation: X:596.59, Y:-30.82, Z:3.23 [[ 9.99927584e-01 1.05875513e-02 -5.72108259e-03 5.96585364e+02] [-1.05855958e-02 9.99943902e-01 3.71988840e-04 -3.08245634e+01] [ 5.72470010e-03 -3.11400835e-04 9.99983565e-01 3.22669740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.620714057 meters Centerline goodness : 0.995147 with order 1 Centerline is valid? [True, True] Translation: X:596.65, Y:-30.82, Z:3.23 [[ 9.99949390e-01 8.27576915e-03 -5.72098963e-03 5.96647080e+02] [-8.27376776e-03 9.99965702e-01 3.73413051e-04 -3.08153633e+01] [ 5.72388370e-03 -3.26060013e-04 9.99983565e-01 3.22678704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.680714057 meters Centerline goodness : 0.993501 with order 1 Centerline is valid? [True, True] Translation: X:596.71, Y:-30.80, Z:3.22 [[ 9.99963625e-01 6.32618194e-03 -5.72090446e-03 5.96708354e+02] [-6.32414133e-03 9.99979932e-01 3.74713528e-04 -3.08026639e+01] [ 5.72316016e-03 -3.38520089e-04 9.99983565e-01 3.22126049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.740714057 meters Centerline goodness : 0.992182 with order 1 Centerline is valid? [True, True] Translation: X:596.77, Y:-30.79, Z:3.22 [[ 9.99967480e-01 5.68415988e-03 -5.72090446e-03 5.96768703e+02] [-5.68210880e-03 9.99983786e-01 3.74713527e-04 -3.07875283e+01] [ 5.72294163e-03 -3.42194540e-04 9.99983565e-01 3.21912541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.800714057 meters Centerline goodness : 0.991791 with order 1 Centerline is valid? [True, True] Translation: X:596.83, Y:-30.77, Z:3.22 [[ 9.99958194e-01 7.13316101e-03 -5.72091751e-03 5.96829243e+02] [-7.13113470e-03 9.99974503e-01 3.74514149e-04 -3.07732359e+01] [ 5.72344311e-03 -3.33701859e-04 9.99983565e-01 3.21908133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.860714057 meters Centerline goodness : 0.991469 with order 1 Centerline is valid? [True, True] Translation: X:596.89, Y:-30.76, Z:3.22 [[ 9.99897985e-01 1.30877822e-02 -5.72093078e-03 5.96890194e+02] [-1.30858542e-02 9.99914306e-01 3.74311344e-04 -3.07551302e+01] [ 5.72533944e-03 -2.99409892e-04 9.99983565e-01 3.22006509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.920714057 meters Centerline goodness : 0.992359 with order 1 Centerline is valid? [True, True] Translation: X:596.95, Y:-30.74, Z:3.22 [[ 9.99738455e-01 2.21425255e-02 -5.72094390e-03 5.96951782e+02] [-2.21407466e-02 9.99754794e-01 3.74110628e-04 -3.07358455e+01] [ 5.72782484e-03 -2.47346813e-04 9.99983565e-01 3.22302096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.980714057 meters Centerline goodness : 0.991826 with order 1 Centerline is valid? [True, True] Translation: X:597.02, Y:-30.71, Z:3.23 [[ 9.99703870e-01 2.36525632e-02 -5.72094390e-03 5.97015323e+02] [-2.36508089e-02 9.99720211e-01 3.74110628e-04 -3.07110326e+01] [ 5.72819192e-03 -2.38694892e-04 9.99983565e-01 3.23149256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0407140570001 meters Centerline goodness : 0.992724 with order 1 Centerline is valid? [True, True] Translation: X:597.08, Y:-30.69, Z:3.23 [[ 9.99694965e-01 2.40259928e-02 -5.72084899e-03 5.97078482e+02] [-2.40242364e-02 9.99711306e-01 3.75556409e-04 -3.06940171e+01] [ 5.72822053e-03 -2.38002823e-04 9.99983565e-01 3.22516496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.100714057 meters Centerline goodness : 0.995664 with order 1 Centerline is valid? [True, True] Translation: X:597.14, Y:-30.69, Z:3.23 [[ 9.99467753e-01 3.21167225e-02 -5.72082234e-03 5.97139479e+02] [-3.21150961e-02 9.99484107e-01 3.75961887e-04 -3.06920255e+01] [ 5.72994567e-03 -1.92037023e-04 9.99983565e-01 3.22733211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1607140570001 meters Centerline goodness : 0.996441 with order 1 Centerline is valid? [True, True] Translation: X:597.20, Y:-30.68, Z:3.23 [[ 9.99532827e-01 3.00233164e-02 -5.72077981e-03 5.97202365e+02] [-3.00216520e-02 9.99549178e-01 3.76608048e-04 -3.06824659e+01] [ 5.72950777e-03 -2.04684846e-04 9.99983565e-01 3.22824990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.220714057 meters Centerline goodness : 0.997323 with order 1 Centerline is valid? [True, True] Translation: X:597.26, Y:-30.66, Z:3.22 [[ 9.99854745e-01 1.60549656e-02 -5.72068866e-03 5.97264981e+02] [-1.60530650e-02 9.99871070e-01 3.77987518e-04 -3.06593729e+01] [ 5.72601967e-03 -2.86098027e-04 9.99983565e-01 3.22036189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.280714057 meters Centerline goodness : 0.997294 with order 1 Centerline is valid? [True, True] Translation: X:597.32, Y:-30.66, Z:3.23 [[ 9.99752929e-01 2.14791713e-02 -5.72068178e-03 5.97324011e+02] [-2.14773587e-02 9.99769263e-01 3.78091603e-04 -3.06590925e+01] [ 5.72748290e-03 -2.55133052e-04 9.99983565e-01 3.22908684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.340714057 meters Centerline goodness : 0.998660 with order 1 Centerline is valid? [True, True] Translation: X:597.38, Y:-30.66, Z:3.23 [[ 9.99480892e-01 3.17052173e-02 -5.72069530e-03 5.97384267e+02] [-3.17035732e-02 9.99497244e-01 3.77886934e-04 -3.06599741e+01] [ 5.72980017e-03 -1.96324288e-04 9.99983565e-01 3.23196338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.400714057 meters Centerline goodness : 0.998827 with order 1 Centerline is valid? [True, True] Translation: X:597.44, Y:-30.65, Z:3.23 [[ 9.99309342e-01 3.67166475e-02 -5.72069530e-03 5.97444814e+02] [-3.67150854e-02 9.99325703e-01 3.77886934e-04 -3.06523140e+01] [ 5.73071259e-03 -1.67590127e-04 9.99983565e-01 3.23066186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.460714057 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:597.51, Y:-30.65, Z:3.23 [[ 9.99278638e-01 3.75430176e-02 -5.72068910e-03 5.97506884e+02] [-3.75414684e-02 9.99294999e-01 3.77980741e-04 -3.06481284e+01] [ 5.73084655e-03 -1.62945011e-04 9.99983565e-01 3.23182046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.520714057 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:597.57, Y:-30.65, Z:3.23 [[ 9.99401102e-01 3.41278751e-02 -5.72067606e-03 5.97568059e+02] [-3.41262689e-02 9.99417458e-01 3.78178042e-04 -3.06458782e+01] [ 5.73024994e-03 -1.82726222e-04 9.99983565e-01 3.23449397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.580714057 meters Centerline goodness : 0.998744 with order 1 Centerline is valid? [True, True] Translation: X:597.63, Y:-30.64, Z:3.23 [[ 9.99520375e-01 3.04350785e-02 -5.72066291e-03 5.97627840e+02] [-3.04334108e-02 9.99536725e-01 3.78376833e-04 -3.06449990e+01] [ 5.72952860e-03 -2.04096069e-04 9.99983565e-01 3.23485302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.640714057 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:597.69, Y:-30.64, Z:3.24 [[ 9.99702948e-01 2.36915672e-02 -5.72066291e-03 5.97688295e+02] [-2.36897892e-02 9.99719286e-01 3.78376833e-04 -3.06439358e+01] [ 5.72802138e-03 -2.42743137e-04 9.99983565e-01 3.23611202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.700714057 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:597.75, Y:-30.64, Z:3.24 [[ 9.99714367e-01 2.32047129e-02 -5.72066291e-03 5.97748268e+02] [-2.32029270e-02 9.99730704e-01 3.78376833e-04 -3.06429241e+01] [ 5.72790249e-03 -2.45532632e-04 9.99983565e-01 3.23628478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.760714057 meters Centerline goodness : 0.999366 with order 1 Centerline is valid? [True, True] Translation: X:597.81, Y:-30.64, Z:3.24 [[ 9.99617347e-01 2.70635270e-02 -5.72066956e-03 5.97807968e+02] [-2.70618047e-02 9.99633691e-01 3.78276191e-04 -3.06410050e+01] [ 5.72881152e-03 -2.23319800e-04 9.99983565e-01 3.23521570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.820714057 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:597.87, Y:-30.64, Z:3.23 [[ 9.99368054e-01 3.50822907e-02 -5.72067606e-03 5.97868143e+02] [-3.50807001e-02 9.99384411e-01 3.78177961e-04 -3.06387066e+01] [ 5.73042182e-03 -1.77253651e-04 9.99983565e-01 3.23486990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.880714057 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:597.93, Y:-30.64, Z:3.24 [[ 9.98936870e-01 4.57427933e-02 -5.72068940e-03 5.97927163e+02] [-4.57413785e-02 9.98953244e-01 3.77975964e-04 -3.06367473e+01] [ 5.73199091e-03 -1.15901907e-04 9.99983565e-01 3.23533851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.940714057 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:597.99, Y:-30.64, Z:3.23 [[ 9.98354913e-01 5.70503353e-02 -5.72070891e-03 5.97986950e+02] [-5.70491076e-02 9.98371302e-01 3.77680544e-04 -3.06373420e+01] [ 5.73293840e-03 -5.06978881e-05 9.99983565e-01 3.23258951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.000714057 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:598.05, Y:-30.64, Z:3.24 [[ 9.98334071e-01 5.74139017e-02 -5.72072507e-03 5.98047256e+02] [-5.74126815e-02 9.98350460e-01 3.77435595e-04 -3.06394459e+01] [ 5.73295856e-03 -4.83646481e-05 9.99983565e-01 3.23591445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.060714057 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:598.11, Y:-30.64, Z:3.24 [[ 9.98252041e-01 5.88229171e-02 -5.72072507e-03 5.98107598e+02] [-5.88217200e-02 9.98268432e-01 3.77435595e-04 -3.06435918e+01] [ 5.73302111e-03 -4.02729654e-05 9.99983565e-01 3.23765513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.120714057 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:598.17, Y:-30.65, Z:3.24 [[ 9.97971398e-01 6.34063229e-02 -5.72072507e-03 5.98166875e+02] [-6.34052010e-02 9.97987795e-01 3.77435595e-04 -3.06481718e+01] [ 5.73314560e-03 -1.39462056e-05 9.99983565e-01 3.23957319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.180714057 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:598.23, Y:-30.66, Z:3.24 [[ 9.97438353e-01 7.13022121e-02 -5.72073810e-03 5.98226219e+02] [-7.13012212e-02 9.97454758e-01 3.77237964e-04 -3.06550723e+01] [ 5.73307534e-03 3.16239990e-05 9.99983565e-01 3.23948056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.240714057 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:598.29, Y:-30.66, Z:3.24 [[ 9.96825423e-01 7.94125286e-02 -5.72075114e-03 5.98285960e+02] [-7.94116723e-02 9.96841835e-01 3.77040171e-04 -3.06638063e+01] [ 5.73262578e-03 7.84511863e-05 9.99983565e-01 3.23684978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.300714057 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:598.35, Y:-30.67, Z:3.24 [[ 9.96355260e-01 8.51085687e-02 -5.72075114e-03 5.98345636e+02] [-8.51078062e-02 9.96371677e-01 3.77040171e-04 -3.06743944e+01] [ 5.73208376e-03 1.11214621e-04 9.99983565e-01 3.23507032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.360714057 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:598.41, Y:-30.69, Z:3.23 [[ 9.96096073e-01 8.80902168e-02 -5.72074471e-03 5.98405884e+02] [-8.80895029e-02 9.96112492e-01 3.77137692e-04 -3.06867415e+01] [ 5.73172741e-03 1.28272184e-04 9.99983565e-01 3.23307007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.420714057 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:598.47, Y:-30.70, Z:3.23 [[ 9.96030358e-01 8.88301724e-02 -5.72073134e-03 5.98467068e+02] [-8.88294696e-02 9.96046778e-01 3.77340418e-04 -3.07016658e+01] [ 5.73163523e-03 1.32327018e-04 9.99983565e-01 3.23436281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.480714057 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:598.53, Y:-30.72, Z:3.24 [[ 9.96061196e-01 8.84837207e-02 -5.72063189e-03 5.98528889e+02] [-8.84830035e-02 9.96077615e-01 3.78842042e-04 -3.07163387e+01] [ 5.73171472e-03 1.28828835e-04 9.99983565e-01 3.23810803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5407140570001 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:598.59, Y:-30.74, Z:3.24 [[ 9.95826533e-01 9.10867215e-02 -5.72052443e-03 5.98590893e+02] [-9.10860379e-02 9.95842954e-01 3.80457848e-04 -3.07369335e+01] [ 5.73139860e-03 1.42189885e-04 9.99983565e-01 3.23973987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.600714057 meters Centerline goodness : 0.998547 with order 1 Centerline is valid? [True, True] Translation: X:598.65, Y:-30.75, Z:3.24 [[ 9.95351700e-01 9.61367277e-02 -5.72041536e-03 5.98652516e+02] [-9.61361181e-02 9.95368123e-01 3.82090839e-04 -3.07536125e+01] [ 5.73065206e-03 1.69623760e-04 9.99983565e-01 3.24061304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6607140570001 meters Centerline goodness : 0.998295 with order 1 Centerline is valid? [True, True] Translation: X:598.71, Y:-30.77, Z:3.24 [[ 9.94768060e-01 1.01998947e-01 -5.72030414e-03 5.98714670e+02] [-1.01998424e-01 9.94784486e-01 3.83748655e-04 -3.07730245e+01] [ 5.72961177e-03 2.01721104e-04 9.99983565e-01 3.23956607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.720714057 meters Centerline goodness : 0.997642 with order 1 Centerline is valid? [True, True] Translation: X:598.78, Y:-30.79, Z:3.24 [[ 9.94273130e-01 1.06715610e-01 -5.72019382e-03 5.98776050e+02] [-1.06715156e-01 9.94289559e-01 3.85386047e-04 -3.07944614e+01] [ 5.72865570e-03 2.27252384e-04 9.99983565e-01 3.23729065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.780714057 meters Centerline goodness : 0.995589 with order 1 Centerline is valid? [True, True] Translation: X:598.84, Y:-30.81, Z:3.24 [[ 9.94234832e-01 1.07071844e-01 -5.72008415e-03 5.98836031e+02] [-1.07071387e-01 9.94251260e-01 3.87007086e-04 -3.08114794e+01] [ 5.72863844e-03 2.27681416e-04 9.99983565e-01 3.24300808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.840714057 meters Centerline goodness : 0.994849 with order 1 Centerline is valid? [True, True] Translation: X:598.90, Y:-30.83, Z:3.24 [[ 9.94190070e-01 1.07486681e-01 -5.71999621e-03 5.98897153e+02] [-1.07486223e-01 9.94206498e-01 3.88302433e-04 -3.08348999e+01] [ 5.72859475e-03 2.28774364e-04 9.99983565e-01 3.24253708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.900714057 meters Centerline goodness : 0.994170 with order 1 Centerline is valid? [True, True] Translation: X:598.96, Y:-30.87, Z:3.24 [[ 9.93669046e-01 1.12201199e-01 -5.71991364e-03 5.98956869e+02] [-1.12200812e-01 9.93685476e-01 3.89514974e-04 -3.08719296e+01] [ 5.72749916e-03 2.54729984e-04 9.99983565e-01 3.23670394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.960714057 meters Centerline goodness : 0.995019 with order 1 Centerline is valid? [True, True] Translation: X:599.02, Y:-30.90, Z:3.24 [[ 9.93661707e-01 1.12266185e-01 -5.71981585e-03 5.99017697e+02] [-1.12265791e-01 9.93678137e-01 3.90945690e-04 -3.08956162e+01] [ 5.72754594e-03 2.53671890e-04 9.99983565e-01 3.23940780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.020714057 meters Centerline goodness : 0.988879 with order 1 Centerline is valid? [True, True] Translation: X:599.08, Y:-30.92, Z:3.24 [[ 9.93519605e-01 1.13516866e-01 -5.71971151e-03 5.99078867e+02] [-1.13516483e-01 9.93536036e-01 3.92466335e-04 -3.09209670e+01] [ 5.72729105e-03 2.59358538e-04 9.99983565e-01 3.23985030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.080714057 meters Centerline goodness : 0.995343 with order 1 Centerline is valid? [True, True] Translation: X:599.14, Y:-30.94, Z:3.24 [[ 9.93925119e-01 1.09909707e-01 -5.71964546e-03 5.99140879e+02] [-1.09909259e-01 9.93941548e-01 3.93426546e-04 -3.09404511e+01] [ 5.72823466e-03 2.37605469e-04 9.99983565e-01 3.23879349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.140714057 meters Centerline goodness : 0.995691 with order 1 Centerline is valid? [True, True] Translation: X:599.20, Y:-30.96, Z:3.24 [[ 9.94075490e-01 1.08541271e-01 -5.71949367e-03 5.99202544e+02] [-1.08540789e-01 9.94091918e-01 3.95621092e-04 -3.09610749e+01] [ 5.72864364e-03 2.27521123e-04 9.99983565e-01 3.23998965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.200714057 meters Centerline goodness : 0.995638 with order 1 Centerline is valid? [True, True] Translation: X:599.27, Y:-30.97, Z:3.24 [[ 9.94062448e-01 1.08660655e-01 -5.71938029e-03 5.99265210e+02] [-1.08660165e-01 9.94078876e-01 3.97253381e-04 -3.09709012e+01] [ 5.72868094e-03 2.26574139e-04 9.99983565e-01 3.24034864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.260714057 meters Centerline goodness : 0.995958 with order 1 Centerline is valid? [True, True] Translation: X:599.33, Y:-30.99, Z:3.24 [[ 9.93952987e-01 1.09657423e-01 -5.71926639e-03 5.99326020e+02] [-1.09656940e-01 9.93969414e-01 3.98886452e-04 -3.09949282e+01] [ 5.72851673e-03 2.30682870e-04 9.99983565e-01 3.24075123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.320714057 meters Centerline goodness : 0.993658 with order 1 Centerline is valid? [True, True] Translation: X:599.39, Y:-30.99, Z:3.23 [[ 9.95081401e-01 9.88953842e-02 -5.71916735e-03 5.99389055e+02] [-9.88947155e-02 9.95097822e-01 4.00301553e-04 -3.09920706e+01] [ 5.73071895e-03 1.67262798e-04 9.99983565e-01 3.23425614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.380714057 meters Centerline goodness : 0.995548 with order 1 Centerline is valid? [True, True] Translation: X:599.45, Y:-31.03, Z:3.24 [[ 9.93281795e-01 1.15579270e-01 -5.71911085e-03 5.99447992e+02] [-1.15578872e-01 9.93298225e-01 4.01107058e-04 -3.10293860e+01] [ 5.72714232e-03 2.62596044e-04 9.99983565e-01 3.24326739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.440714057 meters Centerline goodness : 0.993096 with order 1 Centerline is valid? [True, True] Translation: X:599.51, Y:-31.04, Z:3.24 [[ 9.92805198e-01 1.19604063e-01 -5.71901660e-03 5.99509390e+02] [-1.19603724e-01 9.92821629e-01 4.02446470e-04 -3.10436703e+01] [ 5.72609761e-03 2.84464738e-04 9.99983565e-01 3.24499063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.500714057 meters Centerline goodness : 0.994588 with order 1 Centerline is valid? [True, True] Translation: X:599.57, Y:-31.06, Z:3.24 [[ 9.92362774e-01 1.23221014e-01 -5.71897441e-03 5.99570680e+02] [-1.23220731e-01 9.92379206e-01 4.03045045e-04 -3.10606719e+01] [ 5.72505491e-03 3.04729310e-04 9.99983565e-01 3.24392267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.560714057 meters Centerline goodness : 0.994711 with order 1 Centerline is valid? [True, True] Translation: X:599.63, Y:-31.08, Z:3.24 [[ 9.91952736e-01 1.26479502e-01 -5.71884727e-03 5.99632341e+02] [-1.26479263e-01 9.91969169e-01 4.04841130e-04 -3.10761376e+01] [ 5.72412428e-03 3.21732321e-04 9.99983565e-01 3.24472768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.620714057 meters Centerline goodness : 0.993494 with order 1 Centerline is valid? [True, True] Translation: X:599.69, Y:-31.09, Z:3.25 [[ 9.92094116e-01 1.25365708e-01 -5.71872973e-03 5.99693798e+02] [-1.25365441e-01 9.92110549e-01 4.06494752e-04 -3.10920782e+01] [ 5.72457259e-03 3.13650025e-04 9.99983565e-01 3.24517492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.680714057 meters Centerline goodness : 0.989485 with order 1 Centerline is valid? [True, True] Translation: X:599.76, Y:-31.09, Z:3.23 [[ 9.94513343e-01 1.04453376e-01 -5.71862591e-03 5.99756567e+02] [-1.04452755e-01 9.94529766e-01 4.07950005e-04 -3.10897504e+01] [ 5.72995545e-03 1.91614506e-04 9.99983565e-01 3.23202342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.740714057 meters Centerline goodness : 0.992536 with order 1 Centerline is valid? [True, True] Translation: X:599.82, Y:-31.13, Z:3.25 [[ 9.94018785e-01 1.09059400e-01 -5.71852006e-03 5.99815248e+02] [-1.09058846e-01 9.94035211e-01 4.09428498e-04 -3.11253977e+01] [ 5.72906232e-03 2.16675582e-04 9.99983565e-01 3.24690254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.800714057 meters Centerline goodness : 0.983572 with order 1 Centerline is valid? [True, True] Translation: X:599.88, Y:-31.15, Z:3.24 [[ 9.95526019e-01 9.43146073e-02 -5.71842440e-03 5.99876243e+02] [-9.43138030e-02 9.95542434e-01 4.10760157e-04 -3.11455346e+01] [ 5.73167483e-03 1.30403929e-04 9.99983565e-01 3.24302176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.860714057 meters Centerline goodness : 0.992758 with order 1 Centerline is valid? [True, True] Translation: X:599.94, Y:-31.16, Z:3.25 [[ 9.96229173e-01 8.65721409e-02 -5.71837527e-03 5.99937828e+02] [-8.65712050e-02 9.96245581e-01 4.11443102e-04 -3.11559365e+01] [ 5.73252560e-03 8.51550160e-05 9.99983565e-01 3.24961909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.920714057 meters Centerline goodness : 0.988904 with order 1 Centerline is valid? [True, True] Translation: X:600.00, Y:-31.16, Z:3.25 [[ 9.96244450e-01 8.63961630e-02 -5.71823639e-03 5.99999250e+02] [-8.63952132e-02 9.96260858e-01 4.13364231e-04 -3.11624056e+01] [ 5.73256817e-03 8.22164315e-05 9.99983565e-01 3.25028550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.980714057 meters Centerline goodness : 0.986349 with order 1 Centerline is valid? [True, True] Translation: X:600.06, Y:-31.14, Z:3.23 [[ 9.97525967e-01 7.00660321e-02 -5.71810677e-03 6.00060678e+02] [-7.00648035e-02 9.97542355e-01 4.15149493e-04 -3.11438819e+01] [ 5.73314158e-03 -1.34843718e-05 9.99983565e-01 3.22831654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0407140570001 meters Centerline goodness : 0.983207 with order 1 Centerline is valid? [True, True] Translation: X:600.12, Y:-31.17, Z:3.24 [[ 9.94769547e-01 1.01984561e-01 -5.71811229e-03 6.00118258e+02] [-1.01983858e-01 9.94785967e-01 4.15073500e-04 -3.11748870e+01] [ 5.73062895e-03 1.70252675e-04 9.99983565e-01 3.24283821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.100714057 meters Centerline goodness : 0.985698 with order 1 Centerline is valid? [True, True] Translation: X:600.18, Y:-31.15, Z:3.22 [[ 9.96119065e-01 8.78300153e-02 -5.71810199e-03 6.00181411e+02] [-8.78290785e-02 9.96135473e-01 4.15215373e-04 -3.11492152e+01] [ 5.73247260e-03 8.86116791e-05 9.99983565e-01 3.22012122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1607140570001 meters Centerline goodness : 0.992313 with order 1 Centerline is valid? [True, True] Translation: X:600.24, Y:-31.18, Z:3.25 [[ 9.92793911e-01 1.19697760e-01 -5.71809135e-03 6.00238935e+02] [-1.19697348e-01 9.92810341e-01 4.15361812e-04 -3.11838026e+01] [ 5.72669810e-03 2.72071694e-04 9.99983565e-01 3.24518333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.220714057 meters Centerline goodness : 0.984718 with order 1 Centerline is valid? [True, True] Translation: X:600.30, Y:-31.16, Z:3.22 [[ 9.95559971e-01 9.39555603e-02 -5.71808394e-03 6.00301493e+02] [-9.39547230e-02 9.95576385e-01 4.15463761e-04 -3.11578238e+01] [ 5.73182447e-03 1.23621904e-04 9.99983565e-01 3.21908869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.280714057 meters Centerline goodness : 0.984552 with order 1 Centerline is valid? [True, True] Translation: X:600.36, Y:-31.17, Z:3.23 [[ 9.95451131e-01 9.51017836e-02 -5.71808443e-03 6.00361139e+02] [-9.51009653e-02 9.95467545e-01 4.15457035e-04 -3.11714866e+01] [ 5.73167818e-03 1.30228174e-04 9.99983565e-01 3.22792965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.340714057 meters Centerline goodness : 0.987603 with order 1 Centerline is valid? [True, True] Translation: X:600.42, Y:-31.19, Z:3.24 [[ 9.94956791e-01 1.00141335e-01 -5.71807736e-03 6.00420031e+02] [-1.00140600e-01 9.94973209e-01 4.15554344e-04 -3.11911783e+01] [ 5.73094795e-03 1.59153080e-04 9.99983565e-01 3.23768496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.400714057 meters Centerline goodness : 0.985012 with order 1 Centerline is valid? [True, True] Translation: X:600.48, Y:-31.19, Z:3.23 [[ 9.95614784e-01 9.33729382e-02 -5.71808149e-03 6.00481103e+02] [-9.33720912e-02 9.95631197e-01 4.15497550e-04 -3.11916912e+01] [ 5.73189654e-03 1.20233722e-04 9.99983565e-01 3.22819722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.460714057 meters Centerline goodness : 0.992902 with order 1 Centerline is valid? [True, True] Translation: X:600.54, Y:-31.23, Z:3.25 [[ 9.93269656e-01 1.15683598e-01 -5.71807398e-03 6.00538837e+02] [-1.15683119e-01 9.93286083e-01 4.15600913e-04 -3.12287648e+01] [ 5.72776151e-03 2.48680854e-04 9.99983565e-01 3.24783810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.520714057 meters Centerline goodness : 0.984920 with order 1 Centerline is valid? [True, True] Translation: X:600.60, Y:-31.21, Z:3.23 [[ 9.95958090e-01 8.96369728e-02 -5.71805911e-03 6.00601512e+02] [-8.96360624e-02 9.95974499e-01 4.15805290e-04 -3.12095621e+01] [ 5.73231259e-03 9.84196611e-05 9.99983565e-01 3.22596603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.580714057 meters Centerline goodness : 0.989262 with order 1 Centerline is valid? [True, True] Translation: X:600.66, Y:-31.25, Z:3.25 [[ 9.93430232e-01 1.14296445e-01 -5.71805530e-03 6.00659487e+02] [-1.14295942e-01 9.93446659e-01 4.15857737e-04 -3.12472063e+01] [ 5.72811400e-03 2.40424867e-04 9.99983565e-01 3.24698084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.640714057 meters Centerline goodness : 0.985365 with order 1 Centerline is valid? [True, True] Translation: X:600.72, Y:-31.22, Z:3.22 [[ 9.96775889e-01 8.00320635e-02 -5.71804932e-03 6.00722162e+02] [-8.00309942e-02 9.96792289e-01 4.15939928e-04 -3.12226271e+01] [ 5.73299600e-03 4.30222806e-05 9.99983565e-01 3.21991962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.700714057 meters Centerline goodness : 0.984224 with order 1 Centerline is valid? [True, True] Translation: X:600.78, Y:-31.23, Z:3.23 [[ 9.96504211e-01 8.33466379e-02 -5.71803781e-03 6.00781694e+02] [-8.33456222e-02 9.96520614e-01 4.16098098e-04 -3.12321432e+01] [ 5.73282293e-03 6.19299120e-05 9.99983565e-01 3.22507165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.760714057 meters Centerline goodness : 0.984797 with order 1 Centerline is valid? [True, True] Translation: X:600.84, Y:-31.24, Z:3.22 [[ 9.97049831e-01 7.65437048e-02 -5.71802877e-03 6.00843185e+02] [-7.65425766e-02 9.97066227e-01 4.16222299e-04 -3.12375113e+01] [ 5.73311257e-03 2.26782816e-05 9.99983565e-01 3.22251359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.820714057 meters Centerline goodness : 0.992275 with order 1 Centerline is valid? [True, True] Translation: X:600.90, Y:-31.28, Z:3.25 [[ 9.95332506e-01 9.63353969e-02 -5.71792404e-03 6.00899684e+02] [-9.63345863e-02 9.95348920e-01 4.17656132e-04 -3.12790762e+01] [ 5.73156459e-03 1.35127122e-04 9.99983565e-01 3.24947765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.880714057 meters Centerline goodness : 0.991884 with order 1 Centerline is valid? [True, True] Translation: X:600.96, Y:-31.29, Z:3.25 [[ 9.96208568e-01 8.68089585e-02 -5.71792113e-03 6.00961333e+02] [-8.68079906e-02 9.96224974e-01 4.17695872e-04 -3.12862474e+01] [ 5.73259558e-03 8.02490381e-05 9.99983565e-01 3.24886775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.940714057 meters Centerline goodness : 0.991791 with order 1 Centerline is valid? [True, True] Translation: X:601.02, Y:-31.29, Z:3.25 [[ 9.96940156e-01 7.79591675e-02 -5.71781026e-03 6.01023345e+02] [-7.79580454e-02 9.96956552e-01 4.19208178e-04 -3.12928470e+01] [ 5.73308952e-03 2.78238448e-05 9.99983565e-01 3.25200673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.000714057 meters Centerline goodness : 0.986471 with order 1 Centerline is valid? [True, True] Translation: X:601.09, Y:-31.28, Z:3.25 [[ 9.97932819e-01 6.40109061e-02 -5.71770975e-03 6.01086734e+02] [-6.40095470e-02 9.97949198e-01 4.20574642e-04 -3.12819939e+01] [ 5.73290522e-03 -5.37172270e-05 9.99983565e-01 3.24935044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.060714057 meters Centerline goodness : 0.987522 with order 1 Centerline is valid? [True, True] Translation: X:601.15, Y:-31.29, Z:3.25 [[ 9.97398047e-01 7.18640694e-02 -5.71761051e-03 6.01148997e+02] [-7.18628315e-02 9.97414435e-01 4.21919453e-04 -3.12871739e+01] [ 5.73314810e-03 -9.93795815e-06 9.99983565e-01 3.24811882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.120714057 meters Centerline goodness : 0.987517 with order 1 Centerline is valid? [True, True] Translation: X:601.21, Y:-31.29, Z:3.25 [[ 9.97287253e-01 7.33855887e-02 -5.71750476e-03 6.01210669e+02] [-7.33843676e-02 9.97303643e-01 4.23347642e-04 -3.12895215e+01] [ 5.73315594e-03 -2.62373576e-06 9.99983565e-01 3.24549387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.180714057 meters Centerline goodness : 0.987085 with order 1 Centerline is valid? [True, True] Translation: X:601.27, Y:-31.29, Z:3.24 [[ 9.96758218e-01 8.02518880e-02 -5.71739841e-03 6.01272612e+02] [-8.02507717e-02 9.96774615e-01 4.24779060e-04 -3.12909819e+01] [ 5.73304692e-03 3.54236158e-05 9.99983565e-01 3.24131479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.240714057 meters Centerline goodness : 0.986746 with order 1 Centerline is valid? [True, True] Translation: X:601.34, Y:-31.29, Z:3.24 [[ 9.96155990e-01 8.74102781e-02 -5.71729047e-03 6.01335459e+02] [-8.74092712e-02 9.96172394e-01 4.26226931e-04 -3.12932425e+01] [ 5.73266355e-03 7.51556831e-05 9.99983565e-01 3.24084988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.300714057 meters Centerline goodness : 0.985406 with order 1 Centerline is valid? [True, True] Translation: X:601.40, Y:-31.30, Z:3.24 [[ 9.95490148e-01 9.46925550e-02 -5.71716650e-03 6.01397517e+02] [-9.46916586e-02 9.95506558e-01 4.27883364e-04 -3.12953297e+01] [ 5.73199411e-03 1.15414306e-04 9.99983565e-01 3.24213454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.360714057 meters Centerline goodness : 0.986133 with order 1 Centerline is valid? [True, True] Translation: X:601.46, Y:-31.30, Z:3.24 [[ 9.95544707e-01 9.41172266e-02 -5.71705195e-03 6.01459543e+02] [-9.41163119e-02 9.95561116e-01 4.29408515e-04 -3.12984308e+01] [ 5.73208935e-03 1.10572470e-04 9.99983565e-01 3.24190799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.420714057 meters Centerline goodness : 0.986649 with order 1 Centerline is valid? [True, True] Translation: X:601.52, Y:-31.30, Z:3.24 [[ 9.95642022e-01 9.30821164e-02 -5.71694747e-03 6.01521544e+02] [-9.30811767e-02 9.95658430e-01 4.30794986e-04 -3.13015349e+01] [ 5.73222625e-03 1.03222607e-04 9.99983565e-01 3.24130543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.480714057 meters Centerline goodness : 0.985320 with order 1 Centerline is valid? [True, True] Translation: X:601.58, Y:-31.31, Z:3.24 [[ 9.95567006e-01 9.38810625e-02 -5.71684273e-03 6.01583853e+02] [-9.38801281e-02 9.95583414e-01 4.32180520e-04 -3.13051797e+01] [ 5.73216737e-03 1.06433261e-04 9.99983565e-01 3.24017206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5407140570001 meters Centerline goodness : 0.985242 with order 1 Centerline is valid? [True, True] Translation: X:601.65, Y:-31.31, Z:3.24 [[ 9.95379462e-01 9.58490728e-02 -5.71673389e-03 6.01645434e+02] [-9.58481626e-02 9.95395872e-01 4.33615367e-04 -3.13082849e+01] [ 5.73197495e-03 1.16326609e-04 9.99983565e-01 3.23807249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.600714057 meters Centerline goodness : 0.986180 with order 1 Centerline is valid? [True, True] Translation: X:601.71, Y:-31.31, Z:3.24 [[ 9.95082697e-01 9.88824920e-02 -5.71662493e-03 6.01707709e+02] [-9.88816236e-02 9.95099108e-01 4.35047239e-04 -3.13124437e+01] [ 5.73162692e-03 1.32361174e-04 9.99983565e-01 3.23902497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6607140570001 meters Centerline goodness : 0.986190 with order 1 Centerline is valid? [True, True] Translation: X:601.77, Y:-31.32, Z:3.24 [[ 9.95113329e-01 9.85737519e-02 -5.71651550e-03 6.01769753e+02] [-9.85728701e-02 9.95129740e-01 4.36480394e-04 -3.13175133e+01] [ 5.73170009e-03 1.29145882e-04 9.99983565e-01 3.23832772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.720714057 meters Centerline goodness : 0.987170 with order 1 Centerline is valid? [True, True] Translation: X:601.83, Y:-31.33, Z:3.24 [[ 9.95166041e-01 9.80401598e-02 -5.71640444e-03 6.01831254e+02] [-9.80392609e-02 9.95182451e-01 4.37930044e-04 -3.13255788e+01] [ 5.73180012e-03 1.24618958e-04 9.99983565e-01 3.24166856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.780714057 meters Centerline goodness : 0.986322 with order 1 Centerline is valid? [True, True] Translation: X:601.89, Y:-31.33, Z:3.24 [[ 9.95372008e-01 9.59264790e-02 -5.71629294e-03 6.01894103e+02] [-9.59255370e-02 9.95388416e-01 4.39380676e-04 -3.13321605e+01] [ 5.73208001e-03 1.10991244e-04 9.99983565e-01 3.24264932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.840714057 meters Centerline goodness : 0.982868 with order 1 Centerline is valid? [True, True] Translation: X:601.96, Y:-31.32, Z:3.23 [[ 9.97096608e-01 7.59320744e-02 -5.71616218e-03 6.01956282e+02] [-7.59307935e-02 9.97112993e-01 4.41075241e-04 -3.13228618e+01] [ 5.73315134e-03 -5.76189583e-06 9.99983565e-01 3.22519097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.900714057 meters Centerline goodness : 0.992422 with order 1 Centerline is valid? [True, True] Translation: X:602.01, Y:-31.36, Z:3.26 [[ 9.94575642e-01 1.03858645e-01 -5.71615448e-03 6.02012929e+02] [-1.03857823e-01 9.94592056e-01 4.41175001e-04 -3.13634226e+01] [ 5.73106168e-03 1.54885451e-04 9.99983565e-01 3.25552650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.960714057 meters Centerline goodness : 0.986621 with order 1 Centerline is valid? [True, True] Translation: X:602.08, Y:-31.35, Z:3.25 [[ 9.95912507e-01 9.01421352e-02 -5.71615055e-03 6.02076376e+02] [-9.01410873e-02 9.95928908e-01 4.41225992e-04 -3.13514325e+01] [ 5.73265262e-03 7.58375415e-05 9.99983565e-01 3.24818215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.020714057 meters Centerline goodness : 0.986986 with order 1 Centerline is valid? [True, True] Translation: X:602.14, Y:-31.37, Z:3.25 [[ 9.94921769e-01 1.00488809e-01 -5.71604498e-03 6.02136855e+02] [-1.00487924e-01 9.94938180e-01 4.42589311e-04 -3.13719083e+01] [ 5.73158666e-03 1.34051754e-04 9.99983565e-01 3.25342558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.080714057 meters Centerline goodness : 0.986764 with order 1 Centerline is valid? [True, True] Translation: X:602.20, Y:-31.38, Z:3.25 [[ 9.95368673e-01 9.59611049e-02 -5.71590781e-03 6.02199031e+02] [-9.59601349e-02 9.95385079e-01 4.44353840e-04 -3.13784268e+01] [ 5.73217003e-03 1.06203393e-04 9.99983565e-01 3.25327816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.140714057 meters Centerline goodness : 0.990710 with order 1 Centerline is valid? [True, True] Translation: X:602.26, Y:-31.39, Z:3.26 [[ 9.96301094e-01 8.57406602e-02 -5.71574304e-03 6.02259340e+02] [-8.57395097e-02 9.96317488e-01 4.46463336e-04 -3.13853872e+01] [ 5.73297481e-03 4.52530957e-05 9.99983565e-01 3.25880616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.200714057 meters Centerline goodness : 0.990912 with order 1 Centerline is valid? [True, True] Translation: X:602.32, Y:-31.39, Z:3.26 [[ 9.97024996e-01 7.68666910e-02 -5.71561233e-03 6.02321750e+02] [-7.68653850e-02 9.97041379e-01 4.48130423e-04 -3.13897859e+01] [ 5.73314830e-03 -7.46449123e-06 9.99983565e-01 3.25999581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.260714057 meters Centerline goodness : 0.984705 with order 1 Centerline is valid? [True, True] Translation: X:602.38, Y:-31.39, Z:3.26 [[ 9.97032197e-01 7.67732435e-02 -5.71548736e-03 6.02383774e+02] [-7.67719269e-02 9.97048579e-01 4.49718709e-04 -3.13933988e+01] [ 5.73314491e-03 -9.59505495e-06 9.99983565e-01 3.25536065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.320714057 meters Centerline goodness : 0.984842 with order 1 Centerline is valid? [True, True] Translation: X:602.45, Y:-31.40, Z:3.26 [[ 9.97181578e-01 7.48079851e-02 -5.71543585e-03 6.02445981e+02] [-7.48066324e-02 9.97197957e-01 4.50372312e-04 -3.13952019e+01] [ 5.73311240e-03 -2.15504639e-05 9.99983565e-01 3.25789981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.380714057 meters Centerline goodness : 0.987085 with order 1 Centerline is valid? [True, True] Translation: X:602.51, Y:-31.39, Z:3.26 [[ 9.97099806e-01 7.58901279e-02 -5.71529139e-03 6.02509140e+02] [-7.58887826e-02 9.97116186e-01 4.52198167e-04 -3.13932699e+01] [ 5.73312693e-03 -1.71601989e-05 9.99983565e-01 3.26185929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.440714057 meters Centerline goodness : 0.988376 with order 1 Centerline is valid? [True, True] Translation: X:602.57, Y:-31.39, Z:3.26 [[ 9.96461057e-01 8.38611849e-02 -5.71512630e-03 6.02570957e+02] [-8.38599587e-02 9.96477446e-01 4.54275164e-04 -3.13928753e+01] [ 5.73309051e-03 2.66027448e-05 9.99983565e-01 3.26160251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.500714057 meters Centerline goodness : 0.986335 with order 1 Centerline is valid? [True, True] Translation: X:602.63, Y:-31.39, Z:3.26 [[ 9.95436874e-01 9.52510854e-02 -5.71498338e-03 6.02633272e+02] [-9.52500365e-02 9.95453275e-01 4.56066060e-04 -3.13930328e+01] [ 5.73243971e-03 9.03674027e-05 9.99983565e-01 3.26077258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.560714057 meters Centerline goodness : 0.991677 with order 1 Centerline is valid? [True, True] Translation: X:602.70, Y:-31.39, Z:3.26 [[ 9.95097615e-01 9.87323534e-02 -5.71482570e-03 6.02696018e+02] [-9.87313505e-02 9.95114019e-01 4.58033412e-04 -3.13888979e+01] [ 5.73212589e-03 1.08444504e-04 9.99983565e-01 3.26230336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.620714057 meters Centerline goodness : 0.988707 with order 1 Centerline is valid? [True, True] Translation: X:602.76, Y:-31.39, Z:3.26 [[ 9.94353824e-01 1.05961379e-01 -5.71472145e-03 6.02757800e+02] [-1.05960487e-01 9.94370235e-01 4.59330458e-04 -3.13921899e+01] [ 5.73122020e-03 1.48797672e-04 9.99983565e-01 3.26164373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.680714057 meters Centerline goodness : 0.991959 with order 1 Centerline is valid? [True, True] Translation: X:602.82, Y:-31.39, Z:3.26 [[ 9.94590237e-01 1.03718864e-01 -5.71467300e-03 6.02818794e+02] [-1.03717932e-01 9.94606645e-01 4.59932434e-04 -3.13915980e+01] [ 5.73155541e-03 1.35269759e-04 9.99983565e-01 3.26408612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.740714057 meters Centerline goodness : 0.991661 with order 1 Centerline is valid? [True, True] Translation: X:602.88, Y:-31.39, Z:3.26 [[ 9.94606379e-01 1.03563969e-01 -5.71454683e-03 6.02881499e+02] [-1.03563025e-01 9.94622786e-01 4.61494768e-04 -3.13919736e+01] [ 5.73161272e-03 1.32810118e-04 9.99983565e-01 3.26340106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.800714057 meters Centerline goodness : 0.992616 with order 1 Centerline is valid? [True, True] Translation: X:602.94, Y:-31.39, Z:3.26 [[ 9.94820359e-01 1.01487920e-01 -5.71441626e-03 6.02944104e+02] [-1.01486933e-01 9.94836764e-01 4.63105880e-04 -3.13945049e+01] [ 5.73191104e-03 1.19231422e-04 9.99983565e-01 3.26438511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.860714057 meters Centerline goodness : 0.991379 with order 1 Centerline is valid? [True, True] Translation: X:603.01, Y:-31.40, Z:3.26 [[ 9.94984186e-01 9.98689930e-02 -5.71428280e-03 6.03006648e+02] [-9.98679704e-02 9.95000589e-01 4.64746888e-04 -3.13967143e+01] [ 5.73212855e-03 1.08258021e-04 9.99983565e-01 3.26412680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.920714057 meters Centerline goodness : 0.992540 with order 1 Centerline is valid? [True, True] Translation: X:603.07, Y:-31.40, Z:3.27 [[ 9.95160043e-01 9.81011609e-02 -5.71416745e-03 6.03068861e+02] [-9.81001010e-02 9.95176443e-01 4.66160752e-04 -3.14003342e+01] [ 5.73233575e-03 9.66558506e-05 9.99983565e-01 3.26608501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.980714057 meters Centerline goodness : 0.983154 with order 1 Centerline is valid? [True, True] Translation: X:603.13, Y:-31.41, Z:3.26 [[ 9.94925773e-01 1.00449275e-01 -5.71405129e-03 6.03129772e+02] [-1.00448245e-01 9.94942175e-01 4.67580338e-04 -3.14064937e+01] [ 5.73211872e-03 1.08758696e-04 9.99983565e-01 3.26153158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0407140570001 meters Centerline goodness : 0.991907 with order 1 Centerline is valid? [True, True] Translation: X:603.19, Y:-31.41, Z:3.27 [[ 9.95184062e-01 9.78572112e-02 -5.71389897e-03 6.03192319e+02] [-9.78561284e-02 9.95200461e-01 4.69434301e-04 -3.14070164e+01] [ 5.73241242e-03 9.19664972e-05 9.99983565e-01 3.26900025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.100714057 meters Centerline goodness : 0.983685 with order 1 Centerline is valid? [True, True] Translation: X:603.25, Y:-31.41, Z:3.26 [[ 9.94652601e-01 1.03119141e-01 -5.71374071e-03 6.03253549e+02] [-1.03118134e-01 9.94669004e-01 4.71352753e-04 -3.14133792e+01] [ 5.73188628e-03 1.20358037e-04 9.99983565e-01 3.26259656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1607140570001 meters Centerline goodness : 0.991805 with order 1 Centerline is valid? [True, True] Translation: X:603.31, Y:-31.41, Z:3.27 [[ 9.94572910e-01 1.03884946e-01 -5.71357938e-03 6.03314788e+02] [-1.03883941e-01 9.94589314e-01 4.73300290e-04 -3.14140445e+01] [ 5.73183377e-03 1.22817496e-04 9.99983565e-01 3.26779314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.220714057 meters Centerline goodness : 0.991156 with order 1 Centerline is valid? [True, True] Translation: X:603.38, Y:-31.42, Z:3.27 [[ 9.94198130e-01 1.07412453e-01 -5.71342890e-03 6.03376249e+02] [-1.07411495e-01 9.94214537e-01 4.75109905e-04 -3.14183413e+01] [ 5.73140679e-03 1.41334561e-04 9.99983565e-01 3.26825851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.280714057 meters Centerline goodness : 0.991260 with order 1 Centerline is valid? [True, True] Translation: X:603.44, Y:-31.42, Z:3.27 [[ 9.93626969e-01 1.12573554e-01 -5.71331083e-03 6.03438495e+02] [-1.12572673e-01 9.93643380e-01 4.76525469e-04 -3.14231622e+01] [ 5.73063765e-03 1.69674117e-04 9.99983565e-01 3.26891890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.340714057 meters Centerline goodness : 0.990901 with order 1 Centerline is valid? [True, True] Translation: X:603.50, Y:-31.43, Z:3.27 [[ 9.92590028e-01 1.21377078e-01 -5.71317566e-03 6.03500866e+02] [-1.21376334e-01 9.92606446e-01 4.78140580e-04 -3.14273828e+01] [ 5.72897030e-03 2.18846745e-04 9.99983565e-01 3.26940358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.400714057 meters Centerline goodness : 0.985730 with order 1 Centerline is valid? [True, True] Translation: X:603.56, Y:-31.41, Z:3.26 [[ 9.93944517e-01 1.09734490e-01 -5.71304063e-03 6.03563973e+02] [-1.09733543e-01 9.93960924e-01 4.79748595e-04 -3.14133264e+01] [ 5.73118411e-03 1.50068707e-04 9.99983565e-01 3.25887522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.460714057 meters Centerline goodness : 0.991427 with order 1 Centerline is valid? [True, True] Translation: X:603.62, Y:-31.44, Z:3.27 [[ 9.91574441e-01 1.29412095e-01 -5.71292097e-03 6.03623280e+02] [-1.29411466e-01 9.91590864e-01 4.81169313e-04 -3.14393538e+01] [ 5.72714937e-03 2.62202286e-04 9.99983565e-01 3.26864674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.520714057 meters Centerline goodness : 0.985699 with order 1 Centerline is valid? [True, True] Translation: X:603.69, Y:-31.43, Z:3.26 [[ 9.93578842e-01 1.12997560e-01 -5.71280492e-03 6.03686487e+02] [-1.12996652e-01 9.93595252e-01 4.82543200e-04 -3.14275446e+01] [ 5.73074205e-03 1.66083115e-04 9.99983565e-01 3.25822348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.580714057 meters Centerline goodness : 0.990934 with order 1 Centerline is valid? [True, True] Translation: X:603.75, Y:-31.46, Z:3.27 [[ 9.91578881e-01 1.29378082e-01 -5.71267513e-03 6.03745316e+02] [-1.29377436e-01 9.91595303e-01 4.84074925e-04 -3.14563704e+01] [ 5.72729051e-03 2.59092788e-04 9.99983565e-01 3.27001256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.640714057 meters Centerline goodness : 0.987485 with order 1 Centerline is valid? [True, True] Translation: X:603.81, Y:-31.47, Z:3.27 [[ 9.91145472e-01 1.32657526e-01 -5.71260298e-03 6.03807132e+02] [-1.32656930e-01 9.91161896e-01 4.84924838e-04 -3.14675790e+01] [ 5.72644333e-03 2.77185315e-04 9.99983565e-01 3.26723969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.700714057 meters Centerline goodness : 0.991925 with order 1 Centerline is valid? [True, True] Translation: X:603.87, Y:-31.47, Z:3.27 [[ 9.91973826e-01 1.26314281e-01 -5.71242697e-03 6.03867527e+02] [-1.26313568e-01 9.91990245e-01 4.86989450e-04 -3.14741308e+01] [ 5.72818555e-03 2.38476242e-04 9.99983565e-01 3.27030554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.760714057 meters Centerline goodness : 0.982751 with order 1 Centerline is valid? [True, True] Translation: X:603.93, Y:-31.46, Z:3.25 [[ 9.94830353e-01 1.01390035e-01 -5.71228371e-03 6.03931421e+02] [-1.01388900e-01 9.94846748e-01 4.88664179e-04 -3.14592570e+01] [ 5.73239255e-03 9.30242066e-05 9.99983565e-01 3.25270087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.820714057 meters Centerline goodness : 0.991011 with order 1 Centerline is valid? [True, True] Translation: X:603.99, Y:-31.49, Z:3.27 [[ 9.92485524e-01 1.22228700e-01 -5.71215710e-03 6.03990117e+02] [-1.22227901e-01 9.92501940e-01 4.90139635e-04 -3.14933303e+01] [ 5.72923613e-03 2.11728480e-04 9.99983565e-01 3.27292461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.880714057 meters Centerline goodness : 0.991293 with order 1 Centerline is valid? [True, True] Translation: X:604.05, Y:-31.50, Z:3.27 [[ 9.93085237e-01 1.17256491e-01 -5.71203429e-03 6.04052236e+02] [-1.17255601e-01 9.93101648e-01 4.91566779e-04 -3.15045174e+01] [ 5.73027006e-03 1.81600301e-04 9.99983565e-01 3.27246781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.940714057 meters Centerline goodness : 0.990712 with order 1 Centerline is valid? [True, True] Translation: X:604.11, Y:-31.52, Z:3.27 [[ 9.93798571e-01 1.11048521e-01 -5.71189334e-03 6.04114792e+02] [-1.11047519e-01 9.93814975e-01 4.93199155e-04 -3.15150826e+01] [ 5.73133417e-03 1.44150968e-04 9.99983565e-01 3.27353560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.000714057 meters Centerline goodness : 0.981884 with order 1 Centerline is valid? [True, True] Translation: X:604.18, Y:-31.49, Z:3.25 [[ 9.96944281e-01 7.79068475e-02 -5.71175162e-03 6.04178103e+02] [-7.79052910e-02 9.96960642e-01 4.94834950e-04 -3.14940145e+01] [ 5.73294259e-03 -4.83472011e-05 9.99983565e-01 3.25034040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.060714057 meters Centerline goodness : 0.991565 with order 1 Centerline is valid? [True, True] Translation: X:604.23, Y:-31.54, Z:3.28 [[ 9.95417185e-01 9.54568124e-02 -5.71174271e-03 6.04234327e+02] [-9.54555438e-02 9.95433571e-01 4.94937782e-04 -3.15353288e+01] [ 5.73290562e-03 5.25479320e-05 9.99983565e-01 3.27697752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.120714057 meters Centerline goodness : 0.982162 with order 1 Centerline is valid? [True, True] Translation: X:604.29, Y:-31.55, Z:3.27 [[ 9.95797792e-01 9.14009524e-02 -5.71174811e-03 6.04294651e+02] [-9.13996173e-02 9.95814172e-01 4.94875443e-04 -3.15450695e+01] [ 5.73307180e-03 2.92557181e-05 9.99983565e-01 3.27188111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.180714057 meters Centerline goodness : 0.986679 with order 1 Centerline is valid? [True, True] Translation: X:604.36, Y:-31.55, Z:3.28 [[ 9.96195344e-01 8.69609882e-02 -5.71158699e-03 6.04357148e+02] [-8.69595696e-02 9.96211718e-01 4.96728113e-04 -3.15510658e+01] [ 5.73314585e-03 1.83891233e-06 9.99983565e-01 3.27708484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.240714057 meters Centerline goodness : 0.991719 with order 1 Centerline is valid? [True, True] Translation: X:604.42, Y:-31.56, Z:3.28 [[ 9.96117575e-01 8.78473550e-02 -5.71138383e-03 6.04417838e+02] [-8.78459376e-02 9.96133948e-01 4.99053155e-04 -3.15557646e+01] [ 5.73314382e-03 4.60624871e-06 9.99983565e-01 3.27588248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.300714057 meters Centerline goodness : 0.991964 with order 1 Centerline is valid? [True, True] Translation: X:604.48, Y:-31.56, Z:3.28 [[ 9.95985143e-01 8.93363133e-02 -5.71123935e-03 6.04480411e+02] [-8.93349109e-02 9.96001518e-01 5.00701143e-04 -3.15591528e+01] [ 5.73313385e-03 1.15221584e-05 9.99983565e-01 3.27674943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.360714057 meters Centerline goodness : 0.991717 with order 1 Centerline is valid? [True, True] Translation: X:604.54, Y:-31.56, Z:3.28 [[ 9.95639578e-01 9.31086160e-02 -5.71109880e-03 6.04542755e+02] [-9.31072665e-02 9.95655957e-01 5.02299200e-04 -3.15629337e+01] [ 5.73305792e-03 3.16358339e-05 9.99983565e-01 3.27751644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.420714057 meters Centerline goodness : 0.991819 with order 1 Centerline is valid? [True, True] Translation: X:604.61, Y:-31.57, Z:3.28 [[ 9.95059219e-01 9.91187943e-02 -5.71095771e-03 6.04605271e+02] [-9.91175345e-02 9.95075605e-01 5.03898180e-04 -3.15667359e+01] [ 5.73278049e-03 6.46475190e-05 9.99983565e-01 3.27704016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.480714057 meters Centerline goodness : 0.987569 with order 1 Centerline is valid? [True, True] Translation: X:604.67, Y:-31.57, Z:3.27 [[ 9.93897794e-01 1.10156984e-01 -5.71081615e-03 6.04667127e+02] [-1.10155897e-01 9.93914193e-01 5.05497511e-04 -3.15724741e+01] [ 5.73174530e-03 1.26667212e-04 9.99983565e-01 3.27326385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5407140570001 meters Centerline goodness : 0.992313 with order 1 Centerline is valid? [True, True] Translation: X:604.73, Y:-31.57, Z:3.28 [[ 9.93469306e-01 1.13956686e-01 -5.71072979e-03 6.04728583e+02] [-1.13955656e-01 9.93485708e-01 5.06471260e-04 -3.15746458e+01] [ 5.73124421e-03 1.47606311e-04 9.99983565e-01 3.27603919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.600714057 meters Centerline goodness : 0.987892 with order 1 Centerline is valid? [True, True] Translation: X:604.79, Y:-31.58, Z:3.27 [[ 9.92172800e-01 1.24741828e-01 -5.71063807e-03 6.04790877e+02] [-1.24740971e-01 9.92189212e-01 5.07503331e-04 -3.15800461e+01] [ 5.72934038e-03 2.08819536e-04 9.99983565e-01 3.27267950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6607140570001 meters Centerline goodness : 0.993571 with order 1 Centerline is valid? [True, True] Translation: X:604.85, Y:-31.58, Z:3.28 [[ 9.91903592e-01 1.26864703e-01 -5.71057824e-03 6.04852078e+02] [-1.26863877e-01 9.91920006e-01 5.08175628e-04 -3.15826462e+01] [ 5.72890636e-03 2.20404866e-04 9.99983565e-01 3.27724029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.720714057 meters Centerline goodness : 0.992921 with order 1 Centerline is valid? [True, True] Translation: X:604.91, Y:-31.59, Z:3.28 [[ 9.91480015e-01 1.30133666e-01 -5.71042238e-03 6.04914679e+02] [-1.30132883e-01 9.91496431e-01 5.09921055e-04 -3.15901694e+01] [ 5.72822131e-03 2.37537194e-04 9.99983565e-01 3.27869699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.780714057 meters Centerline goodness : 0.984258 with order 1 Centerline is valid? [True, True] Translation: X:604.98, Y:-31.57, Z:3.26 [[ 9.94168025e-01 1.07690904e-01 -5.71027668e-03 6.04977303e+02] [-1.07689742e-01 9.94184418e-01 5.11547530e-04 -3.15712686e+01] [ 5.73215711e-03 1.06374024e-04 9.99983565e-01 3.26207550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.840714057 meters Centerline goodness : 0.983502 with order 1 Centerline is valid? [True, True] Translation: X:605.04, Y:-31.58, Z:3.26 [[ 9.94277522e-01 1.06675221e-01 -5.71025864e-03 6.05038219e+02] [-1.06674040e-01 9.94293914e-01 5.11748838e-04 -3.15780387e+01] [ 5.73226633e-03 1.00315994e-04 9.99983565e-01 3.25580730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.900714057 meters Centerline goodness : 0.983954 with order 1 Centerline is valid? [True, True] Translation: X:605.10, Y:-31.58, Z:3.25 [[ 9.94321239e-01 1.06266964e-01 -5.71023977e-03 6.05099810e+02] [-1.06265776e-01 9.94337630e-01 5.11959300e-04 -3.15832290e+01] [ 5.73231064e-03 9.77510554e-05 9.99983565e-01 3.25412366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.960714057 meters Centerline goodness : 0.984125 with order 1 Centerline is valid? [True, True] Translation: X:605.16, Y:-31.59, Z:3.26 [[ 9.94263211e-01 1.06808525e-01 -5.71010872e-03 6.05159741e+02] [-1.06807338e-01 9.94279603e-01 5.13416770e-04 -3.15939887e+01] [ 5.73228192e-03 9.94101042e-05 9.99983565e-01 3.25512216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.020714057 meters Centerline goodness : 0.988254 with order 1 Centerline is valid? [True, True] Translation: X:605.22, Y:-31.64, Z:3.27 [[ 9.90767386e-01 1.35452509e-01 -5.70998861e-03 6.05217142e+02] [-1.35451787e-01 9.90783805e-01 5.14749134e-04 -3.16386172e+01] [ 5.72708830e-03 2.63431507e-04 9.99983565e-01 3.27490387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.080714057 meters Centerline goodness : 0.981880 with order 1 Centerline is valid? [True, True] Translation: X:605.28, Y:-31.61, Z:3.25 [[ 9.95613443e-01 9.33877370e-02 -5.70995116e-03 6.05279682e+02] [-9.33863183e-02 9.95629816e-01 5.15164171e-04 -3.16117443e+01] [ 5.73310764e-03 2.03269424e-05 9.99983565e-01 3.24821396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.140714057 meters Centerline goodness : 0.987810 with order 1 Centerline is valid? [True, True] Translation: X:605.34, Y:-31.66, Z:3.28 [[ 9.91628967e-01 1.28993751e-01 -5.70995966e-03 6.05335433e+02] [-1.28992921e-01 9.91645381e-01 5.15069933e-04 -3.16639467e+01] [ 5.72869593e-03 2.25786108e-04 9.99983565e-01 3.28048835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.200714057 meters Centerline goodness : 0.987935 with order 1 Centerline is valid? [True, True] Translation: X:605.40, Y:-31.67, Z:3.28 [[ 9.91874039e-01 1.27095582e-01 -5.70994141e-03 6.05396298e+02] [-1.27094718e-01 9.91890451e-01 5.15272235e-04 -3.16739116e+01] [ 5.72912518e-03 2.14618243e-04 9.99983565e-01 3.27966195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.260714057 meters Centerline goodness : 0.986804 with order 1 Centerline is valid? [True, True] Translation: X:605.46, Y:-31.68, Z:3.28 [[ 9.92104377e-01 1.25284886e-01 -5.70982145e-03 6.05458174e+02] [-1.25283986e-01 9.92120787e-01 5.16598054e-04 -3.16845820e+01] [ 5.72955448e-03 2.02829997e-04 9.99983565e-01 3.27769386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.320714057 meters Centerline goodness : 0.982386 with order 1 Centerline is valid? [True, True] Translation: X:605.52, Y:-31.66, Z:3.26 [[ 9.95640699e-01 9.30967137e-02 -5.70963069e-03 6.05521874e+02] [-9.30952700e-02 9.95657070e-01 5.18697894e-04 -3.16611680e+01] [ 5.73312324e-03 1.51028765e-05 9.99983565e-01 3.25948399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.380714057 meters Centerline goodness : 0.987478 with order 1 Centerline is valid? [True, True] Translation: X:605.58, Y:-31.70, Z:3.28 [[ 9.92978313e-01 1.18158670e-01 -5.70960684e-03 6.05579696e+02] [-1.18157637e-01 9.92994715e-01 5.18960350e-04 -3.17036938e+01] [ 5.73092908e-03 1.59317282e-04 9.99983565e-01 3.27891257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.440714057 meters Centerline goodness : 0.987008 with order 1 Centerline is valid? [True, True] Translation: X:605.64, Y:-31.71, Z:3.28 [[ 9.93376673e-01 1.14761431e-01 -5.70955897e-03 6.05642558e+02] [-1.14760339e-01 9.93393072e-01 5.19486386e-04 -3.17105414e+01] [ 5.73145333e-03 1.39185268e-04 9.99983565e-01 3.28069044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.500714057 meters Centerline goodness : 0.984932 with order 1 Centerline is valid? [True, True] Translation: X:605.70, Y:-31.70, Z:3.28 [[ 9.95439953e-01 9.52192350e-02 -5.70936187e-03 6.05704941e+02] [-9.52178092e-02 9.95456326e-01 5.21643643e-04 -3.16955331e+01] [ 5.73309090e-03 2.43680058e-05 9.99983565e-01 3.28405406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.560714057 meters Centerline goodness : 0.987148 with order 1 Centerline is valid? [True, True] Translation: X:605.77, Y:-31.72, Z:3.28 [[ 9.93030424e-01 1.17719934e-01 -5.70920445e-03 6.05765493e+02] [-1.17718869e-01 9.93046824e-01 5.23360935e-04 -3.17158103e+01] [ 5.73111736e-03 1.52367760e-04 9.99983565e-01 3.28168378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.620714057 meters Centerline goodness : 0.991247 with order 1 Centerline is valid? [True, True] Translation: X:605.83, Y:-31.72, Z:3.29 [[ 9.92906316e-01 1.18762174e-01 -5.70903469e-03 6.05826860e+02] [-1.18761116e-01 9.92922717e-01 5.25206244e-04 -3.17166168e+01] [ 5.73100487e-03 1.56530731e-04 9.99983565e-01 3.28600839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.680714057 meters Centerline goodness : 0.986754 with order 1 Centerline is valid? [True, True] Translation: X:605.89, Y:-31.72, Z:3.28 [[ 9.92093696e-01 1.25369483e-01 -5.70887648e-03 6.05889107e+02] [-1.25368524e-01 9.92110102e-01 5.26920408e-04 -3.17187689e+01] [ 5.72989376e-03 1.92959005e-04 9.99983565e-01 3.27733810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.740714057 meters Centerline goodness : 0.991091 with order 1 Centerline is valid? [True, True] Translation: X:605.95, Y:-31.72, Z:3.28 [[ 9.92276518e-01 1.23914170e-01 -5.70881975e-03 6.05950338e+02] [-1.23913184e-01 9.92292923e-01 5.27534308e-04 -3.17212379e+01] [ 5.73019041e-03 1.83938122e-04 9.99983565e-01 3.28414491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.800714057 meters Centerline goodness : 0.986951 with order 1 Centerline is valid? [True, True] Translation: X:606.01, Y:-31.73, Z:3.29 [[ 9.92231465e-01 1.24274418e-01 -5.70867204e-03 6.06012239e+02] [-1.24273428e-01 9.92247870e-01 5.29127926e-04 -3.17260857e+01] [ 5.73017473e-03 1.84418868e-04 9.99983565e-01 3.28649341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.860714057 meters Centerline goodness : 0.987846 with order 1 Centerline is valid? [True, True] Translation: X:606.07, Y:-31.73, Z:3.29 [[ 9.92145535e-01 1.24958586e-01 -5.70862263e-03 6.06074582e+02] [-1.24957604e-01 9.92161941e-01 5.29660436e-04 -3.17311119e+01] [ 5.73006373e-03 1.87835572e-04 9.99983565e-01 3.28925187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.920714057 meters Centerline goodness : 0.987748 with order 1 Centerline is valid? [True, True] Translation: X:606.14, Y:-31.73, Z:3.29 [[ 9.92230064e-01 1.24285612e-01 -5.70841660e-03 6.06137490e+02] [-1.24284607e-01 9.92246468e-01 5.31871729e-04 -3.17347644e+01] [ 5.73026021e-03 1.81729191e-04 9.99983565e-01 3.29000228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.980714057 meters Centerline goodness : 0.987012 with order 1 Centerline is valid? [True, True] Translation: X:606.20, Y:-31.74, Z:3.29 [[ 9.91497580e-01 1.29999868e-01 -5.70821488e-03 6.06199793e+02] [-1.29998945e-01 9.91513988e-01 5.34027841e-04 -3.17393067e+01] [ 5.72919845e-03 2.12574598e-04 9.99983565e-01 3.28581537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0407140570001 meters Centerline goodness : 0.982524 with order 1 Centerline is valid? [True, True] Translation: X:606.27, Y:-31.71, Z:3.27 [[ 9.94348266e-01 1.06013887e-01 -5.70803818e-03 6.06265110e+02] [-1.06012557e-01 9.94364647e-01 5.35909895e-04 -3.17106909e+01] [ 5.73268526e-03 7.22426506e-05 9.99983565e-01 3.26626554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.100714057 meters Centerline goodness : 0.985505 with order 1 Centerline is valid? [True, True] Translation: X:606.32, Y:-31.75, Z:3.28 [[ 9.91073897e-01 1.33191404e-01 -5.70786113e-03 6.06324463e+02] [-1.33190512e-01 9.91090308e-01 5.37789069e-04 -3.17453913e+01] [ 5.72863472e-03 2.27244239e-04 9.99983565e-01 3.28344352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1607140570001 meters Centerline goodness : 0.979932 with order 1 Centerline is valid? [True, True] Translation: X:606.39, Y:-31.72, Z:3.26 [[ 9.94959407e-01 1.00115930e-01 -5.70779574e-03 6.06387596e+02] [-1.00114489e-01 9.94975778e-01 5.38482133e-04 -3.17151797e+01] [ 5.73302915e-03 3.56651881e-05 9.99983565e-01 3.26328482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.220714057 meters Centerline goodness : 0.986906 with order 1 Centerline is valid? [True, True] Translation: X:606.45, Y:-31.76, Z:3.28 [[ 9.92143114e-01 1.24977851e-01 -5.70779574e-03 6.06445039e+02] [-1.24976819e-01 9.92159516e-01 5.38482133e-04 -3.17575068e+01] [ 5.73034220e-03 1.79090817e-04 9.99983565e-01 3.28446012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.280714057 meters Centerline goodness : 0.990848 with order 1 Centerline is valid? [True, True] Translation: X:606.51, Y:-31.76, Z:3.29 [[ 9.92855136e-01 1.19189350e-01 -5.70778422e-03 6.06505539e+02] [-1.19188222e-01 9.92871531e-01 5.38604298e-04 -3.17632755e+01] [ 5.73129235e-03 1.45544608e-04 9.99983565e-01 3.28666028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.340714057 meters Centerline goodness : 0.990398 with order 1 Centerline is valid? [True, True] Translation: X:606.57, Y:-31.77, Z:3.29 [[ 9.93247804e-01 1.15871582e-01 -5.70763288e-03 6.06566587e+02] [-1.15870390e-01 9.93264195e-01 5.40203278e-04 -3.17715817e+01] [ 5.73178158e-03 1.24789929e-04 9.99983565e-01 3.28943152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.400714057 meters Centerline goodness : 0.981038 with order 1 Centerline is valid? [True, True] Translation: X:606.63, Y:-31.78, Z:3.29 [[ 9.93107092e-01 1.17071468e-01 -5.70750704e-03 6.06627062e+02] [-1.17070288e-01 9.93123484e-01 5.41529607e-04 -3.17828609e+01] [ 5.73165694e-03 1.30382597e-04 9.99983565e-01 3.28790160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.460714057 meters Centerline goodness : 0.991496 with order 1 Centerline is valid? [True, True] Translation: X:606.69, Y:-31.79, Z:3.29 [[ 9.93565421e-01 1.13115781e-01 -5.70745418e-03 6.06687992e+02] [-1.13114533e-01 9.93581808e-01 5.42086106e-04 -3.17857801e+01] [ 5.73214114e-03 1.06998003e-04 9.99983565e-01 3.29483240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.520714057 meters Centerline goodness : 0.988156 with order 1 Centerline is valid? [True, True] Translation: X:606.75, Y:-31.79, Z:3.29 [[ 9.93423516e-01 1.14355347e-01 -5.70728583e-03 6.06749755e+02] [-1.14354109e-01 9.93439904e-01 5.43852788e-04 -3.17926369e+01] [ 5.73203796e-03 1.12375440e-04 9.99983565e-01 3.29258062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.580714057 meters Centerline goodness : 0.992290 with order 1 Centerline is valid? [True, True] Translation: X:606.81, Y:-31.80, Z:3.30 [[ 9.93756585e-01 1.11423866e-01 -5.70722760e-03 6.06811819e+02] [-1.11422576e-01 9.93772969e-01 5.44463201e-04 -3.17990413e+01] [ 5.73235471e-03 9.48501083e-05 9.99983565e-01 3.29732485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.640714057 meters Centerline goodness : 0.987526 with order 1 Centerline is valid? [True, True] Translation: X:606.87, Y:-31.81, Z:3.29 [[ 9.93705561e-01 1.11878001e-01 -5.70703216e-03 6.06873993e+02] [-1.11876707e-01 9.93721945e-01 5.46504087e-04 -3.18061039e+01] [ 5.73234489e-03 9.54198159e-05 9.99983565e-01 3.29474449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.700714057 meters Centerline goodness : 0.983139 with order 1 Centerline is valid? [True, True] Translation: X:606.93, Y:-31.81, Z:3.29 [[ 9.93674916e-01 1.12149872e-01 -5.70682715e-03 6.06934480e+02] [-1.12148570e-01 9.93691299e-01 5.48636598e-04 -3.18145481e+01] [ 5.73235401e-03 9.48460766e-05 9.99983565e-01 3.29259302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.760714057 meters Centerline goodness : 0.986134 with order 1 Centerline is valid? [True, True] Translation: X:607.00, Y:-31.79, Z:3.29 [[ 9.95920580e-01 9.00535040e-02 -5.70662689e-03 6.07000005e+02] [-9.00518268e-02 9.95936928e-01 5.50711723e-04 -3.17940697e+01] [ 5.73303398e-03 -3.45729620e-05 9.99983565e-01 3.28690270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.820714057 meters Centerline goodness : 0.986376 with order 1 Centerline is valid? [True, True] Translation: X:607.06, Y:-31.82, Z:3.30 [[ 9.94002366e-01 1.09209586e-01 -5.70639644e-03 6.07059324e+02] [-1.09208211e-01 9.94018743e-01 5.53089348e-04 -3.18224134e+01] [ 5.73266768e-03 7.34132233e-05 9.99983565e-01 3.29625970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.880714057 meters Centerline goodness : 0.984236 with order 1 Centerline is valid? [True, True] Translation: X:607.12, Y:-31.80, Z:3.29 [[ 9.96072391e-01 8.83585379e-02 -5.70622306e-03 6.07122733e+02] [-8.83568090e-02 9.96088734e-01 5.54872411e-04 -3.18031154e+01] [ 5.73293222e-03 -4.85094282e-05 9.99983565e-01 3.28649024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.940714057 meters Centerline goodness : 0.984769 with order 1 Centerline is valid? [True, True] Translation: X:607.18, Y:-31.81, Z:3.29 [[ 9.95910572e-01 9.01641487e-02 -5.70606152e-03 6.07183855e+02] [-9.01624399e-02 9.95926917e-01 5.56528635e-04 -3.18108277e+01] [ 5.73299919e-03 -3.97803222e-05 9.99983565e-01 3.28997869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.000714057 meters Centerline goodness : 0.990771 with order 1 Centerline is valid? [True, True] Translation: X:607.24, Y:-31.83, Z:3.30 [[ 9.94391235e-01 1.05610196e-01 -5.70593406e-03 6.07242860e+02] [-1.05608734e-01 9.94407605e-01 5.57832405e-04 -3.18337004e+01] [ 5.73293701e-03 4.78928166e-05 9.99983565e-01 3.29708341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.060714057 meters Centerline goodness : 0.990462 with order 1 Centerline is valid? [True, True] Translation: X:607.30, Y:-31.84, Z:3.30 [[ 9.94483474e-01 1.04738073e-01 -5.70579778e-03 6.07304954e+02] [-1.04736589e-01 9.94499841e-01 5.59222923e-04 -3.18379904e+01] [ 5.73298692e-03 4.14678396e-05 9.99983565e-01 3.29879857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.120714057 meters Centerline goodness : 0.990897 with order 1 Centerline is valid? [True, True] Translation: X:607.37, Y:-31.84, Z:3.30 [[ 9.94622595e-01 1.03408603e-01 -5.70566106e-03 6.07366393e+02] [-1.03407088e-01 9.94638960e-01 5.60614328e-04 -3.18422574e+01] [ 5.73304513e-03 3.24061195e-05 9.99983565e-01 3.29982113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.180714057 meters Centerline goodness : 0.988080 with order 1 Centerline is valid? [True, True] Translation: X:607.43, Y:-31.85, Z:3.30 [[ 9.94441165e-01 1.05139030e-01 -5.70553367e-03 6.07428215e+02] [-1.05137536e-01 9.94457532e-01 5.61907854e-04 -3.18488556e+01] [ 5.73298938e-03 4.10814508e-05 9.99983565e-01 3.29885847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.240714057 meters Centerline goodness : 0.991340 with order 1 Centerline is valid? [True, True] Translation: X:607.49, Y:-31.85, Z:3.30 [[ 9.94940491e-01 1.00303869e-01 -5.70547457e-03 6.07489338e+02] [-1.00302293e-01 9.94956850e-01 5.62507303e-04 -3.18524495e+01] [ 5.73312267e-03 1.26108877e-05 9.99983565e-01 3.30012012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.300714057 meters Centerline goodness : 0.987452 with order 1 Centerline is valid? [True, True] Translation: X:607.55, Y:-31.86, Z:3.30 [[ 9.94712099e-01 1.02544090e-01 -5.70532068e-03 6.07552367e+02] [-1.02542541e-01 9.94728460e-01 5.64063841e-04 -3.18587166e+01] [ 5.73308627e-03 2.39569530e-05 9.99983565e-01 3.30122162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.360714057 meters Centerline goodness : 0.986783 with order 1 Centerline is valid? [True, True] Translation: X:607.61, Y:-31.86, Z:3.30 [[ 9.94673689e-01 1.02916008e-01 -5.70512430e-03 6.07613196e+02] [-1.02914454e-01 9.94690050e-01 5.66043207e-04 -3.18643816e+01] [ 5.73308528e-03 2.41114678e-05 9.99983565e-01 3.29975872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.420714057 meters Centerline goodness : 0.991404 with order 1 Centerline is valid? [True, True] Translation: X:607.68, Y:-31.86, Z:3.30 [[ 9.94921823e-01 1.00488900e-01 -5.70496104e-03 6.07675839e+02] [-1.00487297e-01 9.94938179e-01 5.67683820e-04 -3.18643184e+01] [ 5.73312948e-03 8.47509361e-06 9.99983565e-01 3.30163840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.480714057 meters Centerline goodness : 0.991726 with order 1 Centerline is valid? [True, True] Translation: X:607.74, Y:-31.87, Z:3.30 [[ 9.94303276e-01 1.06435194e-01 -5.70483476e-03 6.07738030e+02] [-1.06433681e-01 9.94319641e-01 5.68950080e-04 -3.18674751e+01] [ 5.73298556e-03 4.14776372e-05 9.99983565e-01 3.29997667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5407140570001 meters Centerline goodness : 0.992094 with order 1 Centerline is valid? [True, True] Translation: X:607.80, Y:-31.87, Z:3.30 [[ 9.93511279e-01 1.13590472e-01 -5.70469607e-03 6.07800492e+02] [-1.13589069e-01 9.93527653e-01 5.70337251e-04 -3.18705834e+01] [ 5.73255818e-03 8.13546236e-05 9.99983565e-01 3.29888862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.600714057 meters Centerline goodness : 0.984947 with order 1 Centerline is valid? [True, True] Translation: X:607.86, Y:-31.85, Z:3.28 [[ 9.95269258e-01 9.69874298e-02 -5.70453777e-03 6.07864540e+02] [-9.69857449e-02 9.95285606e-01 5.71916209e-04 -3.18475431e+01] [ 5.73311302e-03 -1.59517759e-05 9.99983565e-01 3.27762087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6607140570001 meters Centerline goodness : 0.986437 with order 1 Centerline is valid? [True, True] Translation: X:607.92, Y:-31.88, Z:3.30 [[ 9.91439606e-01 1.30441427e-01 -5.70451697e-03 6.07923644e+02] [-1.30440292e-01 9.91456001e-01 5.72123653e-04 -3.18824986e+01] [ 5.73040621e-03 1.76872810e-04 9.99983565e-01 3.29693684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.720714057 meters Centerline goodness : 0.986208 with order 1 Centerline is valid? [True, True] Translation: X:607.99, Y:-31.86, Z:3.28 [[ 9.93296131e-01 1.15456727e-01 -5.70445130e-03 6.07986503e+02] [-1.15455341e-01 9.93312507e-01 5.72777681e-04 -3.18645198e+01] [ 5.73243385e-03 8.96715133e-05 9.99983565e-01 3.28397371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.780714057 meters Centerline goodness : 0.984085 with order 1 Centerline is valid? [True, True] Translation: X:608.05, Y:-31.86, Z:3.27 [[ 9.94839264e-01 1.01303015e-01 -5.70427987e-03 6.08048608e+02] [-1.01301386e-01 9.94855617e-01 5.74479844e-04 -3.18585773e+01] [ 5.73313141e-03 6.33635133e-06 9.99983565e-01 3.26585313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.840714057 meters Centerline goodness : 0.983593 with order 1 Centerline is valid? [True, True] Translation: X:608.11, Y:-31.87, Z:3.27 [[ 9.94801656e-01 1.01671665e-01 -5.70427121e-03 6.08107828e+02] [-1.01670042e-01 9.94818010e-01 5.74565797e-04 -3.18730100e+01] [ 5.73312880e-03 8.37448667e-06 9.99983565e-01 3.27462438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.900714057 meters Centerline goodness : 0.988570 with order 1 Centerline is valid? [True, True] Translation: X:608.16, Y:-31.92, Z:3.30 [[ 9.90913039e-01 1.34383075e-01 -5.70426107e-03 6.08164242e+02] [-1.34381991e-01 9.90929438e-01 5.74666529e-04 -3.19208425e+01] [ 5.72974567e-03 1.97105404e-04 9.99983565e-01 3.29855747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.960714057 meters Centerline goodness : 0.991971 with order 1 Centerline is valid? [True, True] Translation: X:608.23, Y:-31.93, Z:3.30 [[ 9.92014969e-01 1.25991119e-01 -5.70424180e-03 6.08226362e+02] [-1.25989895e-01 9.92031358e-01 5.74857685e-04 -3.19284611e+01] [ 5.73121371e-03 1.48409397e-04 9.99983565e-01 3.30316843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.020714057 meters Centerline goodness : 0.991689 with order 1 Centerline is valid? [True, True] Translation: X:608.29, Y:-31.94, Z:3.30 [[ 9.92646844e-01 1.20911978e-01 -5.70403897e-03 6.08286735e+02] [-1.20910658e-01 9.92663226e-01 5.76863255e-04 -3.19392783e+01] [ 5.73193940e-03 1.17057617e-04 9.99983565e-01 3.30090714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.080714057 meters Centerline goodness : 0.982182 with order 1 Centerline is valid? [True, True] Translation: X:608.35, Y:-31.92, Z:3.28 [[ 9.96084224e-01 8.82251864e-02 -5.70390854e-03 6.08350659e+02] [-8.82233220e-02 9.96100553e-01 5.78150085e-04 -3.19158602e+01] [ 5.73267385e-03 -7.26684196e-05 9.99983565e-01 3.27506266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.140714057 meters Centerline goodness : 0.984519 with order 1 Centerline is valid? [True, True] Translation: X:608.41, Y:-31.93, Z:3.28 [[ 9.96207476e-01 8.68224072e-02 -5.70389830e-03 6.08410673e+02] [-8.68205192e-02 9.96223802e-01 5.78251099e-04 -3.19296204e+01] [ 5.73256440e-03 -8.08426561e-05 9.99983565e-01 3.28097943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.200714057 meters Centerline goodness : 0.984864 with order 1 Centerline is valid? [True, True] Translation: X:608.47, Y:-31.94, Z:3.29 [[ 9.96735051e-01 8.05400736e-02 -5.70388825e-03 6.08470058e+02] [-8.05380822e-02 9.96751365e-01 5.78350219e-04 -3.19425150e+01] [ 5.73193876e-03 -1.17081715e-04 9.99983565e-01 3.28540138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.260714057 meters Centerline goodness : 0.988589 with order 1 Centerline is valid? [True, True] Translation: X:608.53, Y:-31.98, Z:3.30 [[ 9.93632176e-01 1.12528063e-01 -5.70388825e-03 6.08527369e+02] [-1.12526597e-01 9.93648545e-01 5.78350219e-04 -3.19812419e+01] [ 5.73274089e-03 6.71717493e-05 9.99983565e-01 3.30214637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.320714057 meters Centerline goodness : 0.993213 with order 1 Centerline is valid? [True, True] Translation: X:608.59, Y:-31.99, Z:3.30 [[ 9.93711396e-01 1.11826326e-01 -5.70387689e-03 6.08588152e+02] [-1.11824847e-01 9.93727764e-01 5.78462181e-04 -3.19874792e+01] [ 5.73278813e-03 6.30107002e-05 9.99983565e-01 3.30420643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.380714057 meters Centerline goodness : 0.988794 with order 1 Centerline is valid? [True, True] Translation: X:608.65, Y:-31.99, Z:3.30 [[ 9.93257966e-01 1.15784627e-01 -5.70377349e-03 6.08649360e+02] [-1.15783208e-01 9.93274339e-01 5.79479964e-04 -3.19942436e+01] [ 5.73250672e-03 8.48281042e-05 9.99983565e-01 3.30202568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.440714057 meters Centerline goodness : 0.988711 with order 1 Centerline is valid? [True, True] Translation: X:608.71, Y:-32.00, Z:3.31 [[ 9.93456063e-01 1.14072426e-01 -5.70367581e-03 6.08710356e+02] [-1.14070973e-01 9.93472434e-01 5.80439827e-04 -3.20033933e+01] [ 5.73265687e-03 7.39823839e-05 9.99983565e-01 3.30581325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.500714057 meters Centerline goodness : 0.989875 with order 1 Centerline is valid? [True, True] Translation: X:608.77, Y:-32.01, Z:3.31 [[ 9.93393834e-01 1.14613089e-01 -5.70348909e-03 6.08772057e+02] [-1.14611634e-01 9.93410204e-01 5.82268817e-04 -3.20134964e+01] [ 5.73263989e-03 7.52639525e-05 9.99983565e-01 3.30597086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.560714057 meters Centerline goodness : 0.989216 with order 1 Centerline is valid? [True, True] Translation: X:608.83, Y:-32.02, Z:3.31 [[ 9.93785840e-01 1.11162837e-01 -5.70327064e-03 6.08834605e+02] [-1.11161313e-01 9.93802204e-01 5.84400695e-04 -3.20200314e+01] [ 5.73288657e-03 5.32139175e-05 9.99983565e-01 3.30927287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.620714057 meters Centerline goodness : 0.988083 with order 1 Centerline is valid? [True, True] Translation: X:608.90, Y:-32.03, Z:3.31 [[ 9.94013879e-01 1.09104920e-01 -5.70304901e-03 6.08896495e+02] [-1.09103351e-01 9.94030238e-01 5.86555567e-04 -3.20267013e+01] [ 5.73299927e-03 3.91773813e-05 9.99983565e-01 3.31035159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.680714057 meters Centerline goodness : 0.986008 with order 1 Centerline is valid? [True, True] Translation: X:608.96, Y:-32.04, Z:3.30 [[ 9.93355353e-01 1.14946159e-01 -5.70284593e-03 6.08958516e+02] [-1.14944675e-01 9.93371721e-01 5.88523451e-04 -3.20355521e+01] [ 5.73269439e-03 7.08988485e-05 9.99983565e-01 3.30428775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.740714057 meters Centerline goodness : 0.986350 with order 1 Centerline is valid? [True, True] Translation: X:609.02, Y:-32.04, Z:3.30 [[ 9.93161876e-01 1.16606033e-01 -5.70277832e-03 6.09019710e+02] [-1.16604572e-01 9.93178245e-01 5.89177894e-04 -3.20424379e+01] [ 5.73257706e-03 7.98210029e-05 9.99983565e-01 3.30275924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.800714057 meters Centerline goodness : 0.985197 with order 1 Centerline is valid? [True, True] Translation: X:609.08, Y:-32.05, Z:3.30 [[ 9.92919666e-01 1.18650821e-01 -5.70258857e-03 6.09081553e+02] [-1.18649383e-01 9.92936038e-01 5.91008737e-04 -3.20477506e+01] [ 5.73242937e-03 8.97844177e-05 9.99983565e-01 3.29958704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.860714057 meters Centerline goodness : 0.982927 with order 1 Centerline is valid? [True, True] Translation: X:609.15, Y:-32.02, Z:3.28 [[ 9.96014770e-01 8.90059549e-02 -5.70239379e-03 6.09146245e+02] [-8.90040189e-02 9.96031090e-01 5.92882188e-04 -3.20200280e+01] [ 5.73253155e-03 -8.29834518e-05 9.99983565e-01 3.27836085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.920714057 meters Centerline goodness : 0.982274 with order 1 Centerline is valid? [True, True] Translation: X:609.21, Y:-32.02, Z:3.28 [[ 9.95984282e-01 8.93464776e-02 -5.70236594e-03 6.09207745e+02] [-8.93445457e-02 9.96000603e-01 5.93149952e-04 -3.20240939e+01] [ 5.73255577e-03 -8.12927355e-05 9.99983565e-01 3.28006031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.980714057 meters Centerline goodness : 0.987075 with order 1 Centerline is valid? [True, True] Translation: X:609.26, Y:-32.06, Z:3.31 [[ 9.93008425e-01 1.17905687e-01 -5.70233459e-03 6.09264678e+02] [-1.17904222e-01 9.93024794e-01 5.93451127e-04 -3.20632112e+01] [ 5.73253090e-03 8.30273562e-05 9.99983565e-01 3.31047833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0407140570001 meters Centerline goodness : 0.986862 with order 1 Centerline is valid? [True, True] Translation: X:609.33, Y:-32.07, Z:3.31 [[ 9.92184563e-01 1.24648608e-01 -5.70232609e-03 6.09326169e+02] [-1.24647255e-01 9.92200942e-01 5.93532842e-04 -3.20708420e+01] [ 5.73183636e-03 1.21885167e-04 9.99983565e-01 3.30690561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.100714057 meters Centerline goodness : 0.987688 with order 1 Centerline is valid? [True, True] Translation: X:609.39, Y:-32.08, Z:3.30 [[ 9.92157123e-01 1.24866843e-01 -5.70212554e-03 6.09389000e+02] [-1.24865482e-01 9.92173501e-01 5.95453266e-04 -3.20759405e+01] [ 5.73185023e-03 1.21215455e-04 9.99983565e-01 3.30464249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1607140570001 meters Centerline goodness : 0.987181 with order 1 Centerline is valid? [True, True] Translation: X:609.45, Y:-32.08, Z:3.30 [[ 9.92646736e-01 1.20912967e-01 -5.70189070e-03 6.09450757e+02] [-1.20911528e-01 9.92663108e-01 5.97693667e-04 -3.20826670e+01] [ 5.73232545e-03 9.61256459e-05 9.99983565e-01 3.30340383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.220714057 meters Centerline goodness : 0.988520 with order 1 Centerline is valid? [True, True] Translation: X:609.51, Y:-32.09, Z:3.31 [[ 9.93951488e-01 1.09671921e-01 -5.70174753e-03 6.09512106e+02] [-1.09670289e-01 9.93967841e-01 5.99056287e-04 -3.20895407e+01] [ 5.73305334e-03 2.98794141e-05 9.99983565e-01 3.30816514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2807140570001 meters Centerline goodness : 0.982631 with order 1 Centerline is valid? [True, True] Translation: X:609.57, Y:-32.10, Z:3.31 [[ 9.94395852e-01 1.05566956e-01 -5.70157361e-03 6.09573835e+02] [-1.05565247e-01 9.94412197e-01 6.00707015e-04 -3.20978391e+01] [ 5.73312916e-03 4.54746172e-06 9.99983565e-01 3.30952798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.340714057 meters Centerline goodness : 0.986174 with order 1 Centerline is valid? [True, True] Translation: X:609.64, Y:-32.10, Z:3.31 [[ 9.94502775e-01 1.04554883e-01 -5.70150231e-03 6.09635881e+02] [-1.04553153e-01 9.94519118e-01 6.01383011e-04 -3.21023843e+01] [ 5.73313058e-03 -1.96702872e-06 9.99983565e-01 3.30970135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.400714057 meters Centerline goodness : 0.986498 with order 1 Centerline is valid? [True, True] Translation: X:609.70, Y:-32.10, Z:3.31 [[ 9.94642452e-01 1.03217671e-01 -5.70130098e-03 6.09699017e+02] [-1.03215909e-01 9.94658792e-01 6.03285673e-04 -3.21045710e+01] [ 5.73311889e-03 -1.15885774e-05 9.99983565e-01 3.30775158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.460714057 meters Centerline goodness : 0.991287 with order 1 Centerline is valid? [True, True] Translation: X:609.76, Y:-32.11, Z:3.31 [[ 9.95078630e-01 9.89243009e-02 -5.70106379e-03 6.09760353e+02] [-9.89224552e-02 9.95094961e-01 6.05518902e-04 -3.21074688e+01] [ 5.73300038e-03 -3.85756926e-05 9.99983565e-01 3.31019368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.520714057 meters Centerline goodness : 0.984957 with order 1 Centerline is valid? [True, True] Translation: X:609.82, Y:-32.11, Z:3.31 [[ 9.95211505e-01 9.75784807e-02 -5.70094762e-03 6.09820668e+02] [-9.75766067e-02 9.95227832e-01 6.06610589e-04 -3.21129521e+01] [ 5.73293388e-03 -4.74267129e-05 9.99983565e-01 3.30671734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.580714057 meters Centerline goodness : 0.985954 with order 1 Centerline is valid? [True, True] Translation: X:609.88, Y:-32.12, Z:3.31 [[ 9.95033304e-01 9.93791976e-02 -5.70077950e-03 6.09882559e+02] [-9.93773441e-02 9.95049634e-01 6.08186491e-04 -3.21195552e+01] [ 5.73299964e-03 -3.86374884e-05 9.99983565e-01 3.30927894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.640714057 meters Centerline goodness : 0.985717 with order 1 Centerline is valid? [True, True] Translation: X:609.94, Y:-32.12, Z:3.31 [[ 9.95337642e-01 9.62833437e-02 -5.70058530e-03 6.09944776e+02] [-9.62814290e-02 9.95353964e-01 6.10001320e-04 -3.21240076e+01] [ 5.73283314e-03 -5.82967768e-05 9.99983565e-01 3.31115434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.700714057 meters Centerline goodness : 0.992251 with order 1 Centerline is valid? [True, True] Translation: X:610.01, Y:-32.13, Z:3.32 [[ 9.96415222e-01 8.44050419e-02 -5.70035833e-03 6.10006836e+02] [-8.44029205e-02 9.96431519e-01 6.12114950e-04 -3.21267415e+01] [ 5.73168230e-03 -1.28793762e-04 9.99983565e-01 3.31678832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.760714057 meters Centerline goodness : 0.987589 with order 1 Centerline is valid? [True, True] Translation: X:610.07, Y:-32.13, Z:3.32 [[ 9.96686459e-01 8.11394536e-02 -5.70014768e-03 6.10068308e+02] [-8.11372677e-02 9.96702747e-01 6.14070392e-04 -3.21330256e+01] [ 5.73117819e-03 -1.49541236e-04 9.99983565e-01 3.32007082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.820714057 meters Centerline goodness : 0.982382 with order 1 Centerline is valid? [True, True] Translation: X:610.13, Y:-32.13, Z:3.32 [[ 9.97314841e-01 7.30110779e-02 -5.70008279e-03 6.10130451e+02] [-7.30087558e-02 9.97331110e-01 6.14672096e-04 -3.21303651e+01] [ 5.72974777e-03 -1.96865651e-04 9.99983565e-01 3.31772028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.880714057 meters Centerline goodness : 0.989080 with order 1 Centerline is valid? [True, True] Translation: X:610.19, Y:-32.13, Z:3.32 [[ 9.97306338e-01 7.31271533e-02 -5.69986800e-03 6.10192954e+02] [-7.31248218e-02 9.97322606e-01 6.16657439e-04 -3.21256386e+01] [ 5.72970161e-03 -1.98194540e-04 9.99983565e-01 3.32228832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.940714057 meters Centerline goodness : 0.988589 with order 1 Centerline is valid? [True, True] Translation: X:610.26, Y:-32.12, Z:3.32 [[ 9.96713043e-01 8.08122711e-02 -5.69963637e-03 6.10256814e+02] [-8.08100529e-02 9.96729328e-01 6.18790985e-04 -3.21236678e+01] [ 5.73100063e-03 -1.56169130e-04 9.99983565e-01 3.32440111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.000714057 meters Centerline goodness : 0.982525 with order 1 Centerline is valid? [True, True] Translation: X:610.32, Y:-32.12, Z:3.32 [[ 9.95260391e-01 9.70786849e-02 -5.69942284e-03 6.10319556e+02] [-9.70767217e-02 9.95276708e-01 6.20751540e-04 -3.21225045e+01] [ 5.73276454e-03 -6.45281359e-05 9.99983565e-01 3.32134987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.060714057 meters Centerline goodness : 0.986710 with order 1 Centerline is valid? [True, True] Translation: X:610.38, Y:-32.13, Z:3.32 [[ 9.93181929e-01 1.16435287e-01 -5.69917619e-03 6.10382258e+02] [-1.16433629e-01 9.93198279e-01 6.23007807e-04 -3.21255113e+01] [ 5.73295208e-03 4.48156691e-05 9.99983565e-01 3.31949272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.120714057 meters Centerline goodness : 0.986667 with order 1 Centerline is valid? [True, True] Translation: X:610.45, Y:-32.13, Z:3.32 [[ 9.92418246e-01 1.22774368e-01 -5.69909465e-03 6.10445755e+02] [-1.22772810e-01 9.92434607e-01 6.23752878e-04 -3.21252547e+01] [ 5.73255962e-03 8.06701245e-05 9.99983565e-01 3.31730609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.180714057 meters Centerline goodness : 0.986481 with order 1 Centerline is valid? [True, True] Translation: X:610.51, Y:-32.13, Z:3.32 [[ 9.92320779e-01 1.23559680e-01 -5.69886853e-03 6.10506404e+02] [-1.23558123e-01 9.92337140e-01 6.25811940e-04 -3.21277671e+01] [ 5.73252402e-03 8.31353074e-05 9.99983565e-01 3.31701487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.240714057 meters Centerline goodness : 0.987091 with order 1 Centerline is valid? [True, True] Translation: X:610.57, Y:-32.13, Z:3.32 [[ 9.92256232e-01 1.24076971e-01 -5.69871575e-03 6.10569118e+02] [-1.24075415e-01 9.92272593e-01 6.27200113e-04 -3.21347819e+01] [ 5.73250054e-03 8.47273000e-05 9.99983565e-01 3.31776455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.300714057 meters Centerline goodness : 0.992292 with order 1 Centerline is valid? [True, True] Translation: X:610.63, Y:-32.14, Z:3.32 [[ 9.92354647e-01 1.23287398e-01 -5.69850516e-03 6.10629932e+02] [-1.23285818e-01 9.92371005e-01 6.29107662e-04 -3.21437564e+01] [ 5.73259234e-03 7.82469567e-05 9.99983565e-01 3.31977182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.360714057 meters Centerline goodness : 0.987971 with order 1 Centerline is valid? [True, True] Translation: X:610.69, Y:-32.16, Z:3.32 [[ 9.91398353e-01 1.30754865e-01 -5.69833703e-03 6.10692016e+02] [-1.30753399e-01 9.91414722e-01 6.30626888e-04 -3.21551258e+01] [ 5.73187275e-03 1.19874478e-04 9.99983565e-01 3.31988273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.420714057 meters Centerline goodness : 0.988316 with order 1 Centerline is valid? [True, True] Translation: X:610.75, Y:-32.16, Z:3.32 [[ 9.90590137e-01 1.36743233e-01 -5.69811668e-03 6.10754162e+02] [-1.36741854e-01 9.90606514e-01 6.32611603e-04 -3.21631949e+01] [ 5.73109686e-03 1.52512228e-04 9.99983566e-01 3.31676293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.480714057 meters Centerline goodness : 0.988377 with order 1 Centerline is valid? [True, True] Translation: X:610.82, Y:-32.18, Z:3.31 [[ 9.89264267e-01 1.46026512e-01 -5.69804667e-03 6.10815660e+02] [-1.46025284e-01 9.89280656e-01 6.33241625e-04 -3.21767490e+01] [ 5.72943741e-03 2.05615568e-04 9.99983566e-01 3.31461208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5407140570001 meters Centerline goodness : 0.989219 with order 1 Centerline is valid? [True, True] Translation: X:610.88, Y:-32.19, Z:3.32 [[ 9.88579862e-01 1.50590140e-01 -5.69793803e-03 6.10876202e+02] [-1.50588982e-01 9.88596255e-01 6.34217682e-04 -3.21901739e+01] [ 5.72846713e-03 2.31071858e-04 9.99983566e-01 3.31708424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.600714057 meters Centerline goodness : 0.987849 with order 1 Centerline is valid? [True, True] Translation: X:610.94, Y:-32.20, Z:3.32 [[ 9.88110216e-01 1.53641585e-01 -5.69772422e-03 6.10937171e+02] [-1.53640466e-01 9.88126613e-01 6.36132725e-04 -3.22031180e+01] [ 5.72780937e-03 2.46831761e-04 9.99983566e-01 3.31708666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6607140570001 meters Centerline goodness : 0.992840 with order 1 Centerline is valid? [True, True] Translation: X:611.00, Y:-32.21, Z:3.32 [[ 9.88633243e-01 1.50239308e-01 -5.69752106e-03 6.10997415e+02] [-1.50238122e-01 9.88649634e-01 6.37947101e-04 -3.22135424e+01] [ 5.72869685e-03 2.25289154e-04 9.99983566e-01 3.32399871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.720714057 meters Centerline goodness : 0.987638 with order 1 Centerline is valid? [True, True] Translation: X:611.06, Y:-32.23, Z:3.33 [[ 9.88084060e-01 1.53809725e-01 -5.69733186e-03 6.11058967e+02] [-1.53808589e-01 9.88100455e-01 6.39632414e-04 -3.22261985e+01] [ 5.72791788e-03 2.44287980e-04 9.99983566e-01 3.33002701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7807140570001 meters Centerline goodness : 0.987380 with order 1 Centerline is valid? [True, True] Translation: X:611.12, Y:-32.22, Z:3.32 [[ 9.89643306e-01 1.43435247e-01 -5.69708960e-03 6.11121690e+02] [-1.43433927e-01 9.89659687e-01 6.41782905e-04 -3.22205734e+01] [ 5.73023420e-03 1.82019776e-04 9.99983566e-01 3.32393417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.840714057 meters Centerline goodness : 0.988983 with order 1 Centerline is valid? [True, True] Translation: X:611.18, Y:-32.25, Z:3.32 [[ 9.86932703e-01 1.61032250e-01 -5.69686164e-03 6.11180388e+02] [-1.61031210e-01 9.86949104e-01 6.43800042e-04 -3.22537723e+01] [ 5.72618507e-03 2.81985210e-04 9.99983566e-01 3.31861071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.900714057 meters Centerline goodness : 0.988731 with order 1 Centerline is valid? [True, True] Translation: X:611.24, Y:-32.27, Z:3.31 [[ 9.87382290e-01 1.58252209e-01 -5.69665806e-03 6.11240067e+02] [-1.58251112e-01 9.87398688e-01 6.45596465e-04 -3.22661321e+01] [ 5.72703976e-03 2.64051958e-04 9.99983566e-01 3.31428367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.960714057 meters Centerline goodness : 0.991896 with order 1 Centerline is valid? [True, True] Translation: X:611.30, Y:-32.28, Z:3.32 [[ 9.88908207e-01 1.48418690e-01 -5.69654265e-03 6.11301349e+02] [-1.48417424e-01 9.88924593e-01 6.46613203e-04 -3.22776652e+01] [ 5.72942060e-03 2.06025083e-04 9.99983566e-01 3.31940698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.020714057 meters Centerline goodness : 0.987927 with order 1 Centerline is valid? [True, True] Translation: X:611.36, Y:-32.29, Z:3.32 [[ 9.89512545e-01 1.44334597e-01 -5.69634176e-03 6.11360975e+02] [-1.44333254e-01 9.89528924e-01 6.48378130e-04 -3.22918931e+01] [ 5.73027833e-03 1.80593246e-04 9.99983566e-01 3.31997025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.080714057 meters Centerline goodness : 0.988046 with order 1 Centerline is valid? [True, True] Translation: X:611.42, Y:-32.30, Z:3.32 [[ 9.90332191e-01 1.38599078e-01 -5.69623779e-03 6.11423047e+02] [-1.38597635e-01 9.90348562e-01 6.49290196e-04 -3.23046872e+01] [ 5.73125193e-03 1.46472103e-04 9.99983566e-01 3.32226607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.140714057 meters Centerline goodness : 0.991917 with order 1 Centerline is valid? [True, True] Translation: X:611.48, Y:-32.31, Z:3.32 [[ 9.91516561e-01 1.29855551e-01 -5.69598682e-03 6.11484272e+02] [-1.29853951e-01 9.91532918e-01 6.51484498e-04 -3.23124838e+01] [ 5.73235731e-03 9.36887219e-05 9.99983566e-01 3.32368648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.200714057 meters Centerline goodness : 0.987696 with order 1 Centerline is valid? [True, True] Translation: X:611.55, Y:-32.32, Z:3.32 [[ 9.91070644e-01 1.33216125e-01 -5.69575777e-03 6.11546081e+02] [-1.33214569e-01 9.91087005e-01 6.53480901e-04 -3.23224191e+01] [ 5.73204570e-03 1.11112179e-04 9.99983566e-01 3.32124385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.260714057 meters Centerline goodness : 0.988029 with order 1 Centerline is valid? [True, True] Translation: X:611.61, Y:-32.33, Z:3.32 [[ 9.91023488e-01 1.33566490e-01 -5.69551278e-03 6.11606449e+02] [-1.33564927e-01 9.91039848e-01 6.55609185e-04 -3.23301016e+01] [ 5.73204754e-03 1.10996647e-04 9.99983566e-01 3.31927197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.320714057 meters Centerline goodness : 0.988007 with order 1 Centerline is valid? [True, True] Translation: X:611.67, Y:-32.32, Z:3.32 [[ 9.92428428e-01 1.22692212e-01 -5.69531354e-03 6.11670701e+02] [-1.22690460e-01 9.92444769e-01 6.57335449e-04 -3.23235196e+01] [ 5.73293407e-03 4.64022525e-05 9.99983566e-01 3.32485793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.380714057 meters Centerline goodness : 0.992210 with order 1 Centerline is valid? [True, True] Translation: X:611.73, Y:-32.34, Z:3.32 [[ 9.91351011e-01 1.31113459e-01 -5.69507337e-03 6.11730987e+02] [-1.31111834e-01 9.91367365e-01 6.59409723e-04 -3.23404819e+01] [ 5.73236737e-03 9.29850176e-05 9.99983566e-01 3.32345432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.440714057 meters Centerline goodness : 0.987686 with order 1 Centerline is valid? [True, True] Translation: X:611.79, Y:-32.34, Z:3.32 [[ 9.92629398e-01 1.21055550e-01 -5.69489837e-03 6.11793457e+02] [-1.21053750e-01 9.92645734e-01 6.60917645e-04 -3.23365885e+01] [ 5.73302432e-03 3.33425216e-05 9.99983566e-01 3.32145329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.500714057 meters Centerline goodness : 0.988093 with order 1 Centerline is valid? [True, True] Translation: X:611.85, Y:-32.36, Z:3.32 [[ 9.91592630e-01 1.29273455e-01 -5.69474559e-03 6.11853739e+02] [-1.29271784e-01 9.91608979e-01 6.62231482e-04 -3.23601937e+01] [ 5.73256981e-03 7.95060622e-05 9.99983566e-01 3.32300730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.560714057 meters Centerline goodness : 0.986483 with order 1 Centerline is valid? [True, True] Translation: X:611.92, Y:-32.35, Z:3.32 [[ 9.93192465e-01 1.16345600e-01 -5.69467039e-03 6.11916313e+02] [-1.16343711e-01 9.93208790e-01 6.62877503e-04 -3.23506125e+01] [ 5.73311957e-03 4.17414750e-06 9.99983566e-01 3.32115598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.620714057 meters Centerline goodness : 0.987489 with order 1 Centerline is valid? [True, True] Translation: X:611.98, Y:-32.37, Z:3.32 [[ 9.91332447e-01 1.31253766e-01 -5.69455648e-03 6.11976261e+02] [-1.31252118e-01 9.91348799e-01 6.63854621e-04 -3.23721857e+01] [ 5.73242514e-03 8.93219708e-05 9.99983566e-01 3.32090042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.680714057 meters Centerline goodness : 0.987220 with order 1 Centerline is valid? [True, True] Translation: X:612.04, Y:-32.36, Z:3.32 [[ 9.93518939e-01 1.13523964e-01 -5.69444593e-03 6.12039458e+02] [-1.13522018e-01 9.93535258e-01 6.64801514e-04 -3.23621753e+01] [ 5.73310371e-03 -1.40479008e-05 9.99983566e-01 3.31784173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.740714057 meters Centerline goodness : 0.986354 with order 1 Centerline is valid? [True, True] Translation: X:612.10, Y:-32.37, Z:3.32 [[ 9.93912660e-01 1.10023636e-01 -5.69424504e-03 6.12101730e+02] [-1.10021623e-01 9.93928970e-01 6.66517810e-04 -3.23692604e+01] [ 5.73300782e-03 -3.59704082e-05 9.99983566e-01 3.31765609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.800714057 meters Centerline goodness : 0.985418 with order 1 Centerline is valid? [True, True] Translation: X:612.16, Y:-32.37, Z:3.32 [[ 9.94746115e-01 1.02214213e-01 -5.69405373e-03 6.12163674e+02] [-1.02212063e-01 9.94762408e-01 6.68148127e-04 -3.23730711e+01] [ 5.73252484e-03 -8.26367767e-05 9.99983566e-01 3.31564719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.860714057 meters Centerline goodness : 0.986051 with order 1 Centerline is valid? [True, True] Translation: X:612.22, Y:-32.38, Z:3.31 [[ 9.95154635e-01 9.81571837e-02 -5.69388282e-03 6.12224416e+02] [-9.81549586e-02 9.95170918e-01 6.69601456e-04 -3.23772663e+01] [ 5.73211279e-03 -1.07474159e-04 9.99983566e-01 3.31423488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.920714057 meters Centerline goodness : 0.985607 with order 1 Centerline is valid? [True, True] Translation: X:612.29, Y:-32.38, Z:3.31 [[ 9.95943139e-01 8.98044821e-02 -5.69378824e-03 6.12286433e+02] [-8.98021159e-02 9.95959402e-01 6.70404747e-04 -3.23794335e+01] [ 5.73098728e-03 -1.56370776e-04 9.99983566e-01 3.31039301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.980714057 meters Centerline goodness : 0.986271 with order 1 Centerline is valid? [True, True] Translation: X:612.35, Y:-32.39, Z:3.31 [[ 9.96132257e-01 8.76818660e-02 -5.69361547e-03 6.12348644e+02] [-8.76794567e-02 9.96148514e-01 6.71868880e-04 -3.23850279e+01] [ 5.73059730e-03 -1.70057152e-04 9.99983566e-01 3.31266371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0407140570001 meters Centerline goodness : 0.986114 with order 1 Centerline is valid? [True, True] Translation: X:612.41, Y:-32.39, Z:3.32 [[ 9.95552718e-01 9.40338791e-02 -5.69343968e-03 6.12409808e+02] [-9.40315651e-02 9.95568989e-01 6.73355220e-04 -3.23886673e+01] [ 5.73153019e-03 -1.34997575e-04 9.99983566e-01 3.31695903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.100714057 meters Centerline goodness : 0.987555 with order 1 Centerline is valid? [True, True] Translation: X:612.47, Y:-32.39, Z:3.31 [[ 9.94611679e-01 1.03514227e-01 -5.69327814e-03 6.12473053e+02] [-1.03512060e-01 9.94627970e-01 6.74718332e-04 -3.23877762e+01] [ 5.73253662e-03 -8.17597832e-05 9.99983566e-01 3.31414373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1607140570001 meters Centerline goodness : 0.987323 with order 1 Centerline is valid? [True, True] Translation: X:612.53, Y:-32.39, Z:3.31 [[ 9.93514720e-01 1.13560953e-01 -5.69307862e-03 6.12534585e+02] [-1.13558941e-01 9.93531031e-01 6.76397617e-04 -3.23890890e+01] [ 5.73306263e-03 -2.55110068e-05 9.99983566e-01 3.31278963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.220714057 meters Centerline goodness : 0.992790 with order 1 Centerline is valid? [True, True] Translation: X:612.59, Y:-32.41, Z:3.33 [[ 9.91212621e-01 1.32155706e-01 -5.69298405e-03 6.12594375e+02] [-1.32153996e-01 9.91228966e-01 6.77192600e-04 -3.24116951e+01] [ 5.73254556e-03 8.11087382e-05 9.99983566e-01 3.32590993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2807140570001 meters Centerline goodness : 0.987197 with order 1 Centerline is valid? [True, True] Translation: X:612.66, Y:-32.40, Z:3.31 [[ 9.93250268e-01 1.15851187e-01 -5.69281857e-03 6.12659295e+02] [-1.15849201e-01 9.93266582e-01 6.78580873e-04 -3.23980948e+01] [ 5.73310084e-03 -1.44921517e-05 9.99983566e-01 3.31214807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.340714057 meters Centerline goodness : 0.986309 with order 1 Centerline is valid? [True, True] Translation: X:612.72, Y:-32.40, Z:3.31 [[ 9.94265232e-01 1.06790648e-01 -5.69262094e-03 6.12720210e+02] [-1.06788503e-01 9.94281526e-01 6.80234825e-04 -3.23997872e+01] [ 5.73271055e-03 -6.84273659e-05 9.99983566e-01 3.30734105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.400714057 meters Centerline goodness : 0.986719 with order 1 Centerline is valid? [True, True] Translation: X:612.78, Y:-32.41, Z:3.31 [[ 9.94246205e-01 1.06967654e-01 -5.69260878e-03 6.12781830e+02] [-1.06965512e-01 9.94262499e-01 6.80336560e-04 -3.24102063e+01] [ 5.73272143e-03 -6.75092320e-05 9.99983566e-01 3.31172916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.460714057 meters Centerline goodness : 0.985989 with order 1 Centerline is valid? [True, True] Translation: X:612.84, Y:-32.42, Z:3.32 [[ 9.93930034e-01 1.09866662e-01 -5.69243382e-03 6.12841908e+02] [-1.09864559e-01 9.93946334e-01 6.81797320e-04 -3.24189526e+01] [ 5.73288052e-03 -5.22621038e-05 9.99983566e-01 3.31554773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.520714057 meters Centerline goodness : 0.988075 with order 1 Centerline is valid? [True, True] Translation: X:612.90, Y:-32.43, Z:3.31 [[ 9.93730893e-01 1.11653521e-01 -5.69240897e-03 6.12903826e+02] [-1.11651446e-01 9.93747196e-01 6.82004686e-04 -3.24253074e+01] [ 5.73296368e-03 -4.21634299e-05 9.99983566e-01 3.31441646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.580714057 meters Centerline goodness : 0.987224 with order 1 Centerline is valid? [True, True] Translation: X:612.97, Y:-32.43, Z:3.32 [[ 9.93390317e-01 1.14644133e-01 -5.69223689e-03 6.12965612e+02] [-1.14642099e-01 9.93406625e-01 6.83437962e-04 -3.24328059e+01] [ 5.73305799e-03 -2.63506674e-05 9.99983566e-01 3.31822712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.640714057 meters Centerline goodness : 0.987845 with order 1 Centerline is valid? [True, True] Translation: X:613.03, Y:-32.44, Z:3.32 [[ 9.92391484e-01 1.22990825e-01 -5.69206539e-03 6.13026094e+02] [-1.22988920e-01 9.92407808e-01 6.84863360e-04 -3.24391730e+01] [ 5.73308204e-03 2.04084064e-05 9.99983566e-01 3.31673054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.700714057 meters Centerline goodness : 0.993457 with order 1 Centerline is valid? [True, True] Translation: X:613.08, Y:-32.47, Z:3.33 [[ 9.90496057e-01 1.37423299e-01 -5.69198060e-03 6.13084246e+02] [-1.37421628e-01 9.90512406e-01 6.85567295e-04 -3.24655682e+01] [ 5.73219032e-03 1.03149538e-04 9.99983566e-01 3.32950629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.760714057 meters Centerline goodness : 0.987890 with order 1 Centerline is valid? [True, True] Translation: X:613.15, Y:-32.46, Z:3.32 [[ 9.92170520e-01 1.24760822e-01 -5.69182771e-03 6.13148274e+02] [-1.24758935e-01 9.92186845e-01 6.86834340e-04 -3.24558493e+01] [ 5.73304659e-03 2.86495792e-05 9.99983566e-01 3.31631722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.820714057 meters Centerline goodness : 0.986368 with order 1 Centerline is valid? [True, True] Translation: X:613.21, Y:-32.48, Z:3.33 [[ 9.90060413e-01 1.40527519e-01 -5.69165025e-03 6.13208025e+02] [-1.40525883e-01 9.90076766e-01 6.88301745e-04 -3.24801461e+01] [ 5.73189601e-03 1.18363868e-04 9.99983566e-01 3.32577419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.880714057 meters Centerline goodness : 0.986892 with order 1 Centerline is valid? [True, True] Translation: X:613.27, Y:-32.49, Z:3.33 [[ 9.89861794e-01 1.41919823e-01 -5.69143504e-03 6.13268840e+02] [-1.41918200e-01 9.89878148e-01 6.90076659e-04 -3.24867955e+01] [ 5.73176274e-03 1.24637697e-04 9.99983566e-01 3.32635665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.940714057 meters Centerline goodness : 0.987595 with order 1 Centerline is valid? [True, True] Translation: X:613.33, Y:-32.48, Z:3.32 [[ 9.91404350e-01 1.30709695e-01 -5.69123466e-03 6.13332610e+02] [-1.30707877e-01 9.91420684e-01 6.91725332e-04 -3.24800468e+01] [ 5.73282297e-03 5.81096983e-05 9.99983566e-01 3.32291684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.000714057 meters Centerline goodness : 0.986768 with order 1 Centerline is valid? [True, True] Translation: X:613.39, Y:-32.50, Z:3.33 [[ 9.88880455e-01 1.48603695e-01 -5.69100995e-03 6.13392735e+02] [-1.48602162e-01 9.88896818e-01 6.93569145e-04 -3.25039523e+01] [ 5.73088857e-03 1.59839414e-04 9.99983566e-01 3.32838256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.060714057 meters Centerline goodness : 0.991420 with order 1 Centerline is valid? [True, True] Translation: X:613.45, Y:-32.51, Z:3.33 [[ 9.88891783e-01 1.48528296e-01 -5.69091385e-03 6.13453385e+02] [-1.48526757e-01 9.88908145e-01 6.94356775e-04 -3.25119072e+01] [ 5.73092269e-03 1.58609272e-04 9.99983566e-01 3.33021030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.120714057 meters Centerline goodness : 0.991445 with order 1 Centerline is valid? [True, True] Translation: X:613.51, Y:-32.52, Z:3.33 [[ 9.88813094e-01 1.49051272e-01 -5.69070522e-03 6.13514693e+02] [-1.49049732e-01 9.88829456e-01 6.96062472e-04 -3.25202065e+01] [ 5.73088594e-03 1.59922402e-04 9.99983566e-01 3.32903162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.180714057 meters Centerline goodness : 0.987752 with order 1 Centerline is valid? [True, True] Translation: X:613.58, Y:-32.51, Z:3.32 [[ 9.90773542e-01 1.35408297e-01 -5.69054382e-03 6.13578133e+02] [-1.35406524e-01 9.90789880e-01 6.97379502e-04 -3.25143017e+01] [ 5.73256420e-03 7.95916005e-05 9.99983566e-01 3.32118849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.240714057 meters Centerline goodness : 0.986224 with order 1 Centerline is valid? [True, True] Translation: X:613.64, Y:-32.52, Z:3.31 [[ 9.91589423e-01 1.29298243e-01 -5.69036288e-03 6.13639584e+02] [-1.29296362e-01 9.91605749e-01 6.98852793e-04 -3.25204744e+01] [ 5.73295698e-03 4.27681797e-05 9.99983566e-01 3.31449639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.300714057 meters Centerline goodness : 0.992485 with order 1 Centerline is valid? [True, True] Translation: X:613.70, Y:-32.55, Z:3.33 [[ 9.88971896e-01 1.47993950e-01 -5.69032454e-03 6.13696889e+02] [-1.47992375e-01 9.88988255e-01 6.99164828e-04 -3.25522592e+01] [ 5.73113630e-03 1.50670278e-04 9.99983566e-01 3.33052104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.360714057 meters Centerline goodness : 0.987443 with order 1 Centerline is valid? [True, True] Translation: X:613.76, Y:-32.55, Z:3.32 [[ 9.90375418e-01 1.38290104e-01 -5.69016252e-03 6.13760408e+02] [-1.38288361e-01 9.90391760e-01 7.00480900e-04 -3.25458224e+01] [ 5.73235965e-03 9.31441864e-05 9.99983566e-01 3.31816039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.420714057 meters Centerline goodness : 0.988535 with order 1 Centerline is valid? [True, True] Translation: X:613.82, Y:-32.56, Z:3.32 [[ 9.90145780e-01 1.39924835e-01 -5.68998509e-03 6.13822446e+02] [-1.39923111e-01 9.90162123e-01 7.01919210e-04 -3.25572304e+01] [ 5.73222365e-03 1.01158071e-04 9.99983566e-01 3.31789678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.480714057 meters Centerline goodness : 0.988527 with order 1 Centerline is valid? [True, True] Translation: X:613.88, Y:-32.57, Z:3.32 [[ 9.89800992e-01 1.42343329e-01 -5.68978016e-03 6.13883711e+02] [-1.42341635e-01 9.89817339e-01 7.03576514e-04 -3.25666804e+01] [ 5.73199248e-03 1.13491882e-04 9.99983566e-01 3.31794086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5407140570001 meters Centerline goodness : 0.988078 with order 1 Centerline is valid? [True, True] Translation: X:613.95, Y:-32.57, Z:3.32 [[ 9.90393512e-01 1.38160489e-01 -5.68959154e-03 6.13945892e+02] [-1.38158717e-01 9.90409850e-01 7.05098475e-04 -3.25737917e+01] [ 5.73244426e-03 8.77417155e-05 9.99983566e-01 3.31513585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.600714057 meters Centerline goodness : 0.987628 with order 1 Centerline is valid? [True, True] Translation: X:614.01, Y:-32.59, Z:3.32 [[ 9.90244632e-01 1.39223556e-01 -5.68952710e-03 6.14005971e+02] [-1.39221799e-01 9.90260972e-01 7.05618093e-04 -3.25874574e+01] [ 5.73235530e-03 9.33716698e-05 9.99983566e-01 3.31980061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6607140570001 meters Centerline goodness : 0.986657 with order 1 Centerline is valid? [True, True] Translation: X:614.07, Y:-32.59, Z:3.31 [[ 9.91348150e-01 1.31135336e-01 -5.68936360e-03 6.14068105e+02] [-1.31133439e-01 9.91364475e-01 7.06933980e-04 -3.25889294e+01] [ 5.73293698e-03 4.52481181e-05 9.99983566e-01 3.31189007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.720714057 meters Centerline goodness : 0.987196 with order 1 Centerline is valid? [True, True] Translation: X:614.13, Y:-32.60, Z:3.31 [[ 9.90372493e-01 1.38311084e-01 -5.68932483e-03 6.14127670e+02] [-1.38309303e-01 9.90388831e-01 7.07245827e-04 -3.25957250e+01] [ 5.73246370e-03 8.64497376e-05 9.99983566e-01 3.31461900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7807140570001 meters Centerline goodness : 0.985762 with order 1 Centerline is valid? [True, True] Translation: X:614.19, Y:-32.60, Z:3.31 [[ 9.90741146e-01 1.35645173e-01 -5.68932465e-03 6.14190149e+02] [-1.35643348e-01 9.90757479e-01 7.07247267e-04 -3.25983322e+01] [ 5.73267563e-03 7.10200739e-05 9.99983566e-01 3.31207995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.840714057 meters Centerline goodness : 0.985936 with order 1 Centerline is valid? [True, True] Translation: X:614.25, Y:-32.60, Z:3.31 [[ 9.91301170e-01 1.31490017e-01 -5.68913695e-03 6.14251245e+02] [-1.31488115e-01 9.91317494e-01 7.08753948e-04 -3.26026698e+01] [ 5.73293505e-03 4.54652748e-05 9.99983566e-01 3.31194570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.900714057 meters Centerline goodness : 0.987328 with order 1 Centerline is valid? [True, True] Translation: X:614.31, Y:-32.62, Z:3.33 [[ 9.88738748e-01 1.49543716e-01 -5.68896561e-03 6.14311000e+02] [-1.49542104e-01 9.88755104e-01 7.10126582e-04 -3.26233667e+01] [ 5.73118875e-03 1.48610216e-04 9.99983566e-01 3.32902221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.960714057 meters Centerline goodness : 0.985491 with order 1 Centerline is valid? [True, True] Translation: X:614.38, Y:-32.61, Z:3.31 [[ 9.90948319e-01 1.34123324e-01 -5.68890089e-03 6.14375028e+02] [-1.34121454e-01 9.90964646e-01 7.10644686e-04 -3.26100863e+01] [ 5.73281368e-03 5.87915039e-05 9.99983566e-01 3.31367998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.020714057 meters Centerline goodness : 0.985650 with order 1 Centerline is valid? [True, True] Translation: X:614.44, Y:-32.62, Z:3.32 [[ 9.90134929e-01 1.40001638e-01 -5.68885110e-03 6.14436338e+02] [-1.39999863e-01 9.90151268e-01 7.11043030e-04 -3.26195622e+01] [ 5.73237032e-03 9.24098355e-05 9.99983566e-01 3.31760978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.080714057 meters Centerline goodness : 0.985693 with order 1 Centerline is valid? [True, True] Translation: X:614.50, Y:-32.62, Z:3.31 [[ 9.89574935e-01 1.43906521e-01 -5.68866786e-03 6.14498690e+02] [-1.43904802e-01 9.89591279e-01 7.12506040e-04 -3.26231684e+01] [ 5.73199037e-03 1.13548501e-04 9.99983566e-01 3.31485760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.140714057 meters Centerline goodness : 0.986754 with order 1 Centerline is valid? [True, True] Translation: X:614.56, Y:-32.63, Z:3.32 [[ 9.88779259e-01 1.49275645e-01 -5.68847350e-03 6.14559599e+02] [-1.49274006e-01 9.88795611e-01 7.14054388e-04 -3.26340898e+01] [ 5.73132856e-03 1.43099058e-04 9.99983566e-01 3.32093604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.200714057 meters Centerline goodness : 0.987307 with order 1 Centerline is valid? [True, True] Translation: X:614.62, Y:-32.64, Z:3.32 [[ 9.88309055e-01 1.52357651e-01 -5.68842073e-03 6.14622588e+02] [-1.52356060e-01 9.88325412e-01 7.14474522e-04 -3.26409373e+01] [ 5.73086642e-03 1.60543731e-04 9.99983566e-01 3.32159083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.260714057 meters Centerline goodness : 0.986830 with order 1 Centerline is valid? [True, True] Translation: X:614.69, Y:-32.65, Z:3.32 [[ 9.88760070e-01 1.49402705e-01 -5.68821313e-03 6.14685009e+02] [-1.49401056e-01 9.88776422e-01 7.16123456e-04 -3.26468824e+01] [ 5.73136181e-03 1.41750768e-04 9.99983566e-01 3.32056232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.320714057 meters Centerline goodness : 0.987485 with order 1 Centerline is valid? [True, True] Translation: X:614.75, Y:-32.65, Z:3.32 [[ 9.88523919e-01 1.50957300e-01 -5.68814695e-03 6.14746443e+02] [-1.50955674e-01 9.88540273e-01 7.16648813e-04 -3.26541694e+01] [ 5.73114570e-03 1.50233561e-04 9.99983566e-01 3.32492556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.380714057 meters Centerline goodness : 0.992239 with order 1 Centerline is valid? [True, True] Translation: X:614.81, Y:-32.67, Z:3.34 [[ 9.87014157e-01 1.60532552e-01 -5.68796106e-03 6.14806393e+02] [-1.60531076e-01 9.87030525e-01 7.18121137e-04 -3.26748440e+01] [ 5.72947301e-03 2.04298778e-04 9.99983566e-01 3.33522480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.440714057 meters Centerline goodness : 0.992058 with order 1 Centerline is valid? [True, True] Translation: X:614.87, Y:-32.68, Z:3.34 [[ 9.87025223e-01 1.60464510e-01 -5.68776415e-03 6.14867930e+02] [-1.60463024e-01 9.87041590e-01 7.19677378e-04 -3.26825958e+01] [ 5.72954244e-03 2.02336112e-04 9.99983566e-01 3.33539019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.500714057 meters Centerline goodness : 0.988017 with order 1 Centerline is valid? [True, True] Translation: X:614.93, Y:-32.67, Z:3.32 [[ 9.88984109e-01 1.47912420e-01 -5.68758402e-03 6.14932167e+02] [-1.47910718e-01 9.89000455e-01 7.21098147e-04 -3.26724205e+01] [ 5.73168255e-03 1.28100026e-04 9.99983566e-01 3.32360078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.560714057 meters Centerline goodness : 0.991300 with order 1 Centerline is valid? [True, True] Translation: X:614.99, Y:-32.70, Z:3.33 [[ 9.87233140e-01 1.59180338e-01 -5.68739742e-03 6.14990915e+02] [-1.59178813e-01 9.87249504e-01 7.22566865e-04 -3.26954089e+01] [ 5.72989872e-03 1.91971218e-04 9.99983566e-01 3.33279083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.620714057 meters Centerline goodness : 0.991188 with order 1 Centerline is valid? [True, True] Translation: X:615.05, Y:-32.70, Z:3.34 [[ 9.87459889e-01 1.57767621e-01 -5.68722804e-03 6.15052151e+02] [-1.57766065e-01 9.87476250e-01 7.23897568e-04 -3.27033042e+01] [ 5.73021022e-03 1.82431778e-04 9.99983566e-01 3.33646250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.680714057 meters Centerline goodness : 0.992433 with order 1 Centerline is valid? [True, True] Translation: X:615.11, Y:-32.71, Z:3.34 [[ 9.87714733e-01 1.56164223e-01 -5.68704902e-03 6.15113994e+02] [-1.56162633e-01 9.87731090e-01 7.25301246e-04 -3.27089171e+01] [ 5.73054123e-03 1.71713825e-04 9.99983566e-01 3.33916370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.740714057 meters Centerline goodness : 0.993009 with order 1 Centerline is valid? [True, True] Translation: X:615.18, Y:-32.72, Z:3.34 [[ 9.87828788e-01 1.55441128e-01 -5.68686941e-03 6.15176965e+02] [-1.55439518e-01 9.87845144e-01 7.26706772e-04 -3.27156905e+01] [ 5.73070646e-03 1.66102371e-04 9.99983566e-01 3.33987011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.800714057 meters Centerline goodness : 0.986277 with order 1 Centerline is valid? [True, True] Translation: X:615.24, Y:-32.69, Z:3.31 [[ 9.91558899e-01 1.29532281e-01 -5.68666319e-03 6.15241815e+02] [-1.29530235e-01 9.91575205e-01 7.28316960e-04 -3.26916842e+01] [ 5.73309478e-03 1.44256553e-05 9.99983566e-01 3.30973677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.860714057 meters Centerline goodness : 0.994157 with order 1 Centerline is valid? [True, True] Translation: X:615.30, Y:-32.73, Z:3.34 [[ 9.88771762e-01 1.49325368e-01 -5.68665042e-03 6.15297515e+02] [-1.49323647e-01 9.88788106e-01 7.28416677e-04 -3.27274961e+01] [ 5.73166338e-03 1.28913540e-04 9.99983566e-01 3.33548320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.920714057 meters Centerline goodness : 0.992602 with order 1 Centerline is valid? [True, True] Translation: X:615.36, Y:-32.74, Z:3.34 [[ 9.89879957e-01 1.41793277e-01 -5.68663168e-03 6.15359564e+02] [-1.41791431e-01 9.89896287e-01 7.28562952e-04 -3.27372438e+01] [ 5.73248091e-03 8.51257809e-05 9.99983566e-01 3.33775007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.980714057 meters Centerline goodness : 0.990528 with order 1 Centerline is valid? [True, True] Translation: X:615.42, Y:-32.75, Z:3.34 [[ 9.90477582e-01 1.37556625e-01 -5.68642540e-03 6.15421641e+02] [-1.37554700e-01 9.90493903e-01 7.30169365e-04 -3.27452155e+01] [ 5.73280933e-03 5.89781515e-05 9.99983566e-01 3.33568485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0407140570001 meters Centerline goodness : 0.992372 with order 1 Centerline is valid? [True, True] Translation: X:615.48, Y:-32.75, Z:3.34 [[ 9.91085356e-01 1.33107034e-01 -5.68634415e-03 6.15483243e+02] [-1.33105032e-01 9.91101668e-01 7.30801627e-04 -3.27545315e+01] [ 5.73302001e-03 3.25942264e-05 9.99983566e-01 3.33827179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.100714057 meters Centerline goodness : 0.992120 with order 1 Centerline is valid? [True, True] Translation: X:615.55, Y:-32.76, Z:3.34 [[ 9.91142279e-01 1.32682518e-01 -5.68609963e-03 6.15545803e+02] [-1.32680498e-01 9.91158589e-01 7.32699202e-04 -3.27610660e+01] [ 5.73304286e-03 2.82253755e-05 9.99983566e-01 3.33871347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1607140570001 meters Centerline goodness : 0.991250 with order 1 Centerline is valid? [True, True] Translation: X:615.61, Y:-32.77, Z:3.34 [[ 9.90983187e-01 1.33865583e-01 -5.68589306e-03 6.15608688e+02] [-1.33863573e-01 9.90999498e-01 7.34298755e-04 -3.27684040e+01] [ 5.73301449e-03 3.34562429e-05 9.99983566e-01 3.33924199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.220714057 meters Centerline goodness : 0.989353 with order 1 Centerline is valid? [True, True] Translation: X:615.67, Y:-32.78, Z:3.34 [[ 9.90698052e-01 1.35959707e-01 -5.68568724e-03 6.15671164e+02] [-1.35957723e-01 9.90714367e-01 7.35888922e-04 -3.27752014e+01] [ 5.73294328e-03 4.39693678e-05 9.99983566e-01 3.33954852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2807140570001 meters Centerline goodness : 0.989746 with order 1 Centerline is valid? [True, True] Translation: X:615.73, Y:-32.78, Z:3.34 [[ 9.91016959e-01 1.33615349e-01 -5.68557641e-03 6.15733307e+02] [-1.33613321e-01 9.91033268e-01 7.36744215e-04 -3.27805942e+01] [ 5.73303571e-03 2.95427343e-05 9.99983566e-01 3.34076793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.340714057 meters Centerline goodness : 0.989209 with order 1 Centerline is valid? [True, True] Translation: X:615.79, Y:-32.79, Z:3.34 [[ 9.91452808e-01 1.30341880e-01 -5.68535141e-03 6.15794812e+02] [-1.30339788e-01 9.91469109e-01 7.38476449e-04 -3.27899050e+01] [ 5.73310471e-03 8.86294971e-06 9.99983566e-01 3.34067972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.400714057 meters Centerline goodness : 0.985249 with order 1 Centerline is valid? [True, True] Translation: X:615.86, Y:-32.80, Z:3.34 [[ 9.92136529e-01 1.25031149e-01 -5.68512148e-03 6.15855931e+02] [-1.25028960e-01 9.92152817e-01 7.40242387e-04 -3.27978526e+01] [ 5.73306264e-03 -2.36166884e-05 9.99983566e-01 3.33954851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.460714057 meters Centerline goodness : 0.986568 with order 1 Centerline is valid? [True, True] Translation: X:615.92, Y:-32.80, Z:3.34 [[ 9.92588891e-01 1.21387703e-01 -5.68499405e-03 6.15918383e+02] [-1.21385449e-01 9.92605170e-01 7.41219700e-04 -3.28044520e+01] [ 5.73292944e-03 -4.56508840e-05 9.99983566e-01 3.34092496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.520714057 meters Centerline goodness : 0.991050 with order 1 Centerline is valid? [True, True] Translation: X:615.98, Y:-32.80, Z:3.34 [[ 9.92861472e-01 1.19137656e-01 -5.68472095e-03 6.15980551e+02] [-1.19135353e-01 9.92877744e-01 7.43308365e-04 -3.28040357e+01] [ 5.73278893e-03 -6.07510005e-05 9.99983566e-01 3.33985987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.580714057 meters Centerline goodness : 0.992580 with order 1 Centerline is valid? [True, True] Translation: X:616.04, Y:-32.81, Z:3.34 [[ 9.92695998e-01 1.20508685e-01 -5.68446961e-03 6.16043372e+02] [-1.20506393e-01 9.92712271e-01 7.45225517e-04 -3.28069572e+01] [ 5.73284889e-03 -5.47674598e-05 9.99983566e-01 3.34120991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.640714057 meters Centerline goodness : 0.987820 with order 1 Centerline is valid? [True, True] Translation: X:616.11, Y:-32.81, Z:3.35 [[ 9.91749079e-01 1.28068159e-01 -5.68426382e-03 6.16105794e+02] [-1.28065983e-01 9.91765369e-01 7.46791894e-04 -3.28069601e+01] [ 5.73309627e-03 -1.26693408e-05 9.99983566e-01 3.34587194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.700714057 meters Centerline goodness : 0.992240 with order 1 Centerline is valid? [True, True] Translation: X:616.17, Y:-32.81, Z:3.34 [[ 9.91574023e-01 1.29416569e-01 -5.68414395e-03 6.16167109e+02] [-1.29414409e-01 9.91590314e-01 7.47703162e-04 -3.28062931e+01] [ 5.73310727e-03 -5.79289966e-06 9.99983566e-01 3.34150684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.760714057 meters Centerline goodness : 0.992839 with order 1 Centerline is valid? [True, True] Translation: X:616.23, Y:-32.81, Z:3.34 [[ 9.90828711e-01 1.35004284e-01 -5.68402178e-03 6.16229635e+02] [-1.35002211e-01 9.90845014e-01 7.48630784e-04 -3.28076824e+01] [ 5.73305300e-03 2.55906302e-05 9.99983566e-01 3.33992551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.820714057 meters Centerline goodness : 0.993407 with order 1 Centerline is valid? [True, True] Translation: X:616.29, Y:-32.81, Z:3.34 [[ 9.89909192e-01 1.41589144e-01 -5.68382602e-03 6.16292260e+02] [-1.41587171e-01 9.89925507e-01 7.50114120e-04 -3.28110451e+01] [ 5.73277237e-03 6.22119832e-05 9.99983566e-01 3.33963881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.880714057 meters Centerline goodness : 0.994591 with order 1 Centerline is valid? [True, True] Translation: X:616.35, Y:-32.82, Z:3.34 [[ 9.89006392e-01 1.47763503e-01 -5.68360976e-03 6.16353989e+02] [-1.47761622e-01 9.89022719e-01 7.51749160e-04 -3.28158100e+01] [ 5.73230026e-03 9.63346722e-05 9.99983566e-01 3.33803423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.940714057 meters Centerline goodness : 0.994001 with order 1 Centerline is valid? [True, True] Translation: X:616.42, Y:-32.82, Z:3.34 [[ 9.88200033e-01 1.53063363e-01 -5.68340989e-03 6.16416588e+02] [-1.53061561e-01 9.88216369e-01 7.53257141e-04 -3.28232827e+01] [ 5.73173476e-03 1.25542856e-04 9.99983566e-01 3.33879141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.000714057 meters Centerline goodness : 0.994143 with order 1 Centerline is valid? [True, True] Translation: X:616.48, Y:-32.83, Z:3.34 [[ 9.87222908e-01 1.59243939e-01 -5.68319839e-03 6.16478825e+02] [-1.59242230e-01 9.87239253e-01 7.54849519e-04 -3.28339287e+01] [ 5.73088175e-03 1.59800447e-04 9.99983566e-01 3.34092203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.060714057 meters Centerline goodness : 0.993702 with order 1 Centerline is valid? [True, True] Translation: X:616.54, Y:-32.85, Z:3.34 [[ 9.85920974e-01 1.67115343e-01 -5.68297981e-03 6.16538340e+02] [-1.67113755e-01 9.85937331e-01 7.56491557e-04 -3.28468135e+01] [ 5.72948329e-03 2.03863202e-04 9.99983566e-01 3.34213306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.120714057 meters Centerline goodness : 0.993529 with order 1 Centerline is valid? [True, True] Translation: X:616.60, Y:-32.86, Z:3.34 [[ 9.85379949e-01 1.70276426e-01 -5.68280474e-03 6.16600291e+02] [-1.70274883e-01 9.85396311e-01 7.57804419e-04 -3.28608884e+01] [ 5.72885106e-03 2.20913631e-04 9.99983566e-01 3.34374084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.180714057 meters Centerline goodness : 0.988592 with order 1 Centerline is valid? [True, True] Translation: X:616.66, Y:-32.86, Z:3.33 [[ 9.87797090e-01 1.55642592e-01 -5.68258953e-03 6.16662535e+02] [-1.55640797e-01 9.87813427e-01 7.59414833e-04 -3.28551455e+01] [ 5.73153553e-03 1.34295001e-04 9.99983566e-01 3.32940622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.240714057 meters Centerline goodness : 0.993450 with order 1 Centerline is valid? [True, True] Translation: X:616.72, Y:-32.89, Z:3.34 [[ 9.85656349e-01 1.68669116e-01 -5.68248322e-03 6.16720846e+02] [-1.68667533e-01 9.85672707e-01 7.60209460e-04 -3.28908953e+01] [ 5.72929248e-03 2.09145143e-04 9.99983566e-01 3.34215832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.300714057 meters Centerline goodness : 0.988046 with order 1 Centerline is valid? [True, True] Translation: X:616.78, Y:-32.88, Z:3.32 [[ 9.89207543e-01 1.46410889e-01 -5.68226751e-03 6.16784946e+02] [-1.46408928e-01 9.89223860e-01 7.61818403e-04 -3.28804849e+01] [ 5.73257311e-03 7.83381861e-05 9.99983566e-01 3.32064351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.360714057 meters Centerline goodness : 0.994161 with order 1 Centerline is valid? [True, True] Translation: X:616.84, Y:-32.92, Z:3.34 [[ 9.86383791e-01 1.64361578e-01 -5.68222529e-03 6.16840081e+02] [-1.64359912e-01 9.86400141e-01 7.62133206e-04 -3.29182186e+01] [ 5.73021324e-03 1.82174209e-04 9.99983566e-01 3.34193118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.420714057 meters Centerline goodness : 0.992645 with order 1 Centerline is valid? [True, True] Translation: X:616.90, Y:-32.93, Z:3.34 [[ 9.87311666e-01 1.58692744e-01 -5.68222529e-03 6.16900740e+02] [-1.58690984e-01 9.87328006e-01 7.62133206e-04 -3.29349002e+01] [ 5.73116517e-03 1.49254917e-04 9.99983566e-01 3.34145639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.480714057 meters Centerline goodness : 0.993598 with order 1 Centerline is valid? [True, True] Translation: X:616.96, Y:-32.95, Z:3.34 [[ 9.88044020e-01 1.54067288e-01 -5.68203922e-03 6.16961821e+02] [-1.54065444e-01 9.88060350e-01 7.63517933e-04 -3.29521534e+01] [ 5.73183080e-03 1.21016566e-04 9.99983566e-01 3.34399665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5407140570001 meters Centerline goodness : 0.988296 with order 1 Centerline is valid? [True, True] Translation: X:617.02, Y:-32.95, Z:3.34 [[ 9.90081664e-01 1.40378117e-01 -5.68182952e-03 6.17024059e+02] [-1.40376038e-01 9.90097966e-01 7.65075222e-04 -3.29519162e+01] [ 5.73296767e-03 4.01057694e-05 9.99983566e-01 3.33788367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.600714057 meters Centerline goodness : 0.987397 with order 1 Centerline is valid? [True, True] Translation: X:617.08, Y:-32.96, Z:3.33 [[ 9.90523995e-01 1.37222211e-01 -5.68164878e-03 6.17084984e+02] [-1.37220072e-01 9.90540289e-01 7.66415104e-04 -3.29593334e+01] [ 5.73307120e-03 2.04837047e-05 9.99983566e-01 3.33242269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6607140570001 meters Centerline goodness : 0.992204 with order 1 Centerline is valid? [True, True] Translation: X:617.14, Y:-32.99, Z:3.35 [[ 9.87486145e-01 1.57603406e-01 -5.68162051e-03 6.17142133e+02] [-1.57601602e-01 9.87502480e-01 7.66624626e-04 -3.29925831e+01] [ 5.73143700e-03 1.38401299e-04 9.99983566e-01 3.34825636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.720714057 meters Centerline goodness : 0.984605 with order 1 Centerline is valid? [True, True] Translation: X:617.21, Y:-32.98, Z:3.32 [[ 9.90580330e-01 1.36814954e-01 -5.68144119e-03 6.17205729e+02] [-1.36812800e-01 9.90596622e-01 7.67951304e-04 -3.29783996e+01] [ 5.73308367e-03 1.65764201e-05 9.99983566e-01 3.32418944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7807140570001 meters Centerline goodness : 0.990993 with order 1 Centerline is valid? [True, True] Translation: X:617.26, Y:-33.02, Z:3.35 [[ 9.88265863e-01 1.52637824e-01 -5.68141421e-03 6.17262428e+02] [-1.52635929e-01 9.88282188e-01 7.68150811e-04 -3.30194841e+01] [ 5.73208934e-03 1.08050714e-04 9.99983566e-01 3.34625918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.840714057 meters Centerline goodness : 0.986279 with order 1 Centerline is valid? [True, True] Translation: X:617.32, Y:-33.04, Z:3.34 [[ 9.89346009e-01 1.45472324e-01 -5.68134743e-03 6.17322877e+02] [-1.45470309e-01 9.89362319e-01 7.68644408e-04 -3.30368118e+01] [ 5.73272756e-03 6.60120879e-05 9.99983566e-01 3.34340616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.900714057 meters Centerline goodness : 0.986898 with order 1 Centerline is valid? [True, True] Translation: X:617.38, Y:-33.05, Z:3.35 [[ 9.90796274e-01 1.35242253e-01 -5.68126001e-03 6.17382509e+02] [-1.35240065e-01 9.90812562e-01 7.69290026e-04 -3.30521052e+01] [ 5.73310430e-03 6.12428071e-06 9.99983566e-01 3.34845521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.960714057 meters Centerline goodness : 0.986447 with order 1 Centerline is valid? [True, True] Translation: X:617.44, Y:-33.07, Z:3.35 [[ 9.91466704e-01 1.30236330e-01 -5.68103253e-03 6.17443428e+02] [-1.30234050e-01 9.91482979e-01 7.70966251e-04 -3.30664601e+01] [ 5.73305487e-03 -2.45234930e-05 9.99983566e-01 3.35189729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.020714057 meters Centerline goodness : 0.991209 with order 1 Centerline is valid? [True, True] Translation: X:617.50, Y:-33.07, Z:3.36 [[ 9.92058196e-01 1.25651362e-01 -5.68079379e-03 6.17504777e+02] [-1.25648997e-01 9.92074459e-01 7.72721426e-04 -3.30723452e+01] [ 5.73286392e-03 -5.27985831e-05 9.99983566e-01 3.35548586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.080714057 meters Centerline goodness : 0.990961 with order 1 Centerline is valid? [True, True] Translation: X:617.57, Y:-33.08, Z:3.35 [[ 9.91517740e-01 1.29847232e-01 -5.68054221e-03 6.17566176e+02] [-1.29844925e-01 9.91534011e-01 7.74566424e-04 -3.30804491e+01] [ 5.73302611e-03 -3.04067721e-05 9.99983566e-01 3.35255821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.140714057 meters Centerline goodness : 0.990740 with order 1 Centerline is valid? [True, True] Translation: X:617.63, Y:-33.09, Z:3.35 [[ 9.90790586e-01 1.35283951e-01 -5.68035515e-03 6.17627554e+02] [-1.35281726e-01 9.90806869e-01 7.75935870e-04 -3.30887994e+01] [ 5.73310657e-03 -3.41707547e-07 9.99983566e-01 3.35015208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.200714057 meters Centerline goodness : 0.986906 with order 1 Centerline is valid? [True, True] Translation: X:617.69, Y:-33.10, Z:3.34 [[ 9.89947177e-01 1.41323469e-01 -5.68017031e-03 6.17690139e+02] [-1.41321335e-01 9.89963472e-01 7.77286607e-04 -3.30989319e+01] [ 5.73300996e-03 3.32565700e-05 9.99983566e-01 3.34315661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.260714057 meters Centerline goodness : 0.984939 with order 1 Centerline is valid? [True, True] Translation: X:617.75, Y:-33.08, Z:3.33 [[ 9.91996154e-01 1.26140267e-01 -5.68004940e-03 6.17754353e+02] [-1.26137879e-01 9.92012414e-01 7.78169162e-04 -3.30836548e+01] [ 5.73283798e-03 -5.54714336e-05 9.99983566e-01 3.33373270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.320714057 meters Centerline goodness : 0.991226 with order 1 Centerline is valid? [True, True] Translation: X:617.81, Y:-33.11, Z:3.35 [[ 9.89281125e-01 1.45912970e-01 -5.67981756e-03 6.17811255e+02] [-1.45910897e-01 9.89297428e-01 7.79857646e-04 -3.31149816e+01] [ 5.73282026e-03 5.72488272e-05 9.99983566e-01 3.35060735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.380714057 meters Centerline goodness : 0.987183 with order 1 Centerline is valid? [True, True] Translation: X:617.87, Y:-33.12, Z:3.35 [[ 9.88555824e-01 1.50748542e-01 -5.67977634e-03 6.17872581e+02] [-1.50746547e-01 9.88572137e-01 7.80157785e-04 -3.31246005e+01] [ 5.73247628e-03 8.49771491e-05 9.99983566e-01 3.34642715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.440714057 meters Centerline goodness : 0.987116 with order 1 Centerline is valid? [True, True] Translation: X:617.94, Y:-33.12, Z:3.34 [[ 9.89810252e-01 1.42279327e-01 -5.67964527e-03 6.17936376e+02] [-1.42277188e-01 9.89826546e-01 7.81110846e-04 -3.31170439e+01] [ 5.73299958e-03 3.49324319e-05 9.99983566e-01 3.34421504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.500714057 meters Centerline goodness : 0.987639 with order 1 Centerline is valid? [True, True] Translation: X:618.00, Y:-33.13, Z:3.34 [[ 9.88873217e-01 1.48652296e-01 -5.67939309e-03 6.17997434e+02] [-1.48650250e-01 9.88889524e-01 7.82940121e-04 -3.31251620e+01] [ 5.73267817e-03 7.00146889e-05 9.99983566e-01 3.34426411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.560714057 meters Centerline goodness : 0.989355 with order 1 Centerline is valid? [True, True] Translation: X:618.06, Y:-33.14, Z:3.35 [[ 9.88600257e-01 1.50456901e-01 -5.67919858e-03 6.18058450e+02] [-1.50454877e-01 9.88616566e-01 7.84348505e-04 -3.31350354e+01] [ 5.73256044e-03 7.90559921e-05 9.99983566e-01 3.34863653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.620714057 meters Centerline goodness : 0.990509 with order 1 Centerline is valid? [True, True] Translation: X:618.12, Y:-33.14, Z:3.35 [[ 9.87940506e-01 1.54729781e-01 -5.67900081e-03 6.18121179e+02] [-1.54727820e-01 9.87956823e-01 7.85777797e-04 -3.31427156e+01] [ 5.73219083e-03 1.02397699e-04 9.99983566e-01 3.34964524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.680714057 meters Centerline goodness : 0.989268 with order 1 Centerline is valid? [True, True] Translation: X:618.18, Y:-33.15, Z:3.35 [[ 9.88057167e-01 1.53983073e-01 -5.67876881e-03 6.18182974e+02] [-1.53981089e-01 9.88073481e-01 7.87450935e-04 -3.31503879e+01] [ 5.73229498e-03 9.63764674e-05 9.99983566e-01 3.35091291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.740714057 meters Centerline goodness : 0.989097 with order 1 Centerline is valid? [True, True] Translation: X:618.24, Y:-33.16, Z:3.35 [[ 9.88398941e-01 1.51773803e-01 -5.67856007e-03 6.18244041e+02] [-1.51771775e-01 9.88415250e-01 7.88953364e-04 -3.31565498e+01] [ 5.73251782e-03 8.20444695e-05 9.99983566e-01 3.34726033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.800714057 meters Centerline goodness : 0.990228 with order 1 Centerline is valid? [True, True] Translation: X:618.31, Y:-33.17, Z:3.35 [[ 9.88199541e-01 1.53066726e-01 -5.67836892e-03 6.18305218e+02] [-1.53064711e-01 9.88215852e-01 7.90326733e-04 -3.31679867e+01] [ 5.73242690e-03 8.81573848e-05 9.99983566e-01 3.34956590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.860714057 meters Centerline goodness : 0.990781 with order 1 Centerline is valid? [True, True] Translation: X:618.36, Y:-33.19, Z:3.35 [[ 9.86588557e-01 1.63128103e-01 -5.67816107e-03 6.18364510e+02] [-1.63126246e-01 9.86604886e-01 7.91817226e-04 -3.31910171e+01] [ 5.73126910e-03 1.45059283e-04 9.99983566e-01 3.34628218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.920714057 meters Centerline goodness : 0.992834 with order 1 Centerline is valid? [True, True] Translation: X:618.43, Y:-33.20, Z:3.35 [[ 9.87904136e-01 1.54961864e-01 -5.67790218e-03 6.18425714e+02] [-1.54959861e-01 9.87920448e-01 7.93669347e-04 -3.31992894e+01] [ 5.73230414e-03 9.57777017e-05 9.99983566e-01 3.35172541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.980714057 meters Centerline goodness : 0.992607 with order 1 Centerline is valid? [True, True] Translation: X:618.49, Y:-33.21, Z:3.35 [[ 9.89266832e-01 1.46009932e-01 -5.67762338e-03 6.18486157e+02] [-1.46007770e-01 9.89283123e-01 7.95658774e-04 -3.32088630e+01] [ 5.73295107e-03 4.18582962e-05 9.99983566e-01 3.35396844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0407140570001 meters Centerline goodness : 0.992485 with order 1 Centerline is valid? [True, True] Translation: X:618.55, Y:-33.22, Z:3.36 [[ 9.90579900e-01 1.36818231e-01 -5.67744071e-03 6.18546911e+02] [-1.36815911e-01 9.90596170e-01 7.96960069e-04 -3.32189650e+01] [ 5.73308969e-03 -1.26884055e-05 9.99983566e-01 3.35742507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.100714057 meters Centerline goodness : 0.992391 with order 1 Centerline is valid? [True, True] Translation: X:618.61, Y:-33.23, Z:3.36 [[ 9.91298635e-01 1.31509639e-01 -5.67726212e-03 6.18609167e+02] [-1.31507224e-01 9.91314891e-01 7.98230262e-04 -3.32279942e+01] [ 5.73292945e-03 -4.46835892e-05 9.99983566e-01 3.35998870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1607140570001 meters Centerline goodness : 0.992863 with order 1 Centerline is valid? [True, True] Translation: X:618.67, Y:-33.23, Z:3.36 [[ 9.92204245e-01 1.24493002e-01 -5.67704312e-03 6.18671518e+02] [-1.24490464e-01 9.92220482e-01 7.99784797e-04 -3.32344619e+01] [ 5.73244607e-03 -8.68121411e-05 9.99983566e-01 3.35920046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.220714057 meters Centerline goodness : 0.992461 with order 1 Centerline is valid? [True, True] Translation: X:618.73, Y:-33.24, Z:3.36 [[ 9.92561737e-01 1.21609917e-01 -5.67682272e-03 6.18733596e+02] [-1.21607322e-01 9.92577965e-01 8.01346144e-04 -3.32415036e+01] [ 5.73214078e-03 -1.05042310e-04 9.99983566e-01 3.35785713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2807140570001 meters Centerline goodness : 0.992152 with order 1 Centerline is valid? [True, True] Translation: X:618.79, Y:-33.25, Z:3.36 [[ 9.92660056e-01 1.20804759e-01 -5.67660013e-03 6.18794479e+02] [-1.20802142e-01 9.92676281e-01 8.02919829e-04 -3.32491732e+01] [ 5.73202284e-03 -1.11280990e-04 9.99983566e-01 3.35608473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.340714057 meters Centerline goodness : 0.991899 with order 1 Centerline is valid? [True, True] Translation: X:618.86, Y:-33.25, Z:3.35 [[ 9.92878104e-01 1.18999363e-01 -5.67642208e-03 6.18856426e+02] [-1.18996710e-01 9.92894323e-01 8.04176615e-04 -3.32534624e+01] [ 5.73178376e-03 -1.22973802e-04 9.99983566e-01 3.35277047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.400714057 meters Centerline goodness : 0.993142 with order 1 Centerline is valid? [True, True] Translation: X:618.92, Y:-33.26, Z:3.36 [[ 9.92976863e-01 1.18172461e-01 -5.67623156e-03 6.18918403e+02] [-1.18169786e-01 9.92993078e-01 8.05519158e-04 -3.32582647e+01] [ 5.73164883e-03 -1.29102820e-04 9.99983566e-01 3.35675347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.460714057 meters Centerline goodness : 0.993029 with order 1 Centerline is valid? [True, True] Translation: X:618.98, Y:-33.26, Z:3.36 [[ 9.92753860e-01 1.20031480e-01 -5.67603505e-03 6.18980341e+02] [-1.20028827e-01 9.92770079e-01 8.06901498e-04 -3.32615970e+01] [ 5.73185134e-03 -1.19766747e-04 9.99983566e-01 3.36006239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.520714057 meters Centerline goodness : 0.993956 with order 1 Centerline is valid? [True, True] Translation: X:619.04, Y:-33.26, Z:3.36 [[ 9.92198139e-01 1.24541713e-01 -5.67583780e-03 6.19043965e+02] [-1.24539127e-01 9.92214368e-01 8.08286557e-04 -3.32624772e+01] [ 5.73231321e-03 -9.51165342e-05 9.99983566e-01 3.35956120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.580714057 meters Centerline goodness : 0.993019 with order 1 Centerline is valid? [True, True] Translation: X:619.11, Y:-33.26, Z:3.36 [[ 9.91545917e-01 1.29632106e-01 -5.67561209e-03 6.19107430e+02] [-1.29629593e-01 9.91562158e-01 8.09868344e-04 -3.32644258e+01] [ 5.73270711e-03 -6.72943618e-05 9.99983566e-01 3.35929514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.640714057 meters Centerline goodness : 0.993030 with order 1 Centerline is valid? [True, True] Translation: X:619.17, Y:-33.27, Z:3.36 [[ 9.91187923e-01 1.32341570e-01 -5.67538138e-03 6.19169455e+02] [-1.32339093e-01 9.91204170e-01 8.11481881e-04 -3.32693857e+01] [ 5.73285448e-03 -5.32562139e-05 9.99983566e-01 3.35843078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.700714057 meters Centerline goodness : 0.986233 with order 1 Centerline is valid? [True, True] Translation: X:619.23, Y:-33.25, Z:3.34 [[ 9.93507082e-01 1.13628655e-01 -5.67516832e-03 6.19234822e+02] [-1.13625863e-01 9.93523277e-01 8.12969234e-04 -3.32452643e+01] [ 5.73078843e-03 -1.62844791e-04 9.99983566e-01 3.33926573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.760714057 meters Centerline goodness : 0.992984 with order 1 Centerline is valid? [True, True] Translation: X:619.29, Y:-33.27, Z:3.36 [[ 9.91339767e-01 1.31199314e-01 -5.67514844e-03 6.19292527e+02] [-1.31196809e-01 9.91356009e-01 8.13107965e-04 -3.32727282e+01] [ 5.73277172e-03 -6.15048954e-05 9.99983566e-01 3.35655315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.820714057 meters Centerline goodness : 0.990859 with order 1 Centerline is valid? [True, True] Translation: X:619.35, Y:-33.27, Z:3.36 [[ 9.91679241e-01 1.28608228e-01 -5.67512221e-03 6.19354935e+02] [-1.28605680e-01 9.91695476e-01 8.13291033e-04 -3.32734671e+01] [ 5.73258894e-03 -7.66708849e-05 9.99983566e-01 3.35904721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.880714057 meters Centerline goodness : 0.984273 with order 1 Centerline is valid? [True, True] Translation: X:619.42, Y:-33.28, Z:3.36 [[ 9.91068215e-01 1.33235081e-01 -5.67504198e-03 6.19416622e+02] [-1.33232605e-01 9.91084462e-01 8.13850463e-04 -3.32798868e+01] [ 5.73287936e-03 -5.04807016e-05 9.99983566e-01 3.35516666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.940714057 meters Centerline goodness : 0.992316 with order 1 Centerline is valid? [True, True] Translation: X:619.48, Y:-33.28, Z:3.36 [[ 9.90838875e-01 1.34930057e-01 -5.67473900e-03 6.19480217e+02] [-1.34927596e-01 9.90855125e-01 8.15957641e-04 -3.32815916e+01] [ 5.73294142e-03 -4.28036599e-05 9.99983566e-01 3.35875901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.000714057 meters Centerline goodness : 0.993214 with order 1 Centerline is valid? [True, True] Translation: X:619.54, Y:-33.29, Z:3.36 [[ 9.90583182e-01 1.36794595e-01 -5.67442706e-03 6.19542441e+02] [-1.36792152e-01 9.90599434e-01 8.18121216e-04 -3.32865366e+01] [ 5.73299879e-03 -3.42000257e-05 9.99983566e-01 3.35971288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.060714057 meters Centerline goodness : 0.992795 with order 1 Centerline is valid? [True, True] Translation: X:619.61, Y:-33.29, Z:3.36 [[ 9.90173312e-01 1.39730513e-01 -5.67421363e-03 6.19605215e+02] [-1.39728110e-01 9.90189569e-01 8.19598802e-04 -3.32903109e+01] [ 5.73307011e-03 -1.86977114e-05 9.99983566e-01 3.36085648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.120714057 meters Centerline goodness : 0.993133 with order 1 Centerline is valid? [True, True] Translation: X:619.67, Y:-33.30, Z:3.36 [[ 9.89946928e-01 1.41325462e-01 -5.67398122e-03 6.19667549e+02] [-1.41323077e-01 9.89963188e-01 8.21204603e-04 -3.32959364e+01] [ 5.73308966e-03 -1.10844894e-05 9.99983566e-01 3.36236217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.180714057 meters Centerline goodness : 0.992234 with order 1 Centerline is valid? [True, True] Translation: X:619.73, Y:-33.30, Z:3.36 [[ 9.90025303e-01 1.40775384e-01 -5.67374876e-03 6.19730553e+02] [-1.40772980e-01 9.90041560e-01 8.22807593e-04 -3.33028691e+01] [ 5.73307812e-03 -1.58898156e-05 9.99983566e-01 3.36302496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.240714057 meters Centerline goodness : 0.993524 with order 1 Centerline is valid? [True, True] Translation: X:619.79, Y:-33.31, Z:3.37 [[ 9.90661235e-01 1.36228224e-01 -5.67351449e-03 6.19792633e+02] [-1.36225737e-01 9.90677480e-01 8.24419798e-04 -3.33098784e+01] [ 5.73293228e-03 -4.38420447e-05 9.99983566e-01 3.36513154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.300714057 meters Centerline goodness : 0.992183 with order 1 Centerline is valid? [True, True] Translation: X:619.85, Y:-33.32, Z:3.37 [[ 9.91499947e-01 1.29983340e-01 -5.67328128e-03 6.19854895e+02] [-1.29980741e-01 9.91516175e-01 8.26021469e-04 -3.33187762e+01] [ 5.73251919e-03 -8.15829368e-05 9.99983566e-01 3.36646999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.360714057 meters Centerline goodness : 0.992494 with order 1 Centerline is valid? [True, True] Translation: X:619.92, Y:-33.33, Z:3.37 [[ 9.92570928e-01 1.21535052e-01 -5.67304746e-03 6.19917387e+02] [-1.21532306e-01 9.92587132e-01 8.27624260e-04 -3.33257666e+01] [ 5.73157926e-03 -1.32017240e-04 9.99983566e-01 3.36512143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.420714057 meters Centerline goodness : 0.992687 with order 1 Centerline is valid? [True, True] Translation: X:619.98, Y:-33.33, Z:3.36 [[ 9.93337484e-01 1.15101961e-01 -5.67281182e-03 6.19980270e+02] [-1.15099101e-01 9.93353668e-01 8.29236266e-04 -3.33315130e+01] [ 5.73055515e-03 -1.70775925e-04 9.99983566e-01 3.36356625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.480714057 meters Centerline goodness : 0.992547 with order 1 Centerline is valid? [True, True] Translation: X:620.04, Y:-33.34, Z:3.36 [[ 9.94222164e-01 1.07191929e-01 -5.67257732e-03 6.20042572e+02] [-1.07188930e-01 9.94238323e-01 8.30837342e-04 -3.33364655e+01] [ 5.72895282e-03 -2.17999406e-04 9.99983566e-01 3.36420912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5407140570001 meters Centerline goodness : 0.994463 with order 1 Centerline is valid? [True, True] Translation: X:620.11, Y:-33.34, Z:3.37 [[ 9.94772949e-01 1.01953934e-01 -5.67236068e-03 6.20105687e+02] [-1.01950842e-01 9.94789090e-01 8.32313761e-04 -3.33404718e+01] [ 5.72766018e-03 -2.49661267e-04 9.99983566e-01 3.36680511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.600714057 meters Centerline goodness : 0.993858 with order 1 Centerline is valid? [True, True] Translation: X:620.17, Y:-33.34, Z:3.37 [[ 9.95488314e-01 9.47145352e-02 -5.67212951e-03 6.20169563e+02] [-9.47113172e-02 9.95504430e-01 8.33886207e-04 -3.33388477e+01] [ 5.72561120e-03 -2.92909118e-04 9.99983566e-01 3.36772169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6607140570001 meters Centerline goodness : 0.995763 with order 1 Centerline is valid? [True, True] Translation: X:620.23, Y:-33.33, Z:3.37 [[ 9.95874024e-01 9.05690801e-02 -5.67189153e-03 6.20233063e+02] [-9.05657858e-02 9.95890125e-01 8.35501749e-04 -3.33339649e+01] [ 5.72425139e-03 -3.18375175e-04 9.99983566e-01 3.36910037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.720714057 meters Centerline goodness : 0.993915 with order 1 Centerline is valid? [True, True] Translation: X:620.30, Y:-33.33, Z:3.37 [[ 9.96022558e-01 8.89207279e-02 -5.67174490e-03 6.20296956e+02] [-8.89174013e-02 9.96038652e-01 8.36495974e-04 -3.33292241e+01] [ 5.72365897e-03 -3.28852043e-04 9.99983566e-01 3.37451979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7807140570001 meters Centerline goodness : 0.996270 with order 1 Centerline is valid? [True, True] Translation: X:620.36, Y:-33.32, Z:3.37 [[ 9.95996476e-01 8.92124019e-02 -5.67162706e-03 6.20360458e+02] [-8.92090756e-02 9.96012570e-01 8.37294133e-04 -3.33228583e+01] [ 5.72370887e-03 -3.27981398e-04 9.99983566e-01 3.36615778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.840714057 meters Centerline goodness : 0.996281 with order 1 Centerline is valid? [True, True] Translation: X:620.43, Y:-33.31, Z:3.36 [[ 9.96266601e-01 8.61434610e-02 -5.67137486e-03 6.20425191e+02] [-8.61400754e-02 9.96282683e-01 8.38998952e-04 -3.33147530e+01] [ 5.72256683e-03 -3.47333976e-04 9.99983566e-01 3.36365554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.900714057 meters Centerline goodness : 0.996225 with order 1 Centerline is valid? [True, True] Translation: X:620.49, Y:-33.31, Z:3.36 [[ 9.96477401e-01 8.36697499e-02 -5.67114153e-03 6.20489349e+02] [-8.36663155e-02 9.96493473e-01 8.40573209e-04 -3.33132584e+01] [ 5.72158606e-03 -3.63128690e-04 9.99983566e-01 3.36279355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.960714057 meters Centerline goodness : 0.994243 with order 1 Centerline is valid? [True, True] Translation: X:620.56, Y:-33.29, Z:3.36 [[ 9.97500190e-01 7.04358721e-02 -5.67090650e-03 6.20555047e+02] [-7.04322158e-02 9.97516212e-01 8.42155790e-04 -3.32935152e+01] [ 5.71613915e-03 -4.40636050e-04 9.99983566e-01 3.36161971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.020714057 meters Centerline goodness : 0.994954 with order 1 Centerline is valid? [True, True] Translation: X:620.62, Y:-33.30, Z:3.36 [[ 9.96613966e-01 8.20271053e-02 -5.67069400e-03 6.20617637e+02] [-8.20236273e-02 9.96630028e-01 8.43584292e-04 -3.32964489e+01] [ 5.72078070e-03 -3.75596996e-04 9.99983566e-01 3.36062369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.080714057 meters Centerline goodness : 0.992798 with order 1 Centerline is valid? [True, True] Translation: X:620.68, Y:-33.29, Z:3.37 [[ 9.96644629e-01 8.16537150e-02 -5.67047173e-03 6.20680749e+02] [-8.16502226e-02 9.96660688e-01 8.45075690e-04 -3.32856633e+01] [ 5.72053983e-03 -3.79244869e-04 9.99983566e-01 3.36821881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.140714057 meters Centerline goodness : 0.992316 with order 1 Centerline is valid? [True, True] Translation: X:620.74, Y:-33.28, Z:3.37 [[ 9.96253003e-01 8.63006493e-02 -5.67029118e-03 6.20743860e+02] [-8.62972249e-02 9.96269077e-01 8.46285469e-04 -3.32835354e+01] [ 5.72217074e-03 -3.53784047e-04 9.99983566e-01 3.37133025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.200714057 meters Centerline goodness : 0.994091 with order 1 Centerline is valid? [True, True] Translation: X:620.81, Y:-33.28, Z:3.37 [[ 9.95945951e-01 8.97747882e-02 -5.67010218e-03 6.20807456e+02] [-8.97714128e-02 9.95962035e-01 8.47549817e-04 -3.32817429e+01] [ 5.72329512e-03 -3.35100725e-04 9.99983566e-01 3.37194231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.260714057 meters Centerline goodness : 0.995552 with order 1 Centerline is valid? [True, True] Translation: X:620.87, Y:-33.28, Z:3.36 [[ 9.95069475e-01 9.90181310e-02 -5.67002642e-03 6.20871072e+02] [-9.90149021e-02 9.95085589e-01 8.48056344e-04 -3.32791186e+01] [ 5.72613454e-03 -2.82457870e-04 9.99983566e-01 3.36246476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.320714057 meters Centerline goodness : 0.996302 with order 1 Centerline is valid? [True, True] Translation: X:620.93, Y:-33.27, Z:3.36 [[ 9.94665810e-01 1.02994080e-01 -5.66978507e-03 6.20934623e+02] [-1.02990907e-01 9.94681935e-01 8.49666905e-04 -3.32724823e+01] [ 5.72714344e-03 -2.61198317e-04 9.99983566e-01 3.36388346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.380714057 meters Centerline goodness : 0.997254 with order 1 Centerline is valid? [True, True] Translation: X:621.00, Y:-33.27, Z:3.36 [[ 9.94416095e-01 1.05377830e-01 -5.66956044e-03 6.20998667e+02] [-1.05374687e-01 9.94432225e-01 8.51163124e-04 -3.32719073e+01] [ 5.72768733e-03 -2.48982154e-04 9.99983566e-01 3.36446286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.440714057 meters Centerline goodness : 0.997965 with order 1 Centerline is valid? [True, True] Translation: X:621.06, Y:-33.27, Z:3.37 [[ 9.93967308e-01 1.09530127e-01 -5.66931444e-03 6.21062182e+02] [-1.09527041e-01 9.93983451e-01 8.52798545e-04 -3.32667336e+01] [ 5.72861186e-03 -2.26710637e-04 9.99983566e-01 3.36595965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.500714057 meters Centerline goodness : 0.998214 with order 1 Centerline is valid? [True, True] Translation: X:621.13, Y:-33.27, Z:3.37 [[ 9.93468419e-01 1.13966493e-01 -5.66908715e-03 6.21126360e+02] [-1.13963472e-01 9.93484573e-01 8.54306802e-04 -3.32654833e+01] [ 5.72951298e-03 -2.02657976e-04 9.99983566e-01 3.36595510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.560714057 meters Centerline goodness : 0.998676 with order 1 Centerline is valid? [True, True] Translation: X:621.19, Y:-33.26, Z:3.37 [[ 9.93099632e-01 1.17136611e-01 -5.66884375e-03 6.21189296e+02] [-1.17133631e-01 9.93115794e-01 8.55918882e-04 -3.32634208e+01] [ 5.73007769e-03 -1.86000472e-04 9.99983566e-01 3.36606133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.620714057 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:621.25, Y:-33.27, Z:3.37 [[ 9.92873297e-01 1.19039836e-01 -5.66861843e-03 6.21252851e+02] [-1.19036879e-01 9.92889463e-01 8.57408495e-04 -3.32663592e+01] [ 5.73037728e-03 -1.76523352e-04 9.99983566e-01 3.36585127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.680714057 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:621.32, Y:-33.27, Z:3.37 [[ 9.92674422e-01 1.20687038e-01 -5.66837607e-03 6.21316197e+02] [-1.20684099e-01 9.92690592e-01 8.59007810e-04 -3.32678031e+01] [ 5.73061470e-03 -1.68632225e-04 9.99983566e-01 3.36732192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.740714057 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:621.38, Y:-33.27, Z:3.37 [[ 9.92959185e-01 1.18321299e-01 -5.66812566e-03 6.21377821e+02] [-1.18318311e-01 9.92975345e-01 8.60656932e-04 -3.32723686e+01] [ 5.73014308e-03 -1.83954149e-04 9.99983566e-01 3.36922467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.800714057 meters Centerline goodness : 0.998529 with order 1 Centerline is valid? [True, True] Translation: X:621.44, Y:-33.28, Z:3.37 [[ 9.94213956e-01 1.07268280e-01 -5.66789260e-03 6.21441475e+02] [-1.07265105e-01 9.94230081e-01 8.62189059e-04 -3.32758668e+01] [ 5.72767485e-03 -2.49233301e-04 9.99983566e-01 3.37144205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.860714057 meters Centerline goodness : 0.998783 with order 1 Centerline is valid? [True, True] Translation: X:621.50, Y:-33.28, Z:3.37 [[ 9.95698360e-01 9.24805533e-02 -5.66766010e-03 6.21504792e+02] [-9.24771299e-02 9.95714434e-01 8.63714726e-04 -3.32786849e+01] [ 5.72324778e-03 -3.35870398e-04 9.99983566e-01 3.37232314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.920714057 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:621.57, Y:-33.28, Z:3.37 [[ 9.96956414e-01 7.77546745e-02 -5.66743051e-03 6.21568524e+02] [-7.77510053e-02 9.96972433e-01 8.65218553e-04 -3.32784517e+01] [ 5.71754678e-03 -4.21936766e-04 9.99983566e-01 3.37257007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.980714057 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:621.63, Y:-33.28, Z:3.37 [[ 9.97372019e-01 7.22283744e-02 -5.66718711e-03 6.21631970e+02] [-7.22246075e-02 9.97388016e-01 8.66809922e-04 -3.32797495e+01] [ 5.71499278e-03 -4.55221598e-04 9.99983566e-01 3.37391597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0407140570001 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:621.70, Y:-33.28, Z:3.38 [[ 9.97389329e-01 7.19889700e-02 -5.66694116e-03 6.21695230e+02] [-7.19851902e-02 9.97405323e-01 8.68414923e-04 -3.32751622e+01] [ 5.71475357e-03 -4.58211940e-04 9.99983566e-01 3.37554192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.100714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.76, Y:-33.27, Z:3.38 [[ 9.97158634e-01 7.51168826e-02 -5.66671096e-03 6.21758280e+02] [-7.51131446e-02 9.97174638e-01 8.69914421e-04 -3.32744955e+01] [ 5.71604571e-03 -4.41798196e-04 9.99983566e-01 3.37625634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1607140570001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.82, Y:-33.27, Z:3.38 [[ 9.96779044e-01 7.99964275e-02 -5.66650073e-03 6.21821505e+02] [-7.99927601e-02 9.96795064e-01 8.71281719e-04 -3.32675978e+01] [ 5.71803938e-03 -4.15196326e-04 9.99983566e-01 3.37595386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.220714057 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:621.88, Y:-33.26, Z:3.38 [[ 9.96479946e-01 8.36397552e-02 -5.66647084e-03 6.21884156e+02] [-8.36361453e-02 9.96495979e-01 8.71476028e-04 -3.32602756e+01] [ 5.71950545e-03 -3.94486607e-04 9.99983566e-01 3.37748476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2807140570001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:621.95, Y:-33.25, Z:3.38 [[ 9.95904661e-01 9.02319066e-02 -5.66647084e-03 6.21946347e+02] [-9.02284029e-02 9.95920718e-01 8.71476028e-04 -3.32512566e+01] [ 5.72199065e-03 -3.56630424e-04 9.99983566e-01 3.37881831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.340714057 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:622.01, Y:-33.25, Z:3.38 [[ 9.95341586e-01 9.62445785e-02 -5.66650139e-03 6.22006794e+02] [-9.62411729e-02 9.95357663e-01 8.71277387e-04 -3.32477028e+01] [ 5.72405130e-03 -3.21867876e-04 9.99983566e-01 3.37862077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.400714057 meters Centerline goodness : 0.998593 with order 1 Centerline is valid? [True, True] Translation: X:622.07, Y:-33.24, Z:3.38 [[ 9.94556118e-01 1.04048159e-01 -5.66651674e-03 6.22067581e+02] [-1.04044881e-01 9.94572222e-01 8.71177517e-04 -3.32398549e+01] [ 5.72640456e-03 -2.76862871e-04 9.99983566e-01 3.37852150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.460714057 meters Centerline goodness : 0.997657 with order 1 Centerline is valid? [True, True] Translation: X:622.13, Y:-33.23, Z:3.38 [[ 9.94158182e-01 1.07784041e-01 -5.66657939e-03 6.22127021e+02] [-1.07780825e-01 9.94174298e-01 8.70769840e-04 -3.32336034e+01] [ 5.72742268e-03 -2.54934359e-04 9.99983566e-01 3.37777794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.520714057 meters Centerline goodness : 0.997365 with order 1 Centerline is valid? [True, True] Translation: X:622.19, Y:-33.23, Z:3.38 [[ 9.94076520e-01 1.08534611e-01 -5.66665625e-03 6.22186742e+02] [-1.08531411e-01 9.94092639e-01 8.70269351e-04 -3.32348223e+01] [ 5.72763562e-03 -2.50104131e-04 9.99983566e-01 3.37696279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.580714057 meters Centerline goodness : 0.996611 with order 1 Centerline is valid? [True, True] Translation: X:622.25, Y:-33.23, Z:3.38 [[ 9.94228170e-01 1.07136522e-01 -5.66671557e-03 6.22246410e+02] [-1.07133300e-01 9.94244286e-01 8.69882905e-04 -3.32349422e+01] [ 5.72729581e-03 -2.57768149e-04 9.99983566e-01 3.37658727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.640714057 meters Centerline goodness : 0.996861 with order 1 Centerline is valid? [True, True] Translation: X:622.31, Y:-33.24, Z:3.38 [[ 9.94255401e-01 1.06883514e-01 -5.66677510e-03 6.22305811e+02] [-1.06880290e-01 9.94271516e-01 8.69494939e-04 -3.32360510e+01] [ 5.72724775e-03 -2.58833471e-04 9.99983566e-01 3.37690695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.700714057 meters Centerline goodness : 0.996311 with order 1 Centerline is valid? [True, True] Translation: X:622.36, Y:-33.24, Z:3.38 [[ 9.94107640e-01 1.08249188e-01 -5.66683463e-03 6.22363754e+02] [-1.08245989e-01 9.94123760e-01 8.69106775e-04 -3.32403445e+01] [ 5.72761506e-03 -2.50573564e-04 9.99983566e-01 3.37778728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.760714057 meters Centerline goodness : 0.995574 with order 1 Centerline is valid? [True, True] Translation: X:622.42, Y:-33.24, Z:3.38 [[ 9.93634025e-01 1.12513599e-01 -5.66692875e-03 6.22422137e+02] [-1.12510473e-01 9.93650159e-01 8.68492664e-04 -3.32430857e+01] [ 5.72866189e-03 -2.25375026e-04 9.99983566e-01 3.37856872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.820714057 meters Centerline goodness : 0.995953 with order 1 Centerline is valid? [True, True] Translation: X:622.48, Y:-33.25, Z:3.38 [[ 9.93321831e-01 1.15237253e-01 -5.66702132e-03 6.22479026e+02] [-1.15234174e-01 9.93337975e-01 8.67888232e-04 -3.32496896e+01] [ 5.72928053e-03 -2.09057808e-04 9.99983566e-01 3.37811028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.880714057 meters Centerline goodness : 0.995480 with order 1 Centerline is valid? [True, True] Translation: X:622.54, Y:-33.26, Z:3.38 [[ 9.92498526e-01 1.22125178e-01 -5.66712812e-03 6.22535106e+02] [-1.22122216e-01 9.92514691e-01 8.67190288e-04 -3.32570440e+01] [ 5.73061368e-03 -1.68602840e-04 9.99983566e-01 3.37823615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.940714057 meters Centerline goodness : 0.995519 with order 1 Centerline is valid? [True, True] Translation: X:622.59, Y:-33.27, Z:3.38 [[ 9.91935263e-01 1.26618781e-01 -5.66723078e-03 6.22593156e+02] [-1.26615896e-01 9.91951442e-01 8.66518850e-04 -3.32666975e+01] [ 5.73133531e-03 -1.41969102e-04 9.99983566e-01 3.37966005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.000714057 meters Centerline goodness : 0.995559 with order 1 Centerline is valid? [True, True] Translation: X:622.65, Y:-33.28, Z:3.38 [[ 9.91992491e-01 1.26169647e-01 -5.66729183e-03 6.22649915e+02] [-1.26166757e-01 9.92008669e-01 8.66119356e-04 -3.32780899e+01] [ 5.73128060e-03 -1.44160066e-04 9.99983566e-01 3.37897339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.060714057 meters Centerline goodness : 0.995768 with order 1 Centerline is valid? [True, True] Translation: X:622.71, Y:-33.29, Z:3.38 [[ 9.92094061e-01 1.25368476e-01 -5.66738221e-03 6.22707315e+02] [-1.25365576e-01 9.92110238e-01 8.65527556e-04 -3.32880139e+01] [ 5.73117779e-03 -1.48190115e-04 9.99983566e-01 3.37860906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.120714057 meters Centerline goodness : 0.995743 with order 1 Centerline is valid? [True, True] Translation: X:622.76, Y:-33.30, Z:3.38 [[ 9.92347078e-01 1.23349731e-01 -5.66747226e-03 6.22764785e+02] [-1.23346802e-01 9.92363249e-01 8.64937559e-04 -3.33013554e+01] [ 5.73088100e-03 -1.59253683e-04 9.99983566e-01 3.37843052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.180714057 meters Centerline goodness : 0.996160 with order 1 Centerline is valid? [True, True] Translation: X:622.82, Y:-33.31, Z:3.38 [[ 9.92545061e-01 1.21746382e-01 -5.66753372e-03 6.22821433e+02] [-1.21743429e-01 9.92561227e-01 8.64534625e-04 -3.33131514e+01] [ 5.73062819e-03 -1.68104585e-04 9.99983566e-01 3.37950063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.240714057 meters Centerline goodness : 0.997001 with order 1 Centerline is valid? [True, True] Translation: X:622.88, Y:-33.33, Z:3.38 [[ 9.92664210e-01 1.20771037e-01 -5.66760925e-03 6.22878947e+02] [-1.20768071e-01 9.92680375e-01 8.64039195e-04 -3.33272296e+01] [ 5.73047539e-03 -1.73234549e-04 9.99983566e-01 3.38125312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.300714057 meters Centerline goodness : 0.997233 with order 1 Centerline is valid? [True, True] Translation: X:622.94, Y:-33.34, Z:3.38 [[ 9.92594673e-01 1.21341226e-01 -5.66767144e-03 6.22936012e+02] [-1.21338271e-01 9.92610839e-01 8.63631093e-04 -3.33394919e+01] [ 5.73058616e-03 -1.69530169e-04 9.99983566e-01 3.38283132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.360714057 meters Centerline goodness : 0.997685 with order 1 Centerline is valid? [True, True] Translation: X:622.99, Y:-33.35, Z:3.38 [[ 9.92381129e-01 1.23075471e-01 -5.66776569e-03 6.22992868e+02] [-1.23072548e-01 9.92397301e-01 8.63012093e-04 -3.33526636e+01] [ 5.73089099e-03 -1.58890549e-04 9.99983566e-01 3.38465788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.420714057 meters Centerline goodness : 0.997831 with order 1 Centerline is valid? [True, True] Translation: X:623.05, Y:-33.37, Z:3.39 [[ 9.91906379e-01 1.26844827e-01 -5.66784276e-03 6.23049412e+02] [-1.26841968e-01 9.91922563e-01 8.62505610e-04 -3.33667369e+01] [ 5.73146550e-03 -1.36604486e-04 9.99983566e-01 3.38633064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.480714057 meters Centerline goodness : 0.998331 with order 1 Centerline is valid? [True, True] Translation: X:623.11, Y:-33.38, Z:3.39 [[ 9.91077222e-01 1.33168373e-01 -5.66793234e-03 6.23106279e+02] [-1.33165621e-01 9.91093424e-01 8.61916586e-04 -3.33789128e+01] [ 5.73223049e-03 -9.94521668e-05 9.99983566e-01 3.38908886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5407140570001 meters Centerline goodness : 0.998294 with order 1 Centerline is valid? [True, True] Translation: X:623.16, Y:-33.39, Z:3.39 [[ 9.90419658e-01 1.37973816e-01 -5.66802391e-03 6.23163057e+02] [-1.37971145e-01 9.90435874e-01 8.61313997e-04 -3.33903382e+01] [ 5.73265299e-03 -7.10385637e-05 9.99983566e-01 3.39035979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.600714057 meters Centerline goodness : 0.998736 with order 1 Centerline is valid? [True, True] Translation: X:623.22, Y:-33.40, Z:3.39 [[ 9.89262720e-01 1.46038157e-01 -5.66811621e-03 6.23220612e+02] [-1.46035622e-01 9.89278958e-01 8.60706146e-04 -3.34038921e+01] [ 5.73304403e-03 -2.37176257e-05 9.99983566e-01 3.38988430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6607140570001 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:623.28, Y:-33.42, Z:3.39 [[ 9.88659443e-01 1.50067907e-01 -5.66817658e-03 6.23278139e+02] [-1.50065441e-01 9.88675692e-01 8.60308402e-04 -3.34171386e+01] [ 5.73309308e-03 4.53898053e-08 9.99983566e-01 3.38906977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.720714057 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:623.33, Y:-33.43, Z:3.39 [[ 9.87872759e-01 1.55162117e-01 -5.66823612e-03 6.23334189e+02] [-1.55159737e-01 9.87889020e-01 8.59915913e-04 -3.34340391e+01] [ 5.73301460e-03 2.99945181e-05 9.99983566e-01 3.38839805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7807140570001 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:623.39, Y:-33.45, Z:3.39 [[ 9.87160976e-01 1.59627933e-01 -5.66830926e-03 6.23390494e+02] [-1.59625629e-01 9.87177248e-01 8.59433553e-04 -3.34526323e+01] [ 5.73281554e-03 5.64081667e-05 9.99983566e-01 3.38920086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.840714057 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:623.45, Y:-33.47, Z:3.39 [[ 9.86776620e-01 1.61986951e-01 -5.66837030e-03 6.23447473e+02] [-1.61984688e-01 9.86792898e-01 8.59030729e-04 -3.34686476e+01] [ 5.73265933e-03 7.05177584e-05 9.99983566e-01 3.38962537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.900714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.50, Y:-33.49, Z:3.39 [[ 9.86219156e-01 1.65347043e-01 -5.66843177e-03 6.23503257e+02] [-1.65344838e-01 9.86235442e-01 8.58624936e-04 -3.34899676e+01] [ 5.73237941e-03 9.04535736e-05 9.99983566e-01 3.39013378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.960714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.56, Y:-33.51, Z:3.39 [[ 9.85143974e-01 1.71636882e-01 -5.66849349e-03 6.23559788e+02] [-1.71634784e-01 9.85160273e-01 8.58217295e-04 -3.35112292e+01] [ 5.73167634e-03 1.27443059e-04 9.99983566e-01 3.39242413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.020714057 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:623.62, Y:-33.54, Z:3.40 [[ 9.84270738e-01 1.76575714e-01 -5.66852384e-03 6.23617821e+02] [-1.76573698e-01 9.84287048e-01 8.58016786e-04 -3.35358760e+01] [ 5.73095952e-03 1.56391403e-04 9.99983566e-01 3.40227400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.080714057 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:623.68, Y:-33.56, Z:3.39 [[ 9.84843101e-01 1.73354940e-01 -5.66849003e-03 6.23676148e+02] [-1.73352870e-01 9.84859404e-01 8.58240102e-04 -3.35568560e+01] [ 5.73144587e-03 1.37417174e-04 9.99983566e-01 3.39080968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.140714057 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:623.73, Y:-33.58, Z:3.39 [[ 9.85405061e-01 1.70131526e-01 -5.66837514e-03 6.23734710e+02] [-1.70129398e-01 9.85421357e-01 8.58998254e-04 -3.35844638e+01] [ 5.73188060e-03 1.17896023e-04 9.99983566e-01 3.39073573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.200714057 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:623.80, Y:-33.61, Z:3.39 [[ 9.86093892e-01 1.66092467e-01 -5.66814085e-03 6.23795080e+02] [-1.66090264e-01 9.86110178e-01 8.60541442e-04 -3.36062454e+01] [ 5.73234083e-03 9.28483494e-05 9.99983566e-01 3.39056576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.260714057 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:623.85, Y:-33.63, Z:3.39 [[ 9.87122812e-01 1.59863785e-01 -5.66789412e-03 6.23854822e+02] [-1.59861470e-01 9.87139082e-01 8.62163457e-04 -3.36335689e+01] [ 5.73282851e-03 5.50166698e-05 9.99983566e-01 3.39204101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.320714057 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:623.91, Y:-33.66, Z:3.39 [[ 9.87773124e-01 1.55795163e-01 -5.66764238e-03 6.23914221e+02] [-1.55792771e-01 9.87789384e-01 8.63815154e-04 -3.36587120e+01] [ 5.73301519e-03 2.97243165e-05 9.99983566e-01 3.39134610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.380714057 meters Centerline goodness : 0.998779 with order 1 Centerline is valid? [True, True] Translation: X:623.97, Y:-33.68, Z:3.39 [[ 9.88122045e-01 1.53566616e-01 -5.66739375e-03 6.23974908e+02] [-1.53564178e-01 9.88138297e-01 8.65443293e-04 -3.36784627e+01] [ 5.73307201e-03 1.51450669e-05 9.99983566e-01 3.39078638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.440714057 meters Centerline goodness : 0.998421 with order 1 Centerline is valid? [True, True] Translation: X:624.03, Y:-33.70, Z:3.39 [[ 9.88730186e-01 1.49601146e-01 -5.66714316e-03 6.24034700e+02] [-1.49598634e-01 9.88746427e-01 8.67081169e-04 -3.37000418e+01] [ 5.73308388e-03 -9.51245382e-06 9.99983566e-01 3.39065202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.500714057 meters Centerline goodness : 0.998588 with order 1 Centerline is valid? [True, True] Translation: X:624.10, Y:-33.72, Z:3.39 [[ 9.89229601e-01 1.46262378e-01 -5.66691181e-03 6.24096115e+02] [-1.46259802e-01 9.89245832e-01 8.68590536e-04 -3.37169599e+01] [ 5.73301100e-03 -3.03940704e-05 9.99983566e-01 3.39111931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.560714057 meters Centerline goodness : 0.997872 with order 1 Centerline is valid? [True, True] Translation: X:624.16, Y:-33.74, Z:3.39 [[ 9.90090932e-01 1.40313349e-01 -5.66666767e-03 6.24156755e+02] [-1.40310667e-01 9.90107145e-01 8.70180408e-04 -3.37365754e+01] [ 5.73270607e-03 -6.64638120e-05 9.99983566e-01 3.39189171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.620714057 meters Centerline goodness : 0.998062 with order 1 Centerline is valid? [True, True] Translation: X:624.22, Y:-33.75, Z:3.39 [[ 9.90899255e-01 1.34486276e-01 -5.66642009e-03 6.24217420e+02] [-1.34483489e-01 9.90915451e-01 8.71789614e-04 -3.37526820e+01] [ 5.73218695e-03 -1.01815735e-04 9.99983566e-01 3.39410705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.680714057 meters Centerline goodness : 0.997936 with order 1 Centerline is valid? [True, True] Translation: X:624.28, Y:-33.77, Z:3.39 [[ 9.90945541e-01 1.34144806e-01 -5.66619147e-03 6.24278761e+02] [-1.34142004e-01 9.90961735e-01 8.73272980e-04 -3.37655021e+01] [ 5.73212396e-03 -1.05291685e-04 9.99983566e-01 3.39286411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.740714057 meters Centerline goodness : 0.998147 with order 1 Centerline is valid? [True, True] Translation: X:624.34, Y:-33.78, Z:3.39 [[ 9.90505310e-01 1.37357666e-01 -5.66594921e-03 6.24340364e+02] [-1.37354909e-01 9.90521511e-01 8.74842017e-04 -3.37762631e+01] [ 5.73241083e-03 -8.82897269e-05 9.99983566e-01 3.39465708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.800714057 meters Centerline goodness : 0.997872 with order 1 Centerline is valid? [True, True] Translation: X:624.40, Y:-33.79, Z:3.40 [[ 9.89677616e-01 1.43199565e-01 -5.66569798e-03 6.24401189e+02] [-1.43196894e-01 9.89693832e-01 8.76466029e-04 -3.37855028e+01] [ 5.73281590e-03 -5.61084587e-05 9.99983566e-01 3.39536481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.860714057 meters Centerline goodness : 0.998125 with order 1 Centerline is valid? [True, True] Translation: X:624.46, Y:-33.80, Z:3.40 [[ 9.89570420e-01 1.43938481e-01 -5.66546582e-03 6.24463916e+02] [-1.43935813e-01 9.89586636e-01 8.77964138e-04 -3.37951009e+01] [ 5.73284209e-03 -5.33439122e-05 9.99983566e-01 3.39548090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.920714057 meters Centerline goodness : 0.997765 with order 1 Centerline is valid? [True, True] Translation: X:624.53, Y:-33.81, Z:3.40 [[ 9.89954737e-01 1.41271103e-01 -5.66521398e-03 6.24526352e+02] [-1.41268383e-01 9.89970944e-01 8.79586198e-04 -3.38050276e+01] [ 5.73265734e-03 -7.04349071e-05 9.99983566e-01 3.39518040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.980714057 meters Centerline goodness : 0.998141 with order 1 Centerline is valid? [True, True] Translation: X:624.59, Y:-33.81, Z:3.39 [[ 9.90462336e-01 1.37667240e-01 -5.66496145e-03 6.24588297e+02] [-1.37664451e-01 9.90478532e-01 8.81209592e-04 -3.38145464e+01] [ 5.73233639e-03 -9.29411060e-05 9.99983566e-01 3.39449706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0407140570001 meters Centerline goodness : 0.997995 with order 1 Centerline is valid? [True, True] Translation: X:624.65, Y:-33.82, Z:3.40 [[ 9.91605751e-01 1.29174088e-01 -5.66470965e-03 6.24649948e+02] [-1.29171151e-01 9.91621921e-01 8.82825286e-04 -3.38247191e+01] [ 5.73128842e-03 -1.43697563e-04 9.99983566e-01 3.39582243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.100714057 meters Centerline goodness : 0.997890 with order 1 Centerline is valid? [True, True] Translation: X:624.71, Y:-33.84, Z:3.40 [[ 9.92258071e-01 1.24063834e-01 -5.66445537e-03 6.24712442e+02] [-1.24060805e-01 9.92274223e-01 8.84453808e-04 -3.38350288e+01] [ 5.73042178e-03 -1.74869538e-04 9.99983566e-01 3.39783927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1607140570001 meters Centerline goodness : 0.998375 with order 1 Centerline is valid? [True, True] Translation: X:624.77, Y:-33.84, Z:3.40 [[ 9.92702278e-01 1.20457897e-01 -5.66419828e-03 6.24774899e+02] [-1.20454799e-01 9.92718417e-01 8.86097222e-04 -3.38441359e+01] [ 5.72969136e-03 -1.97350864e-04 9.99983566e-01 3.39844395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.220714057 meters Centerline goodness : 0.998228 with order 1 Centerline is valid? [True, True] Translation: X:624.84, Y:-33.85, Z:3.40 [[ 9.92393454e-01 1.22976223e-01 -5.66394445e-03 6.24837694e+02] [-1.22973158e-01 9.92409600e-01 8.87716704e-04 -3.38518021e+01] [ 5.73012090e-03 -1.84451113e-04 9.99983566e-01 3.39762975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2807140570001 meters Centerline goodness : 0.997997 with order 1 Centerline is valid? [True, True] Translation: X:624.90, Y:-33.86, Z:3.40 [[ 9.91012894e-01 1.33646425e-01 -5.66368966e-03 6.24900632e+02] [-1.33643524e-01 9.91029070e-01 8.89339327e-04 -3.38567283e+01] [ 5.73173812e-03 -1.24431296e-04 9.99983566e-01 3.39800072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.340714057 meters Centerline goodness : 0.998631 with order 1 Centerline is valid? [True, True] Translation: X:624.96, Y:-33.86, Z:3.40 [[ 9.89192412e-01 1.46513811e-01 -5.66343658e-03 6.24962075e+02] [-1.46511111e-01 9.89208623e-01 8.90948085e-04 -3.38628733e+01] [ 5.73285650e-03 -5.15627002e-05 9.99983566e-01 3.40090231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.400714057 meters Centerline goodness : 0.998571 with order 1 Centerline is valid? [True, True] Translation: X:625.02, Y:-33.87, Z:3.40 [[ 9.88240455e-01 1.52802915e-01 -5.66320201e-03 6.25024719e+02] [-1.52800310e-01 9.88256682e-01 8.92436623e-04 -3.38713148e+01] [ 5.73306414e-03 -1.66029540e-05 9.99983566e-01 3.40223847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.460714057 meters Centerline goodness : 0.998088 with order 1 Centerline is valid? [True, True] Translation: X:625.09, Y:-33.88, Z:3.40 [[ 9.87509642e-01 1.57456778e-01 -5.66295351e-03 6.25086483e+02] [-1.57454241e-01 9.87525880e-01 8.94010693e-04 -3.38823470e+01] [ 5.73308119e-03 8.81186493e-06 9.99983566e-01 3.40255634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.520714057 meters Centerline goodness : 0.998235 with order 1 Centerline is valid? [True, True] Translation: X:625.15, Y:-33.90, Z:3.40 [[ 9.87152900e-01 1.59678068e-01 -5.66269714e-03 6.25148303e+02] [-1.59675557e-01 9.87169142e-01 8.95631626e-04 -3.38955865e+01] [ 5.73305260e-03 2.00689627e-05 9.99983566e-01 3.40200284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.580714057 meters Centerline goodness : 0.998108 with order 1 Centerline is valid? [True, True] Translation: X:625.21, Y:-33.91, Z:3.40 [[ 9.86813546e-01 1.61762057e-01 -5.66244135e-03 6.25209021e+02] [-1.61759571e-01 9.86829791e-01 8.97245867e-04 -3.39076433e+01] [ 5.73300615e-03 3.05397083e-05 9.99983566e-01 3.40108838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.640714057 meters Centerline goodness : 0.998025 with order 1 Centerline is valid? [True, True] Translation: X:625.27, Y:-33.92, Z:3.40 [[ 9.86355052e-01 1.64534649e-01 -5.66220486e-03 6.25270596e+02] [-1.64532200e-01 9.86371303e-01 8.98735790e-04 -3.39235579e+01] [ 5.73290956e-03 4.51424385e-05 9.99983566e-01 3.40211465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.700714057 meters Centerline goodness : 0.997748 with order 1 Centerline is valid? [True, True] Translation: X:625.33, Y:-33.94, Z:3.40 [[ 9.86269134e-01 1.65048894e-01 -5.66195109e-03 6.25330986e+02] [-1.65046444e-01 9.86285385e-01 9.00331716e-04 -3.39425141e+01] [ 5.73289836e-03 4.65155135e-05 9.99983566e-01 3.40336285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.760714057 meters Centerline goodness : 0.997601 with order 1 Centerline is valid? [True, True] Translation: X:625.39, Y:-33.96, Z:3.40 [[ 9.86715040e-01 1.62361863e-01 -5.66170006e-03 6.25391173e+02] [-1.62359361e-01 9.86731283e-01 9.01907528e-04 -3.39616271e+01] [ 5.73301195e-03 2.93042796e-05 9.99983566e-01 3.40279354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.820714057 meters Centerline goodness : 0.997286 with order 1 Centerline is valid? [True, True] Translation: X:625.45, Y:-33.98, Z:3.40 [[ 9.87025948e-01 1.60460977e-01 -5.66146770e-03 6.25452516e+02] [-1.60458435e-01 9.87042185e-01 9.03363738e-04 -3.39786967e+01] [ 5.73306208e-03 1.67867972e-05 9.99983566e-01 3.40200660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.880714057 meters Centerline goodness : 0.997017 with order 1 Centerline is valid? [True, True] Translation: X:625.51, Y:-34.00, Z:3.40 [[ 9.87398755e-01 1.58150719e-01 -5.66121076e-03 6.25512522e+02] [-1.58148130e-01 9.87414984e-01 9.04971065e-04 -3.39992392e+01] [ 5.73308616e-03 1.74259109e-06 9.99983566e-01 3.40225933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.940714057 meters Centerline goodness : 0.996387 with order 1 Centerline is valid? [True, True] Translation: X:625.57, Y:-34.02, Z:3.40 [[ 9.87721762e-01 1.56120705e-01 -5.66094982e-03 6.25572934e+02] [-1.56118073e-01 9.87737984e-01 9.06600406e-04 -3.40190413e+01] [ 5.73307426e-03 -1.16923734e-05 9.99983566e-01 3.40371251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.000714057 meters Centerline goodness : 0.996550 with order 1 Centerline is valid? [True, True] Translation: X:625.63, Y:-34.03, Z:3.40 [[ 9.87946730e-01 1.54690706e-01 -5.66069190e-03 6.25634267e+02] [-1.54688041e-01 9.87962947e-01 9.08207985e-04 -3.40338304e+01] [ 5.73304519e-03 -2.16197669e-05 9.99983566e-01 3.40438889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.060714057 meters Centerline goodness : 0.996912 with order 1 Centerline is valid? [True, True] Translation: X:625.70, Y:-34.05, Z:3.40 [[ 9.87932431e-01 1.54782011e-01 -5.66043658e-03 6.25695338e+02] [-1.54779339e-01 9.87948647e-01 9.09796499e-04 -3.40506489e+01] [ 5.73304079e-03 -2.26988342e-05 9.99983566e-01 3.40409626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.120714057 meters Centerline goodness : 0.996535 with order 1 Centerline is valid? [True, True] Translation: X:625.76, Y:-34.07, Z:3.40 [[ 9.87606544e-01 1.56847938e-01 -5.66018505e-03 6.25756670e+02] [-1.56845291e-01 9.87622764e-01 9.11358673e-04 -3.40663514e+01] [ 5.73307234e-03 -1.22904199e-05 9.99983566e-01 3.40154402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.180714057 meters Centerline goodness : 0.996821 with order 1 Centerline is valid? [True, True] Translation: X:625.82, Y:-34.08, Z:3.40 [[ 9.87491368e-01 1.57571454e-01 -5.65992365e-03 6.25818632e+02] [-1.57568810e-01 9.87507588e-01 9.12979218e-04 -3.40795107e+01] [ 5.73307702e-03 -9.73166389e-06 9.99983566e-01 3.40070211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.240714057 meters Centerline goodness : 0.991121 with order 1 Centerline is valid? [True, True] Translation: X:625.88, Y:-34.10, Z:3.40 [[ 9.87880494e-01 1.55113179e-01 -5.65965945e-03 6.25879685e+02] [-1.55110484e-01 9.87896706e-01 9.14614105e-04 -3.40961593e+01] [ 5.73302763e-03 -2.56569159e-05 9.99983566e-01 3.40256949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.300714057 meters Centerline goodness : 0.996650 with order 1 Centerline is valid? [True, True] Translation: X:625.94, Y:-34.11, Z:3.41 [[ 9.88862264e-01 1.48725896e-01 -5.65950246e-03 6.25940570e+02] [-1.48723091e-01 9.88878458e-01 9.15584470e-04 -3.41114049e+01] [ 5.73273119e-03 -6.36882320e-05 9.99983566e-01 3.41381862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.360714057 meters Centerline goodness : 0.996781 with order 1 Centerline is valid? [True, True] Translation: X:626.00, Y:-34.12, Z:3.41 [[ 9.89637914e-01 1.43473941e-01 -5.65932286e-03 6.26000258e+02] [-1.43471044e-01 9.89654091e-01 9.16693307e-04 -3.41220032e+01] [ 5.73229362e-03 -9.52454929e-05 9.99983566e-01 3.40947957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.420714057 meters Centerline goodness : 0.997013 with order 1 Centerline is valid? [True, True] Translation: X:626.06, Y:-34.13, Z:3.41 [[ 9.89491876e-01 1.44477689e-01 -5.65912099e-03 6.26062372e+02] [-1.44474802e-01 9.89508054e-01 9.17937842e-04 -3.41329977e+01] [ 5.73236733e-03 -9.06916547e-05 9.99983566e-01 3.40948044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.480714057 meters Centerline goodness : 0.996747 with order 1 Centerline is valid? [True, True] Translation: X:626.12, Y:-34.14, Z:3.41 [[ 9.88697945e-01 1.49814387e-01 -5.65885790e-03 6.26124978e+02] [-1.49811578e-01 9.88714137e-01 9.19556865e-04 -3.41425801e+01] [ 5.73275565e-03 -6.14015527e-05 9.99983566e-01 3.40880410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5407140570001 meters Centerline goodness : 0.991375 with order 1 Centerline is valid? [True, True] Translation: X:626.19, Y:-34.15, Z:3.41 [[ 9.87481815e-01 1.57631360e-01 -5.65859694e-03 6.26186378e+02] [-1.57628670e-01 9.87498027e-01 9.21159900e-04 -3.41517493e+01] [ 5.73305700e-03 -1.76715410e-05 9.99983566e-01 3.40647353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.600714057 meters Centerline goodness : 0.996428 with order 1 Centerline is valid? [True, True] Translation: X:626.25, Y:-34.15, Z:3.40 [[ 9.88061580e-01 1.53955507e-01 -5.65824343e-03 6.26249730e+02] [-1.53952744e-01 9.88077780e-01 9.23326249e-04 -3.41498942e+01] [ 5.73293577e-03 -4.12010935e-05 9.99983566e-01 3.40167302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6607140570001 meters Centerline goodness : 0.996431 with order 1 Centerline is valid? [True, True] Translation: X:626.31, Y:-34.17, Z:3.41 [[ 9.85380206e-01 1.70275771e-01 -5.65788085e-03 6.26307249e+02] [-1.70273263e-01 9.85396448e-01 9.25542715e-04 -3.41731979e+01] [ 5.73285319e-03 5.13743625e-05 9.99983566e-01 3.40771271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.720714057 meters Centerline goodness : 0.995841 with order 1 Centerline is valid? [True, True] Translation: X:626.37, Y:-34.17, Z:3.40 [[ 9.87007827e-01 1.60572538e-01 -5.65775958e-03 6.26369837e+02] [-1.60569867e-01 9.87024042e-01 9.26283407e-04 -3.41733573e+01] [ 5.73308041e-03 -5.78326992e-06 9.99983566e-01 3.39947519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7807140570001 meters Centerline goodness : 0.996555 with order 1 Centerline is valid? [True, True] Translation: X:626.43, Y:-34.20, Z:3.41 [[ 9.85404837e-01 1.70133180e-01 -5.65752605e-03 6.26427787e+02] [-1.70130657e-01 9.85421077e-01 9.27707618e-04 -3.42011461e+01] [ 5.73287926e-03 4.83510490e-05 9.99983566e-01 3.40926321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.840714057 meters Centerline goodness : 0.996345 with order 1 Centerline is valid? [True, True] Translation: X:626.49, Y:-34.21, Z:3.41 [[ 9.85494447e-01 1.69613357e-01 -5.65729183e-03 6.26488951e+02] [-1.69610818e-01 9.85510684e-01 9.29133729e-04 -3.42131505e+01] [ 5.73291503e-03 4.38817614e-05 9.99983566e-01 3.40981091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.900714057 meters Centerline goodness : 0.995713 with order 1 Centerline is valid? [True, True] Translation: X:626.55, Y:-34.21, Z:3.40 [[ 9.87598140e-01 1.56900964e-01 -5.65704100e-03 6.26552086e+02] [-1.56898207e-01 9.87614341e-01 9.30658357e-04 -3.42141479e+01] [ 5.73299602e-03 -3.15368741e-05 9.99983566e-01 3.40392463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.960714057 meters Centerline goodness : 0.996535 with order 1 Centerline is valid? [True, True] Translation: X:626.61, Y:-34.24, Z:3.41 [[ 9.86728378e-01 1.62280957e-01 -5.65679082e-03 6.26609341e+02] [-1.62278279e-01 9.86744593e-01 9.32176583e-04 -3.42418677e+01] [ 5.73308226e-03 -1.83080724e-06 9.99983566e-01 3.41351527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.020714057 meters Centerline goodness : 0.996358 with order 1 Centerline is valid? [True, True] Translation: X:626.67, Y:-34.26, Z:3.42 [[ 9.88218378e-01 1.52945869e-01 -5.65666159e-03 6.26669364e+02] [-1.52943034e-01 9.88234566e-01 9.32960099e-04 -3.42584375e+01] [ 5.73280091e-03 -5.68213278e-05 9.99983566e-01 3.41517257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.080714057 meters Centerline goodness : 0.996734 with order 1 Centerline is valid? [True, True] Translation: X:626.73, Y:-34.27, Z:3.41 [[ 9.89476230e-01 1.44584903e-01 -5.65642213e-03 6.26731002e+02] [-1.44581923e-01 9.89492392e-01 9.34409646e-04 -3.42729469e+01] [ 5.73208820e-03 -1.06759742e-04 9.99983566e-01 3.41433643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.140714057 meters Centerline goodness : 0.996734 with order 1 Centerline is valid? [True, True] Translation: X:626.79, Y:-34.29, Z:3.42 [[ 9.89872465e-01 1.41846786e-01 -5.65615323e-03 6.26791863e+02] [-1.41843752e-01 9.89888617e-01 9.36034555e-04 -3.42859318e+01] [ 5.73173519e-03 -1.24264835e-04 9.99983566e-01 3.41527523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.200714057 meters Centerline goodness : 0.996772 with order 1 Centerline is valid? [True, True] Translation: X:626.85, Y:-34.30, Z:3.42 [[ 9.89838259e-01 1.42085300e-01 -5.65590493e-03 6.26853963e+02] [-1.42082261e-01 9.89854410e-01 9.37532506e-04 -3.42974452e+01] [ 5.73173202e-03 -1.24401784e-04 9.99983566e-01 3.41752537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.260714057 meters Centerline goodness : 0.996670 with order 1 Centerline is valid? [True, True] Translation: X:626.92, Y:-34.31, Z:3.42 [[ 9.89174351e-01 1.46636005e-01 -5.65564173e-03 6.26915895e+02] [-1.46633031e-01 9.89190514e-01 9.39117551e-04 -3.43065197e+01] [ 5.73221559e-03 -9.96471031e-05 9.99983566e-01 3.41776844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.320714057 meters Centerline goodness : 0.996482 with order 1 Centerline is valid? [True, True] Translation: X:626.98, Y:-34.31, Z:3.42 [[ 9.88340920e-01 1.52152039e-01 -5.65538038e-03 6.26978387e+02] [-1.52149147e-01 9.88357098e-01 9.40688751e-04 -3.43140957e+01] [ 5.73266305e-03 -6.92598856e-05 9.99983566e-01 3.41845167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.380714057 meters Centerline goodness : 0.996693 with order 1 Centerline is valid? [True, True] Translation: X:627.04, Y:-34.32, Z:3.42 [[ 9.88043806e-01 1.54069650e-01 -5.65510646e-03 6.27039480e+02] [-1.54066780e-01 9.88059988e-01 9.42332639e-04 -3.43230049e+01] [ 5.73276928e-03 -5.98018860e-05 9.99983566e-01 3.41868957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.440714057 meters Centerline goodness : 0.996499 with order 1 Centerline is valid? [True, True] Translation: X:627.10, Y:-34.33, Z:3.42 [[ 9.87838714e-01 1.55379209e-01 -5.65485294e-03 6.27101825e+02] [-1.55376352e-01 9.87854897e-01 9.43851516e-04 -3.43303939e+01] [ 5.73282907e-03 -5.37426470e-05 9.99983566e-01 3.41919188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.500714057 meters Centerline goodness : 0.996801 with order 1 Centerline is valid? [True, True] Translation: X:627.16, Y:-34.34, Z:3.42 [[ 9.87807682e-01 1.55576379e-01 -5.65458733e-03 6.27164523e+02] [-1.55573516e-01 9.87823864e-01 9.45440128e-04 -3.43375606e+01] [ 5.73282446e-03 -5.42089884e-05 9.99983566e-01 3.41905762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.560714057 meters Centerline goodness : 0.996296 with order 1 Centerline is valid? [True, True] Translation: X:627.23, Y:-34.35, Z:3.42 [[ 9.88175950e-01 1.53219844e-01 -5.65432055e-03 6.27227354e+02] [-1.53216933e-01 9.88192124e-01 9.47032938e-04 -3.43456503e+01] [ 5.73265927e-03 -6.94975212e-05 9.99983566e-01 3.41801215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.620714057 meters Centerline goodness : 0.996442 with order 1 Centerline is valid? [True, True] Translation: X:627.29, Y:-34.36, Z:3.42 [[ 9.88599809e-01 1.50460789e-01 -5.65404795e-03 6.27289553e+02] [-1.50457823e-01 9.88615974e-01 9.48657651e-04 -3.43551521e+01] [ 5.73241790e-03 -8.71470244e-05 9.99983566e-01 3.41790914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.680714057 meters Centerline goodness : 0.994694 with order 1 Centerline is valid? [True, True] Translation: X:627.35, Y:-34.35, Z:3.42 [[ 9.90488239e-01 1.37481208e-01 -5.65377451e-03 6.27354071e+02] [-1.37478021e-01 9.90504362e-01 9.50284517e-04 -3.43527239e+01] [ 5.73073457e-03 -1.63975905e-04 9.99983566e-01 3.42181316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.740714057 meters Centerline goodness : 0.995279 with order 1 Centerline is valid? [True, True] Translation: X:627.42, Y:-34.36, Z:3.42 [[ 9.90499944e-01 1.37396869e-01 -5.65349356e-03 6.27415333e+02] [-1.37393672e-01 9.90516064e-01 9.51952986e-04 -3.43608101e+01] [ 5.73067155e-03 -1.66155141e-04 9.99983566e-01 3.42462368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.800714057 meters Centerline goodness : 0.996695 with order 1 Centerline is valid? [True, True] Translation: X:627.48, Y:-34.38, Z:3.42 [[ 9.88169038e-01 1.53264458e-01 -5.65324106e-03 6.27475449e+02] [-1.53261511e-01 9.88185205e-01 9.53450161e-04 -3.43764480e+01] [ 5.73257920e-03 -7.57456630e-05 9.99983566e-01 3.41967058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.860714057 meters Centerline goodness : 0.996325 with order 1 Centerline is valid? [True, True] Translation: X:627.54, Y:-34.38, Z:3.42 [[ 9.87242980e-01 1.59120526e-01 -5.65297261e-03 6.27538442e+02] [-1.59117666e-01 9.87259164e-01 9.55039125e-04 -3.43835024e+01] [ 5.73291534e-03 -4.33678656e-05 9.99983566e-01 3.42026585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.920714057 meters Centerline goodness : 0.996244 with order 1 Centerline is valid? [True, True] Translation: X:627.60, Y:-34.39, Z:3.42 [[ 9.86075157e-01 1.66204190e-01 -5.65269249e-03 6.27600151e+02] [-1.66201436e-01 9.86091358e-01 9.56694219e-04 -3.43899406e+01] [ 5.73307781e-03 -3.88678920e-06 9.99983566e-01 3.42072996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.980714057 meters Centerline goodness : 0.996243 with order 1 Centerline is valid? [True, True] Translation: X:627.66, Y:-34.40, Z:3.42 [[ 9.85685677e-01 1.68498650e-01 -5.65251951e-03 6.27662481e+02] [-1.68495928e-01 9.85701884e-01 9.57715153e-04 -3.43994465e+01] [ 5.73307285e-03 8.42041347e-06 9.99983566e-01 3.42258493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0407140570001 meters Centerline goodness : 0.991005 with order 1 Centerline is valid? [True, True] Translation: X:627.72, Y:-34.41, Z:3.42 [[ 9.86140645e-01 1.65815198e-01 -5.65223765e-03 6.27723470e+02] [-1.65812423e-01 9.86156843e-01 9.59375802e-04 -3.44100210e+01] [ 5.73307192e-03 -8.86825111e-06 9.99983566e-01 3.42156360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.100714057 meters Centerline goodness : 0.996127 with order 1 Centerline is valid? [True, True] Translation: X:627.79, Y:-34.42, Z:3.42 [[ 9.87378933e-01 1.58274757e-01 -5.65185317e-03 6.27785906e+02] [-1.58271845e-01 9.87395108e-01 9.61635473e-04 -3.44190562e+01] [ 5.73281479e-03 -5.49693778e-05 9.99983566e-01 3.42284912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1607140570001 meters Centerline goodness : 0.995766 with order 1 Centerline is valid? [True, True] Translation: X:627.85, Y:-34.43, Z:3.42 [[ 9.89055415e-01 1.47436250e-01 -5.65145232e-03 6.27847591e+02] [-1.47433147e-01 9.89071553e-01 9.63985530e-04 -3.44288262e+01] [ 5.73181713e-03 -1.20223706e-04 9.99983566e-01 3.42187337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.220714057 meters Centerline goodness : 0.995855 with order 1 Centerline is valid? [True, True] Translation: X:627.91, Y:-34.44, Z:3.42 [[ 9.89907044e-01 1.41605469e-01 -5.65117561e-03 6.27910108e+02] [-1.41602263e-01 9.89923162e-01 9.65604973e-04 -3.44380166e+01] [ 5.73096457e-03 -1.55639912e-04 9.99983566e-01 3.42111299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2807140570001 meters Centerline goodness : 0.996156 with order 1 Centerline is valid? [True, True] Translation: X:627.97, Y:-34.44, Z:3.42 [[ 9.90819323e-01 1.35074560e-01 -5.65090167e-03 6.27970843e+02] [-1.35071238e-01 9.90835418e-01 9.67205431e-04 -3.44440160e+01] [ 5.72975837e-03 -1.95051544e-04 9.99983566e-01 3.42051589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.340714057 meters Centerline goodness : 0.996046 with order 1 Centerline is valid? [True, True] Translation: X:628.03, Y:-34.45, Z:3.42 [[ 9.91154821e-01 1.32590311e-01 -5.65068318e-03 6.28033450e+02] [-1.32586942e-01 9.91170906e-01 9.68480253e-04 -3.44508790e+01] [ 5.72920386e-03 -2.10707071e-04 9.99983566e-01 3.42071817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.400714057 meters Centerline goodness : 0.994495 with order 1 Centerline is valid? [True, True] Translation: X:628.10, Y:-34.45, Z:3.43 [[ 9.92814226e-01 1.19532361e-01 -5.65041632e-03 6.28097321e+02] [-1.19528771e-01 9.92830263e-01 9.70034711e-04 -3.44456849e+01] [ 5.72585486e-03 -2.87676943e-04 9.99983566e-01 3.43120185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.460714057 meters Centerline goodness : 0.995863 with order 1 Centerline is valid? [True, True] Translation: X:628.16, Y:-34.46, Z:3.42 [[ 9.92493453e-01 1.22167184e-01 -5.65015594e-03 6.28157424e+02] [-1.22163628e-01 9.92509498e-01 9.71548939e-04 -3.44587112e+01] [ 5.72652484e-03 -2.74012415e-04 9.99983566e-01 3.42409839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.520714057 meters Centerline goodness : 0.995679 with order 1 Centerline is valid? [True, True] Translation: X:628.22, Y:-34.46, Z:3.42 [[ 9.93185467e-01 1.16407498e-01 -5.64992064e-03 6.28219660e+02] [-1.16403841e-01 9.93201490e-01 9.72915427e-04 -3.44597959e+01] [ 5.72476424e-03 -3.08612998e-04 9.99983566e-01 3.42465905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.580714057 meters Centerline goodness : 0.995390 with order 1 Centerline is valid? [True, True] Translation: X:628.28, Y:-34.46, Z:3.43 [[ 9.93494856e-01 1.13736770e-01 -5.64966158e-03 6.28283254e+02] [-1.13733062e-01 9.93510866e-01 9.74417449e-04 -3.44635162e+01] [ 5.72382726e-03 -3.25525412e-04 9.99983566e-01 3.42564170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.640714057 meters Centerline goodness : 0.996109 with order 1 Centerline is valid? [True, True] Translation: X:628.35, Y:-34.46, Z:3.43 [[ 9.93793903e-01 1.11093485e-01 -5.64938868e-03 6.28347014e+02] [-1.11089725e-01 9.93809902e-01 9.75997078e-04 -3.44619371e+01] [ 5.72284532e-03 -3.42350910e-04 9.99983566e-01 3.42816288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.700714057 meters Centerline goodness : 0.997256 with order 1 Centerline is valid? [True, True] Translation: X:628.41, Y:-34.46, Z:3.43 [[ 9.93519683e-01 1.13519719e-01 -5.64911417e-03 6.28410714e+02] [-1.13515990e-01 9.93535689e-01 9.77583372e-04 -3.44568527e+01] [ 5.72357152e-03 -3.29983537e-04 9.99983566e-01 3.42903537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.760714057 meters Centerline goodness : 0.997171 with order 1 Centerline is valid? [True, True] Translation: X:628.47, Y:-34.46, Z:3.43 [[ 9.93289619e-01 1.15515471e-01 -5.64886074e-03 6.28473524e+02] [-1.15511765e-01 9.93305630e-01 9.79045582e-04 -3.44621136e+01] [ 5.72414009e-03 -3.19965937e-04 9.99983566e-01 3.42925804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.820714057 meters Centerline goodness : 0.997945 with order 1 Centerline is valid? [True, True] Translation: X:628.54, Y:-34.46, Z:3.43 [[ 9.92657102e-01 1.20830337e-01 -5.64859467e-03 6.28538258e+02] [-1.20826708e-01 9.92673131e-01 9.80578298e-04 -3.44564930e+01] [ 5.72569176e-03 -2.90876915e-04 9.99983566e-01 3.42906242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.880714057 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:628.60, Y:-34.45, Z:3.43 [[ 9.92058275e-01 1.25652202e-01 -5.64832615e-03 6.28603611e+02] [-1.25648643e-01 9.92074319e-01 9.82122580e-04 -3.44509264e+01] [ 5.72696518e-03 -2.64618319e-04 9.99983566e-01 3.42836493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.940714057 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:628.67, Y:-34.44, Z:3.43 [[ 9.91307715e-01 1.31442435e-01 -5.64805482e-03 6.28667097e+02] [-1.31438960e-01 9.91323778e-01 9.83680482e-04 -3.44448920e+01] [ 5.72834840e-03 -2.32755598e-04 9.99983566e-01 3.42977012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.000714057 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:628.73, Y:-34.44, Z:3.43 [[ 9.90476258e-01 1.37567743e-01 -5.64780466e-03 6.28731414e+02] [-1.37564359e-01 9.90492340e-01 9.85114716e-04 -3.44449642e+01] [ 5.72962726e-03 -1.98796109e-04 9.99983566e-01 3.43147425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.060714057 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:628.80, Y:-34.44, Z:3.43 [[ 9.88797339e-01 1.49157390e-01 -5.64753894e-03 6.28795678e+02] [-1.49154186e-01 9.88813458e-01 9.86635684e-04 -3.44401997e+01] [ 5.73152651e-03 -1.33228664e-04 9.99983566e-01 3.43153836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.120714057 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:628.86, Y:-34.44, Z:3.43 [[ 9.87028016e-01 1.60448760e-01 -5.64729275e-03 6.28859844e+02] [-1.60445733e-01 9.87044169e-01 9.88042808e-04 -3.44395621e+01] [ 5.73265762e-03 -6.91419078e-05 9.99983566e-01 3.43037759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.180714057 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:628.92, Y:-34.45, Z:3.43 [[ 9.85951163e-01 1.66938359e-01 -5.64701591e-03 6.28921756e+02] [-1.66935429e-01 9.85967334e-01 9.89622546e-04 -3.44454938e+01] [ 5.73297918e-03 -3.30324781e-05 9.99983566e-01 3.43087439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.240714057 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:628.98, Y:-34.45, Z:3.43 [[ 9.84357606e-01 1.76091501e-01 -5.64675857e-03 6.28984845e+02] [-1.76088713e-01 9.84373802e-01 9.91088754e-04 -3.44519801e+01] [ 5.73304351e-03 1.87446964e-05 9.99983566e-01 3.43111864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.300714057 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:629.05, Y:-34.46, Z:3.43 [[ 9.82996300e-01 1.83538531e-01 -5.64647900e-03 6.29047769e+02] [-1.83535856e-01 9.83012515e-01 9.92678963e-04 -3.44603513e+01] [ 5.73275436e-03 6.05316114e-05 9.99983566e-01 3.43082774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.360714057 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:629.11, Y:-34.47, Z:3.43 [[ 9.82057214e-01 1.88498669e-01 -5.64619837e-03 6.29109525e+02] [-1.88496067e-01 9.82073441e-01 9.94272594e-04 -3.44741152e+01] [ 5.73240052e-03 8.78536120e-05 9.99983566e-01 3.43216653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.420714057 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:629.17, Y:-34.49, Z:3.43 [[ 9.81781455e-01 1.89929720e-01 -5.64591205e-03 6.29170424e+02] [-1.89927133e-01 9.81797684e-01 9.95895785e-04 -3.44897293e+01] [ 5.73229358e-03 9.45598731e-05 9.99983566e-01 3.43311056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.480714057 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:629.23, Y:-34.51, Z:3.43 [[ 9.81618052e-01 1.90772449e-01 -5.64560724e-03 6.29230346e+02] [-1.90769865e-01 9.81634282e-01 9.97620709e-04 -3.45067221e+01] [ 5.73224016e-03 9.77292363e-05 9.99983566e-01 3.43170953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5407140570001 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:629.29, Y:-34.53, Z:3.43 [[ 9.82060533e-01 1.88481403e-01 -5.64532624e-03 6.29290673e+02] [-1.88478772e-01 9.82076756e-01 9.99208319e-04 -3.45272324e+01] [ 5.73247586e-03 8.27411041e-05 9.99983566e-01 3.43142290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.600714057 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:629.35, Y:-34.55, Z:3.44 [[ 9.82607058e-01 1.85611163e-01 -5.64503929e-03 6.29349917e+02] [-1.85608476e-01 9.82623271e-01 1.00082682e-03 -3.45474789e+01] [ 5.73271160e-03 6.43476463e-05 9.99983566e-01 3.43723222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6607140570001 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:629.41, Y:-34.57, Z:3.43 [[ 9.83364520e-01 1.81555384e-01 -5.64479209e-03 6.29409980e+02] [-1.81552622e-01 9.83380720e-01 1.00221913e-03 -3.45657826e+01] [ 5.73293799e-03 3.92800724e-05 9.99983566e-01 3.43141565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.720714057 meters Centerline goodness : 0.998827 with order 1 Centerline is valid? [True, True] Translation: X:629.47, Y:-34.59, Z:3.43 [[ 9.85009134e-01 1.72409819e-01 -5.64453978e-03 6.29469688e+02] [-1.72406899e-01 9.85025306e-01 1.00363812e-03 -3.45874953e+01] [ 5.73305160e-03 -1.54351189e-05 9.99983566e-01 3.43047483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7807140570001 meters Centerline goodness : 0.998636 with order 1 Centerline is valid? [True, True] Translation: X:629.53, Y:-34.61, Z:3.43 [[ 9.86615230e-01 1.62967884e-01 -5.64425490e-03 6.29529682e+02] [-1.62964799e-01 9.86631372e-01 1.00523767e-03 -3.46086659e+01] [ 5.73262041e-03 -7.19679310e-05 9.99983566e-01 3.43119064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.840714057 meters Centerline goodness : 0.998546 with order 1 Centerline is valid? [True, True] Translation: X:629.59, Y:-34.62, Z:3.43 [[ 9.87278247e-01 1.58901886e-01 -5.64396376e-03 6.29590591e+02] [-1.58898726e-01 9.87294374e-01 1.00686968e-03 -3.46249055e+01] [ 5.73224716e-03 -9.72418796e-05 9.99983566e-01 3.43138532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.900714057 meters Centerline goodness : 0.998364 with order 1 Centerline is valid? [True, True] Translation: X:629.65, Y:-34.64, Z:3.43 [[ 9.87210414e-01 1.59322777e-01 -5.64367641e-03 6.29652277e+02] [-1.59319614e-01 9.87226541e-01 1.00847777e-03 -3.46391912e+01] [ 5.73226062e-03 -9.64314049e-05 9.99983566e-01 3.43186628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.960714057 meters Centerline goodness : 0.998634 with order 1 Centerline is valid? [True, True] Translation: X:629.71, Y:-34.65, Z:3.43 [[ 9.87188694e-01 1.59457312e-01 -5.64339040e-03 6.29712606e+02] [-1.59454143e-01 9.87204820e-01 1.01007570e-03 -3.46538921e+01] [ 5.73224616e-03 -9.72733322e-05 9.99983566e-01 3.43355856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.020714057 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:629.77, Y:-34.67, Z:3.43 [[ 9.87750041e-01 1.55942334e-01 -5.64312600e-03 6.29774772e+02] [-1.55939098e-01 9.87766154e-01 1.01155072e-03 -3.46660961e+01] [ 5.73183244e-03 -1.19175283e-04 9.99983566e-01 3.43326703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.080714057 meters Centerline goodness : 0.998681 with order 1 Centerline is valid? [True, True] Translation: X:629.84, Y:-34.68, Z:3.43 [[ 9.88207045e-01 1.53019587e-01 -5.64283731e-03 6.29836242e+02] [-1.53016295e-01 9.88223146e-01 1.01315857e-03 -3.46775871e+01] [ 5.73141555e-03 -1.37764378e-04 9.99983566e-01 3.43321140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.140714057 meters Centerline goodness : 0.998651 with order 1 Centerline is valid? [True, True] Translation: X:629.90, Y:-34.69, Z:3.43 [[ 9.88303355e-01 1.52396326e-01 -5.64255062e-03 6.29898183e+02] [-1.52393015e-01 9.88319452e-01 1.01475274e-03 -3.46882680e+01] [ 5.73128713e-03 -1.42998241e-04 9.99983566e-01 3.43380922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.200714057 meters Centerline goodness : 0.998840 with order 1 Centerline is valid? [True, True] Translation: X:629.96, Y:-34.70, Z:3.43 [[ 9.87492944e-01 1.57562212e-01 -5.64226661e-03 6.29959523e+02] [-1.57558976e-01 9.87509056e-01 1.01632943e-03 -3.46961865e+01] [ 5.73192449e-03 -1.14628395e-04 9.99983566e-01 3.43377828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.260714057 meters Centerline goodness : 0.998717 with order 1 Centerline is valid? [True, True] Translation: X:630.02, Y:-34.70, Z:3.43 [[ 9.86193700e-01 1.65499712e-01 -5.64200420e-03 6.30022212e+02] [-1.65496598e-01 9.86209836e-01 1.01778412e-03 -3.47038000e+01] [ 5.73264301e-03 -6.99997842e-05 9.99983566e-01 3.43445760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.320714057 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:630.08, Y:-34.71, Z:3.44 [[ 9.84803957e-01 1.73578047e-01 -5.64171119e-03 6.30084224e+02] [-1.73575055e-01 9.84820116e-01 1.01940569e-03 -3.47119545e+01] [ 5.73301712e-03 -2.46544265e-05 9.99983566e-01 3.43570623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.380714057 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:630.15, Y:-34.72, Z:3.44 [[ 9.83869185e-01 1.78800450e-01 -5.64141885e-03 6.30146793e+02] [-1.78797535e-01 9.83885359e-01 1.02102094e-03 -3.47212913e+01] [ 5.73306842e-03 4.12074566e-06 9.99983566e-01 3.43564670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.440714057 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:630.21, Y:-34.73, Z:3.44 [[ 9.82804670e-01 1.84562072e-01 -5.64111704e-03 6.30208558e+02] [-1.84559242e-01 9.82820859e-01 1.02268575e-03 -3.47299023e+01] [ 5.73295649e-03 3.60199481e-05 9.99983566e-01 3.43612982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.500714057 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:630.27, Y:-34.74, Z:3.44 [[ 9.82400687e-01 1.86700487e-01 -5.64083787e-03 6.30270027e+02] [-1.86697684e-01 9.82416880e-01 1.02422327e-03 -3.47416140e+01] [ 5.73287732e-03 4.69337232e-05 9.99983566e-01 3.43634830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.560714057 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:630.33, Y:-34.76, Z:3.44 [[ 9.82734401e-01 1.84935883e-01 -5.64053833e-03 6.30330443e+02] [-1.84933041e-01 9.82750588e-01 1.02587020e-03 -3.47554172e+01] [ 5.73296257e-03 3.49639710e-05 9.99983566e-01 3.43529934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.620714057 meters Centerline goodness : 0.998632 with order 1 Centerline is valid? [True, True] Translation: X:630.39, Y:-34.77, Z:3.43 [[ 9.83234802e-01 1.82256721e-01 -5.64026144e-03 6.30391855e+02] [-1.82253826e-01 9.83250979e-01 1.02739030e-03 -3.47720929e+01] [ 5.73304137e-03 1.77933271e-05 9.99983566e-01 3.43433102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.680714057 meters Centerline goodness : 0.998487 with order 1 Centerline is valid? [True, True] Translation: X:630.45, Y:-34.79, Z:3.43 [[ 9.83426425e-01 1.81219914e-01 -5.63996486e-03 6.30452145e+02] [-1.81216992e-01 9.83442598e-01 1.02901584e-03 -3.47853237e+01] [ 5.73305985e-03 1.00961017e-05 9.99983566e-01 3.43403719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.740714057 meters Centerline goodness : 0.998510 with order 1 Centerline is valid? [True, True] Translation: X:630.51, Y:-34.80, Z:3.43 [[ 9.83941519e-01 1.78402019e-01 -5.63969082e-03 6.30512615e+02] [-1.78399043e-01 9.83957682e-01 1.03051556e-03 -3.48009224e+01] [ 5.73306316e-03 -7.85160676e-06 9.99983566e-01 3.43355493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.800714057 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:630.57, Y:-34.82, Z:3.43 [[ 9.84888920e-01 1.73095383e-01 -5.63942137e-03 6.30573531e+02] [-1.73092311e-01 9.84905065e-01 1.03198800e-03 -3.48186589e+01] [ 5.73292703e-03 -4.02530650e-05 9.99983566e-01 3.43437852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.860714057 meters Centerline goodness : 0.998400 with order 1 Centerline is valid? [True, True] Translation: X:630.63, Y:-34.83, Z:3.44 [[ 9.85694442e-01 1.68447819e-01 -5.63913970e-03 6.30633338e+02] [-1.68444662e-01 9.85710570e-01 1.03352485e-03 -3.48349448e+01] [ 5.73265462e-03 -6.88567174e-05 9.99983566e-01 3.43753067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.920714057 meters Centerline goodness : 0.998503 with order 1 Centerline is valid? [True, True] Translation: X:630.69, Y:-34.85, Z:3.44 [[ 9.86446097e-01 1.63988721e-01 -5.63888409e-03 6.30694976e+02] [-1.63985483e-01 9.86462209e-01 1.03491758e-03 -3.48502100e+01] [ 5.73226087e-03 -9.61952769e-05 9.99983566e-01 3.43785044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.980714057 meters Centerline goodness : 0.998399 with order 1 Centerline is valid? [True, True] Translation: X:630.76, Y:-34.86, Z:3.44 [[ 9.87190381e-01 1.59447039e-01 -5.63858243e-03 6.30756867e+02] [-1.59443718e-01 9.87206476e-01 1.03655853e-03 -3.48628383e+01] [ 5.73172128e-03 -1.24244061e-04 9.99983566e-01 3.43762719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0407140570001 meters Centerline goodness : 0.998586 with order 1 Centerline is valid? [True, True] Translation: X:630.82, Y:-34.88, Z:3.44 [[ 9.88144145e-01 1.53425417e-01 -5.63828377e-03 6.30818253e+02] [-1.53421988e-01 9.88160218e-01 1.03818053e-03 -3.48750363e+01] [ 5.73081100e-03 -1.60835304e-04 9.99983566e-01 3.43844996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.100714057 meters Centerline goodness : 0.998274 with order 1 Centerline is valid? [True, True] Translation: X:630.88, Y:-34.89, Z:3.44 [[ 9.88636908e-01 1.50217436e-01 -5.63798016e-03 6.30879692e+02] [-1.50213946e-01 9.88652967e-01 1.03982671e-03 -3.48854848e+01] [ 5.73020592e-03 -1.81107816e-04 9.99983566e-01 3.43941229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1607140570001 meters Centerline goodness : 0.998565 with order 1 Centerline is valid? [True, True] Translation: X:630.94, Y:-34.89, Z:3.44 [[ 9.89384988e-01 1.45208683e-01 -5.63769990e-03 6.30942968e+02] [-1.45205104e-01 9.89401028e-01 1.04134404e-03 -3.48921935e+01] [ 5.72915827e-03 -2.11667367e-04 9.99983566e-01 3.43904217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.220714057 meters Centerline goodness : 0.998072 with order 1 Centerline is valid? [True, True] Translation: X:631.00, Y:-34.90, Z:3.44 [[ 9.89663046e-01 1.43301341e-01 -5.63740004e-03 6.31004580e+02] [-1.43297721e-01 9.89679077e-01 1.04296479e-03 -3.49012298e+01] [ 5.72867512e-03 -2.24357128e-04 9.99983566e-01 3.43941942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2807140570001 meters Centerline goodness : 0.998551 with order 1 Centerline is valid? [True, True] Translation: X:631.07, Y:-34.91, Z:3.44 [[ 9.90103996e-01 1.40222320e-01 -5.63712342e-03 6.31067281e+02] [-1.40218642e-01 9.90120014e-01 1.04445776e-03 -3.49073712e+01] [ 5.72788501e-03 -2.43692014e-04 9.99983566e-01 3.43864531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.340714057 meters Centerline goodness : 0.998199 with order 1 Centerline is valid? [True, True] Translation: X:631.13, Y:-34.91, Z:3.44 [[ 9.90234284e-01 1.39299279e-01 -5.63682875e-03 6.31129521e+02] [-1.39295577e-01 9.90250296e-01 1.04604565e-03 -3.49103524e+01] [ 5.72758474e-03 -2.50644951e-04 9.99983566e-01 3.43862631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.400714057 meters Centerline goodness : 0.998303 with order 1 Centerline is valid? [True, True] Translation: X:631.19, Y:-34.92, Z:3.44 [[ 9.90106493e-01 1.40204707e-01 -5.63664716e-03 6.31192535e+02] [-1.40201014e-01 9.90122507e-01 1.04702325e-03 -3.49162821e+01] [ 5.72776881e-03 -2.46400869e-04 9.99983566e-01 3.43892626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.460714057 meters Centerline goodness : 0.998742 with order 1 Centerline is valid? [True, True] Translation: X:631.26, Y:-34.92, Z:3.44 [[ 9.89760627e-01 1.42625850e-01 -5.63634888e-03 6.31255545e+02] [-1.42622187e-01 9.89776648e-01 1.04862648e-03 -3.49198082e+01] [ 5.72828775e-03 -2.34020804e-04 9.99983566e-01 3.44021953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.520714057 meters Centerline goodness : 0.998553 with order 1 Centerline is valid? [True, True] Translation: X:631.32, Y:-34.92, Z:3.44 [[ 9.89362083e-01 1.45364723e-01 -5.63605516e-03 6.31318720e+02] [-1.45361096e-01 9.89378112e-01 1.05020277e-03 -3.49223319e+01] [ 5.72885205e-03 -2.19767645e-04 9.99983566e-01 3.43859163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.580714057 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:631.38, Y:-34.93, Z:3.44 [[ 9.88879094e-01 1.48614860e-01 -5.63575424e-03 6.31382370e+02] [-1.48611275e-01 9.88895132e-01 1.05181518e-03 -3.49263859e+01] [ 5.72948530e-03 -2.02581421e-04 9.99983566e-01 3.43898246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.640714057 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:631.45, Y:-34.93, Z:3.44 [[ 9.88490994e-01 1.51174724e-01 -5.63545771e-03 6.31445239e+02] [-1.51171172e-01 9.88507039e-01 1.05340151e-03 -3.49330675e+01] [ 5.72993730e-03 -1.89359153e-04 9.99983566e-01 3.44126159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.700714057 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:631.51, Y:-34.94, Z:3.44 [[ 9.87781127e-01 1.55745592e-01 -5.63515579e-03 6.31507070e+02] [-1.55742105e-01 9.87797188e-01 1.05501415e-03 -3.49373115e+01] [ 5.73070485e-03 -1.64492044e-04 9.99983566e-01 3.44319956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.760714057 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:631.57, Y:-34.94, Z:3.44 [[ 9.86930483e-01 1.61048030e-01 -5.63500951e-03 6.31570283e+02] [-1.61044625e-01 9.86946561e-01 1.05579489e-03 -3.49427580e+01] [ 5.73148695e-03 -1.34508166e-04 9.99983566e-01 3.44100872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.820714057 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:631.63, Y:-34.95, Z:3.44 [[ 9.86698907e-01 1.62460818e-01 -5.63470649e-03 6.31631620e+02] [-1.62457427e-01 9.86714987e-01 1.05740962e-03 -3.49502360e+01] [ 5.73163698e-03 -1.27944990e-04 9.99983566e-01 3.44274085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.880714057 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:631.69, Y:-34.96, Z:3.45 [[ 9.86368507e-01 1.64454920e-01 -5.63442605e-03 6.31693272e+02] [-1.64451553e-01 9.86384593e-01 1.05890188e-03 -3.49567269e+01] [ 5.73185267e-03 -1.17877349e-04 9.99983566e-01 3.44532490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.940714057 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:631.75, Y:-34.96, Z:3.45 [[ 9.85983553e-01 1.66747383e-01 -5.63415065e-03 6.31754539e+02] [-1.66744045e-01 9.85999645e-01 1.06036515e-03 -3.49649278e+01] [ 5.73208366e-03 -1.06041529e-04 9.99983566e-01 3.44702924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.000714057 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:631.82, Y:-34.98, Z:3.45 [[ 9.85744021e-01 1.68157618e-01 -5.63387990e-03 6.31816107e+02] [-1.68154295e-01 9.85760116e-01 1.06180175e-03 -3.49762522e+01] [ 5.73220416e-03 -9.93036212e-05 9.99983566e-01 3.44779526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.060714057 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:631.88, Y:-34.99, Z:3.45 [[ 9.85417729e-01 1.70059289e-01 -5.63358250e-03 6.31877182e+02] [-1.70055988e-01 9.85433828e-01 1.06337734e-03 -3.49879542e+01] [ 5.73235996e-03 -8.98464495e-05 9.99983566e-01 3.44722012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.120714057 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:631.94, Y:-35.00, Z:3.45 [[ 9.84918550e-01 1.72926908e-01 -5.63339912e-03 6.31937255e+02] [-1.72923648e-01 9.84934657e-01 1.06434795e-03 -3.50015101e+01] [ 5.73258443e-03 -7.41481103e-05 9.99983566e-01 3.44699177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.180714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.00, Y:-35.02, Z:3.45 [[ 9.84588774e-01 1.74794774e-01 -5.63313273e-03 6.31998737e+02] [-1.74791537e-01 9.84604887e-01 1.06575597e-03 -3.50155305e+01] [ 5.73269858e-03 -6.47074350e-05 9.99983566e-01 3.44920743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.240714057 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:632.06, Y:-35.03, Z:3.45 [[ 9.84494623e-01 1.75324293e-01 -5.63284336e-03 6.32060472e+02] [-1.75321056e-01 9.84510735e-01 1.06728316e-03 -3.50291782e+01] [ 5.73271543e-03 -6.31784817e-05 9.99983566e-01 3.45029242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.300714057 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:632.12, Y:-35.04, Z:3.45 [[ 9.84367608e-01 1.76036037e-01 -5.63254777e-03 6.32121160e+02] [-1.76032803e-01 9.84383721e-01 1.06884088e-03 -3.50433312e+01] [ 5.73274284e-03 -6.06191729e-05 9.99983566e-01 3.45022588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.360714057 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:632.18, Y:-35.06, Z:3.45 [[ 9.84871992e-01 1.73191902e-01 -5.63236537e-03 6.32181855e+02] [-1.73188616e-01 9.84888095e-01 1.06980120e-03 -3.50590421e+01] [ 5.73253050e-03 -7.81556752e-05 9.99983566e-01 3.44821471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.420714057 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:632.24, Y:-35.08, Z:3.45 [[ 9.85932662e-01 1.67048097e-01 -5.63205450e-03 6.32241613e+02] [-1.67044701e-01 9.85948741e-01 1.07143529e-03 -3.50765999e+01] [ 5.73189827e-03 -1.15558182e-04 9.99983566e-01 3.44819906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.480714057 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:632.30, Y:-35.09, Z:3.45 [[ 9.86773711e-01 1.62005949e-01 -5.63176840e-03 6.32302773e+02] [-1.62002462e-01 9.86789771e-01 1.07293697e-03 -3.50915263e+01] [ 5.73119362e-03 -1.46385651e-04 9.99983566e-01 3.44799642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5407140570001 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:632.36, Y:-35.11, Z:3.45 [[ 9.88301600e-01 1.52408117e-01 -5.63146579e-03 6.32364400e+02] [-1.52404466e-01 9.88317623e-01 1.07452295e-03 -3.51065079e+01] [ 5.72944290e-03 -2.03692221e-04 9.99983566e-01 3.44775116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.600714057 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:632.42, Y:-35.12, Z:3.45 [[ 9.88809115e-01 1.49079924e-01 -5.63116239e-03 6.32424768e+02] [-1.49076209e-01 9.88825124e-01 1.07611059e-03 -3.51188214e+01] [ 5.72866134e-03 -2.24595620e-04 9.99983566e-01 3.44867200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6607140570001 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:632.49, Y:-35.13, Z:3.45 [[ 9.89835239e-01 1.42107325e-01 -5.63088266e-03 6.32486673e+02] [-1.42103489e-01 9.89851220e-01 1.07757234e-03 -3.51309765e+01] [ 5.72686699e-03 -2.66451001e-04 9.99983566e-01 3.44775276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.720714057 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:632.55, Y:-35.14, Z:3.45 [[ 9.90090509e-01 1.40317783e-01 -5.63058646e-03 6.32548519e+02] [-1.40313910e-01 9.90106480e-01 1.07911782e-03 -3.51354393e+01] [ 5.72629957e-03 -2.78374715e-04 9.99983566e-01 3.44971729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7807140570001 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:632.61, Y:-35.15, Z:3.45 [[ 9.88826509e-01 1.48964543e-01 -5.63031034e-03 6.32610351e+02] [-1.48960801e-01 9.88842511e-01 1.08055660e-03 -3.51486934e+01] [ 5.72845483e-03 -2.29787468e-04 9.99983566e-01 3.44743851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.840714057 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:632.67, Y:-35.15, Z:3.45 [[ 9.87322609e-01 1.58626506e-01 -5.63000624e-03 6.32673440e+02] [-1.58622912e-01 9.87338645e-01 1.08213869e-03 -3.51548005e+01] [ 5.73037862e-03 -1.75372010e-04 9.99983566e-01 3.45106087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.900714057 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:632.74, Y:-35.16, Z:3.45 [[ 9.86325981e-01 1.64709943e-01 -5.62969923e-03 6.32735158e+02] [-1.64706438e-01 9.86342037e-01 1.08373354e-03 -3.51637172e+01] [ 5.73131070e-03 -1.41666836e-04 9.99983566e-01 3.45240227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.960714057 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:632.80, Y:-35.17, Z:3.45 [[ 9.84987380e-01 1.72534550e-01 -5.62941419e-03 6.32797863e+02] [-1.72531165e-01 9.85003462e-01 1.08521216e-03 -3.51725756e+01] [ 5.73222906e-03 -9.76708930e-05 9.99983566e-01 3.45185270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.020714057 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:632.86, Y:-35.18, Z:3.45 [[ 9.83669173e-01 1.79897949e-01 -5.62910301e-03 6.32860052e+02] [-1.79894675e-01 9.83685277e-01 1.08682388e-03 -3.51827664e+01] [ 5.73278314e-03 -5.64294906e-05 9.99983566e-01 3.45086312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.080714057 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:632.92, Y:-35.19, Z:3.45 [[ 9.82804646e-01 1.84562575e-01 -5.62879441e-03 6.32921638e+02] [-1.84559368e-01 9.82820764e-01 1.08841984e-03 -3.51948606e+01] [ 5.73297759e-03 -3.08573368e-05 9.99983566e-01 3.45143036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.140714057 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:632.98, Y:-35.21, Z:3.45 [[ 9.82589968e-01 1.85702115e-01 -5.62848675e-03 6.32982630e+02] [-1.85698918e-01 9.82606088e-01 1.09000847e-03 -3.52094776e+01] [ 5.73300223e-03 -2.58274868e-05 9.99983566e-01 3.45244993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.200714057 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:633.04, Y:-35.22, Z:3.45 [[ 9.82536526e-01 1.85984667e-01 -5.62838903e-03 6.33044153e+02] [-1.85981471e-01 9.82552647e-01 1.09051287e-03 -3.52239075e+01] [ 5.73300720e-03 -2.46926525e-05 9.99983566e-01 3.45169813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.260714057 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:633.10, Y:-35.24, Z:3.45 [[ 9.82168792e-01 1.87916973e-01 -5.62807287e-03 6.33103771e+02] [-1.87913800e-01 9.82184917e-01 1.09214211e-03 -3.52398908e+01] [ 5.73304032e-03 -1.50753391e-05 9.99983566e-01 3.44879525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.320714057 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:633.17, Y:-35.26, Z:3.45 [[ 9.81918308e-01 1.89221469e-01 -5.62778092e-03 6.33165123e+02] [-1.89218309e-01 9.81934435e-01 1.09364442e-03 -3.52556029e+01] [ 5.73305289e-03 -8.99028562e-06 9.99983566e-01 3.44821666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.380714057 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:633.23, Y:-35.27, Z:3.45 [[ 9.81498638e-01 1.91386404e-01 -5.62746834e-03 6.33226121e+02] [-1.91383270e-01 9.81514770e-01 1.09525047e-03 -3.52732685e+01] [ 5.73305935e-03 2.01644596e-06 9.99983566e-01 3.44968010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.440714057 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:633.29, Y:-35.29, Z:3.45 [[ 9.81195671e-01 1.92933640e-01 -5.62714832e-03 6.33285456e+02] [-1.92930522e-01 9.81211807e-01 1.09689224e-03 -3.52907475e+01] [ 5.73305178e-03 9.38274967e-06 9.99983566e-01 3.45213981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.500714057 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:633.35, Y:-35.31, Z:3.45 [[ 9.80850901e-01 1.94678832e-01 -5.62685248e-03 6.33345923e+02] [-1.94675734e-01 9.80867041e-01 1.09840774e-03 -3.53090649e+01] [ 5.73303088e-03 1.80374163e-05 9.99983566e-01 3.45377658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.560714057 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:633.41, Y:-35.33, Z:3.46 [[ 9.80258599e-01 1.97639624e-01 -5.62652973e-03 6.33405361e+02] [-1.97636565e-01 9.80274746e-01 1.10005852e-03 -3.53259115e+01] [ 5.73296016e-03 3.36661855e-05 9.99983566e-01 3.45506604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.620714057 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:633.47, Y:-35.34, Z:3.45 [[ 9.79692999e-01 2.00424483e-01 -5.62622737e-03 6.33466551e+02] [-2.00421462e-01 9.79709153e-01 1.10160277e-03 -3.53416789e+01] [ 5.73285462e-03 4.83841911e-05 9.99983566e-01 3.45482285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.680714057 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:633.53, Y:-35.36, Z:3.46 [[ 9.79001523e-01 2.03775285e-01 -5.62591055e-03 6.33526650e+02] [-2.03772309e-01 9.79017686e-01 1.10321840e-03 -3.53619594e+01] [ 5.73267457e-03 6.63522909e-05 9.99983566e-01 3.45597737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.740714057 meters Centerline goodness : 0.998573 with order 1 Centerline is valid? [True, True] Translation: X:633.59, Y:-35.38, Z:3.46 [[ 9.78558120e-01 2.05894048e-01 -5.62559299e-03 6.33585266e+02] [-2.05891099e-01 9.78574287e-01 1.10483534e-03 -3.53821309e+01] [ 5.73253967e-03 7.71139267e-05 9.99983566e-01 3.45617605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.800714057 meters Centerline goodness : 0.998676 with order 1 Centerline is valid? [True, True] Translation: X:633.65, Y:-35.40, Z:3.46 [[ 9.78135561e-01 2.07892230e-01 -5.62543899e-03 6.33645601e+02] [-2.07889308e-01 9.78151733e-01 1.10561890e-03 -3.54003891e+01] [ 5.73238248e-03 8.80234579e-05 9.99983566e-01 3.45532520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.860714057 meters Centerline goodness : 0.998782 with order 1 Centerline is valid? [True, True] Translation: X:633.70, Y:-35.42, Z:3.45 [[ 9.78004815e-01 2.08506449e-01 -5.62512393e-03 6.33703417e+02] [-2.08503529e-01 9.78020988e-01 1.10721953e-03 -3.54234712e+01] [ 5.73235168e-03 8.99921610e-05 9.99983566e-01 3.45379419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.920714057 meters Centerline goodness : 0.998572 with order 1 Centerline is valid? [True, True] Translation: X:633.76, Y:-35.45, Z:3.45 [[ 9.77774829e-01 2.09582308e-01 -5.62497407e-03 6.33761962e+02] [-2.09579401e-01 9.77791004e-01 1.10798037e-03 -3.54468580e+01] [ 5.73226212e-03 9.55233832e-05 9.99983566e-01 3.45499254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.980714057 meters Centerline goodness : 0.998345 with order 1 Centerline is valid? [True, True] Translation: X:633.82, Y:-35.47, Z:3.45 [[ 9.78017907e-01 2.08445044e-01 -5.62469814e-03 6.33822223e+02] [-2.08442110e-01 9.78034077e-01 1.10937934e-03 -3.54659130e+01] [ 5.73239108e-03 8.74310931e-05 9.99983566e-01 3.45386251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0407140570001 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:633.88, Y:-35.49, Z:3.45 [[ 9.78827579e-01 2.04609232e-01 -5.62437399e-03 6.33881291e+02] [-2.04606226e-01 9.78843735e-01 1.11102029e-03 -3.54882220e+01] [ 5.73270826e-03 6.32846349e-05 9.99983566e-01 3.45382541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.100714057 meters Centerline goodness : 0.997941 with order 1 Centerline is valid? [True, True] Translation: X:633.94, Y:-35.51, Z:3.45 [[ 9.79952263e-01 1.99153038e-01 -5.62407476e-03 6.33940118e+02] [-1.99149932e-01 9.79968401e-01 1.11253297e-03 -3.55106754e+01] [ 5.73297987e-03 2.98049083e-05 9.99983566e-01 3.45276382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1607140570001 meters Centerline goodness : 0.997307 with order 1 Centerline is valid? [True, True] Translation: X:634.00, Y:-35.53, Z:3.45 [[ 9.81196067e-01 1.92931726e-01 -5.62378287e-03 6.34000424e+02] [-1.92928510e-01 9.81212184e-01 1.11400651e-03 -3.55310721e+01] [ 5.73305147e-03 -8.07075856e-06 9.99983566e-01 3.45117315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.220714057 meters Centerline goodness : 0.997153 with order 1 Centerline is valid? [True, True] Translation: X:634.06, Y:-35.55, Z:3.45 [[ 9.82687957e-01 1.85183033e-01 -5.62345746e-03 6.34060213e+02] [-1.85179680e-01 9.82704046e-01 1.11564678e-03 -3.55504551e+01] [ 5.73279325e-03 -5.49825981e-05 9.99983566e-01 3.45128138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2807140570001 meters Centerline goodness : 0.997398 with order 1 Centerline is valid? [True, True] Translation: X:634.12, Y:-35.57, Z:3.45 [[ 9.83858790e-01 1.78858216e-01 -5.62315719e-03 6.34121402e+02] [-1.78854751e-01 9.83874855e-01 1.11715812e-03 -3.55662122e+01] [ 5.73229588e-03 -9.33974578e-05 9.99983566e-01 3.45236057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.340714057 meters Centerline goodness : 0.997027 with order 1 Centerline is valid? [True, True] Translation: X:634.18, Y:-35.58, Z:3.45 [[ 9.85635827e-01 1.68790999e-01 -5.62284034e-03 6.34182659e+02] [-1.68787361e-01 9.85651853e-01 1.11875063e-03 -3.55807432e+01] [ 5.73099804e-03 -1.53616324e-04 9.99983566e-01 3.45377984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.400714057 meters Centerline goodness : 0.996482 with order 1 Centerline is valid? [True, True] Translation: X:634.24, Y:-35.59, Z:3.45 [[ 9.87039071e-01 1.60381608e-01 -5.62251564e-03 6.34244457e+02] [-1.60377825e-01 9.87055063e-01 1.12038011e-03 -3.55931471e+01] [ 5.72942090e-03 -2.04132115e-04 9.99983566e-01 3.45493334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.460714057 meters Centerline goodness : 0.996329 with order 1 Centerline is valid? [True, True] Translation: X:634.31, Y:-35.60, Z:3.46 [[ 9.87420536e-01 1.58016065e-01 -5.62218903e-03 6.34305318e+02] [-1.58012234e-01 9.87436517e-01 1.12201670e-03 -3.56046179e+01] [ 5.72885141e-03 -2.19527681e-04 9.99983566e-01 3.45524670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.520714057 meters Centerline goodness : 0.996086 with order 1 Centerline is valid? [True, True] Translation: X:634.37, Y:-35.61, Z:3.46 [[ 9.88392691e-01 1.51816605e-01 -5.62198813e-03 6.34367800e+02] [-1.51812668e-01 9.88408647e-01 1.12302241e-03 -3.56128455e+01] [ 5.72731513e-03 -2.56498123e-04 9.99983566e-01 3.45527764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.580714057 meters Centerline goodness : 0.996405 with order 1 Centerline is valid? [True, True] Translation: X:634.43, Y:-35.62, Z:3.46 [[ 9.88704276e-01 1.49773998e-01 -5.62167005e-03 6.34430136e+02] [-1.49770019e-01 9.88720222e-01 1.12461243e-03 -3.56208829e+01] [ 5.72669656e-03 -2.69951493e-04 9.99983566e-01 3.45633581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.640714057 meters Centerline goodness : 0.997032 with order 1 Centerline is valid? [True, True] Translation: X:634.49, Y:-35.62, Z:3.46 [[ 9.88835523e-01 1.48905032e-01 -5.62135373e-03 6.34493598e+02] [-1.48901030e-01 9.88851463e-01 1.12619132e-03 -3.56239184e+01] [ 5.72637941e-03 -2.76592627e-04 9.99983566e-01 3.45589746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.700714057 meters Centerline goodness : 0.996956 with order 1 Centerline is valid? [True, True] Translation: X:634.56, Y:-35.63, Z:3.46 [[ 9.88778361e-01 1.49284146e-01 -5.62104199e-03 6.34556554e+02] [-1.49280142e-01 9.88794300e-01 1.12774511e-03 -3.56291666e+01] [ 5.72640875e-03 -2.75980022e-04 9.99983566e-01 3.45656876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.760714057 meters Centerline goodness : 0.997505 with order 1 Centerline is valid? [True, True] Translation: X:634.62, Y:-35.63, Z:3.46 [[ 9.88540311e-01 1.50852447e-01 -5.62072214e-03 6.34620790e+02] [-1.50848458e-01 9.88556254e-01 1.12933703e-03 -3.56298088e+01] [ 5.72676328e-03 -2.68517904e-04 9.99983566e-01 3.45864727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.820714057 meters Centerline goodness : 0.998615 with order 1 Centerline is valid? [True, True] Translation: X:634.69, Y:-35.63, Z:3.46 [[ 9.88095518e-01 1.53738928e-01 -5.62040227e-03 6.34685399e+02] [-1.53734977e-01 9.88111470e-01 1.13092670e-03 -3.56279447e+01] [ 5.72745141e-03 -2.53411185e-04 9.99983566e-01 3.46053673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.880714057 meters Centerline goodness : 0.998533 with order 1 Centerline is valid? [True, True] Translation: X:634.75, Y:-35.63, Z:3.46 [[ 9.88001496e-01 1.54342016e-01 -5.62008116e-03 6.34748519e+02] [-1.54338066e-01 9.88017449e-01 1.13252018e-03 -3.56262175e+01] [ 5.72753370e-03 -2.51539178e-04 9.99983566e-01 3.45881390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.940714057 meters Centerline goodness : 0.998719 with order 1 Centerline is valid? [True, True] Translation: X:634.81, Y:-35.63, Z:3.46 [[ 9.88010732e-01 1.54282896e-01 -5.61978410e-03 6.34812115e+02] [-1.54278937e-01 9.88026682e-01 1.13399233e-03 -3.56303723e+01] [ 5.72745226e-03 -2.53382281e-04 9.99983566e-01 3.46013036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.000714057 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [True, True] Translation: X:634.88, Y:-35.63, Z:3.46 [[ 9.88415930e-01 1.51665326e-01 -5.61946109e-03 6.34876403e+02] [-1.51661315e-01 9.88431867e-01 1.13559077e-03 -3.56294036e+01] [ 5.72668416e-03 -2.70181148e-04 9.99983566e-01 3.46058041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.060714057 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:634.94, Y:-35.63, Z:3.46 [[ 9.89429239e-01 1.44907581e-01 -5.61913718e-03 6.34940730e+02] [-1.44903452e-01 9.89445146e-01 1.13719128e-03 -3.56287835e+01] [ 5.72461564e-03 -3.10937933e-04 9.99983566e-01 3.45960046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.120714057 meters Centerline goodness : 0.998423 with order 1 Centerline is valid? [True, True] Translation: X:635.00, Y:-35.63, Z:3.46 [[ 9.90312348e-01 1.38743947e-01 -5.61880957e-03 6.35004079e+02] [-1.38739710e-01 9.90328226e-01 1.13880768e-03 -3.56336997e+01] [ 5.72246839e-03 -3.48223298e-04 9.99983566e-01 3.45981157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.180714057 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:635.07, Y:-35.63, Z:3.46 [[ 9.91347260e-01 1.31145122e-01 -5.61848394e-03 6.35068240e+02] [-1.31140754e-01 9.91363103e-01 1.14041198e-03 -3.56326249e+01] [ 5.71951714e-03 -3.93732067e-04 9.99983566e-01 3.46114605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.240714057 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:635.13, Y:-35.63, Z:3.46 [[ 9.91722582e-01 1.28276093e-01 -5.61816412e-03 6.35131970e+02] [-1.28271671e-01 9.91738410e-01 1.14198536e-03 -3.56344117e+01] [ 5.71823858e-03 -4.11881372e-04 9.99983566e-01 3.46237926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.300714057 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:635.20, Y:-35.63, Z:3.46 [[ 9.92196382e-01 1.24558337e-01 -5.61784242e-03 6.35196125e+02] [-1.24553847e-01 9.92212191e-01 1.14356577e-03 -3.56314547e+01] [ 5.71653238e-03 -4.34917935e-04 9.99983566e-01 3.46463282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.360714057 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:635.26, Y:-35.63, Z:3.47 [[ 9.92285125e-01 1.23849390e-01 -5.61773744e-03 6.35259958e+02] [-1.23844885e-01 9.92300930e-01 1.14408121e-03 -3.56335680e+01] [ 5.71617985e-03 -4.39526717e-04 9.99983566e-01 3.46524063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.420714057 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:635.32, Y:-35.63, Z:3.47 [[ 9.92032354e-01 1.25858069e-01 -5.61740056e-03 6.35324636e+02] [-1.25853587e-01 9.92048165e-01 1.14573290e-03 -3.56267355e+01] [ 5.71693165e-03 -4.29634092e-04 9.99983566e-01 3.46604955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.480714057 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:635.39, Y:-35.62, Z:3.47 [[ 9.91517770e-01 1.29849757e-01 -5.61711493e-03 6.35387490e+02] [-1.29845331e-01 9.91533597e-01 1.14713156e-03 -3.56201995e+01] [ 5.71851292e-03 -4.08045183e-04 9.99983566e-01 3.46693699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5407140570001 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:635.45, Y:-35.61, Z:3.47 [[ 9.91115778e-01 1.32883268e-01 -5.61711493e-03 6.35448990e+02] [-1.32878890e-01 9.91131618e-01 1.14713156e-03 -3.56140714e+01] [ 5.71973480e-03 -3.90544195e-04 9.99983566e-01 3.46700094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.600714057 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:635.51, Y:-35.61, Z:3.47 [[ 9.90823407e-01 1.35046006e-01 -5.61719631e-03 6.35508444e+02] [-1.35041665e-01 9.90839257e-01 1.14673292e-03 -3.56130269e+01] [ 5.72060032e-03 -3.77654273e-04 9.99983566e-01 3.46666050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6607140570001 meters Centerline goodness : 0.998855 with order 1 Centerline is valid? [True, True] Translation: X:635.57, Y:-35.61, Z:3.46 [[ 9.91226923e-01 1.32051635e-01 -5.61728020e-03 6.35568283e+02] [-1.32047248e-01 9.91242760e-01 1.14632183e-03 -3.56079090e+01] [ 5.71946200e-03 -3.94518671e-04 9.99983566e-01 3.46496232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.720714057 meters Centerline goodness : 0.997945 with order 1 Centerline is valid? [True, True] Translation: X:635.63, Y:-35.61, Z:3.46 [[ 9.91629436e-01 1.28994208e-01 -5.61738454e-03 6.35627754e+02] [-1.28989776e-01 9.91645262e-01 1.14581030e-03 -3.56095093e+01] [ 5.71825565e-03 -4.11634046e-04 9.99983566e-01 3.46465917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7807140570001 meters Centerline goodness : 0.997090 with order 1 Centerline is valid? [True, True] Translation: X:635.69, Y:-35.61, Z:3.46 [[ 9.92299597e-01 1.23733401e-01 -5.61746657e-03 6.35687799e+02] [-1.23728888e-01 9.92315399e-01 1.14540798e-03 -3.56078271e+01] [ 5.71602381e-03 -4.41544989e-04 9.99983566e-01 3.46283660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.840714057 meters Centerline goodness : 0.996442 with order 1 Centerline is valid? [True, True] Translation: X:635.75, Y:-35.61, Z:3.46 [[ 9.92749308e-01 1.20071869e-01 -5.61754853e-03 6.35746801e+02] [-1.20067299e-01 9.92765094e-01 1.14500587e-03 -3.56110750e+01] [ 5.71438910e-03 -4.62219907e-04 9.99983566e-01 3.46233830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.900714057 meters Centerline goodness : 0.995815 with order 1 Centerline is valid? [True, True] Translation: X:635.81, Y:-35.61, Z:3.46 [[ 9.93254644e-01 1.15817330e-01 -5.61763134e-03 6.35805682e+02] [-1.15812694e-01 9.93270411e-01 1.14459948e-03 -3.56095703e+01] [ 5.71239144e-03 -4.86285732e-04 9.99983566e-01 3.46271063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.960714057 meters Centerline goodness : 0.994825 with order 1 Centerline is valid? [True, True] Translation: X:635.87, Y:-35.61, Z:3.46 [[ 9.93555649e-01 1.13206061e-01 -5.61780595e-03 6.35866145e+02] [-1.13201389e-01 9.93571405e-01 1.14374179e-03 -3.56070924e+01] [ 5.71116986e-03 -5.00427683e-04 9.99983566e-01 3.46200368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.020714057 meters Centerline goodness : 0.994594 with order 1 Centerline is valid? [True, True] Translation: X:635.93, Y:-35.61, Z:3.46 [[ 9.93714654e-01 1.11801729e-01 -5.61788318e-03 6.35925065e+02] [-1.11797037e-01 9.93730404e-01 1.14336233e-03 -3.56090387e+01] [ 5.71049121e-03 -5.08113206e-04 9.99983566e-01 3.46109708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.080714057 meters Centerline goodness : 0.990115 with order 1 Centerline is valid? [True, True] Translation: X:635.99, Y:-35.61, Z:3.47 [[ 9.93959669e-01 1.09602070e-01 -5.61799953e-03 6.35985967e+02] [-1.09597347e-01 9.93975410e-01 1.14279037e-03 -3.56071231e+01] [ 5.70940558e-03 -5.20169692e-04 9.99983566e-01 3.47088154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.140714057 meters Centerline goodness : 0.987262 with order 1 Centerline is valid? [True, True] Translation: X:636.05, Y:-35.60, Z:3.47 [[ 9.93910652e-01 1.10045686e-01 -5.61806261e-03 6.36047075e+02] [-1.10040971e-01 9.93926395e-01 1.14248015e-03 -3.56041342e+01] [ 5.70966574e-03 -5.17306130e-04 9.99983566e-01 3.46625762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.200714057 meters Centerline goodness : 0.984886 with order 1 Centerline is valid? [True, True] Translation: X:636.11, Y:-35.60, Z:3.47 [[ 9.94045370e-01 1.08822051e-01 -5.61815158e-03 6.36105817e+02] [-1.08817319e-01 9.94061108e-01 1.14204251e-03 -3.56045711e+01] [ 5.70906539e-03 -5.23889880e-04 9.99983566e-01 3.46756970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.260714057 meters Centerline goodness : 0.981467 with order 1 Centerline is valid? [True, True] Translation: X:636.17, Y:-35.60, Z:3.46 [[ 9.94250941e-01 1.06927554e-01 -5.61826096e-03 6.36165545e+02] [-1.06922795e-01 9.94266671e-01 1.14150416e-03 -3.56006435e+01] [ 5.70810787e-03 -5.34221422e-04 9.99983566e-01 3.46469330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.320714057 meters Centerline goodness : 0.977668 with order 1 Centerline is valid? [True, True] Translation: X:636.23, Y:-35.60, Z:3.46 [[ 9.94226965e-01 1.07150250e-01 -5.61836783e-03 6.36225302e+02] [-1.07145498e-01 9.94242697e-01 1.14097789e-03 -3.56029518e+01] [ 5.70827725e-03 -5.32408167e-04 9.99983566e-01 3.46093195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.380714057 meters Centerline goodness : 0.976865 with order 1 Centerline is valid? [True, True] Translation: X:636.28, Y:-35.61, Z:3.46 [[ 9.94345333e-01 1.06046173e-01 -5.61845651e-03 6.36283928e+02] [-1.06041406e-01 9.94361061e-01 1.14054108e-03 -3.56088259e+01] [ 5.70772439e-03 -5.38302671e-04 9.99983566e-01 3.46209764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.440714057 meters Centerline goodness : 0.974941 with order 1 Centerline is valid? [True, True] Translation: X:636.34, Y:-35.61, Z:3.45 [[ 9.94037237e-01 1.08896283e-01 -5.61876678e-03 6.36344089e+02] [-1.08891569e-01 9.94052981e-01 1.13901048e-03 -3.56074061e+01] [ 5.70938587e-03 -5.20382504e-04 9.99983566e-01 3.45450100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.500714057 meters Centerline goodness : 0.974224 with order 1 Centerline is valid? [True, True] Translation: X:636.40, Y:-35.60, Z:3.45 [[ 9.93788481e-01 1.11143519e-01 -5.61907649e-03 6.36403954e+02] [-1.11138850e-01 9.93804237e-01 1.13748056e-03 -3.56020575e+01] [ 5.71068561e-03 -5.05917382e-04 9.99983566e-01 3.45402828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.560714057 meters Centerline goodness : 0.972428 with order 1 Centerline is valid? [True, True] Translation: X:636.46, Y:-35.59, Z:3.46 [[ 9.92735296e-01 1.20187579e-01 -5.61942861e-03 6.36463383e+02] [-1.20183063e-01 9.92751097e-01 1.13573832e-03 -3.55942691e+01] [ 5.71519556e-03 -4.52127372e-04 9.99983566e-01 3.46245674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.620714057 meters Centerline goodness : 0.973748 with order 1 Centerline is valid? [True, True] Translation: X:636.52, Y:-35.60, Z:3.46 [[ 9.91710224e-01 1.28371540e-01 -5.61957968e-03 6.36522350e+02] [-1.28367159e-01 9.91726063e-01 1.13499031e-03 -3.55968618e+01] [ 5.71878409e-03 -4.04212016e-04 9.99983566e-01 3.45815380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.680714057 meters Centerline goodness : 0.976500 with order 1 Centerline is valid? [True, True] Translation: X:636.58, Y:-35.60, Z:3.46 [[ 9.90023675e-01 1.40788988e-01 -5.61987210e-03 6.36582756e+02] [-1.40784814e-01 9.90039571e-01 1.13354060e-03 -3.55954875e+01] [ 5.72348579e-03 -3.31039379e-04 9.99983566e-01 3.45562495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.740714057 meters Centerline goodness : 0.976944 with order 1 Centerline is valid? [True, True] Translation: X:636.64, Y:-35.58, Z:3.46 [[ 9.91597419e-01 1.29239977e-01 -5.62015134e-03 6.36644647e+02] [-1.29235626e-01 9.91613267e-01 1.13215437e-03 -3.55807111e+01] [ 5.71933624e-03 -3.96317577e-04 9.99983566e-01 3.46050046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.800714057 meters Centerline goodness : 0.986834 with order 1 Centerline is valid? [True, True] Translation: X:636.70, Y:-35.58, Z:3.45 [[ 9.92271673e-01 1.23956995e-01 -5.62054316e-03 6.36703883e+02] [-1.23952570e-01 9.92287500e-01 1.13020587e-03 -3.55830790e+01] [ 5.71729164e-03 -4.24790495e-04 9.99983566e-01 3.45486219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.860714057 meters Centerline goodness : 0.986905 with order 1 Centerline is valid? [True, True] Translation: X:636.76, Y:-35.58, Z:3.45 [[ 9.92717501e-01 1.20334400e-01 -5.62092437e-03 6.36763039e+02] [-1.20329928e-01 9.92733315e-01 1.12830675e-03 -3.55849133e+01] [ 5.71585301e-03 -4.43724433e-04 9.99983566e-01 3.45466603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.920714057 meters Centerline goodness : 0.980382 with order 1 Centerline is valid? [True, True] Translation: X:636.82, Y:-35.58, Z:3.45 [[ 9.92680388e-01 1.20640163e-01 -5.62124800e-03 6.36821968e+02] [-1.20635705e-01 9.92696206e-01 1.12669214e-03 -3.55826343e+01] [ 5.71611588e-03 -4.40321978e-04 9.99983566e-01 3.45367692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.980714057 meters Centerline goodness : 0.978054 with order 1 Centerline is valid? [True, True] Translation: X:636.88, Y:-35.59, Z:3.46 [[ 9.91301920e-01 1.31487261e-01 -5.62167874e-03 6.36880425e+02] [-1.31482989e-01 9.91317789e-01 1.12453884e-03 -3.55862207e+01] [ 5.72073267e-03 -3.75602390e-04 9.99983566e-01 3.46095150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0407140570001 meters Centerline goodness : 0.983959 with order 1 Centerline is valid? [True, True] Translation: X:636.94, Y:-35.59, Z:3.47 [[ 9.90515277e-01 1.37287587e-01 -5.62187426e-03 6.36938772e+02] [-1.37283413e-01 9.90531172e-01 1.12356052e-03 -3.55914241e+01] [ 5.72289261e-03 -3.41113775e-04 9.99983566e-01 3.46679383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.100714057 meters Centerline goodness : 0.980493 with order 1 Centerline is valid? [True, True] Translation: X:637.00, Y:-35.59, Z:3.46 [[ 9.88877447e-01 1.48626339e-01 -5.62200387e-03 6.36997184e+02] [-1.48622351e-01 9.88893390e-01 1.12291160e-03 -3.55947302e+01] [ 5.72645670e-03 -2.74866520e-04 9.99983566e-01 3.46247544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1607140570001 meters Centerline goodness : 0.988256 with order 1 Centerline is valid? [True, True] Translation: X:637.06, Y:-35.60, Z:3.46 [[ 9.88539165e-01 1.50859900e-01 -5.62234095e-03 6.37055861e+02] [-1.50855958e-01 9.88555119e-01 1.12122132e-03 -3.56006510e+01] [ 5.72714126e-03 -2.60207555e-04 9.99983566e-01 3.45758440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.220714057 meters Centerline goodness : 0.987190 with order 1 Centerline is valid? [True, True] Translation: X:637.11, Y:-35.61, Z:3.46 [[ 9.87497457e-01 1.57534623e-01 -5.62267918e-03 6.37114375e+02] [-1.57530798e-01 9.87513440e-01 1.11952258e-03 -3.56081961e+01] [ 5.72883483e-03 -2.19780557e-04 9.99983566e-01 3.46461117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2807140570001 meters Centerline goodness : 0.989714 with order 1 Centerline is valid? [True, True] Translation: X:637.17, Y:-35.62, Z:3.46 [[ 9.86028319e-01 1.66482847e-01 -5.62276826e-03 6.37171350e+02] [-1.66479170e-01 9.86044336e-01 1.11907500e-03 -3.56175565e+01] [ 5.73060559e-03 -1.67365845e-04 9.99983566e-01 3.45829193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.340714057 meters Centerline goodness : 0.987593 with order 1 Centerline is valid? [True, True] Translation: X:637.23, Y:-35.63, Z:3.47 [[ 9.86200999e-01 1.65456859e-01 -5.62287957e-03 6.37229598e+02] [-1.65453169e-01 9.86217014e-01 1.11851547e-03 -3.56281294e+01] [ 5.73044555e-03 -1.72757832e-04 9.99983566e-01 3.46680221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.400714057 meters Centerline goodness : 0.989257 with order 1 Centerline is valid? [True, True] Translation: X:637.29, Y:-35.65, Z:3.46 [[ 9.85872842e-01 1.67401080e-01 -5.62292431e-03 6.37285366e+02] [-1.67397423e-01 9.85888864e-01 1.11829051e-03 -3.56458756e+01] [ 5.73078150e-03 -1.61229210e-04 9.99983566e-01 3.45998515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.460714057 meters Centerline goodness : 0.988904 with order 1 Centerline is valid? [True, True] Translation: X:637.34, Y:-35.66, Z:3.46 [[ 9.86557989e-01 1.63314773e-01 -5.62303621e-03 6.37340961e+02] [-1.63311052e-01 9.86573997e-01 1.11772754e-03 -3.56639274e+01] [ 5.73008273e-03 -1.84399077e-04 9.99983566e-01 3.45868184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.520714057 meters Centerline goodness : 0.987868 with order 1 Centerline is valid? [True, True] Translation: X:637.40, Y:-35.68, Z:3.46 [[ 9.86888642e-01 1.61304636e-01 -5.62335204e-03 6.37396473e+02] [-1.61300891e-01 9.86904644e-01 1.11613634e-03 -3.56815488e+01] [ 5.72975021e-03 -1.94450581e-04 9.99983566e-01 3.45844189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.580714057 meters Centerline goodness : 0.987372 with order 1 Centerline is valid? [True, True] Translation: X:637.45, Y:-35.70, Z:3.46 [[ 9.86999914e-01 1.60622362e-01 -5.62366956e-03 6.37452402e+02] [-1.60618616e-01 9.87015916e-01 1.11453422e-03 -3.56969339e+01] [ 5.72967048e-03 -1.96779160e-04 9.99983566e-01 3.45890019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.640714057 meters Centerline goodness : 0.987516 with order 1 Centerline is valid? [True, True] Translation: X:637.51, Y:-35.71, Z:3.46 [[ 9.87299963e-01 1.58767611e-01 -5.62398713e-03 6.37507078e+02] [-1.58763844e-01 9.87315959e-01 1.11292943e-03 -3.57147100e+01] [ 5.72934939e-03 -2.05909368e-04 9.99983566e-01 3.45937997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.700714057 meters Centerline goodness : 0.987520 with order 1 Centerline is valid? [True, True] Translation: X:637.56, Y:-35.73, Z:3.46 [[ 9.87773239e-01 1.55796014e-01 -5.62412354e-03 6.37563016e+02] [-1.55792202e-01 9.87789225e-01 1.11223963e-03 -3.57298515e+01] [ 5.72873114e-03 -2.22445949e-04 9.99983566e-01 3.45907399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.760714057 meters Centerline goodness : 0.985593 with order 1 Centerline is valid? [True, True] Translation: X:637.62, Y:-35.75, Z:3.46 [[ 9.88524638e-01 1.50954980e-01 -5.62443173e-03 6.37618279e+02] [-1.50951100e-01 9.88540607e-01 1.11067898e-03 -3.57475452e+01] [ 5.72764168e-03 -2.48919377e-04 9.99983566e-01 3.45960454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.820714057 meters Centerline goodness : 0.986524 with order 1 Centerline is valid? [True, True] Translation: X:637.67, Y:-35.77, Z:3.46 [[ 9.89526340e-01 1.44242795e-01 -5.62473626e-03 6.37673724e+02] [-1.44238815e-01 9.89542285e-01 1.10913461e-03 -3.57652565e+01] [ 5.72589905e-03 -2.86212614e-04 9.99983566e-01 3.45965077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.880714057 meters Centerline goodness : 0.979537 with order 1 Centerline is valid? [True, True] Translation: X:637.73, Y:-35.78, Z:3.47 [[ 9.90136148e-01 1.39995596e-01 -5.62504974e-03 6.37731913e+02] [-1.39991557e-01 9.90152078e-01 1.10754253e-03 -3.57791957e+01] [ 5.72470576e-03 -3.09158422e-04 9.99983566e-01 3.46607591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.940714057 meters Centerline goodness : 0.985972 with order 1 Centerline is valid? [True, True] Translation: X:637.79, Y:-35.80, Z:3.46 [[ 9.91292524e-01 1.31557931e-01 -5.62513480e-03 6.37787928e+02] [-1.31553758e-01 9.91308420e-01 1.10711033e-03 -3.57977858e+01] [ 5.72189263e-03 -3.57462572e-04 9.99983566e-01 3.45944109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.000714057 meters Centerline goodness : 0.986882 with order 1 Centerline is valid? [True, True] Translation: X:637.84, Y:-35.81, Z:3.46 [[ 9.91383366e-01 1.30871609e-01 -5.62525703e-03 6.37844254e+02] [-1.30867429e-01 9.91399260e-01 1.10648895e-03 -3.58116154e+01] [ 5.72168364e-03 -3.60791814e-04 9.99983566e-01 3.45954713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.060714057 meters Centerline goodness : 0.986980 with order 1 Centerline is valid? [True, True] Translation: X:637.90, Y:-35.82, Z:3.46 [[ 9.90792007e-01 1.35275839e-01 -5.62557316e-03 6.37900921e+02] [-1.35271738e-01 9.90807921e-01 1.10487932e-03 -3.58230091e+01] [ 5.72332592e-03 -3.33724534e-04 9.99983566e-01 3.45964937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.120714057 meters Centerline goodness : 0.987103 with order 1 Centerline is valid? [True, True] Translation: X:637.96, Y:-35.83, Z:3.46 [[ 9.89197392e-01 1.46481634e-01 -5.62588903e-03 6.37957734e+02] [-1.46477723e-01 9.89213354e-01 1.10326860e-03 -3.58325693e+01] [ 5.72681314e-03 -2.67283012e-04 9.99983566e-01 3.46029736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.180714057 meters Centerline goodness : 0.987572 with order 1 Centerline is valid? [True, True] Translation: X:638.02, Y:-35.84, Z:3.46 [[ 9.87981591e-01 1.54469162e-01 -5.62620772e-03 6.38015050e+02] [-1.54465389e-01 9.87997586e-01 1.10164100e-03 -3.58431561e+01] [ 5.72884921e-03 -2.19346663e-04 9.99983566e-01 3.46095794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.240714057 meters Centerline goodness : 0.986719 with order 1 Centerline is valid? [True, True] Translation: X:638.07, Y:-35.86, Z:3.46 [[ 9.87946392e-01 1.54694113e-01 -5.62652691e-03 6.38071703e+02] [-1.54690353e-01 9.87962390e-01 1.10000838e-03 -3.58558683e+01] [ 5.72896179e-03 -2.16379879e-04 9.99983566e-01 3.46154393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.300714057 meters Centerline goodness : 0.986927 with order 1 Centerline is valid? [True, True] Translation: X:638.13, Y:-35.87, Z:3.46 [[ 9.88400173e-01 1.51767709e-01 -5.62684119e-03 6.38128094e+02] [-1.51763911e-01 9.88416162e-01 1.09839839e-03 -3.58697174e+01] [ 5.72836218e-03 -2.31705730e-04 9.99983566e-01 3.46187437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.360714057 meters Centerline goodness : 0.986939 with order 1 Centerline is valid? [True, True] Translation: X:638.18, Y:-35.88, Z:3.46 [[ 9.89057996e-01 1.47419859e-01 -5.62715796e-03 6.38184246e+02] [-1.47416000e-01 9.89073971e-01 1.09677317e-03 -3.58849883e+01] [ 5.72736161e-03 -2.55239154e-04 9.99983566e-01 3.46273715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.420714057 meters Centerline goodness : 0.986570 with order 1 Centerline is valid? [True, True] Translation: X:638.24, Y:-35.90, Z:3.46 [[ 9.89282038e-01 1.45908811e-01 -5.62747794e-03 6.38241117e+02] [-1.45904937e-01 9.89298009e-01 1.09512888e-03 -3.58980642e+01] [ 5.72704167e-03 -2.62314522e-04 9.99983566e-01 3.46416975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.480714057 meters Centerline goodness : 0.986223 with order 1 Centerline is valid? [True, True] Translation: X:638.30, Y:-35.91, Z:3.47 [[ 9.89274732e-01 1.45958326e-01 -5.62779507e-03 6.38296819e+02] [-1.45954462e-01 9.89290705e-01 1.09349673e-03 -3.59120536e+01] [ 5.72713031e-03 -2.60366878e-04 9.99983566e-01 3.46578858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5407140570001 meters Centerline goodness : 0.981867 with order 1 Centerline is valid? [True, True] Translation: X:638.35, Y:-35.94, Z:3.46 [[ 9.88352062e-01 1.52080662e-01 -5.62789235e-03 6.38351905e+02] [-1.52076900e-01 9.88368060e-01 1.09299587e-03 -3.59376211e+01] [ 5.72865257e-03 -2.24392298e-04 9.99983566e-01 3.46368739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.600714057 meters Centerline goodness : 0.985640 with order 1 Centerline is valid? [True, True] Translation: X:638.41, Y:-35.94, Z:3.46 [[ 9.90023115e-01 1.40792595e-01 -5.62817717e-03 6.38409779e+02] [-1.40788659e-01 9.90039071e-01 1.09152725e-03 -3.59400704e+01] [ 5.72579425e-03 -2.88253689e-04 9.99983566e-01 3.46399981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6607140570001 meters Centerline goodness : 0.985004 with order 1 Centerline is valid? [True, True] Translation: X:638.47, Y:-35.95, Z:3.46 [[ 9.90720884e-01 1.35795625e-01 -5.62830843e-03 6.38467181e+02] [-1.35791612e-01 9.90736821e-01 1.09084998e-03 -3.59546886e+01] [ 5.72430506e-03 -3.16450781e-04 9.99983566e-01 3.46241375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.720714057 meters Centerline goodness : 0.984650 with order 1 Centerline is valid? [True, True] Translation: X:638.52, Y:-35.97, Z:3.46 [[ 9.91483869e-01 1.30107867e-01 -5.62858518e-03 6.38524033e+02] [-1.30103771e-01 9.91499784e-01 1.08942016e-03 -3.59671813e+01] [ 5.72248312e-03 -3.47842355e-04 9.99983566e-01 3.46204248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7807140570001 meters Centerline goodness : 0.980748 with order 1 Centerline is valid? [True, True] Translation: X:638.58, Y:-35.98, Z:3.47 [[ 9.91890732e-01 1.26968862e-01 -5.62890788e-03 6.38579551e+02] [-1.26964725e-01 9.91906636e-01 1.08775025e-03 -3.59825622e+01] [ 5.72146149e-03 -3.64256655e-04 9.99983566e-01 3.46590038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.840714057 meters Centerline goodness : 0.979220 with order 1 Centerline is valid? [True, True] Translation: X:638.64, Y:-35.99, Z:3.47 [[ 9.92174665e-01 1.24730689e-01 -5.62926584e-03 6.38637364e+02] [-1.24726527e-01 9.92190564e-01 1.08589457e-03 -3.59919624e+01] [ 5.72074882e-03 -3.75278310e-04 9.99983566e-01 3.47020613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.900714057 meters Centerline goodness : 0.980725 with order 1 Centerline is valid? [True, True] Translation: X:638.70, Y:-36.00, Z:3.47 [[ 9.93459762e-01 1.14043887e-01 -5.62958070e-03 6.38696098e+02] [-1.14039563e-01 9.93475617e-01 1.08425977e-03 -3.59974067e+01] [ 5.71650436e-03 -4.35173530e-04 9.99983566e-01 3.47058858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.960714057 meters Centerline goodness : 0.983887 with order 1 Centerline is valid? [True, True] Translation: X:638.75, Y:-36.01, Z:3.47 [[ 9.93464602e-01 1.14001705e-01 -5.62990590e-03 6.38753668e+02] [-1.13997389e-01 9.93480459e-01 1.08256860e-03 -3.60055846e+01] [ 5.71661616e-03 -4.33699006e-04 9.99983566e-01 3.46636717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.020714057 meters Centerline goodness : 0.984239 with order 1 Centerline is valid? [True, True] Translation: X:638.81, Y:-36.01, Z:3.47 [[ 9.93355140e-01 1.14951596e-01 -5.63002004e-03 6.38811620e+02] [-1.14947299e-01 9.93371002e-01 1.08197467e-03 -3.60112633e+01] [ 5.71707336e-03 -4.27629496e-04 9.99983566e-01 3.46608261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.080714057 meters Centerline goodness : 0.976573 with order 1 Centerline is valid? [True, True] Translation: X:638.87, Y:-36.02, Z:3.47 [[ 9.92713617e-01 1.20365999e-01 -5.63033265e-03 6.38870690e+02] [-1.20361798e-01 9.92729505e-01 1.08034546e-03 -3.60158804e+01] [ 5.71943421e-03 -3.94796683e-04 9.99983566e-01 3.47156664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.140714057 meters Centerline goodness : 0.979988 with order 1 Centerline is valid? [True, True] Translation: X:638.93, Y:-36.03, Z:3.48 [[ 9.91735250e-01 1.28177573e-01 -5.63067885e-03 6.38927899e+02] [-1.28173507e-01 9.91751173e-01 1.07853805e-03 -3.60295360e+01] [ 5.72247675e-03 -3.47920343e-04 9.99983566e-01 3.47586009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.200714057 meters Centerline goodness : 0.980898 with order 1 Centerline is valid? [True, True] Translation: X:638.99, Y:-36.03, Z:3.47 [[ 9.90951461e-01 1.34102542e-01 -5.63109641e-03 6.38986907e+02] [-1.34098584e-01 9.90967412e-01 1.07635356e-03 -3.60338336e+01] [ 5.72457478e-03 -3.11492079e-04 9.99983566e-01 3.47434111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.260714057 meters Centerline goodness : 0.981582 with order 1 Centerline is valid? [True, True] Translation: X:639.05, Y:-36.04, Z:3.47 [[ 9.89817475e-01 1.42230985e-01 -5.63142847e-03 6.39045663e+02] [-1.42227168e-01 9.89833460e-01 1.07461344e-03 -3.60375138e+01] [ 5.72701965e-03 -2.62729036e-04 9.99983566e-01 3.47423756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.320714057 meters Centerline goodness : 0.986391 with order 1 Centerline is valid? [True, True] Translation: X:639.10, Y:-36.04, Z:3.47 [[ 9.89899959e-01 1.41655762e-01 -5.63175540e-03 6.39104580e+02] [-1.41651945e-01 9.89915944e-01 1.07289734e-03 -3.60373273e+01] [ 5.72694655e-03 -2.64311923e-04 9.99983566e-01 3.46887408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.380714057 meters Centerline goodness : 0.982819 with order 1 Centerline is valid? [True, True] Translation: X:639.16, Y:-36.05, Z:3.47 [[ 9.88826224e-01 1.48966372e-01 -5.63186678e-03 6.39162169e+02] [-1.48962677e-01 9.88842238e-01 1.07231235e-03 -3.60501887e+01] [ 5.72876623e-03 -2.21392622e-04 9.99983566e-01 3.47292053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.440714057 meters Centerline goodness : 0.980377 with order 1 Centerline is valid? [True, True] Translation: X:639.22, Y:-36.05, Z:3.48 [[ 9.89687053e-01 1.43135658e-01 -5.63204063e-03 6.39220833e+02] [-1.43131874e-01 9.89703046e-01 1.07139847e-03 -3.60511006e+01] [ 5.72740309e-03 -2.54224664e-04 9.99983566e-01 3.47959779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.500714057 meters Centerline goodness : 0.982369 with order 1 Centerline is valid? [True, True] Translation: X:639.28, Y:-36.07, Z:3.48 [[ 9.88626603e-01 1.50285459e-01 -5.63214573e-03 6.39277088e+02] [-1.50281794e-01 9.88642623e-01 1.07084567e-03 -3.60678021e+01] [ 5.72911186e-03 -2.12257556e-04 9.99983566e-01 3.48309673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.560714057 meters Centerline goodness : 0.980500 with order 1 Centerline is valid? [True, True] Translation: X:639.33, Y:-36.07, Z:3.47 [[ 9.88608540e-01 1.50404229e-01 -5.63234119e-03 6.39334303e+02] [-1.50400571e-01 9.88624562e-01 1.06981663e-03 -3.60738078e+01] [ 5.72917579e-03 -2.10522530e-04 9.99983566e-01 3.47459818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.620714057 meters Centerline goodness : 0.987720 with order 1 Centerline is valid? [True, True] Translation: X:639.39, Y:-36.09, Z:3.47 [[ 9.88365959e-01 1.51990142e-01 -5.63268593e-03 6.39391898e+02] [-1.51986520e-01 9.88381989e-01 1.06799846e-03 -3.60876838e+01] [ 5.72957056e-03 -1.99480988e-04 9.99983566e-01 3.47016437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.680714057 meters Centerline goodness : 0.987549 with order 1 Centerline is valid? [True, True] Translation: X:639.45, Y:-36.10, Z:3.47 [[ 9.88547164e-01 1.50807076e-01 -5.63305106e-03 6.39447038e+02] [-1.50803447e-01 9.88563192e-01 1.06606914e-03 -3.61019351e+01] [ 5.72939770e-03 -2.04376114e-04 9.99983566e-01 3.47040815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.740714057 meters Centerline goodness : 0.980591 with order 1 Centerline is valid? [True, True] Translation: X:639.50, Y:-36.11, Z:3.47 [[ 9.89355529e-01 1.45409435e-01 -5.63318368e-03 6.39504105e+02] [-1.45405722e-01 9.89371538e-01 1.06536791e-03 -3.61148635e+01] [ 5.72822615e-03 -2.34930491e-04 9.99983566e-01 3.47215835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.800714057 meters Centerline goodness : 0.987429 with order 1 Centerline is valid? [True, True] Translation: X:639.56, Y:-36.13, Z:3.47 [[ 9.90415254e-01 1.38006839e-01 -5.63350873e-03 6.39560739e+02] [-1.38003016e-01 9.90431238e-01 1.06364628e-03 -3.61312762e+01] [ 5.72639349e-03 -2.76010302e-04 9.99983566e-01 3.46958759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.860714057 meters Centerline goodness : 0.986412 with order 1 Centerline is valid? [True, True] Translation: X:639.62, Y:-36.14, Z:3.47 [[ 9.91217354e-01 1.32122735e-01 -5.63386183e-03 6.39616735e+02] [-1.32118828e-01 9.91233317e-01 1.06177271e-03 -3.61448318e+01] [ 5.72475586e-03 -3.08108314e-04 9.99983566e-01 3.46971905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.920714057 meters Centerline goodness : 0.980198 with order 1 Centerline is valid? [True, True] Translation: X:639.67, Y:-36.18, Z:3.46 [[ 9.90114263e-01 1.40149930e-01 -5.63416076e-03 6.39670908e+02] [-1.40146161e-01 9.90130259e-01 1.06018410e-03 -3.61792515e+01] [ 5.72713778e-03 -2.60097395e-04 9.99983566e-01 3.46191679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.980714057 meters Centerline goodness : 0.980342 with order 1 Centerline is valid? [True, True] Translation: X:639.73, Y:-36.19, Z:3.47 [[ 9.91047806e-01 1.33388537e-01 -5.63419966e-03 6.39729314e+02] [-1.33384660e-01 9.91063776e-01 1.05997735e-03 -3.61878798e+01] [ 5.72524002e-03 -2.98972418e-04 9.99983566e-01 3.46979147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0407140570001 meters Centerline goodness : 0.980573 with order 1 Centerline is valid? [True, True] Translation: X:639.79, Y:-36.20, Z:3.47 [[ 9.90707761e-01 1.35891089e-01 -5.63425909e-03 6.39787344e+02] [-1.35887255e-01 9.90723741e-01 1.05966133e-03 -3.61983638e+01] [ 5.72599278e-03 -2.84190700e-04 9.99983566e-01 3.47212278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.100714057 meters Centerline goodness : 0.981283 with order 1 Centerline is valid? [True, True] Translation: X:639.85, Y:-36.21, Z:3.47 [[ 9.91138184e-01 1.32715305e-01 -5.63453752e-03 6.39846179e+02] [-1.32711428e-01 9.91154154e-01 1.05817875e-03 -3.62083800e+01] [ 5.72513179e-03 -3.01033848e-04 9.99983566e-01 3.47149025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1607140570001 meters Centerline goodness : 0.982218 with order 1 Centerline is valid? [True, True] Translation: X:639.90, Y:-36.22, Z:3.48 [[ 9.91142691e-01 1.32681636e-01 -5.63457871e-03 6.39904406e+02] [-1.32677760e-01 9.91158662e-01 1.05795940e-03 -3.62151459e+01] [ 5.72513328e-03 -3.01005450e-04 9.99983566e-01 3.47541833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.220714057 meters Centerline goodness : 0.980580 with order 1 Centerline is valid? [True, True] Translation: X:639.96, Y:-36.23, Z:3.47 [[ 9.90722976e-01 1.35780093e-01 -5.63486720e-03 6.39961332e+02] [-1.35776276e-01 9.90738960e-01 1.05642061e-03 -3.62275065e+01] [ 5.72612336e-03 -2.81538888e-04 9.99983566e-01 3.47168687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2807140570001 meters Centerline goodness : 0.980466 with order 1 Centerline is valid? [True, True] Translation: X:640.02, Y:-36.24, Z:3.47 [[ 9.90023991e-01 1.40786168e-01 -5.63496778e-03 6.40018283e+02] [-1.40782434e-01 9.90039995e-01 1.05588386e-03 -3.62373389e+01] [ 5.72749731e-03 -2.52045870e-04 9.99983566e-01 3.47299518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.340714057 meters Centerline goodness : 0.980433 with order 1 Centerline is valid? [True, True] Translation: X:640.08, Y:-36.25, Z:3.47 [[ 9.89191818e-01 1.46518911e-01 -5.63528768e-03 6.40075000e+02] [-1.46515279e-01 9.89207846e-01 1.05417375e-03 -3.62477046e+01] [ 5.72892718e-03 -2.17124295e-04 9.99983566e-01 3.47221995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.400714057 meters Centerline goodness : 0.986325 with order 1 Centerline is valid? [True, True] Translation: X:640.13, Y:-36.24, Z:3.47 [[ 9.90524983e-01 1.37216981e-01 -5.63543541e-03 6.40134996e+02] [-1.37213204e-01 9.90540977e-01 1.05338342e-03 -3.62423271e+01] [ 5.72667179e-03 -2.70146445e-04 9.99983566e-01 3.47320481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.460714057 meters Centerline goodness : 0.980463 with order 1 Centerline is valid? [True, True] Translation: X:640.19, Y:-36.25, Z:3.48 [[ 9.90535068e-01 1.37144159e-01 -5.63552882e-03 6.40193413e+02] [-1.37140383e-01 9.90551062e-01 1.05288345e-03 -3.62502893e+01] [ 5.72667587e-03 -2.70059395e-04 9.99983566e-01 3.47633182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.520714057 meters Centerline goodness : 0.979183 with order 1 Centerline is valid? [True, True] Translation: X:640.25, Y:-36.26, Z:3.48 [[ 9.91717447e-01 1.28315015e-01 -5.63572266e-03 6.40252054e+02] [-1.28311103e-01 9.91733409e-01 1.05184485e-03 -3.62579296e+01] [ 5.72410194e-03 -3.20007096e-04 9.99983566e-01 3.47863732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.580714057 meters Centerline goodness : 0.986457 with order 1 Centerline is valid? [True, True] Translation: X:640.31, Y:-36.27, Z:3.47 [[ 9.92724960e-01 1.20272145e-01 -5.63606619e-03 6.40309847e+02] [-1.20268114e-01 9.92740892e-01 1.05000092e-03 -3.62675199e+01] [ 5.72143924e-03 -3.64523073e-04 9.99983566e-01 3.47400080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.640714057 meters Centerline goodness : 0.979229 with order 1 Centerline is valid? [True, True] Translation: X:640.36, Y:-36.29, Z:3.47 [[ 9.92217734e-01 1.24387292e-01 -5.63644137e-03 6.40364813e+02] [-1.24383339e-01 9.92233686e-01 1.04798308e-03 -3.62911497e+01] [ 5.72302277e-03 -3.38748003e-04 9.99983566e-01 3.47430260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.700714057 meters Centerline goodness : 0.984487 with order 1 Centerline is valid? [True, True] Translation: X:640.42, Y:-36.29, Z:3.48 [[ 9.95094299e-01 9.87702676e-02 -5.63651619e-03 6.40424759e+02] [-9.87659065e-02 9.95110144e-01 1.04758050e-03 -3.62871507e+01] [ 5.71242424e-03 -4.85745756e-04 9.99983566e-01 3.47781947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.760714057 meters Centerline goodness : 0.986881 with order 1 Centerline is valid? [True, True] Translation: X:640.48, Y:-36.29, Z:3.47 [[ 9.95851957e-01 9.08135801e-02 -5.63680800e-03 6.40483177e+02] [-9.08091013e-02 9.95867769e-01 1.04600798e-03 -3.62894433e+01] [ 5.70850713e-03 -5.29795627e-04 9.99983566e-01 3.47178915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.820714057 meters Centerline goodness : 0.986434 with order 1 Centerline is valid? [True, True] Translation: X:640.54, Y:-36.30, Z:3.47 [[ 9.96139866e-01 8.75990315e-02 -5.63714855e-03 6.40539552e+02] [-8.75945121e-02 9.96155666e-01 1.04416943e-03 -3.62957128e+01] [ 5.70694570e-03 -5.46355520e-04 9.99983566e-01 3.47138746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.880714057 meters Centerline goodness : 0.987413 with order 1 Centerline is valid? [True, True] Translation: X:640.60, Y:-36.30, Z:3.47 [[ 9.96217962e-01 8.67063653e-02 -5.63727982e-03 6.40597806e+02] [-8.67018357e-02 9.96233759e-01 1.04346028e-03 -3.62987972e+01] [ 5.70652311e-03 -5.50751362e-04 9.99983566e-01 3.47147073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.940714057 meters Centerline goodness : 0.986876 with order 1 Centerline is valid? [True, True] Translation: X:640.66, Y:-36.30, Z:3.47 [[ 9.96023490e-01 8.89124599e-02 -5.63758492e-03 6.40656254e+02] [-8.89079745e-02 9.96039300e-01 1.04180928e-03 -3.63034536e+01] [ 5.70788596e-03 -5.36440255e-04 9.99983566e-01 3.47245236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.000714057 meters Centerline goodness : 0.979202 with order 1 Centerline is valid? [True, True] Translation: X:640.72, Y:-36.30, Z:3.48 [[ 9.95368227e-01 9.59703402e-02 -5.63789341e-03 6.40716943e+02] [-9.59659764e-02 9.95384071e-01 1.04013714e-03 -3.63014004e+01] [ 5.71169161e-03 -4.94273517e-04 9.99983566e-01 3.48098102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.060714057 meters Centerline goodness : 0.989198 with order 1 Centerline is valid? [True, True] Translation: X:640.78, Y:-36.31, Z:3.48 [[ 9.94935351e-01 1.00358658e-01 -5.63797029e-03 6.40776019e+02] [-1.00354367e-01 9.94951215e-01 1.03972026e-03 -3.63068084e+01] [ 5.71385032e-03 -4.68659504e-04 9.99983566e-01 3.47500565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.120714057 meters Centerline goodness : 0.990127 with order 1 Centerline is valid? [True, True] Translation: X:640.83, Y:-36.31, Z:3.48 [[ 9.94577597e-01 1.03844187e-01 -5.63804796e-03 6.40834368e+02] [-1.03839953e-01 9.94593477e-01 1.03929888e-03 -3.63082157e+01] [ 5.71549087e-03 -4.48208747e-04 9.99983566e-01 3.47555298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.180714057 meters Centerline goodness : 0.982702 with order 1 Centerline is valid? [True, True] Translation: X:640.89, Y:-36.31, Z:3.48 [[ 9.94722257e-01 1.02449214e-01 -5.63834676e-03 6.40893714e+02] [-1.02444967e-01 9.94738132e-01 1.03767532e-03 -3.63104231e+01] [ 5.71498755e-03 -4.54578487e-04 9.99983566e-01 3.47674819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.240714057 meters Centerline goodness : 0.983297 with order 1 Centerline is valid? [True, True] Translation: X:640.95, Y:-36.31, Z:3.48 [[ 9.95039307e-01 9.93226312e-02 -5.63853326e-03 6.40951181e+02] [-9.93183403e-02 9.95055171e-01 1.03666094e-03 -3.63120364e+01] [ 5.71361556e-03 -4.71508621e-04 9.99983566e-01 3.47714984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.300714057 meters Centerline goodness : 0.986948 with order 1 Centerline is valid? [True, True] Translation: X:641.01, Y:-36.33, Z:3.48 [[ 9.94221120e-01 1.07203395e-01 -5.63893069e-03 6.41006822e+02] [-1.07199243e-01 9.94237020e-01 1.03449456e-03 -3.63315344e+01] [ 5.71733498e-03 -4.24027238e-04 9.99983566e-01 3.48066591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.360714057 meters Centerline goodness : 0.992600 with order 1 Centerline is valid? [True, True] Translation: X:641.07, Y:-36.32, Z:3.48 [[ 9.95437532e-01 9.52487209e-02 -5.63928108e-03 6.41066299e+02] [-9.52443881e-02 9.95453384e-01 1.03258099e-03 -3.63240315e+01] [ 5.71199345e-03 -4.90759997e-04 9.99983566e-01 3.47591669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.420714057 meters Centerline goodness : 0.993245 with order 1 Centerline is valid? [True, True] Translation: X:641.12, Y:-36.33, Z:3.48 [[ 9.95777375e-01 9.16275920e-02 -5.63940445e-03 6.41124375e+02] [-9.16232053e-02 9.95793213e-01 1.03190675e-03 -3.63285939e+01] [ 5.71023181e-03 -5.10849079e-04 9.99983566e-01 3.47557431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.480714057 meters Centerline goodness : 0.992745 with order 1 Centerline is valid? [True, True] Translation: X:641.18, Y:-36.33, Z:3.47 [[ 9.96015299e-01 8.90040330e-02 -5.63970366e-03 6.41181448e+02] [-8.89996138e-02 9.96031128e-01 1.03026887e-03 -3.63344951e+01] [ 5.70901848e-03 -5.24232106e-04 9.99983566e-01 3.47486243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5407140570001 meters Centerline goodness : 0.993099 with order 1 Centerline is valid? [True, True] Translation: X:641.24, Y:-36.34, Z:3.48 [[ 9.96258841e-01 8.62352262e-02 -5.63983219e-03 6.41239625e+02] [-8.62307670e-02 9.96274658e-01 1.02956482e-03 -3.63376862e+01] [ 5.70760664e-03 -5.39386000e-04 9.99983566e-01 3.47638146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.600714057 meters Centerline goodness : 0.992311 with order 1 Centerline is valid? [True, True] Translation: X:641.30, Y:-36.34, Z:3.48 [[ 9.96360131e-01 8.50569140e-02 -5.64012214e-03 6.41297122e+02] [-8.50524450e-02 9.96375946e-01 1.02797396e-03 -3.63434946e+01] [ 5.70711832e-03 -5.44526088e-04 9.99983566e-01 3.47825984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6607140570001 meters Centerline goodness : 0.988465 with order 1 Centerline is valid? [True, True] Translation: X:641.36, Y:-36.35, Z:3.49 [[ 9.95969524e-01 8.95147664e-02 -5.64041783e-03 6.41355505e+02] [-8.95103774e-02 9.95985361e-01 1.02634898e-03 -3.63504912e+01] [ 5.70964697e-03 -5.17336375e-04 9.99983566e-01 3.48966854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.720714057 meters Centerline goodness : 0.980735 with order 1 Centerline is valid? [True, True] Translation: X:641.42, Y:-36.35, Z:3.49 [[ 9.96257816e-01 8.62470065e-02 -5.64070317e-03 6.41415521e+02] [-8.62425744e-02 9.96273641e-01 1.02477834e-03 -3.63509186e+01] [ 5.70806795e-03 -5.34474670e-04 9.99983566e-01 3.48847916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7807140570001 meters Centerline goodness : 0.988569 with order 1 Centerline is valid? [True, True] Translation: X:641.47, Y:-36.37, Z:3.49 [[ 9.95376562e-01 9.58836934e-02 -5.64075565e-03 6.41471736e+02] [-9.58794162e-02 9.95392429e-01 1.02448939e-03 -3.63674975e+01] [ 5.71299730e-03 -4.78920365e-04 9.99983566e-01 3.48771846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.840714057 meters Centerline goodness : 0.982934 with order 1 Centerline is valid? [True, True] Translation: X:641.53, Y:-36.36, Z:3.48 [[ 9.96127865e-01 8.77351486e-02 -5.64086075e-03 6.41532860e+02] [-8.77307450e-02 9.96143698e-01 1.02391037e-03 -3.63611524e+01] [ 5.70894082e-03 -5.25068734e-04 9.99983566e-01 3.48279103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.900714057 meters Centerline goodness : 0.992805 with order 1 Centerline is valid? [True, True] Translation: X:641.59, Y:-36.37, Z:3.48 [[ 9.95882776e-01 9.04747109e-02 -5.64120000e-03 6.41589415e+02] [-9.04703613e-02 9.95898624e-01 1.02203790e-03 -3.63710496e+01] [ 5.71053190e-03 -5.07468534e-04 9.99983566e-01 3.47696752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.960714057 meters Centerline goodness : 0.992289 with order 1 Centerline is valid? [True, True] Translation: X:641.65, Y:-36.38, Z:3.48 [[ 9.95738859e-01 9.20450945e-02 -5.64142914e-03 6.41647082e+02] [-9.20407770e-02 9.95754715e-01 1.02077151e-03 -3.63788239e+01] [ 5.71143668e-03 -4.97180340e-04 9.99983566e-01 3.47680487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.020714057 meters Centerline goodness : 0.986665 with order 1 Centerline is valid? [True, True] Translation: X:641.70, Y:-36.40, Z:3.48 [[ 9.93976952e-01 1.09444001e-01 -5.64171507e-03 6.41702033e+02] [-1.09439971e-01 9.93992884e-01 1.01918873e-03 -3.64007561e+01] [ 5.71936873e-03 -3.95620972e-04 9.99983566e-01 3.47563393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.080714057 meters Centerline goodness : 0.987292 with order 1 Centerline is valid? [True, True] Translation: X:641.76, Y:-36.41, Z:3.48 [[ 9.93832979e-01 1.10743754e-01 -5.64180301e-03 6.41760284e+02] [-1.10739747e-01 9.93848917e-01 1.01870171e-03 -3.64091570e+01] [ 5.71991467e-03 -3.87647515e-04 9.99983566e-01 3.47683181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.140714057 meters Centerline goodness : 0.986929 with order 1 Centerline is valid? [True, True] Translation: X:641.82, Y:-36.42, Z:3.48 [[ 9.93587317e-01 1.12926573e-01 -5.64204712e-03 6.41818125e+02] [-1.12922609e-01 9.93603266e-01 1.01734791e-03 -3.64158088e+01] [ 5.72084206e-03 -3.73709298e-04 9.99983566e-01 3.47849594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.200714057 meters Centerline goodness : 0.988555 with order 1 Centerline is valid? [True, True] Translation: X:641.88, Y:-36.42, Z:3.48 [[ 9.93435483e-01 1.14254571e-01 -5.64217530e-03 6.41877947e+02] [-1.14250632e-01 9.93451438e-01 1.01663655e-03 -3.64207304e+01] [ 5.72138254e-03 -3.65340730e-04 9.99983566e-01 3.47729654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.260714057 meters Centerline goodness : 0.987284 with order 1 Centerline is valid? [True, True] Translation: X:641.94, Y:-36.42, Z:3.49 [[ 9.94152793e-01 1.07835008e-01 -5.64221233e-03 6.41938501e+02] [-1.07830967e-01 9.94168723e-01 1.01643097e-03 -3.64184703e+01] [ 5.71891787e-03 -4.02082476e-04 9.99983566e-01 3.48666453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.320714057 meters Centerline goodness : 0.988973 with order 1 Centerline is valid? [True, True] Translation: X:642.00, Y:-36.43, Z:3.48 [[ 9.94538567e-01 1.04217089e-01 -5.64250745e-03 6.41997312e+02] [-1.04212999e-01 9.94554484e-01 1.01479002e-03 -3.64251605e+01] [ 5.71753955e-03 -4.21225182e-04 9.99983566e-01 3.48131001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.380714057 meters Centerline goodness : 0.981687 with order 1 Centerline is valid? [True, True] Translation: X:642.06, Y:-36.43, Z:3.48 [[ 9.94648788e-01 1.03159811e-01 -5.64282639e-03 6.42055794e+02] [-1.03155715e-01 9.94664703e-01 1.01301342e-03 -3.64312054e+01] [ 5.71722251e-03 -4.25502776e-04 9.99983566e-01 3.48344054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.440714057 meters Centerline goodness : 0.990152 with order 1 Centerline is valid? [True, True] Translation: X:642.11, Y:-36.44, Z:3.48 [[ 9.94893773e-01 1.00769711e-01 -5.64316182e-03 6.42113136e+02] [-1.00765587e-01 9.94909681e-01 1.01114142e-03 -3.64405825e+01] [ 5.71632875e-03 -4.37341789e-04 9.99983566e-01 3.48070634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.500714057 meters Centerline goodness : 0.992182 with order 1 Centerline is valid? [True, True] Translation: X:642.17, Y:-36.45, Z:3.48 [[ 9.94465117e-01 1.04915602e-01 -5.64329055e-03 6.42169292e+02] [-1.04911549e-01 9.94481044e-01 1.01042244e-03 -3.64506301e+01] [ 5.71815455e-03 -4.12783519e-04 9.99983566e-01 3.47981466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.560714057 meters Centerline goodness : 0.992212 with order 1 Centerline is valid? [True, True] Translation: X:642.23, Y:-36.46, Z:3.48 [[ 9.94382698e-01 1.05693902e-01 -5.64344220e-03 6.42225253e+02] [-1.05689866e-01 9.94398629e-01 1.00957473e-03 -3.64592870e+01] [ 5.71853708e-03 -4.07448991e-04 9.99983566e-01 3.47854526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.620714057 meters Centerline goodness : 0.992437 with order 1 Centerline is valid? [True, True] Translation: X:642.28, Y:-36.47, Z:3.48 [[ 9.94231198e-01 1.07109639e-01 -5.64356544e-03 6.42281850e+02] [-1.07105629e-01 9.94247135e-01 1.00888531e-03 -3.64675455e+01] [ 5.71916012e-03 -3.98607625e-04 9.99983566e-01 3.47818989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.680714057 meters Centerline goodness : 0.984125 with order 1 Centerline is valid? [True, True] Translation: X:642.34, Y:-36.48, Z:3.48 [[ 9.93804386e-01 1.10999957e-01 -5.64368620e-03 6.42337941e+02] [-1.10996013e-01 9.93820340e-01 1.00820934e-03 -3.64759859e+01] [ 5.72072134e-03 -3.75536193e-04 9.99983566e-01 3.48224281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.740714057 meters Centerline goodness : 0.992676 with order 1 Centerline is valid? [True, True] Translation: X:642.40, Y:-36.48, Z:3.48 [[ 9.94124249e-01 1.08097748e-01 -5.64402805e-03 6.42395877e+02] [-1.08093769e-01 9.94140194e-01 1.00629200e-03 -3.64847951e+01] [ 5.71973304e-03 -3.90295017e-04 9.99983566e-01 3.48000581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.800714057 meters Centerline goodness : 0.993012 with order 1 Centerline is valid? [True, True] Translation: X:642.45, Y:-36.49, Z:3.48 [[ 9.94028151e-01 1.08977868e-01 -5.64432966e-03 6.42453157e+02] [-1.08973912e-01 9.94044102e-01 1.00459743e-03 -3.64932417e+01] [ 5.72019149e-03 -3.83513445e-04 9.99983566e-01 3.48091369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.860714057 meters Centerline goodness : 0.981463 with order 1 Centerline is valid? [True, True] Translation: X:642.51, Y:-36.50, Z:3.49 [[ 9.93695305e-01 1.11972236e-01 -5.64441225e-03 6.42511050e+02] [-1.11968331e-01 9.93711268e-01 1.00413317e-03 -3.65030694e+01] [ 5.72135109e-03 -3.65807001e-04 9.99983566e-01 3.48541819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.920714057 meters Centerline goodness : 0.991440 with order 1 Centerline is valid? [True, True] Translation: X:642.57, Y:-36.51, Z:3.48 [[ 9.94041270e-01 1.08858120e-01 -5.64472524e-03 6.42568883e+02] [-1.08854175e-01 9.94057224e-01 1.00237061e-03 -3.65108669e+01] [ 5.72029608e-03 -3.81945848e-04 9.99983566e-01 3.48225074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.980714057 meters Centerline goodness : 0.993141 with order 1 Centerline is valid? [True, True] Translation: X:642.63, Y:-36.52, Z:3.48 [[ 9.93545529e-01 1.13293497e-01 -5.64485659e-03 6.42625231e+02] [-1.13289628e-01 9.93561501e-01 1.00163037e-03 -3.65210737e+01] [ 5.72199039e-03 -3.55661677e-04 9.99983566e-01 3.48317204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0407140570001 meters Centerline goodness : 0.990171 with order 1 Centerline is valid? [True, True] Translation: X:642.68, Y:-36.53, Z:3.49 [[ 9.92890361e-01 1.18898553e-01 -5.64500781e-03 6.42682258e+02] [-1.18894778e-01 9.92906355e-01 1.00077736e-03 -3.65331269e+01] [ 5.72395511e-03 -3.22500246e-04 9.99983566e-01 3.48597322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.100714057 meters Centerline goodness : 0.989742 with order 1 Centerline is valid? [True, True] Translation: X:642.74, Y:-36.54, Z:3.48 [[ 9.93226289e-01 1.16058904e-01 -5.64527952e-03 6.42740611e+02] [-1.16055093e-01 9.93242275e-01 9.99242355e-04 -3.65429223e+01] [ 5.72310124e-03 -3.37310338e-04 9.99983566e-01 3.48176386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1607140570001 meters Centerline goodness : 0.993548 with order 1 Centerline is valid? [True, True] Translation: X:642.80, Y:-36.55, Z:3.48 [[ 9.92811805e-01 1.19552695e-01 -5.64557442e-03 6.42797240e+02] [-1.19548949e-01 9.92827807e-01 9.97573379e-04 -3.65504868e+01] [ 5.72434586e-03 -3.15480136e-04 9.99983566e-01 3.48116941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.220714057 meters Centerline goodness : 0.993229 with order 1 Centerline is valid? [True, True] Translation: X:642.85, Y:-36.56, Z:3.48 [[ 9.92379981e-01 1.23085736e-01 -5.64572149e-03 6.42853306e+02] [-1.23082052e-01 9.92395997e-01 9.96740346e-04 -3.65599283e+01] [ 5.72547593e-03 -2.94258180e-04 9.99983566e-01 3.48171434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2807140570001 meters Centerline goodness : 0.983266 with order 1 Centerline is valid? [True, True] Translation: X:642.91, Y:-36.57, Z:3.48 [[ 9.92335813e-01 1.23441318e-01 -5.64584127e-03 6.42910406e+02] [-1.23437643e-01 9.92351831e-01 9.96061449e-04 -3.65672521e+01] [ 5.72561606e-03 -2.91518107e-04 9.99983566e-01 3.48178611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.340714057 meters Centerline goodness : 0.992348 with order 1 Centerline is valid? [True, True] Translation: X:642.97, Y:-36.58, Z:3.48 [[ 9.91990284e-01 1.26187944e-01 -5.64618661e-03 6.42967090e+02] [-1.26184325e-01 9.92006314e-01 9.94099987e-04 -3.65809423e+01] [ 5.72649621e-03 -2.73677282e-04 9.99983566e-01 3.48207415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.400714057 meters Centerline goodness : 0.992519 with order 1 Centerline is valid? [True, True] Translation: X:643.02, Y:-36.59, Z:3.48 [[ 9.92177012e-01 1.24711240e-01 -5.64657604e-03 6.43023171e+02] [-1.24707610e-01 9.92193040e-01 9.91883094e-04 -3.65921600e+01] [ 5.72619241e-03 -2.79952603e-04 9.99983566e-01 3.48310758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.460714057 meters Centerline goodness : 0.985851 with order 1 Centerline is valid? [True, True] Translation: X:643.08, Y:-36.62, Z:3.48 [[ 9.91184526e-01 1.32368234e-01 -5.64669638e-03 6.43077816e+02] [-1.32364731e-01 9.91200583e-01 9.91197518e-04 -3.66225597e+01] [ 5.72821181e-03 -2.35036193e-04 9.99983566e-01 3.48252940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.520714057 meters Centerline goodness : 0.988078 with order 1 Centerline is valid? [True, True] Translation: X:643.14, Y:-36.62, Z:3.50 [[ 9.92206131e-01 1.24479337e-01 -5.64694874e-03 6.43136130e+02] [-1.24475716e-01 9.92222161e-01 9.89757704e-04 -3.66226680e+01] [ 5.72623206e-03 -2.79135677e-04 9.99983566e-01 3.49658777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.580714057 meters Centerline goodness : 0.983620 with order 1 Centerline is valid? [True, True] Translation: X:643.19, Y:-36.63, Z:3.49 [[ 9.92955008e-01 1.18357348e-01 -5.64709980e-03 6.43194201e+02] [-1.18353632e-01 9.92971017e-01 9.88895081e-04 -3.66275972e+01] [ 5.72444943e-03 -3.13573550e-04 9.99983566e-01 3.49323631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.640714057 meters Centerline goodness : 0.992175 with order 1 Centerline is valid? [True, True] Translation: X:643.25, Y:-36.64, Z:3.48 [[ 9.93049743e-01 1.17559832e-01 -5.64739513e-03 6.43251863e+02] [-1.17556113e-01 9.93065751e-01 9.87205585e-04 -3.66425053e+01] [ 5.72429041e-03 -3.16458432e-04 9.99983566e-01 3.48490136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.700714057 meters Centerline goodness : 0.991909 with order 1 Centerline is valid? [True, True] Translation: X:643.31, Y:-36.66, Z:3.48 [[ 9.93067193e-01 1.17412335e-01 -5.64745841e-03 6.43306882e+02] [-1.17408615e-01 9.93083201e-01 9.86843467e-04 -3.66562593e+01] [ 5.72426367e-03 -3.16941600e-04 9.99983566e-01 3.48374537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.760714057 meters Centerline goodness : 0.991774 with order 1 Centerline is valid? [True, True] Translation: X:643.36, Y:-36.67, Z:3.48 [[ 9.92982517e-01 1.18126317e-01 -5.64756978e-03 6.43363038e+02] [-1.18122612e-01 9.92998528e-01 9.86205696e-04 -3.66698622e+01] [ 5.72452533e-03 -3.12179319e-04 9.99983566e-01 3.48354805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.820714057 meters Centerline goodness : 0.981645 with order 1 Centerline is valid? [True, True] Translation: X:643.42, Y:-36.68, Z:3.49 [[ 9.93082294e-01 1.17284525e-01 -5.64785167e-03 6.43420856e+02] [-1.17280816e-01 9.93098304e-01 9.84588696e-04 -3.66775190e+01] [ 5.72434893e-03 -3.15392949e-04 9.99983566e-01 3.48724696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.880714057 meters Centerline goodness : 0.990772 with order 1 Centerline is valid? [True, True] Translation: X:643.48, Y:-36.69, Z:3.48 [[ 9.92292994e-01 1.23784944e-01 -5.64817958e-03 6.43476635e+02] [-1.23781351e-01 9.92309030e-01 9.82704013e-04 -3.66935192e+01] [ 5.72638357e-03 -2.75991007e-04 9.99983566e-01 3.48339094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.940714057 meters Centerline goodness : 0.990731 with order 1 Centerline is valid? [True, True] Translation: X:643.53, Y:-36.71, Z:3.48 [[ 9.91573859e-01 1.29419394e-01 -5.64830543e-03 6.43533718e+02] [-1.29415896e-01 9.91589916e-01 9.81980167e-04 -3.67058215e+01] [ 5.72788998e-03 -2.42725355e-04 9.99983566e-01 3.48301961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.000714057 meters Centerline goodness : 0.990157 with order 1 Centerline is valid? [True, True] Translation: X:643.59, Y:-36.72, Z:3.48 [[ 9.91326767e-01 1.31298648e-01 -5.64858216e-03 6.43590481e+02] [-1.31295189e-01 9.91342833e-01 9.80385736e-04 -3.67165435e+01] [ 5.72840476e-03 -2.30250957e-04 9.99983566e-01 3.48385011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.060714057 meters Centerline goodness : 0.990548 with order 1 Centerline is valid? [True, True] Translation: X:643.65, Y:-36.73, Z:3.49 [[ 9.90808816e-01 1.35151697e-01 -5.64885550e-03 6.43646960e+02] [-1.35148310e-01 9.90824897e-01 9.78808237e-04 -3.67296406e+01] [ 5.72931426e-03 -2.06378556e-04 9.99983566e-01 3.48529824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.120714057 meters Centerline goodness : 0.991091 with order 1 Centerline is valid? [True, True] Translation: X:643.70, Y:-36.74, Z:3.49 [[ 9.90587201e-01 1.36766536e-01 -5.64912517e-03 6.43703044e+02] [-1.36763184e-01 9.90603289e-01 9.77249370e-04 -3.67428637e+01] [ 5.72969699e-03 -1.95458372e-04 9.99983566e-01 3.48526282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.180714057 meters Centerline goodness : 0.991235 with order 1 Centerline is valid? [True, True] Translation: X:643.76, Y:-36.76, Z:3.49 [[ 9.90654264e-01 1.36279914e-01 -5.64920787e-03 6.43759388e+02] [-1.36276557e-01 9.90670352e-01 9.76771077e-04 -3.67582699e+01] [ 5.72961703e-03 -1.97787835e-04 9.99983566e-01 3.48570035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.240714057 meters Centerline goodness : 0.991237 with order 1 Centerline is valid? [True, True] Translation: X:643.82, Y:-36.77, Z:3.49 [[ 9.90830988e-01 1.34989027e-01 -5.64946841e-03 6.43815818e+02] [-1.34985657e-01 9.90847073e-01 9.75261831e-04 -3.67717285e+01] [ 5.72940888e-03 -2.03722437e-04 9.99983566e-01 3.48685955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.300714057 meters Centerline goodness : 0.987258 with order 1 Centerline is valid? [True, True] Translation: X:643.87, Y:-36.79, Z:3.50 [[ 9.90663576e-01 1.36212189e-01 -5.64974318e-03 6.43871641e+02] [-1.36208849e-01 9.90679666e-01 9.73667466e-04 -3.67931123e+01] [ 5.72971107e-03 -1.95031881e-04 9.99983566e-01 3.49638772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.360714057 meters Centerline goodness : 0.991601 with order 1 Centerline is valid? [True, True] Translation: X:643.93, Y:-36.80, Z:3.49 [[ 9.91112189e-01 1.32908640e-01 -5.65000584e-03 6.43928492e+02] [-1.32905254e-01 9.91128270e-01 9.72140929e-04 -3.68028534e+01] [ 5.72908644e-03 -2.12585261e-04 9.99983566e-01 3.48694769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.420714057 meters Centerline goodness : 0.991499 with order 1 Centerline is valid? [True, True] Translation: X:643.98, Y:-36.82, Z:3.49 [[ 9.91186320e-01 1.32354658e-01 -5.65010670e-03 6.43984836e+02] [-1.32351267e-01 9.91202400e-01 9.71554334e-04 -3.68188709e+01] [ 5.72898907e-03 -2.15192584e-04 9.99983566e-01 3.48749717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.480714057 meters Centerline goodness : 0.992273 with order 1 Centerline is valid? [True, True] Translation: X:644.04, Y:-36.83, Z:3.49 [[ 9.91436197e-01 1.30469692e-01 -5.65038544e-03 6.44041003e+02] [-1.30466280e-01 9.91452273e-01 9.69930541e-04 -3.68329060e+01] [ 5.72863403e-03 -2.24439480e-04 9.99983566e-01 3.48713511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5407140570001 meters Centerline goodness : 0.992856 with order 1 Centerline is valid? [True, True] Translation: X:644.10, Y:-36.85, Z:3.49 [[ 9.91946071e-01 1.26534828e-01 -5.65066288e-03 6.44097172e+02] [-1.26531361e-01 9.91962135e-01 9.68311519e-04 -3.68496426e+01] [ 5.72776875e-03 -2.45526741e-04 9.99983566e-01 3.48661672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.600714057 meters Centerline goodness : 0.992367 with order 1 Centerline is valid? [True, True] Translation: X:644.15, Y:-36.87, Z:3.49 [[ 9.92543452e-01 1.21760267e-01 -5.65093673e-03 6.44153484e+02] [-1.21756732e-01 9.92559501e-01 9.66710742e-04 -3.68659512e+01] [ 5.72659790e-03 -2.71462828e-04 9.99983566e-01 3.48504058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6607140570001 meters Centerline goodness : 0.992533 with order 1 Centerline is valid? [True, True] Translation: X:644.21, Y:-36.88, Z:3.49 [[ 9.92975081e-01 1.18188638e-01 -5.65102081e-03 6.44209504e+02] [-1.18185048e-01 9.92991118e-01 9.66218983e-04 -3.68796798e+01] [ 5.72560958e-03 -2.91565208e-04 9.99983566e-01 3.48614708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.720714057 meters Centerline goodness : 0.992200 with order 1 Centerline is valid? [True, True] Translation: X:644.27, Y:-36.90, Z:3.49 [[ 9.93212480e-01 1.16176725e-01 -5.65130282e-03 6.44265553e+02] [-1.16173112e-01 9.93228512e-01 9.64566699e-04 -3.68950001e+01] [ 5.72509529e-03 -3.01490250e-04 9.99983566e-01 3.48743313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7807140570001 meters Centerline goodness : 0.992235 with order 1 Centerline is valid? [True, True] Translation: X:644.32, Y:-36.91, Z:3.49 [[ 9.93770694e-01 1.11300802e-01 -5.65138937e-03 6.44323098e+02] [-1.11297113e-01 9.93786709e-01 9.64059342e-04 -3.69097118e+01] [ 5.72357622e-03 -3.29070598e-04 9.99983566e-01 3.48590926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.840714057 meters Centerline goodness : 0.992079 with order 1 Centerline is valid? [True, True] Translation: X:644.38, Y:-36.92, Z:3.49 [[ 9.94043011e-01 1.08841865e-01 -5.65163056e-03 6.44379676e+02] [-1.08838145e-01 9.94059018e-01 9.62643295e-04 -3.69219085e+01] [ 5.72283022e-03 -3.41795855e-04 9.99983566e-01 3.48612544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.900714057 meters Centerline goodness : 0.989897 with order 1 Centerline is valid? [True, True] Translation: X:644.44, Y:-36.94, Z:3.49 [[ 9.94068416e-01 1.08609579e-01 -5.65190466e-03 6.44436953e+02] [-1.08605864e-01 9.94084424e-01 9.61031342e-04 -3.69380637e+01] [ 5.72284760e-03 -3.41500917e-04 9.99983566e-01 3.48788903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.960714057 meters Centerline goodness : 0.984112 with order 1 Centerline is valid? [True, True] Translation: X:644.49, Y:-36.94, Z:3.49 [[ 9.94810045e-01 1.01592459e-01 -5.65216877e-03 6.44494368e+02] [-1.01588639e-01 9.94826029e-01 9.59475461e-04 -3.69429223e+01] [ 5.72040009e-03 -3.80299691e-04 9.99983566e-01 3.48853621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.020714057 meters Centerline goodness : 0.990083 with order 1 Centerline is valid? [True, True] Translation: X:644.55, Y:-36.96, Z:3.49 [[ 9.94059392e-01 1.08692110e-01 -5.65251590e-03 6.44550637e+02] [-1.08688416e-01 9.94075405e-01 9.57426040e-04 -3.69594042e+01] [ 5.72309170e-03 -3.37375344e-04 9.99983566e-01 3.49213870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.080714057 meters Centerline goodness : 0.990032 with order 1 Centerline is valid? [True, True] Translation: X:644.61, Y:-36.97, Z:3.49 [[ 9.94162434e-01 1.07745527e-01 -5.65292315e-03 6.44606690e+02] [-1.07741832e-01 9.94178448e-01 9.55015494e-04 -3.69668199e+01] [ 5.72291301e-03 -3.40384230e-04 9.99983566e-01 3.49161168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.140714057 meters Centerline goodness : 0.981759 with order 1 Centerline is valid? [True, True] Translation: X:644.66, Y:-36.98, Z:3.49 [[ 9.93335477e-01 1.15120252e-01 -5.65306193e-03 6.44663735e+02] [-1.15116680e-01 9.93351519e-01 9.54193295e-04 -3.69786931e+01] [ 5.72532462e-03 -2.97072329e-04 9.99983566e-01 3.49231659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.200714057 meters Centerline goodness : 0.992290 with order 1 Centerline is valid? [True, True] Translation: X:644.72, Y:-36.99, Z:3.49 [[ 9.93795483e-01 1.11079151e-01 -5.65335733e-03 6.44722319e+02] [-1.11075524e-01 9.93811512e-01 9.52439916e-04 -3.69861756e+01] [ 5.72416781e-03 -3.18580857e-04 9.99983566e-01 3.48664440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.260714057 meters Centerline goodness : 0.989132 with order 1 Centerline is valid? [True, True] Translation: X:644.78, Y:-37.00, Z:3.49 [[ 9.93896517e-01 1.10171452e-01 -5.65367287e-03 6.44778337e+02] [-1.10167821e-01 9.93912545e-01 9.50563167e-04 -3.69992602e+01] [ 5.72398131e-03 -3.21908599e-04 9.99983566e-01 3.48854591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.320714057 meters Centerline goodness : 0.988657 with order 1 Centerline is valid? [True, True] Translation: X:644.84, Y:-37.01, Z:3.49 [[ 9.94003628e-01 1.09200825e-01 -5.65393960e-03 6.44835066e+02] [-1.09197188e-01 9.94019655e-01 9.48973971e-04 -3.70094998e+01] [ 5.72375583e-03 -3.25889265e-04 9.99983566e-01 3.48990860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.380714057 meters Centerline goodness : 0.990526 with order 1 Centerline is valid? [True, True] Translation: X:644.89, Y:-37.02, Z:3.49 [[ 9.94244367e-01 1.06986761e-01 -5.65426133e-03 6.44892912e+02] [-1.06983099e-01 9.94260388e-01 9.47053160e-04 -3.70168079e+01] [ 5.72313021e-03 -3.36691871e-04 9.99983566e-01 3.48776158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.440714057 meters Centerline goodness : 0.990169 with order 1 Centerline is valid? [True, True] Translation: X:644.95, Y:-37.03, Z:3.49 [[ 9.94377054e-01 1.05746397e-01 -5.65457880e-03 6.44949189e+02] [-1.05742726e-01 9.94393072e-01 9.45153808e-04 -3.70285034e+01] [ 5.72282060e-03 -3.41908683e-04 9.99983566e-01 3.48809444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.500714057 meters Centerline goodness : 0.989557 with order 1 Centerline is valid? [True, True] Translation: X:645.01, Y:-37.04, Z:3.49 [[ 9.94391821e-01 1.05607433e-01 -5.65469949e-03 6.45006149e+02] [-1.05603764e-01 9.94407840e-01 9.44431169e-04 -3.70397563e+01] [ 5.72281646e-03 -3.41977082e-04 9.99983566e-01 3.48884182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.560714057 meters Centerline goodness : 0.990063 with order 1 Centerline is valid? [True, True] Translation: X:645.06, Y:-37.05, Z:3.49 [[ 9.94231503e-01 1.07106209e-01 -5.65496707e-03 6.45062808e+02] [-1.07102572e-01 9.94247530e-01 9.42826283e-04 -3.70513630e+01] [ 5.72341959e-03 -3.31726073e-04 9.99983566e-01 3.48943352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.620714057 meters Centerline goodness : 0.989725 with order 1 Centerline is valid? [True, True] Translation: X:645.12, Y:-37.06, Z:3.49 [[ 9.94101163e-01 1.08309257e-01 -5.65523972e-03 6.45118185e+02] [-1.08305649e-01 9.94117197e-01 9.41188020e-04 -3.70631317e+01] [ 5.72391043e-03 -3.23141696e-04 9.99983566e-01 3.48755524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.680714057 meters Centerline goodness : 0.987824 with order 1 Centerline is valid? [True, True] Translation: X:645.18, Y:-37.08, Z:3.49 [[ 9.93866834e-01 1.10438821e-01 -5.65535670e-03 6.45175510e+02] [-1.10435252e-01 9.93882876e-01 9.40484615e-04 -3.70781658e+01] [ 5.72462819e-03 -3.10165724e-04 9.99983566e-01 3.49177184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.740714057 meters Centerline goodness : 0.987667 with order 1 Centerline is valid? [True, True] Translation: X:645.23, Y:-37.09, Z:3.49 [[ 9.93769354e-01 1.11312557e-01 -5.65550433e-03 6.45232508e+02] [-1.11309007e-01 9.93785400e-01 9.39596022e-04 -3.70866441e+01] [ 5.72494647e-03 -3.04233159e-04 9.99983566e-01 3.49307622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.800714057 meters Centerline goodness : 0.987419 with order 1 Centerline is valid? [True, True] Translation: X:645.29, Y:-37.10, Z:3.49 [[ 9.93615824e-01 1.12674781e-01 -5.65580604e-03 6.45289492e+02] [-1.12671263e-01 9.93631877e-01 9.37776371e-04 -3.70961015e+01] [ 5.72545292e-03 -2.94542629e-04 9.99983566e-01 3.49201571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.860714057 meters Centerline goodness : 0.990220 with order 1 Centerline is valid? [True, True] Translation: X:645.35, Y:-37.11, Z:3.48 [[ 9.93413972e-01 1.14440763e-01 -5.65611034e-03 6.45347140e+02] [-1.14437284e-01 9.93430034e-01 9.35937363e-04 -3.71051632e+01] [ 5.72605928e-03 -2.82503348e-04 9.99983566e-01 3.48418725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.920714057 meters Centerline goodness : 0.990874 with order 1 Centerline is valid? [True, True] Translation: X:645.40, Y:-37.11, Z:3.49 [[ 9.93410889e-01 1.14467513e-01 -5.65637723e-03 6.45402943e+02] [-1.14464044e-01 9.93426952e-01 9.34321673e-04 -3.71145821e+01] [ 5.72614707e-03 -2.80713510e-04 9.99983566e-01 3.48514932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.980714057 meters Centerline goodness : 0.989968 with order 1 Centerline is valid? [True, True] Translation: X:645.46, Y:-37.13, Z:3.49 [[ 9.93373608e-01 1.14790592e-01 -5.65649408e-03 6.45459386e+02] [-1.14787132e-01 9.93389673e-01 9.33613689e-04 -3.71250422e+01] [ 5.72627287e-03 -2.78134465e-04 9.99983566e-01 3.48674485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0407140570001 meters Centerline goodness : 0.984272 with order 1 Centerline is valid? [True, True] Translation: X:645.52, Y:-37.15, Z:3.49 [[ 9.92041789e-01 1.25781914e-01 -5.65675476e-03 6.45515147e+02] [-1.25778641e-01 9.92057894e-01 9.32031520e-04 -3.71483425e+01] [ 5.72906093e-03 -2.13115288e-04 9.99983566e-01 3.48740472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.100714057 meters Centerline goodness : 0.989756 with order 1 Centerline is valid? [True, True] Translation: X:645.57, Y:-37.15, Z:3.48 [[ 9.93083523e-01 1.17273671e-01 -5.65700649e-03 6.45573452e+02] [-1.17270269e-01 9.93099601e-01 9.30501132e-04 -3.71453529e+01] [ 5.72709418e-03 -2.60666671e-04 9.99983566e-01 3.48465034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1607140570001 meters Centerline goodness : 0.987036 with order 1 Centerline is valid? [True, True] Translation: X:645.63, Y:-37.16, Z:3.49 [[ 9.92775358e-01 1.19854435e-01 -5.65712784e-03 6.45630142e+02] [-1.19851080e-01 9.92791446e-01 9.29762812e-04 -3.71595446e+01] [ 5.72778432e-03 -2.45032729e-04 9.99983566e-01 3.49148617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.220714057 meters Centerline goodness : 0.989453 with order 1 Centerline is valid? [True, True] Translation: X:645.69, Y:-37.16, Z:3.49 [[ 9.92827682e-01 1.19420227e-01 -5.65722665e-03 6.45688022e+02] [-1.19416868e-01 9.92843768e-01 9.29161161e-04 -3.71648545e+01] [ 5.72770287e-03 -2.46928635e-04 9.99983566e-01 3.48561729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2807140570001 meters Centerline goodness : 0.986136 with order 1 Centerline is valid? [True, True] Translation: X:645.74, Y:-37.18, Z:3.49 [[ 9.92356432e-01 1.23274919e-01 -5.65732541e-03 6.45743904e+02] [-1.23271626e-01 9.92372533e-01 9.28559500e-04 -3.71786364e+01] [ 5.72864244e-03 -2.24074292e-04 9.99983566e-01 3.49178581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.340714057 meters Centerline goodness : 0.986967 with order 1 Centerline is valid? [True, True] Translation: X:645.80, Y:-37.19, Z:3.49 [[ 9.92474611e-01 1.22319829e-01 -5.65741516e-03 6.45801158e+02] [-1.22316523e-01 9.92490709e-01 9.28012341e-04 -3.71898793e+01] [ 5.72844629e-03 -2.29033335e-04 9.99983566e-01 3.49068064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.400714057 meters Centerline goodness : 0.985975 with order 1 Centerline is valid? [True, True] Translation: X:645.86, Y:-37.20, Z:3.49 [[ 9.92216334e-01 1.24397492e-01 -5.65771621e-03 6.45857750e+02] [-1.24394230e-01 9.92232441e-01 9.26173334e-04 -3.72024428e+01] [ 5.72898320e-03 -2.15177058e-04 9.99983566e-01 3.49154839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.460714057 meters Centerline goodness : 0.982370 with order 1 Centerline is valid? [True, True] Translation: X:645.92, Y:-37.21, Z:3.49 [[ 9.92099481e-01 1.25325999e-01 -5.65802398e-03 6.45915316e+02] [-1.25322763e-01 9.92115593e-01 9.24289295e-04 -3.72079763e+01] [ 5.72925130e-03 -2.07907733e-04 9.99983566e-01 3.49134792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.520714057 meters Centerline goodness : 0.989197 with order 1 Centerline is valid? [True, True] Translation: X:645.97, Y:-37.22, Z:3.49 [[ 9.92300839e-01 1.23721572e-01 -5.65834077e-03 6.45973088e+02] [-1.23718321e-01 9.92316948e-01 9.22345881e-04 -3.72212281e+01] [ 5.72898153e-03 -2.15204170e-04 9.99983566e-01 3.48759801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.580714057 meters Centerline goodness : 0.989326 with order 1 Centerline is valid? [True, True] Translation: X:646.03, Y:-37.23, Z:3.49 [[ 9.92276945e-01 1.23913050e-01 -5.65866169e-03 6.46029485e+02] [-1.23909813e-01 9.92293057e-01 9.20372773e-04 -3.72334345e+01] [ 5.72909691e-03 -2.12100969e-04 9.99983566e-01 3.48772347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.640714057 meters Centerline goodness : 0.988476 with order 1 Centerline is valid? [True, True] Translation: X:646.08, Y:-37.25, Z:3.49 [[ 9.92298771e-01 1.23738129e-01 -5.65893081e-03 6.46084525e+02] [-1.23734899e-01 9.92314885e-01 9.18715096e-04 -3.72473690e+01] [ 5.72912137e-03 -2.11432626e-04 9.99983566e-01 3.48799424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.700714057 meters Centerline goodness : 0.988048 with order 1 Centerline is valid? [True, True] Translation: X:646.14, Y:-37.26, Z:3.49 [[ 9.92214201e-01 1.24414447e-01 -5.65911154e-03 6.46141318e+02] [-1.24411235e-01 9.92230317e-01 9.17600532e-04 -3.72591557e+01] [ 5.72930480e-03 -2.06399224e-04 9.99983566e-01 3.48826807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.760714057 meters Centerline goodness : 0.988004 with order 1 Centerline is valid? [True, True] Translation: X:646.20, Y:-37.27, Z:3.49 [[ 9.92097653e-01 1.25340408e-01 -5.65937343e-03 6.46197664e+02] [-1.25337219e-01 9.92113775e-01 9.15982445e-04 -3.72725607e+01] [ 5.72955195e-03 -1.99413905e-04 9.99983566e-01 3.48778195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.820714057 meters Centerline goodness : 0.981850 with order 1 Centerline is valid? [True, True] Translation: X:646.25, Y:-37.28, Z:3.49 [[ 9.92153796e-01 1.24895209e-01 -5.65964294e-03 6.46254152e+02] [-1.24892023e-01 9.92169918e-01 9.14314175e-04 -3.72838900e+01] [ 5.72952093e-03 -2.00296024e-04 9.99983566e-01 3.48980079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.880714057 meters Centerline goodness : 0.987039 with order 1 Centerline is valid? [True, True] Translation: X:646.31, Y:-37.30, Z:3.49 [[ 9.92959228e-01 1.18321328e-01 -5.65994868e-03 6.46311407e+02] [-1.18318046e-01 9.92975331e-01 9.12417597e-04 -3.72984994e+01] [ 5.72814787e-03 -2.36319403e-04 9.99983566e-01 3.48876730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.940714057 meters Centerline goodness : 0.981182 with order 1 Centerline is valid? [True, True] Translation: X:646.37, Y:-37.31, Z:3.49 [[ 9.93475938e-01 1.13901368e-01 -5.66025378e-03 6.46367619e+02] [-1.13898025e-01 9.93492029e-01 9.10520917e-04 -3.73110076e+01] [ 5.72712659e-03 -2.59888897e-04 9.99983566e-01 3.49415757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.000714057 meters Centerline goodness : 0.983747 with order 1 Centerline is valid? [True, True] Translation: X:646.42, Y:-37.33, Z:3.49 [[ 9.93406866e-01 1.14502211e-01 -5.66055014e-03 6.46423768e+02] [-1.14498888e-01 9.93422961e-01 9.08674774e-04 -3.73306429e+01] [ 5.72736575e-03 -2.54557064e-04 9.99983566e-01 3.49460814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.060714057 meters Centerline goodness : 0.982014 with order 1 Centerline is valid? [True, True] Translation: X:646.48, Y:-37.33, Z:3.49 [[ 9.94214230e-01 1.07266117e-01 -5.66088709e-03 6.46481751e+02] [-1.07262689e-01 9.94230302e-01 9.06570762e-04 -3.73319906e+01] [ 5.72546980e-03 -2.94123581e-04 9.99983566e-01 3.49441107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.120714057 meters Centerline goodness : 0.980956 with order 1 Centerline is valid? [True, True] Translation: X:646.54, Y:-37.36, Z:3.49 [[ 9.92651618e-01 1.20874791e-01 -5.66120655e-03 6.46536612e+02] [-1.20871595e-01 9.92667739e-01 9.04571395e-04 -3.73605409e+01] [ 5.72903699e-03 -2.13645193e-04 9.99983566e-01 3.48929335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.180714057 meters Centerline goodness : 0.982198 with order 1 Centerline is valid? [True, True] Translation: X:646.60, Y:-37.37, Z:3.49 [[ 9.92387363e-01 1.23025484e-01 -5.66152399e-03 6.46596589e+02] [-1.23022334e-01 9.92403492e-01 9.02580225e-04 -3.73668457e+01] [ 5.72955655e-03 -1.99215311e-04 9.99983566e-01 3.49414853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.240714057 meters Centerline goodness : 0.982043 with order 1 Centerline is valid? [True, True] Translation: X:646.66, Y:-37.38, Z:3.49 [[ 9.92078373e-01 1.25492826e-01 -5.66152399e-03 6.46655073e+02] [-1.25489717e-01 9.92094510e-01 9.02580225e-04 -3.73810798e+01] [ 5.73003421e-03 -1.84967279e-04 9.99983566e-01 3.48895175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.300714057 meters Centerline goodness : 0.981406 with order 1 Centerline is valid? [True, True] Translation: X:646.71, Y:-37.39, Z:3.49 [[ 9.91526005e-01 1.29784934e-01 -5.66155934e-03 6.46712524e+02] [-1.29781895e-01 9.91542155e-01 9.02358483e-04 -3.73913676e+01] [ 5.73078728e-03 -1.59944000e-04 9.99983566e-01 3.48865344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.360714057 meters Centerline goodness : 0.980003 with order 1 Centerline is valid? [True, True] Translation: X:646.77, Y:-37.40, Z:3.50 [[ 9.91146606e-01 1.32651232e-01 -5.66179961e-03 6.46770967e+02] [-1.32648249e-01 9.91162767e-01 9.00848340e-04 -3.73985958e+01] [ 5.73126361e-03 -1.41844972e-04 9.99983566e-01 3.49773623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.420714057 meters Centerline goodness : 0.980322 with order 1 Centerline is valid? [True, True] Translation: X:646.83, Y:-37.41, Z:3.50 [[ 9.91309338e-01 1.31429592e-01 -5.66204125e-03 6.46829130e+02] [-1.31426598e-01 9.91325497e-01 8.99327062e-04 -3.74053234e+01] [ 5.73112404e-03 -1.47368496e-04 9.99983566e-01 3.50326880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.480714057 meters Centerline goodness : 0.981541 with order 1 Centerline is valid? [True, True] Translation: X:646.89, Y:-37.42, Z:3.50 [[ 9.90892906e-01 1.34533222e-01 -5.66227945e-03 6.46885425e+02] [-1.34530287e-01 9.90909075e-01 8.97824813e-04 -3.74155495e+01] [ 5.73159136e-03 -1.27900159e-04 9.99983566e-01 3.50274104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5407140570001 meters Centerline goodness : 0.982014 with order 1 Centerline is valid? [True, True] Translation: X:646.94, Y:-37.43, Z:3.50 [[ 9.91717748e-01 1.28311517e-01 -5.66239642e-03 6.46942871e+02] [-1.28308484e-01 9.91733900e-01 8.97086454e-04 -3.74259445e+01] [ 5.73069701e-03 -1.63123055e-04 9.99983566e-01 3.50370857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.600714057 meters Centerline goodness : 0.979904 with order 1 Centerline is valid? [True, True] Translation: X:647.00, Y:-37.44, Z:3.51 [[ 9.91793568e-01 1.27724131e-01 -5.66262714e-03 6.47000999e+02] [-1.27721097e-01 9.91809719e-01 8.95627763e-04 -3.74363881e+01] [ 5.73064191e-03 -1.65040903e-04 9.99983566e-01 3.50911813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6607140570001 meters Centerline goodness : 0.983158 with order 1 Centerline is valid? [True, True] Translation: X:647.06, Y:-37.44, Z:3.51 [[ 9.92880756e-01 1.18977884e-01 -5.66286203e-03 6.47057767e+02] [-1.18974717e-01 9.92896881e-01 8.94140080e-04 -3.74399318e+01] [ 5.72902095e-03 -2.14037071e-04 9.99983566e-01 3.50984103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.720714057 meters Centerline goodness : 0.986606 with order 1 Centerline is valid? [True, True] Translation: X:647.12, Y:-37.45, Z:3.50 [[ 9.93603944e-01 1.12779125e-01 -5.66315187e-03 6.47115059e+02] [-1.12775868e-01 9.93620052e-01 8.92300592e-04 -3.74487473e+01] [ 5.72765413e-03 -2.47926522e-04 9.99983566e-01 3.49912874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7807140570001 meters Centerline goodness : 0.987269 with order 1 Centerline is valid? [True, True] Translation: X:647.17, Y:-37.46, Z:3.50 [[ 9.93640105e-01 1.12460081e-01 -5.66324137e-03 6.47171748e+02] [-1.12456821e-01 9.93656212e-01 8.91732192e-04 -3.74589617e+01] [ 5.72759924e-03 -2.49190746e-04 9.99983566e-01 3.50016144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.840714057 meters Centerline goodness : 0.986661 with order 1 Centerline is valid? [True, True] Translation: X:647.23, Y:-37.47, Z:3.50 [[ 9.93722358e-01 1.11730923e-01 -5.66349599e-03 6.47228847e+02] [-1.11727661e-01 9.93738465e-01 8.90112116e-04 -3.74682861e+01] [ 5.72748686e-03 -2.51755149e-04 9.99983566e-01 3.50007831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.900714057 meters Centerline goodness : 0.986409 with order 1 Centerline is valid? [True, True] Translation: X:647.29, Y:-37.48, Z:3.50 [[ 9.93677261e-01 1.12131272e-01 -5.66375009e-03 6.47286014e+02] [-1.12128026e-01 9.93693371e-01 8.88492372e-04 -3.74787571e+01] [ 5.72765870e-03 -2.47809552e-04 9.99983566e-01 3.49991512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.960714057 meters Centerline goodness : 0.981919 with order 1 Centerline is valid? [True, True] Translation: X:647.34, Y:-37.50, Z:3.50 [[ 9.93020259e-01 1.17807826e-01 -5.66400064e-03 6.47342868e+02] [-1.17804681e-01 9.93036389e-01 8.86892223e-04 -3.74979906e+01] [ 5.72904159e-03 -2.13456154e-04 9.99983566e-01 3.50303075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.020714057 meters Centerline goodness : 0.986389 with order 1 Centerline is valid? [True, True] Translation: X:647.40, Y:-37.50, Z:3.50 [[ 9.93557888e-01 1.13184095e-01 -5.66423612e-03 6.47400936e+02] [-1.13180883e-01 9.93574005e-01 8.85385760e-04 -3.74994610e+01] [ 5.72804936e-03 -2.38598761e-04 9.99983566e-01 3.49903520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.080714057 meters Centerline goodness : 0.985944 with order 1 Centerline is valid? [True, True] Translation: X:647.46, Y:-37.51, Z:3.50 [[ 9.93744217e-01 1.11536298e-01 -5.66432655e-03 6.47457427e+02] [-1.11533063e-01 9.93760330e-01 8.84806872e-04 -3.75100718e+01] [ 5.72767110e-03 -2.47512024e-04 9.99983566e-01 3.49917507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.140714057 meters Centerline goodness : 0.985686 with order 1 Centerline is valid? [True, True] Translation: X:647.51, Y:-37.52, Z:3.50 [[ 9.94002204e-01 1.09213234e-01 -5.66457966e-03 6.47514619e+02] [-1.09209970e-01 9.94018311e-01 8.83183456e-04 -3.75205791e+01] [ 5.72715123e-03 -2.59257726e-04 9.99983566e-01 3.49963448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.200714057 meters Centerline goodness : 0.986473 with order 1 Centerline is valid? [True, True] Translation: X:647.57, Y:-37.53, Z:3.50 [[ 9.94174731e-01 1.07631377e-01 -5.66483574e-03 6.47570414e+02] [-1.07628098e-01 9.94190835e-01 8.81537860e-04 -3.75303311e+01] [ 5.72680891e-03 -2.66707171e-04 9.99983566e-01 3.49965728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.260714057 meters Centerline goodness : 0.980833 with order 1 Centerline is valid? [True, True] Translation: X:647.63, Y:-37.55, Z:3.51 [[ 9.93566716e-01 1.13106536e-01 -5.66500807e-03 6.47626380e+02] [-1.13103351e-01 9.93582838e-01 8.80429026e-04 -3.75474737e+01] [ 5.72823708e-03 -2.34033578e-04 9.99983566e-01 3.50607603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.320714057 meters Centerline goodness : 0.982655 with order 1 Centerline is valid? [True, True] Translation: X:647.68, Y:-37.56, Z:3.50 [[ 9.94248779e-01 1.06945175e-01 -5.66526902e-03 6.47683594e+02] [-1.06941900e-01 9.94264883e-01 8.78746691e-04 -3.75583891e+01] [ 5.72675576e-03 -2.67838191e-04 9.99983566e-01 3.50018437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.380714057 meters Centerline goodness : 0.981507 with order 1 Centerline is valid? [True, True] Translation: X:647.74, Y:-37.56, Z:3.50 [[ 9.95056395e-01 9.91497472e-02 -5.66556843e-03 6.47740920e+02] [-9.91463571e-02 9.95072475e-01 8.76812051e-04 -3.75649294e+01] [ 5.72458689e-03 -3.10756967e-04 9.99983566e-01 3.50479392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.440714057 meters Centerline goodness : 0.984044 with order 1 Centerline is valid? [True, True] Translation: X:647.80, Y:-37.57, Z:3.50 [[ 9.95890450e-01 9.03886624e-02 -5.66587021e-03 6.47798743e+02] [-9.03851420e-02 9.95906502e-01 8.74857603e-04 -3.75663105e+01] [ 5.72175419e-03 -3.59151848e-04 9.99983566e-01 3.50296717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.500714057 meters Centerline goodness : 0.983956 with order 1 Centerline is valid? [True, True] Translation: X:647.86, Y:-37.57, Z:3.50 [[ 9.96086637e-01 8.82003871e-02 -5.66599739e-03 6.47856619e+02] [-8.81968361e-02 9.96102683e-01 8.74033118e-04 -3.75741666e+01] [ 5.72100526e-03 -3.70889665e-04 9.99983566e-01 3.50289473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.560714057 meters Centerline goodness : 0.985023 with order 1 Centerline is valid? [True, True] Translation: X:647.91, Y:-37.58, Z:3.50 [[ 9.96205465e-01 8.68479496e-02 -5.66609153e-03 6.47913824e+02] [-8.68443804e-02 9.96221507e-01 8.73422468e-04 -3.75819932e+01] [ 5.72053719e-03 -3.78040029e-04 9.99983566e-01 3.50234415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.620714057 meters Centerline goodness : 0.977360 with order 1 Centerline is valid? [True, True] Translation: X:647.97, Y:-37.59, Z:3.51 [[ 9.96180877e-01 8.71295244e-02 -5.66618482e-03 6.47972189e+02] [-8.71259631e-02 9.96196921e-01 8.72816795e-04 -3.75887217e+01] [ 5.72068399e-03 -3.75811591e-04 9.99983566e-01 3.50753401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.680714057 meters Centerline goodness : 0.984240 with order 1 Centerline is valid? [True, True] Translation: X:648.03, Y:-37.60, Z:3.50 [[ 9.96268621e-01 8.61204195e-02 -5.66645281e-03 6.48029919e+02] [-8.61168519e-02 9.96284663e-01 8.71073537e-04 -3.75967278e+01] [ 5.72041724e-03 -3.79846155e-04 9.99983566e-01 3.50270096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.740714057 meters Centerline goodness : 0.984379 with order 1 Centerline is valid? [True, True] Translation: X:648.09, Y:-37.60, Z:3.50 [[ 9.96283188e-01 8.59517324e-02 -5.66655953e-03 6.48086298e+02] [-8.59481660e-02 9.96299230e-01 8.70378685e-04 -3.76032983e+01] [ 5.72039945e-03 -3.80113252e-04 9.99983566e-01 3.50298814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.800714057 meters Centerline goodness : 0.985097 with order 1 Centerline is valid? [True, True] Translation: X:648.14, Y:-37.61, Z:3.50 [[ 9.96390894e-01 8.46940133e-02 -5.66666898e-03 6.48143551e+02] [-8.46904307e-02 9.96406932e-01 8.69665532e-04 -3.76106371e+01] [ 5.71996372e-03 -3.86614180e-04 9.99983566e-01 3.50323421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.860714057 meters Centerline goodness : 0.985509 with order 1 Centerline is valid? [True, True] Translation: X:648.20, Y:-37.62, Z:3.51 [[ 9.96486185e-01 8.35653534e-02 -5.66692114e-03 6.48201507e+02] [-8.35617619e-02 9.96502222e-01 8.68019330e-04 -3.76174737e+01] [ 5.71963585e-03 -3.91431356e-04 9.99983566e-01 3.50513251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.920714057 meters Centerline goodness : 0.978776 with order 1 Centerline is valid? [True, True] Translation: X:648.26, Y:-37.62, Z:3.51 [[ 9.96450198e-01 8.39933658e-02 -5.66717021e-03 6.48260043e+02] [-8.39897904e-02 9.96466239e-01 8.66390117e-04 -3.76236042e+01] [ 5.71991480e-03 -3.87330166e-04 9.99983566e-01 3.51091948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.980714057 meters Centerline goodness : 0.980530 with order 1 Centerline is valid? [True, True] Translation: X:648.32, Y:-37.63, Z:3.51 [[ 9.96604389e-01 8.21436157e-02 -5.66731494e-03 6.48318293e+02] [-8.21400159e-02 9.96620424e-01 8.65442336e-04 -3.76288576e+01] [ 5.71925238e-03 -3.96990291e-04 9.99983566e-01 3.51052327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0407140570001 meters Centerline goodness : 0.983917 with order 1 Centerline is valid? [True, True] Translation: X:648.37, Y:-37.64, Z:3.52 [[ 9.96218948e-01 8.66930590e-02 -5.66749341e-03 6.48374883e+02] [-8.66895390e-02 9.96235001e-01 8.64272050e-04 -3.76409096e+01] [ 5.72108169e-03 -3.69691802e-04 9.99983566e-01 3.51631471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.100714057 meters Centerline goodness : 0.982148 with order 1 Centerline is valid? [True, True] Translation: X:648.43, Y:-37.65, Z:3.52 [[ 9.96421019e-01 8.43387866e-02 -5.66766896e-03 6.48432595e+02] [-8.43352352e-02 9.96437064e-01 8.63119246e-04 -3.76492251e+01] [ 5.72026985e-03 -3.82045963e-04 9.99983566e-01 3.51659477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1607140570001 meters Centerline goodness : 0.980925 with order 1 Centerline is valid? [True, True] Translation: X:648.49, Y:-37.66, Z:3.52 [[ 9.96367968e-01 8.49632049e-02 -5.66794305e-03 6.48489187e+02] [-8.49596739e-02 9.96384018e-01 8.61315593e-04 -3.76616481e+01] [ 5.72062801e-03 -3.76640674e-04 9.99983566e-01 3.51711262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.220714057 meters Centerline goodness : 0.981270 with order 1 Centerline is valid? [True, True] Translation: X:648.55, Y:-37.67, Z:3.52 [[ 9.96585054e-01 8.23778136e-02 -5.66804602e-03 6.48546608e+02] [-8.23742448e-02 9.96601095e-01 8.60637441e-04 -3.76678063e+01] [ 5.71967830e-03 -3.90797400e-04 9.99983566e-01 3.51826700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2807140570001 meters Centerline goodness : 0.981479 with order 1 Centerline is valid? [True, True] Translation: X:648.60, Y:-37.67, Z:3.52 [[ 9.96637513e-01 8.17406891e-02 -5.66813729e-03 6.48603925e+02] [-8.17371134e-02 9.96653553e-01 8.60035966e-04 -3.76748999e+01] [ 5.71946910e-03 -3.93846926e-04 9.99983566e-01 3.51746657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.340714057 meters Centerline goodness : 0.981708 with order 1 Centerline is valid? [True, True] Translation: X:648.66, Y:-37.68, Z:3.51 [[ 9.96451871e-01 8.39734324e-02 -5.66838251e-03 6.48661224e+02] [-8.39699018e-02 9.96467922e-01 8.58416703e-04 -3.76808154e+01] [ 5.72044553e-03 -3.79397408e-04 9.99983566e-01 3.51419909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.400714057 meters Centerline goodness : 0.983657 with order 1 Centerline is valid? [True, True] Translation: X:648.72, Y:-37.69, Z:3.51 [[ 9.96476190e-01 8.36843405e-02 -5.66864598e-03 6.48718229e+02] [-8.36808152e-02 9.96492241e-01 8.56673270e-04 -3.76888115e+01] [ 5.72045188e-03 -3.79297600e-04 9.99983566e-01 3.50770521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.460714057 meters Centerline goodness : 0.984924 with order 1 Centerline is valid? [True, True] Translation: X:648.78, Y:-37.69, Z:3.51 [[ 9.96581372e-01 8.24222855e-02 -5.66890784e-03 6.48777200e+02] [-8.24187497e-02 9.96597421e-01 8.54936939e-04 -3.76911482e+01] [ 5.72008479e-03 -3.84789931e-04 9.99983566e-01 3.51265735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.520714057 meters Centerline goodness : 0.984541 with order 1 Centerline is valid? [True, True] Translation: X:648.83, Y:-37.70, Z:3.51 [[ 9.96526440e-01 8.30837799e-02 -5.66913415e-03 6.48834435e+02] [-8.30802633e-02 9.96542494e-01 8.53433592e-04 -3.76973892e+01] [ 5.72043958e-03 -3.79475982e-04 9.99983566e-01 3.51167356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.580714057 meters Centerline goodness : 0.984769 with order 1 Centerline is valid? [True, True] Translation: X:648.89, Y:-37.70, Z:3.52 [[ 9.96583831e-01 8.23925175e-02 -5.66921337e-03 6.48893388e+02] [-8.23889927e-02 9.96599883e-01 8.52907078e-04 -3.77021248e+01] [ 5.72021054e-03 -3.82912626e-04 9.99983566e-01 3.51633067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.640714057 meters Centerline goodness : 0.984342 with order 1 Centerline is valid? [True, True] Translation: X:648.95, Y:-37.71, Z:3.51 [[ 9.96466410e-01 8.38006635e-02 -5.66943635e-03 6.48950703e+02] [-8.37971698e-02 9.96482468e-01 8.51422278e-04 -3.77078606e+01] [ 5.72084368e-03 -3.73330980e-04 9.99983566e-01 3.51246257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.700714057 meters Centerline goodness : 0.984214 with order 1 Centerline is valid? [True, True] Translation: X:649.01, Y:-37.71, Z:3.51 [[ 9.96152074e-01 8.74579993e-02 -5.66955353e-03 6.49008459e+02] [-8.74545690e-02 9.96168146e-01 8.50641266e-04 -3.77142887e+01] [ 5.72222401e-03 -3.51539701e-04 9.99983566e-01 3.51360377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.760714057 meters Centerline goodness : 0.984869 with order 1 Centerline is valid? [True, True] Translation: X:649.07, Y:-37.72, Z:3.52 [[ 9.96260812e-01 8.62104953e-02 -5.66962831e-03 6.49066383e+02] [-8.62070477e-02 9.96276880e-01 8.50142584e-04 -3.77157087e+01] [ 5.72181081e-03 -3.58201823e-04 9.99983566e-01 3.52032138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.820714057 meters Centerline goodness : 0.985633 with order 1 Centerline is valid? [True, True] Translation: X:649.12, Y:-37.72, Z:3.52 [[ 9.96237320e-01 8.64815246e-02 -5.66986573e-03 6.49124727e+02] [-8.64780903e-02 9.96253391e-01 8.48556150e-04 -3.77201884e+01] [ 5.72200740e-03 -3.55044144e-04 9.99983566e-01 3.51712731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.880714057 meters Centerline goodness : 0.985438 with order 1 Centerline is valid? [True, True] Translation: X:649.18, Y:-37.72, Z:3.52 [[ 9.96207198e-01 8.68278078e-02 -5.67010157e-03 6.49182395e+02] [-8.68243880e-02 9.96223272e-01 8.46977314e-04 -3.77237949e+01] [ 5.72222833e-03 -3.51461798e-04 9.99983566e-01 3.51898898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.940714057 meters Centerline goodness : 0.985631 with order 1 Centerline is valid? [True, True] Translation: X:649.24, Y:-37.73, Z:3.52 [[ 9.96180107e-01 8.71380558e-02 -5.67036247e-03 6.49240561e+02] [-8.71346510e-02 9.96196185e-01 8.45227055e-04 -3.77256874e+01] [ 5.72244490e-03 -3.47913323e-04 9.99983566e-01 3.52322341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.000714057 meters Centerline goodness : 0.985408 with order 1 Centerline is valid? [True, True] Translation: X:649.30, Y:-37.73, Z:3.52 [[ 9.96267780e-01 8.61298877e-02 -5.67044251e-03 6.49297586e+02] [-8.61264697e-02 9.96283854e-01 8.44689752e-04 -3.77330727e+01] [ 5.72212335e-03 -3.53161989e-04 9.99983566e-01 3.52111157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.060714057 meters Centerline goodness : 0.984392 with order 1 Centerline is valid? [True, True] Translation: X:649.36, Y:-37.74, Z:3.52 [[ 9.96336144e-01 8.53354013e-02 -5.67069641e-03 6.49355222e+02] [-8.53319801e-02 9.96352218e-01 8.42981724e-04 -3.77396233e+01] [ 5.72194714e-03 -3.56001407e-04 9.99983566e-01 3.51847392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.120714057 meters Centerline goodness : 0.985209 with order 1 Centerline is valid? [True, True] Translation: X:649.41, Y:-37.75, Z:3.52 [[ 9.96464214e-01 8.38266870e-02 -5.67077414e-03 6.49412641e+02] [-8.38232444e-02 9.96480283e-01 8.42458548e-04 -3.77456319e+01] [ 5.72143513e-03 -3.64137108e-04 9.99983566e-01 3.52336137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.180714057 meters Centerline goodness : 0.983364 with order 1 Centerline is valid? [True, True] Translation: X:649.47, Y:-37.75, Z:3.53 [[ 9.96694033e-01 8.10484098e-02 -5.67103507e-03 6.49470881e+02] [-8.10449325e-02 9.96710094e-01 8.40698398e-04 -3.77507195e+01] [ 5.72051517e-03 -3.78310422e-04 9.99983566e-01 3.52513045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.240714057 meters Centerline goodness : 0.984137 with order 1 Centerline is valid? [True, True] Translation: X:649.53, Y:-37.76, Z:3.53 [[ 9.96719687e-01 8.07322890e-02 -5.67129159e-03 6.49527747e+02] [-8.07288164e-02 9.96735750e-01 8.38964337e-04 -3.77564314e+01] [ 5.72051059e-03 -3.78375613e-04 9.99983566e-01 3.52590259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.300714057 meters Centerline goodness : 0.985529 with order 1 Centerline is valid? [True, True] Translation: X:649.59, Y:-37.76, Z:3.53 [[ 9.96699467e-01 8.09815252e-02 -5.67140173e-03 6.49586806e+02] [-8.09780609e-02 9.96715532e-01 8.38219174e-04 -3.77600392e+01] [ 5.72065445e-03 -3.76193490e-04 9.99983566e-01 3.52605357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.360714057 meters Centerline goodness : 0.985567 with order 1 Centerline is valid? [True, True] Translation: X:649.65, Y:-37.76, Z:3.53 [[ 9.95879417e-01 9.05097716e-02 -5.67161860e-03 6.49645416e+02] [-9.05064693e-02 9.95895516e-01 8.36749204e-04 -3.77616070e+01] [ 5.72407351e-03 -3.19983135e-04 9.99983566e-01 3.53205599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.420714057 meters Centerline goodness : 0.991479 with order 1 Centerline is valid? [True, True] Translation: X:649.70, Y:-37.76, Z:3.52 [[ 9.96450539e-01 8.39890161e-02 -5.67169449e-03 6.49704579e+02] [-8.39856114e-02 9.96466617e-01 8.36234427e-04 -3.77572126e+01] [ 5.72188873e-03 -3.56925516e-04 9.99983566e-01 3.52381081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.480714057 meters Centerline goodness : 0.992220 with order 1 Centerline is valid? [True, True] Translation: X:649.76, Y:-37.76, Z:3.52 [[ 9.96053774e-01 8.85703713e-02 -5.67176722e-03 6.49762309e+02] [-8.85670434e-02 9.96069867e-01 8.35740863e-04 -3.77626384e+01] [ 5.72349830e-03 -3.30111187e-04 9.99983566e-01 3.52328754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5407140570001 meters Centerline goodness : 0.985772 with order 1 Centerline is valid? [True, True] Translation: X:649.82, Y:-37.78, Z:3.53 [[ 9.95149863e-01 9.82068270e-02 -5.67183871e-03 6.49819059e+02] [-9.82036578e-02 9.95165988e-01 8.35255437e-04 -3.77825184e+01] [ 5.72644876e-03 -2.74209026e-04 9.99983566e-01 3.52609730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.600714057 meters Centerline goodness : 0.984235 with order 1 Centerline is valid? [True, True] Translation: X:649.88, Y:-37.77, Z:3.52 [[ 9.95735481e-01 9.20797413e-02 -5.67205160e-03 6.49878620e+02] [-9.20764812e-02 9.95751589e-01 8.33807207e-04 -3.77735244e+01] [ 5.72473114e-03 -3.07988868e-04 9.99983566e-01 3.52470926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6607140570001 meters Centerline goodness : 0.989803 with order 1 Centerline is valid? [True, True] Translation: X:649.94, Y:-37.78, Z:3.53 [[ 9.95768078e-01 9.17265456e-02 -5.67236204e-03 6.49936977e+02] [-9.17232917e-02 9.95784186e-01 8.31689893e-04 -3.77831663e+01] [ 5.72473646e-03 -3.07882528e-04 9.99983566e-01 3.53083666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.720714057 meters Centerline goodness : 0.991994 with order 1 Centerline is valid? [True, True] Translation: X:650.00, Y:-37.79, Z:3.53 [[ 9.95509030e-01 9.44965205e-02 -5.67263475e-03 6.49995585e+02] [-9.44933221e-02 9.95525150e-01 8.29825730e-04 -3.77902042e+01] [ 5.72566620e-03 -2.90072905e-04 9.99983566e-01 3.52551726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7807140570001 meters Centerline goodness : 0.989623 with order 1 Centerline is valid? [True, True] Translation: X:650.05, Y:-37.80, Z:3.53 [[ 9.95948972e-01 8.97411026e-02 -5.67268574e-03 6.50053304e+02] [-8.97378292e-02 9.95965077e-01 8.29476976e-04 -3.77999436e+01] [ 5.72423507e-03 -3.17062238e-04 9.99983566e-01 3.53245131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.840714057 meters Centerline goodness : 0.992405 with order 1 Centerline is valid? [True, True] Translation: X:650.11, Y:-37.81, Z:3.53 [[ 9.96031773e-01 8.88173656e-02 -5.67290669e-03 6.50111271e+02] [-8.88140858e-02 9.96047877e-01 8.27963110e-04 -3.78087033e+01] [ 5.72402417e-03 -3.20843543e-04 9.99983566e-01 3.52628856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.900714057 meters Centerline goodness : 0.987875 with order 1 Centerline is valid? [True, True] Translation: X:650.17, Y:-37.83, Z:3.53 [[ 9.95989913e-01 8.92855627e-02 -5.67295762e-03 6.50167835e+02] [-8.92822926e-02 9.96006018e-01 8.27614002e-04 -3.78280124e+01] [ 5.72419391e-03 -3.17800536e-04 9.99983566e-01 3.53286594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.960714057 meters Centerline goodness : 0.987762 with order 1 Centerline is valid? [True, True] Translation: X:650.23, Y:-37.83, Z:3.54 [[ 9.96599654e-01 8.22006365e-02 -5.67316543e-03 6.50227484e+02] [-8.21972599e-02 9.96615737e-01 8.26187030e-04 -3.78344006e+01] [ 5.72187905e-03 -3.57059054e-04 9.99983566e-01 3.54071203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.020714057 meters Centerline goodness : 0.987369 with order 1 Centerline is valid? [True, True] Translation: X:650.29, Y:-37.85, Z:3.54 [[ 9.96746198e-01 8.04041784e-02 -5.67317983e-03 6.50285652e+02] [-8.04007734e-02 9.96762275e-01 8.26088148e-04 -3.78452078e+01] [ 5.72123257e-03 -3.67272174e-04 9.99983566e-01 3.53925771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.080714057 meters Centerline goodness : 0.988363 with order 1 Centerline is valid? [True, True] Translation: X:650.34, Y:-37.86, Z:3.54 [[ 9.96740531e-01 8.04743877e-02 -5.67338114e-03 6.50343137e+02] [-8.04709918e-02 9.96756610e-01 8.24703256e-04 -3.78550977e+01] [ 5.72134764e-03 -3.65472554e-04 9.99983566e-01 3.53696502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.140714057 meters Centerline goodness : 0.987585 with order 1 Centerline is valid? [True, True] Translation: X:650.40, Y:-37.86, Z:3.55 [[ 9.96583301e-01 8.23986417e-02 -5.67345180e-03 6.50401108e+02] [-8.23952795e-02 9.96599387e-01 8.24216859e-04 -3.78619612e+01] [ 5.72207294e-03 -3.53935110e-04 9.99983566e-01 3.54646202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.200714057 meters Centerline goodness : 0.983061 with order 1 Centerline is valid? [True, True] Translation: X:650.46, Y:-37.86, Z:3.53 [[ 9.97201798e-01 7.45411620e-02 -5.67356305e-03 6.50459692e+02] [-7.45376775e-02 9.97217858e-01 8.23450375e-04 -3.78601513e+01] [ 5.71915934e-03 -3.98251981e-04 9.99983566e-01 3.53364276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.260714057 meters Centerline goodness : 0.992094 with order 1 Centerline is valid? [True, True] Translation: X:650.52, Y:-37.87, Z:3.53 [[ 9.97241619e-01 7.40064968e-02 -5.67386722e-03 6.50516981e+02] [-7.40030156e-02 9.97257679e-01 8.21349175e-04 -3.78687527e+01] [ 5.71909283e-03 -3.99200296e-04 9.99983566e-01 3.53005237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.320714057 meters Centerline goodness : 0.992509 with order 1 Centerline is valid? [True, True] Translation: X:650.57, Y:-37.88, Z:3.53 [[ 9.97379870e-01 7.21193468e-02 -5.67396829e-03 6.50574265e+02] [-7.21158392e-02 9.97395926e-01 8.20650354e-04 -3.78754364e+01] [ 5.71837763e-03 -4.09317159e-04 9.99983566e-01 3.52883190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.380714057 meters Centerline goodness : 0.992293 with order 1 Centerline is valid? [True, True] Translation: X:650.63, Y:-37.88, Z:3.53 [[ 9.97487379e-01 7.06168144e-02 -5.67403911e-03 6.50632136e+02] [-7.06132853e-02 9.97503429e-01 8.20160452e-04 -3.78812136e+01] [ 5.71779059e-03 -4.17437157e-04 9.99983566e-01 3.53192903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.440714057 meters Centerline goodness : 0.991759 with order 1 Centerline is valid? [True, True] Translation: X:650.69, Y:-37.89, Z:3.53 [[ 9.97564442e-01 6.95196903e-02 -5.67427147e-03 6.50689959e+02] [-6.95161527e-02 9.97580490e-01 8.18549688e-04 -3.78861639e+01] [ 5.71744784e-03 -4.22102541e-04 9.99983566e-01 3.53256180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.500714057 meters Centerline goodness : 0.991992 with order 1 Centerline is valid? [True, True] Translation: X:650.75, Y:-37.89, Z:3.53 [[ 9.97541113e-01 6.98536243e-02 -5.67450612e-03 6.50747255e+02] [-6.98501013e-02 9.97557164e-01 8.16919784e-04 -3.78920121e+01] [ 5.71770904e-03 -4.18546243e-04 9.99983566e-01 3.53356068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.560714057 meters Centerline goodness : 0.991467 with order 1 Centerline is valid? [True, True] Translation: X:650.81, Y:-37.90, Z:3.53 [[ 9.97450795e-01 7.11316457e-02 -5.67457809e-03 6.50805168e+02] [-7.11281461e-02 9.97466852e-01 8.16419528e-04 -3.78978433e+01] [ 5.71827681e-03 -4.10716088e-04 9.99983566e-01 3.53429981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.620714057 meters Centerline goodness : 0.991906 with order 1 Centerline is valid? [True, True] Translation: X:650.86, Y:-37.90, Z:3.53 [[ 9.97429458e-01 7.14301998e-02 -5.67468513e-03 6.50862513e+02] [-7.14267092e-02 9.97445517e-01 8.15674834e-04 -3.79048628e+01] [ 5.71845306e-03 -4.08254023e-04 9.99983566e-01 3.53452021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.680714057 meters Centerline goodness : 0.991998 with order 1 Centerline is valid? [True, True] Translation: X:650.92, Y:-37.91, Z:3.53 [[ 9.97347894e-01 7.25601410e-02 -5.67490933e-03 6.50920525e+02] [-7.25566774e-02 9.97363959e-01 8.14112044e-04 -3.79108076e+01] [ 5.71902212e-03 -4.00200367e-04 9.99983566e-01 3.53442084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.740714057 meters Centerline goodness : 0.992140 with order 1 Centerline is valid? [True, True] Translation: X:650.98, Y:-37.92, Z:3.54 [[ 9.97242948e-01 7.39884959e-02 -5.67497812e-03 6.50977632e+02] [-7.39850581e-02 9.97259018e-01 8.13632190e-04 -3.79175488e+01] [ 5.71962253e-03 -3.91525378e-04 9.99983566e-01 3.53614593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.800714057 meters Centerline goodness : 0.991749 with order 1 Centerline is valid? [True, True] Translation: X:651.04, Y:-37.92, Z:3.54 [[ 9.96847082e-01 7.91434542e-02 -5.67521124e-03 6.51035009e+02] [-7.91401087e-02 9.96863172e-01 8.12002902e-04 -3.79229519e+01] [ 5.72167379e-03 -3.60305889e-04 9.99983566e-01 3.53611600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.860714057 meters Centerline goodness : 0.991166 with order 1 Centerline is valid? [True, True] Translation: X:651.09, Y:-37.93, Z:3.54 [[ 9.96480530e-01 8.36322031e-02 -5.67528263e-03 6.51093058e+02] [-8.36289330e-02 9.96496635e-01 8.11503673e-04 -3.79288299e+01] [ 5.72326788e-03 -3.34029779e-04 9.99983566e-01 3.53867417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.920714057 meters Centerline goodness : 0.991831 with order 1 Centerline is valid? [True, True] Translation: X:651.15, Y:-37.93, Z:3.54 [[ 9.95891956e-01 9.03714573e-02 -5.67548587e-03 6.51151867e+02] [-9.03683043e-02 9.95908085e-01 8.10079701e-04 -3.79346288e+01] [ 5.72547035e-03 -2.93867824e-04 9.99983566e-01 3.54073589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.980714057 meters Centerline goodness : 0.989759 with order 1 Centerline is valid? [True, True] Translation: X:651.21, Y:-37.95, Z:3.54 [[ 9.95050404e-01 9.92092786e-02 -5.67568589e-03 6.51208418e+02] [-9.92062769e-02 9.95066561e-01 8.08675856e-04 -3.79510878e+01] [ 5.72791339e-03 -2.41609570e-04 9.99983566e-01 3.53943220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0407140570001 meters Centerline goodness : 0.992571 with order 1 Centerline is valid? [True, True] Translation: X:651.27, Y:-37.95, Z:3.54 [[ 9.95395192e-01 9.56880229e-02 -5.67576717e-03 6.51267005e+02] [-9.56849674e-02 9.95411339e-01 8.08104988e-04 -3.79501351e+01] [ 5.72704897e-03 -2.61298223e-04 9.99983566e-01 3.54128089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.100714057 meters Centerline goodness : 0.990545 with order 1 Centerline is valid? [True, True] Translation: X:651.32, Y:-37.97, Z:3.54 [[ 9.95345103e-01 9.62076455e-02 -5.67584840e-03 6.51323437e+02] [-9.62046016e-02 9.95361252e-01 8.07534112e-04 -3.79678087e+01] [ 5.72721052e-03 -2.57732390e-04 9.99983566e-01 3.53842514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1607140570001 meters Centerline goodness : 0.992034 with order 1 Centerline is valid? [True, True] Translation: X:651.38, Y:-37.97, Z:3.54 [[ 9.95906056e-01 9.02159087e-02 -5.67598039e-03 6.51381256e+02] [-9.02127729e-02 9.95922188e-01 8.06605303e-04 -3.79695485e+01] [ 5.72560344e-03 -2.91257176e-04 9.99983566e-01 3.53851283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.220714057 meters Centerline goodness : 0.991630 with order 1 Centerline is valid? [True, True] Translation: X:651.44, Y:-37.98, Z:3.54 [[ 9.96070803e-01 8.83783798e-02 -5.67610424e-03 6.51438495e+02] [-8.83752192e-02 9.96086930e-01 8.05732819e-04 -3.79787713e+01] [ 5.72510260e-03 -3.00939979e-04 9.99983566e-01 3.53798005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2807140570001 meters Centerline goodness : 0.991322 with order 1 Centerline is valid? [True, True] Translation: X:651.50, Y:-37.99, Z:3.54 [[ 9.96125128e-01 8.77639415e-02 -5.67620831e-03 6.51495756e+02] [-8.77607751e-02 9.96141254e-01 8.04998997e-04 -3.79883634e+01] [ 5.72495515e-03 -3.03731288e-04 9.99983566e-01 3.53898221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.340714057 meters Centerline goodness : 0.990700 with order 1 Centerline is valid? [True, True] Translation: X:651.55, Y:-38.00, Z:3.54 [[ 9.96167163e-01 8.72855203e-02 -5.67643668e-03 6.51553633e+02] [-8.72823553e-02 9.96183289e-01 8.03385431e-04 -3.79973410e+01] [ 5.72489527e-03 -3.04853422e-04 9.99983566e-01 3.54080675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.400714057 meters Centerline goodness : 0.991758 with order 1 Centerline is valid? [True, True] Translation: X:651.61, Y:-38.01, Z:3.54 [[ 9.96179392e-01 8.71458220e-02 -5.67663402e-03 6.51611549e+02] [-8.71426628e-02 9.96195520e-01 8.01988580e-04 -3.80079013e+01] [ 5.72492733e-03 -3.04247492e-04 9.99983566e-01 3.54233459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.460714057 meters Centerline goodness : 0.991251 with order 1 Centerline is valid? [True, True] Translation: X:651.67, Y:-38.02, Z:3.54 [[ 9.96207190e-01 8.68274607e-02 -5.67683543e-03 6.51668169e+02] [-8.68243045e-02 9.96223318e-01 8.00560359e-04 -3.80184409e+01] [ 5.72490645e-03 -3.04636698e-04 9.99983566e-01 3.54197774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.520714057 meters Centerline goodness : 0.991135 with order 1 Centerline is valid? [True, True] Translation: X:651.72, Y:-38.03, Z:3.54 [[ 9.96280597e-01 8.59810634e-02 -5.67706821e-03 6.51723737e+02] [-8.59779028e-02 9.96296724e-01 7.98906201e-04 -3.80295907e+01] [ 5.72473527e-03 -3.07832327e-04 9.99983566e-01 3.54073208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.580714057 meters Centerline goodness : 0.991453 with order 1 Centerline is valid? [True, True] Translation: X:651.78, Y:-38.04, Z:3.54 [[ 9.96356216e-01 8.51003023e-02 -5.67716817e-03 6.51781145e+02] [-8.50971315e-02 9.96372341e-01 7.98195258e-04 -3.80394103e+01] [ 5.72450000e-03 -3.12176080e-04 9.99983566e-01 3.54117350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.640714057 meters Centerline goodness : 0.990278 with order 1 Centerline is valid? [True, True] Translation: X:651.84, Y:-38.05, Z:3.54 [[ 9.96433260e-01 8.41933781e-02 -5.67739248e-03 6.51838022e+02] [-8.41902017e-02 9.96449384e-01 7.96596609e-04 -3.80499274e+01] [ 5.72430240e-03 -3.15774538e-04 9.99983566e-01 3.54179502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.700714057 meters Centerline goodness : 0.989774 with order 1 Centerline is valid? [True, True] Translation: X:651.89, Y:-38.06, Z:3.54 [[ 9.96464553e-01 8.38221940e-02 -5.67761932e-03 6.51894989e+02] [-8.38190208e-02 9.96480677e-01 7.94976513e-04 -3.80592985e+01] [ 5.72427462e-03 -3.16273423e-04 9.99983566e-01 3.54209928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.760714057 meters Centerline goodness : 0.986761 with order 1 Centerline is valid? [True, True] Translation: X:651.95, Y:-38.07, Z:3.55 [[ 9.95887680e-01 9.04184248e-02 -5.67784473e-03 6.51951175e+02] [-9.04153676e-02 9.95903827e-01 7.93363349e-04 -3.80736124e+01] [ 5.72632196e-03 -2.76736366e-04 9.99983566e-01 3.55046643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.820714057 meters Centerline goodness : 0.990969 with order 1 Centerline is valid? [True, True] Translation: X:652.01, Y:-38.08, Z:3.54 [[ 9.96346381e-01 8.52153068e-02 -5.67810483e-03 6.52008307e+02] [-8.52121759e-02 9.96362514e-01 7.91497443e-04 -3.80790085e+01] [ 5.72489850e-03 -3.04761946e-04 9.99983566e-01 3.54109801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.880714057 meters Centerline goodness : 0.990709 with order 1 Centerline is valid? [True, True] Translation: X:652.06, Y:-38.09, Z:3.54 [[ 9.96439670e-01 8.41174313e-02 -5.67821821e-03 6.52064944e+02] [-8.41142873e-02 9.96455800e-01 7.90683218e-04 -3.80892157e+01] [ 5.72460371e-03 -3.10248847e-04 9.99983566e-01 3.54106188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.940714057 meters Centerline goodness : 0.983281 with order 1 Centerline is valid? [True, True] Translation: X:652.12, Y:-38.10, Z:3.55 [[ 9.96629869e-01 8.18331368e-02 -5.67828560e-03 6.52123609e+02] [-8.18299585e-02 9.96645992e-01 7.90198944e-04 -3.80975063e+01] [ 5.72390504e-03 -3.22881995e-04 9.99983566e-01 3.54670845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.000714057 meters Centerline goodness : 0.991415 with order 1 Centerline is valid? [True, True] Translation: X:652.18, Y:-38.11, Z:3.54 [[ 9.96591583e-01 8.22980771e-02 -5.67832729e-03 6.52181342e+02] [-8.22949081e-02 9.96607708e-01 7.89899269e-04 -3.81089944e+01] [ 5.72407193e-03 -3.19909541e-04 9.99983566e-01 3.54343746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.060714057 meters Centerline goodness : 0.991631 with order 1 Centerline is valid? [True, True] Translation: X:652.24, Y:-38.12, Z:3.54 [[ 9.96468727e-01 8.37725071e-02 -5.67838986e-03 6.52237759e+02] [-8.37693645e-02 9.96484857e-01 7.89449178e-04 -3.81184925e+01] [ 5.72456365e-03 -3.10986307e-04 9.99983566e-01 3.54495227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.120714057 meters Centerline goodness : 0.989872 with order 1 Centerline is valid? [True, True] Translation: X:652.30, Y:-38.13, Z:3.55 [[ 9.96189720e-01 8.70275622e-02 -5.67848550e-03 6.52295314e+02] [-8.70244762e-02 9.96205861e-01 7.88760655e-04 -3.81305094e+01] [ 5.72558445e-03 -2.91588030e-04 9.99983566e-01 3.54946009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.180714057 meters Centerline goodness : 0.991510 with order 1 Centerline is valid? [True, True] Translation: X:652.35, Y:-38.14, Z:3.55 [[ 9.95945791e-01 8.97760227e-02 -5.67872309e-03 6.52353042e+02] [-8.97729910e-02 9.95961942e-01 7.87046385e-04 -3.81358259e+01] [ 5.72644997e-03 -2.74059577e-04 9.99983566e-01 3.54682251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.240714057 meters Centerline goodness : 0.985752 with order 1 Centerline is valid? [True, True] Translation: X:652.41, Y:-38.16, Z:3.55 [[ 9.94466285e-01 1.04902619e-01 -5.67885003e-03 6.52408798e+02] [-1.04899839e-01 9.94482481e-01 7.86129413e-04 -3.81591464e+01] [ 5.72998390e-03 -1.86068745e-04 9.99983566e-01 3.54899838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.300714057 meters Centerline goodness : 0.991439 with order 1 Centerline is valid? [True, True] Translation: X:652.47, Y:-38.15, Z:3.55 [[ 9.95848084e-01 9.08534139e-02 -5.67905720e-03 6.52467406e+02] [-9.08504135e-02 9.95864241e-01 7.84629945e-04 -3.81544135e+01] [ 5.72685629e-03 -2.65427533e-04 9.99983566e-01 3.54592637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.360714057 meters Centerline goodness : 0.991087 with order 1 Centerline is valid? [True, True] Translation: X:652.52, Y:-38.16, Z:3.55 [[ 9.96178065e-01 8.71608300e-02 -5.67916487e-03 6.52524912e+02] [-8.71577741e-02 9.96194212e-01 7.83849797e-04 -3.81640374e+01] [ 5.72587217e-03 -2.85870605e-04 9.99983566e-01 3.54559397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.420714057 meters Centerline goodness : 0.988338 with order 1 Centerline is valid? [True, True] Translation: X:652.58, Y:-38.18, Z:3.56 [[ 9.96037623e-01 8.87513330e-02 -5.67938633e-03 6.52581261e+02] [-8.87483121e-02 9.96053776e-01 7.82241940e-04 -3.81773139e+01] [ 5.72639922e-03 -2.75106451e-04 9.99983566e-01 3.55579385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.480714057 meters Centerline goodness : 0.982922 with order 1 Centerline is valid? [True, True] Translation: X:652.64, Y:-38.18, Z:3.55 [[ 9.96710969e-01 8.08392588e-02 -5.67963110e-03 6.52639917e+02] [-8.08361198e-02 9.96727100e-01 7.80460642e-04 -3.81826850e+01] [ 5.72413410e-03 -3.18774342e-04 9.99983566e-01 3.55240594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5407140570001 meters Centerline goodness : 0.990544 with order 1 Centerline is valid? [True, True] Translation: X:652.70, Y:-38.19, Z:3.55 [[ 9.96830694e-01 7.93492665e-02 -5.67988104e-03 6.52697875e+02] [-7.93461137e-02 9.96846823e-01 7.78637438e-04 -3.81930701e+01] [ 5.72375568e-03 -3.25493211e-04 9.99983566e-01 3.54819601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.600714057 meters Centerline goodness : 0.982501 with order 1 Centerline is valid? [True, True] Translation: X:652.76, Y:-38.20, Z:3.55 [[ 9.96825893e-01 7.94095540e-02 -5.67993859e-03 6.52755819e+02] [-7.94064046e-02 9.96842022e-01 7.78217421e-04 -3.82025991e+01] [ 5.72379937e-03 -3.24723774e-04 9.99983566e-01 3.55399094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6607140570001 meters Centerline goodness : 0.985641 with order 1 Centerline is valid? [True, True] Translation: X:652.81, Y:-38.22, Z:3.56 [[ 9.96741543e-01 8.04613661e-02 -5.68018110e-03 6.52812238e+02] [-8.04582438e-02 9.96757678e-01 7.76443287e-04 -3.82180292e+01] [ 5.72423781e-03 -3.16895884e-04 9.99983566e-01 3.55833891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.720714057 meters Centerline goodness : 0.989322 with order 1 Centerline is valid? [True, True] Translation: X:652.87, Y:-38.22, Z:3.55 [[ 9.97424663e-01 7.14966885e-02 -5.68027419e-03 6.52870439e+02] [-7.14934251e-02 9.97440769e-01 7.75761648e-04 -3.82216983e+01] [ 5.72120145e-03 -3.67661543e-04 9.99983566e-01 3.55193385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7807140570001 meters Centerline goodness : 0.990265 with order 1 Centerline is valid? [True, True] Translation: X:652.93, Y:-38.23, Z:3.55 [[ 9.97566103e-01 6.94953488e-02 -5.68034969e-03 6.52927277e+02] [-6.94920563e-02 9.97582204e-01 7.75208436e-04 -3.82297853e+01] [ 5.72048914e-03 -3.78582478e-04 9.99983566e-01 3.55214951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.840714057 meters Centerline goodness : 0.990859 with order 1 Centerline is valid? [True, True] Translation: X:652.98, Y:-38.24, Z:3.55 [[ 9.97759132e-01 6.66666835e-02 -5.68056602e-03 6.52984373e+02] [-6.66633544e-02 9.97775225e-01 7.73619963e-04 -3.82369770e+01] [ 5.71950271e-03 -3.93200797e-04 9.99983566e-01 3.55013970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.900714057 meters Centerline goodness : 0.991010 with order 1 Centerline is valid? [True, True] Translation: X:653.04, Y:-38.24, Z:3.55 [[ 9.97792393e-01 6.61669741e-02 -5.68077897e-03 6.53041531e+02] [-6.61636458e-02 9.97808487e-01 7.72053119e-04 -3.82428867e+01] [ 5.71941388e-03 -3.94487682e-04 9.99983566e-01 3.54948840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.960714057 meters Centerline goodness : 0.990800 with order 1 Centerline is valid? [True, True] Translation: X:653.10, Y:-38.25, Z:3.55 [[ 9.97751184e-01 6.67854881e-02 -5.68098997e-03 6.53099607e+02] [-6.67821785e-02 9.97767281e-01 7.70497383e-04 -3.82488610e+01] [ 5.71976395e-03 -3.89375790e-04 9.99983566e-01 3.55117028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.020714057 meters Centerline goodness : 0.991433 with order 1 Centerline is valid? [True, True] Translation: X:653.16, Y:-38.25, Z:3.55 [[ 9.97643273e-01 6.83785382e-02 -5.68121325e-03 6.53156291e+02] [-6.83752637e-02 9.97659377e-01 7.68847449e-04 -3.82530803e+01] [ 5.72048834e-03 -3.78581031e-04 9.99983566e-01 3.55331163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.080714057 meters Centerline goodness : 0.984356 with order 1 Centerline is valid? [True, True] Translation: X:653.21, Y:-38.26, Z:3.56 [[ 9.97660291e-01 6.81297731e-02 -5.68136334e-03 6.53214773e+02] [-6.81265008e-02 9.97676396e-01 7.67736786e-04 -3.82573355e+01] [ 5.72046783e-03 -3.78889101e-04 9.99983566e-01 3.55772861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.140714057 meters Centerline goodness : 0.986666 with order 1 Centerline is valid? [True, True] Translation: X:653.27, Y:-38.27, Z:3.56 [[ 9.96822033e-01 7.94578704e-02 -5.68160987e-03 6.53270988e+02] [-7.94547917e-02 9.96838176e-01 7.65907978e-04 -3.82737812e+01] [ 5.72450304e-03 -3.12042819e-04 9.99983566e-01 3.56058806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.200714057 meters Centerline goodness : 0.987200 with order 1 Centerline is valid? [True, True] Translation: X:653.33, Y:-38.28, Z:3.55 [[ 9.96812549e-01 7.95767549e-02 -5.68170453e-03 6.53329481e+02] [-7.95736821e-02 9.96828693e-01 7.65205150e-04 -3.82811030e+01] [ 5.72457864e-03 -3.10651947e-04 9.99983566e-01 3.55211173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.260714057 meters Centerline goodness : 0.987900 with order 1 Centerline is valid? [True, True] Translation: X:653.39, Y:-38.29, Z:3.55 [[ 9.96559288e-01 8.26879762e-02 -5.68190044e-03 6.53387261e+02] [-8.26849622e-02 9.96575443e-01 7.63747641e-04 -3.82882600e+01] [ 5.72559520e-03 -2.91312082e-04 9.99983566e-01 3.55140681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.320714057 meters Centerline goodness : 0.987795 with order 1 Centerline is valid? [True, True] Translation: X:653.45, Y:-38.29, Z:3.56 [[ 9.96064818e-01 8.84454114e-02 -5.68213081e-03 6.53445017e+02] [-8.84425005e-02 9.96080992e-01 7.62029870e-04 -3.82899981e+01] [ 5.72726054e-03 -2.56489286e-04 9.99983566e-01 3.55962418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.380714057 meters Centerline goodness : 0.988217 with order 1 Centerline is valid? [True, True] Translation: X:653.50, Y:-38.30, Z:3.55 [[ 9.95252481e-01 9.71607489e-02 -5.68220130e-03 6.53502392e+02] [-9.71579827e-02 9.95268681e-01 7.61503928e-04 -3.82957521e+01] [ 5.72930528e-03 -2.05817458e-04 9.99983566e-01 3.55157040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.440714057 meters Centerline goodness : 0.989624 with order 1 Centerline is valid? [True, True] Translation: X:653.56, Y:-38.30, Z:3.55 [[ 9.94848254e-01 1.01215914e-01 -5.68243042e-03 6.53559222e+02] [-1.01213224e-01 9.94864466e-01 7.59790353e-04 -3.83034757e+01] [ 5.73015098e-03 -1.80739005e-04 9.99983566e-01 3.54955729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.500714057 meters Centerline goodness : 0.988752 with order 1 Centerline is valid? [True, True] Translation: X:653.62, Y:-38.31, Z:3.55 [[ 9.94492000e-01 1.04658357e-01 -5.68252860e-03 6.53616725e+02] [-1.04655727e-01 9.94508221e-01 7.59055323e-04 -3.83100596e+01] [ 5.73076290e-03 -1.60165283e-04 9.99983566e-01 3.55054535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.560714057 meters Centerline goodness : 0.988958 with order 1 Centerline is valid? [True, True] Translation: X:653.67, Y:-38.32, Z:3.55 [[ 9.94261755e-01 1.06823543e-01 -5.68275704e-03 6.53674254e+02] [-1.06820958e-01 9.94277984e-01 7.57341196e-04 -3.83197207e+01] [ 5.73114209e-03 -1.45957833e-04 9.99983566e-01 3.54769029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.620714057 meters Centerline goodness : 0.988521 with order 1 Centerline is valid? [True, True] Translation: X:653.73, Y:-38.33, Z:3.55 [[ 9.95209270e-01 9.76023223e-02 -5.68295360e-03 6.53732202e+02] [-9.75995954e-02 9.95225476e-01 7.55863416e-04 -3.83272656e+01] [ 5.72959422e-03 -1.97588306e-04 9.99983566e-01 3.55026325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.680714057 meters Centerline goodness : 0.988295 with order 1 Centerline is valid? [True, True] Translation: X:653.79, Y:-38.34, Z:3.55 [[ 9.95609179e-01 9.34348225e-02 -5.68302076e-03 6.53789948e+02] [-9.34320307e-02 9.95625374e-01 7.55358122e-04 -3.83363422e+01] [ 5.72873642e-03 -2.21065310e-04 9.99983566e-01 3.55295532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.740714057 meters Centerline goodness : 0.988555 with order 1 Centerline is valid? [True, True] Translation: X:653.85, Y:-38.34, Z:3.56 [[ 9.96534224e-01 8.29894031e-02 -5.68320724e-03 6.53848115e+02] [-8.29864496e-02 9.96550390e-01 7.53952417e-04 -3.83437746e+01] [ 5.72617246e-03 -2.79710195e-04 9.99983566e-01 3.55515472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.800714057 meters Centerline goodness : 0.987698 with order 1 Centerline is valid? [True, True] Translation: X:653.90, Y:-38.35, Z:3.56 [[ 9.96750795e-01 8.03464459e-02 -5.68341019e-03 6.53904970e+02] [-8.03434583e-02 9.96766955e-01 7.52419412e-04 -3.83508885e+01] [ 5.72548970e-03 -2.93349818e-04 9.99983566e-01 3.56166265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.860714057 meters Centerline goodness : 0.988976 with order 1 Centerline is valid? [True, True] Translation: X:653.96, Y:-38.36, Z:3.56 [[ 9.97087337e-01 7.60561628e-02 -5.68350986e-03 6.53962577e+02] [-7.60531100e-02 9.97103485e-01 7.51665842e-04 -3.83584623e+01] [ 5.72421630e-03 -3.17227892e-04 9.99983566e-01 3.56041942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.920714057 meters Centerline goodness : 0.987533 with order 1 Centerline is valid? [True, True] Translation: X:654.02, Y:-38.37, Z:3.56 [[ 9.96889261e-01 7.86097777e-02 -5.68372142e-03 6.54020901e+02] [-7.86067753e-02 9.96905418e-01 7.50062680e-04 -3.83652388e+01] [ 5.72509494e-03 -3.00950418e-04 9.99983566e-01 3.56357255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.980714057 meters Centerline goodness : 0.987801 with order 1 Centerline is valid? [True, True] Translation: X:654.08, Y:-38.37, Z:3.57 [[ 9.96923809e-01 7.81704098e-02 -5.68392422e-03 6.54077370e+02] [-7.81674091e-02 9.96939966e-01 7.48522737e-04 -3.83707761e+01] [ 5.72504355e-03 -3.01922508e-04 9.99983566e-01 3.56514119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0407140570001 meters Centerline goodness : 0.987384 with order 1 Centerline is valid? [True, True] Translation: X:654.14, Y:-38.38, Z:3.57 [[ 9.97157460e-01 7.51311591e-02 -5.68402346e-03 6.54136173e+02] [-7.51281134e-02 9.97173609e-01 7.47768343e-04 -3.83768823e+01] [ 5.72413890e-03 -3.18612823e-04 9.99983566e-01 3.56770711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.100714057 meters Centerline goodness : 0.986993 with order 1 Centerline is valid? [True, True] Translation: X:654.19, Y:-38.38, Z:3.56 [[ 9.97334617e-01 7.27416775e-02 -5.68422121e-03 6.54192998e+02] [-7.27386017e-02 9.97350760e-01 7.46262092e-04 -3.83847740e+01] [ 5.72344671e-03 -3.30810715e-04 9.99983566e-01 3.56460675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1607140570001 meters Centerline goodness : 0.986584 with order 1 Centerline is valid? [True, True] Translation: X:654.25, Y:-38.39, Z:3.57 [[ 9.97368555e-01 7.22748552e-02 -5.68429063e-03 6.54250892e+02] [-7.22717748e-02 9.97384697e-01 7.45732964e-04 -3.83918051e+01] [ 5.72332223e-03 -3.32956836e-04 9.99983566e-01 3.56514186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.220714057 meters Centerline goodness : 0.986686 with order 1 Centerline is valid? [True, True] Translation: X:654.31, Y:-38.40, Z:3.56 [[ 9.97366075e-01 7.23090544e-02 -5.68450673e-03 6.54307085e+02] [-7.23059840e-02 9.97382219e-01 7.44082073e-04 -3.83988880e+01] [ 5.72342981e-03 -3.31098365e-04 9.99983566e-01 3.56250640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2807140570001 meters Centerline goodness : 0.987192 with order 1 Centerline is valid? [True, True] Translation: X:654.36, Y:-38.41, Z:3.56 [[ 9.97267815e-01 7.36518206e-02 -5.68459935e-03 6.54364447e+02] [-7.36487759e-02 9.97283964e-01 7.43373773e-04 -3.84063422e+01] [ 5.72391061e-03 -3.22678955e-04 9.99983566e-01 3.56010295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.340714057 meters Centerline goodness : 0.989166 with order 1 Centerline is valid? [True, True] Translation: X:654.42, Y:-38.41, Z:3.57 [[ 9.97397405e-01 7.18755784e-02 -5.68480635e-03 6.54423246e+02] [-7.18725139e-02 9.97413551e-01 7.41787398e-04 -3.84057270e+01] [ 5.72341929e-03 -3.31275503e-04 9.99983566e-01 3.56933018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.400714057 meters Centerline goodness : 0.980909 with order 1 Centerline is valid? [True, True] Translation: X:654.48, Y:-38.41, Z:3.57 [[ 9.97557507e-01 6.96182533e-02 -5.68498558e-03 6.54482940e+02] [-6.96151602e-02 9.97573647e-01 7.40411257e-04 -3.84099790e+01] [ 5.72273794e-03 -3.42841626e-04 9.99983566e-01 3.57151265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.460714057 meters Centerline goodness : 0.981412 with order 1 Centerline is valid? [True, True] Translation: X:654.54, Y:-38.42, Z:3.57 [[ 9.97670787e-01 6.79756017e-02 -5.68500236e-03 6.54541409e+02] [-6.79724827e-02 9.97686922e-01 7.40282355e-04 -3.84175545e+01] [ 5.72217365e-03 -3.52134355e-04 9.99983566e-01 3.57111804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.520714057 meters Centerline goodness : 0.988478 with order 1 Centerline is valid? [True, True] Translation: X:654.60, Y:-38.43, Z:3.57 [[ 9.97621727e-01 6.86918262e-02 -5.68524470e-03 6.54599138e+02] [-6.86887294e-02 9.97637867e-01 7.38416548e-04 -3.84279959e+01] [ 5.72253858e-03 -3.46148157e-04 9.99983566e-01 3.57306542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.580714057 meters Centerline goodness : 0.992147 with order 1 Centerline is valid? [True, True] Translation: X:654.66, Y:-38.43, Z:3.56 [[ 9.98325551e-01 5.75653707e-02 -5.68531773e-03 6.54657825e+02] [-5.75620973e-02 9.98341655e-01 7.37853852e-04 -3.84299934e+01] [ 5.71836434e-03 -4.09359541e-04 9.99983566e-01 3.55987632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.640714057 meters Centerline goodness : 0.989867 with order 1 Centerline is valid? [True, True] Translation: X:654.72, Y:-38.44, Z:3.57 [[ 9.98398865e-01 5.62794911e-02 -5.68552163e-03 6.54715379e+02] [-5.62762059e-02 9.98414967e-01 7.36279328e-04 -3.84394719e+01] [ 5.71794732e-03 -4.15140860e-04 9.99983566e-01 3.56556566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.700714057 meters Centerline goodness : 0.992574 with order 1 Centerline is valid? [True, True] Translation: X:654.77, Y:-38.44, Z:3.56 [[ 9.98290798e-01 5.81648982e-02 -5.68573966e-03 6.54772532e+02] [-5.81616530e-02 9.98306908e-01 7.34591808e-04 -3.84427508e+01] [ 5.71884063e-03 -4.02644225e-04 9.99983566e-01 3.56028578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.760714057 meters Centerline goodness : 0.990384 with order 1 Centerline is valid? [True, True] Translation: X:654.83, Y:-38.45, Z:3.56 [[ 9.97996997e-01 6.30052818e-02 -5.68584107e-03 6.54829706e+02] [-6.30021193e-02 9.98013123e-01 7.33806005e-04 -3.84512208e+01] [ 5.72077766e-03 -3.74116152e-04 9.99983566e-01 3.56379506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.820714057 meters Centerline goodness : 0.992009 with order 1 Centerline is valid? [True, True] Translation: X:654.89, Y:-38.45, Z:3.56 [[ 9.97669168e-01 6.79992624e-02 -5.68607723e-03 6.54887577e+02] [-6.79961909e-02 9.97685312e-01 7.31971494e-04 -3.84513175e+01] [ 5.72268926e-03 -3.43633798e-04 9.99983566e-01 3.55934504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.880714057 meters Centerline goodness : 0.989731 with order 1 Centerline is valid? [True, True] Translation: X:654.94, Y:-38.46, Z:3.57 [[ 9.97153215e-01 7.51873142e-02 -5.68618019e-03 6.54944577e+02] [-7.51843637e-02 9.97169382e-01 7.31170777e-04 -3.84609858e+01] [ 5.72505956e-03 -3.01577452e-04 9.99983566e-01 3.56700145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.940714057 meters Centerline goodness : 0.992168 with order 1 Centerline is valid? [True, True] Translation: X:655.00, Y:-38.46, Z:3.56 [[ 9.97377639e-01 7.21492225e-02 -5.68640340e-03 6.55003680e+02] [-7.21462327e-02 9.97393798e-01 7.29430737e-04 -3.84625090e+01] [ 5.72421134e-03 -3.17265324e-04 9.99983566e-01 3.56053013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.000714057 meters Centerline goodness : 0.992023 with order 1 Centerline is valid? [True, True] Translation: X:655.06, Y:-38.47, Z:3.56 [[ 9.97253861e-01 7.38403675e-02 -5.68661485e-03 6.55061370e+02] [-7.38374146e-02 9.97270027e-01 7.27778507e-04 -3.84687558e+01] [ 5.72482998e-03 -3.05894988e-04 9.99983566e-01 3.56104205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.060714057 meters Centerline goodness : 0.992827 with order 1 Centerline is valid? [True, True] Translation: X:655.12, Y:-38.48, Z:3.56 [[ 9.97094432e-01 7.59628424e-02 -5.68682602e-03 6.55119412e+02] [-7.59599333e-02 9.97110606e-01 7.26124649e-04 -3.84750496e+01] [ 5.72555304e-03 -2.92043920e-04 9.99983566e-01 3.55953840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.120714057 meters Centerline goodness : 0.992083 with order 1 Centerline is valid? [True, True] Translation: X:655.18, Y:-38.48, Z:3.56 [[ 9.96998780e-01 7.72080989e-02 -5.68704053e-03 6.55175585e+02] [-7.72052195e-02 9.97014959e-01 7.24440760e-04 -3.84811424e+01] [ 5.72599717e-03 -2.83197341e-04 9.99983566e-01 3.55857392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.180714057 meters Centerline goodness : 0.990891 with order 1 Centerline is valid? [True, True] Translation: X:655.23, Y:-38.49, Z:3.56 [[ 9.97036882e-01 7.67144930e-02 -5.68713245e-03 6.55233225e+02] [-7.67116097e-02 9.97053060e-01 7.23718391e-04 -3.84906421e+01] [ 5.72589250e-03 -2.85304843e-04 9.99983566e-01 3.56111715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.240714057 meters Centerline goodness : 0.992192 with order 1 Centerline is valid? [True, True] Translation: X:655.29, Y:-38.49, Z:3.56 [[ 9.96992062e-01 7.72947795e-02 -5.68733223e-03 6.55291042e+02] [-7.72919146e-02 9.97008244e-01 7.22145004e-04 -3.84946982e+01] [ 5.72613516e-03 -2.80388039e-04 9.99983566e-01 3.55921971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.300714057 meters Centerline goodness : 0.993177 with order 1 Centerline is valid? [True, True] Translation: X:655.35, Y:-38.50, Z:3.56 [[ 9.96897766e-01 7.85015699e-02 -5.68756440e-03 6.55348240e+02] [-7.84987350e-02 9.96913953e-01 7.20311803e-04 -3.85021380e+01] [ 5.72655792e-03 -2.71610616e-04 9.99983566e-01 3.55957716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.360714057 meters Centerline goodness : 0.992672 with order 1 Centerline is valid? [True, True] Translation: X:655.40, Y:-38.51, Z:3.56 [[ 9.96807527e-01 7.96392062e-02 -5.68776759e-03 6.55404789e+02] [-7.96363990e-02 9.96823719e-01 7.18703746e-04 -3.85102255e+01] [ 5.72693864e-03 -2.63455975e-04 9.99983566e-01 3.55828356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.420714057 meters Centerline goodness : 0.992201 with order 1 Centerline is valid? [True, True] Translation: X:655.46, Y:-38.52, Z:3.56 [[ 9.96816563e-01 7.95260234e-02 -5.68785477e-03 6.55461609e+02] [-7.95232182e-02 9.96832755e-01 7.18013174e-04 -3.85185572e+01] [ 5.72694067e-03 -2.63410908e-04 9.99983566e-01 3.55716106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.480714057 meters Centerline goodness : 0.993004 with order 1 Centerline is valid? [True, True] Translation: X:655.52, Y:-38.53, Z:3.56 [[ 9.96765294e-01 8.01660520e-02 -5.68794031e-03 6.55517294e+02] [-8.01632611e-02 9.96781489e-01 7.17334896e-04 -3.85286701e+01] [ 5.72713952e-03 -2.59050685e-04 9.99983566e-01 3.55744992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5407140570001 meters Centerline goodness : 0.992776 with order 1 Centerline is valid? [True, True] Translation: X:655.57, Y:-38.54, Z:3.56 [[ 9.96723078e-01 8.06892277e-02 -5.68807174e-03 6.55574072e+02] [-8.06864512e-02 9.96739276e-01 7.16291200e-04 -3.85371455e+01] [ 5.72732149e-03 -2.54993647e-04 9.99983566e-01 3.55865409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.600714057 meters Centerline goodness : 0.990532 with order 1 Centerline is valid? [True, True] Translation: X:655.63, Y:-38.55, Z:3.56 [[ 9.96489934e-01 8.35191872e-02 -5.68827320e-03 6.55630937e+02] [-8.35164659e-02 9.96506141e-01 7.14687727e-04 -3.85497152e+01] [ 5.72808932e-03 -2.37114651e-04 9.99983566e-01 3.56284337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6607140570001 meters Centerline goodness : 0.992438 with order 1 Centerline is valid? [True, True] Translation: X:655.69, Y:-38.56, Z:3.56 [[ 9.96523783e-01 8.31143263e-02 -5.68849393e-03 6.55688608e+02] [-8.31116085e-02 9.96539990e-01 7.12926577e-04 -3.85555756e+01] [ 5.72806609e-03 -2.37668409e-04 9.99983566e-01 3.56099823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.720714057 meters Centerline goodness : 0.992423 with order 1 Centerline is valid? [True, True] Translation: X:655.75, Y:-38.57, Z:3.56 [[ 9.96685530e-01 8.11516738e-02 -5.68856730e-03 6.55745546e+02] [-8.11489273e-02 9.96701733e-01 7.12340636e-04 -3.85655686e+01] [ 5.72761252e-03 -2.48358470e-04 9.99983566e-01 3.56053753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7807140570001 meters Centerline goodness : 0.985332 with order 1 Centerline is valid? [True, True] Translation: X:655.80, Y:-38.58, Z:3.56 [[ 9.97222155e-01 7.42671608e-02 -5.68877028e-03 6.55803791e+02] [-7.42643118e-02 9.97238340e-01 7.10715956e-04 -3.85754702e+01] [ 5.72584268e-03 -2.86269088e-04 9.99983566e-01 3.56098812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.840714057 meters Centerline goodness : 0.993024 with order 1 Centerline is valid? [True, True] Translation: X:655.86, Y:-38.59, Z:3.56 [[ 9.97371080e-01 7.22396304e-02 -5.68898540e-03 6.55860928e+02] [-7.22367583e-02 9.97387261e-01 7.08989768e-04 -3.85881920e+01] [ 5.72533873e-03 -2.96172028e-04 9.99983566e-01 3.55990942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.900714057 meters Centerline goodness : 0.989749 with order 1 Centerline is valid? [True, True] Translation: X:655.92, Y:-38.60, Z:3.57 [[ 9.97795163e-01 6.61244828e-02 -5.68907123e-03 6.55917047e+02] [-6.61215155e-02 9.97811327e-01 7.08300363e-04 -3.86014100e+01] [ 5.72345571e-03 -3.30568665e-04 9.99983566e-01 3.56653777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.960714057 meters Centerline goodness : 0.991752 with order 1 Centerline is valid? [True, True] Translation: X:655.97, Y:-38.61, Z:3.56 [[ 9.97847306e-01 6.53329027e-02 -5.68914015e-03 6.55974928e+02] [-6.53299257e-02 9.97863468e-01 7.07746356e-04 -3.86118584e+01] [ 5.72322425e-03 -3.34551691e-04 9.99983566e-01 3.56078304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.020714057 meters Centerline goodness : 0.992285 with order 1 Centerline is valid? [True, True] Translation: X:656.03, Y:-38.62, Z:3.56 [[ 9.97807349e-01 6.59403151e-02 -5.68933120e-03 6.56032104e+02] [-6.59373568e-02 9.97823515e-01 7.06207224e-04 -3.86205720e+01] [ 5.72351598e-03 -3.29519296e-04 9.99983566e-01 3.56147034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.080714057 meters Centerline goodness : 0.991609 with order 1 Centerline is valid? [True, True] Translation: X:656.09, Y:-38.63, Z:3.56 [[ 9.97616228e-01 6.87712977e-02 -5.68953156e-03 6.56089369e+02] [-6.87683944e-02 9.97632403e-01 7.04589349e-04 -3.86291049e+01] [ 5.72451657e-03 -3.11649818e-04 9.99983566e-01 3.56274737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.140714057 meters Centerline goodness : 0.992212 with order 1 Centerline is valid? [True, True] Translation: X:656.15, Y:-38.64, Z:3.56 [[ 9.97475540e-01 7.07825785e-02 -5.68973979e-03 6.56145314e+02] [-7.07797174e-02 9.97491723e-01 7.02903787e-04 -3.86373935e+01] [ 5.72522169e-03 -2.98411160e-04 9.99983566e-01 3.56302151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.200714057 meters Centerline goodness : 0.992143 with order 1 Centerline is valid? [True, True] Translation: X:656.20, Y:-38.65, Z:3.56 [[ 9.97382798e-01 7.20776042e-02 -5.68982915e-03 6.56202802e+02] [-7.20747682e-02 9.97398985e-01 7.02179762e-04 -3.86458996e+01] [ 5.72564125e-03 -2.90248899e-04 9.99983566e-01 3.56391452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.260714057 meters Centerline goodness : 0.992566 with order 1 Centerline is valid? [True, True] Translation: X:656.26, Y:-38.65, Z:3.56 [[ 9.97340436e-01 7.26613981e-02 -5.69003236e-03 6.56259307e+02] [-7.26585810e-02 9.97356626e-01 7.00529137e-04 -3.86529415e+01] [ 5.72589291e-03 -2.85236357e-04 9.99983566e-01 3.56460650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.320714057 meters Centerline goodness : 0.990492 with order 1 Centerline is valid? [True, True] Translation: X:656.32, Y:-38.67, Z:3.57 [[ 9.97149046e-01 7.52422869e-02 -5.69016909e-03 6.56315855e+02] [-7.52395181e-02 9.97165245e-01 6.99416752e-04 -3.86653813e+01] [ 5.72666457e-03 -2.69297167e-04 9.99983566e-01 3.56767596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.380714057 meters Centerline goodness : 0.988865 with order 1 Centerline is valid? [True, True] Translation: X:656.37, Y:-38.67, Z:3.57 [[ 9.97172862e-01 7.49259792e-02 -5.69038441e-03 6.56373455e+02] [-7.49232152e-02 9.97189062e-01 6.97660556e-04 -3.86718385e+01] [ 5.72666199e-03 -2.69346277e-04 9.99983566e-01 3.56786289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.440714057 meters Centerline goodness : 0.989679 with order 1 Centerline is valid? [True, True] Translation: X:656.43, Y:-38.68, Z:3.57 [[ 9.96964361e-01 7.76510087e-02 -5.69062814e-03 6.56430262e+02] [-7.76483004e-02 9.96980570e-01 6.95666810e-04 -3.86793656e+01] [ 5.72746492e-03 -2.51687413e-04 9.99983566e-01 3.56983594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.500714057 meters Centerline goodness : 0.988400 with order 1 Centerline is valid? [True, True] Translation: X:656.49, Y:-38.69, Z:3.57 [[ 9.96716182e-01 8.07741802e-02 -5.69073441e-03 6.56487520e+02] [-8.07715276e-02 9.96732400e-01 6.94796402e-04 -3.86873151e+01] [ 5.72826098e-03 -2.32865505e-04 9.99983566e-01 3.56823417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.560714057 meters Centerline goodness : 0.991763 with order 1 Centerline is valid? [True, True] Translation: X:656.55, Y:-38.69, Z:3.57 [[ 9.96833590e-01 7.93120822e-02 -5.69096947e-03 6.56545038e+02] [-7.93094168e-02 9.96849806e-01 6.92865679e-04 -3.86882928e+01] [ 5.72799444e-03 -2.39324313e-04 9.99983566e-01 3.56814532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.620714057 meters Centerline goodness : 0.989923 with order 1 Centerline is valid? [True, True] Translation: X:656.60, Y:-38.70, Z:3.57 [[ 9.96795630e-01 7.97877336e-02 -5.69112980e-03 6.56601912e+02] [-7.97850835e-02 9.96811849e-01 6.91546276e-04 -3.87004639e+01] [ 5.72816253e-03 -2.35263040e-04 9.99983566e-01 3.56966367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.680714057 meters Centerline goodness : 0.991059 with order 1 Centerline is valid? [True, True] Translation: X:656.66, Y:-38.71, Z:3.57 [[ 9.96916082e-01 7.82683416e-02 -5.69132716e-03 6.56658355e+02] [-7.82656761e-02 9.96932299e-01 6.89918194e-04 -3.87061039e+01] [ 5.72786662e-03 -2.42354976e-04 9.99983566e-01 3.56910919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.740714057 meters Centerline goodness : 0.988421 with order 1 Centerline is valid? [True, True] Translation: X:656.71, Y:-38.72, Z:3.57 [[ 9.96708470e-01 8.08692374e-02 -5.69141898e-03 6.56714635e+02] [-8.08666185e-02 9.96724694e-01 6.89159863e-04 -3.87204514e+01] [ 5.72850967e-03 -2.26645665e-04 9.99983566e-01 3.57064811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.800714057 meters Centerline goodness : 0.991221 with order 1 Centerline is valid? [True, True] Translation: X:656.77, Y:-38.72, Z:3.57 [[ 9.97065756e-01 7.63379607e-02 -5.69164483e-03 6.56771847e+02] [-7.63352787e-02 9.97081969e-01 6.87289508e-04 -3.87248623e+01] [ 5.72750272e-03 -2.50799538e-04 9.99983566e-01 3.56907100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.860714057 meters Centerline goodness : 0.983889 with order 1 Centerline is valid? [True, True] Translation: X:656.83, Y:-38.73, Z:3.57 [[ 9.97268469e-01 7.36424052e-02 -5.69174327e-03 6.56830490e+02] [-7.36396841e-02 9.97284676e-01 6.86473343e-04 -3.87326100e+01] [ 5.72684189e-03 -2.65460044e-04 9.99983566e-01 3.57278664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.920714057 meters Centerline goodness : 0.987631 with order 1 Centerline is valid? [True, True] Translation: X:656.89, Y:-38.75, Z:3.58 [[ 9.97053439e-01 7.64986551e-02 -5.69177875e-03 6.56886007e+02] [-7.64959821e-02 9.97069653e-01 6.86179074e-04 -3.87499407e+01] [ 5.72759164e-03 -2.48759000e-04 9.99983566e-01 3.57622504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.980714057 meters Centerline goodness : 0.987275 with order 1 Centerline is valid? [True, True] Translation: X:656.94, Y:-38.76, Z:3.58 [[ 9.97347047e-01 7.25704459e-02 -5.69188525e-03 6.56943158e+02] [-7.25677141e-02 9.97363252e-01 6.85294498e-04 -3.87592146e+01] [ 5.72660931e-03 -2.70429343e-04 9.99983566e-01 3.57772988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0407140570001 meters Centerline goodness : 0.983474 with order 1 Centerline is valid? [True, True] Translation: X:657.00, Y:-38.76, Z:3.57 [[ 9.97988966e-01 6.31318047e-02 -5.69196569e-03 6.57000975e+02] [-6.31289235e-02 9.98005145e-01 6.84625711e-04 -3.87646106e+01] [ 5.72383270e-03 -3.23921239e-04 9.99983566e-01 3.57081249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.100714057 meters Centerline goodness : 0.989527 with order 1 Centerline is valid? [True, True] Translation: X:657.06, Y:-38.77, Z:3.57 [[ 9.98406600e-01 5.61414340e-02 -5.69221500e-03 6.57057653e+02] [-5.61384513e-02 9.98422760e-01 6.82546539e-04 -3.87740940e+01] [ 5.72155616e-03 -3.61906834e-04 9.99983566e-01 3.56774835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1607140570001 meters Centerline goodness : 0.989624 with order 1 Centerline is valid? [True, True] Translation: X:657.12, Y:-38.78, Z:3.57 [[ 9.98776880e-01 4.91155880e-02 -5.69229779e-03 6.57115218e+02] [-4.91124956e-02 9.98793021e-01 6.81855368e-04 -3.87838117e+01] [ 5.71891703e-03 -4.01458427e-04 9.99983566e-01 3.56705182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.220714057 meters Centerline goodness : 0.981309 with order 1 Centerline is valid? [True, True] Translation: X:657.17, Y:-38.79, Z:3.57 [[ 9.98843418e-01 4.77433110e-02 -5.69237162e-03 6.57172693e+02] [-4.77401999e-02 9.98859554e-01 6.81238500e-04 -3.87899241e+01] [ 5.71840436e-03 -4.08695632e-04 9.99983566e-01 3.57372226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2807140570001 meters Centerline goodness : 0.989504 with order 1 Centerline is valid? [True, True] Translation: X:657.23, Y:-38.80, Z:3.57 [[ 9.98882767e-01 4.69128281e-02 -5.69243547e-03 6.57231618e+02] [-4.69097067e-02 9.98898902e-01 6.80704503e-04 -3.87954218e+01] [ 5.71810132e-03 -4.12913519e-04 9.99983566e-01 3.57027204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.340714057 meters Centerline goodness : 0.982006 with order 1 Centerline is valid? [True, True] Translation: X:657.29, Y:-38.80, Z:3.58 [[ 9.98836183e-01 4.78944185e-02 -5.69250290e-03 6.57289193e+02] [-4.78913161e-02 9.98852321e-01 6.80140166e-04 -3.87980012e+01] [ 5.71854465e-03 -4.06727151e-04 9.99983566e-01 3.57532404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.400714057 meters Centerline goodness : 0.987073 with order 1 Centerline is valid? [True, True] Translation: X:657.35, Y:-38.80, Z:3.58 [[ 9.98741895e-01 4.98219064e-02 -5.69256964e-03 6.57346473e+02] [-4.98188383e-02 9.98758040e-01 6.79581115e-04 -3.88049739e+01] [ 5.71935772e-03 -3.95128924e-04 9.99983566e-01 3.57924764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.460714057 meters Centerline goodness : 0.987126 with order 1 Centerline is valid? [True, True] Translation: X:657.40, Y:-38.81, Z:3.58 [[ 9.98982118e-01 4.47473083e-02 -5.69265227e-03 6.57404521e+02] [-4.47441622e-02 9.98998248e-01 6.78888219e-04 -3.88106903e+01] [ 5.71732807e-03 -4.23484234e-04 9.99983566e-01 3.57884261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.520714057 meters Centerline goodness : 0.980927 with order 1 Centerline is valid? [True, True] Translation: X:657.46, Y:-38.81, Z:3.58 [[ 9.99299221e-01 3.69953966e-02 -5.69273237e-03 6.57464376e+02] [-3.69921292e-02 9.99315327e-01 6.78215939e-04 -3.88103447e+01] [ 5.71392557e-03 -4.67154368e-04 9.99983566e-01 3.57928095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.580714057 meters Centerline goodness : 0.980697 with order 1 Centerline is valid? [True, True] Translation: X:657.52, Y:-38.81, Z:3.58 [[ 9.99379891e-01 3.47480206e-02 -5.69276610e-03 6.57523096e+02] [-3.47447186e-02 9.99395990e-01 6.77932636e-04 -3.88120500e+01] [ 5.71288443e-03 -4.79718688e-04 9.99983566e-01 3.58024924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.640714057 meters Centerline goodness : 0.985428 with order 1 Centerline is valid? [True, True] Translation: X:657.58, Y:-38.83, Z:3.58 [[ 9.99070159e-01 4.27365166e-02 -5.69283576e-03 6.57580505e+02] [-4.27333468e-02 9.99086284e-01 6.77347204e-04 -3.88254431e+01] [ 5.71658158e-03 -4.33443454e-04 9.99983566e-01 3.58472696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.700714057 meters Centerline goodness : 0.986290 with order 1 Centerline is valid? [True, True] Translation: X:657.64, Y:-38.83, Z:3.58 [[ 9.98981515e-01 4.47607441e-02 -5.69291216e-03 6.57637012e+02] [-4.47576106e-02 9.98997647e-01 6.76704472e-04 -3.88299414e+01] [ 5.71749565e-03 -4.21214113e-04 9.99983566e-01 3.57805632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.760714057 meters Centerline goodness : 0.985872 with order 1 Centerline is valid? [True, True] Translation: X:657.70, Y:-38.83, Z:3.58 [[ 9.98979981e-01 4.47949398e-02 -5.69305291e-03 6.57695753e+02] [-4.47918136e-02 9.98996115e-01 6.75518318e-04 -3.88324762e+01] [ 5.71759754e-03 -4.19827112e-04 9.99983566e-01 3.58294467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.820714057 meters Centerline goodness : 0.984190 with order 1 Centerline is valid? [True, True] Translation: X:657.76, Y:-38.82, Z:3.57 [[ 9.99332532e-01 3.60843400e-02 -5.69310145e-03 6.57755533e+02] [-3.60810756e-02 9.99348638e-01 6.75108948e-04 -3.88249863e+01] [ 5.71375404e-03 -4.69245111e-04 9.99983566e-01 3.57479550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.880714057 meters Centerline goodness : 0.991173 with order 1 Centerline is valid? [True, True] Translation: X:657.81, Y:-38.83, Z:3.58 [[ 9.99379675e-01 3.47541799e-02 -5.69314926e-03 6.57813381e+02] [-3.47508963e-02 9.99395777e-01 6.74705525e-04 -3.88314260e+01] [ 5.71315817e-03 -4.76444948e-04 9.99983566e-01 3.57503005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.940714057 meters Centerline goodness : 0.983967 with order 1 Centerline is valid? [True, True] Translation: X:657.87, Y:-38.84, Z:3.57 [[ 9.99367461e-01 3.51036219e-02 -5.69324543e-03 6.57872337e+02] [-3.51003486e-02 9.99383566e-01 6.73893065e-04 -3.88350295e+01] [ 5.71339200e-03 -4.73631903e-04 9.99983566e-01 3.57498098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.000714057 meters Centerline goodness : 0.984340 with order 1 Centerline is valid? [True, True] Translation: X:657.93, Y:-38.84, Z:3.57 [[ 9.99439595e-01 3.29861020e-02 -5.69329253e-03 6.57930714e+02] [-3.29827968e-02 9.99455693e-01 6.73494936e-04 -3.88371570e+01] [ 5.71240960e-03 -4.85336795e-04 9.99983566e-01 3.57215544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.060714057 meters Centerline goodness : 0.988273 with order 1 Centerline is valid? [True, True] Translation: X:657.99, Y:-38.85, Z:3.59 [[ 9.98946243e-01 4.55410785e-02 -5.69339035e-03 6.57988979e+02] [-4.55379805e-02 9.98962382e-01 6.72666946e-04 -3.88487876e+01] [ 5.71811676e-03 -4.12692619e-04 9.99983566e-01 3.58568130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.120714057 meters Centerline goodness : 0.988877 with order 1 Centerline is valid? [True, True] Translation: X:658.05, Y:-38.85, Z:3.59 [[ 9.98881558e-01 4.69384274e-02 -5.69360150e-03 6.58048355e+02] [-4.69353621e-02 9.98897703e-01 6.70874955e-04 -3.88506699e+01] [ 5.71881528e-03 -4.02893373e-04 9.99983566e-01 3.59209866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.180714057 meters Centerline goodness : 0.989339 with order 1 Centerline is valid? [True, True] Translation: X:658.11, Y:-38.85, Z:3.59 [[ 9.98352018e-01 5.71036763e-02 -5.69376621e-03 6.58106626e+02] [-5.71007835e-02 9.98368195e-01 6.69474152e-04 -3.88524278e+01] [ 5.72270453e-03 -3.43252359e-04 9.99983566e-01 3.59148957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.240714057 meters Centerline goodness : 0.988642 with order 1 Centerline is valid? [True, True] Translation: X:658.16, Y:-38.86, Z:3.60 [[ 9.98230724e-01 5.91861644e-02 -5.69381615e-03 6.58164111e+02] [-5.91833077e-02 9.98246908e-01 6.69049114e-04 -3.88566121e+01] [ 5.72343282e-03 -3.30886508e-04 9.99983566e-01 3.59570881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.300714057 meters Centerline goodness : 0.988647 with order 1 Centerline is valid? [True, True] Translation: X:658.22, Y:-38.86, Z:3.59 [[ 9.97605754e-01 6.89227030e-02 -5.69387527e-03 6.58222603e+02] [-6.89200073e-02 9.97621965e-01 6.68545592e-04 -3.88630427e+01] [ 5.72641301e-03 -2.74523004e-04 9.99983566e-01 3.59156679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.360714057 meters Centerline goodness : 0.989087 with order 1 Centerline is valid? [True, True] Translation: X:658.28, Y:-38.87, Z:3.59 [[ 9.97376741e-01 7.21610443e-02 -5.69390987e-03 6.58281284e+02] [-7.21584029e-02 9.97392961e-01 6.68250780e-04 -3.88688485e+01] [ 5.72728730e-03 -2.55634342e-04 9.99983566e-01 3.58718717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.420714057 meters Centerline goodness : 0.992788 with order 1 Centerline is valid? [True, True] Translation: X:658.34, Y:-38.87, Z:3.58 [[ 9.97414498e-01 7.16372556e-02 -5.69408441e-03 6.58339999e+02] [-7.16346142e-02 9.97430718e-01 6.66760230e-04 -3.88669947e+01] [ 5.72721958e-03 -2.57142780e-04 9.99983566e-01 3.57774733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.480714057 meters Centerline goodness : 0.992358 with order 1 Centerline is valid? [True, True] Translation: X:658.40, Y:-38.87, Z:3.58 [[ 9.97275928e-01 7.35411427e-02 -5.69414542e-03 6.58397763e+02] [-7.35385352e-02 9.97292154e-01 6.66238800e-04 -3.88736314e+01] [ 5.72772251e-03 -2.45684804e-04 9.99983566e-01 3.57729945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5407140570001 meters Centerline goodness : 0.993216 with order 1 Centerline is valid? [True, True] Translation: X:658.46, Y:-38.88, Z:3.58 [[ 9.97031218e-01 7.67875310e-02 -5.69433658e-03 6.58455311e+02] [-7.67849857e-02 9.97047453e-01 6.64600953e-04 -3.88799432e+01] [ 5.72855685e-03 -2.25388345e-04 9.99983566e-01 3.57657249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.600714057 meters Centerline goodness : 0.992872 with order 1 Centerline is valid? [True, True] Translation: X:658.51, Y:-38.89, Z:3.58 [[ 9.96887773e-01 7.86278749e-02 -5.69439518e-03 6.58512366e+02] [-7.86253624e-02 9.96904013e-01 6.64098483e-04 -3.88871092e+01] [ 5.72898206e-03 -2.14307773e-04 9.99983566e-01 3.57848473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6607140570001 meters Centerline goodness : 0.986007 with order 1 Centerline is valid? [True, True] Translation: X:658.57, Y:-38.89, Z:3.58 [[ 9.96997186e-01 7.72281157e-02 -5.69458646e-03 6.58569096e+02] [-7.72255898e-02 9.97013425e-01 6.62454203e-04 -3.88919200e+01] [ 5.72873924e-03 -2.20697179e-04 9.99983566e-01 3.57905393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.720714057 meters Centerline goodness : 0.986038 with order 1 Centerline is valid? [True, True] Translation: X:658.63, Y:-38.90, Z:3.58 [[ 9.97115773e-01 7.56815913e-02 -5.69483949e-03 6.58626094e+02] [-7.56790526e-02 9.97132010e-01 6.60271808e-04 -3.88987030e+01] [ 5.72847717e-03 -2.27387377e-04 9.99983566e-01 3.58099606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7807140570001 meters Centerline goodness : 0.992337 with order 1 Centerline is valid? [True, True] Translation: X:658.68, Y:-38.91, Z:3.58 [[ 9.97051875e-01 7.65187827e-02 -5.69510424e-03 6.58683732e+02] [-7.65162707e-02 9.97068116e-01 6.57980291e-04 -3.89106743e+01] [ 5.72875470e-03 -2.20272345e-04 9.99983566e-01 3.58136623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.840714057 meters Centerline goodness : 0.988812 with order 1 Centerline is valid? [True, True] Translation: X:658.74, Y:-38.93, Z:3.59 [[ 9.96565408e-01 8.26132625e-02 -5.69533261e-03 6.58738892e+02] [-8.26108612e-02 9.96581665e-01 6.55997544e-04 -3.89305078e+01] [ 5.73005816e-03 -1.83248128e-04 9.99983566e-01 3.58719397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.900714057 meters Centerline goodness : 0.988756 with order 1 Centerline is valid? [True, True] Translation: X:658.80, Y:-38.94, Z:3.58 [[ 9.96516986e-01 8.31953049e-02 -5.69541278e-03 6.58796638e+02] [-8.31929170e-02 9.96533245e-01 6.55300799e-04 -3.89445056e+01] [ 5.73018613e-03 -1.79200374e-04 9.99983566e-01 3.57956840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.960714057 meters Centerline goodness : 0.989247 with order 1 Centerline is valid? [True, True] Translation: X:658.85, Y:-38.96, Z:3.57 [[ 9.96530704e-01 8.30308155e-02 -5.69557561e-03 6.58853759e+02] [-8.30284331e-02 9.96546964e-01 6.53882462e-04 -3.89565435e+01] [ 5.73020098e-03 -1.78719231e-04 9.99983566e-01 3.57081979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.020714057 meters Centerline goodness : 0.993059 with order 1 Centerline is valid? [True, True] Translation: X:658.91, Y:-38.95, Z:3.58 [[ 9.97485310e-01 7.06442949e-02 -5.69563280e-03 6.58913353e+02] [-7.06417135e-02 9.97501540e-01 6.53383916e-04 -3.89489023e+01] [ 5.72756034e-03 -2.49391597e-04 9.99983566e-01 3.58054000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.080714057 meters Centerline goodness : 0.991783 with order 1 Centerline is valid? [True, True] Translation: X:658.97, Y:-38.96, Z:3.58 [[ 9.97653518e-01 6.82276876e-02 -5.69566644e-03 6.58970752e+02] [-6.82250686e-02 9.97669742e-01 6.53090560e-04 -3.89571158e+01] [ 5.72695293e-03 -2.62970861e-04 9.99983566e-01 3.57909413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.140714057 meters Centerline goodness : 0.984109 with order 1 Centerline is valid? [True, True] Translation: X:659.03, Y:-38.96, Z:3.58 [[ 9.97865461e-01 6.50544262e-02 -5.69585476e-03 6.59027696e+02] [-6.50517649e-02 9.97881678e-01 6.51444060e-04 -3.89647200e+01] [ 5.72616842e-03 -2.79528123e-04 9.99983566e-01 3.58283252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.200714057 meters Centerline goodness : 0.991762 with order 1 Centerline is valid? [True, True] Translation: X:659.09, Y:-38.97, Z:3.58 [[ 9.98096506e-01 6.14078156e-02 -5.69606896e-03 6.59085792e+02] [-6.14051058e-02 9.98112715e-01 6.49565723e-04 -3.89729326e+01] [ 5.72520726e-03 -2.98561561e-04 9.99983566e-01 3.58064057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.260714057 meters Centerline goodness : 0.983821 with order 1 Centerline is valid? [True, True] Translation: X:659.14, Y:-38.98, Z:3.58 [[ 9.98347274e-01 5.71863071e-02 -5.69628415e-03 6.59144403e+02] [-5.71835396e-02 9.98363473e-01 6.47673127e-04 -3.89786722e+01] [ 5.72400006e-03 -3.20869011e-04 9.99983566e-01 3.58370013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.320714057 meters Centerline goodness : 0.989443 with order 1 Centerline is valid? [True, True] Translation: X:659.20, Y:-39.00, Z:3.58 [[ 9.98117995e-01 6.10575047e-02 -5.69648333e-03 6.59200185e+02] [-6.10548100e-02 9.98134206e-01 6.45916472e-04 -3.89963455e+01] [ 5.72529291e-03 -2.96903147e-04 9.99983566e-01 3.58388874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.380714057 meters Centerline goodness : 0.985387 with order 1 Centerline is valid? [True, True] Translation: X:659.26, Y:-38.99, Z:3.58 [[ 9.98769914e-01 4.92565457e-02 -5.69655978e-03 6.59259543e+02] [-4.92536634e-02 9.98786093e-01 6.45241542e-04 -3.89930689e+01] [ 5.72142706e-03 -3.63871401e-04 9.99983566e-01 3.58216075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.440714057 meters Centerline goodness : 0.990376 with order 1 Centerline is valid? [True, True] Translation: X:659.32, Y:-39.00, Z:3.59 [[ 9.98614076e-01 5.23208755e-02 -5.69675827e-03 6.59316308e+02] [-5.23180529e-02 9.98630266e-01 6.43484310e-04 -3.90028774e+01] [ 5.72262289e-03 -3.44549190e-04 9.99983566e-01 3.58825310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.500714057 meters Centerline goodness : 0.991243 with order 1 Centerline is valid? [True, True] Translation: X:659.38, Y:-39.01, Z:3.58 [[ 9.98520621e-01 5.40750923e-02 -5.69683447e-03 6.59375043e+02] [-5.40723020e-02 9.98536816e-01 6.42808970e-04 -3.90074255e+01] [ 5.72325891e-03 -3.33817058e-04 9.99983566e-01 3.58350710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.560714057 meters Centerline goodness : 0.983913 with order 1 Centerline is valid? [True, True] Translation: X:659.43, Y:-39.01, Z:3.58 [[ 9.98427217e-01 5.57730783e-02 -5.69701427e-03 6.59434091e+02] [-5.57703246e-02 9.98443418e-01 6.41211552e-04 -3.90113456e+01] [ 5.72390874e-03 -3.22478730e-04 9.99983566e-01 3.58078637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.620714057 meters Centerline goodness : 0.992858 with order 1 Centerline is valid? [True, True] Translation: X:659.49, Y:-39.02, Z:3.58 [[ 9.98270383e-01 5.85131037e-02 -5.69721429e-03 6.59492416e+02] [-5.85104046e-02 9.98286594e-01 6.39429332e-04 -3.90188373e+01] [ 5.72486765e-03 -3.04977052e-04 9.99983566e-01 3.58021553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.680714057 meters Centerline goodness : 0.993239 with order 1 Centerline is valid? [True, True] Translation: X:659.55, Y:-39.03, Z:3.58 [[ 9.98167874e-01 6.02364996e-02 -5.69727931e-03 6.59549435e+02] [-6.02338318e-02 9.98184090e-01 6.38849490e-04 -3.90253564e+01] [ 5.72541562e-03 -2.94510073e-04 9.99983566e-01 3.58028174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.740714057 meters Centerline goodness : 0.992395 with order 1 Centerline is valid? [True, True] Translation: X:659.61, Y:-39.03, Z:3.58 [[ 9.98232704e-01 5.91524219e-02 -5.69735887e-03 6.59607057e+02] [-5.91497405e-02 9.98248917e-01 6.38139230e-04 -3.90310342e+01] [ 5.72512980e-03 -3.00014151e-04 9.99983566e-01 3.57995361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.800714057 meters Centerline goodness : 0.990664 with order 1 Centerline is valid? [True, True] Translation: X:659.66, Y:-39.04, Z:3.58 [[ 9.98347908e-01 5.71751002e-02 -5.69754045e-03 6.59663763e+02] [-5.71723959e-02 9.98364118e-01 6.36513856e-04 -3.90376234e+01] [ 5.72461269e-03 -3.09720238e-04 9.99983566e-01 3.57950560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.860714057 meters Centerline goodness : 0.990859 with order 1 Centerline is valid? [True, True] Translation: X:659.72, Y:-39.05, Z:3.58 [[ 9.98639811e-01 5.18272538e-02 -5.69761829e-03 6.59721307e+02] [-5.18244667e-02 9.98656007e-01 6.35816266e-04 -3.90458546e+01] [ 5.72291335e-03 -3.39675406e-04 9.99983566e-01 3.58009075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.920714057 meters Centerline goodness : 0.990619 with order 1 Centerline is valid? [True, True] Translation: X:659.78, Y:-39.05, Z:3.58 [[ 9.98821863e-01 4.81915028e-02 -5.69779392e-03 6.59779266e+02] [-4.81886658e-02 9.98838050e-01 6.34238495e-04 -3.90531722e+01] [ 5.72173828e-03 -3.58922188e-04 9.99983566e-01 3.58083177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.980714057 meters Centerline goodness : 0.990125 with order 1 Centerline is valid? [True, True] Translation: X:659.84, Y:-39.06, Z:3.58 [[ 9.98979589e-01 4.48030796e-02 -5.69786217e-03 6.59836593e+02] [-4.48001912e-02 9.98995766e-01 6.33624743e-04 -3.90603151e+01] [ 5.72052853e-03 -3.77712871e-04 9.99983566e-01 3.58039516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0407140570001 meters Centerline goodness : 0.982514 with order 1 Centerline is valid? [True, True] Translation: X:659.89, Y:-39.07, Z:3.59 [[ 9.98982467e-01 4.47388348e-02 -5.69792941e-03 6.59894706e+02] [-4.47359488e-02 9.98998646e-01 6.33019542e-04 -3.90666235e+01] [ 5.72054432e-03 -3.77473145e-04 9.99983566e-01 3.58701351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.100714057 meters Centerline goodness : 0.990639 with order 1 Centerline is valid? [True, True] Translation: X:659.95, Y:-39.07, Z:3.58 [[ 9.99106012e-01 4.18892566e-02 -5.69803357e-03 6.59952389e+02] [-4.18863298e-02 9.99122183e-01 6.32080510e-04 -3.90735533e+01] [ 5.71950912e-03 -3.92845724e-04 9.99983566e-01 3.58182460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1607140570001 meters Centerline goodness : 0.990615 with order 1 Centerline is valid? [True, True] Translation: X:660.01, Y:-39.08, Z:3.58 [[ 9.99105536e-01 4.19005839e-02 -5.69810903e-03 6.60010205e+02] [-4.18976611e-02 9.99121708e-01 6.31399589e-04 -3.90800326e+01] [ 5.71956043e-03 -3.92097384e-04 9.99983566e-01 3.58263864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.220714057 meters Centerline goodness : 0.989590 with order 1 Centerline is valid? [True, True] Translation: X:660.07, Y:-39.09, Z:3.58 [[ 9.98947672e-01 4.55091061e-02 -5.69817426e-03 6.60067830e+02] [-4.55062451e-02 9.98963855e-01 6.30810301e-04 -3.90852272e+01] [ 5.72097774e-03 -3.70843967e-04 9.99983566e-01 3.58449516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2807140570001 meters Centerline goodness : 0.990343 with order 1 Centerline is valid? [True, True] Translation: X:660.13, Y:-39.09, Z:3.58 [[ 9.98710895e-01 5.04388474e-02 -5.69824218e-03 6.60125293e+02] [-5.04360697e-02 9.98727093e-01 6.30196186e-04 -3.90903691e+01] [ 5.72277522e-03 -3.41986857e-04 9.99983566e-01 3.58480491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.340714057 meters Centerline goodness : 0.991022 with order 1 Centerline is valid? [True, True] Translation: X:660.18, Y:-39.09, Z:3.58 [[ 9.98207071e-01 5.95833121e-02 -5.69842086e-03 6.60183247e+02] [-5.95806922e-02 9.98223295e-01 6.28576370e-04 -3.90948159e+01] [ 5.72574911e-03 -2.87933519e-04 9.99983566e-01 3.58487520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.400714057 meters Centerline goodness : 0.991506 with order 1 Centerline is valid? [True, True] Translation: X:660.24, Y:-39.10, Z:3.59 [[ 9.97433473e-01 7.13722146e-02 -5.69859923e-03 6.60241083e+02] [-7.13697958e-02 9.97449728e-01 6.26955111e-04 -3.91001833e+01] [ 5.72881342e-03 -2.18638150e-04 9.99983566e-01 3.58594537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.460714057 meters Centerline goodness : 0.991838 with order 1 Centerline is valid? [True, True] Translation: X:660.30, Y:-39.11, Z:3.59 [[ 9.96697567e-01 8.10029833e-02 -5.69877913e-03 6.60298656e+02] [-8.10007309e-02 9.96713846e-01 6.25315573e-04 -3.91066050e+01] [ 5.73070449e-03 -1.61645236e-04 9.99983566e-01 3.58612198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.520714057 meters Centerline goodness : 0.991209 with order 1 Centerline is valid? [True, True] Translation: X:660.36, Y:-39.11, Z:3.59 [[ 9.95528805e-01 9.42863764e-02 -5.69895734e-03 6.60355968e+02] [-9.42843506e-02 9.95545113e-01 6.23687170e-04 -3.91147058e+01] [ 5.73237433e-03 -8.35760503e-05 9.99983566e-01 3.58622793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.580714057 meters Centerline goodness : 0.991653 with order 1 Centerline is valid? [True, True] Translation: X:660.41, Y:-39.13, Z:3.59 [[ 9.94482697e-01 1.04745813e-01 -5.69913436e-03 6.60414278e+02] [-1.04743968e-01 9.94499027e-01 6.22065354e-04 -3.91261126e+01] [ 5.73294232e-03 -2.16832815e-05 9.99983566e-01 3.59190543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.640714057 meters Centerline goodness : 0.991904 with order 1 Centerline is valid? [True, True] Translation: X:660.47, Y:-39.14, Z:3.59 [[ 9.94198170e-01 1.07412836e-01 -5.69928053e-03 6.60472317e+02] [-1.07411042e-01 9.94214505e-01 6.20723343e-04 -3.91398957e+01] [ 5.73298102e-03 -4.95634929e-06 9.99983566e-01 3.58603033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.700714057 meters Centerline goodness : 0.991093 with order 1 Centerline is valid? [True, True] Translation: X:660.53, Y:-39.16, Z:3.59 [[ 9.93915475e-01 1.09997931e-01 -5.69943605e-03 6.60527768e+02] [-1.09996189e-01 9.93931816e-01 6.19292053e-04 -3.91574162e+01] [ 5.73297167e-03 1.13922873e-05 9.99983566e-01 3.58591399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.760714057 meters Centerline goodness : 0.991327 with order 1 Centerline is valid? [True, True] Translation: X:660.58, Y:-39.17, Z:3.59 [[ 9.93811179e-01 1.10936267e-01 -5.69955557e-03 6.60584249e+02] [-1.10934546e-01 9.93827522e-01 6.18190076e-04 -3.91732810e+01] [ 5.73295489e-03 1.79134011e-05 9.99983566e-01 3.58600525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.820714057 meters Centerline goodness : 0.990597 with order 1 Centerline is valid? [True, True] Translation: X:660.64, Y:-39.19, Z:3.59 [[ 9.93720374e-01 1.11746728e-01 -5.69971743e-03 6.60640594e+02] [-1.11745029e-01 9.93736720e-01 6.16694121e-04 -3.91897414e+01] [ 5.73293205e-03 2.40935739e-05 9.99983566e-01 3.58576193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.880714057 meters Centerline goodness : 0.990590 with order 1 Centerline is valid? [True, True] Translation: X:660.70, Y:-39.21, Z:3.59 [[ 9.93563485e-01 1.13133160e-01 -5.69989322e-03 6.60695955e+02] [-1.13131493e-01 9.93579834e-01 6.15065043e-04 -3.92139136e+01] [ 5.73288321e-03 3.37312639e-05 9.99983566e-01 3.58791480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.940714057 meters Centerline goodness : 0.989234 with order 1 Centerline is valid? [True, True] Translation: X:660.75, Y:-39.24, Z:3.59 [[ 9.93492220e-01 1.13757273e-01 -5.70006736e-03 6.60751748e+02] [-1.13755626e-01 9.93508571e-01 6.13446956e-04 -3.92399426e+01] [ 5.73284983e-03 3.89599516e-05 9.99983566e-01 3.58862479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.000714057 meters Centerline goodness : 0.980547 with order 1 Centerline is valid? [True, True] Translation: X:660.81, Y:-39.27, Z:3.60 [[ 9.92450236e-01 1.22515450e-01 -5.70024294e-03 6.60807060e+02] [-1.22513956e-01 9.92466602e-01 6.11811080e-04 -3.92706679e+01] [ 5.73225705e-03 9.11672638e-05 9.99983566e-01 3.59818639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.060714057 meters Centerline goodness : 0.979698 with order 1 Centerline is valid? [True, True] Translation: X:660.86, Y:-39.30, Z:3.59 [[ 9.91613801e-01 1.29110712e-01 -5.70041937e-03 6.60861722e+02] [-1.29109336e-01 9.91630177e-01 6.10162844e-04 -3.92999045e+01] [ 5.73148642e-03 1.30931463e-04 9.99983566e-01 3.59233165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.120714057 meters Centerline goodness : 0.979166 with order 1 Centerline is valid? [True, True] Translation: X:660.92, Y:-39.32, Z:3.59 [[ 9.91767853e-01 1.27921969e-01 -5.70049935e-03 6.60918183e+02] [-1.27920578e-01 9.91784228e-01 6.09414666e-04 -3.93208556e+01] [ 5.73162287e-03 1.24813296e-04 9.99983566e-01 3.59367720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.180714057 meters Centerline goodness : 0.983743 with order 1 Centerline is valid? [True, True] Translation: X:660.97, Y:-39.35, Z:3.60 [[ 9.91321579e-01 1.31335564e-01 -5.70067330e-03 6.60973605e+02] [-1.31334239e-01 9.91337959e-01 6.07783138e-04 -3.93503786e+01] [ 5.73111737e-03 1.46185048e-04 9.99983566e-01 3.59559103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.240714057 meters Centerline goodness : 0.988674 with order 1 Centerline is valid? [True, True] Translation: X:661.03, Y:-39.39, Z:3.58 [[ 9.90810497e-01 1.35137194e-01 -5.70072650e-03 6.61029369e+02] [-1.35135934e-01 9.90826882e-01 6.07283684e-04 -3.93895438e+01] [ 5.73049968e-03 1.68669953e-04 9.99983566e-01 3.58418971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.300714057 meters Centerline goodness : 0.990428 with order 1 Centerline is valid? [True, True] Translation: X:661.08, Y:-39.42, Z:3.58 [[ 9.90959724e-01 1.34038529e-01 -5.70074782e-03 6.61084512e+02] [-1.34037253e-01 9.90976108e-01 6.07083492e-04 -3.94152798e+01] [ 5.73067747e-03 1.62517287e-04 9.99983566e-01 3.58420204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.360714057 meters Centerline goodness : 0.995853 with order 1 Centerline is valid? [True, True] Translation: X:661.14, Y:-39.43, Z:3.60 [[ 9.93552959e-01 1.13225516e-01 -5.70080103e-03 6.61143027e+02] [-1.13223900e-01 9.93569313e-01 6.06583412e-04 -3.94291154e+01] [ 5.73282169e-03 4.27941801e-05 9.99983566e-01 3.59927314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.420714057 meters Centerline goodness : 0.997834 with order 1 Centerline is valid? [True, True] Translation: X:661.20, Y:-39.45, Z:3.60 [[ 9.94061657e-01 1.08668868e-01 -5.70081189e-03 6.61198810e+02] [-1.08667177e-01 9.94078003e-01 6.06481293e-04 -3.94501556e+01] [ 5.73295734e-03 1.66113370e-05 9.99983566e-01 3.60056129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.480714057 meters Centerline goodness : 0.998422 with order 1 Centerline is valid? [True, True] Translation: X:661.25, Y:-39.48, Z:3.60 [[ 9.94761178e-01 1.02067131e-01 -5.70087749e-03 6.61254197e+02] [-1.02065335e-01 9.94777513e-01 6.05864029e-04 -3.94771033e+01] [ 5.73294354e-03 -2.08280427e-05 9.99983566e-01 3.60345265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5407140570001 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:661.31, Y:-39.50, Z:3.61 [[ 9.95273650e-01 9.69425675e-02 -5.70093130e-03 6.61311150e+02] [-9.69406902e-02 9.95289976e-01 6.05357356e-04 -3.94963303e+01] [ 5.73276467e-03 -4.98440102e-05 9.99983566e-01 3.60584711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.600714057 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:661.37, Y:-39.52, Z:3.61 [[ 9.96081187e-01 8.82596599e-02 -5.70097443e-03 6.61368118e+02] [-8.82576426e-02 9.96097497e-01 6.04950900e-04 -3.95182234e+01] [ 5.73211911e-03 -9.94256470e-05 9.99983566e-01 3.60632817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6607140570001 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:661.42, Y:-39.54, Z:3.61 [[ 9.96635404e-01 8.17641142e-02 -5.70101812e-03 6.61424869e+02] [-8.17619930e-02 9.96651700e-01 6.04538830e-04 -3.95411190e+01] [ 5.73135899e-03 -1.36378197e-04 9.99983566e-01 3.60786473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.720714057 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:661.48, Y:-39.55, Z:3.61 [[ 9.97291502e-01 7.33291025e-02 -5.70106225e-03 6.61482667e+02] [-7.33268459e-02 9.97307780e-01 6.04122378e-04 -3.95501941e+01] [ 5.73001349e-03 -1.84445201e-04 9.99983566e-01 3.60521613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7807140570001 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:661.54, Y:-39.56, Z:3.61 [[ 9.97711238e-01 6.73779114e-02 -5.70109489e-03 6.61540252e+02] [-6.73755595e-02 9.97727503e-01 6.03814190e-04 -3.95623828e+01] [ 5.72882291e-03 -2.18317745e-04 9.99983566e-01 3.60721907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.840714057 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:661.60, Y:-39.57, Z:3.61 [[ 9.97806962e-01 6.59451609e-02 -5.70112674e-03 6.61599633e+02] [-6.59427873e-02 9.97823223e-01 6.03513328e-04 -3.95696416e+01] [ 5.72851545e-03 -2.26241612e-04 9.99983566e-01 3.60940643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.900714057 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:661.66, Y:-39.57, Z:3.61 [[ 9.97730134e-01 6.70975176e-02 -5.70114779e-03 6.61657838e+02] [-6.70951640e-02 9.97746398e-01 6.03314456e-04 -3.95745947e+01] [ 5.72878057e-03 -2.19425567e-04 9.99983566e-01 3.61046024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.960714057 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:661.72, Y:-39.58, Z:3.61 [[ 9.97599018e-01 6.90195396e-02 -5.70116907e-03 6.61717195e+02] [-6.90172185e-02 9.97615286e-01 6.03113296e-04 -3.95793386e+01] [ 5.72920002e-03 -2.08186400e-04 9.99983566e-01 3.61069310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.020714057 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:661.78, Y:-39.58, Z:3.61 [[ 9.97496511e-01 7.04855132e-02 -5.70118933e-03 6.61776768e+02] [-7.04832170e-02 9.97512783e-01 6.02921727e-04 -3.95829871e+01] [ 5.72950648e-03 -1.99574154e-04 9.99983566e-01 3.61038100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.080714057 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:661.84, Y:-39.59, Z:3.61 [[ 9.97336360e-01 7.27164468e-02 -5.70120992e-03 6.61835837e+02] [-7.27141882e-02 9.97352638e-01 6.02726985e-04 -3.95865329e+01] [ 5.72994491e-03 -1.86562686e-04 9.99983566e-01 3.60983348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.140714057 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:661.89, Y:-39.59, Z:3.61 [[ 9.97128128e-01 7.55181532e-02 -5.70125205e-03 6.61894615e+02] [-7.55159426e-02 9.97144413e-01 6.02328153e-04 -3.95888881e+01] [ 5.73045834e-03 -1.70062921e-04 9.99983566e-01 3.60829002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.200714057 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:661.95, Y:-39.59, Z:3.61 [[ 9.97084412e-01 7.60931765e-02 -5.70129592e-03 6.61952921e+02] [-7.60909776e-02 9.97100697e-01 6.01912621e-04 -3.95925180e+01] [ 5.73056758e-03 -1.66340511e-04 9.99983566e-01 3.60805543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.260714057 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:662.01, Y:-39.60, Z:3.61 [[ 9.97251716e-01 7.38681983e-02 -5.70132819e-03 6.62012072e+02] [-7.38659649e-02 9.97267997e-01 6.01606817e-04 -3.95966664e+01] [ 5.73019175e-03 -1.78819323e-04 9.99983566e-01 3.60804828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.320714057 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:662.07, Y:-39.60, Z:3.61 [[ 9.97579607e-01 6.92995037e-02 -5.70136959e-03 6.62070501e+02] [-6.92971979e-02 9.97595879e-01 6.01214233e-04 -3.96003699e+01] [ 5.72932665e-03 -2.04670122e-04 9.99983566e-01 3.60715430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.380714057 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:662.13, Y:-39.61, Z:3.61 [[ 9.97719250e-01 6.72591346e-02 -5.70141215e-03 6.62129487e+02] [-6.72567979e-02 9.97735517e-01 6.00810367e-04 -3.96053393e+01] [ 5.72891138e-03 -2.15981345e-04 9.99983566e-01 3.60802050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.440714057 meters Centerline goodness : 0.998735 with order 1 Centerline is valid? [True, True] Translation: X:662.19, Y:-39.61, Z:3.61 [[ 9.97855569e-01 6.52054900e-02 -5.70148347e-03 6.62187885e+02] [-6.52031236e-02 9.97871832e-01 6.00132816e-04 -3.96088243e+01] [ 5.72848170e-03 -2.27091341e-04 9.99983566e-01 3.61042050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.500714057 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:662.25, Y:-39.61, Z:3.61 [[ 9.98009478e-01 6.28058411e-02 -5.70152632e-03 6.62245710e+02] [-6.28034380e-02 9.98025735e-01 5.99725424e-04 -3.96127954e+01] [ 5.72793626e-03 -2.40456203e-04 9.99983566e-01 3.61188813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.560714057 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:662.30, Y:-39.62, Z:3.61 [[ 9.98184452e-01 5.99607498e-02 -5.70157921e-03 6.62304836e+02] [-5.99583032e-02 9.98200703e-01 5.99222110e-04 -3.96177450e+01] [ 5.72725019e-03 -2.56277178e-04 9.99983566e-01 3.61350753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.620714057 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:662.36, Y:-39.62, Z:3.61 [[ 9.98429918e-01 5.57242422e-02 -5.70162002e-03 6.62363966e+02] [-5.57217289e-02 9.98446158e-01 5.98833634e-04 -3.96206799e+01] [ 5.72613015e-03 -2.80189291e-04 9.99983566e-01 3.61452857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.680714057 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:662.42, Y:-39.62, Z:3.61 [[ 9.98570979e-01 5.31365282e-02 -5.70166252e-03 6.62422708e+02] [-5.31339752e-02 9.98587213e-01 5.98428654e-04 -3.96246256e+01] [ 5.72540571e-03 -2.94621492e-04 9.99983566e-01 3.61309993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.740714057 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:662.48, Y:-39.63, Z:3.61 [[ 9.98732212e-01 5.00145863e-02 -5.70170531e-03 6.62482004e+02] [-5.00119848e-02 9.98748439e-01 5.98020693e-04 -3.96269216e+01] [ 5.72447903e-03 -3.12108930e-04 9.99983566e-01 3.61303755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.800714057 meters Centerline goodness : 0.998782 with order 1 Centerline is valid? [True, True] Translation: X:662.54, Y:-39.63, Z:3.61 [[ 9.98662976e-01 5.13785032e-02 -5.70174868e-03 6.62541467e+02] [-5.13759263e-02 9.98679206e-01 5.97606856e-04 -3.96261727e+01] [ 5.72492200e-03 -3.03875221e-04 9.99983566e-01 3.61442218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.860714057 meters Centerline goodness : 0.998544 with order 1 Centerline is valid? [True, True] Translation: X:662.60, Y:-39.62, Z:3.62 [[ 9.98313013e-01 5.77807768e-02 -5.70179165e-03 6.62599979e+02] [-5.77783063e-02 9.98329260e-01 5.97196646e-04 -3.96233789e+01] [ 5.72677192e-03 -2.66749318e-04 9.99983566e-01 3.61575899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.920714057 meters Centerline goodness : 0.998200 with order 1 Centerline is valid? [True, True] Translation: X:662.66, Y:-39.62, Z:3.62 [[ 9.97925558e-01 6.41254191e-02 -5.70184442e-03 6.62659284e+02] [-6.41230548e-02 9.97941821e-01 5.96692419e-04 -3.96239304e+01] [ 5.72837215e-03 -2.29834933e-04 9.99983566e-01 3.61625861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.980714057 meters Centerline goodness : 0.997987 with order 1 Centerline is valid? [True, True] Translation: X:662.72, Y:-39.62, Z:3.61 [[ 9.97269892e-01 7.36223493e-02 -5.70188615e-03 6.62718140e+02] [-7.36201422e-02 9.97286177e-01 5.96293378e-04 -3.96208776e+01] [ 5.73031276e-03 -1.74891765e-04 9.99983566e-01 3.61466733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0407140570001 meters Centerline goodness : 0.997138 with order 1 Centerline is valid? [True, True] Translation: X:662.78, Y:-39.62, Z:3.61 [[ 9.96836683e-01 7.92724104e-02 -5.70195073e-03 6.62776120e+02] [-7.92702991e-02 9.96852981e-01 5.95675209e-04 -3.96218188e+01] [ 5.73122719e-03 -1.41795560e-04 9.99983566e-01 3.61374792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.100714057 meters Centerline goodness : 0.997107 with order 1 Centerline is valid? [True, True] Translation: X:662.83, Y:-39.62, Z:3.61 [[ 9.96618776e-01 8.19664668e-02 -5.70200599e-03 6.62833798e+02] [-8.19644026e-02 9.96635080e-01 5.95145760e-04 -3.96228107e+01] [ 5.73160119e-03 -1.25771924e-04 9.99983566e-01 3.61285781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1607140570001 meters Centerline goodness : 0.997189 with order 1 Centerline is valid? [True, True] Translation: X:662.89, Y:-39.63, Z:3.61 [[ 9.96739636e-01 8.04834457e-02 -5.70207766e-03 6.62891738e+02] [-8.04813612e-02 9.96755937e-01 5.94458296e-04 -3.96262990e+01] [ 5.73142381e-03 -1.33609174e-04 9.99983566e-01 3.61427955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.220714057 meters Centerline goodness : 0.997703 with order 1 Centerline is valid? [True, True] Translation: X:662.95, Y:-39.63, Z:3.61 [[ 9.96954665e-01 7.77745587e-02 -5.70214119e-03 6.62949540e+02] [-7.77724334e-02 9.96970960e-01 5.93848267e-04 -3.96298838e+01] [ 5.73105546e-03 -1.48570405e-04 9.99983566e-01 3.61373606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2807140570001 meters Centerline goodness : 0.996616 with order 1 Centerline is valid? [True, True] Translation: X:663.01, Y:-39.63, Z:3.61 [[ 9.96965706e-01 7.76328964e-02 -5.70220571e-03 6.63007091e+02] [-7.76307723e-02 9.96982001e-01 5.93228094e-04 -3.96342370e+01] [ 5.73105048e-03 -1.48761432e-04 9.99983566e-01 3.61395586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.340714057 meters Centerline goodness : 0.996998 with order 1 Centerline is valid? [True, True] Translation: X:663.07, Y:-39.64, Z:3.62 [[ 9.96938971e-01 7.79754617e-02 -5.70226926e-03 6.63065082e+02] [-7.79733467e-02 9.96955268e-01 5.92616581e-04 -3.96397368e+01] [ 5.73111693e-03 -1.46177546e-04 9.99983566e-01 3.61609103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.400714057 meters Centerline goodness : 0.997210 with order 1 Centerline is valid? [True, True] Translation: X:663.12, Y:-39.65, Z:3.62 [[ 9.97001245e-01 7.71751316e-02 -5.70233294e-03 6.63122925e+02] [-7.71730070e-02 9.97017541e-01 5.92003189e-04 -3.96452395e+01] [ 5.73101389e-03 -1.50161736e-04 9.99983566e-01 3.61693540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.460714057 meters Centerline goodness : 0.997101 with order 1 Centerline is valid? [True, True] Translation: X:663.18, Y:-39.65, Z:3.62 [[ 9.97076627e-01 7.61950360e-02 -5.70239645e-03 6.63180193e+02] [-7.61928990e-02 9.97092921e-01 5.91390826e-04 -3.96512425e+01] [ 5.73088018e-03 -1.55179853e-04 9.99983566e-01 3.61728204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.520714057 meters Centerline goodness : 0.997295 with order 1 Centerline is valid? [True, True] Translation: X:663.24, Y:-39.66, Z:3.62 [[ 9.97696103e-01 6.76015387e-02 -5.70245915e-03 6.63237447e+02] [-6.75992648e-02 9.97712379e-01 5.90785649e-04 -3.96588136e+01] [ 5.72935210e-03 -2.03942493e-04 9.99983566e-01 3.61899032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.580714057 meters Centerline goodness : 0.996842 with order 1 Centerline is valid? [True, True] Translation: X:663.30, Y:-39.67, Z:3.62 [[ 9.98407400e-01 5.61261468e-02 -5.70252405e-03 6.63295696e+02] [-5.61236895e-02 9.98423649e-01 5.90158492e-04 -3.96663774e+01] [ 5.72665820e-03 -2.69171917e-04 9.99983566e-01 3.61877154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.640714057 meters Centerline goodness : 0.997215 with order 1 Centerline is valid? [True, True] Translation: X:663.35, Y:-39.67, Z:3.62 [[ 9.99107708e-01 4.18481653e-02 -5.70256687e-03 6.63354549e+02] [-4.18454783e-02 9.99123920e-01 5.89744419e-04 -3.96737914e+01] [ 5.72225069e-03 -3.50591556e-04 9.99983566e-01 3.61839784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.700714057 meters Centerline goodness : 0.997361 with order 1 Centerline is valid? [True, True] Translation: X:663.41, Y:-39.68, Z:3.62 [[ 9.99403603e-01 3.40575636e-02 -5.70261074e-03 6.63412545e+02] [-3.40547527e-02 9.99419795e-01 5.89319928e-04 -3.96789369e+01] [ 5.71937286e-03 -3.94767461e-04 9.99983566e-01 3.61880579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.760714057 meters Centerline goodness : 0.996924 with order 1 Centerline is valid? [True, True] Translation: X:663.47, Y:-39.68, Z:3.62 [[ 9.99590041e-01 2.80576066e-02 -5.70266474e-03 6.63471344e+02] [-2.80547015e-02 9.99606216e-01 5.88796986e-04 -3.96808073e+01] [ 5.71693935e-03 -4.28569046e-04 9.99983566e-01 3.62031795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.820714057 meters Centerline goodness : 0.996016 with order 1 Centerline is valid? [True, True] Translation: X:663.53, Y:-39.68, Z:3.62 [[ 9.99574596e-01 2.86025646e-02 -5.70270766e-03 6.63531121e+02] [-2.85996707e-02 9.99590773e-01 5.88380994e-04 -3.96791849e+01] [ 5.71720316e-03 -4.25035133e-04 9.99983566e-01 3.62108697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.880714057 meters Centerline goodness : 0.995659 with order 1 Centerline is valid? [True, True] Translation: X:663.59, Y:-39.68, Z:3.62 [[ 9.99504099e-01 3.09682709e-02 -5.70275049e-03 6.63590171e+02] [-3.09654177e-02 9.99520284e-01 5.87965577e-04 -3.96781128e+01] [ 5.71822306e-03 -4.11085954e-04 9.99983566e-01 3.62065691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.940714057 meters Centerline goodness : 0.994888 with order 1 Centerline is valid? [True, True] Translation: X:663.65, Y:-39.68, Z:3.62 [[ 9.99452405e-01 3.25939901e-02 -5.70279319e-03 6.63647888e+02] [-3.25911656e-02 9.99468594e-01 5.87551133e-04 -3.96805031e+01] [ 5.71891332e-03 -4.01368716e-04 9.99983566e-01 3.62105156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.000714057 meters Centerline goodness : 0.992628 with order 1 Centerline is valid? [True, True] Translation: X:663.71, Y:-39.69, Z:3.61 [[ 9.98673666e-01 5.11701765e-02 -5.70284550e-03 6.63707059e+02] [-5.11676563e-02 9.98689905e-01 5.87042909e-04 -3.96879998e+01] [ 5.72541332e-03 -2.94463055e-04 9.99983566e-01 3.61109890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.060714057 meters Centerline goodness : 0.990787 with order 1 Centerline is valid? [True, True] Translation: X:663.77, Y:-39.67, Z:3.62 [[ 9.98770991e-01 4.92339745e-02 -5.70286797e-03 6.63767982e+02] [-4.92314240e-02 9.98787226e-01 5.86824574e-04 -3.96703014e+01] [ 5.72484338e-03 -3.05343050e-04 9.99983566e-01 3.62072461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.120714057 meters Centerline goodness : 0.990105 with order 1 Centerline is valid? [True, True] Translation: X:663.83, Y:-39.67, Z:3.62 [[ 9.98579433e-01 5.29772843e-02 -5.70287396e-03 6.63826718e+02] [-5.29747950e-02 9.98595677e-01 5.86766353e-04 -3.96687555e+01] [ 5.72595057e-03 -2.83824233e-04 9.99983566e-01 3.62023803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.180714057 meters Centerline goodness : 0.985197 with order 1 Centerline is valid? [True, True] Translation: X:663.89, Y:-39.67, Z:3.62 [[ 9.98092323e-01 6.14751250e-02 -5.70293745e-03 6.63885107e+02] [-6.14727777e-02 9.98108588e-01 5.86148603e-04 -3.96742433e+01] [ 5.72818441e-03 -2.34455014e-04 9.99983566e-01 3.61792732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.240714057 meters Centerline goodness : 0.983478 with order 1 Centerline is valid? [True, True] Translation: X:663.94, Y:-39.67, Z:3.62 [[ 9.97964053e-01 6.35234269e-02 -5.70298058e-03 6.63944053e+02] [-6.35211153e-02 9.97980323e-01 5.85728719e-04 -3.96728026e+01] [ 5.72866989e-03 -2.22276520e-04 9.99983566e-01 3.61696587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.300714057 meters Centerline goodness : 0.982666 with order 1 Centerline is valid? [True, True] Translation: X:664.00, Y:-39.67, Z:3.62 [[ 9.98008803e-01 6.28164318e-02 -5.70302568e-03 6.64001637e+02] [-6.28141113e-02 9.98025072e-01 5.85289248e-04 -3.96719666e+01] [ 5.72852840e-03 -2.25893332e-04 9.99983566e-01 3.62070565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.360714057 meters Centerline goodness : 0.982869 with order 1 Centerline is valid? [True, True] Translation: X:664.06, Y:-39.67, Z:3.62 [[ 9.97530514e-01 7.00024806e-02 -5.70313008e-03 6.64060276e+02] [-7.00002830e-02 9.97546800e-01 5.84270157e-04 -3.96748662e+01] [ 5.73003952e-03 -1.83606590e-04 9.99983566e-01 3.61651388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.420714057 meters Centerline goodness : 0.981303 with order 1 Centerline is valid? [True, True] Translation: X:664.12, Y:-39.68, Z:3.62 [[ 9.97338167e-01 7.26915080e-02 -5.70317368e-03 6.64117903e+02] [-7.26893568e-02 9.97354459e-01 5.83844271e-04 -3.96781707e+01] [ 5.73052622e-03 -1.67730148e-04 9.99983566e-01 3.61830569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.480714057 meters Centerline goodness : 0.981365 with order 1 Centerline is valid? [True, True] Translation: X:664.18, Y:-39.68, Z:3.62 [[ 9.97197543e-01 7.45958061e-02 -5.70322712e-03 6.64175734e+02] [-7.45936890e-02 9.97213839e-01 5.83321783e-04 -3.96815534e+01] [ 5.73085037e-03 -1.56262299e-04 9.99983566e-01 3.61938240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5407140570001 meters Centerline goodness : 0.982023 with order 1 Centerline is valid? [True, True] Translation: X:664.23, Y:-39.69, Z:3.61 [[ 9.97063677e-01 7.63642412e-02 -5.70329154e-03 6.64233463e+02] [-7.63621566e-02 9.97079978e-01 5.82691218e-04 -3.96917522e+01] [ 5.73113458e-03 -1.45464606e-04 9.99983566e-01 3.61220651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.600714057 meters Centerline goodness : 0.981615 with order 1 Centerline is valid? [True, True] Translation: X:664.29, Y:-39.70, Z:3.62 [[ 9.97554939e-01 6.96535355e-02 -5.70333421e-03 6.64292383e+02] [-6.96513436e-02 9.97571226e-01 5.82273253e-04 -3.96955704e+01] [ 5.73003950e-03 -1.83604668e-04 9.99983566e-01 3.61581185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6607140570001 meters Centerline goodness : 0.981432 with order 1 Centerline is valid? [True, True] Translation: X:664.35, Y:-39.70, Z:3.61 [[ 9.97693946e-01 6.76332904e-02 -5.70337754e-03 6.64350441e+02] [-6.76310680e-02 9.97710229e-01 5.81848563e-04 -3.97037197e+01] [ 5.72967044e-03 -1.94781274e-04 9.99983566e-01 3.61386267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.720714057 meters Centerline goodness : 0.981008 with order 1 Centerline is valid? [True, True] Translation: X:664.41, Y:-39.71, Z:3.62 [[ 9.98230843e-01 5.91832395e-02 -5.70342129e-03 6.64407977e+02] [-5.91808818e-02 9.98247106e-01 5.81419363e-04 -3.97087970e+01] [ 5.72783408e-03 -2.42857239e-04 9.99983566e-01 3.62105021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7807140570001 meters Centerline goodness : 0.982403 with order 1 Centerline is valid? [True, True] Translation: X:664.47, Y:-39.72, Z:3.62 [[ 9.98357013e-01 5.70153003e-02 -5.70347507e-03 6.64466781e+02] [-5.70129103e-02 9.98373272e-01 5.80891397e-04 -3.97167976e+01] [ 5.72731676e-03 -2.54765288e-04 9.99983566e-01 3.62167534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.840714057 meters Centerline goodness : 0.982879 with order 1 Centerline is valid? [True, True] Translation: X:664.52, Y:-39.72, Z:3.62 [[ 9.98468996e-01 5.50193996e-02 -5.70350716e-03 6.64524474e+02] [-5.50169788e-02 9.98485250e-01 5.80576159e-04 -3.97236512e+01] [ 5.72681072e-03 -2.65897562e-04 9.99983566e-01 3.62321246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.900714057 meters Centerline goodness : 0.982184 with order 1 Centerline is valid? [True, True] Translation: X:664.58, Y:-39.73, Z:3.62 [[ 9.98659941e-01 5.14372636e-02 -5.70357228e-03 6.64580660e+02] [-5.14347882e-02 9.98676187e-01 5.79935643e-04 -3.97315587e+01] [ 5.72585212e-03 -2.85796463e-04 9.99983566e-01 3.62048958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.960714057 meters Centerline goodness : 0.982824 with order 1 Centerline is valid? [True, True] Translation: X:664.64, Y:-39.74, Z:3.62 [[ 9.98933634e-01 4.58155258e-02 -5.70364696e-03 6.64639178e+02] [-4.58129633e-02 9.98949867e-01 5.79200278e-04 -3.97387554e+01] [ 5.72419374e-03 -3.17281670e-04 9.99983566e-01 3.62079611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.020714057 meters Centerline goodness : 0.983534 with order 1 Centerline is valid? [True, True] Translation: X:664.70, Y:-39.75, Z:3.62 [[ 9.99066182e-01 4.28279275e-02 -5.70368963e-03 6.64697097e+02] [-4.28253188e-02 9.99082408e-01 5.78779751e-04 -3.97469695e+01] [ 5.72324391e-03 -3.33976950e-04 9.99983566e-01 3.61748874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.080714057 meters Centerline goodness : 0.983382 with order 1 Centerline is valid? [True, True] Translation: X:664.76, Y:-39.75, Z:3.62 [[ 9.99508238e-01 3.08342307e-02 -5.70373317e-03 6.64755146e+02] [-3.08314299e-02 9.99524431e-01 5.78350337e-04 -3.97513406e+01] [ 5.71885364e-03 -4.02211677e-04 9.99983566e-01 3.62077106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.140714057 meters Centerline goodness : 0.986059 with order 1 Centerline is valid? [True, True] Translation: X:664.81, Y:-39.75, Z:3.62 [[ 9.99860520e-01 1.56973655e-02 -5.70378669e-03 6.64814805e+02] [-1.56943228e-02 9.99876670e-01 5.77822112e-04 -3.97473757e+01] [ 5.71215352e-03 -4.88224448e-04 9.99983566e-01 3.62437141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.200714057 meters Centerline goodness : 0.986340 with order 1 Centerline is valid? [True, True] Translation: X:664.87, Y:-39.75, Z:3.62 [[ 9.99914530e-01 1.17642849e-02 -5.70381969e-03 6.64873436e+02] [-1.17611805e-02 9.99930668e-01 5.77496163e-04 -3.97489771e+01] [ 5.71021806e-03 -5.10363151e-04 9.99983566e-01 3.62273043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.260714057 meters Centerline goodness : 0.985214 with order 1 Centerline is valid? [True, True] Translation: X:664.93, Y:-39.75, Z:3.62 [[ 9.99959493e-01 6.96258192e-03 -5.70386379e-03 6.64932719e+02] [-6.95940257e-03 9.99975617e-01 5.77060231e-04 -3.97508442e+01] [ 5.70774254e-03 -5.37341372e-04 9.99983566e-01 3.62240774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.320714057 meters Centerline goodness : 0.984232 with order 1 Centerline is valid? [True, True] Translation: X:664.99, Y:-39.75, Z:3.62 [[ 9.99981010e-01 2.33356478e-03 -5.70390651e-03 6.64991386e+02] [-2.33031322e-03 9.99997119e-01 5.76637675e-04 -3.97502227e+01] [ 5.70523569e-03 -5.63334836e-04 9.99983566e-01 3.62272407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.380714057 meters Centerline goodness : 0.981638 with order 1 Centerline is valid? [True, True] Translation: X:665.05, Y:-39.75, Z:3.62 [[ 9.99983543e-01 6.16019975e-04 -5.70395904e-03 6.65050523e+02] [-6.12743691e-04 9.99999646e-01 5.76117530e-04 -3.97525629e+01] [ 5.70431193e-03 -5.72612983e-04 9.99983566e-01 3.62427596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.440714057 meters Centerline goodness : 0.978713 with order 1 Centerline is valid? [True, True] Translation: X:665.11, Y:-39.75, Z:3.62 [[ 9.99979575e-01 2.88326950e-03 -5.70400749e-03 6.65108955e+02] [-2.88003244e-03 9.99995687e-01 5.75637435e-04 -3.97460842e+01] [ 5.70564261e-03 -5.59197952e-04 9.99983566e-01 3.62436668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.500714057 meters Centerline goodness : 0.981113 with order 1 Centerline is valid? [True, True] Translation: X:665.17, Y:-39.75, Z:3.62 [[ 9.99932662e-01 1.01061465e-02 -5.70422062e-03 6.65166840e+02] [-1.01030379e-02 9.99948799e-01 5.73517698e-04 -3.97455844e+01] [ 5.70972461e-03 -5.15849121e-04 9.99983566e-01 3.62282945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.560714057 meters Centerline goodness : 0.983874 with order 1 Centerline is valid? [True, True] Translation: X:665.23, Y:-39.74, Z:3.62 [[ 9.99922788e-01 1.10398140e-02 -5.70447012e-03 6.65225586e+02] [-1.10367346e-02 9.99938930e-01 5.71025200e-04 -3.97393891e+01] [ 5.71042576e-03 -5.08022387e-04 9.99983566e-01 3.62052056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.620714057 meters Centerline goodness : 0.978305 with order 1 Centerline is valid? [True, True] Translation: X:665.28, Y:-39.74, Z:3.63 [[ 9.99745179e-01 2.18411356e-02 -5.70452944e-03 6.65284800e+02] [-2.18382341e-02 9.99761355e-01 5.70432014e-04 -3.97419889e+01] [ 5.71562696e-03 -4.45709806e-04 9.99983566e-01 3.62551615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.680714057 meters Centerline goodness : 0.980445 with order 1 Centerline is valid? [True, True] Translation: X:665.34, Y:-39.74, Z:3.63 [[ 9.99695791e-01 2.39954593e-02 -5.70469435e-03 6.65343654e+02] [-2.39926020e-02 9.99711974e-01 5.68778021e-04 -3.97359631e+01] [ 5.71669934e-03 -4.31734533e-04 9.99983566e-01 3.62559874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.740714057 meters Centerline goodness : 0.984759 with order 1 Centerline is valid? [True, True] Translation: X:665.40, Y:-39.73, Z:3.63 [[ 9.99702104e-01 2.37309828e-02 -5.70476305e-03 6.65401560e+02] [-2.37281252e-02 9.99718287e-01 5.68088061e-04 -3.97265243e+01] [ 5.71663724e-03 -4.32555498e-04 9.99983566e-01 3.62529371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.800714057 meters Centerline goodness : 0.987028 with order 1 Centerline is valid? [True, True] Translation: X:665.46, Y:-39.72, Z:3.62 [[ 9.99543290e-01 2.96760297e-02 -5.70486484e-03 6.65460233e+02] [-2.96732742e-02 9.99559491e-01 5.67064038e-04 -3.97235192e+01] [ 5.71918000e-03 -3.97523035e-04 9.99983566e-01 3.62455517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.860714057 meters Centerline goodness : 0.983112 with order 1 Centerline is valid? [True, True] Translation: X:665.52, Y:-39.73, Z:3.63 [[ 9.99300542e-01 3.69578308e-02 -5.70492528e-03 6.65518780e+02] [-3.69551969e-02 9.99316763e-01 5.66455370e-04 -3.97327624e+01] [ 5.72196242e-03 -3.55232521e-04 9.99983566e-01 3.63016051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.920714057 meters Centerline goodness : 0.985619 with order 1 Centerline is valid? [True, True] Translation: X:665.58, Y:-39.73, Z:3.63 [[ 9.99275136e-01 3.76384813e-02 -5.70497213e-03 6.65578770e+02] [-3.76358611e-02 9.99291360e-01 5.65983077e-04 -3.97273763e+01] [ 5.72223210e-03 -3.50861278e-04 9.99983566e-01 3.63296591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.980714057 meters Centerline goodness : 0.988744 with order 1 Centerline is valid? [True, True] Translation: X:665.64, Y:-39.73, Z:3.62 [[ 9.99349471e-01 3.56102177e-02 -5.70502042e-03 6.65636000e+02] [-3.56075673e-02 9.99365690e-01 5.65495907e-04 -3.97262851e+01] [ 5.72153910e-03 -3.61986136e-04 9.99983566e-01 3.62344431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0407140570001 meters Centerline goodness : 0.988637 with order 1 Centerline is valid? [True, True] Translation: X:665.69, Y:-39.73, Z:3.62 [[ 9.99425217e-01 3.34168755e-02 -5.70510333e-03 6.65694090e+02] [-3.34141943e-02 9.99441430e-01 5.64658259e-04 -3.97297937e+01] [ 5.72078575e-03 -3.73702272e-04 9.99983566e-01 3.62396925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.100714057 meters Centerline goodness : 0.989468 with order 1 Centerline is valid? [True, True] Translation: X:665.75, Y:-39.73, Z:3.62 [[ 9.99551534e-01 2.93969619e-02 -5.70516423e-03 6.65751116e+02] [-2.93942191e-02 9.99567737e-01 5.64042230e-04 -3.97321607e+01] [ 5.71927923e-03 -3.96090429e-04 9.99983566e-01 3.62437867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1607140570001 meters Centerline goodness : 0.988626 with order 1 Centerline is valid? [True, True] Translation: X:665.81, Y:-39.74, Z:3.62 [[ 9.99581967e-01 2.83432966e-02 -5.70523408e-03 6.65808967e+02] [-2.83405406e-02 9.99598167e-01 5.63334839e-04 -3.97352283e+01] [ 5.71890830e-03 -4.01409927e-04 9.99983566e-01 3.62490989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.220714057 meters Centerline goodness : 0.989146 with order 1 Centerline is valid? [True, True] Translation: X:665.87, Y:-39.74, Z:3.63 [[ 9.99548243e-01 2.95086479e-02 -5.70529580e-03 6.65866177e+02] [-2.95059144e-02 9.99564447e-01 5.62709065e-04 -3.97374175e+01] [ 5.71941563e-03 -3.94114888e-04 9.99983566e-01 3.62663945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2807140570001 meters Centerline goodness : 0.983356 with order 1 Centerline is valid? [True, True] Translation: X:665.92, Y:-39.74, Z:3.63 [[ 9.99470241e-01 3.20419321e-02 -5.70539018e-03 6.65924842e+02] [-3.20392451e-02 9.99486454e-01 5.61750463e-04 -3.97392265e+01] [ 5.72045977e-03 -3.78656476e-04 9.99983566e-01 3.62974067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.340714057 meters Centerline goodness : 0.987097 with order 1 Centerline is valid? [True, True] Translation: X:665.98, Y:-39.75, Z:3.64 [[ 9.99265152e-01 3.79025706e-02 -5.70542891e-03 6.65982349e+02] [-3.78999810e-02 9.99281380e-01 5.61356824e-04 -3.97472185e+01] [ 5.72260574e-03 -3.44708665e-04 9.99983566e-01 3.63933932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.400714057 meters Centerline goodness : 0.988145 with order 1 Centerline is valid? [True, True] Translation: X:666.04, Y:-39.75, Z:3.64 [[ 9.99248729e-01 3.83330849e-02 -5.70550733e-03 6.66040584e+02] [-3.83305069e-02 9.99264959e-01 5.60558676e-04 -3.97508288e+01] [ 5.72280149e-03 -3.41442556e-04 9.99983566e-01 3.64113862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.460714057 meters Centerline goodness : 0.990392 with order 1 Centerline is valid? [True, True] Translation: X:666.10, Y:-39.75, Z:3.63 [[ 9.99408481e-01 3.39136221e-02 -5.70557355e-03 6.66098249e+02] [-3.39109762e-02 9.99424701e-01 5.59883865e-04 -3.97521060e+01] [ 5.72127883e-03 -3.66071115e-04 9.99983566e-01 3.63083078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.520714057 meters Centerline goodness : 0.988046 with order 1 Centerline is valid? [True, True] Translation: X:666.15, Y:-39.76, Z:3.63 [[ 9.99337964e-01 3.59315805e-02 -5.70565164e-03 6.66154971e+02] [-3.59289718e-02 9.99354190e-01 5.59086909e-04 -3.97621420e+01] [ 5.72205575e-03 -3.53718576e-04 9.99983566e-01 3.63131640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.580714057 meters Centerline goodness : 0.990752 with order 1 Centerline is valid? [True, True] Translation: X:666.21, Y:-39.76, Z:3.63 [[ 9.99330214e-01 3.61464661e-02 -5.70575744e-03 6.66213338e+02] [-3.61438670e-02 9.99346441e-01 5.58005085e-04 -3.97602434e+01] [ 5.72219830e-03 -3.51403203e-04 9.99983566e-01 3.63092674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.640714057 meters Centerline goodness : 0.985179 with order 1 Centerline is valid? [True, True] Translation: X:666.27, Y:-39.76, Z:3.63 [[ 9.99225153e-01 3.89427339e-02 -5.70582375e-03 6.66272273e+02] [-3.89401841e-02 9.99241388e-01 5.57326231e-04 -3.97638800e+01] [ 5.72319905e-03 -3.34708561e-04 9.99983566e-01 3.63287022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.700714057 meters Centerline goodness : 0.991153 with order 1 Centerline is valid? [True, True] Translation: X:666.33, Y:-39.77, Z:3.63 [[ 9.98989584e-01 4.45786393e-02 -5.70586164e-03 6.66331355e+02] [-4.45761833e-02 9.99005833e-01 5.56938019e-04 -3.97675817e+01] [ 5.72501660e-03 -3.02029746e-04 9.99983566e-01 3.63267446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.760714057 meters Centerline goodness : 0.988060 with order 1 Centerline is valid? [True, True] Translation: X:666.39, Y:-39.78, Z:3.64 [[ 9.98638277e-01 5.18558920e-02 -5.70591236e-03 6.66389051e+02] [-5.18535575e-02 9.98654544e-01 5.56417887e-04 -3.97777284e+01] [ 5.72708886e-03 -2.59788346e-04 9.99983566e-01 3.63624559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.820714057 meters Centerline goodness : 0.990876 with order 1 Centerline is valid? [True, True] Translation: X:666.45, Y:-39.78, Z:3.63 [[ 9.98674658e-01 5.11504543e-02 -5.70597808e-03 6.66445800e+02] [-5.11481122e-02 9.98690924e-01 5.55743104e-04 -3.97788995e+01] [ 5.72693504e-03 -2.63156547e-04 9.99983566e-01 3.63456835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.880714057 meters Centerline goodness : 0.990700 with order 1 Centerline is valid? [True, True] Translation: X:666.50, Y:-39.79, Z:3.63 [[ 9.98754271e-01 4.95716454e-02 -5.70605466e-03 6.66503806e+02] [-4.95692821e-02 9.98770533e-01 5.54955782e-04 -3.97862485e+01] [ 5.72654932e-03 -2.71419425e-04 9.99983566e-01 3.63403656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.940714057 meters Centerline goodness : 0.988435 with order 1 Centerline is valid? [True, True] Translation: X:666.56, Y:-39.80, Z:3.64 [[ 9.98863168e-01 4.73266445e-02 -5.70610996e-03 6.66561573e+02] [-4.73242478e-02 9.98879426e-01 5.54386604e-04 -3.97994902e+01] [ 5.72595310e-03 -2.83718998e-04 9.99983566e-01 3.63784663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.000714057 meters Centerline goodness : 0.988450 with order 1 Centerline is valid? [True, True] Translation: X:666.62, Y:-39.80, Z:3.64 [[ 9.99150855e-01 4.08045247e-02 -5.70614255e-03 6.66620274e+02] [-4.08020238e-02 9.99167097e-01 5.54050902e-04 -3.98049270e+01] [ 5.72399767e-03 -3.20758268e-04 9.99983566e-01 3.63922881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.060714057 meters Centerline goodness : 0.987451 with order 1 Centerline is valid? [True, True] Translation: X:666.68, Y:-39.81, Z:3.64 [[ 9.99339419e-01 3.58910215e-02 -5.70618786e-03 6.66678839e+02] [-3.58884434e-02 9.99355649e-01 5.53583906e-04 -3.98133643e+01] [ 5.72237976e-03 -3.48432019e-04 9.99983566e-01 3.63773256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.120714057 meters Centerline goodness : 0.990502 with order 1 Centerline is valid? [True, True] Translation: X:666.74, Y:-39.82, Z:3.64 [[ 9.99499351e-01 3.11205235e-02 -5.70623464e-03 6.66736520e+02] [-3.11178707e-02 9.99515569e-01 5.53101297e-04 -3.98155049e+01] [ 5.72068316e-03 -3.75258515e-04 9.99983566e-01 3.63600177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.180714057 meters Centerline goodness : 0.986412 with order 1 Centerline is valid? [True, True] Translation: X:666.79, Y:-39.83, Z:3.64 [[ 9.99335952e-01 3.59873989e-02 -5.70629305e-03 6.66794727e+02] [-3.59848286e-02 9.99352184e-01 5.52497974e-04 -3.98270161e+01] [ 5.72247939e-03 -3.46791112e-04 9.99983566e-01 3.64088590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.240714057 meters Centerline goodness : 0.983504 with order 1 Centerline is valid? [True, True] Translation: X:666.85, Y:-39.83, Z:3.64 [[ 9.99442249e-01 3.29033228e-02 -5.70632605e-03 6.66852632e+02] [-3.29007044e-02 9.99458473e-01 5.52156995e-04 -3.98264137e+01] [ 5.72140371e-03 -3.64106882e-04 9.99983566e-01 3.64285964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.300714057 meters Centerline goodness : 0.987726 with order 1 Centerline is valid? [True, True] Translation: X:666.91, Y:-39.84, Z:3.64 [[ 9.99351204e-01 3.55613348e-02 -5.70637995e-03 6.66910973e+02] [-3.55587627e-02 9.99367435e-01 5.51599325e-04 -3.98363240e+01] [ 5.72238590e-03 -3.48329639e-04 9.99983566e-01 3.64409486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.360714057 meters Centerline goodness : 0.987429 with order 1 Centerline is valid? [True, True] Translation: X:666.97, Y:-39.84, Z:3.65 [[ 9.99281361e-01 3.74726309e-02 -5.70643434e-03 6.66969144e+02] [-3.74700930e-02 9.99297598e-01 5.51036069e-04 -3.98420253e+01] [ 5.72307490e-03 -3.36819448e-04 9.99983566e-01 3.64684775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.420714057 meters Centerline goodness : 0.984653 with order 1 Centerline is valid? [True, True] Translation: X:667.03, Y:-39.86, Z:3.64 [[ 9.99076757e-01 4.25801620e-02 -5.70647867e-03 6.67027077e+02] [-4.25777098e-02 9.99093006e-01 5.50576673e-04 -3.98567626e+01] [ 5.72474657e-03 -3.07099564e-04 9.99983566e-01 3.64089176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.480714057 meters Centerline goodness : 0.984178 with order 1 Centerline is valid? [True, True] Translation: X:667.09, Y:-39.86, Z:3.64 [[ 9.99131001e-01 4.12877639e-02 -5.70652237e-03 6.67085161e+02] [-4.12852932e-02 9.99147247e-01 5.50123332e-04 -3.98637515e+01] [ 5.72436948e-03 -3.14049826e-04 9.99983566e-01 3.64020153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5407140570001 meters Centerline goodness : 0.987694 with order 1 Centerline is valid? [True, True] Translation: X:667.14, Y:-39.86, Z:3.64 [[ 9.99584061e-01 2.82690595e-02 -5.70656176e-03 6.67144458e+02] [-2.82663798e-02 9.99600275e-01 5.49714464e-04 -3.98608561e+01] [ 5.71982061e-03 -3.88181975e-04 9.99983566e-01 3.64085770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.600714057 meters Centerline goodness : 0.989180 with order 1 Centerline is valid? [True, True] Translation: X:667.20, Y:-39.86, Z:3.64 [[ 9.99796529e-01 1.93477482e-02 -5.70660465e-03 6.67202093e+02] [-1.93449264e-02 9.99812719e-01 5.49268814e-04 -3.98627941e+01] [ 5.71616302e-03 -4.38763207e-04 9.99983566e-01 3.63837693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6607140570001 meters Centerline goodness : 0.982444 with order 1 Centerline is valid? [True, True] Translation: X:667.26, Y:-39.87, Z:3.64 [[ 9.99851975e-01 1.62315283e-02 -5.70667158e-03 6.67260374e+02] [-1.62286600e-02 9.99868156e-01 5.48572579e-04 -3.98668908e+01] [ 5.71482336e-03 -4.55879743e-04 9.99983566e-01 3.63949361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.720714057 meters Centerline goodness : 0.984197 with order 1 Centerline is valid? [True, True] Translation: X:667.32, Y:-39.88, Z:3.64 [[ 9.99783091e-01 2.00300924e-02 -5.70671228e-03 6.67317337e+02] [-2.00272880e-02 9.99799284e-01 5.48148842e-04 -3.98805926e+01] [ 5.71654632e-03 -4.33739973e-04 9.99983566e-01 3.64285948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7807140570001 meters Centerline goodness : 0.985266 with order 1 Centerline is valid? [True, True] Translation: X:667.38, Y:-39.88, Z:3.64 [[ 9.99812523e-01 1.85027525e-02 -5.70678009e-03 6.67375283e+02] [-1.84999274e-02 9.99828712e-01 5.47441989e-04 -3.98834007e+01] [ 5.71593177e-03 -4.41764339e-04 9.99983566e-01 3.64412326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.840714057 meters Centerline goodness : 0.990755 with order 1 Centerline is valid? [True, True] Translation: X:667.44, Y:-39.88, Z:3.64 [[ 9.99950870e-01 8.10487812e-03 -5.70683992e-03 6.67435582e+02] [-8.10188834e-03 9.99967030e-01 5.46817521e-04 -3.98755587e+01] [ 5.71108365e-03 -5.00554476e-04 9.99983566e-01 3.64142922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9007140570001 meters Centerline goodness : 0.983036 with order 1 Centerline is valid? [True, True] Translation: X:667.49, Y:-39.88, Z:3.64 [[ 9.99969931e-01 5.25062269e-03 -5.70687920e-03 6.67493796e+02] [-5.24758912e-03 9.99986082e-01 5.46407335e-04 -3.98750753e+01] [ 5.70966875e-03 -5.16443548e-04 9.99983566e-01 3.64182152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.960714057 meters Centerline goodness : 0.986851 with order 1 Centerline is valid? [True, True] Translation: X:667.55, Y:-39.88, Z:3.65 [[ 9.99929711e-01 1.03925232e-02 -5.70693081e-03 6.67550737e+02] [-1.03895758e-02 9.99945878e-01 5.45867741e-04 -3.98838895e+01] [ 5.71229488e-03 -4.86536782e-04 9.99983566e-01 3.64626250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.020714057 meters Centerline goodness : 0.988446 with order 1 Centerline is valid? [True, True] Translation: X:667.61, Y:-39.88, Z:3.65 [[ 9.99925073e-01 1.08294386e-02 -5.70716531e-03 6.67608564e+02] [-1.08265122e-02 9.99941244e-01 5.43404895e-04 -3.98835717e+01] [ 5.71271475e-03 -4.81575484e-04 9.99983566e-01 3.64914175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.080714057 meters Centerline goodness : 0.987235 with order 1 Centerline is valid? [True, True] Translation: X:667.67, Y:-39.88, Z:3.65 [[ 9.99865658e-01 1.53653108e-02 -5.70721621e-03 6.67667361e+02] [-1.53624608e-02 9.99881843e-01 5.42869770e-04 -3.98815771e+01] [ 5.71488322e-03 -4.55119955e-04 9.99983566e-01 3.65034062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.140714057 meters Centerline goodness : 0.988497 with order 1 Centerline is valid? [True, True] Translation: X:667.73, Y:-39.88, Z:3.65 [[ 9.99844341e-01 1.66949119e-02 -5.70738147e-03 6.67726817e+02] [-1.66920934e-02 9.99860531e-01 5.41126753e-04 -3.98790044e+01] [ 5.71561953e-03 -4.45774378e-04 9.99983566e-01 3.64856045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.200714057 meters Centerline goodness : 0.988122 with order 1 Centerline is valid? [True, True] Translation: X:667.79, Y:-39.88, Z:3.65 [[ 9.99793499e-01 1.95034631e-02 -5.70742266e-03 6.67785803e+02] [-1.95006925e-02 9.99809697e-01 5.40691866e-04 -3.98777355e+01] [ 5.71688189e-03 -4.29281518e-04 9.99983566e-01 3.65005950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.260714057 meters Centerline goodness : 0.988225 with order 1 Centerline is valid? [True, True] Translation: X:667.84, Y:-39.88, Z:3.65 [[ 9.99746008e-01 2.18024009e-02 -5.70746369e-03 6.67844706e+02] [-2.17996700e-02 9.99762213e-01 5.40258432e-04 -3.98787312e+01] [ 5.71788546e-03 -4.15700385e-04 9.99983566e-01 3.65225778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.320714057 meters Centerline goodness : 0.988721 with order 1 Centerline is valid? [True, True] Translation: X:667.90, Y:-39.88, Z:3.65 [[ 9.99560488e-01 2.90904795e-02 -5.70750493e-03 6.67903121e+02] [-2.90878693e-02 9.99576713e-01 5.39822465e-04 -3.98790262e+01] [ 5.72079271e-03 -3.73566049e-04 9.99983566e-01 3.65185004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.380714057 meters Centerline goodness : 0.989368 with order 1 Centerline is valid? [True, True] Translation: X:667.96, Y:-39.88, Z:3.65 [[ 9.99487068e-01 3.15122971e-02 -5.70755549e-03 6.67962395e+02] [-3.15097292e-02 9.99503300e-01 5.39287308e-04 -3.98781706e+01] [ 5.72171473e-03 -3.59167162e-04 9.99983566e-01 3.65190515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.440714057 meters Centerline goodness : 0.988908 with order 1 Centerline is valid? [True, True] Translation: X:668.02, Y:-39.88, Z:3.65 [[ 9.99428727e-01 3.33113147e-02 -5.70759651e-03 6.68020232e+02] [-3.33087786e-02 9.99444963e-01 5.38852798e-04 -3.98819709e+01] [ 5.72237848e-03 -3.48431897e-04 9.99983566e-01 3.65218884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.500714057 meters Centerline goodness : 0.989430 with order 1 Centerline is valid? [True, True] Translation: X:668.08, Y:-39.88, Z:3.65 [[ 9.99458763e-01 3.23975858e-02 -5.70764706e-03 6.68079348e+02] [-3.23950379e-02 9.99474998e-01 5.38316922e-04 -3.98815191e+01] [ 5.72209070e-03 -3.53126123e-04 9.99983566e-01 3.65289041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.560714057 meters Centerline goodness : 0.989223 with order 1 Centerline is valid? [True, True] Translation: X:668.14, Y:-39.88, Z:3.65 [[ 9.99355530e-01 3.54393454e-02 -5.70768659e-03 6.68138567e+02] [-3.54368493e-02 9.99371773e-01 5.37897421e-04 -3.98819354e+01] [ 5.72316360e-03 -3.35288333e-04 9.99983566e-01 3.65482502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.620714057 meters Centerline goodness : 0.992801 with order 1 Centerline is valid? [True, True] Translation: X:668.20, Y:-39.88, Z:3.65 [[ 9.99485615e-01 3.15583226e-02 -5.70772615e-03 6.68197562e+02] [-3.15557659e-02 9.99501848e-01 5.37477327e-04 -3.98760090e+01] [ 5.72184472e-03 -3.57089187e-04 9.99983566e-01 3.65177134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.680714057 meters Centerline goodness : 0.992589 with order 1 Centerline is valid? [True, True] Translation: X:668.26, Y:-39.88, Z:3.65 [[ 9.99383942e-01 3.46288564e-02 -5.70777446e-03 6.68256818e+02] [-3.46263524e-02 9.99400184e-01 5.36963769e-04 -3.98791726e+01] [ 5.72294529e-03 -3.38993558e-04 9.99983566e-01 3.65018500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.740714057 meters Centerline goodness : 0.993072 with order 1 Centerline is valid? [True, True] Translation: X:668.31, Y:-39.88, Z:3.65 [[ 9.99343942e-01 3.57645892e-02 -5.70781288e-03 6.68314159e+02] [-3.57621061e-02 9.99360187e-01 5.36555025e-04 -3.98815636e+01] [ 5.72335062e-03 -3.32079604e-04 9.99983566e-01 3.64947340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.800714057 meters Centerline goodness : 0.993298 with order 1 Centerline is valid? [True, True] Translation: X:668.37, Y:-39.89, Z:3.65 [[ 9.99361704e-01 3.52647736e-02 -5.70786010e-03 6.68371960e+02] [-3.52622852e-02 9.99377948e-01 5.36052304e-04 -3.98862040e+01] [ 5.72321328e-03 -3.34437954e-04 9.99983566e-01 3.64925816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.860714057 meters Centerline goodness : 0.990022 with order 1 Centerline is valid? [True, True] Translation: X:668.43, Y:-39.90, Z:3.66 [[ 9.99291073e-01 3.72125019e-02 -5.70791385e-03 6.68430477e+02] [-3.72100484e-02 9.99307323e-01 5.35479361e-04 -3.98988107e+01] [ 5.72388663e-03 -3.22707995e-04 9.99983566e-01 3.66216608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.920714057 meters Centerline goodness : 0.993190 with order 1 Centerline is valid? [True, True] Translation: X:668.49, Y:-39.90, Z:3.65 [[ 9.99458697e-01 3.23995905e-02 -5.70793396e-03 6.68489415e+02] [-3.23970599e-02 9.99474934e-01 5.35264909e-04 -3.98969134e+01] [ 5.72227928e-03 -3.50054890e-04 9.99983566e-01 3.65068341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.980714057 meters Centerline goodness : 0.993776 with order 1 Centerline is valid? [True, True] Translation: X:668.55, Y:-39.90, Z:3.65 [[ 9.99506662e-01 3.08844752e-02 -5.70797343e-03 6.68547166e+02] [-3.08819225e-02 9.99522897e-01 5.34843620e-04 -3.99010849e+01] [ 5.72176850e-03 -3.58306569e-04 9.99983566e-01 3.65191116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0407140570001 meters Centerline goodness : 0.990427 with order 1 Centerline is valid? [True, True] Translation: X:668.60, Y:-39.91, Z:3.66 [[ 9.99440408e-01 3.29589036e-02 -5.70803200e-03 6.68604666e+02] [-3.29563881e-02 9.99456648e-01 5.34217816e-04 -3.99143185e+01] [ 5.72253777e-03 -3.45802755e-04 9.99983566e-01 3.65584537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.100714057 meters Centerline goodness : 0.993718 with order 1 Centerline is valid? [True, True] Translation: X:668.66, Y:-39.91, Z:3.65 [[ 9.99664181e-01 2.52773165e-02 -5.70807131e-03 6.68662927e+02] [-2.52746787e-02 9.99680402e-01 5.33797515e-04 -3.99099834e+01] [ 5.71973999e-03 -3.89348587e-04 9.99983566e-01 3.65290190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1607140570001 meters Centerline goodness : 0.991112 with order 1 Centerline is valid? [True, True] Translation: X:668.72, Y:-39.92, Z:3.67 [[ 9.99586401e-01 2.81858799e-02 -5.70814130e-03 6.68722062e+02] [-2.81832936e-02 9.99602630e-01 5.33048006e-04 -3.99193728e+01] [ 5.72089748e-03 -3.71953316e-04 9.99983566e-01 3.66674904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.220714057 meters Centerline goodness : 0.989497 with order 1 Centerline is valid? [True, True] Translation: X:668.78, Y:-39.92, Z:3.67 [[ 9.99405391e-01 3.40041321e-02 -5.70815116e-03 6.68782080e+02] [-3.40016408e-02 9.99421635e-01 5.32942426e-04 -3.99238191e+01] [ 5.72297201e-03 -3.38539029e-04 9.99983566e-01 3.67257516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2807140570001 meters Centerline goodness : 0.989481 with order 1 Centerline is valid? [True, True] Translation: X:668.84, Y:-39.93, Z:3.67 [[ 9.99254547e-01 3.81807114e-02 -5.70816121e-03 6.68839907e+02] [-3.81782886e-02 9.99270801e-01 5.32834763e-04 -3.99253629e+01] [ 5.72434283e-03 -3.14509733e-04 9.99983566e-01 3.67236026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.340714057 meters Centerline goodness : 0.989006 with order 1 Centerline is valid? [True, True] Translation: X:668.90, Y:-39.93, Z:3.67 [[ 9.98903844e-01 4.64599434e-02 -5.70821034e-03 6.68898693e+02] [-4.64576584e-02 9.98920118e-01 5.32307904e-04 -3.99304699e+01] [ 5.72677714e-03 -2.66534325e-04 9.99983566e-01 3.67114821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4007140570001 meters Centerline goodness : 0.987837 with order 1 Centerline is valid? [True, True] Translation: X:668.96, Y:-39.94, Z:3.67 [[ 9.98638383e-01 5.18535948e-02 -5.70835277e-03 6.68957908e+02] [-5.18514065e-02 9.98654670e-01 5.30776056e-04 -3.99377629e+01] [ 5.72819580e-03 -2.34067222e-04 9.99983566e-01 3.66517413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.460714057 meters Centerline goodness : 0.987357 with order 1 Centerline is valid? [True, True] Translation: X:669.02, Y:-39.94, Z:3.66 [[ 9.98562845e-01 5.32884545e-02 -5.70836277e-03 6.69015627e+02] [-5.32862902e-02 9.98579135e-01 5.30668551e-04 -3.99448375e+01] [ 5.72853046e-03 -2.25728423e-04 9.99983566e-01 3.66028479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.520714057 meters Centerline goodness : 0.987711 with order 1 Centerline is valid? [True, True] Translation: X:669.07, Y:-39.96, Z:3.65 [[ 9.98341531e-01 5.72852741e-02 -5.70840140e-03 6.69073944e+02] [-5.72831775e-02 9.98357830e-01 5.30252687e-04 -3.99578185e+01] [ 5.72940290e-03 -2.02377909e-04 9.99983566e-01 3.64853574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.580714057 meters Centerline goodness : 0.988253 with order 1 Centerline is valid? [True, True] Translation: X:669.13, Y:-39.96, Z:3.65 [[ 9.98438004e-01 5.55784644e-02 -5.70842994e-03 6.69131114e+02] [-5.55763416e-02 9.98454300e-01 5.29945211e-04 -3.99642512e+01] [ 5.72905996e-03 -2.11863786e-04 9.99983566e-01 3.65024751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.640714057 meters Centerline goodness : 0.988486 with order 1 Centerline is valid? [True, True] Translation: X:669.19, Y:-39.97, Z:3.65 [[ 9.98387336e-01 5.64813266e-02 -5.70858207e-03 6.69189216e+02] [-5.64792279e-02 9.98403635e-01 5.28301423e-04 -3.99740161e+01] [ 5.72930825e-03 -2.05033142e-04 9.99983566e-01 3.64663507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.700714057 meters Centerline goodness : 0.988382 with order 1 Centerline is valid? [True, True] Translation: X:669.25, Y:-39.98, Z:3.65 [[ 9.98479288e-01 5.48317628e-02 -5.70871883e-03 6.69246443e+02] [-5.48296457e-02 9.98495585e-01 5.26819394e-04 -3.99848566e+01] [ 5.72901698e-03 -2.13011222e-04 9.99983566e-01 3.64502289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.760714057 meters Centerline goodness : 0.987734 with order 1 Centerline is valid? [True, True] Translation: X:669.31, Y:-39.99, Z:3.65 [[ 9.98780979e-01 4.90302507e-02 -5.70876671e-03 6.69305341e+02] [-4.90280419e-02 9.98797264e-01 5.26300034e-04 -3.99918641e+01] [ 5.72770520e-03 -2.45768810e-04 9.99983566e-01 3.64558255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.820714057 meters Centerline goodness : 0.988190 with order 1 Centerline is valid? [True, True] Translation: X:669.36, Y:-40.00, Z:3.65 [[ 9.99055754e-01 4.30698322e-02 -5.70879512e-03 6.69363304e+02] [-4.30675280e-02 9.99072025e-01 5.25991692e-04 -3.99995819e+01] [ 5.72615188e-03 -2.79631333e-04 9.99983566e-01 3.64683571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.880714057 meters Centerline goodness : 0.987463 with order 1 Centerline is valid? [True, True] Translation: X:669.42, Y:-40.01, Z:3.65 [[ 9.99294172e-01 3.71290702e-02 -5.70883329e-03 6.69421383e+02] [-3.71266717e-02 9.99310429e-01 5.25577164e-04 -4.00068208e+01] [ 5.72441083e-03 -3.13256218e-04 9.99983566e-01 3.64831601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.940714057 meters Centerline goodness : 0.991452 with order 1 Centerline is valid? [True, True] Translation: X:669.48, Y:-40.00, Z:3.66 [[ 9.99734494e-01 2.23237433e-02 -5.70887146e-03 6.69480858e+02] [-2.23211067e-02 9.99750715e-01 5.25162236e-04 -3.99960419e+01] [ 5.71917191e-03 -3.97594473e-04 9.99983566e-01 3.65714136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.000714057 meters Centerline goodness : 0.984964 with order 1 Centerline is valid? [True, True] Translation: X:669.54, Y:-40.03, Z:3.64 [[ 9.99205008e-01 3.94558007e-02 -5.70890912e-03 6.69537588e+02] [-3.94534447e-02 9.99221272e-01 5.24752424e-04 -4.00265536e+01] [ 5.72516796e-03 -2.99099120e-04 9.99983566e-01 3.63763345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.060714057 meters Centerline goodness : 0.991513 with order 1 Centerline is valid? [True, True] Translation: X:669.60, Y:-40.01, Z:3.66 [[ 9.99768941e-01 2.07236836e-02 -5.70903472e-03 6.69597970e+02] [-2.07210310e-02 9.99785159e-01 5.23382456e-04 -4.00061658e+01] [ 5.71865460e-03 -4.04964438e-04 9.99983566e-01 3.65797928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.120714057 meters Centerline goodness : 0.989121 with order 1 Centerline is valid? [True, True] Translation: X:669.66, Y:-40.02, Z:3.65 [[ 9.99641672e-01 2.61521210e-02 -5.70907241e-03 6.69655595e+02] [-2.61495590e-02 9.99657905e-01 5.22970947e-04 -4.00174250e+01] [ 5.72079617e-03 -3.73493827e-04 9.99983566e-01 3.65445641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.180714057 meters Centerline goodness : 0.982160 with order 1 Centerline is valid? [True, True] Translation: X:669.71, Y:-40.01, Z:3.67 [[ 9.99690540e-01 2.42121727e-02 -5.70915989e-03 6.69714238e+02] [-2.42095846e-02 9.99706769e-01 5.22014217e-04 -4.00116362e+01] [ 5.72012489e-03 -3.83636285e-04 9.99983566e-01 3.66622311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.240714057 meters Centerline goodness : 0.988893 with order 1 Centerline is valid? [True, True] Translation: X:669.77, Y:-40.02, Z:3.66 [[ 9.99495853e-01 3.12320980e-02 -5.70921327e-03 6.69772269e+02] [-3.12296272e-02 9.99512100e-01 5.21429751e-04 -4.00229640e+01] [ 5.72271309e-03 -3.42870272e-04 9.99983566e-01 3.65568310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.300714057 meters Centerline goodness : 0.984039 with order 1 Centerline is valid? [True, True] Translation: X:669.83, Y:-40.02, Z:3.65 [[ 9.99587209e-01 2.81569966e-02 -5.70926748e-03 6.69830387e+02] [-2.81544792e-02 9.99603448e-01 5.20835540e-04 -4.00161784e+01] [ 5.72166862e-03 -3.59879092e-04 9.99983566e-01 3.65486028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.360714057 meters Centerline goodness : 0.983021 with order 1 Centerline is valid? [True, True] Translation: X:669.89, Y:-40.02, Z:3.66 [[ 9.99574499e-01 2.86046271e-02 -5.70934511e-03 6.69889095e+02] [-2.86021218e-02 9.99590740e-01 5.19983132e-04 -4.00209859e+01] [ 5.72188243e-03 -3.56462494e-04 9.99983566e-01 3.65812632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.420714057 meters Centerline goodness : 0.988930 with order 1 Centerline is valid? [True, True] Translation: X:669.95, Y:-40.03, Z:3.66 [[ 9.99458612e-01 3.24019496e-02 -5.70939690e-03 6.69947006e+02] [-3.23995094e-02 9.99474863e-01 5.19413886e-04 -4.00294313e+01] [ 5.72322871e-03 -3.34151023e-04 9.99983566e-01 3.66077665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.480714057 meters Centerline goodness : 0.983076 with order 1 Centerline is valid? [True, True] Translation: X:670.01, Y:-40.02, Z:3.65 [[ 9.99641059e-01 2.61754604e-02 -5.70944786e-03 6.70007003e+02] [-2.61729221e-02 9.99657296e-01 5.18853099e-04 -4.00229104e+01] [ 5.72107243e-03 -3.69233928e-04 9.99983566e-01 3.65418004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5407140570001 meters Centerline goodness : 0.991377 with order 1 Centerline is valid? [True, True] Translation: X:670.07, Y:-40.03, Z:3.66 [[ 9.99435285e-01 3.31136344e-02 -5.70948532e-03 6.70066003e+02] [-3.31112112e-02 9.99451539e-01 5.18440616e-04 -4.00263630e+01] [ 5.72352134e-03 -3.29099870e-04 9.99983566e-01 3.65983676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.600714057 meters Centerline goodness : 0.990668 with order 1 Centerline is valid? [True, True] Translation: X:670.12, Y:-40.03, Z:3.66 [[ 9.99365796e-01 3.51483472e-02 -5.70953550e-03 6.70124762e+02] [-3.51459603e-02 9.99382056e-01 5.17887406e-04 -4.00286487e+01] [ 5.72421021e-03 -3.16891851e-04 9.99983566e-01 3.66131314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6607140570001 meters Centerline goodness : 0.986474 with order 1 Centerline is valid? [True, True] Translation: X:670.18, Y:-40.04, Z:3.67 [[ 9.99090910e-01 4.22463518e-02 -5.70957279e-03 6.70182417e+02] [-4.22440828e-02 9.99107186e-01 5.17475896e-04 -4.00402458e+01] [ 5.72633668e-03 -2.75809798e-04 9.99983566e-01 3.66504780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.720714057 meters Centerline goodness : 0.990780 with order 1 Centerline is valid? [True, True] Translation: X:670.24, Y:-40.04, Z:3.66 [[ 9.99557218e-01 2.92021810e-02 -5.70965430e-03 6.70241042e+02] [-2.91997048e-02 9.99573464e-01 5.16574969e-04 -4.00356675e+01] [ 5.72230405e-03 -3.49626019e-04 9.99983566e-01 3.66097498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7807140570001 meters Centerline goodness : 0.991082 with order 1 Centerline is valid? [True, True] Translation: X:670.30, Y:-40.04, Z:3.66 [[ 9.99651682e-01 2.57665118e-02 -5.70973924e-03 6.70297299e+02] [-2.57639852e-02 9.99667920e-01 5.15634445e-04 -4.00406533e+01] [ 5.72112925e-03 -3.68349204e-04 9.99983566e-01 3.66089028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.840714057 meters Centerline goodness : 0.991514 with order 1 Centerline is valid? [True, True] Translation: X:670.36, Y:-40.05, Z:3.66 [[ 9.99715471e-01 2.31597686e-02 -5.70983600e-03 6.70355718e+02] [-2.31572057e-02 9.99731704e-01 5.14560696e-04 -4.00455583e+01] [ 5.72022118e-03 -3.82190442e-04 9.99983566e-01 3.66117282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9007140570001 meters Centerline goodness : 0.991521 with order 1 Centerline is valid? [True, True] Translation: X:670.41, Y:-40.05, Z:3.66 [[ 9.99692161e-01 2.41449953e-02 -5.70987317e-03 6.70414109e+02] [-2.41424508e-02 9.99708396e-01 5.14147986e-04 -4.00486577e+01] [ 5.72062225e-03 -3.76139380e-04 9.99983566e-01 3.66112077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.960714057 meters Centerline goodness : 0.981856 with order 1 Centerline is valid? [True, True] Translation: X:670.47, Y:-40.05, Z:3.67 [[ 9.99572643e-01 2.86692855e-02 -5.70991040e-03 6.70472907e+02] [-2.86668169e-02 9.99588890e-01 5.13734174e-04 -4.00513643e+01] [ 5.72229139e-03 -3.49829670e-04 9.99983566e-01 3.66724699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.020714057 meters Centerline goodness : 0.991124 with order 1 Centerline is valid? [True, True] Translation: X:670.53, Y:-40.06, Z:3.66 [[ 9.99535501e-01 2.99362397e-02 -5.70994797e-03 6.70530450e+02] [-2.99337940e-02 9.99551752e-01 5.13316274e-04 -4.00556044e+01] [ 5.72275525e-03 -3.42157433e-04 9.99983566e-01 3.66291227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.080714057 meters Centerline goodness : 0.988307 with order 1 Centerline is valid? [True, True] Translation: X:670.59, Y:-40.06, Z:3.66 [[ 9.99415901e-01 3.36935123e-02 -5.71001055e-03 6.70587583e+02] [-3.36911317e-02 9.99432161e-01 5.12619169e-04 -4.00635643e+01] [ 5.72404013e-03 -3.19943031e-04 9.99983566e-01 3.66070785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.140714057 meters Centerline goodness : 0.991779 with order 1 Centerline is valid? [True, True] Translation: X:670.64, Y:-40.06, Z:3.66 [[ 9.99444708e-01 3.28278922e-02 -5.71007962e-03 6.70644377e+02] [-3.28255020e-02 9.99460967e-01 5.11848677e-04 -4.00634556e+01] [ 5.72380461e-03 -3.24128222e-04 9.99983566e-01 3.66146944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.200714057 meters Centerline goodness : 0.987684 with order 1 Centerline is valid? [True, True] Translation: X:670.70, Y:-40.07, Z:3.66 [[ 9.99472189e-01 3.19802521e-02 -5.71016006e-03 6.70702275e+02] [-3.19778532e-02 9.99488447e-01 5.10949674e-04 -4.00709139e+01] [ 5.72357931e-03 -3.28081329e-04 9.99983566e-01 3.66177104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.260714057 meters Centerline goodness : 0.990441 with order 1 Centerline is valid? [True, True] Translation: X:670.76, Y:-40.07, Z:3.66 [[ 9.99403969e-01 3.40455630e-02 -5.71019294e-03 6.70758663e+02] [-3.40431998e-02 9.99420232e-01 5.10581994e-04 -4.00749360e+01] [ 5.72426540e-03 -3.15884432e-04 9.99983566e-01 3.66393886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.320714057 meters Centerline goodness : 0.988487 with order 1 Centerline is valid? [True, True] Translation: X:670.82, Y:-40.08, Z:3.66 [[ 9.99302609e-01 3.69010546e-02 -5.71026958e-03 6.70816727e+02] [-3.68987427e-02 9.99318880e-01 5.09723374e-04 -4.00836194e+01] [ 5.72518953e-03 -2.98666130e-04 9.99983566e-01 3.66314522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.380714057 meters Centerline goodness : 0.988409 with order 1 Centerline is valid? [True, True] Translation: X:670.87, Y:-40.09, Z:3.66 [[ 9.99120936e-01 4.15300741e-02 -5.71031237e-03 6.70874503e+02] [-4.15278404e-02 9.99137217e-01 5.09243520e-04 -4.00915796e+01] [ 5.72653454e-03 -2.71658922e-04 9.99983566e-01 3.66238820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.440714057 meters Centerline goodness : 0.988795 with order 1 Centerline is valid? [True, True] Translation: X:670.93, Y:-40.09, Z:3.66 [[ 9.99119051e-01 4.15753974e-02 -5.71037838e-03 6.70932537e+02] [-4.15731686e-02 9.99135333e-01 5.08502280e-04 -4.00946615e+01] [ 5.72658199e-03 -2.70655792e-04 9.99983566e-01 3.66315695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.500714057 meters Centerline goodness : 0.988361 with order 1 Centerline is valid? [True, True] Translation: X:670.99, Y:-40.10, Z:3.66 [[ 9.99119748e-01 4.15586427e-02 -5.71044415e-03 6.70988969e+02] [-4.15564179e-02 9.99136030e-01 5.07762631e-04 -4.01001026e+01] [ 5.72661242e-03 -2.70010068e-04 9.99983566e-01 3.66354331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.560714057 meters Centerline goodness : 0.991599 with order 1 Centerline is valid? [True, True] Translation: X:671.05, Y:-40.10, Z:3.66 [[ 9.99073980e-01 4.26447111e-02 -5.71056225e-03 6.71045399e+02] [-4.26425115e-02 9.99090266e-01 5.06430926e-04 -4.01029609e+01] [ 5.72696376e-03 -2.62449245e-04 9.99983566e-01 3.66342451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.620714057 meters Centerline goodness : 0.988382 with order 1 Centerline is valid? [True, True] Translation: X:671.10, Y:-40.11, Z:3.67 [[ 9.98820747e-01 4.82131057e-02 -5.71067952e-03 6.71103164e+02] [-4.82110046e-02 9.98837046e-01 5.05105050e-04 -4.01123239e+01] [ 5.72839095e-03 -2.29191807e-04 9.99983566e-01 3.66979972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.680714057 meters Centerline goodness : 0.987666 with order 1 Centerline is valid? [True, True] Translation: X:671.16, Y:-40.12, Z:3.67 [[ 9.98810991e-01 4.84147951e-02 -5.71072065e-03 6.71161718e+02] [-4.84126998e-02 9.98827290e-01 5.04639641e-04 -4.01175774e+01] [ 5.72845566e-03 -2.27568215e-04 9.99983566e-01 3.67028286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.740714057 meters Centerline goodness : 0.987677 with order 1 Centerline is valid? [True, True] Translation: X:671.22, Y:-40.12, Z:3.67 [[ 9.99023996e-01 4.38000216e-02 -5.71076283e-03 6.71219274e+02] [-4.37978539e-02 9.99040286e-01 5.04161814e-04 -4.01230528e+01] [ 5.72736443e-03 -2.53550594e-04 9.99983566e-01 3.66980491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.800714057 meters Centerline goodness : 0.991789 with order 1 Centerline is valid? [True, True] Translation: X:671.28, Y:-40.13, Z:3.67 [[ 9.99001893e-01 4.43013013e-02 -5.71081523e-03 6.71277494e+02] [-4.42991451e-02 9.99018184e-01 5.03567612e-04 -4.01290686e+01] [ 5.72751696e-03 -2.50080765e-04 9.99983566e-01 3.66867072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.860714057 meters Centerline goodness : 0.990767 with order 1 Centerline is valid? [True, True] Translation: X:671.33, Y:-40.14, Z:3.67 [[ 9.98855204e-01 4.74938621e-02 -5.71085670e-03 6.71334648e+02] [-4.74917606e-02 9.98871503e-01 5.03096836e-04 -4.01378931e+01] [ 5.72830603e-03 -2.31302253e-04 9.99983566e-01 3.66802052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.920714057 meters Centerline goodness : 0.989485 with order 1 Centerline is valid? [True, True] Translation: X:671.39, Y:-40.15, Z:3.67 [[ 9.99100681e-01 4.20144691e-02 -5.71090065e-03 6.71391717e+02] [-4.20122812e-02 9.99116968e-01 5.02597415e-04 -4.01474724e+01] [ 5.72697411e-03 -2.62217455e-04 9.99983566e-01 3.66794237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.980714057 meters Centerline goodness : 0.992092 with order 1 Centerline is valid? [True, True] Translation: X:671.45, Y:-40.15, Z:3.66 [[ 9.99313311e-01 3.66099765e-02 -5.71106397e-03 6.71448599e+02] [-3.66077111e-02 9.99329588e-01 5.00734778e-04 -4.01511613e+01] [ 5.72556709e-03 -2.91321949e-04 9.99983566e-01 3.66479763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0407140570001 meters Centerline goodness : 0.991394 with order 1 Centerline is valid? [True, True] Translation: X:671.51, Y:-40.16, Z:3.67 [[ 9.99396843e-01 3.42539536e-02 -5.71113991e-03 6.71505495e+02] [-3.42516548e-02 9.99413115e-01 4.99867043e-04 -4.01573281e+01] [ 5.72491055e-03 -3.03949552e-04 9.99983566e-01 3.66597961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.100714057 meters Centerline goodness : 0.991059 with order 1 Centerline is valid? [True, True] Translation: X:671.56, Y:-40.16, Z:3.67 [[ 9.99401532e-01 3.41168453e-02 -5.71123473e-03 6.71563663e+02] [-3.41145504e-02 9.99417805e-01 4.98781362e-04 -4.01622031e+01] [ 5.72492652e-03 -3.03646652e-04 9.99983566e-01 3.66771552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1607140570001 meters Centerline goodness : 0.991247 with order 1 Centerline is valid? [True, True] Translation: X:671.62, Y:-40.17, Z:3.67 [[ 9.99403254e-01 3.40663687e-02 -5.71128909e-03 6.71620678e+02] [-3.40640766e-02 9.99419527e-01 4.98158144e-04 -4.01680796e+01] [ 5.72494428e-03 -3.03311081e-04 9.99983566e-01 3.66859503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.220714057 meters Centerline goodness : 0.991684 with order 1 Centerline is valid? [True, True] Translation: X:671.68, Y:-40.17, Z:3.67 [[ 9.99480450e-01 3.17208348e-02 -5.71135141e-03 6.71678391e+02] [-3.17185086e-02 9.99496718e-01 4.97442619e-04 -4.01737978e+01] [ 5.72425628e-03 -3.16028624e-04 9.99983566e-01 3.66904118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2807140570001 meters Centerline goodness : 0.992052 with order 1 Centerline is valid? [True, True] Translation: X:671.74, Y:-40.18, Z:3.67 [[ 9.99540828e-01 2.97575594e-02 -5.71140555e-03 6.71735367e+02] [-2.97552048e-02 9.99557092e-01 4.96820253e-04 -4.01789400e+01] [ 5.72366008e-03 -3.26648085e-04 9.99983566e-01 3.66884761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.340714057 meters Centerline goodness : 0.991954 with order 1 Centerline is valid? [True, True] Translation: X:671.79, Y:-40.18, Z:3.67 [[ 9.99519451e-01 3.04671178e-02 -5.71150041e-03 6.71793381e+02] [-3.04647809e-02 9.99535718e-01 4.95727331e-04 -4.01843809e+01] [ 5.72395204e-03 -3.21489501e-04 9.99983566e-01 3.66890620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4007140570001 meters Centerline goodness : 0.992320 with order 1 Centerline is valid? [True, True] Translation: X:671.85, Y:-40.19, Z:3.67 [[ 9.99418420e-01 3.36184606e-02 -5.71155416e-03 6.71850885e+02] [-3.36161785e-02 9.99434694e-01 4.95107265e-04 -4.01892146e+01] [ 5.72497013e-03 -3.02818696e-04 9.99983566e-01 3.66762195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.460714057 meters Centerline goodness : 0.992111 with order 1 Centerline is valid? [True, True] Translation: X:671.91, Y:-40.19, Z:3.67 [[ 9.99221075e-01 3.90463905e-02 -5.71159807e-03 6.71908680e+02] [-3.90441997e-02 9.99237362e-01 4.94600119e-04 -4.01931031e+01] [ 5.72655454e-03 -2.71210087e-04 9.99983566e-01 3.66787436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.520714057 meters Centerline goodness : 0.990363 with order 1 Centerline is valid? [True, True] Translation: X:671.97, Y:-40.20, Z:3.67 [[ 9.98918427e-01 4.61449052e-02 -5.71174230e-03 6.71966514e+02] [-4.61428398e-02 9.98934730e-01 4.92928882e-04 -4.02046687e+01] [ 5.72840391e-03 -2.28839734e-04 9.99983566e-01 3.66652526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.580714057 meters Centerline goodness : 0.992702 with order 1 Centerline is valid? [True, True] Translation: X:672.02, Y:-40.20, Z:3.67 [[ 9.98993581e-01 4.44882164e-02 -5.71178289e-03 6.72024663e+02] [-4.44861267e-02 9.99009881e-01 4.92458203e-04 -4.02029015e+01] [ 5.72803613e-03 -2.37867487e-04 9.99983566e-01 3.66776374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.640714057 meters Centerline goodness : 0.992639 with order 1 Centerline is valid? [True, True] Translation: X:672.08, Y:-40.21, Z:3.67 [[ 9.98969449e-01 4.50268121e-02 -5.71185885e-03 6.72083196e+02] [-4.50247362e-02 9.98985751e-01 4.91575582e-04 -4.02091819e+01] [ 5.72819968e-03 -2.33894051e-04 9.99983566e-01 3.66910901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.700714057 meters Centerline goodness : 0.992558 with order 1 Centerline is valid? [True, True] Translation: X:672.14, Y:-40.22, Z:3.67 [[ 9.99137336e-01 4.11334073e-02 -5.71189264e-03 6.72141324e+02] [-4.11312701e-02 9.99153631e-01 4.91182631e-04 -4.02175007e+01] [ 5.72726228e-03 -2.55821507e-04 9.99983566e-01 3.66976780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.760714057 meters Centerline goodness : 0.988576 with order 1 Centerline is valid? [True, True] Translation: X:672.20, Y:-40.24, Z:3.66 [[ 9.98698871e-01 5.06748313e-02 -5.71192753e-03 6.72198616e+02] [-5.06728521e-02 9.98715185e-01 4.90776501e-04 -4.02440507e+01] [ 5.72945878e-03 -2.00698278e-04 9.99983566e-01 3.65880037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.820714057 meters Centerline goodness : 0.992724 with order 1 Centerline is valid? [True, True] Translation: X:672.26, Y:-40.23, Z:3.67 [[ 9.99442983e-01 3.28800350e-02 -5.71204690e-03 6.72258360e+02] [-3.28777736e-02 9.99459260e-01 4.89383286e-04 -4.02338476e+01] [ 5.72504910e-03 -3.01311306e-04 9.99983566e-01 3.67160282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.880714057 meters Centerline goodness : 0.992891 with order 1 Centerline is valid? [True, True] Translation: X:672.31, Y:-40.24, Z:3.67 [[ 9.99465560e-01 3.21864284e-02 -5.71207376e-03 6.72314672e+02] [-3.21841575e-02 9.99481836e-01 4.89069589e-04 -4.02420921e+01] [ 5.72485537e-03 -3.04969929e-04 9.99983566e-01 3.67187273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.940714057 meters Centerline goodness : 0.993465 with order 1 Centerline is valid? [True, True] Translation: X:672.37, Y:-40.25, Z:3.67 [[ 9.99437380e-01 3.30498742e-02 -5.71213401e-03 6.72372554e+02] [-3.30476214e-02 9.99453659e-01 4.88364862e-04 -4.02492158e+01] [ 5.72515363e-03 -2.99317657e-04 9.99983566e-01 3.66976426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.000714057 meters Centerline goodness : 0.985429 with order 1 Centerline is valid? [True, True] Translation: X:672.43, Y:-40.25, Z:3.67 [[ 9.99512301e-01 3.07006605e-02 -5.71218574e-03 6.72431169e+02] [-3.06983729e-02 9.99528575e-01 4.87758966e-04 -4.02539768e+01] [ 5.72446740e-03 -3.12166279e-04 9.99983566e-01 3.67007296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.060714057 meters Centerline goodness : 0.992251 with order 1 Centerline is valid? [True, True] Translation: X:672.49, Y:-40.26, Z:3.67 [[ 9.99416484e-01 3.36758449e-02 -5.71222017e-03 6.72489440e+02] [-3.36736080e-02 9.99432764e-01 4.87355423e-04 -4.02635417e+01] [ 5.72539210e-03 -2.94719980e-04 9.99983566e-01 3.66694481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.120714057 meters Centerline goodness : 0.985409 with order 1 Centerline is valid? [True, True] Translation: X:672.55, Y:-40.27, Z:3.67 [[ 9.99495007e-01 3.12586239e-02 -5.71226640e-03 6.72548641e+02] [-3.12563507e-02 9.99511282e-01 4.86812990e-04 -4.02665755e+01] [ 5.72469182e-03 -3.08022551e-04 9.99983566e-01 3.66714516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.180714057 meters Centerline goodness : 0.989139 with order 1 Centerline is valid? [True, True] Translation: X:672.61, Y:-40.29, Z:3.67 [[ 9.98965140e-01 4.51222683e-02 -5.71229967e-03 6.72605784e+02] [-4.51202234e-02 9.98981446e-01 4.86422310e-04 -4.02864383e+01] [ 5.72842986e-03 -2.28178694e-04 9.99983566e-01 3.67238546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.240714057 meters Centerline goodness : 0.988722 with order 1 Centerline is valid? [True, True] Translation: X:672.66, Y:-40.29, Z:3.67 [[ 9.98830496e-01 4.80105047e-02 -5.71234651e-03 6.72663739e+02] [-4.80085101e-02 9.98846809e-01 4.85871571e-04 -4.02931696e+01] [ 5.72908602e-03 -2.11062097e-04 9.99983566e-01 3.67305453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.300714057 meters Centerline goodness : 0.991966 with order 1 Centerline is valid? [True, True] Translation: X:672.72, Y:-40.29, Z:3.67 [[ 9.98965336e-01 4.51179082e-02 -5.71238022e-03 6.72722719e+02] [-4.51158686e-02 9.98981643e-01 4.85474937e-04 -4.02908107e+01] [ 5.72846659e-03 -2.27253639e-04 9.99983566e-01 3.67333501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.360714057 meters Centerline goodness : 0.989233 with order 1 Centerline is valid? [True, True] Translation: X:672.78, Y:-40.31, Z:3.67 [[ 9.98510741e-01 5.42555801e-02 -5.71241438e-03 6.72779817e+02] [-5.42536920e-02 9.98527066e-01 4.85072637e-04 -4.03096738e+01] [ 5.73031827e-03 -1.74430668e-04 9.99983566e-01 3.67346653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.420714057 meters Centerline goodness : 0.988705 with order 1 Centerline is valid? [True, True] Translation: X:672.84, Y:-40.32, Z:3.67 [[ 9.98493504e-01 5.45718658e-02 -5.71253741e-03 6.72837219e+02] [-5.45699912e-02 9.98509831e-01 4.83619474e-04 -4.03180707e+01] [ 5.73041678e-03 -1.71157787e-04 9.99983566e-01 3.67480179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.480714057 meters Centerline goodness : 0.987952 with order 1 Centerline is valid? [True, True] Translation: X:672.90, Y:-40.32, Z:3.67 [[ 9.98450952e-01 5.53449402e-02 -5.71258019e-03 6.72895717e+02] [-5.53430811e-02 9.98467280e-01 4.83113563e-04 -4.03247089e+01] [ 5.73056230e-03 -1.66213408e-04 9.99983566e-01 3.67321093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5407140570001 meters Centerline goodness : 0.988145 with order 1 Centerline is valid? [True, True] Translation: X:672.95, Y:-40.33, Z:3.67 [[ 9.98422497e-01 5.58559239e-02 -5.71261476e-03 6.72952207e+02] [-5.58540756e-02 9.98438826e-01 4.82704476e-04 -4.03322838e+01] [ 5.73065828e-03 -1.62870192e-04 9.99983566e-01 3.67379536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.600714057 meters Centerline goodness : 0.987188 with order 1 Centerline is valid? [True, True] Translation: X:673.01, Y:-40.35, Z:3.67 [[ 9.97903305e-01 6.44698294e-02 -5.71267406e-03 6.73009851e+02] [-6.44681261e-02 9.97919650e-01 4.82001576e-04 -4.03450730e+01] [ 5.73186426e-03 -1.12705574e-04 9.99983566e-01 3.67053818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6607140570001 meters Centerline goodness : 0.987075 with order 1 Centerline is valid? [True, True] Translation: X:673.07, Y:-40.35, Z:3.68 [[ 9.97739192e-01 6.69616890e-02 -5.71279339e-03 6.73068185e+02] [-6.69600346e-02 9.97755543e-01 4.80583126e-04 -4.03512056e+01] [ 5.73215193e-03 -9.69677769e-05 9.99983566e-01 3.67701151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.720714057 meters Centerline goodness : 0.987882 with order 1 Centerline is valid? [True, True] Translation: X:673.13, Y:-40.36, Z:3.68 [[ 9.97710747e-01 6.73841769e-02 -5.71291366e-03 6.73126112e+02] [-6.73825377e-02 9.97727099e-01 4.79149102e-04 -4.03570004e+01] [ 5.73221584e-03 -9.31015879e-05 9.99983566e-01 3.67841682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7807140570001 meters Centerline goodness : 0.984345 with order 1 Centerline is valid? [True, True] Translation: X:673.18, Y:-40.37, Z:3.67 [[ 9.97683386e-01 6.77880765e-02 -5.71305506e-03 6.73183012e+02] [-6.77864536e-02 9.97699739e-01 4.77457247e-04 -4.03667808e+01] [ 5.73227945e-03 -8.90834216e-05 9.99983566e-01 3.67159636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.840714057 meters Centerline goodness : 0.989143 with order 1 Centerline is valid? [True, True] Translation: X:673.24, Y:-40.38, Z:3.67 [[ 9.98004881e-01 6.28777996e-02 -5.71309967e-03 6.73241016e+02] [-6.28760992e-02 9.98021227e-01 4.76922860e-04 -4.03775542e+01] [ 5.73178260e-03 -1.16753921e-04 9.99983566e-01 3.66607079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9007140570001 meters Centerline goodness : 0.982906 with order 1 Centerline is valid? [True, True] Translation: X:673.30, Y:-40.40, Z:3.68 [[ 9.98078970e-01 6.16905966e-02 -5.71314675e-03 6.73298082e+02] [-6.16888801e-02 9.98095314e-01 4.76358205e-04 -4.03996268e+01] [ 5.73165182e-03 -1.23005482e-04 9.99983566e-01 3.68081907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.960714057 meters Centerline goodness : 0.984959 with order 1 Centerline is valid? [True, True] Translation: X:673.36, Y:-40.41, Z:3.68 [[ 9.98877336e-01 4.70258088e-02 -5.71327404e-03 6.73356045e+02] [-4.70238612e-02 9.98893654e-01 4.74826537e-04 -4.04097848e+01] [ 5.72928228e-03 -2.05633261e-04 9.99983566e-01 3.67917764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.020714057 meters Centerline goodness : 0.982312 with order 1 Centerline is valid? [True, True] Translation: X:673.41, Y:-40.41, Z:3.67 [[ 9.99480702e-01 3.17125123e-02 -5.71331378e-03 6.73413509e+02] [-3.17103176e-02 9.99496989e-01 4.74347967e-04 -4.04122202e+01] [ 5.72548268e-03 -2.92930646e-04 9.99983566e-01 3.67133026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.080714057 meters Centerline goodness : 0.980465 with order 1 Centerline is valid? [True, True] Translation: X:673.47, Y:-40.42, Z:3.68 [[ 9.99690777e-01 2.42014096e-02 -5.71336357e-03 6.73472023e+02] [-2.41990959e-02 9.99707047e-01 4.73747450e-04 -4.04230480e+01] [ 5.72315518e-03 -3.35342724e-04 9.99983566e-01 3.67579716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.140714057 meters Centerline goodness : 0.987384 with order 1 Centerline is valid? [True, True] Translation: X:673.53, Y:-40.43, Z:3.67 [[ 9.99890246e-01 1.36693782e-02 -5.71344398e-03 6.73531045e+02] [-1.36668989e-02 9.99906492e-01 4.72775757e-04 -4.04309413e+01] [ 5.71937227e-03 -3.94638807e-04 9.99983566e-01 3.66829283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.200714057 meters Centerline goodness : 0.984435 with order 1 Centerline is valid? [True, True] Translation: X:673.59, Y:-40.44, Z:3.67 [[ 9.99952887e-01 7.84725337e-03 -5.71346803e-03 6.73589121e+02] [-7.84468110e-03 9.99969118e-01 4.72484855e-04 -4.04403648e+01] [ 5.71699930e-03 -4.27642261e-04 9.99983566e-01 3.67090445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.260714057 meters Centerline goodness : 0.983929 with order 1 Centerline is valid? [True, True] Translation: X:673.65, Y:-40.44, Z:3.68 [[ 9.99956530e-01 7.36846590e-03 -5.71350795e-03 6.73647736e+02] [-7.36588860e-03 9.99972760e-01 4.72001631e-04 -4.04436011e+01] [ 5.71683025e-03 -4.29896050e-04 9.99983566e-01 3.67586307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.320714057 meters Centerline goodness : 0.987672 with order 1 Centerline is valid? [True, True] Translation: X:673.71, Y:-40.44, Z:3.67 [[ 9.99981103e-01 -2.26913908e-03 -5.71354826e-03 6.73706496e+02] [ 2.27186991e-03 9.99997308e-01 4.71513182e-04 -4.04385904e+01] [ 5.71246295e-03 -4.84484710e-04 9.99983566e-01 3.66765926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.380714057 meters Centerline goodness : 0.989691 with order 1 Centerline is valid? [True, True] Translation: X:673.77, Y:-40.44, Z:3.67 [[ 9.99981512e-01 -2.08084536e-03 -5.71359832e-03 6.73765817e+02] [ 2.08356970e-03 9.99997719e-01 4.70905840e-04 -4.04361405e+01] [ 5.71260540e-03 -4.82801815e-04 9.99983566e-01 3.66884070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.440714057 meters Centerline goodness : 0.989586 with order 1 Centerline is valid? [True, True] Translation: X:673.82, Y:-40.43, Z:3.67 [[ 9.99983179e-01 -9.97304066e-04 -5.71371832e-03 6.73824514e+02] [ 1.00000256e-03 9.99999390e-01 4.69445274e-04 -4.04319869e+01] [ 5.71324665e-03 -4.75151111e-04 9.99983566e-01 3.66904435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.500714057 meters Centerline goodness : 0.987574 with order 1 Centerline is valid? [True, True] Translation: X:673.88, Y:-40.43, Z:3.68 [[ 9.99967851e-01 5.62587583e-03 -5.71374357e-03 6.73883660e+02] [-5.62328651e-03 9.99984079e-01 4.69137803e-04 -4.04348259e+01] [ 5.71629191e-03 -4.36992704e-04 9.99983566e-01 3.67609554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.560714057 meters Centerline goodness : 0.990761 with order 1 Centerline is valid? [True, True] Translation: X:673.94, Y:-40.43, Z:3.67 [[ 9.99983666e-01 -1.41108363e-04 -5.71386656e-03 6.73942755e+02] [ 1.43782698e-04 9.99999880e-01 4.67634947e-04 -4.04257046e+01] [ 5.71379989e-03 -4.68448864e-04 9.99983566e-01 3.67094338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.620714057 meters Centerline goodness : 0.990737 with order 1 Centerline is valid? [True, True] Translation: X:674.00, Y:-40.42, Z:3.67 [[ 9.99982388e-01 -1.60467536e-03 -5.71391376e-03 6.74000746e+02] [ 1.60737015e-03 9.99998599e-01 4.67057580e-04 -4.04208719e+01] [ 5.71315628e-03 -4.76233729e-04 9.99983566e-01 3.67207428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.680714057 meters Centerline goodness : 0.992157 with order 1 Centerline is valid? [True, True] Translation: X:674.06, Y:-40.42, Z:3.67 [[ 9.99979879e-01 -2.75526414e-03 -5.71395411e-03 6.74059937e+02] [ 2.75797478e-03 9.99996088e-01 4.66563379e-04 -4.04194433e+01] [ 5.71264625e-03 -4.82312933e-04 9.99983566e-01 3.67196609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.740714057 meters Centerline goodness : 0.991155 with order 1 Centerline is valid? [True, True] Translation: X:674.12, Y:-40.41, Z:3.67 [[ 9.99979803e-01 -2.78274731e-03 -5.71398780e-03 6.74120258e+02] [ 2.78545605e-03 9.99996012e-01 4.66150372e-04 -4.04140488e+01] [ 5.71266784e-03 -4.82057019e-04 9.99983566e-01 3.67211060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.800714057 meters Centerline goodness : 0.992140 with order 1 Centerline is valid? [True, True] Translation: X:674.18, Y:-40.41, Z:3.67 [[ 9.99983265e-01 -9.05727086e-04 -5.71400494e-03 6.74179323e+02] [ 9.08404201e-04 9.99999479e-01 4.65940216e-04 -4.04078788e+01] [ 5.71357995e-03 -4.71123045e-04 9.99983566e-01 3.67275798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.860714057 meters Centerline goodness : 0.992949 with order 1 Centerline is valid? [True, True] Translation: X:674.24, Y:-40.40, Z:3.67 [[ 9.99983648e-01 -2.31822390e-04 -5.71403017e-03 6.74238687e+02] [ 2.34486821e-04 9.99999864e-01 4.65630608e-04 -4.04034043e+01] [ 5.71392145e-03 -4.66962859e-04 9.99983566e-01 3.67390234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.920714057 meters Centerline goodness : 0.992141 with order 1 Centerline is valid? [True, True] Translation: X:674.30, Y:-40.40, Z:3.67 [[ 9.99982058e-01 -1.79762301e-03 -5.71414819e-03 6.74297965e+02] [ 1.80030458e-03 9.99998272e-01 4.64177703e-04 -4.04023585e+01] [ 5.71330390e-03 -4.74456582e-04 9.99983566e-01 3.67439406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.980714057 meters Centerline goodness : 0.989413 with order 1 Centerline is valid? [True, True] Translation: X:674.36, Y:-40.41, Z:3.67 [[ 9.99981808e-01 1.93158458e-03 -5.71418154e-03 6.74356240e+02] [-1.92896582e-03 9.99998032e-01 4.63766818e-04 -4.04108039e+01] [ 5.71506610e-03 -4.52735920e-04 9.99983566e-01 3.67358576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0407140570001 meters Centerline goodness : 0.990505 with order 1 Centerline is valid? [True, True] Translation: X:674.42, Y:-40.40, Z:3.68 [[ 9.99937421e-01 -9.61770676e-03 -5.71429861e-03 6.74415953e+02] [ 9.62050451e-03 9.99953615e-01 4.62319897e-04 -4.03982281e+01] [ 5.70958709e-03 -5.17265402e-04 9.99983566e-01 3.67582639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.100714057 meters Centerline goodness : 0.991255 with order 1 Centerline is valid? [True, True] Translation: X:674.48, Y:-40.39, Z:3.68 [[ 9.99915809e-01 -1.16499093e-02 -5.71436246e-03 6.74478056e+02] [ 1.16527355e-02 9.99931998e-01 4.61529266e-04 -4.03906816e+01] [ 5.70859710e-03 -5.28078364e-04 9.99983566e-01 3.67775246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1607140570001 meters Centerline goodness : 0.992171 with order 1 Centerline is valid? [True, True] Translation: X:674.54, Y:-40.39, Z:3.68 [[ 9.99903787e-01 -1.26397477e-02 -5.71429601e-03 6.74540865e+02] [ 1.26425945e-02 9.99919972e-01 4.62350597e-04 -4.03895204e+01] [ 5.70799471e-03 -5.34549640e-04 9.99983566e-01 3.67761217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.220714057 meters Centerline goodness : 0.989968 with order 1 Centerline is valid? [True, True] Translation: X:674.60, Y:-40.39, Z:3.68 [[ 9.99883742e-01 -1.41368208e-02 -5.71426394e-03 6.74602988e+02] [ 1.41396941e-02 9.99899922e-01 4.62746559e-04 -4.03895717e+01] [ 5.70715031e-03 -5.43490705e-04 9.99983566e-01 3.67680193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2807140570001 meters Centerline goodness : 0.987833 with order 1 Centerline is valid? [True, True] Translation: X:674.67, Y:-40.39, Z:3.68 [[ 9.99877003e-01 -1.46057128e-02 -5.71421578e-03 6.74665679e+02] [ 1.46085971e-02 9.99893181e-01 4.63340545e-04 -4.03851005e+01] [ 5.70683798e-03 -5.46760231e-04 9.99983566e-01 3.67815740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.340714057 meters Centerline goodness : 0.988529 with order 1 Centerline is valid? [True, True] Translation: X:674.73, Y:-40.38, Z:3.68 [[ 9.99892675e-01 -1.34902280e-02 -5.71417395e-03 6.74728267e+02] [ 1.34930971e-02 9.99908856e-01 4.63855847e-04 -4.03839246e+01] [ 5.70739562e-03 -5.40907968e-04 9.99983566e-01 3.67901961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4007140570001 meters Centerline goodness : 0.991108 with order 1 Centerline is valid? [True, True] Translation: X:674.79, Y:-40.39, Z:3.68 [[ 9.99909421e-01 -1.21860220e-02 -5.71412958e-03 6.74789056e+02] [ 1.21888731e-02 9.99925605e-01 4.64401813e-04 -4.03859823e+01] [ 5.70804526e-03 -5.34008548e-04 9.99983566e-01 3.67979500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.460714057 meters Centerline goodness : 0.987654 with order 1 Centerline is valid? [True, True] Translation: X:674.85, Y:-40.40, Z:3.68 [[ 9.99942849e-01 -9.03590762e-03 -5.71409738e-03 6.74850479e+02] [ 9.03871000e-03 9.99959042e-01 4.64797655e-04 -4.03958564e+01] [ 5.70966347e-03 -5.16419161e-04 9.99983566e-01 3.68302950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.520714057 meters Centerline goodness : 0.988512 with order 1 Centerline is valid? [True, True] Translation: X:674.91, Y:-40.39, Z:3.68 [[ 9.99917981e-01 -1.14621746e-02 -5.71406348e-03 6.74912500e+02] [ 1.14650186e-02 9.99934166e-01 4.65213990e-04 -4.03947368e+01] [ 5.70835494e-03 -5.30687678e-04 9.99983566e-01 3.68311403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.580714057 meters Centerline goodness : 0.988860 with order 1 Centerline is valid? [True, True] Translation: X:674.98, Y:-40.40, Z:3.68 [[ 9.99916178e-01 -1.16183348e-02 -5.71404640e-03 6.74975163e+02] [ 1.16211825e-02 9.99932363e-01 4.65423663e-04 -4.03956365e+01] [ 5.70825248e-03 -5.31788627e-04 9.99983566e-01 3.68011803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.640714057 meters Centerline goodness : 0.989440 with order 1 Centerline is valid? [True, True] Translation: X:675.04, Y:-40.39, Z:3.68 [[ 9.99895703e-01 -1.32639646e-02 -5.71401211e-03 6.75037449e+02] [ 1.32668414e-02 9.99911883e-01 4.65844319e-04 -4.03943367e+01] [ 5.70732966e-03 -5.41602625e-04 9.99983566e-01 3.68323781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.700714057 meters Centerline goodness : 0.988389 with order 1 Centerline is valid? [True, True] Translation: X:675.10, Y:-40.40, Z:3.69 [[ 9.99945806e-01 -8.70262294e-03 -5.71397796e-03 6.75098030e+02] [ 8.70542822e-03 9.99961998e-01 4.66262752e-04 -4.03963691e+01] [ 5.70970311e-03 -5.15980108e-04 9.99983566e-01 3.68770043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.760714057 meters Centerline goodness : 0.989065 with order 1 Centerline is valid? [True, True] Translation: X:675.16, Y:-40.40, Z:3.68 [[ 9.99961481e-01 -6.66243990e-03 -5.71396099e-03 6.75160073e+02] [ 6.66521332e-03 9.99977678e-01 4.66470702e-04 -4.03973752e+01] [ 5.71072561e-03 -5.04537503e-04 9.99983566e-01 3.68129486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.820714057 meters Centerline goodness : 0.989343 with order 1 Centerline is valid? [True, True] Translation: X:675.22, Y:-40.40, Z:3.68 [[ 9.99981367e-01 -2.14858181e-03 -5.71394249e-03 6.75220460e+02] [ 2.15128337e-03 9.99997577e-01 4.66697177e-04 -4.04002075e+01] [ 5.71292591e-03 -4.78980791e-04 9.99983566e-01 3.67800749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.880714057 meters Centerline goodness : 0.988937 with order 1 Centerline is valid? [True, True] Translation: X:675.28, Y:-40.40, Z:3.68 [[ 9.99982469e-01 -1.55312866e-03 -5.71394249e-03 6.75280391e+02] [ 1.55582057e-03 9.99998681e-01 4.66697177e-04 -4.04022931e+01] [ 5.71321011e-03 -4.75578865e-04 9.99983566e-01 3.67750679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.940714057 meters Centerline goodness : 0.989193 with order 1 Centerline is valid? [True, True] Translation: X:675.34, Y:-40.41, Z:3.68 [[ 9.99982154e-01 1.74403418e-03 -5.71395931e-03 6.75339201e+02] [-1.74139691e-03 9.99998375e-01 4.66491164e-04 -4.04069348e+01] [ 5.71476360e-03 -4.56532569e-04 9.99983566e-01 3.67841973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.000714057 meters Centerline goodness : 0.990014 with order 1 Centerline is valid? [True, True] Translation: X:675.40, Y:-40.41, Z:3.67 [[ 9.99982593e-01 -1.47086188e-03 -5.71407793e-03 6.75397931e+02] [ 1.47354301e-03 9.99998806e-01 4.65033562e-04 -4.04102271e+01] [ 5.71338711e-03 -4.73445407e-04 9.99983566e-01 3.67356420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.060714057 meters Centerline goodness : 0.989709 with order 1 Centerline is valid? [True, True] Translation: X:675.46, Y:-40.41, Z:3.68 [[ 9.99980059e-01 2.68893411e-03 -5.71411180e-03 6.75457117e+02] [-2.68632281e-03 9.99996284e-01 4.64617096e-04 -4.04117203e+01] [ 5.71533989e-03 -4.49257883e-04 9.99983566e-01 3.67992053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.120714057 meters Centerline goodness : 0.989978 with order 1 Centerline is valid? [True, True] Translation: X:675.52, Y:-40.41, Z:3.68 [[ 9.99927210e-01 1.06264994e-02 -5.71423194e-03 6.75516074e+02] [-1.06240254e-02 9.99943456e-01 4.63134693e-04 -4.04131074e+01] [ 5.71883034e-03 -4.02392835e-04 9.99983566e-01 3.68287836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.180714057 meters Centerline goodness : 0.989619 with order 1 Centerline is valid? [True, True] Translation: X:675.58, Y:-40.42, Z:3.68 [[ 9.99890593e-01 1.36436050e-02 -5.71435262e-03 6.75575101e+02] [-1.36411885e-02 9.99906848e-01 4.61640970e-04 -4.04166715e+01] [ 5.72011876e-03 -3.83639902e-04 9.99983566e-01 3.68391141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.240714057 meters Centerline goodness : 0.990726 with order 1 Centerline is valid? [True, True] Translation: X:675.63, Y:-40.42, Z:3.68 [[ 9.99866706e-01 1.52942967e-02 -5.71438677e-03 6.75633661e+02] [-1.52919095e-02 9.99882966e-01 4.61217868e-04 -4.04226692e+01] [ 5.72077199e-03 -3.73772505e-04 9.99983566e-01 3.67790949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.300714057 meters Centerline goodness : 0.990783 with order 1 Centerline is valid? [True, True] Translation: X:675.69, Y:-40.43, Z:3.68 [[ 9.99855790e-01 1.59920089e-02 -5.71442087e-03 6.75691159e+02] [-1.59896354e-02 9.99872051e-01 4.60794903e-04 -4.04279514e+01] [ 5.72105876e-03 -3.69356945e-04 9.99983566e-01 3.67553474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.360714057 meters Centerline goodness : 0.990661 with order 1 Centerline is valid? [True, True] Translation: X:675.75, Y:-40.43, Z:3.68 [[ 9.99884400e-01 1.40901357e-02 -5.71446271e-03 6.75750250e+02] [-1.40877342e-02 9.99900657e-01 4.60275524e-04 -4.04324155e+01] [ 5.72038036e-03 -3.79718484e-04 9.99983566e-01 3.67556596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.420714057 meters Centerline goodness : 0.989223 with order 1 Centerline is valid? [True, True] Translation: X:675.81, Y:-40.44, Z:3.68 [[ 9.99949064e-01 8.31943715e-03 -5.71449689e-03 6.75808979e+02] [-8.31694435e-03 9.99965308e-01 4.59850796e-04 -4.04386928e+01] [ 5.71812434e-03 -4.12300221e-04 9.99983566e-01 3.68172430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.480714057 meters Centerline goodness : 0.989254 with order 1 Centerline is valid? [True, True] Translation: X:675.87, Y:-40.44, Z:3.68 [[ 9.99973584e-01 4.49160764e-03 -5.71453081e-03 6.75867987e+02] [-4.48905507e-03 9.99989819e-01 4.59428832e-04 -4.04449236e+01] [ 5.71653620e-03 -4.33763852e-04 9.99983566e-01 3.68064191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5407140570001 meters Centerline goodness : 0.989601 with order 1 Centerline is valid? [True, True] Translation: X:675.93, Y:-40.45, Z:3.68 [[ 9.99979938e-01 -2.73282703e-03 -5.71455726e-03 6.75925208e+02] [ 2.73549495e-03 9.99996153e-01 4.59099577e-04 -4.04478924e+01] [ 5.71328064e-03 -4.74722509e-04 9.99983566e-01 3.68487829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.600714057 meters Centerline goodness : 0.988708 with order 1 Centerline is valid? [True, True] Translation: X:675.98, Y:-40.46, Z:3.68 [[ 9.99983592e-01 3.99397259e-04 -5.71460894e-03 6.75983142e+02] [-3.96783803e-04 9.99999816e-01 4.58455355e-04 -4.04550566e+01] [ 5.71479100e-03 -4.56180368e-04 9.99983566e-01 3.67838377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6607140570001 meters Centerline goodness : 0.989713 with order 1 Centerline is valid? [True, True] Translation: X:676.04, Y:-40.46, Z:3.68 [[ 9.99974128e-01 4.36880794e-03 -5.71463376e-03 6.76041107e+02] [-4.36626066e-03 9.99990363e-01 4.58145846e-04 -4.04569146e+01] [ 5.71658024e-03 -4.33182413e-04 9.99983566e-01 3.68414169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.720714057 meters Centerline goodness : 0.990362 with order 1 Centerline is valid? [True, True] Translation: X:676.10, Y:-40.46, Z:3.68 [[ 9.99903745e-01 1.26429197e-02 -5.71467419e-03 6.76098590e+02] [-1.26405097e-02 9.99920001e-01 4.57640906e-04 -4.04601004e+01] [ 5.72000294e-03 -3.85360461e-04 9.99983566e-01 3.68426926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7807140570001 meters Centerline goodness : 0.989568 with order 1 Centerline is valid? [True, True] Translation: X:676.16, Y:-40.46, Z:3.68 [[ 9.99817611e-01 1.82232019e-02 -5.71480166e-03 6.76157354e+02] [-1.82208918e-02 9.99833882e-01 4.56043642e-04 -4.04641408e+01] [ 5.72216290e-03 -3.51831682e-04 9.99983566e-01 3.68201952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.840714057 meters Centerline goodness : 0.989638 with order 1 Centerline is valid? [True, True] Translation: X:676.21, Y:-40.47, Z:3.69 [[ 9.99702560e-01 2.37093128e-02 -5.71492419e-03 6.76213858e+02] [-2.37071008e-02 9.99718844e-01 4.54502888e-04 -4.04656892e+01] [ 5.72409336e-03 -3.18883417e-04 9.99983566e-01 3.68796553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9007140570001 meters Centerline goodness : 0.990414 with order 1 Centerline is valid? [True, True] Translation: X:676.27, Y:-40.47, Z:3.69 [[ 9.99640966e-01 2.61777983e-02 -5.71498435e-03 6.76272225e+02] [-2.61756309e-02 9.99657257e-01 4.53745144e-04 -4.04678527e+01] [ 5.72490363e-03 -3.03988914e-04 9.99983566e-01 3.68527943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.960714057 meters Centerline goodness : 0.990972 with order 1 Centerline is valid? [True, True] Translation: X:676.33, Y:-40.47, Z:3.69 [[ 9.99524228e-01 3.03093375e-02 -5.71503476e-03 6.76329339e+02] [-3.03072410e-02 9.99540527e-01 4.53109424e-04 -4.04710377e+01] [ 5.72614230e-03 -2.79686912e-04 9.99983566e-01 3.68562439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.020714057 meters Centerline goodness : 0.989365 with order 1 Centerline is valid? [True, True] Translation: X:676.39, Y:-40.48, Z:3.69 [[ 9.99547669e-01 2.95261854e-02 -5.71509259e-03 6.76387904e+02] [-2.95240803e-02 9.99563967e-01 4.52378752e-04 -4.04754017e+01] [ 5.72595764e-03 -2.83441275e-04 9.99983566e-01 3.68521247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.080714057 meters Centerline goodness : 0.990489 with order 1 Centerline is valid? [True, True] Translation: X:676.45, Y:-40.48, Z:3.69 [[ 9.99581709e-01 2.83503839e-02 -5.71512606e-03 6.76445617e+02] [-2.83482621e-02 9.99598005e-01 4.51955550e-04 -4.04793625e+01] [ 5.72564172e-03 -2.89752610e-04 9.99983566e-01 3.68677424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.140714057 meters Centerline goodness : 0.989611 with order 1 Centerline is valid? [True, True] Translation: X:676.50, Y:-40.49, Z:3.69 [[ 9.99507638e-01 3.08515543e-02 -5.71517621e-03 6.76504196e+02] [-3.08494769e-02 9.99523940e-01 4.51320436e-04 -4.04853614e+01] [ 5.72637938e-03 -2.74788027e-04 9.99983566e-01 3.68547581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.200714057 meters Centerline goodness : 0.989899 with order 1 Centerline is valid? [True, True] Translation: X:676.56, Y:-40.49, Z:3.69 [[ 9.99507067e-01 3.08700320e-02 -5.71529759e-03 6.76560612e+02] [-3.08679636e-02 9.99523370e-01 4.49778065e-04 -4.04884512e+01] [ 5.72645817e-03 -2.73136756e-04 9.99983566e-01 3.68952540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.260714057 meters Centerline goodness : 0.989443 with order 1 Centerline is valid? [True, True] Translation: X:676.62, Y:-40.49, Z:3.69 [[ 9.99551033e-01 2.94120346e-02 -5.71535679e-03 6.76618647e+02] [-2.94099468e-02 9.99567333e-01 4.49024633e-04 -4.04931107e+01] [ 5.72609067e-03 -2.80734696e-04 9.99983566e-01 3.68806773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.320714057 meters Centerline goodness : 0.989823 with order 1 Centerline is valid? [True, True] Translation: X:676.68, Y:-40.50, Z:3.69 [[ 9.99597229e-01 2.77977268e-02 -5.71540664e-03 6.76676625e+02] [-2.77956162e-02 9.99613527e-01 4.48389215e-04 -4.04977920e+01] [ 5.72566199e-03 -2.89345368e-04 9.99983566e-01 3.68648961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.380714057 meters Centerline goodness : 0.989526 with order 1 Centerline is valid? [True, True] Translation: X:676.74, Y:-40.50, Z:3.69 [[ 9.99705542e-01 2.35830881e-02 -5.71545642e-03 6.76735281e+02] [-2.35809125e-02 9.99721831e-01 4.47753726e-04 -4.05020858e+01] [ 5.72442598e-03 -3.12846204e-04 9.99983566e-01 3.68643503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.440714057 meters Centerline goodness : 0.989943 with order 1 Centerline is valid? [True, True] Translation: X:676.79, Y:-40.51, Z:3.69 [[ 9.99779345e-01 2.02137023e-02 -5.71548953e-03 6.76791790e+02] [-2.02114742e-02 9.99795627e-01 4.47330726e-04 -4.05059790e+01] [ 5.72336365e-03 -3.31713551e-04 9.99983566e-01 3.68723552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.500714057 meters Centerline goodness : 0.989668 with order 1 Centerline is valid? [True, True] Translation: X:676.85, Y:-40.51, Z:3.69 [[ 9.99762599e-01 2.10256678e-02 -5.71554641e-03 6.76850383e+02] [-2.10234571e-02 9.99778883e-01 4.46602730e-04 -4.05103467e+01] [ 5.72367273e-03 -3.26336162e-04 9.99983566e-01 3.69470123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.560714057 meters Centerline goodness : 0.990342 with order 1 Centerline is valid? [True, True] Translation: X:676.91, Y:-40.52, Z:3.69 [[ 9.99833961e-01 1.73026755e-02 -5.71557891e-03 6.76908143e+02] [-1.73004065e-02 9.99850237e-01 4.46186379e-04 -4.05182035e+01] [ 5.72244315e-03 -3.47230456e-04 9.99983566e-01 3.68753183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.620714057 meters Centerline goodness : 0.991073 with order 1 Centerline is valid? [True, True] Translation: X:676.96, Y:-40.52, Z:3.69 [[ 9.99864404e-01 1.54436153e-02 -5.71562796e-03 6.76964395e+02] [-1.54413197e-02 9.99880676e-01 4.45557172e-04 -4.05234386e+01] [ 5.72182697e-03 -3.57239918e-04 9.99983566e-01 3.68996073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.680714057 meters Centerline goodness : 0.990693 with order 1 Centerline is valid? [True, True] Translation: X:677.02, Y:-40.53, Z:3.69 [[ 9.99910223e-01 1.21192715e-02 -5.71568372e-03 6.77022556e+02] [-1.21169259e-02 9.99926488e-01 4.44840730e-04 -4.05320655e+01] [ 5.72065470e-03 -3.75544277e-04 9.99983566e-01 3.68878958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.740714057 meters Centerline goodness : 0.990603 with order 1 Centerline is valid? [True, True] Translation: X:677.08, Y:-40.54, Z:3.69 [[ 9.99920081e-01 1.12766116e-02 -5.71571693e-03 6.77080546e+02] [-1.12742546e-02 9.99936345e-01 4.44413673e-04 -4.05391689e+01] [ 5.72036457e-03 -3.79937708e-04 9.99983566e-01 3.68803563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.800714057 meters Centerline goodness : 0.990103 with order 1 Centerline is valid? [True, True] Translation: X:677.14, Y:-40.55, Z:3.69 [[ 9.99932618e-01 1.01039013e-02 -5.71576655e-03 6.77138156e+02] [-1.01015289e-02 9.99948880e-01 4.43774597e-04 -4.05482166e+01] [ 5.71995821e-03 -3.86006714e-04 9.99983566e-01 3.68652256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.860714057 meters Centerline goodness : 0.989617 with order 1 Centerline is valid? [True, True] Translation: X:677.20, Y:-40.55, Z:3.69 [[ 9.99946132e-01 8.66388188e-03 -5.71581676e-03 6.77195479e+02] [-8.66148978e-03 9.99962390e-01 4.43126864e-04 -4.05547841e+01] [ 5.71944099e-03 -3.93595505e-04 9.99983566e-01 3.68698762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.920714057 meters Centerline goodness : 0.991120 with order 1 Centerline is valid? [True, True] Translation: X:677.25, Y:-40.56, Z:3.69 [[ 9.99934377e-01 9.92825935e-03 -5.71585790e-03 6.77254122e+02] [-9.92589084e-03 9.99950639e-01 4.42595552e-04 -4.05615250e+01] [ 5.71996997e-03 -3.85831526e-04 9.99983566e-01 3.68843189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.980714057 meters Centerline goodness : 0.991209 with order 1 Centerline is valid? [True, True] Translation: X:677.31, Y:-40.57, Z:3.69 [[ 9.99907130e-01 1.23717336e-02 -5.71589019e-03 6.77311156e+02] [-1.23694072e-02 9.99923398e-01 4.42178240e-04 -4.05682734e+01] [ 5.72092285e-03 -3.71435001e-04 9.99983566e-01 3.68891340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0407140570001 meters Centerline goodness : 0.990003 with order 1 Centerline is valid? [True, True] Translation: X:677.37, Y:-40.57, Z:3.69 [[ 9.99884346e-01 1.40933248e-02 -5.71592982e-03 6.77369174e+02] [-1.40910293e-02 9.99900619e-01 4.41665358e-04 -4.05749495e+01] [ 5.72158630e-03 -3.61070943e-04 9.99983566e-01 3.69076043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.100714057 meters Centerline goodness : 0.989319 with order 1 Centerline is valid? [True, True] Translation: X:677.43, Y:-40.58, Z:3.69 [[ 9.99852490e-01 1.61964884e-02 -5.71596186e-03 6.77427057e+02] [-1.61942295e-02 9.99868768e-01 4.41250312e-04 -4.05836183e+01] [ 5.72235844e-03 -3.48619625e-04 9.99983566e-01 3.69104381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1607140570001 meters Centerline goodness : 0.989878 with order 1 Centerline is valid? [True, True] Translation: X:677.49, Y:-40.59, Z:3.69 [[ 9.99838342e-01 1.70475024e-02 -5.71599376e-03 6.77485121e+02] [-1.70452597e-02 9.99854622e-01 4.40836631e-04 -4.05916314e+01] [ 5.72267794e-03 -3.43334768e-04 9.99983566e-01 3.69404057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.220714057 meters Centerline goodness : 0.989990 with order 1 Centerline is valid? [True, True] Translation: X:677.54, Y:-40.60, Z:3.69 [[ 9.99836049e-01 1.71814632e-02 -5.71602643e-03 6.77543913e+02] [-1.71792251e-02 9.99852329e-01 4.40412577e-04 -4.05976403e+01] [ 5.72274928e-03 -3.42143466e-04 9.99983566e-01 3.69422870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2807140570001 meters Centerline goodness : 0.989714 with order 1 Centerline is valid? [True, True] Translation: X:677.60, Y:-40.60, Z:3.70 [[ 9.99768637e-01 2.07364381e-02 -5.71605898e-03 6.77602849e+02] [-2.07342604e-02 9.99784925e-01 4.39989720e-04 -4.06033398e+01] [ 5.72395342e-03 -3.21369667e-04 9.99983566e-01 3.69938206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.340714057 meters Centerline goodness : 0.989261 with order 1 Centerline is valid? [True, True] Translation: X:677.66, Y:-40.61, Z:3.69 [[ 9.99863544e-01 1.54990080e-02 -5.71609143e-03 6.77660060e+02] [-1.54967473e-02 9.99879822e-01 4.39567824e-04 -4.06097438e+01] [ 5.72221734e-03 -3.50927018e-04 9.99983566e-01 3.69416064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4007140570001 meters Centerline goodness : 0.989115 with order 1 Centerline is valid? [True, True] Translation: X:677.72, Y:-40.61, Z:3.70 [[ 9.99902409e-01 1.27474504e-02 -5.71613128e-03 6.77719031e+02] [-1.27451479e-02 9.99918681e-01 4.39049014e-04 -4.06149451e+01] [ 5.72126320e-03 -3.66153228e-04 9.99983566e-01 3.69567881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.460714057 meters Centerline goodness : 0.988201 with order 1 Centerline is valid? [True, True] Translation: X:677.78, Y:-40.62, Z:3.69 [[ 9.99865349e-01 1.53821018e-02 -5.71616281e-03 6.77778077e+02] [-1.53798445e-02 9.99881627e-01 4.38638119e-04 -4.06244159e+01] [ 5.72223334e-03 -3.50665360e-04 9.99983566e-01 3.68802148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.520714057 meters Centerline goodness : 0.987994 with order 1 Centerline is valid? [True, True] Translation: X:677.84, Y:-40.62, Z:3.70 [[ 9.99936239e-01 9.73872040e-03 -5.71617868e-03 6.77837623e+02] [-9.73637250e-03 9.99952504e-01 4.38431171e-04 -4.06238741e+01] [ 5.72017694e-03 -3.82748371e-04 9.99983566e-01 3.69850347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.580714057 meters Centerline goodness : 0.987414 with order 1 Centerline is valid? [True, True] Translation: X:677.90, Y:-40.63, Z:3.70 [[ 9.99861373e-01 1.56384103e-02 -5.71620261e-03 6.77895545e+02] [-1.56361602e-02 9.99877652e-01 4.38118915e-04 -4.06279617e+01] [ 5.72235473e-03 -3.48678720e-04 9.99983566e-01 3.70137423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.640714057 meters Centerline goodness : 0.988533 with order 1 Centerline is valid? [True, True] Translation: X:677.95, Y:-40.63, Z:3.70 [[ 9.99915645e-01 1.16631120e-02 -5.71624224e-03 6.77953014e+02] [-1.16608002e-02 9.99931915e-01 4.37601256e-04 -4.06300750e+01] [ 5.72095684e-03 -3.70908384e-04 9.99983566e-01 3.69768297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.700714057 meters Centerline goodness : 0.988532 with order 1 Centerline is valid? [True, True] Translation: X:678.01, Y:-40.63, Z:3.70 [[ 9.99888420e-01 1.38011187e-02 -5.71628894e-03 6.78011667e+02] [-1.37988451e-02 9.99904696e-01 4.36990442e-04 -4.06327643e+01] [ 5.72177511e-03 -3.58063497e-04 9.99983566e-01 3.69838921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.760714057 meters Centerline goodness : 0.987077 with order 1 Centerline is valid? [True, True] Translation: X:678.07, Y:-40.63, Z:3.70 [[ 9.99854342e-01 1.60816261e-02 -5.71631891e-03 6.78070354e+02] [-1.60793919e-02 9.99870623e-01 4.36598058e-04 -4.06346948e+01] [ 5.72260055e-03 -3.44619532e-04 9.99983566e-01 3.70141666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.820714057 meters Centerline goodness : 0.988541 with order 1 Centerline is valid? [True, True] Translation: X:678.13, Y:-40.64, Z:3.70 [[ 9.99818742e-01 1.81605632e-02 -5.71635149e-03 6.78129523e+02] [-1.81583652e-02 9.99835028e-01 4.36170955e-04 -4.06376179e+01] [ 5.72332957e-03 -3.32292297e-04 9.99983566e-01 3.70064043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.880714057 meters Centerline goodness : 0.988616 with order 1 Centerline is valid? [True, True] Translation: X:678.19, Y:-40.64, Z:3.70 [[ 9.99808174e-01 1.87333393e-02 -5.71638340e-03 6.78187109e+02] [-1.87311530e-02 9.99824462e-01 4.35752439e-04 -4.06403679e+01] [ 5.72354305e-03 -3.28594398e-04 9.99983566e-01 3.70219627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.940714057 meters Centerline goodness : 0.988910 with order 1 Centerline is valid? [True, True] Translation: X:678.25, Y:-40.64, Z:3.70 [[ 9.99800212e-01 1.91535641e-02 -5.71643032e-03 6.78245152e+02] [-1.91513883e-02 9.99816501e-01 4.35136040e-04 -4.06438829e+01] [ 5.72371576e-03 -3.25571529e-04 9.99983566e-01 3.70325020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.000714057 meters Centerline goodness : 0.988967 with order 1 Centerline is valid? [True, True] Translation: X:678.30, Y:-40.65, Z:3.71 [[ 9.99812558e-01 1.84978648e-02 -5.71647673e-03 6.78303472e+02] [-1.84956817e-02 9.99828846e-01 4.34525504e-04 -4.06472695e+01] [ 5.72353612e-03 -3.28713922e-04 9.99983566e-01 3.70546243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.060714057 meters Centerline goodness : 0.990430 with order 1 Centerline is valid? [True, True] Translation: X:678.36, Y:-40.65, Z:3.71 [[ 9.99832874e-01 1.73650573e-02 -5.71650883e-03 6.78361508e+02] [-1.73628582e-02 9.99849160e-01 4.34102798e-04 -4.06503851e+01] [ 5.72318477e-03 -3.34775316e-04 9.99983566e-01 3.70707957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.120714057 meters Centerline goodness : 0.989934 with order 1 Centerline is valid? [True, True] Translation: X:678.42, Y:-40.66, Z:3.71 [[ 9.99835109e-01 1.72358897e-02 -5.71654831e-03 6.78420274e+02] [-1.72336914e-02 9.99851395e-01 4.33582230e-04 -4.06552154e+01] [ 5.72317198e-03 -3.34993507e-04 9.99983566e-01 3.70860603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.180714057 meters Centerline goodness : 0.990113 with order 1 Centerline is valid? [True, True] Translation: X:678.48, Y:-40.66, Z:3.71 [[ 9.99774812e-01 2.04363945e-02 -5.71657971e-03 6.78478153e+02] [-2.04342507e-02 9.99791105e-01 4.33167891e-04 -4.06624147e+01] [ 5.72423793e-03 -3.16256324e-04 9.99983566e-01 3.70563660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.240714057 meters Centerline goodness : 0.990075 with order 1 Centerline is valid? [True, True] Translation: X:678.54, Y:-40.67, Z:3.70 [[ 9.99709919e-01 2.33965605e-02 -5.71661878e-03 6.78537070e+02] [-2.33944680e-02 9.99726218e-01 4.32651627e-04 -4.06687127e+01] [ 5.72517623e-03 -2.98788868e-04 9.99983566e-01 3.70341053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.300714057 meters Centerline goodness : 0.989361 with order 1 Centerline is valid? [True, True] Translation: X:678.60, Y:-40.67, Z:3.71 [[ 9.99686865e-01 2.43616779e-02 -5.71665086e-03 6.78595562e+02] [-2.43596035e-02 9.99703167e-01 4.32227342e-04 -4.06715938e+01] [ 5.72548375e-03 -2.92836648e-04 9.99983566e-01 3.70765451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.360714057 meters Centerline goodness : 0.990058 with order 1 Centerline is valid? [True, True] Translation: X:678.65, Y:-40.68, Z:3.71 [[ 9.99577003e-01 2.85155181e-02 -5.71668246e-03 6.78654555e+02] [-2.85135138e-02 9.99593314e-01 4.31808984e-04 -4.06761909e+01] [ 5.72667082e-03 -2.68623626e-04 9.99983566e-01 3.70691443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.420714057 meters Centerline goodness : 0.989907 with order 1 Centerline is valid? [True, True] Translation: X:678.71, Y:-40.68, Z:3.71 [[ 9.99552013e-01 2.93784358e-02 -5.71671382e-03 6.78712191e+02] [-2.93764480e-02 9.99568326e-01 4.31393350e-04 -4.06789650e+01] [ 5.72691973e-03 -2.63263345e-04 9.99983566e-01 3.70825256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.480714057 meters Centerline goodness : 0.990006 with order 1 Centerline is valid? [True, True] Translation: X:678.77, Y:-40.68, Z:3.71 [[ 9.99430200e-01 3.32655088e-02 -5.71675233e-03 6.78769329e+02] [-3.32635874e-02 9.99446521e-01 4.30882496e-04 -4.06846679e+01] [ 5.72792175e-03 -2.40477288e-04 9.99983566e-01 3.70812935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5407140570001 meters Centerline goodness : 0.989889 with order 1 Centerline is valid? [True, True] Translation: X:678.83, Y:-40.69, Z:3.71 [[ 9.99432385e-01 3.31997831e-02 -5.71683934e-03 6.78828155e+02] [-3.31978672e-02 9.99448707e-01 4.29724888e-04 -4.06873044e+01] [ 5.72795446e-03 -2.39694096e-04 9.99983566e-01 3.71318897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.600714057 meters Centerline goodness : 0.990042 with order 1 Centerline is valid? [True, True] Translation: X:678.89, Y:-40.70, Z:3.71 [[ 9.99154803e-01 4.07062349e-02 -5.71687089e-03 6.78886214e+02] [-4.07044441e-02 9.99171138e-01 4.29304755e-04 -4.06962681e+01] [ 5.72960778e-03 -1.96239856e-04 9.99983566e-01 3.70691694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6607140570001 meters Centerline goodness : 0.990940 with order 1 Centerline is valid? [True, True] Translation: X:678.95, Y:-40.70, Z:3.71 [[ 9.99169373e-01 4.03470186e-02 -5.71689426e-03 6.78945173e+02] [-4.03452237e-02 9.99185708e-01 4.28993406e-04 -4.07003593e+01] [ 5.72954764e-03 -1.97987695e-04 9.99983566e-01 3.71145669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.720714057 meters Centerline goodness : 0.992474 with order 1 Centerline is valid? [True, True] Translation: X:679.00, Y:-40.70, Z:3.71 [[ 9.99384957e-01 3.45980401e-02 -5.71692469e-03 6.79003995e+02] [-3.45961535e-02 9.99401282e-01 4.28587472e-04 -4.07006289e+01] [ 5.72833015e-03 -2.30540268e-04 9.99983566e-01 3.70842508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7807140570001 meters Centerline goodness : 0.989375 with order 1 Centerline is valid? [True, True] Translation: X:679.06, Y:-40.71, Z:3.71 [[ 9.99374774e-01 3.48909119e-02 -5.71703018e-03 6.79062242e+02] [-3.48890382e-02 9.99391101e-01 4.27175622e-04 -4.07149860e+01] [ 5.72845363e-03 -2.27446856e-04 9.99983566e-01 3.71161875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.840714057 meters Centerline goodness : 0.989139 with order 1 Centerline is valid? [True, True] Translation: X:679.12, Y:-40.72, Z:3.71 [[ 9.99629014e-01 2.66298479e-02 -5.71706177e-03 6.79120683e+02] [-2.66278418e-02 9.99645325e-01 4.26752461e-04 -4.07230427e+01] [ 5.72639842e-03 -2.74361126e-04 9.99983566e-01 3.71296083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9007140570001 meters Centerline goodness : 0.988625 with order 1 Centerline is valid? [True, True] Translation: X:679.18, Y:-40.73, Z:3.72 [[ 9.99776820e-01 2.03377815e-02 -5.71709270e-03 6.79178726e+02] [-2.03356750e-02 9.99793118e-01 4.26337731e-04 -4.07302953e+01] [ 5.72458069e-03 -3.09981642e-04 9.99983566e-01 3.71666631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.960714057 meters Centerline goodness : 0.991284 with order 1 Centerline is valid? [True, True] Translation: X:679.24, Y:-40.73, Z:3.71 [[ 9.99830802e-01 1.74837763e-02 -5.71712386e-03 6.79236210e+02] [-1.74816258e-02 9.99847094e-01 4.25919341e-04 -4.07312427e+01] [ 5.72369636e-03 -3.25902656e-04 9.99983566e-01 3.70951770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.020714057 meters Centerline goodness : 0.988373 with order 1 Centerline is valid? [True, True] Translation: X:679.29, Y:-40.74, Z:3.72 [[ 9.99701905e-01 2.37363579e-02 -5.71717998e-03 6.79294219e+02] [-2.37343136e-02 9.99718211e-01 4.25164829e-04 -4.07444998e+01] [ 5.72566080e-03 -2.89344747e-04 9.99983566e-01 3.71661495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.080714057 meters Centerline goodness : 0.988669 with order 1 Centerline is valid? [True, True] Translation: X:679.35, Y:-40.75, Z:3.72 [[ 9.99398036e-01 3.42180976e-02 -5.71729080e-03 6.79352235e+02] [-3.42162329e-02 9.99414363e-01 4.23669279e-04 -4.07525245e+01] [ 5.72843970e-03 -2.27790092e-04 9.99983566e-01 3.71566765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.140714057 meters Centerline goodness : 0.988458 with order 1 Centerline is valid? [True, True] Translation: X:679.41, Y:-40.76, Z:3.71 [[ 9.99419019e-01 3.35996449e-02 -5.71740007e-03 6.79410751e+02] [-3.35977785e-02 9.99435346e-01 4.22189536e-04 -4.07578048e+01] [ 5.72835713e-03 -2.29852311e-04 9.99983566e-01 3.71341607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.200714057 meters Centerline goodness : 0.988523 with order 1 Centerline is valid? [True, True] Translation: X:679.47, Y:-40.77, Z:3.71 [[ 9.99311829e-01 3.66494151e-02 -5.71743117e-03 6.79468308e+02] [-3.66476010e-02 9.99328162e-01 4.21767952e-04 -4.07664395e+01] [ 5.72904753e-03 -2.11947567e-04 9.99983566e-01 3.71115894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.260714057 meters Centerline goodness : 0.988203 with order 1 Centerline is valid? [True, True] Translation: X:679.53, Y:-40.77, Z:3.72 [[ 9.99352866e-01 3.55128086e-02 -5.71746937e-03 6.79526784e+02] [-3.55109789e-02 9.99369198e-01 4.21249465e-04 -4.07731832e+01] [ 5.72882253e-03 -2.17943926e-04 9.99983566e-01 3.71525365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.320714057 meters Centerline goodness : 0.988172 with order 1 Centerline is valid? [True, True] Translation: X:679.59, Y:-40.78, Z:3.72 [[ 9.99260895e-01 3.80128148e-02 -5.71749929e-03 6.79585388e+02] [-3.80110283e-02 9.99277231e-01 4.20842938e-04 -4.07807643e+01] [ 5.72936429e-03 -2.03203864e-04 9.99983566e-01 3.71630532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.380714057 meters Centerline goodness : 0.988327 with order 1 Centerline is valid? [True, True] Translation: X:679.64, Y:-40.79, Z:3.72 [[ 9.99193926e-01 3.97342200e-02 -5.71753022e-03 6.79643879e+02] [-3.97324641e-02 9.99210265e-01 4.20422349e-04 -4.07876173e+01] [ 5.72972004e-03 -1.92911893e-04 9.99983566e-01 3.71722291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.440714057 meters Centerline goodness : 0.988065 with order 1 Centerline is valid? [True, True] Translation: X:679.70, Y:-40.80, Z:3.72 [[ 9.99030184e-01 4.36577712e-02 -5.71756111e-03 6.79701685e+02] [-4.36560818e-02 9.99046531e-01 4.20001757e-04 -4.07951882e+01] [ 5.73044594e-03 -1.69988117e-04 9.99983566e-01 3.72329079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.500714057 meters Centerline goodness : 0.988665 with order 1 Centerline is valid? [True, True] Translation: X:679.76, Y:-40.80, Z:3.72 [[ 9.99131146e-01 4.12826998e-02 -5.71760105e-03 6.79760334e+02] [-4.12809747e-02 9.99147489e-01 4.19457378e-04 -4.08045744e+01] [ 5.73004307e-03 -1.83064787e-04 9.99983566e-01 3.72068748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.560714057 meters Centerline goodness : 0.988883 with order 1 Centerline is valid? [True, True] Translation: X:679.82, Y:-40.81, Z:3.72 [[ 9.99091030e-01 4.22424195e-02 -5.71770505e-03 6.79817291e+02] [-4.22407182e-02 9.99107375e-01 4.18034868e-04 -4.08129174e+01] [ 5.73026009e-03 -1.76134918e-04 9.99983566e-01 3.72117052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.620714057 meters Centerline goodness : 0.989210 with order 1 Centerline is valid? [True, True] Translation: X:679.88, Y:-40.82, Z:3.72 [[ 9.99161301e-01 4.05462878e-02 -5.71774426e-03 6.79875967e+02] [-4.05445619e-02 9.99177644e-01 4.17497987e-04 -4.08226877e+01] [ 5.72997023e-03 -1.85324396e-04 9.99983566e-01 3.71891804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.680714057 meters Centerline goodness : 0.989288 with order 1 Centerline is valid? [True, True] Translation: X:679.93, Y:-40.83, Z:3.72 [[ 9.98950355e-01 4.54477172e-02 -5.71780212e-03 6.79934572e+02] [-4.54460760e-02 9.98966706e-01 4.16704024e-04 -4.08313763e+01] [ 5.73083220e-03 -1.56414963e-04 9.99983566e-01 3.72254263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.740714057 meters Centerline goodness : 0.989232 with order 1 Centerline is valid? [True, True] Translation: X:679.99, Y:-40.84, Z:3.72 [[ 9.99015000e-01 4.40038005e-02 -5.71791326e-03 6.79992660e+02] [-4.40021444e-02 9.99031350e-01 4.15173351e-04 -4.08405647e+01] [ 5.73064381e-03 -1.63163961e-04 9.99983566e-01 3.71786035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.800714057 meters Centerline goodness : 0.989091 with order 1 Centerline is valid? [True, True] Translation: X:680.05, Y:-40.85, Z:3.72 [[ 9.99041482e-01 4.33984252e-02 -5.71794440e-03 6.80048559e+02] [-4.33967617e-02 9.99057831e-01 4.14744057e-04 -4.08497626e+01] [ 5.73055637e-03 -1.66206246e-04 9.99983566e-01 3.71683134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.860714057 meters Centerline goodness : 0.988181 with order 1 Centerline is valid? [True, True] Translation: X:680.11, Y:-40.86, Z:3.72 [[ 9.98938062e-01 4.57170915e-02 -5.71804032e-03 6.80106535e+02] [-4.57154735e-02 9.98954416e-01 4.13417316e-04 -4.08566547e+01] [ 5.73096187e-03 -1.51575371e-04 9.99983566e-01 3.72344834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.920714057 meters Centerline goodness : 0.987620 with order 1 Centerline is valid? [True, True] Translation: X:680.16, Y:-40.87, Z:3.72 [[ 9.98832148e-01 4.79754571e-02 -5.71807765e-03 6.80163461e+02] [-4.79738791e-02 9.98848505e-01 4.12900427e-04 -4.08668950e+01] [ 5.73130240e-03 -1.38099854e-04 9.99983566e-01 3.71907402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.980714057 meters Centerline goodness : 0.988434 with order 1 Centerline is valid? [True, True] Translation: X:680.22, Y:-40.88, Z:3.72 [[ 9.98899501e-01 4.65520070e-02 -5.71811436e-03 6.80221549e+02] [-4.65504086e-02 9.98915857e-01 4.12391322e-04 -4.08755458e+01] [ 5.73111275e-03 -1.45756926e-04 9.99983566e-01 3.71583871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0407140570001 meters Centerline goodness : 0.991764 with order 1 Centerline is valid? [True, True] Translation: X:680.28, Y:-40.87, Z:3.71 [[ 9.99341779e-01 3.58233489e-02 -5.71814367e-03 6.80280135e+02] [-3.58215773e-02 9.99358116e-01 4.11984620e-04 -4.08721666e+01] [ 5.72923195e-03 -2.06880517e-04 9.99983566e-01 3.71203737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.100714057 meters Centerline goodness : 0.987773 with order 1 Centerline is valid? [True, True] Translation: X:680.34, Y:-40.89, Z:3.72 [[ 9.99053989e-01 4.31095103e-02 -5.71817964e-03 6.80337269e+02] [-4.31078607e-02 9.99070339e-01 4.11484768e-04 -4.08906252e+01] [ 5.73060258e-03 -1.64597008e-04 9.99983566e-01 3.71524137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1607140570001 meters Centerline goodness : 0.989150 with order 1 Centerline is valid? [True, True] Translation: X:680.40, Y:-40.90, Z:3.71 [[ 9.99012883e-01 4.40518038e-02 -5.71823388e-03 6.80395161e+02] [-4.40501739e-02 9.99029236e-01 4.10729552e-04 -4.09003557e+01] [ 5.73077620e-03 -1.58434917e-04 9.99983566e-01 3.71218778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.220714057 meters Centerline goodness : 0.987727 with order 1 Centerline is valid? [True, True] Translation: X:680.45, Y:-40.91, Z:3.72 [[ 9.98730935e-01 5.00381836e-02 -5.71827949e-03 6.80452905e+02] [-5.00366554e-02 9.98747298e-01 4.10093538e-04 -4.09079854e+01] [ 5.73163653e-03 -1.23449522e-04 9.99983566e-01 3.71678972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2807140570001 meters Centerline goodness : 0.991902 with order 1 Centerline is valid? [True, True] Translation: X:680.51, Y:-40.90, Z:3.71 [[ 9.99089926e-01 4.22684394e-02 -5.71831684e-03 6.80510802e+02] [-4.22667870e-02 9.99106276e-01 4.09572083e-04 -4.09030378e+01] [ 5.73051822e-03 -1.67504463e-04 9.99983566e-01 3.71357326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.340714057 meters Centerline goodness : 0.992313 with order 1 Centerline is valid? [True, True] Translation: X:680.57, Y:-40.91, Z:3.71 [[ 9.99017334e-01 4.39507299e-02 -5.71836017e-03 6.80567027e+02] [-4.39491084e-02 9.99033687e-01 4.08966300e-04 -4.09131437e+01] [ 5.73080881e-03 -1.57247592e-04 9.99983566e-01 3.71305095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4007140570001 meters Centerline goodness : 0.991038 with order 1 Centerline is valid? [True, True] Translation: X:680.62, Y:-40.92, Z:3.71 [[ 9.99047721e-01 4.32544857e-02 -5.71840792e-03 6.80624904e+02] [-4.32528567e-02 9.99064074e-01 4.08297447e-04 -4.09246061e+01] [ 5.73071661e-03 -1.60571155e-04 9.99983566e-01 3.71403161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.460714057 meters Centerline goodness : 0.991276 with order 1 Centerline is valid? [True, True] Translation: X:680.68, Y:-40.93, Z:3.71 [[ 9.99113338e-01 4.17113553e-02 -5.71843484e-03 6.80682531e+02] [-4.17097032e-02 9.99129688e-01 4.07920066e-04 -4.09338170e+01] [ 5.73047292e-03 -1.69044159e-04 9.99983566e-01 3.71435414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.520714057 meters Centerline goodness : 0.991621 with order 1 Centerline is valid? [True, True] Translation: X:680.74, Y:-40.95, Z:3.71 [[ 9.99314380e-01 3.65796249e-02 -5.71847725e-03 6.80739569e+02] [-3.65778922e-02 9.99330722e-01 4.07324700e-04 -4.09489036e+01] [ 5.72954979e-03 -1.97875586e-04 9.99983566e-01 3.71318862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.580714057 meters Centerline goodness : 0.991718 with order 1 Centerline is valid? [True, True] Translation: X:680.80, Y:-40.96, Z:3.71 [[ 9.99365515e-01 3.51548932e-02 -5.71852053e-03 6.80796120e+02] [-3.51531407e-02 9.99381855e-01 4.06716174e-04 -4.09591745e+01] [ 5.72928372e-03 -2.05434161e-04 9.99983566e-01 3.71364470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.640714057 meters Centerline goodness : 0.988376 with order 1 Centerline is valid? [True, True] Translation: X:680.85, Y:-40.98, Z:3.72 [[ 9.99265448e-01 3.78927694e-02 -5.71859556e-03 6.80853796e+02] [-3.78910677e-02 9.99281793e-01 4.05658520e-04 -4.09765971e+01] [ 5.72985995e-03 -1.88676851e-04 9.99983566e-01 3.71853726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.700714057 meters Centerline goodness : 0.990141 with order 1 Centerline is valid? [True, True] Translation: X:680.91, Y:-40.98, Z:3.72 [[ 9.99339181e-01 3.58956747e-02 -5.71861930e-03 6.80912011e+02] [-3.58939423e-02 9.99355523e-01 4.05323626e-04 -4.09798419e+01] [ 5.72948314e-03 -1.99791989e-04 9.99983566e-01 3.71527718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.760714057 meters Centerline goodness : 0.991269 with order 1 Centerline is valid? [True, True] Translation: X:680.97, Y:-40.99, Z:3.72 [[ 9.99292669e-01 3.71679850e-02 -5.71866730e-03 6.80969413e+02] [-3.71662772e-02 9.99309013e-01 4.04645223e-04 -4.09879008e+01] [ 5.72975562e-03 -1.91817431e-04 9.99983566e-01 3.71515168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.820714057 meters Centerline goodness : 0.990240 with order 1 Centerline is valid? [True, True] Translation: X:681.03, Y:-41.00, Z:3.71 [[ 9.99240234e-01 3.85519182e-02 -5.71871092e-03 6.81025655e+02] [-3.85502366e-02 9.99256582e-01 4.04027793e-04 -4.09963400e+01] [ 5.73003557e-03 -1.83263168e-04 9.99983566e-01 3.71387955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.880714057 meters Centerline goodness : 0.990058 with order 1 Centerline is valid? [True, True] Translation: X:681.08, Y:-41.00, Z:3.71 [[ 9.99246491e-01 3.83894122e-02 -5.71876090e-03 6.81083388e+02] [-3.83877320e-02 9.99262838e-01 4.03319092e-04 -4.10032089e+01] [ 5.73002843e-03 -1.83484926e-04 9.99983566e-01 3.71310239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.940714057 meters Centerline goodness : 0.989791 with order 1 Centerline is valid? [True, True] Translation: X:681.14, Y:-41.01, Z:3.71 [[ 9.99316748e-01 3.65148138e-02 -5.71880458e-03 6.81139668e+02] [-3.65131065e-02 9.99333093e-01 4.02698831e-04 -4.10123097e+01] [ 5.72969514e-03 -1.93612366e-04 9.99983566e-01 3.71266984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.000714057 meters Centerline goodness : 0.989539 with order 1 Centerline is valid? [True, True] Translation: X:681.20, Y:-41.02, Z:3.71 [[ 9.99449737e-01 3.26728959e-02 -5.71887970e-03 6.81196950e+02] [-3.26711319e-02 9.99466075e-01 4.01629123e-04 -4.10202611e+01] [ 5.72894864e-03 -2.14565848e-04 9.99983566e-01 3.71434869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.060714057 meters Centerline goodness : 0.988486 with order 1 Centerline is valid? [True, True] Translation: X:681.25, Y:-41.03, Z:3.72 [[ 9.99581314e-01 2.83635292e-02 -5.71892173e-03 6.81254683e+02] [-2.83616982e-02 9.99597646e-01 4.01029738e-04 -4.10290766e+01] [ 5.72799532e-03 -2.38663500e-04 9.99983566e-01 3.71527176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.120714057 meters Centerline goodness : 0.983720 with order 1 Centerline is valid? [True, True] Translation: X:681.31, Y:-41.05, Z:3.71 [[ 9.99331164e-01 3.61181125e-02 -5.71896325e-03 6.81311940e+02] [-3.61164117e-02 9.99347509e-01 4.00436738e-04 -4.10548468e+01] [ 5.72969470e-03 -1.93620480e-04 9.99983566e-01 3.71106339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.180714057 meters Centerline goodness : 0.983695 with order 1 Centerline is valid? [True, True] Translation: X:681.37, Y:-41.06, Z:3.71 [[ 9.99389923e-01 3.44539517e-02 -5.71899195e-03 6.81370190e+02] [-3.44522260e-02 9.99406266e-01 4.00026418e-04 -4.10622799e+01] [ 5.72937888e-03 -2.02750367e-04 9.99983566e-01 3.70846889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.240714057 meters Centerline goodness : 0.983451 with order 1 Centerline is valid? [True, True] Translation: X:681.43, Y:-41.07, Z:3.71 [[ 9.99540512e-01 2.97667338e-02 -5.71901991e-03 6.81428190e+02] [-2.97649338e-02 9.99556846e-01 3.99626343e-04 -4.10685634e+01] [ 5.72838108e-03 -2.29216471e-04 9.99983566e-01 3.70845581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.300714057 meters Centerline goodness : 0.980578 with order 1 Centerline is valid? [True, True] Translation: X:681.49, Y:-41.07, Z:3.72 [[ 9.99589506e-01 2.80733465e-02 -5.71905610e-03 6.81485764e+02] [-2.80715218e-02 9.99605838e-01 3.99107712e-04 -4.10732580e+01] [ 5.72800616e-03 -2.38401272e-04 9.99983566e-01 3.71585249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.360714057 meters Centerline goodness : 0.981889 with order 1 Centerline is valid? [True, True] Translation: X:681.54, Y:-41.08, Z:3.72 [[ 9.99611258e-01 2.72878269e-02 -5.71909174e-03 6.81544873e+02] [-2.72859922e-02 9.99627589e-01 3.98596433e-04 -4.10765724e+01] [ 5.72783871e-03 -2.42390389e-04 9.99983566e-01 3.71601133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.420714057 meters Centerline goodness : 0.981775 with order 1 Centerline is valid? [True, True] Translation: X:681.60, Y:-41.08, Z:3.72 [[ 9.99745087e-01 2.18415340e-02 -5.71912150e-03 6.81602827e+02] [-2.18396128e-02 9.99761408e-01 3.98168889e-04 -4.10786318e+01] [ 5.72645359e-03 -2.73163991e-04 9.99983566e-01 3.71650426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.480714057 meters Centerline goodness : 0.981473 with order 1 Centerline is valid? [True, True] Translation: X:681.66, Y:-41.08, Z:3.72 [[ 9.99764865e-01 2.09166648e-02 -5.71915077e-03 6.81660672e+02] [-2.09147309e-02 9.99781184e-01 3.97748144e-04 -4.10807618e+01] [ 5.72621889e-03 -2.78040120e-04 9.99983566e-01 3.71938759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5407140570001 meters Centerline goodness : 0.980778 with order 1 Centerline is valid? [True, True] Translation: X:681.72, Y:-41.08, Z:3.72 [[ 9.99644346e-01 2.60475154e-02 -5.71919372e-03 6.81717678e+02] [-2.60456688e-02 9.99660675e-01 3.97129486e-04 -4.10826218e+01] [ 5.72759730e-03 -2.48028020e-04 9.99983566e-01 3.72342097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.600714057 meters Centerline goodness : 0.982416 with order 1 Centerline is valid? [True, True] Translation: X:681.78, Y:-41.09, Z:3.72 [[ 9.99702326e-01 2.37181184e-02 -5.71924300e-03 6.81776028e+02] [-2.37162379e-02 9.99718652e-01 3.96418505e-04 -4.10876457e+01] [ 5.72703621e-03 -2.60661574e-04 9.99983566e-01 3.72038705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6607140570001 meters Centerline goodness : 0.982361 with order 1 Centerline is valid? [True, True] Translation: X:681.84, Y:-41.09, Z:3.72 [[ 9.99556659e-01 2.92194320e-02 -5.71927082e-03 6.81835152e+02] [-2.92176436e-02 9.99572995e-01 3.96016803e-04 -4.10902928e+01] [ 5.72840005e-03 -2.28737616e-04 9.99983566e-01 3.72386679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.720714057 meters Centerline goodness : 0.980725 with order 1 Centerline is valid? [True, True] Translation: X:681.89, Y:-41.09, Z:3.72 [[ 9.99705879e-01 2.35678970e-02 -5.71930102e-03 6.81894299e+02] [-2.35660187e-02 9.99722205e-01 3.95580132e-04 -4.10936256e+01] [ 5.72703522e-03 -2.60682628e-04 9.99983566e-01 3.72442825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7807140570001 meters Centerline goodness : 0.981857 with order 1 Centerline is valid? [True, True] Translation: X:681.95, Y:-41.10, Z:3.73 [[ 9.99773920e-01 2.04791976e-02 -5.71933086e-03 6.81952020e+02] [-2.04772714e-02 9.99790241e-01 3.95148255e-04 -4.10974779e+01] [ 5.72622350e-03 -2.77942630e-04 9.99983566e-01 3.72552992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.840714057 meters Centerline goodness : 0.981251 with order 1 Centerline is valid? [True, True] Translation: X:682.01, Y:-41.10, Z:3.72 [[ 9.99774761e-01 2.04381020e-02 -5.71937672e-03 6.82010625e+02] [-2.04361789e-02 9.99791082e-01 3.94483361e-04 -4.11014422e+01] [ 5.72624433e-03 -2.77512302e-04 9.99983566e-01 3.72200351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9007140570001 meters Centerline goodness : 0.983007 with order 1 Centerline is valid? [True, True] Translation: X:682.07, Y:-41.10, Z:3.72 [[ 9.99789643e-01 1.96966464e-02 -5.71940516e-03 6.82068438e+02] [-1.96947136e-02 9.99805963e-01 3.94070574e-04 -4.11041888e+01] [ 5.72605725e-03 -2.81345632e-04 9.99983566e-01 3.72286195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.960714057 meters Centerline goodness : 0.982143 with order 1 Centerline is valid? [True, True] Translation: X:682.13, Y:-41.11, Z:3.72 [[ 9.99831619e-01 1.74362358e-02 -5.71944983e-03 6.82125850e+02] [-1.74342698e-02 9.99847934e-01 3.93421202e-04 -4.11071812e+01] [ 5.72543988e-03 -2.93640526e-04 9.99983566e-01 3.72405381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.020714057 meters Centerline goodness : 0.982030 with order 1 Centerline is valid? [True, True] Translation: X:682.18, Y:-41.11, Z:3.72 [[ 9.99750102e-01 2.16106610e-02 -5.71948920e-03 6.82184037e+02] [-2.16087664e-02 9.99766426e-01 3.92848035e-04 -4.11129581e+01] [ 5.72664298e-03 -2.69158758e-04 9.99983566e-01 3.71862767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.080714057 meters Centerline goodness : 0.982487 with order 1 Centerline is valid? [True, True] Translation: X:682.24, Y:-41.12, Z:3.72 [[ 9.99653025e-01 2.57121822e-02 -5.71951689e-03 6.82242731e+02] [-2.57103569e-02 9.99669357e-01 3.92444485e-04 -4.11159916e+01] [ 5.72771637e-03 -2.45257496e-04 9.99983566e-01 3.71738042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.140714057 meters Centerline goodness : 0.982925 with order 1 Centerline is valid? [True, True] Translation: X:682.30, Y:-41.12, Z:3.71 [[ 9.99630897e-01 2.65585396e-02 -5.71954590e-03 6.82301041e+02] [-2.65567305e-02 9.99647231e-01 3.92021140e-04 -4.11198160e+01] [ 5.72793973e-03 -2.39984005e-04 9.99983566e-01 3.71399345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.200714057 meters Centerline goodness : 0.983112 with order 1 Centerline is valid? [True, True] Translation: X:682.36, Y:-41.12, Z:3.71 [[ 9.99472077e-01 3.19820784e-02 -5.71957564e-03 6.82358897e+02] [-3.19803604e-02 9.99488421e-01 3.91586739e-04 -4.11236548e+01] [ 5.72917339e-03 -2.08465921e-04 9.99983566e-01 3.71207721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.260714057 meters Centerline goodness : 0.983491 with order 1 Centerline is valid? [True, True] Translation: X:682.42, Y:-41.13, Z:3.71 [[ 9.99115092e-01 4.16691506e-02 -5.71961205e-03 6.82417586e+02] [-4.16675943e-02 9.99131452e-01 3.91054267e-04 -4.11280570e+01] [ 5.73093919e-03 -1.52385746e-04 9.99983566e-01 3.71275369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.320714057 meters Centerline goodness : 0.984447 with order 1 Centerline is valid? [True, True] Translation: X:682.48, Y:-41.13, Z:3.71 [[ 9.98989212e-01 4.45852055e-02 -5.71964096e-03 6.82475824e+02] [-4.45836993e-02 9.99005576e-01 3.90630960e-04 -4.11307189e+01] [ 5.73136957e-03 -1.35233362e-04 9.99983566e-01 3.71400772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.380714057 meters Centerline goodness : 0.982351 with order 1 Centerline is valid? [True, True] Translation: X:682.53, Y:-41.13, Z:3.72 [[ 9.98863114e-01 4.73261636e-02 -5.71967733e-03 6.82534294e+02] [-4.73247054e-02 9.98879482e-01 3.90097723e-04 -4.11342369e+01] [ 5.73173016e-03 -1.18972181e-04 9.99983566e-01 3.71612732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.440714057 meters Centerline goodness : 0.983099 with order 1 Centerline is valid? [True, True] Translation: X:682.59, Y:-41.14, Z:3.72 [[ 9.98650969e-01 5.16093763e-02 -5.71969880e-03 6.82592375e+02] [-5.16079901e-02 9.98667344e-01 3.89782590e-04 -4.11383220e+01] [ 5.73219285e-03 -9.40746013e-05 9.99983566e-01 3.72252901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.500714057 meters Centerline goodness : 0.981722 with order 1 Centerline is valid? [True, True] Translation: X:682.65, Y:-41.15, Z:3.72 [[ 9.98018882e-01 6.26545812e-02 -5.71973367e-03 6.82650408e+02] [-6.26533792e-02 9.98035271e-01 3.89270286e-04 -4.11466003e+01] [ 5.73288551e-03 -3.01384527e-05 9.99983566e-01 3.72082024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.560714057 meters Centerline goodness : 0.981066 with order 1 Centerline is valid? [True, True] Translation: X:682.71, Y:-41.16, Z:3.71 [[ 9.97801567e-01 6.60251209e-02 -5.71983160e-03 6.82707283e+02] [-6.60239826e-02 9.97817961e-01 3.87825956e-04 -4.11597495e+01] [ 5.73295696e-03 -9.32728455e-06 9.99983566e-01 3.71473979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.620714057 meters Centerline goodness : 0.980796 with order 1 Centerline is valid? [True, True] Translation: X:682.77, Y:-41.17, Z:3.71 [[ 9.97362429e-01 7.23565394e-02 -5.71986588e-03 6.82765409e+02] [-7.23555080e-02 9.97378830e-01 3.87319662e-04 -4.11735273e+01] [ 5.73289825e-03 2.75657228e-05 9.99983566e-01 3.71040314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.680714057 meters Centerline goodness : 0.980445 with order 1 Centerline is valid? [True, True] Translation: X:682.82, Y:-41.18, Z:3.72 [[ 9.97210443e-01 7.44218756e-02 -5.71989511e-03 6.82823974e+02] [-7.44208806e-02 9.97226846e-01 3.86887551e-04 -4.11829265e+01] [ 5.73282586e-03 3.98713252e-05 9.99983566e-01 3.71599383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.740714057 meters Centerline goodness : 0.978501 with order 1 Centerline is valid? [True, True] Translation: X:682.88, Y:-41.20, Z:3.72 [[ 9.97376171e-01 7.21668545e-02 -5.71998907e-03 6.82880512e+02] [-7.21658305e-02 9.97392573e-01 3.85493326e-04 -4.11977211e+01] [ 5.73289446e-03 2.83059042e-05 9.99983566e-01 3.71699559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.800714057 meters Centerline goodness : 0.978898 with order 1 Centerline is valid? [True, True] Translation: X:682.94, Y:-41.22, Z:3.71 [[ 9.97468845e-01 7.08744240e-02 -5.72003155e-03 6.82938459e+02] [-7.08733823e-02 9.97485246e-01 3.84862084e-04 -4.12154000e+01] [ 5.73292395e-03 2.15100440e-05 9.99983566e-01 3.71024761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.860714057 meters Centerline goodness : 0.980977 with order 1 Centerline is valid? [True, True] Translation: X:683.00, Y:-41.23, Z:3.71 [[ 9.97267081e-01 7.36590125e-02 -5.72006003e-03 6.82995192e+02] [-7.36580190e-02 9.97283485e-01 3.84438332e-04 -4.12284349e+01] [ 5.73283874e-03 3.79405973e-05 9.99983566e-01 3.71129180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.920714057 meters Centerline goodness : 0.982016 with order 1 Centerline is valid? [True, True] Translation: X:683.05, Y:-41.25, Z:3.71 [[ 9.96753712e-01 8.03076423e-02 -5.72010236e-03 6.83052856e+02] [-8.03067618e-02 9.96770122e-01 3.83807475e-04 -4.12457860e+01] [ 5.73244980e-03 7.68013719e-05 9.99983566e-01 3.71156211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.980714057 meters Centerline goodness : 0.983827 with order 1 Centerline is valid? [True, True] Translation: X:683.11, Y:-41.26, Z:3.71 [[ 9.96187689e-01 8.70480847e-02 -5.72013016e-03 6.83111630e+02] [-8.70473176e-02 9.96204104e-01 3.83392702e-04 -4.12625795e+01] [ 5.73179074e-03 1.15990897e-04 9.99983566e-01 3.71373037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0407140570001 meters Centerline goodness : 0.988531 with order 1 Centerline is valid? [True, True] Translation: X:683.17, Y:-41.27, Z:3.72 [[ 9.96676338e-01 8.12622703e-02 -5.72014389e-03 6.83170973e+02] [-8.12614092e-02 9.96692749e-01 3.83187683e-04 -4.12696959e+01] [ 5.73236464e-03 8.29128566e-05 9.99983566e-01 3.72277793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.100714057 meters Centerline goodness : 0.990971 with order 1 Centerline is valid? [True, True] Translation: X:683.23, Y:-41.29, Z:3.73 [[ 9.96731317e-01 8.05851229e-02 -5.72015745e-03 6.83226522e+02] [-8.05842518e-02 9.96747727e-01 3.82985159e-04 -4.12869466e+01] [ 5.73241684e-03 7.92213064e-05 9.99983566e-01 3.72517440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1607140570001 meters Centerline goodness : 0.992731 with order 1 Centerline is valid? [True, True] Translation: X:683.28, Y:-41.31, Z:3.73 [[ 9.96938310e-01 7.79825925e-02 -5.72022431e-03 6.83283207e+02] [-7.79816843e-02 9.96954719e-01 3.81983970e-04 -4.13117675e+01] [ 5.73259271e-03 6.52582726e-05 9.99983566e-01 3.72862300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.220714057 meters Centerline goodness : 0.995670 with order 1 Centerline is valid? [True, True] Translation: X:683.34, Y:-41.33, Z:3.73 [[ 9.97016936e-01 7.69708232e-02 -5.72026596e-03 6.83339499e+02] [-7.69699019e-02 9.97033344e-01 3.81359172e-04 -4.13341400e+01] [ 5.73264943e-03 6.00667563e-05 9.99983566e-01 3.73012562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2807140570001 meters Centerline goodness : 0.997562 with order 1 Centerline is valid? [True, True] Translation: X:683.40, Y:-41.36, Z:3.73 [[ 9.96850897e-01 7.90921444e-02 -5.72030003e-03 6.83396606e+02] [-7.90912609e-02 9.96867307e-01 3.80847518e-04 -4.13567415e+01] [ 5.73250213e-03 7.27775524e-05 9.99983566e-01 3.73241450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.340714057 meters Centerline goodness : 0.998130 with order 1 Centerline is valid? [True, True] Translation: X:683.45, Y:-41.37, Z:3.73 [[ 9.96709347e-01 8.08563860e-02 -5.72032656e-03 6.83454119e+02] [-8.08555339e-02 9.96725759e-01 3.80448582e-04 -4.13727795e+01] [ 5.73235853e-03 8.33233998e-05 9.99983566e-01 3.73488471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4007140570001 meters Centerline goodness : 0.998572 with order 1 Centerline is valid? [True, True] Translation: X:683.51, Y:-41.39, Z:3.74 [[ 9.96593843e-01 8.22677967e-02 -5.72035414e-03 6.83511770e+02] [-8.22669702e-02 9.96610255e-01 3.80033395e-04 -4.13940859e+01] [ 5.73222811e-03 9.18572617e-05 9.99983566e-01 3.73694755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.460714057 meters Centerline goodness : 0.998846 with order 1 Centerline is valid? [True, True] Translation: X:683.57, Y:-41.41, Z:3.74 [[ 9.96665363e-01 8.13967512e-02 -5.72038148e-03 6.83569857e+02] [-8.13959127e-02 9.96681775e-01 3.79621456e-04 -4.14095685e+01] [ 5.73229992e-03 8.72601146e-05 9.99983566e-01 3.73775918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.520714057 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:683.63, Y:-41.43, Z:3.74 [[ 9.96903984e-01 7.84201692e-02 -5.72040894e-03 6.83628221e+02] [-7.84192841e-02 9.96920394e-01 3.79207237e-04 -4.14307895e+01] [ 5.73252983e-03 7.05571684e-05 9.99983566e-01 3.73901014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.580714057 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:683.69, Y:-41.45, Z:3.74 [[ 9.97321636e-01 7.29166058e-02 -5.72042261e-03 6.83687220e+02] [-7.29156314e-02 9.97338041e-01 3.79000815e-04 -4.14502882e+01] [ 5.73283053e-03 3.91225133e-05 9.99983566e-01 3.73930565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.640714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.75, Y:-41.47, Z:3.74 [[ 9.97846292e-01 6.53456453e-02 -5.72043620e-03 6.83746720e+02] [-6.53445476e-02 9.97862689e-01 3.78795612e-04 -4.14695393e+01] [ 5.73296250e-03 -4.18048192e-06 9.99983566e-01 3.74008740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.700714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.81, Y:-41.48, Z:3.74 [[ 9.98201608e-01 5.96726594e-02 -5.72042953e-03 6.83806171e+02] [-5.96714678e-02 9.98217998e-01 3.78896357e-04 -4.14818923e+01] [ 5.73284547e-03 -3.68685265e-05 9.99983566e-01 3.74199556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.760714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.87, Y:-41.50, Z:3.74 [[ 9.98535291e-01 5.38010125e-02 -5.72042953e-03 6.83865686e+02] [-5.37997246e-02 9.98551674e-01 3.78896357e-04 -4.14960216e+01] [ 5.73252949e-03 -7.05838514e-05 9.99983566e-01 3.74350410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.820714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.93, Y:-41.51, Z:3.74 [[ 9.98678294e-01 5.10777933e-02 -5.72042953e-03 6.83925526e+02] [-5.10764607e-02 9.98694674e-01 3.78896357e-04 -4.15052427e+01] [ 5.73231569e-03 -8.62162738e-05 9.99983566e-01 3.74417257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.880714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.99, Y:-41.51, Z:3.74 [[ 9.98825368e-01 4.81161287e-02 -5.72042282e-03 6.83986767e+02] [-4.81147469e-02 9.98841743e-01 3.78997563e-04 -4.15128558e+01] [ 5.73203300e-03 -1.03315683e-04 9.99983566e-01 3.74374709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.940714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.05, Y:-41.52, Z:3.74 [[ 9.99056487e-01 4.30512782e-02 -5.72040900e-03 6.84046305e+02] [-4.30498123e-02 9.99072855e-01 3.79206030e-04 -4.15220461e+01] [ 5.73143066e-03 -1.32585710e-04 9.99983566e-01 3.74352691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.000714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.11, Y:-41.53, Z:3.74 [[ 9.99229220e-01 3.88360977e-02 -5.72040220e-03 6.84106958e+02] [-3.88345622e-02 9.99245582e-01 3.79308621e-04 -4.15296742e+01] [ 5.73081749e-03 -1.56866943e-04 9.99983566e-01 3.74338082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.060714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.17, Y:-41.54, Z:3.74 [[ 9.99512175e-01 3.07032512e-02 -5.72038869e-03 6.84168300e+02] [-3.07015814e-02 9.99528523e-01 3.79512268e-04 -4.15370010e+01] [ 5.72934392e-03 -2.03702154e-04 9.99983566e-01 3.74311443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.120714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.23, Y:-41.54, Z:3.74 [[ 9.99666105e-01 2.51983208e-02 -5.72037533e-03 6.84228072e+02] [-2.51965598e-02 9.99682444e-01 3.79713620e-04 -4.15421932e+01] [ 5.72812693e-03 -2.35453056e-04 9.99983566e-01 3.74359069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.180714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.29, Y:-41.55, Z:3.74 [[ 9.99803535e-01 1.89780954e-02 -5.72036873e-03 6.84288716e+02] [-1.89762322e-02 9.99819863e-01 3.79813026e-04 -4.15458821e+01] [ 5.72654640e-03 -2.71187361e-04 9.99983566e-01 3.74390778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.240714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.35, Y:-41.54, Z:3.74 [[ 9.99773569e-01 2.04960282e-02 -5.72036873e-03 6.84348964e+02] [-2.04941898e-02 9.99789900e-01 3.79813026e-04 -4.15444770e+01] [ 5.72695153e-03 -2.62492702e-04 9.99983566e-01 3.74455775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.300714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.41, Y:-41.54, Z:3.75 [[ 9.99581190e-01 2.83676115e-02 -5.72038206e-03 6.84408221e+02] [-2.83659029e-02 9.99597535e-01 3.79612041e-04 -4.15411292e+01] [ 5.72884850e-03 -2.17189253e-04 9.99983566e-01 3.74581717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.360714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.47, Y:-41.54, Z:3.75 [[ 9.99419776e-01 3.35766149e-02 -5.72040184e-03 6.84467781e+02] [-3.35749932e-02 9.99436129e-01 3.79313769e-04 -4.15396623e+01] [ 5.72991234e-03 -1.87031229e-04 9.99983566e-01 3.74613682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.420714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.53, Y:-41.54, Z:3.75 [[ 9.99187186e-01 3.99029401e-02 -5.72041486e-03 6.84527330e+02] [-3.99014231e-02 9.99203549e-01 3.79117286e-04 -4.15365986e+01] [ 5.73098673e-03 -1.50556440e-04 9.99983566e-01 3.74650664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.480714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.59, Y:-41.54, Z:3.75 [[ 9.99070640e-01 4.27215856e-02 -5.72042824e-03 6.84587004e+02] [-4.27201159e-02 9.99087007e-01 3.78915319e-04 -4.15352354e+01] [ 5.73139340e-03 -1.34185812e-04 9.99983566e-01 3.74742602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5407140570001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.65, Y:-41.53, Z:3.75 [[ 9.99183438e-01 3.99966751e-02 -5.72043491e-03 6.84646422e+02] [-3.99951614e-02 9.99199802e-01 3.78814581e-04 -4.15349598e+01] [ 5.73100875e-03 -1.49715538e-04 9.99983566e-01 3.74724815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.600714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.71, Y:-41.54, Z:3.75 [[ 9.99287825e-01 3.72977051e-02 -5.72044859e-03 6.84706473e+02] [-3.72961484e-02 9.99304185e-01 3.78607962e-04 -4.15367103e+01] [ 5.73058942e-03 -1.64987628e-04 9.99983566e-01 3.74703208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6607140570001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.77, Y:-41.54, Z:3.75 [[ 9.99372971e-01 3.49419753e-02 -5.72046200e-03 6.84765964e+02] [-3.49403812e-02 9.99389327e-01 3.78405258e-04 -4.15375155e+01] [ 5.73019089e-03 -1.78292865e-04 9.99983566e-01 3.74758651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.720714057 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:684.83, Y:-41.54, Z:3.75 [[ 9.99404578e-01 3.40259413e-02 -5.72047543e-03 6.84825563e+02] [-3.40243333e-02 9.99420933e-01 3.78202089e-04 -4.15393163e+01] [ 5.73003157e-03 -1.83341536e-04 9.99983566e-01 3.74878875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7807140570001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.89, Y:-41.54, Z:3.75 [[ 9.99440612e-01 3.29505547e-02 -5.72048875e-03 6.84885720e+02] [-3.29489303e-02 9.99456965e-01 3.78000475e-04 -4.15407480e+01] [ 5.72983765e-03 -1.89305041e-04 9.99983566e-01 3.74927959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.840714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.95, Y:-41.54, Z:3.75 [[ 9.99517118e-01 3.05418886e-02 -5.72050222e-03 6.84945464e+02] [-3.05402259e-02 9.99533467e-01 3.77796474e-04 -4.15422847e+01] [ 5.72937204e-03 -2.02908613e-04 9.99983566e-01 3.75035708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9007140570001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.00, Y:-41.54, Z:3.75 [[ 9.99635694e-01 2.63771667e-02 -5.72051572e-03 6.85004651e+02] [-2.63754371e-02 9.99652036e-01 3.77592022e-04 -4.15439014e+01] [ 5.72848499e-03 -2.26573361e-04 9.99983566e-01 3.75146684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.960714057 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:685.06, Y:-41.55, Z:3.75 [[ 9.99735808e-01 2.22618260e-02 -5.72052237e-03 6.85064416e+02] [-2.22600297e-02 9.99752144e-01 3.77491190e-04 -4.15466989e+01] [ 5.72750815e-03 -2.50052462e-04 9.99983566e-01 3.75197434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.020714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.12, Y:-41.55, Z:3.75 [[ 9.99856356e-01 1.59544161e-02 -5.72053626e-03 6.85123888e+02] [-1.59525180e-02 9.99872679e-01 3.77280681e-04 -4.15474754e+01] [ 5.72582721e-03 -2.85969529e-04 9.99983566e-01 3.75222701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.080714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.18, Y:-41.55, Z:3.75 [[ 9.99911587e-01 1.20039343e-02 -5.72054964e-03 6.85182691e+02] [-1.20019729e-02 9.99927903e-01 3.77077593e-04 -4.15460412e+01] [ 5.72466362e-03 -3.08386373e-04 9.99983566e-01 3.75250348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.140714057 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:685.24, Y:-41.55, Z:3.75 [[ 9.99922586e-01 1.10497311e-02 -5.72057639e-03 6.85241463e+02] [-1.10477564e-02 9.99938901e-01 3.76671440e-04 -4.15456747e+01] [ 5.72438898e-03 -3.13442746e-04 9.99983566e-01 3.75240686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.200714057 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:685.30, Y:-41.54, Z:3.75 [[ 9.99911271e-01 1.20301577e-02 -5.72060273e-03 6.85300824e+02] [-1.20282013e-02 9.99927588e-01 3.76270885e-04 -4.15415842e+01] [ 5.72471509e-03 -3.07428938e-04 9.99983566e-01 3.75136583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.260714057 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:685.36, Y:-41.54, Z:3.75 [[ 9.99888547e-01 1.37901080e-02 -5.72062281e-03 6.85360511e+02] [-1.37881821e-02 9.99904868e-01 3.75965449e-04 -4.15368530e+01] [ 5.72526319e-03 -2.97046558e-04 9.99983566e-01 3.75130963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.320714057 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:685.42, Y:-41.54, Z:3.75 [[ 9.99870013e-01 1.50741886e-02 -5.72065034e-03 6.85419751e+02] [-1.50722861e-02 9.99886336e-01 3.75545990e-04 -4.15355533e+01] [ 5.72566116e-03 -2.89273896e-04 9.99983566e-01 3.75173788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.380714057 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:685.48, Y:-41.53, Z:3.75 [[ 9.99847049e-01 1.65273388e-02 -5.72067747e-03 6.85479050e+02] [-1.65254623e-02 9.99863375e-01 3.75132323e-04 -4.15310043e+01] [ 5.72609582e-03 -2.80538107e-04 9.99983566e-01 3.75145775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.440714057 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:685.54, Y:-41.53, Z:3.75 [[ 9.99784977e-01 1.99317387e-02 -5.72070553e-03 6.85537439e+02] [-1.99299203e-02 9.99801309e-01 3.74703860e-04 -4.15265707e+01] [ 5.72703738e-03 -2.60610085e-04 9.99983566e-01 3.74968165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.500714057 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:685.60, Y:-41.52, Z:3.75 [[ 9.99706894e-01 2.35244379e-02 -5.72073985e-03 6.85595138e+02] [-2.35226811e-02 9.99723233e-01 3.74179261e-04 -4.15244680e+01] [ 5.72795889e-03 -2.39502448e-04 9.99983566e-01 3.74894762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.560714057 meters Centerline goodness : 0.998535 with order 1 Centerline is valid? [True, True] Translation: X:685.65, Y:-41.52, Z:3.75 [[ 9.99467387e-01 3.21281102e-02 -5.72077319e-03 6.85653742e+02] [-3.21264971e-02 9.99483741e-01 3.73668744e-04 -4.15195567e+01] [ 5.72982506e-03 -1.89681320e-04 9.99983566e-01 3.74939952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.620714057 meters Centerline goodness : 0.998355 with order 1 Centerline is valid? [True, True] Translation: X:685.71, Y:-41.52, Z:3.75 [[ 9.99082397e-01 4.24456860e-02 -5.72088354e-03 6.85712202e+02] [-4.24442516e-02 9.99098767e-01 3.71971555e-04 -4.15150180e+01] [ 5.73151628e-03 -1.28811613e-04 9.99983566e-01 3.74899480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.680714057 meters Centerline goodness : 0.997945 with order 1 Centerline is valid? [True, True] Translation: X:685.77, Y:-41.51, Z:3.75 [[ 9.98783986e-01 4.89675429e-02 -5.72091726e-03 6.85770892e+02] [-4.89662184e-02 9.98800366e-01 3.71452258e-04 -4.15147116e+01] [ 5.73224336e-03 -9.08688828e-05 9.99983566e-01 3.74813726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.740714057 meters Centerline goodness : 0.998194 with order 1 Centerline is valid? [True, True] Translation: X:685.83, Y:-41.52, Z:3.75 [[ 9.98347236e-01 5.71845075e-02 -5.72094400e-03 6.85829188e+02] [-5.71833201e-02 9.98363626e-01 3.71039886e-04 -4.15151608e+01] [ 5.73280014e-03 -4.32840725e-05 9.99983566e-01 3.74777598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.800714057 meters Centerline goodness : 0.998149 with order 1 Centerline is valid? [True, True] Translation: X:685.89, Y:-41.52, Z:3.75 [[ 9.98169576e-01 6.02060422e-02 -5.72098087e-03 6.85887974e+02] [-6.02049077e-02 9.98185971e-01 3.70470651e-04 -4.15199926e+01] [ 5.73290741e-03 -2.53614082e-05 9.99983566e-01 3.74855761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.860714057 meters Centerline goodness : 0.998024 with order 1 Centerline is valid? [True, True] Translation: X:685.95, Y:-41.52, Z:3.75 [[ 9.98182320e-01 5.99943907e-02 -5.72100654e-03 6.85946605e+02] [-5.99932550e-02 9.98198714e-01 3.70073783e-04 -4.15246821e+01] [ 5.73290372e-03 -2.61793033e-05 9.99983566e-01 3.74887616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.920714057 meters Centerline goodness : 0.998806 with order 1 Centerline is valid? [True, True] Translation: X:686.01, Y:-41.53, Z:3.75 [[ 9.98304055e-01 5.79334451e-02 -5.72103247e-03 6.86005440e+02] [-5.79322778e-02 9.98320447e-01 3.69672456e-04 -4.15336145e+01] [ 5.73284009e-03 -3.76130688e-05 9.99983566e-01 3.74919938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.980714057 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:686.06, Y:-41.54, Z:3.75 [[ 9.98538214e-01 5.37466729e-02 -5.72105810e-03 6.86063782e+02] [-5.37454392e-02 9.98554601e-01 3.69275382e-04 -4.15444980e+01] [ 5.73263621e-03 -6.12548004e-05 9.99983566e-01 3.74788624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0407140570001 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:686.12, Y:-41.55, Z:3.75 [[ 9.98711166e-01 5.04309081e-02 -5.72108467e-03 6.86122544e+02] [-5.04296224e-02 9.98727549e-01 3.68863218e-04 -4.15536681e+01] [ 5.73240698e-03 -7.98756746e-05 9.99983566e-01 3.74883488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.100714057 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:686.18, Y:-41.56, Z:3.75 [[ 9.98912110e-01 4.62802964e-02 -5.72111111e-03 6.86180042e+02] [-4.62789449e-02 9.98928488e-01 3.68452746e-04 -4.15640517e+01] [ 5.73203297e-03 -1.03284924e-04 9.99983566e-01 3.75137277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1607140570001 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:686.24, Y:-41.57, Z:3.75 [[ 9.99019597e-01 4.38988972e-02 -5.72114601e-03 6.86238385e+02] [-4.38975098e-02 9.99035972e-01 3.67909960e-04 -4.15730135e+01] [ 5.73178151e-03 -1.16405197e-04 9.99983566e-01 3.75135703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.220714057 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:686.30, Y:-41.58, Z:3.75 [[ 9.99098847e-01 4.20566579e-02 -5.72117218e-03 6.86297051e+02] [-4.20552426e-02 9.99115219e-01 3.67502660e-04 -4.15848025e+01] [ 5.73156613e-03 -1.26566200e-04 9.99983566e-01 3.75309986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2807140570001 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:686.36, Y:-41.60, Z:3.75 [[ 9.99113138e-01 4.17157639e-02 -5.72119854e-03 6.86355683e+02] [-4.17143454e-02 9.99129510e-01 3.67091793e-04 -4.15961102e+01] [ 5.73153181e-03 -1.28110181e-04 9.99983566e-01 3.75289739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.340714057 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:686.41, Y:-41.61, Z:3.75 [[ 9.99082748e-01 4.24373604e-02 -5.72122490e-03 6.86413742e+02] [-4.24359561e-02 9.99099122e-01 3.66680575e-04 -4.16055260e+01] [ 5.73163172e-03 -1.23558588e-04 9.99983566e-01 3.75415681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4007140570001 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:686.47, Y:-41.62, Z:3.75 [[ 9.98968351e-01 4.50499936e-02 -5.72125109e-03 6.86472837e+02] [-4.50486344e-02 9.98984728e-01 3.66271429e-04 -4.16161137e+01] [ 5.73194299e-03 -1.08159017e-04 9.99983566e-01 3.75459465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.460714057 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:686.53, Y:-41.63, Z:3.75 [[ 9.98764495e-01 4.93634645e-02 -5.72126401e-03 6.86530791e+02] [-4.93621772e-02 9.98780878e-01 3.66069516e-04 -4.16267677e+01] [ 5.73235955e-03 -8.32031876e-05 9.99983566e-01 3.75329062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.520714057 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:686.59, Y:-41.64, Z:3.75 [[ 9.98549043e-01 5.35450798e-02 -5.72128307e-03 6.86589822e+02] [-5.35438629e-02 9.98565431e-01 3.65771321e-04 -4.16361400e+01] [ 5.73266075e-03 -5.89010064e-05 9.99983566e-01 3.75357131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.580714057 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:686.65, Y:-41.65, Z:3.76 [[ 9.98068512e-01 6.18588112e-02 -5.72129550e-03 6.86648438e+02] [-6.18577319e-02 9.98084910e-01 3.65576849e-04 -4.16459230e+01] [ 5.73295285e-03 -1.09643783e-05 9.99983566e-01 3.75514363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.640714057 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:686.71, Y:-41.66, Z:3.76 [[ 9.97458505e-01 7.10196899e-02 -5.72132116e-03 6.86707869e+02] [-7.10187635e-02 9.97474913e-01 3.65174836e-04 -4.16571649e+01] [ 5.73280893e-03 4.20744081e-05 9.99983566e-01 3.75742007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.700714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.77, Y:-41.67, Z:3.76 [[ 9.96969652e-01 7.75807971e-02 -5.72133384e-03 6.86767174e+02] [-7.75799798e-02 9.96986065e-01 3.64976034e-04 -4.16718053e+01] [ 5.73240524e-03 7.99909337e-05 9.99983566e-01 3.75819996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.760714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.83, Y:-41.68, Z:3.76 [[ 9.96784237e-01 7.99277819e-02 -5.72134704e-03 6.86827121e+02] [-7.99270044e-02 9.96800653e-01 3.64769009e-04 -4.16837162e+01] [ 5.73219764e-03 9.36941316e-05 9.99983566e-01 3.75843156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.820714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.89, Y:-41.70, Z:3.76 [[ 9.96662841e-01 8.14275560e-02 -5.72134704e-03 6.86887542e+02] [-8.14268033e-02 9.96679258e-01 3.64769009e-04 -4.17013138e+01] [ 5.73205017e-03 1.02319283e-04 9.99983566e-01 3.75703946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.880714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.95, Y:-41.72, Z:3.76 [[ 9.96491726e-01 8.34955421e-02 -5.72133382e-03 6.86949105e+02] [-8.34948222e-02 9.96508144e-01 3.64976245e-04 -4.17200856e+01] [ 5.73182964e-03 1.14005941e-04 9.99983566e-01 3.75605515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.940714057 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:687.01, Y:-41.73, Z:3.76 [[ 9.96295894e-01 8.58006990e-02 -5.72122642e-03 6.87011017e+02] [-8.58000075e-02 9.96312313e-01 3.66652032e-04 -4.17344581e+01] [ 5.73158733e-03 1.25587357e-04 9.99983566e-01 3.75657968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.000714057 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:687.07, Y:-41.75, Z:3.76 [[ 9.96172461e-01 8.72221071e-02 -5.72111966e-03 6.87072355e+02] [-8.72214295e-02 9.96188881e-01 3.68310505e-04 -4.17543776e+01] [ 5.73144061e-03 1.32103453e-04 9.99983566e-01 3.75910492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.060714057 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:687.13, Y:-41.77, Z:3.76 [[ 9.96259355e-01 8.62239417e-02 -5.72101364e-03 6.87134444e+02] [-8.62232383e-02 9.96275773e-01 3.69949961e-04 -4.17740626e+01] [ 5.73160583e-03 1.24718213e-04 9.99983566e-01 3.75939268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.120714057 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:687.20, Y:-41.79, Z:3.76 [[ 9.96426216e-01 8.42737648e-02 -5.72090814e-03 6.87196465e+02] [-8.42730199e-02 9.96442633e-01 3.71574237e-04 -4.17873521e+01] [ 5.73187073e-03 1.11871895e-04 9.99983566e-01 3.75928565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.180714057 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:687.26, Y:-41.81, Z:3.76 [[ 9.96842671e-01 7.91957188e-02 -5.72080363e-03 6.87258607e+02] [-7.91948811e-02 9.96859083e-01 3.73176366e-04 -4.18055468e+01] [ 5.73238904e-03 8.10602382e-05 9.99983566e-01 3.75976259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.240714057 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:687.32, Y:-41.82, Z:3.76 [[ 9.97397473e-01 7.18717923e-02 -5.72069558e-03 6.87320233e+02] [-7.18708246e-02 9.97413878e-01 3.74825585e-04 -4.18216366e+01] [ 5.73284055e-03 3.73010169e-05 9.99983566e-01 3.76118385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.300714057 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:687.38, Y:-41.84, Z:3.76 [[ 9.97958302e-01 6.36121236e-02 -5.72060125e-03 6.87381901e+02] [-6.36110119e-02 9.97974698e-01 3.76259764e-04 -4.18362256e+01] [ 5.73294998e-03 -1.15983213e-05 9.99983566e-01 3.76153440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.360714057 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:687.44, Y:-41.85, Z:3.76 [[ 9.98327139e-01 5.75343341e-02 -5.72049205e-03 6.87444570e+02] [-5.75331131e-02 9.98343527e-01 3.77912641e-04 -4.18454978e+01] [ 5.73275916e-03 -4.81627296e-05 9.99983566e-01 3.76023042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.420714057 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:687.51, Y:-41.86, Z:3.76 [[ 9.98748694e-01 4.96822242e-02 -5.72038341e-03 6.87506938e+02] [-4.96808650e-02 9.98765071e-01 3.79550087e-04 -4.18553686e+01] [ 5.73217603e-03 -9.48815582e-05 9.99983566e-01 3.75966908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.480714057 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:687.57, Y:-41.86, Z:3.76 [[ 9.98908817e-01 4.63514179e-02 -5.72027272e-03 6.87568463e+02] [-4.63499946e-02 9.98925189e-01 3.81211035e-04 -4.18618411e+01] [ 5.73179418e-03 -1.15660454e-04 9.99983566e-01 3.76056897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5407140570001 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:687.63, Y:-41.87, Z:3.76 [[ 9.99049060e-01 4.32233123e-02 -5.72017033e-03 6.87630840e+02] [-4.32218290e-02 9.99065427e-01 3.82741177e-04 -4.18664299e+01] [ 5.73136776e-03 -1.35140989e-04 9.99983566e-01 3.76226314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.600714057 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:687.69, Y:-41.87, Z:3.76 [[ 9.99165670e-01 4.04381695e-02 -5.72006449e-03 6.87692254e+02] [-4.04366315e-02 9.99182031e-01 3.84316485e-04 -4.18693439e+01] [ 5.73092671e-03 -1.52695698e-04 9.99983566e-01 3.76368668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6607140570001 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:687.76, Y:-41.87, Z:3.76 [[ 9.99364652e-01 3.51791823e-02 -5.71997968e-03 6.87755308e+02] [-3.51775510e-02 9.99381004e-01 3.85574729e-04 -4.18713105e+01] [ 5.73000324e-03 -1.84114877e-04 9.99983566e-01 3.76314383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.720714057 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:687.82, Y:-41.87, Z:3.76 [[ 9.99408171e-01 3.39203706e-02 -5.71986944e-03 6.87818670e+02] [-3.39187094e-02 9.99424520e-01 3.87203125e-04 -4.18745177e+01] [ 5.72971185e-03 -1.92963377e-04 9.99983566e-01 3.76365205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7807140570001 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:687.88, Y:-41.87, Z:3.76 [[ 9.99479286e-01 3.17559499e-02 -5.71975893e-03 6.87880596e+02] [-3.17542440e-02 9.99495631e-01 3.88828875e-04 -4.18749136e+01] [ 5.72922169e-03 -2.06999785e-04 9.99983566e-01 3.76487539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.840714057 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:687.94, Y:-41.87, Z:3.76 [[ 9.99485245e-01 3.15678624e-02 -5.71965660e-03 6.87943648e+02] [-3.15661449e-02 9.99501589e-01 3.90328237e-04 -4.18729736e+01] [ 5.72912769e-03 -2.09579805e-04 9.99983566e-01 3.76420258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9007140570001 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:688.01, Y:-41.87, Z:3.76 [[ 9.99380775e-01 3.47181927e-02 -5.71954492e-03 6.88006589e+02] [-3.47165175e-02 9.99397123e-01 3.91957945e-04 -4.18702774e+01] [ 5.72970481e-03 -1.93152554e-04 9.99983566e-01 3.76432512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.960714057 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:688.07, Y:-41.86, Z:3.76 [[ 9.99083675e-01 4.24157694e-02 -5.71943375e-03 6.88070386e+02] [-4.24142109e-02 9.99100035e-01 3.93573443e-04 -4.18648913e+01] [ 5.73098018e-03 -1.50627533e-04 9.99983566e-01 3.76352483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.020714057 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:688.13, Y:-41.86, Z:3.76 [[ 9.98816544e-01 4.82990853e-02 -5.71932057e-03 6.88134049e+02] [-4.82976138e-02 9.98832911e-01 3.95211405e-04 -4.18629064e+01] [ 5.73173396e-03 -1.18514154e-04 9.99983566e-01 3.76329232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.080714057 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:688.20, Y:-41.86, Z:3.76 [[ 9.98474570e-01 5.49165168e-02 -5.71920624e-03 6.88196891e+02] [-5.49151443e-02 9.98490946e-01 3.96858948e-04 -4.18594382e+01] [ 5.73236977e-03 -8.21825318e-05 9.99983566e-01 3.76368073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.140714057 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:688.26, Y:-41.86, Z:3.77 [[ 9.98512862e-01 5.42158369e-02 -5.71910033e-03 6.88260437e+02] [-5.42144442e-02 9.98529236e-01 3.98379431e-04 -4.18557511e+01] [ 5.73228736e-03 -8.77291398e-05 9.99983566e-01 3.76657014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.200714057 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:688.32, Y:-41.85, Z:3.77 [[ 9.98791580e-01 4.88126250e-02 -5.71898759e-03 6.88322383e+02] [-4.88111345e-02 9.98807946e-01 3.99991434e-04 -4.18525298e+01] [ 5.73169488e-03 -1.20357804e-04 9.99983566e-01 3.76773498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.260714057 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:688.39, Y:-41.85, Z:3.77 [[ 9.98968644e-01 4.50437972e-02 -5.71888309e-03 6.88385664e+02] [-4.50422364e-02 9.98985003e-01 4.01479962e-04 -4.18534974e+01] [ 5.73116262e-03 -1.43474609e-04 9.99983566e-01 3.76822644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.320714057 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:688.45, Y:-41.85, Z:3.77 [[ 9.99238185e-01 3.86049808e-02 -5.71877316e-03 6.88448462e+02] [-3.86033057e-02 9.99254533e-01 4.03039805e-04 -4.18500849e+01] [ 5.73006934e-03 -1.81969215e-04 9.99983566e-01 3.76768407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.380714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.51, Y:-41.85, Z:3.77 [[ 9.99400818e-01 3.41365102e-02 -5.71867128e-03 6.88509631e+02] [-3.41347538e-02 9.99417158e-01 4.04480206e-04 -4.18488391e+01] [ 5.72914573e-03 -2.09032413e-04 9.99983566e-01 3.76798576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.440714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.57, Y:-41.85, Z:3.77 [[ 9.99587740e-01 2.81362307e-02 -5.71865802e-03 6.88571053e+02] [-2.81343752e-02 9.99604068e-01 4.04667492e-04 -4.18452407e+01] [ 5.72777964e-03 -2.43609793e-04 9.99983566e-01 3.76878752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.500714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.63, Y:-41.84, Z:3.77 [[ 9.99707118e-01 2.35154360e-02 -5.71864493e-03 6.88630889e+02] [-2.35135040e-02 9.99723437e-01 4.04852392e-04 -4.18396152e+01] [ 5.72658365e-03 -2.70268437e-04 9.99983566e-01 3.76769728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.560714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.69, Y:-41.83, Z:3.77 [[ 9.99747940e-01 2.17106632e-02 -5.71865138e-03 6.88691255e+02] [-2.17087023e-02 9.99764256e-01 4.04761375e-04 -4.18332130e+01] [ 5.72609088e-03 -2.80514850e-04 9.99983566e-01 3.76912642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.620714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.75, Y:-41.83, Z:3.77 [[ 9.99730814e-01 2.24854735e-02 -5.71867554e-03 6.88751643e+02] [-2.24835272e-02 9.99747132e-01 4.04419627e-04 -4.18299551e+01] [ 5.72632304e-03 -2.75734766e-04 9.99983566e-01 3.76915256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.680714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.81, Y:-41.82, Z:3.77 [[ 9.99599521e-01 2.77145145e-02 -5.71869011e-03 6.88811357e+02] [-2.77126547e-02 9.99615849e-01 4.04213532e-04 -4.18230431e+01] [ 5.72769585e-03 -2.45571568e-04 9.99983566e-01 3.77000212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.740714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.87, Y:-41.82, Z:3.77 [[ 9.99296578e-01 3.70627159e-02 -5.71871106e-03 6.88871291e+02] [-3.70610106e-02 9.99312923e-01 4.03916895e-04 -4.18156629e+01] [ 5.72975213e-03 -1.91691560e-04 9.99983566e-01 3.77129163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.800714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.93, Y:-41.81, Z:3.77 [[ 9.98991215e-01 4.45404119e-02 -5.71872563e-03 6.88931026e+02] [-4.45388302e-02 9.99007572e-01 4.03710535e-04 -4.18087476e+01] [ 5.73103164e-03 -1.48597928e-04 9.99983566e-01 3.77092243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.860714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.99, Y:-41.81, Z:3.77 [[ 9.98923282e-01 4.60388149e-02 -5.71874083e-03 6.88990987e+02] [-4.60372589e-02 9.98939642e-01 4.03495039e-04 -4.18073444e+01] [ 5.73125335e-03 -1.39785436e-04 9.99983566e-01 3.77072234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.920714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.05, Y:-41.80, Z:3.77 [[ 9.98867546e-01 4.72326244e-02 -5.71875547e-03 6.89049973e+02] [-4.72310891e-02 9.98883908e-01 4.03287513e-04 -4.18044013e+01] [ 5.73142114e-03 -1.32727759e-04 9.99983566e-01 3.77061189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.980714057 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:689.11, Y:-41.80, Z:3.77 [[ 9.98745411e-01 4.97483632e-02 -5.71877192e-03 6.89109876e+02] [-4.97468705e-02 9.98761777e-01 4.03054038e-04 -4.18030647e+01] [ 5.73174209e-03 -1.18057364e-04 9.99983566e-01 3.77039165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0407140570001 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:689.17, Y:-41.80, Z:3.77 [[ 9.98603548e-01 5.25190448e-02 -5.71878649e-03 6.89168650e+02] [-5.25175987e-02 9.98619917e-01 4.02847302e-04 -4.18048192e+01] [ 5.73205125e-03 -1.01947812e-04 9.99983566e-01 3.77082642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.100714057 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:689.23, Y:-41.81, Z:3.77 [[ 9.98338200e-01 5.73422449e-02 -5.71880797e-03 6.89227371e+02] [-5.73408797e-02 9.98354577e-01 4.02542069e-04 -4.18070064e+01] [ 5.73248078e-03 -7.39516447e-05 9.99983566e-01 3.76933585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1607140570001 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:689.29, Y:-41.81, Z:3.77 [[ 9.98094876e-01 6.14321832e-02 -5.71882888e-03 6.89286132e+02] [-6.14308867e-02 9.98111259e-01 4.02244791e-04 -4.18108260e+01] [ 5.73273827e-03 -5.01657351e-05 9.99983566e-01 3.76847238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.220714057 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:689.34, Y:-41.82, Z:3.77 [[ 9.98066835e-01 6.18860789e-02 -5.71885780e-03 6.89344931e+02] [-6.18847923e-02 9.98083218e-01 4.01833178e-04 -4.18157262e+01] [ 5.73276388e-03 -4.71460410e-05 9.99983566e-01 3.76914801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2807140570001 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:689.40, Y:-41.82, Z:3.77 [[ 9.98260811e-01 5.86740804e-02 -5.71888682e-03 6.89404752e+02] [-5.86727434e-02 9.98277190e-01 4.01419817e-04 -4.18221570e+01] [ 5.73258720e-03 -6.51788928e-05 9.99983566e-01 3.77000997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.340714057 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:689.46, Y:-41.83, Z:3.77 [[ 9.98537150e-01 5.37666663e-02 -5.71890112e-03 6.89464151e+02] [-5.37652500e-02 9.98553522e-01 4.01215959e-04 -4.18292542e+01] [ 5.73220090e-03 -9.31508914e-05 9.99983566e-01 3.77323503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4007140570001 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:689.52, Y:-41.84, Z:3.77 [[ 9.98798480e-01 4.86712464e-02 -5.71890981e-03 6.89524005e+02] [-4.86697473e-02 9.98814845e-01 4.01092082e-04 -4.18356740e+01] [ 5.73165367e-03 -1.22272267e-04 9.99983566e-01 3.77306666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.460714057 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:689.58, Y:-41.84, Z:3.77 [[ 9.98924278e-01 4.60171741e-02 -5.71892777e-03 6.89583070e+02] [-4.60156330e-02 9.98940639e-01 4.00835762e-04 -4.18412299e+01] [ 5.73131470e-03 -1.37244492e-04 9.99983566e-01 3.77345203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.520714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.64, Y:-41.85, Z:3.77 [[ 9.99153936e-01 4.07272097e-02 -5.71894202e-03 6.89641139e+02] [-4.07255831e-02 9.99170289e-01 4.00632476e-04 -4.18475170e+01] [ 5.73051359e-03 -1.67386267e-04 9.99983566e-01 3.77259060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.580714057 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:689.70, Y:-41.85, Z:3.77 [[ 9.99410059e-01 3.38648283e-02 -5.71895600e-03 6.89700966e+02] [-3.38630906e-02 9.99426401e-01 4.00432799e-04 -4.18529507e+01] [ 5.72923620e-03 -2.06535042e-04 9.99983566e-01 3.77386746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.640714057 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:689.76, Y:-41.86, Z:3.77 [[ 9.99460037e-01 3.23562762e-02 -5.71897073e-03 6.89760656e+02] [-3.23545150e-02 9.99476376e-01 4.00222278e-04 -4.18570566e+01] [ 5.72892584e-03 -2.14971648e-04 9.99983566e-01 3.77447563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.700714057 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:689.82, Y:-41.86, Z:3.77 [[ 9.99647764e-01 2.59160403e-02 -5.71896108e-03 6.89820287e+02] [-2.59141731e-02 9.99664091e-01 4.00360167e-04 -4.18584675e+01] [ 5.72741578e-03 -2.52016998e-04 9.99983566e-01 3.77388109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.760714057 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:689.88, Y:-41.86, Z:3.77 [[ 9.99713909e-01 2.32248461e-02 -5.71897911e-03 6.89878524e+02] [-2.32229364e-02 9.99730231e-01 4.00102384e-04 -4.18606599e+01] [ 5.72672862e-03 -2.67176430e-04 9.99983566e-01 3.77433007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.820714057 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:689.94, Y:-41.86, Z:3.78 [[ 9.99786942e-01 1.98334076e-02 -5.71900001e-03 6.89937955e+02] [-1.98314443e-02 9.99803258e-01 3.99803392e-04 -4.18597323e+01] [ 5.72580431e-03 -2.86302180e-04 9.99983566e-01 3.77579109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.880714057 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:690.00, Y:-41.86, Z:3.77 [[ 9.99865394e-01 1.53781451e-02 -5.71901719e-03 6.89997520e+02] [-1.53761105e-02 9.99881701e-01 3.99557588e-04 -4.18571750e+01] [ 5.72448508e-03 -3.11567565e-04 9.99983566e-01 3.77489690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.940714057 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:690.06, Y:-41.86, Z:3.78 [[ 9.99865243e-01 1.53879566e-02 -5.71903440e-03 6.90056191e+02] [-1.53859236e-02 9.99881550e-01 3.99311100e-04 -4.18563739e+01] [ 5.72450156e-03 -3.11264663e-04 9.99983566e-01 3.77540298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.000714057 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:690.12, Y:-41.85, Z:3.77 [[ 9.99873785e-01 1.48225138e-02 -5.71906682e-03 6.90115345e+02] [-1.48204742e-02 9.99890091e-01 3.98846234e-04 -4.18501036e+01] [ 5.72435014e-03 -3.14036611e-04 9.99983566e-01 3.77327944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.060714057 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:690.17, Y:-41.84, Z:3.77 [[ 9.99806856e-01 1.88027144e-02 -5.71909111e-03 6.90173644e+02] [-1.88007418e-02 9.99823171e-01 3.98497566e-04 -4.18429408e+01] [ 5.72557264e-03 -2.90897444e-04 9.99983566e-01 3.77440995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.120714057 meters Centerline goodness : 0.998894 with order 1 Centerline is valid? [True, True] Translation: X:690.23, Y:-41.84, Z:3.77 [[ 9.99692505e-01 2.41285569e-02 -5.71912414e-03 6.90233033e+02] [-2.41266739e-02 9.99708830e-01 3.98022988e-04 -4.18355536e+01] [ 5.72706262e-03 -2.59917155e-04 9.99983566e-01 3.77333937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.180714057 meters Centerline goodness : 0.998768 with order 1 Centerline is valid? [True, True] Translation: X:690.29, Y:-41.83, Z:3.77 [[ 9.99598420e-01 2.77540879e-02 -5.71915195e-03 6.90290927e+02] [-2.77522664e-02 9.99614753e-01 3.97622904e-04 -4.18314667e+01] [ 5.72798433e-03 -2.38743798e-04 9.99983566e-01 3.76972087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.240714057 meters Centerline goodness : 0.997807 with order 1 Centerline is valid? [True, True] Translation: X:690.35, Y:-41.82, Z:3.77 [[ 9.99408609e-01 3.39075646e-02 -5.71918603e-03 6.90350703e+02] [-3.39058465e-02 9.99424953e-01 3.97132142e-04 -4.18243283e+01] [ 5.72936301e-03 -2.02983437e-04 9.99983566e-01 3.77230887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.300714057 meters Centerline goodness : 0.997759 with order 1 Centerline is valid? [True, True] Translation: X:690.41, Y:-41.82, Z:3.77 [[ 9.99222994e-01 3.89961515e-02 -5.71921462e-03 6.90410135e+02] [-3.89945189e-02 9.99239346e-01 3.96719937e-04 -4.18175014e+01] [ 5.73033483e-03 -1.73393660e-04 9.99983566e-01 3.77333584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.360714057 meters Centerline goodness : 0.997233 with order 1 Centerline is valid? [True, True] Translation: X:690.47, Y:-41.82, Z:3.77 [[ 9.99167477e-01 4.03936052e-02 -5.71924364e-03 6.90469007e+02] [-4.03919980e-02 9.99183832e-01 3.96301211e-04 -4.18156432e+01] [ 5.73058381e-03 -1.64959604e-04 9.99983566e-01 3.77351254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.420714057 meters Centerline goodness : 0.997113 with order 1 Centerline is valid? [True, True] Translation: X:690.53, Y:-41.81, Z:3.77 [[ 9.99244017e-01 3.84536552e-02 -5.71927217e-03 6.90528518e+02] [-3.84520186e-02 9.99260369e-01 3.95889002e-04 -4.18133255e+01] [ 5.73026540e-03 -1.75672157e-04 9.99983566e-01 3.77413485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.480714057 meters Centerline goodness : 0.995938 with order 1 Centerline is valid? [True, True] Translation: X:690.59, Y:-41.81, Z:3.77 [[ 9.99411927e-01 3.38096042e-02 -5.71930073e-03 6.90587535e+02] [-3.38078939e-02 9.99428272e-01 3.95476047e-04 -4.18127184e+01] [ 5.72940173e-03 -2.01885966e-04 9.99983566e-01 3.77223383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5407140570001 meters Centerline goodness : 0.995332 with order 1 Centerline is valid? [True, True] Translation: X:690.65, Y:-41.81, Z:3.77 [[ 9.99513965e-01 3.06451152e-02 -5.71932911e-03 6.90646670e+02] [-3.06433555e-02 9.99530304e-01 3.95065140e-04 -4.18137330e+01] [ 5.72874958e-03 -2.19613689e-04 9.99983566e-01 3.77135009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.600714057 meters Centerline goodness : 0.995897 with order 1 Centerline is valid? [True, True] Translation: X:690.71, Y:-41.81, Z:3.77 [[ 9.99595963e-01 2.78424006e-02 -5.71935809e-03 6.90705686e+02] [-2.78405976e-02 9.99612298e-01 3.94645232e-04 -4.18143544e+01] [ 5.72812855e-03 -2.35255434e-04 9.99983566e-01 3.77259255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6607140570001 meters Centerline goodness : 0.995168 with order 1 Centerline is valid? [True, True] Translation: X:690.76, Y:-41.81, Z:3.78 [[ 9.99652097e-01 2.57482644e-02 -5.71938710e-03 6.90763702e+02] [-2.57464296e-02 9.99668428e-01 3.94224324e-04 -4.18139140e+01] [ 5.72764130e-03 -2.46833375e-04 9.99983566e-01 3.77515391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.720714057 meters Centerline goodness : 0.994899 with order 1 Centerline is valid? [True, True] Translation: X:690.82, Y:-41.81, Z:3.78 [[ 9.99702451e-01 2.37128122e-02 -5.71942279e-03 6.90823157e+02] [-2.37109471e-02 9.99718778e-01 3.93705881e-04 -4.18134639e+01] [ 5.72715023e-03 -2.57975803e-04 9.99983566e-01 3.77564993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7807140570001 meters Centerline goodness : 0.994430 with order 1 Centerline is valid? [True, True] Translation: X:690.88, Y:-41.81, Z:3.78 [[ 9.99716025e-01 2.31334463e-02 -5.71945095e-03 6.90881620e+02] [-2.31315740e-02 9.99732352e-01 3.93296262e-04 -4.18138675e+01] [ 5.72701845e-03 -2.60884673e-04 9.99983566e-01 3.77508974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.840714057 meters Centerline goodness : 0.993340 with order 1 Centerline is valid? [True, True] Translation: X:690.94, Y:-41.81, Z:3.77 [[ 9.99686932e-01 2.43582955e-02 -5.71947968e-03 6.90939674e+02] [-2.43564456e-02 9.99703261e-01 3.92878104e-04 -4.18115217e+01] [ 5.72735232e-03 -2.53448911e-04 9.99983566e-01 3.77412733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9007140570001 meters Centerline goodness : 0.992136 with order 1 Centerline is valid? [True, True] Translation: X:691.00, Y:-41.81, Z:3.77 [[ 9.99646111e-01 2.59796057e-02 -5.71951492e-03 6.90998588e+02] [-2.59777853e-02 9.99662443e-01 3.92364414e-04 -4.18105567e+01] [ 5.72777773e-03 -2.43645230e-04 9.99983566e-01 3.77341017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.960714057 meters Centerline goodness : 0.990553 with order 1 Centerline is valid? [True, True] Translation: X:691.06, Y:-41.81, Z:3.78 [[ 9.99557121e-01 2.92035733e-02 -5.71954380e-03 6.91056354e+02] [-2.92018079e-02 9.99573459e-01 3.91942902e-04 -4.18075942e+01] [ 5.72855032e-03 -2.24748299e-04 9.99983566e-01 3.77504907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.020714057 meters Centerline goodness : 0.991081 with order 1 Centerline is valid? [True, True] Translation: X:691.11, Y:-41.81, Z:3.78 [[ 9.99454790e-01 3.25178217e-02 -5.71957933e-03 6.91114958e+02] [-3.25161135e-02 9.99471135e-01 3.91423779e-04 -4.18071896e+01] [ 5.72928269e-03 -2.05231880e-04 9.99983566e-01 3.77623366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.080714057 meters Centerline goodness : 0.990668 with order 1 Centerline is valid? [True, True] Translation: X:691.17, Y:-41.81, Z:3.78 [[ 9.99264954e-01 3.79056364e-02 -5.71962131e-03 6.91171885e+02] [-3.79040199e-02 9.99281308e-01 3.90809369e-04 -4.18054345e+01] [ 5.73032454e-03 -1.73725466e-04 9.99983566e-01 3.77502506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.140714057 meters Centerline goodness : 0.989274 with order 1 Centerline is valid? [True, True] Translation: X:691.23, Y:-41.80, Z:3.77 [[ 9.99115052e-01 4.16701187e-02 -5.71966939e-03 6.91230463e+02] [-4.16685678e-02 9.99131412e-01 3.90104369e-04 -4.18038061e+01] [ 5.73095705e-03 -1.51428715e-04 9.99983566e-01 3.77427458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.200714057 meters Centerline goodness : 0.987485 with order 1 Centerline is valid? [True, True] Translation: X:691.29, Y:-41.80, Z:3.77 [[ 9.98968769e-01 4.50409167e-02 -5.71971205e-03 6.91288561e+02] [-4.50394246e-02 9.98985134e-01 3.89477889e-04 -4.18029478e+01] [ 5.73144975e-03 -1.31463708e-04 9.99983566e-01 3.77490175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.260714057 meters Centerline goodness : 0.987825 with order 1 Centerline is valid? [True, True] Translation: X:691.35, Y:-41.81, Z:3.77 [[ 9.98865939e-01 4.72664901e-02 -5.71975394e-03 6.91346907e+02] [-4.72650380e-02 9.98882308e-01 3.88861717e-04 -4.18054364e+01] [ 5.73174115e-03 -1.18076337e-04 9.99983566e-01 3.77485748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.320714057 meters Centerline goodness : 0.984969 with order 1 Centerline is valid? [True, True] Translation: X:691.41, Y:-41.81, Z:3.78 [[ 9.98516571e-01 5.41474064e-02 -5.71979548e-03 6.91405408e+02] [-5.41460706e-02 9.98532950e-01 3.88249738e-04 -4.18147521e+01] [ 5.73242697e-03 -7.79693466e-05 9.99983566e-01 3.78043684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.380714057 meters Centerline goodness : 0.987382 with order 1 Centerline is valid? [True, True] Translation: X:691.46, Y:-41.81, Z:3.77 [[ 9.98706120e-01 5.05308849e-02 -5.71982281e-03 6.91463193e+02] [-5.05294921e-02 9.98722494e-01 3.87846749e-04 -4.18116134e+01] [ 5.73211394e-03 -9.83251802e-05 9.99983566e-01 3.77466527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.440714057 meters Centerline goodness : 0.986892 with order 1 Centerline is valid? [True, True] Translation: X:691.52, Y:-41.83, Z:3.77 [[ 9.98148812e-01 6.05494181e-02 -5.71988253e-03 6.91521577e+02] [-6.05481948e-02 9.98165200e-01 3.86963932e-04 -4.18299621e+01] [ 5.73281813e-03 -3.99190277e-05 9.99983566e-01 3.76703054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.500714057 meters Centerline goodness : 0.988961 with order 1 Centerline is valid? [True, True] Translation: X:691.58, Y:-41.82, Z:3.78 [[ 9.98750600e-01 4.96439500e-02 -5.71990477e-03 6.91580439e+02] [-4.96425496e-02 9.98766974e-01 3.86635002e-04 -4.18228591e+01] [ 5.73204606e-03 -1.02201283e-04 9.99983566e-01 3.77507909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.560714057 meters Centerline goodness : 0.987860 with order 1 Centerline is valid? [True, True] Translation: X:691.64, Y:-41.83, Z:3.78 [[ 9.98543127e-01 5.36554397e-02 -5.71993079e-03 6.91638100e+02] [-5.36541073e-02 9.98559506e-01 3.86249674e-04 -4.18348952e+01] [ 5.73241566e-03 -7.87891772e-05 9.99983566e-01 3.77887233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.620714057 meters Centerline goodness : 0.990633 with order 1 Centerline is valid? [True, True] Translation: X:691.70, Y:-41.84, Z:3.78 [[ 9.98752546e-01 4.96047853e-02 -5.71997289e-03 6.91695637e+02] [-4.96033900e-02 9.98768920e-01 3.85625177e-04 -4.18364913e+01] [ 5.73206000e-03 -1.01414080e-04 9.99983566e-01 3.77894489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.680714057 meters Centerline goodness : 0.990777 with order 1 Centerline is valid? [True, True] Translation: X:691.75, Y:-41.85, Z:3.78 [[ 9.98574104e-01 5.30757993e-02 -5.72001558e-03 6.91752210e+02] [-5.30744646e-02 9.98590483e-01 3.84990874e-04 -4.18459665e+01] [ 5.73238682e-03 -8.08551524e-05 9.99983566e-01 3.77953429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.740714057 meters Centerline goodness : 0.990684 with order 1 Centerline is valid? [True, True] Translation: X:691.81, Y:-41.85, Z:3.78 [[ 9.98251887e-01 5.88255940e-02 -5.72005913e-03 6.91810067e+02] [-5.88243574e-02 9.98268274e-01 3.84342767e-04 -4.18546778e+01] [ 5.73276275e-03 -4.71920902e-05 9.99983566e-01 3.78002462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.800714057 meters Centerline goodness : 0.991281 with order 1 Centerline is valid? [True, True] Translation: X:691.87, Y:-41.86, Z:3.78 [[ 9.98078867e-01 6.16916201e-02 -5.72009913e-03 6.91866166e+02] [-6.16904339e-02 9.98095258e-01 3.83746500e-04 -4.18623125e+01] [ 5.73287776e-03 -3.01338747e-05 9.99983566e-01 3.78037690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.860714057 meters Centerline goodness : 0.992770 with order 1 Centerline is valid? [True, True] Translation: X:691.92, Y:-41.88, Z:3.78 [[ 9.97936243e-01 6.39572898e-02 -5.72014489e-03 6.91923834e+02] [-6.39561448e-02 9.97952637e-01 3.83063219e-04 -4.18751135e+01] [ 5.73293336e-03 -1.64342547e-05 9.99983566e-01 3.78073424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.920714057 meters Centerline goodness : 0.993302 with order 1 Centerline is valid? [True, True] Translation: X:691.98, Y:-41.89, Z:3.78 [[ 9.97678958e-01 6.78526034e-02 -5.72017174e-03 6.91980470e+02] [-6.78515247e-02 9.97695356e-01 3.82661786e-04 -4.18920394e+01] [ 5.73295339e-03 6.34876253e-06 9.99983566e-01 3.78285419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.980714057 meters Centerline goodness : 0.994711 with order 1 Centerline is valid? [True, True] Translation: X:692.04, Y:-41.90, Z:3.78 [[ 9.97687510e-01 6.77267453e-02 -5.72021324e-03 6.92037166e+02] [-6.77256681e-02 9.97703908e-01 3.82040514e-04 -4.19029972e+01] [ 5.73295346e-03 6.24821406e-06 9.99983566e-01 3.78456893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0407140570001 meters Centerline goodness : 0.995980 with order 1 Centerline is valid? [True, True] Translation: X:692.09, Y:-41.92, Z:3.79 [[ 9.97472294e-01 7.08258496e-02 -5.72026084e-03 6.92094402e+02] [-7.08248274e-02 9.97488696e-01 3.81326428e-04 -4.19152257e+01] [ 5.73290329e-03 2.47739396e-05 9.99983566e-01 3.78593817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.100714057 meters Centerline goodness : 0.996825 with order 1 Centerline is valid? [True, True] Translation: X:692.15, Y:-41.93, Z:3.79 [[ 9.97134176e-01 7.54368135e-02 -5.72030172e-03 6.92151780e+02] [-7.54358706e-02 9.97150583e-01 3.80712142e-04 -4.19325070e+01] [ 5.73272191e-03 5.18948525e-05 9.99983566e-01 3.78810337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1607140570001 meters Centerline goodness : 0.998087 with order 1 Centerline is valid? [True, True] Translation: X:692.21, Y:-41.95, Z:3.79 [[ 9.96950788e-01 7.78228967e-02 -5.72034337e-03 6.92209513e+02] [-7.78219967e-02 9.96967197e-01 3.80085323e-04 -4.19510594e+01] [ 5.73257404e-03 6.62421805e-05 9.99983566e-01 3.79059959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.220714057 meters Centerline goodness : 0.998093 with order 1 Centerline is valid? [True, True] Translation: X:692.27, Y:-41.97, Z:3.79 [[ 9.96909123e-01 7.83548235e-02 -5.72037080e-03 6.92267679e+02] [-7.83539346e-02 9.96925532e-01 3.79672073e-04 -4.19663362e+01] [ 5.73253284e-03 6.97150065e-05 9.99983566e-01 3.79093134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2807140570001 meters Centerline goodness : 0.998759 with order 1 Centerline is valid? [True, True] Translation: X:692.33, Y:-41.99, Z:3.79 [[ 9.96896301e-01 7.85177871e-02 -5.72039807e-03 6.92325072e+02] [-7.85169033e-02 9.96912710e-01 3.79260699e-04 -4.19874758e+01] [ 5.73251626e-03 7.10643546e-05 9.99983566e-01 3.79103086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.340714057 meters Centerline goodness : 0.998937 with order 1 Centerline is valid? [True, True] Translation: X:692.38, Y:-42.01, Z:3.79 [[ 9.96771364e-01 8.00882277e-02 -5.72042505e-03 6.92382900e+02] [-8.00873721e-02 9.96787775e-01 3.78853411e-04 -4.20105019e+01] [ 5.73239146e-03 8.05035778e-05 9.99983566e-01 3.79002524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4007140570001 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:692.44, Y:-42.03, Z:3.79 [[ 9.96694892e-01 8.10343602e-02 -5.72047913e-03 6.92440579e+02] [-8.10335249e-02 9.96711305e-01 3.78035050e-04 -4.20310257e+01] [ 5.73230004e-03 8.67649847e-05 9.99983566e-01 3.79357618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.460714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.50, Y:-42.05, Z:3.80 [[ 9.96686630e-01 8.11359187e-02 -5.72051224e-03 6.92499574e+02] [-8.11350879e-02 9.96703043e-01 3.77533405e-04 -4.20515763e+01] [ 5.73228347e-03 8.78517655e-05 9.99983566e-01 3.79528404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.520714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.56, Y:-42.07, Z:3.80 [[ 9.96886089e-01 7.86473259e-02 -5.72051224e-03 6.92560067e+02] [-7.86464541e-02 9.96902499e-01 3.77533405e-04 -4.20667892e+01] [ 5.73248494e-03 7.35402034e-05 9.99983566e-01 3.79542923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.580714057 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:692.62, Y:-42.09, Z:3.80 [[ 9.97363661e-01 7.23394976e-02 -5.72049865e-03 6.92620215e+02] [-7.23385209e-02 9.97380066e-01 3.77739209e-04 -4.20871965e+01] [ 5.73283678e-03 3.70690505e-05 9.99983566e-01 3.79624334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.640714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.68, Y:-42.11, Z:3.80 [[ 9.98047358e-01 6.21992571e-02 -5.72048167e-03 6.92681047e+02] [-6.21981122e-02 9.98063751e-01 3.77996059e-04 -4.21056994e+01] [ 5.73291647e-03 -2.14548072e-05 9.99983566e-01 3.79701138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.700714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.74, Y:-42.12, Z:3.80 [[ 9.98636407e-01 5.18903107e-02 -5.72035861e-03 6.92743072e+02] [-5.18889860e-02 9.98652787e-01 3.79849381e-04 -4.21233436e+01] [ 5.73236257e-03 -8.25078130e-05 9.99983566e-01 3.79708355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.760714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.81, Y:-42.14, Z:3.80 [[ 9.99164106e-01 4.04767682e-02 -5.72024941e-03 6.92805118e+02] [-4.04752471e-02 9.99180469e-01 3.81486789e-04 -4.21381979e+01] [ 5.73100284e-03 -1.49639398e-04 9.99983566e-01 3.79676270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.820714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.87, Y:-42.15, Z:3.80 [[ 9.99393296e-01 3.43557718e-02 -5.72014076e-03 6.92866789e+02] [-3.43541412e-02 9.99409649e-01 3.83109050e-04 -4.21469370e+01] [ 5.72992587e-03 -1.86366093e-04 9.99983566e-01 3.79700952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.880714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.93, Y:-42.15, Z:3.80 [[ 9.99609718e-01 2.73439781e-02 -5.72004581e-03 6.92927456e+02] [-2.73422248e-02 9.99626058e-01 3.84521513e-04 -4.21539171e+01] [ 5.72842119e-03 -2.27972663e-04 9.99983566e-01 3.79974341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.940714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.99, Y:-42.16, Z:3.80 [[ 9.99734082e-01 2.23393575e-02 -5.72003214e-03 6.92987672e+02] [-2.23375211e-02 9.99750412e-01 3.84724765e-04 -4.21567948e+01] [ 5.72719899e-03 -2.56851121e-04 9.99983566e-01 3.80275157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.000714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.05, Y:-42.16, Z:3.80 [[ 9.99800784e-01 1.91226058e-02 -5.72000083e-03 6.93048803e+02] [-1.91207143e-02 9.99817108e-01 3.85189594e-04 -4.21559421e+01] [ 5.72632052e-03 -2.75742356e-04 9.99983566e-01 3.80208509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.060714057 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:693.11, Y:-42.15, Z:3.81 [[ 9.99841967e-01 1.68321679e-02 -5.72000083e-03 6.93109889e+02] [-1.68302390e-02 9.99858287e-01 3.85189594e-04 -4.21526275e+01] [ 5.72567381e-03 -2.88859740e-04 9.99983566e-01 3.80746266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.120714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.17, Y:-42.15, Z:3.81 [[ 9.99856446e-01 1.59489520e-02 -5.72000083e-03 6.93170195e+02] [-1.59470087e-02 9.99872764e-01 3.85189594e-04 -4.21498994e+01] [ 5.72541641e-03 -2.93917395e-04 9.99983566e-01 3.80733038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.180714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.23, Y:-42.14, Z:3.81 [[ 9.99795277e-01 1.94083694e-02 -5.72001844e-03 6.93229221e+02] [-1.94064840e-02 9.99811602e-01 3.84928022e-04 -4.21427967e+01] [ 5.72641162e-03 -2.73843772e-04 9.99983566e-01 3.80683308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.240714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.29, Y:-42.14, Z:3.81 [[ 9.99713287e-01 2.32513451e-02 -5.72003281e-03 6.93289286e+02] [-2.32495238e-02 9.99729619e-01 3.84714295e-04 -4.21387025e+01] [ 5.72743135e-03 -2.51615954e-04 9.99983566e-01 3.80579292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.300714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.35, Y:-42.13, Z:3.80 [[ 9.99574168e-01 2.86140567e-02 -5.72004647e-03 6.93349526e+02] [-2.86123241e-02 9.99590510e-01 3.84511056e-04 -4.21311754e+01] [ 5.72870659e-03 -2.20683495e-04 9.99983566e-01 3.80365858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.360714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.41, Y:-42.12, Z:3.80 [[ 9.99404372e-01 3.40320740e-02 -5.72005998e-03 6.93410219e+02] [-3.40304312e-02 9.99420723e-01 3.84310082e-04 -4.21243367e+01] [ 5.72982535e-03 -1.89425069e-04 9.99983566e-01 3.80364203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.420714057 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:693.47, Y:-42.12, Z:3.80 [[ 9.99095832e-01 4.21283701e-02 -5.72007383e-03 6.93470854e+02] [-4.21268610e-02 9.99112196e-01 3.84103761e-04 -4.21173433e+01] [ 5.73117719e-03 -1.42787711e-04 9.99983566e-01 3.80479145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.480714057 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:693.53, Y:-42.12, Z:3.81 [[ 9.98965557e-01 4.51120524e-02 -5.72008782e-03 6.93530887e+02] [-4.51105934e-02 9.98981925e-01 3.83895251e-04 -4.21181134e+01] [ 5.73158265e-03 -1.25461578e-04 9.99983566e-01 3.80586850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5407140570001 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:693.59, Y:-42.11, Z:3.81 [[ 9.98539755e-01 5.37181293e-02 -5.72010147e-03 6.93590140e+02] [-5.37168125e-02 9.98556136e-01 3.83691839e-04 -4.21131686e+01] [ 5.73245363e-03 -7.58659371e-05 9.99983566e-01 3.80872233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.600714057 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:693.65, Y:-42.11, Z:3.81 [[ 9.98209203e-01 5.95454971e-02 -5.72012855e-03 6.93650182e+02] [-5.95442783e-02 9.98225592e-01 3.83287741e-04 -4.21095809e+01] [ 5.73280176e-03 -4.20004246e-05 9.99983566e-01 3.80910007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6607140570001 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:693.71, Y:-42.11, Z:3.81 [[ 9.98049568e-01 6.21638168e-02 -5.72014236e-03 6.93709618e+02] [-6.21626422e-02 9.98065959e-01 3.83081505e-04 -4.21102876e+01] [ 5.73289318e-03 -2.67551683e-05 9.99983566e-01 3.80925856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.720714057 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:693.77, Y:-42.11, Z:3.81 [[ 9.97803128e-01 6.60014957e-02 -5.72015610e-03 6.93768286e+02] [-6.60003853e-02 9.97819524e-01 3.82876118e-04 -4.21099463e+01] [ 5.73295384e-03 -4.50248104e-06 9.99983566e-01 3.80878175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7807140570001 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:693.83, Y:-42.11, Z:3.81 [[ 9.97600064e-01 6.90028339e-02 -5.72018377e-03 6.93826929e+02] [-6.90017753e-02 9.97616464e-01 3.82462310e-04 -4.21115900e+01] [ 5.73294049e-03 1.31584100e-05 9.99983566e-01 3.80655588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.840714057 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:693.89, Y:-42.12, Z:3.81 [[ 9.97509534e-01 7.02994265e-02 -5.72021121e-03 6.93885794e+02] [-7.02983915e-02 9.97525935e-01 3.82051513e-04 -4.21162418e+01] [ 5.73291704e-03 2.10216200e-05 9.99983566e-01 3.80524293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9007140570001 meters Centerline goodness : 0.998915 with order 1 Centerline is valid? [True, True] Translation: X:693.94, Y:-42.12, Z:3.81 [[ 9.97590529e-01 6.91405450e-02 -5.72025517e-03 6.93944510e+02] [-6.91394947e-02 9.97606929e-01 3.81392153e-04 -4.21223953e+01] [ 5.73293586e-03 1.50223523e-05 9.99983566e-01 3.80535891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.960714057 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:694.00, Y:-42.13, Z:3.81 [[ 9.97919042e-01 6.42251085e-02 -5.72026918e-03 6.94003557e+02] [-6.42239786e-02 9.97935436e-01 3.81181949e-04 -4.21310668e+01] [ 5.73294077e-03 -1.30102803e-05 9.99983566e-01 3.80605759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.020714057 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:694.06, Y:-42.14, Z:3.81 [[ 9.98398025e-01 5.62908631e-02 -5.72028265e-03 6.94062567e+02] [-5.62896042e-02 9.98414411e-01 3.80979630e-04 -4.21428658e+01] [ 5.73265831e-03 -5.83768646e-05 9.99983566e-01 3.80794947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.080714057 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:694.12, Y:-42.15, Z:3.81 [[ 9.98689738e-01 5.08535650e-02 -5.72029660e-03 6.94122225e+02] [-5.08522180e-02 9.98706116e-01 3.80770126e-04 -4.21522825e+01] [ 5.73225872e-03 -8.93814481e-05 9.99983566e-01 3.80945211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.140714057 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:694.18, Y:-42.16, Z:3.81 [[ 9.98781782e-01 4.90125403e-02 -5.72032548e-03 6.94181002e+02] [-4.90111656e-02 9.98798158e-01 3.80335814e-04 -4.21620052e+01] [ 5.73209177e-03 -9.95126630e-05 9.99983566e-01 3.81207505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.200714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.24, Y:-42.17, Z:3.81 [[ 9.98874675e-01 4.70814304e-02 -5.72034293e-03 6.94241251e+02] [-4.70800255e-02 9.98891048e-01 3.80073134e-04 -4.21693734e+01] [ 5.73189373e-03 -1.10331537e-04 9.99983566e-01 3.81281179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.260714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.30, Y:-42.18, Z:3.81 [[ 9.98976986e-01 4.48582161e-02 -5.72034293e-03 6.94300151e+02] [-4.48567748e-02 9.98993356e-01 3.80073134e-04 -4.21768762e+01] [ 5.73163398e-03 -1.23088179e-04 9.99983566e-01 3.81324760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.320714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.36, Y:-42.19, Z:3.82 [[ 9.99082770e-01 4.24369783e-02 -5.72035640e-03 6.94360059e+02] [-4.24354985e-02 9.99099136e-01 3.79870328e-04 -4.21864107e+01] [ 5.73132368e-03 -1.36775725e-04 9.99983566e-01 3.81968717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.380714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.42, Y:-42.19, Z:3.81 [[ 9.99306606e-01 3.67911041e-02 -5.72035640e-03 6.94419019e+02] [-3.67895318e-02 9.99322964e-01 3.79870328e-04 -4.21894792e+01] [ 5.73045936e-03 -1.69157695e-04 9.99983566e-01 3.80932984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.440714057 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:694.48, Y:-42.19, Z:3.81 [[ 9.99523466e-01 3.03334577e-02 -5.72037062e-03 6.94479228e+02] [-3.03317810e-02 9.99539814e-01 3.79656024e-04 -4.21940902e+01] [ 5.72925446e-03 -2.05966076e-04 9.99983566e-01 3.81101865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.500714057 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:694.54, Y:-42.20, Z:3.81 [[ 9.99637423e-01 2.63115874e-02 -5.72037062e-03 6.94539106e+02] [-2.63098450e-02 9.99653764e-01 3.79656024e-04 -4.21974744e+01] [ 5.72837937e-03 -2.29016306e-04 9.99983566e-01 3.81219793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.560714057 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:694.60, Y:-42.20, Z:3.81 [[ 9.99784538e-01 1.99538291e-02 -5.72037725e-03 6.94598735e+02] [-1.99519833e-02 9.99800867e-01 3.79556070e-04 -4.21976171e+01] [ 5.72681174e-03 -2.65341418e-04 9.99983566e-01 3.81195846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.620714057 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:694.66, Y:-42.20, Z:3.81 [[ 9.99872731e-01 1.48928977e-02 -5.72039060e-03 6.94658958e+02] [-1.48909704e-02 9.99889051e-01 3.79354814e-04 -4.21964824e+01] [ 5.72540562e-03 -2.94124367e-04 9.99983566e-01 3.81480019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.680714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.72, Y:-42.19, Z:3.81 [[ 9.99902752e-01 1.27186288e-02 -5.72039992e-03 6.94718379e+02] [-1.27166668e-02 9.99919068e-01 3.79214246e-04 -4.21941965e+01] [ 5.72476004e-03 -3.06432948e-04 9.99983566e-01 3.81261005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.740714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.78, Y:-42.19, Z:3.81 [[ 9.99882684e-01 1.42089569e-02 -5.72042787e-03 6.94777734e+02] [-1.42070217e-02 9.99899003e-01 3.78792089e-04 -4.21925933e+01] [ 5.72523237e-03 -2.97477408e-04 9.99983566e-01 3.81273550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.800714057 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:694.84, Y:-42.19, Z:3.81 [[ 9.99809400e-01 1.86665318e-02 -5.72045573e-03 6.94836477e+02] [-1.86646717e-02 9.99825728e-01 3.78370919e-04 -4.21869509e+01] [ 5.72652169e-03 -2.71528373e-04 9.99983566e-01 3.81284036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.860714057 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:694.90, Y:-42.18, Z:3.81 [[ 9.99585621e-01 2.82110158e-02 -5.72050560e-03 6.94896124e+02] [-2.82093161e-02 9.99601967e-01 3.77615425e-04 -4.21817209e+01] [ 5.72888156e-03 -2.16087399e-04 9.99983566e-01 3.81231245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.920714057 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:694.96, Y:-42.18, Z:3.81 [[ 9.99256717e-01 3.81220159e-02 -5.72053963e-03 6.94955789e+02] [-3.81204813e-02 9.99273079e-01 3.77099143e-04 -4.21764697e+01] [ 5.73075703e-03 -1.58749127e-04 9.99983566e-01 3.81050370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.980714057 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:695.01, Y:-42.17, Z:3.81 [[ 9.98941148e-01 4.56493006e-02 -5.72057547e-03 6.95013843e+02] [-4.56478924e-02 9.98957521e-01 3.76554702e-04 -4.21725796e+01] [ 5.73180135e-03 -1.15023773e-04 9.99983566e-01 3.81137864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0407140570001 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:695.07, Y:-42.17, Z:3.81 [[ 9.98794063e-01 4.87616033e-02 -5.72060918e-03 6.95072752e+02] [-4.87602490e-02 9.98810441e-01 3.76041834e-04 -4.21706828e+01] [ 5.73214058e-03 -9.66500233e-05 9.99983566e-01 3.81227010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.100714057 meters Centerline goodness : 0.998494 with order 1 Centerline is valid? [True, True] Translation: X:695.13, Y:-42.17, Z:3.81 [[ 9.98754989e-01 4.95554803e-02 -5.72063638e-03 6.95130760e+02] [-4.95541415e-02 9.98771368e-01 3.75627641e-04 -4.21723087e+01] [ 5.73222223e-03 -9.16787555e-05 9.99983566e-01 3.81369986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1607140570001 meters Centerline goodness : 0.997839 with order 1 Centerline is valid? [True, True] Translation: X:695.19, Y:-42.17, Z:3.81 [[ 9.98715033e-01 5.03543049e-02 -5.72067429e-03 6.95189765e+02] [-5.03529824e-02 9.98731414e-01 3.75049406e-04 -4.21743024e+01] [ 5.73230247e-03 -8.65144681e-05 9.99983566e-01 3.81269896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.220714057 meters Centerline goodness : 0.997882 with order 1 Centerline is valid? [True, True] Translation: X:695.25, Y:-42.18, Z:3.81 [[ 9.98665553e-01 5.13262837e-02 -5.72070138e-03 6.95247046e+02] [-5.13249796e-02 9.98681934e-01 3.74635737e-04 -4.21780072e+01] [ 5.73238978e-03 -8.05209237e-05 9.99983566e-01 3.81202434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2807140570001 meters Centerline goodness : 0.998232 with order 1 Centerline is valid? [True, True] Translation: X:695.31, Y:-42.18, Z:3.81 [[ 9.98667359e-01 5.12911140e-02 -5.72073465e-03 6.95305613e+02] [-5.12898123e-02 9.98683741e-01 3.74127040e-04 -4.21848718e+01] [ 5.73239407e-03 -8.02130565e-05 9.99983566e-01 3.81193704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.340714057 meters Centerline goodness : 0.997495 with order 1 Centerline is valid? [True, True] Translation: X:695.36, Y:-42.19, Z:3.81 [[ 9.98715349e-01 5.03480252e-02 -5.72076096e-03 6.95364379e+02] [-5.03467103e-02 9.98731730e-01 3.73724319e-04 -4.21898421e+01] [ 5.73232177e-03 -8.52227190e-05 9.99983566e-01 3.81179883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4007140570001 meters Centerline goodness : 0.998175 with order 1 Centerline is valid? [True, True] Translation: X:695.42, Y:-42.20, Z:3.81 [[ 9.98920343e-01 4.61022773e-02 -5.72078733e-03 6.95422268e+02] [-4.61008951e-02 9.98936719e-01 3.73320174e-04 -4.21980865e+01] [ 5.73191543e-03 -1.09183700e-04 9.99983566e-01 3.81207706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.460714057 meters Centerline goodness : 0.998678 with order 1 Centerline is valid? [True, True] Translation: X:695.48, Y:-42.21, Z:3.81 [[ 9.99140656e-01 4.10514559e-02 -5.72080665e-03 6.95481022e+02] [-4.10499926e-02 9.99157024e-01 3.73023849e-04 -4.22060275e+01] [ 5.73129732e-03 -1.37864222e-04 9.99983566e-01 3.81203117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.520714057 meters Centerline goodness : 0.998787 with order 1 Centerline is valid? [True, True] Translation: X:695.54, Y:-42.21, Z:3.81 [[ 9.99367644e-01 3.50939381e-02 -5.72082028e-03 6.95539403e+02] [-3.50923784e-02 9.99384003e-01 3.72814670e-04 -4.22143728e+01] [ 5.73037981e-03 -1.71821729e-04 9.99983566e-01 3.81283125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.580714057 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:695.60, Y:-42.22, Z:3.81 [[ 9.99524686e-01 3.02931370e-02 -5.72084709e-03 6.95599156e+02] [-3.02915011e-02 9.99541038e-01 3.72402873e-04 -4.22213451e+01] [ 5.72950269e-03 -1.98932818e-04 9.99983566e-01 3.81451493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.640714057 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:695.66, Y:-42.23, Z:3.82 [[ 9.99741896e-01 2.19866449e-02 -5.72086025e-03 6.95658781e+02] [-2.19848744e-02 9.99758234e-01 3.72200618e-04 -4.22293026e+01] [ 5.72766058e-03 -2.46332157e-04 9.99983566e-01 3.81570058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.700714057 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:695.72, Y:-42.24, Z:3.81 [[ 9.99908196e-01 1.22829497e-02 -5.72087355e-03 6.95716882e+02] [-1.22810218e-02 9.99924516e-01 3.71996132e-04 -4.22356169e+01] [ 5.72501092e-03 -3.01703809e-04 9.99983566e-01 3.81494091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.760714057 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:695.78, Y:-42.24, Z:3.81 [[ 9.99961000e-01 6.72833013e-03 -5.72091773e-03 6.95776068e+02] [-6.72631553e-03 9.99977309e-01 3.71315346e-04 -4.22406532e+01] [ 5.72328625e-03 -3.32820167e-04 9.99983566e-01 3.81391582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.820714057 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:695.83, Y:-42.24, Z:3.81 [[ 9.99983075e-01 1.05866818e-03 -5.72093112e-03 6.95833932e+02] [-1.05656231e-03 9.99999373e-01 3.71108907e-04 -4.22444799e+01] [ 5.72132042e-03 -3.65058105e-04 9.99983566e-01 3.81410010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.880714057 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:695.89, Y:-42.25, Z:3.81 [[ 9.99981777e-01 -1.92760441e-03 -5.72096407e-03 6.95892937e+02] [ 1.92975605e-03 9.99998069e-01 3.70600240e-04 -4.22451096e+01] [ 5.72023866e-03 -3.81633551e-04 9.99983566e-01 3.81459794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.940714057 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:695.95, Y:-42.25, Z:3.82 [[ 9.99973927e-01 -4.40636648e-03 -5.72099010e-03 6.95950436e+02] [ 4.40855621e-03 9.99990214e-01 3.70198043e-04 -4.22450241e+01] [ 5.71930288e-03 -3.95409698e-04 9.99983566e-01 3.81549045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.000714057 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:696.01, Y:-42.24, Z:3.81 [[ 9.99968118e-01 -5.57079488e-03 -5.72102210e-03 6.96009402e+02] [ 5.57300075e-03 9.99984402e-01 3.69702827e-04 -4.22449060e+01] [ 5.71887333e-03 -4.01574300e-04 9.99983566e-01 3.81476079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.060714057 meters Centerline goodness : 0.998684 with order 1 Centerline is valid? [True, True] Translation: X:696.07, Y:-42.24, Z:3.81 [[ 9.99957370e-01 -7.24748940e-03 -5.72111334e-03 6.96067706e+02] [ 7.24971451e-03 9.99973653e-01 3.68285516e-04 -4.22407397e+01] [ 5.71829346e-03 -4.09746254e-04 9.99983566e-01 3.81429418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.120714057 meters Centerline goodness : 0.998592 with order 1 Centerline is valid? [True, True] Translation: X:696.13, Y:-42.24, Z:3.81 [[ 9.99952637e-01 -7.87356921e-03 -5.72114535e-03 6.96127327e+02] [ 7.87580168e-03 9.99968918e-01 3.67787606e-04 -4.22362164e+01] [ 5.71807172e-03 -4.12828792e-04 9.99983566e-01 3.81462774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.180714057 meters Centerline goodness : 0.998110 with order 1 Centerline is valid? [True, True] Translation: X:696.19, Y:-42.23, Z:3.82 [[ 9.99950936e-01 -8.08659568e-03 -5.72123821e-03 6.96186554e+02] [ 8.08882335e-03 9.99967218e-01 3.66337256e-04 -4.22295245e+01] [ 5.71808824e-03 -4.12597367e-04 9.99983566e-01 3.81596587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.240714057 meters Centerline goodness : 0.997093 with order 1 Centerline is valid? [True, True] Translation: X:696.25, Y:-42.22, Z:3.81 [[ 9.99955877e-01 -7.45051909e-03 -5.72133084e-03 6.96245755e+02] [ 7.45272814e-03 9.99972161e-01 3.64884874e-04 -4.22205522e+01] [ 5.71845299e-03 -4.07508297e-04 9.99983566e-01 3.81461413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.300714057 meters Centerline goodness : 0.996377 with order 1 Centerline is valid? [True, True] Translation: X:696.31, Y:-42.22, Z:3.81 [[ 9.99962866e-01 -6.44459980e-03 -5.72142336e-03 6.96305150e+02] [ 6.44678418e-03 9.99979153e-01 3.63428433e-04 -4.22160096e+01] [ 5.71896193e-03 -4.00299719e-04 9.99983566e-01 3.81478001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.360714057 meters Centerline goodness : 0.995493 with order 1 Centerline is valid? [True, True] Translation: X:696.36, Y:-42.20, Z:3.81 [[ 9.99975955e-01 -3.91836747e-03 -5.72144285e-03 6.96364977e+02] [ 3.92050894e-03 9.99992249e-01 3.63121259e-04 -4.22049919e+01] [ 5.71997566e-03 -3.85543496e-04 9.99983566e-01 3.81329275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.420714057 meters Centerline goodness : 0.994507 with order 1 Centerline is valid? [True, True] Translation: X:696.42, Y:-42.20, Z:3.81 [[ 9.99982091e-01 -1.75541014e-03 -5.72153072e-03 6.96424557e+02] [ 1.75750845e-03 9.99998390e-01 3.61731406e-04 -4.21982094e+01] [ 5.72088652e-03 -3.71780566e-04 9.99983566e-01 3.81218539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.480714057 meters Centerline goodness : 0.993149 with order 1 Centerline is valid? [True, True] Translation: X:696.48, Y:-42.19, Z:3.81 [[ 9.99983586e-01 3.00343598e-04 -5.72161984e-03 6.96484650e+02] [-2.98286868e-04 9.99999891e-01 3.60316199e-04 -4.21863238e+01] [ 5.72172744e-03 -3.58603601e-04 9.99983566e-01 3.81297981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5407140570001 meters Centerline goodness : 0.991422 with order 1 Centerline is valid? [True, True] Translation: X:696.54, Y:-42.17, Z:3.81 [[ 9.99983621e-01 -1.42831635e-04 -5.72170908e-03 6.96543734e+02] [ 1.44887483e-04 9.99999925e-01 3.58893608e-04 -4.21742363e+01] [ 5.72165739e-03 -3.59716734e-04 9.99983566e-01 3.81287395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.600714057 meters Centerline goodness : 0.989440 with order 1 Centerline is valid? [True, True] Translation: X:696.60, Y:-42.16, Z:3.81 [[ 9.99982692e-01 -1.36986712e-03 -5.72174031e-03 6.96602962e+02] [ 1.37194013e-03 9.99998995e-01 3.58394983e-04 -4.21624063e+01] [ 5.72124360e-03 -3.66238665e-04 9.99983566e-01 3.80946932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6607140570001 meters Centerline goodness : 0.987833 with order 1 Centerline is valid? [True, True] Translation: X:696.66, Y:-42.16, Z:3.82 [[ 9.99982142e-01 -1.72562000e-03 -5.72176569e-03 6.96661726e+02] [ 1.72769650e-03 9.99998443e-01 3.57989296e-04 -4.21576807e+01] [ 5.72113903e-03 -3.67868377e-04 9.99983566e-01 3.81724633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.720714057 meters Centerline goodness : 0.985661 with order 1 Centerline is valid? [True, True] Translation: X:696.72, Y:-42.15, Z:3.82 [[ 9.99983161e-01 -9.69351842e-04 -5.72179360e-03 6.96721334e+02] [ 9.71413466e-04 9.99999464e-01 3.57542665e-04 -4.21464984e+01] [ 5.72144395e-03 -3.63094871e-04 9.99983566e-01 3.81960993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7807140570001 meters Centerline goodness : 0.984381 with order 1 Centerline is valid? [True, True] Translation: X:696.78, Y:-42.14, Z:3.82 [[ 9.99980141e-01 2.64152808e-03 -5.72189045e-03 6.96780862e+02] [-2.63953422e-03 9.99996453e-01 3.55985911e-04 -4.21367579e+01] [ 5.72281050e-03 -3.40875716e-04 9.99983566e-01 3.82103215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.840714057 meters Centerline goodness : 0.986787 with order 1 Centerline is valid? [True, True] Translation: X:696.84, Y:-42.13, Z:3.81 [[ 9.99966712e-01 5.81673944e-03 -5.72191069e-03 6.96839843e+02] [-5.81479924e-03 9.99983031e-01 3.55660290e-04 -4.21270354e+01] [ 5.72388238e-03 -3.22376688e-04 9.99983566e-01 3.81091969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9007140570001 meters Centerline goodness : 0.982852 with order 1 Centerline is valid? [True, True] Translation: X:696.90, Y:-42.13, Z:3.81 [[ 9.99956598e-01 7.35261922e-03 -5.72196004e-03 6.96898636e+02] [-7.35070863e-03 9.99972920e-01 3.54864618e-04 -4.21289568e+01] [ 5.72441427e-03 -3.12788755e-04 9.99983566e-01 3.81430639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.960714057 meters Centerline goodness : 0.980789 with order 1 Centerline is valid? [True, True] Translation: X:696.96, Y:-42.13, Z:3.81 [[ 9.99971989e-01 4.82486788e-03 -5.72198511e-03 6.96956443e+02] [-4.82291834e-03 9.99988307e-01 3.54459842e-04 -4.21269909e+01] [ 5.72362843e-03 -3.26853247e-04 9.99983566e-01 3.81126576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.020714057 meters Centerline goodness : 0.982388 with order 1 Centerline is valid? [True, True] Translation: X:697.02, Y:-42.12, Z:3.81 [[ 9.99982206e-01 1.68710491e-03 -5.72201578e-03 6.97015226e+02] [-1.68510700e-03 9.99998518e-01 3.53964086e-04 -4.21233899e+01] [ 5.72260447e-03 -3.44315579e-04 9.99983566e-01 3.81120616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.080714057 meters Centerline goodness : 0.979388 with order 1 Centerline is valid? [True, True] Translation: X:697.07, Y:-42.12, Z:3.81 [[ 9.99982310e-01 -1.62390580e-03 -5.72204106e-03 6.97073081e+02] [ 1.62595537e-03 9.99998616e-01 3.53555015e-04 -4.21177047e+01] [ 5.72145899e-03 -3.62852544e-04 9.99983566e-01 3.81369312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.140714057 meters Centerline goodness : 0.981268 with order 1 Centerline is valid? [True, True] Translation: X:697.13, Y:-42.12, Z:3.81 [[ 9.99982367e-01 1.58883753e-03 -5.72207221e-03 6.97132031e+02] [-1.58684323e-03 9.99998679e-01 3.53050103e-04 -4.21168280e+01] [ 5.72262559e-03 -3.43963846e-04 9.99983566e-01 3.81404244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.200714057 meters Centerline goodness : 0.979896 with order 1 Centerline is valid? [True, True] Translation: X:697.19, Y:-42.11, Z:3.81 [[ 9.99953999e-01 7.69784322e-03 -5.72215670e-03 6.97190132e+02] [-7.69595646e-03 9.99970324e-01 3.51675281e-04 -4.21126189e+01] [ 5.72469403e-03 -3.07621635e-04 9.99983566e-01 3.81339697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.260714057 meters Centerline goodness : 0.980544 with order 1 Centerline is valid? [True, True] Translation: X:697.25, Y:-42.11, Z:3.82 [[ 9.99889780e-01 1.36997747e-02 -5.72226392e-03 6.97247183e+02] [-1.36979959e-02 9.99906117e-01 3.49921922e-04 -4.21112217e+01] [ 5.72652055e-03 -2.71499806e-04 9.99983566e-01 3.81563925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.320714057 meters Centerline goodness : 0.980851 with order 1 Centerline is valid? [True, True] Translation: X:697.31, Y:-42.11, Z:3.81 [[ 9.99734401e-01 2.23244729e-02 -5.72233667e-03 6.97305050e+02] [-2.23228420e-02 9.99750754e-01 3.48728230e-04 -4.21095098e+01] [ 5.72869557e-03 -2.20896791e-04 9.99983566e-01 3.81339577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.380714057 meters Centerline goodness : 0.981874 with order 1 Centerline is valid? [True, True] Translation: X:697.36, Y:-42.11, Z:3.82 [[ 9.99651638e-01 2.57653995e-02 -5.72244176e-03 6.97363246e+02] [-2.57638348e-02 9.99667997e-01 3.46995103e-04 -4.21084437e+01] [ 5.72948236e-03 -1.99442179e-04 9.99983566e-01 3.81560540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.440714057 meters Centerline goodness : 0.982343 with order 1 Centerline is valid? [True, True] Translation: X:697.42, Y:-42.11, Z:3.81 [[ 9.99566561e-01 2.88780766e-02 -5.72248746e-03 6.97421813e+02] [-2.88765671e-02 9.99582925e-01 3.46239744e-04 -4.21083487e+01] [ 5.73009950e-03 -1.80843877e-04 9.99983566e-01 3.81443094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.500714057 meters Centerline goodness : 0.982653 with order 1 Centerline is valid? [True, True] Translation: X:697.48, Y:-42.11, Z:3.81 [[ 9.99497671e-01 3.11714310e-02 -5.72251163e-03 6.97479217e+02] [-3.11699614e-02 9.99514039e-01 3.45839960e-04 -4.21121179e+01] [ 5.73051103e-03 -1.67295768e-04 9.99983566e-01 3.81016119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.560714057 meters Centerline goodness : 0.982566 with order 1 Centerline is valid? [True, True] Translation: X:697.54, Y:-42.12, Z:3.81 [[ 9.99353848e-01 3.54843427e-02 -5.72255018e-03 6.97537089e+02] [-3.54829474e-02 9.99370222e-01 3.45200754e-04 -4.21166576e+01] [ 5.73119547e-03 -1.41924755e-04 9.99983566e-01 3.80952475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.620714057 meters Centerline goodness : 0.984646 with order 1 Centerline is valid? [True, True] Translation: X:697.60, Y:-42.12, Z:3.81 [[ 9.99428155e-01 3.33259006e-02 -5.72258176e-03 6.97595620e+02] [-3.33244729e-02 9.99444526e-01 3.44676494e-04 -4.21195400e+01] [ 5.73088967e-03 -1.53777371e-04 9.99983566e-01 3.80834026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.680714057 meters Centerline goodness : 0.982635 with order 1 Centerline is valid? [True, True] Translation: X:697.65, Y:-42.12, Z:3.81 [[ 9.99383050e-01 3.46521445e-02 -5.72260675e-03 6.97653752e+02] [-3.46507409e-02 9.99399423e-01 3.44261144e-04 -4.21242498e+01] [ 5.73109927e-03 -1.45756188e-04 9.99983566e-01 3.80891290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.740714057 meters Centerline goodness : 0.983082 with order 1 Centerline is valid? [True, True] Translation: X:697.71, Y:-42.13, Z:3.81 [[ 9.99403942e-01 3.40442724e-02 -5.72263130e-03 6.97710857e+02] [-3.40428613e-02 9.99420315e-01 3.43852457e-04 -4.21306139e+01] [ 5.73102019e-03 -1.48832758e-04 9.99983566e-01 3.80748598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.800714057 meters Centerline goodness : 0.989349 with order 1 Centerline is valid? [True, True] Translation: X:697.77, Y:-42.13, Z:3.80 [[ 9.99680819e-01 2.46071575e-02 -5.72266045e-03 6.97770437e+02] [-2.46055946e-02 9.99697178e-01 3.43366735e-04 -4.21274581e+01] [ 5.72937678e-03 -2.02447676e-04 9.99983566e-01 3.80054511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.860714057 meters Centerline goodness : 0.981615 with order 1 Centerline is valid? [True, True] Translation: X:697.83, Y:-42.13, Z:3.81 [[ 9.99737709e-01 2.21757496e-02 -5.72270062e-03 6.97829805e+02] [-2.21741508e-02 9.99754065e-01 3.42695838e-04 -4.21340658e+01] [ 5.72889275e-03 -2.15709926e-04 9.99983566e-01 3.81125322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.920714057 meters Centerline goodness : 0.988190 with order 1 Centerline is valid? [True, True] Translation: X:697.89, Y:-42.14, Z:3.80 [[ 9.99867633e-01 1.52304966e-02 -5.72270874e-03 6.97888360e+02] [-1.52287849e-02 9.99883977e-01 3.42560302e-04 -4.21401193e+01] [ 5.72726213e-03 -2.55365058e-04 9.99983566e-01 3.80270063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.980714057 meters Centerline goodness : 0.988754 with order 1 Centerline is valid? [True, True] Translation: X:697.95, Y:-42.15, Z:3.80 [[ 9.99954231e-01 7.66718352e-03 -5.72273307e-03 6.97946708e+02] [-7.66535060e-03 9.99970562e-01 3.42153274e-04 -4.21466700e+01] [ 5.72518796e-03 -2.98270859e-04 9.99983566e-01 3.79992622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0407140570001 meters Centerline goodness : 0.988538 with order 1 Centerline is valid? [True, True] Translation: X:698.01, Y:-42.15, Z:3.80 [[ 9.99983485e-01 5.28788771e-04 -5.72275794e-03 6.98005165e+02] [-5.26841690e-04 9.99999803e-01 3.41736800e-04 -4.21508248e+01] [ 5.72293752e-03 -3.38716169e-04 9.99983566e-01 3.79943194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.100714057 meters Centerline goodness : 0.986662 with order 1 Centerline is valid? [True, True] Translation: X:698.06, Y:-42.16, Z:3.81 [[ 9.99977693e-01 -3.44438820e-03 -5.72278251e-03 6.98064020e+02] [ 3.44639775e-03 9.99994003e-01 3.41324905e-04 -4.21554692e+01] [ 5.72157253e-03 -3.61040276e-04 9.99983566e-01 3.80933727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1607140570001 meters Centerline goodness : 0.989161 with order 1 Centerline is valid? [True, True] Translation: X:698.12, Y:-42.16, Z:3.80 [[ 9.99960409e-01 -6.81391947e-03 -5.72280369e-03 6.98123241e+02] [ 6.81598194e-03 9.99976713e-01 3.40969346e-04 -4.21554886e+01] [ 5.72034709e-03 -3.79962373e-04 9.99983566e-01 3.80165237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.220714057 meters Centerline goodness : 0.986328 with order 1 Centerline is valid? [True, True] Translation: X:698.18, Y:-42.16, Z:3.81 [[ 9.99939202e-01 -9.42563216e-03 -5.72281780e-03 6.98182612e+02] [ 9.42773585e-03 9.99955500e-01 3.40732445e-04 -4.21559301e+01] [ 5.71935151e-03 -3.94664943e-04 9.99983566e-01 3.80971333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2807140570001 meters Centerline goodness : 0.990411 with order 1 Centerline is valid? [True, True] Translation: X:698.24, Y:-42.15, Z:3.80 [[ 9.99939491e-01 -9.39484589e-03 -5.72282457e-03 6.98243104e+02] [ 9.39694844e-03 9.99955790e-01 3.40618706e-04 -4.21537687e+01] [ 5.71937150e-03 -3.94375183e-04 9.99983566e-01 3.80388969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.340714057 meters Centerline goodness : 0.990002 with order 1 Centerline is valid? [True, True] Translation: X:698.30, Y:-42.15, Z:3.80 [[ 9.99927993e-01 -1.05478492e-02 -5.72283141e-03 6.98302765e+02] [ 1.05499698e-02 9.99944290e-01 3.40503636e-04 -4.21526055e+01] [ 5.71892101e-03 -4.00854816e-04 9.99983566e-01 3.80472195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4007140570001 meters Centerline goodness : 0.985029 with order 1 Centerline is valid? [True, True] Translation: X:698.36, Y:-42.16, Z:3.81 [[ 9.99967038e-01 -5.75945448e-03 -5.72283745e-03 6.98363144e+02] [ 5.76149653e-03 9.99983345e-01 3.40402138e-04 -4.21607761e+01] [ 5.72078160e-03 -3.73363026e-04 9.99983566e-01 3.80997238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.460714057 meters Centerline goodness : 0.980564 with order 1 Centerline is valid? [True, True] Translation: X:698.42, Y:-42.15, Z:3.82 [[ 9.99930044e-01 -1.03515922e-02 -5.72282001e-03 6.98422513e+02] [ 1.03537107e-02 9.99946341e-01 3.40695044e-04 -4.21490981e+01] [ 5.71898620e-03 -3.99923633e-04 9.99983566e-01 3.81551887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.520714057 meters Centerline goodness : 0.985515 with order 1 Centerline is valid? [True, True] Translation: X:698.48, Y:-42.16, Z:3.81 [[ 9.99983037e-01 -1.08385326e-03 -5.72283692e-03 6.98482692e+02] [ 1.08581910e-03 9.99999353e-01 3.40410850e-04 -4.21565213e+01] [ 5.72246426e-03 -3.46619042e-04 9.99983566e-01 3.81406122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.580714057 meters Centerline goodness : 0.984172 with order 1 Centerline is valid? [True, True] Translation: X:698.54, Y:-42.16, Z:3.81 [[ 9.99982024e-01 1.78887988e-03 -5.72283692e-03 6.98541704e+02] [-1.78696093e-03 9.99998345e-01 3.40410850e-04 -4.21559644e+01] [ 5.72343640e-03 -3.30178245e-04 9.99983566e-01 3.81116980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.640714057 meters Centerline goodness : 0.991168 with order 1 Centerline is valid? [True, True] Translation: X:698.60, Y:-42.14, Z:3.80 [[ 9.99982161e-01 -1.71044256e-03 -5.72292516e-03 6.98600663e+02] [ 1.71241012e-03 9.99998476e-01 3.38920912e-04 -4.21447849e+01] [ 5.72233673e-03 -3.48714860e-04 9.99983566e-01 3.80174863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.700714057 meters Centerline goodness : 0.985519 with order 1 Centerline is valid? [True, True] Translation: X:698.66, Y:-42.15, Z:3.81 [[ 9.99939638e-01 9.37912326e-03 -5.72295606e-03 6.98659341e+02] [-9.37733974e-03 9.99955975e-01 3.38398306e-04 -4.21534820e+01] [ 5.72587798e-03 -2.84711776e-04 9.99983566e-01 3.81269609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.760714057 meters Centerline goodness : 0.985623 with order 1 Centerline is valid? [True, True] Translation: X:698.72, Y:-42.15, Z:3.81 [[ 9.99887740e-01 1.38475517e-02 -5.72304597e-03 6.98717118e+02] [-1.38458499e-02 9.99904085e-01 3.36870722e-04 -4.21530302e+01] [ 5.72716188e-03 -2.57592469e-04 9.99983566e-01 3.81064352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.820714057 meters Centerline goodness : 0.986039 with order 1 Centerline is valid? [True, True] Translation: X:698.78, Y:-42.15, Z:3.81 [[ 9.99859733e-01 1.57403718e-02 -5.72314874e-03 6.98775187e+02] [-1.57387110e-02 9.99876083e-01 3.35115681e-04 -4.21535630e+01] [ 5.72771439e-03 -2.44993691e-04 9.99983566e-01 3.80699108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.880714057 meters Centerline goodness : 0.990850 with order 1 Centerline is valid? [True, True] Translation: X:698.83, Y:-42.14, Z:3.81 [[ 9.99908022e-01 1.22960123e-02 -5.72318017e-03 6.98834593e+02] [-1.22942982e-02 9.99924366e-01 3.34578052e-04 -4.21390510e+01] [ 5.72686128e-03 -2.64184794e-04 9.99983566e-01 3.81167113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.940714057 meters Centerline goodness : 0.983669 with order 1 Centerline is valid? [True, True] Translation: X:698.89, Y:-42.16, Z:3.81 [[ 9.99619709e-01 2.69756005e-02 -5.72320435e-03 6.98892657e+02] [-2.69741289e-02 9.99636076e-01 3.34163849e-04 -4.21550669e+01] [ 5.73013581e-03 -1.79658317e-04 9.99983566e-01 3.81030079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.000714057 meters Centerline goodness : 0.985392 with order 1 Centerline is valid? [True, True] Translation: X:698.95, Y:-42.15, Z:3.81 [[ 9.99478135e-01 3.17915236e-02 -5.72328990e-03 6.98951675e+02] [-3.17901394e-02 9.99494510e-01 3.32692285e-04 -4.21548329e+01] [ 5.73097363e-03 -1.50574481e-04 9.99983566e-01 3.81179381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.060714057 meters Centerline goodness : 0.988044 with order 1 Centerline is valid? [True, True] Translation: X:699.01, Y:-42.15, Z:3.81 [[ 9.99485574e-01 3.15567880e-02 -5.72331409e-03 6.99010465e+02] [-3.15554023e-02 9.99501949e-01 3.32275592e-04 -4.21521919e+01] [ 5.73094914e-03 -1.51503182e-04 9.99983566e-01 3.81280552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.120714057 meters Centerline goodness : 0.984655 with order 1 Centerline is valid? [True, True] Translation: X:699.07, Y:-42.16, Z:3.82 [[ 9.99252898e-01 3.82215897e-02 -5.72333361e-03 6.99067949e+02] [-3.82203152e-02 9.99269282e-01 3.31938916e-04 -4.21591894e+01] [ 5.73183870e-03 -1.12943309e-04 9.99983567e-01 3.81593301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.180714057 meters Centerline goodness : 0.989827 with order 1 Centerline is valid? [True, True] Translation: X:699.13, Y:-42.15, Z:3.80 [[ 9.99499509e-01 3.11122967e-02 -5.72336612e-03 6.99127414e+02] [-3.11109089e-02 9.99515884e-01 3.31377398e-04 -4.21530754e+01] [ 5.73090526e-03 -1.53152425e-04 9.99983567e-01 3.80435664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.240714057 meters Centerline goodness : 0.987950 with order 1 Centerline is valid? [True, True] Translation: X:699.19, Y:-42.16, Z:3.81 [[ 9.99226440e-01 3.89071154e-02 -5.72338941e-03 6.99185474e+02] [-3.89058576e-02 9.99242826e-01 3.30974660e-04 -4.21640995e+01] [ 5.73193308e-03 -1.08045258e-04 9.99983567e-01 3.80901346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.300714057 meters Centerline goodness : 0.985355 with order 1 Centerline is valid? [True, True] Translation: X:699.24, Y:-42.16, Z:3.81 [[ 9.99303878e-01 3.68646309e-02 -5.72341508e-03 6.99243753e+02] [-3.68633422e-02 9.99320261e-01 3.30530298e-04 -4.21643767e+01] [ 5.73170953e-03 -1.19316001e-04 9.99983567e-01 3.81010130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.360714057 meters Centerline goodness : 0.991393 with order 1 Centerline is valid? [True, True] Translation: X:699.30, Y:-42.17, Z:3.80 [[ 9.99361505e-01 3.52679018e-02 -5.72343764e-03 6.99300887e+02] [-3.52665892e-02 9.99377886e-01 3.30139117e-04 -4.21713500e+01] [ 5.73152032e-03 -1.28082201e-04 9.99983567e-01 3.80428712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.420714057 meters Centerline goodness : 0.988418 with order 1 Centerline is valid? [True, True] Translation: X:699.36, Y:-42.18, Z:3.81 [[ 9.99111393e-01 4.17572385e-02 -5.72348227e-03 6.99356869e+02] [-4.17560367e-02 9.99127782e-01 3.29363659e-04 -4.21814380e+01] [ 5.73224346e-03 -9.00810486e-05 9.99983567e-01 3.81489314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.480714057 meters Centerline goodness : 0.986649 with order 1 Centerline is valid? [True, True] Translation: X:699.42, Y:-42.18, Z:3.81 [[ 9.99275396e-01 3.76287650e-02 -5.72351783e-03 6.99415551e+02] [-3.76274991e-02 9.99291781e-01 3.28744534e-04 -4.21841835e+01] [ 5.73183457e-03 -1.13144663e-04 9.99983567e-01 3.80993429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5407140570001 meters Centerline goodness : 0.985413 with order 1 Centerline is valid? [True, True] Translation: X:699.47, Y:-42.19, Z:3.81 [[ 9.99327461e-01 3.62196926e-02 -5.72354105e-03 6.99474128e+02] [-3.62184059e-02 9.99343844e-01 3.28339688e-04 -4.21903237e+01] [ 5.73167788e-03 -1.20821334e-04 9.99983567e-01 3.81044208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.600714057 meters Centerline goodness : 0.989847 with order 1 Centerline is valid? [True, True] Translation: X:699.53, Y:-42.20, Z:3.81 [[ 9.99474370e-01 3.19096409e-02 -5.72357432e-03 6.99532677e+02] [-3.19082869e-02 9.99490747e-01 3.27758647e-04 -4.21992464e+01] [ 5.73111824e-03 -1.44956915e-04 9.99983567e-01 3.80709827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6607140570001 meters Centerline goodness : 0.990620 with order 1 Centerline is valid? [True, True] Translation: X:699.59, Y:-42.21, Z:3.81 [[ 9.99614040e-01 2.71847687e-02 -5.72360750e-03 6.99588992e+02] [-2.71833405e-02 9.99630411e-01 3.27178297e-04 -4.22085774e+01] [ 5.73038638e-03 -1.71465248e-04 9.99983567e-01 3.80639321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.720714057 meters Centerline goodness : 0.986665 with order 1 Centerline is valid? [True, True] Translation: X:699.65, Y:-42.22, Z:3.81 [[ 9.99695213e-01 2.40149989e-02 -5.72364820e-03 6.99645302e+02] [-2.40135229e-02 9.99711580e-01 3.26464760e-04 -4.22202632e+01] [ 5.72983744e-03 -1.88920301e-04 9.99983567e-01 3.81469659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7807140570001 meters Centerline goodness : 0.988518 with order 1 Centerline is valid? [True, True] Translation: X:699.70, Y:-42.23, Z:3.81 [[ 9.99903293e-01 1.26745051e-02 -5.72369138e-03 6.99703950e+02] [-1.26728479e-02 9.99919643e-01 3.25705862e-04 -4.22253765e+01] [ 5.72735961e-03 -2.53138894e-04 9.99983567e-01 3.80804225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.840714057 meters Centerline goodness : 0.981462 with order 1 Centerline is valid? [True, True] Translation: X:699.76, Y:-42.25, Z:3.81 [[ 9.99936145e-01 9.74394806e-03 -5.72371657e-03 6.99761553e+02] [-9.74224551e-03 9.99952490e-01 3.25262589e-04 -4.22458356e+01] [ 5.72661398e-03 -2.69479967e-04 9.99983567e-01 3.81175519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9007140570001 meters Centerline goodness : 0.987784 with order 1 Centerline is valid? [True, True] Translation: X:699.82, Y:-42.24, Z:3.81 [[ 9.99962954e-01 -6.42886359e-03 -5.72374062e-03 6.99819587e+02] [ 6.43082785e-03 9.99979269e-01 3.24838934e-04 -4.22407143e+01] [ 5.72153361e-03 -3.61635291e-04 9.99983567e-01 3.80932558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.960714057 meters Centerline goodness : 0.987160 with order 1 Centerline is valid? [True, True] Translation: X:699.88, Y:-42.24, Z:3.81 [[ 9.99940188e-01 -9.31983485e-03 -5.72376993e-03 6.99879291e+02] [ 9.32184333e-03 9.99956498e-01 3.24321584e-04 -4.22438185e+01] [ 5.72049831e-03 -3.77658272e-04 9.99983567e-01 3.80837691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.020714057 meters Centerline goodness : 0.988520 with order 1 Centerline is valid? [True, True] Translation: X:699.94, Y:-42.24, Z:3.81 [[ 9.99939645e-01 -9.37785051e-03 -5.72378150e-03 6.99938500e+02] [ 9.37985877e-03 9.99955956e-01 3.24117208e-04 -4.22440446e+01] [ 5.72048988e-03 -3.77785908e-04 9.99983567e-01 3.80899816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.080714057 meters Centerline goodness : 0.989112 with order 1 Centerline is valid? [True, True] Translation: X:700.00, Y:-42.24, Z:3.81 [[ 9.99947197e-01 -8.53468164e-03 -5.72378720e-03 6.99998218e+02] [ 8.53667557e-03 9.99963509e-01 3.24016647e-04 -4.22431538e+01] [ 5.72081295e-03 -3.72861652e-04 9.99983567e-01 3.80918895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.140714057 meters Centerline goodness : 0.988633 with order 1 Centerline is valid? [True, True] Translation: X:700.06, Y:-42.24, Z:3.81 [[ 9.99952145e-01 -7.93380551e-03 -5.72379279e-03 7.00058299e+02] [ 7.93578907e-03 9.99968459e-01 3.23917770e-04 -4.22435546e+01] [ 5.72104235e-03 -3.69325081e-04 9.99983567e-01 3.80886482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.200714057 meters Centerline goodness : 0.987794 with order 1 Centerline is valid? [True, True] Translation: X:700.12, Y:-42.24, Z:3.81 [[ 9.99972283e-01 -4.76136519e-03 -5.72379169e-03 7.00118668e+02] [ 4.76329710e-03 9.99988603e-01 3.23937266e-04 -4.22432286e+01] [ 5.72218407e-03 -3.51192408e-04 9.99983567e-01 3.81276645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.260714057 meters Centerline goodness : 0.989279 with order 1 Centerline is valid? [True, True] Translation: X:700.18, Y:-42.24, Z:3.81 [[ 9.99983030e-01 1.08545779e-03 -5.72379169e-03 7.00177793e+02] [-1.08362134e-03 9.99999360e-01 3.23937266e-04 -4.22377794e+01] [ 5.72413965e-03 -3.17729346e-04 9.99983567e-01 3.80983823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.320714057 meters Centerline goodness : 0.990098 with order 1 Centerline is valid? [True, True] Translation: X:700.24, Y:-42.24, Z:3.81 [[ 9.99966444e-01 5.86075167e-03 -5.72381740e-03 7.00236246e+02] [-5.85899582e-03 9.99982784e-01 3.23482315e-04 -4.22371670e+01] [ 5.72561471e-03 -2.89935639e-04 9.99983567e-01 3.81067622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.380714057 meters Centerline goodness : 0.990262 with order 1 Centerline is valid? [True, True] Translation: X:700.29, Y:-42.23, Z:3.81 [[ 9.99903339e-01 1.26708164e-02 -5.72390767e-03 7.00294752e+02] [-1.26691810e-02 9.99919691e-01 3.21877044e-04 -4.22344778e+01] [ 5.72752643e-03 -2.49328708e-04 9.99983567e-01 3.81028259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.440714057 meters Centerline goodness : 0.984156 with order 1 Centerline is valid? [True, True] Translation: X:700.35, Y:-42.23, Z:3.82 [[ 9.99735248e-01 2.22861002e-02 -5.72400208e-03 7.00352993e+02] [-2.22846318e-02 9.99751615e-01 3.20189368e-04 -4.22318791e+01] [ 5.72971609e-03 -1.92547318e-04 9.99983567e-01 3.81583690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.500714057 meters Centerline goodness : 0.985062 with order 1 Centerline is valid? [True, True] Translation: X:700.41, Y:-42.23, Z:3.81 [[ 9.99613401e-01 2.72081591e-02 -5.72411010e-03 7.00411630e+02] [-2.72067825e-02 9.99629776e-01 3.18246420e-04 -4.22296717e+01] [ 5.73064980e-03 -1.62388768e-04 9.99983567e-01 3.81289868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.560714057 meters Centerline goodness : 0.990705 with order 1 Centerline is valid? [True, True] Translation: X:700.47, Y:-42.23, Z:3.81 [[ 9.99337000e-01 3.59554660e-02 -5.72414054e-03 7.00469874e+02] [-3.59542358e-02 9.99353387e-01 3.17697886e-04 -4.22328645e+01] [ 5.73186221e-03 -1.11680153e-04 9.99983567e-01 3.81050531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.620714057 meters Centerline goodness : 0.991184 with order 1 Centerline is valid? [True, True] Translation: X:700.53, Y:-42.24, Z:3.81 [[ 9.98992817e-01 4.45037732e-02 -5.72417898e-03 7.00528123e+02] [-4.45026873e-02 9.99009214e-01 3.17003734e-04 -4.22354545e+01] [ 5.73261541e-03 -6.19431062e-05 9.99983567e-01 3.80991116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.680714057 meters Centerline goodness : 0.984174 with order 1 Centerline is valid? [True, True] Translation: X:700.59, Y:-42.26, Z:3.81 [[ 9.98083845e-01 6.16106395e-02 -5.72420714e-03 7.00585984e+02] [-6.16098375e-02 9.98100259e-01 3.16494514e-04 -4.22567676e+01] [ 5.73283206e-03 3.67794099e-05 9.99983567e-01 3.80732525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.740714057 meters Centerline goodness : 0.989875 with order 1 Centerline is valid? [True, True] Translation: X:700.64, Y:-42.25, Z:3.81 [[ 9.98534576e-01 5.38138738e-02 -5.72428836e-03 7.00644566e+02] [-5.38129522e-02 9.98550984e-01 3.15018552e-04 -4.22495011e+01] [ 5.73294615e-03 -6.51605989e-06 9.99983567e-01 3.80855691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.800714057 meters Centerline goodness : 0.989713 with order 1 Centerline is valid? [True, True] Translation: X:700.70, Y:-42.26, Z:3.81 [[ 9.98428321e-01 5.57505117e-02 -5.72431655e-03 7.00701535e+02] [-5.57496248e-02 9.98444731e-01 3.14505620e-04 -4.22606374e+01] [ 5.73294754e-03 5.11718098e-06 9.99983567e-01 3.80949863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.860714057 meters Centerline goodness : 0.989297 with order 1 Centerline is valid? [True, True] Translation: X:700.76, Y:-42.28, Z:3.81 [[ 9.98500900e-01 5.44351355e-02 -5.72434921e-03 7.00758042e+02] [-5.44342304e-02 9.98517309e-01 3.13909945e-04 -4.22752435e+01] [ 5.73294950e-03 -1.83881938e-06 9.99983567e-01 3.80945407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.920714057 meters Centerline goodness : 0.985503 with order 1 Centerline is valid? [True, True] Translation: X:700.81, Y:-42.30, Z:3.81 [[ 9.98512781e-01 5.42167597e-02 -5.72438663e-03 7.00814697e+02] [-5.42158549e-02 9.98529190e-01 3.13226157e-04 -4.22962721e+01] [ 5.73294925e-03 -2.40780658e-06 9.99983567e-01 3.81399935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.980714057 meters Centerline goodness : 0.987901 with order 1 Centerline is valid? [True, True] Translation: X:700.87, Y:-42.30, Z:3.81 [[ 9.98694363e-01 5.07621952e-02 -5.72448084e-03 7.00871736e+02] [-5.07612436e-02 9.98710769e-01 3.11494817e-04 -4.23037772e+01] [ 5.73291282e-03 -2.05063511e-05 9.99983567e-01 3.80933912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0407140570001 meters Centerline goodness : 0.979672 with order 1 Centerline is valid? [True, True] Translation: X:700.93, Y:-42.33, Z:3.82 [[ 9.98426552e-01 5.57821701e-02 -5.72451212e-03 7.00929453e+02] [-5.57813043e-02 9.98442963e-01 3.10918773e-04 -4.23293043e+01] [ 5.73294257e-03 8.89119418e-06 9.99983567e-01 3.81718921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.100714057 meters Centerline goodness : 0.979368 with order 1 Centerline is valid? [True, True] Translation: X:700.99, Y:-42.34, Z:3.82 [[ 9.98454582e-01 5.52781895e-02 -5.72453495e-03 7.00986887e+02] [-5.52773178e-02 9.98470992e-01 3.10497851e-04 -4.23422504e+01] [ 5.73294585e-03 6.41893644e-06 9.99983567e-01 3.81708568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1607140570001 meters Centerline goodness : 0.980556 with order 1 Centerline is valid? [True, True] Translation: X:701.04, Y:-42.36, Z:3.81 [[ 9.98339706e-01 5.73154420e-02 -5.72457589e-03 7.01044669e+02] [-5.73146081e-02 9.98356119e-01 3.09741319e-04 -4.23576010e+01] [ 5.73291833e-03 1.88747667e-05 9.99983567e-01 3.81188238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.220714057 meters Centerline goodness : 0.981948 with order 1 Centerline is valid? [True, True] Translation: X:701.10, Y:-42.37, Z:3.81 [[ 9.98365428e-01 5.68656462e-02 -5.72459852e-03 7.01101745e+02] [-5.68648074e-02 9.98381840e-01 3.09322563e-04 -4.23747810e+01] [ 5.73292503e-03 1.67112394e-05 9.99983567e-01 3.81344495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2807140570001 meters Centerline goodness : 0.983303 with order 1 Centerline is valid? [True, True] Translation: X:701.16, Y:-42.39, Z:3.81 [[ 9.98302549e-01 5.79590354e-02 -5.72463289e-03 7.01160102e+02] [-5.79582182e-02 9.98318962e-01 3.08685151e-04 -4.23935057e+01] [ 5.73290065e-03 2.36283493e-05 9.99983567e-01 3.81330598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.340714057 meters Centerline goodness : 0.987694 with order 1 Centerline is valid? [True, True] Translation: X:701.22, Y:-42.40, Z:3.81 [[ 9.98739236e-01 4.98715106e-02 -5.72465615e-03 7.01218035e+02] [-4.98705630e-02 9.98755642e-01 3.08253111e-04 -4.23978351e+01] [ 5.73290568e-03 -2.23726512e-05 9.99983567e-01 3.81209084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4007140570001 meters Centerline goodness : 0.988657 with order 1 Centerline is valid? [True, True] Translation: X:701.28, Y:-42.42, Z:3.81 [[ 9.98798568e-01 4.86687671e-02 -5.72468471e-03 7.01275112e+02] [-4.86678028e-02 9.98814973e-01 3.07721734e-04 -4.24152370e+01] [ 5.73287725e-03 -2.87442003e-05 9.99983567e-01 3.81459289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.460714057 meters Centerline goodness : 0.989646 with order 1 Centerline is valid? [True, True] Translation: X:701.33, Y:-42.43, Z:3.82 [[ 9.98791821e-01 4.88070229e-02 -5.72471168e-03 7.01333105e+02] [-4.88060637e-02 9.98808227e-01 3.07219298e-04 -4.24324801e+01] [ 5.73288358e-03 -2.74474799e-05 9.99983567e-01 3.81595503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.520714057 meters Centerline goodness : 0.991161 with order 1 Centerline is valid? [True, True] Translation: X:701.39, Y:-42.45, Z:3.82 [[ 9.98755903e-01 4.95365812e-02 -5.72473355e-03 7.01391396e+02] [-4.95356363e-02 9.98772310e-01 3.06811190e-04 -4.24487857e+01] [ 5.73290373e-03 -2.28511683e-05 9.99983567e-01 3.81637073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.580714057 meters Centerline goodness : 0.992095 with order 1 Centerline is valid? [True, True] Translation: X:701.45, Y:-42.46, Z:3.82 [[ 9.98694944e-01 5.07507258e-02 -5.72475563e-03 7.01448981e+02] [-5.07498032e-02 9.98711352e-01 3.06398544e-04 -4.24589167e+01] [ 5.73292839e-03 -1.54684546e-05 9.99983567e-01 3.81733891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.640714057 meters Centerline goodness : 0.993080 with order 1 Centerline is valid? [True, True] Translation: X:701.51, Y:-42.47, Z:3.82 [[ 9.98598483e-01 5.26146125e-02 -5.72478833e-03 7.01506185e+02] [-5.26137241e-02 9.98614892e-01 3.05786349e-04 -4.24706055e+01] [ 5.73294772e-03 -4.15535045e-06 9.99983567e-01 3.81818832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.700714057 meters Centerline goodness : 0.993457 with order 1 Centerline is valid? [True, True] Translation: X:701.56, Y:-42.48, Z:3.82 [[ 9.98487769e-01 5.46754114e-02 -5.72482094e-03 7.01564515e+02] [-5.46745603e-02 9.98504181e-01 3.05174727e-04 -4.24828444e+01] [ 5.73294320e-03 8.28883482e-06 9.99983567e-01 3.81914758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.760714057 meters Centerline goodness : 0.994250 with order 1 Centerline is valid? [True, True] Translation: X:701.62, Y:-42.49, Z:3.82 [[ 9.98300192e-01 5.79995990e-02 -5.72484233e-03 7.01622746e+02] [-5.79988049e-02 9.98316606e-01 3.04773006e-04 -4.24949482e+01] [ 5.73288187e-03 2.77790626e-05 9.99983567e-01 3.82083484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.820714057 meters Centerline goodness : 0.996041 with order 1 Centerline is valid? [True, True] Translation: X:701.68, Y:-42.50, Z:3.82 [[ 9.98142806e-01 6.06478702e-02 -5.72486379e-03 7.01680733e+02] [-6.06471219e-02 9.98159223e-01 3.04369246e-04 -4.25036196e+01] [ 5.73278494e-03 4.33925389e-05 9.99983567e-01 3.82096852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.880714057 meters Centerline goodness : 0.996408 with order 1 Centerline is valid? [True, True] Translation: X:701.74, Y:-42.52, Z:3.82 [[ 9.97985022e-01 6.31911534e-02 -5.72488625e-03 7.01738238e+02] [-6.31904494e-02 9.98001440e-01 3.03946149e-04 -4.25157742e+01] [ 5.73265144e-03 5.84244313e-05 9.99983567e-01 3.82194931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.940714057 meters Centerline goodness : 0.997561 with order 1 Centerline is valid? [True, True] Translation: X:701.80, Y:-42.53, Z:3.82 [[ 9.98007361e-01 6.28373555e-02 -5.72491508e-03 7.01796579e+02] [-6.28366488e-02 9.98023779e-01 3.03402251e-04 -4.25299738e+01] [ 5.73266638e-03 5.69367987e-05 9.99983567e-01 3.82291236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.000714057 meters Centerline goodness : 0.998442 with order 1 Centerline is valid? [True, True] Translation: X:701.86, Y:-42.54, Z:3.82 [[ 9.98138478e-01 6.07190571e-02 -5.72493674e-03 7.01855035e+02] [-6.07183179e-02 9.98154895e-01 3.02993014e-04 -4.25444078e+01] [ 5.73277108e-03 4.51795437e-05 9.99983567e-01 3.82331517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.060714057 meters Centerline goodness : 0.998488 with order 1 Centerline is valid? [True, True] Translation: X:701.91, Y:-42.56, Z:3.82 [[ 9.98270145e-01 5.85144714e-02 -5.72495831e-03 7.01913831e+02] [-5.85136983e-02 9.98286560e-01 3.02584848e-04 -4.25551648e+01] [ 5.73285453e-03 3.29270633e-05 9.99983567e-01 3.82347711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.120714057 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:701.97, Y:-42.57, Z:3.82 [[ 9.98370291e-01 5.67801581e-02 -5.72497986e-03 7.01971888e+02] [-5.67793588e-02 9.98386705e-01 3.02176551e-04 -4.25698032e+01] [ 5.73290141e-03 2.33765948e-05 9.99983567e-01 3.82369323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.180714057 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:702.03, Y:-42.58, Z:3.82 [[ 9.98473453e-01 5.49362252e-02 -5.72500135e-03 7.02029627e+02] [-5.49353980e-02 9.98489865e-01 3.01768937e-04 -4.25839127e+01] [ 5.73293387e-03 1.31969547e-05 9.99983567e-01 3.82382334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.240714057 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:702.09, Y:-42.60, Z:3.82 [[ 9.98681675e-01 5.10111443e-02 -5.72502278e-03 7.02088842e+02] [-5.10102549e-02 9.98698084e-01 3.01361876e-04 -4.25982645e+01] [ 5.73294209e-03 -8.92971205e-06 9.99983567e-01 3.82465932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.300714057 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:702.15, Y:-42.61, Z:3.83 [[ 9.98918139e-01 4.61494996e-02 -5.72503348e-03 7.02148503e+02] [-4.61485315e-02 9.98934544e-01 3.01158289e-04 -4.26084241e+01] [ 5.73283202e-03 -3.66305895e-05 9.99983567e-01 3.82566132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.360714057 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:702.21, Y:-42.62, Z:3.83 [[ 9.99362961e-01 3.52263436e-02 -5.72504417e-03 7.02207529e+02] [-3.52251974e-02 9.99379355e-01 3.00955042e-04 -4.26203998e+01] [ 5.73209249e-03 -9.90975109e-05 9.99983567e-01 3.82660113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.420714057 meters Centerline goodness : 0.998568 with order 1 Centerline is valid? [True, True] Translation: X:702.27, Y:-42.63, Z:3.83 [[ 9.99598733e-01 2.77415934e-02 -5.72505525e-03 7.02266223e+02] [-2.77403256e-02 9.99615118e-01 3.00744183e-04 -4.26291781e+01] [ 5.73119490e-03 -1.41808608e-04 9.99983567e-01 3.82712005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.480714057 meters Centerline goodness : 0.998442 with order 1 Centerline is valid? [True, True] Translation: X:702.33, Y:-42.64, Z:3.83 [[ 9.99819628e-01 1.81089924e-02 -5.72504894e-03 7.02325320e+02] [-1.81075661e-02 9.99835999e-01 3.00864213e-04 -4.26380389e+01] [ 5.72955837e-03 -1.97143244e-04 9.99983567e-01 3.82721728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5407140570001 meters Centerline goodness : 0.998304 with order 1 Centerline is valid? [True, True] Translation: X:702.38, Y:-42.64, Z:3.83 [[ 9.99903998e-01 1.26181745e-02 -5.72505972e-03 7.02384098e+02] [-1.26166596e-02 9.99920362e-01 3.00658931e-04 -4.26432139e+01] [ 5.72839755e-03 -2.28398938e-04 9.99983567e-01 3.82776621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.600714057 meters Centerline goodness : 0.998460 with order 1 Centerline is valid? [True, True] Translation: X:702.44, Y:-42.65, Z:3.83 [[ 9.99935938e-01 9.76437006e-03 -5.72507236e-03 7.02443151e+02] [-9.76280978e-03 9.99952298e-01 3.00418068e-04 -4.26472257e+01] [ 5.72773265e-03 -2.44506030e-04 9.99983567e-01 3.82773231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6607140570001 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:702.50, Y:-42.65, Z:3.83 [[ 9.99958577e-01 7.07584556e-03 -5.72509395e-03 7.02501361e+02] [-7.07424366e-03 9.99974932e-01 3.00005965e-04 -4.26494736e+01] [ 5.72707323e-03 -2.59492828e-04 9.99983567e-01 3.82857520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.720714057 meters Centerline goodness : 0.998678 with order 1 Centerline is valid? [True, True] Translation: X:702.56, Y:-42.65, Z:3.83 [[ 9.99974700e-01 4.22165899e-03 -5.72510990e-03 7.02558829e+02] [-4.22001216e-03 9.99991051e-01 2.99701350e-04 -4.26483436e+01] [ 5.72632390e-03 -2.75533735e-04 9.99983567e-01 3.83058012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7807140570001 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:702.62, Y:-42.65, Z:3.83 [[ 9.99983449e-01 -5.69840211e-04 -5.72513606e-03 7.02617798e+02] [ 5.71562517e-04 9.99999792e-01 2.99200685e-04 -4.26464006e+01] [ 5.72496438e-03 -3.02468006e-04 9.99983567e-01 3.83163741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.840714057 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:702.68, Y:-42.65, Z:3.83 [[ 9.99975187e-01 -4.10452938e-03 -5.72515740e-03 7.02675363e+02] [ 4.10630711e-03 9.99991524e-01 2.98791818e-04 -4.26452856e+01] [ 5.72388248e-03 -3.22293658e-04 9.99983567e-01 3.83186059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9007140570001 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:702.73, Y:-42.64, Z:3.83 [[ 9.99942432e-01 -9.07498001e-03 -5.72518366e-03 7.02734521e+02] [ 9.07683605e-03 9.99958760e-01 2.98287780e-04 -4.26406851e+01] [ 5.72224060e-03 -3.50237162e-04 9.99983567e-01 3.83268599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.960714057 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:702.79, Y:-42.64, Z:3.83 [[ 9.99922532e-01 -1.10522553e-02 -5.72519965e-03 7.02793505e+02] [ 1.10541419e-02 9.99938857e-01 2.97980718e-04 -4.26380367e+01] [ 5.72155623e-03 -3.61244803e-04 9.99983567e-01 3.83316225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.020714057 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:702.85, Y:-42.63, Z:3.83 [[ 9.99918627e-01 -1.14000028e-02 -5.72527579e-03 7.02852129e+02] [ 1.14018867e-02 9.99934952e-01 2.96510365e-04 -4.26300036e+01] [ 5.72152316e-03 -3.61765183e-04 9.99983567e-01 3.83403076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.080714057 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:702.91, Y:-42.62, Z:3.83 [[ 9.99936815e-01 -9.67406347e-03 -5.72530235e-03 7.02911223e+02] [ 9.67591622e-03 9.99953143e-01 2.95996642e-04 -4.26242945e+01] [ 5.72217060e-03 -3.51375485e-04 9.99983567e-01 3.83453975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.140714057 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:702.97, Y:-42.62, Z:3.83 [[ 9.99974903e-01 -4.17295950e-03 -5.72537517e-03 7.02970697e+02] [ 4.17471432e-03 9.99991242e-01 2.94581467e-04 -4.26153556e+01] [ 5.72409575e-03 -3.18475880e-04 9.99983567e-01 3.83488453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.200714057 meters Centerline goodness : 0.998664 with order 1 Centerline is valid? [True, True] Translation: X:703.03, Y:-42.61, Z:3.83 [[ 9.99981546e-01 2.03150305e-03 -5.72544829e-03 7.03030357e+02] [-2.02985780e-03 9.99997897e-01 2.93153429e-04 -4.26063147e+01] [ 5.72603179e-03 -2.81526174e-04 9.99983567e-01 3.83487326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.260714057 meters Centerline goodness : 0.998828 with order 1 Centerline is valid? [True, True] Translation: X:703.09, Y:-42.60, Z:3.84 [[ 9.99966892e-01 5.78220206e-03 -5.72552046e-03 7.03089869e+02] [-5.78062624e-03 9.99983249e-01 2.91736941e-04 -4.26013225e+01] [ 5.72711144e-03 -2.58630188e-04 9.99983567e-01 3.83573484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.320714057 meters Centerline goodness : 0.997812 with order 1 Centerline is valid? [True, True] Translation: X:703.15, Y:-42.59, Z:3.84 [[ 9.99923224e-01 1.09892866e-02 -5.72559466e-03 7.03148420e+02] [-1.09878043e-02 9.99939590e-01 2.90273339e-04 -4.25947805e+01] [ 5.72843868e-03 -2.27339339e-04 9.99983567e-01 3.83559867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.380714057 meters Centerline goodness : 0.997644 with order 1 Centerline is valid? [True, True] Translation: X:703.21, Y:-42.59, Z:3.84 [[ 9.99886848e-01 1.39107096e-02 -5.72567791e-03 7.03206407e+02] [-1.39092846e-02 9.99903220e-01 2.88621941e-04 -4.25915096e+01] [ 5.72913871e-03 -2.08949200e-04 9.99983567e-01 3.83502891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.440714057 meters Centerline goodness : 0.997183 with order 1 Centerline is valid? [True, True] Translation: X:703.27, Y:-42.59, Z:3.83 [[ 9.99860166e-01 1.57119051e-02 -5.72570905e-03 7.03265737e+02] [-1.57105132e-02 9.99876541e-01 2.88002842e-04 -4.25864735e+01] [ 5.72952723e-03 -1.98008743e-04 9.99983567e-01 3.83420045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.500714057 meters Centerline goodness : 0.996928 with order 1 Centerline is valid? [True, True] Translation: X:703.32, Y:-42.58, Z:3.83 [[ 9.99839606e-01 1.69699192e-02 -5.72572994e-03 7.03324805e+02] [-1.69685502e-02 9.99855982e-01 2.87586909e-04 -4.25838149e+01] [ 5.72978566e-03 -1.90383446e-04 9.99983567e-01 3.83346078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.560714057 meters Centerline goodness : 0.995940 with order 1 Centerline is valid? [True, True] Translation: X:703.38, Y:-42.58, Z:3.83 [[ 9.99818179e-01 1.81885614e-02 -5.72575099e-03 7.03383591e+02] [-1.81872148e-02 9.99834558e-01 2.87167077e-04 -4.25817203e+01] [ 5.73002687e-03 -1.82979401e-04 9.99983567e-01 3.83303203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.620714057 meters Centerline goodness : 0.995419 with order 1 Centerline is valid? [True, True] Translation: X:703.44, Y:-42.58, Z:3.83 [[ 9.99793325e-01 1.95069703e-02 -5.72577207e-03 7.03442908e+02] [-1.95056477e-02 9.99809706e-01 2.86746290e-04 -4.25814304e+01] [ 5.73027604e-03 -1.75002134e-04 9.99983567e-01 3.83303645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.680714057 meters Centerline goodness : 0.994588 with order 1 Centerline is valid? [True, True] Translation: X:703.50, Y:-42.58, Z:3.83 [[ 9.99691377e-01 2.41736453e-02 -5.72579294e-03 7.03500567e+02] [-2.41724016e-02 9.99707764e-01 2.86328836e-04 -4.25809191e+01] [ 5.73104127e-03 -1.47834302e-04 9.99983567e-01 3.83301818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.740714057 meters Centerline goodness : 0.993701 with order 1 Centerline is valid? [True, True] Translation: X:703.56, Y:-42.58, Z:3.83 [[ 9.99516576e-01 3.05586328e-02 -5.72581856e-03 7.03557987e+02] [-3.05574967e-02 9.99532970e-01 2.85815554e-04 -4.25804601e+01] [ 5.73187857e-03 -1.10710702e-04 9.99983567e-01 3.83454901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.800714057 meters Centerline goodness : 0.993941 with order 1 Centerline is valid? [True, True] Translation: X:703.62, Y:-42.58, Z:3.84 [[ 9.99341191e-01 3.58385068e-02 -5.72584355e-03 7.03616762e+02] [-3.58374602e-02 9.99357591e-01 2.85314156e-04 -4.25809796e+01] [ 5.73239045e-03 -7.99264986e-05 9.99983567e-01 3.83596124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.860714057 meters Centerline goodness : 0.992888 with order 1 Centerline is valid? [True, True] Translation: X:703.68, Y:-42.58, Z:3.84 [[ 9.99016883e-01 4.39599991e-02 -5.72586320e-03 7.03675185e+02] [-4.39590881e-02 9.99033291e-01 2.84919206e-04 -4.25828429e+01] [ 5.73285301e-03 -3.29353717e-05 9.99983567e-01 3.83579528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.920714057 meters Centerline goodness : 0.993052 with order 1 Centerline is valid? [True, True] Translation: X:703.73, Y:-42.59, Z:3.83 [[ 9.98817397e-01 4.82806469e-02 -5.72589354e-03 7.03734374e+02] [-4.82798104e-02 9.98833810e-01 2.84308239e-04 -4.25863631e+01] [ 5.73294264e-03 -7.52696052e-06 9.99983567e-01 3.83494224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.980714057 meters Centerline goodness : 0.993126 with order 1 Centerline is valid? [True, True] Translation: X:703.79, Y:-42.59, Z:3.84 [[ 9.98817313e-01 4.82824000e-02 -5.72591360e-03 7.03791734e+02] [-4.82815658e-02 9.98833725e-01 2.83903523e-04 -4.25910056e+01] [ 5.73294316e-03 -7.11167875e-06 9.99983567e-01 3.83503225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0407140570001 meters Centerline goodness : 0.994471 with order 1 Centerline is valid? [True, True] Translation: X:703.85, Y:-42.60, Z:3.83 [[ 9.98889855e-01 4.67575870e-02 -5.72594348e-03 7.03850003e+02] [-4.67567312e-02 9.98906266e-01 2.83299681e-04 -4.25976933e+01] [ 5.73292723e-03 -1.52587764e-05 9.99983567e-01 3.83486987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.100714057 meters Centerline goodness : 0.994598 with order 1 Centerline is valid? [True, True] Translation: X:703.91, Y:-42.61, Z:3.83 [[ 9.98927742e-01 4.59410343e-02 -5.72596345e-03 7.03908395e+02] [-4.59401675e-02 9.98944153e-01 2.82895507e-04 -4.26056256e+01] [ 5.73291422e-03 -1.95404502e-05 9.99983567e-01 3.83450102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1607140570001 meters Centerline goodness : 0.995969 with order 1 Centerline is valid? [True, True] Translation: X:703.97, Y:-42.61, Z:3.84 [[ 9.98851783e-01 4.75639489e-02 -5.72598361e-03 7.03966421e+02] [-4.75631110e-02 9.98868195e-01 2.82486753e-04 -4.26142514e+01] [ 5.73293910e-03 -9.81680225e-06 9.99983567e-01 3.83655992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.220714057 meters Centerline goodness : 0.996016 with order 1 Centerline is valid? [True, True] Translation: X:704.02, Y:-42.62, Z:3.84 [[ 9.98793947e-01 4.87633517e-02 -5.72600352e-03 7.04023660e+02] [-4.87625359e-02 9.98810360e-01 2.82082744e-04 -4.26227249e+01] [ 5.73294694e-03 -2.52808568e-06 9.99983567e-01 3.83869067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2807140570001 meters Centerline goodness : 0.996657 with order 1 Centerline is valid? [True, True] Translation: X:704.08, Y:-42.63, Z:3.84 [[ 9.98804816e-01 4.85402174e-02 -5.72602809e-03 7.04081654e+02] [-4.85394008e-02 9.98821229e-01 2.81583130e-04 -4.26329001e+01] [ 5.73294652e-03 -3.30861387e-06 9.99983567e-01 3.84152037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.340714057 meters Centerline goodness : 0.997538 with order 1 Centerline is valid? [True, True] Translation: X:704.14, Y:-42.64, Z:3.84 [[ 9.98872274e-01 4.71316593e-02 -5.72604812e-03 7.04140123e+02] [-4.71308219e-02 9.98888686e-01 2.81175099e-04 -4.26429252e+01] [ 5.73293693e-03 -1.09846566e-05 9.99983567e-01 3.84212689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4007140570001 meters Centerline goodness : 0.997960 with order 1 Centerline is valid? [True, True] Translation: X:704.20, Y:-42.65, Z:3.84 [[ 9.98884423e-01 4.68734612e-02 -5.72606823e-03 7.04197365e+02] [-4.68726219e-02 9.98900835e-01 2.80765007e-04 -4.26507414e+01] [ 5.73293476e-03 -1.20559611e-05 9.99983567e-01 3.84248675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.460714057 meters Centerline goodness : 0.998251 with order 1 Centerline is valid? [True, True] Translation: X:704.26, Y:-42.66, Z:3.84 [[ 9.98905128e-01 4.64301309e-02 -5.72609285e-03 7.04256069e+02] [-4.64292871e-02 9.98921540e-01 2.80262034e-04 -4.26600248e+01] [ 5.73293009e-03 -1.40967739e-05 9.99983567e-01 3.84064995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.520714057 meters Centerline goodness : 0.998359 with order 1 Centerline is valid? [True, True] Translation: X:704.31, Y:-42.67, Z:3.84 [[ 9.98949166e-01 4.54727921e-02 -5.72611335e-03 7.04313598e+02] [-4.54719351e-02 9.98965577e-01 2.79842581e-04 -4.26684581e+01] [ 5.73291535e-03 -1.91710586e-05 9.99983567e-01 3.84121134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.580714057 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:704.37, Y:-42.68, Z:3.84 [[ 9.98992686e-01 4.45064600e-02 -5.72614192e-03 7.04371634e+02] [-4.45055904e-02 9.99009096e-01 2.79256735e-04 -4.26761387e+01] [ 5.73289659e-03 -2.41301092e-05 9.99983567e-01 3.84215057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.640714057 meters Centerline goodness : 0.998759 with order 1 Centerline is valid? [True, True] Translation: X:704.43, Y:-42.69, Z:3.84 [[ 9.99080808e-01 4.24823437e-02 -5.72616208e-03 7.04430249e+02] [-4.24814432e-02 9.99097217e-01 2.78842714e-04 -4.26857883e+01] [ 5.73283849e-03 -3.53307746e-05 9.99983567e-01 3.84391511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.700714057 meters Centerline goodness : 0.998783 with order 1 Centerline is valid? [True, True] Translation: X:704.49, Y:-42.70, Z:3.84 [[ 9.99157211e-01 4.06457718e-02 -5.72618261e-03 7.04487175e+02] [-4.06448436e-02 9.99173618e-01 2.78420529e-04 -4.26956770e+01] [ 5.73276721e-03 -4.54460823e-05 9.99983567e-01 3.84497213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.760714057 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:704.55, Y:-42.70, Z:3.85 [[ 9.99236134e-01 3.86569307e-02 -5.72620773e-03 7.04546008e+02] [-3.86559728e-02 9.99252540e-01 2.77902905e-04 -4.27044084e+01] [ 5.73267049e-03 -5.63384941e-05 9.99983567e-01 3.84710956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.820714057 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:704.60, Y:-42.71, Z:3.85 [[ 9.99326794e-01 3.62376666e-02 -5.72622770e-03 7.04604302e+02] [-3.62366714e-02 9.99343198e-01 2.77490720e-04 -4.27113011e+01] [ 5.73252232e-03 -6.98044801e-05 9.99983567e-01 3.84833138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.880714057 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:704.66, Y:-42.72, Z:3.85 [[ 9.99449131e-01 3.26901444e-02 -5.72624765e-03 7.04663042e+02] [-3.26890933e-02 9.99465530e-01 2.77078575e-04 -4.27183681e+01] [ 5.73224488e-03 -8.97400976e-05 9.99983567e-01 3.84899917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.940714057 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:704.72, Y:-42.73, Z:3.85 [[ 9.99604117e-01 2.75466835e-02 -5.72626746e-03 7.04722225e+02] [-2.75455504e-02 9.99620511e-01 2.76668469e-04 -4.27268972e+01] [ 5.73171570e-03 -1.18825752e-04 9.99983567e-01 3.84927534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.000714057 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:704.78, Y:-42.73, Z:3.85 [[ 9.99684613e-01 2.44516805e-02 -5.72627749e-03 7.04781717e+02] [-2.44504978e-02 9.99701004e-01 2.76460780e-04 -4.27316443e+01] [ 5.73132528e-03 -1.36363252e-04 9.99983567e-01 3.84715078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.060714057 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:704.84, Y:-42.74, Z:3.85 [[ 9.99783720e-01 1.99930468e-02 -5.72628745e-03 7.04841329e+02] [-1.99917922e-02 9.99800106e-01 2.76254322e-04 -4.27368864e+01] [ 5.73066596e-03 -1.61715825e-04 9.99983567e-01 3.84592949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.120714057 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:704.90, Y:-42.74, Z:3.85 [[ 9.99895927e-01 1.32417915e-02 -5.72629757e-03 7.04899487e+02] [-1.32404275e-02 9.99912304e-01 2.76044395e-04 -4.27419860e+01] [ 5.72945071e-03 -2.00197039e-04 9.99983567e-01 3.84879248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.180714057 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:704.96, Y:-42.75, Z:3.85 [[ 9.99950458e-01 8.14192422e-03 -5.72630865e-03 7.04959376e+02] [-8.14047804e-03 9.99966828e-01 2.75814283e-04 -4.27452952e+01] [ 5.72836435e-03 -2.29185729e-04 9.99983567e-01 3.84896379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.240714057 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:705.02, Y:-42.75, Z:3.85 [[ 9.99983330e-01 -7.40297422e-04 -5.72631846e-03 7.05018210e+02] [ 7.41887791e-04 9.99999687e-01 2.75610438e-04 -4.27457372e+01] [ 5.72611263e-03 -2.79854130e-04 9.99983567e-01 3.84888568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.300714057 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:705.08, Y:-42.74, Z:3.85 [[ 9.99937529e-01 -9.59935852e-03 -5.72633302e-03 7.05076982e+02] [ 9.60109200e-03 9.99953871e-01 2.75307580e-04 -4.27440126e+01] [ 5.72342609e-03 -3.30269431e-04 9.99983567e-01 3.84895915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.360714057 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:705.14, Y:-42.74, Z:3.85 [[ 9.99884624e-01 -1.40694180e-02 -5.72634758e-03 7.05135816e+02] [ 1.40712228e-02 9.99900958e-01 2.75004542e-04 -4.27433774e+01] [ 5.72191127e-03 -3.55549526e-04 9.99983567e-01 3.84931596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.420714057 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:705.20, Y:-42.74, Z:3.85 [[ 9.99827272e-01 -1.76815104e-02 -5.72636773e-03 7.05195400e+02] [ 1.76833718e-02 9.99843599e-01 2.74584302e-04 -4.27373180e+01] [ 5.72061705e-03 -3.75798363e-04 9.99983567e-01 3.85069308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.480714057 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:705.26, Y:-42.73, Z:3.85 [[ 9.99838401e-01 -1.70405444e-02 -5.72643678e-03 7.05255109e+02] [ 1.70423870e-02 9.99854731e-01 2.73136639e-04 -4.27285167e+01] [ 5.72095050e-03 -3.70684653e-04 9.99983567e-01 3.85139270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5407140570001 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:705.31, Y:-42.72, Z:3.85 [[ 9.99917744e-01 -1.14765597e-02 -5.72650664e-03 7.05314351e+02] [ 1.14783030e-02 9.99934085e-01 2.71663906e-04 -4.27201119e+01] [ 5.72301141e-03 -3.37372139e-04 9.99983567e-01 3.85071997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.600714057 meters Centerline goodness : 0.998337 with order 1 Centerline is valid? [True, True] Translation: X:705.37, Y:-42.72, Z:3.85 [[ 9.99954821e-01 -7.58696840e-03 -5.72652396e-03 7.05373667e+02] [ 7.58864610e-03 9.99971169e-01 2.71298379e-04 -4.27150445e+01] [ 5.72430053e-03 -3.14742686e-04 9.99983567e-01 3.84911407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6607140570001 meters Centerline goodness : 0.997815 with order 1 Centerline is valid? [True, True] Translation: X:705.43, Y:-42.71, Z:3.85 [[ 9.99983400e-01 -6.36577993e-04 -5.72659212e-03 7.05432563e+02] [ 6.38133765e-04 9.99999760e-01 2.69852012e-04 -4.27074524e+01] [ 5.72641896e-03 -2.73501864e-04 9.99983567e-01 3.84659426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.720714057 meters Centerline goodness : 0.997516 with order 1 Centerline is valid? [True, True] Translation: X:705.49, Y:-42.70, Z:3.85 [[ 9.99975490e-01 4.02798025e-03 -5.72660646e-03 7.05492165e+02] [-4.02650255e-03 9.99991857e-01 2.69547349e-04 -4.27019897e+01] [ 5.72764556e-03 -2.46482547e-04 9.99983567e-01 3.84551816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7807140570001 meters Centerline goodness : 0.996920 with order 1 Centerline is valid? [True, True] Translation: X:705.55, Y:-42.70, Z:3.85 [[ 9.99949802e-01 8.22180296e-03 -5.72667154e-03 7.05550919e+02] [-8.22040186e-03 9.99966176e-01 2.68157467e-04 -4.26969802e+01] [ 5.72868258e-03 -2.21068465e-04 9.99983567e-01 3.84545697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.840714057 meters Centerline goodness : 0.996946 with order 1 Centerline is valid? [True, True] Translation: X:705.61, Y:-42.70, Z:3.84 [[ 9.99908545e-01 1.22517480e-02 -5.72674844e-03 7.05608685e+02] [-1.22504224e-02 9.99924925e-01 2.66504927e-04 -4.26950083e+01] [ 5.72958366e-03 -1.96325466e-04 9.99983567e-01 3.84465021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9007140570001 meters Centerline goodness : 0.996250 with order 1 Centerline is valid? [True, True] Translation: X:705.67, Y:-42.69, Z:3.84 [[ 9.99842080e-01 1.68231435e-02 -5.72682591e-03 7.05667155e+02] [-1.68219024e-02 9.99858467e-01 2.64829705e-04 -4.26938177e+01] [ 5.73047064e-03 -1.68451777e-04 9.99983567e-01 3.84459555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.960714057 meters Centerline goodness : 0.995248 with order 1 Centerline is valid? [True, True] Translation: X:705.73, Y:-42.69, Z:3.85 [[ 9.99711071e-01 2.33447392e-02 -5.72690428e-03 7.05725518e+02] [-2.33436147e-02 9.99727466e-01 2.63123924e-04 -4.26917692e+01] [ 5.73148607e-03 -1.29361252e-04 9.99983567e-01 3.84587869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.020714057 meters Centerline goodness : 0.995471 with order 1 Centerline is valid? [True, True] Translation: X:705.78, Y:-42.69, Z:3.85 [[ 9.99577860e-01 2.84834055e-02 -5.72692821e-03 7.05784675e+02] [-2.84823683e-02 9.99594261e-01 2.62602186e-04 -4.26916476e+01] [ 5.73208437e-03 -9.93748528e-05 9.99983567e-01 3.84557642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.080714057 meters Centerline goodness : 0.995169 with order 1 Centerline is valid? [True, True] Translation: X:705.84, Y:-42.69, Z:3.85 [[ 9.99500753e-01 3.10716334e-02 -5.72694725e-03 7.05843454e+02] [-3.10706410e-02 9.99517157e-01 2.62186165e-04 -4.26942848e+01] [ 5.73232859e-03 -8.41153469e-05 9.99983567e-01 3.84640526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.140714057 meters Centerline goodness : 0.995183 with order 1 Centerline is valid? [True, True] Translation: X:705.90, Y:-42.70, Z:3.85 [[ 9.99438949e-01 3.29998477e-02 -5.72696599e-03 7.05901799e+02] [-3.29988894e-02 9.99455354e-01 2.61776223e-04 -4.26982679e+01] [ 5.73248540e-03 -7.26458358e-05 9.99983567e-01 3.84784471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.200714057 meters Centerline goodness : 0.996414 with order 1 Centerline is valid? [True, True] Translation: X:705.96, Y:-42.70, Z:3.85 [[ 9.99428373e-01 3.33186017e-02 -5.72698476e-03 7.05959996e+02] [-3.33176509e-02 9.99444779e-01 2.61364982e-04 -4.27028035e+01] [ 5.73251333e-03 -7.04058991e-05 9.99983567e-01 3.84741879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.260714057 meters Centerline goodness : 0.996155 with order 1 Centerline is valid? [True, True] Translation: X:706.02, Y:-42.71, Z:3.85 [[ 9.99407938e-01 3.39260301e-02 -5.72700796e-03 7.06017041e+02] [-3.39250922e-02 9.99424344e-01 2.60855726e-04 -4.27106642e+01] [ 5.73256097e-03 -6.64120101e-05 9.99983567e-01 3.84659418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.320714057 meters Centerline goodness : 0.997388 with order 1 Centerline is valid? [True, True] Translation: X:706.08, Y:-42.72, Z:3.85 [[ 9.99323492e-01 3.63284962e-02 -5.72702323e-03 7.06075377e+02] [-3.63275997e-02 9.99339901e-01 2.60519999e-04 -4.27187070e+01] [ 5.73270713e-03 -5.22947475e-05 9.99983567e-01 3.84846943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.380714057 meters Centerline goodness : 0.996972 with order 1 Centerline is valid? [True, True] Translation: X:706.13, Y:-42.72, Z:3.85 [[ 9.99216732e-01 3.91551326e-02 -5.72704130e-03 7.06134308e+02] [-3.91542848e-02 9.99233143e-01 2.60122022e-04 -4.27248581e+01] [ 5.73283460e-03 -3.56800699e-05 9.99983567e-01 3.84901287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.440714057 meters Centerline goodness : 0.997100 with order 1 Centerline is valid? [True, True] Translation: X:706.19, Y:-42.73, Z:3.85 [[ 9.98951166e-01 4.54287158e-02 -5.72706037e-03 7.06191363e+02] [-4.54279735e-02 9.98967583e-01 2.59701548e-04 -4.27334906e+01] [ 5.73294556e-03 7.39582649e-07 9.99983567e-01 3.85156506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.500714057 meters Centerline goodness : 0.997809 with order 1 Centerline is valid? [True, True] Translation: X:706.25, Y:-42.74, Z:3.85 [[ 9.98777926e-01 4.90902674e-02 -5.72708534e-03 7.06249738e+02] [-4.90895884e-02 9.98794346e-01 2.59149702e-04 -4.27411765e+01] [ 5.73290219e-03 2.23072599e-05 9.99983567e-01 3.85186686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.560714057 meters Centerline goodness : 0.998187 with order 1 Centerline is valid? [True, True] Translation: X:706.31, Y:-42.75, Z:3.85 [[ 9.98468429e-01 5.50272400e-02 -5.72710389e-03 7.06307856e+02] [-5.50266610e-02 9.98484852e-01 2.58739148e-04 -4.27531032e+01] [ 5.73266418e-03 5.68005342e-05 9.99983567e-01 3.85179883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.620714057 meters Centerline goodness : 0.997962 with order 1 Centerline is valid? [True, True] Translation: X:706.37, Y:-42.77, Z:3.85 [[ 9.98241594e-01 5.89993202e-02 -5.72712239e-03 7.06366306e+02] [-5.89988089e-02 9.98258020e-01 2.58329021e-04 -4.27679534e+01] [ 5.73238709e-03 8.00186251e-05 9.99983567e-01 3.85442668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.680714057 meters Centerline goodness : 0.998275 with order 1 Centerline is valid? [True, True] Translation: X:706.42, Y:-42.78, Z:3.86 [[ 9.98153630e-01 6.04692587e-02 -5.72714111e-03 7.06423433e+02] [-6.04687739e-02 9.98170056e-01 2.57913342e-04 -4.27793531e+01] [ 5.73225659e-03 8.88760626e-05 9.99983567e-01 3.85684570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.740714057 meters Centerline goodness : 0.998698 with order 1 Centerline is valid? [True, True] Translation: X:706.48, Y:-42.79, Z:3.86 [[ 9.98136311e-01 6.07544601e-02 -5.72716400e-03 7.06481648e+02] [-6.07539830e-02 9.98152737e-01 2.57404072e-04 -4.27865281e+01] [ 5.73222287e-03 9.10236729e-05 9.99983567e-01 3.85832915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.800714057 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:706.54, Y:-42.80, Z:3.86 [[ 9.98134480e-01 6.07845272e-02 -5.72718235e-03 7.06539206e+02] [-6.07840529e-02 9.98150907e-01 2.56995061e-04 -4.28045773e+01] [ 5.73221358e-03 9.16057237e-05 9.99983567e-01 3.85910138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.860714057 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:706.60, Y:-42.82, Z:3.86 [[ 9.98207668e-01 5.95705458e-02 -5.72720482e-03 7.06597932e+02] [-5.95700544e-02 9.98224095e-01 2.56493287e-04 -4.28220157e+01] [ 5.73231329e-03 8.51363368e-05 9.99983567e-01 3.85917934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.920714057 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:706.66, Y:-42.83, Z:3.86 [[ 9.98252018e-01 5.88226773e-02 -5.72721403e-03 7.06657481e+02] [-5.88221748e-02 9.98268444e-01 2.56287451e-04 -4.28346810e+01] [ 5.73237256e-03 8.10477200e-05 9.99983567e-01 3.85988695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.980714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.72, Y:-42.85, Z:3.86 [[ 9.98319831e-01 5.76603372e-02 -5.72722315e-03 7.06717464e+02] [-5.76598168e-02 9.98336256e-01 2.56083680e-04 -4.28523936e+01] [ 5.73246038e-03 7.45772213e-05 9.99983567e-01 3.86202666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0407140570001 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:706.78, Y:-42.86, Z:3.86 [[ 9.98370726e-01 5.67722779e-02 -5.72722315e-03 7.06777910e+02] [-5.67717428e-02 9.98387151e-01 2.56083680e-04 -4.28647218e+01] [ 5.73252445e-03 6.94779898e-05 9.99983567e-01 3.86327404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.100714057 meters Centerline goodness : 0.997972 with order 1 Centerline is valid? [True, True] Translation: X:706.84, Y:-42.88, Z:3.86 [[ 9.98547026e-01 5.35820463e-02 -5.72722315e-03 7.06837940e+02] [-5.35814588e-02 9.98563449e-01 2.56083680e-04 -4.28825924e+01] [ 5.73271718e-03 5.11613740e-05 9.99983567e-01 3.86285622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1607140570001 meters Centerline goodness : 0.996509 with order 1 Centerline is valid? [True, True] Translation: X:706.90, Y:-42.90, Z:3.86 [[ 9.98772370e-01 4.92031739e-02 -5.72722315e-03 7.06898312e+02] [-4.92025144e-02 9.98788790e-01 2.56083680e-04 -4.28986929e+01] [ 5.73288641e-03 2.60244752e-05 9.99983567e-01 3.86199039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.220714057 meters Centerline goodness : 0.995377 with order 1 Centerline is valid? [True, True] Translation: X:706.96, Y:-42.91, Z:3.86 [[ 9.98906554e-01 4.63993024e-02 -5.72716465e-03 7.06959120e+02] [-4.63985893e-02 9.98922972e-01 2.57385310e-04 -4.29092510e+01] [ 5.73293883e-03 8.62848744e-06 9.99983567e-01 3.86122042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2807140570001 meters Centerline goodness : 0.995004 with order 1 Centerline is valid? [True, True] Translation: X:707.02, Y:-42.92, Z:3.86 [[ 9.99008393e-01 4.41523650e-02 -5.72715586e-03 7.07019916e+02] [-4.41516139e-02 9.99024809e-01 2.57580695e-04 -4.29191093e+01] [ 5.73294359e-03 -4.46210234e-06 9.99983567e-01 3.86219966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.340714057 meters Centerline goodness : 0.994261 with order 1 Centerline is valid? [True, True] Translation: X:707.08, Y:-42.93, Z:3.86 [[ 9.99092449e-01 4.22075662e-02 -5.72714691e-03 7.07080637e+02] [-4.22067820e-02 9.99108864e-01 2.57779529e-04 -4.29311690e+01] [ 5.73292349e-03 -1.58211395e-05 9.99983567e-01 3.86375514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4007140570001 meters Centerline goodness : 0.994475 with order 1 Centerline is valid? [True, True] Translation: X:707.14, Y:-42.94, Z:3.86 [[ 9.99071848e-01 4.26924291e-02 -5.72708933e-03 7.07142828e+02] [-4.26916455e-02 9.99088263e-01 2.59052501e-04 -4.29385335e+01] [ 5.73292731e-03 -1.43131933e-05 9.99983567e-01 3.86445517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.460714057 meters Centerline goodness : 0.994521 with order 1 Centerline is valid? [True, True] Translation: X:707.20, Y:-42.95, Z:3.87 [[ 9.98933629e-01 4.58127332e-02 -5.72702458e-03 7.07204502e+02] [-4.58119927e-02 9.98950046e-01 2.60476280e-04 -4.29482021e+01] [ 5.73294459e-03 2.16789247e-06 9.99983567e-01 3.86576710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.520714057 meters Centerline goodness : 0.992962 with order 1 Centerline is valid? [True, True] Translation: X:707.27, Y:-42.95, Z:3.87 [[ 9.98915255e-01 4.62116343e-02 -5.72695872e-03 7.07266200e+02] [-4.62108922e-02 9.98931672e-01 2.61916320e-04 -4.29512013e+01] [ 5.73294403e-03 3.01566435e-06 9.99983567e-01 3.86955751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.580714057 meters Centerline goodness : 0.992589 with order 1 Centerline is valid? [True, True] Translation: X:707.33, Y:-42.96, Z:3.87 [[ 9.98800332e-01 4.86322816e-02 -5.72689323e-03 7.07328066e+02] [-4.86315710e-02 9.98816750e-01 2.63340386e-04 -4.29581238e+01] [ 5.73292373e-03 1.54833495e-05 9.99983567e-01 3.87191848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.640714057 meters Centerline goodness : 0.992873 with order 1 Centerline is valid? [True, True] Translation: X:707.39, Y:-42.96, Z:3.87 [[ 9.98897603e-01 4.65916462e-02 -5.72682768e-03 7.07390293e+02] [-4.65908940e-02 9.98914020e-01 2.64758345e-04 -4.29628290e+01] [ 5.73294398e-03 2.35154456e-06 9.99983567e-01 3.86896326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.700714057 meters Centerline goodness : 0.992282 with order 1 Centerline is valid? [True, True] Translation: X:707.45, Y:-42.98, Z:3.87 [[ 9.98609746e-01 5.24001770e-02 -5.72675718e-03 7.07452153e+02] [-5.23995116e-02 9.98626166e-01 2.66274627e-04 -4.29760198e+01] [ 5.73284240e-03 3.41748416e-05 9.99983567e-01 3.87332820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.760714057 meters Centerline goodness : 0.992355 with order 1 Centerline is valid? [True, True] Translation: X:707.51, Y:-42.99, Z:3.88 [[ 9.98527514e-01 5.39444900e-02 -5.72668249e-03 7.07513687e+02] [-5.39438409e-02 9.98543935e-01 2.67871394e-04 -4.29851716e+01] [ 5.73279425e-03 4.14422918e-05 9.99983567e-01 3.87605014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.820714057 meters Centerline goodness : 0.992205 with order 1 Centerline is valid? [True, True] Translation: X:707.58, Y:-42.99, Z:3.88 [[ 9.98523576e-01 5.40173589e-02 -5.72661092e-03 7.07575113e+02] [-5.40167022e-02 9.98539996e-01 2.69392761e-04 -4.29937264e+01] [ 5.73280193e-03 4.03376136e-05 9.99983567e-01 3.87554074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.880714057 meters Centerline goodness : 0.992243 with order 1 Centerline is valid? [True, True] Translation: X:707.64, Y:-43.01, Z:3.87 [[ 9.98595544e-01 5.26701673e-02 -5.72653527e-03 7.07635342e+02] [-5.26694793e-02 9.98611963e-01 2.70991422e-04 -4.30092333e+01] [ 5.73285979e-03 3.10028047e-05 9.99983567e-01 3.86935788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.940714057 meters Centerline goodness : 0.993074 with order 1 Centerline is valid? [True, True] Translation: X:707.70, Y:-43.02, Z:3.87 [[ 9.98793477e-01 4.87729169e-02 -5.72647138e-03 7.07698385e+02] [-4.87721571e-02 9.98809893e-01 2.72334715e-04 -4.30165981e+01] [ 5.73293883e-03 7.28622467e-06 9.99983567e-01 3.86992762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.000714057 meters Centerline goodness : 0.993081 with order 1 Centerline is valid? [True, True] Translation: X:707.76, Y:-43.03, Z:3.87 [[ 9.99112988e-01 4.17186514e-02 -5.72639348e-03 7.07760827e+02] [-4.17177664e-02 9.99129397e-01 2.73963161e-04 -4.30270896e+01] [ 5.73283744e-03 -3.48278065e-05 9.99983567e-01 3.87301671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.060714057 meters Centerline goodness : 0.992253 with order 1 Centerline is valid? [True, True] Translation: X:707.82, Y:-43.03, Z:3.88 [[ 9.99578409e-01 2.84642346e-02 -5.72631574e-03 7.07824160e+02] [-2.84631228e-02 9.99594805e-01 2.75578424e-04 -4.30279770e+01] [ 5.73183960e-03 -1.12473415e-04 9.99983567e-01 3.87769691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.120714057 meters Centerline goodness : 0.991316 with order 1 Centerline is valid? [True, True] Translation: X:707.89, Y:-43.03, Z:3.88 [[ 9.99673117e-01 2.49172587e-02 -5.72623375e-03 7.07885812e+02] [-2.49160790e-02 9.99689508e-01 2.77271620e-04 -4.30330100e+01] [ 5.73136465e-03 -1.34505692e-04 9.99983567e-01 3.87764951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.180714057 meters Centerline goodness : 0.992282 with order 1 Centerline is valid? [True, True] Translation: X:707.95, Y:-43.05, Z:3.88 [[ 9.99623924e-01 2.68182907e-02 -5.72618363e-03 7.07947236e+02] [-2.68171363e-02 9.99640317e-01 2.78303013e-04 -4.30469736e+01] [ 5.73158763e-03 -1.24638503e-04 9.99983567e-01 3.87574296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.240714057 meters Centerline goodness : 0.991251 with order 1 Centerline is valid? [True, True] Translation: X:708.01, Y:-43.04, Z:3.88 [[ 9.99800044e-01 1.91594161e-02 -5.72611459e-03 7.08010066e+02] [-1.91581280e-02 9.99816427e-01 2.79716333e-04 -4.30421878e+01] [ 5.73042263e-03 -1.69958766e-04 9.99983567e-01 3.87708616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.300714057 meters Centerline goodness : 0.992301 with order 1 Centerline is valid? [True, True] Translation: X:708.07, Y:-43.05, Z:3.88 [[ 9.99645935e-01 2.59849209e-02 -5.72604356e-03 7.08070430e+02] [-2.59837365e-02 9.99662326e-01 2.81162755e-04 -4.30520948e+01] [ 5.73141602e-03 -1.32279198e-04 9.99983567e-01 3.87556080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.360714057 meters Centerline goodness : 0.992333 with order 1 Centerline is valid? [True, True] Translation: X:708.13, Y:-43.05, Z:3.88 [[ 9.99605076e-01 2.75118911e-02 -5.72603861e-03 7.08131711e+02] [-2.75107311e-02 9.99621469e-01 2.81263557e-04 -4.30523987e+01] [ 5.73160922e-03 -1.23624970e-04 9.99983567e-01 3.87697743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.420714057 meters Centerline goodness : 0.992577 with order 1 Centerline is valid? [True, True] Translation: X:708.19, Y:-43.05, Z:3.88 [[ 9.99572323e-01 2.86772538e-02 -5.72597496e-03 7.08193743e+02] [-2.86761055e-02 9.99588716e-01 2.82553390e-04 -4.30536964e+01] [ 5.73172282e-03 -1.18233887e-04 9.99983567e-01 3.87864463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.480714057 meters Centerline goodness : 0.992237 with order 1 Centerline is valid? [True, True] Translation: X:708.26, Y:-43.05, Z:3.88 [[ 9.99540100e-01 2.97792219e-02 -5.72590595e-03 7.08255438e+02] [-2.97780837e-02 9.99556494e-01 2.83945107e-04 -4.30543150e+01] [ 5.73182214e-03 -1.13308014e-04 9.99983567e-01 3.88009854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5407140570001 meters Centerline goodness : 0.992451 with order 1 Centerline is valid? [True, True] Translation: X:708.32, Y:-43.05, Z:3.88 [[ 9.99486007e-01 3.15426105e-02 -5.72583252e-03 7.08317106e+02] [-3.15414929e-02 9.99502403e-01 2.85418210e-04 -4.30535746e+01] [ 5.73198620e-03 -1.04670201e-04 9.99983567e-01 3.88096985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.600714057 meters Centerline goodness : 0.992160 with order 1 Centerline is valid? [True, True] Translation: X:708.38, Y:-43.05, Z:3.88 [[ 9.99381073e-01 3.47085842e-02 -5.72576123e-03 7.08379230e+02] [-3.47075103e-02 9.99397472e-01 2.86841273e-04 -4.30548269e+01] [ 5.73226715e-03 -8.79368227e-05 9.99983567e-01 3.88265863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6607140570001 meters Centerline goodness : 0.992244 with order 1 Centerline is valid? [True, True] Translation: X:708.44, Y:-43.06, Z:3.88 [[ 9.99281258e-01 3.74724506e-02 -5.72569078e-03 7.08441829e+02] [-3.74714141e-02 9.99297658e-01 2.88240671e-04 -4.30560862e+01] [ 5.73247047e-03 -7.34837705e-05 9.99983567e-01 3.88295305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.720714057 meters Centerline goodness : 0.992760 with order 1 Centerline is valid? [True, True] Translation: X:708.50, Y:-43.06, Z:3.88 [[ 9.99150027e-01 4.08220595e-02 -5.72561584e-03 7.08504345e+02] [-4.08210695e-02 9.99166431e-01 2.89721721e-04 -4.30577091e+01] [ 5.73267018e-03 -5.57497029e-05 9.99983567e-01 3.88174756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7807140570001 meters Centerline goodness : 0.992746 with order 1 Centerline is valid? [True, True] Translation: X:708.57, Y:-43.06, Z:3.88 [[ 9.99048172e-01 4.32431303e-02 -5.72553339e-03 7.08566775e+02] [-4.32421708e-02 9.99064577e-01 2.91342111e-04 -4.30605996e+01] [ 5.73277614e-03 -4.34803115e-05 9.99983567e-01 3.88118466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.840714057 meters Centerline goodness : 0.993134 with order 1 Centerline is valid? [True, True] Translation: X:708.63, Y:-43.07, Z:3.88 [[ 9.98959257e-01 4.52506692e-02 -5.72545117e-03 7.08629514e+02] [-4.52497334e-02 9.98975663e-01 2.92948871e-04 -4.30650727e+01] [ 5.73284252e-03 -3.35688474e-05 9.99983567e-01 3.88033002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9007140570001 meters Centerline goodness : 0.992990 with order 1 Centerline is valid? [True, True] Translation: X:708.69, Y:-43.07, Z:3.88 [[ 9.98987459e-01 4.46237294e-02 -5.72536961e-03 7.08691589e+02] [-4.46227742e-02 9.99003865e-01 2.94534362e-04 -4.30692956e+01] [ 5.73280959e-03 -3.87542591e-05 9.99983567e-01 3.88085210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.960714057 meters Centerline goodness : 0.993464 with order 1 Centerline is valid? [True, True] Translation: X:708.75, Y:-43.07, Z:3.88 [[ 9.99195608e-01 3.96907717e-02 -5.72529385e-03 7.08754567e+02] [-3.96897271e-02 9.99212009e-01 2.95999646e-04 -4.30748083e+01] [ 5.73253083e-03 -6.85261963e-05 9.99983567e-01 3.88215803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.020714057 meters Centerline goodness : 0.992666 with order 1 Centerline is valid? [True, True] Translation: X:708.82, Y:-43.08, Z:3.88 [[ 9.99380826e-01 3.47158012e-02 -5.72520854e-03 7.08816413e+02] [-3.47146656e-02 9.99397220e-01 2.97640717e-04 -4.30795417e+01] [ 5.73209033e-03 -9.87077253e-05 9.99983567e-01 3.88381974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.080714057 meters Centerline goodness : 0.992839 with order 1 Centerline is valid? [True, True] Translation: X:708.88, Y:-43.08, Z:3.88 [[ 9.99760609e-01 2.11174565e-02 -5.72515583e-03 7.08878996e+02] [-2.11160922e-02 9.99776986e-01 2.98651070e-04 -4.30786050e+01] [ 5.73018579e-03 -1.77686657e-04 9.99983567e-01 3.88492304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.140714057 meters Centerline goodness : 0.993156 with order 1 Centerline is valid? [True, True] Translation: X:708.94, Y:-43.09, Z:3.89 [[ 9.99753436e-01 2.14543929e-02 -5.72507813e-03 7.08940134e+02] [-2.14530257e-02 9.99769812e-01 3.00133349e-04 -4.30891807e+01] [ 5.73019946e-03 -1.77239099e-04 9.99983567e-01 3.88680202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.200714057 meters Centerline goodness : 0.993276 with order 1 Centerline is valid? [True, True] Translation: X:709.00, Y:-43.09, Z:3.89 [[ 9.99865434e-01 1.53733249e-02 -5.72500713e-03 7.09001189e+02] [-1.53718503e-02 9.99881801e-01 3.01481587e-04 -4.30916712e+01] [ 5.72896521e-03 -2.13437066e-04 9.99983567e-01 3.88525035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.260714057 meters Centerline goodness : 0.992841 with order 1 Centerline is valid? [True, True] Translation: X:709.06, Y:-43.09, Z:3.88 [[ 9.99915314e-01 1.16871823e-02 -5.72494086e-03 7.09062026e+02] [-1.16856402e-02 9.99931675e-01 3.02734693e-04 -4.30937704e+01] [ 5.72808782e-03 -2.35809456e-04 9.99983567e-01 3.88460798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.320714057 meters Centerline goodness : 0.992626 with order 1 Centerline is valid? [True, True] Translation: X:709.12, Y:-43.09, Z:3.88 [[ 9.99939277e-01 9.41629271e-03 -5.72494086e-03 7.09122295e+02] [-9.41471351e-03 9.99955635e-01 3.02734693e-04 -4.30948072e+01] [ 5.72753751e-03 -2.48817632e-04 9.99983567e-01 3.88484830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.380714057 meters Centerline goodness : 0.993373 with order 1 Centerline is valid? [True, True] Translation: X:709.18, Y:-43.09, Z:3.89 [[ 9.99949957e-01 8.20422083e-03 -5.72494086e-03 7.09182334e+02] [-8.20262180e-03 9.99966312e-01 3.02734693e-04 -4.30940151e+01] [ 5.72723170e-03 -2.55760019e-04 9.99983567e-01 3.88567470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.440714057 meters Centerline goodness : 0.993122 with order 1 Centerline is valid? [True, True] Translation: X:709.24, Y:-43.09, Z:3.89 [[ 9.99962563e-01 6.48819816e-03 -5.72495114e-03 7.09242056e+02] [-6.48657217e-03 9.99978916e-01 3.02540252e-04 -4.30881566e+01] [ 5.72679338e-03 -2.65393617e-04 9.99983567e-01 3.88742575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.500714057 meters Centerline goodness : 0.993500 with order 1 Centerline is valid? [True, True] Translation: X:709.30, Y:-43.08, Z:3.89 [[ 9.99915097e-01 1.17057173e-02 -5.72496182e-03 7.09302076e+02] [-1.17041778e-02 9.99931458e-01 3.02337936e-04 -4.30819509e+01] [ 5.72810851e-03 -2.35306296e-04 9.99983567e-01 3.88598353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.560714057 meters Centerline goodness : 0.993607 with order 1 Centerline is valid? [True, True] Translation: X:709.36, Y:-43.09, Z:3.89 [[ 9.99705690e-01 2.35745399e-02 -5.72497332e-03 7.09360987e+02] [-2.35731960e-02 9.99722068e-01 3.02120127e-04 -4.30859364e+01] [ 5.73050451e-03 -1.67075292e-04 9.99983567e-01 3.88653287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.620714057 meters Centerline goodness : 0.993696 with order 1 Centerline is valid? [True, True] Translation: X:709.42, Y:-43.08, Z:3.89 [[ 9.99550274e-01 2.94359262e-02 -5.72497891e-03 7.09422365e+02] [-2.94346790e-02 9.99566660e-01 3.02014139e-04 -4.30822968e+01] [ 5.73138811e-03 -1.33365400e-04 9.99983567e-01 3.88657434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.680714057 meters Centerline goodness : 0.993960 with order 1 Centerline is valid? [True, True] Translation: X:709.48, Y:-43.08, Z:3.89 [[ 9.99462500e-01 3.22790433e-02 -5.72496808e-03 7.09483893e+02] [-3.22778415e-02 9.99478889e-01 3.02219324e-04 -4.30806921e+01] [ 5.73174008e-03 -1.17267269e-04 9.99983567e-01 3.88603067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.740714057 meters Centerline goodness : 0.994320 with order 1 Centerline is valid? [True, True] Translation: X:709.55, Y:-43.08, Z:3.88 [[ 9.99403761e-01 3.40492040e-02 -5.72495722e-03 7.09545159e+02] [-3.40480301e-02 9.99420152e-01 3.02424789e-04 -4.30771592e+01] [ 5.73193494e-03 -1.07320956e-04 9.99983567e-01 3.88479103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.800714057 meters Centerline goodness : 0.993772 with order 1 Centerline is valid? [True, True] Translation: X:709.61, Y:-43.07, Z:3.89 [[ 9.99536424e-01 2.99025600e-02 -5.72488743e-03 7.09606379e+02] [-2.99013105e-02 9.99552810e-01 3.03740229e-04 -4.30719222e+01] [ 5.73140993e-03 -1.32417786e-04 9.99983567e-01 3.89304214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.860714057 meters Centerline goodness : 0.994323 with order 1 Centerline is valid? [True, True] Translation: X:709.67, Y:-43.08, Z:3.89 [[ 9.99558810e-01 2.91446479e-02 -5.72487631e-03 7.09666162e+02] [-2.91433848e-02 9.99575195e-01 3.03949734e-04 -4.30753058e+01] [ 5.73130286e-03 -1.36973362e-04 9.99983567e-01 3.88582975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.920714057 meters Centerline goodness : 0.995273 with order 1 Centerline is valid? [True, True] Translation: X:709.73, Y:-43.07, Z:3.89 [[ 9.99673118e-01 2.49175154e-02 -5.72485074e-03 7.09727233e+02] [-2.49161803e-02 9.99689497e-01 3.04430480e-04 -4.30725852e+01] [ 5.73065881e-03 -1.61689555e-04 9.99983567e-01 3.88644063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.980714057 meters Centerline goodness : 0.994608 with order 1 Centerline is valid? [True, True] Translation: X:709.79, Y:-43.07, Z:3.89 [[ 9.99821527e-01 1.80038875e-02 -5.72483999e-03 7.09787798e+02] [-1.80024380e-02 9.99837897e-01 3.04632616e-04 -4.30656992e+01] [ 5.72939654e-03 -2.01517171e-04 9.99983567e-01 3.88922853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0407140570001 meters Centerline goodness : 0.995278 with order 1 Centerline is valid? [True, True] Translation: X:709.85, Y:-43.07, Z:3.89 [[ 9.99801816e-01 1.90671053e-02 -5.72483999e-03 7.09846765e+02] [-1.90656732e-02 9.99818187e-01 3.04632616e-04 -4.30702335e+01] [ 5.72960760e-03 -1.95424315e-04 9.99983567e-01 3.88690483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.100714057 meters Centerline goodness : 0.995171 with order 1 Centerline is valid? [True, True] Translation: X:709.91, Y:-43.06, Z:3.89 [[ 9.99957443e-01 7.23451384e-03 -5.72484541e-03 7.09906812e+02] [-7.23288868e-03 9.99973796e-01 3.04530582e-04 -4.30597518e+01] [ 5.72689853e-03 -2.63110453e-04 9.99983567e-01 3.89065476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1607140570001 meters Centerline goodness : 0.996483 with order 1 Centerline is valid? [True, True] Translation: X:709.97, Y:-43.06, Z:3.90 [[ 9.99983509e-01 4.55001513e-04 -5.72485071e-03 7.09965926e+02] [-4.53266098e-04 9.99999851e-01 3.04431071e-04 -4.30564808e+01] [ 5.72498837e-03 -3.01831170e-04 9.99983567e-01 3.89624123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.220714057 meters Centerline goodness : 0.996382 with order 1 Centerline is valid? [True, True] Translation: X:710.02, Y:-43.05, Z:3.90 [[ 9.99974856e-01 -4.18498371e-03 -5.72486602e-03 7.10024594e+02] [ 4.18679328e-03 9.99991189e-01 3.04142757e-04 -4.30539132e+01] [ 5.72354275e-03 -3.28103940e-04 9.99983567e-01 3.89655541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2807140570001 meters Centerline goodness : 0.997536 with order 1 Centerline is valid? [True, True] Translation: X:710.08, Y:-43.05, Z:3.89 [[ 9.99979486e-01 -2.87278059e-03 -5.72488789e-03 7.10083052e+02] [ 2.87456638e-03 9.99995822e-01 3.03730536e-04 -4.30500056e+01] [ 5.72399143e-03 -3.20180875e-04 9.99983567e-01 3.89031451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.340714057 meters Centerline goodness : 0.997956 with order 1 Centerline is valid? [True, True] Translation: X:710.14, Y:-43.05, Z:3.89 [[ 9.99982672e-01 -1.37147597e-03 -5.72491489e-03 7.10141785e+02] [ 1.37323432e-03 9.99999011e-01 3.03220773e-04 -4.30457726e+01] [ 5.72449337e-03 -3.11077169e-04 9.99983567e-01 3.89127281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4007140570001 meters Centerline goodness : 0.998631 with order 1 Centerline is valid? [True, True] Translation: X:710.20, Y:-43.04, Z:3.89 [[ 9.99948157e-01 8.42066814e-03 -5.72498934e-03 7.10200677e+02] [-8.41907794e-03 9.99964513e-01 3.01808546e-04 -4.30377541e+01] [ 5.72732761e-03 -2.53593768e-04 9.99983567e-01 3.89231436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.460714057 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:710.26, Y:-43.03, Z:3.89 [[ 9.99826044e-01 1.77511955e-02 -5.72506435e-03 7.10260330e+02] [-1.77497662e-02 9.99842415e-01 3.00378980e-04 -4.30322330e+01] [ 5.72949425e-03 -1.98708174e-04 9.99983567e-01 3.89285758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.520714057 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:710.32, Y:-43.02, Z:3.89 [[ 9.99516372e-01 3.05654295e-02 -5.72514021e-03 7.10319546e+02] [-3.05642184e-02 9.99532760e-01 2.98925964e-04 -4.30239987e+01] [ 5.73160200e-03 -1.23796959e-04 9.99983567e-01 3.89285703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.580714057 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:710.38, Y:-43.02, Z:3.89 [[ 9.99414620e-01 3.37289052e-02 -5.72521731e-03 7.10378167e+02] [-3.37277546e-02 9.99431013e-01 2.97442102e-04 -4.30242883e+01] [ 5.73199213e-03 -1.04169261e-04 9.99983567e-01 3.89289965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.640714057 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:710.44, Y:-43.02, Z:3.89 [[ 9.99186430e-01 3.99211758e-02 -5.72523919e-03 7.10436630e+02] [-3.99201291e-02 9.99202830e-01 2.97020353e-04 -4.30222797e+01] [ 5.73253260e-03 -6.82264184e-05 9.99983567e-01 3.89239709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.700714057 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:710.49, Y:-43.02, Z:3.89 [[ 9.99051307e-01 4.31706874e-02 -5.72525075e-03 7.10494835e+02] [-4.31696954e-02 9.99067710e-01 2.96797355e-04 -4.30212001e+01] [ 5.73272610e-03 -4.93584544e-05 9.99983567e-01 3.89257887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.760714057 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:710.55, Y:-43.02, Z:3.89 [[ 9.98958278e-01 4.52722857e-02 -5.72527714e-03 7.10554348e+02] [-4.52713311e-02 9.98974684e-01 2.96287346e-04 -4.30241845e+01] [ 5.73282053e-03 -3.67877805e-05 9.99983567e-01 3.89261316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.820714057 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:710.61, Y:-43.03, Z:3.89 [[ 9.98828668e-01 4.80469973e-02 -5.72528761e-03 7.10613540e+02] [-4.80460894e-02 9.98845076e-01 2.96084850e-04 -4.30297463e+01] [ 5.73290133e-03 -2.06603558e-05 9.99983567e-01 3.89257259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.880714057 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:710.67, Y:-43.03, Z:3.89 [[ 9.98806519e-01 4.85052478e-02 -5.72529817e-03 7.10672956e+02] [-4.85043486e-02 9.98822928e-01 2.95880506e-04 -4.30342846e+01] [ 5.73291084e-03 -1.78255199e-05 9.99983567e-01 3.89358093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.940714057 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:710.73, Y:-43.04, Z:3.90 [[ 9.99004064e-01 4.42504458e-02 -5.72530875e-03 7.10732376e+02] [-4.42494779e-02 9.99020468e-01 2.95675690e-04 -4.30422589e+01] [ 5.73278441e-03 -4.20392925e-05 9.99983567e-01 3.89559213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.000714057 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:710.79, Y:-43.05, Z:3.90 [[ 9.99416674e-01 3.36679893e-02 -5.72531389e-03 7.10791678e+02] [-3.36668483e-02 9.99433067e-01 2.95576048e-04 -4.30530238e+01] [ 5.73201948e-03 -1.02650356e-04 9.99983567e-01 3.89545277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.060714057 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:710.85, Y:-43.06, Z:3.90 [[ 9.99705125e-01 2.35983660e-02 -5.72531892e-03 7.10851633e+02] [-2.35970605e-02 9.99721507e-01 2.95478687e-04 -4.30603373e+01] [ 5.73069727e-03 -1.60290861e-04 9.99983567e-01 3.89562069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.120714057 meters Centerline goodness : 0.998463 with order 1 Centerline is valid? [True, True] Translation: X:710.91, Y:-43.07, Z:3.90 [[ 9.99943649e-01 8.93976933e-03 -5.72531892e-03 7.10910808e+02] [-8.93822380e-03 9.99960010e-01 2.95478687e-04 -4.30688879e+01] [ 5.72773147e-03 -2.44287854e-04 9.99983567e-01 3.89601919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.180714057 meters Centerline goodness : 0.997829 with order 1 Centerline is valid? [True, True] Translation: X:710.97, Y:-43.08, Z:3.89 [[ 9.99981547e-01 2.03156535e-03 -5.72532383e-03 7.10970479e+02] [-2.02990737e-03 9.99997896e-01 2.95383429e-04 -4.30756077e+01] [ 5.72591188e-03 -2.83756101e-04 9.99983567e-01 3.89450887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.240714057 meters Centerline goodness : 0.998250 with order 1 Centerline is valid? [True, True] Translation: X:711.03, Y:-43.08, Z:3.89 [[ 9.99979073e-01 -3.01234953e-03 -5.72533421e-03 7.11029655e+02] [ 3.01408880e-03 9.99995414e-01 2.95182103e-04 -4.30785838e+01] [ 5.72441876e-03 -3.12432592e-04 9.99983567e-01 3.89481676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.300714057 meters Centerline goodness : 0.998212 with order 1 Centerline is valid? [True, True] Translation: X:711.09, Y:-43.08, Z:3.90 [[ 9.99982910e-01 -1.18361203e-03 -5.72535517e-03 7.11088238e+02] [ 1.18531910e-03 9.99999254e-01 2.94775059e-04 -4.30787881e+01] [ 5.72500200e-03 -3.01556394e-04 9.99983567e-01 3.89638763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.360714057 meters Centerline goodness : 0.998653 with order 1 Centerline is valid? [True, True] Translation: X:711.15, Y:-43.08, Z:3.90 [[ 9.99981860e-01 1.87051340e-03 -5.72542723e-03 7.11147078e+02] [-1.86886430e-03 9.99998211e-01 2.93368716e-04 -4.30791944e+01] [ 5.72596574e-03 -2.82663348e-04 9.99983567e-01 3.89761115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.420714057 meters Centerline goodness : 0.998865 with order 1 Centerline is valid? [True, True] Translation: X:711.21, Y:-43.08, Z:3.90 [[ 9.99960309e-01 6.82636518e-03 -5.72549871e-03 7.11206275e+02] [-6.82480513e-03 9.99976668e-01 2.91967059e-04 -4.30762981e+01] [ 5.72735819e-03 -2.52880057e-04 9.99983567e-01 3.89798723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.480714057 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:711.26, Y:-43.08, Z:3.90 [[ 9.99941784e-01 9.14584109e-03 -5.72557200e-03 7.11264972e+02] [-9.14432725e-03 9.99958148e-01 2.90522610e-04 -4.30750298e+01] [ 5.72798944e-03 -2.38149193e-04 9.99983567e-01 3.89899202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5407140570001 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:711.32, Y:-43.07, Z:3.90 [[ 9.99947475e-01 8.50081953e-03 -5.72564437e-03 7.11324368e+02] [-8.49930332e-03 9.99963838e-01 2.89089317e-04 -4.30726362e+01] [ 5.72789482e-03 -2.40410145e-04 9.99983567e-01 3.89961411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.600714057 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:711.38, Y:-43.07, Z:3.90 [[ 9.99976571e-01 3.75160608e-03 -5.72566481e-03 7.11382865e+02] [-3.75001450e-03 9.99992927e-01 2.88683902e-04 -4.30711568e+01] [ 5.72670734e-03 -2.67205813e-04 9.99983567e-01 3.90002863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6607140570001 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:711.44, Y:-43.07, Z:3.90 [[ 9.99980920e-01 2.31870547e-03 -5.72568512e-03 7.11441688e+02] [-2.31709275e-03 9.99997274e-01 2.88280500e-04 -4.30709105e+01] [ 5.72633795e-03 -2.75008056e-04 9.99983567e-01 3.90031419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.720714057 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:711.50, Y:-43.07, Z:3.90 [[ 9.99956919e-01 7.30597518e-03 -5.72570027e-03 7.11500579e+02] [-7.30444577e-03 9.99973281e-01 2.87979173e-04 -4.30677604e+01] [ 5.72765126e-03 -2.46143700e-04 9.99983567e-01 3.90044110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7807140570001 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:711.56, Y:-43.06, Z:3.90 [[ 9.99787244e-01 1.98162244e-02 -5.72577324e-03 7.11559626e+02] [-1.98149081e-02 9.99803624e-01 2.86520954e-04 -4.30641324e+01] [ 5.73032661e-03 -1.73004324e-04 9.99983567e-01 3.90140081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.840714057 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:711.62, Y:-43.06, Z:3.90 [[ 9.99587619e-01 2.81390749e-02 -5.72584287e-03 7.11619023e+02] [-2.81379031e-02 9.99604010e-01 2.85122639e-04 -4.30634319e+01] [ 5.73159859e-03 -1.23891847e-04 9.99983567e-01 3.90304550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9007140570001 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:711.68, Y:-43.06, Z:3.91 [[ 9.99347137e-01 3.56723113e-02 -5.72591447e-03 7.11676560e+02] [-3.56712714e-02 9.99363537e-01 2.83677433e-04 -4.30639361e+01] [ 5.73238957e-03 -7.92415809e-05 9.99983567e-01 3.90571409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.960714057 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:711.74, Y:-43.07, Z:3.91 [[ 9.99311192e-01 3.66654584e-02 -5.72594273e-03 7.11735704e+02] [-3.66644380e-02 9.99327593e-01 2.83105988e-04 -4.30670864e+01] [ 5.73247278e-03 -7.29725102e-05 9.99983567e-01 3.90517911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.020714057 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:711.80, Y:-43.07, Z:3.90 [[ 9.99380149e-01 3.47351514e-02 -5.72596261e-03 7.11795604e+02] [-3.47341016e-02 9.99396549e-01 2.82703276e-04 -4.30727361e+01] [ 5.73232701e-03 -8.36418747e-05 9.99983567e-01 3.90224551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.080714057 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:711.85, Y:-43.08, Z:3.90 [[ 9.99485672e-01 3.15532052e-02 -5.72597264e-03 7.11854976e+02] [-3.15521044e-02 9.99502068e-01 2.82499931e-04 -4.30784468e+01] [ 5.73203528e-03 -1.01688147e-04 9.99983567e-01 3.90143736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.140714057 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:711.91, Y:-43.09, Z:3.90 [[ 9.99712623e-01 2.32784313e-02 -5.72598289e-03 7.11913876e+02] [-2.32771960e-02 9.99729010e-01 2.82292053e-04 -4.30853874e+01] [ 5.73100252e-03 -1.48926103e-04 9.99983567e-01 3.90373754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.200714057 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:711.97, Y:-43.09, Z:3.91 [[ 9.99894146e-01 1.33756989e-02 -5.72599313e-03 7.11972858e+02] [-1.33743026e-02 9.99910520e-01 2.82084264e-04 -4.30912271e+01] [ 5.72925384e-03 -2.05473240e-04 9.99983567e-01 3.90842552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.260714057 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:712.03, Y:-43.09, Z:3.91 [[ 9.99956187e-01 7.40520656e-03 -5.72600312e-03 7.12032291e+02] [-7.40371363e-03 9.99972552e-01 2.81881279e-04 -4.30947922e+01] [ 5.72793334e-03 -2.39475242e-04 9.99983567e-01 3.91027400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.320714057 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:712.09, Y:-43.10, Z:3.91 [[ 9.99983606e-01 -7.58284552e-06 -5.72601310e-03 7.12091525e+02] [ 9.19589005e-06 9.99999960e-01 2.81678378e-04 -4.30968684e+01] [ 5.72601074e-03 -2.81726416e-04 9.99983567e-01 3.90969111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.380714057 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:712.15, Y:-43.10, Z:3.91 [[ 9.99968499e-01 -5.49666874e-03 -5.72602835e-03 7.12149838e+02] [ 5.49836976e-03 9.99984844e-01 2.81368011e-04 -4.30981376e+01] [ 5.72439498e-03 -3.12842969e-04 9.99983567e-01 3.90812277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.440714057 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:712.21, Y:-43.10, Z:3.91 [[ 9.99949420e-01 -8.26855391e-03 -5.72605374e-03 7.12209139e+02] [ 8.27029728e-03 9.99965761e-01 2.80850401e-04 -4.30990004e+01] [ 5.72353546e-03 -3.28192363e-04 9.99983567e-01 3.90839468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.500714057 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:712.27, Y:-43.10, Z:3.91 [[ 9.99941503e-01 -9.17616947e-03 -5.72607366e-03 7.12267325e+02] [ 9.17792535e-03 9.99957843e-01 2.80443647e-04 -4.31006543e+01] [ 5.72325887e-03 -3.32980719e-04 9.99983567e-01 3.90899834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.560714057 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:712.33, Y:-43.10, Z:3.91 [[ 9.99955087e-01 -7.55224424e-03 -5.72609816e-03 7.12326309e+02] [ 7.55397071e-03 9.99971429e-01 2.79942434e-04 -4.30988106e+01] [ 5.72382037e-03 -3.23184639e-04 9.99983567e-01 3.91146476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.620714057 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:712.39, Y:-43.09, Z:3.91 [[ 9.99982644e-01 -1.38653105e-03 -5.72616878e-03 7.12385858e+02] [ 1.38814843e-03 9.99998998e-01 2.78490502e-04 -4.30947216e+01] [ 5.72577690e-03 -2.86434441e-04 9.99983567e-01 3.91264810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.680714057 meters Centerline goodness : 0.998185 with order 1 Centerline is valid? [True, True] Translation: X:712.44, Y:-43.09, Z:3.91 [[ 9.99974028e-01 4.37657482e-03 -5.72623851e-03 7.12444343e+02] [-4.37505995e-03 9.99990391e-01 2.77049184e-04 -4.30922137e+01] [ 5.72739602e-03 -2.51989352e-04 9.99983567e-01 3.91156640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.740714057 meters Centerline goodness : 0.998555 with order 1 Centerline is valid? [True, True] Translation: X:712.50, Y:-43.09, Z:3.91 [[ 9.99908822e-01 1.22293545e-02 -5.72627523e-03 7.12503553e+02] [-1.22279725e-02 9.99925197e-01 2.76288147e-04 -4.30877824e+01] [ 5.72922572e-03 -2.06242219e-04 9.99983567e-01 3.91047060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.800714057 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:712.56, Y:-43.09, Z:3.91 [[ 9.99868558e-01 1.51682648e-02 -5.72634557e-03 7.12561954e+02] [-1.51669394e-02 9.99884938e-01 2.74822647e-04 -4.30863417e+01] [ 5.72985526e-03 -1.87935387e-04 9.99983567e-01 3.91192444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.860714057 meters Centerline goodness : 0.998592 with order 1 Centerline is valid? [True, True] Translation: X:712.62, Y:-43.08, Z:3.91 [[ 9.99853860e-01 1.61079969e-02 -5.72637029e-03 7.12620962e+02] [-1.61066898e-02 9.99870241e-01 2.74306434e-04 -4.30840503e+01] [ 5.73004577e-03 -1.82033477e-04 9.99983567e-01 3.91470107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.920714057 meters Centerline goodness : 0.998625 with order 1 Centerline is valid? [True, True] Translation: X:712.68, Y:-43.08, Z:3.91 [[ 9.99862447e-01 1.55658568e-02 -5.72639050e-03 7.12679282e+02] [-1.55645432e-02 9.99878828e-01 2.73884006e-04 -4.30844477e+01] [ 5.72995986e-03 -1.84717680e-04 9.99983567e-01 3.91373428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.980714057 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:712.74, Y:-43.09, Z:3.91 [[ 9.99883221e-01 1.41686980e-02 -5.72641546e-03 7.12738258e+02] [-1.41673646e-02 9.99899600e-01 2.73361084e-04 -4.30864643e+01] [ 5.72971370e-03 -1.92200946e-04 9.99983567e-01 3.91342574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0407140570001 meters Centerline goodness : 0.998562 with order 1 Centerline is valid? [True, True] Translation: X:712.80, Y:-43.09, Z:3.91 [[ 9.99901266e-01 1.28322329e-02 -5.72643519e-03 7.12796960e+02] [-1.28308799e-02 9.99917644e-01 2.72947177e-04 -4.30875726e+01] [ 5.72946610e-03 -1.99445026e-04 9.99983567e-01 3.91314209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.100714057 meters Centerline goodness : 0.998068 with order 1 Centerline is valid? [True, True] Translation: X:712.86, Y:-43.09, Z:3.91 [[ 9.99901754e-01 1.27941530e-02 -5.72645492e-03 7.12855011e+02] [-1.27928018e-02 9.99918132e-01 2.72532520e-04 -4.30891549e+01] [ 5.72947293e-03 -1.99248342e-04 9.99983567e-01 3.91414939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1607140570001 meters Centerline goodness : 0.998602 with order 1 Centerline is valid? [True, True] Translation: X:712.91, Y:-43.09, Z:3.92 [[ 9.99872022e-01 1.49380764e-02 -5.72648112e-03 7.12914143e+02] [-1.49367635e-02 9.99888403e-01 2.71981058e-04 -4.30903613e+01] [ 5.72990493e-03 -1.86411156e-04 9.99983567e-01 3.91689929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.220714057 meters Centerline goodness : 0.997986 with order 1 Centerline is valid? [True, True] Translation: X:712.97, Y:-43.09, Z:3.92 [[ 9.99835570e-01 1.72058048e-02 -5.72650043e-03 7.12973045e+02] [-1.72045314e-02 9.99851954e-01 2.71573721e-04 -4.30915333e+01] [ 5.73032529e-03 -1.73007309e-04 9.99983567e-01 3.91736477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2807140570001 meters Centerline goodness : 0.997907 with order 1 Centerline is valid? [True, True] Translation: X:713.03, Y:-43.09, Z:3.92 [[ 9.99818748e-01 1.81570488e-02 -5.72651988e-03 7.13030555e+02] [-1.81557933e-02 9.99835133e-01 2.71163034e-04 -4.30934132e+01] [ 5.73049929e-03 -1.67144374e-04 9.99983567e-01 3.91651991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.340714057 meters Centerline goodness : 0.998192 with order 1 Centerline is valid? [True, True] Translation: X:713.09, Y:-43.10, Z:3.91 [[ 9.99810944e-01 1.85817758e-02 -5.72654361e-03 7.13089652e+02] [-1.85805301e-02 9.99827330e-01 2.70660903e-04 -4.30954931e+01] [ 5.73058417e-03 -1.64207517e-04 9.99983567e-01 3.91388732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4007140570001 meters Centerline goodness : 0.998333 with order 1 Centerline is valid? [True, True] Translation: X:713.15, Y:-43.10, Z:3.91 [[ 9.99848400e-01 1.64433418e-02 -5.72656252e-03 7.13148357e+02] [-1.64420634e-02 9.99864784e-01 2.70260262e-04 -4.30997666e+01] [ 5.73023218e-03 -1.76062786e-04 9.99983567e-01 3.91232200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.460714057 meters Centerline goodness : 0.998394 with order 1 Centerline is valid? [True, True] Translation: X:713.21, Y:-43.10, Z:3.91 [[ 9.99887579e-01 1.38576944e-02 -5.72658195e-03 7.13206713e+02] [-1.38563760e-02 9.99903959e-01 2.69847876e-04 -4.31031309e+01] [ 5.72977144e-03 -1.90467867e-04 9.99983567e-01 3.91319341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.520714057 meters Centerline goodness : 0.997788 with order 1 Centerline is valid? [True, True] Translation: X:713.27, Y:-43.11, Z:3.91 [[ 9.99916312e-01 1.16006326e-02 -5.72660128e-03 7.13265552e+02] [-1.15992795e-02 9.99932690e-01 2.69437184e-04 -4.31068313e+01] [ 5.72934146e-03 -2.02990187e-04 9.99983567e-01 3.91390802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.580714057 meters Centerline goodness : 0.998603 with order 1 Centerline is valid? [True, True] Translation: X:713.32, Y:-43.11, Z:3.92 [[ 9.99927173e-01 1.06233184e-02 -5.72662477e-03 7.13324036e+02] [-1.06219522e-02 9.99943549e-01 2.68937000e-04 -4.31098285e+01] [ 5.72915850e-03 -2.08089480e-04 9.99983567e-01 3.91744160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.640714057 meters Centerline goodness : 0.998374 with order 1 Centerline is valid? [True, True] Translation: X:713.38, Y:-43.11, Z:3.92 [[ 9.99910357e-01 1.21030391e-02 -5.72664827e-03 7.13382576e+02] [-1.21017000e-02 9.99926736e-01 2.68435657e-04 -4.31114059e+01] [ 5.72947760e-03 -1.99109415e-04 9.99983567e-01 3.91842898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.700714057 meters Centerline goodness : 0.998171 with order 1 Centerline is valid? [True, True] Translation: X:713.44, Y:-43.11, Z:3.92 [[ 9.99865190e-01 1.53885578e-02 -5.72666707e-03 7.13441650e+02] [-1.53872748e-02 9.99881573e-01 2.68033934e-04 -4.31120415e+01] [ 5.73011353e-03 -1.79880001e-04 9.99983567e-01 3.91843714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.760714057 meters Centerline goodness : 0.998751 with order 1 Centerline is valid? [True, True] Translation: X:713.50, Y:-43.11, Z:3.92 [[ 9.99813744e-01 1.84304764e-02 -5.72668582e-03 7.13500674e+02] [-1.84292455e-02 9.99830131e-01 2.67632622e-04 -4.31139742e+01] [ 5.73064564e-03 -1.62044275e-04 9.99983567e-01 3.91879065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.820714057 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:713.56, Y:-43.12, Z:3.92 [[ 9.99641335e-01 2.61611580e-02 -5.72670481e-03 7.13558525e+02] [-2.61600563e-02 9.99657731e-01 2.67225652e-04 -4.31156494e+01] [ 5.73173568e-03 -1.17318888e-04 9.99983567e-01 3.91785225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.880714057 meters Centerline goodness : 0.998135 with order 1 Centerline is valid? [True, True] Translation: X:713.62, Y:-43.12, Z:3.92 [[ 9.99333654e-01 3.60479224e-02 -5.72678166e-03 7.13616476e+02] [-3.60469924e-02 9.99350061e-01 2.65568536e-04 -4.31180164e+01] [ 5.73263279e-03 -5.89583203e-05 9.99983567e-01 3.91686228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.940714057 meters Centerline goodness : 0.997520 with order 1 Centerline is valid? [True, True] Translation: X:713.67, Y:-43.12, Z:3.92 [[ 9.99038279e-01 4.34709226e-02 -5.72685937e-03 7.13674914e+02] [-4.34701241e-02 9.99054693e-01 2.63881957e-04 -4.31220670e+01] [ 5.73291692e-03 -1.46808882e-05 9.99983567e-01 3.91576448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.000714057 meters Centerline goodness : 0.998407 with order 1 Centerline is valid? [True, True] Translation: X:713.73, Y:-43.13, Z:3.92 [[ 9.98801845e-01 4.86012117e-02 -5.72688332e-03 7.13733678e+02] [-4.86005005e-02 9.98818263e-01 2.63361167e-04 -4.31281533e+01] [ 5.73291532e-03 1.52837764e-05 9.99983567e-01 3.91689936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.060714057 meters Centerline goodness : 0.998656 with order 1 Centerline is valid? [True, True] Translation: X:713.79, Y:-43.14, Z:3.92 [[ 9.98467419e-01 5.50455858e-02 -5.72690792e-03 7.13790816e+02] [-5.50449837e-02 9.98483841e-01 2.62825122e-04 -4.31381425e+01] [ 5.73269238e-03 5.28152321e-05 9.99983567e-01 3.91777716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.120714057 meters Centerline goodness : 0.998889 with order 1 Centerline is valid? [True, True] Translation: X:713.85, Y:-43.15, Z:3.92 [[ 9.98165957e-01 6.02654447e-02 -5.72693153e-03 7.13847910e+02] [-6.02649315e-02 9.98182383e-01 2.62309840e-04 -4.31501476e+01] [ 5.73233038e-03 8.33043831e-05 9.99983567e-01 3.91934559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.180714057 meters Centerline goodness : 0.998791 with order 1 Centerline is valid? [True, True] Translation: X:713.91, Y:-43.16, Z:3.92 [[ 9.98003979e-01 6.28908625e-02 -5.72695000e-03 7.13905869e+02] [-6.28903947e-02 9.98020405e-01 2.61905805e-04 -4.31600855e+01] [ 5.73208445e-03 9.87871108e-05 9.99983567e-01 3.92026097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.240714057 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:713.96, Y:-43.18, Z:3.92 [[ 9.97933505e-01 6.39993786e-02 -5.72698791e-03 7.13963947e+02] [-6.39989338e-02 9.97949933e-01 2.61074289e-04 -4.31773543e+01] [ 5.73195579e-03 1.05986340e-04 9.99983567e-01 3.92040844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.300714057 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.02, Y:-43.20, Z:3.92 [[ 9.98358645e-01 5.69843687e-02 -5.72701063e-03 7.14022602e+02] [-5.69838114e-02 9.98375068e-01 2.60574904e-04 -4.31962231e+01] [ 5.73255333e-03 6.61996853e-05 9.99983567e-01 3.92023714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.360714057 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:714.08, Y:-43.21, Z:3.92 [[ 9.98557503e-01 5.33864655e-02 -5.72701509e-03 7.14082593e+02] [-5.33858495e-02 9.98573925e-01 2.60476798e-04 -4.32051212e+01] [ 5.73275387e-03 4.56405046e-05 9.99983567e-01 3.91983976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.420714057 meters Centerline goodness : 0.998706 with order 1 Centerline is valid? [True, True] Translation: X:714.14, Y:-43.23, Z:3.92 [[ 9.99061495e-01 4.29340214e-02 -5.72701509e-03 7.14143028e+02] [-4.29332337e-02 9.99077910e-01 2.60476798e-04 -4.32257143e+01] [ 5.73291758e-03 -1.43530625e-05 9.99983567e-01 3.91861539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.480714057 meters Centerline goodness : 0.998219 with order 1 Centerline is valid? [True, True] Translation: X:714.20, Y:-43.24, Z:3.92 [[ 9.99287897e-01 3.72947819e-02 -5.72700577e-03 7.14202561e+02] [-3.72939004e-02 9.99304307e-01 2.60681516e-04 -4.32391873e+01] [ 5.73274359e-03 -4.69135010e-05 9.99983567e-01 3.91888601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5407140570001 meters Centerline goodness : 0.996850 with order 1 Centerline is valid? [True, True] Translation: X:714.26, Y:-43.26, Z:3.92 [[ 9.99509079e-01 3.08026333e-02 -5.72700577e-03 7.14262449e+02] [-3.08016451e-02 9.99525483e-01 2.60681516e-04 -4.32557125e+01] [ 5.73231789e-03 -8.41523426e-05 9.99983567e-01 3.91952405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.600714057 meters Centerline goodness : 0.997016 with order 1 Centerline is valid? [True, True] Translation: X:714.32, Y:-43.27, Z:3.92 [[ 9.99629383e-01 2.66138762e-02 -5.72700124e-03 7.14322840e+02] [-2.66128188e-02 9.99645782e-01 2.60781129e-04 -4.32660971e+01] [ 5.73191303e-03 -1.08272833e-04 9.99983567e-01 3.92049772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6607140570001 meters Centerline goodness : 0.996998 with order 1 Centerline is valid? [True, True] Translation: X:714.38, Y:-43.28, Z:3.92 [[ 9.99796523e-01 1.93420525e-02 -5.72700124e-03 7.14383092e+02] [-1.93408758e-02 9.99812914e-01 2.60781129e-04 -4.32772241e+01] [ 5.73097384e-03 -1.49962846e-04 9.99983567e-01 3.91899577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.720714057 meters Centerline goodness : 0.996249 with order 1 Centerline is valid? [True, True] Translation: X:714.44, Y:-43.29, Z:3.92 [[ 9.99896745e-01 1.31795317e-02 -5.72700124e-03 7.14443273e+02] [-1.31782540e-02 9.99913129e-01 2.60781129e-04 -4.32867050e+01] [ 5.72994070e-03 -1.85282325e-04 9.99983567e-01 3.91736051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7807140570001 meters Centerline goodness : 0.996869 with order 1 Centerline is valid? [True, True] Translation: X:714.50, Y:-43.29, Z:3.92 [[ 9.99916335e-01 1.15984840e-02 -5.72700124e-03 7.14503055e+02] [-1.15971804e-02 9.99932716e-01 2.60781129e-04 -4.32922410e+01] [ 5.72964057e-03 -1.94342244e-04 9.99983567e-01 3.91680545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.840714057 meters Centerline goodness : 0.996499 with order 1 Centerline is valid? [True, True] Translation: X:714.56, Y:-43.30, Z:3.92 [[ 9.99882571e-01 1.42142593e-02 -5.72700586e-03 7.14562541e+02] [-1.42129991e-02 9.99898956e-01 2.60679557e-04 -4.32965604e+01] [ 5.73013255e-03 -1.79251016e-04 9.99983567e-01 3.91687781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9007140570001 meters Centerline goodness : 0.995493 with order 1 Centerline is valid? [True, True] Translation: X:714.62, Y:-43.29, Z:3.92 [[ 9.99883807e-01 1.41270945e-02 -5.72701495e-03 7.14622835e+02] [-1.41258340e-02 9.99900192e-01 2.60479763e-04 -4.32945423e+01] [ 5.73012317e-03 -1.79550634e-04 9.99983567e-01 3.91928883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.960714057 meters Centerline goodness : 0.996435 with order 1 Centerline is valid? [True, True] Translation: X:714.68, Y:-43.30, Z:3.92 [[ 9.99677465e-01 2.47420230e-02 -5.72702484e-03 7.14682155e+02] [-2.47409378e-02 9.99693862e-01 2.60262192e-04 -4.33017741e+01] [ 5.73171099e-03 -1.18486283e-04 9.99983567e-01 3.91744840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.020714057 meters Centerline goodness : 0.996063 with order 1 Centerline is valid? [True, True] Translation: X:714.74, Y:-43.30, Z:3.92 [[ 9.99635821e-01 2.63709563e-02 -5.72702301e-03 7.14742769e+02] [-2.63698976e-02 9.99652220e-01 2.60302421e-04 -4.33026345e+01] [ 5.73189569e-03 -1.09186614e-04 9.99983567e-01 3.92163359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.080714057 meters Centerline goodness : 0.996354 with order 1 Centerline is valid? [True, True] Translation: X:714.80, Y:-43.31, Z:3.92 [[ 9.99575785e-01 2.85561047e-02 -5.72702301e-03 7.14802715e+02] [-2.85550819e-02 9.99592187e-01 2.60302421e-04 -4.33062707e+01] [ 5.73212067e-03 -9.66563862e-05 9.99983567e-01 3.91691516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.140714057 meters Centerline goodness : 0.996399 with order 1 Centerline is valid? [True, True] Translation: X:714.86, Y:-43.31, Z:3.92 [[ 9.99512130e-01 3.07034904e-02 -5.72699884e-03 7.14863574e+02] [-3.07024998e-02 9.99528533e-01 2.60833141e-04 -4.33083724e+01] [ 5.73230723e-03 -8.48727075e-05 9.99983567e-01 3.91810208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.200714057 meters Centerline goodness : 0.997322 with order 1 Centerline is valid? [True, True] Translation: X:714.92, Y:-43.31, Z:3.92 [[ 9.99469739e-01 3.20537523e-02 -5.72699884e-03 7.14924036e+02] [-3.20527838e-02 9.99486143e-01 2.60833141e-04 -4.33116390e+01] [ 5.73241666e-03 -7.71285755e-05 9.99983567e-01 3.91997474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.260714057 meters Centerline goodness : 0.996804 with order 1 Centerline is valid? [True, True] Translation: X:714.99, Y:-43.31, Z:3.93 [[ 9.99488655e-01 3.14583880e-02 -5.72699884e-03 7.14985257e+02] [-3.14574097e-02 9.99505059e-01 2.60833141e-04 -4.33136460e+01] [ 5.73236970e-03 -8.05432163e-05 9.99983567e-01 3.92512116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.320714057 meters Centerline goodness : 0.996822 with order 1 Centerline is valid? [True, True] Translation: X:715.05, Y:-43.32, Z:3.93 [[ 9.99503608e-01 3.09796550e-02 -5.72698883e-03 7.15045076e+02] [-3.09786677e-02 9.99520012e-01 2.61052637e-04 -4.33157600e+01] [ 5.73232727e-03 -8.35085684e-05 9.99983567e-01 3.92642375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.380714057 meters Centerline goodness : 0.996383 with order 1 Centerline is valid? [True, True] Translation: X:715.11, Y:-43.32, Z:3.92 [[ 9.99565442e-01 2.89158762e-02 -5.72698391e-03 7.15106166e+02] [-2.89148544e-02 9.99581844e-01 2.61160627e-04 -4.33184383e+01] [ 5.73214082e-03 -9.54522326e-05 9.99983567e-01 3.92392092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.440714057 meters Centerline goodness : 0.996404 with order 1 Centerline is valid? [True, True] Translation: X:715.17, Y:-43.32, Z:3.92 [[ 9.99624703e-01 2.67890970e-02 -5.72697445e-03 7.15166997e+02] [-2.67880391e-02 9.99641102e-01 2.61367782e-04 -4.33226033e+01] [ 5.73192086e-03 -1.07855276e-04 9.99983567e-01 3.92279384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.500714057 meters Centerline goodness : 0.996782 with order 1 Centerline is valid? [True, True] Translation: X:715.23, Y:-43.33, Z:3.92 [[ 9.99640837e-01 2.61801284e-02 -5.72697445e-03 7.15227370e+02] [-2.61790605e-02 9.99657236e-01 2.61367782e-04 -4.33281377e+01] [ 5.73185409e-03 -1.11347097e-04 9.99983567e-01 3.91829364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.560714057 meters Centerline goodness : 0.996453 with order 1 Centerline is valid? [True, True] Translation: X:715.29, Y:-43.33, Z:3.92 [[ 9.99634360e-01 2.64262832e-02 -5.72696977e-03 7.15287595e+02] [-2.64252188e-02 9.99650759e-01 2.61470351e-04 -4.33314042e+01] [ 5.73187937e-03 -1.10038317e-04 9.99983567e-01 3.91865447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.620714057 meters Centerline goodness : 0.996067 with order 1 Centerline is valid? [True, True] Translation: X:715.35, Y:-43.33, Z:3.92 [[ 9.99687885e-01 2.43173578e-02 -5.72696977e-03 7.15348489e+02] [-2.43162588e-02 9.99704282e-01 2.61470351e-04 -4.33303433e+01] [ 5.73163447e-03 -1.22130263e-04 9.99983567e-01 3.91946468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.680714057 meters Centerline goodness : 0.996401 with order 1 Centerline is valid? [True, True] Translation: X:715.41, Y:-43.34, Z:3.92 [[ 9.99533396e-01 3.00031873e-02 -5.72696977e-03 7.15407799e+02] [-3.00021815e-02 9.99549799e-01 2.61470351e-04 -4.33368163e+01] [ 5.73223643e-03 -8.95267610e-05 9.99983567e-01 3.91922367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.740714057 meters Centerline goodness : 0.996180 with order 1 Centerline is valid? [True, True] Translation: X:715.47, Y:-43.34, Z:3.92 [[ 9.99348768e-01 3.56264318e-02 -5.72697457e-03 7.15468620e+02] [-3.56255190e-02 9.99365176e-01 2.61365081e-04 -4.33388358e+01] [ 5.73265046e-03 -5.71684303e-05 9.99983567e-01 3.91804490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.800714057 meters Centerline goodness : 0.996713 with order 1 Centerline is valid? [True, True] Translation: X:715.53, Y:-43.34, Z:3.92 [[ 9.99273213e-01 3.76861833e-02 -5.72697457e-03 7.15529464e+02] [-3.76853043e-02 9.99289622e-01 2.61365081e-04 -4.33415751e+01] [ 5.73275611e-03 -4.53523450e-05 9.99983567e-01 3.91844900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.860714057 meters Centerline goodness : 0.996338 with order 1 Centerline is valid? [True, True] Translation: X:715.59, Y:-43.35, Z:3.92 [[ 9.99273519e-01 3.76780716e-02 -5.72696563e-03 7.15590252e+02] [-3.76771913e-02 9.99289928e-01 2.61560952e-04 -4.33455463e+01] [ 5.73275418e-03 -4.55949527e-05 9.99983567e-01 3.92035485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.920714057 meters Centerline goodness : 0.995933 with order 1 Centerline is valid? [True, True] Translation: X:715.65, Y:-43.35, Z:3.92 [[ 9.99424441e-01 3.34363448e-02 -5.72693008e-03 7.15651370e+02] [-3.34353904e-02 9.99440847e-01 2.62336925e-04 -4.33513452e+01] [ 5.73249944e-03 -7.07037916e-05 9.99983567e-01 3.92229766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.980714057 meters Centerline goodness : 0.995677 with order 1 Centerline is valid? [True, True] Translation: X:715.71, Y:-43.36, Z:3.92 [[ 9.99617183e-01 2.70682704e-02 -5.72687406e-03 7.15712841e+02] [-2.70672046e-02 9.99633581e-01 2.63554198e-04 -4.33564397e+01] [ 5.73190959e-03 -1.08442833e-04 9.99983567e-01 3.92122418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0407140570001 meters Centerline goodness : 0.995927 with order 1 Centerline is valid? [True, True] Translation: X:715.77, Y:-43.36, Z:3.94 [[ 9.99657131e-01 2.55504267e-02 -5.72686501e-03 7.15773481e+02] [-2.55493348e-02 9.99673528e-01 2.63750756e-04 -4.33635518e+01] [ 5.73173429e-03 -1.17342732e-04 9.99983567e-01 3.93642146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.100714057 meters Centerline goodness : 0.995277 with order 1 Centerline is valid? [True, True] Translation: X:715.83, Y:-43.37, Z:3.94 [[ 9.99658930e-01 2.54799164e-02 -5.72685530e-03 7.15834611e+02] [-2.54788222e-02 9.99675327e-01 2.63961398e-04 -4.33698675e+01] [ 5.73172166e-03 -1.17957841e-04 9.99983567e-01 3.94202151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1607140570001 meters Centerline goodness : 0.996483 with order 1 Centerline is valid? [True, True] Translation: X:715.90, Y:-43.37, Z:3.92 [[ 9.99616349e-01 2.70990303e-02 -5.72684570e-03 7.15895120e+02] [-2.70979614e-02 9.99632748e-01 2.64169566e-04 -4.33673062e+01] [ 5.73190124e-03 -1.08882374e-04 9.99983567e-01 3.92042990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.220714057 meters Centerline goodness : 0.996440 with order 1 Centerline is valid? [True, True] Translation: X:715.96, Y:-43.37, Z:3.92 [[ 9.99455515e-01 3.24942518e-02 -5.72684101e-03 7.15955120e+02] [-3.24932709e-02 9.99471919e-01 2.64271160e-04 -4.33693185e+01] [ 5.73240407e-03 -7.80434721e-05 9.99983567e-01 3.92159697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2807140570001 meters Centerline goodness : 0.996026 with order 1 Centerline is valid? [True, True] Translation: X:716.02, Y:-43.37, Z:3.92 [[ 9.99205390e-01 3.94435184e-02 -5.72683647e-03 7.16016901e+02] [-3.94426510e-02 9.99221801e-01 2.64369504e-04 -4.33721794e+01] [ 5.73280752e-03 -3.82778209e-05 9.99983567e-01 3.91859114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.340714057 meters Centerline goodness : 0.995522 with order 1 Centerline is valid? [True, True] Translation: X:716.08, Y:-43.37, Z:3.92 [[ 9.99145475e-01 4.09331503e-02 -5.72682708e-03 7.16077826e+02] [-4.09323062e-02 9.99161887e-01 2.64572721e-04 -4.33749776e+01] [ 5.73285715e-03 -2.99343974e-05 9.99983567e-01 3.91824656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4007140570001 meters Centerline goodness : 0.995879 with order 1 Centerline is valid? [True, True] Translation: X:716.14, Y:-43.38, Z:3.92 [[ 9.99070249e-01 4.27298537e-02 -5.72681768e-03 7.16140110e+02] [-4.27290380e-02 9.99086663e-01 2.64776044e-04 -4.33798470e+01] [ 5.73290101e-03 -1.98284580e-05 9.99983567e-01 3.91647124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.460714057 meters Centerline goodness : 0.996068 with order 1 Centerline is valid? [True, True] Translation: X:716.20, Y:-43.38, Z:3.92 [[ 9.99141931e-01 4.10195903e-02 -5.72675094e-03 7.16202318e+02] [-4.10187382e-02 9.99158342e-01 2.66211765e-04 -4.33843464e+01] [ 5.73285087e-03 -3.10792389e-05 9.99983567e-01 3.91668592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.520714057 meters Centerline goodness : 0.995738 with order 1 Centerline is valid? [True, True] Translation: X:716.26, Y:-43.39, Z:3.92 [[ 9.99260364e-01 3.80253841e-02 -5.72668377e-03 7.16264114e+02] [-3.80244747e-02 9.99276772e-01 2.67649109e-04 -4.33906781e+01] [ 5.73271953e-03 -4.96970045e-05 9.99983567e-01 3.91852965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.580714057 meters Centerline goodness : 0.995957 with order 1 Centerline is valid? [True, True] Translation: X:716.33, Y:-43.40, Z:3.92 [[ 9.99355434e-01 3.54389882e-02 -5.72661647e-03 7.16325793e+02] [-3.54380280e-02 9.99371840e-01 2.69081202e-04 -4.33959111e+01] [ 5.73255521e-03 -6.59677667e-05 9.99983567e-01 3.91796126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.640714057 meters Centerline goodness : 0.995544 with order 1 Centerline is valid? [True, True] Translation: X:716.39, Y:-43.40, Z:3.92 [[ 9.99541658e-01 2.97267777e-02 -5.72654788e-03 7.16387223e+02] [-2.97257154e-02 9.99558057e-01 2.70533092e-04 -4.34017771e+01] [ 5.73205915e-03 -1.00183362e-04 9.99983567e-01 3.91861511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.700714057 meters Centerline goodness : 0.995242 with order 1 Centerline is valid? [True, True] Translation: X:716.45, Y:-43.39, Z:3.91 [[ 9.99889447e-01 1.37222899e-02 -5.72648522e-03 7.16448831e+02] [-1.37209577e-02 9.99905826e-01 2.71853016e-04 -4.33939951e+01] [ 5.72967638e-03 -1.93250100e-04 9.99983567e-01 3.91189931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.760714057 meters Centerline goodness : 0.995447 with order 1 Centerline is valid? [True, True] Translation: X:716.51, Y:-43.41, Z:3.92 [[ 9.99908635e-01 1.22445455e-02 -5.72647505e-03 7.16507050e+02] [-1.22431879e-02 9.99925012e-01 2.72067209e-04 -4.34095115e+01] [ 5.72937697e-03 -2.01932042e-04 9.99983567e-01 3.91969111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.820714057 meters Centerline goodness : 0.995509 with order 1 Centerline is valid? [True, True] Translation: X:716.57, Y:-43.40, Z:3.92 [[ 9.99974088e-01 -4.36244444e-03 -5.72648487e-03 7.16568113e+02] [ 4.36407263e-03 9.99990440e-01 2.71860355e-04 -4.34013253e+01] [ 5.72524415e-03 -2.96844106e-04 9.99983567e-01 3.91569710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.880714057 meters Centerline goodness : 0.996069 with order 1 Centerline is valid? [True, True] Translation: X:716.63, Y:-43.41, Z:3.92 [[ 9.99981401e-01 -2.09900045e-03 -5.72648487e-03 7.16625411e+02] [ 2.10059162e-03 9.99997757e-01 2.71860355e-04 -4.34106845e+01] [ 5.72590139e-03 -2.83884304e-04 9.99983567e-01 3.92251369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.940714057 meters Centerline goodness : 0.996673 with order 1 Centerline is valid? [True, True] Translation: X:716.68, Y:-43.41, Z:3.92 [[ 9.99983487e-01 -4.81526066e-04 -5.72650943e-03 7.16683440e+02] [ 4.83087811e-04 9.99999847e-01 2.71341988e-04 -4.34063704e+01] [ 5.72637789e-03 -2.74103914e-04 9.99983567e-01 3.92499301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.000714057 meters Centerline goodness : 0.996998 with order 1 Centerline is valid? [True, True] Translation: X:716.74, Y:-43.40, Z:3.93 [[ 9.99975850e-01 3.93772538e-03 -5.72653214e-03 7.16741983e+02] [-3.93623869e-03 9.99992216e-01 2.70861735e-04 -4.34023398e+01] [ 5.72755415e-03 -2.48314196e-04 9.99983567e-01 3.92614007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.060714057 meters Centerline goodness : 0.997394 with order 1 Centerline is valid? [True, True] Translation: X:716.80, Y:-43.40, Z:3.93 [[ 9.99887008e-01 1.38988406e-02 -5.72655442e-03 7.16801577e+02] [-1.38975197e-02 9.99903388e-01 2.70389944e-04 -4.33958180e+01] [ 5.72975928e-03 -1.90774490e-04 9.99983567e-01 3.92659200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.120714057 meters Centerline goodness : 0.997387 with order 1 Centerline is valid? [True, True] Translation: X:716.86, Y:-43.39, Z:3.93 [[ 9.99777131e-01 2.03197979e-02 -5.72661939e-03 7.16861770e+02] [-2.03185901e-02 9.99793520e-01 2.69006796e-04 -4.33926325e+01] [ 5.73090313e-03 -1.52590011e-04 9.99983567e-01 3.92776957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.180714057 meters Centerline goodness : 0.997684 with order 1 Centerline is valid? [True, True] Translation: X:716.92, Y:-43.39, Z:3.93 [[ 9.99604744e-01 2.75238401e-02 -5.72662859e-03 7.16921523e+02] [-2.75227516e-02 9.99621141e-01 2.68810949e-04 -4.33872792e+01] [ 5.73185771e-03 -1.11092124e-04 9.99983567e-01 3.92780859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.240714057 meters Centerline goodness : 0.997723 with order 1 Centerline is valid? [True, True] Translation: X:716.98, Y:-43.39, Z:3.93 [[ 9.99527981e-01 3.01831168e-02 -5.72663772e-03 7.16982599e+02] [-3.01820730e-02 9.99544381e-01 2.68616295e-04 -4.33858707e+01] [ 5.73213623e-03 -9.56477055e-05 9.99983567e-01 3.92762140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.300714057 meters Centerline goodness : 0.998428 with order 1 Centerline is valid? [True, True] Translation: X:717.04, Y:-43.39, Z:3.93 [[ 9.99508134e-01 3.08333416e-02 -5.72663772e-03 7.17042948e+02] [-3.08323085e-02 9.99524535e-01 2.68616295e-04 -4.33856628e+01] [ 5.73219724e-03 -9.19187112e-05 9.99983567e-01 3.92693066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.360714057 meters Centerline goodness : 0.998222 with order 1 Centerline is valid? [True, True] Translation: X:717.10, Y:-43.38, Z:3.93 [[ 9.99542198e-01 2.97086016e-02 -5.72663772e-03 7.17102653e+02] [-2.97075500e-02 9.99558597e-01 2.68616295e-04 -4.33845132e+01] [ 5.73209018e-03 -9.83689455e-05 9.99983567e-01 3.92573150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.420714057 meters Centerline goodness : 0.997738 with order 1 Centerline is valid? [True, True] Translation: X:717.16, Y:-43.39, Z:3.93 [[ 9.99578523e-01 2.84601831e-02 -5.72664247e-03 7.17162406e+02] [-2.84591117e-02 9.99594921e-01 2.68515014e-04 -4.33857066e+01] [ 5.73196471e-03 -1.05426684e-04 9.99983567e-01 3.92509592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.480714057 meters Centerline goodness : 0.998280 with order 1 Centerline is valid? [True, True] Translation: X:717.22, Y:-43.39, Z:3.92 [[ 9.99632898e-01 2.64816024e-02 -5.72664713e-03 7.17222311e+02] [-2.64804991e-02 9.99649294e-01 2.68415614e-04 -4.33868092e+01] [ 5.73174683e-03 -1.16672603e-04 9.99983567e-01 3.92364837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5407140570001 meters Centerline goodness : 0.998428 with order 1 Centerline is valid? [True, True] Translation: X:717.28, Y:-43.39, Z:3.92 [[ 9.99685349e-01 2.44214624e-02 -5.72665665e-03 7.17282348e+02] [-2.44203264e-02 9.99701743e-01 2.68212245e-04 -4.33897162e+01] [ 5.73149877e-03 -1.28281027e-04 9.99983567e-01 3.92396372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.600714057 meters Centerline goodness : 0.998747 with order 1 Centerline is valid? [True, True] Translation: X:717.34, Y:-43.39, Z:3.93 [[ 9.99744323e-01 2.18745229e-02 -5.72666606e-03 7.17342190e+02] [-2.18733463e-02 9.99760714e-01 2.68011122e-04 -4.33933805e+01] [ 5.73115837e-03 -1.42681248e-04 9.99983567e-01 3.92582504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6607140570001 meters Centerline goodness : 0.998560 with order 1 Centerline is valid? [True, True] Translation: X:717.40, Y:-43.40, Z:3.93 [[ 9.99772961e-01 2.05239514e-02 -5.72667535e-03 7.17402224e+02] [-2.05227538e-02 9.99789350e-01 2.67812500e-04 -4.33964083e+01] [ 5.73096560e-03 -1.50224547e-04 9.99983567e-01 3.92723848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.720714057 meters Centerline goodness : 0.998498 with order 1 Centerline is valid? [True, True] Translation: X:717.46, Y:-43.40, Z:3.93 [[ 9.99866056e-01 1.53321901e-02 -5.72668450e-03 7.17461254e+02] [-1.53309086e-02 9.99882439e-01 2.67616651e-04 -4.33996854e+01] [ 5.73011442e-03 -1.79785529e-04 9.99983567e-01 3.92900067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7807140570001 meters Centerline goodness : 0.998127 with order 1 Centerline is valid? [True, True] Translation: X:717.52, Y:-43.40, Z:3.93 [[ 9.99943467e-01 8.95922115e-03 -5.72668901e-03 7.17520464e+02] [-8.95783577e-03 9.99959842e-01 2.67520306e-04 -4.34035059e+01] [ 5.72885581e-03 -2.16206443e-04 9.99983567e-01 3.92967386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.840714057 meters Centerline goodness : 0.997893 with order 1 Centerline is valid? [True, True] Translation: X:717.58, Y:-43.41, Z:3.93 [[ 9.99979109e-01 -2.99763898e-03 -5.72669842e-03 7.17580076e+02] [ 2.99921890e-03 9.99995467e-01 2.67318578e-04 -4.34057118e+01] [ 5.72587114e-03 -2.84488616e-04 9.99983567e-01 3.93128778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9007140570001 meters Centerline goodness : 0.997898 with order 1 Centerline is valid? [True, True] Translation: X:717.64, Y:-43.40, Z:3.94 [[ 9.99853116e-01 -1.61539570e-02 -5.72670804e-03 7.17638918e+02] [ 1.61557508e-02 9.99869452e-01 2.67112302e-04 -4.34017210e+01] [ 5.72164551e-03 -3.59592336e-04 9.99983567e-01 3.93573803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.960714057 meters Centerline goodness : 0.998423 with order 1 Centerline is valid? [True, True] Translation: X:717.70, Y:-43.40, Z:3.94 [[ 9.99844037e-01 -1.67064893e-02 -5.72672809e-03 7.17696279e+02] [ 1.67082897e-02 9.99860371e-01 2.66681776e-04 -4.34046240e+01] [ 5.72147316e-03 -3.62324015e-04 9.99983567e-01 3.93563086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.020714057 meters Centerline goodness : 0.998210 with order 1 Centerline is valid? [True, True] Translation: X:717.75, Y:-43.40, Z:3.94 [[ 9.99811688e-01 -1.85416718e-02 -5.72676246e-03 7.17754645e+02] [ 1.85434980e-02 9.99828019e-01 2.65941747e-04 -4.34035248e+01] [ 5.72084656e-03 -3.72085875e-04 9.99983567e-01 3.93515833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.080714057 meters Centerline goodness : 0.998126 with order 1 Centerline is valid? [True, True] Translation: X:717.81, Y:-43.40, Z:3.93 [[ 9.99795373e-01 -1.94014527e-02 -5.72683574e-03 7.17812537e+02] [ 1.94032838e-02 9.99811704e-01 2.64354219e-04 -4.33996104e+01] [ 5.72062854e-03 -3.75419544e-04 9.99983567e-01 3.93418569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.140714057 meters Centerline goodness : 0.998463 with order 1 Centerline is valid? [True, True] Translation: X:717.87, Y:-43.40, Z:3.93 [[ 9.99800068e-01 -1.91579139e-02 -5.72690763e-03 7.17870854e+02] [ 1.91597321e-02 9.99816401e-01 2.62787411e-04 -4.33962588e+01] [ 5.72082172e-03 -3.72460888e-04 9.99983567e-01 3.93462155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.200714057 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:717.93, Y:-43.39, Z:3.94 [[ 9.99823681e-01 -1.78832133e-02 -5.72697854e-03 7.17928628e+02] [ 1.78850018e-02 9.99840016e-01 2.61232930e-04 -4.33915282e+01] [ 5.72139063e-03 -3.63613891e-04 9.99983567e-01 3.93542539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.260714057 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:717.99, Y:-43.39, Z:3.94 [[ 9.99841668e-01 -1.68475442e-02 -5.72700209e-03 7.17986721e+02] [ 1.68493128e-02 9.99858006e-01 2.60715728e-04 -4.33871266e+01] [ 5.72179647e-03 -3.57170498e-04 9.99983567e-01 3.93657721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.320714057 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:718.05, Y:-43.38, Z:3.94 [[ 9.99829160e-01 -1.75741505e-02 -5.72707430e-03 7.18045422e+02] [ 1.75759219e-02 9.99845498e-01 2.59119684e-04 -4.33783277e+01] [ 5.72163565e-03 -3.59734027e-04 9.99983567e-01 3.93913548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.380714057 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:718.10, Y:-43.37, Z:3.94 [[ 9.99761706e-01 -2.10649269e-02 -5.72714432e-03 7.18104645e+02] [ 2.10667465e-02 9.99778038e-01 2.57562629e-04 -4.33722375e+01] [ 5.72044758e-03 -3.78153551e-04 9.99983567e-01 3.93987314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.440714057 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:718.16, Y:-43.36, Z:3.94 [[ 9.99520565e-01 -3.04276191e-02 -5.72720935e-03 7.18164458e+02] [ 3.04295833e-02 9.99536880e-01 2.56108421e-04 -4.33614345e+01] [ 5.71676420e-03 -4.30262227e-04 9.99983567e-01 3.93955099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.500714057 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:718.22, Y:-43.36, Z:3.94 [[ 9.99259921e-01 -3.80369468e-02 -5.72722795e-03 7.18223556e+02] [ 3.80390327e-02 9.99276221e-01 2.55691801e-04 -4.33550276e+01] [ 5.71335697e-03 -4.73360780e-04 9.99983567e-01 3.94003897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.560714057 meters Centerline goodness : 0.998704 with order 1 Centerline is valid? [True, True] Translation: X:718.28, Y:-43.34, Z:3.94 [[ 9.98896532e-01 -4.66145614e-02 -5.72729390e-03 7.18283048e+02] [ 4.66167788e-02 9.98912815e-01 2.54206008e-04 -4.33425589e+01] [ 5.70921757e-03 -5.20913492e-04 9.99983567e-01 3.94209464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.620714057 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:718.34, Y:-43.33, Z:3.94 [[ 9.98764290e-01 -4.93669044e-02 -5.72735873e-03 7.18343030e+02] [ 4.93691583e-02 9.98780568e-01 2.52736838e-04 -4.33344054e+01] [ 5.70789777e-03 -5.35179408e-04 9.99983567e-01 3.94261748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.680714057 meters Centerline goodness : 0.998304 with order 1 Centerline is valid? [True, True] Translation: X:718.40, Y:-43.32, Z:3.94 [[ 9.98732687e-01 -5.00021655e-02 -5.72736792e-03 7.18403192e+02] [ 5.00044286e-02 9.98748964e-01 2.52528532e-04 -4.33207624e+01] [ 5.70757580e-03 -5.38602259e-04 9.99983567e-01 3.94191660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.740714057 meters Centerline goodness : 0.996657 with order 1 Centerline is valid? [True, True] Translation: X:718.46, Y:-43.31, Z:3.94 [[ 9.98819152e-01 -4.82441531e-02 -5.72737244e-03 7.18464162e+02] [ 4.82463869e-02 9.98835433e-01 2.52425894e-04 -4.33057050e+01] [ 5.70852446e-03 -5.28452844e-04 9.99983567e-01 3.93904051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.800714057 meters Centerline goodness : 0.996259 with order 1 Centerline is valid? [True, True] Translation: X:718.53, Y:-43.30, Z:3.94 [[ 9.98930280e-01 -4.58856602e-02 -5.72737244e-03 7.18525027e+02] [ 4.58878556e-02 9.98946566e-01 2.52425894e-04 -4.32969695e+01] [ 5.70975630e-03 -5.14972708e-04 9.99983567e-01 3.93817922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.860714057 meters Centerline goodness : 0.994314 with order 1 Centerline is valid? [True, True] Translation: X:718.59, Y:-43.28, Z:3.94 [[ 9.99092032e-01 -4.22173969e-02 -5.72737244e-03 7.18585893e+02] [ 4.22195325e-02 9.99108326e-01 2.52425894e-04 -4.32817608e+01] [ 5.71160873e-03 -4.94003686e-04 9.99983567e-01 3.93740379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.920714057 meters Centerline goodness : 0.990818 with order 1 Centerline is valid? [True, True] Translation: X:718.65, Y:-43.28, Z:3.94 [[ 9.99446933e-01 -3.27570664e-02 -5.72736787e-03 7.18646929e+02] [ 3.27590482e-02 9.99463246e-01 2.52529605e-04 -4.32812260e+01] [ 5.71602155e-03 -4.40013059e-04 9.99983567e-01 3.93589617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.980714057 meters Centerline goodness : 0.990699 with order 1 Centerline is valid? [True, True] Translation: X:718.71, Y:-43.26, Z:3.93 [[ 9.99477928e-01 -3.17973162e-02 -5.72735828e-03 7.18708358e+02] [ 3.17992836e-02 9.99494243e-01 2.52746768e-04 -4.32580010e+01] [ 5.71642496e-03 -4.34740706e-04 9.99983567e-01 3.93419704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0407140570001 meters Centerline goodness : 0.985580 with order 1 Centerline is valid? [True, True] Translation: X:718.77, Y:-43.26, Z:3.93 [[ 9.99846848e-01 -1.65371456e-02 -5.72735360e-03 7.18769936e+02] [ 1.65388643e-02 9.99863192e-01 2.52852919e-04 -4.32614530e+01] [ 5.72238858e-03 -3.47538119e-04 9.99983567e-01 3.92768984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.100714057 meters Centerline goodness : 0.980883 with order 1 Centerline is valid? [True, True] Translation: X:718.83, Y:-43.25, Z:3.93 [[ 9.99917391e-01 -1.15069253e-02 -5.72734396e-03 7.18831387e+02] [ 1.15085630e-02 9.99933742e-01 2.53070955e-04 -4.32480924e+01] [ 5.72405241e-03 -3.18963548e-04 9.99983567e-01 3.92911066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1607140570001 meters Centerline goodness : 0.980816 with order 1 Centerline is valid? [True, True] Translation: X:718.89, Y:-43.22, Z:3.93 [[ 9.99886286e-01 -1.39503718e-02 -5.72734396e-03 7.18891999e+02] [ 1.39520495e-02 9.99902633e-01 2.53070955e-04 -4.32245330e+01] [ 5.72325588e-03 -3.32950363e-04 9.99983567e-01 3.93306705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.220714057 meters Centerline goodness : 0.984168 with order 1 Centerline is valid? [True, True] Translation: X:718.95, Y:-43.22, Z:3.94 [[ 9.99929733e-01 -1.03791492e-02 -5.72734396e-03 7.18953012e+02] [ 1.03807685e-02 9.99946086e-01 2.53070955e-04 -4.32206037e+01] [ 5.72440852e-03 -3.12507404e-04 9.99983567e-01 3.93538592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2807140570001 meters Centerline goodness : 0.979848 with order 1 Centerline is valid? [True, True] Translation: X:719.01, Y:-43.21, Z:3.94 [[ 9.99949804e-01 -8.22108835e-03 -5.72733764e-03 7.19012760e+02] [ 8.22267314e-03 9.99966161e-01 2.53213875e-04 -4.32121196e+01] [ 5.72506214e-03 -3.00295190e-04 9.99983567e-01 3.93639155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.340714057 meters Centerline goodness : 0.979036 with order 1 Centerline is valid? [True, True] Translation: X:719.07, Y:-43.22, Z:3.93 [[ 9.99958632e-01 7.06628519e-03 -5.72734366e-03 7.19071902e+02] [-7.06495141e-03 9.99975011e-01 2.53077718e-04 -4.32218793e+01] [ 5.72898886e-03 -2.12603844e-04 9.99983567e-01 3.93382933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4007140570001 meters Centerline goodness : 0.983278 with order 1 Centerline is valid? [True, True] Translation: X:719.13, Y:-43.21, Z:3.93 [[ 9.99979444e-01 2.88258744e-03 -5.72734968e-03 7.19131614e+02] [-2.88118593e-03 9.99995817e-01 2.52941420e-04 -4.32130617e+01] [ 5.72805485e-03 -2.36434661e-04 9.99983567e-01 3.93022755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.460714057 meters Centerline goodness : 0.980987 with order 1 Centerline is valid? [True, True] Translation: X:719.19, Y:-43.22, Z:3.93 [[ 9.99881006e-01 1.43237832e-02 -5.72736531e-03 7.19189486e+02] [-1.43225711e-02 9.99897395e-01 2.52586985e-04 -4.32165023e+01] [ 5.73039565e-03 -1.70526332e-04 9.99983567e-01 3.93347718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.520714057 meters Centerline goodness : 0.986822 with order 1 Centerline is valid? [True, True] Translation: X:719.25, Y:-43.21, Z:3.93 [[ 9.99958297e-01 7.11341060e-03 -5.72739132e-03 7.19248644e+02] [-7.11208378e-03 9.99974677e-01 2.51995828e-04 -4.32053846e+01] [ 5.72903884e-03 -2.11251632e-04 9.99983567e-01 3.93168376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.580714057 meters Centerline goodness : 0.987271 with order 1 Centerline is valid? [True, True] Translation: X:719.31, Y:-43.21, Z:3.93 [[ 9.99954719e-01 7.59973963e-03 -5.72740926e-03 7.19307055e+02] [-7.59842311e-03 9.99971100e-01 2.51587357e-04 -4.32074236e+01] [ 5.72915574e-03 -2.08056686e-04 9.99983567e-01 3.93276501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.640714057 meters Centerline goodness : 0.982544 with order 1 Centerline is valid? [True, True] Translation: X:719.37, Y:-43.22, Z:3.93 [[ 9.99953442e-01 7.76600248e-03 -5.72742724e-03 7.19365233e+02] [-7.76469103e-03 9.99969823e-01 2.51177382e-04 -4.32195202e+01] [ 5.72920505e-03 -2.06693985e-04 9.99983567e-01 3.93471301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.700714057 meters Centerline goodness : 0.980231 with order 1 Centerline is valid? [True, True] Translation: X:719.43, Y:-43.22, Z:3.94 [[ 9.99983583e-01 1.75580393e-04 -5.72744201e-03 7.19425666e+02] [-1.74146570e-04 9.99999953e-01 2.50840272e-04 -4.32168592e+01] [ 5.72748578e-03 -2.49838739e-04 9.99983567e-01 3.93538760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.760714057 meters Centerline goodness : 0.984054 with order 1 Centerline is valid? [True, True] Translation: X:719.48, Y:-43.22, Z:3.93 [[ 9.99958579e-01 -7.07371872e-03 -5.72744201e-03 7.19483407e+02] [ 7.07527118e-03 9.99974939e-01 2.50840272e-04 -4.32248703e+01] [ 5.72552410e-03 -2.91353087e-04 9.99983567e-01 3.92766306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.820714057 meters Centerline goodness : 0.977794 with order 1 Centerline is valid? [True, True] Translation: X:719.54, Y:-43.24, Z:3.93 [[ 9.99983116e-01 -9.81381549e-04 -5.72746862e-03 7.19542065e+02] [ 9.82830829e-04 9.99999486e-01 2.50231238e-04 -4.32435775e+01] [ 5.72722010e-03 -2.55856146e-04 9.99983567e-01 3.93348553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.880714057 meters Centerline goodness : 0.980541 with order 1 Centerline is valid? [True, True] Translation: X:719.60, Y:-43.23, Z:3.93 [[ 9.99677962e-01 -2.47218258e-02 -5.72747808e-03 7.19601381e+02] [ 2.47236620e-02 9.99694292e-01 2.50014377e-04 -4.32346012e+01] [ 5.71954634e-03 -3.91538095e-04 9.99983567e-01 3.93358798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.940714057 meters Centerline goodness : 0.985532 with order 1 Centerline is valid? [True, True] Translation: X:719.66, Y:-43.24, Z:3.93 [[ 9.99531841e-01 -3.00548452e-02 -5.72749082e-03 7.19662911e+02] [ 3.00567669e-02 9.99548162e-01 2.49722326e-04 -4.32427478e+01] [ 5.71739755e-03 -4.21755273e-04 9.99983567e-01 3.92878837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.000714057 meters Centerline goodness : 0.985333 with order 1 Centerline is valid? [True, True] Translation: X:719.73, Y:-43.24, Z:3.93 [[ 9.99402989e-01 -3.40714056e-02 -5.72747839e-03 7.19725282e+02] [ 3.40733945e-02 9.99419302e-01 2.50007022e-04 -4.32437472e+01] [ 5.71563436e-03 -4.45012396e-04 9.99983567e-01 3.92603876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.060714057 meters Centerline goodness : 0.977761 with order 1 Centerline is valid? [True, True] Translation: X:719.79, Y:-43.24, Z:3.93 [[ 9.99240537e-01 -3.85427748e-02 -5.72746016e-03 7.19785619e+02] [ 3.85448390e-02 9.99256840e-01 2.50423977e-04 -4.32391456e+01] [ 5.71355170e-03 -4.70997819e-04 9.99983567e-01 3.93026421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.120714057 meters Centerline goodness : 0.983327 with order 1 Centerline is valid? [True, True] Translation: X:719.85, Y:-43.24, Z:3.92 [[ 9.99242625e-01 -3.84886044e-02 -5.72744785e-03 7.19848086e+02] [ 3.84906693e-02 9.99258928e-01 2.50705101e-04 -4.32419192e+01] [ 5.71355411e-03 -4.70968524e-04 9.99983567e-01 3.91899902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.180714057 meters Centerline goodness : 0.990074 with order 1 Centerline is valid? [True, True] Translation: X:719.91, Y:-43.24, Z:3.93 [[ 9.99388394e-01 -3.44968739e-02 -5.72742217e-03 7.19909151e+02] [ 3.44988770e-02 9.99404705e-01 2.51290464e-04 -4.32440942e+01] [ 5.71534393e-03 -4.48726406e-04 9.99983567e-01 3.93375871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.240714057 meters Centerline goodness : 0.989863 with order 1 Centerline is valid? [True, True] Translation: X:719.97, Y:-43.24, Z:3.93 [[ 9.99535635e-01 -2.99284431e-02 -5.72740104e-03 7.19971334e+02] [ 2.99303744e-02 9.99551954e-01 2.51771046e-04 -4.32378767e+01] [ 5.71729979e-03 -4.23077390e-04 9.99983567e-01 3.92503529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.300714057 meters Centerline goodness : 0.985025 with order 1 Centerline is valid? [True, True] Translation: X:720.03, Y:-43.23, Z:3.93 [[ 9.99511120e-01 -3.07362771e-02 -5.72738427e-03 7.20033116e+02] [ 3.07382237e-02 9.99527437e-01 2.52152088e-04 -4.32342217e+01] [ 5.71692750e-03 -4.28078435e-04 9.99983567e-01 3.92636075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.360714057 meters Centerline goodness : 0.979446 with order 1 Centerline is valid? [True, True] Translation: X:720.09, Y:-43.23, Z:3.93 [[ 9.99673180e-01 -2.49144648e-02 -5.72737065e-03 7.20094392e+02] [ 2.49163182e-02 9.99689508e-01 2.52461087e-04 -4.32321325e+01] [ 5.71930241e-03 -3.95083567e-04 9.99983567e-01 3.93241975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.420714057 meters Centerline goodness : 0.977563 with order 1 Centerline is valid? [True, True] Translation: X:720.16, Y:-43.23, Z:3.93 [[ 9.99846364e-01 -1.65663903e-02 -5.72735149e-03 7.20155361e+02] [ 1.65681098e-02 9.99862707e-01 2.52894918e-04 -4.32328697e+01] [ 5.72237561e-03 -3.47747452e-04 9.99983567e-01 3.92994007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.480714057 meters Centerline goodness : 0.979580 with order 1 Centerline is valid? [True, True] Translation: X:720.22, Y:-43.23, Z:3.93 [[ 9.99856628e-01 -1.59349280e-02 -5.72734510e-03 7.20216879e+02] [ 1.59366380e-02 9.99872972e-01 2.53039492e-04 -4.32251263e+01] [ 5.72258540e-03 -3.44277839e-04 9.99983567e-01 3.92917432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5407140570001 meters Centerline goodness : 0.981253 with order 1 Centerline is valid? [True, True] Translation: X:720.28, Y:-43.22, Z:3.94 [[ 9.99965136e-01 -6.07660216e-03 -5.72733297e-03 7.20277676e+02] [ 6.07815244e-03 9.99981496e-01 2.53313789e-04 -4.32208569e+01] [ 5.72568770e-03 -2.88116560e-04 9.99983567e-01 3.94063566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.600714057 meters Centerline goodness : 0.985993 with order 1 Centerline is valid? [True, True] Translation: X:720.34, Y:-43.22, Z:3.93 [[ 9.99978229e-01 3.27704138e-03 -5.72732689e-03 7.20337334e+02] [-3.27564341e-03 9.99994603e-01 2.53451130e-04 -4.32204280e+01] [ 5.72812655e-03 -2.34684932e-04 9.99983567e-01 3.92853343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6607140570001 meters Centerline goodness : 0.980003 with order 1 Centerline is valid? [True, True] Translation: X:720.40, Y:-43.22, Z:3.93 [[ 9.99914833e-01 1.17270730e-02 -5.72733170e-03 7.20397346e+02] [-1.17258141e-02 9.99931218e-01 2.53342389e-04 -4.32191158e+01] [ 5.72990873e-03 -1.86163186e-04 9.99983567e-01 3.93495427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.720714057 meters Centerline goodness : 0.985015 with order 1 Centerline is valid? [True, True] Translation: X:720.46, Y:-43.22, Z:3.94 [[ 9.99857403e-01 1.58862196e-02 -5.72733170e-03 7.20457037e+02] [-1.58850288e-02 9.99873793e-01 2.53342389e-04 -4.32218656e+01] [ 5.73063353e-03 -1.62327434e-04 9.99983567e-01 3.94005843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7807140570001 meters Centerline goodness : 0.988320 with order 1 Centerline is valid? [True, True] Translation: X:720.52, Y:-43.23, Z:3.93 [[ 9.99936970e-01 9.65674813e-03 -5.72733823e-03 7.20515214e+02] [-9.65545612e-03 9.99953353e-01 2.53194844e-04 -4.32267659e+01] [ 5.72951610e-03 -1.97878823e-04 9.99983567e-01 3.92726009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.840714057 meters Centerline goodness : 0.979072 with order 1 Centerline is valid? [True, True] Translation: X:720.58, Y:-43.23, Z:3.94 [[ 9.99938883e-01 9.45658463e-03 -5.72735855e-03 7.20575035e+02] [-9.45529197e-03 9.99955266e-01 2.52734310e-04 -4.32330345e+01] [ 5.72949234e-03 -1.98565016e-04 9.99983567e-01 3.93955218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9007140570001 meters Centerline goodness : 0.984861 with order 1 Centerline is valid? [True, True] Translation: X:720.63, Y:-43.24, Z:3.93 [[ 9.99974598e-01 4.24265889e-03 -5.72738267e-03 7.20634904e+02] [-4.24128397e-03 9.99990974e-01 2.52186455e-04 -4.32414997e+01] [ 5.72840092e-03 -2.27888593e-04 9.99983567e-01 3.93186108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.960714057 meters Centerline goodness : 0.981073 with order 1 Centerline is valid? [True, True] Translation: X:720.69, Y:-43.24, Z:3.94 [[ 9.99959066e-01 7.00456328e-03 -5.72738906e-03 7.20692722e+02] [-7.00323442e-03 9.99975445e-01 2.52041196e-04 -4.32449115e+01] [ 5.72901387e-03 -2.11920631e-04 9.99983567e-01 3.94451864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.020714057 meters Centerline goodness : 0.976224 with order 1 Centerline is valid? [True, True] Translation: X:720.75, Y:-43.25, Z:3.94 [[ 9.99944608e-01 8.83052560e-03 -5.72745542e-03 7.20752545e+02] [-8.82923533e-03 9.99960990e-01 2.50524216e-04 -4.32536928e+01] [ 5.72944425e-03 -1.99941287e-04 9.99983567e-01 3.94282110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.080714057 meters Centerline goodness : 0.982257 with order 1 Centerline is valid? [True, True] Translation: X:720.81, Y:-43.26, Z:3.94 [[ 9.99972647e-01 4.67997178e-03 -5.72745035e-03 7.20812184e+02] [-4.67861286e-03 9.99989024e-01 2.50639948e-04 -4.32595290e+01] [ 5.72856048e-03 -2.23836569e-04 9.99983567e-01 3.93619818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.140714057 meters Centerline goodness : 0.970907 with order 1 Centerline is valid? [True, True] Translation: X:720.87, Y:-43.27, Z:3.95 [[ 9.99864149e-01 1.54557462e-02 -5.72745480e-03 7.20869839e+02] [-1.54545644e-02 9.99880540e-01 2.50538296e-04 -4.32731904e+01] [ 5.73064285e-03 -1.61988941e-04 9.99983567e-01 3.95032479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.200714057 meters Centerline goodness : 0.976987 with order 1 Centerline is valid? [True, True] Translation: X:720.93, Y:-43.27, Z:3.95 [[ 9.99888615e-01 1.37823988e-02 -5.72747732e-03 7.20927790e+02] [-1.37811926e-02 9.99905004e-01 2.50022474e-04 -4.32724417e+01] [ 5.73037914e-03 -1.71063158e-04 9.99983567e-01 3.94835767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.260714057 meters Centerline goodness : 0.974655 with order 1 Centerline is valid? [True, True] Translation: X:720.99, Y:-43.28, Z:3.95 [[ 9.99779841e-01 2.01857648e-02 -5.72749622e-03 7.20987773e+02] [-2.01846661e-02 9.99796238e-01 2.49588777e-04 -4.32821134e+01] [ 5.73136731e-03 -1.33926229e-04 9.99983567e-01 3.94537116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.320714057 meters Centerline goodness : 0.975585 with order 1 Centerline is valid? [True, True] Translation: X:721.05, Y:-43.29, Z:3.94 [[ 9.99750544e-01 2.15880933e-02 -5.72751781e-03 7.21046610e+02] [-2.15870204e-02 9.99766942e-01 2.49092340e-04 -4.32909602e+01] [ 5.73156039e-03 -1.25390159e-04 9.99983567e-01 3.94091306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.380714057 meters Centerline goodness : 0.977343 with order 1 Centerline is valid? [True, True] Translation: X:721.11, Y:-43.30, Z:3.95 [[ 9.99749801e-01 2.16224631e-02 -5.72754302e-03 7.21106050e+02] [-2.16213941e-02 9.99766199e-01 2.48511244e-04 -4.32990441e+01] [ 5.73157734e-03 -1.24611602e-04 9.99983567e-01 3.94721845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.440714057 meters Centerline goodness : 0.971368 with order 1 Centerline is valid? [True, True] Translation: X:721.16, Y:-43.32, Z:3.95 [[ 9.99704428e-01 2.36273535e-02 -5.72755560e-03 7.21164238e+02] [-2.36263190e-02 9.99720829e-01 2.48220887e-04 -4.33163832e+01] [ 5.73182144e-03 -1.12826464e-04 9.99983567e-01 3.95198209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.500714057 meters Centerline goodness : 0.970446 with order 1 Centerline is valid? [True, True] Translation: X:721.22, Y:-43.33, Z:3.95 [[ 9.99676291e-01 2.47892796e-02 -5.72757484e-03 7.21221941e+02] [-2.47882667e-02 9.99692693e-01 2.47776203e-04 -4.33271960e+01] [ 5.73195691e-03 -1.05719343e-04 9.99983567e-01 3.95067982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.560714057 meters Centerline goodness : 0.970131 with order 1 Centerline is valid? [True, True] Translation: X:721.28, Y:-43.34, Z:3.95 [[ 9.99616412e-01 2.70965547e-02 -5.72759659e-03 7.21279788e+02] [-2.70955825e-02 9.99632817e-01 2.47272371e-04 -4.33389220e+01] [ 5.73219374e-03 -9.19849545e-05 9.99983567e-01 3.95397029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.620714057 meters Centerline goodness : 0.971861 with order 1 Centerline is valid? [True, True] Translation: X:721.34, Y:-43.35, Z:3.95 [[ 9.99515701e-01 3.05868885e-02 -5.72762107e-03 7.21338503e+02] [-3.05859769e-02 9.99532109e-01 2.46703988e-04 -4.33510200e+01] [ 5.73248708e-03 -7.13996241e-05 9.99983567e-01 3.95441032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.680714057 meters Centerline goodness : 0.972940 with order 1 Centerline is valid? [True, True] Translation: X:721.40, Y:-43.36, Z:3.95 [[ 9.99420234e-01 3.35617319e-02 -5.72763839e-03 7.21395713e+02] [-3.35608715e-02 9.99436645e-01 2.46301325e-04 -4.33602036e+01] [ 5.73267799e-03 -5.39339920e-05 9.99983567e-01 3.95417356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.740714057 meters Centerline goodness : 0.985768 with order 1 Centerline is valid? [True, True] Translation: X:721.45, Y:-43.36, Z:3.94 [[ 9.99667655e-01 2.51351081e-02 -5.72765967e-03 7.21454532e+02] [-2.51341121e-02 9.99684058e-01 2.45805534e-04 -4.33621390e+01] [ 5.73202841e-03 -1.01764201e-04 9.99983567e-01 3.94349959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.800714057 meters Centerline goodness : 0.982758 with order 1 Centerline is valid? [True, True] Translation: X:721.51, Y:-43.38, Z:3.95 [[ 9.99790394e-01 1.96560705e-02 -5.72767715e-03 7.21512599e+02] [-1.96549870e-02 9.99806792e-01 2.45397559e-04 -4.33799501e+01] [ 5.73139406e-03 -1.32768702e-04 9.99983567e-01 3.94720209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.860714057 meters Centerline goodness : 0.984640 with order 1 Centerline is valid? [True, True] Translation: X:721.57, Y:-43.39, Z:3.95 [[ 9.99884050e-01 1.41095490e-02 -5.72769456e-03 7.21569663e+02] [-1.41083769e-02 9.99900442e-01 2.44990348e-04 -4.33898576e+01] [ 5.73058103e-03 -1.64153468e-04 9.99983567e-01 3.94797762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.920714057 meters Centerline goodness : 0.984943 with order 1 Centerline is valid? [True, True] Translation: X:721.63, Y:-43.40, Z:3.95 [[ 9.99954633e-01 7.61091862e-03 -5.72771589e-03 7.21628103e+02] [-7.60964288e-03 9.99971016e-01 2.44490792e-04 -4.33990162e+01] [ 5.72941068e-03 -2.00893828e-04 9.99983567e-01 3.94867348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.980714057 meters Centerline goodness : 0.985455 with order 1 Centerline is valid? [True, True] Translation: X:721.69, Y:-43.41, Z:3.95 [[ 9.99983053e-01 1.04253762e-03 -5.72773190e-03 7.21686884e+02] [-1.04115645e-03 9.99999428e-01 2.44115020e-04 -4.34074030e+01] [ 5.72798313e-03 -2.38147418e-04 9.99983567e-01 3.94846525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0407140570001 meters Centerline goodness : 0.984793 with order 1 Centerline is valid? [True, True] Translation: X:721.75, Y:-43.44, Z:3.93 [[ 9.99937612e-01 9.58979038e-03 -5.72774769e-03 7.21746080e+02] [-9.58855134e-03 9.99953999e-01 2.43744072e-04 -4.34376384e+01] [ 5.72982166e-03 -1.88808063e-04 9.99983567e-01 3.93451882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.100714057 meters Centerline goodness : 0.988331 with order 1 Centerline is valid? [True, True] Translation: X:721.81, Y:-43.42, Z:3.95 [[ 9.99926988e-01 -1.06401283e-02 -5.72775562e-03 7.21806932e+02] [ 1.06416975e-02 9.99943346e-01 2.43557594e-04 -4.34239058e+01] [ 5.72483963e-03 -3.04492854e-04 9.99983567e-01 3.95191698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1607140570001 meters Centerline goodness : 0.989237 with order 1 Centerline is valid? [True, True] Translation: X:721.87, Y:-43.43, Z:3.95 [[ 9.99871950e-01 -1.49424575e-02 -5.72775976e-03 7.21866564e+02] [ 1.49440965e-02 9.99888301e-01 2.43460242e-04 -4.34302223e+01] [ 5.72348208e-03 -3.29025261e-04 9.99983567e-01 3.95272592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.220714057 meters Centerline goodness : 0.988899 with order 1 Centerline is valid? [True, True] Translation: X:721.93, Y:-43.43, Z:3.95 [[ 9.99883251e-01 -1.41660694e-02 -5.72776849e-03 7.21925792e+02] [ 1.41676946e-02 9.99899604e-01 2.43254602e-04 -4.34348339e+01] [ 5.72374748e-03 -3.24375477e-04 9.99983567e-01 3.95194214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2807140570001 meters Centerline goodness : 0.989302 with order 1 Centerline is valid? [True, True] Translation: X:721.99, Y:-43.44, Z:3.95 [[ 9.99929425e-01 -1.04085272e-02 -5.72777279e-03 7.21985452e+02] [ 1.04100903e-02 9.99945784e-01 2.43153291e-04 -4.34380882e+01] [ 5.72493139e-03 -3.02762762e-04 9.99983567e-01 3.95455400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.340714057 meters Centerline goodness : 0.988137 with order 1 Centerline is valid? [True, True] Translation: X:722.04, Y:-43.44, Z:3.96 [[ 9.99969892e-01 -5.23530806e-03 -5.72778128e-03 7.22044896e+02] [ 5.23678537e-03 9.99986258e-01 2.42953203e-04 -4.34392471e+01] [ 5.72643063e-03 -2.72941049e-04 9.99983567e-01 3.95505314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4007140570001 meters Centerline goodness : 0.985665 with order 1 Centerline is valid? [True, True] Translation: X:722.10, Y:-43.44, Z:3.96 [[ 9.99887917e-01 1.38327853e-02 -5.72778991e-03 7.22103224e+02] [-1.38316215e-02 9.99904309e-01 2.42749518e-04 -4.34449966e+01] [ 5.73059971e-03 -1.63497688e-04 9.99983567e-01 3.95531880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.460714057 meters Centerline goodness : 0.986435 with order 1 Centerline is valid? [True, True] Translation: X:722.16, Y:-43.44, Z:3.96 [[ 9.99776167e-01 2.03668554e-02 -5.72780253e-03 7.22160981e+02] [-2.03658005e-02 9.99792566e-01 2.42451256e-04 -4.34393190e+01] [ 5.73155236e-03 -1.25745704e-04 9.99983567e-01 3.95675814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.520714057 meters Centerline goodness : 0.985597 with order 1 Centerline is valid? [True, True] Translation: X:722.22, Y:-43.44, Z:3.96 [[ 9.99403682e-01 3.40510110e-02 -5.72786980e-03 7.22219365e+02] [-3.40501898e-02 9.99420095e-01 2.40851692e-04 -4.34399509e+01] [ 5.73274942e-03 -4.56730139e-05 9.99983567e-01 3.95870011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.580714057 meters Centerline goodness : 0.986498 with order 1 Centerline is valid? [True, True] Translation: X:722.28, Y:-43.44, Z:3.96 [[ 9.99175372e-01 4.01965945e-02 -5.72794902e-03 7.22277817e+02] [-4.01958851e-02 9.99191790e-01 2.38952552e-04 -4.34439752e+01] [ 5.73292472e-03 -8.51552437e-06 9.99983567e-01 3.96067788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.640714057 meters Centerline goodness : 0.987625 with order 1 Centerline is valid? [True, True] Translation: X:722.34, Y:-43.45, Z:3.96 [[ 9.98893893e-01 4.66709807e-02 -5.72797139e-03 7.22336501e+02] [-4.66703808e-02 9.98910316e-01 2.38415150e-04 -4.34511981e+01] [ 5.73285678e-03 2.91751687e-05 9.99983567e-01 3.95969455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.700714057 meters Centerline goodness : 0.987748 with order 1 Centerline is valid? [True, True] Translation: X:722.40, Y:-43.46, Z:3.96 [[ 9.98712977e-01 5.03942374e-02 -5.72799339e-03 7.22395383e+02] [-5.03937018e-02 9.98729402e-01 2.37885341e-04 -4.34594251e+01] [ 5.73270347e-03 5.10756134e-05 9.99983567e-01 3.96022188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.760714057 meters Centerline goodness : 0.988916 with order 1 Centerline is valid? [True, True] Translation: X:722.45, Y:-43.47, Z:3.96 [[ 9.98527176e-01 5.39506031e-02 -5.72802887e-03 7.22453724e+02] [-5.39501309e-02 9.98543603e-01 2.37028092e-04 -4.34690892e+01] [ 5.73247439e-03 7.23489155e-05 9.99983567e-01 3.96154307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.820714057 meters Centerline goodness : 0.991079 with order 1 Centerline is valid? [True, True] Translation: X:722.51, Y:-43.48, Z:3.96 [[ 9.98265730e-01 5.85894403e-02 -5.72805062e-03 7.22511033e+02] [-5.85890475e-02 9.98282158e-01 2.36501140e-04 -4.34845607e+01] [ 5.73206721e-03 9.95100470e-05 9.99983567e-01 3.96388179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.880714057 meters Centerline goodness : 0.993372 with order 1 Centerline is valid? [True, True] Translation: X:722.57, Y:-43.50, Z:3.97 [[ 9.98297494e-01 5.80456965e-02 -5.72807537e-03 7.22568609e+02] [-5.80452982e-02 9.98313922e-01 2.35900300e-04 -4.35013966e+01] [ 5.73211039e-03 9.69891639e-05 9.99983567e-01 3.96801013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.940714057 meters Centerline goodness : 0.995180 with order 1 Centerline is valid? [True, True] Translation: X:722.63, Y:-43.51, Z:3.97 [[ 9.98363147e-01 5.69053246e-02 -5.72809585e-03 7.22626667e+02] [-5.69049104e-02 9.98379575e-01 2.35401907e-04 -4.35149099e+01] [ 5.73220952e-03 9.09401923e-05 9.99983567e-01 3.96677773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.000714057 meters Centerline goodness : 0.996989 with order 1 Centerline is valid? [True, True] Translation: X:722.68, Y:-43.53, Z:3.97 [[ 9.98558200e-01 5.33733035e-02 -5.72811746e-03 7.22684010e+02] [-5.33728342e-02 9.98574627e-01 2.34874949e-04 -4.35335449e+01] [ 5.73248880e-03 7.11895573e-05 9.99983567e-01 3.96659045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.060714057 meters Centerline goodness : 0.997824 with order 1 Centerline is valid? [True, True] Translation: X:722.74, Y:-43.55, Z:3.97 [[ 9.98717763e-01 5.02992811e-02 -5.72814014e-03 7.22742773e+02] [-5.02987644e-02 9.98734189e-01 2.34320423e-04 -4.35474111e+01] [ 5.73267554e-03 5.40984024e-05 9.99983567e-01 3.96807064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.120714057 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:722.80, Y:-43.57, Z:3.97 [[ 9.99069956e-01 4.27365243e-02 -5.72815607e-03 7.22802030e+02] [-4.27358855e-02 9.99086377e-01 2.33930296e-04 -4.35671497e+01] [ 5.73292007e-03 1.10850919e-05 9.99983567e-01 3.97124822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.180714057 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:722.86, Y:-43.58, Z:3.97 [[ 9.99313834e-01 3.65930170e-02 -5.72816397e-03 7.22860864e+02] [-3.65922783e-02 9.99330251e-01 2.33736654e-04 -4.35802123e+01] [ 5.73288067e-03 -2.39697019e-05 9.99983567e-01 3.97262926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.240714057 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:722.92, Y:-43.60, Z:3.97 [[ 9.99644451e-01 2.60415108e-02 -5.72817233e-03 7.22919225e+02] [-2.60406001e-02 9.99660859e-01 2.33531735e-04 -4.35999826e+01] [ 5.73231119e-03 -8.42836584e-05 9.99983567e-01 3.97431903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.300714057 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:722.98, Y:-43.61, Z:3.97 [[ 9.99825088e-01 1.78039585e-02 -5.72817643e-03 7.22978428e+02] [-1.78029132e-02 9.99841488e-01 2.33431097e-04 -4.36118244e+01] [ 5.73142444e-03 -1.31412039e-04 9.99983567e-01 3.97263147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.360714057 meters Centerline goodness : 0.998844 with order 1 Centerline is valid? [True, True] Translation: X:723.04, Y:-43.62, Z:3.97 [[ 9.99959616e-01 6.92493051e-03 -5.72818465e-03 7.23037246e+02] [-6.92370796e-03 9.99976004e-01 2.33229296e-04 -4.36246568e+01] [ 5.72966229e-03 -1.93559600e-04 9.99983567e-01 3.97009613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.420714057 meters Centerline goodness : 0.998844 with order 1 Centerline is valid? [True, True] Translation: X:723.10, Y:-43.63, Z:3.97 [[ 9.99983493e-01 -4.49066063e-04 -5.72819294e-03 7.23096727e+02] [ 4.50408254e-04 9.99999871e-01 2.33025385e-04 -4.36344282e+01] [ 5.72808756e-03 -2.35601563e-04 9.99983567e-01 3.97132828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.480714057 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:723.15, Y:-43.64, Z:3.97 [[ 9.99977451e-01 -3.50511006e-03 -5.72820118e-03 7.23154498e+02] [ 3.50650114e-03 9.99993825e-01 2.32822596e-04 -4.36391893e+01] [ 5.72734974e-03 -2.52903290e-04 9.99983567e-01 3.97323577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5407140570001 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:723.21, Y:-43.64, Z:3.97 [[ 9.99959270e-01 -6.97461729e-03 -5.72822125e-03 7.23213674e+02] [ 6.97606234e-03 9.99975640e-01 2.32327815e-04 -4.36430442e+01] [ 5.72646131e-03 -2.72278781e-04 9.99983567e-01 3.97438143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.600714057 meters Centerline goodness : 0.998295 with order 1 Centerline is valid? [True, True] Translation: X:723.27, Y:-43.64, Z:3.97 [[ 9.99947771e-01 -8.46413817e-03 -5.72823687e-03 7.23271294e+02] [ 8.46560540e-03 9.99964139e-01 2.31942196e-04 -4.36444307e+01] [ 5.72606826e-03 -2.80423075e-04 9.99983567e-01 3.97277082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6607140570001 meters Centerline goodness : 0.998466 with order 1 Centerline is valid? [True, True] Translation: X:723.33, Y:-43.64, Z:3.97 [[ 9.99939747e-01 -9.36421021e-03 -5.72830305e-03 7.23329554e+02] [ 9.36568277e-03 9.99956115e-01 2.30296012e-04 -4.36437916e+01] [ 5.72589512e-03 -2.83931605e-04 9.99983567e-01 3.97201844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.720714057 meters Centerline goodness : 0.998402 with order 1 Centerline is valid? [True, True] Translation: X:723.39, Y:-43.64, Z:3.97 [[ 9.99936489e-01 -9.70582492e-03 -5.72836812e-03 7.23387242e+02] [ 9.70729376e-03 9.99952857e-01 2.28665877e-04 -4.36428112e+01] [ 5.72587868e-03 -2.84258306e-04 9.99983567e-01 3.97259356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7807140570001 meters Centerline goodness : 0.998695 with order 1 Centerline is valid? [True, True] Translation: X:723.45, Y:-43.64, Z:3.97 [[ 9.99945268e-01 -8.75484380e-03 -5.72838818e-03 7.23445731e+02] [ 8.75629419e-03 9.99961637e-01 2.28162235e-04 -4.36392855e+01] [ 5.72617090e-03 -2.78309199e-04 9.99983567e-01 3.97214558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.840714057 meters Centerline goodness : 0.998486 with order 1 Centerline is valid? [True, True] Translation: X:723.51, Y:-43.64, Z:3.97 [[ 9.99954594e-01 -7.61545840e-03 -5.72845312e-03 7.23505001e+02] [ 7.61688075e-03 9.99970965e-01 2.26519913e-04 -4.36356846e+01] [ 5.72656175e-03 -2.70142572e-04 9.99983567e-01 3.97253990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9007140570001 meters Centerline goodness : 0.999011 with order 1 Centerline is valid? [True, True] Translation: X:723.56, Y:-43.63, Z:3.97 [[ 9.99962440e-01 -6.50408366e-03 -5.72850851e-03 7.23564288e+02] [ 6.50547975e-03 9.99978814e-01 2.25110298e-04 -4.36294225e+01] [ 5.72692301e-03 -2.62368539e-04 9.99983567e-01 3.97172800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.960714057 meters Centerline goodness : 0.998802 with order 1 Centerline is valid? [True, True] Translation: X:723.62, Y:-43.63, Z:3.97 [[ 9.99965685e-01 -5.98430928e-03 -5.72856348e-03 7.23621683e+02] [ 5.98568882e-03 9.99982061e-01 2.23702872e-04 -4.36291624e+01] [ 5.72712200e-03 -2.57984594e-04 9.99983567e-01 3.97244855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0207140570001 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:723.68, Y:-43.62, Z:3.97 [[ 9.99975255e-01 -4.08312136e-03 -5.72858276e-03 7.23681055e+02] [ 4.08446693e-03 9.99991634e-01 2.23208059e-04 -4.36227257e+01] [ 5.72762344e-03 -2.46600743e-04 9.99983567e-01 3.97263102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.080714057 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:723.74, Y:-43.62, Z:3.97 [[ 9.99981957e-01 -1.80779392e-03 -5.72863418e-03 7.23740138e+02] [ 1.80909463e-03 9.99998339e-01 2.21880421e-04 -4.36182762e+01] [ 5.72822355e-03 -2.32240059e-04 9.99983567e-01 3.97146269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.140714057 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:723.80, Y:-43.61, Z:3.97 [[ 9.99967142e-01 5.73554881e-03 -5.72868929e-03 7.23797824e+02] [-5.73437991e-03 9.99983534e-01 2.20448322e-04 -4.36114103e+01] [ 5.72985935e-03 -1.87590597e-04 9.99983567e-01 3.97284337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.200714057 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:723.86, Y:-43.61, Z:3.97 [[ 9.99912148e-01 1.19531914e-02 -5.72870846e-03 7.23855603e+02] [-1.19521273e-02 9.99928547e-01 2.19948884e-04 -4.36084275e+01] [ 5.73092822e-03 -1.51459308e-04 9.99983567e-01 3.97449547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.260714057 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:723.91, Y:-43.60, Z:3.97 [[ 9.99835003e-01 1.72379774e-02 -5.72872726e-03 7.23914859e+02] [-1.72370028e-02 9.99851408e-01 2.19458145e-04 -4.36041195e+01] [ 5.73165903e-03 -1.20675848e-04 9.99983567e-01 3.97259930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.320714057 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:723.97, Y:-43.60, Z:3.97 [[ 9.99858093e-01 1.58421719e-02 -5.72878263e-03 7.23973573e+02] [-1.58411827e-02 9.99874497e-01 2.18003204e-04 -4.36027708e+01] [ 5.73151729e-03 -1.27221575e-04 9.99983567e-01 3.97117901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.380714057 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:724.03, Y:-43.60, Z:3.97 [[ 9.99915360e-01 1.16813448e-02 -5.72879429e-03 7.24033657e+02] [-1.16802892e-02 9.99931759e-01 2.17696345e-04 -4.36035750e+01] [ 5.73094634e-03 -1.50763946e-04 9.99983567e-01 3.96966686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.440714057 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:724.09, Y:-43.61, Z:3.97 [[ 9.99973473e-01 4.49816627e-03 -5.72880204e-03 7.24093798e+02] [-4.49699400e-03 9.99989865e-01 2.17492069e-04 -4.36050916e+01] [ 5.72972230e-03 -1.91723911e-04 9.99983567e-01 3.96966584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.500714057 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:724.15, Y:-43.61, Z:3.97 [[ 9.99982728e-01 1.31319100e-03 -5.72880998e-03 7.24151652e+02] [-1.31196772e-03 9.99999116e-01 2.17282928e-04 -4.36066963e+01] [ 5.72909024e-03 -2.09763162e-04 9.99983567e-01 3.96997945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.560714057 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:724.21, Y:-43.61, Z:3.97 [[ 9.99983210e-01 8.72377210e-04 -5.72882540e-03 7.24210467e+02] [-8.71149043e-04 9.99999597e-01 2.16875597e-04 -4.36079200e+01] [ 5.72901229e-03 -2.11881295e-04 9.99983567e-01 3.97000443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.620714057 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:724.27, Y:-43.61, Z:3.97 [[ 9.99971601e-01 4.89666450e-03 -5.72884102e-03 7.24269787e+02] [-4.89550466e-03 9.99987994e-01 2.16462129e-04 -4.36074414e+01] [ 5.72983218e-03 -1.88410414e-04 9.99983567e-01 3.97098917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.680714057 meters Centerline goodness : 0.998612 with order 1 Centerline is valid? [True, True] Translation: X:724.33, Y:-43.61, Z:3.97 [[ 9.99870772e-01 1.50205931e-02 -5.72889530e-03 7.24328282e+02] [-1.50196075e-02 9.99887176e-01 2.15015840e-04 -4.36072938e+01] [ 5.73147861e-03 -1.28942295e-04 9.99983567e-01 3.97031271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.740714057 meters Centerline goodness : 0.998525 with order 1 Centerline is valid? [True, True] Translation: X:724.39, Y:-43.61, Z:3.97 [[ 9.99760610e-01 2.11163876e-02 -5.72894831e-03 7.24386036e+02] [-2.11155102e-02 9.99777020e-01 2.13594029e-04 -4.36089662e+01] [ 5.73218120e-03 -9.25732301e-05 9.99983567e-01 3.97015029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.800714057 meters Centerline goodness : 0.998592 with order 1 Centerline is valid? [True, True] Translation: X:724.44, Y:-43.61, Z:3.97 [[ 9.99602795e-01 2.75940216e-02 -5.72900924e-03 7.24443522e+02] [-2.75932601e-02 9.99619211e-01 2.11947039e-04 -4.36134376e+01] [ 5.73267617e-03 -5.37808103e-05 9.99983567e-01 3.97145464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.860714057 meters Centerline goodness : 0.998780 with order 1 Centerline is valid? [True, True] Translation: X:724.50, Y:-43.62, Z:3.97 [[ 9.99540033e-01 2.97808571e-02 -5.72906960e-03 7.24502424e+02] [-2.97801409e-02 9.99556451e-01 2.10302890e-04 -4.36175936e+01] [ 5.73279147e-03 -3.95936582e-05 9.99983567e-01 3.97155807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.920714057 meters Centerline goodness : 0.998507 with order 1 Centerline is valid? [True, True] Translation: X:724.56, Y:-43.62, Z:3.97 [[ 9.99456022e-01 3.24782564e-02 -5.72908446e-03 7.24561261e+02] [-3.24775868e-02 9.99472442e-01 2.09897064e-04 -4.36248908e+01] [ 5.73287913e-03 -2.37160465e-05 9.99983567e-01 3.97033654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.980714057 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:724.62, Y:-43.63, Z:3.97 [[ 9.99377190e-01 3.48196734e-02 -5.72909983e-03 7.24620222e+02] [-3.48190447e-02 9.99393611e-01 2.09476804e-04 -4.36311406e+01] [ 5.73291968e-03 -9.86455726e-06 9.99983567e-01 3.97094030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0407140570001 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:724.68, Y:-43.64, Z:3.97 [[ 9.99137732e-01 4.11214144e-02 -5.72911496e-03 7.24677926e+02] [-4.11208916e-02 9.99154157e-01 2.09062131e-04 -4.36403650e+01] [ 5.73286596e-03 2.67044517e-05 9.99983567e-01 3.97150385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.100714057 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:724.74, Y:-43.65, Z:3.97 [[ 9.98741660e-01 4.98224166e-02 -5.72913356e-03 7.24736218e+02] [-4.98220399e-02 9.98758089e-01 2.08551299e-04 -4.36498766e+01] [ 5.73240901e-03 7.71482503e-05 9.99983567e-01 3.97284348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1607140570001 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:724.80, Y:-43.66, Z:3.97 [[ 9.98484565e-01 5.47334434e-02 -5.72914844e-03 7.24795778e+02] [-5.47331497e-02 9.98500996e-01 2.08141588e-04 -4.36577915e+01] [ 5.73195273e-03 1.05748177e-04 9.99983567e-01 3.97378830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.220714057 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:724.85, Y:-43.67, Z:3.97 [[ 9.98306467e-01 5.78910585e-02 -5.72915581e-03 7.24854799e+02] [-5.78908180e-02 9.98322899e-01 2.07938576e-04 -4.36675688e+01] [ 5.73158522e-03 1.24079092e-04 9.99983567e-01 3.97400975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2807140570001 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:724.91, Y:-43.68, Z:3.97 [[ 9.98321117e-01 5.76378671e-02 -5.72916316e-03 7.24914071e+02] [-5.76376237e-02 9.98337549e-01 2.07735753e-04 -4.36824496e+01] [ 5.73161216e-03 1.22828361e-04 9.99983567e-01 3.97417492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.340714057 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:724.97, Y:-43.70, Z:3.97 [[ 9.98667133e-01 5.12945829e-02 -5.72916678e-03 7.24974285e+02] [-5.12942356e-02 9.98683563e-01 2.07636034e-04 -4.36997459e+01] [ 5.73227529e-03 8.65139478e-05 9.99983567e-01 3.97445172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4007140570001 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:725.03, Y:-43.71, Z:3.97 [[ 9.98943214e-01 4.56029858e-02 -5.72916678e-03 7.25033787e+02] [-4.56025449e-02 9.98959641e-01 2.07636034e-04 -4.37113785e+01] [ 5.73267521e-03 5.38479780e-05 9.99983567e-01 3.97451859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.460714057 meters Centerline goodness : 0.998786 with order 1 Centerline is valid? [True, True] Translation: X:725.09, Y:-43.73, Z:3.97 [[ 9.99221770e-01 3.90260440e-02 -5.72914923e-03 7.25094325e+02] [-3.90254922e-02 9.99238194e-01 2.08119024e-04 -4.37256934e+01] [ 5.73290679e-03 1.56258094e-05 9.99983567e-01 3.97387882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5207140570001 meters Centerline goodness : 0.998075 with order 1 Centerline is valid? [True, True] Translation: X:725.15, Y:-43.74, Z:3.97 [[ 9.99344695e-01 3.57401344e-02 -5.72914179e-03 7.25154833e+02] [-3.57395274e-02 9.99361117e-01 2.08323625e-04 -4.37358931e+01] [ 5.73292706e-03 -3.43028905e-06 9.99983567e-01 3.97296697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.580714057 meters Centerline goodness : 0.998222 with order 1 Centerline is valid? [True, True] Translation: X:725.21, Y:-43.75, Z:3.97 [[ 9.99523086e-01 3.03443183e-02 -5.72913803e-03 7.25214376e+02] [-3.03436221e-02 9.99539505e-01 2.08426983e-04 -4.37474991e+01] [ 5.73282437e-03 -3.44847821e-05 9.99983567e-01 3.97398968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.640714057 meters Centerline goodness : 0.998494 with order 1 Centerline is valid? [True, True] Translation: X:725.28, Y:-43.76, Z:3.98 [[ 9.99602243e-01 2.76140073e-02 -5.72913434e-03 7.25275893e+02] [-2.76132656e-02 9.99618659e-01 2.08528438e-04 -4.37550020e+01] [ 5.73270789e-03 -5.02453857e-05 9.99983567e-01 3.97607212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.700714057 meters Centerline goodness : 0.998411 with order 1 Centerline is valid? [True, True] Translation: X:725.34, Y:-43.76, Z:3.98 [[ 9.99691167e-01 2.41815593e-02 -5.72912689e-03 7.25335917e+02] [-2.41807601e-02 9.99707581e-01 2.08733038e-04 -4.37646813e+01] [ 5.73249907e-03 -7.01339314e-05 9.99983567e-01 3.97801714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.760714057 meters Centerline goodness : 0.998640 with order 1 Centerline is valid? [True, True] Translation: X:725.40, Y:-43.77, Z:3.98 [[ 9.99716780e-01 2.30984110e-02 -5.72912322e-03 7.25395754e+02] [-2.30975934e-02 9.99733193e-01 2.08833582e-04 -4.37715269e+01] [ 5.73241838e-03 -7.64454774e-05 9.99983567e-01 3.97922921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.820714057 meters Centerline goodness : 0.998474 with order 1 Centerline is valid? [True, True] Translation: X:725.46, Y:-43.78, Z:3.98 [[ 9.99699252e-01 2.38449643e-02 -5.72912322e-03 7.25456007e+02] [-2.38441590e-02 9.99715666e-01 2.08833582e-04 -4.37774315e+01] [ 5.73247386e-03 -7.21646510e-05 9.99983567e-01 3.98006804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.880714057 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:725.52, Y:-43.78, Z:3.98 [[ 9.99644743e-01 2.60300655e-02 -5.72912322e-03 7.25516248e+02] [-2.60292960e-02 9.99661159e-01 2.08833582e-04 -4.37811059e+01] [ 5.73261791e-03 -5.96343481e-05 9.99983567e-01 3.98038594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.940714057 meters Centerline goodness : 0.998517 with order 1 Centerline is valid? [True, True] Translation: X:725.58, Y:-43.78, Z:3.98 [[ 9.99533443e-01 3.00012085e-02 -5.72912322e-03 7.25576848e+02] [-3.00005043e-02 9.99549862e-01 2.08833582e-04 -4.37845071e+01] [ 5.73280958e-03 -3.68595637e-05 9.99983567e-01 3.98053819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.000714057 meters Centerline goodness : 0.998782 with order 1 Centerline is valid? [True, True] Translation: X:725.64, Y:-43.79, Z:3.98 [[ 9.99463760e-01 3.22392721e-02 -5.72910410e-03 7.25637815e+02] [-3.22386017e-02 9.99480179e-01 2.09356788e-04 -4.37891000e+01] [ 5.73287551e-03 -2.45462175e-05 9.99983567e-01 3.98038906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.060714057 meters Centerline goodness : 0.998619 with order 1 Centerline is valid? [True, True] Translation: X:725.70, Y:-43.79, Z:3.98 [[ 9.99376645e-01 3.48353091e-02 -5.72909660e-03 7.25698563e+02] [-3.48346802e-02 9.99393066e-01 2.09561774e-04 -4.37947287e+01] [ 5.73291957e-03 -9.85989506e-06 9.99983567e-01 3.97977584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.120714057 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:725.76, Y:-43.80, Z:3.98 [[ 9.99378087e-01 3.47939172e-02 -5.72908905e-03 7.25760888e+02] [-3.47932864e-02 9.99394508e-01 2.09768171e-04 -4.37984387e+01] [ 5.73291879e-03 -1.03038769e-05 9.99983567e-01 3.97910009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.180714057 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:725.82, Y:-43.81, Z:3.98 [[ 9.99426734e-01 3.33673858e-02 -5.72903591e-03 7.25822243e+02] [-3.33667233e-02 9.99443154e-01 2.11209388e-04 -4.38050598e+01] [ 5.73289323e-03 -1.99291531e-05 9.99983567e-01 3.97871523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.240714057 meters Centerline goodness : 0.998513 with order 1 Centerline is valid? [True, True] Translation: X:725.88, Y:-43.81, Z:3.98 [[ 9.99433387e-01 3.31675041e-02 -5.72898706e-03 7.25884130e+02] [-3.31668307e-02 9.99449807e-01 2.12526321e-04 -4.38101895e+01] [ 5.73288398e-03 -2.23935568e-05 9.99983567e-01 3.97985622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.300714057 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:725.95, Y:-43.82, Z:3.98 [[ 9.99390983e-01 3.44215344e-02 -5.72893465e-03 7.25945939e+02] [-3.44208736e-02 9.99407403e-01 2.13929944e-04 -4.38158956e+01] [ 5.73290350e-03 -1.66047216e-05 9.99983567e-01 3.98134702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.360714057 meters Centerline goodness : 0.998547 with order 1 Centerline is valid? [True, True] Translation: X:726.01, Y:-43.82, Z:3.98 [[ 9.99420396e-01 3.35566907e-02 -5.72888135e-03 7.26007897e+02] [-3.35560075e-02 9.99436815e-01 2.15347766e-04 -4.38215170e+01] [ 5.73288129e-03 -2.29845641e-05 9.99983567e-01 3.98166571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.420714057 meters Centerline goodness : 0.998786 with order 1 Centerline is valid? [True, True] Translation: X:726.07, Y:-43.83, Z:3.98 [[ 9.99458861e-01 3.23908248e-02 -5.72882786e-03 7.26069379e+02] [-3.23901144e-02 9.99475279e-01 2.16761440e-04 -4.38271793e+01] [ 5.73284291e-03 -3.10867525e-05 9.99983567e-01 3.98240868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.480714057 meters Centerline goodness : 0.997542 with order 1 Centerline is valid? [True, True] Translation: X:726.13, Y:-43.82, Z:3.98 [[ 9.99701103e-01 2.37673164e-02 -5.72877459e-03 7.26132070e+02] [-2.37664564e-02 9.99717514e-01 2.18160343e-04 -4.38214174e+01] [ 5.73234138e-03 -8.19424641e-05 9.99983567e-01 3.98454803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5407140570001 meters Centerline goodness : 0.998619 with order 1 Centerline is valid? [True, True] Translation: X:726.19, Y:-43.84, Z:3.98 [[ 9.99576088e-01 2.85451722e-02 -5.72872168e-03 7.26192745e+02] [-2.85443827e-02 9.99592502e-01 2.19540838e-04 -4.38387682e+01] [ 5.73265407e-03 -5.59249475e-05 9.99983567e-01 3.98064009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.600714057 meters Centerline goodness : 0.998179 with order 1 Centerline is valid? [True, True] Translation: X:726.25, Y:-43.85, Z:3.98 [[ 9.99631938e-01 2.65173714e-02 -5.72867366e-03 7.26253682e+02] [-2.65165415e-02 9.99648350e-01 2.20786994e-04 -4.38455388e+01] [ 5.73251386e-03 -6.88011177e-05 9.99983567e-01 3.98335531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6607140570001 meters Centerline goodness : 0.997866 with order 1 Centerline is valid? [True, True] Translation: X:726.32, Y:-43.85, Z:3.98 [[ 9.99654377e-01 2.56575384e-02 -5.72862573e-03 7.26315608e+02] [-2.56566873e-02 9.99670788e-01 2.22023654e-04 -4.38499155e+01] [ 5.73243638e-03 -7.49693584e-05 9.99983567e-01 3.98416768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.720714057 meters Centerline goodness : 0.998134 with order 1 Centerline is valid? [True, True] Translation: X:726.38, Y:-43.85, Z:3.98 [[ 9.99733851e-01 2.23475040e-02 -5.72857490e-03 7.26377705e+02] [-2.23465911e-02 9.99750259e-01 2.23327532e-04 -4.38535369e+01] [ 5.73213505e-03 -9.52539724e-05 9.99983567e-01 3.98265565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7807140570001 meters Centerline goodness : 0.997114 with order 1 Centerline is valid? [True, True] Translation: X:726.44, Y:-43.84, Z:3.99 [[ 9.99946923e-01 8.56356416e-03 -5.72852118e-03 7.26439452e+02] [-8.56241730e-03 9.99963317e-01 2.24696875e-04 -4.38446782e+01] [ 5.73023525e-03 -1.75634960e-04 9.99983567e-01 3.98582652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.840714057 meters Centerline goodness : 0.998829 with order 1 Centerline is valid? [True, True] Translation: X:726.50, Y:-43.86, Z:3.98 [[ 9.99894105e-01 1.33777094e-02 -5.72851287e-03 7.26498567e+02] [-1.33766403e-02 9.99910503e-01 2.24908584e-04 -4.38578477e+01] [ 5.73100895e-03 -1.48256512e-04 9.99983567e-01 3.98221807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9007140570001 meters Centerline goodness : 0.997822 with order 1 Centerline is valid? [True, True] Translation: X:726.56, Y:-43.86, Z:3.98 [[ 9.99948339e-01 8.39666302e-03 -5.72851693e-03 7.26558563e+02] [-8.39551281e-03 9.99964732e-01 2.24805306e-04 -4.38577044e+01] [ 5.73020251e-03 -1.76699855e-04 9.99983567e-01 3.98380107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.960714057 meters Centerline goodness : 0.998245 with order 1 Centerline is valid? [True, True] Translation: X:726.62, Y:-43.86, Z:3.98 [[ 9.99964812e-01 6.12848301e-03 -5.72852083e-03 7.26618612e+02] [-6.12729618e-03 9.99981203e-01 2.24705863e-04 -4.38575422e+01] [ 5.72979025e-03 -1.89597613e-04 9.99983567e-01 3.98414081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0207140570001 meters Centerline goodness : 0.998842 with order 1 Centerline is valid? [True, True] Translation: X:726.68, Y:-43.85, Z:3.99 [[ 9.99968498e-01 5.49431503e-03 -5.72852869e-03 7.26678456e+02] [-5.49311896e-03 9.99984888e-01 2.24505214e-04 -4.38540289e+01] [ 5.72967562e-03 -1.93030652e-04 9.99983567e-01 3.98580805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.080714057 meters Centerline goodness : 0.998848 with order 1 Centerline is valid? [True, True] Translation: X:726.74, Y:-43.85, Z:3.99 [[ 9.99961081e-01 6.70976299e-03 -5.72853665e-03 7.26738690e+02] [-6.70858801e-03 9.99977472e-01 2.24301949e-04 -4.38526702e+01] [ 5.72991261e-03 -1.85862827e-04 9.99983567e-01 3.98709524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.140714057 meters Centerline goodness : 0.997926 with order 1 Centerline is valid? [True, True] Translation: X:726.80, Y:-43.84, Z:3.99 [[ 9.99983175e-01 -9.12579576e-04 -5.72854464e-03 7.26799399e+02] [ 9.13878301e-04 9.99999557e-01 2.24097681e-04 -4.38374940e+01] [ 5.72833760e-03 -2.29329104e-04 9.99983567e-01 3.98965955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.200714057 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:726.86, Y:-43.85, Z:3.99 [[ 9.99958073e-01 7.14395546e-03 -5.72855274e-03 7.26858435e+02] [-7.14278995e-03 9.99974465e-01 2.23890307e-04 -4.38454136e+01] [ 5.73000593e-03 -1.82963071e-04 9.99983567e-01 3.98690328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.260714057 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:726.92, Y:-43.84, Z:3.99 [[ 9.99948864e-01 8.33386001e-03 -5.72860802e-03 7.26917801e+02] [-8.33272215e-03 9.99965258e-01 2.22466972e-04 -4.38385919e+01] [ 5.73026300e-03 -1.74720697e-04 9.99983567e-01 3.98689099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.320714057 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:726.98, Y:-43.84, Z:3.99 [[ 9.99937761e-01 9.57375246e-03 -5.72861657e-03 7.26977653e+02] [-9.57263619e-03 9.99954157e-01 2.22246443e-04 -4.38364611e+01] [ 5.73048169e-03 -1.67394648e-04 9.99983567e-01 3.98827328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.380714057 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:727.04, Y:-43.83, Z:3.99 [[ 9.99931689e-01 1.01881907e-02 -5.72862426e-03 7.27037267e+02] [-1.01870856e-02 9.99948086e-01 2.22048278e-04 -4.38302974e+01] [ 5.73058913e-03 -1.63675124e-04 9.99983567e-01 3.98972523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.440714057 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:727.10, Y:-43.83, Z:3.99 [[ 9.99966025e-01 5.92723803e-03 -5.72863212e-03 7.27096601e+02] [-5.92606428e-03 9.99982416e-01 2.21845284e-04 -4.38251477e+01] [ 5.72984632e-03 -1.87889505e-04 9.99983567e-01 3.99105810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.500714057 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:727.16, Y:-43.82, Z:3.99 [[ 9.99982784e-01 -1.27058224e-03 -5.72864369e-03 7.27156736e+02] [ 1.27187224e-03 9.99999167e-01 2.21546156e-04 -4.38220477e+01] [ 5.72835742e-03 -2.28828445e-04 9.99983567e-01 3.99169180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.560714057 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:727.22, Y:-43.82, Z:3.99 [[ 9.99898746e-01 -1.30261698e-02 -5.72865127e-03 7.27216409e+02] [ 1.30276512e-02 9.99915112e-01 2.21349984e-04 -4.38161864e+01] [ 5.72528163e-03 -2.95958442e-04 9.99983567e-01 3.99286431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.620714057 meters Centerline goodness : 0.998656 with order 1 Centerline is valid? [True, True] Translation: X:727.28, Y:-43.81, Z:4.00 [[ 9.99739083e-01 -2.21121689e-02 -5.72865914e-03 7.27275268e+02] [ 2.21137978e-02 9.99755436e-01 2.21145884e-04 -4.38075352e+01] [ 5.72236810e-03 -3.47770594e-04 9.99983567e-01 3.99993934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.680714057 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:727.33, Y:-43.80, Z:4.00 [[ 9.99764675e-01 -2.09231329e-02 -5.72867587e-03 7.27333640e+02] [ 2.09247399e-02 9.99781029e-01 2.20711663e-04 -4.38008867e+01] [ 5.72280348e-03 -3.40530777e-04 9.99983567e-01 3.99723494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.740714057 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:727.39, Y:-43.80, Z:4.00 [[ 9.99772568e-01 -2.05424815e-02 -5.72870663e-03 7.27392196e+02] [ 2.05440776e-02 9.99788924e-01 2.19910510e-04 -4.37984354e+01] [ 5.72297993e-03 -3.37551489e-04 9.99983567e-01 3.99795503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.800714057 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:727.45, Y:-43.79, Z:4.00 [[ 9.99832451e-01 -1.73853907e-02 -5.72876450e-03 7.27450216e+02] [ 1.73869265e-02 9.99848812e-01 2.18392409e-04 -4.37869765e+01] [ 5.72410154e-03 -3.17961425e-04 9.99983567e-01 3.99864799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.860714057 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:727.51, Y:-43.78, Z:4.00 [[ 9.99898026e-01 -1.30812350e-02 -5.72882741e-03 7.27507991e+02] [ 1.30826908e-02 9.99914394e-01 2.16729492e-04 -4.37806792e+01] [ 5.72550190e-03 -2.91655869e-04 9.99983567e-01 3.99786980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.920714057 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:727.57, Y:-43.77, Z:4.00 [[ 9.99970084e-01 -5.19734090e-03 -5.72884665e-03 7.27566619e+02] [ 5.19866477e-03 9.99986463e-01 2.16219859e-04 -4.37696608e+01] [ 5.72764533e-03 -2.45995744e-04 9.99983567e-01 3.99708049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.980714057 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:727.63, Y:-43.76, Z:4.00 [[ 9.99983589e-01 -4.52187741e-05 -5.72886549e-03 7.27625817e+02] [ 4.64553636e-05 9.99999976e-01 2.15719536e-04 -4.37587839e+01] [ 5.72885559e-03 -2.15982132e-04 9.99983567e-01 3.99794468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0407140570001 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:727.68, Y:-43.75, Z:4.00 [[ 9.99981365e-01 2.10919618e-03 -5.72891943e-03 7.27684907e+02] [-2.10800315e-03 9.99997755e-01 2.14277216e-04 -4.37547840e+01] [ 5.72935852e-03 -2.02196642e-04 9.99983567e-01 3.99897415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.100714057 meters Centerline goodness : 0.998925 with order 1 Centerline is valid? [True, True] Translation: X:727.74, Y:-43.75, Z:4.00 [[ 9.99969001e-01 5.40143140e-03 -5.72897287e-03 7.27743724e+02] [-5.40030057e-03 9.99985396e-01 2.12838834e-04 -4.37475722e+01] [ 5.73003884e-03 -1.81894061e-04 9.99983567e-01 3.99887708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1607140570001 meters Centerline goodness : 0.998820 with order 1 Centerline is valid? [True, True] Translation: X:727.80, Y:-43.74, Z:4.00 [[ 9.99955403e-01 7.50799824e-03 -5.72902704e-03 7.27801704e+02] [-7.50691036e-03 9.99971800e-01 2.11370597e-04 -4.37409905e+01] [ 5.73045245e-03 -1.68353878e-04 9.99983567e-01 3.99827215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.220714057 meters Centerline goodness : 0.998229 with order 1 Centerline is valid? [True, True] Translation: X:727.86, Y:-43.74, Z:4.00 [[ 9.99960851e-01 6.74343772e-03 -5.72904598e-03 7.27860183e+02] [-6.74234024e-03 9.99977248e-01 2.10856051e-04 -4.37393203e+01] [ 5.73033753e-03 -1.72220619e-04 9.99983567e-01 3.99821024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2807140570001 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:727.92, Y:-43.74, Z:4.00 [[ 9.99982009e-01 -1.77779590e-03 -5.72905956e-03 7.27920238e+02] [ 1.77903095e-03 9.99998395e-01 2.10486318e-04 -4.37374469e+01] [ 5.72867617e-03 -2.20674706e-04 9.99983567e-01 3.99756716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.340714057 meters Centerline goodness : 0.998501 with order 1 Centerline is valid? [True, True] Translation: X:727.98, Y:-43.74, Z:4.00 [[ 9.99950616e-01 -8.12055818e-03 -5.72906879e-03 7.27978929e+02] [ 8.12189570e-03 9.99966995e-01 2.10234874e-04 -4.37378415e+01] [ 5.72717248e-03 -2.56755391e-04 9.99983567e-01 3.99760575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4007140570001 meters Centerline goodness : 0.998651 with order 1 Centerline is valid? [True, True] Translation: X:728.04, Y:-43.74, Z:4.00 [[ 9.99865564e-01 -1.53633231e-02 -5.72908391e-03 7.28038119e+02] [ 1.53647769e-02 9.99881933e-01 2.09822133e-04 -4.37373839e+01] [ 5.72518392e-03 -2.97820022e-04 9.99983567e-01 3.99851663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.460714057 meters Centerline goodness : 0.998154 with order 1 Centerline is valid? [True, True] Translation: X:728.10, Y:-43.74, Z:4.00 [[ 9.99827453e-01 -1.76703800e-02 -5.72909525e-03 7.28096970e+02] [ 1.76718698e-02 9.99843818e-01 2.09511896e-04 -4.37359176e+01] [ 5.72449832e-03 -3.10719571e-04 9.99983567e-01 3.99913177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5207140570001 meters Centerline goodness : 0.997805 with order 1 Centerline is valid? [True, True] Translation: X:728.16, Y:-43.73, Z:4.00 [[ 9.99840194e-01 -1.69341074e-02 -5.72914814e-03 7.28156345e+02] [ 1.69355768e-02 9.99856561e-01 2.08055512e-04 -4.37317118e+01] [ 5.72480312e-03 -3.05048691e-04 9.99983567e-01 3.99855917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.580714057 meters Centerline goodness : 0.997221 with order 1 Centerline is valid? [True, True] Translation: X:728.21, Y:-43.73, Z:4.00 [[ 9.99881658e-01 -1.42774400e-02 -5.72920143e-03 7.28214906e+02] [ 1.42788574e-02 9.99898031e-01 2.06577594e-04 -4.37291950e+01] [ 5.72566783e-03 -2.88359597e-04 9.99983567e-01 3.99814958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.640714057 meters Centerline goodness : 0.996867 with order 1 Centerline is valid? [True, True] Translation: X:728.27, Y:-43.72, Z:4.00 [[ 9.99950864e-01 -8.08986357e-03 -5.72921262e-03 7.28273944e+02] [ 8.09117789e-03 9.99967245e-01 2.06266734e-04 -4.37236269e+01] [ 5.72735629e-03 -2.52612678e-04 9.99983567e-01 3.99742023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.700714057 meters Centerline goodness : 0.996429 with order 1 Centerline is valid? [True, True] Translation: X:728.33, Y:-43.72, Z:4.00 [[ 9.99979081e-01 -3.00218942e-03 -5.72926367e-03 7.28333137e+02] [ 3.00341222e-03 9.99995469e-01 2.04839044e-04 -4.37204146e+01] [ 5.72862274e-03 -2.22042099e-04 9.99983567e-01 3.99631669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.760714057 meters Centerline goodness : 0.995742 with order 1 Centerline is valid? [True, True] Translation: X:728.39, Y:-43.72, Z:3.99 [[ 9.99977511e-01 3.48590123e-03 -5.72931515e-03 7.28391767e+02] [-3.48479308e-03 9.99993907e-01 2.03388653e-04 -4.37169211e+01] [ 5.72998924e-03 -1.83418602e-04 9.99983567e-01 3.99469232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.820714057 meters Centerline goodness : 0.995737 with order 1 Centerline is valid? [True, True] Translation: X:728.45, Y:-43.72, Z:3.99 [[ 9.99967181e-01 5.72805839e-03 -5.72936571e-03 7.28450847e+02] [-5.72699522e-03 9.99983580e-01 2.01954428e-04 -4.37162193e+01] [ 5.73042844e-03 -1.69135751e-04 9.99983567e-01 3.99273603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.880714057 meters Centerline goodness : 0.995513 with order 1 Centerline is valid? [True, True] Translation: X:728.51, Y:-43.72, Z:3.99 [[ 9.99968386e-01 5.51364064e-03 -5.72941584e-03 7.28510236e+02] [-5.51258215e-03 9.99984786e-01 2.00522148e-04 -4.37150996e+01] [ 5.73043427e-03 -1.68931933e-04 9.99983567e-01 3.99194774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.940714057 meters Centerline goodness : 0.994918 with order 1 Centerline is valid? [True, True] Translation: X:728.57, Y:-43.72, Z:3.99 [[ 9.99975367e-01 4.05449799e-03 -5.72942665e-03 7.28569092e+02] [-4.05341735e-03 9.99991765e-01 2.00212615e-04 -4.37164470e+01] [ 5.73019123e-03 -1.76983925e-04 9.99983567e-01 3.99178497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.000714057 meters Centerline goodness : 0.994959 with order 1 Centerline is valid? [True, True] Translation: X:728.63, Y:-43.72, Z:3.99 [[ 9.99978358e-01 3.23367208e-03 -5.72944109e-03 7.28628412e+02] [-3.23258035e-03 9.99994755e-01 1.99798533e-04 -4.37156678e+01] [ 5.73005713e-03 -1.81273330e-04 9.99983567e-01 3.99206382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.060714057 meters Centerline goodness : 0.995103 with order 1 Centerline is valid? [True, True] Translation: X:728.69, Y:-43.72, Z:3.99 [[ 9.99969079e-01 5.38645352e-03 -5.72945529e-03 7.28686831e+02] [-5.38539942e-03 9.99985479e-01 1.99390602e-04 -4.37156037e+01] [ 5.73044610e-03 -1.68529032e-04 9.99983567e-01 3.99190638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.120714057 meters Centerline goodness : 0.994147 with order 1 Centerline is valid? [True, True] Translation: X:728.74, Y:-43.72, Z:3.99 [[ 9.99901077e-01 1.28456055e-02 -5.72950543e-03 7.28744831e+02] [-1.28446821e-02 9.99917484e-01 1.97939167e-04 -4.37166434e+01] [ 5.73157531e-03 -1.24325910e-04 9.99983567e-01 3.99210701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.180714057 meters Centerline goodness : 0.994646 with order 1 Centerline is valid? [True, True] Translation: X:728.80, Y:-43.72, Z:3.99 [[ 9.99772601e-01 2.05406778e-02 -5.72952298e-03 7.28801765e+02] [-2.05398836e-02 9.99789015e-01 1.97429952e-04 -4.37184008e+01] [ 5.73236948e-03 -7.97013221e-05 9.99983567e-01 3.99256669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.240714057 meters Centerline goodness : 0.994209 with order 1 Centerline is valid? [True, True] Translation: X:728.86, Y:-43.72, Z:3.99 [[ 9.99696518e-01 2.39592207e-02 -5.72954699e-03 7.28860527e+02] [-2.39584867e-02 9.99712935e-01 1.96730611e-04 -4.37219835e+01] [ 5.73261575e-03 -5.93996317e-05 9.99983567e-01 3.99136533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.300714057 meters Centerline goodness : 0.993294 with order 1 Centerline is valid? [True, True] Translation: X:728.92, Y:-43.74, Z:3.99 [[ 9.99275520e-01 3.76245600e-02 -5.72956099e-03 7.28918332e+02] [-3.76240528e-02 9.99291945e-01 1.96322159e-04 -4.37403452e+01] [ 5.73289068e-03 1.93893777e-05 9.99983567e-01 3.99274534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.360714057 meters Centerline goodness : 0.995194 with order 1 Centerline is valid? [True, True] Translation: X:728.98, Y:-43.74, Z:3.99 [[ 9.99315414e-01 3.65496343e-02 -5.72957846e-03 7.28978188e+02] [-3.65491124e-02 9.99331839e-01 1.95810856e-04 -4.37393124e+01] [ 5.73290699e-03 1.37342001e-05 9.99983567e-01 3.99118761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.420714057 meters Centerline goodness : 0.996061 with order 1 Centerline is valid? [True, True] Translation: X:729.04, Y:-43.74, Z:3.99 [[ 9.99168251e-01 4.03729805e-02 -5.72958598e-03 7.29036224e+02] [-4.03725226e-02 9.99184678e-01 1.95590655e-04 -4.37443076e+01] [ 5.73281110e-03 3.58898666e-05 9.99983567e-01 3.99261577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.480714057 meters Centerline goodness : 0.996425 with order 1 Centerline is valid? [True, True] Translation: X:729.10, Y:-43.75, Z:3.99 [[ 9.99034478e-01 4.35578129e-02 -5.72960075e-03 7.29095145e+02] [-4.35574099e-02 9.99050907e-01 1.95156954e-04 -4.37516662e+01] [ 5.73266343e-03 5.45980434e-05 9.99983567e-01 3.99212563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5407140570001 meters Centerline goodness : 0.997076 with order 1 Centerline is valid? [True, True] Translation: X:729.15, Y:-43.76, Z:3.99 [[ 9.99025455e-01 4.37642651e-02 -5.72961475e-03 7.29153141e+02] [-4.37638679e-02 9.99041884e-01 1.94744958e-04 -4.37635259e+01] [ 5.73264799e-03 5.61949326e-05 9.99983567e-01 3.99122558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.600714057 meters Centerline goodness : 0.997266 with order 1 Centerline is valid? [True, True] Translation: X:729.21, Y:-43.77, Z:3.99 [[ 9.99067212e-01 4.28004278e-02 -5.72962865e-03 7.29211497e+02] [-4.28000171e-02 9.99083641e-01 1.94335172e-04 -4.37694345e+01] [ 5.73269588e-03 5.10743060e-05 9.99983567e-01 3.99091936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6607140570001 meters Centerline goodness : 0.997516 with order 1 Centerline is valid? [True, True] Translation: X:729.27, Y:-43.78, Z:3.99 [[ 9.99188866e-01 3.98595147e-02 -5.72964264e-03 7.29269750e+02] [-3.98590580e-02 9.99205293e-01 1.93922040e-04 -4.37840112e+01] [ 5.73281889e-03 3.46134148e-05 9.99983567e-01 3.98912295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.720714057 meters Centerline goodness : 0.997498 with order 1 Centerline is valid? [True, True] Translation: X:729.33, Y:-43.79, Z:3.99 [[ 9.99250293e-01 3.82886917e-02 -5.72965656e-03 7.29328697e+02] [-3.82882115e-02 9.99266719e-01 1.93509608e-04 -4.37942529e+01] [ 5.73286435e-03 2.60137699e-05 9.99983567e-01 3.98980895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7807140570001 meters Centerline goodness : 0.998359 with order 1 Centerline is valid? [True, True] Translation: X:729.39, Y:-43.81, Z:3.99 [[ 9.99291390e-01 3.72006456e-02 -5.72967034e-03 7.29387447e+02] [-3.72001499e-02 9.99307816e-01 1.93100935e-04 -4.38066698e+01] [ 5.73288783e-03 2.01804934e-05 9.99983567e-01 3.99228575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.840714057 meters Centerline goodness : 0.998507 with order 1 Centerline is valid? [True, True] Translation: X:729.45, Y:-43.82, Z:3.99 [[ 9.99314708e-01 3.65688981e-02 -5.72968431e-03 7.29446849e+02] [-3.65683944e-02 9.99331134e-01 1.92685512e-04 -4.38159524e+01] [ 5.73289821e-03 1.69718898e-05 9.99983567e-01 3.99379807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9007140570001 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:729.51, Y:-43.83, Z:3.99 [[ 9.99390794e-01 3.44269029e-02 -5.72969116e-03 7.29506140e+02] [-3.44263651e-02 9.99407218e-01 1.92481567e-04 -4.38286763e+01] [ 5.73292125e-03 4.88813387e-06 9.99983567e-01 3.99324955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.960714057 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:729.57, Y:-43.84, Z:3.99 [[ 9.99461764e-01 3.23009699e-02 -5.72969806e-03 7.29565312e+02] [-3.23003984e-02 9.99478188e-01 1.92275945e-04 -4.38372102e+01] [ 5.73291893e-03 -7.10092492e-06 9.99983567e-01 3.99363585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0207140570001 meters Centerline goodness : 0.998847 with order 1 Centerline is valid? [True, True] Translation: X:729.62, Y:-43.85, Z:3.99 [[ 9.99554179e-01 2.93021136e-02 -5.72970500e-03 7.29624220e+02] [-2.93014940e-02 9.99570601e-01 1.92068882e-04 -4.38488796e+01] [ 5.73287269e-03 -2.40943370e-05 9.99983567e-01 3.99311588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.080714057 meters Centerline goodness : 0.998792 with order 1 Centerline is valid? [True, True] Translation: X:729.68, Y:-43.86, Z:3.99 [[ 9.99620959e-01 2.69278527e-02 -5.72971186e-03 7.29683135e+02] [-2.69271953e-02 9.99637379e-01 1.91864102e-04 -4.38565320e+01] [ 5.73280063e-03 -3.75063071e-05 9.99983567e-01 3.99305431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.140714057 meters Centerline goodness : 0.998702 with order 1 Centerline is valid? [True, True] Translation: X:729.74, Y:-43.87, Z:3.99 [[ 9.99676161e-01 2.47940149e-02 -5.72972018e-03 7.29742937e+02] [-2.47933239e-02 9.99692580e-01 1.91615244e-04 -4.38668678e+01] [ 5.73270966e-03 -4.94943832e-05 9.99983567e-01 3.99305906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.200714057 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:729.80, Y:-43.88, Z:3.99 [[ 9.99636744e-01 2.63353283e-02 -5.72972681e-03 7.29801961e+02] [-2.63346637e-02 9.99653164e-01 1.91416941e-04 -4.38751482e+01] [ 5.73278056e-03 -4.04569785e-05 9.99983567e-01 3.99165935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.260714057 meters Centerline goodness : 0.998702 with order 1 Centerline is valid? [True, True] Translation: X:729.86, Y:-43.88, Z:3.99 [[ 9.99633046e-01 2.64753440e-02 -5.72973371e-03 7.29861951e+02] [-2.64746829e-02 9.99649466e-01 1.91210183e-04 -4.38783602e+01] [ 5.73278759e-03 -3.94471349e-05 9.99983567e-01 3.99313141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.320714057 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:729.92, Y:-43.89, Z:3.99 [[ 9.99356983e-01 3.53947747e-02 -5.72973727e-03 7.29920625e+02] [-3.53942607e-02 9.99373409e-01 1.91103211e-04 -4.38926086e+01] [ 5.73291112e-03 1.18194869e-05 9.99983567e-01 3.99183190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.380714057 meters Centerline goodness : 0.998747 with order 1 Centerline is valid? [True, True] Translation: X:729.98, Y:-43.91, Z:3.99 [[ 9.99204944e-01 3.94543931e-02 -5.72974075e-03 7.29980980e+02] [-3.94539465e-02 9.99221372e-01 1.90998770e-04 -4.39050300e+01] [ 5.73281516e-03 3.52139693e-05 9.99983567e-01 3.99259066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.440714057 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:730.04, Y:-43.92, Z:3.99 [[ 9.99097809e-01 4.20801511e-02 -5.72974075e-03 7.30042230e+02] [-4.20797476e-02 9.99114237e-01 1.90998770e-04 -4.39174693e+01] [ 5.73270282e-03 5.02795922e-05 9.99983567e-01 3.99197247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.500714057 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:730.10, Y:-43.93, Z:3.99 [[ 9.99016475e-01 4.39687685e-02 -5.72973393e-03 7.30103087e+02] [-4.39683950e-02 9.99032904e-01 1.91203200e-04 -4.39270344e+01] [ 5.73259970e-03 6.09120583e-05 9.99983567e-01 3.99202055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.560714057 meters Centerline goodness : 0.998237 with order 1 Centerline is valid? [True, True] Translation: X:730.16, Y:-43.94, Z:4.01 [[ 9.99039209e-01 4.34491657e-02 -5.72972700e-03 7.30164271e+02] [-4.34487824e-02 9.99055637e-01 1.91410850e-04 -4.39384112e+01] [ 5.73263270e-03 5.77227173e-05 9.99983567e-01 4.00649444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.620714057 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:730.22, Y:-43.95, Z:3.99 [[ 9.99007311e-01 4.41764988e-02 -5.72968050e-03 7.30224063e+02] [-4.41761196e-02 9.99023740e-01 1.92792701e-04 -4.39523065e+01] [ 5.73260375e-03 6.05137334e-05 9.99983567e-01 3.99232907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.680714057 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:730.29, Y:-43.97, Z:3.99 [[ 9.99049113e-01 4.32208329e-02 -5.72967701e-03 7.30285955e+02] [-4.32204374e-02 9.99065542e-01 1.92896410e-04 -4.39661459e+01] [ 5.73266001e-03 5.49261595e-05 9.99983567e-01 3.98958279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.740714057 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:730.35, Y:-43.98, Z:3.99 [[ 9.99171545e-01 4.02913698e-02 -5.72962833e-03 7.30347410e+02] [-4.02909178e-02 9.99187972e-01 1.94331539e-04 -4.39812179e+01] [ 5.73280560e-03 3.66814401e-05 9.99983567e-01 3.98946298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.800714057 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:730.41, Y:-43.99, Z:3.99 [[ 9.99294933e-01 3.71053620e-02 -5.72958006e-03 7.30409679e+02] [-3.71048496e-02 9.99311359e-01 1.95744453e-04 -4.39918941e+01] [ 5.73289761e-03 1.69887668e-05 9.99983567e-01 3.98934259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.860714057 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:730.47, Y:-44.00, Z:3.99 [[ 9.99463797e-01 3.22380460e-02 -5.72952362e-03 7.30470159e+02] [-3.22374442e-02 9.99480219e-01 1.97382686e-04 -4.40045987e+01] [ 5.73290876e-03 -1.25716507e-05 9.99983567e-01 3.98832727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.920714057 meters Centerline goodness : 0.998862 with order 1 Centerline is valid? [True, True] Translation: X:730.53, Y:-44.01, Z:3.99 [[ 9.99488668e-01 3.14575249e-02 -5.72947822e-03 7.30532418e+02] [-3.14569028e-02 9.99505089e-01 1.98691836e-04 -4.40134834e+01] [ 5.73289300e-03 -1.83585992e-05 9.99983567e-01 3.98682181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.980714057 meters Centerline goodness : 0.998653 with order 1 Centerline is valid? [True, True] Translation: X:730.60, Y:-44.02, Z:3.99 [[ 9.99472608e-01 3.19637131e-02 -5.72942102e-03 7.30595269e+02] [-3.19630899e-02 9.99489030e-01 2.00327807e-04 -4.40210623e+01] [ 5.73289668e-03 -1.70921561e-05 9.99983567e-01 3.98711292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0407140570001 meters Centerline goodness : 0.996217 with order 1 Centerline is valid? [True, True] Translation: X:730.66, Y:-44.02, Z:4.00 [[ 9.99698577e-01 2.38731797e-02 -5.72936201e-03 7.30656347e+02] [-2.38724140e-02 9.99714993e-01 2.02001722e-04 -4.40153695e+01] [ 5.73255152e-03 -6.51671324e-05 9.99983567e-01 3.99502741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.100714057 meters Centerline goodness : 0.995965 with order 1 Centerline is valid? [True, True] Translation: X:730.72, Y:-44.02, Z:3.99 [[ 9.99689205e-01 2.42624768e-02 -5.72931456e-03 7.30718452e+02] [-2.42617099e-02 9.99705621e-01 2.03338596e-04 -4.40228327e+01] [ 5.73256147e-03 -6.42724321e-05 9.99983567e-01 3.99446894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1607140570001 meters Centerline goodness : 0.998466 with order 1 Centerline is valid? [True, True] Translation: X:730.78, Y:-44.04, Z:3.99 [[ 9.99436271e-01 3.30804304e-02 -5.72926492e-03 7.30779343e+02] [-3.30798003e-02 9.99452693e-01 2.04727750e-04 -4.40428408e+01] [ 5.73290173e-03 -1.50893991e-05 9.99983567e-01 3.98843863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.220714057 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:730.84, Y:-44.05, Z:3.99 [[ 9.99550674e-01 2.94215020e-02 -5.72925437e-03 7.30841865e+02] [-2.94208101e-02 9.99567093e-01 2.05022663e-04 -4.40490521e+01] [ 5.73280621e-03 -3.63712359e-05 9.99983567e-01 3.98768446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2807140570001 meters Centerline goodness : 0.998359 with order 1 Centerline is valid? [True, True] Translation: X:730.90, Y:-44.05, Z:3.99 [[ 9.99638609e-01 2.62645594e-02 -5.72919684e-03 7.30904332e+02] [-2.62638065e-02 9.99655025e-01 2.06617650e-04 -4.40545984e+01] [ 5.73264714e-03 -5.60724629e-05 9.99983567e-01 3.98780773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.340714057 meters Centerline goodness : 0.998192 with order 1 Centerline is valid? [True, True] Translation: X:730.97, Y:-44.06, Z:3.99 [[ 9.99777981e-01 2.02772399e-02 -5.72913658e-03 7.30967568e+02] [-2.02763792e-02 9.99794391e-01 2.08275312e-04 -4.40605456e+01] [ 5.73218187e-03 -9.20629248e-05 9.99983567e-01 3.98962774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4007140570001 meters Centerline goodness : 0.998517 with order 1 Centerline is valid? [True, True] Translation: X:731.03, Y:-44.06, Z:3.99 [[ 9.99901387e-01 1.28215863e-02 -5.72907688e-03 7.31030180e+02] [-1.28205940e-02 9.99917791e-01 2.09904926e-04 -4.40610936e+01] [ 5.73129721e-03 -1.36434058e-04 9.99983567e-01 3.99087158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.460714057 meters Centerline goodness : 0.998474 with order 1 Centerline is valid? [True, True] Translation: X:731.09, Y:-44.06, Z:3.99 [[ 9.99968830e-01 5.43294491e-03 -5.72902411e-03 7.31090974e+02] [-5.43182321e-03 9.99985225e-01 2.11335345e-04 -4.40604048e+01] [ 5.73008764e-03 -1.80209712e-04 9.99983567e-01 3.99207023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5207140570001 meters Centerline goodness : 0.998424 with order 1 Centerline is valid? [True, True] Translation: X:731.15, Y:-44.06, Z:3.99 [[ 9.99983545e-01 2.98336497e-04 -5.72902411e-03 7.31150818e+02] [-2.97130622e-04 9.99999934e-01 2.11335345e-04 -4.40629500e+01] [ 5.72908678e-03 -2.09629599e-04 9.99983567e-01 3.99062012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.580714057 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:731.21, Y:-44.06, Z:3.99 [[ 9.99982333e-01 -1.58463049e-03 -5.72903165e-03 7.31209443e+02] [ 1.58586606e-03 9.99998720e-01 2.11130848e-04 -4.40630608e+01] [ 5.72868975e-03 -2.20212595e-04 9.99983567e-01 3.99135700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.640714057 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:731.27, Y:-44.06, Z:3.99 [[ 9.99969484e-01 -5.31128230e-03 -5.72904673e-03 7.31266990e+02] [ 5.31257658e-03 9.99985866e-01 2.10720715e-04 -4.40614370e+01] [ 5.72784656e-03 -2.41150285e-04 9.99983567e-01 3.99224891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.700714057 meters Centerline goodness : 0.998490 with order 1 Centerline is valid? [True, True] Translation: X:731.33, Y:-44.06, Z:3.99 [[ 9.99943376e-01 -8.96789325e-03 -5.72906523e-03 7.31326504e+02] [ 8.96924454e-03 9.99959753e-01 2.10216546e-04 -4.40566788e+01] [ 5.72694946e-03 -2.61590029e-04 9.99983567e-01 3.99362826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.760714057 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:731.38, Y:-44.05, Z:4.00 [[ 9.99930836e-01 -1.02713664e-02 -5.72907962e-03 7.31384971e+02] [ 1.02727368e-02 9.99947212e-01 2.09823604e-04 -4.40489579e+01] [ 5.72662202e-03 -2.68662419e-04 9.99983567e-01 3.99519762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.820714057 meters Centerline goodness : 0.998787 with order 1 Centerline is valid? [True, True] Translation: X:731.44, Y:-44.04, Z:4.00 [[ 9.99949651e-01 -8.23848023e-03 -5.72913947e-03 7.31442577e+02] [ 8.23980791e-03 9.99966031e-01 2.08176576e-04 -4.40436056e+01] [ 5.72722979e-03 -2.55373103e-04 9.99983567e-01 3.99704970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.880714057 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:731.50, Y:-44.03, Z:4.00 [[ 9.99974096e-01 -4.35716000e-03 -5.72915782e-03 7.31502106e+02] [ 4.35842120e-03 9.99990480e-01 2.07670356e-04 -4.40307226e+01] [ 5.72819843e-03 -2.32635059e-04 9.99983567e-01 3.99518926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.940714057 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:731.56, Y:-44.03, Z:4.00 [[ 9.99982021e-01 1.77010442e-03 -5.72921157e-03 7.31560154e+02] [-1.76895219e-03 9.99998414e-01 2.06176658e-04 -4.40267995e+01] [ 5.72956744e-03 -1.96038250e-04 9.99983567e-01 4.00060875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.000714057 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:731.62, Y:-44.02, Z:4.00 [[ 9.99955642e-01 7.47601693e-03 -5.72924094e-03 7.31619216e+02] [-7.47496295e-03 9.99972041e-01 2.05357327e-04 -4.40180805e+01] [ 5.73061601e-03 -1.62522354e-04 9.99983567e-01 4.00019583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.060714057 meters Centerline goodness : 0.998806 with order 1 Centerline is valid? [True, True] Translation: X:731.68, Y:-44.01, Z:4.00 [[ 9.99938139e-01 9.53381851e-03 -5.72929241e-03 7.31678308e+02] [-9.53280656e-03 9.99954541e-01 2.03911268e-04 -4.40107423e+01] [ 5.73097601e-03 -1.49282418e-04 9.99983567e-01 4.00135762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.120714057 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:731.74, Y:-44.01, Z:4.00 [[ 9.99950009e-01 8.19474218e-03 -5.72930324e-03 7.31737915e+02] [-8.19371000e-03 9.99966410e-01 2.03606431e-04 -4.40083205e+01] [ 5.73077930e-03 -1.56652003e-04 9.99983567e-01 4.00291121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.180714057 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:731.80, Y:-44.00, Z:4.00 [[ 9.99976954e-01 3.64223738e-03 -5.72931037e-03 7.31797671e+02] [-3.64113170e-03 9.99993350e-01 2.03405588e-04 -4.40040430e+01] [ 5.73001312e-03 -1.82539727e-04 9.99983567e-01 4.00438796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.240714057 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:731.86, Y:-44.00, Z:4.00 [[ 9.99983155e-01 -9.29591456e-04 -5.72931740e-03 7.31856320e+02] [ 9.30770953e-04 9.99999546e-01 2.03207480e-04 -4.40014337e+01] [ 5.72912590e-03 -2.08536739e-04 9.99983567e-01 4.00482345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.300714057 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:731.91, Y:-44.00, Z:4.00 [[ 9.99925966e-01 -1.07348754e-02 -5.72933131e-03 7.31914854e+02] [ 1.07362133e-02 9.99942345e-01 2.02814559e-04 -4.39967007e+01] [ 5.72682379e-03 -2.64310867e-04 9.99983567e-01 4.00390346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.360714057 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:731.97, Y:-43.99, Z:4.00 [[ 9.99718713e-01 -2.30145304e-02 -5.72934154e-03 7.31974076e+02] [ 2.30160677e-02 9.99735075e-01 2.02525048e-04 -4.39917178e+01] [ 5.72316267e-03 -3.34334993e-04 9.99983567e-01 4.00408068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.420714057 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:732.03, Y:-43.99, Z:4.01 [[ 9.99489522e-01 -3.14304006e-02 -5.72935485e-03 7.32031733e+02] [ 3.14320734e-02 9.99505870e-01 2.02147932e-04 -4.39888654e+01] [ 5.72017021e-03 -3.82130242e-04 9.99983567e-01 4.00556736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.480714057 meters Centerline goodness : 0.999368 with order 1 Centerline is valid? [True, True] Translation: X:732.09, Y:-43.98, Z:4.01 [[ 9.99100650e-01 -4.20126860e-02 -5.72937465e-03 7.32090387e+02] [ 4.20145287e-02 9.99116980e-01 2.01585013e-04 -4.39823836e+01] [ 5.71584637e-03 -4.42120693e-04 9.99983567e-01 4.00541155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5407140570001 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:732.15, Y:-43.98, Z:4.01 [[ 9.98914108e-01 -4.62361138e-02 -5.72938888e-03 7.32148666e+02] [ 4.62380232e-02 9.98930430e-01 2.01179842e-04 -4.39769633e+01] [ 5.71395912e-03 -4.65876998e-04 9.99983567e-01 4.00765354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.600714057 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:732.21, Y:-43.97, Z:4.01 [[ 9.98852679e-01 -4.75447065e-02 -5.72944544e-03 7.32207602e+02] [ 4.75466281e-02 9.98869000e-01 1.99556020e-04 -4.39666289e+01] [ 5.71347760e-03 -4.71742876e-04 9.99983567e-01 4.01080319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6607140570001 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:732.27, Y:-43.95, Z:4.01 [[ 9.98952533e-01 -4.53983489e-02 -5.72949190e-03 7.32265667e+02] [ 4.54002277e-02 9.98968858e-01 1.98213046e-04 -4.39547528e+01] [ 5.71458543e-03 -4.58125661e-04 9.99983567e-01 4.01204841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.720714057 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:732.32, Y:-43.95, Z:4.01 [[ 9.99067715e-01 -4.27887036e-02 -5.72954979e-03 7.32323762e+02] [ 4.27905301e-02 9.99084046e-01 1.96525240e-04 -4.39472173e+01] [ 5.71589273e-03 -4.41512495e-04 9.99983567e-01 4.01342826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7807140570001 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:732.38, Y:-43.94, Z:4.02 [[ 9.99223285e-01 -3.89871634e-02 -5.72960661e-03 7.32382580e+02] [ 3.89889182e-02 9.99239624e-01 1.94854300e-04 -4.39360341e+01] [ 5.71765314e-03 -4.18094117e-04 9.99983567e-01 4.01571294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.840714057 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:732.44, Y:-43.93, Z:4.02 [[ 9.99250254e-01 -3.82897088e-02 -5.72965628e-03 7.32441859e+02] [ 3.82914438e-02 9.99266595e-01 1.93382822e-04 -4.39301055e+01] [ 5.71804955e-03 -4.12634645e-04 9.99983567e-01 4.01660840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9007140570001 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:732.50, Y:-43.92, Z:4.02 [[ 9.99238139e-01 -3.86045644e-02 -5.72970605e-03 7.32500903e+02] [ 3.86062961e-02 9.99254481e-01 1.91896752e-04 -4.39200405e+01] [ 5.71802635e-03 -4.12953282e-04 9.99983567e-01 4.01553248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.960714057 meters Centerline goodness : 0.998740 with order 1 Centerline is valid? [True, True] Translation: X:732.56, Y:-43.91, Z:4.01 [[ 9.99256508e-01 -3.81261190e-02 -5.72975500e-03 7.32560566e+02] [ 3.81278345e-02 9.99272852e-01 1.90423868e-04 -4.39093873e+01] [ 5.71832849e-03 -4.08745439e-04 9.99983567e-01 4.01486771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0207140570001 meters Centerline goodness : 0.998434 with order 1 Centerline is valid? [True, True] Translation: X:732.62, Y:-43.90, Z:4.01 [[ 9.99325232e-01 -3.62801739e-02 -5.72980263e-03 7.32620161e+02] [ 3.62818510e-02 9.99341579e-01 1.88979669e-04 -4.38979113e+01] [ 5.71917379e-03 -3.96739997e-04 9.99983567e-01 4.01311409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.080714057 meters Centerline goodness : 0.998159 with order 1 Centerline is valid? [True, True] Translation: X:732.68, Y:-43.89, Z:4.01 [[ 9.99442171e-01 -3.29016069e-02 -5.72984928e-03 7.32680560e+02] [ 3.29032206e-02 9.99458525e-01 1.87554413e-04 -4.38907287e+01] [ 5.72057587e-03 -3.75980285e-04 9.99983567e-01 4.01268226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.140714057 meters Centerline goodness : 0.996925 with order 1 Centerline is valid? [True, True] Translation: X:732.74, Y:-43.88, Z:4.01 [[ 9.99622674e-01 -2.68640728e-02 -5.72985602e-03 7.32740066e+02] [ 2.68655865e-02 9.99639037e-01 1.87348308e-04 -4.38801988e+01] [ 5.72275482e-03 -3.41213559e-04 9.99983567e-01 4.01141981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.200714057 meters Centerline goodness : 0.996738 with order 1 Centerline is valid? [True, True] Translation: X:732.80, Y:-43.87, Z:4.01 [[ 9.99663046e-01 -2.53172553e-02 -5.72986864e-03 7.32799581e+02] [ 2.53187414e-02 9.99679412e-01 1.86961688e-04 -4.38744556e+01] [ 5.72329835e-03 -3.31971753e-04 9.99983567e-01 4.01057869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.260714057 meters Centerline goodness : 0.995727 with order 1 Centerline is valid? [True, True] Translation: X:732.86, Y:-43.86, Z:4.01 [[ 9.99727411e-01 -2.26334403e-02 -5.72987520e-03 7.32859334e+02] [ 2.26348813e-02 9.99743781e-01 1.86760390e-04 -4.38648677e+01] [ 5.72418007e-03 -3.16404526e-04 9.99983567e-01 4.00943600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.320714057 meters Centerline goodness : 0.994938 with order 1 Centerline is valid? [True, True] Translation: X:732.92, Y:-43.86, Z:4.01 [[ 9.99775373e-01 -2.04052187e-02 -5.72988207e-03 7.32919235e+02] [ 2.04066220e-02 9.99791746e-01 1.86549262e-04 -4.38566201e+01] [ 5.72488222e-03 -3.03434896e-04 9.99983567e-01 4.00992330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.380714057 meters Centerline goodness : 0.994665 with order 1 Centerline is valid? [True, True] Translation: X:732.98, Y:-43.85, Z:4.01 [[ 9.99766160e-01 -2.08516883e-02 -5.72988545e-03 7.32978957e+02] [ 2.08530984e-02 9.99782533e-01 1.86445586e-04 -4.38489397e+01] [ 5.72475168e-03 -3.05887852e-04 9.99983567e-01 4.00793220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.440714057 meters Centerline goodness : 0.994014 with order 1 Centerline is valid? [True, True] Translation: X:733.04, Y:-43.85, Z:4.01 [[ 9.99759365e-01 -2.11749844e-02 -5.72989212e-03 7.33039021e+02] [ 2.11763986e-02 9.99775738e-01 1.86240411e-04 -4.38479765e+01] [ 5.72466348e-03 -3.07534075e-04 9.99983567e-01 4.00720526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.500714057 meters Centerline goodness : 0.993947 with order 1 Centerline is valid? [True, True] Translation: X:733.10, Y:-43.84, Z:4.00 [[ 9.99731003e-01 -2.24741973e-02 -5.72989905e-03 7.33099679e+02] [ 2.24756315e-02 9.99747374e-01 1.86026878e-04 -4.38432753e+01] [ 5.72427072e-03 -3.14759937e-04 9.99983567e-01 4.00449222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.560714057 meters Centerline goodness : 0.992999 with order 1 Centerline is valid? [True, True] Translation: X:733.16, Y:-43.84, Z:4.00 [[ 9.99711304e-01 -2.33340282e-02 -5.72989905e-03 7.33159263e+02] [ 2.33354765e-02 9.99727673e-01 1.86026878e-04 -4.38408252e+01] [ 5.72399789e-03 -3.19683097e-04 9.99983567e-01 4.00208153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.620714057 meters Centerline goodness : 0.992942 with order 1 Centerline is valid? [True, True] Translation: X:733.22, Y:-43.84, Z:4.00 [[ 9.99695483e-01 -2.40022726e-02 -5.72990244e-03 7.33219750e+02] [ 2.40037312e-02 9.99711852e-01 1.85922289e-04 -4.38377404e+01] [ 5.72378882e-03 -3.23404711e-04 9.99983567e-01 3.99953163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.680714057 meters Centerline goodness : 0.991064 with order 1 Centerline is valid? [True, True] Translation: X:733.28, Y:-43.83, Z:4.00 [[ 9.99669495e-01 -2.50613063e-02 -5.72990244e-03 7.33280147e+02] [ 2.50627823e-02 9.99685862e-01 1.85922289e-04 -4.38348008e+01] [ 5.72344301e-03 -3.29468139e-04 9.99983567e-01 3.99726785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.740714057 meters Centerline goodness : 0.991709 with order 1 Centerline is valid? [True, True] Translation: X:733.34, Y:-43.83, Z:4.00 [[ 9.99603251e-01 -2.75773096e-02 -5.72989913e-03 7.33340676e+02] [ 2.75788273e-02 9.99619615e-01 1.86024213e-04 -4.38333132e+01] [ 5.72258952e-03 -3.43974308e-04 9.99983567e-01 3.99891507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.800714057 meters Centerline goodness : 0.989715 with order 1 Centerline is valid? [True, True] Translation: X:733.40, Y:-43.83, Z:4.00 [[ 9.99482999e-01 -3.16370613e-02 -5.72989913e-03 7.33401379e+02] [ 3.16386455e-02 9.99499355e-01 1.86024213e-04 -4.38312206e+01] [ 5.72114523e-03 -3.67214286e-04 9.99983567e-01 3.99864226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.860714057 meters Centerline goodness : 0.989159 with order 1 Centerline is valid? [True, True] Translation: X:733.46, Y:-43.83, Z:4.00 [[ 9.99410326e-01 -3.38551230e-02 -5.72989582e-03 7.33463228e+02] [ 3.38567441e-02 9.99426679e-01 1.86126084e-04 -4.38303552e+01] [ 5.72030943e-03 -3.80011947e-04 9.99983567e-01 3.99835522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.920714057 meters Centerline goodness : 0.988060 with order 1 Centerline is valid? [True, True] Translation: X:733.52, Y:-43.83, Z:4.00 [[ 9.99228502e-01 -3.88531667e-02 -5.72988935e-03 7.33524398e+02] [ 3.88548707e-02 9.99244847e-01 1.86325176e-04 -4.38270635e+01] [ 5.71832308e-03 -4.08815537e-04 9.99983567e-01 3.99920044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.980714057 meters Centerline goodness : 0.984375 with order 1 Centerline is valid? [True, True] Translation: X:733.59, Y:-43.83, Z:4.01 [[ 9.99166368e-01 -4.04195179e-02 -5.72988270e-03 7.33585740e+02] [ 4.04212487e-02 9.99182710e-01 1.86529353e-04 -4.38283415e+01] [ 5.71766030e-03 -4.17982870e-04 9.99983567e-01 4.00859437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0407140570001 meters Centerline goodness : 0.981660 with order 1 Centerline is valid? [True, True] Translation: X:733.65, Y:-43.82, Z:4.01 [[ 9.99010515e-01 -4.41039623e-02 -5.72987571e-03 7.33647584e+02] [ 4.41057546e-02 9.99026850e-01 1.86743838e-04 -4.38221894e+01] [ 5.71606354e-03 -4.39279550e-04 9.99983567e-01 4.01493937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.100714057 meters Centerline goodness : 0.981283 with order 1 Centerline is valid? [True, True] Translation: X:733.71, Y:-43.82, Z:4.01 [[ 9.99147161e-01 -4.08915604e-02 -5.72986506e-03 7.33709369e+02] [ 4.08933020e-02 9.99163502e-01 1.87070168e-04 -4.38195564e+01] [ 5.71742244e-03 -4.21223730e-04 9.99983567e-01 4.01300710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1607140570001 meters Centerline goodness : 0.979369 with order 1 Centerline is valid? [True, True] Translation: X:733.77, Y:-43.81, Z:4.01 [[ 9.99344893e-01 -3.57344826e-02 -5.72985789e-03 7.33770353e+02] [ 3.57361411e-02 9.99361243e-01 1.87289354e-04 -4.38126758e+01] [ 5.71950522e-03 -3.91929670e-04 9.99983567e-01 4.01371761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.220714057 meters Centerline goodness : 0.977567 with order 1 Centerline is valid? [True, True] Translation: X:733.83, Y:-43.81, Z:4.01 [[ 9.99628810e-01 -2.66347735e-02 -5.72983314e-03 7.33831759e+02] [ 2.66362874e-02 9.99645173e-01 1.88043615e-04 -4.38070398e+01] [ 5.72279155e-03 -3.40595297e-04 9.99983567e-01 4.01373980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2807140570001 meters Centerline goodness : 0.976786 with order 1 Centerline is valid? [True, True] Translation: X:733.89, Y:-43.80, Z:4.02 [[ 9.99750172e-01 -2.16046923e-02 -5.72982593e-03 7.33892738e+02] [ 2.16061251e-02 9.99766543e-01 1.88263219e-04 -4.37981120e+01] [ 5.72442089e-03 -3.12015521e-04 9.99983567e-01 4.01636048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.340714057 meters Centerline goodness : 0.975707 with order 1 Centerline is valid? [True, True] Translation: X:733.95, Y:-43.79, Z:4.02 [[ 9.99852884e-01 -1.61672323e-02 -5.72982238e-03 7.33954502e+02] [ 1.61685767e-02 9.99869262e-01 1.88371097e-04 -4.37903352e+01] [ 5.72602784e-03 -2.80986456e-04 9.99983567e-01 4.01670866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4007140570001 meters Centerline goodness : 0.976710 with order 1 Centerline is valid? [True, True] Translation: X:734.01, Y:-43.79, Z:4.02 [[ 9.99941992e-01 -9.12036498e-03 -5.72981528e-03 7.34014927e+02] [ 9.12159507e-03 9.99958380e-01 1.88586813e-04 -4.37850875e+01] [ 5.72785682e-03 -2.40840929e-04 9.99983567e-01 4.01966708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.460714057 meters Centerline goodness : 0.979131 with order 1 Centerline is valid? [True, True] Translation: X:734.08, Y:-43.78, Z:4.01 [[ 9.99978426e-01 -3.21195074e-03 -5.72981178e-03 7.34075362e+02] [ 3.21308459e-03 9.99994820e-01 1.88693114e-04 -4.37786533e+01] [ 5.72917603e-03 -2.07099413e-04 9.99983567e-01 4.01181579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5207140570001 meters Centerline goodness : 0.978884 with order 1 Centerline is valid? [True, True] Translation: X:734.13, Y:-43.78, Z:4.01 [[ 9.99974938e-01 4.15834076e-03 -5.72981514e-03 7.34134464e+02] [-4.15732834e-03 9.99991341e-01 1.88591018e-04 -4.37756616e+01] [ 5.73054975e-03 -1.64765569e-04 9.99983567e-01 4.01417211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.580714057 meters Centerline goodness : 0.979414 with order 1 Centerline is valid? [True, True] Translation: X:734.19, Y:-43.78, Z:4.01 [[ 9.99981954e-01 1.80547922e-03 -5.72986231e-03 7.34193167e+02] [-1.80443648e-03 9.99998355e-01 1.87146805e-04 -4.37760059e+01] [ 5.73019077e-03 -1.76804255e-04 9.99983567e-01 4.00802934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.640714057 meters Centerline goodness : 0.980052 with order 1 Centerline is valid? [True, True] Translation: X:734.25, Y:-43.78, Z:4.01 [[ 9.99983424e-01 5.65963583e-04 -5.72987599e-03 7.34251719e+02] [-5.64902925e-04 9.99999823e-01 1.86726851e-04 -4.37763471e+01] [ 5.72998066e-03 -1.83486932e-04 9.99983567e-01 4.01219759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.700714057 meters Centerline goodness : 0.977527 with order 1 Centerline is valid? [True, True] Translation: X:734.31, Y:-43.78, Z:4.02 [[ 9.99955294e-01 -7.52190940e-03 -5.72988993e-03 7.34309961e+02] [ 7.52310020e-03 9.99971684e-01 1.86298124e-04 -4.37755094e+01] [ 5.72832637e-03 -2.29396332e-04 9.99983567e-01 4.01959851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.760714057 meters Centerline goodness : 0.984138 with order 1 Centerline is valid? [True, True] Translation: X:734.37, Y:-43.77, Z:4.01 [[ 9.99701128e-01 -2.37660035e-02 -5.72990708e-03 7.34370335e+02] [ 2.37674574e-02 9.99717497e-01 1.85769263e-04 -4.37700738e+01] [ 5.72387337e-03 -3.21899064e-04 9.99983567e-01 4.01194980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.820714057 meters Centerline goodness : 0.984160 with order 1 Centerline is valid? [True, True] Translation: X:734.43, Y:-43.77, Z:4.01 [[ 9.99655996e-01 -2.55940803e-02 -5.72991363e-03 7.34432605e+02] [ 2.55955629e-02 9.99672363e-01 1.85567149e-04 -4.37702057e+01] [ 5.72328687e-03 -3.32163678e-04 9.99983567e-01 4.01272773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.880714057 meters Centerline goodness : 0.979433 with order 1 Centerline is valid? [True, True] Translation: X:734.49, Y:-43.77, Z:4.01 [[ 9.99757676e-01 -2.12545936e-02 -5.72990048e-03 7.34493972e+02] [ 2.12560075e-02 9.99774048e-01 1.85972237e-04 -4.37685576e+01] [ 5.72465303e-03 -3.07721979e-04 9.99983567e-01 4.01427710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.940714057 meters Centerline goodness : 0.975711 with order 1 Centerline is valid? [True, True] Translation: X:734.55, Y:-43.78, Z:4.03 [[ 9.99916252e-01 -1.16042175e-02 -5.72988752e-03 7.34554871e+02] [ 1.16054757e-02 9.99932637e-01 1.86370519e-04 -4.37757001e+01] [ 5.72733886e-03 -2.52852981e-04 9.99983567e-01 4.02703920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.000714057 meters Centerline goodness : 0.976531 with order 1 Centerline is valid? [True, True] Translation: X:734.62, Y:-43.77, Z:4.02 [[ 9.99946975e-01 -8.55656975e-03 -5.72987735e-03 7.34615491e+02] [ 8.55777972e-03 9.99963364e-01 1.86682793e-04 -4.37729371e+01] [ 5.72807007e-03 -2.35707923e-04 9.99983567e-01 4.01612647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.060714057 meters Centerline goodness : 0.985110 with order 1 Centerline is valid? [True, True] Translation: X:734.68, Y:-43.77, Z:4.01 [[ 9.99896567e-01 -1.31917773e-02 -5.72987231e-03 7.34675095e+02] [ 1.31930641e-02 9.99912950e-01 1.86837360e-04 -4.37696686e+01] [ 5.72690881e-03 -2.62412607e-04 9.99983567e-01 4.01048856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.120714057 meters Centerline goodness : 0.979166 with order 1 Centerline is valid? [True, True] Translation: X:734.74, Y:-43.77, Z:4.02 [[ 9.99957505e-01 -7.22194392e-03 -5.72988185e-03 7.34735216e+02] [ 7.22313121e-03 9.99973895e-01 1.86544264e-04 -4.37743364e+01] [ 5.72838506e-03 -2.27924025e-04 9.99983567e-01 4.01544404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.180714057 meters Centerline goodness : 0.974969 with order 1 Centerline is valid? [True, True] Translation: X:734.79, Y:-43.78, Z:4.03 [[ 9.99959583e-01 -6.92821800e-03 -5.72990399e-03 7.34794962e+02] [ 6.92939658e-03 9.99975974e-01 1.85861910e-04 -4.37806714e+01] [ 5.72847863e-03 -2.25559175e-04 9.99983567e-01 4.03306967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.240714057 meters Centerline goodness : 0.975280 with order 1 Centerline is valid? [True, True] Translation: X:734.85, Y:-43.78, Z:4.03 [[ 9.99938148e-01 -9.53253267e-03 -5.72991323e-03 7.34854356e+02] [ 9.53375230e-03 9.99954536e-01 1.85576449e-04 -4.37834212e+01] [ 5.72788371e-03 -2.40192544e-04 9.99983567e-01 4.03296916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.300714057 meters Centerline goodness : 0.985184 with order 1 Centerline is valid? [True, True] Translation: X:734.91, Y:-43.78, Z:4.02 [[ 9.99760659e-01 -2.11138172e-02 -5.72991646e-03 7.34914698e+02] [ 2.11152260e-02 9.99777032e-01 1.85476677e-04 -4.37793078e+01] [ 5.72472275e-03 -3.06420765e-04 9.99983567e-01 4.01516188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.360714057 meters Centerline goodness : 0.976038 with order 1 Centerline is valid? [True, True] Translation: X:734.97, Y:-43.78, Z:4.02 [[ 9.99870548e-01 -1.50351291e-02 -5.72991976e-03 7.34974240e+02] [ 1.50364378e-02 9.99886929e-01 1.85374648e-04 -4.37837529e+01] [ 5.72648474e-03 -2.71508233e-04 9.99983567e-01 4.02472229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.420714057 meters Centerline goodness : 0.973551 with order 1 Centerline is valid? [True, True] Translation: X:735.03, Y:-43.79, Z:4.03 [[ 9.99954190e-01 -7.66721744e-03 -5.72991976e-03 7.35034589e+02] [ 7.66840534e-03 9.99970580e-01 1.85374648e-04 -4.37918634e+01] [ 5.72832988e-03 -2.29305504e-04 9.99983567e-01 4.03189656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.480714057 meters Centerline goodness : 0.972884 with order 1 Centerline is valid? [True, True] Translation: X:735.09, Y:-43.80, Z:4.03 [[ 9.99983550e-01 -2.59486047e-04 -5.72991976e-03 7.35094476e+02] [ 2.60552502e-04 9.99999949e-01 1.85374648e-04 -4.37950469e+01] [ 5.72987137e-03 -1.86864544e-04 9.99983567e-01 4.02882571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5407140570001 meters Centerline goodness : 0.973080 with order 1 Centerline is valid? [True, True] Translation: X:735.15, Y:-43.80, Z:4.03 [[ 9.99958172e-01 7.12902641e-03 -5.72992293e-03 7.35153397e+02] [-7.12808171e-03 9.99974578e-01 1.85276660e-04 -4.37988746e+01] [ 5.73109810e-03 -1.44425552e-04 9.99983567e-01 4.02985311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.600714057 meters Centerline goodness : 0.975279 with order 1 Centerline is valid? [True, True] Translation: X:735.21, Y:-43.80, Z:4.03 [[ 9.99874955e-01 1.47391170e-02 -5.72996846e-03 7.35211809e+02] [-1.47383053e-02 9.99891368e-01 1.83857791e-04 -4.38024517e+01] [ 5.73205590e-03 -9.93847756e-05 9.99983567e-01 4.02666249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6607140570001 meters Centerline goodness : 0.982441 with order 1 Centerline is valid? [True, True] Translation: X:735.27, Y:-43.80, Z:4.03 [[ 9.99805494e-01 1.88716764e-02 -5.73001559e-03 7.35269501e+02] [-1.88709410e-02 9.99821911e-01 1.82376874e-04 -4.37976945e+01] [ 5.73243690e-03 -7.42106145e-05 9.99983567e-01 4.02929334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.720714057 meters Centerline goodness : 0.985368 with order 1 Centerline is valid? [True, True] Translation: X:735.33, Y:-43.80, Z:4.03 [[ 9.99739599e-01 2.20885017e-02 -5.73003210e-03 7.35327495e+02] [-2.20878222e-02 9.99756018e-01 1.81856749e-04 -4.38000276e+01] [ 5.73265102e-03 -5.52454632e-05 9.99983567e-01 4.02637948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7807140570001 meters Centerline goodness : 0.985390 with order 1 Centerline is valid? [True, True] Translation: X:735.39, Y:-43.81, Z:4.02 [[ 9.99581173e-01 2.83662615e-02 -5.73005124e-03 7.35385781e+02] [-2.83656885e-02 9.99597596e-01 1.81251661e-04 -4.38100981e+01] [ 5.73288688e-03 -1.86388997e-05 9.99983567e-01 4.02094003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.840714057 meters Centerline goodness : 0.978660 with order 1 Centerline is valid? [True, True] Translation: X:735.44, Y:-43.84, Z:4.02 [[ 9.99187834e-01 3.98853315e-02 -5.73006420e-03 7.35444158e+02] [-3.98849503e-02 9.99204262e-01 1.80840936e-04 -4.38366876e+01] [ 5.73271748e-03 4.78492624e-05 9.99983567e-01 4.02320209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9007140570001 meters Centerline goodness : 0.978333 with order 1 Centerline is valid? [True, True] Translation: X:735.50, Y:-43.85, Z:4.03 [[ 9.99008066e-01 4.41593725e-02 -5.73011137e-03 7.35502558e+02] [-4.41590702e-02 9.99024496e-01 1.79333783e-04 -4.38466502e+01] [ 5.73244089e-03 7.38804943e-05 9.99983567e-01 4.02735566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.960714057 meters Centerline goodness : 0.981650 with order 1 Centerline is valid? [True, True] Translation: X:735.56, Y:-43.86, Z:4.03 [[ 9.99092646e-01 4.22025043e-02 -5.73012448e-03 7.35559954e+02] [-4.22021722e-02 9.99109075e-01 1.78913855e-04 -4.38634530e+01] [ 5.73256999e-03 6.30721833e-05 9.99983567e-01 4.02889095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0207140570001 meters Centerline goodness : 0.987008 with order 1 Centerline is valid? [True, True] Translation: X:735.62, Y:-43.88, Z:4.03 [[ 9.99356951e-01 3.53956094e-02 -5.73014437e-03 7.35617225e+02] [-3.53951690e-02 9.99373379e-01 1.78274711e-04 -4.38764949e+01] [ 5.73286388e-03 2.46593570e-05 9.99983567e-01 4.02578633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.080714057 meters Centerline goodness : 0.988319 with order 1 Centerline is valid? [True, True] Translation: X:735.67, Y:-43.90, Z:4.03 [[ 9.99577270e-01 2.85034419e-02 -5.73016067e-03 7.35674370e+02] [-2.85028913e-02 9.99593694e-01 1.77749020e-04 -4.38977470e+01] [ 5.73289894e-03 -1.43477337e-05 9.99983567e-01 4.02814990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.140714057 meters Centerline goodness : 0.989271 with order 1 Centerline is valid? [True, True] Translation: X:735.73, Y:-43.91, Z:4.03 [[ 9.99729984e-01 2.25194036e-02 -5.73017611e-03 7.35733003e+02] [-2.25187575e-02 9.99746405e-01 1.77249914e-04 -4.39123750e+01] [ 5.73271453e-03 -4.81656077e-05 9.99983567e-01 4.02901962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.200714057 meters Centerline goodness : 0.991273 with order 1 Centerline is valid? [True, True] Translation: X:735.79, Y:-43.93, Z:4.03 [[ 9.99820218e-01 1.80747627e-02 -5.73018840e-03 7.35790883e+02] [-1.80740459e-02 9.99836635e-01 1.76851719e-04 -4.39316335e+01] [ 5.73244885e-03 -7.32522355e-05 9.99983567e-01 4.03114260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.260714057 meters Centerline goodness : 0.993337 with order 1 Centerline is valid? [True, True] Translation: X:735.85, Y:-43.95, Z:4.04 [[ 9.99764035e-01 2.09532796e-02 -5.73020063e-03 7.35848535e+02] [-2.09526123e-02 9.99780454e-01 1.76454739e-04 -4.39488990e+01] [ 5.73263989e-03 -5.63504290e-05 9.99983567e-01 4.03608643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.320714057 meters Centerline goodness : 0.994120 with order 1 Centerline is valid? [True, True] Translation: X:735.91, Y:-43.97, Z:4.04 [[ 9.99537214e-01 2.98751258e-02 -5.73021678e-03 7.35906008e+02] [-2.98746081e-02 9.99553639e-01 1.75928702e-04 -4.39651708e+01] [ 5.73291492e-03 -4.65930395e-06 9.99983567e-01 4.03805366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.380714057 meters Centerline goodness : 0.995010 with order 1 Centerline is valid? [True, True] Translation: X:735.96, Y:-43.98, Z:4.04 [[ 9.99268318e-01 3.78152383e-02 -5.73026540e-03 7.35964912e+02] [-3.78148603e-02 9.99284747e-01 1.74330599e-04 -4.39762798e+01] [ 5.73275916e-03 4.24861406e-05 9.99983567e-01 4.03822890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.440714057 meters Centerline goodness : 0.996817 with order 1 Centerline is valid? [True, True] Translation: X:736.02, Y:-43.99, Z:4.04 [[ 9.98897622e-01 4.65908270e-02 -5.73027748e-03 7.36023149e+02] [-4.65905957e-02 9.98914053e-01 1.73932358e-04 -4.39935661e+01] [ 5.73215836e-03 9.32364221e-05 9.99983567e-01 4.03812902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.500714057 meters Centerline goodness : 0.997990 with order 1 Centerline is valid? [True, True] Translation: X:736.08, Y:-44.01, Z:4.04 [[ 9.98751505e-01 4.96245353e-02 -5.73029001e-03 7.36081299e+02] [-4.96243563e-02 9.98767938e-01 1.73518610e-04 -4.40135235e+01] [ 5.73184072e-03 1.11059980e-04 9.99983567e-01 4.03968268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.560714057 meters Centerline goodness : 0.998837 with order 1 Centerline is valid? [True, True] Translation: X:736.14, Y:-44.03, Z:4.04 [[ 9.98787953e-01 4.88854603e-02 -5.73030235e-03 7.36139770e+02] [-4.88852714e-02 9.98804385e-01 1.73110064e-04 -4.40345608e+01] [ 5.73191369e-03 1.07227140e-04 9.99983567e-01 4.04070188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.620714057 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:736.20, Y:-44.05, Z:4.04 [[ 9.98968089e-01 4.50546335e-02 -5.73030900e-03 7.36198755e+02] [-4.50543829e-02 9.98984521e-01 1.72889835e-04 -4.40533635e+01] [ 5.73227948e-03 8.54641078e-05 9.99983567e-01 4.04124335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.680714057 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:736.26, Y:-44.07, Z:4.04 [[ 9.99131716e-01 4.12671501e-02 -5.73031506e-03 7.36259206e+02] [-4.12668384e-02 9.99148146e-01 1.72688854e-04 -4.40671460e+01] [ 5.73256004e-03 6.39330743e-05 9.99983567e-01 4.04243270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.740714057 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:736.32, Y:-44.08, Z:4.04 [[ 9.99424643e-01 3.34297336e-02 -5.73031506e-03 7.36319431e+02] [-3.34292929e-02 9.99441070e-01 1.72688854e-04 -4.40849752e+01] [ 5.73288515e-03 1.89708845e-05 9.99983567e-01 4.04171781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.800714057 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:736.38, Y:-44.10, Z:4.04 [[ 9.99648166e-01 2.58980343e-02 -5.73031506e-03 7.36379610e+02] [-2.58974699e-02 9.99664589e-01 1.72688854e-04 -4.40968290e+01] [ 5.73286535e-03 -2.42274344e-05 9.99983567e-01 4.04393647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.860714057 meters Centerline goodness : 0.998811 with order 1 Centerline is valid? [True, True] Translation: X:736.44, Y:-44.11, Z:4.04 [[ 9.99735983e-01 2.22514463e-02 -5.73031506e-03 7.36439185e+02] [-2.22508220e-02 9.99752405e-01 1.72688854e-04 -4.41096341e+01] [ 5.73273883e-03 -4.51390409e-05 9.99983567e-01 4.03938145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.920714057 meters Centerline goodness : 0.998200 with order 1 Centerline is valid? [True, True] Translation: X:736.50, Y:-44.12, Z:4.04 [[ 9.99885586e-01 1.39992158e-02 -5.73031179e-03 7.36499749e+02] [-1.39984553e-02 9.99902002e-01 1.72797033e-04 -4.41229939e+01] [ 5.73216926e-03 -9.25617491e-05 9.99983567e-01 4.03978753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.980714057 meters Centerline goodness : 0.997947 with order 1 Centerline is valid? [True, True] Translation: X:736.56, Y:-44.13, Z:4.05 [[ 9.99983153e-01 -9.25630300e-04 -5.73031179e-03 7.36560146e+02] [ 9.26635680e-04 9.99999556e-01 1.72797033e-04 -4.41279229e+01] [ 5.73014930e-03 -1.78104033e-04 9.99983567e-01 4.04848686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0407140570001 meters Centerline goodness : 0.997661 with order 1 Centerline is valid? [True, True] Translation: X:736.62, Y:-44.14, Z:4.06 [[ 9.99945326e-01 -8.74691371e-03 -5.73031179e-03 7.36619912e+02] [ 8.74804735e-03 9.99961720e-01 1.72797033e-04 -4.41397713e+01] [ 5.72858100e-03 -2.22916625e-04 9.99983567e-01 4.05745954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.100714057 meters Centerline goodness : 0.998262 with order 1 Centerline is valid? [True, True] Translation: X:736.68, Y:-44.14, Z:4.04 [[ 9.99801220e-01 -1.90966976e-02 -5.73031494e-03 7.36679310e+02] [ 1.90980003e-02 9.99817602e-01 1.72692665e-04 -4.41441534e+01] [ 5.72597188e-03 -2.82095894e-04 9.99983567e-01 4.04171270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1607140570001 meters Centerline goodness : 0.998719 with order 1 Centerline is valid? [True, True] Translation: X:736.74, Y:-44.14, Z:4.04 [[ 9.99692763e-01 -2.41151925e-02 -5.73031804e-03 7.36737141e+02] [ 2.41165768e-02 9.99709138e-01 1.72589693e-04 -4.41442680e+01] [ 5.72448928e-03 -3.10732322e-04 9.99983567e-01 4.04200536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.220714057 meters Centerline goodness : 0.997628 with order 1 Centerline is valid? [True, True] Translation: X:736.80, Y:-44.14, Z:4.05 [[ 9.99544207e-01 -2.96401942e-02 -5.73036617e-03 7.36795923e+02] [ 2.96416598e-02 9.99560575e-01 1.70976525e-04 -4.41409421e+01] [ 5.72278033e-03 -3.40756159e-04 9.99983567e-01 4.05446171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2807140570001 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:736.85, Y:-44.14, Z:4.04 [[ 9.99534308e-01 -2.99721386e-02 -5.73040723e-03 7.36854366e+02] [ 2.99736017e-02 9.99550676e-01 1.69589107e-04 -4.41419101e+01] [ 5.72274948e-03 -3.41271075e-04 9.99983567e-01 4.04285942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.340714057 meters Centerline goodness : 0.998755 with order 1 Centerline is valid? [True, True] Translation: X:736.91, Y:-44.14, Z:4.04 [[ 9.99503989e-01 -3.09667162e-02 -5.73042171e-03 7.36912899e+02] [ 3.09681928e-02 9.99520356e-01 1.69098469e-04 -4.41381374e+01] [ 5.72243673e-03 -3.46475399e-04 9.99983567e-01 4.04300882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4007140570001 meters Centerline goodness : 0.998801 with order 1 Centerline is valid? [True, True] Translation: X:736.97, Y:-44.13, Z:4.04 [[ 9.99408169e-01 -3.39186363e-02 -5.73046722e-03 7.36971512e+02] [ 3.39201523e-02 9.99424532e-01 1.67541770e-04 -4.41330284e+01] [ 5.72148674e-03 -3.61820934e-04 9.99983567e-01 4.04297993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.460714057 meters Centerline goodness : 0.998797 with order 1 Centerline is valid? [True, True] Translation: X:737.03, Y:-44.13, Z:4.05 [[ 9.99301978e-01 -3.69149974e-02 -5.73051238e-03 7.37030247e+02] [ 3.69165535e-02 9.99318338e-01 1.65982665e-04 -4.41269625e+01] [ 5.72047886e-03 -3.77417573e-04 9.99983567e-01 4.05268545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5207140570001 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:737.09, Y:-44.12, Z:4.04 [[ 9.99354175e-01 -3.54738411e-02 -5.73055575e-03 7.37087933e+02] [ 3.54753651e-02 9.99370538e-01 1.64471777e-04 -4.41223575e+01] [ 5.72111413e-03 -3.67659114e-04 9.99983567e-01 4.04469311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.580714057 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:737.15, Y:-44.11, Z:4.05 [[ 9.99737236e-01 -2.21950398e-02 -5.73057094e-03 7.37146317e+02] [ 2.21963432e-02 9.99753617e-01 1.63940607e-04 -4.41054112e+01] [ 5.72552036e-03 -2.91095248e-04 9.99983567e-01 4.04931731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.640714057 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:737.20, Y:-44.10, Z:4.06 [[ 9.99919221e-01 -1.13451488e-02 -5.73061704e-03 7.37204471e+02] [ 1.13462651e-02 9.99935616e-01 1.62313259e-04 -4.40981643e+01] [ 5.72840661e-03 -2.27321247e-04 9.99983567e-01 4.05537342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.700714057 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:737.26, Y:-44.09, Z:4.05 [[ 9.99977264e-01 3.55395949e-03 -5.73063120e-03 7.37263804e+02] [-3.55309051e-03 9.99993675e-01 1.61811442e-04 -4.40879719e+01] [ 5.73117003e-03 -1.41446312e-04 9.99983567e-01 4.04842945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.760714057 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:737.32, Y:-44.08, Z:4.05 [[ 9.99822398e-01 1.79536240e-02 -5.73067067e-03 7.37322428e+02] [-1.79529995e-02 9.99838819e-01 1.60401295e-04 -4.40809072e+01] [ 5.73262678e-03 -5.74900793e-05 9.99983567e-01 4.05030098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.820714057 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:737.38, Y:-44.08, Z:4.05 [[ 9.99632783e-01 2.64850527e-02 -5.73072351e-03 7.37380237e+02] [-2.64845793e-02 9.99649209e-01 1.58490993e-04 -4.40776136e+01] [ 5.73291087e-03 -6.65699165e-06 9.99983567e-01 4.04969444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.880714057 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:737.44, Y:-44.08, Z:4.05 [[ 9.99510930e-01 3.07418312e-02 -5.73074101e-03 7.37438965e+02] [-3.07414314e-02 9.99527358e-01 1.57855384e-04 -4.40800129e+01] [ 5.73288519e-03 1.83930004e-05 9.99983567e-01 4.04932162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.940714057 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:737.50, Y:-44.09, Z:4.05 [[ 9.99398666e-01 3.41974394e-02 -5.73075194e-03 7.37497880e+02] [-3.41970987e-02 9.99415096e-01 1.57457839e-04 -4.40867191e+01] [ 5.73278465e-03 3.86119349e-05 9.99983567e-01 4.04755701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.000714057 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:737.56, Y:-44.09, Z:4.05 [[ 9.99252978e-01 3.82183862e-02 -5.73076287e-03 7.37556857e+02] [-3.82181139e-02 9.99269409e-01 1.57059074e-04 -4.40929760e+01] [ 5.73257857e-03 6.20772002e-05 9.99983567e-01 4.04727812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.060714057 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:737.62, Y:-44.10, Z:4.05 [[ 9.99155236e-01 4.06936314e-02 -5.73077368e-03 7.37615546e+02] [-4.06934021e-02 9.99171668e-01 1.56663425e-04 -4.41005406e+01] [ 5.73240190e-03 7.66735964e-05 9.99983567e-01 4.04738170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.120714057 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:737.67, Y:-44.11, Z:4.05 [[ 9.99195221e-01 3.96997336e-02 -5.73078501e-03 7.37674866e+02] [-3.96994903e-02 9.99211652e-01 1.56247879e-04 -4.41141015e+01] [ 5.73247016e-03 7.13871102e-05 9.99983567e-01 4.04820864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.180714057 meters Centerline goodness : 0.998997 with order 1 Centerline is valid? [True, True] Translation: X:737.74, Y:-44.12, Z:4.05 [[ 9.99518520e-01 3.04940346e-02 -5.73079060e-03 7.37735317e+02] [-3.04936412e-02 9.99534949e-01 1.56042693e-04 -4.41227874e+01] [ 5.73288386e-03 1.87851102e-05 9.99983567e-01 4.04895891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.240714057 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:737.79, Y:-44.14, Z:4.05 [[ 9.99604601e-01 2.75281750e-02 -5.73079060e-03 7.37794704e+02] [-2.75277328e-02 9.99621028e-01 1.56042693e-04 -4.41431283e+01] [ 5.73291436e-03 1.77467788e-06 9.99983567e-01 4.04997021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.300714057 meters Centerline goodness : 0.998225 with order 1 Centerline is valid? [True, True] Translation: X:737.85, Y:-44.16, Z:4.05 [[ 9.99727349e-01 2.26359548e-02 -5.73079345e-03 7.37854549e+02] [-2.26354328e-02 9.99743774e-01 1.55937886e-04 -4.41553134e+01] [ 5.73285487e-03 -2.61763797e-05 9.99983567e-01 4.05027067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.360714057 meters Centerline goodness : 0.998370 with order 1 Centerline is valid? [True, True] Translation: X:737.91, Y:-44.17, Z:4.05 [[ 9.99839219e-01 1.69910259e-02 -5.73079345e-03 7.37914507e+02] [-1.69904112e-02 9.99855640e-01 1.55937886e-04 -4.41701691e+01] [ 5.73261570e-03 -5.85442770e-05 9.99983567e-01 4.05170410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.420714057 meters Centerline goodness : 0.997663 with order 1 Centerline is valid? [True, True] Translation: X:737.97, Y:-44.18, Z:4.05 [[ 9.99877370e-01 1.45740188e-02 -5.73079345e-03 7.37973445e+02] [-1.45733644e-02 9.99893791e-01 1.55937886e-04 -4.41836218e+01] [ 5.73245743e-03 -7.24018223e-05 9.99983567e-01 4.05299981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.480714057 meters Centerline goodness : 0.997812 with order 1 Centerline is valid? [True, True] Translation: X:738.03, Y:-44.19, Z:4.05 [[ 9.99880162e-01 1.43812570e-02 -5.73079897e-03 7.38032802e+02] [-1.43806006e-02 9.99896582e-01 1.55734646e-04 -4.41922504e+01] [ 5.73244596e-03 -7.33036519e-05 9.99983567e-01 4.05268412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5407140570001 meters Centerline goodness : 0.997700 with order 1 Centerline is valid? [True, True] Translation: X:738.09, Y:-44.20, Z:4.05 [[ 9.99884650e-01 1.40657040e-02 -5.73080168e-03 7.38091770e+02] [-1.40650430e-02 9.99901070e-01 1.55635082e-04 -4.42012526e+01] [ 5.73242385e-03 -7.50131576e-05 9.99983567e-01 4.05178302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.600714057 meters Centerline goodness : 0.997468 with order 1 Centerline is valid? [True, True] Translation: X:738.15, Y:-44.21, Z:4.05 [[ 9.99875802e-01 1.46812248e-02 -5.73080706e-03 7.38151508e+02] [-1.46805750e-02 9.99892222e-01 1.55436760e-04 -4.42082095e+01] [ 5.73247141e-03 -7.12859128e-05 9.99983567e-01 4.05090350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6607140570001 meters Centerline goodness : 0.997363 with order 1 Centerline is valid? [True, True] Translation: X:738.21, Y:-44.21, Z:4.05 [[ 9.99947154e-01 8.53503546e-03 -5.73081260e-03 7.38212302e+02] [-8.53428593e-03 9.99963570e-01 1.55232027e-04 -4.42097840e+01] [ 5.73192874e-03 -1.06315430e-04 9.99983567e-01 4.05105564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.720714057 meters Centerline goodness : 0.998227 with order 1 Centerline is valid? [True, True] Translation: X:738.27, Y:-44.22, Z:4.05 [[ 9.99925547e-01 1.07730165e-02 -5.73081260e-03 7.38270534e+02] [-1.07723037e-02 9.99941965e-01 1.55232027e-04 -4.42206279e+01] [ 5.73215233e-03 -9.34864155e-05 9.99983567e-01 4.05210806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7807140570001 meters Centerline goodness : 0.998471 with order 1 Centerline is valid? [True, True] Translation: X:738.33, Y:-44.22, Z:4.05 [[ 9.99951587e-01 7.99884184e-03 -5.73082104e-03 7.38330070e+02] [-7.99808529e-03 9.99968003e-01 1.54919919e-04 -4.42232495e+01] [ 5.73187685e-03 -1.09076824e-04 9.99983567e-01 4.05237246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.840714057 meters Centerline goodness : 0.998305 with order 1 Centerline is valid? [True, True] Translation: X:738.39, Y:-44.23, Z:4.05 [[ 9.99973743e-01 4.43509586e-03 -5.73082605e-03 7.38389786e+02] [-4.43428187e-03 9.99990157e-01 1.54734512e-04 -4.42296481e+01] [ 5.73145590e-03 -1.29318351e-04 9.99983567e-01 4.05112793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9007140570001 meters Centerline goodness : 0.997423 with order 1 Centerline is valid? [True, True] Translation: X:738.45, Y:-44.23, Z:4.05 [[ 9.99983357e-01 -6.66356784e-04 -5.73083151e-03 7.38448497e+02] [ 6.67253329e-04 9.99999765e-01 1.54531820e-04 -4.42256951e+01] [ 5.73072719e-03 -1.58353164e-04 9.99983567e-01 4.05293358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.960714057 meters Centerline goodness : 0.997739 with order 1 Centerline is valid? [True, True] Translation: X:738.51, Y:-44.23, Z:4.05 [[ 9.99971632e-01 4.88810074e-03 -5.73084287e-03 7.38506059e+02] [-4.88729777e-03 9.99988045e-01 1.54109247e-04 -4.42310026e+01] [ 5.73152767e-03 -1.26096539e-04 9.99983567e-01 4.05180471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0207140570001 meters Centerline goodness : 0.998242 with order 1 Centerline is valid? [True, True] Translation: X:738.57, Y:-44.23, Z:4.05 [[ 9.99944721e-01 8.81549547e-03 -5.73085675e-03 7.38565106e+02] [-8.81475994e-03 9.99961137e-01 1.53591476e-04 -4.42314246e+01] [ 5.73198802e-03 -1.03066859e-04 9.99983567e-01 4.05434638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.080714057 meters Centerline goodness : 0.997938 with order 1 Centerline is valid? [True, True] Translation: X:738.62, Y:-44.23, Z:4.06 [[ 9.99949412e-01 8.26622041e-03 -5.73086684e-03 7.38624892e+02] [-8.26547803e-03 9.99965829e-01 1.53214005e-04 -4.42318313e+01] [ 5.73193751e-03 -1.05837900e-04 9.99983567e-01 4.05682615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.140714057 meters Centerline goodness : 0.997636 with order 1 Centerline is valid? [True, True] Translation: X:738.68, Y:-44.23, Z:4.06 [[ 9.99958942e-01 7.01939957e-03 -5.73087231e-03 7.38684150e+02] [-7.01863789e-03 9.99975357e-01 1.53009162e-04 -4.42326403e+01] [ 5.73180512e-03 -1.12779962e-04 9.99983567e-01 4.05797765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.200714057 meters Centerline goodness : 0.998075 with order 1 Centerline is valid? [True, True] Translation: X:738.74, Y:-44.23, Z:4.06 [[ 9.99968035e-01 5.57549169e-03 -5.73087774e-03 7.38743641e+02] [-5.57470748e-03 9.99984450e-01 1.52805708e-04 -4.42312782e+01] [ 5.73164059e-03 -1.20852857e-04 9.99983567e-01 4.05889382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.260714057 meters Centerline goodness : 0.998262 with order 1 Centerline is valid? [True, True] Translation: X:738.80, Y:-44.23, Z:4.06 [[ 9.99968965e-01 5.40607364e-03 -5.73088312e-03 7.38802866e+02] [-5.40528780e-03 9.99985380e-01 1.52603560e-04 -4.42296802e+01] [ 5.73162432e-03 -1.21621752e-04 9.99983567e-01 4.05727580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.320714057 meters Centerline goodness : 0.997947 with order 1 Centerline is valid? [True, True] Translation: X:738.86, Y:-44.23, Z:4.06 [[ 9.99958818e-01 7.03692658e-03 -5.73088891e-03 7.38861783e+02] [-7.03616876e-03 9.99975234e-01 1.52385905e-04 -4.42306498e+01] [ 5.73181931e-03 -1.12056128e-04 9.99983567e-01 4.05818990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.380714057 meters Centerline goodness : 0.998274 with order 1 Centerline is valid? [True, True] Translation: X:738.92, Y:-44.23, Z:4.06 [[ 9.99930967e-01 1.02576188e-02 -5.73089969e-03 7.38921793e+02] [-1.02569161e-02 9.99947385e-01 1.51979401e-04 -4.42319009e+01] [ 5.73215710e-03 -9.31875515e-05 9.99983567e-01 4.05891166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.440714057 meters Centerline goodness : 0.997907 with order 1 Centerline is valid? [True, True] Translation: X:738.98, Y:-44.23, Z:4.06 [[ 9.99883717e-01 1.41318620e-02 -5.73090514e-03 7.38981200e+02] [-1.41312242e-02 9.99900138e-01 1.51773648e-04 -4.42330857e+01] [ 5.73247768e-03 -7.07712939e-05 9.99983567e-01 4.05953659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.500714057 meters Centerline goodness : 0.997574 with order 1 Centerline is valid? [True, True] Translation: X:739.04, Y:-44.24, Z:4.06 [[ 9.99873600e-01 1.48304062e-02 -5.73090782e-03 7.39041124e+02] [-1.48297805e-02 9.99890021e-01 1.51672428e-04 -4.42369450e+01] [ 5.73252690e-03 -6.66651522e-05 9.99983567e-01 4.06137813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.560714057 meters Centerline goodness : 0.998221 with order 1 Centerline is valid? [True, True] Translation: X:739.10, Y:-44.24, Z:4.06 [[ 9.99858379e-01 1.58233311e-02 -5.73090782e-03 7.39101792e+02] [-1.58227217e-02 9.99874801e-01 1.51672429e-04 -4.42405425e+01] [ 5.73259028e-03 -6.09723893e-05 9.99983567e-01 4.06317926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.620714057 meters Centerline goodness : 0.997967 with order 1 Centerline is valid? [True, True] Translation: X:739.16, Y:-44.24, Z:4.06 [[ 9.99859486e-01 1.57532322e-02 -5.73090782e-03 7.39161391e+02] [-1.57526216e-02 9.99875908e-01 1.51672429e-04 -4.42420884e+01] [ 5.73258599e-03 -6.13742944e-05 9.99983567e-01 4.06379362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.680714057 meters Centerline goodness : 0.998016 with order 1 Centerline is valid? [True, True] Translation: X:739.22, Y:-44.25, Z:4.07 [[ 9.99900695e-01 1.28746733e-02 -5.73090484e-03 7.39221940e+02] [-1.28740148e-02 9.99917115e-01 1.51784727e-04 -4.42456810e+01] [ 5.73238401e-03 -7.79898998e-05 9.99983567e-01 4.06540938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.740714057 meters Centerline goodness : 0.998143 with order 1 Centerline is valid? [True, True] Translation: X:739.28, Y:-44.25, Z:4.07 [[ 9.99967111e-01 5.73875519e-03 -5.73090484e-03 7.39282354e+02] [-5.73797950e-03 9.99983526e-01 1.51784727e-04 -4.42521582e+01] [ 5.73168149e-03 -1.18895920e-04 9.99983567e-01 4.06760297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.800714057 meters Centerline goodness : 0.998452 with order 1 Centerline is valid? [True, True] Translation: X:739.34, Y:-44.25, Z:4.07 [[ 9.99982752e-01 -1.28525596e-03 -5.73090484e-03 7.39341556e+02] [ 1.28614693e-03 9.99999161e-01 1.51784727e-04 -4.42545296e+01] [ 5.73070495e-03 -1.59152894e-04 9.99983567e-01 4.06799047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.860714057 meters Centerline goodness : 0.997349 with order 1 Centerline is valid? [True, True] Translation: X:739.40, Y:-44.25, Z:4.07 [[ 9.99866582e-01 -1.52962588e-02 -5.73091024e-03 7.39401378e+02] [ 1.52973785e-02 9.99882977e-01 1.51580739e-04 -4.42533616e+01] [ 5.72792097e-03 -2.39228418e-04 9.99983567e-01 4.07009520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.920714057 meters Centerline goodness : 0.998164 with order 1 Centerline is valid? [True, True] Translation: X:739.46, Y:-44.26, Z:4.07 [[ 9.99832047e-01 -1.74078757e-02 -5.73091562e-03 7.39458051e+02] [ 1.74090288e-02 9.99848440e-01 1.51376751e-04 -4.42611380e+01] [ 5.72741190e-03 -2.51121001e-04 9.99983567e-01 4.06828145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.980714057 meters Centerline goodness : 0.997997 with order 1 Centerline is valid? [True, True] Translation: X:739.51, Y:-44.26, Z:4.07 [[ 9.99865324e-01 -1.53782242e-02 -5.73093408e-03 7.39514783e+02] [ 1.53793400e-02 9.99881720e-01 1.50674793e-04 -4.42594469e+01] [ 5.72793911e-03 -2.38792484e-04 9.99983567e-01 4.07037587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0407140570001 meters Centerline goodness : 0.998222 with order 1 Centerline is valid? [True, True] Translation: X:739.57, Y:-44.26, Z:4.07 [[ 9.99962630e-01 -6.47259864e-03 -5.73096228e-03 7.39572769e+02] [ 6.47356218e-03 9.99979035e-01 1.49594547e-04 -4.42559981e+01] [ 5.72987386e-03 -1.86688697e-04 9.99983567e-01 4.07214192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.100714057 meters Centerline goodness : 0.997866 with order 1 Centerline is valid? [True, True] Translation: X:739.63, Y:-44.25, Z:4.07 [[ 9.99982275e-01 1.61435344e-03 -5.73100457e-03 7.39630492e+02] [-1.61353198e-03 9.99998687e-01 1.47956577e-04 -4.42544684e+01] [ 5.73123590e-03 -1.38706795e-04 9.99983567e-01 4.07350215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1607140570001 meters Centerline goodness : 0.997722 with order 1 Centerline is valid? [True, True] Translation: X:739.69, Y:-44.24, Z:4.07 [[ 9.99965964e-01 5.93508655e-03 -5.73104673e-03 7.39689838e+02] [-5.93434547e-03 9.99982381e-01 1.46305072e-04 -4.42432051e+01] [ 5.73181408e-03 -1.12290081e-04 9.99983567e-01 4.07370766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.220714057 meters Centerline goodness : 0.997826 with order 1 Centerline is valid? [True, True] Translation: X:739.75, Y:-44.25, Z:4.08 [[ 9.99826371e-01 1.77308440e-02 -5.73108324e-03 7.39749525e+02] [-1.77303049e-02 9.99842795e-01 1.44860551e-04 -4.42477906e+01] [ 5.73275078e-03 -4.32215453e-05 9.99983567e-01 4.08396072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2807140570001 meters Centerline goodness : 0.998244 with order 1 Centerline is valid? [True, True] Translation: X:739.81, Y:-44.25, Z:4.07 [[ 9.99736822e-01 2.22135358e-02 -5.73108841e-03 7.39809606e+02] [-2.22130715e-02 9.99753249e-01 1.44655614e-04 -4.42535637e+01] [ 5.73288757e-03 -1.73124670e-05 9.99983567e-01 4.07153207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.340714057 meters Centerline goodness : 0.998557 with order 1 Centerline is valid? [True, True] Translation: X:739.87, Y:-44.26, Z:4.07 [[ 9.99720331e-01 2.29437321e-02 -5.73108841e-03 7.39869550e+02] [-2.29432799e-02 9.99736758e-01 1.44655614e-04 -4.42589492e+01] [ 5.73289869e-03 -1.31251928e-05 9.99983567e-01 4.07060061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4007140570001 meters Centerline goodness : 0.998677 with order 1 Centerline is valid? [True, True] Translation: X:739.93, Y:-44.27, Z:4.07 [[ 9.99683835e-01 2.44823319e-02 -5.73108586e-03 7.39930281e+02] [-2.44819044e-02 9.99700263e-01 1.44756682e-04 -4.42662402e+01] [ 5.73291202e-03 -4.40301933e-06 9.99983567e-01 4.06913286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.460714057 meters Centerline goodness : 0.997357 with order 1 Centerline is valid? [True, True] Translation: X:739.99, Y:-44.26, Z:4.07 [[ 9.99796791e-01 1.93269723e-02 -5.73108069e-03 7.39991642e+02] [-1.93264588e-02 9.99813216e-01 1.44960902e-04 -4.42636343e+01] [ 5.73281187e-03 -3.41699495e-05 9.99983567e-01 4.07168665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5207140570001 meters Centerline goodness : 0.996723 with order 1 Centerline is valid? [True, True] Translation: X:740.05, Y:-44.27, Z:4.07 [[ 9.99804388e-01 1.89298990e-02 -5.73107541e-03 7.40051658e+02] [-1.89293779e-02 9.99820813e-01 1.45169557e-04 -4.42698303e+01] [ 5.73279652e-03 -3.66554681e-05 9.99983567e-01 4.07171233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.580714057 meters Centerline goodness : 0.995925 with order 1 Centerline is valid? [True, True] Translation: X:740.11, Y:-44.28, Z:4.07 [[ 9.99830719e-01 1.74839487e-02 -5.73107541e-03 7.40111552e+02] [-1.74834038e-02 9.99847143e-01 1.45169557e-04 -4.42795795e+01] [ 5.73273751e-03 -4.49462771e-05 9.99983567e-01 4.07324854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.640714057 meters Centerline goodness : 0.998087 with order 1 Centerline is valid? [True, True] Translation: X:740.17, Y:-44.30, Z:4.07 [[ 9.99691199e-01 2.41797826e-02 -5.73107541e-03 7.40171544e+02] [-2.41793477e-02 9.99707626e-01 1.45169557e-04 -4.42995872e+01] [ 5.73290996e-03 -6.55106340e-06 9.99983567e-01 4.07075530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.700714057 meters Centerline goodness : 0.997626 with order 1 Centerline is valid? [True, True] Translation: X:740.23, Y:-44.31, Z:4.07 [[ 9.99839045e-01 1.70011553e-02 -5.73107268e-03 7.40233897e+02] [-1.70006019e-02 9.99855469e-01 1.45277303e-04 -4.43095183e+01] [ 5.73271424e-03 -4.78222348e-05 9.99983567e-01 4.07051428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.760714057 meters Centerline goodness : 0.996990 with order 1 Centerline is valid? [True, True] Translation: X:740.29, Y:-44.32, Z:4.07 [[ 9.99954149e-01 7.67166380e-03 -5.73103623e-03 7.40294888e+02] [-7.67094896e-03 9.99970567e-01 1.46701108e-04 -4.43196768e+01] [ 5.73199299e-03 -1.02731896e-04 9.99983567e-01 4.06937105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.820714057 meters Centerline goodness : 0.997245 with order 1 Centerline is valid? [True, True] Translation: X:740.35, Y:-44.33, Z:4.07 [[ 9.99983568e-01 -1.34800803e-04 -5.73103098e-03 7.40354025e+02] [ 1.35644951e-04 9.99999980e-01 1.46905949e-04 -4.43274157e+01] [ 5.73101106e-03 -1.47680921e-04 9.99983567e-01 4.07070470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.880714057 meters Centerline goodness : 0.996820 with order 1 Centerline is valid? [True, True] Translation: X:740.41, Y:-44.33, Z:4.07 [[ 9.99982524e-01 -1.45168567e-03 -5.73103635e-03 7.40412602e+02] [ 1.45255023e-03 9.99998934e-01 1.46696164e-04 -4.43304863e+01] [ 5.73081728e-03 -1.55018218e-04 9.99983567e-01 4.06960540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.940714057 meters Centerline goodness : 0.996993 with order 1 Centerline is valid? [True, True] Translation: X:740.47, Y:-44.33, Z:4.07 [[ 9.99983366e-01 -6.50119987e-04 -5.73104692e-03 7.40471625e+02] [ 6.50969019e-04 9.99999777e-01 1.46281924e-04 -4.43340805e+01] [ 5.73095055e-03 -1.50010225e-04 9.99983567e-01 4.06843143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.000714057 meters Centerline goodness : 0.997747 with order 1 Centerline is valid? [True, True] Translation: X:740.53, Y:-44.34, Z:4.07 [[ 9.99975164e-01 4.10188549e-03 -5.73108381e-03 7.40529058e+02] [-4.10112281e-03 9.99991580e-01 1.44822016e-04 -4.43390187e+01] [ 5.73162960e-03 -1.21314541e-04 9.99983567e-01 4.06676809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.060714057 meters Centerline goodness : 0.997789 with order 1 Centerline is valid? [True, True] Translation: X:740.59, Y:-44.34, Z:4.07 [[ 9.99964961e-01 6.10174547e-03 -5.73109670e-03 7.40588669e+02] [-6.10101856e-03 9.99981378e-01 1.44310095e-04 -4.43409121e+01] [ 5.73187052e-03 -1.09339511e-04 9.99983567e-01 4.06671943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.120714057 meters Centerline goodness : 0.998336 with order 1 Centerline is valid? [True, True] Translation: X:740.65, Y:-44.34, Z:4.07 [[ 9.99914904e-01 1.17191712e-02 -5.73110158e-03 7.40648576e+02] [-1.17185376e-02 9.99931325e-01 1.44116277e-04 -4.43430093e+01] [ 5.73239692e-03 -7.69438843e-05 9.99983567e-01 4.06622033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.180714057 meters Centerline goodness : 0.997752 with order 1 Centerline is valid? [True, True] Translation: X:740.71, Y:-44.35, Z:4.07 [[ 9.99886445e-01 1.39374072e-02 -5.73110660e-03 7.40709279e+02] [-1.39368112e-02 9.99902868e-01 1.43916278e-04 -4.43472889e+01] [ 5.73255574e-03 -6.40265847e-05 9.99983567e-01 4.06773515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.240714057 meters Centerline goodness : 0.996997 with order 1 Centerline is valid? [True, True] Translation: X:740.77, Y:-44.35, Z:4.07 [[ 9.99912283e-01 1.19407255e-02 -5.73110660e-03 7.40769759e+02] [-1.19400967e-02 9.99928704e-01 1.43916278e-04 -4.43496409e+01] [ 5.73241646e-03 -7.54736865e-05 9.99983567e-01 4.07105448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.300714057 meters Centerline goodness : 0.997584 with order 1 Centerline is valid? [True, True] Translation: X:740.83, Y:-44.36, Z:4.07 [[ 9.99888391e-01 1.37971146e-02 -5.73110660e-03 7.40829513e+02] [-1.37965163e-02 9.99904813e-01 1.43916278e-04 -4.43554306e+01] [ 5.73254670e-03 -6.48309098e-05 9.99983567e-01 4.07019998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.360714057 meters Centerline goodness : 0.997125 with order 1 Centerline is valid? [True, True] Translation: X:740.89, Y:-44.36, Z:4.07 [[ 9.99877230e-01 1.45835245e-02 -5.73110660e-03 7.40890495e+02] [-1.45829392e-02 9.99893653e-01 1.43916278e-04 -4.43581192e+01] [ 5.73259592e-03 -6.03222302e-05 9.99983567e-01 4.06913036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.420714057 meters Centerline goodness : 0.997375 with order 1 Centerline is valid? [True, True] Translation: X:740.95, Y:-44.36, Z:4.07 [[ 9.99844547e-01 1.66744230e-02 -5.73110135e-03 7.40951355e+02] [-1.66738707e-02 9.99860971e-01 1.44125113e-04 -4.43611397e+01] [ 5.73270776e-03 -4.85430652e-05 9.99983567e-01 4.06859196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.480714057 meters Centerline goodness : 0.997312 with order 1 Centerline is valid? [True, True] Translation: X:741.01, Y:-44.36, Z:4.07 [[ 9.99731603e-01 2.24471732e-02 -5.73109610e-03 7.41012731e+02] [-2.24467147e-02 9.99748030e-01 1.44333300e-04 -4.43643371e+01] [ 5.73289192e-03 -1.56502829e-05 9.99983567e-01 4.06646985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5407140570001 meters Centerline goodness : 0.996867 with order 1 Centerline is valid? [True, True] Translation: X:741.07, Y:-44.37, Z:4.07 [[ 9.99684219e-01 2.44666507e-02 -5.73108832e-03 7.41074527e+02] [-2.44662236e-02 9.99700647e-01 1.44641619e-04 -4.43684081e+01] [ 5.73291160e-03 -4.37785579e-06 9.99983567e-01 4.06567051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.600714057 meters Centerline goodness : 0.996906 with order 1 Centerline is valid? [True, True] Translation: X:741.14, Y:-44.38, Z:4.07 [[ 9.99774794e-01 2.04332349e-02 -5.73105231e-03 7.41137151e+02] [-2.04327334e-02 9.99791219e-01 1.46054895e-04 -4.43765562e+01] [ 5.73284015e-03 -2.89209392e-05 9.99983567e-01 4.06721666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6607140570001 meters Centerline goodness : 0.994894 with order 1 Centerline is valid? [True, True] Translation: X:741.20, Y:-44.37, Z:4.07 [[ 9.99963314e-01 6.36596309e-03 -5.73100966e-03 7.41199848e+02] [-6.36522104e-03 9.99979731e-01 1.47709365e-04 -4.43673296e+01] [ 5.73183381e-03 -1.11224803e-04 9.99983567e-01 4.06982288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.720714057 meters Centerline goodness : 0.996878 with order 1 Centerline is valid? [True, True] Translation: X:741.26, Y:-44.39, Z:4.07 [[ 9.99922383e-01 1.10627665e-02 -5.73097114e-03 7.41258581e+02] [-1.10620931e-02 9.99938802e-01 1.49189335e-04 -4.43855257e+01] [ 5.73227086e-03 -8.57812190e-05 9.99983567e-01 4.06962306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7807140570001 meters Centerline goodness : 0.996239 with order 1 Centerline is valid? [True, True] Translation: X:741.32, Y:-44.39, Z:4.07 [[ 9.99968657e-01 5.46272506e-03 -5.73097021e-03 7.41318909e+02] [-5.46195950e-03 9.99985072e-01 1.49224987e-04 -4.43894755e+01] [ 5.73169983e-03 -1.17917982e-04 9.99983567e-01 4.07089127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.840714057 meters Centerline goodness : 0.996790 with order 1 Centerline is valid? [True, True] Translation: X:741.38, Y:-44.39, Z:4.07 [[ 9.99983569e-01 1.33536298e-04 -5.73097021e-03 7.41378990e+02] [-1.32683272e-04 9.99999980e-01 1.49224987e-04 -4.43925171e+01] [ 5.73099002e-03 -1.48462131e-04 9.99983567e-01 4.07246147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9007140570001 meters Centerline goodness : 0.996622 with order 1 Centerline is valid? [True, True] Translation: X:741.44, Y:-44.39, Z:4.07 [[ 9.99981412e-01 -2.08109314e-03 -5.73097544e-03 7.41436649e+02] [ 2.08198135e-03 9.99997822e-01 1.49023650e-04 -4.43933855e+01] [ 5.73065283e-03 -1.60952664e-04 9.99983567e-01 4.07314218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.960714057 meters Centerline goodness : 0.996621 with order 1 Centerline is valid? [True, True] Translation: X:741.50, Y:-44.39, Z:4.07 [[ 9.99979901e-01 -2.71177077e-03 -5.73098827e-03 7.41495697e+02] [ 2.71266650e-03 9.99996310e-01 1.48528879e-04 -4.43920651e+01] [ 5.73056434e-03 -1.64072154e-04 9.99983567e-01 4.07141773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0207140570001 meters Centerline goodness : 0.997081 with order 1 Centerline is valid? [True, True] Translation: X:741.55, Y:-44.39, Z:4.07 [[ 9.99962301e-01 -6.52314544e-03 -5.73099832e-03 7.41554443e+02] [ 6.52410148e-03 9.99978707e-01 1.48139920e-04 -4.43928514e+01] [ 5.72990995e-03 -1.85523950e-04 9.99983567e-01 4.06930935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.080714057 meters Centerline goodness : 0.996845 with order 1 Centerline is valid? [True, True] Translation: X:741.61, Y:-44.39, Z:4.07 [[ 9.99919460e-01 -1.13238041e-02 -5.73100897e-03 7.41612278e+02] [ 1.13248365e-02 9.99935861e-01 1.47726689e-04 -4.43924802e+01] [ 5.72896856e-03 -2.12617531e-04 9.99983567e-01 4.06954224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.140714057 meters Centerline goodness : 0.996718 with order 1 Centerline is valid? [True, True] Translation: X:741.67, Y:-44.39, Z:4.07 [[ 9.99784995e-01 -1.99278625e-02 -5.73102201e-03 7.41670153e+02] [ 1.99290331e-02 9.99801386e-01 1.47219146e-04 -4.43912675e+01] [ 5.72694999e-03 -2.61401220e-04 9.99983567e-01 4.06944228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.200714057 meters Centerline goodness : 0.996768 with order 1 Centerline is valid? [True, True] Translation: X:741.73, Y:-44.39, Z:4.07 [[ 9.99641003e-01 -2.61728941e-02 -5.73103473e-03 7.41729561e+02] [ 2.61741643e-02 9.99657387e-01 1.46722357e-04 -4.43889285e+01] [ 5.72523105e-03 -2.96674728e-04 9.99983567e-01 4.07126957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.260714057 meters Centerline goodness : 0.997309 with order 1 Centerline is valid? [True, True] Translation: X:741.79, Y:-44.38, Z:4.07 [[ 9.99555107e-01 -2.92701664e-02 -5.73104243e-03 7.41788332e+02] [ 2.92714856e-02 9.99571488e-01 1.46420903e-04 -4.43828356e+01] [ 5.72430084e-03 -3.14111887e-04 9.99983567e-01 4.07240055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.320714057 meters Centerline goodness : 0.997660 with order 1 Centerline is valid? [True, True] Translation: X:741.85, Y:-44.38, Z:4.07 [[ 9.99518186e-01 -3.05049161e-02 -5.73107813e-03 7.41846433e+02] [ 3.05062475e-02 9.99534566e-01 1.45010028e-04 -4.43771647e+01] [ 5.72398717e-03 -3.19773848e-04 9.99983567e-01 4.07182807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.380714057 meters Centerline goodness : 0.997594 with order 1 Centerline is valid? [True, True] Translation: X:741.90, Y:-44.37, Z:4.07 [[ 9.99479774e-01 -3.17385447e-02 -5.73109065e-03 7.41904541e+02] [ 3.17398934e-02 9.99496152e-01 1.44513689e-04 -4.43737498e+01] [ 5.72361639e-03 -3.26342715e-04 9.99983567e-01 4.07133492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.440714057 meters Centerline goodness : 0.998407 with order 1 Centerline is valid? [True, True] Translation: X:741.96, Y:-44.36, Z:4.07 [[ 9.99427250e-01 -3.33515467e-02 -5.73113069e-03 7.41964045e+02] [ 3.33529127e-02 9.99443627e-01 1.42907574e-04 -4.43643378e+01] [ 5.72317586e-03 -3.33975625e-04 9.99983567e-01 4.07098751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.500714057 meters Centerline goodness : 0.998006 with order 1 Centerline is valid? [True, True] Translation: X:742.02, Y:-44.35, Z:4.07 [[ 9.99432678e-01 -3.31884757e-02 -5.73116509e-03 7.42021168e+02] [ 3.31898310e-02 9.99449056e-01 1.41514757e-04 -4.43545934e+01] [ 5.72331088e-03 -3.31650874e-04 9.99983567e-01 4.07312689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.560714057 meters Centerline goodness : 0.998133 with order 1 Centerline is valid? [True, True] Translation: X:742.08, Y:-44.35, Z:4.07 [[ 9.99496407e-01 -3.12103492e-02 -5.73118191e-03 7.42078978e+02] [ 3.12116682e-02 9.99512787e-01 1.40830091e-04 -4.43479245e+01] [ 5.72399425e-03 -3.19638918e-04 9.99983567e-01 4.07454331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.620714057 meters Centerline goodness : 0.998406 with order 1 Centerline is valid? [True, True] Translation: X:742.14, Y:-44.33, Z:4.08 [[ 9.99827096e-01 -1.76898447e-02 -5.73122043e-03 7.42137173e+02] [ 1.76909330e-02 9.99843494e-01 1.39244776e-04 -4.43289399e+01] [ 5.72786024e-03 -2.40611336e-04 9.99983567e-01 4.07517997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.680714057 meters Centerline goodness : 0.998513 with order 1 Centerline is valid? [True, True] Translation: X:742.20, Y:-44.32, Z:4.08 [[ 9.99939132e-01 -9.42793613e-03 -5.73125814e-03 7.42195365e+02] [ 9.42887991e-03 9.99955538e-01 1.37674726e-04 -4.43198231e+01] [ 5.72970533e-03 -1.91705691e-04 9.99983567e-01 4.07634320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.740714057 meters Centerline goodness : 0.998303 with order 1 Centerline is valid? [True, True] Translation: X:742.25, Y:-44.31, Z:4.08 [[ 9.99981038e-01 2.25293058e-03 -5.73129653e-03 7.42254187e+02] [-2.25218777e-03 9.99997455e-01 1.36057746e-04 -4.43071806e+01] [ 5.73158847e-03 -1.23147210e-04 9.99983567e-01 4.07708995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.800714057 meters Centerline goodness : 0.998723 with order 1 Centerline is valid? [True, True] Translation: X:742.31, Y:-44.30, Z:4.08 [[ 9.99928763e-01 1.04700359e-02 -5.73133455e-03 7.42312781e+02] [-1.04694373e-02 9.99945185e-01 1.34436788e-04 -4.42994656e+01] [ 5.73242794e-03 -7.44233631e-05 9.99983567e-01 4.07901163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.860714057 meters Centerline goodness : 0.998265 with order 1 Centerline is valid? [True, True] Translation: X:742.37, Y:-44.30, Z:4.08 [[ 9.99882180e-01 1.42400272e-02 -5.73134158e-03 7.42372197e+02] [-1.42394923e-02 9.99898604e-01 1.34136474e-04 -4.42967806e+01] [ 5.73267055e-03 -5.25092761e-05 9.99983567e-01 4.08000869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.920714057 meters Centerline goodness : 0.998788 with order 1 Centerline is valid? [True, True] Translation: X:742.43, Y:-44.29, Z:4.08 [[ 9.99797967e-01 1.92659586e-02 -5.73134631e-03 7.42431801e+02] [-1.92655073e-02 9.99814394e-01 1.33934101e-04 -4.42935633e+01] [ 5.73286290e-03 -2.34897478e-05 9.99983567e-01 4.07974975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.980714057 meters Centerline goodness : 0.998684 with order 1 Centerline is valid? [True, True] Translation: X:742.49, Y:-44.29, Z:4.08 [[ 9.99751430e-01 2.15460067e-02 -5.73135111e-03 7.42491532e+02] [-2.15455941e-02 9.99767858e-01 1.33728137e-04 -4.42944571e+01] [ 5.73290193e-03 -1.02095318e-05 9.99983567e-01 4.07960891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0407140570001 meters Centerline goodness : 0.997977 with order 1 Centerline is valid? [True, True] Translation: X:742.55, Y:-44.29, Z:4.08 [[ 9.99736810e-01 2.22140326e-02 -5.73135348e-03 7.42552495e+02] [-2.22136316e-02 9.99753238e-01 1.33626721e-04 -4.42885972e+01] [ 5.73290759e-03 -6.27737664e-06 9.99983567e-01 4.07858633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.100714057 meters Centerline goodness : 0.998028 with order 1 Centerline is valid? [True, True] Translation: X:742.61, Y:-44.30, Z:4.08 [[ 9.99577986e-01 2.84780731e-02 -5.73135348e-03 7.42612499e+02] [-2.84777751e-02 9.99594417e-01 1.33626721e-04 -4.42997520e+01] [ 5.73283437e-03 2.96458668e-05 9.99983567e-01 4.07917737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1607140570001 meters Centerline goodness : 0.998165 with order 1 Centerline is valid? [True, True] Translation: X:742.67, Y:-44.31, Z:4.08 [[ 9.99738760e-01 2.21260774e-02 -5.73135348e-03 7.42674010e+02] [-2.21256749e-02 9.99755188e-01 1.33626721e-04 -4.43089622e+01] [ 5.73290701e-03 -6.78174836e-06 9.99983567e-01 4.08002177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.220714057 meters Centerline goodness : 0.998747 with order 1 Centerline is valid? [True, True] Translation: X:742.73, Y:-44.32, Z:4.08 [[ 9.99846199e-01 1.65749581e-02 -5.73134871e-03 7.42734080e+02] [-1.65744632e-02 9.99862625e-01 1.33831122e-04 -4.43151325e+01] [ 5.73277961e-03 -3.88165099e-05 9.99983567e-01 4.08142628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2807140570001 meters Centerline goodness : 0.998349 with order 1 Centerline is valid? [True, True] Translation: X:742.79, Y:-44.32, Z:4.08 [[ 9.99927979e-01 1.05445802e-02 -5.73134871e-03 7.42794327e+02] [-1.05439863e-02 9.99944402e-01 1.33831122e-04 -4.43221846e+01] [ 5.73244125e-03 -7.33902210e-05 9.99983567e-01 4.08111670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.340714057 meters Centerline goodness : 0.998348 with order 1 Centerline is valid? [True, True] Translation: X:742.85, Y:-44.33, Z:4.08 [[ 9.99963973e-01 6.26129779e-03 -5.73134871e-03 7.42854153e+02] [-6.26063355e-03 9.99980393e-01 1.33831122e-04 -4.43292445e+01] [ 5.73207429e-03 -9.79444262e-05 9.99983567e-01 4.07951780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4007140570001 meters Centerline goodness : 0.996672 with order 1 Centerline is valid? [True, True] Translation: X:742.91, Y:-44.33, Z:4.09 [[ 9.99978396e-01 3.21861210e-03 -5.73135346e-03 7.42913431e+02] [-3.21789906e-03 9.99994814e-01 1.33627097e-04 -4.43304176e+01] [ 5.73175383e-03 -1.15181294e-04 9.99983567e-01 4.09137902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.460714057 meters Centerline goodness : 0.997826 with order 1 Centerline is valid? [True, True] Translation: X:742.97, Y:-44.34, Z:4.08 [[ 9.99966117e-01 5.90907161e-03 -5.73135829e-03 7.42972299e+02] [-5.90840394e-03 9.99982536e-01 1.33419710e-04 -4.43397267e+01] [ 5.73204659e-03 -9.95520092e-05 9.99983567e-01 4.08384248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5207140570001 meters Centerline goodness : 0.996487 with order 1 Centerline is valid? [True, True] Translation: X:743.03, Y:-44.33, Z:4.08 [[ 9.99978326e-01 3.24009330e-03 -5.73136577e-03 7.43031845e+02] [-3.23938365e-03 9.99994744e-01 1.33097707e-04 -4.43348399e+01] [ 5.73176689e-03 -1.14528729e-04 9.99983567e-01 4.08376656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.580714057 meters Centerline goodness : 0.997222 with order 1 Centerline is valid? [True, True] Translation: X:743.09, Y:-44.35, Z:4.08 [[ 9.99940113e-01 9.32319969e-03 -5.73137067e-03 7.43090052e+02] [-9.32259114e-03 9.99956535e-01 1.32886432e-04 -4.43478004e+01] [ 5.73236048e-03 -7.94472486e-05 9.99983567e-01 4.08331343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.640714057 meters Centerline goodness : 0.998028 with order 1 Centerline is valid? [True, True] Translation: X:743.15, Y:-44.35, Z:4.08 [[ 9.99966749e-01 5.80098860e-03 -5.73137896e-03 7.43149638e+02] [-5.80032426e-03 9.99983169e-01 1.32527870e-04 -4.43524762e+01] [ 5.73205129e-03 -9.92796067e-05 9.99983567e-01 4.08344526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.700714057 meters Centerline goodness : 0.998433 with order 1 Centerline is valid? [True, True] Translation: X:743.21, Y:-44.35, Z:4.08 [[ 9.99975220e-01 4.08778672e-03 -5.73138369e-03 7.43208012e+02] [-4.08709542e-03 9.99991639e-01 1.32323009e-04 -4.43541054e+01] [ 5.73187668e-03 -1.08895018e-04 9.99983567e-01 4.08377833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.760714057 meters Centerline goodness : 0.997571 with order 1 Centerline is valid? [True, True] Translation: X:743.27, Y:-44.36, Z:4.08 [[ 9.99977541e-01 3.47400648e-03 -5.73138881e-03 7.43266569e+02] [-3.47330638e-03 9.99993959e-01 1.32100648e-04 -4.43571074e+01] [ 5.73181311e-03 -1.12190812e-04 9.99983567e-01 4.08251592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.820714057 meters Centerline goodness : 0.998014 with order 1 Centerline is valid? [True, True] Translation: X:743.33, Y:-44.36, Z:4.08 [[ 9.99977145e-01 3.58607333e-03 -5.73139826e-03 7.43325796e+02] [-3.58537743e-03 9.99993564e-01 1.31689654e-04 -4.43588283e+01] [ 5.73183362e-03 -1.11137418e-04 9.99983567e-01 4.08301811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.880714057 meters Centerline goodness : 0.997949 with order 1 Centerline is valid? [True, True] Translation: X:743.38, Y:-44.36, Z:4.08 [[ 9.99980556e-01 2.45716127e-03 -5.73140754e-03 7.43384847e+02] [-2.45644915e-03 9.99996974e-01 1.31284381e-04 -4.43591624e+01] [ 5.73171278e-03 -1.17202917e-04 9.99983567e-01 4.08193139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.940714057 meters Centerline goodness : 0.997314 with order 1 Centerline is valid? [True, True] Translation: X:743.44, Y:-44.36, Z:4.08 [[ 9.99983575e-01 2.37044845e-05 -5.73141692e-03 7.43443270e+02] [-2.29547707e-05 9.99999991e-01 1.30873517e-04 -4.43619808e+01] [ 5.73141997e-03 -1.30739804e-04 9.99983567e-01 4.08076813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.000714057 meters Centerline goodness : 0.997582 with order 1 Centerline is valid? [True, True] Translation: X:743.50, Y:-44.36, Z:4.08 [[ 9.99981759e-01 -1.90585882e-03 -5.73142616e-03 7.43502289e+02] [ 1.90663789e-03 9.99998174e-01 1.30467484e-04 -4.43627334e+01] [ 5.73116704e-03 -1.41392859e-04 9.99983567e-01 4.08005810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.060714057 meters Centerline goodness : 0.997865 with order 1 Centerline is valid? [True, True] Translation: X:743.56, Y:-44.36, Z:4.08 [[ 9.99970104e-01 -5.19054795e-03 -5.73143528e-03 7.43560177e+02] [ 5.19137863e-03 9.99986516e-01 1.30065965e-04 -4.43639626e+01] [ 5.73068288e-03 -1.59816127e-04 9.99983567e-01 4.08208729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.120714057 meters Centerline goodness : 0.997687 with order 1 Centerline is valid? [True, True] Translation: X:743.62, Y:-44.37, Z:4.08 [[ 9.99937145e-01 -9.63626392e-03 -5.73144646e-03 7.43619212e+02] [ 9.63716472e-03 9.99953553e-01 1.29571155e-04 -4.43660914e+01] [ 5.72993167e-03 -1.84797905e-04 9.99983567e-01 4.08277113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.180714057 meters Centerline goodness : 0.998119 with order 1 Centerline is valid? [True, True] Translation: X:743.68, Y:-44.37, Z:4.08 [[ 9.99905670e-01 -1.24820133e-02 -5.73145541e-03 7.43676510e+02] [ 1.24829586e-02 9.99922077e-01 1.29174250e-04 -4.43683549e+01] [ 5.72939644e-03 -2.00707586e-04 9.99983567e-01 4.08463796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.240714057 meters Centerline goodness : 0.997927 with order 1 Centerline is valid? [True, True] Translation: X:743.73, Y:-44.37, Z:4.08 [[ 9.99885826e-01 -1.39815724e-02 -5.73147074e-03 7.43734029e+02] [ 1.39825384e-02 9.99902231e-01 1.28490507e-04 -4.43700565e+01] [ 5.72911388e-03 -2.08616346e-04 9.99983567e-01 4.08341974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.300714057 meters Centerline goodness : 0.997615 with order 1 Centerline is valid? [True, True] Translation: X:743.79, Y:-44.37, Z:4.08 [[ 9.99923157e-01 -1.09922557e-02 -5.73150715e-03 7.43792073e+02] [ 1.09931631e-02 9.99939565e-01 1.26845057e-04 -4.43688577e+01] [ 5.72976646e-03 -1.89842703e-04 9.99983567e-01 4.08275257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.360714057 meters Centerline goodness : 0.997612 with order 1 Centerline is valid? [True, True] Translation: X:743.85, Y:-44.37, Z:4.08 [[ 9.99972034e-01 -4.80427012e-03 -5.73151831e-03 7.43850574e+02] [ 4.80507311e-03 9.99988448e-01 1.26338629e-04 -4.43694424e+01] [ 5.73084514e-03 -1.53875460e-04 9.99983567e-01 4.08340038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.420714057 meters Centerline goodness : 0.997633 with order 1 Centerline is valid? [True, True] Translation: X:743.91, Y:-44.37, Z:4.08 [[ 9.99982437e-01 -1.50848343e-03 -5.73155273e-03 7.43909829e+02] [ 1.50922326e-03 9.99998853e-01 1.24757398e-04 -4.43688872e+01] [ 5.73135797e-03 -1.33405400e-04 9.99983567e-01 4.08487161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.480714057 meters Centerline goodness : 0.998139 with order 1 Centerline is valid? [True, True] Translation: X:743.97, Y:-44.37, Z:4.09 [[ 9.99983574e-01 2.64172542e-05 -5.73158388e-03 7.43967647e+02] [-2.57109160e-05 9.99999992e-01 1.23309771e-04 -4.43686706e+01] [ 5.73158709e-03 -1.23160381e-04 9.99983567e-01 4.08631618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5407140570001 meters Centerline goodness : 0.996342 with order 1 Centerline is valid? [True, True] Translation: X:744.03, Y:-44.37, Z:4.10 [[ 9.99959883e-01 -6.88334327e-03 -5.73159992e-03 7.44026251e+02] [ 6.88415874e-03 9.99976296e-01 1.22559724e-04 -4.43656651e+01] [ 5.73062044e-03 -1.62012051e-04 9.99983567e-01 4.09801196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.600714057 meters Centerline goodness : 0.998160 with order 1 Centerline is valid? [True, True] Translation: X:744.08, Y:-44.37, Z:4.09 [[ 9.99889325e-01 -1.37290179e-02 -5.73160886e-03 7.44084432e+02] [ 1.37299433e-02 9.99905732e-01 1.22140050e-04 -4.43693193e+01] [ 5.72939169e-03 -2.00821197e-04 9.99983567e-01 4.08674226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6607140570001 meters Centerline goodness : 0.997949 with order 1 Centerline is valid? [True, True] Translation: X:744.14, Y:-44.37, Z:4.09 [[ 9.99757908e-01 -2.12431967e-02 -5.73161970e-03 7.44143647e+02] [ 2.12442424e-02 9.99774308e-01 1.21629047e-04 -4.43674692e+01] [ 5.72774233e-03 -2.43363520e-04 9.99983567e-01 4.08577059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.720714057 meters Centerline goodness : 0.997059 with order 1 Centerline is valid? [True, True] Translation: X:744.20, Y:-44.36, Z:4.10 [[ 9.99416851e-01 -3.36616412e-02 -5.73162822e-03 7.44202848e+02] [ 3.36628883e-02 9.99433237e-01 1.21226103e-04 -4.43595850e+01] [ 5.72429908e-03 -3.14098571e-04 9.99983567e-01 4.09609522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7807140570001 meters Centerline goodness : 0.997969 with order 1 Centerline is valid? [True, True] Translation: X:744.26, Y:-44.36, Z:4.09 [[ 9.99333307e-01 -3.60567722e-02 -5.73163682e-03 7.44261182e+02] [ 3.60580562e-02 9.99349690e-01 1.20818400e-04 -4.43592482e+01] [ 5.72355315e-03 -3.27409534e-04 9.99983567e-01 4.08937660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.840714057 meters Centerline goodness : 0.998267 with order 1 Centerline is valid? [True, True] Translation: X:744.32, Y:-44.35, Z:4.09 [[ 9.99164972e-01 -4.04537694e-02 -5.73166579e-03 7.44320246e+02] [ 4.04551176e-02 9.99181350e-01 1.19427928e-04 -4.43534337e+01] [ 5.72214225e-03 -3.51203416e-04 9.99983567e-01 4.08988967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9007140570001 meters Centerline goodness : 0.998489 with order 1 Centerline is valid? [True, True] Translation: X:744.38, Y:-44.34, Z:4.09 [[ 9.98939434e-01 -4.56853900e-02 -5.73169400e-03 7.44378942e+02] [ 4.56868161e-02 9.98955805e-01 1.18058295e-04 -4.43429188e+01] [ 5.72031546e-03 -3.79795937e-04 9.99983567e-01 4.08715156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.960714057 meters Centerline goodness : 0.998569 with order 1 Centerline is valid? [True, True] Translation: X:744.44, Y:-44.34, Z:4.09 [[ 9.98737558e-01 -4.99042911e-02 -5.73172219e-03 7.44438040e+02] [ 4.99057785e-02 9.98753923e-01 1.16673310e-04 -4.43356495e+01] [ 5.71875753e-03 -4.02572075e-04 9.99983567e-01 4.08647853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0207140570001 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:744.50, Y:-44.32, Z:4.09 [[ 9.98480414e-01 -5.48088508e-02 -5.73175063e-03 7.44496283e+02] [ 5.48104104e-02 9.98496773e-01 1.15259414e-04 -4.43207457e+01] [ 5.71681727e-03 -4.29243872e-04 9.99983567e-01 4.08779752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.080714057 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:744.55, Y:-44.31, Z:4.09 [[ 9.98274513e-01 -5.84392198e-02 -5.73178244e-03 7.44554819e+02] [ 5.84408297e-02 9.98290868e-01 1.13655263e-04 -4.43059606e+01] [ 5.71534414e-03 -4.48429274e-04 9.99983567e-01 4.08851614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.140714057 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:744.61, Y:-44.29, Z:4.09 [[ 9.98028851e-01 -6.24944657e-02 -5.73181286e-03 7.44612411e+02] [ 6.24961332e-02 9.98045200e-01 1.12099846e-04 -4.42903937e+01] [ 5.71360269e-03 -4.70095021e-04 9.99983567e-01 4.08843898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.200714057 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:744.67, Y:-44.27, Z:4.09 [[ 9.97891268e-01 -6.46541857e-02 -5.73182693e-03 7.44670798e+02] [ 6.46558845e-02 9.97907613e-01 1.11375434e-04 -4.42743030e+01] [ 5.71263284e-03 -4.81736913e-04 9.99983567e-01 4.08651256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.260714057 meters Centerline goodness : 0.998485 with order 1 Centerline is valid? [True, True] Translation: X:744.73, Y:-44.26, Z:4.08 [[ 9.97991389e-01 -6.30898797e-02 -5.73183677e-03 7.44729730e+02] [ 6.30915499e-02 9.98007737e-01 1.10866917e-04 -4.42582756e+01] [ 5.71342286e-03 -4.72274694e-04 9.99983567e-01 4.08372988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.320714057 meters Centerline goodness : 0.998444 with order 1 Centerline is valid? [True, True] Translation: X:744.79, Y:-44.25, Z:4.09 [[ 9.97974107e-01 -6.33626619e-02 -5.73186502e-03 7.44788260e+02] [ 6.33643281e-02 9.97990456e-01 1.09386573e-04 -4.42453915e+01] [ 5.71341556e-03 -4.72360743e-04 9.99983567e-01 4.08609563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.380714057 meters Centerline goodness : 0.998067 with order 1 Centerline is valid? [True, True] Translation: X:744.85, Y:-44.23, Z:4.09 [[ 9.98052236e-01 -6.21198827e-02 -5.73187484e-03 7.44847682e+02] [ 6.21215256e-02 9.98068587e-01 1.08869204e-04 -4.42300027e+01] [ 5.71404128e-03 -4.64729963e-04 9.99983567e-01 4.08654451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.440714057 meters Centerline goodness : 0.997511 with order 1 Centerline is valid? [True, True] Translation: X:744.91, Y:-44.22, Z:4.09 [[ 9.98098571e-01 -6.13709075e-02 -5.73190151e-03 7.44907760e+02] [ 6.13725301e-02 9.98114924e-01 1.07446979e-04 -4.42151335e+01] [ 5.71450232e-03 -4.59023974e-04 9.99983567e-01 4.08688157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.500714057 meters Centerline goodness : 0.997062 with order 1 Centerline is valid? [True, True] Translation: X:744.97, Y:-44.21, Z:4.09 [[ 9.98124732e-01 -6.09439386e-02 -5.73190526e-03 7.44966904e+02] [ 6.09455531e-02 9.98141086e-01 1.07246397e-04 -4.42060394e+01] [ 5.71471412e-03 -4.56379417e-04 9.99983567e-01 4.08683333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.560714057 meters Centerline goodness : 0.995690 with order 1 Centerline is valid? [True, True] Translation: X:745.03, Y:-44.19, Z:4.08 [[ 9.98073485e-01 -6.17775419e-02 -5.73191079e-03 7.45027121e+02] [ 6.17791683e-02 9.98089837e-01 1.06950129e-04 -4.41939991e+01] [ 5.71435479e-03 -4.60856769e-04 9.99983567e-01 4.08434169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.620714057 meters Centerline goodness : 0.995534 with order 1 Centerline is valid? [True, True] Translation: X:745.09, Y:-44.18, Z:4.08 [[ 9.98031483e-01 -6.24524225e-02 -5.73191460e-03 7.45087603e+02] [ 6.24540587e-02 9.98047834e-01 1.06745356e-04 -4.41829328e+01] [ 5.71405845e-03 -4.64516557e-04 9.99983567e-01 4.08340971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.680714057 meters Centerline goodness : 0.994274 with order 1 Centerline is valid? [True, True] Translation: X:745.15, Y:-44.17, Z:4.08 [[ 9.98037701e-01 -6.23529693e-02 -5.73191460e-03 7.45148444e+02] [ 6.23546040e-02 9.98054053e-01 1.06745356e-04 -4.41736642e+01] [ 5.71410471e-03 -4.63947154e-04 9.99983567e-01 4.08228547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.740714057 meters Centerline goodness : 0.993744 with order 1 Centerline is valid? [True, True] Translation: X:745.21, Y:-44.17, Z:4.08 [[ 9.98102726e-01 -6.13032973e-02 -5.73191460e-03 7.45208562e+02] [ 6.13049147e-02 9.98119079e-01 1.06745356e-04 -4.41672328e+01] [ 5.71458948e-03 -4.57937366e-04 9.99983567e-01 4.08170914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.800714057 meters Centerline goodness : 0.992898 with order 1 Centerline is valid? [True, True] Translation: X:745.27, Y:-44.16, Z:4.08 [[ 9.98199197e-01 -5.97118750e-02 -5.73191274e-03 7.45269953e+02] [ 5.97134670e-02 9.98215553e-01 1.06845013e-04 -4.41598963e+01] [ 5.71530453e-03 -4.48924989e-04 9.99983567e-01 4.07942234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.860714057 meters Centerline goodness : 0.991688 with order 1 Centerline is valid? [True, True] Translation: X:745.33, Y:-44.15, Z:4.08 [[ 9.98314150e-01 -5.77581399e-02 -5.73190889e-03 7.45330116e+02] [ 5.77597010e-02 9.98330509e-01 1.07051294e-04 -4.41534120e+01] [ 5.71615644e-03 -4.37944165e-04 9.99983567e-01 4.07776772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.920714057 meters Centerline goodness : 0.990981 with order 1 Centerline is valid? [True, True] Translation: X:745.39, Y:-44.15, Z:4.08 [[ 9.98471330e-01 -5.49740646e-02 -5.73190700e-03 7.45391746e+02] [ 5.49755806e-02 9.98487694e-01 1.07152608e-04 -4.41487172e+01] [ 5.71734798e-03 -4.22103722e-04 9.99983567e-01 4.07654022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.980714057 meters Centerline goodness : 0.990364 with order 1 Centerline is valid? [True, True] Translation: X:745.45, Y:-44.14, Z:4.08 [[ 9.98574889e-01 -5.30597523e-02 -5.73190328e-03 7.45453144e+02] [ 5.30612381e-02 9.98591254e-01 1.07350918e-04 -4.41412165e+01] [ 5.71813248e-03 -4.11339816e-04 9.99983567e-01 4.07683245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0407140570001 meters Centerline goodness : 0.989635 with order 1 Centerline is valid? [True, True] Translation: X:745.52, Y:-44.14, Z:4.08 [[ 9.98474761e-01 -5.49117229e-02 -5.73189949e-03 7.45515452e+02] [ 5.49132402e-02 9.98491124e-01 1.07553135e-04 -4.41371756e+01] [ 5.71734483e-03 -4.22146264e-04 9.99983567e-01 4.07712270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.100714057 meters Centerline goodness : 0.989239 with order 1 Centerline is valid? [True, True] Translation: X:745.58, Y:-44.13, Z:4.08 [[ 9.98100532e-01 -6.13389975e-02 -5.73189177e-03 7.45577573e+02] [ 6.13406225e-02 9.98116885e-01 1.07962959e-04 -4.41333677e+01] [ 5.71447562e-03 -4.59355696e-04 9.99983567e-01 4.07595453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1607140570001 meters Centerline goodness : 0.988119 with order 1 Centerline is valid? [True, True] Translation: X:745.64, Y:-44.13, Z:4.08 [[ 9.97754652e-01 -6.67293052e-02 -5.73188391e-03 7.45639178e+02] [ 6.67310209e-02 9.97770995e-01 1.08378634e-04 -4.41267773e+01] [ 5.71187548e-03 -4.90629751e-04 9.99983567e-01 4.07679334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.220714057 meters Centerline goodness : 0.985710 with order 1 Centerline is valid? [True, True] Translation: X:745.70, Y:-44.13, Z:4.07 [[ 9.98281111e-01 -5.83264004e-02 -5.73187808e-03 7.45700618e+02] [ 5.83279801e-02 9.98297468e-01 1.08686153e-04 -4.41347598e+01] [ 5.71578010e-03 -4.42828204e-04 9.99983567e-01 4.07045448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2807140570001 meters Centerline goodness : 0.986809 with order 1 Centerline is valid? [True, True] Translation: X:745.76, Y:-44.12, Z:4.08 [[ 9.98060746e-01 -6.19830015e-02 -5.73187177e-03 7.45761694e+02] [ 6.19846430e-02 9.98077097e-01 1.09017930e-04 -4.41227267e+01] [ 5.71409268e-03 -4.64094541e-04 9.99983567e-01 4.07911283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.340714057 meters Centerline goodness : 0.983891 with order 1 Centerline is valid? [True, True] Translation: X:745.82, Y:-44.12, Z:4.07 [[ 9.98958630e-01 -4.52636843e-02 -5.73186281e-03 7.45822836e+02] [ 4.52650546e-02 9.98975006e-01 1.09486921e-04 -4.41221822e+01] [ 5.72103190e-03 -3.68825987e-04 9.99983567e-01 4.07225292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4007140570001 meters Centerline goodness : 0.982496 with order 1 Centerline is valid? [True, True] Translation: X:745.88, Y:-44.12, Z:4.07 [[ 9.99475771e-01 -3.18642195e-02 -5.73185820e-03 7.45883157e+02] [ 3.18653714e-02 9.99492164e-01 1.09727431e-04 -4.41158172e+01] [ 5.72545098e-03 -2.92317699e-04 9.99983567e-01 4.07451774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.460714057 meters Centerline goodness : 0.982215 with order 1 Centerline is valid? [True, True] Translation: X:745.94, Y:-44.11, Z:4.07 [[ 9.99885593e-01 -1.39980775e-02 -5.73185618e-03 7.45944927e+02] [ 1.39989368e-02 9.99902004e-01 1.09832919e-04 -4.41110173e+01] [ 5.72975703e-03 -1.90060246e-04 9.99983567e-01 4.07494685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5207140570001 meters Centerline goodness : 0.982420 with order 1 Centerline is valid? [True, True] Translation: X:746.01, Y:-44.11, Z:4.07 [[ 9.99982543e-01 -1.43511982e-03 -5.73185221e-03 7.46005609e+02] [ 1.43577413e-03 9.99998963e-01 1.10039875e-04 -4.41099835e+01] [ 5.73168835e-03 -1.18267599e-04 9.99983567e-01 4.07384309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.580714057 meters Centerline goodness : 0.981432 with order 1 Centerline is valid? [True, True] Translation: X:746.06, Y:-44.11, Z:4.07 [[ 9.99962679e-01 6.46418263e-03 -5.73185221e-03 7.46064456e+02] [-6.46365805e-03 9.99979104e-01 1.10039875e-04 -4.41115415e+01] [ 5.73244376e-03 -7.29870357e-05 9.99983567e-01 4.07297695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.640714057 meters Centerline goodness : 0.981912 with order 1 Centerline is valid? [True, True] Translation: X:746.12, Y:-44.12, Z:4.07 [[ 9.99869023e-01 1.51354936e-02 -5.73188087e-03 7.46121976e+02] [-1.51351202e-02 9.99885452e-01 1.08526098e-04 -4.41160013e+01] [ 5.73286689e-03 -2.17591779e-05 9.99983567e-01 4.07318977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.700714057 meters Centerline goodness : 0.980490 with order 1 Centerline is valid? [True, True] Translation: X:746.18, Y:-44.12, Z:4.07 [[ 9.99792533e-01 1.95457546e-02 -5.73189083e-03 7.46179425e+02] [-1.95454566e-02 9.99808963e-01 1.07997284e-04 -4.41246889e+01] [ 5.73290672e-03 4.05754556e-06 9.99983567e-01 4.07167226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.760714057 meters Centerline goodness : 0.987727 with order 1 Centerline is valid? [True, True] Translation: X:746.24, Y:-44.11, Z:4.08 [[ 9.99967775e-01 5.62092165e-03 -5.73190054e-03 7.46238384e+02] [-5.62039789e-03 9.99984200e-01 1.07479640e-04 -4.41108829e+01] [ 5.73241411e-03 -7.52606143e-05 9.99983567e-01 4.07544331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.820714057 meters Centerline goodness : 0.988690 with order 1 Centerline is valid? [True, True] Translation: X:746.30, Y:-44.12, Z:4.08 [[ 9.99976204e-01 3.83886546e-03 -5.73190798e-03 7.46296794e+02] [-3.83831472e-03 9.99992628e-01 1.07081650e-04 -4.41238907e+01] [ 5.73227679e-03 -8.50782356e-05 9.99983567e-01 4.07566865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.880714057 meters Centerline goodness : 0.988388 with order 1 Centerline is valid? [True, True] Translation: X:746.36, Y:-44.14, Z:4.08 [[ 9.99982982e-01 1.08689116e-03 -5.73191601e-03 7.46355416e+02] [-1.08629769e-03 9.99999404e-01 1.06650115e-04 -4.41405997e+01] [ 5.73202851e-03 -1.00421733e-04 9.99983567e-01 4.08128646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.940714057 meters Centerline goodness : 0.989232 with order 1 Centerline is valid? [True, True] Translation: X:746.41, Y:-44.16, Z:4.08 [[ 9.99981515e-01 -2.02835949e-03 -5.73192191e-03 7.46413668e+02] [ 2.02900230e-03 9.99997936e-01 1.06332077e-04 -4.41576046e+01] [ 5.73169439e-03 -1.17960194e-04 9.99983567e-01 4.08304515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.000714057 meters Centerline goodness : 0.991068 with order 1 Centerline is valid? [True, True] Translation: X:746.47, Y:-44.17, Z:4.08 [[ 9.99974683e-01 -4.21649864e-03 -5.73192933e-03 7.46472299e+02] [ 4.21717508e-03 9.99991102e-01 1.05930563e-04 -4.41694721e+01] [ 5.73143167e-03 -1.30100431e-04 9.99983567e-01 4.08387806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.060714057 meters Centerline goodness : 0.992041 with order 1 Centerline is valid? [True, True] Translation: X:746.53, Y:-44.18, Z:4.09 [[ 9.99966242e-01 -5.88724958e-03 -5.73193682e-03 7.46531129e+02] [ 5.88795111e-03 9.99982660e-01 1.05523563e-04 -4.41833976e+01] [ 5.73121619e-03 -1.39269364e-04 9.99983567e-01 4.08567272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.120714057 meters Centerline goodness : 0.994463 with order 1 Centerline is valid? [True, True] Translation: X:746.59, Y:-44.20, Z:4.09 [[ 9.99972545e-01 -4.69625642e-03 -5.73194430e-03 7.46590005e+02] [ 4.69693607e-03 9.99988964e-01 1.05115838e-04 -4.41976311e+01] [ 5.73138739e-03 -1.32035528e-04 9.99983567e-01 4.08782969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.180714057 meters Centerline goodness : 0.995546 with order 1 Centerline is valid? [True, True] Translation: X:746.65, Y:-44.21, Z:4.09 [[ 9.99974721e-01 -4.20727976e-03 -5.73197002e-03 7.46649066e+02] [ 4.20794323e-03 9.99991141e-01 1.03693915e-04 -4.42110084e+01] [ 5.73148297e-03 -1.27811098e-04 9.99983567e-01 4.09123683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.240714057 meters Centerline goodness : 0.995829 with order 1 Centerline is valid? [True, True] Translation: X:746.71, Y:-44.22, Z:4.09 [[ 9.99970478e-01 -5.11745951e-03 -5.73198437e-03 7.46707511e+02] [ 5.11813335e-03 9.99986897e-01 1.02894443e-04 -4.42187358e+01] [ 5.73138271e-03 -1.32228466e-04 9.99983567e-01 4.09273787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.300714057 meters Centerline goodness : 0.997022 with order 1 Centerline is valid? [True, True] Translation: X:746.77, Y:-44.24, Z:4.09 [[ 9.99896209e-01 -1.32179617e-02 -5.73200968e-03 7.46766040e+02] [ 1.32187604e-02 9.99912623e-01 1.01464446e-04 -4.42357255e+01] [ 5.73016769e-03 -1.77223977e-04 9.99983567e-01 4.09408722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.360714057 meters Centerline goodness : 0.997061 with order 1 Centerline is valid? [True, True] Translation: X:746.83, Y:-44.24, Z:4.09 [[ 9.99791416e-01 -1.96027876e-02 -5.73201693e-03 7.46825099e+02] [ 1.96036887e-02 9.99807824e-01 1.01053191e-04 -4.42423059e+01] [ 5.72893445e-03 -2.13400789e-04 9.99983567e-01 4.09373032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.420714057 meters Centerline goodness : 0.997686 with order 1 Centerline is valid? [True, True] Translation: X:746.88, Y:-44.25, Z:4.09 [[ 9.99495775e-01 -3.12304274e-02 -5.73202410e-03 7.46884253e+02] [ 3.12315169e-02 9.99512172e-01 1.00645078e-04 -4.42501296e+01] [ 5.72608467e-03 -2.79614138e-04 9.99983567e-01 4.09312954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.480714057 meters Centerline goodness : 0.997851 with order 1 Centerline is valid? [True, True] Translation: X:746.94, Y:-44.26, Z:4.09 [[ 9.99049060e-01 -4.32217520e-02 -5.73203119e-03 7.46943030e+02] [ 4.32230359e-02 9.99065443e-01 1.00239551e-04 -4.42570645e+01] [ 5.72234175e-03 -3.47900019e-04 9.99983567e-01 4.09380727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5407140570001 meters Centerline goodness : 0.998218 with order 1 Centerline is valid? [True, True] Translation: X:747.00, Y:-44.26, Z:4.10 [[ 9.98700213e-01 -5.06461027e-02 -5.73203472e-03 7.47002143e+02] [ 5.06475072e-02 9.98716586e-01 1.00037426e-04 -4.42603912e+01] [ 5.71961164e-03 -3.90220668e-04 9.99983567e-01 4.09507880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.600714057 meters Centerline goodness : 0.998065 with order 1 Centerline is valid? [True, True] Translation: X:747.06, Y:-44.26, Z:4.09 [[ 9.98207248e-01 -5.95771192e-02 -5.73205938e-03 7.47061294e+02] [ 5.95786619e-02 9.98223609e-01 9.86038364e-05 -4.42620638e+01] [ 5.71600247e-03 -4.39935492e-04 9.99983567e-01 4.09477964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6607140570001 meters Centerline goodness : 0.997909 with order 1 Centerline is valid? [True, True] Translation: X:747.12, Y:-44.26, Z:4.10 [[ 9.97778314e-01 -6.63745399e-02 -5.73208352e-03 7.47120525e+02] [ 6.63761858e-02 9.97794665e-01 9.71796376e-05 -4.42625090e+01] [ 5.71299210e-03 -4.77437576e-04 9.99983567e-01 4.09547818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.720714057 meters Centerline goodness : 0.998070 with order 1 Centerline is valid? [True, True] Translation: X:747.18, Y:-44.26, Z:4.10 [[ 9.97463786e-01 -7.09446106e-02 -5.73210792e-03 7.47179304e+02] [ 7.09463231e-02 9.97480130e-01 9.57187836e-05 -4.42581524e+01] [ 5.71087302e-03 -5.02148001e-04 9.99983567e-01 4.09699282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7807140570001 meters Centerline goodness : 0.997711 with order 1 Centerline is valid? [True, True] Translation: X:747.24, Y:-44.25, Z:4.10 [[ 9.97300797e-01 -7.32001546e-02 -5.73213178e-03 7.47239362e+02] [ 7.32018958e-02 9.97317138e-01 9.42676799e-05 -4.42545968e+01] [ 5.70985286e-03 -5.13616146e-04 9.99983567e-01 4.09732381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.840714057 meters Centerline goodness : 0.997282 with order 1 Centerline is valid? [True, True] Translation: X:747.30, Y:-44.25, Z:4.10 [[ 9.97152581e-01 -7.51922412e-02 -5.73213514e-03 7.47298183e+02] [ 7.51940139e-02 9.97168918e-01 9.40633501e-05 -4.42469737e+01] [ 5.70883416e-03 -5.24817762e-04 9.99983567e-01 4.09842811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9007140570001 meters Centerline goodness : 0.996596 with order 1 Centerline is valid? [True, True] Translation: X:747.36, Y:-44.24, Z:4.10 [[ 9.97278405e-01 -7.35045877e-02 -5.73215796e-03 7.47357504e+02] [ 7.35063247e-02 9.97294747e-01 9.26512548e-05 -4.42367674e+01] [ 5.70984073e-03 -5.13748960e-04 9.99983567e-01 4.09806104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.960714057 meters Centerline goodness : 0.996341 with order 1 Centerline is valid? [True, True] Translation: X:747.42, Y:-44.23, Z:4.09 [[ 9.97492807e-01 -7.05353921e-02 -5.73215956e-03 7.47417924e+02] [ 7.05370798e-02 9.97509154e-01 9.25520620e-05 -4.42251905e+01] [ 5.71135344e-03 -4.96649813e-04 9.99983567e-01 4.09359638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0207140570001 meters Centerline goodness : 0.994793 with order 1 Centerline is valid? [True, True] Translation: X:747.48, Y:-44.22, Z:4.09 [[ 9.97727127e-01 -6.71395767e-02 -5.73215956e-03 7.47478858e+02] [ 6.71412088e-02 9.97743479e-01 9.25520621e-05 -4.42156156e+01] [ 5.71301092e-03 -4.77205825e-04 9.99983567e-01 4.09270929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.080714057 meters Centerline goodness : 0.993000 with order 1 Centerline is valid? [True, True] Translation: X:747.54, Y:-44.20, Z:4.09 [[ 9.98160645e-01 -6.03528779e-02 -5.73215956e-03 7.47539120e+02] [ 6.03543988e-02 9.98177007e-01 9.25520620e-05 -4.42021064e+01] [ 5.71612409e-03 -4.38342870e-04 9.99983567e-01 4.09352253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.140714057 meters Centerline goodness : 0.992526 with order 1 Centerline is valid? [True, True] Translation: X:747.60, Y:-44.19, Z:4.09 [[ 9.98562064e-01 -5.33005412e-02 -5.73215956e-03 7.47600520e+02] [ 5.33019464e-02 9.98578437e-01 9.25520620e-05 -4.41889360e+01] [ 5.71907786e-03 -3.97954240e-04 9.99983567e-01 4.09263373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.200714057 meters Centerline goodness : 0.990258 with order 1 Centerline is valid? [True, True] Translation: X:747.66, Y:-44.18, Z:4.09 [[ 9.98786378e-01 -4.89174237e-02 -5.73215625e-03 7.47662153e+02] [ 4.89187583e-02 9.98802757e-01 9.27568775e-05 -4.41805016e+01] [ 5.72075603e-03 -3.73054272e-04 9.99983567e-01 4.09246109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.260714057 meters Centerline goodness : 0.988184 with order 1 Centerline is valid? [True, True] Translation: X:747.72, Y:-44.17, Z:4.09 [[ 9.99084684e-01 -4.23902884e-02 -5.73215284e-03 7.47723184e+02] [ 4.23915171e-02 9.99101071e-01 9.29668299e-05 -4.41684556e+01] [ 5.72305916e-03 -3.35876391e-04 9.99983567e-01 4.09283214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.320714057 meters Centerline goodness : 0.982554 with order 1 Centerline is valid? [True, True] Translation: X:747.78, Y:-44.17, Z:4.10 [[ 9.99517167e-01 -3.05380881e-02 -5.73214778e-03 7.47784601e+02] [ 3.05391241e-02 9.99533568e-01 9.32777961e-05 -4.41682668e+01] [ 5.72662560e-03 -2.68287531e-04 9.99983567e-01 4.09678598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.380714057 meters Centerline goodness : 0.982728 with order 1 Centerline is valid? [True, True] Translation: X:747.85, Y:-44.15, Z:4.09 [[ 9.99392389e-01 -3.43801662e-02 -5.73214423e-03 7.47845452e+02] [ 3.43812665e-02 9.99408785e-01 9.34953581e-05 -4.41500866e+01] [ 5.72554092e-03 -2.90516928e-04 9.99983567e-01 4.09156588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.440714057 meters Centerline goodness : 0.980278 with order 1 Centerline is valid? [True, True] Translation: X:747.91, Y:-44.16, Z:4.10 [[ 9.99528855e-01 -3.01531073e-02 -5.73213939e-03 7.47906137e+02] [ 3.01541400e-02 9.99545256e-01 9.37915335e-05 -4.41553197e+01] [ 5.72670463e-03 -2.66595078e-04 9.99983567e-01 4.10026613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.500714057 meters Centerline goodness : 0.979527 with order 1 Centerline is valid? [True, True] Translation: X:747.97, Y:-44.15, Z:4.10 [[ 9.99789077e-01 -1.97216485e-02 -5.73213728e-03 7.47967985e+02] [ 1.97225107e-02 9.99805488e-01 9.39202637e-05 -4.41533373e+01] [ 5.72917005e-03 -2.06952593e-04 9.99983567e-01 4.09713698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.560714057 meters Centerline goodness : 0.980184 with order 1 Centerline is valid? [True, True] Translation: X:748.03, Y:-44.15, Z:4.10 [[ 9.99838034e-01 -1.70601192e-02 -5.73213389e-03 7.48028953e+02] [ 1.70609389e-02 9.99854447e-01 9.41265733e-05 -4.41530732e+01] [ 5.72969375e-03 -1.91906914e-04 9.99983567e-01 4.09766090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.620714057 meters Centerline goodness : 0.981621 with order 1 Centerline is valid? [True, True] Translation: X:748.09, Y:-44.15, Z:4.10 [[ 9.99904970e-01 -1.25376923e-02 -5.73213219e-03 7.48088794e+02] [ 1.25384383e-02 9.99921386e-01 9.42301017e-05 -4.41545297e+01] [ 5.73050014e-03 -1.66093133e-04 9.99983567e-01 4.09910234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.680714057 meters Centerline goodness : 0.986296 with order 1 Centerline is valid? [True, True] Translation: X:748.15, Y:-44.15, Z:4.09 [[ 9.99839321e-01 -1.69845699e-02 -5.73213051e-03 7.48149546e+02] [ 1.69853895e-02 9.99855733e-01 9.43318845e-05 -4.41476660e+01] [ 5.72970137e-03 -1.91679197e-04 9.99983567e-01 4.09220993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.740714057 meters Centerline goodness : 0.981256 with order 1 Centerline is valid? [True, True] Translation: X:748.21, Y:-44.16, Z:4.09 [[ 9.99953933e-01 -7.69903541e-03 -5.73213051e-03 7.48209409e+02] [ 7.69970257e-03 9.99970352e-01 9.43318845e-05 -4.41625767e+01] [ 5.73123431e-03 -1.38463239e-04 9.99983567e-01 4.09466766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.800714057 meters Centerline goodness : 0.981692 with order 1 Centerline is valid? [True, True] Translation: X:748.27, Y:-44.17, Z:4.10 [[ 9.99927942e-01 -1.05476318e-02 -5.73213051e-03 7.48267636e+02] [ 1.05483458e-02 9.99944360e-01 9.43318845e-05 -4.41684446e+01] [ 5.73081660e-03 -1.54789582e-04 9.99983567e-01 4.09508341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.860714057 meters Centerline goodness : 0.982915 with order 1 Centerline is valid? [True, True] Translation: X:748.33, Y:-44.17, Z:4.10 [[ 9.99856115e-01 -1.59653157e-02 -5.73213574e-03 7.48327597e+02] [ 1.59661168e-02 9.99872529e-01 9.40133850e-05 -4.41706669e+01] [ 5.72990410e-03 -1.85519806e-04 9.99983567e-01 4.09751867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.920714057 meters Centerline goodness : 0.984024 with order 1 Centerline is valid? [True, True] Translation: X:748.39, Y:-44.18, Z:4.10 [[ 9.99707096e-01 -2.35130928e-02 -5.73213902e-03 7.48387916e+02] [ 2.35140166e-02 9.99723503e-01 9.38130822e-05 -4.41766201e+01] [ 5.72834826e-03 -2.28571216e-04 9.99983567e-01 4.10065657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.980714057 meters Centerline goodness : 0.984592 with order 1 Centerline is valid? [True, True] Translation: X:748.45, Y:-44.18, Z:4.10 [[ 9.99625586e-01 -2.67550100e-02 -5.73213902e-03 7.48449594e+02] [ 2.67559870e-02 9.99641990e-01 9.38130822e-05 -4.41801010e+01] [ 5.72757688e-03 -2.47146994e-04 9.99983567e-01 4.10401784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0407140570001 meters Centerline goodness : 0.984227 with order 1 Centerline is valid? [True, True] Translation: X:748.51, Y:-44.18, Z:4.10 [[ 9.99383430e-01 -3.46396026e-02 -5.73213547e-03 7.48510976e+02] [ 3.46407103e-02 9.99399826e-01 9.40290780e-05 -4.41844708e+01] [ 5.72543806e-03 -2.92536347e-04 9.99983567e-01 4.10120181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.100714057 meters Centerline goodness : 0.984649 with order 1 Centerline is valid? [True, True] Translation: X:748.57, Y:-44.19, Z:4.10 [[ 9.99164011e-01 -4.04774282e-02 -5.73213192e-03 7.48572732e+02] [ 4.04786328e-02 9.99180400e-01 9.42449778e-05 -4.41869585e+01] [ 5.72361907e-03 -3.26195053e-04 9.99983567e-01 4.10147991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1607140570001 meters Centerline goodness : 0.986009 with order 1 Centerline is valid? [True, True] Translation: X:748.63, Y:-44.19, Z:4.10 [[ 9.99001311e-01 -4.43116558e-02 -5.73212476e-03 7.48633752e+02] [ 4.43129258e-02 9.99017695e-01 9.46786919e-05 -4.41871574e+01] [ 5.72229870e-03 -3.48591356e-04 9.99983567e-01 4.10308569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.220714057 meters Centerline goodness : 0.986183 with order 1 Centerline is valid? [True, True] Translation: X:748.70, Y:-44.19, Z:4.10 [[ 9.98927526e-01 -4.59449681e-02 -5.73211343e-03 7.48695568e+02] [ 4.59462687e-02 9.98943908e-01 9.53599215e-05 -4.41875949e+01] [ 5.72167848e-03 -3.58626874e-04 9.99983567e-01 4.10273541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2807140570001 meters Centerline goodness : 0.988152 with order 1 Centerline is valid? [True, True] Translation: X:748.76, Y:-44.18, Z:4.10 [[ 9.98466102e-01 -5.50689227e-02 -5.73210614e-03 7.48757311e+02] [ 5.50703754e-02 9.98482471e-01 9.57960118e-05 -4.41799521e+01] [ 5.71813212e-03 -4.11318308e-04 9.99983567e-01 4.10378089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.340714057 meters Centerline goodness : 0.987198 with order 1 Centerline is valid? [True, True] Translation: X:748.82, Y:-44.18, Z:4.10 [[ 9.98326938e-01 -5.75366651e-02 -5.73210073e-03 7.48818691e+02] [ 5.75381602e-02 9.98343303e-01 9.61185235e-05 -4.41778787e+01] [ 5.71707404e-03 -4.25772241e-04 9.99983567e-01 4.10321401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4007140570001 meters Centerline goodness : 0.986791 with order 1 Centerline is valid? [True, True] Translation: X:748.88, Y:-44.17, Z:4.10 [[ 9.98018968e-01 -6.26520764e-02 -5.73209552e-03 7.48880658e+02] [ 6.26536571e-02 9.98035325e-01 9.64280385e-05 -4.41712968e+01] [ 5.71479240e-03 -4.55373759e-04 9.99983567e-01 4.10452726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.460714057 meters Centerline goodness : 0.986953 with order 1 Centerline is valid? [True, True] Translation: X:748.94, Y:-44.17, Z:4.10 [[ 9.97744791e-01 -6.68765629e-02 -5.73208606e-03 7.48942794e+02] [ 6.68782160e-02 9.97761141e-01 9.69871311e-05 -4.41672174e+01] [ 5.71276657e-03 -4.80120095e-04 9.99983567e-01 4.10276131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5207140570001 meters Centerline goodness : 0.986981 with order 1 Centerline is valid? [True, True] Translation: X:749.01, Y:-44.16, Z:4.10 [[ 9.97117373e-01 -7.56577051e-02 -5.73207824e-03 7.49005161e+02] [ 7.56595047e-02 9.97133707e-01 9.74475068e-05 -4.41613470e+01] [ 5.70827577e-03 -5.30852802e-04 9.99983567e-01 4.10273075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.580714057 meters Centerline goodness : 0.982922 with order 1 Centerline is valid? [True, True] Translation: X:749.07, Y:-44.15, Z:4.11 [[ 9.96385889e-01 -8.47484759e-02 -5.73206915e-03 7.49067903e+02] [ 8.47504274e-02 9.96402206e-01 9.79793796e-05 -4.41540082e+01] [ 5.70314274e-03 -5.83420581e-04 9.99983567e-01 4.10531189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.640714057 meters Centerline goodness : 0.980975 with order 1 Centerline is valid? [True, True] Translation: X:749.13, Y:-44.15, Z:4.10 [[ 9.96553260e-01 -8.27571358e-02 -5.73206058e-03 7.49130207e+02] [ 8.27590575e-02 9.96569580e-01 9.84776767e-05 -4.41494713e+01] [ 5.70424748e-03 -5.72518181e-04 9.99983567e-01 4.10407576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.700714057 meters Centerline goodness : 0.985056 with order 1 Centerline is valid? [True, True] Translation: X:749.19, Y:-44.14, Z:4.10 [[ 9.96128677e-01 -8.77200239e-02 -5.73204663e-03 7.49192028e+02] [ 8.77220315e-02 9.96144987e-01 9.92835768e-05 -4.41370794e+01] [ 5.70124035e-03 -6.01725993e-04 9.99983567e-01 4.10342313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.760714057 meters Centerline goodness : 0.986193 with order 1 Centerline is valid? [True, True] Translation: X:749.25, Y:-44.13, Z:4.11 [[ 9.96438681e-01 -8.41254969e-02 -5.73203104e-03 7.49254150e+02] [ 8.41274507e-02 9.96454997e-01 1.00175250e-04 -4.41260116e+01] [ 5.70328369e-03 -5.82039653e-04 9.99983567e-01 4.10592699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.820714057 meters Centerline goodness : 0.988170 with order 1 Centerline is valid? [True, True] Translation: X:749.32, Y:-44.11, Z:4.11 [[ 9.97111006e-01 -7.57415650e-02 -5.73202381e-03 7.49316274e+02] [ 7.57433839e-02 9.97127339e-01 1.00587335e-04 -4.41138906e+01] [ 5.70793901e-03 -5.34459619e-04 9.99983567e-01 4.10557793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.880714057 meters Centerline goodness : 0.988393 with order 1 Centerline is valid? [True, True] Translation: X:749.38, Y:-44.10, Z:4.11 [[ 9.97975843e-01 -6.33353109e-02 -5.73201484e-03 7.49379056e+02] [ 6.33369294e-02 9.97992196e-01 1.01095912e-04 -4.41018809e+01] [ 5.71410314e-03 -4.63939497e-04 9.99983567e-01 4.10564618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.940714057 meters Centerline goodness : 0.981960 with order 1 Centerline is valid? [True, True] Translation: X:749.44, Y:-44.11, Z:4.11 [[ 9.99146371e-01 -4.09105600e-02 -5.73200426e-03 7.49441559e+02] [ 4.09118143e-02 9.99162756e-01 1.01692593e-04 -4.41058399e+01] [ 5.72304487e-03 -3.36112479e-04 9.99983567e-01 4.11489771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.000714057 meters Centerline goodness : 0.982293 with order 1 Centerline is valid? [True, True] Translation: X:749.50, Y:-44.09, Z:4.11 [[ 9.99490784e-01 -3.13897452e-02 -5.73199693e-03 7.49502779e+02] [ 3.13908457e-02 9.99507181e-01 1.02103720e-04 -4.40850127e+01] [ 5.72596708e-03 -2.81983958e-04 9.99983567e-01 4.11004651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.060714057 meters Centerline goodness : 0.989137 with order 1 Centerline is valid? [True, True] Translation: X:749.57, Y:-44.08, Z:4.11 [[ 9.99619675e-01 -2.69750007e-02 -5.73198723e-03 7.49565064e+02] [ 2.69760318e-02 9.99636075e-01 1.02645461e-04 -4.40779442e+01] [ 5.72713236e-03 -2.57232692e-04 9.99983567e-01 4.10507149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.120714057 meters Centerline goodness : 0.987791 with order 1 Centerline is valid? [True, True] Translation: X:749.63, Y:-44.07, Z:4.10 [[ 9.99926239e-01 -1.07079771e-02 -5.73197686e-03 7.49626872e+02] [ 1.07087446e-02 9.99942654e-01 1.03221265e-04 -4.40728618e+01] [ 5.73054287e-03 -1.64595928e-04 9.99983567e-01 4.10471224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.180714057 meters Centerline goodness : 0.980188 with order 1 Centerline is valid? [True, True] Translation: X:749.69, Y:-44.09, Z:4.11 [[ 9.99845095e-01 1.66412538e-02 -5.73196951e-03 7.49686130e+02] [-1.66409332e-02 9.99861525e-01 1.03627978e-04 -4.40872652e+01] [ 5.73290027e-03 -8.22660367e-06 9.99983567e-01 4.11426619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.240714057 meters Centerline goodness : 0.979130 with order 1 Centerline is valid? [True, True] Translation: X:749.74, Y:-44.09, Z:4.11 [[ 9.99771182e-01 2.06089317e-02 -5.73197327e-03 7.49743726e+02] [-2.06086775e-02 9.99787613e-01 1.03419504e-04 -4.40923089e+01] [ 5.73288724e-03 1.47325484e-05 9.99983567e-01 4.10991212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.300714057 meters Centerline goodness : 0.977436 with order 1 Centerline is valid? [True, True] Translation: X:749.80, Y:-44.10, Z:4.11 [[ 9.99617669e-01 2.70492092e-02 -5.73200416e-03 7.49801611e+02] [-2.70490708e-02 9.99634102e-01 1.01677982e-04 -4.40995735e+01] [ 5.73265714e-03 5.34062790e-05 9.99983567e-01 4.11346921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.360714057 meters Centerline goodness : 0.982112 with order 1 Centerline is valid? [True, True] Translation: X:749.86, Y:-44.10, Z:4.11 [[ 9.99899454e-01 1.29702286e-02 -5.73201748e-03 7.49859999e+02] [-1.29698632e-02 9.99915883e-01 1.00921591e-04 -4.40960488e+01] [ 5.73284429e-03 -2.65679616e-05 9.99983567e-01 4.11169505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.420714057 meters Centerline goodness : 0.980238 with order 1 Centerline is valid? [True, True] Translation: X:749.92, Y:-44.11, Z:4.11 [[ 9.99962926e-01 6.42572180e-03 -5.73203271e-03 7.49918391e+02] [-6.42525385e-03 9.99979353e-01 1.00048795e-04 -4.41091639e+01] [ 5.73255725e-03 -6.32153210e-05 9.99983567e-01 4.11387106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.480714057 meters Centerline goodness : 0.982809 with order 1 Centerline is valid? [True, True] Translation: X:749.98, Y:-44.13, Z:4.11 [[ 9.99921418e-01 1.11490921e-02 -5.73204342e-03 7.49977053e+02] [-1.11487053e-02 9.99937846e-01 9.94314429e-05 -4.41278975e+01] [ 5.73279573e-03 -3.55187664e-05 9.99983567e-01 4.10504843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5407140570001 meters Centerline goodness : 0.975516 with order 1 Centerline is valid? [True, True] Translation: X:750.04, Y:-44.15, Z:4.11 [[ 9.99879728e-01 1.44108841e-02 -5.73205115e-03 7.50035696e+02] [-1.44105534e-02 9.99896158e-01 9.89840444e-05 -4.41518836e+01] [ 5.73288237e-03 -1.63701100e-05 9.99983567e-01 4.11479299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.600714057 meters Centerline goodness : 0.976120 with order 1 Centerline is valid? [True, True] Translation: X:750.09, Y:-44.16, Z:4.12 [[ 9.99909729e-01 1.21522211e-02 -5.73205642e-03 7.50094075e+02] [-1.21518551e-02 9.99926159e-01 9.86781035e-05 -4.41558476e+01] [ 5.73283231e-03 -2.90140768e-05 9.99983567e-01 4.11683585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6607140570001 meters Centerline goodness : 0.985381 with order 1 Centerline is valid? [True, True] Translation: X:750.15, Y:-44.16, Z:4.11 [[ 9.99983539e-01 2.56062856e-04 -5.73206347e-03 7.50151846e+02] [-2.55503781e-04 9.99999963e-01 9.82666300e-05 -4.41623289e+01] [ 5.73208842e-03 -9.68004486e-05 9.99983567e-01 4.10640910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.720714057 meters Centerline goodness : 0.980762 with order 1 Centerline is valid? [True, True] Translation: X:750.21, Y:-44.20, Z:4.10 [[ 9.99931779e-01 1.01774319e-02 -5.73207213e-03 7.50211452e+02] [-1.01770387e-02 9.99948208e-01 9.77585689e-05 -4.41978799e+01] [ 5.73277019e-03 -3.94163799e-05 9.99983567e-01 4.10079154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7807140570001 meters Centerline goodness : 0.987079 with order 1 Centerline is valid? [True, True] Translation: X:750.27, Y:-44.20, Z:4.11 [[ 9.99905959e-01 -1.24585746e-02 -5.73207591e-03 7.50271381e+02] [ 1.24593383e-02 9.99922375e-01 9.75366556e-05 -4.41955991e+01] [ 5.73041579e-03 -1.68945356e-04 9.99983567e-01 4.10886658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.840714057 meters Centerline goodness : 0.985119 with order 1 Centerline is valid? [True, True] Translation: X:750.33, Y:-44.22, Z:4.10 [[ 9.99973216e-01 -4.55096601e-03 -5.73207764e-03 7.50329803e+02] [ 4.55159927e-03 9.99989637e-01 9.74349936e-05 -4.42233703e+01] [ 5.73157481e-03 -1.23522504e-04 9.99983567e-01 4.10055776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9007140570001 meters Centerline goodness : 0.988961 with order 1 Centerline is valid? [True, True] Translation: X:750.39, Y:-44.22, Z:4.11 [[ 9.99623783e-01 -2.68223174e-02 -5.73208109e-03 7.50390053e+02] [ 2.68233150e-02 9.99640185e-01 9.72317929e-05 -4.42150603e+01] [ 5.72741062e-03 -2.50948629e-04 9.99983567e-01 4.11166876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.960714057 meters Centerline goodness : 0.989319 with order 1 Centerline is valid? [True, True] Translation: X:750.45, Y:-44.22, Z:4.11 [[ 9.99388564e-01 -3.44911696e-02 -5.73208277e-03 7.50451371e+02] [ 3.44922926e-02 9.99404959e-01 9.71321150e-05 -4.42235133e+01] [ 5.72532175e-03 -2.94785401e-04 9.99983567e-01 4.11390348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0207140570001 meters Centerline goodness : 0.990580 with order 1 Centerline is valid? [True, True] Translation: X:750.51, Y:-44.23, Z:4.11 [[ 9.99221843e-01 -3.90237232e-02 -5.73207934e-03 7.50512285e+02] [ 3.90249216e-02 9.99238233e-01 9.73344424e-05 -4.42265093e+01] [ 5.72391448e-03 -3.20952648e-04 9.99983567e-01 4.11446704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.080714057 meters Centerline goodness : 0.987242 with order 1 Centerline is valid? [True, True] Translation: X:750.57, Y:-44.24, Z:4.10 [[ 9.99518330e-01 -3.05000145e-02 -5.73207581e-03 7.50572984e+02] [ 3.05010743e-02 9.99534729e-01 9.75418022e-05 -4.42441084e+01] [ 5.72643382e-03 -2.72329290e-04 9.99983567e-01 4.10242209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.140714057 meters Centerline goodness : 0.989307 with order 1 Centerline is valid? [True, True] Translation: X:750.63, Y:-44.23, Z:4.11 [[ 9.98596014e-01 -5.26606435e-02 -5.73207433e-03 7.50632464e+02] [ 5.26620672e-02 9.98612386e-01 9.76288096e-05 -4.42251881e+01] [ 5.71897923e-03 -3.99354624e-04 9.99983567e-01 4.11236543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.200714057 meters Centerline goodness : 0.985357 with order 1 Centerline is valid? [True, True] Translation: X:750.69, Y:-44.23, Z:4.11 [[ 9.98557103e-01 -5.33934080e-02 -5.73207579e-03 7.50694970e+02] [ 5.33948433e-02 9.98573473e-01 9.75428651e-05 -4.42310526e+01] [ 5.71869068e-03 -4.03465409e-04 9.99983567e-01 4.11217559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.260714057 meters Centerline goodness : 0.988605 with order 1 Centerline is valid? [True, True] Translation: X:750.76, Y:-44.22, Z:4.11 [[ 9.97846735e-01 -6.53378720e-02 -5.73206865e-03 7.50757301e+02] [ 6.53395054e-02 9.97863087e-01 9.79606907e-05 -4.42163170e+01] [ 5.71341917e-03 -4.72280286e-04 9.99983567e-01 4.11177013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.320714057 meters Centerline goodness : 0.985797 with order 1 Centerline is valid? [True, True] Translation: X:750.82, Y:-44.21, Z:4.11 [[ 9.97537355e-01 -6.99025731e-02 -5.73206162e-03 7.50819324e+02] [ 6.99042836e-02 9.97553699e-01 9.83705278e-05 -4.42053823e+01] [ 5.71116291e-03 -4.98823937e-04 9.99983567e-01 4.11264506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.380714057 meters Centerline goodness : 0.984521 with order 1 Centerline is valid? [True, True] Translation: X:750.88, Y:-44.19, Z:4.11 [[ 9.97462224e-01 -7.09665842e-02 -5.73205442e-03 7.50882103e+02] [ 7.09683146e-02 9.97478565e-01 9.87879957e-05 -4.41940730e+01] [ 5.71059078e-03 -5.05331535e-04 9.99983567e-01 4.11237704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.440714057 meters Centerline goodness : 0.984879 with order 1 Centerline is valid? [True, True] Translation: X:750.95, Y:-44.18, Z:4.11 [[ 9.97596543e-01 -6.90527428e-02 -5.73204708e-03 7.50945152e+02] [ 6.90544442e-02 9.97612888e-01 9.92123655e-05 -4.41799359e+01] [ 5.71151315e-03 -4.94797238e-04 9.99983567e-01 4.11279704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.500714057 meters Centerline goodness : 0.984809 with order 1 Centerline is valid? [True, True] Translation: X:751.01, Y:-44.17, Z:4.11 [[ 9.97665791e-01 -6.80449284e-02 -5.73203607e-03 7.51008508e+02] [ 6.80466170e-02 9.97682138e-01 9.98444940e-05 -4.41705869e+01] [ 5.71195608e-03 -4.89657099e-04 9.99983567e-01 4.11270462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.560714057 meters Centerline goodness : 0.985930 with order 1 Centerline is valid? [True, True] Translation: X:751.07, Y:-44.16, Z:4.11 [[ 9.97555188e-01 -6.96476137e-02 -5.73202510e-03 7.51070774e+02] [ 6.96493320e-02 9.97571532e-01 1.00469864e-04 -4.41562576e+01] [ 5.71110758e-03 -4.99455954e-04 9.99983567e-01 4.11197509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.620714057 meters Centerline goodness : 0.986439 with order 1 Centerline is valid? [True, True] Translation: X:751.13, Y:-44.14, Z:4.11 [[ 9.97211265e-01 -7.44099224e-02 -5.73201607e-03 7.51133963e+02] [ 7.44117217e-02 9.97227600e-01 1.00982886e-04 -4.41441149e+01] [ 5.70861049e-03 -5.27230455e-04 9.99983567e-01 4.11305386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.680714057 meters Centerline goodness : 0.987749 with order 1 Centerline is valid? [True, True] Translation: X:751.20, Y:-44.13, Z:4.11 [[ 9.96721728e-01 -8.07027953e-02 -5.73200522e-03 7.51196309e+02] [ 8.07047012e-02 9.96738050e-01 1.01594727e-04 -4.41303576e+01] [ 5.70510873e-03 -5.63861441e-04 9.99983567e-01 4.11220943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.740714057 meters Centerline goodness : 0.987936 with order 1 Centerline is valid? [True, True] Translation: X:751.26, Y:-44.12, Z:4.11 [[ 9.96408447e-01 -8.44828472e-02 -5.73199791e-03 7.51257417e+02] [ 8.44848173e-02 9.96424761e-01 1.02005509e-04 -4.41221529e+01] [ 5.70288694e-03 -5.85905947e-04 9.99983567e-01 4.11060312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.800714057 meters Centerline goodness : 0.988245 with order 1 Centerline is valid? [True, True] Translation: X:751.32, Y:-44.11, Z:4.11 [[ 9.96146031e-01 -8.75227313e-02 -5.73199249e-03 7.51320213e+02] [ 8.75247528e-02 9.96162340e-01 1.02309332e-04 -4.41080732e+01] [ 5.70104066e-03 -6.03606261e-04 9.99983567e-01 4.11203668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.860714057 meters Centerline goodness : 0.984248 with order 1 Centerline is valid? [True, True] Translation: X:751.38, Y:-44.10, Z:4.13 [[ 9.97042747e-01 -7.66348768e-02 -5.73198516e-03 7.51382488e+02] [ 7.66367224e-02 9.97059077e-01 1.02718218e-04 -4.41020375e+01] [ 5.70725603e-03 -5.41695010e-04 9.99983567e-01 4.12757318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.920714057 meters Centerline goodness : 0.983234 with order 1 Centerline is valid? [True, True] Translation: X:751.44, Y:-44.09, Z:4.13 [[ 9.97106457e-01 -7.58014361e-02 -5.73197746e-03 7.51443640e+02] [ 7.58032705e-02 9.97122788e-01 1.03146353e-04 -4.40851890e+01] [ 5.70766670e-03 -5.37350532e-04 9.99983567e-01 4.13297764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.980714057 meters Centerline goodness : 0.983029 with order 1 Centerline is valid? [True, True] Translation: X:751.51, Y:-44.08, Z:4.13 [[ 9.97382080e-01 -7.20841942e-02 -5.73195295e-03 7.51505596e+02] [ 7.20859754e-02 9.97398417e-01 1.04490645e-04 -4.40783898e+01] [ 5.70950867e-03 -5.17410517e-04 9.99983567e-01 4.13117979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0407140570001 meters Centerline goodness : 0.983992 with order 1 Centerline is valid? [True, True] Translation: X:751.57, Y:-44.06, Z:4.13 [[ 9.97235229e-01 -7.40880788e-02 -5.73194506e-03 7.51567773e+02] [ 7.40898953e-02 9.97251561e-01 1.04921663e-04 -4.40649822e+01] [ 5.70841772e-03 -5.29310788e-04 9.99983567e-01 4.12839979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.100714057 meters Centerline goodness : 0.983816 with order 1 Centerline is valid? [True, True] Translation: X:751.63, Y:-44.05, Z:4.12 [[ 9.97410113e-01 -7.16952677e-02 -5.73193908e-03 7.51629143e+02] [ 7.16970469e-02 9.97426450e-01 1.05247639e-04 -4.40541639e+01] [ 5.70964189e-03 -5.15938164e-04 9.99983567e-01 4.12447449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1607140570001 meters Centerline goodness : 0.984299 with order 1 Centerline is valid? [True, True] Translation: X:751.69, Y:-44.05, Z:4.12 [[ 9.97659708e-01 -6.81340807e-02 -5.73191332e-03 7.51692313e+02] [ 6.81358094e-02 9.97676050e-01 1.06632295e-04 -4.40457962e+01] [ 5.71132734e-03 -4.96931297e-04 9.99983567e-01 4.12495935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.220714057 meters Centerline goodness : 0.982984 with order 1 Centerline is valid? [True, True] Translation: X:751.75, Y:-44.03, Z:4.13 [[ 9.98352069e-01 -5.70989711e-02 -5.73188050e-03 7.51754102e+02] [ 5.71005289e-02 9.98368428e-01 1.08367921e-04 -4.40349144e+01] [ 5.71634083e-03 -4.35482747e-04 9.99983567e-01 4.12612791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2807140570001 meters Centerline goodness : 0.983084 with order 1 Centerline is valid? [True, True] Translation: X:751.82, Y:-44.03, Z:4.12 [[ 9.99029628e-01 -4.36686055e-02 -5.73187440e-03 7.51815183e+02] [ 4.36699450e-02 9.99046007e-01 1.08689677e-04 -4.40261866e+01] [ 5.72165991e-03 -3.58894848e-04 9.99983567e-01 4.12211294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.340714057 meters Centerline goodness : 0.982472 with order 1 Centerline is valid? [True, True] Translation: X:751.88, Y:-44.02, Z:4.12 [[ 9.99514842e-01 -3.06141509e-02 -5.73185833e-03 7.51877314e+02] [ 3.06152812e-02 9.99531236e-01 1.09531007e-04 -4.40161641e+01] [ 5.72581824e-03 -2.84960322e-04 9.99983567e-01 4.12224081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4007140570001 meters Centerline goodness : 0.982224 with order 1 Centerline is valid? [True, True] Translation: X:751.94, Y:-44.01, Z:4.12 [[ 9.99741248e-01 -2.20132234e-02 -5.73185029e-03 7.51938605e+02] [ 2.20142149e-02 9.99757652e-01 1.09950030e-04 -4.40137069e+01] [ 5.72804083e-03 -2.36103764e-04 9.99983567e-01 4.12092182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.460714057 meters Centerline goodness : 0.983034 with order 1 Centerline is valid? [True, True] Translation: X:752.00, Y:-44.01, Z:4.12 [[ 9.99834033e-01 -1.72931154e-02 -5.73183442e-03 7.51999728e+02] [ 1.72940342e-02 9.99850441e-01 1.10771299e-04 -4.40109124e+01] [ 5.72906159e-03 -2.09879456e-04 9.99983567e-01 4.12171443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5207140570001 meters Centerline goodness : 0.982559 with order 1 Centerline is valid? [True, True] Translation: X:752.06, Y:-44.01, Z:4.12 [[ 9.99917109e-01 -1.15291403e-02 -5.73182296e-03 7.52060797e+02] [ 1.15299679e-02 9.99933522e-01 1.11361134e-04 -4.40112318e+01] [ 5.73015802e-03 -1.77439638e-04 9.99983567e-01 4.11844517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.580714057 meters Centerline goodness : 0.983601 with order 1 Centerline is valid? [True, True] Translation: X:752.12, Y:-44.01, Z:4.11 [[ 9.99939509e-01 -9.38749490e-03 -5.73181899e-03 7.52121941e+02] [ 9.38828851e-03 9.99955923e-01 1.11565040e-04 -4.40107204e+01] [ 5.73051903e-03 -1.65370261e-04 9.99983567e-01 4.11226061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.640714057 meters Centerline goodness : 0.988953 with order 1 Centerline is valid? [True, True] Translation: X:752.18, Y:-43.99, Z:4.12 [[ 9.99857100e-01 -1.59036580e-02 -5.73181696e-03 7.52183109e+02] [ 1.59045591e-02 9.99873508e-01 1.11668876e-04 -4.39927145e+01] [ 5.72931599e-03 -2.02814940e-04 9.99983567e-01 4.12198091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.700714057 meters Centerline goodness : 0.987995 with order 1 Centerline is valid? [True, True] Translation: X:752.25, Y:-44.00, Z:4.12 [[ 9.99952895e-01 -7.83289812e-03 -5.73180091e-03 7.52245352e+02] [ 7.83367148e-03 9.99969310e-01 1.12486784e-04 -4.39965039e+01] [ 5.73074391e-03 -1.57382530e-04 9.99983567e-01 4.12217161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.760714057 meters Centerline goodness : 0.983228 with order 1 Centerline is valid? [True, True] Translation: X:752.31, Y:-44.01, Z:4.12 [[ 9.99938465e-01 9.49807850e-03 -5.73179288e-03 7.52305108e+02] [-9.49758740e-03 9.99954891e-01 1.12894545e-04 -4.40148828e+01] [ 5.73260660e-03 -5.84493943e-05 9.99983567e-01 4.11673694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.820714057 meters Centerline goodness : 0.988097 with order 1 Centerline is valid? [True, True] Translation: X:752.36, Y:-44.01, Z:4.12 [[ 9.99972332e-01 -4.74142040e-03 -5.73179507e-03 7.52363010e+02] [ 4.74214471e-03 9.99988750e-01 1.12783228e-04 -4.40092200e+01] [ 5.73119583e-03 -1.39961109e-04 9.99983567e-01 4.12383687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.880714057 meters Centerline goodness : 0.980719 with order 1 Centerline is valid? [True, True] Translation: X:752.42, Y:-44.04, Z:4.13 [[ 9.99982525e-01 1.44813441e-03 -5.73180598e-03 7.52422152e+02] [-1.44751493e-03 9.99998946e-01 1.12226150e-04 -4.40358047e+01] [ 5.73196246e-03 -1.03927314e-04 9.99983567e-01 4.12989204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.940714057 meters Centerline goodness : 0.987724 with order 1 Centerline is valid? [True, True] Translation: X:752.48, Y:-44.03, Z:4.13 [[ 9.99804444e-01 -1.89267304e-02 -5.73181026e-03 7.52480634e+02] [ 1.89276831e-02 9.99820849e-01 1.12007150e-04 -4.40319595e+01] [ 5.72866347e-03 -2.20475135e-04 9.99983567e-01 4.12519922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.000714057 meters Centerline goodness : 0.980146 with order 1 Centerline is valid? [True, True] Translation: X:752.54, Y:-44.05, Z:4.13 [[ 9.99600913e-01 -2.76615360e-02 -5.73181648e-03 7.52541788e+02] [ 2.76626302e-02 9.99617310e-01 1.11687938e-04 -4.40463530e+01] [ 5.72653351e-03 -2.70200484e-04 9.99983567e-01 4.12536901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.060714057 meters Centerline goodness : 0.988111 with order 1 Centerline is valid? [True, True] Translation: X:752.60, Y:-44.06, Z:4.12 [[ 9.99185205e-01 -3.99508801e-02 -5.73180595e-03 7.52604036e+02] [ 3.99521789e-02 9.99201587e-01 1.12225560e-04 -4.40608588e+01] [ 5.72274609e-03 -3.41132256e-04 9.99983567e-01 4.12294393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.120714057 meters Centerline goodness : 0.982179 with order 1 Centerline is valid? [True, True] Translation: X:752.66, Y:-44.10, Z:4.11 [[ 9.99594057e-01 -2.79082021e-02 -5.73179512e-03 7.52664539e+02] [ 2.79093065e-02 9.99610453e-01 1.12776311e-04 -4.40961224e+01] [ 5.72641493e-03 -2.72700957e-04 9.99983567e-01 4.10752408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.180714057 meters Centerline goodness : 0.987744 with order 1 Centerline is valid? [True, True] Translation: X:752.72, Y:-44.08, Z:4.12 [[ 9.98852130e-01 -4.75559531e-02 -5.73179446e-03 7.52724685e+02] [ 4.75573799e-02 9.98868501e-01 1.12809508e-04 -4.40782699e+01] [ 5.71994418e-03 -3.85269144e-04 9.99983567e-01 4.12426549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.240714057 meters Centerline goodness : 0.987770 with order 1 Centerline is valid? [True, True] Translation: X:752.79, Y:-44.09, Z:4.12 [[ 9.98795879e-01 -4.87230912e-02 -5.73179613e-03 7.52787312e+02] [ 4.87245366e-02 9.98812248e-01 1.12724853e-04 -4.40856588e+01] [ 5.71949587e-03 -3.91868229e-04 9.99983567e-01 4.12345870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.300714057 meters Centerline goodness : 0.988681 with order 1 Centerline is valid? [True, True] Translation: X:752.85, Y:-44.09, Z:4.12 [[ 9.98694605e-01 -5.07566044e-02 -5.73178372e-03 7.52850100e+02] [ 5.07580868e-02 9.98710971e-01 1.13352280e-04 -4.40926764e+01] [ 5.71864191e-03 -4.04138686e-04 9.99983567e-01 4.12415545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.360714057 meters Centerline goodness : 0.988747 with order 1 Centerline is valid? [True, True] Translation: X:752.91, Y:-44.10, Z:4.12 [[ 9.98531686e-01 -5.38666747e-02 -5.73177137e-03 7.52913327e+02] [ 5.38682115e-02 9.98548047e-01 1.13973309e-04 -4.40967242e+01] [ 5.71730975e-03 -4.22566234e-04 9.99983567e-01 4.12405470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.420714057 meters Centerline goodness : 0.988610 with order 1 Centerline is valid? [True, True] Translation: X:752.98, Y:-44.10, Z:4.12 [[ 9.98107747e-01 -6.12215017e-02 -5.73175902e-03 7.52976006e+02] [ 6.12231626e-02 9.98124096e-01 1.14591188e-04 -4.40991090e+01] [ 5.71399134e-03 -4.65290767e-04 9.99983567e-01 4.12342371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.480714057 meters Centerline goodness : 0.988613 with order 1 Centerline is valid? [True, True] Translation: X:753.04, Y:-44.10, Z:4.12 [[ 9.97519337e-01 -7.01592457e-02 -5.73174673e-03 7.53037657e+02] [ 7.01610564e-02 9.97535670e-01 1.15202355e-04 -4.41032293e+01] [ 5.70953931e-03 -5.17061982e-04 9.99983567e-01 4.12147607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5407140570001 meters Centerline goodness : 0.988055 with order 1 Centerline is valid? [True, True] Translation: X:753.10, Y:-44.10, Z:4.12 [[ 9.97147687e-01 -7.52571428e-02 -5.73171622e-03 7.53100456e+02] [ 7.52590456e-02 9.97164010e-01 1.16700877e-04 -4.41029705e+01] [ 5.70667856e-03 -5.47731502e-04 9.99983567e-01 4.12277117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.600714057 meters Centerline goodness : 0.985859 with order 1 Centerline is valid? [True, True] Translation: X:753.16, Y:-44.10, Z:4.13 [[ 9.97407515e-01 -7.17314204e-02 -5.73170340e-03 7.53162892e+02] [ 7.17332689e-02 9.97423844e-01 1.17327348e-04 -4.41045903e+01] [ 5.70852158e-03 -5.28177001e-04 9.99983567e-01 4.13178508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6607140570001 meters Centerline goodness : 0.977764 with order 1 Centerline is valid? [True, True] Translation: X:753.22, Y:-44.10, Z:4.13 [[ 9.97482844e-01 -7.06761852e-02 -5.73169102e-03 7.53224734e+02] [ 7.06780199e-02 9.97499175e-01 1.17928883e-04 -4.40989839e+01] [ 5.70902230e-03 -5.22736610e-04 9.99983567e-01 4.13261281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.720714057 meters Centerline goodness : 0.988581 with order 1 Centerline is valid? [True, True] Translation: X:753.29, Y:-44.10, Z:4.13 [[ 9.97634301e-01 -6.85051103e-02 -5.73166886e-03 7.53286909e+02] [ 6.85069156e-02 9.97650634e-01 1.18996252e-04 -4.40964450e+01] [ 5.71005123e-03 -5.11373698e-04 9.99983567e-01 4.12577081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7807140570001 meters Centerline goodness : 0.988493 with order 1 Centerline is valid? [True, True] Translation: X:753.35, Y:-44.09, Z:4.13 [[ 9.97782405e-01 -6.63130461e-02 -5.73165692e-03 7.53349854e+02] [ 6.63148187e-02 9.97798743e-01 1.19568730e-04 -4.40926835e+01] [ 5.71111110e-03 -4.99397365e-04 9.99983567e-01 4.12614661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.840714057 meters Centerline goodness : 0.978239 with order 1 Centerline is valid? [True, True] Translation: X:753.41, Y:-44.09, Z:4.13 [[ 9.97794461e-01 -6.61313957e-02 -5.73164410e-03 7.53411717e+02] [ 6.61331688e-02 9.97810798e-01 1.20179955e-04 -4.40888445e+01] [ 5.71114871e-03 -4.98966681e-04 9.99983567e-01 4.13357873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9007140570001 meters Centerline goodness : 0.981759 with order 1 Centerline is valid? [True, True] Translation: X:753.47, Y:-44.11, Z:4.12 [[ 9.98768686e-01 -4.92773786e-02 -5.73163111e-03 7.53473154e+02] [ 4.92788792e-02 9.98785051e-01 1.20796582e-04 -4.41071020e+01] [ 5.71871493e-03 -4.03096200e-04 9.99983567e-01 4.11537827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.960714057 meters Centerline goodness : 0.988034 with order 1 Centerline is valid? [True, True] Translation: X:753.53, Y:-44.08, Z:4.12 [[ 9.97520593e-01 -7.01413866e-02 -5.73162196e-03 7.53533405e+02] [ 7.01432314e-02 9.97536923e-01 1.21229116e-04 -4.40785894e+01] [ 5.70900136e-03 -5.22963025e-04 9.99983567e-01 4.12305181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0207140570001 meters Centerline goodness : 0.987502 with order 1 Centerline is valid? [True, True] Translation: X:753.60, Y:-44.07, Z:4.12 [[ 9.97405494e-01 -7.17595190e-02 -5.73162279e-03 7.53596245e+02] [ 7.17613901e-02 9.97421821e-01 1.21189887e-04 -4.40718954e+01] [ 5.70814911e-03 -5.32184678e-04 9.99983567e-01 4.12359146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.080714057 meters Centerline goodness : 0.987049 with order 1 Centerline is valid? [True, True] Translation: X:753.66, Y:-44.06, Z:4.12 [[ 9.97332958e-01 -7.27607081e-02 -5.73158754e-03 7.53658926e+02] [ 7.27626049e-02 9.97349281e-01 1.22834625e-04 -4.40638087e+01] [ 5.70745718e-03 -5.39552259e-04 9.99983567e-01 4.12447849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.140714057 meters Centerline goodness : 0.974487 with order 1 Centerline is valid? [True, True] Translation: X:753.72, Y:-44.06, Z:4.13 [[ 9.97342165e-01 -7.26343942e-02 -5.73156566e-03 7.53721139e+02] [ 7.26362947e-02 9.97358488e-01 1.23847474e-04 -4.40553548e+01] [ 5.70743007e-03 -5.39838000e-04 9.99983567e-01 4.13154392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.200714057 meters Centerline goodness : 0.987006 with order 1 Centerline is valid? [True, True] Translation: X:753.78, Y:-44.05, Z:4.13 [[ 9.97209749e-01 -7.44302706e-02 -5.73155085e-03 7.53783701e+02] [ 7.44322044e-02 9.97226068e-01 1.24529124e-04 -4.40528849e+01] [ 5.70638318e-03 -5.50793621e-04 9.99983567e-01 4.12544087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.260714057 meters Centerline goodness : 0.979360 with order 1 Centerline is valid? [True, True] Translation: X:753.84, Y:-44.07, Z:4.11 [[ 9.98605789e-01 -5.24750101e-02 -5.73153846e-03 7.53843822e+02] [ 5.24765876e-02 9.98622147e-01 1.25096510e-04 -4.40727234e+01] [ 5.71707680e-03 -4.25693679e-04 9.99983567e-01 4.10804227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.320714057 meters Centerline goodness : 0.980552 with order 1 Centerline is valid? [True, True] Translation: X:753.90, Y:-44.06, Z:4.12 [[ 9.98117686e-01 -6.10592748e-02 -5.73153869e-03 7.53904574e+02] [ 6.10609929e-02 9.98134029e-01 1.25086049e-04 -4.40614658e+01] [ 5.71320614e-03 -4.74824042e-04 9.99983567e-01 4.11648535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.380714057 meters Centerline goodness : 0.980894 with order 1 Centerline is valid? [True, True] Translation: X:753.97, Y:-44.06, Z:4.12 [[ 9.97926037e-01 -6.41153269e-02 -5.73153830e-03 7.53965700e+02] [ 6.41170951e-02 9.97942374e-01 1.25104052e-04 -4.40593996e+01] [ 5.71172385e-03 -4.92334177e-04 9.99983567e-01 4.12032707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.440714057 meters Centerline goodness : 0.988757 with order 1 Centerline is valid? [True, True] Translation: X:754.03, Y:-44.04, Z:4.12 [[ 9.96646856e-01 -8.16222604e-02 -5.73150771e-03 7.54027071e+02] [ 8.16243230e-02 9.96663160e-01 1.26489968e-04 -4.40365985e+01] [ 5.70205819e-03 -5.93896266e-04 9.99983567e-01 4.12476358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.500714057 meters Centerline goodness : 0.982749 with order 1 Centerline is valid? [True, True] Translation: X:754.09, Y:-44.05, Z:4.12 [[ 9.97935489e-01 -6.39680386e-02 -5.73149885e-03 7.54088567e+02] [ 6.39698146e-02 9.97951826e-01 1.26890139e-04 -4.40529383e+01] [ 5.71164283e-03 -4.93271092e-04 9.99983567e-01 4.11716549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.560714057 meters Centerline goodness : 0.990226 with order 1 Centerline is valid? [True, True] Translation: X:754.15, Y:-44.03, Z:4.13 [[ 9.96777106e-01 -8.00159423e-02 -5.73148989e-03 7.54150863e+02] [ 8.00179832e-02 9.96793412e-01 1.27293638e-04 -4.40279355e+01] [ 5.70292584e-03 -5.85505646e-04 9.99983567e-01 4.12684118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.620714057 meters Centerline goodness : 0.985112 with order 1 Centerline is valid? [True, True] Translation: X:754.21, Y:-44.03, Z:4.13 [[ 9.97558475e-01 -6.96005750e-02 -5.73146160e-03 7.54213553e+02] [ 6.96024527e-02 9.97574800e-01 1.28554912e-04 -4.40336324e+01] [ 5.70861417e-03 -5.27164827e-04 9.99983567e-01 4.13302213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.680714057 meters Centerline goodness : 0.990569 with order 1 Centerline is valid? [True, True] Translation: X:754.28, Y:-44.02, Z:4.13 [[ 9.96979249e-01 -7.74566177e-02 -5.73142598e-03 7.54277499e+02] [ 7.74586329e-02 9.96995558e-01 1.30123962e-04 -4.40200456e+01] [ 5.70412728e-03 -5.73679311e-04 9.99983567e-01 4.12984165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.740714057 meters Centerline goodness : 0.986430 with order 1 Centerline is valid? [True, True] Translation: X:754.34, Y:-44.03, Z:4.13 [[ 9.97422793e-01 -7.15186931e-02 -5.73138833e-03 7.54340750e+02] [ 7.15206204e-02 9.97439113e-01 1.31761500e-04 -4.40292948e+01] [ 5.70728748e-03 -5.41334373e-04 9.99983567e-01 4.12811978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.800714057 meters Centerline goodness : 0.988017 with order 1 Centerline is valid? [True, True] Translation: X:754.40, Y:-44.02, Z:4.13 [[ 9.96688504e-01 -8.11121240e-02 -5.73135006e-03 7.54403624e+02] [ 8.11142176e-02 9.96704804e-01 1.33405757e-04 -4.40174031e+01] [ 5.70164331e-03 -5.97857960e-04 9.99983567e-01 4.12997924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.860714057 meters Centerline goodness : 0.989558 with order 1 Centerline is valid? [True, True] Translation: X:754.47, Y:-44.02, Z:4.13 [[ 9.96751665e-01 -8.03322552e-02 -5.73130706e-03 7.54466245e+02] [ 8.03343464e-02 9.96767964e-01 1.35228055e-04 -4.40183425e+01] [ 5.70192010e-03 -5.95209596e-04 9.99983567e-01 4.12686365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.920714057 meters Centerline goodness : 0.985134 with order 1 Centerline is valid? [True, True] Translation: X:754.53, Y:-44.03, Z:4.13 [[ 9.97479209e-01 -7.07275081e-02 -5.73126326e-03 7.54527923e+02] [ 7.07294527e-02 9.97495527e-01 1.37059541e-04 -4.40296385e+01] [ 5.70721559e-03 -5.42083157e-04 9.99983567e-01 4.12876215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.980714057 meters Centerline goodness : 0.986999 with order 1 Centerline is valid? [True, True] Translation: X:754.59, Y:-44.03, Z:4.13 [[ 9.97615533e-01 -6.87779141e-02 -5.73121932e-03 7.54591172e+02] [ 6.87798371e-02 9.97631853e-01 1.38873001e-04 -4.40256992e+01] [ 5.70809556e-03 -5.32734194e-04 9.99983567e-01 4.12820390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0407140570001 meters Centerline goodness : 0.987486 with order 1 Centerline is valid? [True, True] Translation: X:754.65, Y:-44.02, Z:4.13 [[ 9.97885095e-01 -6.47494392e-02 -5.73117732e-03 7.54653921e+02] [ 6.47513060e-02 9.97901422e-01 1.40585228e-04 -4.40247976e+01] [ 5.71004719e-03 -5.11389120e-04 9.99983567e-01 4.12853590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.100714057 meters Centerline goodness : 0.987391 with order 1 Centerline is valid? [True, True] Translation: X:754.72, Y:-44.02, Z:4.13 [[ 9.98068452e-01 -6.18588666e-02 -5.73113420e-03 7.54717464e+02] [ 6.18606960e-02 9.98084783e-01 1.42321548e-04 -4.40221300e+01] [ 5.71135399e-03 -4.96578598e-04 9.99983567e-01 4.13100396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1607140570001 meters Centerline goodness : 0.987397 with order 1 Centerline is valid? [True, True] Translation: X:754.78, Y:-44.02, Z:4.13 [[ 9.98106171e-01 -6.12472559e-02 -5.73109038e-03 7.54780338e+02] [ 6.12490852e-02 9.98122502e-01 1.44064960e-04 -4.40225950e+01] [ 5.71150668e-03 -4.94816168e-04 9.99983567e-01 4.13075014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.220714057 meters Centerline goodness : 0.987102 with order 1 Centerline is valid? [True, True] Translation: X:754.84, Y:-44.02, Z:4.13 [[ 9.98001055e-01 -6.29368663e-02 -5.73104492e-03 7.54842213e+02] [ 6.29387335e-02 9.98017382e-01 1.45851035e-04 -4.40212268e+01] [ 5.71050304e-03 -5.06264196e-04 9.99983567e-01 4.13091577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2807140570001 meters Centerline goodness : 0.988027 with order 1 Centerline is valid? [True, True] Translation: X:754.90, Y:-44.02, Z:4.13 [[ 9.97958322e-01 -6.36108693e-02 -5.73101687e-03 7.54904345e+02] [ 6.36127537e-02 9.97974647e-01 1.46945019e-04 -4.40222856e+01] [ 5.71006224e-03 -5.11210769e-04 9.99983567e-01 4.12785477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.340714057 meters Centerline goodness : 0.988102 with order 1 Centerline is valid? [True, True] Translation: X:754.97, Y:-44.02, Z:4.13 [[ 9.98079852e-01 -6.16746778e-02 -5.73097522e-03 7.54967145e+02] [ 6.16765398e-02 9.98096179e-01 1.48552112e-04 -4.40217697e+01] [ 5.71090256e-03 -5.01733590e-04 9.99983567e-01 4.13002202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4007140570001 meters Centerline goodness : 0.987111 with order 1 Centerline is valid? [True, True] Translation: X:755.03, Y:-44.02, Z:4.13 [[ 9.98343530e-01 -5.72481750e-02 -5.73093178e-03 7.55030055e+02] [ 5.72499740e-02 9.98359864e-01 1.50209262e-04 -4.40218208e+01] [ 5.71293307e-03 -4.78056140e-04 9.99983567e-01 4.13099172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.460714057 meters Centerline goodness : 0.987121 with order 1 Centerline is valid? [True, True] Translation: X:755.09, Y:-44.02, Z:4.13 [[ 9.98553435e-01 -5.34620906e-02 -5.73088799e-03 7.55093448e+02] [ 5.34638370e-02 9.98569775e-01 1.51861836e-04 -4.40209794e+01] [ 5.71457268e-03 -4.58037419e-04 9.99983567e-01 4.13287360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5207140570001 meters Centerline goodness : 0.986406 with order 1 Centerline is valid? [True, True] Translation: X:755.16, Y:-44.02, Z:4.13 [[ 9.98900941e-01 -4.65195438e-02 -5.73084129e-03 7.55155079e+02] [ 4.65211866e-02 9.98917292e-01 1.53604244e-04 -4.40215583e+01] [ 5.71749086e-03 -4.20040961e-04 9.99983567e-01 4.13472209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.580714057 meters Centerline goodness : 0.987403 with order 1 Centerline is valid? [True, True] Translation: X:755.22, Y:-44.02, Z:4.13 [[ 9.99144294e-01 -4.09614074e-02 -5.73080352e-03 7.55217919e+02] [ 4.09629671e-02 9.99160653e-01 1.55000525e-04 -4.40229502e+01] [ 5.71964435e-03 -3.89618607e-04 9.99983567e-01 4.13123576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.640714057 meters Centerline goodness : 0.987949 with order 1 Centerline is valid? [True, True] Translation: X:755.28, Y:-44.01, Z:4.13 [[ 9.98832261e-01 -4.79715701e-02 -5.73078649e-03 7.55280615e+02] [ 4.79732481e-02 9.98848609e-01 1.55627843e-04 -4.40119139e+01] [ 5.71672240e-03 -4.30370553e-04 9.99983567e-01 4.13249487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.700714057 meters Centerline goodness : 0.986785 with order 1 Centerline is valid? [True, True] Translation: X:755.34, Y:-44.01, Z:4.13 [[ 9.98976466e-01 -4.48684604e-02 -5.73077152e-03 7.55341480e+02] [ 4.48700907e-02 9.98992818e-01 1.56177178e-04 -4.40130566e+01] [ 5.71799216e-03 -4.13157563e-04 9.99983567e-01 4.12797419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.760714057 meters Centerline goodness : 0.982240 with order 1 Centerline is valid? [True, True] Translation: X:755.40, Y:-44.04, Z:4.12 [[ 9.99718439e-01 -2.30261147e-02 -5.73074178e-03 7.55401848e+02] [ 2.30273935e-02 9.99734822e-01 1.57260977e-04 -4.40380954e+01] [ 5.72560100e-03 -2.89180744e-04 9.99983567e-01 4.11928697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.820714057 meters Centerline goodness : 0.985173 with order 1 Centerline is valid? [True, True] Translation: X:755.46, Y:-44.03, Z:4.13 [[ 9.99633287e-01 -2.64660275e-02 -5.73073074e-03 7.55464188e+02] [ 2.64673650e-02 9.99649666e-01 1.57662219e-04 -4.40274231e+01] [ 5.72455037e-03 -3.09281744e-04 9.99983567e-01 4.12925312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.880714057 meters Centerline goodness : 0.985691 with order 1 Centerline is valid? [True, True] Translation: X:755.53, Y:-44.02, Z:4.14 [[ 9.99774064e-01 -2.04690008e-02 -5.73071906e-03 7.55525847e+02] [ 2.04702425e-02 9.99790450e-01 1.58085477e-04 -4.40249690e+01] [ 5.72628234e-03 -2.75358968e-04 9.99983567e-01 4.13724803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.940714057 meters Centerline goodness : 0.984661 with order 1 Centerline is valid? [True, True] Translation: X:755.59, Y:-44.03, Z:4.14 [[ 9.99853413e-01 -1.61342013e-02 -5.73071027e-03 7.55588149e+02] [ 1.61353737e-02 9.99869804e-01 1.58403392e-04 -4.40256975e+01] [ 5.72740844e-03 -2.50847324e-04 9.99983567e-01 4.13749148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.000714057 meters Centerline goodness : 0.985157 with order 1 Centerline is valid? [True, True] Translation: X:755.65, Y:-44.02, Z:4.14 [[ 9.99862440e-01 -1.55647079e-02 -5.73069814e-03 7.55649409e+02] [ 1.55658735e-02 9.99878832e-01 1.58841284e-04 -4.40232130e+01] [ 5.72753144e-03 -2.48022756e-04 9.99983567e-01 4.14088521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.060714057 meters Centerline goodness : 0.985453 with order 1 Centerline is valid? [True, True] Translation: X:755.71, Y:-44.03, Z:4.14 [[ 9.99873593e-01 -1.48309602e-02 -5.73068919e-03 7.55711650e+02] [ 1.48321155e-02 9.99889985e-01 1.59163434e-04 -4.40256087e+01] [ 5.72769818e-03 -2.44141559e-04 9.99983567e-01 4.13816834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.120714057 meters Centerline goodness : 0.986588 with order 1 Centerline is valid? [True, True] Translation: X:755.77, Y:-44.03, Z:4.13 [[ 9.99855817e-01 -1.59845156e-02 -5.73067761e-03 7.55773713e+02] [ 1.59856922e-02 9.99872208e-01 1.59579421e-04 -4.40271289e+01] [ 5.72739447e-03 -2.51165261e-04 9.99983567e-01 4.13386175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.180714057 meters Centerline goodness : 0.985864 with order 1 Centerline is valid? [True, True] Translation: X:755.84, Y:-44.03, Z:4.13 [[ 9.99863588e-01 -1.54908193e-02 -5.73066572e-03 7.55835696e+02] [ 1.54919903e-02 9.99879979e-01 1.60005077e-04 -4.40298732e+01] [ 5.72749931e-03 -2.48762668e-04 9.99983567e-01 4.13271835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.240714057 meters Centerline goodness : 0.985579 with order 1 Centerline is valid? [True, True] Translation: X:755.90, Y:-44.03, Z:4.13 [[ 9.99830268e-01 -1.75098334e-02 -5.73065393e-03 7.55897274e+02] [ 1.75110399e-02 9.99846657e-01 1.60426365e-04 -4.40335586e+01] [ 5.72696613e-03 -2.60748845e-04 9.99983567e-01 4.13137504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.300714057 meters Centerline goodness : 0.984000 with order 1 Centerline is valid? [True, True] Translation: X:755.96, Y:-44.04, Z:4.13 [[ 9.99827584e-01 -1.76624687e-02 -5.73063932e-03 7.55959536e+02] [ 1.76636807e-02 9.99843972e-01 1.60946311e-04 -4.40359210e+01] [ 5.72690247e-03 -2.62142745e-04 9.99983567e-01 4.13091803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.360714057 meters Centerline goodness : 0.985625 with order 1 Centerline is valid? [True, True] Translation: X:756.02, Y:-44.04, Z:4.13 [[ 9.99738059e-01 -2.21579050e-02 -5.73062718e-03 7.56020823e+02] [ 2.21591932e-02 9.99754442e-01 1.61377420e-04 -4.40381191e+01] [ 5.72564420e-03 -2.88321224e-04 9.99983567e-01 4.13456184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.420714057 meters Centerline goodness : 0.985488 with order 1 Centerline is valid? [True, True] Translation: X:756.08, Y:-44.04, Z:4.13 [[ 9.99645092e-01 -2.60163663e-02 -5.73058820e-03 7.56082574e+02] [ 2.60177255e-02 9.99661468e-01 1.62750064e-04 -4.40405672e+01] [ 5.72441405e-03 -3.11789173e-04 9.99983567e-01 4.13334624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.480714057 meters Centerline goodness : 0.986105 with order 1 Centerline is valid? [True, True] Translation: X:756.14, Y:-44.04, Z:4.13 [[ 9.99535391e-01 -2.99359900e-02 -5.73057576e-03 7.56144669e+02] [ 2.99374159e-02 9.99551762e-01 1.63187062e-04 -4.40433662e+01] [ 5.72312193e-03 -3.34669874e-04 9.99983567e-01 4.13149518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5407140570001 meters Centerline goodness : 0.986645 with order 1 Centerline is valid? [True, True] Translation: X:756.21, Y:-44.05, Z:4.13 [[ 9.99322771e-01 -3.63477747e-02 -5.73056340e-03 7.56206372e+02] [ 3.63493080e-02 9.99339132e-01 1.63619841e-04 -4.40473374e+01] [ 5.72082904e-03 -3.71811047e-04 9.99983567e-01 4.13350409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.600714057 meters Centerline goodness : 0.986721 with order 1 Centerline is valid? [True, True] Translation: X:756.27, Y:-44.05, Z:4.14 [[ 9.99284846e-01 -3.73759061e-02 -5.73053290e-03 7.56269281e+02] [ 3.73774623e-02 9.99301205e-01 1.64681227e-04 -4.40473040e+01] [ 5.72037332e-03 -3.78756232e-04 9.99983567e-01 4.13926776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6607140570001 meters Centerline goodness : 0.988200 with order 1 Centerline is valid? [True, True] Translation: X:756.33, Y:-44.05, Z:4.14 [[ 9.99237194e-01 -3.86288808e-02 -5.73051511e-03 7.56331758e+02] [ 3.86304611e-02 9.99253551e-01 1.65297939e-04 -4.40489841e+01] [ 5.71985230e-03 -3.86544289e-04 9.99983567e-01 4.13800908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.720714057 meters Centerline goodness : 0.987111 with order 1 Centerline is valid? [True, True] Translation: X:756.39, Y:-44.05, Z:4.14 [[ 9.99296716e-01 -3.70571694e-02 -5.73050039e-03 7.56394129e+02] [ 3.70587268e-02 9.99313076e-01 1.65806650e-04 -4.40518589e+01] [ 5.72041964e-03 -3.78055090e-04 9.99983567e-01 4.13934992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7807140570001 meters Centerline goodness : 0.987036 with order 1 Centerline is valid? [True, True] Translation: X:756.46, Y:-44.05, Z:4.13 [[ 9.99422771e-01 -3.34856087e-02 -5.73048817e-03 7.56455889e+02] [ 3.34871101e-02 9.99439136e-01 1.66227880e-04 -4.40540335e+01] [ 5.72170790e-03 -3.58029416e-04 9.99983567e-01 4.13287675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.840714057 meters Centerline goodness : 0.987433 with order 1 Centerline is valid? [True, True] Translation: X:756.52, Y:-44.05, Z:4.14 [[ 9.99475921e-01 -3.18597685e-02 -5.73047602e-03 7.56517055e+02] [ 3.18612457e-02 9.99492288e-01 1.66645635e-04 -4.40515013e+01] [ 5.72225730e-03 -3.49138404e-04 9.99983567e-01 4.13945516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9007140570001 meters Centerline goodness : 0.988720 with order 1 Centerline is valid? [True, True] Translation: X:756.58, Y:-44.05, Z:4.14 [[ 9.99415288e-01 -3.37082037e-02 -5.73046708e-03 7.56579756e+02] [ 3.37097129e-02 9.99431652e-01 1.66952692e-04 -4.40530817e+01] [ 5.72158250e-03 -3.60027473e-04 9.99983567e-01 4.13559297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.960714057 meters Centerline goodness : 0.988572 with order 1 Centerline is valid? [True, True] Translation: X:756.64, Y:-44.05, Z:4.14 [[ 9.99459751e-01 -3.23630580e-02 -5.73044877e-03 7.56640654e+02] [ 3.23645487e-02 9.99476117e-01 1.67578834e-04 -4.40522616e+01] [ 5.72202332e-03 -3.52951688e-04 9.99983567e-01 4.14040098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0207140570001 meters Centerline goodness : 0.988573 with order 1 Centerline is valid? [True, True] Translation: X:756.70, Y:-44.05, Z:4.14 [[ 9.99492710e-01 -3.13286411e-02 -5.73043985e-03 7.56703812e+02] [ 3.13301166e-02 9.99509077e-01 1.67883111e-04 -4.40522712e+01] [ 5.72236710e-03 -3.47333294e-04 9.99983567e-01 4.14127250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.080714057 meters Centerline goodness : 0.988846 with order 1 Centerline is valid? [True, True] Translation: X:756.77, Y:-44.05, Z:4.15 [[ 9.99472272e-01 -3.19740440e-02 -5.73042157e-03 7.56766503e+02] [ 3.19755336e-02 9.99488638e-01 1.68504924e-04 -4.40490926e+01] [ 5.72210346e-03 -3.51649287e-04 9.99983567e-01 4.14527397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.140714057 meters Centerline goodness : 0.988189 with order 1 Centerline is valid? [True, True] Translation: X:756.83, Y:-44.05, Z:4.14 [[ 9.99396365e-01 -3.42646789e-02 -5.73040870e-03 7.56827793e+02] [ 3.42662086e-02 9.99412727e-01 1.68941274e-04 -4.40499371e+01] [ 5.72125467e-03 -3.65198676e-04 9.99983567e-01 4.14282831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.200714057 meters Centerline goodness : 0.988855 with order 1 Centerline is valid? [True, True] Translation: X:756.89, Y:-44.05, Z:4.14 [[ 9.99277362e-01 -3.75754885e-02 -5.73036733e-03 7.56891129e+02] [ 3.75770803e-02 9.99293718e-01 1.70333155e-04 -4.40502387e+01] [ 5.71991972e-03 -3.85540539e-04 9.99983567e-01 4.14239902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.260714057 meters Centerline goodness : 0.988857 with order 1 Centerline is valid? [True, True] Translation: X:756.95, Y:-44.05, Z:4.14 [[ 9.99273094e-01 -3.76888219e-02 -5.73034837e-03 7.56952222e+02] [ 3.76904191e-02 9.99289449e-01 1.70968666e-04 -4.40496492e+01] [ 5.71983306e-03 -3.86823620e-04 9.99983567e-01 4.14246228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.320714057 meters Centerline goodness : 0.989278 with order 1 Centerline is valid? [True, True] Translation: X:757.01, Y:-44.05, Z:4.14 [[ 9.99280970e-01 -3.74794073e-02 -5.73030757e-03 7.57014128e+02] [ 3.74810089e-02 9.99297325e-01 1.72325373e-04 -4.40509589e+01] [ 5.71982237e-03 -3.86979175e-04 9.99983567e-01 4.14185157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.380714057 meters Centerline goodness : 0.988205 with order 1 Centerline is valid? [True, True] Translation: X:757.08, Y:-44.05, Z:4.14 [[ 9.99420298e-01 -3.35593633e-02 -5.73029513e-03 7.57076519e+02] [ 3.35609031e-02 9.99436659e-01 1.72738075e-04 -4.40501339e+01] [ 5.72127004e-03 -3.64951817e-04 9.99983567e-01 4.14485188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.440714057 meters Centerline goodness : 0.988392 with order 1 Centerline is valid? [True, True] Translation: X:757.14, Y:-44.05, Z:4.14 [[ 9.99466812e-01 -3.21442894e-02 -5.73028278e-03 7.57137503e+02] [ 3.21458083e-02 9.99483175e-01 1.73146883e-04 -4.40509684e+01] [ 5.72175554e-03 -3.57259136e-04 9.99983567e-01 4.14016884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.500714057 meters Centerline goodness : 0.988182 with order 1 Centerline is valid? [True, True] Translation: X:757.20, Y:-44.05, Z:4.14 [[ 9.99494236e-01 -3.12799691e-02 -5.73027357e-03 7.57199234e+02] [ 3.12814756e-02 9.99510600e-01 1.73451151e-04 -4.40517025e+01] [ 5.72204362e-03 -3.52614839e-04 9.99983567e-01 4.14238114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.560714057 meters Centerline goodness : 0.987423 with order 1 Centerline is valid? [True, True] Translation: X:757.26, Y:-44.06, Z:4.14 [[ 9.99769366e-01 -2.06973128e-02 -5.73026025e-03 7.57260764e+02] [ 2.06986486e-02 9.99785745e-01 1.73890044e-04 -4.40565958e+01] [ 5.72543345e-03 -2.92458582e-04 9.99983567e-01 4.13554967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.620714057 meters Centerline goodness : 0.986323 with order 1 Centerline is valid? [True, True] Translation: X:757.32, Y:-44.06, Z:4.14 [[ 9.99775308e-01 -2.04082551e-02 -5.73025018e-03 7.57322769e+02] [ 2.04095880e-02 9.99791687e-01 1.74221175e-04 -4.40561027e+01] [ 5.72550095e-03 -2.91134074e-04 9.99983567e-01 4.13858479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.680714057 meters Centerline goodness : 0.986201 with order 1 Centerline is valid? [True, True] Translation: X:757.39, Y:-44.06, Z:4.14 [[ 9.99749657e-01 -2.16284212e-02 -5.73023385e-03 7.57385431e+02] [ 2.16297771e-02 9.99766034e-01 1.74756673e-04 -4.40575049e+01] [ 5.72511346e-03 -2.98656605e-04 9.99983567e-01 4.13776907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.740714057 meters Centerline goodness : 0.986125 with order 1 Centerline is valid? [True, True] Translation: X:757.45, Y:-44.06, Z:4.14 [[ 9.99843880e-01 -1.67146799e-02 -5.73021521e-03 7.57447306e+02] [ 1.67159589e-02 9.99860263e-01 1.75365770e-04 -4.40596710e+01] [ 5.72648330e-03 -2.71124434e-04 9.99983567e-01 4.13974146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.800714057 meters Centerline goodness : 0.984838 with order 1 Centerline is valid? [True, True] Translation: X:757.51, Y:-44.06, Z:4.14 [[ 9.99939987e-01 -9.33742144e-03 -5.73020270e-03 7.57509292e+02] [ 9.33858178e-03 9.99956379e-01 1.75773419e-04 -4.40636694e+01] [ 5.72831148e-03 -2.29274836e-04 9.99983567e-01 4.13813024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.860714057 meters Centerline goodness : 0.986381 with order 1 Centerline is valid? [True, True] Translation: X:757.57, Y:-44.06, Z:4.14 [[ 9.99952436e-01 -7.89249146e-03 -5.73018927e-03 7.57571388e+02] [ 7.89363062e-03 9.99968829e-01 1.76210142e-04 -4.40639895e+01] [ 5.72861992e-03 -2.21433758e-04 9.99983567e-01 4.14090022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.920714057 meters Centerline goodness : 0.985293 with order 1 Centerline is valid? [True, True] Translation: X:757.63, Y:-44.07, Z:4.14 [[ 9.99933526e-01 -1.00054050e-02 -5.73017585e-03 7.57633212e+02] [ 1.00065813e-02 9.99949917e-01 1.76645453e-04 -4.40662986e+01] [ 5.72812146e-03 -2.33973181e-04 9.99983567e-01 4.14223289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.980714057 meters Centerline goodness : 0.985499 with order 1 Centerline is valid? [True, True] Translation: X:757.69, Y:-44.07, Z:4.14 [[ 9.99933479e-01 -1.00101494e-02 -5.73016582e-03 7.57694210e+02] [ 1.00113276e-02 9.99949870e-01 1.76970213e-04 -4.40706270e+01] [ 5.72810707e-03 -2.34325008e-04 9.99983567e-01 4.13841433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0407140570001 meters Centerline goodness : 0.989599 with order 1 Centerline is valid? [True, True] Translation: X:757.76, Y:-44.06, Z:4.14 [[ 9.99929113e-01 -1.04371875e-02 -5.73015587e-03 7.57756123e+02] [ 1.04383745e-02 9.99945503e-01 1.77292013e-04 -4.40632075e+01] [ 5.72799316e-03 -2.37092958e-04 9.99983567e-01 4.14146813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.100714057 meters Centerline goodness : 0.985531 with order 1 Centerline is valid? [True, True] Translation: X:757.82, Y:-44.08, Z:4.14 [[ 9.99982571e-01 -1.42250916e-03 -5.73014650e-03 7.57816812e+02] [ 1.42355014e-03 9.99998971e-01 1.77594231e-04 -4.40770146e+01] [ 5.72988797e-03 -1.85748287e-04 9.99983567e-01 4.14222963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1607140570001 meters Centerline goodness : 0.985896 with order 1 Centerline is valid? [True, True] Translation: X:757.88, Y:-44.08, Z:4.14 [[ 9.99983471e-01 -4.72709489e-04 -5.73013994e-03 7.57875740e+02] [ 4.73736110e-04 9.99999872e-01 1.77805702e-04 -4.40809283e+01] [ 5.73005515e-03 -1.80517337e-04 9.99983567e-01 4.14289087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.220714057 meters Centerline goodness : 0.984979 with order 1 Centerline is valid? [True, True] Translation: X:757.93, Y:-44.09, Z:4.15 [[ 9.99968498e-01 5.49261039e-03 -5.73014953e-03 7.57933950e+02] [-5.49168340e-03 9.99984905e-01 1.77495944e-04 -4.40856308e+01] [ 5.73103795e-03 -1.46022185e-04 9.99983567e-01 4.14705978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2807140570001 meters Centerline goodness : 0.986027 with order 1 Centerline is valid? [True, True] Translation: X:757.99, Y:-44.09, Z:4.15 [[ 9.99948968e-01 8.32029120e-03 -5.73019178e-03 7.57992707e+02] [-8.31941849e-03 9.99965378e-01 1.76121292e-04 -4.40879064e+01] [ 5.73145877e-03 -1.28440441e-04 9.99983567e-01 4.15287173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.340714057 meters Centerline goodness : 0.984092 with order 1 Centerline is valid? [True, True] Translation: X:758.05, Y:-44.09, Z:4.15 [[ 9.99901337e-01 1.28249842e-02 -5.73023675e-03 7.58050371e+02] [-1.28241939e-02 9.99917751e-01 1.74645872e-04 -4.40940652e+01] [ 5.73200528e-03 -1.01142974e-04 9.99983567e-01 4.15015377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4007140570001 meters Centerline goodness : 0.984766 with order 1 Centerline is valid? [True, True] Translation: X:758.11, Y:-44.10, Z:4.15 [[ 9.99811249e-01 1.85642161e-02 -5.73025247e-03 7.58108824e+02] [-1.85635229e-02 9.99827668e-01 1.74128597e-04 -4.41040370e+01] [ 5.73249752e-03 -6.77220566e-05 9.99983567e-01 4.14591666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.460714057 meters Centerline goodness : 0.982274 with order 1 Centerline is valid? [True, True] Translation: X:758.17, Y:-44.11, Z:4.15 [[ 9.99776297e-01 2.03597791e-02 -5.73029819e-03 7.58167868e+02] [-2.03591241e-02 9.99792717e-01 1.72610863e-04 -4.41095956e+01] [ 5.73262471e-03 -5.59083974e-05 9.99983567e-01 4.14695718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5207140570001 meters Centerline goodness : 0.983272 with order 1 Centerline is valid? [True, True] Translation: X:758.23, Y:-44.12, Z:4.15 [[ 9.99676850e-01 2.47660838e-02 -5.73031115e-03 7.58225104e+02] [-2.47655037e-02 9.99693273e-01 1.72179448e-04 -4.41172138e+01] [ 5.73281772e-03 -3.02097664e-05 9.99983567e-01 4.14743339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.580714057 meters Centerline goodness : 0.983875 with order 1 Centerline is valid? [True, True] Translation: X:758.28, Y:-44.13, Z:4.15 [[ 9.99635591e-01 2.63789473e-02 -5.73033370e-03 7.58284035e+02] [-2.63783980e-02 9.99652015e-01 1.71425796e-04 -4.41257311e+01] [ 5.73286166e-03 -2.02063035e-05 9.99983567e-01 4.14877040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.640714057 meters Centerline goodness : 0.984033 with order 1 Centerline is valid? [True, True] Translation: X:758.34, Y:-44.13, Z:4.15 [[ 9.99709568e-01 2.34081884e-02 -5.73037529e-03 7.58341429e+02] [-2.34075984e-02 9.99725990e-01 1.70024092e-04 -4.41341873e+01] [ 5.73278506e-03 -3.58403881e-05 9.99983567e-01 4.14877731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.700714057 meters Centerline goodness : 0.985660 with order 1 Centerline is valid? [True, True] Translation: X:758.40, Y:-44.15, Z:4.15 [[ 9.99886964e-01 1.39004195e-02 -5.73039098e-03 7.58398555e+02] [-1.38996764e-02 9.99903380e-01 1.69493634e-04 -4.41466265e+01] [ 5.73219334e-03 -8.98238951e-05 9.99983567e-01 4.14638949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.760714057 meters Centerline goodness : 0.984521 with order 1 Centerline is valid? [True, True] Translation: X:758.46, Y:-44.16, Z:4.14 [[ 9.99982042e-01 1.75429346e-03 -5.73041004e-03 7.58456753e+02] [-1.75335467e-03 9.99998449e-01 1.68846758e-04 -4.41583430e+01] [ 5.73069735e-03 -1.58796285e-04 9.99983567e-01 4.14030910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.820714057 meters Centerline goodness : 0.984885 with order 1 Centerline is valid? [True, True] Translation: X:758.51, Y:-44.17, Z:4.14 [[ 9.99957947e-01 -7.16010123e-03 -5.73042277e-03 7.58514324e+02] [ 7.16118377e-03 9.99974344e-01 1.68413420e-04 -4.41694635e+01] [ 5.72906990e-03 -2.09442948e-04 9.99983567e-01 4.13997797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.880714057 meters Centerline goodness : 0.984582 with order 1 Centerline is valid? [True, True] Translation: X:758.57, Y:-44.18, Z:4.14 [[ 9.99916622e-01 -1.15720102e-02 -5.73043841e-03 7.58574746e+02] [ 1.15731620e-02 9.99933015e-01 1.67879705e-04 -4.41768286e+01] [ 5.72811185e-03 -2.34185000e-04 9.99983567e-01 4.14364593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.940714057 meters Centerline goodness : 0.984555 with order 1 Centerline is valid? [True, True] Translation: X:758.64, Y:-44.18, Z:4.14 [[ 9.99901717e-01 -1.27952270e-02 -5.73043841e-03 7.58635746e+02] [ 1.27963988e-02 9.99918109e-01 1.67879705e-04 -4.41828431e+01] [ 5.72782108e-03 -2.41192181e-04 9.99983567e-01 4.14347025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.000714057 meters Centerline goodness : 0.984839 with order 1 Centerline is valid? [True, True] Translation: X:758.70, Y:-44.19, Z:4.14 [[ 9.99903278e-01 -1.26727241e-02 -5.73041771e-03 7.58697664e+02] [ 1.26738980e-02 9.99919669e-01 1.68583254e-04 -4.41877495e+01] [ 5.72782097e-03 -2.41193678e-04 9.99983567e-01 4.14332231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.060714057 meters Centerline goodness : 0.984419 with order 1 Centerline is valid? [True, True] Translation: X:758.76, Y:-44.19, Z:4.14 [[ 9.99889349e-01 -1.37278166e-02 -5.73040526e-03 7.58758611e+02] [ 1.37290102e-02 9.99905738e-01 1.69005251e-04 -4.41919168e+01] [ 5.72754503e-03 -2.47659343e-04 9.99983567e-01 4.14250110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.120714057 meters Centerline goodness : 0.984226 with order 1 Centerline is valid? [True, True] Translation: X:758.82, Y:-44.20, Z:4.14 [[ 9.99938870e-01 -9.45611755e-03 -5.73039608e-03 7.58820605e+02] [ 9.45724289e-03 9.99955265e-01 1.69315956e-04 -4.41950258e+01] [ 5.72853866e-03 -2.23499354e-04 9.99983567e-01 4.14153363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.180714057 meters Centerline goodness : 0.984068 with order 1 Centerline is valid? [True, True] Translation: X:758.88, Y:-44.20, Z:4.14 [[ 9.99952341e-01 -7.90427772e-03 -5.73038323e-03 7.58881323e+02] [ 7.90538010e-03 9.99968738e-01 1.69750023e-04 -4.41975288e+01] [ 5.72886233e-03 -2.15042791e-04 9.99983567e-01 4.14220892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.240714057 meters Centerline goodness : 0.983897 with order 1 Centerline is valid? [True, True] Translation: X:758.94, Y:-44.20, Z:4.15 [[ 9.99960583e-01 -6.78196148e-03 -5.73037370e-03 7.58942483e+02] [ 6.78304730e-03 9.99976980e-01 1.70071058e-04 -4.41985495e+01] [ 5.72908837e-03 -2.08933750e-04 9.99983567e-01 4.14600352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.300714057 meters Centerline goodness : 0.984938 with order 1 Centerline is valid? [True, True] Translation: X:759.00, Y:-44.20, Z:4.15 [[ 9.99978047e-01 -3.32685900e-03 -5.73036725e-03 7.59002998e+02] [ 3.32788940e-03 9.99994448e-01 1.70287923e-04 -4.42014182e+01] [ 5.72976891e-03 -1.89354214e-04 9.99983567e-01 4.14620472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.360714057 meters Centerline goodness : 0.985398 with order 1 Centerline is valid? [True, True] Translation: X:759.06, Y:-44.20, Z:4.15 [[ 9.99973355e-01 -4.52233113e-03 -5.73035686e-03 7.59062961e+02] [ 4.52338313e-03 9.99989755e-01 1.70636810e-04 -4.42034774e+01] [ 5.72952648e-03 -1.96552863e-04 9.99983567e-01 4.15285822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.420714057 meters Centerline goodness : 0.985564 with order 1 Centerline is valid? [True, True] Translation: X:759.12, Y:-44.21, Z:4.15 [[ 9.99983529e-01 3.23152117e-04 -5.73036303e-03 7.59122218e+02] [-3.22180779e-04 9.99999934e-01 1.70429547e-04 -4.42103186e+01] [ 5.73041772e-03 -1.68580527e-04 9.99983567e-01 4.14844658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.480714057 meters Centerline goodness : 0.985721 with order 1 Centerline is valid? [True, True] Translation: X:759.18, Y:-44.21, Z:4.15 [[ 9.99983486e-01 -4.36506310e-04 -5.73036916e-03 7.59181171e+02] [ 4.37488928e-04 9.99999890e-01 1.70223227e-04 -4.42088036e+01] [ 5.73029422e-03 -1.72727389e-04 9.99983567e-01 4.15204549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5407140570001 meters Centerline goodness : 0.984257 with order 1 Centerline is valid? [True, True] Translation: X:759.24, Y:-44.21, Z:4.15 [[ 9.99964626e-01 6.15702519e-03 -5.73038142e-03 7.59238512e+02] [-6.15615312e-03 9.99981036e-01 1.69809429e-04 -4.42146947e+01] [ 5.73131827e-03 -1.34526317e-04 9.99983567e-01 4.15125002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.600714057 meters Centerline goodness : 0.984477 with order 1 Centerline is valid? [True, True] Translation: X:759.30, Y:-44.22, Z:4.15 [[ 9.99977574e-01 3.46620587e-03 -5.73039656e-03 7.59297419e+02] [-3.46529258e-03 9.99993982e-01 1.69297088e-04 -4.42186829e+01] [ 5.73094889e-03 -1.49435791e-04 9.99983567e-01 4.14967903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6607140570001 meters Centerline goodness : 0.985804 with order 1 Centerline is valid? [True, True] Translation: X:759.35, Y:-44.22, Z:4.15 [[ 9.99963343e-01 6.36200365e-03 -5.73040911e-03 7.59354576e+02] [-6.36114032e-03 9.99979753e-01 1.68871133e-04 -4.42211672e+01] [ 5.73136745e-03 -1.32413006e-04 9.99983567e-01 4.15146344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.720714057 meters Centerline goodness : 0.985591 with order 1 Centerline is valid? [True, True] Translation: X:759.41, Y:-44.23, Z:4.15 [[ 9.99870383e-01 1.50458811e-02 -5.73044311e-03 7.59413069e+02] [-1.50451670e-02 9.99886801e-01 1.67709409e-04 -4.42275069e+01] [ 5.73231776e-03 -8.14721976e-05 9.99983567e-01 4.15370286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7807140570001 meters Centerline goodness : 0.985470 with order 1 Centerline is valid? [True, True] Translation: X:759.47, Y:-44.23, Z:4.16 [[ 9.99880464e-01 1.43603633e-02 -5.73048473e-03 7.59472175e+02] [-1.43596462e-02 9.99896881e-01 1.66274904e-04 -4.42335156e+01] [ 5.73228158e-03 -8.39672949e-05 9.99983567e-01 4.15709107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.840714057 meters Centerline goodness : 0.984167 with order 1 Centerline is valid? [True, True] Translation: X:759.53, Y:-44.25, Z:4.15 [[ 9.99917514e-01 1.14946672e-02 -5.73049640e-03 7.59531144e+02] [-1.14939053e-02 9.99933929e-01 1.65871705e-04 -4.42477190e+01] [ 5.73202442e-03 -9.99922404e-05 9.99983567e-01 4.14649626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9007140570001 meters Centerline goodness : 0.984234 with order 1 Centerline is valid? [True, True] Translation: X:759.59, Y:-44.25, Z:4.15 [[ 9.99977714e-01 3.42530026e-03 -5.73050532e-03 7.59589991e+02] [-3.42440769e-03 9.99994123e-01 1.65563094e-04 -4.42542506e+01] [ 5.73103874e-03 -1.45935818e-04 9.99983567e-01 4.15161077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.960714057 meters Centerline goodness : 0.983988 with order 1 Centerline is valid? [True, True] Translation: X:759.65, Y:-44.26, Z:4.15 [[ 9.99978024e-01 3.33343641e-03 -5.73051724e-03 7.59648892e+02] [-3.33254469e-03 9.99994433e-01 1.65149331e-04 -4.42613052e+01] [ 5.73103586e-03 -1.46048497e-04 9.99983567e-01 4.15189939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0207140570001 meters Centerline goodness : 0.984484 with order 1 Centerline is valid? [True, True] Translation: X:759.71, Y:-44.27, Z:4.15 [[ 9.99940205e-01 9.31381166e-03 -5.73052934e-03 7.59706104e+02] [-9.31302051e-03 9.99956619e-01 1.64728603e-04 -4.42677780e+01] [ 5.73181499e-03 -1.11350216e-04 9.99983567e-01 4.15238519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.080714057 meters Centerline goodness : 0.988480 with order 1 Centerline is valid? [True, True] Translation: X:759.77, Y:-44.26, Z:4.16 [[ 9.99979867e-01 2.72511955e-03 -5.73055009e-03 7.59765476e+02] [-2.72422441e-03 9.99996276e-01 1.64003425e-04 -4.42576033e+01] [ 5.73097568e-03 -1.48388819e-04 9.99983567e-01 4.15736447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.140714057 meters Centerline goodness : 0.983369 with order 1 Centerline is valid? [True, True] Translation: X:759.82, Y:-44.28, Z:4.16 [[ 9.99784844e-01 1.99355651e-02 -5.73056159e-03 7.59823746e+02] [-1.99349548e-02 9.99801266e-01 1.63600763e-04 -4.42781951e+01] [ 5.73268420e-03 -4.93270774e-05 9.99983567e-01 4.16235398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.200714057 meters Centerline goodness : 0.989087 with order 1 Centerline is valid? [True, True] Translation: X:759.88, Y:-44.28, Z:4.16 [[ 9.99947793e-01 8.46002685e-03 -5.73060333e-03 7.59882038e+02] [-8.45923660e-03 9.99964207e-01 1.62125249e-04 -4.42760276e+01] [ 5.73176980e-03 -1.13640255e-04 9.99983567e-01 4.15890122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.260714057 meters Centerline goodness : 0.988931 with order 1 Centerline is valid? [True, True] Translation: X:759.94, Y:-44.28, Z:4.16 [[ 9.99960972e-01 6.72416496e-03 -5.73061780e-03 7.59940885e+02] [-6.72334915e-03 9.99977385e-01 1.61612187e-04 -4.42832610e+01] [ 5.73157491e-03 -1.23076935e-04 9.99983567e-01 4.15789438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.320714057 meters Centerline goodness : 0.988705 with order 1 Centerline is valid? [True, True] Translation: X:760.00, Y:-44.29, Z:4.16 [[ 9.99976759e-01 3.69335905e-03 -5.73062931e-03 7.59999734e+02] [-3.69249585e-03 9.99993170e-01 1.61203060e-04 -4.42943935e+01] [ 5.73118555e-03 -1.40038988e-04 9.99983567e-01 4.15622516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.380714057 meters Centerline goodness : 0.988426 with order 1 Centerline is valid? [True, True] Translation: X:760.06, Y:-44.30, Z:4.16 [[ 9.99983548e-01 -2.53438736e-04 -5.73064067e-03 7.60058499e+02] [ 2.54364386e-04 9.99999955e-01 1.60798219e-04 -4.43034287e+01] [ 5.73059966e-03 -1.62253244e-04 9.99983567e-01 4.15736325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.440714057 meters Centerline goodness : 0.983376 with order 1 Centerline is valid? [True, True] Translation: X:760.12, Y:-44.32, Z:4.16 [[ 9.99954956e-01 7.56608105e-03 -5.73065206e-03 7.60116350e+02] [-7.56528606e-03 9.99971370e-01 1.60391310e-04 -4.43248979e+01] [ 5.73170152e-03 -1.17030063e-04 9.99983567e-01 4.16298627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.500714057 meters Centerline goodness : 0.988838 with order 1 Centerline is valid? [True, True] Translation: X:760.17, Y:-44.32, Z:4.16 [[ 9.99920508e-01 -1.12310997e-02 -5.73069452e-03 7.60174235e+02] [ 1.12321943e-02 9.99936904e-01 1.58859453e-04 -4.43205848e+01] [ 5.72854877e-03 -2.23215100e-04 9.99983567e-01 4.15621123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.560714057 meters Centerline goodness : 0.988443 with order 1 Centerline is valid? [True, True] Translation: X:760.24, Y:-44.32, Z:4.16 [[ 9.99890659e-01 -1.36319133e-02 -5.73070920e-03 7.60235937e+02] [ 1.36330443e-02 9.99907053e-01 1.58327982e-04 -4.43248159e+01] [ 5.72801824e-03 -2.36437683e-04 9.99983567e-01 4.15800270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.620714057 meters Centerline goodness : 0.984333 with order 1 Centerline is valid? [True, True] Translation: X:760.30, Y:-44.34, Z:4.16 [[ 9.99981223e-01 -2.17092676e-03 -5.73070357e-03 7.60295851e+02] [ 2.17187089e-03 9.99997629e-01 1.58531529e-04 -4.43438965e+01] [ 5.73034583e-03 -1.70974900e-04 9.99983567e-01 4.15617069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.680714057 meters Centerline goodness : 0.984357 with order 1 Centerline is valid? [True, True] Translation: X:760.35, Y:-44.35, Z:4.16 [[ 9.99979236e-01 -2.94718210e-03 -5.73070080e-03 7.60354798e+02] [ 2.94813954e-03 9.99995642e-01 1.58631914e-04 -4.43456727e+01] [ 5.73020830e-03 -1.75523526e-04 9.99983567e-01 4.16295344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.740714057 meters Centerline goodness : 0.985104 with order 1 Centerline is valid? [True, True] Translation: X:760.41, Y:-44.35, Z:4.17 [[ 9.99974463e-01 -4.26982744e-03 -5.73070827e-03 7.60414633e+02] [ 4.27080503e-03 9.99990868e-01 1.58361548e-04 -4.43456422e+01] [ 5.72997975e-03 -1.82832242e-04 9.99983567e-01 4.17099311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.800714057 meters Centerline goodness : 0.984136 with order 1 Centerline is valid? [True, True] Translation: X:760.47, Y:-44.35, Z:4.17 [[ 9.99968480e-01 -5.49525083e-03 -5.73071375e-03 7.60473984e+02] [ 5.49624739e-03 9.99984883e-01 1.58162704e-04 -4.43455722e+01] [ 5.72975798e-03 -1.89655140e-04 9.99983567e-01 4.17222706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.860714057 meters Centerline goodness : 0.983792 with order 1 Centerline is valid? [True, True] Translation: X:760.53, Y:-44.35, Z:4.17 [[ 9.99976195e-01 -3.84297672e-03 -5.73071967e-03 7.60533938e+02] [ 3.84394494e-03 9.99992600e-01 1.57948202e-04 -4.43467227e+01] [ 5.73007027e-03 -1.79973013e-04 9.99983567e-01 4.17446544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.920714057 meters Centerline goodness : 0.988598 with order 1 Centerline is valid? [True, True] Translation: X:760.59, Y:-44.34, Z:4.17 [[ 9.99974058e-01 -4.36377509e-03 -5.73072258e-03 7.60592713e+02] [ 4.36475125e-03 9.99990462e-01 1.57842361e-04 -4.43371934e+01] [ 5.72997913e-03 -1.82851445e-04 9.99983567e-01 4.16513796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.980714057 meters Centerline goodness : 0.985017 with order 1 Centerline is valid? [True, True] Translation: X:760.65, Y:-44.34, Z:4.18 [[ 9.99970813e-01 5.05288329e-03 -5.73073066e-03 7.60651789e+02] [-5.05206333e-03 9.99987226e-01 1.57548593e-04 -4.43441554e+01] [ 5.73145353e-03 -1.28591981e-04 9.99983567e-01 4.17884681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0407140570001 meters Centerline goodness : 0.983667 with order 1 Centerline is valid? [True, True] Translation: X:760.71, Y:-44.35, Z:4.18 [[ 9.99928593e-01 1.04865282e-02 -5.73073625e-03 7.60710235e+02] [-1.04857986e-02 9.99945010e-01 1.57344888e-04 -4.43468082e+01] [ 5.73207112e-03 -9.72423067e-05 9.99983567e-01 4.18038948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.100714057 meters Centerline goodness : 0.983512 with order 1 Centerline is valid? [True, True] Translation: X:760.77, Y:-44.35, Z:4.19 [[ 9.99885660e-01 1.39937870e-02 -5.73077449e-03 7.60769350e+02] [-1.39931231e-02 9.99902079e-01 1.55939751e-04 -4.43475085e+01] [ 5.73239551e-03 -7.57304879e-05 9.99983567e-01 4.18855504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1607140570001 meters Centerline goodness : 0.987957 with order 1 Centerline is valid? [True, True] Translation: X:760.83, Y:-44.35, Z:4.17 [[ 9.99889621e-01 1.37078153e-02 -5.73081238e-03 7.60827873e+02] [-1.37071547e-02 9.99906041e-01 1.54534525e-04 -4.43494590e+01] [ 5.73239225e-03 -7.59643355e-05 9.99983567e-01 4.17064994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.220714057 meters Centerline goodness : 0.987293 with order 1 Centerline is valid? [True, True] Translation: X:760.89, Y:-44.36, Z:4.17 [[ 9.99903312e-01 1.26698311e-02 -5.73082102e-03 7.60885737e+02] [-1.26691553e-02 9.99919731e-01 1.54213513e-04 -4.43565909e+01] [ 5.73231487e-03 -8.15939411e-05 9.99983567e-01 4.16862200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2807140570001 meters Centerline goodness : 0.983412 with order 1 Centerline is valid? [True, True] Translation: X:760.94, Y:-44.37, Z:4.19 [[ 9.99927062e-01 1.06314832e-02 -5.73083767e-03 7.60944809e+02] [-1.06307775e-02 9.99943480e-01 1.53592212e-04 -4.43673054e+01] [ 5.73214667e-03 -9.26577494e-05 9.99983567e-01 4.18764448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.340714057 meters Centerline goodness : 0.983817 with order 1 Centerline is valid? [True, True] Translation: X:761.00, Y:-44.38, Z:4.19 [[ 9.99967249e-01 5.71470453e-03 -5.73084138e-03 7.61003719e+02] [-5.71391889e-03 9.99983664e-01 1.53453582e-04 -4.43770721e+01] [ 5.73162470e-03 -1.20702994e-04 9.99983567e-01 4.18752093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4007140570001 meters Centerline goodness : 0.983262 with order 1 Centerline is valid? [True, True] Translation: X:761.06, Y:-44.38, Z:4.19 [[ 9.99976956e-01 3.63939879e-03 -5.73085209e-03 7.61061996e+02] [-3.63858139e-03 9.99993369e-01 1.53052475e-04 -4.43827927e+01] [ 5.73137111e-03 -1.32196776e-04 9.99983567e-01 4.18882405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.460714057 meters Centerline goodness : 0.982885 with order 1 Centerline is valid? [True, True] Translation: X:761.12, Y:-44.39, Z:4.19 [[ 9.99974647e-01 4.22639797e-03 -5.73086582e-03 7.61120457e+02] [-4.22559315e-03 9.99991061e-01 1.52536839e-04 -4.43893574e+01] [ 5.73145927e-03 -1.28316664e-04 9.99983567e-01 4.19247263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5207140570001 meters Centerline goodness : 0.983556 with order 1 Centerline is valid? [True, True] Translation: X:761.18, Y:-44.40, Z:4.19 [[ 9.99965811e-01 5.96098371e-03 -5.73087675e-03 7.61177963e+02] [-5.96020972e-03 9.99982226e-01 1.52125102e-04 -4.43964240e+01] [ 5.73168170e-03 -1.17962674e-04 9.99983567e-01 4.19049939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.580714057 meters Centerline goodness : 0.983118 with order 1 Centerline is valid? [True, True] Translation: X:761.24, Y:-44.41, Z:4.19 [[ 9.99974697e-01 4.21453874e-03 -5.73089593e-03 7.61236653e+02] [-4.21374025e-03 9.99991111e-01 1.51398988e-04 -4.44052213e+01] [ 5.73148306e-03 -1.27246650e-04 9.99983567e-01 4.18779511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.640714057 meters Centerline goodness : 0.983416 with order 1 Centerline is valid? [True, True] Translation: X:761.30, Y:-44.41, Z:4.18 [[ 9.99976594e-01 3.73741247e-03 -5.73090655e-03 7.61295323e+02] [-3.73660845e-03 9.99993007e-01 1.50995888e-04 -4.44137923e+01] [ 5.73143081e-03 -1.29578200e-04 9.99983567e-01 4.18162437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.700714057 meters Centerline goodness : 0.981348 with order 1 Centerline is valid? [True, True] Translation: X:761.35, Y:-44.42, Z:4.18 [[ 9.99983144e-01 9.32191113e-04 -5.73091717e-03 7.61354363e+02] [-9.31343368e-04 9.99999555e-01 1.50591741e-04 -4.44230507e+01] [ 5.73105500e-03 -1.45251751e-04 9.99983567e-01 4.17834728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.760714057 meters Centerline goodness : 0.981628 with order 1 Centerline is valid? [True, True] Translation: X:761.41, Y:-44.43, Z:4.18 [[ 9.99983442e-01 -5.21328273e-04 -5.73092783e-03 7.61412947e+02] [ 5.22197540e-04 9.99999852e-01 1.50184812e-04 -4.44290611e+01] [ 5.73084869e-03 -1.53175002e-04 9.99983567e-01 4.17692761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.820714057 meters Centerline goodness : 0.982522 with order 1 Centerline is valid? [True, True] Translation: X:761.47, Y:-44.44, Z:4.17 [[ 9.99979592e-01 2.82355572e-03 -5.73093836e-03 7.61470166e+02] [-2.82274365e-03 9.99996005e-01 1.49781917e-04 -4.44364400e+01] [ 5.73133839e-03 -1.33601890e-04 9.99983567e-01 4.16806314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.880714057 meters Centerline goodness : 0.982461 with order 1 Centerline is valid? [True, True] Translation: X:761.53, Y:-44.44, Z:4.17 [[ 9.99972103e-01 4.79045386e-03 -5.73095129e-03 7.61527713e+02] [-4.78967693e-03 9.99988518e-01 1.49285792e-04 -4.44397180e+01] [ 5.73160063e-03 -1.21832222e-04 9.99983567e-01 4.17001010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.940714057 meters Centerline goodness : 0.982688 with order 1 Centerline is valid? [True, True] Translation: X:761.59, Y:-44.44, Z:4.17 [[ 9.99931798e-01 1.01762326e-02 -5.73099126e-03 7.61586157e+02] [-1.01755530e-02 9.99948217e-01 1.47734985e-04 -4.44449878e+01] [ 5.73219788e-03 -8.94089042e-05 9.99983567e-01 4.17235351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.000714057 meters Centerline goodness : 0.982629 with order 1 Centerline is valid? [True, True] Translation: X:761.64, Y:-44.45, Z:4.17 [[ 9.99928884e-01 1.04585544e-02 -5.73102777e-03 7.61644961e+02] [-1.04578876e-02 9.99945304e-01 1.46304911e-04 -4.44467593e+01] [ 5.73224445e-03 -8.63600620e-05 9.99983567e-01 4.17366391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.060714057 meters Centerline goodness : 0.982858 with order 1 Centerline is valid? [True, True] Translation: X:761.70, Y:-44.46, Z:4.17 [[ 9.99884505e-01 1.40759109e-02 -5.73103807e-03 7.61703327e+02] [-1.40753058e-02 9.99900927e-01 1.45900210e-04 -4.44556413e+01] [ 5.73252396e-03 -6.52172464e-05 9.99983567e-01 4.17251831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.120714057 meters Centerline goodness : 0.983857 with order 1 Centerline is valid? [True, True] Translation: X:761.76, Y:-44.46, Z:4.17 [[ 9.99891416e-01 1.35761353e-02 -5.73107367e-03 7.61761656e+02] [-1.35755301e-02 9.99907838e-01 1.44488382e-04 -4.44621217e+01] [ 5.73250707e-03 -6.66703300e-05 9.99983567e-01 4.17232577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.180714057 meters Centerline goodness : 0.982617 with order 1 Centerline is valid? [True, True] Translation: X:761.82, Y:-44.47, Z:4.17 [[ 9.99940504e-01 9.28133348e-03 -5.73108366e-03 7.61820433e+02] [-9.28066004e-03 9.99956923e-01 1.44091016e-04 -4.44690998e+01] [ 5.73217414e-03 -9.08942044e-05 9.99983567e-01 4.17182737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.240714057 meters Centerline goodness : 0.982113 with order 1 Centerline is valid? [True, True] Translation: X:761.88, Y:-44.47, Z:4.17 [[ 9.99939377e-01 9.40200654e-03 -5.73109384e-03 7.61879674e+02] [-9.40133740e-03 9.99955796e-01 1.43685007e-04 -4.44735449e+01] [ 5.73219143e-03 -8.97963497e-05 9.99983567e-01 4.17237949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.300714057 meters Centerline goodness : 0.984211 with order 1 Centerline is valid? [True, True] Translation: X:761.94, Y:-44.48, Z:4.17 [[ 9.99969712e-01 5.26586542e-03 -5.73110196e-03 7.61938370e+02] [-5.26513023e-03 9.99986129e-01 1.43360189e-04 -4.44804076e+01] [ 5.73177738e-03 -1.13180849e-04 9.99983567e-01 4.16998635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.360714057 meters Centerline goodness : 0.982760 with order 1 Centerline is valid? [True, True] Translation: X:762.00, Y:-44.49, Z:4.17 [[ 9.99983259e-01 7.96952990e-04 -5.73111285e-03 7.61997094e+02] [-7.96146947e-04 9.99999673e-01 1.42923497e-04 -4.44883318e+01] [ 5.73122488e-03 -1.38358296e-04 9.99983567e-01 4.16594873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.420714057 meters Centerline goodness : 0.983660 with order 1 Centerline is valid? [True, True] Translation: X:762.06, Y:-44.49, Z:4.17 [[ 9.99946697e-01 -8.58826696e-03 -5.73112086e-03 7.62055116e+02] [ 8.58922517e-03 9.99963102e-01 1.42601550e-04 -4.44923935e+01] [ 5.72968470e-03 -1.91819836e-04 9.99983567e-01 4.16678381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.480714057 meters Centerline goodness : 0.982031 with order 1 Centerline is valid? [True, True] Translation: X:762.11, Y:-44.48, Z:4.18 [[ 9.99654944e-01 -2.56348805e-02 -5.73113125e-03 7.62114534e+02] [ 2.56361159e-02 9.99671331e-01 1.42183089e-04 -4.44780550e+01] [ 5.72560275e-03 -2.89057972e-04 9.99983567e-01 4.17996771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5407140570001 meters Centerline goodness : 0.987198 with order 1 Centerline is valid? [True, True] Translation: X:762.18, Y:-44.48, Z:4.17 [[ 9.99276049e-01 -3.76102729e-02 -5.73113839e-03 7.62176000e+02] [ 3.76117029e-02 9.99292420e-01 1.41894612e-04 -4.44805594e+01] [ 5.72174645e-03 -3.57349761e-04 9.99983567e-01 4.17353506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.600714057 meters Centerline goodness : 0.981520 with order 1 Centerline is valid? [True, True] Translation: X:762.24, Y:-44.48, Z:4.18 [[ 9.99109220e-01 -4.18081422e-02 -5.73113106e-03 7.62237122e+02] [ 4.18096426e-02 9.99125584e-01 1.42190108e-04 -4.44825910e+01] [ 5.72017496e-03 -3.81679989e-04 9.99983567e-01 4.17878909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6607140570001 meters Centerline goodness : 0.982810 with order 1 Centerline is valid? [True, True] Translation: X:762.30, Y:-44.49, Z:4.18 [[ 9.99067438e-01 -4.27949632e-02 -5.73112031e-03 7.62298497e+02] [ 4.27964822e-02 9.99083801e-01 1.42622125e-04 -4.44864449e+01] [ 5.71976595e-03 -3.87760909e-04 9.99983567e-01 4.17611698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.720714057 meters Centerline goodness : 0.979970 with order 1 Centerline is valid? [True, True] Translation: X:762.36, Y:-44.48, Z:4.18 [[ 9.98602384e-01 -5.25398270e-02 -5.73111276e-03 7.62359576e+02] [ 5.25415073e-02 9.98618731e-01 1.42924909e-04 -4.44752146e+01] [ 5.71568730e-03 -4.43846457e-04 9.99983567e-01 4.17732255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7807140570001 meters Centerline goodness : 0.979144 with order 1 Centerline is valid? [True, True] Translation: X:762.42, Y:-44.47, Z:4.18 [[ 9.98203792e-01 -5.96350919e-02 -5.73110232e-03 7.62421254e+02] [ 5.96368907e-02 9.98220126e-01 1.43342021e-04 -4.44678896e+01] [ 5.71235347e-03 -4.84869672e-04 9.99983567e-01 4.17707432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.840714057 meters Centerline goodness : 0.986064 with order 1 Centerline is valid? [True, True] Translation: X:762.48, Y:-44.46, Z:4.17 [[ 9.97964934e-01 -6.35070548e-02 -5.73109109e-03 7.62481207e+02] [ 6.35089195e-02 9.97981261e-01 1.43789884e-04 -4.44644653e+01] [ 5.71038983e-03 -5.07472665e-04 9.99983567e-01 4.17264144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9007140570001 meters Centerline goodness : 0.976406 with order 1 Centerline is valid? [True, True] Translation: X:762.54, Y:-44.45, Z:4.18 [[ 9.97968943e-01 -6.34440201e-02 -5.73107274e-03 7.62541616e+02] [ 6.34458879e-02 9.97985270e-01 1.44517292e-04 -4.44537723e+01] [ 5.71035742e-03 -5.07836768e-04 9.99983567e-01 4.18180583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.960714057 meters Centerline goodness : 0.985438 with order 1 Centerline is valid? [True, True] Translation: X:762.60, Y:-44.44, Z:4.18 [[ 9.97769443e-01 -6.65078517e-02 -5.73106561e-03 7.62602636e+02] [ 6.65097713e-02 9.97785763e-01 1.44799729e-04 -4.44440195e+01] [ 5.70874535e-03 -5.25648607e-04 9.99983567e-01 4.17540079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0207140570001 meters Centerline goodness : 0.978721 with order 1 Centerline is valid? [True, True] Translation: X:762.66, Y:-44.44, Z:4.18 [[ 9.97869149e-01 -6.49947423e-02 -5.73104064e-03 7.62663946e+02] [ 6.49966427e-02 9.97885472e-01 1.45781160e-04 -4.44376995e+01] [ 5.70944719e-03 -5.17968923e-04 9.99983567e-01 4.18040037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.080714057 meters Centerline goodness : 0.977942 with order 1 Centerline is valid? [True, True] Translation: X:762.73, Y:-44.43, Z:4.18 [[ 9.97806096e-01 -6.59556700e-02 -5.73103016e-03 7.62726567e+02] [ 6.59575885e-02 9.97822417e-01 1.46192272e-04 -4.44263805e+01] [ 5.70890815e-03 -5.23876469e-04 9.99983567e-01 4.18145918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.140714057 meters Centerline goodness : 0.980616 with order 1 Centerline is valid? [True, True] Translation: X:762.79, Y:-44.41, Z:4.18 [[ 9.97941162e-01 -6.38795113e-02 -5.73100775e-03 7.62789520e+02] [ 6.38814008e-02 9.97957487e-01 1.47065266e-04 -4.44135901e+01] [ 5.70990764e-03 -5.12867285e-04 9.99983567e-01 4.18063629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.200714057 meters Centerline goodness : 0.982065 with order 1 Centerline is valid? [True, True] Translation: X:762.85, Y:-44.41, Z:4.18 [[ 9.98163408e-01 -6.03072672e-02 -5.73099106e-03 7.62851048e+02] [ 6.03091020e-02 9.98179739e-01 1.47713057e-04 -4.44085210e+01] [ 5.71165098e-03 -4.93072693e-04 9.99983567e-01 4.17899939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.260714057 meters Centerline goodness : 0.982128 with order 1 Centerline is valid? [True, True] Translation: X:762.91, Y:-44.40, Z:4.18 [[ 9.98107967e-01 -6.12179879e-02 -5.73097879e-03 7.62913866e+02] [ 6.12198403e-02 9.98124295e-01 1.48187594e-04 -4.43961639e+01] [ 5.71115742e-03 -4.98756824e-04 9.99983567e-01 4.17948438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.320714057 meters Centerline goodness : 0.984673 with order 1 Centerline is valid? [True, True] Translation: X:762.98, Y:-44.39, Z:4.20 [[ 9.98229117e-01 -5.92096804e-02 -5.73096386e-03 7.62976460e+02] [ 5.92115032e-02 9.98245449e-01 1.48762532e-04 -4.43910808e+01] [ 5.71210041e-03 -4.87838076e-04 9.99983567e-01 4.19577364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.380714057 meters Centerline goodness : 0.987832 with order 1 Centerline is valid? [True, True] Translation: X:763.04, Y:-44.37, Z:4.19 [[ 9.97818547e-01 -6.57670366e-02 -5.73094804e-03 7.63037027e+02] [ 6.57689701e-02 9.97834866e-01 1.49369585e-04 -4.43746741e+01] [ 5.70871618e-03 -5.25962293e-04 9.99983567e-01 4.18685113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.440714057 meters Centerline goodness : 0.984493 with order 1 Centerline is valid? [True, True] Translation: X:763.10, Y:-44.37, Z:4.20 [[ 9.98011793e-01 -6.27663666e-02 -5.73094804e-03 7.63098718e+02] [ 6.27682511e-02 9.98028118e-01 1.49369585e-04 -4.43743047e+01] [ 5.71027190e-03 -5.08794193e-04 9.99983567e-01 4.19738236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.500714057 meters Centerline goodness : 0.984289 with order 1 Centerline is valid? [True, True] Translation: X:763.16, Y:-44.37, Z:4.19 [[ 9.98049664e-01 -6.21612787e-02 -5.73093999e-03 7.63160982e+02] [ 6.21631550e-02 9.98065990e-01 1.49677821e-04 -4.43652766e+01] [ 5.71055213e-03 -5.05639210e-04 9.99983567e-01 4.19433733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.560714057 meters Centerline goodness : 0.984913 with order 1 Centerline is valid? [True, True] Translation: X:763.22, Y:-44.36, Z:4.19 [[ 9.97947766e-01 -6.37762774e-02 -5.73092863e-03 7.63222281e+02] [ 6.37781826e-02 9.97964088e-01 1.50111495e-04 -4.43580496e+01] [ 5.70968741e-03 -5.15311643e-04 9.99983567e-01 4.19193002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.620714057 meters Centerline goodness : 0.984111 with order 1 Centerline is valid? [True, True] Translation: X:763.28, Y:-44.35, Z:4.19 [[ 9.98020337e-01 -6.26303772e-02 -5.73089230e-03 7.63283980e+02] [ 6.26322714e-02 9.98036660e-01 1.51485846e-04 -4.43490150e+01] [ 5.71015300e-03 -5.10124757e-04 9.99983567e-01 4.19234064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.680714057 meters Centerline goodness : 0.984236 with order 1 Centerline is valid? [True, True] Translation: X:763.35, Y:-44.35, Z:4.19 [[ 9.98176337e-01 -6.00929071e-02 -5.73085836e-03 7.63345925e+02] [ 6.00947671e-02 9.98192665e-01 1.52759398e-04 -4.43467755e+01] [ 5.71132102e-03 -4.96875415e-04 9.99983567e-01 4.18757451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.740714057 meters Centerline goodness : 0.984379 with order 1 Centerline is valid? [True, True] Translation: X:763.41, Y:-44.34, Z:4.19 [[ 9.98048070e-01 -6.21868732e-02 -5.73082329e-03 7.63408699e+02] [ 6.21887749e-02 9.98064393e-01 1.54063872e-04 -4.43396539e+01] [ 5.71014991e-03 -5.10156030e-04 9.99983567e-01 4.19114720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.800714057 meters Centerline goodness : 0.984587 with order 1 Centerline is valid? [True, True] Translation: X:763.47, Y:-44.33, Z:4.19 [[ 9.97800302e-01 -6.60432856e-02 -5.73081158e-03 7.63469855e+02] [ 6.60452528e-02 9.97816617e-01 1.54498164e-04 -4.43344488e+01] [ 5.70809545e-03 -5.32651215e-04 9.99983567e-01 4.18683460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.860714057 meters Centerline goodness : 0.984768 with order 1 Centerline is valid? [True, True] Translation: X:763.53, Y:-44.33, Z:4.19 [[ 9.98170774e-01 -6.01852534e-02 -5.73077378e-03 7.63530789e+02] [ 6.01871328e-02 9.98187099e-01 1.55887853e-04 -4.43313449e+01] [ 5.71100230e-03 -5.00521541e-04 9.99983567e-01 4.18858538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.920714057 meters Centerline goodness : 0.984261 with order 1 Centerline is valid? [True, True] Translation: X:763.59, Y:-44.33, Z:4.19 [[ 9.98109867e-01 -6.11870247e-02 -5.73075441e-03 7.63592816e+02] [ 6.11889244e-02 9.98126190e-01 1.56596583e-04 -4.43285341e+01] [ 5.71043439e-03 -5.06959293e-04 9.99983567e-01 4.19439924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.980714057 meters Centerline goodness : 0.985207 with order 1 Centerline is valid? [True, True] Translation: X:763.66, Y:-44.33, Z:4.18 [[ 9.98503599e-01 -5.43849422e-02 -5.73074347e-03 7.63655010e+02] [ 5.43867330e-02 9.98519934e-01 1.56995800e-04 -4.43300835e+01] [ 5.71372339e-03 -4.68437286e-04 9.99983567e-01 4.18034654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0407140570001 meters Centerline goodness : 0.989694 with order 1 Centerline is valid? [True, True] Translation: X:763.72, Y:-44.32, Z:4.18 [[ 9.98384483e-01 -5.65294882e-02 -5.73073145e-03 7.63716916e+02] [ 5.65313165e-02 9.98400814e-01 1.57433448e-04 -4.43180898e+01] [ 5.71266731e-03 -4.81144905e-04 9.99983567e-01 4.17514962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.100714057 meters Centerline goodness : 0.985879 with order 1 Centerline is valid? [True, True] Translation: X:763.78, Y:-44.33, Z:4.18 [[ 9.98977234e-01 -4.48513612e-02 -5.73069310e-03 7.63779051e+02] [ 4.48530064e-02 9.98993585e-01 1.58817200e-04 -4.43259358e+01] [ 5.71780248e-03 -4.15693582e-04 9.99983567e-01 4.17990000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1607140570001 meters Centerline goodness : 0.987216 with order 1 Centerline is valid? [True, True] Translation: X:763.84, Y:-44.32, Z:4.20 [[ 9.99054972e-01 -4.30850487e-02 -5.73068164e-03 7.63841384e+02] [ 4.30866673e-02 9.99071326e-01 1.59229756e-04 -4.43165446e+01] [ 5.71849928e-03 -4.05995253e-04 9.99983567e-01 4.19716427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.220714057 meters Centerline goodness : 0.987292 with order 1 Centerline is valid? [True, True] Translation: X:763.90, Y:-44.31, Z:4.20 [[ 9.98936352e-01 -4.57528615e-02 -5.73067013e-03 7.63903148e+02] [ 4.57545261e-02 9.98952701e-01 1.59642923e-04 -4.43138156e+01] [ 5.71736428e-03 -4.21677216e-04 9.99983567e-01 4.19542829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2807140570001 meters Centerline goodness : 0.986259 with order 1 Centerline is valid? [True, True] Translation: X:763.96, Y:-44.32, Z:4.20 [[ 9.98940948e-01 -4.56524101e-02 -5.73066147e-03 7.63964313e+02] [ 4.56540749e-02 9.98957296e-01 1.59953270e-04 -4.43159474e+01] [ 5.71738383e-03 -4.21411918e-04 9.99983567e-01 4.19716611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.340714057 meters Centerline goodness : 0.987016 with order 1 Centerline is valid? [True, True] Translation: X:764.03, Y:-44.32, Z:4.20 [[ 9.98742483e-01 -4.98057444e-02 -5.73065517e-03 7.64026848e+02] [ 4.98074785e-02 9.98758824e-01 1.60178616e-04 -4.43163781e+01] [ 5.71556460e-03 -4.45406672e-04 9.99983567e-01 4.19555646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4007140570001 meters Centerline goodness : 0.986408 with order 1 Centerline is valid? [True, True] Translation: X:764.09, Y:-44.32, Z:4.19 [[ 9.98590605e-01 -5.27632735e-02 -5.73064352e-03 7.64088649e+02] [ 5.27650583e-02 9.98606941e-01 1.60594247e-04 -4.43196397e+01] [ 5.71418692e-03 -4.62745645e-04 9.99983567e-01 4.19036934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.460714057 meters Centerline goodness : 0.986401 with order 1 Centerline is valid? [True, True] Translation: X:764.15, Y:-44.32, Z:4.19 [[ 9.98471317e-01 -5.49744397e-02 -5.73060522e-03 7.64150493e+02] [ 5.49762684e-02 9.98487648e-01 1.61949430e-04 -4.43213391e+01] [ 5.71303545e-03 -4.76749151e-04 9.99983567e-01 4.18880740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5207140570001 meters Centerline goodness : 0.985666 with order 1 Centerline is valid? [True, True] Translation: X:764.21, Y:-44.32, Z:4.19 [[ 9.98394277e-01 -5.63562565e-02 -5.73059357e-03 7.64212169e+02] [ 5.63581101e-02 9.98410605e-01 1.62360848e-04 -4.43217736e+01] [ 5.71233534e-03 -4.85065564e-04 9.99983567e-01 4.19200385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.580714057 meters Centerline goodness : 0.986472 with order 1 Centerline is valid? [True, True] Translation: X:764.28, Y:-44.32, Z:4.19 [[ 9.98481882e-01 -5.47822318e-02 -5.73055022e-03 7.64275243e+02] [ 5.47840683e-02 9.98498212e-01 1.63876524e-04 -4.43208921e+01] [ 5.71296663e-03 -4.77570594e-04 9.99983567e-01 4.19433457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.640714057 meters Centerline goodness : 0.986969 with order 1 Centerline is valid? [True, True] Translation: X:764.34, Y:-44.32, Z:4.19 [[ 9.98664595e-01 -5.13438276e-02 -5.73053140e-03 7.64337003e+02] [ 5.13456115e-02 9.98680931e-01 1.64532140e-04 -4.43216462e+01] [ 5.71452472e-03 -4.58550062e-04 9.99983567e-01 4.19282896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.700714057 meters Centerline goodness : 0.987051 with order 1 Centerline is valid? [True, True] Translation: X:764.40, Y:-44.32, Z:4.19 [[ 9.98743349e-01 -4.97883938e-02 -5.73048477e-03 7.64400298e+02] [ 4.97901615e-02 9.98759687e-01 1.66140590e-04 -4.43216511e+01] [ 5.71510530e-03 -4.51253571e-04 9.99983567e-01 4.19230668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.760714057 meters Centerline goodness : 0.987103 with order 1 Centerline is valid? [True, True] Translation: X:764.46, Y:-44.32, Z:4.19 [[ 9.98855246e-01 -4.74906183e-02 -5.73046646e-03 7.64462266e+02] [ 4.74923520e-02 9.98871588e-01 1.66769551e-04 -4.43229114e+01] [ 5.71608014e-03 -4.38731971e-04 9.99983567e-01 4.19028277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.820714057 meters Centerline goodness : 0.987429 with order 1 Centerline is valid? [True, True] Translation: X:764.52, Y:-44.32, Z:4.19 [[ 9.99151134e-01 -4.07942736e-02 -5.73042113e-03 7.64524906e+02] [ 4.07959066e-02 9.99167486e-01 1.68312949e-04 -4.43232058e+01] [ 5.71878427e-03 -4.01947799e-04 9.99983567e-01 4.18768256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.880714057 meters Centerline goodness : 0.986894 with order 1 Centerline is valid? [True, True] Translation: X:764.59, Y:-44.32, Z:4.19 [[ 9.99537206e-01 -2.98753572e-02 -5.73040293e-03 7.64587452e+02] [ 2.98768149e-02 9.99553574e-01 1.68930423e-04 -4.43214455e+01] [ 5.72279787e-03 -3.40058430e-04 9.99983567e-01 4.18727464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.940714057 meters Centerline goodness : 0.985331 with order 1 Centerline is valid? [True, True] Translation: X:764.65, Y:-44.32, Z:4.19 [[ 9.99767904e-01 -2.07677898e-02 -5.73039064e-03 7.64649105e+02] [ 2.07691007e-02 9.99784285e-01 1.69346035e-04 -4.43196574e+01] [ 5.72563757e-03 -2.88321791e-04 9.99983567e-01 4.18818477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.000714057 meters Centerline goodness : 0.984934 with order 1 Centerline is valid? [True, True] Translation: X:764.71, Y:-44.32, Z:4.19 [[ 9.99951548e-01 -8.00400095e-03 -5.73036332e-03 7.64710402e+02] [ 8.00510792e-03 9.99967944e-01 1.70265457e-04 -4.43210314e+01] [ 5.72881683e-03 -2.16129384e-04 9.99983567e-01 4.18566637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.060714057 meters Centerline goodness : 0.985168 with order 1 Centerline is valid? [True, True] Translation: X:764.77, Y:-44.32, Z:4.19 [[ 9.99978894e-01 -3.06180386e-03 -5.73035736e-03 7.64772084e+02] [ 3.06283093e-03 9.99995295e-01 1.70465935e-04 -4.43195492e+01] [ 5.72980847e-03 -1.88013453e-04 9.99983567e-01 4.18658326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.120714057 meters Centerline goodness : 0.985144 with order 1 Centerline is valid? [True, True] Translation: X:764.83, Y:-44.32, Z:4.18 [[ 9.99979451e-01 2.87399966e-03 -5.73035137e-03 7.64831874e+02] [-2.87306882e-03 9.99995858e-01 1.70667097e-04 -4.43186037e+01] [ 5.73081813e-03 -1.54199896e-04 9.99983567e-01 4.18404898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.180714057 meters Centerline goodness : 0.984746 with order 1 Centerline is valid? [True, True] Translation: X:764.89, Y:-44.32, Z:4.18 [[ 9.99955550e-01 7.48738573e-03 -5.73035742e-03 7.64889870e+02] [-7.48653175e-03 9.99971961e-01 1.70463872e-04 -4.43209378e+01] [ 5.73147307e-03 -1.27555792e-04 9.99983567e-01 4.17646071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.240714057 meters Centerline goodness : 0.983194 with order 1 Centerline is valid? [True, True] Translation: X:764.95, Y:-44.32, Z:4.18 [[ 9.99889298e-01 1.37314906e-02 -5.73040582e-03 7.64947860e+02] [-1.37307485e-02 9.99905715e-01 1.68820991e-04 -4.43231790e+01] [ 5.73218369e-03 -9.01195405e-05 9.99983567e-01 4.17868692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.300714057 meters Centerline goodness : 0.984148 with order 1 Centerline is valid? [True, True] Translation: X:765.01, Y:-44.33, Z:4.18 [[ 9.99839297e-01 1.69865500e-02 -5.73042055e-03 7.65006384e+02] [-1.69858642e-02 9.99855716e-01 1.68319399e-04 -4.43272248e+01] [ 5.73245290e-03 -7.09562046e-05 9.99983567e-01 4.17688501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.360714057 meters Centerline goodness : 0.983064 with order 1 Centerline is valid? [True, True] Translation: X:765.06, Y:-44.33, Z:4.18 [[ 9.99827332e-01 1.76767731e-02 -5.73043239e-03 7.65064723e+02] [-1.76761010e-02 9.99843751e-01 1.67915354e-04 -4.43310950e+01] [ 5.73250522e-03 -6.65946582e-05 9.99983567e-01 4.17840399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.420714057 meters Centerline goodness : 0.982739 with order 1 Centerline is valid? [True, True] Translation: X:765.12, Y:-44.33, Z:4.18 [[ 9.99840644e-01 1.69070721e-02 -5.73044427e-03 7.65123438e+02] [-1.69063897e-02 9.99857063e-01 1.67509051e-04 -4.43335901e+01] [ 5.73245726e-03 -7.06012335e-05 9.99983567e-01 4.18087866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.480714057 meters Centerline goodness : 0.982993 with order 1 Centerline is valid? [True, True] Translation: X:765.18, Y:-44.34, Z:4.18 [[ 9.99855793e-01 1.59860920e-02 -5.73045638e-03 7.65181956e+02] [-1.59853968e-02 9.99872211e-01 1.67093707e-04 -4.43436442e+01] [ 5.73239526e-03 -7.54659914e-05 9.99983567e-01 4.17810964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5407140570001 meters Centerline goodness : 0.983451 with order 1 Centerline is valid? [True, True] Translation: X:765.24, Y:-44.35, Z:4.18 [[ 9.99952368e-01 7.90084650e-03 -5.73046530e-03 7.65241520e+02] [-7.90002037e-03 9.99968780e-01 1.66787177e-04 -4.43475268e+01] [ 5.73160416e-03 -1.21508440e-04 9.99983567e-01 4.18179159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.600714057 meters Centerline goodness : 0.983780 with order 1 Centerline is valid? [True, True] Translation: X:765.30, Y:-44.35, Z:4.18 [[ 9.99981108e-01 2.22386454e-03 -5.73046820e-03 7.65299748e+02] [-2.22294581e-03 9.99997515e-01 1.66687395e-04 -4.43530745e+01] [ 5.73082465e-03 -1.53945725e-04 9.99983567e-01 4.18418667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6607140570001 meters Centerline goodness : 0.985635 with order 1 Centerline is valid? [True, True] Translation: X:765.36, Y:-44.36, Z:4.18 [[ 9.99929699e-01 -1.03806601e-02 -5.73047968e-03 7.65358541e+02] [ 1.03817833e-02 9.99946094e-01 1.66291643e-04 -4.43593102e+01] [ 5.72844456e-03 -2.25772551e-04 9.99983567e-01 4.18300099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.720714057 meters Centerline goodness : 0.985438 with order 1 Centerline is valid? [True, True] Translation: X:765.42, Y:-44.36, Z:4.19 [[ 9.99914952e-01 -1.17153576e-02 -5.73048829e-03 7.65419780e+02] [ 1.17165010e-02 9.99931346e-01 1.65994424e-04 -4.43621706e+01] [ 5.72815019e-03 -2.33121578e-04 9.99983567e-01 4.19054409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7807140570001 meters Centerline goodness : 0.985229 with order 1 Centerline is valid? [True, True] Translation: X:765.48, Y:-44.37, Z:4.19 [[ 9.99860663e-01 -1.56785323e-02 -5.73047978e-03 7.65481915e+02] [ 1.56797423e-02 9.99877051e-01 1.66287837e-04 -4.43678091e+01] [ 5.72716808e-03 -2.56117113e-04 9.99983567e-01 4.19052567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.840714057 meters Centerline goodness : 0.985082 with order 1 Centerline is valid? [True, True] Translation: X:765.54, Y:-44.37, Z:4.19 [[ 9.99844703e-01 -1.66653100e-02 -5.73046865e-03 7.65544328e+02] [ 1.66665384e-02 9.99861090e-01 1.66670545e-04 -4.43712251e+01] [ 5.72689501e-03 -2.62151737e-04 9.99983567e-01 4.19165130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9007140570001 meters Centerline goodness : 0.984212 with order 1 Centerline is valid? [True, True] Translation: X:765.61, Y:-44.38, Z:4.19 [[ 9.99871032e-01 -1.50026962e-02 -5.73045754e-03 7.65606627e+02] [ 1.50038995e-02 9.99887421e-01 1.67051644e-04 -4.43762941e+01] [ 5.72730619e-03 -2.53009309e-04 9.99983567e-01 4.19043178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.960714057 meters Centerline goodness : 0.986100 with order 1 Centerline is valid? [True, True] Translation: X:765.67, Y:-44.38, Z:4.19 [[ 9.99893818e-01 -1.33983209e-02 -5.73044656e-03 7.65669218e+02] [ 1.33995000e-02 9.99910209e-01 1.67427528e-04 -4.43803716e+01] [ 5.72768876e-03 -2.44194869e-04 9.99983567e-01 4.19388837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0207140570001 meters Centerline goodness : 0.984081 with order 1 Centerline is valid? [True, True] Translation: X:765.73, Y:-44.39, Z:4.19 [[ 9.99961522e-01 -6.64206401e-03 -5.73043183e-03 7.65730080e+02] [ 6.64313528e-03 9.99977920e-01 1.67930059e-04 -4.43887615e+01] [ 5.72918990e-03 -2.05991631e-04 9.99983567e-01 4.18855997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.080714057 meters Centerline goodness : 0.983344 with order 1 Centerline is valid? [True, True] Translation: X:765.79, Y:-44.39, Z:4.19 [[ 9.99980904e-01 -2.31390368e-03 -5.73042591e-03 7.65790323e+02] [ 2.31490512e-03 9.99997306e-01 1.68131828e-04 -4.43926220e+01] [ 5.73002143e-03 -1.81394010e-04 9.99983567e-01 4.18823337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.140714057 meters Centerline goodness : 0.982504 with order 1 Centerline is valid? [True, True] Translation: X:765.85, Y:-44.40, Z:4.19 [[ 9.99973500e-01 4.49018761e-03 -5.73042591e-03 7.65848714e+02] [-4.48929780e-03 9.99989909e-01 1.68131828e-04 -4.43993751e+01] [ 5.73112303e-03 -1.42401784e-04 9.99983567e-01 4.18568617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.200714057 meters Centerline goodness : 0.981680 with order 1 Centerline is valid? [True, True] Translation: X:765.91, Y:-44.41, Z:4.18 [[ 9.99904043e-01 1.26121748e-02 -5.73046796e-03 7.65908325e+02] [-1.26114266e-02 9.99920459e-01 1.66686145e-04 -4.44066132e+01] [ 5.73211443e-03 -9.44007741e-05 9.99983567e-01 4.18226652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.260714057 meters Centerline goodness : 0.985409 with order 1 Centerline is valid? [True, True] Translation: X:765.97, Y:-44.40, Z:4.19 [[ 9.99952332e-01 7.90534166e-03 -5.73047397e-03 7.65967446e+02] [-7.90451736e-03 9.99968745e-01 1.66479273e-04 -4.44011549e+01] [ 5.73161094e-03 -1.21174706e-04 9.99983567e-01 4.19385290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.320714057 meters Centerline goodness : 0.984257 with order 1 Centerline is valid? [True, True] Translation: X:766.03, Y:-44.41, Z:4.19 [[ 9.99824886e-01 1.78145495e-02 -5.73047511e-03 7.66026570e+02] [-1.78138881e-02 9.99841306e-01 1.66440180e-04 -4.44149462e+01] [ 5.73253077e-03 -6.43289916e-05 9.99983567e-01 4.18535832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.380714057 meters Centerline goodness : 0.986227 with order 1 Centerline is valid? [True, True] Translation: X:766.09, Y:-44.41, Z:4.20 [[ 9.99967812e-01 5.61582287e-03 -5.73048217e-03 7.66085951e+02] [-5.61496261e-03 9.99984222e-01 1.66196804e-04 -4.44067016e+01] [ 5.73132508e-03 -1.34015012e-04 9.99983567e-01 4.20072680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.440714057 meters Centerline goodness : 0.987028 with order 1 Centerline is valid? [True, True] Translation: X:766.14, Y:-44.41, Z:4.21 [[ 9.99983332e-01 -7.05869115e-04 -5.73048562e-03 7.66143972e+02] [ 7.06832415e-04 9.99999736e-01 1.66077442e-04 -4.44091709e+01] [ 5.73036689e-03 -1.70125166e-04 9.99983567e-01 4.20567943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.500714057 meters Centerline goodness : 0.986756 with order 1 Centerline is valid? [True, True] Translation: X:766.20, Y:-44.42, Z:4.20 [[ 9.99933667e-01 -9.99117210e-03 -5.73050208e-03 7.66202414e+02] [ 9.99228443e-03 9.99950062e-01 1.65507535e-04 -4.44165226e+01] [ 5.72856230e-03 -2.22757363e-04 9.99983567e-01 4.20454589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.560714057 meters Centerline goodness : 0.986173 with order 1 Centerline is valid? [True, True] Translation: X:766.26, Y:-44.43, Z:4.20 [[ 9.99850316e-01 -1.63250151e-02 -5.73051597e-03 7.66261959e+02] [ 1.63262285e-02 9.99866705e-01 1.65025449e-04 -4.44318649e+01] [ 5.72705807e-03 -2.58558460e-04 9.99983567e-01 4.19909888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.620714057 meters Centerline goodness : 0.985891 with order 1 Centerline is valid? [True, True] Translation: X:766.32, Y:-44.44, Z:4.20 [[ 9.99752810e-01 -2.14820814e-02 -5.73050005e-03 7.66324645e+02] [ 2.14833825e-02 9.99769192e-01 1.65576475e-04 -4.44365730e+01] [ 5.72562047e-03 -2.88646070e-04 9.99983567e-01 4.20065572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.680714057 meters Centerline goodness : 0.989821 with order 1 Centerline is valid? [True, True] Translation: X:766.39, Y:-44.43, Z:4.20 [[ 9.99460150e-01 -3.23507469e-02 -5.73045117e-03 7.66387165e+02] [ 3.23522356e-02 9.99476515e-01 1.67251137e-04 -4.44339330e+01] [ 5.72204067e-03 -3.52553752e-04 9.99983567e-01 4.19897978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.740714057 meters Centerline goodness : 0.985885 with order 1 Centerline is valid? [True, True] Translation: X:766.45, Y:-44.45, Z:4.20 [[ 9.99692159e-01 -2.41401912e-02 -5.73040566e-03 7.66449322e+02] [ 2.41415542e-02 9.99708536e-01 1.68796279e-04 -4.44511151e+01] [ 5.72466067e-03 -3.07085215e-04 9.99983567e-01 4.19850698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.800714057 meters Centerline goodness : 0.985930 with order 1 Centerline is valid? [True, True] Translation: X:766.51, Y:-44.46, Z:4.19 [[ 9.99544139e-01 -2.96424921e-02 -5.73039348e-03 7.66512494e+02] [ 2.96439476e-02 9.99560507e-01 1.69208465e-04 -4.44584216e+01] [ 5.72285926e-03 -3.39002814e-04 9.99983567e-01 4.19329020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.860714057 meters Centerline goodness : 0.986086 with order 1 Centerline is valid? [True, True] Translation: X:766.57, Y:-44.46, Z:4.20 [[ 9.99423601e-01 -3.34608413e-02 -5.73037521e-03 7.66573592e+02] [ 3.34623628e-02 9.99439964e-01 1.69825090e-04 -4.44614900e+01] [ 5.72148350e-03 -3.61479098e-04 9.99983567e-01 4.19581124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.920714057 meters Centerline goodness : 0.985537 with order 1 Centerline is valid? [True, True] Translation: X:766.64, Y:-44.46, Z:4.20 [[ 9.99406525e-01 -3.39670570e-02 -5.73036624e-03 7.66635353e+02] [ 3.39685885e-02 9.99422887e-01 1.70127196e-04 -4.44626631e+01] [ 5.72128045e-03 -3.64678682e-04 9.99983567e-01 4.19641044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.980714057 meters Centerline goodness : 0.985749 with order 1 Centerline is valid? [True, True] Translation: X:766.70, Y:-44.47, Z:4.19 [[ 9.99423579e-01 -3.34614977e-02 -5.73035463e-03 7.66697161e+02] [ 3.34630232e-02 9.99439942e-01 1.70517245e-04 -4.44664313e+01] [ 5.72143954e-03 -3.62173945e-04 9.99983567e-01 4.19427199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0407140570001 meters Centerline goodness : 0.985865 with order 1 Centerline is valid? [True, True] Translation: X:766.76, Y:-44.47, Z:4.20 [[ 9.99338743e-01 -3.59059887e-02 -5.73034025e-03 7.66760283e+02] [ 3.59075570e-02 9.99355101e-01 1.70999333e-04 -4.44678912e+01] [ 5.72050486e-03 -3.76648778e-04 9.99983567e-01 4.19807691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.100714057 meters Centerline goodness : 0.986417 with order 1 Centerline is valid? [True, True] Translation: X:766.82, Y:-44.47, Z:4.20 [[ 9.99271302e-01 -3.77363024e-02 -5.73032323e-03 7.66823195e+02] [ 3.77379039e-02 9.99287657e-01 1.71567675e-04 -4.44683496e+01] [ 5.71976695e-03 -3.87693041e-04 9.99983567e-01 4.20100638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1607140570001 meters Centerline goodness : 0.985939 with order 1 Centerline is valid? [True, True] Translation: X:766.89, Y:-44.47, Z:4.20 [[ 9.99363668e-01 -3.52054391e-02 -5.73030620e-03 7.66886427e+02] [ 3.52070024e-02 9.99380027e-01 1.72134583e-04 -4.44693593e+01] [ 5.72069349e-03 -3.73771952e-04 9.99983567e-01 4.20368373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.220714057 meters Centerline goodness : 0.986330 with order 1 Centerline is valid? [True, True] Translation: X:766.95, Y:-44.47, Z:4.21 [[ 9.99380726e-01 -3.47178408e-02 -5.73028612e-03 7.66947995e+02] [ 3.47193999e-02 9.99397085e-01 1.72800462e-04 -4.44691663e+01] [ 5.72083199e-03 -3.71645547e-04 9.99983567e-01 4.20595369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2807140570001 meters Centerline goodness : 0.986993 with order 1 Centerline is valid? [True, True] Translation: X:767.01, Y:-44.47, Z:4.21 [[ 9.99388341e-01 -3.44979324e-02 -5.73026957e-03 7.67011382e+02] [ 3.44994911e-02 9.99404700e-01 1.73347683e-04 -4.44678208e+01] [ 5.72087820e-03 -3.70933037e-04 9.99983567e-01 4.20733531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.340714057 meters Centerline goodness : 0.986627 with order 1 Centerline is valid? [True, True] Translation: X:767.07, Y:-44.47, Z:4.21 [[ 9.99363005e-01 -3.52242486e-02 -5.73025202e-03 7.67073694e+02] [ 3.52258224e-02 9.99379363e-01 1.73925730e-04 -4.44684943e+01] [ 5.72056921e-03 -3.75667781e-04 9.99983567e-01 4.20597386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4007140570001 meters Centerline goodness : 0.988221 with order 1 Centerline is valid? [True, True] Translation: X:767.14, Y:-44.46, Z:4.21 [[ 9.99091997e-01 -4.22178436e-02 -5.73023870e-03 7.67135534e+02] [ 4.22195344e-02 9.99108343e-01 1.74363587e-04 -4.44604737e+01] [ 5.71776804e-03 -4.16133274e-04 9.99983567e-01 4.20641613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.460714057 meters Centerline goodness : 0.986819 with order 1 Centerline is valid? [True, True] Translation: X:767.20, Y:-44.47, Z:4.21 [[ 9.99402055e-01 -3.40983472e-02 -5.73022778e-03 7.67196528e+02] [ 3.40999071e-02 9.99418414e-01 1.74721759e-04 -4.44651567e+01] [ 5.72093743e-03 -3.70017520e-04 9.99983567e-01 4.20908431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5207140570001 meters Centerline goodness : 0.985783 with order 1 Centerline is valid? [True, True] Translation: X:767.26, Y:-44.47, Z:4.21 [[ 9.99601615e-01 -2.76364859e-02 -5.73021692e-03 7.67258389e+02] [ 2.76379421e-02 9.99617984e-01 1.75077102e-04 -4.44656170e+01] [ 5.72318937e-03 -3.33378757e-04 9.99983567e-01 4.20776293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.580714057 meters Centerline goodness : 0.985621 with order 1 Centerline is valid? [True, True] Translation: X:767.32, Y:-44.46, Z:4.22 [[ 9.99575093e-01 -2.85796823e-02 -5.73020439e-03 7.67320755e+02] [ 2.85811563e-02 9.99591460e-01 1.75486248e-04 -4.44616055e+01] [ 5.72284803e-03 -3.39187550e-04 9.99983567e-01 4.21514443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.640714057 meters Centerline goodness : 0.986020 with order 1 Centerline is valid? [True, True] Translation: X:767.38, Y:-44.46, Z:4.22 [[ 9.99639468e-01 -2.62316250e-02 -5.73019201e-03 7.67381737e+02] [ 2.62330628e-02 9.99655839e-01 1.75889512e-04 -4.44593226e+01] [ 5.72360603e-03 -3.26146585e-04 9.99983567e-01 4.21559030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.700714057 meters Centerline goodness : 0.989369 with order 1 Centerline is valid? [True, True] Translation: X:767.44, Y:-44.45, Z:4.21 [[ 9.99550954e-01 -2.94118288e-02 -5.73017119e-03 7.67442818e+02] [ 2.94133226e-02 9.99567319e-01 1.76565420e-04 -4.44510450e+01] [ 5.72249874e-03 -3.45029508e-04 9.99983567e-01 4.21088080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.760714057 meters Centerline goodness : 0.988573 with order 1 Centerline is valid? [True, True] Translation: X:767.51, Y:-44.45, Z:4.21 [[ 9.99570537e-01 -2.87386013e-02 -5.73016209e-03 7.67505327e+02] [ 2.87400857e-02 9.99586903e-01 1.76860119e-04 -4.44510678e+01] [ 5.72271226e-03 -3.41469514e-04 9.99983567e-01 4.21316416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.820714057 meters Centerline goodness : 0.988533 with order 1 Centerline is valid? [True, True] Translation: X:767.57, Y:-44.45, Z:4.22 [[ 9.99611604e-01 -2.72728103e-02 -5.73014934e-03 7.67567978e+02] [ 2.72742730e-02 9.99627972e-01 1.77272243e-04 -4.44503542e+01] [ 5.72318285e-03 -3.33489049e-04 9.99983567e-01 4.21555614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.880714057 meters Centerline goodness : 0.987633 with order 1 Centerline is valid? [True, True] Translation: X:767.63, Y:-44.45, Z:4.23 [[ 9.99729897e-01 -2.25233048e-02 -5.73013668e-03 7.67628730e+02] [ 2.25246921e-02 9.99746271e-01 1.77680441e-04 -4.44538875e+01] [ 5.72468083e-03 -3.06702014e-04 9.99983567e-01 4.22998199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.940714057 meters Centerline goodness : 0.989815 with order 1 Centerline is valid? [True, True] Translation: X:767.69, Y:-44.45, Z:4.22 [[ 9.99709296e-01 -2.34198488e-02 -5.73013353e-03 7.67690122e+02] [ 2.34212514e-02 9.99725669e-01 1.77782057e-04 -4.44486116e+01] [ 5.72439795e-03 -3.11937273e-04 9.99983567e-01 4.21910777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.000714057 meters Centerline goodness : 0.985119 with order 1 Centerline is valid? [True, True] Translation: X:767.75, Y:-44.46, Z:4.23 [[ 9.99830583e-01 -1.74920168e-02 -5.73013040e-03 7.67752447e+02] [ 1.74933228e-02 9.99846964e-01 1.77882837e-04 -4.44567087e+01] [ 5.72614196e-03 -2.78091722e-04 9.99983567e-01 4.22749519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.060714057 meters Centerline goodness : 0.989193 with order 1 Centerline is valid? [True, True] Translation: X:767.81, Y:-44.45, Z:4.22 [[ 9.99657186e-01 -2.55475424e-02 -5.73011389e-03 7.67814447e+02] [ 2.55489835e-02 9.99673556e-01 1.78413048e-04 -4.44482549e+01] [ 5.72368531e-03 -3.24750471e-04 9.99983567e-01 4.22206252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.120714057 meters Centerline goodness : 0.988934 with order 1 Centerline is valid? [True, True] Translation: X:767.88, Y:-44.45, Z:4.22 [[ 9.99580789e-01 -2.83798096e-02 -5.73006897e-03 7.67876932e+02] [ 2.83813052e-02 9.99597153e-01 1.79844375e-04 -4.44489418e+01] [ 5.72265668e-03 -3.42395819e-04 9.99983567e-01 4.22143382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.180714057 meters Centerline goodness : 0.988967 with order 1 Centerline is valid? [True, True] Translation: X:767.94, Y:-44.45, Z:4.22 [[ 9.99476539e-01 -3.18404645e-02 -5.73005609e-03 7.67938950e+02] [ 3.18420191e-02 9.99492898e-01 1.80253726e-04 -4.44492293e+01] [ 5.72141101e-03 -3.62615925e-04 9.99983567e-01 4.22098286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.240714057 meters Centerline goodness : 0.984958 with order 1 Centerline is valid? [True, True] Translation: X:768.00, Y:-44.46, Z:4.22 [[ 9.99752377e-01 -2.15023376e-02 -5.73004325e-03 7.67999956e+02] [ 2.15037252e-02 9.99768752e-01 1.80661023e-04 -4.44627088e+01] [ 5.72483355e-03 -3.03833563e-04 9.99983567e-01 4.22384890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.300714057 meters Centerline goodness : 0.984207 with order 1 Centerline is valid? [True, True] Translation: X:768.06, Y:-44.47, Z:4.22 [[ 9.99776027e-01 -2.03730626e-02 -5.73003667e-03 7.68062267e+02] [ 2.03744330e-02 9.99792403e-01 1.80869351e-04 -4.44672124e+01] [ 5.72516228e-03 -2.97575089e-04 9.99983567e-01 4.21989455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.360714057 meters Centerline goodness : 0.984945 with order 1 Centerline is valid? [True, True] Translation: X:768.12, Y:-44.46, Z:4.23 [[ 9.99541890e-01 -2.97182907e-02 -5.73002358e-03 7.68123947e+02] [ 2.97198164e-02 9.99558252e-01 1.81283216e-04 -4.44595025e+01] [ 5.72210493e-03 -3.51495418e-04 9.99983567e-01 4.23345291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.420714057 meters Centerline goodness : 0.985048 with order 1 Centerline is valid? [True, True] Translation: X:768.19, Y:-44.46, Z:4.23 [[ 9.99459184e-01 -3.23806561e-02 -5.72998156e-03 7.68186253e+02] [ 3.23822329e-02 9.99475541e-01 1.82601883e-04 -4.44611713e+01] [ 5.72106365e-03 -3.68052727e-04 9.99983567e-01 4.23288137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.480714057 meters Centerline goodness : 0.985230 with order 1 Centerline is valid? [True, True] Translation: X:768.25, Y:-44.46, Z:4.23 [[ 9.99345100e-01 -3.57286909e-02 -5.72996798e-03 7.68247730e+02] [ 3.57303250e-02 9.99361451e-01 1.83026885e-04 -4.44614937e+01] [ 5.71976981e-03 -3.87640638e-04 9.99983567e-01 4.23383587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5407140570001 meters Centerline goodness : 0.985690 with order 1 Centerline is valid? [True, True] Translation: X:768.31, Y:-44.46, Z:4.24 [[ 9.99203057e-01 -3.95021293e-02 -5.72995795e-03 7.68309590e+02] [ 3.95038269e-02 9.99219402e-01 1.83340598e-04 -4.44612631e+01] [ 5.71824281e-03 -4.09549753e-04 9.99983567e-01 4.23706735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.600714057 meters Centerline goodness : 0.985981 with order 1 Centerline is valid? [True, True] Translation: X:768.37, Y:-44.46, Z:4.23 [[ 9.99109760e-01 -4.17953883e-02 -5.72994456e-03 7.68372046e+02] [ 4.17971258e-02 9.99126101e-01 1.83758090e-04 -4.44632769e+01] [ 5.71725693e-03 -4.23089715e-04 9.99983567e-01 4.23189063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6607140570001 meters Centerline goodness : 0.987702 with order 1 Centerline is valid? [True, True] Translation: X:768.43, Y:-44.46, Z:4.24 [[ 9.99037364e-01 -4.34915257e-02 -5.72993035e-03 7.68433107e+02] [ 4.34932934e-02 9.99053702e-01 1.84199991e-04 -4.44608015e+01] [ 5.71649699e-03 -4.33236216e-04 9.99983567e-01 4.23711912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.720714057 meters Centerline goodness : 0.986889 with order 1 Centerline is valid? [True, True] Translation: X:768.50, Y:-44.46, Z:4.24 [[ 9.98967152e-01 -4.50754635e-02 -5.72988493e-03 7.68495616e+02] [ 4.50772651e-02 9.98983486e-01 1.85602071e-04 -4.44614145e+01] [ 5.71569433e-03 -4.43697914e-04 9.99983567e-01 4.23526673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7807140570001 meters Centerline goodness : 0.986535 with order 1 Centerline is valid? [True, True] Translation: X:768.56, Y:-44.46, Z:4.23 [[ 9.98973385e-01 -4.49371114e-02 -5.72987080e-03 7.68556836e+02] [ 4.49389133e-02 9.98989719e-01 1.86037502e-04 -4.44629977e+01] [ 5.71572203e-03 -4.43340680e-04 9.99983567e-01 4.22764220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.840714057 meters Centerline goodness : 0.987706 with order 1 Centerline is valid? [True, True] Translation: X:768.62, Y:-44.46, Z:4.22 [[ 9.98658844e-01 -5.14556367e-02 -5.72984725e-03 7.68618212e+02] [ 5.14575492e-02 9.98675165e-01 1.86759831e-04 -4.44555560e+01] [ 5.71264631e-03 -4.81353253e-04 9.99983567e-01 4.21971680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9007140570001 meters Centerline goodness : 0.989646 with order 1 Centerline is valid? [True, True] Translation: X:768.68, Y:-44.45, Z:4.22 [[ 9.98730935e-01 -5.00368760e-02 -5.72983628e-03 7.68680818e+02] [ 5.00387673e-02 9.98747259e-01 1.87095730e-04 -4.44544356e+01] [ 5.71329660e-03 -4.73572237e-04 9.99983567e-01 4.22253989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.960714057 meters Centerline goodness : 0.986485 with order 1 Centerline is valid? [True, True] Translation: X:768.74, Y:-44.45, Z:4.22 [[ 9.98787636e-01 -4.88920067e-02 -5.72982000e-03 7.68742125e+02] [ 4.88938820e-02 9.98803961e-01 1.87593259e-04 -4.44517936e+01] [ 5.71379510e-03 -4.67518971e-04 9.99983567e-01 4.22222936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0207140570001 meters Centerline goodness : 0.986299 with order 1 Centerline is valid? [True, True] Translation: X:768.80, Y:-44.47, Z:4.21 [[ 9.99461956e-01 -3.22950013e-02 -5.72980785e-03 7.68802056e+02] [ 3.22966073e-02 9.99478311e-01 1.87963604e-04 -4.44677033e+01] [ 5.72074838e-03 -3.72915825e-04 9.99983567e-01 4.21205888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.080714057 meters Centerline goodness : 0.985263 with order 1 Centerline is valid? [True, True] Translation: X:768.86, Y:-44.47, Z:4.21 [[ 9.99637153e-01 -2.63198114e-02 -5.72980785e-03 7.68862888e+02] [ 2.63213197e-02 9.99653516e-01 1.87963604e-04 -4.44697008e+01] [ 5.72287540e-03 -3.38711505e-04 9.99983567e-01 4.20681279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.140714057 meters Centerline goodness : 0.984674 with order 1 Centerline is valid? [True, True] Translation: X:768.92, Y:-44.47, Z:4.21 [[ 9.99784655e-01 -1.99452525e-02 -5.72979804e-03 7.68924121e+02] [ 1.99466581e-02 9.99801028e-01 1.88262040e-04 -4.44678658e+01] [ 5.72490304e-03 -3.02511821e-04 9.99983567e-01 4.20542186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.200714057 meters Centerline goodness : 0.984745 with order 1 Centerline is valid? [True, True] Translation: X:768.99, Y:-44.46, Z:4.21 [[ 9.99875424e-01 -1.47073408e-02 -5.72979148e-03 7.68986818e+02] [ 1.47086617e-02 9.99891804e-01 1.88461456e-04 -4.44623185e+01] [ 5.72639978e-03 -2.72715542e-04 9.99983567e-01 4.20782019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.260714057 meters Centerline goodness : 0.986431 with order 1 Centerline is valid? [True, True] Translation: X:769.05, Y:-44.46, Z:4.21 [[ 9.99909081e-01 -1.22065370e-02 -5.72977801e-03 7.69049390e+02] [ 1.22078193e-02 9.99925464e-01 1.88870058e-04 -4.44599852e+01] [ 5.72704549e-03 -2.58800980e-04 9.99983567e-01 4.20997572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.320714057 meters Centerline goodness : 0.985614 with order 1 Centerline is valid? [True, True] Translation: X:769.11, Y:-44.46, Z:4.21 [[ 9.99961476e-01 -6.64950256e-03 -5.72976475e-03 7.69110315e+02] [ 6.65069607e-03 9.99977866e-01 1.89271715e-04 -4.44581002e+01] [ 5.72837936e-03 -2.27371347e-04 9.99983567e-01 4.21086227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.380714057 meters Centerline goodness : 0.985038 with order 1 Centerline is valid? [True, True] Translation: X:769.17, Y:-44.46, Z:4.21 [[ 9.99976584e-01 -3.74197205e-03 -5.72974133e-03 7.69170567e+02] [ 3.74312194e-03 9.99992976e-01 1.89978057e-04 -4.44571062e+01] [ 5.72899019e-03 -2.11420729e-04 9.99983567e-01 4.21296653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.440714057 meters Centerline goodness : 0.985546 with order 1 Centerline is valid? [True, True] Translation: X:769.23, Y:-44.46, Z:4.21 [[ 9.99983570e-01 -1.72890035e-04 -5.72974133e-03 7.69230271e+02] [ 1.73981413e-04 9.99999967e-01 1.89978057e-04 -4.44559736e+01] [ 5.72970829e-03 -1.90971805e-04 9.99983567e-01 4.21091653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.500714057 meters Centerline goodness : 0.985873 with order 1 Centerline is valid? [True, True] Translation: X:769.29, Y:-44.46, Z:4.21 [[ 9.99982120e-01 1.71161699e-03 -5.72974809e-03 7.69288034e+02] [-1.71055769e-03 9.99998519e-01 1.89773727e-04 -4.44566778e+01] [ 5.73006443e-03 -1.79969269e-04 9.99983567e-01 4.21110211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.560714057 meters Centerline goodness : 0.984493 with order 1 Centerline is valid? [True, True] Translation: X:769.35, Y:-44.46, Z:4.21 [[ 9.99983469e-01 4.81748644e-04 -5.72976482e-03 7.69347150e+02] [-4.80672068e-04 9.99999867e-01 1.89267453e-04 -4.44568032e+01] [ 5.72985523e-03 -1.86510186e-04 9.99983567e-01 4.21158197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.620714057 meters Centerline goodness : 0.985546 with order 1 Centerline is valid? [True, True] Translation: X:769.41, Y:-44.46, Z:4.21 [[ 9.99981364e-01 -2.10744602e-03 -5.72977405e-03 7.69405848e+02] [ 2.10856344e-03 9.99997759e-01 1.88987642e-04 -4.44557157e+01] [ 5.72936292e-03 -2.01065712e-04 9.99983567e-01 4.21271501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.680714057 meters Centerline goodness : 0.985680 with order 1 Centerline is valid? [True, True] Translation: X:769.46, Y:-44.46, Z:4.21 [[ 9.99972322e-01 -4.74598641e-03 -5.72978691e-03 7.69464837e+02] [ 4.74714486e-03 9.99988714e-01 1.88596700e-04 -4.44562134e+01] [ 5.72882717e-03 -2.15791609e-04 9.99983567e-01 4.21435007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.740714057 meters Centerline goodness : 0.986883 with order 1 Centerline is valid? [True, True] Translation: X:769.52, Y:-44.46, Z:4.22 [[ 9.99950952e-01 -8.07856969e-03 -5.72979646e-03 7.69524218e+02] [ 8.07978110e-03 9.99967340e-01 1.88306275e-04 -4.44566559e+01] [ 5.72808808e-03 -2.34592540e-04 9.99983567e-01 4.21752292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.800714057 meters Centerline goodness : 0.987219 with order 1 Centerline is valid? [True, True] Translation: X:769.59, Y:-44.46, Z:4.22 [[ 9.99936313e-01 -9.72313061e-03 -5.72979953e-03 7.69585213e+02] [ 9.72436844e-03 9.99952700e-01 1.88212888e-04 -4.44576401e+01] [ 5.72769849e-03 -2.43919583e-04 9.99983567e-01 4.21725700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.860714057 meters Centerline goodness : 0.986939 with order 1 Centerline is valid? [True, True] Translation: X:769.65, Y:-44.46, Z:4.22 [[ 9.99905555e-01 -1.24919857e-02 -5.72979286e-03 7.69647527e+02] [ 1.24932700e-02 9.99921938e-01 1.88415472e-04 -4.44583395e+01] [ 5.72699190e-03 -2.59981526e-04 9.99983567e-01 4.21962140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.920714057 meters Centerline goodness : 0.986465 with order 1 Centerline is valid? [True, True] Translation: X:769.71, Y:-44.46, Z:4.22 [[ 9.99900690e-01 -1.28755346e-02 -5.72977946e-03 7.69708564e+02] [ 1.28768276e-02 9.99917072e-01 1.88822368e-04 -4.44637323e+01] [ 5.72687311e-03 -2.62584998e-04 9.99983567e-01 4.21525852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.980714057 meters Centerline goodness : 0.986738 with order 1 Centerline is valid? [True, True] Translation: X:769.77, Y:-44.46, Z:4.22 [[ 9.99834513e-01 -1.72660636e-02 -5.72976954e-03 7.69770298e+02] [ 1.72674302e-02 9.99850889e-01 1.89122828e-04 -4.44646241e+01] [ 5.72564976e-03 -2.88029926e-04 9.99983567e-01 4.21720868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0407140570001 meters Centerline goodness : 0.987165 with order 1 Centerline is valid? [True, True] Translation: X:769.83, Y:-44.47, Z:4.22 [[ 9.99763672e-01 -2.09707212e-02 -5.72972720e-03 7.69832628e+02] [ 2.09721558e-02 9.99780042e-01 1.90396902e-04 -4.44670031e+01] [ 5.72447414e-03 -3.10516637e-04 9.99983567e-01 4.21796291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.100714057 meters Centerline goodness : 0.986969 with order 1 Centerline is valid? [True, True] Translation: X:769.89, Y:-44.47, Z:4.21 [[ 9.99777452e-01 -2.03031389e-02 -5.72971376e-03 7.69894911e+02] [ 2.03045648e-02 9.99793823e-01 1.90800551e-04 -4.44704024e+01] [ 5.72465857e-03 -3.07097433e-04 9.99983567e-01 4.21482442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1607140570001 meters Centerline goodness : 0.987290 with order 1 Centerline is valid? [True, True] Translation: X:769.96, Y:-44.47, Z:4.21 [[ 9.99732572e-01 -2.24043605e-02 -5.72969999e-03 7.69956604e+02] [ 2.24058232e-02 9.99748940e-01 1.91213036e-04 -4.44733055e+01] [ 5.72397749e-03 -3.19540545e-04 9.99983567e-01 4.21179450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.220714057 meters Centerline goodness : 0.987820 with order 1 Centerline is valid? [True, True] Translation: X:770.02, Y:-44.47, Z:4.22 [[ 9.99762617e-01 -2.10209690e-02 -5.72968585e-03 7.70018016e+02] [ 2.10224115e-02 9.99778986e-01 1.91635804e-04 -4.44724195e+01] [ 5.72439114e-03 -3.12042127e-04 9.99983567e-01 4.21983909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2807140570001 meters Centerline goodness : 0.987271 with order 1 Centerline is valid? [True, True] Translation: X:770.08, Y:-44.47, Z:4.22 [[ 9.99778451e-01 -2.02538598e-02 -5.72967537e-03 7.70079850e+02] [ 2.02552915e-02 9.99794822e-01 1.91948630e-04 -4.44734784e+01] [ 5.72461207e-03 -3.07962349e-04 9.99983567e-01 4.22050112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.340714057 meters Centerline goodness : 0.986106 with order 1 Centerline is valid? [True, True] Translation: X:770.14, Y:-44.48, Z:4.21 [[ 9.99864923e-01 -1.54047711e-02 -5.72966113e-03 7.70140635e+02] [ 1.54061258e-02 9.99881300e-01 1.92373007e-04 -4.44816183e+01] [ 5.72601755e-03 -2.80618902e-04 9.99983567e-01 4.21178941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4007140570001 meters Centerline goodness : 0.986854 with order 1 Centerline is valid? [True, True] Translation: X:770.20, Y:-44.47, Z:4.22 [[ 9.99710534e-01 -2.33670474e-02 -5.72965410e-03 7.70201402e+02] [ 2.33685337e-02 9.99726900e-01 1.92581946e-04 -4.44749268e+01] [ 5.72358926e-03 -3.26419815e-04 9.99983567e-01 4.22111878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.460714057 meters Centerline goodness : 0.986000 with order 1 Centerline is valid? [True, True] Translation: X:770.26, Y:-44.47, Z:4.22 [[ 9.99650846e-01 -2.57945084e-02 -5.72964567e-03 7.70263917e+02] [ 2.57960359e-02 9.99667208e-01 1.92832438e-04 -4.44747254e+01] [ 5.72276488e-03 -3.40567256e-04 9.99983567e-01 4.22151791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5207140570001 meters Centerline goodness : 0.986376 with order 1 Centerline is valid? [True, True] Translation: X:770.33, Y:-44.48, Z:4.22 [[ 9.99616735e-01 -2.70841962e-02 -5.72963175e-03 7.70326492e+02] [ 2.70857471e-02 9.99633095e-01 1.93245137e-04 -4.44758102e+01] [ 5.72229563e-03 -3.48362430e-04 9.99983567e-01 4.22120112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.580714057 meters Centerline goodness : 0.987706 with order 1 Centerline is valid? [True, True] Translation: X:770.39, Y:-44.48, Z:4.22 [[ 9.99413430e-01 -3.37633979e-02 -5.72961762e-03 7.70388776e+02] [ 3.37650604e-02 9.99429779e-01 1.93663188e-04 -4.44756010e+01] [ 5.71981175e-03 -3.87010476e-04 9.99983567e-01 4.21972421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.640714057 meters Centerline goodness : 0.986278 with order 1 Centerline is valid? [True, True] Translation: X:770.45, Y:-44.48, Z:4.23 [[ 9.99450337e-01 -3.26526484e-02 -5.72960340e-03 7.70450644e+02] [ 3.26542952e-02 9.99466687e-01 1.94082992e-04 -4.44758358e+01] [ 5.72021041e-03 -3.81072473e-04 9.99983567e-01 4.22611217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.700714057 meters Centerline goodness : 0.987631 with order 1 Centerline is valid? [True, True] Translation: X:770.51, Y:-44.48, Z:4.22 [[ 9.99235117e-01 -3.86827185e-02 -5.72958930e-03 7.70511844e+02] [ 3.86844664e-02 9.99251457e-01 1.94498546e-04 -4.44795467e+01] [ 5.71777672e-03 -4.15995882e-04 9.99983567e-01 4.22056221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.760714057 meters Centerline goodness : 0.986682 with order 1 Centerline is valid? [True, True] Translation: X:770.57, Y:-44.48, Z:4.22 [[ 9.99288982e-01 -3.72652875e-02 -5.72957874e-03 7.70574039e+02] [ 3.72670139e-02 9.99305325e-01 1.94808944e-04 -4.44825634e+01] [ 5.71833893e-03 -4.08194722e-04 9.99983567e-01 4.21657959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.820714057 meters Centerline goodness : 0.986261 with order 1 Centerline is valid? [True, True] Translation: X:770.64, Y:-44.47, Z:4.22 [[ 9.98890765e-01 -4.67376964e-02 -5.72956420e-03 7.70636080e+02] [ 4.67395801e-02 9.98907090e-01 1.95235729e-04 -4.44730393e+01] [ 5.71417743e-03 -4.62816592e-04 9.99983567e-01 4.22068687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.880714057 meters Centerline goodness : 0.985177 with order 1 Centerline is valid? [True, True] Translation: X:770.70, Y:-44.49, Z:4.21 [[ 9.99466317e-01 -3.21598168e-02 -5.72953871e-03 7.70697330e+02] [ 3.21614663e-02 9.99482667e-01 1.95981008e-04 -4.44886302e+01] [ 5.72027191e-03 -3.80146782e-04 9.99983567e-01 4.21306048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.940714057 meters Centerline goodness : 0.987168 with order 1 Centerline is valid? [True, True] Translation: X:770.76, Y:-44.47, Z:4.22 [[ 9.99099448e-01 -4.20412459e-02 -5.72952577e-03 7.70760430e+02] [ 4.20430592e-02 9.99115780e-01 1.96358356e-04 -4.44730065e+01] [ 5.71620447e-03 -4.37068316e-04 9.99983567e-01 4.22064564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.000714057 meters Centerline goodness : 0.986612 with order 1 Centerline is valid? [True, True] Translation: X:770.82, Y:-44.49, Z:4.22 [[ 9.99679576e-01 -2.46560149e-02 -5.72950425e-03 7.70820768e+02] [ 2.46575474e-02 9.99695937e-01 1.96984452e-04 -4.44855933e+01] [ 5.72290527e-03 -3.38196856e-04 9.99983567e-01 4.21637877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.060714057 meters Centerline goodness : 0.990324 with order 1 Centerline is valid? [True, True] Translation: X:770.88, Y:-44.47, Z:4.23 [[ 9.99535447e-01 -2.99343231e-02 -5.72949557e-03 7.70883485e+02] [ 2.99359435e-02 9.99551800e-01 1.97236690e-04 -4.44709998e+01] [ 5.72102346e-03 -3.68662919e-04 9.99983567e-01 4.22613129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.120714057 meters Centerline goodness : 0.986382 with order 1 Centerline is valid? [True, True] Translation: X:770.95, Y:-44.48, Z:4.22 [[ 9.99907943e-01 -1.22995591e-02 -5.72948157e-03 7.70945136e+02] [ 1.23008931e-02 9.99924322e-01 1.97642464e-04 -4.44846943e+01] [ 5.72661706e-03 -2.68102010e-04 9.99983567e-01 4.21760352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.180714057 meters Centerline goodness : 0.984820 with order 1 Centerline is valid? [True, True] Translation: X:771.01, Y:-44.49, Z:4.21 [[ 9.99975264e-01 -4.07984960e-03 -5.72946717e-03 7.71007424e+02] [ 4.08105127e-03 9.99991653e-01 1.98059118e-04 -4.44908163e+01] [ 5.72861129e-03 -2.21436468e-04 9.99983567e-01 4.21444972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.240714057 meters Centerline goodness : 0.987693 with order 1 Centerline is valid? [True, True] Translation: X:771.07, Y:-44.48, Z:4.23 [[ 9.99925160e-01 -1.08095913e-02 -5.72945276e-03 7.71067407e+02] [ 1.08109056e-02 9.99941541e-01 1.98475016e-04 -4.44755502e+01] [ 5.72697238e-03 -2.60400735e-04 9.99983567e-01 4.22751353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.300714057 meters Centerline goodness : 0.988304 with order 1 Centerline is valid? [True, True] Translation: X:771.13, Y:-44.48, Z:4.22 [[ 9.99936656e-01 -9.68797348e-03 -5.72945276e-03 7.71129396e+02] [ 9.68926943e-03 9.99953038e-01 1.98475016e-04 -4.44756885e+01] [ 5.72726087e-03 -2.53976655e-04 9.99983567e-01 4.22422533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.360714057 meters Centerline goodness : 0.986058 with order 1 Centerline is valid? [True, True] Translation: X:771.19, Y:-44.49, Z:4.22 [[ 9.99965836e-01 5.95830032e-03 -5.72943572e-03 7.71190390e+02] [-5.95725804e-03 9.99982236e-01 1.98965506e-04 -4.44921823e+01] [ 5.73051944e-03 -1.64826981e-04 9.99983567e-01 4.22361499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.420714057 meters Centerline goodness : 0.986092 with order 1 Centerline is valid? [True, True] Translation: X:771.25, Y:-44.50, Z:4.23 [[ 9.99975336e-01 4.06216007e-03 -5.72942720e-03 7.71247767e+02] [-4.06108529e-03 9.99991734e-01 1.99210722e-04 -4.44963843e+01] [ 5.73018906e-03 -1.75938116e-04 9.99983567e-01 4.22519416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.480714057 meters Centerline goodness : 0.987471 with order 1 Centerline is valid? [True, True] Translation: X:771.31, Y:-44.49, Z:4.23 [[ 9.99959117e-01 -6.99559719e-03 -5.72944740e-03 7.71306500e+02] [ 6.99684990e-03 9.99975502e-01 1.98628032e-04 -4.44866978e+01] [ 5.72791752e-03 -2.38707995e-04 9.99983567e-01 4.22845993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5407140570001 meters Centerline goodness : 0.985902 with order 1 Centerline is valid? [True, True] Translation: X:771.37, Y:-44.51, Z:4.23 [[ 9.99955739e-01 7.46274443e-03 -5.72946381e-03 7.71366542e+02] [-7.46173147e-03 9.99972141e-01 1.98153424e-04 -4.45055676e+01] [ 5.73078297e-03 -1.55392934e-04 9.99983567e-01 4.22567962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.600714057 meters Centerline goodness : 0.982814 with order 1 Centerline is valid? [True, True] Translation: X:771.43, Y:-44.50, Z:4.23 [[ 9.99950686e-01 -8.11167760e-03 -5.72946381e-03 7.71425200e+02] [ 8.11294588e-03 9.99967070e-01 1.98153424e-04 -4.44951980e+01] [ 5.72766779e-03 -2.44626482e-04 9.99983567e-01 4.23328513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6607140570001 meters Centerline goodness : 0.987038 with order 1 Centerline is valid? [True, True] Translation: X:771.49, Y:-44.51, Z:4.23 [[ 9.99983562e-01 2.18731664e-04 -5.72948243e-03 7.71485842e+02] [-2.17603007e-04 9.99999957e-01 1.97613648e-04 -4.45139686e+01] [ 5.72952541e-03 -1.96363647e-04 9.99983567e-01 4.23050743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.720714057 meters Centerline goodness : 0.986656 with order 1 Centerline is valid? [True, True] Translation: X:771.54, Y:-44.52, Z:4.23 [[ 9.99976758e-01 -3.69544823e-03 -5.72947299e-03 7.71544030e+02] [ 3.69664261e-03 9.99993148e-01 1.97887023e-04 -4.45216426e+01] [ 5.72870245e-03 -2.19062238e-04 9.99983567e-01 4.22936529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7807140570001 meters Centerline goodness : 0.987221 with order 1 Centerline is valid? [True, True] Translation: X:771.60, Y:-44.53, Z:4.23 [[ 9.99962274e-01 -6.52869497e-03 -5.72948706e-03 7.71603915e+02] [ 6.52993345e-03 9.99978660e-01 1.97478919e-04 -4.45268624e+01] [ 5.72807551e-03 -2.34884638e-04 9.99983567e-01 4.22975934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.840714057 meters Centerline goodness : 0.986863 with order 1 Centerline is valid? [True, True] Translation: X:771.66, Y:-44.53, Z:4.23 [[ 9.99960282e-01 -6.82696734e-03 -5.72949407e-03 7.71663691e+02] [ 6.82820954e-03 9.99976668e-01 1.97275067e-04 -4.45347875e+01] [ 5.72801360e-03 -2.36389418e-04 9.99983567e-01 4.22785342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9007140570001 meters Centerline goodness : 0.986795 with order 1 Centerline is valid? [True, True] Translation: X:771.72, Y:-44.54, Z:4.23 [[ 9.99963097e-01 -6.40142118e-03 -5.72949407e-03 7.71723851e+02] [ 6.40265641e-03 9.99979483e-01 1.97275067e-04 -4.45391176e+01] [ 5.72811368e-03 -2.33951769e-04 9.99983567e-01 4.22990931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.960714057 meters Centerline goodness : 0.987123 with order 1 Centerline is valid? [True, True] Translation: X:771.78, Y:-44.55, Z:4.23 [[ 9.99951278e-01 -8.03837587e-03 -5.72949407e-03 7.71784120e+02] [ 8.03963792e-03 9.99967662e-01 1.97275067e-04 -4.45465243e+01] [ 5.72772302e-03 -2.43328513e-04 9.99983567e-01 4.22878604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0207140570001 meters Centerline goodness : 0.985037 with order 1 Centerline is valid? [True, True] Translation: X:771.84, Y:-44.55, Z:4.23 [[ 9.99975156e-01 -4.10613428e-03 -5.72949407e-03 7.71844903e+02] [ 4.10733189e-03 9.99991545e-01 1.97275067e-04 -4.45522580e+01] [ 5.72863560e-03 -2.20803100e-04 9.99983567e-01 4.23295016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.080714057 meters Centerline goodness : 0.985197 with order 1 Centerline is valid? [True, True] Translation: X:771.90, Y:-44.56, Z:4.23 [[ 9.99956840e-01 -7.31368965e-03 -5.72949776e-03 7.71904293e+02] [ 7.31493922e-03 9.99973226e-01 1.97168023e-04 -4.45577513e+01] [ 5.72790233e-03 -2.39070442e-04 9.99983567e-01 4.22987198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.140714057 meters Centerline goodness : 0.987354 with order 1 Centerline is valid? [True, True] Translation: X:771.97, Y:-44.56, Z:4.23 [[ 9.99812467e-01 -1.84987607e-02 -5.72950513e-03 7.71965025e+02] [ 1.85001923e-02 9.99828837e-01 1.96953567e-04 -4.45566755e+01] [ 5.72488106e-03 -3.02913578e-04 9.99983567e-01 4.23237303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.200714057 meters Centerline goodness : 0.989958 with order 1 Centerline is valid? [True, True] Translation: X:772.03, Y:-44.56, Z:4.23 [[ 9.99770396e-01 -2.06477138e-02 -5.72949679e-03 7.72026532e+02] [ 2.06491820e-02 9.99786763e-01 1.97196011e-04 -4.45587941e+01] [ 5.72420340e-03 -3.15460156e-04 9.99983567e-01 4.23369228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.260714057 meters Centerline goodness : 0.985128 with order 1 Centerline is valid? [True, True] Translation: X:772.09, Y:-44.58, Z:4.23 [[ 9.99892240e-01 -1.35159953e-02 -5.72948453e-03 7.72087573e+02] [ 1.35173486e-02 9.99908617e-01 1.97551527e-04 -4.45788442e+01] [ 5.72629084e-03 -2.74977678e-04 9.99983567e-01 4.23033953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.320714057 meters Centerline goodness : 0.985303 with order 1 Centerline is valid? [True, True] Translation: X:772.15, Y:-44.58, Z:4.24 [[ 9.99923493e-01 -1.09627215e-02 -5.72947385e-03 7.72149305e+02] [ 1.09640348e-02 9.99939874e-01 1.97860770e-04 -4.45838319e+01] [ 5.72696026e-03 -2.60663783e-04 9.99983567e-01 4.23635732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.380714057 meters Centerline goodness : 0.985568 with order 1 Centerline is valid? [True, True] Translation: X:772.21, Y:-44.59, Z:4.23 [[ 9.99910700e-01 -1.20733190e-02 -5.72945961e-03 7.72211016e+02] [ 1.20746529e-02 9.99927079e-01 1.98272324e-04 -4.45887189e+01] [ 5.72664800e-03 -2.67435854e-04 9.99983567e-01 4.23370477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.440714057 meters Centerline goodness : 0.984657 with order 1 Centerline is valid? [True, True] Translation: X:772.27, Y:-44.59, Z:4.23 [[ 9.99938803e-01 -9.46384527e-03 -5.72944515e-03 7.72272459e+02] [ 9.46513877e-03 9.99955185e-01 1.98689200e-04 -4.45928834e+01] [ 5.72730802e-03 -2.52907034e-04 9.99983567e-01 4.23490755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.500714057 meters Centerline goodness : 0.984303 with order 1 Centerline is valid? [True, True] Translation: X:772.33, Y:-44.60, Z:4.24 [[ 9.99954412e-01 -7.63849083e-03 -5.72943448e-03 7.72333916e+02] [ 7.63975618e-03 9.99970797e-01 1.98996459e-04 -4.45971901e+01] [ 5.72774713e-03 -2.42758869e-04 9.99983567e-01 4.23506775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.560714057 meters Centerline goodness : 0.984889 with order 1 Centerline is valid? [True, True] Translation: X:772.39, Y:-44.60, Z:4.24 [[ 9.99968991e-01 -5.40280603e-03 -5.72942737e-03 7.72394794e+02] [ 5.40403591e-03 9.99985378e-01 1.99200898e-04 -4.46020062e+01] [ 5.72826735e-03 -2.30156752e-04 9.99983567e-01 4.23663585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.620714057 meters Centerline goodness : 0.984696 with order 1 Centerline is valid? [True, True] Translation: X:772.45, Y:-44.61, Z:4.24 [[ 9.99972611e-01 -4.68527565e-03 -5.72941981e-03 7.72454449e+02] [ 4.68649501e-03 9.99988998e-01 1.99418041e-04 -4.46061018e+01] [ 5.72842245e-03 -2.26263477e-04 9.99983567e-01 4.23574106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.680714057 meters Centerline goodness : 0.984981 with order 1 Centerline is valid? [True, True] Translation: X:772.51, Y:-44.61, Z:4.24 [[ 9.99983354e-01 -6.82736314e-04 -5.72942353e-03 7.72514139e+02] [ 6.83889464e-04 9.99999746e-01 1.99311274e-04 -4.46111341e+01] [ 5.72928600e-03 -2.03226248e-04 9.99983567e-01 4.23878140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.740714057 meters Centerline goodness : 0.984839 with order 1 Centerline is valid? [True, True] Translation: X:772.57, Y:-44.62, Z:4.24 [[ 9.99983007e-01 1.07700825e-03 -5.72943106e-03 7.72572063e+02] [-1.07588519e-03 9.99999401e-01 1.99094458e-04 -4.46154483e+01] [ 5.72964206e-03 -1.92926865e-04 9.99983567e-01 4.23915360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.800714057 meters Centerline goodness : 0.987741 with order 1 Centerline is valid? [True, True] Translation: X:772.63, Y:-44.61, Z:4.24 [[ 9.99975101e-01 -4.11950066e-03 -5.72944949e-03 7.72630419e+02] [ 4.12070586e-03 9.99991490e-01 1.98562583e-04 -4.46069691e+01] [ 5.72858276e-03 -2.22167015e-04 9.99983567e-01 4.24342254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.860714057 meters Centerline goodness : 0.984947 with order 1 Centerline is valid? [True, True] Translation: X:772.69, Y:-44.63, Z:4.24 [[ 9.99947899e-01 8.44817020e-03 -5.72946853e-03 7.72689897e+02] [-8.44717422e-03 9.99964302e-01 1.98011711e-04 -4.46261898e+01] [ 5.73093684e-03 -1.49603575e-04 9.99983567e-01 4.23643405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.920714057 meters Centerline goodness : 0.984566 with order 1 Centerline is valid? [True, True] Translation: X:772.75, Y:-44.63, Z:4.24 [[ 9.99971706e-01 4.87439018e-03 -5.72947230e-03 7.72748958e+02] [-4.87333621e-03 9.99988106e-01 1.97902563e-04 -4.46288416e+01] [ 5.73036881e-03 -1.69975319e-04 9.99983567e-01 4.24118084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.980714057 meters Centerline goodness : 0.984186 with order 1 Centerline is valid? [True, True] Translation: X:772.81, Y:-44.63, Z:4.24 [[ 9.99982217e-01 1.65461847e-03 -5.72948699e-03 7.72807586e+02] [-1.65351414e-03 9.99998613e-01 1.97476490e-04 -4.46332981e+01] [ 5.72980579e-03 -1.87999191e-04 9.99983567e-01 4.24239647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0407140570001 meters Centerline goodness : 0.985014 with order 1 Centerline is valid? [True, True] Translation: X:772.87, Y:-44.64, Z:4.24 [[ 9.99983333e-01 -7.11606613e-04 -5.72950170e-03 7.72865165e+02] [ 7.12747289e-04 9.99999727e-01 1.97048781e-04 -4.46372442e+01] [ 5.72935991e-03 -2.01129183e-04 9.99983567e-01 4.24326802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.100714057 meters Centerline goodness : 0.985903 with order 1 Centerline is valid? [True, True] Translation: X:772.92, Y:-44.64, Z:4.24 [[ 9.99963863e-01 -6.28055930e-03 -5.72952174e-03 7.72923663e+02] [ 6.28178791e-03 9.99980250e-01 1.96464194e-04 -4.46438981e+01] [ 5.72817468e-03 -2.32448735e-04 9.99983567e-01 4.24332998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1607140570001 meters Centerline goodness : 0.987010 with order 1 Centerline is valid? [True, True] Translation: X:772.98, Y:-44.64, Z:4.25 [[ 9.99854805e-01 -1.60480772e-02 -5.72953582e-03 7.72983077e+02] [ 1.60494634e-02 9.99871180e-01 1.96052770e-04 -4.46387306e+01] [ 5.72565147e-03 -2.87980279e-04 9.99983567e-01 4.24504744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.220714057 meters Centerline goodness : 0.984459 with order 1 Centerline is valid? [True, True] Translation: X:773.04, Y:-44.65, Z:4.25 [[ 9.99919483e-01 -1.13225325e-02 -5.72953928e-03 7.73044833e+02] [ 1.13238407e-02 9.99935864e-01 1.95951700e-04 -4.46522035e+01] [ 5.72695314e-03 -2.60816313e-04 9.99983567e-01 4.24976193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2807140570001 meters Centerline goodness : 0.984940 with order 1 Centerline is valid? [True, True] Translation: X:773.11, Y:-44.66, Z:4.25 [[ 9.99908021e-01 -1.22931579e-02 -5.72952411e-03 7.73107036e+02] [ 1.22944847e-02 9.99924401e-01 1.96394222e-04 -4.46571913e+01] [ 5.72667665e-03 -2.66817704e-04 9.99983567e-01 4.24753991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.340714057 meters Centerline goodness : 0.988473 with order 1 Centerline is valid? [True, True] Translation: X:773.17, Y:-44.65, Z:4.25 [[ 9.99738273e-01 -2.21485688e-02 -5.72950910e-03 7.73168259e+02] [ 2.21500594e-02 9.99754638e-01 1.96830944e-04 -4.46523534e+01] [ 5.72374378e-03 -3.23688395e-04 9.99983567e-01 4.24511057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4007140570001 meters Centerline goodness : 0.989321 with order 1 Centerline is valid? [True, True] Translation: X:773.23, Y:-44.66, Z:4.25 [[ 9.99665302e-01 -2.52280934e-02 -5.72946089e-03 7.73230221e+02] [ 2.52296423e-02 9.99681662e-01 1.98224593e-04 -4.46568946e+01] [ 5.72263616e-03 -3.42710497e-04 9.99983567e-01 4.24647037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.460714057 meters Centerline goodness : 0.984780 with order 1 Centerline is valid? [True, True] Translation: X:773.29, Y:-44.67, Z:4.24 [[ 9.99868805e-01 -1.51507687e-02 -5.72944657e-03 7.73291959e+02] [ 1.51521550e-02 9.99885180e-01 1.98637628e-04 -4.46739587e+01] [ 5.72577920e-03 -2.85425030e-04 9.99983567e-01 4.24058409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5207140570001 meters Centerline goodness : 0.989667 with order 1 Centerline is valid? [True, True] Translation: X:773.35, Y:-44.66, Z:4.25 [[ 9.99608881e-01 -2.73725908e-02 -5.72943166e-03 7.73353616e+02] [ 2.73741797e-02 9.99625237e-01 1.99066608e-04 -4.46624459e+01] [ 5.72183552e-03 -3.55827241e-04 9.99983567e-01 4.24685428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.580714057 meters Centerline goodness : 0.985222 with order 1 Centerline is valid? [True, True] Translation: X:773.41, Y:-44.68, Z:4.24 [[ 9.99815732e-01 -1.83214933e-02 -5.72938434e-03 7.73414962e+02] [ 1.83229418e-02 9.99832101e-01 2.00419332e-04 -4.46803660e+01] [ 5.72475040e-03 -3.05361577e-04 9.99983567e-01 4.24251922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.640714057 meters Centerline goodness : 0.988460 with order 1 Centerline is valid? [True, True] Translation: X:773.48, Y:-44.67, Z:4.25 [[ 9.99610552e-01 -2.73115289e-02 -5.72936983e-03 7.73477216e+02] [ 2.73131268e-02 9.99626907e-01 2.00833326e-04 -4.46683196e+01] [ 5.72174718e-03 -3.57242116e-04 9.99983567e-01 4.25160659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.700714057 meters Centerline goodness : 0.984883 with order 1 Centerline is valid? [True, True] Translation: X:773.54, Y:-44.68, Z:4.25 [[ 9.99813678e-01 -1.84332292e-02 -5.72931918e-03 7.73538508e+02] [ 1.84346900e-02 9.99830046e-01 2.02268053e-04 -4.46817507e+01] [ 5.72461701e-03 -3.07848589e-04 9.99983567e-01 4.25089745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.760714057 meters Centerline goodness : 0.988319 with order 1 Centerline is valid? [True, True] Translation: X:773.60, Y:-44.67, Z:4.25 [[ 9.99702964e-01 -2.36887799e-02 -5.72930744e-03 7.73599990e+02] [ 2.36903286e-02 9.99719324e-01 2.02599957e-04 -4.46723656e+01] [ 5.72290002e-03 -3.38268954e-04 9.99983567e-01 4.25128132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.820714057 meters Centerline goodness : 0.985465 with order 1 Centerline is valid? [True, True] Translation: X:773.66, Y:-44.68, Z:4.25 [[ 9.99884771e-01 -1.40577356e-02 -5.72925774e-03 7.73661919e+02] [ 1.40591347e-02 9.99901145e-01 2.03995861e-04 -4.46832797e+01] [ 5.72582365e-03 -2.84520761e-04 9.99983567e-01 4.25161677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.880714057 meters Centerline goodness : 0.985702 with order 1 Centerline is valid? [True, True] Translation: X:773.72, Y:-44.68, Z:4.26 [[ 9.99932687e-01 -1.00894868e-02 -5.72924275e-03 7.73724455e+02] [ 1.00908233e-02 9.99949065e-01 2.04416047e-04 -4.46815664e+01] [ 5.72688848e-03 -2.62215063e-04 9.99983567e-01 4.25581770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.940714057 meters Centerline goodness : 0.985929 with order 1 Centerline is valid? [True, True] Translation: X:773.79, Y:-44.68, Z:4.25 [[ 9.99981210e-01 -2.18084442e-03 -5.72922747e-03 7.73785963e+02] [ 2.18205378e-03 9.99997598e-01 2.04843415e-04 -4.46829405e+01] [ 5.72876698e-03 -2.17341048e-04 9.99983567e-01 4.25457385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.000714057 meters Centerline goodness : 0.986193 with order 1 Centerline is valid? [True, True] Translation: X:773.84, Y:-44.68, Z:4.25 [[ 9.99981719e-01 1.93325809e-03 -5.72921961e-03 7.73844704e+02] [-1.93211491e-03 9.99998112e-01 2.05063095e-04 -4.46838984e+01] [ 5.72960523e-03 -1.93989836e-04 9.99983567e-01 4.25405963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.060714057 meters Centerline goodness : 0.985767 with order 1 Centerline is valid? [True, True] Translation: X:773.90, Y:-44.69, Z:4.25 [[ 9.99955241e-01 7.52939299e-03 -5.72923117e-03 7.73902079e+02] [-7.52834342e-03 9.99971641e-01 2.04739580e-04 -4.46875476e+01] [ 5.73061025e-03 -1.61598797e-04 9.99983567e-01 4.25013901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.120714057 meters Centerline goodness : 0.985900 with order 1 Centerline is valid? [True, True] Translation: X:773.96, Y:-44.69, Z:4.25 [[ 9.99962390e-01 6.51102087e-03 -5.72929292e-03 7.73959950e+02] [-6.50996458e-03 9.99978789e-01 2.02996817e-04 -4.46901101e+01] [ 5.73049311e-03 -1.65691688e-04 9.99983567e-01 4.24955313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.180714057 meters Centerline goodness : 0.985796 with order 1 Centerline is valid? [True, True] Translation: X:774.02, Y:-44.69, Z:4.25 [[ 9.99975542e-01 4.01126976e-03 -5.72931410e-03 7.74019136e+02] [-4.01017591e-03 9.99991939e-01 2.02397033e-04 -4.46931492e+01] [ 5.73007979e-03 -1.79416525e-04 9.99983567e-01 4.24865909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.240714057 meters Centerline goodness : 0.985681 with order 1 Centerline is valid? [True, True] Translation: X:774.08, Y:-44.70, Z:4.24 [[ 9.99980396e-01 2.52653745e-03 -5.72932875e-03 7.74077350e+02] [-2.52542163e-03 9.99996791e-01 2.01981592e-04 -4.46993030e+01] [ 5.72982068e-03 -1.87508662e-04 9.99983567e-01 4.24349770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.300714057 meters Centerline goodness : 0.989518 with order 1 Centerline is valid? [True, True] Translation: X:774.14, Y:-44.69, Z:4.25 [[ 9.99889621e-01 -1.37083762e-02 -5.72934315e-03 7.74137397e+02] [ 1.37097557e-02 9.99905997e-01 2.01572426e-04 -4.46884804e+01] [ 5.72604134e-03 -2.80098072e-04 9.99983567e-01 4.25418048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.360714057 meters Centerline goodness : 0.986718 with order 1 Centerline is valid? [True, True] Translation: X:774.20, Y:-44.70, Z:4.25 [[ 9.99952211e-01 -7.92153167e-03 -5.72935029e-03 7.74197867e+02] [ 7.92281523e-03 9.99968594e-01 2.01369132e-04 -4.47023940e+01] [ 5.72757520e-03 -2.46752093e-04 9.99983567e-01 4.25085194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.420714057 meters Centerline goodness : 0.987364 with order 1 Centerline is valid? [True, True] Translation: X:774.26, Y:-44.71, Z:4.25 [[ 9.99916580e-01 -1.15761317e-02 -5.72934274e-03 7.74258734e+02] [ 1.15774763e-02 9.99932958e-01 2.01583597e-04 -4.47061539e+01] [ 5.72662508e-03 -2.67898112e-04 9.99983567e-01 4.25075991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.480714057 meters Centerline goodness : 0.987001 with order 1 Centerline is valid? [True, True] Translation: X:774.32, Y:-44.71, Z:4.25 [[ 9.99888994e-01 -1.37540336e-02 -5.72934274e-03 7.74319397e+02] [ 1.37554140e-02 9.99905370e-01 2.01583597e-04 -4.47127719e+01] [ 5.72602799e-03 -2.80370702e-04 9.99983567e-01 4.24607670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5407140570001 meters Centerline goodness : 0.987189 with order 1 Centerline is valid? [True, True] Translation: X:774.38, Y:-44.71, Z:4.25 [[ 9.99795823e-01 -1.93775112e-02 -5.72933516e-03 7.74381856e+02] [ 1.93789849e-02 9.99812189e-01 2.01798986e-04 -4.47147950e+01] [ 5.72434877e-03 -3.12786483e-04 9.99983567e-01 4.24665219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.600714057 meters Centerline goodness : 0.987066 with order 1 Centerline is valid? [True, True] Translation: X:774.44, Y:-44.72, Z:4.25 [[ 9.99698138e-01 -2.38915756e-02 -5.72928137e-03 7.74442925e+02] [ 2.38931318e-02 9.99714498e-01 2.03314835e-04 -4.47175441e+01] [ 5.72278813e-03 -3.40143937e-04 9.99983567e-01 4.24745946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6607140570001 meters Centerline goodness : 0.990316 with order 1 Centerline is valid? [True, True] Translation: X:774.50, Y:-44.71, Z:4.26 [[ 9.99160535e-01 -4.05635343e-02 -5.72926993e-03 7.74504195e+02] [ 4.05653650e-02 9.99176866e-01 2.03636444e-04 -4.47055971e+01] [ 5.71629376e-03 -4.35875424e-04 9.99983567e-01 4.25608775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.720714057 meters Centerline goodness : 0.989254 with order 1 Centerline is valid? [True, True] Translation: X:774.57, Y:-44.71, Z:4.26 [[ 9.99025023e-01 -4.37741839e-02 -5.72922154e-03 7.74567524e+02] [ 4.37760748e-02 9.99041347e-01 2.04989129e-04 -4.47056355e+01] [ 5.71475597e-03 -4.55592100e-04 9.99983567e-01 4.25674097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7807140570001 meters Centerline goodness : 0.985205 with order 1 Centerline is valid? [True, True] Translation: X:774.63, Y:-44.72, Z:4.26 [[ 9.99325171e-01 -3.62819451e-02 -5.72919885e-03 7.74629693e+02] [ 3.62837171e-02 9.99341508e-01 2.05621291e-04 -4.47186282e+01] [ 5.71796588e-03 -4.13359162e-04 9.99983567e-01 4.25831304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.840714057 meters Centerline goodness : 0.985125 with order 1 Centerline is valid? [True, True] Translation: X:774.69, Y:-44.72, Z:4.26 [[ 9.99238201e-01 -3.86030219e-02 -5.72917526e-03 7.74690675e+02] [ 3.86048356e-02 9.99254534e-01 2.06276461e-04 -4.47169792e+01] [ 5.71694146e-03 -4.27293189e-04 9.99983567e-01 4.26221084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9007140570001 meters Centerline goodness : 0.989067 with order 1 Centerline is valid? [True, True] Translation: X:774.75, Y:-44.70, Z:4.26 [[ 9.99094896e-01 -4.21493168e-02 -5.72916383e-03 7.74752236e+02] [ 4.21511902e-02 9.99111222e-01 2.06593532e-04 -4.47037998e+01] [ 5.71536410e-03 -4.47897617e-04 9.99983567e-01 4.25938226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.960714057 meters Centerline goodness : 0.985845 with order 1 Centerline is valid? [True, True] Translation: X:774.81, Y:-44.71, Z:4.27 [[ 9.99365972e-01 -3.51401714e-02 -5.72913535e-03 7.74814425e+02] [ 3.51419348e-02 9.99382310e-01 2.07380164e-04 -4.47121739e+01] [ 5.71830915e-03 -4.08581580e-04 9.99983567e-01 4.26846227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0207140570001 meters Centerline goodness : 0.985471 with order 1 Centerline is valid? [True, True] Translation: X:774.88, Y:-44.71, Z:4.27 [[ 9.99416850e-01 -3.36621055e-02 -5.72911917e-03 7.74875579e+02] [ 3.36638473e-02 9.99433190e-01 2.07826215e-04 -4.47104687e+01] [ 5.71887598e-03 -4.00569214e-04 9.99983567e-01 4.26954689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.080714057 meters Centerline goodness : 0.984334 with order 1 Centerline is valid? [True, True] Translation: X:774.94, Y:-44.71, Z:4.27 [[ 9.99585900e-01 -2.81994111e-02 -5.72908744e-03 7.74936588e+02] [ 2.82010685e-02 9.99602249e-01 2.08697142e-04 -4.47082349e+01] [ 5.72092356e-03 -3.70177107e-04 9.99983567e-01 4.26776856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.140714057 meters Centerline goodness : 0.984576 with order 1 Centerline is valid? [True, True] Translation: X:775.00, Y:-44.70, Z:4.27 [[ 9.99801386e-01 -1.90883899e-02 -5.72907578e-03 7.74998068e+02] [ 1.90899001e-02 9.99817749e-01 2.09016736e-04 -4.47040157e+01] [ 5.72404186e-03 -3.18342706e-04 9.99983567e-01 4.27433388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.200714057 meters Centerline goodness : 0.983204 with order 1 Centerline is valid? [True, True] Translation: X:775.06, Y:-44.71, Z:4.27 [[ 9.99802233e-01 -1.90439606e-02 -5.72906452e-03 7.75059919e+02] [ 1.90454718e-02 9.99818597e-01 2.09324980e-04 -4.47065166e+01] [ 5.72403887e-03 -3.18396319e-04 9.99983567e-01 4.26588001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.260714057 meters Centerline goodness : 0.983157 with order 1 Centerline is valid? [True, True] Translation: X:775.12, Y:-44.71, Z:4.26 [[ 9.99881436e-01 -1.42930661e-02 -5.72904941e-03 7.75122353e+02] [ 1.42945018e-02 9.99897806e-01 2.09737636e-04 -4.47075941e+01] [ 5.72546615e-03 -2.91606676e-04 9.99983567e-01 4.26239829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.320714057 meters Centerline goodness : 0.982163 with order 1 Centerline is valid? [True, True] Translation: X:775.18, Y:-44.71, Z:4.27 [[ 9.99945258e-01 -8.75550876e-03 -5.72903412e-03 7.75184766e+02] [ 8.75685621e-03 9.99961636e-01 2.10154706e-04 -4.47094205e+01] [ 5.72697432e-03 -2.60311530e-04 9.99983567e-01 4.26634526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.380714057 meters Centerline goodness : 0.981646 with order 1 Centerline is valid? [True, True] Translation: X:775.25, Y:-44.71, Z:4.26 [[ 9.99967799e-01 -5.61952032e-03 -5.72901902e-03 7.75245771e+02] [ 5.62081876e-03 9.99984181e-01 2.10565492e-04 -4.47094459e+01] [ 5.72774511e-03 -2.42760489e-04 9.99983567e-01 4.26343463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.440714057 meters Centerline goodness : 0.981894 with order 1 Centerline is valid? [True, True] Translation: X:775.31, Y:-44.71, Z:4.26 [[ 9.99982025e-01 -1.76839063e-03 -5.72901146e-03 7.75306587e+02] [ 1.76962714e-03 9.99998412e-01 2.10770821e-04 -4.47111454e+01] [ 5.72862964e-03 -2.20905247e-04 9.99983567e-01 4.25984713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.500714057 meters Centerline goodness : 0.989792 with order 1 Centerline is valid? [True, True] Translation: X:775.37, Y:-44.69, Z:4.27 [[ 9.99831802e-01 -1.74225910e-02 -5.72901146e-03 7.75367285e+02] [ 1.74240838e-02 9.99848167e-01 2.10770821e-04 -4.46939979e+01] [ 5.72446944e-03 -3.10558146e-04 9.99983567e-01 4.26703069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.560714057 meters Centerline goodness : 0.990335 with order 1 Centerline is valid? [True, True] Translation: X:775.43, Y:-44.69, Z:4.27 [[ 9.99849306e-01 -1.63872882e-02 -5.72901899e-03 7.75429047e+02] [ 1.63887630e-02 9.99865673e-01 2.10565959e-04 -4.46934258e+01] [ 5.72479883e-03 -3.04425762e-04 9.99983567e-01 4.26616826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.620714057 meters Centerline goodness : 0.983486 with order 1 Centerline is valid? [True, True] Translation: X:775.49, Y:-44.71, Z:4.26 [[ 9.99983400e-01 -6.15466383e-04 -5.72900407e-03 7.75490469e+02] [ 6.16685145e-04 9.99999788e-01 2.10971319e-04 -4.47134850e+01] [ 5.72887300e-03 -2.14500808e-04 9.99983567e-01 4.26282026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.680714057 meters Centerline goodness : 0.986117 with order 1 Centerline is valid? [True, True] Translation: X:775.55, Y:-44.71, Z:4.27 [[ 9.99930776e-01 -1.02772957e-02 -5.72898875e-03 7.75550349e+02] [ 1.02786751e-02 9.99947151e-01 2.11386431e-04 -4.47071098e+01] [ 5.72651350e-03 -2.70258211e-04 9.99983567e-01 4.26978276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.740714057 meters Centerline goodness : 0.986449 with order 1 Centerline is valid? [True, True] Translation: X:775.61, Y:-44.71, Z:4.27 [[ 9.99876067e-01 -1.46638580e-02 -5.72900611e-03 7.75612464e+02] [ 1.46653065e-02 9.99892436e-01 2.10914864e-04 -4.47055395e+01] [ 5.72529705e-03 -2.94906356e-04 9.99983567e-01 4.27132101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.800714057 meters Centerline goodness : 0.983832 with order 1 Centerline is valid? [True, True] Translation: X:775.67, Y:-44.72, Z:4.26 [[ 9.99928012e-01 -1.05427550e-02 -5.72898895e-03 7.75673297e+02] [ 1.05441387e-02 9.99944387e-01 2.11379929e-04 -4.47175199e+01] [ 5.72644182e-03 -2.71771966e-04 9.99983567e-01 4.26323295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.860714057 meters Centerline goodness : 0.980011 with order 1 Centerline is valid? [True, True] Translation: X:775.74, Y:-44.70, Z:4.27 [[ 9.99616728e-01 -2.70845902e-02 -5.72898023e-03 7.75735176e+02] [ 2.70862460e-02 9.99633078e-01 2.11615955e-04 -4.47026902e+01] [ 5.72114661e-03 -3.66711416e-04 9.99983567e-01 4.26833455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.920714057 meters Centerline goodness : 0.979667 with order 1 Centerline is valid? [True, True] Translation: X:775.80, Y:-44.71, Z:4.27 [[ 9.99500852e-01 -3.10680868e-02 -5.72896416e-03 7.75797560e+02] [ 3.10698102e-02 9.99517194e-01 2.12050052e-04 -4.47053471e+01] [ 5.71961020e-03 -3.89942037e-04 9.99983567e-01 4.27057563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.980714057 meters Centerline goodness : 0.987028 with order 1 Centerline is valid? [True, True] Translation: X:775.86, Y:-44.72, Z:4.27 [[ 9.99622457e-01 -2.68723391e-02 -5.72894174e-03 7.75858446e+02] [ 2.68739974e-02 9.99638806e-01 2.12654074e-04 -4.47150979e+01] [ 5.72115797e-03 -3.66533354e-04 9.99983567e-01 4.27039017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0407140570001 meters Centerline goodness : 0.983931 with order 1 Centerline is valid? [True, True] Translation: X:775.92, Y:-44.72, Z:4.27 [[ 9.99781559e-01 -2.01000686e-02 -5.72892533e-03 7.75919670e+02] [ 2.01016185e-02 9.99797919e-01 2.13095311e-04 -4.47245705e+01] [ 5.72348440e-03 -3.28209434e-04 9.99983567e-01 4.26780785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.100714057 meters Centerline goodness : 0.981467 with order 1 Centerline is valid? [True, True] Translation: X:775.98, Y:-44.71, Z:4.27 [[ 9.99609225e-01 -2.73601165e-02 -5.72891271e-03 7.75982812e+02] [ 2.73617872e-02 9.99625573e-01 2.13433994e-04 -4.47100079e+01] [ 5.72092808e-03 -3.70103880e-04 9.99983567e-01 4.26998929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1607140570001 meters Centerline goodness : 0.989381 with order 1 Centerline is valid? [True, True] Translation: X:776.04, Y:-44.71, Z:4.27 [[ 9.99752027e-01 -2.15189375e-02 -5.72888771e-03 7.76044213e+02] [ 2.15205165e-02 9.99768384e-01 2.14103167e-04 -4.47122962e+01] [ 5.72295353e-03 -3.37338697e-04 9.99983567e-01 4.27319744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.220714057 meters Centerline goodness : 0.982915 with order 1 Centerline is valid? [True, True] Translation: X:776.11, Y:-44.73, Z:4.27 [[ 9.99975895e-01 -3.92286118e-03 -5.72887262e-03 7.76106335e+02] [ 3.92415436e-03 9.99992277e-01 2.14506154e-04 -4.47259105e+01] [ 5.72798690e-03 -2.36981964e-04 9.99983567e-01 4.27376573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2807140570001 meters Centerline goodness : 0.982783 with order 1 Centerline is valid? [True, True] Translation: X:776.17, Y:-44.73, Z:4.27 [[ 9.99976526e-01 3.75863003e-03 -5.72885701e-03 7.76165928e+02] [-3.75746035e-03 9.99992918e-01 2.14922009e-04 -4.47261195e+01] [ 5.72962425e-03 -1.93391011e-04 9.99983567e-01 4.27348597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.340714057 meters Centerline goodness : 0.981787 with order 1 Centerline is valid? [True, True] Translation: X:776.22, Y:-44.73, Z:4.27 [[ 9.99963905e-01 6.27452362e-03 -5.72886462e-03 7.76223675e+02] [-6.27339635e-03 9.99980299e-01 2.14719197e-04 -4.47253795e+01] [ 5.73009901e-03 -1.78772008e-04 9.99983567e-01 4.27483818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4007140570001 meters Centerline goodness : 0.981376 with order 1 Centerline is valid? [True, True] Translation: X:776.28, Y:-44.73, Z:4.28 [[ 9.99950338e-01 8.15478491e-03 -5.72892515e-03 7.76281409e+02] [-8.15369779e-03 9.99966735e-01 2.13091749e-04 -4.47263375e+01] [ 5.73047230e-03 -1.66369242e-04 9.99983567e-01 4.27685786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.460714057 meters Centerline goodness : 0.981852 with order 1 Centerline is valid? [True, True] Translation: X:776.34, Y:-44.73, Z:4.28 [[ 9.99947147e-01 8.53707929e-03 -5.72894373e-03 7.76340093e+02] [-8.53600130e-03 9.99963545e-01 2.12591163e-04 -4.47292528e+01] [ 5.73054979e-03 -1.63677656e-04 9.99983567e-01 4.27653516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5207140570001 meters Centerline goodness : 0.982663 with order 1 Centerline is valid? [True, True] Translation: X:776.40, Y:-44.73, Z:4.27 [[ 9.99946336e-01 8.63158716e-03 -5.72895903e-03 7.76398533e+02] [-8.63051308e-03 9.99962734e-01 2.12178080e-04 -4.47319643e+01] [ 5.73057696e-03 -1.62722838e-04 9.99983567e-01 4.27157554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.580714057 meters Centerline goodness : 0.982055 with order 1 Centerline is valid? [True, True] Translation: X:776.46, Y:-44.74, Z:4.27 [[ 9.99947859e-01 8.45332148e-03 -5.72897402e-03 7.76456800e+02] [-8.45224680e-03 9.99964257e-01 2.11772391e-04 -4.47386025e+01] [ 5.73055943e-03 -1.63338646e-04 9.99983567e-01 4.26543463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.640714057 meters Centerline goodness : 0.985608 with order 1 Centerline is valid? [True, True] Translation: X:776.52, Y:-44.73, Z:4.27 [[ 9.99981413e-01 -2.08605607e-03 -5.72898883e-03 7.76515398e+02] [ 2.08730121e-03 9.99997799e-01 2.11371043e-04 -4.47319208e+01] [ 5.72853529e-03 -2.23325240e-04 9.99983567e-01 4.27139730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.700714057 meters Centerline goodness : 0.979925 with order 1 Centerline is valid? [True, True] Translation: X:776.57, Y:-44.73, Z:4.27 [[ 9.99936255e-01 -9.72960895e-03 -5.72901786e-03 7.76574615e+02] [ 9.73097479e-03 9.99952631e-01 2.10581188e-04 -4.47281768e+01] [ 5.72669761e-03 -2.66316693e-04 9.99983567e-01 4.26907147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.760714057 meters Centerline goodness : 0.984982 with order 1 Centerline is valid? [True, True] Translation: X:776.64, Y:-44.75, Z:4.26 [[ 9.99980665e-01 2.41816504e-03 -5.72903261e-03 7.76635046e+02] [-2.41700053e-03 9.99997057e-01 2.10179075e-04 -4.47470813e+01] [ 5.72952400e-03 -1.96327936e-04 9.99983567e-01 4.26264638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.820714057 meters Centerline goodness : 0.984513 with order 1 Centerline is valid? [True, True] Translation: X:776.69, Y:-44.75, Z:4.27 [[ 9.99981042e-01 2.25709675e-03 -5.72902738e-03 7.76693064e+02] [-2.25592879e-03 9.99997433e-01 2.10321527e-04 -4.47476922e+01] [ 5.72948740e-03 -1.97393262e-04 9.99983567e-01 4.26510277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.880714057 meters Centerline goodness : 0.984147 with order 1 Centerline is valid? [True, True] Translation: X:776.75, Y:-44.75, Z:4.27 [[ 9.99944262e-01 8.86849168e-03 -5.72904568e-03 7.76752018e+02] [-8.86743498e-03 9.99960662e-01 2.09821855e-04 -4.47495837e+01] [ 5.73068112e-03 -1.59008220e-04 9.99983567e-01 4.26719019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.940714057 meters Centerline goodness : 0.986347 with order 1 Centerline is valid? [True, True] Translation: X:776.81, Y:-44.74, Z:4.27 [[ 9.99961612e-01 6.62962480e-03 -5.72909736e-03 7.76811140e+02] [-6.62853951e-03 9.99978009e-01 2.08401281e-04 -4.47439454e+01] [ 5.73035299e-03 -1.70417733e-04 9.99983567e-01 4.27329228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.000714057 meters Centerline goodness : 0.985659 with order 1 Centerline is valid? [True, True] Translation: X:776.87, Y:-44.75, Z:4.28 [[ 9.99949509e-01 8.25574163e-03 -5.72910989e-03 7.76869382e+02] [-8.25468498e-03 9.99965908e-01 2.08056316e-04 -4.47459361e+01] [ 5.73063223e-03 -1.60753814e-04 9.99983567e-01 4.27507035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.060714057 meters Centerline goodness : 0.985374 with order 1 Centerline is valid? [True, True] Translation: X:776.93, Y:-44.75, Z:4.27 [[ 9.99900501e-01 1.28904747e-02 -5.72913072e-03 7.76928484e+02] [-1.28894974e-02 9.99916905e-01 2.07480965e-04 -4.47502657e+01] [ 5.73132919e-03 -1.33614705e-04 9.99983567e-01 4.27075506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.120714057 meters Centerline goodness : 0.988883 with order 1 Centerline is valid? [True, True] Translation: X:776.99, Y:-44.75, Z:4.27 [[ 9.99950580e-01 8.12491550e-03 -5.72918700e-03 7.76986517e+02] [-8.12386897e-03 9.99966980e-01 2.05915247e-04 -4.47469354e+01] [ 5.73067086e-03 -1.59361907e-04 9.99983567e-01 4.26955180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.180714057 meters Centerline goodness : 0.986084 with order 1 Centerline is valid? [True, True] Translation: X:777.05, Y:-44.76, Z:4.27 [[ 9.99858385e-01 1.58235925e-02 -5.72920797e-03 7.77045029e+02] [-1.58226757e-02 9.99874793e-01 2.05330010e-04 -4.47575814e+01] [ 5.73173969e-03 -1.14649533e-04 9.99983567e-01 4.27186202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.240714057 meters Centerline goodness : 0.988768 with order 1 Centerline is valid? [True, True] Translation: X:777.10, Y:-44.75, Z:4.27 [[ 9.99939926e-01 9.34449941e-03 -5.72926150e-03 7.77103325e+02] [-9.34348485e-03 9.99956328e-01 2.03825431e-04 -4.47544365e+01] [ 5.73091594e-03 -1.50281918e-04 9.99983567e-01 4.27017045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.300714057 meters Centerline goodness : 0.985847 with order 1 Centerline is valid? [True, True] Translation: X:777.16, Y:-44.77, Z:4.27 [[ 9.99805905e-01 1.88501266e-02 -5.72928200e-03 7.77161834e+02] [-1.88492713e-02 9.99822316e-01 2.03247403e-04 -4.47672841e+01] [ 5.73209524e-03 -9.52151630e-05 9.99983567e-01 4.27123572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.360714057 meters Centerline goodness : 0.986956 with order 1 Centerline is valid? [True, True] Translation: X:777.22, Y:-44.77, Z:4.27 [[ 9.99762710e-01 2.10166411e-02 -5.72930984e-03 7.77219309e+02] [-2.10158259e-02 9.99779123e-01 2.02459814e-04 -4.47725231e+01] [ 5.73229939e-03 -8.20055947e-05 9.99983567e-01 4.27052820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.420714057 meters Centerline goodness : 0.988824 with order 1 Centerline is valid? [True, True] Translation: X:777.28, Y:-44.77, Z:4.27 [[ 9.99877927e-01 1.45363889e-02 -5.72933600e-03 7.77277476e+02] [-1.45354716e-02 9.99894334e-01 2.01716583e-04 -4.47703865e+01] [ 5.73166284e-03 -1.18413358e-04 9.99983567e-01 4.26895575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.480714057 meters Centerline goodness : 0.989683 with order 1 Centerline is valid? [True, True] Translation: X:777.34, Y:-44.78, Z:4.27 [[ 9.99872910e-01 1.48774302e-02 -5.72935720e-03 7.77335449e+02] [-1.48765219e-02 9.99889318e-01 2.01112773e-04 -4.47772533e+01] [ 5.73171510e-03 -1.15854305e-04 9.99983567e-01 4.26876285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5407140570001 meters Centerline goodness : 0.989148 with order 1 Centerline is valid? [True, True] Translation: X:777.39, Y:-44.79, Z:4.27 [[ 9.99879120e-01 1.44540676e-02 -5.72937841e-03 7.77393028e+02] [-1.44531558e-02 9.99895528e-01 2.00506629e-04 -4.47853858e+01] [ 5.73167799e-03 -1.17674793e-04 9.99983567e-01 4.26726583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.600714057 meters Centerline goodness : 0.985904 with order 1 Centerline is valid? [True, True] Translation: X:777.45, Y:-44.80, Z:4.27 [[ 9.99872079e-01 1.49331521e-02 -5.72939936e-03 7.77451926e+02] [-1.49322517e-02 9.99888488e-01 1.99906205e-04 -4.47952831e+01] [ 5.73174569e-03 -1.14327800e-04 9.99983567e-01 4.26774846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6607140570001 meters Centerline goodness : 0.981664 with order 1 Centerline is valid? [True, True] Translation: X:777.51, Y:-44.80, Z:4.27 [[ 9.99937606e-01 9.58941986e-03 -5.72941562e-03 7.77509606e+02] [-9.58843443e-03 9.99954010e-01 1.99439048e-04 -4.47960271e+01] [ 5.73106463e-03 -1.44490478e-04 9.99983567e-01 4.27067959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.720714057 meters Centerline goodness : 0.988921 with order 1 Centerline is valid? [True, True] Translation: X:777.57, Y:-44.80, Z:4.27 [[ 9.99937628e-01 9.58714397e-03 -5.72943508e-03 7.77568555e+02] [-9.58616171e-03 9.99954032e-01 1.98878480e-04 -4.48042863e+01] [ 5.73107839e-03 -1.43942784e-04 9.99983567e-01 4.26830479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7807140570001 meters Centerline goodness : 0.988957 with order 1 Centerline is valid? [True, True] Translation: X:777.63, Y:-44.81, Z:4.27 [[ 9.99958943e-01 7.02033540e-03 -5.72945507e-03 7.77625849e+02] [-7.01931434e-03 9.99975345e-01 1.98300893e-04 -4.48125412e+01] [ 5.73070595e-03 -1.58075905e-04 9.99983567e-01 4.26822203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.840714057 meters Centerline goodness : 0.989439 with order 1 Centerline is valid? [True, True] Translation: X:777.68, Y:-44.82, Z:4.27 [[ 9.99969893e-01 5.23324953e-03 -5.72947623e-03 7.77683713e+02] [-5.23220268e-03 9.99986292e-01 1.97687620e-04 -4.48200284e+01] [ 5.73043224e-03 -1.67703887e-04 9.99983567e-01 4.26816489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9007140570001 meters Centerline goodness : 0.989146 with order 1 Centerline is valid? [True, True] Translation: X:777.74, Y:-44.83, Z:4.27 [[ 9.99977391e-01 3.52000985e-03 -5.72949353e-03 7.77742745e+02] [-3.51893777e-03 9.99993789e-01 1.97184973e-04 -4.48263681e+01] [ 5.73015204e-03 -1.77018783e-04 9.99983567e-01 4.26683650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.960714057 meters Centerline goodness : 0.988923 with order 1 Centerline is valid? [True, True] Translation: X:777.80, Y:-44.83, Z:4.27 [[ 9.99983397e-01 6.15819702e-04 -5.72950728e-03 7.77801475e+02] [-6.14702301e-04 9.99999792e-01 1.96784699e-04 -4.48346820e+01] [ 5.72962727e-03 -1.93259491e-04 9.99983567e-01 4.26633532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0207140570001 meters Centerline goodness : 0.989693 with order 1 Centerline is valid? [True, True] Translation: X:777.86, Y:-44.84, Z:4.27 [[ 9.99980202e-01 -2.60139322e-03 -5.72952090e-03 7.77858669e+02] [ 2.60256109e-03 9.99996594e-01 1.96387442e-04 -4.48417170e+01] [ 5.72899050e-03 -2.11294982e-04 9.99983567e-01 4.26721116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.080714057 meters Centerline goodness : 0.980597 with order 1 Centerline is valid? [True, True] Translation: X:777.92, Y:-44.85, Z:4.27 [[ 9.99969133e-01 -5.37635077e-03 -5.72953762e-03 7.77917817e+02] [ 5.37756132e-03 9.99985522e-01 1.95898159e-04 -4.48470805e+01] [ 5.72840145e-03 -2.26703052e-04 9.99983567e-01 4.27417133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.140714057 meters Centerline goodness : 0.989563 with order 1 Centerline is valid? [True, True] Translation: X:777.98, Y:-44.85, Z:4.27 [[ 9.99944791e-01 -8.80836129e-03 -5.72954724e-03 7.77977454e+02] [ 8.80962648e-03 9.99961175e-01 1.95616540e-04 -4.48540519e+01] [ 5.72760173e-03 -2.46080912e-04 9.99983567e-01 4.26648662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.200714057 meters Centerline goodness : 0.981703 with order 1 Centerline is valid? [True, True] Translation: X:778.04, Y:-44.86, Z:4.27 [[ 9.99897816e-01 -1.30969469e-02 -5.72955727e-03 7.78036866e+02] [ 1.30982807e-02 9.99914195e-01 1.95322311e-04 -4.48595570e+01] [ 5.72650752e-03 -2.70349702e-04 9.99983567e-01 4.26912493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.260714057 meters Centerline goodness : 0.981666 with order 1 Centerline is valid? [True, True] Translation: X:778.10, Y:-44.86, Z:4.27 [[ 9.99821862e-01 -1.79837568e-02 -5.72955727e-03 7.78098391e+02] [ 1.79851705e-02 9.99838235e-01 1.95322311e-04 -4.48640304e+01] [ 5.72511780e-03 -2.98334582e-04 9.99983567e-01 4.27280508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.320714057 meters Centerline goodness : 0.989787 with order 1 Centerline is valid? [True, True] Translation: X:778.16, Y:-44.87, Z:4.27 [[ 9.99672094e-01 -2.49575130e-02 -5.72954202e-03 7.78159557e+02] [ 2.49590435e-02 9.99688455e-01 1.95768623e-04 -4.48725414e+01] [ 5.72287111e-03 -3.38708318e-04 9.99983567e-01 4.26517667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.380714057 meters Centerline goodness : 0.989675 with order 1 Centerline is valid? [True, True] Translation: X:778.22, Y:-44.88, Z:4.27 [[ 9.99575218e-01 -2.85754568e-02 -5.72952672e-03 7.78220571e+02] [ 2.85770491e-02 9.99591573e-01 1.96215432e-04 -4.48755851e+01] [ 5.72157968e-03 -3.59865049e-04 9.99983567e-01 4.26586496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.440714057 meters Centerline goodness : 0.990816 with order 1 Centerline is valid? [True, True] Translation: X:778.28, Y:-44.88, Z:4.27 [[ 9.99443555e-01 -3.28595985e-02 -5.72951634e-03 7.78283282e+02] [ 3.28612626e-02 9.99459904e-01 1.96518147e-04 -4.48787272e+01] [ 5.71996434e-03 -3.84687937e-04 9.99983567e-01 4.26655530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.500714057 meters Centerline goodness : 0.981391 with order 1 Centerline is valid? [True, True] Translation: X:778.35, Y:-44.88, Z:4.27 [[ 9.99319773e-01 -3.64302680e-02 -5.72949551e-03 7.78345105e+02] [ 3.64319939e-02 9.99336115e-01 1.97123323e-04 -4.48812359e+01] [ 5.71851053e-03 -4.05726180e-04 9.99983567e-01 4.27250412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.560714057 meters Centerline goodness : 0.990274 with order 1 Centerline is valid? [True, True] Translation: X:778.41, Y:-44.88, Z:4.27 [[ 9.99244782e-01 -3.84322522e-02 -5.72947867e-03 7.78405845e+02] [ 3.84340137e-02 9.99261121e-01 1.97611636e-04 -4.48837901e+01] [ 5.71765062e-03 -4.17669258e-04 9.99983567e-01 4.26731182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.620714057 meters Centerline goodness : 0.987289 with order 1 Centerline is valid? [True, True] Translation: X:778.47, Y:-44.89, Z:4.27 [[ 9.99374279e-01 -3.49030677e-02 -5.72944128e-03 7.78469052e+02] [ 3.49047776e-02 9.99390623e-01 1.98689855e-04 -4.48939711e+01] [ 5.71901500e-03 -3.98550404e-04 9.99983567e-01 4.26659975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.680714057 meters Centerline goodness : 0.988594 with order 1 Centerline is valid? [True, True] Translation: X:778.53, Y:-44.89, Z:4.27 [[ 9.99250707e-01 -3.82779042e-02 -5.72941871e-03 7.78531852e+02] [ 3.82796730e-02 9.99267045e-01 1.99338648e-04 -4.48929975e+01] [ 5.71758904e-03 -4.18509560e-04 9.99983567e-01 4.26620685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.740714057 meters Centerline goodness : 0.987986 with order 1 Centerline is valid? [True, True] Translation: X:778.59, Y:-44.89, Z:4.27 [[ 9.99164893e-01 -4.04560233e-02 -5.72939538e-03 7.78594536e+02] [ 4.04578315e-02 9.99181227e-01 2.00006787e-04 -4.48913253e+01] [ 5.71661283e-03 -4.31638673e-04 9.99983567e-01 4.26833602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.800714057 meters Centerline goodness : 0.987424 with order 1 Centerline is valid? [True, True] Translation: X:778.66, Y:-44.89, Z:4.27 [[ 9.99168739e-01 -4.03609330e-02 -5.72937236e-03 7.78656955e+02] [ 4.03627434e-02 9.99185072e-01 2.00664104e-04 -4.48891701e+01] [ 5.71660435e-03 -4.31750486e-04 9.99983567e-01 4.27192902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.860714057 meters Centerline goodness : 0.987631 with order 1 Centerline is valid? [True, True] Translation: X:778.72, Y:-44.89, Z:4.27 [[ 9.99112530e-01 -4.17292140e-02 -5.72935339e-03 7.78720622e+02] [ 4.17310498e-02 9.99128860e-01 2.01204214e-04 -4.48860803e+01] [ 5.71596623e-03 -4.40117583e-04 9.99983567e-01 4.26846902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.920714057 meters Centerline goodness : 0.987231 with order 1 Centerline is valid? [True, True] Translation: X:778.78, Y:-44.88, Z:4.27 [[ 9.99144096e-01 -4.09664523e-02 -5.72933060e-03 7.78783723e+02] [ 4.09682793e-02 9.99160427e-01 2.01851211e-04 -4.48840056e+01] [ 5.71625128e-03 -4.36399262e-04 9.99983567e-01 4.26878751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.980714057 meters Centerline goodness : 0.986856 with order 1 Centerline is valid? [True, True] Translation: X:778.84, Y:-44.88, Z:4.27 [[ 9.99264602e-01 -3.79134526e-02 -5.72930744e-03 7.78844620e+02] [ 3.79152335e-02 9.99280939e-01 2.02506396e-04 -4.48812052e+01] [ 5.71751000e-03 -4.19585503e-04 9.99983567e-01 4.27218076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0407140570001 meters Centerline goodness : 0.988061 with order 1 Centerline is valid? [True, True] Translation: X:778.91, Y:-44.88, Z:4.27 [[ 9.99306651e-01 -3.67884783e-02 -5.72929605e-03 7.78907434e+02] [ 3.67902426e-02 9.99322989e-01 2.02828289e-04 -4.48794874e+01] [ 5.71795551e-03 -4.13469849e-04 9.99983567e-01 4.27258038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.100714057 meters Centerline goodness : 0.986505 with order 1 Centerline is valid? [True, True] Translation: X:778.97, Y:-44.88, Z:4.27 [[ 9.99318312e-01 -3.64703414e-02 -5.72927353e-03 7.78970234e+02] [ 3.64721042e-02 9.99334651e-01 2.03462240e-04 -4.48765371e+01] [ 5.71804123e-03 -4.12282203e-04 9.99983567e-01 4.27234525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1607140570001 meters Centerline goodness : 0.986754 with order 1 Centerline is valid? [True, True] Translation: X:779.03, Y:-44.88, Z:4.27 [[ 9.99246275e-01 -3.83934471e-02 -5.72925116e-03 7.79032372e+02] [ 3.83952449e-02 9.99262610e-01 2.04090191e-04 -4.48777930e+01] [ 5.71719075e-03 -4.23912364e-04 9.99983567e-01 4.26991517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.220714057 meters Centerline goodness : 0.985628 with order 1 Centerline is valid? [True, True] Translation: X:779.09, Y:-44.88, Z:4.27 [[ 9.99280645e-01 -3.74882460e-02 -5.72923539e-03 7.79094586e+02] [ 3.74900315e-02 9.99296981e-01 2.04531986e-04 -4.48755127e+01] [ 5.71754008e-03 -4.19174070e-04 9.99983567e-01 4.26823176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2807140570001 meters Centerline goodness : 0.986315 with order 1 Centerline is valid? [True, True] Translation: X:779.16, Y:-44.87, Z:4.27 [[ 9.99322150e-01 -3.63650568e-02 -5.72919648e-03 7.79157520e+02] [ 3.63668301e-02 9.99338487e-01 2.05616136e-04 -4.48737684e+01] [ 5.71792930e-03 -4.13829474e-04 9.99983567e-01 4.26866636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.340714057 meters Centerline goodness : 0.985434 with order 1 Centerline is valid? [True, True] Translation: X:779.22, Y:-44.87, Z:4.27 [[ 9.99324438e-01 -3.63021109e-02 -5.72917279e-03 7.79220557e+02] [ 3.63038869e-02 9.99340775e-01 2.06274180e-04 -4.48716200e+01] [ 5.71790779e-03 -4.14126070e-04 9.99983567e-01 4.26938256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4007140570001 meters Centerline goodness : 0.985188 with order 1 Centerline is valid? [True, True] Translation: X:779.28, Y:-44.87, Z:4.27 [[ 9.99333697e-01 -3.60463466e-02 -5.72914942e-03 7.79283668e+02] [ 3.60481221e-02 9.99350034e-01 2.06921156e-04 -4.48721638e+01] [ 5.71796692e-03 -4.13308362e-04 9.99983567e-01 4.26955505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.460714057 meters Centerline goodness : 0.985947 with order 1 Centerline is valid? [True, True] Translation: X:779.35, Y:-44.87, Z:4.27 [[ 9.99252600e-01 -3.82285061e-02 -5.72912540e-03 7.79346691e+02] [ 3.82303211e-02 9.99268933e-01 2.07584257e-04 -4.48701704e+01] [ 5.71700138e-03 -4.26455412e-04 9.99983567e-01 4.27080041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5207140570001 meters Centerline goodness : 0.985617 with order 1 Centerline is valid? [True, True] Translation: X:779.41, Y:-44.87, Z:4.27 [[ 9.99098504e-01 -4.20637224e-02 -5.72910118e-03 7.79407809e+02] [ 4.20656039e-02 9.99114829e-01 2.08250383e-04 -4.48692804e+01] [ 5.71527016e-03 -4.49060747e-04 9.99983567e-01 4.27160265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.580714057 meters Centerline goodness : 0.985370 with order 1 Centerline is valid? [True, True] Translation: X:779.47, Y:-44.87, Z:4.27 [[ 9.99002477e-01 -4.42857508e-02 -5.72908930e-03 7.79469723e+02] [ 4.42876705e-02 9.99018798e-01 2.08576791e-04 -4.48697212e+01] [ 5.71423093e-03 -4.62096750e-04 9.99983567e-01 4.27133828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.640714057 meters Centerline goodness : 0.985919 with order 1 Centerline is valid? [True, True] Translation: X:779.53, Y:-44.87, Z:4.27 [[ 9.99081588e-01 -4.24636183e-02 -5.72903077e-03 7.79532406e+02] [ 4.24655173e-02 9.99097911e-01 2.10172343e-04 -4.48686189e+01] [ 5.71493799e-03 -4.53265573e-04 9.99983567e-01 4.27451355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.700714057 meters Centerline goodness : 0.986338 with order 1 Centerline is valid? [True, True] Translation: X:779.59, Y:-44.87, Z:4.27 [[ 9.98830969e-01 -4.79986889e-02 -5.72901564e-03 7.79594853e+02] [ 4.80006806e-02 9.98847281e-01 2.10583821e-04 -4.48694704e+01] [ 5.71230395e-03 -4.85334292e-04 9.99983567e-01 4.27349829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.760714057 meters Centerline goodness : 0.986755 with order 1 Centerline is valid? [True, True] Translation: X:779.66, Y:-44.87, Z:4.27 [[ 9.98811460e-01 -4.84029518e-02 -5.72900042e-03 7.79657390e+02] [ 4.84049525e-02 9.98827771e-01 2.10997217e-04 -4.48706051e+01] [ 5.71207183e-03 -4.88058432e-04 9.99983567e-01 4.27391676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.820714057 meters Centerline goodness : 0.987409 with order 1 Centerline is valid? [True, True] Translation: X:779.72, Y:-44.87, Z:4.27 [[ 9.98871778e-01 -4.71418131e-02 -5.72896275e-03 7.79719275e+02] [ 4.71437990e-02 9.98888090e-01 2.12015104e-04 -4.48725796e+01] [ 5.71259788e-03 -4.81860972e-04 9.99983567e-01 4.27267038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.880714057 meters Centerline goodness : 0.987930 with order 1 Centerline is valid? [True, True] Translation: X:779.78, Y:-44.87, Z:4.28 [[ 9.98785732e-01 -4.89309888e-02 -5.72894659e-03 7.79780290e+02] [ 4.89330063e-02 9.98802040e-01 2.12450709e-04 -4.48720462e+01] [ 5.71168812e-03 -4.92527317e-04 9.99983567e-01 4.27523835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.940714057 meters Centerline goodness : 0.988934 with order 1 Centerline is valid? [True, True] Translation: X:779.84, Y:-44.87, Z:4.27 [[ 9.98917928e-01 -4.61535779e-02 -5.72889489e-03 7.79842768e+02] [ 4.61555580e-02 9.98934241e-01 2.13835994e-04 -4.48742143e+01] [ 5.71291997e-03 -4.78024948e-04 9.99983567e-01 4.27253082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.000714057 meters Centerline goodness : 0.989107 with order 1 Centerline is valid? [True, True] Translation: X:779.90, Y:-44.88, Z:4.27 [[ 9.98861536e-01 -4.73583425e-02 -5.72887826e-03 7.79904481e+02] [ 4.73603448e-02 9.98877846e-01 2.14280634e-04 -4.48757213e+01] [ 5.71230160e-03 -4.85358333e-04 9.99983567e-01 4.27112440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.060714057 meters Centerline goodness : 0.988075 with order 1 Centerline is valid? [True, True] Translation: X:779.97, Y:-44.88, Z:4.27 [[ 9.98734161e-01 -4.99725530e-02 -5.72885778e-03 7.79967103e+02] [ 4.99746011e-02 9.98750466e-01 2.14826681e-04 -4.48761891e+01] [ 5.71096394e-03 -5.00852127e-04 9.99983567e-01 4.27072496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.120714057 meters Centerline goodness : 0.988449 with order 1 Centerline is valid? [True, True] Translation: X:780.03, Y:-44.88, Z:4.27 [[ 9.98642780e-01 -5.17665694e-02 -5.72883321e-03 7.80030341e+02] [ 5.17686505e-02 9.98659081e-01 2.15479829e-04 -4.48777419e+01] [ 5.70999666e-03 -5.11761340e-04 9.99983567e-01 4.27103071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.180714057 meters Centerline goodness : 0.990704 with order 1 Centerline is valid? [True, True] Translation: X:780.09, Y:-44.87, Z:4.27 [[ 9.98218720e-01 -5.93849192e-02 -5.72880806e-03 7.80092246e+02] [ 5.93871284e-02 9.98235004e-01 2.16146523e-04 -4.48692420e+01] [ 5.70586089e-03 -5.55978965e-04 9.99983567e-01 4.27326346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.240714057 meters Centerline goodness : 0.988073 with order 1 Centerline is valid? [True, True] Translation: X:780.15, Y:-44.88, Z:4.27 [[ 9.98622521e-01 -5.21559411e-02 -5.72875446e-03 7.80154286e+02] [ 5.21580403e-02 9.98638819e-01 2.17557846e-04 -4.48799965e+01] [ 5.70960966e-03 -5.16058771e-04 9.99983567e-01 4.26838198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.300714057 meters Centerline goodness : 0.987739 with order 1 Centerline is valid? [True, True] Translation: X:780.22, Y:-44.88, Z:4.27 [[ 9.98634746e-01 -5.19213486e-02 -5.72873866e-03 7.80216310e+02] [ 5.19234464e-02 9.98651044e-01 2.17973116e-04 -4.48820180e+01] [ 5.70969339e-03 -5.15131382e-04 9.99983567e-01 4.26830240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.360714057 meters Centerline goodness : 0.987908 with order 1 Centerline is valid? [True, True] Translation: X:780.28, Y:-44.88, Z:4.27 [[ 9.98491777e-01 -5.46017763e-02 -5.72872190e-03 7.80278868e+02] [ 5.46039203e-02 9.98508069e-01 2.18412782e-04 -4.48835935e+01] [ 5.70824931e-03 -5.30894041e-04 9.99983567e-01 4.26919167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.420714057 meters Centerline goodness : 0.987753 with order 1 Centerline is valid? [True, True] Translation: X:780.34, Y:-44.89, Z:4.27 [[ 9.98427026e-01 -5.57732643e-02 -5.72865942e-03 7.80340716e+02] [ 5.57754367e-02 9.98443315e-01 2.20039321e-04 -4.48856065e+01] [ 5.70746939e-03 -5.39211686e-04 9.99983567e-01 4.26920009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.480714057 meters Centerline goodness : 0.987585 with order 1 Centerline is valid? [True, True] Translation: X:780.40, Y:-44.89, Z:4.27 [[ 9.98479873e-01 -5.48190342e-02 -5.72861982e-03 7.80403885e+02] [ 5.48211969e-02 9.98496163e-01 2.21065505e-04 -4.48881647e+01] [ 5.70788631e-03 -5.34779252e-04 9.99983567e-01 4.27041940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5407140570001 meters Centerline goodness : 0.987357 with order 1 Centerline is valid? [True, True] Translation: X:780.47, Y:-44.89, Z:4.27 [[ 9.98628721e-01 -5.20371098e-02 -5.72859423e-03 7.80466413e+02] [ 5.20392308e-02 9.98645017e-01 2.21726678e-04 -4.48900399e+01] [ 5.70929407e-03 -5.19534266e-04 9.99983567e-01 4.27094674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.600714057 meters Centerline goodness : 0.987226 with order 1 Centerline is valid? [True, True] Translation: X:780.53, Y:-44.89, Z:4.27 [[ 9.98709736e-01 -5.04583655e-02 -5.72856830e-03 7.80528159e+02] [ 5.04604646e-02 9.98726035e-01 2.22394720e-04 -4.48916470e+01] [ 5.71004862e-03 -5.11173990e-04 9.99983567e-01 4.27180357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6607140570001 meters Centerline goodness : 0.986231 with order 1 Centerline is valid? [True, True] Translation: X:780.59, Y:-44.89, Z:4.27 [[ 9.99064600e-01 -4.28615125e-02 -5.72852576e-03 7.80590678e+02] [ 4.28634938e-02 9.99080913e-01 2.23485048e-04 -4.48942814e+01] [ 5.71368184e-03 -4.68820629e-04 9.99983567e-01 4.27043278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.720714057 meters Centerline goodness : 0.986996 with order 1 Centerline is valid? [True, True] Translation: X:780.65, Y:-44.89, Z:4.27 [[ 9.99150090e-01 -4.08201206e-02 -5.72850022e-03 7.80652352e+02] [ 4.08220723e-02 9.99166407e-01 2.24137809e-04 -4.48946466e+01] [ 5.71457565e-03 -4.57796562e-04 9.99983567e-01 4.27258874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7807140570001 meters Centerline goodness : 0.986860 with order 1 Centerline is valid? [True, True] Translation: X:780.72, Y:-44.90, Z:4.27 [[ 9.99421144e-01 -3.35344751e-02 -5.72845827e-03 7.80715013e+02] [ 3.35363138e-02 9.99437474e-01 2.25204851e-04 -4.48973810e+01] [ 5.71768374e-03 -4.17185864e-04 9.99983567e-01 4.27159531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.840714057 meters Centerline goodness : 0.985874 with order 1 Centerline is valid? [True, True] Translation: X:780.78, Y:-44.90, Z:4.27 [[ 9.99470473e-01 -3.20305786e-02 -5.72843342e-03 7.80778202e+02] [ 3.20323964e-02 9.99486806e-01 2.25835157e-04 -4.48999202e+01] [ 5.71825999e-03 -4.09211021e-04 9.99983567e-01 4.27361346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9007140570001 meters Centerline goodness : 0.987143 with order 1 Centerline is valid? [True, True] Translation: X:780.84, Y:-44.91, Z:4.26 [[ 9.99749415e-01 -2.16400724e-02 -5.72840876e-03 7.80839903e+02] [ 2.16417239e-02 9.99765765e-01 2.26459001e-04 -4.49091934e+01] [ 5.72216637e-03 -3.50374895e-04 9.99983567e-01 4.26411881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.960714057 meters Centerline goodness : 0.986660 with order 1 Centerline is valid? [True, True] Translation: X:780.90, Y:-44.91, Z:4.27 [[ 9.99721643e-01 -2.28871733e-02 -5.72839249e-03 7.80902125e+02] [ 2.28888475e-02 9.99737990e-01 2.26869871e-04 -4.49051769e+01] [ 5.72169918e-03 -3.57923022e-04 9.99983567e-01 4.27371040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0207140570001 meters Centerline goodness : 0.987067 with order 1 Centerline is valid? [True, True] Translation: X:780.96, Y:-44.91, Z:4.27 [[ 9.99845731e-01 -1.66041926e-02 -5.72837653e-03 7.80964185e+02] [ 1.66057664e-02 9.99862089e-01 2.27271969e-04 -4.49086262e+01] [ 5.72381286e-03 -3.22360990e-04 9.99983567e-01 4.27213236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.080714057 meters Centerline goodness : 0.986828 with order 1 Centerline is valid? [True, True] Translation: X:781.03, Y:-44.91, Z:4.27 [[ 9.99890289e-01 -1.36600101e-02 -5.72836042e-03 7.81026308e+02] [ 1.36615380e-02 9.99906651e-01 2.27677327e-04 -4.49110793e+01] [ 5.72471561e-03 -3.05910561e-04 9.99983567e-01 4.27150984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.140714057 meters Centerline goodness : 0.986929 with order 1 Centerline is valid? [True, True] Translation: X:781.09, Y:-44.91, Z:4.27 [[ 9.99936026e-01 -9.75346434e-03 -5.72834415e-03 7.81088964e+02] [ 9.75493062e-03 9.99952394e-01 2.28085997e-04 -4.49110767e+01] [ 5.72584682e-03 -2.83951005e-04 9.99983567e-01 4.27273666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.200714057 meters Centerline goodness : 0.986039 with order 1 Centerline is valid? [True, True] Translation: X:781.15, Y:-44.91, Z:4.28 [[ 9.99932823e-01 -1.00765198e-02 -5.72832764e-03 7.81150405e+02] [ 1.00779937e-02 9.99949190e-01 2.28499916e-04 -4.49116269e+01] [ 5.72573410e-03 -2.86214616e-04 9.99983567e-01 4.27577922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.260714057 meters Centerline goodness : 0.986510 with order 1 Centerline is valid? [True, True] Translation: X:781.21, Y:-44.91, Z:4.28 [[ 9.99944952e-01 -8.79091746e-03 -5.72831940e-03 7.81211438e+02] [ 8.79237154e-03 9.99961320e-01 2.28706176e-04 -4.49139834e+01] [ 5.72608730e-03 -2.79059098e-04 9.99983567e-01 4.27524293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.320714057 meters Centerline goodness : 0.986297 with order 1 Centerline is valid? [True, True] Translation: X:781.27, Y:-44.92, Z:4.28 [[ 9.99923195e-01 -1.09904806e-02 -5.72831068e-03 7.81271699e+02] [ 1.09919719e-02 9.99939560e-01 2.28924542e-04 -4.49173911e+01] [ 5.72544847e-03 -2.91872390e-04 9.99983567e-01 4.27536492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.380714057 meters Centerline goodness : 0.988343 with order 1 Centerline is valid? [True, True] Translation: X:781.33, Y:-44.92, Z:4.28 [[ 9.99873247e-01 -1.48552138e-02 -5.72829627e-03 7.81334370e+02] [ 1.48567705e-02 9.99889606e-01 2.29284561e-04 -4.49198385e+01] [ 5.72425783e-03 -3.14359482e-04 9.99983567e-01 4.27570896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.440714057 meters Centerline goodness : 0.987531 with order 1 Centerline is valid? [True, True] Translation: X:781.40, Y:-44.92, Z:4.28 [[ 9.99769328e-01 -2.06997004e-02 -5.72823542e-03 7.81396474e+02] [ 2.07013612e-02 9.99785677e-01 2.30794688e-04 -4.49237504e+01] [ 5.72223035e-03 -3.49323721e-04 9.99983567e-01 4.27575115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.500714057 meters Centerline goodness : 0.987742 with order 1 Centerline is valid? [True, True] Translation: X:781.46, Y:-44.93, Z:4.28 [[ 9.99669687e-01 -2.50540250e-02 -5.72817066e-03 7.81457857e+02] [ 2.50557662e-02 9.99686028e-01 2.32391077e-04 -4.49260459e+01] [ 5.72054984e-03 -3.75838020e-04 9.99983567e-01 4.27729924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.560714057 meters Centerline goodness : 0.987492 with order 1 Centerline is valid? [True, True] Translation: X:781.52, Y:-44.93, Z:4.28 [[ 9.99578894e-01 -2.84468469e-02 -5.72815808e-03 7.81520776e+02] [ 2.84486453e-02 9.99595228e-01 2.32700675e-04 -4.49309193e+01] [ 5.71921988e-03 -3.95561021e-04 9.99983567e-01 4.27813327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.620714057 meters Centerline goodness : 0.988372 with order 1 Centerline is valid? [True, True] Translation: X:781.58, Y:-44.93, Z:4.28 [[ 9.99486364e-01 -3.15308856e-02 -5.72813096e-03 7.81582380e+02] [ 3.15327382e-02 9.99502692e-01 2.33366304e-04 -4.49335907e+01] [ 5.71792407e-03 -4.13870093e-04 9.99983567e-01 4.27785625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.680714057 meters Centerline goodness : 0.989490 with order 1 Centerline is valid? [True, True] Translation: X:781.65, Y:-44.94, Z:4.28 [[ 9.99540881e-01 -2.97526008e-02 -5.72808660e-03 7.81645482e+02] [ 2.97544305e-02 9.99557211e-01 2.34450244e-04 -4.49355318e+01] [ 5.71857476e-03 -4.04778558e-04 9.99983567e-01 4.28122667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.740714057 meters Centerline goodness : 0.988527 with order 1 Centerline is valid? [True, True] Translation: X:781.71, Y:-44.94, Z:4.29 [[ 9.99566989e-01 -2.88621687e-02 -5.72805971e-03 7.81706731e+02] [ 2.88639876e-02 9.99583321e-01 2.35105206e-04 -4.49365821e+01] [ 5.71888730e-03 -4.00338047e-04 9.99983567e-01 4.28566995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.800714057 meters Centerline goodness : 0.988510 with order 1 Centerline is valid? [True, True] Translation: X:781.77, Y:-44.94, Z:4.29 [[ 9.99615158e-01 -2.71426907e-02 -5.72804656e-03 7.81769254e+02] [ 2.71444833e-02 9.99631493e-01 2.35425197e-04 -4.49385143e+01] [ 5.71954566e-03 -3.90819459e-04 9.99983567e-01 4.28657096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.860714057 meters Centerline goodness : 0.988114 with order 1 Centerline is valid? [True, True] Translation: X:781.83, Y:-44.94, Z:4.29 [[ 9.99649715e-01 -2.58386794e-02 -5.72801996e-03 7.81831436e+02] [ 2.58404544e-02 9.99666052e-01 2.36070574e-04 -4.49397345e+01] [ 5.72000735e-03 -3.84002520e-04 9.99983567e-01 4.28733339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.920714057 meters Centerline goodness : 0.988153 with order 1 Centerline is valid? [True, True] Translation: X:781.89, Y:-44.94, Z:4.29 [[ 9.99693097e-01 -2.41019061e-02 -5.72799809e-03 7.81894833e+02] [ 2.41036557e-02 9.99709437e-01 2.36600110e-04 -4.49424126e+01] [ 5.72063123e-03 -3.74593191e-04 9.99983567e-01 4.28844242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.980714057 meters Centerline goodness : 0.987651 with order 1 Centerline is valid? [True, True] Translation: X:781.96, Y:-44.95, Z:4.29 [[ 9.99741937e-01 -2.19829367e-02 -5.72797104e-03 7.81955933e+02] [ 2.19846554e-02 9.99758280e-01 2.37253160e-04 -4.49457203e+01] [ 5.72137096e-03 -3.63119403e-04 9.99983567e-01 4.28663098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0407140570001 meters Centerline goodness : 0.987786 with order 1 Centerline is valid? [True, True] Translation: X:782.02, Y:-44.95, Z:4.29 [[ 9.99804772e-01 -1.89105260e-02 -5.72795775e-03 7.82017982e+02] [ 1.89121963e-02 9.99821120e-01 2.37573639e-04 -4.49482935e+01] [ 5.72244049e-03 -3.45855520e-04 9.99983567e-01 4.28542141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.100714057 meters Centerline goodness : 0.987617 with order 1 Centerline is valid? [True, True] Translation: X:782.08, Y:-44.95, Z:4.29 [[ 9.99836385e-01 -1.71579327e-02 -5.72793947e-03 7.82078739e+02] [ 1.71595769e-02 9.99852735e-01 2.38013443e-04 -4.49507402e+01] [ 5.72301213e-03 -3.36263518e-04 9.99983567e-01 4.28559353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1607140570001 meters Centerline goodness : 0.986750 with order 1 Centerline is valid? [True, True] Translation: X:782.14, Y:-44.95, Z:4.29 [[ 9.99893358e-01 -1.34336920e-02 -5.72790928e-03 7.82140567e+02] [ 1.34352794e-02 9.99909714e-01 2.38737850e-04 -4.49510922e+01] [ 5.72418500e-03 -3.15668452e-04 9.99983567e-01 4.28698556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.220714057 meters Centerline goodness : 0.988809 with order 1 Centerline is valid? [True, True] Translation: X:782.20, Y:-44.95, Z:4.29 [[ 9.99922911e-01 -1.10164694e-02 -5.72789142e-03 7.82203153e+02] [ 1.10180197e-02 9.99939271e-01 2.39165728e-04 -4.49515630e+01] [ 5.72490881e-03 -3.02257311e-04 9.99983567e-01 4.29129045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2807140570001 meters Centerline goodness : 0.987245 with order 1 Centerline is valid? [True, True] Translation: X:782.26, Y:-44.95, Z:4.29 [[ 9.99951473e-01 -8.01511940e-03 -5.72787359e-03 7.82264795e+02] [ 8.01662298e-03 9.99967838e-01 2.39591781e-04 -4.49548705e+01] [ 5.72576902e-03 -2.85498358e-04 9.99983567e-01 4.29162713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.340714057 meters Centerline goodness : 0.986223 with order 1 Centerline is valid? [True, True] Translation: X:782.33, Y:-44.96, Z:4.29 [[ 9.99973473e-01 -4.49934626e-03 -5.72785544e-03 7.82325142e+02] [ 4.50079478e-03 9.99989843e-01 2.40025030e-04 -4.49601762e+01] [ 5.72671730e-03 -2.65798565e-04 9.99983567e-01 4.28926152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4007140570001 meters Centerline goodness : 0.987362 with order 1 Centerline is valid? [True, True] Translation: X:782.38, Y:-44.96, Z:4.29 [[ 9.99982067e-01 -1.74832716e-03 -5.72784082e-03 7.82384531e+02] [ 1.74973263e-03 9.99998440e-01 2.40373338e-04 -4.49649712e+01] [ 5.72741164e-03 -2.50391217e-04 9.99983567e-01 4.28867209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.460714057 meters Centerline goodness : 0.985933 with order 1 Centerline is valid? [True, True] Translation: X:782.44, Y:-44.97, Z:4.29 [[ 9.99983588e-01 -1.23711061e-04 -5.72784511e-03 7.82443378e+02] [ 1.25089345e-04 9.99999963e-01 2.40271058e-04 -4.49691753e+01] [ 5.72781518e-03 -2.40983607e-04 9.99983567e-01 4.28838349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5207140570001 meters Centerline goodness : 0.985564 with order 1 Centerline is valid? [True, True] Translation: X:782.50, Y:-44.97, Z:4.29 [[ 9.99983594e-01 -5.18522920e-05 -5.72790888e-03 7.82502130e+02] [ 5.32206506e-05 9.99999970e-01 2.38741055e-04 -4.49747424e+01] [ 5.72789633e-03 -2.39041981e-04 9.99983567e-01 4.28674925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.580714057 meters Centerline goodness : 0.985496 with order 1 Centerline is valid? [True, True] Translation: X:782.56, Y:-44.98, Z:4.29 [[ 9.99969629e-01 -5.28510077e-03 -5.72792702e-03 7.82559929e+02] [ 5.28655232e-03 9.99985998e-01 2.38305192e-04 -4.49800832e+01] [ 5.72658735e-03 -2.68578941e-04 9.99983567e-01 4.28708733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6407140570001 meters Centerline goodness : 0.986046 with order 1 Centerline is valid? [True, True] Translation: X:782.62, Y:-44.99, Z:4.29 [[ 9.99936111e-01 -9.74494916e-03 -5.72794927e-03 7.82619846e+02] [ 9.74647064e-03 9.99952474e-01 2.37769186e-04 -4.49869815e+01] [ 5.72535999e-03 -2.93581284e-04 9.99983567e-01 4.29039576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.700714057 meters Centerline goodness : 0.985747 with order 1 Centerline is valid? [True, True] Translation: X:782.68, Y:-44.99, Z:4.29 [[ 9.99859602e-01 -1.57469675e-02 -5.72794927e-03 7.82681060e+02] [ 1.57485872e-02 9.99875955e-01 2.37769186e-04 -4.49914224e+01] [ 5.72349460e-03 -3.27942912e-04 9.99983567e-01 4.29417104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.760714057 meters Centerline goodness : 0.986267 with order 1 Centerline is valid? [True, True] Translation: X:782.74, Y:-45.00, Z:4.29 [[ 9.99745195e-01 -2.18342749e-02 -5.72794029e-03 7.82743346e+02] [ 2.18359953e-02 9.99761538e-01 2.37985238e-04 -4.49994066e+01] [ 5.72137816e-03 -3.62999876e-04 9.99983567e-01 4.29295634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.820714057 meters Centerline goodness : 0.986135 with order 1 Centerline is valid? [True, True] Translation: X:782.81, Y:-45.01, Z:4.29 [[ 9.99709248e-01 -2.34224190e-02 -5.72789576e-03 7.82805819e+02] [ 2.34241715e-02 9.99725588e-01 2.39052175e-04 -4.50051277e+01] [ 5.72072478e-03 -3.73153883e-04 9.99983567e-01 4.29494565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.880714057 meters Centerline goodness : 0.986067 with order 1 Centerline is valid? [True, True] Translation: X:782.87, Y:-45.01, Z:4.29 [[ 9.99702324e-01 -2.37161297e-02 -5.72787304e-03 7.82868132e+02] [ 2.37178900e-02 9.99718663e-01 2.39595473e-04 -4.50125784e+01] [ 5.72057929e-03 -3.75377214e-04 9.99983567e-01 4.29329863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.940714057 meters Centerline goodness : 0.987389 with order 1 Centerline is valid? [True, True] Translation: X:782.93, Y:-45.02, Z:4.29 [[ 9.99691927e-01 -2.41504382e-02 -5.72785474e-03 7.82930341e+02] [ 2.41522082e-02 9.99708264e-01 2.40032018e-04 -4.50166055e+01] [ 5.72038684e-03 -3.78298411e-04 9.99983567e-01 4.29369685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.000714057 meters Centerline goodness : 0.986583 with order 1 Centerline is valid? [True, True] Translation: X:782.99, Y:-45.02, Z:4.29 [[ 9.99787134e-01 -1.98211821e-02 -5.72783209e-03 7.82992633e+02] [ 1.98228844e-02 9.99803478e-01 2.40571444e-04 -4.50237167e+01] [ 5.72193803e-03 -3.54062388e-04 9.99983567e-01 4.28940242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.060714057 meters Centerline goodness : 0.985462 with order 1 Centerline is valid? [True, True] Translation: X:783.05, Y:-45.03, Z:4.29 [[ 9.99842991e-01 -1.67685958e-02 -5.72781388e-03 7.83054085e+02] [ 1.67702506e-02 9.99859340e-01 2.41004207e-04 -4.50262694e+01] [ 5.72296690e-03 -3.37023241e-04 9.99983567e-01 4.29037044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.120714057 meters Centerline goodness : 0.985529 with order 1 Centerline is valid? [True, True] Translation: X:783.12, Y:-45.03, Z:4.29 [[ 9.99947273e-01 -8.52312682e-03 -5.72780034e-03 7.83116052e+02] [ 8.52464863e-03 9.99963635e-01 2.41325593e-04 -4.50294065e+01] [ 5.72553520e-03 -2.90140354e-04 9.99983567e-01 4.28613579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.180714057 meters Centerline goodness : 0.989376 with order 1 Centerline is valid? [True, True] Translation: X:783.18, Y:-45.02, Z:4.29 [[ 9.99892132e-01 -1.35247044e-02 -5.72778185e-03 7.83176823e+02] [ 1.35263106e-02 9.99908486e-01 2.41763458e-04 -4.50172870e+01] [ 5.72398790e-03 -3.19213136e-04 9.99983567e-01 4.29047891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.240714057 meters Centerline goodness : 0.989712 with order 1 Centerline is valid? [True, True] Translation: X:783.24, Y:-45.02, Z:4.29 [[ 9.99915614e-01 -1.16600803e-02 -5.72777731e-03 7.83239171e+02] [ 1.16616566e-02 9.99931971e-01 2.41871154e-04 -4.50190915e+01] [ 5.72456742e-03 -3.08646115e-04 9.99983567e-01 4.29121095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.300714057 meters Centerline goodness : 0.986044 with order 1 Centerline is valid? [True, True] Translation: X:783.30, Y:-45.04, Z:4.28 [[ 9.99982830e-01 1.23768958e-03 -5.72776109e-03 7.83299541e+02] [-1.23632225e-03 9.99999206e-01 2.42254659e-04 -4.50361848e+01] [ 5.72805638e-03 -2.35169141e-04 9.99983567e-01 4.28080443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.360714057 meters Centerline goodness : 0.986579 with order 1 Centerline is valid? [True, True] Translation: X:783.36, Y:-45.04, Z:4.28 [[ 9.99983019e-01 1.07457017e-03 -5.72775215e-03 7.83357899e+02] [-1.07319896e-03 9.99999395e-01 2.42465652e-04 -4.50378157e+01] [ 5.72800923e-03 -2.36314518e-04 9.99983567e-01 4.28135105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.420714057 meters Centerline goodness : 0.987998 with order 1 Centerline is valid? [True, True] Translation: X:783.42, Y:-45.04, Z:4.28 [[ 9.99982937e-01 -1.14790482e-03 -5.72776971e-03 7.83415635e+02] [ 1.14931004e-03 9.99999310e-01 2.42050325e-04 -4.50387290e+01] [ 5.72748790e-03 -2.48629179e-04 9.99983567e-01 4.28263380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.480714057 meters Centerline goodness : 0.988794 with order 1 Centerline is valid? [True, True] Translation: X:783.47, Y:-45.04, Z:4.29 [[ 9.99971494e-01 -4.91969874e-03 -5.72779113e-03 7.83474100e+02] [ 4.92116281e-03 9.99987862e-01 2.41542380e-04 -4.50400646e+01] [ 5.72653329e-03 -2.69722888e-04 9.99983567e-01 4.28532699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5407140570001 meters Centerline goodness : 0.987646 with order 1 Centerline is valid? [True, True] Translation: X:783.53, Y:-45.04, Z:4.29 [[ 9.99950585e-01 -8.12524426e-03 -5.72780372e-03 7.83534159e+02] [ 8.12675908e-03 9.99966948e-01 2.41243296e-04 -4.50399134e+01] [ 5.72565425e-03 -2.87779856e-04 9.99983567e-01 4.29087394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.600714057 meters Centerline goodness : 0.988627 with order 1 Centerline is valid? [True, True] Translation: X:783.60, Y:-45.04, Z:4.30 [[ 9.99924608e-01 -1.08614258e-02 -5.72781196e-03 7.83595756e+02] [ 1.08629842e-02 9.99940967e-01 2.41047665e-04 -4.50392608e+01] [ 5.72485570e-03 -3.03250623e-04 9.99983567e-01 4.29659518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6607140570001 meters Centerline goodness : 0.988059 with order 1 Centerline is valid? [True, True] Translation: X:783.66, Y:-45.04, Z:4.30 [[ 9.99855550e-01 -1.60022050e-02 -5.72780283e-03 7.83657199e+02] [ 1.60038488e-02 9.99871901e-01 2.41264240e-04 -4.50386189e+01] [ 5.72320835e-03 -3.32896280e-04 9.99983567e-01 4.30084484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.720714057 meters Centerline goodness : 0.987591 with order 1 Centerline is valid? [True, True] Translation: X:783.72, Y:-45.04, Z:4.30 [[ 9.99859626e-01 -1.57455136e-02 -5.72779376e-03 7.83718956e+02] [ 1.57471544e-02 9.99875977e-01 2.41479476e-04 -4.50426710e+01] [ 5.72328116e-03 -3.31642031e-04 9.99983567e-01 4.29899772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7807140570001 meters Centerline goodness : 0.991284 with order 1 Centerline is valid? [True, True] Translation: X:783.78, Y:-45.04, Z:4.29 [[ 9.99732104e-01 -2.24257342e-02 -5.72777558e-03 7.83780075e+02] [ 2.24274867e-02 9.99748443e-01 2.41909990e-04 -4.50366017e+01] [ 5.72090971e-03 -3.70304794e-04 9.99983567e-01 4.29480417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.840714057 meters Centerline goodness : 0.987990 with order 1 Centerline is valid? [True, True] Translation: X:783.84, Y:-45.04, Z:4.30 [[ 9.99815162e-01 -1.83530839e-02 -5.72772628e-03 7.83841434e+02] [ 1.83547765e-02 9.99831507e-01 2.43071737e-04 -4.50434034e+01] [ 5.72230008e-03 -3.48157944e-04 9.99983567e-01 4.30356270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9007140570001 meters Centerline goodness : 0.989454 with order 1 Centerline is valid? [True, True] Translation: X:783.90, Y:-45.04, Z:4.30 [[ 9.99845602e-01 -1.66122315e-02 -5.72771269e-03 7.83903127e+02] [ 1.66138974e-02 9.99861950e-01 2.43391490e-04 -4.50388885e+01] [ 5.72287870e-03 -3.38513542e-04 9.99983567e-01 4.29581959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.960714057 meters Centerline goodness : 0.987376 with order 1 Centerline is valid? [True, True] Translation: X:783.96, Y:-45.05, Z:4.30 [[ 9.99966587e-01 -5.83260791e-03 -5.72769940e-03 7.83964921e+02] [ 5.83409928e-03 9.99982952e-01 2.43703773e-04 -4.50472450e+01] [ 5.72618032e-03 -2.77111597e-04 9.99983567e-01 4.30360251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0207140570001 meters Centerline goodness : 0.987164 with order 1 Centerline is valid? [True, True] Translation: X:784.02, Y:-45.05, Z:4.30 [[ 9.99983410e-01 -6.11149762e-04 -5.72768063e-03 7.84024128e+02] [ 6.12558171e-04 9.99999783e-01 2.44144152e-04 -4.50483300e+01] [ 5.72753018e-03 -2.47648639e-04 9.99983567e-01 4.30439769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.080714057 meters Centerline goodness : 0.989656 with order 1 Centerline is valid? [True, True] Translation: X:784.08, Y:-45.04, Z:4.30 [[ 9.99983083e-01 -1.01404209e-03 -5.72768145e-03 7.84082317e+02] [ 1.01545699e-03 9.99999455e-01 2.44124885e-04 -4.50421417e+01] [ 5.72743077e-03 -2.49936969e-04 9.99983567e-01 4.30023762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1407140570001 meters Centerline goodness : 0.989550 with order 1 Centerline is valid? [True, True] Translation: X:784.14, Y:-45.04, Z:4.30 [[ 9.99983054e-01 1.04124173e-03 -5.72770632e-03 7.84140643e+02] [-1.03986383e-03 9.99999430e-01 2.43540077e-04 -4.50449491e+01] [ 5.72795663e-03 -2.37579916e-04 9.99983567e-01 4.29924757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.200714057 meters Centerline goodness : 0.984601 with order 1 Centerline is valid? [True, True] Translation: X:784.20, Y:-45.07, Z:4.28 [[ 9.99844196e-01 1.66966171e-02 -5.72776622e-03 7.84198735e+02] [-1.66955038e-02 9.99860591e-01 2.42123033e-04 -4.50704339e+01] [ 5.73101035e-03 -1.46457367e-04 9.99983567e-01 4.28226208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.260714057 meters Centerline goodness : 0.986014 with order 1 Centerline is valid? [True, True] Translation: X:784.26, Y:-45.06, Z:4.30 [[ 9.99962411e-01 6.50912463e-03 -5.72778339e-03 7.84257258e+02] [-6.50784673e-03 9.99978795e-01 2.41716158e-04 -4.50643214e+01] [ 5.72923529e-03 -2.04431536e-04 9.99983567e-01 4.29792635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.320714057 meters Centerline goodness : 0.985129 with order 1 Centerline is valid? [True, True] Translation: X:784.32, Y:-45.07, Z:4.29 [[ 9.99926466e-01 1.06889832e-02 -5.72780017e-03 7.84315719e+02] [-1.06877761e-02 9.99942855e-01 2.41317932e-04 -4.50724596e+01] [ 5.73005229e-03 -1.80082742e-04 9.99983567e-01 4.29192297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.380714057 meters Centerline goodness : 0.986007 with order 1 Centerline is valid? [True, True] Translation: X:784.37, Y:-45.08, Z:4.29 [[ 9.99939470e-01 9.39399508e-03 -5.72786183e-03 7.84374442e+02] [-9.39277515e-03 9.99955858e-01 2.39845193e-04 -4.50753979e+01] [ 5.72986210e-03 -1.86030157e-04 9.99983567e-01 4.29485538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.440714057 meters Centerline goodness : 0.986682 with order 1 Centerline is valid? [True, True] Translation: X:784.43, Y:-45.07, Z:4.31 [[ 9.99982068e-01 -1.74811466e-03 -5.72788002e-03 7.84432729e+02] [ 1.74951462e-03 9.99998441e-01 2.39410208e-04 -4.50731778e+01] [ 5.72745257e-03 -2.49426925e-04 9.99983567e-01 4.30634411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.500714057 meters Centerline goodness : 0.988013 with order 1 Centerline is valid? [True, True] Translation: X:784.49, Y:-45.08, Z:4.31 [[ 9.99952926e-01 -7.83181753e-03 -5.72790249e-03 7.84491604e+02] [ 7.83331400e-03 9.99969291e-01 2.38871183e-04 -4.50784791e+01] [ 5.72585580e-03 -2.83728397e-04 9.99983567e-01 4.30697786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.560714057 meters Centerline goodness : 0.987866 with order 1 Centerline is valid? [True, True] Translation: X:784.55, Y:-45.08, Z:4.31 [[ 9.99838152e-01 -1.70546456e-02 -5.72791985e-03 7.84551548e+02] [ 1.70562905e-02 9.99854502e-01 2.38454291e-04 -4.50824502e+01] [ 5.72301970e-03 -3.36112762e-04 9.99983567e-01 4.30969351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.620714057 meters Centerline goodness : 0.987808 with order 1 Centerline is valid? [True, True] Translation: X:784.61, Y:-45.08, Z:4.31 [[ 9.99723903e-01 -2.27883518e-02 -5.72791985e-03 7.84613134e+02] [ 2.27900905e-02 9.99740244e-01 2.38454291e-04 -4.50839309e+01] [ 5.72099801e-03 -3.68928266e-04 9.99983567e-01 4.31395246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.680714057 meters Centerline goodness : 0.987433 with order 1 Centerline is valid? [True, True] Translation: X:784.67, Y:-45.09, Z:4.31 [[ 9.99731860e-01 -2.24365575e-02 -5.72791113e-03 7.84674464e+02] [ 2.24382917e-02 9.99748201e-01 2.38663636e-04 -4.50864596e+01] [ 5.72111406e-03 -3.67124181e-04 9.99983567e-01 4.31249762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.740714057 meters Centerline goodness : 0.986639 with order 1 Centerline is valid? [True, True] Translation: X:784.74, Y:-45.09, Z:4.31 [[ 9.99706451e-01 -2.35415272e-02 -5.72788398e-03 7.84736285e+02] [ 2.35432831e-02 9.99722790e-01 2.39313303e-04 -4.50882578e+01] [ 5.72066236e-03 -3.74096247e-04 9.99983567e-01 4.31474264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.800714057 meters Centerline goodness : 0.985519 with order 1 Centerline is valid? [True, True] Translation: X:784.80, Y:-45.09, Z:4.32 [[ 9.99724020e-01 -2.27832273e-02 -5.72786660e-03 7.84798204e+02] [ 2.27849732e-02 9.99740360e-01 2.39728732e-04 -4.50900899e+01] [ 5.72091762e-03 -3.70171858e-04 9.99983567e-01 4.31680212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.860714057 meters Centerline goodness : 0.985531 with order 1 Centerline is valid? [True, True] Translation: X:784.86, Y:-45.09, Z:4.32 [[ 9.99688823e-01 -2.42785552e-02 -5.72784834e-03 7.84859211e+02] [ 2.42803280e-02 9.99705161e-01 2.40164060e-04 -4.50919122e+01] [ 5.72032871e-03 -3.79163363e-04 9.99983567e-01 4.31661762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.920714057 meters Centerline goodness : 0.988731 with order 1 Centerline is valid? [True, True] Translation: X:784.92, Y:-45.09, Z:4.30 [[ 9.99656565e-01 -2.55723314e-02 -5.72783485e-03 7.84919132e+02] [ 2.55741272e-02 9.99672900e-01 2.40485448e-04 -4.50884550e+01] [ 5.71981150e-03 -3.86887234e-04 9.99983567e-01 4.30333475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.980714057 meters Centerline goodness : 0.984516 with order 1 Centerline is valid? [True, True] Translation: X:784.98, Y:-45.10, Z:4.32 [[ 9.99853646e-01 -1.61207561e-02 -5.72783485e-03 7.84981277e+02] [ 1.61223974e-02 9.99869997e-01 2.40485448e-04 -4.50971583e+01] [ 5.72321341e-03 -3.32796682e-04 9.99983567e-01 4.31794479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0407140570001 meters Centerline goodness : 0.983372 with order 1 Centerline is valid? [True, True] Translation: X:785.04, Y:-45.10, Z:4.32 [[ 9.99916011e-01 -1.16259580e-02 -5.72781640e-03 7.85043329e+02] [ 1.16275283e-02 9.99932369e-01 2.40924153e-04 -4.50992484e+01] [ 5.72462804e-03 -3.07504266e-04 9.99983567e-01 4.31735376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.100714057 meters Centerline goodness : 0.984021 with order 1 Centerline is valid? [True, True] Translation: X:785.10, Y:-45.10, Z:4.31 [[ 9.99982044e-01 -1.76208206e-03 -5.72779801e-03 7.85104503e+02] [ 1.76349340e-03 9.99998416e-01 2.41360550e-04 -4.51025985e+01] [ 5.72736364e-03 -2.51457150e-04 9.99983567e-01 4.30557040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1607140570001 meters Centerline goodness : 0.987450 with order 1 Centerline is valid? [True, True] Translation: X:785.16, Y:-45.09, Z:4.31 [[ 9.99978082e-01 -3.32095947e-03 -5.72778883e-03 7.85163985e+02] [ 3.32239757e-03 9.99994452e-01 2.41578044e-04 -4.50904353e+01] [ 5.72695478e-03 -2.60602741e-04 9.99983567e-01 4.30734508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.220714057 meters Centerline goodness : 0.984552 with order 1 Centerline is valid? [True, True] Translation: X:785.22, Y:-45.10, Z:4.32 [[ 9.99954137e-01 7.67563572e-03 -5.72780231e-03 7.85223207e+02] [-7.67437955e-03 9.99970522e-01 2.41258114e-04 -4.50995628e+01] [ 5.72948528e-03 -1.97289720e-04 9.99983567e-01 4.31867791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2807140570001 meters Centerline goodness : 0.988607 with order 1 Centerline is valid? [True, True] Translation: X:785.28, Y:-45.09, Z:4.31 [[ 9.99973184e-01 4.56331464e-03 -5.72781138e-03 7.85281775e+02] [-4.56200871e-03 9.99989565e-01 2.41042702e-04 -4.50924133e+01] [ 5.72885156e-03 -2.14905912e-04 9.99983567e-01 4.30992564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.340714057 meters Centerline goodness : 0.988650 with order 1 Centerline is valid? [True, True] Translation: X:785.34, Y:-45.09, Z:4.31 [[ 9.99973469e-01 4.50025576e-03 -5.72782908e-03 7.85341024e+02] [-4.49895121e-03 9.99989851e-01 2.40621172e-04 -4.50949626e+01] [ 5.72885381e-03 -2.14845564e-04 9.99983567e-01 4.30907362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4007140570001 meters Centerline goodness : 0.984776 with order 1 Centerline is valid? [True, True] Translation: X:785.40, Y:-45.11, Z:4.31 [[ 9.99900968e-01 1.28547973e-02 -5.72784176e-03 7.85399577e+02] [-1.28536314e-02 9.99917360e-01 2.40319047e-04 -4.51107722e+01] [ 5.73045766e-03 -1.66671681e-04 9.99983567e-01 4.31030377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.460714057 meters Centerline goodness : 0.985389 with order 1 Centerline is valid? [True, True] Translation: X:785.46, Y:-45.12, Z:4.31 [[ 9.99928314e-01 1.05146533e-02 -5.72785481e-03 7.85458599e+02] [-1.05134508e-02 9.99944703e-01 2.40007699e-04 -4.51173185e+01] [ 5.73006167e-03 -1.79770974e-04 9.99983567e-01 4.30924039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5207140570001 meters Centerline goodness : 0.985253 with order 1 Centerline is valid? [True, True] Translation: X:785.52, Y:-45.12, Z:4.30 [[ 9.99952209e-01 7.92288060e-03 -5.72787201e-03 7.85516992e+02] [-7.92163798e-03 9.99968595e-01 2.39596526e-04 -4.51220381e+01] [ 5.72959041e-03 -1.94210947e-04 9.99983567e-01 4.30323260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.580714057 meters Centerline goodness : 0.986314 with order 1 Centerline is valid? [True, True] Translation: X:785.57, Y:-45.12, Z:4.31 [[ 9.99971125e-01 4.99400420e-03 -5.72789005e-03 7.85574409e+02] [-4.99271607e-03 9.99987508e-01 2.39164434e-04 -4.51236953e+01] [ 5.72901288e-03 -2.10559800e-04 9.99983567e-01 4.31132783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6407140570001 meters Centerline goodness : 0.986135 with order 1 Centerline is valid? [True, True] Translation: X:785.63, Y:-45.13, Z:4.31 [[ 9.99982229e-01 -1.65280308e-03 -5.72791217e-03 7.85633352e+02] [ 1.65419704e-03 9.99998603e-01 2.38633511e-04 -4.51274342e+01] [ 5.72750975e-03 -2.48104365e-04 9.99983567e-01 4.30634171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.700714057 meters Centerline goodness : 0.985589 with order 1 Centerline is valid? [True, True] Translation: X:785.69, Y:-45.13, Z:4.31 [[ 9.99980438e-01 -2.51289443e-03 -5.72792877e-03 7.85691721e+02] [ 2.51430019e-03 9.99996811e-01 2.38234373e-04 -4.51307926e+01] [ 5.72731184e-03 -2.52631445e-04 9.99983567e-01 4.31235685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.760714057 meters Centerline goodness : 0.985949 with order 1 Centerline is valid? [True, True] Translation: X:785.75, Y:-45.13, Z:4.31 [[ 9.99963497e-01 -6.34005282e-03 -5.72794566e-03 7.85751232e+02] [ 6.34151891e-03 9.99979864e-01 2.37827486e-04 -4.51341349e+01] [ 5.72632248e-03 -2.74142680e-04 9.99983567e-01 4.31249824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.820714057 meters Centerline goodness : 0.984779 with order 1 Centerline is valid? [True, True] Translation: X:785.81, Y:-45.14, Z:4.31 [[ 9.99944462e-01 -8.84668408e-03 -5.72795409e-03 7.85811910e+02] [ 8.84819003e-03 9.99960826e-01 2.37624326e-04 -4.51354980e+01] [ 5.72562751e-03 -2.88293156e-04 9.99983567e-01 4.31497276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.880714057 meters Centerline goodness : 0.985625 with order 1 Centerline is valid? [True, True] Translation: X:785.87, Y:-45.14, Z:4.32 [[ 9.99929899e-01 -1.03628295e-02 -5.72795409e-03 7.85872861e+02] [ 1.03643602e-02 9.99946260e-01 2.37624327e-04 -4.51367357e+01] [ 5.72518381e-03 -2.96974248e-04 9.99983567e-01 4.31935038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.940714057 meters Centerline goodness : 0.985160 with order 1 Centerline is valid? [True, True] Translation: X:785.93, Y:-45.14, Z:4.32 [[ 9.99942900e-01 -9.02145403e-03 -5.72794507e-03 7.85934362e+02] [ 9.02296408e-03 9.99959264e-01 2.37841438e-04 -4.51388377e+01] [ 5.72556606e-03 -2.89510900e-04 9.99983567e-01 4.32086406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.000714057 meters Centerline goodness : 0.986156 with order 1 Centerline is valid? [True, True] Translation: X:785.99, Y:-45.14, Z:4.33 [[ 9.99937043e-01 -9.64883795e-03 -5.72793603e-03 7.85994631e+02] [ 9.65035951e-03 9.99953406e-01 2.38059156e-04 -4.51389983e+01] [ 5.72537214e-03 -2.93320810e-04 9.99983567e-01 4.32569106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.060714057 meters Centerline goodness : 0.986040 with order 1 Centerline is valid? [True, True] Translation: X:786.06, Y:-45.14, Z:4.33 [[ 9.99917859e-01 -1.14658414e-02 -5.72793157e-03 7.86055370e+02] [ 1.14673933e-02 9.99934219e-01 2.38166392e-04 -4.51399796e+01] [ 5.72482400e-03 -3.03831273e-04 9.99983567e-01 4.33119518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.120714057 meters Centerline goodness : 0.986879 with order 1 Centerline is valid? [True, True] Translation: X:786.12, Y:-45.14, Z:4.33 [[ 9.99924088e-01 -1.09090984e-02 -5.72792706e-03 7.86116301e+02] [ 1.09106418e-02 9.99940449e-01 2.38274672e-04 -4.51416672e+01] [ 5.72498660e-03 -3.00751944e-04 9.99983567e-01 4.33384557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.180714057 meters Centerline goodness : 0.986060 with order 1 Centerline is valid? [True, True] Translation: X:786.18, Y:-45.14, Z:4.33 [[ 9.99955867e-01 -7.44675246e-03 -5.72791802e-03 7.86177280e+02] [ 7.44824046e-03 9.99972233e-01 2.38491879e-04 -4.51442433e+01] [ 5.72598298e-03 -2.81144264e-04 9.99983567e-01 4.33420161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.240714057 meters Centerline goodness : 0.986628 with order 1 Centerline is valid? [True, True] Translation: X:786.24, Y:-45.15, Z:4.33 [[ 9.99952528e-01 -7.88243931e-03 -5.72790458e-03 7.86238322e+02] [ 7.88393628e-03 9.99968893e-01 2.38814154e-04 -4.51480148e+01] [ 5.72584396e-03 -2.83961252e-04 9.99983567e-01 4.33212856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.300714057 meters Centerline goodness : 0.985893 with order 1 Centerline is valid? [True, True] Translation: X:786.30, Y:-45.15, Z:4.33 [[ 9.99974753e-01 -4.20534752e-03 -5.72790027e-03 7.86299200e+02] [ 4.20678489e-03 9.99991123e-01 2.38917453e-04 -4.51498056e+01] [ 5.72684469e-03 -2.63007466e-04 9.99983567e-01 4.33419253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.360714057 meters Centerline goodness : 0.988733 with order 1 Centerline is valid? [True, True] Translation: X:786.36, Y:-45.15, Z:4.32 [[ 9.99983010e-01 -1.08225452e-03 -5.72789138e-03 7.86358539e+02] [ 1.08364197e-03 9.99999384e-01 2.39130529e-04 -4.51477267e+01] [ 5.72762905e-03 -2.45333449e-04 9.99983567e-01 4.31906895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.420714057 meters Centerline goodness : 0.989288 with order 1 Centerline is valid? [True, True] Translation: X:786.42, Y:-45.15, Z:4.32 [[ 9.99982524e-01 1.46393308e-03 -5.72788788e-03 7.86416622e+02] [-1.46258684e-03 9.99998902e-01 2.39214164e-04 -4.51509821e+01] [ 5.72823179e-03 -2.30832450e-04 9.99983567e-01 4.31743154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.480714057 meters Centerline goodness : 0.988937 with order 1 Centerline is valid? [True, True] Translation: X:786.47, Y:-45.15, Z:4.32 [[ 9.99975943e-01 3.91204896e-03 -5.72790056e-03 7.86474806e+02] [-3.91074456e-03 9.99992324e-01 2.38910382e-04 -4.51531056e+01] [ 5.72879122e-03 -2.16504279e-04 9.99983567e-01 4.31739025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5407140570001 meters Centerline goodness : 0.985213 with order 1 Centerline is valid? [True, True] Translation: X:786.53, Y:-45.17, Z:4.32 [[ 9.99808082e-01 1.87347496e-02 -5.72791998e-03 7.86532551e+02] [-1.87336909e-02 9.99824481e-01 2.38443766e-04 -4.51688008e+01] [ 5.73138180e-03 -1.31092922e-04 9.99983567e-01 4.31532483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.600714057 meters Centerline goodness : 0.984712 with order 1 Centerline is valid? [True, True] Translation: X:786.59, Y:-45.17, Z:4.32 [[ 9.99861949e-01 1.55972126e-02 -5.72794074e-03 7.86591289e+02] [-1.55961052e-02 9.99878345e-01 2.37943935e-04 -4.51704736e+01] [ 5.73095517e-03 -1.48577520e-04 9.99983567e-01 4.31676556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6607140570001 meters Centerline goodness : 0.985277 with order 1 Centerline is valid? [True, True] Translation: X:786.65, Y:-45.17, Z:4.32 [[ 9.99822630e-01 1.79415717e-02 -5.72795762e-03 7.86649947e+02] [-1.79405051e-02 9.99839028e-01 2.37537047e-04 -4.51737020e+01] [ 5.73129736e-03 -1.34732462e-04 9.99983567e-01 4.31721184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.720714057 meters Centerline goodness : 0.984090 with order 1 Centerline is valid? [True, True] Translation: X:786.71, Y:-45.18, Z:4.31 [[ 9.99797555e-01 1.92883227e-02 -5.72797492e-03 7.86706522e+02] [-1.92872806e-02 9.99813955e-01 2.37119032e-04 -4.51803862e+01] [ 5.73148289e-03 -1.26593968e-04 9.99983567e-01 4.31224691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7807140570001 meters Centerline goodness : 0.983941 with order 1 Centerline is valid? [True, True] Translation: X:786.76, Y:-45.19, Z:4.31 [[ 9.99757000e-01 2.12868874e-02 -5.72800459e-03 7.86764924e+02] [-2.12858822e-02 9.99773402e-01 2.36400134e-04 -4.51855629e+01] [ 5.73173886e-03 -1.14417058e-04 9.99983567e-01 4.30971086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.840714057 meters Centerline goodness : 0.984952 with order 1 Centerline is valid? [True, True] Translation: X:786.82, Y:-45.19, Z:4.31 [[ 9.99780338e-01 2.01610040e-02 -5.72802134e-03 7.86824010e+02] [-2.01599827e-02 9.99796739e-01 2.35993622e-04 -4.51908990e+01] [ 5.73161492e-03 -1.20464972e-04 9.99983567e-01 4.30816080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9007140570001 meters Centerline goodness : 0.988338 with order 1 Centerline is valid? [True, True] Translation: X:786.88, Y:-45.18, Z:4.33 [[ 9.99956551e-01 7.35434167e-03 -5.72803829e-03 7.86883743e+02] [-7.35311272e-03 9.99972938e-01 2.35581349e-04 -4.51763711e+01] [ 5.72961583e-03 -1.93452202e-04 9.99983567e-01 4.32703177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.960714057 meters Centerline goodness : 0.984317 with order 1 Centerline is valid? [True, True] Translation: X:786.94, Y:-45.20, Z:4.31 [[ 9.99835922e-01 1.71848368e-02 -5.72805571e-03 7.86941707e+02] [-1.71837714e-02 9.99852320e-01 2.35157190e-04 -4.51982515e+01] [ 5.73125093e-03 -1.36689005e-04 9.99983567e-01 4.31233288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0207140570001 meters Centerline goodness : 0.984755 with order 1 Centerline is valid? [True, True] Translation: X:787.00, Y:-45.20, Z:4.31 [[ 9.99872782e-01 1.48865510e-02 -5.72811674e-03 7.86998893e+02] [-1.48854565e-02 9.99889178e-01 2.33660943e-04 -4.52021048e+01] [ 5.73096035e-03 -1.48365585e-04 9.99983567e-01 4.31208087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.080714057 meters Centerline goodness : 0.979586 with order 1 Centerline is valid? [True, True] Translation: X:787.06, Y:-45.19, Z:4.32 [[ 9.99982831e-01 1.23569042e-03 -5.72815669e-03 7.87058483e+02] [-1.23437783e-03 9.99999211e-01 2.32677416e-04 -4.51911764e+01] [ 5.72843969e-03 -2.25602711e-04 9.99983567e-01 4.32178792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1407140570001 meters Centerline goodness : 0.983711 with order 1 Centerline is valid? [True, True] Translation: X:787.12, Y:-45.21, Z:4.31 [[ 9.99946011e-01 8.66971404e-03 -5.72817466e-03 7.87115612e+02] [-8.66852580e-03 9.99962401e-01 2.32234163e-04 -4.52134571e+01] [ 5.72997269e-03 -1.82566795e-04 9.99983567e-01 4.31474841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.200714057 meters Centerline goodness : 0.985082 with order 1 Centerline is valid? [True, True] Translation: X:787.17, Y:-45.22, Z:4.32 [[ 9.99977231e-01 3.56719234e-03 -5.72820455e-03 7.87173996e+02] [-3.56592471e-03 9.99993615e-01 2.31494733e-04 -4.52167646e+01] [ 5.72899376e-03 -2.11063116e-04 9.99983567e-01 4.31770926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.260714057 meters Centerline goodness : 0.988985 with order 1 Centerline is valid? [True, True] Translation: X:787.23, Y:-45.21, Z:4.32 [[ 9.99884715e-01 -1.40621777e-02 -5.72822119e-03 7.87232657e+02] [ 1.40637316e-02 9.99901074e-01 2.31082229e-04 -4.52067114e+01] [ 5.72440500e-03 -3.11615754e-04 9.99983567e-01 4.31922409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.320714057 meters Centerline goodness : 0.988191 with order 1 Centerline is valid? [True, True] Translation: X:787.29, Y:-45.21, Z:4.32 [[ 9.99810229e-01 -1.86196850e-02 -5.72822041e-03 7.87294367e+02] [ 1.86213136e-02 9.99826582e-01 2.31101559e-04 -4.52119627e+01] [ 5.72292399e-03 -3.37724691e-04 9.99983567e-01 4.31959568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.380714057 meters Centerline goodness : 0.988888 with order 1 Centerline is valid? [True, True] Translation: X:787.36, Y:-45.22, Z:4.32 [[ 9.99745741e-01 -2.18091797e-02 -5.72820402e-03 7.87355714e+02] [ 2.18108628e-02 9.99762088e-01 2.31507074e-04 -4.52158719e+01] [ 5.72179223e-03 -3.56385283e-04 9.99983567e-01 4.32080812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.440714057 meters Centerline goodness : 0.989424 with order 1 Centerline is valid? [True, True] Translation: X:787.42, Y:-45.22, Z:4.32 [[ 9.99717369e-01 -2.30731284e-02 -5.72819187e-03 7.87417886e+02] [ 2.30748339e-02 9.99733714e-01 2.31807173e-04 -4.52188275e+01] [ 5.72131802e-03 -3.63918733e-04 9.99983567e-01 4.32158374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.500714057 meters Centerline goodness : 0.988840 with order 1 Centerline is valid? [True, True] Translation: X:787.48, Y:-45.22, Z:4.32 [[ 9.99718906e-01 -2.30064588e-02 -5.72817594e-03 7.87478904e+02] [ 2.30081654e-02 9.99735250e-01 2.32200298e-04 -4.52207692e+01] [ 5.72131730e-03 -3.63929847e-04 9.99983567e-01 4.32318410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.560714057 meters Centerline goodness : 0.988449 with order 1 Centerline is valid? [True, True] Translation: X:787.54, Y:-45.22, Z:4.32 [[ 9.99745369e-01 -2.18262592e-02 -5.72816415e-03 7.87540837e+02] [ 2.18279481e-02 9.99761715e-01 2.32490824e-04 -4.52221242e+01] [ 5.72172481e-03 -3.57465695e-04 9.99983567e-01 4.32311555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.620714057 meters Centerline goodness : 0.985937 with order 1 Centerline is valid? [True, True] Translation: X:787.60, Y:-45.23, Z:4.34 [[ 9.99819121e-01 -1.81359541e-02 -5.72814870e-03 7.87600928e+02] [ 1.81375849e-02 9.99835473e-01 2.32870843e-04 -4.52274823e+01] [ 5.72298293e-03 -3.36723504e-04 9.99983567e-01 4.33727300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.680714057 meters Centerline goodness : 0.989017 with order 1 Centerline is valid? [True, True] Translation: X:787.66, Y:-45.22, Z:4.32 [[ 9.99798473e-01 -1.92406302e-02 -5.72814744e-03 7.87660549e+02] [ 1.92422792e-02 9.99814823e-01 2.32901793e-04 -4.52225012e+01] [ 5.72260554e-03 -3.43077469e-04 9.99983567e-01 4.32295400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.740714057 meters Centerline goodness : 0.985606 with order 1 Centerline is valid? [True, True] Translation: X:787.72, Y:-45.23, Z:4.33 [[ 9.99915878e-01 -1.16372814e-02 -5.72813928e-03 7.87722516e+02] [ 1.16388072e-02 9.99932240e-01 2.33102408e-04 -4.52317640e+01] [ 5.72503846e-03 -2.99751508e-04 9.99983567e-01 4.33033713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.800714057 meters Centerline goodness : 0.985270 with order 1 Centerline is valid? [True, True] Translation: X:787.78, Y:-45.23, Z:4.33 [[ 9.99944552e-01 -8.83633615e-03 -5.72812142e-03 7.87782510e+02] [ 8.83781860e-03 9.99960918e-01 2.33540299e-04 -4.52324997e+01] [ 5.72583392e-03 -2.84151448e-04 9.99983567e-01 4.32724560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.860714057 meters Centerline goodness : 0.984596 with order 1 Centerline is valid? [True, True] Translation: X:787.84, Y:-45.24, Z:4.33 [[ 9.99983189e-01 -9.00103175e-04 -5.72811709e-03 7.87843648e+02] [ 9.01456293e-04 9.99999566e-01 2.33646523e-04 -4.52361090e+01] [ 5.72790430e-03 -2.38806242e-04 9.99983567e-01 4.32671958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.920714057 meters Centerline goodness : 0.980650 with order 1 Centerline is valid? [True, True] Translation: X:787.90, Y:-45.22, Z:4.33 [[ 9.99924250e-01 -1.08941691e-02 -5.72810868e-03 7.87903407e+02] [ 1.08956870e-02 9.99940613e-01 2.33852600e-04 -4.52214383e+01] [ 5.72522087e-03 -2.96246565e-04 9.99983567e-01 4.32862425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.980714057 meters Centerline goodness : 0.988559 with order 1 Centerline is valid? [True, True] Translation: X:787.96, Y:-45.22, Z:4.33 [[ 9.99933777e-01 -9.98146122e-03 -5.72812595e-03 7.87963893e+02] [ 9.98296177e-03 9.99950142e-01 2.33428629e-04 -4.52234169e+01] [ 5.72551040e-03 -2.90596833e-04 9.99983567e-01 4.32682621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0407140570001 meters Centerline goodness : 0.984481 with order 1 Centerline is valid? [True, True] Translation: X:788.02, Y:-45.24, Z:4.33 [[ 9.99981994e-01 1.78918625e-03 -5.72812019e-03 7.88024209e+02] [-1.78787762e-03 9.99998374e-01 2.33570034e-04 -4.52371304e+01] [ 5.72852878e-03 -2.23324651e-04 9.99983567e-01 4.32562571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.100714057 meters Centerline goodness : 0.984272 with order 1 Centerline is valid? [True, True] Translation: X:788.08, Y:-45.23, Z:4.33 [[ 9.99983485e-01 4.66783367e-04 -5.72812019e-03 7.88083281e+02] [-4.65453073e-04 9.99999864e-01 2.33570034e-04 -4.52347001e+01] [ 5.72822844e-03 -2.30900006e-04 9.99983567e-01 4.33111392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1607140570001 meters Centerline goodness : 0.983956 with order 1 Centerline is valid? [True, True] Translation: X:788.14, Y:-45.24, Z:4.33 [[ 9.99982324e-01 1.59396514e-03 -5.72813662e-03 7.88142226e+02] [-1.59265562e-03 9.99998705e-01 2.33166419e-04 -4.52372361e+01] [ 5.72850086e-03 -2.24039349e-04 9.99983567e-01 4.32995923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.220714057 meters Centerline goodness : 0.983303 with order 1 Centerline is valid? [True, True] Translation: X:788.20, Y:-45.24, Z:4.33 [[ 9.99982099e-01 1.72872647e-03 -5.72819658e-03 7.88199904e+02] [-1.72742764e-03 9.99998481e-01 2.31683882e-04 -4.52405280e+01] [ 5.72858840e-03 -2.21784690e-04 9.99983567e-01 4.32738738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2807140570001 meters Centerline goodness : 0.988031 with order 1 Centerline is valid? [True, True] Translation: X:788.26, Y:-45.23, Z:4.33 [[ 9.99952632e-01 -7.86906355e-03 -5.72821753e-03 7.88259119e+02] [ 7.87051658e-03 9.99969000e-01 2.31164695e-04 -4.52293055e+01] [ 5.72622091e-03 -2.76237776e-04 9.99983567e-01 4.32911376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.340714057 meters Centerline goodness : 0.980758 with order 1 Centerline is valid? [True, True] Translation: X:788.32, Y:-45.23, Z:4.33 [[ 9.99913633e-01 -1.18285118e-02 -5.72822960e-03 7.88319221e+02] [ 1.18300279e-02 9.99929996e-01 2.30865191e-04 -4.52303192e+01] [ 5.72509781e-03 -2.98610368e-04 9.99983567e-01 4.33058212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4007140570001 meters Centerline goodness : 0.988527 with order 1 Centerline is valid? [True, True] Translation: X:788.38, Y:-45.24, Z:4.33 [[ 9.99877857e-01 -1.45416447e-02 -5.72822960e-03 7.88380601e+02] [ 1.45432052e-02 9.99894215e-01 2.30865191e-04 -4.52356794e+01] [ 5.72426648e-03 -3.14143811e-04 9.99983567e-01 4.33066391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.460714057 meters Centerline goodness : 0.979507 with order 1 Centerline is valid? [True, True] Translation: X:788.44, Y:-45.24, Z:4.33 [[ 9.99768493e-01 -2.07400093e-02 -5.72821860e-03 7.88442475e+02] [ 2.07416727e-02 9.99784842e-01 2.31137819e-04 -4.52372354e+01] [ 5.72219233e-03 -3.49897145e-04 9.99983567e-01 4.32890672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5207140570001 meters Centerline goodness : 0.980638 with order 1 Centerline is valid? [True, True] Translation: X:788.50, Y:-45.24, Z:4.33 [[ 9.99710800e-01 -2.33560121e-02 -5.72818955e-03 7.88503167e+02] [ 2.33577224e-02 9.99727144e-01 2.31855590e-04 -4.52409769e+01] [ 5.72121136e-03 -3.65585999e-04 9.99983567e-01 4.32840501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.580714057 meters Centerline goodness : 0.981309 with order 1 Centerline is valid? [True, True] Translation: X:788.57, Y:-45.24, Z:4.33 [[ 9.99713660e-01 -2.32333014e-02 -5.72817202e-03 7.88565053e+02] [ 2.32350122e-02 9.99730004e-01 2.32287959e-04 -4.52431536e+01] [ 5.72122861e-03 -3.65315593e-04 9.99983567e-01 4.32973633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6407140570001 meters Centerline goodness : 0.985139 with order 1 Centerline is valid? [True, True] Translation: X:788.63, Y:-45.26, Z:4.33 [[ 9.99885026e-01 -1.40400885e-02 -5.72814861e-03 7.88626435e+02] [ 1.40416522e-02 9.99901384e-01 2.32863718e-04 -4.52576851e+01] [ 5.72431430e-03 -3.13269615e-04 9.99983567e-01 4.33494352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.700714057 meters Centerline goodness : 0.985524 with order 1 Centerline is valid? [True, True] Translation: X:788.69, Y:-45.25, Z:4.35 [[ 9.99893097e-01 -1.34530114e-02 -5.72812612e-03 7.88688536e+02] [ 1.34545686e-02 9.99909456e-01 2.33415749e-04 -4.52537968e+01] [ 5.72446732e-03 -3.10460262e-04 9.99983567e-01 4.34831428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.760714057 meters Centerline goodness : 0.990047 with order 1 Centerline is valid? [True, True] Translation: X:788.75, Y:-45.25, Z:4.33 [[ 9.99894994e-01 -1.33112364e-02 -5.72810904e-03 7.88749446e+02] [ 1.33127937e-02 9.99911354e-01 2.33833914e-04 -4.52506739e+01] [ 5.72448865e-03 -3.10066495e-04 9.99983567e-01 4.33362761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.820714057 meters Centerline goodness : 0.984926 with order 1 Centerline is valid? [True, True] Translation: X:788.81, Y:-45.26, Z:4.34 [[ 9.99982193e-01 -1.67399270e-03 -5.72807940e-03 7.88810146e+02] [ 1.67536371e-03 9.99998569e-01 2.34557784e-04 -4.52639678e+01] [ 5.72767856e-03 -2.44150224e-04 9.99983567e-01 4.33814060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.880714057 meters Centerline goodness : 0.986431 with order 1 Centerline is valid? [True, True] Translation: X:788.87, Y:-45.26, Z:4.34 [[ 9.99969114e-01 -5.38142437e-03 -5.72807055e-03 7.88869424e+02] [ 5.38285731e-03 9.99985485e-01 2.34773746e-04 -4.52624902e+01] [ 5.72672399e-03 -2.65599881e-04 9.99983567e-01 4.34421786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.940714057 meters Centerline goodness : 0.986387 with order 1 Centerline is valid? [True, True] Translation: X:788.93, Y:-45.26, Z:4.35 [[ 9.99983563e-01 2.49782758e-04 -5.72807920e-03 7.88929734e+02] [-2.48443233e-04 9.99999942e-01 2.34562663e-04 -4.52641770e+01] [ 5.72813745e-03 -2.33135705e-04 9.99983567e-01 4.34915493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.000714057 meters Centerline goodness : 0.989509 with order 1 Centerline is valid? [True, True] Translation: X:788.99, Y:-45.26, Z:4.33 [[ 9.99977968e-01 3.35454078e-03 -5.72807920e-03 7.88988033e+02] [-3.35325211e-03 9.99994350e-01 2.34562663e-04 -4.52615644e+01] [ 5.72883368e-03 -2.15349801e-04 9.99983567e-01 4.33454164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.060714057 meters Centerline goodness : 0.989373 with order 1 Centerline is valid? [True, True] Translation: X:789.05, Y:-45.27, Z:4.34 [[ 9.99945111e-01 8.77291993e-03 -5.72809967e-03 7.89046215e+02] [-8.77172292e-03 9.99961500e-01 2.34061486e-04 -4.52652695e+01] [ 5.72993255e-03 -1.83803335e-04 9.99983567e-01 4.33547840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.120714057 meters Centerline goodness : 0.988458 with order 1 Centerline is valid? [True, True] Translation: X:789.10, Y:-45.27, Z:4.34 [[ 9.99887224e-01 1.38826253e-02 -5.72812031e-03 7.89104863e+02] [-1.38815150e-02 9.99903620e-01 2.33555357e-04 -4.52706841e+01] [ 5.73081060e-03 -1.54014030e-04 9.99983567e-01 4.33785443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.180714057 meters Centerline goodness : 0.986091 with order 1 Centerline is valid? [True, True] Translation: X:789.16, Y:-45.28, Z:4.35 [[ 9.99766530e-01 2.08344211e-02 -5.72817830e-03 7.89162744e+02] [-2.08334330e-02 9.99782934e-01 2.32124368e-04 -4.52798175e+01] [ 5.73177108e-03 -1.12732555e-04 9.99983567e-01 4.35238745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.240714057 meters Centerline goodness : 0.988910 with order 1 Centerline is valid? [True, True] Translation: X:789.22, Y:-45.28, Z:4.34 [[ 9.99900152e-01 1.29179210e-02 -5.72823721e-03 7.89220623e+02] [-1.29168114e-02 9.99916548e-01 2.30661455e-04 -4.52833324e+01] [ 5.73073884e-03 -1.56647864e-04 9.99983567e-01 4.33704217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.300714057 meters Centerline goodness : 0.986829 with order 1 Centerline is valid? [True, True] Translation: X:789.28, Y:-45.29, Z:4.36 [[ 9.99925695e-01 1.07606791e-02 -5.72825751e-03 7.89279922e+02] [-1.07595370e-02 9.99942088e-01 2.30156257e-04 -4.52912972e+01] [ 5.73040241e-03 -1.68505757e-04 9.99983567e-01 4.36067414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.360714057 meters Centerline goodness : 0.987193 with order 1 Centerline is valid? [True, True] Translation: X:789.34, Y:-45.30, Z:4.36 [[ 9.99955275e-01 7.52562883e-03 -5.72826483e-03 7.89338561e+02] [-7.52443477e-03 9.99971665e-01 2.29973725e-04 -4.52980427e+01] [ 5.72983322e-03 -1.86861484e-04 9.99983567e-01 4.36035305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.420714057 meters Centerline goodness : 0.990632 with order 1 Centerline is valid? [True, True] Translation: X:789.40, Y:-45.31, Z:4.34 [[ 9.99980326e-01 2.55640622e-03 -5.72828124e-03 7.89397282e+02] [-2.55513307e-03 9.99996709e-01 2.29564249e-04 -4.53088764e+01] [ 5.72884925e-03 -2.14923212e-04 9.99983567e-01 4.33602385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.480714057 meters Centerline goodness : 0.989639 with order 1 Centerline is valid? [True, True] Translation: X:789.46, Y:-45.32, Z:4.34 [[ 9.99983386e-01 -6.43807397e-04 -5.72828905e-03 7.89455811e+02] [ 6.45131858e-04 9.99999766e-01 2.29369236e-04 -4.53156818e+01] [ 5.72814004e-03 -2.33060927e-04 9.99983567e-01 4.33676665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5407140570001 meters Centerline goodness : 0.992669 with order 1 Centerline is valid? [True, True] Translation: X:789.51, Y:-45.32, Z:4.34 [[ 9.99964277e-01 -6.21544656e-03 -5.72830497e-03 7.89514574e+02] [ 6.21685999e-03 9.99980649e-01 2.28970969e-04 -4.53212710e+01] [ 5.72677097e-03 -2.64574859e-04 9.99983567e-01 4.34414213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.600714057 meters Centerline goodness : 0.992150 with order 1 Centerline is valid? [True, True] Translation: X:789.57, Y:-45.33, Z:4.34 [[ 9.99916651e-01 -1.15705063e-02 -5.72832196e-03 7.89573941e+02] [ 1.15720050e-02 9.99933016e-01 2.28545169e-04 -4.53316829e+01] [ 5.72529387e-03 -2.94814290e-04 9.99983567e-01 4.33998271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6607140570001 meters Centerline goodness : 0.991986 with order 1 Centerline is valid? [True, True] Translation: X:789.63, Y:-45.34, Z:4.34 [[ 9.99868594e-01 -1.51651400e-02 -5.72832615e-03 7.89634762e+02] [ 1.51666968e-02 9.99884953e-01 2.28440012e-04 -4.53363224e+01] [ 5.72420280e-03 -3.15289779e-04 9.99983567e-01 4.34038376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.720714057 meters Centerline goodness : 0.993109 with order 1 Centerline is valid? [True, True] Translation: X:789.70, Y:-45.34, Z:4.35 [[ 9.99723458e-01 -2.28077662e-02 -5.72831780e-03 7.89697211e+02] [ 2.28094493e-02 9.99739805e-01 2.28649259e-04 -4.53388513e+01] [ 5.72161234e-03 -3.59245803e-04 9.99983567e-01 4.34701175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7807140570001 meters Centerline goodness : 0.989885 with order 1 Centerline is valid? [True, True] Translation: X:789.76, Y:-45.35, Z:4.35 [[ 9.99775265e-01 -2.04109601e-02 -5.72825662e-03 7.89759237e+02] [ 2.04126127e-02 9.99791614e-01 2.30171796e-04 -4.53522881e+01] [ 5.72236491e-03 -3.47048752e-04 9.99983567e-01 4.35083933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.840714057 meters Centerline goodness : 0.991306 with order 1 Centerline is valid? [True, True] Translation: X:789.82, Y:-45.36, Z:4.35 [[ 9.99591106e-01 -2.80144389e-02 -5.72823913e-03 7.89821731e+02] [ 2.80162182e-02 9.99607442e-01 2.30606329e-04 -4.53552581e+01] [ 5.71953016e-03 -3.90995633e-04 9.99983567e-01 4.35338617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9007140570001 meters Centerline goodness : 0.991161 with order 1 Centerline is valid? [True, True] Translation: X:789.88, Y:-45.35, Z:4.36 [[ 9.99512344e-01 -3.06962986e-02 -5.72820546e-03 7.89883141e+02] [ 3.06981265e-02 9.99528675e-01 2.31439609e-04 -4.53544125e+01] [ 5.71840127e-03 -4.07171922e-04 9.99983567e-01 4.35978797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.960714057 meters Centerline goodness : 0.990448 with order 1 Centerline is valid? [True, True] Translation: X:789.95, Y:-45.35, Z:4.36 [[ 9.99467727e-01 -3.21161915e-02 -5.72819246e-03 7.89945238e+02] [ 3.21180444e-02 9.99484056e-01 2.31760980e-04 -4.53545144e+01] [ 5.71779375e-03 -4.15615960e-04 9.99983567e-01 4.36118444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0207140570001 meters Centerline goodness : 0.989202 with order 1 Centerline is valid? [True, True] Translation: X:790.01, Y:-45.35, Z:4.36 [[ 9.99461833e-01 -3.22990950e-02 -5.72817565e-03 7.90006467e+02] [ 3.23009533e-02 9.99478161e-01 2.32175812e-04 -4.53547817e+01] [ 5.71768739e-03 -4.17076396e-04 9.99983567e-01 4.36089083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.080714057 meters Centerline goodness : 0.989560 with order 1 Centerline is valid? [True, True] Translation: X:790.07, Y:-45.36, Z:4.36 [[ 9.99408212e-01 -3.39177521e-02 -5.72816315e-03 7.90069323e+02] [ 3.39196387e-02 9.99424536e-01 2.32483585e-04 -4.53556947e+01] [ 5.71698148e-03 -4.26643229e-04 9.99983567e-01 4.36190702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1407140570001 meters Centerline goodness : 0.988615 with order 1 Centerline is valid? [True, True] Translation: X:790.13, Y:-45.36, Z:4.36 [[ 9.99331123e-01 -3.61177896e-02 -5.72813830e-03 7.90131577e+02] [ 3.61197155e-02 9.99347443e-01 2.33094437e-04 -4.53567026e+01] [ 5.71598150e-03 -4.39837251e-04 9.99983567e-01 4.35687862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.200714057 meters Centerline goodness : 0.988281 with order 1 Centerline is valid? [True, True] Translation: X:790.19, Y:-45.35, Z:4.35 [[ 9.99312755e-01 -3.66224705e-02 -5.72812174e-03 7.90193715e+02] [ 3.66244070e-02 9.99329074e-01 2.33500664e-04 -4.53548106e+01] [ 5.71572722e-03 -4.43129254e-04 9.99983567e-01 4.35407092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.260714057 meters Centerline goodness : 0.989124 with order 1 Centerline is valid? [True, True] Translation: X:790.26, Y:-45.35, Z:4.35 [[ 9.99380175e-01 -3.47340633e-02 -5.72810401e-03 7.90255127e+02] [ 3.47359714e-02 9.99396497e-01 2.33934751e-04 -4.53543050e+01] [ 5.71652158e-03 -4.32761010e-04 9.99983567e-01 4.35170118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.320714057 meters Centerline goodness : 0.989252 with order 1 Centerline is valid? [True, True] Translation: X:790.32, Y:-45.35, Z:4.35 [[ 9.99464877e-01 -3.22047779e-02 -5.72809092e-03 7.90317640e+02] [ 3.22066465e-02 9.99481204e-01 2.34254745e-04 -4.53533549e+01] [ 5.71757509e-03 -4.18611989e-04 9.99983567e-01 4.34765756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.380714057 meters Centerline goodness : 0.988226 with order 1 Centerline is valid? [True, True] Translation: X:790.38, Y:-45.35, Z:4.35 [[ 9.99490132e-01 -3.14112383e-02 -5.72807405e-03 7.90379853e+02] [ 3.14130963e-02 9.99506459e-01 2.34666591e-04 -4.53530716e+01] [ 5.71787585e-03 -4.14483484e-04 9.99983567e-01 4.34694409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.440714057 meters Centerline goodness : 0.987113 with order 1 Centerline is valid? [True, True] Translation: X:790.44, Y:-45.35, Z:4.35 [[ 9.99412781e-01 -3.37828699e-02 -5.72805735e-03 7.90442286e+02] [ 3.37847690e-02 9.99429104e-01 2.35073578e-04 -4.53490503e+01] [ 5.71684576e-03 -4.28456632e-04 9.99983567e-01 4.35040803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.500714057 meters Centerline goodness : 0.987055 with order 1 Centerline is valid? [True, True] Translation: X:790.50, Y:-45.35, Z:4.35 [[ 9.99330362e-01 -3.61388677e-02 -5.72804089e-03 7.90504160e+02] [ 3.61408076e-02 9.99346680e-01 2.35473835e-04 -4.53476240e+01] [ 5.71578889e-03 -4.42332176e-04 9.99983567e-01 4.35126686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.560714057 meters Centerline goodness : 0.986668 with order 1 Centerline is valid? [True, True] Translation: X:790.57, Y:-45.35, Z:4.35 [[ 9.99108750e-01 -4.18198010e-02 -5.72802291e-03 7.90566827e+02] [ 4.18218360e-02 9.99125056e-01 2.35910393e-04 -4.53456742e+01] [ 5.71314549e-03 -4.75256573e-04 9.99983567e-01 4.34877829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.620714057 meters Centerline goodness : 0.986514 with order 1 Centerline is valid? [True, True] Translation: X:790.63, Y:-45.35, Z:4.35 [[ 9.99303908e-01 -3.68631262e-02 -5.72797852e-03 7.90630043e+02] [ 3.68650865e-02 9.99320224e-01 2.36983454e-04 -4.53457632e+01] [ 5.71534882e-03 -4.47980915e-04 9.99983567e-01 4.35016846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.680714057 meters Centerline goodness : 0.985162 with order 1 Centerline is valid? [True, True] Translation: X:790.69, Y:-45.34, Z:4.35 [[ 9.99201809e-01 -3.95339794e-02 -5.72795327e-03 7.90693149e+02] [ 3.95359867e-02 9.99218119e-01 2.37592059e-04 -4.53437586e+01] [ 5.71408174e-03 -4.63862699e-04 9.99983567e-01 4.35182419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.740714057 meters Centerline goodness : 0.985856 with order 1 Centerline is valid? [True, True] Translation: X:790.76, Y:-45.34, Z:4.35 [[ 9.99211846e-01 -3.92794762e-02 -5.72792836e-03 7.90756555e+02] [ 3.92814828e-02 9.99228156e-01 2.38191250e-04 -4.53443259e+01] [ 5.71415126e-03 -4.63005038e-04 9.99983567e-01 4.34988091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.800714057 meters Centerline goodness : 0.985535 with order 1 Centerline is valid? [True, True] Translation: X:790.82, Y:-45.34, Z:4.35 [[ 9.99240380e-01 -3.85467763e-02 -5.72790331e-03 7.90819861e+02] [ 3.85487743e-02 9.99256691e-01 2.38791971e-04 -4.53425140e+01] [ 5.71444105e-03 -4.59414232e-04 9.99983567e-01 4.35057534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.860714057 meters Centerline goodness : 0.985774 with order 1 Centerline is valid? [True, True] Translation: X:790.88, Y:-45.34, Z:4.35 [[ 9.99238314e-01 -3.86003001e-02 -5.72787752e-03 7.90883131e+02] [ 3.86023025e-02 9.99254625e-01 2.39409173e-04 -4.53415279e+01] [ 5.71436683e-03 -4.60336079e-04 9.99983567e-01 4.35314802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.920714057 meters Centerline goodness : 0.984474 with order 1 Centerline is valid? [True, True] Translation: X:790.95, Y:-45.34, Z:4.35 [[ 9.99254586e-01 -3.81767458e-02 -5.72785124e-03 7.90945274e+02] [ 3.81787449e-02 9.99270897e-01 2.40036169e-04 -4.53415682e+01] [ 5.71451125e-03 -4.58539414e-04 9.99983567e-01 4.35483888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.980714057 meters Centerline goodness : 0.984838 with order 1 Centerline is valid? [True, True] Translation: X:791.01, Y:-45.34, Z:4.35 [[ 9.99227463e-01 -3.88801837e-02 -5.72782962e-03 7.91006118e+02] [ 3.88821972e-02 9.99243773e-01 2.40550928e-04 -4.53415676e+01] [ 5.71414542e-03 -4.63075694e-04 9.99983567e-01 4.35413779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0407140570001 meters Centerline goodness : 0.985027 with order 1 Centerline is valid? [True, True] Translation: X:791.07, Y:-45.34, Z:4.35 [[ 9.99245292e-01 -3.84192414e-02 -5.72781700e-03 7.91068988e+02] [ 3.84212491e-02 9.99261602e-01 2.40851130e-04 -4.53442272e+01] [ 5.71433427e-03 -4.60739242e-04 9.99983567e-01 4.35416551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.100714057 meters Centerline goodness : 0.985186 with order 1 Centerline is valid? [True, True] Translation: X:791.13, Y:-45.35, Z:4.35 [[ 9.99321552e-01 -3.63817142e-02 -5.72779150e-03 7.91130954e+02] [ 3.63836921e-02 9.99337865e-01 2.41456021e-04 -4.53454593e+01] [ 5.71521435e-03 -4.49690408e-04 9.99983567e-01 4.34883019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1607140570001 meters Centerline goodness : 0.985361 with order 1 Centerline is valid? [True, True] Translation: X:791.19, Y:-45.34, Z:4.35 [[ 9.99420366e-01 -3.35577939e-02 -5.72774967e-03 7.91194362e+02] [ 3.35597313e-02 9.99436684e-01 2.42444183e-04 -4.53446496e+01] [ 5.71638725e-03 -4.34525394e-04 9.99983567e-01 4.35144333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.220714057 meters Centerline goodness : 0.985284 with order 1 Centerline is valid? [True, True] Translation: X:791.26, Y:-45.34, Z:4.36 [[ 9.99552538e-01 -2.93584165e-02 -5.72772403e-03 7.91256292e+02] [ 2.93602887e-02 9.99568864e-01 2.43048427e-04 -4.53445600e+01] [ 5.71811909e-03 -4.11107304e-04 9.99983567e-01 4.35571817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2807140570001 meters Centerline goodness : 0.985436 with order 1 Centerline is valid? [True, True] Translation: X:791.32, Y:-45.34, Z:4.36 [[ 9.99526833e-01 -3.02209171e-02 -5.72770284e-03 7.91318251e+02] [ 3.02228063e-02 9.99543157e-01 2.43546753e-04 -4.53429804e+01] [ 5.71772598e-03 -4.16538768e-04 9.99983567e-01 4.35756432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.340714057 meters Centerline goodness : 0.985863 with order 1 Centerline is valid? [True, True] Translation: X:791.38, Y:-45.34, Z:4.36 [[ 9.99611150e-01 -2.72899628e-02 -5.72768568e-03 7.91381792e+02] [ 2.72918064e-02 9.99627480e-01 2.43949840e-04 -4.53433480e+01] [ 5.71889461e-03 -4.00173869e-04 9.99983567e-01 4.35821878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4007140570001 meters Centerline goodness : 0.985353 with order 1 Centerline is valid? [True, True] Translation: X:791.44, Y:-45.34, Z:4.36 [[ 9.99672124e-01 -2.49567266e-02 -5.72766018e-03 7.91442669e+02] [ 2.49585355e-02 9.99688457e-01 2.44547102e-04 -4.53431701e+01] [ 5.71977267e-03 -3.87420931e-04 9.99983567e-01 4.35802089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.460714057 meters Centerline goodness : 0.985525 with order 1 Centerline is valid? [True, True] Translation: X:791.50, Y:-45.34, Z:4.36 [[ 9.99708731e-01 -2.34445409e-02 -5.72763171e-03 7.91503743e+02] [ 2.34463288e-02 9.99725067e-01 2.45211980e-04 -4.53448772e+01] [ 5.72030811e-03 -3.79432494e-04 9.99983567e-01 4.35562445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5207140570001 meters Centerline goodness : 0.986682 with order 1 Centerline is valid? [True, True] Translation: X:791.57, Y:-45.34, Z:4.36 [[ 9.99786061e-01 -1.98752992e-02 -5.72760333e-03 7.91566255e+02] [ 1.98770326e-02 9.99802402e-01 2.45873103e-04 -4.53437293e+01] [ 5.72158477e-03 -3.59668259e-04 9.99983567e-01 4.35579545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.580714057 meters Centerline goodness : 0.985976 with order 1 Centerline is valid? [True, True] Translation: X:791.63, Y:-45.35, Z:4.35 [[ 9.99832748e-01 -1.73686673e-02 -5.72758431e-03 7.91627462e+02] [ 1.73703623e-02 9.99849094e-01 2.46315274e-04 -4.53459321e+01] [ 5.72244182e-03 -3.45764292e-04 9.99983567e-01 4.35102964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6407140570001 meters Centerline goodness : 0.986737 with order 1 Centerline is valid? [True, True] Translation: X:791.69, Y:-45.35, Z:4.35 [[ 9.99881497e-01 -1.42893673e-02 -5.72757025e-03 7.91689206e+02] [ 1.42910138e-02 9.99897848e-01 2.46641924e-04 -4.53458365e+01] [ 5.72346081e-03 -3.28465482e-04 9.99983567e-01 4.35256077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.700714057 meters Centerline goodness : 0.986663 with order 1 Centerline is valid? [True, True] Translation: X:791.75, Y:-45.35, Z:4.35 [[ 9.99898233e-01 -1.30659419e-02 -5.72755613e-03 7.91750339e+02] [ 1.30675703e-02 9.99914585e-01 2.46969379e-04 -4.53473187e+01] [ 5.72384002e-03 -3.21789488e-04 9.99983567e-01 4.35220293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.760714057 meters Centerline goodness : 0.987013 with order 1 Centerline is valid? [True, True] Translation: X:791.81, Y:-45.35, Z:4.35 [[ 9.99926167e-01 -1.07170504e-02 -5.72754219e-03 7.91812544e+02] [ 1.07186422e-02 9.99942523e-01 2.47292097e-04 -4.53477576e+01] [ 5.72456275e-03 -3.08665314e-04 9.99983567e-01 4.35266370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.820714057 meters Centerline goodness : 0.986236 with order 1 Centerline is valid? [True, True] Translation: X:791.87, Y:-45.35, Z:4.35 [[ 9.99924962e-01 -1.08289364e-02 -5.72752358e-03 7.91873324e+02] [ 1.08305325e-02 9.99941317e-01 2.47722403e-04 -4.53480583e+01] [ 5.72450491e-03 -3.09735945e-04 9.99983567e-01 4.35253621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.880714057 meters Centerline goodness : 0.987363 with order 1 Centerline is valid? [True, True] Translation: X:791.94, Y:-45.35, Z:4.35 [[ 9.99930405e-01 -1.03140675e-02 -5.72750982e-03 7.91935496e+02] [ 1.03156569e-02 9.99946761e-01 2.48040279e-04 -4.53498065e+01] [ 5.72464659e-03 -3.07106043e-04 9.99983567e-01 4.35175148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.940714057 meters Centerline goodness : 0.987404 with order 1 Centerline is valid? [True, True] Translation: X:792.00, Y:-45.35, Z:4.35 [[ 9.99929461e-01 -1.04051956e-02 -5.72749168e-03 7.91998017e+02] [ 1.04067889e-02 9.99945817e-01 2.48458353e-04 -4.53507464e+01] [ 5.72459609e-03 -3.08045624e-04 9.99983567e-01 4.35328912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.000714057 meters Centerline goodness : 0.987572 with order 1 Centerline is valid? [True, True] Translation: X:792.06, Y:-45.35, Z:4.36 [[ 9.99926104e-01 -1.07230168e-02 -5.72747330e-03 7.92060614e+02] [ 1.07246177e-02 9.99942459e-01 2.48881324e-04 -4.53512652e+01] [ 5.72447498e-03 -3.10287894e-04 9.99983567e-01 4.35551789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.060714057 meters Centerline goodness : 0.988194 with order 1 Centerline is valid? [True, True] Translation: X:792.12, Y:-45.35, Z:4.36 [[ 9.99938779e-01 -9.46750646e-03 -5.72745518e-03 7.92122825e+02] [ 9.46908926e-03 9.99955136e-01 2.49297654e-04 -4.53536026e+01] [ 5.72483800e-03 -3.03516176e-04 9.99983567e-01 4.35589773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.120714057 meters Centerline goodness : 0.988249 with order 1 Centerline is valid? [True, True] Translation: X:792.18, Y:-45.36, Z:4.36 [[ 9.99952608e-01 -7.87257694e-03 -5.72743692e-03 7.92183739e+02] [ 7.87413603e-03 9.99968967e-01 2.49716487e-04 -4.53566833e+01] [ 5.72529327e-03 -2.94803270e-04 9.99983567e-01 4.35516148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.180714057 meters Centerline goodness : 0.987583 with order 1 Centerline is valid? [True, True] Translation: X:792.25, Y:-45.36, Z:4.35 [[ 9.99958694e-01 -7.05745468e-03 -5.72742790e-03 7.92245414e+02] [ 7.05900163e-03 9.99975054e-01 2.49923195e-04 -4.53588835e+01] [ 5.72552120e-03 -2.90342795e-04 9.99983567e-01 4.35364898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.240714057 meters Centerline goodness : 0.991220 with order 1 Centerline is valid? [True, True] Translation: X:792.31, Y:-45.35, Z:4.36 [[ 9.99846671e-01 -1.65478495e-02 -5.72741864e-03 7.92306477e+02] [ 1.65495529e-02 9.99863015e-01 2.50135256e-04 -4.53499211e+01] [ 5.72249487e-03 -3.44883121e-04 9.99983567e-01 4.35843909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.300714057 meters Centerline goodness : 0.987330 with order 1 Centerline is valid? [True, True] Translation: X:792.37, Y:-45.37, Z:4.35 [[ 9.99946989e-01 -8.55664965e-03 -5.72739442e-03 7.92368445e+02] [ 8.55822549e-03 9.99963346e-01 2.50688587e-04 -4.53655266e+01] [ 5.72503943e-03 -2.99691631e-04 9.99983567e-01 4.35260120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.360714057 meters Centerline goodness : 0.987354 with order 1 Centerline is valid? [True, True] Translation: X:792.43, Y:-45.37, Z:4.35 [[ 9.99946769e-01 -8.58228720e-03 -5.72737525e-03 7.92429679e+02] [ 8.58386596e-03 9.99963126e-01 2.51125783e-04 -4.53691571e+01] [ 5.72500883e-03 -3.00275437e-04 9.99983567e-01 4.35178712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.420714057 meters Centerline goodness : 0.987945 with order 1 Centerline is valid? [True, True] Translation: X:792.49, Y:-45.37, Z:4.35 [[ 9.99981531e-01 -2.03353242e-03 -5.72736105e-03 7.92490802e+02] [ 2.03500587e-03 9.99997898e-01 2.51449134e-04 -4.53736098e+01] [ 5.72683768e-03 -2.63099704e-04 9.99983567e-01 4.35190079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.480714057 meters Centerline goodness : 0.988950 with order 1 Centerline is valid? [True, True] Translation: X:792.55, Y:-45.37, Z:4.36 [[ 9.99976213e-01 -3.84338934e-03 -5.72735154e-03 7.92549621e+02] [ 3.84489365e-03 9.99992577e-01 2.51665596e-04 -4.53737998e+01] [ 5.72634178e-03 -2.73680667e-04 9.99983567e-01 4.35703827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5407140570001 meters Centerline goodness : 0.990805 with order 1 Centerline is valid? [True, True] Translation: X:792.61, Y:-45.37, Z:4.36 [[ 9.99982398e-01 -1.54928390e-03 -5.72736551e-03 7.92609016e+02] [ 1.55074885e-03 9.99998766e-01 2.51347361e-04 -4.53712456e+01] [ 5.72696903e-03 -2.60224643e-04 9.99983567e-01 4.36038597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.600714057 meters Centerline goodness : 0.989899 with order 1 Centerline is valid? [True, True] Translation: X:792.67, Y:-45.38, Z:4.36 [[ 9.99977019e-01 3.62753170e-03 -5.72737445e-03 7.92667660e+02] [-3.62615268e-03 9.99993394e-01 2.51143500e-04 -4.53755629e+01] [ 5.72824764e-03 -2.30369394e-04 9.99983567e-01 4.36016715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6607140570001 meters Centerline goodness : 0.989612 with order 1 Centerline is valid? [True, True] Translation: X:792.73, Y:-45.38, Z:4.36 [[ 9.99920713e-01 1.12145246e-02 -5.72738763e-03 7.92725100e+02] [-1.12132716e-02 9.99937098e-01 2.50842436e-04 -4.53816189e+01] [ 5.72984045e-03 -1.86599794e-04 9.99983567e-01 4.36018336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.720714057 meters Centerline goodness : 0.988677 with order 1 Centerline is valid? [True, True] Translation: X:792.78, Y:-45.39, Z:4.36 [[ 9.99846153e-01 1.65790774e-02 -5.72745651e-03 7.92782238e+02] [-1.65779213e-02 9.99862546e-01 2.49259868e-04 -4.53888045e+01] [ 5.73080174e-03 -1.54272197e-04 9.99983567e-01 4.36036093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7807140570001 meters Centerline goodness : 0.989711 with order 1 Centerline is valid? [True, True] Translation: X:792.84, Y:-45.40, Z:4.36 [[ 9.99809762e-01 1.86449600e-02 -5.72752730e-03 7.92841276e+02] [-1.86438472e-02 9.99826158e-01 2.47622296e-04 -4.53952478e+01] [ 5.73114853e-03 -1.40792045e-04 9.99983567e-01 4.36061266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.840714057 meters Centerline goodness : 0.987119 with order 1 Centerline is valid? [True, True] Translation: X:792.90, Y:-45.41, Z:4.36 [[ 9.99835560e-01 1.72060380e-02 -5.72754493e-03 7.92899488e+02] [-1.72049040e-02 9.99851954e-01 2.47213815e-04 -4.54050031e+01] [ 5.73095057e-03 -1.48631303e-04 9.99983567e-01 4.36158683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9007140570001 meters Centerline goodness : 0.987409 with order 1 Centerline is valid? [True, True] Translation: X:792.96, Y:-45.41, Z:4.36 [[ 9.99904384e-01 1.25864306e-02 -5.72756235e-03 7.92956876e+02] [-1.25852232e-02 9.99920772e-01 2.46809737e-04 -4.54132989e+01] [ 5.73021502e-03 -1.74703488e-04 9.99983567e-01 4.36134352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.960714057 meters Centerline goodness : 0.985213 with order 1 Centerline is valid? [True, True] Translation: X:793.01, Y:-45.44, Z:4.36 [[ 9.99918524e-01 1.14079332e-02 -5.72758806e-03 7.93014987e+02] [-1.14067099e-02 9.99934911e-01 2.46211651e-04 -4.54352106e+01] [ 5.73002402e-03 -1.80858655e-04 9.99983567e-01 4.35854114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0207140570001 meters Centerline goodness : 0.985111 with order 1 Centerline is valid? [True, True] Translation: X:793.07, Y:-45.44, Z:4.36 [[ 9.99980891e-01 2.32646220e-03 -5.72760682e-03 7.93072956e+02] [-2.32509257e-03 9.99997267e-01 2.45774345e-04 -4.54430514e+01] [ 5.72816295e-03 -2.32452433e-04 9.99983567e-01 4.36133300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.080714057 meters Centerline goodness : 0.985691 with order 1 Centerline is valid? [True, True] Translation: X:793.13, Y:-45.45, Z:4.36 [[ 9.99958364e-01 -7.10382150e-03 -5.72762506e-03 7.93131379e+02] [ 7.10534307e-03 9.99974727e-01 2.45348597e-04 -4.54538074e+01] [ 5.72573739e-03 -2.86035123e-04 9.99983567e-01 4.36328665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1407140570001 meters Centerline goodness : 0.985720 with order 1 Centerline is valid? [True, True] Translation: X:793.19, Y:-45.46, Z:4.36 [[ 9.99939852e-01 -9.35344325e-03 -5.72764340e-03 7.93191892e+02] [ 9.35499917e-03 9.99956211e-01 2.44919660e-04 -4.54632685e+01] [ 5.72510175e-03 -2.98487028e-04 9.99983567e-01 4.36084516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.200714057 meters Centerline goodness : 0.985865 with order 1 Centerline is valid? [True, True] Translation: X:793.25, Y:-45.47, Z:4.36 [[ 9.99890869e-01 -1.36177648e-02 -5.72763887e-03 7.93251621e+02] [ 1.36193911e-02 9.99907222e-01 2.45025471e-04 -4.54726424e+01] [ 5.72377078e-03 -3.23005685e-04 9.99983567e-01 4.36152590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.260714057 meters Centerline goodness : 0.986025 with order 1 Centerline is valid? [True, True] Translation: X:793.31, Y:-45.48, Z:4.36 [[ 9.99917554e-01 -1.14925810e-02 -5.72763444e-03 7.93313919e+02] [ 1.14941731e-02 9.99933910e-01 2.45129143e-04 -4.54820520e+01] [ 5.72443873e-03 -3.10943354e-04 9.99983567e-01 4.35629455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.320714057 meters Centerline goodness : 0.986230 with order 1 Centerline is valid? [True, True] Translation: X:793.38, Y:-45.49, Z:4.36 [[ 9.99923083e-01 -1.10010550e-02 -5.72761680e-03 7.93375244e+02] [ 1.10026415e-02 9.99939439e-01 2.45540564e-04 -4.54857540e+01] [ 5.72456872e-03 -3.08540592e-04 9.99983567e-01 4.36254187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.380714057 meters Centerline goodness : 0.986632 with order 1 Centerline is valid? [True, True] Translation: X:793.44, Y:-45.49, Z:4.36 [[ 9.99874538e-01 -1.47683149e-02 -5.72760767e-03 7.93436477e+02] [ 1.47699642e-02 9.99890888e-01 2.45753327e-04 -4.54898541e+01] [ 5.72335336e-03 -3.30319054e-04 9.99983567e-01 4.36046456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.440714057 meters Centerline goodness : 0.985395 with order 1 Centerline is valid? [True, True] Translation: X:793.50, Y:-45.50, Z:4.35 [[ 9.99943598e-01 -8.94407217e-03 -5.72754882e-03 7.93497899e+02] [ 8.94563395e-03 9.99959956e-01 2.47117265e-04 -4.54972249e+01] [ 5.72510924e-03 -2.98339883e-04 9.99983567e-01 4.35431559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.500714057 meters Centerline goodness : 0.986076 with order 1 Centerline is valid? [True, True] Translation: X:793.56, Y:-45.50, Z:4.36 [[ 9.99958137e-01 -7.13577487e-03 -5.72753552e-03 7.93558676e+02] [ 7.13730883e-03 9.99974498e-01 2.47425264e-04 -4.54992265e+01] [ 5.72562389e-03 -2.88294096e-04 9.99983567e-01 4.35599745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.560714057 meters Centerline goodness : 0.986954 with order 1 Centerline is valid? [True, True] Translation: X:793.62, Y:-45.50, Z:4.36 [[ 9.99970738e-01 -5.07126861e-03 -5.72753552e-03 7.93619317e+02] [ 5.07276878e-03 9.99987103e-01 2.47425264e-04 -4.54999537e+01] [ 5.72620689e-03 -2.76472487e-04 9.99983567e-01 4.36323852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.620714057 meters Centerline goodness : 0.986488 with order 1 Centerline is valid? [True, True] Translation: X:793.68, Y:-45.50, Z:4.36 [[ 9.99976462e-01 -3.77761198e-03 -5.72753552e-03 7.93679292e+02] [ 3.77909098e-03 9.99992829e-01 2.47425264e-04 -4.55045032e+01] [ 5.72655977e-03 -2.69064318e-04 9.99983567e-01 4.36218144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.680714057 meters Centerline goodness : 0.986236 with order 1 Centerline is valid? [True, True] Translation: X:793.74, Y:-45.50, Z:4.37 [[ 9.99955368e-01 -7.51387379e-03 -5.72754020e-03 7.93739333e+02] [ 7.51541331e-03 9.99971728e-01 2.47316766e-04 -4.55025785e+01] [ 5.72551997e-03 -2.90350559e-04 9.99983567e-01 4.37247933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.740714057 meters Centerline goodness : 0.986349 with order 1 Centerline is valid? [True, True] Translation: X:793.80, Y:-45.51, Z:4.37 [[ 9.99966031e-01 -5.92715910e-03 -5.72754958e-03 7.93800091e+02] [ 5.92867141e-03 9.99982395e-01 2.47099490e-04 -4.55055644e+01] [ 5.72598414e-03 -2.81047856e-04 9.99983567e-01 4.37228336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.800714057 meters Centerline goodness : 0.986759 with order 1 Centerline is valid? [True, True] Translation: X:793.86, Y:-45.51, Z:4.37 [[ 9.99970136e-01 -5.18858071e-03 -5.72754494e-03 7.93860893e+02] [ 5.19008155e-03 9.99986501e-01 2.47207015e-04 -4.55090883e+01] [ 5.72618497e-03 -2.76926058e-04 9.99983567e-01 4.37458409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.860714057 meters Centerline goodness : 0.987167 with order 1 Centerline is valid? [True, True] Translation: X:793.92, Y:-45.51, Z:4.37 [[ 9.99981538e-01 -2.02926526e-03 -5.72754494e-03 7.93920126e+02] [ 2.03071439e-03 9.99997908e-01 2.47207015e-04 -4.55133840e+01] [ 5.72703130e-03 -2.58833460e-04 9.99983567e-01 4.37093093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.920714057 meters Centerline goodness : 0.987518 with order 1 Centerline is valid? [True, True] Translation: X:793.98, Y:-45.52, Z:4.37 [[ 9.99979347e-01 -2.91548655e-03 -5.72754951e-03 7.93978823e+02] [ 2.91694958e-03 9.99995715e-01 2.47100934e-04 -4.55171208e+01] [ 5.72680455e-03 -2.63802803e-04 9.99983567e-01 4.36975146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.980714057 meters Centerline goodness : 0.988622 with order 1 Centerline is valid? [True, True] Translation: X:794.04, Y:-45.52, Z:4.37 [[ 9.99979406e-01 -2.89524190e-03 -5.72756754e-03 7.94038604e+02] [ 2.89670221e-03 9.99995774e-01 2.46682321e-04 -4.55197128e+01] [ 5.72682913e-03 -2.63268299e-04 9.99983567e-01 4.37103568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0407140570001 meters Centerline goodness : 0.988338 with order 1 Centerline is valid? [True, True] Translation: X:794.10, Y:-45.52, Z:4.37 [[ 9.99966419e-01 -5.86140902e-03 -5.72757675e-03 7.94097647e+02] [ 5.86291665e-03 9.99982783e-01 2.46468360e-04 -4.55231949e+01] [ 5.72603348e-03 -2.80040388e-04 9.99983567e-01 4.37140033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.100714057 meters Centerline goodness : 0.988600 with order 1 Centerline is valid? [True, True] Translation: X:794.16, Y:-45.53, Z:4.37 [[ 9.99967606e-01 -5.65531433e-03 -5.72759029e-03 7.94157771e+02] [ 5.65681679e-03 9.99983970e-01 2.46153234e-04 -4.55262372e+01] [ 5.72610640e-03 -2.78545189e-04 9.99983567e-01 4.37283590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1607140570001 meters Centerline goodness : 0.987912 with order 1 Centerline is valid? [True, True] Translation: X:794.22, Y:-45.53, Z:4.37 [[ 9.99966769e-01 -5.80137236e-03 -5.72759029e-03 7.94217698e+02] [ 5.80287721e-03 9.99983133e-01 2.46153234e-04 -4.55328385e+01] [ 5.72606566e-03 -2.79381557e-04 9.99983567e-01 4.36740801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.220714057 meters Centerline goodness : 0.989121 with order 1 Centerline is valid? [True, True] Translation: X:794.28, Y:-45.54, Z:4.37 [[ 9.99953774e-01 -7.72296200e-03 -5.72759919e-03 7.94278205e+02] [ 7.72449710e-03 9.99970135e-01 2.45946071e-04 -4.55354923e+01] [ 5.72552870e-03 -2.90177525e-04 9.99983567e-01 4.36833056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2807140570001 meters Centerline goodness : 0.988861 with order 1 Centerline is valid? [True, True] Translation: X:794.34, Y:-45.54, Z:4.36 [[ 9.99964667e-01 -6.15293746e-03 -5.72759919e-03 7.94338869e+02] [ 6.15444688e-03 9.99981031e-01 2.45946071e-04 -4.55419144e+01] [ 5.72597725e-03 -2.81187586e-04 9.99983567e-01 4.36312212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.340714057 meters Centerline goodness : 0.988241 with order 1 Centerline is valid? [True, True] Translation: X:794.40, Y:-45.55, Z:4.36 [[ 9.99966307e-01 -5.88037333e-03 -5.72759467e-03 7.94397922e+02] [ 5.88187889e-03 9.99982671e-01 2.46051259e-04 -4.55465528e+01] [ 5.72604854e-03 -2.79731987e-04 9.99983567e-01 4.36105517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4007140570001 meters Centerline goodness : 0.988565 with order 1 Centerline is valid? [True, True] Translation: X:794.46, Y:-45.55, Z:4.36 [[ 9.99970088e-01 -5.19792872e-03 -5.72759911e-03 7.94457454e+02] [ 5.19942252e-03 9.99986453e-01 2.45947910e-04 -4.55506366e+01] [ 5.72624309e-03 -2.75720761e-04 9.99983567e-01 4.35731766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.460714057 meters Centerline goodness : 0.987659 with order 1 Centerline is valid? [True, True] Translation: X:794.52, Y:-45.55, Z:4.36 [[ 9.99947215e-01 -8.53000862e-03 -5.72760788e-03 7.94517257e+02] [ 8.53155578e-03 9.99963575e-01 2.45743377e-04 -4.55500804e+01] [ 5.72530306e-03 -2.94595812e-04 9.99983567e-01 4.36077672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5207140570001 meters Centerline goodness : 0.987947 with order 1 Centerline is valid? [True, True] Translation: X:794.58, Y:-45.55, Z:4.36 [[ 9.99942210e-01 -9.09783659e-03 -5.72761666e-03 7.94577696e+02] [ 9.09939186e-03 9.99958570e-01 2.45538564e-04 -4.55512271e+01] [ 5.72514550e-03 -2.97642203e-04 9.99983567e-01 4.36186552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.580714057 meters Centerline goodness : 0.987863 with order 1 Centerline is valid? [True, True] Translation: X:794.64, Y:-45.55, Z:4.37 [[ 9.99917511e-01 -1.14962909e-02 -5.72761666e-03 7.94638380e+02] [ 1.14978854e-02 9.99933867e-01 2.45538564e-04 -4.55509260e+01] [ 5.72441510e-03 -3.11373790e-04 9.99983567e-01 4.36543069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6407140570001 meters Centerline goodness : 0.987670 with order 1 Centerline is valid? [True, True] Translation: X:794.70, Y:-45.55, Z:4.36 [[ 9.99936975e-01 -9.65610261e-03 -5.72760273e-03 7.94699878e+02] [ 9.65766887e-03 9.99953333e-01 2.45863082e-04 -4.55541329e+01] [ 5.72496137e-03 -3.01162877e-04 9.99983567e-01 4.36363726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.700714057 meters Centerline goodness : 0.987355 with order 1 Centerline is valid? [True, True] Translation: X:794.76, Y:-45.55, Z:4.37 [[ 9.99931585e-01 -1.01990636e-02 -5.72759381e-03 7.94761073e+02] [ 1.02006400e-02 9.99947942e-01 2.46070832e-04 -4.55549729e+01] [ 5.72478595e-03 -3.04479120e-04 9.99983567e-01 4.36676944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.760714057 meters Centerline goodness : 0.987843 with order 1 Centerline is valid? [True, True] Translation: X:794.82, Y:-45.56, Z:4.36 [[ 9.99945612e-01 -8.71593056e-03 -5.72758485e-03 7.94821827e+02] [ 8.71748382e-03 9.99961972e-01 2.46279160e-04 -4.55605882e+01] [ 5.72522049e-03 -2.96195894e-04 9.99983567e-01 4.36237605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.820714057 meters Centerline goodness : 0.986515 with order 1 Centerline is valid? [True, True] Translation: X:794.88, Y:-45.56, Z:4.36 [[ 9.99955062e-01 -7.55441695e-03 -5.72757604e-03 7.94882577e+02] [ 7.55595237e-03 9.99971423e-01 2.46483791e-04 -4.55648259e+01] [ 5.72555032e-03 -2.89750006e-04 9.99983567e-01 4.36022214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.880714057 meters Centerline goodness : 0.986367 with order 1 Centerline is valid? [True, True] Translation: X:794.94, Y:-45.57, Z:4.36 [[ 9.99963073e-01 -6.40689994e-03 -5.72757604e-03 7.94942633e+02] [ 6.40841659e-03 9.99979436e-01 2.46483791e-04 -4.55691404e+01] [ 5.72587906e-03 -2.83179383e-04 9.99983567e-01 4.36162688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.940714057 meters Centerline goodness : 0.985571 with order 1 Centerline is valid? [True, True] Translation: X:795.00, Y:-45.57, Z:4.36 [[ 9.99945977e-01 -8.67397236e-03 -5.72758049e-03 7.95002227e+02] [ 8.67552551e-03 9.99962337e-01 2.46380523e-04 -4.55712755e+01] [ 5.72522767e-03 -2.96056984e-04 9.99983567e-01 4.36204903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.000714057 meters Centerline goodness : 0.986583 with order 1 Centerline is valid? [True, True] Translation: X:795.06, Y:-45.57, Z:4.36 [[ 9.99954979e-01 -7.56537215e-03 -5.72758110e-03 7.95062831e+02] [ 7.56690708e-03 9.99971340e-01 2.46366210e-04 -4.55742494e+01] [ 5.72555310e-03 -2.89695192e-04 9.99983567e-01 4.36389588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.060714057 meters Centerline goodness : 0.986144 with order 1 Centerline is valid? [True, True] Translation: X:795.12, Y:-45.58, Z:4.36 [[ 9.99947693e-01 -8.47387491e-03 -5.72758110e-03 7.95122581e+02] [ 8.47542471e-03 9.99964053e-01 2.46366210e-04 -4.55773532e+01] [ 5.72528753e-03 -2.94897006e-04 9.99983567e-01 4.36434927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.120714057 meters Centerline goodness : 0.986924 with order 1 Centerline is valid? [True, True] Translation: X:795.18, Y:-45.58, Z:4.36 [[ 9.99952021e-01 -7.94678549e-03 -5.72758573e-03 7.95183262e+02] [ 7.94832604e-03 9.99968381e-01 2.46258652e-04 -4.55799289e+01] [ 5.72544766e-03 -2.91771556e-04 9.99983567e-01 4.36400976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.180714057 meters Centerline goodness : 0.986552 with order 1 Centerline is valid? [True, True] Translation: X:795.24, Y:-45.58, Z:4.36 [[ 9.99913509e-01 -1.18393104e-02 -5.72758132e-03 7.95244134e+02] [ 1.18409152e-02 9.99929864e-01 2.46361039e-04 -4.55810504e+01] [ 5.72426286e-03 -3.14159535e-04 9.99983567e-01 4.36021302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.240714057 meters Centerline goodness : 0.986330 with order 1 Centerline is valid? [True, True] Translation: X:795.31, Y:-45.58, Z:4.36 [[ 9.99943228e-01 -8.98524672e-03 -5.72758132e-03 7.95305192e+02] [ 8.98680485e-03 9.99959588e-01 2.46361039e-04 -4.55835808e+01] [ 5.72513624e-03 -2.97819708e-04 9.99983567e-01 4.36363907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.300714057 meters Centerline goodness : 0.986351 with order 1 Centerline is valid? [True, True] Translation: X:795.37, Y:-45.59, Z:4.36 [[ 9.99941384e-01 -9.18825009e-03 -5.72757683e-03 7.95365858e+02] [ 9.18981213e-03 9.99957742e-01 2.46465348e-04 -4.55861300e+01] [ 5.72507021e-03 -2.99086257e-04 9.99983567e-01 4.36373907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.360714057 meters Centerline goodness : 0.984902 with order 1 Centerline is valid? [True, True] Translation: X:795.43, Y:-45.59, Z:4.36 [[ 9.99909750e-01 -1.21526075e-02 -5.72757241e-03 7.95426489e+02] [ 1.21542187e-02 9.99926104e-01 2.46568025e-04 -4.55868385e+01] [ 5.72415273e-03 -3.16159940e-04 9.99983567e-01 4.36252098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.420714057 meters Centerline goodness : 0.984690 with order 1 Centerline is valid? [True, True] Translation: X:795.49, Y:-45.59, Z:4.37 [[ 9.99868501e-01 -1.51715584e-02 -5.72757241e-03 7.95488276e+02] [ 1.51732189e-02 9.99884850e-01 2.46568025e-04 -4.55869554e+01] [ 5.72317206e-03 -3.33441312e-04 9.99983567e-01 4.36584584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.480714057 meters Centerline goodness : 0.985926 with order 1 Centerline is valid? [True, True] Translation: X:795.55, Y:-45.59, Z:4.37 [[ 9.99832632e-01 -1.73753317e-02 -5.72756360e-03 7.95549038e+02] [ 1.73770294e-02 9.99848978e-01 2.46772484e-04 -4.55864312e+01] [ 5.72241086e-03 -3.46259223e-04 9.99983567e-01 4.36860222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5407140570001 meters Centerline goodness : 0.985812 with order 1 Centerline is valid? [True, True] Translation: X:795.61, Y:-45.59, Z:4.37 [[ 9.99795293e-01 -1.94053477e-02 -5.72755486e-03 7.95611624e+02] [ 1.94070797e-02 9.99811634e-01 2.46975290e-04 -4.55870801e+01] [ 5.72168334e-03 -3.58079846e-04 9.99983567e-01 4.36901865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.600714057 meters Centerline goodness : 0.986109 with order 1 Centerline is valid? [True, True] Translation: X:795.67, Y:-45.59, Z:4.37 [[ 9.99738506e-01 -2.21385244e-02 -5.72753736e-03 7.95673451e+02] [ 2.21403034e-02 9.99754843e-01 2.47380378e-04 -4.55875354e+01] [ 5.72065658e-03 -3.74125105e-04 9.99983567e-01 4.37095185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6607140570001 meters Centerline goodness : 0.985195 with order 1 Centerline is valid? [True, True] Translation: X:795.74, Y:-45.59, Z:4.36 [[ 9.99725429e-01 -2.27213890e-02 -5.72751942e-03 7.95735884e+02] [ 2.27231799e-02 9.99741765e-01 2.47795162e-04 -4.55934752e+01] [ 5.72041012e-03 -3.77874579e-04 9.99983567e-01 4.35869169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.720714057 meters Centerline goodness : 0.989474 with order 1 Centerline is valid? [True, True] Translation: X:795.80, Y:-45.58, Z:4.37 [[ 9.99386157e-01 -3.45615974e-02 -5.72750121e-03 7.95798172e+02] [ 3.45635841e-02 9.99402470e-01 2.48215173e-04 -4.55785857e+01] [ 5.71550015e-03 -4.46025778e-04 9.99983567e-01 4.36827235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7807140570001 meters Centerline goodness : 0.985835 with order 1 Centerline is valid? [True, True] Translation: X:795.86, Y:-45.59, Z:4.37 [[ 9.99607875e-01 -2.74097133e-02 -5.72744302e-03 7.95860131e+02] [ 2.74115908e-02 9.99624201e-01 2.49550760e-04 -4.55918791e+01] [ 5.71845054e-03 -4.06451229e-04 9.99983567e-01 4.36575986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.840714057 meters Centerline goodness : 0.986230 with order 1 Centerline is valid? [True, True] Translation: X:795.92, Y:-45.59, Z:4.37 [[ 9.99634040e-01 -2.64382875e-02 -5.72742483e-03 7.95922641e+02] [ 2.64401515e-02 9.99650367e-01 2.49967489e-04 -4.55921285e+01] [ 5.71881362e-03 -4.01309991e-04 9.99983567e-01 4.36718593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9007140570001 meters Centerline goodness : 0.986364 with order 1 Centerline is valid? [True, True] Translation: X:795.99, Y:-45.59, Z:4.37 [[ 9.99662726e-01 -2.53304277e-02 -5.72740624e-03 7.95985030e+02] [ 2.53322760e-02 9.99679055e-01 2.50392903e-04 -4.55928692e+01] [ 5.71922549e-03 -3.95396688e-04 9.99983567e-01 4.36781447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.960714057 meters Centerline goodness : 0.985868 with order 1 Centerline is valid? [True, True] Translation: X:796.05, Y:-45.59, Z:4.37 [[ 9.99759278e-01 -2.11798109e-02 -5.72736025e-03 7.96047254e+02] [ 2.11815974e-02 9.99775613e-01 2.51440362e-04 -4.55923412e+01] [ 5.72074965e-03 -3.72694474e-04 9.99983567e-01 4.37049533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0207140570001 meters Centerline goodness : 0.986855 with order 1 Centerline is valid? [True, True] Translation: X:796.11, Y:-45.59, Z:4.37 [[ 9.99826121e-01 -1.77461294e-02 -5.72734095e-03 7.96108695e+02] [ 1.77478623e-02 9.99842463e-01 2.51879228e-04 -4.55927464e+01] [ 5.72196880e-03 -3.53483490e-04 9.99983567e-01 4.36964649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.080714057 meters Centerline goodness : 0.986057 with order 1 Centerline is valid? [True, True] Translation: X:796.17, Y:-45.59, Z:4.37 [[ 9.99908236e-01 -1.22767221e-02 -5.72732671e-03 7.96170601e+02] [ 1.22783674e-02 9.99924586e-01 2.52202720e-04 -4.55948773e+01] [ 5.72379856e-03 -3.22501798e-04 9.99983567e-01 4.36695572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1407140570001 meters Centerline goodness : 0.986887 with order 1 Centerline is valid? [True, True] Translation: X:796.23, Y:-45.59, Z:4.37 [[ 9.99945784e-01 -8.69643234e-03 -5.72730776e-03 7.96232092e+02] [ 8.69802156e-03 9.99962140e-01 2.52632204e-04 -4.55939847e+01] [ 5.72489392e-03 -3.02434754e-04 9.99983567e-01 4.36682405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.200714057 meters Centerline goodness : 0.986330 with order 1 Centerline is valid? [True, True] Translation: X:796.29, Y:-45.60, Z:4.36 [[ 9.99981619e-01 -1.99013890e-03 -5.72727732e-03 7.96292794e+02] [ 1.99162233e-03 9.99997985e-01 2.53320332e-04 -4.55965489e+01] [ 5.72676164e-03 -2.64722249e-04 9.99983567e-01 4.36339287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.260714057 meters Centerline goodness : 0.985155 with order 1 Centerline is valid? [True, True] Translation: X:796.35, Y:-45.60, Z:4.36 [[ 9.99981427e-01 2.08410889e-03 -5.72727732e-03 7.96351914e+02] [-2.08269215e-03 9.99997799e-01 2.53320332e-04 -4.55995247e+01] [ 5.72779267e-03 -2.41387471e-04 9.99983567e-01 4.36099879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.320714057 meters Centerline goodness : 0.989639 with order 1 Centerline is valid? [True, True] Translation: X:796.41, Y:-45.58, Z:4.37 [[ 9.99944131e-01 -8.88438265e-03 -5.72733679e-03 7.96411224e+02] [ 8.88597116e-03 9.99960487e-01 2.51968552e-04 -4.55825647e+01] [ 5.72487191e-03 -3.02847425e-04 9.99983567e-01 4.37426370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.380714057 meters Centerline goodness : 0.985188 with order 1 Centerline is valid? [True, True] Translation: X:796.47, Y:-45.60, Z:4.36 [[ 9.99950580e-01 8.12617211e-03 -5.72735025e-03 7.96470743e+02] [-8.12486380e-03 9.99966961e-01 2.51662318e-04 -4.56043484e+01] [ 5.72920608e-03 -2.05115940e-04 9.99983567e-01 4.35703560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.440714057 meters Centerline goodness : 0.984741 with order 1 Centerline is valid? [True, True] Translation: X:796.53, Y:-45.60, Z:4.36 [[ 9.99961895e-01 6.58827197e-03 -5.72735025e-03 7.96530456e+02] [-6.58693847e-03 9.99978274e-01 2.51662318e-04 -4.56013256e+01] [ 5.72888384e-03 -2.13927025e-04 9.99983567e-01 4.36333839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.500714057 meters Centerline goodness : 0.987627 with order 1 Centerline is valid? [True, True] Translation: X:796.59, Y:-45.59, Z:4.37 [[ 9.99973689e-01 -4.45192355e-03 -5.72735951e-03 7.96588599e+02] [ 4.45343659e-03 9.99990052e-01 2.51451488e-04 -4.55862642e+01] [ 5.72618309e-03 -2.76951305e-04 9.99983567e-01 4.37489660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.560714057 meters Centerline goodness : 0.984299 with order 1 Centerline is valid? [True, True] Translation: X:796.65, Y:-45.61, Z:4.36 [[ 9.99931263e-01 1.02306420e-02 -5.72738228e-03 7.96648080e+02] [-1.02293724e-02 9.99947647e-01 2.50931604e-04 -4.56057520e+01] [ 5.72964963e-03 -1.92326829e-04 9.99983567e-01 4.36204765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.620714057 meters Centerline goodness : 0.988077 with order 1 Centerline is valid? [True, True] Translation: X:796.71, Y:-45.59, Z:4.38 [[ 9.99982830e-01 -1.23933896e-03 -5.72738680e-03 7.96706629e+02] [ 1.24079586e-03 9.99999199e-01 2.50828427e-04 -4.55885516e+01] [ 5.72707135e-03 -2.57930638e-04 9.99983567e-01 4.37513071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.680714057 meters Centerline goodness : 0.988815 with order 1 Centerline is valid? [True, True] Translation: X:796.77, Y:-45.59, Z:4.38 [[ 9.99981693e-01 1.95210967e-03 -5.72740887e-03 7.96765601e+02] [-1.95070790e-03 9.99998066e-01 2.50323515e-04 -4.55914036e+01] [ 5.72788645e-03 -2.39146430e-04 9.99983567e-01 4.37709160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.740714057 meters Centerline goodness : 0.989116 with order 1 Centerline is valid? [True, True] Translation: X:796.82, Y:-45.59, Z:4.38 [[ 9.99976651e-01 3.72743884e-03 -5.72746962e-03 7.96823436e+02] [-3.72607413e-03 9.99993027e-01 2.48925728e-04 -4.55932630e+01] [ 5.72835754e-03 -2.27578939e-04 9.99983567e-01 4.37934074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.800714057 meters Centerline goodness : 0.988008 with order 1 Centerline is valid? [True, True] Translation: X:796.88, Y:-45.60, Z:4.38 [[ 9.99971013e-01 5.01686807e-03 -5.72754183e-03 7.96880203e+02] [-5.01553405e-03 9.99987392e-01 2.47253061e-04 -4.55975487e+01] [ 5.72871005e-03 -2.18519213e-04 9.99983567e-01 4.37805463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.860714057 meters Centerline goodness : 0.989335 with order 1 Centerline is valid? [True, True] Translation: X:796.94, Y:-45.61, Z:4.38 [[ 9.99971760e-01 4.86556446e-03 -5.72759174e-03 7.96938123e+02] [-4.86423460e-03 9.99988139e-01 2.46091386e-04 -4.56052288e+01] [ 5.72872118e-03 -2.18224086e-04 9.99983567e-01 4.37581848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.920714057 meters Centerline goodness : 0.989935 with order 1 Centerline is valid? [True, True] Translation: X:797.00, Y:-45.61, Z:4.38 [[ 9.99965845e-01 5.95852758e-03 -5.72761217e-03 7.96995751e+02] [-5.95721835e-03 9.99982225e-01 2.45614895e-04 -4.56112104e+01] [ 5.72897387e-03 -2.11485869e-04 9.99983567e-01 4.37716856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.980714057 meters Centerline goodness : 0.987984 with order 1 Centerline is valid? [True, True] Translation: X:797.05, Y:-45.62, Z:4.37 [[ 9.99904045e-01 1.26133204e-02 -5.72763845e-03 7.97053589e+02] [-1.26121238e-02 9.99920434e-01 2.45000661e-04 -4.56244861e+01] [ 5.73027299e-03 -1.72739467e-04 9.99983567e-01 4.37147684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0407140570001 meters Centerline goodness : 0.989847 with order 1 Centerline is valid? [True, True] Translation: X:797.11, Y:-45.62, Z:4.38 [[ 9.99946213e-01 8.64662523e-03 -5.72770557e-03 7.97111642e+02] [-8.64537260e-03 9.99962598e-01 2.43421306e-04 -4.56242484e+01] [ 5.72959612e-03 -1.93890064e-04 9.99983567e-01 4.37607943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.100714057 meters Centerline goodness : 0.989575 with order 1 Centerline is valid? [True, True] Translation: X:797.17, Y:-45.63, Z:4.38 [[ 9.99948858e-01 8.33517612e-03 -5.72773128e-03 7.97169772e+02] [-8.33392185e-03 9.99965243e-01 2.42814736e-04 -4.56297781e+01] [ 5.72955611e-03 -1.95067853e-04 9.99983567e-01 4.37655847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1607140570001 meters Centerline goodness : 0.989431 with order 1 Centerline is valid? [True, True] Translation: X:797.23, Y:-45.64, Z:4.38 [[ 9.99963418e-01 6.35256439e-03 -5.72774786e-03 7.97228056e+02] [-6.35127988e-03 9.99979801e-01 2.42423108e-04 -4.56371023e+01] [ 5.72917217e-03 -2.06035710e-04 9.99983567e-01 4.37812327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.220714057 meters Centerline goodness : 0.989362 with order 1 Centerline is valid? [True, True] Translation: X:797.29, Y:-45.65, Z:4.38 [[ 9.99980489e-01 2.49288780e-03 -5.72776427e-03 7.97286426e+02] [-2.49154228e-03 9.99996867e-01 2.42034716e-04 -4.56460363e+01] [ 5.72834969e-03 -2.27759027e-04 9.99983567e-01 4.37907666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2807140570001 meters Centerline goodness : 0.988759 with order 1 Centerline is valid? [True, True] Translation: X:797.34, Y:-45.65, Z:4.38 [[ 9.99983396e-01 -6.33393893e-04 -5.72778145e-03 7.97344418e+02] [ 6.34788277e-04 9.99999769e-01 2.41627500e-04 -4.56524573e+01] [ 5.72762708e-03 -2.45259416e-04 9.99983567e-01 4.37915887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.340714057 meters Centerline goodness : 0.987131 with order 1 Centerline is valid? [True, True] Translation: X:797.40, Y:-45.66, Z:4.38 [[ 9.99951867e-01 -7.96591792e-03 -5.72780256e-03 7.97403430e+02] [ 7.96742947e-03 9.99968230e-01 2.41125930e-04 -4.56614467e+01] [ 5.72569980e-03 -2.86750187e-04 9.99983567e-01 4.38333375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4007140570001 meters Centerline goodness : 0.988344 with order 1 Centerline is valid? [True, True] Translation: X:797.46, Y:-45.67, Z:4.38 [[ 9.99900359e-01 -1.29021386e-02 -5.72781747e-03 7.97464067e+02] [ 1.29037289e-02 9.99916714e-01 2.40771426e-04 -4.56703636e+01] [ 5.72423395e-03 -3.14657639e-04 9.99983567e-01 4.38366820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.460714057 meters Centerline goodness : 0.989950 with order 1 Centerline is valid? [True, True] Translation: X:797.52, Y:-45.67, Z:4.38 [[ 9.99885495e-01 -1.40067832e-02 -5.72781747e-03 7.97524801e+02] [ 1.40083915e-02 9.99901849e-01 2.40771426e-04 -4.56749112e+01] [ 5.72388284e-03 -3.20981366e-04 9.99983567e-01 4.38065482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5207140570001 meters Centerline goodness : 0.989853 with order 1 Centerline is valid? [True, True] Translation: X:797.59, Y:-45.68, Z:4.38 [[ 9.99861557e-01 -1.56224087e-02 -5.72780276e-03 7.97585874e+02] [ 1.56240455e-02 9.99877908e-01 2.41120765e-04 -4.56814065e+01] [ 5.72333655e-03 -3.30578835e-04 9.99983567e-01 4.38025916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.580714057 meters Centerline goodness : 0.990441 with order 1 Centerline is valid? [True, True] Translation: X:797.65, Y:-45.69, Z:4.38 [[ 9.99876714e-01 -1.46201524e-02 -5.72779001e-03 7.97648424e+02] [ 1.46217745e-02 9.99893067e-01 2.41423141e-04 -4.56863064e+01] [ 5.72364788e-03 -3.25143831e-04 9.99983567e-01 4.38006406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6407140570001 meters Centerline goodness : 0.990231 with order 1 Centerline is valid? [True, True] Translation: X:797.71, Y:-45.69, Z:4.38 [[ 9.99892348e-01 -1.35087156e-02 -5.72776869e-03 7.97710359e+02] [ 1.35103224e-02 9.99908702e-01 2.41927936e-04 -4.56907028e+01] [ 5.72397762e-03 -3.19285893e-04 9.99983567e-01 4.38068772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.700714057 meters Centerline goodness : 0.990540 with order 1 Centerline is valid? [True, True] Translation: X:797.77, Y:-45.69, Z:4.38 [[ 9.99900262e-01 -1.29096081e-02 -5.72775117e-03 7.97772209e+02] [ 1.29112075e-02 9.99916618e-01 2.42342209e-04 -4.56945061e+01] [ 5.72414503e-03 -3.16270222e-04 9.99983567e-01 4.38103355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.760714057 meters Centerline goodness : 0.991062 with order 1 Centerline is valid? [True, True] Translation: X:797.83, Y:-45.70, Z:4.38 [[ 9.99896267e-01 -1.32154404e-02 -5.72773388e-03 7.97833922e+02] [ 1.32170471e-02 9.99912622e-01 2.42750110e-04 -4.56981111e+01] [ 5.72402535e-03 -3.18428657e-04 9.99983567e-01 4.38184165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.820714057 meters Centerline goodness : 0.989318 with order 1 Centerline is valid? [True, True] Translation: X:797.89, Y:-45.70, Z:4.38 [[ 9.99896141e-01 -1.32250059e-02 -5.72772513e-03 7.97894420e+02] [ 1.32266140e-02 9.99912495e-01 2.42956239e-04 -4.57046655e+01] [ 5.72401083e-03 -3.18689415e-04 9.99983567e-01 4.38315602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.880714057 meters Centerline goodness : 0.990590 with order 1 Centerline is valid? [True, True] Translation: X:797.96, Y:-45.71, Z:4.38 [[ 9.99903173e-01 -1.26822291e-02 -5.72771060e-03 7.97955322e+02] [ 1.26838302e-02 9.99919527e-01 2.43298298e-04 -4.57075436e+01] [ 5.72416412e-03 -3.15924049e-04 9.99983567e-01 4.38347483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.940714057 meters Centerline goodness : 0.990396 with order 1 Centerline is valid? [True, True] Translation: X:798.02, Y:-45.71, Z:4.38 [[ 9.99907423e-01 -1.23425474e-02 -5.72770064e-03 7.98017023e+02] [ 1.23441443e-02 9.99923779e-01 2.43532569e-04 -4.57074057e+01] [ 5.72425826e-03 -3.14213587e-04 9.99983567e-01 4.38332858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.000714057 meters Centerline goodness : 0.990479 with order 1 Centerline is valid? [True, True] Translation: X:798.08, Y:-45.71, Z:4.39 [[ 9.99918898e-01 -1.13750134e-02 -5.72769092e-03 7.98078487e+02] [ 1.13765957e-02 9.99935255e-01 2.43761019e-04 -4.57095071e+01] [ 5.72454730e-03 -3.08902874e-04 9.99983567e-01 4.38534354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.060714057 meters Centerline goodness : 0.987775 with order 1 Centerline is valid? [True, True] Translation: X:798.14, Y:-45.73, Z:4.38 [[ 9.99983438e-01 5.63859720e-04 -5.72768226e-03 7.98138457e+02] [-5.62471579e-04 9.99999812e-01 2.43964373e-04 -4.57266303e+01] [ 5.72781874e-03 -2.40738674e-04 9.99983567e-01 4.37959588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.120714057 meters Centerline goodness : 0.990612 with order 1 Centerline is valid? [True, True] Translation: X:798.20, Y:-45.72, Z:4.39 [[ 9.99901213e-01 -1.28358309e-02 -5.72768226e-03 7.98197100e+02] [ 1.28374383e-02 9.99917567e-01 2.43964373e-04 -4.57164076e+01] [ 5.72407862e-03 -3.17469040e-04 9.99983567e-01 4.38618830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.180714057 meters Centerline goodness : 0.987714 with order 1 Centerline is valid? [True, True] Translation: X:798.26, Y:-45.73, Z:4.38 [[ 9.99975139e-01 -4.11283465e-03 -5.72770033e-03 7.98258054e+02] [ 4.11429692e-03 9.99991507e-01 2.43539453e-04 -4.57336122e+01] [ 5.72665004e-03 -2.67098858e-04 9.99983567e-01 4.38068099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.240714057 meters Centerline goodness : 0.991381 with order 1 Centerline is valid? [True, True] Translation: X:798.32, Y:-45.72, Z:4.39 [[ 9.99890883e-01 -1.36167148e-02 -5.72769156e-03 7.98318375e+02] [ 1.36183338e-02 9.99907236e-01 2.43745407e-04 -4.57237356e+01] [ 5.72384123e-03 -3.21720426e-04 9.99983567e-01 4.38768104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.300714057 meters Centerline goodness : 0.991108 with order 1 Centerline is valid? [True, True] Translation: X:798.38, Y:-45.73, Z:4.39 [[ 9.99890968e-01 -1.36104753e-02 -5.72770011e-03 7.98380740e+02] [ 1.36120930e-02 9.99907322e-01 2.43544455e-04 -4.57270185e+01] [ 5.72385452e-03 -3.21483887e-04 9.99983567e-01 4.38738840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.360714057 meters Centerline goodness : 0.987311 with order 1 Centerline is valid? [True, True] Translation: X:798.44, Y:-45.74, Z:4.38 [[ 9.99972685e-01 -4.67152079e-03 -5.72768262e-03 7.98441400e+02] [ 4.67299458e-03 9.99989052e-01 2.43955100e-04 -4.57423120e+01] [ 5.72648027e-03 -2.70713866e-04 9.99983567e-01 4.38163005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.420714057 meters Centerline goodness : 0.987066 with order 1 Centerline is valid? [True, True] Translation: X:798.50, Y:-45.75, Z:4.38 [[ 9.99972947e-01 -4.61503515e-03 -5.72767338e-03 7.98501242e+02] [ 4.61650926e-03 9.99989314e-01 2.44171767e-04 -4.57462214e+01] [ 5.72648531e-03 -2.70607019e-04 9.99983567e-01 4.38032154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.480714057 meters Centerline goodness : 0.989796 with order 1 Centerline is valid? [True, True] Translation: X:798.56, Y:-45.74, Z:4.39 [[ 9.99848985e-01 -1.64073275e-02 -5.72768264e-03 7.98561437e+02] [ 1.64089933e-02 9.99865334e-01 2.43954389e-04 -4.57352314e+01] [ 5.72290867e-03 -3.37903055e-04 9.99983567e-01 4.38882442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5407140570001 meters Centerline goodness : 0.987526 with order 1 Centerline is valid? [True, True] Translation: X:798.62, Y:-45.75, Z:4.38 [[ 9.99942777e-01 -9.03528576e-03 -5.72767888e-03 7.98621768e+02] [ 9.03683146e-03 9.99959137e-01 2.44042707e-04 -4.57506858e+01] [ 5.72523983e-03 -2.95788811e-04 9.99983567e-01 4.38254361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.600714057 meters Centerline goodness : 0.986047 with order 1 Centerline is valid? [True, True] Translation: X:798.68, Y:-45.75, Z:4.38 [[ 9.99956120e-01 -7.41295172e-03 -5.72767009e-03 7.98682137e+02] [ 7.41447205e-03 9.99972483e-01 2.44248661e-04 -4.57542252e+01] [ 5.72570188e-03 -2.86705593e-04 9.99983567e-01 4.38217329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6607140570001 meters Centerline goodness : 0.986299 with order 1 Centerline is valid? [True, True] Translation: X:798.74, Y:-45.76, Z:4.38 [[ 9.99959124e-01 -6.99593807e-03 -5.72767009e-03 7.98741125e+02] [ 6.99745158e-03 9.99975488e-01 2.44248661e-04 -4.57578364e+01] [ 5.72582095e-03 -2.84317771e-04 9.99983567e-01 4.38217314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.720714057 meters Centerline goodness : 0.984641 with order 1 Centerline is valid? [True, True] Translation: X:798.80, Y:-45.76, Z:4.38 [[ 9.99969618e-01 -5.28749204e-03 -5.72767457e-03 7.98801041e+02] [ 5.28897699e-03 9.99985983e-01 2.44143719e-04 -4.57629018e+01] [ 5.72630338e-03 -2.74429840e-04 9.99983567e-01 4.38113647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7807140570001 meters Centerline goodness : 0.984871 with order 1 Centerline is valid? [True, True] Translation: X:798.86, Y:-45.77, Z:4.38 [[ 9.99977204e-01 -3.57565122e-03 -5.72767457e-03 7.98860183e+02] [ 3.57710816e-03 9.99993572e-01 2.44143719e-04 -4.57669940e+01] [ 5.72676478e-03 -2.64626664e-04 9.99983567e-01 4.38155340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.840714057 meters Centerline goodness : 0.983661 with order 1 Centerline is valid? [True, True] Translation: X:798.92, Y:-45.77, Z:4.38 [[ 9.99982811e-01 -1.25389061e-03 -5.72768387e-03 7.98919813e+02] [ 1.25530829e-03 9.99999182e-01 2.43925270e-04 -4.57695174e+01] [ 5.72737333e-03 -2.51111086e-04 9.99983567e-01 4.38436544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9007140570001 meters Centerline goodness : 0.984004 with order 1 Centerline is valid? [True, True] Translation: X:798.98, Y:-45.77, Z:4.39 [[ 9.99981327e-01 -2.13033577e-03 -5.72769305e-03 7.98978968e+02] [ 2.13176657e-03 9.99997698e-01 2.43709456e-04 -4.57728883e+01] [ 5.72716068e-03 -2.55915010e-04 9.99983567e-01 4.38585069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.960714057 meters Centerline goodness : 0.985242 with order 1 Centerline is valid? [True, True] Translation: X:799.04, Y:-45.77, Z:4.39 [[ 9.99930601e-01 -1.02949638e-02 -5.72771151e-03 7.99037697e+02] [ 1.02965257e-02 9.99946960e-01 2.43274873e-04 -4.57720518e+01] [ 5.72490321e-03 -3.02233519e-04 9.99983567e-01 4.38988885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0207140570001 meters Centerline goodness : 0.982221 with order 1 Centerline is valid? [True, True] Translation: X:799.10, Y:-45.77, Z:4.39 [[ 9.99808116e-01 -1.87329807e-02 -5.72772653e-03 7.99097399e+02] [ 1.87346786e-02 9.99824461e-01 2.42920730e-04 -4.57668492e+01] [ 5.72217046e-03 -3.50181233e-04 9.99983567e-01 4.39153025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.080714057 meters Centerline goodness : 0.983151 with order 1 Centerline is valid? [True, True] Translation: X:799.16, Y:-45.77, Z:4.39 [[ 9.99707456e-01 -2.34988546e-02 -5.72772653e-03 7.99158364e+02] [ 2.35006304e-02 9.99723793e-01 2.42920730e-04 -4.57680803e+01] [ 5.72043613e-03 -3.77454850e-04 9.99983567e-01 4.39239022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1407140570001 meters Centerline goodness : 0.981365 with order 1 Centerline is valid? [True, True] Translation: X:799.22, Y:-45.77, Z:4.40 [[ 9.99782157e-01 -2.00706921e-02 -5.72770903e-03 7.99220185e+02] [ 2.00724142e-02 9.99798499e-01 2.43332773e-04 -4.57738622e+01] [ 5.72167103e-03 -3.58248713e-04 9.99983567e-01 4.39601125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.200714057 meters Centerline goodness : 0.990364 with order 1 Centerline is valid? [True, True] Translation: X:799.28, Y:-45.78, Z:4.39 [[ 9.99685128e-01 -2.44302812e-02 -5.72768503e-03 7.99281262e+02] [ 2.44320777e-02 9.99701462e-01 2.43896255e-04 -4.57755657e+01] [ 5.72001665e-03 -3.83758705e-04 9.99983567e-01 4.39036086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.260714057 meters Centerline goodness : 0.990051 with order 1 Centerline is valid? [True, True] Translation: X:799.34, Y:-45.78, Z:4.39 [[ 9.99563239e-01 -2.89918255e-02 -5.72766696e-03 7.99343184e+02] [ 2.89936990e-02 9.99579564e-01 2.44319878e-04 -4.57781224e+01] [ 5.71817557e-03 -4.10279420e-04 9.99983567e-01 4.39012931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.320714057 meters Centerline goodness : 0.982132 with order 1 Centerline is valid? [True, True] Translation: X:799.41, Y:-45.78, Z:4.39 [[ 9.99553029e-01 -2.93417158e-02 -5.72764938e-03 7.99405756e+02] [ 2.93435974e-02 9.99569354e-01 2.44731257e-04 -4.57794119e+01] [ 5.71800196e-03 -4.12691706e-04 9.99983567e-01 4.39327225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.380714057 meters Centerline goodness : 0.982108 with order 1 Centerline is valid? [True, True] Translation: X:799.47, Y:-45.78, Z:4.39 [[ 9.99634257e-01 -2.64300415e-02 -5.72761794e-03 7.99466714e+02] [ 2.64318797e-02 9.99650587e-01 2.45464951e-04 -4.57796710e+01] [ 5.71912899e-03 -3.96766882e-04 9.99983567e-01 4.39319003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.440714057 meters Centerline goodness : 0.983243 with order 1 Centerline is valid? [True, True] Translation: X:799.53, Y:-45.78, Z:4.39 [[ 9.99675794e-01 -2.48093125e-02 -5.72759896e-03 7.99528960e+02] [ 2.48111268e-02 9.99692126e-01 2.45906953e-04 -4.57775937e+01] [ 5.71973480e-03 -3.87935412e-04 9.99983567e-01 4.39433791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.500714057 meters Centerline goodness : 0.987826 with order 1 Centerline is valid? [True, True] Translation: X:799.59, Y:-45.78, Z:4.40 [[ 9.99856397e-01 -1.59493327e-02 -5.72757577e-03 7.99589815e+02] [ 1.59510052e-02 9.99872744e-01 2.46446032e-04 -4.57801246e+01] [ 5.72291625e-03 -3.37771233e-04 9.99983567e-01 4.39804804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.560714057 meters Centerline goodness : 0.990266 with order 1 Centerline is valid? [True, True] Translation: X:799.65, Y:-45.78, Z:4.40 [[ 9.99845959e-01 -1.65907730e-02 -5.72755864e-03 7.99651785e+02] [ 1.65924582e-02 9.99862305e-01 2.46843508e-04 -4.57765865e+01] [ 5.72267466e-03 -3.41839762e-04 9.99983567e-01 4.39563230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.620714057 meters Centerline goodness : 0.990203 with order 1 Centerline is valid? [True, True] Translation: X:799.71, Y:-45.78, Z:4.39 [[ 9.99869654e-01 -1.50954071e-02 -5.72753834e-03 7.99713772e+02] [ 1.50970706e-02 9.99886002e-01 2.47313556e-04 -4.57778437e+01] [ 5.72315212e-03 -3.33750370e-04 9.99983567e-01 4.39499697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.680714057 meters Centerline goodness : 0.990231 with order 1 Centerline is valid? [True, True] Translation: X:799.78, Y:-45.78, Z:4.40 [[ 9.99872405e-01 -1.49120696e-02 -5.72752037e-03 7.99776436e+02] [ 1.49137325e-02 9.99888753e-01 2.47729137e-04 -4.57783593e+01] [ 5.72318904e-03 -3.33116234e-04 9.99983567e-01 4.39518875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.740714057 meters Centerline goodness : 0.991525 with order 1 Centerline is valid? [True, True] Translation: X:799.84, Y:-45.78, Z:4.40 [[ 9.99893584e-01 -1.34170314e-02 -5.72750225e-03 7.99837318e+02] [ 1.34186723e-02 9.99909935e-01 2.48147212e-04 -4.57792116e+01] [ 5.72365701e-03 -3.24976280e-04 9.99983567e-01 4.39599071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.800714057 meters Centerline goodness : 0.992013 with order 1 Centerline is valid? [True, True] Translation: X:799.90, Y:-45.78, Z:4.40 [[ 9.99925400e-01 -1.07884664e-02 -5.72748886e-03 7.99899926e+02] [ 1.07900660e-02 9.99941755e-01 2.48455923e-04 -4.57805896e+01] [ 5.72447480e-03 -3.10237371e-04 9.99983567e-01 4.39728851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.860714057 meters Centerline goodness : 0.991688 with order 1 Centerline is valid? [True, True] Translation: X:799.96, Y:-45.78, Z:4.40 [[ 9.99947540e-01 -8.49200197e-03 -5.72747096e-03 7.99960980e+02] [ 8.49356635e-03 9.99963898e-01 2.48867855e-04 -4.57826867e+01] [ 5.72515080e-03 -2.97501454e-04 9.99983567e-01 4.39828405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.920714057 meters Centerline goodness : 0.990308 with order 1 Centerline is valid? [True, True] Translation: X:800.02, Y:-45.78, Z:4.40 [[ 9.99965823e-01 -5.96228873e-03 -5.72746216e-03 8.00021740e+02] [ 5.96381288e-03 9.99982185e-01 2.49070356e-04 -4.57847578e+01] [ 5.72587509e-03 -2.83219356e-04 9.99983567e-01 4.39852016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.980714057 meters Centerline goodness : 0.990117 with order 1 Centerline is valid? [True, True] Translation: X:800.08, Y:-45.79, Z:4.40 [[ 9.99972024e-01 -4.81113531e-03 -5.72745782e-03 8.00080968e+02] [ 4.81264120e-03 9.99988388e-01 2.49169936e-04 -4.57902263e+01] [ 5.72619253e-03 -2.76727165e-04 9.99983567e-01 4.40057535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0407140570001 meters Centerline goodness : 0.991088 with order 1 Centerline is valid? [True, True] Translation: X:800.14, Y:-45.79, Z:4.40 [[ 9.99961198e-01 -6.69321824e-03 -5.72746280e-03 8.00140232e+02] [ 6.69475427e-03 9.99977559e-01 2.49055584e-04 -4.57908824e+01] [ 5.72566728e-03 -2.87389876e-04 9.99983567e-01 4.39823376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.100714057 meters Centerline goodness : 0.990870 with order 1 Centerline is valid? [True, True] Translation: X:800.20, Y:-45.79, Z:4.40 [[ 9.99954576e-01 -7.61856926e-03 -5.72746777e-03 8.00200944e+02] [ 7.62011977e-03 9.99970935e-01 2.48941133e-04 -4.57934444e+01] [ 5.72540473e-03 -2.92573815e-04 9.99983567e-01 4.39862472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1607140570001 meters Centerline goodness : 0.990506 with order 1 Centerline is valid? [True, True] Translation: X:800.26, Y:-45.80, Z:4.40 [[ 9.99935845e-01 -9.77255261e-03 -5.72746777e-03 8.00261275e+02] [ 9.77413835e-03 9.99952201e-01 2.48941132e-04 -4.57963440e+01] [ 5.72476121e-03 -3.04906224e-04 9.99983567e-01 4.39966288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.220714057 meters Centerline goodness : 0.989553 with order 1 Centerline is valid? [True, True] Translation: X:800.32, Y:-45.80, Z:4.40 [[ 9.99891420e-01 -1.35773553e-02 -5.72746777e-03 8.00321061e+02] [ 1.35790032e-02 9.99907770e-01 2.48941132e-04 -4.58015613e+01] [ 5.72355956e-03 -3.26687406e-04 9.99983567e-01 4.40150228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2807140570001 meters Centerline goodness : 0.989519 with order 1 Centerline is valid? [True, True] Translation: X:800.38, Y:-45.80, Z:4.40 [[ 9.99815488e-01 -1.83353922e-02 -5.72745145e-03 8.00383091e+02] [ 1.83371201e-02 9.99831830e-01 2.49316011e-04 -4.58017161e+01] [ 5.72191696e-03 -3.54294974e-04 9.99983567e-01 4.40091233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.340714057 meters Centerline goodness : 0.990597 with order 1 Centerline is valid? [True, True] Translation: X:800.44, Y:-45.80, Z:4.40 [[ 9.99751755e-01 -2.15319295e-02 -5.72743166e-03 8.00444920e+02] [ 2.15337122e-02 9.99768092e-01 2.49769960e-04 -4.58048252e+01] [ 5.72072539e-03 -3.73040821e-04 9.99983567e-01 4.40025227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4007140570001 meters Centerline goodness : 0.988476 with order 1 Centerline is valid? [True, True] Translation: X:800.51, Y:-45.81, Z:4.40 [[ 9.99745781e-01 -2.18075758e-02 -5.72741357e-03 8.00506502e+02] [ 2.18093654e-02 9.99762116e-01 2.50183988e-04 -4.58117957e+01] [ 5.72059521e-03 -3.75031641e-04 9.99983567e-01 4.40020748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.460714057 meters Centerline goodness : 0.990424 with order 1 Centerline is valid? [True, True] Translation: X:800.57, Y:-45.81, Z:4.40 [[ 9.99716373e-01 -2.31164790e-02 -5.72738803e-03 8.00567833e+02] [ 2.31182933e-02 9.99732705e-01 2.50767298e-04 -4.58094237e+01] [ 5.72006027e-03 -3.83103610e-04 9.99983567e-01 4.40018293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5207140570001 meters Centerline goodness : 0.989872 with order 1 Centerline is valid? [True, True] Translation: X:800.63, Y:-45.81, Z:4.40 [[ 9.99773910e-01 -2.04774661e-02 -5.72737264e-03 8.00629877e+02] [ 2.04792393e-02 9.99790247e-01 2.51118414e-04 -4.58106903e+01] [ 5.72102903e-03 -3.68353873e-04 9.99983567e-01 4.40015628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.580714057 meters Centerline goodness : 0.988959 with order 1 Centerline is valid? [True, True] Translation: X:800.69, Y:-45.81, Z:4.40 [[ 9.99848284e-01 -1.64501343e-02 -5.72735505e-03 8.00692587e+02] [ 1.64518440e-02 9.99864628e-01 2.51518788e-04 -4.58109504e+01] [ 5.72244221e-03 -3.45706180e-04 9.99983567e-01 4.40157607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6407140570001 meters Centerline goodness : 0.989295 with order 1 Centerline is valid? [True, True] Translation: X:800.75, Y:-45.81, Z:4.40 [[ 9.99910129e-01 -1.21215617e-02 -5.72733754e-03 8.00754623e+02] [ 1.21232029e-02 9.99926480e-01 2.51916871e-04 -4.58097630e+01] [ 5.72386284e-03 -3.21327906e-04 9.99983567e-01 4.40381952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.700714057 meters Centerline goodness : 0.989455 with order 1 Centerline is valid? [True, True] Translation: X:800.82, Y:-45.81, Z:4.40 [[ 9.99926616e-01 -1.06752662e-02 -5.72732023e-03 8.00816544e+02] [ 1.06768859e-02 9.99942969e-01 2.52309896e-04 -4.58099629e+01] [ 5.72430012e-03 -3.13441325e-04 9.99983567e-01 4.40491855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.760714057 meters Centerline goodness : 0.989775 with order 1 Centerline is valid? [True, True] Translation: X:800.88, Y:-45.81, Z:4.40 [[ 9.99895368e-01 -1.32834531e-02 -5.72730221e-03 8.00878173e+02] [ 1.32851178e-02 9.99911717e-01 2.52718278e-04 -4.58101679e+01] [ 5.72343961e-03 -3.28779720e-04 9.99983567e-01 4.40324374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.820714057 meters Centerline goodness : 0.990336 with order 1 Centerline is valid? [True, True] Translation: X:800.94, Y:-45.81, Z:4.40 [[ 9.99842930e-01 -1.67724150e-02 -5.72729318e-03 8.00938991e+02] [ 1.67741379e-02 9.99859272e-01 2.52922813e-04 -4.58125668e+01] [ 5.72224506e-03 -3.48953492e-04 9.99983567e-01 4.40270108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.880714057 meters Centerline goodness : 0.989971 with order 1 Centerline is valid? [True, True] Translation: X:801.00, Y:-45.81, Z:4.40 [[ 9.99745516e-01 -2.18197284e-02 -5.72727975e-03 8.01001721e+02] [ 2.18215356e-02 9.99761850e-01 2.53226385e-04 -4.58144473e+01] [ 5.72039047e-03 -3.78139982e-04 9.99983567e-01 4.40404258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.940714057 meters Centerline goodness : 0.989421 with order 1 Centerline is valid? [True, True] Translation: X:801.06, Y:-45.81, Z:4.40 [[ 9.99751964e-01 -2.15222771e-02 -5.72725232e-03 8.01063832e+02] [ 2.15240829e-02 9.99768298e-01 2.53845289e-04 -4.58149210e+01] [ 5.72046198e-03 -3.77056181e-04 9.99983567e-01 4.40494663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.000714057 meters Centerline goodness : 0.987711 with order 1 Centerline is valid? [True, True] Translation: X:801.13, Y:-45.82, Z:4.41 [[ 9.99832578e-01 -1.73785867e-02 -5.72723416e-03 8.01125993e+02] [ 1.73803272e-02 9.99848918e-01 2.54254394e-04 -4.58198679e+01] [ 5.72195030e-03 -3.53753030e-04 9.99983567e-01 4.40507743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.060714057 meters Centerline goodness : 0.990415 with order 1 Centerline is valid? [True, True] Translation: X:801.19, Y:-45.82, Z:4.41 [[ 9.99849695e-01 -1.63641569e-02 -5.72720543e-03 8.01187714e+02] [ 1.63658844e-02 9.99866037e-01 2.54899900e-04 -4.58154670e+01] [ 5.72226698e-03 -3.48592370e-04 9.99983567e-01 4.40617708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.120714057 meters Centerline goodness : 0.990226 with order 1 Centerline is valid? [True, True] Translation: X:801.25, Y:-45.82, Z:4.41 [[ 9.99863734e-01 -1.54826888e-02 -5.72717105e-03 8.01250156e+02] [ 1.54844064e-02 9.99880077e-01 2.55670007e-04 -4.58164824e+01] [ 5.72252577e-03 -3.44317012e-04 9.99983567e-01 4.40661996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.180714057 meters Centerline goodness : 0.990905 with order 1 Centerline is valid? [True, True] Translation: X:801.31, Y:-45.82, Z:4.41 [[ 9.99872575e-01 -1.49007797e-02 -5.72715312e-03 8.01312404e+02] [ 1.49024901e-02 9.99888919e-01 2.56071109e-04 -4.58184122e+01] [ 5.72270128e-03 -3.41387322e-04 9.99983567e-01 4.40676436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.240714057 meters Centerline goodness : 0.989845 with order 1 Centerline is valid? [True, True] Translation: X:801.37, Y:-45.82, Z:4.40 [[ 9.99868105e-01 -1.51977951e-02 -5.72713546e-03 8.01373926e+02] [ 1.51995125e-02 9.99884448e-01 2.56465555e-04 -4.58198979e+01] [ 5.72257596e-03 -3.43481395e-04 9.99983567e-01 4.40469034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.300714057 meters Centerline goodness : 0.988758 with order 1 Centerline is valid? [True, True] Translation: X:801.44, Y:-45.83, Z:4.40 [[ 9.99876012e-01 -1.46683815e-02 -5.72712236e-03 8.01435573e+02] [ 1.46700920e-02 9.99892355e-01 2.56757684e-04 -4.58262511e+01] [ 5.72273965e-03 -3.40743261e-04 9.99983567e-01 4.40330204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.360714057 meters Centerline goodness : 0.990554 with order 1 Centerline is valid? [True, True] Translation: X:801.50, Y:-45.82, Z:4.41 [[ 9.99848198e-01 -1.64554085e-02 -5.72710211e-03 8.01497869e+02] [ 1.64571507e-02 9.99864539e-01 2.57208458e-04 -4.58242068e+01] [ 5.72209384e-03 -3.51421196e-04 9.99983567e-01 4.40683325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.420714057 meters Centerline goodness : 0.989887 with order 1 Centerline is valid? [True, True] Translation: X:801.56, Y:-45.83, Z:4.41 [[ 9.99851058e-01 -1.62807075e-02 -5.72708165e-03 8.01560223e+02] [ 1.62824494e-02 9.99867399e-01 2.57663334e-04 -4.58262345e+01] [ 5.72212729e-03 -3.50875875e-04 9.99983567e-01 4.40792854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.480714057 meters Centerline goodness : 0.989861 with order 1 Centerline is valid? [True, True] Translation: X:801.62, Y:-45.83, Z:4.41 [[ 9.99843963e-01 -1.67108001e-02 -5.72706306e-03 8.01622075e+02] [ 1.67125515e-02 9.99860302e-01 2.58075848e-04 -4.58278188e+01] [ 5.72195035e-03 -3.53749415e-04 9.99983567e-01 4.40712051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5407140570001 meters Centerline goodness : 0.989810 with order 1 Centerline is valid? [True, True] Translation: X:801.68, Y:-45.83, Z:4.41 [[ 9.99812226e-01 -1.85125257e-02 -5.72704461e-03 8.01684119e+02] [ 1.85143088e-02 9.99828562e-01 2.58484597e-04 -4.58300415e+01] [ 5.72127758e-03 -3.64468332e-04 9.99983567e-01 4.40733097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.600714057 meters Centerline goodness : 0.990143 with order 1 Centerline is valid? [True, True] Translation: X:801.75, Y:-45.83, Z:4.41 [[ 9.99760660e-01 -2.11145614e-02 -5.72702639e-03 8.01745643e+02] [ 2.11163894e-02 9.99776991e-01 2.58887681e-04 -4.58326880e+01] [ 5.72028291e-03 -3.79759838e-04 9.99983567e-01 4.40919200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6607140570001 meters Centerline goodness : 0.986142 with order 1 Centerline is valid? [True, True] Translation: X:801.81, Y:-45.85, Z:4.40 [[ 9.99911326e-01 -1.20225193e-02 -5.72701289e-03 8.01807405e+02] [ 1.20242003e-02 9.99927673e-01 2.59185973e-04 -4.58488112e+01] [ 5.72348261e-03 -3.28025740e-04 9.99983567e-01 4.40444806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.720714057 meters Centerline goodness : 0.989672 with order 1 Centerline is valid? [True, True] Translation: X:801.87, Y:-45.84, Z:4.41 [[ 9.99793681e-01 -1.94883906e-02 -5.72699294e-03 8.01868780e+02] [ 1.94901962e-02 9.99810014e-01 2.59626100e-04 -4.58386903e+01] [ 5.72084520e-03 -3.71192750e-04 9.99983567e-01 4.40888611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7807140570001 meters Centerline goodness : 0.982489 with order 1 Centerline is valid? [True, True] Translation: X:801.93, Y:-45.84, Z:4.41 [[ 9.99843431e-01 -1.67426283e-02 -5.72692969e-03 8.01930933e+02] [ 1.67443969e-02 9.99859769e-01 2.61013797e-04 -4.58408082e+01] [ 5.72175654e-03 -3.56866914e-04 9.99983567e-01 4.40599131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.840714057 meters Centerline goodness : 0.983472 with order 1 Centerline is valid? [True, True] Translation: X:801.99, Y:-45.84, Z:4.41 [[ 9.99876163e-01 -1.46581779e-02 -5.72689876e-03 8.01991695e+02] [ 1.46599163e-02 9.99892503e-01 2.61690825e-04 -4.58432189e+01] [ 5.72244722e-03 -3.45614274e-04 9.99983567e-01 4.40706347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9007140570001 meters Centerline goodness : 0.983121 with order 1 Centerline is valid? [True, True] Translation: X:802.05, Y:-45.85, Z:4.41 [[ 9.99917991e-01 -1.14549169e-02 -5.72688009e-03 8.02053736e+02] [ 1.14566053e-02 9.99934337e-01 2.62098562e-04 -4.58451144e+01] [ 5.72350173e-03 -3.27687672e-04 9.99983567e-01 4.40715694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.960714057 meters Centerline goodness : 0.991983 with order 1 Centerline is valid? [True, True] Translation: X:802.11, Y:-45.85, Z:4.41 [[ 9.99927053e-01 -1.06344484e-02 -5.72685550e-03 8.02113527e+02] [ 1.06361265e-02 9.99943400e-01 2.62634760e-04 -4.58496340e+01] [ 5.72373839e-03 -3.23527161e-04 9.99983567e-01 4.40704332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0207140570001 meters Centerline goodness : 0.991151 with order 1 Centerline is valid? [True, True] Translation: X:802.17, Y:-45.85, Z:4.41 [[ 9.99920366e-01 -1.12456410e-02 -5.72684944e-03 8.02174971e+02] [ 1.12473298e-02 9.99936712e-01 2.62766929e-04 -4.58521832e+01] [ 5.72353202e-03 -3.27157768e-04 9.99983567e-01 4.40713988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.080714057 meters Centerline goodness : 0.982792 with order 1 Centerline is valid? [True, True] Translation: X:802.24, Y:-45.85, Z:4.41 [[ 9.99865407e-01 -1.53743530e-02 -5.72684041e-03 8.02236773e+02] [ 1.53761104e-02 9.99881746e-01 2.62963566e-04 -4.58534631e+01] [ 5.72212029e-03 -3.50984703e-04 9.99983567e-01 4.40878341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1407140570001 meters Centerline goodness : 0.989227 with order 1 Centerline is valid? [True, True] Translation: X:802.30, Y:-45.86, Z:4.41 [[ 9.99895203e-01 -1.32960913e-02 -5.72682210e-03 8.02298646e+02] [ 1.32978170e-02 9.99911545e-01 2.63361688e-04 -4.58627416e+01] [ 5.72281386e-03 -3.39488321e-04 9.99983567e-01 4.41351242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.200714057 meters Centerline goodness : 0.991080 with order 1 Centerline is valid? [True, True] Translation: X:802.36, Y:-45.86, Z:4.41 [[ 9.99883399e-01 -1.41560207e-02 -5.72679457e-03 8.02360130e+02] [ 1.41577639e-02 9.99899739e-01 2.63959003e-04 -4.58628316e+01] [ 5.72248379e-03 -3.45006831e-04 9.99983567e-01 4.41080147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.260714057 meters Centerline goodness : 0.988883 with order 1 Centerline is valid? [True, True] Translation: X:802.42, Y:-45.87, Z:4.41 [[ 9.99918800e-01 -1.13841129e-02 -5.72677855e-03 8.02421485e+02] [ 1.13858128e-02 9.99935145e-01 2.64306124e-04 -4.58699543e+01] [ 5.72339825e-03 -3.29488690e-04 9.99983567e-01 4.41224140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.320714057 meters Centerline goodness : 0.986506 with order 1 Centerline is valid? [True, True] Translation: X:802.48, Y:-45.88, Z:4.41 [[ 9.99981750e-01 -1.92477250e-03 -5.72676282e-03 8.02482578e+02] [ 1.92631958e-03 9.99998110e-01 2.64646566e-04 -4.58797693e+01] [ 5.72624261e-03 -2.75673312e-04 9.99983567e-01 4.41180496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.380714057 meters Centerline goodness : 0.989725 with order 1 Centerline is valid? [True, True] Translation: X:802.54, Y:-45.87, Z:4.41 [[ 9.99973528e-01 -4.48859920e-03 -5.72675150e-03 8.02541313e+02] [ 4.49018962e-03 9.99989884e-01 2.64891268e-04 -4.58724719e+01] [ 5.72550458e-03 -2.90598456e-04 9.99983567e-01 4.41307663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.440714057 meters Centerline goodness : 0.989928 with order 1 Centerline is valid? [True, True] Translation: X:802.60, Y:-45.88, Z:4.41 [[ 9.99979473e-01 -2.87371835e-03 -5.72676632e-03 8.02600981e+02] [ 2.87528052e-03 9.99995831e-01 2.64570517e-04 -4.58763684e+01] [ 5.72598214e-03 -2.81031146e-04 9.99983567e-01 4.41215273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.500714057 meters Centerline goodness : 0.989826 with order 1 Centerline is valid? [True, True] Translation: X:802.66, Y:-45.88, Z:4.41 [[ 9.99955148e-01 -7.54354525e-03 -5.72677582e-03 8.02658995e+02] [ 7.54518263e-03 9.99971500e-01 2.64364697e-04 -4.58813672e+01] [ 5.72461836e-03 -3.07562409e-04 9.99983567e-01 4.41066450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.560714057 meters Centerline goodness : 0.990545 with order 1 Centerline is valid? [True, True] Translation: X:802.72, Y:-45.89, Z:4.41 [[ 9.99895622e-01 -1.32645657e-02 -5.72678982e-03 8.02719399e+02] [ 1.32662948e-02 9.99911964e-01 2.64060974e-04 -4.58872064e+01] [ 5.72278301e-03 -3.40006694e-04 9.99983567e-01 4.41204691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.620714057 meters Centerline goodness : 0.990540 with order 1 Centerline is valid? [True, True] Translation: X:802.78, Y:-45.89, Z:4.41 [[ 9.99849862e-01 -1.63541517e-02 -5.72678982e-03 8.02781679e+02] [ 1.63559314e-02 9.99866198e-01 2.64060974e-04 -4.58917628e+01] [ 5.72170507e-03 -3.57688310e-04 9.99983567e-01 4.41329871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.680714057 meters Centerline goodness : 0.990747 with order 1 Centerline is valid? [True, True] Translation: X:802.84, Y:-45.90, Z:4.41 [[ 9.99792922e-01 -1.95273588e-02 -5.72677052e-03 8.02842410e+02] [ 1.95291927e-02 9.99809252e-01 2.64478995e-04 -4.58968962e+01] [ 5.72051357e-03 -3.76263433e-04 9.99983567e-01 4.41355106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.740714057 meters Centerline goodness : 0.989724 with order 1 Centerline is valid? [True, True] Translation: X:802.90, Y:-45.90, Z:4.41 [[ 9.99736457e-01 -2.22310619e-02 -5.72673818e-03 8.02904508e+02] [ 2.22329439e-02 9.99752782e-01 2.65177467e-04 -4.59011683e+01] [ 5.71942725e-03 -3.92429830e-04 9.99983567e-01 4.41347789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.800714057 meters Centerline goodness : 0.989413 with order 1 Centerline is valid? [True, True] Translation: X:802.97, Y:-45.90, Z:4.41 [[ 9.99680886e-01 -2.46034679e-02 -5.72671915e-03 8.02966694e+02] [ 2.46053910e-02 9.99697206e-01 2.65587699e-04 -4.59049619e+01] [ 5.71845076e-03 -4.06411110e-04 9.99983567e-01 4.41322840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.860714057 meters Centerline goodness : 0.989407 with order 1 Centerline is valid? [True, True] Translation: X:803.03, Y:-45.91, Z:4.41 [[ 9.99648467e-01 -2.58872104e-02 -5.72670025e-03 8.03029181e+02] [ 2.58891568e-02 9.99664784e-01 2.65994589e-04 -4.59106859e+01] [ 5.71789471e-03 -4.14160523e-04 9.99983567e-01 4.41291045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.920714057 meters Centerline goodness : 0.986373 with order 1 Centerline is valid? [True, True] Translation: X:803.09, Y:-45.92, Z:4.41 [[ 9.99804188e-01 -1.89417977e-02 -5.72666777e-03 8.03090504e+02] [ 1.89436347e-02 9.99820518e-01 2.66692012e-04 -4.59213955e+01] [ 5.72058831e-03 -3.75123692e-04 9.99983567e-01 4.41133872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.980714057 meters Centerline goodness : 0.986308 with order 1 Centerline is valid? [True, True] Translation: X:803.15, Y:-45.92, Z:4.41 [[ 9.99726995e-01 -2.26526081e-02 -5.72664407e-03 8.03153154e+02] [ 2.26545086e-02 9.99743318e-01 2.67199958e-04 -4.59218201e+01] [ 5.71912137e-03 -3.96861318e-04 9.99983567e-01 4.41229567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0407140570001 meters Centerline goodness : 0.990191 with order 1 Centerline is valid? [True, True] Translation: X:803.22, Y:-45.91, Z:4.41 [[ 9.99465848e-01 -3.21749116e-02 -5.72662347e-03 8.03215321e+02] [ 3.21769700e-02 9.99482151e-01 2.67640704e-04 -4.59112393e+01] [ 5.71504663e-03 -4.51763134e-04 9.99983567e-01 4.41263197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.100714057 meters Centerline goodness : 0.987134 with order 1 Centerline is valid? [True, True] Translation: X:803.28, Y:-45.92, Z:4.42 [[ 9.99605189e-01 -2.75076656e-02 -5.72657255e-03 8.03277581e+02] [ 2.75096539e-02 9.99621502e-01 2.68725926e-04 -4.59190193e+01] [ 5.71701303e-03 -4.26155859e-04 9.99983567e-01 4.41564351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1607140570001 meters Centerline goodness : 0.987611 with order 1 Centerline is valid? [True, True] Translation: X:803.34, Y:-45.92, Z:4.41 [[ 9.99642459e-01 -2.61182286e-02 -5.72654156e-03 8.03339469e+02] [ 2.61201981e-02 9.99658773e-01 2.69384549e-04 -4.59186458e+01] [ 5.71755167e-03 -4.18866633e-04 9.99983567e-01 4.41424322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.220714057 meters Centerline goodness : 0.987465 with order 1 Centerline is valid? [True, True] Translation: X:803.40, Y:-45.92, Z:4.41 [[ 9.99661874e-01 -2.53642367e-02 -5.72652063e-03 8.03402199e+02] [ 2.53661964e-02 9.99678190e-01 2.69828752e-04 -4.59189650e+01] [ 5.71783378e-03 -4.14997563e-04 9.99983567e-01 4.41474643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2807140570001 meters Centerline goodness : 0.988322 with order 1 Centerline is valid? [True, True] Translation: X:803.46, Y:-45.92, Z:4.42 [[ 9.99651698e-01 -2.57621667e-02 -5.72649974e-03 8.03463873e+02] [ 2.57641354e-02 9.99668013e-01 2.70271492e-04 -4.59163048e+01] [ 5.71763584e-03 -4.17715671e-04 9.99983567e-01 4.41657363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.340714057 meters Centerline goodness : 0.988881 with order 1 Centerline is valid? [True, True] Translation: X:803.53, Y:-45.91, Z:4.42 [[ 9.99754644e-01 -2.13976537e-02 -5.72648428e-03 8.03525861e+02] [ 2.13995531e-02 9.99770967e-01 2.70598702e-04 -4.59126747e+01] [ 5.71938254e-03 -3.93076513e-04 9.99983567e-01 4.41834662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4007140570001 meters Centerline goodness : 0.988272 with order 1 Centerline is valid? [True, True] Translation: X:803.59, Y:-45.91, Z:4.42 [[ 9.99911070e-01 -1.20440951e-02 -5.72646441e-03 8.03588288e+02] [ 1.20458440e-02 9.99927409e-01 2.71018456e-04 -4.59083989e+01] [ 5.72278455e-03 -3.39974452e-04 9.99983567e-01 4.41718274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.460714057 meters Centerline goodness : 0.987797 with order 1 Centerline is valid? [True, True] Translation: X:803.65, Y:-45.91, Z:4.42 [[ 9.99982392e-01 -1.55680335e-03 -5.72644347e-03 8.03649901e+02] [ 1.55838334e-03 9.99998749e-01 2.71460288e-04 -4.59053330e+01] [ 5.72601369e-03 -2.80379502e-04 9.99983567e-01 4.42004130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5207140570001 meters Centerline goodness : 0.990123 with order 1 Centerline is valid? [True, True] Translation: X:803.71, Y:-45.90, Z:4.42 [[ 9.99978310e-01 -3.25396230e-03 -5.72643304e-03 8.03709417e+02] [ 3.25557131e-03 9.99994664e-01 2.71679961e-04 -4.58956165e+01] [ 5.72551845e-03 -2.90316879e-04 9.99983567e-01 4.41514471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.580714057 meters Centerline goodness : 0.989793 with order 1 Centerline is valid? [True, True] Translation: X:803.77, Y:-45.90, Z:4.42 [[ 9.99982849e-01 -1.22884149e-03 -5.72644394e-03 8.03769075e+02] [ 1.23041606e-03 9.99999206e-01 2.71450067e-04 -4.58963283e+01] [ 5.72610583e-03 -2.78491320e-04 9.99983567e-01 4.41593001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6407140570001 meters Centerline goodness : 0.986169 with order 1 Centerline is valid? [True, True] Translation: X:803.83, Y:-45.91, Z:4.41 [[ 9.99970990e-01 5.02260720e-03 -5.72645357e-03 8.03826931e+02] [-5.02113608e-03 9.99987357e-01 2.71246705e-04 -4.59088907e+01] [ 5.72774354e-03 -2.42485534e-04 9.99983567e-01 4.41489165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.700714057 meters Centerline goodness : 0.986503 with order 1 Centerline is valid? [True, True] Translation: X:803.89, Y:-45.91, Z:4.41 [[ 9.99983065e-01 1.03768808e-03 -5.72652189e-03 8.03885785e+02] [-1.03616003e-03 9.99999427e-01 2.69796690e-04 -4.59137601e+01] [ 5.72679857e-03 -2.63858528e-04 9.99983567e-01 4.41218946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.760714057 meters Centerline goodness : 0.988280 with order 1 Centerline is valid? [True, True] Translation: X:803.94, Y:-45.91, Z:4.42 [[ 9.99878508e-01 -1.44974479e-02 -5.72654222e-03 8.03944671e+02] [ 1.44992275e-02 9.99894844e-01 2.69364508e-04 -4.59102014e+01] [ 5.72203494e-03 -3.52362221e-04 9.99983567e-01 4.41753276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.820714057 meters Centerline goodness : 0.989864 with order 1 Centerline is valid? [True, True] Translation: X:804.01, Y:-45.91, Z:4.41 [[ 9.99820170e-01 -1.80785473e-02 -5.72656482e-03 8.04005360e+02] [ 1.80803826e-02 9.99836500e-01 2.68883050e-04 -4.59149516e+01] [ 5.72076752e-03 -3.72373180e-04 9.99983567e-01 4.41416976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.880714057 meters Centerline goodness : 0.989354 with order 1 Centerline is valid? [True, True] Translation: X:804.07, Y:-45.92, Z:4.41 [[ 9.99801510e-01 -1.90826284e-02 -5.72654776e-03 8.04067309e+02] [ 1.90844822e-02 9.99817838e-01 2.69246015e-04 -4.59194521e+01] [ 5.72036668e-03 -3.78480771e-04 9.99983567e-01 4.41422412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.940714057 meters Centerline goodness : 0.990678 with order 1 Centerline is valid? [True, True] Translation: X:804.13, Y:-45.92, Z:4.41 [[ 9.99820812e-01 -1.80430180e-02 -5.72652831e-03 8.04129098e+02] [ 1.80448572e-02 9.99837142e-01 2.69659058e-04 -4.59235799e+01] [ 5.72073023e-03 -3.72945124e-04 9.99983567e-01 4.41430121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.000714057 meters Centerline goodness : 0.987471 with order 1 Centerline is valid? [True, True] Translation: X:804.19, Y:-45.94, Z:4.41 [[ 9.99976554e-01 -3.75487244e-03 -5.72650910e-03 8.04190844e+02] [ 3.75648042e-03 9.99992908e-01 2.70066444e-04 -4.59402257e+01] [ 5.72545442e-03 -2.91571631e-04 9.99983567e-01 4.40870830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.060714057 meters Centerline goodness : 0.986898 with order 1 Centerline is valid? [True, True] Translation: X:804.25, Y:-45.94, Z:4.41 [[ 9.99983591e-01 -1.56298501e-04 -5.72648819e-03 8.04249539e+02] [ 1.57850149e-04 9.99999951e-01 2.70508931e-04 -4.59439260e+01] [ 5.72644563e-03 -2.71408419e-04 9.99983567e-01 4.40906695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.120714057 meters Centerline goodness : 0.990923 with order 1 Centerline is valid? [True, True] Translation: X:804.31, Y:-45.94, Z:4.42 [[ 9.99983307e-01 -7.70259386e-04 -5.72650332e-03 8.04307429e+02] [ 7.71819247e-04 9.99999666e-01 2.70188336e-04 -4.59353159e+01] [ 5.72629329e-03 -2.74603651e-04 9.99983567e-01 4.41538183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.180714057 meters Centerline goodness : 0.990130 with order 1 Centerline is valid? [True, True] Translation: X:804.37, Y:-45.94, Z:4.42 [[ 9.99981138e-01 2.22063138e-03 -5.72652733e-03 8.04366185e+02] [-2.21912337e-03 9.99997501e-01 2.69678482e-04 -4.59395337e+01] [ 5.72711188e-03 -2.56965524e-04 9.99983567e-01 4.41541775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.240714057 meters Centerline goodness : 0.991402 with order 1 Centerline is valid? [True, True] Translation: X:804.42, Y:-45.94, Z:4.41 [[ 9.99978545e-01 3.18063466e-03 -5.72659468e-03 8.04422852e+02] [-3.17915058e-03 9.99994911e-01 2.68240697e-04 -4.59441211e+01] [ 5.72741871e-03 -2.50029235e-04 9.99983567e-01 4.41409505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.300714057 meters Centerline goodness : 0.987045 with order 1 Centerline is valid? [True, True] Translation: X:804.48, Y:-45.96, Z:4.41 [[ 9.99943483e-01 8.95748530e-03 -5.72662767e-03 8.04480135e+02] [-8.95609983e-03 9.99959858e-01 2.67534476e-04 -4.59602101e+01] [ 5.72879423e-03 -2.16231107e-04 9.99983567e-01 4.41338678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.360714057 meters Centerline goodness : 0.988202 with order 1 Centerline is valid? [True, True] Translation: X:804.54, Y:-45.96, Z:4.42 [[ 9.99974970e-01 4.15500653e-03 -5.72670525e-03 8.04539426e+02] [-4.15355199e-03 9.99991339e-01 2.65863530e-04 -4.59616816e+01] [ 5.72776031e-03 -2.42070707e-04 9.99983567e-01 4.42111203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.420714057 meters Centerline goodness : 0.988381 with order 1 Centerline is valid? [True, True] Translation: X:804.60, Y:-45.97, Z:4.42 [[ 9.99981505e-01 -2.04788959e-03 -5.72673327e-03 8.04597941e+02] [ 2.04944219e-03 9.99997865e-01 2.65258478e-04 -4.59673662e+01] [ 5.72617782e-03 -2.76990180e-04 9.99983567e-01 4.42419971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.480714057 meters Centerline goodness : 0.987024 with order 1 Centerline is valid? [True, True] Translation: X:804.66, Y:-45.97, Z:4.42 [[ 9.99978401e-01 -3.22518262e-03 -5.72675341e-03 8.04656149e+02] [ 3.22675199e-03 9.99994759e-01 2.64822900e-04 -4.59727114e+01] [ 5.72586930e-03 -2.83295993e-04 9.99983567e-01 4.42160047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5407140570001 meters Centerline goodness : 0.986885 with order 1 Centerline is valid? [True, True] Translation: X:804.72, Y:-45.98, Z:4.42 [[ 9.99977755e-01 -3.41952920e-03 -5.72676827e-03 8.04715907e+02] [ 3.42109991e-03 9.99994113e-01 2.64501232e-04 -4.59803910e+01] [ 5.72583009e-03 -2.84087194e-04 9.99983567e-01 4.42017594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.600714057 meters Centerline goodness : 0.987666 with order 1 Centerline is valid? [True, True] Translation: X:804.78, Y:-45.99, Z:4.42 [[ 9.99973732e-01 -4.44297302e-03 -5.72677774e-03 8.04775036e+02] [ 4.44455930e-03 9.99990088e-01 2.64296082e-04 -4.59869161e+01] [ 5.72554671e-03 -2.89742143e-04 9.99983567e-01 4.42044056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6607140570001 meters Centerline goodness : 0.987589 with order 1 Centerline is valid? [True, True] Translation: X:804.83, Y:-45.99, Z:4.42 [[ 9.99945090e-01 -8.77611264e-03 -5.72678779e-03 8.04834106e+02] [ 8.77776853e-03 9.99961440e-01 2.64078204e-04 -4.59936808e+01] [ 5.72424938e-03 -3.14332121e-04 9.99983567e-01 4.41895778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.720714057 meters Centerline goodness : 0.987212 with order 1 Centerline is valid? [True, True] Translation: X:804.89, Y:-46.01, Z:4.41 [[ 9.99959125e-01 -6.99663193e-03 -5.72679782e-03 8.04894570e+02] [ 6.99825749e-03 9.99975477e-01 2.63860349e-04 -4.60063115e+01] [ 5.72481125e-03 -3.03927170e-04 9.99983567e-01 4.40822323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7807140570001 meters Centerline goodness : 0.986701 with order 1 Centerline is valid? [True, True] Translation: X:804.96, Y:-46.01, Z:4.42 [[ 9.99883109e-01 -1.41764459e-02 -5.72679782e-03 8.04955133e+02] [ 1.41781888e-02 9.99899450e-01 2.63860349e-04 -4.60067191e+01] [ 5.72248139e-03 -3.45025127e-04 9.99983567e-01 4.41716053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.840714057 meters Centerline goodness : 0.985882 with order 1 Centerline is valid? [True, True] Translation: X:805.02, Y:-46.01, Z:4.42 [[ 9.99871049e-01 -1.50029964e-02 -5.72679782e-03 8.05015740e+02] [ 1.50047529e-02 9.99887388e-01 2.63860349e-04 -4.60109732e+01] [ 5.72219422e-03 -3.49755510e-04 9.99983567e-01 4.41875483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9007140570001 meters Centerline goodness : 0.986540 with order 1 Centerline is valid? [True, True] Translation: X:805.08, Y:-46.01, Z:4.42 [[ 9.99905282e-01 -1.25152417e-02 -5.72676395e-03 8.05076626e+02] [ 1.25169617e-02 9.99921625e-01 2.64593496e-04 -4.60132693e+01] [ 5.72300366e-03 -3.36250119e-04 9.99983567e-01 4.42263927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.960714057 meters Centerline goodness : 0.985323 with order 1 Centerline is valid? [True, True] Translation: X:805.14, Y:-46.02, Z:4.43 [[ 9.99906538e-01 -1.24144653e-02 -5.72675388e-03 8.05138120e+02] [ 1.24161848e-02 9.99922881e-01 2.64811169e-04 -4.60159901e+01] [ 5.72302475e-03 -3.35890854e-04 9.99983567e-01 4.42848870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0207140570001 meters Centerline goodness : 0.986132 with order 1 Centerline is valid? [True, True] Translation: X:805.20, Y:-46.02, Z:4.43 [[ 9.99893157e-01 -1.34491622e-02 -5.72674380e-03 8.05199526e+02] [ 1.34508999e-02 9.99909497e-01 2.65029158e-04 -4.60182522e+01] [ 5.72266109e-03 -3.42030699e-04 9.99983567e-01 4.43237725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.080714057 meters Centerline goodness : 0.985227 with order 1 Centerline is valid? [True, True] Translation: X:805.26, Y:-46.02, Z:4.43 [[ 9.99894045e-01 -1.33829320e-02 -5.72673363e-03 8.05260926e+02] [ 1.33846698e-02 9.99910386e-01 2.65248595e-04 -4.60240853e+01] [ 5.72267063e-03 -3.41870930e-04 9.99983567e-01 4.43003791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1407140570001 meters Centerline goodness : 0.986060 with order 1 Centerline is valid? [True, True] Translation: X:805.32, Y:-46.04, Z:4.41 [[ 9.99964643e-01 -6.15766024e-03 -5.72672352e-03 8.05322047e+02] [ 6.15928125e-03 9.99980996e-01 2.65466705e-04 -4.60371808e+01] [ 5.72498004e-03 -3.00729820e-04 9.99983567e-01 4.41365363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.200714057 meters Centerline goodness : 0.986306 with order 1 Centerline is valid? [True, True] Translation: X:805.38, Y:-46.04, Z:4.42 [[ 9.99912691e-01 -1.19086288e-02 -5.72671340e-03 8.05382046e+02] [ 1.19103451e-02 9.99929034e-01 2.65684814e-04 -4.60388500e+01] [ 5.72314306e-03 -3.33868750e-04 9.99983567e-01 4.42110841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.260714057 meters Centerline goodness : 0.985948 with order 1 Centerline is valid? [True, True] Translation: X:805.44, Y:-46.05, Z:4.41 [[ 9.99967505e-01 -5.67391544e-03 -5.72671340e-03 8.05443052e+02] [ 5.67552979e-03 9.99983859e-01 2.65684814e-04 -4.60492315e+01] [ 5.72511349e-03 -2.98178313e-04 9.99983567e-01 4.41095069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.320714057 meters Centerline goodness : 0.986527 with order 1 Centerline is valid? [True, True] Translation: X:805.50, Y:-46.05, Z:4.42 [[ 9.99916263e-01 -1.16048067e-02 -5.72670321e-03 8.05503108e+02] [ 1.16065193e-02 9.99932607e-01 2.65904250e-04 -4.60500757e+01] [ 5.72323150e-03 -3.32349076e-04 9.99983567e-01 4.41665330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.380714057 meters Centerline goodness : 0.986845 with order 1 Centerline is valid? [True, True] Translation: X:805.56, Y:-46.05, Z:4.42 [[ 9.99912853e-01 -1.18950341e-02 -5.72670281e-03 8.05564511e+02] [ 1.18967515e-02 9.99929196e-01 2.65912826e-04 -4.60538759e+01] [ 5.72313430e-03 -3.34018812e-04 9.99983567e-01 4.41683904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.440714057 meters Centerline goodness : 0.986783 with order 1 Centerline is valid? [True, True] Translation: X:805.63, Y:-46.06, Z:4.42 [[ 9.99914050e-01 -1.17939699e-02 -5.72669277e-03 8.05625267e+02] [ 1.17956869e-02 9.99930393e-01 2.66129047e-04 -4.60556699e+01] [ 5.72315543e-03 -3.33656448e-04 9.99983567e-01 4.42013215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.500714057 meters Centerline goodness : 0.986853 with order 1 Centerline is valid? [True, True] Translation: X:805.69, Y:-46.06, Z:4.43 [[ 9.99924958e-01 -1.08297683e-02 -5.72667786e-03 8.05686895e+02] [ 1.08314713e-02 9.99941302e-01 2.66449455e-04 -4.60551941e+01] [ 5.72345613e-03 -3.28457807e-04 9.99983567e-01 4.42607305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.560714057 meters Centerline goodness : 0.987229 with order 1 Centerline is valid? [True, True] Translation: X:805.75, Y:-46.06, Z:4.43 [[ 9.99966033e-01 -5.92778036e-03 -5.72666767e-03 8.05746737e+02] [ 5.92940447e-03 9.99982385e-01 2.66668175e-04 -4.60576777e+01] [ 5.72498605e-03 -3.00614846e-04 9.99983567e-01 4.42706145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.620714057 meters Centerline goodness : 0.986371 with order 1 Centerline is valid? [True, True] Translation: X:805.81, Y:-46.06, Z:4.43 [[ 9.99968156e-01 -5.55803788e-03 -5.72664260e-03 8.05806585e+02] [ 5.55965902e-03 9.99984509e-01 2.67205631e-04 -4.60604655e+01] [ 5.72506875e-03 -2.99035302e-04 9.99983567e-01 4.42678615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.680714057 meters Centerline goodness : 0.986035 with order 1 Centerline is valid? [True, True] Translation: X:805.87, Y:-46.07, Z:4.42 [[ 9.99978759e-01 -3.11229033e-03 -5.72665276e-03 8.05865908e+02] [ 3.11387021e-03 9.99995116e-01 2.66987539e-04 -4.60660062e+01] [ 5.72579385e-03 -2.84813921e-04 9.99983567e-01 4.42118128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.740714057 meters Centerline goodness : 0.986094 with order 1 Centerline is valid? [True, True] Translation: X:805.93, Y:-46.07, Z:4.42 [[ 9.99977484e-01 -3.49808918e-03 -5.72665416e-03 8.05925402e+02] [ 3.49967521e-03 9.99993840e-01 2.66957590e-04 -4.60686791e+01] [ 5.72568505e-03 -2.86993009e-04 9.99983567e-01 4.42108050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.800714057 meters Centerline goodness : 0.988109 with order 1 Centerline is valid? [True, True] Translation: X:805.99, Y:-46.07, Z:4.42 [[ 9.99973465e-01 -4.50277644e-03 -5.72666423e-03 8.05985441e+02] [ 4.50437766e-03 9.99989820e-01 2.66741408e-04 -4.60717197e+01] [ 5.72540485e-03 -2.92529389e-04 9.99983567e-01 4.42159189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.860714057 meters Centerline goodness : 0.987106 with order 1 Centerline is valid? [True, True] Translation: X:806.05, Y:-46.07, Z:4.43 [[ 9.99951051e-01 -8.06850484e-03 -5.72667437e-03 8.06045022e+02] [ 8.07016313e-03 9.99967400e-01 2.66523558e-04 -4.60706463e+01] [ 5.72433723e-03 -3.12725708e-04 9.99983567e-01 4.42960330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.920714057 meters Centerline goodness : 0.987029 with order 1 Centerline is valid? [True, True] Translation: X:806.11, Y:-46.08, Z:4.42 [[ 9.99983582e-01 -2.03298411e-04 -5.72667935e-03 8.06105001e+02] [ 2.04827445e-04 9.99999944e-01 2.66416537e-04 -4.60769240e+01] [ 5.72662486e-03 -2.67585144e-04 9.99983567e-01 4.42392217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.980714057 meters Centerline goodness : 0.987857 with order 1 Centerline is valid? [True, True] Translation: X:806.16, Y:-46.08, Z:4.42 [[ 9.99981702e-01 1.94953064e-03 -5.72667935e-03 8.06163053e+02] [-1.94803684e-03 9.99998067e-01 2.66416537e-04 -4.60810806e+01] [ 5.72718767e-03 -2.55255880e-04 9.99983567e-01 4.41749010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0407140570001 meters Centerline goodness : 0.990093 with order 1 Centerline is valid? [True, True] Translation: X:806.22, Y:-46.07, Z:4.43 [[ 9.99960147e-01 -6.84897713e-03 -5.72669991e-03 8.06222261e+02] [ 6.85061234e-03 9.99976499e-01 2.65973696e-04 -4.60708789e+01] [ 5.72474368e-03 -3.05194498e-04 9.99983567e-01 4.42540935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.100714057 meters Centerline goodness : 0.987397 with order 1 Centerline is valid? [True, True] Translation: X:806.28, Y:-46.09, Z:4.41 [[ 9.99956823e-01 7.31831282e-03 -5.72671813e-03 8.06281122e+02] [-7.31691167e-03 9.99973196e-01 2.65580954e-04 -4.60895848e+01] [ 5.72850823e-03 -2.23667597e-04 9.99983567e-01 4.41498780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1607140570001 meters Centerline goodness : 0.990619 with order 1 Centerline is valid? [True, True] Translation: X:806.34, Y:-46.08, Z:4.43 [[ 9.99976493e-01 -3.77058945e-03 -5.72672817e-03 8.06340503e+02] [ 3.77217083e-03 9.99992850e-01 2.65364338e-04 -4.60768451e+01] [ 5.72568664e-03 -2.86960297e-04 9.99983567e-01 4.42622644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.220714057 meters Centerline goodness : 0.990394 with order 1 Centerline is valid? [True, True] Translation: X:806.40, Y:-46.08, Z:4.43 [[ 9.99981179e-01 -2.20145843e-03 -5.72674289e-03 8.06399748e+02] [ 2.20301232e-03 9.99997538e-01 2.65046138e-04 -4.60815134e+01] [ 5.72614531e-03 -2.77657235e-04 9.99983567e-01 4.42819527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2807140570001 meters Centerline goodness : 0.991154 with order 1 Centerline is valid? [True, True] Translation: X:806.46, Y:-46.09, Z:4.43 [[ 9.99973219e-01 -4.55691444e-03 -5.72675290e-03 8.06458241e+02] [ 4.55850563e-03 9.99989575e-01 2.64829737e-04 -4.60867704e+01] [ 5.72548639e-03 -2.90928080e-04 9.99983567e-01 4.42600378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.340714057 meters Centerline goodness : 0.991813 with order 1 Centerline is valid? [True, True] Translation: X:806.52, Y:-46.09, Z:4.43 [[ 9.99971876e-01 -4.84257134e-03 -5.72676765e-03 8.06517544e+02] [ 4.84416538e-03 9.99988232e-01 2.64510493e-04 -4.60903413e+01] [ 5.72541934e-03 -2.92244463e-04 9.99983567e-01 4.42666928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4007140570001 meters Centerline goodness : 0.991478 with order 1 Centerline is valid? [True, True] Translation: X:806.58, Y:-46.09, Z:4.43 [[ 9.99970526e-01 -5.11381694e-03 -5.72677692e-03 8.06577223e+02] [ 5.11541427e-03 9.99986881e-01 2.64309656e-04 -4.60949072e+01] [ 5.72535016e-03 -2.93596702e-04 9.99983567e-01 4.42686215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.460714057 meters Centerline goodness : 0.985642 with order 1 Centerline is valid? [True, True] Translation: X:806.64, Y:-46.10, Z:4.43 [[ 9.99970252e-01 -5.16712736e-03 -5.72678629e-03 8.06636179e+02] [ 5.16872440e-03 9.99986607e-01 2.64106367e-04 -4.60975596e+01] [ 5.72534492e-03 -2.93698691e-04 9.99983567e-01 4.42792821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5207140570001 meters Centerline goodness : 0.992833 with order 1 Centerline is valid? [True, True] Translation: X:806.70, Y:-46.10, Z:4.43 [[ 9.99969615e-01 -5.28885891e-03 -5.72679829e-03 8.06696062e+02] [ 5.29045645e-03 9.99985971e-01 2.63845817e-04 -4.61026945e+01] [ 5.72532251e-03 -2.94135177e-04 9.99983567e-01 4.42886285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.580714057 meters Centerline goodness : 0.991585 with order 1 Centerline is valid? [True, True] Translation: X:806.76, Y:-46.11, Z:4.43 [[ 9.99973118e-01 -4.57902758e-03 -5.72681049e-03 8.06755355e+02] [ 4.58061200e-03 9.99989474e-01 2.63580838e-04 -4.61074098e+01] [ 5.72554327e-03 -2.89806049e-04 9.99983567e-01 4.42880195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6407140570001 meters Centerline goodness : 0.984737 with order 1 Centerline is valid? [True, True] Translation: X:806.81, Y:-46.11, Z:4.43 [[ 9.99970970e-01 -5.02622663e-03 -5.72681951e-03 8.06814497e+02] [ 5.02781724e-03 9.99987326e-01 2.63384630e-04 -4.61094781e+01] [ 5.72542310e-03 -2.92170386e-04 9.99983567e-01 4.42850494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.700714057 meters Centerline goodness : 0.992793 with order 1 Centerline is valid? [True, True] Translation: X:806.87, Y:-46.11, Z:4.43 [[ 9.99981562e-01 -2.01976742e-03 -5.72682546e-03 8.06873603e+02] [ 2.02130811e-03 9.99997923e-01 2.63255228e-04 -4.61144988e+01] [ 5.72628185e-03 -2.74826053e-04 9.99983567e-01 4.42770007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.760714057 meters Centerline goodness : 0.985676 with order 1 Centerline is valid? [True, True] Translation: X:806.93, Y:-46.12, Z:4.43 [[ 9.99982567e-01 1.43834503e-03 -5.72683784e-03 8.06932749e+02] [-1.43686247e-03 9.99998933e-01 2.62985779e-04 -4.61178192e+01] [ 5.72720999e-03 -2.54752516e-04 9.99983567e-01 4.43025821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.820714057 meters Centerline goodness : 0.989223 with order 1 Centerline is valid? [True, True] Translation: X:806.99, Y:-46.13, Z:4.43 [[ 9.99951481e-01 8.01484524e-03 -5.72688708e-03 8.06990716e+02] [-8.01347650e-03 9.99967857e-01 2.61909019e-04 -4.61250304e+01] [ 5.72880216e-03 -2.16004037e-04 9.99983567e-01 4.43314208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.880714057 meters Centerline goodness : 0.992760 with order 1 Centerline is valid? [True, True] Translation: X:807.05, Y:-46.13, Z:4.43 [[ 9.99970355e-01 5.14707711e-03 -5.72692254e-03 8.07048964e+02] [-5.14566586e-03 9.99986727e-01 2.61131411e-04 -4.61258547e+01] [ 5.72819059e-03 -2.31654839e-04 9.99983567e-01 4.42798089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.940714057 meters Centerline goodness : 0.992010 with order 1 Centerline is valid? [True, True] Translation: X:807.11, Y:-46.13, Z:4.43 [[ 9.99974580e-01 4.24751886e-03 -5.72695036e-03 8.07107544e+02] [-4.24609638e-03 9.99990951e-01 2.60519669e-04 -4.61303232e+01] [ 5.72800511e-03 -2.36195864e-04 9.99983567e-01 4.42732368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.000714057 meters Centerline goodness : 0.984829 with order 1 Centerline is valid? [True, True] Translation: X:807.17, Y:-46.14, Z:4.43 [[ 9.99978996e-01 3.03486166e-03 -5.72696932e-03 8.07166421e+02] [-3.03342171e-03 9.99995365e-01 2.60102309e-04 -4.61382671e+01] [ 5.72773215e-03 -2.42724533e-04 9.99983567e-01 4.43083930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.060714057 meters Centerline goodness : 0.984628 with order 1 Centerline is valid? [True, True] Translation: X:807.23, Y:-46.14, Z:4.43 [[ 9.99966751e-01 -5.80501472e-03 -5.72700894e-03 8.07225205e+02] [ 5.80659432e-03 9.99983108e-01 2.59227060e-04 -4.61438708e+01] [ 5.72540738e-03 -2.92472859e-04 9.99983567e-01 4.43160386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.120714057 meters Centerline goodness : 0.991860 with order 1 Centerline is valid? [True, True] Translation: X:807.28, Y:-46.15, Z:4.43 [[ 9.99897925e-01 -1.30896989e-02 -5.72703640e-03 8.07284556e+02] [ 1.30913941e-02 9.99914271e-01 2.58619003e-04 -4.61499572e+01] [ 5.72316018e-03 -3.33567495e-04 9.99983567e-01 4.42829180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.180714057 meters Centerline goodness : 0.991980 with order 1 Centerline is valid? [True, True] Translation: X:807.35, Y:-46.15, Z:4.43 [[ 9.99911874e-01 -1.19768679e-02 -5.72703302e-03 8.07345518e+02] [ 1.19785454e-02 9.99928221e-01 2.58693677e-04 -4.61526549e+01] [ 5.72352360e-03 -3.27272405e-04 9.99983567e-01 4.43174302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.240714057 meters Centerline goodness : 0.991072 with order 1 Centerline is valid? [True, True] Translation: X:807.41, Y:-46.16, Z:4.43 [[ 9.99894674e-01 -1.33357523e-02 -5.72702400e-03 8.07406317e+02] [ 1.33374531e-02 9.99911019e-01 2.58893219e-04 -4.61594442e+01] [ 5.72306187e-03 -3.35249865e-04 9.99983567e-01 4.42988778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.300714057 meters Centerline goodness : 0.984197 with order 1 Centerline is valid? [True, True] Translation: X:807.47, Y:-46.16, Z:4.43 [[ 9.99953430e-01 -7.76784963e-03 -5.72701472e-03 8.07466074e+02] [ 7.76946060e-03 9.99969784e-01 2.59098477e-04 -4.61637237e+01] [ 5.72482903e-03 -3.03582225e-04 9.99983567e-01 4.43386582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.360714057 meters Centerline goodness : 0.983691 with order 1 Centerline is valid? [True, True] Translation: X:807.53, Y:-46.17, Z:4.43 [[ 9.99973136e-01 -4.57483791e-03 -5.72701472e-03 8.07525766e+02] [ 4.57639666e-03 9.99989495e-01 2.59098477e-04 -4.61677623e+01] [ 5.72576922e-03 -2.85300607e-04 9.99983567e-01 4.43403482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.420714057 meters Centerline goodness : 0.990626 with order 1 Centerline is valid? [True, True] Translation: X:807.59, Y:-46.17, Z:4.43 [[ 9.99975742e-01 -3.96434026e-03 -5.72702088e-03 8.07585899e+02] [ 3.96588824e-03 9.99992102e-01 2.58962251e-04 -4.61690223e+01] [ 5.72594903e-03 -2.81668694e-04 9.99983567e-01 4.43095611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.480714057 meters Centerline goodness : 0.991139 with order 1 Centerline is valid? [True, True] Translation: X:807.64, Y:-46.17, Z:4.43 [[ 9.99978082e-01 -3.32228294e-03 -5.72703372e-03 8.07644694e+02] [ 3.32381879e-03 9.99994443e-01 2.58677809e-04 -4.61740218e+01] [ 5.72614250e-03 -2.77707762e-04 9.99983567e-01 4.42879807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5407140570001 meters Centerline goodness : 0.990641 with order 1 Centerline is valid? [True, True] Translation: X:807.70, Y:-46.18, Z:4.43 [[ 9.99980787e-01 2.37210164e-03 -5.72704733e-03 8.07704697e+02] [-2.37066072e-03 9.99997157e-01 2.58376235e-04 -4.61760487e+01] [ 5.72764394e-03 -2.44794384e-04 9.99983567e-01 4.43027832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.600714057 meters Centerline goodness : 0.985539 with order 1 Centerline is valid? [True, True] Translation: X:807.76, Y:-46.18, Z:4.43 [[ 9.99928119e-01 1.05336693e-02 -5.72705637e-03 8.07762835e+02] [-1.05323631e-02 9.99944500e-01 2.58175739e-04 -4.61789398e+01] [ 5.72945805e-03 -1.97837744e-04 9.99983567e-01 4.43233439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6607140570001 meters Centerline goodness : 0.991194 with order 1 Centerline is valid? [True, True] Translation: X:807.82, Y:-46.18, Z:4.43 [[ 9.99933720e-01 9.98781071e-03 -5.72714398e-03 8.07821920e+02] [-9.98650684e-03 9.99950101e-01 2.56217339e-04 -4.61816669e+01] [ 5.72941725e-03 -1.99006194e-04 9.99983567e-01 4.43143277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.720714057 meters Centerline goodness : 0.990297 with order 1 Centerline is valid? [True, True] Translation: X:807.88, Y:-46.19, Z:4.43 [[ 9.99932612e-01 1.00980623e-02 -5.72716794e-03 8.07880693e+02] [-1.00967633e-02 9.99948994e-01 2.55680677e-04 -4.61863399e+01] [ 5.72945770e-03 -1.97837588e-04 9.99983567e-01 4.43211341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7807140570001 meters Centerline goodness : 0.990560 with order 1 Centerline is valid? [True, True] Translation: X:807.94, Y:-46.19, Z:4.43 [[ 9.99960025e-01 6.86644228e-03 -5.72718658e-03 8.07938164e+02] [-6.86509274e-03 9.99976402e-01 2.55262496e-04 -4.61928540e+01] [ 5.72880418e-03 -2.15934625e-04 9.99983567e-01 4.43268008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.840714057 meters Centerline goodness : 0.990020 with order 1 Centerline is valid? [True, True] Translation: X:808.00, Y:-46.20, Z:4.43 [[ 9.99979345e-01 2.91702831e-03 -5.72720945e-03 8.07997120e+02] [-2.91561705e-03 9.99995717e-01 2.54748333e-04 -4.61978441e+01] [ 5.72792803e-03 -2.38044721e-04 9.99983567e-01 4.43326704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9007140570001 meters Centerline goodness : 0.989527 with order 1 Centerline is valid? [True, True] Translation: X:808.06, Y:-46.20, Z:4.43 [[ 9.99978860e-01 -3.07868570e-03 -5.72722780e-03 8.08055145e+02] [ 3.08019275e-03 9.99995224e-01 2.54335157e-04 -4.62042044e+01] [ 5.72641742e-03 -2.71970746e-04 9.99983567e-01 4.43351161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.960714057 meters Centerline goodness : 0.989370 with order 1 Centerline is valid? [True, True] Translation: X:808.11, Y:-46.21, Z:4.43 [[ 9.99945519e-01 -8.72678054e-03 -5.72725034e-03 8.08113569e+02] [ 8.72837709e-03 9.99961875e-01 2.53826571e-04 -4.62094369e+01] [ 5.72481690e-03 -3.03802343e-04 9.99983567e-01 4.43387568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0207140570001 meters Centerline goodness : 0.984292 with order 1 Centerline is valid? [True, True] Translation: X:808.17, Y:-46.22, Z:4.45 [[ 9.99961985e-01 -6.57475497e-03 -5.72726816e-03 8.08173369e+02] [ 6.57631401e-03 9.99978344e-01 2.53423727e-04 -4.62192793e+01] [ 5.72547793e-03 -2.91078406e-04 9.99983567e-01 4.45239414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.080714057 meters Centerline goodness : 0.984484 with order 1 Centerline is valid? [True, True] Translation: X:808.23, Y:-46.22, Z:4.45 [[ 9.99950741e-01 -8.10637863e-03 -5.72726816e-03 8.08232769e+02] [ 8.10796272e-03 9.99967098e-01 2.53423727e-04 -4.62226797e+01] [ 5.72502537e-03 -2.99847720e-04 9.99983567e-01 4.45285709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1407140570001 meters Centerline goodness : 0.984662 with order 1 Centerline is valid? [True, True] Translation: X:808.29, Y:-46.23, Z:4.45 [[ 9.99900395e-01 -1.28995692e-02 -5.72727783e-03 8.08293137e+02] [ 1.29012305e-02 9.99916744e-01 2.53204974e-04 -4.62254688e+01] [ 5.72353477e-03 -3.27068685e-04 9.99983567e-01 4.44951785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.200714057 meters Centerline goodness : 0.984801 with order 1 Centerline is valid? [True, True] Translation: X:808.35, Y:-46.23, Z:4.45 [[ 9.99810091e-01 -1.86274102e-02 -5.72727783e-03 8.08354748e+02] [ 1.86291651e-02 9.99826430e-01 2.53204974e-04 -4.62261956e+01] [ 5.72156720e-03 -3.59851293e-04 9.99983567e-01 4.44909860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.260714057 meters Centerline goodness : 0.982789 with order 1 Centerline is valid? [True, True] Translation: X:808.42, Y:-46.22, Z:4.44 [[ 9.99535507e-01 -2.99327299e-02 -5.72726814e-03 8.08417676e+02] [ 2.99346707e-02 9.99551825e-01 2.53424061e-04 -4.62175271e+01] [ 5.71711565e-03 -4.24750233e-04 9.99983567e-01 4.43783146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.320714057 meters Centerline goodness : 0.984818 with order 1 Centerline is valid? [True, True] Translation: X:808.48, Y:-46.23, Z:4.45 [[ 9.99633621e-01 -2.64541576e-02 -5.72723419e-03 8.08478804e+02] [ 2.64560459e-02 9.99649945e-01 2.54189028e-04 -4.62273745e+01] [ 5.71850499e-03 -4.05615869e-04 9.99983567e-01 4.45037668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.380714057 meters Centerline goodness : 0.985335 with order 1 Centerline is valid? [True, True] Translation: X:808.54, Y:-46.22, Z:4.45 [[ 9.99661798e-01 -2.53670682e-02 -5.72722015e-03 8.08541508e+02] [ 2.53689405e-02 9.99678124e-01 2.54504996e-04 -4.62244965e+01] [ 5.71892065e-03 -3.99712429e-04 9.99983567e-01 4.45259355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.440714057 meters Centerline goodness : 0.984865 with order 1 Centerline is valid? [True, True] Translation: X:808.60, Y:-46.22, Z:4.45 [[ 9.99760974e-01 -2.10996226e-02 -5.72720063e-03 8.08603831e+02] [ 2.11014277e-02 9.99777308e-01 2.54943406e-04 -4.62236606e+01] [ 5.72054602e-03 -3.75734578e-04 9.99983567e-01 4.44708597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.500714057 meters Centerline goodness : 0.985352 with order 1 Centerline is valid? [True, True] Translation: X:808.67, Y:-46.22, Z:4.44 [[ 9.99779845e-01 -2.01856617e-02 -5.72718117e-03 8.08666546e+02] [ 2.01874544e-02 9.99796180e-01 2.55379943e-04 -4.62225192e+01] [ 5.72085884e-03 -3.70940928e-04 9.99983567e-01 4.44199159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.560714057 meters Centerline goodness : 0.986138 with order 1 Centerline is valid? [True, True] Translation: X:808.73, Y:-46.22, Z:4.44 [[ 9.99666668e-01 -2.51744459e-02 -5.72716153e-03 8.08727900e+02] [ 2.51763226e-02 9.99682993e-01 2.55819635e-04 -4.62224531e+01] [ 5.71890586e-03 -3.99923229e-04 9.99983567e-01 4.43839213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.620714057 meters Centerline goodness : 0.986351 with order 1 Centerline is valid? [True, True] Translation: X:808.79, Y:-46.22, Z:4.43 [[ 9.99588103e-01 -2.81216089e-02 -5.72714698e-03 8.08790561e+02] [ 2.81235356e-02 9.99604422e-01 2.56144845e-04 -4.62209322e+01] [ 5.71767824e-03 -4.17106961e-04 9.99983567e-01 4.43170773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.680714057 meters Centerline goodness : 0.984869 with order 1 Centerline is valid? [True, True] Translation: X:808.85, Y:-46.22, Z:4.43 [[ 9.99529853e-01 -3.01209804e-02 -5.72712732e-03 8.08853149e+02] [ 3.01229423e-02 9.99546168e-01 2.56583745e-04 -4.62161673e+01] [ 5.71679961e-03 -4.28981039e-04 9.99983567e-01 4.43490389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.740714057 meters Centerline goodness : 0.984164 with order 1 Centerline is valid? [True, True] Translation: X:808.92, Y:-46.21, Z:4.44 [[ 9.99524811e-01 -3.02878189e-02 -5.72710761e-03 8.08915664e+02] [ 3.02897860e-02 9.99541126e-01 2.57022841e-04 -4.62144665e+01] [ 5.71669493e-03 -4.30373571e-04 9.99983567e-01 4.43584654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.800714057 meters Centerline goodness : 0.984251 with order 1 Centerline is valid? [True, True] Translation: X:808.98, Y:-46.20, Z:4.44 [[ 9.99484111e-01 -3.16024019e-02 -5.72708784e-03 8.08977757e+02] [ 3.16043929e-02 9.99500423e-01 2.57462579e-04 -4.62044085e+01] [ 5.71609029e-03 -4.38330892e-04 9.99983567e-01 4.44138018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.860714057 meters Centerline goodness : 0.985334 with order 1 Centerline is valid? [True, True] Translation: X:809.04, Y:-46.20, Z:4.44 [[ 9.99575464e-01 -2.85673240e-02 -5.72707327e-03 8.09039669e+02] [ 2.85692673e-02 9.99591782e-01 2.57786380e-04 -4.62021445e+01] [ 5.71737111e-03 -4.21295227e-04 9.99983567e-01 4.44064883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.920714057 meters Centerline goodness : 0.985641 with order 1 Centerline is valid? [True, True] Translation: X:809.10, Y:-46.20, Z:4.44 [[ 9.99633321e-01 -2.64655496e-02 -5.72705348e-03 8.09102150e+02] [ 2.64674612e-02 9.99649642e-01 2.58225274e-04 -4.61958997e+01] [ 5.71821289e-03 -4.09711154e-04 9.99983567e-01 4.44301514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.980714057 meters Centerline goodness : 0.986447 with order 1 Centerline is valid? [True, True] Translation: X:809.16, Y:-46.19, Z:4.44 [[ 9.99607810e-01 -2.74121818e-02 -5.72703370e-03 8.09163800e+02] [ 2.74141113e-02 9.99624129e-01 2.58663279e-04 -4.61916649e+01] [ 5.71779055e-03 -4.15563372e-04 9.99983567e-01 4.43711034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0407140570001 meters Centerline goodness : 0.985959 with order 1 Centerline is valid? [True, True] Translation: X:809.23, Y:-46.19, Z:4.44 [[ 9.99684498e-01 -2.44562100e-02 -5.72701906e-03 8.09226028e+02] [ 2.44580931e-02 9.99700823e-01 2.58986896e-04 -4.61882990e+01] [ 5.71897183e-03 -3.98977150e-04 9.99983567e-01 4.44338693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.100714057 meters Centerline goodness : 0.986754 with order 1 Centerline is valid? [True, True] Translation: X:809.29, Y:-46.19, Z:4.44 [[ 9.99714849e-01 -2.31823625e-02 -5.72699928e-03 8.09288149e+02] [ 2.31842273e-02 9.99731176e-01 2.59423621e-04 -4.61852894e+01] [ 5.71944567e-03 -3.92125700e-04 9.99983567e-01 4.44211900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1607140570001 meters Centerline goodness : 0.986712 with order 1 Centerline is valid? [True, True] Translation: X:809.35, Y:-46.18, Z:4.44 [[ 9.99731187e-01 -2.24667489e-02 -5.72697943e-03 8.09349526e+02] [ 2.24686044e-02 9.99747515e-01 2.59860983e-04 -4.61817999e+01] [ 5.71969523e-03 -3.88468364e-04 9.99983567e-01 4.44207759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.220714057 meters Centerline goodness : 0.986515 with order 1 Centerline is valid? [True, True] Translation: X:809.41, Y:-46.18, Z:4.44 [[ 9.99807705e-01 -1.87551208e-02 -5.72696474e-03 8.09412277e+02] [ 1.87569176e-02 9.99824040e-01 2.60184312e-04 -4.61784504e+01] [ 5.72107724e-03 -3.67554485e-04 9.99983567e-01 4.44311069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2807140570001 meters Centerline goodness : 0.986939 with order 1 Centerline is valid? [True, True] Translation: X:809.47, Y:-46.18, Z:4.44 [[ 9.99848250e-01 -1.64523179e-02 -5.72694485e-03 8.09474829e+02] [ 1.64540796e-02 9.99864589e-01 2.60621475e-04 -4.61785752e+01] [ 5.72188153e-03 -3.54813532e-04 9.99983567e-01 4.44041453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.340714057 meters Centerline goodness : 0.987674 with order 1 Centerline is valid? [True, True] Translation: X:809.54, Y:-46.18, Z:4.44 [[ 9.99772501e-01 -2.05462709e-02 -5.72692487e-03 8.09537576e+02] [ 2.05481019e-02 9.99788831e-01 2.61059718e-04 -4.61767901e+01] [ 5.72035172e-03 -3.78677763e-04 9.99983567e-01 4.43764983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4007140570001 meters Centerline goodness : 0.987283 with order 1 Centerline is valid? [True, True] Translation: X:809.60, Y:-46.18, Z:4.43 [[ 9.99872603e-01 -1.48989990e-02 -5.72690479e-03 8.09599047e+02] [ 1.49007403e-02 9.99888944e-01 2.61499442e-04 -4.61832297e+01] [ 5.72237270e-03 -3.46801249e-04 9.99983567e-01 4.43323403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.460714057 meters Centerline goodness : 0.988577 with order 1 Centerline is valid? [True, True] Translation: X:809.66, Y:-46.18, Z:4.44 [[ 9.99752467e-01 -2.14990072e-02 -5.72688986e-03 8.09659796e+02] [ 2.15008582e-02 9.99768796e-01 2.61825986e-04 -4.61776285e+01] [ 5.71993678e-03 -3.84894223e-04 9.99983567e-01 4.44198398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5207140570001 meters Centerline goodness : 0.992519 with order 1 Centerline is valid? [True, True] Translation: X:809.72, Y:-46.17, Z:4.44 [[ 9.99594833e-01 -2.78814111e-02 -5.72688496e-03 8.09723156e+02] [ 2.78833669e-02 9.99611149e-01 2.61933192e-04 -4.61654177e+01] [ 5.71735499e-03 -4.21511900e-04 9.99983567e-01 4.44298696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.580714057 meters Centerline goodness : 0.988665 with order 1 Centerline is valid? [True, True] Translation: X:809.78, Y:-46.18, Z:4.44 [[ 9.99931209e-01 -1.02362569e-02 -5.72685082e-03 8.09784788e+02] [ 1.02379286e-02 9.99947557e-01 2.62677513e-04 -4.61766909e+01] [ 5.72386165e-03 -3.21290533e-04 9.99983567e-01 4.44262386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6407140570001 meters Centerline goodness : 0.988647 with order 1 Centerline is valid? [True, True] Translation: X:809.85, Y:-46.18, Z:4.44 [[ 9.99968981e-01 -5.40749012e-03 -5.72683076e-03 8.09845442e+02] [ 5.40908542e-03 9.99985336e-01 2.63114226e-04 -4.61808696e+01] [ 5.72532399e-03 -2.94082981e-04 9.99983567e-01 4.43710277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.700714057 meters Centerline goodness : 0.990838 with order 1 Centerline is valid? [True, True] Translation: X:809.91, Y:-46.17, Z:4.44 [[ 9.99905477e-01 -1.24996530e-02 -5.72682573e-03 8.09905637e+02] [ 1.25013649e-02 9.99921820e-01 2.63223591e-04 -4.61701951e+01] [ 5.72308780e-03 -3.34791848e-04 9.99983567e-01 4.44453681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.760714057 meters Centerline goodness : 0.992864 with order 1 Centerline is valid? [True, True] Translation: X:809.97, Y:-46.16, Z:4.44 [[ 9.99812503e-01 -1.84976102e-02 -5.72682573e-03 8.09967887e+02] [ 1.84994201e-02 9.99828836e-01 2.63223591e-04 -4.61647063e+01] [ 5.72097650e-03 -3.69117192e-04 9.99983567e-01 4.44291566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.820714057 meters Centerline goodness : 0.992895 with order 1 Centerline is valid? [True, True] Translation: X:810.03, Y:-46.17, Z:4.44 [[ 9.99770973e-01 -2.06204977e-02 -5.72680584e-03 8.10029750e+02] [ 2.06223448e-02 9.99787302e-01 2.63655654e-04 -4.61655653e+01] [ 5.72015105e-03 -3.81695434e-04 9.99983567e-01 4.44118950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.880714057 meters Centerline goodness : 0.990806 with order 1 Centerline is valid? [True, True] Translation: X:810.09, Y:-46.18, Z:4.43 [[ 9.99938621e-01 -9.48459614e-03 -5.72678810e-03 8.10091495e+02] [ 9.48626340e-03 9.99954970e-01 2.64040458e-04 -4.61805280e+01] [ 5.72402590e-03 -3.18350071e-04 9.99983567e-01 4.43219621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.940714057 meters Centerline goodness : 0.983548 with order 1 Centerline is valid? [True, True] Translation: X:810.15, Y:-46.17, Z:4.44 [[ 9.99810700e-01 -1.85948375e-02 -5.72676779e-03 8.10152344e+02] [ 1.85966562e-02 9.99827032e-01 2.64480120e-04 -4.61660766e+01] [ 5.72085928e-03 -3.70928786e-04 9.99983567e-01 4.44496238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.000714057 meters Centerline goodness : 0.990153 with order 1 Centerline is valid? [True, True] Translation: X:810.21, Y:-46.18, Z:4.44 [[ 9.99932470e-01 -1.01123200e-02 -5.72675414e-03 8.10213946e+02] [ 1.01140017e-02 9.99948817e-01 2.64775391e-04 -4.61765088e+01] [ 5.72378353e-03 -3.22677912e-04 9.99983567e-01 4.44338740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.060714057 meters Centerline goodness : 0.990293 with order 1 Centerline is valid? [True, True] Translation: X:810.27, Y:-46.18, Z:4.44 [[ 9.99888470e-01 -1.37931899e-02 -5.72672517e-03 8.10274973e+02] [ 1.37949354e-02 9.99904810e-01 2.65400582e-04 -4.61768569e+01] [ 5.72251932e-03 -3.44370785e-04 9.99983567e-01 4.44237822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.120714057 meters Centerline goodness : 0.993053 with order 1 Centerline is valid? [True, True] Translation: X:810.34, Y:-46.17, Z:4.45 [[ 9.99689269e-01 -2.42604844e-02 -5.72668606e-03 8.10337275e+02] [ 2.42624056e-02 9.99705589e-01 2.66241736e-04 -4.61664208e+01] [ 5.71854091e-03 -4.05102186e-04 9.99983567e-01 4.44835220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.180714057 meters Centerline goodness : 0.990635 with order 1 Centerline is valid? [True, True] Translation: X:810.40, Y:-46.18, Z:4.44 [[ 9.99817044e-01 -1.82506173e-02 -5.72661505e-03 8.10400021e+02] [ 1.82524490e-02 9.99833374e-01 2.67760463e-04 -4.61798824e+01] [ 5.72077405e-03 -3.72236223e-04 9.99983567e-01 4.44174185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.240714057 meters Centerline goodness : 0.992691 with order 1 Centerline is valid? [True, True] Translation: X:810.46, Y:-46.17, Z:4.45 [[ 9.99545122e-01 -2.96100619e-02 -5.72658455e-03 8.10462060e+02] [ 2.96120828e-02 9.99561430e-01 2.68411177e-04 -4.61711270e+01] [ 5.71612537e-03 -4.37865178e-04 9.99983567e-01 4.44734151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.300714057 meters Centerline goodness : 0.993383 with order 1 Centerline is valid? [True, True] Translation: X:810.52, Y:-46.17, Z:4.45 [[ 9.99476266e-01 -3.18496448e-02 -5.72652014e-03 8.10524621e+02] [ 3.18517100e-02 9.99492569e-01 2.69778401e-04 -4.61730895e+01] [ 5.71502198e-03 -4.52036568e-04 9.99983567e-01 4.44643074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.360714057 meters Centerline goodness : 0.993753 with order 1 Centerline is valid? [True, True] Translation: X:810.59, Y:-46.18, Z:4.45 [[ 9.99468687e-01 -3.20866114e-02 -5.72647169e-03 8.10585744e+02] [ 3.20886863e-02 9.99484989e-01 2.70802797e-04 -4.61755681e+01] [ 5.71483335e-03 -4.54413870e-04 9.99983567e-01 4.44846878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.420714057 meters Centerline goodness : 0.991712 with order 1 Centerline is valid? [True, True] Translation: X:810.65, Y:-46.19, Z:4.45 [[ 9.99701097e-01 -2.37681249e-02 -5.72645807e-03 8.10647879e+02] [ 2.37700657e-02 9.99717415e-01 2.71090522e-04 -4.61872594e+01] [ 5.71839655e-03 -4.07127777e-04 9.99983567e-01 4.44522889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.480714057 meters Centerline goodness : 0.991089 with order 1 Centerline is valid? [True, True] Translation: X:810.71, Y:-46.19, Z:4.44 [[ 9.99733853e-01 -2.23479371e-02 -5.72642718e-03 8.10709521e+02] [ 2.23498584e-02 9.99750174e-01 2.71741506e-04 -4.61890301e+01] [ 5.71892371e-03 -3.99654020e-04 9.99983567e-01 4.44406726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5407140570001 meters Centerline goodness : 0.990859 with order 1 Centerline is valid? [True, True] Translation: X:810.77, Y:-46.19, Z:4.45 [[ 9.99788712e-01 -1.97418452e-02 -5.72641213e-03 8.10771926e+02] [ 1.97437258e-02 9.99805037e-01 2.72058425e-04 -4.61920914e+01] [ 5.71992475e-03 -3.85061653e-04 9.99983567e-01 4.44530394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.600714057 meters Centerline goodness : 0.991458 with order 1 Centerline is valid? [True, True] Translation: X:810.83, Y:-46.19, Z:4.45 [[ 9.99860123e-01 -1.57144242e-02 -5.72639303e-03 8.10834104e+02] [ 1.57162413e-02 9.99876455e-01 2.72459846e-04 -4.61946282e+01] [ 5.72140401e-03 -3.62419109e-04 9.99983567e-01 4.44507291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6607140570001 meters Centerline goodness : 0.991811 with order 1 Centerline is valid? [True, True] Translation: X:810.89, Y:-46.20, Z:4.45 [[ 9.99911564e-01 -1.20030258e-02 -5.72637322e-03 8.10894927e+02] [ 1.20047846e-02 9.99927903e-01 2.72875520e-04 -4.61950829e+01] [ 5.72268503e-03 -3.41595266e-04 9.99983567e-01 4.44537544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.720714057 meters Centerline goodness : 0.991288 with order 1 Centerline is valid? [True, True] Translation: X:810.96, Y:-46.20, Z:4.45 [[ 9.99951360e-01 -8.03037854e-03 -5.72635860e-03 8.10957594e+02] [ 8.03207422e-03 9.99967705e-01 2.73181939e-04 -4.61967117e+01] [ 5.72397991e-03 -3.19163189e-04 9.99983567e-01 4.44938337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7807140570001 meters Centerline goodness : 0.991262 with order 1 Centerline is valid? [True, True] Translation: X:811.02, Y:-46.20, Z:4.45 [[ 9.99983089e-01 -1.01541805e-03 -5.72633885e-03 8.11017938e+02] [ 1.01700139e-03 9.99999445e-01 2.73595364e-04 -4.61969258e+01] [ 5.72605786e-03 -2.79414432e-04 9.99983567e-01 4.45130195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.840714057 meters Centerline goodness : 0.991523 with order 1 Centerline is valid? [True, True] Translation: X:811.08, Y:-46.20, Z:4.45 [[ 9.99968647e-01 5.46934087e-03 -5.72633400e-03 8.11076153e+02] [-5.46786305e-03 9.99985014e-01 2.73696769e-04 -4.62022317e+01] [ 5.72774512e-03 -2.42377377e-04 9.99983567e-01 4.44818668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9007140570001 meters Centerline goodness : 0.991290 with order 1 Centerline is valid? [True, True] Translation: X:811.13, Y:-46.21, Z:4.45 [[ 9.99946808e-01 8.57846038e-03 -5.72640292e-03 8.11134620e+02] [-8.57704175e-03 9.99963179e-01 2.72247115e-04 -4.62071639e+01] [ 5.72852753e-03 -2.23117037e-04 9.99983567e-01 4.44615146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.960714057 meters Centerline goodness : 0.991250 with order 1 Centerline is valid? [True, True] Translation: X:811.19, Y:-46.21, Z:4.45 [[ 9.99970813e-01 5.05777553e-03 -5.72647423e-03 8.11192397e+02] [-5.05630789e-03 9.99987180e-01 2.70738754e-04 -4.62103156e+01] [ 5.72777016e-03 -2.41776035e-04 9.99983567e-01 4.44871952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0207140570001 meters Centerline goodness : 0.990357 with order 1 Centerline is valid? [True, True] Translation: X:811.25, Y:-46.22, Z:4.45 [[ 9.99978977e-01 3.04179164e-03 -5.72650209e-03 8.11250618e+02] [-3.04029438e-03 9.99995342e-01 2.70148226e-04 -4.62152906e+01] [ 5.72729715e-03 -2.52732295e-04 9.99983567e-01 4.44773758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.080714057 meters Centerline goodness : 0.991123 with order 1 Centerline is valid? [True, True] Translation: X:811.31, Y:-46.22, Z:4.45 [[ 9.99981918e-01 -1.83567741e-03 -5.72652159e-03 8.11308960e+02] [ 1.83725211e-03 9.99998276e-01 2.69734355e-04 -4.62207721e+01] [ 5.72601657e-03 -2.80250542e-04 9.99983567e-01 4.44989903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1407140570001 meters Centerline goodness : 0.990561 with order 1 Centerline is valid? [True, True] Translation: X:811.37, Y:-46.22, Z:4.45 [[ 9.99967683e-01 -5.64273449e-03 -5.72654073e-03 8.11367052e+02] [ 5.64436912e-03 9.99984034e-01 2.69327397e-04 -4.62235647e+01] [ 5.72492955e-03 -3.01641403e-04 9.99983567e-01 4.45122804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.200714057 meters Centerline goodness : 0.989297 with order 1 Centerline is valid? [True, True] Translation: X:811.43, Y:-46.23, Z:4.45 [[ 9.99978002e-01 -3.34693604e-03 -5.72655484e-03 8.11427144e+02] [ 3.34853142e-03 9.99994357e-01 2.69027057e-04 -4.62288026e+01] [ 5.72562211e-03 -2.88196688e-04 9.99983567e-01 4.45394250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.260714057 meters Centerline goodness : 0.990553 with order 1 Centerline is valid? [True, True] Translation: X:811.49, Y:-46.23, Z:4.45 [[ 9.99983157e-01 -9.44917458e-04 -5.72655484e-03 8.11486232e+02] [ 9.46473541e-04 9.99999516e-01 2.69027057e-04 -4.62337670e+01] [ 5.72629785e-03 -2.74442558e-04 9.99983567e-01 4.45305845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.320714057 meters Centerline goodness : 0.989983 with order 1 Centerline is valid? [True, True] Translation: X:811.54, Y:-46.24, Z:4.45 [[ 9.99983528e-01 3.88004620e-04 -5.72656464e-03 8.11544811e+02] [-3.86471538e-04 9.99999889e-01 2.68818290e-04 -4.62386501e+01] [ 5.72666830e-03 -2.66600707e-04 9.99983567e-01 4.45481929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.380714057 meters Centerline goodness : 0.992271 with order 1 Centerline is valid? [True, True] Translation: X:811.60, Y:-46.23, Z:4.46 [[ 9.99975979e-01 -3.90487450e-03 -5.72663215e-03 8.11603874e+02] [ 3.90646954e-03 9.99992334e-01 2.67372243e-04 -4.62347505e+01] [ 5.72554419e-03 -2.89736734e-04 9.99983567e-01 4.45573680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.440714057 meters Centerline goodness : 0.992606 with order 1 Centerline is valid? [True, True] Translation: X:811.66, Y:-46.24, Z:4.45 [[ 9.99979057e-01 -3.01510210e-03 -5.72665115e-03 8.11663525e+02] [ 3.01668026e-03 9.99995414e-01 2.66964724e-04 -4.62405577e+01] [ 5.72581996e-03 -2.84234608e-04 9.99983567e-01 4.45478363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.500714057 meters Centerline goodness : 0.989243 with order 1 Centerline is valid? [True, True] Translation: X:811.72, Y:-46.25, Z:4.46 [[ 9.99983556e-01 3.04506009e-04 -5.72666071e-03 8.11722413e+02] [-3.02983326e-04 9.99999919e-01 2.66759405e-04 -4.62541385e+01] [ 5.72674148e-03 -2.65019936e-04 9.99983567e-01 4.45605878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.560714057 meters Centerline goodness : 0.990215 with order 1 Centerline is valid? [True, True] Translation: X:811.78, Y:-46.26, Z:4.46 [[ 9.99982710e-01 -1.33566642e-03 -5.72667047e-03 8.11779681e+02] [ 1.33721474e-03 9.99999070e-01 2.66549870e-04 -4.62587552e+01] [ 5.72630912e-03 -2.74203050e-04 9.99983567e-01 4.45547417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.620714057 meters Centerline goodness : 0.990329 with order 1 Centerline is valid? [True, True] Translation: X:811.84, Y:-46.27, Z:4.45 [[ 9.99966408e-01 -5.86411823e-03 -5.72669430e-03 8.11837874e+02] [ 5.86573769e-03 9.99982761e-01 2.66036726e-04 -4.62683554e+01] [ 5.72503551e-03 -2.99619076e-04 9.99983567e-01 4.45274907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.680714057 meters Centerline goodness : 0.989965 with order 1 Centerline is valid? [True, True] Translation: X:811.90, Y:-46.27, Z:4.45 [[ 9.99879082e-01 -1.44577659e-02 -5.72671359e-03 8.11898007e+02] [ 1.44595235e-02 9.99895420e-01 2.65620899e-04 -4.62732280e+01] [ 5.72227441e-03 -3.48394331e-04 9.99983567e-01 4.45471775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.740714057 meters Centerline goodness : 0.990368 with order 1 Centerline is valid? [True, True] Translation: X:811.96, Y:-46.28, Z:4.46 [[ 9.99795879e-01 -1.93753888e-02 -5.72671359e-03 8.11960600e+02] [ 1.93772267e-02 9.99812209e-01 2.65620900e-04 -4.62768495e+01] [ 5.72049166e-03 -3.76534508e-04 9.99983567e-01 4.45792308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.800714057 meters Centerline goodness : 0.991304 with order 1 Centerline is valid? [True, True] Translation: X:812.02, Y:-46.28, Z:4.46 [[ 9.99655258e-01 -2.56236247e-02 -5.72668829e-03 8.12023034e+02] [ 2.56255677e-02 9.99671576e-01 2.66165178e-04 -4.62804123e+01] [ 5.71798739e-03 -4.12823058e-04 9.99983567e-01 4.46189074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.860714057 meters Centerline goodness : 0.990722 with order 1 Centerline is valid? [True, True] Translation: X:812.08, Y:-46.29, Z:4.46 [[ 9.99574886e-01 -2.85876478e-02 -5.72661699e-03 8.12084317e+02] [ 2.85896479e-02 9.99591197e-01 2.67690603e-04 -4.62857631e+01] [ 5.71662328e-03 -4.31298767e-04 9.99983567e-01 4.46073132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.920714057 meters Centerline goodness : 0.989754 with order 1 Centerline is valid? [True, True] Translation: X:812.15, Y:-46.29, Z:4.46 [[ 9.99532354e-01 -3.00379746e-02 -5.72657791e-03 8.12146829e+02] [ 3.00400032e-02 9.99548661e-01 2.68523973e-04 -4.62904903e+01] [ 5.71592737e-03 -4.40424817e-04 9.99983567e-01 4.45974321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.980714057 meters Centerline goodness : 0.991001 with order 1 Centerline is valid? [True, True] Translation: X:812.21, Y:-46.29, Z:4.46 [[ 9.99521539e-01 -3.03957225e-02 -5.72654680e-03 8.12209902e+02] [ 3.03977606e-02 9.99537845e-01 2.69185738e-04 -4.62926212e+01] [ 5.71571816e-03 -4.43131142e-04 9.99983567e-01 4.46004931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0407140570001 meters Centerline goodness : 0.993050 with order 1 Centerline is valid? [True, True] Translation: X:812.27, Y:-46.29, Z:4.46 [[ 9.99379189e-01 -3.47626669e-02 -5.72651572e-03 8.12272481e+02] [ 3.47647800e-02 9.99395486e-01 2.69845406e-04 -4.62873978e+01] [ 5.71367341e-03 -4.68758942e-04 9.99983567e-01 4.45972809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.100714057 meters Centerline goodness : 0.991167 with order 1 Centerline is valid? [True, True] Translation: X:812.33, Y:-46.30, Z:4.46 [[ 9.99622314e-01 -2.68781700e-02 -5.72649014e-03 8.12334091e+02] [ 2.68801576e-02 9.99638627e-01 2.70387044e-04 -4.62962758e+01] [ 5.71715323e-03 -4.24213880e-04 9.99983567e-01 4.45656646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1607140570001 meters Centerline goodness : 0.993460 with order 1 Centerline is valid? [True, True] Translation: X:812.40, Y:-46.29, Z:4.46 [[ 9.99424480e-01 -3.34352549e-02 -5.72646952e-03 8.12395997e+02] [ 3.34373519e-02 9.99440779e-01 2.70823094e-04 -4.62880032e+01] [ 5.71421212e-03 -4.62145207e-04 9.99983567e-01 4.45972342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.220714057 meters Centerline goodness : 0.990968 with order 1 Centerline is valid? [True, True] Translation: X:812.46, Y:-46.29, Z:4.46 [[ 9.99439615e-01 -3.29797502e-02 -5.72642916e-03 8.12456921e+02] [ 3.29818446e-02 9.99455914e-01 2.71673856e-04 -4.62914585e+01] [ 5.71435375e-03 -4.60389810e-04 9.99983567e-01 4.46494738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2807140570001 meters Centerline goodness : 0.992168 with order 1 Centerline is valid? [True, True] Translation: X:812.52, Y:-46.29, Z:4.47 [[ 9.99359616e-01 -3.53209039e-02 -5.72641917e-03 8.12519017e+02] [ 3.53230377e-02 9.99375910e-01 2.71884321e-04 -4.62890425e+01] [ 5.71324216e-03 -4.73984731e-04 9.99983567e-01 4.46912623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.340714057 meters Centerline goodness : 0.992196 with order 1 Centerline is valid? [True, True] Translation: X:812.58, Y:-46.29, Z:4.47 [[ 9.99361994e-01 -3.52535555e-02 -5.72639939e-03 8.12581293e+02] [ 3.52556906e-02 9.99378288e-01 2.72300175e-04 -4.62884560e+01] [ 5.71323967e-03 -4.74014611e-04 9.99983567e-01 4.46988907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4007140570001 meters Centerline goodness : 0.992927 with order 1 Centerline is valid? [True, True] Translation: X:812.64, Y:-46.29, Z:4.47 [[ 9.99399172e-01 -3.41833677e-02 -5.72637982e-03 8.12643402e+02] [ 3.41854876e-02 9.99415468e-01 2.72711117e-04 -4.62859952e+01] [ 5.71371039e-03 -4.68306351e-04 9.99983567e-01 4.46590885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.460714057 meters Centerline goodness : 0.991363 with order 1 Centerline is valid? [True, True] Translation: X:812.71, Y:-46.29, Z:4.46 [[ 9.99694707e-01 -2.40354162e-02 -5.72636041e-03 8.12705338e+02] [ 2.40373729e-02 9.99711023e-01 2.73118152e-04 -4.62923446e+01] [ 5.71814111e-03 -4.10681432e-04 9.99983567e-01 4.46300298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5207140570001 meters Centerline goodness : 0.990661 with order 1 Centerline is valid? [True, True] Translation: X:812.77, Y:-46.29, Z:4.47 [[ 9.99793389e-01 -1.95035246e-02 -5.72634060e-03 8.12767669e+02] [ 1.95054097e-02 9.99809714e-01 2.73532896e-04 -4.62904095e+01] [ 5.71991610e-03 -3.85171001e-04 9.99983567e-01 4.46544244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.580714057 meters Centerline goodness : 0.990065 with order 1 Centerline is valid? [True, True] Translation: X:812.83, Y:-46.29, Z:4.46 [[ 9.99861052e-01 -1.56552472e-02 -5.72631982e-03 8.12829321e+02] [ 1.56570720e-02 9.99877383e-01 2.73967234e-04 -4.62924591e+01] [ 5.72132865e-03 -3.63586568e-04 9.99983567e-01 4.46199046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6407140570001 meters Centerline goodness : 0.992517 with order 1 Centerline is valid? [True, True] Translation: X:812.89, Y:-46.28, Z:4.47 [[ 9.99718490e-01 -2.30250104e-02 -5.72630451e-03 8.12891347e+02] [ 2.30269573e-02 9.99734807e-01 2.74286710e-04 -4.62814983e+01] [ 5.71847048e-03 -4.06068866e-04 9.99983567e-01 4.46740109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.700714057 meters Centerline goodness : 0.992409 with order 1 Centerline is valid? [True, True] Translation: X:812.95, Y:-46.28, Z:4.47 [[ 9.99797527e-01 -1.92902854e-02 -5.72628997e-03 8.12953390e+02] [ 1.92921731e-02 9.99813851e-01 2.74589966e-04 -4.62799548e+01] [ 5.71992711e-03 -3.85006947e-04 9.99983567e-01 4.46783206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.760714057 meters Centerline goodness : 0.990959 with order 1 Centerline is valid? [True, True] Translation: X:813.01, Y:-46.28, Z:4.47 [[ 9.99960660e-01 -6.77406142e-03 -5.72627034e-03 8.13014300e+02] [ 6.77574694e-03 9.99977007e-01 2.74998831e-04 -4.62849448e+01] [ 5.72427581e-03 -3.13787771e-04 9.99983567e-01 4.47245828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.820714057 meters Centerline goodness : 0.993135 with order 1 Centerline is valid? [True, True] Translation: X:813.07, Y:-46.28, Z:4.47 [[ 9.99948046e-01 -8.43292975e-03 -5.72626512e-03 8.13074560e+02] [ 8.43464300e-03 9.99964390e-01 2.75107483e-04 -4.62765008e+01] [ 5.72374124e-03 -3.23392192e-04 9.99983567e-01 4.47311915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.880714057 meters Centerline goodness : 0.990706 with order 1 Centerline is valid? [True, True] Translation: X:813.14, Y:-46.28, Z:4.48 [[ 9.99983379e-01 -6.72222877e-04 -5.72626512e-03 8.13136120e+02] [ 6.73809237e-04 9.99999735e-01 2.75107483e-04 -4.62807101e+01] [ 5.72607867e-03 -2.78961321e-04 9.99983567e-01 4.47572885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.940714057 meters Centerline goodness : 0.991360 with order 1 Centerline is valid? [True, True] Translation: X:813.20, Y:-46.28, Z:4.48 [[ 9.99983568e-01 -2.70036037e-04 -5.72625462e-03 8.13195010e+02] [ 2.71617066e-04 9.99999925e-01 2.75325771e-04 -4.62807290e+01] [ 5.72617984e-03 -2.76876595e-04 9.99983567e-01 4.47505846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.000714057 meters Centerline goodness : 0.990334 with order 1 Centerline is valid? [True, True] Translation: X:813.25, Y:-46.28, Z:4.48 [[ 9.99983544e-01 3.49103421e-04 -5.72627367e-03 8.13253452e+02] [-3.47534787e-04 9.99999902e-01 2.74928959e-04 -4.62811120e+01] [ 5.72636909e-03 -2.72934355e-04 9.99983567e-01 4.47616588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.060714057 meters Centerline goodness : 0.992005 with order 1 Centerline is valid? [True, True] Translation: X:813.31, Y:-46.28, Z:4.47 [[ 9.99956148e-01 -7.41024005e-03 -5.72634623e-03 8.13312286e+02] [ 7.41192689e-03 9.99972494e-01 2.73409348e-04 -4.62753588e+01] [ 5.72416269e-03 -3.15840618e-04 9.99983567e-01 4.47279000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.120714057 meters Centerline goodness : 0.992429 with order 1 Centerline is valid? [True, True] Translation: X:813.37, Y:-46.28, Z:4.47 [[ 9.99902798e-01 -1.27123163e-02 -5.72636144e-03 8.13373907e+02] [ 1.27140880e-02 9.99919135e-01 2.73090406e-04 -4.62762559e+01] [ 5.72242677e-03 -3.45869325e-04 9.99983567e-01 4.47342874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.180714057 meters Centerline goodness : 0.992584 with order 1 Centerline is valid? [True, True] Translation: X:813.44, Y:-46.28, Z:4.48 [[ 9.99849176e-01 -1.63961643e-02 -5.72635250e-03 8.13436611e+02] [ 1.63979972e-02 9.99865506e-01 2.73277620e-04 -4.62763813e+01] [ 5.72110164e-03 -3.67137115e-04 9.99983567e-01 4.47800328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.240714057 meters Centerline goodness : 0.992823 with order 1 Centerline is valid? [True, True] Translation: X:813.50, Y:-46.28, Z:4.48 [[ 9.99806574e-01 -1.88155325e-02 -5.72633308e-03 8.13498147e+02] [ 1.88174073e-02 9.99822899e-01 2.73683932e-04 -4.62765461e+01] [ 5.72016944e-03 -3.81385736e-04 9.99983567e-01 4.48062449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.300714057 meters Centerline goodness : 0.990407 with order 1 Centerline is valid? [True, True] Translation: X:813.56, Y:-46.28, Z:4.48 [[ 9.99764939e-01 -2.09111660e-02 -5.72631853e-03 8.13559611e+02] [ 2.09130767e-02 9.99781260e-01 2.73988116e-04 -4.62772733e+01] [ 5.71933655e-03 -3.93678651e-04 9.99983567e-01 4.48460441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.360714057 meters Centerline goodness : 0.990605 with order 1 Centerline is valid? [True, True] Translation: X:813.62, Y:-46.28, Z:4.49 [[ 9.99705259e-01 -2.35924884e-02 -5.72630676e-03 8.13621892e+02] [ 2.35944443e-02 9.99721575e-01 2.74233848e-04 -4.62785117e+01] [ 5.71824255e-03 -4.09262046e-04 9.99983567e-01 4.48562617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.420714057 meters Centerline goodness : 0.992069 with order 1 Centerline is valid? [True, True] Translation: X:813.68, Y:-46.28, Z:4.49 [[ 9.99710783e-01 -2.33572226e-02 -5.72628082e-03 8.13682809e+02] [ 2.33591778e-02 9.99727099e-01 2.74774452e-04 -4.62797818e+01] [ 5.71830015e-03 -4.08456194e-04 9.99983567e-01 4.48539319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.480714057 meters Centerline goodness : 0.992037 with order 1 Centerline is valid? [True, True] Translation: X:813.74, Y:-46.28, Z:4.48 [[ 9.99738305e-01 -2.21479549e-02 -5.72626178e-03 8.13744517e+02] [ 2.21498926e-02 9.99754623e-01 2.75170651e-04 -4.62842304e+01] [ 5.71876222e-03 -4.01934724e-04 9.99983567e-01 4.48326623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5407140570001 meters Centerline goodness : 0.992839 with order 1 Centerline is valid? [True, True] Translation: X:813.81, Y:-46.29, Z:4.48 [[ 9.99785014e-01 -1.99282464e-02 -5.72624449e-03 8.13806803e+02] [ 1.99301499e-02 9.99801337e-01 2.75529968e-04 -4.62858004e+01] [ 5.71961607e-03 -3.89595644e-04 9.99983567e-01 4.48267793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.600714057 meters Centerline goodness : 0.991777 with order 1 Centerline is valid? [True, True] Translation: X:813.87, Y:-46.28, Z:4.49 [[ 9.99854065e-01 -1.60953202e-02 -5.72619589e-03 8.13867867e+02] [ 1.60971668e-02 9.99870394e-01 2.76536434e-04 -4.62848674e+01] [ 5.72100280e-03 -3.68671607e-04 9.99983567e-01 4.48729195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6607140570001 meters Centerline goodness : 0.989347 with order 1 Centerline is valid? [True, True] Translation: X:813.93, Y:-46.30, Z:4.48 [[ 9.99971502e-01 4.92003088e-03 -5.72618409e-03 8.13929111e+02] [-4.91852645e-03 9.99987866e-01 2.76780437e-04 -4.63003907e+01] [ 5.72747638e-03 -2.48608162e-04 9.99983567e-01 4.48179227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.720714057 meters Centerline goodness : 0.989898 with order 1 Centerline is valid? [True, True] Translation: X:813.99, Y:-46.30, Z:4.48 [[ 9.99929338e-01 1.04177359e-02 -5.72615845e-03 8.13986464e+02] [-1.04163184e-02 9.99945710e-01 2.77309866e-04 -4.63021038e+01] [ 5.72873652e-03 -2.17644781e-04 9.99983567e-01 4.48282489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7807140570001 meters Centerline goodness : 0.989179 with order 1 Centerline is valid? [True, True] Translation: X:814.05, Y:-46.30, Z:4.49 [[ 9.99888671e-01 1.37788539e-02 -5.72621516e-03 8.14045605e+02] [-1.37774982e-02 9.99905048e-01 2.76133952e-04 -4.63021534e+01] [ 5.72947625e-03 -1.97210291e-04 9.99983567e-01 4.48756716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.840714057 meters Centerline goodness : 0.989590 with order 1 Centerline is valid? [True, True] Translation: X:814.10, Y:-46.31, Z:4.48 [[ 9.99861264e-01 1.56416861e-02 -5.72628757e-03 8.14102678e+02] [-1.56403695e-02 9.99877644e-01 2.74624188e-04 -4.63064438e+01] [ 5.72988251e-03 -1.85024835e-04 9.99983567e-01 4.48493122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9007140570001 meters Centerline goodness : 0.989384 with order 1 Centerline is valid? [True, True] Translation: X:814.16, Y:-46.31, Z:4.48 [[ 9.99829071e-01 1.75794550e-02 -5.72634265e-03 8.14160814e+02] [-1.75781768e-02 9.99845455e-01 2.73470672e-04 -4.63114366e+01] [ 5.73026514e-03 -1.72765264e-04 9.99983567e-01 4.48495974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.960714057 meters Centerline goodness : 0.989593 with order 1 Centerline is valid? [True, True] Translation: X:814.22, Y:-46.32, Z:4.48 [[ 9.99685155e-01 2.44294862e-02 -5.72637130e-03 8.14218798e+02] [-2.44283237e-02 9.99701547e-01 2.72869456e-04 -4.63213752e+01] [ 5.73132831e-03 -1.32897892e-04 9.99983567e-01 4.47836796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0207140570001 meters Centerline goodness : 0.989309 with order 1 Centerline is valid? [True, True] Translation: X:814.28, Y:-46.32, Z:4.48 [[ 9.99736512e-01 2.22286741e-02 -5.72644295e-03 8.14276993e+02] [-2.22274842e-02 9.99752902e-01 2.71357476e-04 -4.63239118e+01] [ 5.73105988e-03 -1.44001557e-04 9.99983567e-01 4.48353938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.080714057 meters Centerline goodness : 0.989413 with order 1 Centerline is valid? [True, True] Translation: X:814.34, Y:-46.33, Z:4.49 [[ 9.99757909e-01 2.12445492e-02 -5.72646834e-03 8.14335708e+02] [-2.12433462e-02 9.99774298e-01 2.70820546e-04 -4.63297408e+01] [ 5.73092933e-03 -1.49105634e-04 9.99983567e-01 4.48518971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1407140570001 meters Centerline goodness : 0.989414 with order 1 Centerline is valid? [True, True] Translation: X:814.39, Y:-46.34, Z:4.48 [[ 9.99765045e-01 2.09060231e-02 -5.72648867e-03 8.14393595e+02] [-2.09048171e-02 9.99781434e-01 2.70389993e-04 -4.63350117e+01] [ 5.73088984e-03 -1.50615265e-04 9.99983567e-01 4.48479101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.200714057 meters Centerline goodness : 0.989363 with order 1 Centerline is valid? [True, True] Translation: X:814.45, Y:-46.34, Z:4.49 [[ 9.99864327e-01 1.54445545e-02 -5.72651911e-03 8.14451066e+02] [-1.54432627e-02 9.99880709e-01 2.69743843e-04 -4.63397191e+01] [ 5.73000206e-03 -1.81271107e-04 9.99983567e-01 4.48907140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.260714057 meters Centerline goodness : 0.989186 with order 1 Centerline is valid? [True, True] Translation: X:814.51, Y:-46.35, Z:4.49 [[ 9.99886403e-01 1.39423207e-02 -5.72655396e-03 8.14509971e+02] [-1.39410085e-02 9.99902783e-01 2.69002021e-04 -4.63474728e+01] [ 5.72974775e-03 -1.89137526e-04 9.99983567e-01 4.49104145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.320714057 meters Centerline goodness : 0.988012 with order 1 Centerline is valid? [True, True] Translation: X:814.57, Y:-46.36, Z:4.48 [[ 9.99866692e-01 1.52906799e-02 -5.72657278e-03 8.14568743e+02] [-1.52893921e-02 9.99883074e-01 2.68600676e-04 -4.63598246e+01] [ 5.73001028e-03 -1.81009053e-04 9.99983567e-01 4.48289991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.380714057 meters Centerline goodness : 0.986783 with order 1 Centerline is valid? [True, True] Translation: X:814.63, Y:-46.37, Z:4.48 [[ 9.99869564e-01 1.51017194e-02 -5.72659145e-03 8.14626775e+02] [-1.51004308e-02 9.99885946e-01 2.68202163e-04 -4.63733079e+01] [ 5.72998862e-03 -1.81693182e-04 9.99983567e-01 4.47570938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.440714057 meters Centerline goodness : 0.988500 with order 1 Centerline is valid? [True, True] Translation: X:814.68, Y:-46.37, Z:4.48 [[ 9.99958042e-01 7.14986423e-03 -5.72661006e-03 8.14684874e+02] [-7.14844762e-03 9.99974414e-01 2.67804053e-04 -4.63732629e+01] [ 5.72837830e-03 -2.26856444e-04 9.99983567e-01 4.48487004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.500714057 meters Centerline goodness : 0.987968 with order 1 Centerline is valid? [True, True] Translation: X:814.74, Y:-46.38, Z:4.49 [[ 9.99969345e-01 5.33995693e-03 -5.72663281e-03 8.14743892e+02] [-5.33851348e-03 9.99985714e-01 2.67316729e-04 -4.63755942e+01] [ 5.72797846e-03 -2.36736828e-04 9.99983567e-01 4.48997966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.560714057 meters Centerline goodness : 0.988377 with order 1 Centerline is valid? [True, True] Translation: X:814.80, Y:-46.38, Z:4.49 [[ 9.99944441e-01 8.84983581e-03 -5.72665158e-03 8.14801083e+02] [-8.84845212e-03 9.99960816e-01 2.66913968e-04 -4.63791637e+01] [ 5.72878934e-03 -2.16227137e-04 9.99983567e-01 4.49086000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.620714057 meters Centerline goodness : 0.987708 with order 1 Centerline is valid? [True, True] Translation: X:814.86, Y:-46.39, Z:4.49 [[ 9.99891916e-01 1.35411189e-02 -5.72668383e-03 8.14859150e+02] [-1.35398161e-02 9.99908297e-01 2.66220236e-04 -4.63871353e+01] [ 5.72976360e-03 -1.88653216e-04 9.99983567e-01 4.48995535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.680714057 meters Centerline goodness : 0.988589 with order 1 Centerline is valid? [True, True] Translation: X:814.92, Y:-46.39, Z:4.49 [[ 9.99840834e-01 1.68970770e-02 -5.72670698e-03 8.14916971e+02] [-1.68958319e-02 9.99857220e-01 2.65721433e-04 -4.63899304e+01] [ 5.73037923e-03 -1.68921660e-04 9.99983567e-01 4.49272021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.740714057 meters Centerline goodness : 0.988849 with order 1 Centerline is valid? [True, True] Translation: X:814.97, Y:-46.39, Z:4.50 [[ 9.99741015e-01 2.20251602e-02 -5.72673445e-03 8.14974319e+02] [-2.20240027e-02 9.99757407e-01 2.65128111e-04 -4.63927041e+01] [ 5.73118467e-03 -1.38933832e-04 9.99983567e-01 4.49623524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.800714057 meters Centerline goodness : 0.988592 with order 1 Centerline is valid? [True, True] Translation: X:815.03, Y:-46.40, Z:4.50 [[ 9.99687755e-01 2.43227287e-02 -5.72681456e-03 8.15032122e+02] [-2.43216188e-02 9.99704151e-01 2.63386101e-04 -4.63969717e+01] [ 5.73152656e-03 -1.24018460e-04 9.99983567e-01 4.49570058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.860714057 meters Centerline goodness : 0.989025 with order 1 Centerline is valid? [True, True] Translation: X:815.09, Y:-46.40, Z:4.50 [[ 9.99648987e-01 2.58670913e-02 -5.72683907e-03 8.15091094e+02] [-2.58660097e-02 9.99665384e-01 2.62852196e-04 -4.63979632e+01] [ 5.73172200e-03 -1.14629457e-04 9.99983567e-01 4.50084287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.920714057 meters Centerline goodness : 0.987607 with order 1 Centerline is valid? [True, True] Translation: X:815.15, Y:-46.41, Z:4.49 [[ 9.99472740e-01 3.19600463e-02 -5.72685743e-03 8.15149800e+02] [-3.19590671e-02 9.99489144e-01 2.62451534e-04 -4.64064255e+01] [ 5.73231980e-03 -7.92881330e-05 9.99983567e-01 4.49432699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.980714057 meters Centerline goodness : 0.990397 with order 1 Centerline is valid? [True, True] Translation: X:815.21, Y:-46.41, Z:4.50 [[ 9.99536042e-01 2.99149409e-02 -5.72692576e-03 8.15207025e+02] [-2.99139366e-02 9.99552444e-01 2.60952032e-04 -4.64091596e+01] [ 5.73216900e-03 -8.95160669e-05 9.99983567e-01 4.49946117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0407140570001 meters Centerline goodness : 0.988573 with order 1 Centerline is valid? [True, True] Translation: X:815.27, Y:-46.42, Z:4.50 [[ 9.99448597e-01 3.27063247e-02 -5.72695447e-03 8.15265728e+02] [-3.27053699e-02 9.99465002e-01 2.60320354e-04 -4.64163234e+01] [ 5.73240469e-03 -7.28746483e-05 9.99983567e-01 4.49536476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.100714057 meters Centerline goodness : 0.992117 with order 1 Centerline is valid? [True, True] Translation: X:815.32, Y:-46.41, Z:4.50 [[ 9.99751166e-01 2.15594066e-02 -5.72697374e-03 8.15324486e+02] [-2.15582714e-02 9.99767560e-01 2.59895674e-04 -4.64078843e+01] [ 5.73124576e-03 -1.36367349e-04 9.99983567e-01 4.50244933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1607140570001 meters Centerline goodness : 0.991872 with order 1 Centerline is valid? [True, True] Translation: X:815.38, Y:-46.42, Z:4.50 [[ 9.99780786e-01 2.01390335e-02 -5.72699233e-03 8.15383224e+02] [-2.01378773e-02 9.99797179e-01 2.59485557e-04 -4.64156127e+01] [ 5.73105656e-03 -1.44099206e-04 9.99983567e-01 4.50469200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.220714057 meters Centerline goodness : 0.988921 with order 1 Centerline is valid? [True, True] Translation: X:815.44, Y:-46.43, Z:4.50 [[ 9.99664194e-01 2.52725393e-02 -5.72701129e-03 8.15441466e+02] [-2.52714697e-02 9.99680592e-01 2.59066401e-04 -4.64334012e+01] [ 5.73172930e-03 -1.14249412e-04 9.99983567e-01 4.49681398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2807140570001 meters Centerline goodness : 0.988902 with order 1 Centerline is valid? [True, True] Translation: X:815.50, Y:-46.44, Z:4.49 [[ 9.99738943e-01 2.21189317e-02 -5.72707717e-03 8.15498591e+02] [-2.21178188e-02 9.99755338e-01 2.57601743e-04 -4.64405275e+01] [ 5.73137384e-03 -1.30864039e-04 9.99983567e-01 4.49468740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.340714057 meters Centerline goodness : 0.989056 with order 1 Centerline is valid? [True, True] Translation: X:815.56, Y:-46.45, Z:4.49 [[ 9.99700756e-01 2.37822982e-02 -5.72710904e-03 8.15556854e+02] [-2.37812166e-02 9.99717154e-01 2.56891046e-04 -4.64456591e+01] [ 5.73159861e-03 -1.20616552e-04 9.99983567e-01 4.49171692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4007140570001 meters Centerline goodness : 0.989334 with order 1 Centerline is valid? [True, True] Translation: X:815.61, Y:-46.45, Z:4.50 [[ 9.99833753e-01 1.73108600e-02 -5.72712787e-03 8.15614617e+02] [-1.73096747e-02 9.99850143e-01 2.56470705e-04 -4.64454698e+01] [ 5.73070935e-03 -1.57293348e-04 9.99983567e-01 4.50060261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.460714057 meters Centerline goodness : 0.989620 with order 1 Centerline is valid? [True, True] Translation: X:815.67, Y:-46.45, Z:4.50 [[ 9.99849643e-01 1.63674020e-02 -5.72715094e-03 8.15671485e+02] [-1.63662042e-02 9.99866032e-01 2.55954422e-04 -4.64504959e+01] [ 5.73057299e-03 -1.62184216e-04 9.99983567e-01 4.49935793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5207140570001 meters Centerline goodness : 0.989104 with order 1 Centerline is valid? [True, True] Translation: X:815.73, Y:-46.46, Z:4.49 [[ 9.99789812e-01 1.96858009e-02 -5.72719261e-03 8.15730060e+02] [-1.96846628e-02 9.99806206e-01 2.55018531e-04 -4.64601601e+01] [ 5.73110296e-03 -1.42227073e-04 9.99983567e-01 4.48975527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.580714057 meters Centerline goodness : 0.988497 with order 1 Centerline is valid? [True, True] Translation: X:815.79, Y:-46.46, Z:4.50 [[ 9.99933652e-01 9.99452164e-03 -5.72721107e-03 8.15788148e+02] [-9.99322712e-03 9.99950034e-01 2.54603464e-04 -4.64592174e+01] [ 5.72946954e-03 -1.97353250e-04 9.99983567e-01 4.49622233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6407140570001 meters Centerline goodness : 0.988588 with order 1 Centerline is valid? [True, True] Translation: X:815.85, Y:-46.46, Z:4.49 [[ 9.99945030e-01 8.78270878e-03 -5.72723357e-03 8.15845882e+02] [-8.78139731e-03 9.99961411e-01 2.54096256e-04 -4.64638594e+01] [ 5.72924421e-03 -2.03789175e-04 9.99983567e-01 4.49438421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.700714057 meters Centerline goodness : 0.989201 with order 1 Centerline is valid? [True, True] Translation: X:815.90, Y:-46.47, Z:4.50 [[ 9.99962148e-01 6.54986220e-03 -5.72725581e-03 8.15904561e+02] [-6.54851703e-03 9.99978526e-01 2.53594062e-04 -4.64654921e+01] [ 5.72879382e-03 -2.16079431e-04 9.99983567e-01 4.49765238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.760714057 meters Centerline goodness : 0.989366 with order 1 Centerline is valid? [True, True] Translation: X:815.96, Y:-46.47, Z:4.50 [[ 9.99967047e-01 5.75355024e-03 -5.72727446e-03 8.15962342e+02] [-5.75219443e-03 9.99983424e-01 2.53172163e-04 -4.64688995e+01] [ 5.72863616e-03 -2.20219424e-04 9.99983567e-01 4.49920721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.820714057 meters Centerline goodness : 0.989822 with order 1 Centerline is valid? [True, True] Translation: X:816.02, Y:-46.47, Z:4.50 [[ 9.99959484e-01 6.94463338e-03 -5.72729736e-03 8.16021248e+02] [-6.94330005e-03 9.99975863e-01 2.52653007e-04 -4.64726094e+01] [ 5.72891370e-03 -2.12876426e-04 9.99983567e-01 4.49686026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.880714057 meters Centerline goodness : 0.990095 with order 1 Centerline is valid? [True, True] Translation: X:816.08, Y:-46.47, Z:4.50 [[ 9.99972363e-01 4.74037073e-03 -5.72731396e-03 8.16078631e+02] [-4.73900346e-03 9.99988739e-01 2.52276025e-04 -4.64726686e+01] [ 5.72844535e-03 -2.25127293e-04 9.99983567e-01 4.50196093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.940714057 meters Centerline goodness : 0.990110 with order 1 Centerline is valid? [True, True] Translation: X:816.14, Y:-46.48, Z:4.50 [[ 9.99980251e-01 2.58741998e-03 -5.72733508e-03 8.16137791e+02] [-2.58602020e-03 9.99996625e-01 2.51795764e-04 -4.64756460e+01] [ 5.72796725e-03 -2.36979787e-04 9.99983567e-01 4.50272738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.000714057 meters Centerline goodness : 0.990489 with order 1 Centerline is valid? [True, True] Translation: X:816.20, Y:-46.48, Z:4.50 [[ 9.99983128e-01 9.69723441e-04 -5.72735301e-03 8.16196996e+02] [-9.68299510e-04 9.99999500e-01 2.51387084e-04 -4.64783700e+01] [ 5.72759392e-03 -2.45837050e-04 9.99983567e-01 4.50471394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.060714057 meters Centerline goodness : 0.989865 with order 1 Centerline is valid? [True, True] Translation: X:816.25, Y:-46.48, Z:4.50 [[ 9.99980146e-01 2.62756733e-03 -5.72737942e-03 8.16254653e+02] [-2.62617399e-03 9.99996520e-01 2.50784034e-04 -4.64809203e+01] [ 5.72801844e-03 -2.35737960e-04 9.99983567e-01 4.50440946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.120714057 meters Centerline goodness : 0.989723 with order 1 Centerline is valid? [True, True] Translation: X:816.31, Y:-46.48, Z:4.50 [[ 9.99949027e-01 8.31501041e-03 -5.72741347e-03 8.16312919e+02] [-8.31371468e-03 9.99965409e-01 2.50003928e-04 -4.64842033e+01] [ 5.72929414e-03 -2.02375103e-04 9.99983567e-01 4.50316324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.180714057 meters Centerline goodness : 0.989507 with order 1 Centerline is valid? [True, True] Translation: X:816.37, Y:-46.49, Z:4.51 [[ 9.99893006e-01 1.34600410e-02 -5.72743547e-03 8.16371221e+02] [-1.34588325e-02 9.99909395e-01 2.49499013e-04 -4.64865992e+01] [ 5.73027480e-03 -1.72387723e-04 9.99983567e-01 4.50774155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.240714057 meters Centerline goodness : 0.988571 with order 1 Centerline is valid? [True, True] Translation: X:816.43, Y:-46.49, Z:4.51 [[ 9.99801938e-01 1.90599320e-02 -5.72750098e-03 8.16429540e+02] [-1.90588239e-02 9.99818333e-01 2.47985861e-04 -4.64927897e+01] [ 5.73118708e-03 -1.38777312e-04 9.99983567e-01 4.50505664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.300714057 meters Centerline goodness : 0.989069 with order 1 Centerline is valid? [True, True] Translation: X:816.49, Y:-46.50, Z:4.50 [[ 9.99847153e-01 1.65186735e-02 -5.72756081e-03 8.16488182e+02] [-1.65175317e-02 9.99863546e-01 2.46596385e-04 -4.64968597e+01] [ 5.73085270e-03 -1.51953526e-04 9.99983567e-01 4.50484000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.360714057 meters Centerline goodness : 0.987836 with order 1 Centerline is valid? [True, True] Translation: X:816.55, Y:-46.50, Z:4.51 [[ 9.99787214e-01 1.98171820e-02 -5.72757845e-03 8.16545501e+02] [-1.98160966e-02 9.99803612e-01 2.46185838e-04 -4.65023982e+01] [ 5.73133233e-03 -1.32635205e-04 9.99983567e-01 4.50836014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.420714057 meters Centerline goodness : 0.988151 with order 1 Centerline is valid? [True, True] Translation: X:816.60, Y:-46.51, Z:4.51 [[ 9.99852631e-01 1.61836663e-02 -5.72761009e-03 8.16603781e+02] [-1.61825256e-02 9.99869024e-01 2.45447635e-04 -4.65082788e+01] [ 5.73083215e-03 -1.52724266e-04 9.99983567e-01 4.51113906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.480714057 meters Centerline goodness : 0.987694 with order 1 Centerline is valid? [True, True] Translation: X:816.66, Y:-46.51, Z:4.51 [[ 9.99883126e-01 1.41749476e-02 -5.72762751e-03 8.16662735e+02] [-1.41737763e-02 9.99899517e-01 2.45040388e-04 -4.65131018e+01] [ 5.73052542e-03 -1.63829638e-04 9.99983567e-01 4.51403181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5407140570001 meters Centerline goodness : 0.987980 with order 1 Centerline is valid? [True, True] Translation: X:816.72, Y:-46.52, Z:4.51 [[ 9.99895367e-01 1.32834283e-02 -5.72764585e-03 8.16720089e+02] [-1.32822449e-02 9.99911757e-01 2.44611026e-04 -4.65193730e+01] [ 5.73038970e-03 -1.68509437e-04 9.99983567e-01 4.51460632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.600714057 meters Centerline goodness : 0.987808 with order 1 Centerline is valid? [True, True] Translation: X:816.78, Y:-46.53, Z:4.52 [[ 9.99933617e-01 9.99778419e-03 -5.72766838e-03 8.16778996e+02] [-9.99654992e-03 9.99950003e-01 2.44082316e-04 -4.65264045e+01] [ 5.72982230e-03 -1.86809190e-04 9.99983567e-01 4.51564142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6607140570001 meters Centerline goodness : 0.987029 with order 1 Centerline is valid? [True, True] Translation: X:816.84, Y:-46.53, Z:4.52 [[ 9.99967103e-01 5.74336323e-03 -5.72768418e-03 8.16837584e+02] [-5.74206137e-03 9.99983485e-01 2.43710880e-04 -4.65343026e+01] [ 5.72898931e-03 -2.10814148e-04 9.99983567e-01 4.51679848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.720714057 meters Centerline goodness : 0.987766 with order 1 Centerline is valid? [True, True] Translation: X:816.90, Y:-46.54, Z:4.52 [[ 9.99979157e-01 2.97966693e-03 -5.72770171e-03 8.16896669e+02] [-2.97832216e-03 9.99995535e-01 2.43298238e-04 -4.65403779e+01] [ 5.72840108e-03 -2.26234226e-04 9.99983567e-01 4.51697583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7807140570001 meters Centerline goodness : 0.982031 with order 1 Centerline is valid? [True, True] Translation: X:816.96, Y:-46.54, Z:4.50 [[ 9.99982005e-01 -1.78427654e-03 -5.72771528e-03 8.16955317e+02] [ 1.78569748e-03 9.99998376e-01 2.42978231e-04 -4.65426942e+01] [ 5.72727244e-03 -2.53201825e-04 9.99983567e-01 4.50053425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.840714057 meters Centerline goodness : 0.981753 with order 1 Centerline is valid? [True, True] Translation: X:817.01, Y:-46.55, Z:4.50 [[ 9.99982023e-01 1.77371142e-03 -5.72776202e-03 8.17013960e+02] [-1.77235506e-03 9.99998400e-01 2.41871533e-04 -4.65497808e+01] [ 5.72818187e-03 -2.31715557e-04 9.99983567e-01 4.50229443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9007140570001 meters Centerline goodness : 0.982754 with order 1 Centerline is valid? [True, True] Translation: X:817.07, Y:-46.55, Z:4.50 [[ 9.99978927e-01 3.05572750e-03 -5.72778550e-03 8.17072496e+02] [-3.05439533e-03 9.99995306e-01 2.41314164e-04 -4.65543669e+01] [ 5.72849601e-03 -2.23814158e-04 9.99983567e-01 4.50203379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.960714057 meters Centerline goodness : 0.983100 with order 1 Centerline is valid? [True, True] Translation: X:817.13, Y:-46.56, Z:4.50 [[ 9.99980989e-01 2.28327850e-03 -5.72780972e-03 8.17131275e+02] [-2.28193697e-03 9.99997367e-01 2.40737935e-04 -4.65585460e+01] [ 5.72834431e-03 -2.27662858e-04 9.99983567e-01 4.50136235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0207140570001 meters Centerline goodness : 0.983441 with order 1 Centerline is valid? [True, True] Translation: X:817.19, Y:-46.56, Z:4.50 [[ 9.99983448e-01 5.44305331e-04 -5.72783401e-03 8.17190079e+02] [-5.42938633e-04 9.99999824e-01 2.40158708e-04 -4.65639430e+01] [ 5.72796372e-03 -2.37044870e-04 9.99983567e-01 4.50186972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.080714057 meters Centerline goodness : 0.982794 with order 1 Centerline is valid? [True, True] Translation: X:817.25, Y:-46.57, Z:4.50 [[ 9.99979953e-01 -2.69908785e-03 -5.72785276e-03 8.17248743e+02] [ 2.70050509e-03 9.99996325e-01 2.39710519e-04 -4.65681727e+01] [ 5.72718471e-03 -2.55173809e-04 9.99983567e-01 4.50205287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1407140570001 meters Centerline goodness : 0.989696 with order 1 Centerline is valid? [True, True] Translation: X:817.31, Y:-46.57, Z:4.51 [[ 9.99974265e-01 -4.31976080e-03 -5.72787774e-03 8.17307935e+02] [ 4.32120116e-03 9.99990635e-01 2.39112080e-04 -4.65729380e+01] [ 5.72679120e-03 -2.63857239e-04 9.99983567e-01 4.50626037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.200714057 meters Centerline goodness : 0.989113 with order 1 Centerline is valid? [True, True] Translation: X:817.37, Y:-46.58, Z:4.51 [[ 9.99948537e-01 -8.37341460e-03 -5.72789043e-03 8.17367308e+02] [ 8.37491956e-03 9.99964901e-01 2.38807789e-04 -4.65765393e+01] [ 5.72568975e-03 -2.86766121e-04 9.99983567e-01 4.50658843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.260714057 meters Centerline goodness : 0.986273 with order 1 Centerline is valid? [True, True] Translation: X:817.43, Y:-46.59, Z:4.50 [[ 9.99982545e-01 -1.44955758e-03 -5.72789484e-03 8.17427281e+02] [ 1.45094859e-03 9.99998919e-01 2.38701897e-04 -4.65914196e+01] [ 5.72754264e-03 -2.47008611e-04 9.99983567e-01 4.50437815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.320714057 meters Centerline goodness : 0.982493 with order 1 Centerline is valid? [True, True] Translation: X:817.49, Y:-46.58, Z:4.50 [[ 9.99901040e-01 -1.28492014e-02 -5.72789484e-03 8.17486248e+02] [ 1.28507790e-02 9.99917397e-01 2.38701897e-04 -4.65836302e+01] [ 5.72435457e-03 -3.12286186e-04 9.99983567e-01 4.50388226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.380714057 meters Centerline goodness : 0.982811 with order 1 Centerline is valid? [True, True] Translation: X:817.55, Y:-46.58, Z:4.50 [[ 9.99764886e-01 -2.09132401e-02 -5.72790691e-03 8.17547626e+02] [ 2.09149479e-02 9.99781230e-01 2.38411952e-04 -4.65840526e+01] [ 5.72166785e-03 -3.58154772e-04 9.99983567e-01 4.50215610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.440714057 meters Centerline goodness : 0.990610 with order 1 Centerline is valid? [True, True] Translation: X:817.61, Y:-46.59, Z:4.50 [[ 9.99703588e-01 -2.36627985e-02 -5.72789432e-03 8.17609164e+02] [ 2.36645530e-02 9.99719927e-01 2.38714055e-04 -4.65865468e+01] [ 5.72064145e-03 -3.74191355e-04 9.99983567e-01 4.49711921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.500714057 meters Centerline goodness : 0.982268 with order 1 Centerline is valid? [True, True] Translation: X:817.67, Y:-46.59, Z:4.50 [[ 9.99680196e-01 -2.46312108e-02 -5.72785728e-03 8.17671442e+02] [ 2.46329862e-02 9.99696533e-01 2.39599640e-04 -4.65862039e+01] [ 5.72021743e-03 -3.80617244e-04 9.99983567e-01 4.50151175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.560714057 meters Centerline goodness : 0.982052 with order 1 Centerline is valid? [True, True] Translation: X:817.73, Y:-46.59, Z:4.50 [[ 9.99678177e-01 -2.47130571e-02 -5.72782620e-03 8.17733808e+02] [ 2.47148381e-02 9.99694513e-01 2.40340357e-04 -4.65882176e+01] [ 5.72013687e-03 -3.81825306e-04 9.99983567e-01 4.50173496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.620714057 meters Centerline goodness : 0.982385 with order 1 Centerline is valid? [True, True] Translation: X:817.79, Y:-46.59, Z:4.50 [[ 9.99727144e-01 -2.26457688e-02 -5.72780235e-03 8.17794707e+02] [ 2.26475192e-02 9.99743483e-01 2.40907372e-04 -4.65883857e+01] [ 5.72087754e-03 -3.70562153e-04 9.99983567e-01 4.50414140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.680714057 meters Centerline goodness : 0.981877 with order 1 Centerline is valid? [True, True] Translation: X:817.86, Y:-46.59, Z:4.50 [[ 9.99758208e-01 -2.12301416e-02 -5.72778463e-03 8.17856948e+02] [ 2.12318712e-02 9.99774549e-01 2.41327902e-04 -4.65898237e+01] [ 5.72136987e-03 -3.62881136e-04 9.99983567e-01 4.50467705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.740714057 meters Centerline goodness : 0.981237 with order 1 Centerline is valid? [True, True] Translation: X:817.92, Y:-46.59, Z:4.51 [[ 9.99810833e-01 -1.85874098e-02 -5.72775569e-03 8.17918985e+02] [ 1.85891001e-02 9.99827178e-01 2.42012834e-04 -4.65910459e+01] [ 5.72226742e-03 -3.48440878e-04 9.99983567e-01 4.50534420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.800714057 meters Centerline goodness : 0.982566 with order 1 Centerline is valid? [True, True] Translation: X:817.98, Y:-46.59, Z:4.50 [[ 9.99844881e-01 -1.66555365e-02 -5.72773199e-03 8.17981123e+02] [ 1.66571984e-02 9.99861230e-01 2.42572352e-04 -4.65915615e+01] [ 5.72289698e-03 -3.37942693e-04 9.99983567e-01 4.50486457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.860714057 meters Centerline goodness : 0.982329 with order 1 Centerline is valid? [True, True] Translation: X:818.04, Y:-46.59, Z:4.51 [[ 9.99871698e-01 -1.49592973e-02 -5.72770781e-03 8.18043340e+02] [ 1.49609348e-02 9.99888049e-01 2.43142173e-04 -4.65928657e+01] [ 5.72342935e-03 -3.28802840e-04 9.99983567e-01 4.50537594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.920714057 meters Centerline goodness : 0.985690 with order 1 Centerline is valid? [True, True] Translation: X:818.10, Y:-46.60, Z:4.51 [[ 9.99971210e-01 -4.97721285e-03 -5.72768385e-03 8.18104813e+02] [ 4.97869022e-03 9.99987577e-01 2.43705244e-04 -4.66046979e+01] [ 5.72639972e-03 -2.72214592e-04 9.99983567e-01 4.51330358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.980714057 meters Centerline goodness : 0.982631 with order 1 Centerline is valid? [True, True] Translation: X:818.16, Y:-46.60, Z:4.51 [[ 9.99884922e-01 -1.40476858e-02 -5.72765933e-03 8.18164872e+02] [ 1.40493149e-02 9.99901274e-01 2.44280188e-04 -4.65957213e+01] [ 5.72366228e-03 -3.24721766e-04 9.99983567e-01 4.50899289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0407140570001 meters Centerline goodness : 0.988908 with order 1 Centerline is valid? [True, True] Translation: X:818.23, Y:-46.60, Z:4.51 [[ 9.99904882e-01 -1.25467389e-02 -5.72766552e-03 8.18225935e+02] [ 1.25483426e-02 9.99921237e-01 2.44134975e-04 -4.66009646e+01] [ 5.72415129e-03 -3.15984463e-04 9.99983567e-01 4.51293370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.100714057 meters Centerline goodness : 0.982583 with order 1 Centerline is valid? [True, True] Translation: X:818.29, Y:-46.60, Z:4.51 [[ 9.99838576e-01 -1.70298505e-02 -5.72765239e-03 8.18287851e+02] [ 1.70315292e-02 9.99854923e-01 2.44442644e-04 -4.65981604e+01] [ 5.72265861e-03 -3.41953864e-04 9.99983567e-01 4.51034043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1607140570001 meters Centerline goodness : 0.982156 with order 1 Centerline is valid? [True, True] Translation: X:818.35, Y:-46.60, Z:4.51 [[ 9.99846822e-01 -1.65386156e-02 -5.72763348e-03 8.18349142e+02] [ 1.65402888e-02 9.99863170e-01 2.44884911e-04 -4.66008769e+01] [ 5.72279971e-03 -3.39584111e-04 9.99983567e-01 4.51304367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.220714057 meters Centerline goodness : 0.981842 with order 1 Centerline is valid? [True, True] Translation: X:818.41, Y:-46.60, Z:4.51 [[ 9.99832893e-01 -1.73603126e-02 -5.72761438e-03 8.18411493e+02] [ 1.73620018e-02 9.99849239e-01 2.45330685e-04 -4.66022703e+01] [ 5.72249186e-03 -3.44732540e-04 9.99983567e-01 4.51229263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2807140570001 meters Centerline goodness : 0.988986 with order 1 Centerline is valid? [True, True] Translation: X:818.47, Y:-46.61, Z:4.52 [[ 9.99892036e-01 -1.35318273e-02 -5.72758939e-03 8.18473156e+02] [ 1.35334572e-02 9.99908388e-01 2.45912749e-04 -4.66068843e+01] [ 5.72373703e-03 -3.23400286e-04 9.99983567e-01 4.51609316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.340714057 meters Centerline goodness : 0.982011 with order 1 Centerline is valid? [True, True] Translation: X:818.54, Y:-46.60, Z:4.51 [[ 9.99842466e-01 -1.67999487e-02 -5.72756396e-03 8.18535740e+02] [ 1.68016354e-02 9.99858812e-01 2.46503541e-04 -4.66026076e+01] [ 5.72261406e-03 -3.42697149e-04 9.99983567e-01 4.51212986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4007140570001 meters Centerline goodness : 0.987195 with order 1 Centerline is valid? [True, True] Translation: X:818.60, Y:-46.61, Z:4.52 [[ 9.99938052e-01 -9.54396779e-03 -5.72753167e-03 8.18596572e+02] [ 9.54554015e-03 9.99954410e-01 2.47251751e-04 -4.66114133e+01] [ 5.72491078e-03 -3.01908818e-04 9.99983567e-01 4.52356092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.460714057 meters Centerline goodness : 0.987186 with order 1 Centerline is valid? [True, True] Translation: X:818.66, Y:-46.61, Z:4.52 [[ 9.99944542e-01 -8.83791509e-03 -5.72751860e-03 8.18657235e+02] [ 8.83947762e-03 9.99960900e-01 2.47554022e-04 -4.66121679e+01] [ 5.72510680e-03 -2.98168566e-04 9.99983567e-01 4.52329774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5207140570001 meters Centerline goodness : 0.986637 with order 1 Centerline is valid? [True, True] Translation: X:818.72, Y:-46.62, Z:4.52 [[ 9.99959260e-01 -6.97673956e-03 -5.72750964e-03 8.18718537e+02] [ 6.97827282e-03 9.99975621e-01 2.47761225e-04 -4.66154275e+01] [ 5.72564144e-03 -2.87719256e-04 9.99983567e-01 4.52002046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.580714057 meters Centerline goodness : 0.987876 with order 1 Centerline is valid? [True, True] Translation: X:818.78, Y:-46.62, Z:4.52 [[ 9.99957335e-01 -7.24736243e-03 -5.72750074e-03 8.18779672e+02] [ 7.24890130e-03 9.99973696e-01 2.47966803e-04 -4.66161383e+01] [ 5.72555297e-03 -2.89474311e-04 9.99983567e-01 4.52194715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6407140570001 meters Centerline goodness : 0.987116 with order 1 Centerline is valid? [True, True] Translation: X:818.84, Y:-46.62, Z:4.52 [[ 9.99961336e-01 -6.67254694e-03 -5.72749629e-03 8.18840452e+02] [ 6.67407699e-03 9.99977697e-01 2.48069398e-04 -4.66166433e+01] [ 5.72571330e-03 -2.86285558e-04 9.99983567e-01 4.52320094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.700714057 meters Centerline goodness : 0.987836 with order 1 Centerline is valid? [True, True] Translation: X:818.90, Y:-46.62, Z:4.52 [[ 9.99979038e-01 -3.01995886e-03 -5.72749191e-03 8.18900495e+02] [ 3.02142971e-03 9.99995405e-01 2.48170540e-04 -4.66175192e+01] [ 5.72671613e-03 -2.65470552e-04 9.99983567e-01 4.52355960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.760714057 meters Centerline goodness : 0.988734 with order 1 Centerline is valid? [True, True] Translation: X:818.96, Y:-46.62, Z:4.52 [[ 9.99982018e-01 1.77773120e-03 -5.72749191e-03 8.18959885e+02] [-1.77633889e-03 9.99998392e-01 2.48170540e-04 -4.66202229e+01] [ 5.72792388e-03 -2.37992110e-04 9.99983567e-01 4.52109677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.820714057 meters Centerline goodness : 0.987716 with order 1 Centerline is valid? [True, True] Translation: X:819.02, Y:-46.62, Z:4.52 [[ 9.99974400e-01 4.28898065e-03 -5.72750076e-03 8.19017698e+02] [-4.28763063e-03 9.99990777e-01 2.47966117e-04 -4.66224830e+01] [ 5.72851146e-03 -2.23402362e-04 9.99983567e-01 4.51920766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.880714057 meters Centerline goodness : 0.987690 with order 1 Centerline is valid? [True, True] Translation: X:819.08, Y:-46.63, Z:4.52 [[ 9.99966550e-01 5.83895563e-03 -5.72752248e-03 8.19075623e+02] [-5.83763387e-03 9.99982930e-01 2.47463435e-04 -4.66259249e+01] [ 5.72886964e-03 -2.14019978e-04 9.99983567e-01 4.51636600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.940714057 meters Centerline goodness : 0.987962 with order 1 Centerline is valid? [True, True] Translation: X:819.13, Y:-46.63, Z:4.52 [[ 9.99972904e-01 4.62457750e-03 -5.72758996e-03 8.19134047e+02] [-4.62324484e-03 9.99989283e-01 2.45891580e-04 -4.66286102e+01] [ 5.72866572e-03 -2.19404867e-04 9.99983567e-01 4.51890612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.000714057 meters Centerline goodness : 0.988494 with order 1 Centerline is valid? [True, True] Translation: X:819.19, Y:-46.63, Z:4.52 [[ 9.99983452e-01 -5.39092563e-04 -5.72760770e-03 8.19191348e+02] [ 5.40507412e-04 9.99999824e-01 2.45477631e-04 -4.66315053e+01] [ 5.72747436e-03 -2.48569383e-04 9.99983567e-01 4.52023915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.060714057 meters Centerline goodness : 0.987733 with order 1 Centerline is valid? [True, True] Translation: X:819.25, Y:-46.63, Z:4.52 [[ 9.99977885e-01 -3.37990261e-03 -5.72762947e-03 8.19250647e+02] [ 3.38136105e-03 9.99994253e-01 2.44968798e-04 -4.66339961e+01] [ 5.72676858e-03 -2.64330564e-04 9.99983567e-01 4.52224436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.120714057 meters Centerline goodness : 0.988291 with order 1 Centerline is valid? [True, True] Translation: X:819.31, Y:-46.64, Z:4.53 [[ 9.99971820e-01 -4.85321211e-03 -5.72763823e-03 8.19310277e+02] [ 4.85469350e-03 9.99988186e-01 2.44763812e-04 -4.66352973e+01] [ 5.72638267e-03 -2.72562842e-04 9.99983567e-01 4.52572554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.180714057 meters Centerline goodness : 0.988630 with order 1 Centerline is valid? [True, True] Translation: X:819.37, Y:-46.64, Z:4.53 [[ 9.99979004e-01 -3.03067861e-03 -5.72764696e-03 8.19369794e+02] [ 3.03212900e-03 9.99995373e-01 2.44559191e-04 -4.66379585e+01] [ 5.72687928e-03 -2.61921021e-04 9.99983567e-01 4.52614152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.240714057 meters Centerline goodness : 0.987791 with order 1 Centerline is valid? [True, True] Translation: X:819.43, Y:-46.64, Z:4.52 [[ 9.99983594e-01 -7.98355771e-05 -5.72765576e-03 8.19428743e+02] [ 8.12364771e-05 9.99999967e-01 2.44352990e-04 -4.66417748e+01] [ 5.72763606e-03 -2.44814275e-04 9.99983567e-01 4.52319991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.300714057 meters Centerline goodness : 0.991435 with order 1 Centerline is valid? [True, True] Translation: X:819.49, Y:-46.64, Z:4.52 [[ 9.99972756e-01 -4.65635085e-03 -5.72765067e-03 8.19488212e+02] [ 4.65782735e-03 9.99989122e-01 2.44472259e-04 -4.66355890e+01] [ 5.72645002e-03 -2.71144007e-04 9.99983567e-01 4.51711100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.360714057 meters Centerline goodness : 0.988380 with order 1 Centerline is valid? [True, True] Translation: X:819.55, Y:-46.65, Z:4.52 [[ 9.99969014e-01 5.40038685e-03 -5.72766371e-03 8.19547351e+02] [-5.39907677e-03 9.99985395e-01 2.44166296e-04 -4.66490264e+01] [ 5.72889865e-03 -2.13234635e-04 9.99983567e-01 4.51756906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.420714057 meters Centerline goodness : 0.989130 with order 1 Centerline is valid? [True, True] Translation: X:819.61, Y:-46.65, Z:4.52 [[ 9.99971668e-01 4.88436220e-03 -5.72767255e-03 8.19606062e+02] [-4.88304486e-03 9.99988048e-01 2.43958734e-04 -4.66521199e+01] [ 5.72879568e-03 -2.15983340e-04 9.99983567e-01 4.51821967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.480714057 meters Centerline goodness : 0.989463 with order 1 Centerline is valid? [True, True] Translation: X:819.66, Y:-46.65, Z:4.52 [[ 9.99968498e-01 5.49521749e-03 -5.72768981e-03 8.19664915e+02] [-5.49391247e-03 9.99984879e-01 2.43552966e-04 -4.66544697e+01] [ 5.72894157e-03 -2.12077867e-04 9.99983567e-01 4.52116359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5407140570001 meters Centerline goodness : 0.988748 with order 1 Centerline is valid? [True, True] Translation: X:819.72, Y:-46.66, Z:4.52 [[ 9.99949916e-01 8.20721982e-03 -5.72770738e-03 8.19723142e+02] [-8.20596160e-03 9.99966301e-01 2.43138967e-04 -4.66582949e+01] [ 5.72950986e-03 -1.96125443e-04 9.99983567e-01 4.52081657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.600714057 meters Centerline goodness : 0.988145 with order 1 Centerline is valid? [True, True] Translation: X:819.78, Y:-46.66, Z:4.52 [[ 9.99954458e-01 7.63387205e-03 -5.72772904e-03 8.19782222e+02] [-7.63260737e-03 9.99970842e-01 2.42627615e-04 -4.66601668e+01] [ 5.72941422e-03 -1.98899058e-04 9.99983567e-01 4.52484943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6607140570001 meters Centerline goodness : 0.988078 with order 1 Centerline is valid? [True, True] Translation: X:819.84, Y:-46.66, Z:4.53 [[ 9.99980207e-01 2.60366240e-03 -5.72774607e-03 8.19842389e+02] [-2.60231761e-03 9.99996585e-01 2.42224944e-04 -4.66629898e+01] [ 5.72835718e-03 -2.27314735e-04 9.99983567e-01 4.52644710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.720714057 meters Centerline goodness : 0.987984 with order 1 Centerline is valid? [True, True] Translation: X:819.90, Y:-46.66, Z:4.53 [[ 9.99975697e-01 3.97470337e-03 -5.72775056e-03 8.19901086e+02] [-3.97338165e-03 9.99992077e-01 2.42118793e-04 -4.66648215e+01] [ 5.72866753e-03 -2.19354370e-04 9.99983567e-01 4.53162538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7807140570001 meters Centerline goodness : 0.988637 with order 1 Centerline is valid? [True, True] Translation: X:819.96, Y:-46.67, Z:4.54 [[ 9.99979929e-01 2.70814759e-03 -5.72781329e-03 8.19960251e+02] [-2.70681366e-03 9.99996308e-01 2.40625460e-04 -4.66666379e+01] [ 5.72844379e-03 -2.25116507e-04 9.99983567e-01 4.53528704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.840714057 meters Centerline goodness : 0.989149 with order 1 Centerline is valid? [True, True] Translation: X:820.02, Y:-46.67, Z:4.54 [[ 9.99983240e-01 -8.43677920e-04 -5.72783736e-03 8.20020186e+02] [ 8.45066732e-04 9.99999614e-01 2.40051295e-04 -4.66687188e+01] [ 5.72763262e-03 -2.44887676e-04 9.99983567e-01 4.53743531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9007140570001 meters Centerline goodness : 0.988795 with order 1 Centerline is valid? [True, True] Translation: X:820.08, Y:-46.67, Z:4.54 [[ 9.99983442e-01 5.55196951e-04 -5.72783812e-03 8.20079892e+02] [-5.53831151e-04 9.99999818e-01 2.40032936e-04 -4.66710409e+01] [ 5.72797035e-03 -2.36856707e-04 9.99983567e-01 4.53953845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.960714057 meters Centerline goodness : 0.988565 with order 1 Centerline is valid? [True, True] Translation: X:820.14, Y:-46.67, Z:4.54 [[ 9.99979613e-01 -2.82234633e-03 -5.72784733e-03 8.20138661e+02] [ 2.82376618e-03 9.99995984e-01 2.39813125e-04 -4.66737794e+01] [ 5.72714749e-03 -2.55982337e-04 9.99983567e-01 4.53769445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0207140570001 meters Centerline goodness : 0.988601 with order 1 Centerline is valid? [True, True] Translation: X:820.20, Y:-46.68, Z:4.54 [[ 9.99978695e-01 -3.13078532e-03 -5.72786547e-03 8.20199221e+02] [ 3.13220773e-03 9.99995066e-01 2.39378965e-04 -4.66769370e+01] [ 5.72708777e-03 -2.57314730e-04 9.99983567e-01 4.53934259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.080714057 meters Centerline goodness : 0.988173 with order 1 Centerline is valid? [True, True] Translation: X:820.26, Y:-46.68, Z:4.54 [[ 9.99966052e-01 -5.92343593e-03 -5.72786547e-03 8.20259073e+02] [ 5.92490406e-03 9.99982419e-01 2.39378965e-04 -4.66806862e+01] [ 5.72634682e-03 -2.73307892e-04 9.99983567e-01 4.53659327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1407140570001 meters Centerline goodness : 0.989791 with order 1 Centerline is valid? [True, True] Translation: X:820.32, Y:-46.69, Z:4.53 [[ 9.99961520e-01 -6.64455804e-03 -5.72787424e-03 8.20318926e+02] [ 6.64603678e-03 9.99977886e-01 2.39168981e-04 -4.66851869e+01] [ 5.72615840e-03 -2.77227440e-04 9.99983567e-01 4.53268198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.200714057 meters Centerline goodness : 0.989248 with order 1 Centerline is valid? [True, True] Translation: X:820.38, Y:-46.69, Z:4.54 [[ 9.99939873e-01 -9.35105905e-03 -5.72787860e-03 8.20379540e+02] [ 9.35258148e-03 9.99956235e-01 2.39064518e-04 -4.66865112e+01] [ 5.72539241e-03 -2.92620595e-04 9.99983567e-01 4.53585402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.260714057 meters Centerline goodness : 0.989638 with order 1 Centerline is valid? [True, True] Translation: X:820.44, Y:-46.69, Z:4.53 [[ 9.99968377e-01 -5.51694408e-03 -5.72787860e-03 8.20441001e+02] [ 5.51840376e-03 9.99984745e-01 2.39064518e-04 -4.66907624e+01] [ 5.72647232e-03 -2.70665705e-04 9.99983567e-01 4.52744427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.320714057 meters Centerline goodness : 0.989436 with order 1 Centerline is valid? [True, True] Translation: X:820.50, Y:-46.69, Z:4.53 [[ 9.99983063e-01 -1.03220554e-03 -5.72786987e-03 8.20501909e+02] [ 1.03359299e-03 9.99999437e-01 2.39273459e-04 -4.66897943e+01] [ 5.72761967e-03 -2.45189692e-04 9.99983567e-01 4.53245998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.380714057 meters Centerline goodness : 0.990414 with order 1 Centerline is valid? [True, True] Translation: X:820.56, Y:-46.69, Z:4.53 [[ 9.99971888e-01 4.83895062e-03 -5.72786987e-03 8.20560887e+02] [-4.83765933e-03 9.99988270e-01 2.39273459e-04 -4.66911394e+01] [ 5.72896052e-03 -2.11557249e-04 9.99983567e-01 4.52863310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.440714057 meters Centerline goodness : 0.989601 with order 1 Centerline is valid? [True, True] Translation: X:820.62, Y:-46.69, Z:4.53 [[ 9.99938250e-01 9.52301712e-03 -5.72788676e-03 8.20619237e+02] [-9.52180490e-03 9.99954638e-01 2.38868407e-04 -4.66946115e+01] [ 5.72990168e-03 -1.84313837e-04 9.99983567e-01 4.52546728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.500714057 meters Centerline goodness : 0.989578 with order 1 Centerline is valid? [True, True] Translation: X:820.68, Y:-46.69, Z:4.53 [[ 9.99946678e-01 8.59250209e-03 -5.72795021e-03 8.20677703e+02] [-8.59128338e-03 9.99963066e-01 2.37337285e-04 -4.66928505e+01] [ 5.72977797e-03 -1.88114186e-04 9.99983567e-01 4.53291503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.560714057 meters Centerline goodness : 0.989830 with order 1 Centerline is valid? [True, True] Translation: X:820.74, Y:-46.70, Z:4.52 [[ 9.99898794e-01 1.30227303e-02 -5.72796827e-03 8.20735783e+02] [-1.30215867e-02 9.99915187e-01 2.36900392e-04 -4.67007142e+01] [ 5.73056756e-03 -1.62289181e-04 9.99983567e-01 4.52009671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.620714057 meters Centerline goodness : 0.989189 with order 1 Centerline is valid? [True, True] Translation: X:820.79, Y:-46.70, Z:4.53 [[ 9.99909585e-01 1.21659957e-02 -5.72799091e-03 8.20793668e+02] [-1.21648412e-02 9.99925978e-01 2.36351832e-04 -4.67002499e+01] [ 5.73044237e-03 -1.66650362e-04 9.99983567e-01 4.53178715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.680714057 meters Centerline goodness : 0.991849 with order 1 Centerline is valid? [True, True] Translation: X:820.85, Y:-46.70, Z:4.52 [[ 9.99959710e-01 6.91139643e-03 -5.72801295e-03 8.20851968e+02] [-6.91015887e-03 9.99976097e-01 2.35816584e-04 -4.66974285e+01] [ 5.72950585e-03 -1.96225604e-04 9.99983567e-01 4.52307307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.740714057 meters Centerline goodness : 0.989220 with order 1 Centerline is valid? [True, True] Translation: X:820.91, Y:-46.71, Z:4.53 [[ 9.99784109e-01 1.99731174e-02 -5.72803407e-03 8.20910606e+02] [-1.99720969e-02 9.99800510e-01 2.35302347e-04 -4.67108202e+01] [ 5.73159111e-03 -1.20850695e-04 9.99983567e-01 4.52591866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.800714057 meters Centerline goodness : 0.991372 with order 1 Centerline is valid? [True, True] Translation: X:820.97, Y:-46.71, Z:4.52 [[ 9.99880120e-01 1.43852002e-02 -5.72809602e-03 8.20968658e+02] [-1.43840968e-02 9.99896516e-01 2.33784470e-04 -4.67071721e+01] [ 5.73086629e-03 -1.51362956e-04 9.99983567e-01 4.52432506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.860714057 meters Centerline goodness : 0.991155 with order 1 Centerline is valid? [True, True] Translation: X:821.03, Y:-46.71, Z:4.52 [[ 9.99823897e-01 1.78707248e-02 -5.72812045e-03 8.21026078e+02] [-1.78696820e-02 9.99840297e-01 2.33184284e-04 -4.67125693e+01] [ 5.73137283e-03 -1.30783529e-04 9.99983567e-01 4.52460630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.920714057 meters Centerline goodness : 0.987777 with order 1 Centerline is valid? [True, True] Translation: X:821.08, Y:-46.72, Z:4.53 [[ 9.99661200e-01 2.53904331e-02 -5.72814508e-03 8.21084725e+02] [-2.53895172e-02 9.99677607e-01 2.32577767e-04 -4.67249411e+01] [ 5.73220362e-03 -8.70641314e-05 9.99983567e-01 4.53476599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.980714057 meters Centerline goodness : 0.989948 with order 1 Centerline is valid? [True, True] Translation: X:821.14, Y:-46.72, Z:4.53 [[ 9.99831360e-01 1.74481677e-02 -5.72820320e-03 8.21142990e+02] [-1.74471297e-02 9.99847761e-01 2.31137278e-04 -4.67223190e+01] [ 5.73136407e-03 -1.31157595e-04 9.99983567e-01 4.53136170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0407140570001 meters Centerline goodness : 0.989653 with order 1 Centerline is valid? [True, True] Translation: X:821.20, Y:-46.73, Z:4.53 [[ 9.99861117e-01 1.56503930e-02 -5.72824552e-03 8.21201494e+02] [-1.56493315e-02 9.99877515e-01 2.30083693e-04 -4.67324582e+01] [ 5.73114480e-03 -1.40408525e-04 9.99983567e-01 4.52743968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.100714057 meters Centerline goodness : 0.989245 with order 1 Centerline is valid? [True, True] Translation: X:821.26, Y:-46.73, Z:4.54 [[ 9.99891061e-01 1.36033898e-02 -5.72826274e-03 8.21260277e+02] [-1.36022972e-02 9.99907458e-01 2.29654239e-04 -4.67337482e+01] [ 5.73085671e-03 -1.51711689e-04 9.99983567e-01 4.53544021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1607140570001 meters Centerline goodness : 0.988863 with order 1 Centerline is valid? [True, True] Translation: X:821.32, Y:-46.74, Z:4.54 [[ 9.99921578e-01 1.11366088e-02 -5.72827610e-03 8.21317710e+02] [-1.11354777e-02 9.99937972e-01 2.29320580e-04 -4.67406499e+01] [ 5.73047464e-03 -1.65515506e-04 9.99983567e-01 4.53622311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.220714057 meters Centerline goodness : 0.982032 with order 1 Centerline is valid? [True, True] Translation: X:821.38, Y:-46.75, Z:4.53 [[ 9.99951040e-01 8.06869326e-03 -5.72829403e-03 8.21376401e+02] [-8.06751441e-03 9.99967431e-01 2.28871848e-04 -4.67497050e+01] [ 5.72995416e-03 -1.82647548e-04 9.99983567e-01 4.53221600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2807140570001 meters Centerline goodness : 0.982149 with order 1 Centerline is valid? [True, True] Translation: X:821.44, Y:-46.76, Z:4.53 [[ 9.99982193e-01 1.67358238e-03 -5.72830935e-03 8.21435150e+02] [-1.67230092e-03 9.99998576e-01 2.28487640e-04 -4.67565855e+01] [ 5.72868358e-03 -2.18904114e-04 9.99983567e-01 4.53212926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.340714057 meters Centerline goodness : 0.988914 with order 1 Centerline is valid? [True, True] Translation: X:821.49, Y:-46.76, Z:4.54 [[ 9.99953274e-01 -7.78697272e-03 -5.72833052e-03 8.21493651e+02] [ 7.78840607e-03 9.99969644e-01 2.27955630e-04 -4.67610584e+01] [ 5.72638155e-03 -2.72559543e-04 9.99983567e-01 4.53691893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4007140570001 meters Centerline goodness : 0.988666 with order 1 Centerline is valid? [True, True] Translation: X:821.55, Y:-46.77, Z:4.53 [[ 9.99917156e-01 -1.15268042e-02 -5.72835168e-03 8.21553343e+02] [ 1.15282957e-02 9.99933521e-01 2.27422673e-04 -4.67698870e+01] [ 5.72534941e-03 -2.93441964e-04 9.99983567e-01 4.53019566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.460714057 meters Centerline goodness : 0.982634 with order 1 Centerline is valid? [True, True] Translation: X:821.61, Y:-46.78, Z:4.53 [[ 9.99890699e-01 -1.36299622e-02 -5.72835168e-03 8.21614413e+02] [ 1.36314882e-02 9.99907061e-01 2.27422673e-04 -4.67764250e+01] [ 5.72471953e-03 -3.05483773e-04 9.99983567e-01 4.53336321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5207140570001 meters Centerline goodness : 0.986226 with order 1 Centerline is valid? [True, True] Translation: X:821.68, Y:-46.79, Z:4.54 [[ 9.99926092e-01 -1.07236206e-02 -5.72834112e-03 8.21675611e+02] [ 1.07251005e-02 9.99942459e-01 2.27688360e-04 -4.67861966e+01] [ 5.72556986e-03 -2.89108566e-04 9.99983567e-01 4.53575459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.580714057 meters Centerline goodness : 0.985911 with order 1 Centerline is valid? [True, True] Translation: X:821.74, Y:-46.79, Z:4.53 [[ 9.99959027e-01 -7.00925296e-03 -5.72832986e-03 8.21736025e+02] [ 7.01067367e-03 9.99975399e-01 2.27971281e-04 -4.67946110e+01] [ 5.72659103e-03 -2.68121392e-04 9.99983567e-01 4.52890251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6407140570001 meters Centerline goodness : 0.986481 with order 1 Centerline is valid? [True, True] Translation: X:821.80, Y:-46.80, Z:4.52 [[ 9.99954735e-01 -7.59704366e-03 -5.72832569e-03 8.21796747e+02] [ 7.59847459e-03 9.99971105e-01 2.28076070e-04 -4.67985127e+01] [ 5.72642747e-03 -2.71592283e-04 9.99983567e-01 4.52345504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.700714057 meters Centerline goodness : 0.986257 with order 1 Centerline is valid? [True, True] Translation: X:821.86, Y:-46.80, Z:4.53 [[ 9.99956364e-01 -7.37945012e-03 -5.72832569e-03 8.21856399e+02] [ 7.38087749e-03 9.99972735e-01 2.28076070e-04 -4.67991468e+01] [ 5.72648643e-03 -2.70346187e-04 9.99983567e-01 4.52566979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.760714057 meters Centerline goodness : 0.986835 with order 1 Centerline is valid? [True, True] Translation: X:821.92, Y:-46.80, Z:4.53 [[ 9.99980730e-01 -2.39278523e-03 -5.72832983e-03 8.21916374e+02] [ 2.39413034e-03 9.99997108e-01 2.27971934e-04 -4.68013065e+01] [ 5.72776778e-03 -2.41681910e-04 9.99983567e-01 4.52614388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.820714057 meters Centerline goodness : 0.986124 with order 1 Centerline is valid? [True, True] Translation: X:821.97, Y:-46.80, Z:4.53 [[ 9.99983459e-01 5.17128536e-04 -5.72832983e-03 8.21974560e+02] [-5.15831088e-04 9.99999841e-01 2.27971934e-04 -4.68034161e+01] [ 5.72844681e-03 -2.25013313e-04 9.99983567e-01 4.52607134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.880714057 meters Centerline goodness : 0.986491 with order 1 Centerline is valid? [True, True] Translation: X:822.03, Y:-46.80, Z:4.53 [[ 9.99972730e-01 4.66112197e-03 -5.72834180e-03 8.22032864e+02] [-4.65989414e-03 9.99989117e-01 2.27670974e-04 -4.68042947e+01] [ 5.72934065e-03 -2.00971299e-04 9.99983567e-01 4.52902223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.940714057 meters Centerline goodness : 0.988134 with order 1 Centerline is valid? [True, True] Translation: X:822.09, Y:-46.80, Z:4.54 [[ 9.99978965e-01 3.04233086e-03 -5.72836300e-03 8.22091591e+02] [-3.04107957e-03 9.99995350e-01 2.27136166e-04 -4.68038780e+01] [ 5.72902739e-03 -2.09710980e-04 9.99983567e-01 4.53523631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.000714057 meters Centerline goodness : 0.986424 with order 1 Centerline is valid? [True, True] Translation: X:822.15, Y:-46.81, Z:4.53 [[ 9.99982217e-01 1.65862593e-03 -5.72837983e-03 8.22150135e+02] [-1.65735440e-03 9.99998601e-01 2.26710965e-04 -4.68062261e+01] [ 5.72874784e-03 -2.17212978e-04 9.99983567e-01 4.53457285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.060714057 meters Centerline goodness : 0.987563 with order 1 Centerline is valid? [True, True] Translation: X:822.21, Y:-46.81, Z:4.54 [[ 9.99979800e-01 -2.75407144e-03 -5.72839644e-03 8.22209394e+02] [ 2.75541285e-03 9.99996178e-01 2.26290532e-04 -4.68058640e+01] [ 5.72775132e-03 -2.42070058e-04 9.99983567e-01 4.53763056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.120714057 meters Centerline goodness : 0.987374 with order 1 Centerline is valid? [True, True] Translation: X:822.27, Y:-46.81, Z:4.53 [[ 9.99980117e-01 -2.63629519e-03 -5.72840871e-03 8.22268449e+02] [ 2.63763290e-03 9.99996496e-01 2.25979341e-04 -4.68096872e+01] [ 5.72779289e-03 -2.41084287e-04 9.99983567e-01 4.53498456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.180714057 meters Centerline goodness : 0.987495 with order 1 Centerline is valid? [True, True] Translation: X:822.33, Y:-46.81, Z:4.53 [[ 9.99919039e-01 -1.13622134e-02 -5.72842147e-03 8.22327667e+02] [ 1.13636921e-02 9.99935406e-01 2.25655406e-04 -4.68118673e+01] [ 5.72548751e-03 -2.90733155e-04 9.99983567e-01 4.53275837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.240714057 meters Centerline goodness : 0.988340 with order 1 Centerline is valid? [True, True] Translation: X:822.39, Y:-46.82, Z:4.53 [[ 9.99870831e-01 -1.50168870e-02 -5.72842998e-03 8.22388025e+02] [ 1.50184243e-02 9.99887192e-01 2.25439373e-04 -4.68173748e+01] [ 5.72439836e-03 -3.11442245e-04 9.99983567e-01 4.52606589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.300714057 meters Centerline goodness : 0.986514 with order 1 Centerline is valid? [True, True] Translation: X:822.45, Y:-46.82, Z:4.52 [[ 9.99857181e-01 -1.58997948e-02 -5.72842579e-03 8.22450257e+02] [ 1.59013471e-02 9.99873540e-01 2.25545752e-04 -4.68209507e+01] [ 5.72411524e-03 -3.16603227e-04 9.99983567e-01 4.52475541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.360714057 meters Centerline goodness : 0.987440 with order 1 Centerline is valid? [True, True] Translation: X:822.51, Y:-46.82, Z:4.52 [[ 9.99831597e-01 -1.74345429e-02 -5.72840907e-03 8.22512479e+02] [ 1.74361228e-02 9.99847954e-01 2.25969621e-04 -4.68236483e+01] [ 5.72359841e-03 -3.25812811e-04 9.99983567e-01 4.52268092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.420714057 meters Centerline goodness : 0.987236 with order 1 Centerline is valid? [True, True] Translation: X:822.57, Y:-46.82, Z:4.53 [[ 9.99734298e-01 -2.23275424e-02 -5.72839187e-03 8.22573461e+02] [ 2.23292048e-02 9.99750647e-01 2.26404797e-04 -4.68202716e+01] [ 5.72190841e-03 -3.54255076e-04 9.99983567e-01 4.53269244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.480714057 meters Centerline goodness : 0.987825 with order 1 Centerline is valid? [True, True] Translation: X:822.64, Y:-46.82, Z:4.53 [[ 9.99718753e-01 -2.30130469e-02 -5.72836226e-03 8.22636043e+02] [ 2.30147248e-02 9.99735100e-01 2.27151531e-04 -4.68243778e+01] [ 5.72161737e-03 -3.58924327e-04 9.99983567e-01 4.52702310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5407140570001 meters Centerline goodness : 0.990546 with order 1 Centerline is valid? [True, True] Translation: X:822.70, Y:-46.81, Z:4.53 [[ 9.99538184e-01 -2.98429939e-02 -5.72834013e-03 8.22697350e+02] [ 2.98447866e-02 9.99554519e-01 2.27708090e-04 -4.68140464e+01] [ 5.71899278e-03 -3.98564019e-04 9.99983567e-01 4.53257408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.600714057 meters Centerline goodness : 0.990574 with order 1 Centerline is valid? [True, True] Translation: X:822.76, Y:-46.81, Z:4.53 [[ 9.99619194e-01 -2.69935700e-02 -5.72830681e-03 8.22759386e+02] [ 2.69953209e-02 9.99635534e-01 2.28543197e-04 -4.68145687e+01] [ 5.72004984e-03 -3.83093648e-04 9.99983567e-01 4.53238160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6607140570001 meters Centerline goodness : 0.986743 with order 1 Centerline is valid? [True, True] Translation: X:822.82, Y:-46.83, Z:4.52 [[ 9.99912675e-01 -1.19091880e-02 -5.72829005e-03 8.22819449e+02] [ 1.19106946e-02 9.99929039e-01 2.28962679e-04 -4.68316313e+01] [ 5.72515680e-03 -2.97170598e-04 9.99983567e-01 4.52369869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.720714057 meters Centerline goodness : 0.990093 with order 1 Centerline is valid? [True, True] Translation: X:822.88, Y:-46.82, Z:4.53 [[ 9.99767958e-01 -2.07657474e-02 -5.72828178e-03 8.22880717e+02] [ 2.07674001e-02 9.99784308e-01 2.29169377e-04 -4.68167225e+01] [ 5.72228736e-03 -3.48077719e-04 9.99983567e-01 4.53255347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7807140570001 meters Centerline goodness : 0.990807 with order 1 Centerline is valid? [True, True] Translation: X:822.94, Y:-46.82, Z:4.53 [[ 9.99775827e-01 -2.03833733e-02 -5.72827769e-03 8.22942502e+02] [ 2.03850203e-02 9.99792178e-01 2.29271496e-04 -4.68184614e+01] [ 5.72241390e-03 -3.45991157e-04 9.99983567e-01 4.53153909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.840714057 meters Centerline goodness : 0.989712 with order 1 Centerline is valid? [True, True] Translation: X:823.00, Y:-46.82, Z:4.53 [[ 9.99769452e-01 -2.06937120e-02 -5.72826078e-03 8.23004452e+02] [ 2.06953664e-02 9.99785802e-01 2.29693336e-04 -4.68208620e+01] [ 5.72228058e-03 -3.48188836e-04 9.99983567e-01 4.53109241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9007140570001 meters Centerline goodness : 0.989858 with order 1 Centerline is valid? [True, True] Translation: X:823.07, Y:-46.82, Z:4.53 [[ 9.99761842e-01 -2.10581669e-02 -5.72824404e-03 8.23065271e+02] [ 2.10598297e-02 9.99778191e-01 2.30109946e-04 -4.68232586e+01] [ 5.72212777e-03 -3.50690988e-04 9.99983567e-01 4.53084990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.960714057 meters Centerline goodness : 0.989950 with order 1 Centerline is valid? [True, True] Translation: X:823.13, Y:-46.82, Z:4.53 [[ 9.99763342e-01 -2.09868192e-02 -5.72823166e-03 8.23127105e+02] [ 2.09884826e-02 9.99779691e-01 2.30417724e-04 -4.68245705e+01] [ 5.72213394e-03 -3.50590084e-04 9.99983567e-01 4.53142937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0207140570001 meters Centerline goodness : 0.989427 with order 1 Centerline is valid? [True, True] Translation: X:823.19, Y:-46.83, Z:4.53 [[ 9.99759804e-01 -2.11547092e-02 -5.72821539e-03 8.23189190e+02] [ 2.11563776e-02 9.99776152e-01 2.30821392e-04 -4.68254183e+01] [ 5.72205019e-03 -3.51954237e-04 9.99983567e-01 4.53163374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.080714057 meters Centerline goodness : 0.985950 with order 1 Centerline is valid? [True, True] Translation: X:823.25, Y:-46.84, Z:4.53 [[ 9.99949669e-01 -8.23698200e-03 -5.72819890e-03 8.23250225e+02] [ 8.23844143e-03 9.99966037e-01 2.31230008e-04 -4.68387311e+01] [ 5.72609971e-03 -2.78409801e-04 9.99983567e-01 4.53224661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1407140570001 meters Centerline goodness : 0.986345 with order 1 Centerline is valid? [True, True] Translation: X:823.31, Y:-46.83, Z:4.54 [[ 9.99937412e-01 -9.61035771e-03 -5.72819060e-03 8.23311140e+02] [ 9.61184080e-03 9.99953778e-01 2.31435373e-04 -4.68334830e+01] [ 5.72570166e-03 -2.86479345e-04 9.99983567e-01 4.53868947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.200714057 meters Centerline goodness : 0.981569 with order 1 Centerline is valid? [True, True] Translation: X:823.37, Y:-46.82, Z:4.54 [[ 9.99804552e-01 -1.89221067e-02 -5.72819060e-03 8.23372778e+02] [ 1.89237421e-02 9.99820903e-01 2.31435373e-04 -4.68218410e+01] [ 5.72278546e-03 -3.39788942e-04 9.99983567e-01 4.54098908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.260714057 meters Centerline goodness : 0.988526 with order 1 Centerline is valid? [True, True] Translation: X:823.43, Y:-46.83, Z:4.54 [[ 9.99847734e-01 -1.64832304e-02 -5.72817844e-03 8.23433308e+02] [ 1.64848276e-02 9.99864089e-01 2.31735935e-04 -4.68252781e+01] [ 5.72358016e-03 -3.26128684e-04 9.99983567e-01 4.54308560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.320714057 meters Centerline goodness : 0.981891 with order 1 Centerline is valid? [True, True] Translation: X:823.49, Y:-46.82, Z:4.54 [[ 9.99842566e-01 -1.67937911e-02 -5.72817219e-03 8.23494620e+02] [ 1.67953943e-02 9.99858921e-01 2.31890456e-04 -4.68238724e+01] [ 5.72346974e-03 -3.28060859e-04 9.99983567e-01 4.53630527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.380714057 meters Centerline goodness : 0.981944 with order 1 Centerline is valid? [True, True] Translation: X:823.56, Y:-46.82, Z:4.54 [[ 9.99910918e-01 -1.20558968e-02 -5.72815326e-03 8.23556033e+02] [ 1.20574252e-02 9.99927280e-01 2.32357020e-04 -4.68238156e+01] [ 5.72493544e-03 -3.01403101e-04 9.99983567e-01 4.53593703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.440714057 meters Centerline goodness : 0.982844 with order 1 Centerline is valid? [True, True] Translation: X:823.62, Y:-46.82, Z:4.54 [[ 9.99960308e-01 -6.82431704e-03 -5.72813428e-03 8.23616033e+02] [ 6.82576245e-03 9.99976677e-01 2.32824127e-04 -4.68244883e+01] [ 5.72641181e-03 -2.71913770e-04 9.99983567e-01 4.53834247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.500714057 meters Centerline goodness : 0.990701 with order 1 Centerline is valid? [True, True] Translation: X:823.68, Y:-46.82, Z:4.54 [[ 9.99976546e-01 -3.75452926e-03 -5.72812817e-03 8.23676099e+02] [ 3.75592527e-03 9.99992919e-01 2.32974221e-04 -4.68219985e+01] [ 5.72721290e-03 -2.54483178e-04 9.99983567e-01 4.54204142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.560714057 meters Centerline goodness : 0.989587 with order 1 Centerline is valid? [True, True] Translation: X:823.74, Y:-46.82, Z:4.54 [[ 9.99974755e-01 -4.20440643e-03 -5.72813455e-03 8.23735521e+02] [ 4.20580891e-03 9.99991128e-01 2.32817372e-04 -4.68234582e+01] [ 5.72710487e-03 -2.56902934e-04 9.99983567e-01 4.54424315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.620714057 meters Centerline goodness : 0.989478 with order 1 Centerline is valid? [True, True] Translation: X:823.79, Y:-46.83, Z:4.55 [[ 9.99973175e-01 -4.56484110e-03 -5.72814457e-03 8.23794694e+02] [ 4.56624807e-03 9.99989548e-01 2.32570365e-04 -4.68260566e+01] [ 5.72702306e-03 -2.58720256e-04 9.99983567e-01 4.54512036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.680714057 meters Centerline goodness : 0.989464 with order 1 Centerline is valid? [True, True] Translation: X:823.85, Y:-46.83, Z:4.55 [[ 9.99964692e-01 -6.14842470e-03 -5.72814959e-03 8.23854359e+02] [ 6.14985690e-03 9.99981062e-01 2.32446849e-04 -4.68284058e+01] [ 5.72661193e-03 -2.67665942e-04 9.99983567e-01 4.54597569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.740714057 meters Centerline goodness : 0.983017 with order 1 Centerline is valid? [True, True] Translation: X:823.91, Y:-46.83, Z:4.54 [[ 9.99890013e-01 -1.36802494e-02 -5.72815449e-03 8.23913719e+02] [ 1.36818042e-02 9.99906373e-01 2.32325861e-04 -4.68305664e+01] [ 5.72443991e-03 -3.10671796e-04 9.99983567e-01 4.53925488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.800714057 meters Centerline goodness : 0.983442 with order 1 Centerline is valid? [True, True] Translation: X:823.98, Y:-46.83, Z:4.54 [[ 9.99853888e-01 -1.61056051e-02 -5.72816018e-03 8.23975819e+02] [ 1.61071987e-02 9.99870244e-01 2.32185629e-04 -4.68334255e+01] [ 5.72367742e-03 -3.24416318e-04 9.99983567e-01 4.53758349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.860714057 meters Centerline goodness : 0.988537 with order 1 Centerline is valid? [True, True] Translation: X:824.04, Y:-46.84, Z:4.55 [[ 9.99869703e-01 -1.50918969e-02 -5.72813083e-03 8.24037860e+02] [ 1.50934781e-02 9.99886060e-01 2.32907539e-04 -4.68385940e+01] [ 5.72396314e-03 -3.19334609e-04 9.99983567e-01 4.54880967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.920714057 meters Centerline goodness : 0.988987 with order 1 Centerline is valid? [True, True] Translation: X:824.10, Y:-46.84, Z:4.55 [[ 9.99860019e-01 -1.57204324e-02 -5.72810645e-03 8.24099200e+02] [ 1.57220273e-02 9.99876374e-01 2.33505453e-04 -4.68386363e+01] [ 5.72372750e-03 -3.23530213e-04 9.99983567e-01 4.55442148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.980714057 meters Centerline goodness : 0.989102 with order 1 Centerline is valid? [True, True] Translation: X:824.16, Y:-46.84, Z:4.55 [[ 9.99889986e-01 -1.36822563e-02 -5.72809373e-03 8.24161270e+02] [ 1.36838196e-02 9.99906345e-01 2.33817026e-04 -4.68423723e+01] [ 5.72435812e-03 -3.12173504e-04 9.99983567e-01 4.55162524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0407140570001 meters Centerline goodness : 0.989510 with order 1 Centerline is valid? [True, True] Translation: X:824.22, Y:-46.84, Z:4.56 [[ 9.99861077e-01 -1.56529685e-02 -5.72807705e-03 8.24223037e+02] [ 1.56545664e-02 9.99877432e-01 2.34224951e-04 -4.68400928e+01] [ 5.72370866e-03 -3.23862974e-04 9.99983567e-01 4.55603341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.100714057 meters Centerline goodness : 0.989987 with order 1 Centerline is valid? [True, True] Translation: X:824.28, Y:-46.84, Z:4.56 [[ 9.99903535e-01 -1.26534781e-02 -5.72806469e-03 8.24284538e+02] [ 1.26550286e-02 9.99919894e-01 2.34526954e-04 -4.68387774e+01] [ 5.72463826e-03 -3.06993153e-04 9.99983567e-01 4.56144494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1607140570001 meters Centerline goodness : 0.989700 with order 1 Centerline is valid? [True, True] Translation: X:824.35, Y:-46.84, Z:4.56 [[ 9.99956334e-01 -7.38372732e-03 -5.72805649e-03 8.24346280e+02] [ 7.38519277e-03 9.99972702e-01 2.34727026e-04 -4.68398259e+01] [ 5.72616696e-03 -2.77019577e-04 9.99983567e-01 4.56350513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.220714057 meters Centerline goodness : 0.989496 with order 1 Centerline is valid? [True, True] Translation: X:824.41, Y:-46.84, Z:4.56 [[ 9.99965532e-01 -6.01031160e-03 -5.72804811e-03 8.24406567e+02] [ 6.01175574e-03 9.99981902e-01 2.34931395e-04 -4.68421363e+01] [ 5.72653243e-03 -2.69358923e-04 9.99983567e-01 4.55978344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2807140570001 meters Centerline goodness : 0.989828 with order 1 Centerline is valid? [True, True] Translation: X:824.47, Y:-46.84, Z:4.56 [[ 9.99982288e-01 1.61640417e-03 -5.72804811e-03 8.24467399e+02] [-1.61508493e-03 9.99998668e-01 2.34931395e-04 -4.68437653e+01] [ 5.72842022e-03 -2.25675950e-04 9.99983567e-01 4.56326928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.340714057 meters Centerline goodness : 0.989712 with order 1 Centerline is valid? [True, True] Translation: X:824.53, Y:-46.85, Z:4.55 [[ 9.99973827e-01 4.41978699e-03 -5.72804811e-03 8.24527032e+02] [-4.41851367e-03 9.99990211e-01 2.34931395e-04 -4.68498397e+01] [ 5.72903038e-03 -2.09615787e-04 9.99983567e-01 4.55369418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4007140570001 meters Centerline goodness : 0.989558 with order 1 Centerline is valid? [True, True] Translation: X:824.59, Y:-46.85, Z:4.56 [[ 9.99977088e-01 3.60723606e-03 -5.72805678e-03 8.24586291e+02] [-3.60595064e-03 9.99993471e-01 2.34719716e-04 -4.68522480e+01] [ 5.72886607e-03 -2.14059248e-04 9.99983567e-01 4.55995661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.460714057 meters Centerline goodness : 0.989987 with order 1 Centerline is valid? [True, True] Translation: X:824.64, Y:-46.86, Z:4.56 [[ 9.99975214e-01 4.09401827e-03 -5.72806524e-03 8.24644442e+02] [-4.09274200e-03 9.99991597e-01 2.34513112e-04 -4.68581109e+01] [ 5.72897721e-03 -2.11063806e-04 9.99983567e-01 4.55946138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5207140570001 meters Centerline goodness : 0.989808 with order 1 Centerline is valid? [True, True] Translation: X:824.70, Y:-46.87, Z:4.54 [[ 9.99919765e-01 1.12983621e-02 -5.72808748e-03 8.24704621e+02] [-1.12972070e-02 9.99936157e-01 2.33968742e-04 -4.68707524e+01] [ 5.73036524e-03 -1.69238580e-04 9.99983567e-01 4.54335136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.580714057 meters Centerline goodness : 0.988455 with order 1 Centerline is valid? [True, True] Translation: X:824.76, Y:-46.88, Z:4.54 [[ 9.99908919e-01 1.22205622e-02 -5.72808947e-03 8.24763576e+02] [-1.22194225e-02 9.99925313e-01 2.33919775e-04 -4.68786205e+01] [ 5.73052029e-03 -1.63904525e-04 9.99983567e-01 4.54068965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6407140570001 meters Centerline goodness : 0.989305 with order 1 Centerline is valid? [True, True] Translation: X:824.82, Y:-46.89, Z:4.54 [[ 9.99935496e-01 9.80781024e-03 -5.72810599e-03 8.24821607e+02] [-9.80663332e-03 9.99951887e-01 2.33514695e-04 -4.68867070e+01] [ 5.73012066e-03 -1.77326198e-04 9.99983567e-01 4.53817606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.700714057 meters Centerline goodness : 0.987939 with order 1 Centerline is valid? [True, True] Translation: X:824.88, Y:-46.89, Z:4.54 [[ 9.99971613e-01 4.89512807e-03 -5.72812228e-03 8.24879457e+02] [-4.89387293e-03 9.99987998e-01 2.33114479e-04 -4.68911923e+01] [ 5.72919465e-03 -2.05075159e-04 9.99983567e-01 4.54177252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.760714057 meters Centerline goodness : 0.987738 with order 1 Centerline is valid? [True, True] Translation: X:824.94, Y:-46.89, Z:4.55 [[ 9.99967299e-01 5.70871214e-03 -5.72814206e-03 8.24938238e+02] [-5.70747313e-03 9.99983685e-01 2.32627223e-04 -4.68948713e+01] [ 5.72937661e-03 -1.99926399e-04 9.99983567e-01 4.54533182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.820714057 meters Centerline goodness : 0.987681 with order 1 Centerline is valid? [True, True] Translation: X:825.00, Y:-46.90, Z:4.54 [[ 9.99982962e-01 1.12445961e-03 -5.72815950e-03 8.24997022e+02] [-1.12314795e-03 9.99999342e-01 2.32197207e-04 -4.68980701e+01] [ 5.72841682e-03 -2.25759680e-04 9.99983567e-01 4.54329238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.880714057 meters Centerline goodness : 0.988217 with order 1 Centerline is valid? [True, True] Translation: X:825.05, Y:-46.90, Z:4.54 [[ 9.99980829e-01 -2.35153552e-03 -5.72817695e-03 8.25054842e+02] [ 2.35290165e-03 9.99997205e-01 2.31765907e-04 -4.69010803e+01] [ 5.72761593e-03 -2.45239301e-04 9.99983567e-01 4.54352825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.940714057 meters Centerline goodness : 0.988133 with order 1 Centerline is valid? [True, True] Translation: X:825.11, Y:-46.91, Z:4.54 [[ 9.99983592e-01 -6.48446870e-05 -5.72819835e-03 8.25113418e+02] [ 6.61703345e-05 9.99999971e-01 2.31235652e-04 -4.69096493e+01] [ 5.72818319e-03 -2.31610895e-04 9.99983567e-01 4.53844468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.000714057 meters Centerline goodness : 0.987868 with order 1 Centerline is valid? [True, True] Translation: X:825.17, Y:-46.91, Z:4.55 [[ 9.99947485e-01 -8.49788817e-03 -5.72825867e-03 8.25172341e+02] [ 8.49934331e-03 9.99963854e-01 2.29731503e-04 -4.69054914e+01] [ 5.72609939e-03 -2.78405876e-04 9.99983567e-01 4.55154980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.060714057 meters Centerline goodness : 0.988385 with order 1 Centerline is valid? [True, True] Translation: X:825.23, Y:-46.90, Z:4.56 [[ 9.99875420e-01 -1.47082100e-02 -5.72827121e-03 8.25233432e+02] [ 1.47097649e-02 9.99891779e-01 2.29418533e-04 -4.69048967e+01] [ 5.72427696e-03 -3.13651475e-04 9.99983567e-01 4.55807168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.120714057 meters Centerline goodness : 0.987290 with order 1 Centerline is valid? [True, True] Translation: X:825.29, Y:-46.91, Z:4.55 [[ 9.99913845e-01 -1.18105768e-02 -5.72826711e-03 8.25293590e+02] [ 1.18120850e-02 9.99930209e-01 2.29520890e-04 -4.69095710e+01] [ 5.72515655e-03 -2.97163894e-04 9.99983567e-01 4.55368360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.180714057 meters Centerline goodness : 0.987694 with order 1 Centerline is valid? [True, True] Translation: X:825.36, Y:-46.91, Z:4.56 [[ 9.99910308e-01 -1.21063539e-02 -5.72826302e-03 8.25355348e+02] [ 1.21078675e-02 9.99926671e-01 2.29622924e-04 -4.69103315e+01] [ 5.72506307e-03 -2.98959378e-04 9.99983567e-01 4.55822618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.240714057 meters Centerline goodness : 0.987882 with order 1 Centerline is valid? [True, True] Translation: X:825.42, Y:-46.91, Z:4.55 [[ 9.99939303e-01 -9.41155676e-03 -5.72825505e-03 8.25415723e+02] [ 9.41302737e-03 9.99955670e-01 2.29821633e-04 -4.69146115e+01] [ 5.72583813e-03 -2.83727905e-04 9.99983567e-01 4.55298219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.300714057 meters Centerline goodness : 0.987246 with order 1 Centerline is valid? [True, True] Translation: X:825.48, Y:-46.92, Z:4.55 [[ 9.99940487e-01 -9.28491886e-03 -5.72825110e-03 8.25475906e+02] [ 9.28638795e-03 9.99956854e-01 2.29920001e-04 -4.69176233e+01] [ 5.72586916e-03 -2.83101080e-04 9.99983567e-01 4.54848568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.360714057 meters Centerline goodness : 0.986150 with order 1 Centerline is valid? [True, True] Translation: X:825.54, Y:-46.92, Z:4.55 [[ 9.99977053e-01 -3.61684852e-03 -5.72824722e-03 8.25537667e+02] [ 3.61822537e-03 9.99993428e-01 2.30016643e-04 -4.69186179e+01] [ 5.72737763e-03 -2.50737454e-04 9.99983567e-01 4.55495117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.420714057 meters Centerline goodness : 0.986407 with order 1 Centerline is valid? [True, True] Translation: X:825.60, Y:-46.92, Z:4.55 [[ 9.99983587e-01 1.13225465e-04 -5.72823958e-03 8.25596597e+02] [-1.11908619e-04 9.99999967e-01 2.30206785e-04 -4.69225836e+01] [ 5.72826545e-03 -2.29561967e-04 9.99983567e-01 4.54684759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.480714057 meters Centerline goodness : 0.985511 with order 1 Centerline is valid? [True, True] Translation: X:825.65, Y:-46.93, Z:4.55 [[ 9.99969011e-01 5.40036961e-03 -5.72825087e-03 8.25654876e+02] [-5.39914100e-03 9.99985398e-01 2.29925271e-04 -4.69251832e+01] [ 5.72940891e-03 -1.98990512e-04 9.99983567e-01 4.54728073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5407140570001 meters Centerline goodness : 0.985202 with order 1 Centerline is valid? [True, True] Translation: X:825.71, Y:-46.93, Z:4.55 [[ 9.99972166e-01 4.78052172e-03 -5.72831140e-03 8.25712417e+02] [-4.77929164e-03 9.99988553e-01 2.28407337e-04 -4.69269614e+01] [ 5.72933773e-03 -2.01023709e-04 9.99983567e-01 4.54973381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.600714057 meters Centerline goodness : 0.986022 with order 1 Centerline is valid? [True, True] Translation: X:825.77, Y:-46.93, Z:4.54 [[ 9.99972051e-01 4.80455418e-03 -5.72833386e-03 8.25770018e+02] [-4.80332772e-03 9.99988438e-01 2.27842672e-04 -4.69297905e+01] [ 5.72936231e-03 -2.00321240e-04 9.99983567e-01 4.54477209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6607140570001 meters Centerline goodness : 0.984911 with order 1 Centerline is valid? [True, True] Translation: X:825.83, Y:-46.93, Z:4.55 [[ 9.99964667e-01 6.15234577e-03 -5.72835409e-03 8.25828557e+02] [-6.15114432e-03 9.99981056e-01 2.27332869e-04 -4.69315949e+01] [ 5.72964420e-03 -1.92088904e-04 9.99983567e-01 4.55036961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.720714057 meters Centerline goodness : 0.988590 with order 1 Centerline is valid? [True, True] Translation: X:825.89, Y:-46.92, Z:4.55 [[ 9.99929283e-01 -1.04218310e-02 -5.72836977e-03 8.25888020e+02] [ 1.04233016e-02 9.99945650e-01 2.26937225e-04 -4.69243361e+01] [ 5.72569333e-03 -2.86629702e-04 9.99983567e-01 4.55305566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7807140570001 meters Centerline goodness : 0.989382 with order 1 Centerline is valid? [True, True] Translation: X:825.95, Y:-46.92, Z:4.55 [[ 9.99859012e-01 -1.57841966e-02 -5.72837945e-03 8.25948391e+02] [ 1.57857536e-02 9.99875372e-01 2.26692379e-04 -4.69230998e+01] [ 5.72408738e-03 -3.17087205e-04 9.99983567e-01 4.55409311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.840714057 meters Centerline goodness : 0.985356 with order 1 Centerline is valid? [True, True] Translation: X:826.01, Y:-46.94, Z:4.55 [[ 9.99974006e-01 -4.37865656e-03 -5.72837461e-03 8.26009323e+02] [ 4.38002758e-03 9.99990382e-01 2.26814850e-04 -4.69409240e+01] [ 5.72732637e-03 -2.51899393e-04 9.99983567e-01 4.55102781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9007140570001 meters Centerline goodness : 0.981137 with order 1 Centerline is valid? [True, True] Translation: X:826.07, Y:-46.93, Z:4.56 [[ 9.99799387e-01 -1.91930074e-02 -5.72836605e-03 8.26068522e+02] [ 1.91946222e-02 9.99815741e-01 2.27030823e-04 -4.69262993e+01] [ 5.72295314e-03 -3.36939099e-04 9.99983567e-01 4.55757725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.960714057 meters Centerline goodness : 0.985838 with order 1 Centerline is valid? [True, True] Translation: X:826.13, Y:-46.94, Z:4.56 [[ 9.99968224e-01 -5.54400353e-03 -5.72837728e-03 8.26130524e+02] [ 5.54539325e-03 9.99984598e-01 2.26747019e-04 -4.69415669e+01] [ 5.72703197e-03 -2.58505919e-04 9.99983567e-01 4.55508171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0207140570001 meters Centerline goodness : 0.980951 with order 1 Centerline is valid? [True, True] Translation: X:826.19, Y:-46.93, Z:4.56 [[ 9.99893101e-01 -1.34526054e-02 -5.72835462e-03 8.26191066e+02] [ 1.34541279e-02 9.99909463e-01 2.27317989e-04 -4.69292962e+01] [ 5.72477798e-03 -3.04363705e-04 9.99983567e-01 4.56076938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.080714057 meters Centerline goodness : 0.989717 with order 1 Centerline is valid? [True, True] Translation: X:826.25, Y:-46.93, Z:4.57 [[ 9.99913724e-01 -1.18207752e-02 -5.72836025e-03 8.26252075e+02] [ 1.18222701e-02 9.99930089e-01 2.27175974e-04 -4.69300586e+01] [ 5.72527438e-03 -2.94878597e-04 9.99983567e-01 4.56526364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1407140570001 meters Centerline goodness : 0.986826 with order 1 Centerline is valid? [True, True] Translation: X:826.31, Y:-46.94, Z:4.56 [[ 9.99983243e-01 -8.36136879e-04 -5.72834794e-03 8.26313309e+02] [ 8.37453716e-04 9.99999623e-01 2.27485981e-04 -4.69420479e+01] [ 5.72815558e-03 -2.32279396e-04 9.99983567e-01 4.56120001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.200714057 meters Centerline goodness : 0.982450 with order 1 Centerline is valid? [True, True] Translation: X:826.37, Y:-46.93, Z:4.56 [[ 9.99965202e-01 -6.06468101e-03 -5.72833920e-03 8.26372023e+02] [ 6.06608473e-03 9.99981575e-01 2.27705974e-04 -4.69331331e+01] [ 5.72685269e-03 -2.62446641e-04 9.99983567e-01 4.55745117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.260714057 meters Centerline goodness : 0.982960 with order 1 Centerline is valid? [True, True] Translation: X:826.43, Y:-46.93, Z:4.56 [[ 9.99978187e-01 -3.28806881e-03 -5.72835698e-03 8.26432605e+02] [ 3.28942450e-03 9.99994564e-01 2.27257746e-04 -4.69345107e+01] [ 5.72757860e-03 -2.46095786e-04 9.99983567e-01 4.55704685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.320714057 meters Centerline goodness : 0.983356 with order 1 Centerline is valid? [True, True] Translation: X:826.49, Y:-46.93, Z:4.56 [[ 9.99983506e-01 -4.16908274e-04 -5.72835698e-03 8.26491234e+02] [ 4.18216938e-04 9.99999887e-01 2.27257746e-04 -4.69343196e+01] [ 5.72826159e-03 -2.29649693e-04 9.99983567e-01 4.56001412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.380714057 meters Centerline goodness : 0.990538 with order 1 Centerline is valid? [True, True] Translation: X:826.55, Y:-46.93, Z:4.56 [[ 9.99983458e-01 -5.18393107e-04 -5.72837463e-03 8.26550268e+02] [ 5.19700885e-04 9.99999839e-01 2.26812067e-04 -4.69349543e+01] [ 5.72825613e-03 -2.29785356e-04 9.99983567e-01 4.56204292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.440714057 meters Centerline goodness : 0.991446 with order 1 Centerline is valid? [True, True] Translation: X:826.61, Y:-46.94, Z:4.56 [[ 9.99952809e-01 -7.84634887e-03 -5.72845341e-03 8.26609265e+02] [ 7.84776517e-03 9.99969181e-01 2.24804427e-04 -4.69366320e+01] [ 5.72651297e-03 -2.69749375e-04 9.99983567e-01 4.55747366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.500714057 meters Centerline goodness : 0.988583 with order 1 Centerline is valid? [True, True] Translation: X:826.67, Y:-46.95, Z:4.56 [[ 9.99930528e-01 -1.03016031e-02 -5.72846534e-03 8.26668993e+02] [ 1.03030578e-02 9.99946897e-01 2.24500046e-04 -4.69478012e+01] [ 5.72584843e-03 -2.83505160e-04 9.99983567e-01 4.55872889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.560714057 meters Centerline goodness : 0.982164 with order 1 Centerline is valid? [True, True] Translation: X:826.73, Y:-46.94, Z:4.56 [[ 9.99684039e-01 -2.44746210e-02 -5.72846534e-03 8.26729761e+02] [ 2.44763077e-02 9.99700385e-01 2.24500046e-04 -4.69425542e+01] [ 5.72125446e-03 -3.64640793e-04 9.99983567e-01 4.56165748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.620714057 meters Centerline goodness : 0.989710 with order 1 Centerline is valid? [True, True] Translation: X:826.79, Y:-46.95, Z:4.56 [[ 9.99646273e-01 -2.59714160e-02 -5.72845395e-03 8.26792067e+02] [ 2.59731287e-02 9.99662616e-01 2.24790261e-04 -4.69502513e+01] [ 5.72068314e-03 -3.73496618e-04 9.99983567e-01 4.55763914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.680714057 meters Centerline goodness : 0.988850 with order 1 Centerline is valid? [True, True] Translation: X:826.85, Y:-46.96, Z:4.55 [[ 9.99820717e-01 -1.80476593e-02 -5.72843123e-03 8.26853736e+02] [ 1.80492458e-02 9.99837074e-01 2.25367926e-04 -4.69594101e+01] [ 5.72343055e-03 -3.28721385e-04 9.99983567e-01 4.55116685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.740714057 meters Centerline goodness : 0.989364 with order 1 Centerline is valid? [True, True] Translation: X:826.92, Y:-46.95, Z:4.56 [[ 9.99889429e-01 -1.37228062e-02 -5.72841243e-03 8.26915216e+02] [ 1.37243247e-02 9.99905792e-01 2.25844833e-04 -4.69526675e+01] [ 5.72477354e-03 -3.04438453e-04 9.99983567e-01 4.55899782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.800714057 meters Centerline goodness : 0.992002 with order 1 Centerline is valid? [True, True] Translation: X:826.98, Y:-46.94, Z:4.56 [[ 9.99745783e-01 -2.18071994e-02 -5.72840021e-03 8.26978230e+02] [ 2.18088519e-02 9.99762133e-01 2.26154279e-04 -4.69443460e+01] [ 5.72210582e-03 -3.51026619e-04 9.99983567e-01 4.55866463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.860714057 meters Centerline goodness : 0.992526 with order 1 Centerline is valid? [True, True] Translation: X:827.04, Y:-46.94, Z:4.56 [[ 9.99770512e-01 -2.06424387e-02 -5.72834328e-03 8.27040652e+02] [ 2.06440803e-02 9.99786862e-01 2.27587128e-04 -4.69432142e+01] [ 5.72242440e-03 -3.45791278e-04 9.99983567e-01 4.55905697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.920714057 meters Centerline goodness : 0.989375 with order 1 Centerline is valid? [True, True] Translation: X:827.10, Y:-46.96, Z:4.55 [[ 9.99930372e-01 -1.03168971e-02 -5.72832687e-03 8.27102114e+02] [ 1.03183721e-02 9.99946738e-01 2.27999559e-04 -4.69552254e+01] [ 5.72566952e-03 -2.87090692e-04 9.99983567e-01 4.54877073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.980714057 meters Centerline goodness : 0.989142 with order 1 Centerline is valid? [True, True] Translation: X:827.16, Y:-46.95, Z:4.55 [[ 9.99950287e-01 -8.16153880e-03 -5.72831038e-03 8.27164055e+02] [ 8.16298089e-03 9.99966656e-01 2.28413126e-04 -4.69530074e+01] [ 5.72625517e-03 -2.75161859e-04 9.99983567e-01 4.55491114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0407140570001 meters Centerline goodness : 0.988989 with order 1 Centerline is valid? [True, True] Translation: X:827.22, Y:-46.95, Z:4.56 [[ 9.99974338e-01 -4.30226684e-03 -5.72830200e-03 8.27224763e+02] [ 4.30364694e-03 9.99990713e-01 2.28623049e-04 -4.69507219e+01] [ 5.72726520e-03 -2.53269772e-04 9.99983567e-01 4.56050757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.100714057 meters Centerline goodness : 0.990159 with order 1 Centerline is valid? [True, True] Translation: X:827.28, Y:-46.95, Z:4.57 [[ 9.99974747e-01 -4.20620721e-03 -5.72829787e-03 8.27284314e+02] [ 4.20758633e-03 9.99991122e-01 2.28726349e-04 -4.69469791e+01] [ 5.72728495e-03 -2.52822881e-04 9.99983567e-01 4.56610625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1607140570001 meters Centerline goodness : 0.988865 with order 1 Centerline is valid? [True, True] Translation: X:827.34, Y:-46.95, Z:4.57 [[ 9.99983582e-01 -1.48040548e-04 -5.72830609e-03 8.27344283e+02] [ 1.49352030e-04 9.99999963e-01 2.28520474e-04 -4.69474986e+01] [ 5.72827204e-03 -2.29372256e-04 9.99983567e-01 4.56586810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.220714057 meters Centerline goodness : 0.992614 with order 1 Centerline is valid? [True, True] Translation: X:827.40, Y:-46.94, Z:4.56 [[ 9.99962979e-01 -6.42083070e-03 -5.72831418e-03 8.27403582e+02] [ 6.42224375e-03 9.99979351e-01 2.28317301e-04 -4.69388651e+01] [ 5.72672991e-03 -2.65097479e-04 9.99983567e-01 4.56368934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2807140570001 meters Centerline goodness : 0.993297 with order 1 Centerline is valid? [True, True] Translation: X:827.46, Y:-46.94, Z:4.57 [[ 9.99966266e-01 -5.88662748e-03 -5.72832661e-03 8.27463615e+02] [ 5.88802999e-03 9.99982639e-01 2.28005086e-04 -4.69386469e+01] [ 5.72688498e-03 -2.61725953e-04 9.99983567e-01 4.56895844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.340714057 meters Centerline goodness : 0.993044 with order 1 Centerline is valid? [True, True] Translation: X:827.52, Y:-46.94, Z:4.56 [[ 9.99973734e-01 -4.44038913e-03 -5.72832246e-03 8.27523980e+02] [ 4.44176856e-03 9.99990109e-01 2.28109202e-04 -4.69429964e+01] [ 5.72725291e-03 -2.53547093e-04 9.99983567e-01 4.56334624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4007140570001 meters Centerline goodness : 0.993173 with order 1 Centerline is valid? [True, True] Translation: X:827.58, Y:-46.94, Z:4.56 [[ 9.99983225e-01 8.58475834e-04 -5.72832246e-03 8.27583634e+02] [-8.57183193e-04 9.99999607e-01 2.28109202e-04 -4.69436500e+01] [ 5.72851604e-03 -2.23195154e-04 9.99983567e-01 4.56389254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.460714057 meters Centerline goodness : 0.991594 with order 1 Centerline is valid? [True, True] Translation: X:827.64, Y:-46.95, Z:4.58 [[ 9.99945893e-01 8.68316437e-03 -5.72833054e-03 8.27643273e+02] [-8.68200111e-03 9.99962285e-01 2.27906219e-04 -4.69497460e+01] [ 5.73009344e-03 -1.78160516e-04 9.99983567e-01 4.57651850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5207140570001 meters Centerline goodness : 0.990961 with order 1 Centerline is valid? [True, True] Translation: X:827.70, Y:-46.95, Z:4.58 [[ 9.99923255e-01 1.09849745e-02 -5.72833463e-03 8.27702019e+02] [-1.09838496e-02 9.99939650e-01 2.27803450e-04 -4.69528135e+01] [ 5.73049134e-03 -1.64866801e-04 9.99983567e-01 4.58176784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.580714057 meters Centerline goodness : 0.991007 with order 1 Centerline is valid? [True, True] Translation: X:827.76, Y:-46.96, Z:4.58 [[ 9.99888308e-01 1.38042918e-02 -5.72835179e-03 8.27760614e+02] [-1.38032156e-02 9.99904705e-01 2.27371131e-04 -4.69590855e+01] [ 5.73094460e-03 -1.48276061e-04 9.99983567e-01 4.58165164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6407140570001 meters Centerline goodness : 0.991451 with order 1 Centerline is valid? [True, True] Translation: X:827.82, Y:-46.97, Z:4.58 [[ 9.99899327e-01 1.29816124e-02 -5.72836444e-03 8.27818388e+02] [-1.29805245e-02 9.99915724e-01 2.27051798e-04 -4.69656982e+01] [ 5.73082918e-03 -1.52671765e-04 9.99983567e-01 4.57878942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.700714057 meters Centerline goodness : 0.990919 with order 1 Centerline is valid? [True, True] Translation: X:827.88, Y:-46.97, Z:4.58 [[ 9.99971372e-01 4.94370459e-03 -5.72838469e-03 8.27877743e+02] [-4.94248786e-03 9.99987760e-01 2.26539936e-04 -4.69740199e+01] [ 5.72943452e-03 -1.98220979e-04 9.99983567e-01 4.57764389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.760714057 meters Centerline goodness : 0.992498 with order 1 Centerline is valid? [True, True] Translation: X:827.94, Y:-46.98, Z:4.57 [[ 9.99982471e-01 -1.49805818e-03 -5.72839313e-03 8.27938354e+02] [ 1.49937923e-03 9.99998850e-01 2.26326343e-04 -4.69767661e+01] [ 5.72804749e-03 -2.34911410e-04 9.99983567e-01 4.57267785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.820714057 meters Centerline goodness : 0.992339 with order 1 Centerline is valid? [True, True] Translation: X:828.00, Y:-46.98, Z:4.57 [[ 9.99980187e-01 -2.60973850e-03 -5.72838871e-03 8.27996866e+02] [ 2.61107840e-03 9.99996566e-01 2.26438121e-04 -4.69831250e+01] [ 5.72777809e-03 -2.41390907e-04 9.99983567e-01 4.57310332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.880714057 meters Centerline goodness : 0.992561 with order 1 Centerline is valid? [True, True] Translation: X:828.06, Y:-46.99, Z:4.57 [[ 9.99963154e-01 -6.39341262e-03 -5.72840196e-03 8.28056126e+02] [ 6.39481256e-03 9.99979527e-01 2.26102436e-04 -4.69888512e+01] [ 5.72683912e-03 -2.62726162e-04 9.99983567e-01 4.56823821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.940714057 meters Centerline goodness : 0.989258 with order 1 Centerline is valid? [True, True] Translation: X:828.12, Y:-47.00, Z:4.57 [[ 9.99983037e-01 1.05411586e-03 -5.72841005e-03 8.28116487e+02] [-1.05283908e-03 9.99999420e-01 2.25897142e-04 -4.70043686e+01] [ 5.72864485e-03 -2.19862216e-04 9.99983567e-01 4.56955067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.000714057 meters Centerline goodness : 0.988641 with order 1 Centerline is valid? [True, True] Translation: X:828.18, Y:-47.01, Z:4.58 [[ 9.99982922e-01 -1.15771238e-03 -5.72841005e-03 8.28175382e+02] [ 1.15902540e-03 9.99999303e-01 2.25897142e-04 -4.70063059e+01] [ 5.72814453e-03 -2.32532657e-04 9.99983567e-01 4.57685006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.060714057 meters Centerline goodness : 0.989553 with order 1 Centerline is valid? [True, True] Translation: X:828.23, Y:-47.01, Z:4.58 [[ 9.99981786e-01 -1.90047814e-03 -5.72842722e-03 8.28233845e+02] [ 1.90180083e-03 9.99998166e-01 2.25461046e-04 -4.70090562e+01] [ 5.72798823e-03 -2.36351267e-04 9.99983567e-01 4.57805090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.120714057 meters Centerline goodness : 0.988915 with order 1 Centerline is valid? [True, True] Translation: X:828.29, Y:-47.02, Z:4.57 [[ 9.99983343e-01 -7.05619499e-04 -5.72843993e-03 8.28292085e+02] [ 7.06920766e-04 9.99999725e-01 2.25137432e-04 -4.70158209e+01] [ 5.72827950e-03 -2.29183235e-04 9.99983567e-01 4.57208735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.180714057 meters Centerline goodness : 0.989283 with order 1 Centerline is valid? [True, True] Translation: X:828.35, Y:-47.02, Z:4.57 [[ 9.99982289e-01 1.61457391e-03 -5.72850007e-03 8.28350452e+02] [-1.61331947e-03 9.99998674e-01 2.23596801e-04 -4.70204433e+01] [ 5.72885348e-03 -2.14350940e-04 9.99983567e-01 4.56876996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.240714057 meters Centerline goodness : 0.989062 with order 1 Centerline is valid? [True, True] Translation: X:828.41, Y:-47.03, Z:4.56 [[ 9.99969052e-01 5.39252467e-03 -5.72855956e-03 8.28408814e+02] [-5.39134093e-03 9.99985442e-01 2.22062150e-04 -4.70265482e+01] [ 5.72967364e-03 -1.91170660e-04 9.99983567e-01 4.56109292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.300714057 meters Centerline goodness : 0.988722 with order 1 Centerline is valid? [True, True] Translation: X:828.47, Y:-47.03, Z:4.57 [[ 9.99957388e-01 7.23918503e-03 -5.72861881e-03 8.28466472e+02] [-7.23804036e-03 9.99973781e-01 2.20522983e-04 -4.70259391e+01] [ 5.73006502e-03 -1.79049612e-04 9.99983567e-01 4.56894150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.360714057 meters Centerline goodness : 0.988698 with order 1 Centerline is valid? [True, True] Translation: X:828.53, Y:-47.03, Z:4.56 [[ 9.99876820e-01 1.46125659e-02 -5.72865116e-03 8.28526125e+02] [-1.46115470e-02 9.99893222e-01 2.19679395e-04 -4.70326945e+01] [ 5.73124954e-03 -1.35947879e-04 9.99983567e-01 4.56172226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.420714057 meters Centerline goodness : 0.988906 with order 1 Centerline is valid? [True, True] Translation: X:828.58, Y:-47.04, Z:4.56 [[ 9.99884535e-01 1.40748047e-02 -5.72865922e-03 8.28583636e+02] [-1.40737782e-02 9.99900935e-01 2.19468995e-04 -4.70350762e+01] [ 5.73118069e-03 -1.38819775e-04 9.99983567e-01 4.56314827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.480714057 meters Centerline goodness : 0.989256 with order 1 Centerline is valid? [True, True] Translation: X:828.64, Y:-47.04, Z:4.57 [[ 9.99903378e-01 1.26655936e-02 -5.72867888e-03 8.28642750e+02] [-1.26645469e-02 9.99919777e-01 2.18954700e-04 -4.70363771e+01] [ 5.73099250e-03 -1.46382422e-04 9.99983567e-01 4.56961296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5407140570001 meters Centerline goodness : 0.989015 with order 1 Centerline is valid? [True, True] Translation: X:828.70, Y:-47.04, Z:4.56 [[ 9.99797866e-01 1.92719812e-02 -5.72869446e-03 8.28702181e+02] [-1.92710452e-02 9.99814272e-01 2.18546137e-04 -4.70437818e+01] [ 5.73184230e-03 -1.08104032e-04 9.99983567e-01 4.56399023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.600714057 meters Centerline goodness : 0.988768 with order 1 Centerline is valid? [True, True] Translation: X:828.76, Y:-47.04, Z:4.57 [[ 9.99831222e-01 1.74559293e-02 -5.72870278e-03 8.28761746e+02] [-1.74549647e-02 9.99847627e-01 2.18327991e-04 -4.70442708e+01] [ 5.73164099e-03 -1.18296837e-04 9.99983567e-01 4.57410238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6607140570001 meters Centerline goodness : 0.987805 with order 1 Centerline is valid? [True, True] Translation: X:828.82, Y:-47.05, Z:4.57 [[ 9.99796689e-01 1.93329591e-02 -5.72870730e-03 8.28818197e+02] [-1.93320260e-02 9.99813095e-01 2.18209266e-04 -4.70498240e+01] [ 5.73185521e-03 -1.07417383e-04 9.99983567e-01 4.57210699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.720714057 meters Centerline goodness : 0.987991 with order 1 Centerline is valid? [True, True] Translation: X:828.88, Y:-47.05, Z:4.57 [[ 9.99814775e-01 1.83738456e-02 -5.72873413e-03 8.28876936e+02] [-1.83729008e-02 9.99831180e-01 2.17502491e-04 -4.70532470e+01] [ 5.73176337e-03 -1.12208740e-04 9.99983567e-01 4.57200992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7807140570001 meters Centerline goodness : 0.987425 with order 1 Centerline is valid? [True, True] Translation: X:828.93, Y:-47.06, Z:4.57 [[ 9.99883878e-01 1.41213229e-02 -5.72874927e-03 8.28934183e+02] [-1.41203107e-02 9.99900280e-01 2.17103133e-04 -4.70599592e+01] [ 5.73124378e-03 -1.36186203e-04 9.99983567e-01 4.56929467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.840714057 meters Centerline goodness : 0.987751 with order 1 Centerline is valid? [True, True] Translation: X:828.99, Y:-47.06, Z:4.57 [[ 9.99949887e-01 8.21008806e-03 -5.72876780e-03 8.28992805e+02] [-8.20898169e-03 9.99966282e-01 2.16613079e-04 -4.70639236e+01] [ 5.73035305e-03 -1.69574874e-04 9.99983567e-01 4.56964599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9007140570001 meters Centerline goodness : 0.987976 with order 1 Centerline is valid? [True, True] Translation: X:829.05, Y:-47.07, Z:4.57 [[ 9.99983547e-01 -2.94928434e-04 -5.72878300e-03 8.29051268e+02] [ 2.96171910e-04 9.99999933e-01 2.16210335e-04 -4.70659998e+01] [ 5.72871884e-03 -2.17903483e-04 9.99983567e-01 4.57174210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.960714057 meters Centerline goodness : 0.987694 with order 1 Centerline is valid? [True, True] Translation: X:829.11, Y:-47.07, Z:4.58 [[ 9.99924893e-01 -1.08346061e-02 -5.72879859e-03 8.29109918e+02] [ 1.08360198e-02 9.99941265e-01 2.15796258e-04 -4.70658612e+01] [ 5.72612405e-03 -2.77857425e-04 9.99983567e-01 4.57699061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0207140570001 meters Centerline goodness : 0.987879 with order 1 Centerline is valid? [True, True] Translation: X:829.17, Y:-47.07, Z:4.58 [[ 9.99853472e-01 -1.61311831e-02 -5.72881016e-03 8.29169991e+02] [ 1.61326818e-02 9.99869837e-01 2.15488689e-04 -4.70683138e+01] [ 5.72458839e-03 -3.07878185e-04 9.99983567e-01 4.57932712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.080714057 meters Centerline goodness : 0.987795 with order 1 Centerline is valid? [True, True] Translation: X:829.23, Y:-47.07, Z:4.58 [[ 9.99841736e-01 -1.68429132e-02 -5.72880636e-03 8.29232145e+02] [ 1.68444241e-02 9.99858099e-01 2.15589853e-04 -4.70717137e+01] [ 5.72436227e-03 -3.12054177e-04 9.99983567e-01 4.57783589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1407140570001 meters Centerline goodness : 0.988222 with order 1 Centerline is valid? [True, True] Translation: X:829.29, Y:-47.07, Z:4.58 [[ 9.99805562e-01 -1.88684883e-02 -5.72879118e-03 8.29294802e+02] [ 1.88700347e-02 9.99821922e-01 2.15992478e-04 -4.70716303e+01] [ 5.72369555e-03 -3.24052969e-04 9.99983567e-01 4.57697457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.200714057 meters Centerline goodness : 0.986729 with order 1 Centerline is valid? [True, True] Translation: X:829.36, Y:-47.08, Z:4.57 [[ 9.99876680e-01 -1.46220901e-02 -5.72877590e-03 8.29356251e+02] [ 1.46235693e-02 9.99893046e-01 2.16396939e-04 -4.70774920e+01] [ 5.72499901e-03 -3.00145405e-04 9.99983567e-01 4.56572552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.260714057 meters Centerline goodness : 0.988098 with order 1 Centerline is valid? [True, True] Translation: X:829.42, Y:-47.07, Z:4.57 [[ 9.99828333e-01 -1.76206298e-02 -5.72876803e-03 8.29418109e+02] [ 1.76221593e-02 9.99844694e-01 2.16605042e-04 -4.70731876e+01] [ 5.72406160e-03 -3.17521121e-04 9.99983567e-01 4.57120949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.320714057 meters Centerline goodness : 0.987085 with order 1 Centerline is valid? [True, True] Translation: X:829.48, Y:-47.07, Z:4.57 [[ 9.99865884e-01 -1.53425745e-02 -5.72875629e-03 8.29480150e+02] [ 1.53440684e-02 9.99882249e-01 2.16915099e-04 -4.70726672e+01] [ 5.72475369e-03 -3.04788436e-04 9.99983567e-01 4.57228027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.380714057 meters Centerline goodness : 0.988007 with order 1 Centerline is valid? [True, True] Translation: X:829.54, Y:-47.07, Z:4.58 [[ 9.99880178e-01 -1.43809504e-02 -5.72874066e-03 8.29542282e+02] [ 1.43824310e-02 9.99896544e-01 2.17327122e-04 -4.70694747e+01] [ 5.72502262e-03 -2.99694299e-04 9.99983567e-01 4.57881175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.440714057 meters Centerline goodness : 0.986996 with order 1 Centerline is valid? [True, True] Translation: X:829.60, Y:-47.07, Z:4.58 [[ 9.99938481e-01 -9.49825705e-03 -5.72872493e-03 8.29603616e+02] [ 9.49966003e-03 9.99954854e-01 2.17741069e-04 -4.70675539e+01] [ 5.72639813e-03 -2.72148613e-04 9.99983567e-01 4.57992273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.500714057 meters Centerline goodness : 0.987046 with order 1 Centerline is valid? [True, True] Translation: X:829.66, Y:-47.07, Z:4.58 [[ 9.99948121e-01 -8.42242037e-03 -5.72871328e-03 8.29664716e+02] [ 8.42380749e-03 9.99964495e-01 2.18047036e-04 -4.70662874e+01] [ 5.72667340e-03 -2.66293302e-04 9.99983567e-01 4.58479755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.560714057 meters Centerline goodness : 0.987246 with order 1 Centerline is valid? [True, True] Translation: X:829.73, Y:-47.07, Z:4.59 [[ 9.99955279e-01 -7.52479074e-03 -5.72870553e-03 8.29726334e+02] [ 7.52616432e-03 9.99971654e-01 2.18250341e-04 -4.70675820e+01] [ 5.72690086e-03 -2.61355759e-04 9.99983567e-01 4.58907351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.620714057 meters Centerline goodness : 0.987449 with order 1 Centerline is valid? [True, True] Translation: X:829.79, Y:-47.07, Z:4.59 [[ 9.99951790e-01 -7.97498496e-03 -5.72869788e-03 8.29786663e+02] [ 7.97636705e-03 9.99968164e-01 2.18451009e-04 -4.70678166e+01] [ 5.72677336e-03 -2.64134674e-04 9.99983567e-01 4.59339044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.680714057 meters Centerline goodness : 0.986871 with order 1 Centerline is valid? [True, True] Translation: X:829.85, Y:-47.07, Z:4.60 [[ 9.99965695e-01 -5.98254661e-03 -5.72868314e-03 8.29846679e+02] [ 5.98389828e-03 9.99982072e-01 2.18836829e-04 -4.70691065e+01] [ 5.72727124e-03 -2.53109179e-04 9.99983567e-01 4.59547302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.740714057 meters Centerline goodness : 0.987095 with order 1 Centerline is valid? [True, True] Translation: X:829.91, Y:-47.07, Z:4.59 [[ 9.99979145e-01 -2.98175808e-03 -5.72867942e-03 8.29906935e+02] [ 2.98306116e-03 9.99995527e-01 2.18934309e-04 -4.70731249e+01] [ 5.72800098e-03 -2.36018744e-04 9.99983567e-01 4.58814329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.800714057 meters Centerline goodness : 0.986336 with order 1 Centerline is valid? [True, True] Translation: X:829.97, Y:-47.07, Z:4.59 [[ 9.99975036e-01 -4.13626216e-03 -5.72867942e-03 8.29966223e+02] [ 4.13758415e-03 9.99991416e-01 2.18934309e-04 -4.70743118e+01] [ 5.72772467e-03 -2.42631736e-04 9.99983567e-01 4.58824847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.860714057 meters Centerline goodness : 0.985640 with order 1 Centerline is valid? [True, True] Translation: X:830.03, Y:-47.08, Z:4.58 [[ 9.99971039e-01 -5.01033130e-03 -5.72868744e-03 8.30025972e+02] [ 5.01166640e-03 9.99987418e-01 2.18724316e-04 -4.70788020e+01] [ 5.72751947e-03 -2.47428252e-04 9.99983567e-01 4.58212798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.920714057 meters Centerline goodness : 0.986300 with order 1 Centerline is valid? [True, True] Translation: X:830.09, Y:-47.08, Z:4.59 [[ 9.99851177e-01 -1.62728345e-02 -5.72869571e-03 8.30085776e+02] [ 1.62743527e-02 9.99867540e-01 2.18507431e-04 -4.70784857e+01] [ 5.72438115e-03 -3.11705727e-04 9.99983567e-01 4.58685020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.980714057 meters Centerline goodness : 0.987304 with order 1 Centerline is valid? [True, True] Translation: X:830.15, Y:-47.08, Z:4.59 [[ 9.99766195e-01 -2.08503766e-02 -5.72869571e-03 8.30148281e+02] [ 2.08519698e-02 9.99782550e-01 2.18507431e-04 -4.70787954e+01] [ 5.72289404e-03 -3.37910933e-04 9.99983567e-01 4.59236514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0407140570001 meters Centerline goodness : 0.987123 with order 1 Centerline is valid? [True, True] Translation: X:830.21, Y:-47.08, Z:4.59 [[ 9.99792324e-01 -1.95573910e-02 -5.72863708e-03 8.30209603e+02] [ 1.95589717e-02 9.99808681e-01 2.20033763e-04 -4.70806215e+01] [ 5.72323780e-03 -3.32034318e-04 9.99983567e-01 4.59348121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.100714057 meters Centerline goodness : 0.987385 with order 1 Centerline is valid? [True, True] Translation: X:830.27, Y:-47.08, Z:4.59 [[ 9.99724428e-01 -2.27651042e-02 -5.72862463e-03 8.30271696e+02] [ 2.27667393e-02 9.99740780e-01 2.20357508e-04 -4.70814515e+01] [ 5.72212319e-03 -3.50718887e-04 9.99983567e-01 4.59207413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1607140570001 meters Centerline goodness : 0.987336 with order 1 Centerline is valid? [True, True] Translation: X:830.33, Y:-47.08, Z:4.59 [[ 9.99781333e-01 -2.01114325e-02 -5.72860776e-03 8.30333624e+02] [ 2.01130267e-02 9.99797688e-01 2.20795190e-04 -4.70810164e+01] [ 5.72300829e-03 -3.35966550e-04 9.99983567e-01 4.59195064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.220714057 meters Centerline goodness : 0.987469 with order 1 Centerline is valid? [True, True] Translation: X:830.40, Y:-47.08, Z:4.59 [[ 9.99822410e-01 -1.79536072e-02 -5.72859100e-03 8.30396477e+02] [ 1.79551685e-02 9.99838769e-01 2.21229071e-04 -4.70802650e+01] [ 5.72369552e-03 -3.24047600e-04 9.99983567e-01 4.59243699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2807140570001 meters Centerline goodness : 0.988187 with order 1 Centerline is valid? [True, True] Translation: X:830.46, Y:-47.08, Z:4.59 [[ 9.99848458e-01 -1.64391310e-02 -5.72856646e-03 8.30459197e+02] [ 1.64406711e-02 9.99864818e-01 2.21862804e-04 -4.70811560e+01] [ 5.72414483e-03 -3.16010660e-04 9.99983567e-01 4.59206204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.340714057 meters Centerline goodness : 0.988744 with order 1 Centerline is valid? [True, True] Translation: X:830.52, Y:-47.08, Z:4.59 [[ 9.99922553e-01 -1.10485801e-02 -5.72854524e-03 8.30520114e+02] [ 1.10500352e-02 9.99938922e-01 2.22409396e-04 -4.70824300e+01] [ 5.72573804e-03 -2.85692798e-04 9.99983567e-01 4.58774691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4007140570001 meters Centerline goodness : 0.988372 with order 1 Centerline is valid? [True, True] Translation: X:830.58, Y:-47.08, Z:4.59 [[ 9.99958720e-01 -7.05283246e-03 -5.72851586e-03 8.30581170e+02] [ 7.05422639e-03 9.99975094e-01 2.23163484e-04 -4.70836991e+01] [ 5.72679925e-03 -2.63564519e-04 9.99983567e-01 4.58715105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.460714057 meters Centerline goodness : 0.988493 with order 1 Centerline is valid? [True, True] Translation: X:830.64, Y:-47.08, Z:4.60 [[ 9.99968132e-01 -5.56049647e-03 -5.72850801e-03 8.30642306e+02] [ 5.56186712e-03 9.99984508e-01 2.23364850e-04 -4.70807318e+01] [ 5.72717724e-03 -2.55218932e-04 9.99983567e-01 4.59826344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5207140570001 meters Centerline goodness : 0.989131 with order 1 Centerline is valid? [True, True] Translation: X:830.70, Y:-47.09, Z:4.59 [[ 9.99979966e-01 -2.69276947e-03 -5.72850381e-03 8.30702722e+02] [ 2.69409377e-03 9.99996346e-01 2.23472412e-04 -4.70869614e+01] [ 5.72788112e-03 -2.38901062e-04 9.99983567e-01 4.59141935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.580714057 meters Centerline goodness : 0.989022 with order 1 Centerline is valid? [True, True] Translation: X:830.76, Y:-47.09, Z:4.60 [[ 9.99943316e-01 -8.97494087e-03 -5.72850360e-03 8.30762205e+02] [ 8.97636807e-03 9.99959687e-01 2.23477957e-04 -4.70852648e+01] [ 5.72626696e-03 -2.74886447e-04 9.99983567e-01 4.60065199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6407140570001 meters Centerline goodness : 0.992639 with order 1 Centerline is valid? [True, True] Translation: X:830.82, Y:-47.08, Z:4.59 [[ 9.99869082e-01 -1.51328641e-02 -5.72848897e-03 8.30822900e+02] [ 1.51343943e-02 9.99885443e-01 2.23852273e-04 -4.70816846e+01] [ 5.72444521e-03 -3.10520177e-04 9.99983567e-01 4.59347847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.700714057 meters Centerline goodness : 0.989775 with order 1 Centerline is valid? [True, True] Translation: X:830.88, Y:-47.09, Z:4.60 [[ 9.99924064e-01 -1.09110686e-02 -5.72848499e-03 8.30884046e+02] [ 1.09125302e-02 9.99940432e-01 2.23953991e-04 -4.70919112e+01] [ 5.72570018e-03 -2.86449250e-04 9.99983567e-01 4.59986324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.760714057 meters Centerline goodness : 0.989304 with order 1 Centerline is valid? [True, True] Translation: X:830.95, Y:-47.09, Z:4.60 [[ 9.99938088e-01 -9.53968303e-03 -5.72847643e-03 8.30946408e+02] [ 9.54112345e-03 9.99954457e-01 2.24172952e-04 -4.70932182e+01] [ 5.72607700e-03 -2.78815174e-04 9.99983567e-01 4.60464875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.820714057 meters Centerline goodness : 0.988376 with order 1 Centerline is valid? [True, True] Translation: X:831.01, Y:-47.10, Z:4.59 [[ 9.99978490e-01 -3.19436687e-03 -5.72845944e-03 8.31007594e+02] [ 3.19570586e-03 9.99994869e-01 2.24606197e-04 -4.71007105e+01] [ 5.72771257e-03 -2.42907837e-04 9.99983567e-01 4.59263315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.880714057 meters Centerline goodness : 0.989262 with order 1 Centerline is valid? [True, True] Translation: X:831.07, Y:-47.10, Z:4.59 [[ 9.99983502e-01 4.25998883e-04 -5.72845084e-03 8.31067033e+02] [-4.24717940e-04 9.99999885e-01 2.24825305e-04 -4.71038130e+01] [ 5.72854595e-03 -2.22388620e-04 9.99983567e-01 4.59148615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.940714057 meters Centerline goodness : 0.989935 with order 1 Centerline is valid? [True, True] Translation: X:831.13, Y:-47.10, Z:4.60 [[ 9.99983453e-01 -5.28246155e-04 -5.72845936e-03 8.31125821e+02] [ 5.29541488e-04 9.99999835e-01 2.24608018e-04 -4.71013926e+01] [ 5.72833976e-03 -2.27637759e-04 9.99983567e-01 4.60105951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.000714057 meters Centerline goodness : 0.989854 with order 1 Centerline is valid? [True, True] Translation: X:831.18, Y:-47.11, Z:4.59 [[ 9.99968006e-01 5.58315650e-03 -5.72847641e-03 8.31184406e+02] [-5.58196381e-03 9.99984396e-01 2.24172310e-04 -4.71084519e+01] [ 5.72963861e-03 -1.92188989e-04 9.99983567e-01 4.59315573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.060714057 meters Centerline goodness : 0.990019 with order 1 Centerline is valid? [True, True] Translation: X:831.24, Y:-47.11, Z:4.60 [[ 9.99983589e-01 6.86745439e-05 -5.72853623e-03 8.31241741e+02] [-6.74002860e-05 9.99999973e-01 2.22633165e-04 -4.71086825e+01] [ 5.72855136e-03 -2.22243406e-04 9.99983567e-01 4.60005542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.120714057 meters Centerline goodness : 0.989293 with order 1 Centerline is valid? [True, True] Translation: X:831.30, Y:-47.11, Z:4.60 [[ 9.99980684e-01 -2.41166951e-03 -5.72855901e-03 8.31300284e+02] [ 2.41298104e-03 9.99997064e-01 2.22045267e-04 -4.71110878e+01] [ 5.72800670e-03 -2.35863882e-04 9.99983567e-01 4.60286701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.180714057 meters Centerline goodness : 0.990284 with order 1 Centerline is valid? [True, True] Translation: X:831.36, Y:-47.12, Z:4.60 [[ 9.99962104e-01 -6.55547159e-03 -5.72857585e-03 8.31359452e+02] [ 6.55684850e-03 9.99978479e-01 2.21609988e-04 -4.71157930e+01] [ 5.72699981e-03 -2.59162993e-04 9.99983567e-01 4.60387552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.240714057 meters Centerline goodness : 0.989280 with order 1 Centerline is valid? [True, True] Translation: X:831.42, Y:-47.12, Z:4.60 [[ 9.99935148e-01 -9.84293603e-03 -5.72858442e-03 8.31419340e+02] [ 9.84436550e-03 9.99951519e-01 2.21388298e-04 -4.71203991e+01] [ 5.72612758e-03 -2.77768220e-04 9.99983567e-01 4.60276143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.300714057 meters Centerline goodness : 0.989025 with order 1 Centerline is valid? [True, True] Translation: X:831.48, Y:-47.12, Z:4.61 [[ 9.99938126e-01 -9.53563155e-03 -5.72858442e-03 8.31480176e+02] [ 9.53705599e-03 9.99954497e-01 2.21388298e-04 -4.71234881e+01] [ 5.72621267e-03 -2.76008430e-04 9.99983567e-01 4.60523190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.360714057 meters Centerline goodness : 0.988563 with order 1 Centerline is valid? [True, True] Translation: X:831.54, Y:-47.13, Z:4.61 [[ 9.99970963e-01 -5.02553004e-03 -5.72857588e-03 8.31541433e+02] [ 5.02688189e-03 9.99987341e-01 2.21609024e-04 -4.71276296e+01] [ 5.72738966e-03 -2.50399463e-04 9.99983567e-01 4.60535851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.420714057 meters Centerline goodness : 0.989217 with order 1 Centerline is valid? [True, True] Translation: X:831.60, Y:-47.13, Z:4.60 [[ 9.99983022e-01 -1.06779947e-03 -5.72856736e-03 8.31602186e+02] [ 1.06908775e-03 9.99999404e-01 2.21829101e-04 -4.71309275e+01] [ 5.72832708e-03 -2.27949676e-04 9.99983567e-01 4.60475057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.480714057 meters Centerline goodness : 0.989427 with order 1 Centerline is valid? [True, True] Translation: X:831.66, Y:-47.13, Z:4.61 [[ 9.99979095e-01 2.99869004e-03 -5.72856736e-03 8.31660477e+02] [-2.99746839e-03 9.99995483e-01 2.21829101e-04 -4.71332396e+01] [ 5.72920668e-03 -2.04653264e-04 9.99983567e-01 4.60572439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5407140570001 meters Centerline goodness : 0.989354 with order 1 Centerline is valid? [True, True] Translation: X:831.72, Y:-47.14, Z:4.60 [[ 9.99976328e-01 3.81131427e-03 -5.72862682e-03 8.31717734e+02] [-3.81011479e-03 9.99992717e-01 2.20282755e-04 -4.71363599e+01] [ 5.72942467e-03 -1.98450815e-04 9.99983567e-01 4.60480662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.600714057 meters Centerline goodness : 0.988951 with order 1 Centerline is valid? [True, True] Translation: X:831.78, Y:-47.14, Z:4.60 [[ 9.99968995e-01 5.40300992e-03 -5.72864756e-03 8.31775668e+02] [-5.40183962e-03 9.99985386e-01 2.19742044e-04 -4.71403579e+01] [ 5.72975111e-03 -1.88789995e-04 9.99983567e-01 4.60426461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6607140570001 meters Centerline goodness : 0.988382 with order 1 Centerline is valid? [True, True] Translation: X:831.83, Y:-47.14, Z:4.61 [[ 9.99950302e-01 8.15937581e-03 -5.72871091e-03 8.31834396e+02] [-8.15826022e-03 9.99966697e-01 2.18077893e-04 -4.71439727e+01] [ 5.73029951e-03 -1.71330740e-04 9.99983567e-01 4.60576341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.720714057 meters Centerline goodness : 0.988074 with order 1 Centerline is valid? [True, True] Translation: X:831.89, Y:-47.15, Z:4.61 [[ 9.99954288e-01 7.65528610e-03 -5.72876675e-03 8.31893589e+02] [-7.65417070e-03 9.99970683e-01 2.16601120e-04 -4.71465164e+01] [ 5.73025694e-03 -1.72742260e-04 9.99983567e-01 4.60948788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7807140570001 meters Centerline goodness : 0.990801 with order 1 Centerline is valid? [True, True] Translation: X:831.95, Y:-47.15, Z:4.60 [[ 9.99978212e-01 3.27969481e-03 -5.72877896e-03 8.31952559e+02] [-3.27850953e-03 9.99994602e-01 2.16277690e-04 -4.71460904e+01] [ 5.72945736e-03 -1.97491121e-04 9.99983567e-01 4.60008150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.840714057 meters Centerline goodness : 0.988185 with order 1 Centerline is valid? [True, True] Translation: X:832.01, Y:-47.16, Z:4.61 [[ 9.99946278e-01 8.63839508e-03 -5.72878698e-03 8.32010546e+02] [-8.63729887e-03 9.99962675e-01 2.16065106e-04 -4.71558667e+01] [ 5.73043960e-03 -1.66572253e-04 9.99983567e-01 4.60899442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9007140570001 meters Centerline goodness : 0.990154 with order 1 Centerline is valid? [True, True] Translation: X:832.07, Y:-47.16, Z:4.60 [[ 9.99975743e-01 3.96161597e-03 -5.72884279e-03 8.32069183e+02] [-3.96045161e-03 9.99992134e-01 2.14575042e-04 -4.71569602e+01] [ 5.72964779e-03 -1.91881033e-04 9.99983567e-01 4.60109314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.960714057 meters Centerline goodness : 0.987592 with order 1 Centerline is valid? [True, True] Translation: X:832.13, Y:-47.18, Z:4.59 [[ 9.99894185e-01 1.33715755e-02 -5.72885475e-03 8.32126589e+02] [-1.33705673e-02 9.99910587e-01 2.14255112e-04 -4.71760557e+01] [ 5.73120745e-03 -1.37634403e-04 9.99983567e-01 4.59041007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0207140570001 meters Centerline goodness : 0.987618 with order 1 Centerline is valid? [True, True] Translation: X:832.18, Y:-47.18, Z:4.59 [[ 9.99944196e-01 8.87611748e-03 -5.72887466e-03 8.32183755e+02] [-8.87503858e-03 9.99960593e-01 2.13721543e-04 -4.71814842e+01] [ 5.73054592e-03 -1.62865633e-04 9.99983567e-01 4.59201296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.080714057 meters Centerline goodness : 0.987779 with order 1 Centerline is valid? [True, True] Translation: X:832.24, Y:-47.19, Z:4.59 [[ 9.99974670e-01 4.22375331e-03 -5.72889206e-03 8.32242416e+02] [-4.22260081e-03 9.99991062e-01 2.13253934e-04 -4.71864698e+01] [ 5.72974159e-03 -1.89057708e-04 9.99983567e-01 4.58731163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1407140570001 meters Centerline goodness : 0.987847 with order 1 Centerline is valid? [True, True] Translation: X:832.30, Y:-47.19, Z:4.59 [[ 9.99928028e-01 1.05412609e-02 -5.72890693e-03 8.32302291e+02] [-1.05402143e-02 9.99944428e-01 2.12853702e-04 -4.71892949e+01] [ 5.73083231e-03 -1.52454476e-04 9.99983567e-01 4.59166700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.200714057 meters Centerline goodness : 0.988674 with order 1 Centerline is valid? [True, True] Translation: X:832.36, Y:-47.19, Z:4.60 [[ 9.99948122e-01 8.42218868e-03 -5.72891086e-03 8.32360891e+02] [-8.42110791e-03 9.99964519e-01 2.12747877e-04 -4.71886948e+01] [ 5.73049940e-03 -1.64493063e-04 9.99983567e-01 4.59792173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.260714057 meters Centerline goodness : 0.986964 with order 1 Centerline is valid? [True, True] Translation: X:832.42, Y:-47.20, Z:4.59 [[ 9.99907672e-01 1.23218169e-02 -5.72892568e-03 8.32418497e+02] [-1.23208024e-02 9.99924073e-01 2.12348231e-04 -4.71963483e+01] [ 5.73110722e-03 -1.41743664e-04 9.99983567e-01 4.58851328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.320714057 meters Centerline goodness : 0.987482 with order 1 Centerline is valid? [True, True] Translation: X:832.48, Y:-47.20, Z:4.59 [[ 9.99975394e-01 4.04857773e-03 -5.72894469e-03 8.32478150e+02] [-4.04743048e-03 9.99991787e-01 2.11834182e-04 -4.71984750e+01] [ 5.72975526e-03 -1.88641464e-04 9.99983567e-01 4.59254725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.380714057 meters Centerline goodness : 0.986986 with order 1 Centerline is valid? [True, True] Translation: X:832.54, Y:-47.20, Z:4.59 [[ 9.99983333e-01 -7.16151552e-04 -5.72895251e-03 8.32536357e+02] [ 7.17375683e-04 9.99999720e-01 2.11622400e-04 -4.72021840e+01] [ 5.72879935e-03 -2.15728684e-04 9.99983567e-01 4.59273849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.440714057 meters Centerline goodness : 0.987232 with order 1 Centerline is valid? [True, True] Translation: X:832.59, Y:-47.21, Z:4.59 [[ 9.99967293e-01 -5.70887878e-03 -5.72897220e-03 8.32594921e+02] [ 5.71018166e-03 9.99983675e-01 2.11088061e-04 -4.72072693e+01] [ 5.72767359e-03 -2.43794629e-04 9.99983567e-01 4.59158307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.500714057 meters Centerline goodness : 0.986933 with order 1 Centerline is valid? [True, True] Translation: X:832.65, Y:-47.21, Z:4.60 [[ 9.99928905e-01 -1.04576640e-02 -5.72898802e-03 8.32654832e+02] [ 1.04590422e-02 9.99945281e-01 2.10657792e-04 -4.72085275e+01] [ 5.72647154e-03 -2.70562543e-04 9.99983567e-01 4.59650790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.560714057 meters Centerline goodness : 0.987153 with order 1 Centerline is valid? [True, True] Translation: X:832.72, Y:-47.21, Z:4.60 [[ 9.99909263e-01 -1.21919739e-02 -5.72899190e-03 8.32716530e+02] [ 1.21933799e-02 9.99925636e-01 2.10552040e-04 -4.72098339e+01] [ 5.72599883e-03 -2.80388710e-04 9.99983567e-01 4.59902451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.620714057 meters Centerline goodness : 0.987384 with order 1 Centerline is valid? [True, True] Translation: X:832.78, Y:-47.21, Z:4.60 [[ 9.99940426e-01 -9.29101690e-03 -5.72898420e-03 8.32777400e+02] [ 9.29237658e-03 9.99956803e-01 2.10761403e-04 -4.72122562e+01] [ 5.72677854e-03 -2.63984726e-04 9.99983567e-01 4.59953266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.680714057 meters Centerline goodness : 0.986264 with order 1 Centerline is valid? [True, True] Translation: X:832.84, Y:-47.21, Z:4.60 [[ 9.99962863e-01 -6.43829615e-03 -5.72897652e-03 8.32838074e+02] [ 6.43961031e-03 9.99979243e-01 2.10970092e-04 -4.72137414e+01] [ 5.72749931e-03 -2.47854634e-04 9.99983567e-01 4.60064860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.740714057 meters Centerline goodness : 0.986268 with order 1 Centerline is valid? [True, True] Translation: X:832.90, Y:-47.22, Z:4.60 [[ 9.99972317e-01 -4.74801394e-03 -5.72897274e-03 8.32898580e+02] [ 4.74930099e-03 9.99988700e-01 2.11072643e-04 -4.72156404e+01] [ 5.72790582e-03 -2.38275416e-04 9.99983567e-01 4.59776119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.800714057 meters Centerline goodness : 0.986389 with order 1 Centerline is valid? [True, True] Translation: X:832.96, Y:-47.22, Z:4.59 [[ 9.99950944e-01 -8.08017538e-03 -5.72897274e-03 8.32958043e+02] [ 8.08151701e-03 9.99967322e-01 2.11072643e-04 -4.72176101e+01] [ 5.72708002e-03 -2.57361080e-04 9.99983567e-01 4.59368865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.860714057 meters Centerline goodness : 0.988652 with order 1 Centerline is valid? [True, True] Translation: X:833.02, Y:-47.21, Z:4.59 [[ 9.99885385e-01 -1.40140914e-02 -5.72897649e-03 8.33018705e+02] [ 1.40155296e-02 9.99901755e-01 2.10970718e-04 -4.72106033e+01] [ 5.72545709e-03 -2.91241177e-04 9.99983567e-01 4.58919615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.920714057 meters Centerline goodness : 0.989900 with order 1 Centerline is valid? [True, True] Translation: X:833.08, Y:-47.21, Z:4.59 [[ 9.99873746e-01 -1.48212815e-02 -5.72897286e-03 8.33079405e+02] [ 1.48227335e-02 9.99890115e-01 2.11069317e-04 -4.72119554e+01] [ 5.72521501e-03 -2.95961706e-04 9.99983567e-01 4.59005830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.980714057 meters Centerline goodness : 0.990478 with order 1 Centerline is valid? [True, True] Translation: X:833.14, Y:-47.21, Z:4.59 [[ 9.99866850e-01 -1.52794292e-02 -5.72896207e-03 8.33141797e+02] [ 1.52808903e-02 9.99883218e-01 2.11361656e-04 -4.72123538e+01] [ 5.72506355e-03 -2.98877155e-04 9.99983567e-01 4.58964624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0407140570001 meters Centerline goodness : 0.990082 with order 1 Centerline is valid? [True, True] Translation: X:833.20, Y:-47.21, Z:4.59 [[ 9.99844128e-01 -1.67002513e-02 -5.72894705e-03 8.33204302e+02] [ 1.67017380e-02 9.99860494e-01 2.11767985e-04 -4.72130028e+01] [ 5.72461125e-03 -3.07418349e-04 9.99983567e-01 4.59051477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.100714057 meters Centerline goodness : 0.990110 with order 1 Centerline is valid? [True, True] Translation: X:833.27, Y:-47.21, Z:4.59 [[ 9.99823987e-01 -1.78654526e-02 -5.72893221e-03 8.33266638e+02] [ 1.78669607e-02 9.99840351e-01 2.12168840e-04 -4.72148067e+01] [ 5.72422710e-03 -3.14490102e-04 9.99983567e-01 4.59186594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1607140570001 meters Centerline goodness : 0.990295 with order 1 Centerline is valid? [True, True] Translation: X:833.33, Y:-47.22, Z:4.59 [[ 9.99793696e-01 -1.94870502e-02 -5.72891684e-03 8.33327535e+02] [ 1.94885872e-02 9.99810057e-01 2.12582977e-04 -4.72161801e+01] [ 5.72368606e-03 -3.24187616e-04 9.99983567e-01 4.59347191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.220714057 meters Centerline goodness : 0.990031 with order 1 Centerline is valid? [True, True] Translation: X:833.39, Y:-47.22, Z:4.59 [[ 9.99772689e-01 -2.05365358e-02 -5.72890547e-03 8.33389806e+02] [ 2.05380917e-02 9.99789048e-01 2.12889115e-04 -4.72184118e+01] [ 5.72332494e-03 -3.30501509e-04 9.99983567e-01 4.59073713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2807140570001 meters Centerline goodness : 0.990505 with order 1 Centerline is valid? [True, True] Translation: X:833.45, Y:-47.22, Z:4.59 [[ 9.99772043e-01 -2.05679890e-02 -5.72889019e-03 8.33452105e+02] [ 2.05695478e-02 9.99788402e-01 2.13299330e-04 -4.72200367e+01] [ 5.72329083e-03 -3.31091387e-04 9.99983567e-01 4.58858940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.340714057 meters Centerline goodness : 0.990509 with order 1 Centerline is valid? [True, True] Translation: X:833.51, Y:-47.22, Z:4.59 [[ 9.99785121e-01 -1.99221432e-02 -5.72887458e-03 8.33514302e+02] [ 1.99236939e-02 9.99801481e-01 2.13717909e-04 -4.72212501e+01] [ 5.72347957e-03 -3.27812329e-04 9.99983567e-01 4.58817416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4007140570001 meters Centerline goodness : 0.990490 with order 1 Centerline is valid? [True, True] Translation: X:833.58, Y:-47.22, Z:4.59 [[ 9.99832841e-01 -1.73628973e-02 -5.72885906e-03 8.33576946e+02] [ 1.73644084e-02 9.99849204e-01 2.14133012e-04 -4.72219016e+01] [ 5.72427720e-03 -3.13575466e-04 9.99983567e-01 4.58883748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.460714057 meters Centerline goodness : 0.982608 with order 1 Centerline is valid? [True, True] Translation: X:833.64, Y:-47.22, Z:4.60 [[ 9.99922103e-01 -1.10891524e-02 -5.72884342e-03 8.33638504e+02] [ 1.10905632e-02 9.99938475e-01 2.14550602e-04 -4.72215911e+01] [ 5.72611177e-03 -2.78069990e-04 9.99983567e-01 4.59575937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5207140570001 meters Centerline goodness : 0.990911 with order 1 Centerline is valid? [True, True] Translation: X:833.70, Y:-47.22, Z:4.59 [[ 9.99928765e-01 -1.04711720e-02 -5.72882645e-03 8.33699143e+02] [ 1.04725752e-02 9.99945138e-01 2.15002865e-04 -4.72213241e+01] [ 5.72626082e-03 -2.74983115e-04 9.99983567e-01 4.59105117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.580714057 meters Centerline goodness : 0.983962 with order 1 Centerline is valid? [True, True] Translation: X:833.76, Y:-47.22, Z:4.60 [[ 9.99958976e-01 -7.01612164e-03 -5.72882082e-03 8.33758338e+02] [ 7.01746917e-03 9.99975354e-01 2.15152791e-04 -4.72217020e+01] [ 5.72717009e-03 -2.55345788e-04 9.99983567e-01 4.60011248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6407140570001 meters Centerline goodness : 0.991039 with order 1 Centerline is valid? [True, True] Translation: X:833.82, Y:-47.22, Z:4.59 [[ 9.99932106e-01 -1.01471560e-02 -5.72882082e-03 8.33818545e+02] [ 1.01485549e-02 9.99948479e-01 2.15152791e-04 -4.72229029e+01] [ 5.72634247e-03 -2.73277436e-04 9.99983567e-01 4.59275785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.700714057 meters Centerline goodness : 0.991634 with order 1 Centerline is valid? [True, True] Translation: X:833.88, Y:-47.22, Z:4.59 [[ 9.99914199e-01 -1.17802512e-02 -5.72882614e-03 8.33879553e+02] [ 1.17816759e-02 9.99930571e-01 2.15010963e-04 -4.72244503e+01] [ 5.72589551e-03 -2.82487688e-04 9.99983567e-01 4.59240794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.760714057 meters Centerline goodness : 0.991495 with order 1 Centerline is valid? [True, True] Translation: X:833.94, Y:-47.23, Z:4.59 [[ 9.99890889e-01 -1.36158186e-02 -5.72881809e-03 8.33940410e+02] [ 1.36172746e-02 9.99907257e-01 2.15225197e-04 -4.72258451e+01] [ 5.72535632e-03 -2.93212603e-04 9.99983567e-01 4.59120814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.820714057 meters Centerline goodness : 0.983650 with order 1 Centerline is valid? [True, True] Translation: X:834.00, Y:-47.23, Z:4.60 [[ 9.99916390e-01 -1.15928221e-02 -5.72880614e-03 8.34001472e+02] [ 1.15942468e-02 9.99932761e-01 2.15542833e-04 -4.72272578e+01] [ 5.72592219e-03 -2.81946004e-04 9.99983567e-01 4.59664753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.880714057 meters Centerline goodness : 0.991396 with order 1 Centerline is valid? [True, True] Translation: X:834.06, Y:-47.23, Z:4.59 [[ 9.99916513e-01 -1.15821907e-02 -5.72879076e-03 8.34062146e+02] [ 1.15836175e-02 9.99932884e-01 2.15950802e-04 -4.72296822e+01] [ 5.72590509e-03 -2.82292894e-04 9.99983567e-01 4.59182390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.940714057 meters Centerline goodness : 0.991390 with order 1 Centerline is valid? [True, True] Translation: X:834.12, Y:-47.23, Z:4.59 [[ 9.99958839e-01 -7.03570938e-03 -5.72877774e-03 8.34123127e+02] [ 7.03706377e-03 9.99975216e-01 2.16295624e-04 -4.72315086e+01] [ 5.72711397e-03 -2.56600495e-04 9.99983567e-01 4.59181213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.000714057 meters Centerline goodness : 0.991666 with order 1 Centerline is valid? [True, True] Translation: X:834.18, Y:-47.23, Z:4.59 [[ 9.99980854e-01 -2.33924436e-03 -5.72876988e-03 8.34183737e+02] [ 2.34052301e-03 9.99997238e-01 2.16503795e-04 -4.72334973e+01] [ 5.72824760e-03 -2.29907967e-04 9.99983567e-01 4.59223505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.060714057 meters Centerline goodness : 0.990765 with order 1 Centerline is valid? [True, True] Translation: X:834.24, Y:-47.24, Z:4.59 [[ 9.99982692e-01 1.34027116e-03 -5.72876988e-03 8.34242323e+02] [-1.33905280e-03 9.99999080e-01 2.16503795e-04 -4.72375598e+01] [ 5.72905478e-03 -2.08828922e-04 9.99983567e-01 4.59228477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.120714057 meters Centerline goodness : 0.991023 with order 1 Centerline is valid? [True, True] Translation: X:834.30, Y:-47.24, Z:4.59 [[ 9.99977611e-01 3.45817930e-03 -5.72878178e-03 8.34300099e+02] [-3.45699746e-03 9.99994001e-01 2.16188467e-04 -4.72411407e+01] [ 5.72949503e-03 -1.96379243e-04 9.99983567e-01 4.59307115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.180714057 meters Centerline goodness : 0.991875 with order 1 Centerline is valid? [True, True] Translation: X:834.36, Y:-47.25, Z:4.59 [[ 9.99967392e-01 5.69164318e-03 -5.72880100e-03 8.34358235e+02] [-5.69050087e-03 9.99983786e-01 2.15677930e-04 -4.72453416e+01] [ 5.72993567e-03 -1.83071151e-04 9.99983567e-01 4.59285897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.240714057 meters Centerline goodness : 0.990603 with order 1 Centerline is valid? [True, True] Translation: X:834.42, Y:-47.25, Z:4.59 [[ 9.99968190e-01 5.54972159e-03 -5.72886293e-03 8.34417103e+02] [-5.54858644e-03 9.99984584e-01 2.14020212e-04 -4.72516759e+01] [ 5.72996236e-03 -1.82226312e-04 9.99983567e-01 4.59245701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.300714057 meters Centerline goodness : 0.991086 with order 1 Centerline is valid? [True, True] Translation: X:834.48, Y:-47.26, Z:4.59 [[ 9.99978353e-01 3.23613597e-03 -5.72887820e-03 8.34475502e+02] [-3.23496524e-03 9.99994745e-01 2.13610651e-04 -4.72568690e+01] [ 5.72953936e-03 -1.95073306e-04 9.99983567e-01 4.59281912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.360714057 meters Centerline goodness : 0.991420 with order 1 Centerline is valid? [True, True] Translation: X:834.53, Y:-47.26, Z:4.59 [[ 9.99983095e-01 -9.94601162e-04 -5.72889354e-03 8.34534197e+02] [ 9.95838872e-04 9.99999481e-01 2.13198491e-04 -4.72643494e+01] [ 5.72867852e-03 -2.18899942e-04 9.99983567e-01 4.59203666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.420714057 meters Centerline goodness : 0.990720 with order 1 Centerline is valid? [True, True] Translation: X:834.59, Y:-47.27, Z:4.59 [[ 9.99981618e-01 -1.98556502e-03 -5.72890904e-03 8.34592630e+02] [ 1.98681658e-03 9.99998004e-01 2.12780947e-04 -4.72687910e+01] [ 5.72847512e-03 -2.24159327e-04 9.99983567e-01 4.59244179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.480714057 meters Centerline goodness : 0.990086 with order 1 Centerline is valid? [True, True] Translation: X:834.65, Y:-47.28, Z:4.59 [[ 9.99978659e-01 -3.14017889e-03 -5.72892049e-03 8.34650973e+02] [ 3.14144760e-03 9.99995043e-01 2.12472398e-04 -4.72768356e+01] [ 5.72822489e-03 -2.30464968e-04 9.99983567e-01 4.59206986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5407140570001 meters Centerline goodness : 0.990484 with order 1 Centerline is valid? [True, True] Translation: X:834.71, Y:-47.28, Z:4.59 [[ 9.99983524e-01 -3.63317524e-04 -5.72893569e-03 8.34710694e+02] [ 3.64538385e-04 9.99999911e-01 2.12061713e-04 -4.72838545e+01] [ 5.72885813e-03 -2.14146635e-04 9.99983567e-01 4.59246995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.600714057 meters Centerline goodness : 0.990198 with order 1 Centerline is valid? [True, True] Translation: X:834.77, Y:-47.29, Z:4.59 [[ 9.99968871e-01 5.42548648e-03 -5.72894332e-03 8.34768943e+02] [-5.42436169e-03 9.99985266e-01 2.11855268e-04 -4.72900235e+01] [ 5.73000833e-03 -1.80772813e-04 9.99983567e-01 4.59232504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6607140570001 meters Centerline goodness : 0.990170 with order 1 Centerline is valid? [True, True] Translation: X:834.83, Y:-47.30, Z:4.59 [[ 9.99948627e-01 8.36189102e-03 -5.72899573e-03 8.34826386e+02] [-8.36082254e-03 9.99965026e-01 2.10428609e-04 -4.72950420e+01] [ 5.73055494e-03 -1.62518682e-04 9.99983567e-01 4.59205993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.720714057 meters Centerline goodness : 0.990056 with order 1 Centerline is valid? [True, True] Translation: X:834.88, Y:-47.30, Z:4.59 [[ 9.99929563e-01 1.03945919e-02 -5.72905550e-03 8.34883638e+02] [-1.03935661e-02 9.99945964e-01 2.08788360e-04 -4.73019984e+01] [ 5.73091619e-03 -1.49228336e-04 9.99983567e-01 4.59285150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7807140570001 meters Centerline goodness : 0.990366 with order 1 Centerline is valid? [True, True] Translation: X:834.94, Y:-47.31, Z:4.59 [[ 9.99927636e-01 1.05783011e-02 -5.72907796e-03 8.34942516e+02] [-1.05772819e-02 9.99944037e-01 2.08170398e-04 -4.73097089e+01] [ 5.73095943e-03 -1.47557262e-04 9.99983567e-01 4.59358291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.840714057 meters Centerline goodness : 0.990744 with order 1 Centerline is valid? [True, True] Translation: X:835.00, Y:-47.32, Z:4.59 [[ 9.99940044e-01 9.33202361e-03 -5.72909282e-03 8.35001085e+02] [-9.33098632e-03 9.99956444e-01 2.07760477e-04 -4.73180913e+01] [ 5.73078211e-03 -1.54289934e-04 9.99983567e-01 4.59137896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9007140570001 meters Centerline goodness : 0.989909 with order 1 Centerline is valid? [True, True] Translation: X:835.06, Y:-47.33, Z:4.59 [[ 9.99961703e-01 6.61593576e-03 -5.72910743e-03 8.35059199e+02] [-6.61485623e-03 9.99978100e-01 2.07357001e-04 -4.73268711e+01] [ 5.73035382e-03 -1.69451838e-04 9.99983567e-01 4.59070532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.960714057 meters Centerline goodness : 0.990795 with order 1 Centerline is valid? [True, True] Translation: X:835.12, Y:-47.33, Z:4.59 [[ 9.99976390e-01 3.79435229e-03 -5.72912188e-03 8.35118015e+02] [-3.79322879e-03 9.99992784e-01 2.06956920e-04 -4.73331982e+01] [ 5.72986581e-03 -1.85220163e-04 9.99983567e-01 4.59188481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0207140570001 meters Centerline goodness : 0.989538 with order 1 Centerline is valid? [True, True] Translation: X:835.18, Y:-47.34, Z:4.59 [[ 9.99980021e-01 -2.67090493e-03 -5.72913621e-03 8.35176491e+02] [ 2.67213213e-03 9.99996409e-01 2.06559487e-04 -4.73415705e+01] [ 5.72856393e-03 -2.21864370e-04 9.99983567e-01 4.59174438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.080714057 meters Centerline goodness : 0.990175 with order 1 Centerline is valid? [True, True] Translation: X:835.24, Y:-47.35, Z:4.59 [[ 9.99953936e-01 -7.70076581e-03 -5.72915075e-03 8.35235142e+02] [ 7.70207312e-03 9.99970317e-01 2.06155425e-04 -4.73499169e+01] [ 5.72739314e-03 -2.50272267e-04 9.99983567e-01 4.59355564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1407140570001 meters Centerline goodness : 0.988884 with order 1 Centerline is valid? [True, True] Translation: X:835.30, Y:-47.36, Z:4.60 [[ 9.99934813e-01 -9.87651957e-03 -5.72916148e-03 8.35295921e+02] [ 9.87786080e-03 9.99951192e-01 2.05856667e-04 -4.73562890e+01] [ 5.72684870e-03 -2.62435108e-04 9.99983567e-01 4.59587690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.200714057 meters Centerline goodness : 0.983680 with order 1 Centerline is valid? [True, True] Translation: X:835.36, Y:-47.36, Z:4.60 [[ 9.99920549e-01 -1.12281680e-02 -5.72916148e-03 8.35355211e+02] [ 1.12295314e-02 9.99936926e-01 2.05856667e-04 -4.73607742e+01] [ 5.72648872e-03 -2.70176111e-04 9.99983567e-01 4.59762679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.260714057 meters Centerline goodness : 0.988995 with order 1 Centerline is valid? [True, True] Translation: X:835.42, Y:-47.37, Z:4.60 [[ 9.99918428e-01 -1.14155144e-02 -5.72916148e-03 8.35415812e+02] [ 1.14168809e-02 9.99934804e-01 2.05856667e-04 -4.73658184e+01] [ 5.72643800e-03 -2.71249029e-04 9.99983567e-01 4.59681271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.320714057 meters Centerline goodness : 0.988553 with order 1 Centerline is valid? [True, True] Translation: X:835.48, Y:-47.37, Z:4.60 [[ 9.99889985e-01 -1.36819293e-02 -5.72916148e-03 8.35476316e+02] [ 1.36833328e-02 9.99906358e-01 2.05856667e-04 -4.73699556e+01] [ 5.72580847e-03 -2.84228043e-04 9.99983567e-01 4.59562024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.380714057 meters Centerline goodness : 0.988693 with order 1 Centerline is valid? [True, True] Translation: X:835.54, Y:-47.37, Z:4.60 [[ 9.99878525e-01 -1.44952242e-02 -5.72916148e-03 8.35537633e+02] [ 1.44966411e-02 9.99894897e-01 2.05856667e-04 -4.73730342e+01] [ 5.72557539e-03 -2.88885258e-04 9.99983567e-01 4.59519269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.440714057 meters Centerline goodness : 0.983055 with order 1 Centerline is valid? [True, True] Translation: X:835.60, Y:-47.38, Z:4.60 [[ 9.99908297e-01 -1.22708698e-02 -5.72915409e-03 8.35598131e+02] [ 1.22722514e-02 9.99924672e-01 2.06062109e-04 -4.73753245e+01] [ 5.72619396e-03 -2.76352832e-04 9.99983567e-01 4.59611830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.500714057 meters Centerline goodness : 0.988675 with order 1 Centerline is valid? [True, True] Translation: X:835.66, Y:-47.38, Z:4.60 [[ 9.99924642e-01 -1.08575880e-02 -5.72914905e-03 8.35658559e+02] [ 1.08589473e-02 9.99941019e-01 2.06202090e-04 -4.73776307e+01] [ 5.72657228e-03 -2.68399078e-04 9.99983567e-01 4.59508898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.560714057 meters Centerline goodness : 0.982364 with order 1 Centerline is valid? [True, True] Translation: X:835.72, Y:-47.39, Z:4.60 [[ 9.99969705e-01 5.26935909e-03 -5.72914905e-03 8.35717832e+02] [-5.26826409e-03 9.99986101e-01 2.06202090e-04 -4.73920755e+01] [ 5.73015598e-03 -1.76013172e-04 9.99983567e-01 4.60105806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.620714057 meters Centerline goodness : 0.983783 with order 1 Centerline is valid? [True, True] Translation: X:835.78, Y:-47.39, Z:4.60 [[ 9.99979935e-01 2.70306303e-03 -5.72915656e-03 8.35776102e+02] [-2.70192715e-03 9.99996329e-01 2.05993249e-04 -4.73883946e+01] [ 5.72969234e-03 -1.90509352e-04 9.99983567e-01 4.60224929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.680714057 meters Centerline goodness : 0.987146 with order 1 Centerline is valid? [True, True] Translation: X:835.84, Y:-47.39, Z:4.60 [[ 9.99982148e-01 -1.69735148e-03 -5.72917250e-03 8.35835466e+02] [ 1.69855695e-03 9.99998536e-01 2.05548945e-04 -4.73871356e+01] [ 5.72881523e-03 -2.15276601e-04 9.99983567e-01 4.59736081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.740714057 meters Centerline goodness : 0.987524 with order 1 Centerline is valid? [True, True] Translation: X:835.89, Y:-47.39, Z:4.60 [[ 9.99983587e-01 4.15085048e-05 -5.72918935e-03 8.35894510e+02] [-4.03342331e-05 9.99999978e-01 2.05078368e-04 -4.73909034e+01] [ 5.72919774e-03 -2.04843920e-04 9.99983567e-01 4.59822543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.800714057 meters Centerline goodness : 0.986687 with order 1 Centerline is valid? [True, True] Translation: X:835.95, Y:-47.40, Z:4.60 [[ 9.99982465e-01 1.49863485e-03 -5.72920054e-03 8.35952935e+02] [-1.49748625e-03 9.99998858e-01 2.04765212e-04 -4.73970645e+01] [ 5.72950086e-03 -1.96182223e-04 9.99983567e-01 4.59900027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.860714057 meters Centerline goodness : 0.986303 with order 1 Centerline is valid? [True, True] Translation: X:836.01, Y:-47.40, Z:4.60 [[ 9.99981412e-01 2.08623548e-03 -5.72924911e-03 8.36010407e+02] [-2.08510435e-03 9.99997805e-01 2.03397061e-04 -4.74030210e+01] [ 5.72966087e-03 -1.91447198e-04 9.99983567e-01 4.59817222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.920714057 meters Centerline goodness : 0.987014 with order 1 Centerline is valid? [True, True] Translation: X:836.07, Y:-47.41, Z:4.60 [[ 9.99982269e-01 1.62384181e-03 -5.72930717e-03 8.36067806e+02] [-1.62271253e-03 9.99998663e-01 2.01748326e-04 -4.74092758e+01] [ 5.72962712e-03 -1.92447730e-04 9.99983567e-01 4.59844893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.980714057 meters Centerline goodness : 0.986723 with order 1 Centerline is valid? [True, True] Translation: X:836.13, Y:-47.41, Z:4.60 [[ 9.99983581e-01 1.09688638e-04 -5.72932494e-03 8.36126741e+02] [-1.08537435e-04 9.99999974e-01 2.01242353e-04 -4.74146838e+01] [ 5.72934687e-03 -2.00617202e-04 9.99983567e-01 4.59797737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0407140570001 meters Centerline goodness : 0.986148 with order 1 Centerline is valid? [True, True] Translation: X:836.18, Y:-47.42, Z:4.60 [[ 9.99982295e-01 -1.60765501e-03 -5.72933955e-03 8.36184512e+02] [ 1.60883198e-03 9.99998686e-01 2.00825579e-04 -4.74222201e+01] [ 5.72900916e-03 -2.10039568e-04 9.99983567e-01 4.59902648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.100714057 meters Centerline goodness : 0.986397 with order 1 Centerline is valid? [True, True] Translation: X:836.24, Y:-47.43, Z:4.60 [[ 9.99980294e-01 -2.56622005e-03 -5.72935748e-03 8.36243181e+02] [ 2.56740980e-03 9.99996684e-01 2.00312682e-04 -4.74290716e+01] [ 5.72882444e-03 -2.15018343e-04 9.99983567e-01 4.60032870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1607140570001 meters Centerline goodness : 0.981730 with order 1 Centerline is valid? [True, True] Translation: X:836.30, Y:-47.43, Z:4.61 [[ 9.99982603e-01 -1.40275986e-03 -5.72937146e-03 8.36301996e+02] [ 1.40392825e-03 9.99998995e-01 1.99912213e-04 -4.74349822e+01] [ 5.72908527e-03 -2.07952362e-04 9.99983567e-01 4.60510514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.220714057 meters Centerline goodness : 0.982279 with order 1 Centerline is valid? [True, True] Translation: X:836.36, Y:-47.46, Z:4.59 [[ 9.99893048e-01 1.34560622e-02 -5.72943990e-03 8.36360429e+02] [-1.34551489e-02 9.99909456e-01 1.97931087e-04 -4.74579876e+01] [ 5.73158450e-03 -1.20819451e-04 9.99983567e-01 4.59328004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2807140570001 meters Centerline goodness : 0.983728 with order 1 Centerline is valid? [True, True] Translation: X:836.42, Y:-47.46, Z:4.60 [[ 9.99830519e-01 1.74958734e-02 -5.72951495e-03 8.36418337e+02] [-1.74950390e-02 9.99846931e-01 1.95733987e-04 -4.74622508e+01] [ 5.73206248e-03 -9.54627263e-05 9.99983567e-01 4.59693127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.340714057 meters Centerline goodness : 0.982761 with order 1 Centerline is valid? [True, True] Translation: X:836.48, Y:-47.46, Z:4.60 [[ 9.99813121e-01 1.84633615e-02 -5.72953318e-03 8.36477504e+02] [-1.84625460e-02 9.99829534e-01 1.95199069e-04 -4.74635511e+01] [ 5.73216052e-03 -8.93808207e-05 9.99983567e-01 4.60075018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4007140570001 meters Centerline goodness : 0.983787 with order 1 Centerline is valid? [True, True] Translation: X:836.54, Y:-47.47, Z:4.60 [[ 9.99683212e-01 2.45081047e-02 -5.72954767e-03 8.36536031e+02] [-2.45073909e-02 9.99699630e-01 1.94772804e-04 -4.74702396e+01] [ 5.73260020e-03 -5.42948383e-05 9.99983567e-01 4.60175299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.460714057 meters Centerline goodness : 0.984043 with order 1 Centerline is valid? [True, True] Translation: X:836.59, Y:-47.48, Z:4.61 [[ 9.99678225e-01 2.47107022e-02 -5.72959867e-03 8.36594139e+02] [-2.47100003e-02 9.99694643e-01 1.93260727e-04 -4.74750265e+01] [ 5.73262471e-03 -5.16201549e-05 9.99983567e-01 4.60746208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5207140570001 meters Centerline goodness : 0.987810 with order 1 Centerline is valid? [True, True] Translation: X:836.65, Y:-47.48, Z:4.60 [[ 9.99870464e-01 1.50408043e-02 -5.72962066e-03 8.36652193e+02] [-1.50399474e-02 9.99886875e-01 1.92606536e-04 -4.74762418e+01] [ 5.73186946e-03 -1.06408394e-04 9.99983567e-01 4.60318900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.580714057 meters Centerline goodness : 0.986120 with order 1 Centerline is valid? [True, True] Translation: X:836.71, Y:-47.49, Z:4.61 [[ 9.99861384e-01 1.56328183e-02 -5.72964061e-03 8.36710493e+02] [-1.56319746e-02 9.99877795e-01 1.92011435e-04 -4.74939400e+01] [ 5.73194209e-03 -1.02419223e-04 9.99983567e-01 4.60721740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6407140570001 meters Centerline goodness : 0.986017 with order 1 Centerline is valid? [True, True] Translation: X:836.77, Y:-47.49, Z:4.61 [[ 9.99964080e-01 6.24576177e-03 -5.72965461e-03 8.36769244e+02] [-6.24476642e-03 9.99980483e-01 1.91592714e-04 -4.74945586e+01] [ 5.73073942e-03 -1.55805477e-04 9.99983567e-01 4.60762381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.700714057 meters Centerline goodness : 0.987655 with order 1 Centerline is valid? [True, True] Translation: X:836.83, Y:-47.51, Z:4.60 [[ 9.99983578e-01 -1.20612619e-04 -5.72966947e-03 8.36827609e+02] [ 1.21709825e-04 9.99999974e-01 1.91147319e-04 -4.75135024e+01] [ 5.72964626e-03 -1.91841537e-04 9.99983567e-01 4.60274983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.760714057 meters Centerline goodness : 0.990127 with order 1 Centerline is valid? [True, True] Translation: X:836.89, Y:-47.51, Z:4.61 [[ 9.99800198e-01 -1.91503164e-02 -5.72968929e-03 8.36885975e+02] [ 1.91517220e-02 9.99816571e-01 1.90551349e-04 -4.75116337e+01] [ 5.72498918e-03 -3.00246693e-04 9.99983567e-01 4.60588964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.820714057 meters Centerline goodness : 0.988289 with order 1 Centerline is valid? [True, True] Translation: X:836.95, Y:-47.52, Z:4.61 [[ 9.99774271e-01 -2.04591783e-02 -5.72969967e-03 8.36946614e+02] [ 2.04606035e-02 9.99790642e-01 1.90238601e-04 -4.75226906e+01] [ 5.72460799e-03 -3.07428772e-04 9.99983567e-01 4.60842085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.880714057 meters Centerline goodness : 0.988823 with order 1 Centerline is valid? [True, True] Translation: X:837.01, Y:-47.53, Z:4.61 [[ 9.99553690e-01 -2.93187752e-02 -5.72969967e-03 8.37007061e+02] [ 2.93203455e-02 9.99570048e-01 1.90238601e-04 -4.75253813e+01] [ 5.72165861e-03 -3.58150469e-04 9.99983567e-01 4.60759448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.940714057 meters Centerline goodness : 0.991341 with order 1 Centerline is valid? [True, True] Translation: X:837.07, Y:-47.52, Z:4.61 [[ 9.99232634e-01 -3.87467883e-02 -5.72969967e-03 8.37068432e+02] [ 3.87485129e-02 9.99248976e-01 1.90238601e-04 -4.75193952e+01] [ 5.71802540e-03 -4.12109960e-04 9.99983567e-01 4.60638343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.000714057 meters Centerline goodness : 0.990747 with order 1 Centerline is valid? [True, True] Translation: X:837.13, Y:-47.52, Z:4.61 [[ 9.98960043e-01 -4.52327704e-02 -5.72969280e-03 8.37130943e+02] [ 4.52346022e-02 9.98976373e-01 1.90445370e-04 -4.75188332e+01] [ 5.71521336e-03 -4.49427690e-04 9.99983567e-01 4.60957591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.060714057 meters Centerline goodness : 0.988108 with order 1 Centerline is valid? [True, True] Translation: X:837.19, Y:-47.52, Z:4.61 [[ 9.98925105e-01 -4.59978798e-02 -5.72967904e-03 8.37192645e+02] [ 4.59997264e-02 9.98941434e-01 1.90858421e-04 -4.75217124e+01] [ 5.71483471e-03 -4.54216937e-04 9.99983567e-01 4.61343760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.120714057 meters Centerline goodness : 0.984044 with order 1 Centerline is valid? [True, True] Translation: X:837.26, Y:-47.51, Z:4.61 [[ 9.98446981e-01 -5.54147754e-02 -5.72966450e-03 8.37255526e+02] [ 5.54167784e-02 9.98463291e-01 1.91293887e-04 -4.75112189e+01] [ 5.71025917e-03 -5.08516352e-04 9.99983567e-01 4.61147699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.180714057 meters Centerline goodness : 0.984906 with order 1 Centerline is valid? [True, True] Translation: X:837.32, Y:-47.51, Z:4.61 [[ 9.98439504e-01 -5.55493255e-02 -5.72964577e-03 8.37316809e+02] [ 5.55513338e-02 9.98455814e-01 1.91853272e-04 -4.75119292e+01] [ 5.71014081e-03 -5.09843351e-04 9.99983567e-01 4.61071660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.240714057 meters Centerline goodness : 0.987794 with order 1 Centerline is valid? [True, True] Translation: X:837.38, Y:-47.49, Z:4.61 [[ 9.97802710e-01 -6.60069868e-02 -5.72963166e-03 8.37380118e+02] [ 6.60091683e-02 9.97818998e-01 1.92273632e-04 -4.74939210e+01] [ 5.70444392e-03 -5.70059372e-04 9.99983567e-01 4.60825173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.300714057 meters Centerline goodness : 0.983760 with order 1 Centerline is valid? [True, True] Translation: X:837.44, Y:-47.48, Z:4.61 [[ 9.97440756e-01 -7.12678690e-02 -5.72961773e-03 8.37442636e+02] [ 7.12701388e-02 9.97457032e-01 1.92688040e-04 -4.74824132e+01] [ 5.70131502e-03 -6.00545555e-04 9.99983567e-01 4.61231367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.360714057 meters Centerline goodness : 0.986305 with order 1 Centerline is valid? [True, True] Translation: X:837.50, Y:-47.47, Z:4.61 [[ 9.97368560e-01 -7.22712074e-02 -5.72960079e-03 8.37504969e+02] [ 7.22734963e-02 9.97384833e-01 1.93190360e-04 -4.74705855e+01] [ 5.70065482e-03 -6.06780273e-04 9.99983567e-01 4.60862173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.420714057 meters Centerline goodness : 0.985471 with order 1 Centerline is valid? [True, True] Translation: X:837.57, Y:-47.46, Z:4.61 [[ 9.97299107e-01 -7.32233744e-02 -5.72955814e-03 8.37568277e+02] [ 7.32256860e-02 9.97315377e-01 1.94447189e-04 -4.74620998e+01] [ 5.69993835e-03 -6.13472833e-04 9.99983567e-01 4.60829555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.480714057 meters Centerline goodness : 0.986804 with order 1 Centerline is valid? [True, True] Translation: X:837.63, Y:-47.45, Z:4.61 [[ 9.97342720e-01 -7.26269272e-02 -5.72953642e-03 8.37631524e+02] [ 7.26292327e-02 9.97358991e-01 1.95085038e-04 -4.74484092e+01] [ 5.70023623e-03 -6.10698476e-04 9.99983567e-01 4.61020464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5407140570001 meters Centerline goodness : 0.986876 with order 1 Centerline is valid? [True, True] Translation: X:837.70, Y:-47.44, Z:4.61 [[ 9.97435515e-01 -7.13411906e-02 -5.72951476e-03 8.37695250e+02] [ 7.13434788e-02 9.97451788e-01 1.95719016e-04 -4.74362404e+01] [ 5.70095192e-03 -6.03980612e-04 9.99983567e-01 4.61397287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.600714057 meters Centerline goodness : 0.987386 with order 1 Centerline is valid? [True, True] Translation: X:837.76, Y:-47.43, Z:4.61 [[ 9.97534887e-01 -6.99379919e-02 -5.72949325e-03 8.37758760e+02] [ 6.99402608e-02 9.97551162e-01 1.96346726e-04 -4.74256310e+01] [ 5.70173055e-03 -5.96584961e-04 9.99983567e-01 4.61496249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6607140570001 meters Centerline goodness : 0.988989 with order 1 Centerline is valid? [True, True] Translation: X:837.82, Y:-47.42, Z:4.61 [[ 9.97642117e-01 -6.83913686e-02 -5.72947194e-03 8.37821612e+02] [ 6.83936157e-02 9.97658396e-01 1.96966651e-04 -4.74163608e+01] [ 5.70258496e-03 -5.88361529e-04 9.99983567e-01 4.61283695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.720714057 meters Centerline goodness : 0.990191 with order 1 Centerline is valid? [True, True] Translation: X:837.88, Y:-47.41, Z:4.61 [[ 9.97700706e-01 -6.75312905e-02 -5.72945777e-03 8.37884219e+02] [ 6.75335259e-02 9.97716986e-01 1.97377814e-04 -4.74105987e+01] [ 5.70304816e-03 -5.83854469e-04 9.99983567e-01 4.61273295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7807140570001 meters Centerline goodness : 0.986011 with order 1 Centerline is valid? [True, True] Translation: X:837.95, Y:-47.41, Z:4.62 [[ 9.98188414e-01 -5.98921005e-02 -5.72944339e-03 8.37946282e+02] [ 5.98942136e-02 9.98204711e-01 1.97794466e-04 -4.74094733e+01] [ 5.70731105e-03 -5.40596651e-04 9.99983567e-01 4.61674788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.840714057 meters Centerline goodness : 0.987210 with order 1 Centerline is valid? [True, True] Translation: X:838.01, Y:-47.40, Z:4.62 [[ 9.98281762e-01 -5.83154927e-02 -5.72942799e-03 8.38008984e+02] [ 5.83175826e-02 9.98298062e-01 1.98239554e-04 -4.73999718e+01] [ 5.70811642e-03 -5.32025321e-04 9.99983567e-01 4.62242507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9007140570001 meters Centerline goodness : 0.987628 with order 1 Centerline is valid? [True, True] Translation: X:838.07, Y:-47.40, Z:4.62 [[ 9.98288682e-01 -5.81969101e-02 -5.72941269e-03 8.38071025e+02] [ 5.81990006e-02 9.98304982e-01 1.98680713e-04 -4.73953165e+01] [ 5.70813863e-03 -5.31786800e-04 9.99983567e-01 4.62210423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.960714057 meters Centerline goodness : 0.987591 with order 1 Centerline is valid? [True, True] Translation: X:838.13, Y:-47.39, Z:4.62 [[ 9.98320556e-01 -5.76475724e-02 -5.72935580e-03 8.38133773e+02] [ 5.76496631e-02 9.98336855e-01 2.00307861e-04 -4.73864644e+01] [ 5.70827979e-03 -5.30266888e-04 9.99983567e-01 4.62439463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0207140570001 meters Centerline goodness : 0.988993 with order 1 Centerline is valid? [True, True] Translation: X:838.20, Y:-47.38, Z:4.63 [[ 9.98295509e-01 -5.80796979e-02 -5.72934025e-03 8.38195827e+02] [ 5.80817983e-02 9.98311807e-01 2.00751625e-04 -4.73831752e+01] [ 5.70800843e-03 -5.33179831e-04 9.99983567e-01 4.62628348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.080714057 meters Centerline goodness : 0.989231 with order 1 Centerline is valid? [True, True] Translation: X:838.26, Y:-47.38, Z:4.62 [[ 9.98057748e-01 -6.20315021e-02 -5.72928267e-03 8.38258791e+02] [ 6.20336762e-02 9.98074036e-01 2.02381936e-04 -4.73783952e+01] [ 5.70569422e-03 -5.57397325e-04 9.99983567e-01 4.62330615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1407140570001 meters Centerline goodness : 0.989868 with order 1 Centerline is valid? [True, True] Translation: X:838.32, Y:-47.37, Z:4.62 [[ 9.98123923e-01 -6.09574424e-02 -5.72926393e-03 8.38321530e+02] [ 6.09596020e-02 9.98140213e-01 2.02910860e-04 -4.73733198e+01] [ 5.70623980e-03 -5.51783833e-04 9.99983567e-01 4.62458825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.200714057 meters Centerline goodness : 0.989687 with order 1 Centerline is valid? [True, True] Translation: X:838.38, Y:-47.37, Z:4.62 [[ 9.98151960e-01 -6.04966143e-02 -5.72924818e-03 8.38383560e+02] [ 6.04987689e-02 9.98168251e-01 2.03354670e-04 -4.73734896e+01] [ 5.70645137e-03 -5.49591324e-04 9.99983567e-01 4.62368256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.260714057 meters Centerline goodness : 0.991134 with order 1 Centerline is valid? [True, True] Translation: X:838.45, Y:-47.37, Z:4.62 [[ 9.98309420e-01 -5.78401181e-02 -5.72918986e-03 8.38447334e+02] [ 5.78422386e-02 9.98325715e-01 2.04984541e-04 -4.73675350e+01] [ 5.70774124e-03 -5.36027165e-04 9.99983567e-01 4.62362637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.320714057 meters Centerline goodness : 0.991164 with order 1 Centerline is valid? [True, True] Translation: X:838.51, Y:-47.36, Z:4.62 [[ 9.98391107e-01 -5.64125429e-02 -5.72916604e-03 8.38509955e+02] [ 5.64146439e-02 9.98407405e-01 2.05648326e-04 -4.73646772e+01] [ 5.70844065e-03 -5.28526322e-04 9.99983567e-01 4.62143938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.380714057 meters Centerline goodness : 0.991629 with order 1 Centerline is valid? [True, True] Translation: X:838.57, Y:-47.36, Z:4.63 [[ 9.98612776e-01 -5.23421459e-02 -5.72915008e-03 8.38572410e+02] [ 5.23441830e-02 9.98629082e-01 2.06092075e-04 -4.73577670e+01] [ 5.71050858e-03 -5.05693859e-04 9.99983567e-01 4.62561756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.440714057 meters Centerline goodness : 0.992584 with order 1 Centerline is valid? [True, True] Translation: X:838.64, Y:-47.35, Z:4.62 [[ 9.98577717e-01 -5.30067892e-02 -5.72913416e-03 8.38635005e+02] [ 5.30088396e-02 9.98594022e-01 2.06533663e-04 -4.73535982e+01] [ 5.71013143e-03 -5.09934668e-04 9.99983567e-01 4.62334723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.500714057 meters Centerline goodness : 0.992332 with order 1 Centerline is valid? [True, True] Translation: X:838.70, Y:-47.35, Z:4.62 [[ 9.98451796e-01 -5.53279990e-02 -5.72911804e-03 8.38698111e+02] [ 5.53300898e-02 9.98468096e-01 2.06979644e-04 -4.73498213e+01] [ 5.70888981e-03 -5.23651814e-04 9.99983567e-01 4.62305520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.560714057 meters Centerline goodness : 0.992565 with order 1 Centerline is valid? [True, True] Translation: X:838.76, Y:-47.35, Z:4.62 [[ 9.98266451e-01 -5.85770443e-02 -5.72905332e-03 8.38759722e+02] [ 5.85791983e-02 9.98282743e-01 2.08755978e-04 -4.73465540e+01] [ 5.70698675e-03 -5.43997440e-04 9.99983567e-01 4.62172747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.620714057 meters Centerline goodness : 0.992798 with order 1 Centerline is valid? [True, True] Translation: X:838.82, Y:-47.35, Z:4.62 [[ 9.98262506e-01 -5.86442439e-02 -5.72900129e-03 8.38822379e+02] [ 5.86464071e-02 9.98278796e-01 2.10174157e-04 -4.73457480e+01] [ 5.70681501e-03 -5.45794322e-04 9.99983567e-01 4.62160692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.680714057 meters Centerline goodness : 0.994369 with order 1 Centerline is valid? [True, True] Translation: X:838.88, Y:-47.34, Z:4.62 [[ 9.98102011e-01 -6.13152009e-02 -5.72896036e-03 8.38884491e+02] [ 6.13174140e-02 9.98118295e-01 2.11283932e-04 -4.73370752e+01] [ 5.70522523e-03 -5.62167952e-04 9.99983567e-01 4.62369833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.740714057 meters Centerline goodness : 0.993403 with order 1 Centerline is valid? [True, True] Translation: X:838.95, Y:-47.34, Z:4.62 [[ 9.98468829e-01 -5.50197814e-02 -5.72890396e-03 8.38945055e+02] [ 5.50219003e-02 9.98485125e-01 2.12802236e-04 -4.73414551e+01] [ 5.70851706e-03 -5.27691583e-04 9.99983567e-01 4.61861567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.800714057 meters Centerline goodness : 0.994011 with order 1 Centerline is valid? [True, True] Translation: X:839.01, Y:-47.34, Z:4.62 [[ 9.98565025e-01 -5.32453886e-02 -5.72889640e-03 8.39007266e+02] [ 5.32474798e-02 9.98581324e-01 2.13005724e-04 -4.73375667e+01] [ 5.70942738e-03 -5.17749362e-04 9.99983567e-01 4.62312501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.860714057 meters Centerline goodness : 0.994089 with order 1 Centerline is valid? [True, True] Translation: X:839.07, Y:-47.33, Z:4.62 [[ 9.98632157e-01 -5.19710944e-02 -5.72888142e-03 8.39069254e+02] [ 5.19731670e-02 9.98648459e-01 2.13407858e-04 -4.73341218e+01] [ 5.71004756e-03 -5.10864061e-04 9.99983567e-01 4.62429930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.920714057 meters Centerline goodness : 0.994466 with order 1 Centerline is valid? [True, True] Translation: X:839.13, Y:-47.33, Z:4.62 [[ 9.98811439e-01 -4.84033949e-02 -5.72886496e-03 8.39132839e+02] [ 4.84054118e-02 9.98827748e-01 2.13848776e-04 -4.73319563e+01] [ 5.71179828e-03 -4.90902672e-04 9.99983567e-01 4.62255958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.980714057 meters Centerline goodness : 0.994618 with order 1 Centerline is valid? [True, True] Translation: X:839.20, Y:-47.33, Z:4.62 [[ 9.98904181e-01 -4.64501703e-02 -5.72884002e-03 8.39196372e+02] [ 4.64521591e-02 9.98920493e-01 2.14514872e-04 -4.73312783e+01] [ 5.71269144e-03 -4.80396791e-04 9.99983567e-01 4.62301481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0407140570001 meters Centerline goodness : 0.994578 with order 1 Centerline is valid? [True, True] Translation: X:839.26, Y:-47.33, Z:4.62 [[ 9.99046742e-01 -4.32757180e-02 -5.72881533e-03 8.39258358e+02] [ 4.32776587e-02 9.99063060e-01 2.15172126e-04 -4.73295545e+01] [ 5.71413605e-03 -4.62896726e-04 9.99983567e-01 4.62383299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.100714057 meters Centerline goodness : 0.994641 with order 1 Centerline is valid? [True, True] Translation: X:839.32, Y:-47.33, Z:4.63 [[ 9.99079382e-01 -4.25155228e-02 -5.72879876e-03 8.39320250e+02] [ 4.25174536e-02 9.99095701e-01 2.15612443e-04 -4.73250055e+01] [ 5.71445134e-03 -4.58987881e-04 9.99983567e-01 4.62648718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1607140570001 meters Centerline goodness : 0.994399 with order 1 Centerline is valid? [True, True] Translation: X:839.38, Y:-47.32, Z:4.63 [[ 9.99131240e-01 -4.12788870e-02 -5.72878249e-03 8.39382830e+02] [ 4.12808000e-02 9.99147561e-01 2.16043843e-04 -4.73227969e+01] [ 5.71498100e-03 -4.52344877e-04 9.99983567e-01 4.63236949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.220714057 meters Centerline goodness : 0.994192 with order 1 Centerline is valid? [True, True] Translation: X:839.45, Y:-47.32, Z:4.63 [[ 9.99230202e-01 -3.88095968e-02 -5.72876569e-03 8.39445501e+02] [ 3.88114720e-02 9.99246528e-01 2.16488474e-04 -4.73222766e+01] [ 5.71604739e-03 -4.38663651e-04 9.99983567e-01 4.63463754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2807140570001 meters Centerline goodness : 0.994298 with order 1 Centerline is valid? [True, True] Translation: X:839.51, Y:-47.32, Z:4.63 [[ 9.99264065e-01 -3.79277012e-02 -5.72874883e-03 8.39508149e+02] [ 3.79295646e-02 9.99280392e-01 2.16933562e-04 -4.73232262e+01] [ 5.71639859e-03 -4.34062862e-04 9.99983567e-01 4.63408649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.340714057 meters Centerline goodness : 0.994116 with order 1 Centerline is valid? [True, True] Translation: X:839.57, Y:-47.32, Z:4.64 [[ 9.99203480e-01 -3.94916190e-02 -5.72873216e-03 8.39569678e+02] [ 3.94935104e-02 9.99219803e-01 2.17372980e-04 -4.73210960e+01] [ 5.71567821e-03 -4.43447581e-04 9.99983567e-01 4.63753474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4007140570001 meters Centerline goodness : 0.995238 with order 1 Centerline is valid? [True, True] Translation: X:839.63, Y:-47.32, Z:4.63 [[ 9.99227259e-01 -3.88853053e-02 -5.72872384e-03 8.39630805e+02] [ 3.88871881e-02 9.99243584e-01 2.17592075e-04 -4.73203208e+01] [ 5.71592940e-03 -4.40197894e-04 9.99983567e-01 4.63109871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.460714057 meters Centerline goodness : 0.994890 with order 1 Centerline is valid? [True, True] Translation: X:839.69, Y:-47.32, Z:4.63 [[ 9.99263734e-01 -3.79364107e-02 -5.72869670e-03 8.39692575e+02] [ 3.79382820e-02 9.99280060e-01 2.18304121e-04 -4.73216712e+01] [ 5.71629071e-03 -4.35480302e-04 9.99983567e-01 4.63335801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5207140570001 meters Centerline goodness : 0.994362 with order 1 Centerline is valid? [True, True] Translation: X:839.75, Y:-47.32, Z:4.64 [[ 9.99321536e-01 -3.63819873e-02 -5.72868144e-03 8.39754533e+02] [ 3.63838355e-02 9.99337865e-01 2.18704053e-04 -4.73230565e+01] [ 5.71693139e-03 -4.26987074e-04 9.99983567e-01 4.63517829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.580714057 meters Centerline goodness : 0.993775 with order 1 Centerline is valid? [True, True] Translation: X:839.82, Y:-47.33, Z:4.64 [[ 9.99397520e-01 -3.42312502e-02 -5.72866631e-03 8.39817777e+02] [ 3.42330655e-02 9.99413853e-01 2.19099645e-04 -4.73251750e+01] [ 5.71780841e-03 -4.15077450e-04 9.99983567e-01 4.63515169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6407140570001 meters Centerline goodness : 0.994237 with order 1 Centerline is valid? [True, True] Translation: X:839.88, Y:-47.33, Z:4.63 [[ 9.99419793e-01 -3.35746853e-02 -5.72864316e-03 8.39878720e+02] [ 3.35764934e-02 9.99436126e-01 2.19703107e-04 -4.73277278e+01] [ 5.71803647e-03 -4.11923383e-04 9.99983567e-01 4.63453725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.700714057 meters Centerline goodness : 0.993408 with order 1 Centerline is valid? [True, True] Translation: X:839.94, Y:-47.33, Z:4.63 [[ 9.99450521e-01 -3.26471844e-02 -5.72863192e-03 8.39940829e+02] [ 3.26489789e-02 9.99466856e-01 2.19995810e-04 -4.73319383e+01] [ 5.71839549e-03 -4.06908910e-04 9.99983567e-01 4.63453132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7607140570001 meters Centerline goodness : 0.993626 with order 1 Centerline is valid? [True, True] Translation: X:840.00, Y:-47.34, Z:4.64 [[ 9.99650925e-01 -2.57916933e-02 -5.72861628e-03 8.40001345e+02] [ 2.57933780e-02 9.99667271e-01 2.20402284e-04 -4.73385929e+01] [ 5.72102566e-03 -3.68085713e-04 9.99983567e-01 4.63547381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.820714057 meters Centerline goodness : 0.992245 with order 1 Centerline is valid? [True, True] Translation: X:840.06, Y:-47.34, Z:4.64 [[ 9.99709830e-01 -2.33974112e-02 -5.72860471e-03 8.40064286e+02] [ 2.33990585e-02 9.99726180e-01 2.20702806e-04 -4.73420631e+01] [ 5.72187223e-03 -3.54682722e-04 9.99983567e-01 4.63782316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.880714057 meters Centerline goodness : 0.992244 with order 1 Centerline is valid? [True, True] Translation: X:840.13, Y:-47.35, Z:4.64 [[ 9.99909755e-01 -1.21517557e-02 -5.72858120e-03 8.40126608e+02] [ 1.21532225e-02 9.99926122e-01 2.21311158e-04 -4.73467509e+01] [ 5.72546867e-03 -2.90911908e-04 9.99983567e-01 4.64120599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.940714057 meters Centerline goodness : 0.993122 with order 1 Centerline is valid? [True, True] Translation: X:840.19, Y:-47.35, Z:4.64 [[ 9.99974581e-01 -4.24522257e-03 -5.72856430e-03 8.40188098e+02] [ 4.24656243e-03 9.99990959e-01 2.21747757e-04 -4.73468336e+01] [ 5.72757114e-03 -2.46068826e-04 9.99983567e-01 4.63953831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.000714057 meters Centerline goodness : 0.993132 with order 1 Centerline is valid? [True, True] Translation: X:840.25, Y:-47.35, Z:4.64 [[ 9.99967359e-01 5.69780978e-03 -5.72853676e-03 8.40247933e+02] [-5.69662878e-03 9.99983749e-01 2.22457074e-04 -4.73522248e+01] [ 5.72971118e-03 -1.89816465e-04 9.99983567e-01 4.63819269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.060714057 meters Centerline goodness : 0.993502 with order 1 Centerline is valid? [True, True] Translation: X:840.31, Y:-47.36, Z:4.64 [[ 9.99901889e-01 1.27826585e-02 -5.72853676e-03 8.40305994e+02] [-1.27815937e-02 9.99918287e-01 2.22457074e-04 -4.73583175e+01] [ 5.73091226e-03 -1.49215419e-04 9.99983567e-01 4.63935776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.120714057 meters Centerline goodness : 0.992343 with order 1 Centerline is valid? [True, True] Translation: X:840.36, Y:-47.36, Z:4.64 [[ 9.99886055e-01 1.39663823e-02 -5.72859811e-03 8.40363357e+02] [-1.39653459e-02 9.99902455e-01 2.20865793e-04 -4.73621017e+01] [ 5.73112401e-03 -1.40838773e-04 9.99983567e-01 4.64035373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.180714057 meters Centerline goodness : 0.991105 with order 1 Centerline is valid? [True, True] Translation: X:840.42, Y:-47.38, Z:4.63 [[ 9.99679094e-01 2.46757541e-02 -5.72862166e-03 8.40421249e+02] [-2.46748970e-02 9.99695504e-01 2.20253127e-04 -4.73834392e+01] [ 5.73231224e-03 -7.88292973e-05 9.99983567e-01 4.63092960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.240714057 meters Centerline goodness : 0.991978 with order 1 Centerline is valid? [True, True] Translation: X:840.48, Y:-47.39, Z:4.63 [[ 9.99725049e-01 2.27378225e-02 -5.72867632e-03 8.40479414e+02] [-2.27369418e-02 9.99741458e-01 2.18822154e-04 -4.73918149e+01] [ 5.73217076e-03 -8.85094090e-05 9.99983567e-01 4.63490531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.300714057 meters Centerline goodness : 0.993023 with order 1 Centerline is valid? [True, True] Translation: X:840.54, Y:-47.39, Z:4.64 [[ 9.99878456e-01 1.45001705e-02 -5.72869263e-03 8.40536957e+02] [-1.44991571e-02 9.99894858e-01 2.18394362e-04 -4.73929748e+01] [ 5.73125706e-03 -1.35306603e-04 9.99983567e-01 4.64082495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.360714057 meters Centerline goodness : 0.991300 with order 1 Centerline is valid? [True, True] Translation: X:840.59, Y:-47.42, Z:4.63 [[ 9.99755728e-01 2.13463372e-02 -5.72871276e-03 8.40594736e+02] [-2.13454391e-02 9.99772136e-01 2.17865095e-04 -4.74153738e+01] [ 5.73205802e-03 -9.55299873e-05 9.99983567e-01 4.63225361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.420714057 meters Centerline goodness : 0.991686 with order 1 Centerline is valid? [True, True] Translation: X:840.65, Y:-47.43, Z:4.63 [[ 9.99776422e-01 2.03540513e-02 -5.72877074e-03 8.40652566e+02] [-2.03531457e-02 9.99792830e-01 2.16329644e-04 -4.74258990e+01] [ 5.73198710e-03 -9.96827719e-05 9.99983567e-01 4.63082744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.480714057 meters Centerline goodness : 0.992456 with order 1 Centerline is valid? [True, True] Translation: X:840.71, Y:-47.44, Z:4.63 [[ 9.99790006e-01 1.96755067e-02 -5.72879106e-03 8.40710998e+02] [-1.96745931e-02 9.99806413e-01 2.15790236e-04 -4.74382109e+01] [ 5.73192783e-03 -1.03033288e-04 9.99983567e-01 4.63175610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5407140570001 meters Centerline goodness : 0.990419 with order 1 Centerline is valid? [True, True] Translation: X:840.77, Y:-47.45, Z:4.64 [[ 9.99734594e-01 2.23141649e-02 -5.72880680e-03 8.40769743e+02] [-2.23132971e-02 9.99751004e-01 2.15371533e-04 -4.74492609e+01] [ 5.73218619e-03 -8.74858044e-05 9.99983567e-01 4.63796811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.600714057 meters Centerline goodness : 0.990839 with order 1 Centerline is valid? [True, True] Translation: X:840.83, Y:-47.46, Z:4.63 [[ 9.99734250e-01 2.23295908e-02 -5.72882240e-03 8.40828328e+02] [-2.23287255e-02 9.99750660e-01 2.14955732e-04 -4.74645151e+01] [ 5.73219385e-03 -8.69813041e-05 9.99983567e-01 4.63035036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6607140570001 meters Centerline goodness : 0.989616 with order 1 Centerline is valid? [True, True] Translation: X:840.89, Y:-47.48, Z:4.63 [[ 9.99627422e-01 2.66870209e-02 -5.72883767e-03 8.40886992e+02] [-2.66862295e-02 9.99643836e-01 2.14548228e-04 -4.74781299e+01] [ 5.73252291e-03 -6.15872156e-05 9.99983567e-01 4.63388937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.720714057 meters Centerline goodness : 0.992441 with order 1 Centerline is valid? [True, True] Translation: X:840.95, Y:-47.47, Z:4.64 [[ 9.99904703e-01 1.25604830e-02 -5.72884927e-03 8.40945461e+02] [-1.25594616e-02 9.99921104e-01 2.14237872e-04 -4.74749339e+01] [ 5.73108822e-03 -1.42266194e-04 9.99983567e-01 4.64208605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7807140570001 meters Centerline goodness : 0.988711 with order 1 Centerline is valid? [True, True] Translation: X:841.00, Y:-47.50, Z:4.64 [[ 9.99787666e-01 1.97940404e-02 -5.72886071e-03 8.41003468e+02] [-1.97931395e-02 9.99804074e-01 2.13931686e-04 -4.74988318e+01] [ 5.73197284e-03 -1.00494122e-04 9.99983567e-01 4.63826573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.840714057 meters Centerline goodness : 0.988283 with order 1 Centerline is valid? [True, True] Translation: X:841.06, Y:-47.51, Z:4.64 [[ 9.99891276e-01 1.35873227e-02 -5.72891601e-03 8.41061798e+02] [-1.35863285e-02 9.99907679e-01 2.12440187e-04 -4.75096491e+01] [ 5.73127361e-03 -1.34582155e-04 9.99983567e-01 4.64371340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9007140570001 meters Centerline goodness : 0.987058 with order 1 Centerline is valid? [True, True] Translation: X:841.12, Y:-47.52, Z:4.65 [[ 9.99937489e-01 9.60193458e-03 -5.72893160e-03 8.41120227e+02] [-9.60087734e-03 9.99953888e-01 2.12018942e-04 -4.75190755e+01] [ 5.73070322e-03 -1.57002919e-04 9.99983567e-01 4.64518461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.960714057 meters Centerline goodness : 0.986925 with order 1 Centerline is valid? [True, True] Translation: X:841.18, Y:-47.53, Z:4.64 [[ 9.99955721e-01 7.46565990e-03 -5.72894697e-03 8.41178938e+02] [-7.46457000e-03 9.99972117e-01 2.11602996e-04 -4.75293940e+01] [ 5.73036698e-03 -1.68829501e-04 9.99983567e-01 4.64360878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0207140570001 meters Centerline goodness : 0.988501 with order 1 Centerline is valid? [True, True] Translation: X:841.24, Y:-47.54, Z:4.64 [[ 9.99978104e-01 3.31216899e-03 -5.72896234e-03 8.41237029e+02] [-3.31101338e-03 9.99994496e-01 2.11185849e-04 -4.75411422e+01] [ 5.72963030e-03 -1.92212554e-04 9.99983567e-01 4.63633926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.080714057 meters Centerline goodness : 0.986813 with order 1 Centerline is valid? [True, True] Translation: X:841.30, Y:-47.55, Z:4.64 [[ 9.99976464e-01 3.77488750e-03 -5.72897774e-03 8.41295502e+02] [-3.77374188e-03 9.99992857e-01 2.10767358e-04 -4.75485195e+01] [ 5.72973244e-03 -1.89142714e-04 9.99983567e-01 4.63779334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1407140570001 meters Centerline goodness : 0.986286 with order 1 Centerline is valid? [True, True] Translation: X:841.35, Y:-47.55, Z:4.64 [[ 9.99983525e-01 3.59140557e-04 -5.72899355e-03 8.41354194e+02] [-3.57941406e-04 9.99999914e-01 2.10336661e-04 -4.75545609e+01] [ 5.72906860e-03 -2.08282552e-04 9.99983567e-01 4.64195095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.200714057 meters Centerline goodness : 0.986944 with order 1 Centerline is valid? [True, True] Translation: X:841.41, Y:-47.56, Z:4.64 [[ 9.99982974e-01 1.10890172e-03 -5.72900957e-03 8.41412802e+02] [-1.10771736e-03 9.99999364e-01 2.09899493e-04 -4.75609905e+01] [ 5.72923869e-03 -2.03549796e-04 9.99983567e-01 4.63825708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2607140570001 meters Centerline goodness : 0.986107 with order 1 Centerline is valid? [True, True] Translation: X:841.47, Y:-47.57, Z:4.64 [[ 9.99977805e-01 -3.40099252e-03 -5.72906507e-03 8.41470793e+02] [ 3.40224206e-03 9.99994191e-01 2.08373629e-04 -4.75678525e+01] [ 5.72832311e-03 -2.27860671e-04 9.99983567e-01 4.63678503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.320714057 meters Centerline goodness : 0.985739 with order 1 Centerline is valid? [True, True] Translation: X:841.53, Y:-47.57, Z:4.64 [[ 9.99956432e-01 -7.36971065e-03 -5.72908688e-03 8.41529922e+02] [ 7.37102177e-03 9.99972812e-01 2.07772160e-04 -4.75724979e+01] [ 5.72739990e-03 -2.49992332e-04 9.99983567e-01 4.64008077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.380714057 meters Centerline goodness : 0.984499 with order 1 Centerline is valid? [True, True] Translation: X:841.59, Y:-47.58, Z:4.64 [[ 9.99968475e-01 -5.49786090e-03 -5.72909448e-03 8.41589762e+02] [ 5.49914016e-03 9.99984858e-01 2.07562446e-04 -4.75790171e+01] [ 5.72786658e-03 -2.39060996e-04 9.99983567e-01 4.64062973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.440714057 meters Centerline goodness : 0.984139 with order 1 Centerline is valid? [True, True] Translation: X:841.65, Y:-47.58, Z:4.64 [[ 9.99971595e-01 -4.89752604e-03 -5.72909448e-03 8.41649236e+02] [ 4.89879546e-03 9.99987979e-01 2.07562446e-04 -4.75841270e+01] [ 5.72800907e-03 -2.35622212e-04 9.99983567e-01 4.63746158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.500714057 meters Centerline goodness : 0.984765 with order 1 Centerline is valid? [True, True] Translation: X:841.71, Y:-47.58, Z:4.65 [[ 9.99966995e-01 -5.76081111e-03 -5.72910194e-03 8.41708633e+02] [ 5.76209349e-03 9.99983378e-01 2.07356172e-04 -4.75826029e+01] [ 5.72781217e-03 -2.40360949e-04 9.99983567e-01 4.64507373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.560714057 meters Centerline goodness : 0.985166 with order 1 Centerline is valid? [True, True] Translation: X:841.77, Y:-47.59, Z:4.63 [[ 9.99971613e-01 -4.89392443e-03 -5.72910560e-03 8.41768187e+02] [ 4.89519204e-03 9.99987997e-01 2.07255026e-04 -4.75902048e+01] [ 5.72802255e-03 -2.35294215e-04 9.99983567e-01 4.63279055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.620714057 meters Centerline goodness : 0.984623 with order 1 Centerline is valid? [True, True] Translation: X:841.83, Y:-47.59, Z:4.64 [[ 9.99976950e-01 -3.64369014e-03 -5.72911309e-03 8.41828062e+02] [ 3.64493607e-03 9.99993336e-01 2.07047984e-04 -4.75908342e+01] [ 5.72832049e-03 -2.27925463e-04 9.99983567e-01 4.63528305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.680714057 meters Centerline goodness : 0.984073 with order 1 Centerline is valid? [True, True] Translation: X:841.89, Y:-47.59, Z:4.64 [[ 9.99956932e-01 -7.30139599e-03 -5.72912080e-03 8.41887312e+02] [ 7.30270063e-03 9.99973314e-01 2.06834176e-04 -4.75905154e+01] [ 5.72745774e-03 -2.48663322e-04 9.99983567e-01 4.63789024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.740714057 meters Centerline goodness : 0.984664 with order 1 Centerline is valid? [True, True] Translation: X:841.95, Y:-47.59, Z:4.64 [[ 9.99953252e-01 -7.78916287e-03 -5.72913228e-03 8.41947055e+02] [ 7.79047367e-03 9.99969632e-01 2.06515843e-04 -4.75909591e+01] [ 5.72734971e-03 -2.51138843e-04 9.99983567e-01 4.63771181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.800714057 meters Centerline goodness : 0.984633 with order 1 Centerline is valid? [True, True] Translation: X:842.01, Y:-47.59, Z:4.64 [[ 9.99972270e-01 -4.75778621e-03 -5.72913604e-03 8.42007208e+02] [ 4.75904675e-03 9.99988654e-01 2.06411314e-04 -4.75864608e+01] [ 5.72808898e-03 -2.33670816e-04 9.99983567e-01 4.64241047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.860714057 meters Centerline goodness : 0.985782 with order 1 Centerline is valid? [True, True] Translation: X:842.07, Y:-47.58, Z:4.64 [[ 9.99982560e-01 -1.43450009e-03 -5.72911761e-03 8.42066784e+02] [ 1.43570910e-03 9.99998948e-01 2.06921834e-04 -4.75845999e+01] [ 5.72881475e-03 -2.15143571e-04 9.99983567e-01 4.64425379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.920714057 meters Centerline goodness : 0.989715 with order 1 Centerline is valid? [True, True] Translation: X:842.13, Y:-47.57, Z:4.64 [[ 9.99970283e-01 -5.15858325e-03 -5.72912534e-03 8.42126098e+02] [ 5.15985206e-03 9.99986667e-01 2.06707603e-04 -4.75727704e+01] [ 5.72798263e-03 -2.36262900e-04 9.99983567e-01 4.64319350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.980714057 meters Centerline goodness : 0.985576 with order 1 Centerline is valid? [True, True] Translation: X:842.19, Y:-47.58, Z:4.64 [[ 9.99939944e-01 9.34263769e-03 -5.72913672e-03 8.42185275e+02] [-9.34160841e-03 9.99956345e-01 2.06391677e-04 -4.75829506e+01] [ 5.73081485e-03 -1.52859930e-04 9.99983567e-01 4.64328320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0407140570001 meters Centerline goodness : 0.985884 with order 1 Centerline is valid? [True, True] Translation: X:842.24, Y:-47.58, Z:4.64 [[ 9.99925755e-01 1.07546346e-02 -5.72914407e-03 8.42243684e+02] [-1.07536297e-02 9.99942157e-01 2.06187474e-04 -4.75848370e+01] [ 5.73103014e-03 -1.44563072e-04 9.99983567e-01 4.64210640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.100714057 meters Centerline goodness : 0.985839 with order 1 Centerline is valid? [True, True] Translation: X:842.30, Y:-47.59, Z:4.64 [[ 9.99928232e-01 1.05218122e-02 -5.72915911e-03 8.42301284e+02] [-1.05208058e-02 9.99944634e-01 2.05768608e-04 -4.75865510e+01] [ 5.73100697e-03 -1.45478470e-04 9.99983567e-01 4.63904818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1607140570001 meters Centerline goodness : 0.985955 with order 1 Centerline is valid? [True, True] Translation: X:842.36, Y:-47.59, Z:4.64 [[ 9.99980537e-01 2.47023578e-03 -5.72917755e-03 8.42359863e+02] [-2.46910032e-03 9.99996931e-01 2.05253832e-04 -4.75868326e+01] [ 5.72966699e-03 -1.91103923e-04 9.99983567e-01 4.64334716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.220714057 meters Centerline goodness : 0.985725 with order 1 Centerline is valid? [True, True] Translation: X:842.42, Y:-47.59, Z:4.65 [[ 9.99975303e-01 -4.07070883e-03 -5.72919194e-03 8.42419158e+02] [ 4.07194919e-03 9.99991689e-01 2.04851433e-04 -4.75864515e+01] [ 5.72831043e-03 -2.28175352e-04 9.99983567e-01 4.64811745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2807140570001 meters Centerline goodness : 0.985486 with order 1 Centerline is valid? [True, True] Translation: X:842.48, Y:-47.59, Z:4.65 [[ 9.99884818e-01 -1.40544331e-02 -5.72920299e-03 8.42478216e+02] [ 1.40558353e-02 9.99901191e-01 2.04541989e-04 -4.75863743e+01] [ 5.72576217e-03 -2.85047163e-04 9.99983567e-01 4.65350569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.340714057 meters Centerline goodness : 0.986580 with order 1 Centerline is valid? [True, True] Translation: X:842.54, Y:-47.59, Z:4.65 [[ 9.99824127e-01 -1.78575029e-02 -5.72921177e-03 8.42539047e+02] [ 1.78589659e-02 9.99840495e-01 2.04295771e-04 -4.75887286e+01] [ 5.72464972e-03 -3.06577639e-04 9.99983567e-01 4.65338598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4007140570001 meters Centerline goodness : 0.986605 with order 1 Centerline is valid? [True, True] Translation: X:842.60, Y:-47.59, Z:4.65 [[ 9.99834387e-01 -1.72735415e-02 -5.72920454e-03 8.42600924e+02] [ 1.72749961e-02 9.99850755e-01 2.04498334e-04 -4.75893512e+01] [ 5.72481707e-03 -3.03436453e-04 9.99983567e-01 4.65348958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.460714057 meters Centerline goodness : 0.987295 with order 1 Centerline is valid? [True, True] Translation: X:842.66, Y:-47.59, Z:4.65 [[ 9.99804098e-01 -1.89457431e-02 -5.72918989e-03 8.42663462e+02] [ 1.89472274e-02 9.99820464e-01 2.04907966e-04 -4.75888655e+01] [ 5.72427916e-03 -3.13420088e-04 9.99983567e-01 4.65009576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5207140570001 meters Centerline goodness : 0.985929 with order 1 Centerline is valid? [True, True] Translation: X:842.72, Y:-47.59, Z:4.65 [[ 9.99916430e-01 -1.15891634e-02 -5.72917443e-03 8.42724401e+02] [ 1.15905298e-02 9.99932806e-01 2.05339205e-04 -4.75880957e+01] [ 5.72640976e-03 -2.71726211e-04 9.99983567e-01 4.65231754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.580714057 meters Centerline goodness : 0.986300 with order 1 Centerline is valid? [True, True] Translation: X:842.79, Y:-47.59, Z:4.66 [[ 9.99958346e-01 -7.10508949e-03 -5.72916684e-03 8.42785000e+02] [ 7.10638357e-03 9.99974728e-01 2.05550824e-04 -4.75855304e+01] [ 5.72756160e-03 -2.46255919e-04 9.99983567e-01 4.65548427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6407140570001 meters Centerline goodness : 0.987047 with order 1 Centerline is valid? [True, True] Translation: X:842.85, Y:-47.59, Z:4.66 [[ 9.99974033e-01 -4.37148208e-03 -5.72915504e-03 8.42845578e+02] [ 4.37273325e-03 9.99990418e-01 2.05879147e-04 -4.75851128e+01] [ 5.72820015e-03 -2.30925868e-04 9.99983567e-01 4.65609646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.700714057 meters Centerline goodness : 0.986993 with order 1 Centerline is valid? [True, True] Translation: X:842.91, Y:-47.59, Z:4.65 [[ 9.99977155e-01 -3.58705619e-03 -5.72915504e-03 8.42905104e+02] [ 3.58829451e-03 9.99993541e-01 2.05879147e-04 -4.75868803e+01] [ 5.72837953e-03 -2.26432340e-04 9.99983567e-01 4.65361028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7607140570001 meters Centerline goodness : 0.987069 with order 1 Centerline is valid? [True, True] Translation: X:842.96, Y:-47.59, Z:4.65 [[ 9.99983548e-01 2.84760118e-04 -5.72915912e-03 8.42963634e+02] [-2.83585903e-04 9.99999939e-01 2.05765542e-04 -4.75919141e+01] [ 5.72921736e-03 -2.04137448e-04 9.99983567e-01 4.65053611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.820714057 meters Centerline goodness : 0.987979 with order 1 Centerline is valid? [True, True] Translation: X:843.02, Y:-47.59, Z:4.65 [[ 9.99982425e-01 -1.52491296e-03 -5.72917079e-03 8.43022175e+02] [ 1.52611497e-03 9.99998814e-01 2.05440159e-04 -4.75943542e+01] [ 5.72885072e-03 -2.14179921e-04 9.99983567e-01 4.64903689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.880714057 meters Centerline goodness : 0.987744 with order 1 Centerline is valid? [True, True] Translation: X:843.08, Y:-47.60, Z:4.64 [[ 9.99983562e-01 2.29374124e-04 -5.72918531e-03 8.43081304e+02] [-2.28203185e-04 9.99999953e-01 2.05034285e-04 -4.75997623e+01] [ 5.72923207e-03 -2.03723496e-04 9.99983567e-01 4.64465607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.940714057 meters Centerline goodness : 0.987740 with order 1 Centerline is valid? [True, True] Translation: X:843.14, Y:-47.60, Z:4.65 [[ 9.99983580e-01 1.21120500e-04 -5.72923574e-03 8.43139279e+02] [-1.19955905e-04 9.99999972e-01 2.03615450e-04 -4.76021041e+01] [ 5.72926024e-03 -2.02924851e-04 9.99983567e-01 4.64630632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.000714057 meters Centerline goodness : 0.987529 with order 1 Centerline is valid? [True, True] Translation: X:843.20, Y:-47.60, Z:4.65 [[ 9.99982980e-01 1.10283937e-03 -5.72925467e-03 8.43198279e+02] [-1.10169393e-03 9.99999373e-01 2.03081320e-04 -4.76044005e+01] [ 5.72947504e-03 -1.96765978e-04 9.99983567e-01 4.64765054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.060714057 meters Centerline goodness : 0.988016 with order 1 Centerline is valid? [True, True] Translation: X:843.26, Y:-47.61, Z:4.65 [[ 9.99962540e-01 6.48791066e-03 -5.72930736e-03 8.43256100e+02] [-6.48686209e-03 9.99978940e-01 2.01583688e-04 -4.76069891e+01] [ 5.73049456e-03 -1.64410910e-04 9.99983567e-01 4.65301827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.120714057 meters Centerline goodness : 0.987087 with order 1 Centerline is valid? [True, True] Translation: X:843.31, Y:-47.61, Z:4.65 [[ 9.99973242e-01 4.54870345e-03 -5.72932578e-03 8.43314727e+02] [-4.54762607e-03 9.99989639e-01 2.01059037e-04 -4.76100610e+01] [ 5.73018097e-03 -1.74998826e-04 9.99983567e-01 4.65359162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.180714057 meters Centerline goodness : 0.987368 with order 1 Centerline is valid? [True, True] Translation: X:843.37, Y:-47.61, Z:4.66 [[ 9.99982919e-01 1.15587079e-03 -5.72934032e-03 8.43372781e+02] [-1.15474016e-03 9.99999313e-01 2.00643773e-04 -4.76139135e+01] [ 5.72956830e-03 -1.94024447e-04 9.99983567e-01 4.65910146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.240714057 meters Centerline goodness : 0.987396 with order 1 Centerline is valid? [True, True] Translation: X:843.43, Y:-47.62, Z:4.66 [[ 9.99978641e-01 -3.14500298e-03 -5.72935818e-03 8.43431435e+02] [ 3.14620118e-03 9.99995031e-01 2.00132491e-04 -4.76182244e+01] [ 5.72870029e-03 -2.18153930e-04 9.99983567e-01 4.65939332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.300714057 meters Centerline goodness : 0.987340 with order 1 Centerline is valid? [True, True] Translation: X:843.49, Y:-47.62, Z:4.65 [[ 9.99888354e-01 -1.38004791e-02 -5.72937346e-03 8.43490113e+02] [ 1.38018493e-02 9.99904730e-01 1.99694167e-04 -4.76248654e+01] [ 5.72607174e-03 -2.78747821e-04 9.99983567e-01 4.65377904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.360714057 meters Centerline goodness : 0.987340 with order 1 Centerline is valid? [True, True] Translation: X:843.55, Y:-47.63, Z:4.65 [[ 9.99694603e-01 -2.40390363e-02 -5.72938473e-03 8.43551025e+02] [ 2.40405723e-02 9.99710964e-01 1.99370321e-04 -4.76277837e+01] [ 5.72293606e-03 -3.37047122e-04 9.99983567e-01 4.65277422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.420714057 meters Centerline goodness : 0.987012 with order 1 Centerline is valid? [True, True] Translation: X:843.61, Y:-47.63, Z:4.65 [[ 9.99523706e-01 -3.03238504e-02 -5.72937738e-03 8.43614048e+02] [ 3.03254905e-02 9.99540057e-01 1.99581078e-04 -4.76299655e+01] [ 5.72069013e-03 -3.73232198e-04 9.99983567e-01 4.65205915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.480714057 meters Centerline goodness : 0.987204 with order 1 Centerline is valid? [True, True] Translation: X:843.68, Y:-47.63, Z:4.65 [[ 9.99432908e-01 -3.31818948e-02 -5.72931494e-03 8.43675982e+02] [ 3.31835918e-02 9.99449253e-01 2.01357912e-04 -4.76310501e+01] [ 5.71947809e-03 -3.91362972e-04 9.99983567e-01 4.65168119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5407140570001 meters Centerline goodness : 0.987692 with order 1 Centerline is valid? [True, True] Translation: X:843.74, Y:-47.63, Z:4.65 [[ 9.99398505e-01 -3.42023996e-02 -5.72929561e-03 8.43738699e+02] [ 3.42041164e-02 9.99414848e-01 2.01906397e-04 -4.76278653e+01] [ 5.71903741e-03 -3.97750445e-04 9.99983567e-01 4.65166925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.600714057 meters Centerline goodness : 0.987718 with order 1 Centerline is valid? [True, True] Translation: X:843.80, Y:-47.62, Z:4.65 [[ 9.99322968e-01 -3.63425519e-02 -5.72927987e-03 8.43801939e+02] [ 3.63443062e-02 9.99339307e-01 2.02351984e-04 -4.76247336e+01] [ 5.71814059e-03 -4.10441688e-04 9.99983567e-01 4.65134679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6607140570001 meters Centerline goodness : 0.987467 with order 1 Centerline is valid? [True, True] Translation: X:843.86, Y:-47.62, Z:4.66 [[ 9.99246030e-01 -3.83998299e-02 -5.72925644e-03 8.43863360e+02] [ 3.84016216e-02 9.99262365e-01 2.03013234e-04 -4.76197607e+01] [ 5.71723467e-03 -4.22872906e-04 9.99983567e-01 4.65671346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.720714057 meters Centerline goodness : 0.988042 with order 1 Centerline is valid? [True, True] Translation: X:843.93, Y:-47.61, Z:4.65 [[ 9.99157881e-01 -4.06288711e-02 -5.72924498e-03 8.43926980e+02] [ 4.06307011e-02 9.99174211e-01 2.03336227e-04 -4.76137816e+01] [ 5.71625251e-03 -4.35948234e-04 9.99983567e-01 4.65460785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7807140570001 meters Centerline goodness : 0.987077 with order 1 Centerline is valid? [True, True] Translation: X:843.99, Y:-47.61, Z:4.66 [[ 9.99321216e-01 -3.63906925e-02 -5.72922145e-03 8.43989356e+02] [ 3.63924569e-02 9.99337554e-01 2.03996799e-04 -4.76092108e+01] [ 5.71800257e-03 -4.12358774e-04 9.99983567e-01 4.66010151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.840714057 meters Centerline goodness : 0.987716 with order 1 Centerline is valid? [True, True] Translation: X:844.05, Y:-47.60, Z:4.66 [[ 9.99548097e-01 -2.95089584e-02 -5.72920560e-03 8.44051497e+02] [ 2.95106129e-02 9.99564446e-01 2.04441060e-04 -4.76014332e+01] [ 5.72067738e-03 -3.73421041e-04 9.99983567e-01 4.66163205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9007140570001 meters Centerline goodness : 0.988502 with order 1 Centerline is valid? [True, True] Translation: X:844.11, Y:-47.60, Z:4.66 [[ 9.99781104e-01 -2.01226506e-02 -5.72918602e-03 8.44114168e+02] [ 2.01241546e-02 9.99797468e-01 2.04988247e-04 -4.75953143e+01] [ 5.72390077e-03 -3.20238402e-04 9.99983567e-01 4.66017557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.960714057 meters Centerline goodness : 0.989101 with order 1 Centerline is valid? [True, True] Translation: X:844.18, Y:-47.59, Z:4.66 [[ 9.99804474e-01 -1.89259445e-02 -5.72917043e-03 8.44175502e+02] [ 1.89274314e-02 9.99820839e-01 2.05423238e-04 -4.75931966e+01] [ 5.72425615e-03 -3.13821553e-04 9.99983567e-01 4.66370904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0207140570001 meters Centerline goodness : 0.989554 with order 1 Centerline is valid? [True, True] Translation: X:844.24, Y:-47.59, Z:4.66 [[ 9.99933289e-01 -1.00296736e-02 -5.72915892e-03 8.44237066e+02] [ 1.00310167e-02 9.99949667e-01 2.05743784e-04 -4.75880365e+01] [ 5.72680701e-03 -2.63199348e-04 9.99983567e-01 4.66137325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.080714057 meters Centerline goodness : 0.990590 with order 1 Centerline is valid? [True, True] Translation: X:844.30, Y:-47.58, Z:4.66 [[ 9.99982649e-01 -1.37091587e-03 -5.72914768e-03 8.44298898e+02] [ 1.37211888e-03 9.99999037e-01 2.06056280e-04 -4.75819220e+01] [ 5.72885968e-03 -2.13913776e-04 9.99983567e-01 4.66129478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1407140570001 meters Centerline goodness : 0.990486 with order 1 Centerline is valid? [True, True] Translation: X:844.36, Y:-47.58, Z:4.66 [[ 9.99941578e-01 9.16611046e-03 -5.72913972e-03 8.44357458e+02] [-9.16507894e-03 9.99957979e-01 2.06277276e-04 -4.75786811e+01] [ 5.73078973e-03 -1.53757207e-04 9.99983567e-01 4.66170466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.200714057 meters Centerline goodness : 0.991271 with order 1 Centerline is valid? [True, True] Translation: X:844.41, Y:-47.58, Z:4.66 [[ 9.99905386e-01 1.25058663e-02 -5.72915142e-03 8.44414940e+02] [-1.25048915e-02 9.99921790e-01 2.05951749e-04 -4.75780366e+01] [ 5.73127895e-03 -1.34289846e-04 9.99983567e-01 4.65827492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2607140570001 meters Centerline goodness : 0.991044 with order 1 Centerline is valid? [True, True] Translation: X:844.47, Y:-47.58, Z:4.66 [[ 9.99764765e-01 2.09186903e-02 -5.72921357e-03 8.44473077e+02] [-2.09178635e-02 9.99781177e-01 2.04208081e-04 -4.75789559e+01] [ 5.73223165e-03 -8.43171371e-05 9.99983567e-01 4.66186346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.320714057 meters Centerline goodness : 0.991451 with order 1 Centerline is valid? [True, True] Translation: X:844.53, Y:-47.58, Z:4.66 [[ 9.99662485e-01 2.53395338e-02 -5.72927547e-03 8.44530950e+02] [-2.53387896e-02 9.99678901e-01 2.02456291e-04 -4.75827561e+01] [ 5.73256596e-03 -5.72150536e-05 9.99983567e-01 4.66141048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.380714057 meters Centerline goodness : 0.990338 with order 1 Centerline is valid? [True, True] Translation: X:844.59, Y:-47.59, Z:4.66 [[ 9.99652608e-01 2.57261963e-02 -5.72933662e-03 8.44587395e+02] [-2.57254684e-02 9.99669025e-01 2.00710980e-04 -4.75890030e+01] [ 5.73260388e-03 -5.32513863e-05 9.99983567e-01 4.66224740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.440714057 meters Centerline goodness : 0.993243 with order 1 Centerline is valid? [True, True] Translation: X:844.65, Y:-47.59, Z:4.66 [[ 9.99864895e-01 1.54066705e-02 -5.72936257e-03 8.44645970e+02] [-1.54057775e-02 9.99881304e-01 1.99967469e-04 -4.75870886e+01] [ 5.73176335e-03 -1.11675167e-04 9.99983567e-01 4.65806305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.500714057 meters Centerline goodness : 0.989765 with order 1 Centerline is valid? [True, True] Translation: X:844.70, Y:-47.61, Z:4.65 [[ 9.99705418e-01 2.35849864e-02 -5.72937692e-03 8.44703657e+02] [-2.35842301e-02 9.99721833e-01 1.99555274e-04 -4.76095088e+01] [ 5.73248971e-03 -6.43735450e-05 9.99983567e-01 4.65382989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.560714057 meters Centerline goodness : 0.992025 with order 1 Centerline is valid? [True, True] Translation: X:844.76, Y:-47.61, Z:4.66 [[ 9.99967450e-01 5.68087401e-03 -5.72942659e-03 8.44762166e+02] [-5.67983203e-03 9.99983850e-01 1.98119072e-04 -4.76076025e+01] [ 5.73045955e-03 -1.65570443e-04 9.99983567e-01 4.65645010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.620714057 meters Centerline goodness : 0.991395 with order 1 Centerline is valid? [True, True] Translation: X:844.82, Y:-47.62, Z:4.66 [[ 9.99982450e-01 1.50804484e-03 -5.72944059e-03 8.44819880e+02] [-1.50693676e-03 9.99998845e-01 1.97713349e-04 -4.76153476e+01] [ 5.72973213e-03 -1.89075975e-04 9.99983567e-01 4.65664274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.680714057 meters Centerline goodness : 0.991363 with order 1 Centerline is valid? [True, True] Translation: X:844.88, Y:-47.63, Z:4.66 [[ 9.99966849e-01 -5.78563694e-03 -5.72945804e-03 8.44878362e+02] [ 5.78686168e-03 9.99983237e-01 1.97206418e-04 -4.76255738e+01] [ 5.72822103e-03 -2.30355462e-04 9.99983567e-01 4.65754145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.740714057 meters Centerline goodness : 0.991178 with order 1 Centerline is valid? [True, True] Translation: X:844.94, Y:-47.63, Z:4.66 [[ 9.99895171e-01 -1.32973870e-02 -5.72947171e-03 8.44938931e+02] [ 1.32987325e-02 9.99911549e-01 1.96808272e-04 -4.76347956e+01] [ 5.72634790e-03 -2.72982353e-04 9.99983567e-01 4.65698567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.800714057 meters Centerline goodness : 0.990854 with order 1 Centerline is valid? [True, True] Translation: X:845.00, Y:-47.64, Z:4.66 [[ 9.99824051e-01 -1.78617022e-02 -5.72947171e-03 8.45001329e+02] [ 1.78631225e-02 9.99840422e-01 1.96808272e-04 -4.76413574e+01] [ 5.72504209e-03 -2.99119899e-04 9.99983567e-01 4.65682940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.860714057 meters Centerline goodness : 0.990523 with order 1 Centerline is valid? [True, True] Translation: X:845.06, Y:-47.65, Z:4.66 [[ 9.99656933e-01 -2.55575846e-02 -5.72942095e-03 8.45063733e+02] [ 2.55591393e-02 9.99673292e-01 1.98275097e-04 -4.76483765e+01] [ 5.72248167e-03 -3.44646143e-04 9.99983567e-01 4.65605259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.920714057 meters Centerline goodness : 0.991129 with order 1 Centerline is valid? [True, True] Translation: X:845.13, Y:-47.65, Z:4.66 [[ 9.99508927e-01 -3.08071204e-02 -5.72936318e-03 8.45125379e+02] [ 3.08087704e-02 9.99525277e-01 1.99930537e-04 -4.76525429e+01] [ 5.72048404e-03 -3.76346991e-04 9.99983567e-01 4.65628616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.980714057 meters Centerline goodness : 0.991137 with order 1 Centerline is valid? [True, True] Translation: X:845.19, Y:-47.66, Z:4.66 [[ 9.99287427e-01 -3.73070201e-02 -5.72934870e-03 8.45187939e+02] [ 3.73087788e-02 9.99303765e-01 2.00344705e-04 -4.76558070e+01] [ 5.71788546e-03 -4.13956948e-04 9.99983567e-01 4.65504811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0407140570001 meters Centerline goodness : 0.991377 with order 1 Centerline is valid? [True, True] Translation: X:845.25, Y:-47.66, Z:4.66 [[ 9.99178911e-01 -4.01083385e-02 -5.72932709e-03 8.45249158e+02] [ 4.01101465e-02 9.99195244e-01 2.00960702e-04 -4.76577133e+01] [ 5.71665618e-03 -4.30599844e-04 9.99983567e-01 4.65520256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.100714057 meters Centerline goodness : 0.991756 with order 1 Centerline is valid? [True, True] Translation: X:845.31, Y:-47.66, Z:4.66 [[ 9.99093543e-01 -4.21813621e-02 -5.72931645e-03 8.45312519e+02] [ 4.21832057e-02 9.99109872e-01 2.01263565e-04 -4.76562523e+01] [ 5.71572706e-03 -4.42762063e-04 9.99983567e-01 4.65574934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1607140570001 meters Centerline goodness : 0.987559 with order 1 Centerline is valid? [True, True] Translation: X:845.37, Y:-47.66, Z:4.67 [[ 9.99229026e-01 -3.88397802e-02 -5.72929539e-03 8.45374797e+02] [ 3.88415726e-02 9.99245361e-01 2.01861549e-04 -4.76592766e+01] [ 5.71713158e-03 -4.24240761e-04 9.99983567e-01 4.67011449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.220714057 meters Centerline goodness : 0.988049 with order 1 Centerline is valid? [True, True] Translation: X:845.44, Y:-47.66, Z:4.68 [[ 9.99117239e-01 -4.16163135e-02 -5.72928038e-03 8.45436715e+02] [ 4.16181537e-02 9.99133569e-01 2.02286451e-04 -4.76561365e+01] [ 5.71589794e-03 -4.40549952e-04 9.99983567e-01 4.67687788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2807140570001 meters Centerline goodness : 0.991458 with order 1 Centerline is valid? [True, True] Translation: X:845.50, Y:-47.65, Z:4.66 [[ 9.98847130e-01 -4.76611528e-02 -5.72926551e-03 8.45498004e+02] [ 4.76630942e-02 9.98863448e-01 2.02706819e-04 -4.76506065e+01] [ 5.71309266e-03 -4.75547646e-04 9.99983567e-01 4.65996904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.340714057 meters Centerline goodness : 0.988685 with order 1 Centerline is valid? [True, True] Translation: X:845.56, Y:-47.65, Z:4.67 [[ 9.98874736e-01 -4.70790603e-02 -5.72925446e-03 8.45559798e+02] [ 4.70809939e-02 9.98891055e-01 2.03018755e-04 -4.76513598e+01] [ 5.71334309e-03 -4.72529299e-04 9.99983567e-01 4.66885282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4007140570001 meters Centerline goodness : 0.992577 with order 1 Centerline is valid? [True, True] Translation: X:845.62, Y:-47.64, Z:4.66 [[ 9.98540763e-01 -5.36984132e-02 -5.72923852e-03 8.45621682e+02] [ 5.37004575e-02 9.98557069e-01 2.03467619e-04 -4.76417314e+01] [ 5.71004573e-03 -5.10833441e-04 9.99983567e-01 4.65837675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.460714057 meters Centerline goodness : 0.991893 with order 1 Centerline is valid? [True, True] Translation: X:845.68, Y:-47.64, Z:4.66 [[ 9.98452366e-01 -5.53177071e-02 -5.72918817e-03 8.45683977e+02] [ 5.53197858e-02 9.98468667e-01 2.04875603e-04 -4.76373399e+01] [ 5.70908162e-03 -5.21495992e-04 9.99983567e-01 4.65707290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5207140570001 meters Centerline goodness : 0.992063 with order 1 Centerline is valid? [True, True] Translation: X:845.75, Y:-47.63, Z:4.66 [[ 9.98502356e-01 -5.44079175e-02 -5.72917339e-03 8.45746410e+02] [ 5.44099837e-02 9.98518659e-01 2.05287876e-04 -4.76321657e+01] [ 5.70951725e-03 -5.16704658e-04 9.99983567e-01 4.65536310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.580714057 meters Centerline goodness : 0.992852 with order 1 Centerline is valid? [True, True] Translation: X:845.81, Y:-47.63, Z:4.66 [[ 9.98572477e-01 -5.31054043e-02 -5.72915883e-03 8.45809515e+02] [ 5.31074515e-02 9.98588782e-01 2.05693458e-04 -4.76297031e+01] [ 5.71015031e-03 -5.09660851e-04 9.99983567e-01 4.65647787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6407140570001 meters Centerline goodness : 0.993651 with order 1 Centerline is valid? [True, True] Translation: X:845.87, Y:-47.62, Z:4.66 [[ 9.98735629e-01 -4.99431715e-02 -5.72913646e-03 8.45871951e+02] [ 4.99451707e-02 9.98751940e-01 2.06314798e-04 -4.76247747e+01] [ 5.71168213e-03 -4.92196637e-04 9.99983567e-01 4.66017215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.700714057 meters Centerline goodness : 0.992318 with order 1 Centerline is valid? [True, True] Translation: X:845.94, Y:-47.63, Z:4.66 [[ 9.99190699e-01 -3.98136230e-02 -5.72912155e-03 8.45935207e+02] [ 3.98154590e-02 9.99207029e-01 2.06727983e-04 -4.76322403e+01] [ 5.71634793e-03 -4.34668282e-04 9.99983567e-01 4.65760843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7607140570001 meters Centerline goodness : 0.991454 with order 1 Centerline is valid? [True, True] Translation: X:846.00, Y:-47.63, Z:4.65 [[ 9.99376071e-01 -3.48517767e-02 -5.72909787e-03 8.45997760e+02] [ 3.48535353e-02 9.99392409e-01 2.07382111e-04 -4.76303337e+01] [ 5.71838929e-03 -4.06932034e-04 9.99983567e-01 4.65488595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.820714057 meters Centerline goodness : 0.991250 with order 1 Centerline is valid? [True, True] Translation: X:846.06, Y:-47.63, Z:4.65 [[ 9.99481709e-01 -3.16779139e-02 -5.72908235e-03 8.46059596e+02] [ 3.16796231e-02 9.99498053e-01 2.07810078e-04 -4.76324846e+01] [ 5.71962366e-03 -3.89197541e-04 9.99983567e-01 4.65156825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.880714057 meters Centerline goodness : 0.991595 with order 1 Centerline is valid? [True, True] Translation: X:846.12, Y:-47.62, Z:4.66 [[ 9.99523318e-01 -3.03366904e-02 -5.72906663e-03 8.46121679e+02] [ 3.03383801e-02 9.99539664e-01 2.08242311e-04 -4.76247073e+01] [ 5.72011195e-03 -3.81953647e-04 9.99983567e-01 4.66320520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.940714057 meters Centerline goodness : 0.991525 with order 1 Centerline is valid? [True, True] Translation: X:846.18, Y:-47.62, Z:4.66 [[ 9.99542081e-01 -2.97120614e-02 -5.72905106e-03 8.46184342e+02] [ 2.97137433e-02 9.99558427e-01 2.08670040e-04 -4.76245661e+01] [ 5.72032125e-03 -3.78806039e-04 9.99983567e-01 4.66056344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.000714057 meters Centerline goodness : 0.990586 with order 1 Centerline is valid? [True, True] Translation: X:846.25, Y:-47.63, Z:4.65 [[ 9.99835914e-01 -1.71849902e-02 -5.72903523e-03 8.46245184e+02] [ 1.71864697e-02 9.99852280e-01 2.09103571e-04 -4.76299372e+01] [ 5.72459550e-03 -3.07531150e-04 9.99983567e-01 4.65392165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.060714057 meters Centerline goodness : 0.994079 with order 1 Centerline is valid? [True, True] Translation: X:846.31, Y:-47.62, Z:4.66 [[ 9.99542968e-01 -2.96822216e-02 -5.72902742e-03 8.46305655e+02] [ 2.96839067e-02 9.99559314e-01 2.09317461e-04 -4.76155358e+01] [ 5.72028971e-03 -3.79281711e-04 9.99983567e-01 4.66017246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.120714057 meters Centerline goodness : 0.990576 with order 1 Centerline is valid? [True, True] Translation: X:846.37, Y:-47.63, Z:4.65 [[ 9.99785006e-01 -1.99278940e-02 -5.72902742e-03 8.46367388e+02] [ 1.99294196e-02 9.99801367e-01 2.09317461e-04 -4.76277414e+01] [ 5.72371819e-03 -3.23448650e-04 9.99983567e-01 4.65299227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.180714057 meters Centerline goodness : 0.992276 with order 1 Centerline is valid? [True, True] Translation: X:846.43, Y:-47.63, Z:4.65 [[ 9.99724006e-01 -2.27835504e-02 -5.72901193e-03 8.46428326e+02] [ 2.27851251e-02 9.99740363e-01 2.09740593e-04 -4.76273878e+01] [ 5.72274583e-03 -3.40218959e-04 9.99983567e-01 4.65389023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.240714057 meters Centerline goodness : 0.993991 with order 1 Centerline is valid? [True, True] Translation: X:846.49, Y:-47.62, Z:4.66 [[ 9.99420924e-01 -3.35409451e-02 -5.72900057e-03 8.46489885e+02] [ 3.35426976e-02 9.99437263e-01 2.10050236e-04 -4.76164216e+01] [ 5.71873137e-03 -4.02094735e-04 9.99983567e-01 4.65827770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.300714057 meters Centerline goodness : 0.993336 with order 1 Centerline is valid? [True, True] Translation: X:846.55, Y:-47.63, Z:4.66 [[ 9.99539285e-01 -2.98059844e-02 -5.72895212e-03 8.46551300e+02] [ 2.98076833e-02 9.99555630e-01 2.11363612e-04 -4.76266443e+01] [ 5.72010644e-03 -3.82033024e-04 9.99983567e-01 4.65574639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.360714057 meters Centerline goodness : 0.993367 with order 1 Centerline is valid? [True, True] Translation: X:846.61, Y:-47.63, Z:4.65 [[ 9.99561318e-01 -2.90577312e-02 -5.72894001e-03 8.46614046e+02] [ 2.90594197e-02 9.99577663e-01 2.11691293e-04 -4.76270646e+01] [ 5.72036920e-03 -3.78078100e-04 9.99983567e-01 4.65382173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.420714057 meters Centerline goodness : 0.993121 with order 1 Centerline is valid? [True, True] Translation: X:846.68, Y:-47.62, Z:4.66 [[ 9.99523332e-01 -3.03362540e-02 -5.72891528e-03 8.46676973e+02] [ 3.03379672e-02 9.99539675e-01 2.12358301e-04 -4.76236125e+01] [ 5.71983597e-03 -3.86060720e-04 9.99983567e-01 4.65875043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.480714057 meters Centerline goodness : 0.993063 with order 1 Centerline is valid? [True, True] Translation: X:846.74, Y:-47.62, Z:4.66 [[ 9.99575225e-01 -2.85753347e-02 -5.72889101e-03 8.46740017e+02] [ 2.85770229e-02 9.99591571e-01 2.13011166e-04 -4.76229661e+01] [ 5.72046430e-03 -3.76635334e-04 9.99983567e-01 4.65994765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5407140570001 meters Centerline goodness : 0.992629 with order 1 Centerline is valid? [True, True] Translation: X:846.80, Y:-47.62, Z:4.66 [[ 9.99672258e-01 -2.49510906e-02 -5.72886664e-03 8.46802489e+02] [ 2.49527232e-02 9.99688610e-01 2.13664688e-04 -4.76212155e+01] [ 5.72175155e-03 -3.56545485e-04 9.99983567e-01 4.65953155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.600714057 meters Centerline goodness : 0.992591 with order 1 Centerline is valid? [True, True] Translation: X:846.87, Y:-47.62, Z:4.66 [[ 9.99715976e-01 -2.31332657e-02 -5.72882664e-03 8.46865216e+02] [ 2.31348747e-02 9.99732330e-01 2.14731798e-04 -4.76211262e+01] [ 5.72232575e-03 -3.47206496e-04 9.99983567e-01 4.65823313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6607140570001 meters Centerline goodness : 0.993550 with order 1 Centerline is valid? [True, True] Translation: X:846.93, Y:-47.62, Z:4.65 [[ 9.99790504e-01 -1.96501773e-02 -5.72880284e-03 8.46927395e+02] [ 1.96517328e-02 9.99806863e-01 2.15364806e-04 -4.76205795e+01] [ 5.72346444e-03 -3.27900590e-04 9.99983567e-01 4.65320108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.720714057 meters Centerline goodness : 0.992692 with order 1 Centerline is valid? [True, True] Translation: X:846.99, Y:-47.62, Z:4.65 [[ 9.99882180e-01 -1.42410226e-02 -5.72876440e-03 8.46989435e+02] [ 1.42424954e-02 9.99898547e-01 2.16382589e-04 -4.76189733e+01] [ 5.72510169e-03 -2.97948995e-04 9.99983567e-01 4.65248730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7807140570001 meters Centerline goodness : 0.992817 with order 1 Centerline is valid? [True, True] Translation: X:847.05, Y:-47.62, Z:4.66 [[ 9.99946508e-01 -8.61175704e-03 -5.72874839e-03 8.47050606e+02] [ 8.61314015e-03 9.99962883e-01 2.16805518e-04 -4.76182694e+01] [ 5.72666868e-03 -2.66136434e-04 9.99983567e-01 4.65604815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.840714057 meters Centerline goodness : 0.992266 with order 1 Centerline is valid? [True, True] Translation: X:847.11, Y:-47.62, Z:4.65 [[ 9.99972472e-01 -4.71564893e-03 -5.72873653e-03 8.47111605e+02] [ 4.71697002e-03 9.99988851e-01 2.17118426e-04 -4.76169369e+01] [ 5.72764881e-03 -2.44134728e-04 9.99983567e-01 4.65297598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9007140570001 meters Centerline goodness : 0.993779 with order 1 Centerline is valid? [True, True] Translation: X:847.17, Y:-47.60, Z:4.66 [[ 9.99913790e-01 -1.18150405e-02 -5.72872830e-03 8.47171653e+02] [ 1.18164791e-02 9.99930159e-01 2.17335567e-04 -4.76042790e+01] [ 5.72576037e-03 -2.85010228e-04 9.99983567e-01 4.66059630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.960714057 meters Centerline goodness : 0.993918 with order 1 Centerline is valid? [True, True] Translation: X:847.23, Y:-47.60, Z:4.66 [[ 9.99898635e-01 -1.30346161e-02 -5.72873234e-03 8.47233594e+02] [ 1.30360741e-02 9.99915003e-01 2.17228906e-04 -4.76025769e+01] [ 5.72541392e-03 -2.91887065e-04 9.99983567e-01 4.66423989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0207140570001 meters Centerline goodness : 0.991222 with order 1 Centerline is valid? [True, True] Translation: X:847.30, Y:-47.61, Z:4.66 [[ 9.99899899e-01 -1.29373089e-02 -5.72871702e-03 8.47295778e+02] [ 1.29387676e-02 9.99916267e-01 2.17632066e-04 -4.76129422e+01] [ 5.72542177e-03 -2.91732819e-04 9.99983567e-01 4.66026618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.080714057 meters Centerline goodness : 0.992340 with order 1 Centerline is valid? [True, True] Translation: X:847.36, Y:-47.61, Z:4.66 [[ 9.99786862e-01 -1.98346203e-02 -5.72870128e-03 8.47358710e+02] [ 1.98361942e-02 9.99803220e-01 2.18045791e-04 -4.76140319e+01] [ 5.72324913e-03 -3.31634948e-04 9.99983567e-01 4.66190641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1407140570001 meters Centerline goodness : 0.992428 with order 1 Centerline is valid? [True, True] Translation: X:847.42, Y:-47.62, Z:4.66 [[ 9.99644961e-01 -2.60218160e-02 -5.72863867e-03 8.47420586e+02] [ 2.60235004e-02 9.99661307e-01 2.19678497e-04 -4.76161709e+01] [ 5.72098198e-03 -3.68679733e-04 9.99983567e-01 4.66353589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.200714057 meters Centerline goodness : 0.992473 with order 1 Centerline is valid? [True, True] Translation: X:847.48, Y:-47.62, Z:4.66 [[ 9.99535123e-01 -2.99453013e-02 -5.72857993e-03 8.47484046e+02] [ 2.99470586e-02 9.99551462e-01 2.21199656e-04 -4.76177900e+01] [ 5.71938655e-03 -3.92650944e-04 9.99983567e-01 4.66288539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2607140570001 meters Centerline goodness : 0.992444 with order 1 Centerline is valid? [True, True] Translation: X:847.55, Y:-47.62, Z:4.66 [[ 9.99539740e-01 -2.97907942e-02 -5.72855484e-03 8.47545903e+02] [ 2.97925526e-02 9.99556079e-01 2.21847417e-04 -4.76191865e+01] [ 5.71940281e-03 -3.92413582e-04 9.99983567e-01 4.66428816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.320714057 meters Centerline goodness : 0.992962 with order 1 Centerline is valid? [True, True] Translation: X:847.61, Y:-47.62, Z:4.67 [[ 9.99647083e-01 -2.59401711e-02 -5.72853409e-03 8.47607682e+02] [ 2.59418696e-02 9.99663428e-01 2.22381994e-04 -4.76218314e+01] [ 5.72083740e-03 -3.70912396e-04 9.99983567e-01 4.66706063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.380714057 meters Centerline goodness : 0.992832 with order 1 Centerline is valid? [True, True] Translation: X:847.67, Y:-47.62, Z:4.67 [[ 9.99746885e-01 -2.17566032e-02 -5.72851780e-03 8.47670170e+02] [ 2.17582357e-02 9.99763237e-01 2.22800773e-04 -4.76237418e+01] [ 5.72231411e-03 -3.47386819e-04 9.99983567e-01 4.66895952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.440714057 meters Centerline goodness : 0.993351 with order 1 Centerline is valid? [True, True] Translation: X:847.73, Y:-47.63, Z:4.67 [[ 9.99921793e-01 -1.11171777e-02 -5.72850173e-03 8.47732464e+02] [ 1.11186384e-02 9.99938161e-01 2.23213216e-04 -4.76266576e+01] [ 5.72566599e-03 -2.86888899e-04 9.99983567e-01 4.67058962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.500714057 meters Centerline goodness : 0.992955 with order 1 Centerline is valid? [True, True] Translation: X:847.79, Y:-47.63, Z:4.67 [[ 9.99964767e-01 -6.13596220e-03 -5.72848546e-03 8.47793998e+02] [ 6.13734378e-03 9.99981141e-01 2.23630022e-04 -4.76307986e+01] [ 5.72700524e-03 -2.58779827e-04 9.99983567e-01 4.66692616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.560714057 meters Centerline goodness : 0.993793 with order 1 Centerline is valid? [True, True] Translation: X:847.85, Y:-47.63, Z:4.66 [[ 9.99960703e-01 -6.76579896e-03 -5.72847736e-03 8.47854237e+02] [ 6.76719204e-03 9.99977077e-01 2.23837340e-04 -4.76298390e+01] [ 5.72683161e-03 -2.62594250e-04 9.99983567e-01 4.66400874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.620714057 meters Centerline goodness : 0.992665 with order 1 Centerline is valid? [True, True] Translation: X:847.91, Y:-47.64, Z:4.66 [[ 9.99982183e-01 1.67850533e-03 -5.72847736e-03 8.47914402e+02] [-1.67725056e-03 9.99998568e-01 2.23837340e-04 -4.76422993e+01] [ 5.72884487e-03 -2.14225260e-04 9.99983567e-01 4.66188644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.680714057 meters Centerline goodness : 0.993662 with order 1 Centerline is valid? [True, True] Translation: X:847.97, Y:-47.64, Z:4.66 [[ 9.99945844e-01 -8.68869576e-03 -5.72847736e-03 8.47972041e+02] [ 8.69012033e-03 9.99962215e-01 2.23837340e-04 -4.76385250e+01] [ 5.72631606e-03 -2.73606376e-04 9.99983567e-01 4.66437493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.740714057 meters Centerline goodness : 0.994193 with order 1 Centerline is valid? [True, True] Translation: X:848.03, Y:-47.64, Z:4.66 [[ 9.99930297e-01 -1.03240319e-02 -5.72849394e-03 8.48033501e+02] [ 1.03254809e-02 9.99946666e-01 2.23412362e-04 -4.76421187e+01] [ 5.72588189e-03 -2.82546244e-04 9.99983567e-01 4.66482100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.800714057 meters Centerline goodness : 0.992824 with order 1 Centerline is valid? [True, True] Translation: X:848.09, Y:-47.65, Z:4.66 [[ 9.99931892e-01 -1.01683891e-02 -5.72848595e-03 8.48094856e+02] [ 1.01698367e-02 9.99948261e-01 2.23616853e-04 -4.76547190e+01] [ 5.72591574e-03 -2.81859389e-04 9.99983567e-01 4.66441207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.860714057 meters Centerline goodness : 0.992688 with order 1 Centerline is valid? [True, True] Translation: X:848.16, Y:-47.66, Z:4.66 [[ 9.99873732e-01 -1.48224728e-02 -5.72846897e-03 8.48156142e+02] [ 1.48239990e-02 9.99890093e-01 2.24051161e-04 -4.76585347e+01] [ 5.72451838e-03 -3.08941688e-04 9.99983567e-01 4.66491721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.920714057 meters Centerline goodness : 0.993255 with order 1 Centerline is valid? [True, True] Translation: X:848.22, Y:-47.66, Z:4.67 [[ 9.99742039e-01 -2.19781960e-02 -5.72841499e-03 8.48218374e+02] [ 2.19798471e-02 9.99758389e-01 2.25422686e-04 -4.76619246e+01] [ 5.72207656e-03 -3.51274221e-04 9.99983567e-01 4.66753424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.980714057 meters Centerline goodness : 0.992996 with order 1 Centerline is valid? [True, True] Translation: X:848.28, Y:-47.66, Z:4.67 [[ 9.99753256e-01 -2.14619033e-02 -5.72835606e-03 8.48280940e+02] [ 2.14635544e-02 9.99769606e-01 2.26910366e-04 -4.76641180e+01] [ 5.72216636e-03 -3.49805259e-04 9.99983567e-01 4.67016080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0407140570001 meters Centerline goodness : 0.992727 with order 1 Centerline is valid? [True, True] Translation: X:848.34, Y:-47.67, Z:4.67 [[ 9.99744540e-01 -2.18641625e-02 -5.72833899e-03 8.48343098e+02] [ 2.18658226e-02 9.99760888e-01 2.27340544e-04 -4.76660668e+01] [ 5.72199867e-03 -3.52537312e-04 9.99983567e-01 4.66965300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.100714057 meters Centerline goodness : 0.991856 with order 1 Centerline is valid? [True, True] Translation: X:848.40, Y:-47.67, Z:4.66 [[ 9.99884873e-01 -1.40509021e-02 -5.72832151e-03 8.48404862e+02] [ 1.40524370e-02 9.99901234e-01 2.27780179e-04 -4.76727944e+01] [ 5.72455523e-03 -3.08250833e-04 9.99983567e-01 4.66060321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1607140570001 meters Centerline goodness : 0.992272 with order 1 Centerline is valid? [True, True] Translation: X:848.47, Y:-47.67, Z:4.66 [[ 9.99899224e-01 -1.29895558e-02 -5.72830407e-03 8.48466997e+02] [ 1.29910758e-02 9.99915586e-01 2.28218034e-04 -4.76731050e+01] [ 5.72485607e-03 -3.02611867e-04 9.99983567e-01 4.66238740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.220714057 meters Centerline goodness : 0.992109 with order 1 Centerline is valid? [True, True] Translation: X:848.53, Y:-47.68, Z:4.66 [[ 9.99927096e-01 -1.06296695e-02 -5.72828668e-03 8.48528600e+02] [ 1.06311534e-02 9.99943462e-01 2.28653589e-04 -4.76751801e+01] [ 5.72553230e-03 -2.89535214e-04 9.99983567e-01 4.65975027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2807140570001 meters Centerline goodness : 0.992529 with order 1 Centerline is valid? [True, True] Translation: X:848.59, Y:-47.68, Z:4.66 [[ 9.99913915e-01 -1.18046189e-02 -5.72827379e-03 8.48590664e+02] [ 1.18061239e-02 9.99930279e-01 2.28976065e-04 -4.76762991e+01] [ 5.72517143e-03 -2.96585063e-04 9.99983567e-01 4.66052256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.340714057 meters Centerline goodness : 0.992734 with order 1 Centerline is valid? [True, True] Translation: X:848.65, Y:-47.67, Z:4.67 [[ 9.99814763e-01 -1.83746482e-02 -5.72825657e-03 8.48653362e+02] [ 1.83762631e-02 9.99831116e-01 2.29405998e-04 -4.76743738e+01] [ 5.72307391e-03 -3.34627453e-04 9.99983567e-01 4.66756579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4007140570001 meters Centerline goodness : 0.993920 with order 1 Centerline is valid? [True, True] Translation: X:848.72, Y:-47.67, Z:4.66 [[ 9.99672388e-01 -2.49460075e-02 -5.72823470e-03 8.48715524e+02] [ 2.49477329e-02 9.99688730e-01 2.29950910e-04 -4.76698739e+01] [ 5.72071532e-03 -3.72782045e-04 9.99983567e-01 4.66460652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.460714057 meters Centerline goodness : 0.992673 with order 1 Centerline is valid? [True, True] Translation: X:848.78, Y:-47.67, Z:4.67 [[ 9.99636548e-01 -2.63431118e-02 -5.72816969e-03 8.48777199e+02] [ 2.63448693e-02 9.99652887e-01 2.31559111e-04 -4.76747556e+01] [ 5.72008138e-03 -3.82382832e-04 9.99983567e-01 4.67418594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5207140570001 meters Centerline goodness : 0.992667 with order 1 Centerline is valid? [True, True] Translation: X:848.84, Y:-47.67, Z:4.68 [[ 9.99522865e-01 -3.03517851e-02 -5.72815208e-03 8.48839860e+02] [ 3.03536105e-02 9.99539196e-01 2.31993843e-04 -4.76745973e+01] [ 5.71847110e-03 -4.05753248e-04 9.99983567e-01 4.67816441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.580714057 meters Centerline goodness : 0.993592 with order 1 Centerline is valid? [True, True] Translation: X:848.90, Y:-47.67, Z:4.68 [[ 9.99420397e-01 -3.35568067e-02 -5.72813001e-03 8.48901245e+02] [ 3.35586876e-02 9.99436722e-01 2.32537469e-04 -4.76748494e+01] [ 5.71710026e-03 -4.24631215e-04 9.99983567e-01 4.67877583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6407140570001 meters Centerline goodness : 0.993217 with order 1 Centerline is valid? [True, True] Translation: X:848.96, Y:-47.68, Z:4.68 [[ 9.99392859e-01 -3.43671517e-02 -5.72811688e-03 8.48963400e+02] [ 3.43690477e-02 9.99409183e-01 2.32860540e-04 -4.76753622e+01] [ 5.71672985e-03 -4.29589083e-04 9.99983567e-01 4.68061844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.700714057 meters Centerline goodness : 0.993180 with order 1 Centerline is valid? [True, True] Translation: X:849.02, Y:-47.68, Z:4.68 [[ 9.99460773e-01 -3.23319188e-02 -5.72809908e-03 8.49024234e+02] [ 3.23337840e-02 9.99477099e-01 2.33297596e-04 -4.76764126e+01] [ 5.71756089e-03 -4.18382914e-04 9.99983567e-01 4.68054675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7607140570001 meters Centerline goodness : 0.992838 with order 1 Centerline is valid? [True, True] Translation: X:849.09, Y:-47.68, Z:4.68 [[ 9.99626984e-01 -2.67036040e-02 -5.72808589e-03 8.49086856e+02] [ 2.67053792e-02 9.99643320e-01 2.33620988e-04 -4.76768052e+01] [ 5.71980427e-03 -3.86504549e-04 9.99983567e-01 4.68142107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.820714057 meters Centerline goodness : 0.992541 with order 1 Centerline is valid? [True, True] Translation: X:849.15, Y:-47.68, Z:4.68 [[ 9.99825269e-01 -1.77938369e-02 -5.72806822e-03 8.49148466e+02] [ 1.77954688e-02 9.99841621e-01 2.34053387e-04 -4.76791485e+01] [ 5.72299630e-03 -3.35946150e-04 9.99983567e-01 4.67799004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.880714057 meters Centerline goodness : 0.992052 with order 1 Centerline is valid? [True, True] Translation: X:849.21, Y:-47.68, Z:4.68 [[ 9.99903239e-01 -1.26768412e-02 -5.72803962e-03 8.49210974e+02] [ 1.26783934e-02 9.99919598e-01 2.34751194e-04 -4.76823534e+01] [ 5.72460317e-03 -3.07350819e-04 9.99983567e-01 4.67559276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.940714057 meters Centerline goodness : 0.992298 with order 1 Centerline is valid? [True, True] Translation: X:849.27, Y:-47.68, Z:4.67 [[ 9.99946064e-01 -8.66361748e-03 -5.72802169e-03 8.49271970e+02] [ 8.66510651e-03 9.99962430e-01 2.35187803e-04 -4.76837420e+01] [ 5.72576891e-03 -2.84809036e-04 9.99983567e-01 4.67354994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.000714057 meters Centerline goodness : 0.992328 with order 1 Centerline is valid? [True, True] Translation: X:849.33, Y:-47.69, Z:4.67 [[ 9.99973190e-01 -4.56170166e-03 -5.72800845e-03 8.49333464e+02] [ 4.56312538e-03 9.99989561e-01 2.35509802e-04 -4.76863962e+01] [ 5.72687434e-03 -2.61641109e-04 9.99983567e-01 4.67283954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.060714057 meters Centerline goodness : 0.992711 with order 1 Centerline is valid? [True, True] Translation: X:849.39, Y:-47.69, Z:4.68 [[ 9.99982884e-01 -1.19214790e-03 -5.72799961e-03 8.49393894e+02] [ 1.19351767e-03 9.99999260e-01 2.35724619e-04 -4.76864259e+01] [ 5.72771436e-03 -2.42557053e-04 9.99983567e-01 4.67565535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.120714057 meters Centerline goodness : 0.993071 with order 1 Centerline is valid? [True, True] Translation: X:849.45, Y:-47.69, Z:4.68 [[ 9.99980281e-01 2.57431754e-03 -5.72799961e-03 8.49452101e+02] [-2.57300945e-03 9.99996662e-01 2.35724619e-04 -4.76887979e+01] [ 5.72858732e-03 -2.20981774e-04 9.99983567e-01 4.67562576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.180714057 meters Centerline goodness : 0.993167 with order 1 Centerline is valid? [True, True] Translation: X:849.51, Y:-47.69, Z:4.68 [[ 9.99981116e-01 2.22652999e-03 -5.72801244e-03 8.49510670e+02] [-2.22521799e-03 9.99997497e-01 2.35412531e-04 -4.76891154e+01] [ 5.72852225e-03 -2.22662009e-04 9.99983567e-01 4.68023341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.240714057 meters Centerline goodness : 0.993172 with order 1 Centerline is valid? [True, True] Translation: X:849.57, Y:-47.69, Z:4.68 [[ 9.99982353e-01 1.57561781e-03 -5.72802926e-03 8.49569565e+02] [-1.57429750e-03 9.99998733e-01 2.35002513e-04 -4.76929625e+01] [ 5.72839228e-03 -2.25980744e-04 9.99983567e-01 4.68216949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.300714057 meters Centerline goodness : 0.993362 with order 1 Centerline is valid? [True, True] Translation: X:849.63, Y:-47.70, Z:4.68 [[ 9.99979796e-01 -2.75621422e-03 -5.72804695e-03 8.49628538e+02] [ 2.75760301e-03 9.99996170e-01 2.34570648e-04 -4.76988976e+01] [ 5.72737848e-03 -2.50361588e-04 9.99983567e-01 4.67943224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.360714057 meters Centerline goodness : 0.993680 with order 1 Centerline is valid? [True, True] Translation: X:849.69, Y:-47.70, Z:4.68 [[ 9.99954035e-01 -7.68872631e-03 -5.72805990e-03 8.49688190e+02] [ 7.69019404e-03 9.99970403e-01 2.34253891e-04 -4.77035863e+01] [ 5.72608925e-03 -2.78293015e-04 9.99983567e-01 4.67852483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.420714057 meters Centerline goodness : 0.994388 with order 1 Centerline is valid? [True, True] Translation: X:849.75, Y:-47.71, Z:4.68 [[ 9.99795103e-01 -1.94149559e-02 -5.72806853e-03 8.49748491e+02] [ 1.94166143e-02 9.99811452e-01 2.34042738e-04 -4.77053341e+01] [ 5.72244459e-03 -3.45214480e-04 9.99983567e-01 4.67834516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.480714057 meters Centerline goodness : 0.993879 with order 1 Centerline is valid? [True, True] Translation: X:849.81, Y:-47.71, Z:4.68 [[ 9.99762658e-01 -2.10194419e-02 -5.72806429e-03 8.49810568e+02] [ 2.10211271e-02 9.99779004e-01 2.34146363e-04 -4.77141087e+01] [ 5.72187679e-03 -3.54501157e-04 9.99983567e-01 4.67622274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5407140570001 meters Centerline goodness : 0.994445 with order 1 Centerline is valid? [True, True] Translation: X:849.87, Y:-47.72, Z:4.68 [[ 9.99661617e-01 -2.53740349e-02 -5.72804747e-03 8.49872774e+02] [ 2.53757936e-02 9.99677955e-01 2.34557207e-04 -4.77182948e+01] [ 5.72025112e-03 -3.79831587e-04 9.99983567e-01 4.67739963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.600714057 meters Centerline goodness : 0.993839 with order 1 Centerline is valid? [True, True] Translation: X:849.93, Y:-47.72, Z:4.68 [[ 9.99486892e-01 -3.15141743e-02 -5.72803046e-03 8.49934918e+02] [ 3.15160357e-02 9.99503219e-01 2.34971852e-04 -4.77211626e+01] [ 5.71777994e-03 -4.15376098e-04 9.99983567e-01 4.68140604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6607140570001 meters Centerline goodness : 0.994157 with order 1 Centerline is valid? [True, True] Translation: X:850.00, Y:-47.73, Z:4.68 [[ 9.99483885e-01 -3.16093767e-02 -5.72801240e-03 8.49996519e+02] [ 3.16112422e-02 9.99500212e-01 2.35411215e-04 -4.77256869e+01] [ 5.71770841e-03 -4.16359303e-04 9.99983567e-01 4.67971757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.720714057 meters Centerline goodness : 0.994331 with order 1 Centerline is valid? [True, True] Translation: X:850.06, Y:-47.73, Z:4.68 [[ 9.99570410e-01 -2.87434510e-02 -5.72799869e-03 8.50057131e+02] [ 2.87452716e-02 9.99586742e-01 2.35744518e-04 -4.77296955e+01] [ 5.71885543e-03 -4.00296123e-04 9.99983567e-01 4.68106405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7807140570001 meters Centerline goodness : 0.994807 with order 1 Centerline is valid? [True, True] Translation: X:850.12, Y:-47.73, Z:4.68 [[ 9.99329246e-01 -3.61697265e-02 -5.72798976e-03 8.50118888e+02] [ 3.61716696e-02 9.99345563e-01 2.35961204e-04 -4.77287231e+01] [ 5.71570650e-03 -4.42993885e-04 9.99983567e-01 4.68212342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.840714057 meters Centerline goodness : 0.994412 with order 1 Centerline is valid? [True, True] Translation: X:850.18, Y:-47.73, Z:4.68 [[ 9.99329542e-01 -3.61615395e-02 -5.72797704e-03 8.50179887e+02] [ 3.61634843e-02 9.99345859e-01 2.36269573e-04 -4.77321470e+01] [ 5.71568627e-03 -4.43254772e-04 9.99983567e-01 4.67944712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9007140570001 meters Centerline goodness : 0.994491 with order 1 Centerline is valid? [True, True] Translation: X:850.24, Y:-47.73, Z:4.68 [[ 9.99343507e-01 -3.57735236e-02 -5.72796439e-03 8.50241616e+02] [ 3.57754637e-02 9.99359825e-01 2.36575789e-04 -4.77344575e+01] [ 5.71583434e-03 -4.41341061e-04 9.99983567e-01 4.67851249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.960714057 meters Centerline goodness : 0.994055 with order 1 Centerline is valid? [True, True] Translation: X:850.30, Y:-47.74, Z:4.68 [[ 9.99502643e-01 -3.10105997e-02 -5.72795174e-03 8.50303580e+02] [ 3.10124638e-02 9.99518970e-01 2.36881842e-04 -4.77351197e+01] [ 5.71785057e-03 -4.14401923e-04 9.99983567e-01 4.68076501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0207140570001 meters Centerline goodness : 0.993872 with order 1 Centerline is valid? [True, True] Translation: X:850.37, Y:-47.74, Z:4.68 [[ 9.99472576e-01 -3.19649881e-02 -5.72793445e-03 8.50365202e+02] [ 3.19668701e-02 9.99488901e-01 2.37299010e-04 -4.77387718e+01] [ 5.71742165e-03 -4.20277989e-04 9.99983567e-01 4.67580654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.080714057 meters Centerline goodness : 0.993168 with order 1 Centerline is valid? [True, True] Translation: X:850.43, Y:-47.74, Z:4.68 [[ 9.99605309e-01 -2.75030574e-02 -5.72791306e-03 8.50428065e+02] [ 2.75048695e-02 9.99621641e-01 2.37814207e-04 -4.77401666e+01] [ 5.71920524e-03 -3.95265845e-04 9.99983567e-01 4.67918406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1407140570001 meters Centerline goodness : 0.992810 with order 1 Centerline is valid? [True, True] Translation: X:850.49, Y:-47.74, Z:4.68 [[ 9.99656979e-01 -2.55561291e-02 -5.72788766e-03 8.50490292e+02] [ 2.55579129e-02 9.99673315e-01 2.38424456e-04 -4.77445898e+01] [ 5.71992324e-03 -3.84735525e-04 9.99983567e-01 4.67555133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.200714057 meters Centerline goodness : 0.993063 with order 1 Centerline is valid? [True, True] Translation: X:850.55, Y:-47.74, Z:4.68 [[ 9.99656624e-01 -2.55700038e-02 -5.72786960e-03 8.50552510e+02] [ 2.55717902e-02 9.99672960e-01 2.38857464e-04 -4.77446454e+01] [ 5.71988877e-03 -3.85247326e-04 9.99983567e-01 4.67918603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2607140570001 meters Centerline goodness : 0.993520 with order 1 Centerline is valid? [True, True] Translation: X:850.61, Y:-47.75, Z:4.68 [[ 9.99735859e-01 -2.22576539e-02 -5.72785155e-03 8.50614165e+02] [ 2.22593887e-02 9.99752200e-01 2.39289606e-04 -4.77460524e+01] [ 5.72110617e-03 -3.66724874e-04 9.99983567e-01 4.67911314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.320714057 meters Centerline goodness : 0.992882 with order 1 Centerline is valid? [True, True] Translation: X:850.68, Y:-47.75, Z:4.68 [[ 9.99857922e-01 -1.58533156e-02 -5.72782922e-03 8.50677287e+02] [ 1.58549487e-02 9.99874274e-01 2.39822893e-04 -4.77476802e+01] [ 5.72330710e-03 -3.30603258e-04 9.99983567e-01 4.68208323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.380714057 meters Centerline goodness : 0.992556 with order 1 Centerline is valid? [True, True] Translation: X:850.74, Y:-47.75, Z:4.68 [[ 9.99937463e-01 -9.60537603e-03 -5.72780268e-03 8.50739740e+02] [ 9.60691056e-03 9.99953824e-01 2.40455097e-04 -4.77499103e+01] [ 5.72522853e-03 -2.95466547e-04 9.99983567e-01 4.68085242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.440714057 meters Centerline goodness : 0.993097 with order 1 Centerline is valid? [True, True] Translation: X:850.80, Y:-47.75, Z:4.68 [[ 9.99983525e-01 3.76739255e-04 -5.72778438e-03 8.50800316e+02] [-3.75365634e-04 9.99999901e-01 2.40890226e-04 -4.77521010e+01] [ 5.72787457e-03 -2.38736244e-04 9.99983567e-01 4.68157587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.500714057 meters Centerline goodness : 0.992801 with order 1 Centerline is valid? [True, True] Translation: X:850.86, Y:-47.75, Z:4.68 [[ 9.99976081e-01 3.87694246e-03 -5.72776963e-03 8.50858365e+02] [-3.87562416e-03 9.99992461e-01 2.41240555e-04 -4.77547183e+01] [ 5.72866172e-03 -2.19036103e-04 9.99983567e-01 4.68338352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.560714057 meters Centerline goodness : 0.992752 with order 1 Centerline is valid? [True, True] Translation: X:850.92, Y:-47.76, Z:4.68 [[ 9.99935830e-01 9.77381573e-03 -5.72779166e-03 8.50916043e+02] [-9.77259705e-03 9.99952218e-01 2.40716325e-04 -4.77593642e+01] [ 5.72987069e-03 -1.84725478e-04 9.99983567e-01 4.68361103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.620714057 meters Centerline goodness : 0.992264 with order 1 Centerline is valid? [True, True] Translation: X:850.97, Y:-47.76, Z:4.68 [[ 9.99969560e-01 5.29817401e-03 -5.72786366e-03 8.50974118e+02] [-5.29689186e-03 9.99985943e-01 2.38990623e-04 -4.77631349e+01] [ 5.72904936e-03 -2.08643474e-04 9.99983567e-01 4.68448423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.680714057 meters Centerline goodness : 0.994386 with order 1 Centerline is valid? [True, True] Translation: X:851.03, Y:-47.76, Z:4.69 [[ 9.99958412e-01 -7.09689427e-03 -5.72788726e-03 8.51032142e+02] [ 7.09837614e-03 9.99974778e-01 2.38423753e-04 -4.77592180e+01] [ 5.72605072e-03 -2.79072536e-04 9.99983567e-01 4.68972692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.740714057 meters Centerline goodness : 0.993168 with order 1 Centerline is valid? [True, True] Translation: X:851.09, Y:-47.78, Z:4.68 [[ 9.99945347e-01 -8.74607600e-03 -5.72790851e-03 8.51093117e+02] [ 8.74758194e-03 9.99961711e-01 2.37912118e-04 -4.77780454e+01] [ 5.72560840e-03 -2.88004464e-04 9.99983567e-01 4.68040858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.800714057 meters Centerline goodness : 0.993342 with order 1 Centerline is valid? [True, True] Translation: X:851.15, Y:-47.78, Z:4.68 [[ 9.99888657e-01 -1.37791376e-02 -5.72789975e-03 8.51154013e+02] [ 1.37807271e-02 9.99905013e-01 2.38122912e-04 -4.77843089e+01] [ 5.72407454e-03 -3.17031022e-04 9.99983567e-01 4.68149793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.860714057 meters Centerline goodness : 0.993569 with order 1 Centerline is valid? [True, True] Translation: X:851.22, Y:-47.79, Z:4.68 [[ 9.99587585e-01 -2.81398346e-02 -5.72789120e-03 8.51215480e+02] [ 2.81416600e-02 9.99603917e-01 2.38328396e-04 -4.77894221e+01] [ 5.71891595e-03 -3.99422472e-04 9.99983567e-01 4.68250280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.920714057 meters Centerline goodness : 0.992960 with order 1 Centerline is valid? [True, True] Translation: X:851.28, Y:-47.79, Z:4.69 [[ 9.99532630e-01 -3.00285374e-02 -5.72783603e-03 8.51277481e+02] [ 3.00304012e-02 9.99548957e-01 2.39646845e-04 -4.77947763e+01] [ 5.71805629e-03 -4.11544055e-04 9.99983567e-01 4.68685186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.980714057 meters Centerline goodness : 0.992959 with order 1 Centerline is valid? [True, True] Translation: X:851.34, Y:-47.80, Z:4.69 [[ 9.99485462e-01 -3.15595194e-02 -5.72781919e-03 8.51339564e+02] [ 3.15614105e-02 9.99501786e-01 2.40048696e-04 -4.77984943e+01] [ 5.71738969e-03 -4.20703235e-04 9.99983567e-01 4.68724715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0407140570001 meters Centerline goodness : 0.995026 with order 1 Centerline is valid? [True, True] Translation: X:851.40, Y:-47.79, Z:4.69 [[ 9.99143665e-01 -4.09771744e-02 -5.72780250e-03 8.51402656e+02] [ 4.09792215e-02 9.99159970e-01 2.40446446e-04 -4.77933389e+01] [ 5.71313815e-03 -4.74961430e-04 9.99983567e-01 4.68805500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.100714057 meters Centerline goodness : 0.993049 with order 1 Centerline is valid? [True, True] Translation: X:851.46, Y:-47.81, Z:4.68 [[ 9.99437750e-01 -3.30359915e-02 -5.72773172e-03 8.51463126e+02] [ 3.30379185e-02 9.99454070e-01 2.42120741e-04 -4.78068926e+01] [ 5.71660608e-03 -4.31216942e-04 9.99983567e-01 4.67728907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1607140570001 meters Centerline goodness : 0.992260 with order 1 Centerline is valid? [True, True] Translation: X:851.53, Y:-47.81, Z:4.68 [[ 9.99607082e-01 -2.74385514e-02 -5.72771854e-03 8.51526568e+02] [ 2.74403888e-02 9.99623412e-01 2.42432028e-04 -4.78067674e+01] [ 5.71890957e-03 -3.99507596e-04 9.99983567e-01 4.67924133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.220714057 meters Centerline goodness : 0.991733 with order 1 Centerline is valid? [True, True] Translation: X:851.59, Y:-47.81, Z:4.68 [[ 9.99709144e-01 -2.34269473e-02 -5.72769021e-03 8.51587819e+02] [ 2.34287229e-02 9.99725480e-01 2.43099666e-04 -4.78080728e+01] [ 5.72042276e-03 -3.77221425e-04 9.99983567e-01 4.68349427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2807140570001 meters Centerline goodness : 0.991803 with order 1 Centerline is valid? [True, True] Translation: X:851.65, Y:-47.81, Z:4.68 [[ 9.99698635e-01 -2.38711731e-02 -5.72765314e-03 8.51649286e+02] [ 2.38729609e-02 9.99714971e-01 2.43969956e-04 -4.78092138e+01] [ 5.72019674e-03 -3.80632472e-04 9.99983567e-01 4.68417432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.340714057 meters Centerline goodness : 0.992145 with order 1 Centerline is valid? [True, True] Translation: X:851.71, Y:-47.81, Z:4.68 [[ 9.99585831e-01 -2.82021486e-02 -5.72763939e-03 8.51711248e+02] [ 2.82040090e-02 9.99602158e-01 2.44292396e-04 -4.78101495e+01] [ 5.71847112e-03 -4.05733610e-04 9.99983567e-01 4.68341216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4007140570001 meters Centerline goodness : 0.992549 with order 1 Centerline is valid? [True, True] Translation: X:851.77, Y:-47.81, Z:4.69 [[ 9.99516876e-01 -3.05484621e-02 -5.72761767e-03 8.51773506e+02] [ 3.05503638e-02 9.99533199e-01 2.44800373e-04 -4.78096107e+01] [ 5.71746574e-03 -4.19662907e-04 9.99983567e-01 4.68850218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.460714057 meters Centerline goodness : 0.992476 with order 1 Centerline is valid? [True, True] Translation: X:851.83, Y:-47.81, Z:4.69 [[ 9.99585596e-01 -2.82104923e-02 -5.72759982e-03 8.51834578e+02] [ 2.82123582e-02 9.99601922e-01 2.45217338e-04 -4.78134861e+01] [ 5.71840209e-03 -4.06704817e-04 9.99983567e-01 4.68930261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5207140570001 meters Centerline goodness : 0.992940 with order 1 Centerline is valid? [True, True] Translation: X:851.90, Y:-47.82, Z:4.69 [[ 9.99477169e-01 -3.18211204e-02 -5.72758658e-03 8.51896553e+02] [ 3.18230470e-02 9.99493488e-01 2.45526185e-04 -4.78162617e+01] [ 5.71687258e-03 -4.27667073e-04 9.99983567e-01 4.69107564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.580714057 meters Centerline goodness : 0.993079 with order 1 Centerline is valid? [True, True] Translation: X:851.96, Y:-47.82, Z:4.69 [[ 9.99532161e-01 -3.00442003e-02 -5.72756775e-03 8.51957328e+02] [ 3.00461004e-02 9.99548484e-01 2.45964623e-04 -4.78194578e+01] [ 5.71759185e-03 -4.17940627e-04 9.99983567e-01 4.69396485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6407140570001 meters Centerline goodness : 0.993014 with order 1 Centerline is valid? [True, True] Translation: X:852.02, Y:-47.82, Z:4.70 [[ 9.99518855e-01 -3.04836479e-02 -5.72755380e-03 8.52020115e+02] [ 3.04855570e-02 9.99535177e-01 2.46289242e-04 -4.78233176e+01] [ 5.71738370e-03 -4.20778409e-04 9.99983567e-01 4.69541915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.700714057 meters Centerline goodness : 0.992649 with order 1 Centerline is valid? [True, True] Translation: X:852.08, Y:-47.83, Z:4.69 [[ 9.99532969e-01 -3.00173168e-02 -5.72752530e-03 8.52080991e+02] [ 3.00192221e-02 9.99549291e-01 2.46950210e-04 -4.78266909e+01] [ 5.71753107e-03 -4.18770730e-04 9.99983567e-01 4.69358736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7607140570001 meters Centerline goodness : 0.993027 with order 1 Centerline is valid? [True, True] Translation: X:852.14, Y:-47.83, Z:4.69 [[ 9.99610021e-01 -2.73313198e-02 -5.72751126e-03 8.52142931e+02] [ 2.73331831e-02 9.99626348e-01 2.47275296e-04 -4.78331694e+01] [ 5.71861281e-03 -4.03729977e-04 9.99983567e-01 4.69243611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.820714057 meters Centerline goodness : 0.995176 with order 1 Centerline is valid? [True, True] Translation: X:852.21, Y:-47.83, Z:4.69 [[ 9.99457907e-01 -3.24204831e-02 -5.72749343e-03 8.52205467e+02] [ 3.24224317e-02 9.99474224e-01 2.47687666e-04 -4.78301158e+01] [ 5.71645190e-03 -4.33252661e-04 9.99983567e-01 4.69381935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.880714057 meters Centerline goodness : 0.993718 with order 1 Centerline is valid? [True, True] Translation: X:852.27, Y:-47.84, Z:4.70 [[ 9.99583550e-01 -2.82829116e-02 -5.72747570e-03 8.52267465e+02] [ 2.82847951e-02 9.99599874e-01 2.48097004e-04 -4.78414173e+01] [ 5.71816708e-03 -4.09994160e-04 9.99983567e-01 4.69560149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.940714057 meters Centerline goodness : 0.993060 with order 1 Centerline is valid? [True, True] Translation: X:852.33, Y:-47.85, Z:4.70 [[ 9.99520526e-01 -3.04288396e-02 -5.72743138e-03 8.52329613e+02] [ 3.04307639e-02 9.99536846e-01 2.49116002e-04 -4.78463355e+01] [ 5.71719838e-03 -4.23286669e-04 9.99983567e-01 4.69700795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.000714057 meters Centerline goodness : 0.995217 with order 1 Centerline is valid? [True, True] Translation: X:852.39, Y:-47.85, Z:4.69 [[ 9.99444549e-01 -3.28297213e-02 -5.72741302e-03 8.52391226e+02] [ 3.28316872e-02 9.99460864e-01 2.49537233e-04 -4.78451663e+01] [ 5.71613293e-03 -4.37439260e-04 9.99983567e-01 4.69400582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.060714057 meters Centerline goodness : 0.994642 with order 1 Centerline is valid? [True, True] Translation: X:852.45, Y:-47.85, Z:4.70 [[ 9.99459254e-01 -3.23789531e-02 -5.72737831e-03 8.52454039e+02] [ 3.23809162e-02 9.99475569e-01 2.50331363e-04 -4.78499121e+01] [ 5.71626923e-03 -4.35653754e-04 9.99983567e-01 4.69534255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.120714057 meters Centerline goodness : 0.994538 with order 1 Centerline is valid? [True, True] Translation: X:852.52, Y:-47.85, Z:4.70 [[ 9.99455481e-01 -3.24952213e-02 -5.72735137e-03 8.52516148e+02] [ 3.24971897e-02 9.99471795e-01 2.50946306e-04 -4.78546831e+01] [ 5.71617160e-03 -4.36932485e-04 9.99983567e-01 4.69575043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.180714057 meters Centerline goodness : 0.994712 with order 1 Centerline is valid? [True, True] Translation: X:852.58, Y:-47.86, Z:4.70 [[ 9.99435183e-01 -3.31136409e-02 -5.72733323e-03 8.52578317e+02] [ 3.31156219e-02 9.99451496e-01 2.51359582e-04 -4.78580167e+01] [ 5.71586833e-03 -4.40881811e-04 9.99983567e-01 4.69629855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.240714057 meters Centerline goodness : 0.994622 with order 1 Centerline is valid? [True, True] Translation: X:852.64, Y:-47.86, Z:4.70 [[ 9.99380098e-01 -3.47364050e-02 -5.72731511e-03 8.52640829e+02] [ 3.47384147e-02 9.99396407e-01 2.51771721e-04 -4.78621206e+01] [ 5.71511251e-03 -4.50573495e-04 9.99983567e-01 4.69567096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.300714057 meters Centerline goodness : 0.994492 with order 1 Centerline is valid? [True, True] Translation: X:852.70, Y:-47.87, Z:4.69 [[ 9.99346441e-01 -3.56915710e-02 -5.72729693e-03 8.52701884e+02] [ 3.56935987e-02 9.99362749e-01 2.52184775e-04 -4.78661399e+01] [ 5.71464633e-03 -4.56447795e-04 9.99983567e-01 4.69390348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.360714057 meters Centerline goodness : 0.994527 with order 1 Centerline is valid? [True, True] Translation: X:852.76, Y:-47.87, Z:4.69 [[ 9.99337837e-01 -3.59316864e-02 -5.72728353e-03 8.52763631e+02] [ 3.59337198e-02 9.99354143e-01 2.52488758e-04 -4.78680838e+01] [ 5.71451218e-03 -4.58124170e-04 9.99983567e-01 4.69486946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.420714057 meters Centerline goodness : 0.993269 with order 1 Centerline is valid? [True, True] Translation: X:852.83, Y:-47.87, Z:4.69 [[ 9.99326108e-01 -3.62564322e-02 -5.72726581e-03 8.52826151e+02] [ 3.62584731e-02 9.99342413e-01 2.52890075e-04 -4.78692205e+01] [ 5.71433074e-03 -4.60381568e-04 9.99983567e-01 4.69339606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.480714057 meters Centerline goodness : 0.994730 with order 1 Centerline is valid? [True, True] Translation: X:852.89, Y:-47.87, Z:4.70 [[ 9.99252184e-01 -3.82396535e-02 -5.72723996e-03 8.52888472e+02] [ 3.82417301e-02 9.99268485e-01 2.53474000e-04 -4.78719731e+01] [ 5.71335764e-03 -4.72304014e-04 9.99983567e-01 4.69831220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5407140570001 meters Centerline goodness : 0.993344 with order 1 Centerline is valid? [True, True] Translation: X:852.95, Y:-47.88, Z:4.70 [[ 9.99524344e-01 -3.03031998e-02 -5.72721797e-03 8.52950259e+02] [ 3.03051497e-02 9.99540661e-01 2.53969977e-04 -4.78844245e+01] [ 5.71689113e-03 -4.27413373e-04 9.99983567e-01 4.69580585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.600714057 meters Centerline goodness : 0.993689 with order 1 Centerline is valid? [True, True] Translation: X:853.01, Y:-47.89, Z:4.69 [[ 9.99411821e-01 -3.38114140e-02 -5.72719873e-03 8.53012134e+02] [ 3.38134237e-02 9.99428130e-01 2.54403127e-04 -4.78858696e+01] [ 5.71532179e-03 -4.47909689e-04 9.99983567e-01 4.69404904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6607140570001 meters Centerline goodness : 0.993671 with order 1 Centerline is valid? [True, True] Translation: X:853.07, Y:-47.89, Z:4.70 [[ 9.99258944e-01 -3.80626058e-02 -5.72717971e-03 8.53072830e+02] [ 3.80646872e-02 9.99275245e-01 2.54830529e-04 -4.78866451e+01] [ 5.71332939e-03 -4.72644989e-04 9.99983567e-01 4.69647146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.720714057 meters Centerline goodness : 0.994196 with order 1 Centerline is valid? [True, True] Translation: X:853.14, Y:-47.89, Z:4.70 [[ 9.99204400e-01 -3.94685622e-02 -5.72717028e-03 8.53135480e+02] [ 3.94706678e-02 9.99220697e-01 2.55042196e-04 -4.78883418e+01] [ 5.71264094e-03 -4.80894520e-04 9.99983567e-01 4.69643680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7807140570001 meters Centerline goodness : 0.994105 with order 1 Centerline is valid? [True, True] Translation: X:853.20, Y:-47.89, Z:4.70 [[ 9.99123770e-01 -4.14595281e-02 -5.72714178e-03 8.53198024e+02] [ 4.14616698e-02 9.99140063e-01 2.55680607e-04 -4.78869016e+01] [ 5.71161640e-03 -4.92913433e-04 9.99983567e-01 4.70119007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.840714057 meters Centerline goodness : 0.994291 with order 1 Centerline is valid? [True, True] Translation: X:853.26, Y:-47.89, Z:4.71 [[ 9.99108341e-01 -4.18297090e-02 -5.72707169e-03 8.53260842e+02] [ 4.18318656e-02 9.99124631e-01 2.57241247e-04 -4.78851730e+01] [ 5.71129806e-03 -4.96585968e-04 9.99983567e-01 4.70641742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9007140570001 meters Centerline goodness : 0.994854 with order 1 Centerline is valid? [True, True] Translation: X:853.32, Y:-47.89, Z:4.71 [[ 9.99082846e-01 -4.24342760e-02 -5.72703602e-03 8.53322768e+02] [ 4.24364470e-02 9.99099135e-01 2.58032793e-04 -4.78855895e+01] [ 5.71092730e-03 -5.00831198e-04 9.99983567e-01 4.70876839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.960714057 meters Centerline goodness : 0.994478 with order 1 Centerline is valid? [True, True] Translation: X:853.38, Y:-47.89, Z:4.71 [[ 9.99062543e-01 -4.29096276e-02 -5.72701736e-03 8.53384914e+02] [ 4.29118086e-02 9.99078831e-01 2.58446266e-04 -4.78860317e+01] [ 5.71065198e-03 -5.03960657e-04 9.99983567e-01 4.70963591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0207140570001 meters Centerline goodness : 0.994718 with order 1 Centerline is valid? [True, True] Translation: X:853.45, Y:-47.89, Z:4.71 [[ 9.99035522e-01 -4.35342096e-02 -5.72699867e-03 8.53446757e+02] [ 4.35364032e-02 9.99051808e-01 2.58859868e-04 -4.78878974e+01] [ 5.71029911e-03 -5.07943127e-04 9.99983567e-01 4.70874241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.080714057 meters Centerline goodness : 0.994161 with order 1 Centerline is valid? [True, True] Translation: X:853.51, Y:-47.89, Z:4.71 [[ 9.99067608e-01 -4.27915471e-02 -5.72697999e-03 8.53508733e+02] [ 4.27937309e-02 9.99083895e-01 2.59272331e-04 -4.78889420e+01] [ 5.71063882e-03 -5.04109429e-04 9.99983567e-01 4.70902790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1407140570001 meters Centerline goodness : 0.994299 with order 1 Centerline is valid? [True, True] Translation: X:853.57, Y:-47.89, Z:4.71 [[ 9.99150490e-01 -4.08105438e-02 -5.72695986e-03 8.53569694e+02] [ 4.08126979e-02 9.99166781e-01 2.59716366e-04 -4.78921161e+01] [ 5.71158888e-03 -4.93228417e-04 9.99983567e-01 4.70717003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.200714057 meters Centerline goodness : 0.994939 with order 1 Centerline is valid? [True, True] Translation: X:853.63, Y:-47.90, Z:4.71 [[ 9.99155073e-01 -4.06981939e-02 -5.72694508e-03 8.53631329e+02] [ 4.07003480e-02 9.99171364e-01 2.60041891e-04 -4.78952688e+01] [ 5.71161629e-03 -4.92910832e-04 9.99983567e-01 4.70605598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2607140570001 meters Centerline goodness : 0.995453 with order 1 Centerline is valid? [True, True] Translation: X:853.69, Y:-47.89, Z:4.70 [[ 9.98904340e-01 -4.64469882e-02 -5.72690824e-03 8.53691792e+02] [ 4.64492406e-02 9.98920617e-01 2.60850712e-04 -4.78939637e+01] [ 5.70861098e-03 -5.26575447e-04 9.99983567e-01 4.70135867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.320714057 meters Centerline goodness : 0.994988 with order 1 Centerline is valid? [True, True] Translation: X:853.75, Y:-47.90, Z:4.71 [[ 9.98852912e-01 -4.75401116e-02 -5.72687906e-03 8.53753451e+02] [ 4.75423854e-02 9.98869187e-01 2.61489607e-04 -4.78953937e+01] [ 5.70797179e-03 -5.33459147e-04 9.99983567e-01 4.70795960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.380714057 meters Centerline goodness : 0.995130 with order 1 Centerline is valid? [True, True] Translation: X:853.82, Y:-47.90, Z:4.70 [[ 9.98704881e-01 -5.05545595e-02 -5.72681970e-03 8.53815494e+02] [ 5.05568898e-02 9.98721148e-01 2.62783322e-04 -4.79005738e+01] [ 5.70621105e-03 -5.51973178e-04 9.99983567e-01 4.70448619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.440714057 meters Centerline goodness : 0.995060 with order 1 Centerline is valid? [True, True] Translation: X:853.88, Y:-47.90, Z:4.71 [[ 9.98625156e-01 -5.21056713e-02 -5.72680052e-03 8.53877533e+02] [ 5.21080293e-02 9.98641419e-01 2.63200763e-04 -4.79016713e+01] [ 5.70530594e-03 -5.61251192e-04 9.99983567e-01 4.71006591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.500714057 meters Centerline goodness : 0.993876 with order 1 Centerline is valid? [True, True] Translation: X:853.94, Y:-47.92, Z:4.71 [[ 9.98955040e-01 -4.53434819e-02 -5.72678001e-03 8.53938783e+02] [ 4.53457322e-02 9.98971318e-01 2.63646156e-04 -4.79157511e+01] [ 5.70893434e-03 -5.23055689e-04 9.99983567e-01 4.70527910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.560714057 meters Centerline goodness : 0.994805 with order 1 Centerline is valid? [True, True] Translation: X:854.00, Y:-47.92, Z:4.70 [[ 9.99005838e-01 -4.42101708e-02 -5.72675975e-03 8.54001773e+02] [ 4.42124051e-02 9.99022119e-01 2.64085423e-04 -4.79191016e+01] [ 5.70948440e-03 -5.17016702e-04 9.99983567e-01 4.70433435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.620714057 meters Centerline goodness : 0.994119 with order 1 Centerline is valid? [True, True] Translation: X:854.06, Y:-47.92, Z:4.71 [[ 9.99164957e-01 -4.04548247e-02 -5.72672941e-03 8.54063684e+02] [ 4.04570015e-02 9.99181245e-01 2.64741852e-04 -4.79219598e+01] [ 5.71133054e-03 -4.96207082e-04 9.99983567e-01 4.70600563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.680714057 meters Centerline goodness : 0.993274 with order 1 Centerline is valid? [True, True] Translation: X:854.13, Y:-47.93, Z:4.71 [[ 9.99412204e-01 -3.38001832e-02 -5.72665431e-03 8.54126705e+02] [ 3.38022607e-02 9.99428505e-01 2.66356555e-04 -4.79251302e+01] [ 5.71437865e-03 -4.59773854e-04 9.99983567e-01 4.70874748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.740714057 meters Centerline goodness : 0.992821 with order 1 Centerline is valid? [True, True] Translation: X:854.19, Y:-47.93, Z:4.71 [[ 9.99560103e-01 -2.90999292e-02 -5.72662365e-03 8.54190136e+02] [ 2.91019338e-02 9.99576413e-01 2.67013932e-04 -4.79285025e+01] [ 5.71642785e-03 -4.33552296e-04 9.99983567e-01 4.71033698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.800714057 meters Centerline goodness : 0.993007 with order 1 Centerline is valid? [True, True] Translation: X:854.25, Y:-47.93, Z:4.71 [[ 9.99735418e-01 -2.22778065e-02 -5.72659264e-03 8.54252738e+02] [ 2.22797035e-02 9.99751741e-01 2.67677419e-04 -4.79331956e+01] [ 5.71920770e-03 -3.95193382e-04 9.99983567e-01 4.70877355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.860714057 meters Centerline goodness : 0.992920 with order 1 Centerline is valid? [True, True] Translation: X:854.32, Y:-47.94, Z:4.70 [[ 9.99806918e-01 -1.87971429e-02 -5.72656212e-03 8.54315223e+02] [ 1.87989868e-02 9.99823247e-01 2.68328786e-04 -4.79380837e+01] [ 5.72050612e-03 -3.75930542e-04 9.99983567e-01 4.70454748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.920714057 meters Centerline goodness : 0.992599 with order 1 Centerline is valid? [True, True] Translation: X:854.38, Y:-47.94, Z:4.70 [[ 9.99862366e-01 -1.55709614e-02 -5.72654139e-03 8.54377787e+02] [ 1.55727551e-02 9.99878701e-01 2.68770425e-04 -4.79414750e+01] [ 5.72166176e-03 -3.57911460e-04 9.99983567e-01 4.70478700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.980714057 meters Centerline goodness : 0.992687 with order 1 Centerline is valid? [True, True] Translation: X:854.44, Y:-47.95, Z:4.70 [[ 9.99944683e-01 -8.82258847e-03 -5.72652103e-03 8.54439410e+02] [ 8.82427438e-03 9.99961029e-01 2.69203523e-04 -4.79451452e+01] [ 5.72392279e-03 -3.19721024e-04 9.99983567e-01 4.70460401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0407140570001 meters Centerline goodness : 0.992087 with order 1 Centerline is valid? [True, True] Translation: X:854.50, Y:-47.95, Z:4.70 [[ 9.99982898e-01 1.18749418e-03 -5.72650098e-03 8.54499840e+02] [-1.18596955e-03 9.99999260e-01 2.69629288e-04 -4.79502892e+01] [ 5.72681693e-03 -2.62833222e-04 9.99983567e-01 4.70377003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.100714057 meters Centerline goodness : 0.992176 with order 1 Centerline is valid? [True, True] Translation: X:854.56, Y:-47.95, Z:4.70 [[ 9.99983596e-01 1.21008424e-04 -5.72648394e-03 8.54558461e+02] [-1.19464281e-04 9.99999956e-01 2.69990829e-04 -4.79543492e+01] [ 5.72651636e-03 -2.69302289e-04 9.99983567e-01 4.70344822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1607140570001 meters Centerline goodness : 0.992023 with order 1 Centerline is valid? [True, True] Translation: X:854.62, Y:-47.96, Z:4.70 [[ 9.99981781e-01 1.90901625e-03 -5.72650390e-03 8.54616786e+02] [-1.90750379e-03 9.99998144e-01 2.69566828e-04 -4.79612489e+01] [ 5.72700788e-03 -2.58638589e-04 9.99983567e-01 4.70171341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.220714057 meters Centerline goodness : 0.992028 with order 1 Centerline is valid? [True, True] Translation: X:854.68, Y:-47.96, Z:4.71 [[ 9.99983177e-01 -9.23588697e-04 -5.72657349e-03 8.54675087e+02] [ 9.25139013e-04 9.99999536e-01 2.68080164e-04 -4.79637415e+01] [ 5.72632324e-03 -2.73373531e-04 9.99983567e-01 4.70503680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2807140570001 meters Centerline goodness : 0.991591 with order 1 Centerline is valid? [True, True] Translation: X:854.73, Y:-47.97, Z:4.70 [[ 9.99982334e-01 -1.59317066e-03 -5.72659323e-03 8.54733726e+02] [ 1.59472952e-03 9.99998693e-01 2.67657949e-04 -4.79693522e+01] [ 5.72615932e-03 -2.76785587e-04 9.99983567e-01 4.70193180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.340714057 meters Centerline goodness : 0.991269 with order 1 Centerline is valid? [True, True] Translation: X:854.79, Y:-47.97, Z:4.70 [[ 9.99980941e-01 -2.30733899e-03 -5.72661292e-03 8.54792340e+02] [ 2.30890712e-03 9.99997299e-01 2.67235871e-04 -4.79748251e+01] [ 5.72598085e-03 -2.80452995e-04 9.99983567e-01 4.69926092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4007140570001 meters Centerline goodness : 0.991891 with order 1 Centerline is valid? [True, True] Translation: X:854.85, Y:-47.98, Z:4.70 [[ 9.99966933e-01 -5.77398644e-03 -5.72662742e-03 8.54851292e+02] [ 5.77560949e-03 9.99983285e-01 2.66924887e-04 -4.79784746e+01] [ 5.72499048e-03 -2.99990824e-04 9.99983567e-01 4.69974545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.460714057 meters Centerline goodness : 0.993633 with order 1 Centerline is valid? [True, True] Translation: X:854.91, Y:-47.96, Z:4.71 [[ 9.99725157e-01 -2.27335704e-02 -5.72664163e-03 8.54912483e+02] [ 2.27354688e-02 9.99741480e-01 2.66619778e-04 -4.79647559e+01] [ 5.71909996e-03 -3.96744381e-04 9.99983567e-01 4.71424309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5207140570001 meters Centerline goodness : 0.991373 with order 1 Centerline is valid? [True, True] Translation: X:854.97, Y:-47.98, Z:4.70 [[ 9.99871029e-01 -1.50043432e-02 -5.72664163e-03 8.54973860e+02] [ 1.50061154e-02 9.99887366e-01 2.66619778e-04 -4.79833008e+01] [ 5.72199616e-03 -3.52520037e-04 9.99983567e-01 4.70355642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.580714057 meters Centerline goodness : 0.991433 with order 1 Centerline is valid? [True, True] Translation: X:855.04, Y:-47.99, Z:4.70 [[ 9.99803714e-01 -1.89668089e-02 -5.72662099e-03 8.55035448e+02] [ 1.89686483e-02 9.99820043e-01 2.67062275e-04 -4.79864508e+01] [ 5.72052513e-03 -3.75636114e-04 9.99983567e-01 4.70339336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6407140570001 meters Centerline goodness : 0.991831 with order 1 Centerline is valid? [True, True] Translation: X:855.10, Y:-47.99, Z:4.70 [[ 9.99737216e-01 -2.21969442e-02 -5.72660581e-03 8.55097309e+02] [ 2.21988383e-02 9.99753540e-01 2.67387271e-04 -4.79889169e+01] [ 5.71925925e-03 -3.94441003e-04 9.99983567e-01 4.70156675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.700714057 meters Centerline goodness : 0.992293 with order 1 Centerline is valid? [True, True] Translation: X:855.16, Y:-47.99, Z:4.70 [[ 9.99631872e-01 -2.65203125e-02 -5.72658522e-03 8.55158819e+02] [ 2.65222797e-02 9.99648187e-01 2.67827565e-04 -4.79890521e+01] [ 5.71746766e-03 -4.19611065e-04 9.99983567e-01 4.70422912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7607140570001 meters Centerline goodness : 0.994506 with order 1 Centerline is valid? [True, True] Translation: X:855.22, Y:-47.98, Z:4.71 [[ 9.99223522e-01 -3.89815194e-02 -5.72657002e-03 8.55220739e+02] [ 3.89836917e-02 9.99239811e-01 2.68152129e-04 -4.79790249e+01] [ 5.71176377e-03 -4.91186755e-04 9.99983567e-01 4.71419409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.820714057 meters Centerline goodness : 0.992224 with order 1 Centerline is valid? [True, True] Translation: X:855.28, Y:-47.99, Z:4.71 [[ 9.99521257e-01 -3.04050083e-02 -5.72650957e-03 8.55282708e+02] [ 3.04070480e-02 9.99537563e-01 2.69436981e-04 -4.79912966e+01] [ 5.71566918e-03 -4.43434241e-04 9.99983567e-01 4.70917019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.880714057 meters Centerline goodness : 0.992396 with order 1 Centerline is valid? [True, True] Translation: X:855.34, Y:-47.99, Z:4.71 [[ 9.99643208e-01 -2.60895244e-02 -5.72648891e-03 8.55344589e+02] [ 2.60914962e-02 9.99659523e-01 2.69875387e-04 -4.79940802e+01] [ 5.71749825e-03 -4.19191762e-04 9.99983567e-01 4.70549775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.940714057 meters Centerline goodness : 0.991869 with order 1 Centerline is valid? [True, True] Translation: X:855.41, Y:-48.00, Z:4.70 [[ 9.99704301e-01 -2.36330014e-02 -5.72646801e-03 8.55405945e+02] [ 2.36349356e-02 9.99720619e-01 2.70318073e-04 -4.79956730e+01] [ 5.71847972e-03 -4.05582843e-04 9.99983567e-01 4.70328344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.000714057 meters Centerline goodness : 0.992038 with order 1 Centerline is valid? [True, True] Translation: X:855.47, Y:-48.00, Z:4.70 [[ 9.99723594e-01 -2.28022878e-02 -5.72645261e-03 8.55467546e+02] [ 2.28042103e-02 9.99739914e-01 2.70644041e-04 -4.79981342e+01] [ 5.71879193e-03 -4.01156463e-04 9.99983567e-01 4.70253795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.060714057 meters Centerline goodness : 0.993825 with order 1 Centerline is valid? [True, True] Translation: X:855.53, Y:-47.98, Z:4.72 [[ 9.99583568e-01 -2.82824657e-02 -5.72643957e-03 8.55530305e+02] [ 2.82844792e-02 9.99599877e-01 2.70919667e-04 -4.79840006e+01] [ 5.71648601e-03 -4.32776208e-04 9.99983567e-01 4.71751649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.120714057 meters Centerline goodness : 0.991289 with order 1 Centerline is valid? [True, True] Translation: X:855.59, Y:-48.00, Z:4.70 [[ 9.99899815e-01 -1.29448161e-02 -5.72642056e-03 8.55591426e+02] [ 1.29465815e-02 9.99916153e-01 2.71320924e-04 -4.80017175e+01] [ 5.72242821e-03 -3.45431312e-04 9.99983567e-01 4.70210237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.180714057 meters Centerline goodness : 0.991844 with order 1 Centerline is valid? [True, True] Translation: X:855.65, Y:-48.00, Z:4.71 [[ 9.99899921e-01 -1.29366513e-02 -5.72639954e-03 8.55652932e+02] [ 1.29384191e-02 9.99916258e-01 2.71763657e-04 -4.80016580e+01] [ 5.72240429e-03 -3.45827016e-04 9.99983567e-01 4.70594867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.240714057 meters Centerline goodness : 0.991965 with order 1 Centerline is valid? [True, True] Translation: X:855.72, Y:-48.00, Z:4.71 [[ 9.99947232e-01 -8.52891712e-03 -5.72638415e-03 8.55715255e+02] [ 8.53061469e-03 9.99963577e-01 2.72087704e-04 -4.80025814e+01] [ 5.72385496e-03 -3.20922923e-04 9.99983567e-01 4.70740881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.300714057 meters Centerline goodness : 0.992148 with order 1 Centerline is valid? [True, True] Translation: X:855.78, Y:-48.00, Z:4.71 [[ 9.99948611e-01 -8.36563647e-03 -5.72636323e-03 8.55776356e+02] [ 8.36733388e-03 9.99964956e-01 2.72527138e-04 -4.80043312e+01] [ 5.72388270e-03 -3.20427526e-04 9.99983567e-01 4.70996973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.360714057 meters Centerline goodness : 0.991224 with order 1 Centerline is valid? [True, True] Translation: X:855.84, Y:-48.01, Z:4.71 [[ 9.99956930e-01 -7.30398661e-03 -5.72632971e-03 8.55837706e+02] [ 7.30567068e-03 9.99973276e-01 2.73229655e-04 -4.80060562e+01] [ 5.72418102e-03 -3.15052566e-04 9.99983567e-01 4.71455685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.420714057 meters Centerline goodness : 0.991514 with order 1 Centerline is valid? [True, True] Translation: X:855.90, Y:-48.01, Z:4.71 [[ 9.99964261e-01 -6.21973030e-03 -5.72631978e-03 8.55897716e+02] [ 6.22139783e-03 9.99980610e-01 2.73437759e-04 -4.80113398e+01] [ 5.72450803e-03 -3.09053700e-04 9.99983567e-01 4.70705136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.480714057 meters Centerline goodness : 0.992099 with order 1 Centerline is valid? [True, True] Translation: X:855.96, Y:-48.01, Z:4.71 [[ 9.99913300e-01 -1.18575361e-02 -5.72631486e-03 8.55957561e+02] [ 1.18592964e-02 9.99929639e-01 2.73540641e-04 -4.80129154e+01] [ 5.72266843e-03 -3.41426990e-04 9.99983567e-01 4.71124642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5407140570001 meters Centerline goodness : 0.992465 with order 1 Centerline is valid? [True, True] Translation: X:856.02, Y:-48.01, Z:4.71 [[ 9.99868853e-01 -1.51487766e-02 -5.72631031e-03 8.56019664e+02] [ 1.51505911e-02 9.99885186e-01 2.73635983e-04 -4.80137007e+01] [ 5.72150759e-03 -3.60357082e-04 9.99983567e-01 4.71262727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.600714057 meters Centerline goodness : 0.992743 with order 1 Centerline is valid? [True, True] Translation: X:856.08, Y:-48.02, Z:4.71 [[ 9.99789124e-01 -1.97209970e-02 -5.72629115e-03 8.56081543e+02] [ 1.97228885e-02 9.99805447e-01 2.74036160e-04 -4.80160106e+01] [ 5.71977282e-03 -3.86917375e-04 9.99983567e-01 4.71387729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6607140570001 meters Centerline goodness : 0.992420 with order 1 Centerline is valid? [True, True] Translation: X:856.14, Y:-48.02, Z:4.72 [[ 9.99688851e-01 -2.42778025e-02 -5.72627125e-03 8.56143329e+02] [ 2.42797707e-02 9.99705165e-01 2.74451474e-04 -4.80167564e+01] [ 5.71791987e-03 -4.13398632e-04 9.99983567e-01 4.71560381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.720714057 meters Centerline goodness : 0.992513 with order 1 Centerline is valid? [True, True] Translation: X:856.21, Y:-48.02, Z:4.71 [[ 9.99664401e-01 -2.52645145e-02 -5.72623224e-03 8.56206173e+02] [ 2.52665035e-02 9.99680713e-01 2.75262988e-04 -4.80191674e+01] [ 5.71744954e-03 -4.19852477e-04 9.99983567e-01 4.71484516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7807140570001 meters Centerline goodness : 0.992800 with order 1 Centerline is valid? [True, True] Translation: X:856.27, Y:-48.02, Z:4.72 [[ 9.99616284e-01 -2.71015710e-02 -5.72620036e-03 8.56267192e+02] [ 2.71035938e-02 9.99632592e-01 2.75924478e-04 -4.80206544e+01] [ 5.71661853e-03 -4.31019210e-04 9.99983567e-01 4.71895526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.840714057 meters Centerline goodness : 0.993896 with order 1 Centerline is valid? [True, True] Translation: X:856.33, Y:-48.02, Z:4.71 [[ 9.99500532e-01 -3.10788906e-02 -5.72618469e-03 8.56327934e+02] [ 3.10809801e-02 9.99516831e-01 2.76249450e-04 -4.80229053e+01] [ 5.71483245e-03 -4.54086905e-04 9.99983567e-01 4.71341901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9007140570001 meters Centerline goodness : 0.992378 with order 1 Centerline is valid? [True, True] Translation: X:856.39, Y:-48.03, Z:4.72 [[ 9.99520065e-01 -3.04442332e-02 -5.72616955e-03 8.56391240e+02] [ 3.04463141e-02 9.99536365e-01 2.76562956e-04 -4.80255156e+01] [ 5.71509495e-03 -4.50770980e-04 9.99983567e-01 4.71803911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.960714057 meters Centerline goodness : 0.992937 with order 1 Centerline is valid? [True, True] Translation: X:856.45, Y:-48.03, Z:4.71 [[ 9.99528063e-01 -3.01804941e-02 -5.72613877e-03 8.56452876e+02] [ 3.01825744e-02 9.99544364e-01 2.77198625e-04 -4.80279256e+01] [ 5.71516375e-03 -4.49897414e-04 9.99983567e-01 4.71232739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0207140570001 meters Centerline goodness : 0.992873 with order 1 Centerline is valid? [True, True] Translation: X:856.52, Y:-48.03, Z:4.71 [[ 9.99545429e-01 -2.95997965e-02 -5.72611354e-03 8.56515409e+02] [ 2.96018702e-02 9.99561730e-01 2.77718882e-04 -4.80295281e+01] [ 5.71538353e-03 -4.47096308e-04 9.99983567e-01 4.70991090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.080714057 meters Centerline goodness : 0.993012 with order 1 Centerline is valid? [True, True] Translation: X:856.58, Y:-48.03, Z:4.72 [[ 9.99630572e-01 -2.65693592e-02 -5.72609552e-03 8.56577187e+02] [ 2.65713856e-02 9.99646880e-01 2.78089938e-04 -4.80299536e+01] [ 5.71668485e-03 -4.30137496e-04 9.99983567e-01 4.71644966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1407140570001 meters Centerline goodness : 0.993155 with order 1 Centerline is valid? [True, True] Translation: X:856.64, Y:-48.03, Z:4.72 [[ 9.99754041e-01 -2.14259259e-02 -5.72607480e-03 8.56639881e+02] [ 2.14278708e-02 9.99770358e-01 2.78515857e-04 -4.80322858e+01] [ 5.71879240e-03 -4.01144945e-04 9.99983567e-01 4.71682356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.200714057 meters Centerline goodness : 0.993079 with order 1 Centerline is valid? [True, True] Translation: X:856.70, Y:-48.03, Z:4.72 [[ 9.99806259e-01 -1.88323099e-02 -5.72604826e-03 8.56701234e+02] [ 1.88342156e-02 9.99822581e-01 2.79060561e-04 -4.80310170e+01] [ 5.71977700e-03 -3.86852123e-04 9.99983567e-01 4.71914184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2607140570001 meters Centerline goodness : 0.993780 with order 1 Centerline is valid? [True, True] Translation: X:856.76, Y:-48.03, Z:4.72 [[ 9.99843940e-01 -1.67125219e-02 -5.72603259e-03 8.56763175e+02] [ 1.67143948e-02 9.99860266e-01 2.79381670e-04 -4.80316679e+01] [ 5.72056329e-03 -3.75045239e-04 9.99983567e-01 4.72096020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.320714057 meters Centerline goodness : 0.993956 with order 1 Centerline is valid? [True, True] Translation: X:856.82, Y:-48.03, Z:4.72 [[ 9.99811820e-01 -1.85347472e-02 -5.72601173e-03 8.56824340e+02] [ 1.85366523e-02 9.99828142e-01 2.79808563e-04 -4.80261955e+01] [ 5.71984149e-03 -3.85896997e-04 9.99983567e-01 4.72002578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.380714057 meters Centerline goodness : 0.993926 with order 1 Centerline is valid? [True, True] Translation: X:856.89, Y:-48.03, Z:4.72 [[ 9.99875373e-01 -1.47123161e-02 -5.72599639e-03 8.56886734e+02] [ 1.47141606e-02 9.99891702e-01 2.80122193e-04 -4.80278994e+01] [ 5.72125502e-03 -3.64340513e-04 9.99983567e-01 4.72033472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.440714057 meters Centerline goodness : 0.993108 with order 1 Centerline is valid? [True, True] Translation: X:856.95, Y:-48.04, Z:4.72 [[ 9.99979179e-01 -2.97569380e-03 -5.72597722e-03 8.56948377e+02] [ 2.97734870e-03 9.99995528e-01 2.80513430e-04 -4.80376034e+01] [ 5.72511689e-03 -2.97555821e-04 9.99983567e-01 4.71771204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.500714057 meters Centerline goodness : 0.991942 with order 1 Centerline is valid? [True, True] Translation: X:857.01, Y:-48.04, Z:4.72 [[ 9.99983277e-01 8.11928805e-04 -5.72595635e-03 8.57006977e+02] [-8.10333415e-04 9.99999632e-01 2.80938737e-04 -4.80411399e+01] [ 5.72618235e-03 -2.76294105e-04 9.99983567e-01 4.71724911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.560714057 meters Centerline goodness : 0.991941 with order 1 Centerline is valid? [True, True] Translation: X:857.06, Y:-48.04, Z:4.73 [[ 9.99983108e-01 9.98591575e-04 -5.72597628e-03 8.57064922e+02] [-9.97001562e-04 9.99999464e-01 2.80531942e-04 -4.80391306e+01] [ 5.72625335e-03 -2.74818396e-04 9.99983567e-01 4.72503988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.620714057 meters Centerline goodness : 0.991289 with order 1 Centerline is valid? [True, True] Translation: X:857.12, Y:-48.04, Z:4.73 [[ 9.99977502e-01 3.49407194e-03 -5.72600318e-03 8.57123503e+02] [-3.49252589e-03 9.99993862e-01 2.79981829e-04 -4.80446055e+01] [ 5.72694631e-03 -2.59977315e-04 9.99983567e-01 4.72584994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.680714057 meters Centerline goodness : 0.992258 with order 1 Centerline is valid? [True, True] Translation: X:857.18, Y:-48.05, Z:4.73 [[ 9.99977756e-01 3.42035892e-03 -5.72607770e-03 8.57180621e+02] [-3.41882043e-03 9.99994117e-01 2.78449341e-04 -4.80491432e+01] [ 5.72699641e-03 -2.58866716e-04 9.99983567e-01 4.72592430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.740714057 meters Centerline goodness : 0.993906 with order 1 Centerline is valid? [True, True] Translation: X:857.24, Y:-48.05, Z:4.73 [[ 9.99983526e-01 -3.98417298e-04 -5.72610871e-03 8.57238289e+02] [ 4.00014612e-04 9.99999881e-01 2.77810244e-04 -4.80464953e+01] [ 5.72599735e-03 -2.80096195e-04 9.99983567e-01 4.72857668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.800714057 meters Centerline goodness : 0.991975 with order 1 Centerline is valid? [True, True] Translation: X:857.30, Y:-48.06, Z:4.73 [[ 9.99923348e-01 1.09776424e-02 -5.72613341e-03 8.57296546e+02] [-1.09762341e-02 9.99939721e-01 2.77300159e-04 -4.80606730e+01] [ 5.72883235e-03 -2.14427523e-04 9.99983567e-01 4.72566227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.860714057 meters Centerline goodness : 0.991510 with order 1 Centerline is valid? [True, True] Translation: X:857.35, Y:-48.07, Z:4.73 [[ 9.99934261e-01 9.93396725e-03 -5.72620315e-03 8.57354933e+02] [-9.93255020e-03 9.99950633e-01 2.75852556e-04 -4.80660953e+01] [ 5.72866077e-03 -2.18958622e-04 9.99983567e-01 4.72665510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.920714057 meters Centerline goodness : 0.990822 with order 1 Centerline is valid? [True, True] Translation: X:857.41, Y:-48.08, Z:4.72 [[ 9.99843756e-01 1.67234818e-02 -5.72622384e-03 8.57412600e+02] [-1.67221784e-02 9.99860137e-01 2.75422259e-04 -4.80773751e+01] [ 5.73002897e-03 -1.79624289e-04 9.99983567e-01 4.72026588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.980714057 meters Centerline goodness : 0.993588 with order 1 Centerline is valid? [True, True] Translation: X:857.47, Y:-48.07, Z:4.73 [[ 9.99932804e-01 1.00796031e-02 -5.72624922e-03 8.57471128e+02] [-1.00781939e-02 9.99949176e-01 2.74893680e-04 -4.80705580e+01] [ 5.72872901e-03 -2.17164958e-04 9.99983567e-01 4.72852835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0407140570001 meters Centerline goodness : 0.992199 with order 1 Centerline is valid? [True, True] Translation: X:857.53, Y:-48.09, Z:4.72 [[ 9.99652573e-01 2.57282426e-02 -5.72627328e-03 8.57528921e+02] [-2.57270927e-02 9.99668966e-01 2.74391573e-04 -4.80922782e+01] [ 5.73143730e-03 -1.26975878e-04 9.99983567e-01 4.71512319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.100714057 meters Centerline goodness : 0.991873 with order 1 Centerline is valid? [True, True] Translation: X:857.59, Y:-48.10, Z:4.72 [[ 9.99665692e-01 2.52133385e-02 -5.72634611e-03 8.57587535e+02] [-2.52121889e-02 9.99682085e-01 2.72863108e-04 -4.80984005e+01] [ 5.73140541e-03 -1.28398168e-04 9.99983567e-01 4.71778638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1607140570001 meters Centerline goodness : 0.993691 with order 1 Centerline is valid? [True, True] Translation: X:857.65, Y:-48.09, Z:4.73 [[ 9.99893065e-01 1.34561530e-02 -5.72636657e-03 8.57645769e+02] [-1.34548132e-02 9.99909443e-01 2.72432991e-04 -4.80917305e+01] [ 5.72951391e-03 -1.95356665e-04 9.99983567e-01 4.72899187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.220714057 meters Centerline goodness : 0.991117 with order 1 Centerline is valid? [True, True] Translation: X:857.70, Y:-48.12, Z:4.72 [[ 9.99693371e-01 2.40909404e-02 -5.72639180e-03 8.57703044e+02] [-2.40897779e-02 9.99709762e-01 2.71901688e-04 -4.81159483e+01] [ 5.73128015e-03 -1.33870808e-04 9.99983567e-01 4.71689414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2807140570001 meters Centerline goodness : 0.990706 with order 1 Centerline is valid? [True, True] Translation: X:857.76, Y:-48.12, Z:4.72 [[ 9.99703302e-01 2.36752133e-02 -5.72647213e-03 8.57761188e+02] [-2.36740537e-02 9.99719694e-01 2.70199343e-04 -4.81213824e+01] [ 5.73126399e-03 -1.34550367e-04 9.99983567e-01 4.71687916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.340714057 meters Centerline goodness : 0.990865 with order 1 Centerline is valid? [True, True] Translation: X:857.82, Y:-48.13, Z:4.72 [[ 9.99726581e-01 2.26709023e-02 -5.72649198e-03 8.57818977e+02] [-2.26697287e-02 9.99742972e-01 2.69777868e-04 -4.81297617e+01] [ 5.73113622e-03 -1.39886086e-04 9.99983567e-01 4.71660501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4007140570001 meters Centerline goodness : 0.991139 with order 1 Centerline is valid? [True, True] Translation: X:857.88, Y:-48.14, Z:4.72 [[ 9.99712249e-01 2.32943412e-02 -5.72651630e-03 8.57876959e+02] [-2.32931808e-02 9.99728641e-01 2.69260710e-04 -4.81411523e+01] [ 5.73123461e-03 -1.35794451e-04 9.99983567e-01 4.71500222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.460714057 meters Centerline goodness : 0.991311 with order 1 Centerline is valid? [True, True] Translation: X:857.94, Y:-48.15, Z:4.72 [[ 9.99874489e-01 1.47720099e-02 -5.72653620e-03 8.57936549e+02] [-1.47707122e-02 9.99890871e-01 2.68836848e-04 -4.81474679e+01] [ 5.72988253e-03 -1.84218088e-04 9.99983567e-01 4.72218046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5207140570001 meters Centerline goodness : 0.990604 with order 1 Centerline is valid? [True, True] Translation: X:858.00, Y:-48.15, Z:4.72 [[ 9.99921257e-01 1.11663177e-02 -5.72654615e-03 8.57995328e+02] [-1.11649622e-02 9.99937634e-01 2.68624626e-04 -4.81541590e+01] [ 5.72918856e-03 -2.04666803e-04 9.99983567e-01 4.72285072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.580714057 meters Centerline goodness : 0.991749 with order 1 Centerline is valid? [True, True] Translation: X:858.05, Y:-48.16, Z:4.73 [[ 9.99979353e-01 2.91536499e-03 -5.72656609e-03 8.58053132e+02] [-2.91387682e-03 9.99995719e-01 2.68198815e-04 -4.81595536e+01] [ 5.72732347e-03 -2.51506770e-04 9.99983567e-01 4.72969536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6407140570001 meters Centerline goodness : 0.991423 with order 1 Centerline is valid? [True, True] Translation: X:858.11, Y:-48.16, Z:4.73 [[ 9.99983484e-01 -4.87819409e-04 -5.72659057e-03 8.58112186e+02] [ 4.89360282e-04 9.99999844e-01 2.67675147e-04 -4.81644414e+01] [ 5.72645910e-03 -2.70473092e-04 9.99983567e-01 4.73308716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.700714057 meters Centerline goodness : 0.991375 with order 1 Centerline is valid? [True, True] Translation: X:858.17, Y:-48.17, Z:4.74 [[ 9.99979647e-01 -2.81273248e-03 -5.72660966e-03 8.58170558e+02] [ 2.81430905e-03 9.99996004e-01 2.67266176e-04 -4.81702830e+01] [ 5.72583503e-03 -2.83377186e-04 9.99983567e-01 4.73548077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7607140570001 meters Centerline goodness : 0.991873 with order 1 Centerline is valid? [True, True] Translation: X:858.23, Y:-48.18, Z:4.74 [[ 9.99950727e-01 -8.10854146e-03 -5.72662905e-03 8.58229292e+02] [ 8.11020226e-03 9.99967076e-01 2.66849999e-04 -4.81751957e+01] [ 5.72427675e-03 -3.13280971e-04 9.99983567e-01 4.73630636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.820714057 meters Centerline goodness : 0.992000 with order 1 Centerline is valid? [True, True] Translation: X:858.29, Y:-48.18, Z:4.74 [[ 9.99893799e-01 -1.34013598e-02 -5.72664335e-03 8.58290033e+02] [ 1.34031054e-02 9.99910139e-01 2.66542837e-04 -4.81794129e+01] [ 5.72255671e-03 -3.43269335e-04 9.99983567e-01 4.73877990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.880714057 meters Centerline goodness : 0.991285 with order 1 Centerline is valid? [True, True] Translation: X:858.35, Y:-48.19, Z:4.74 [[ 9.99805720e-01 -1.88607673e-02 -5.72663852e-03 8.58352207e+02] [ 1.88626026e-02 9.99822050e-01 2.66646454e-04 -4.81859521e+01] [ 5.72059031e-03 -3.74613956e-04 9.99983567e-01 4.73768024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.940714057 meters Centerline goodness : 0.991494 with order 1 Centerline is valid? [True, True] Translation: X:858.41, Y:-48.19, Z:4.74 [[ 9.99715412e-01 -2.31581723e-02 -5.72657072e-03 8.58414504e+02] [ 2.31600860e-02 9.99731733e-01 2.68094674e-04 -4.81890268e+01] [ 5.71882589e-03 -4.00646248e-04 9.99983567e-01 4.74030625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.000714057 meters Centerline goodness : 0.991910 with order 1 Centerline is valid? [True, True] Translation: X:858.48, Y:-48.19, Z:4.74 [[ 9.99623623e-01 -2.68294506e-02 -5.72655098e-03 8.58476224e+02] [ 2.68314267e-02 9.99639936e-01 2.68515795e-04 -4.81929208e+01] [ 5.71728492e-03 -4.22066265e-04 9.99983567e-01 4.74007829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.060714057 meters Centerline goodness : 0.991703 with order 1 Centerline is valid? [True, True] Translation: X:858.54, Y:-48.20, Z:4.74 [[ 9.99601083e-01 -2.76564973e-02 -5.72653148e-03 8.58538714e+02] [ 2.76584892e-02 9.99617395e-01 2.68930905e-04 -4.81958651e+01] [ 5.71690280e-03 -4.27210834e-04 9.99983567e-01 4.74058337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.120714057 meters Centerline goodness : 0.991400 with order 1 Centerline is valid? [True, True] Translation: X:858.60, Y:-48.20, Z:4.74 [[ 9.99612031e-01 -2.72579274e-02 -5.72650011e-03 8.58598548e+02] [ 2.72599167e-02 9.99628343e-01 2.69597331e-04 -4.81990670e+01] [ 5.71702315e-03 -4.25596651e-04 9.99983567e-01 4.74109723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.180714057 meters Centerline goodness : 0.991251 with order 1 Centerline is valid? [True, True] Translation: X:858.66, Y:-48.20, Z:4.74 [[ 9.99515703e-01 -3.05870242e-02 -5.72647726e-03 8.58660657e+02] [ 3.05890705e-02 9.99532008e-01 2.70081739e-04 -4.82009579e+01] [ 5.71553632e-03 -4.45118556e-04 9.99983567e-01 4.74101768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.240714057 meters Centerline goodness : 0.991230 with order 1 Centerline is valid? [True, True] Translation: X:858.72, Y:-48.20, Z:4.74 [[ 9.99426658e-01 -3.33700822e-02 -5.72645667e-03 8.58721948e+02] [ 3.33721764e-02 9.99442957e-01 2.70517594e-04 -4.82035372e+01] [ 5.71423960e-03 -4.61466817e-04 9.99983567e-01 4.74123992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.300714057 meters Centerline goodness : 0.992103 with order 1 Centerline is valid? [True, True] Translation: X:858.78, Y:-48.21, Z:4.74 [[ 9.99422627e-01 -3.34906070e-02 -5.72641653e-03 8.58783645e+02] [ 3.34927080e-02 9.99438925e-01 2.71364596e-04 -4.82053525e+01] [ 5.71411542e-03 -4.63001115e-04 9.99983567e-01 4.74213020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.360714057 meters Centerline goodness : 0.992898 with order 1 Centerline is valid? [True, True] Translation: X:858.85, Y:-48.21, Z:4.74 [[ 9.99496238e-01 -3.12166362e-02 -5.72637633e-03 8.58845879e+02] [ 3.12187049e-02 9.99512540e-01 2.72210319e-04 -4.82081200e+01] [ 5.71508746e-03 -4.50843243e-04 9.99983567e-01 4.74076191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.420714057 meters Centerline goodness : 0.992155 with order 1 Centerline is valid? [True, True] Translation: X:858.91, Y:-48.21, Z:4.74 [[ 9.99555637e-01 -2.92530001e-02 -5.72635531e-03 8.58907581e+02] [ 2.92550393e-02 9.99571943e-01 2.72651892e-04 -4.82107905e+01] [ 5.71592821e-03 -4.40055485e-04 9.99983567e-01 4.74029136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.480714057 meters Centerline goodness : 0.992622 with order 1 Centerline is valid? [True, True] Translation: X:858.97, Y:-48.21, Z:4.74 [[ 9.99670828e-01 -2.50089112e-02 -5.72632929e-03 8.58969042e+02] [ 2.50108842e-02 9.99687142e-01 2.73197215e-04 -4.82139663e+01] [ 5.71770540e-03 -4.16327845e-04 9.99983567e-01 4.73878664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5407140570001 meters Centerline goodness : 0.992214 with order 1 Centerline is valid? [True, True] Translation: X:859.03, Y:-48.22, Z:4.74 [[ 9.99764570e-01 -2.09287993e-02 -5.72629653e-03 8.59031470e+02] [ 2.09307096e-02 9.99780891e-01 2.73882279e-04 -4.82175930e+01] [ 5.71930982e-03 -3.93673248e-04 9.99983567e-01 4.73593321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.600714057 meters Centerline goodness : 0.992741 with order 1 Centerline is valid? [True, True] Translation: X:859.09, Y:-48.22, Z:4.74 [[ 9.99830866e-01 -1.74771094e-02 -5.72627568e-03 8.59092904e+02] [ 1.74789659e-02 9.99847194e-01 2.74317487e-04 -4.82180904e+01] [ 5.72060639e-03 -3.74360468e-04 9.99983567e-01 4.73732025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6607140570001 meters Centerline goodness : 0.992105 with order 1 Centerline is valid? [True, True] Translation: X:859.15, Y:-48.22, Z:4.74 [[ 9.99880159e-01 -1.43832584e-02 -5.72626039e-03 8.59154214e+02] [ 1.43850662e-02 9.99896492e-01 2.74636194e-04 -4.82165146e+01] [ 5.72171751e-03 -3.56975916e-04 9.99983567e-01 4.74106197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.720714057 meters Centerline goodness : 0.992235 with order 1 Centerline is valid? [True, True] Translation: X:859.22, Y:-48.22, Z:4.74 [[ 9.99907906e-01 -1.23040686e-02 -5.72624546e-03 8.59216495e+02] [ 1.23058442e-02 9.99924242e-01 2.74947235e-04 -4.82181408e+01] [ 5.72242868e-03 -3.45388198e-04 9.99983567e-01 4.74223791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7807140570001 meters Centerline goodness : 0.992592 with order 1 Centerline is valid? [True, True] Translation: X:859.28, Y:-48.22, Z:4.74 [[ 9.99926386e-01 -1.06973413e-02 -5.72622435e-03 8.59277909e+02] [ 1.06990931e-02 9.99942725e-01 2.75386015e-04 -4.82188220e+01] [ 5.72295049e-03 -3.36631150e-04 9.99983567e-01 4.74151508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.840714057 meters Centerline goodness : 0.992705 with order 1 Centerline is valid? [True, True] Translation: X:859.34, Y:-48.22, Z:4.74 [[ 9.99904999e-01 -1.25380764e-02 -5.72620877e-03 8.59338763e+02] [ 1.25398602e-02 9.99921335e-01 2.75709767e-04 -4.82204417e+01] [ 5.72230144e-03 -3.47489431e-04 9.99983567e-01 4.74221494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9007140570001 meters Centerline goodness : 0.991891 with order 1 Centerline is valid? [True, True] Translation: X:859.40, Y:-48.22, Z:4.74 [[ 9.99861618e-01 -1.56190475e-02 -5.72619844e-03 8.59399773e+02] [ 1.56208828e-02 9.99877949e-01 2.75924091e-04 -4.82220384e+01] [ 5.72118988e-03 -3.65334183e-04 9.99983567e-01 4.74248124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.960714057 meters Centerline goodness : 0.992260 with order 1 Centerline is valid? [True, True] Translation: X:859.46, Y:-48.22, Z:4.74 [[ 9.99825929e-01 -1.77573318e-02 -5.72616506e-03 8.59461732e+02] [ 1.77592060e-02 9.99842255e-01 2.76615072e-04 -4.82233357e+01] [ 5.72034984e-03 -3.78259066e-04 9.99983567e-01 4.74339354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0207140570001 meters Centerline goodness : 0.993055 with order 1 Centerline is valid? [True, True] Translation: X:859.52, Y:-48.23, Z:4.74 [[ 9.99754987e-01 -2.13816978e-02 -5.72614585e-03 8.59524441e+02] [ 2.13836334e-02 9.99771306e-01 2.77012180e-04 -4.82253001e+01] [ 5.71891332e-03 -3.99390112e-04 9.99983567e-01 4.74206835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.080714057 meters Centerline goodness : 0.991965 with order 1 Centerline is valid? [True, True] Translation: X:859.59, Y:-48.23, Z:4.74 [[ 9.99858204e-01 -1.58361324e-02 -5.72612042e-03 8.59586325e+02] [ 1.58379804e-02 9.99874533e-01 2.77536829e-04 -4.82254801e+01] [ 5.72100687e-03 -3.68187658e-04 9.99983567e-01 4.74394545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1407140570001 meters Centerline goodness : 0.992599 with order 1 Centerline is valid? [True, True] Translation: X:859.65, Y:-48.22, Z:4.74 [[ 9.99882176e-01 -1.42423711e-02 -5.72609101e-03 8.59648090e+02] [ 1.42441966e-02 9.99898508e-01 2.78142373e-04 -4.82241605e+01] [ 5.72154844e-03 -3.59673167e-04 9.99983567e-01 4.74390977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.200714057 meters Centerline goodness : 0.992632 with order 1 Centerline is valid? [True, True] Translation: X:859.71, Y:-48.22, Z:4.75 [[ 9.99891520e-01 -1.35705606e-02 -5.72607566e-03 8.59709043e+02] [ 1.35723769e-02 9.99907852e-01 2.78457939e-04 -4.82246795e+01] [ 5.72176918e-03 -3.56144188e-04 9.99983567e-01 4.74557304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2607140570001 meters Centerline goodness : 0.993373 with order 1 Centerline is valid? [True, True] Translation: X:859.77, Y:-48.22, Z:4.74 [[ 9.99843049e-01 -1.67657098e-02 -5.72604159e-03 8.59771640e+02] [ 1.67675823e-02 9.99859375e-01 2.79156732e-04 -4.82246437e+01] [ 5.72055611e-03 -3.75124792e-04 9.99983567e-01 4.74409732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.320714057 meters Centerline goodness : 0.994100 with order 1 Centerline is valid? [True, True] Translation: X:859.83, Y:-48.23, Z:4.74 [[ 9.99851267e-01 -1.62682521e-02 -5.72602148e-03 8.59834243e+02] [ 1.62701188e-02 9.99867594e-01 2.79568560e-04 -4.82254780e+01] [ 5.72071523e-03 -3.72690028e-04 9.99983567e-01 4.74485484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.380714057 meters Centerline goodness : 0.994161 with order 1 Centerline is valid? [True, True] Translation: X:859.90, Y:-48.22, Z:4.75 [[ 9.99905686e-01 -1.24832336e-02 -5.72600089e-03 8.59895414e+02] [ 1.24850409e-02 9.99922020e-01 2.79989687e-04 -4.82228177e+01] [ 5.72205920e-03 -3.51452636e-04 9.99983567e-01 4.74689809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.440714057 meters Centerline goodness : 0.994247 with order 1 Centerline is valid? [True, True] Translation: X:859.96, Y:-48.22, Z:4.75 [[ 9.99919696e-01 -1.13054990e-02 -5.72598567e-03 8.59956926e+02] [ 1.13072888e-02 9.99936031e-01 2.80300714e-04 -4.82238809e+01] [ 5.72245044e-03 -3.45023579e-04 9.99983567e-01 4.74563981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.500714057 meters Centerline goodness : 0.993958 with order 1 Centerline is valid? [True, True] Translation: X:860.02, Y:-48.23, Z:4.75 [[ 9.99866303e-01 -1.53163331e-02 -5.72597093e-03 8.60019500e+02] [ 1.53181901e-02 9.99882630e-01 2.80601377e-04 -4.82260433e+01] [ 5.72100109e-03 -3.68275372e-04 9.99983567e-01 4.74645171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.560714057 meters Centerline goodness : 0.993267 with order 1 Centerline is valid? [True, True] Translation: X:860.08, Y:-48.23, Z:4.75 [[ 9.99841524e-01 -1.68565050e-02 -5.72589884e-03 8.60081021e+02] [ 1.68583955e-02 9.99857847e-01 2.82064915e-04 -4.82263547e+01] [ 5.72033026e-03 -3.78549682e-04 9.99983567e-01 4.74700521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.620714057 meters Centerline goodness : 0.993453 with order 1 Centerline is valid? [True, True] Translation: X:860.14, Y:-48.23, Z:4.75 [[ 9.99814620e-01 -1.83831351e-02 -5.72586451e-03 8.60143083e+02] [ 1.83850545e-02 9.99830941e-01 2.82760029e-04 -4.82279015e+01] [ 5.71969848e-03 -3.87977942e-04 9.99983567e-01 4.74668968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.680714057 meters Centerline goodness : 0.993111 with order 1 Centerline is valid? [True, True] Translation: X:860.21, Y:-48.23, Z:4.75 [[ 9.99801735e-01 -1.90710442e-02 -5.72584444e-03 8.60205362e+02] [ 1.90729772e-02 9.99818054e-01 2.83165926e-04 -4.82282661e+01] [ 5.71940237e-03 -3.92318684e-04 9.99983567e-01 4.74683963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.740714057 meters Centerline goodness : 0.993853 with order 1 Centerline is valid? [True, True] Translation: X:860.27, Y:-48.23, Z:4.75 [[ 9.99802691e-01 -1.90208952e-02 -5.72582403e-03 8.60267531e+02] [ 1.90228297e-02 9.99819009e-01 2.83577958e-04 -4.82293167e+01] [ 5.71939380e-03 -3.92443381e-04 9.99983567e-01 4.74838698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.800714057 meters Centerline goodness : 0.992988 with order 1 Centerline is valid? [True, True] Translation: X:860.33, Y:-48.23, Z:4.75 [[ 9.99825006e-01 -1.78093631e-02 -5.72580378e-03 8.60330150e+02] [ 1.78112801e-02 9.99841326e-01 2.83986276e-04 -4.82290547e+01] [ 5.71983763e-03 -3.85920475e-04 9.99983567e-01 4.75008430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.860714057 meters Centerline goodness : 0.992907 with order 1 Centerline is valid? [True, True] Translation: X:860.39, Y:-48.23, Z:4.75 [[ 9.99835102e-01 -1.72332187e-02 -5.72578223e-03 8.60392286e+02] [ 1.72351289e-02 9.99851424e-01 2.84419995e-04 -4.82306073e+01] [ 5.72003005e-03 -3.83057689e-04 9.99983567e-01 4.74985085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.920714057 meters Centerline goodness : 0.993281 with order 1 Centerline is valid? [True, True] Translation: X:860.45, Y:-48.23, Z:4.75 [[ 9.99797110e-01 -1.93120193e-02 -5.72576034e-03 8.60453892e+02] [ 1.93139659e-02 9.99813427e-01 2.84860078e-04 -4.82316044e+01] [ 5.71919085e-03 -3.95389423e-04 9.99983567e-01 4.74919007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.980714057 meters Centerline goodness : 0.993258 with order 1 Centerline is valid? [True, True] Translation: X:860.52, Y:-48.23, Z:4.75 [[ 9.99713203e-01 -2.32535379e-02 -5.72573310e-03 8.60515679e+02] [ 2.32555519e-02 9.99729512e-01 2.85406624e-04 -4.82321292e+01] [ 5.71754764e-03 -4.18479853e-04 9.99983567e-01 4.74921346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0407140570001 meters Centerline goodness : 0.992904 with order 1 Centerline is valid? [True, True] Translation: X:860.58, Y:-48.24, Z:4.75 [[ 9.99684666e-01 -2.44496352e-02 -5.72571210e-03 8.60578222e+02] [ 2.44516711e-02 9.99700972e-01 2.85827320e-04 -4.82358876e+01] [ 5.71701158e-03 -4.25740418e-04 9.99983567e-01 4.74675011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.100714057 meters Centerline goodness : 0.992531 with order 1 Centerline is valid? [True, True] Translation: X:860.64, Y:-48.24, Z:4.74 [[ 9.99551140e-01 -2.94063668e-02 -5.72568996e-03 8.60640217e+02] [ 2.94084860e-02 9.99567436e-01 2.86269998e-04 -4.82377464e+01] [ 5.71479508e-03 -4.54525376e-04 9.99983567e-01 4.74451123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1607140570001 meters Centerline goodness : 0.993840 with order 1 Centerline is valid? [True, True] Translation: X:860.70, Y:-48.24, Z:4.74 [[ 9.99484927e-01 -3.15768540e-02 -5.72560784e-03 8.60702833e+02] [ 3.15790180e-02 9.99501217e-01 2.87903169e-04 -4.82387544e+01] [ 5.71366093e-03 -4.68563951e-04 9.99983567e-01 4.74432911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.220714057 meters Centerline goodness : 0.993565 with order 1 Centerline is valid? [True, True] Translation: X:860.77, Y:-48.24, Z:4.74 [[ 9.99513026e-01 -3.06745485e-02 -5.72557522e-03 8.60765630e+02] [ 3.06767014e-02 9.99529318e-01 2.88550429e-04 -4.82394207e+01] [ 5.71402914e-03 -4.64051673e-04 9.99983567e-01 4.74485989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2807140570001 meters Centerline goodness : 0.992082 with order 1 Centerline is valid? [True, True] Translation: X:860.83, Y:-48.24, Z:4.75 [[ 9.99555096e-01 -2.92716460e-02 -5.72554144e-03 8.60827360e+02] [ 2.92737799e-02 9.99571389e-01 2.89219111e-04 -4.82420169e+01] [ 5.71462150e-03 -4.56698676e-04 9.99983567e-01 4.74551645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.340714057 meters Centerline goodness : 0.992461 with order 1 Centerline is valid? [True, True] Translation: X:860.89, Y:-48.24, Z:4.75 [[ 9.99563438e-01 -2.89853769e-02 -5.72551387e-03 8.60890592e+02] [ 2.89875092e-02 9.99579732e-01 2.89764046e-04 -4.82392609e+01] [ 5.71470869e-03 -4.55605931e-04 9.99983567e-01 4.74807286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4007140570001 meters Centerline goodness : 0.992387 with order 1 Centerline is valid? [True, True] Translation: X:860.95, Y:-48.24, Z:4.75 [[ 9.99696580e-01 -2.39576185e-02 -5.72548247e-03 8.60953513e+02] [ 2.39596723e-02 9.99712884e-01 2.90383019e-04 -4.82401536e+01] [ 5.71688171e-03 -4.27475594e-04 9.99983567e-01 4.75412478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.460714057 meters Centerline goodness : 0.991944 with order 1 Centerline is valid? [True, True] Translation: X:861.02, Y:-48.24, Z:4.75 [[ 9.99668387e-01 -2.51064682e-02 -5.72544853e-03 8.61016209e+02] [ 2.51085445e-02 9.99684688e-01 2.91050697e-04 -4.82422934e+01] [ 5.71633598e-03 -4.34711860e-04 9.99983567e-01 4.75122819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5207140570001 meters Centerline goodness : 0.991308 with order 1 Centerline is valid? [True, True] Translation: X:861.08, Y:-48.24, Z:4.76 [[ 9.99680828e-01 -2.46061348e-02 -5.72541468e-03 8.61077234e+02] [ 2.46082068e-02 9.99697130e-01 2.91715111e-04 -4.82441472e+01] [ 5.71650264e-03 -4.32514192e-04 9.99983567e-01 4.75657373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.580714057 meters Centerline goodness : 0.994623 with order 1 Centerline is valid? [True, True] Translation: X:861.14, Y:-48.24, Z:4.75 [[ 9.99464142e-01 -3.22280773e-02 -5.72539806e-03 8.61139992e+02] [ 3.22302754e-02 9.99480427e-01 2.92040836e-04 -4.82390886e+01] [ 5.71301139e-03 -4.76415500e-04 9.99983567e-01 4.75282274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6407140570001 meters Centerline goodness : 0.992563 with order 1 Centerline is valid? [True, True] Translation: X:861.20, Y:-48.25, Z:4.76 [[ 9.99676107e-01 -2.47972014e-02 -5.72532486e-03 8.61201345e+02] [ 2.47992865e-02 9.99692407e-01 2.93469031e-04 -4.82490359e+01] [ 5.71628658e-03 -4.35357950e-04 9.99983567e-01 4.75733366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.700714057 meters Centerline goodness : 0.992201 with order 1 Centerline is valid? [True, True] Translation: X:861.26, Y:-48.25, Z:4.76 [[ 9.99631498e-01 -2.65346788e-02 -5.72528458e-03 8.61264158e+02] [ 2.65367966e-02 9.99647794e-01 2.94252772e-04 -4.82489202e+01] [ 5.71546019e-03 -4.46075052e-04 9.99983567e-01 4.76150373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7607140570001 meters Centerline goodness : 0.992570 with order 1 Centerline is valid? [True, True] Translation: X:861.33, Y:-48.25, Z:4.76 [[ 9.99625477e-01 -2.67605610e-02 -5.72525645e-03 8.61326259e+02] [ 2.67626857e-02 9.99641772e-01 2.94798988e-04 -4.82508596e+01] [ 5.71531652e-03 -4.47911818e-04 9.99983567e-01 4.76097732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.820714057 meters Centerline goodness : 0.992119 with order 1 Centerline is valid? [True, True] Translation: X:861.39, Y:-48.26, Z:4.75 [[ 9.99564623e-01 -2.89445277e-02 -5.72523393e-03 8.61387723e+02] [ 2.89466905e-02 9.99580913e-01 2.95235774e-04 -4.82554793e+01] [ 5.71428910e-03 -4.60833810e-04 9.99983567e-01 4.75353718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.880714057 meters Centerline goodness : 0.992787 with order 1 Centerline is valid? [True, True] Translation: X:861.45, Y:-48.26, Z:4.76 [[ 9.99561372e-01 -2.90565874e-02 -5.72521728e-03 8.61449753e+02] [ 2.90587538e-02 9.99577662e-01 2.95558219e-04 -4.82577320e+01] [ 5.71421139e-03 -4.61796259e-04 9.99983567e-01 4.75878997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.940714057 meters Centerline goodness : 0.992275 with order 1 Centerline is valid? [True, True] Translation: X:861.51, Y:-48.26, Z:4.76 [[ 9.99533135e-01 -3.00122506e-02 -5.72519450e-03 8.61512982e+02] [ 3.00144351e-02 9.99549422e-01 2.95998906e-04 -4.82613949e+01] [ 5.71373126e-03 -4.67699194e-04 9.99983567e-01 4.75877524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.000714057 meters Centerline goodness : 0.993151 with order 1 Centerline is valid? [True, True] Translation: X:861.57, Y:-48.27, Z:4.76 [[ 9.99499210e-01 -3.11215583e-02 -5.72516007e-03 8.61574656e+02] [ 3.11237646e-02 9.99515494e-01 2.96663291e-04 -4.82661473e+01] [ 5.71315357e-03 -4.74703259e-04 9.99983567e-01 4.75681670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.060714057 meters Centerline goodness : 0.992893 with order 1 Centerline is valid? [True, True] Translation: X:861.64, Y:-48.27, Z:4.75 [[ 9.99425970e-01 -3.33909094e-02 -5.72513173e-03 8.61635361e+02] [ 3.33931558e-02 9.99442249e-01 2.97209294e-04 -4.82721616e+01] [ 5.71201444e-03 -4.88218903e-04 9.99983567e-01 4.75230690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.120714057 meters Centerline goodness : 0.994181 with order 1 Centerline is valid? [True, True] Translation: X:861.70, Y:-48.27, Z:4.75 [[ 9.99235734e-01 -3.86674397e-02 -5.72511527e-03 8.61697130e+02] [ 3.86697739e-02 9.99252000e-01 2.97525968e-04 -4.82682797e+01] [ 5.70932832e-03 -5.18687492e-04 9.99983567e-01 4.75361875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.180714057 meters Centerline goodness : 0.993180 with order 1 Centerline is valid? [True, True] Translation: X:861.76, Y:-48.28, Z:4.75 [[ 9.99464323e-01 -3.22225258e-02 -5.72504553e-03 8.61758469e+02] [ 3.22247626e-02 9.99480603e-01 2.98861846e-04 -4.82825649e+01] [ 5.71244188e-03 -4.83189986e-04 9.99983567e-01 4.74865998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.240714057 meters Centerline goodness : 0.992805 with order 1 Centerline is valid? [True, True] Translation: X:861.82, Y:-48.29, Z:4.75 [[ 9.99555346e-01 -2.92632046e-02 -5.72502347e-03 8.61821196e+02] [ 2.92653955e-02 9.99571632e-01 2.99283906e-04 -4.82872528e+01] [ 5.71381305e-03 -4.66695904e-04 9.99983567e-01 4.74983319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.300714057 meters Centerline goodness : 0.993043 with order 1 Centerline is valid? [True, True] Translation: X:861.88, Y:-48.29, Z:4.75 [[ 9.99491414e-01 -3.13709863e-02 -5.72498934e-03 8.61883685e+02] [ 3.13732153e-02 9.99507695e-01 2.99935381e-04 -4.82900961e+01] [ 5.71276163e-03 -4.79394161e-04 9.99983567e-01 4.74994097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.360714057 meters Centerline goodness : 0.993686 with order 1 Centerline is valid? [True, True] Translation: X:861.95, Y:-48.30, Z:4.75 [[ 9.99505219e-01 -3.09279976e-02 -5.72496651e-03 8.61945071e+02] [ 3.09302218e-02 9.99521501e-01 3.00370440e-04 -4.82956209e+01] [ 5.71293727e-03 -4.77296307e-04 9.99983567e-01 4.74907435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.420714057 meters Centerline goodness : 0.992815 with order 1 Centerline is valid? [True, True] Translation: X:862.01, Y:-48.30, Z:4.75 [[ 9.99506528e-01 -3.08856899e-02 -5.72491190e-03 8.62007794e+02] [ 3.08879194e-02 9.99522809e-01 3.01407821e-04 -4.82996541e+01] [ 5.71287083e-03 -4.78089702e-04 9.99983567e-01 4.74962971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.480714057 meters Centerline goodness : 0.993027 with order 1 Centerline is valid? [True, True] Translation: X:862.07, Y:-48.31, Z:4.75 [[ 9.99504129e-01 -3.09632328e-02 -5.72487770e-03 8.62070668e+02] [ 3.09654673e-02 9.99520409e-01 3.02055894e-04 -4.83056361e+01] [ 5.71277948e-03 -4.79179627e-04 9.99983567e-01 4.74789630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5407140570001 meters Centerline goodness : 0.993614 with order 1 Centerline is valid? [True, True] Translation: X:862.13, Y:-48.31, Z:4.75 [[ 9.99410728e-01 -3.38441045e-02 -5.72484362e-03 8.62132987e+02] [ 3.38463896e-02 9.99427001e-01 3.02700452e-04 -4.83131898e+01] [ 5.71131867e-03 -4.96287366e-04 9.99983567e-01 4.74675688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.600714057 meters Centerline goodness : 0.993862 with order 1 Centerline is valid? [True, True] Translation: X:862.19, Y:-48.32, Z:4.75 [[ 9.99329369e-01 -3.61668123e-02 -5.72480986e-03 8.62194918e+02] [ 3.61691388e-02 9.99345637e-01 3.03337698e-04 -4.83168834e+01] [ 5.71009299e-03 -5.10195713e-04 9.99983567e-01 4.74856456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6607140570001 meters Centerline goodness : 0.993776 with order 1 Centerline is valid? [True, True] Translation: X:862.26, Y:-48.32, Z:4.75 [[ 9.99239964e-01 -3.85580235e-02 -5.72478706e-03 8.62258158e+02] [ 3.85603914e-02 9.99256225e-01 3.03767371e-04 -4.83217251e+01] [ 5.70881644e-03 -5.24286527e-04 9.99983567e-01 4.75020716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.720714057 meters Centerline goodness : 0.994110 with order 1 Centerline is valid? [True, True] Translation: X:862.32, Y:-48.33, Z:4.75 [[ 9.99297305e-01 -3.70421883e-02 -5.72475238e-03 8.62321301e+02] [ 3.70445352e-02 9.99313569e-01 3.04419477e-04 -4.83287000e+01] [ 5.70954637e-03 -5.16276354e-04 9.99983567e-01 4.74883469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7807140570001 meters Centerline goodness : 0.993945 with order 1 Centerline is valid? [True, True] Translation: X:862.38, Y:-48.33, Z:4.75 [[ 9.99305957e-01 -3.68080341e-02 -5.72471795e-03 8.62383310e+02] [ 3.68103808e-02 9.99322222e-01 3.05065591e-04 -4.83325247e+01] [ 5.70960900e-03 -5.15582910e-04 9.99983567e-01 4.75128302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.840714057 meters Centerline goodness : 0.993548 with order 1 Centerline is valid? [True, True] Translation: X:862.45, Y:-48.34, Z:4.75 [[ 9.99508928e-01 -3.08079697e-02 -5.72468962e-03 8.62445460e+02] [ 3.08102217e-02 9.99525206e-01 3.05596321e-04 -4.83398916e+01] [ 5.71255677e-03 -4.81825207e-04 9.99983567e-01 4.74945526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9007140570001 meters Centerline goodness : 0.993386 with order 1 Centerline is valid? [True, True] Translation: X:862.51, Y:-48.34, Z:4.75 [[ 9.99441630e-01 -3.29189332e-02 -5.72466666e-03 8.62507302e+02] [ 3.29212220e-02 9.99457903e-01 3.06025796e-04 -4.83427135e+01] [ 5.71148929e-03 -4.94317942e-04 9.99983567e-01 4.75040846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.960714057 meters Centerline goodness : 0.993239 with order 1 Centerline is valid? [True, True] Translation: X:862.57, Y:-48.35, Z:4.75 [[ 9.99492203e-01 -3.13459015e-02 -5.72464426e-03 8.62568604e+02] [ 3.13481671e-02 9.99508478e-01 3.06444292e-04 -4.83489222e+01] [ 5.71222470e-03 -4.85745785e-04 9.99983567e-01 4.75052805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0207140570001 meters Centerline goodness : 0.993729 with order 1 Centerline is valid? [True, True] Translation: X:862.63, Y:-48.35, Z:4.75 [[ 9.99614261e-01 -2.71764300e-02 -5.72461637e-03 8.62629475e+02] [ 2.71786307e-02 9.99630546e-01 3.06964413e-04 -4.83534208e+01] [ 5.71415919e-03 -4.62433239e-04 9.99983567e-01 4.75027459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.080714057 meters Centerline goodness : 0.993277 with order 1 Centerline is valid? [True, True] Translation: X:862.69, Y:-48.36, Z:4.75 [[ 9.99685967e-01 -2.43966308e-02 -5.72459995e-03 8.62691626e+02] [ 2.43987879e-02 9.99702258e-01 3.07270287e-04 -4.83609314e+01] [ 5.71539914e-03 -4.46847094e-04 9.99983567e-01 4.75017796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1407140570001 meters Centerline goodness : 0.993464 with order 1 Centerline is valid? [True, True] Translation: X:862.75, Y:-48.37, Z:4.75 [[ 9.99733332e-01 -2.23717172e-02 -5.72457645e-03 8.62754211e+02] [ 2.23738438e-02 9.99749627e-01 3.07707465e-04 -4.83687875e+01] [ 5.71625923e-03 -4.35706189e-04 9.99983567e-01 4.75013567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.200714057 meters Centerline goodness : 0.992661 with order 1 Centerline is valid? [True, True] Translation: X:862.82, Y:-48.38, Z:4.75 [[ 9.99783517e-01 -2.00037040e-02 -5.72454049e-03 8.62815439e+02] [ 2.00057958e-02 9.99799816e-01 3.08375038e-04 -4.83756243e+01] [ 5.71722589e-03 -4.22832268e-04 9.99983567e-01 4.75217651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2607140570001 meters Centerline goodness : 0.993390 with order 1 Centerline is valid? [True, True] Translation: X:862.88, Y:-48.38, Z:4.75 [[ 9.99769476e-01 -2.06936133e-02 -5.72449481e-03 8.62877571e+02] [ 2.06957212e-02 9.99785773e-01 3.09220610e-04 -4.83828764e+01] [ 5.71686958e-03 -4.27621876e-04 9.99983567e-01 4.74811307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.320714057 meters Centerline goodness : 0.991815 with order 1 Centerline is valid? [True, True] Translation: X:862.94, Y:-48.39, Z:4.75 [[ 9.99867705e-01 -1.52250852e-02 -5.72447093e-03 8.62939116e+02] [ 1.52271064e-02 9.99884013e-01 3.09662090e-04 -4.83898068e+01] [ 5.71909234e-03 -3.96788251e-04 9.99983567e-01 4.74722143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.380714057 meters Centerline goodness : 0.993033 with order 1 Centerline is valid? [True, True] Translation: X:863.00, Y:-48.40, Z:4.75 [[ 9.99871024e-01 -1.50055359e-02 -5.72444740e-03 8.62999739e+02] [ 1.50075560e-02 9.99887332e-01 3.10096529e-04 -4.83957395e+01] [ 5.71914927e-03 -3.95966499e-04 9.99983567e-01 4.74689776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.440714057 meters Centerline goodness : 0.992098 with order 1 Centerline is valid? [True, True] Translation: X:863.06, Y:-48.40, Z:4.75 [[ 9.99965799e-01 -5.96929862e-03 -5.72441430e-03 8.63060843e+02] [ 5.97117474e-03 9.99982124e-01 3.10706365e-04 -4.84016513e+01] [ 5.72245727e-03 -3.44877217e-04 9.99983567e-01 4.74887439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.500714057 meters Centerline goodness : 0.991434 with order 1 Centerline is valid? [True, True] Translation: X:863.12, Y:-48.41, Z:4.75 [[ 9.99973203e-01 -4.56344895e-03 -5.72440248e-03 8.63120589e+02] [ 4.56530336e-03 9.99989531e-01 3.10923972e-04 -4.84056589e+01] [ 5.72292366e-03 -3.37049274e-04 9.99983567e-01 4.75021635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.560714057 meters Centerline goodness : 0.990959 with order 1 Centerline is valid? [True, True] Translation: X:863.18, Y:-48.41, Z:4.75 [[ 9.99983042e-01 -1.07068171e-03 -5.72440304e-03 8.63180208e+02] [ 1.07247902e-03 9.99999377e-01 3.10913625e-04 -4.84118264e+01] [ 5.72406658e-03 -3.17047655e-04 9.99983567e-01 4.74921442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.620714057 meters Centerline goodness : 0.990741 with order 1 Centerline is valid? [True, True] Translation: X:863.24, Y:-48.42, Z:4.75 [[ 9.99978004e-01 -3.35011438e-03 -5.72441485e-03 8.63239570e+02] [ 3.35194768e-03 9.99994334e-01 3.10696056e-04 -4.84161931e+01] [ 5.72334155e-03 -3.29877161e-04 9.99983567e-01 4.74593763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.680714057 meters Centerline goodness : 0.990835 with order 1 Centerline is valid? [True, True] Translation: X:863.30, Y:-48.42, Z:4.75 [[ 9.99979923e-01 2.71727759e-03 -5.72442660e-03 8.63298791e+02] [-2.71554465e-03 9.99996265e-01 3.10479430e-04 -4.84206517e+01] [ 5.72524887e-03 -2.94928261e-04 9.99983567e-01 4.74680178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.740714057 meters Centerline goodness : 0.991534 with order 1 Centerline is valid? [True, True] Translation: X:863.36, Y:-48.42, Z:4.74 [[ 9.99980598e-01 2.45653041e-03 -5.72443826e-03 8.63357263e+02] [-2.45479443e-03 9.99996939e-01 3.10264240e-04 -4.84236227e+01] [ 5.72518291e-03 -2.96205901e-04 9.99983567e-01 4.74309209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.800714057 meters Centerline goodness : 0.993839 with order 1 Centerline is valid? [True, True] Translation: X:863.42, Y:-48.41, Z:4.76 [[ 9.99983352e-01 -7.25399038e-04 -5.72446198e-03 8.63415277e+02] [ 7.27184505e-04 9.99999688e-01 3.09826094e-04 -4.84121290e+01] [ 5.72423544e-03 -3.13983676e-04 9.99983567e-01 4.75968996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.860714057 meters Centerline goodness : 0.994391 with order 1 Centerline is valid? [True, True] Translation: X:863.47, Y:-48.42, Z:4.75 [[ 9.99974110e-01 4.36003575e-03 -5.72449102e-03 8.63474166e+02] [-4.35833645e-03 9.99990455e-01 3.09288579e-04 -4.84153295e+01] [ 5.72578488e-03 -2.84331314e-04 9.99983567e-01 4.75481534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.920714057 meters Centerline goodness : 0.992326 with order 1 Centerline is valid? [True, True] Translation: X:863.53, Y:-48.43, Z:4.75 [[ 9.99776729e-01 2.03401620e-02 -5.72456889e-03 8.63532364e+02] [-2.03387325e-02 9.99793099e-01 3.07840397e-04 -4.84302211e+01] [ 5.72964600e-03 -1.91341190e-04 9.99983567e-01 4.75114470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.980714057 meters Centerline goodness : 0.991883 with order 1 Centerline is valid? [True, True] Translation: X:863.59, Y:-48.43, Z:4.75 [[ 9.99779646e-01 2.01962506e-02 -5.72464889e-03 8.63589857e+02] [-2.01948272e-02 9.99796017e-01 3.06345409e-04 -4.84315238e+01] [ 5.72966819e-03 -1.90669610e-04 9.99983567e-01 4.75497106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0407140570001 meters Centerline goodness : 0.994953 with order 1 Centerline is valid? [True, True] Translation: X:863.65, Y:-48.43, Z:4.76 [[ 9.99927516e-01 1.05920442e-02 -5.72467668e-03 8.63649067e+02] [-1.05904666e-02 9.99943873e-01 3.05825325e-04 -4.84250541e+01] [ 5.72759468e-03 -2.45176161e-04 9.99983567e-01 4.75677460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.100714057 meters Centerline goodness : 0.991826 with order 1 Centerline is valid? [True, True] Translation: X:863.71, Y:-48.43, Z:4.75 [[ 9.99975838e-01 3.94358628e-03 -5.72469825e-03 8.63707386e+02] [-3.94190226e-03 9.99992184e-01 3.05421072e-04 -4.84315215e+01] [ 5.72585796e-03 -2.82847492e-04 9.99983567e-01 4.75323932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1607140570001 meters Centerline goodness : 0.994510 with order 1 Centerline is valid? [True, True] Translation: X:863.76, Y:-48.44, Z:4.76 [[ 9.99983383e-01 -6.78963355e-04 -5.72472372e-03 8.63764745e+02] [ 6.80720191e-04 9.99999722e-01 3.04942841e-04 -4.84362140e+01] [ 5.72451508e-03 -3.08834709e-04 9.99983567e-01 4.75577571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.220714057 meters Centerline goodness : 0.993826 with order 1 Centerline is valid? [True, True] Translation: X:863.82, Y:-48.44, Z:4.76 [[ 9.99943654e-01 -8.93954133e-03 -5.72475550e-03 8.63823791e+02] [ 8.94142967e-03 9.99959978e-01 3.04344995e-04 -4.84423100e+01] [ 5.72180569e-03 -3.55515345e-04 9.99983567e-01 4.75609416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2807140570001 meters Centerline goodness : 0.994183 with order 1 Centerline is valid? [True, True] Translation: X:863.88, Y:-48.45, Z:4.76 [[ 9.99886295e-01 -1.39507367e-02 -5.72477717e-03 8.63884947e+02] [ 1.39527045e-02 9.99902610e-01 3.03936884e-04 -4.84480309e+01] [ 5.71997949e-03 -3.83778449e-04 9.99983567e-01 4.75684617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.340714057 meters Centerline goodness : 0.994614 with order 1 Centerline is valid? [True, True] Translation: X:863.95, Y:-48.45, Z:4.76 [[ 9.99788053e-01 -1.97756696e-02 -5.72476623e-03 8.63948252e+02] [ 1.97777336e-02 9.99804355e-01 3.04142820e-04 -4.84530004e+01] [ 5.71763158e-03 -4.17301259e-04 9.99983567e-01 4.75806397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4007140570001 meters Centerline goodness : 0.994810 with order 1 Centerline is valid? [True, True] Translation: X:864.01, Y:-48.46, Z:4.76 [[ 9.99714037e-01 -2.32179394e-02 -5.72467846e-03 8.64010123e+02] [ 2.32200689e-02 9.99730331e-01 3.05785987e-04 -4.84569088e+01] [ 5.71603497e-03 -4.38625971e-04 9.99983567e-01 4.75843816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.460714057 meters Centerline goodness : 0.994525 with order 1 Centerline is valid? [True, True] Translation: X:864.07, Y:-48.46, Z:4.76 [[ 9.99624820e-01 -2.67852228e-02 -5.72465674e-03 8.64073051e+02] [ 2.67874127e-02 9.99641106e-01 3.06192137e-04 -4.84620517e+01] [ 5.71440077e-03 -4.59426002e-04 9.99983567e-01 4.75789252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5207140570001 meters Centerline goodness : 0.993547 with order 1 Centerline is valid? [True, True] Translation: X:864.13, Y:-48.48, Z:4.75 [[ 9.99793293e-01 -1.95089919e-02 -5.72462433e-03 8.64134981e+02] [ 1.95110667e-02 9.99809594e-01 3.06796866e-04 -4.84774580e+01] [ 5.71754903e-03 -4.18426976e-04 9.99983567e-01 4.75009784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.580714057 meters Centerline goodness : 0.993947 with order 1 Centerline is valid? [True, True] Translation: X:864.20, Y:-48.47, Z:4.76 [[ 9.99583599e-01 -2.82817469e-02 -5.72460206e-03 8.64197870e+02] [ 2.82839670e-02 9.99599881e-01 3.07211882e-04 -4.84691081e+01] [ 5.71362305e-03 -4.68998415e-04 9.99983567e-01 4.75586569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6407140570001 meters Centerline goodness : 0.993384 with order 1 Centerline is valid? [True, True] Translation: X:864.26, Y:-48.47, Z:4.76 [[ 9.99668913e-01 -2.50857323e-02 -5.72457066e-03 8.64260315e+02] [ 2.50879036e-02 9.99685202e-01 3.07795815e-04 -4.84707730e+01] [ 5.71504729e-03 -4.51311384e-04 9.99983567e-01 4.75936321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.700714057 meters Centerline goodness : 0.993086 with order 1 Centerline is valid? [True, True] Translation: X:864.32, Y:-48.47, Z:4.76 [[ 9.99684060e-01 -2.44746619e-02 -5.72454495e-03 8.64323705e+02] [ 2.44768260e-02 9.99700350e-01 3.08273159e-04 -4.84707260e+01] [ 5.71528471e-03 -4.48294454e-04 9.99983567e-01 4.76141907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7607140570001 meters Centerline goodness : 0.995027 with order 1 Centerline is valid? [True, True] Translation: X:864.39, Y:-48.47, Z:4.76 [[ 9.99615183e-01 -2.71425183e-02 -5.72450290e-03 8.64385077e+02] [ 2.71447303e-02 9.99631466e-01 3.09052109e-04 -4.84666295e+01] [ 5.71400477e-03 -4.64323268e-04 9.99983567e-01 4.76116589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.820714057 meters Centerline goodness : 0.992885 with order 1 Centerline is valid? [True, True] Translation: X:864.45, Y:-48.48, Z:4.76 [[ 9.99724768e-01 -2.27512236e-02 -5.72448241e-03 8.64446838e+02] [ 2.27533662e-02 9.99741061e-01 3.09431227e-04 -4.84763236e+01] [ 5.71596017e-03 -4.39597306e-04 9.99983567e-01 4.75704641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.880714057 meters Centerline goodness : 0.992498 with order 1 Centerline is valid? [True, True] Translation: X:864.51, Y:-48.47, Z:4.76 [[ 9.99378134e-01 -3.47933180e-02 -5.72446002e-03 8.64509389e+02] [ 3.47956591e-02 9.99394400e-01 3.09844866e-04 -4.84659189e+01] [ 5.71021275e-03 -5.08838543e-04 9.99983567e-01 4.75658964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.940714057 meters Centerline goodness : 0.993201 with order 1 Centerline is valid? [True, True] Translation: X:864.57, Y:-48.48, Z:4.75 [[ 9.99660618e-01 -2.54141800e-02 -5.72443325e-03 8.64570260e+02] [ 2.54163712e-02 9.99676904e-01 3.10338717e-04 -4.84833982e+01] [ 5.71469670e-03 -4.55727714e-04 9.99983567e-01 4.75171258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.000714057 meters Centerline goodness : 0.993660 with order 1 Centerline is valid? [True, True] Translation: X:864.63, Y:-48.49, Z:4.75 [[ 9.99633457e-01 -2.64609779e-02 -5.72441191e-03 8.64632612e+02] [ 2.64631883e-02 9.99649740e-01 3.10731750e-04 -4.84863065e+01] [ 5.71418461e-03 -4.62104044e-04 9.99983567e-01 4.75189476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.060714057 meters Centerline goodness : 0.993643 with order 1 Centerline is valid? [True, True] Translation: X:864.70, Y:-48.48, Z:4.76 [[ 9.99626105e-01 -2.67372835e-02 -5.72435609e-03 8.64696090e+02] [ 2.67395043e-02 9.99642387e-01 3.11756691e-04 -4.84841853e+01] [ 5.71397346e-03 -4.64706570e-04 9.99983567e-01 4.75688443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.120714057 meters Centerline goodness : 0.995433 with order 1 Centerline is valid? [True, True] Translation: X:864.76, Y:-48.48, Z:4.76 [[ 9.99561451e-01 -2.90540622e-02 -5.72431977e-03 8.64757924e+02] [ 2.90563245e-02 9.99577727e-01 3.12422261e-04 -4.84759132e+01] [ 5.71282540e-03 -4.78612941e-04 9.99983567e-01 4.76367679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.180714057 meters Centerline goodness : 0.993295 with order 1 Centerline is valid? [True, True] Translation: X:864.82, Y:-48.49, Z:4.76 [[ 9.99857634e-01 -1.58727622e-02 -5.72427172e-03 8.64819613e+02] [ 1.58748147e-02 9.99873938e-01 3.13300101e-04 -4.84879710e+01] [ 5.71857717e-03 -4.04127250e-04 9.99983567e-01 4.75875826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.240714057 meters Centerline goodness : 0.993553 with order 1 Centerline is valid? [True, True] Translation: X:864.88, Y:-48.49, Z:4.76 [[ 9.99943010e-01 -9.01159653e-03 -5.72424806e-03 8.64880630e+02] [ 9.01353956e-03 9.99959328e-01 3.13731780e-04 -4.84873651e+01] [ 5.72118802e-03 -3.65309637e-04 9.99983567e-01 4.76088959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.300714057 meters Centerline goodness : 0.993272 with order 1 Centerline is valid? [True, True] Translation: X:864.94, Y:-48.49, Z:4.76 [[ 9.99981988e-01 -1.80452922e-03 -5.72423074e-03 8.64942182e+02] [ 1.80635640e-03 9.99998319e-01 3.14047552e-04 -4.84884230e+01] [ 5.72365441e-03 -3.24381896e-04 9.99983567e-01 4.76125309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.360714057 meters Centerline goodness : 0.993094 with order 1 Centerline is valid? [True, True] Translation: X:865.00, Y:-48.49, Z:4.76 [[ 9.99983251e-01 8.54607229e-04 -5.72421902e-03 8.65000396e+02] [-8.52822261e-04 9.99999587e-01 3.14260887e-04 -4.84896560e+01] [ 5.72448523e-03 -3.09373883e-04 9.99983567e-01 4.76248667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.420714057 meters Centerline goodness : 0.992733 with order 1 Centerline is valid? [True, True] Translation: X:865.06, Y:-48.49, Z:4.76 [[ 9.99967497e-01 5.67793351e-03 -5.72423629e-03 8.65058158e+02] [-5.67622915e-03 9.99983841e-01 3.13946083e-04 -4.84915023e+01] [ 5.72592636e-03 -2.81443801e-04 9.99983567e-01 4.76274445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.480714057 meters Centerline goodness : 0.995419 with order 1 Centerline is valid? [True, True] Translation: X:865.12, Y:-48.48, Z:4.77 [[ 9.99981937e-01 -1.83226796e-03 -5.72433186e-03 8.65115945e+02] [ 1.83408502e-03 9.99998269e-01 3.12193715e-04 -4.84839215e+01] [ 5.72374993e-03 -3.22686987e-04 9.99983567e-01 4.76728892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5407140570001 meters Centerline goodness : 0.994760 with order 1 Centerline is valid? [True, True] Translation: X:865.17, Y:-48.49, Z:4.77 [[ 9.99980372e-01 -2.54703187e-03 -5.72436105e-03 8.65174334e+02] [ 2.54885755e-03 9.99996703e-01 3.11657514e-04 -4.84862303e+01] [ 5.72354838e-03 -3.26241977e-04 9.99983567e-01 4.76785224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.600714057 meters Centerline goodness : 0.995178 with order 1 Centerline is valid? [True, True] Translation: X:865.23, Y:-48.49, Z:4.77 [[ 9.99964391e-01 -6.20073904e-03 -5.72438219e-03 8.65233216e+02] [ 6.20262216e-03 9.99980715e-01 3.11268848e-04 -4.84885686e+01] [ 5.72234170e-03 -3.46763943e-04 9.99983567e-01 4.76696281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6607140570001 meters Centerline goodness : 0.991430 with order 1 Centerline is valid? [True, True] Translation: X:865.29, Y:-48.49, Z:4.77 [[ 9.99871173e-01 -1.49956119e-02 -5.72439779e-03 8.65293235e+02] [ 1.49976369e-02 9.99887481e-01 3.10981549e-04 -4.84910311e+01] [ 5.71909033e-03 -3.96793925e-04 9.99983567e-01 4.76543231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.720714057 meters Centerline goodness : 0.995198 with order 1 Centerline is valid? [True, True] Translation: X:865.36, Y:-48.49, Z:4.77 [[ 9.99812828e-01 -1.84807868e-02 -5.72439779e-03 8.65355800e+02] [ 1.84828686e-02 9.99829129e-01 3.10981549e-04 -4.84938305e+01] [ 5.71767248e-03 -4.16726634e-04 9.99983567e-01 4.76769893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7807140570001 meters Centerline goodness : 0.993667 with order 1 Centerline is valid? [True, True] Translation: X:865.42, Y:-48.50, Z:4.77 [[ 9.99816885e-01 -1.82600078e-02 -5.72437056e-03 8.65417376e+02] [ 1.82620888e-02 9.99833186e-01 3.11481992e-04 -4.85046197e+01] [ 5.71772799e-03 -4.15963918e-04 9.99983567e-01 4.76715755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.840714057 meters Centerline goodness : 0.992387 with order 1 Centerline is valid? [True, True] Translation: X:865.48, Y:-48.50, Z:4.77 [[ 9.99582280e-01 -2.83283884e-02 -5.72434806e-03 8.65480570e+02] [ 2.83306358e-02 9.99598558e-01 3.11895053e-04 -4.84971647e+01] [ 5.71321458e-03 -4.73939188e-04 9.99983567e-01 4.76716082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9007140570001 meters Centerline goodness : 0.993455 with order 1 Centerline is valid? [True, True] Translation: X:865.54, Y:-48.51, Z:4.77 [[ 9.99710869e-01 -2.33540183e-02 -5.72430114e-03 8.65543363e+02] [ 2.33561897e-02 9.99727158e-01 3.12753781e-04 -4.85055585e+01] [ 5.71543525e-03 -4.46361217e-04 9.99983567e-01 4.77083992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.960714057 meters Centerline goodness : 0.993895 with order 1 Centerline is valid? [True, True] Translation: X:865.61, Y:-48.51, Z:4.77 [[ 9.99709861e-01 -2.33971626e-02 -5.72425762e-03 8.65606349e+02] [ 2.33993391e-02 9.99726149e-01 3.13548379e-04 -4.85065843e+01] [ 5.71535388e-03 -4.47401252e-04 9.99983567e-01 4.77180370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0207140570001 meters Centerline goodness : 0.995531 with order 1 Centerline is valid? [True, True] Translation: X:865.67, Y:-48.50, Z:4.77 [[ 9.99627362e-01 -2.66902834e-02 -5.72422099e-03 8.65668026e+02] [ 2.66925174e-02 9.99643642e-01 3.14215528e-04 -4.85001342e+01] [ 5.71379462e-03 -4.66892308e-04 9.99983567e-01 4.77024141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.080714057 meters Centerline goodness : 0.995602 with order 1 Centerline is valid? [True, True] Translation: X:865.73, Y:-48.50, Z:4.77 [[ 9.99588755e-01 -2.80990243e-02 -5.72420300e-03 8.65729706e+02] [ 2.81012831e-02 9.99605031e-01 3.14543084e-04 -4.85016641e+01] [ 5.71310376e-03 -4.75271178e-04 9.99983567e-01 4.76873762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1407140570001 meters Centerline goodness : 0.993856 with order 1 Centerline is valid? [True, True] Translation: X:865.79, Y:-48.51, Z:4.77 [[ 9.99719947e-01 -2.29621652e-02 -5.72418627e-03 8.65792070e+02] [ 2.29643421e-02 9.99736235e-01 3.14847154e-04 -4.85074084e+01] [ 5.71544686e-03 -4.46211152e-04 9.99983567e-01 4.76917678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.200714057 meters Centerline goodness : 0.993388 with order 1 Centerline is valid? [True, True] Translation: X:865.85, Y:-48.51, Z:4.77 [[ 9.99727895e-01 -2.26134688e-02 -5.72416276e-03 8.65854778e+02] [ 2.26156424e-02 9.99744184e-01 3.15273958e-04 -4.85050417e+01] [ 5.71556899e-03 -4.44643788e-04 9.99983567e-01 4.77102767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2607140570001 meters Centerline goodness : 0.993587 with order 1 Centerline is valid? [True, True] Translation: X:865.92, Y:-48.51, Z:4.77 [[ 9.99809542e-01 -1.86577919e-02 -5.72413977e-03 8.65916544e+02] [ 1.86599034e-02 9.99825839e-01 3.15690849e-04 -4.85073068e+01] [ 5.71725276e-03 -4.22442619e-04 9.99983567e-01 4.76873828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.320714057 meters Centerline goodness : 0.994455 with order 1 Centerline is valid? [True, True] Translation: X:865.98, Y:-48.50, Z:4.77 [[ 9.99771374e-01 -2.06018207e-02 -5.72410144e-03 8.65978112e+02] [ 2.06039679e-02 9.99787666e-01 3.16384322e-04 -4.84993839e+01] [ 5.71636793e-03 -4.34251191e-04 9.99983567e-01 4.76881329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.380714057 meters Centerline goodness : 0.993993 with order 1 Centerline is valid? [True, True] Translation: X:866.04, Y:-48.50, Z:4.77 [[ 9.99802823e-01 -1.90144518e-02 -5.72408356e-03 8.66040392e+02] [ 1.90165749e-02 9.99819118e-01 3.16707488e-04 -4.84991679e+01] [ 5.71702616e-03 -4.25497505e-04 9.99983567e-01 4.77085129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.440714057 meters Centerline goodness : 0.992983 with order 1 Centerline is valid? [True, True] Translation: X:866.10, Y:-48.51, Z:4.77 [[ 9.99886292e-01 -1.39512851e-02 -5.72406100e-03 8.66101645e+02] [ 1.39533280e-02 9.99902597e-01 3.17114700e-04 -4.85097973e+01] [ 5.71907931e-03 -3.96948342e-04 9.99983567e-01 4.76800535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.500714057 meters Centerline goodness : 0.993276 with order 1 Centerline is valid? [True, True] Translation: X:866.16, Y:-48.51, Z:4.77 [[ 9.99841362e-01 -1.68667378e-02 -5.72404337e-03 8.66164205e+02] [ 1.68688300e-02 9.99857661e-01 3.17432695e-04 -4.85119928e+01] [ 5.71787456e-03 -4.13940252e-04 9.99983567e-01 4.76742320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.560714057 meters Centerline goodness : 0.993974 with order 1 Centerline is valid? [True, True] Translation: X:866.23, Y:-48.51, Z:4.77 [[ 9.99728975e-01 -2.25657161e-02 -5.72400719e-03 8.66227011e+02] [ 2.25679050e-02 9.99745262e-01 3.18083771e-04 -4.85116173e+01] [ 5.71537128e-03 -4.47176412e-04 9.99983567e-01 4.77036792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.620714057 meters Centerline goodness : 0.993694 with order 1 Centerline is valid? [True, True] Translation: X:866.29, Y:-48.51, Z:4.77 [[ 9.99710870e-01 -2.33540914e-02 -5.72392136e-03 8.66287678e+02] [ 2.33563018e-02 9.99727153e-01 3.19620760e-04 -4.85148597e+01] [ 5.71489516e-03 -4.53217983e-04 9.99983567e-01 4.76833624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.680714057 meters Centerline goodness : 0.994061 with order 1 Centerline is valid? [True, True] Translation: X:866.35, Y:-48.52, Z:4.77 [[ 9.99695012e-01 -2.40233405e-02 -5.72387881e-03 8.66349148e+02] [ 2.40255661e-02 9.99711293e-01 3.20380971e-04 -4.85168582e+01] [ 5.71452967e-03 -4.57802687e-04 9.99983567e-01 4.76767016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.740714057 meters Centerline goodness : 0.993589 with order 1 Centerline is valid? [True, True] Translation: X:866.41, Y:-48.52, Z:4.77 [[ 9.99718085e-01 -2.30431592e-02 -5.72386091e-03 8.66411256e+02] [ 2.30453707e-02 9.99734369e-01 3.20700450e-04 -4.85202996e+01] [ 5.71495052e-03 -4.52518536e-04 9.99983567e-01 4.76706269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.800714057 meters Centerline goodness : 0.994345 with order 1 Centerline is valid? [True, True] Translation: X:866.47, Y:-48.52, Z:4.77 [[ 9.99681178e-01 -2.45922645e-02 -5.72383736e-03 8.66472903e+02] [ 2.45945036e-02 9.99697458e-01 3.21120192e-04 -4.85165415e+01] [ 5.71420859e-03 -4.61792751e-04 9.99983567e-01 4.77021570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.860714057 meters Centerline goodness : 0.993953 with order 1 Centerline is valid? [True, True] Translation: X:866.53, Y:-48.53, Z:4.77 [[ 9.99828413e-01 -1.76176816e-02 -5.72381998e-03 8.66534357e+02] [ 1.76198088e-02 9.99844707e-01 3.21429686e-04 -4.85259602e+01] [ 5.71726827e-03 -4.22227147e-04 9.99983567e-01 4.76637491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.920714057 meters Centerline goodness : 0.994596 with order 1 Centerline is valid? [True, True] Translation: X:866.60, Y:-48.52, Z:4.77 [[ 9.99769815e-01 -2.06773946e-02 -5.72379679e-03 8.66595762e+02] [ 2.06795741e-02 9.99786103e-01 3.21842139e-04 -4.85215893e+01] [ 5.71591763e-03 -4.40133735e-04 9.99983567e-01 4.77085531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.980714057 meters Centerline goodness : 0.993993 with order 1 Centerline is valid? [True, True] Translation: X:866.66, Y:-48.53, Z:4.77 [[ 9.99856373e-01 -1.59521615e-02 -5.72377969e-03 8.66658012e+02] [ 1.59542657e-02 9.99872671e-01 3.22145936e-04 -4.85303537e+01] [ 5.71791196e-03 -4.13418369e-04 9.99983567e-01 4.77153946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0407140570001 meters Centerline goodness : 0.995266 with order 1 Centerline is valid? [True, True] Translation: X:866.72, Y:-48.53, Z:4.77 [[ 9.99796501e-01 -1.93441336e-02 -5.72375504e-03 8.66719233e+02] [ 1.93462955e-02 9.99812791e-01 3.22583298e-04 -4.85299841e+01] [ 5.71644341e-03 -4.33251109e-04 9.99983567e-01 4.77118984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.100714057 meters Centerline goodness : 0.993817 with order 1 Centerline is valid? [True, True] Translation: X:866.78, Y:-48.54, Z:4.77 [[ 9.99882968e-01 -1.41876270e-02 -5.72370797e-03 8.66780929e+02] [ 1.41897097e-02 9.99899269e-01 3.23416466e-04 -4.85381145e+01] [ 5.71854290e-03 -4.04596370e-04 9.99983567e-01 4.77261461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1607140570001 meters Centerline goodness : 0.995417 with order 1 Centerline is valid? [True, True] Translation: X:866.84, Y:-48.54, Z:4.77 [[ 9.99843901e-01 -1.67156732e-02 -5.72368310e-03 8.66842633e+02] [ 1.67177996e-02 9.99860195e-01 3.23855943e-04 -4.85378277e+01] [ 5.71746943e-03 -4.19492776e-04 9.99983567e-01 4.77144177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.220714057 meters Centerline goodness : 0.994532 with order 1 Centerline is valid? [True, True] Translation: X:866.90, Y:-48.55, Z:4.77 [[ 9.99903868e-01 -1.26290938e-02 -5.72366475e-03 8.66904127e+02] [ 1.26311554e-02 9.99920171e-01 3.24179874e-04 -4.85456456e+01] [ 5.71911374e-03 -3.96445209e-04 9.99983567e-01 4.77124930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2807140570001 meters Centerline goodness : 0.995142 with order 1 Centerline is valid? [True, True] Translation: X:866.96, Y:-48.55, Z:4.77 [[ 9.99917812e-01 -1.14721168e-02 -5.72363978e-03 8.66964998e+02] [ 1.14741620e-02 9.99934117e-01 3.24620191e-04 -4.85514617e+01] [ 5.71953861e-03 -3.90267482e-04 9.99983567e-01 4.76962449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.340714057 meters Centerline goodness : 0.994509 with order 1 Centerline is valid? [True, True] Translation: X:867.03, Y:-48.56, Z:4.77 [[ 9.99913042e-01 -1.18806154e-02 -5.72359882e-03 8.67026788e+02] [ 1.18826714e-02 9.99929346e-01 3.25340833e-04 -4.85574028e+01] [ 5.71932917e-03 -3.93324186e-04 9.99983567e-01 4.77057915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4007140570001 meters Centerline goodness : 0.995584 with order 1 Centerline is valid? [True, True] Translation: X:867.09, Y:-48.56, Z:4.77 [[ 9.99834159e-01 -1.72886132e-02 -5.72357402e-03 8.67088378e+02] [ 1.72907598e-02 9.99850451e-01 3.25776418e-04 -4.85574961e+01] [ 5.71708584e-03 -4.24687334e-04 9.99983567e-01 4.77297629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.460714057 meters Centerline goodness : 0.994994 with order 1 Centerline is valid? [True, True] Translation: X:867.15, Y:-48.57, Z:4.77 [[ 9.99891508e-01 -1.35725176e-02 -5.72349467e-03 8.67149645e+02] [ 1.35746116e-02 9.99907807e-01 3.27164647e-04 -4.85701402e+01] [ 5.71852656e-03 -4.04823370e-04 9.99983567e-01 4.76887185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5207140570001 meters Centerline goodness : 0.994067 with order 1 Centerline is valid? [True, True] Translation: X:867.21, Y:-48.58, Z:4.77 [[ 9.99901358e-01 -1.28264128e-02 -5.72346938e-03 8.67211734e+02] [ 1.28284971e-02 9.99917658e-01 3.27606449e-04 -4.85777029e+01] [ 5.71879608e-03 -4.00997644e-04 9.99983567e-01 4.76712524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.580714057 meters Centerline goodness : 0.993735 with order 1 Centerline is valid? [True, True] Translation: X:867.27, Y:-48.58, Z:4.77 [[ 9.99904591e-01 -1.25718511e-02 -5.72344447e-03 8.67273566e+02] [ 1.25739338e-02 9.99920891e-01 3.28041005e-04 -4.85829758e+01] [ 5.71886762e-03 -3.99975919e-04 9.99983567e-01 4.76834172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6407140570001 meters Centerline goodness : 0.993317 with order 1 Centerline is valid? [True, True] Translation: X:867.33, Y:-48.59, Z:4.77 [[ 9.99900764e-01 -1.28726109e-02 -5.72341996e-03 8.67334901e+02] [ 1.28747009e-02 9.99917064e-01 3.28468127e-04 -4.85862726e+01] [ 5.71871704e-03 -4.02122851e-04 9.99983567e-01 4.77297158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.700714057 meters Centerline goodness : 0.993608 with order 1 Centerline is valid? [True, True] Translation: X:867.40, Y:-48.59, Z:4.78 [[ 9.99936905e-01 -9.66580360e-03 -5.72340186e-03 8.67395675e+02] [ 9.66784310e-03 9.99953211e-01 3.28783239e-04 -4.85896713e+01] [ 5.71995612e-03 -3.84095445e-04 9.99983567e-01 4.77686739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7607140570001 meters Centerline goodness : 0.994200 with order 1 Centerline is valid? [True, True] Translation: X:867.46, Y:-48.59, Z:4.78 [[ 9.99908363e-01 -1.22682305e-02 -5.72336357e-03 8.67457892e+02] [ 1.22703162e-02 9.99924663e-01 3.29448517e-04 -4.85934134e+01] [ 5.71889063e-03 -3.99645808e-04 9.99983567e-01 4.77714503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.820714057 meters Centerline goodness : 0.994279 with order 1 Centerline is valid? [True, True] Translation: X:867.52, Y:-48.59, Z:4.78 [[ 9.99892812e-01 -1.34761686e-02 -5.72333902e-03 8.67519451e+02] [ 1.34782764e-02 9.99909110e-01 3.29874418e-04 -4.85937599e+01] [ 5.71837338e-03 -4.06979805e-04 9.99983567e-01 4.77627952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.880714057 meters Centerline goodness : 0.993575 with order 1 Centerline is valid? [True, True] Translation: X:867.58, Y:-48.60, Z:4.78 [[ 9.99917741e-01 -1.14784867e-02 -5.72329872e-03 8.67580372e+02] [ 1.14805660e-02 9.99934042e-01 3.30572199e-04 -4.86001683e+01] [ 5.71912675e-03 -3.96251715e-04 9.99983567e-01 4.78115224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.940714057 meters Centerline goodness : 0.994024 with order 1 Centerline is valid? [True, True] Translation: X:867.64, Y:-48.60, Z:4.78 [[ 9.99932487e-01 -1.01126303e-02 -5.72328661e-03 8.67642271e+02] [ 1.01146884e-02 9.99948791e-01 3.30781646e-04 -4.86039617e+01] [ 5.71964845e-03 -3.88648575e-04 9.99983567e-01 4.77578865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.000714057 meters Centerline goodness : 0.994337 with order 1 Centerline is valid? [True, True] Translation: X:867.70, Y:-48.61, Z:4.78 [[ 9.99956934e-01 -7.30584506e-03 -5.72326260e-03 8.67703433e+02] [ 7.30785982e-03 9.99973242e-01 3.31196565e-04 -4.86084250e+01] [ 5.72068979e-03 -3.73007102e-04 9.99983567e-01 4.77544834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.060714057 meters Centerline goodness : 0.993245 with order 1 Centerline is valid? [True, True] Translation: X:867.76, Y:-48.62, Z:4.78 [[ 9.99979052e-01 -3.02316556e-03 -5.72324474e-03 8.67764043e+02] [ 3.02511222e-03 9.99995369e-01 3.31504918e-04 -4.86176782e+01] [ 5.72221604e-03 -3.48811432e-04 9.99983567e-01 4.77597473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.120714057 meters Centerline goodness : 0.994212 with order 1 Centerline is valid? [True, True] Translation: X:867.82, Y:-48.62, Z:4.78 [[ 9.99982851e-01 -1.24207016e-03 -5.72323272e-03 8.67823819e+02] [ 1.24398893e-03 9.99999171e-01 3.31712312e-04 -4.86231341e+01] [ 5.72281597e-03 -3.38826262e-04 9.99983567e-01 4.77615497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.180714057 meters Centerline goodness : 0.993905 with order 1 Centerline is valid? [True, True] Translation: X:867.88, Y:-48.62, Z:4.78 [[ 9.99976750e-01 -3.70729480e-03 -5.72324454e-03 8.67882435e+02] [ 3.70925263e-03 9.99993066e-01 3.31508213e-04 -4.86217115e+01] [ 5.72197586e-03 -3.52729466e-04 9.99983567e-01 4.77761951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.240714057 meters Centerline goodness : 0.992933 with order 1 Centerline is valid? [True, True] Translation: X:867.94, Y:-48.63, Z:4.78 [[ 9.99979591e-01 2.83947809e-03 -5.72326780e-03 8.67941527e+02] [-2.83762941e-03 9.99995919e-01 3.31106230e-04 -4.86338328e+01] [ 5.72418461e-03 -3.14858960e-04 9.99983567e-01 4.77720558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.300714057 meters Centerline goodness : 0.992505 with order 1 Centerline is valid? [True, True] Translation: X:868.00, Y:-48.64, Z:4.78 [[ 9.99977192e-01 3.58603310e-03 -5.72327967e-03 8.67999963e+02] [-3.58419778e-03 9.99993522e-01 3.30900838e-04 -4.86399848e+01] [ 5.72442922e-03 -3.10379925e-04 9.99983567e-01 4.78067625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.360714057 meters Centerline goodness : 0.992637 with order 1 Centerline is valid? [True, True] Translation: X:868.06, Y:-48.64, Z:4.78 [[ 9.99981034e-01 2.27510183e-03 -5.72330485e-03 8.68058077e+02] [-2.27324759e-03 9.99997362e-01 3.30464694e-04 -4.86447428e+01] [ 5.72404159e-03 -3.17447937e-04 9.99983567e-01 4.78093875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.420714057 meters Centerline goodness : 0.993403 with order 1 Centerline is valid? [True, True] Translation: X:868.12, Y:-48.65, Z:4.78 [[ 9.99983257e-01 8.54160350e-04 -5.72333622e-03 8.68116530e+02] [-8.52286017e-04 9.99999582e-01 3.29920560e-04 -4.86488248e+01] [ 5.72361564e-03 -3.25037117e-04 9.99983567e-01 4.78116179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.480714057 meters Centerline goodness : 0.993147 with order 1 Centerline is valid? [True, True] Translation: X:868.17, Y:-48.65, Z:4.78 [[ 9.99980491e-01 2.50233893e-03 -5.72336083e-03 8.68174230e+02] [-2.50049394e-03 9.99996819e-01 3.29493167e-04 -4.86537569e+01] [ 5.72416713e-03 -3.15175509e-04 9.99983567e-01 4.77824526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5407140570001 meters Centerline goodness : 0.992884 with order 1 Centerline is valid? [True, True] Translation: X:868.23, Y:-48.66, Z:4.78 [[ 9.99978967e-01 3.05095481e-03 -5.72346130e-03 8.68230977e+02] [-3.04912880e-03 9.99995298e-01 3.27738500e-04 -4.86568929e+01] [ 5.72443430e-03 -3.10280036e-04 9.99983567e-01 4.77876821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.600714057 meters Centerline goodness : 0.995355 with order 1 Centerline is valid? [True, True] Translation: X:868.29, Y:-48.65, Z:4.78 [[ 9.99977711e-01 -3.43778491e-03 -5.72350414e-03 8.68288784e+02] [ 3.43971258e-03 9.99994031e-01 3.26988643e-04 -4.86518118e+01] [ 5.72234586e-03 -3.46668564e-04 9.99983567e-01 4.77546284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6607140570001 meters Centerline goodness : 0.994111 with order 1 Centerline is valid? [True, True] Translation: X:868.35, Y:-48.66, Z:4.78 [[ 9.99982516e-01 1.48634450e-03 -5.72353404e-03 8.68347631e+02] [-1.48450021e-03 9.99998845e-01 3.26464522e-04 -4.86626040e+01] [ 5.72401266e-03 -3.17962226e-04 9.99983567e-01 4.77942577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.720714057 meters Centerline goodness : 0.993701 with order 1 Centerline is valid? [True, True] Translation: X:868.41, Y:-48.67, Z:4.78 [[ 9.99978900e-01 -3.07271080e-03 -5.72354648e-03 8.68405258e+02] [ 3.07462827e-03 9.99995220e-01 3.26246156e-04 -4.86667640e+01] [ 5.72251667e-03 -3.43837050e-04 9.99983567e-01 4.77592012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7807140570001 meters Centerline goodness : 0.993545 with order 1 Centerline is valid? [True, True] Translation: X:868.46, Y:-48.67, Z:4.78 [[ 9.99967908e-01 -5.60569610e-03 -5.72357698e-03 8.68464973e+02] [ 5.60765185e-03 9.99984224e-01 3.25710322e-04 -4.86691839e+01] [ 5.72166085e-03 -3.57795696e-04 9.99983567e-01 4.78291826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.840714057 meters Centerline goodness : 0.993977 with order 1 Centerline is valid? [True, True] Translation: X:868.52, Y:-48.67, Z:4.78 [[ 9.99907578e-01 -1.23318838e-02 -5.72358940e-03 8.68524705e+02] [ 1.23339480e-02 9.99923881e-01 3.25491931e-04 -4.86730556e+01] [ 5.71913979e-03 -3.96056302e-04 9.99983567e-01 4.77892928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9007140570001 meters Centerline goodness : 0.993843 with order 1 Centerline is valid? [True, True] Translation: X:868.59, Y:-48.68, Z:4.78 [[ 9.99886401e-01 -1.39436720e-02 -5.72359552e-03 8.68586600e+02] [ 1.39457619e-02 9.99902700e-01 3.25384150e-04 -4.86783617e+01] [ 5.71850157e-03 -4.05167087e-04 9.99983567e-01 4.77624732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.960714057 meters Centerline goodness : 0.994205 with order 1 Centerline is valid? [True, True] Translation: X:868.65, Y:-48.68, Z:4.78 [[ 9.99913722e-01 -1.18232376e-02 -5.72357186e-03 8.68649081e+02] [ 1.18252953e-02 9.99930026e-01 3.25799798e-04 -4.86812701e+01] [ 5.71931935e-03 -3.93454616e-04 9.99983567e-01 4.77846690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0207140570001 meters Centerline goodness : 0.994732 with order 1 Centerline is valid? [True, True] Translation: X:868.71, Y:-48.68, Z:4.77 [[ 9.99919201e-01 -1.13504361e-02 -5.72354776e-03 8.68710803e+02] [ 1.13524885e-02 9.99935505e-01 3.26222710e-04 -4.86840630e+01] [ 5.71947585e-03 -3.91172862e-04 9.99983567e-01 4.77424189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.080714057 meters Centerline goodness : 0.994594 with order 1 Centerline is valid? [True, True] Translation: X:868.77, Y:-48.69, Z:4.77 [[ 9.99936960e-01 -9.66006235e-03 -5.72352260e-03 8.68772006e+02] [ 9.66208967e-03 9.99953268e-01 3.26663467e-04 -4.86865679e+01] [ 5.72009954e-03 -3.81944063e-04 9.99983567e-01 4.77423777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1407140570001 meters Centerline goodness : 0.994199 with order 1 Centerline is valid? [True, True] Translation: X:868.83, Y:-48.69, Z:4.78 [[ 9.99949307e-01 -8.28400217e-03 -5.72348236e-03 8.68833685e+02] [ 8.28601106e-03 9.99965617e-01 3.27367134e-04 -4.86891862e+01] [ 5.72057365e-03 -3.74775377e-04 9.99983567e-01 4.77521790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.200714057 meters Centerline goodness : 0.993586 with order 1 Centerline is valid? [True, True] Translation: X:868.90, Y:-48.69, Z:4.78 [[ 9.99960919e-01 -6.73812679e-03 -5.72347045e-03 8.68895250e+02] [ 6.74011165e-03 9.99977232e-01 3.27575134e-04 -4.86920778e+01] [ 5.72113289e-03 -3.66139162e-04 9.99983567e-01 4.77563371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2607140570001 meters Centerline goodness : 0.994070 with order 1 Centerline is valid? [True, True] Translation: X:868.96, Y:-48.70, Z:4.78 [[ 9.99956095e-01 -7.41960434e-03 -5.72345826e-03 8.68955221e+02] [ 7.42160153e-03 9.99972406e-01 3.27788067e-04 -4.86953183e+01] [ 5.72086826e-03 -3.70250902e-04 9.99983567e-01 4.77614493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.320714057 meters Centerline goodness : 0.996017 with order 1 Centerline is valid? [True, True] Translation: X:869.02, Y:-48.69, Z:4.78 [[ 9.99895520e-01 -1.32736954e-02 -5.72345826e-03 8.69015736e+02] [ 1.32757880e-02 9.99911819e-01 3.27788067e-04 -4.86927839e+01] [ 5.71860260e-03 -4.03737238e-04 9.99983567e-01 4.77695622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.380714057 meters Centerline goodness : 0.994250 with order 1 Centerline is valid? [True, True] Translation: X:869.08, Y:-48.70, Z:4.78 [[ 9.99959386e-01 -6.96187574e-03 -5.72345217e-03 8.69077630e+02] [ 6.96386607e-03 9.99975698e-01 3.27894354e-04 -4.87045288e+01] [ 5.72103032e-03 -3.67738391e-04 9.99983567e-01 4.77699235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.440714057 meters Centerline goodness : 0.994510 with order 1 Centerline is valid? [True, True] Translation: X:869.14, Y:-48.71, Z:4.78 [[ 9.99946743e-01 -8.58804455e-03 -5.72342703e-03 8.69137490e+02] [ 8.59006391e-03 9.99963051e-01 3.28332526e-04 -4.87078517e+01] [ 5.72039582e-03 -3.77479644e-04 9.99983567e-01 4.77571346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.500714057 meters Centerline goodness : 0.993930 with order 1 Centerline is valid? [True, True] Translation: X:869.20, Y:-48.71, Z:4.77 [[ 9.99968432e-01 -5.51157654e-03 -5.72342703e-03 8.69198827e+02] [ 5.51354571e-03 9.99984746e-01 3.28332526e-04 -4.87127310e+01] [ 5.72153010e-03 -3.59878538e-04 9.99983567e-01 4.77344383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.560714057 meters Centerline goodness : 0.993414 with order 1 Centerline is valid? [True, True] Translation: X:869.26, Y:-48.71, Z:4.78 [[ 9.99968783e-01 -5.44761267e-03 -5.72341524e-03 8.69259623e+02] [ 5.44958196e-03 9.99985097e-01 3.28537870e-04 -4.87141628e+01] [ 5.72154020e-03 -3.59717834e-04 9.99983567e-01 4.77630872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.620714057 meters Centerline goodness : 0.993653 with order 1 Centerline is valid? [True, True] Translation: X:869.32, Y:-48.72, Z:4.78 [[ 9.99971483e-01 -4.92697248e-03 -5.72341524e-03 8.69320086e+02] [ 4.92893328e-03 9.99987799e-01 3.28537870e-04 -4.87156537e+01] [ 5.72172671e-03 -3.56738833e-04 9.99983567e-01 4.77734453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.680714057 meters Centerline goodness : 0.993436 with order 1 Centerline is valid? [True, True] Translation: X:869.38, Y:-48.72, Z:4.77 [[ 9.99983283e-01 -8.22150303e-04 -5.72341524e-03 8.69379987e+02] [ 8.24044113e-04 9.99999607e-01 3.28537870e-04 -4.87226760e+01] [ 5.72314288e-03 -3.33248724e-04 9.99983567e-01 4.77123286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.740714057 meters Centerline goodness : 0.993788 with order 1 Centerline is valid? [True, True] Translation: X:869.44, Y:-48.72, Z:4.77 [[ 9.99969260e-01 -5.35927226e-03 -5.72341524e-03 8.69437817e+02] [ 5.36124011e-03 9.99985574e-01 3.28537870e-04 -4.87236060e+01] [ 5.72157196e-03 -3.59212374e-04 9.99983567e-01 4.77475546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.800714057 meters Centerline goodness : 0.994277 with order 1 Centerline is valid? [True, True] Translation: X:869.50, Y:-48.72, Z:4.78 [[ 9.99890600e-01 -1.36392736e-02 -5.72344854e-03 8.69497277e+02] [ 1.36413732e-02 9.99906898e-01 3.27956857e-04 -4.87190001e+01] [ 5.71844258e-03 -4.05996676e-04 9.99983567e-01 4.77662322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.860714057 meters Centerline goodness : 0.992618 with order 1 Centerline is valid? [True, True] Translation: X:869.56, Y:-48.74, Z:4.77 [[ 9.99975906e-01 -3.92793524e-03 -5.72345428e-03 8.69558902e+02] [ 3.92987586e-03 9.99992224e-01 3.27856622e-04 -4.87367561e+01] [ 5.72212197e-03 -3.50341188e-04 9.99983567e-01 4.76691380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.920714057 meters Centerline goodness : 0.992781 with order 1 Centerline is valid? [True, True] Translation: X:869.62, Y:-48.74, Z:4.77 [[ 9.99927935e-01 -1.05530546e-02 -5.72342936e-03 8.69618498e+02] [ 1.05551057e-02 9.99944239e-01 3.28290984e-04 -4.87371005e+01] [ 5.71964575e-03 -3.88678727e-04 9.99983567e-01 4.77258427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.980714057 meters Centerline goodness : 0.993455 with order 1 Centerline is valid? [True, True] Translation: X:869.68, Y:-48.74, Z:4.78 [[ 9.99875414e-01 -1.47104962e-02 -5.72344177e-03 8.69679933e+02] [ 1.47126139e-02 9.99891710e-01 3.28074515e-04 -4.87396769e+01] [ 5.71799584e-03 -4.12240430e-04 9.99983567e-01 4.77754637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0407140570001 meters Centerline goodness : 0.992669 with order 1 Centerline is valid? [True, True] Translation: X:869.74, Y:-48.74, Z:4.78 [[ 9.99877317e-01 -1.45805852e-02 -5.72336171e-03 8.69741941e+02] [ 1.45827087e-02 9.99893612e-01 3.29465308e-04 -4.87443029e+01] [ 5.71794902e-03 -4.12887005e-04 9.99983567e-01 4.77766750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.100714057 meters Centerline goodness : 0.994787 with order 1 Centerline is valid? [True, True] Translation: X:869.80, Y:-48.74, Z:4.78 [[ 9.99791068e-01 -1.96230353e-02 -5.72333735e-03 8.69803321e+02] [ 1.96252434e-02 9.99807352e-01 3.29888021e-04 -4.87417175e+01] [ 5.71576135e-03 -4.42140985e-04 9.99983567e-01 4.77940333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1607140570001 meters Centerline goodness : 0.993082 with order 1 Centerline is valid? [True, True] Translation: X:869.86, Y:-48.75, Z:4.78 [[ 9.99892427e-01 -1.35047186e-02 -5.72328917e-03 8.69864466e+02] [ 1.35068317e-02 9.99908724e-01 3.30721756e-04 -4.87548920e+01] [ 5.71830046e-03 -4.07989683e-04 9.99983567e-01 4.77600101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.220714057 meters Centerline goodness : 0.993388 with order 1 Centerline is valid? [True, True] Translation: X:869.93, Y:-48.76, Z:4.78 [[ 9.99866054e-01 -1.53335575e-02 -5.72326408e-03 8.69925562e+02] [ 1.53357029e-02 9.99882346e-01 3.31155426e-04 -4.87594346e+01] [ 5.71751292e-03 -4.18881347e-04 9.99983567e-01 4.77630292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2807140570001 meters Centerline goodness : 0.993244 with order 1 Centerline is valid? [True, True] Translation: X:869.99, Y:-48.76, Z:4.78 [[ 9.99855557e-01 -1.60034533e-02 -5.72324562e-03 8.69988004e+02] [ 1.60056114e-02 9.99871847e-01 3.31474104e-04 -4.87631851e+01] [ 5.71720744e-03 -4.23030270e-04 9.99983567e-01 4.77968535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.340714057 meters Centerline goodness : 0.993266 with order 1 Centerline is valid? [True, True] Translation: X:870.05, Y:-48.77, Z:4.78 [[ 9.99813898e-01 -1.84231703e-02 -5.72322025e-03 8.70049258e+02] [ 1.84253703e-02 9.99830183e-01 3.31911569e-04 -4.87678189e+01] [ 5.71613349e-03 -4.37302252e-04 9.99983567e-01 4.78087347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4007140570001 meters Centerline goodness : 0.993213 with order 1 Centerline is valid? [True, True] Translation: X:870.11, Y:-48.78, Z:4.78 [[ 9.99852190e-01 -1.62124085e-02 -5.72320154e-03 8.70110687e+02] [ 1.62145743e-02 9.99868480e-01 3.32233901e-04 -4.87753623e+01] [ 5.71706251e-03 -4.24984070e-04 9.99983567e-01 4.77995823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.460714057 meters Centerline goodness : 0.994914 with order 1 Centerline is valid? [True, True] Translation: X:870.17, Y:-48.77, Z:4.78 [[ 9.99724331e-01 -2.27707590e-02 -5.72317684e-03 8.70172620e+02] [ 2.27730341e-02 9.99740605e-01 3.32658815e-04 -4.87724416e+01] [ 5.71411738e-03 -4.62901213e-04 9.99983567e-01 4.78325440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5207140570001 meters Centerline goodness : 0.993910 with order 1 Centerline is valid? [True, True] Translation: X:870.23, Y:-48.78, Z:4.78 [[ 9.99779535e-01 -2.02021605e-02 -5.72312907e-03 8.70233887e+02] [ 2.02043984e-02 9.99795815e-01 3.33478697e-04 -4.87833719e+01] [ 5.71522350e-03 -4.49037557e-04 9.99983567e-01 4.78324419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.580714057 meters Centerline goodness : 0.993652 with order 1 Centerline is valid? [True, True] Translation: X:870.30, Y:-48.79, Z:4.78 [[ 9.99755093e-01 -2.13775802e-02 -5.72310472e-03 8.70296215e+02] [ 2.13798396e-02 9.99771369e-01 3.33896048e-04 -4.87886919e+01] [ 5.71465835e-03 -4.56173335e-04 9.99983567e-01 4.78243288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6407140570001 meters Centerline goodness : 0.993915 with order 1 Centerline is valid? [True, True] Translation: X:870.36, Y:-48.79, Z:4.78 [[ 9.99711178e-01 -2.33410806e-02 -5.72308005e-03 8.70357134e+02] [ 2.33433744e-02 9.99727450e-01 3.34318329e-04 -4.87941746e+01] [ 5.71371687e-03 -4.67817771e-04 9.99983567e-01 4.78048094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.700714057 meters Centerline goodness : 0.994034 with order 1 Centerline is valid? [True, True] Translation: X:870.42, Y:-48.80, Z:4.78 [[ 9.99729070e-01 -2.25617517e-02 -5.72306179e-03 8.70419192e+02] [ 2.25640345e-02 9.99745344e-01 3.34630660e-04 -4.87965561e+01] [ 5.71405452e-03 -4.63675363e-04 9.99983567e-01 4.78136882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7607140570001 meters Centerline goodness : 0.994138 with order 1 Centerline is valid? [True, True] Translation: X:870.48, Y:-48.80, Z:4.78 [[ 9.99807305e-01 -1.87776354e-02 -5.72303796e-03 8.70480757e+02] [ 1.87798590e-02 9.99823587e-01 3.35037673e-04 -4.87997018e+01] [ 5.71573712e-03 -4.42450959e-04 9.99983567e-01 4.78257466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.820714057 meters Centerline goodness : 0.993731 with order 1 Centerline is valid? [True, True] Translation: X:870.54, Y:-48.80, Z:4.79 [[ 9.99896821e-01 -1.31755696e-02 -5.72300060e-03 8.70543108e+02] [ 1.31777056e-02 9.99913114e-01 3.35674671e-04 -4.88031812e+01] [ 5.71808064e-03 -4.11056053e-04 9.99983567e-01 4.78549196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.880714057 meters Centerline goodness : 0.993408 with order 1 Centerline is valid? [True, True] Translation: X:870.60, Y:-48.81, Z:4.78 [[ 9.99941992e-01 -9.12469710e-03 -5.72297566e-03 8.70604795e+02] [ 9.12676945e-03 9.99958294e-01 3.36099339e-04 -4.88082029e+01] [ 5.71967017e-03 -3.88312122e-04 9.99983567e-01 4.78394977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.940714057 meters Centerline goodness : 0.993150 with order 1 Centerline is valid? [True, True] Translation: X:870.67, Y:-48.81, Z:4.78 [[ 9.99975572e-01 -4.01294923e-03 -5.72294990e-03 8.70666089e+02] [ 4.01494072e-03 9.99991883e-01 3.36537278e-04 -4.88139076e+01] [ 5.72155295e-03 -3.59506361e-04 9.99983567e-01 4.78396150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.000714057 meters Centerline goodness : 0.992152 with order 1 Centerline is valid? [True, True] Translation: X:870.73, Y:-48.82, Z:4.78 [[ 9.99983408e-01 -6.56561706e-04 -5.72293712e-03 8.70725410e+02] [ 6.58499677e-04 9.99999727e-01 3.36754490e-04 -4.88219241e+01] [ 5.72271446e-03 -3.40517455e-04 9.99983567e-01 4.77558713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.060714057 meters Centerline goodness : 0.993292 with order 1 Centerline is valid? [True, True] Translation: X:870.78, Y:-48.83, Z:4.77 [[ 9.99978999e-01 3.04143258e-03 -5.72294991e-03 8.70782773e+02] [-3.03955621e-03 9.99995324e-01 3.36537074e-04 -4.88274935e+01] [ 5.72394670e-03 -3.19134779e-04 9.99983567e-01 4.77363149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.120714057 meters Centerline goodness : 0.992897 with order 1 Centerline is valid? [True, True] Translation: X:870.84, Y:-48.83, Z:4.77 [[ 9.99964552e-01 6.17597306e-03 -5.72298110e-03 8.70840970e+02] [-6.17415090e-03 9.99980883e-01 3.36005855e-04 -4.88318915e+01] [ 5.72494685e-03 -3.00659396e-04 9.99983567e-01 4.77173580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.180714057 meters Centerline goodness : 0.995108 with order 1 Centerline is valid? [True, True] Translation: X:870.90, Y:-48.82, Z:4.78 [[ 9.99967368e-01 -5.70176279e-03 -5.72306671e-03 8.70899309e+02] [ 5.70377045e-03 9.99983677e-01 3.34541195e-04 -4.88199076e+01] [ 5.72106582e-03 -3.67173337e-04 9.99983567e-01 4.78325972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.240714057 meters Centerline goodness : 0.993257 with order 1 Centerline is valid? [True, True] Translation: X:870.96, Y:-48.83, Z:4.78 [[ 9.99983279e-01 -8.29260083e-04 -5.72309674e-03 8.70959405e+02] [ 8.31185316e-04 9.99999599e-01 3.34026694e-04 -4.88332895e+01] [ 5.72281745e-03 -3.38778063e-04 9.99983567e-01 4.78284646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.300714057 meters Centerline goodness : 0.993185 with order 1 Centerline is valid? [True, True] Translation: X:871.02, Y:-48.83, Z:4.79 [[ 9.99975207e-01 -4.10270462e-03 -5.72309674e-03 8.71018236e+02] [ 4.10468326e-03 9.99991520e-01 3.34026694e-04 -4.88345857e+01] [ 5.72167780e-03 -3.57509912e-04 9.99983567e-01 4.78757354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.360714057 meters Centerline goodness : 0.993728 with order 1 Centerline is valid? [True, True] Translation: X:871.08, Y:-48.84, Z:4.79 [[ 9.99959205e-01 -6.98808944e-03 -5.72312128e-03 8.71077960e+02] [ 6.99011275e-03 9.99975513e-01 3.33605694e-04 -4.88387416e+01] [ 5.72064987e-03 -3.73597348e-04 9.99983567e-01 4.78846212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.420714057 meters Centerline goodness : 0.993435 with order 1 Centerline is valid? [True, True] Translation: X:871.14, Y:-48.84, Z:4.79 [[ 9.99955585e-01 -7.48821273e-03 -5.72312734e-03 8.71138038e+02] [ 7.49024360e-03 9.99971892e-01 3.33501753e-04 -4.88415699e+01] [ 5.72046914e-03 -3.76354558e-04 9.99983567e-01 4.78805269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.480714057 meters Centerline goodness : 0.994299 with order 1 Centerline is valid? [True, True] Translation: X:871.20, Y:-48.84, Z:4.79 [[ 9.99916332e-01 -1.16006635e-02 -5.72312734e-03 8.71198404e+02] [ 1.16027614e-02 9.99932630e-01 3.33501753e-04 -4.88440715e+01] [ 5.71887293e-03 -3.99877930e-04 9.99983567e-01 4.78739314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5407140570001 meters Centerline goodness : 0.995513 with order 1 Centerline is valid? [True, True] Translation: X:871.26, Y:-48.84, Z:4.78 [[ 9.99801186e-01 -1.91006403e-02 -5.72312734e-03 8.71259802e+02] [ 1.91028604e-02 9.99817468e-01 3.33501753e-04 -4.88413887e+01] [ 5.71571259e-03 -4.42763551e-04 9.99983567e-01 4.78266758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.600714057 meters Centerline goodness : 0.993540 with order 1 Centerline is valid? [True, True] Translation: X:871.32, Y:-48.85, Z:4.79 [[ 9.99820467e-01 -1.80632476e-02 -5.72304790e-03 8.71321235e+02] [ 1.80654585e-02 9.99836750e-01 3.34859507e-04 -4.88495522e+01] [ 5.71606496e-03 -4.38188873e-04 9.99983567e-01 4.78559074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6607140570001 meters Centerline goodness : 0.994235 with order 1 Centerline is valid? [True, True] Translation: X:871.38, Y:-48.85, Z:4.79 [[ 9.99674789e-01 -2.48508126e-02 -5.72302365e-03 8.71383249e+02] [ 2.48531364e-02 9.99691057e-01 3.35273393e-04 -4.88495388e+01] [ 5.71292374e-03 -4.77399446e-04 9.99983567e-01 4.78745257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.720714057 meters Centerline goodness : 0.994003 with order 1 Centerline is valid? [True, True] Translation: X:871.44, Y:-48.85, Z:4.79 [[ 9.99577474e-01 -2.84977390e-02 -5.72293391e-03 8.71444614e+02] [ 2.85001308e-02 9.99593732e-01 3.36798205e-04 -4.88528413e+01] [ 5.71101088e-03 -4.99760264e-04 9.99983567e-01 4.78597903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7807140570001 meters Centerline goodness : 0.994846 with order 1 Centerline is valid? [True, True] Translation: X:871.51, Y:-48.85, Z:4.78 [[ 9.99467031e-01 -3.21387911e-02 -5.72288554e-03 8.71506922e+02] [ 3.21412468e-02 9.99483280e-01 3.37618109e-04 -4.88541529e+01] [ 5.70907777e-03 -5.21378846e-04 9.99983567e-01 4.78489841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.840714057 meters Centerline goodness : 0.995306 with order 1 Centerline is valid? [True, True] Translation: X:871.57, Y:-48.86, Z:4.79 [[ 9.99369713e-01 -3.50346365e-02 -5.72286066e-03 8.71567668e+02] [ 3.50371416e-02 9.99385954e-01 3.38039369e-04 -4.88550048e+01] [ 5.70750347e-03 -5.38338986e-04 9.99983567e-01 4.78618346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9007140570001 meters Centerline goodness : 0.994840 with order 1 Centerline is valid? [True, True] Translation: X:871.63, Y:-48.86, Z:4.78 [[ 9.99373114e-01 -3.49374886e-02 -5.72284831e-03 8.71629727e+02] [ 3.49399934e-02 9.99389355e-01 3.38248312e-04 -4.88582467e+01] [ 5.70753613e-03 -5.37992551e-04 9.99983567e-01 4.78382582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.960714057 meters Centerline goodness : 0.995666 with order 1 Centerline is valid? [True, True] Translation: X:871.69, Y:-48.86, Z:4.78 [[ 9.99370805e-01 -3.50034812e-02 -5.72282367e-03 8.71691649e+02] [ 3.50059893e-02 9.99387045e-01 3.38664706e-04 -4.88592673e+01] [ 5.70746139e-03 -5.38784724e-04 9.99983567e-01 4.78449005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0207140570001 meters Centerline goodness : 0.994871 with order 1 Centerline is valid? [True, True] Translation: X:871.75, Y:-48.86, Z:4.78 [[ 9.99442562e-01 -3.28909544e-02 -5.72279856e-03 8.71754517e+02] [ 3.28934307e-02 9.99458807e-01 3.39088527e-04 -4.88606738e+01] [ 5.70854847e-03 -5.27141984e-04 9.99983567e-01 4.78294949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.080714057 meters Centerline goodness : 0.994698 with order 1 Centerline is valid? [True, True] Translation: X:871.82, Y:-48.86, Z:4.78 [[ 9.99527352e-01 -3.02046773e-02 -5.72275981e-03 8.71817099e+02] [ 3.02071135e-02 9.99543603e-01 3.39741272e-04 -4.88630122e+01] [ 5.70988618e-03 -5.12448749e-04 9.99983567e-01 4.78198257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1407140570001 meters Centerline goodness : 0.995416 with order 1 Centerline is valid? [True, True] Translation: X:871.88, Y:-48.86, Z:4.78 [[ 9.99602083e-01 -2.76211097e-02 -5.72272082e-03 8.71879083e+02] [ 2.76235077e-02 9.99618340e-01 3.40396658e-04 -4.88618271e+01] [ 5.71113456e-03 -4.98342831e-04 9.99983567e-01 4.78481674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.200714057 meters Centerline goodness : 0.994976 with order 1 Centerline is valid? [True, True] Translation: X:871.94, Y:-48.86, Z:4.79 [[ 9.99702571e-01 -2.37069512e-02 -5.72269494e-03 8.71940258e+02] [ 2.37092880e-02 9.99718837e-01 3.40831157e-04 -4.88599590e+01] [ 5.71300587e-03 -4.76410807e-04 9.99983567e-01 4.78607863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2607140570001 meters Centerline goodness : 0.994665 with order 1 Centerline is valid? [True, True] Translation: X:872.00, Y:-48.86, Z:4.79 [[ 9.99772733e-01 -2.05361326e-02 -5.72264645e-03 8.72002714e+02] [ 2.05384224e-02 9.99789006e-01 3.41643467e-04 -4.88572232e+01] [ 5.71442297e-03 -4.59099953e-04 9.99983567e-01 4.79054796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.320714057 meters Centerline goodness : 0.994994 with order 1 Centerline is valid? [True, True] Translation: X:872.06, Y:-48.86, Z:4.79 [[ 9.99796772e-01 -1.93304665e-02 -5.72262034e-03 8.72064674e+02] [ 1.93327392e-02 9.99813047e-01 3.42080300e-04 -4.88565212e+01] [ 5.71493790e-03 -4.52644706e-04 9.99983567e-01 4.79067723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.380714057 meters Centerline goodness : 0.994712 with order 1 Centerline is valid? [True, True] Translation: X:872.13, Y:-48.86, Z:4.79 [[ 9.99786238e-01 -1.98678213e-02 -5.72255851e-03 8.72126827e+02] [ 1.98701086e-02 9.99802511e-01 3.43111398e-04 -4.88580464e+01] [ 5.71461150e-03 -4.56745913e-04 9.99983567e-01 4.79136812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.440714057 meters Centerline goodness : 0.994550 with order 1 Centerline is valid? [True, True] Translation: X:872.19, Y:-48.86, Z:4.79 [[ 9.99753660e-01 -2.14446029e-02 -5.72253237e-03 8.72188431e+02] [ 2.14469183e-02 9.99769929e-01 3.43546904e-04 -4.88591327e+01] [ 5.71384856e-03 -4.66192959e-04 9.99983567e-01 4.78788742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.500714057 meters Centerline goodness : 0.995888 with order 1 Centerline is valid? [True, True] Translation: X:872.25, Y:-48.86, Z:4.79 [[ 9.99690220e-01 -2.42222488e-02 -5.72248428e-03 8.72249523e+02] [ 2.42246140e-02 9.99706482e-01 3.44346033e-04 -4.88563928e+01] [ 5.71246379e-03 -4.82864334e-04 9.99983567e-01 4.78873491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.560714057 meters Centerline goodness : 0.996189 with order 1 Centerline is valid? [True, True] Translation: X:872.31, Y:-48.86, Z:4.79 [[ 9.99738486e-01 -2.21407640e-02 -5.72246631e-03 8.72311622e+02] [ 2.21430969e-02 9.99754752e-01 3.44644362e-04 -4.88585120e+01] [ 5.71343220e-03 -4.71267359e-04 9.99983567e-01 4.78973858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.620714057 meters Centerline goodness : 0.994186 with order 1 Centerline is valid? [True, True] Translation: X:872.37, Y:-48.87, Z:4.79 [[ 9.99853634e-01 -1.61233939e-02 -5.72244312e-03 8.72373529e+02] [ 1.61256311e-02 9.99869914e-01 3.45028987e-04 -4.88658067e+01] [ 5.71613568e-03 -4.37256493e-04 9.99983567e-01 4.79427468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.680714057 meters Centerline goodness : 0.994585 with order 1 Centerline is valid? [True, True] Translation: X:872.43, Y:-48.87, Z:4.79 [[ 9.99863350e-01 -1.55091821e-02 -5.72241666e-03 8.72434412e+02] [ 1.55114118e-02 9.99879631e-01 3.45467278e-04 -4.88684563e+01] [ 5.71636995e-03 -4.34182831e-04 9.99983567e-01 4.79344409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.740714057 meters Centerline goodness : 0.995437 with order 1 Centerline is valid? [True, True] Translation: X:872.50, Y:-48.87, Z:4.79 [[ 9.99797947e-01 -1.92696713e-02 -5.72239089e-03 8.72496039e+02] [ 1.92719647e-02 9.99814219e-01 3.45893715e-04 -4.88694859e+01] [ 5.71466252e-03 -4.56105541e-04 9.99983567e-01 4.79216221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.800714057 meters Centerline goodness : 0.995081 with order 1 Centerline is valid? [True, True] Translation: X:872.56, Y:-48.88, Z:4.80 [[ 9.99824306e-01 -1.78496981e-02 -5.72237165e-03 8.72557523e+02] [ 1.78519701e-02 9.99840581e-01 3.46211755e-04 -4.88803777e+01] [ 5.71527962e-03 -4.48306535e-04 9.99983567e-01 4.79515504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.860714057 meters Centerline goodness : 0.994752 with order 1 Centerline is valid? [True, True] Translation: X:872.62, Y:-48.89, Z:4.80 [[ 9.99717116e-01 -2.30855641e-02 -5.72234512e-03 8.72618105e+02] [ 2.30879238e-02 9.99733378e-01 3.46649648e-04 -4.88895873e+01] [ 5.71281682e-03 -4.78668654e-04 9.99983567e-01 4.79629496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.920714057 meters Centerline goodness : 0.994735 with order 1 Centerline is valid? [True, True] Translation: X:872.68, Y:-48.90, Z:4.80 [[ 9.99674125e-01 -2.48777062e-02 -5.72226091e-03 8.72678986e+02] [ 2.48801030e-02 9.99690382e-01 3.48034242e-04 -4.88979220e+01] [ 5.71183090e-03 -4.90291267e-04 9.99983567e-01 4.79575564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.980714057 meters Centerline goodness : 0.994522 with order 1 Centerline is valid? [True, True] Translation: X:872.74, Y:-48.91, Z:4.80 [[ 9.99656469e-01 -2.55773410e-02 -5.72224182e-03 8.72741610e+02] [ 2.55797509e-02 9.99672724e-01 3.48347702e-04 -4.89078577e+01] [ 5.71145926e-03 -4.94601554e-04 9.99983567e-01 4.79713786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0407140570001 meters Centerline goodness : 0.994128 with order 1 Centerline is valid? [True, True] Translation: X:872.80, Y:-48.92, Z:4.79 [[ 9.99668886e-01 -2.50873440e-02 -5.72220156e-03 8.72802185e+02] [ 2.50897497e-02 9.99685142e-01 3.49007842e-04 -4.89179252e+01] [ 5.71164420e-03 -4.92460885e-04 9.99983567e-01 4.79414269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.100714057 meters Centerline goodness : 0.994292 with order 1 Centerline is valid? [True, True] Translation: X:872.86, Y:-48.93, Z:4.79 [[ 9.99620985e-01 -2.69284676e-02 -5.72218186e-03 8.72864681e+02] [ 2.69309051e-02 9.99637236e-01 3.49330578e-04 -4.89261722e+01] [ 5.71069912e-03 -5.03301713e-04 9.99983567e-01 4.79475080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1607140570001 meters Centerline goodness : 0.994552 with order 1 Centerline is valid? [True, True] Translation: X:872.93, Y:-48.94, Z:4.79 [[ 9.99606365e-01 -2.74658203e-02 -5.72214172e-03 8.72926320e+02] [ 2.74682702e-02 9.99622615e-01 3.49986774e-04 -4.89391582e+01] [ 5.71036960e-03 -5.07026342e-04 9.99983567e-01 4.79425872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.220714057 meters Centerline goodness : 0.994021 with order 1 Centerline is valid? [True, True] Translation: X:872.99, Y:-48.95, Z:4.79 [[ 9.99634085e-01 -2.64377159e-02 -5.72210828e-03 8.72988097e+02] [ 2.64401523e-02 9.99650337e-01 3.50532731e-04 -4.89474441e+01] [ 5.71084018e-03 -5.01697880e-04 9.99983567e-01 4.79428373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2807140570001 meters Centerline goodness : 0.994384 with order 1 Centerline is valid? [True, True] Translation: X:873.05, Y:-48.96, Z:4.79 [[ 9.99690365e-01 -2.42163666e-02 -5.72208243e-03 8.73049539e+02] [ 2.42187692e-02 9.99706621e-01 3.50954162e-04 -4.89591904e+01] [ 5.71190486e-03 -4.89427288e-04 9.99983567e-01 4.79413603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.340714057 meters Centerline goodness : 0.994051 with order 1 Centerline is valid? [True, True] Translation: X:873.11, Y:-48.97, Z:4.79 [[ 9.99704602e-01 -2.36213192e-02 -5.72205638e-03 8.73110809e+02] [ 2.36237145e-02 9.99720859e-01 3.51378344e-04 -4.89699202e+01] [ 5.71215910e-03 -4.86450774e-04 9.99983567e-01 4.79458423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4007140570001 meters Centerline goodness : 0.993530 with order 1 Centerline is valid? [True, True] Translation: X:873.17, Y:-48.98, Z:4.79 [[ 9.99663703e-01 -2.52930697e-02 -5.72203034e-03 8.73172958e+02] [ 2.52954946e-02 9.99679956e-01 3.51801973e-04 -4.89810668e+01] [ 5.71130088e-03 -4.96425250e-04 9.99983567e-01 4.79379832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.460714057 meters Centerline goodness : 0.993593 with order 1 Centerline is valid? [True, True] Translation: X:873.23, Y:-48.99, Z:4.79 [[ 9.99640927e-01 -2.61777704e-02 -5.72199162e-03 8.73234192e+02] [ 2.61802133e-02 9.99657177e-01 3.52430608e-04 -4.89929972e+01] [ 5.71080414e-03 -5.02107021e-04 9.99983567e-01 4.79404518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5207140570001 meters Centerline goodness : 0.993667 with order 1 Centerline is valid? [True, True] Translation: X:873.29, Y:-49.00, Z:4.80 [[ 9.99600582e-01 -2.76755447e-02 -5.72196462e-03 8.73294840e+02] [ 2.76780144e-02 9.99616828e-01 3.52868421e-04 -4.89984229e+01] [ 5.71000630e-03 -5.11100098e-04 9.99983567e-01 4.79500157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.580714057 meters Centerline goodness : 0.993656 with order 1 Centerline is valid? [True, True] Translation: X:873.36, Y:-49.01, Z:4.80 [[ 9.99571483e-01 -2.87073093e-02 -5.72194473e-03 8.73356940e+02] [ 2.87097976e-02 9.99587726e-01 3.53190681e-04 -4.90083338e+01] [ 5.70944657e-03 -5.17315208e-04 9.99983567e-01 4.79664360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6407140570001 meters Centerline goodness : 0.993636 with order 1 Centerline is valid? [True, True] Translation: X:873.42, Y:-49.02, Z:4.80 [[ 9.99625304e-01 -2.67677188e-02 -5.72191767e-03 8.73418486e+02] [ 2.67701781e-02 9.99641552e-01 3.53628542e-04 -4.90187306e+01] [ 5.71040083e-03 -5.06672793e-04 9.99983567e-01 4.79590317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.700714057 meters Centerline goodness : 0.992920 with order 1 Centerline is valid? [True, True] Translation: X:873.48, Y:-49.03, Z:4.80 [[ 9.99736388e-01 -2.22354459e-02 -5.72189053e-03 8.73480374e+02] [ 2.22378340e-02 9.99752646e-01 3.54067041e-04 -4.90269046e+01] [ 5.71260236e-03 -4.81216156e-04 9.99983567e-01 4.79975191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7607140570001 meters Centerline goodness : 0.992794 with order 1 Centerline is valid? [True, True] Translation: X:873.54, Y:-49.03, Z:4.80 [[ 9.99832263e-01 -1.73984745e-02 -5.72186348e-03 8.73542654e+02] [ 1.74007863e-02 9.99848532e-01 3.54503620e-04 -4.90327027e+01] [ 5.71482898e-03 -4.54009081e-04 9.99983567e-01 4.80163039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.820714057 meters Centerline goodness : 0.992863 with order 1 Centerline is valid? [True, True] Translation: X:873.60, Y:-49.04, Z:4.80 [[ 9.99928296e-01 -1.05197112e-02 -5.72183631e-03 8.73604757e+02] [ 1.05219135e-02 9.99944580e-01 3.54941620e-04 -4.90402260e+01] [ 5.71778533e-03 -4.15120836e-04 9.99983567e-01 4.79574461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.880714057 meters Centerline goodness : 0.992547 with order 1 Centerline is valid? [True, True] Translation: X:873.66, Y:-49.05, Z:4.79 [[ 9.99977267e-01 -3.56749954e-03 -5.72180916e-03 8.73664749e+02] [ 3.56959115e-03 9.99993566e-01 3.55378833e-04 -4.90452312e+01] [ 5.72050453e-03 -3.75795273e-04 9.99983567e-01 4.79222781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.940714057 meters Centerline goodness : 0.993270 with order 1 Centerline is valid? [True, True] Translation: X:873.72, Y:-49.05, Z:4.80 [[ 9.99969867e-01 5.24644828e-03 -5.72180253e-03 8.73724663e+02] [-5.24449980e-03 9.99986184e-01 3.55485590e-04 -4.90478844e+01] [ 5.72358851e-03 -3.25466886e-04 9.99983567e-01 4.79534676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.000714057 meters Centerline goodness : 0.994701 with order 1 Centerline is valid? [True, True] Translation: X:873.78, Y:-49.04, Z:4.80 [[ 9.99965944e-01 5.94741407e-03 -5.72181592e-03 8.73783334e+02] [-5.94547827e-03 9.99982262e-01 3.55269879e-04 -4.90410179e+01] [ 5.72382736e-03 -3.21238848e-04 9.99983567e-01 4.79853895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.060714057 meters Centerline goodness : 0.994066 with order 1 Centerline is valid? [True, True] Translation: X:873.84, Y:-49.05, Z:4.80 [[ 9.99902061e-01 1.27721815e-02 -5.72184882e-03 8.73841589e+02] [-1.27703601e-02 9.99918393e-01 3.54739230e-04 -4.90453940e+01] [ 5.72591267e-03 -2.81634417e-04 9.99983567e-01 4.79882276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.120714057 meters Centerline goodness : 0.993786 with order 1 Centerline is valid? [True, True] Translation: X:873.90, Y:-49.05, Z:4.80 [[ 9.99875498e-01 1.47053815e-02 -5.72195189e-03 8.73900401e+02] [-1.47036013e-02 9.99891834e-01 3.53068787e-04 -4.90481583e+01] [ 5.72652498e-03 -2.68891530e-04 9.99983567e-01 4.80182040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.180714057 meters Centerline goodness : 0.994640 with order 1 Centerline is valid? [True, True] Translation: X:873.96, Y:-49.05, Z:4.80 [[ 9.99890093e-01 1.36770186e-02 -5.72198205e-03 8.73958084e+02] [-1.36752243e-02 9.99906428e-01 3.52579370e-04 -4.90484074e+01] [ 5.72626886e-03 -2.74291231e-04 9.99983567e-01 4.80169267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.240714057 meters Centerline goodness : 0.994896 with order 1 Centerline is valid? [True, True] Translation: X:874.02, Y:-49.05, Z:4.80 [[ 9.99898992e-01 1.30101358e-02 -5.72203075e-03 8.74016757e+02] [-1.30083352e-02 9.99915326e-01 3.51787233e-04 -4.90513676e+01] [ 5.72612304e-03 -2.77317606e-04 9.99983567e-01 4.80180567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.300714057 meters Centerline goodness : 0.993130 with order 1 Centerline is valid? [True, True] Translation: X:874.08, Y:-49.06, Z:4.81 [[ 9.99846868e-01 1.65377677e-02 -5.72205511e-03 8.74075396e+02] [-1.65360270e-02 9.99863209e-01 3.51390454e-04 -4.90619529e+01] [ 5.72708360e-03 -2.56716587e-04 9.99983567e-01 4.80594541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.360714057 meters Centerline goodness : 0.992703 with order 1 Centerline is valid? [True, True] Translation: X:874.13, Y:-49.07, Z:4.81 [[ 9.99882158e-01 1.42452580e-02 -5.72214195e-03 8.74134588e+02] [-1.42434879e-02 9.99898495e-01 3.49970670e-04 -4.90651290e+01] [ 5.72654655e-03 -2.68426169e-04 9.99983567e-01 4.80687981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.420714057 meters Centerline goodness : 0.992627 with order 1 Centerline is valid? [True, True] Translation: X:874.19, Y:-49.07, Z:4.81 [[ 9.99900304e-01 1.29088823e-02 -5.72216836e-03 8.74193363e+02] [-1.29070929e-02 9.99916639e-01 3.49538387e-04 -4.90684852e+01] [ 5.72620350e-03 -2.75646981e-04 9.99983567e-01 4.80871117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.480714057 meters Centerline goodness : 0.992129 with order 1 Centerline is valid? [True, True] Translation: X:874.25, Y:-49.08, Z:4.80 [[ 9.99893240e-01 1.34448805e-02 -5.72219450e-03 8.74250428e+02] [-1.34431023e-02 9.99909576e-01 3.49109813e-04 -4.90756729e+01] [ 5.72637082e-03 -2.72148496e-04 9.99983567e-01 4.80439756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5407140570001 meters Centerline goodness : 0.992248 with order 1 Centerline is valid? [True, True] Translation: X:874.31, Y:-49.08, Z:4.80 [[ 9.99920471e-01 1.12386708e-02 -5.72223298e-03 8.74308321e+02] [-1.12368601e-02 9.99936804e-01 3.48478054e-04 -4.90793832e+01] [ 5.72578778e-03 -2.84150408e-04 9.99983567e-01 4.80352174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.600714057 meters Centerline goodness : 0.992689 with order 1 Centerline is valid? [True, True] Translation: X:874.37, Y:-49.08, Z:4.80 [[ 9.99937804e-01 9.57310599e-03 -5.72227226e-03 8.74366017e+02] [-9.57127182e-03 9.99954134e-01 3.47831741e-04 -4.90820338e+01] [ 5.72533963e-03 -2.93040684e-04 9.99983567e-01 4.80361853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6607140570001 meters Centerline goodness : 0.992097 with order 1 Centerline is valid? [True, True] Translation: X:874.42, Y:-49.08, Z:4.81 [[ 9.99931003e-01 1.02589077e-02 -5.72230950e-03 8.74424734e+02] [-1.02570882e-02 9.99947334e-01 3.47218030e-04 -4.90838971e+01] [ 5.72557021e-03 -2.88499839e-04 9.99983567e-01 4.80523208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.720714057 meters Centerline goodness : 0.991861 with order 1 Centerline is valid? [True, True] Translation: X:874.48, Y:-49.09, Z:4.80 [[ 9.99934997e-01 9.86192410e-03 -5.72233570e-03 8.74482707e+02] [-9.86010061e-03 9.99951328e-01 3.46785781e-04 -4.90858543e+01] [ 5.72547715e-03 -2.90340433e-04 9.99983567e-01 4.80401258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7807140570001 meters Centerline goodness : 0.994036 with order 1 Centerline is valid? [True, True] Translation: X:874.54, Y:-49.08, Z:4.81 [[ 9.99973891e-01 4.41280108e-03 -5.72236775e-03 8.74540739e+02] [-4.41089165e-03 9.99990212e-01 3.46256121e-04 -4.90784357e+01] [ 5.72383970e-03 -3.21006337e-04 9.99983567e-01 4.80577991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.840714057 meters Centerline goodness : 0.992291 with order 1 Centerline is valid? [True, True] Translation: X:874.60, Y:-49.09, Z:4.80 [[ 9.99907494e-01 1.23393109e-02 -5.72239790e-03 8.74598937e+02] [-1.23375338e-02 9.99923830e-01 3.45757029e-04 -4.90899505e+01] [ 5.72622843e-03 -2.75124767e-04 9.99983567e-01 4.80361345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9007140570001 meters Centerline goodness : 0.991781 with order 1 Centerline is valid? [True, True] Translation: X:874.66, Y:-49.09, Z:4.80 [[ 9.99876784e-01 1.46174777e-02 -5.72248759e-03 8.74657589e+02] [-1.46157463e-02 9.99893125e-01 3.44266151e-04 -4.90919201e+01] [ 5.72690831e-03 -2.60585305e-04 9.99983567e-01 4.80314637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.960714057 meters Centerline goodness : 0.992812 with order 1 Centerline is valid? [True, True] Translation: X:874.72, Y:-49.09, Z:4.81 [[ 9.99873296e-01 1.48541257e-02 -5.72251268e-03 8.74715137e+02] [-1.48524006e-02 9.99889638e-01 3.43848714e-04 -4.90931045e+01] [ 5.72698870e-03 -2.58812097e-04 9.99983567e-01 4.80542247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0207140570001 meters Centerline goodness : 0.992478 with order 1 Centerline is valid? [True, True] Translation: X:874.77, Y:-49.09, Z:4.81 [[ 9.99899248e-01 1.29902175e-02 -5.72255050e-03 8.74771781e+02] [-1.29884654e-02 9.99915587e-01 3.43218134e-04 -4.90945771e+01] [ 5.72652592e-03 -2.68856405e-04 9.99983567e-01 4.80671268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.080714057 meters Centerline goodness : 0.992261 with order 1 Centerline is valid? [True, True] Translation: X:874.83, Y:-49.10, Z:4.81 [[ 9.99908059e-01 1.22932836e-02 -5.72259384e-03 8.74829936e+02] [-1.22915243e-02 9.99924398e-01 3.42493964e-04 -4.90965228e+01] [ 5.72637157e-03 -2.72123073e-04 9.99983567e-01 4.80920582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1407140570001 meters Centerline goodness : 0.992314 with order 1 Centerline is valid? [True, True] Translation: X:874.89, Y:-49.10, Z:4.81 [[ 9.99877156e-01 1.45919549e-02 -5.72263282e-03 8.74887991e+02] [-1.45902370e-02 9.99893498e-01 3.41841400e-04 -4.90994980e+01] [ 5.72701148e-03 -2.58304838e-04 9.99983567e-01 4.80919080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.200714057 meters Centerline goodness : 0.992487 with order 1 Centerline is valid? [True, True] Translation: X:874.94, Y:-49.10, Z:4.81 [[ 9.99797709e-01 1.92819067e-02 -5.72267171e-03 8.74944492e+02] [-1.92802692e-02 9.99814060e-01 3.41189125e-04 -4.91022528e+01] [ 5.72818641e-03 -2.30785454e-04 9.99983567e-01 4.80802034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2607140570001 meters Centerline goodness : 0.993837 with order 1 Centerline is valid? [True, True] Translation: X:875.00, Y:-49.10, Z:4.81 [[ 9.99821128e-01 1.80267227e-02 -5.72271614e-03 8.75002472e+02] [-1.80250689e-02 9.99837477e-01 3.40442245e-04 -4.90951378e+01] [ 5.72792313e-03 -2.37228997e-04 9.99983567e-01 4.81164983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.320714057 meters Centerline goodness : 0.992220 with order 1 Centerline is valid? [True, True] Translation: X:875.06, Y:-49.11, Z:4.81 [[ 9.99614456e-01 2.71696573e-02 -5.72274616e-03 8.75060420e+02] [-2.71681559e-02 9.99630820e-01 3.39936852e-04 -4.91082555e+01] [ 5.72986940e-03 -1.84329331e-04 9.99983567e-01 4.81098686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.380714057 meters Centerline goodness : 0.992061 with order 1 Centerline is valid? [True, True] Translation: X:875.12, Y:-49.11, Z:4.81 [[ 9.99582574e-01 2.83183253e-02 -5.72283390e-03 8.75118063e+02] [-2.83168513e-02 9.99598940e-01 3.38453260e-04 -4.91130158e+01] [ 5.73012313e-03 -1.76259345e-04 9.99983567e-01 4.81130570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.440714057 meters Centerline goodness : 0.994237 with order 1 Centerline is valid? [True, True] Translation: X:875.18, Y:-49.11, Z:4.81 [[ 9.99764266e-01 2.09442312e-02 -5.72286424e-03 8.75177216e+02] [-2.09426394e-02 9.99780622e-01 3.37939487e-04 -4.91093692e+01] [ 5.72868665e-03 -2.18007941e-04 9.99983567e-01 4.81135241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.500714057 meters Centerline goodness : 0.991434 with order 1 Centerline is valid? [True, True] Translation: X:875.23, Y:-49.12, Z:4.82 [[ 9.99651936e-01 2.57537437e-02 -5.72288808e-03 8.75234983e+02] [-2.57522329e-02 9.99668299e-01 3.37535322e-04 -4.91217480e+01] [ 5.72968259e-03 -1.90040691e-04 9.99983567e-01 4.81689388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.560714057 meters Centerline goodness : 0.993223 with order 1 Centerline is valid? [True, True] Translation: X:875.29, Y:-49.12, Z:4.81 [[ 9.99835247e-01 1.72257682e-02 -5.72291358e-03 8.75293152e+02] [-1.72241203e-02 9.99851597e-01 3.37102404e-04 -4.91195891e+01] [ 5.72787113e-03 -2.38474713e-04 9.99983567e-01 4.81395872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.620714057 meters Centerline goodness : 0.993860 with order 1 Centerline is valid? [True, True] Translation: X:875.35, Y:-49.13, Z:4.81 [[ 9.99927785e-01 1.05675310e-02 -5.72294460e-03 8.75350766e+02] [-1.05657773e-02 9.99944124e-01 3.36574929e-04 -4.91261174e+01] [ 5.72618159e-03 -2.76083265e-04 9.99983567e-01 4.81481416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.680714057 meters Centerline goodness : 0.993513 with order 1 Centerline is valid? [True, True] Translation: X:875.41, Y:-49.13, Z:4.81 [[ 9.99977712e-01 3.43854444e-03 -5.72298082e-03 8.75409590e+02] [-3.43667786e-03 9.99994038e-01 3.35957887e-04 -4.91327108e+01] [ 5.72410191e-03 -3.16282357e-04 9.99983567e-01 4.81494330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.740714057 meters Centerline goodness : 0.990234 with order 1 Centerline is valid? [True, True] Translation: X:875.47, Y:-49.15, Z:4.82 [[ 9.99962009e-01 6.57471707e-03 -5.72300480e-03 8.75467571e+02] [-6.57290404e-03 9.99978342e-01 3.35548960e-04 -4.91473596e+01] [ 5.72508699e-03 -2.97919451e-04 9.99983567e-01 4.81729642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.800714057 meters Centerline goodness : 0.991242 with order 1 Centerline is valid? [True, True] Translation: X:875.53, Y:-49.15, Z:4.82 [[ 9.99973284e-01 4.54724927e-03 -5.72309410e-03 8.75525012e+02] [-4.54541185e-03 9.99989614e-01 3.34018766e-04 -4.91513546e+01] [ 5.72455353e-03 -3.07996022e-04 9.99983567e-01 4.81623990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.860714057 meters Centerline goodness : 0.991019 with order 1 Centerline is valid? [True, True] Translation: X:875.58, Y:-49.16, Z:4.81 [[ 9.99970175e-01 5.18607263e-03 -5.72312787e-03 8.75583897e+02] [-5.18424896e-03 9.99986506e-01 3.33439165e-04 -4.91554680e+01] [ 5.72477989e-03 -3.03759100e-04 9.99983567e-01 4.81440484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.920714057 meters Centerline goodness : 0.991436 with order 1 Centerline is valid? [True, True] Translation: X:875.64, Y:-49.16, Z:4.82 [[ 9.99975753e-01 3.96726802e-03 -5.72315307e-03 8.75642568e+02] [-3.96542691e-03 9.99992082e-01 3.33006183e-04 -4.91569583e+01] [ 5.72442888e-03 -3.10303363e-04 9.99983567e-01 4.82056090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.980714057 meters Centerline goodness : 0.991097 with order 1 Centerline is valid? [True, True] Translation: X:875.70, Y:-49.16, Z:4.82 [[ 9.99960280e-01 6.83259693e-03 -5.72317830e-03 8.75701436e+02] [-6.83080510e-03 9.99976614e-01 3.32571944e-04 -4.91608146e+01] [ 5.72531679e-03 -2.93464819e-04 9.99983567e-01 4.81826421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0407140570001 meters Centerline goodness : 0.991287 with order 1 Centerline is valid? [True, True] Translation: X:875.76, Y:-49.16, Z:4.82 [[ 9.99948726e-01 8.35404455e-03 -5.72326641e-03 8.75759609e+02] [-8.35228627e-03 9.99965064e-01 3.31048739e-04 -4.91644944e+01] [ 5.72583206e-03 -2.83229405e-04 9.99983567e-01 4.81558093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.100714057 meters Centerline goodness : 0.991853 with order 1 Centerline is valid? [True, True] Translation: X:875.82, Y:-49.17, Z:4.82 [[ 9.99902056e-01 1.27718984e-02 -5.72330783e-03 8.75817131e+02] [-1.27702165e-02 9.99918403e-01 3.30331038e-04 -4.91674231e+01] [ 5.72705978e-03 -2.57210805e-04 9.99983567e-01 4.81507359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1607140570001 meters Centerline goodness : 0.992137 with order 1 Centerline is valid? [True, True] Translation: X:875.88, Y:-49.17, Z:4.81 [[ 9.99809031e-01 1.86853732e-02 -5.72340738e-03 8.75875250e+02] [-1.86837979e-02 9.99825389e-01 3.28597159e-04 -4.91708181e+01] [ 5.72854797e-03 -2.21599420e-04 9.99983567e-01 4.81334694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.220714057 meters Centerline goodness : 0.993998 with order 1 Centerline is valid? [True, True] Translation: X:875.93, Y:-49.16, Z:4.82 [[ 9.99854789e-01 1.60512803e-02 -5.72343779e-03 8.75933373e+02] [-1.60496649e-02 9.99871142e-01 3.28066594e-04 -4.91619511e+01] [ 5.72796617e-03 -2.36159697e-04 9.99983567e-01 4.81968935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2807140570001 meters Centerline goodness : 0.992371 with order 1 Centerline is valid? [True, True] Translation: X:875.99, Y:-49.18, Z:4.81 [[ 9.99670947e-01 2.50048038e-02 -5.72346733e-03 8.75991635e+02] [-2.50033378e-02 9.99687314e-01 3.27550424e-04 -4.91768043e+01] [ 5.72986801e-03 -1.84336855e-04 9.99983567e-01 4.81439596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.340714057 meters Centerline goodness : 0.992290 with order 1 Centerline is valid? [True, True] Translation: X:876.05, Y:-49.18, Z:4.82 [[ 9.99730894e-01 2.24806883e-02 -5.72355333e-03 8.76049977e+02] [-2.24791896e-02 9.99747258e-01 3.26040662e-04 -4.91795011e+01] [ 5.72943637e-03 -1.97292081e-04 9.99983567e-01 4.81629713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4007140570001 meters Centerline goodness : 0.992668 with order 1 Centerline is valid? [True, True] Translation: X:876.11, Y:-49.18, Z:4.82 [[ 9.99810239e-01 1.86205763e-02 -5.72359035e-03 8.76109095e+02] [-1.86190182e-02 9.99826598e-01 3.25389518e-04 -4.91827523e+01] [ 5.72865681e-03 -2.18760139e-04 9.99983567e-01 4.81868643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.460714057 meters Centerline goodness : 0.993246 with order 1 Centerline is valid? [True, True] Translation: X:876.17, Y:-49.19, Z:4.82 [[ 9.99861452e-01 1.56306460e-02 -5.72361493e-03 8.76168114e+02] [-1.56290415e-02 9.99877806e-01 3.24956501e-04 -4.91873532e+01] [ 5.72799482e-03 -2.35456864e-04 9.99983567e-01 4.81800345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5207140570001 meters Centerline goodness : 0.992651 with order 1 Centerline is valid? [True, True] Translation: X:876.23, Y:-49.19, Z:4.82 [[ 9.99894309e-01 1.33645153e-02 -5.72363951e-03 8.76226970e+02] [-1.33628762e-02 9.99910660e-01 3.24523096e-04 -4.91912875e+01] [ 5.72746525e-03 -2.48004510e-04 9.99983567e-01 4.81882231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.580714057 meters Centerline goodness : 0.994481 with order 1 Centerline is valid? [True, True] Translation: X:876.29, Y:-49.19, Z:4.82 [[ 9.99963786e-01 6.29819657e-03 -5.72366393e-03 8.76285036e+02] [-6.29644442e-03 9.99980125e-01 3.24091753e-04 -4.91861460e+01] [ 5.72559137e-03 -2.88041284e-04 9.99983567e-01 4.82015993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6407140570001 meters Centerline goodness : 0.993810 with order 1 Centerline is valid? [True, True] Translation: X:876.34, Y:-49.19, Z:4.82 [[ 9.99953926e-01 7.70613307e-03 -5.72369384e-03 8.76343504e+02] [-7.70440695e-03 9.99970268e-01 3.23562719e-04 -4.91888412e+01] [ 5.72601708e-03 -2.79450144e-04 9.99983567e-01 4.82153327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.700714057 meters Centerline goodness : 0.992816 with order 1 Centerline is valid? [True, True] Translation: X:876.40, Y:-49.20, Z:4.83 [[ 9.99914846e-01 1.17277240e-02 -5.72371654e-03 8.76401415e+02] [-1.17260660e-02 9.99931195e-01 3.23160704e-04 -4.91981321e+01] [ 5.72711266e-03 -2.56016508e-04 9.99983567e-01 4.82504164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7607140570001 meters Centerline goodness : 0.992142 with order 1 Centerline is valid? [True, True] Translation: X:876.46, Y:-49.20, Z:4.82 [[ 9.99954349e-01 7.65100525e-03 -5.72380224e-03 8.76459551e+02] [-7.64928923e-03 9.99970692e-01 3.21635508e-04 -4.92004595e+01] [ 5.72609532e-03 -2.77837806e-04 9.99983567e-01 4.82365146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.820714057 meters Centerline goodness : 0.992275 with order 1 Centerline is valid? [True, True] Translation: X:876.52, Y:-49.20, Z:4.82 [[ 9.99978034e-01 3.34203182e-03 -5.72383201e-03 8.76518436e+02] [-3.34024843e-03 9.99994370e-01 3.21104907e-04 -4.92029372e+01] [ 5.72487292e-03 -3.01978833e-04 9.99983567e-01 4.82306943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.880714057 meters Centerline goodness : 0.992203 with order 1 Centerline is valid? [True, True] Translation: X:876.58, Y:-49.21, Z:4.82 [[ 9.99983054e-01 -1.06304398e-03 -5.72385639e-03 8.76575968e+02] [ 1.06489684e-03 9.99999382e-01 3.20669596e-04 -4.92057600e+01] [ 5.72351197e-03 -3.26759479e-04 9.99983567e-01 4.81967120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.940714057 meters Centerline goodness : 0.992739 with order 1 Centerline is valid? [True, True] Translation: X:876.63, Y:-49.21, Z:4.82 [[ 9.99974423e-01 -4.28851764e-03 -5.72388935e-03 8.76634572e+02] [ 4.29041979e-03 9.99990745e-01 3.20080345e-04 -4.92050871e+01] [ 5.72246370e-03 -3.44630046e-04 9.99983567e-01 4.82161946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.000714057 meters Centerline goodness : 0.993255 with order 1 Centerline is valid? [True, True] Translation: X:876.69, Y:-49.20, Z:4.83 [[ 9.99977209e-01 -3.58014816e-03 -5.72390676e-03 8.76694199e+02] [ 3.58203698e-03 9.99993533e-01 3.19768614e-04 -4.92045696e+01] [ 5.72272493e-03 -3.40264572e-04 9.99983567e-01 4.82500701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.060714057 meters Centerline goodness : 0.993570 with order 1 Centerline is valid? [True, True] Translation: X:876.75, Y:-49.20, Z:4.83 [[ 9.99980118e-01 -2.64596270e-03 -5.72391913e-03 8.76753050e+02] [ 2.64783499e-03 9.99996443e-01 3.19547105e-04 -4.92027501e+01] [ 5.72305326e-03 -3.34696745e-04 9.99983567e-01 4.82801241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.120714057 meters Centerline goodness : 0.993310 with order 1 Centerline is valid? [True, True] Translation: X:876.81, Y:-49.20, Z:4.83 [[ 9.99983557e-01 -3.49821299e-04 -5.72393735e-03 8.76812644e+02] [ 3.51654239e-04 9.99999887e-01 3.19220274e-04 -4.92020711e+01] [ 5.72382504e-03 -3.21227872e-04 9.99983567e-01 4.82969316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.180714057 meters Centerline goodness : 0.994140 with order 1 Centerline is valid? [True, True] Translation: X:876.87, Y:-49.20, Z:4.83 [[ 9.99982163e-01 1.70616776e-03 -5.72394938e-03 8.76872079e+02] [-1.70436963e-03 9.99998497e-01 3.19004506e-04 -4.92006653e+01] [ 5.72448505e-03 -3.09243090e-04 9.99983567e-01 4.83096671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.240714057 meters Centerline goodness : 0.993087 with order 1 Centerline is valid? [True, True] Translation: X:876.93, Y:-49.20, Z:4.83 [[ 9.99965022e-01 6.09845304e-03 -5.72399852e-03 8.76930087e+02] [-6.09673172e-03 9.99981364e-01 3.18120287e-04 -4.91995867e+01] [ 5.72583189e-03 -2.83211476e-04 9.99983567e-01 4.83081822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.300714057 meters Centerline goodness : 0.993932 with order 1 Centerline is valid? [True, True] Translation: X:876.99, Y:-49.20, Z:4.83 [[ 9.99925097e-01 1.08182966e-02 -5.72402864e-03 8.76988411e+02] [-1.08166555e-02 9.99941448e-01 3.17577422e-04 -4.92015112e+01] [ 5.72712913e-03 -2.55638788e-04 9.99983567e-01 4.83064297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.360714057 meters Centerline goodness : 0.993279 with order 1 Centerline is valid? [True, True] Translation: X:877.05, Y:-49.20, Z:4.83 [[ 9.99872250e-01 1.49237189e-02 -5.72410891e-03 8.77046511e+02] [-1.49221533e-02 9.99888609e-01 3.16124001e-04 -4.92022045e+01] [ 5.72818904e-03 -2.30667585e-04 9.99983567e-01 4.83201429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.420714057 meters Centerline goodness : 0.994612 with order 1 Centerline is valid? [True, True] Translation: X:877.10, Y:-49.20, Z:4.83 [[ 9.99860998e-01 1.56594320e-02 -5.72420482e-03 8.77104837e+02] [-1.56578884e-02 9.99877358e-01 3.14377712e-04 -4.91974074e+01] [ 5.72842577e-03 -2.24705053e-04 9.99983567e-01 4.83218224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.480714057 meters Centerline goodness : 0.992616 with order 1 Centerline is valid? [True, True] Translation: X:877.16, Y:-49.21, Z:4.83 [[ 9.99760619e-01 2.11172381e-02 -5.72423414e-03 8.77163272e+02] [-2.11157869e-02 9.99776988e-01 3.13842818e-04 -4.92066035e+01] [ 5.72958506e-03 -1.92895982e-04 9.99983567e-01 4.83104964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5407140570001 meters Centerline goodness : 0.993016 with order 1 Centerline is valid? [True, True] Translation: X:877.22, Y:-49.21, Z:4.83 [[ 9.99749804e-01 2.16231889e-02 -5.72431639e-03 8.77222385e+02] [-2.16217546e-02 9.99766174e-01 3.12335384e-04 -4.92116152e+01] [ 5.72973158e-03 -1.88487475e-04 9.99983567e-01 4.82874119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.600714057 meters Centerline goodness : 0.993718 with order 1 Centerline is valid? [True, True] Translation: X:877.28, Y:-49.21, Z:4.83 [[ 9.99837521e-01 1.70927981e-02 -5.72434009e-03 8.77280698e+02] [-1.70912921e-02 9.99853885e-01 3.11900427e-04 -4.92139066e+01] [ 5.72883493e-03 -2.14013381e-04 9.99983567e-01 4.83264370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6607140570001 meters Centerline goodness : 0.992794 with order 1 Centerline is valid? [True, True] Translation: X:877.34, Y:-49.22, Z:4.83 [[ 9.99920139e-01 1.12670908e-02 -5.72436376e-03 8.77338559e+02] [-1.12654920e-02 9.99936494e-01 3.11465514e-04 -4.92185072e+01] [ 5.72750953e-03 -2.46952866e-04 9.99983567e-01 4.83351611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.720714057 meters Centerline goodness : 0.993348 with order 1 Centerline is valid? [True, True] Translation: X:877.40, Y:-49.22, Z:4.83 [[ 9.99964162e-01 6.23746541e-03 -5.72439816e-03 8.77396734e+02] [-6.23578799e-03 9.99980509e-01 3.10831820e-04 -4.92233457e+01] [ 5.72622539e-03 -2.75124547e-04 9.99983567e-01 4.83415351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7807140570001 meters Centerline goodness : 0.992830 with order 1 Centerline is valid? [True, True] Translation: X:877.45, Y:-49.23, Z:4.83 [[ 9.99968300e-01 5.53452072e-03 -5.72442109e-03 8.77454187e+02] [-5.53283422e-03 9.99984646e-01 3.10409125e-04 -4.92272380e+01] [ 5.72605116e-03 -2.78727012e-04 9.99983567e-01 4.83431076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.840714057 meters Centerline goodness : 0.994034 with order 1 Centerline is valid? [True, True] Translation: X:877.51, Y:-49.23, Z:4.84 [[ 9.99966981e-01 5.76786247e-03 -5.72444927e-03 8.77512892e+02] [-5.76618276e-03 9.99983327e-01 3.09888562e-04 -4.92307356e+01] [ 5.72614122e-03 -2.76870109e-04 9.99983567e-01 4.83589322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9007140570001 meters Centerline goodness : 0.994096 with order 1 Centerline is valid? [True, True] Translation: X:877.57, Y:-49.23, Z:4.84 [[ 9.99978289e-01 3.26386344e-03 -5.72447207e-03 8.77571383e+02] [-3.26214521e-03 9.99994631e-01 3.09466686e-04 -4.92268231e+01] [ 5.72545140e-03 -2.90785908e-04 9.99983567e-01 4.83529062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.960714057 meters Centerline goodness : 0.992480 with order 1 Centerline is valid? [True, True] Translation: X:877.63, Y:-49.24, Z:4.83 [[ 9.99913503e-01 1.18412983e-02 -5.72450012e-03 8.77629590e+02] [-1.18397233e-02 9.99929860e-01 3.08947063e-04 -4.92377179e+01] [ 5.72775694e-03 -2.41143843e-04 9.99983567e-01 4.83271873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0207140570001 meters Centerline goodness : 0.994447 with order 1 Centerline is valid? [True, True] Translation: X:877.69, Y:-49.23, Z:4.83 [[ 9.99970517e-01 5.11807973e-03 -5.72458241e-03 8.77687457e+02] [-5.11640353e-03 9.99986864e-01 3.07414605e-04 -4.92314360e+01] [ 5.72608058e-03 -2.78116268e-04 9.99983567e-01 4.83395739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.080714057 meters Centerline goodness : 0.992798 with order 1 Centerline is valid? [True, True] Translation: X:877.75, Y:-49.24, Z:4.84 [[ 9.99935476e-01 9.81182247e-03 -5.72461096e-03 8.77745976e+02] [-9.81022606e-03 9.99951831e-01 3.06881958e-04 -4.92411379e+01] [ 5.72734629e-03 -2.50702429e-04 9.99983567e-01 4.83552679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1407140570001 meters Centerline goodness : 0.992267 with order 1 Centerline is valid? [True, True] Translation: X:877.80, Y:-49.24, Z:4.84 [[ 9.99939360e-01 9.40765336e-03 -5.72468869e-03 8.77804923e+02] [-9.40605866e-03 9.99955715e-01 3.05425021e-04 -4.92411012e+01] [ 5.72730851e-03 -2.51559742e-04 9.99983567e-01 4.83608166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.200714057 meters Centerline goodness : 0.992983 with order 1 Centerline is valid? [True, True] Translation: X:877.86, Y:-49.24, Z:4.84 [[ 9.99943741e-01 8.92983191e-03 -5.72471066e-03 8.77863459e+02] [-8.92823175e-03 9.99960096e-01 3.05012770e-04 -4.92441421e+01] [ 5.72720593e-03 -2.53884067e-04 9.99983567e-01 4.83563850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2607140570001 meters Centerline goodness : 0.992411 with order 1 Centerline is valid? [True, True] Translation: X:877.92, Y:-49.25, Z:4.83 [[ 9.99963274e-01 6.37799330e-03 -5.72473269e-03 8.77922046e+02] [-6.37635378e-03 9.99979624e-01 3.04598633e-04 -4.92462391e+01] [ 5.72655878e-03 -2.68084525e-04 9.99983567e-01 4.83373406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.320714057 meters Centerline goodness : 0.994479 with order 1 Centerline is valid? [True, True] Translation: X:877.98, Y:-49.24, Z:4.84 [[ 9.99969066e-01 -5.39390405e-03 -5.72475502e-03 8.77980981e+02] [ 5.39573354e-03 9.99985397e-01 3.04178511e-04 -4.92370054e+01] [ 5.72303071e-03 -3.35058354e-04 9.99983567e-01 4.83880199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.380714057 meters Centerline goodness : 0.994444 with order 1 Centerline is valid? [True, True] Translation: X:878.04, Y:-49.24, Z:4.84 [[ 9.99933061e-01 -1.00548536e-02 -5.72477691e-03 8.78040443e+02] [ 1.00567568e-02 9.99949383e-01 3.03765905e-04 -4.92376694e+01] [ 5.72143282e-03 -3.61318260e-04 9.99983567e-01 4.83781524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.440714057 meters Centerline goodness : 0.992563 with order 1 Centerline is valid? [True, True] Translation: X:878.10, Y:-49.25, Z:4.84 [[ 9.99947288e-01 -8.52341810e-03 -5.72477095e-03 8.78101801e+02] [ 8.52529698e-03 9.99963613e-01 3.03878245e-04 -4.92464639e+01] [ 5.72197256e-03 -3.52667599e-04 9.99983567e-01 4.83730228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.500714057 meters Centerline goodness : 0.992367 with order 1 Centerline is valid? [True, True] Translation: X:878.16, Y:-49.24, Z:4.84 [[ 9.99942660e-01 -9.05009084e-03 -5.72475474e-03 8.78162810e+02] [ 9.05198006e-03 9.99958984e-01 3.04183331e-04 -4.92449249e+01] [ 5.72176704e-03 -3.55986255e-04 9.99983567e-01 4.83816370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.560714057 meters Centerline goodness : 0.992877 with order 1 Centerline is valid? [True, True] Translation: X:878.22, Y:-49.24, Z:4.84 [[ 9.99931288e-01 -1.02296519e-02 -5.72473727e-03 8.78224753e+02] [ 1.02315623e-02 9.99947610e-01 3.04511765e-04 -4.92431258e+01] [ 5.72132230e-03 -3.63063847e-04 9.99983567e-01 4.83907829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.620714057 meters Centerline goodness : 0.993267 with order 1 Centerline is valid? [True, True] Translation: X:878.29, Y:-49.24, Z:4.84 [[ 9.99916995e-01 -1.15425786e-02 -5.72472602e-03 8.78287276e+02] [ 1.15445116e-02 9.99933313e-01 3.04723128e-04 -4.92432303e+01] [ 5.72082696e-03 -3.70787000e-04 9.99983567e-01 4.83917674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.680714057 meters Centerline goodness : 0.991680 with order 1 Centerline is valid? [True, True] Translation: X:878.35, Y:-49.24, Z:4.84 [[ 9.99917205e-01 -1.15243942e-02 -5.72470249e-03 8.78349588e+02] [ 1.15263294e-02 9.99933523e-01 3.05164426e-04 -4.92436557e+01] [ 5.72080510e-03 -3.71123966e-04 9.99983567e-01 4.83521860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.740714057 meters Centerline goodness : 0.992256 with order 1 Centerline is valid? [True, True] Translation: X:878.41, Y:-49.24, Z:4.83 [[ 9.99899708e-01 -1.29538475e-02 -5.72467894e-03 8.78410916e+02] [ 1.29558085e-02 9.99916023e-01 3.05605671e-04 -4.92420315e+01] [ 5.72023943e-03 -3.79742865e-04 9.99983567e-01 4.83403735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.800714057 meters Centerline goodness : 0.991906 with order 1 Centerline is valid? [True, True] Translation: X:878.47, Y:-49.24, Z:4.83 [[ 9.99926865e-01 -1.06532963e-02 -5.72466176e-03 8.78473038e+02] [ 1.06552217e-02 9.99943185e-01 3.05927162e-04 -4.92428250e+01] [ 5.72107738e-03 -3.66902328e-04 9.99983567e-01 4.83481818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.860714057 meters Centerline goodness : 0.991988 with order 1 Centerline is valid? [True, True] Translation: X:878.54, Y:-49.24, Z:4.84 [[ 9.99961972e-01 -6.57899048e-03 -5.72463924e-03 8.78535355e+02] [ 6.58085170e-03 9.99978299e-01 3.06347961e-04 -4.92375207e+01] [ 5.72249955e-03 -3.44009313e-04 9.99983567e-01 4.83811045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.920714057 meters Centerline goodness : 0.991945 with order 1 Centerline is valid? [True, True] Translation: X:878.60, Y:-49.24, Z:4.84 [[ 9.99970980e-01 -5.02677830e-03 -5.72461635e-03 8.78595568e+02] [ 5.02861660e-03 9.99987309e-01 3.06774985e-04 -4.92367409e+01] [ 5.72300162e-03 -3.35552984e-04 9.99983567e-01 4.84043173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.980714057 meters Centerline goodness : 0.991558 with order 1 Centerline is valid? [True, True] Translation: X:878.66, Y:-49.24, Z:4.84 [[ 9.99982416e-01 -1.54824851e-03 -5.72461072e-03 8.78656576e+02] [ 1.55003060e-03 9.99998752e-01 3.06879999e-04 -4.92364826e+01] [ 5.72412845e-03 -3.15747925e-04 9.99983567e-01 4.84133677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0407140570001 meters Centerline goodness : 0.992123 with order 1 Centerline is valid? [True, True] Translation: X:878.72, Y:-49.24, Z:4.84 [[ 9.99983170e-01 9.42553407e-04 -5.72461072e-03 8.78715720e+02] [-9.40812011e-04 9.99999510e-01 3.06879999e-04 -4.92365150e+01] [ 5.72489717e-03 -3.01489052e-04 9.99983567e-01 4.84174581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.100714057 meters Centerline goodness : 0.992724 with order 1 Centerline is valid? [True, True] Translation: X:878.77, Y:-49.24, Z:4.84 [[ 9.99980913e-01 2.32417984e-03 -5.72468840e-03 8.78773528e+02] [-2.32246934e-03 9.99997256e-01 3.05424079e-04 -4.92353515e+01] [ 5.72538256e-03 -2.92122837e-04 9.99983567e-01 4.84414989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1607140570001 meters Centerline goodness : 0.992117 with order 1 Centerline is valid? [True, True] Translation: X:878.83, Y:-49.24, Z:4.84 [[ 9.99925763e-01 1.07561869e-02 -5.72472867e-03 8.78832741e+02] [-1.07546186e-02 9.99942121e-01 3.04667373e-04 -4.92359621e+01] [ 5.72767439e-03 -2.43077482e-04 9.99983567e-01 4.84473176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.220714057 meters Centerline goodness : 0.992386 with order 1 Centerline is valid? [True, True] Translation: X:878.89, Y:-49.24, Z:4.84 [[ 9.99859706e-01 1.57414874e-02 -5.72480346e-03 8.78889201e+02] [-1.57400087e-02 9.99876072e-01 3.03255482e-04 -4.92365847e+01] [ 5.72886769e-03 -2.13104481e-04 9.99983567e-01 4.84462140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2807140570001 meters Centerline goodness : 0.992552 with order 1 Centerline is valid? [True, True] Translation: X:878.95, Y:-49.24, Z:4.85 [[ 9.99755534e-01 2.13564478e-02 -5.72486574e-03 8.78947903e+02] [-2.13550678e-02 9.99771909e-01 3.02075245e-04 -4.92384682e+01] [ 5.73001120e-03 -1.79746502e-04 9.99983567e-01 4.84560438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.340714057 meters Centerline goodness : 0.992049 with order 1 Centerline is valid? [True, True] Translation: X:879.01, Y:-49.24, Z:4.84 [[ 9.99592651e-01 2.79599190e-02 -5.72494184e-03 8.79005089e+02] [-2.79586555e-02 9.99609035e-01 3.00625962e-04 -4.92415745e+01] [ 5.73110907e-03 -1.40441826e-04 9.99983567e-01 4.84481674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4007140570001 meters Centerline goodness : 0.991825 with order 1 Centerline is valid? [True, True] Translation: X:879.06, Y:-49.25, Z:4.84 [[ 9.99526055e-01 3.02471519e-02 -5.72498842e-03 8.79063524e+02] [-3.02459310e-02 9.99542442e-01 2.99736431e-04 -4.92458072e+01] [ 5.73143508e-03 -1.26436767e-04 9.99983567e-01 4.84456466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.460714057 meters Centerline goodness : 0.992037 with order 1 Centerline is valid? [True, True] Translation: X:879.12, Y:-49.25, Z:4.84 [[ 9.99707596e-01 2.34935654e-02 -5.72501077e-03 8.79120057e+02] [-2.34922363e-02 9.99723975e-01 2.99308869e-04 -4.92521869e+01] [ 5.73046235e-03 -1.64728044e-04 9.99983567e-01 4.84264368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5207140570001 meters Centerline goodness : 0.992085 with order 1 Centerline is valid? [True, True] Translation: X:879.18, Y:-49.26, Z:4.84 [[ 9.99890997e-01 1.36094663e-02 -5.72507091e-03 8.79177387e+02] [-1.36079819e-02 9.99907363e-01 2.98154026e-04 -4.92592112e+01] [ 5.72859827e-03 -2.20214865e-04 9.99983567e-01 4.84034094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.580714057 meters Centerline goodness : 0.994197 with order 1 Centerline is valid? [True, True] Translation: X:879.24, Y:-49.26, Z:4.85 [[ 9.99981998e-01 -1.79632432e-03 -5.72510301e-03 8.79235270e+02] [ 1.79805714e-03 9.99998339e-01 2.97536430e-04 -4.92562867e+01] [ 5.72455903e-03 -3.07825136e-04 9.99983567e-01 4.84580754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6407140570001 meters Centerline goodness : 0.993930 with order 1 Centerline is valid? [True, True] Translation: X:879.29, Y:-49.26, Z:4.85 [[ 9.99945731e-01 -8.70396007e-03 -5.72512949e-03 8.79294857e+02] [ 8.70580281e-03 9.99962060e-01 2.97026006e-04 -4.92615649e+01] [ 5.72232697e-03 -3.46851735e-04 9.99983567e-01 4.84844758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.700714057 meters Centerline goodness : 0.992812 with order 1 Centerline is valid? [True, True] Translation: X:879.36, Y:-49.27, Z:4.84 [[ 9.99971943e-01 -4.83070497e-03 -5.72514027e-03 8.79355618e+02] [ 4.83248326e-03 9.99988279e-01 2.96818159e-04 -4.92749394e+01] [ 5.72363932e-03 -3.24476476e-04 9.99983567e-01 4.84405975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7607140570001 meters Centerline goodness : 0.993314 with order 1 Centerline is valid? [True, True] Translation: X:879.42, Y:-49.28, Z:4.84 [[ 9.99918774e-01 -1.13872337e-02 -5.72512886e-03 8.79415229e+02] [ 1.13891204e-02 9.99935098e-01 2.97038028e-04 -4.92793157e+01] [ 5.72137484e-03 -3.62218083e-04 9.99983567e-01 4.84408488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.820714057 meters Centerline goodness : 0.993562 with order 1 Centerline is valid? [True, True] Translation: X:879.48, Y:-49.28, Z:4.85 [[ 9.99860558e-01 -1.56871733e-02 -5.72513438e-03 8.79477007e+02] [ 1.56891295e-02 9.99876874e-01 2.96931493e-04 -4.92828079e+01] [ 5.71977145e-03 -3.86712462e-04 9.99983567e-01 4.84741591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.880714057 meters Centerline goodness : 0.993338 with order 1 Centerline is valid? [True, True] Translation: X:879.54, Y:-49.29, Z:4.85 [[ 9.99831803e-01 -1.74238098e-02 -5.72505683e-03 8.79538637e+02] [ 1.74258028e-02 9.99848115e-01 2.98419376e-04 -4.92878605e+01] [ 5.71898767e-03 -3.98132894e-04 9.99983567e-01 4.84793046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.940714057 meters Centerline goodness : 0.993950 with order 1 Centerline is valid? [True, True] Translation: X:879.60, Y:-49.29, Z:4.85 [[ 9.99778674e-01 -2.02441796e-02 -5.72503392e-03 8.79600186e+02] [ 2.02462211e-02 9.99794980e-01 2.98858262e-04 -4.92916265e+01] [ 5.71781003e-03 -4.14702419e-04 9.99983567e-01 4.84770288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.000714057 meters Centerline goodness : 0.994058 with order 1 Centerline is valid? [True, True] Translation: X:879.66, Y:-49.29, Z:4.85 [[ 9.99742976e-01 -2.19364096e-02 -5.72499198e-03 8.79662771e+02] [ 2.19384833e-02 9.99759278e-01 2.99659418e-04 -4.92940616e+01] [ 5.71704040e-03 -4.25180039e-04 9.99983567e-01 4.84837959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.060714057 meters Centerline goodness : 0.994076 with order 1 Centerline is valid? [True, True] Translation: X:879.72, Y:-49.30, Z:4.85 [[ 9.99764843e-01 -2.09161029e-02 -5.72496982e-03 8.79724888e+02] [ 2.09181623e-02 9.99781146e-01 3.00082204e-04 -4.92964420e+01] [ 5.71744034e-03 -4.19767486e-04 9.99983567e-01 4.85022857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.120714057 meters Centerline goodness : 0.993234 with order 1 Centerline is valid? [True, True] Translation: X:879.79, Y:-49.30, Z:4.85 [[ 9.99798724e-01 -1.92285274e-02 -5.72494675e-03 8.79786159e+02] [ 1.92305619e-02 9.99815030e-01 3.00521727e-04 -4.92979217e+01] [ 5.71810922e-03 -4.10555182e-04 9.99983567e-01 4.85038800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.180714057 meters Centerline goodness : 0.993854 with order 1 Centerline is valid? [True, True] Translation: X:879.85, Y:-49.30, Z:4.86 [[ 9.99843268e-01 -1.67530447e-02 -5.72492965e-03 8.79848276e+02] [ 1.67550406e-02 9.99859579e-01 3.00847137e-04 -4.92986808e+01] [ 5.71908564e-03 -3.96721413e-04 9.99983567e-01 4.85608067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.240714057 meters Centerline goodness : 0.993997 with order 1 Centerline is valid? [True, True] Translation: X:879.91, Y:-49.30, Z:4.85 [[ 9.99855181e-01 -1.60262902e-02 -5.72490668e-03 8.79910102e+02] [ 1.60282767e-02 9.99871494e-01 3.01283508e-04 -4.93039083e+01] [ 5.71934254e-03 -3.93000265e-04 9.99983567e-01 4.85270004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.300714057 meters Centerline goodness : 0.993799 with order 1 Centerline is valid? [True, True] Translation: X:879.97, Y:-49.31, Z:4.85 [[ 9.99805851e-01 -1.88543627e-02 -5.72488359e-03 8.79970924e+02] [ 1.88563978e-02 9.99822157e-01 3.01721741e-04 -4.93073054e+01] [ 5.71817668e-03 -4.09613844e-04 9.99983567e-01 4.84935126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.360714057 meters Centerline goodness : 0.993418 with order 1 Centerline is valid? [True, True] Translation: X:880.03, Y:-49.31, Z:4.85 [[ 9.99764484e-01 -2.09333053e-02 -5.72486642e-03 8.80032349e+02] [ 2.09353762e-02 9.99780785e-01 3.02047147e-04 -4.93100070e+01] [ 5.71728860e-03 -4.21828242e-04 9.99983567e-01 4.84879330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.420714057 meters Centerline goodness : 0.995191 with order 1 Centerline is valid? [True, True] Translation: X:880.09, Y:-49.31, Z:4.85 [[ 9.99642431e-01 -2.61196405e-02 -5.72485006e-03 8.80094588e+02] [ 2.61217978e-02 9.99658722e-01 3.02356827e-04 -4.93073945e+01] [ 5.71499885e-03 -4.51792089e-04 9.99983567e-01 4.85260400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.480714057 meters Centerline goodness : 0.995294 with order 1 Centerline is valid? [True, True] Translation: X:880.16, Y:-49.31, Z:4.85 [[ 9.99629379e-01 -2.66144721e-02 -5.72482813e-03 8.80155265e+02] [ 2.66166398e-02 9.99645669e-01 3.02771462e-04 -4.93105678e+01] [ 5.71474155e-03 -4.55034937e-04 9.99983567e-01 4.85278036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5407140570001 meters Centerline goodness : 0.993851 with order 1 Centerline is valid? [True, True] Translation: X:880.22, Y:-49.32, Z:4.85 [[ 9.99756568e-01 -2.13080028e-02 -5.72479030e-03 8.80217053e+02] [ 2.13100880e-02 9.99772868e-01 3.03485235e-04 -4.93203914e+01] [ 5.71702335e-03 -4.25407142e-04 9.99983567e-01 4.85233024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.600714057 meters Centerline goodness : 0.994518 with order 1 Centerline is valid? [True, True] Translation: X:880.28, Y:-49.32, Z:4.86 [[ 9.99635361e-01 -2.63888733e-02 -5.72476720e-03 8.80278335e+02] [ 2.63910438e-02 9.99651650e-01 3.03920278e-04 -4.93169694e+01] [ 5.71475286e-03 -4.54892039e-04 9.99983567e-01 4.85512318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6607140570001 meters Centerline goodness : 0.994896 with order 1 Centerline is valid? [True, True] Translation: X:880.34, Y:-49.32, Z:4.86 [[ 9.99629201e-01 -2.66211884e-02 -5.72475027e-03 8.80340543e+02] [ 2.66233645e-02 9.99645489e-01 3.04238901e-04 -4.93212048e+01] [ 5.71462158e-03 -4.56538203e-04 9.99983567e-01 4.85516718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.720714057 meters Centerline goodness : 0.994949 with order 1 Centerline is valid? [True, True] Translation: X:880.40, Y:-49.33, Z:4.85 [[ 9.99612255e-01 -2.72501004e-02 -5.72472853e-03 8.80402923e+02] [ 2.72522891e-02 9.99628541e-01 3.04647270e-04 -4.93260901e+01] [ 5.71430036e-03 -4.60541101e-04 9.99983567e-01 4.85354861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7807140570001 meters Centerline goodness : 0.994508 with order 1 Centerline is valid? [True, True] Translation: X:880.47, Y:-49.34, Z:4.85 [[ 9.99711748e-01 -2.33162697e-02 -5.72470163e-03 8.80465856e+02] [ 2.33183972e-02 9.99728043e-01 3.05152044e-04 -4.93366997e+01] [ 5.71602975e-03 -4.38554949e-04 9.99983567e-01 4.85240105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.840714057 meters Centerline goodness : 0.993921 with order 1 Centerline is valid? [True, True] Translation: X:880.53, Y:-49.34, Z:4.85 [[ 9.99727463e-01 -2.26324320e-02 -5.72466609e-03 8.80527779e+02] [ 2.26345521e-02 9.99743759e-01 3.05817354e-04 -4.93400774e+01] [ 5.71627780e-03 -4.35309260e-04 9.99983567e-01 4.85291772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9007140570001 meters Centerline goodness : 0.993960 with order 1 Centerline is valid? [True, True] Translation: X:880.59, Y:-49.34, Z:4.85 [[ 9.99751158e-01 -2.15604140e-02 -5.72464296e-03 8.80590064e+02] [ 2.15625191e-02 9.99767455e-01 3.06249735e-04 -4.93439652e+01] [ 5.71670885e-03 -4.29611250e-04 9.99983567e-01 4.85318765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.960714057 meters Centerline goodness : 0.993865 with order 1 Centerline is valid? [True, True] Translation: X:880.65, Y:-49.35, Z:4.85 [[ 9.99796499e-01 -1.93439910e-02 -5.72461432e-03 8.80652036e+02] [ 1.93460630e-02 9.99812800e-01 3.06784011e-04 -4.93478160e+01] [ 5.71760825e-03 -4.17470330e-04 9.99983567e-01 4.85421137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0207140570001 meters Centerline goodness : 0.993639 with order 1 Centerline is valid? [True, True] Translation: X:880.71, Y:-49.35, Z:4.85 [[ 9.99804223e-01 -1.89405458e-02 -5.72459155e-03 8.80712667e+02] [ 1.89426137e-02 9.99820525e-01 3.07208382e-04 -4.93507529e+01] [ 5.71774544e-03 -4.15586964e-04 9.99983567e-01 4.85433092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.080714057 meters Centerline goodness : 0.993487 with order 1 Centerline is valid? [True, True] Translation: X:880.78, Y:-49.36, Z:4.85 [[ 9.99774461e-01 -2.04513145e-02 -5.72457470e-03 8.80775960e+02] [ 2.04534088e-02 9.99790760e-01 3.07522104e-04 -4.93550384e+01] [ 5.71708765e-03 -4.24539812e-04 9.99983567e-01 4.85454770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1407140570001 meters Centerline goodness : 0.993451 with order 1 Centerline is valid? [True, True] Translation: X:880.84, Y:-49.36, Z:4.86 [[ 9.99751833e-01 -2.15290957e-02 -5.72453949e-03 8.80838493e+02] [ 2.15312112e-02 9.99768129e-01 3.08176082e-04 -4.93591272e+01] [ 5.71657738e-03 -4.31355872e-04 9.99983567e-01 4.85521943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.200714057 meters Centerline goodness : 0.993730 with order 1 Centerline is valid? [True, True] Translation: X:880.90, Y:-49.36, Z:4.86 [[ 9.99663938e-01 -2.52832054e-02 -5.72450390e-03 8.80901123e+02] [ 2.52853859e-02 9.99680226e-01 3.08835731e-04 -4.93637819e+01] [ 5.71486500e-03 -4.53478234e-04 9.99983567e-01 4.85528771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2607140570001 meters Centerline goodness : 0.993511 with order 1 Centerline is valid? [True, True] Translation: X:880.96, Y:-49.37, Z:4.86 [[ 9.99603865e-01 -2.75561808e-02 -5.72446799e-03 8.80963746e+02] [ 2.75584021e-02 9.99620147e-01 3.09499952e-04 -4.93697878e+01] [ 5.71376490e-03 -4.67134539e-04 9.99983567e-01 4.85545013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.320714057 meters Centerline goodness : 0.993949 with order 1 Centerline is valid? [True, True] Translation: X:881.03, Y:-49.38, Z:4.86 [[ 9.99563387e-01 -2.89873598e-02 -5.72443237e-03 8.81026524e+02] [ 2.89896081e-02 9.99579665e-01 3.10157452e-04 -4.93752020e+01] [ 5.71303554e-03 -4.75971084e-04 9.99983567e-01 4.85622906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.380714057 meters Centerline goodness : 0.994133 with order 1 Centerline is valid? [True, True] Translation: X:881.09, Y:-49.38, Z:4.86 [[ 9.99562650e-01 -2.90127643e-02 -5.72439628e-03 8.81088567e+02] [ 2.90150168e-02 9.99578927e-01 3.10821963e-04 -4.93807945e+01] [ 5.71296809e-03 -4.76779480e-04 9.99983567e-01 4.85594660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.440714057 meters Centerline goodness : 0.994468 with order 1 Centerline is valid? [True, True] Translation: X:881.15, Y:-49.39, Z:4.85 [[ 9.99573988e-01 -2.86194553e-02 -5.72437228e-03 8.81150503e+02] [ 2.86217039e-02 9.99590267e-01 3.11263435e-04 -4.93875690e+01] [ 5.71311862e-03 -4.74972122e-04 9.99983567e-01 4.85468765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.500714057 meters Centerline goodness : 0.993947 with order 1 Centerline is valid? [True, True] Translation: X:881.21, Y:-49.39, Z:4.85 [[ 9.99609907e-01 -2.73361762e-02 -5.72434253e-03 8.81212198e+02] [ 2.73384070e-02 9.99626187e-01 3.11809606e-04 -4.93938890e+01] [ 5.71367901e-03 -4.68182377e-04 9.99983567e-01 4.85098062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.560714057 meters Centerline goodness : 0.994006 with order 1 Centerline is valid? [True, True] Translation: X:881.27, Y:-49.40, Z:4.85 [[ 9.99717483e-01 -2.30691652e-02 -5.72431924e-03 8.81274099e+02] [ 2.30713289e-02 9.99733773e-01 3.12236607e-04 -4.93980065e+01] [ 5.71559223e-03 -4.44216047e-04 9.99983567e-01 4.85111623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.620714057 meters Centerline goodness : 0.993174 with order 1 Centerline is valid? [True, True] Translation: X:881.34, Y:-49.40, Z:4.85 [[ 9.99832427e-01 -1.73882111e-02 -5.72429534e-03 8.81335528e+02] [ 1.73902848e-02 9.99848729e-01 3.12674206e-04 -4.94012442e+01] [ 5.71799257e-03 -4.12168937e-04 9.99983567e-01 4.85237889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.680714057 meters Centerline goodness : 0.992916 with order 1 Centerline is valid? [True, True] Translation: X:881.40, Y:-49.40, Z:4.85 [[ 9.99925220e-01 -1.08067938e-02 -5.72427767e-03 8.81397283e+02] [ 1.08087619e-02 9.99941535e-01 3.12997241e-04 -4.94044410e+01] [ 5.72056050e-03 -3.74846190e-04 9.99983567e-01 4.85343172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.740714057 meters Centerline goodness : 0.992897 with order 1 Centerline is valid? [True, True] Translation: X:881.46, Y:-49.41, Z:4.85 [[ 9.99943595e-01 -8.94649023e-03 -5.72425372e-03 8.81457912e+02] [ 8.94843050e-03 9.99959913e-01 3.13434641e-04 -4.94084207e+01] [ 5.72122011e-03 -3.64640048e-04 9.99983567e-01 4.85295997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.800714057 meters Centerline goodness : 0.993323 with order 1 Centerline is valid? [True, True] Translation: X:881.52, Y:-49.41, Z:4.85 [[ 9.99938986e-01 -9.44756948e-03 -5.72423600e-03 8.81519404e+02] [ 9.44951977e-03 9.99955303e-01 3.13757958e-04 -4.94128934e+01] [ 5.72101589e-03 -3.67830096e-04 9.99983567e-01 4.85269028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.860714057 meters Centerline goodness : 0.993829 with order 1 Centerline is valid? [True, True] Translation: X:881.58, Y:-49.42, Z:4.85 [[ 9.99874395e-01 -1.47792939e-02 -5.72422435e-03 8.81579933e+02] [ 1.47813324e-02 9.99890701e-01 3.13970386e-04 -4.94214410e+01] [ 5.71895844e-03 -3.98542613e-04 9.99983567e-01 4.85019499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.920714057 meters Centerline goodness : 0.993906 with order 1 Centerline is valid? [True, True] Translation: X:881.64, Y:-49.43, Z:4.85 [[ 9.99836918e-01 -1.71281098e-02 -5.72414943e-03 8.81642193e+02] [ 1.71301943e-02 9.99853218e-01 3.15330298e-04 -4.94265973e+01] [ 5.71790822e-03 -4.13334665e-04 9.99983567e-01 4.85060591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.980714057 meters Centerline goodness : 0.994834 with order 1 Centerline is valid? [True, True] Translation: X:881.70, Y:-49.42, Z:4.86 [[ 9.99686875e-01 -2.43595026e-02 -5.72412654e-03 8.81704207e+02] [ 2.43617073e-02 9.99703160e-01 3.15745411e-04 -4.94235039e+01] [ 5.71473598e-03 -4.55096038e-04 9.99983567e-01 4.85548810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0407140570001 meters Centerline goodness : 0.993065 with order 1 Centerline is valid? [True, True] Translation: X:881.77, Y:-49.44, Z:4.85 [[ 9.99880816e-01 -1.43383476e-02 -5.72404720e-03 8.81765730e+02] [ 1.43403972e-02 9.99897121e-01 3.17177185e-04 -4.94400971e+01] [ 5.71891052e-03 -3.99224493e-04 9.99983567e-01 4.84934544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.100714057 meters Centerline goodness : 0.993301 with order 1 Centerline is valid? [True, True] Translation: X:881.83, Y:-49.44, Z:4.85 [[ 9.99865650e-01 -1.53596286e-02 -5.72402369e-03 8.81828221e+02] [ 1.53616972e-02 9.99881952e-01 3.17600961e-04 -4.94430272e+01] [ 5.71846974e-03 -4.05489010e-04 9.99983567e-01 4.85348984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1607140570001 meters Centerline goodness : 0.993128 with order 1 Centerline is valid? [True, True] Translation: X:881.89, Y:-49.45, Z:4.85 [[ 9.99878838e-01 -1.44756924e-02 -5.72400076e-03 8.81890523e+02] [ 1.44777490e-02 9.99895141e-01 3.18013648e-04 -4.94481668e+01] [ 5.71879708e-03 -4.00845763e-04 9.99983567e-01 4.85385298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.220714057 meters Centerline goodness : 0.992736 with order 1 Centerline is valid? [True, True] Translation: X:881.95, Y:-49.45, Z:4.85 [[ 9.99896912e-01 -1.31682187e-02 -5.72397789e-03 8.81952880e+02] [ 1.31702563e-02 9.99913218e-01 3.18424763e-04 -4.94522985e+01] [ 5.71928806e-03 -3.93778193e-04 9.99983567e-01 4.85419822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2807140570001 meters Centerline goodness : 0.992357 with order 1 Centerline is valid? [True, True] Translation: X:882.02, Y:-49.46, Z:4.86 [[ 9.99895824e-01 -1.32505735e-02 -5.72395416e-03 8.82015274e+02] [ 1.32526149e-02 9.99912129e-01 3.18850710e-04 -4.94553368e+01] [ 5.71922624e-03 -3.94674854e-04 9.99983567e-01 4.85582821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.340714057 meters Centerline goodness : 0.992190 with order 1 Centerline is valid? [True, True] Translation: X:882.08, Y:-49.46, Z:4.86 [[ 9.99938023e-01 -9.54920917e-03 -5.72393052e-03 8.82077223e+02] [ 9.55119257e-03 9.99954335e-01 3.19274616e-04 -4.94612383e+01] [ 5.72062031e-03 -3.73925191e-04 9.99983567e-01 4.85812422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4007140570001 meters Centerline goodness : 0.992482 with order 1 Centerline is valid? [True, True] Translation: X:882.14, Y:-49.47, Z:4.85 [[ 9.99926513e-01 -1.06867271e-02 -5.72390707e-03 8.82138324e+02] [ 1.06887315e-02 9.99942823e-01 3.19694363e-04 -4.94666690e+01] [ 5.72016331e-03 -3.80852175e-04 9.99983567e-01 4.85334397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.460714057 meters Centerline goodness : 0.991859 with order 1 Centerline is valid? [True, True] Translation: X:882.20, Y:-49.47, Z:4.86 [[ 9.99909254e-01 -1.21951442e-02 -5.72388977e-03 8.82200138e+02] [ 1.21971750e-02 9.99925561e-01 3.20003861e-04 -4.94693216e+01] [ 5.71956119e-03 -3.89790107e-04 9.99983567e-01 4.85500196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5207140570001 meters Centerline goodness : 0.992010 with order 1 Centerline is valid? [True, True] Translation: X:882.26, Y:-49.47, Z:4.86 [[ 9.99939861e-01 -9.35477782e-03 -5.72386516e-03 8.82261532e+02] [ 9.35676471e-03 9.99956173e-01 3.20443352e-04 -4.94718200e+01] [ 5.72061663e-03 -3.73980940e-04 9.99983567e-01 4.85906525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.580714057 meters Centerline goodness : 0.994023 with order 1 Centerline is valid? [True, True] Translation: X:882.32, Y:-49.46, Z:4.86 [[ 9.99834156e-01 -1.72886452e-02 -5.72384697e-03 8.82323264e+02] [ 1.72907633e-02 9.99850452e-01 3.20768048e-04 -4.94642538e+01] [ 5.71744533e-03 -4.19684534e-04 9.99983567e-01 4.85943107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6407140570001 meters Centerline goodness : 0.991950 with order 1 Centerline is valid? [True, True] Translation: X:882.39, Y:-49.48, Z:4.86 [[ 9.99930505e-01 -1.03065213e-02 -5.72376970e-03 8.82385269e+02] [ 1.03085334e-02 9.99946814e-01 3.22140991e-04 -4.94774276e+01] [ 5.72014512e-03 -3.81122275e-04 9.99983567e-01 4.85532853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.700714057 meters Centerline goodness : 0.994275 with order 1 Centerline is valid? [True, True] Translation: X:882.45, Y:-49.47, Z:4.86 [[ 9.99809721e-01 -1.86483434e-02 -5.72374490e-03 8.82447545e+02] [ 1.86504940e-02 9.99826012e-01 3.22580920e-04 -4.94715344e+01] [ 5.71673344e-03 -4.29270209e-04 9.99983567e-01 4.85756163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7607140570001 meters Centerline goodness : 0.992680 with order 1 Centerline is valid? [True, True] Translation: X:882.51, Y:-49.49, Z:4.85 [[ 9.99921847e-01 -1.11148384e-02 -5.72365963e-03 8.82508934e+02] [ 1.11168747e-02 9.99938153e-01 3.24086943e-04 -4.94862198e+01] [ 5.71970347e-03 -3.87690822e-04 9.99983567e-01 4.85117096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.820714057 meters Centerline goodness : 0.992548 with order 1 Centerline is valid? [True, True] Translation: X:882.57, Y:-49.49, Z:4.86 [[ 9.99932544e-01 -1.01068168e-02 -5.72363584e-03 8.82571074e+02] [ 1.01088392e-02 9.99948852e-01 3.24506491e-04 -4.94869747e+01] [ 5.72006336e-03 -3.82343915e-04 9.99983567e-01 4.85728286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.880714057 meters Centerline goodness : 0.993692 with order 1 Centerline is valid? [True, True] Translation: X:882.63, Y:-49.49, Z:4.86 [[ 9.99913755e-01 -1.18204613e-02 -5.72361150e-03 8.82632459e+02] [ 1.18225140e-02 9.99930059e-01 3.24935273e-04 -4.94887092e+01] [ 5.71937030e-03 -3.92574725e-04 9.99983567e-01 4.85632327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.940714057 meters Centerline goodness : 0.994158 with order 1 Centerline is valid? [True, True] Translation: X:882.69, Y:-49.49, Z:4.86 [[ 9.99946728e-01 -8.58961693e-03 -5.72359348e-03 8.82694361e+02] [ 8.59161875e-03 9.99963038e-01 3.25252345e-04 -4.94898216e+01] [ 5.72058814e-03 -3.74409951e-04 9.99983567e-01 4.85733036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.000714057 meters Centerline goodness : 0.993589 with order 1 Centerline is valid? [True, True] Translation: X:882.76, Y:-49.49, Z:4.85 [[ 9.99982534e-01 -1.47366550e-03 -5.72356966e-03 8.82755194e+02] [ 1.47555359e-03 9.99998858e-01 3.25670942e-04 -4.94944536e+01] [ 5.72308320e-03 -3.34110688e-04 9.99983567e-01 4.85371107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.060714057 meters Centerline goodness : 0.993177 with order 1 Centerline is valid? [True, True] Translation: X:882.81, Y:-49.49, Z:4.86 [[ 9.99982416e-01 -1.55165564e-03 -5.72355722e-03 8.82813569e+02] [ 1.55354625e-03 9.99998740e-01 3.25889543e-04 -4.94927124e+01] [ 5.72304434e-03 -3.34775624e-04 9.99983567e-01 4.85828329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.120714057 meters Centerline goodness : 0.992721 with order 1 Centerline is valid? [True, True] Translation: X:882.87, Y:-49.49, Z:4.86 [[ 9.99968253e-01 5.54385924e-03 -5.72358029e-03 8.82872372e+02] [-5.54208682e-03 9.99984590e-01 3.25483875e-04 -4.94940217e+01] [ 5.72529652e-03 -2.93752963e-04 9.99983567e-01 4.85678792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.180714057 meters Centerline goodness : 0.992814 with order 1 Centerline is valid? [True, True] Translation: X:882.93, Y:-49.49, Z:4.86 [[ 9.99937179e-01 9.63727096e-03 -5.72366816e-03 8.82930203e+02] [-9.63557430e-03 9.99953524e-01 3.23931249e-04 -4.94929198e+01] [ 5.72652396e-03 -2.68760070e-04 9.99983567e-01 4.85902830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.240714057 meters Centerline goodness : 0.993301 with order 1 Centerline is valid? [True, True] Translation: X:882.99, Y:-49.49, Z:4.86 [[ 9.99916567e-01 1.15800628e-02 -5.72376607e-03 8.82986904e+02] [-1.15784078e-02 9.99932916e-01 3.22191768e-04 -4.94944466e+01] [ 5.72711310e-03 -2.55892788e-04 9.99983567e-01 4.85990042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.300714057 meters Centerline goodness : 0.992466 with order 1 Centerline is valid? [True, True] Translation: X:883.05, Y:-49.50, Z:4.86 [[ 9.99906739e-01 1.23996270e-02 -5.72380809e-03 8.83045268e+02] [-1.23979897e-02 9.99923090e-01 3.21443679e-04 -4.94965865e+01] [ 5.72735365e-03 -2.50449988e-04 9.99983567e-01 4.86165759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.360714057 meters Centerline goodness : 0.992456 with order 1 Centerline is valid? [True, True] Translation: X:883.10, Y:-49.50, Z:4.87 [[ 9.99897101e-01 1.31539242e-02 -5.72384414e-03 8.83103296e+02] [-1.31523029e-02 9.99913453e-01 3.20800319e-04 -4.94990464e+01] [ 5.72756855e-03 -2.45485577e-04 9.99983567e-01 4.86545461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.420714057 meters Centerline goodness : 0.991975 with order 1 Centerline is valid? [True, True] Translation: X:883.16, Y:-49.50, Z:4.86 [[ 9.99919580e-01 1.13168353e-02 -5.72387362e-03 8.83162115e+02] [-1.13151869e-02 9.99935930e-01 3.20273446e-04 -4.95034449e+01] [ 5.72713138e-03 -2.55480989e-04 9.99983567e-01 4.85860091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.480714057 meters Centerline goodness : 0.992192 with order 1 Centerline is valid? [True, True] Translation: X:883.22, Y:-49.51, Z:4.86 [[ 9.99912803e-01 1.19005296e-02 -5.72389711e-03 8.83219212e+02] [-1.18988932e-02 9.99929155e-01 3.19853204e-04 -4.95073717e+01] [ 5.72729802e-03 -2.51717274e-04 9.99983567e-01 4.85744366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5407140570001 meters Centerline goodness : 0.992185 with order 1 Centerline is valid? [True, True] Translation: X:883.28, Y:-49.51, Z:4.86 [[ 9.99941121e-01 9.21904745e-03 -5.72393755e-03 8.83277617e+02] [-9.21737139e-03 9.99957468e-01 3.19127788e-04 -4.95106089e+01] [ 5.72663616e-03 -2.66349339e-04 9.99983567e-01 4.85803492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.600714057 meters Centerline goodness : 0.991656 with order 1 Centerline is valid? [True, True] Translation: X:883.34, Y:-49.51, Z:4.86 [[ 9.99916824e-01 1.15577815e-02 -5.72396037e-03 8.83336743e+02] [-1.15561460e-02 9.99933175e-01 3.18718019e-04 -4.95138736e+01] [ 5.72726154e-03 -2.52544588e-04 9.99983567e-01 4.85884822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6607140570001 meters Centerline goodness : 0.991576 with order 1 Centerline is valid? [True, True] Translation: X:883.39, Y:-49.52, Z:4.86 [[ 9.99832538e-01 1.73819425e-02 -5.72398321e-03 8.83394227e+02] [-1.73804046e-02 9.99848899e-01 3.18307341e-04 -4.95179926e+01] [ 5.72865110e-03 -2.18768893e-04 9.99983567e-01 4.85937903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.720714057 meters Centerline goodness : 0.992251 with order 1 Centerline is valid? [True, True] Translation: X:883.45, Y:-49.52, Z:4.86 [[ 9.99776684e-01 2.03424752e-02 -5.72407939e-03 8.83452227e+02] [-2.03409957e-02 9.99793050e-01 3.16568227e-04 -4.95227840e+01] [ 5.72933457e-03 -2.00064058e-04 9.99983567e-01 4.85863130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7807140570001 meters Centerline goodness : 0.991313 with order 1 Centerline is valid? [True, True] Translation: X:883.51, Y:-49.53, Z:4.86 [[ 9.99718873e-01 2.30088926e-02 -5.72410875e-03 8.83510577e+02] [-2.30074598e-02 9.99735243e-01 3.16036382e-04 -4.95265535e+01] [ 5.72986490e-03 -1.84250334e-04 9.99983567e-01 4.85948759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.840714057 meters Centerline goodness : 0.993444 with order 1 Centerline is valid? [True, True] Translation: X:883.57, Y:-49.52, Z:4.87 [[ 9.99895270e-01 1.32922203e-02 -5.72413176e-03 8.83569990e+02] [-1.32906309e-02 9.99911626e-01 3.15619049e-04 -4.95181250e+01] [ 5.72782117e-03 -2.39508672e-04 9.99983567e-01 4.87043431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9007140570001 meters Centerline goodness : 0.992331 with order 1 Centerline is valid? [True, True] Translation: X:883.63, Y:-49.54, Z:4.86 [[ 9.99713484e-01 2.32418474e-02 -5.72415440e-03 8.83627630e+02] [-2.32404232e-02 9.99729855e-01 3.15207970e-04 -4.95373449e+01] [ 5.72993406e-03 -1.82085887e-04 9.99983567e-01 4.85895355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.960714057 meters Centerline goodness : 0.991376 with order 1 Centerline is valid? [True, True] Translation: X:883.69, Y:-49.54, Z:4.86 [[ 9.99761953e-01 2.10539870e-02 -5.72423794e-03 8.83686631e+02] [-2.10525357e-02 9.99778322e-01 3.13683392e-04 -4.95408808e+01] [ 5.72957329e-03 -1.93098997e-04 9.99983567e-01 4.86009856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0207140570001 meters Centerline goodness : 0.990787 with order 1 Centerline is valid? [True, True] Translation: X:883.75, Y:-49.55, Z:4.86 [[ 9.99804023e-01 1.89512061e-02 -5.72426164e-03 8.83745116e+02] [-1.89497229e-02 9.99820389e-01 3.13250326e-04 -4.95474454e+01] [ 5.72916997e-03 -2.04715764e-04 9.99983567e-01 4.85746478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.080714057 meters Centerline goodness : 0.991500 with order 1 Centerline is valid? [True, True] Translation: X:883.80, Y:-49.55, Z:4.86 [[ 9.99935989e-01 9.75967089e-03 -5.72428522e-03 8.83803399e+02] [-9.75803971e-03 9.99952340e-01 3.12818936e-04 -4.95498172e+01] [ 5.72706541e-03 -2.56941109e-04 9.99983567e-01 4.86221139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1407140570001 meters Centerline goodness : 0.991692 with order 1 Centerline is valid? [True, True] Translation: X:883.86, Y:-49.55, Z:4.86 [[ 9.99978060e-01 3.33339757e-03 -5.72430878e-03 8.83860620e+02] [-3.33166380e-03 9.99994401e-01 3.12387160e-04 -4.95548679e+01] [ 5.72531804e-03 -2.93308834e-04 9.99983567e-01 4.86209419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.200714057 meters Centerline goodness : 0.992057 with order 1 Centerline is valid? [True, True] Translation: X:883.92, Y:-49.56, Z:4.86 [[ 9.99950901e-01 -8.08870138e-03 -5.72434127e-03 8.83919092e+02] [ 8.09061828e-03 9.99967222e-01 3.11790743e-04 -4.95623458e+01] [ 5.72163165e-03 -3.58088894e-04 9.99983567e-01 4.86290115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2607140570001 meters Centerline goodness : 0.994561 with order 1 Centerline is valid? [True, True] Translation: X:883.98, Y:-49.55, Z:4.87 [[ 9.99740591e-01 -2.20450156e-02 -5.72436494e-03 8.83980168e+02] [ 2.20471577e-02 9.99756883e-01 3.11355393e-04 -4.95546314e+01] [ 5.71610942e-03 -4.37480601e-04 9.99983567e-01 4.87163668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.320714057 meters Centerline goodness : 0.992527 with order 1 Centerline is valid? [True, True] Translation: X:884.04, Y:-49.57, Z:4.86 [[ 9.99893027e-01 -1.34598169e-02 -5.72435913e-03 8.84041650e+02] [ 1.34618195e-02 9.99909337e-01 3.11462257e-04 -4.95707011e+01] [ 5.71964792e-03 -3.88489228e-04 9.99983567e-01 4.86210748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.380714057 meters Centerline goodness : 0.992032 with order 1 Centerline is valid? [True, True] Translation: X:884.10, Y:-49.57, Z:4.86 [[ 9.99930817e-01 -1.02758160e-02 -5.72433545e-03 8.84103955e+02] [ 1.02777692e-02 9.99947134e-01 3.11896881e-04 -4.95744918e+01] [ 5.72082783e-03 -3.70708701e-04 9.99983567e-01 4.86118446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.440714057 meters Centerline goodness : 0.994731 with order 1 Centerline is valid? [True, True] Translation: X:884.17, Y:-49.56, Z:4.88 [[ 9.99783587e-01 -2.00002998e-02 -5.72431154e-03 8.84165990e+02] [ 2.00024141e-02 9.99799883e-01 3.12335069e-04 -4.95617169e+01] [ 5.71691921e-03 -4.26767526e-04 9.99983567e-01 4.87581793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.500714057 meters Centerline goodness : 0.993893 with order 1 Centerline is valid? [True, True] Translation: X:884.23, Y:-49.57, Z:4.88 [[ 9.99831593e-01 -1.74361189e-02 -5.72423488e-03 8.84227653e+02] [ 1.74381994e-02 9.99847894e-01 3.13733755e-04 -4.95650096e+01] [ 5.71789389e-03 -4.13501270e-04 9.99983567e-01 4.87502433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.560714057 meters Centerline goodness : 0.991443 with order 1 Centerline is valid? [True, True] Translation: X:884.29, Y:-49.58, Z:4.86 [[ 9.99973499e-01 -4.49836400e-03 -5.72421232e-03 8.84288777e+02] [ 4.50023572e-03 9.99989825e-01 3.14144933e-04 -4.95827442e+01] [ 5.72274093e-03 -3.39896912e-04 9.99983567e-01 4.86157181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.620714057 meters Centerline goodness : 0.992061 with order 1 Centerline is valid? [True, True] Translation: X:884.35, Y:-49.58, Z:4.86 [[ 9.99983578e-01 -2.76594551e-04 -5.72418935e-03 8.84348613e+02] [ 2.78399715e-04 9.99999912e-01 3.14562766e-04 -4.95835776e+01] [ 5.72410184e-03 -3.16151213e-04 9.99983567e-01 4.86277596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.680714057 meters Centerline goodness : 0.991672 with order 1 Centerline is valid? [True, True] Translation: X:884.41, Y:-49.58, Z:4.87 [[ 9.99974548e-01 4.25864692e-03 -5.72420127e-03 8.84407540e+02] [-4.25691709e-03 9.99990890e-01 3.14345714e-04 -4.95834564e+01] [ 5.72548781e-03 -2.89970263e-04 9.99983567e-01 4.86555398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.740714057 meters Centerline goodness : 0.991442 with order 1 Centerline is valid? [True, True] Translation: X:884.46, Y:-49.58, Z:4.87 [[ 9.99947284e-01 8.52421424e-03 -5.72428453e-03 8.84464191e+02] [-8.52256284e-03 9.99963633e-01 3.12822238e-04 -4.95842145e+01] [ 5.72674292e-03 -2.64020173e-04 9.99983567e-01 4.86968415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.800714057 meters Centerline goodness : 0.992090 with order 1 Centerline is valid? [True, True] Translation: X:884.52, Y:-49.58, Z:4.87 [[ 9.99895490e-01 1.32755943e-02 -5.72434812e-03 8.84521905e+02] [-1.32740273e-02 9.99911848e-01 3.11654158e-04 -4.95848890e+01] [ 5.72798090e-03 -2.35636434e-04 9.99983567e-01 4.87250088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.860714057 meters Centerline goodness : 0.991734 with order 1 Centerline is valid? [True, True] Translation: X:884.58, Y:-49.59, Z:4.87 [[ 9.99875398e-01 1.47111999e-02 -5.72444277e-03 8.84578568e+02] [-1.47096664e-02 9.99891759e-01 3.09905931e-04 -4.95881318e+01] [ 5.72838224e-03 -2.25662672e-04 9.99983567e-01 4.87191023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.920714057 meters Centerline goodness : 0.991913 with order 1 Centerline is valid? [True, True] Translation: X:884.64, Y:-49.59, Z:4.87 [[ 9.99876366e-01 1.46452243e-02 -5.72448335e-03 8.84637521e+02] [-1.46436940e-02 9.99892728e-01 3.09154539e-04 -4.95922449e+01] [ 5.72839691e-03 -2.25288734e-04 9.99983567e-01 4.86957240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.980714057 meters Centerline goodness : 0.992802 with order 1 Centerline is valid? [True, True] Translation: X:884.70, Y:-49.59, Z:4.87 [[ 9.99925822e-01 1.07508695e-02 -5.72450679e-03 8.84696147e+02] [-1.07492779e-02 9.99942177e-01 3.08719764e-04 -4.95934244e+01] [ 5.72749479e-03 -2.47162549e-04 9.99983567e-01 4.87260274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0407140570001 meters Centerline goodness : 0.992390 with order 1 Centerline is valid? [True, True] Translation: X:884.75, Y:-49.60, Z:4.87 [[ 9.99966718e-01 5.81307708e-03 -5.72452985e-03 8.84753627e+02] [-5.81140723e-03 9.99983066e-01 3.08291627e-04 -4.95967573e+01] [ 5.72622504e-03 -2.75013792e-04 9.99983567e-01 4.87304803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.100714057 meters Centerline goodness : 0.992825 with order 1 Centerline is valid? [True, True] Translation: X:884.81, Y:-49.60, Z:4.87 [[ 9.99980169e-01 2.62497039e-03 -5.72455838e-03 8.84812659e+02] [-2.62325146e-03 9.99996512e-01 3.07760958e-04 -4.96011275e+01] [ 5.72534628e-03 -2.92737899e-04 9.99983567e-01 4.87184625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1607140570001 meters Centerline goodness : 0.992934 with order 1 Centerline is valid? [True, True] Translation: X:884.87, Y:-49.60, Z:4.87 [[ 9.99980815e-01 -2.36637996e-03 -5.72458146e-03 8.84869937e+02] [ 2.36817798e-03 9.99997149e-01 3.07331165e-04 -4.96033553e+01] [ 5.72383787e-03 -3.20882097e-04 9.99983567e-01 4.87297121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.220714057 meters Centerline goodness : 0.993613 with order 1 Centerline is valid? [True, True] Translation: X:884.93, Y:-49.60, Z:4.87 [[ 9.99962363e-01 -6.51924051e-03 -5.72460989e-03 8.84928845e+02] [ 6.52110333e-03 9.99978690e-01 3.06800548e-04 -4.96049976e+01] [ 5.72248780e-03 -3.44119773e-04 9.99983567e-01 4.87469288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2807140570001 meters Centerline goodness : 0.993565 with order 1 Centerline is valid? [True, True] Translation: X:884.99, Y:-49.61, Z:4.88 [[ 9.99912466e-01 -1.19285364e-02 -5.72462631e-03 8.84989733e+02] [ 1.19304858e-02 9.99928782e-01 3.06493913e-04 -4.96062422e+01] [ 5.72056259e-03 -3.74764656e-04 9.99983567e-01 4.87594264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.340714057 meters Centerline goodness : 0.993380 with order 1 Centerline is valid? [True, True] Translation: X:885.05, Y:-49.61, Z:4.87 [[ 9.99885114e-01 -1.40352297e-02 -5.72462631e-03 8.85052061e+02] [ 1.40372134e-02 9.99901427e-01 3.06493913e-04 -4.96091110e+01] [ 5.71976030e-03 -3.86816502e-04 9.99983567e-01 4.87478301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4007140570001 meters Centerline goodness : 0.994867 with order 1 Centerline is valid? [True, True] Translation: X:885.11, Y:-49.60, Z:4.88 [[ 9.99708456e-01 -2.34570312e-02 -5.72460306e-03 8.85114166e+02] [ 2.34591710e-02 9.99724749e-01 3.06927492e-04 -4.96019694e+01] [ 5.71582775e-03 -4.41132451e-04 9.99983567e-01 4.88054625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.460714057 meters Centerline goodness : 0.995666 with order 1 Centerline is valid? [True, True] Translation: X:885.18, Y:-49.60, Z:4.88 [[ 9.99733647e-01 -2.23576405e-02 -5.72452272e-03 8.85176072e+02] [ 2.23597709e-02 9.99749942e-01 3.08418754e-04 -4.96021611e+01] [ 5.71619574e-03 -4.36335623e-04 9.99983567e-01 4.88202472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5207140570001 meters Centerline goodness : 0.994584 with order 1 Centerline is valid? [True, True] Translation: X:885.24, Y:-49.60, Z:4.88 [[ 9.99769952e-01 -2.06706006e-02 -5.72450058e-03 8.85238179e+02] [ 2.06727059e-02 9.99786249e-01 3.08829171e-04 -4.96015359e+01] [ 5.71689328e-03 -4.27099042e-04 9.99983567e-01 4.88357976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.580714057 meters Centerline goodness : 0.994675 with order 1 Centerline is valid? [True, True] Translation: X:885.30, Y:-49.60, Z:4.88 [[ 9.99771929e-01 -2.05747608e-02 -5.72447316e-03 8.85300657e+02] [ 2.05768673e-02 9.99788226e-01 3.09336601e-04 -4.96030576e+01] [ 5.71689634e-03 -4.27057775e-04 9.99983567e-01 4.88412136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6407140570001 meters Centerline goodness : 0.992359 with order 1 Centerline is valid? [True, True] Translation: X:885.36, Y:-49.62, Z:4.88 [[ 9.99881654e-01 -1.42796869e-02 -5.72442224e-03 8.85362490e+02] [ 1.42816962e-02 9.99897963e-01 3.10275945e-04 -4.96155862e+01] [ 5.71940750e-03 -3.91993684e-04 9.99983567e-01 4.87699276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.700714057 meters Centerline goodness : 0.993147 with order 1 Centerline is valid? [True, True] Translation: X:885.42, Y:-49.62, Z:4.88 [[ 9.99828752e-01 -1.75982132e-02 -5.72439904e-03 8.85423511e+02] [ 1.76002791e-02 9.99845055e-01 3.10703513e-04 -4.96161334e+01] [ 5.71804424e-03 -4.11401327e-04 9.99983567e-01 4.87720384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7607140570001 meters Centerline goodness : 0.992981 with order 1 Centerline is valid? [True, True] Translation: X:885.49, Y:-49.62, Z:4.88 [[ 9.99775833e-01 -2.03842199e-02 -5.72435894e-03 8.85486268e+02] [ 2.03863354e-02 9.99792129e-01 3.11440463e-04 -4.96162073e+01] [ 5.71682054e-03 -4.28069349e-04 9.99983567e-01 4.87975192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.820714057 meters Centerline goodness : 0.993514 with order 1 Centerline is valid? [True, True] Translation: X:885.55, Y:-49.62, Z:4.88 [[ 9.99818985e-01 -1.81446571e-02 -5.72433658e-03 8.85548539e+02] [ 1.81467384e-02 9.99835286e-01 3.11850869e-04 -4.96189717e+01] [ 5.71773528e-03 -4.15672457e-04 9.99983567e-01 4.87827477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.880714057 meters Centerline goodness : 0.993295 with order 1 Centerline is valid? [True, True] Translation: X:885.61, Y:-49.62, Z:4.88 [[ 9.99829095e-01 -1.75787649e-02 -5.72431282e-03 8.85610240e+02] [ 1.75808395e-02 9.99845396e-01 3.12286510e-04 -4.96213252e+01] [ 5.71793821e-03 -4.12871363e-04 9.99983567e-01 4.87824626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.940714057 meters Centerline goodness : 0.993620 with order 1 Centerline is valid? [True, True] Translation: X:885.67, Y:-49.62, Z:4.88 [[ 9.99790003e-01 -1.96769437e-02 -5.72428865e-03 8.85672628e+02] [ 1.96790550e-02 9.99806300e-01 3.12728827e-04 -4.96225297e+01] [ 5.71702631e-03 -4.25311746e-04 9.99983567e-01 4.87957693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.000714057 meters Centerline goodness : 0.993124 with order 1 Centerline is valid? [True, True] Translation: X:885.74, Y:-49.62, Z:4.88 [[ 9.99792277e-01 -1.95610961e-02 -5.72425894e-03 8.85735390e+02] [ 1.95632085e-02 9.99808573e-01 3.13271823e-04 -4.96246843e+01] [ 5.71703522e-03 -4.25191620e-04 9.99983567e-01 4.87871359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.060714057 meters Centerline goodness : 0.992616 with order 1 Centerline is valid? [True, True] Translation: X:885.80, Y:-49.63, Z:4.88 [[ 9.99781046e-01 -2.01269426e-02 -5.72422376e-03 8.85797507e+02] [ 2.01290679e-02 9.99797341e-01 3.13913272e-04 -4.96258446e+01] [ 5.71674558e-03 -4.29067828e-04 9.99983567e-01 4.87963833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.120714057 meters Centerline goodness : 0.992615 with order 1 Centerline is valid? [True, True] Translation: X:885.86, Y:-49.63, Z:4.88 [[ 9.99777644e-01 -2.02952117e-02 -5.72420006e-03 8.85858276e+02] [ 2.02973423e-02 9.99793938e-01 3.14344757e-04 -4.96280818e+01] [ 5.71664083e-03 -4.30460908e-04 9.99983567e-01 4.87998170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.180714057 meters Centerline goodness : 0.993243 with order 1 Centerline is valid? [True, True] Translation: X:885.92, Y:-49.63, Z:4.88 [[ 9.99817080e-01 -1.82494021e-02 -5.72418249e-03 8.85920442e+02] [ 1.82515012e-02 9.99833378e-01 3.14664393e-04 -4.96297426e+01] [ 5.71748628e-03 -4.19081758e-04 9.99983567e-01 4.88259506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.240714057 meters Centerline goodness : 0.992345 with order 1 Centerline is valid? [True, True] Translation: X:885.98, Y:-49.63, Z:4.88 [[ 9.99843553e-01 -1.67363180e-02 -5.72415858e-03 8.85981348e+02] [ 1.67383948e-02 9.99859854e-01 3.15098810e-04 -4.96330737e+01] [ 5.71808277e-03 -4.10862740e-04 9.99983567e-01 4.88125763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.300714057 meters Centerline goodness : 0.992939 with order 1 Centerline is valid? [True, True] Translation: X:886.04, Y:-49.64, Z:4.88 [[ 9.99817302e-01 -1.82372627e-02 -5.72412156e-03 8.86043403e+02] [ 1.82393678e-02 9.99833599e-01 3.15769869e-04 -4.96363174e+01] [ 5.71741028e-03 -4.20116537e-04 9.99983567e-01 4.88186165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.360714057 meters Centerline goodness : 0.993271 with order 1 Centerline is valid? [True, True] Translation: X:886.11, Y:-49.64, Z:4.88 [[ 9.99755981e-01 -2.13357064e-02 -5.72409889e-03 8.86106518e+02] [ 2.13378643e-02 9.99772272e-01 3.16180257e-04 -4.96412963e+01] [ 5.71604942e-03 -4.38243149e-04 9.99983567e-01 4.87955146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.420714057 meters Centerline goodness : 0.992704 with order 1 Centerline is valid? [True, True] Translation: X:886.17, Y:-49.65, Z:4.88 [[ 9.99723134e-01 -2.28230437e-02 -5.72406477e-03 8.86169160e+02] [ 2.28252294e-02 9.99739420e-01 3.16796790e-04 -4.96466150e+01] [ 5.71534293e-03 -4.47362171e-04 9.99983567e-01 4.87781374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.480714057 meters Centerline goodness : 0.992753 with order 1 Centerline is valid? [True, True] Translation: X:886.23, Y:-49.65, Z:4.88 [[ 9.99664411e-01 -2.52646013e-02 -5.72402985e-03 8.86231988e+02] [ 2.52668303e-02 9.99680692e-01 3.17426537e-04 -4.96506578e+01] [ 5.71418247e-03 -4.61948103e-04 9.99983567e-01 4.87890608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5407140570001 meters Centerline goodness : 0.992189 with order 1 Centerline is valid? [True, True] Translation: X:886.29, Y:-49.66, Z:4.88 [[ 9.99643997e-01 -2.60598423e-02 -5.72399358e-03 8.86294259e+02] [ 2.60620880e-02 9.99660276e-01 3.18079214e-04 -4.96560941e+01] [ 5.71375990e-03 -4.67145201e-04 9.99983567e-01 4.87726097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.600714057 meters Centerline goodness : 0.992942 with order 1 Centerline is valid? [True, True] Translation: X:886.36, Y:-49.66, Z:4.88 [[ 9.99593634e-01 -2.79249686e-02 -5.72396369e-03 8.86357410e+02] [ 2.79272477e-02 9.99609908e-01 3.18616193e-04 -4.96608290e+01] [ 5.71283347e-03 -4.78341270e-04 9.99983567e-01 4.87907269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6607140570001 meters Centerline goodness : 0.992768 with order 1 Centerline is valid? [True, True] Translation: X:886.42, Y:-49.67, Z:4.88 [[ 9.99547849e-01 -2.95183748e-02 -5.72392805e-03 8.86419070e+02] [ 2.95206835e-02 9.99564119e-01 3.19255229e-04 -4.96682743e+01] [ 5.71200920e-03 -4.88085146e-04 9.99983567e-01 4.87824425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.720714057 meters Centerline goodness : 0.992824 with order 1 Centerline is valid? [True, True] Translation: X:886.48, Y:-49.67, Z:4.88 [[ 9.99439873e-01 -3.29723700e-02 -5.72390350e-03 8.86480839e+02] [ 3.29747374e-02 9.99456134e-01 3.19694671e-04 -4.96734141e+01] [ 5.71024938e-03 -5.08259817e-04 9.99983567e-01 4.88048017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7807140570001 meters Centerline goodness : 0.993092 with order 1 Centerline is valid? [True, True] Translation: X:886.54, Y:-49.68, Z:4.88 [[ 9.99415677e-01 -3.36978026e-02 -5.72387873e-03 8.86542787e+02] [ 3.37001844e-02 9.99431936e-01 3.20137611e-04 -4.96820709e+01] [ 5.70983927e-03 -5.12846315e-04 9.99983567e-01 4.87772179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.840714057 meters Centerline goodness : 0.993027 with order 1 Centerline is valid? [True, True] Translation: X:886.61, Y:-49.69, Z:4.88 [[ 9.99423554e-01 -3.34633699e-02 -5.72381723e-03 8.86605214e+02] [ 3.34657540e-02 9.99439813e-01 3.21233416e-04 -4.96870414e+01] [ 5.70986127e-03 -5.12600101e-04 9.99983567e-01 4.87821279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9007140570001 meters Centerline goodness : 0.992231 with order 1 Centerline is valid? [True, True] Translation: X:886.67, Y:-49.69, Z:4.88 [[ 9.99435317e-01 -3.31101877e-02 -5.72378021e-03 8.86666535e+02] [ 3.31125698e-02 9.99451577e-01 3.21891721e-04 -4.96948478e+01] [ 5.70998326e-03 -5.11239026e-04 9.99983567e-01 4.87678946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.960714057 meters Centerline goodness : 0.994859 with order 1 Centerline is valid? [True, True] Translation: X:886.73, Y:-49.69, Z:4.88 [[ 9.99211340e-01 -3.92929504e-02 -5.72376208e-03 8.86728269e+02] [ 3.92954349e-02 9.99227584e-01 3.22213802e-04 -4.96912386e+01] [ 5.70668022e-03 -5.46877405e-04 9.99983567e-01 4.88475391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0207140570001 meters Centerline goodness : 0.994422 with order 1 Centerline is valid? [True, True] Translation: X:886.79, Y:-49.70, Z:4.89 [[ 9.99296421e-01 -3.70661735e-02 -5.72371566e-03 8.86790515e+02] [ 3.70686265e-02 9.99312670e-01 3.23036159e-04 -4.96967519e+01] [ 5.70780787e-03 -5.34979155e-04 9.99983567e-01 4.88656408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.080714057 meters Centerline goodness : 0.994597 with order 1 Centerline is valid? [True, True] Translation: X:886.85, Y:-49.70, Z:4.89 [[ 9.99444260e-01 -3.28391760e-02 -5.72369249e-03 8.86852751e+02] [ 3.28415626e-02 9.99460518e-01 3.23446173e-04 -4.97028811e+01] [ 5.70998296e-03 -5.11241426e-04 9.99983567e-01 4.88906474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1407140570001 meters Centerline goodness : 0.993093 with order 1 Centerline is valid? [True, True] Translation: X:886.91, Y:-49.72, Z:4.88 [[ 9.99786476e-01 -1.98555129e-02 -5.72366917e-03 8.86914108e+02] [ 1.98576904e-02 9.99802764e-01 3.23858398e-04 -4.97196603e+01] [ 5.71610988e-03 -4.37448097e-04 9.99983567e-01 4.88150074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.200714057 meters Centerline goodness : 0.992343 with order 1 Centerline is valid? [True, True] Translation: X:886.98, Y:-49.73, Z:4.88 [[ 9.99838849e-01 -1.70151886e-02 -5.72364423e-03 8.86975490e+02] [ 1.70173224e-02 9.99855142e-01 3.24298517e-04 -4.97272557e+01] [ 5.71729712e-03 -4.21647355e-04 9.99983567e-01 4.88061904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2607140570001 meters Centerline goodness : 0.992478 with order 1 Centerline is valid? [True, True] Translation: X:887.04, Y:-49.73, Z:4.88 [[ 9.99813237e-01 -1.84589171e-02 -5.72360335e-03 8.87037699e+02] [ 1.84610785e-02 9.99829527e-01 3.25018452e-04 -4.97330172e+01] [ 5.71662814e-03 -4.30621642e-04 9.99983567e-01 4.88166531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.320714057 meters Centerline goodness : 0.992268 with order 1 Centerline is valid? [True, True] Translation: X:887.10, Y:-49.74, Z:4.88 [[ 9.99849352e-01 -1.63864260e-02 -5.72357989e-03 8.87099809e+02] [ 1.63885559e-02 9.99865646e-01 3.25431109e-04 -4.97420687e+01] [ 5.71747825e-03 -4.19183292e-04 9.99983567e-01 4.87889664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.380714057 meters Centerline goodness : 0.992836 with order 1 Centerline is valid? [True, True] Translation: X:887.16, Y:-49.75, Z:4.88 [[ 9.99793076e-01 -1.95204239e-02 -5.72355483e-03 8.87161167e+02] [ 1.95226074e-02 9.99809363e-01 3.25871221e-04 -4.97476630e+01] [ 5.71610256e-03 -4.37542505e-04 9.99983567e-01 4.87995053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.440714057 meters Centerline goodness : 0.993054 with order 1 Centerline is valid? [True, True] Translation: X:887.22, Y:-49.76, Z:4.88 [[ 9.99765892e-01 -2.08663142e-02 -5.72353633e-03 8.87223484e+02] [ 2.08685215e-02 9.99782175e-01 3.26195900e-04 -4.97551055e+01] [ 5.71548309e-03 -4.45561275e-04 9.99983567e-01 4.88078523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.500714057 meters Centerline goodness : 0.992220 with order 1 Centerline is valid? [True, True] Translation: X:887.29, Y:-49.76, Z:4.88 [[ 9.99752712e-01 -2.14885141e-02 -5.72351268e-03 8.87285831e+02] [ 2.14907339e-02 9.99768994e-01 3.26610218e-04 -4.97616289e+01] [ 5.71517215e-03 -4.49531939e-04 9.99983567e-01 4.88213449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.560714057 meters Centerline goodness : 0.992840 with order 1 Centerline is valid? [True, True] Translation: X:887.35, Y:-49.77, Z:4.88 [[ 9.99748362e-01 -2.16899693e-02 -5.72348903e-03 8.87348234e+02] [ 2.16921948e-02 9.99764643e-01 3.27024137e-04 -4.97676340e+01] [ 5.71504883e-03 -4.51096884e-04 9.99983567e-01 4.88470069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.620714057 meters Centerline goodness : 0.992403 with order 1 Centerline is valid? [True, True] Translation: X:887.41, Y:-49.77, Z:4.88 [[ 9.99761996e-01 -2.10521516e-02 -5.72346459e-03 8.87409365e+02] [ 2.10543690e-02 9.99778279e-01 3.27451449e-04 -4.97747592e+01] [ 5.71530201e-03 -4.47877450e-04 9.99983567e-01 4.88329630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.680714057 meters Centerline goodness : 0.992343 with order 1 Centerline is valid? [True, True] Translation: X:887.47, Y:-49.78, Z:4.88 [[ 9.99791259e-01 -1.96132535e-02 -5.72344651e-03 8.87470255e+02] [ 1.96154493e-02 9.99807545e-01 3.27767006e-04 -4.97785217e+01] [ 5.71591643e-03 -4.39966562e-04 9.99983567e-01 4.88360613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.740714057 meters Centerline goodness : 0.993165 with order 1 Centerline is valid? [True, True] Translation: X:887.53, Y:-49.78, Z:4.89 [[ 9.99825399e-01 -1.77880247e-02 -5.72342913e-03 8.87531983e+02] [ 1.77901925e-02 9.99841688e-01 3.28070374e-04 -4.97813338e+01] [ 5.71668732e-03 -4.29833999e-04 9.99983567e-01 4.88880421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.800714057 meters Centerline goodness : 0.992641 with order 1 Centerline is valid? [True, True] Translation: X:887.59, Y:-49.78, Z:4.89 [[ 9.99940278e-01 -9.31034210e-03 -5.72340552e-03 8.87594334e+02] [ 9.31237408e-03 9.99956585e-01 3.28481667e-04 -4.97842606e+01] [ 5.72009876e-03 -3.81760542e-04 9.99983567e-01 4.89038046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.860714057 meters Centerline goodness : 0.992643 with order 1 Centerline is valid? [True, True] Translation: X:887.66, Y:-49.79, Z:4.89 [[ 9.99982800e-01 1.28152855e-03 -5.72338092e-03 8.87655760e+02] [-1.27966697e-03 9.99999127e-01 3.28909770e-04 -4.97876631e+01] [ 5.72379743e-03 -3.21580091e-04 9.99983567e-01 4.89010559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.920714057 meters Centerline goodness : 0.992081 with order 1 Centerline is valid? [True, True] Translation: X:887.71, Y:-49.79, Z:4.89 [[ 9.99923093e-01 1.10023004e-02 -5.72336832e-03 8.87713503e+02] [-1.10005963e-02 9.99939437e-01 3.29128929e-04 -4.97893734e+01] [ 5.72664287e-03 -2.66143152e-04 9.99983567e-01 4.89018671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.980714057 meters Centerline goodness : 0.991613 with order 1 Centerline is valid? [True, True] Translation: X:887.77, Y:-49.80, Z:4.88 [[ 9.99767381e-01 2.07948633e-02 -5.72339912e-03 8.87771144e+02] [-2.07933224e-02 9.99783742e-01 3.28592287e-04 -4.97966123e+01] [ 5.72899442e-03 -2.09507366e-04 9.99983567e-01 4.88331557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0407140570001 meters Centerline goodness : 0.992316 with order 1 Centerline is valid? [True, True] Translation: X:887.83, Y:-49.80, Z:4.89 [[ 9.99685476e-01 2.44170377e-02 -5.72342797e-03 8.87830140e+02] [-2.44155590e-02 9.99701842e-01 3.28089081e-04 -4.97988772e+01] [ 5.72973245e-03 -1.88245195e-04 9.99983567e-01 4.88606372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.100714057 meters Centerline goodness : 0.993884 with order 1 Centerline is valid? [True, True] Translation: X:887.89, Y:-49.79, Z:4.89 [[ 9.99874407e-01 1.47787823e-02 -5.72345153e-03 8.87889330e+02] [-1.47771483e-02 9.99890758e-01 3.27677529e-04 -4.97924355e+01] [ 5.72766897e-03 -2.43060083e-04 9.99983567e-01 4.89480230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1607140570001 meters Centerline goodness : 0.993994 with order 1 Centerline is valid? [True, True] Translation: X:887.95, Y:-49.80, Z:4.90 [[ 9.99921560e-01 1.11406856e-02 -5.72347472e-03 8.87947589e+02] [-1.11389944e-02 9.99937906e-01 3.27272100e-04 -4.97995371e+01] [ 5.72676536e-03 -2.63492676e-04 9.99983567e-01 4.89532694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.220714057 meters Centerline goodness : 0.992383 with order 1 Centerline is valid? [True, True] Translation: X:888.01, Y:-49.81, Z:4.90 [[ 9.99955134e-01 7.54797658e-03 -5.72349794e-03 8.88005688e+02] [-7.54622902e-03 9.99971473e-01 3.26865358e-04 -4.98064727e+01] [ 5.72580184e-03 -2.83659867e-04 9.99983567e-01 4.89501013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2807140570001 meters Centerline goodness : 0.993824 with order 1 Centerline is valid? [True, True] Translation: X:888.06, Y:-49.81, Z:4.90 [[ 9.99971519e-01 4.91959189e-03 -5.72351781e-03 8.88064704e+02] [-4.91780338e-03 9.99987854e-01 3.26517157e-04 -4.98119782e+01] [ 5.72505462e-03 -2.98360723e-04 9.99983567e-01 4.89866277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.340714057 meters Centerline goodness : 0.994380 with order 1 Centerline is valid? [True, True] Translation: X:888.12, Y:-49.82, Z:4.90 [[ 9.99977669e-01 3.44988084e-03 -5.72354441e-03 8.88122551e+02] [-3.44807098e-03 9.99994002e-01 3.26050200e-04 -4.98189531e+01] [ 5.72463492e-03 -3.06307732e-04 9.99983567e-01 4.89785760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4007140570001 meters Centerline goodness : 0.994027 with order 1 Centerline is valid? [True, True] Translation: X:888.18, Y:-49.82, Z:4.90 [[ 9.99983518e-01 4.52305422e-04 -5.72357535e-03 8.88180254e+02] [-4.50449717e-04 9.99999846e-01 3.25506181e-04 -4.98249358e+01] [ 5.72372169e-03 -3.22922633e-04 9.99983567e-01 4.89675024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.460714057 meters Centerline goodness : 0.994587 with order 1 Centerline is valid? [True, True] Translation: X:888.24, Y:-49.83, Z:4.90 [[ 9.99978686e-01 -3.14137902e-03 -5.72360320e-03 8.88238928e+02] [ 3.14329060e-03 9.99995007e-01 3.25015682e-04 -4.98308733e+01] [ 5.72255363e-03 -3.42999703e-04 9.99983567e-01 4.89595932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5207140570001 meters Centerline goodness : 0.992087 with order 1 Centerline is valid? [True, True] Translation: X:888.30, Y:-49.85, Z:4.89 [[ 9.99978172e-01 3.30082345e-03 -5.72362512e-03 8.88297101e+02] [-3.29901927e-03 9.99994506e-01 3.24629190e-04 -4.98498153e+01] [ 5.72466522e-03 -3.05739755e-04 9.99983567e-01 4.88842482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.580714057 meters Centerline goodness : 0.993796 with order 1 Centerline is valid? [True, True] Translation: X:888.36, Y:-49.84, Z:4.90 [[ 9.99941707e-01 -9.15547451e-03 -5.72364348e-03 8.88356695e+02] [ 9.15748015e-03 9.99958017e-01 3.24305203e-04 -4.98394764e+01] [ 5.72043401e-03 -3.76700450e-04 9.99983567e-01 4.89784918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6407140570001 meters Centerline goodness : 0.993860 with order 1 Centerline is valid? [True, True] Translation: X:888.42, Y:-49.84, Z:4.90 [[ 9.99915673e-01 -1.16570080e-02 -5.72366146e-03 8.88417562e+02] [ 1.16590527e-02 9.99931978e-01 3.23987485e-04 -4.98431776e+01] [ 5.71949541e-03 -3.90692635e-04 9.99983567e-01 4.89981204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.700714057 meters Centerline goodness : 0.992589 with order 1 Centerline is valid? [True, True] Translation: X:888.48, Y:-49.86, Z:4.89 [[ 9.99975056e-01 -4.13855351e-03 -5.72364992e-03 8.88478338e+02] [ 4.14047665e-03 9.99991376e-01 3.24191248e-04 -4.98595599e+01] [ 5.72225888e-03 -3.47881800e-04 9.99983567e-01 4.89385462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7607140570001 meters Centerline goodness : 0.994548 with order 1 Centerline is valid? [True, True] Translation: X:888.54, Y:-49.85, Z:4.90 [[ 9.99858826e-01 -1.57977310e-02 -5.72363765e-03 8.88538091e+02] [ 1.57998455e-02 9.99875122e-01 3.24407762e-04 -4.98488386e+01] [ 5.71779799e-03 -4.14794555e-04 9.99983567e-01 4.90185344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.820714057 meters Centerline goodness : 0.994326 with order 1 Centerline is valid? [True, True] Translation: X:888.60, Y:-49.85, Z:4.90 [[ 9.99834763e-01 -1.72536191e-02 -5.72362847e-03 8.88599998e+02] [ 1.72557582e-02 9.99851056e-01 3.24569696e-04 -4.98505896e+01] [ 5.71717596e-03 -4.23281614e-04 9.99983567e-01 4.90210940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.880714057 meters Centerline goodness : 0.993854 with order 1 Centerline is valid? [True, True] Translation: X:888.66, Y:-49.85, Z:4.90 [[ 9.99820071e-01 -1.80849385e-02 -5.72360570e-03 8.88662573e+02] [ 1.80870935e-02 9.99836362e-01 3.24970756e-04 -4.98512974e+01] [ 5.71679202e-03 -4.28435676e-04 9.99983567e-01 4.90147697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.940714057 meters Centerline goodness : 0.992932 with order 1 Centerline is valid? [True, True] Translation: X:888.72, Y:-49.86, Z:4.91 [[ 9.99900938e-01 -1.28590414e-02 -5.72358317e-03 8.88724886e+02] [ 1.28611135e-02 9.99917240e-01 3.25367001e-04 -4.98580335e+01] [ 5.71892558e-03 -3.98946422e-04 9.99983567e-01 4.90604019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.000714057 meters Centerline goodness : 0.994489 with order 1 Centerline is valid? [True, True] Translation: X:888.79, Y:-49.85, Z:4.91 [[ 9.99902820e-01 -1.27118554e-02 -5.72355974e-03 8.88786234e+02] [ 1.27139274e-02 9.99919122e-01 3.25778651e-04 -4.98504955e+01] [ 5.71895558e-03 -3.98515915e-04 9.99983567e-01 4.90534404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.060714057 meters Centerline goodness : 0.993090 with order 1 Centerline is valid? [True, True] Translation: X:888.85, Y:-49.86, Z:4.91 [[ 9.99974555e-01 -4.25795124e-03 -5.72354252e-03 8.88847542e+02] [ 4.25988711e-03 9.99990873e-01 3.26080926e-04 -4.98565186e+01] [ 5.72210185e-03 -3.50454274e-04 9.99983567e-01 4.90930005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.120714057 meters Centerline goodness : 0.992921 with order 1 Centerline is valid? [True, True] Translation: X:888.91, Y:-49.86, Z:4.91 [[ 9.99980330e-01 2.56543886e-03 -5.72353081e-03 8.88907680e+02] [-2.56361321e-03 9.99996661e-01 3.26286274e-04 -4.98582889e+01] [ 5.72434877e-03 -3.11606937e-04 9.99983567e-01 4.90635812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.180714057 meters Centerline goodness : 0.993274 with order 1 Centerline is valid? [True, True] Translation: X:888.97, Y:-49.86, Z:4.91 [[ 9.99965971e-01 5.94114187e-03 -5.72353674e-03 8.88966845e+02] [-5.93937196e-03 9.99982309e-01 3.26182226e-04 -4.98599910e+01] [ 5.72537338e-03 -2.92176913e-04 9.99983567e-01 4.90634058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.240714057 meters Centerline goodness : 0.993153 with order 1 Centerline is valid? [True, True] Translation: X:889.02, Y:-49.86, Z:4.91 [[ 9.99962178e-01 6.54852372e-03 -5.72362315e-03 8.89024460e+02] [-6.54677243e-03 9.99978517e-01 3.24658926e-04 -4.98607064e+01] [ 5.72562622e-03 -2.87175389e-04 9.99983567e-01 4.90782684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.300714057 meters Centerline goodness : 0.992935 with order 1 Centerline is valid? [True, True] Translation: X:889.08, Y:-49.86, Z:4.90 [[ 9.99942301e-01 9.09037801e-03 -5.72365341e-03 8.89083119e+02] [-9.08867130e-03 9.99958645e-01 3.24124614e-04 -4.98637240e+01] [ 5.72636312e-03 -2.72085507e-04 9.99983567e-01 4.90408277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.360714057 meters Centerline goodness : 0.992997 with order 1 Centerline is valid? [True, True] Translation: X:889.14, Y:-49.87, Z:4.91 [[ 9.99961533e-01 6.64622695e-03 -5.72373640e-03 8.89141866e+02] [-6.64448871e-03 9.99977873e-01 3.22652250e-04 -4.98652666e+01] [ 5.72575418e-03 -2.84608537e-04 9.99983567e-01 4.90665854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.420714057 meters Centerline goodness : 0.993264 with order 1 Centerline is valid? [True, True] Translation: X:889.20, Y:-49.87, Z:4.91 [[ 9.99973879e-01 4.41368616e-03 -5.72376028e-03 8.89200126e+02] [-4.41191386e-03 9.99990216e-01 3.22228224e-04 -4.98681599e+01] [ 5.72512649e-03 -2.96967070e-04 9.99983567e-01 4.90672018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.480714057 meters Centerline goodness : 0.993295 with order 1 Centerline is valid? [True, True] Translation: X:889.26, Y:-49.87, Z:4.91 [[ 9.99980463e-01 2.51248344e-03 -5.72378443e-03 8.89258462e+02] [-2.51068253e-03 9.99996796e-01 3.21798536e-04 -4.98704268e+01] [ 5.72457461e-03 -3.07421643e-04 9.99983567e-01 4.90711615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5407140570001 meters Centerline goodness : 0.993136 with order 1 Centerline is valid? [True, True] Translation: X:889.32, Y:-49.87, Z:4.91 [[ 9.99983191e-01 -9.25349606e-04 -5.72380898e-03 8.89315788e+02] [ 9.27204157e-04 9.99999519e-01 3.21361324e-04 -4.98721406e+01] [ 5.72350885e-03 -3.26663062e-04 9.99983567e-01 4.90608703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.600714057 meters Centerline goodness : 0.992439 with order 1 Centerline is valid? [True, True] Translation: X:889.37, Y:-49.87, Z:4.91 [[ 9.99983453e-01 -5.76108520e-04 -5.72384134e-03 8.89374189e+02] [ 5.77954074e-04 9.99999782e-01 3.20783973e-04 -4.98745182e+01] [ 5.72365528e-03 -3.24086782e-04 9.99983567e-01 4.90657361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6607140570001 meters Centerline goodness : 0.993209 with order 1 Centerline is valid? [True, True] Translation: X:889.43, Y:-49.88, Z:4.91 [[ 9.99981180e-01 2.20846567e-03 -5.72392690e-03 8.89432506e+02] [-2.20667435e-03 9.99997514e-01 3.19249820e-04 -4.98752175e+01] [ 5.72461773e-03 -3.06612969e-04 9.99983567e-01 4.90708609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.720714057 meters Centerline goodness : 0.993642 with order 1 Centerline is valid? [True, True] Translation: X:889.49, Y:-49.87, Z:4.91 [[ 9.99946910e-01 8.56815276e-03 -5.72401169e-03 8.89490386e+02] [-8.56647408e-03 9.99963257e-01 3.17722347e-04 -4.98736127e+01] [ 5.72652366e-03 -2.68670882e-04 9.99983567e-01 4.91090936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7807140570001 meters Centerline goodness : 0.993947 with order 1 Centerline is valid? [True, True] Translation: X:889.55, Y:-49.86, Z:4.92 [[ 9.99964669e-01 6.15590900e-03 -5.72410665e-03 8.89548818e+02] [-6.15420072e-03 9.99981013e-01 3.16002273e-04 -4.98637183e+01] [ 5.72594324e-03 -2.80763807e-04 9.99983567e-01 4.91824383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.840714057 meters Centerline goodness : 0.994419 with order 1 Centerline is valid? [True, True] Translation: X:889.61, Y:-49.86, Z:4.92 [[ 9.99906862e-01 1.23895416e-02 -5.72413564e-03 8.89607210e+02] [-1.23879382e-02 9.99923217e-01 3.15476170e-04 -4.98637236e+01] [ 5.72760473e-03 -2.44536549e-04 9.99983567e-01 4.91994437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9007140570001 meters Centerline goodness : 0.994086 with order 1 Centerline is valid? [True, True] Translation: X:889.67, Y:-49.87, Z:4.92 [[ 9.99879475e-01 1.44315000e-02 -5.72421463e-03 8.89665472e+02] [-1.44299382e-02 9.99895834e-01 3.14036357e-04 -4.98655091e+01] [ 5.72815038e-03 -2.31398444e-04 9.99983567e-01 4.91933258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.960714057 meters Centerline goodness : 0.994021 with order 1 Centerline is valid? [True, True] Translation: X:889.72, Y:-49.87, Z:4.92 [[ 9.99897789e-01 1.31013366e-02 -5.72424792e-03 8.89723887e+02] [-1.30997566e-02 9.99914145e-01 3.13428360e-04 -4.98689457e+01] [ 5.72786280e-03 -2.38410069e-04 9.99983567e-01 4.91740113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0207140570001 meters Centerline goodness : 0.991527 with order 1 Centerline is valid? [True, True] Translation: X:889.78, Y:-49.89, Z:4.91 [[ 9.99807866e-01 1.87473792e-02 -5.72427028e-03 8.89781862e+02] [-1.87458940e-02 9.99824231e-01 3.13019556e-04 -4.98853652e+01] [ 5.72913243e-03 -2.05652851e-04 9.99983567e-01 4.90837466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.080714057 meters Centerline goodness : 0.993602 with order 1 Centerline is valid? [True, True] Translation: X:889.84, Y:-49.88, Z:4.92 [[ 9.99958208e-01 7.12836352e-03 -5.72435212e-03 8.89840760e+02] [-7.12669676e-03 9.99974556e-01 3.11515719e-04 -4.98766511e+01] [ 5.72642706e-03 -2.70706978e-04 9.99983567e-01 4.91604247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1407140570001 meters Centerline goodness : 0.993842 with order 1 Centerline is valid? [True, True] Translation: X:889.90, Y:-49.88, Z:4.92 [[ 9.99968257e-01 5.54217739e-03 -5.72437489e-03 8.89898325e+02] [-5.54048709e-03 9.99984603e-01 3.11096574e-04 -4.98804012e+01] [ 5.72601091e-03 -2.79370874e-04 9.99983567e-01 4.91677901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.200714057 meters Centerline goodness : 0.993385 with order 1 Centerline is valid? [True, True] Translation: X:889.96, Y:-49.88, Z:4.92 [[ 9.99965584e-01 6.00523232e-03 -5.72440480e-03 8.89955532e+02] [-6.00355274e-03 9.99981930e-01 3.10545305e-04 -4.98833996e+01] [ 5.72616626e-03 -2.76167851e-04 9.99983567e-01 4.91818002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2607140570001 meters Centerline goodness : 0.993603 with order 1 Centerline is valid? [True, True] Translation: X:890.01, Y:-49.89, Z:4.92 [[ 9.99961842e-01 6.59895220e-03 -5.72443658e-03 8.90013677e+02] [-6.59728568e-03 9.99978190e-01 3.09958425e-04 -4.98859030e+01] [ 5.72635713e-03 -2.72180854e-04 9.99983567e-01 4.91854905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.320714057 meters Centerline goodness : 0.993421 with order 1 Centerline is valid? [True, True] Translation: X:890.07, Y:-49.89, Z:4.92 [[ 9.99960288e-01 6.83034455e-03 -5.72446257e-03 8.90071684e+02] [-6.82868456e-03 9.99976636e-01 3.09477729e-04 -4.98895184e+01] [ 5.72644266e-03 -2.70374890e-04 9.99983567e-01 4.91736042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.380714057 meters Centerline goodness : 0.993242 with order 1 Centerline is valid? [True, True] Translation: X:890.13, Y:-49.89, Z:4.92 [[ 9.99955741e-01 7.46633548e-03 -5.72448804e-03 8.90130302e+02] [-7.46468858e-03 9.99972091e-01 3.09005882e-04 -4.98926111e+01] [ 5.72663541e-03 -2.66260685e-04 9.99983567e-01 4.91834756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.440714057 meters Centerline goodness : 0.992479 with order 1 Centerline is valid? [True, True] Translation: X:890.19, Y:-49.90, Z:4.92 [[ 9.99837705e-01 1.70819881e-02 -5.72450910e-03 8.90188153e+02] [-1.70805007e-02 9.99854070e-01 3.08615180e-04 -4.99019755e+01] [ 5.72894548e-03 -2.10787612e-04 9.99983567e-01 4.91915395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.500714057 meters Centerline goodness : 0.993077 with order 1 Centerline is valid? [True, True] Translation: X:890.25, Y:-49.90, Z:4.92 [[ 9.99812513e-01 1.84978226e-02 -5.72453770e-03 8.90246386e+02] [-1.84963614e-02 9.99828880e-01 3.08083761e-04 -4.98976514e+01] [ 5.72925700e-03 -2.02142881e-04 9.99983567e-01 4.92118400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.560714057 meters Centerline goodness : 0.992409 with order 1 Centerline is valid? [True, True] Translation: X:890.30, Y:-49.91, Z:4.92 [[ 9.99377472e-01 3.48123313e-02 -5.72456577e-03 8.90304373e+02] [-3.48111405e-02 9.99393861e-01 3.07561234e-04 -4.99050242e+01] [ 5.73180281e-03 -1.08091105e-04 9.99983567e-01 4.92230743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.620714057 meters Centerline goodness : 0.992115 with order 1 Centerline is valid? [True, True] Translation: X:890.36, Y:-49.91, Z:4.92 [[ 9.99000243e-01 4.43367024e-02 -5.72464654e-03 8.90361619e+02] [-4.43356765e-02 9.99016644e-01 3.06050463e-04 -4.99106362e+01] [ 5.73258644e-03 -5.19384098e-05 9.99983567e-01 4.91971361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.680714057 meters Centerline goodness : 0.991923 with order 1 Centerline is valid? [True, True] Translation: X:890.42, Y:-49.92, Z:4.92 [[ 9.98703084e-01 5.05903045e-02 -5.72467485e-03 8.90419709e+02] [-5.05893843e-02 9.98719491e-01 3.05520071e-04 -4.99162647e+01] [ 5.73280070e-03 -1.55160613e-05 9.99983567e-01 4.92003643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.740714057 meters Centerline goodness : 0.992586 with order 1 Centerline is valid? [True, True] Translation: X:890.48, Y:-49.93, Z:4.92 [[ 9.98423654e-01 5.58339868e-02 -5.72476297e-03 8.90477237e+02] [-5.58331623e-02 9.98440066e-01 3.03859792e-04 -4.99262795e+01] [ 5.73279842e-03 1.62508167e-05 9.99983567e-01 4.92071109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.800714057 meters Centerline goodness : 0.992115 with order 1 Centerline is valid? [True, True] Translation: X:890.53, Y:-49.94, Z:4.92 [[ 9.98288119e-01 5.82070246e-02 -5.72485331e-03 8.90534297e+02] [-5.82062489e-02 9.98304533e-01 3.02148210e-04 -4.99380893e+01] [ 5.73273416e-03 3.15912680e-05 9.99983567e-01 4.92228136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.860714057 meters Centerline goodness : 0.993333 with order 1 Centerline is valid? [True, True] Translation: X:890.59, Y:-49.95, Z:4.92 [[ 9.98364742e-01 5.68776516e-02 -5.72488091e-03 8.90592854e+02] [-5.68768571e-02 9.98381156e-01 3.01624192e-04 -4.99488411e+01] [ 5.73276890e-03 2.44822746e-05 9.99983567e-01 4.92226079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.920714057 meters Centerline goodness : 0.991787 with order 1 Centerline is valid? [True, True] Translation: X:890.65, Y:-49.97, Z:4.93 [[ 9.98323548e-01 5.75961687e-02 -5.72495658e-03 8.90650221e+02] [-5.75953943e-02 9.98339962e-01 3.00181215e-04 -4.99692998e+01] [ 5.73274222e-03 3.00531552e-05 9.99983567e-01 4.92964806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.980714057 meters Centerline goodness : 0.993322 with order 1 Centerline is valid? [True, True] Translation: X:890.71, Y:-49.98, Z:4.92 [[ 9.98692410e-01 5.08005367e-02 -5.72503325e-03 8.90707100e+02] [-5.07996590e-02 9.98708819e-01 2.98711607e-04 -4.99842493e+01] [ 5.73281591e-03 -7.49127719e-06 9.99983567e-01 4.92003605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0407140570001 meters Centerline goodness : 0.991354 with order 1 Centerline is valid? [True, True] Translation: X:890.76, Y:-50.01, Z:4.92 [[ 9.98797131e-01 4.86981973e-02 -5.72507351e-03 8.90764702e+02] [-4.86972895e-02 9.98813539e-01 2.97938164e-04 -5.00133131e+01] [ 5.73278998e-03 -1.87842214e-05 9.99983567e-01 4.91556447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.100714057 meters Centerline goodness : 0.990702 with order 1 Centerline is valid? [True, True] Translation: X:890.82, Y:-50.03, Z:4.91 [[ 9.99115634e-01 4.16554128e-02 -5.72509553e-03 8.90823247e+02] [-4.16543918e-02 9.99132035e-01 2.97514268e-04 -5.00281558e+01] [ 5.73251943e-03 -5.87757840e-05 9.99983567e-01 4.91279882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1607140570001 meters Centerline goodness : 0.991546 with order 1 Centerline is valid? [True, True] Translation: X:890.88, Y:-50.04, Z:4.92 [[ 9.99801872e-01 1.90640604e-02 -5.72516546e-03 8.90880782e+02] [-1.90626767e-02 9.99818247e-01 2.96162421e-04 -5.00396253e+01] [ 5.72977096e-03 -1.86966765e-04 9.99983567e-01 4.91681094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.220714057 meters Centerline goodness : 0.991614 with order 1 Centerline is valid? [True, True] Translation: X:890.94, Y:-50.05, Z:4.92 [[ 9.99904803e-01 1.25542023e-02 -5.72519191e-03 8.90937963e+02] [-1.25527150e-02 9.99921168e-01 2.95650329e-04 -5.00505570e+01] [ 5.72845223e-03 -2.23755482e-04 9.99983567e-01 4.91736110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2807140570001 meters Centerline goodness : 0.988012 with order 1 Centerline is valid? [True, True] Translation: X:891.00, Y:-50.08, Z:4.91 [[ 9.99826902e-01 1.77027503e-02 -5.72521771e-03 8.90996941e+02] [-1.77013501e-02 9.99843275e-01 2.95149863e-04 -5.00765783e+01] [ 5.72954539e-03 -1.93754690e-04 9.99983567e-01 4.90750546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.340714057 meters Centerline goodness : 0.991159 with order 1 Centerline is valid? [True, True] Translation: X:891.06, Y:-50.07, Z:4.92 [[ 9.99982919e-01 -1.17664042e-03 -5.72522304e-03 8.91055941e+02] [ 1.17834888e-03 9.99999262e-01 2.95046400e-04 -5.00729074e+01] [ 5.72487165e-03 -3.01787671e-04 9.99983567e-01 4.91562831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4007140570001 meters Centerline goodness : 0.990815 with order 1 Centerline is valid? [True, True] Translation: X:891.11, Y:-50.08, Z:4.91 [[ 9.99972283e-01 -4.75974243e-03 -5.72522830e-03 8.91114499e+02] [ 4.76150887e-03 9.99988620e-01 2.94944289e-04 -5.00800096e+01] [ 5.72375929e-03 -3.22196840e-04 9.99983567e-01 4.91497020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.460714057 meters Centerline goodness : 0.987637 with order 1 Centerline is valid? [True, True] Translation: X:891.17, Y:-50.10, Z:4.91 [[ 9.99982965e-01 1.13613770e-03 -5.72524936e-03 8.91172239e+02] [-1.13446996e-03 9.99999313e-01 2.94534988e-04 -5.00991101e+01] [ 5.72558006e-03 -2.88034848e-04 9.99983567e-01 4.90684184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5207140570001 meters Centerline goodness : 0.991097 with order 1 Centerline is valid? [True, True] Translation: X:891.23, Y:-50.09, Z:4.91 [[ 9.99926179e-01 -1.07171773e-02 -5.72526489e-03 8.91232669e+02] [ 1.07190370e-02 9.99942506e-01 2.94232697e-04 -5.00882380e+01] [ 5.72178238e-03 -3.55580303e-04 9.99983567e-01 4.91440104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.580714057 meters Centerline goodness : 0.987648 with order 1 Centerline is valid? [True, True] Translation: X:891.29, Y:-50.11, Z:4.91 [[ 9.99983230e-01 8.72171912e-04 -5.72527525e-03 8.91292235e+02] [-8.70502734e-04 9.99999578e-01 2.94030999e-04 -5.01051901e+01] [ 5.72552928e-03 -2.89042200e-04 9.99983567e-01 4.90678869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6407140570001 meters Centerline goodness : 0.990733 with order 1 Centerline is valid? [True, True] Translation: X:891.35, Y:-50.09, Z:4.91 [[ 9.99830286e-01 -1.75105920e-02 -5.72527642e-03 8.91352056e+02] [ 1.75125612e-02 9.99846600e-01 2.94008329e-04 -5.00899856e+01] [ 5.71924990e-03 -3.94222686e-04 9.99983567e-01 4.91405778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.700714057 meters Centerline goodness : 0.991302 with order 1 Centerline is valid? [True, True] Translation: X:891.41, Y:-50.09, Z:4.91 [[ 9.99736113e-01 -2.22469288e-02 -5.72527775e-03 8.91414176e+02] [ 2.22489752e-02 9.99752418e-01 2.93982365e-04 -5.00887892e+01] [ 5.71732007e-03 -4.21286349e-04 9.99983567e-01 4.91311783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7607140570001 meters Centerline goodness : 0.991340 with order 1 Centerline is valid? [True, True] Translation: X:891.48, Y:-50.09, Z:4.91 [[ 9.99572750e-01 -2.86624895e-02 -5.72525670e-03 8.91476025e+02] [ 2.86646428e-02 9.99589041e-01 2.94391715e-04 -5.00875963e+01] [ 5.71446586e-03 -4.58378375e-04 9.99983567e-01 4.91170902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.820714057 meters Centerline goodness : 0.991981 with order 1 Centerline is valid? [True, True] Translation: X:891.54, Y:-50.09, Z:4.91 [[ 9.99321531e-01 -3.63826740e-02 -5.72524100e-03 8.91538058e+02] [ 3.63849548e-02 9.99337805e-01 2.94696794e-04 -5.00858667e+01] [ 5.71072791e-03 -5.02809486e-04 9.99983567e-01 4.91039834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.880714057 meters Centerline goodness : 0.989307 with order 1 Centerline is valid? [True, True] Translation: X:891.60, Y:-50.10, Z:4.90 [[ 9.99565785e-01 -2.89043861e-02 -5.72518937e-03 8.91598927e+02] [ 2.89065508e-02 9.99582075e-01 2.95696371e-04 -5.00963789e+01] [ 5.71424975e-03 -4.61063453e-04 9.99983567e-01 4.90419843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.940714057 meters Centerline goodness : 0.989766 with order 1 Centerline is valid? [True, True] Translation: X:891.66, Y:-50.09, Z:4.90 [[ 9.99466464e-01 -3.21560228e-02 -5.72517849e-03 8.91661924e+02] [ 3.21582416e-02 9.99482746e-01 2.95906878e-04 -5.00900294e+01] [ 5.71270193e-03 -4.79860674e-04 9.99983567e-01 4.90448926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.000714057 meters Centerline goodness : 0.991378 with order 1 Centerline is valid? [True, True] Translation: X:891.72, Y:-50.08, Z:4.91 [[ 9.99300845e-01 -3.69465077e-02 -5.72515615e-03 8.91724288e+02] [ 3.69488070e-02 9.99317116e-01 2.96338435e-04 -5.00781572e+01] [ 5.71029786e-03 -5.07668938e-04 9.99983567e-01 4.90947701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.060714057 meters Centerline goodness : 0.991106 with order 1 Centerline is valid? [True, True] Translation: X:891.79, Y:-50.08, Z:4.91 [[ 9.99652836e-01 -2.57182848e-02 -5.72513719e-03 8.91786037e+02] [ 2.57204033e-02 9.99669132e-01 2.96704262e-04 -5.00791606e+01] [ 5.71561220e-03 -4.43854095e-04 9.99983567e-01 4.90590219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.120714057 meters Centerline goodness : 0.993749 with order 1 Centerline is valid? [True, True] Translation: X:891.85, Y:-50.06, Z:4.91 [[ 9.99321154e-01 -3.63930413e-02 -5.72511193e-03 8.91848060e+02] [ 3.63953364e-02 9.99337426e-01 2.97190955e-04 -5.00583434e+01] [ 5.71050294e-03 -5.05356583e-04 9.99983567e-01 4.90947782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.180714057 meters Centerline goodness : 0.993146 with order 1 Centerline is valid? [True, True] Translation: X:891.91, Y:-50.05, Z:4.91 [[ 9.99274946e-01 -3.76404770e-02 -5.72510684e-03 8.91910814e+02] [ 3.76427931e-02 9.99291215e-01 2.97288884e-04 -5.00529298e+01] [ 5.70985888e-03 -5.12582346e-04 9.99983567e-01 4.90707054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.240714057 meters Centerline goodness : 0.991692 with order 1 Centerline is valid? [True, True] Translation: X:891.97, Y:-50.06, Z:4.90 [[ 9.99519154e-01 -3.04743221e-02 -5.72508663e-03 8.91972722e+02] [ 3.04765237e-02 9.99535439e-01 2.97677679e-04 -5.00591269e+01] [ 5.71335545e-03 -4.72015280e-04 9.99983567e-01 4.90033723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.300714057 meters Centerline goodness : 0.994194 with order 1 Centerline is valid? [True, True] Translation: X:892.03, Y:-50.04, Z:4.91 [[ 9.99168941e-01 -4.03565594e-02 -5.72506434e-03 8.92034510e+02] [ 4.03589243e-02 9.99185202e-01 2.98105720e-04 -5.00433260e+01] [ 5.70836905e-03 -5.28915415e-04 9.99983567e-01 4.90869486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.360714057 meters Centerline goodness : 0.992381 with order 1 Centerline is valid? [True, True] Translation: X:892.10, Y:-50.05, Z:4.90 [[ 9.99402796e-01 -3.40775028e-02 -5.72499331e-03 8.92095567e+02] [ 3.40797732e-02 9.99419071e-01 2.99463643e-04 -5.00511476e+01] [ 5.71146252e-03 -4.94391276e-04 9.99983567e-01 4.89949860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.420714057 meters Centerline goodness : 0.992426 with order 1 Centerline is valid? [True, True] Translation: X:892.16, Y:-50.05, Z:4.90 [[ 9.99384716e-01 -3.46036611e-02 -5.72498157e-03 8.92156279e+02] [ 3.46059414e-02 9.99400990e-01 2.99687835e-04 -5.00513635e+01] [ 5.71118196e-03 -4.97621819e-04 9.99983567e-01 4.90170879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.480714057 meters Centerline goodness : 0.993432 with order 1 Centerline is valid? [True, True] Translation: X:892.22, Y:-50.03, Z:4.91 [[ 9.98681181e-01 -5.10208117e-02 -5.72497010e-03 8.92217391e+02] [ 5.10233603e-02 9.98697415e-01 2.99906787e-04 -5.00335979e+01] [ 5.70221136e-03 -5.91618476e-04 9.99983567e-01 4.90784827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5407140570001 meters Centerline goodness : 0.992701 with order 1 Centerline is valid? [True, True] Translation: X:892.28, Y:-50.03, Z:4.91 [[ 9.98623385e-01 -5.21398158e-02 -5.72494597e-03 8.92280739e+02] [ 5.21423852e-02 9.98639615e-01 3.00366733e-04 -5.00327812e+01] [ 5.70149678e-03 -5.98465582e-04 9.99983567e-01 4.90855006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.600714057 meters Centerline goodness : 0.993621 with order 1 Centerline is valid? [True, True] Translation: X:892.34, Y:-50.04, Z:4.90 [[ 9.99009178e-01 -4.41348873e-02 -5.72490660e-03 8.92342063e+02] [ 4.41373308e-02 9.99025428e-01 3.01115399e-04 -5.00434657e+01] [ 5.70603757e-03 -5.53499143e-04 9.99983567e-01 4.90480056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6607140570001 meters Centerline goodness : 0.992734 with order 1 Centerline is valid? [True, True] Translation: X:892.40, Y:-50.05, Z:4.90 [[ 9.99129586e-01 -4.13194434e-02 -5.72487803e-03 8.92402992e+02] [ 4.13218441e-02 9.99145842e-01 3.01657446e-04 -5.00453944e+01] [ 5.70752377e-03 -5.37957396e-04 9.99983567e-01 4.90030071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.720714057 meters Centerline goodness : 0.995242 with order 1 Centerline is valid? [True, True] Translation: X:892.47, Y:-50.03, Z:4.91 [[ 9.98744094e-01 -4.97740906e-02 -5.72483211e-03 8.92465064e+02] [ 4.97766337e-02 9.98760329e-01 3.02526463e-04 -5.00337102e+01] [ 5.70267722e-03 -5.87109390e-04 9.99983567e-01 4.90904660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7807140570001 meters Centerline goodness : 0.994107 with order 1 Centerline is valid? [True, True] Translation: X:892.53, Y:-50.04, Z:4.90 [[ 9.99195539e-01 -3.96925901e-02 -5.72475933e-03 8.92526543e+02] [ 3.96949771e-02 9.99211798e-01 3.03897412e-04 -5.00437955e+01] [ 5.70818459e-03 -5.30897129e-04 9.99983567e-01 4.90410585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.840714057 meters Centerline goodness : 0.994101 with order 1 Centerline is valid? [True, True] Translation: X:892.59, Y:-50.04, Z:4.90 [[ 9.99378340e-01 -3.47873555e-02 -5.72473686e-03 8.92588243e+02] [ 3.47896651e-02 9.99394610e-01 3.04320181e-04 -5.00448258e+01] [ 5.71068467e-03 -5.03292675e-04 9.99983567e-01 4.90359824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9007140570001 meters Centerline goodness : 0.993447 with order 1 Centerline is valid? [True, True] Translation: X:892.65, Y:-50.05, Z:4.90 [[ 9.99554076e-01 -2.93065942e-02 -5.72472043e-03 8.92650845e+02] [ 2.93088162e-02 9.99570358e-01 3.04629037e-04 -5.00456538e+01] [ 5.71333320e-03 -4.72277975e-04 9.99983567e-01 4.90251778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.960714057 meters Centerline goodness : 0.993257 with order 1 Centerline is valid? [True, True] Translation: X:892.71, Y:-50.05, Z:4.90 [[ 9.99790766e-01 -1.96380206e-02 -5.72469801e-03 8.92713107e+02] [ 1.96400875e-02 9.99807068e-01 3.05049659e-04 -5.00472750e+01] [ 5.71760296e-03 -4.17419403e-04 9.99983567e-01 4.90059262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0207140570001 meters Centerline goodness : 0.993764 with order 1 Centerline is valid? [True, True] Translation: X:892.77, Y:-50.05, Z:4.90 [[ 9.99910439e-01 -1.20972121e-02 -5.72467568e-03 8.92774642e+02] [ 1.20991584e-02 9.99926756e-01 3.05468158e-04 -5.00460587e+01] [ 5.72056107e-03 -3.74704557e-04 9.99983567e-01 4.90116499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.080714057 meters Centerline goodness : 0.993662 with order 1 Centerline is valid? [True, True] Translation: X:892.84, Y:-50.05, Z:4.90 [[ 9.99953052e-01 -7.81811532e-03 -5.72463916e-03 8.92836339e+02] [ 7.81999564e-03 9.99969377e-01 3.06151027e-04 -5.00475387e+01] [ 5.72207033e-03 -3.50903307e-04 9.99983567e-01 4.90277295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1407140570001 meters Centerline goodness : 0.992963 with order 1 Centerline is valid? [True, True] Translation: X:892.90, Y:-50.05, Z:4.90 [[ 9.99975587e-01 -4.00686734e-03 -5.72462820e-03 8.92897644e+02] [ 4.00868660e-03 9.99991918e-01 3.06355832e-04 -5.00479839e+01] [ 5.72335441e-03 -3.29296594e-04 9.99983567e-01 4.90488667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.200714057 meters Centerline goodness : 0.993601 with order 1 Centerline is valid? [True, True] Translation: X:892.96, Y:-50.05, Z:4.91 [[ 9.99977693e-01 -3.44116235e-03 -5.72461700e-03 8.92957050e+02] [ 3.44297356e-03 9.99994026e-01 3.06564924e-04 -5.00476191e+01] [ 5.72352786e-03 -3.26267790e-04 9.99983567e-01 4.90681216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2607140570001 meters Centerline goodness : 0.993299 with order 1 Centerline is valid? [True, True] Translation: X:893.02, Y:-50.05, Z:4.91 [[ 9.99956946e-01 -7.30311604e-03 -5.72462803e-03 8.93015782e+02] [ 7.30498914e-03 9.99973271e-01 3.06358831e-04 -5.00480604e+01] [ 5.72223765e-03 -3.48163987e-04 9.99983567e-01 4.90869949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.320714057 meters Centerline goodness : 0.993349 with order 1 Centerline is valid? [True, True] Translation: X:893.08, Y:-50.05, Z:4.91 [[ 9.99904377e-01 -1.25883318e-02 -5.72464436e-03 8.93075843e+02] [ 1.25902894e-02 9.99920692e-01 3.06053414e-04 -5.00500557e+01] [ 5.72033765e-03 -3.78099078e-04 9.99983567e-01 4.90906766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.380714057 meters Centerline goodness : 0.993239 with order 1 Centerline is valid? [True, True] Translation: X:893.14, Y:-50.05, Z:4.91 [[ 9.99779907e-01 -2.01832947e-02 -5.72464436e-03 8.93138913e+02] [ 2.01853762e-02 9.99796208e-01 3.06053414e-04 -5.00525908e+01] [ 5.71730056e-03 -4.21540154e-04 9.99983567e-01 4.90850938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.440714057 meters Centerline goodness : 0.994204 with order 1 Centerline is valid? [True, True] Translation: X:893.20, Y:-50.06, Z:4.91 [[ 9.99668461e-01 -2.51037447e-02 -5.72455154e-03 8.93200751e+02] [ 2.51059162e-02 9.99684749e-01 3.07779791e-04 -5.00552394e+01] [ 5.71502045e-03 -4.51397861e-04 9.99983567e-01 4.90692530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.500714057 meters Centerline goodness : 0.993793 with order 1 Centerline is valid? [True, True] Translation: X:893.26, Y:-50.05, Z:4.91 [[ 9.99545897e-01 -2.95842688e-02 -5.72452273e-03 8.93263409e+02] [ 2.95865163e-02 9.99562176e-01 3.08314755e-04 -5.00541435e+01] [ 5.71289513e-03 -4.77543434e-04 9.99983567e-01 4.90691300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.560714057 meters Centerline goodness : 0.993409 with order 1 Centerline is valid? [True, True] Translation: X:893.33, Y:-50.06, Z:4.91 [[ 9.99508062e-01 -3.08360727e-02 -5.72449977e-03 8.93326777e+02] [ 3.08383430e-02 9.99524338e-01 3.08740509e-04 -5.00561484e+01] [ 5.71225649e-03 -4.85122715e-04 9.99983567e-01 4.90831455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.620714057 meters Centerline goodness : 0.993295 with order 1 Centerline is valid? [True, True] Translation: X:893.39, Y:-50.06, Z:4.91 [[ 9.99515704e-01 -3.05873793e-02 -5.72446520e-03 8.93389261e+02] [ 3.05896492e-02 9.99531979e-01 3.09380160e-04 -5.00577073e+01] [ 5.71232290e-03 -4.84339711e-04 9.99983567e-01 4.90796429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.680714057 meters Centerline goodness : 0.993874 with order 1 Centerline is valid? [True, True] Translation: X:893.45, Y:-50.06, Z:4.91 [[ 9.99599759e-01 -2.77047442e-02 -5.72443660e-03 8.93452088e+02] [ 2.77069702e-02 9.99616040e-01 3.09908329e-04 -5.00573566e+01] [ 5.71365272e-03 -4.68391086e-04 9.99983567e-01 4.90785961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.740714057 meters Centerline goodness : 0.993287 with order 1 Centerline is valid? [True, True] Translation: X:893.51, Y:-50.06, Z:4.91 [[ 9.99700423e-01 -2.37969722e-02 -5.72440067e-03 8.93513256e+02] [ 2.37991383e-02 9.99716712e-01 3.10570586e-04 -5.00567557e+01] [ 5.71538838e-03 -4.46713349e-04 9.99983567e-01 4.90726855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.800714057 meters Centerline goodness : 0.993601 with order 1 Centerline is valid? [True, True] Translation: X:893.58, Y:-50.06, Z:4.91 [[ 9.99811330e-01 -1.85616933e-02 -5.72438296e-03 8.93576825e+02] [ 1.85637759e-02 9.99827630e-01 3.10896726e-04 -5.00560853e+01] [ 5.71762548e-03 -4.17104231e-04 9.99983567e-01 4.90871910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.860714057 meters Centerline goodness : 0.994362 with order 1 Centerline is valid? [True, True] Translation: X:893.64, Y:-50.05, Z:4.91 [[ 9.99756470e-01 -2.13127555e-02 -5.72434780e-03 8.93638549e+02] [ 2.13148867e-02 9.99772763e-01 3.11542797e-04 -5.00497063e+01] [ 5.71640718e-03 -4.33480752e-04 9.99983567e-01 4.91147246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.920714057 meters Centerline goodness : 0.994122 with order 1 Centerline is valid? [True, True] Translation: X:893.70, Y:-50.05, Z:4.91 [[ 9.99793373e-01 -1.95049343e-02 -5.72433054e-03 8.93701405e+02] [ 1.95070378e-02 9.99809671e-01 3.11859601e-04 -5.00508410e+01] [ 5.71715823e-03 -4.23459895e-04 9.99983567e-01 4.91104398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.980714057 meters Centerline goodness : 0.993633 with order 1 Centerline is valid? [True, True] Translation: X:893.76, Y:-50.06, Z:4.91 [[ 9.99889710e-01 -1.37040327e-02 -5.72429694e-03 8.93762703e+02] [ 1.37060451e-02 9.99906019e-01 3.12475057e-04 -5.00599095e+01] [ 5.71947680e-03 -3.90898066e-04 9.99983567e-01 4.90591653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0407140570001 meters Centerline goodness : 0.993055 with order 1 Centerline is valid? [True, True] Translation: X:893.82, Y:-50.06, Z:4.90 [[ 9.99884330e-01 -1.40911402e-02 -5.72427910e-03 8.93824084e+02] [ 1.40931608e-02 9.99900638e-01 3.12801520e-04 -5.00626093e+01] [ 5.71930260e-03 -3.93438523e-04 9.99983567e-01 4.90352186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.100714057 meters Centerline goodness : 0.992903 with order 1 Centerline is valid? [True, True] Translation: X:893.89, Y:-50.07, Z:4.90 [[ 9.99883532e-01 -1.41476118e-02 -5.72426131e-03 8.93886226e+02] [ 1.41496351e-02 9.99899840e-01 3.13126892e-04 -5.00654622e+01] [ 5.71925797e-03 -3.94086631e-04 9.99983567e-01 4.90088571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1607140570001 meters Centerline goodness : 0.993219 with order 1 Centerline is valid? [True, True] Translation: X:893.95, Y:-50.07, Z:4.90 [[ 9.99833765e-01 -1.73111333e-02 -5.72423750e-03 8.93947389e+02] [ 1.73132107e-02 9.99850066e-01 3.13561508e-04 -5.00692961e+01] [ 5.71795114e-03 -4.12614313e-04 9.99983567e-01 4.90371236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.220714057 meters Centerline goodness : 0.993790 with order 1 Centerline is valid? [True, True] Translation: X:894.01, Y:-50.09, Z:4.89 [[ 9.99608904e-01 -2.73728363e-02 -5.72419779e-03 8.94007748e+02] [ 2.73750818e-02 9.99625183e-01 3.14284811e-04 -5.00898447e+01] [ 5.71344939e-03 -4.70862278e-04 9.99983567e-01 4.89393053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2807140570001 meters Centerline goodness : 0.993080 with order 1 Centerline is valid? [True, True] Translation: X:894.07, Y:-50.11, Z:4.89 [[ 9.99627254e-01 -2.66943419e-02 -5.72415337e-03 8.94068883e+02] [ 2.66965810e-02 9.99643533e-01 3.15091691e-04 -5.01053072e+01] [ 5.71370173e-03 -4.67789566e-04 9.99983567e-01 4.89304766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.340714057 meters Centerline goodness : 0.992530 with order 1 Centerline is valid? [True, True] Translation: X:894.13, Y:-50.12, Z:4.90 [[ 9.99667928e-01 -2.51250573e-02 -5.72413135e-03 8.94129878e+02] [ 2.51272731e-02 9.99684210e-01 3.15491142e-04 -5.01188326e+01] [ 5.71439700e-03 -4.59218188e-04 9.99983567e-01 4.90079880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4007140570001 meters Centerline goodness : 0.995268 with order 1 Centerline is valid? [True, True] Translation: X:894.19, Y:-50.12, Z:4.91 [[ 9.99272902e-01 -3.76948524e-02 -5.72411492e-03 8.94191826e+02] [ 3.76972744e-02 9.99289155e-01 3.15789060e-04 -5.01235339e+01] [ 5.70814234e-03 -5.31342981e-04 9.99983567e-01 4.90502082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.460714057 meters Centerline goodness : 0.995127 with order 1 Centerline is valid? [True, True] Translation: X:894.25, Y:-50.13, Z:4.90 [[ 9.99318756e-01 -3.64590078e-02 -5.72408714e-03 8.94253229e+02] [ 3.64614126e-02 9.99335012e-01 3.16291708e-04 -5.01318923e+01] [ 5.70874901e-03 -5.24784539e-04 9.99983567e-01 4.90327358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5207140570001 meters Centerline goodness : 0.994763 with order 1 Centerline is valid? [True, True] Translation: X:894.31, Y:-50.14, Z:4.91 [[ 9.99509135e-01 -3.08013807e-02 -5.72406449e-03 8.94314522e+02] [ 3.08036957e-02 9.99525403e-01 3.16701189e-04 -5.01415828e+01] [ 5.71159303e-03 -4.92868072e-04 9.99983567e-01 4.90505413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.580714057 meters Centerline goodness : 0.994583 with order 1 Centerline is valid? [True, True] Translation: X:894.38, Y:-50.15, Z:4.91 [[ 9.99692539e-01 -2.41259882e-02 -5.72404215e-03 8.94376190e+02] [ 2.41281968e-02 9.99708822e-01 3.17104396e-04 -5.01526452e+01] [ 5.71472498e-03 -4.55117715e-04 9.99983567e-01 4.90704710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6407140570001 meters Centerline goodness : 0.994105 with order 1 Centerline is valid? [True, True] Translation: X:894.44, Y:-50.16, Z:4.91 [[ 9.99784810e-01 -1.99391609e-02 -5.72401948e-03 8.94437117e+02] [ 1.99413036e-02 9.99801102e-01 3.17513144e-04 -5.01631610e+01] [ 5.71655004e-03 -4.31589229e-04 9.99983567e-01 4.91104363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.700714057 meters Centerline goodness : 0.993717 with order 1 Centerline is valid? [True, True] Translation: X:894.50, Y:-50.17, Z:4.91 [[ 9.99818130e-01 -1.81918065e-02 -5.72400270e-03 8.94499231e+02] [ 1.81939225e-02 9.99834426e-01 3.17815287e-04 -5.01703813e+01] [ 5.71727332e-03 -4.21899547e-04 9.99983567e-01 4.91461447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7607140570001 meters Centerline goodness : 0.993969 with order 1 Centerline is valid? [True, True] Translation: X:894.56, Y:-50.18, Z:4.91 [[ 9.99787468e-01 -1.98054389e-02 -5.72397989e-03 8.94559743e+02] [ 1.98075836e-02 9.99803760e-01 3.18225667e-04 -5.01793651e+01] [ 5.71655401e-03 -4.31536244e-04 9.99983567e-01 4.91414686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.820714057 meters Centerline goodness : 0.993764 with order 1 Centerline is valid? [True, True] Translation: X:894.62, Y:-50.19, Z:4.91 [[ 9.99631387e-01 -2.65391532e-02 -5.72396300e-03 8.94622598e+02] [ 2.65414093e-02 9.99647664e-01 3.18529031e-04 -5.01920105e+01] [ 5.71349276e-03 -4.70333661e-04 9.99983567e-01 4.91311454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.880714057 meters Centerline goodness : 0.990105 with order 1 Centerline is valid? [True, True] Translation: X:894.68, Y:-50.22, Z:4.91 [[ 9.99650689e-01 -2.58018664e-02 -5.72393042e-03 8.94683482e+02] [ 2.58041137e-02 9.99666967e-01 3.19113488e-04 -5.02159409e+01] [ 5.71379044e-03 -4.66702970e-04 9.99983567e-01 4.91188433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.940714057 meters Centerline goodness : 0.990545 with order 1 Centerline is valid? [True, True] Translation: X:894.75, Y:-50.22, Z:4.91 [[ 9.99315133e-01 -3.65581875e-02 -5.72390733e-03 8.94746036e+02] [ 3.65606123e-02 9.99331386e-01 3.19527087e-04 -5.02219799e+01] [ 5.70839892e-03 -5.28577811e-04 9.99983567e-01 4.91387352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.000714057 meters Centerline goodness : 0.990180 with order 1 Centerline is valid? [True, True] Translation: X:894.81, Y:-50.23, Z:4.92 [[ 9.99052149e-01 -4.31513837e-02 -5.72381555e-03 8.94808039e+02] [ 4.31539250e-02 9.99068384e-01 3.21162870e-04 -5.02275625e+01] [ 5.70462453e-03 -5.67863562e-04 9.99983567e-01 4.91644865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.060714057 meters Centerline goodness : 0.990538 with order 1 Centerline is valid? [True, True] Translation: X:894.87, Y:-50.23, Z:4.92 [[ 9.98921267e-01 -4.60818851e-02 -5.72379238e-03 8.94870550e+02] [ 4.60844764e-02 9.98937494e-01 3.21575323e-04 -5.02304454e+01] [ 5.70289202e-03 -5.85006403e-04 9.99983567e-01 4.92032224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.120714057 meters Centerline goodness : 0.990540 with order 1 Centerline is valid? [True, True] Translation: X:894.93, Y:-50.24, Z:4.92 [[ 9.98741220e-01 -4.98318643e-02 -5.72376783e-03 8.94932717e+02] [ 4.98345189e-02 9.98757437e-01 3.22011557e-04 -5.02356151e+01] [ 5.70060925e-03 -6.06847431e-04 9.99983567e-01 4.92161120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.180714057 meters Centerline goodness : 0.993463 with order 1 Centerline is valid? [True, True] Translation: X:894.99, Y:-50.23, Z:4.91 [[ 9.98406047e-01 -5.61480492e-02 -5.72374348e-03 8.94994387e+02] [ 5.61508087e-02 9.98422247e-01 3.22443820e-04 -5.02316833e+01] [ 5.69660824e-03 -6.43322685e-04 9.99983567e-01 4.90934507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.240714057 meters Centerline goodness : 0.990574 with order 1 Centerline is valid? [True, True] Translation: X:895.06, Y:-50.24, Z:4.91 [[ 9.98762248e-01 -4.94086246e-02 -5.72366539e-03 8.95056121e+02] [ 4.94112826e-02 9.98778464e-01 3.23824220e-04 -5.02429146e+01] [ 5.70067401e-03 -6.06237054e-04 9.99983567e-01 4.91093115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.300714057 meters Centerline goodness : 0.993373 with order 1 Centerline is valid? [True, True] Translation: X:895.12, Y:-50.23, Z:4.91 [[ 9.98478604e-01 -5.48426674e-02 -5.72364122e-03 8.95119644e+02] [ 5.48454160e-02 9.98494805e-01 3.24250751e-04 -5.02282771e+01] [ 5.69724325e-03 -6.37672920e-04 9.99983567e-01 4.90857616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.360714057 meters Centerline goodness : 0.989551 with order 1 Centerline is valid? [True, True] Translation: X:895.18, Y:-50.23, Z:4.92 [[ 9.99287367e-01 -3.73095070e-02 -5.72355314e-03 8.95181548e+02] [ 3.73119796e-02 9.99303613e-01 3.25798184e-04 -5.02339878e+01] [ 5.70741196e-03 -5.39123107e-04 9.99983567e-01 4.91597955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.420714057 meters Centerline goodness : 0.990153 with order 1 Centerline is valid? [True, True] Translation: X:895.24, Y:-50.23, Z:4.91 [[ 9.99466890e-01 -3.21430857e-02 -5.72352978e-03 8.95244003e+02] [ 3.21454766e-02 9.99483147e-01 3.26207970e-04 -5.02296936e+01] [ 5.71008623e-03 -5.10019658e-04 9.99983567e-01 4.91269836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.480714057 meters Centerline goodness : 0.993781 with order 1 Centerline is valid? [True, True] Translation: X:895.31, Y:-50.20, Z:4.91 [[ 9.99464979e-01 -3.22024400e-02 -5.72350582e-03 8.95306884e+02] [ 3.22048343e-02 9.99481236e-01 3.26627916e-04 -5.02042285e+01] [ 5.71001846e-03 -5.10777719e-04 9.99983567e-01 4.91242915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5407140570001 meters Centerline goodness : 0.989325 with order 1 Centerline is valid? [True, True] Translation: X:895.37, Y:-50.21, Z:4.91 [[ 9.99885712e-01 -1.39930506e-02 -5.72348813e-03 8.95368385e+02] [ 1.39951501e-02 9.99902010e-01 3.26937522e-04 -5.02112064e+01] [ 5.71835243e-03 -4.07001232e-04 9.99983567e-01 4.90932918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.600714057 meters Centerline goodness : 0.993631 with order 1 Centerline is valid? [True, True] Translation: X:895.43, Y:-50.18, Z:4.91 [[ 9.99702779e-01 -2.36980108e-02 -5.72347001e-03 8.95429696e+02] [ 2.37002702e-02 9.99719056e-01 3.27254415e-04 -5.01837338e+01] [ 5.71410676e-03 -4.62804933e-04 9.99983567e-01 4.90953923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6607140570001 meters Centerline goodness : 0.985451 with order 1 Centerline is valid? [True, True] Translation: X:895.49, Y:-50.17, Z:4.91 [[ 9.99502324e-01 -3.10216908e-02 -5.72347001e-03 8.95491493e+02] [ 3.10240695e-02 9.99518584e-01 3.27254415e-04 -5.01727811e+01] [ 5.71056266e-03 -5.04656879e-04 9.99983567e-01 4.91148608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.720714057 meters Centerline goodness : 0.992562 with order 1 Centerline is valid? [True, True] Translation: X:895.55, Y:-50.17, Z:4.91 [[ 9.99358176e-01 -3.53621149e-02 -5.72344750e-03 8.95552568e+02] [ 3.53645663e-02 9.99374424e-01 3.27647616e-04 -5.01718513e+01] [ 5.70828074e-03 -5.29844562e-04 9.99983567e-01 4.91435220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7807140570001 meters Centerline goodness : 0.992547 with order 1 Centerline is valid? [True, True] Translation: X:895.62, Y:-50.17, Z:4.92 [[ 9.99140971e-01 -4.10434306e-02 -5.72343138e-03 8.95615737e+02] [ 4.10459759e-02 9.99157205e-01 3.27929099e-04 -5.01703446e+01] [ 5.70514836e-03 -5.62571225e-04 9.99983567e-01 4.91655741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.840714057 meters Centerline goodness : 0.989619 with order 1 Centerline is valid? [True, True] Translation: X:895.68, Y:-50.18, Z:4.92 [[ 9.99299663e-01 -3.69787174e-02 -5.72339653e-03 8.95676648e+02] [ 3.69812001e-02 9.99315907e-01 3.28536079e-04 -5.01839270e+01] [ 5.70733236e-03 -5.39964066e-04 9.99983567e-01 4.91962377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9007140570001 meters Centerline goodness : 0.989033 with order 1 Centerline is valid? [True, True] Translation: X:895.74, Y:-50.18, Z:4.93 [[ 9.99220197e-01 -3.90671393e-02 -5.72337870e-03 8.95737591e+02] [ 3.90696577e-02 9.99236435e-01 3.28846404e-04 -5.01825630e+01] [ 5.70616145e-03 -5.52200415e-04 9.99983567e-01 4.92685379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.960714057 meters Centerline goodness : 0.989106 with order 1 Centerline is valid? [True, True] Translation: X:895.80, Y:-50.18, Z:4.93 [[ 9.99312605e-01 -3.66273254e-02 -5.72337286e-03 8.95800057e+02] [ 3.66298048e-02 9.99328849e-01 3.28948074e-04 -5.01829845e+01] [ 5.70748313e-03 -5.38367987e-04 9.99983567e-01 4.92808298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0207140570001 meters Centerline goodness : 0.989762 with order 1 Centerline is valid? [True, True] Translation: X:895.86, Y:-50.18, Z:4.93 [[ 9.99413240e-01 -3.37700929e-02 -5.72334866e-03 8.95861289e+02] [ 3.37725283e-02 9.99429491e-01 3.29368597e-04 -5.01838097e+01] [ 5.70896063e-03 -5.22467291e-04 9.99983567e-01 4.92557647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.080714057 meters Centerline goodness : 0.991614 with order 1 Centerline is valid? [True, True] Translation: X:895.92, Y:-50.18, Z:4.92 [[ 9.99302157e-01 -3.69112944e-02 -5.72330049e-03 8.95923061e+02] [ 3.69137855e-02 9.99318399e-01 3.30203495e-04 -5.01766365e+01] [ 5.70721125e-03 -5.41241751e-04 9.99983567e-01 4.92296672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1407140570001 meters Centerline goodness : 0.989304 with order 1 Centerline is valid? [True, True] Translation: X:895.98, Y:-50.19, Z:4.93 [[ 9.99590660e-01 -2.80313539e-02 -5.72328900e-03 8.95983976e+02] [ 2.80337017e-02 9.99606924e-01 3.30402581e-04 -5.01909954e+01] [ 5.71177768e-03 -4.90712310e-04 9.99983567e-01 4.93281345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.200714057 meters Centerline goodness : 0.989772 with order 1 Centerline is valid? [True, True] Translation: X:896.05, Y:-50.19, Z:4.94 [[ 9.99565685e-01 -2.89082354e-02 -5.72324442e-03 8.96045048e+02] [ 2.89106019e-02 9.99581946e-01 3.31173011e-04 -5.01939084e+01] [ 5.71127817e-03 -4.96491618e-04 9.99983567e-01 4.93829715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2607140570001 meters Centerline goodness : 0.990216 with order 1 Centerline is valid? [True, True] Translation: X:896.10, Y:-50.20, Z:4.94 [[ 9.99618683e-01 -2.70135598e-02 -5.72323816e-03 8.96104661e+02] [ 2.70158961e-02 9.99634949e-01 3.31281142e-04 -5.02020870e+01] [ 5.71219980e-03 -4.85773227e-04 9.99983567e-01 4.93644830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.320714057 meters Centerline goodness : 0.990101 with order 1 Centerline is valid? [True, True] Translation: X:896.17, Y:-50.21, Z:4.94 [[ 9.99713919e-01 -2.32233680e-02 -5.72320720e-03 8.96166061e+02] [ 2.32256456e-02 9.99730193e-01 3.31815129e-04 -5.02090902e+01] [ 5.71395717e-03 -4.64645386e-04 9.99983567e-01 4.93795846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.380714057 meters Centerline goodness : 0.990838 with order 1 Centerline is valid? [True, True] Translation: X:896.23, Y:-50.21, Z:4.94 [[ 9.99767684e-01 -2.07803570e-02 -5.72318924e-03 8.96227595e+02] [ 2.07825967e-02 9.99783963e-01 3.32124589e-04 -5.02142962e+01] [ 5.71505115e-03 -4.50990165e-04 9.99983567e-01 4.93678376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.440714057 meters Centerline goodness : 0.990091 with order 1 Centerline is valid? [True, True] Translation: X:896.29, Y:-50.22, Z:4.94 [[ 9.99882728e-01 -1.42047673e-02 -5.72317139e-03 8.96289169e+02] [ 1.42069016e-02 9.99899022e-01 3.32431932e-04 -5.02197377e+01] [ 5.71787135e-03 -4.13701479e-04 9.99983567e-01 4.94073540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.500714057 meters Centerline goodness : 0.991071 with order 1 Centerline is valid? [True, True] Translation: X:896.35, Y:-50.23, Z:4.94 [[ 9.99972652e-01 -4.68414724e-03 -5.72315238e-03 8.96350352e+02] [ 4.68612813e-03 9.99988965e-01 3.32758828e-04 -5.02254615e+01] [ 5.72153053e-03 -3.59569153e-04 9.99983567e-01 4.94326336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.560714057 meters Centerline goodness : 0.991384 with order 1 Centerline is valid? [True, True] Translation: X:896.41, Y:-50.23, Z:4.95 [[ 9.99965091e-01 6.08797582e-03 -5.72313373e-03 8.96409721e+02] [-6.08616893e-03 9.99981424e-01 3.33079317e-04 -5.02286154e+01] [ 5.72505519e-03 -2.98235730e-04 9.99983567e-01 4.94653514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.620714057 meters Centerline goodness : 0.990799 with order 1 Centerline is valid? [True, True] Translation: X:896.47, Y:-50.24, Z:4.94 [[ 9.99792380e-01 1.95561590e-02 -5.72313979e-03 8.96467864e+02] [-1.95545729e-02 9.99808736e-01 3.32975231e-04 -5.02355256e+01] [ 5.72855687e-03 -2.20992545e-04 9.99983567e-01 4.94425391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.680714057 meters Centerline goodness : 0.990996 with order 1 Centerline is valid? [True, True] Translation: X:896.53, Y:-50.24, Z:4.94 [[ 9.99592837e-01 2.79536457e-02 -5.72316696e-03 8.96526356e+02] [-2.79521997e-02 9.99609206e-01 3.32507513e-04 -5.02417157e+01] [ 5.73022517e-03 -1.72397022e-04 9.99983567e-01 4.94143047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.740714057 meters Centerline goodness : 0.992807 with order 1 Centerline is valid? [True, True] Translation: X:896.58, Y:-50.24, Z:4.93 [[ 9.99515667e-01 3.05888127e-02 -5.72324898e-03 8.96584642e+02] [-3.05874180e-02 9.99532041e-01 3.31089672e-04 -5.02395653e+01] [ 5.73069837e-03 -1.55869906e-04 9.99983567e-01 4.93496187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.800714057 meters Centerline goodness : 0.993198 with order 1 Centerline is valid? [True, True] Translation: X:896.64, Y:-50.25, Z:4.94 [[ 9.99456463e-01 3.24657268e-02 -5.72327771e-03 8.96642985e+02] [-3.24643657e-02 9.99472839e-01 3.30592287e-04 -5.02465813e+01] [ 5.73099354e-03 -1.44610017e-04 9.99983567e-01 4.93754939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.860714057 meters Centerline goodness : 0.990306 with order 1 Centerline is valid? [True, True] Translation: X:896.70, Y:-50.27, Z:4.93 [[ 9.98894190e-01 4.66652104e-02 -5.72330125e-03 8.96702419e+02] [-4.66640844e-02 9.98910584e-01 3.30184281e-04 -5.02711332e+01] [ 5.73247431e-03 -6.27465469e-05 9.99983567e-01 4.92760503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.920714057 meters Centerline goodness : 0.991631 with order 1 Centerline is valid? [True, True] Translation: X:896.76, Y:-50.28, Z:4.93 [[ 9.99315044e-01 3.65607337e-02 -5.72330125e-03 8.96759295e+02] [-3.65594420e-02 9.99331426e-01 3.30184281e-04 -5.02805269e+01] [ 5.73154658e-03 -1.20717419e-04 9.99983567e-01 4.92808797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.980714057 meters Centerline goodness : 0.990792 with order 1 Centerline is valid? [True, True] Translation: X:896.82, Y:-50.28, Z:4.94 [[ 9.99483851e-01 3.16113000e-02 -5.72333718e-03 8.96817170e+02] [-3.16099307e-02 9.99500227e-01 3.29560294e-04 -5.02848788e+01] [ 5.73089464e-03 -1.48475901e-04 9.99983567e-01 4.93631320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0407140570001 meters Centerline goodness : 0.991145 with order 1 Centerline is valid? [True, True] Translation: X:896.88, Y:-50.30, Z:4.93 [[ 9.99403520e-01 3.40565200e-02 -5.72337153e-03 8.96875645e+02] [-3.40551942e-02 9.99419900e-01 3.28962590e-04 -5.02982372e+01] [ 5.73125472e-03 -1.33855841e-04 9.99983567e-01 4.92794638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.100714057 meters Centerline goodness : 0.990945 with order 1 Centerline is valid? [True, True] Translation: X:896.93, Y:-50.31, Z:4.92 [[ 9.99502209e-01 3.10254125e-02 -5.72339599e-03 8.96932984e+02] [-3.10240396e-02 9.99518585e-01 3.28536596e-04 -5.03098226e+01] [ 5.73083364e-03 -1.50810190e-04 9.99983567e-01 4.92277841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1607140570001 meters Centerline goodness : 0.990857 with order 1 Centerline is valid? [True, True] Translation: X:896.99, Y:-50.32, Z:4.92 [[ 9.99502214e-01 3.10252483e-02 -5.72342600e-03 8.96991304e+02] [-3.10238784e-02 9.99518590e-01 3.28012991e-04 -5.03184280e+01] [ 5.73084736e-03 -1.50286839e-04 9.99983567e-01 4.91815404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.220714057 meters Centerline goodness : 0.990935 with order 1 Centerline is valid? [True, True] Translation: X:897.05, Y:-50.32, Z:4.92 [[ 9.99464513e-01 3.22169149e-02 -5.72345000e-03 8.97050397e+02] [-3.22155669e-02 9.99480890e-01 3.27593552e-04 -5.03220880e+01] [ 5.73103296e-03 -1.43033944e-04 9.99983567e-01 4.92136549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2807140570001 meters Centerline goodness : 0.990935 with order 1 Centerline is valid? [True, True] Translation: X:897.11, Y:-50.32, Z:4.93 [[ 9.99584623e-01 2.82457563e-02 -5.72349210e-03 8.97108415e+02] [-2.82443474e-02 9.99600995e-01 3.26856389e-04 -5.03228370e+01] [ 5.73044071e-03 -1.65064322e-04 9.99983567e-01 4.92681752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.340714057 meters Centerline goodness : 0.990864 with order 1 Centerline is valid? [True, True] Translation: X:897.17, Y:-50.33, Z:4.92 [[ 9.99531774e-01 3.00578528e-02 -5.72351584e-03 8.97166948e+02] [-3.00564760e-02 9.99548149e-01 3.26440121e-04 -5.03322455e+01] [ 5.73074175e-03 -1.54258557e-04 9.99983567e-01 4.92186583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4007140570001 meters Centerline goodness : 0.990602 with order 1 Centerline is valid? [True, True] Translation: X:897.23, Y:-50.33, Z:4.93 [[ 9.99646462e-01 2.59652029e-02 -5.72352730e-03 8.97225517e+02] [-2.59637602e-02 9.99662832e-01 3.26239129e-04 -5.03298213e+01] [ 5.73006837e-03 -1.77519501e-04 9.99983567e-01 4.92903627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.460714057 meters Centerline goodness : 0.990750 with order 1 Centerline is valid? [True, True] Translation: X:897.28, Y:-50.34, Z:4.93 [[ 9.99684346e-01 2.44632237e-02 -5.72355793e-03 8.97284218e+02] [-2.44617595e-02 9.99700713e-01 3.25700930e-04 -5.03351219e+01] [ 5.72981264e-03 -1.85589824e-04 9.99983567e-01 4.92561144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5207140570001 meters Centerline goodness : 0.990675 with order 1 Centerline is valid? [True, True] Translation: X:897.34, Y:-50.33, Z:4.93 [[ 9.99813902e-01 1.84228894e-02 -5.72358244e-03 8.97342414e+02] [-1.84213288e-02 9.99830260e-01 3.25269593e-04 -5.03347590e+01] [ 5.72860332e-03 -2.19773067e-04 9.99983567e-01 4.92862993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.580714057 meters Centerline goodness : 0.994286 with order 1 Centerline is valid? [True, True] Translation: X:897.40, Y:-50.32, Z:4.94 [[ 9.99981935e-01 -1.83585527e-03 -5.72360662e-03 8.97402247e+02] [ 1.83774455e-03 9.99998259e-01 3.24843546e-04 -5.03161409e+01] [ 5.72300029e-03 -3.35356205e-04 9.99983567e-01 4.94279541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6407140570001 meters Centerline goodness : 0.993382 with order 1 Centerline is valid? [True, True] Translation: X:897.46, Y:-50.32, Z:4.94 [[ 9.99982897e-01 -1.20208627e-03 -5.72362437e-03 8.97461222e+02] [ 1.20396341e-03 9.99999223e-01 3.24530528e-04 -5.03151144e+01] [ 5.72322980e-03 -3.31416013e-04 9.99983567e-01 4.94323507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.700714057 meters Centerline goodness : 0.990149 with order 1 Centerline is valid? [True, True] Translation: X:897.52, Y:-50.33, Z:4.93 [[ 9.99847506e-01 1.64986074e-02 -5.72370432e-03 8.97519421e+02] [-1.64970276e-02 9.99863863e-01 3.23114173e-04 -5.03327835e+01] [ 5.72825605e-03 -2.28640792e-04 9.99983567e-01 4.92881326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7607140570001 meters Centerline goodness : 0.993409 with order 1 Centerline is valid? [True, True] Translation: X:897.58, Y:-50.31, Z:4.95 [[ 9.99970136e-01 -5.19288472e-03 -5.72372746e-03 8.97579344e+02] [ 5.19481659e-03 9.99986455e-01 3.22703728e-04 -5.03122846e+01] [ 5.72197417e-03 -3.52427806e-04 9.99983567e-01 4.94501426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.820714057 meters Centerline goodness : 0.990570 with order 1 Centerline is valid? [True, True] Translation: X:897.64, Y:-50.33, Z:4.94 [[ 9.99972494e-01 4.71705736e-03 -5.72374452e-03 8.97639523e+02] [-4.71528904e-03 9.99988831e-01 3.22400859e-04 -5.03265475e+01] [ 5.72520138e-03 -2.95402881e-04 9.99983567e-01 4.93826279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.880714057 meters Centerline goodness : 0.991831 with order 1 Centerline is valid? [True, True] Translation: X:897.70, Y:-50.32, Z:4.94 [[ 9.99965599e-01 -6.00323936e-03 -5.72374452e-03 8.97698621e+02] [ 6.00518272e-03 9.99981917e-01 3.22400859e-04 -5.03245527e+01] [ 5.72170557e-03 -3.56761900e-04 9.99983567e-01 4.93678926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.940714057 meters Centerline goodness : 0.991726 with order 1 Centerline is valid? [True, True] Translation: X:897.76, Y:-50.33, Z:4.93 [[ 9.99942606e-01 -9.05667488e-03 -5.72376742e-03 8.97758317e+02] [ 9.05866575e-03 9.99958918e-01 3.21993887e-04 -5.03258300e+01] [ 5.72061608e-03 -3.73825102e-04 9.99983567e-01 4.93302297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.000714057 meters Centerline goodness : 0.991954 with order 1 Centerline is valid? [True, True] Translation: X:897.82, Y:-50.32, Z:4.93 [[ 9.99910768e-01 -1.20704034e-02 -5.72377306e-03 8.97819718e+02] [ 1.20724428e-02 9.99927074e-01 3.21893595e-04 -5.03241943e+01] [ 5.71947026e-03 -3.90964795e-04 9.99983567e-01 4.93352760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.060714057 meters Centerline goodness : 0.991495 with order 1 Centerline is valid? [True, True] Translation: X:897.88, Y:-50.32, Z:4.94 [[ 9.99879868e-01 -1.44044658e-02 -5.72376202e-03 8.97882073e+02] [ 1.44065444e-02 9.99896168e-01 3.22089808e-04 -5.03197553e+01] [ 5.71852818e-03 -4.04510747e-04 9.99983567e-01 4.93586133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.120714057 meters Centerline goodness : 0.991499 with order 1 Centerline is valid? [True, True] Translation: X:897.94, Y:-50.32, Z:4.93 [[ 9.99886066e-01 -1.39676095e-02 -5.72373992e-03 8.97944113e+02] [ 1.39696833e-02 9.99902367e-01 3.22482073e-04 -5.03194217e+01] [ 5.71867679e-03 -4.02404166e-04 9.99983567e-01 4.93496512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.180714057 meters Centerline goodness : 0.991031 with order 1 Centerline is valid? [True, True] Translation: X:898.01, Y:-50.31, Z:4.94 [[ 9.99908476e-01 -1.22587868e-02 -5.72371793e-03 8.98005780e+02] [ 1.22608349e-02 9.99924781e-01 3.22871827e-04 -5.03140393e+01] [ 5.71932938e-03 -3.93019837e-04 9.99983567e-01 4.94012135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.240714057 meters Centerline goodness : 0.990708 with order 1 Centerline is valid? [True, True] Translation: X:898.07, Y:-50.31, Z:4.94 [[ 9.99842006e-01 -1.68286252e-02 -5.72370162e-03 8.98068466e+02] [ 1.68307494e-02 9.99858301e-01 3.23160635e-04 -5.03124975e+01] [ 5.71745223e-03 -4.19443765e-04 9.99983567e-01 4.93966814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.300714057 meters Centerline goodness : 0.991046 with order 1 Centerline is valid? [True, True] Translation: X:898.13, Y:-50.31, Z:4.94 [[ 9.99811595e-01 -1.85476384e-02 -5.72361801e-03 8.98129785e+02] [ 1.85497991e-02 9.99827885e-01 3.24634895e-04 -5.03142075e+01] [ 5.71661167e-03 -4.30745696e-04 9.99983567e-01 4.93617731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.360714057 meters Centerline goodness : 0.990898 with order 1 Centerline is valid? [True, True] Translation: X:898.19, Y:-50.31, Z:4.93 [[ 9.99891748e-01 -1.35547882e-02 -5.72358011e-03 8.98192437e+02] [ 1.35568713e-02 9.99908048e-01 3.25301579e-04 -5.03128942e+01] [ 5.71864443e-03 -4.02860204e-04 9.99983567e-01 4.93418055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.420714057 meters Centerline goodness : 0.991463 with order 1 Centerline is valid? [True, True] Translation: X:898.25, Y:-50.31, Z:4.93 [[ 9.99960548e-01 -6.79287630e-03 -5.72355628e-03 8.98254090e+02] [ 6.79485147e-03 9.99976862e-01 3.25720354e-04 -5.03102810e+01] [ 5.72121127e-03 -3.64598219e-04 9.99983567e-01 4.93337754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.480714057 meters Centerline goodness : 0.990741 with order 1 Centerline is valid? [True, True] Translation: X:898.31, Y:-50.31, Z:4.93 [[ 9.99981078e-01 2.25512296e-03 -5.72353872e-03 8.98314453e+02] [-2.25329371e-03 9.99997408e-01 3.26028689e-04 -5.03127623e+01] [ 5.72425912e-03 -3.13125706e-04 9.99983567e-01 4.93223117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5407140570001 meters Centerline goodness : 0.990878 with order 1 Centerline is valid? [True, True] Translation: X:898.37, Y:-50.31, Z:4.94 [[ 9.99971903e-01 4.84093745e-03 -5.72353872e-03 8.98372847e+02] [-4.83915044e-03 9.99988238e-01 3.26028689e-04 -5.03096651e+01] [ 5.72504968e-03 -2.98322464e-04 9.99983567e-01 4.93912186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.600714057 meters Centerline goodness : 0.990231 with order 1 Centerline is valid? [True, True] Translation: X:898.43, Y:-50.31, Z:4.94 [[ 9.99975911e-01 3.92660233e-03 -5.72356909e-03 8.98430336e+02] [-3.92480343e-03 9.99992245e-01 3.25494620e-04 -5.03087257e+01] [ 5.72480279e-03 -3.03022895e-04 9.99983567e-01 4.93738767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6607140570001 meters Centerline goodness : 0.991043 with order 1 Centerline is valid? [True, True] Translation: X:898.49, Y:-50.31, Z:4.94 [[ 9.99938696e-01 9.47869475e-03 -5.72360045e-03 8.98488203e+02] [-9.47698973e-03 9.99955040e-01 3.24942268e-04 -5.03078191e+01] [ 5.72642314e-03 -2.70679845e-04 9.99983567e-01 4.93898199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.720714057 meters Centerline goodness : 0.990703 with order 1 Centerline is valid? [True, True] Translation: X:898.55, Y:-50.31, Z:4.94 [[ 9.99897783e-01 1.31019982e-02 -5.72369525e-03 8.98546072e+02] [-1.31003620e-02 9.99914134e-01 3.23263703e-04 -5.03060219e+01] [ 5.72743918e-03 -2.48248180e-04 9.99983567e-01 4.94491567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7807140570001 meters Centerline goodness : 0.990660 with order 1 Centerline is valid? [True, True] Translation: X:898.60, Y:-50.31, Z:4.94 [[ 9.99830237e-01 1.75138736e-02 -5.72379139e-03 8.98603720e+02] [-1.75123193e-02 9.99846596e-01 3.21552439e-04 -5.03104174e+01] [ 5.72854496e-03 -2.21260989e-04 9.99983567e-01 4.93849513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.840714057 meters Centerline goodness : 0.991539 with order 1 Centerline is valid? [True, True] Translation: X:898.66, Y:-50.31, Z:4.94 [[ 9.99868065e-01 1.52016147e-02 -5.72388835e-03 8.98662383e+02] [-1.52000325e-02 9.99884422e-01 3.19817034e-04 -5.03099359e+01] [ 5.72808853e-03 -2.32771550e-04 9.99983567e-01 4.94399368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9007140570001 meters Centerline goodness : 0.991305 with order 1 Centerline is valid? [True, True] Translation: X:898.72, Y:-50.31, Z:4.95 [[ 9.99886178e-01 1.39594959e-02 -5.72391211e-03 8.98720576e+02] [-1.39578959e-02 9.99902533e-01 3.19391188e-04 -5.03119064e+01] [ 5.72781276e-03 -2.39461065e-04 9.99983567e-01 4.94935020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.960714057 meters Centerline goodness : 0.990885 with order 1 Centerline is valid? [True, True] Translation: X:898.78, Y:-50.32, Z:4.95 [[ 9.99949818e-01 8.22185684e-03 -5.72394777e-03 8.98778487e+02] [-8.22016664e-03 9.99966163e-01 3.18750917e-04 -5.03169251e+01] [ 5.72637481e-03 -2.71683116e-04 9.99983567e-01 4.94753490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0207140570001 meters Centerline goodness : 0.991610 with order 1 Centerline is valid? [True, True] Translation: X:898.84, Y:-50.32, Z:4.95 [[ 9.99979733e-01 2.78732421e-03 -5.72397713e-03 8.98837567e+02] [-2.78554821e-03 9.99996070e-01 3.18222832e-04 -5.03206268e+01] [ 5.72484162e-03 -3.02271969e-04 9.99983567e-01 4.95269921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.080714057 meters Centerline goodness : 0.991961 with order 1 Centerline is valid? [True, True] Translation: X:898.89, Y:-50.33, Z:4.95 [[ 9.99982088e-01 -1.74912826e-03 -5.72400068e-03 8.98894683e+02] [ 1.75097593e-03 9.99998417e-01 3.17798603e-04 -5.03288570e+01] [ 5.72343575e-03 -3.27815498e-04 9.99983567e-01 4.94848727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1407140570001 meters Centerline goodness : 0.993944 with order 1 Centerline is valid? [True, True] Translation: X:898.95, Y:-50.32, Z:4.95 [[ 9.99912680e-01 -1.19108669e-02 -5.72402944e-03 8.98954928e+02] [ 1.19128774e-02 9.99928989e-01 3.17279742e-04 -5.03245832e+01] [ 5.71984389e-03 -3.85441698e-04 9.99983567e-01 4.95201026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.200714057 meters Centerline goodness : 0.991374 with order 1 Centerline is valid? [True, True] Translation: X:899.02, Y:-50.33, Z:4.95 [[ 9.99902863e-01 -1.27082613e-02 -5.72404046e-03 8.99016898e+02] [ 1.27102838e-02 9.99919171e-01 3.17080765e-04 -5.03326130e+01] [ 5.71954825e-03 -3.89804143e-04 9.99983567e-01 4.94832645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2607140570001 meters Centerline goodness : 0.991098 with order 1 Centerline is valid? [True, True] Translation: X:899.08, Y:-50.35, Z:4.95 [[ 9.99977912e-01 -3.37812883e-03 -5.72401144e-03 8.99077412e+02] [ 3.38000199e-03 9.99994237e-01 3.17603813e-04 -5.03505155e+01] [ 5.72290555e-03 -3.36943968e-04 9.99983567e-01 4.94785627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.320714057 meters Centerline goodness : 0.993515 with order 1 Centerline is valid? [True, True] Translation: X:899.14, Y:-50.34, Z:4.96 [[ 9.99880112e-01 -1.43873907e-02 -5.72398961e-03 8.99137270e+02] [ 1.43894458e-02 9.99896416e-01 3.17996816e-04 -5.03379918e+01] [ 5.71882155e-03 -4.00323731e-04 9.99983567e-01 4.95700262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3807140570001 meters Centerline goodness : 0.990590 with order 1 Centerline is valid? [True, True] Translation: X:899.20, Y:-50.35, Z:4.95 [[ 9.99898247e-01 -1.30664273e-02 -5.72400108e-03 8.99198829e+02] [ 1.30684596e-02 9.99914554e-01 3.17790245e-04 -5.03454406e+01] [ 5.71935960e-03 -3.92561786e-04 9.99983567e-01 4.95340920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.440714057 meters Centerline goodness : 0.990150 with order 1 Centerline is valid? [True, True] Translation: X:899.26, Y:-50.36, Z:4.95 [[ 9.99983129e-01 -9.88908998e-04 -5.72396719e-03 8.99259861e+02] [ 9.90747685e-04 9.99999459e-01 3.18399461e-04 -5.03644270e+01] [ 5.72364922e-03 -3.24065097e-04 9.99983567e-01 4.94838151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.500714057 meters Centerline goodness : 0.989772 with order 1 Centerline is valid? [True, True] Translation: X:899.32, Y:-50.37, Z:4.95 [[ 9.99978835e-01 -3.09284961e-03 -5.72393835e-03 8.99318736e+02] [ 3.09472560e-03 9.99995160e-01 3.18917082e-04 -5.03677283e+01] [ 5.72292428e-03 -3.36624351e-04 9.99983567e-01 4.95048317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.560714057 meters Centerline goodness : 0.994061 with order 1 Centerline is valid? [True, True] Translation: X:899.38, Y:-50.35, Z:4.95 [[ 9.99739797e-01 -2.20810906e-02 -5.72396166e-03 8.99379600e+02] [ 2.20832739e-02 9.99756084e-01 3.18498192e-04 -5.03514051e+01] [ 5.71553270e-03 -4.44819131e-04 9.99983567e-01 4.95453812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.620714057 meters Centerline goodness : 0.993526 with order 1 Centerline is valid? [True, True] Translation: X:899.44, Y:-50.35, Z:4.95 [[ 9.99716031e-01 -2.31321102e-02 -5.72396166e-03 8.99441788e+02] [ 2.31343106e-02 9.99732315e-01 3.18498192e-04 -5.03537915e+01] [ 5.71506190e-03 -4.50827655e-04 9.99983567e-01 4.95472010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.680714057 meters Centerline goodness : 0.989624 with order 1 Centerline is valid? [True, True] Translation: X:899.50, Y:-50.38, Z:4.95 [[ 9.99978145e-01 -3.30854977e-03 -5.72393334e-03 8.99502203e+02] [ 3.31042979e-03 9.99994470e-01 3.19006321e-04 -5.03789868e+01] [ 5.72284623e-03 -3.37948029e-04 9.99983567e-01 4.95446653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.740714057 meters Centerline goodness : 0.988837 with order 1 Centerline is valid? [True, True] Translation: X:899.56, Y:-50.38, Z:4.96 [[ 9.99983540e-01 -3.95292537e-04 -5.72390302e-03 8.99562306e+02] [ 3.97128092e-04 9.99999870e-01 3.19549335e-04 -5.03793670e+01] [ 5.72377596e-03 -3.21817198e-04 9.99983567e-01 4.95875684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.800714057 meters Centerline goodness : 0.988723 with order 1 Centerline is valid? [True, True] Translation: X:899.62, Y:-50.38, Z:4.96 [[ 9.99983383e-01 -6.85314938e-04 -5.72391456e-03 8.99621298e+02] [ 6.87154048e-04 9.99999713e-01 3.19342481e-04 -5.03816248e+01] [ 5.72369407e-03 -3.23270386e-04 9.99983567e-01 4.95982954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.860714057 meters Centerline goodness : 0.988060 with order 1 Centerline is valid? [True, True] Translation: X:899.68, Y:-50.39, Z:4.95 [[ 9.99983518e-01 -4.46782606e-04 -5.72393730e-03 8.99679468e+02] [ 4.48615492e-04 9.99999849e-01 3.18934389e-04 -5.03878803e+01] [ 5.72379394e-03 -3.21496979e-04 9.99983567e-01 4.95074903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.920714057 meters Centerline goodness : 0.988886 with order 1 Centerline is valid? [True, True] Translation: X:899.74, Y:-50.39, Z:4.95 [[ 9.99962112e-01 -6.55824801e-03 -5.72401780e-03 8.99738598e+02] [ 6.56017239e-03 9.99978431e-01 3.17483002e-04 -5.03890157e+01] [ 5.72181221e-03 -3.55021516e-04 9.99983567e-01 4.95092739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.980714057 meters Centerline goodness : 0.988545 with order 1 Centerline is valid? [True, True] Translation: X:899.80, Y:-50.39, Z:4.95 [[ 9.99865595e-01 -1.53632087e-02 -5.72403350e-03 8.99798564e+02] [ 1.53652751e-02 9.99881897e-01 3.17199833e-04 -5.03915658e+01] [ 5.71848426e-03 -4.05108548e-04 9.99983567e-01 4.95074122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0407140570001 meters Centerline goodness : 0.988064 with order 1 Centerline is valid? [True, True] Translation: X:899.86, Y:-50.37, Z:4.95 [[ 9.99424243e-01 -3.34427697e-02 -5.72403350e-03 8.99861775e+02] [ 3.34451305e-02 9.99440505e-01 3.17199832e-04 -5.03727045e+01] [ 5.71022289e-03 -5.08458250e-04 9.99983567e-01 4.95249213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.100714057 meters Centerline goodness : 0.992955 with order 1 Centerline is valid? [True, True] Translation: X:899.92, Y:-50.37, Z:4.96 [[ 9.99377751e-01 -3.48044188e-02 -5.72393528e-03 8.99922886e+02] [ 3.48068119e-02 9.99394008e-01 3.18962393e-04 -5.03728213e+01] [ 5.70936532e-03 -5.17995858e-04 9.99983567e-01 4.96013170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1607140570001 meters Centerline goodness : 0.987182 with order 1 Centerline is valid? [True, True] Translation: X:899.98, Y:-50.41, Z:4.96 [[ 9.99767497e-01 -2.07891432e-02 -5.72387866e-03 8.99983109e+02] [ 2.07913138e-02 9.99783786e-01 3.19975135e-04 -5.04051581e+01] [ 5.71598907e-03 -4.38907698e-04 9.99983567e-01 4.95567195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.220714057 meters Centerline goodness : 0.986971 with order 1 Centerline is valid? [True, True] Translation: X:900.05, Y:-50.41, Z:4.96 [[ 9.99727867e-01 -2.26147955e-02 -5.72385561e-03 9.00045764e+02] [ 2.26169983e-02 9.99744152e-01 3.20387025e-04 -5.04086339e+01] [ 5.71514568e-03 -4.49756270e-04 9.99983567e-01 4.95676535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2807140570001 meters Centerline goodness : 0.986693 with order 1 Centerline is valid? [True, True] Translation: X:900.11, Y:-50.41, Z:4.96 [[ 9.99590150e-01 -2.80494367e-02 -5.72382163e-03 9.00107850e+02] [ 2.80517314e-02 9.99606421e-01 3.20992982e-04 -5.04114987e+01] [ 5.71256518e-03 -4.81424530e-04 9.99983567e-01 4.95683084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.340714057 meters Centerline goodness : 0.986658 with order 1 Centerline is valid? [True, True] Translation: X:900.17, Y:-50.41, Z:4.96 [[ 9.99437205e-01 -3.30531684e-02 -5.72379878e-03 9.00169403e+02] [ 3.30555468e-02 9.99453464e-01 3.21399836e-04 -5.04127667e+01] [ 5.71004724e-03 -5.10422252e-04 9.99983567e-01 4.95876622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4007140570001 meters Centerline goodness : 0.985952 with order 1 Centerline is valid? [True, True] Translation: X:900.23, Y:-50.41, Z:4.96 [[ 9.99432896e-01 -3.31832186e-02 -5.72372494e-03 9.00231895e+02] [ 3.31856066e-02 9.99449154e-01 3.22709430e-04 -5.04145698e+01] [ 5.70986352e-03 -5.12471704e-04 9.99983567e-01 4.95595466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.460714057 meters Centerline goodness : 0.986538 with order 1 Centerline is valid? [True, True] Translation: X:900.29, Y:-50.41, Z:4.96 [[ 9.99502138e-01 -3.10276595e-02 -5.72370239e-03 9.00294347e+02] [ 3.10300147e-02 9.99518401e-01 3.23109015e-04 -5.04105675e+01] [ 5.71092054e-03 -5.00554720e-04 9.99983567e-01 4.96034415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5207140570001 meters Centerline goodness : 0.984584 with order 1 Centerline is valid? [True, True] Translation: X:900.36, Y:-50.41, Z:4.97 [[ 9.99653438e-01 -2.56951827e-02 -5.72367995e-03 9.00356569e+02] [ 2.56974534e-02 9.99669714e-01 3.23505993e-04 -5.04129059e+01] [ 5.71347695e-03 -4.70477877e-04 9.99983567e-01 4.96554074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.580714057 meters Centerline goodness : 0.983945 with order 1 Centerline is valid? [True, True] Translation: X:900.42, Y:-50.42, Z:4.97 [[ 9.99827997e-01 -1.76413442e-02 -5.72365708e-03 9.00419217e+02] [ 1.76434859e-02 9.99844289e-01 3.23910094e-04 -5.04152707e+01] [ 5.71705164e-03 -4.24839643e-04 9.99983567e-01 4.96617212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6407140570001 meters Centerline goodness : 0.983703 with order 1 Centerline is valid? [True, True] Translation: X:900.48, Y:-50.42, Z:4.96 [[ 9.99846923e-01 -1.65339145e-02 -5.72363398e-03 9.00480318e+02] [ 1.65360405e-02 9.99863218e-01 3.24317829e-04 -5.04170423e+01] [ 5.71748884e-03 -4.18914426e-04 9.99983567e-01 4.96498947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.700714057 meters Centerline goodness : 0.983318 with order 1 Centerline is valid? [True, True] Translation: X:900.54, Y:-50.42, Z:4.96 [[ 9.99926376e-01 -1.06996228e-02 -5.72361698e-03 9.00542475e+02] [ 1.07016554e-02 9.99942683e-01 3.24617566e-04 -5.04182540e+01] [ 5.71981563e-03 -3.85845843e-04 9.99983567e-01 4.96244022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7607140570001 meters Centerline goodness : 0.983846 with order 1 Centerline is valid? [True, True] Translation: X:900.60, Y:-50.42, Z:4.96 [[ 9.99971850e-01 -4.85176643e-03 -5.72359488e-03 9.00604823e+02] [ 4.85370586e-03 9.99988168e-01 3.25006764e-04 -5.04183523e+01] [ 5.72195030e-03 -3.52778261e-04 9.99983567e-01 4.95952843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.820714057 meters Centerline goodness : 0.988540 with order 1 Centerline is valid? [True, True] Translation: X:900.67, Y:-50.41, Z:4.97 [[ 9.99935145e-01 -9.84613853e-03 -5.72357300e-03 9.00666071e+02] [ 9.84816163e-03 9.99951453e-01 3.25391656e-04 -5.04062785e+01] [ 5.72009128e-03 -3.81737224e-04 9.99983567e-01 4.96534269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8807140570001 meters Centerline goodness : 0.984257 with order 1 Centerline is valid? [True, True] Translation: X:900.73, Y:-50.42, Z:4.97 [[ 9.99982676e-01 1.37393832e-03 -5.72357300e-03 9.00725488e+02] [-1.37209832e-03 9.99999006e-01 3.25391656e-04 -5.04199611e+01] [ 5.72401437e-03 -3.17532714e-04 9.99983567e-01 4.96562699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.940714057 meters Centerline goodness : 0.983771 with order 1 Centerline is valid? [True, True] Translation: X:900.78, Y:-50.42, Z:4.97 [[ 9.99979647e-01 2.81892048e-03 -5.72356747e-03 9.00784265e+02] [-2.81710352e-03 9.99995979e-01 3.25488805e-04 -5.04220264e+01] [ 5.72446198e-03 -3.09358299e-04 9.99983567e-01 4.97129676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.000714057 meters Centerline goodness : 0.986231 with order 1 Centerline is valid? [True, True] Translation: X:900.84, Y:-50.42, Z:4.97 [[ 9.99967711e-01 5.64073343e-03 -5.72364287e-03 9.00842800e+02] [-5.63897017e-03 9.99984048e-01 3.24157551e-04 -5.04235003e+01] [ 5.72538005e-03 -2.91871633e-04 9.99983567e-01 4.97358536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.060714057 meters Centerline goodness : 0.986553 with order 1 Centerline is valid? [True, True] Translation: X:900.90, Y:-50.42, Z:4.97 [[ 9.99900665e-01 1.28802181e-02 -5.72371695e-03 9.00901879e+02] [-1.28785806e-02 9.99917016e-01 3.22844066e-04 -5.04247674e+01] [ 5.72740028e-03 -2.49098646e-04 9.99983567e-01 4.97200682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.120714057 meters Centerline goodness : 0.987710 with order 1 Centerline is valid? [True, True] Translation: X:900.96, Y:-50.43, Z:4.98 [[ 9.99906670e-01 1.24051973e-02 -5.72379339e-03 9.00960385e+02] [-1.24035599e-02 9.99923021e-01 3.21483126e-04 -5.04263728e+01] [ 5.72734084e-03 -2.50457708e-04 9.99983567e-01 4.97613329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.180714057 meters Centerline goodness : 0.988017 with order 1 Centerline is valid? [True, True] Translation: X:901.02, Y:-50.43, Z:4.97 [[ 9.99953711e-01 7.73399812e-03 -5.72381510e-03 9.01016969e+02] [-7.73228655e-03 9.99970054e-01 3.21096159e-04 -5.04308896e+01] [ 5.72612705e-03 -2.76823117e-04 9.99983567e-01 4.97397341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.240714057 meters Centerline goodness : 0.989173 with order 1 Centerline is valid? [True, True] Translation: X:901.07, Y:-50.43, Z:4.97 [[ 9.99923974e-01 1.09217390e-02 -5.72385250e-03 9.01074532e+02] [-1.09200834e-02 9.99940323e-01 3.20428111e-04 -5.04340214e+01] [ 5.72701055e-03 -2.57898804e-04 9.99983567e-01 4.97210278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.300714057 meters Centerline goodness : 0.995278 with order 1 Centerline is valid? [True, True] Translation: X:901.13, Y:-50.42, Z:4.96 [[ 9.99888802e-01 1.37702919e-02 -5.72393942e-03 9.01133935e+02] [-1.37686917e-02 9.99905156e-01 3.18867856e-04 -5.04192183e+01] [ 5.72778744e-03 -2.40021241e-04 9.99983567e-01 4.96433147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.360714057 meters Centerline goodness : 0.990145 with order 1 Centerline is valid? [True, True] Translation: X:901.19, Y:-50.44, Z:4.97 [[ 9.99847190e-01 1.65176286e-02 -5.72396162e-03 9.01190213e+02] [-1.65160757e-02 9.99863550e-01 3.18468831e-04 -5.04383834e+01] [ 5.72844093e-03 -2.23882783e-04 9.99983567e-01 4.97157359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.420714057 meters Centerline goodness : 0.990934 with order 1 Centerline is valid? [True, True] Translation: X:901.25, Y:-50.44, Z:4.96 [[ 9.99621793e-01 2.68980759e-02 -5.72400970e-03 9.01248291e+02] [-2.68966978e-02 9.99638168e-01 3.17602341e-04 -5.04401615e+01] [ 5.73048146e-03 -1.63525262e-04 9.99983567e-01 4.96345448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.480714057 meters Centerline goodness : 0.994517 with order 1 Centerline is valid? [True, True] Translation: X:901.31, Y:-50.43, Z:4.97 [[ 9.99767892e-01 2.07701090e-02 -5.72403580e-03 9.01307771e+02] [-2.07686333e-02 9.99784258e-01 3.17131124e-04 -5.04287112e+01] [ 5.72938774e-03 -1.98177114e-04 9.99983567e-01 4.96623007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5407140570001 meters Centerline goodness : 0.989715 with order 1 Centerline is valid? [True, True] Translation: X:901.37, Y:-50.45, Z:4.97 [[ 9.99743827e-01 2.18978583e-02 -5.72405731e-03 9.01366338e+02] [-2.18964033e-02 9.99760195e-01 3.16742442e-04 -5.04489585e+01] [ 5.72962063e-03 -1.91325034e-04 9.99983567e-01 4.97100242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.600714057 meters Centerline goodness : 0.990581 with order 1 Centerline is valid? [True, True] Translation: X:901.42, Y:-50.45, Z:4.97 [[ 9.99793229e-01 1.95124134e-02 -5.72406806e-03 9.01423138e+02] [-1.95109204e-02 9.99809594e-01 3.16548109e-04 -5.04539801e+01] [ 5.72915478e-03 -2.04800820e-04 9.99983567e-01 4.97140719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6607140570001 meters Centerline goodness : 0.994007 with order 1 Centerline is valid? [True, True] Translation: X:901.48, Y:-50.45, Z:4.97 [[ 9.99845982e-01 1.65905495e-02 -5.72412501e-03 9.01482625e+02] [-1.65890147e-02 9.99862343e-01 3.15514836e-04 -5.04459102e+01] [ 5.72857161e-03 -2.20508648e-04 9.99983567e-01 4.96530436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.720714057 meters Centerline goodness : 0.990334 with order 1 Centerline is valid? [True, True] Translation: X:901.54, Y:-50.46, Z:4.97 [[ 9.99846141e-01 1.65809918e-02 -5.72414552e-03 9.01540021e+02] [-1.65794589e-02 9.99862502e-01 3.15142422e-04 -5.04638443e+01] [ 5.72858383e-03 -2.20190699e-04 9.99983567e-01 4.97145102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7807140570001 meters Centerline goodness : 0.993421 with order 1 Centerline is valid? [True, True] Translation: X:901.60, Y:-50.46, Z:4.97 [[ 9.99912478e-01 1.19276603e-02 -5.72418570e-03 9.01599345e+02] [-1.19260555e-02 9.99928833e-01 3.14410734e-04 -5.04570303e+01] [ 5.72752851e-03 -2.46116260e-04 9.99983567e-01 4.96705414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.840714057 meters Centerline goodness : 0.992635 with order 1 Centerline is valid? [True, True] Translation: X:901.66, Y:-50.46, Z:4.97 [[ 9.99966486e-01 5.85327621e-03 -5.72420748e-03 9.01657697e+02] [-5.85157434e-03 9.99982830e-01 3.14013806e-04 -5.04643506e+01] [ 5.72594720e-03 -2.80507657e-04 9.99983567e-01 4.97434563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9007140570001 meters Centerline goodness : 0.993374 with order 1 Centerline is valid? [True, True] Translation: X:901.72, Y:-50.47, Z:4.97 [[ 9.99926719e-01 1.06672564e-02 -5.72422931e-03 9.01717085e+02] [-1.06656355e-02 9.99943071e-01 3.13615332e-04 -5.04656100e+01] [ 5.72724885e-03 -2.52539807e-04 9.99983567e-01 4.96877886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.960714057 meters Centerline goodness : 0.989609 with order 1 Centerline is valid? [True, True] Translation: X:901.77, Y:-50.49, Z:4.96 [[ 9.99730425e-01 2.25013243e-02 -5.72426948e-03 9.01774622e+02] [-2.24999012e-02 9.99746796e-01 3.12880415e-04 -5.04875156e+01] [ 5.72986030e-03 -1.84000572e-04 9.99983567e-01 4.96059923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0207140570001 meters Centerline goodness : 0.989280 with order 1 Centerline is valid? [True, True] Translation: X:901.83, Y:-50.49, Z:4.96 [[ 9.99635335e-01 2.63899468e-02 -5.72428551e-03 9.01833484e+02] [-2.63885892e-02 9.99651712e-01 3.12586859e-04 -5.04857246e+01] [ 5.73054096e-03 -1.61417051e-04 9.99983567e-01 4.96482401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.080714057 meters Centerline goodness : 0.990289 with order 1 Centerline is valid? [True, True] Translation: X:901.89, Y:-50.49, Z:4.96 [[ 9.99618940e-01 2.70038197e-02 -5.72430730e-03 9.01890779e+02] [-2.70024744e-02 9.99635318e-01 3.12187318e-04 -5.04862810e+01] [ 5.73065000e-03 -1.57497894e-04 9.99983567e-01 4.96219086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1407140570001 meters Centerline goodness : 0.990381 with order 1 Centerline is valid? [True, True] Translation: X:901.95, Y:-50.49, Z:4.97 [[ 9.99611786e-01 2.72673583e-02 -5.72434507e-03 9.01948515e+02] [-2.72660213e-02 9.99628164e-01 3.11493234e-04 -5.04852251e+01] [ 5.73071015e-03 -1.55292194e-04 9.99983567e-01 4.96771671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.200714057 meters Centerline goodness : 0.993319 with order 1 Centerline is valid? [True, True] Translation: X:902.01, Y:-50.48, Z:4.97 [[ 9.99731017e-01 2.24749748e-02 -5.72437071e-03 9.02008269e+02] [-2.24735620e-02 9.99747389e-01 3.11021396e-04 -5.04771203e+01] [ 5.72991487e-03 -1.82290737e-04 9.99983567e-01 4.97131706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2607140570001 meters Centerline goodness : 0.990384 with order 1 Centerline is valid? [True, True] Translation: X:902.07, Y:-50.49, Z:4.97 [[ 9.99590589e-01 2.80336441e-02 -5.72438583e-03 9.02066580e+02] [-2.80323239e-02 9.99606969e-01 3.10742799e-04 -5.04891339e+01] [ 5.73084722e-03 -1.50147740e-04 9.99983567e-01 4.97356562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.320714057 meters Centerline goodness : 0.991292 with order 1 Centerline is valid? [True, True] Translation: X:902.12, Y:-50.49, Z:4.97 [[ 9.99642303e-01 2.61246332e-02 -5.72446234e-03 9.02123865e+02] [-2.61232899e-02 9.99658681e-01 3.09326890e-04 -5.04925661e+01] [ 5.73058952e-03 -1.59674455e-04 9.99983567e-01 4.97051526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3807140570001 meters Centerline goodness : 0.990767 with order 1 Centerline is valid? [True, True] Translation: X:902.18, Y:-50.50, Z:4.98 [[ 9.99619230e-01 2.69930740e-02 -5.72449948e-03 9.02182385e+02] [-2.69917488e-02 9.99635609e-01 3.08637976e-04 -5.04953525e+01] [ 5.73074461e-03 -1.54006204e-04 9.99983567e-01 4.97657318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.440714057 meters Centerline goodness : 0.991025 with order 1 Centerline is valid? [True, True] Translation: X:902.24, Y:-50.50, Z:4.97 [[ 9.99622145e-01 2.68848769e-02 -5.72452273e-03 9.02239881e+02] [-2.68835524e-02 9.99638524e-01 3.08206139e-04 -5.04991027e+01] [ 5.73073954e-03 -1.54194175e-04 9.99983567e-01 4.97439339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.500714057 meters Centerline goodness : 0.990354 with order 1 Centerline is valid? [True, True] Translation: X:902.30, Y:-50.50, Z:4.97 [[ 9.99646939e-01 2.59466098e-02 -5.72455140e-03 9.02297562e+02] [-2.59452730e-02 9.99663317e-01 3.07672738e-04 -5.05006800e+01] [ 5.73060711e-03 -1.59039062e-04 9.99983567e-01 4.97159378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.560714057 meters Centerline goodness : 0.991865 with order 1 Centerline is valid? [True, True] Translation: X:902.36, Y:-50.49, Z:4.98 [[ 9.99657264e-01 2.55457191e-02 -5.72457879e-03 9.02356950e+02] [-2.55443786e-02 9.99673642e-01 3.07162363e-04 -5.04924185e+01] [ 5.73055721e-03 -1.60826279e-04 9.99983567e-01 4.97778552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.620714057 meters Centerline goodness : 0.991635 with order 1 Centerline is valid? [True, True] Translation: X:902.42, Y:-50.50, Z:4.98 [[ 9.99385611e-01 3.45778791e-02 -5.72460040e-03 9.02415225e+02] [-3.45766890e-02 9.99402000e-01 3.06759037e-04 -5.04996813e+01] [ 5.73178417e-03 -1.08632840e-04 9.99983567e-01 4.97836752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.680714057 meters Centerline goodness : 0.991556 with order 1 Centerline is valid? [True, True] Translation: X:902.47, Y:-50.50, Z:4.98 [[ 9.99231841e-01 3.87679793e-02 -5.72467779e-03 9.02473603e+02] [-3.87668663e-02 9.99248236e-01 3.05307815e-04 -5.04992804e+01] [ 5.73221035e-03 -8.31454720e-05 9.99983567e-01 4.97824146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.740714057 meters Centerline goodness : 0.992305 with order 1 Centerline is valid? [True, True] Translation: X:902.53, Y:-50.50, Z:4.98 [[ 9.99132049e-01 4.12598645e-02 -5.72475512e-03 9.02531255e+02] [-4.12588007e-02 9.99148447e-01 3.03850862e-04 -5.04997337e+01] [ 5.73241704e-03 -6.73906031e-05 9.99983567e-01 4.97761642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.800714057 meters Centerline goodness : 0.991274 with order 1 Centerline is valid? [True, True] Translation: X:902.59, Y:-50.50, Z:4.98 [[ 9.99149524e-01 4.08344988e-02 -5.72478217e-03 9.02589892e+02] [-4.08334309e-02 9.99165922e-01 3.03340417e-04 -5.05025666e+01] [ 5.73239401e-03 -6.93199358e-05 9.99983567e-01 4.97599874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.860714057 meters Centerline goodness : 0.992217 with order 1 Centerline is valid? [True, True] Translation: X:902.65, Y:-50.51, Z:4.98 [[ 9.99177553e-01 4.01427879e-02 -5.72485627e-03 9.02647727e+02] [-4.01417167e-02 9.99193951e-01 3.01935473e-04 -5.05063246e+01] [ 5.73236229e-03 -7.18815889e-05 9.99983567e-01 4.97735850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.920714057 meters Centerline goodness : 0.992989 with order 1 Centerline is valid? [True, True] Translation: X:902.71, Y:-50.51, Z:4.98 [[ 9.99101611e-01 4.19904356e-02 -5.72494059e-03 9.02706637e+02] [-4.19894040e-02 9.99118011e-01 3.00328154e-04 -5.05088833e+01] [ 5.73250216e-03 -5.96714991e-05 9.99983567e-01 4.98124645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.980714057 meters Centerline goodness : 0.993026 with order 1 Centerline is valid? [True, True] Translation: X:902.76, Y:-50.51, Z:4.98 [[ 9.99093285e-01 4.21880466e-02 -5.72501996e-03 9.02764214e+02] [-4.21870269e-02 9.99109686e-01 2.98807422e-04 -5.05121229e+01] [ 5.73252900e-03 -5.70149183e-05 9.99983567e-01 4.98107142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0407140570001 meters Centerline goodness : 0.994931 with order 1 Centerline is valid? [True, True] Translation: X:902.82, Y:-50.51, Z:4.98 [[ 9.99306689e-01 3.67881241e-02 -5.72504789e-03 9.02822068e+02] [-3.67870189e-02 9.99323084e-01 2.98271394e-04 -5.05102640e+01] [ 5.73214536e-03 -8.74571541e-05 9.99983567e-01 4.98178408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.100714057 meters Centerline goodness : 0.994819 with order 1 Centerline is valid? [True, True] Translation: X:902.88, Y:-50.51, Z:4.98 [[ 9.99390194e-01 3.44450725e-02 -5.72507406e-03 9.02880882e+02] [-3.44439317e-02 9.99406587e-01 2.97768252e-04 -5.05144592e+01] [ 5.73193337e-03 -1.00392611e-04 9.99983567e-01 4.98267412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1607140570001 meters Centerline goodness : 0.995022 with order 1 Centerline is valid? [True, True] Translation: X:902.94, Y:-50.52, Z:4.98 [[ 9.99473001e-01 3.19521930e-02 -5.72509510e-03 9.02938063e+02] [-3.19510137e-02 9.99489392e-01 2.97363047e-04 -5.05188574e+01] [ 5.73167322e-03 -1.14283745e-04 9.99983567e-01 4.98213008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.220714057 meters Centerline goodness : 0.995600 with order 1 Centerline is valid? [True, True] Translation: X:903.00, Y:-50.52, Z:4.98 [[ 9.99479276e-01 3.17553093e-02 -5.72512104e-03 9.02995992e+02] [-3.17541296e-02 9.99495666e-01 2.96862844e-04 -5.05221616e+01] [ 5.73166064e-03 -1.14912025e-04 9.99983567e-01 4.97756523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2807140570001 meters Centerline goodness : 0.994798 with order 1 Centerline is valid? [True, True] Translation: X:903.05, Y:-50.52, Z:4.98 [[ 9.99557033e-01 2.92054714e-02 -5.72514628e-03 9.03054586e+02] [-2.92042526e-02 9.99573421e-01 2.96375209e-04 -5.05249091e+01] [ 5.73135983e-03 -1.29045307e-04 9.99983567e-01 4.98313204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.340714057 meters Centerline goodness : 0.995008 with order 1 Centerline is valid? [True, True] Translation: X:903.11, Y:-50.53, Z:4.98 [[ 9.99538702e-01 2.98262715e-02 -5.72516669e-03 9.03112234e+02] [-2.98250652e-02 9.99555090e-01 2.95980467e-04 -5.05273449e+01] [ 5.73144750e-03 -1.25090462e-04 9.99983567e-01 4.98359596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4007140570001 meters Centerline goodness : 0.993604 with order 1 Centerline is valid? [True, True] Translation: X:903.17, Y:-50.54, Z:4.98 [[ 9.99431274e-01 3.32317515e-02 -5.72524728e-03 9.03170112e+02] [-3.32306100e-02 9.99447667e-01 2.94413363e-04 -5.05365611e+01] [ 5.73186891e-03 -1.03992463e-04 9.99983567e-01 4.98452803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.460714057 meters Centerline goodness : 0.995286 with order 1 Centerline is valid? [True, True] Translation: X:903.23, Y:-50.53, Z:4.99 [[ 9.99651636e-01 2.57648664e-02 -5.72528933e-03 9.03227845e+02] [-2.57636072e-02 9.99668020e-01 2.93593218e-04 -5.05316497e+01] [ 5.73095304e-03 -1.45986835e-04 9.99983567e-01 4.98687513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5207140570001 meters Centerline goodness : 0.994525 with order 1 Centerline is valid? [True, True] Translation: X:903.29, Y:-50.53, Z:4.99 [[ 9.99686273e-01 2.43839388e-02 -5.72531650e-03 9.03286890e+02] [-2.43826600e-02 9.99702656e-01 2.93062479e-04 -5.05331766e+01] [ 5.73076013e-03 -1.53372091e-04 9.99983567e-01 4.98560521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.580714057 meters Centerline goodness : 0.994695 with order 1 Centerline is valid? [True, True] Translation: X:903.35, Y:-50.54, Z:4.99 [[ 9.99747619e-01 2.17236767e-02 -5.72533696e-03 9.03345985e+02] [-2.17223566e-02 9.99763999e-01 2.92662293e-04 -5.05379321e+01] [ 5.73034347e-03 -1.68220619e-04 9.99983567e-01 4.98594414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6407140570001 meters Centerline goodness : 0.993099 with order 1 Centerline is valid? [True, True] Translation: X:903.40, Y:-50.55, Z:4.98 [[ 9.99680215e-01 2.46310222e-02 -5.72535763e-03 9.03403830e+02] [-2.46297521e-02 9.99696599e-01 2.92257278e-04 -5.05520620e+01] [ 5.73081915e-03 -1.51149680e-04 9.99983567e-01 4.98209780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.700714057 meters Centerline goodness : 0.995186 with order 1 Centerline is valid? [True, True] Translation: X:903.46, Y:-50.55, Z:4.99 [[ 9.99856288e-01 1.59568749e-02 -5.72543217e-03 9.03462255e+02] [-1.59554711e-02 9.99872661e-01 2.90789623e-04 -5.05472854e+01] [ 5.72934320e-03 -1.99395866e-04 9.99983567e-01 4.98875342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7607140570001 meters Centerline goodness : 0.993603 with order 1 Centerline is valid? [True, True] Translation: X:903.52, Y:-50.56, Z:4.99 [[ 9.99731198e-01 2.24666740e-02 -5.72545802e-03 9.03521158e+02] [-2.24653797e-02 9.99747579e-01 2.90279813e-04 -5.05551921e+01] [ 5.73053442e-03 -1.61577196e-04 9.99983567e-01 4.99472619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.820714057 meters Centerline goodness : 0.994009 with order 1 Centerline is valid? [True, True] Translation: X:903.58, Y:-50.55, Z:5.00 [[ 9.99589159e-01 2.80843527e-02 -5.72552865e-03 9.03580486e+02] [-2.80831585e-02 9.99605549e-01 2.88879917e-04 -5.05545850e+01] [ 5.73138321e-03 -1.27970305e-04 9.99983567e-01 5.00020964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8807140570001 meters Centerline goodness : 0.995477 with order 1 Centerline is valid? [True, True] Translation: X:903.64, Y:-50.55, Z:4.99 [[ 9.99575012e-01 2.85834498e-02 -5.72559887e-03 9.03639673e+02] [-2.85822718e-02 9.99591402e-01 2.87481392e-04 -5.05504090e+01] [ 5.73147661e-03 -1.23708592e-04 9.99983567e-01 4.99278812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.940714057 meters Centerline goodness : 0.994903 with order 1 Centerline is valid? [True, True] Translation: X:903.70, Y:-50.55, Z:4.99 [[ 9.99517486e-01 3.05288690e-02 -5.72560416e-03 9.03698376e+02] [-3.05277235e-02 9.99533879e-01 2.87376091e-04 -5.05535944e+01] [ 5.73170860e-03 -1.12447767e-04 9.99983567e-01 4.99329615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.000714057 meters Centerline goodness : 0.995390 with order 1 Centerline is valid? [True, True] Translation: X:903.76, Y:-50.56, Z:4.99 [[ 9.99513929e-01 3.06451173e-02 -5.72562456e-03 9.03755946e+02] [-3.06439760e-02 9.99530322e-01 2.86968987e-04 -5.05574194e+01] [ 5.73172956e-03 -1.11373598e-04 9.99983567e-01 4.99300147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.060714057 meters Centerline goodness : 0.995284 with order 1 Centerline is valid? [True, True] Translation: X:903.81, Y:-50.56, Z:4.99 [[ 9.99498306e-01 3.11504822e-02 -5.72570676e-03 9.03813017e+02] [-3.11493586e-02 9.99514700e-01 2.85319436e-04 -5.05616077e+01] [ 5.73181591e-03 -1.06824200e-04 9.99983567e-01 4.99230846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.120714057 meters Centerline goodness : 0.994562 with order 1 Centerline is valid? [True, True] Translation: X:903.87, Y:-50.56, Z:4.99 [[ 9.99445138e-01 3.28120862e-02 -5.72574191e-03 9.03870916e+02] [-3.28109940e-02 9.99461534e-01 2.84612373e-04 -5.05645758e+01] [ 5.73199751e-03 -9.65871689e-05 9.99983567e-01 4.99328668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.180714057 meters Centerline goodness : 0.995071 with order 1 Centerline is valid? [True, True] Translation: X:903.93, Y:-50.57, Z:4.99 [[ 9.99436488e-01 3.30744724e-02 -5.72582270e-03 9.03928257e+02] [-3.30733939e-02 9.99452886e-01 2.82977519e-04 -5.05668095e+01] [ 5.73204936e-03 -9.34456688e-05 9.99983567e-01 4.99314714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.240714057 meters Centerline goodness : 0.994913 with order 1 Centerline is valid? [True, True] Translation: X:903.99, Y:-50.57, Z:5.00 [[ 9.99478344e-01 3.17844934e-02 -5.72590206e-03 9.03986957e+02] [-3.17834030e-02 9.99494740e-01 2.81362460e-04 -5.05693364e+01] [ 5.73195196e-03 -9.92270329e-05 9.99983567e-01 4.99528924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.300714057 meters Centerline goodness : 0.991584 with order 1 Centerline is valid? [True, True] Translation: X:904.04, Y:-50.59, Z:4.99 [[ 9.99209691e-01 3.93345611e-02 -5.72592160e-03 9.04044777e+02] [-3.93335968e-02 9.99226095e-01 2.80964398e-04 -5.05862061e+01] [ 5.73254189e-03 -5.55212576e-05 9.99983567e-01 4.99116801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.360714057 meters Centerline goodness : 0.991452 with order 1 Centerline is valid? [True, True] Translation: X:904.10, Y:-50.59, Z:4.99 [[ 9.99194565e-01 3.97169380e-02 -5.72599160e-03 9.04103224e+02] [-3.97159883e-02 9.99210970e-01 2.79530369e-04 -5.05915813e+01] [ 5.73257571e-03 -5.18918098e-05 9.99983567e-01 4.98801699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.420714057 meters Centerline goodness : 0.994525 with order 1 Centerline is valid? [True, True] Translation: X:904.16, Y:-50.58, Z:5.00 [[ 9.99620768e-01 2.69357160e-02 -5.72606450e-03 9.04162502e+02] [-2.69345651e-02 9.99637160e-01 2.78028947e-04 -5.05804540e+01] [ 5.73147577e-03 -1.23694452e-04 9.99983567e-01 4.99603865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.480714057 meters Centerline goodness : 0.993966 with order 1 Centerline is valid? [True, True] Translation: X:904.22, Y:-50.58, Z:5.00 [[ 9.99647225e-01 2.59352389e-02 -5.72607985e-03 9.04220166e+02] [-2.59340734e-02 9.99663617e-01 2.77712575e-04 -5.05836746e+01] [ 5.73135623e-03 -1.29114030e-04 9.99983567e-01 4.99721051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5407140570001 meters Centerline goodness : 0.985676 with order 1 Centerline is valid? [True, True] Translation: X:904.28, Y:-50.59, Z:5.00 [[ 9.99704018e-01 2.36450275e-02 -5.72610955e-03 9.04278474e+02] [-2.36438279e-02 9.99720407e-01 2.77098826e-04 -5.05867853e+01] [ 5.73106058e-03 -1.41629661e-04 9.99983567e-01 4.99830161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.600714057 meters Centerline goodness : 0.994073 with order 1 Centerline is valid? [True, True] Translation: X:904.34, Y:-50.59, Z:5.00 [[ 9.99710444e-01 2.33717833e-02 -5.72614283e-03 9.04335739e+02] [-2.33705832e-02 9.99726832e-01 2.76409281e-04 -5.05908232e+01] [ 5.73103882e-03 -1.42505948e-04 9.99983567e-01 4.99660932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6607140570001 meters Centerline goodness : 0.994351 with order 1 Centerline is valid? [True, True] Translation: X:904.39, Y:-50.59, Z:5.00 [[ 9.99738649e-01 2.21324181e-02 -5.72618931e-03 9.04394313e+02] [-2.21312033e-02 9.99755037e-01 2.75443133e-04 -5.05944526e+01] [ 5.73088283e-03 -1.48643686e-04 9.99983567e-01 4.99715002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.720714057 meters Centerline goodness : 0.993774 with order 1 Centerline is valid? [True, True] Translation: X:904.45, Y:-50.60, Z:5.00 [[ 9.99761820e-01 2.10597733e-02 -5.72620864e-03 9.04452207e+02] [-2.10585431e-02 9.99778206e-01 2.75040736e-04 -5.05980206e+01] [ 5.73073090e-03 -1.54389616e-04 9.99983567e-01 4.99834601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7807140570001 meters Centerline goodness : 0.993823 with order 1 Centerline is valid? [True, True] Translation: X:904.51, Y:-50.60, Z:5.00 [[ 9.99795694e-01 1.93850835e-02 -5.72623804e-03 9.04510057e+02] [-1.93838294e-02 9.99812078e-01 2.74427294e-04 -5.06012276e+01] [ 5.73048175e-03 -1.63374805e-04 9.99983567e-01 4.99836288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.840714057 meters Centerline goodness : 0.994065 with order 1 Centerline is valid? [True, True] Translation: X:904.57, Y:-50.61, Z:5.00 [[ 9.99836651e-01 1.71429880e-02 -5.72626741e-03 9.04567634e+02] [-1.71417007e-02 9.99853033e-01 2.73813010e-04 -5.06055888e+01] [ 5.73011981e-03 -1.75610321e-04 9.99983567e-01 4.99607636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9007140570001 meters Centerline goodness : 0.993776 with order 1 Centerline is valid? [True, True] Translation: X:904.63, Y:-50.61, Z:4.99 [[ 9.99897201e-01 1.31452067e-02 -5.72629153e-03 9.04626229e+02] [-1.31438568e-02 9.99913578e-01 2.73307726e-04 -5.06097183e+01] [ 5.72938934e-03 -1.98014074e-04 9.99983567e-01 4.99407386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.960714057 meters Centerline goodness : 0.993108 with order 1 Centerline is valid? [True, True] Translation: X:904.68, Y:-50.61, Z:4.99 [[ 9.99948001e-01 8.43824835e-03 -5.72631078e-03 9.04684339e+02] [-8.43682368e-03 9.99964372e-01 2.72903695e-04 -5.06136804e+01] [ 5.72840959e-03 -2.24577630e-04 9.99983567e-01 4.99200145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0207140570001 meters Centerline goodness : 0.993322 with order 1 Centerline is valid? [True, True] Translation: X:904.74, Y:-50.62, Z:4.99 [[ 9.99966373e-01 5.87051018e-03 -5.72633977e-03 9.04742056e+02] [-5.86904697e-03 9.99982740e-01 2.72294030e-04 -5.06168984e+01] [ 5.72783944e-03 -2.38676716e-04 9.99983567e-01 4.99125594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.080714057 meters Centerline goodness : 0.992174 with order 1 Centerline is valid? [True, True] Translation: X:904.80, Y:-50.62, Z:4.99 [[ 9.99950893e-01 8.08834448e-03 -5.72636759e-03 9.04799817e+02] [-8.08692092e-03 9.99967263e-01 2.71707623e-04 -5.06191006e+01] [ 5.72837780e-03 -2.25385598e-04 9.99983567e-01 4.99188058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1407140570001 meters Centerline goodness : 0.988748 with order 1 Centerline is valid? [True, True] Translation: X:904.86, Y:-50.63, Z:4.99 [[ 9.99878874e-01 1.44722482e-02 -5.72639047e-03 9.04857738e+02] [-1.44709320e-02 9.99895254e-01 2.71224716e-04 -5.06273993e+01] [ 5.72971588e-03 -1.88325656e-04 9.99983567e-01 4.98839285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.200714057 meters Centerline goodness : 0.987326 with order 1 Centerline is valid? [True, True] Translation: X:904.91, Y:-50.66, Z:4.98 [[ 9.99128730e-01 4.13399047e-02 -5.72647495e-03 9.04914732e+02] [-4.13390395e-02 9.99145140e-01 2.69429157e-04 -5.06603331e+01] [ 5.73271779e-03 -3.24674372e-05 9.99983567e-01 4.97885932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2607140570001 meters Centerline goodness : 0.990848 with order 1 Centerline is valid? [True, True] Translation: X:904.97, Y:-50.63, Z:4.99 [[ 9.99873559e-01 1.48348413e-02 -5.72655789e-03 9.04974766e+02] [-1.48335514e-02 9.99889941e-01 2.67654663e-04 -5.06294985e+01] [ 5.72989824e-03 -1.82675629e-04 9.99983567e-01 4.98967581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.320714057 meters Centerline goodness : 0.990824 with order 1 Centerline is valid? [True, True] Translation: X:905.03, Y:-50.63, Z:4.99 [[ 9.99791333e-01 1.96085729e-02 -5.72656757e-03 9.05033333e+02] [-1.96073624e-02 9.99807721e-01 2.67447360e-04 -5.06327020e+01] [ 5.73071073e-03 -1.55108667e-04 9.99983567e-01 4.98952078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3807140570001 meters Centerline goodness : 0.991395 with order 1 Centerline is valid? [True, True] Translation: X:905.09, Y:-50.63, Z:4.99 [[ 9.99512466e-01 3.06926133e-02 -5.72658609e-03 9.05091297e+02] [-3.06915869e-02 9.99528867e-01 2.67050105e-04 -5.06291645e+01] [ 5.73208457e-03 -9.11618941e-05 9.99983567e-01 4.98695959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.440714057 meters Centerline goodness : 0.989451 with order 1 Centerline is valid? [True, True] Translation: X:905.15, Y:-50.65, Z:4.99 [[ 9.99100588e-01 4.20145316e-02 -5.72660884e-03 9.05149134e+02] [-4.20136938e-02 9.99116999e-01 2.66561513e-04 -5.06468373e+01] [ 5.73275169e-03 -2.57257745e-05 9.99983567e-01 4.99012950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.500714057 meters Centerline goodness : 0.988946 with order 1 Centerline is valid? [True, True] Translation: X:905.21, Y:-50.64, Z:4.99 [[ 9.98940830e-01 4.56554865e-02 -5.72667424e-03 9.05207370e+02] [-4.56547167e-02 9.98957245e-01 2.65148870e-04 -5.06427225e+01] [ 5.73280822e-03 -3.41834196e-06 9.99983567e-01 4.99180720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.560714057 meters Centerline goodness : 0.988947 with order 1 Centerline is valid? [True, True] Translation: X:905.26, Y:-50.64, Z:4.99 [[ 9.98918802e-01 4.61349252e-02 -5.72674709e-03 9.05264329e+02] [-4.61341724e-02 9.98935217e-01 2.63566116e-04 -5.06444557e+01] [ 5.73280895e-03 9.17588307e-07 9.99983567e-01 4.99255760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.620714057 meters Centerline goodness : 0.989742 with order 1 Centerline is valid? [True, True] Translation: X:905.32, Y:-50.65, Z:4.99 [[ 9.98609411e-01 5.24065607e-02 -5.72679616e-03 9.05322065e+02] [-5.24059171e-02 9.98625831e-01 2.62495467e-04 -5.06487088e+01] [ 5.73268306e-03 3.79875611e-05 9.99983567e-01 4.99148610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.680714057 meters Centerline goodness : 0.984474 with order 1 Centerline is valid? [True, True] Translation: X:905.38, Y:-50.67, Z:4.98 [[ 9.97175530e-01 7.48876837e-02 -5.72686775e-03 9.05380465e+02] [-7.48874192e-02 9.97191961e-01 2.60924188e-04 -5.06736997e+01] [ 5.73032649e-03 1.68683130e-04 9.99983567e-01 4.98310402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.740714057 meters Centerline goodness : 0.987923 with order 1 Centerline is valid? [True, True] Translation: X:905.44, Y:-50.66, Z:4.99 [[ 9.98018328e-01 6.26627409e-02 -5.72689679e-03 9.05441056e+02] [-6.26622787e-02 9.98034754e-01 2.60285325e-04 -5.06594702e+01] [ 5.73195222e-03 9.90908775e-05 9.99983567e-01 4.99004553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.800714057 meters Centerline goodness : 0.986882 with order 1 Centerline is valid? [True, True] Translation: X:905.50, Y:-50.65, Z:4.99 [[ 9.98390837e-01 5.64175434e-02 -5.72690576e-03 9.05498301e+02] [-5.64169795e-02 9.98407260e-01 2.60087841e-04 -5.06532011e+01] [ 5.73245780e-03 6.34254074e-05 9.99983567e-01 4.98995137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.860714057 meters Centerline goodness : 0.985552 with order 1 Centerline is valid? [True, True] Translation: X:905.56, Y:-50.63, Z:4.99 [[ 9.98951608e-01 4.54190173e-02 -5.72698544e-03 9.05557993e+02] [-4.54182827e-02 9.98968024e-01 2.58321277e-04 -5.06335473e+01] [ 5.73280803e-03 2.05938888e-06 9.99983567e-01 4.99173076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.920714057 meters Centerline goodness : 0.989804 with order 1 Centerline is valid? [True, True] Translation: X:905.62, Y:-50.66, Z:4.99 [[ 9.97737341e-01 6.69880471e-02 -5.72706313e-03 9.05615437e+02] [-6.69876773e-02 9.97753770e-01 2.56587105e-04 -5.06588921e+01] [ 5.73138710e-03 1.27636120e-04 9.99983567e-01 4.99321009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.980714057 meters Centerline goodness : 0.992211 with order 1 Centerline is valid? [True, True] Translation: X:905.67, Y:-50.66, Z:4.99 [[ 9.97831082e-01 6.55769161e-02 -5.72714715e-03 9.05673033e+02] [-6.55765339e-02 9.97847510e-01 2.54697956e-04 -5.06563501e+01] [ 5.73152183e-03 1.21420922e-04 9.99983567e-01 4.99242463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0407140570001 meters Centerline goodness : 0.994223 with order 1 Centerline is valid? [True, True] Translation: X:905.73, Y:-50.65, Z:4.99 [[ 9.97409251e-01 7.17076370e-02 -5.72721698e-03 9.05731474e+02] [-7.17073648e-02 9.97425681e-01 2.53117922e-04 -5.06515109e+01] [ 5.73062379e-03 1.58221480e-04 9.99983567e-01 4.98908581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.100714057 meters Centerline goodness : 0.985050 with order 1 Centerline is valid? [True, True] Translation: X:905.79, Y:-50.68, Z:5.00 [[ 9.96992800e-01 7.72823092e-02 -5.72723842e-03 9.05788842e+02] [-7.72821316e-02 9.97009232e-01 2.52631765e-04 -5.06789358e+01] [ 5.72963355e-03 1.90741143e-04 9.99983567e-01 4.99692029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1607140570001 meters Centerline goodness : 0.993874 with order 1 Centerline is valid? [True, True] Translation: X:905.85, Y:-50.66, Z:4.99 [[ 9.97175246e-01 7.48914337e-02 -5.72729832e-03 9.05848297e+02] [-7.48912246e-02 9.97191677e-01 2.51266449e-04 -5.06567940e+01] [ 5.73003193e-03 1.78367702e-04 9.99983567e-01 4.98647204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.220714057 meters Centerline goodness : 0.989640 with order 1 Centerline is valid? [True, True] Translation: X:905.91, Y:-50.67, Z:5.00 [[ 9.97629196e-01 6.85797683e-02 -5.72731944e-03 9.05905896e+02] [-6.85794580e-02 9.97645626e-01 2.50784276e-04 -5.06725212e+01] [ 5.73103391e-03 1.42586747e-04 9.99983567e-01 4.99873846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2807140570001 meters Centerline goodness : 0.989374 with order 1 Centerline is valid? [True, True] Translation: X:905.96, Y:-50.67, Z:5.00 [[ 9.97977071e-01 6.33163678e-02 -5.72737842e-03 9.05963981e+02] [-6.33159786e-02 9.97993499e-01 2.49429804e-04 -5.06735010e+01] [ 5.73167942e-03 1.13709344e-04 9.99983567e-01 4.99915954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.340714057 meters Centerline goodness : 0.986298 with order 1 Centerline is valid? [True, True] Translation: X:906.03, Y:-50.65, Z:5.00 [[ 9.99011285e-01 4.40868405e-02 -5.72744537e-03 9.06025044e+02] [-4.40861439e-02 9.99027703e-01 2.47883055e-04 -5.06526677e+01] [ 5.73280497e-03 4.86301164e-06 9.99983567e-01 4.99946222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4007140570001 meters Centerline goodness : 0.991023 with order 1 Centerline is valid? [True, True] Translation: X:906.08, Y:-50.67, Z:4.99 [[ 9.98591619e-01 5.27444324e-02 -5.72744537e-03 9.06083048e+02] [-5.27438782e-02 9.98608042e-01 2.47883055e-04 -5.06715913e+01] [ 5.73254745e-03 5.45537396e-05 9.99983567e-01 4.99489732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.460714057 meters Centerline goodness : 0.990643 with order 1 Centerline is valid? [True, True] Translation: X:906.14, Y:-50.67, Z:4.99 [[ 9.98958444e-01 4.52683305e-02 -5.72752918e-03 9.06141178e+02] [-4.52676645e-02 9.98974864e-01 2.45931117e-04 -5.06725808e+01] [ 5.73279057e-03 1.35969028e-05 9.99983567e-01 4.99462980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5207140570001 meters Centerline goodness : 0.987696 with order 1 Centerline is valid? [True, True] Translation: X:906.20, Y:-50.69, Z:4.99 [[ 9.98917979e-01 4.61526322e-02 -5.72760653e-03 9.06198484e+02] [-4.61519912e-02 9.98934399e-01 2.44116246e-04 -5.06918652e+01] [ 5.73276980e-03 2.04883389e-05 9.99983567e-01 4.99066588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.580714057 meters Centerline goodness : 0.986597 with order 1 Centerline is valid? [True, True] Translation: X:906.26, Y:-50.66, Z:4.99 [[ 9.99863217e-01 1.55158573e-02 -5.72763046e-03 9.06258168e+02] [-1.55147165e-02 9.99879610e-01 2.43553466e-04 -5.06595146e+01] [ 5.73071985e-03 -1.54657589e-04 9.99983567e-01 4.99451152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6407140570001 meters Centerline goodness : 0.989264 with order 1 Centerline is valid? [True, True] Translation: X:906.32, Y:-50.69, Z:4.99 [[ 9.99199677e-01 3.95878769e-02 -5.72767856e-03 9.06315165e+02] [-3.95871377e-02 9.99216093e-01 2.42416940e-04 -5.06941170e+01] [ 5.73278537e-03 -1.54805284e-05 9.99983567e-01 4.98671563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.700714057 meters Centerline goodness : 0.988635 with order 1 Centerline is valid? [True, True] Translation: X:906.37, Y:-50.70, Z:4.99 [[ 9.99332829e-01 3.60706261e-02 -5.72770724e-03 9.06373342e+02] [-3.60698331e-02 9.99349243e-01 2.41737469e-04 -5.06968082e+01] [ 5.73269952e-03 -3.49787445e-05 9.99983567e-01 4.98766285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7607140570001 meters Centerline goodness : 0.988957 with order 1 Centerline is valid? [True, True] Translation: X:906.43, Y:-50.70, Z:4.99 [[ 9.99328753e-01 3.61833771e-02 -5.72772769e-03 9.06432177e+02] [-3.61825886e-02 9.99345167e-01 2.41251900e-04 -5.06972791e+01] [ 5.73270629e-03 -3.38459454e-05 9.99983567e-01 4.98839533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.820714057 meters Centerline goodness : 0.985097 with order 1 Centerline is valid? [True, True] Translation: X:906.49, Y:-50.68, Z:4.99 [[ 9.99607874e-01 2.74096747e-02 -5.72778432e-03 9.06491811e+02] [-2.74087499e-02 9.99624281e-01 2.39899954e-04 -5.06778307e+01] [ 5.73220786e-03 -8.28144757e-05 9.99983567e-01 4.99025834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8807140570001 meters Centerline goodness : 0.985892 with order 1 Centerline is valid? [True, True] Translation: X:906.55, Y:-50.68, Z:4.99 [[ 9.99192417e-01 3.97706614e-02 -5.72782560e-03 9.06549440e+02] [-3.97699453e-02 9.99208834e-01 2.38910186e-04 -5.06804930e+01] [ 5.73279556e-03 -1.09219354e-05 9.99983567e-01 4.99270971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.940714057 meters Centerline goodness : 0.985583 with order 1 Centerline is valid? [True, True] Translation: X:906.61, Y:-50.69, Z:4.99 [[ 9.98572467e-01 5.31057487e-02 -5.72786028e-03 9.06607853e+02] [-5.31052566e-02 9.98588892e-01 2.38075753e-04 -5.06850242e+01] [ 5.73242085e-03 6.64435988e-05 9.99983567e-01 4.99433705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.000714057 meters Centerline goodness : 0.993047 with order 1 Centerline is valid? [True, True] Translation: X:906.67, Y:-50.69, Z:5.00 [[ 9.97710094e-01 6.73925709e-02 -5.72794021e-03 9.06666192e+02] [-6.73923251e-02 9.97726525e-01 2.36136904e-04 -5.06945786e+01] [ 5.73083176e-03 1.50423036e-04 9.99983567e-01 4.99512716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.060714057 meters Centerline goodness : 0.990567 with order 1 Centerline is valid? [True, True] Translation: X:906.72, Y:-50.71, Z:4.99 [[ 9.96725938e-01 8.06510696e-02 -5.72801806e-03 9.06724845e+02] [-8.06510532e-02 9.96742370e-01 2.34233310e-04 -5.07058876e+01] [ 5.72824946e-03 2.28504273e-04 9.99983567e-01 4.98991501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.120714057 meters Centerline goodness : 0.988333 with order 1 Centerline is valid? [True, True] Translation: X:906.78, Y:-50.72, Z:4.99 [[ 9.95421897e-01 9.54066851e-02 -5.72805002e-03 9.06781967e+02] [-9.54069166e-02 9.95438328e-01 2.33448927e-04 -5.07169113e+01] [ 5.72419313e-03 3.14115417e-04 9.99983567e-01 4.98619300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.180714057 meters Centerline goodness : 0.987597 with order 1 Centerline is valid? [True, True] Translation: X:906.84, Y:-50.72, Z:4.99 [[ 9.95078953e-01 9.89194962e-02 -5.72811915e-03 9.06840372e+02] [-9.89197955e-02 9.95095383e-01 2.31740354e-04 -5.07197508e+01] [ 5.72294855e-03 3.36024426e-04 9.99983567e-01 4.98660938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.240714057 meters Centerline goodness : 0.992617 with order 1 Centerline is valid? [True, True] Translation: X:906.90, Y:-50.71, Z:4.99 [[ 9.95433824e-01 9.52821644e-02 -5.72817188e-03 9.06899040e+02] [-9.52824112e-02 9.95450254e-01 2.30429402e-04 -5.07079858e+01] [ 5.72406597e-03 3.16416808e-04 9.99983567e-01 4.98599954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.300714057 meters Centerline goodness : 0.987966 with order 1 Centerline is valid? [True, True] Translation: X:906.96, Y:-50.72, Z:4.99 [[ 9.94480970e-01 1.04760626e-01 -5.72819039e-03 9.06957500e+02] [-1.04761032e-01 9.94497397e-01 2.29968326e-04 -5.07249958e+01] [ 5.72076206e-03 3.71392016e-04 9.99983567e-01 4.99149724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.360714057 meters Centerline goodness : 0.992839 with order 1 Centerline is valid? [True, True] Translation: X:907.02, Y:-50.72, Z:4.99 [[ 9.95265604e-01 9.70235263e-02 -5.72824365e-03 9.07016941e+02] [-9.70238121e-02 9.95282034e-01 2.28634027e-04 -5.07165959e+01] [ 5.72340087e-03 3.28224452e-04 9.99983567e-01 4.99065476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.420714057 meters Centerline goodness : 0.988444 with order 1 Centerline is valid? [True, True] Translation: X:907.07, Y:-50.73, Z:4.99 [[ 9.94302862e-01 1.06437799e-01 -5.72829612e-03 9.07074974e+02] [-1.06438248e-01 9.94319289e-01 2.27311761e-04 -5.07347727e+01] [ 5.71994989e-03 3.83693068e-04 9.99983567e-01 4.99395857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.480714057 meters Centerline goodness : 0.991993 with order 1 Centerline is valid? [True, True] Translation: X:907.13, Y:-50.73, Z:4.99 [[ 9.95645912e-01 9.30397956e-02 -5.72834805e-03 9.07134168e+02] [-9.30400308e-02 9.95662343e-01 2.25995565e-04 -5.07317266e+01] [ 5.72452702e-03 3.07954119e-04 9.99983567e-01 4.99123429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5407140570001 meters Centerline goodness : 0.991349 with order 1 Centerline is valid? [True, True] Translation: X:907.19, Y:-50.74, Z:4.99 [[ 9.96279768e-01 8.59872675e-02 -5.72839857e-03 9.07191623e+02] [-8.59873937e-02 9.96296200e-01 2.24707613e-04 -5.07417935e+01] [ 5.72650372e-03 2.68698415e-04 9.99983567e-01 4.99046758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.600714057 meters Centerline goodness : 0.986354 with order 1 Centerline is valid? [True, True] Translation: X:907.25, Y:-50.76, Z:4.98 [[ 9.96013426e-01 8.90193283e-02 -5.72845773e-03 9.07248730e+02] [-8.90195132e-02 9.96029857e-01 2.23189241e-04 -5.07644050e+01] [ 5.72558309e-03 2.87645038e-04 9.99983567e-01 4.98192663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6607140570001 meters Centerline goodness : 0.986871 with order 1 Centerline is valid? [True, True] Translation: X:907.31, Y:-50.78, Z:4.98 [[ 9.96618735e-01 8.19651229e-02 -5.72847587e-03 9.07306940e+02] [-8.19651942e-02 9.96635168e-01 2.22722579e-04 -5.07766828e+01] [ 5.72745600e-03 2.47566142e-04 9.99983567e-01 4.97967189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.720714057 meters Centerline goodness : 0.988290 with order 1 Centerline is valid? [True, True] Translation: X:907.37, Y:-50.79, Z:4.98 [[ 9.97435226e-01 7.13453092e-02 -5.72853025e-03 9.07365251e+02] [-7.13452135e-02 9.97451659e-01 2.21315162e-04 -5.07901284e+01] [ 5.72972180e-03 1.87955675e-04 9.99983567e-01 4.97617551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7807140570001 meters Centerline goodness : 0.988437 with order 1 Centerline is valid? [True, True] Translation: X:907.42, Y:-50.80, Z:4.98 [[ 9.97901636e-01 6.44942520e-02 -5.72858372e-03 9.07424213e+02] [-6.44940515e-02 9.97918067e-01 2.19922361e-04 -5.07986268e+01] [ 5.73084092e-03 1.49998690e-04 9.99983567e-01 4.97575766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.840714057 meters Centerline goodness : 0.992614 with order 1 Centerline is valid? [True, True] Translation: X:907.48, Y:-50.79, Z:4.99 [[ 9.99035618e-01 4.35317818e-02 -5.72863331e-03 9.07482195e+02] [-4.35312438e-02 9.99052042e-01 2.18622827e-04 -5.07864899e+01] [ 5.73271985e-03 3.09625417e-05 9.99983567e-01 4.99139522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9007140570001 meters Centerline goodness : 0.990818 with order 1 Centerline is valid? [True, True] Translation: X:907.54, Y:-50.81, Z:4.98 [[ 9.98825872e-01 4.81046689e-02 -5.72865202e-03 9.07540205e+02] [-4.81042090e-02 9.98842299e-01 2.18131452e-04 -5.08117791e+01] [ 5.73251309e-03 5.76969365e-05 9.99983567e-01 4.97811690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.960714057 meters Centerline goodness : 0.990265 with order 1 Centerline is valid? [True, True] Translation: X:907.60, Y:-50.82, Z:4.97 [[ 9.98793792e-01 4.87662144e-02 -5.72870533e-03 9.07598991e+02] [-4.87657734e-02 9.98810218e-01 2.16722415e-04 -5.08165880e+01] [ 5.73245815e-03 6.29037435e-05 9.99983567e-01 4.97491519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0207140570001 meters Centerline goodness : 0.993462 with order 1 Centerline is valid? [True, True] Translation: X:907.66, Y:-50.80, Z:4.99 [[ 9.99383784e-01 3.46299602e-02 -5.72875982e-03 9.07658376e+02] [-3.46292951e-02 9.99400203e-01 2.15272165e-04 -5.07982078e+01] [ 5.73277860e-03 -1.67565958e-05 9.99983567e-01 4.99069253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.080714057 meters Centerline goodness : 0.994019 with order 1 Centerline is valid? [True, True] Translation: X:907.72, Y:-50.80, Z:4.99 [[ 9.99375428e-01 3.48702639e-02 -5.72877131e-03 9.07716198e+02] [-3.48696045e-02 9.99391847e-01 2.14966143e-04 -5.07993083e+01] [ 5.73278326e-03 -1.50718908e-05 9.99983567e-01 4.98998057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1407140570001 meters Centerline goodness : 0.993677 with order 1 Centerline is valid? [True, True] Translation: X:907.77, Y:-50.80, Z:4.99 [[ 9.99397948e-01 3.42187434e-02 -5.72883156e-03 9.07774211e+02] [-3.42180826e-02 9.99414367e-01 2.13348078e-04 -5.08015528e+01] [ 5.73277708e-03 -1.71899994e-05 9.99983567e-01 4.98959271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.200714057 meters Centerline goodness : 0.993257 with order 1 Centerline is valid? [True, True] Translation: X:907.83, Y:-50.80, Z:4.99 [[ 9.99430262e-01 3.32615635e-02 -5.72885390e-03 9.07831600e+02] [-3.32608905e-02 9.99446681e-01 2.12746601e-04 -5.08040351e+01] [ 5.73276030e-03 -2.20786091e-05 9.99983567e-01 4.99035991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2607140570001 meters Centerline goodness : 0.993192 with order 1 Centerline is valid? [True, True] Translation: X:907.89, Y:-50.81, Z:4.99 [[ 9.99428283e-01 3.33209762e-02 -5.72888143e-03 9.07889158e+02] [-3.33203083e-02 9.99444702e-01 2.12002681e-04 -5.08073720e+01] [ 5.73276433e-03 -2.09933796e-05 9.99983567e-01 4.99026051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.320714057 meters Centerline goodness : 0.992320 with order 1 Centerline is valid? [True, True] Translation: X:907.95, Y:-50.81, Z:4.99 [[ 9.99382300e-01 3.46727257e-02 -5.72889937e-03 9.07947195e+02] [-3.46720829e-02 9.99398720e-01 2.11516818e-04 -5.08102520e+01] [ 5.73278856e-03 -1.27532906e-05 9.99983567e-01 4.98983140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3807140570001 meters Centerline goodness : 0.992660 with order 1 Centerline is valid? [True, True] Translation: X:908.00, Y:-50.81, Z:4.99 [[ 9.99229070e-01 3.88387174e-02 -5.72892071e-03 9.08004582e+02] [-3.88381464e-02 9.99245492e-01 2.10937093e-04 -5.08111935e+01] [ 5.73279073e-03 1.17261866e-05 9.99983567e-01 4.98878099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.440714057 meters Centerline goodness : 0.991841 with order 1 Centerline is valid? [True, True] Translation: X:908.06, Y:-50.81, Z:4.99 [[ 9.98955965e-01 4.53228183e-02 -5.72897639e-03 9.08062600e+02] [-4.53223626e-02 9.98972392e-01 2.09414021e-04 -5.08103884e+01] [ 5.73258048e-03 5.04553594e-05 9.99983567e-01 4.98879282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.500714057 meters Centerline goodness : 0.988002 with order 1 Centerline is valid? [True, True] Translation: X:908.12, Y:-50.82, Z:4.98 [[ 9.98039324e-01 6.23272469e-02 -5.72903618e-03 9.08120304e+02] [-6.23270804e-02 9.98055756e-01 2.07765364e-04 -5.08247948e+01] [ 5.73084698e-03 1.49716095e-04 9.99983567e-01 4.97888063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.560714057 meters Centerline goodness : 0.992253 with order 1 Centerline is valid? [True, True] Translation: X:908.18, Y:-50.80, Z:4.99 [[ 9.98505963e-01 5.43416966e-02 -5.72909764e-03 9.08178287e+02] [-5.43414085e-02 9.98522393e-01 2.06056499e-04 -5.08047458e+01] [ 5.73182974e-03 1.05578592e-04 9.99983567e-01 4.99111080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.620714057 meters Centerline goodness : 0.989420 with order 1 Centerline is valid? [True, True] Translation: X:908.24, Y:-50.81, Z:4.99 [[ 9.98499452e-01 5.44611919e-02 -5.72912000e-03 9.08235884e+02] [-5.44609093e-02 9.98515882e-01 2.05433015e-04 -5.08057226e+01] [ 5.73180543e-03 1.06888332e-04 9.99983567e-01 4.98793973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.680714057 meters Centerline goodness : 0.991724 with order 1 Centerline is valid? [True, True] Translation: X:908.29, Y:-50.80, Z:4.99 [[ 9.98802652e-01 4.85843571e-02 -5.72918353e-03 9.08294075e+02] [-4.85839881e-02 9.98819080e-01 2.03645677e-04 -5.07980607e+01] [ 5.73231181e-03 7.49447423e-05 9.99983567e-01 4.99139284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.740714057 meters Centerline goodness : 0.991888 with order 1 Centerline is valid? [True, True] Translation: X:908.35, Y:-50.79, Z:4.99 [[ 9.99169316e-01 4.03466764e-02 -5.72924803e-03 9.08352537e+02] [-4.03461824e-02 9.99185741e-01 2.01814679e-04 -5.07927620e+01] [ 5.73272548e-03 2.95062515e-05 9.99983567e-01 4.99243547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.800714057 meters Centerline goodness : 0.991995 with order 1 Centerline is valid? [True, True] Translation: X:908.41, Y:-50.79, Z:4.99 [[ 9.99363647e-01 3.52061894e-02 -5.72930557e-03 9.08410755e+02] [-3.52056204e-02 9.99380070e-01 2.00167603e-04 -5.07896553e+01] [ 5.73280094e-03 1.66353086e-06 9.99983567e-01 4.99329654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.860714057 meters Centerline goodness : 0.988910 with order 1 Centerline is valid? [True, True] Translation: X:908.47, Y:-50.79, Z:4.99 [[ 9.99176117e-01 4.01778854e-02 -5.72936256e-03 9.08469649e+02] [-4.01774075e-02 9.99192542e-01 1.98522769e-04 -5.07943966e+01] [ 5.73271257e-03 3.18317251e-05 9.99983567e-01 4.98815260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.920714057 meters Centerline goodness : 0.989473 with order 1 Centerline is valid? [True, True] Translation: X:908.53, Y:-50.78, Z:5.00 [[ 9.99297501e-01 3.70361782e-02 -5.72941381e-03 9.08528699e+02] [-3.70356572e-02 9.99313925e-01 1.97032557e-04 -5.07805571e+01] [ 5.73278034e-03 1.52984645e-05 9.99983567e-01 4.99564878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.980714057 meters Centerline goodness : 0.990339 with order 1 Centerline is valid? [True, True] Translation: X:908.59, Y:-50.77, Z:4.99 [[ 9.99385722e-01 3.45738619e-02 -5.72946467e-03 9.08585548e+02] [-3.45733090e-02 9.99402145e-01 1.95542331e-04 -5.07739606e+01] [ 5.73279994e-03 2.66433888e-06 9.99983567e-01 4.99423000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0407140570001 meters Centerline goodness : 0.990974 with order 1 Centerline is valid? [True, True] Translation: X:908.64, Y:-50.77, Z:5.00 [[ 9.99556031e-01 2.92389197e-02 -5.72948959e-03 9.08643468e+02] [-2.92382833e-02 9.99572451e-01 1.94809503e-04 -5.07685973e+01] [ 5.73273597e-03 -2.72025738e-05 9.99983567e-01 4.99711753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.100714057 meters Centerline goodness : 0.991057 with order 1 Centerline is valid? [True, True] Translation: X:908.70, Y:-50.77, Z:4.99 [[ 9.99830128e-01 1.75182232e-02 -5.72950691e-03 9.08702458e+02] [-1.75173973e-02 9.99846540e-01 1.94298689e-04 -5.07723980e+01] [ 5.73203143e-03 -9.38996336e-05 9.99983567e-01 4.99338214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1607140570001 meters Centerline goodness : 0.991097 with order 1 Centerline is valid? [True, True] Translation: X:908.76, Y:-50.78, Z:4.99 [[ 9.99893158e-01 1.34478949e-02 -5.72952129e-03 9.08760003e+02] [-1.34470046e-02 9.99909566e-01 1.93873864e-04 -5.07781321e+01] [ 5.73161034e-03 -1.16808251e-04 9.99983567e-01 4.98833084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.220714057 meters Centerline goodness : 0.991178 with order 1 Centerline is valid? [True, True] Translation: X:908.82, Y:-50.78, Z:4.98 [[ 9.99911076e-01 1.20421056e-02 -5.72953906e-03 9.08818251e+02] [-1.20411953e-02 9.99927484e-01 1.93347265e-04 -5.07824832e+01] [ 5.73145188e-03 -1.24339573e-04 9.99983567e-01 4.98418199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2807140570001 meters Centerline goodness : 0.990254 with order 1 Centerline is valid? [True, True] Translation: X:908.88, Y:-50.78, Z:4.99 [[ 9.99916322e-01 1.15983246e-02 -5.72956031e-03 9.08875877e+02] [-1.15974106e-02 9.99932729e-01 1.92715365e-04 -5.07834977e+01] [ 5.73141005e-03 -1.26251176e-04 9.99983567e-01 4.98723091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.340714057 meters Centerline goodness : 0.990721 with order 1 Centerline is valid? [True, True] Translation: X:908.93, Y:-50.79, Z:4.99 [[ 9.99870501e-01 1.50383883e-02 -5.72957788e-03 9.08934490e+02] [-1.50375337e-02 9.99886911e-01 1.92191704e-04 -5.07857998e+01] [ 5.73182018e-03 -1.06008095e-04 9.99983567e-01 4.98673525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4007140570001 meters Centerline goodness : 0.990834 with order 1 Centerline is valid? [True, True] Translation: X:908.99, Y:-50.79, Z:4.99 [[ 9.99796928e-01 1.93202869e-02 -5.72962748e-03 9.08993708e+02] [-1.93195112e-02 9.99813343e-01 1.90701436e-04 -5.07863730e+01] [ 5.73224241e-03 -7.99691078e-05 9.99983567e-01 4.99173793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.460714057 meters Centerline goodness : 0.993677 with order 1 Centerline is valid? [True, True] Translation: X:909.05, Y:-50.78, Z:5.00 [[ 9.99957287e-01 7.25219366e-03 -5.72967344e-03 9.09052114e+02] [-7.25122790e-03 9.99973692e-01 1.89310213e-04 -5.07754945e+01] [ 5.73089562e-03 -1.47754959e-04 9.99983567e-01 4.99518023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5207140570001 meters Centerline goodness : 0.989901 with order 1 Centerline is valid? [True, True] Translation: X:909.11, Y:-50.79, Z:5.00 [[ 9.99809307e-01 1.86686821e-02 -5.72969082e-03 9.09110020e+02] [-1.86679067e-02 9.99825722e-01 1.88782804e-04 -5.07947769e+01] [ 5.73221659e-03 -8.17854705e-05 9.99983567e-01 4.99521649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.580714057 meters Centerline goodness : 0.991472 with order 1 Centerline is valid? [True, True] Translation: X:909.17, Y:-50.79, Z:5.00 [[ 9.99972021e-01 4.80905948e-03 -5.72973866e-03 9.09168617e+02] [-4.80806504e-03 9.99988424e-01 1.87319507e-04 -5.07879936e+01] [ 5.73057316e-03 -1.59765310e-04 9.99983567e-01 4.99825329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6407140570001 meters Centerline goodness : 0.993248 with order 1 Centerline is valid? [True, True] Translation: X:909.23, Y:-50.79, Z:5.00 [[ 9.99978748e-01 -3.11006126e-03 -5.72976311e-03 9.09226288e+02] [ 3.11118127e-03 9.99995143e-01 1.86568780e-04 -5.07861008e+01] [ 5.72915503e-03 -2.04391147e-04 9.99983567e-01 4.99675204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.700714057 meters Centerline goodness : 0.990278 with order 1 Centerline is valid? [True, True] Translation: X:909.29, Y:-50.79, Z:5.00 [[ 9.99980182e-01 -2.60868704e-03 -5.72978341e-03 9.09286136e+02] [ 2.60979524e-03 9.99996577e-01 1.85943147e-04 -5.07914491e+01] [ 5.72927873e-03 -2.00893023e-04 9.99983567e-01 4.99659026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7607140570001 meters Centerline goodness : 0.993132 with order 1 Centerline is valid? [True, True] Translation: X:909.35, Y:-50.79, Z:5.00 [[ 9.99968135e-01 -5.55867687e-03 -5.72978769e-03 9.09345167e+02] [ 5.55983268e-03 9.99984527e-01 1.85811172e-04 -5.07903458e+01] [ 5.72866617e-03 -2.17661912e-04 9.99983567e-01 4.99518744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.820714057 meters Centerline goodness : 0.987682 with order 1 Centerline is valid? [True, True] Translation: X:909.40, Y:-50.81, Z:4.99 [[ 9.99870224e-01 1.50567090e-02 -5.72979625e-03 9.09404088e+02] [-1.50558929e-02 9.99886636e-01 1.85546816e-04 -5.08149554e+01] [ 5.73194042e-03 -9.92555380e-05 9.99983567e-01 4.98634554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8807140570001 meters Centerline goodness : 0.989831 with order 1 Centerline is valid? [True, True] Translation: X:909.46, Y:-50.79, Z:4.99 [[ 9.99979943e-01 -2.69861727e-03 -5.72980325e-03 9.09463710e+02] [ 2.69972344e-03 9.99996339e-01 1.85330492e-04 -5.07942256e+01] [ 5.72928213e-03 -2.00795659e-04 9.99983567e-01 4.99341648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.940714057 meters Centerline goodness : 0.988292 with order 1 Centerline is valid? [True, True] Translation: X:909.52, Y:-50.82, Z:4.99 [[ 9.99820094e-01 1.80817005e-02 -5.72981538e-03 9.09522566e+02] [-1.80809374e-02 9.99836509e-01 1.84954532e-04 -5.08172595e+01] [ 5.73222290e-03 -8.13208240e-05 9.99983567e-01 4.99414115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.000714057 meters Centerline goodness : 0.987165 with order 1 Centerline is valid? [True, True] Translation: X:909.58, Y:-50.82, Z:5.00 [[ 9.99759783e-01 2.11552834e-02 -5.72982372e-03 9.09580999e+02] [-2.11545723e-02 9.99776200e-01 1.84695952e-04 -5.08208526e+01] [ 5.73244868e-03 -6.34396151e-05 9.99983567e-01 4.99603848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.060714057 meters Centerline goodness : 0.992727 with order 1 Centerline is valid? [True, True] Translation: X:909.64, Y:-50.80, Z:5.00 [[ 9.99983580e-01 -9.47217293e-05 -5.72983716e-03 9.09639109e+02] [ 9.57791817e-05 9.99999978e-01 1.84277801e-04 -5.07982830e+01] [ 5.72981959e-03 -1.84823575e-04 9.99983567e-01 4.99648069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.120714057 meters Centerline goodness : 0.984863 with order 1 Centerline is valid? [True, True] Translation: X:909.70, Y:-50.83, Z:4.99 [[ 9.99810225e-01 1.86194312e-02 -5.72985052e-03 9.09696541e+02] [-1.86186832e-02 9.99826640e-01 1.83861569e-04 -5.08282454e+01] [ 5.73228059e-03 -7.71444046e-05 9.99983567e-01 4.99034518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.180714057 meters Centerline goodness : 0.991870 with order 1 Centerline is valid? [True, True] Translation: X:909.76, Y:-50.81, Z:4.99 [[ 9.99982417e-01 -1.52798023e-03 -5.72986685e-03 9.09755360e+02] [ 1.52905588e-03 9.99998814e-01 1.83351366e-04 -5.08050643e+01] [ 5.72957990e-03 -1.92109428e-04 9.99983567e-01 4.99480623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.240714057 meters Centerline goodness : 0.991497 with order 1 Centerline is valid? [True, True] Translation: X:909.81, Y:-50.81, Z:5.00 [[ 9.99977000e-01 -3.62871107e-03 -5.72987947e-03 9.09814181e+02] [ 3.62981891e-03 9.99993395e-01 1.82956138e-04 -5.08076796e+01] [ 5.72917773e-03 -2.03750355e-04 9.99983567e-01 4.99508392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.300714057 meters Centerline goodness : 0.983644 with order 1 Centerline is valid? [True, True] Translation: X:909.87, Y:-50.84, Z:4.99 [[ 9.99839854e-01 1.69539272e-02 -5.72989235e-03 9.09873080e+02] [-1.69531593e-02 9.99856268e-01 1.82551687e-04 -5.08409724e+01] [ 5.73216375e-03 -8.53826739e-05 9.99983567e-01 4.99129245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.360714057 meters Centerline goodness : 0.982822 with order 1 Centerline is valid? [True, True] Translation: X:909.93, Y:-50.84, Z:4.99 [[ 9.99876083e-01 1.46624388e-02 -5.72989919e-03 9.09931138e+02] [-1.46616346e-02 9.99892496e-01 1.82336718e-04 -5.08440193e+01] [ 5.73195671e-03 -9.83044355e-05 9.99983567e-01 4.99236788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.420714057 meters Centerline goodness : 0.990340 with order 1 Centerline is valid? [True, True] Translation: X:909.99, Y:-50.81, Z:4.99 [[ 9.99929576e-01 -1.03928027e-02 -5.72991910e-03 9.09990459e+02] [ 1.03940143e-02 9.99945964e-01 1.81709121e-04 -5.08149230e+01] [ 5.72772101e-03 -2.41253185e-04 9.99983567e-01 4.99433630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.480714057 meters Centerline goodness : 0.983513 with order 1 Centerline is valid? [True, True] Translation: X:910.05, Y:-50.85, Z:4.99 [[ 9.99882599e-01 1.42111040e-02 -5.72992899e-03 9.10050049e+02] [-1.42102978e-02 9.99899012e-01 1.81396684e-04 -5.08529653e+01] [ 5.73192818e-03 -9.99513907e-05 9.99983567e-01 4.98780590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5407140570001 meters Centerline goodness : 0.991136 with order 1 Centerline is valid? [True, True] Translation: X:910.11, Y:-50.82, Z:5.00 [[ 9.99937229e-01 -9.62841198e-03 -5.72992899e-03 9.10110338e+02] [ 9.62960924e-03 9.99953618e-01 1.81396684e-04 -5.08189359e+01] [ 5.72791666e-03 -2.36562275e-04 9.99983567e-01 4.99876020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.600714057 meters Centerline goodness : 0.989334 with order 1 Centerline is valid? [True, True] Translation: X:910.17, Y:-50.82, Z:5.00 [[ 9.99960395e-01 -6.80996175e-03 -5.72993520e-03 9.10172173e+02] [ 6.81111169e-03 9.99976788e-01 1.81200180e-04 -5.08213610e+01] [ 5.72856823e-03 -2.20220232e-04 9.99983567e-01 4.99834522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6607140570001 meters Centerline goodness : 0.989869 with order 1 Centerline is valid? [True, True] Translation: X:910.23, Y:-50.83, Z:5.00 [[ 9.99970674e-01 -5.08134688e-03 -5.72992266e-03 9.10233514e+02] [ 5.08247074e-03 9.99987068e-01 1.81596018e-04 -5.08253540e+01] [ 5.72892580e-03 -2.10712857e-04 9.99983567e-01 4.99840443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.720714057 meters Centerline goodness : 0.989381 with order 1 Centerline is valid? [True, True] Translation: X:910.29, Y:-50.83, Z:5.00 [[ 9.99982990e-01 -1.08950039e-03 -5.72991631e-03 9.10293621e+02] [ 1.09055995e-03 9.99999389e-01 1.81796009e-04 -5.08268678e+01] [ 5.72971474e-03 -1.88041734e-04 9.99983567e-01 4.99906891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7807140570001 meters Centerline goodness : 0.989372 with order 1 Centerline is valid? [True, True] Translation: X:910.35, Y:-50.82, Z:5.00 [[ 9.99961336e-01 6.67041974e-03 -5.72991631e-03 9.10352288e+02] [-6.66948746e-03 9.99977742e-01 1.81796009e-04 -5.08245281e+01] [ 5.73100143e-03 -1.43573375e-04 9.99983567e-01 4.99873898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.840714057 meters Centerline goodness : 0.981406 with order 1 Centerline is valid? [True, True] Translation: X:910.41, Y:-50.86, Z:4.99 [[ 9.99342954e-01 3.57886506e-02 -5.72996075e-03 9.10410458e+02] [-3.57882046e-02 9.99359381e-01 1.80384455e-04 -5.08596900e+01] [ 5.73274574e-03 2.47990738e-05 9.99983567e-01 4.98920588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9007140570001 meters Centerline goodness : 0.990707 with order 1 Centerline is valid? [True, True] Translation: X:910.47, Y:-50.82, Z:5.00 [[ 9.99848759e-01 1.64203240e-02 -5.72997028e-03 9.10469988e+02] [-1.64195616e-02 9.99865174e-01 1.80081099e-04 -5.08231504e+01] [ 5.73215472e-03 -8.59702637e-05 9.99983567e-01 5.00169937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.960714057 meters Centerline goodness : 0.984549 with order 1 Centerline is valid? [True, True] Translation: X:910.53, Y:-50.81, Z:5.00 [[ 9.99965572e-01 6.00179718e-03 -5.72997968e-03 9.10529627e+02] [-6.00086547e-03 9.99981978e-01 1.79781677e-04 -5.08100611e+01] [ 5.73095543e-03 -1.45390651e-04 9.99983567e-01 5.00249851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0207140570001 meters Centerline goodness : 0.988313 with order 1 Centerline is valid? [True, True] Translation: X:910.59, Y:-50.83, Z:5.01 [[ 9.99838275e-01 1.70467133e-02 -5.72999255e-03 9.10585981e+02] [-1.70459652e-02 9.99854691e-01 1.79370449e-04 -5.08326359e+01] [ 5.73221761e-03 -8.16681863e-05 9.99983567e-01 5.00833001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.080714057 meters Centerline goodness : 0.992583 with order 1 Centerline is valid? [True, True] Translation: X:910.64, Y:-50.82, Z:5.00 [[ 9.99865800e-01 1.53476081e-02 -5.73002245e-03 9.10643991e+02] [-1.53468377e-02 9.99882214e-01 1.78410050e-04 -5.08222817e+01] [ 5.73208571e-03 -9.04483832e-05 9.99983567e-01 5.00292368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1407140570001 meters Centerline goodness : 0.993292 with order 1 Centerline is valid? [True, True] Translation: X:910.70, Y:-50.82, Z:5.00 [[ 9.99906124e-01 1.24462730e-02 -5.73003762e-03 9.10702773e+02] [-1.24454577e-02 9.99922536e-01 1.77921559e-04 -5.08230805e+01] [ 5.73180821e-03 -1.06591916e-04 9.99983567e-01 5.00361195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.200714057 meters Centerline goodness : 0.985808 with order 1 Centerline is valid? [True, True] Translation: X:910.76, Y:-50.83, Z:5.00 [[ 9.99981696e-01 1.94259765e-03 -5.73004967e-03 9.10761485e+02] [-1.94161223e-03 9.99998099e-01 1.77532471e-04 -5.08252781e+01] [ 5.73038366e-03 -1.66403687e-04 9.99983567e-01 4.99890313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2607140570001 meters Centerline goodness : 0.988539 with order 1 Centerline is valid? [True, True] Translation: X:910.82, Y:-50.84, Z:5.01 [[ 9.99983386e-01 -6.28089143e-04 -5.73006430e-03 9.10819665e+02] [ 6.29114021e-04 9.99999786e-01 1.77059081e-04 -5.08424956e+01] [ 5.72995187e-03 -1.80661003e-04 9.99983567e-01 5.00714488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.320714057 meters Centerline goodness : 0.987345 with order 1 Centerline is valid? [True, True] Translation: X:910.88, Y:-50.83, Z:5.00 [[ 9.99858869e-01 -1.57926391e-02 -5.73007945e-03 9.10878485e+02] [ 1.57939098e-02 9.99875253e-01 1.76567365e-04 -5.08284434e+01] [ 5.72657618e-03 -2.67042804e-04 9.99983567e-01 5.00198998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3807140570001 meters Centerline goodness : 0.993361 with order 1 Centerline is valid? [True, True] Translation: X:910.94, Y:-50.83, Z:5.00 [[ 9.99979946e-01 -2.69687972e-03 -5.73008995e-03 9.10941028e+02] [ 2.69793376e-03 9.99996345e-01 1.76225939e-04 -5.08339873e+01] [ 5.72959375e-03 -1.91681808e-04 9.99983567e-01 5.00216154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.440714057 meters Centerline goodness : 0.988759 with order 1 Centerline is valid? [True, True] Translation: X:911.00, Y:-50.86, Z:5.00 [[ 9.99906510e-01 1.24152047e-02 -5.73007181e-03 9.10999819e+02] [-1.24143952e-02 9.99922923e-01 1.76814099e-04 -5.08593010e+01] [ 5.73182533e-03 -1.05662193e-04 9.99983567e-01 4.99698353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.500714057 meters Centerline goodness : 0.989005 with order 1 Centerline is valid? [True, True] Translation: X:911.06, Y:-50.86, Z:5.00 [[ 9.99958425e-01 7.09332916e-03 -5.73007789e-03 9.11057899e+02] [-7.09243349e-03 9.99974833e-01 1.76616567e-04 -5.08602317e+01] [ 5.73118648e-03 -1.35969028e-04 9.99983567e-01 5.00112439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.560714057 meters Centerline goodness : 0.993498 with order 1 Centerline is valid? [True, True] Translation: X:911.12, Y:-50.84, Z:5.00 [[ 9.99975066e-01 4.12710328e-03 -5.73009562e-03 9.11117147e+02] [-4.12616224e-03 9.99991472e-01 1.76039641e-04 -5.08358259e+01] [ 5.73077329e-03 -1.52391947e-04 9.99983567e-01 5.00428654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.620714057 meters Centerline goodness : 0.988965 with order 1 Centerline is valid? [True, True] Translation: X:911.18, Y:-50.86, Z:5.00 [[ 9.99923191e-01 1.09898813e-02 -5.73010447e-03 9.11175441e+02] [-1.09890545e-02 9.99939603e-01 1.75750996e-04 -5.08606542e+01] [ 5.73168987e-03 -1.12769066e-04 9.99983567e-01 5.00287212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.680714057 meters Centerline goodness : 0.993762 with order 1 Centerline is valid? [True, True] Translation: X:911.23, Y:-50.84, Z:5.01 [[ 9.99956290e-01 7.38813393e-03 -5.73014622e-03 9.11233907e+02] [-7.38725591e-03 9.99972699e-01 1.74379055e-04 -5.08390494e+01] [ 5.73127812e-03 -1.32041376e-04 9.99983567e-01 5.00514627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.740714057 meters Centerline goodness : 0.985759 with order 1 Centerline is valid? [True, True] Translation: X:911.29, Y:-50.83, Z:5.01 [[ 9.99934078e-01 -9.95016240e-03 -5.73016063e-03 9.11292848e+02] [ 9.95132207e-03 9.99950469e-01 1.73904162e-04 -5.08290484e+01] [ 5.72814644e-03 -2.30915372e-04 9.99983567e-01 5.00881116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.800714057 meters Centerline goodness : 0.990150 with order 1 Centerline is valid? [True, True] Translation: X:911.35, Y:-50.86, Z:5.00 [[ 9.99714433e-01 2.31995190e-02 -5.73018741e-03 9.11352376e+02] [-2.31989084e-02 9.99730854e-01 1.73017551e-04 -5.08612076e+01] [ 5.73265907e-03 -4.00340501e-05 9.99983567e-01 4.99964229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.860714057 meters Centerline goodness : 0.989893 with order 1 Centerline is valid? [True, True] Translation: X:911.41, Y:-50.86, Z:5.00 [[ 9.99683383e-01 2.45009893e-02 -5.73018741e-03 9.11411081e+02] [-2.45004001e-02 9.99699805e-01 1.73017551e-04 -5.08630862e+01] [ 5.73270633e-03 -3.25708868e-05 9.99983567e-01 4.99912160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.920714057 meters Centerline goodness : 0.994262 with order 1 Centerline is valid? [True, True] Translation: X:911.47, Y:-50.84, Z:5.01 [[ 9.99909871e-01 1.21414475e-02 -5.73019899e-03 9.11470029e+02] [-1.21406575e-02 9.99926285e-01 1.72632978e-04 -5.08442880e+01] [ 5.73187260e-03 -1.03049036e-04 9.99983567e-01 5.00995619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.980714057 meters Centerline goodness : 0.991725 with order 1 Centerline is valid? [True, True] Translation: X:911.53, Y:-50.86, Z:5.00 [[ 9.99677606e-01 2.47355900e-02 -5.73020778e-03 9.11527811e+02] [-2.47350084e-02 9.99694028e-01 1.72340812e-04 -5.08646925e+01] [ 5.73271745e-03 -3.05485123e-05 9.99983567e-01 5.00482597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0407140570001 meters Centerline goodness : 0.992247 with order 1 Centerline is valid? [True, True] Translation: X:911.59, Y:-50.85, Z:5.01 [[ 9.99796677e-01 1.93331306e-02 -5.73023046e-03 9.11585284e+02] [-1.93324647e-02 9.99813096e-01 1.71583258e-04 -5.08532815e+01] [ 5.73247670e-03 -6.07688931e-05 9.99983567e-01 5.00743158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.100714057 meters Centerline goodness : 0.995150 with order 1 Centerline is valid? [True, True] Translation: X:911.64, Y:-50.85, Z:5.01 [[ 9.99588808e-01 2.80958883e-02 -5.73026428e-03 9.11644323e+02] [-2.80953728e-02 9.99605233e-01 1.70446496e-04 -5.08487226e+01] [ 5.73279100e-03 -9.38249814e-06 9.99983567e-01 5.01462932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1607140570001 meters Centerline goodness : 0.994695 with order 1 Centerline is valid? [True, True] Translation: X:911.70, Y:-50.85, Z:5.02 [[ 9.99356664e-01 3.54036949e-02 -5.73031152e-03 9.11701705e+02] [-3.54033088e-02 9.99373092e-01 1.68843007e-04 -5.08510800e+01] [ 5.73269681e-03 3.41376039e-05 9.99983567e-01 5.01546741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.220714057 meters Centerline goodness : 0.994563 with order 1 Centerline is valid? [True, True] Translation: X:911.76, Y:-50.85, Z:5.02 [[ 9.98841276e-01 4.77835492e-02 -5.73035871e-03 9.11759206e+02] [-4.77833759e-02 9.98857708e-01 1.67225892e-04 -5.08544429e+01] [ 5.73180362e-03 1.06783761e-04 9.99983567e-01 5.01573148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2807140570001 meters Centerline goodness : 0.991423 with order 1 Centerline is valid? [True, True] Translation: X:911.82, Y:-50.86, Z:5.01 [[ 9.97915525e-01 6.42788243e-02 -5.73037312e-03 9.11816468e+02] [-6.42789254e-02 9.97931958e-01 1.66730723e-04 -5.08647666e+01] [ 5.72923972e-03 2.01959049e-04 9.99983567e-01 5.01194527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.340714057 meters Centerline goodness : 0.994265 with order 1 Centerline is valid? [True, True] Translation: X:911.87, Y:-50.86, Z:5.02 [[ 9.97618617e-01 6.87332275e-02 -5.73042315e-03 9.11874123e+02] [-6.87334118e-02 9.97635049e-01 1.64993182e-04 -5.08592323e+01] [ 5.72821149e-03 2.29271264e-04 9.99983567e-01 5.01673556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4007140570001 meters Centerline goodness : 0.994270 with order 1 Centerline is valid? [True, True] Translation: X:911.93, Y:-50.86, Z:5.02 [[ 9.96790638e-01 7.98472734e-02 -5.73043872e-03 9.11931619e+02] [-7.98476440e-02 9.96807066e-01 1.64450737e-04 -5.08621216e+01] [ 5.72527275e-03 2.93639075e-04 9.99983567e-01 5.01719090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.460714057 meters Centerline goodness : 0.993952 with order 1 Centerline is valid? [True, True] Translation: X:911.99, Y:-50.87, Z:5.02 [[ 9.96368593e-01 8.49516791e-02 -5.73048263e-03 9.11989402e+02] [-8.49521427e-02 9.96385019e-01 1.62906056e-04 -5.08654514e+01] [ 5.72360619e-03 3.24502300e-04 9.99983567e-01 5.01760597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5207140570001 meters Centerline goodness : 0.994194 with order 1 Centerline is valid? [True, True] Translation: X:912.05, Y:-50.87, Z:5.02 [[ 9.96253206e-01 8.62943306e-02 -5.73052640e-03 9.12046949e+02] [-8.62948252e-02 9.96269631e-01 1.61351357e-04 -5.08685155e+01] [ 5.72307313e-03 3.33767967e-04 9.99983567e-01 5.01868887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.580714057 meters Centerline goodness : 0.993561 with order 1 Centerline is valid? [True, True] Translation: X:912.10, Y:-50.87, Z:5.02 [[ 9.96533404e-01 8.29959929e-02 -5.73053980e-03 9.12104271e+02] [-8.29964359e-02 9.96549831e-01 1.60874203e-04 -5.08706613e+01] [ 5.72412038e-03 3.15297862e-04 9.99983567e-01 5.01954102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6407140570001 meters Centerline goodness : 0.993698 with order 1 Centerline is valid? [True, True] Translation: X:912.16, Y:-50.87, Z:5.02 [[ 9.97151631e-01 7.52049609e-02 -5.73058175e-03 9.12162505e+02] [-7.52052841e-02 9.97168060e-01 1.59365516e-04 -5.08731468e+01] [ 5.72633817e-03 2.72058445e-04 9.99983567e-01 5.01870223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.700714057 meters Centerline goodness : 0.993469 with order 1 Centerline is valid? [True, True] Translation: X:912.22, Y:-50.87, Z:5.02 [[ 9.97909758e-01 6.43682752e-02 -5.73062430e-03 9.12220186e+02] [-6.43684288e-02 9.97926190e-01 1.57820796e-04 -5.08749333e+01] [ 5.72889872e-03 2.11380370e-04 9.99983567e-01 5.01832279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7607140570001 meters Centerline goodness : 0.991157 with order 1 Centerline is valid? [True, True] Translation: X:912.28, Y:-50.88, Z:5.02 [[ 9.97955416e-01 6.36564728e-02 -5.73066682e-03 9.12277525e+02] [-6.36566236e-02 9.97971848e-01 1.56261109e-04 -5.08833198e+01] [ 5.72899119e-03 2.08853281e-04 9.99983567e-01 5.01911601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.820714057 meters Centerline goodness : 0.993894 with order 1 Centerline is valid? [True, True] Translation: X:912.34, Y:-50.87, Z:5.02 [[ 9.99085339e-01 4.23750539e-02 -5.73071269e-03 9.12335405e+02] [-4.23748643e-02 9.99101770e-01 1.54560562e-04 -5.08727976e+01] [ 5.73211470e-03 8.84189805e-05 9.99983567e-01 5.01845633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8807140570001 meters Centerline goodness : 0.992008 with order 1 Centerline is valid? [True, True] Translation: X:912.39, Y:-50.88, Z:5.02 [[ 9.99388388e-01 3.44965065e-02 -5.73072659e-03 9.12392890e+02] [-3.44961903e-02 9.99404817e-01 1.54043517e-04 -5.08808129e+01] [ 5.73262972e-03 4.37389323e-05 9.99983567e-01 5.01851339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.940714057 meters Centerline goodness : 0.993538 with order 1 Centerline is valid? [True, True] Translation: X:912.45, Y:-50.87, Z:5.02 [[ 9.99800804e-01 1.91183453e-02 -5.73077278e-03 9.12450481e+02] [-1.91177863e-02 9.99817227e-01 1.52305353e-04 -5.08735173e+01] [ 5.73263718e-03 -4.27153249e-05 9.99983567e-01 5.01792133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.000714057 meters Centerline goodness : 0.992290 with order 1 Centerline is valid? [True, True] Translation: X:912.51, Y:-50.88, Z:5.02 [[ 9.99865014e-01 1.53984696e-02 -5.73078682e-03 9.12509089e+02] [-1.53978525e-02 9.99881435e-01 1.51775377e-04 -5.08807982e+01] [ 5.73244445e-03 -6.35130790e-05 9.99983567e-01 5.01956499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.060714057 meters Centerline goodness : 0.992248 with order 1 Centerline is valid? [True, True] Translation: X:912.57, Y:-50.88, Z:5.02 [[ 9.99931425e-01 1.02129385e-02 -5.73079842e-03 9.12566759e+02] [-1.02122389e-02 9.99947842e-01 1.51336151e-04 -5.08826839e+01] [ 5.73204510e-03 -9.28014913e-05 9.99983567e-01 5.01818802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.120714057 meters Centerline goodness : 0.992379 with order 1 Centerline is valid? [True, True] Translation: X:912.62, Y:-50.88, Z:5.02 [[ 9.99947390e-01 8.50734776e-03 -5.73081250e-03 9.12624750e+02] [-8.50662317e-03 9.99963807e-01 1.50800878e-04 -5.08849421e+01] [ 5.73188800e-03 -1.02043082e-04 9.99983567e-01 5.01823303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.180714057 meters Centerline goodness : 0.992025 with order 1 Centerline is valid? [True, True] Translation: X:912.68, Y:-50.89, Z:5.02 [[ 9.99935795e-01 9.77560781e-03 -5.73082932e-03 9.12683868e+02] [-9.77490772e-03 9.99952213e-01 1.50159137e-04 -5.08875817e+01] [ 5.73202336e-03 -9.41311686e-05 9.99983567e-01 5.01752893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.240714057 meters Centerline goodness : 0.992485 with order 1 Centerline is valid? [True, True] Translation: X:912.74, Y:-50.89, Z:5.02 [[ 9.99904338e-01 1.25886044e-02 -5.73084047e-03 9.12741492e+02] [-1.25879529e-02 9.99920757e-01 1.49732402e-04 -5.08867868e+01] [ 5.73227126e-03 -7.75785284e-05 9.99983567e-01 5.01934182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.300714057 meters Centerline goodness : 0.991952 with order 1 Centerline is valid? [True, True] Translation: X:912.80, Y:-50.89, Z:5.02 [[ 9.99876814e-01 1.46120789e-02 -5.73088456e-03 9.12800612e+02] [-1.46114704e-02 9.99893236e-01 1.48025435e-04 -5.08872389e+01] [ 5.73243566e-03 -6.42705504e-05 9.99983567e-01 5.02216901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.360714057 meters Centerline goodness : 0.992209 with order 1 Centerline is valid? [True, True] Translation: X:912.86, Y:-50.89, Z:5.02 [[ 9.99823017e-01 1.79190282e-02 -5.73089569e-03 9.12857370e+02] [-1.79184765e-02 9.99839440e-01 1.47593163e-04 -5.08899328e+01] [ 5.73262026e-03 -4.48781215e-05 9.99983567e-01 5.02165602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.420714057 meters Centerline goodness : 0.991998 with order 1 Centerline is valid? [True, True] Translation: X:912.92, Y:-50.89, Z:5.02 [[ 9.99774894e-01 2.04283619e-02 -5.73091463e-03 9.12915356e+02] [-2.04278557e-02 9.99791319e-01 1.46853961e-04 -5.08925240e+01] [ 5.73271868e-03 -2.97506061e-05 9.99983567e-01 5.02111523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.480714057 meters Centerline goodness : 0.993577 with order 1 Centerline is valid? [True, True] Translation: X:912.97, Y:-50.89, Z:5.02 [[ 9.99864648e-01 1.54221096e-02 -5.73093093e-03 9.12972580e+02] [-1.54215249e-02 9.99881071e-01 1.46214942e-04 -5.08862697e+01] [ 5.73250430e-03 -5.78154576e-05 9.99983567e-01 5.02104866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5407140570001 meters Centerline goodness : 0.991974 with order 1 Centerline is valid? [True, True] Translation: X:913.03, Y:-50.90, Z:5.02 [[ 9.99693651e-01 2.40782249e-02 -5.73094952e-03 9.13031413e+02] [-2.40777866e-02 9.99710078e-01 1.45482634e-04 -5.08962211e+01] [ 5.73279096e-03 -7.44948595e-06 9.99983567e-01 5.02078387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.600714057 meters Centerline goodness : 0.992161 with order 1 Centerline is valid? [True, True] Translation: X:913.09, Y:-50.90, Z:5.02 [[ 9.99563538e-01 2.89808458e-02 -5.73098765e-03 9.13089328e+02] [-2.89804967e-02 9.99579967e-01 1.43965081e-04 -5.08975591e+01] [ 5.73275267e-03 2.21846229e-05 9.99983567e-01 5.02262857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6607140570001 meters Centerline goodness : 0.991751 with order 1 Centerline is valid? [True, True] Translation: X:913.15, Y:-50.90, Z:5.02 [[ 9.99432764e-01 3.31859309e-02 -5.73103024e-03 9.13147199e+02] [-3.31856607e-02 9.99449194e-01 1.42249204e-04 -5.08999523e+01] [ 5.73259422e-03 4.80195103e-05 9.99983567e-01 5.02307505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.720714057 meters Centerline goodness : 0.990497 with order 1 Centerline is valid? [True, True] Translation: X:913.20, Y:-50.90, Z:5.02 [[ 9.99398307e-01 3.42078706e-02 -5.73107193e-03 9.13204017e+02] [-3.42076270e-02 9.99414738e-01 1.40548992e-04 -5.09021783e+01] [ 5.73252563e-03 5.55819464e-05 9.99983567e-01 5.02366947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7807140570001 meters Centerline goodness : 0.990419 with order 1 Centerline is valid? [True, True] Translation: X:913.26, Y:-50.90, Z:5.02 [[ 9.99224352e-01 3.89595817e-02 -5.73108972e-03 9.13261632e+02] [-3.89594204e-02 9.99240784e-01 1.39819717e-04 -5.09038625e+01] [ 5.73218591e-03 8.35686675e-05 9.99983567e-01 5.02493415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.840714057 meters Centerline goodness : 0.993651 with order 1 Centerline is valid? [True, True] Translation: X:913.32, Y:-50.89, Z:5.03 [[ 9.99107449e-01 4.18504531e-02 -5.73112950e-03 9.13319795e+02] [-4.18503488e-02 9.99123881e-01 1.38169852e-04 -5.08939699e+01] [ 5.73189082e-03 1.01803240e-04 9.99983567e-01 5.02757918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9007140570001 meters Centerline goodness : 0.993081 with order 1 Centerline is valid? [True, True] Translation: X:913.38, Y:-50.89, Z:5.03 [[ 9.98899413e-01 4.65523050e-02 -5.73114165e-03 9.13378580e+02] [-4.65522810e-02 9.98915845e-01 1.37663929e-04 -5.08942503e+01] [ 5.73133678e-03 1.29285298e-04 9.99983567e-01 5.03338075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.960714057 meters Centerline goodness : 0.993143 with order 1 Centerline is valid? [True, True] Translation: X:913.44, Y:-50.90, Z:5.03 [[ 9.98795717e-01 4.87264723e-02 -5.73117526e-03 9.13436197e+02] [-4.87264921e-02 9.98812150e-01 1.36250176e-04 -5.08966401e+01] [ 5.73100647e-03 1.43173974e-04 9.99983567e-01 5.03275291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0207140570001 meters Centerline goodness : 0.989795 with order 1 Centerline is valid? [True, True] Translation: X:913.49, Y:-50.91, Z:5.02 [[ 9.98508547e-01 5.42939602e-02 -5.73121556e-03 9.13492750e+02] [-5.42940816e-02 9.98524979e-01 1.34533343e-04 -5.09115186e+01] [ 5.73006625e-03 1.76838392e-04 9.99983567e-01 5.02216666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.080714057 meters Centerline goodness : 0.989869 with order 1 Centerline is valid? [True, True] Translation: X:913.55, Y:-50.91, Z:5.02 [[ 9.98595387e-01 5.26726247e-02 -5.73123279e-03 9.13549472e+02] [-5.26727236e-02 9.98611820e-01 1.33795460e-04 -5.09127670e+01] [ 5.73032416e-03 1.68272112e-04 9.99983567e-01 5.02387060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1407140570001 meters Centerline goodness : 0.991021 with order 1 Centerline is valid? [True, True] Translation: X:913.61, Y:-50.90, Z:5.02 [[ 9.99233575e-01 3.87222833e-02 -5.73124927e-03 9.13607640e+02] [-3.87221567e-02 9.99250007e-01 1.33085507e-04 -5.09048522e+01] [ 5.73210425e-03 8.89428256e-05 9.99983567e-01 5.02367510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.200714057 meters Centerline goodness : 0.988435 with order 1 Centerline is valid? [True, True] Translation: X:913.67, Y:-50.92, Z:5.02 [[ 9.98947485e-01 4.55090677e-02 -5.73129156e-03 9.13665004e+02] [-4.55090634e-02 9.98963917e-01 1.31238818e-04 -5.09180186e+01] [ 5.73132602e-03 1.29725024e-04 9.99983567e-01 5.02060160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2607140570001 meters Centerline goodness : 0.992478 with order 1 Centerline is valid? [True, True] Translation: X:913.72, Y:-50.90, Z:5.03 [[ 9.99716915e-01 2.30920537e-02 -5.73130556e-03 9.13724038e+02] [-2.30916843e-02 9.99733343e-01 1.30624607e-04 -5.09035337e+01] [ 5.73279366e-03 1.75786981e-06 9.99983567e-01 5.02571802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.320714057 meters Centerline goodness : 0.990889 with order 1 Centerline is valid? [True, True] Translation: X:913.78, Y:-50.91, Z:5.02 [[ 9.99896066e-01 1.32291312e-02 -5.73131456e-03 9.13782265e+02] [-1.32286020e-02 9.99912490e-01 1.30228436e-04 -5.09084738e+01] [ 5.73253582e-03 -5.43976211e-05 9.99983567e-01 5.02140813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3807140570001 meters Centerline goodness : 0.984284 with order 1 Centerline is valid? [True, True] Translation: X:913.84, Y:-50.90, Z:5.03 [[ 9.99953725e-01 7.72659920e-03 -5.73132748e-03 9.13841495e+02] [-7.72598294e-03 9.99970146e-01 1.29657515e-04 -5.09047122e+01] [ 5.73215818e-03 -8.53713767e-05 9.99983567e-01 5.02502690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.440714057 meters Centerline goodness : 0.992748 with order 1 Centerline is valid? [True, True] Translation: X:913.90, Y:-50.91, Z:5.02 [[ 9.99983553e-01 2.11254587e-04 -5.73133648e-03 9.13900833e+02] [-2.10517220e-04 9.99999970e-01 1.29258366e-04 -5.09050876e+01] [ 5.73136361e-03 -1.28049695e-04 9.99983567e-01 5.02311421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.500714057 meters Centerline goodness : 0.988764 with order 1 Centerline is valid? [True, True] Translation: X:913.96, Y:-50.91, Z:5.02 [[ 9.99981266e-01 -2.14934771e-03 -5.73134551e-03 9.13959649e+02] [ 2.15012153e-03 9.99997680e-01 1.28856861e-04 -5.09084489e+01] [ 5.73105525e-03 -1.41177536e-04 9.99983567e-01 5.02392022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.560714057 meters Centerline goodness : 0.988754 with order 1 Centerline is valid? [True, True] Translation: X:914.02, Y:-50.91, Z:5.02 [[ 9.99974017e-01 -4.37219457e-03 -5.73135400e-03 9.14018022e+02] [ 4.37300271e-03 9.99990430e-01 1.28477876e-04 -5.09106127e+01] [ 5.73073742e-03 -1.53537764e-04 9.99983567e-01 5.02413474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.620714057 meters Centerline goodness : 0.992370 with order 1 Centerline is valid? [True, True] Translation: X:914.08, Y:-50.91, Z:5.02 [[ 9.99931057e-01 -1.02485782e-02 -5.73136248e-03 9.14078732e+02] [ 1.02494806e-02 9.99947465e-01 1.28098611e-04 -5.09089641e+01] [ 5.72974855e-03 -1.86833268e-04 9.99983567e-01 5.02348448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.680714057 meters Centerline goodness : 0.983295 with order 1 Centerline is valid? [True, True] Translation: X:914.14, Y:-50.91, Z:5.02 [[ 9.99920311e-01 -1.12482402e-02 -5.73136248e-03 9.14140851e+02] [ 1.12491590e-02 9.99936718e-01 1.28098611e-04 -5.09082454e+01] [ 5.72955890e-03 -1.92561411e-04 9.99983567e-01 5.02361650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.740714057 meters Centerline goodness : 0.989247 with order 1 Centerline is valid? [True, True] Translation: X:914.20, Y:-50.91, Z:5.02 [[ 9.99962555e-01 -6.48386574e-03 -5.73134608e-03 9.14202529e+02] [ 6.48471054e-03 9.99978966e-01 1.28827948e-04 -5.09145397e+01] [ 5.73039023e-03 -1.65989245e-04 9.99983567e-01 5.02378383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.800714057 meters Centerline goodness : 0.988269 with order 1 Centerline is valid? [True, True] Translation: X:914.26, Y:-50.92, Z:5.02 [[ 9.99962453e-01 -6.49962354e-03 -5.73133257e-03 9.14263819e+02] [ 6.50047202e-03 9.99978863e-01 1.29426200e-04 -5.09154621e+01] [ 5.73037021e-03 -1.66677707e-04 9.99983567e-01 5.02390209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.860714057 meters Centerline goodness : 0.992895 with order 1 Centerline is valid? [True, True] Translation: X:914.32, Y:-50.91, Z:5.03 [[ 9.99948302e-01 -8.39909091e-03 -5.73132668e-03 9.14323895e+02] [ 8.39997205e-03 9.99964711e-01 1.29686804e-04 -5.09139121e+01] [ 5.73003518e-03 -1.77823083e-04 9.99983567e-01 5.02553023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.920714057 meters Centerline goodness : 0.992967 with order 1 Centerline is valid? [True, True] Translation: X:914.39, Y:-50.92, Z:5.02 [[ 9.99950702e-01 -8.10831801e-03 -5.73132373e-03 9.14385587e+02] [ 8.10919512e-03 9.99967112e-01 1.29816768e-04 -5.09161257e+01] [ 5.73008264e-03 -1.76286791e-04 9.99983567e-01 5.02231970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.980714057 meters Centerline goodness : 0.993309 with order 1 Centerline is valid? [True, True] Translation: X:914.45, Y:-50.92, Z:5.02 [[ 9.99950314e-01 -8.15604839e-03 -5.73130927e-03 9.14446915e+02] [ 8.15692992e-03 9.99966723e-01 1.30452241e-04 -5.09180037e+01] [ 5.73005458e-03 -1.77195647e-04 9.99983567e-01 5.02472500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0407140570001 meters Centerline goodness : 0.987373 with order 1 Centerline is valid? [True, True] Translation: X:914.51, Y:-50.93, Z:5.04 [[ 9.99983426e-01 -5.47192904e-04 -5.73130468e-03 9.14507446e+02] [ 5.47950713e-04 9.99999841e-01 1.30653455e-04 -5.09327105e+01] [ 5.73123228e-03 -1.33791762e-04 9.99983567e-01 5.04229112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.100714057 meters Centerline goodness : 0.992737 with order 1 Centerline is valid? [True, True] Translation: X:914.57, Y:-50.92, Z:5.02 [[ 9.99912185e-01 -1.19488275e-02 -5.73130389e-03 9.14566974e+02] [ 1.19497726e-02 9.99928590e-01 1.30688347e-04 -5.09228636e+01] [ 5.72933304e-03 -1.99164649e-04 9.99983567e-01 5.02455864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1607140570001 meters Centerline goodness : 0.992786 with order 1 Centerline is valid? [True, True] Translation: X:914.63, Y:-50.92, Z:5.03 [[ 9.99905015e-01 -1.25344430e-02 -5.73130487e-03 9.14629376e+02] [ 1.25353975e-02 9.99921420e-01 1.30645150e-04 -5.09246633e+01] [ 5.72921694e-03 -2.02476925e-04 9.99983567e-01 5.02560337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.220714057 meters Centerline goodness : 0.986002 with order 1 Centerline is valid? [True, True] Translation: X:914.69, Y:-50.95, Z:5.03 [[ 9.99982063e-01 1.73974745e-03 -5.73129569e-03 9.14689840e+02] [-1.73902493e-03 9.99998479e-01 1.31046542e-04 -5.09467446e+01] [ 5.73151497e-03 -1.21077325e-04 9.99983567e-01 5.03013774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2807140570001 meters Centerline goodness : 0.985732 with order 1 Centerline is valid? [True, True] Translation: X:914.75, Y:-50.95, Z:5.03 [[ 9.99982143e-01 -1.69300599e-03 -5.73129076e-03 9.14747567e+02] [ 1.69378609e-03 9.99998557e-01 1.31261790e-04 -5.09492521e+01] [ 5.73106027e-03 -1.40967027e-04 9.99983567e-01 5.02891562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.340714057 meters Centerline goodness : 0.985169 with order 1 Centerline is valid? [True, True] Translation: X:914.81, Y:-50.95, Z:5.03 [[ 9.99979582e-01 -2.82609101e-03 -5.73130367e-03 9.14806773e+02] [ 2.82688647e-03 9.99995996e-01 1.30695806e-04 -5.09504551e+01] [ 5.73091136e-03 -1.46894883e-04 9.99983567e-01 5.02777342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4007140570001 meters Centerline goodness : 0.986265 with order 1 Centerline is valid? [True, True] Translation: X:914.87, Y:-50.95, Z:5.03 [[ 9.99966686e-01 -5.81201192e-03 -5.73131267e-03 9.14866091e+02] [ 5.81285412e-03 9.99983097e-01 1.30299997e-04 -5.09505243e+01] [ 5.73045849e-03 -1.63610941e-04 9.99983567e-01 5.02887333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.460714057 meters Centerline goodness : 0.986486 with order 1 Centerline is valid? [True, True] Translation: X:914.93, Y:-50.95, Z:5.03 [[ 9.99974273e-01 -4.31341723e-03 -5.73131941e-03 9.14926667e+02] [ 4.31423314e-03 9.99990685e-01 1.30002907e-04 -5.09523688e+01] [ 5.73070527e-03 -1.54725810e-04 9.99983567e-01 5.03024625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5207140570001 meters Centerline goodness : 0.992667 with order 1 Centerline is valid? [True, True] Translation: X:914.99, Y:-50.94, Z:5.03 [[ 9.99873558e-01 -1.48331004e-02 -5.73131941e-03 9.14986945e+02] [ 1.48340889e-02 9.99889960e-01 1.30002907e-04 -5.09358972e+01] [ 5.72876039e-03 -2.15005371e-04 9.99983567e-01 5.02542374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.580714057 meters Centerline goodness : 0.992431 with order 1 Centerline is valid? [True, True] Translation: X:915.05, Y:-50.94, Z:5.03 [[ 9.99874393e-01 -1.47766460e-02 -5.73132170e-03 9.15049361e+02] [ 1.47776330e-02 9.99890796e-01 1.29901952e-04 -5.09376774e+01] [ 5.72877630e-03 -2.14581005e-04 9.99983567e-01 5.02645182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6407140570001 meters Centerline goodness : 0.992270 with order 1 Centerline is valid? [True, True] Translation: X:915.11, Y:-50.94, Z:5.03 [[ 9.99888518e-01 -1.37878045e-02 -5.73131335e-03 9.15111347e+02] [ 1.37887774e-02 9.99904922e-01 1.30269117e-04 -5.09393147e+01] [ 5.72897230e-03 -2.09282399e-04 9.99983567e-01 5.02905136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.700714057 meters Centerline goodness : 0.992508 with order 1 Centerline is valid? [True, True] Translation: X:915.17, Y:-50.94, Z:5.03 [[ 9.99911344e-01 -1.20190263e-02 -5.73130453e-03 9.15173224e+02] [ 1.20199724e-02 9.99927749e-01 1.30656172e-04 -5.09409250e+01] [ 5.72932008e-03 -1.99534711e-04 9.99983567e-01 5.03082874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7607140570001 meters Centerline goodness : 0.992773 with order 1 Centerline is valid? [True, True] Translation: X:915.23, Y:-50.94, Z:5.03 [[ 9.99946589e-01 -8.60060657e-03 -5.73129520e-03 9.15234991e+02] [ 8.60149891e-03 9.99962998e-01 1.31064283e-04 -5.09401867e+01] [ 5.72995589e-03 -1.80355012e-04 9.99983567e-01 5.02999729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.820714057 meters Centerline goodness : 0.987597 with order 1 Centerline is valid? [True, True] Translation: X:915.30, Y:-50.96, Z:5.04 [[ 9.99980956e-01 2.28893716e-03 -5.73128598e-03 9.15296150e+02] [-2.28822125e-03 9.99997373e-01 1.31466212e-04 -5.09573833e+01] [ 5.73157184e-03 -1.18349258e-04 9.99983567e-01 5.03905390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8807140570001 meters Centerline goodness : 0.988625 with order 1 Centerline is valid? [True, True] Translation: X:915.36, Y:-50.96, Z:5.04 [[ 9.99969276e-01 5.34793506e-03 -5.73128123e-03 9.15355155e+02] [-5.34726819e-03 9.99985695e-01 1.31672971e-04 -5.09563781e+01] [ 5.73190342e-03 -1.01022228e-04 9.99983567e-01 5.03985301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.940714057 meters Centerline goodness : 0.988646 with order 1 Centerline is valid? [True, True] Translation: X:915.41, Y:-50.95, Z:5.05 [[ 9.99966142e-01 5.90477395e-03 -5.73131412e-03 9.15414091e+02] [-5.90412452e-03 9.99982562e-01 1.30225411e-04 -5.09530916e+01] [ 5.73198313e-03 -9.63826101e-05 9.99983567e-01 5.04715980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.000714057 meters Centerline goodness : 0.990784 with order 1 Centerline is valid? [True, True] Translation: X:915.47, Y:-50.94, Z:5.05 [[ 9.99983572e-01 -8.29608605e-05 -5.73132378e-03 9.15472720e+02] [ 8.37061524e-05 9.99999988e-01 1.29798595e-04 -5.09447250e+01] [ 5.73131295e-03 -1.30276210e-04 9.99983567e-01 5.04839871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.060714057 meters Centerline goodness : 0.983408 with order 1 Centerline is valid? [True, True] Translation: X:915.53, Y:-50.93, Z:5.04 [[ 9.99934246e-01 -9.93256704e-03 -5.73133342e-03 9.15532473e+02] [ 9.93347154e-03 9.99950654e-01 1.29371591e-04 -5.09347560e+01] [ 5.72976561e-03 -1.86295122e-04 9.99983567e-01 5.03762986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.120714057 meters Centerline goodness : 0.984366 with order 1 Centerline is valid? [True, True] Translation: X:915.59, Y:-50.94, Z:5.04 [[ 9.99935491e-01 -9.80639393e-03 -5.73134725e-03 9.15594198e+02] [ 9.80729284e-03 9.99951899e-01 1.28755896e-04 -5.09373814e+01] [ 5.72980894e-03 -1.84956591e-04 9.99983567e-01 5.03981692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.180714057 meters Centerline goodness : 0.989731 with order 1 Centerline is valid? [True, True] Translation: X:915.66, Y:-50.96, Z:5.04 [[ 9.99982347e-01 1.56796398e-03 -5.73133376e-03 9.15655188e+02] [-1.56724834e-03 9.99998764e-01 1.29353782e-04 -5.09563776e+01] [ 5.73152949e-03 -1.20369075e-04 9.99983567e-01 5.04369492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.240714057 meters Centerline goodness : 0.989979 with order 1 Centerline is valid? [True, True] Translation: X:915.71, Y:-50.96, Z:5.04 [[ 9.99983252e-01 8.04326449e-04 -5.73131206e-03 9.15714301e+02] [-8.03592804e-04 9.99999669e-01 1.30308136e-04 -5.09590185e+01] [ 5.73141497e-03 -1.25700312e-04 9.99983567e-01 5.04255033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.300714057 meters Centerline goodness : 0.989303 with order 1 Centerline is valid? [True, True] Translation: X:915.77, Y:-50.96, Z:5.04 [[ 9.99981880e-01 -1.84189341e-03 -5.73132173e-03 9.15772318e+02] [ 1.84266805e-03 9.99998294e-01 1.29881552e-04 -5.09606104e+01] [ 5.73107272e-03 -1.40440122e-04 9.99983567e-01 5.04208837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.360714057 meters Centerline goodness : 0.989486 with order 1 Centerline is valid? [True, True] Translation: X:915.83, Y:-50.96, Z:5.04 [[ 9.99982627e-01 -1.37744004e-03 -5.73133492e-03 9.15831628e+02] [ 1.37820371e-03 9.99999042e-01 1.29296780e-04 -5.09592468e+01] [ 5.73115133e-03 -1.37193481e-04 9.99983567e-01 5.04369193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.420714057 meters Centerline goodness : 0.992310 with order 1 Centerline is valid? [True, True] Translation: X:915.89, Y:-50.96, Z:5.04 [[ 9.99981834e-01 1.86647612e-03 -5.73133946e-03 9.15890269e+02] [-1.86576686e-03 9.99998251e-01 1.29095327e-04 -5.09564463e+01] [ 5.73157039e-03 -1.18399638e-04 9.99983567e-01 5.04110685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.480714057 meters Centerline goodness : 0.994561 with order 1 Centerline is valid? [True, True] Translation: X:915.95, Y:-50.95, Z:5.05 [[ 9.99981419e-01 -2.07687165e-03 -5.73137088e-03 9.15949030e+02] [ 2.07763756e-03 9.99997834e-01 1.27685007e-04 -5.09469370e+01] [ 5.73109327e-03 -1.39590346e-04 9.99983567e-01 5.04550616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5407140570001 meters Centerline goodness : 0.994747 with order 1 Centerline is valid? [True, True] Translation: X:916.01, Y:-50.95, Z:5.05 [[ 9.99981871e-01 -1.84647235e-03 -5.73137978e-03 9.16008879e+02] [ 1.84723219e-03 9.99998286e-01 1.27284028e-04 -5.09493872e+01] [ 5.73113493e-03 -1.37868910e-04 9.99983567e-01 5.04501206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.600714057 meters Centerline goodness : 0.994871 with order 1 Centerline is valid? [True, True] Translation: X:916.07, Y:-50.95, Z:5.04 [[ 9.99982689e-01 -1.33159840e-03 -5.73138416e-03 9.16067377e+02] [ 1.33234865e-03 9.99999104e-01 1.27086471e-04 -5.09517301e+01] [ 5.73120980e-03 -1.34720472e-04 9.99983567e-01 5.04475218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6607140570001 meters Centerline goodness : 0.994661 with order 1 Centerline is valid? [True, True] Translation: X:916.13, Y:-50.95, Z:5.05 [[ 9.99983385e-01 -6.17089466e-04 -5.73139061e-03 9.16125698e+02] [ 6.17826320e-04 9.99999801e-01 1.26795097e-04 -5.09536139e+01] [ 5.73131122e-03 -1.30333994e-04 9.99983567e-01 5.04528488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.720714057 meters Centerline goodness : 0.994800 with order 1 Centerline is valid? [True, True] Translation: X:916.18, Y:-50.96, Z:5.05 [[ 9.99983331e-01 6.99392976e-04 -5.73141983e-03 9.16183875e+02] [-6.98685381e-04 9.99999748e-01 1.25460340e-04 -5.09557012e+01] [ 5.73150613e-03 -1.21453789e-04 9.99983567e-01 5.04851890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7807140570001 meters Centerline goodness : 0.992635 with order 1 Centerline is valid? [True, True] Translation: X:916.24, Y:-50.97, Z:5.04 [[ 9.99954385e-01 7.64058030e-03 -5.73145069e-03 9.16241915e+02] [-7.63999485e-03 9.99970807e-01 1.24034044e-04 -5.09665183e+01] [ 5.73223107e-03 -8.02401324e-05 9.99983567e-01 5.04476147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.840714057 meters Centerline goodness : 0.993137 with order 1 Centerline is valid? [True, True] Translation: X:916.30, Y:-50.97, Z:5.05 [[ 9.99969140e-01 5.37309341e-03 -5.73146165e-03 9.16299456e+02] [-5.37247364e-03 9.99985561e-01 1.23525825e-04 -5.09665544e+01] [ 5.73204260e-03 -9.27298859e-05 9.99983567e-01 5.05002453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9007140570001 meters Centerline goodness : 0.994806 with order 1 Centerline is valid? [True, True] Translation: X:916.36, Y:-50.96, Z:5.05 [[ 9.99945479e-01 8.72863295e-03 -5.73147232e-03 9.16357387e+02] [-8.72807113e-03 9.99961902e-01 1.23028339e-04 -5.09586882e+01] [ 5.73232784e-03 -7.29969330e-05 9.99983567e-01 5.04985867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.960714057 meters Centerline goodness : 0.996316 with order 1 Centerline is valid? [True, True] Translation: X:916.41, Y:-50.96, Z:5.05 [[ 9.99895285e-01 1.32878987e-02 -5.73148718e-03 9.16414781e+02] [-1.32874157e-02 9.99911711e-01 1.22332569e-04 -5.09590172e+01] [ 5.73260669e-03 -4.61631063e-05 9.99983567e-01 5.05171308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0207140570001 meters Centerline goodness : 0.995107 with order 1 Centerline is valid? [True, True] Translation: X:916.47, Y:-50.96, Z:5.05 [[ 9.99691355e-01 2.41732348e-02 -5.73152032e-03 9.16472481e+02] [-2.41729397e-02 9.99707785e-01 1.20759258e-04 -5.09584487e+01] [ 5.73276463e-03 1.78257090e-05 9.99983567e-01 5.05321083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.080714057 meters Centerline goodness : 0.993456 with order 1 Centerline is valid? [True, True] Translation: X:916.53, Y:-50.97, Z:5.05 [[ 9.99029941e-01 4.36615026e-02 -5.73153045e-03 9.16530520e+02] [-4.36615307e-02 9.99046373e-01 1.20276539e-04 -5.09674607e+01] [ 5.73131617e-03 1.30087529e-04 9.99983567e-01 5.05226461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1407140570001 meters Centerline goodness : 0.996174 with order 1 Centerline is valid? [True, True] Translation: X:916.59, Y:-50.96, Z:5.05 [[ 9.98996523e-01 4.44195519e-02 -5.73154107e-03 9.16588103e+02] [-4.44195954e-02 9.99012955e-01 1.19768738e-04 -5.09600614e+01] [ 5.73120385e-03 1.34944182e-04 9.99983567e-01 5.05484146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.200714057 meters Centerline goodness : 0.995652 with order 1 Centerline is valid? [True, True] Translation: X:916.65, Y:-50.96, Z:5.06 [[ 9.98565704e-01 5.32323621e-02 -5.73155139e-03 9.16646862e+02] [-5.32325534e-02 9.98582135e-01 1.19272561e-04 -5.09629968e+01] [ 5.72977399e-03 1.86003626e-04 9.99983567e-01 5.05717567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2607140570001 meters Centerline goodness : 0.995307 with order 1 Centerline is valid? [True, True] Translation: X:916.70, Y:-50.97, Z:5.06 [[ 9.98096180e-01 6.14098024e-02 -5.73157925e-03 9.16704275e+02] [-6.14101361e-02 9.98112610e-01 1.17918265e-04 -5.09656659e+01] [ 5.72800286e-03 2.34283292e-04 9.99983567e-01 5.05909455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.320714057 meters Centerline goodness : 0.992807 with order 1 Centerline is valid? [True, True] Translation: X:916.76, Y:-50.98, Z:5.05 [[ 9.97407675e-01 7.17292012e-02 -5.73161190e-03 9.16763126e+02] [-7.17297140e-02 9.97424100e-01 1.16309467e-04 -5.09786567e+01] [ 5.72519062e-03 2.95118927e-04 9.99983567e-01 5.05313114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3807140570001 meters Centerline goodness : 0.992211 with order 1 Centerline is valid? [True, True] Translation: X:916.82, Y:-50.98, Z:5.06 [[ 9.97240473e-01 7.40174827e-02 -5.73161792e-03 9.16820745e+02] [-7.40180349e-02 9.97256896e-01 1.16012040e-04 -5.09809638e+01] [ 5.72448242e-03 3.08551194e-04 9.99983567e-01 5.05912960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.440714057 meters Centerline goodness : 0.991703 with order 1 Centerline is valid? [True, True] Translation: X:916.88, Y:-50.98, Z:5.06 [[ 9.97572874e-01 6.93938725e-02 -5.73165043e-03 9.16879649e+02] [-6.93943579e-02 9.97589299e-01 1.14382779e-04 -5.09847558e+01] [ 5.72577060e-03 2.83639045e-04 9.99983567e-01 5.05732996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.500714057 meters Centerline goodness : 0.994230 with order 1 Centerline is valid? [True, True] Translation: X:916.94, Y:-50.98, Z:5.06 [[ 9.98678259e-01 5.10772219e-02 -5.73167980e-03 9.16937534e+02] [-5.10774144e-02 9.98694691e-01 1.12891977e-04 -5.09781496e+01] [ 5.72996439e-03 1.80016621e-04 9.99983567e-01 5.06025591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.560714057 meters Centerline goodness : 0.991435 with order 1 Centerline is valid? [True, True] Translation: X:917.00, Y:-50.99, Z:5.07 [[ 9.98751627e-01 4.96219300e-02 -5.73169477e-03 9.16995861e+02] [-4.96221029e-02 9.98768058e-01 1.12126428e-04 -5.09890883e+01] [ 5.73019759e-03 1.72432296e-04 9.99983567e-01 5.06519071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.620714057 meters Centerline goodness : 0.993842 with order 1 Centerline is valid? [True, True] Translation: X:917.05, Y:-50.98, Z:5.06 [[ 9.99564249e-01 2.89561480e-02 -5.73172273e-03 9.17053754e+02] [-2.89559894e-02 9.99580681e-01 1.10678434e-04 -5.09832977e+01] [ 5.73252414e-03 5.53374965e-05 9.99983567e-01 5.06252488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.680714057 meters Centerline goodness : 0.992523 with order 1 Centerline is valid? [True, True] Translation: X:917.11, Y:-50.99, Z:5.06 [[ 9.99716540e-01 2.31081432e-02 -5.73173730e-03 9.17112074e+02] [-2.31078927e-02 9.99732971e-01 1.09918707e-04 -5.09918669e+01] [ 5.73274678e-03 2.25608215e-05 9.99983567e-01 5.06121899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.740714057 meters Centerline goodness : 0.991714 with order 1 Centerline is valid? [True, True] Translation: X:917.17, Y:-50.99, Z:5.06 [[ 9.99847429e-01 1.65004499e-02 -5.73174522e-03 9.17171204e+02] [-1.65000933e-02 9.99863858e-01 1.09504063e-04 -5.09917303e+01] [ 5.73277176e-03 -1.49130245e-05 9.99983567e-01 5.06058653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.800714057 meters Centerline goodness : 0.994486 with order 1 Centerline is valid? [True, True] Translation: X:917.23, Y:-50.98, Z:5.06 [[ 9.99968157e-01 5.55260414e-03 -5.73175306e-03 9.17228789e+02] [-5.55207003e-03 9.99984581e-01 1.09092263e-04 -5.09817840e+01] [ 5.73227043e-03 -7.72656946e-05 9.99983567e-01 5.06091790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.860714057 meters Centerline goodness : 0.993028 with order 1 Centerline is valid? [True, True] Translation: X:917.29, Y:-50.98, Z:5.06 [[ 9.99950743e-01 8.10294843e-03 -5.73176270e-03 9.17286354e+02] [-8.10245913e-03 9.99967169e-01 1.08583753e-04 -5.09846371e+01] [ 5.73245436e-03 -6.21370316e-05 9.99983567e-01 5.06206309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.920714057 meters Centerline goodness : 0.993388 with order 1 Centerline is valid? [True, True] Translation: X:917.35, Y:-50.98, Z:5.07 [[ 9.99951945e-01 7.95330577e-03 -5.73179401e-03 9.17345632e+02] [-7.95282362e-03 9.99968370e-01 1.06904733e-04 -5.09813441e+01] [ 5.73246296e-03 -6.13156484e-05 9.99983567e-01 5.06513113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.980714057 meters Centerline goodness : 0.992695 with order 1 Centerline is valid? [True, True] Translation: X:917.40, Y:-50.98, Z:5.06 [[ 9.99934207e-01 9.93623455e-03 -5.73180202e-03 9.17403212e+02] [-9.93578745e-03 9.99950633e-01 1.06473397e-04 -5.09826230e+01] [ 5.73257701e-03 -4.95164251e-05 9.99983567e-01 5.06180037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0407140570001 meters Centerline goodness : 0.992776 with order 1 Centerline is valid? [True, True] Translation: X:917.46, Y:-50.98, Z:5.07 [[ 9.99931260e-01 1.02284996e-02 -5.73181182e-03 9.17462419e+02] [-1.02280603e-02 9.99947686e-01 1.05943557e-04 -5.09824080e+01] [ 5.73259561e-03 -4.73109575e-05 9.99983567e-01 5.06645545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.100714057 meters Centerline goodness : 0.992433 with order 1 Centerline is valid? [True, True] Translation: X:917.52, Y:-50.98, Z:5.07 [[ 9.99894793e-01 1.33247689e-02 -5.73182637e-03 9.17520187e+02] [-1.33243850e-02 9.99911221e-01 1.05150290e-04 -5.09844594e+01] [ 5.73271861e-03 -2.87661657e-05 9.99983567e-01 5.06578901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1607140570001 meters Centerline goodness : 0.993055 with order 1 Centerline is valid? [True, True] Translation: X:917.58, Y:-50.99, Z:5.07 [[ 9.99811198e-01 1.85664815e-02 -5.73183610e-03 9.17578310e+02] [-1.85661869e-02 9.99827628e-01 1.04616969e-04 -5.09856307e+01] [ 5.73279046e-03 1.82112264e-06 9.99983567e-01 5.06632612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.220714057 meters Centerline goodness : 0.992604 with order 1 Centerline is valid? [True, True] Translation: X:917.64, Y:-50.99, Z:5.07 [[ 9.99580428e-01 2.83921544e-02 -5.73184545e-03 9.17636756e+02] [-2.83920242e-02 9.99596860e-01 1.04102172e-04 -5.09893604e+01] [ 5.73249040e-03 5.86802013e-05 9.99983567e-01 5.06568434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2807140570001 meters Centerline goodness : 0.995201 with order 1 Centerline is valid? [True, True] Translation: X:917.69, Y:-50.98, Z:5.07 [[ 9.99499161e-01 3.11219113e-02 -5.73187230e-03 9.17694402e+02] [-3.11218346e-02 9.99515593e-01 1.02602453e-04 -5.09834380e+01] [ 5.73228893e-03 7.58353164e-05 9.99983567e-01 5.06646697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.340714057 meters Centerline goodness : 0.991265 with order 1 Centerline is valid? [True, True] Translation: X:917.75, Y:-51.00, Z:5.06 [[ 9.98783465e-01 4.89768850e-02 -5.73188629e-03 9.17751640e+02] [-4.89771064e-02 9.98799896e-01 1.01815062e-04 -5.09970102e+01] [ 5.72999401e-03 1.79040004e-04 9.99983567e-01 5.06121161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4007140570001 meters Centerline goodness : 0.991652 with order 1 Centerline is valid? [True, True] Translation: X:917.81, Y:-51.00, Z:5.06 [[ 9.98326355e-01 5.75467926e-02 -5.73191513e-03 9.17808886e+02] [-5.75471645e-02 9.98342784e-01 1.00164556e-04 -5.09994295e+01] [ 5.72818025e-03 2.29858547e-04 9.99983567e-01 5.06305904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.460714057 meters Centerline goodness : 0.992641 with order 1 Centerline is valid? [True, True] Translation: X:917.87, Y:-51.00, Z:5.06 [[ 9.98118942e-01 6.10387017e-02 -5.73192558e-03 9.17867464e+02] [-6.10391345e-02 9.98135369e-01 9.95630152e-05 -5.10041169e+01] [ 5.72731485e-03 2.50496045e-04 9.99983567e-01 5.06028580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5207140570001 meters Centerline goodness : 0.992226 with order 1 Centerline is valid? [True, True] Translation: X:917.93, Y:-51.01, Z:5.06 [[ 9.98239181e-01 5.90396605e-02 -5.73195120e-03 9.17925338e+02] [-5.90400690e-02 9.98255609e-01 9.80654138e-05 -5.10075842e+01] [ 5.72774218e-03 2.40522056e-04 9.99983567e-01 5.05979901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.580714057 meters Centerline goodness : 0.993817 with order 1 Centerline is valid? [True, True] Translation: X:917.98, Y:-51.00, Z:5.07 [[ 9.99092367e-01 4.22088472e-02 -5.73197998e-03 9.17983287e+02] [-4.22089886e-02 9.99108799e-01 9.63532505e-05 -5.09997130e+01] [ 5.73093859e-03 1.45675280e-04 9.99983567e-01 5.06832031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6407140570001 meters Centerline goodness : 0.991218 with order 1 Centerline is valid? [True, True] Translation: X:918.04, Y:-51.01, Z:5.06 [[ 9.99235358e-01 3.86761489e-02 -5.73198873e-03 9.18041757e+02] [-3.86762352e-02 9.99251790e-01 9.58300452e-05 -5.10137420e+01] [ 5.73140633e-03 1.25934975e-04 9.99983567e-01 5.06178177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.700714057 meters Centerline goodness : 0.991023 with order 1 Centerline is valid? [True, True] Translation: X:918.10, Y:-51.02, Z:5.06 [[ 9.99455825e-01 3.24838133e-02 -5.73201206e-03 9.18099203e+02] [-3.24838059e-02 9.99472257e-01 9.44132301e-05 -5.10152136e+01] [ 5.73205394e-03 9.18357146e-05 9.99983567e-01 5.06146385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7607140570001 meters Centerline goodness : 0.990792 with order 1 Centerline is valid? [True, True] Translation: X:918.16, Y:-51.02, Z:5.06 [[ 9.99713775e-01 2.32273835e-02 -5.73202260e-03 9.18157508e+02] [-2.32272276e-02 9.99730207e-01 9.37692352e-05 -5.10159483e+01] [ 5.73265415e-03 3.93965976e-05 9.99983567e-01 5.06213421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.820714057 meters Centerline goodness : 0.990848 with order 1 Centerline is valid? [True, True] Translation: X:918.22, Y:-51.02, Z:5.06 [[ 9.99807999e-01 1.87378833e-02 -5.73202961e-03 9.18216441e+02] [-1.87376561e-02 9.99824430e-01 9.33388828e-05 -5.10158054e+01] [ 5.73277221e-03 1.40838378e-05 9.99983567e-01 5.06087604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8807140570001 meters Centerline goodness : 0.991656 with order 1 Centerline is valid? [True, True] Translation: X:918.27, Y:-51.01, Z:5.06 [[ 9.99863885e-01 1.54711268e-02 -5.73203659e-03 9.18274609e+02] [-1.54708484e-02 9.99880315e-01 9.29077667e-05 -5.10142804e+01] [ 5.73278794e-03 -4.21565114e-06 9.99983567e-01 5.06209476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.940714057 meters Centerline goodness : 0.991014 with order 1 Centerline is valid? [True, True] Translation: X:918.33, Y:-51.01, Z:5.06 [[ 9.99924580e-01 1.08617687e-02 -5.73204515e-03 9.18332043e+02] [-1.08614176e-02 9.99941009e-01 9.23771559e-05 -5.10112361e+01] [ 5.73271038e-03 -3.01120529e-05 9.99983567e-01 5.05965426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.000714057 meters Centerline goodness : 0.991744 with order 1 Centerline is valid? [True, True] Translation: X:918.39, Y:-51.01, Z:5.06 [[ 9.99943017e-01 9.00590713e-03 -5.73205338e-03 9.18389661e+02] [-9.00552849e-03 9.99959445e-01 9.18632623e-05 -5.10109982e+01] [ 5.73264823e-03 -4.02378577e-05 9.99983567e-01 5.05683560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.060714057 meters Centerline goodness : 0.991540 with order 1 Centerline is valid? [True, True] Translation: X:918.45, Y:-51.01, Z:5.06 [[ 9.99982755e-01 1.27773365e-03 -5.73206361e-03 9.18448668e+02] [-1.27723175e-03 9.99999180e-01 9.12205341e-05 -5.10126671e+01] [ 5.73217547e-03 -8.38977874e-05 9.99983567e-01 5.05685485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.120714057 meters Centerline goodness : 0.992003 with order 1 Centerline is valid? [True, True] Translation: X:918.51, Y:-51.01, Z:5.06 [[ 9.99977683e-01 -3.43165583e-03 -5.73207044e-03 9.18506589e+02] [ 3.43223261e-03 9.99994106e-01 9.07895607e-05 -5.10123524e+01] [ 5.73172509e-03 -1.10461334e-04 9.99983567e-01 5.05927234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.180714057 meters Centerline goodness : 0.991792 with order 1 Centerline is valid? [True, True] Translation: X:918.57, Y:-51.01, Z:5.06 [[ 9.99979099e-01 -2.99083077e-03 -5.73207880e-03 9.18565853e+02] [ 2.99139727e-03 9.99995522e-01 9.02584831e-05 -5.10121267e+01] [ 5.73178318e-03 -1.07403521e-04 9.99983567e-01 5.06015831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.240714057 meters Centerline goodness : 0.992222 with order 1 Centerline is valid? [True, True] Translation: X:918.63, Y:-51.01, Z:5.06 [[ 9.99982916e-01 1.14507384e-03 -5.73208197e-03 9.18625065e+02] [-1.14457642e-03 9.99999341e-01 9.00562728e-05 -5.10142941e+01] [ 5.73218132e-03 -8.34939284e-05 9.99983567e-01 5.05821706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.300714057 meters Centerline goodness : 0.992406 with order 1 Centerline is valid? [True, True] Translation: X:918.68, Y:-51.01, Z:5.06 [[ 9.99980759e-01 2.37184376e-03 -5.73208539e-03 9.18683308e+02] [-2.37136775e-03 9.99997184e-01 8.98381933e-05 -5.10139398e+01] [ 5.73228233e-03 -7.62435822e-05 9.99983567e-01 5.06122176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.360714057 meters Centerline goodness : 0.991338 with order 1 Centerline is valid? [True, True] Translation: X:918.74, Y:-51.02, Z:5.06 [[ 9.99971966e-01 4.81774217e-03 -5.73211223e-03 9.18740783e+02] [-4.81731635e-03 9.99988393e-01 8.80915706e-05 -5.10152452e+01] [ 5.73247010e-03 -6.04757030e-05 9.99983567e-01 5.06114290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.420714057 meters Centerline goodness : 0.991888 with order 1 Centerline is valid? [True, True] Translation: X:918.80, Y:-51.02, Z:5.06 [[ 9.99971405e-01 4.93281245e-03 -5.73213829e-03 9.18798139e+02] [-4.93239843e-03 9.99987832e-01 8.63625494e-05 -5.10167864e+01] [ 5.73249455e-03 -5.80868900e-05 9.99983567e-01 5.06102436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.480714057 meters Centerline goodness : 0.991037 with order 1 Centerline is valid? [True, True] Translation: X:918.86, Y:-51.02, Z:5.06 [[ 9.99964749e-01 6.13546991e-03 -5.73214621e-03 9.18856209e+02] [-6.13507868e-03 9.99981177e-01 8.58331955e-05 -5.10193218e+01] [ 5.73256494e-03 -5.06630018e-05 9.99983567e-01 5.05850883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5407140570001 meters Centerline goodness : 0.991332 with order 1 Centerline is valid? [True, True] Translation: X:918.91, Y:-51.02, Z:5.06 [[ 9.99931565e-01 1.01983731e-02 -5.73215556e-03 9.18913704e+02] [-1.01980523e-02 9.99947995e-01 8.52042049e-05 -5.10223715e+01] [ 5.73272640e-03 -2.67415520e-05 9.99983567e-01 5.05756995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.600714057 meters Centerline goodness : 0.990713 with order 1 Centerline is valid? [True, True] Translation: X:918.97, Y:-51.02, Z:5.06 [[ 9.99881579e-01 1.42818028e-02 -5.73218087e-03 9.18971080e+02] [-1.42815590e-02 9.99898010e-01 8.34662856e-05 -5.10209466e+01] [ 5.73278829e-03 -1.59192241e-06 9.99983567e-01 5.06380029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6607140570001 meters Centerline goodness : 0.993228 with order 1 Centerline is valid? [True, True] Translation: X:919.03, Y:-51.02, Z:5.06 [[ 9.99818287e-01 1.81806411e-02 -5.73219246e-03 9.19028955e+02] [-1.81804660e-02 9.99834718e-01 8.26624744e-05 -5.10154325e+01] [ 5.73274789e-03 2.15664763e-05 9.99983567e-01 5.06273109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.720714057 meters Centerline goodness : 0.991736 with order 1 Centerline is valid? [True, True] Translation: X:919.09, Y:-51.02, Z:5.07 [[ 9.99548728e-01 2.94869798e-02 -5.73220316e-03 9.19087084e+02] [-2.94869948e-02 9.99565161e-01 8.19134782e-05 -5.10210251e+01] [ 5.73212596e-03 8.71489319e-05 9.99983567e-01 5.07054413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7807140570001 meters Centerline goodness : 0.990838 with order 1 Centerline is valid? [True, True] Translation: X:919.15, Y:-51.03, Z:5.07 [[ 9.99006031e-01 4.42051003e-02 -5.73222317e-03 9.19145645e+02] [-4.42053655e-02 9.99022462e-01 8.04882727e-05 -5.10253802e+01] [ 5.73017770e-03 1.72986750e-04 9.99983567e-01 5.06657716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.840714057 meters Centerline goodness : 0.989427 with order 1 Centerline is valid? [True, True] Translation: X:919.20, Y:-51.03, Z:5.06 [[ 9.98642043e-01 5.17804061e-02 -5.73224394e-03 9.19203189e+02] [-5.17808046e-02 9.98658471e-01 7.89812752e-05 -5.10325685e+01] [ 5.72864365e-03 2.17946181e-04 9.99983567e-01 5.06092064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9007140570001 meters Centerline goodness : 0.991618 with order 1 Centerline is valid? [True, True] Translation: X:919.26, Y:-51.03, Z:5.06 [[ 9.98789483e-01 4.88539701e-02 -5.73225115e-03 9.19261338e+02] [-4.88543234e-02 9.98805912e-01 7.84546547e-05 -5.10257675e+01] [ 5.72923915e-03 2.01685567e-04 9.99983567e-01 5.06188204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.960714057 meters Centerline goodness : 0.992131 with order 1 Centerline is valid? [True, True] Translation: X:919.32, Y:-51.03, Z:5.06 [[ 9.98830811e-01 4.80015938e-02 -5.73226117e-03 9.19319499e+02] [-4.80019373e-02 9.98847240e-01 7.77154914e-05 -5.10290288e+01] [ 5.72938371e-03 1.97535014e-04 9.99983567e-01 5.06142113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0207140570001 meters Centerline goodness : 0.991146 with order 1 Centerline is valid? [True, True] Translation: X:919.38, Y:-51.03, Z:5.06 [[ 9.99151142e-01 4.07938335e-02 -5.73228247e-03 9.19376233e+02] [-4.07940677e-02 9.99167573e-01 7.61108073e-05 -5.10343704e+01] [ 5.73061562e-03 1.57796919e-04 9.99983567e-01 5.06127755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.080714057 meters Centerline goodness : 0.991564 with order 1 Centerline is valid? [True, True] Translation: X:919.43, Y:-51.04, Z:5.06 [[ 9.99583640e-01 2.82787584e-02 -5.73229156e-03 9.19434386e+02] [-2.82787908e-02 9.99600072e-01 7.54197685e-05 -5.10367457e+01] [ 5.73213184e-03 8.67139070e-05 9.99983567e-01 5.06175681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1407140570001 meters Centerline goodness : 0.991980 with order 1 Centerline is valid? [True, True] Translation: X:919.49, Y:-51.04, Z:5.06 [[ 9.99796470e-01 1.93431996e-02 -5.73231169e-03 9.19492052e+02] [-1.93430940e-02 9.99812902e-01 7.38576038e-05 -5.10387793e+01] [ 5.73266783e-03 3.70380724e-05 9.99983567e-01 5.06122874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.200714057 meters Centerline goodness : 0.992618 with order 1 Centerline is valid? [True, True] Translation: X:919.55, Y:-51.04, Z:5.06 [[ 9.99958602e-01 7.06651699e-03 -5.73231926e-03 9.19550427e+02] [-7.06621309e-03 9.99975031e-01 7.32658042e-05 -5.10403431e+01] [ 5.73269386e-03 -3.27569817e-05 9.99983567e-01 5.06135552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2607140570001 meters Centerline goodness : 0.990565 with order 1 Centerline is valid? [True, True] Translation: X:919.61, Y:-51.05, Z:5.05 [[ 9.99944733e-01 8.81309660e-03 -5.73232698e-03 9.19608632e+02] [-8.81282489e-03 9.99961164e-01 7.26566946e-05 -5.10499769e+01] [ 5.73274468e-03 -2.21346852e-05 9.99983567e-01 5.05453272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.320714057 meters Centerline goodness : 0.990234 with order 1 Centerline is valid? [True, True] Translation: X:919.67, Y:-51.04, Z:5.06 [[ 9.99973816e-01 4.41673264e-03 -5.73234596e-03 9.19666085e+02] [-4.41639747e-03 9.99990245e-01 7.11269977e-05 -5.10449239e+01] [ 5.73260419e-03 -4.58088171e-05 9.99983567e-01 5.05687547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3807140570001 meters Centerline goodness : 0.988527 with order 1 Centerline is valid? [True, True] Translation: X:919.73, Y:-51.03, Z:5.06 [[ 9.99977584e-01 3.46013496e-03 -5.73235252e-03 9.19725168e+02] [-3.45978713e-03 9.99994012e-01 7.05938634e-05 -5.10349180e+01] [ 5.73256246e-03 -5.07595614e-05 9.99983567e-01 5.06125023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.440714057 meters Centerline goodness : 0.991447 with order 1 Centerline is valid? [True, True] Translation: X:919.78, Y:-51.04, Z:5.06 [[ 9.99959505e-01 6.93741222e-03 -5.73235736e-03 9.19783792e+02] [-6.93712379e-03 9.99975935e-01 7.01985817e-05 -5.10359133e+01] [ 5.73270641e-03 -3.04296664e-05 9.99983567e-01 5.05558491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.500714057 meters Centerline goodness : 0.990795 with order 1 Centerline is valid? [True, True] Translation: X:919.84, Y:-51.04, Z:5.05 [[ 9.99981833e-01 1.86377907e-03 -5.73237982e-03 9.19842280e+02] [-1.86341808e-03 9.99998262e-01 6.83144896e-05 -5.10375643e+01] [ 5.73249717e-03 -5.76314283e-05 9.99983567e-01 5.05356665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.560714057 meters Centerline goodness : 0.990369 with order 1 Centerline is valid? [True, True] Translation: X:919.90, Y:-51.05, Z:5.04 [[ 9.99972867e-01 -4.62656288e-03 -5.73238493e-03 9.19900176e+02] [ 4.62702802e-03 9.99989293e-01 6.78822971e-05 -5.10541872e+01] [ 5.73200950e-03 -9.44043610e-05 9.99983567e-01 5.04079275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.620714057 meters Centerline goodness : 0.991056 with order 1 Centerline is valid? [True, True] Translation: X:919.96, Y:-51.04, Z:5.05 [[ 9.99856653e-01 -1.59314970e-02 -5.73239160e-03 9.19960196e+02] [ 1.59321445e-02 9.99873073e-01 6.73144281e-05 -5.10409532e+01] [ 5.73059159e-03 -1.58634070e-04 9.99983567e-01 5.04540049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.680714057 meters Centerline goodness : 0.993361 with order 1 Centerline is valid? [True, True] Translation: X:920.02, Y:-51.04, Z:5.05 [[ 9.99828643e-01 -1.76018515e-02 -5.73239296e-03 9.20022912e+02] [ 1.76025258e-02 9.99845061e-01 6.71986872e-05 -5.10398583e+01] [ 5.73032197e-03 -1.68091767e-04 9.99983567e-01 5.04815656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.740714057 meters Centerline goodness : 0.991291 with order 1 Centerline is valid? [True, True] Translation: X:920.09, Y:-51.04, Z:5.05 [[ 9.99852375e-01 -1.61977662e-02 -5.73238540e-03 9.20085312e+02] [ 1.61984211e-02 9.99868795e-01 6.78377019e-05 -5.10423999e+01] [ 5.73053446e-03 -1.60683280e-04 9.99983567e-01 5.04546096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.800714057 meters Centerline goodness : 0.991363 with order 1 Centerline is valid? [True, True] Translation: X:920.15, Y:-51.04, Z:5.05 [[ 9.99856438e-01 -1.59449821e-02 -5.73237957e-03 9.20147696e+02] [ 1.59456357e-02 9.99872858e-01 6.83268444e-05 -5.10441848e+01] [ 5.73056127e-03 -1.59723471e-04 9.99983567e-01 5.04550422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.860714057 meters Centerline goodness : 0.991552 with order 1 Centerline is valid? [True, True] Translation: X:920.21, Y:-51.04, Z:5.05 [[ 9.99837545e-01 -1.70886773e-02 -5.73237364e-03 9.20208909e+02] [ 1.70893525e-02 9.99853964e-01 6.88205676e-05 -5.10441077e+01] [ 5.73036045e-03 -1.66771941e-04 9.99983567e-01 5.04627875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.920714057 meters Centerline goodness : 0.991515 with order 1 Centerline is valid? [True, True] Translation: X:920.27, Y:-51.05, Z:5.05 [[ 9.99848974e-01 -1.64063870e-02 -5.73236926e-03 9.20271348e+02] [ 1.64070530e-02 9.99865393e-01 6.91837219e-05 -5.10455545e+01] [ 5.73046258e-03 -1.63224560e-04 9.99983567e-01 5.04662658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.980714057 meters Centerline goodness : 0.992924 with order 1 Centerline is valid? [True, True] Translation: X:920.33, Y:-51.04, Z:5.05 [[ 9.99824449e-01 -1.78384747e-02 -5.73236354e-03 9.20333425e+02] [ 1.78391669e-02 9.99840867e-01 6.96539398e-05 -5.10439185e+01] [ 5.73020882e-03 -1.71902302e-04 9.99983567e-01 5.04936375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0407140570001 meters Centerline goodness : 0.993200 with order 1 Centerline is valid? [True, True] Translation: X:920.40, Y:-51.04, Z:5.05 [[ 9.99822805e-01 -1.79303981e-02 -5.73235784e-03 9.20396368e+02] [ 1.79310946e-02 9.99839223e-01 7.01200580e-05 -5.10445690e+01] [ 5.73017893e-03 -1.72895084e-04 9.99983567e-01 5.05015557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.100714057 meters Centerline goodness : 0.990461 with order 1 Centerline is valid? [True, True] Translation: X:920.46, Y:-51.06, Z:5.04 [[ 9.99970409e-01 -5.13051909e-03 -5.73235028e-03 9.20458005e+02] [ 5.13100884e-03 9.99986834e-01 7.07326986e-05 -5.10621855e+01] [ 5.73191191e-03 -1.00143346e-04 9.99983567e-01 5.04458436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1607140570001 meters Centerline goodness : 0.991149 with order 1 Centerline is valid? [True, True] Translation: X:920.52, Y:-51.05, Z:5.05 [[ 9.99843818e-01 -1.67176687e-02 -5.73234504e-03 9.20519138e+02] [ 1.67183512e-02 9.99860236e-01 7.11548858e-05 -5.10482563e+01] [ 5.73035432e-03 -1.66979130e-04 9.99983567e-01 5.04910092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.220714057 meters Centerline goodness : 0.993306 with order 1 Centerline is valid? [True, True] Translation: X:920.58, Y:-51.05, Z:5.05 [[ 9.99833046e-01 -1.73499671e-02 -5.73234504e-03 9.20580305e+02] [ 1.73506599e-02 9.99849463e-01 7.11548858e-05 -5.10472978e+01] [ 5.73024758e-03 -1.70602976e-04 9.99983567e-01 5.05066430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2807140570001 meters Centerline goodness : 0.989957 with order 1 Centerline is valid? [True, True] Translation: X:920.64, Y:-51.05, Z:5.05 [[ 9.99811572e-01 -1.85461776e-02 -5.73234048e-03 9.20642039e+02] [ 1.85468922e-02 9.99827989e-01 7.15203480e-05 -5.10483951e+01] [ 5.73002803e-03 -1.77823972e-04 9.99983567e-01 5.04784687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.340714057 meters Centerline goodness : 0.990505 with order 1 Centerline is valid? [True, True] Translation: X:920.70, Y:-51.07, Z:5.04 [[ 9.99944152e-01 -8.87878957e-03 -5.73233417e-03 9.20704460e+02] [ 8.87934827e-03 9.99960575e-01 7.20225828e-05 -5.10656642e+01] [ 5.73146870e-03 -1.22917952e-04 9.99983567e-01 5.04423259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4007140570001 meters Centerline goodness : 0.991483 with order 1 Centerline is valid? [True, True] Translation: X:920.77, Y:-51.05, Z:5.05 [[ 9.99749182e-01 -2.16497901e-02 -5.73232763e-03 9.20765798e+02] [ 2.16505615e-02 9.99765597e-01 7.25395224e-05 -5.10541821e+01] [ 5.72941349e-03 -1.96629440e-04 9.99983567e-01 5.04565305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.460714057 meters Centerline goodness : 0.993317 with order 1 Centerline is valid? [True, True] Translation: X:920.83, Y:-51.05, Z:5.05 [[ 9.99735536e-01 -2.22710420e-02 -5.73232458e-03 9.20826830e+02] [ 2.22718250e-02 9.99751950e-01 7.27793726e-05 -5.10521943e+01] [ 5.72928181e-03 -2.00429455e-04 9.99983567e-01 5.04946509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5207140570001 meters Centerline goodness : 0.993063 with order 1 Centerline is valid? [True, True] Translation: X:920.89, Y:-51.05, Z:5.05 [[ 9.99738432e-01 -2.21406419e-02 -5.73231309e-03 9.20890306e+02] [ 2.21414279e-02 9.99754846e-01 7.36736560e-05 -5.10521840e+01] [ 5.72927661e-03 -2.00575982e-04 9.99983567e-01 5.05092143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.580714057 meters Centerline goodness : 0.993508 with order 1 Centerline is valid? [True, True] Translation: X:920.95, Y:-51.05, Z:5.05 [[ 9.99743893e-01 -2.18926917e-02 -5.73230526e-03 9.20953433e+02] [ 2.18934770e-02 9.99760306e-01 7.42780673e-05 -5.10525927e+01] [ 5.72930512e-03 -1.99759138e-04 9.99983567e-01 5.05207777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6407140570001 meters Centerline goodness : 0.990079 with order 1 Centerline is valid? [True, True] Translation: X:921.02, Y:-51.07, Z:5.05 [[ 9.99950900e-01 -8.08325457e-03 -5.73229715e-03 9.21015736e+02] [ 8.08381669e-03 9.99967323e-01 7.48986311e-05 -5.10699263e+01] [ 5.73150441e-03 -1.21233793e-04 9.99983567e-01 5.04507268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.700714057 meters Centerline goodness : 0.993362 with order 1 Centerline is valid? [True, True] Translation: X:921.08, Y:-51.05, Z:5.05 [[ 9.99806903e-01 -1.87962327e-02 -5.73229168e-03 9.21076715e+02] [ 1.87969731e-02 9.99823318e-01 7.53153586e-05 -5.10533089e+01] [ 5.72986324e-03 -1.83050548e-04 9.99983567e-01 5.05396204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7607140570001 meters Centerline goodness : 0.989998 with order 1 Centerline is valid? [True, True] Translation: X:921.14, Y:-51.07, Z:5.05 [[ 9.99965813e-01 -5.95941573e-03 -5.73227413e-03 9.21139029e+02] [ 5.95995288e-03 9.99982236e-01 7.66277284e-05 -5.10720348e+01] [ 5.73171565e-03 -1.10789192e-04 9.99983567e-01 5.04749601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.820714057 meters Centerline goodness : 0.993917 with order 1 Centerline is valid? [True, True] Translation: X:921.20, Y:-51.05, Z:5.06 [[ 9.99790277e-01 -1.96607096e-02 -5.73226867e-03 9.21199152e+02] [ 1.96614740e-02 9.99806692e-01 7.70338681e-05 -5.10541351e+01] [ 5.72964604e-03 -1.89722564e-04 9.99983567e-01 5.05665729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8807140570001 meters Centerline goodness : 0.988363 with order 1 Centerline is valid? [True, True] Translation: X:921.26, Y:-51.06, Z:5.05 [[ 9.99763753e-01 -2.09661554e-02 -5.73226867e-03 9.21261811e+02] [ 2.09669413e-02 9.99780167e-01 7.70338681e-05 -5.10576547e+01] [ 5.72939343e-03 -1.97203810e-04 9.99983567e-01 5.05303475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.940714057 meters Centerline goodness : 0.990164 with order 1 Centerline is valid? [True, True] Translation: X:921.32, Y:-51.07, Z:5.05 [[ 9.99960602e-01 -6.77762894e-03 -5.73226081e-03 9.21323533e+02] [ 6.77818518e-03 9.99977025e-01 7.76143395e-05 -5.10743571e+01] [ 5.73160307e-03 -1.16465607e-04 9.99983567e-01 5.04723286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.000714057 meters Centerline goodness : 0.989912 with order 1 Centerline is valid? [True, True] Translation: X:921.38, Y:-51.08, Z:5.05 [[ 9.99949998e-01 -8.19404349e-03 -5.73225350e-03 9.21383625e+02] [ 8.19462606e-03 9.99966420e-01 7.81506712e-05 -5.10775499e+01] [ 5.73142065e-03 -1.25120437e-04 9.99983567e-01 5.04520195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.060714057 meters Centerline goodness : 0.993562 with order 1 Centerline is valid? [True, True] Translation: X:921.45, Y:-51.06, Z:5.06 [[ 9.99752385e-01 -2.15014014e-02 -5.73225206e-03 9.21445281e+02] [ 2.15022031e-02 9.99768798e-01 7.82561775e-05 -5.10565274e+01] [ 5.72924414e-03 -2.01492848e-04 9.99983567e-01 5.05917581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.120714057 meters Centerline goodness : 0.993515 with order 1 Centerline is valid? [True, True] Translation: X:921.51, Y:-51.06, Z:5.06 [[ 9.99702863e-01 -2.36923406e-02 -5.73224859e-03 9.21506209e+02] [ 2.36931797e-02 9.99719274e-01 7.85100183e-05 -5.10565349e+01] [ 5.72877931e-03 -2.14301886e-04 9.99983567e-01 5.05995098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.180714057 meters Centerline goodness : 0.993839 with order 1 Centerline is valid? [True, True] Translation: X:921.57, Y:-51.06, Z:5.06 [[ 9.99634288e-01 -2.64278628e-02 -5.73223712e-03 9.21568770e+02] [ 2.64287516e-02 9.99650696e-01 7.93381444e-05 -5.10569546e+01] [ 5.72813810e-03 -2.30805000e-04 9.99983567e-01 5.05896264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.240714057 meters Centerline goodness : 0.994238 with order 1 Centerline is valid? [True, True] Translation: X:921.63, Y:-51.06, Z:5.06 [[ 9.99519969e-01 -3.04462396e-02 -5.73223127e-03 9.21630096e+02] [ 3.04471967e-02 9.99536373e-01 7.97590919e-05 -5.10577254e+01] [ 5.72714529e-03 -2.54251178e-04 9.99983567e-01 5.05700088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.300714057 meters Centerline goodness : 0.994154 with order 1 Centerline is valid? [True, True] Translation: X:921.69, Y:-51.06, Z:5.06 [[ 9.99431898e-01 -3.32117784e-02 -5.73221964e-03 9.21691574e+02] [ 3.32127856e-02 9.99448300e-01 8.05859317e-05 -5.10578963e+01] [ 5.72638078e-03 -2.70923133e-04 9.99983567e-01 5.05597052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.360714057 meters Centerline goodness : 0.993201 with order 1 Centerline is valid? [True, True] Translation: X:921.75, Y:-51.06, Z:5.05 [[ 9.99434372e-01 -3.31372576e-02 -5.73221394e-03 9.21754146e+02] [ 3.31382659e-02 9.99450774e-01 8.09897143e-05 -5.10571990e+01] [ 5.72638188e-03 -2.70899534e-04 9.99983567e-01 5.05260912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.420714057 meters Centerline goodness : 0.992576 with order 1 Centerline is valid? [True, True] Translation: X:921.82, Y:-51.06, Z:5.05 [[ 9.99474782e-01 -3.18951751e-02 -5.73220770e-03 9.21816809e+02] [ 3.18961656e-02 9.99491185e-01 8.14285076e-05 -5.10573393e+01] [ 5.72669389e-03 -2.64221186e-04 9.99983567e-01 5.05128922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.480714057 meters Centerline goodness : 0.989570 with order 1 Centerline is valid? [True, True] Translation: X:921.88, Y:-51.06, Z:5.05 [[ 9.99495331e-01 -3.12445945e-02 -5.73219971e-03 9.21877032e+02] [ 3.12455774e-02 9.99511734e-01 8.19876766e-05 -5.10571120e+01] [ 5.72683920e-03 -2.61052190e-04 9.99983567e-01 5.04711100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5407140570001 meters Centerline goodness : 0.984590 with order 1 Centerline is valid? [True, True] Translation: X:921.94, Y:-51.06, Z:5.06 [[ 9.99514757e-01 -3.06168517e-02 -5.73219037e-03 9.21938940e+02] [ 3.06178281e-02 9.99531161e-01 8.26350435e-05 -5.10565234e+01] [ 5.72697287e-03 -2.58102165e-04 9.99983567e-01 5.05786278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.600714057 meters Centerline goodness : 0.981768 with order 1 Centerline is valid? [True, True] Translation: X:922.00, Y:-51.05, Z:5.05 [[ 9.99639824e-01 -2.62176466e-02 -5.73217602e-03 9.22001662e+02] [ 2.62185564e-02 9.99656231e-01 8.36193133e-05 -5.10549832e+01] [ 5.72801317e-03 -2.33878576e-04 9.99983567e-01 5.05250909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6607140570001 meters Centerline goodness : 0.976373 with order 1 Centerline is valid? [True, True] Translation: X:922.06, Y:-51.05, Z:5.05 [[ 9.99702995e-01 -2.36867868e-02 -5.73216715e-03 9.22062557e+02] [ 2.36876585e-02 9.99719405e-01 8.42229318e-05 -5.10544980e+01] [ 5.72856376e-03 -2.19979535e-04 9.99983567e-01 5.05370687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.720714057 meters Centerline goodness : 0.907835 with order 2 Centerline is valid? [True, False] Translation: X:922.11, Y:-51.05, Z:5.06 [[ 9.99774084e-01 -2.00670606e-02 -7.00672998e-03 9.22113966e+02] [ 1.98489425e-02 9.99355113e-01 -2.99228471e-02 -5.10454072e+01] [ 7.60267502e-03 2.97770108e-02 9.99527653e-01 5.06478573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7807140570001 meters Centerline goodness : 0.896963 with order 3 Centerline is valid? [False, False] Translation: X:922.16, Y:-51.04, Z:5.07 [[ 9.99715119e-01 -2.20273782e-02 -9.19101972e-03 9.22164646e+02] [ 2.17175910e-02 9.99234338e-01 -3.25435725e-02 -5.10442592e+01] [ 9.90083208e-03 3.23346946e-02 9.99428057e-01 5.07020417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.840714057 meters Centerline goodness : 0.732131 with order 3 Centerline is valid? [False, False] Translation: X:922.22, Y:-51.04, Z:5.08 [[ 9.99747730e-01 -1.97865327e-02 -1.06287031e-02 9.22215717e+02] [ 1.92330271e-02 9.98570431e-01 -4.98716803e-02 -5.10386062e+01] [ 1.16002963e-02 4.96546770e-02 9.98699077e-01 5.08015288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9007140570001 meters Centerline goodness : 0.150014 with order 1 Centerline is valid? [False, False] Translation: X:922.27, Y:-51.03, Z:5.10 [[ 9.99769476e-01 -1.56598475e-02 -1.46889231e-02 9.22274536e+02] [ 1.45372425e-02 9.97178528e-01 -7.36454504e-02 -5.10340651e+01] [ 1.58007552e-02 7.34149369e-02 9.97176305e-01 5.09652688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.960714057 meters Centerline goodness : 0.162235 with order 1 Centerline is valid? [False, False] Translation: X:922.27, Y:-51.04, Z:5.09 [[ 9.99848216e-01 -1.04513278e-02 -1.39396805e-02 9.22274462e+02] [ 9.47048937e-03 9.97594960e-01 -6.86629810e-02 -5.10370971e+01] [ 1.46237743e-02 6.85205435e-02 9.97542521e-01 5.09390985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0207140570001 meters Centerline goodness : 0.157826 with order 1 Centerline is valid? [False, False] Translation: X:922.27, Y:-51.04, Z:5.09 [[ 9.99883597e-01 -6.50744107e-03 -1.38002389e-02 9.22274572e+02] [ 5.60989685e-03 9.97927185e-01 -6.41082025e-02 -5.10381193e+01] [ 1.41888139e-02 6.40233222e-02 9.97847529e-01 5.09326605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.080714057 meters Centerline goodness : 0.157299 with order 1 Centerline is valid? [False, False] Translation: X:922.28, Y:-51.05, Z:5.09 [[ 9.99918440e-01 -5.36450655e-03 -1.15902810e-02 9.22281962e+02] [ 4.84023286e-03 9.98984345e-01 -4.47978756e-02 -5.10461326e+01] [ 1.18188278e-02 4.47381223e-02 9.98928834e-01 5.08515053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1407140570001 meters Centerline goodness : 0.157574 with order 1 Centerline is valid? [False, False] Translation: X:922.30, Y:-51.05, Z:5.08 [[ 9.99937766e-01 -7.60611950e-03 -8.16161625e-03 9.22295801e+02] [ 7.33456144e-03 9.99434959e-01 -3.28019285e-02 -5.10510037e+01] [ 8.40649999e-03 3.27400252e-02 9.99428547e-01 5.07676050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.200714057 meters Centerline goodness : 0.159718 with order 1 Centerline is valid? [False, False] Translation: X:922.31, Y:-51.05, Z:5.07 [[ 9.99931053e-01 -1.07065511e-02 -4.82283201e-03 9.22311846e+02] [ 1.05899407e-02 9.99665673e-01 -2.35880141e-02 -5.10546987e+01] [ 5.07376588e-03 2.35353142e-02 9.99710131e-01 5.06915188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.2607140570001 meters Centerline goodness : 0.159791 with order 1 Centerline is valid? [False, False] Translation: X:922.33, Y:-51.06, Z:5.06 [[ 9.99924950e-01 -1.21920203e-02 -1.20405638e-03 9.22327438e+02] [ 1.21748316e-02 9.99836390e-01 -1.33778719e-02 -5.10570399e+01] [ 1.36696267e-03 1.33622087e-02 9.99909787e-01 5.06237139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.320714057 meters Centerline goodness : 0.169923 with order 1 Centerline is valid? [False, False] Translation: X:922.35, Y:-51.06, Z:5.06 [[ 9.99897731e-01 -1.40922629e-02 2.43649365e-03 9.22346763e+02] [ 1.41052220e-02 9.99886010e-01 -5.38599597e-03 -5.10605732e+01] [-2.36031505e-03 5.41981243e-03 9.99982527e-01 5.05592418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3807140570001 meters Centerline goodness : 0.165767 with order 1 Centerline is valid? [False, False] Translation: X:922.38, Y:-51.06, Z:5.06 [[ 9.99874747e-01 -1.52017461e-02 4.40434020e-03 9.22377116e+02] [ 1.52312410e-02 9.99861265e-01 -6.74246353e-03 -5.10614507e+01] [-4.30123194e-03 6.80870258e-03 9.99967570e-01 5.05638917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.440714057 meters Centerline goodness : 0.182343 with order 1 Centerline is valid? [False, False] Translation: X:922.42, Y:-51.06, Z:5.06 [[ 9.99831616e-01 -1.78640952e-02 4.19685645e-03 9.22416448e+02] [ 1.79115144e-02 9.99772899e-01 -1.15467710e-02 -5.10605149e+01] [-3.98963073e-03 1.16199988e-02 9.99924526e-01 5.05849950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.500714057 meters Centerline goodness : 0.181437 with order 1 Centerline is valid? [False, False] Translation: X:922.47, Y:-51.06, Z:5.06 [[ 9.99718246e-01 -2.36917990e-02 1.45852597e-03 9.22465052e+02] [ 2.37098001e-02 9.99622285e-01 -1.38972444e-02 -5.10633557e+01] [-1.12872434e-03 1.39279101e-02 9.99902365e-01 5.06193885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.560714057 meters Centerline goodness : 0.185935 with order 1 Centerline is valid? [False, False] Translation: X:922.51, Y:-51.07, Z:5.07 [[ 9.99651217e-01 -2.62182952e-02 -3.16937216e-03 9.22508262e+02] [ 2.61604537e-02 9.99511672e-01 -1.70894131e-02 -5.10667299e+01] [ 3.61587975e-03 1.70005404e-02 9.99848942e-01 5.06757944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.620714057 meters Centerline goodness : 0.203317 with order 1 Centerline is valid? [False, False] Translation: X:922.51, Y:-51.08, Z:5.07 [[ 9.99625829e-01 -2.28799977e-02 -1.49902618e-02 9.22511026e+02] [ 2.27347115e-02 9.99693580e-01 -9.79182059e-03 -5.10769245e+01] [ 1.52097053e-02 9.44735750e-03 9.99839693e-01 5.06861166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.680714057 meters Centerline goodness : 0.214327 with order 1 Centerline is valid? [False, False] Translation: X:922.52, Y:-51.08, Z:5.07 [[ 9.99583895e-01 -2.36822034e-02 -1.64678460e-02 9.22515165e+02] [ 2.35384286e-02 9.99683579e-01 -8.87036180e-03 -5.10792769e+01] [ 1.66727049e-02 8.47904358e-03 9.99825048e-01 5.06818700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.740714057 meters Centerline goodness : 0.204331 with order 1 Centerline is valid? [False, False] Translation: X:922.52, Y:-51.08, Z:5.07 [[ 9.99573566e-01 -2.36058758e-02 -1.71886466e-02 9.22516816e+02] [ 2.34780031e-02 9.99695438e-01 -7.60356538e-03 -5.10809108e+01] [ 1.73629004e-02 7.19676786e-03 9.99823353e-01 5.06852032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.800714057 meters Centerline goodness : 0.206855 with order 1 Centerline is valid? [False, False] Translation: X:922.52, Y:-51.08, Z:5.07 [[ 9.99580038e-01 -2.25335022e-02 -1.82205828e-02 9.22519003e+02] [ 2.24311944e-02 9.99731565e-01 -5.79999316e-03 -5.10828219e+01] [ 1.83463859e-02 5.38884795e-03 9.99817169e-01 5.06926774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.860714057 meters Centerline goodness : 0.212285 with order 1 Centerline is valid? [False, False] Translation: X:922.55, Y:-51.08, Z:5.07 [[ 9.99674561e-01 -2.10803029e-02 -1.43663977e-02 9.22552019e+02] [ 2.10155944e-02 9.99768379e-01 -4.64035516e-03 -5.10824769e+01] [ 1.44608902e-02 4.33692662e-03 9.99886030e-01 5.06716057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.920714057 meters Centerline goodness : 0.157730 with order 2 Centerline is valid? [False, False] Translation: X:922.59, Y:-51.08, Z:5.07 [[ 9.99715253e-01 -2.02339778e-02 -1.26490581e-02 9.22594461e+02] [ 2.01251437e-02 9.99759850e-01 -8.67301415e-03 -5.10786272e+01] [ 1.28215100e-02 8.41598042e-03 9.99882383e-01 5.06795904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.980714057 meters Centerline goodness : 0.230884 with order 1 Centerline is valid? [False, False] Translation: X:922.60, Y:-51.08, Z:5.07 [[ 9.99673583e-01 -2.12509282e-02 -1.41818372e-02 9.22601259e+02] [ 2.11108921e-02 9.99727606e-01 -9.95204838e-03 -5.10760318e+01] [ 1.43894645e-02 9.64940863e-03 9.99849905e-01 5.06668610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0407140570001 meters Centerline goodness : 0.204564 with order 2 Centerline is valid? [False, False] Translation: X:922.64, Y:-51.07, Z:5.07 [[ 9.99686341e-01 -2.10035637e-02 -1.36407792e-02 9.22643927e+02] [ 2.07727703e-02 9.99642284e-01 -1.68462272e-02 -5.10705133e+01] [ 1.39897305e-02 1.65575865e-02 9.99765039e-01 5.06967572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.100714057 meters Centerline goodness : 0.810597 with order 3 Centerline is valid? [False, False] Translation: X:922.69, Y:-51.06, Z:5.07 [[ 9.99768109e-01 -1.52762803e-02 -1.51777583e-02 9.22690360e+02] [ 1.49705339e-02 9.99686735e-01 -2.00577998e-02 -5.10610344e+01] [ 1.54794122e-02 1.98259294e-02 9.99683610e-01 5.06904983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.1607140570001 meters Centerline goodness : 0.835274 with order 3 Centerline is valid? [False, False] Translation: X:922.72, Y:-51.06, Z:5.07 [[ 9.99720430e-01 -1.51980880e-02 -1.81129749e-02 9.22717599e+02] [ 1.48709594e-02 9.99726302e-01 -1.80603330e-02 -5.10557241e+01] [ 1.83825000e-02 1.77859266e-02 9.99672819e-01 5.06758597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.220714057 meters Centerline goodness : 0.847175 with order 3 Centerline is valid? [False, False] Translation: X:922.76, Y:-51.05, Z:5.07 [[ 9.99775453e-01 -1.40571305e-02 -1.58568839e-02 9.22762771e+02] [ 1.36563972e-02 9.99591583e-01 -2.51032015e-02 -5.10502234e+01] [ 1.62032867e-02 2.48810168e-02 9.99559097e-01 5.06809638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2807140570001 meters Centerline goodness : 0.858220 with order 3 Centerline is valid? [False, False] Translation: X:922.81, Y:-51.04, Z:5.07 [[ 9.99832788e-01 -1.31078009e-02 -1.27507763e-02 9.22805773e+02] [ 1.27085672e-02 9.99441588e-01 -3.09031479e-02 -5.10445435e+01] [ 1.31487284e-02 3.07359364e-02 9.99441050e-01 5.06987067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.340714057 meters Centerline goodness : 0.862657 with order 3 Centerline is valid? [False, False] Translation: X:922.82, Y:-51.04, Z:5.06 [[ 9.99847502e-01 -1.56947284e-02 -7.65815744e-03 9.22824934e+02] [ 1.55036428e-02 9.99581957e-01 -2.44038764e-02 -5.10448383e+01] [ 8.03796821e-03 2.42814255e-02 9.99672848e-01 5.06426485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4007140570001 meters Centerline goodness : 0.861706 with order 3 Centerline is valid? [False, False] Translation: X:922.84, Y:-51.04, Z:5.06 [[ 9.99869611e-01 -1.46345111e-02 -6.82583117e-03 9.22844787e+02] [ 1.44354162e-02 9.99493596e-01 -2.83578891e-02 -5.10426132e+01] [ 7.23737839e-03 2.82556578e-02 9.99574529e-01 5.05967671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.460714057 meters Centerline goodness : 0.866790 with order 3 Centerline is valid? [False, False] Translation: X:922.87, Y:-51.04, Z:5.06 [[ 9.99838242e-01 -1.58957454e-02 -8.41522632e-03 9.22866719e+02] [ 1.57083129e-02 9.99636989e-01 -2.18892643e-02 -5.10408256e+01] [ 8.76011767e-03 2.17535346e-02 9.99724984e-01 5.05520011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5207140570001 meters Centerline goodness : 0.871149 with order 1 Centerline is valid? [False, False] Translation: X:922.89, Y:-51.03, Z:5.05 [[ 9.99813207e-01 -1.55421547e-02 -1.14888063e-02 9.22894433e+02] [ 1.53461053e-02 9.99738394e-01 -1.69599892e-02 -5.10348319e+01] [ 1.17493956e-02 1.67805128e-02 9.99790161e-01 5.05090822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.580714057 meters Centerline goodness : 0.875918 with order 3 Centerline is valid? [False, False] Translation: X:922.90, Y:-51.03, Z:5.05 [[ 9.99756364e-01 -1.82673728e-02 -1.23901481e-02 9.22900119e+02] [ 1.80248833e-02 9.99649149e-01 -1.94083134e-02 -5.10317483e+01] [ 1.27403399e-02 1.91802539e-02 9.99734866e-01 5.04859684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6407140570001 meters Centerline goodness : 0.868821 with order 1 Centerline is valid? [False, False] Translation: X:922.92, Y:-51.03, Z:5.04 [[ 9.99449842e-01 -3.01984723e-02 -1.37136699e-02 9.22923162e+02] [ 2.99017920e-02 9.99324870e-01 -2.13468083e-02 -5.10279702e+01] [ 1.43490524e-02 2.09250009e-02 9.99678073e-01 5.04366617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.700714057 meters Centerline goodness : 0.879249 with order 1 Centerline is valid? [False, False] Translation: X:922.94, Y:-51.03, Z:5.04 [[ 9.99107698e-01 -4.01779780e-02 -1.30206660e-02 9.22941067e+02] [ 3.99219561e-02 9.99015232e-01 -1.93598708e-02 -5.10279058e+01] [ 1.37856841e-02 1.88227855e-02 9.99727792e-01 5.03834258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.7607140570001 meters Centerline goodness : 0.874047 with order 1 Centerline is valid? [False, False] Translation: X:922.96, Y:-51.03, Z:5.03 [[ 9.98578394e-01 -5.22914098e-02 -1.03344178e-02 9.22962738e+02] [ 5.20774515e-02 9.98442980e-01 -1.99888504e-02 -5.10275620e+01] [ 1.13635721e-02 1.94222440e-02 9.99746791e-01 5.03081775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.820714057 meters Centerline goodness : 0.899167 with order 3 Centerline is valid? [False, False] Translation: X:922.99, Y:-51.03, Z:5.02 [[ 9.98300745e-01 -5.66628941e-02 -1.35992264e-02 9.22988525e+02] [ 5.64770830e-02 9.98310178e-01 -1.36794457e-02 -5.10282999e+01] [ 1.43513631e-02 1.28881562e-02 9.99813950e-01 5.02251263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8807140570001 meters Centerline goodness : 0.907280 with order 1 Centerline is valid? [False, False] Translation: X:922.99, Y:-51.03, Z:5.02 [[ 9.98267120e-01 -5.69491278e-02 -1.48173464e-02 9.22991791e+02] [ 5.67242716e-02 9.98274514e-01 -1.51773217e-02 -5.10258556e+01] [ 1.56561145e-02 1.43105180e-02 9.99775022e-01 5.02102978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.940714057 meters Centerline goodness : 0.897812 with order 1 Centerline is valid? [False, False] Translation: X:923.00, Y:-51.03, Z:5.02 [[ 9.98507951e-01 -5.21989776e-02 -1.60355527e-02 9.22996839e+02] [ 5.20417584e-02 9.98594134e-01 -1.00703286e-02 -5.10258450e+01] [ 1.65386697e-02 9.22078479e-03 9.99820709e-01 5.01841878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.000714057 meters Centerline goodness : 0.904374 with order 1 Centerline is valid? [False, False] Translation: X:923.00, Y:-51.03, Z:5.02 [[ 9.98671652e-01 -4.86173964e-02 -1.70669082e-02 9.22999645e+02] [ 4.85240868e-02 9.98804941e-01 -5.83970723e-03 -5.10267635e+01] [ 1.73304236e-02 5.00379394e-03 9.99837296e-01 5.01706469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.060714057 meters Centerline goodness : 0.899442 with order 1 Centerline is valid? [False, False] Translation: X:923.00, Y:-51.03, Z:5.01 [[ 9.98718799e-01 -4.73109899e-02 -1.79563617e-02 9.23003861e+02] [ 4.72265868e-02 9.98871203e-01 -5.09598942e-03 -5.10288746e+01] [ 1.81771889e-02 4.24144276e-03 9.99825785e-01 5.01349901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.120714057 meters Centerline goodness : 0.916405 with order 1 Centerline is valid? [False, False] Translation: X:923.01, Y:-51.03, Z:5.01 [[ 9.98746692e-01 -4.63439258e-02 -1.89020201e-02 9.23007891e+02] [ 4.62629919e-02 9.98918252e-01 -4.69702749e-03 -5.10284169e+01] [ 1.90992516e-02 3.81667667e-03 9.99810308e-01 5.01250303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.180714057 meters Centerline goodness : 0.921255 with order 3 Centerline is valid? [False, False] Translation: X:923.03, Y:-51.03, Z:5.01 [[ 9.98930394e-01 -4.27428296e-02 -1.76385558e-02 9.23028841e+02] [ 4.25322907e-02 9.99021288e-01 -1.21437772e-02 -5.10265701e+01] [ 1.81403521e-02 1.13805800e-02 9.99770679e-01 5.01207437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.240714057 meters Centerline goodness : 0.931757 with order 1 Centerline is valid? [False, False] Translation: X:923.08, Y:-51.02, Z:5.02 [[ 9.98624034e-01 -4.72230946e-02 -2.28039203e-02 9.23081335e+02] [ 4.64522126e-02 9.98367730e-01 -3.32275266e-02 -5.10242174e+01] [ 2.43358048e-02 3.21225140e-02 9.99187626e-01 5.02227101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.300714057 meters Centerline goodness : 0.935331 with order 2 Centerline is valid? [False, False] Translation: X:923.09, Y:-51.03, Z:5.02 [[ 9.98484179e-01 -4.91113736e-02 -2.48478898e-02 9.23088208e+02] [ 4.82054278e-02 9.98194526e-01 -3.58319076e-02 -5.10252839e+01] [ 2.65627818e-02 3.45797897e-02 9.99048876e-01 5.02160626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.360714057 meters Centerline goodness : 0.940295 with order 1 Centerline is valid? [False, False] Translation: X:923.13, Y:-51.02, Z:5.03 [[ 9.98269533e-01 -5.18524370e-02 -2.77356225e-02 9.23130804e+02] [ 5.04127670e-02 9.97460754e-01 -5.03050381e-02 -5.10202639e+01] [ 3.02736338e-02 4.88197574e-02 9.98348706e-01 5.02988964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.420714057 meters Centerline goodness : 0.942838 with order 1 Centerline is valid? [False, False] Translation: X:923.15, Y:-51.02, Z:5.02 [[ 9.98195428e-01 -5.39430733e-02 -2.63824183e-02 9.23148609e+02] [ 5.28711841e-02 9.97809252e-01 -3.97660051e-02 -5.10242453e+01] [ 2.84697216e-02 3.82993748e-02 9.98860667e-01 5.02300503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.480714057 meters Centerline goodness : 0.946278 with order 1 Centerline is valid? [False, False] Translation: X:923.17, Y:-51.03, Z:5.02 [[ 9.97674664e-01 -6.32130108e-02 -2.54829503e-02 9.23170469e+02] [ 6.21820052e-02 9.97286748e-01 -3.94023002e-02 -5.10270450e+01] [ 2.79045467e-02 3.77260956e-02 9.98898432e-01 5.01896669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5407140570001 meters Centerline goodness : 0.940605 with order 3 Centerline is valid? [False, False] Translation: X:923.19, Y:-51.03, Z:5.02 [[ 9.97372613e-01 -6.81960499e-02 -2.44370438e-02 9.23192861e+02] [ 6.72663521e-02 9.97047388e-01 -3.70370524e-02 -5.10267119e+01] [ 2.68906714e-02 3.52959509e-02 9.99015059e-01 5.01648123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.600714057 meters Centerline goodness : 0.945421 with order 3 Centerline is valid? [False, False] Translation: X:923.23, Y:-51.02, Z:5.03 [[ 9.97247976e-01 -6.95650876e-02 -2.56353706e-02 9.23229678e+02] [ 6.82456500e-02 9.96455749e-01 -4.91779545e-02 -5.10183008e+01] [ 2.89655811e-02 4.72931130e-02 9.98460994e-01 5.02755174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.6607140570001 meters Centerline goodness : 0.954397 with order 1 Centerline is valid? [False, True] Translation: X:923.24, Y:-51.02, Z:5.02 [[ 9.96982577e-01 -7.43716008e-02 -2.22397265e-02 9.23242994e+02] [ 7.34062706e-02 9.96439952e-01 -4.14601086e-02 -5.10214425e+01] [ 2.52440066e-02 3.97024706e-02 9.98892614e-01 5.02321561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.720714057 meters Centerline goodness : 0.960195 with order 1 Centerline is valid? [True, True] Translation: X:923.31, Y:-51.04, Z:5.03 [[ 9.96439457e-01 -8.04463013e-02 -2.52349127e-02 9.23305358e+02] [ 8.04240335e-02 9.96758934e-01 -1.89773814e-03 -5.10380137e+01] [ 2.53057907e-02 -1.38512303e-04 9.99679748e-01 5.02686695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7807140570001 meters Centerline goodness : 0.960310 with order 1 Centerline is valid? [True, True] Translation: X:923.37, Y:-51.03, Z:5.03 [[ 9.96376015e-01 -8.12282631e-02 -2.52350284e-02 9.23366657e+02] [ 8.12062850e-02 9.96695512e-01 -1.89619785e-03 -5.10327924e+01] [ 2.53056645e-02 -1.59916851e-04 9.99679748e-01 5.02518483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.840714057 meters Centerline goodness : 0.959311 with order 1 Centerline is valid? [True, True] Translation: X:923.43, Y:-51.03, Z:5.01 [[ 9.96917164e-01 -7.42923828e-02 -2.52350938e-02 9.23428178e+02] [ 7.42682039e-02 9.97236502e-01 -1.89532752e-03 -5.10298152e+01] [ 2.53061651e-02 1.53194445e-05 9.99679748e-01 5.01364665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9007140570001 meters Centerline goodness : 0.964259 with order 1 Centerline is valid? [True, True] Translation: X:923.49, Y:-51.02, Z:5.03 [[ 9.96201704e-01 -8.33386719e-02 -2.52354986e-02 9.23488240e+02] [ 8.33175297e-02 9.96521258e-01 -1.88992251e-03 -5.10189702e+01] [ 2.53052144e-02 -2.19815378e-04 9.99679748e-01 5.02623075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.960714057 meters Centerline goodness : 0.966970 with order 1 Centerline is valid? [True, True] Translation: X:923.55, Y:-51.02, Z:5.03 [[ 9.95700045e-01 -8.91324153e-02 -2.52355642e-02 9.23548873e+02] [ 8.91131545e-02 9.96019717e-01 -1.88904643e-03 -5.10178802e+01] [ 2.53034948e-02 -3.67897119e-04 9.99679748e-01 5.03441569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0207140570001 meters Centerline goodness : 0.969792 with order 1 Centerline is valid? [True, True] Translation: X:923.61, Y:-51.01, Z:5.05 [[ 9.94840259e-01 -9.82650752e-02 -2.52355701e-02 9.23608803e+02] [ 9.82487505e-02 9.95160095e-01 -1.88896705e-03 -5.10091503e+01] [ 2.52990519e-02 -6.00142763e-04 9.99679748e-01 5.04696645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.080714057 meters Centerline goodness : 0.969166 with order 1 Centerline is valid? [True, True] Translation: X:923.67, Y:-51.01, Z:5.05 [[ 9.94866956e-01 -9.79944163e-02 -2.52355922e-02 9.23671417e+02] [ 9.79780121e-02 9.95186788e-01 -1.88867254e-03 -5.10078528e+01] [ 2.52992073e-02 -5.93555256e-04 9.99679748e-01 5.04554848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1407140570001 meters Centerline goodness : 0.972813 with order 1 Centerline is valid? [True, True] Translation: X:923.73, Y:-51.01, Z:5.04 [[ 9.94588292e-01 -1.00783291e-01 -2.52360271e-02 9.23731462e+02] [ 1.00767932e-01 9.94908176e-01 -1.88284359e-03 -5.10055789e+01] [ 2.52972888e-02 -6.70328056e-04 9.99679748e-01 5.04241293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.200714057 meters Centerline goodness : 0.973874 with order 1 Centerline is valid? [True, True] Translation: X:923.79, Y:-51.00, Z:5.05 [[ 9.94381512e-01 -1.02803460e-01 -2.52360455e-02 9.23792923e+02] [ 1.02788756e-01 9.94701426e-01 -1.88259640e-03 -5.09978303e+01] [ 2.52958679e-02 -7.21962673e-04 9.99679748e-01 5.04563012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.2607140570001 meters Centerline goodness : 0.976275 with order 1 Centerline is valid? [True, True] Translation: X:923.85, Y:-50.99, Z:5.04 [[ 9.94684439e-01 -9.98298666e-02 -2.52361609e-02 9.23852854e+02] [ 9.98142458e-02 9.95004311e-01 -1.88104868e-03 -5.09885454e+01] [ 2.52978737e-02 -6.47878516e-04 9.99679748e-01 5.04389480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.320714057 meters Centerline goodness : 0.977222 with order 1 Centerline is valid? [True, True] Translation: X:923.91, Y:-50.98, Z:5.05 [[ 9.95099798e-01 -9.56008736e-02 -2.52361696e-02 9.23913878e+02] [ 9.55838963e-02 9.95419600e-01 -1.88093115e-03 -5.09821726e+01] [ 2.53003965e-02 -5.40457214e-04 9.99679748e-01 5.04739075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3807140570001 meters Centerline goodness : 0.979509 with order 1 Centerline is valid? [True, True] Translation: X:923.97, Y:-50.97, Z:5.05 [[ 9.95321135e-01 -9.32682697e-02 -2.52362265e-02 9.23972994e+02] [ 9.32505622e-02 9.95640898e-01 -1.88016755e-03 -5.09749834e+01] [ 2.53015792e-02 -4.81921811e-04 9.99679748e-01 5.04624079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.440714057 meters Centerline goodness : 0.980586 with order 1 Centerline is valid? [True, True] Translation: X:924.03, Y:-50.97, Z:5.05 [[ 9.95425634e-01 -9.21463006e-02 -2.52361984e-02 9.24033173e+02] [ 9.21282231e-02 9.95745376e-01 -1.88054427e-03 -5.09696482e+01] [ 2.53021131e-02 -4.53024143e-04 9.99679748e-01 5.05090815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.500714057 meters Centerline goodness : 0.980807 with order 1 Centerline is valid? [True, True] Translation: X:924.09, Y:-50.97, Z:5.05 [[ 9.95543228e-01 -9.08670174e-02 -2.52362154e-02 9.24092919e+02] [ 9.08485348e-02 9.95862946e-01 -1.88031688e-03 -5.09657140e+01] [ 2.53026706e-02 -4.20736458e-04 9.99679748e-01 5.05408678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.560714057 meters Centerline goodness : 0.983248 with order 1 Centerline is valid? [True, True] Translation: X:924.15, Y:-50.96, Z:5.06 [[ 9.95346678e-01 -9.29952894e-02 -2.52362362e-02 9.24154629e+02] [ 9.29774975e-02 9.95666435e-01 -1.88003709e-03 -5.09587035e+01] [ 2.53017080e-02 -4.75113415e-04 9.99679748e-01 5.05932905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.620714057 meters Centerline goodness : 0.983527 with order 1 Centerline is valid? [True, True] Translation: X:924.21, Y:-50.96, Z:5.06 [[ 9.95381938e-01 -9.26170899e-02 -2.52363442e-02 9.24214155e+02] [ 9.25992133e-02 9.95701691e-01 -1.87858670e-03 -5.09554902e+01] [ 2.53018598e-02 -4.66954344e-04 9.99679748e-01 5.05679336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.680714057 meters Centerline goodness : 0.986682 with order 1 Centerline is valid? [True, True] Translation: X:924.27, Y:-50.95, Z:5.06 [[ 9.94820905e-01 -9.84606272e-02 -2.52363180e-02 9.24274555e+02] [ 9.84446197e-02 9.95140757e-01 -1.87893920e-03 -5.09521224e+01] [ 2.52986901e-02 -6.15171730e-04 9.99679748e-01 5.06017258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.740714057 meters Centerline goodness : 0.987918 with order 1 Centerline is valid? [True, True] Translation: X:924.33, Y:-50.95, Z:5.12 [[ 9.91625739e-01 -1.26655129e-01 -2.52363270e-02 9.24333996e+02] [ 1.26648208e-01 9.91945917e-01 -1.87881818e-03 -5.09494812e+01] [ 2.52710334e-02 -1.33305113e-03 9.99679748e-01 5.11687329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.800714057 meters Centerline goodness : 0.989030 with order 1 Centerline is valid? [True, True] Translation: X:924.40, Y:-50.95, Z:5.08 [[ 9.93968225e-01 -1.06725322e-01 -2.52363389e-02 9.24395945e+02] [ 1.06711980e-01 9.94288200e-01 -1.87865767e-03 -5.09519931e+01] [ 2.52926943e-02 -8.25693662e-04 9.99679748e-01 5.08410219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.860714057 meters Centerline goodness : 0.989704 with order 1 Centerline is valid? [True, True] Translation: X:924.45, Y:-50.95, Z:5.12 [[ 9.90823618e-01 -1.32784350e-01 -2.52363575e-02 9.24454777e+02] [ 1.32779420e-01 9.91143833e-01 -1.87840728e-03 -5.09472444e+01] [ 2.52622832e-02 -1.48969861e-03 9.99679748e-01 5.11504601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.920714057 meters Centerline goodness : 0.989341 with order 1 Centerline is valid? [True, True] Translation: X:924.52, Y:-50.95, Z:5.12 [[ 9.90123633e-01 -1.37906913e-01 -2.52363893e-02 9.24516285e+02] [ 1.37903650e-01 9.90443868e-01 -1.87798045e-03 -5.09460708e+01] [ 2.52542135e-02 -1.62075737e-03 9.99679748e-01 5.11952707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.980714057 meters Centerline goodness : 0.990722 with order 1 Centerline is valid? [True, True] Translation: X:924.58, Y:-50.95, Z:5.11 [[ 9.90367372e-01 -1.36145418e-01 -2.52367357e-02 9.24577552e+02] [ 1.36141704e-01 9.90687603e-01 -1.87331411e-03 -5.09477189e+01] [ 2.52567643e-02 -1.58050303e-03 9.99679748e-01 5.10846984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0407140570001 meters Centerline goodness : 0.991217 with order 1 Centerline is valid? [True, True] Translation: X:924.64, Y:-50.95, Z:5.10 [[ 9.92213592e-01 -1.21964318e-01 -2.52367405e-02 9.24638586e+02] [ 1.21956025e-01 9.92533737e-01 -1.87324964e-03 -5.09474964e+01] [ 2.52767859e-02 -1.21910880e-03 9.99679748e-01 5.10371360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.100714057 meters Centerline goodness : 0.989452 with order 1 Centerline is valid? [True, True] Translation: X:924.70, Y:-50.95, Z:5.11 [[ 9.92634790e-01 -1.18487467e-01 -2.52367445e-02 9.24699630e+02] [ 1.18478053e-01 9.92954904e-01 -1.87319599e-03 -5.09459361e+01] [ 2.52808994e-02 -1.13060085e-03 9.99679748e-01 5.10596017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.1607140570001 meters Centerline goodness : 0.991062 with order 1 Centerline is valid? [True, True] Translation: X:924.76, Y:-50.94, Z:5.11 [[ 9.91817718e-01 -1.25142729e-01 -2.52370937e-02 9.24760916e+02] [ 1.25135583e-01 9.92137891e-01 -1.86847833e-03 -5.09443484e+01] [ 2.52725034e-02 -1.30486852e-03 9.99679748e-01 5.10775466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.220714057 meters Centerline goodness : 0.986087 with order 1 Centerline is valid? [True, True] Translation: X:924.82, Y:-50.94, Z:5.12 [[ 9.91772956e-01 -1.25496940e-01 -2.52373017e-02 9.24821489e+02] [ 1.25489980e-01 9.92093133e-01 -1.86566555e-03 -5.09424750e+01] [ 2.52718890e-02 -1.31671183e-03 9.99679748e-01 5.12049430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2807140570001 meters Centerline goodness : 0.989736 with order 1 Centerline is valid? [True, True] Translation: X:924.88, Y:-50.94, Z:5.12 [[ 9.90569736e-01 -1.34665053e-01 -2.52373174e-02 9.24881183e+02] [ 1.34661060e-01 9.90889963e-01 -1.86545270e-03 -5.09366087e+01] [ 2.52586158e-02 -1.55062291e-03 9.99679748e-01 5.11968293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.340714057 meters Centerline goodness : 0.983115 with order 1 Centerline is valid? [True, True] Translation: X:924.94, Y:-50.94, Z:5.14 [[ 9.92863295e-01 -1.16557092e-01 -2.52373148e-02 9.24942512e+02] [ 1.16547251e-01 9.93183396e-01 -1.86548744e-03 -5.09410127e+01] [ 2.52827179e-02 -1.08916567e-03 9.99679748e-01 5.13796289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4007140570001 meters Centerline goodness : 0.984890 with order 1 Centerline is valid? [True, True] Translation: X:925.00, Y:-50.94, Z:5.12 [[ 9.93651430e-01 -1.09635357e-01 -2.52373660e-02 9.25002414e+02] [ 1.09623304e-01 9.93971455e-01 -1.86479526e-03 -5.09387007e+01] [ 2.52896689e-02 -9.13646962e-04 9.99679748e-01 5.11739076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.460714057 meters Centerline goodness : 0.982955 with order 1 Centerline is valid? [True, True] Translation: X:925.06, Y:-50.94, Z:5.13 [[ 9.92879011e-01 -1.16423135e-01 -2.52373335e-02 9.25063345e+02] [ 1.16413258e-01 9.93199111e-01 -1.86523502e-03 -5.09414302e+01] [ 2.52828537e-02 -1.08600753e-03 9.99679748e-01 5.12915580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5207140570001 meters Centerline goodness : 0.982600 with order 1 Centerline is valid? [True, True] Translation: X:925.12, Y:-50.94, Z:5.13 [[ 9.93141027e-01 -1.14166434e-01 -2.52373715e-02 9.25124503e+02] [ 1.14155843e-01 9.93461105e-01 -1.86472053e-03 -5.09395941e+01] [ 2.52852355e-02 -1.02906296e-03 9.99679748e-01 5.13042065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.580714057 meters Centerline goodness : 0.984751 with order 1 Centerline is valid? [True, True] Translation: X:925.19, Y:-50.94, Z:5.13 [[ 9.94120272e-01 -1.05299337e-01 -2.52375797e-02 9.25185767e+02] [ 1.05285961e-01 9.94440244e-01 -1.86189871e-03 -5.09375092e+01] [ 2.52933216e-02 -8.06211586e-04 9.99679748e-01 5.13227103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6407140570001 meters Centerline goodness : 0.982030 with order 1 Centerline is valid? [True, True] Translation: X:925.25, Y:-50.94, Z:5.14 [[ 9.94563256e-01 -1.01029586e-01 -2.52379103e-02 9.25247310e+02] [ 1.01014951e-01 9.94883174e-01 -1.85740633e-03 -5.09352652e+01] [ 2.52964253e-02 -7.02098180e-04 9.99679748e-01 5.14355874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.700714057 meters Centerline goodness : 0.974409 with order 2 Centerline is valid? [True, True] Translation: X:925.28, Y:-50.93, Z:5.11 [[ 9.93658004e-01 -1.09575549e-01 -2.52382815e-02 9.25282282e+02] [ 1.09563792e-01 9.93978040e-01 -1.85234877e-03 -5.09259480e+01] [ 2.52892697e-02 -9.24600654e-04 9.99679748e-01 5.10580902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.7607140570001 meters Centerline goodness : 0.972729 with order 1 Centerline is valid? [True, True] Translation: X:925.36, Y:-50.93, Z:5.14 [[ 9.95808708e-01 -8.79253725e-02 -2.51822393e-02 9.25364828e+02] [ 8.78862128e-02 9.96126969e-01 -2.65976463e-03 -5.09332677e+01] [ 2.53185685e-02 4.35445142e-04 9.99679339e-01 5.13961208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.820714057 meters Centerline goodness : 0.982256 with order 1 Centerline is valid? [True, True] Translation: X:925.43, Y:-50.93, Z:5.15 [[ 9.96293927e-01 -8.22255177e-02 -2.52462868e-02 9.25426239e+02] [ 8.22083316e-02 9.96613683e-01 -1.71963814e-03 -5.09292561e+01] [ 2.53021930e-02 -3.62190080e-04 9.99679783e-01 5.14797486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8807140570001 meters Centerline goodness : 0.986723 with order 1 Centerline is valid? [True, True] Translation: X:925.49, Y:-50.91, Z:5.16 [[ 9.94655498e-01 -1.00115217e-01 -2.52464453e-02 9.25487058e+02] [ 1.00103839e-01 9.94975513e-01 -1.71730731e-03 -5.09143855e+01] [ 2.52915235e-02 -8.19136936e-04 9.99679783e-01 5.15826921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.940714057 meters Centerline goodness : 0.982912 with order 1 Centerline is valid? [True, True] Translation: X:925.55, Y:-50.91, Z:5.16 [[ 9.95414094e-01 -9.22679570e-02 -2.52468862e-02 9.25549763e+02] [ 9.22542202e-02 9.95734017e-01 -1.71080163e-03 -5.09127240e+01] [ 2.52970356e-02 -6.26175738e-04 9.99679783e-01 5.15742080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.000714057 meters Centerline goodness : 0.983483 with order 1 Centerline is valid? [True, True] Translation: X:925.61, Y:-50.91, Z:5.16 [[ 9.95830975e-01 -8.76541942e-02 -2.52470230e-02 9.25612122e+02] [ 8.76390262e-02 9.96150833e-01 -1.70878044e-03 -5.09101157e+01] [ 2.52996247e-02 -5.10968020e-04 9.99679783e-01 5.16117757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.060714057 meters Centerline goodness : 0.983510 with order 1 Centerline is valid? [True, True] Translation: X:925.67, Y:-50.91, Z:5.16 [[ 9.97255693e-01 -6.95964286e-02 -2.52471599e-02 9.25673863e+02] [ 6.95755189e-02 9.97575227e-01 -1.70675544e-03 -5.09123846e+01] [ 2.53047253e-02 -5.45126757e-05 9.99679783e-01 5.15836767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.120714057 meters Centerline goodness : 0.983812 with order 1 Centerline is valid? [True, True] Translation: X:925.74, Y:-50.91, Z:5.16 [[ 9.96772687e-01 -7.62022744e-02 -2.52472606e-02 9.25735507e+02] [ 7.61835201e-02 9.97092354e-01 -1.70526379e-03 -5.09092500e+01] [ 2.53037955e-02 -2.23664821e-04 9.99679783e-01 5.16287563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.180714057 meters Centerline goodness : 0.986302 with order 1 Centerline is valid? [True, True] Translation: X:925.80, Y:-50.91, Z:5.17 [[ 9.96095988e-01 -8.45893127e-02 -2.52473935e-02 9.25797635e+02] [ 8.45732995e-02 9.96415805e-01 -1.70329399e-03 -5.09073090e+01] [ 2.53009824e-02 -4.38611068e-04 9.99679783e-01 5.16730147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.240714057 meters Centerline goodness : 0.987842 with order 1 Centerline is valid? [True, True] Translation: X:925.86, Y:-50.90, Z:5.17 [[ 9.94766664e-01 -9.90042761e-02 -2.52475271e-02 9.25859267e+02] [ 9.89929459e-02 9.95086681e-01 -1.70131237e-03 -5.08999732e+01] [ 2.52919151e-02 -8.06918248e-04 9.99679783e-01 5.16851591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.300714057 meters Centerline goodness : 0.984089 with order 1 Centerline is valid? [True, True] Translation: X:925.92, Y:-50.90, Z:5.17 [[ 9.95347847e-01 -9.29795781e-02 -2.52480099e-02 9.25921939e+02] [ 9.29664929e-02 9.95667797e-01 -1.69411707e-03 -5.09003151e+01] [ 2.52961486e-02 -6.60983149e-04 9.99679783e-01 5.16632836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.360714057 meters Centerline goodness : 0.987969 with order 1 Centerline is valid? [True, True] Translation: X:925.98, Y:-50.89, Z:5.17 [[ 9.93835017e-01 -1.07955959e-01 -2.52481685e-02 9.25982277e+02] [ 1.07947753e-01 9.94155129e-01 -1.69175001e-03 -5.08944247e+01] [ 2.52832307e-02 -1.04416266e-03 9.99679783e-01 5.17355539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.420714057 meters Centerline goodness : 0.986557 with order 1 Centerline is valid? [True, True] Translation: X:926.04, Y:-50.89, Z:5.18 [[ 9.93571680e-01 -1.10353200e-01 -2.52485178e-02 9.26044483e+02] [ 1.10345898e-01 9.93891814e-01 -1.68652023e-03 -5.08898630e+01] [ 2.52804081e-02 -1.11039164e-03 9.99679783e-01 5.17821033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.480714057 meters Centerline goodness : 0.986335 with order 1 Centerline is valid? [True, True] Translation: X:926.11, Y:-50.88, Z:5.18 [[ 9.93351133e-01 -1.12321053e-01 -2.52489138e-02 9.26107811e+02] [ 1.12314537e-01 9.93671284e-01 -1.68057082e-03 -5.08849831e+01] [ 2.52778841e-02 -1.16642313e-03 9.99679783e-01 5.18005313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5407140570001 meters Centerline goodness : 0.983959 with order 1 Centerline is valid? [True, True] Translation: X:926.17, Y:-50.88, Z:5.19 [[ 9.93742294e-01 -1.08805899e-01 -2.52493304e-02 9.26169320e+02] [ 1.08798409e-01 9.94062424e-01 -1.67428734e-03 -5.08806985e+01] [ 2.52815830e-02 -1.08327683e-03 9.99679783e-01 5.18755452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.600714057 meters Centerline goodness : 0.980758 with order 1 Centerline is valid? [True, True] Translation: X:926.23, Y:-50.88, Z:5.19 [[ 9.93215683e-01 -1.13512428e-01 -2.52494753e-02 9.26230468e+02] [ 1.13506511e-01 9.93535845e-01 -1.67209970e-03 -5.08789375e+01] [ 2.52760629e-02 -1.20522421e-03 9.99679783e-01 5.18696560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.6607140570001 meters Centerline goodness : 0.982525 with order 1 Centerline is valid? [True, True] Translation: X:926.29, Y:-50.87, Z:5.18 [[ 9.91877003e-01 -1.24669444e-01 -2.52495624e-02 9.26293468e+02] [ 1.24667159e-01 9.92197212e-01 -1.67078350e-03 -5.08694356e+01] [ 2.52608411e-02 -1.49057949e-03 9.99679783e-01 5.18454818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.720714057 meters Centerline goodness : 0.982479 with order 1 Centerline is valid? [True, True] Translation: X:926.36, Y:-50.86, Z:5.19 [[ 9.91516366e-01 -1.27505792e-01 -2.52501353e-02 9.26356676e+02] [ 1.27504644e-01 9.91836581e-01 -1.66208072e-03 -5.08628383e+01] [ 2.52559327e-02 -1.57152928e-03 9.99679783e-01 5.18504808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7807140570001 meters Centerline goodness : 0.982170 with order 1 Centerline is valid? [True, True] Translation: X:926.42, Y:-50.86, Z:5.19 [[ 9.92139736e-01 -1.22560781e-01 -2.52507190e-02 9.26417923e+02] [ 1.22558263e-01 9.92459943e-01 -1.65316432e-03 -5.08563369e+01] [ 2.52629403e-02 -1.45451424e-03 9.99679783e-01 5.18998382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.840714057 meters Centerline goodness : 0.986971 with order 1 Centerline is valid? [True, True] Translation: X:926.48, Y:-50.84, Z:5.19 [[ 9.91122132e-01 -1.30534692e-01 -2.52509960e-02 9.26479554e+02] [ 1.30534856e-01 9.91442349e-01 -1.64892330e-03 -5.08446444e+01] [ 2.52501485e-02 -1.66185075e-03 9.99679783e-01 5.18613176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9007140570001 meters Centerline goodness : 0.982973 with order 1 Centerline is valid? [True, True] Translation: X:926.54, Y:-50.83, Z:5.20 [[ 9.92287818e-01 -1.21355953e-01 -2.52511043e-02 9.26540672e+02] [ 1.21353196e-01 9.92608024e-01 -1.64726231e-03 -5.08344661e+01] [ 2.52643538e-02 -1.42974388e-03 9.99679783e-01 5.19663290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.960714057 meters Centerline goodness : 0.983535 with order 1 Centerline is valid? [True, True] Translation: X:926.60, Y:-50.82, Z:5.19 [[ 9.91472788e-01 -1.27843995e-01 -2.52512117e-02 9.26602496e+02] [ 1.27843374e-01 9.91793004e-01 -1.64561532e-03 -5.08229929e+01] [ 2.52543571e-02 -1.59661728e-03 9.99679783e-01 5.19320643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0207140570001 meters Centerline goodness : 0.987773 with order 1 Centerline is valid? [True, True] Translation: X:926.66, Y:-50.82, Z:5.19 [[ 9.91271777e-01 -1.29393262e-01 -2.52517057e-02 9.26663111e+02] [ 1.29393334e-01 9.91591994e-01 -1.63799937e-03 -5.08168405e+01] [ 2.52513353e-02 -1.64369984e-03 9.99679783e-01 5.19078421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.080714057 meters Centerline goodness : 0.986855 with order 1 Centerline is valid? [True, True] Translation: X:926.73, Y:-50.81, Z:5.19 [[ 9.91051828e-01 -1.31067213e-01 -2.52519485e-02 9.26726075e+02] [ 1.31067921e-01 9.91372044e-01 -1.63424754e-03 -5.08111852e+01] [ 2.52482721e-02 -1.69009638e-03 9.99679783e-01 5.19027347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1407140570001 meters Centerline goodness : 0.987771 with order 1 Centerline is valid? [True, True] Translation: X:926.79, Y:-50.80, Z:5.19 [[ 9.90715914e-01 -1.33582550e-01 -2.52523093e-02 9.26788915e+02] [ 1.33584213e-01 9.91036127e-01 -1.62865324e-03 -5.08042226e+01] [ 2.52435105e-02 -1.75977719e-03 9.99679783e-01 5.18929977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.200714057 meters Centerline goodness : 0.979132 with order 1 Centerline is valid? [True, True] Translation: X:926.85, Y:-50.81, Z:5.21 [[ 9.92208479e-01 -1.22002613e-01 -2.52526648e-02 9.26851563e+02] [ 1.22000676e-01 9.92528690e-01 -1.62312212e-03 -5.08079750e+01] [ 2.52620195e-02 -1.47036665e-03 9.99679783e-01 5.20526216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.2607140570001 meters Centerline goodness : 0.982919 with order 1 Centerline is valid? [True, True] Translation: X:926.91, Y:-50.79, Z:5.21 [[ 9.92159934e-01 -1.22396684e-01 -2.52530532e-02 9.26913826e+02] [ 1.22395029e-01 9.92480147e-01 -1.61705609e-03 -5.07923344e+01] [ 2.52610763e-02 -1.48646990e-03 9.99679783e-01 5.20781942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.320714057 meters Centerline goodness : 0.985414 with order 1 Centerline is valid? [True, True] Translation: X:926.97, Y:-50.77, Z:5.21 [[ 9.92638759e-01 -1.18450637e-01 -2.52535167e-02 9.26974418e+02] [ 1.18447892e-01 9.92958965e-01 -1.60978539e-03 -5.07712344e+01] [ 2.52663859e-02 -1.39329045e-03 9.99679783e-01 5.20603520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3807140570001 meters Centerline goodness : 0.989101 with order 1 Centerline is valid? [True, True] Translation: X:927.04, Y:-50.76, Z:5.20 [[ 9.93429919e-01 -1.11620999e-01 -2.52536862e-02 9.27035524e+02] [ 1.11616120e-01 9.93750099e-01 -1.60712142e-03 -5.07591593e+01] [ 2.52752417e-02 -1.22215598e-03 9.99679783e-01 5.20393940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.440714057 meters Centerline goodness : 0.987700 with order 1 Centerline is valid? [True, True] Translation: X:927.10, Y:-50.75, Z:5.21 [[ 9.94366520e-01 -1.02943932e-01 -2.52541170e-02 9.27097235e+02] [ 1.02936430e-01 9.94686649e-01 -1.60032416e-03 -5.07453835e+01] [ 2.52846767e-02 -1.00825989e-03 9.99679783e-01 5.20635308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.500714057 meters Centerline goodness : 0.984749 with order 1 Centerline is valid? [True, True] Translation: X:927.16, Y:-50.74, Z:5.21 [[ 9.94546700e-01 -1.01188329e-01 -2.52543656e-02 9.27160180e+02] [ 1.01180362e-01 9.94866818e-01 -1.59639099e-03 -5.07350079e+01] [ 2.52862665e-02 -9.67560466e-04 9.99679783e-01 5.20873416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.560714057 meters Centerline goodness : 0.984720 with order 1 Centerline is valid? [True, True] Translation: X:927.22, Y:-50.73, Z:5.21 [[ 9.95398442e-01 -9.24344663e-02 -2.52549262e-02 9.27221459e+02] [ 9.24239092e-02 9.95718485e-01 -1.58747310e-03 -5.07287172e+01] [ 2.52935340e-02 -7.53990749e-04 9.99679783e-01 5.21472889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.620714057 meters Centerline goodness : 0.985452 with order 1 Centerline is valid? [True, True] Translation: X:927.28, Y:-50.73, Z:5.21 [[ 9.95287059e-01 -9.36260440e-02 -2.52553788e-02 9.27283760e+02] [ 9.36160534e-02 9.95607120e-01 -1.58023904e-03 -5.07261218e+01] [ 2.52923865e-02 -7.91517422e-04 9.99679783e-01 5.21375339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.680714057 meters Centerline goodness : 0.987566 with order 1 Centerline is valid? [True, True] Translation: X:927.35, Y:-50.73, Z:5.21 [[ 9.95039382e-01 -9.62225038e-02 -2.52558514e-02 9.27345516e+02] [ 9.62135407e-02 9.95359473e-01 -1.57264889e-03 -5.07257628e+01] [ 2.52899752e-02 -8.65107307e-04 9.99679783e-01 5.20780558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.740714057 meters Centerline goodness : 0.984535 with order 1 Centerline is valid? [True, True] Translation: X:927.41, Y:-50.72, Z:5.21 [[ 9.94742311e-01 -9.92464777e-02 -2.52560971e-02 9.27407720e+02] [ 9.92385879e-02 9.95062431e-01 -1.56869381e-03 -5.07244183e+01] [ 2.52870807e-02 -9.45933308e-04 9.99679783e-01 5.21222131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.800714057 meters Centerline goodness : 0.982856 with order 1 Centerline is valid? [True, True] Translation: X:927.47, Y:-50.73, Z:5.21 [[ 9.94531457e-01 -1.01337566e-01 -2.52562586e-02 9.27469891e+02] [ 1.01330415e-01 9.94851594e-01 -1.56608960e-03 -5.07262956e+01] [ 2.52849328e-02 -1.00170180e-03 9.99679783e-01 5.21432054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.860714057 meters Centerline goodness : 0.982607 with order 1 Centerline is valid? [True, True] Translation: X:927.53, Y:-50.72, Z:5.22 [[ 9.94810456e-01 -9.85609971e-02 -2.52564262e-02 9.27532514e+02] [ 9.85530214e-02 9.95130573e-01 -1.56338171e-03 -5.07226378e+01] [ 2.52875303e-02 -9.33828636e-04 9.99679783e-01 5.21615823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.920714057 meters Centerline goodness : 0.986613 with order 1 Centerline is valid? [True, True] Translation: X:927.59, Y:-50.72, Z:5.21 [[ 9.94981875e-01 -9.68150693e-02 -2.52568963e-02 9.27594123e+02] [ 9.68067254e-02 9.95301983e-01 -1.55574956e-03 -5.07227065e+01] [ 2.52888590e-02 -8.97094808e-04 9.99679783e-01 5.21114498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.980714057 meters Centerline goodness : 0.976517 with order 1 Centerline is valid? [True, True] Translation: X:927.66, Y:-50.71, Z:5.21 [[ 9.95222464e-01 -9.43096799e-02 -2.52573146e-02 9.27655152e+02] [ 9.43007029e-02 9.95542555e-01 -1.54892820e-03 -5.07125641e+01] [ 2.52908105e-02 -8.40254388e-04 9.99679783e-01 5.21204086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0407140570001 meters Centerline goodness : 0.985349 with order 1 Centerline is valid? [True, True] Translation: X:927.72, Y:-50.71, Z:5.21 [[ 9.95441420e-01 -9.19697906e-02 -2.52574310e-02 9.27715475e+02] [ 9.19601094e-02 9.95761490e-01 -1.54702798e-03 -5.07145651e+01] [ 2.52926570e-02 -7.82700392e-04 9.99679783e-01 5.20850115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.100714057 meters Centerline goodness : 0.981892 with order 1 Centerline is valid? [True, True] Translation: X:927.78, Y:-50.71, Z:5.22 [[ 9.95263832e-01 -9.38720765e-02 -2.52574310e-02 9.27777323e+02] [ 9.38630069e-02 9.95583920e-01 -1.54702798e-03 -5.07080330e+01] [ 2.52911149e-02 -8.31037429e-04 9.99679783e-01 5.21593613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.1607140570001 meters Centerline goodness : 0.980660 with order 1 Centerline is valid? [True, True] Translation: X:927.84, Y:-50.70, Z:5.22 [[ 9.94762290e-01 -9.90455720e-02 -2.52578727e-02 9.27840151e+02] [ 9.90383505e-02 9.95082426e-01 -1.53978363e-03 -5.07038935e+01] [ 2.52861740e-02 -9.69779357e-04 9.99679783e-01 5.21700269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.220714057 meters Centerline goodness : 0.983541 with order 1 Centerline is valid? [True, True] Translation: X:927.90, Y:-50.70, Z:5.22 [[ 9.94425843e-01 -1.02368236e-01 -2.52584056e-02 9.27900990e+02] [ 1.02362307e-01 9.94746005e-01 -1.53099121e-03 -5.06981083e+01] [ 2.52824229e-02 -1.06305143e-03 9.99679783e-01 5.22142852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2807140570001 meters Centerline goodness : 0.984768 with order 1 Centerline is valid? [True, True] Translation: X:927.96, Y:-50.69, Z:5.22 [[ 9.94156065e-01 -1.04955752e-01 -2.52588266e-02 9.27962941e+02] [ 1.04950833e-01 9.94476244e-01 -1.52401446e-03 -5.06914871e+01] [ 2.52792570e-02 -1.13582666e-03 9.99679783e-01 5.22221577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.340714057 meters Centerline goodness : 0.981180 with order 1 Centerline is valid? [True, True] Translation: X:928.03, Y:-50.70, Z:5.23 [[ 9.95496161e-01 -9.13748473e-02 -2.52592786e-02 9.28025417e+02] [ 9.13657490e-02 9.95816248e-01 -1.51648500e-03 -5.06981511e+01] [ 2.52921686e-02 -7.98177912e-04 9.99679783e-01 5.23076583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4007140570001 meters Centerline goodness : 0.985637 with order 1 Centerline is valid? [True, True] Translation: X:928.09, Y:-50.68, Z:5.22 [[ 9.95167418e-01 -9.48881241e-02 -2.52597173e-02 9.28086520e+02] [ 9.48803418e-02 9.95487540e-01 -1.50914250e-03 -5.06771901e+01] [ 2.52889335e-02 -8.94801165e-04 9.99679783e-01 5.22418573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.460714057 meters Centerline goodness : 0.985705 with order 1 Centerline is valid? [True, True] Translation: X:928.15, Y:-50.67, Z:5.23 [[ 9.95912461e-01 -8.67197106e-02 -2.52598733e-02 9.28148525e+02] [ 8.67093682e-02 9.96232511e-01 -1.50652715e-03 -5.06748213e+01] [ 2.52953526e-02 -6.89898485e-04 9.99679783e-01 5.22881358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5207140570001 meters Centerline goodness : 0.984364 with order 1 Centerline is valid? [True, True] Translation: X:928.21, Y:-50.67, Z:5.23 [[ 9.95999782e-01 -8.57108605e-02 -2.52603167e-02 9.28211207e+02] [ 8.57003834e-02 9.96319827e-01 -1.49905412e-03 -5.06741153e+01] [ 2.52958396e-02 -6.71761250e-04 9.99679783e-01 5.23004210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.580714057 meters Centerline goodness : 0.986115 with order 1 Centerline is valid? [True, True] Translation: X:928.27, Y:-50.67, Z:5.23 [[ 9.95502829e-01 -9.13017631e-02 -2.52607484e-02 9.28273309e+02] [ 9.12932684e-02 9.95822933e-01 -1.49174417e-03 -5.06740238e+01] [ 2.52914315e-02 -8.21100740e-04 9.99679783e-01 5.23089375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6407140570001 meters Centerline goodness : 0.984972 with order 1 Centerline is valid? [True, True] Translation: X:928.34, Y:-50.68, Z:5.23 [[ 9.95133619e-01 -9.52415536e-02 -2.52611898e-02 9.28336814e+02] [ 9.52345165e-02 9.95453758e-01 -1.48423251e-03 -5.06765258e+01] [ 2.52877069e-02 -9.28727530e-04 9.99679783e-01 5.22569877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.700714057 meters Centerline goodness : 0.986306 with order 1 Centerline is valid? [True, True] Translation: X:928.40, Y:-50.67, Z:5.23 [[ 9.95080003e-01 -9.57999712e-02 -2.52616839e-02 9.28399911e+02] [ 9.57933281e-02 9.95400151e-01 -1.47577370e-03 -5.06745580e+01] [ 2.52868631e-02 -9.51387880e-04 9.99679783e-01 5.22754350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.7607140570001 meters Centerline goodness : 0.985115 with order 1 Centerline is valid? [True, True] Translation: X:928.46, Y:-50.67, Z:5.23 [[ 9.95686558e-01 -8.92754068e-02 -2.52622151e-02 9.28460796e+02] [ 8.92668973e-02 9.96006662e-01 -1.46662475e-03 -5.06731522e+01] [ 2.52922680e-02 -7.94781012e-04 9.99679783e-01 5.23365541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.820714057 meters Centerline goodness : 0.985260 with order 1 Centerline is valid? [True, True] Translation: X:928.52, Y:-50.67, Z:5.24 [[ 9.95893139e-01 -8.69405249e-02 -2.52626563e-02 9.28522745e+02] [ 8.69314585e-02 9.96213227e-01 -1.45898452e-03 -5.06696129e+01] [ 2.52938373e-02 -7.43126884e-04 9.99679784e-01 5.23636207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8807140570001 meters Centerline goodness : 0.984319 with order 1 Centerline is valid? [True, True] Translation: X:928.59, Y:-50.67, Z:5.24 [[ 9.95946423e-01 -8.63278492e-02 -2.52630972e-02 9.28585143e+02] [ 8.63187804e-02 9.96266511e-01 -1.45131045e-03 -5.06711602e+01] [ 2.52940662e-02 -7.35252286e-04 9.99679784e-01 5.23509502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.940714057 meters Centerline goodness : 0.982430 with order 1 Centerline is valid? [True, True] Translation: X:928.65, Y:-50.68, Z:5.24 [[ 9.96367732e-01 -8.13209334e-02 -2.52635637e-02 9.28647315e+02] [ 8.13104628e-02 9.96687778e-01 -1.44314307e-03 -5.06757809e+01] [ 2.52972429e-02 -6.16290870e-04 9.99679784e-01 5.24407533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.000714057 meters Centerline goodness : 0.984622 with order 1 Centerline is valid? [True, True] Translation: X:928.71, Y:-50.66, Z:5.24 [[ 9.95681855e-01 -8.93274355e-02 -2.52636871e-02 9.28708700e+02] [ 8.93195926e-02 9.96001975e-01 -1.44098070e-03 -5.06630752e+01] [ 2.52914013e-02 -8.21783899e-04 9.99679784e-01 5.23906126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.060714057 meters Centerline goodness : 0.985709 with order 1 Centerline is valid? [True, True] Translation: X:928.77, Y:-50.66, Z:5.24 [[ 9.95528550e-01 -9.10200196e-02 -2.52638440e-02 9.28771769e+02] [ 9.10127909e-02 9.95848685e-01 -1.43822374e-03 -5.06580218e+01] [ 2.52898730e-02 -8.67540159e-04 9.99679784e-01 5.23875823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.120714057 meters Centerline goodness : 0.981457 with order 1 Centerline is valid? [True, True] Translation: X:928.83, Y:-50.67, Z:5.25 [[ 9.96735562e-01 -7.66807153e-02 -2.52643666e-02 9.28833309e+02] [ 7.66691133e-02 9.97055568e-01 -1.42898401e-03 -5.06654698e+01] [ 2.52995529e-02 -5.12677404e-04 9.99679784e-01 5.24946706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.180714057 meters Centerline goodness : 0.987413 with order 1 Centerline is valid? [True, True] Translation: X:928.90, Y:-50.65, Z:5.24 [[ 9.95904021e-01 -8.68152062e-02 -2.52646037e-02 9.28896208e+02] [ 8.68069664e-02 9.96224132e-01 -1.42477974e-03 -5.06505434e+01] [ 2.52929005e-02 -7.74199732e-04 9.99679784e-01 5.24425469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.240714057 meters Centerline goodness : 0.984580 with order 1 Centerline is valid? [True, True] Translation: X:928.96, Y:-50.65, Z:5.25 [[ 9.95794219e-01 -8.80656262e-02 -2.52649898e-02 9.28958950e+02] [ 8.80579627e-02 9.96114343e-01 -1.41790105e-03 -5.06505890e+01] [ 2.52916870e-02 -8.12845862e-04 9.99679784e-01 5.24532445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.300714057 meters Centerline goodness : 0.984258 with order 1 Centerline is valid? [True, True] Translation: X:929.02, Y:-50.64, Z:5.24 [[ 9.95717690e-01 -8.89266605e-02 -2.52651976e-02 9.29021030e+02] [ 8.89193679e-02 9.96037824e-01 -1.41418826e-03 -5.06447297e+01] [ 2.52908515e-02 -8.38433138e-04 9.99679784e-01 5.24436855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.360714057 meters Centerline goodness : 0.982358 with order 1 Centerline is valid? [True, True] Translation: X:929.08, Y:-50.64, Z:5.25 [[ 9.96477355e-01 -7.99657857e-02 -2.52656753e-02 9.29083413e+02] [ 7.99558312e-02 9.96797416e-01 -1.40560209e-03 -5.06446052e+01] [ 2.52971599e-02 -6.19487415e-04 9.99679784e-01 5.25225433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.420714057 meters Centerline goodness : 0.985459 with order 1 Centerline is valid? [True, True] Translation: X:929.14, Y:-50.64, Z:5.25 [[ 9.96980013e-01 -7.34334968e-02 -2.52660924e-02 9.29144515e+02] [ 7.34216359e-02 9.97300009e-01 -1.39806451e-03 -5.06446111e+01] [ 2.53005389e-02 -4.61235463e-04 9.99679784e-01 5.25017570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.480714057 meters Centerline goodness : 0.983357 with order 1 Centerline is valid? [True, True] Translation: X:929.21, Y:-50.64, Z:5.26 [[ 9.97510067e-01 -6.58427783e-02 -2.52664662e-02 9.29206049e+02] [ 6.58286540e-02 9.97829972e-01 -1.39127466e-03 -5.06403456e+01] [ 2.53032427e-02 -2.75446987e-04 9.99679784e-01 5.25519437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5407140570001 meters Centerline goodness : 0.982712 with order 1 Centerline is valid? [True, True] Translation: X:929.27, Y:-50.65, Z:5.26 [[ 9.97962610e-01 -5.85852236e-02 -2.52665883e-02 9.29267385e+02] [ 5.85688289e-02 9.98282406e-01 -1.38905428e-03 -5.06451763e+01] [ 2.53045686e-02 -9.36102563e-05 9.99679784e-01 5.26216975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.600714057 meters Centerline goodness : 0.985833 with order 1 Centerline is valid? [True, True] Translation: X:929.33, Y:-50.65, Z:5.26 [[ 9.97603889e-01 -6.44055483e-02 -2.52666799e-02 9.29329687e+02] [ 6.43910615e-02 9.97923778e-01 -1.38738605e-03 -5.06479996e+01] [ 2.53035760e-02 -2.42886623e-04 9.99679784e-01 5.25842536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.6607140570001 meters Centerline goodness : 0.985992 with order 1 Centerline is valid? [True, True] Translation: X:929.39, Y:-50.65, Z:5.26 [[ 9.96846247e-01 -7.52273191e-02 -2.52667945e-02 9.29393155e+02] [ 7.52163575e-02 9.97166275e-01 -1.38529618e-03 -5.06534004e+01] [ 2.52994075e-02 -5.19548944e-04 9.99679784e-01 5.25829148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.720714057 meters Centerline goodness : 0.982895 with order 1 Centerline is valid? [True, True] Translation: X:929.46, Y:-50.66, Z:5.26 [[ 9.96447145e-01 -8.03409548e-02 -2.52669417e-02 9.29456746e+02] [ 8.03317034e-02 9.96767228e-01 -1.38260485e-03 -5.06597105e+01] [ 2.52963393e-02 -6.52043819e-04 9.99679784e-01 5.26289586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7807140570001 meters Centerline goodness : 0.984189 with order 1 Centerline is valid? [True, True] Translation: X:929.52, Y:-50.66, Z:5.27 [[ 9.95455143e-01 -9.18184338e-02 -2.52672425e-02 9.29518678e+02] [ 9.18130115e-02 9.95775313e-01 -1.37708594e-03 -5.06633177e+01] [ 2.52869382e-02 -9.49034344e-04 9.99679784e-01 5.26540978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.840714057 meters Centerline goodness : 0.984670 with order 1 Centerline is valid? [True, True] Translation: X:929.58, Y:-50.66, Z:5.27 [[ 9.94426043e-01 -1.02364059e-01 -2.52674620e-02 9.29581642e+02] [ 1.02362133e-01 9.94746253e-01 -1.37304781e-03 -5.06592409e+01] [ 2.52752639e-02 -1.22103680e-03 9.99679784e-01 5.26611324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9007140570001 meters Centerline goodness : 0.983261 with order 1 Centerline is valid? [True, True] Translation: X:929.64, Y:-50.66, Z:5.27 [[ 9.95306236e-01 -9.34185589e-02 -2.52679484e-02 9.29642873e+02] [ 9.34139821e-02 9.95626420e-01 -1.36403698e-03 -5.06636970e+01] [ 2.52848634e-02 -1.00274517e-03 9.99679784e-01 5.26703948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.960714057 meters Centerline goodness : 0.977741 with order 1 Centerline is valid? [True, True] Translation: X:929.70, Y:-50.66, Z:5.27 [[ 9.96053937e-01 -8.50768228e-02 -2.52683409e-02 9.29704325e+02] [ 8.50697489e-02 9.96374075e-01 -1.35672731e-03 -5.06569085e+01] [ 2.52921458e-02 -7.98197839e-04 9.99679784e-01 5.26643871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0207140570001 meters Centerline goodness : 0.984059 with order 1 Centerline is valid? [True, True] Translation: X:929.77, Y:-50.66, Z:5.27 [[ 9.97489411e-01 -6.61541937e-02 -2.52685019e-02 9.29766685e+02] [ 6.61411203e-02 9.97809360e-01 -1.35372123e-03 -5.06567763e+01] [ 2.53027021e-02 -3.20964438e-04 9.99679784e-01 5.27233104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.080714057 meters Centerline goodness : 0.978558 with order 1 Centerline is valid? [True, True] Translation: X:929.83, Y:-50.65, Z:5.27 [[ 9.97823466e-01 -6.09083524e-02 -2.52686300e-02 9.29828387e+02] [ 6.08936576e-02 9.98143345e-01 -1.35132632e-03 -5.06490676e+01] [ 2.53040219e-02 -1.90314192e-04 9.99679784e-01 5.26717189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1407140570001 meters Centerline goodness : 0.983967 with order 1 Centerline is valid? [True, True] Translation: X:929.89, Y:-50.65, Z:5.27 [[ 9.97830104e-01 -6.07994215e-02 -2.52688366e-02 9.29890363e+02] [ 6.07847898e-02 9.98149986e-01 -1.34745098e-03 -5.06495170e+01] [ 2.53040132e-02 -1.91433772e-04 9.99679784e-01 5.27302843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.200714057 meters Centerline goodness : 0.979538 with order 1 Centerline is valid? [True, True] Translation: X:929.95, Y:-50.64, Z:5.27 [[ 9.97428724e-01 -6.70628021e-02 -2.52689756e-02 9.29951123e+02] [ 6.70502451e-02 9.97748694e-01 -1.34484058e-03 -5.06445822e+01] [ 2.53022762e-02 -3.52908384e-04 9.99679784e-01 5.27249705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.2607140570001 meters Centerline goodness : 0.988412 with order 1 Centerline is valid? [True, True] Translation: X:930.01, Y:-50.65, Z:5.27 [[ 9.96716231e-01 -7.69300146e-02 -2.52691053e-02 9.30013329e+02] [ 7.69206865e-02 9.97036311e-01 -1.34239837e-03 -5.06481614e+01] [ 2.52974863e-02 -6.05726688e-04 9.99679784e-01 5.27445107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.320714057 meters Centerline goodness : 0.977333 with order 1 Centerline is valid? [True, True] Translation: X:930.07, Y:-50.65, Z:5.28 [[ 9.96579344e-01 -7.86833971e-02 -2.52692352e-02 9.30074957e+02] [ 7.86746943e-02 9.96899442e-01 -1.33994849e-03 -5.06489332e+01] [ 2.52963182e-02 -6.52684373e-04 9.99679784e-01 5.27849696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3807140570001 meters Centerline goodness : 0.978714 with order 1 Centerline is valid? [True, True] Translation: X:930.14, Y:-50.64, Z:5.28 [[ 9.95534057e-01 -9.09582355e-02 -2.52693616e-02 9.30136977e+02] [ 9.09535384e-02 9.95854239e-01 -1.33756048e-03 -5.06431108e+01] [ 2.52862630e-02 -9.66750843e-04 9.99679784e-01 5.28250464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.440714057 meters Centerline goodness : 0.978103 with order 1 Centerline is valid? [True, True] Translation: X:930.20, Y:-50.64, Z:5.28 [[ 9.94996178e-01 -9.66646741e-02 -2.52694938e-02 9.30199019e+02] [ 9.66618762e-02 9.95316382e-01 -1.33505820e-03 -5.06424725e+01] [ 2.52801941e-02 -1.11421888e-03 9.99679784e-01 5.28029342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.500714057 meters Centerline goodness : 0.983533 with order 1 Centerline is valid? [True, True] Translation: X:930.26, Y:-50.64, Z:5.29 [[ 9.95268089e-01 -9.38236385e-02 -2.52696590e-02 9.30260884e+02] [ 9.38200059e-02 9.95588285e-01 -1.33192450e-03 -5.06433576e+01] [ 2.52831425e-02 -1.04517760e-03 9.99679784e-01 5.28585960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.560714057 meters Centerline goodness : 0.983231 with order 1 Centerline is valid? [True, True] Translation: X:930.32, Y:-50.64, Z:5.29 [[ 9.95385827e-01 -9.25661643e-02 -2.52697597e-02 9.30322952e+02] [ 9.25621757e-02 9.95706018e-01 -1.33001143e-03 -5.06370462e+01] [ 2.52843659e-02 -1.01514941e-03 9.99679784e-01 5.28629248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.620714057 meters Centerline goodness : 0.983502 with order 1 Centerline is valid? [True, True] Translation: X:930.39, Y:-50.63, Z:5.29 [[ 9.96143497e-01 -8.40212316e-02 -2.52698679e-02 9.30385490e+02] [ 8.40145477e-02 9.96463643e-01 -1.32795282e-03 -5.06290920e+01] [ 2.52920808e-02 -8.00204952e-04 9.99679784e-01 5.28877181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.680714057 meters Centerline goodness : 0.988897 with order 1 Centerline is valid? [True, True] Translation: X:930.45, Y:-50.61, Z:5.29 [[ 9.95939415e-01 -8.64066419e-02 -2.52700306e-02 9.30447053e+02] [ 8.64008034e-02 9.96259578e-01 -1.32484979e-03 -5.06113669e+01] [ 2.52899858e-02 -8.63880813e-04 9.99679784e-01 5.28636929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.740714057 meters Centerline goodness : 0.986332 with order 1 Centerline is valid? [True, True] Translation: X:930.51, Y:-50.60, Z:5.29 [[ 9.96463913e-01 -8.01317074e-02 -2.52701392e-02 9.30509245e+02] [ 8.01239049e-02 9.96784034e-01 -1.32277529e-03 -5.06042898e+01] [ 2.52948675e-02 -7.06644382e-04 9.99679784e-01 5.28908741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.800714057 meters Centerline goodness : 0.984611 with order 1 Centerline is valid? [True, True] Translation: X:930.57, Y:-50.60, Z:5.29 [[ 9.96528681e-01 -7.93221391e-02 -2.52702453e-02 9.30571789e+02] [ 7.93141280e-02 9.96848797e-01 -1.32074508e-03 -5.05954374e+01] [ 2.52953779e-02 -6.88127113e-04 9.99679784e-01 5.29121681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.860714057 meters Centerline goodness : 0.978375 with order 1 Centerline is valid? [True, True] Translation: X:930.63, Y:-50.58, Z:5.29 [[ 9.96114110e-01 -8.43687501e-02 -2.52704068e-02 9.30633143e+02] [ 8.43624391e-02 9.96434264e-01 -1.31764726e-03 -5.05811870e+01] [ 2.52914674e-02 -8.19346123e-04 9.99679784e-01 5.29074314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.920714057 meters Centerline goodness : 0.985764 with order 1 Centerline is valid? [True, True] Translation: X:930.70, Y:-50.58, Z:5.30 [[ 9.96481928e-01 -7.99072346e-02 -2.52705689e-02 9.30695092e+02] [ 7.98995690e-02 9.96802052e-01 -1.31453116e-03 -5.05760276e+01] [ 2.52947955e-02 -7.09201017e-04 9.99679784e-01 5.29700513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.980714057 meters Centerline goodness : 0.989574 with order 1 Centerline is valid? [True, True] Translation: X:930.76, Y:-50.56, Z:5.30 [[ 9.95630633e-01 -8.98945781e-02 -2.52707005e-02 9.30756603e+02] [ 8.98901868e-02 9.95950819e-01 -1.31199669e-03 -5.05640390e+01] [ 2.52863162e-02 -9.65323893e-04 9.99679784e-01 5.29809641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0407140570001 meters Centerline goodness : 0.986364 with order 1 Centerline is valid? [True, True] Translation: X:930.82, Y:-50.56, Z:5.30 [[ 9.95410281e-01 -9.23025391e-02 -2.52708073e-02 9.30818903e+02] [ 9.22989746e-02 9.95730477e-01 -1.30993480e-03 -5.05589167e+01] [ 2.52838234e-02 -1.02854704e-03 9.99679784e-01 5.29567497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.100714057 meters Centerline goodness : 0.982497 with order 1 Centerline is valid? [True, True] Translation: X:930.88, Y:-50.56, Z:5.31 [[ 9.95794676e-01 -8.80586830e-02 -2.52711764e-02 9.30879924e+02] [ 8.80539351e-02 9.96114856e-01 -1.30277624e-03 -5.05556096e+01] [ 2.52877150e-02 -9.27928880e-04 9.99679784e-01 5.30859101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.1607140570001 meters Centerline goodness : 0.983877 with order 1 Centerline is valid? [True, True] Translation: X:930.94, Y:-50.55, Z:5.31 [[ 9.95926608e-01 -8.65537306e-02 -2.52713840e-02 9.30940868e+02] [ 8.65486012e-02 9.96246783e-01 -1.29873633e-03 -5.05483886e+01] [ 2.52889455e-02 -8.93756862e-04 9.99679784e-01 5.31170261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.220714057 meters Centerline goodness : 0.983503 with order 1 Centerline is valid? [True, True] Translation: X:931.00, Y:-50.54, Z:5.31 [[ 9.96492718e-01 -7.97722524e-02 -2.52715593e-02 9.31003051e+02] [ 7.97650302e-02 9.96812852e-01 -1.29531554e-03 -5.05415183e+01] [ 2.52943454e-02 -7.25014197e-04 9.99679784e-01 5.30905026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2807140570001 meters Centerline goodness : 0.984650 with order 1 Centerline is valid? [True, True] Translation: X:931.07, Y:-50.54, Z:5.31 [[ 9.96959191e-01 -7.37136593e-02 -2.52718644e-02 9.31065054e+02] [ 7.37046430e-02 9.97279280e-01 -1.28933513e-03 -5.05372371e+01] [ 2.52981484e-02 -5.77239234e-04 9.99679784e-01 5.31041764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.340714057 meters Centerline goodness : 0.984519 with order 1 Centerline is valid? [True, True] Translation: X:931.13, Y:-50.54, Z:5.31 [[ 9.96920001e-01 -7.42417014e-02 -2.52721640e-02 9.31127207e+02] [ 7.42330040e-02 9.97240098e-01 -1.28343715e-03 -5.05367532e+01] [ 2.52976998e-02 -5.96544480e-04 9.99679784e-01 5.31052000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4007140570001 meters Centerline goodness : 0.984014 with order 1 Centerline is valid? [True, True] Translation: X:931.19, Y:-50.53, Z:5.31 [[ 9.96899311e-01 -7.45188923e-02 -2.52724880e-02 9.31188603e+02] [ 7.45104464e-02 9.97219415e-01 -1.27702476e-03 -5.05322210e+01] [ 2.52973782e-02 -6.09999255e-04 9.99679784e-01 5.30989348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.460714057 meters Centerline goodness : 0.984124 with order 1 Centerline is valid? [True, True] Translation: X:931.25, Y:-50.53, Z:5.31 [[ 9.97361704e-01 -6.80508408e-02 -2.52727825e-02 9.31250365e+02] [ 6.80404670e-02 9.97681752e-01 -1.27116971e-03 -5.05290507e+01] [ 2.53006981e-02 -4.51755932e-04 9.99679784e-01 5.31444380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5207140570001 meters Centerline goodness : 0.983385 with order 1 Centerline is valid? [True, True] Translation: X:931.31, Y:-50.53, Z:5.32 [[ 9.97565275e-01 -6.49984952e-02 -2.52728678e-02 9.31312310e+02] [ 6.49871850e-02 9.97885291e-01 -1.26947119e-03 -5.05274005e+01] [ 2.53019368e-02 -3.76032157e-04 9.99679784e-01 5.31531864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.580714057 meters Centerline goodness : 0.984177 with order 1 Centerline is valid? [True, True] Translation: X:931.37, Y:-50.52, Z:5.32 [[ 9.97408070e-01 -6.73678008e-02 -2.52729549e-02 9.31373767e+02] [ 6.73572948e-02 9.97728113e-01 -1.26773549e-03 -5.05235584e+01] [ 2.53009421e-02 -4.37868269e-04 9.99679784e-01 5.32017443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6407140570001 meters Centerline goodness : 0.983544 with order 1 Centerline is valid? [True, True] Translation: X:931.44, Y:-50.52, Z:5.32 [[ 9.97231974e-01 -6.99260927e-02 -2.52731226e-02 9.31436030e+02] [ 6.99164926e-02 9.97552046e-01 -1.26438238e-03 -5.05227860e+01] [ 2.52996685e-02 -5.06125558e-04 9.99679784e-01 5.32499933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.700714057 meters Centerline goodness : 0.983030 with order 1 Centerline is valid? [True, True] Translation: X:931.50, Y:-50.52, Z:5.32 [[ 9.96653398e-01 -7.77384672e-02 -2.52732057e-02 9.31498371e+02] [ 7.77314177e-02 9.96973536e-01 -1.26272010e-03 -5.05214415e+01] [ 2.52948792e-02 -7.06027832e-04 9.99679784e-01 5.32331331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.7607140570001 meters Centerline goodness : 0.986472 with order 1 Centerline is valid? [True, True] Translation: X:931.56, Y:-50.52, Z:5.32 [[ 9.96589709e-01 -7.85506185e-02 -2.52735339e-02 9.31559469e+02] [ 7.85439972e-02 9.96909857e-01 -1.25611702e-03 -5.05164635e+01] [ 2.52941038e-02 -7.33251080e-04 9.99679784e-01 5.31729461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.820714057 meters Centerline goodness : 0.982238 with order 1 Centerline is valid? [True, True] Translation: X:931.62, Y:-50.52, Z:5.33 [[ 9.96640134e-01 -7.79081162e-02 -2.52738779e-02 9.31621799e+02] [ 7.79014649e-02 9.96960281e-01 -1.24915671e-03 -5.05176477e+01] [ 2.52943718e-02 -7.23912399e-04 9.99679784e-01 5.32628501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8807140570001 meters Centerline goodness : 0.984473 with order 1 Centerline is valid? [True, True] Translation: X:931.68, Y:-50.51, Z:5.33 [[ 9.96558397e-01 -7.89466577e-02 -2.52742343e-02 9.31684677e+02] [ 7.89405238e-02 9.96878554e-01 -1.24190202e-03 -5.05139635e+01] [ 2.52933862e-02 -7.57533410e-04 9.99679784e-01 5.32773540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.940714057 meters Centerline goodness : 0.984197 with order 1 Centerline is valid? [True, True] Translation: X:931.75, Y:-50.51, Z:5.33 [[ 9.96547054e-01 -7.90895896e-02 -2.52746099e-02 9.31746406e+02] [ 7.90836965e-02 9.96867216e-01 -1.23421109e-03 -5.05105432e+01] [ 2.52930433e-02 -7.68860154e-04 9.99679784e-01 5.32785447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.000714057 meters Centerline goodness : 0.982627 with order 1 Centerline is valid? [True, True] Translation: X:931.81, Y:-50.51, Z:5.33 [[ 9.96779959e-01 -7.60978955e-02 -2.52749574e-02 9.31809606e+02] [ 7.60912228e-02 9.97100105e-01 -1.22705329e-03 -5.05073265e+01] [ 2.52950389e-02 -7.00100290e-04 9.99679784e-01 5.32977667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.060714057 meters Centerline goodness : 0.983627 with order 1 Centerline is valid? [True, True] Translation: X:931.87, Y:-50.50, Z:5.33 [[ 9.96772663e-01 -7.61932899e-02 -2.52752897e-02 9.31871550e+02] [ 7.61868222e-02 9.97092814e-01 -1.22017015e-03 -5.05048410e+01] [ 2.52947785e-02 -7.09411753e-04 9.99679784e-01 5.33153954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.120714057 meters Centerline goodness : 0.982817 with order 1 Centerline is valid? [True, True] Translation: X:931.93, Y:-50.50, Z:5.33 [[ 9.96546812e-01 -7.90923329e-02 -2.52755864e-02 9.31934017e+02] [ 7.90869530e-02 9.96866982e-01 -1.21399212e-03 -5.05027038e+01] [ 2.52924150e-02 -7.89169142e-04 9.99679784e-01 5.33117549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.180714057 meters Centerline goodness : 0.982493 with order 1 Centerline is valid? [True, True] Translation: X:932.00, Y:-50.50, Z:5.34 [[ 9.96369776e-01 -8.12920838e-02 -2.52757960e-02 9.31995682e+02] [ 8.12875216e-02 9.96689960e-01 -1.20961307e-03 -5.04987615e+01] [ 2.52904641e-02 -8.49384908e-04 9.99679784e-01 5.33646760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.240714057 meters Centerline goodness : 0.982018 with order 1 Centerline is valid? [True, True] Translation: X:932.06, Y:-50.49, Z:5.34 [[ 9.96570901e-01 -7.87880601e-02 -2.52760901e-02 9.32058111e+02] [ 7.87828499e-02 9.96891074e-01 -1.20343628e-03 -5.04934319e+01] [ 2.52923250e-02 -7.92012830e-04 9.99679784e-01 5.34101172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.300714057 meters Centerline goodness : 0.983275 with order 1 Centerline is valid? [True, True] Translation: X:932.12, Y:-50.49, Z:5.34 [[ 9.96488609e-01 -7.98220250e-02 -2.52763836e-02 9.32121268e+02] [ 7.98173040e-02 9.96808790e-01 -1.19723879e-03 -5.04913280e+01] [ 2.52912874e-02 -8.24457980e-04 9.99679784e-01 5.34071031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.360714057 meters Centerline goodness : 0.982772 with order 1 Centerline is valid? [True, True] Translation: X:932.18, Y:-50.49, Z:5.34 [[ 9.96532610e-01 -7.92707039e-02 -2.52767158e-02 9.32183214e+02] [ 7.92659846e-02 9.96852791e-01 -1.19018439e-03 -5.04899908e+01] [ 2.52915115e-02 -8.17526209e-04 9.99679784e-01 5.34241399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.420714057 meters Centerline goodness : 0.983586 with order 1 Centerline is valid? [True, True] Translation: X:932.24, Y:-50.49, Z:5.35 [[ 9.96592475e-01 -7.85143923e-02 -2.52770281e-02 9.32244259e+02] [ 7.85095989e-02 9.96912655e-01 -1.18351544e-03 -5.04874982e+01] [ 2.52919121e-02 -8.05006756e-04 9.99679784e-01 5.34605974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.480714057 meters Centerline goodness : 0.984384 with order 1 Centerline is valid? [True, True] Translation: X:932.31, Y:-50.48, Z:5.35 [[ 9.96800021e-01 -7.58338646e-02 -2.52773083e-02 9.32305701e+02] [ 7.58283626e-02 9.97120190e-01 -1.17749997e-03 -5.04826830e+01] [ 2.52938088e-02 -7.43004902e-04 9.99679784e-01 5.34922481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5407140570001 meters Centerline goodness : 0.983380 with order 1 Centerline is valid? [True, True] Translation: X:932.37, Y:-50.48, Z:5.35 [[ 9.96927040e-01 -7.41452664e-02 -2.52775699e-02 9.32368575e+02] [ 7.41393651e-02 9.97247202e-01 -1.17185651e-03 -5.04832806e+01] [ 2.52948735e-02 -7.05807544e-04 9.99679784e-01 5.34606611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.600714057 meters Centerline goodness : 0.984362 with order 1 Centerline is valid? [True, True] Translation: X:932.43, Y:-50.48, Z:5.35 [[ 9.97274155e-01 -6.93201756e-02 -2.52779090e-02 9.32429948e+02] [ 6.93129115e-02 9.97594288e-01 -1.16449462e-03 -5.04765358e+01] [ 2.52978207e-02 -5.90765086e-04 9.99679784e-01 5.34896524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.6607140570001 meters Centerline goodness : 0.983325 with order 1 Centerline is valid? [True, True] Translation: X:932.49, Y:-50.47, Z:5.35 [[ 9.97489537e-01 -6.61486251e-02 -2.52781166e-02 9.32492937e+02] [ 6.61404577e-02 9.97809648e-01 -1.15997130e-03 -5.04749524e+01] [ 2.52994792e-02 -5.14846972e-04 9.99679784e-01 5.34943534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.720714057 meters Centerline goodness : 0.983379 with order 1 Centerline is valid? [True, True] Translation: X:932.56, Y:-50.47, Z:5.35 [[ 9.97421273e-01 -6.71699596e-02 -2.52784445e-02 9.32556417e+02] [ 6.71623021e-02 9.97741397e-01 -1.15278054e-03 -5.04736833e+01] [ 2.52987828e-02 -5.47950691e-04 9.99679784e-01 5.35030632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7807140570001 meters Centerline goodness : 0.984819 with order 1 Centerline is valid? [True, True] Translation: X:932.62, Y:-50.47, Z:5.36 [[ 9.97715335e-01 -6.26506533e-02 -2.52785660e-02 9.32618347e+02] [ 6.26416132e-02 9.98035423e-01 -1.15011049e-03 -5.04714298e+01] [ 2.53009595e-02 -4.36007284e-04 9.99679784e-01 5.35658036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.840714057 meters Centerline goodness : 0.983996 with order 1 Centerline is valid? [True, True] Translation: X:932.68, Y:-50.47, Z:5.35 [[ 9.97299124e-01 -6.89597513e-02 -2.52786466e-02 9.32681147e+02] [ 6.89527808e-02 9.97619264e-01 -1.14833573e-03 -5.04715831e+01] [ 2.52976538e-02 -5.97798768e-04 9.99679784e-01 5.35455213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9007140570001 meters Centerline goodness : 0.983542 with order 1 Centerline is valid? [True, True] Translation: X:932.74, Y:-50.47, Z:5.35 [[ 9.96938253e-01 -7.39939508e-02 -2.52787273e-02 9.32744195e+02] [ 7.39886419e-02 9.97258425e-01 -1.14655673e-03 -5.04711051e+01] [ 2.52942621e-02 -7.27292437e-04 9.99679784e-01 5.35473767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.960714057 meters Centerline goodness : 0.983192 with order 1 Centerline is valid? [True, True] Translation: X:932.81, Y:-50.47, Z:5.35 [[ 9.96304356e-01 -8.20889751e-02 -2.52790608e-02 9.32806977e+02] [ 8.20864544e-02 9.96624561e-01 -1.13915663e-03 -5.04703953e+01] [ 2.52872451e-02 -9.40121757e-04 9.99679784e-01 5.35443764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0207140570001 meters Centerline goodness : 0.982304 with order 1 Centerline is valid? [True, True] Translation: X:932.87, Y:-50.47, Z:5.35 [[ 9.95850487e-01 -8.74228772e-02 -2.52793972e-02 9.32867947e+02] [ 8.74222616e-02 9.96170702e-01 -1.13164286e-03 -5.04687618e+01] [ 2.52815263e-02 -1.08303497e-03 9.99679784e-01 5.35365790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.080714057 meters Centerline goodness : 0.982515 with order 1 Centerline is valid? [True, True] Translation: X:932.93, Y:-50.47, Z:5.35 [[ 9.96218106e-01 -8.31289612e-02 -2.52796643e-02 9.32930597e+02] [ 8.31271171e-02 9.96538316e-01 -1.12564361e-03 -5.04655851e+01] [ 2.52857277e-02 -9.80039068e-04 9.99679784e-01 5.35490144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1407140570001 meters Centerline goodness : 0.982304 with order 1 Centerline is valid? [True, True] Translation: X:932.99, Y:-50.46, Z:5.35 [[ 9.96574351e-01 -7.87431786e-02 -2.52799391e-02 9.32993941e+02] [ 7.87400823e-02 9.96894551e-01 -1.11943832e-03 -5.04636931e+01] [ 2.52895817e-02 -8.74940963e-04 9.99679784e-01 5.35480234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.200714057 meters Centerline goodness : 0.982080 with order 1 Centerline is valid? [True, True] Translation: X:933.06, Y:-50.46, Z:5.36 [[ 9.96923753e-01 -7.41885450e-02 -2.52802516e-02 9.33056563e+02] [ 7.41841655e-02 9.97243938e-01 -1.11233562e-03 -5.04632757e+01] [ 2.52931002e-02 -7.66480565e-04 9.99679785e-01 5.35728590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.2607140570001 meters Centerline goodness : 0.982370 with order 1 Centerline is valid? [True, True] Translation: X:933.12, Y:-50.46, Z:5.36 [[ 9.96829849e-01 -7.54397617e-02 -2.52803290e-02 9.33118892e+02] [ 7.54358287e-02 9.97150040e-01 -1.11057328e-03 -5.04557515e+01] [ 2.52920625e-02 -7.99989975e-04 9.99679785e-01 5.35938115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.320714057 meters Centerline goodness : 0.981962 with order 1 Centerline is valid? [True, True] Translation: X:933.18, Y:-50.45, Z:5.36 [[ 9.96562199e-01 -7.88966143e-02 -2.52805960e-02 9.33181103e+02] [ 7.88939466e-02 9.96882403e-01 -1.10446330e-03 -5.04532799e+01] [ 2.52889197e-02 -8.93819615e-04 9.99679785e-01 5.35965820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3807140570001 meters Centerline goodness : 0.982085 with order 1 Centerline is valid? [True, True] Translation: X:933.24, Y:-50.45, Z:5.36 [[ 9.97301096e-01 -6.89304173e-02 -2.52808635e-02 9.33242845e+02] [ 6.89247049e-02 9.97621260e-01 -1.09830453e-03 -5.04514936e+01] [ 2.52964335e-02 -6.47135745e-04 9.99679785e-01 5.36073223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.440714057 meters Centerline goodness : 0.979882 with order 1 Centerline is valid? [True, True] Translation: X:933.31, Y:-50.45, Z:5.36 [[ 9.98155601e-01 -5.51930336e-02 -2.52809409e-02 9.33305491e+02] [ 5.51829589e-02 9.98475658e-01 -1.09652004e-03 -5.04453696e+01] [ 2.53029244e-02 -3.00579505e-04 9.99679785e-01 5.36338632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.500714057 meters Centerline goodness : 0.980804 with order 1 Centerline is valid? [True, True] Translation: X:933.37, Y:-50.44, Z:5.37 [[ 9.98578447e-01 -4.69249786e-02 -2.52810569e-02 9.33368397e+02] [ 4.69123215e-02 9.98898412e-01 -1.09383921e-03 -5.04425579e+01] [ 2.53045360e-02 -9.37088093e-05 9.99679785e-01 5.37032188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.560714057 meters Centerline goodness : 0.981927 with order 1 Centerline is valid? [True, True] Translation: X:933.43, Y:-50.44, Z:5.38 [[ 9.99085909e-01 -3.44704141e-02 -2.52811740e-02 9.33429932e+02] [ 3.44538371e-02 9.99405695e-01 -1.09112654e-03 -5.04400458e+01] [ 2.53037608e-02 2.19095696e-04 9.99679785e-01 5.37663589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.620714057 meters Centerline goodness : 0.981830 with order 1 Centerline is valid? [True, True] Translation: X:933.49, Y:-50.44, Z:5.38 [[ 9.98969641e-01 -3.76896907e-02 -2.52812698e-02 9.33492430e+02] [ 3.76742006e-02 9.99289482e-01 -1.08890268e-03 -5.04438717e+01] [ 2.53043474e-02 1.35329094e-04 9.99679785e-01 5.38084791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.680714057 meters Centerline goodness : 0.980959 with order 1 Centerline is valid? [True, True] Translation: X:933.56, Y:-50.45, Z:5.38 [[ 9.98375336e-01 -5.10641022e-02 -2.52813461e-02 9.33555896e+02] [ 5.10529416e-02 9.98695357e-01 -1.08712754e-03 -5.04497798e+01] [ 2.53038762e-02 -2.05325762e-04 9.99679785e-01 5.38257339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.740714057 meters Centerline goodness : 0.982550 with order 1 Centerline is valid? [True, True] Translation: X:933.62, Y:-50.45, Z:5.38 [[ 9.97760615e-01 -6.19240921e-02 -2.52816674e-02 9.33618074e+02] [ 6.19166048e-02 9.98080742e-01 -1.07960242e-03 -5.04541450e+01] [ 2.52999988e-02 -4.88170236e-04 9.99679785e-01 5.38280408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.800714057 meters Centerline goodness : 0.983269 with order 1 Centerline is valid? [True, True] Translation: X:933.68, Y:-50.46, Z:5.38 [[ 9.96800177e-01 -7.58302669e-02 -2.52819620e-02 9.33680631e+02] [ 7.58274199e-02 9.97120380e-01 -1.07265939e-03 -5.04572364e+01] [ 2.52904996e-02 -8.47838884e-04 9.99679785e-01 5.38043951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.860714057 meters Centerline goodness : 0.982983 with order 1 Centerline is valid? [True, True] Translation: X:933.74, Y:-50.45, Z:5.38 [[ 9.97308958e-01 -6.88161332e-02 -2.52820378e-02 9.33743959e+02] [ 6.88110790e-02 9.97629134e-01 -1.07087074e-03 -5.04548372e+01] [ 2.52957906e-02 -6.71695323e-04 9.99679785e-01 5.38100435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.920714057 meters Centerline goodness : 0.983714 with order 1 Centerline is valid? [True, True] Translation: X:933.81, Y:-50.45, Z:5.38 [[ 9.97348276e-01 -6.82438898e-02 -2.52821549e-02 9.33806320e+02] [ 6.82387221e-02 9.97668450e-01 -1.06809886e-03 -5.04536420e+01] [ 2.52960995e-02 -6.59955387e-04 9.99679785e-01 5.37846171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.980714057 meters Centerline goodness : 0.984188 with order 1 Centerline is valid? [True, True] Translation: X:933.87, Y:-50.44, Z:5.38 [[ 9.97407969e-01 -6.73658077e-02 -2.52822351e-02 9.33868230e+02] [ 6.73604063e-02 9.97728139e-01 -1.06619695e-03 -5.04407337e+01] [ 2.52966226e-02 -6.39588297e-04 9.99679785e-01 5.37969431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0407140570001 meters Centerline goodness : 0.981418 with order 1 Centerline is valid? [True, True] Translation: X:933.93, Y:-50.44, Z:5.38 [[ 9.98300391e-01 -5.25084069e-02 -2.52823518e-02 9.33929216e+02] [ 5.24983096e-02 9.98620447e-01 -1.06342267e-03 -5.04432158e+01] [ 2.53033121e-02 -2.65665465e-04 9.99679785e-01 5.38438189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.100714057 meters Centerline goodness : 0.981902 with order 1 Centerline is valid? [True, True] Translation: X:933.99, Y:-50.44, Z:5.39 [[ 9.98827693e-01 -4.12799967e-02 -2.52824219e-02 9.33990904e+02] [ 4.12663435e-02 9.99147618e-01 -1.06175231e-03 -5.04405085e+01] [ 2.53047008e-02 1.71945042e-05 9.99679785e-01 5.38859714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.1607140570001 meters Centerline goodness : 0.981887 with order 1 Centerline is valid? [True, True] Translation: X:934.05, Y:-50.43, Z:5.38 [[ 9.98731700e-01 -4.35406388e-02 -2.52824959e-02 9.34053248e+02] [ 4.35277544e-02 9.99051656e-01 -1.05998910e-03 -5.04323514e+01] [ 2.53046720e-02 -4.18455577e-05 9.99679785e-01 5.38421808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.220714057 meters Centerline goodness : 0.981455 with order 1 Centerline is valid? [True, True] Translation: X:934.12, Y:-50.43, Z:5.39 [[ 9.98535676e-01 -4.78256743e-02 -2.52825804e-02 9.34115697e+02] [ 4.78142141e-02 9.98855686e-01 -1.05796933e-03 -5.04335985e+01] [ 2.53042473e-02 -1.52446586e-04 9.99679785e-01 5.38785023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2807140570001 meters Centerline goodness : 0.983117 with order 1 Centerline is valid? [True, True] Translation: X:934.18, Y:-50.43, Z:5.39 [[ 9.97531702e-01 -6.55079349e-02 -2.52826657e-02 9.34178051e+02] [ 6.55021974e-02 9.97851866e-01 -1.05592558e-03 -5.04328183e+01] [ 2.52975267e-02 -6.02750917e-04 9.99679785e-01 5.38981651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.340714057 meters Centerline goodness : 0.981535 with order 1 Centerline is valid? [True, True] Translation: X:934.24, Y:-50.44, Z:5.39 [[ 9.97128725e-01 -7.13798797e-02 -2.52827586e-02 9.34239605e+02] [ 7.13760838e-02 9.97448918e-01 -1.05369630e-03 -5.04409529e+01] [ 2.52934730e-02 -7.53913451e-04 9.99679785e-01 5.38560507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4007140570001 meters Centerline goodness : 0.982424 with order 1 Centerline is valid? [True, True] Translation: X:934.30, Y:-50.44, Z:5.39 [[ 9.96838842e-01 -7.53199996e-02 -2.52828276e-02 9.34301264e+02] [ 7.53175112e-02 9.97159047e-01 -1.05203815e-03 -5.04353546e+01] [ 2.52902398e-02 -8.55527159e-04 9.99679785e-01 5.39346157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.460714057 meters Centerline goodness : 0.982940 with order 1 Centerline is valid? [True, True] Translation: X:934.36, Y:-50.43, Z:5.39 [[ 9.96351394e-01 -8.15148672e-02 -2.52829041e-02 9.34363172e+02] [ 8.15144158e-02 9.96671609e-01 -1.05019643e-03 -5.04302538e+01] [ 2.52843594e-02 -1.01455648e-03 9.99679785e-01 5.39495703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 13995.25 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%| | 0/31150 [00:00